diff --git a/.gitattributes b/.gitattributes
index 3c9a77911f02295ae74f5e1f5e56b1078ff74783..cd56e8ece3a4084a3005454912631bfc5a2efa24 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -13693,3 +13693,70 @@ Part2/Free/digiy/ball_PLA_10/width_10/pick/fem_node.csv filter=lfs diff=lfs merg
 Part2/Free/digiy/ball_PLA_12.5/width_01/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
 Part2/Free/digiy/ball_PLA_12.5/width_01/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
 Part2/Free/digiy/ball_PLA_12.5/width_02/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_20/position_03/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_20/position_03/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_20/position_03/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_20/position_03/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_20/position_03/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_20/position_04/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_20/position_04/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_20/position_04/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_20/position_04/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_20/position_04/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_20/position_05/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_20/position_05/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_20/position_05/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_20/position_05/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_20/position_05/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_20/position_06/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_20/position_06/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_20/position_06/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_20/position_06/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_20/position_06/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_20/position_07/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_20/position_07/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_20/position_07/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_20/position_07/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_20/position_07/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_20/position_08/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_20/position_08/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_20/position_08/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_20/position_08/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_20/position_08/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_20/position_09/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_20/position_09/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_20/position_09/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_20/position_09/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_20/position_09/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_20/position_10/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_20/position_10/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_20/position_10/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_20/position_10/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_20/position_10/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_20/position_11/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_20/position_11/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_20/position_11/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_20/position_11/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_20/position_11/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_20/position_12/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_20/position_12/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_20/position_12/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_20/position_12/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_15A_20/position_12/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_PLA_10/position_01/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_PLA_10/position_01/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_PLA_10/position_01/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_PLA_10/position_01/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_PLA_10/position_01/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_PLA_10/position_02/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_PLA_10/position_02/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_PLA_10/position_02/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_PLA_10/position_02/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_PLA_10/position_02/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_PLA_10/position_03/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_PLA_10/position_03/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_PLA_10/position_03/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_PLA_10/position_03/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_PLA_10/position_03/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_PLA_10/position_04/depth_01/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Obstacle_avoidance/cylinder_PLA_10/position_04/depth_02/fem_node.csv filter=lfs diff=lfs merge=lfs -text
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_03/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_03/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b882298d348c6589b83b48a1b6ce9bf82b69ecd8
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_03/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c846a6244105de8417c3868a4dd894a7458fc845a620f07635b5ab58596fc89c
+size 24931255
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_03/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_03/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b2c4c45a90eae6a343a9c49b51a5284a754d6353
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_03/depth_01/franka_data.csv
@@ -0,0 +1,394 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,764,743,712,672,659,633,877,784,799,649,628,651,0.401014948338,-0.00551951549845,0.0698487716761,0.999999985489,5.69396588044e-05,-0.000158623628259,2.48592124641e-05,1793193335520882176
+1,0.016666667,BASELINE,763.422012648,742.422012648,712,672,659,632.422012648,877,784,799,649,628.577987352,651,0.401014793993,-0.00551842252502,0.0698490336143,0.99999998557,5.64107944212e-05,-0.000158324369683,2.47396999566e-05,1793193335537548544
+2,0.033333333,BASELINE,763.154771778,742.154771778,712,672,659,632,876.845228222,784,799.154771778,649,629,651,0.401014533266,-0.0055177174173,0.0698491832158,0.999999985573,5.60155635385e-05,-0.000158462218992,2.46215247539e-05,1793193335554214912
+3,0.050000000,BASELINE,763.728301637,742.728301637,712,672,659,632,876.271698363,784,799.728301637,649,629,651,0.401013984705,-0.00551806173778,0.0698490288734,0.999999985367,5.59818978628e-05,-0.000159782728671,2.45069678017e-05,1793193335570881280
+4,0.066666667,BASELINE,763.689666199,742.689666199,712.310333801,672,659.310333801,632,876.620667602,784,799.689666199,649.310333801,629,651,0.401013941637,-0.00551734883005,0.0698490381343,0.999999985213,5.7805892143e-05,-0.000160120578841,2.4375155595e-05,1793193335587547904
+5,0.083333333,BASELINE,763.099980586,742.099980586,712.900019414,672,659.900019414,632,877.800038827,784,799.099980586,649.900019414,629,651,0.401014353596,-0.00551568424184,0.0698491946651,0.999999985096,6.13020880123e-05,-0.000159573872646,2.42278108085e-05,1793193335604214784
+6,0.100000000,BASELINE,763,742,712.51916411,672,659.51916411,632,877.03832822,784,799.48083589,650,629,651,0.401014635007,-0.00551616983382,0.0698493165115,0.999999985282,6.09871825387e-05,-0.000158502701889,2.43577462513e-05,1793193335620881408
+7,0.116666667,BASELINE,763,742.059283665,712.059283665,672,659,632.059283665,876.059283665,784.059283665,800,650,629,651,0.401014879586,-0.00551698302228,0.0698494387612,0.999999985483,6.00980022915e-05,-0.000157545578182,2.45139309898e-05,1793193335637548032
+8,0.133333333,BASELINE,763,742.632891024,712.632891024,672,659,632.632891024,876.632891024,784.632891024,800,650,629,651,0.401015035863,-0.00551682978885,0.0698496259444,0.999999985281,6.09770770684e-05,-0.000158506849195,2.44067094507e-05,1793193335654214656
+9,0.150000000,BASELINE,763,743,712.789829914,672,659,633,877,784.789829914,799.789829914,649.789829914,628.789829914,651,0.401015031661,-0.00551668066785,0.0698495967213,0.999999985143,6.13580071336e-05,-0.000159235716892,2.43463365703e-05,1793193335670881536
+10,0.166666667,BASELINE,763,743,712.206023426,672,659,633,877,784.206023426,799.206023426,649.206023426,628.206023426,651,0.40101474216,-0.00551653885784,0.0698491827755,0.999999985123,6.08533448646e-05,-0.000159551422267,2.43692503596e-05,1793193335687548160
+11,0.183333333,BASELINE,763.37780436,743,712,672,659,633,877,784,799,649,628,651,0.40101500742,-0.00551661893994,0.0698497811869,0.999999985229,6.08454169601e-05,-0.000158879432241,2.44412326508e-05,1793193335704214784
+12,0.200000000,BASELINE,763.961643815,743,712,672,659,633,877,784,799,649,628,651,0.401015575217,-0.0055168200306,0.0698509316859,0.999999985402,6.11083824193e-05,-0.000157668803898,2.45399743848e-05,1793193335720881408
+13,0.216666667,BASELINE,763.459413933,743,712,672,659,633,877,784,799,649,628,650.459413933,0.40101543469,-0.00551740453375,0.0698504408439,0.999999985455,5.85319483888e-05,-0.000158349983355,2.42561736622e-05,1793193335737548032
+14,0.233333333,BASELINE,763,743,712,672,658.881648412,633,877,784,799.118351588,649,628.118351588,650.118351588,0.401015130159,-0.00551784532633,0.0698499654769,0.999999985449,5.69336434389e-05,-0.000158990989743,2.41379006453e-05,1793193335754214656
+15,0.250000000,BASELINE,763,743,712,672,658.307091263,633,877,784,799.692908737,649,628.692908737,650.692908737,0.401014385438,-0.00551762824134,0.0698499946367,0.999999985266,5.98752996005e-05,-0.000158964378787,2.4761367155e-05,1793193335770881536
+16,0.266666667,BASELINE,763,743,712,671.726292383,658.273707617,633,877,783.726292383,799.726292383,649,629,651,0.401014129321,-0.00551747664139,0.0698500475326,0.999999985101,6.11881991372e-05,-0.000159467199429,2.49878866699e-05,1793193335787548160
+17,0.283333333,BASELINE,763,743,712,671.138327085,658.861672915,633,877,783.138327085,799.138327085,649,629,651,0.401014434196,-0.00551740022817,0.0698501276811,0.999999984963,6.06310399146e-05,-0.000160577887505,2.47586510499e-05,1793193335804214784
+18,0.300000000,BASELINE,763,742.554367912,712,671.445632088,659,632.554367912,876.554367912,783.445632088,798.554367912,649,629,651,0.401014643409,-0.00551713549072,0.0698498331981,0.99999998504,6.09971441871e-05,-0.000159989357212,2.45459914284e-05,1793193335820881664
+19,0.316666667,BASELINE,763,742,712,672,659,632,876.027912829,784,798.027912829,649,629,651,0.401014789891,-0.00551683637927,0.0698494537257,0.999999985175,6.16095605826e-05,-0.000158934760584,2.43553763388e-05,1793193335837548288
+20,0.333333333,BASELINE,763,742,712,672,659,632,876.601475476,784,798.601475476,649,629,651,0.401014285373,-0.00551699787029,0.0698496658349,0.999999985171,6.14845849717e-05,-0.000158988216287,2.44960095371e-05,1793193335854214912
+21,0.350000000,BASELINE,763,742.174566103,712,672,659,632,876.825433897,784,799.174566103,649,628.825433897,650.825433897,0.401014167789,-0.00551675916458,0.069849929834,0.999999985169,6.12094400847e-05,-0.000159105653526,2.44945198325e-05,1793193335870881280
+22,0.366666667,BASELINE,763,742.746581959,712,672,659,632,876.253418041,784,799.746581959,649,628.253418041,650.253418041,0.401014931168,-0.00551560929634,0.0698503119753,0.999999985173,6.05923918266e-05,-0.000159368763052,2.41694465949e-05,1793193335887547904
+23,0.383333333,BASELINE,763,743,712,671.669752756,659,632,876,784,799.669752756,649,628,650.330247244,0.401014935535,-0.00551537026465,0.0698501525139,0.999999985129,6.08010614515e-05,-0.000159594011487,2.39976683083e-05,1793193335904214784
+24,0.400000000,BASELINE,763,743,712,671.076821259,659,632,876,784,799.076821259,649,628,650.923178741,0.40101433617,-0.00551585572765,0.0698495622527,0.999999985046,6.16665210077e-05,-0.000159789144597,2.39478233886e-05,1793193335920881408
+25,0.416666667,BASELINE,763.504076061,742.495923939,712,671.504076061,659,632.504076061,876,784,799,649,628,651,0.40101482839,-0.00551702335252,0.06984989543,0.999999985262,5.95957440097e-05,-0.000159258087325,2.36909500083e-05,1793193335937548032
+26,0.433333333,BASELINE,763.917161817,742,712,671.917161817,659,633,876.165676366,784,799.165676366,649,628,651,0.401015236065,-0.00551805986817,0.0698502125537,0.999999985427,5.77175201233e-05,-0.000158941408087,2.35011335994e-05,1793193335954214656
+27,0.450000000,BASELINE,763.34045006,742,712,671.34045006,659,633,877.31909988,784,800.31909988,649,628,651,0.40101417101,-0.00551770936627,0.0698496144988,0.999999985051,5.95929237824e-05,-0.00016054725895,2.38948235839e-05,1793193335970881280
+28,0.466666667,BASELINE,763.241216738,742,712,671.241216738,659,633,877.758783262,784,800.517566525,649,628.241216738,651,0.401014240112,-0.00551737465333,0.0698499996391,0.999999985,6.05120758626e-05,-0.00016047436012,2.42050261131e-05,1793193335987547904
+29,0.483333333,BASELINE,763.83002365,742,712,671.83002365,659,633,877.16997635,784,799.339952701,649,628.83002365,651,0.401015943522,-0.00551706269212,0.069851801551,0.99999998542,6.00532817699e-05,-0.000157982404766,2.43949242839e-05,1793193336004214784
+30,0.500000000,BASELINE,763.588478555,742.411521445,712,672,659,633,877,784,799,649,628.588478555,651,0.401015515069,-0.00551705469165,0.0698516704055,0.999999985455,5.97559648475e-05,-0.000157881528037,2.43360286151e-05,1793193336020881408
+31,0.516666667,BASELINE,763.009947073,742.990052927,712,672,659,633,877,784,799,649,628.009947073,651,0.401014221432,-0.00551717004928,0.0698507547564,0.999999985335,5.95241811144e-05,-0.000158751036102,2.4176163554e-05,1793193336037548032
+32,0.533333333,BASELINE,763,743,712,672,659,632.433556343,876.433556343,784,799.566443657,649,628,651,0.40101362559,-0.00551681403691,0.0698503534027,0.999999985188,6.06819354138e-05,-0.00015924592406,2.41499867596e-05,1793193336054214400
+33,0.550000000,BASELINE,763,743,712,671.858136555,659,632.141863445,876,784,799.858136555,649,628,651,0.401013077653,-0.00551645773821,0.0698499037192,0.999999985027,6.14699745672e-05,-0.000159956441412,2.41148578914e-05,1793193336070881024
+34,0.566666667,BASELINE,763,743,712,671.285551114,659,632.714448886,876,784,799.285551114,649,628,651,0.4010126381,-0.00551612560762,0.069849279981,0.999999984831,6.1061687304e-05,-0.000161341545267,2.40454479696e-05,1793193336087547904
+35,0.583333333,BASELINE,763,743,712.297279234,671.297279234,659,632.702720766,876.297279234,784.297279234,799.297279234,649,628.297279234,651,0.401013062135,-0.00551588324942,0.069849555768,0.999999984921,6.09844187723e-05,-0.000160811235369,2.40375616223e-05,1793193336104214784
+36,0.600000000,BASELINE,763,743,712.890301618,671.890301618,659,632.109698382,876.890301618,784.890301618,799.890301618,649,628.890301618,651,0.401014345298,-0.00551573019972,0.0698507264322,0.999999985293,6.12364585045e-05,-0.000158375409087,2.40908809405e-05,1793193336120881408
+37,0.616666667,BASELINE,763,742.527904645,712.527904645,672,659,632.472095355,876.527904645,784.527904645,799.527904645,649,629,651,0.401014301323,-0.0055145576698,0.0698506003313,0.999999985189,6.26433342208e-05,-0.000158496382179,2.40203574527e-05,1793193336137548288
+38,0.633333333,BASELINE,763,742,712,672,659.050871369,632.949128631,876.050871369,784,799,649,629,651,0.401014154576,-0.00551346596034,0.0698502911381,0.999999985031,6.39461609678e-05,-0.000158983733377,2.39497440187e-05,1793193336154214656
+39,0.650000000,BASELINE,763,742,712,672,659.62482332,632.37517668,876.62482332,784,799,649,629,651,0.401016048294,-0.00551558450625,0.0698511256562,0.999999985451,6.1483998846e-05,-0.000157271369553,2.41672255957e-05,1793193336170881280
+40,0.666666667,BASELINE,763,742.199363232,712,672,659.800636768,632,876.800636768,784,799.199363232,649,629,651,0.401016680083,-0.00551682873627,0.0698514608577,0.999999985633,6.00628708458e-05,-0.000156644699251,2.42519945817e-05,1793193336187547648
+41,0.683333333,BASELINE,763,742.775012852,712,672,659.224987148,632,876.224987148,784,799.775012852,649,629,651,0.401014930053,-0.00551642274627,0.0698508536282,0.999999985381,6.06066337291e-05,-0.000158067211785,2.40862763374e-05,1793193336204214272
+42,0.700000000,BASELINE,763.359721073,743,712,671.640278927,659,632,876,784,799.640278927,649,628.640278927,651,0.401014182491,-0.00551729319994,0.0698506693719,0.999999985329,5.96237767925e-05,-0.000158778679892,2.40239907454e-05,1793193336220881152
+43,0.716666667,BASELINE,763.950241324,743,712,671.049758676,659,632,876,784,799.049758676,649,628.049758676,651,0.401014078117,-0.00551898262745,0.0698507564979,0.999999985403,5.76614314846e-05,-0.000159033937611,2.40280681642e-05,1793193336237548032
+44,0.733333333,BASELINE,763.471842771,743,712,671.528157229,659,632,877.056314457,784,799,649,628.528157229,650.471842771,0.401012720326,-0.00551728085929,0.0698496012138,0.999999984897,6.00905180345e-05,-0.000161278634177,2.41779338015e-05,1793193336254214656
+45,0.750000000,BASELINE,763.104908281,742.895091719,712,672,659,632,877.895091719,784,799,649,629,650.104908281,0.401011812493,-0.00551579298441,0.0698488051707,0.999999984533,6.20969767856e-05,-0.000162752533809,2.43015318647e-05,1793193336270881536
+46,0.766666667,BASELINE,763.681636442,742.318363558,712,672,659,632,877.318363558,784,799,649,629,650.681636442,0.401013447033,-0.00551667048745,0.0698501389523,0.999999985093,6.03853491882e-05,-0.00015993650741,2.42466601679e-05,1793193336287548160
+47,0.783333333,BASELINE,763.736043187,742.263956813,712,672,659,632,876.736043187,784,799,649,628.736043187,651,0.401014713263,-0.00551736164732,0.0698509277215,0.999999985442,5.88782101817e-05,-0.000158317705907,2.41914851583e-05,1793193336304214528
+48,0.800000000,BASELINE,763.14683187,742.85316813,712,672,659,632,876.14683187,784,799,649,628.14683187,651,0.401015525653,-0.00551782319038,0.0698510449123,0.999999985539,5.76230471486e-05,-0.000158174155928,2.41359363919e-05,1793193336320881152
+49,0.816666667,BASELINE,763,742.565625968,711.565625968,672,659,632.434374032,876,784,799,649,628.434374032,651,0.401015306673,-0.00551682640135,0.069851278706,0.999999985496,5.8946018887e-05,-0.000157975049165,2.40260232343e-05,1793193336337547776
+50,0.833333333,BASELINE,763.012888231,742,711.012888231,672,659,632.987111769,876,784,799,649,629,651,0.401014749336,-0.00551542102329,0.0698515348777,0.999999985405,6.10436148542e-05,-0.000157770830329,2.3907396126e-05,1793193336354214400
+51,0.850000000,BASELINE,763.589889852,742,711.589889852,672,659,632.410110148,876,784,799,649,629,651,0.401014365741,-0.00551731813223,0.0698510765422,0.999999985426,5.95917415414e-05,-0.000158149972555,2.41971545862e-05,1793193336370881280
+52,0.866666667,BASELINE,763.83055086,742,712,672,659,632.16944914,876.338898281,784,799.16944914,649,629,651,0.401014198246,-0.00551792441991,0.0698508262793,0.999999985403,5.9346290024e-05,-0.000158368676416,2.43311475527e-05,1793193336387548160
+53,0.883333333,BASELINE,763.24470653,742,712,672,659,632.75529347,877.51058694,784,799.75529347,649,629,651,0.40101456178,-0.00551535871285,0.0698510873225,0.999999985271,6.20654345254e-05,-0.000158193127659,2.40823707682e-05,1793193336404214784
+54,0.900000000,BASELINE,763,742,712,671.662754171,659,632.662754171,877.662754171,784,799.662754171,649,628.662754171,651,0.401015949653,-0.00551539077271,0.069851957569,0.999999985521,6.16435507734e-05,-0.000156770938258,2.40932000392e-05,1793193336420881408
+55,0.916666667,BASELINE,763,742,712,671.083593643,659,632.083593643,877.083593643,784,799.083593643,649,628.083593643,651,0.401018072309,-0.00551728627456,0.069853264812,0.999999986038,5.89685303509e-05,-0.000154454502975,2.42902511075e-05,1793193336437548032
+56,0.933333333,BASELINE,763.494683504,742,712,671.494683504,659,632,876.505316496,784,799,649.494683504,628,651,0.401015540707,-0.00551787162035,0.0698514015475,0.999999985489,6.09009209113e-05,-0.000157215731811,2.44234372218e-05,1793193336454214656
+57,0.950000000,BASELINE,764,742.072189444,712,671.927810556,659,632.072189444,876.072189444,784,799,649.927810556,628,651,0.401012679563,-0.00551820070879,0.0698494061358,0.999999984843,6.30927661853e-05,-0.000160407373002,2.45512012578e-05,1793193336470881280
+58,0.966666667,BASELINE,764,742.645377024,712,671.354622976,659,632.645377024,876.645377024,784,799,649.354622976,628,651,0.401012979974,-0.00551828511554,0.0698502052253,0.999999984889,6.16914939114e-05,-0.000160641840457,2.47161003533e-05,1793193336487547904
+59,0.983333333,BASELINE,764,743,712,671.22527332,659,632.77472668,877,784,799,649,628,651,0.401013416989,-0.00551744994598,0.0698506922782,0.999999984949,6.10055854598e-05,-0.000160559878468,2.45288730364e-05,1793193336504214528
+60,1.000000000,BASELINE,764,743,712,671.816054657,659,632.183945343,877,784,799,649,628,651,0.401014075648,-0.00551512275548,0.0698506730489,0.999999985033,6.14803611145e-05,-0.000159964506862,2.37703174297e-05,1793193336520881408
+61,1.016666667,BASELINE,763.60115089,743,712,671.60115089,659,632,877,784,799.39884911,649,628.39884911,651,0.401013622639,-0.00551458684861,0.0698504431968,0.99999998495,6.19823880088e-05,-0.00016031414782,2.36071887495e-05,1793193336537547776
+62,1.033333333,BASELINE,763.021967634,743,712,671.021967634,659,632,877,784,799.978032366,649,628.978032366,651,0.401012667006,-0.00551486084615,0.0698501181146,0.999999984791,6.24967361484e-05,-0.000161091063266,2.37132742217e-05,1793193336554214656
+63,1.050000000,BASELINE,763,742.447543172,712,671.552456828,659,632,877,784,799.447543172,649,628.447543172,651,0.401013566465,-0.00551553093231,0.0698508752538,0.999999985033,6.17560953785e-05,-0.000159851247611,2.38353347798e-05,1793193336570881280
+64,1.066666667,BASELINE,763,742,712,672,659.126182835,632.126182835,876.873817165,784,799,649.126182835,628.126182835,651,0.401014443248,-0.00551590924984,0.0698513639571,0.999999985204,6.11771197358e-05,-0.000158986160227,2.39176499598e-05,1793193336587548160
+65,1.083333333,BASELINE,763,742,712,672,659.698104262,632.698104262,876.301895738,784,799,649.698104262,628.698104262,651,0.401014981584,-0.00551520173885,0.0698507537005,0.999999985078,6.13439985004e-05,-0.00015972565253,2.38573405413e-05,1793193336604214784
+66,1.100000000,BASELINE,763.281565133,742.281565133,712,672,659.718434867,632.718434867,876.281565133,784,799.281565133,649.718434867,629,651,0.401015010139,-0.00551529665802,0.0698506689796,0.999999985051,6.11832633385e-05,-0.000159939881901,2.39723694884e-05,1793193336620881408
+67,1.116666667,BASELINE,763.877927362,742.877927362,712,672,659.122072638,632.122072638,876.877927362,784,799.877927362,649.122072638,629,651,0.401014468745,-0.00551628871489,0.0698511718215,0.999999985135,6.06562473288e-05,-0.000159566853691,2.42834312638e-05,1793193336637547776
+68,1.133333333,BASELINE,763.539631144,742.539631144,712,672.460368856,659,632,877,784,799.539631144,649,628.539631144,651,0.401015604143,-0.00551696506075,0.0698521848716,0.99999998545,6.08914715211e-05,-0.000157475388661,2.43675964574e-05,1793193336654214400
+69,1.150000000,BASELINE,763.038699371,742.038699371,712,672.961300629,659,632.038699371,876.961300629,784,799.038699371,649,628,651,0.401016905738,-0.00551749149388,0.0698531362083,0.999999985755,6.13505426861e-05,-0.000155342245103,2.43912178127e-05,1793193336670881024
+70,1.166666667,BASELINE,763.609765024,742.609765024,712,672.390234976,659,632.609765024,876.390234976,784,799.609765024,649,628,651,0.401014556707,-0.00551707347602,0.0698514321224,0.999999985173,6.21901392759e-05,-0.00015872011578,2.43853287333e-05,1793193336687547904
+71,1.183333333,BASELINE,763.812665963,742.812665963,712,672,659,632.812665963,876.187334037,784,799.812665963,649,628,651,0.401013160543,-0.00551685321493,0.0698504900346,0.999999984861,6.20678870117e-05,-0.000160733265153,2.42886861062e-05,1793193336704214528
+72,1.200000000,BASELINE,763.221062498,742.221062498,712,672,659,632.221062498,876.778937502,784,799.221062498,649,628,651,0.401013820681,-0.00551705971561,0.0698511923488,0.999999985152,5.98699518643e-05,-0.000159801327843,2.39961960747e-05,1793193336720881152
+73,1.216666667,BASELINE,763,742,712,672,659,632.362809544,877,784,799,649,628,650.637190456,0.401013346818,-0.0055168853276,0.0698507348126,0.999999985031,6.02106136132e-05,-0.00016045951504,2.37769990185e-05,1793193336737548032
+74,1.233333333,BASELINE,763,742,712,672,659,632.942069032,877,784,799,649,628,650.057930968,0.401012196417,-0.00551648370373,0.0698495853165,0.999999984663,6.20657867947e-05,-0.000162066360798,2.36015281181e-05,1793193336754214656
+75,1.250000000,BASELINE,763.517474113,742,712,672,659,633,877,784,799,649,628.517474113,650.517474113,0.401012851362,-0.0055166073319,0.0698501980448,0.999999984797,6.20961127202e-05,-0.000161187322432,2.38414371005e-05,1793193336770881280
+76,1.266666667,BASELINE,763.907734115,742,712,672,659,632.907734115,877,784,799,649,628.907734115,651,0.401013548449,-0.00551664692255,0.0698509616711,0.999999984952,6.21342081613e-05,-0.000160168837935,2.41187306819e-05,1793193336787547904
+77,1.283333333,BASELINE,763.333907917,742,712,672,659,632.333907917,877,784,799,649,628.333907917,651,0.401013418424,-0.00551594326623,0.0698514908293,0.999999984924,6.32712194948e-05,-0.000159864296028,2.43502347664e-05,1793193336804214528
+78,1.300000000,BASELINE,763,742.247695972,712,672,659,632,877,784,799,649,628.247695972,651,0.401013502943,-0.00551629200705,0.069851857685,0.999999985006,6.32061935783e-05,-0.000159359862969,2.44346282171e-05,1793193336820881408
+79,1.316666667,BASELINE,763,742.840124465,712,672,659,632,877,784,799,649,628.840124465,651,0.401013886053,-0.0055181054287,0.0698519986552,0.999999985242,6.1468224198e-05,-0.000158577230091,2.43142794413e-05,1793193336837548288
+80,1.333333333,BASELINE,763,743,712,671.576970859,659,632,876.576970859,784,799,649,628.576970859,651,0.401014480315,-0.00551783999804,0.0698518972428,0.999999985358,6.00450709998e-05,-0.000158419322357,2.41375156052e-05,1793193336854214912
+81,1.350000000,BASELINE,763,743,712,671.002387207,659,632,876,784,799,649,628,651,0.401015147099,-0.00551680621936,0.0698517057315,0.999999985427,5.87496477402e-05,-0.000158494488698,2.39395560969e-05,1793193336870881536
+82,1.366666667,BASELINE,763,743,712,671.575394928,659,632,876,784,799,649,628,651,0.401014494224,-0.00551577600333,0.0698513918158,0.999999985255,6.01722892781e-05,-0.000159088340096,2.36593375394e-05,1793193336887548160
+83,1.383333333,BASELINE,763,743,712,672.149255841,659.149255841,632.149255841,876,784,799,649,628.149255841,651,0.401013757664,-0.00551520625445,0.0698510736368,0.999999985091,6.10925785201e-05,-0.000159793065053,2.34950419282e-05,1793193336904214784
+84,1.400000000,BASELINE,763,743,712,672.725558017,659.725558017,632.725558017,876,784,799,649,628.725558017,651,0.401012781665,-0.00551595398014,0.0698507432597,0.999999984955,6.0575552767e-05,-0.000160815018249,2.36624215095e-05,1793193336920881408
+85,1.416666667,BASELINE,763,743,712,672.689769917,659.689769917,632.689769917,876.310230083,784,799,649.310230083,629,651,0.40101317853,-0.00551624280801,0.0698513935199,0.999999985063,6.04339673563e-05,-0.000160154683521,2.39124078286e-05,1793193336937548032
+86,1.433333333,BASELINE,763,743,712,672.097488241,659.097488241,632.097488241,876.902511759,784,799,649.902511759,629,651,0.401014823559,-0.00551611442013,0.0698529353454,0.999999985392,6.06337207209e-05,-0.000157964864593,2.42374976277e-05,1793193336954214656
+87,1.450000000,BASELINE,763,742.519215601,712,672,659,632.480784399,877,784.480784399,799,649.519215601,628.519215601,651,0.401014196584,-0.00551585325726,0.0698517580294,0.999999985176,6.09633338812e-05,-0.000159244788401,2.39446763595e-05,1793193336970881280
+88,1.466666667,BASELINE,763,742,712,672,659,633,877.056142774,784.943857226,799,649,628.056142774,651,0.401013286012,-0.00551556669449,0.0698502994685,0.99999998489,6.14469460625e-05,-0.000160894083231,2.35901302138e-05,1793193336987548416
+89,1.483333333,BASELINE,763,742,712,672,659,633,877.630080025,784.369919975,799,649,628.630080025,651,0.401013888455,-0.00551528714578,0.0698511881392,0.999999984982,6.31148876015e-05,-0.00015964496054,2.37891467356e-05,1793193337004215040
+90,1.500000000,BASELINE,763.210416822,742.210416822,712,672.210416822,659.210416822,632.789583178,877.789583178,784,799,649,629,651,0.401014030427,-0.00551583980378,0.0698516459821,0.999999985066,6.30624303914e-05,-0.00015910435675,2.40057353969e-05,1793193337020881664
+91,1.516666667,BASELINE,763.802357082,742.802357082,712,672.802357082,659.802357082,632.197642918,877.197642918,784,799,649,629,651,0.401013337481,-0.00551790140186,0.069851322657,0.999999985137,5.98905815121e-05,-0.000159848424936,2.42541854767e-05,1793193337037548544
+92,1.533333333,BASELINE,763.613800337,742.613800337,712,672.613800337,659.613800337,632.386199663,876.613800337,784,799,649.386199663,629,651,0.401013106573,-0.00551791194253,0.0698512460778,0.99999998499,6.01300549897e-05,-0.000160669301412,2.42739829804e-05,1793193337054214912
+93,1.550000000,BASELINE,763.034016694,742.034016694,712,672.034016694,659.034016694,632.965983306,876.034016694,784,799,649.965983306,629,651,0.401013107265,-0.00551689438342,0.069851293181,0.999999984735,6.20794658681e-05,-0.000161528678386,2.41791675746e-05,1793193337070881280
+94,1.566666667,BASELINE,763.540339113,742.540339113,712,672,659,632.459660887,876.540339113,784,799,649.459660887,629,651,0.401013932856,-0.00551659982186,0.0698510904323,0.999999984984,6.10275327637e-05,-0.000160445691978,2.37623413347e-05,1793193337087547904
+95,1.583333333,BASELINE,763.885694461,743,712,672,659,632.114305539,876.885694461,784,799.114305539,649,629,651,0.401014451055,-0.00551642239467,0.0698509454009,0.999999985201,5.99331579621e-05,-0.000159543534576,2.34751056538e-05,1793193337104214528
+96,1.600000000,BASELINE,763.311933162,743,712,672,659,632.688066838,876.311933162,784,799.688066838,649,629,651,0.40101352702,-0.00551653466061,0.0698510949625,0.999999985175,5.94201160739e-05,-0.000159854848412,2.37894380281e-05,1793193337120881408
+97,1.616666667,BASELINE,763.271895156,743,712,672,659,633,876.543790311,784,799.728104844,649,629,651,0.401013712518,-0.00551642772552,0.069851501558,0.999999985221,5.98267957322e-05,-0.000159387318031,2.39676417297e-05,1793193337137548288
+98,1.633333333,BASELINE,763.867716941,743,712,672,659,633,877.735433882,784,799.132283059,649,629,651,0.401015219878,-0.00551605964181,0.0698522143749,0.999999985351,6.1329200353e-05,-0.000157991899151,2.39836663471e-05,1793193337154214912
+99,1.650000000,BASELINE,764,742.551379693,712,672,659,632.551379693,877.551379693,784,799,649.448620307,629,651,0.401014861068,-0.00551598625696,0.0698520483028,0.999999985243,6.17573229878e-05,-0.000158508837222,2.39700217255e-05,1793193337170881536
+100,1.666666667,BASELINE,763.974811046,742,712,671.974811046,659,632.025188954,877,784,799.025188954,649.974811046,629,651,0.401013980882,-0.0055159820456,0.069851636633,0.999999985077,6.17853589355e-05,-0.000159546485606,2.39302506738e-05,1793193337187548160
+101,1.683333333,BASELINE,763.399930283,742,712,671.399930283,659,632.600069717,877,784,799.600069717,649.399930283,629,651,0.401013344809,-0.0055156520941,0.0698513388052,0.999999985131,5.97727106958e-05,-0.000160037880319,2.35051004833e-05,1793193337204214784
+102,1.700000000,BASELINE,763,742.179560513,712,671.179560513,659,633,876.820439487,784,800,649,629,651,0.401013304006,-0.00551526776175,0.069851325646,0.999999985118,5.99161939875e-05,-0.000160081749579,2.33981932566e-05,1793193337220881408
+103,1.716666667,BASELINE,763,742.76958959,712,671.76958959,659,633,876.23041041,784,800,649,629,651,0.401014623967,-0.00551475911688,0.0698519632282,0.999999984943,6.4988512971e-05,-0.000159102592452,2.4018777509e-05,1793193337237548032
+104,1.733333333,BASELINE,763,743,712,672,659,633,876.351754246,784,800,649,629,651,0.401015322532,-0.0055142831645,0.0698524570103,0.999999985002,6.59418392463e-05,-0.000158333192423,2.40628247947e-05,1793193337254214912
+105,1.750000000,BASELINE,763,743,712,672,659,633,876.928880163,784,800,649,629,651,0.401015622964,-0.00551382815841,0.0698528586584,0.999999985219,6.42560954705e-05,-0.000157698185296,2.3737480439e-05,1793193337270881536
+106,1.766666667,BASELINE,763,742.500326948,712,671.500326948,659,632.500326948,877,784,799.500326948,649.499673052,629,651,0.401014273972,-0.00551428294756,0.0698514740751,0.999999985024,6.29446097287e-05,-0.000159481335227,2.35750358026e-05,1793193337287548416
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632,878,783,800,650,628,651,0.401013716907,-0.00551590843633,0.0698509069112,0.999999985076,6.10388372475e-05,-0.000159892024329,2.35843225914e-05,1793193337330213632
+108,1.800000000,POSE1_TO_POSE2_PRESS,763.420910044,742.579089956,712,672,659,632.579089956,877.420910044,783.579089956,799.420910044,649.420910044,628,651.579089956,0.401014202432,-0.00551498038886,0.0698517538051,0.9999999851,6.25665733744e-05,-0.000159158204973,2.35529102514e-05,1793193337346880256
+109,1.816666667,POSE1_TO_POSE2_PRESS,763,743,712,672,659,633,876.842553574,784,799.157446426,649.157446426,628.157446426,651.842553574,0.401014670229,-0.00551481968537,0.0698523551842,0.99999998514,6.33619257996e-05,-0.000158585427086,2.35817934081e-05,1793193337363546880
+110,1.833333333,POSE1_TO_POSE2_PRESS,763,743,712,672,659,633,876.266148753,784,799.733851247,649.733851247,628.733851247,651.266148753,0.401015090851,-0.00551670085212,0.0698523032588,0.999999985231,6.2208435978e-05,-0.000158441173695,2.37711203683e-05,1793193337380213504
+111,1.850000000,POSE1_TO_POSE2_PRESS,763,742.689720056,712,672,659,632.689720056,876.310279944,784,800,649.689720056,629,650.689720056,0.401015704964,-0.00551704878495,0.0698525870538,0.999999985417,6.07671592658e-05,-0.000157824460663,2.37772226705e-05,1793193337396880128
+112,1.866666667,POSE1_TO_POSE2_PRESS,763,742.113270912,712,672,659,632.113270912,876.886729088,784,800,649.113270912,629,650.113270912,0.40101648506,-0.00551608145494,0.0698531588416,0.999999985682,5.90790087654e-05,-0.000156802454915,2.36261483157e-05,1793193337413547008
+113,1.883333333,POSE1_TO_POSE2_PRESS,763.473108932,742,712,672,659.473108932,632,877,784,800,649,629,650.473108932,0.401016278443,-0.00551529849606,0.0698528797687,0.99999998539,6.01239451016e-05,-0.000158281467583,2.35066496652e-05,1793193337430213632
+114,1.900000000,POSE1_TO_POSE2_PRESS,763.939223678,742,712.060776322,672,659.939223678,632.060776322,877,784,800,649,629,651,0.40101655796,-0.0055148587661,0.0698528856136,0.999999985011,6.16262585845e-05,-0.000160085776546,2.3501098759e-05,1793193337446880256
+115,1.916666667,POSE1_TO_POSE2_PRESS,763.361265884,742,712.638734116,672,659.361265884,632.638734116,877,784,800,649,629,651,0.401023027648,-0.0055169560905,0.0698570866618,0.999999985109,6.13330215985e-05,-0.000159453523257,2.43994861734e-05,1793193337463546880
+116,1.933333333,POSE1_TO_POSE2_PRESS,763,742,712.785316246,672,659,632.785316246,877,784,800.214683754,649,628.785316246,651,0.401035593849,-0.0055178445385,0.0698631352437,0.999999985434,6.17041591906e-05,-0.000157131638958,2.5168282253e-05,1793193337480213248
+117,1.950000000,POSE1_TO_POSE2_PRESS,763,742,712.212714635,672,659,632.212714635,877,784,800.787285365,649,628.212714635,651,0.401058324071,-0.00551671756386,0.0698722640086,0.999999986122,6.31829331391e-05,-0.000151992824701,2.57210253181e-05,1793193337496880128
+118,1.966666667,POSE1_TO_POSE2_PRESS,763.365041903,742,712,671.634958097,659,632,876.634958097,784,800.634958097,649,628.365041903,651,0.401096654518,-0.00551728961015,0.0698830060278,0.999999987481,6.36397102294e-05,-0.000142527426457,2.59773178139e-05,1793193337513547008
+119,1.983333333,POSE1_TO_POSE2_PRESS,763.945845364,742,712,671.054154636,659,632,876.054154636,784,800.054154636,649,628.945845364,651,0.401144205632,-0.00551886587915,0.0698947015775,0.999999989129,6.34924262955e-05,-0.000130504758264,2.60583903746e-05,1793193337530213632
+120,2.000000000,POSE1_TO_POSE2_PRESS,762.930992994,742,712,671,659,632,876.534503503,784,799.465496497,649,629,651,0.401208764535,-0.00552110523131,0.0699009725817,0.99999999039,6.0739589349e-05,-0.00012208344298,2.50358250379e-05,1793193337546880000
+121,2.016666667,POSE1_TO_POSE2_PRESS,762.121521251,742.121521251,712,671.121521251,659,632,877,784,799.121521251,649,629,651,0.401278718071,-0.0055234673701,0.0699057655938,0.999999991381,5.7698868158e-05,-0.000115513931673,2.37867010897e-05,1793193337563546880
+122,2.033333333,POSE1_TO_POSE2_PRESS,762.699346791,742.699346791,712,671.699346791,659,632,877,784,799.699346791,649,629,651,0.401362361158,-0.00552603453881,0.0699071033444,0.99999999171,5.45832032466e-05,-0.000114507283111,2.21129954779e-05,1793193337580213504
+123,2.050000000,POSE1_TO_POSE2_PRESS,763,742.724209614,712,672,659,632.275790386,877,784,799.724209614,649,629,651,0.40145562333,-0.0055277907029,0.0699065203848,0.999999991433,5.25353533411e-05,-0.000118254063698,1.97240773025e-05,1793193337596880128
+124,2.066666667,POSE1_TO_POSE2_PRESS,763,742.149265073,712,672,659,632.850734927,877,784,799.149265073,649,629,651,0.40155931947,-0.00552866715742,0.0699038540007,0.999999990445,5.1645779297e-05,-0.000127156963456,1.65593569464e-05,1793193337613546752
+125,2.083333333,POSE1_TO_POSE2_PRESS,763,742.426364138,712,672,659,632.573635862,877,784,799,649,629,651,0.401690562517,-0.00553049540773,0.0699030110534,0.999999990168,4.87185341613e-05,-0.000130894995283,1.25096581453e-05,1793193337630213376
+126,2.100000000,POSE1_TO_POSE2_PRESS,763,742.997704858,712,672,659,632.002295142,877,783.997704858,799,649,629,651,0.401831576376,-0.00553265673043,0.0699028130322,0.99999999013,4.50767106959e-05,-0.000132819439839,8.15001106812e-06,1793193337646879744
+127,2.116666667,POSE1_TO_POSE2_PRESS,763,742.40592023,712,672,659,632.59407977,877,783.40592023,799,649,629,651,0.402001217012,-0.00553464442165,0.0699040367355,0.999999990144,4.14178524567e-05,-0.000134096793022,3.88552489491e-06,1793193337663546368
+128,2.133333333,POSE1_TO_POSE2_PRESS,763,742,712,672,659,633,877,783.362462139,799,649,628.818768931,651,0.402183343885,-0.00553642883838,0.0699060037693,0.999999990436,3.69061367354e-05,-0.000133288589583,-7.73897609489e-07,1793193337680213248
+129,2.150000000,POSE1_TO_POSE2_PRESS,763,742,712,672,659,633,877,784.516526589,799,649,628.241736705,651,0.402392740163,-0.0055377693118,0.0699095942057,0.999999991332,3.05318160456e-05,-0.000127925616617,-6.29584415907e-06,1793193337696880128
+130,2.166666667,POSE1_TO_POSE2_PRESS,763,742.333342891,712,671.666657109,659,632.666657109,877,784.666657109,799.333342891,649,628.333342891,651,0.402623565166,-0.00554027331751,0.0699122272768,0.999999991933,1.94728937894e-05,-0.000124915414483,-1.22460059032e-05,1793193337713547008
+131,2.183333333,POSE1_TO_POSE2_PRESS,763,742.907014767,712,671.092985233,659,632.092985233,877,784.092985233,799.907014767,649,628.907014767,651,0.402869839578,-0.0055436161909,0.0699141701201,0.999999992177,5.03653108883e-06,-0.00012360148022,-1.85048969333e-05,1793193337730213632
+132,2.200000000,POSE1_TO_POSE2_PRESS,763,743,712,671.480998477,659,632,877.480998477,784,799.519001523,649,629,651,0.403163082756,-0.0055471798478,0.0699214015716,0.999999992898,-3.43904321325e-05,-0.00011181292342,-2.27738900013e-05,1793193337746880000
+133,2.216666667,POSE1_TO_POSE2_PRESS,763.057258866,743,712,672,659,632.057258866,877.942741134,784,799,649,628.942741134,651,0.403468446673,-0.00555085822149,0.0699296440644,0.999999992227,-7.23279205807e-05,-9.82040996863e-05,-2.59147655858e-05,1793193337763546880
+134,2.233333333,POSE1_TO_POSE2_PRESS,763.654417884,743,712,672,659,632.654417884,877.345582116,784,799,649,628.345582116,651,0.403802427969,-0.00555521556753,0.0699377734093,0.99999999473,-5.06383907432e-05,-8.65373868004e-05,-2.20480555583e-05,1793193337780213504
+135,2.250000000,POSE1_TO_POSE2_PRESS,763.757088346,743,712,672,659,633,877,784.242911654,799.242911654,649,628.242911654,651,0.404151135114,-0.00556119649654,0.0699432028616,0.999999995863,-3.97163558168e-05,-7.93633523881e-05,-1.99339834959e-05,1793193337796880128
+136,2.266666667,POSE1_TO_POSE2_PRESS,763.180497749,743,712,672,659,633,877,784.819502251,799.819502251,649,628.819502251,651,0.404520070605,-0.00556940768242,0.0699449235687,0.999999995775,-4.3585240001e-05,-7.83607484338e-05,-2.02274469746e-05,1793193337813546752
+137,2.283333333,POSE1_TO_POSE2_PRESS,763.392692841,743,712,672,659,633,877,784.607307159,800,649,629,650.607307159,0.404922131726,-0.00557229372978,0.0699489636041,0.999999995616,-5.78294845912e-05,-7.03724977768e-05,-2.16918390313e-05,1793193337830213376
+138,2.300000000,POSE1_TO_POSE2_PRESS,763.964334048,743,712,672,659,633,877,784.035665952,800,649,629,650.035665952,0.405339288039,-0.00557275313518,0.069954060547,0.999999995018,-7.68017342544e-05,-5.92009192477e-05,-2.36898179723e-05,1793193337846880256
+139,2.316666667,POSE1_TO_POSE2_PRESS,763.443404006,743,712,672,659.556595994,632.443404006,877,784,799.443404006,649,629,650.556595994,0.405791880922,-0.00556302554535,0.0699535320645,0.999999996344,-5.70831417143e-05,-5.86427660427e-05,-2.4785580927e-05,1793193337863547136
+140,2.333333333,POSE1_TO_POSE2_PRESS,763,743,712,672,659.853771719,632.146228281,877,784,799,649,629,651,0.406249560642,-0.00555391150693,0.0699474257798,0.999999996512,-3.98538436151e-05,-6.86316848311e-05,-2.60314926086e-05,1793193337880213760
+141,2.350000000,POSE1_TO_POSE2_PRESS,763,743,712,672,659.275950986,632.724049014,877,784,799,649,629,651,0.406715294158,-0.00554860913833,0.0699259614835,0.999999993109,-3.75707543098e-05,-0.000107665738534,-2.78977670647e-05,1793193337896880128
+142,2.366666667,POSE1_TO_POSE2_PRESS,763,743,712,672,659,633,877,784,799,649,629,650.699571923,0.407217818056,-0.00554726395069,0.0699103705879,0.999999990454,-3.81724839007e-05,-0.000129251015977,-3.04826595811e-05,1793193337913546752
+143,2.383333333,POSE1_TO_POSE2_PRESS,763,743,712,672,659,633,877,784,799,649,629,650.124510682,0.407753973547,-0.00554953617778,0.0699001487973,0.999999989477,-4.1411340101e-05,-0.000134885682831,-3.37244694775e-05,1793193337930213376
+144,2.400000000,POSE1_TO_POSE2_PRESS,763.434166835,743,712,672,659,632.565833165,877.434166835,784,799,649,629,650.434166835,0.408352391744,-0.0055544949972,0.0699133956353,0.999999992514,-4.72922311606e-05,-0.000107475015146,-3.44175466218e-05,1793193337946880000
+145,2.416666667,POSE1_TO_POSE2_PRESS,763.988316638,743,712,672,659,632.011683362,877.988316638,784,799,649,629,650.988316638,0.408968016346,-0.00556019626224,0.0699331280816,0.99999999544,-5.39032541668e-05,-7.09321954343e-05,-3.44062755756e-05,1793193337963546624
+146,2.433333333,POSE1_TO_POSE2_PRESS,763.396742413,743,712,672,659,632,877.396742413,784,799,649,629,650.396742413,0.409604680176,-0.0055631922922,0.0699402644924,0.999999996273,-6.03831012783e-05,-5.00657290833e-05,-3.6063782351e-05,1793193337980213504
+147,2.450000000,POSE1_TO_POSE2_PRESS,763,743,712,672.205247358,659,632.205247358,877.205247358,784,799,649,628.794752642,650.205247358,0.410241232106,-0.00556469415427,0.0699429037463,0.999999996326,-6.47562043743e-05,-4.19237323193e-05,-3.73664850833e-05,1793193337996880384
+148,2.466666667,POSE1_TO_POSE2_PRESS,763,743,712,672.78146247,659,632.78146247,877.78146247,784,799,649,628.21853753,650.78146247,0.41087676275,-0.00556360073769,0.0699379050865,0.999999995568,-6.53266465621e-05,-5.61699339945e-05,-3.7962947646e-05,1793193338013547008
+149,2.483333333,POSE1_TO_POSE2_PRESS,763,743,712,672.642246664,659.357753336,633,877.642246664,784,799,649,628.357753336,650.642246664,0.411553549135,-0.00556182695453,0.069940544712,0.999999995844,-6.45396777116e-05,-5.10721589451e-05,-3.92156162817e-05,1793193338030213376
+150,2.500000000,POSE1_TO_POSE2_PRESS,763,743,712,672.065909533,659.934090467,633,877.065909533,784,799,649,628.934090467,650.065909533,0.412255542353,-0.00555963747409,0.0699478512553,0.999999996602,-6.2923343944e-05,-3.41554025171e-05,-4.08692203912e-05,1793193338046880000
+151,2.516666667,POSE1_TO_POSE2_PRESS,763,743,712.525070112,672,660,633,877,784,799,649,628.474929888,650,0.413022852329,-0.00555651811786,0.069980984849,0.999999997277,-6.0387508902e-05,1.55729871204e-05,-3.94623193607e-05,1793193338063546880
+152,2.533333333,POSE1_TO_POSE2_PRESS,763,743,712.88506379,672,660,632.88506379,877,784,799,649,628.11493621,650,0.413788834273,-0.00555399335041,0.0700084284895,0.999999996117,-5.70749652625e-05,5.51228958578e-05,-3.83289811822e-05,1793193338080213504
+153,2.550000000,POSE1_TO_POSE2_PRESS,763,743,712.307295658,672,660,632.307295658,877,784,799,649,628.692704342,650,0.414515505281,-0.00555434641903,0.0699995301201,0.999999997228,-5.11128423696e-05,3.66243288968e-05,-3.98886219713e-05,1793193338096880128
+154,2.566666667,POSE1_TO_POSE2_PRESS,763,743,712,672,659.732046708,632,877,784,799,649,628.732046708,650,0.415229466057,-0.00555361442129,0.0699667116408,0.999999997299,-5.5796716728e-05,-2.03821415313e-05,-4.32828361193e-05,1793193338113547008
+155,2.583333333,POSE1_TO_POSE2_PRESS,763,743,712,672,659.159659839,632,877,784,799,649,628.159659839,650,0.415928986268,-0.00555164963174,0.0699067164664,0.99999998884,-7.25759779763e-05,-0.000121139145556,-4.87613900409e-05,1793193338130214144
+156,2.600000000,POSE1_TO_POSE2_PRESS,763,743,712,672,659.413938089,632,877,783.586061911,799,649,628.413938089,650.413938089,0.416708068508,-0.00555291695236,0.0698949365896,0.999999985963,-7.67884275965e-05,-0.000139665175765,-5.1676257168e-05,1793193338146880256
+157,2.616666667,POSE1_TO_POSE2_PRESS,763,743,712,672,659.988004469,632,877,783.011995531,799,649,628.988004469,650.988004469,0.417517928574,-0.00555543458635,0.0699018083782,0.999999987679,-7.61395163886e-05,-0.000126380874849,-5.35993845114e-05,1793193338163546880
+158,2.633333333,POSE1_TO_POSE2_PRESS,763,743,712,672.583385085,659.416614915,632,877.583385085,783,799,649.583385085,629,650.416614915,0.418374322536,-0.00555866993193,0.0699402236104,0.999999993527,-7.75546214518e-05,-6.60849427529e-05,-5.06336074502e-05,1793193338180213504
+159,2.650000000,POSE1_TO_POSE2_PRESS,763,742.827258877,712,673,659.172741123,632,878,783.172741123,799,649.827258877,629,650,0.41922554693,-0.00556092030176,0.0699734464879,0.999999995585,-7.90485524062e-05,-1.60972033935e-05,-4.81991719424e-05,1793193338196880384
+160,2.666666667,POSE1_TO_POSE2_PRESS,763,742.252964976,712,673,659.747035024,632,878,783.747035024,799,649.252964976,629,650,0.420062445557,-0.00556084539768,0.0699930343604,0.999999995605,-8.0623324641e-05,7.59590124399e-06,-4.72424316797e-05,1793193338213547008
+161,2.683333333,POSE1_TO_POSE2_PRESS,763.321117331,742.321117331,712,673,660,632.321117331,877.678882669,784.321117331,799,649,628.678882669,650.321117331,0.420899475558,-0.00556118469068,0.0700072526032,0.999999995285,-8.09501025274e-05,2.61078763442e-05,-4.68523682221e-05,1793193338230213376
+162,2.700000000,POSE1_TO_POSE2_PRESS,763.895033035,742.895033035,712,673,660,632.895033035,877.104966965,784.895033035,799,649,628.104966965,650.895033035,0.421736608944,-0.00556185005873,0.0700172436251,0.999999994854,-8.02944016449e-05,4.05410262058e-05,-4.69084189327e-05,1793193338246880256
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,743,712,673,660,632.514464164,877,784.514464164,799.485535836,649,628.485535836,651,0.422515803405,-0.00555991547028,0.0699825647918,0.999999995587,-7.81390674989e-05,-1.46894714551e-05,-5.00419676681e-05,1793193338263546880
+164,2.733333333,POSE1_TO_POSE2_PRESS,763.922844018,743,712,673,660,632,877,784,800,649,629,650.922844018,0.423282636659,-0.0055572099081,0.0699342330888,0.999999991495,-7.69009009238e-05,-9.03468094666e-05,-5.41688669488e-05,1793193338280213504
+165,2.750000000,POSE1_TO_POSE2_PRESS,763.347966809,743,712,673,660,632,877,784,800,649,629,650.347966809,0.424053388635,-0.00555328505086,0.0698623286703,0.999999975237,-8.37445963276e-05,-0.000197185586044,-6.02600471018e-05,1793193338296880128
+166,2.766666667,POSE1_TO_POSE2_PRESS,763.227773465,742.772226535,712,673,660,632,877,784,800,649,628.772226535,650,0.424869004312,-0.0055530862172,0.06983741349,0.999999967895,-8.83718461462e-05,-0.000228940317438,-6.31475062556e-05,1793193338313546752
+167,2.783333333,POSE1_TO_POSE2_PRESS,763.804837337,742.195162663,712,673,660,632,877,784,800,649,628.195162663,650,0.425753418553,-0.00555860123681,0.0698845562541,0.999999983525,-8.96001804326e-05,-0.000145553749954,-6.1122063572e-05,1793193338330213376
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,742.37952562,712,673,660,632,877,784,800,649,628.37952562,650,0.426614651267,-0.00556257233429,0.0699359147853,0.999999991567,-9.18013219097e-05,-7.14643178827e-05,-5.77218228603e-05,1793193338346880256
+169,2.816666667,POSE1_TO_POSE2_PRESS,764,742.952999872,712,673,660,632,877,784,800,649,628.952999872,650,0.427464037492,-0.00556575444231,0.0699894276933,0.999999994095,-9.44995959356e-05,-2.12599744633e-06,-5.36190203919e-05,1793193338363546880
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,743,712,673,660,632.547372679,877.547372679,784,799.452627321,649,628.452627321,650,0.428277167761,-0.00556692969804,0.0700048564127,0.999999993932,-9.43928523728e-05,2.06013011573e-05,-5.29290901895e-05,1793193338380213504
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,743,712,673,660,632.861525674,877.861525674,784,799.138474326,649,628,650,0.429084132962,-0.00556797993286,0.0700129133154,0.999999993562,-9.44507973859e-05,3.42164301474e-05,-5.27618260831e-05,1793193338396880128
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,743,712,673,660,632.286614134,877.286614134,784,799.713385866,649,628,650,0.429881868604,-0.0055692007961,0.0700084517219,0.999999993471,-9.58170424127e-05,3.22270724841e-05,-5.32816050832e-05,1793193338413546752
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,743,712,673,660,632,877.287278804,784,800,649,628,650,0.430616197967,-0.00556884283183,0.0699795103163,0.999999993623,-9.74676749876e-05,-1.60771241848e-05,-5.47356129351e-05,1793193338430213376
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,743,712,673,660,632,877.860159052,784,800,649,628,650,0.431287491221,-0.00556691525841,0.0699262320312,0.999999987332,-9.94010339033e-05,-0.000110425737433,-5.71183944855e-05,1793193338446880000
+175,2.916666667,POSE1_TO_POSE2_PRESS,764,743,712,673.435841073,660,632,878,783.564158927,800,649,628,650,0.431972627123,-0.00556608179935,0.0698892531091,0.99999997831,-0.000100534496627,-0.000172196320495,-6.01692838912e-05,1793193338463546880
+176,2.933333333,POSE1_TO_POSE2_PRESS,764,742.987174005,712,674,660,632,877.987174005,783.012825995,799.987174005,649,628.012825995,650,0.432664053233,-0.00556573670307,0.0698594458201,0.999999968614,-0.000101565091498,-0.00022010612073,-6.33188106951e-05,1793193338480213504
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,742.392118389,712,674,660,632,877.392118389,783.607881611,799.392118389,649,628.607881611,650,0.433438095568,-0.00557152175076,0.0699162557107,0.999999985346,-0.000109651888731,-0.000116380313032,-6.11519953876e-05,1793193338496880128
+178,2.966666667,POSE1_TO_POSE2_PRESS,763.80381494,742.19618506,712,673.80381494,660,632,877.19618506,784,799.19618506,649.19618506,628.80381494,650,0.434190050524,-0.00557598750687,0.0699671762722,0.999999991348,-0.000114379594731,-2.89265650342e-05,-5.81777075931e-05,1793193338513546752
+179,2.983333333,POSE1_TO_POSE2_PRESS,763.228558033,742.771441967,712,673.228558033,660,632,877.771441967,784,799.771441967,649.771441967,628.228558033,650,0.434899328038,-0.00557790410812,0.0700067173895,0.999999991853,-0.000112616815072,2.70860704674e-05,-5.36432093515e-05,1793193338530213376
+180,3.000000000,POSE1_TO_POSE2_PRESS,763.346013514,743,712,673.692027027,660,632,877.653986486,784,799.653986486,649.653986486,628.346013514,650,0.43554250593,-0.0055787474186,0.0700099912998,0.999999991686,-0.000113305466699,3.1428254609e-05,-5.29363896274e-05,1793193338546880000
+181,3.016666667,POSE1_TO_POSE2_PRESS,763.920133207,743,712,674.840266415,660,632,877.079866793,784,799.079866793,649.079866793,628.920133207,650,0.436142108222,-0.00557888317203,0.0699893563901,0.999999991817,-0.000115610201716,1.70717254135e-06,-5.47529315577e-05,1793193338563546880
+182,3.033333333,POSE1_TO_POSE2_PRESS,763.489777567,743,712,674.489777567,660,632,877.510222433,784,799,649,629,650,0.436692599661,-0.00558045263301,0.0699560379238,0.999999990669,-0.000115909522551,-4.53599726898e-05,-5.62895452423e-05,1793193338580213504
+183,3.050000000,POSE1_TO_POSE2_PRESS,763,743,712,674,659.899881306,632,878,783.899881306,799,649,628.899881306,650,0.437230655915,-0.00558192763045,0.0699208917595,0.999999987071,-0.000116927224071,-9.3771273432e-05,-5.82510370742e-05,1793193338596880384
+184,3.066666667,POSE1_TO_POSE2_PRESS,763,743,712,674,659.323187184,632,878,783.323187184,799,649,628.323187184,650,0.437747294954,-0.00558185017847,0.0698868016248,0.999999981352,-0.00012290703763,-0.000135238480331,-6.24503116094e-05,1793193338613547008
+185,3.083333333,POSE1_TO_POSE2_PRESS,763.251522588,742.748477412,712,673.748477412,659.251522588,631.748477412,878,783,799.251522588,649,628.251522588,650,0.438242527513,-0.00558069202535,0.0698531206653,0.999999973719,-0.000122723928093,-0.000182413023606,-6.50117400524e-05,1793193338630213632
+186,3.100000000,POSE1_TO_POSE2_PRESS,763.823702538,742.176297462,712,673.176297462,659.823702538,631.176297462,878,783,799.823702538,649,628.823702538,650,0.438710469662,-0.00557815612411,0.0698199613516,0.999999963227,-0.000114683922653,-0.00023686364739,-6.54851353695e-05,1793193338646880256
+187,3.116666667,POSE1_TO_POSE2_PRESS,764,742.411371773,711.588628227,673.411371773,659.588628227,631.411371773,878,783,800,649,629,650,0.439133151769,-0.00557634382261,0.0697884434347,0.999999948576,-0.000108961058437,-0.000294625875219,-6.45801641483e-05,1793193338663546624
+188,3.133333333,POSE1_TO_POSE2_PRESS,763.994224834,743,711.005775166,674,659,631.994224834,878,783,800,649,628.994224834,650.005775166,0.439535778577,-0.00557485838012,0.0697578939254,0.999999930143,-0.000104338476447,-0.000353333911425,-6.31011740081e-05,1793193338680213248
+189,3.150000000,POSE1_TO_POSE2_PRESS,763.416046819,743,711.583953181,674,659,631.416046819,878,783,800,649,628.416046819,650.583953181,0.439948338606,-0.00557383085571,0.0697508792368,0.999999927518,-0.000106494886819,-0.000359615778144,-6.55675598741e-05,1793193338696880128
+190,3.166666667,POSE1_TO_POSE2_PRESS,763.16087538,743,712,674.16087538,659,631.16087538,878,783,800,649,628.16087538,650.83912462,0.440354766378,-0.00557414618441,0.069749613384,0.999999927322,-0.000109047432083,-0.000359089822115,-6.72194142371e-05,1793193338713546496
+191,3.183333333,POSE1_TO_POSE2_PRESS,763.734575139,743,712,674.734575139,659,631.734575139,878,783,800,649,628.734575139,650.265424861,0.440745458172,-0.00557790742551,0.0697630996913,0.999999933256,-0.000112616504629,-0.00034109422601,-6.67810893708e-05,1793193338730213376
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,743,712,675,658.691306072,632,878.308693928,783,799.691306072,649,629,650,0.441108842531,-0.00558134470312,0.0697705520094,0.999999934869,-0.000118790891799,-0.000334328905874,-6.61399036324e-05,1793193338746880256
+193,3.216666667,POSE1_TO_POSE2_PRESS,764,743,712,675,658.116826532,632,878.883173468,783,799.116826532,649,629,650,0.44144871515,-0.00558450304781,0.0697728090593,0.999999932912,-0.000127208455853,-0.000337232859598,-6.53240546268e-05,1793193338763546880
+194,3.233333333,POSE1_TO_POSE2_PRESS,764,742.526513511,712,675,658,631.526513511,878.526513511,783,799.473486489,649.473486489,628.526513511,650.473486489,0.441733296582,-0.00558380793734,0.0697641571369,0.999999928062,-0.000123077753965,-0.00035288828998,-6.4796538053e-05,1793193338780213504
+195,3.250000000,POSE1_TO_POSE2_PRESS,763.934462726,742.065537274,712,674.934462726,658,631,878,783,800,649.934462726,628,650.934462726,0.441997655331,-0.00558213313896,0.0697516259652,0.99999992129,-0.000116078910035,-0.000373889598606,-6.4437600156e-05,1793193338796879872
+196,3.266666667,POSE1_TO_POSE2_PRESS,763.360293902,742.639706098,712,674.360293902,658,631,878,783,800,649.360293902,628,650.360293902,0.44221460768,-0.00558048935148,0.0697306005767,0.999999907154,-0.000111680710081,-0.000411117259685,-6.48157597574e-05,1793193338813546752
+197,3.283333333,POSE1_TO_POSE2_PRESS,763.431645814,742.784177093,712,674,658,631,878,783,799.784177093,649,628,650.215822907,0.44242416369,-0.00557941024799,0.0697116145488,0.999999893716,-0.000109982041404,-0.000442974775889,-6.5152158085e-05,1793193338830213376
+198,3.300000000,POSE1_TO_POSE2_PRESS,764.590442472,742.204778764,712,674,658,631,878,783,799.204778764,649,628,650.795221236,0.442621259802,-0.00557928241169,0.0696960640314,0.999999883017,-0.000112831005657,-0.000465785739095,-6.54182054038e-05,1793193338846880000
+199,3.316666667,POSE1_TO_POSE2_PRESS,764.619850599,742.380149401,712,674,658,631,878,783,799.760298802,649,628,651,0.442801201424,-0.0055810146371,0.0696861018505,0.999999875197,-0.00011594616023,-0.0004815962997,-6.50125263553e-05,1793193338863546880
+200,3.333333333,POSE1_TO_POSE2_PRESS,764.031899598,742.968100402,712,674,658,631,878,783,800.936200803,649,628,651,0.442971765882,-0.00558376363063,0.0696791944284,0.999999869021,-0.000119206823064,-0.000493580222581,-6.42396606115e-05,1793193338880213504
+201,3.350000000,POSE1_TO_POSE2_PRESS,763.451793395,743,711.451793395,674,658,631,878,783,800.451793395,649.548206605,628,650.451793395,0.443120179899,-0.005583101594,0.0696799705278,0.999999869665,-0.000118174828584,-0.000492501596531,-6.43910646651e-05,1793193338896880128
+202,3.366666667,POSE1_TO_POSE2_PRESS,763.126936624,743,711.126936624,674,658,630.873063376,878,782.873063376,800,649.873063376,628.126936624,650.126936624,0.443259946638,-0.0055828106261,0.0696799651,0.999999869817,-0.000117360100256,-0.000492367411643,-6.45458911694e-05,1793193338913547008
+203,3.383333333,POSE1_TO_POSE2_PRESS,763.702394338,743,711.702394338,674,658,630.297605662,878,782.297605662,800,649.297605662,628.702394338,650.702394338,0.443373648926,-0.00558452223725,0.0696756407098,0.999999866824,-0.000118183211902,-0.000498218193228,-6.45254558417e-05,1793193338930213376
+204,3.400000000,POSE1_TO_POSE2_PRESS,764,743,712,674,658,630,878.276686066,782,800,649,629,650.723313934,0.443473670025,-0.00558579537858,0.0696699601547,0.999999863042,-0.000119100024807,-0.000505518161829,-6.467458668e-05,1793193338946880000
+205,3.416666667,POSE1_TO_POSE2_PRESS,764,743,712,674,658,630,878.84972888,782,800,649,629,650.15027112,0.443559037281,-0.00558659887747,0.0696628270197,0.999999858385,-0.000120117200504,-0.000514370345381,-6.50053387972e-05,1793193338963546624
+206,3.433333333,POSE1_TO_POSE2_PRESS,764,743,712,674,658,630,878.562235396,782,799.562235396,649,628.562235396,650.437764604,0.443627489957,-0.00558713783404,0.0696573634064,0.999999853767,-0.000119942857998,-0.000523311231484,-6.49981224732e-05,1793193338980213504
+207,3.450000000,POSE1_TO_POSE2_PRESS,764,743,712,674,658,630,878,782,799.030380446,649,628.030380446,650.969619554,0.443689215038,-0.00558746867093,0.0696526391719,0.999999849327,-0.000119219337504,-0.000531906363701,-6.48794609461e-05,1793193338996880384
+208,3.466666667,POSE1_TO_POSE2_PRESS,764,743,712,674,658,630,878,782,799.609468557,649,628.609468557,650.390531443,0.443738018593,-0.00558573890382,0.0696505511399,0.999999848727,-0.000116226217686,-0.000533687319084,-6.49176288919e-05,1793193339013547008
+209,3.483333333,POSE1_TO_POSE2_PRESS,764,743,712,674,658,630,878.186821651,782,800,649,629,650,0.443782433413,-0.00558466194191,0.0696498223568,0.999999848774,-0.000114820473589,-0.00053391811676,-6.48106668125e-05,1793193339030213632
+210,3.500000000,POSE1_TO_POSE2_PRESS,764,743,712,674,658,630,878.760581172,782,800,649,629,650,0.44381775845,-0.00558493704538,0.0696519087983,0.999999850169,-0.000116702441862,-0.000530938286751,-6.44031169606e-05,1793193339046880256
+211,3.516666667,POSE1_TO_POSE2_PRESS,764,743,711.665833382,674,658.334166618,630,879,782.334166618,800,649,628.665833382,650.334166618,0.443844636251,-0.0055856366332,0.0696536593044,0.999999850896,-0.000116481468398,-0.000529681449644,-6.38609834354e-05,1793193339063546880
+212,3.533333333,POSE1_TO_POSE2_PRESS,764,743,711.092372533,674,658.907627467,630,879,782.907627467,800,649,628.092372533,650.907627467,0.443865465052,-0.00558664019111,0.0696551692496,0.999999851148,-0.000114754594177,-0.000529658434643,-6.32224755002e-05,1793193339080213504
+213,3.550000000,POSE1_TO_POSE2_PRESS,764,743,711,674.497765416,658.502234584,630,879,782.502234584,800.497765416,649,628,650.502234584,0.44387798021,-0.00558570983576,0.0696535015958,0.999999850207,-0.000114081572314,-0.000531626454124,-6.28032625055e-05,1793193339096880128
+214,3.566666667,POSE1_TO_POSE2_PRESS,764,743,711.088490048,674.911509952,658,630,879,782.088490048,800.823019903,649,628,650.088490048,0.443887955132,-0.00558467997406,0.0696513855798,0.999999848977,-0.000113912474321,-0.000534011828845,-6.24545522348e-05,1793193339113547008
+215,3.583333333,POSE1_TO_POSE2_PRESS,764,743,711.664796828,674.335203172,658,630,879,782.664796828,799.670406344,649,628,650.664796828,0.443892726343,-0.00558514856326,0.0696501612961,0.999999847438,-0.00011540586824,-0.000536590488854,-6.22623822563e-05,1793193339130213376
+216,3.600000000,POSE1_TO_POSE2_PRESS,764,742.759458218,712,674,657.759458218,630,878.759458218,782.759458218,799.240541782,649,628,650.759458218,0.443897005195,-0.0055848938365,0.0696496166843,0.999999846716,-0.000114807113014,-0.000538090883127,-6.2008236488e-05,1793193339146880256
+217,3.616666667,POSE1_TO_POSE2_PRESS,764,742.184494398,712,674,657.184494398,630,878.184494398,782.184494398,799.815505602,649,628,650.184494398,0.443900599528,-0.00558363349318,0.0696500170111,0.999999847133,-0.000111299670571,-0.000538092178741,-6.16679266153e-05,1793193339163546880
+218,3.633333333,POSE1_TO_POSE2_PRESS,764,742.401694876,711.598305124,674,657,630,878.401694876,782,800,649,628,650.401694876,0.443903235103,-0.0055831353577,0.0696498433104,0.999999847317,-0.000110667531653,-0.000537878401833,-6.16900888301e-05,1793193339180213760
+219,3.650000000,POSE1_TO_POSE2_PRESS,764,742.993188092,711.006811908,674,657,630,878.993188092,782,800,649,628,650.993188092,0.44390541767,-0.00558299736073,0.0696493983851,0.999999847394,-0.000111393955926,-0.000537563004491,-6.18835168693e-05,1793193339196880640
+220,3.666666667,POSE1_TO_POSE2_PRESS,764,743,711.569657105,674,657.569657105,630,878.430342895,782,800,649,628,651,0.443905946592,-0.00558170172666,0.0696497617208,0.999999847896,-0.000108364057117,-0.000537299664228,-6.14286105258e-05,1793193339213546752
+221,3.683333333,POSE1_TO_POSE2_PRESS,764,743,712,674,658,630,878,782,800,649,628,651,0.443905691677,-0.00558089049509,0.0696494128735,0.999999847683,-0.000106415293736,-0.000538123176765,-6.11019832724e-05,1793193339230213376
+222,3.700000000,POSE1_TO_POSE2_PRESS,764,743,712,674,658,630,878,782,800,649,628,651,0.443903182396,-0.00558154731221,0.0696469363596,0.999999845357,-0.000107783342121,-0.000542149531577,-6.11758641406e-05,1793193339246880256
+223,3.716666667,POSE1_TO_POSE2_PRESS,764,743,711.704157135,674.295842865,657.704157135,630.295842865,878.295842865,782,800,649,628.295842865,650.704157135,0.443903793484,-0.0055813995741,0.0696466556363,0.999999845391,-0.000107511843438,-0.000542158367846,-6.10157989264e-05,1793193339263546880
+224,3.733333333,POSE1_TO_POSE2_PRESS,764,743,711.126830724,674.873169276,657.126830724,630.873169276,878.873169276,782,800,649,628.873169276,650.126830724,0.44390737349,-0.00558048633153,0.0696484641263,0.99999984767,-0.000105680376513,-0.000538344684269,-6.06331426752e-05,1793193339280213248
+225,3.750000000,POSE1_TO_POSE2_PRESS,764,743,711.462622089,675,657,630.537377911,879,782,800,649,628.537377911,650,0.443908125208,-0.00558072434746,0.0696490027074,0.999999847696,-0.00010597189527,-0.000538243026174,-6.06028153061e-05,1793193339296879872
+226,3.766666667,POSE1_TO_POSE2_PRESS,764,743,711.946033671,675,657,630,879,782.053966329,800,649,628.053966329,650.053966329,0.443908023736,-0.00558124161287,0.069649105025,0.999999847072,-0.000107100433352,-0.000539164457084,-6.07168790737e-05,1793193339313546752
+227,3.783333333,POSE1_TO_POSE2_PRESS,764,743,711.369434463,675,657,630,879,782.630565537,800,649,628.630565537,650.630565537,0.44390737097,-0.00558132432723,0.0696484448042,0.999999846281,-0.000110546673547,-0.000539873029267,-6.12686585313e-05,1793193339330213376
+228,3.800000000,POSE1_TO_POSE2_PRESS,764,743,711.20667176,674.79332824,657.20667176,630,879,782.79332824,800,649.20667176,628.79332824,651,0.443906974987,-0.00558181706171,0.0696479245028,0.99999984567,-0.000112073196081,-0.0005406792764,-6.13697966946e-05,1793193339346880000
+229,3.816666667,POSE1_TO_POSE2_PRESS,764,743,711.781898812,674.218101188,657.781898812,630,879,782.218101188,800,649.781898812,628.218101188,651,0.443907036925,-0.00558304098017,0.0696476537183,0.999999845393,-0.000110176308725,-0.000541659706074,-6.06673115626e-05,1793193339363546880
+230,3.833333333,POSE1_TO_POSE2_PRESS,764,743,712,674,658,630,878.633716348,782.366283652,800,649.633716348,628.366283652,651,0.443908770407,-0.0055830919704,0.0696490279077,0.999999846797,-0.000108504669839,-0.000539473761551,-6.0011082031e-05,1793193339380213504
+231,3.850000000,POSE1_TO_POSE2_PRESS,764,743,712,674,658,630,878.043738755,782.956261245,800,649.043738755,628.956261245,651,0.443911524722,-0.00558242663884,0.069651406703,0.999999849213,-0.000106970593037,-0.000535354073236,-5.93831013896e-05,1793193339396880128
+232,3.866666667,POSE1_TO_POSE2_PRESS,764,743,712,674,658,630,878,782.461173667,800,649,628.461173667,651,0.443911068942,-0.00558037042685,0.0696503198905,0.99999984844,-0.000104607974079,-0.000537179108996,-6.01388566482e-05,1793193339413546496
+233,3.883333333,POSE1_TO_POSE2_PRESS,764,743,711.881075953,674.118924047,658,630,878,782,800,649,628.118924047,651,0.443910523807,-0.00557893068166,0.0696491514437,0.999999847533,-0.000103127164268,-0.00053908554484,-6.07116115953e-05,1793193339430213632
+234,3.900000000,POSE1_TO_POSE2_PRESS,764,743,711.308132172,674.691867828,658,630,878,782,800,649,628.691867828,651,0.443910618852,-0.00558026962564,0.06964873076,0.999999847127,-0.000105266144549,-0.000539485468817,-6.01627191285e-05,1793193339446880512
+235,3.916666667,POSE1_TO_POSE2_PRESS,763.735086503,742.735086503,711.264913497,675,658,630,878,782,800,649.264913497,628.735086503,650.735086503,0.443910944292,-0.00558031690187,0.0696488057599,0.999999847052,-0.000106416937418,-0.000539398682866,-6.01652419816e-05,1793193339463547136
+236,3.933333333,POSE1_TO_POSE2_PRESS,763.161922202,742.161922202,711.838077798,675,658,630,878,782,800,649.838077798,628.161922202,650.161922202,0.443911537818,-0.00557886120608,0.0696494575325,0.999999847365,-0.000106417885173,-0.000538745565965,-6.08093863409e-05,1793193339480214016
+237,3.950000000,POSE1_TO_POSE2_PRESS,763,742.427883096,711.572116904,674.572116904,657.572116904,630,878.427883096,782,800,649.572116904,628,650.427883096,0.443912607039,-0.00557845542149,0.069649008643,0.999999847658,-0.000105346706283,-0.000538440184322,-6.05702990836e-05,1793193339496880896
+238,3.966666667,POSE1_TO_POSE2_PRESS,763,743,711,674.023368789,657,630,878.976631211,782,800,649,628.023368789,650.976631211,0.44391381758,-0.00557848608629,0.0696482490787,0.999999847961,-0.000103965130953,-0.000538208525859,-6.00069712232e-05,1793193339513547264
+239,3.983333333,POSE1_TO_POSE2_PRESS,763,743,711,674.598278995,657,630,878.401721005,782,800,649,628.598278995,650.401721005,0.443913942909,-0.00557906095844,0.0696503854138,0.999999848756,-0.000105220846883,-0.000536485388838,-5.99988105745e-05,1793193339530213632
+240,4.000000000,POSE1_TO_POSE2_PRESS,763.172467924,743,711.172467924,674.827532076,657,630,878,782,800,649.172467924,628.827532076,650,0.443913721804,-0.00557978480462,0.0696515209931,0.99999984904,-0.000106150774769,-0.000535775738229,-5.9968077254e-05,1793193339546880000
+241,4.016666667,POSE1_TO_POSE2_PRESS,763.744983782,743,711.744983782,674.255016218,657,630,878,782,800,649.744983782,628.255016218,650,0.443912697131,-0.00558085420346,0.0696503352691,0.999999848146,-0.000106325021001,-0.000537416919894,-5.98849854986e-05,1793193339563546880
+242,4.033333333,HOLD_POSE2,764,743,711,674,658,630,878,782,800,649,628,650,0.443914344726,-0.00557830928975,0.069650335267,0.999999849191,-0.000102435088779,-0.000536199363635,-6.01312923327e-05,1793193339599193600
+243,4.050000000,HOLD_POSE2,764,743,711,674,657.418460533,630,878,782,800,649,628,650,0.443913880944,-0.0055789592706,0.0696498070617,0.999999848302,-0.000105988785178,-0.000537167440952,-6.01043556208e-05,1793193339615860224
+244,4.066666667,HOLD_POSE2,764,743,711.161632515,674,657,630,878,782,800,649,628,650,0.443913731077,-0.00557922351218,0.0696495649524,0.999999847834,-0.000108065310144,-0.000537634536482,-6.00311651007e-05,1793193339632526848
+245,4.083333333,HOLD_POSE2,764,743,711.738014172,674,657,630,878,782,800,649,628,650,0.443914386718,-0.00557849794663,0.0696500569654,0.999999848469,-0.000106351412969,-0.000536816112627,-5.98392872731e-05,1793193339649193472
+246,4.100000000,HOLD_POSE2,764,743,711.687166518,674.312833482,657.312833482,630,878.312833482,782,800,649,628,650.312833482,0.44391503701,-0.00557832154373,0.0696506878284,0.999999848946,-0.000105309884274,-0.000536143776506,-5.97263008567e-05,1793193339665859840
+247,4.116666667,HOLD_POSE2,764,743,711.113649147,674.886350853,657.886350853,630,878.886350853,782,800,649,628,650.886350853,0.443915682846,-0.00557860275766,0.0696514343951,0.999999849295,-0.000104828639797,-0.000535593175225,-5.96790546014e-05,1793193339682526464
+248,4.133333333,HOLD_POSE2,764,743,711.473605176,674.526394824,657.526394824,630,878.526394824,782,800,649,628,651,0.443915894491,-0.00557897023421,0.0696512412244,0.999999849455,-0.000104062418491,-0.000535476844247,-5.93679957829e-05,1793193339699193088
+249,4.150000000,HOLD_POSE2,764,742.937051462,712,674.062948538,657,630,878,782,800,649,628,650.937051462,0.443915995074,-0.00557944225302,0.0696508990175,0.999999849563,-0.000103481775685,-0.000535420896094,-5.90820283087e-05,1793193339715859712
+250,4.166666667,HOLD_POSE2,764,742.358405907,712,674.641594093,657,630,878,782,800,649,628,650.358405907,0.44391606487,-0.00558059607124,0.0696512384567,0.999999849613,-0.000104998425942,-0.00053498039696,-5.95357361257e-05,1793193339732526592
+251,4.183333333,HOLD_POSE2,764,742.218134562,711.781865438,675,657.218134562,630,878.218134562,782,800,649,628.218134562,650,0.443915951068,-0.00558073312513,0.0696509020763,0.99999984931,-0.000105532703008,-0.000535408103385,-5.98438375896e-05,1793193339749193216
+252,4.200000000,HOLD_POSE2,764,742.791249274,711.208750726,675,657.791249274,630,878.791249274,782,800,649,628.791249274,650,0.44391553849,-0.00557921555273,0.0696494659046,0.99999984843,-0.000104468319992,-0.000537248679678,-5.99149872638e-05,1793193339765860096
+253,4.216666667,HOLD_POSE2,764,743,711,674.625186721,657.625186721,630,878.625186721,782,800,649,628.625186721,650,0.44391557141,-0.00557925750225,0.069649450801,0.999999848213,-0.000104515145321,-0.00053765803425,-5.97793698136e-05,1793193339782526464
+254,4.233333333,HOLD_POSE2,764,743,711,674.035636072,657.035636072,630,878.035636072,782,800,649,628.035636072,650,0.443915859565,-0.0055801929302,0.0696502498533,0.999999848378,-0.000105198602096,-0.000537247415948,-5.95252917099e-05,1793193339799193088
+255,4.250000000,HOLD_POSE2,764,743,711,674,657.543935093,630,878,782.543935093,799.456064907,649,628,650.543935093,0.44391547653,-0.00557983100279,0.0696500767079,0.999999848461,-0.000104004848498,-0.000537360947753,-5.92029868562e-05,1793193339815859712
+256,4.266666667,HOLD_POSE2,764,743,711,674.12205539,657.87794461,630,878,782.87794461,799.12205539,649,628.12205539,651,0.443915545851,-0.00557950161463,0.0696501720566,0.99999984864,-0.00010364943874,-0.000537107505308,-5.91000829851e-05,1793193339832526592
+257,4.283333333,HOLD_POSE2,764,743,711,674.697173483,657.302826517,630,878,782.302826517,799.697173483,649,628.697173483,651,0.443917454583,-0.00557960282866,0.0696514962087,0.999999849193,-0.000106854205888,-0.000535366704142,-5.98278761375e-05,1793193339849193472
+258,4.300000000,POSE2_TO_POSE3_RETREAT,764,743,711,674,657,630,879,782,800,649,628,650,0.443915842177,-0.00558036564907,0.0696497478534,0.99999984768,-0.000109505339458,-0.00053767066317,-5.96632007793e-05,1793193339886878976
+259,4.316666667,POSE2_TO_POSE3_RETREAT,764,742.43113442,711,674.56886558,657.56886558,630,878.43113442,782.56886558,800,649,628,650.56886558,0.443915721269,-0.00558055141101,0.0696496565212,0.999999847835,-0.000108253019237,-0.000537656979126,-5.94636339874e-05,1793193339903545856
+260,4.333333333,POSE2_TO_POSE3_RETREAT,764,742.14552895,711.14552895,674.85447105,657.85447105,630,878,782.85447105,800,649,628,651,0.443916177701,-0.00558039691929,0.069650069663,0.99999984844,-0.000106937075999,-0.00053681596483,-5.9271404588e-05,1793193339920212992
+261,4.350000000,POSE2_TO_POSE3_RETREAT,764,742.746601583,711.746601583,674.253398417,657.253398417,630,878,782.253398417,800,649,628,651,0.443918441358,-0.00557917734468,0.0696520619404,0.999999850447,-0.000105421975762,-0.000533385190417,-5.91021430971e-05,1793193339936879872
+262,4.366666667,POSE2_TO_POSE3_RETREAT,764,743,712,674.332915996,657,630,878,782,800.332915996,649.332915996,628,651,0.443918837337,-0.00557856457047,0.0696523341501,0.999999850717,-0.000105577737415,-0.000532817422906,-5.9370309999e-05,1793193339953546240
+263,4.383333333,POSE2_TO_POSE3_RETREAT,764,743,712,674.908474012,657,630,878,782,800.908474012,649.908474012,628,651,0.443917872081,-0.00557839405588,0.0696513527079,0.999999849726,-0.000106951287758,-0.000534336325473,-5.99572915975e-05,1793193339970212608
+264,4.400000000,POSE2_TO_POSE3_RETREAT,764,743,711.517529891,674.517529891,657,630,878.482470109,782,800.517529891,649.517529891,628,650.517529891,0.443917007219,-0.0055784624295,0.0696508175056,0.999999849355,-0.000105091278786,-0.000535447302581,-5.95201641062e-05,1793193339986879232
+265,4.416666667,POSE2_TO_POSE3_RETREAT,764,743,711.058288979,674,657,630,878.941711021,782,800.116577958,649,628,650,0.4439155612,-0.00557854782868,0.0696500318935,0.999999848793,-0.000102881036264,-0.000536984083115,-5.89661233373e-05,1793193340003545600
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764,743,711.653623133,674,657,630,878.346376867,782,801.307246266,649,628,650,0.443908585786,-0.00557837390494,0.069646161699,0.999999845431,-0.000103077382878,-0.000543154683478,-5.91190919654e-05,1793193340020212224
+267,4.450000000,POSE2_TO_POSE3_RETREAT,764,743,711.759958238,674,657,630,878.240041762,782,801.519916477,649,628,650.240041762,0.443893723529,-0.0055777246835,0.0696388424766,0.999999838678,-0.000103136011547,-0.000555412776963,-5.93535344332e-05,1793193340036879104
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764,743,711.185943921,674,657,630,878.814056079,782,800.371887842,649,628,650.814056079,0.443867888227,-0.00557641417553,0.0696267245871,0.999999826944,-0.000103003031785,-0.00057614046117,-5.9701332258e-05,1793193340053545984
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,743,711,674.390505243,657.390505243,630,878.609494757,782,800,649,628,650.609494757,0.443823726766,-0.0055742770222,0.0696099910733,0.999999808228,-0.000102247773435,-0.000607843346508,-6.01354693325e-05,1793193340070212352
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764,743,711,674.968121115,657.968121115,630,878.031878885,782,800,649,628,650.031878885,0.443770784322,-0.00557174378154,0.0695910459816,0.999999785156,-0.000101194350118,-0.000644805001874,-6.06109758378e-05,1793193340086878976
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764,743,711,675,657.44143278,630,878,782,800,649.55856722,628,650,0.443698527665,-0.00557102825824,0.0695751555579,0.999999764409,-0.000101363890682,-0.000676200041402,-6.04977005226e-05,1793193340103545600
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764,743,711,674.853579404,657.146420596,630.146420596,878,782,800,650,628,650,0.443623937488,-0.00557020142659,0.0695627854379,0.999999748801,-0.000100943733573,-0.000699005372555,-5.99979103463e-05,1793193340120212480
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764,743,711,674.275577179,657.724422821,630.724422821,878,782,800,650,628,650,0.443545794636,-0.0055687335352,0.069560265626,0.999999750214,-9.85748461241e-05,-0.000697450596123,-5.84602253876e-05,1793193340136879360
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764,743,711,674,657.702064493,630.702064493,878,782.297935507,800.297935507,650,628,650,0.443455692036,-0.00556602617531,0.0695611167223,0.999999752554,-9.49353183106e-05,-0.000694749678247,-5.65801357322e-05,1793193340153545984
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764,743,711,674,657.132642821,630.132642821,878,782.867357179,800.867357179,650,628,650,0.443354691425,-0.00556218938131,0.0695650394733,0.999999755715,-9.01379518701e-05,-0.000691004368159,-5.43880385823e-05,1793193340170212352
+276,4.600000000,POSE2_TO_POSE3_RETREAT,763.544589942,743,711.455410058,673.544589942,657.455410058,630,878,782.544589942,800.544589942,649.544589942,628,650.455410058,0.443227275452,-0.00555915045066,0.0695694420295,0.999999759091,-8.63815458434e-05,-0.000686858759748,-5.08093004225e-05,1793193340186878976
+277,4.616666667,POSE2_TO_POSE3_RETREAT,763.047833931,743,711.952166069,673.047833931,657.952166069,630,878.047833931,782,800,649,628,650.952166069,0.443089536813,-0.00555628378849,0.0695742298151,0.999999762788,-8.29240776652e-05,-0.000682170076855,-4.68086441573e-05,1793193340203545856
+278,4.633333333,POSE2_TO_POSE3_RETREAT,763.625989188,743,711.374010812,673.625989188,657.374010812,630,878.625989188,782,800,649,628,650.374010812,0.442926290521,-0.00555264072327,0.0695816730941,0.999999769606,-7.92760799436e-05,-0.000672808228464,-4.27989273973e-05,1793193340220212736
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764,743,711,674.203822447,657,630,879,782,800,649,628,650.203822447,0.442750186418,-0.00554888423904,0.0695894765017,0.999999777184,-7.37916703377e-05,-0.00066236313364,-3.82323612314e-05,1793193340236879360
+280,4.666666667,POSE2_TO_POSE3_RETREAT,764,743,711,674.781065717,657,630,879,782,800,649,628,650.781065717,0.442550525681,-0.00554491996149,0.0695979396961,0.999999786152,-6.49427914869e-05,-0.000649933436186,-3.2645597947e-05,1793193340253545728
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764,743,711.357951359,674.642048641,657.357951359,630,878.642048641,782.357951359,800,649.357951359,628,650.642048641,0.442327085957,-0.00553813713532,0.06960551647,0.999999793761,-5.26032999289e-05,-0.000639513221216,-2.7079232333e-05,1793193340270212352
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764,743,711.934618538,674.065381462,657.934618538,630,878.065381462,782.934618538,800,649.934618538,628,650.065381462,0.442089116751,-0.0055296321162,0.0696125516232,0.999999800389,-3.81309696116e-05,-0.000630320841079,-2.15253295814e-05,1793193340286878976
+283,4.716666667,POSE2_TO_POSE3_RETREAT,764,743,712,674,658,630.52214113,878,783,800,649.47785887,628,650,0.441811475158,-0.00552205940729,0.0696210871777,0.999999809257,-2.54058555998e-05,-0.000616946286286,-1.47843216633e-05,1793193340303545856
+284,4.733333333,POSE2_TO_POSE3_RETREAT,764,742.890939871,711.890939871,674,657.890939871,630.890939871,878,783,799.890939871,649,628.109060129,650,0.441522703781,-0.00551463368371,0.0696312003612,0.999999820166,-1.22223403242e-05,-0.000599549042118,-7.76266672341e-06,1793193340320212224
+285,4.750000000,POSE2_TO_POSE3_RETREAT,764,742.312591218,711.312591218,674,657.312591218,630.312591218,878,783,799.312591218,649,628.687408782,650,0.441207870551,-0.00550732743,0.0696472765201,0.999999839167,3.89510778308e-06,-0.000567143325827,-1.86590193642e-07,1793193340336879104
+286,4.766666667,POSE2_TO_POSE3_RETREAT,763.736263269,742.263736731,711,674,657.527473462,630.263736731,878,783,799.263736731,649.263736731,629,650,0.440869645721,-0.00549710311926,0.0696641071988,0.99999985553,3.77356134231e-05,-0.00053616222154,6.79602107055e-06,1793193340353545728
+287,4.783333333,POSE2_TO_POSE3_RETREAT,763.162312163,742.837687837,711,674,658.675375675,630.837687837,878,783,799.837687837,649.837687837,629,650,0.44050390707,-0.00548344651026,0.0696818253634,0.999999867192,9.24224643078e-05,-0.000506856786051,1.30805817483e-05,1793193340370212608
+288,4.800000000,POSE2_TO_POSE3_RETREAT,763.409752367,742.590247633,711,674,659,631,878,783,800,649.590247633,628.590247633,650,0.440096815646,-0.00545911590359,0.069689131555,0.999999868075,0.000143154575089,-0.000493060490354,1.5724294647e-05,1793193340386879232
+289,4.816666667,POSE2_TO_POSE3_RETREAT,763.981072994,742.018927006,711,674,659,631,878,783,800,649.018927006,628.018927006,650,0.439673418541,-0.00543057646442,0.0696923322314,0.999999863565,0.000192327302377,-0.000485379558377,1.69323953309e-05,1793193340403545856
+290,4.833333333,POSE2_TO_POSE3_RETREAT,763.422482208,742,711.577517792,674,659,631.577517792,878,783,800,649,628,650,0.439174337758,-0.00542043003134,0.0696896576992,0.999999866602,0.000165419030057,-0.000489222931587,9.69535305504e-06,1793193340420212480
+291,4.850000000,POSE2_TO_POSE3_RETREAT,763,742.169120246,711.830879754,674,659,631.830879754,878,783,800,649,628,650,0.438669204802,-0.00541564958773,0.0696872464256,0.999999869832,0.000146555406867,-0.000488696476701,5.72131092203e-06,1793193340436879104
+292,4.866666667,POSE2_TO_POSE3_RETREAT,763,742.746940158,711.253059842,674,659,631.253059842,878,783,800,649,628,650,0.438155712889,-0.00542231373076,0.0696859578295,0.999999874576,0.000153432337786,-0.00047665556235,1.03319836124e-05,1793193340453545984
+293,4.883333333,POSE2_TO_POSE3_RETREAT,763.322349281,743,711.322349281,674,659,631.322349281,878,783.322349281,799.677650719,649,628.322349281,650,0.437632022184,-0.00542994591429,0.0697014950455,0.999999888447,0.00015212396583,-0.00044695235658,1.40990394441e-05,1793193340470212864
+294,4.900000000,POSE2_TO_POSE3_RETREAT,763.895879929,743,711.895879929,674,659,631.895879929,878,783.895879929,799.104120071,649,628.895879929,650,0.43710038431,-0.00543833241613,0.0697301432895,0.99999990802,0.000144437433537,-0.000403486318425,1.72087316773e-05,1793193340486879744
+295,4.916666667,POSE2_TO_POSE3_RETREAT,764,743,712,674,659,632,877.516994162,783.516994162,799,649,629,650,0.436535180464,-0.00544415880881,0.0697679863514,0.999999929469,0.000138237798482,-0.000348535471419,2.18079972629e-05,1793193340503546368
+296,4.933333333,POSE2_TO_POSE3_RETREAT,764,743,712,674,659,632,877.0718371,783.0718371,799,649,629,650,0.435949783594,-0.00544805348116,0.0698052732176,0.999999946807,0.000135155272891,-0.000295647296111,2.66656935012e-05,1793193340520212736
+297,4.950000000,POSE2_TO_POSE3_RETREAT,764,743,712,674,659,632,877.65140824,783.65140824,799,649,629,650,0.435274287256,-0.0054423085809,0.0698242140748,0.999999950095,0.000151772975958,-0.000275342747463,3.10147052767e-05,1793193340536879360
+298,4.966666667,POSE2_TO_POSE3_RETREAT,763.769555812,743,711.769555812,673.769555812,659,632,878,784,799,649,629,650,0.434579363771,-0.00543518148447,0.0698306300142,0.99999994928,0.000162176640758,-0.000272165590372,3.26335785962e-05,1793193340553545984
+299,4.983333333,POSE2_TO_POSE3_RETREAT,763.191327603,743,711.191327603,673.191327603,659,632,878,784,799,649,629,650,0.433855121074,-0.00542596839202,0.0698181434745,0.999999942764,0.000163202141418,-0.000294836919406,3.01321545383e-05,1793193340570212608
+300,5.000000000,POSE2_TO_POSE3_RETREAT,763,743,711,673,659,632,877.616094612,784,799.383905388,649,629,650,0.433131843153,-0.00542371092579,0.0698167523732,0.999999942849,0.000165385780101,-0.000293287513695,3.05148321111e-05,1793193340586879232
+301,5.016666667,POSE2_TO_POSE3_RETREAT,763,743,711,673,659,632,877.042342813,784,799.957657187,649,629,650,0.432409042348,-0.00542489311117,0.0698208481169,0.999999946209,0.000168142133683,-0.000279760626127,3.23237370546e-05,1793193340603545856
+302,5.033333333,POSE2_TO_POSE3_RETREAT,763,743,711.545928471,673,659,632,878.091856943,784,799.454071529,649,628.454071529,650,0.431637473085,-0.00542939455815,0.0698193220416,0.999999945455,0.000166943761487,-0.000282995374534,3.36747617734e-05,1793193340620212736
+303,5.050000000,POSE2_TO_POSE3_RETREAT,763,743,712,673,659,632,878.866924498,783.866924498,799.133075502,649,628,650,0.430835009962,-0.00543251892035,0.0698042933932,0.9999999386,0.000164668026376,-0.000307451362295,3.40336832144e-05,1793193340636879616
+304,5.066666667,POSE2_TO_POSE3_RETREAT,763,743,712,673,659,632,878.287430074,783.287430074,799.712569926,649,628,650,0.429941945267,-0.005430136442,0.0697454713236,0.999999907293,0.000159835227296,-0.000398616382272,3.11868562511e-05,1793193340653546496
+305,5.083333333,POSE2_TO_POSE3_RETREAT,763,743,711.71004933,673,659,632,878,783.28995067,799.71004933,649,628.28995067,650,0.429104264165,-0.0054277540711,0.0697323935178,0.999999898629,0.000164362549399,-0.000418069292312,3.07550941178e-05,1793193340670212864
+306,5.100000000,POSE2_TO_POSE3_RETREAT,763,743,711.134748658,673,659,632,878,783.865251342,799.134748658,649,628.865251342,650,0.428321087774,-0.00542537180567,0.0697643341412,0.99999991628,0.000178101475034,-0.00036694796608,3.2700076594e-05,1793193340686879232
+307,5.116666667,POSE2_TO_POSE3_RETREAT,763,742.550377076,711.449622924,673,659.449622924,632,877.550377076,784,799.449622924,649,629,650,0.42754823822,-0.00542544707693,0.0698180975012,0.999999942326,0.000178582386403,-0.000286558576696,3.6600698643e-05,1793193340703545600
+308,5.133333333,POSE2_TO_POSE3_RETREAT,763.036478259,742.036478259,712,672.963521741,659.963521741,632,877.036478259,784,799.963521741,649,629,650.036478259,0.426771521883,-0.00542618576186,0.0698742632165,0.999999963032,0.000175297802084,-0.000203803967972,4.08814408809e-05,1793193340720211968
+309,5.150000000,POSE2_TO_POSE3_RETREAT,763.618982735,742.618982735,712,672.381017265,659.381017265,632,877.618982735,784,799.381017265,649,629,650.618982735,0.425889645107,-0.00542560337775,0.0698664771514,0.999999959451,0.000176348767419,-0.000219644140268,4.18984802486e-05,1793193340736878848
+310,5.166666667,POSE2_TO_POSE3_RETREAT,763.801764985,743,712,672.198235015,659.198235015,632,877.801764985,784,799,649,628.801764985,650.801764985,0.424999897969,-0.00542570989514,0.0698526388704,0.999999954448,0.000174528928021,-0.000242726493037,4.15582727742e-05,1793193340753545728
+311,5.183333333,POSE2_TO_POSE3_RETREAT,763.228662723,743,712,672.771337277,659.771337277,632,877.228662723,784,799,649,628.228662723,650.228662723,0.424095267837,-0.0054271191421,0.069827355702,0.9999999462,0.000167280326689,-0.000279503984656,3.865147833e-05,1793193340770212608
+312,5.200000000,POSE2_TO_POSE3_RETREAT,763,742.655657247,711.655657247,673,659.655657247,632,877.344342753,783.655657247,799,649,628.344342753,650,0.423158759862,-0.00542333078692,0.0697826742004,0.999999919959,0.000170940918698,-0.000359874503167,3.6765584154e-05,1793193340786879232
+313,5.216666667,POSE2_TO_POSE3_RETREAT,763,742.082716046,711.082716046,673,659.082716046,632,877.917283954,783.082716046,799,649,628.917283954,650,0.422201089214,-0.00541609190523,0.0697251147497,0.999999872767,0.000181843783699,-0.000469185072085,3.55574337043e-05,1793193340803545600
+314,5.233333333,POSE2_TO_POSE3_RETREAT,763,742.507048896,711,672.492951104,659,632,877.492951104,783.507048896,799.507048896,649,629,650,0.421325972154,-0.00541294057686,0.0697054450592,0.999999858478,0.000187683122559,-0.000496642920291,3.4117683863e-05,1793193340820212480
+315,5.250000000,POSE2_TO_POSE3_RETREAT,763,743,711.097842452,672.097842452,659.097842452,632,877,784,799.902157548,649,628.902157548,650,0.420477712391,-0.00541183869048,0.0697078348125,0.999999862982,0.000192456544787,-0.000485645096351,3.38322763909e-05,1793193340836879104
+316,5.266666667,POSE2_TO_POSE3_RETREAT,763,743,711.679681939,672.679681939,659.679681939,632,877,784,799.320318061,649,628.320318061,650,0.419693403683,-0.00541746305819,0.0697877209069,0.999999917766,0.000196183517245,-0.000352737857207,3.94503584438e-05,1793193340853545728
+317,5.283333333,POSE2_TO_POSE3_RETREAT,763,742.742102686,712,673,659.742102686,632,877,784,799,649,628,650,0.418888802283,-0.00542077654185,0.0698488225247,0.99999994736,0.000196659471473,-0.000254338727567,4.378188535e-05,1793193340870212352
+318,5.300000000,POSE2_TO_POSE3_RETREAT,763,742.168326137,712,673,659.168326137,632,877,784,799,649,628,650,0.418059345771,-0.00542125959631,0.0698869164449,0.99999996062,0.000193153498671,-0.000198206001368,4.65376078951e-05,1793193340886878976
+319,5.316666667,POSE2_TO_POSE3_RETREAT,763,742.406537962,712,672.593462038,659,632,877,784,799,649,628,650.406537962,0.417204765844,-0.00541977655154,0.0698717005786,0.999999956355,0.000190924364864,-0.000220932015234,4.50179156002e-05,1793193340903545600
+320,5.333333333,POSE2_TO_POSE3_RETREAT,763,742.981853534,712,672.018146466,659,632,877,784,799,649,628,650.981853534,0.416339755772,-0.00541747726435,0.0698343527096,0.999999943029,0.000189225321233,-0.000276396892419,4.17232491098e-05,1793193340920212480
+321,5.350000000,POSE2_TO_POSE3_RETREAT,763,742.426664256,712,672,659,632,877,783.426664256,799,649,628,650.426664256,0.415509796791,-0.00541369788944,0.0698087650563,0.999999934691,0.000191509881661,-0.000304081343756,3.84362996156e-05,1793193340936879360
+322,5.366666667,POSE2_TO_POSE3_RETREAT,763,742,712,672,659,632,877,783.161235293,799,649,628.161235293,650,0.414671543113,-0.00540934903113,0.069781789261,0.999999921281,0.00019512227571,-0.000343595207353,3.61735275363e-05,1793193340953545984
+323,5.383333333,POSE2_TO_POSE3_RETREAT,763,742,712,672,659,632,877,783.738531214,799,649,628.738531214,650,0.413808939576,-0.00540365503702,0.0697502430632,0.99999989245,0.00020182629184,-0.000415969100534,3.65529520686e-05,1793193340970212608
+324,5.400000000,POSE2_TO_POSE3_RETREAT,763,742,711.684422307,672.315577693,659,632,877,784,799,649,628.684422307,650,0.413033801805,-0.00540155618429,0.0697601181919,0.999999898992,0.000204143628645,-0.000398687259065,3.7278370096e-05,1793193340986879232
+325,5.416666667,POSE2_TO_POSE3_RETREAT,763,742,711.107582366,672.892417634,659,632,877,784,799,649,628.107582366,650,0.412331075729,-0.00540243369785,0.0698042854447,0.999999931517,0.000202829295498,-0.000307180714965,3.82902310365e-05,1793193341003545856
+326,5.433333333,POSE2_TO_POSE3_RETREAT,763.478314442,742,711.478314442,672.521685558,659,632,877,784,799,649,628.478314442,650,0.411668488812,-0.00540315847594,0.0698483080941,0.999999950324,0.000207464280718,-0.000233885227891,4.00910026706e-05,1793193341020212480
+327,5.450000000,POSE2_TO_POSE3_RETREAT,763.934705611,742,712,672,659,632,877,784.065294389,799.065294389,649,628.934705611,650.065294389,0.411009069744,-0.00540392947967,0.0698858452974,0.999999961152,0.00021233739494,-0.000175652409695,4.18918847832e-05,1793193341036879104
+328,5.466666667,POSE2_TO_POSE3_RETREAT,763.355542869,742,712,672,659,632,877,784.644457131,799.644457131,649,628.355542869,650.644457131,0.410302159506,-0.00540533985848,0.0698726027699,0.999999956776,0.000208350308811,-0.000203105201512,4.22702142189e-05,1793193341053545728
+329,5.483333333,POSE2_TO_POSE3_RETREAT,763,742,711.778076562,672,659,632,877,784.778076562,799.778076562,649,628,650.778076562,0.409598443883,-0.00540674667916,0.0698460380802,0.999999946731,0.000203843376479,-0.000251636167013,4.08115102933e-05,1793193341070212352
+330,5.500000000,POSE2_TO_POSE3_RETREAT,763,742,711.203307401,672,659,632,877,784.203307401,799.203307401,649,628,650.203307401,0.408899807408,-0.00540814784283,0.0697982919036,0.999999923962,0.000198509916687,-0.000333680240706,3.64320270585e-05,1793193341086879232
+331,5.516666667,POSE2_TO_POSE3_RETREAT,763.371905846,742,711.371905846,672,659,632,877,783.628094154,799,649,628.371905846,650,0.408257279548,-0.00540987321769,0.0697783460827,0.999999915589,0.000195129083698,-0.000359954949609,3.43318930814e-05,1793193341103545856
+332,5.533333333,POSE2_TO_POSE3_RETREAT,763.947362115,742,711.947362115,672,659,632,877,783.052637885,799,649,628.947362115,650,0.407645460933,-0.00541177603878,0.0697736158741,0.999999917587,0.00019281695752,-0.000355706128495,3.34792862383e-05,1793193341120212736
+333,5.550000000,POSE2_TO_POSE3_RETREAT,763.464303949,742,712,672,659,632,877,783,799,649,628.464303949,650,0.407103166504,-0.00541051669969,0.0697912668876,0.999999924289,0.000194366026574,-0.000335289284967,3.49945804771e-05,1793193341136879616
+334,5.566666667,POSE2_TO_POSE3_RETREAT,763,742,712,672,659,632,877,783.12328934,799,649,628.12328934,650.12328934,0.406570543653,-0.00540796543221,0.0698061416073,0.999999928255,0.000197958966654,-0.000320903415985,3.63730207369e-05,1793193341153545984
+335,5.583333333,POSE2_TO_POSE3_RETREAT,763,742,712,672,659,632,877,783.703335344,799,649,628.703335344,650.703335344,0.406047819231,-0.00540180736864,0.0698023826817,0.999999921697,0.000207683726546,-0.000334891470962,3.63612274023e-05,1793193341170212608
+336,5.600000000,POSE2_TO_POSE3_RETREAT,763,742,712,672,659,632,877,784,799,649,628.719193624,650.719193624,0.40556176452,-0.00539902647234,0.0698032103134,0.999999920546,0.000211748409965,-0.000335768830181,3.64551441146e-05,1793193341186879232
+337,5.616666667,POSE2_TO_POSE3_RETREAT,763,742,712,672,659,632,877,784,799,649,628.144418298,650.144418298,0.405114098416,-0.00539978104569,0.0698088394938,0.999999925163,0.000209887704786,-0.000322920939476,3.66597259514e-05,1793193341203545856
+338,5.633333333,POSE2_TO_POSE3_RETREAT,763.439913347,742.439913347,711.560086653,672,658.560086653,632,877,784,799,649,628,650.439913347,0.40471597838,-0.00539855831868,0.0698247392837,0.999999933632,0.000213200927761,-0.000293135804513,3.67849485015e-05,1793193341220212736
+339,5.650000000,POSE2_TO_POSE3_RETREAT,764,743,711.027055595,672,658.027055595,632.027055595,877,784,799,649,628.027055595,651,0.404335445738,-0.00539670720885,0.0698434483756,0.999999942081,0.000218000966539,-0.00025875740495,3.68485396173e-05,1793193341236879616
+340,5.666666667,POSE2_TO_POSE3_RETREAT,764,743,711.60611167,672,658.60611167,632.60611167,877,784,799,649,628.60611167,651,0.40397451698,-0.00539557335906,0.0698491552118,0.999999945233,0.000217711813422,-0.000246627941219,3.61980411997e-05,1793193341253545984
+341,5.683333333,POSE2_TO_POSE3_RETREAT,764,742.815960677,712,672,659,632.815960677,877,784,799,649,628.815960677,650.815960677,0.403621873389,-0.00539471635089,0.0698490745233,0.999999945666,0.000217158477878,-0.000245468467064,3.5432971389e-05,1793193341270212352
+342,5.700000000,POSE2_TO_POSE3_RETREAT,764,742.240433293,712,672,659,632.240433293,877,784,799,649,628.240433293,650.240433293,0.403286853922,-0.0053944482394,0.0698366826256,0.999999940253,0.000216043173961,-0.00026764432937,3.44241854278e-05,1793193341286878976
+343,5.716666667,POSE2_TO_POSE3_RETREAT,764,742,712,671.665124639,659,632,877,784,799,649,628,650.334875361,0.402975980915,-0.00539255348257,0.0698262629642,0.999999932611,0.000224823108,-0.000288222776639,3.4058338182e-05,1793193341303545344
+344,5.733333333,POSE2_TO_POSE3_RETREAT,764,742,712,671.089972959,659,632,877,784,799,649,628,650.910027041,0.402682433247,-0.00538949159197,0.0698172584021,0.999999923122,0.000240702971229,-0.000307655061725,3.41538057505e-05,1793193341320212224
+345,5.750000000,POSE2_TO_POSE3_RETREAT,764,742.498317015,712,671.498317015,659,632,877,784,799,649,628.498317015,650.501682985,0.402432585967,-0.00538659854597,0.0698083005824,0.999999920392,0.000236836215042,-0.000319461537501,3.26905566953e-05,1793193341336878848
+346,5.766666667,POSE2_TO_POSE3_RETREAT,764,742.913068301,712,672,658.913068301,632,877,784,799,649,628.913068301,650.086931699,0.402197677443,-0.00538386822433,0.0698002292117,0.999999918818,0.000230450437942,-0.000329060315158,3.12379633994e-05,1793193341353545984
+347,5.783333333,POSE2_TO_POSE3_RETREAT,764,742.33635119,712,672,658.33635119,632,877,784,799,649,628.33635119,650.66364881,0.402001277302,-0.00538187830386,0.0697971033827,0.999999917098,0.000230503637763,-0.000334188144634,3.14739711813e-05,1793193341370212608
+348,5.800000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,658.239726349,632,876.760273651,784,799,649,628,651,0.401822090646,-0.00538141602854,0.0697960360204,0.999999916743,0.000228538866465,-0.000336592906519,3.1459048962e-05,1793193341386878976
+349,5.816666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,658.814908869,632,876.185091131,784,799,649,628,651,0.401666991347,-0.00538309143245,0.0697978491314,0.999999918309,0.000223750288489,-0.00033518719895,3.10929929505e-05,1793193341403545600
+350,5.833333333,POSE2_TO_POSE3_RETREAT,763.608823499,742,712,672,658.608823499,632.391176501,876.391176501,784,799,649,628,650.608823499,0.401533594358,-0.00538332090128,0.0697979359007,0.999999918254,0.000225723474495,-0.000334151242779,2.97207127448e-05,1793193341420212480
+351,5.850000000,POSE2_TO_POSE3_RETREAT,763.032040951,742,712,672,658.032040951,632.967959049,876.967959049,784,799,649,628,650.032040951,0.4014104947,-0.00538286430068,0.0697972035528,0.999999917412,0.0002309049926,-0.000333290726709,2.78709976507e-05,1793193341436879104
+352,5.866666667,POSE2_TO_POSE3_RETREAT,763.561949136,742,712,671.438050864,658.561949136,633,877,784,799,649,628.561949136,650,0.401317096145,-0.00538369415368,0.0697974570029,0.99999991793,0.000232350179146,-0.000330880028639,2.59065362066e-05,1793193341453545728
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764,742.151552028,712,671.151552028,658.848447972,633,877.151552028,784,799,649,628.848447972,650.151552028,0.401232916313,-0.00538474094531,0.0697982023853,0.99999991915,0.0002318271824,-0.000327659583364,2.44108272013e-05,1793193341470212096
+354,5.900000000,POSE2_TO_POSE3_RETREAT,764,742.726085568,712,671.726085568,658.273914432,633,877.726085568,784,799,649,628.273914432,650.726085568,0.401169590092,-0.00538618202488,0.0698001589192,0.99999992209,0.000226424355226,-0.000322433616189,2.42422422566e-05,1793193341486878976
+355,5.916666667,POSE2_TO_POSE3_RETREAT,764,743,712,672,658.299242998,633,877.700757002,784,799,649,628.299242998,651,0.401113462189,-0.005386523091,0.0698009308689,0.999999923382,0.000223290440599,-0.000320608589134,2.4245346052e-05,1793193341503545600
+356,5.933333333,POSE2_TO_POSE3_RETREAT,764,743,712,672,658.871146527,633,877.128853473,784,799,649,628.871146527,651,0.401063893165,-0.0053858618604,0.0698006234636,0.999999923206,0.000222223885962,-0.000321882388936,2.44048870797e-05,1793193341520212480
+357,5.950000000,POSE2_TO_POSE3_RETREAT,764,743,712,672,659,633,877,784,799,649,628.539416981,651,0.401029942891,-0.00538602964302,0.0698007916764,0.999999923019,0.00022315370547,-0.000321825067851,2.43379113731e-05,1793193341536879104
+358,5.966666667,POSE2_TO_POSE3_RETREAT,764,742.946430008,712,672,658.946430008,633,877,784,799.053569992,649,628.053569992,651,0.401001989797,-0.00538644349494,0.0698013561487,0.999999923094,0.000224282525823,-0.000320813876834,2.42396398034e-05,1793193341553545984
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764,742.368599073,712,672,658.368599073,633,877,784,799.631400927,649,628.631400927,651,0.400988273413,-0.00538690593765,0.0698044448857,0.999999925752,0.000221676731098,-0.000314256339194,2.44798099351e-05,1793193341570212608
+360,6.000000000,POSE2_TO_POSE3_RETREAT,764,742.207816474,712,672,658.207816474,632.792183526,877,784,800,649,629,651,0.400976950308,-0.00538737252865,0.0698077263512,0.999999927945,0.000219903122797,-0.000308455960312,2.46620123446e-05,1793193341586879232
+361,6.016666667,POSE2_TO_POSE3_RETREAT,764,742.781738502,712,672,658.781738502,632.218261498,877,784,800,649,629,651,0.400969843391,-0.00538784642752,0.0698113473419,0.999999929378,0.000219595558678,-0.000303989451506,2.47420943128e-05,1793193341603545856
+362,6.033333333,POSE2_TO_POSE3_RETREAT,764,742.64232861,712,672,659,632,877,784,799.64232861,649,629,651,0.400965230646,-0.00538907240398,0.0698133082494,0.999999930418,0.000218855603448,-0.00030106043707,2.50960673113e-05,1793193341620212224
+363,6.050000000,POSE2_TO_POSE3_RETREAT,764,742.065161641,712,672,659,632,877,784,799.065161641,649,629,651,0.400962148521,-0.00539075991502,0.0698142503983,0.99999993122,0.000217850298655,-0.000299074950882,2.56181216113e-05,1793193341636878848
+364,6.066666667,POSE2_TO_POSE3_RETREAT,764.524911638,742,712,672,659,632.524911638,877,784,799.524911638,649,629,651,0.40096066574,-0.00538899086842,0.0698148050837,0.999999930431,0.000222632112013,-0.000298196139326,2.55392787179e-05,1793193341653545984
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764.885782961,742,712,672,658.885782961,632.885782961,877,784,799.885782961,649,629,650.885782961,0.400959807854,-0.00538742841107,0.06981554474,0.999999929882,0.000226661572589,-0.000297013990035,2.53703024025e-05,1793193341670213120
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764.306296416,742,712,672,658.306296416,632.306296416,877,784,799.306296416,649,629,650.306296416,0.40096066636,-0.00538849949366,0.069817238759,0.999999931231,0.000224626060384,-0.000294022442502,2.51456864242e-05,1793193341686879744
+367,6.116666667,POSE2_TO_POSE3_RETREAT,763.730294074,742.269705926,712,672,658.269705926,632.269705926,877,784,799,649.269705926,629,650,0.400960192438,-0.00538958638689,0.0698179931607,0.999999932076,0.000222174679885,-0.000293017922021,2.50331525434e-05,1793193341703546112
+368,6.133333333,POSE2_TO_POSE3_RETREAT,763.1581982,742.8418018,712,672,658.8418018,632.8418018,877,784,799,649.8418018,629,650,0.400958224621,-0.0053906910067,0.0698176940783,0.999999932361,0.000219257034665,-0.000294241224505,2.50462833218e-05,1793193341720212480
+369,6.150000000,POSE2_TO_POSE3_RETREAT,763.426638439,742.573361561,712,672,659,632.573361561,877,784,799,649.573361561,629,650.426638439,0.400958292468,-0.00538936006513,0.0698177856489,0.999999932207,0.000221030601583,-0.000293431008376,2.50895654883e-05,1793193341736878848
+370,6.166666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632.016038583,877,784,799,649,629,650.983961417,0.400959086203,-0.00538722487855,0.069818019676,0.999999931909,0.000224370769797,-0.000291903892306,2.51339657266e-05,1793193341753545728
+371,6.183333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632.594697418,877,784,799,649,629,650.405302582,0.400958049689,-0.00538953298877,0.069818013158,0.999999932767,0.000219767130096,-0.000292493552511,2.48133229151e-05,1793193341770212608
+372,6.200000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632.827471182,877.172528818,784.172528818,799.172528818,649,628.827471182,650.172528818,0.400957191036,-0.00539103558935,0.0698179781138,0.999999933308,0.000216714297227,-0.000292948711494,2.45027396931e-05,1793193341786878976
+373,6.216666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632.251574384,877.748425616,784.748425616,799.748425616,649,628.251574384,650.748425616,0.40095674822,-0.00539065492859,0.0698178763757,0.999999933149,0.000217287211871,-0.000293089409979,2.42156755813e-05,1793193341803545856
+374,6.233333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632.323187186,877.353625629,784.676812814,799.676812814,649,628.323187186,651,0.400956900901,-0.00539016697372,0.069818210284,0.999999933009,0.000218538403568,-0.000292634153092,2.42460697745e-05,1793193341820212480
+375,6.250000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632.897068228,876.205863544,784.102931772,799.102931772,649,628.897068228,651,0.400957515503,-0.00538959579157,0.0698188821198,0.999999932881,0.000220315729709,-0.00029171661814,2.45227139442e-05,1793193341836879360
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764.486094044,742.486094044,712,671.513905956,659,633,876.486094044,784,799,649.486094044,629,651,0.400957630586,-0.00538995285772,0.0698189158188,0.99999993292,0.000220466808601,-0.000291460126906,2.46232603865e-05,1793193341853545984
+377,6.283333333,POSE2_TO_POSE3_RETREAT,764.846713239,743,712,671.076643381,659,632.923356619,877,784,799,649.923356619,628.923356619,651,0.400957650055,-0.00539050251958,0.0698188732319,0.999999933093,0.000219952242088,-0.00029125345882,2.46338693927e-05,1793193341870212352
+378,6.300000000,POSE2_TO_POSE3_RETREAT,763.689026596,743,712,671.655486702,659,632.344513298,877,784,799,649.344513298,628.344513298,651,0.400957758379,-0.00539098479397,0.0698192446707,0.999999933898,0.000217405054469,-0.000290426563684,2.43073620655e-05,1793193341886878976
+379,6.316666667,POSE2_TO_POSE3_RETREAT,763,742.767591114,712,672,658.767591114,632,877,784,799,649,628,650.767591114,0.400957914833,-0.00539084330389,0.0698195009782,0.999999933984,0.000217592335019,-0.000289998462648,2.42130906287e-05,1793193341903545600
+380,6.333333333,POSE2_TO_POSE3_RETREAT,763,742.193493432,712,672,658.193493432,632,877,784,799,649,628,650.193493432,0.400958142049,-0.00538978475188,0.0698195880191,0.999999933008,0.000221799845576,-0.000290156670895,2.44602536702e-05,1793193341920212224
+381,6.350000000,POSE2_TO_POSE3_RETREAT,763.381952623,742,712,672,658,632.381952623,877,784,799,649,628,650.381952623,0.400957406087,-0.00539048624001,0.0698192444519,0.999999933075,0.000220945583583,-0.000290584362463,2.438450563e-05,1793193341936879104
+382,6.366666667,POSE2_TO_POSE3_RETREAT,763.958084151,742,712,672,658,632.958084151,877,784,799,649,628,650.958084151,0.400956180459,-0.0053920825058,0.0698186819701,0.999999933668,0.000217517993266,-0.000291149055251,2.41445944985e-05,1793193341953545728
+383,6.383333333,POSE2_TO_POSE3_RETREAT,763.448616739,742,712,672,658,632.448616739,877,784,799,649,628,650.448616739,0.400957241628,-0.00539083657981,0.0698196952593,0.999999933702,0.000219578600375,-0.000289486266385,2.40559942348e-05,1793193341970212096
+384,6.400000000,POSE2_TO_POSE3_RETREAT,763,742,712,672.141050293,658.141050293,632.141050293,877,784,799,649,628.141050293,650.141050293,0.400958117842,-0.00539008857451,0.0698206235699,0.999999933823,0.000220855170312,-0.000288089394062,2.40948449252e-05,1793193341986878976
+385,6.416666667,POSE2_TO_POSE3_RETREAT,763,742,712,672.71542096,658.71542096,632.71542096,877,784,799,649,628.71542096,650.71542096,0.400957874634,-0.00539155532482,0.0698209109868,0.999999934365,0.000218400202058,-0.000288046365512,2.4488764887e-05,1793193342003546368
+386,6.433333333,POSE2_TO_POSE3_RETREAT,763,742.290364551,712,672.709635449,659,633,877,784,799,649,629,651,0.400957943213,-0.00539188239298,0.0698212560803,0.999999934456,0.000218338507568,-0.000287769240629,2.45998495333e-05,1793193342020213248
+387,6.450000000,POSE2_TO_POSE3_RETREAT,763,742.865870829,712,672.134129171,659,633,877,784,799,649,629,651,0.40095831797,-0.00539109027877,0.0698216578131,0.999999934104,0.000220627038444,-0.000287262230125,2.44331863045e-05,1793193342036879616
+388,6.466666667,POSE2_TO_POSE3_RETREAT,763,742.54744725,712,672,659,632.54744725,877,784,799,649,629,651,0.400958229189,-0.00539049893558,0.0698213779947,0.999999933675,0.000222236478726,-0.000287534408676,2.41669780409e-05,1793193342053546240
+389,6.483333333,POSE2_TO_POSE3_RETREAT,763.041828107,742,712,672,659,632.041828107,877,784,799,649,628.958171893,651,0.400958032977,-0.00539005446065,0.069820932956,0.999999933303,0.000223343457291,-0.000287992173466,2.39174963176e-05,1793193342070212864
+390,6.500000000,POSE2_TO_POSE3_RETREAT,763.620795917,742,712,672,659,632.620795917,877,784,799,649,628.379204083,651,0.400958266118,-0.0053907125181,0.0698210259145,0.99999993395,0.00022064811349,-0.000287792450172,2.42712750009e-05,1793193342086879488
+391,6.516666667,POSE2_TO_POSE3_RETREAT,764,742,711.800769839,672,659,633,877,784,799,649,628,651,0.400957747262,-0.00539112977436,0.0698206922333,0.99999993414,0.000219117845115,-0.000288286345321,2.44471749568e-05,1793193342103546112
+392,6.533333333,POSE2_TO_POSE3_RETREAT,764,742,711.223348475,672,659,633,877,784,799,649,628,651,0.400955800917,-0.00539108992665,0.069819548678,0.999999933471,0.00021979919624,-0.000290096910569,2.42854143208e-05,1793193342120212736
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_03/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_03/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..465737d375dd4fe06614d23e9347fe19030f441b
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_03/depth_01/simulation_data.csv
@@ -0,0 +1,394 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+1,0.016666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+2,0.033333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+3,0.050000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+4,0.066666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+5,0.083333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+6,0.100000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+7,0.116666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+8,0.133333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+9,0.150000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+10,0.166666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+11,0.183333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+12,0.200000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+13,0.216666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+14,0.233333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+15,0.250000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+16,0.266666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+17,0.283333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+18,0.300000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+19,0.316666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+20,0.333333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+21,0.350000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+22,0.366666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+23,0.383333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+24,0.400000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+25,0.416666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+26,0.433333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+27,0.450000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+28,0.466666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+29,0.483333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+30,0.500000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+31,0.516666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+32,0.533333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+33,0.550000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+34,0.566666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+35,0.583333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+36,0.600000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+37,0.616666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+38,0.633333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+39,0.650000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+40,0.666666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+41,0.683333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+42,0.700000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+43,0.716666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+44,0.733333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+45,0.750000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+46,0.766666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+47,0.783333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+48,0.800000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+49,0.816666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+50,0.833333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+51,0.850000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+52,0.866666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+53,0.883333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+54,0.900000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+55,0.916666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+56,0.933333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+57,0.950000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+58,0.966666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+59,0.983333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+60,1.000000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+61,1.016666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+62,1.033333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+63,1.050000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+64,1.066666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+65,1.083333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+66,1.100000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+67,1.116666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+68,1.133333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+69,1.150000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+70,1.166666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+71,1.183333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+72,1.200000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+73,1.216666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+74,1.233333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+75,1.250000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+76,1.266666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+77,1.283333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+78,1.300000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+79,1.316666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+80,1.333333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+81,1.350000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+82,1.366666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+83,1.383333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+84,1.400000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+85,1.416666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+86,1.433333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+87,1.450000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+88,1.466666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+89,1.483333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+90,1.500000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+91,1.516666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+92,1.533333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+93,1.550000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+94,1.566666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+95,1.583333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+96,1.600000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+97,1.616666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+98,1.633333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+99,1.650000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+100,1.666666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+101,1.683333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+102,1.700000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+103,1.716666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+104,1.733333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+105,1.750000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+106,1.766666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+107,1.783333333,pose1_to_pose2_press,0.575709211365,5.46154939886e-05,1.06002918235,0.546279941881,0.00872734561183,1.05969846529
+108,1.800000000,pose1_to_pose2_press,0.575709348888,5.46620104865e-05,1.06002915364,0.546280078568,0.0087273895543,1.05969844347
+109,1.816666667,pose1_to_pose2_press,0.575709517461,5.46539753003e-05,1.06002913705,0.546280247136,0.00872738164805,1.05969843074
+110,1.833333333,pose1_to_pose2_press,0.575709728242,5.45834953321e-05,1.06002913359,0.546280458857,0.00872731438011,1.05969842786
+111,1.850000000,pose1_to_pose2_press,0.575709955464,5.45540353142e-05,1.06002913776,0.546280686523,0.00872728639031,1.0596984311
+112,1.866666667,pose1_to_pose2_press,0.575710222413,5.454766313e-05,1.06002914743,0.546280953646,0.00872728053593,1.05969843875
+113,1.883333333,pose1_to_pose2_press,0.575711354908,5.45239353654e-05,1.06002918761,0.546282086795,0.0087272587349,1.05969847131
+114,1.900000000,pose1_to_pose2_press,0.575714544376,5.45646684614e-05,1.06002926493,0.546285275163,0.00872729608202,1.05969855771
+115,1.916666667,pose1_to_pose2_press,0.575721664603,5.45963948354e-05,1.06002920414,0.546292394511,0.00872732480573,1.05969849635
+116,1.933333333,pose1_to_pose2_press,0.575735971442,5.45908064817e-05,1.06002900337,0.54630670255,0.00872732347684,1.05969830042
+117,1.950000000,pose1_to_pose2_press,0.575759550539,5.45072634886e-05,1.06002925005,0.546330281163,0.00872723822247,1.05969854522
+118,1.966666667,pose1_to_pose2_press,0.575794423398,5.46558070477e-05,1.06002914267,0.546365152671,0.0087273820574,1.0596984345
+119,1.983333333,pose1_to_pose2_press,0.575840634761,5.46564276723e-05,1.06002926499,0.546411364559,0.00872738410174,1.05969854748
+120,2.000000000,pose1_to_pose2_press,0.575898808948,5.45096554186e-05,1.06002905557,0.546469539036,0.00872723858033,1.05969834488
+121,2.016666667,pose1_to_pose2_press,0.575967913761,5.46927696787e-05,1.06002916948,0.546538643745,0.00872742129685,1.05969845764
+122,2.033333333,pose1_to_pose2_press,0.576048072409,5.46829651809e-05,1.06002925954,0.546618801842,0.0087274100728,1.05969855937
+123,2.050000000,pose1_to_pose2_press,0.57614150952,5.46650939161e-05,1.06002937538,0.546712240728,0.00872739778196,1.05969866359
+124,2.066666667,pose1_to_pose2_press,0.57624888966,5.45863738021e-05,1.06002911088,0.546819619481,0.00872731456911,1.05969840459
+125,2.083333333,pose1_to_pose2_press,0.576373150668,5.46025144902e-05,1.06002900068,0.54694388016,0.00872732956361,1.05969829358
+126,2.100000000,pose1_to_pose2_press,0.57651496938,5.45473451844e-05,1.06002900306,0.547085700897,0.00872728126951,1.05969829605
+127,2.116666667,pose1_to_pose2_press,0.576677687874,5.46067255608e-05,1.06002936237,0.547248417666,0.00872733440581,1.05969864503
+128,2.133333333,pose1_to_pose2_press,0.57685996047,5.46824378678e-05,1.06002915946,0.54743068933,0.00872740719359,1.05969844828
+129,2.150000000,pose1_to_pose2_press,0.57706295307,5.46793855761e-05,1.06002921542,0.547633683082,0.00872740820191,1.0596985082
+130,2.166666667,pose1_to_pose2_press,0.577290338398,5.47367096099e-05,1.06002923982,0.54786106827,0.00872746527905,1.05969853854
+131,2.183333333,pose1_to_pose2_press,0.577541883037,5.46145185737e-05,1.06002896356,0.548112612917,0.00872734296456,1.05969825823
+132,2.200000000,pose1_to_pose2_press,0.577818112787,5.45693962161e-05,1.06002899815,0.548388842472,0.00872729701639,1.05969828845
+133,2.216666667,pose1_to_pose2_press,0.57811763646,5.44890189668e-05,1.06002920457,0.548688367306,0.00872722051179,1.05969849309
+134,2.233333333,pose1_to_pose2_press,0.578441347247,5.45919740283e-05,1.06002923727,0.549012076667,0.00872731849336,1.0596985221
+135,2.250000000,pose1_to_pose2_press,0.578786503327,5.46636702241e-05,1.06002928206,0.549357231479,0.00872738594165,1.05969856835
+136,2.266666667,pose1_to_pose2_press,0.579153677575,5.46330550596e-05,1.06002927503,0.549724407008,0.0087273598319,1.05969856535
+137,2.283333333,pose1_to_pose2_press,0.579544193873,5.46292954249e-05,1.06002914449,0.550114924043,0.0087273586122,1.05969843586
+138,2.300000000,pose1_to_pose2_press,0.579956249541,5.45247964536e-05,1.0600292109,0.550526980388,0.00872725633199,1.05969850018
+139,2.316666667,pose1_to_pose2_press,0.580387472646,5.44622914191e-05,1.06002926506,0.550958204607,0.00872719762342,1.05969855465
+140,2.333333333,pose1_to_pose2_press,0.580838488632,5.44573538837e-05,1.06002921321,0.551409220609,0.00872719277246,1.0596985036
+141,2.350000000,pose1_to_pose2_press,0.581312913686,5.45731633213e-05,1.06002914592,0.551883642739,0.00872729872557,1.059698438
+142,2.366666667,pose1_to_pose2_press,0.58181608495,5.46149498761e-05,1.06002923855,0.552386813552,0.00872733894504,1.05969852962
+143,2.383333333,pose1_to_pose2_press,0.582350459277,5.44310565054e-05,1.06002932131,0.552921190011,0.00872716207057,1.05969860666
+144,2.400000000,pose1_to_pose2_press,0.582918444732,5.45001940566e-05,1.06002911515,0.553489175253,0.00872723054476,1.05969840209
+145,2.416666667,pose1_to_pose2_press,0.583512803049,5.46620137487e-05,1.06002907047,0.5540835322,0.00872738793356,1.05969836301
+146,2.433333333,pose1_to_pose2_press,0.584126778127,5.4601244501e-05,1.06002915716,0.554697506889,0.00872732574027,1.05969844699
+147,2.450000000,pose1_to_pose2_press,0.584756137608,5.45839324374e-05,1.06002911022,0.555326867152,0.00872731103726,1.05969839883
+148,2.466666667,pose1_to_pose2_press,0.585402618946,5.46588850032e-05,1.06002903513,0.555973348147,0.00872738488238,1.05969832522
+149,2.483333333,pose1_to_pose2_press,0.586074946826,5.45560971339e-05,1.06002898299,0.556645677492,0.00872728708963,1.05969827369
+150,2.500000000,pose1_to_pose2_press,0.586772756065,5.45130932193e-05,1.06002900624,0.557343487673,0.00872724732237,1.05969829792
+151,2.516666667,pose1_to_pose2_press,0.587488460278,5.4588700302e-05,1.06002920202,0.558059190307,0.00872731753952,1.0596984929
+152,2.533333333,pose1_to_pose2_press,0.588211552655,5.46259491316e-05,1.06002929342,0.558782282244,0.00872735311495,1.05969857965
+153,2.550000000,pose1_to_pose2_press,0.588934166343,5.45594088933e-05,1.0600292346,0.559504896295,0.00872728783715,1.05969852152
+154,2.566666667,pose1_to_pose2_press,0.58965905933,5.45014452935e-05,1.06002909798,0.560229789386,0.00872723034573,1.05969838809
+155,2.583333333,pose1_to_pose2_press,0.590392669804,5.44717034991e-05,1.06002917341,0.560963400618,0.00872720306937,1.05969846073
+156,2.600000000,pose1_to_pose2_press,0.591151825937,5.45191762644e-05,1.0600292976,0.561722555938,0.00872724767977,1.05969858222
+157,2.616666667,pose1_to_pose2_press,0.591937941083,5.44907308683e-05,1.06002900698,0.562508672185,0.00872722303791,1.05969829334
+158,2.633333333,pose1_to_pose2_press,0.592751197121,5.44919654694e-05,1.06002894159,0.563321928021,0.00872722383784,1.05969823456
+159,2.650000000,pose1_to_pose2_press,0.593575867923,5.45874538803e-05,1.06002901591,0.564146598867,0.00872731953806,1.05969831054
+160,2.666666667,pose1_to_pose2_press,0.594405865923,5.45219541781e-05,1.06002907073,0.564976596969,0.00872725429497,1.05969836308
+161,2.683333333,pose1_to_pose2_press,0.59522067536,5.45492406111e-05,1.06002897062,0.565791405162,0.00872727755675,1.05969826814
+162,2.700000000,pose1_to_pose2_press,0.596018975061,5.44980935192e-05,1.06002896644,0.566589705085,0.00872722699535,1.05969825959
+163,2.716666667,pose1_to_pose2_press,0.596804188555,5.44754121282e-05,1.06002912297,0.567374920133,0.00872720935403,1.05969841006
+164,2.733333333,pose1_to_pose2_press,0.597585168365,5.4607436289e-05,1.06002885932,0.56815589786,0.00872733479838,1.05969815928
+165,2.750000000,pose1_to_pose2_press,0.598375552184,5.46670876121e-05,1.06002913077,0.568946281034,0.00872739198262,1.05969842351
+166,2.766666667,pose1_to_pose2_press,0.599181992507,5.45101607363e-05,1.06002914482,0.569752724942,0.00872724713764,1.05969843539
+167,2.783333333,pose1_to_pose2_press,0.600004554283,5.45603418667e-05,1.06002914801,0.5705752862,0.0087272955973,1.05969843964
+168,2.800000000,pose1_to_pose2_press,0.600835668448,5.45287162934e-05,1.06002922127,0.571406400849,0.00872726560699,1.05969851277
+169,2.816666667,pose1_to_pose2_press,0.601664933901,5.45779155604e-05,1.06002931417,0.572235664938,0.00872731007187,1.05969860298
+170,2.833333333,pose1_to_pose2_press,0.602477136255,5.45757984869e-05,1.06002913369,0.573047866122,0.00872730413537,1.05969842661
+171,2.850000000,pose1_to_pose2_press,0.603264282829,5.45698231034e-05,1.06002913938,0.573835013262,0.00872730009564,1.05969843274
+172,2.866666667,pose1_to_pose2_press,0.604016491558,5.46087831343e-05,1.0600290602,0.574587221858,0.00872733849192,1.05969835069
+173,2.883333333,pose1_to_pose2_press,0.604743436883,5.46417852331e-05,1.06002889764,0.57531416653,0.00872736935652,1.05969819025
+174,2.900000000,pose1_to_pose2_press,0.605447655784,5.44894715808e-05,1.0600289918,0.576018385972,0.0087272187289,1.05969828052
+175,2.916666667,pose1_to_pose2_press,0.606147210895,5.44563869972e-05,1.0600291492,0.57671794179,0.00872718782493,1.05969843227
+176,2.933333333,pose1_to_pose2_press,0.606850177103,5.45574687827e-05,1.06002905797,0.577420907506,0.0087272875726,1.05969834998
+177,2.950000000,pose1_to_pose2_press,0.607560568803,5.45862604213e-05,1.06002914388,0.578131298652,0.00872731453364,1.05969843722
+178,2.966666667,pose1_to_pose2_press,0.608262563984,5.46370678978e-05,1.0600291996,0.578833292827,0.00872736176865,1.05969848892
+179,2.983333333,pose1_to_pose2_press,0.608946565498,5.46948663803e-05,1.06002922992,0.579517295441,0.0087274232801,1.05969851878
+180,3.000000000,pose1_to_pose2_press,0.609586477281,5.45319790911e-05,1.06002906697,0.58015720915,0.00872726726087,1.05969836464
+181,3.016666667,pose1_to_pose2_press,0.610184325307,5.45809667789e-05,1.0600291685,0.580755055629,0.00872731097799,1.05969846572
+182,3.033333333,pose1_to_pose2_press,0.610744208489,5.47901378859e-05,1.06002933772,0.581314935895,0.00872751001821,1.05969862882
+183,3.050000000,pose1_to_pose2_press,0.611274963159,5.47443580231e-05,1.06002920652,0.581845690916,0.00872746512964,1.05969848985
+184,3.066666667,pose1_to_pose2_press,0.611779840993,5.46354599098e-05,1.06002909673,0.582350570225,0.00872736127547,1.05969838104
+185,3.083333333,pose1_to_pose2_press,0.612259394384,5.45810648802e-05,1.0600291326,0.582830124305,0.008727309632,1.05969842763
+186,3.100000000,pose1_to_pose2_press,0.612712373635,5.44166076986e-05,1.06002915208,0.583283105559,0.00872715177379,1.05969844145
+187,3.116666667,pose1_to_pose2_press,0.613144702703,5.45682660921e-05,1.06002916098,0.583715432317,0.00872729587215,1.05969845493
+188,3.133333333,pose1_to_pose2_press,0.613559660869,5.45183841651e-05,1.0600293997,0.584130392167,0.00872725168489,1.05969868868
+189,3.150000000,pose1_to_pose2_press,0.613959242063,5.46511889413e-05,1.0600295112,0.584529972123,0.0087273806354,1.05969879797
+190,3.166666667,pose1_to_pose2_press,0.614347135123,5.44980271705e-05,1.06002901453,0.584917865659,0.00872722994931,1.05969830819
+191,3.183333333,pose1_to_pose2_press,0.614722510857,5.46667897078e-05,1.0600293719,0.585293241161,0.00872739840911,1.05969866293
+192,3.200000000,pose1_to_pose2_press,0.615072835846,5.45385788596e-05,1.06002903198,0.585643567851,0.00872727664211,1.05969832347
+193,3.216666667,pose1_to_pose2_press,0.615394925715,5.46084217601e-05,1.06002908634,0.585965654347,0.00872733619187,1.05969838866
+194,3.233333333,pose1_to_pose2_press,0.615682956008,5.46665438124e-05,1.06002900752,0.586253684752,0.00872739507143,1.05969830545
+195,3.250000000,pose1_to_pose2_press,0.615940777822,5.46351221315e-05,1.06002914532,0.586511505674,0.00872736075506,1.05969843413
+196,3.266666667,pose1_to_pose2_press,0.61617046943,5.47400180885e-05,1.06002931385,0.586741196752,0.00872746387287,1.05969859308
+197,3.283333333,pose1_to_pose2_press,0.616379432649,5.45967113277e-05,1.0600292716,0.58695016252,0.00872733031871,1.05969856204
+198,3.300000000,pose1_to_pose2_press,0.616569968179,5.45808071993e-05,1.06002923855,0.587140696637,0.00872731023058,1.05969853509
+199,3.316666667,pose1_to_pose2_press,0.616746993278,5.46052433325e-05,1.06002921111,0.587317721569,0.00872733410826,1.05969849726
+200,3.333333333,pose1_to_pose2_press,0.616910207084,5.45585061542e-05,1.06002916443,0.587480935684,0.00872728879482,1.05969845312
+201,3.350000000,pose1_to_pose2_press,0.617056997767,5.44896389441e-05,1.06002910221,0.587627726489,0.008727220669,1.05969838853
+202,3.366666667,pose1_to_pose2_press,0.617188021508,5.45352937926e-05,1.06002903183,0.587758749565,0.00872726453804,1.05969832358
+203,3.383333333,pose1_to_pose2_press,0.617302335726,5.45036404253e-05,1.0600290397,0.587873064061,0.0087272339446,1.05969832923
+204,3.400000000,pose1_to_pose2_press,0.617400925451,5.44730516864e-05,1.06002925388,0.587971654378,0.00872720527243,1.05969853203
+205,3.416666667,pose1_to_pose2_press,0.617484101802,5.45476572784e-05,1.06002927324,0.588054830771,0.00872728077746,1.05969855871
+206,3.433333333,pose1_to_pose2_press,0.617554518083,5.46228752638e-05,1.0600290633,0.588125246513,0.00872735482686,1.05969836172
+207,3.450000000,pose1_to_pose2_press,0.617614051139,5.47141928987e-05,1.06002924456,0.58818477749,0.00872743840961,1.05969853607
+208,3.466666667,pose1_to_pose2_press,0.617663793017,5.45776238308e-05,1.06002917531,0.588234520272,0.00872730547361,1.05969845767
+209,3.483333333,pose1_to_pose2_press,0.617705174629,5.45059028286e-05,1.06002901939,0.588275902159,0.00872723461779,1.05969831247
+210,3.500000000,pose1_to_pose2_press,0.617738787765,5.45829862458e-05,1.06002914231,0.588309513867,0.00872730671301,1.05969843247
+211,3.516666667,pose1_to_pose2_press,0.61776512256,5.44905523414e-05,1.06002892313,0.588335850691,0.00872722161789,1.05969822014
+212,3.533333333,pose1_to_pose2_press,0.617784893071,5.45886578546e-05,1.0600289834,0.588355621219,0.00872731954792,1.05969827594
+213,3.550000000,pose1_to_pose2_press,0.617798753274,5.46811973091e-05,1.06002912447,0.588369480541,0.00872740912515,1.05969841833
+214,3.566666667,pose1_to_pose2_press,0.617808296466,5.47039428171e-05,1.06002923699,0.58837902307,0.00872742979007,1.05969853426
+215,3.583333333,pose1_to_pose2_press,0.617814587634,5.45936034752e-05,1.06002927408,0.588385314922,0.00872732148993,1.05969856296
+216,3.600000000,pose1_to_pose2_press,0.617819066052,5.45138840132e-05,1.06002926805,0.588389794145,0.00872724436701,1.05969855331
+217,3.616666667,pose1_to_pose2_press,0.617822085491,5.44580436995e-05,1.06002920614,0.588392814695,0.00872719231818,1.05969849321
+218,3.633333333,pose1_to_pose2_press,0.617824371398,5.44157690399e-05,1.06002915928,0.588395101442,0.00872715291392,1.0596984477
+219,3.650000000,pose1_to_pose2_press,0.617825828153,5.44367458483e-05,1.06002921198,0.588396558115,0.00872717364238,1.05969850052
+220,3.666666667,pose1_to_pose2_press,0.617826255822,5.44488987801e-05,1.06002923778,0.588396985683,0.0087271854625,1.05969852627
+221,3.683333333,pose1_to_pose2_press,0.617826348278,5.4451526079e-05,1.06002924335,0.588397078117,0.00872718801784,1.05969853183
+222,3.700000000,pose1_to_pose2_press,0.617826672122,5.44607286194e-05,1.06002926289,0.588397401884,0.00872719696836,1.05969855132
+223,3.716666667,pose1_to_pose2_press,0.617827032855,5.44709794613e-05,1.06002928465,0.588397762532,0.00872720693848,1.05969857304
+224,3.733333333,pose1_to_pose2_press,0.617827418996,5.44819522845e-05,1.06002930795,0.588398148581,0.0087272176108,1.05969859628
+225,3.750000000,pose1_to_pose2_press,0.617828112537,5.45016603975e-05,1.06002934979,0.588398841958,0.00872723677919,1.05969863803
+226,3.766666667,pose1_to_pose2_press,0.617828639328,5.45166300316e-05,1.06002938156,0.588399368624,0.00872725133886,1.05969866974
+227,3.783333333,pose1_to_pose2_press,0.617828695056,5.451821364e-05,1.06002938493,0.588399424339,0.0087272528791,1.0596986731
+228,3.800000000,pose1_to_pose2_press,0.617828801888,5.45212494357e-05,1.06002939137,0.588399531145,0.00872725583176,1.05969867953
+229,3.816666667,pose1_to_pose2_press,0.617829343429,5.45266059632e-05,1.06002937145,0.588400072662,0.00872726114311,1.05969865992
+230,3.833333333,pose1_to_pose2_press,0.617829887253,5.45240505554e-05,1.06002930984,0.588400616545,0.00872725883992,1.05969859894
+231,3.850000000,pose1_to_pose2_press,0.617830409142,5.45215982159e-05,1.06002925072,0.588401138491,0.00872725662962,1.05969854041
+232,3.866666667,pose1_to_pose2_press,0.617830935901,5.45191229986e-05,1.06002919105,0.588401665306,0.00872725439871,1.05969848134
+233,3.883333333,pose1_to_pose2_press,0.617831254798,5.4519518789e-05,1.06002915742,0.588401984208,0.00872725484035,1.05969844798
+234,3.900000000,pose1_to_pose2_press,0.617831256576,5.45198619424e-05,1.06002915769,0.588401985981,0.00872725516539,1.05969844823
+235,3.916666667,pose1_to_pose2_press,0.617831465449,5.45601645695e-05,1.06002918856,0.588402194249,0.00872729334091,1.05969847703
+236,3.933333333,pose1_to_pose2_press,0.61783191274,5.46464710278e-05,1.06002925467,0.588402640245,0.00872737509226,1.0596985387
+237,3.950000000,pose1_to_pose2_press,0.617832339953,5.47160960825e-05,1.06002930972,0.588403066464,0.00872744123532,1.05969859098
+238,3.966666667,pose1_to_pose2_press,0.617832494117,5.46277715103e-05,1.06002925794,0.588403222418,0.00872735934891,1.05969855112
+239,3.983333333,pose1_to_pose2_press,0.61783257635,5.46629055974e-05,1.06002919893,0.588403304356,0.00872739355317,1.05969849457
+240,4.000000000,pose1_to_pose2_press,0.6178325842,5.46715105372e-05,1.06002919129,0.588403312097,0.00872740179073,1.05969848692
+241,4.016666667,pose1_to_pose2_press,0.617832648603,5.47421090538e-05,1.06002912864,0.588403375615,0.00872746937415,1.05969842414
+242,4.033333333,pose2_hold,0.617832648603,5.47421090538e-05,1.06002912864,0.588403375619,0.00872746937336,1.05969842414
+243,4.050000000,pose2_hold,0.617832648603,5.47421090538e-05,1.06002912864,0.588403375619,0.00872746937325,1.05969842414
+244,4.066666667,pose2_hold,0.617832648603,5.47421090538e-05,1.06002912864,0.588403375619,0.00872746937319,1.05969842414
+245,4.083333333,pose2_hold,0.617832648603,5.47421090538e-05,1.06002912864,0.588403375619,0.0087274693741,1.05969842414
+246,4.100000000,pose2_hold,0.617832648603,5.47421090538e-05,1.06002912864,0.588403375619,0.00872746937465,1.05969842414
+247,4.116666667,pose2_hold,0.617832648603,5.47421090538e-05,1.06002912864,0.58840337562,0.00872746937344,1.05969842414
+248,4.133333333,pose2_hold,0.617832648603,5.47421090538e-05,1.06002912864,0.58840337562,0.00872746937309,1.05969842414
+249,4.150000000,pose2_hold,0.617832648603,5.47421090538e-05,1.06002912864,0.58840337562,0.00872746937296,1.05969842414
+250,4.166666667,pose2_hold,0.617832648603,5.47421090538e-05,1.06002912864,0.58840337562,0.00872746937375,1.05969842414
+251,4.183333333,pose2_hold,0.617832648603,5.47421090538e-05,1.06002912864,0.588403375621,0.00872746937351,1.05969842414
+252,4.200000000,pose2_hold,0.617832648603,5.47421090538e-05,1.06002912864,0.588403375621,0.00872746937407,1.05969842414
+253,4.216666667,pose2_hold,0.617832648603,5.47421090538e-05,1.06002912864,0.588403375621,0.00872746937313,1.05969842414
+254,4.233333333,pose2_hold,0.617832648603,5.47421090538e-05,1.06002912864,0.588403375621,0.00872746937315,1.05969842414
+255,4.250000000,pose2_hold,0.617832648603,5.47421090538e-05,1.06002912864,0.588403375621,0.00872746937318,1.05969842414
+256,4.266666667,pose2_hold,0.617832648603,5.47421090538e-05,1.06002912864,0.588403375621,0.0087274693732,1.05969842414
+257,4.283333333,pose2_hold,0.617832648603,5.47421090538e-05,1.06002912864,0.588403375621,0.00872746937294,1.05969842414
+258,4.300000000,pose2_to_pose3_retreat,0.617832648603,5.47421090538e-05,1.06002912864,0.588403375622,0.00872746937374,1.05969842414
+259,4.316666667,pose2_to_pose3_retreat,0.617832485609,5.46531820319e-05,1.06002929683,0.588403213564,0.00872738320863,1.0596985813
+260,4.333333333,pose2_to_pose3_retreat,0.617832246211,5.47609161095e-05,1.06002930493,0.588402973396,0.00872748826935,1.05969858735
+261,4.350000000,pose2_to_pose3_retreat,0.617832009975,5.47628326192e-05,1.06002932879,0.588402736858,0.00872748911422,1.05969860985
+262,4.366666667,pose2_to_pose3_retreat,0.617831843232,5.47476288828e-05,1.06002934815,0.588402569975,0.00872747340252,1.05969862835
+263,4.383333333,pose2_to_pose3_retreat,0.617831763294,5.47403400156e-05,1.06002935743,0.58840248997,0.00872746587012,1.05969863722
+264,4.400000000,pose2_to_pose3_retreat,0.61783042085,5.46259875151e-05,1.06002944205,0.588401147445,0.00872735117161,1.05969871997
+265,4.416666667,pose2_to_pose3_retreat,0.617826552597,5.4474697866e-05,1.06002936212,0.588397281337,0.00872720748861,1.05969864931
+266,4.433333333,pose2_to_pose3_retreat,0.617818113594,5.45039107088e-05,1.0600292559,0.588388842056,0.00872723591316,1.05969854874
+267,4.450000000,pose2_to_pose3_retreat,0.617801521786,5.43610871741e-05,1.06002915726,0.588372251432,0.00872709700766,1.05969844711
+268,4.466666667,pose2_to_pose3_retreat,0.617774879072,5.45602792329e-05,1.06002925193,0.588345606893,0.00872728962,1.05969853771
+269,4.483333333,pose2_to_pose3_retreat,0.617735523493,5.45523350456e-05,1.0600292317,0.588306251359,0.00872728180009,1.05969852055
+270,4.500000000,pose2_to_pose3_retreat,0.617684293166,5.45039607816e-05,1.06002927107,0.588255021154,0.00872723380135,1.05969856218
+271,4.516666667,pose2_to_pose3_retreat,0.6176228709,5.45696294024e-05,1.06002940551,0.58819359903,0.00872729970949,1.05969869247
+272,4.533333333,pose2_to_pose3_retreat,0.617552232356,5.44932595589e-05,1.06002929102,0.588122963238,0.00872722130964,1.05969857305
+273,4.550000000,pose2_to_pose3_retreat,0.617472038466,5.44317857685e-05,1.06002914703,0.588042767573,0.0087271650641,1.05969843736
+274,4.566666667,pose2_to_pose3_retreat,0.617380880875,5.44252326936e-05,1.06002924859,0.587951610252,0.0087271593347,1.05969854204
+275,4.583333333,pose2_to_pose3_retreat,0.617277289507,5.4488345703e-05,1.06002905931,0.587848019024,0.0087272226407,1.05969835203
+276,4.600000000,pose2_to_pose3_retreat,0.617156996103,5.44922971226e-05,1.060028965,0.5877277253,0.00872722497203,1.0596982504
+277,4.616666667,pose2_to_pose3_retreat,0.61701980274,5.45215986167e-05,1.0600290942,0.587590531198,0.00872725154517,1.05969838201
+278,4.633333333,pose2_to_pose3_retreat,0.616863206079,5.45998332399e-05,1.06002916239,0.587433933962,0.00872732751452,1.05969845034
+279,4.650000000,pose2_to_pose3_retreat,0.616687678468,5.45623553897e-05,1.06002921361,0.587258406811,0.0087272913097,1.05969850487
+280,4.666666667,pose2_to_pose3_retreat,0.616492447397,5.45341590848e-05,1.06002914707,0.587063176332,0.00872726469605,1.0596984379
+281,4.683333333,pose2_to_pose3_retreat,0.616274734411,5.45394749192e-05,1.06002902703,0.586845464458,0.0087272732956,1.05969831739
+282,4.700000000,pose2_to_pose3_retreat,0.616034815192,5.45481041887e-05,1.06002905355,0.586605546565,0.00872728599884,1.05969834867
+283,4.716666667,pose2_to_pose3_retreat,0.615772238832,5.4597591771e-05,1.06002909564,0.586342969808,0.00872733352454,1.05969838959
+284,4.733333333,pose2_to_pose3_retreat,0.615487083952,5.45667794538e-05,1.06002911102,0.586057813965,0.0087272986961,1.05969839993
+285,4.750000000,pose2_to_pose3_retreat,0.615176723607,5.44922799042e-05,1.06002926933,0.585747454196,0.00872722535874,1.0596985538
+286,4.766666667,pose2_to_pose3_retreat,0.61484093075,5.4352356825e-05,1.06002918702,0.585411662796,0.00872708958941,1.05969846836
+287,4.783333333,pose2_to_pose3_retreat,0.614478545714,5.44840087066e-05,1.06002918315,0.58504927651,0.00872721683842,1.05969847464
+288,4.800000000,pose2_to_pose3_retreat,0.614080055316,5.45565697683e-05,1.06002937727,0.584650785086,0.00872728498042,1.05969866014
+289,4.816666667,pose2_to_pose3_retreat,0.613648617453,5.46800736768e-05,1.06002905877,0.58421934696,0.0087274073754,1.05969835031
+290,4.833333333,pose2_to_pose3_retreat,0.613188129009,5.46777157929e-05,1.06002935057,0.583758857776,0.00872740154758,1.05969862548
+291,4.850000000,pose2_to_pose3_retreat,0.612704619644,5.46281716378e-05,1.06002936018,0.583275349408,0.0087273559567,1.05969865026
+292,4.866666667,pose2_to_pose3_retreat,0.612199804597,5.45646127909e-05,1.06002915315,0.582770534174,0.00872729180569,1.05969844426
+293,4.883333333,pose2_to_pose3_retreat,0.61168188904,5.45531238773e-05,1.06002914815,0.582252618754,0.00872728070792,1.05969843691
+294,4.900000000,pose2_to_pose3_retreat,0.611148069351,5.45421549169e-05,1.06002898966,0.581718801658,0.0087272789285,1.05969828855
+295,4.916666667,pose2_to_pose3_retreat,0.610582499994,5.4603705e-05,1.06002927535,0.581153229486,0.00872733045942,1.05969856246
+296,4.933333333,pose2_to_pose3_retreat,0.609983186361,5.44519729945e-05,1.06002892573,0.580553916878,0.00872718240923,1.05969821849
+297,4.950000000,pose2_to_pose3_retreat,0.609346076628,5.44853372087e-05,1.06002899864,0.579916808688,0.00872722112071,1.05969829414
+298,4.966666667,pose2_to_pose3_retreat,0.608677683562,5.46951137058e-05,1.06002912287,0.579248411053,0.00872741531332,1.05969841565
+299,4.983333333,pose2_to_pose3_retreat,0.607982355541,5.45375352776e-05,1.0600290242,0.578553087235,0.00872727208147,1.05969831974
+300,5.000000000,pose2_to_pose3_retreat,0.607268143405,5.45033051823e-05,1.06002916025,0.577838874525,0.00872723559861,1.0596984478
+301,5.016666667,pose2_to_pose3_retreat,0.606532630991,5.45218846356e-05,1.06002915992,0.577103361235,0.0087272512683,1.05969844909
+302,5.033333333,pose2_to_pose3_retreat,0.605763964828,5.4674851073e-05,1.06002906189,0.576334693226,0.00872739784414,1.05969834767
+303,5.050000000,pose2_to_pose3_retreat,0.604972780369,5.45871069303e-05,1.06002913088,0.575543509647,0.0087273134427,1.05969842595
+304,5.066666667,pose2_to_pose3_retreat,0.604169673705,5.44596052299e-05,1.06002890552,0.574740405673,0.00872719493343,1.05969819703
+305,5.083333333,pose2_to_pose3_retreat,0.603366321697,5.45335458498e-05,1.06002905078,0.573937052974,0.00872726640662,1.05969833801
+306,5.100000000,pose2_to_pose3_retreat,0.602567940118,5.4643129143e-05,1.06002913593,0.573138670455,0.00872737308185,1.05969843105
+307,5.116666667,pose2_to_pose3_retreat,0.601771808121,5.43671544139e-05,1.0600290267,0.572342541034,0.0087271056694,1.05969831641
+308,5.133333333,pose2_to_pose3_retreat,0.600965379167,5.46283647339e-05,1.06002917823,0.57153610754,0.00872735114368,1.05969846035
+309,5.150000000,pose2_to_pose3_retreat,0.600135097562,5.45343423337e-05,1.06002893446,0.570705827798,0.00872726377707,1.05969822501
+310,5.166666667,pose2_to_pose3_retreat,0.599272678177,5.45547866682e-05,1.06002924642,0.569843408887,0.00872728578975,1.05969853693
+311,5.183333333,pose2_to_pose3_retreat,0.598374592814,5.45620094628e-05,1.06002902277,0.568945323093,0.00872729179666,1.05969831722
+312,5.200000000,pose2_to_pose3_retreat,0.597477823248,5.4687016807e-05,1.06002935804,0.568048552721,0.00872741414315,1.05969865491
+313,5.216666667,pose2_to_pose3_retreat,0.596589240954,5.45810311959e-05,1.06002904306,0.567159972704,0.00872731552245,1.05969833049
+314,5.233333333,pose2_to_pose3_retreat,0.595724315128,5.45239744419e-05,1.06002889703,0.566295046081,0.00872725604997,1.05969819191
+315,5.250000000,pose2_to_pose3_retreat,0.594885325215,5.44273056663e-05,1.06002905975,0.565456056269,0.00872715927081,1.05969834274
+316,5.266666667,pose2_to_pose3_retreat,0.594071556872,5.45087413579e-05,1.06002911485,0.564642287311,0.00872723917588,1.05969841228
+317,5.283333333,pose2_to_pose3_retreat,0.593261717595,5.45623660281e-05,1.06002913837,0.563832449614,0.0087272979321,1.05969842981
+318,5.300000000,pose2_to_pose3_retreat,0.592448716892,5.45109386765e-05,1.06002914165,0.5630194477,0.00872724238689,1.05969843285
+319,5.316666667,pose2_to_pose3_retreat,0.591626834164,5.45187502645e-05,1.06002913087,0.562197565217,0.00872725116178,1.05969842549
+320,5.333333333,pose2_to_pose3_retreat,0.590798256857,5.45601587098e-05,1.0600290501,0.56136898713,0.00872728975752,1.05969834028
+321,5.350000000,pose2_to_pose3_retreat,0.589963201283,5.46704968986e-05,1.06002908042,0.560533931614,0.00872740077457,1.05969838315
+322,5.366666667,pose2_to_pose3_retreat,0.589143668738,5.45532260765e-05,1.06002921983,0.559714399883,0.00872728617277,1.05969852012
+323,5.383333333,pose2_to_pose3_retreat,0.588356155314,5.45119652674e-05,1.0600291553,0.558926886437,0.00872724448133,1.05969844624
+324,5.400000000,pose2_to_pose3_retreat,0.587601673863,5.4637296659e-05,1.06002917513,0.558172403684,0.00872736523755,1.05969846188
+325,5.416666667,pose2_to_pose3_retreat,0.586882306765,5.43986305733e-05,1.06002924284,0.55745303962,0.00872713709285,1.05969853547
+326,5.433333333,pose2_to_pose3_retreat,0.58619356039,5.44228479731e-05,1.0600290713,0.556764291741,0.00872715607007,1.05969836047
+327,5.450000000,pose2_to_pose3_retreat,0.58551877966,5.44258705349e-05,1.06002901826,0.556089511434,0.00872716067584,1.05969831121
+328,5.466666667,pose2_to_pose3_retreat,0.584844835151,5.46207209991e-05,1.06002919372,0.555415565118,0.00872734945949,1.05969848838
+329,5.483333333,pose2_to_pose3_retreat,0.584175070067,5.45016507664e-05,1.06002899458,0.554745801651,0.00872723571061,1.0596982848
+330,5.500000000,pose2_to_pose3_retreat,0.583514653847,5.45720072034e-05,1.06002910122,0.554085384136,0.0087273017309,1.05969839298
+331,5.516666667,pose2_to_pose3_retreat,0.582886575134,5.46525620076e-05,1.0600291407,0.55345730566,0.00872738316128,1.05969843439
+332,5.533333333,pose2_to_pose3_retreat,0.58229230723,5.4670421756e-05,1.06002917153,0.552863035834,0.00872739422026,1.05969845782
+333,5.550000000,pose2_to_pose3_retreat,0.581732577323,5.46050619927e-05,1.06002916109,0.552303307237,0.0087273333489,1.05969844863
+334,5.566666667,pose2_to_pose3_retreat,0.581203703871,5.47336976081e-05,1.06002924415,0.551774432644,0.00872745826138,1.05969853548
+335,5.583333333,pose2_to_pose3_retreat,0.580707057383,5.47288907219e-05,1.06002927787,0.551277785541,0.00872745128144,1.05969856697
+336,5.600000000,pose2_to_pose3_retreat,0.580238800597,5.46242095593e-05,1.06002902315,0.550809528526,0.00872734558616,1.05969830607
+337,5.616666667,pose2_to_pose3_retreat,0.579800447478,5.46487596057e-05,1.06002920967,0.550371176274,0.00872737305622,1.05969849194
+338,5.633333333,pose2_to_pose3_retreat,0.579393908277,5.46329054913e-05,1.06002920216,0.549964637959,0.00872736046505,1.05969849117
+339,5.650000000,pose2_to_pose3_retreat,0.579013740545,5.45206224208e-05,1.06002903858,0.549584471493,0.00872725282974,1.05969833715
+340,5.666666667,pose2_to_pose3_retreat,0.578655794464,5.44664611977e-05,1.06002915136,0.549226525926,0.00872720025953,1.05969844602
+341,5.683333333,pose2_to_pose3_retreat,0.578314997028,5.4530539743e-05,1.0600292653,0.548885727925,0.00872726233718,1.05969855763
+342,5.700000000,pose2_to_pose3_retreat,0.577991384379,5.45542820664e-05,1.06002911949,0.548562115839,0.00872728800657,1.0596984124
+343,5.716666667,pose2_to_pose3_retreat,0.577689700783,5.45683045086e-05,1.06002893193,0.548260431733,0.00872730042733,1.05969822831
+344,5.733333333,pose2_to_pose3_retreat,0.577411198393,5.46073594008e-05,1.06002901757,0.547981928986,0.00872733847027,1.05969831902
+345,5.750000000,pose2_to_pose3_retreat,0.577160008003,5.46066217364e-05,1.06002913271,0.547730738528,0.0087273372359,1.05969842706
+346,5.766666667,pose2_to_pose3_retreat,0.576934755027,5.45382448273e-05,1.06002915782,0.547505485859,0.0087272696823,1.05969844657
+347,5.783333333,pose2_to_pose3_retreat,0.57673677219,5.46013145856e-05,1.06002919938,0.547307502609,0.00872733106683,1.05969848062
+348,5.800000000,pose2_to_pose3_retreat,0.576561667884,5.44538618539e-05,1.06002908825,0.54713239964,0.00872718828592,1.0596983731
+349,5.816666667,pose2_to_pose3_retreat,0.576408530661,5.44962253594e-05,1.06002913637,0.546979261245,0.00872722671152,1.05969842231
+350,5.833333333,pose2_to_pose3_retreat,0.576275630884,5.45717238215e-05,1.060028991,0.546846360965,0.00872730054927,1.05969827819
+351,5.850000000,pose2_to_pose3_retreat,0.57616144852,5.46922816087e-05,1.06002918525,0.546732178833,0.00872742189931,1.05969847326
+352,5.866666667,pose2_to_pose3_retreat,0.576065297233,5.45771581654e-05,1.06002917765,0.546636027612,0.00872730715352,1.05969846979
+353,5.883333333,pose2_to_pose3_retreat,0.575984299818,5.46473626969e-05,1.06002920759,0.546555029016,0.00872737356878,1.05969850522
+354,5.900000000,pose2_to_pose3_retreat,0.575917791177,5.46325516188e-05,1.06002908068,0.546488520214,0.0087273581675,1.05969837702
+355,5.916666667,pose2_to_pose3_retreat,0.575862899351,5.45468031351e-05,1.06002896153,0.546433629196,0.00872727482704,1.0596982491
+356,5.933333333,pose2_to_pose3_retreat,0.575819004715,5.45788823557e-05,1.06002890431,0.546389734891,0.00872730819539,1.0596981962
+357,5.950000000,pose2_to_pose3_retreat,0.575784894562,5.46958050176e-05,1.0600290505,0.546355623374,0.00872742057902,1.05969834473
+358,5.966666667,pose2_to_pose3_retreat,0.575759492149,5.46982416424e-05,1.06002932602,0.546330219945,0.00872741924024,1.05969861164
+359,5.983333333,pose2_to_pose3_retreat,0.575742247423,5.46372611391e-05,1.0600291201,0.546312976406,0.00872736247656,1.05969841081
+360,6.000000000,pose2_to_pose3_retreat,0.575730606041,5.46174347779e-05,1.06002909331,0.546301335853,0.00872734555595,1.05969838617
+361,6.016666667,pose2_to_pose3_retreat,0.575723561926,5.46345355582e-05,1.06002940554,0.546294291442,0.00872736139289,1.05969869118
+362,6.033333333,pose2_to_pose3_retreat,0.575718831377,5.46368550972e-05,1.06002922052,0.546289561851,0.00872736716421,1.05969851194
+363,6.050000000,pose2_to_pose3_retreat,0.575715946792,5.46142705263e-05,1.06002909718,0.54628667806,0.00872734736122,1.05969839117
+364,6.066666667,pose2_to_pose3_retreat,0.575714496901,5.45592192521e-05,1.06002901602,0.54628522895,0.00872729494037,1.05969830959
+365,6.083333333,pose2_to_pose3_retreat,0.575713700908,5.45289959947e-05,1.06002897146,0.546284433385,0.00872726616122,1.05969826479
+366,6.100000000,pose2_to_pose3_retreat,0.575713080966,5.45054572603e-05,1.06002893676,0.546283813777,0.0087272437472,1.05969822991
+367,6.116666667,pose2_to_pose3_retreat,0.57571270601,5.44912204502e-05,1.06002891577,0.546283439023,0.00872723019065,1.05969820881
+368,6.133333333,pose2_to_pose3_retreat,0.575712591996,5.44868914023e-05,1.06002890938,0.54628332507,0.00872722606845,1.05969820239
+369,6.150000000,pose2_to_pose3_retreat,0.575712197762,5.4483485656e-05,1.06002891106,0.546282930616,0.0087272219522,1.05969820501
+370,6.166666667,pose2_to_pose3_retreat,0.575711756437,5.44865474884e-05,1.06002892704,0.546282488787,0.00872722337106,1.05969822268
+371,6.183333333,pose2_to_pose3_retreat,0.575711539347,5.44880536153e-05,1.0600289349,0.54628227145,0.00872722406899,1.05969823137
+372,6.200000000,pose2_to_pose3_retreat,0.575711334731,5.44894732002e-05,1.06002894231,0.5462820666,0.00872722472683,1.05969823956
+373,6.216666667,pose2_to_pose3_retreat,0.575711103776,5.44910755248e-05,1.06002895068,0.546281835381,0.00872722546935,1.05969824881
+374,6.233333333,pose2_to_pose3_retreat,0.575711042151,5.4491503066e-05,1.06002895291,0.546281773686,0.00872722566747,1.05969825128
+375,6.250000000,pose2_to_pose3_retreat,0.575710974657,5.44919713269e-05,1.06002895535,0.546281706115,0.00872722588446,1.05969825398
+376,6.266666667,pose2_to_pose3_retreat,0.575710826123,5.44930018245e-05,1.06002896073,0.546281557412,0.00872722636199,1.05969825993
+377,6.283333333,pose2_to_pose3_retreat,0.575710677035,5.44940361711e-05,1.06002896613,0.546281408154,0.00872722684131,1.0596982659
+378,6.300000000,pose2_to_pose3_retreat,0.575710584908,5.4494675332e-05,1.06002896947,0.546281315921,0.0087272271375,1.05969826959
+379,6.316666667,pose2_to_pose3_retreat,0.575710551898,5.44949043511e-05,1.06002897066,0.546281282873,0.00872722724362,1.05969827091
+380,6.333333333,pose2_to_pose3_retreat,0.575710335809,5.4496403536e-05,1.06002897849,0.546281066538,0.00872722793834,1.05969827956
+381,6.350000000,pose2_to_pose3_retreat,0.575710265207,5.44994228016e-05,1.06002898369,0.546280995908,0.008727230863,1.0596982848
+382,6.366666667,pose2_to_pose3_retreat,0.575710242567,5.45029689207e-05,1.06002898806,0.546280973312,0.00872723455023,1.05969828893
+383,6.383333333,pose2_to_pose3_retreat,0.575710212744,5.45076400705e-05,1.06002899381,0.546280943548,0.00872723940727,1.05969829437
+384,6.400000000,pose2_to_pose3_retreat,0.575710152842,5.45170224761e-05,1.06002900536,0.546280883763,0.00872724916303,1.05969830531
+385,6.416666667,pose2_to_pose3_retreat,0.575709914462,5.4554360075e-05,1.06002905133,0.546280645848,0.00872728798644,1.05969834882
+386,6.433333333,pose2_to_pose3_retreat,0.575709804326,5.45716105857e-05,1.06002907256,0.546280535927,0.00872730592341,1.05969836893
+387,6.450000000,pose2_to_pose3_retreat,0.575709794862,5.45730929899e-05,1.06002907439,0.546280526481,0.00872730746481,1.05969837066
+388,6.466666667,pose2_to_pose3_retreat,0.575709751203,5.45799313513e-05,1.06002908281,0.546280482907,0.00872731457529,1.05969837863
+389,6.483333333,pose2_to_pose3_retreat,0.57570972935,5.45833541827e-05,1.06002908702,0.546280461097,0.00872731813433,1.05969838261
+390,6.500000000,pose2_to_pose3_retreat,0.575709448641,5.46273215425e-05,1.06002914115,0.546280180937,0.00872736385132,1.05969843386
+391,6.516666667,pose2_to_pose3_retreat,0.57570931731,5.46203389693e-05,1.0600290875,0.546280048056,0.00872735133327,1.05969837298
+392,6.533333333,pose2_to_pose3_retreat,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_03/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_03/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..aa5ec1fa47b1c936f22e8212ccc0e7cb70282f05
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_03/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5c826b0938d57824085c7e3cd50cd6c17799afcfef39e89604e75275ad2303b
+size 25197484
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_03/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_03/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3549c93d030ce35e705c485c6705367daf9f8882
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_03/depth_02/franka_data.csv
@@ -0,0 +1,398 @@
+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,763,743,712,672,659,633,877,784,799,649,628,651,0.400958529279,-0.00538991622515,0.0698209763459,0.999999933655,0.000222571396905,-0.000287386501203,2.36991432708e-05,1793193342242101248
+1,0.016666667,BASELINE,763.596047263,742.403952737,712,672,659,632.403952737,876.403952737,784,799,649,628,651,0.400957503407,-0.0053902109325,0.069820895383,0.999999934172,0.000219569467474,-0.000287903737268,2.35792681383e-05,1793193342258768128
+2,0.033333333,BASELINE,764,742,712,671.813693048,658.813693048,632.186306952,876.186306952,784,799,649,628,651,0.40095737313,-0.00539084679052,0.0698215245044,0.999999934744,0.000217514543913,-0.000287463580137,2.3734839006e-05,1793193342275434752
+3,0.050000000,BASELINE,764,742,712,671.235603854,658.235603854,632.764396146,876.764396146,784,799,649,628,651,0.400959126185,-0.00539220004947,0.069823646852,0.999999935443,0.00021745106499,-0.000285010134555,2.44696413326e-05,1793193342292101120
+4,0.066666667,BASELINE,763.658212576,742,711.658212576,671.341787424,658.341787424,633,877,784,799,649,628.341787424,651,0.400958352612,-0.0053924815091,0.0698231395233,0.999999935443,0.000216399907892,-0.000285807789741,2.44835505692e-05,1793193342308767744
+5,0.083333333,BASELINE,763.081301446,742,711.081301446,671.918698554,658.918698554,633,877,784,799,649,628.918698554,651,0.400955840909,-0.00539202565238,0.0698208231775,0.999999934956,0.000214669303469,-0.000288841954687,2.40015402431e-05,1793193342325434368
+6,0.100000000,BASELINE,763.986523751,742.493261876,711.493261876,672,659,633,877,784.493261876,799,649.493261876,629,651,0.400956488771,-0.00539189645539,0.0698213785366,0.999999935017,0.000215369762402,-0.000288113240589,2.39250664165e-05,1793193342342100736
+7,0.116666667,BASELINE,764.930602976,742.930602976,712,672,659,633,877,784.930602976,799,649.930602976,629,651,0.400957514349,-0.00539195263497,0.0698222502637,0.999999935135,0.000216395635987,-0.000286934095079,2.39185819724e-05,1793193342358767616
+8,0.133333333,BASELINE,764.339763347,742.339763347,712,672,659,633,877,784.339763347,799,649.339763347,629,651,0.400957483555,-0.00539299907379,0.0698219594698,0.99999993501,0.000216870101733,-0.000287008596954,2.39381244768e-05,1793193342375434240
+9,0.150000000,BASELINE,764,742.245276848,712,672,659,633,877,784,799.245276848,649,629,651,0.400956923869,-0.0053931317998,0.0698217355295,0.999999934767,0.000217437358758,-0.000287433052969,2.38789248749e-05,1793193342392101120
+10,0.166666667,BASELINE,764,742.822469041,712,672,659,633,877,784,799.822469041,649,629,651,0.400955648471,-0.00539202806452,0.0698216020573,0.999999934361,0.000218130183446,-0.0002883310765,2.37131692976e-05,1793193342408768000
+11,0.183333333,BASELINE,764,743,712,672,659,632.599795153,877,784,799.599795153,649,629,650.599795153,0.400956261806,-0.00539069910462,0.0698221166144,0.999999934568,0.000219063848128,-0.000286918004501,2.35310594231e-05,1793193342425434368
+12,0.200000000,BASELINE,764,743,712,672,659,632.021817823,877,784,799.021817823,649,629,650.021817823,0.400957714122,-0.00538927009901,0.0698229190286,0.999999935041,0.00022010449489,-0.000284478335338,2.33416848945e-05,1793193342442100992
+13,0.216666667,BASELINE,763.456494054,742.456494054,712,672,659,632,877,784,799.543505946,649,629,650,0.400957443561,-0.00539141070614,0.0698228080212,0.999999935457,0.000217420847512,-0.000285050163499,2.36828779326e-05,1793193342458767616
+14,0.233333333,BASELINE,763.115539708,742.115539708,712,672,659,632.115539708,877.115539708,784.115539708,799.884460292,649,629,650,0.400957243833,-0.00539319492971,0.0698225934825,0.999999935748,0.000215124572711,-0.000285746315203,2.39652888041e-05,1793193342475434240
+15,0.250000000,BASELINE,763.717939858,742.717939858,712,672,659,632.717939858,877.717939858,784.717939858,799.282060142,649,629,650,0.400957627378,-0.00539288735346,0.0698220936767,0.999999935553,0.000215076248406,-0.000286468526102,2.39122985656e-05,1793193342492100864
+16,0.266666667,BASELINE,763.692625499,743,712,672,659,632.692625499,877.692625499,784.692625499,799.307374501,649,628.692625499,650.307374501,0.40095738128,-0.00539213454858,0.0698216121292,0.999999935245,0.00021535778891,-0.000287352244593,2.36691605945e-05,1793193342508767488
+17,0.283333333,BASELINE,763.114607052,743,712,672,659,632.114607052,877.114607052,784.114607052,799.885392948,649,628.114607052,650.885392948,0.40095658078,-0.00539098971888,0.0698211466581,0.999999934836,0.000215929776132,-0.000288378170843,2.32585971154e-05,1793193342525434112
+18,0.300000000,BASELINE,763.917303932,742.541348034,712,672,659,632,877,784,799.541348034,649,628.458651966,651,0.400957406054,-0.00539100756924,0.0698218736247,0.999999935349,0.000216145841008,-0.000286421532454,2.33588030205e-05,1793193342542100992
+19,0.316666667,BASELINE,764.968215199,742.031784801,712,672,659,632.031784801,877,784,799,649.031784801,629,651,0.400958515705,-0.00539129596517,0.0698228327017,0.999999936025,0.000216261202875,-0.000283946948968,2.35818614241e-05,1793193342558768128
+20,0.333333333,BASELINE,764.376572015,742.623427985,712,672,659,632.623427985,877,784,799,649.623427985,629,651,0.400957552259,-0.00539128494415,0.0698226857356,0.999999935647,0.000216153232006,-0.000285341779143,2.37438566799e-05,1793193342575434752
+21,0.350000000,BASELINE,764,742.789650263,712,671.789650263,659,633,877.210349737,784,799,649.789650263,628.789650263,651,0.400956724253,-0.00539147813303,0.0698222911102,0.999999935222,0.00021639008431,-0.000286641988845,2.38386194355e-05,1793193342592101376
+22,0.366666667,BASELINE,764,742.210995412,712,671.210995412,659,633,877.789004588,784,799,649.210995412,628.210995412,651,0.40095613339,-0.0053920288767,0.0698214628541,0.999999934714,0.000217230693682,-0.000287776525728,2.38156635881e-05,1793193342608768000
+23,0.383333333,BASELINE,763.63436336,742.36563664,712,671.36563664,659,633,877.63436336,784,799,649,628.36563664,651,0.400956148046,-0.00539249202775,0.069821451367,0.999999934729,0.00021724899118,-0.000287721382161,2.3673493415e-05,1793193342625434368
+24,0.400000000,BASELINE,763.058892115,742.941107885,712,671.941107885,659,633,877.058892115,784,799,649,628.941107885,651,0.400956510203,-0.00539290491048,0.0698219086139,0.999999935045,0.000216795373562,-0.00028698349496,2.34629075279e-05,1793193342642100992
+25,0.416666667,BASELINE,763,742.485635644,712,672,659,633,877,784,799,649,629,651,0.400959034198,-0.00539301307443,0.0698242788044,0.999999936207,0.000216401483531,-0.000283169214637,2.39086497076e-05,1793193342658767616
+26,0.433333333,BASELINE,763.090332771,742,712,672,659,633,877,784,799,649,629,651,0.400960914716,-0.00539312658779,0.0698260493482,0.99999993706,0.000216062646013,-0.000280364074101,2.4336855104e-05,1793193342675434496
+27,0.450000000,BASELINE,763.682779207,742,712,672,659,633,877,784,799,649,629,651,0.400957848543,-0.00539346293319,0.0698232745499,0.999999935734,0.000215991968315,-0.000285117704025,2.42516740242e-05,1793193342692101120
+28,0.466666667,BASELINE,764.268114327,742.268114327,712,672,659,633,877.268114327,784,799,649,629,651,0.400956681189,-0.00539318026255,0.0698220056498,0.999999935263,0.000215689390781,-0.000287019475022,2.39338105927e-05,1793193342708768000
+29,0.483333333,BASELINE,764.84525302,742.84525302,712,672,659,633,877.84525302,784,799,649,629,651,0.400957702384,-0.00539218412373,0.0698224724244,0.999999935796,0.000215119529144,-0.000285634237892,2.3347761139e-05,1793193342725434368
+30,0.500000000,BASELINE,764.578392119,742.578392119,712,672.421607881,659,633,878,784,799,649,628.578392119,651,0.400957387405,-0.0053920178119,0.069822309005,0.999999935603,0.000216042338355,-0.000285600219145,2.34960420602e-05,1793193342742100992
+31,0.516666667,BASELINE,764.002324433,742.002324433,712,672.997675567,659,633,878,784,799,649,628.002324433,651,0.400956582905,-0.00539215551462,0.0698219147084,0.999999935143,0.000217512000844,-0.000286061231323,2.39133514706e-05,1793193342758767616
+32,0.533333333,BASELINE,764,742.586845474,712,672.413154526,659,633,877.413154526,784,799,649,628,651,0.400956402324,-0.00539117559313,0.0698218218139,0.999999934972,0.000218277345061,-0.000286097695999,2.36504540399e-05,1793193342775433984
+33,0.550000000,BASELINE,764,742.827009342,712,672,659,633,877,784,799,649,628.172990658,651,0.40095682294,-0.0053906170991,0.0698220169051,0.999999934938,0.000219051811666,-0.000285633487528,2.35140601196e-05,1793193342792100864
+34,0.566666667,BASELINE,764,742.248086481,712,672,659,633,877,784,799,649,628.751913519,651,0.400958648366,-0.00539105813311,0.0698228849055,0.999999935224,0.000219854380106,-0.000283998457705,2.36809802934e-05,1793193342808767744
+35,0.583333333,BASELINE,764,742.328610922,712,672,659,633,877,784,798.671389078,649,629,650.671389078,0.400959100602,-0.00539147505914,0.0698231027257,0.999999935384,0.0002196541907,-0.000283588655472,2.370741315e-05,1793193342825434368
+36,0.600000000,BASELINE,764,742.903639566,712,672,659,633,877,784,798.096360434,649,629,650.096360434,0.400958523115,-0.00539187390721,0.0698228329909,0.99999993545,0.000218702056489,-0.000284097622864,2.36284978383e-05,1793193342842100992
+37,0.616666667,BASELINE,763.523442654,742.523442654,712,672,659,633,877,784,798.476557346,649,629,650,0.400957838069,-0.00539277285312,0.0698225248163,0.99999993537,0.000217631154612,-0.000285189055148,2.37631374344e-05,1793193342858767616
+38,0.633333333,BASELINE,763.05119727,742.05119727,712,672,659,632.94880273,877,784,798.94880273,649,629,650,0.400957190146,-0.00539361461881,0.0698222374504,0.999999935269,0.000216677205088,-0.000286252065097,2.39301773991e-05,1793193342875434240
+39,0.650000000,BASELINE,763.648750341,742.648750341,712,672,659,632.351249659,877,784,798.351249659,649,629,650,0.400957169439,-0.00539277182662,0.0698222547263,0.999999935289,0.000217226468644,-0.000285760461101,2.39842027548e-05,1793193342892100864
+40,0.666666667,BASELINE,763.762950294,743,712,672,659,632,877,784,798.237049706,649,629,650,0.400957352504,-0.00539187161877,0.0698224517282,0.999999935326,0.00021796548575,-0.000285068774948,2.39580666179e-05,1793193342908767744
+41,0.683333333,BASELINE,763.187847535,743,712,672,659,632,877,784,798.812152465,649,629,650,0.400957826166,-0.00539088953135,0.0698229050344,0.999999935387,0.000218975107534,-0.000284091754641,2.38176133681e-05,1793193342925434368
+42,0.700000000,BASELINE,763.387963826,742.612036174,711.612036174,672,659,632,877,784,799,649,629,650.387963826,0.400957919512,-0.00539196719631,0.0698230618455,0.999999935739,0.000217755787887,-0.000283792481145,2.38020634025e-05,1793193342942100992
+43,0.716666667,BASELINE,763.964118895,742.035881105,711.035881105,672,659,632,877,784,799,649,629,650.964118895,0.400957828377,-0.00539404399405,0.0698230748344,0.999999936228,0.000215455266224,-0.000283821965169,2.38471008019e-05,1793193342958767616
+44,0.733333333,BASELINE,764,742,711.532694277,672,659,632.532694277,877,784,799,649,629,650.467305723,0.400957535806,-0.00539272213925,0.0698234493417,0.999999935624,0.000217358632692,-0.00028449409266,2.38780497094e-05,1793193342975434496
+45,0.750000000,BASELINE,764,742.106501296,712,672,659,633,877,784,799,649,629,650.106501296,0.400957247453,-0.00539170709119,0.0698236751095,0.999999935179,0.000218717585825,-0.000285015893592,2.38933899401e-05,1793193342992101120
+46,0.766666667,BASELINE,764,742.706904435,712,672,659,633,877,784,799,649,629,650.706904435,0.4009570407,-0.005393161619,0.06982309975,0.999999935822,0.000216257052616,-0.000284642623785,2.38406837415e-05,1793193343008767744
+47,0.783333333,BASELINE,764,742.705574583,712,671.705574583,659,632.705574583,877,784,799,649,629,651,0.40095695262,-0.00539364107831,0.069822618572,0.999999936026,0.000215086635591,-0.000284820592083,2.37274989597e-05,1793193343025434368
+48,0.800000000,BASELINE,764,742.130339932,712,671.130339932,659,632.130339932,877,784,799,649,629,651,0.400956977723,-0.00539319056294,0.06982222722,0.999999935816,0.000215146670938,-0.000285524305536,2.35566325193e-05,1793193343042100992
+49,0.816666667,BASELINE,763.553012808,742.446987192,712,671,659,632.446987192,877,784,799,649,629,651,0.400958037849,-0.00539273594453,0.0698232226841,0.999999936178,0.000215229160295,-0.000284183965772,2.36653410877e-05,1793193343058767360
+50,0.833333333,BASELINE,763.025397285,743,712,671,659,632.974602715,877,784.025397285,799.025397285,649,628.974602715,651,0.400959327379,-0.00539229992362,0.0698245362844,0.999999936654,0.00021540310708,-0.000282355403315,2.38424893381e-05,1793193343075433984
+51,0.850000000,BASELINE,763.614233835,743,712,671,659,632.385766165,877,784.614233835,799.614233835,649,628.385766165,651,0.400958979135,-0.00539230315579,0.0698238941309,0.999999936035,0.000217460098903,-0.000282980935274,2.37208753254e-05,1793193343092100864
+52,0.866666667,BASELINE,764,742.801113887,712,671.198886113,659.198886113,632.198886113,877,784.801113887,799.801113887,649,628.198886113,651,0.400958894831,-0.00539215257279,0.0698236901277,0.999999935736,0.000218662597857,-0.000283121195402,2.35983851278e-05,1793193343108767488
+53,0.883333333,BASELINE,764,742.224410366,712,671.775589634,659.775589634,632.775589634,877,784.224410366,799.224410366,649,628.775589634,651,0.400959311922,-0.00539170979215,0.0698243184642,0.999999936052,0.000218241844688,-0.00028233960056,2.34742304777e-05,1793193343125434368
+54,0.900000000,BASELINE,764,742,712,672,659.648617746,632.648617746,877,784.351382254,799,649,629,651,0.400958863413,-0.00539146248651,0.0698240540414,0.999999935978,0.000217885860924,-0.000282874267252,2.35102730493e-05,1793193343142100992
+55,0.916666667,BASELINE,764,742,712,672,659.07340539,632.07340539,877,784.92659461,799,649,629,651,0.400957863516,-0.00539133969824,0.069823220932,0.999999935653,0.000217571135214,-0.000284247391092,2.36483610759e-05,1793193343158767616
+56,0.933333333,BASELINE,764,742,712,672,659,632,877,784.497467422,799,649,629,650.497467422,0.400957812993,-0.00539298371392,0.0698227470735,0.999999936033,0.000215163342039,-0.000284736961301,2.37274683431e-05,1793193343175434240
+57,0.950000000,BASELINE,763.919011808,742,712,671.919011808,658.919011808,632.080988192,877.080988192,784,799,649,629,650.080988192,0.400957983496,-0.00539442572876,0.0698225112092,0.999999936441,0.000213058123348,-0.000284885144101,2.37768094891e-05,1793193343192101120
+58,0.966666667,BASELINE,763.325289284,742,712,671.325289284,658.325289284,632.674710716,877.674710716,784,799,649,629,650.674710716,0.400958674082,-0.00539295262776,0.0698234493751,0.999999936408,0.000214806905738,-0.00028369027782,2.3692324587e-05,1793193343208767744
+59,0.983333333,BASELINE,763.260518328,742.260518328,712,671.260518328,658.260518328,633,877.739481672,784,799,649,629,650.739481672,0.400958963905,-0.00539288799806,0.0698239001294,0.999999936623,0.00021472380704,-0.000283005147398,2.35887574169e-05,1793193343225434368
+60,1.000000000,BASELINE,763.836734669,742.836734669,712,671.836734669,658.836734669,633,877.163265331,784,799,649,629,650.163265331,0.400958768078,-0.00539453016399,0.0698237602349,0.999999937137,0.00021242082168,-0.000282937718458,2.34620662037e-05,1793193343242100992
+61,1.016666667,BASELINE,764,742.589681882,712,672,658.589681882,633,877,784,799.410318118,649.410318118,629,650.410318118,0.400958376202,-0.00539343983229,0.0698235955674,0.999999936695,0.000213903212476,-0.000283392440841,2.3344264179e-05,1793193343258767872
+62,1.033333333,BASELINE,764,742.017139414,712,672,658.017139414,633,877,784,799.982860586,649.982860586,629,650.982860586,0.400957906814,-0.00539126917372,0.0698234211057,0.999999935868,0.000216882198751,-0.000284053602219,2.32299766124e-05,1793193343275434496
+63,1.050000000,BASELINE,764.575433362,742.575433362,712,672,658.575433362,632.424566638,877.575433362,784,799.424566638,650,628.424566638,651,0.400958125527,-0.00539350694958,0.0698237923314,0.999999936804,0.000213119672274,-0.000283601647161,2.32891747842e-05,1793193343292101120
+64,1.066666667,BASELINE,764.835709128,743,712,672,659,632.164290872,877.835709128,784.164290872,799,649.835709128,628.164290872,651,0.400958178125,-0.00539450927413,0.0698238435268,0.999999937128,0.000211748343221,-0.000283483311338,2.33015212623e-05,1793193343308767744
+65,1.083333333,BASELINE,764.257762377,743,712,672,659,632.742237623,877.257762377,784.742237623,799,649.257762377,628.742237623,651,0.40095775901,-0.00539205841728,0.0698230465421,0.999999935793,0.000216921440617,-0.000284291458477,2.31824237024e-05,1793193343325434112
+66,1.100000000,BASELINE,764,742.681677297,712,672,659,633,877,784.681677297,799.318322703,649,629,650.681677297,0.400957362637,-0.00539159741297,0.0698227473776,0.999999935372,0.000218466535899,-0.000284572943413,2.33823889393e-05,1793193343342100736
+67,1.116666667,BASELINE,764,742.107090972,712,672,659,633,877,784.107090972,799.892909028,649,629,650.107090972,0.400956984572,-0.00539273832662,0.0698228489801,0.999999935701,0.000217090931411,-0.000284430442327,2.38392136131e-05,1793193343358767104
+68,1.133333333,BASELINE,764,742.47481907,712,671.52518093,659,632.52518093,877,784,799.52518093,649,629,650.47481907,0.400957348356,-0.00539269314989,0.0698230710751,0.999999935995,0.000215915145914,-0.000284313143049,2.36020279669e-05,1793193343375433984
+69,1.150000000,BASELINE,763.941680107,742.941680107,712,671.058319893,659,632.058319893,877,784,799.058319893,649,629,651,0.400957860685,-0.00539232120832,0.0698233429545,0.999999936244,0.000215004395721,-0.000284154068064,2.32628715577e-05,1793193343392100608
+70,1.166666667,BASELINE,763.358960971,742.358960971,712,671.641039029,659,632.641039029,877,784,799.641039029,649,629,651,0.400958180647,-0.00539145415732,0.069823814296,0.999999936178,0.000216065200351,-0.00028356744531,2.34363262284e-05,1793193343408767744
+71,1.183333333,BASELINE,763.221837201,742,712,672,659,632.778162799,877,784,799.778162799,649,629,651,0.400958150212,-0.00539097251656,0.0698238289668,0.999999935994,0.000216835933718,-0.000283632319572,2.33703105536e-05,1793193343425434624
+72,1.200000000,BASELINE,763.799553783,742,712,672,659,632.200446217,877,784,799.200446217,649,629,651,0.400957557656,-0.00539110916495,0.0698231110299,0.999999935623,0.000217141324282,-0.000284742349167,2.29201277873e-05,1793193343442100992
+73,1.216666667,BASELINE,764,742.376486782,712,672.376486782,659,632.376486782,877.376486782,784,799,649,629,651,0.400957443182,-0.00539221228489,0.0698228365115,0.999999935863,0.00021581519333,-0.000284910840277,2.28764131164e-05,1793193343458767616
+74,1.233333333,BASELINE,764,742.953003422,712,672.953003422,659,632.953003422,877.953003422,784,799,649,629,651,0.400957582716,-0.00539382889741,0.0698227975843,0.999999936425,0.000213622224437,-0.000284579085842,2.30486575972e-05,1793193343475434240
+75,1.250000000,BASELINE,764,742.459369672,712,672.459369672,659,633,877.459369672,784,799,649.540630328,629,651,0.40095895866,-0.0053930000127,0.069824238985,0.999999936708,0.000215001866287,-0.000282517272177,2.32697605134e-05,1793193343492100864
+76,1.266666667,BASELINE,764,742,712,672,659,632.872644336,877,784,799,649.872644336,629,650.872644336,0.400959827655,-0.005392448117,0.0698251955103,0.999999936946,0.000215878760239,-0.000280992423119,2.34042103193e-05,1793193343508767232
+77,1.283333333,BASELINE,764,742,712,672,659,632.292628268,877,784,799,649.292628268,629,650.292628268,0.400958504769,-0.00539365216919,0.0698239616646,0.999999937126,0.000213841737032,-0.0002819218648,2.32152561934e-05,1793193343525434112
+78,1.300000000,BASELINE,764,742.2845471,712,672,658.7154529,632,877,784.2845471,799,649,629,650.2845471,0.40095798242,-0.00539421058561,0.0698235547827,0.999999937021,0.000213416504888,-0.000282618895286,2.31989095826e-05,1793193343542100992
+79,1.316666667,BASELINE,764,742.858829934,712,672,658.141170066,632,877,784.858829934,799,649,629,650.858829934,0.400958275206,-0.00539411159321,0.069823989944,0.999999936627,0.000214632454477,-0.000283079276572,2.33583179465e-05,1793193343558767616
+80,1.333333333,BASELINE,764,743,712,672,658.432652855,632.432652855,876.567347145,784.567347145,799,649.432652855,629,651,0.400957074577,-0.00539358227808,0.0698232887901,0.999999936219,0.000214751925825,-0.000284428247983,2.33130590397e-05,1793193343575434240
+81,1.350000000,BASELINE,763.993459835,742.993459835,712,672,659,633,876.006540165,784,799,649.993459835,628.993459835,651,0.40095541156,-0.00539293013662,0.0698222347308,0.999999935811,0.00021452774746,-0.00028603559352,2.32064364339e-05,1793193343592101120
+82,1.366666667,BASELINE,763.400357342,742.400357342,712,672,659,633,876.599642658,784,799,649.400357342,628.400357342,651,0.400955935122,-0.00539384162027,0.0698227473804,0.999999935927,0.000215535829111,-0.000284839733717,2.35792913338e-05,1793193343608767744
+83,1.383333333,BASELINE,763,742.18805741,712,671.81194259,659,632.81194259,877.18805741,784,799,649,628.18805741,650.81194259,0.400957292268,-0.00539400323165,0.0698237665645,0.999999936255,0.000216287285149,-0.000283100192891,2.37415863382e-05,1793193343625434112
+84,1.400000000,BASELINE,763,742.766735205,712,671.233264795,659,632.233264795,877.766735205,784,799,649,628.766735205,650.233264795,0.400960380878,-0.00539260725825,0.0698258378884,0.999999937022,0.000216505695659,-0.000280231353665,2.34665203545e-05,1793193343642100736
+85,1.416666667,BASELINE,763.342775095,742.657224905,712,671.342775095,659,632,877.657224905,784,799,649,629,650.342775095,0.400959367674,-0.00539295791698,0.0698250932358,0.999999936739,0.000215888247256,-0.000281715329769,2.34741698865e-05,1793193343658767360
+86,1.433333333,BASELINE,763.917033517,742.082966483,712,671.917033517,659,632,877.082966483,784,799,649,629,650.917033517,0.400955584428,-0.00539448811368,0.0698224468942,0.999999935733,0.000214706325504,-0.000286138854993,2.36727432469e-05,1793193343675433984
+87,1.450000000,BASELINE,763.496808065,742,712,671.496808065,659,632.503191935,877,784,799,649,628.496808065,651,0.400957205171,-0.00539400217749,0.0698233179507,0.999999936428,0.000213993180095,-0.000284241157796,2.36296731833e-05,1793193343692101120
+88,1.466666667,BASELINE,763,742,712,671.090046589,659.090046589,632.909953411,877,784,799,649,628.090046589,651,0.400959212865,-0.00539294152775,0.0698244940396,0.999999937041,0.000214222814726,-0.000281908566997,2.35416011195e-05,1793193343708767744
+89,1.483333333,BASELINE,763,742,712,671.669759272,659.669759272,632.330240728,877,784,799,649,628.669759272,651,0.400958362153,-0.00539060709472,0.0698240987594,0.999999935663,0.000219148722786,-0.000283015988415,2.34307186979e-05,1793193343725434368
+90,1.500000000,BASELINE,763.247803339,742.247803339,712,672,659.752196661,632.247803339,877,784,799,649,628.752196661,650.752196661,0.400958084136,-0.00539100121218,0.0698239750562,0.999999935462,0.000219407859781,-0.00028352348298,2.34822613486e-05,1793193343742101248
+91,1.516666667,BASELINE,763.823638515,742.823638515,712,672,659.176361485,632.823638515,877,784,799,649,628.176361485,650.176361485,0.400958564231,-0.00539500727241,0.0698242108554,0.999999936818,0.000213489317352,-0.000283236819038,2.37488156193e-05,1793193343758767616
+92,1.533333333,BASELINE,764,743,712,672,659,632.601307874,876.601307874,784,799.398692126,649,628.398692126,650,0.400959048039,-0.00539468115743,0.0698242272114,0.99999993727,0.000212710919197,-0.000282243687274,2.35235882075e-05,1793193343775434240
+93,1.550000000,BASELINE,764,743,712,672,659,632.026599261,876.026599261,784,799.973400739,649,628.973400739,650,0.400959533486,-0.00539244245358,0.0698241466865,0.999999937329,0.000214201815743,-0.000280938660731,2.30812467155e-05,1793193343792100608
+94,1.566666667,BASELINE,764,742.436608849,712,672,659,632.563391151,876.563391151,784,799.436608849,649,629,650.563391151,0.400956936917,-0.00539235538168,0.0698226674978,0.999999935994,0.000215995296322,-0.000284293091045,2.31421860305e-05,1793193343808767488
+95,1.583333333,BASELINE,764,742,712,672,659,632.849259008,877,784,799,649,628.849259008,651,0.400954949598,-0.00539248084146,0.0698216846698,0.999999935149,0.000216681942406,-0.000286732826977,2.31524375807e-05,1793193343825434112
+96,1.600000000,BASELINE,764,742,712,672,659,632.271490275,877,784,799,649,628.271490275,651,0.400955111897,-0.00539291257532,0.0698223002432,0.999999935917,0.00021419148651,-0.000285940801171,2.29499088758e-05,1793193343842101248
+97,1.616666667,BASELINE,764,742,712,672,659,632,877,784,799,649,628.304948514,650.695051486,0.400956288545,-0.00539309998389,0.0698231464651,0.999999936294,0.00021426974867,-0.000284546783656,2.30953429853e-05,1793193343858767872
+98,1.633333333,BASELINE,764,742,712,672,659,632,877,784,799,649,628.880208386,650.119791614,0.400958364328,-0.00539307081849,0.0698241971376,0.999999936323,0.000216624964727,-0.000282619150881,2.35492170437e-05,1793193343875434240
+99,1.650000000,BASELINE,764,742.455953447,712,672,659,632,877,784,799,649,629,650.455953447,0.400958845798,-0.00539233921652,0.0698243657115,0.999999936521,0.000216884378097,-0.000281717273763,2.35324390189e-05,1793193343892100864
+100,1.666666667,BASELINE,764,743,712,672,659,632.032687162,877.032687162,784,798.967312838,649,628.967312838,651,0.400958875289,-0.00539156099805,0.0698242770045,0.999999936744,0.000216566599316,-0.000281182227616,2.34163123722e-05,1793193343908767488
+101,1.683333333,BASELINE,764,743,712,672,659,632.624139977,877.624139977,784,798.375860023,649,628.375860023,651,0.400958346431,-0.00539314401541,0.0698237561137,0.999999936585,0.000215804707459,-0.000282306177959,2.37179108946e-05,1793193343925434368
+102,1.700000000,BASELINE,764,742.788094522,711.788094522,672,659,632.788094522,877.788094522,784,798.423810956,649,628,651,0.400957204814,-0.005393927231,0.069823053996,0.999999936263,0.000215151391206,-0.000283934130633,2.3796669881e-05,1793193343942100736
+103,1.716666667,BASELINE,764,742.206757471,711.206757471,672,659,632.206757471,877.206757471,784,799.586485058,649,628,651,0.400954994928,-0.00539331608878,0.0698220359314,0.999999935655,0.000214687363466,-0.000286440750298,2.34869350545e-05,1793193343958767360
+104,1.733333333,BASELINE,764,742,711.368904717,672,658.631095283,632,877.368904717,784,799.631095283,649,628,651,0.400955437283,-0.00539245703575,0.0698222470646,0.999999935569,0.000215474433671,-0.000286161284264,2.33263117076e-05,1793193343975434240
+105,1.750000000,BASELINE,764,742,711.941434592,672,658.058565408,632,877.941434592,784,799.058565408,649,628,651,0.400957343601,-0.00539146114279,0.0698231366808,0.99999993577,0.000216952075152,-0.000284343976534,2.32479937273e-05,1793193343992100864
+106,1.766666667,BASELINE,764,742,712,671.470003213,658.529996787,632.529996787,877.470003213,784,799,649,628.529996787,651,0.400957873322,-0.00539238696711,0.069823671489,0.999999936569,0.000214393595669,-0.000283478377132,2.31760805194e-05,1793193344008767744
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,743,712,672,659,633,877,784,799,649,628,651,0.400960054255,-0.00539324354665,0.0698244675689,0.999999936834,0.000216165048337,-0.000281171574116,2.3381942227e-05,1793193344050825984
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,743,712,671.42484908,659,632.42484908,877,784,799.57515092,649,628,650.42484908,0.400959752879,-0.00539266379112,0.0698243920413,0.999999936886,0.000216086526983,-0.000281042553722,2.34535175791e-05,1793193344067492608
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,742.849573276,711.849573276,671.150426724,659,632,877.150426724,784,799.849573276,649,628.150426724,650.150426724,0.400958922099,-0.00539238521501,0.0698240222634,0.999999936687,0.000216181561183,-0.000281670099101,2.35067572721e-05,1793193344084159232
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,742.273944339,711.273944339,671.726055661,659,632,877.726055661,784,799.273944339,649,628.726055661,650.726055661,0.400956594885,-0.00539295796457,0.0698228207458,0.999999935778,0.000216767174463,-0.000284436183615,2.35081686721e-05,1793193344100825856
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,742,711.310028441,672,659,632.310028441,877.689971559,784,799,649,629,651,0.400956878124,-0.00539322875108,0.0698229016522,0.999999935947,0.000216249182388,-0.000284244803352,2.34119527511e-05,1793193344117492480
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,742,711.901577801,672,659,632.901577801,877.098422199,784,799,649,629,651,0.40095953178,-0.00539322534041,0.0698241470621,0.999999937092,0.000214729062882,-0.000281367900915,2.32270864692e-05,1793193344134159360
+113,1.883333333,POSE1_TO_POSE2_PRESS,763.520634061,742,712,672,658.520634061,633,877,784,799,649,629,650.520634061,0.400959893975,-0.00539399701618,0.069824783957,0.999999937262,0.00021425422699,-0.000281103756414,2.34926383812e-05,1793193344150825984
+114,1.900000000,POSE1_TO_POSE2_PRESS,763,742.054622313,712,672,658.054622313,632.945377687,876.945377687,784,799,649,629,650,0.400960207957,-0.00539483160664,0.0698254221873,0.999999937341,0.000213924272032,-0.000281045548881,2.38174605814e-05,1793193344167492608
+115,1.916666667,POSE1_TO_POSE2_PRESS,763,742.631934251,712,672,658.631934251,632.368065749,876.368065749,784,799,649,629,650,0.400964437025,-0.00539478790945,0.0698272353927,0.999999938401,0.000212984331044,-0.000277967909657,2.38492012695e-05,1793193344184159232
+116,1.933333333,POSE1_TO_POSE2_PRESS,763.213295467,743,712,672,659,632,876.213295467,784,799,649,629,650.213295467,0.400974073278,-0.00539477089625,0.0698316303646,0.999999940496,0.000213087370546,-0.000270236830537,2.39622034548e-05,1793193344200825856
+117,1.950000000,POSE1_TO_POSE2_PRESS,763.801779335,743,712,672,659,632,876.801779335,784,799,649,629,650.801779335,0.400993220812,-0.0053948008204,0.0698405666838,0.999999944249,0.000215025020977,-0.000254320314422,2.42181452437e-05,1793193344217492480
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,742.616299155,712,672,659,632.383700845,877,784,799,649,628.616299155,651,0.401028737331,-0.00539519313626,0.0698551684308,0.999999950294,0.00021567884584,-0.000228651804334,2.4756803555e-05,1793193344234159104
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,742.037710716,712,672,659,632.962289284,877,784,799,649,628.037710716,651,0.401072567914,-0.00539576951648,0.0698726477371,0.999999956809,0.000215680595864,-0.000198030104042,2.54390579676e-05,1793193344250825984
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,742.538541033,712,672,658.461458967,632.461458967,877,784,799,649.538541033,628,651,0.401131725871,-0.00539699769258,0.0698868777102,0.999999960864,0.000214840113977,-0.000177399400873,2.54004616876e-05,1793193344267492608
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,743,712,671.885388864,658.114611136,632.114611136,877,784,799.114611136,649.885388864,628,651,0.401194175903,-0.00539834595955,0.0698987304953,0.999999963976,0.000213658404848,-0.00016053784736,2.50308877546e-05,1793193344284159232
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,743,712,671.309393984,658.690606016,632.690606016,877,784,799.690606016,649.309393984,628,651,0.401265576691,-0.00539999472843,0.0699019255705,0.999999965216,0.000211339428017,-0.000156045339921,2.35312388721e-05,1793193344300825856
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,742.72691893,712,671.27308107,659,633,877,784,800,649,628,651,0.40134419094,-0.00540163336715,0.0699020640801,0.999999965622,0.000209585977329,-0.000156107484471,2.14714747798e-05,1793193344317492480
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,742.136923578,712,671.863076422,659,633,877,784,800,649,628,651,0.401431176503,-0.00540326024959,0.0698986554037,0.999999965056,0.000208488827526,-0.000161455364614,1.87616894894e-05,1793193344334159360
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,742,712,671.555196824,659,633,877,784,799.555196824,649,628.444803176,651,0.401541171384,-0.00540504564756,0.0698966085635,0.999999964697,0.000205274570443,-0.000168034344459,1.52339154975e-05,1793193344350825984
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,742,712,671.023836218,659,633,877,784,799,649,629,650.976163782,0.401659580896,-0.00540701855783,0.0698951712259,0.999999964451,0.000201289103711,-0.000174495539404,1.14698117619e-05,1793193344367492608
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,742,712,671.598367921,659,633,877,784,799,649,629,650.401632079,0.40181174313,-0.0054122168538,0.0698983069502,0.999999966709,0.000194267973948,-0.000169639868317,7.95697800684e-06,1793193344384159232
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,742,712,672,658.827654378,633,877,784,799,649,629,650.172345622,0.401974062555,-0.00541736836186,0.0699013490991,0.999999969095,0.000186256861559,-0.000164626348825,4.03225382741e-06,1793193344400825600
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,742,712,672,658.254963656,633,877,784,799,649,629,650.745036344,0.402159976298,-0.00542241118465,0.0699041738795,0.999999971841,0.000175946099687,-0.000159246160797,-8.4925837998e-07,1793193344417492480
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,742.329667315,712,671.670332685,658.329667315,633,877.329667315,784.329667315,799,649,628.670332685,651,0.402363539617,-0.00542683151039,0.0699060791513,0.999999973997,0.000166249480045,-0.000155972172843,-6.24625374668e-06,1793193344434159104
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,742.923879938,712,671.076120062,658.923879938,633,877.923879938,784.923879938,799,649,628.076120062,651,0.402581266059,-0.0054307523068,0.0699072465532,0.999999975678,0.000157045684745,-0.000154388328656,-1.2056905e-05,1793193344450825984
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,743,712,671.504913829,659,633,877.495086171,784.495086171,799,649,628,651,0.402849433053,-0.00543809527659,0.0699133355302,0.999999979208,0.000145340419843,-0.000141945878696,-1.76415453012e-05,1793193344467492864
+133,2.216666667,POSE1_TO_POSE2_PRESS,763.916609815,743,712,671.916609815,659,633,877,784,799,649,628,651,0.40313002311,-0.00544574714418,0.0699203309962,0.999999983376,0.000128040498751,-0.000127747600899,-2.3092381193e-05,1793193344484159488
+134,2.233333333,POSE1_TO_POSE2_PRESS,763.341794386,743,712,671.341794386,659,633,877,784,799,649,628,651,0.403440150313,-0.00545225634348,0.0699284072154,0.999999990075,7.99366579364e-05,-0.000112603821744,-2.79503867726e-05,1793193344500826112
+135,2.250000000,POSE1_TO_POSE2_PRESS,763,743,712,671.476694343,659,633,877,784.238347171,799.238347171,649,628.238347171,651,0.403762157245,-0.00546502414712,0.0699362378447,0.999999993608,4.90211264508e-05,-9.86631242844e-05,-2.5446356089e-05,1793193344517492480
+136,2.266666667,POSE1_TO_POSE2_PRESS,763,743,712,672.65260208,659,633,877,784.82630104,799.82630104,649,628.82630104,651,0.404101589297,-0.00548697204673,0.0699437082428,0.999999995248,4.33173428837e-05,-8.6487103558e-05,-1.21437192266e-05,1793193344534159360
+137,2.283333333,POSE1_TO_POSE2_PRESS,763.407299744,743,712,672.592700256,659,632.592700256,877,784.592700256,799.592700256,649,628.592700256,651,0.404473742304,-0.00550151772379,0.0699476027813,0.999999995986,3.24142174567e-05,-8.27008364227e-05,-1.17361134062e-05,1793193344550825984
+138,2.300000000,POSE1_TO_POSE2_PRESS,763.985382101,743,712,672.014617899,659,632.014617899,877,784.014617899,799.014617899,649,628.014617899,651,0.404859615346,-0.00551295961511,0.0699499979456,0.999999996276,1.93309847657e-05,-8.24324309696e-05,-1.67354523816e-05,1793193344567492608
+139,2.316666667,POSE1_TO_POSE2_PRESS,763.437414531,742.437414531,712,672,659,632,877.562585469,784,799,649,628.562585469,651,0.405300410114,-0.00551313360286,0.069952481292,0.999999996983,9.99121757488e-06,-7.44731285693e-05,-1.97166710892e-05,1793193344584159488
+140,2.333333333,POSE1_TO_POSE2_PRESS,763,742,712,672,659,632,877.720852189,784,799,649,628.860426094,651,0.405744890318,-0.00551490302587,0.0699530396842,0.999999997238,1.49262559899e-06,-7.09278517946e-05,-2.21789491429e-05,1793193344600826368
+141,2.350000000,POSE1_TO_POSE2_PRESS,763,742,712,672,659,632,876.568078109,784,799,649,628.284039055,651,0.406196445279,-0.00552258040984,0.0699475665433,0.999999996373,-4.67734383844e-06,-8.18212291475e-05,-2.31809941115e-05,1793193344617492992
+142,2.366666667,POSE1_TO_POSE2_PRESS,763,742.298441214,712,672,659,632,876.596882429,784,799,649,628.298441214,650.701558786,0.40665942133,-0.00552779497665,0.0699333766247,0.999999994167,-1.23273403758e-05,-0.000104303331624,-2.52051413414e-05,1793193344634159360
+143,2.383333333,POSE1_TO_POSE2_PRESS,763,742.886841605,712,672,659,632,877.773683209,784,799,649,628.886841605,650.113158395,0.407133493923,-0.00553061672327,0.0699107176685,0.999999989844,-2.14153006812e-05,-0.00013804479569,-2.82223416229e-05,1793193344650825984
+144,2.400000000,POSE1_TO_POSE2_PRESS,763,743,712,672,659,632.46645588,878,784,799,649.46645588,628.53354412,650.46645588,0.407686993206,-0.0055357097299,0.0699076951493,0.999999989893,-2.77826463024e-05,-0.000135926609885,-3.10816389126e-05,1793193344667492608
+145,2.416666667,POSE1_TO_POSE2_PRESS,763.043629499,743,712,672,659,633,877.956370501,784,799,649.956370501,628,651,0.408264693511,-0.00554140395103,0.069910721464,0.999999991289,-3.39626832241e-05,-0.000122994541984,-3.37770034021e-05,1793193344684159744
+146,2.433333333,POSE1_TO_POSE2_PRESS,763.616574067,743,712,672,659,633,877.383425933,784,799,649.383425933,628,651,0.408906560404,-0.00554783109579,0.0699304082675,0.999999994944,-4.57293910401e-05,-8.24565749981e-05,-3.49396679774e-05,1793193344700826368
+147,2.450000000,POSE1_TO_POSE2_PRESS,763.804221096,743.195778904,712,672,659,632.804221096,877,784,799,649,628,650.804221096,0.409535580048,-0.00555419953638,0.0699414688083,0.999999996162,-5.43751721352e-05,-5.86056572633e-05,-3.58393011274e-05,1793193344717492992
+148,2.466666667,POSE1_TO_POSE2_PRESS,763.212350788,743.787649212,712,672,659,632.212350788,877,784,799,649,628,650.212350788,0.410138607658,-0.00556044920882,0.0699350770667,0.99999999539,-5.67068288045e-05,-6.85152579634e-05,-3.62067805159e-05,1793193344734159872
+149,2.483333333,POSE1_TO_POSE2_PRESS,763,743.626485498,712,672,659,632,877.373514502,783.626485498,799,649,628,650.373514502,0.410777295328,-0.00556707551792,0.0699311233647,0.999999994069,-6.64133524529e-05,-7.80094333482e-05,-3.69562876279e-05,1793193344750826496
+150,2.500000000,POSE1_TO_POSE2_PRESS,763,743.043980187,712,672,659,632,877.956019813,783.043980187,799,649,628,650.956019813,0.411435935684,-0.00557391256455,0.0699285338079,0.999999992253,-8.02463005623e-05,-8.72711674175e-05,-3.79195488919e-05,1793193344767492864
+151,2.516666667,POSE1_TO_POSE2_PRESS,763.532206201,743,712,672,659.532206201,632.532206201,877.467793799,783.532206201,799,649,628,651,0.412172330395,-0.00556372535124,0.0699506682968,0.999999995654,-7.18036517237e-05,-4.5610393971e-05,-3.8148423353e-05,1793193344784159488
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,742.892561434,712,672,659.892561434,632.892561434,877,784,799,649,628.107438566,650.892561434,0.412919662835,-0.00555018266228,0.0699743723459,0.999999997634,-5.71823936286e-05,-3.33332312821e-06,-3.8095261693e-05,1793193344800826112
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,742.319228436,712,672,659.319228436,632.319228436,877,784,799,649,628.680771564,650.319228436,0.413686889072,-0.00552811837868,0.0699961267546,0.999999998755,-2.36570844767e-05,2.35823944858e-05,-3.70791622998e-05,1793193344817492736
+154,2.566666667,POSE1_TO_POSE2_PRESS,763.737504316,742.262495684,712,672.262495684,659,632,877.262495684,784,799,649,628.737504316,650,0.414422270405,-0.0055199176556,0.0699932192184,0.999999999168,-1.1326421141e-05,1.10581809289e-05,-3.75920130687e-05,1793193344834159104
+155,2.583333333,POSE1_TO_POSE2_PRESS,763.145238453,742.854761547,712,672.854761547,659,632,877.854761547,784,799,649,628.145238453,650,0.415117645469,-0.00552913355431,0.0699593291794,0.99999999757,-2.56223325584e-05,-5.10139414097e-05,-4.00256654052e-05,1793193344850825984
+156,2.600000000,POSE1_TO_POSE2_PRESS,763.434794069,743,712,672.565205931,659,632,877.565205931,784,799,649,628,650,0.415847946268,-0.00553454551687,0.0699183793953,0.99999999127,-4.42252519806e-05,-0.000116247563357,-4.46182077651e-05,1793193344867492608
+157,2.616666667,POSE1_TO_POSE2_PRESS,763.989148255,743,711.989148255,672,659,632,877,784,799.010851745,649,628,650,0.416591531619,-0.00553870353757,0.0698764727428,0.999999980449,-6.38363182566e-05,-0.000180404941711,-4.98027983846e-05,1793193344884158976
+158,2.633333333,POSE1_TO_POSE2_PRESS,763.413101913,743,711.413101913,672,659,632,877,784,799.586898087,649,628,650,0.417436017185,-0.00554192149858,0.0699041925093,0.999999987682,-6.30728485009e-05,-0.000135010064549,-4.92909875729e-05,1793193344900825856
+159,2.650000000,POSE1_TO_POSE2_PRESS,763.165147453,743,711.165147453,672,659,632,877.165147453,784,799.834852547,649,628,650,0.418279177254,-0.00554491685653,0.069933221602,0.999999992916,-6.19992530087e-05,-8.94947553236e-05,-4.81068986535e-05,1793193344917492480
+160,2.666666667,POSE1_TO_POSE2_PRESS,763.748981965,743,711.748981965,672,659,632,877.748981965,784,799.251018035,649,628,650,0.419118976829,-0.00554734786396,0.0699655701384,0.999999996216,-6.0139417163e-05,-4.36741260874e-05,-4.52184291514e-05,1793193344934159104
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,743,712,672,659,632,878.333813512,784,799,649,628,650,0.419975336587,-0.00554369919336,0.0699876802585,0.999999997519,-5.39320649016e-05,-8.57569596148e-06,-4.44980319807e-05,1793193344950825728
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,743,712,672,659,632,878.91939702,784,799,649,628,650,0.420844186386,-0.00553546508661,0.0700020683229,0.999999997811,-4.44457136942e-05,1.84357974856e-05,-4.54128460725e-05,1793193344967492352
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,742.507099971,711.507099971,672,659.492900029,632,878.507099971,784,799,649,628,650,0.421668776148,-0.00553638223844,0.0700008048669,0.999999997519,-5.19194681203e-05,9.8495451244e-06,-4.65820293443e-05,1793193344984158976
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,742,711.064888437,672.064888437,660,632,878,784,799,649,628,650,0.422479404546,-0.00553918508209,0.0699899044716,0.999999996855,-6.14064051299e-05,-1.47132404952e-05,-4.79976417216e-05,1793193345000825856
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,742,711.640129838,672.640129838,660,632,878,784,799,649,628,650,0.423235788963,-0.00554533061923,0.069922857561,0.999999989328,-6.54355826462e-05,-0.000120243613999,-5.10321053231e-05,1793193345017492736
+166,2.766666667,POSE1_TO_POSE2_PRESS,763.778556054,742.221443946,711.778556054,673,660,632,877.778556054,784,799,649,628,650,0.424019658263,-0.0055483504085,0.0698693158592,0.999999976461,-7.03954839192e-05,-0.000197674969941,-5.5200342591e-05,1793193345034159616
+167,2.783333333,POSE1_TO_POSE2_PRESS,763.187094786,742.812905214,711.187094786,673,660,632,877.187094786,784,799,649,628,650,0.424849452999,-0.005546147293,0.0698383404046,0.999999969138,-7.69105609909e-05,-0.000228154854613,-6.12630374641e-05,1793193345050826496
+168,2.800000000,POSE1_TO_POSE2_PRESS,763.398017326,743,711.398017326,672.601982674,660,632.398017326,877.398017326,784,799,649,628.398017326,650,0.425734009474,-0.00554721429107,0.0698768815763,0.999999981189,-7.82607332267e-05,-0.000167161012777,-5.96147697959e-05,1793193345067493120
+169,2.816666667,POSE1_TO_POSE2_PRESS,763.980191736,743,711.980191736,672.019808264,660,632.980191736,877.980191736,784,799,649,628.980191736,650,0.426643903394,-0.00554979432537,0.0699475871267,0.999999993501,-7.72211747106e-05,-6.38435457983e-05,-5.43987460524e-05,1793193345084159488
+170,2.833333333,POSE1_TO_POSE2_PRESS,763.446367554,743,712,672.553632446,660,632.446367554,877.446367554,783.446367554,799,649,628.446367554,650.553632446,0.427481892989,-0.00554956812397,0.0699811930243,0.999999995285,-7.7745300517e-05,-2.65276425641e-05,-5.17944309711e-05,1793193345100826112
+171,2.850000000,POSE1_TO_POSE2_PRESS,763,742.873440369,711.873440369,673,660,632,877.126559631,783.126559631,799,649,628.126559631,650.873440369,0.428316064328,-0.00555013260832,0.0700085566252,0.999999995619,-7.88148087048e-05,6.73884131498e-06,-5.00433099545e-05,1793193345117492736
+172,2.866666667,POSE1_TO_POSE2_PRESS,763,742.301238216,711.301238216,673,660,632,877.698761784,783.698761784,799,649,628.698761784,650.301238216,0.429145708887,-0.00555382931095,0.0700185411973,0.999999994795,-8.16107805703e-05,3.39325055929e-05,-5.0972536986e-05,1793193345134159360
+173,2.883333333,POSE1_TO_POSE2_PRESS,763.281050013,742.281050013,711,673,660,632,877.718949987,784,799,649,628.718949987,650,0.429945674102,-0.00555877539565,0.0700118036787,0.999999994523,-8.61745787661e-05,2.88401322463e-05,-5.19313196889e-05,1793193345150825984
+174,2.900000000,POSE1_TO_POSE2_PRESS,763.874551175,742.874551175,711,673,660,632,877.125448825,784,799,649,628.125448825,650,0.430712643906,-0.00556511045303,0.0699864757444,0.999999994229,-9.27037186315e-05,-1.21455328016e-05,-5.29229601616e-05,1793193345167492864
+175,2.916666667,POSE1_TO_POSE2_PRESS,764,743,711.45809898,673.45809898,660,632,877.45809898,784,799,649,628.45809898,650,0.431405063785,-0.0055644879579,0.0699269895465,0.999999987468,-9.29058645048e-05,-0.000115369354888,-5.58762267442e-05,1793193345184159488
+176,2.933333333,POSE1_TO_POSE2_PRESS,763.96150995,742.96150995,712,673.96150995,660,632,877.96150995,783.96150995,799,649,628.96150995,649.96150995,0.432083521453,-0.00556222793879,0.0698639638198,0.999999968795,-9.20390678342e-05,-0.000224602755296,-5.90992289708e-05,1793193345200826112
+177,2.950000000,POSE1_TO_POSE2_PRESS,763.387917817,742.387917817,712,673.387917817,660,632,877.387917817,783.387917817,799,649,628.387917817,649.387917817,0.432845655087,-0.00556312737819,0.0698790092185,0.999999976084,-9.98868058693e-05,-0.000185474586404,-5.87628824907e-05,1793193345217492736
+178,2.966666667,POSE1_TO_POSE2_PRESS,763,742.19004256,712,673,660,632,877,783.19004256,799,649,628.19004256,649.19004256,0.433616799643,-0.00556287540116,0.0699107833602,0.999999985361,-0.000102446845251,-0.000124184608515,-5.79703520239e-05,1793193345234159360
+179,2.983333333,POSE1_TO_POSE2_PRESS,763,742.777129344,712,673,660,632,877,783.777129344,799,649,628.777129344,649.777129344,0.434406770304,-0.00556021784082,0.0699775078381,0.999999993868,-9.39596221674e-05,-1.65933189359e-05,-5.62247440775e-05,1793193345250825984
+180,3.000000000,POSE1_TO_POSE2_PRESS,763.361383366,743,712,673,660,632.361383366,877.361383366,784,799,649,628.638616634,650,0.435123563101,-0.00556144310273,0.0700048080153,0.999999993836,-9.39612285724e-05,2.41153292435e-05,-5.40106276392e-05,1793193345267492608
+181,3.016666667,POSE1_TO_POSE2_PRESS,763.943903931,743,712,673,660,632.943903931,877.943903931,784,799,649,628.056096069,650,0.435795576954,-0.00556504433592,0.070007983726,0.999999993472,-9.91573085124e-05,2.38972393673e-05,-5.15098225215e-05,1793193345284159232
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,743,712,673,660,632.479380846,878,784,799,649,628.520619154,650,0.436411817824,-0.00556988572197,0.0699817929307,0.999999993266,-0.000102109698948,-1.4500678412e-05,-5.32113304041e-05,1793193345300825856
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,743,712,673.098346576,660,632,878,784,799,649,628.901653424,650,0.437011071115,-0.00557428363907,0.0699512036608,0.999999991254,-0.000105278666295,-5.76966895961e-05,-5.54888209651e-05,1793193345317492992
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,743,712,673.6841573,660,632,878,784,799,649,628.3158427,650,0.437555581855,-0.00557582843944,0.0699143236583,0.999999986706,-0.000110706184245,-0.000104509185284,-5.84016581508e-05,1793193345334159616
+185,3.083333333,POSE1_TO_POSE2_PRESS,764,743,712,673.733047882,660,632,878,784,799.266952118,649,628,650,0.438089004925,-0.00557568465392,0.0698740311347,0.999999978957,-0.000112366392965,-0.000160276174748,-6.14145118621e-05,1793193345350826240
+186,3.100000000,POSE1_TO_POSE2_PRESS,764,743,712,673.153781494,660,632,878,784,799.846218506,649,628,650,0.4386094562,-0.00557356534746,0.0698297462161,0.999999966253,-0.000109619127474,-0.000226519257371,-6.45443772443e-05,1793193345367492608
+187,3.116666667,POSE1_TO_POSE2_PRESS,764,743,712,673.425519836,659.574480164,632,877.574480164,784,800,649,628.425519836,650.425519836,0.439078356156,-0.00557250285628,0.0697907875735,0.999999948646,-0.000106790170154,-0.000295381855209,-6.36698935458e-05,1793193345384159232
+188,3.133333333,POSE1_TO_POSE2_PRESS,764,743,712,674,659,632,877.004783532,783.995216468,799.995216468,649,628.995216468,650.995216468,0.439528722133,-0.00557181693853,0.0697540071551,0.999999926223,-0.000103926158415,-0.000364671405416,-6.13862089808e-05,1793193345400825856
+189,3.150000000,POSE1_TO_POSE2_PRESS,764,743,712,674,659,632,877.578068096,783.421931904,799.421931904,649,628.421931904,650.421931904,0.439990734501,-0.00557049073888,0.0697473148515,0.999999923675,-0.000100405138441,-0.000372183375978,-6.36278257894e-05,1793193345417492480
+190,3.166666667,POSE1_TO_POSE2_PRESS,764,743,712,674,659,632,878.155540582,783,799.155540582,649,628.155540582,650,0.440446429634,-0.00556926328234,0.0697462881856,0.999999923603,-0.000100527357851,-0.000372064295941,-6.52378142662e-05,1793193345434159104
+191,3.183333333,POSE1_TO_POSE2_PRESS,764,743,712,674,659,632,878.74468804,783,799.74468804,649,628.74468804,650,0.440884514058,-0.00556831109575,0.0697610558498,0.999999930257,-0.000110805984705,-0.000350671823939,-6.50869869629e-05,1793193345450825984
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,743,712,674,659,632,878.672144722,783,800,649,629,650,0.441302463556,-0.00556794085519,0.0697725203387,0.999999934746,-0.000111631773891,-0.000337557453313,-6.40423537034e-05,1793193345467493120
+193,3.216666667,POSE1_TO_POSE2_PRESS,764,743,712,674,659,632,878.093551095,783,800,649,629,650,0.441705014165,-0.00556801567748,0.0697814586125,0.999999937816,-0.000105228186998,-0.000330774040459,-6.23141523061e-05,1793193345484160000
+194,3.233333333,POSE1_TO_POSE2_PRESS,764,743,711.518406159,674,659,631.518406159,878,783,799.518406159,649,629,650,0.44202912061,-0.00557244541221,0.0697667991514,0.999999928963,-0.000103217807173,-0.000357175974413,-6.20089715514e-05,1793193345500826368
+195,3.250000000,POSE1_TO_POSE2_PRESS,764,743,711,674,658.943884491,631,878,782.943884491,799.056115509,649,629,650,0.44233303319,-0.00557712983551,0.0697465546056,0.999999916197,-0.000102160059242,-0.000391530004921,-6.22371669692e-05,1793193345517492736
+196,3.266666667,POSE1_TO_POSE2_PRESS,764,743,711,674,658.368975529,631,878,782.368975529,799.631024471,649,629,650,0.442590126864,-0.00557640354758,0.0697167529945,0.999999895786,-0.000102075872007,-0.000440228498005,-6.48590615901e-05,1793193345534159360
+197,3.283333333,POSE1_TO_POSE2_PRESS,764,743,711.212284963,674,658,631,878,782,800,649,629,650,0.442841805472,-0.00557681557255,0.069692579486,0.999999877144,-0.000107918698719,-0.000479260985564,-6.61380235202e-05,1793193345550825984
+198,3.300000000,POSE1_TO_POSE2_PRESS,764,743,711.804925569,674,658,631,878,782,800,649,629,650,0.443083781761,-0.00557926713791,0.0696784899758,0.999999864664,-0.000124381087139,-0.000500974674261,-6.50108232898e-05,1793193345567492864
+199,3.316666667,POSE1_TO_POSE2_PRESS,763.613679627,743,712,674,658.386320373,631,878,782,799.613679627,649,628.613679627,650,0.443317526204,-0.00557981572415,0.0696742646462,0.999999862443,-0.000122029347036,-0.000506319787249,-6.21587910427e-05,1793193345584159488
+200,3.333333333,POSE1_TO_POSE2_PRESS,763.037802768,743,712,674,658.962197232,631,878,782,799.037802768,649,628.037802768,650,0.443547231536,-0.00557943057256,0.0696748793899,0.999999865369,-0.00011044604735,-0.000503633304809,-5.84604323856e-05,1793193345600826112
+201,3.350000000,POSE1_TO_POSE2_PRESS,763.537426073,743,711.462573927,674.537426073,657.925147854,630.462573927,878,782,799.537426073,649,628,650,0.443729731895,-0.00557977803726,0.0696658176881,0.99999985904,-0.000106705502768,-0.000516621070581,-6.03090858995e-05,1793193345617492736
+202,3.366666667,POSE1_TO_POSE2_PRESS,764,743,711,674.884243963,657.115756037,630,878,782,800,649,628,650,0.443903258753,-0.00558025713631,0.0696578250318,0.999999852807,-0.000104681673796,-0.000528711339624,-6.23929763808e-05,1793193345634159616
+203,3.383333333,POSE1_TO_POSE2_PRESS,764,743,711,674.292988091,657.707011909,630,878,782,800,649,628,650,0.444053547641,-0.00558106553075,0.0696570163418,0.999999850363,-0.000107446349623,-0.000532591394332,-6.38423303966e-05,1793193345650826240
+204,3.400000000,POSE1_TO_POSE2_PRESS,764,743,711,674,657.70861635,630,878,782,800.29138365,649,628,650,0.444191919698,-0.00558137295298,0.0696560557491,0.99999984924,-0.000106994927461,-0.000534711896076,-6.44671277738e-05,1793193345667492608
+205,3.416666667,POSE1_TO_POSE2_PRESS,764,743,711,674,657.131006919,630,878,782,800.868993081,649,628,650,0.444318585858,-0.00558118827081,0.0696549459428,0.999999849422,-0.000103384336244,-0.000535103990993,-6.42819641453e-05,1793193345684159232
+206,3.433333333,POSE1_TO_POSE2_PRESS,764,743,711,674,657,630,878,782,800.555390468,649,628,650,0.444422222332,-0.00558117693432,0.0696529367956,0.999999847792,-0.000109173825535,-0.000537051973532,-6.38069175981e-05,1793193345700825856
+207,3.450000000,POSE1_TO_POSE2_PRESS,764,743,711,674,657,630,878,782,799.980419188,649,628.019580812,650,0.444518112006,-0.00558114125588,0.0696505665984,0.999999845502,-0.000117467970185,-0.000539624347183,-6.32610539271e-05,1793193345717492736
+208,3.466666667,POSE1_TO_POSE2_PRESS,764,743,711,674,657,630,878,782,799.40715974,649,628.59284026,650,0.444585972726,-0.00557897942137,0.0696454468926,0.999999841398,-0.000118614486947,-0.00054694677076,-6.31172120252e-05,1793193345734159360
+209,3.483333333,POSE1_TO_POSE2_PRESS,763.828146651,742.828146651,711,674,657,630,878,782,799.171853349,649,628.828146651,650.171853349,0.444648506718,-0.0055773279408,0.0696404641622,0.999999837476,-0.000119045496161,-0.00055398330844,-6.3077116289e-05,1793193345750826240
+210,3.500000000,POSE1_TO_POSE2_PRESS,763.235029763,742.235029763,711,674,657,630,878,782,799.764970237,649,628.235029763,650.764970237,0.444697983309,-0.00557692748944,0.0696358171999,0.999999834089,-0.000117722583961,-0.000560319053951,-6.32913332074e-05,1793193345767492864
+211,3.516666667,POSE1_TO_POSE2_PRESS,763.350134308,742.350134308,711,674,657.350134308,630,878,782,799.649865692,649,628,650.649865692,0.444740164455,-0.00557703545963,0.0696332481541,0.999999832406,-0.000117517261892,-0.000563356712207,-6.33064340116e-05,1793193345784159488
+212,3.533333333,POSE1_TO_POSE2_PRESS,763.930078621,742.930078621,711,674,657.930078621,630,878,782,799.069921379,649,628,650.069921379,0.444777557256,-0.00557747713131,0.0696320429443,0.999999831859,-0.000118045467906,-0.000564229677641,-6.31908453454e-05,1793193345800826368
+213,3.550000000,POSE1_TO_POSE2_PRESS,764,742.495726648,711,674,657.495726648,630,878.504273352,782,799.504273352,649,628,650.504273352,0.444803566859,-0.00557768852647,0.0696325818402,0.99999983261,-0.000117998339272,-0.000562985240452,-6.24790136578e-05,1793193345817492736
+214,3.566666667,POSE1_TO_POSE2_PRESS,764,742.07807699,711,674,657,630,878.92192301,782,799.92192301,649,628,650.92192301,0.444826798118,-0.00557792126581,0.0696332173951,0.999999833364,-0.000118117704806,-0.000561697233581,-6.17801446228e-05,1793193345834159360
+215,3.583333333,POSE1_TO_POSE2_PRESS,764,742.654415316,711,674,657,630,878.345584684,782,799.345584684,649,628,650.345584684,0.444842257989,-0.00557849168372,0.0696329438916,0.999999833008,-0.000119802936236,-0.000561983677321,-6.16856467745e-05,1793193345850825984
+216,3.600000000,POSE1_TO_POSE2_PRESS,764,743,711,674,657,630,878.237044703,782,799.237044703,649,628,650.237044703,0.444854100952,-0.00557816651995,0.0696322946309,0.999999832503,-0.000119733613715,-0.000562880178459,-6.1837299992e-05,1793193345867492864
+217,3.616666667,POSE1_TO_POSE2_PRESS,764,743,711,674,657,630,878.829095763,782,799.829095763,649,628,650.829095763,0.444860527106,-0.00557650010202,0.0696310826231,0.999999831769,-0.00011703661032,-0.000564690322669,-6.23575975779e-05,1793193345884159744
+218,3.633333333,POSE1_TO_POSE2_PRESS,764,742.588415873,711.411584127,674,657,629.588415873,878.588415873,782,800,649,628,651,0.444864322392,-0.00557647722615,0.0696305892222,0.999999830841,-0.000117840793285,-0.000566176034499,-6.22537729998e-05,1793193345900826624
+219,3.650000000,POSE1_TO_POSE2_PRESS,764,742.00980813,711.99019187,674,657,629.00980813,878.00980813,782,800,649,628,651,0.444867050054,-0.00557712131079,0.069630387437,0.999999829831,-0.000120065781359,-0.000567530089433,-6.18966754239e-05,1793193345917492992
+220,3.666666667,POSE1_TO_POSE2_PRESS,764,742.565463309,711.434536691,673.434536691,657,629.565463309,878.565463309,782,800,649,628,650.434536691,0.444869943707,-0.00557654849769,0.0696307525716,0.999999830583,-0.000118777113068,-0.000566503812881,-6.1637393278e-05,1793193345934159360
+221,3.683333333,POSE1_TO_POSE2_PRESS,763.856257802,743,711.143742198,673.143742198,657,629.856257802,878.856257802,782,800,649,628,650,0.444871884351,-0.00557568454446,0.0696307484031,0.999999830849,-0.000117344774248,-0.000566354048791,-6.14428620586e-05,1793193345950826240
+222,3.700000000,POSE1_TO_POSE2_PRESS,763.268511632,743,711.731488368,673.731488368,657,629.268511632,878.268511632,782,800,649,628,650,0.444870872409,-0.00557398610739,0.0696295733011,0.999999829522,-0.000115655802634,-0.000569038521035,-6.1443129448e-05,1793193345967492864
+223,3.716666667,POSE1_TO_POSE2_PRESS,763.316425043,742.683574957,711.683574957,674,657,629.316425043,878,782,800,649,628,650,0.444871747574,-0.00557302273934,0.0696294247201,0.999999829509,-0.000114453583331,-0.000569312236999,-6.13612268432e-05,1793193345984159232
+224,3.733333333,POSE1_TO_POSE2_PRESS,763.898998685,742.101001315,711.101001315,674,657,629.898998685,878,782,800,649,628,650,0.444874210007,-0.00557267764579,0.069630139557,0.999999830606,-0.00011366077659,-0.000567558239517,-6.12102101484e-05,1793193346000826112
+225,3.750000000,POSE1_TO_POSE2_PRESS,764,742.473052836,711,673.526947164,656.526947164,630,878,782,800,649.473052836,628,650.473052836,0.444874272645,-0.00557302932103,0.0696296751292,0.999999830318,-0.000113536429078,-0.000568107711022,-6.10451159816e-05,1793193346017492992
+226,3.766666667,POSE1_TO_POSE2_PRESS,764,743,711,673.045570716,656.045570716,630,878,782,799.954429284,649.954429284,628,650.954429284,0.444873925918,-0.00557349318219,0.0696290272083,0.999999829796,-0.0001135091882,-0.000569051512775,-6.08547631091e-05,1793193346034159616
+227,3.783333333,POSE1_TO_POSE2_PRESS,764,743,711,673.621002144,656.621002144,630,878,782,799.378997856,649.378997856,628,650.378997856,0.44487467156,-0.00557356231037,0.0696291215325,0.999999829934,-0.000112980919777,-0.00056896302975,-6.04050509812e-05,1793193346050826240
+228,3.800000000,POSE1_TO_POSE2_PRESS,764,743,711,674,657,630,878,782,799,649,628,650,0.444874771053,-0.00557368653478,0.0696289691088,0.999999829735,-0.00011286595269,-0.000569376172753,-6.00239502135e-05,1793193346067492864
+229,3.816666667,POSE1_TO_POSE2_PRESS,764,743,711,674,657,630,878,782,799,649,628,650,0.444873623869,-0.00557391706152,0.0696283406109,0.999999828885,-0.000113548406885,-0.00057075715017,-5.9775227842e-05,1793193346084159488
+230,3.833333333,POSE1_TO_POSE2_PRESS,764,743,711,674,657,630,878,782,799,649,628,650.380187068,0.444874537751,-0.00557299120548,0.0696288899535,0.999999829532,-0.00011171754153,-0.00056996600975,-5.99526185549e-05,1793193346100826112
+231,3.850000000,POSE1_TO_POSE2_PRESS,764,743,711,674,657,630,878,782,799,649,628,650.957659384,0.444876521152,-0.00557146528361,0.0696300504967,0.999999830945,-0.0001085824738,-0.00056804772204,-6.03511262782e-05,1793193346117492480
+232,3.866666667,POSE1_TO_POSE2_PRESS,764,743,711,674,657,630,878,782,799.531758774,649,628.531758774,650.468241226,0.444875935564,-0.00557218893985,0.0696292035115,0.999999829815,-0.000109941364012,-0.000569779136007,-6.02902917497e-05,1793193346134159360
+233,3.883333333,POSE1_TO_POSE2_PRESS,764,743,711,674,657,630,878.108379379,782,800,649,628.891620621,650,0.444875133322,-0.00557275010127,0.069628166252,0.999999828634,-0.000111168657973,-0.000571611555454,-6.02766956942e-05,1793193346150826240
+234,3.900000000,POSE1_TO_POSE2_PRESS,764,743,711,674,657,630,878.697363506,782,800,649,628.302636494,650,0.444874271703,-0.00557180139028,0.0696269895954,0.999999828144,-0.000110235627537,-0.00057261133355,-6.06337434206e-05,1793193346167492864
+235,3.916666667,POSE1_TO_POSE2_PRESS,763.718184262,743,711,674.281815738,657,630,878.718184262,782,800.281815738,649,628,650,0.44487494039,-0.0055714404167,0.0696270920986,0.99999982854,-0.000110305417406,-0.000571893850546,-6.07516862338e-05,1793193346184159744
+236,3.933333333,POSE1_TO_POSE2_PRESS,763.138521648,743,711,674.861478352,657,630,878.138521648,782,800.861478352,649,628,650,0.444877226436,-0.00557170061397,0.0696285465267,0.999999829868,-0.000111435073072,-0.000569361419867,-6.06169226526e-05,1793193346200826624
+237,3.950000000,POSE1_TO_POSE2_PRESS,763.438788187,742.561211813,711,674.561211813,657.438788187,629.561211813,878,781.561211813,800.122423627,649,628,650,0.444877310578,-0.00557266210748,0.069628977868,0.999999829665,-0.000112462160735,-0.000569555598311,-6.0241300265e-05,1793193346217493248
+238,3.966666667,POSE1_TO_POSE2_PRESS,764,742.015238432,711.015238432,674,657.984761568,629.015238432,878,781.015238432,799.015238432,649,628,650,0.444876734715,-0.00557377345094,0.0696290834067,0.999999829011,-0.000113393088339,-0.000570563927935,-5.98011754113e-05,1793193346234159616
+239,3.983333333,POSE1_TO_POSE2_PRESS,764,742.58727612,711.58727612,674,657.41272388,629.58727612,878,781.58727612,799.58727612,649,628,650,0.44487730651,-0.00557231381292,0.0696290228551,0.999999829472,-0.000111987233222,-0.00057003670243,-5.97676953963e-05,1793193346250826240
+240,4.000000000,POSE1_TO_POSE2_PRESS,764,743,712,674,657,630,878,782,800,649,628,650,0.444877335353,-0.00557124836824,0.0696287352804,0.9999998295,-0.000111163571481,-0.000570141246877,-5.98547371583e-05,1793193346267492864
+241,4.016666667,POSE1_TO_POSE2_PRESS,764,743,712,674,657,630,878,782,800,649,628,650,0.444875957605,-0.00557120413453,0.0696278595722,0.999999828405,-0.000111848160056,-0.000571882476374,-6.02540067934e-05,1793193346284159488
+242,4.033333333,POSE1_TO_POSE2_PRESS,764,743,712,673.657338243,656.657338243,630,878.342661757,782,800,649,628,650,0.444875786052,-0.0055707760212,0.069627297204,0.99999982801,-0.000111707116261,-0.000572579150039,-6.04477827117e-05,1793193346300825856
+243,4.050000000,POSE1_TO_POSE2_PRESS,764,743,712,673.078381114,656.078381114,630,878.921618886,782,800,649,628,650,0.444876446276,-0.00557008318917,0.0696269509113,0.9999998281,-0.000110996726414,-0.00057255551066,-6.04998526501e-05,1793193346317492480
+244,4.066666667,HOLD_POSE2,764,743,712,674,657,630,878,782,800,649,628,650,0.444875391055,-0.00557185804977,0.0696267511264,0.999999828261,-0.000109582338385,-0.000572687906798,-5.91495796905e-05,1793193346348838400
+245,4.083333333,HOLD_POSE2,763.410646524,743,711.410646524,674,657,629.410646524,877.410646524,782,800,649,628,650.589353476,0.444878008006,-0.00557055149067,0.0696281123278,0.99999982988,-0.000107716946046,-0.000570175146974,-5.94676552508e-05,1793193346365504768
+246,4.100000000,HOLD_POSE2,763.175350345,742.824649655,711,674,657,629,877.175350345,782,799.824649655,649,628,651,0.44487985721,-0.00556970701402,0.0696291966702,0.999999830996,-0.000106436085932,-0.000568437162205,-5.96551683825e-05,1793193346382171136
+247,4.116666667,HOLD_POSE2,763.753634263,742.246365737,711,674,657,629,877.753634263,782,799.246365737,649,628,651,0.444879942222,-0.00556992434589,0.0696296448247,0.999999830972,-0.00010649840876,-0.000568479514936,-5.9542665142e-05,1793193346398837504
+248,4.133333333,HOLD_POSE2,764,742.331913101,711,674,656.668086899,629,878,781.668086899,799.331913101,649,628,650.668086899,0.444879885092,-0.00557043559357,0.0696293598002,0.999999830574,-0.000107736926399,-0.000568951181293,-5.94876834285e-05,1793193346415503872
+249,4.150000000,HOLD_POSE2,764,742.910188136,711,674,656.089811864,629,878,781.089811864,799.910188136,649,628,650.089811864,0.444879722457,-0.00557116499974,0.069628530575,0.999999829895,-0.000109848472624,-0.000569741504951,-5.94753969767e-05,1793193346432170496
+250,4.166666667,HOLD_POSE2,763.514500545,742.514500545,711.485499455,674,656.485499455,629,878.485499455,781,800,649,628,650,0.444879200709,-0.00557169203645,0.069628148599,0.999999829488,-0.000110357193389,-0.000570365312627,-5.94087792354e-05,1793193346448837376
+251,4.183333333,HOLD_POSE2,763,742.061729117,711.938270883,674,657,629,878.938270883,781,799.938270883,648.938270883,628,650.061729117,0.444878612369,-0.00557195579907,0.0696278233519,0.999999829082,-0.000110515990451,-0.000571048588439,-5.93825297958e-05,1793193346465504000
+252,4.200000000,HOLD_POSE2,763,742.650451005,711.349548995,674,657,629,878.349548995,781,799.349548995,648.349548995,628,650.650451005,0.444878019222,-0.00557028960169,0.069627280362,0.999999828262,-0.000110203378913,-0.000572500934657,-5.97861957239e-05,1793193346482170880
+253,4.216666667,HOLD_POSE2,763.23672372,742.76327628,711,674,657,629,878,781.23672372,799,648.23672372,628,650.76327628,0.444878801422,-0.00556962700004,0.06962794078,0.999999828772,-0.000109721235135,-0.00057169884192,-5.98101554478e-05,1793193346498838016
+254,4.233333333,HOLD_POSE2,763.819416941,742.180583059,711,674,657,629,878,781.819416941,799,648.819416941,628,650.180583059,0.444881593678,-0.00557043114429,0.0696303599675,0.999999831217,-0.000108991321602,-0.000567601907612,-5.9279178071e-05,1793193346515504384
+255,4.250000000,HOLD_POSE2,764,742.394566362,711.394566362,674,657,629,878,781.605433638,799,649,628,650,0.444881449872,-0.00557189937008,0.0696303012753,0.999999831285,-0.00010939159953,-0.000567441145118,-5.89398439971e-05,1793193346532170752
+256,4.266666667,HOLD_POSE2,764,742.966327997,711.966327997,674,657,629,878,781.033672003,799,649,628,650,0.444879987514,-0.00557366582741,0.0696291297956,0.999999830287,-0.000110299433551,-0.000569048072346,-5.86865747091e-05,1793193346548837376
+257,4.283333333,HOLD_POSE2,763.457108903,743,711.457108903,674,657,629.542891097,878,781.542891097,799,649,628,650,0.444880690744,-0.00557175336245,0.0696298857006,0.99999983062,-0.000109845117587,-0.000568511987606,-5.90541503672e-05,1793193346565504512
+258,4.300000000,HOLD_POSE2,763.122777277,743,711,674,657,629.877222723,878.122777277,781.877222723,799,649,628,650,0.444881171592,-0.00557048492425,0.0696303874789,0.999999830749,-0.000109625788245,-0.000568305635946,-5.92629905936e-05,1793193346582171136
+259,4.316666667,HOLD_POSE2,763.714201102,743,711,674,657,629.285798898,878.714201102,781.285798898,799,649,628,650,0.444880286328,-0.00557255350935,0.0696294588711,0.999999829781,-0.000110628775437,-0.000569869768378,-5.87176359996e-05,1793193346598837760
+260,4.333333333,HOLD_POSE2,764,743,711,674,656.701877038,629,879,781.298122962,799.298122962,649,628,650,0.444880133923,-0.0055730283785,0.0696291775869,0.999999829528,-0.000110461428744,-0.000570368869764,-5.84961184245e-05,1793193346615504640
+261,4.350000000,HOLD_POSE2,764,743,711,674,656.124970522,629,879,781.875029478,799.875029478,649,628,650,0.444880666837,-0.00557201291684,0.069629501634,0.999999829945,-0.000109199668333,-0.000569872029185,-5.85774304085e-05,1793193346632171264
+262,4.366666667,POSE2_TO_POSE3_RETREAT,764,743,711,675,657,630,878,781,799,649,628,651,0.444880631202,-0.00557031074405,0.0696293310876,0.999999829613,-0.000110536508856,-0.0005701183347,-5.93341295486e-05,1793193346664684800
+263,4.383333333,POSE2_TO_POSE3_RETREAT,764,742.412502094,711.587497906,674.412502094,657,630,877.412502094,781.587497906,799,649,628,650.412502094,0.444882866817,-0.0055703736469,0.0696300420132,0.999999831296,-0.000109977107898,-0.00056730859826,-5.89400083487e-05,1793193346681351168
+264,4.400000000,POSE2_TO_POSE3_RETREAT,764,742.17260303,712,674.17260303,657,630,877.17260303,782,799.17260303,649,628,650.17260303,0.444883815053,-0.00557078819793,0.0696302400192,0.999999831954,-0.000109509826819,-0.000566264120097,-5.86821862049e-05,1793193346698017536
+265,4.416666667,POSE2_TO_POSE3_RETREAT,764,742.752067977,712,674.752067977,657,630,877.752067977,782,799.752067977,649,628,650.752067977,0.444881728662,-0.00557203165823,0.0696292289655,0.999999830208,-0.000109259691703,-0.000569380729205,-5.87456497403e-05,1793193346714684416
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764,743,711.669549209,674.669549209,657,629.669549209,878,782,800,649,628,650.669549209,0.444880178056,-0.00557118020276,0.0696284191822,0.999999829436,-0.000108217119055,-0.000570888733802,-5.91868518534e-05,1793193346731350784
+267,4.450000000,POSE2_TO_POSE3_RETREAT,764,743,711.091975688,674.091975688,657,629.091975688,878,782,800,649,628,650.091975688,0.444879028128,-0.00556876209547,0.0696277599162,0.999999829394,-0.00010658193375,-0.000571193767152,-5.99105401648e-05,1793193346748017152
+268,4.466666667,POSE2_TO_POSE3_RETREAT,763.516901652,742.516901652,711,674,656.516901652,629,878,781.516901652,800,649,628,650,0.444878572518,-0.00556969085982,0.0696282432723,0.9999998297,-0.000106318289048,-0.000570781658277,-5.9194050302e-05,1793193346764684032
+269,4.483333333,POSE2_TO_POSE3_RETREAT,763,742.059475875,711,674,656,629,878,781.059475875,799.940524125,649,628,650,0.444877053483,-0.00557093356242,0.0696281542777,0.999999829407,-0.000106368462845,-0.000571365306461,-5.84167016534e-05,1793193346781350912
+270,4.500000000,POSE2_TO_POSE3_RETREAT,763,742.651772075,711,674,656,629,878,781.651772075,799.348227925,649,628,650,0.444864829513,-0.00556930966622,0.0696209989994,0.999999823101,-0.000106902749691,-0.000582086402122,-5.95378694587e-05,1793193346798017792
+271,4.516666667,POSE2_TO_POSE3_RETREAT,763.237789176,743,711,674,656.237789176,629,878,782,799.237789176,649,627.762210824,650,0.444841421681,-0.00556727122834,0.0696089936265,0.999999811525,-0.000106605185892,-0.000601597829769,-6.05462646105e-05,1793193346814684160
+272,4.533333333,POSE2_TO_POSE3_RETREAT,763.814847434,743,711,674,656.814847434,629,878,782,799.814847434,649,627.185152566,650,0.444802057118,-0.00556464133738,0.0695900683131,0.999999791833,-0.000105120767273,-0.000633650987034,-6.1393759647e-05,1793193346831350784
+273,4.550000000,POSE2_TO_POSE3_RETREAT,763.609886195,743,711,674,656.609886195,629,877.609886195,781.609886195,800,649,627.390113805,650,0.444743730395,-0.00556494238424,0.0695685183238,0.999999766462,-0.000105753545836,-0.000672421753176,-6.1160482516e-05,1793193346848017152
+274,4.566666667,POSE2_TO_POSE3_RETREAT,763.035466336,743,711,674,656.035466336,629,877.035466336,781.035466336,800,649,627.964533664,650,0.444676445153,-0.00556662812831,0.0695457283263,0.999999737249,-0.000107386576519,-0.000714366200367,-6.0416603478e-05,1793193346864683776
+275,4.583333333,POSE2_TO_POSE3_RETREAT,763.551667137,743,711,674.551667137,656,629,877.551667137,781.551667137,799.448332863,649,627.448332863,650,0.444605383963,-0.00556343472278,0.0695371066427,0.99999972929,-0.000103833329174,-0.000725942879833,-6.03792560304e-05,1793193346881350400
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764,743,711,674.862243144,656.137756856,629,878,782,799,649,627.137756856,650,0.444529659582,-0.00556033803842,0.0695317924921,0.999999724743,-0.000100582081674,-0.000732678838005,-5.98315056101e-05,1793193346898017280
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764,743,711,674.282190626,656.717809374,629,878,782,799,649,627.717809374,650,0.444439760879,-0.00555858277673,0.069534104306,0.999999726746,-9.93962356594e-05,-0.000730288896137,-5.74957273008e-05,1793193346914684160
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764,742.704849833,711,674,656.704849833,629,878,782,799,649,628,650,0.444335344848,-0.00555650394012,0.0695383540799,0.999999729914,-9.73578119196e-05,-0.00072644041011,-5.4577379324e-05,1793193346931351040
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764,742.13007813,711,674,656.13007813,629,878,782,799,649,628,650,0.444217175288,-0.00555411855283,0.0695444398525,0.999999734156,-9.45116668913e-05,-0.00072121011791,-5.11071123491e-05,1793193346948017664
+280,4.666666667,POSE2_TO_POSE3_RETREAT,764,742.454336241,711,674.454336241,656.454336241,629.454336241,878,782,799.454336241,649,628,650,0.444076227572,-0.00554893569978,0.0695481825239,0.999999737135,-8.87793440604e-05,-0.000718037709447,-4.76517076146e-05,1793193346964684544
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764,743,711.040982116,674.959017884,657,630,878,782,799.959017884,649,628.040982116,650.040982116,0.443925694665,-0.00554307820301,0.0695511178699,0.999999739644,-8.21102681125e-05,-0.000715557760641,-4.41340183459e-05,1793193346981351168
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764,743,711.619895693,674.380104307,657,630,878,782,799.380104307,649,628.619895693,650.619895693,0.443736803486,-0.0055391062308,0.069552452626,0.999999741368,-7.42268784481e-05,-0.000714265771985,-3.97417176499e-05,1793193346998017536
+283,4.716666667,POSE2_TO_POSE3_RETREAT,764,743,712,673.801160804,657,630,878.198839196,782,799,649,629,651,0.443534014688,-0.00553506222108,0.0695540613647,0.999999743427,-6.63933087913e-05,-0.000712391546413,-3.51724292357e-05,1793193347014684160
+284,4.733333333,POSE2_TO_POSE3_RETREAT,764,743,712,673.222160149,657,630,878.777839851,782,799,649,629,651,0.443304654997,-0.00553088048303,0.0695561939316,0.999999746195,-5.86549911166e-05,-0.00070940413994,-3.02647577988e-05,1793193347031350784
+285,4.750000000,POSE2_TO_POSE3_RETREAT,764,743,711.645368343,673.354631657,657,630,878.290736687,782,799.709263313,649,628.645368343,651,0.443049655238,-0.00552232483635,0.069562040157,0.999999751494,-4.37999024634e-05,-0.000703206934799,-2.43673495402e-05,1793193347048017408
+286,4.766666667,POSE2_TO_POSE3_RETREAT,764,743,711.069951656,673.930048344,657,630,877.139903312,782,800.860096688,649,628.069951656,651,0.442778692576,-0.00551104610031,0.069570198416,0.99999975802,-2.45140847888e-05,-0.000695011386655,-1.7853754759e-05,1793193347064684288
+287,4.783333333,POSE2_TO_POSE3_RETREAT,764,742.485038885,711,674,657.514961115,630,877.514961115,782.514961115,800.485038885,649,628,650.485038885,0.442492965314,-0.00550291287,0.0695846237136,0.999999774373,-1.00666406371e-05,-0.000671585583221,-1.1202628745e-05,1793193347081351168
+288,4.800000000,POSE2_TO_POSE3_RETREAT,764,742,711,673.900096923,657.900096923,630.099903077,878,782.900096923,800,649,628,650.099903077,0.442197197703,-0.00549324550199,0.0696005114904,0.999999791571,1.3101510116e-05,-0.00064549418409,-4.80298925881e-06,1793193347098017792
+289,4.816666667,POSE2_TO_POSE3_RETREAT,764,742,711,673.321314228,657.321314228,630.678685772,878,782.321314228,800,649,628,650.678685772,0.441863096514,-0.0054741377039,0.0696192522298,0.999999806519,8.12814891792e-05,-0.000616728658166,2.99932627688e-07,1793193347114684160
+290,4.833333333,POSE2_TO_POSE3_RETREAT,764,742.257232103,711.257232103,673.514464206,657.257232103,631,878.257232103,782.257232103,799.742767897,649,628.257232103,651,0.44150692554,-0.00545382699188,0.0696366966713,0.999999819808,0.000132274054308,-0.000585543725353,5.13313194438e-06,1793193347131350784
+291,4.850000000,POSE2_TO_POSE3_RETREAT,764,742.835483422,711.835483422,674.670966844,657.835483422,631,878.835483422,782.835483422,799.164516578,649,628.835483422,651,0.441123212048,-0.00543201507457,0.0696525233644,0.999999834874,0.000161817153884,-0.000551339437494,9.62972394917e-06,1793193347148017408
+292,4.866666667,POSE2_TO_POSE3_RETREAT,764,743,712,674.587802505,658,631,878.587802505,783,799.412197495,649,629,651,0.440696803255,-0.00542589159507,0.0696725128028,0.999999853818,0.000163756227632,-0.000515244959247,8.4247820084e-06,1793193347164684288
+293,4.883333333,POSE2_TO_POSE3_RETREAT,764,743,712,674.011699714,658,631,878.011699714,783,799.988300286,649,629,651,0.440253417207,-0.00542600643167,0.0696941575057,0.999999873586,0.000154718897022,-0.000478398870347,4.95269465658e-06,1793193347181350912
+294,4.900000000,POSE2_TO_POSE3_RETREAT,764,743,712,674,658.574414687,631,878,783,800.574414687,649,628.425585313,650.425585313,0.439765093029,-0.00542911137946,0.0696967129011,0.999999875564,0.000153210652579,-0.000474672255639,9.19017315889e-06,1793193347198017536
+295,4.916666667,POSE2_TO_POSE3_RETREAT,763.840625802,743,712,674,659,631,878,783,800.840625802,649,628,650,0.439253872762,-0.00543144978856,0.0696942774439,0.999999874777,0.000148592258616,-0.000477720860794,1.22081907337e-05,1793193347214684160
+296,4.933333333,POSE2_TO_POSE3_RETREAT,763.259273705,743,712,674,659,631,878,783,800.259273705,649,628,650,0.438684496645,-0.0054315945053,0.0696796753428,0.999999867326,0.000135325828986,-0.000496890557807,1.1574275868e-05,1793193347231350784
+297,4.950000000,POSE2_TO_POSE3_RETREAT,763,743,712,673.680250591,659,631.319749409,878,783,799.680250591,649,628.319749409,650.319749409,0.43812107462,-0.00543562267567,0.0696824926171,0.999999872975,0.00014053545613,-0.000483875495062,1.28081188598e-05,1793193347248017664
+298,4.966666667,POSE2_TO_POSE3_RETREAT,763,743,712,673.103102251,659,631.896897749,878,783,799.103102251,649,628.896897749,650.896897749,0.43756244559,-0.00544277703421,0.0696993325229,0.999999887989,0.000160618345395,-0.00044495163599,1.55455106866e-05,1793193347264684288
+299,4.983333333,POSE2_TO_POSE3_RETREAT,763.481291373,743,711.518708627,673,659,632,877.518708627,783,799.481291373,649,629,650.518708627,0.436973692111,-0.00544547736566,0.0697353002777,0.999999912623,0.000145310851843,-0.00039150980184,1.89617989064e-05,1793193347281350912
+300,5.000000000,POSE2_TO_POSE3_RETREAT,764,742.933666244,711.066333756,673.066333756,659,631.933666244,877.066333756,783.066333756,800,649,628.933666244,650,0.436371205032,-0.00544645877943,0.0697746401221,0.999999935179,0.000127818426194,-0.000335835730043,2.27586355697e-05,1793193347298017280
+301,5.016666667,POSE2_TO_POSE3_RETREAT,764,742.355772863,711.644227137,673.644227137,659,631.355772863,877.644227137,783.644227137,800,649,628.355772863,650,0.435713332999,-0.00544165477816,0.0698079021911,0.999999946649,0.000152836086975,-0.000287297747775,2.83515189469e-05,1793193347314683904
+302,5.033333333,POSE2_TO_POSE3_RETREAT,764,742.222309655,712,673.777690345,659.222309655,631.222309655,878,784,799.777690345,649,628,650,0.43502686659,-0.00543603974916,0.0698286474399,0.999999951629,0.000166316632031,-0.000260904013587,3.17757576605e-05,1793193347331350528
+303,5.050000000,POSE2_TO_POSE3_RETREAT,764,742.800695083,712,673.199304917,659.800695083,631.800695083,878,784,799.199304917,649,628,650,0.434294600298,-0.00542912568859,0.0698293443606,0.999999950041,0.000161318053424,-0.000269978964508,3.1726454589e-05,1793193347348017408
+304,5.066666667,POSE2_TO_POSE3_RETREAT,764,743,711.62216195,673,659.62216195,632,878,784,799.37783805,649,628.37783805,650,0.433539962534,-0.00542694433402,0.0698228250344,0.999999946754,0.000162996731248,-0.000280915502108,3.17755622782e-05,1793193347364684288
+305,5.083333333,POSE2_TO_POSE3_RETREAT,764,743,711.045672235,673,659.045672235,632,878,784,799.954327765,649,628.954327765,650,0.432773562795,-0.00542725124131,0.0698125117031,0.999999942474,0.000168186035269,-0.000292830784896,3.18764102851e-05,1793193347381351168
+306,5.100000000,POSE2_TO_POSE3_RETREAT,763.45947732,743,711.54052268,673,659,632,877.45947732,784,799.45947732,649,628.45947732,650.54052268,0.431985250906,-0.00543379679295,0.0698180380421,0.999999946803,0.000160178804585,-0.000282118231042,3.38670469654e-05,1793193347398017536
+307,5.116666667,POSE2_TO_POSE3_RETREAT,763.125880275,742.874119725,712,673,659,632,877.125880275,783.874119725,799,649,628,650.874119725,0.431171757741,-0.00543854652416,0.069811128778,0.999999944695,0.000154338225677,-0.000292483079861,3.52674454531e-05,1793193347414684160
+308,5.133333333,POSE2_TO_POSE3_RETREAT,763.705213432,742.294786568,712,673,659,632,877.705213432,783.294786568,799,649,628,650.294786568,0.430274346895,-0.00543489362732,0.0697545139044,0.999999912145,0.00016039265173,-0.000385787449813,3.39559282695e-05,1793193347431350528
+309,5.150000000,POSE2_TO_POSE3_RETREAT,764,742.283438248,712,673,659,632,877.716561752,783.283438248,799,649,628.283438248,650,0.429415746226,-0.00542994922146,0.0697292833766,0.999999895129,0.000169393641102,-0.000424232461423,3.27873769751e-05,1793193347448017152
+310,5.166666667,POSE2_TO_POSE3_RETREAT,764,742.860514907,712,673,659,632,877.139485093,783.860514907,799,649,628.860514907,650,0.428597352297,-0.00542366682827,0.0697365666241,0.999999900679,0.000181447234304,-0.000405843890995,3.17669365778e-05,1793193347464684032
+311,5.183333333,POSE2_TO_POSE3_RETREAT,763.563356928,743,712,673,659,632,877.436643072,784,799,649,629,650,0.427791731886,-0.00542160097982,0.0697896321383,0.99999992888,0.000184113126087,-0.000327178405016,3.6003278019e-05,1793193347481350656
+312,5.200000000,POSE2_TO_POSE3_RETREAT,763,742.987184714,712,673,659,632,878,784,799,649,629,650,0.426988708062,-0.00542100442596,0.0698560041659,0.999999955545,0.000183690539228,-0.000231125415398,4.18192375523e-05,1793193347498017280
+313,5.216666667,POSE2_TO_POSE3_RETREAT,763,742.395360692,712,673,659,632,878,784,799,649,629,650,0.426119037538,-0.00542606653956,0.069864233948,0.999999959385,0.000178926606072,-0.000217579573946,4.32971849829e-05,1793193347514684160
+314,5.233333333,POSE2_TO_POSE3_RETREAT,763,742.191339627,711.808660373,673,659,632,877.808660373,784,799.191339627,649,629,650,0.42523822418,-0.00542981305408,0.0698607743138,0.999999959046,0.000173869896534,-0.000223128383304,4.34872343313e-05,1793193347531351040
+315,5.250000000,POSE2_TO_POSE3_RETREAT,763,742.767729024,711.232270976,673,659,632,877.232270976,784,799.767729024,649,629,650,0.42433498716,-0.00543091207113,0.0698337910259,0.999999949334,0.000168224007125,-0.000267103059539,4.10855315456e-05,1793193347548017408
+316,5.266666667,POSE2_TO_POSE3_RETREAT,763.343127164,743,711.343127164,673,659,632,877,784,799.656872836,649,628.656872836,650,0.423400227989,-0.0054261307491,0.0697916163917,0.99999992562,0.000173608861018,-0.000342204664892,3.8944437642e-05,1793193347564684032
+317,5.283333333,POSE2_TO_POSE3_RETREAT,763.917856209,743,711.917856209,673,659,632,877,784,799.082143791,649,628.082143791,650,0.422444192227,-0.00541738035162,0.0697391879962,0.999999885876,0.000186439177839,-0.000438316131018,3.69792477724e-05,1793193347581350912
+318,5.300000000,POSE2_TO_POSE3_RETREAT,763.506293797,742.506293797,711.506293797,673,659,632,877,784,799.493706203,649,628,650,0.421520534972,-0.00541076471444,0.0697026729749,0.999999858687,0.000194742764468,-0.00049348058041,3.43286119712e-05,1793193347598017280
+319,5.316666667,POSE2_TO_POSE3_RETREAT,763,742.071875275,711,673,659,632,877,784,800,649,628,650,0.420618003338,-0.00540643055886,0.0696826422026,0.99999984404,0.000201068594926,-0.000520027528962,3.26006856486e-05,1793193347614683648
+320,5.333333333,POSE2_TO_POSE3_RETREAT,763,742.665522175,711,673,659,632,877,784,800,649,628,650,0.41982963474,-0.00541607429942,0.0697630128159,0.999999904132,0.000198517069907,-0.000388398192023,3.84008698506e-05,1793193347631350272
+321,5.350000000,POSE2_TO_POSE3_RETREAT,763,742.749004538,711.250995462,672.749004538,659,632,877.250995462,784,799.749004538,649,628,650.250995462,0.419033385827,-0.00542538283279,0.0698298284219,0.99999994129,0.000191245954561,-0.000280979114059,4.35430470373e-05,1793193347648017152
+322,5.366666667,POSE2_TO_POSE3_RETREAT,763,742.174079855,711.825920145,672.174079855,659,632,877.825920145,784,799.174079855,649,628,650.825920145,0.418226966644,-0.00543425875648,0.0698791502446,0.999999962062,0.000177883842047,-0.000204805250841,4.78360161457e-05,1793193347664683776
+323,5.383333333,POSE2_TO_POSE3_RETREAT,763,742,712,672.400563958,659,632,877.599436042,784,799,649,628,651,0.417377297054,-0.00543322444593,0.0698706684753,0.999999958929,0.000176001924244,-0.000221377859254,4.64522490239e-05,1793193347681350400
+324,5.400000000,POSE2_TO_POSE3_RETREAT,763,742,712,672.975085758,659,632,877.024914242,784,799,649,628,651,0.416508844626,-0.00542788629539,0.0698370836253,0.999999944347,0.000179105652585,-0.000278228624313,4.26031754495e-05,1793193347698017024
+325,5.416666667,POSE2_TO_POSE3_RETREAT,763.565374812,742.565374812,712,673,659.565374812,632.565374812,877,784,799,649,628,650.434625188,0.415645469228,-0.00542002946972,0.0698071021247,0.99999993409,0.000188422120002,-0.000307832111751,3.9451518079e-05,1793193347714683648
+326,5.433333333,POSE2_TO_POSE3_RETREAT,763.846867699,742.846867699,712,672.846867699,659.846867699,632.846867699,877,784,799,649,628.153132301,650,0.414782133427,-0.00541158027858,0.0697763579341,0.999999919084,0.000197723843258,-0.000348374111076,3.70520899938e-05,1793193347731350528
+327,5.450000000,POSE2_TO_POSE3_RETREAT,763.268132751,742.268132751,712,672.268132751,659.268132751,632.268132751,877,784,799,649,628.731867249,650,0.413918268076,-0.00540180204384,0.0697430400085,0.99999988871,0.000206201850488,-0.000422750516606,3.66554761583e-05,1793193347748017152
+328,5.466666667,POSE2_TO_POSE3_RETREAT,763,742.308153967,712,672,659.308153967,632,877,784,799,649,629,650.308153967,0.413144100917,-0.00539543317227,0.0697485374402,0.999999890355,0.000211941762104,-0.000415955831541,3.67584377968e-05,1793193347764683776
+329,5.483333333,POSE2_TO_POSE3_RETREAT,763,742.882327176,712,672,659.882327176,632,877,784,799,649,629,650.882327176,0.412447367318,-0.00539200749292,0.0697875429023,0.999999918633,0.000215317964649,-0.00033908879405,3.72926665889e-05,1793193347781350400
+330,5.500000000,POSE2_TO_POSE3_RETREAT,763,743,712,672,659.531616505,632,877,784,799,649,628.531616505,651,0.411790765737,-0.00539015010936,0.0698391568851,0.999999942304,0.00022217216004,-0.00025394168272,3.93131097913e-05,1793193347798017024
+331,5.516666667,POSE2_TO_POSE3_RETREAT,763,742.943469369,712,672,659,632,877,784,799,649,628,650.943469369,0.411136397587,-0.00538831099222,0.069887492279,0.999999957011,0.000229788390654,-0.000177334428302,4.15641179738e-05,1793193347814683904
+332,5.533333333,POSE2_TO_POSE3_RETREAT,763,742.364311678,712,672,659,632,877,784,799,649,628,650.364311678,0.410407039205,-0.00538290333695,0.069875469579,0.999999951333,0.000236161241158,-0.000199410713222,4.24049011454e-05,1793193347831350528
+333,5.550000000,POSE2_TO_POSE3_RETREAT,763.213790096,742,712,672,659,632.213790096,877,784,799,649,628.213790096,650.213790096,0.409688632219,-0.00537775518412,0.0698504385984,0.999999940474,0.000240426930706,-0.000243998296153,4.13768913335e-05,1793193347848017152
+334,5.566666667,POSE2_TO_POSE3_RETREAT,763.790101458,742,712,672,659,632.790101458,877,784,799,649,628.790101458,650.790101458,0.408988795265,-0.00537304706555,0.0698033496328,0.999999916854,0.000241119533106,-0.000326758016288,3.71799919337e-05,1793193347864684032
+335,5.583333333,POSE2_TO_POSE3_RETREAT,763.634676119,742.365323881,712,672,659,632.634676119,877,784,799,648.634676119,628.634676119,651,0.40834958783,-0.00537899251474,0.0697809562708,0.99999990801,0.000232239636049,-0.00035895514572,3.45930818465e-05,1793193347881350656
+336,5.600000000,POSE2_TO_POSE3_RETREAT,763.060077526,742.939922474,712,672,659,632.060077526,877,784,799,648.060077526,628.060077526,651,0.407745111879,-0.00539104082917,0.0697727097154,0.999999910133,0.00021787616139,-0.000362187639685,3.29284497437e-05,1793193347898017280
+337,5.616666667,POSE2_TO_POSE3_RETREAT,763.527402143,743,712,672.527402143,659,632,877,784,799,648.527402143,628.527402143,651,0.407199891359,-0.00541192692185,0.0697888142427,0.999999922444,0.000191322563187,-0.000342438781494,3.52589879224e-05,1793193347914683648
+338,5.633333333,POSE2_TO_POSE3_RETREAT,763.885373797,742.885373797,712,672.885373797,659,632,877,784,798.885373797,649,629,651,0.406660619612,-0.00542823196504,0.0698032068087,0.999999931316,0.000170739620811,-0.000326832529171,3.73798269012e-05,1793193347931350272
+339,5.650000000,POSE2_TO_POSE3_RETREAT,763.305295028,742.305295028,712,672.305295028,659,632,877,784,798.305295028,649,629,651,0.406117408574,-0.00542174485736,0.0697991021053,0.99999992565,0.000180180941193,-0.000338944018155,3.6754915775e-05,1793193347948016896
+340,5.666666667,POSE2_TO_POSE3_RETREAT,763,742.272750724,712,672,659,632,876.727249276,784.272750724,798.272750724,649,629,651,0.4056193961,-0.00541583642456,0.069800189525,0.9999999235,0.000190469313266,-0.000339650340032,3.687853921e-05,1793193347964683776
+341,5.683333333,POSE2_TO_POSE3_RETREAT,763,742.848537679,712,672,659,632,876.151462321,784.848537679,798.848537679,649,629,651,0.405171600954,-0.00541057092157,0.0698070455874,0.999999925254,0.000201698790738,-0.000327685094928,3.78338125113e-05,1793193347981350400
+342,5.700000000,POSE2_TO_POSE3_RETREAT,763,742.575973639,712,672,659,632,876.848052722,784.575973639,799.424026361,649,628.575973639,651,0.404770712423,-0.00540856782879,0.069821817281,0.999999933919,0.000201831284726,-0.000300023335647,3.75805522359e-05,1793193347998016768
+343,5.716666667,POSE2_TO_POSE3_RETREAT,763,742.000591378,712,672,659,632,877.998817244,784.000591378,799.999408622,649,628.000591378,651,0.404386567139,-0.00540772925052,0.0698394144541,0.999999944137,0.000198002719282,-0.000266758715828,3.68959068253e-05,1793193348014683648
+344,5.733333333,POSE2_TO_POSE3_RETREAT,763.59261081,742,712,672,659,632.59261081,876.814778381,784,799.40738919,649,628.59261081,651,0.404032402625,-0.00540504761977,0.0698485935907,0.999999946336,0.000208082876506,-0.000250306327696,3.71059574806e-05,1793193348031350272
+345,5.750000000,POSE2_TO_POSE3_RETREAT,764,742.180479841,712,672,659,632.819520159,876.180479841,784,799,649,628.819520159,650.819520159,0.403681461487,-0.00540316248411,0.0698513810278,0.999999946328,0.000214410664626,-0.000244978947287,3.68536011598e-05,1793193348048016896
+346,5.766666667,POSE2_TO_POSE3_RETREAT,764,742.756617165,712,672,659,632.243382835,876.756617165,784,799,649,628.243382835,650.243382835,0.403337519117,-0.00540302762372,0.0698401752309,0.999999941944,0.000212480940799,-0.000264002475737,3.55855137895e-05,1793193348064683776
+347,5.783333333,POSE2_TO_POSE3_RETREAT,764,743,712,672,659,632,877,784,799,649,628.332100832,650.332100832,0.403021526153,-0.00540112531156,0.0698307698954,0.999999936448,0.00021463041816,-0.000282535374609,3.48063049268e-05,1793193348081350400
+348,5.800000000,POSE2_TO_POSE3_RETREAT,764,743,712,672,659,632,877,784,799,649,628.907106368,650.907106368,0.402725975924,-0.00539793025243,0.0698226814514,0.999999930048,0.000219763498981,-0.000300709416741,3.43846709398e-05,1793193348098017024
+349,5.816666667,POSE2_TO_POSE3_RETREAT,764,742.505001078,712,672,659,632,877.494998922,783.505001078,799,649,629,651,0.40247448458,-0.00539495908232,0.0698112808013,0.999999924381,0.000220103638908,-0.000318889830723,3.31782381506e-05,1793193348114683904
+350,5.833333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632,877.916312453,783.083687547,799,649,628.916312453,650.916312453,0.40223751113,-0.00539255673047,0.0698003691109,0.999999919385,0.000218957263374,-0.000335047908764,3.21040224309e-05,1793193348131350528
+351,5.850000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632,877.337602684,783.662397316,799,649,628.337602684,650.337602684,0.402036197602,-0.00539326383614,0.0697961246975,0.999999918924,0.000214480622859,-0.000339236357278,3.27063457747e-05,1793193348148017152
+352,5.866666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632,876.759744062,784,799,649,628.240255938,650.240255938,0.401852210061,-0.00539287733262,0.0697953871032,0.999999919875,0.000209973239014,-0.000339208650964,3.31571606322e-05,1793193348164683776
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632,876.183077282,784,799,649,628.816922718,650.816922718,0.401692482708,-0.00539095953708,0.0697995598227,0.999999922806,0.000205422808157,-0.000333277405719,3.33958304326e-05,1793193348181350656
+354,5.900000000,POSE2_TO_POSE3_RETREAT,763.600198702,742,711.600198702,671.600198702,658.600198702,632,876.399801298,784,799,649,629,650.600198702,0.401557512384,-0.0053894074014,0.0698002582039,0.999999922589,0.000209649457304,-0.00033135497224,3.27609713653e-05,1793193348198017024
+355,5.916666667,POSE2_TO_POSE3_RETREAT,763.014430665,742,711.014430665,671.014430665,658.014430665,632,876.985569335,784,799,649,629,650.014430665,0.401434057728,-0.00538802535147,0.0697993405041,0.999999920865,0.000217958746481,-0.000331297228647,3.17197921889e-05,1793193348214683904
+356,5.933333333,POSE2_TO_POSE3_RETREAT,763.564890071,742.564890071,711.564890071,671.564890071,658.564890071,632,877,784,799,649,628.435109929,650,0.401337579985,-0.00538960854945,0.069798713991,0.999999918988,0.000224643763373,-0.000333084590846,2.47696837547e-05,1793193348231350528
+357,5.950000000,POSE2_TO_POSE3_RETREAT,764,743,712,672,659.143466383,632.143466383,877,784,799,649.143466383,628,650.143466383,0.401248846032,-0.00539136975939,0.0697984833979,0.999999918285,0.000228366213443,-0.000332996966323,1.98029403331e-05,1793193348248017152
+358,5.966666667,POSE2_TO_POSE3_RETREAT,764,743,712,672,659.720286121,632.720286121,877,784,799,649.720286121,628,650.720286121,0.401181444728,-0.00539344244298,0.0697994265018,0.999999921351,0.000223263881542,-0.000327105004139,2.12779419449e-05,1793193348264684544
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764,743,712,671.703933977,659.407867953,632.703933977,877,784,799,649.703933977,628.296066023,650.703933977,0.401121516514,-0.00539429970478,0.0698000482811,0.999999922729,0.000220130959946,-0.000324943699249,2.22904545096e-05,1793193348281351168
+360,6.000000000,POSE2_TO_POSE3_RETREAT,764,743,712,671.129133074,658.258266149,632.129133074,877,784,799,649.129133074,628.870866926,650.129133074,0.401068623933,-0.00539401269316,0.0698003675454,0.999999922556,0.000218852163418,-0.000326294666402,2.28675511729e-05,1793193348298017536
+361,6.016666667,POSE2_TO_POSE3_RETREAT,764,743,712,671.456549292,658.456549292,632,877,784,799.456549292,649,628.543450708,650.456549292,0.401035930405,-0.00539346924542,0.0698025810213,0.999999923997,0.000217251062579,-0.000322882589507,2.35421643648e-05,1793193348314684160
+362,6.033333333,POSE2_TO_POSE3_RETREAT,763.955326132,742.955326132,712,672,658.955326132,632,877,784,799.955326132,649,628,651,0.401010168481,-0.00539299782544,0.0698054229458,0.99999992593,0.00021569992631,-0.000317847328721,2.42261603485e-05,1793193348331350784
+363,6.050000000,POSE2_TO_POSE3_RETREAT,763.375711813,742.375711813,712,672,658.375711813,632,877,784,799.375711813,649,628,651,0.400997325564,-0.00539427861874,0.0698092179951,0.999999928377,0.000215865346635,-0.000309901305643,2.46841669367e-05,1793193348348017408
+364,6.066666667,POSE2_TO_POSE3_RETREAT,763.202786595,742,712,671.797213405,658.202786595,632,877,784,799.202786595,649,628.202786595,651,0.400984985835,-0.00539593864456,0.0698121621984,0.999999930434,0.000214711264305,-0.000303985267611,2.49751533192e-05,1793193348364684032
+365,6.083333333,POSE2_TO_POSE3_RETREAT,763.779228756,742,712,671.220771244,658.779228756,632,877,784,799.779228756,649,628.779228756,651,0.400973573287,-0.00539829744591,0.0698135386285,0.999999931857,0.000211125859969,-0.000301809690793,2.49583874105e-05,1793193348381351168
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764,742,712,671.353013373,658.646986627,632,877,784,799.646986627,649,628.646986627,650.646986627,0.400966738536,-0.00539783586161,0.069815041798,0.999999932096,0.000212263055293,-0.00030021385308,2.49755317754e-05,1793193348398017792
+367,6.116666667,POSE2_TO_POSE3_RETREAT,764,742,712,671.92514846,658.07485154,632,877,784,799.07485154,649,628.07485154,650.07485154,0.400962745305,-0.00539562361371,0.069816623637,0.999999931594,0.000216331652357,-0.000298977869589,2.5013724852e-05,1793193348414684416
+368,6.133333333,POSE2_TO_POSE3_RETREAT,763.485153728,742,712,672,658,632,877,784,799,649,628,650.514846272,0.400960035344,-0.00539660549219,0.0698161975268,0.999999931968,0.000214705360622,-0.000298904181223,2.49567604203e-05,1793193348431350784
+369,6.150000000,POSE2_TO_POSE3_RETREAT,763.104519238,742,712,672,658,632,877,784,799,649,628,651,0.400958077273,-0.00539776933835,0.0698158687389,0.999999932528,0.000212543846425,-0.000298582793237,2.48618619788e-05,1793193348448017408
+370,6.166666667,POSE2_TO_POSE3_RETREAT,763.682114652,742,712,672,658,632,877,784,799,649,628,651,0.400958648132,-0.00539758068548,0.0698173484465,0.999999933347,0.000211839667432,-0.000296348405325,2.46600959429e-05,1793193348464684032
+371,6.183333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,658.259669498,632,877.259669498,784,799,649,628.259669498,650.740330502,0.400958439293,-0.00539737449318,0.069818115466,0.999999933758,0.000211579083685,-0.000295153935084,2.45525167703e-05,1793193348481350656
+372,6.200000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,658.837174655,632,877.837174655,784,799,649,628.837174655,650.162825345,0.400957276103,-0.0053971468326,0.0698180101547,0.999999933675,0.000211861460892,-0.00029523232498,2.45602224004e-05,1793193348498017280
+373,6.216666667,POSE2_TO_POSE3_RETREAT,763.58840057,742.41159943,712,672,659,632,877.58840057,784,799,649,629,650.41159943,0.400957473312,-0.00539707489012,0.0698186284369,0.999999933888,0.00021234547531,-0.000294147865996,2.47018781862e-05,1793193348514684160
+374,6.233333333,POSE2_TO_POSE3_RETREAT,763.015185331,742.984814669,712,672,659,632,877.015185331,784,799,649,629,650.984814669,0.400958204684,-0.00539706409084,0.0698195308405,0.999999934216,0.000212908663204,-0.000292606810741,2.48961299214e-05,1793193348531351040
+375,6.250000000,POSE2_TO_POSE3_RETREAT,763.576200208,742.423799792,712,672,659,632,877,784,799,649,629,651,0.400957158919,-0.00539735097972,0.0698191208191,0.999999934254,0.000211822220303,-0.000293291411762,2.45801054816e-05,1793193348548017664
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764,742,712,671.835226044,659,632,877,784,799,649,629,651,0.400956660458,-0.00539758244613,0.0698190469857,0.999999934239,0.000211719433018,-0.000293423354476,2.44772591094e-05,1793193348564684288
+377,6.283333333,POSE2_TO_POSE3_RETREAT,764,742,712,671.25498881,659,632,877,784,799,649,629,651,0.400957663914,-0.00539765374401,0.0698199108714,0.999999934111,0.000214210035745,-0.000292009106437,2.49469347851e-05,1793193348581350912
+378,6.300000000,POSE2_TO_POSE3_RETREAT,764,742,712.322244194,671.322244194,659,632,877,784,799,649,629,651,0.400957920981,-0.00539753533735,0.0698205829504,0.999999934527,0.00021400650336,-0.000290737366364,2.48909480337e-05,1793193348598017536
+379,6.316666667,POSE2_TO_POSE3_RETREAT,764,742,712.897121997,671.897121997,659,632,877,784,799,649,629,651,0.400957592894,-0.00539726820577,0.0698211046566,0.999999935368,0.000211690818122,-0.000289577349802,2.44228515125e-05,1793193348614684160
+380,6.333333333,POSE2_TO_POSE3_RETREAT,764,742.481252125,712.518747875,671.518747875,659,632.481252125,877,784,799,649,629,651,0.400958035358,-0.00539769504722,0.0698212254293,0.999999935127,0.000212911133523,-0.00028950108664,2.4580284263e-05,1793193348631350784
+381,6.350000000,POSE2_TO_POSE3_RETREAT,764,743,712,671.066845749,659,632.933154251,877,784,799,649,629,651,0.400958502752,-0.00539823847376,0.069821252041,0.999999934759,0.000214363598807,-0.000289678412118,2.48220191616e-05,1793193348648017152
+382,6.366666667,POSE2_TO_POSE3_RETREAT,764,743,712,671.648182191,659,632.351817809,877,784,799,649,629,651,0.400957869348,-0.00539851502085,0.0698212265254,0.999999935247,0.000211670909367,-0.000289989441605,2.46632230243e-05,1793193348664684032
+383,6.383333333,POSE2_TO_POSE3_RETREAT,764,742.773751639,712,672.226248361,659.226248361,632.226248361,877,784,799.226248361,649,629,651,0.400957480142,-0.0053991640226,0.0698212887206,0.999999935514,0.000210372615086,-0.000290011961815,2.46573081605e-05,1793193348681350912
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764,742.200698343,712,672.799301657,659.799301657,632.799301657,877,784,799.799301657,649,629,651,0.400957465255,-0.00540038394169,0.0698214853634,0.999999935453,0.000211211720417,-0.000289592240391,2.48857374571e-05,1793193348698017536
+385,6.416666667,POSE2_TO_POSE3_RETREAT,763.616385229,742,712,672.616385229,659.616385229,632.616385229,877,784.383614771,799.616385229,649,629,651,0.4009568505,-0.00539954109424,0.0698212562006,0.999999935425,0.000211693401402,-0.000289368953641,2.45381433574e-05,1793193348714684160
+386,6.433333333,POSE2_TO_POSE3_RETREAT,763.02600312,742,712,672.02600312,659.02600312,632.02600312,877,784.97399688,799.02600312,649,629,651,0.400955912417,-0.00539758642109,0.0698207975298,0.999999935413,0.000211982431591,-0.000289251544669,2.38800741779e-05,1793193348731350528
+387,6.450000000,POSE2_TO_POSE3_RETREAT,763.553618265,742,712,672,659,632.553618265,877,784.446381735,799.553618265,649,628.446381735,651,0.400955570515,-0.00539788384012,0.0698204068471,0.999999934803,0.00021292539218,-0.000290642787769,2.41503162333e-05,1793193348748017152
+388,6.466666667,POSE2_TO_POSE3_RETREAT,763.868140499,742.131859501,712,672,659,632.868140499,877,784,799.868140499,649,628,651,0.400955182884,-0.00539828416652,0.0698200372286,0.999999934401,0.000213158204402,-0.000291834962861,2.43560223063e-05,1793193348764684032
+389,6.483333333,POSE2_TO_POSE3_RETREAT,763.292873247,742.707126753,712,672,659,632.292873247,877,784,799.292873247,649,628,651,0.400954549115,-0.00539868161695,0.0698197279097,0.999999934799,0.000210901664012,-0.000292123984547,2.4200884416e-05,1793193348781350656
+390,6.500000000,POSE2_TO_POSE3_RETREAT,763.281504705,743,712,671.718495295,658.718495295,632.281504705,877.281504705,784.281504705,799.281504705,649,628.281504705,651,0.400955441574,-0.00539863550686,0.0698204490032,0.999999935089,0.000211047512492,-0.000291023769069,2.4226872719e-05,1793193348798017536
+391,6.516666667,POSE2_TO_POSE3_RETREAT,763.854960424,743,712,671.145039576,658.145039576,632.854960424,877.854960424,784.854960424,799.854960424,649,628.854960424,651,0.400957916898,-0.00539812937627,0.0698222387464,0.99999993526,0.000213684899406,-0.000288482763495,2.4440708577e-05,1793193348814684672
+392,6.533333333,POSE2_TO_POSE3_RETREAT,764,742.556749553,712,671.443250447,658.443250447,633,877.556749553,784.556749553,799.556749553,649,629,651,0.400958571809,-0.00539847976466,0.069822523767,0.999999935886,0.000211870159941,-0.000287669736054,2.41835804236e-05,1793193348831351040
+393,6.550000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,633,877,784,799,649.035468328,628.964531672,651,0.400958607307,-0.00539904540139,0.0698223203091,0.999999936572,0.000208936828501,-0.000287462634751,2.38225858266e-05,1793193348848017408
+394,6.566666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,633,877,784,799,649.611023974,628.388976026,651,0.400958595367,-0.00539847318165,0.0698224357528,0.9999999359,0.000211921863516,-0.000287574119131,2.43078889634e-05,1793193348864684032
+395,6.583333333,POSE2_TO_POSE3_RETREAT,764,742,712,671.813525088,659,633,877,784,799,649.813525088,628.186474912,650.813525088,0.400958261912,-0.00539790538561,0.0698223540755,0.999999935297,0.000214375180148,-0.000287827614215,2.46009192201e-05,1793193348881350656
+396,6.600000000,POSE2_TO_POSE3_RETREAT,764,742,712,671.238292477,659,633,877,784,799,649.238292477,628.761707523,650.238292477,0.400957258172,-0.00539734681198,0.0698218614458,0.999999934852,0.000215719984939,-0.00028837716925,2.44931043061e-05,1793193348898017024
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_03/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_03/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..934f8247b1a19b52bfb9f2b882113f5c285d4555
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_03/depth_02/simulation_data.csv
@@ -0,0 +1,398 @@
+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,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+1,0.016666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+2,0.033333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+3,0.050000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+4,0.066666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+5,0.083333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+6,0.100000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+7,0.116666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+8,0.133333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+9,0.150000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+10,0.166666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+11,0.183333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+12,0.200000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+13,0.216666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+14,0.233333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+15,0.250000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+16,0.266666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+17,0.283333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+18,0.300000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+19,0.316666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+20,0.333333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+21,0.350000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+22,0.366666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+23,0.383333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+24,0.400000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+25,0.416666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+26,0.433333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+27,0.450000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+28,0.466666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+29,0.483333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+30,0.500000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+31,0.516666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+32,0.533333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+33,0.550000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+34,0.566666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+35,0.583333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+36,0.600000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+37,0.616666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+38,0.633333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+39,0.650000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+40,0.666666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+41,0.683333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+42,0.700000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+43,0.716666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+44,0.733333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+45,0.750000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+46,0.766666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+47,0.783333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+48,0.800000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+49,0.816666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+50,0.833333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+51,0.850000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+52,0.866666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+53,0.883333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+54,0.900000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+55,0.916666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+56,0.933333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+57,0.950000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+58,0.966666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+59,0.983333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+60,1.000000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+61,1.016666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+62,1.033333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+63,1.050000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+64,1.066666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+65,1.083333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+66,1.100000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+67,1.116666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+68,1.133333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+69,1.150000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+70,1.166666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+71,1.183333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+72,1.200000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+73,1.216666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+74,1.233333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+75,1.250000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+76,1.266666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+77,1.283333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+78,1.300000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+79,1.316666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+80,1.333333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+81,1.350000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+82,1.366666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+83,1.383333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+84,1.400000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+85,1.416666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+86,1.433333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+87,1.450000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+88,1.466666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+89,1.483333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+90,1.500000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+91,1.516666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+92,1.533333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+93,1.550000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+94,1.566666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+95,1.583333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+96,1.600000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+97,1.616666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+98,1.633333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+99,1.650000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+100,1.666666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+101,1.683333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+102,1.700000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+103,1.716666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+104,1.733333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+105,1.750000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+106,1.766666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+107,1.783333333,pose1_to_pose2_press,0.575709211365,5.46154939886e-05,1.06002918235,0.546279941881,0.00872734561183,1.05969846529
+108,1.800000000,pose1_to_pose2_press,0.575709539328,5.46473824092e-05,1.06002913683,0.546280269063,0.00872737525852,1.05969843056
+109,1.816666667,pose1_to_pose2_press,0.575709805727,5.45599207777e-05,1.06002913278,0.546280536564,0.00872729156473,1.05969842718
+110,1.833333333,pose1_to_pose2_press,0.575709859246,5.45496864849e-05,1.06002913321,0.546280590223,0.00872728180161,1.0596984275
+111,1.850000000,pose1_to_pose2_press,0.575709879222,5.45492882188e-05,1.06002913395,0.546280610213,0.00872728144593,1.05969842808
+112,1.866666667,pose1_to_pose2_press,0.57571006127,5.45456586778e-05,1.06002914072,0.546280792391,0.00872727820449,1.05969843342
+113,1.883333333,pose1_to_pose2_press,0.575711171536,5.45235229768e-05,1.060029182,0.546281903453,0.0087272584357,1.05969846599
+114,1.900000000,pose1_to_pose2_press,0.575713852265,5.45128566664e-05,1.06002924863,0.546284583979,0.00872724749199,1.05969854344
+115,1.916666667,pose1_to_pose2_press,0.575719534091,5.45877876354e-05,1.06002913018,0.54629026437,0.00872731756629,1.0596984252
+116,1.933333333,pose1_to_pose2_press,0.575731712601,5.46834246351e-05,1.06002901627,0.546302441592,0.00872740882957,1.05969831118
+117,1.950000000,pose1_to_pose2_press,0.575752356732,5.46472123646e-05,1.06002919604,0.546323086162,0.00872737404936,1.05969848941
+118,1.966666667,pose1_to_pose2_press,0.575783517417,5.44496105891e-05,1.06002889822,0.546354248846,0.0087271834235,1.05969819653
+119,1.983333333,pose1_to_pose2_press,0.575825316202,5.45294166661e-05,1.06002916021,0.546396047079,0.00872726097871,1.05969844861
+120,2.000000000,pose1_to_pose2_press,0.575877363052,5.45655715587e-05,1.06002927453,0.546448094719,0.00872729998321,1.05969856733
+121,2.016666667,pose1_to_pose2_press,0.575937892585,5.46479437291e-05,1.06002915129,0.546508622285,0.00872737565601,1.05969844332
+122,2.033333333,pose1_to_pose2_press,0.576007058679,5.45710840072e-05,1.06002910045,0.546577788253,0.00872729841136,1.05969839357
+123,2.050000000,pose1_to_pose2_press,0.576086302671,5.46503249741e-05,1.06002929256,0.546657031289,0.00872737443974,1.0596985864
+124,2.066666667,pose1_to_pose2_press,0.576176643179,5.46799352011e-05,1.06002925064,0.546747372079,0.00872740491177,1.05969854196
+125,2.083333333,pose1_to_pose2_press,0.576282825741,5.45362783671e-05,1.06002893116,0.546853555913,0.00872726569257,1.05969822555
+126,2.100000000,pose1_to_pose2_press,0.576405428744,5.44690779043e-05,1.06002891099,0.54697616,0.00872720206706,1.05969820264
+127,2.116666667,pose1_to_pose2_press,0.576547516614,5.45215564558e-05,1.06002917119,0.547118247574,0.00872725336276,1.05969845818
+128,2.133333333,pose1_to_pose2_press,0.576708027956,5.46358995428e-05,1.060029213,0.547278757462,0.00872736286212,1.05969850229
+129,2.150000000,pose1_to_pose2_press,0.576888056097,5.46430539928e-05,1.06002906897,0.547458785286,0.00872736918309,1.05969836454
+130,2.166666667,pose1_to_pose2_press,0.577090862897,5.45481965781e-05,1.06002898789,0.547661592926,0.00872727736661,1.05969828845
+131,2.183333333,pose1_to_pose2_press,0.577317129692,5.45503910903e-05,1.06002914801,0.54788786096,0.00872728355174,1.05969844289
+132,2.200000000,pose1_to_pose2_press,0.577567907479,5.45306749862e-05,1.06002938116,0.54813863879,0.00872726346091,1.05969866223
+133,2.216666667,pose1_to_pose2_press,0.577841969006,5.46606804926e-05,1.06002943774,0.548412699038,0.00872738911445,1.05969871849
+134,2.233333333,pose1_to_pose2_press,0.578139983233,5.45802159649e-05,1.06002919181,0.548710714562,0.00872731324847,1.05969847771
+135,2.250000000,pose1_to_pose2_press,0.578458504826,5.45051910414e-05,1.06002898816,0.549029235168,0.00872723481218,1.05969827241
+136,2.266666667,pose1_to_pose2_press,0.578797794848,5.4542795355e-05,1.06002915568,0.549368524623,0.0087272706,1.05969844257
+137,2.283333333,pose1_to_pose2_press,0.579162838327,5.4562629742e-05,1.06002919121,0.549733568223,0.00872729102976,1.05969848299
+138,2.300000000,pose1_to_pose2_press,0.579552050607,5.4466606825e-05,1.06002913288,0.550122783322,0.00872720468478,1.05969842754
+139,2.316666667,pose1_to_pose2_press,0.579963407511,5.44480779519e-05,1.06002907324,0.550534140319,0.00872718631605,1.05969836377
+140,2.333333333,pose1_to_pose2_press,0.580392610355,5.45643331332e-05,1.06002918458,0.550963341455,0.00872729668132,1.05969847256
+141,2.350000000,pose1_to_pose2_press,0.580839262175,5.46019854107e-05,1.06002921357,0.551409993018,0.00872733348091,1.05969850202
+142,2.366666667,pose1_to_pose2_press,0.581308100153,5.45600480902e-05,1.0600292075,0.551878831392,0.00872729299786,1.05969849873
+143,2.383333333,pose1_to_pose2_press,0.581803248757,5.45541508703e-05,1.06002920231,0.552373979803,0.00872728647553,1.05969849437
+144,2.400000000,pose1_to_pose2_press,0.582335864871,5.45264796555e-05,1.06002908589,0.552906595504,0.00872725738039,1.05969837733
+145,2.416666667,pose1_to_pose2_press,0.582901080167,5.45065287021e-05,1.06002908685,0.553471811665,0.00872724034274,1.05969837765
+146,2.433333333,pose1_to_pose2_press,0.583491803794,5.45727070927e-05,1.06002914899,0.554062535238,0.00872730637026,1.05969844055
+147,2.450000000,pose1_to_pose2_press,0.584099377297,5.45988109784e-05,1.0600290096,0.554670107642,0.00872732890814,1.05969830546
+148,2.466666667,pose1_to_pose2_press,0.58472293749,5.45587018474e-05,1.06002909954,0.555293667723,0.0087272882136,1.05969838996
+149,2.483333333,pose1_to_pose2_press,0.585365094723,5.45737990858e-05,1.06002929212,0.555935824052,0.00872730003581,1.05969857708
+150,2.500000000,pose1_to_pose2_press,0.586030500258,5.46122836728e-05,1.06002922155,0.556601230081,0.00872734032551,1.0596985098
+151,2.516666667,pose1_to_pose2_press,0.586728216714,5.46614704257e-05,1.06002917477,0.557298946708,0.00872739000908,1.05969846087
+152,2.533333333,pose1_to_pose2_press,0.587445057124,5.47323385469e-05,1.06002909417,0.558015785626,0.00872745593925,1.05969838353
+153,2.550000000,pose1_to_pose2_press,0.588169184652,5.45929565586e-05,1.06002909177,0.558739914076,0.00872731973872,1.05969838253
+154,2.566666667,pose1_to_pose2_press,0.588892133334,5.44849715934e-05,1.06002902418,0.559462863418,0.00872721397387,1.0596983144
+155,2.583333333,pose1_to_pose2_press,0.589614338757,5.45350703579e-05,1.06002900679,0.560185069428,0.00872726621713,1.05969830101
+156,2.600000000,pose1_to_pose2_press,0.590351759456,5.46086957106e-05,1.06002915552,0.560922489634,0.00872733806187,1.05969844694
+157,2.616666667,pose1_to_pose2_press,0.591110442251,5.46108630873e-05,1.06002916395,0.561681171299,0.00872733626388,1.05969845199
+158,2.633333333,pose1_to_pose2_press,0.591897547763,5.45323863231e-05,1.06002910658,0.5624682788,0.00872726459022,1.059698396
+159,2.650000000,pose1_to_pose2_press,0.592709496088,5.45451792126e-05,1.06002901873,0.56328022789,0.00872728011485,1.05969831175
+160,2.666666667,pose1_to_pose2_press,0.59354607616,5.45429857363e-05,1.06002906097,0.564116806643,0.0087272735294,1.05969835622
+161,2.683333333,pose1_to_pose2_press,0.594378770758,5.45197081628e-05,1.06002921653,0.564949501875,0.00872725209969,1.05969850385
+162,2.700000000,pose1_to_pose2_press,0.595205042772,5.45312333715e-05,1.06002923524,0.565775775063,0.00872726750075,1.05969851983
+163,2.716666667,pose1_to_pose2_press,0.596014938152,5.45949503692e-05,1.06002917468,0.566585669163,0.00872732687691,1.05969845928
+164,2.733333333,pose1_to_pose2_press,0.596810552575,5.45509088155e-05,1.060029119,0.567381283306,0.00872728195268,1.05969840547
+165,2.750000000,pose1_to_pose2_press,0.597598436418,5.45547389766e-05,1.06002902189,0.568169166586,0.0087272841048,1.05969831446
+166,2.766666667,pose1_to_pose2_press,0.598398195836,5.45276888488e-05,1.06002911446,0.568968927027,0.00872726040947,1.05969840402
+167,2.783333333,pose1_to_pose2_press,0.599217514459,5.44746425148e-05,1.06002922049,0.569788245925,0.0087272081154,1.05969850539
+168,2.800000000,pose1_to_pose2_press,0.600052912664,5.45704419345e-05,1.06002913146,0.570623643678,0.00872730244145,1.05969841803
+169,2.816666667,pose1_to_pose2_press,0.600898038188,5.46177478668e-05,1.06002916663,0.571468767815,0.00872734534463,1.05969846122
+170,2.833333333,pose1_to_pose2_press,0.601743220657,5.46378781844e-05,1.06002913221,0.572313948307,0.00872735862953,1.05969842327
+171,2.850000000,pose1_to_pose2_press,0.602571766183,5.45190653463e-05,1.06002927469,0.573142496103,0.00872724744038,1.05969856381
+172,2.866666667,pose1_to_pose2_press,0.603372141688,5.45139000088e-05,1.06002917413,0.573942872613,0.00872724561734,1.05969846145
+173,2.883333333,pose1_to_pose2_press,0.604143763349,5.45268752855e-05,1.06002914267,0.574714495194,0.00872726178135,1.0596984318
+174,2.900000000,pose1_to_pose2_press,0.604884869864,5.45574698604e-05,1.06002912015,0.575455601511,0.00872729176559,1.05969841099
+175,2.916666667,pose1_to_pose2_press,0.605612689052,5.4599245943e-05,1.06002904486,0.576183419215,0.00872732853751,1.05969833659
+176,2.933333333,pose1_to_pose2_press,0.606334714725,5.46033221152e-05,1.06002923153,0.57690544467,0.00872733185636,1.05969852292
+177,2.950000000,pose1_to_pose2_press,0.607061191549,5.45423733434e-05,1.0600291587,0.577631922922,0.00872727568223,1.05969844833
+178,2.966666667,pose1_to_pose2_press,0.607792554122,5.46149700335e-05,1.06002910708,0.578363283294,0.00872734078795,1.05969839622
+179,2.983333333,pose1_to_pose2_press,0.608522552389,5.46062414454e-05,1.06002917584,0.579093281625,0.00872733246433,1.05969847003
+180,3.000000000,pose1_to_pose2_press,0.609223785755,5.45730958295e-05,1.06002940583,0.579794516672,0.0087273047364,1.05969869259
+181,3.016666667,pose1_to_pose2_press,0.609891121197,5.46292249918e-05,1.06002932263,0.580461851476,0.00872735885333,1.05969861351
+182,3.033333333,pose1_to_pose2_press,0.61051027091,5.46788537153e-05,1.0600292115,0.581080999168,0.00872740153744,1.05969850017
+183,3.050000000,pose1_to_pose2_press,0.61109320228,5.47366930351e-05,1.06002914295,0.581663929193,0.00872745494932,1.05969843532
+184,3.066666667,pose1_to_pose2_press,0.611646258444,5.46332772523e-05,1.06002907431,0.582216987184,0.00872735789679,1.05969837099
+185,3.083333333,pose1_to_pose2_press,0.612170399011,5.44492025081e-05,1.06002892507,0.582741129731,0.00872718046155,1.05969821995
+186,3.100000000,pose1_to_pose2_press,0.612665143094,5.45005754194e-05,1.06002883081,0.583235873214,0.00872723000701,1.05969813063
+187,3.116666667,pose1_to_pose2_press,0.613143668929,5.46528542915e-05,1.06002906302,0.583714398938,0.00872738161294,1.05969835197
+188,3.133333333,pose1_to_pose2_press,0.613606829905,5.45040836379e-05,1.06002920149,0.584177561852,0.0087272394489,1.05969848542
+189,3.150000000,pose1_to_pose2_press,0.614053693156,5.45708514374e-05,1.06002919659,0.584624423392,0.00872730140798,1.059698493
+190,3.166666667,pose1_to_pose2_press,0.614490619094,5.45174650983e-05,1.06002894719,0.585061351448,0.00872725536069,1.0596982311
+191,3.183333333,pose1_to_pose2_press,0.614918029959,5.46585771359e-05,1.06002908819,0.585488757874,0.00872738234428,1.05969837727
+192,3.200000000,pose1_to_pose2_press,0.615318096459,5.44298194318e-05,1.06002936721,0.585888827236,0.00872716394846,1.05969865192
+193,3.216666667,pose1_to_pose2_press,0.615688308608,5.46393840698e-05,1.06002899522,0.586259037479,0.00872736856185,1.05969829803
+194,3.233333333,pose1_to_pose2_press,0.61602302523,5.46096009068e-05,1.06002915068,0.586593753994,0.00872733873807,1.05969843984
+195,3.250000000,pose1_to_pose2_press,0.616324872706,5.46526255865e-05,1.0600291581,0.58689559957,0.00872737587644,1.05969844855
+196,3.266666667,pose1_to_pose2_press,0.616595146288,5.44982562639e-05,1.0600292986,0.587165876083,0.00872723167605,1.05969858086
+197,3.283333333,pose1_to_pose2_press,0.616847595176,5.45584818172e-05,1.06002916545,0.587418325013,0.00872729295231,1.05969845679
+198,3.300000000,pose1_to_pose2_press,0.617085433541,5.44870570413e-05,1.06002913656,0.587656164125,0.00872722472702,1.05969842936
+199,3.316666667,pose1_to_pose2_press,0.61730861658,5.44873133632e-05,1.06002907385,0.587879345066,0.00872721856823,1.05969836236
+200,3.333333333,pose1_to_pose2_press,0.617516283651,5.46134784841e-05,1.06002903832,0.588087011809,0.00872734374972,1.05969832677
+201,3.350000000,pose1_to_pose2_press,0.617705810355,5.45919955621e-05,1.06002913433,0.588276538719,0.00872732319596,1.0596984201
+202,3.366666667,pose1_to_pose2_press,0.61787663227,5.44944917245e-05,1.0600290823,0.58844736024,0.00872722478693,1.059698369
+203,3.383333333,pose1_to_pose2_press,0.618027186231,5.45149884002e-05,1.06002917659,0.588597913553,0.00872724354277,1.05969846724
+204,3.400000000,pose1_to_pose2_press,0.618162133648,5.45972909984e-05,1.0600290338,0.588732860296,0.00872732412178,1.05969833016
+205,3.416666667,pose1_to_pose2_press,0.618281684124,5.45930438827e-05,1.06002896369,0.588852411396,0.00872732225957,1.05969825769
+206,3.433333333,pose1_to_pose2_press,0.618385118217,5.45639207867e-05,1.06002922948,0.588955846442,0.00872729639081,1.05969851978
+207,3.450000000,pose1_to_pose2_press,0.61847368567,5.45376583812e-05,1.06002927477,0.589044413955,0.00872727046105,1.0596985647
+208,3.466666667,pose1_to_pose2_press,0.618547093979,5.45844584202e-05,1.06002916957,0.589117821077,0.00872731343214,1.05969845626
+209,3.483333333,pose1_to_pose2_press,0.618608482834,5.46582435379e-05,1.06002910384,0.589179209088,0.00872738475384,1.0596983942
+210,3.500000000,pose1_to_pose2_press,0.618658354242,5.46509708329e-05,1.06002897948,0.589229080638,0.00872737838113,1.05969828071
+211,3.516666667,pose1_to_pose2_press,0.618699892125,5.47051357844e-05,1.06002897738,0.589270616837,0.00872742662444,1.05969827579
+212,3.533333333,pose1_to_pose2_press,0.618733828174,5.47207321923e-05,1.06002886235,0.589304552927,0.00872744264131,1.05969816455
+213,3.550000000,pose1_to_pose2_press,0.618761105088,5.46525523598e-05,1.06002914272,0.589331830499,0.0087273763083,1.05969843023
+214,3.566666667,pose1_to_pose2_press,0.618782371874,5.4554863146e-05,1.06002904994,0.589353098493,0.00872728283722,1.0596983397
+215,3.583333333,pose1_to_pose2_press,0.618797747236,5.47465131423e-05,1.06002911338,0.589368471711,0.00872746718606,1.05969840179
+216,3.600000000,pose1_to_pose2_press,0.618808904228,5.47016560084e-05,1.0600291839,0.589379628475,0.00872742134303,1.05969846542
+217,3.616666667,pose1_to_pose2_press,0.61881620045,5.45408165919e-05,1.06002922559,0.58938692598,0.00872726469075,1.05969850171
+218,3.633333333,pose1_to_pose2_press,0.618821019579,5.45598954806e-05,1.06002927485,0.5893917464,0.00872728835397,1.05969855733
+219,3.650000000,pose1_to_pose2_press,0.618824091832,5.45543847431e-05,1.06002928059,0.589394819337,0.00872728515462,1.0596985641
+220,3.666666667,pose1_to_pose2_press,0.618825850198,5.45290845853e-05,1.06002925173,0.589396577922,0.00872726041153,1.05969853204
+221,3.683333333,pose1_to_pose2_press,0.618827112238,5.45109257865e-05,1.06002923101,0.589397840119,0.00872724265255,1.05969850902
+222,3.700000000,pose1_to_pose2_press,0.618828298771,5.44977146696e-05,1.060029194,0.589399026773,0.00872722977264,1.05969847089
+223,3.716666667,pose1_to_pose2_press,0.618828934422,5.45012751116e-05,1.06002912587,0.589399662418,0.00872723338738,1.05969840501
+224,3.733333333,pose1_to_pose2_press,0.618829234202,5.45029542488e-05,1.06002909374,0.589399962194,0.00872723509213,1.05969837394
+225,3.750000000,pose1_to_pose2_press,0.61882979206,5.45060789545e-05,1.06002903395,0.589400520046,0.00872723826449,1.05969831613
+226,3.766666667,pose1_to_pose2_press,0.618830236021,5.45085656895e-05,1.06002898636,0.589400964002,0.00872724078915,1.05969827012
+227,3.783333333,pose1_to_pose2_press,0.618830322088,5.45090477732e-05,1.06002897714,0.589401050068,0.00872724127859,1.0596982612
+228,3.800000000,pose1_to_pose2_press,0.618830361016,5.45092658162e-05,1.06002897296,0.589401088995,0.00872724149996,1.05969825717
+229,3.816666667,pose1_to_pose2_press,0.618830739434,5.4506729542e-05,1.0600289407,0.589401467481,0.00872723923221,1.05969822603
+230,3.833333333,pose1_to_pose2_press,0.618830913951,5.44883012855e-05,1.06002895659,0.589401642297,0.00872722180334,1.05969824159
+231,3.850000000,pose1_to_pose2_press,0.618830963968,5.44830196676e-05,1.06002896115,0.589401692399,0.00872721680815,1.05969824605
+232,3.866666667,pose1_to_pose2_press,0.618831053413,5.44735747203e-05,1.06002896929,0.589401781997,0.00872720787541,1.05969825403
+233,3.883333333,pose1_to_pose2_press,0.618831109004,5.44677045373e-05,1.06002897435,0.589401837683,0.00872720232358,1.05969825899
+234,3.900000000,pose1_to_pose2_press,0.61883120638,5.44574220109e-05,1.06002898322,0.589401935226,0.00872719259869,1.05969826768
+235,3.916666667,pose1_to_pose2_press,0.618831396224,5.44373753095e-05,1.06002900051,0.589402125394,0.00872717363914,1.05969828461
+236,3.933333333,pose1_to_pose2_press,0.618831617323,5.44140281673e-05,1.06002902064,0.589402346871,0.00872715155814,1.05969830433
+237,3.950000000,pose1_to_pose2_press,0.618832036151,5.43701096948e-05,1.06002905871,0.58940276641,0.00872711002011,1.05969834163
+238,3.966666667,pose1_to_pose2_press,0.618832296251,5.44655366395e-05,1.06002905747,0.589403024809,0.0087271997493,1.05969834135
+239,3.983333333,pose1_to_pose2_press,0.618832434049,5.45160930221e-05,1.06002905682,0.589403161706,0.00872724728706,1.05969834121
+240,4.000000000,pose1_to_pose2_press,0.618832569387,5.4565681826e-05,1.0600290523,0.589403296185,0.00872729404109,1.05969833784
+241,4.016666667,pose1_to_pose2_press,0.618832582813,5.4570569259e-05,1.06002904995,0.589403309539,0.00872729871136,1.05969833592
+242,4.033333333,pose1_to_pose2_press,0.618832622855,5.45851454298e-05,1.06002904292,0.589403349365,0.00872731263986,1.0596983302
+243,4.050000000,pose1_to_pose2_press,0.618832636351,5.45900585298e-05,1.06002904055,0.589403362787,0.00872731733431,1.05969832827
+244,4.066666667,pose2_hold,0.618832636351,5.45900585298e-05,1.06002904055,0.589403362791,0.00872731733546,1.05969832827
+245,4.083333333,pose2_hold,0.618832636351,5.45900585298e-05,1.06002904055,0.589403362792,0.00872731733583,1.05969832827
+246,4.100000000,pose2_hold,0.618832636351,5.45900585298e-05,1.06002904055,0.589403362792,0.00872731733642,1.05969832827
+247,4.116666667,pose2_hold,0.618832636351,5.45900585298e-05,1.06002904055,0.589403362792,0.00872731733652,1.05969832827
+248,4.133333333,pose2_hold,0.618832636351,5.45900585298e-05,1.06002904055,0.589403362791,0.00872731733594,1.05969832827
+249,4.150000000,pose2_hold,0.618832636351,5.45900585298e-05,1.06002904055,0.589403362793,0.00872731733336,1.05969832827
+250,4.166666667,pose2_hold,0.618832636351,5.45900585298e-05,1.06002904055,0.589403362792,0.00872731733625,1.05969832827
+251,4.183333333,pose2_hold,0.618832636351,5.45900585298e-05,1.06002904055,0.589403362793,0.0087273173341,1.05969832827
+252,4.200000000,pose2_hold,0.618832636351,5.45900585298e-05,1.06002904055,0.589403362791,0.00872731733486,1.05969832827
+253,4.216666667,pose2_hold,0.618832636351,5.45900585298e-05,1.06002904055,0.589403362792,0.0087273173348,1.05969832827
+254,4.233333333,pose2_hold,0.618832636351,5.45900585298e-05,1.06002904055,0.589403362793,0.00872731733421,1.05969832827
+255,4.250000000,pose2_hold,0.618832636351,5.45900585298e-05,1.06002904055,0.589403362793,0.00872731733485,1.05969832827
+256,4.266666667,pose2_hold,0.618832636351,5.45900585298e-05,1.06002904055,0.589403362793,0.00872731733486,1.05969832827
+257,4.283333333,pose2_hold,0.618832636351,5.45900585298e-05,1.06002904055,0.589403362793,0.00872731733349,1.05969832827
+258,4.300000000,pose2_hold,0.618832636351,5.45900585298e-05,1.06002904055,0.589403362793,0.00872731733578,1.05969832827
+259,4.316666667,pose2_hold,0.618832636351,5.45900585298e-05,1.06002904055,0.589403362793,0.0087273173348,1.05969832827
+260,4.333333333,pose2_hold,0.618832636351,5.45900585298e-05,1.06002904055,0.589403362793,0.00872731733438,1.05969832827
+261,4.350000000,pose2_hold,0.618832636351,5.45900585298e-05,1.06002904055,0.589403362793,0.008727317335,1.05969832827
+262,4.366666667,pose2_to_pose3_retreat,0.618832636351,5.45900585298e-05,1.06002904055,0.589403362793,0.00872731733493,1.05969832827
+263,4.383333333,pose2_to_pose3_retreat,0.618832615073,5.45183674181e-05,1.06002903764,0.58940334249,0.00872724898278,1.05969832611
+264,4.400000000,pose2_to_pose3_retreat,0.618832606287,5.44887658468e-05,1.06002903644,0.589403334107,0.00872722075987,1.05969832522
+265,4.416666667,pose2_to_pose3_retreat,0.618832502639,5.45174996382e-05,1.06002909542,0.589403229714,0.00872724682246,1.0596983803
+266,4.433333333,pose2_to_pose3_retreat,0.618832108287,5.45894988326e-05,1.06002920463,0.589402833862,0.00872731346745,1.05969848244
+267,4.450000000,pose2_to_pose3_retreat,0.618831166085,5.46183343724e-05,1.06002919382,0.589401891948,0.00872734332907,1.05969847338
+268,4.466666667,pose2_to_pose3_retreat,0.618828685523,5.46412064816e-05,1.0600291582,0.589399411257,0.00872736608055,1.0596984461
+269,4.483333333,pose2_to_pose3_retreat,0.618822380946,5.44300178135e-05,1.06002927196,0.589393108469,0.00872716054217,1.05969854953
+270,4.500000000,pose2_to_pose3_retreat,0.618808758051,5.45464358106e-05,1.06002902465,0.589379483434,0.00872727021238,1.0596983157
+271,4.516666667,pose2_to_pose3_retreat,0.618784195407,5.45410239091e-05,1.06002918516,0.589354922311,0.00872726934503,1.05969846787
+272,4.533333333,pose2_to_pose3_retreat,0.618746691134,5.45384787492e-05,1.06002930123,0.589317418428,0.00872726824315,1.05969858395
+273,4.550000000,pose2_to_pose3_retreat,0.618697559364,5.44952374673e-05,1.06002938813,0.589268287455,0.00872722741617,1.05969866866
+274,4.566666667,pose2_to_pose3_retreat,0.61863796696,5.44027213783e-05,1.06002933819,0.589208696702,0.00872714067775,1.05969861799
+275,4.583333333,pose2_to_pose3_retreat,0.618568391357,5.44873165725e-05,1.06002919555,0.589139119823,0.00872722119437,1.05969847947
+276,4.600000000,pose2_to_pose3_retreat,0.618489542404,5.46257912744e-05,1.060029128,0.589060267977,0.00872734960256,1.05969842355
+277,4.616666667,pose2_to_pose3_retreat,0.618400780925,5.46198787117e-05,1.06002922099,0.588971506982,0.00872734495175,1.05969851571
+278,4.633333333,pose2_to_pose3_retreat,0.618298150596,5.454448807e-05,1.06002936951,0.588868878147,0.00872727422217,1.05969865671
+279,4.650000000,pose2_to_pose3_retreat,0.618180809065,5.44299040435e-05,1.06002933771,0.588751538752,0.00872716641859,1.05969862075
+280,4.666666667,pose2_to_pose3_retreat,0.618044054077,5.44506914713e-05,1.06002933098,0.588614781917,0.00872718031723,1.05969860699
+281,4.683333333,pose2_to_pose3_retreat,0.617887815534,5.46481177506e-05,1.06002937709,0.588458541299,0.00872737057785,1.05969865841
+282,4.700000000,pose2_to_pose3_retreat,0.617709639453,5.47040754656e-05,1.06002954445,0.588280366387,0.00872743026132,1.05969882894
+283,4.716666667,pose2_to_pose3_retreat,0.617509068164,5.4604436527e-05,1.060029453,0.588079796384,0.00872733458404,1.05969873931
+284,4.733333333,pose2_to_pose3_retreat,0.617284812424,5.44866174539e-05,1.06002919407,0.587855542314,0.00872722216782,1.05969848688
+285,4.750000000,pose2_to_pose3_retreat,0.61704141359,5.4516251327e-05,1.06002900436,0.587612143416,0.00872725126269,1.0596983023
+286,4.766666667,pose2_to_pose3_retreat,0.616779684416,5.46776926389e-05,1.06002892728,0.587350412616,0.00872740662996,1.05969822643
+287,4.783333333,pose2_to_pose3_retreat,0.616497276854,5.46604136729e-05,1.06002900346,0.587068005805,0.0087273911606,1.05969830004
+288,4.800000000,pose2_to_pose3_retreat,0.616194827647,5.45197575605e-05,1.06002908454,0.586765557536,0.00872725297979,1.05969837964
+289,4.816666667,pose2_to_pose3_retreat,0.615870266166,5.45664337275e-05,1.06002919918,0.586440995825,0.00872729816305,1.05969849449
+290,4.833333333,pose2_to_pose3_retreat,0.615517986359,5.45666374659e-05,1.06002899317,0.586088715727,0.00872729676279,1.05969829333
+291,4.850000000,pose2_to_pose3_retreat,0.615136517104,5.44386624859e-05,1.06002905793,0.585707247316,0.00872717003453,1.05969834199
+292,4.866666667,pose2_to_pose3_retreat,0.61472470073,5.44706908946e-05,1.06002899791,0.585295431211,0.00872720295292,1.05969829489
+293,4.883333333,pose2_to_pose3_retreat,0.614282394765,5.45479555159e-05,1.06002898722,0.584853126741,0.00872728451503,1.059698288
+294,4.900000000,pose2_to_pose3_retreat,0.613803448236,5.46161570208e-05,1.0600291392,0.584374177497,0.00872734232419,1.0596984337
+295,4.916666667,pose2_to_pose3_retreat,0.613297613658,5.46347876524e-05,1.06002926181,0.583868345389,0.00872736824924,1.05969855425
+296,4.933333333,pose2_to_pose3_retreat,0.612768915284,5.4462746272e-05,1.06002914718,0.583339648355,0.00872719965243,1.05969843869
+297,4.950000000,pose2_to_pose3_retreat,0.612220501198,5.47277903335e-05,1.06002913246,0.582791232595,0.00872745806541,1.05969842697
+298,4.966666667,pose2_to_pose3_retreat,0.611653928573,5.45707847065e-05,1.06002911463,0.582224658873,0.00872729631883,1.05969841293
+299,4.983333333,pose2_to_pose3_retreat,0.611069912659,5.46364719285e-05,1.06002915578,0.581640641736,0.00872735961565,1.05969844729
+300,5.000000000,pose2_to_pose3_retreat,0.610461663456,5.46119623241e-05,1.06002928621,0.581032393512,0.00872733822804,1.05969857104
+301,5.016666667,pose2_to_pose3_retreat,0.609819330796,5.47062816609e-05,1.06002940213,0.580390058583,0.00872742436779,1.05969868549
+302,5.033333333,pose2_to_pose3_retreat,0.609144216894,5.45722363165e-05,1.06002921592,0.579714947718,0.00872730097513,1.05969850049
+303,5.050000000,pose2_to_pose3_retreat,0.608436773382,5.46908011662e-05,1.06002916049,0.579007504581,0.00872741996774,1.05969844946
+304,5.066666667,pose2_to_pose3_retreat,0.607703758708,5.45739970415e-05,1.06002902311,0.578274490604,0.0087273048803,1.05969831934
+305,5.083333333,pose2_to_pose3_retreat,0.606945616864,5.45367087275e-05,1.06002891924,0.577516349285,0.00872726884974,1.05969821266
+306,5.100000000,pose2_to_pose3_retreat,0.6061549207,5.44552228813e-05,1.06002900612,0.576725654181,0.00872719013655,1.05969829887
+307,5.116666667,pose2_to_pose3_retreat,0.605343816696,5.4495659255e-05,1.06002925187,0.57591454908,0.00872722614344,1.05969853946
+308,5.133333333,pose2_to_pose3_retreat,0.604522444826,5.45619646411e-05,1.06002928563,0.575093176643,0.00872728968025,1.05969857306
+309,5.150000000,pose2_to_pose3_retreat,0.603697631363,5.4609770377e-05,1.06002929256,0.574268362541,0.0087273414371,1.05969857862
+310,5.166666667,pose2_to_pose3_retreat,0.602874948407,5.46468045751e-05,1.06002901411,0.573445677774,0.00872737357558,1.05969831337
+311,5.183333333,pose2_to_pose3_retreat,0.602057318197,5.44944116719e-05,1.06002912364,0.572628048964,0.00872722577122,1.0596984179
+312,5.200000000,pose2_to_pose3_retreat,0.601235601925,5.44932675234e-05,1.06002902778,0.57180633197,0.00872722214418,1.0596983212
+313,5.216666667,pose2_to_pose3_retreat,0.600397135167,5.47543237957e-05,1.06002902825,0.570967863127,0.00872747607785,1.05969832059
+314,5.233333333,pose2_to_pose3_retreat,0.599533378833,5.45944857155e-05,1.0600293665,0.570104108974,0.00872732335113,1.0596986506
+315,5.250000000,pose2_to_pose3_retreat,0.598639422646,5.46390382961e-05,1.06002921407,0.569210152023,0.00872736522648,1.05969849593
+316,5.266666667,pose2_to_pose3_retreat,0.597734700507,5.46471513675e-05,1.06002906136,0.568305428344,0.00872736830494,1.05969834891
+317,5.283333333,pose2_to_pose3_retreat,0.596825867071,5.45405903213e-05,1.06002924407,0.567396597854,0.00872727196341,1.05969853708
+318,5.300000000,pose2_to_pose3_retreat,0.59593951194,5.45782581737e-05,1.06002914086,0.566510240816,0.00872730316823,1.05969843374
+319,5.316666667,pose2_to_pose3_retreat,0.595080432929,5.44836493539e-05,1.06002899652,0.565651162264,0.00872721035326,1.05969829551
+320,5.333333333,pose2_to_pose3_retreat,0.594250888723,5.45565741367e-05,1.06002892332,0.564821618796,0.00872728548959,1.05969821466
+321,5.350000000,pose2_to_pose3_retreat,0.593435756956,5.44621914918e-05,1.06002899847,0.564006489257,0.00872719873516,1.0596982915
+322,5.366666667,pose2_to_pose3_retreat,0.592627481698,5.45374567969e-05,1.06002923712,0.563198213203,0.0087272711046,1.05969852506
+323,5.383333333,pose2_to_pose3_retreat,0.59180448916,5.46160074005e-05,1.06002931991,0.562375219397,0.0087273450214,1.05969859901
+324,5.400000000,pose2_to_pose3_retreat,0.590968248405,5.45105077167e-05,1.06002919732,0.561538978164,0.00872723810906,1.05969848193
+325,5.416666667,pose2_to_pose3_retreat,0.590120660007,5.46635217662e-05,1.06002904922,0.560691390671,0.00872739446843,1.05969834094
+326,5.433333333,pose2_to_pose3_retreat,0.589288058916,5.44893524737e-05,1.06002924081,0.559858789922,0.00872722141854,1.05969853132
+327,5.450000000,pose2_to_pose3_retreat,0.588489319492,5.454324809e-05,1.06002921581,0.559060049603,0.00872727183457,1.0596984938
+328,5.466666667,pose2_to_pose3_retreat,0.587731208127,5.46965385937e-05,1.06002920062,0.558301936607,0.00872741968013,1.05969848139
+329,5.483333333,pose2_to_pose3_retreat,0.587014102154,5.457659849e-05,1.06002909459,0.557584831247,0.00872730262474,1.05969839641
+330,5.500000000,pose2_to_pose3_retreat,0.586323782028,5.45883928266e-05,1.06002913703,0.556894511974,0.008727316981,1.05969843127
+331,5.516666667,pose2_to_pose3_retreat,0.585644434832,5.4574582128e-05,1.0600291657,0.556215166026,0.0087273071784,1.05969845358
+332,5.533333333,pose2_to_pose3_retreat,0.584964373323,5.47147642513e-05,1.06002915678,0.555535101976,0.00872743877918,1.05969844552
+333,5.550000000,pose2_to_pose3_retreat,0.584287857138,5.45894410748e-05,1.06002894073,0.554858587608,0.00872731998818,1.05969823917
+334,5.566666667,pose2_to_pose3_retreat,0.583621143167,5.45415871547e-05,1.06002908291,0.554191874043,0.00872727332472,1.05969837557
+335,5.583333333,pose2_to_pose3_retreat,0.582990767491,5.46230645538e-05,1.06002903443,0.553561497363,0.00872735148936,1.05969833029
+336,5.600000000,pose2_to_pose3_retreat,0.582395672103,5.45427660093e-05,1.06002912035,0.552966403382,0.00872727581928,1.0596984125
+337,5.616666667,pose2_to_pose3_retreat,0.581831531033,5.45435314736e-05,1.06002915247,0.552402261185,0.0087272726637,1.05969844199
+338,5.633333333,pose2_to_pose3_retreat,0.58129520657,5.45376233937e-05,1.06002927783,0.551865936665,0.00872726629881,1.05969856004
+339,5.650000000,pose2_to_pose3_retreat,0.580789717846,5.44779507648e-05,1.06002892586,0.551360446947,0.00872720342046,1.0596982126
+340,5.666666667,pose2_to_pose3_retreat,0.580312657989,5.46544591031e-05,1.06002907288,0.55088338619,0.00872737694507,1.05969836145
+341,5.683333333,pose2_to_pose3_retreat,0.579866223473,5.45413970536e-05,1.06002926427,0.550436953698,0.00872727061757,1.05969854937
+342,5.700000000,pose2_to_pose3_retreat,0.579456887346,5.44995106744e-05,1.06002904631,0.550027617921,0.00872723003406,1.05969833445
+343,5.716666667,pose2_to_pose3_retreat,0.579076618052,5.45283988605e-05,1.06002909123,0.54964734768,0.00872725553463,1.05969837449
+344,5.733333333,pose2_to_pose3_retreat,0.578716818454,5.45647191463e-05,1.06002918209,0.549287547838,0.00872729101565,1.05969846497
+345,5.750000000,pose2_to_pose3_retreat,0.57837375672,5.45443378422e-05,1.06002916089,0.548944487349,0.00872727508013,1.05969844949
+346,5.766666667,pose2_to_pose3_retreat,0.578048295634,5.45188334844e-05,1.06002917454,0.548619026203,0.00872724928621,1.05969846079
+347,5.783333333,pose2_to_pose3_retreat,0.57774309304,5.45315079064e-05,1.06002923479,0.548313824144,0.00872726379194,1.05969852142
+348,5.800000000,pose2_to_pose3_retreat,0.577460437926,5.44488755569e-05,1.06002906983,0.548031169708,0.00872718351237,1.05969835788
+349,5.816666667,pose2_to_pose3_retreat,0.57720588063,5.45647450743e-05,1.06002909719,0.547776610979,0.00872729429985,1.05969837954
+350,5.833333333,pose2_to_pose3_retreat,0.57697722218,5.46983540761e-05,1.06002917926,0.547547952408,0.00872742760804,1.05969846453
+351,5.850000000,pose2_to_pose3_retreat,0.576775424534,5.46131693232e-05,1.0600290826,0.54734615468,0.00872734225489,1.0596983707
+352,5.866666667,pose2_to_pose3_retreat,0.576596506947,5.46065937346e-05,1.0600289113,0.54716723781,0.00872733857769,1.05969821167
+353,5.883333333,pose2_to_pose3_retreat,0.576439920926,5.45293572715e-05,1.0600290438,0.547010652552,0.0087272638119,1.05969834106
+354,5.900000000,pose2_to_pose3_retreat,0.576304040846,5.4492404392e-05,1.06002932071,0.546874772126,0.008727225307,1.05969860821
+355,5.916666667,pose2_to_pose3_retreat,0.576186907726,5.45519828918e-05,1.06002905335,0.546757638635,0.00872728386444,1.05969834782
+356,5.933333333,pose2_to_pose3_retreat,0.57608789713,5.46092676312e-05,1.06002903915,0.546658627496,0.00872733941181,1.05969833645
+357,5.950000000,pose2_to_pose3_retreat,0.576003712791,5.46721442618e-05,1.06002906003,0.546574442298,0.00872739928085,1.05969835468
+358,5.966666667,pose2_to_pose3_retreat,0.575933474181,5.46900049537e-05,1.06002928894,0.546504203105,0.00872741474594,1.0596985725
+359,5.983333333,pose2_to_pose3_retreat,0.575875652412,5.466745063e-05,1.06002925714,0.546446381999,0.00872739457308,1.05969854408
+360,6.000000000,pose2_to_pose3_retreat,0.575830097245,5.45522183694e-05,1.06002916661,0.546400828048,0.00872728347779,1.05969845387
+361,6.016666667,pose2_to_pose3_retreat,0.575795283044,5.45477566856e-05,1.06002923776,0.546366013391,0.0087272774156,1.05969852357
+362,6.033333333,pose2_to_pose3_retreat,0.575769697384,5.47054071506e-05,1.0600293166,0.546340426254,0.00872743032089,1.05969860942
+363,6.050000000,pose2_to_pose3_retreat,0.575752047592,5.47763917654e-05,1.06002927003,0.546322776331,0.00872750097358,1.05969856579
+364,6.066666667,pose2_to_pose3_retreat,0.57573943277,5.45689884774e-05,1.06002898581,0.546310164055,0.00872730171203,1.05969826857
+365,6.083333333,pose2_to_pose3_retreat,0.57573091009,5.45691260863e-05,1.06002904822,0.546301641359,0.00872730214242,1.05969834003
+366,6.100000000,pose2_to_pose3_retreat,0.575724302753,5.45681893619e-05,1.06002906584,0.546295033969,0.00872730128534,1.0596983646
+367,6.116666667,pose2_to_pose3_retreat,0.575719710419,5.45208626749e-05,1.06002892717,0.546290442047,0.00872725532001,1.05969822497
+368,6.133333333,pose2_to_pose3_retreat,0.575717190121,5.45265018343e-05,1.06002887437,0.546287921504,0.00872726013369,1.05969817238
+369,6.150000000,pose2_to_pose3_retreat,0.575715820963,5.45679016351e-05,1.06002887395,0.54628655164,0.00872729917795,1.05969817297
+370,6.166666667,pose2_to_pose3_retreat,0.575714918687,5.45951841081e-05,1.06002887367,0.546285648899,0.00872732490812,1.05969817335
+371,6.183333333,pose2_to_pose3_retreat,0.575714496018,5.46079645044e-05,1.06002887354,0.546285226013,0.00872733696135,1.05969817354
+372,6.200000000,pose2_to_pose3_retreat,0.575714474999,5.46086000792e-05,1.06002887353,0.546285204983,0.00872733756076,1.05969817354
+373,6.216666667,pose2_to_pose3_retreat,0.575714229318,5.46160288437e-05,1.06002887345,0.546284959175,0.00872734456685,1.05969817365
+374,6.233333333,pose2_to_pose3_retreat,0.575713935856,5.46249023536e-05,1.06002887336,0.546284665562,0.00872735293548,1.05969817378
+375,6.250000000,pose2_to_pose3_retreat,0.575713871877,5.46268369033e-05,1.06002887334,0.546284601551,0.00872735475996,1.0596981738
+376,6.266666667,pose2_to_pose3_retreat,0.575713798024,5.46290700476e-05,1.06002887332,0.546284527659,0.00872735686604,1.05969817384
+377,6.283333333,pose2_to_pose3_retreat,0.575713697094,5.46321218903e-05,1.06002887329,0.546284426677,0.00872735974424,1.05969817388
+378,6.300000000,pose2_to_pose3_retreat,0.575713552505,5.46364939035e-05,1.06002887324,0.546284282013,0.0087273638675,1.05969817394
+379,6.316666667,pose2_to_pose3_retreat,0.575713248574,5.46456839712e-05,1.06002887315,0.546283977926,0.00872737253467,1.05969817407
+380,6.333333333,pose2_to_pose3_retreat,0.575713214683,5.46467087546e-05,1.06002887314,0.546283944017,0.00872737350115,1.05969817409
+381,6.350000000,pose2_to_pose3_retreat,0.575713145625,5.46455787204e-05,1.0600288746,0.54628387499,0.00872737247535,1.05969817554
+382,6.366666667,pose2_to_pose3_retreat,0.575713126893,5.46441053035e-05,1.06002887553,0.546283856291,0.00872737111109,1.05969817645
+383,6.383333333,pose2_to_pose3_retreat,0.575712953009,5.46304277449e-05,1.06002888416,0.546283682708,0.00872735844675,1.05969818488
+384,6.400000000,pose2_to_pose3_retreat,0.575712572865,5.46005258844e-05,1.06002890303,0.54628330322,0.00872733076001,1.05969820332
+385,6.416666667,pose2_to_pose3_retreat,0.575712235499,5.45739890142e-05,1.06002891978,0.546282966439,0.00872730618897,1.05969821968
+386,6.433333333,pose2_to_pose3_retreat,0.575711898365,5.45474703252e-05,1.06002893652,0.546282629887,0.00872728163477,1.05969823603
+387,6.450000000,pose2_to_pose3_retreat,0.575711470407,5.45138074933e-05,1.06002895777,0.546282202669,0.00872725046566,1.05969825679
+388,6.466666667,pose2_to_pose3_retreat,0.57571126364,5.44975433774e-05,1.06002896804,0.54628199626,0.00872723540638,1.05969826682
+389,6.483333333,pose2_to_pose3_retreat,0.575710969472,5.44744043968e-05,1.06002898264,0.546281702601,0.00872721398153,1.05969828108
+390,6.500000000,pose2_to_pose3_retreat,0.575710558682,5.44742804945e-05,1.06002903252,0.546281291822,0.00872721383709,1.05969832941
+391,6.516666667,pose2_to_pose3_retreat,0.575710145573,5.45388389422e-05,1.06002914193,0.546280877319,0.0087272735235,1.05969843509
+392,6.533333333,pose2_to_pose3_retreat,0.575709657449,5.46151203326e-05,1.06002927121,0.546280387548,0.00872734404815,1.05969855996
+393,6.550000000,pose2_to_pose3_retreat,0.575709418507,5.46483758777e-05,1.06002904558,0.546280148432,0.00872737673896,1.05969833516
+394,6.566666667,pose2_to_pose3_retreat,0.575709364876,5.46557153468e-05,1.0600289861,0.54628009478,0.00872738402059,1.05969827596
+395,6.583333333,pose2_to_pose3_retreat,0.575709290545,5.46397269509e-05,1.06002896967,0.546280020548,0.00872736828239,1.05969825726
+396,6.600000000,pose2_to_pose3_retreat,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398278,1.05969835126
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_03/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_03/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ecac10ba06e938f1b1f6769f44423b59624ae8c7
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_03/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b492e500a14bef475f2e6c14e58001776eb0a17407a01f902e6da567e9a4e094
+size 25251514
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_03/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_03/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..96ed3cfe2c2566bf581ae8e1c94330a2afc3f717
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_03/depth_03/franka_data.csv
@@ -0,0 +1,399 @@
+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,764,742,712,672,659,632,876,785,799,649,628,651,0.400957074954,-0.00539925929454,0.0698233556492,0.999999936213,0.000211787480006,-0.000286584057608,2.42760200183e-05,1793193349019980032
+1,0.016666667,BASELINE,763.40763838,742.59236162,711.40763838,672,658.40763838,632.59236162,876.59236162,784.40763838,799,649,628.59236162,650.40763838,0.400957965086,-0.00539785514816,0.0698238894256,0.999999935829,0.00021428474927,-0.000286088025655,2.40378538032e-05,1793193349036646912
+2,0.033333333,BASELINE,763.180942628,743,711.180942628,672,658.180942628,632.819057372,877,784,799,649,628.819057372,650.180942628,0.400958660888,-0.00539754456459,0.069824108987,0.999999935719,0.000215218571522,-0.000285780196317,2.39395155538e-05,1793193349053313536
+3,0.050000000,BASELINE,763.761180872,743,711.761180872,672,658.761180872,632.238819128,877,784,799,649,628.238819128,650.761180872,0.40095892785,-0.00539964720336,0.069823635154,0.999999936221,0.000212702253473,-0.000285887683502,2.41497429868e-05,1793193349069980160
+4,0.066666667,BASELINE,764,742.659979765,712,672,659,632.340020235,877,784,799,649,628.340020235,651,0.400958955714,-0.005399438451,0.0698235498878,0.999999936391,0.000212009123362,-0.000285805319154,2.41940595764e-05,1793193349086646784
+5,0.083333333,BASELINE,764,742.082118939,712,672,659,632.917881061,877,784,799,649,628.917881061,651,0.400958816331,-0.00539761290464,0.06982373642,0.999999936331,0.00021259129426,-0.000285590155643,2.41223232571e-05,1793193349103313664
+6,0.100000000,BASELINE,764,742.488887114,711.511112886,671.511112886,658.511112886,632.511112886,877,784,799,649,629,651,0.400957993835,-0.00539761396947,0.0698232331219,0.999999936219,0.000212073326311,-0.000286372294638,2.40560814781e-05,1793193349119980800
+7,0.116666667,BASELINE,764,743,711.061228914,671.061228914,658.061228914,632.061228914,877,784,799,649,628.938771086,650.938771086,0.400957250396,-0.00539799024474,0.0698227497642,0.999999936176,0.00021129856761,-0.000287100096904,2.3958590284e-05,1793193349136647424
+8,0.133333333,BASELINE,764,743,711.655067118,671.655067118,658.655067118,632.655067118,877,784,799,649,628.344932882,650.344932882,0.400958178961,-0.00539899834618,0.069823433852,0.999999936824,0.000209875286503,-0.00028591820946,2.3581353966e-05,1793193349153313536
+9,0.150000000,BASELINE,764,742.757357517,712,672,659,633,877,784,799,649,628.242642483,650.242642483,0.400958930056,-0.00539962655119,0.069823803339,0.999999937239,0.000209028654603,-0.000285086548387,2.35356471561e-05,1793193349169979904
+10,0.166666667,BASELINE,764,742.178461238,712,672,659,633,877,784,799,649,628.821538762,650.821538762,0.400959435212,-0.00539972829589,0.0698237368521,0.999999937338,0.00020898114292,-0.000284740230889,2.39493737547e-05,1793193349186646784
+11,0.183333333,BASELINE,764,742,712,672,659,633,877,784,799,649,629,650.60244989,0.400959290251,-0.00539909725541,0.0698242106345,0.999999937016,0.000211139304379,-0.000284265180621,2.41090303529e-05,1793193349203313408
+12,0.200000000,BASELINE,764,742,712,672,659,633,877,784,799,649,629,650.027724214,0.400958855554,-0.00539813963566,0.0698249251978,0.999999936498,0.000214280464899,-0.000283732758178,2.4155455988e-05,1793193349219980032
+13,0.216666667,BASELINE,764,742.559357288,712,671.440642712,658.440642712,633,877,784,799,649,629,650.559357288,0.400957404289,-0.00539794962957,0.0698236842381,0.999999936305,0.000213308494659,-0.000285155341922,2.39951246679e-05,1793193349236646656
+14,0.233333333,BASELINE,764.144733895,743,712,671.144733895,658.144733895,633,877,784,799,649,629,651,0.400956542629,-0.00539830128814,0.069822806423,0.999999936424,0.00021162972186,-0.000286003874541,2.38072805916e-05,1793193349253313536
+15,0.250000000,BASELINE,764.723125981,743,712,671.723125981,658.723125981,633,877,784,799,649,629,651,0.400957601944,-0.00540015933559,0.0698233136462,0.999999937429,0.00020845782198,-0.000284835519341,2.35683999685e-05,1793193349269980416
+16,0.266666667,BASELINE,764.698850704,742.698850704,712,672,659,633,877,784,799,649,629,651,0.400958039016,-0.00540060543236,0.0698238587019,0.999999937489,0.00020815289322,-0.000284833143719,2.37635563729e-05,1793193349286647040
+17,0.283333333,BASELINE,764.121166056,742.121166056,712,672,659,633,877,784,799,649,629,651,0.400957904702,-0.00539975498179,0.0698244384978,0.999999936682,0.000210480608605,-0.000285901448326,2.4357274517e-05,1793193349303313408
+18,0.300000000,BASELINE,764,742.455071855,711.544928145,672,659,632.544928145,877,784,799,649,629,651,0.400956651924,-0.00539873631047,0.0698237062886,0.999999936063,0.00021274029007,-0.000286406528214,2.42361852033e-05,1793193349319979776
+19,0.316666667,BASELINE,764,743,711.031597739,671.968402261,659,632.031597739,877,784,799,649,629,650.968402261,0.400955213215,-0.00539776855626,0.0698226823447,0.999999935527,0.000214798229613,-0.000286767228234,2.39331458294e-05,1793193349336646144
+20,0.333333333,BASELINE,764,743,711.619963966,671.380036034,659,632.619963966,877,784,799,649,629,650.380036034,0.400955729062,-0.00539848470851,0.0698226537632,0.999999935654,0.000213619548152,-0.000287217923385,2.37670048772e-05,1793193349353313024
+21,0.350000000,BASELINE,764,742.794267538,712,671.205732462,659,632.794267538,877,784.205732462,799.205732462,649,629,650.205732462,0.400956160146,-0.00539927918254,0.0698226801973,0.999999935935,0.000212024912306,-0.000287418843979,2.37958147971e-05,1793193349369979904
+22,0.366666667,BASELINE,764,742.213237889,712,671.786762111,659,632.213237889,877,784.786762111,799.786762111,649,629,650.786762111,0.400956436604,-0.00540021653109,0.0698228069911,0.999999936495,0.000209671492537,-0.000287164125741,2.41802541461e-05,1793193349386646784
+23,0.383333333,BASELINE,764,742.364117938,712,672,658.635882062,632.364117938,877,784.635882062,799.635882062,649,628.635882062,651,0.400956281548,-0.00539957793381,0.0698229005748,0.999999936108,0.000211521099693,-0.000287141127355,2.43442416281e-05,1793193349403313664
+24,0.400000000,BASELINE,764,742.939343813,712,672,658.060656187,632.939343813,877,784.060656187,799.060656187,649,628.060656187,651,0.400955876309,-0.0053980256363,0.0698229749041,0.999999935159,0.000215807533424,-0.000287252475249,2.43804157807e-05,1793193349419980544
+25,0.416666667,BASELINE,764,742.488124421,712,672,658.511875579,632.488124421,877,784,799,649,628.511875579,651,0.400955295675,-0.00539863855778,0.0698224994513,0.999999935373,0.000214247464841,-0.000287687955579,2.4222149673e-05,1793193349436646912
+26,0.433333333,BASELINE,764,742.087689714,712,672,659,632,877,784,799.087689714,649,629,650.912310286,0.400954785143,-0.00539926070488,0.069821941514,0.999999935676,0.0002122773809,-0.000288110521838,2.40444548241e-05,1793193349453313280
+27,0.450000000,BASELINE,764,742.684401059,712,672,659,632,877,784,799.684401059,649,629,650.315598941,0.400954801555,-0.00539845484167,0.0698212809618,0.999999935718,0.00021192774025,-0.000288236335128,2.38870267368e-05,1793193349469980160
+28,0.466666667,BASELINE,764,743,712,672,659,632,877,784,799.728489063,649,629,650.271510937,0.400955774183,-0.00539873092099,0.0698217724495,0.999999936059,0.00021158550152,-0.000287303040418,2.38766357776e-05,1793193349486646784
+29,0.483333333,BASELINE,764,743,712,672,659,632,877,784,799.152158584,649,629,650.847841416,0.400957820335,-0.00540022167416,0.069823557308,0.999999936734,0.000211251572786,-0.000285180707713,2.40313202785e-05,1793193349503313408
+30,0.500000000,BASELINE,764,742.57994937,712,671.57994937,659,632,877,784,799,649,628.57994937,651,0.400958064407,-0.00540035869896,0.069823762451,0.999999936694,0.000211308822319,-0.000285275000146,2.40461339356e-05,1793193349519980032
+31,0.516666667,BASELINE,764,742.009218547,712,671.009218547,659,632,877,784,799,649,628.009218547,651,0.400957662039,-0.00540001011547,0.0698234009198,0.999999936399,0.000211506394986,-0.000286164438452,2.40107732425e-05,1793193349536646400
+32,0.533333333,BASELINE,764,742,712,671,659,632,876.418499059,784,799,649,628.581500941,650.418499059,0.400957770728,-0.00539964461826,0.0698235092907,0.99999993662,0.000210993100826,-0.00028579405645,2.37506872918e-05,1793193349553313280
+33,0.550000000,BASELINE,763.830843295,742,712,671.169156705,658.830843295,632.169156705,876.169156705,784,799,649,629,650.169156705,0.40095781319,-0.00539976762129,0.0698236597944,0.99999993696,0.000209709487591,-0.000285557554009,2.36191520778e-05,1793193349569979904
+34,0.566666667,BASELINE,763.251414288,742,712,671.748585712,658.251414288,632.748585712,876.748585712,784,799,649,629,650.748585712,0.400957674676,-0.00540107610528,0.0698238937761,0.999999937567,0.000206585849967,-0.000285695927128,2.38083518286e-05,1793193349586646528
+35,0.583333333,BASELINE,763.325989814,742,711.674010186,672,658,632.674010186,877,784,799,649,629,651,0.400957986991,-0.00540137689215,0.0698243254101,0.999999937561,0.000207280096254,-0.000285194499683,2.40273297209e-05,1793193349603313408
+36,0.600000000,BASELINE,763.901841941,742,711.098158059,672,658,632.098158059,877,784,799,649,629,651,0.400958644853,-0.00540090530675,0.0698249085393,0.99999993708,0.000210900646246,-0.000284202682547,2.42691317676e-05,1793193349619980032
+37,0.616666667,BASELINE,764,742,711.478430229,672,658.478430229,632.478430229,877,784,799,649,629,651,0.400959296949,-0.00540068685914,0.0698255086591,0.99999993754,0.000210522813014,-0.000282875858492,2.4129797319e-05,1793193349636646656
+38,0.633333333,BASELINE,764,742.056652104,712,672,659,632.943347896,877.056652104,784,799.056652104,649,629,650.943347896,0.4009597795,-0.00540043960065,0.0698259287314,0.999999938034,0.000209592858208,-0.000281833548634,2.39512017704e-05,1793193349653313536
+39,0.650000000,BASELINE,764,742.64888804,712,672,659,632.35111196,877.64888804,784,799.64888804,649,629,650.35111196,0.400958670379,-0.00539942821653,0.0698246136462,0.999999937038,0.000211210528896,-0.000284131799853,2.41418380372e-05,1793193349669980160
+40,0.666666667,BASELINE,764,743,712,672,659,632,877.765983192,784,799.765983192,649,629,650,0.400957921521,-0.00539856069721,0.0698239286529,0.999999936372,0.000212666700097,-0.000285377460919,2.4240417931e-05,1793193349686646784
+41,0.683333333,BASELINE,764,743,712,672,659,632,877.19120354,784,799.19120354,649,629,650,0.400957697259,-0.0053979026662,0.0698241611661,0.999999936195,0.000213887704229,-0.00028509039599,2.42049502142e-05,1793193349703313664
+42,0.700000000,BASELINE,764,743,712,672,659,632,877,784.383053878,799,649,629,650.383053878,0.400957846902,-0.00539855499558,0.0698243290471,0.999999936774,0.000212167801048,-0.00028436485894,2.39435499172e-05,1793193349719980032
+43,0.716666667,BASELINE,764,743,712,672,659,632,877,784.957050956,799,649,629,650.957050956,0.400958182927,-0.00539986050829,0.0698244647105,0.999999937722,0.000208981925833,-0.000283420754026,2.35695276308e-05,1793193349736646656
+44,0.733333333,BASELINE,764,742.458354544,712,672,659,632.541645456,877,784.458354544,799,649,628.458354544,650.458354544,0.400957739722,-0.00539941507553,0.069824206445,0.999999937442,0.000209201256841,-0.000284248388873,2.35211311542e-05,1793193349753313280
+45,0.750000000,BASELINE,764,742,712,672,658.872693837,633,877.127306163,784,799,649,628.127306163,650.127306163,0.400957524259,-0.00539905763829,0.0698242159559,0.999999937185,0.000209794816702,-0.000284716445965,2.35302037755e-05,1793193349769980160
+46,0.766666667,BASELINE,764,742,712,672,658.286279073,633,877.713720927,784,799,649,628.713720927,650.713720927,0.400958357388,-0.00539952823361,0.0698253060541,0.999999937364,0.00021074478823,-0.000283370989062,2.36515552383e-05,1793193349786646784
+47,0.783333333,BASELINE,764,742.291587384,712,672,658.291587384,632.708412616,877.708412616,784,799.291587384,649,628.708412616,651,0.400957939406,-0.00540002532751,0.0698250044278,0.999999937139,0.000210905720804,-0.000284026779292,2.38620304602e-05,1793193349803313408
+48,0.800000000,BASELINE,764,742.861300259,712,672,658.861300259,632.138699741,877.138699741,784,799.861300259,649,628.138699741,651,0.400956328074,-0.00540054769665,0.0698233753299,0.999999936525,0.000210314042579,-0.000286591423696,2.41575148239e-05,1793193349819980288
+49,0.816666667,BASELINE,764,743,712,671.562041495,658.562041495,632.437958505,877,784,800,649,628,651,0.400957829251,-0.00540048728628,0.06982431126,0.99999993703,0.000210110841408,-0.000284998906528,2.38489821248e-05,1793193349836646912
+50,0.833333333,BASELINE,764,742.982754173,712,671.017245827,658.017245827,632.982754173,877,784,799.982754173,649,628.017245827,650.982754173,0.400960212471,-0.00540025416253,0.0698259886054,0.999999937851,0.000210041543219,-0.000282193890617,2.33715950659e-05,1793193349853313536
+51,0.850000000,BASELINE,764,742.390322942,712,671.609677058,658.609677058,632.390322942,877,784,799.390322942,649,628.609677058,650.390322942,0.400958608032,-0.00540051547326,0.0698248640769,0.999999937406,0.000210268789616,-0.000283566996066,2.37452848603e-05,1793193349869980160
+52,0.866666667,BASELINE,764,742,712,671.803264719,659,632,877,784,799,649,629,650.196735281,0.400957589168,-0.00540069049627,0.0698240650584,0.999999937136,0.000210075074243,-0.000284641155167,2.39812323379e-05,1793193349886646528
+53,0.883333333,BASELINE,764,742,712,671.226583188,659,632,877,784,799,649,629,650.773416812,0.400957701198,-0.00540069887559,0.0698238946833,0.999999937207,0.000209068373792,-0.000285137972174,2.39511640767e-05,1793193349903313152
+54,0.900000000,BASELINE,764,742,712,671,659,632.348984635,877,784,799,649,629,651,0.400957326525,-0.00540079219433,0.0698239440119,0.999999937362,0.00020847456055,-0.00028503093438,2.39007239801e-05,1793193349919980032
+55,0.916666667,BASELINE,764,742,712,671,659,632.923831646,877,784,799,649,629,651,0.40095663686,-0.00540094048575,0.0698241355326,0.999999937574,0.000208147967382,-0.00028453308257,2.38370992609e-05,1793193349936646912
+56,0.933333333,BASELINE,764,742.511831966,712,671,659,632.488168034,877,784,799.511831966,649,629,651,0.400958122363,-0.00540026925036,0.0698246651474,0.999999937702,0.000208942083909,-0.000283500665778,2.38206345743e-05,1793193349953313536
+57,0.950000000,BASELINE,764,742.90003651,712,671.09996349,659,632.09996349,876.90003651,784,799.90003651,649,629,650.90003651,0.40095945477,-0.00539967986479,0.0698251165688,0.999999937827,0.000209375436801,-0.000282742143657,2.37640454165e-05,1793193349969980160
+58,0.966666667,BASELINE,764,742.32090643,712,671.67909357,659,632.67909357,876.32090643,784,799.32090643,649,629,650.32090643,0.400958460773,-0.0054000828346,0.0698249456419,0.999999938007,0.000207258973797,-0.000283687893687,2.34805948555e-05,1793193349986646784
+59,0.983333333,BASELINE,764,742,712,671.743420222,659,633,876.256579778,784,799,649,629,650.256579778,0.400958430646,-0.00539964549298,0.0698250831567,0.999999937886,0.000208186549162,-0.000283438578788,2.34251631284e-05,1793193350003313408
+60,1.000000000,BASELINE,764,742,712,671.167976853,659,633,876.832023147,784,799,649,629,650.832023147,0.400959598365,-0.00539816385741,0.0698256039864,0.999999937379,0.000212897091921,-0.000281704101388,2.36531009445e-05,1793193350019980032
+61,1.016666667,BASELINE,764,742.408399329,712,671.408399329,659,633,877,784,799,649,629,651,0.400959858282,-0.00539819093881,0.069825787521,0.999999937542,0.000212394404134,-0.000281507983455,2.36245869912e-05,1793193350036646912
+62,1.033333333,BASELINE,764,742.985160027,712,671.985160027,659,633,877,784,799,649,629,651,0.400959743961,-0.00539883998423,0.0698258320066,0.999999937981,0.000209742577792,-0.000281946049589,2.34903515704e-05,1793193350053313536
+63,1.050000000,BASELINE,764,742.427172653,712,672,659,632.427172653,877,784,799,649,628.427172653,651,0.400959046806,-0.00540050197899,0.069824762572,0.999999937769,0.000209197649957,-0.000283094824437,2.3571396254e-05,1793193350069979904
+64,1.066666667,BASELINE,764,742,712,672,659,632,877,784,799,649,628.158544079,651,0.400958450476,-0.00540170062671,0.069824142978,0.999999937645,0.000208567352088,-0.00028398811353,2.36648824269e-05,1793193350086646528
+65,1.083333333,BASELINE,764,742,712,672,659,632,877,784,799,649,628.738313125,651,0.400958162919,-0.00540159716525,0.0698247966936,0.999999937805,0.000207562409343,-0.000284152752792,2.37763183571e-05,1793193350103313152
+66,1.100000000,BASELINE,764,742,712,672,659,632.315714862,877,784,799,649,629,651,0.400957693414,-0.00540028473281,0.0698247314661,0.999999937372,0.000208635297903,-0.000284895168785,2.36990269168e-05,1793193350119980032
+67,1.116666667,BASELINE,764,742,712,672,659,632.89116898,877,784,799,649,629,651,0.40095707422,-0.00539797767751,0.0698240747625,0.999999936446,0.00021141762253,-0.000286112922854,2.3466469081e-05,1793193350136646912
+68,1.133333333,BASELINE,764.467033422,742.467033422,712,672.467033422,659,632.532966578,877.467033422,784,799,649,629,651,0.400957940099,-0.00539864685554,0.0698245124303,0.999999937063,0.00021058332997,-0.000284554841152,2.35964470447e-05,1793193350153313536
+69,1.150000000,BASELINE,764.955691751,743,712,672.955691751,659,632,877.955691751,784,799,648.955691751,629,650.955691751,0.400959036316,-0.00539991890793,0.0698251558373,0.999999937956,0.000209060282892,-0.000282517252162,2.37723135955e-05,1793193350169980160
+70,1.166666667,BASELINE,764.362120075,743,712,672.362120075,659,632,877.362120075,784,799,648.362120075,629,650.362120075,0.400958694218,-0.00540005946593,0.0698251855947,0.999999937868,0.00020945562098,-0.000282561072231,2.34688597199e-05,1793193350186646528
+71,1.183333333,BASELINE,763.77569255,742.77569255,712,672,659,632.22430745,877,784,799,648.22430745,629,650.22430745,0.400958352493,-0.00539991754484,0.0698251241157,0.999999937661,0.000209851732388,-0.000283007543988,2.33852533358e-05,1793193350203313152
+72,1.200000000,BASELINE,763.200442393,742.200442393,712,672,659,632.799557607,877,784,799,648.799557607,629,650.799557607,0.400958011351,-0.00539933366798,0.0698249198918,0.999999937266,0.000210249053762,-0.000284083988913,2.36456117335e-05,1793193350219980032
+73,1.216666667,BASELINE,763.376068018,742,712,671.623931982,659,633,877,784,799.376068018,649,628.623931982,651,0.400958094262,-0.00539863271207,0.0698248386477,0.999999937116,0.000210645337121,-0.000284319587466,2.36374496649e-05,1793193350236647168
+74,1.233333333,BASELINE,763.953252361,742,712,671.046747639,659,633,877,784,799.953252361,649,628.046747639,651,0.400958403953,-0.00539786914381,0.0698248231716,0.999999937097,0.000211041065342,-0.00028410551216,2.34856862988e-05,1793193350253314304
+75,1.250000000,BASELINE,763.462262736,742,712,671.537737264,659,632.462262736,876.462262736,784,799.462262736,649,628,651,0.400957759584,-0.00539888695444,0.0698246652005,0.999999936537,0.000212722797987,-0.000284798887858,2.37767676279e-05,1793193350269980672
+76,1.266666667,BASELINE,763.122422557,742,712,672,659,632.122422557,876.122422557,784,799,649,628.122422557,651,0.400957400425,-0.00539989357225,0.0698245348349,0.999999936182,0.000213875593237,-0.000285161473647,2.3998659792e-05,1793193350286647040
+77,1.283333333,BASELINE,763.70544106,742,712,672,659,632.70544106,876.70544106,784,799,649,628.70544106,651,0.400958430669,-0.005400267414,0.0698245555788,0.999999936793,0.000212611933354,-0.000283978623356,2.38134011585e-05,1793193350303313408
+78,1.300000000,BASELINE,764,742,712,672,659,632.715475169,877,784,799,649,629,650.715475169,0.400959312312,-0.00540054707322,0.069825162703,0.999999937442,0.000211467800659,-0.000282548288593,2.37250514476e-05,1793193350319980032
+79,1.316666667,BASELINE,764,742,712,672,659,632.140409364,877,784,799,649,629,650.140409364,0.400960042214,-0.00540073055844,0.0698263686062,0.999999938132,0.000210445722573,-0.000280865236488,2.37356597639e-05,1793193350336646656
+80,1.333333333,BASELINE,764,742,712,671.5661858,659,632,877.4338142,784,799,649,629,650,0.400959073591,-0.00540036077451,0.0698257901807,0.999999937952,0.000210072773881,-0.000281791250441,2.36339058873e-05,1793193350353313536
+81,1.350000000,BASELINE,764,742,711.992012344,671,659,632,877.992012344,784,799,649,629,650.007987656,0.400957594118,-0.00539982672423,0.0698246644753,0.999999937501,0.000209907308829,-0.000283523238027,2.35003149671e-05,1793193350369980672
+82,1.366666667,BASELINE,764,742,711.401659136,671,659,632,877.401659136,784,799,649,629,650.598340864,0.400958873126,-0.00540034686452,0.0698256619569,0.999999937835,0.000209580859708,-0.000282568785935,2.36918887105e-05,1793193350386646784
+83,1.383333333,BASELINE,764,742,711.18482619,671,659,632,877,784.18482619,799,649,628.81517381,650.81517381,0.400959197994,-0.0054005874647,0.0698259167957,0.999999937824,0.000209606896867,-0.000282587960846,2.36813023035e-05,1793193350403313152
+84,1.400000000,BASELINE,764,742,711.763078346,671,659,632,877,784.763078346,799,649,628.236921654,650.236921654,0.400957491855,-0.00540023302846,0.069824590825,0.999999937078,0.000210383245684,-0.000284679624033,2.32403924331e-05,1793193350419980032
+85,1.416666667,BASELINE,764,742,712,671.340124205,658.659875795,632,877,784.659875795,799,649,628.340124205,650.340124205,0.400957290972,-0.0054005970835,0.069824056703,0.999999937147,0.00020929101374,-0.000285241807116,2.32365982411e-05,1793193350436647168
+86,1.433333333,BASELINE,764,742,712,671.916332722,658.083667278,632,877,784.083667278,799,649,628.916332722,650.916332722,0.400958134905,-0.00540145985204,0.0698240722127,0.99999993778,0.000206901777303,-0.000284742359481,2.35362113407e-05,1793193350453313792
+87,1.450000000,BASELINE,764,742,712,671.497763193,658,632,877,784,799,649,628.497763193,651,0.400956998363,-0.00540139146393,0.0698240251913,0.999999937148,0.000208862030775,-0.000285507666701,2.37772272672e-05,1793193350469980160
+88,1.466666667,BASELINE,764,742,712,671.088519075,658.17703815,632,877,784.088519075,799,649,628.088519075,651,0.400956043138,-0.00540105044429,0.0698241096175,0.999999936552,0.000210922673921,-0.000286067625556,2.39159055049e-05,1793193350486646528
+89,1.483333333,BASELINE,764,742,712,671.66776747,659.335534941,632,877,784.66776747,799,649,628.66776747,651,0.400957958125,-0.00540007489986,0.0698249816453,0.999999937377,0.0002094438867,-0.000284298145449,2.35424288883e-05,1793193350503313408
+90,1.500000000,BASELINE,764,742.245922898,711.754077102,672,659.754077102,632,876.754077102,784.754077102,799.245922898,649,629,651,0.400958767315,-0.00539964118349,0.0698253244259,0.999999937737,0.000208780563382,-0.000283531107677,2.33857451401e-05,1793193350519980032
+91,1.516666667,BASELINE,764,742.822608255,711.177391745,672,659.177391745,632,876.177391745,784.177391745,799.822608255,649,629,651,0.400958089224,-0.00539993621747,0.0698249553769,0.999999937478,0.000209214026407,-0.00028411233934,2.35206444455e-05,1793193350536646656
+92,1.533333333,BASELINE,764,743,711.394048863,672,659,632.394048863,876.394048863,784,799.605951137,649,628.605951137,650.605951137,0.400958180141,-0.00540005815723,0.0698254576322,0.999999937486,0.000209759780488,-0.000283667729829,2.36793017844e-05,1793193350553313536
+93,1.550000000,BASELINE,764,743,711.963159468,672,659,632.963159468,876.963159468,784,799.036840532,649,628.036840532,650.036840532,0.4009586127,-0.00540010319749,0.0698263469767,0.999999937612,0.000210355421484,-0.000282767376016,2.38485139749e-05,1793193350569980160
+94,1.566666667,BASELINE,763.443865278,743,712,672,659,632.443865278,877,784,799,649,628,650.556134722,0.400956306125,-0.00540049862211,0.0698245168482,0.999999936957,0.000209711251971,-0.000285556058861,2.37808589949e-05,1793193350586646784
+95,1.583333333,BASELINE,763.146882673,743,712,672,659,632,877,784,799,649,628.146882673,651,0.400955335189,-0.00540082359596,0.0698235730313,0.999999936735,0.000209232819528,-0.00028669031272,2.36576058874e-05,1793193350603313408
+96,1.600000000,BASELINE,763.726210191,743,712,672,659,632,877,784,799,649,628.726210191,651,0.400958854749,-0.00540086975204,0.0698257928141,0.999999937963,0.00020949498615,-0.000282201938872,2.34189314008e-05,1793193350619980032
+97,1.616666667,BASELINE,764,742.696516357,712,672,659,632.303483643,877,784,799,649.303483643,629,651,0.40095963628,-0.00539975155583,0.0698259539584,0.999999937801,0.000211475508387,-0.00028129517844,2.34135745385e-05,1793193350636646656
+98,1.633333333,BASELINE,764,742.121083573,712,672,659,632.878916427,877,784,799,649.878916427,629,651,0.400957964284,-0.0053975899933,0.0698242703738,0.999999936396,0.000214995834638,-0.000283597871965,2.3617291653e-05,1793193350653313280
+99,1.650000000,BASELINE,764,742.452885422,712,672,659,633,877.452885422,784,799.452885422,649.094229155,629,651,0.400957388526,-0.00539735417363,0.0698244387264,0.999999936375,0.000214105765238,-0.000284370787441,2.32812389732e-05,1793193350669979904
+100,1.666666667,BASELINE,764,743,712,672.027464763,659,632.972535237,877.972535237,784,799.972535237,648.027464763,628.972535237,650.972535237,0.400957167135,-0.00539774346936,0.0698250925001,0.99999993677,0.000211949391598,-0.000284632014625,2.28431091565e-05,1793193350686646784
+101,1.683333333,BASELINE,764,743,712,672.622727113,659,632.377272887,877.377272887,784,799.377272887,648.622727113,628.377272887,650.377272887,0.400958232067,-0.00540044629408,0.0698255784387,0.999999938144,0.000207912982752,-0.000282743094946,2.3268537808e-05,1793193350703313408
+102,1.700000000,BASELINE,764,742.788637251,712,672.577274502,659,632.211362749,877,784.211362749,799,649,628.211362749,650.211362749,0.400958931517,-0.00540164946658,0.0698260749445,0.999999938843,0.000206054350029,-0.000281610246227,2.34924286186e-05,1793193350719980288
+103,1.716666667,BASELINE,764,742.211470483,712,671.422940966,659,632.788529517,877,784.788529517,799,649,628.788529517,650.788529517,0.400958998431,-0.00540025720126,0.0698265897389,0.999999938401,0.000207964779512,-0.000281785924392,2.33675192652e-05,1793193350736646912
+104,1.733333333,BASELINE,764,742.364056849,712,671,659,632.635943151,877,784.635943151,799,649,628.635943151,651,0.400958800948,-0.00539983104639,0.0698260805988,0.999999937835,0.000209602501879,-0.000282567574232,2.35148806735e-05,1793193350753313536
+105,1.750000000,BASELINE,764,742.938636202,712,671,659,632.061363798,877,784.061363798,799,649,628.061363798,651,0.400958450573,-0.00539996356236,0.0698249793499,0.999999937196,0.000211082526569,-0.000283699638246,2.38196875968e-05,1793193350769979904
+106,1.766666667,BASELINE,764,742.472412662,712,671.527587338,659,632,877.527587338,784,799.527587338,649,628.527587338,650.472412662,0.400957631537,-0.00539981095284,0.0698248123436,0.99999993736,0.000209722753043,-0.000284151646534,2.35302508153e-05,1793193350786646528
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,742,711,672,659,632,877,784,799,649,629,650,0.400957169567,-0.00540268824167,0.0698248688222,0.999999937854,0.000207776259963,-0.000283826011212,2.37505960096e-05,1793193350829122048
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,742,711.581304954,671.418695046,659,632,877.581304954,784,799,649,629,650,0.400957180576,-0.00539924790708,0.0698251737314,0.999999936877,0.000212061966065,-0.000284118338468,2.34948103657e-05,1793193350845788928
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,742,711.839216177,671.160783823,659,632.160783823,877.839216177,784,799,649,629,650.160783823,0.400957185303,-0.00539757264364,0.0698252076084,0.999999936378,0.000214295605432,-0.000284206600809,2.33893043107e-05,1793193350862456064
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,742,711.264439067,671.735560933,659,632.735560933,877.264439067,784,799,649,629,650.735560933,0.400957173859,-0.00540044216259,0.0698245436196,0.999999937145,0.0002112454937,-0.000283769427869,2.36707447223e-05,1793193350879122688
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,742,711.319252743,671.680747257,659,633,877,784,799.319252743,649,629,651,0.400957408042,-0.0054012784736,0.0698244362005,0.999999937344,0.000210193807821,-0.000283850179591,2.36540539913e-05,1793193350895789056
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,742,711.910540737,671.089459263,659,633,877,784,799.910540737,649,629,651,0.400957851523,-0.00540038228806,0.0698248030344,0.999999937065,0.000210844980715,-0.000284372254922,2.33833257091e-05,1793193350912455424
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,742,712,671,659,632.50777244,877,784,799.50777244,649,628.50777244,651,0.400958826398,-0.0054014635614,0.0698255447642,0.999999937634,0.000209905111824,-0.000283051499885,2.3543256166e-05,1793193350929122048
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,742,712.071346856,671,659,632,877,784,799,649,628.071346856,651,0.400960336974,-0.00540246119987,0.0698265102072,0.999999938343,0.000209034151043,-0.000281167917408,2.37533734804e-05,1793193350945788672
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,742,712.644446537,671,659,632,877,784,799,649,628.644446537,651,0.400964948726,-0.0054003915793,0.0698285789344,0.999999938991,0.000210642440859,-0.000277636512501,2.37765282668e-05,1793193350962455296
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,742,712.776493094,671.223506906,659,632.223506906,876.776493094,784,799,649,629,651,0.400973696765,-0.00539977294236,0.0698327527979,0.999999940751,0.000211173953809,-0.000270789971479,2.4014272755e-05,1793193350979121920
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,742,712.187690743,671.812309257,659,632.812309257,876.187690743,784,799,649,629,651,0.400989205071,-0.00540152576571,0.069840367256,0.999999944241,0.000209945602915,-0.000258525235266,2.46027385725e-05,1793193350995788800
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,742,711.604216356,672,659,633,876.395783644,784,799,649,629,651,0.40102115029,-0.00540321330288,0.0698529024531,0.999999950093,0.000208384180112,-0.000236120629584,2.52247585233e-05,1793193351012455424
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,742,711.023235012,672,659,633,876.976764988,784,799,649,629,651,0.40106078678,-0.00540487029105,0.0698677401955,0.999999956475,0.000206666903871,-0.000208971307926,2.58624793834e-05,1793193351029122048
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,742,711.553233981,672,659,633,877,784,799,649.553233981,629,651,0.401119579735,-0.00540608287152,0.0698827586768,0.999999961558,0.000207305449463,-0.000182335690041,2.57293973216e-05,1793193351045788672
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,742.128256769,712,672,659,632.871743231,877,784,799,649.871743231,629,651,0.401180998321,-0.0054070508872,0.0698953920183,0.999999965102,0.000207774623643,-0.000161216533763,2.51937800535e-05,1793193351062455296
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,742.698939421,712,672,659,632.301060579,877,784,799,649.301060579,629,651,0.401248721277,-0.00540723913185,0.0698997717738,0.999999965587,0.000207321007159,-0.00015905276307,2.33803713877e-05,1793193351079121920
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,743,712,671.718747904,659,632.281252096,877,784,799.281252096,649,628.718747904,650.718747904,0.401326532434,-0.00540849171142,0.0699007853195,0.999999965977,0.00020534626781,-0.000159454838702,2.12623766364e-05,1793193351095788544
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,743,712,671.123449154,659,632.876550846,877,784,799.876550846,649,628.123449154,650.123449154,0.401415608094,-0.00541093272949,0.0698980401483,0.999999966248,0.000201673039652,-0.000162721943601,1.8804280561e-05,1793193351112455168
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,742.54248149,711.54248149,671.45751851,659,633,877,784,799.54248149,649,628,650.45751851,0.401521126514,-0.00541370890631,0.0698960654271,0.999999966243,0.000197643535686,-0.000167931323384,1.58185106055e-05,1793193351129122048
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,742,711.033134966,672,659,633,877.033134966,784.033134966,799,649,628,651,0.401633128733,-0.00541659900709,0.0698945103204,0.999999966222,0.000193372899453,-0.00017321541551,1.26396398435e-05,1793193351145788928
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,742,711.583736426,672,659,633,877.583736426,784.583736426,799,649,628,651,0.401779205702,-0.00541989884953,0.0698963603741,0.999999967772,0.000186792198691,-0.000171730482339,8.60111194563e-06,1793193351162455552
+128,2.133333333,POSE1_TO_POSE2_PRESS,764.146543148,742.146543148,712,672,659,633,877.853456852,784.853456852,799.146543148,649,628.146543148,651,0.401933982064,-0.00542316779216,0.0698985256269,0.9999999694,0.000180273870937,-0.000169354749774,4.41453128491e-06,1793193351179121920
+129,2.150000000,POSE1_TO_POSE2_PRESS,764.747169366,742.747169366,712,672,659,633,877.252830634,784.252830634,799.747169366,649,628.747169366,651,0.402115714606,-0.00542634098706,0.0699016675646,0.999999971387,0.000173948815333,-0.000164218759319,-2.30809431674e-07,1793193351195788544
+130,2.166666667,POSE1_TO_POSE2_PRESS,764.655676965,742.655676965,712,672,659,633,877,784,800,649,629,650.655676965,0.402321974156,-0.00543053779658,0.0699056945051,0.999999973994,0.00016637901923,-0.00015588084723,-5.54733132803e-06,1793193351212455168
+131,2.183333333,POSE1_TO_POSE2_PRESS,764.06104761,742.06104761,712,672,659,633,877,784,800,649,629,650.06104761,0.402546063683,-0.00543547872513,0.0699103648004,0.999999976925,0.000157904355851,-0.000145215291239,-1.13517702087e-05,1793193351229122048
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,742.517506164,712,672,659,633,877,784,799.482493836,649,629,650.517506164,0.402795772787,-0.00543916634387,0.0699115038333,0.999999978537,0.000150054705312,-0.0001417962997,-1.73998104519e-05,1793193351245788672
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,742.90457215,712,672,659,633,877.09542785,784,799,649,629,651,0.40305492778,-0.00544300902875,0.0699130547083,0.999999980128,0.000142049446474,-0.000137897684101,-2.34636047121e-05,1793193351262455040
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,742.320468641,712,672,659,633,877.679531359,784,799,649,629,651,0.403347444089,-0.00544838008867,0.0699187835002,0.999999982635,0.000132881145222,-0.000127297302775,-2.9465353142e-05,1793193351279121920
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,742.262051698,712,672,659,633,877.737948302,784,799,649.262051698,628.737948302,651,0.403670037914,-0.00545376481756,0.0699273635218,0.999999988555,9.61707785016e-05,-0.000112654283201,-3.08135826713e-05,1793193351295788544
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,742.842647537,712,672,659,633,877.157352463,784,799,649.842647537,628.157352463,651,0.404029193273,-0.0054591661618,0.0699394094336,0.999999994978,2.59808976861e-05,-9.30971238675e-05,-2.65050989975e-05,1793193351312455168
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,743,712,672,659,633,877,784,799,649.579071597,628.420928403,651,0.404401778919,-0.00546923667787,0.0699458721184,0.999999995734,2.76159562665e-05,-8.53254829983e-05,-2.21317117168e-05,1793193351329121792
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,743,712,672,659,633,877,784,799,649.001651399,628.998348601,651,0.40477935764,-0.00548104308781,0.0699502590837,0.999999994921,5.59539274818e-05,-8.19354356115e-05,-1.77341948333e-05,1793193351345788416
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,742.424149099,712,672,659,633,877.575850901,784,799,649,629,651,0.405206665968,-0.00550419220436,0.0699549750477,0.999999997095,2.5328533915e-05,-6.93208202692e-05,-1.9052061171e-05,1793193351362455296
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,742,712,672,659,633,877.844425258,784,799,649,628.844425258,651,0.405635878945,-0.00552235708187,0.0699564455774,0.999999997774,-1.91959862182e-07,-6.35092761087e-05,-2.04703340003e-05,1793193351379121920
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,742,712,672,659,633,877.258557766,784,799,649,628.258557766,651,0.406069965285,-0.00552664643512,0.0699489371881,0.999999996761,-1.11254342192e-05,-7.65870259854e-05,-2.21209743684e-05,1793193351395788544
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,742,712.322938441,672,659,633,877.322938441,784,799,649,628.322938441,651,0.406535855694,-0.00552824036924,0.0699347641805,0.99999999445,-1.61917776858e-05,-0.000101235081386,-2.42725837439e-05,1793193351412455168
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,742,712.900981621,672,659,633,877.900981621,784,799,649,628.900981621,651,0.407026869727,-0.0055277050615,0.069915326467,0.999999990387,-1.66233910179e-05,-0.000135023083713,-2.68199329996e-05,1793193351429121792
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,742.47797464,712.52202536,672,659,633,877.52202536,784,799,649,629,650.52202536,0.407571052628,-0.00553719165473,0.0699088365501,0.999999989638,-2.68533964718e-05,-0.00013836765298,-2.92799693072e-05,1793193351445788672
+145,2.416666667,POSE1_TO_POSE2_PRESS,763.945378384,743,712,672,659,633,877.054621616,784,799,649,629,650.054621616,0.408132874131,-0.00554815839631,0.0699071279387,0.999999990039,-3.89085126822e-05,-0.000131939664048,-3.16217939221e-05,1793193351462455296
+146,2.433333333,POSE1_TO_POSE2_PRESS,763.369960683,743,712,672,659,633,877.630039317,784,799,649,629,650.630039317,0.408758083601,-0.00555348578969,0.0699254886329,0.999999993989,-4.90538748244e-05,-9.2334555373e-05,-3.30086007262e-05,1793193351479121920
+147,2.450000000,POSE1_TO_POSE2_PRESS,763,743,712,672.210531706,659,633,878,784,799.210531706,649,628.789468294,651,0.40937598065,-0.00555995306711,0.0699372415668,0.999999995527,-5.87936146662e-05,-6.57848960587e-05,-3.40839695339e-05,1793193351495788544
+148,2.466666667,POSE1_TO_POSE2_PRESS,763,743,712,672.80016191,659,633,878,784,799.80016191,649,628.19983809,651,0.409980710392,-0.00556847290117,0.0699370960923,0.999999995134,-6.78029613994e-05,-6.27438182863e-05,-3.4598540734e-05,1793193351512455168
+149,2.483333333,POSE1_TO_POSE2_PRESS,763.383575941,743,712,673,659.383575941,633,877.616424059,784,800.383575941,649,628.383575941,651,0.410627161808,-0.00557658437946,0.0699323961116,0.999999993533,-7.98550692374e-05,-7.25438302283e-05,-3.59827197241e-05,1793193351529121792
+150,2.500000000,POSE1_TO_POSE2_PRESS,763.963803054,743,712,673,659.963803054,633,877.036196946,784,800.963803054,649,628.963803054,651,0.411295003013,-0.00558448650224,0.0699253611329,0.999999990963,-9.34671352463e-05,-8.89271940203e-05,-3.78127279824e-05,1793193351545788416
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,743,712,672.458957559,659.458957559,632.458957559,877,784,800.458957559,649,629,651,0.412018426668,-0.00559225429846,0.0699432896821,0.999999992544,-0.000101795291835,-5.55096708505e-05,-3.83101879577e-05,1793193351562455296
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,742.882198141,712,672.117801859,659,632.117801859,877.117801859,784,800,649,628.882198141,651,0.412752209224,-0.00559291611638,0.0699644192472,0.999999993881,-0.000102159306504,-1.85921534855e-05,-3.8146755763e-05,1793193351579121920
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,742.306531746,712,672.693468254,659,632.693468254,877.693468254,784,800,649,628.306531746,651,0.413511880105,-0.00556599361938,0.0699915346592,0.999999996519,-7.2935250797e-05,1.90502362903e-05,-3.57592124445e-05,1793193351595788800
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,742.276416892,712,673,659.276416892,632.723583108,878,784,799.723583108,649,628.276416892,651,0.414246314678,-0.00554084686447,0.0699954441749,0.999999998356,-4.04908631349e-05,1.92987326154e-05,-3.57149581908e-05,1793193351612455168
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,742.867659739,712,673,659.867659739,632.132340261,878,784,799.132340261,649,628.867659739,651,0.414952006372,-0.00551772259357,0.0699729232601,0.99999999899,-4.37866377317e-06,-2.30426676491e-05,-3.8339600626e-05,1793193351629121792
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,743,712,673,660,632,877.550921065,784,799,649,629,651,0.415695277569,-0.00552009719858,0.0699260755689,0.999999993805,-2.11252177897e-05,-0.000100222681004,-4.35732416828e-05,1793193351645788672
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,743,712,673,660,632.027355661,877,784,799,649,629,651,0.41645322088,-0.00552986447428,0.0698759733857,0.999999980984,-5.19462891454e-05,-0.000181410066896,-4.92282587708e-05,1793193351662455296
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,743,712,673,660,632.599470069,877,784,799,649,629,651,0.417287530642,-0.00554041233805,0.069900766752,0.999999986936,-5.94857768378e-05,-0.000142326725648,-4.82914202597e-05,1793193351679121920
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,743,712,673,660,633,877.176600598,784,799,649,629,651,0.418119465123,-0.00554871684867,0.0699279396249,0.999999991813,-6.47267176053e-05,-9.98650290125e-05,-4.70227216908e-05,1793193351695788544
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,743,712,673,660,633,877.765440233,784,799,649,629,651,0.418945854935,-0.00555178469607,0.069960666982,0.999999995676,-6.46021565102e-05,-4.95172349848e-05,-4.49793618263e-05,1793193351712455168
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,743,712,672.651053322,660,633,878.348946678,784,799.348946678,649,629,650.651053322,0.41979801426,-0.00555101836685,0.0699842495426,0.999999996922,-6.36780471352e-05,-1.393132408e-05,-4.36592775289e-05,1793193351729122048
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,743,712,672.071077869,660,633,878.928922131,784,799.928922131,649,629,650.071077869,0.420667234896,-0.00554771352608,0.0700017775632,0.999999997077,-6.22245771034e-05,1.1881115159e-05,-4.28180558097e-05,1793193351745788672
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,743,712,673.00998642,659.49500679,633,878.49500679,784,799.49500679,649,629,650,0.421533391344,-0.00554234761259,0.0700058358679,0.99999999721,-5.80064091099e-05,1.65213737981e-05,-4.40797651524e-05,1793193351762455296
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,743,712,673.91989959,659.08010041,632.91989959,878,784,799,649,629,650,0.422383534087,-0.00553782983959,0.0699984249112,0.999999997451,-5.45491162993e-05,2.7597049041e-06,-4.59883437519e-05,1793193351779121920
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,743,712,673.347365782,659.652634218,632.347365782,878,784,799,649,629,650,0.423137860061,-0.00554029592607,0.0699320701464,0.999999991443,-5.8143369675e-05,-0.000105952002448,-5.00679961595e-05,1793193351795788544
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,743,712,673,660,632,878,784,799.233469249,649,629,650,0.423912045346,-0.00554359536701,0.0698751339315,0.99999997815,-6.56133569869e-05,-0.000190809336263,-5.46499386147e-05,1793193351812455168
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,743,712,673,660,632,878,784,799.82711063,649,629,650,0.424716867628,-0.0055481804211,0.069832727668,0.999999966546,-7.90624257802e-05,-0.000238866635709,-6.00067633114e-05,1793193351829121792
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,743,712,673,660,632,878,784,800,649,629,650,0.42560399994,-0.00555237143101,0.0698662166788,0.999999977793,-8.61831874288e-05,-0.000182953336093,-5.92839826984e-05,1793193351845788672
+169,2.816666667,POSE1_TO_POSE2_PRESS,764,743,712,673,660,632,878,784,800,649,629,650,0.426524953852,-0.00555640052569,0.0699308914811,0.99999999076,-9.07036111188e-05,-8.43179366539e-05,-5.60630577833e-05,1793193351862455296
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,743,712,673.564207912,660,632.564207912,878,784,799.435792088,649,629,650.564207912,0.427410363884,-0.00555199742278,0.0699711110199,0.999999994597,-8.14016800109e-05,-3.88148926197e-05,-5.17031262118e-05,1793193351879121920
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,743,712,673.858080178,660,633,878,784,799.141919822,649,629,651,0.428282399987,-0.00554921694221,0.070004634633,0.999999996034,-7.45922882618e-05,2.58449552498e-06,-4.85884005207e-05,1793193351895788544
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,743,712,673.271224584,660,633,878,784,799.728775416,649,629,651,0.429114598246,-0.0055520196539,0.0700186044382,0.999999995272,-7.64104929712e-05,3.42442572536e-05,-4.94445550253e-05,1793193351912455168
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,743,712,673,660,633,878,784,800,649,629,651,0.429920871855,-0.00555878381233,0.0700132203249,0.999999994838,-8.32333907693e-05,2.95968161501e-05,-5.02043459458e-05,1793193351929121792
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,743,712,673,660,633,878,784,800,649,629,651,0.430704868138,-0.00556895207729,0.0699912052156,0.999999994234,-9.43568660339e-05,-6.24973120803e-06,-5.08813307081e-05,1793193351945788416
+175,2.916666667,POSE1_TO_POSE2_PRESS,764,743,712,673,660,632.527004425,877.527004425,784.472995575,799.527004425,649,629,650.527004425,0.431409744371,-0.00557027560327,0.0699283972586,0.999999987203,-9.6856545107e-05,-0.000115379560803,-5.38534447362e-05,1793193351962455296
+176,2.933333333,POSE1_TO_POSE2_PRESS,764,743,712,673.049729007,660,632.049729007,877.049729007,784.950270993,799,649,629,650,0.432107799453,-0.00556942231703,0.0698642844546,0.999999968023,-9.77655278521e-05,-0.000226146090023,-5.70447842348e-05,1793193351979121920
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,743,712,673.622600946,660,632.622600946,877.622600946,784.377399054,799,649,629,650,0.432917290313,-0.00556614827972,0.0698808963239,0.999999976159,-0.000101908068737,-0.00018445086612,-5.72282284801e-05,1793193351995788800
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,743,712,674,660,632.798429502,878,784,799,649,629,650.201570498,0.433721161955,-0.00556369827452,0.0699141100485,0.999999986055,-0.000100766483076,-0.00012064337105,-5.64014005002e-05,1793193352012455424
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,743,712,674,660,632.207687197,878,784,799,649,629,650.792312803,0.434514184724,-0.00556283922611,0.069979376949,0.999999994464,-8.94228437529e-05,-1.41437447203e-05,-5.36240414558e-05,1793193352029122048
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,743,712,673.624319631,660,632,878,784,799,649,628.624319631,650.624319631,0.435244994487,-0.0055665460853,0.0700064335442,0.999999994064,-9.2299910487e-05,2.67662650756e-05,-5.13453111133e-05,1793193352045788416
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,743,712,673.044950581,660,632,878,784,799,649,628.044950581,650.044950581,0.435942073176,-0.00557272851625,0.0700127730385,0.999999992974,-0.000102887247654,3.21144890423e-05,-4.93369307127e-05,1793193352062455296
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,743,712,673.531223123,660,632,878,784,799,649,628,650,0.436583716176,-0.00557528943861,0.0699832532512,0.999999993564,-0.000100835723559,-1.16526655616e-05,-5.06713747614e-05,1793193352079121920
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,743,712,674,660,632,878,784,799,649,628.108969945,650,0.437209764949,-0.0055771804377,0.069948380425,0.999999991713,-9.99960159256e-05,-6.13650370473e-05,-5.30055494358e-05,1793193352095788544
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,743,712,674,660,632,878,784,799,649,628.694776551,650,0.437787979189,-0.00557747287649,0.0699032817892,0.999999985255,-0.000109110881375,-0.000119015484055,-5.84840457936e-05,1793193352112455424
+185,3.083333333,POSE1_TO_POSE2_PRESS,764,743,712,673.721147254,660,632,877.721147254,784,799.278852746,649,628.721147254,650,0.438341994176,-0.00557719542146,0.0698569914757,0.999999974506,-0.000112668589263,-0.000185688590293,-6.17523759851e-05,1793193352129122304
+186,3.100000000,POSE1_TO_POSE2_PRESS,764,743,712,673.138953469,660,632,877.138953469,784,799.861046531,649,628.138953469,650,0.43886968474,-0.00557629802565,0.0698094048367,0.999999957601,-0.000110181120312,-0.000262176703603,-6.26164471653e-05,1793193352145788928
+187,3.116666667,POSE1_TO_POSE2_PRESS,764,743,712,673.438859133,659.561140867,631.561140867,877.438859133,783.561140867,799.561140867,649,628.438859133,650,0.43936174526,-0.00557306696414,0.0697701199236,0.99999993814,-0.000102812327948,-0.000330493521989,-6.26442418574e-05,1793193352162455808
+188,3.133333333,POSE1_TO_POSE2_PRESS,764,742.984739031,711.984739031,674,659,631.015260969,878,783,799.015260969,649,629,650,0.439843505502,-0.00556925050822,0.06973455922,0.999999915927,-9.41283594466e-05,-0.000394188090488,-6.24600903286e-05,1793193352179122688
+189,3.150000000,POSE1_TO_POSE2_PRESS,764,742.409706618,711.409706618,674,659,631.590293382,878,783,799.590293382,649,629,650,0.440357159457,-0.00557079657247,0.0697401411474,0.999999920512,-9.33340122013e-05,-0.000382300086017,-6.41180851034e-05,1793193352195789312
+190,3.166666667,POSE1_TO_POSE2_PRESS,764,742.16971066,711.16971066,674,659,631.83028934,878,783,799.83028934,649,628.83028934,650.16971066,0.440861456513,-0.00557159184978,0.0697497566893,0.999999925792,-9.71052559143e-05,-0.000367129553551,-6.48277694325e-05,1793193352212455936
+191,3.183333333,POSE1_TO_POSE2_PRESS,764,742.759994536,711.759994536,674,659,631.240005464,878,783,799.240005464,649,628.240005464,650.759994536,0.441342565611,-0.00557052654377,0.0697693682468,0.999999932603,-0.000112190846271,-0.000343824330048,-6.3187372061e-05,1793193352229122304
+192,3.200000000,POSE1_TO_POSE2_PRESS,764.342343061,743,712,674.342343061,659,631.342343061,878,783,799.342343061,649,628,651,0.441778893568,-0.00557192306468,0.0697743468578,0.999999934084,-0.000113079888509,-0.000339364382425,-6.22642817351e-05,1793193352245789184
+193,3.216666667,POSE1_TO_POSE2_PRESS,764.919254371,743,712,674.919254371,659,631.919254371,878,783,799.919254371,649,628,651,0.442184538139,-0.00557500639195,0.0697692991957,0.999999932167,-0.000104241671481,-0.000347816932087,-6.18326793781e-05,1793193352262456320
+194,3.233333333,POSE1_TO_POSE2_PRESS,764.50473377,743,712,675,659,631.50473377,878.49526623,783,800,649.49526623,628,650.50473377,0.442512481305,-0.00557330814113,0.0697388329661,0.999999911638,-0.000100426753289,-0.000403299970092,-6.31514127186e-05,1793193352279122432
+195,3.250000000,POSE1_TO_POSE2_PRESS,764,743,712,675,658.929353008,631,878.929353008,782.929353008,799.929353008,649.929353008,628,650,0.442826741107,-0.00557132927229,0.0697060399778,0.999999886296,-9.85018056405e-05,-0.000462129475439,-6.43615962461e-05,1793193352295788800
+196,3.266666667,POSE1_TO_POSE2_PRESS,764,743,712,675,658.357411719,631,878.357411719,782.357411719,799.357411719,649.357411719,628,650,0.443133633415,-0.00557288077533,0.0696860891832,0.999999872358,-0.000104186943079,-0.000490395845124,-6.2780321497e-05,1793193352312455424
+197,3.283333333,POSE1_TO_POSE2_PRESS,764,743,711.776556669,674.553113338,658,630.776556669,877.776556669,782.223443331,799.223443331,649,628,650,0.443432315502,-0.00557353037497,0.0696697840477,0.99999986059,-0.000105146730181,-0.000513690256702,-6.23386925387e-05,1793193352329122304
+198,3.300000000,POSE1_TO_POSE2_PRESS,764,743,711.180851124,673.361702249,658,630.180851124,877.180851124,782.819148876,799.819148876,649,628,650,0.443717319123,-0.00557267738072,0.0696595526737,0.999999853378,-9.82339642235e-05,-0.000528701258575,-6.3795742367e-05,1793193352345788928
+199,3.316666667,POSE1_TO_POSE2_PRESS,764,743,711.401560545,673.401560545,658,630,877.401560545,782.598439455,800,649,628,650,0.443981638645,-0.00557423548502,0.0696569344823,0.999999851565,-9.33311397002e-05,-0.000532965048437,-6.40921169006e-05,1793193352362455296
+200,3.333333333,POSE1_TO_POSE2_PRESS,764,743,711.978176949,673.978176949,658,630,877.978176949,782.021823051,800,649,628,650,0.444236941187,-0.00557684468089,0.0696576351725,0.99999985217,-8.9304526226e-05,-0.000532543711945,-6.38825080638e-05,1793193352379121664
+201,3.350000000,POSE1_TO_POSE2_PRESS,764.55335404,743,712,674.55335404,657.44664596,630,878.55335404,782,800,649,628,650.55335404,0.444450133182,-0.00557732736002,0.0696580258957,0.999999852398,-0.000101009555748,-0.000530413803548,-6.05089877186e-05,1793193352395788544
+202,3.366666667,POSE1_TO_POSE2_PRESS,764.868390304,743,712,674.868390304,657,630,879,782,800,649,628,651,0.444652525996,-0.0055775423139,0.0696557109883,0.999999850517,-0.000112077086044,-0.0005319675272,-5.8439240898e-05,1793193352412455168
+203,3.383333333,POSE1_TO_POSE2_PRESS,764.279234932,743,712,674.279234932,657,630,879,782,800,649,628,651,0.444823133797,-0.00557711731522,0.0696440322505,0.9999998417,-0.00011877701223,-0.000546561174239,-6.13347754206e-05,1793193352429121792
+204,3.400000000,POSE1_TO_POSE2_PRESS,764,743,711.695502862,674,657.304497138,630,878.695502862,782,800,649,628,651,0.444981967382,-0.00557605035014,0.0696374101916,0.999999837356,-0.000118793866528,-0.000554202716456,-6.35254462429e-05,1793193352445788672
+205,3.416666667,POSE1_TO_POSE2_PRESS,764,743,711.116657163,674,657.883342837,630,878.116657163,782,800,649,628,651,0.445130192516,-0.00557440498044,0.0696353441452,0.999999837187,-0.000112789346431,-0.000555580488167,-6.50810424859e-05,1793193352462455296
+206,3.433333333,POSE1_TO_POSE2_PRESS,764,743,711.459972779,674,657.540027221,630,878.459972779,782,800,649.459972779,628.459972779,650.540027221,0.445257786005,-0.00557322124011,0.0696383361224,0.999999840776,-0.000110057179953,-0.000549576568185,-6.55799465793e-05,1793193352479122176
+207,3.450000000,POSE1_TO_POSE2_PRESS,764,743,712,674,657,629.963932756,878.963932756,782,800,649.963932756,628.963932756,650.036067244,0.445378313149,-0.00557225224492,0.0696426146391,0.999999845141,-0.000108442482317,-0.000541879954974,-6.57523796778e-05,1793193352495788800
+208,3.466666667,POSE1_TO_POSE2_PRESS,764,743,712,674,657,629.387481837,878.387481837,782,800,649.387481837,628.387481837,650.612518163,0.445470989275,-0.00557275498387,0.0696470412739,0.99999984766,-0.000111195552198,-0.000536737259519,-6.50294466049e-05,1793193352512455168
+209,3.483333333,POSE1_TO_POSE2_PRESS,764,743,712,674,657,629,878,782,800,649,628,650.807177244,0.445555743995,-0.00557313889711,0.0696497306368,0.999999848943,-0.000112648050536,-0.000534094943087,-6.45520774973e-05,1793193352529121792
+210,3.500000000,POSE1_TO_POSE2_PRESS,764,743,712,674,657,629,878,782,800,649,628,650.218970746,0.445624255831,-0.00557327915774,0.0696488577168,0.999999847747,-0.000111433722008,-0.00053657966332,-6.45782382583e-05,1793193352545788416
+211,3.516666667,POSE1_TO_POSE2_PRESS,764,743,712,674,657,629,878,782,800,649,628,650.363652217,0.445681743435,-0.00557265182794,0.0696474040332,0.999999847431,-0.000111306409009,-0.000537175805798,-6.47453160073e-05,1793193352562455040
+212,3.533333333,POSE1_TO_POSE2_PRESS,764,743,712,674,657,629,878,782,800,649,628,650.942963988,0.445732693258,-0.00557156928792,0.0696456059345,0.999999847638,-0.000111823737323,-0.000536651950291,-6.49959628767e-05,1793193352579121920
+213,3.550000000,POSE1_TO_POSE2_PRESS,764,743,712,674.520023319,657,629.520023319,878.520023319,782,799.479976681,649,628.520023319,651,0.445763609371,-0.00557144435683,0.0696448162382,0.99999984594,-0.00011040691323,-0.000540149475907,-6.45714343366e-05,1793193352595788544
+214,3.566666667,POSE1_TO_POSE2_PRESS,764.096292268,743,712,674.903707732,657,630,878.903707732,782,799.096292268,649,628.903707732,650.903707732,0.445790976182,-0.00557108296212,0.0696439059097,0.999999844116,-0.00010852746654,-0.000543943022719,-6.41511080659e-05,1793193352612455168
+215,3.583333333,POSE1_TO_POSE2_PRESS,764.669863062,743,712,674.330136938,657,630,878.330136938,782,799.669863062,649,628.330136938,650.330136938,0.445811594711,-0.00556903117714,0.0696418518226,0.99999984277,-0.000105401938792,-0.000547027086001,-6.41170759216e-05,1793193352629121792
+216,3.600000000,POSE1_TO_POSE2_PRESS,764.747586731,743,712,674.252413269,656.747586731,629.747586731,878,782,799.747586731,649.252413269,628,650.252413269,0.445828775797,-0.00556767338292,0.0696400971064,0.999999841888,-0.000103422691595,-0.000549030510237,-6.39734641961e-05,1793193352645788672
+217,3.616666667,POSE1_TO_POSE2_PRESS,764.152858979,743,712,674.847141021,656.152858979,629.152858979,878,782,799.152858979,649.847141021,628,650.847141021,0.445841295139,-0.00556725675601,0.0696387483874,0.999999841655,-0.000102997992169,-0.000549568407545,-6.36812442887e-05,1793193352662455552
+218,3.633333333,POSE1_TO_POSE2_PRESS,764,743,711.572119972,674.572119972,656.427880028,629,878,781.572119972,799.427880028,650,628.427880028,650.572119972,0.445848868567,-0.00556716350026,0.0696384159413,0.99999984103,-0.000102461832903,-0.000550855406454,-6.32385711916e-05,1793193352679122432
+219,3.650000000,POSE1_TO_POSE2_PRESS,764,743,711,674.003759323,656.996240677,629,878,781.003759323,800,649.996240677,628.996240677,650.003759323,0.445854709224,-0.00556717935153,0.0696384338926,0.999999840273,-0.000101885991162,-0.000552391895152,-6.27463446498e-05,1793193352695789056
+220,3.666666667,POSE1_TO_POSE2_PRESS,764,743,711,674.576540506,656.423459494,629,878,781.576540506,800,649.423459494,628.423459494,650.576540506,0.445857251187,-0.00556677756662,0.069638274839,0.999999840314,-0.000101139964549,-0.000552467352279,-6.2631608791e-05,1793193352712455680
+221,3.683333333,POSE1_TO_POSE2_PRESS,764,743,711,674.845645804,656.154354196,629,878,781.845645804,800,649,628,650.845645804,0.445859100994,-0.00556641527286,0.0696375639913,0.99999983998,-0.000100150579959,-0.000553269315942,-6.24657108008e-05,1793193352729122304
+222,3.700000000,POSE1_TO_POSE2_PRESS,764,743,711,674.253560593,656.746439407,629,878,781.253560593,800,649,628,650.253560593,0.445858987927,-0.0055661649716,0.0696352883179,0.999999838579,-9.84710598404e-05,-0.000556131569838,-6.21547228202e-05,1793193352745788928
+223,3.716666667,POSE1_TO_POSE2_PRESS,764,743,711,674,656.66858865,629,878,781,800,649.33141135,628,650,0.445860047459,-0.00556587229925,0.0696352137206,0.999999838522,-9.79346072261e-05,-0.000556339596052,-6.20532165028e-05,1793193352762455808
+224,3.733333333,POSE1_TO_POSE2_PRESS,764,743,711,674,656.088944604,629,878,781,800,649.911055396,628,650,0.445861985288,-0.00556554789021,0.0696367877662,0.999999839476,-9.82543312983e-05,-0.000554559561213,-6.21086154561e-05,1793193352779122176
+225,3.750000000,POSE1_TO_POSE2_PRESS,764,743,711,674.485916642,656.485916642,629,878,781.485916642,800,649.514083358,628,650.485916642,0.445860955407,-0.00556523752462,0.0696354288897,0.999999838286,-9.79943641192e-05,-0.000556760412333,-6.19844574282e-05,1793193352795788800
+226,3.766666667,POSE1_TO_POSE2_PRESS,764,743,711.059914972,674.940085028,657,629,878,781.940085028,800,649,628,651,0.445859812391,-0.00556480861832,0.0696338657618,0.999999836992,-9.75907768882e-05,-0.000559167359185,-6.18352236151e-05,1793193352812455680
+227,3.783333333,POSE1_TO_POSE2_PRESS,764,743,711.63394811,674.36605189,657,629,878,781.36605189,800,649,628,651,0.445862314452,-0.00556334069547,0.069635111751,0.999999838194,-9.68564450916e-05,-0.000557151052426,-6.17500957092e-05,1793193352829122048
+228,3.800000000,POSE1_TO_POSE2_PRESS,764,743,712,674,657,629,878,781.214892678,800,649,628,650.785107322,0.445863800934,-0.00556271442154,0.0696358943088,0.999999838906,-9.66633324364e-05,-0.000555909163394,-6.17141865287e-05,1793193352845788416
+229,3.816666667,POSE1_TO_POSE2_PRESS,764,743,712,674,657,629,878,781.808001489,800,649,628,650.191998511,0.445863499975,-0.00556356946945,0.0696358612164,0.999999838762,-9.74227781558e-05,-0.000556030267779,-6.17649034604e-05,1793193352862455040
+230,3.833333333,POSE1_TO_POSE2_PRESS,764,742.608823078,712,674,656.608823078,629,878.391176922,782,800.391176922,649,628,650.391176922,0.44586394606,-0.00556410860892,0.0696357438699,0.99999983854,-9.82006177757e-05,-0.000556306639135,-6.16482167142e-05,1793193352879121920
+231,3.850000000,POSE1_TO_POSE2_PRESS,764,742.030402447,712,674,656.030402447,629,878.969597553,782,800.969597553,649,628,650.969597553,0.44586474973,-0.00556449653325,0.0696355861937,0.999999838279,-9.89872619375e-05,-0.000556657331754,-6.14513992543e-05,1793193352895789056
+232,3.866666667,POSE1_TO_POSE2_PRESS,764,742.54079764,711.45920236,674,656,629,879,782,800.45920236,649,628,651,0.445864041974,-0.00556518591846,0.0696349998066,0.999999837642,-9.94156530182e-05,-0.000557748008389,-6.12337962509e-05,1793193352912455936
+233,3.883333333,POSE1_TO_POSE2_PRESS,764,743,711,674,656,629,879,782,799.884188398,649,628,650.884188398,0.445863786875,-0.00556531898409,0.0696347947505,0.999999837396,-9.9312609879e-05,-0.000558216986909,-6.11447756212e-05,1793193352929122304
+234,3.900000000,POSE1_TO_POSE2_PRESS,764,743,711,674,656,629,879,782,799.291832883,649,628,650.291832883,0.445865739404,-0.00556309407752,0.0696362566679,0.999999838844,-9.71045917679e-05,-0.000555958866997,-6.15895932758e-05,1793193352945788672
+235,3.916666667,POSE1_TO_POSE2_PRESS,764,743,711,674,656,629,878.706305641,782,799.293694359,649,628,650.293694359,0.445866452243,-0.0055623455017,0.0696366072936,0.99999983932,-9.57189295741e-05,-0.000555345419016,-6.15599275195e-05,1793193352962455296
+236,3.933333333,POSE1_TO_POSE2_PRESS,764,743,711,674,656,629,878.127409162,782,799.872590838,649,628,650.872590838,0.445865961238,-0.00556303056794,0.0696358787612,0.999999838859,-9.51318444332e-05,-0.00055632908665,-6.10694981984e-05,1793193352979121920
+237,3.950000000,POSE1_TO_POSE2_PRESS,764,743,711.450130956,674,656.450130956,629,878.450130956,782,800,649,628,651,0.445865825532,-0.00556316230215,0.0696354652874,0.99999983851,-9.54315972708e-05,-0.000556930842693,-6.08265461503e-05,1793193352995788288
+238,3.966666667,POSE1_TO_POSE2_PRESS,764,742.972347478,711.972347478,674,656.972347478,629,878.972347478,782,800,649,628,650.972347478,0.445865849005,-0.00556314391214,0.0696351761592,0.999999838237,-9.596773454e-05,-0.00055734750998,-6.06668655685e-05,1793193353012455168
+239,3.983333333,POSE1_TO_POSE2_PRESS,764,742.387486189,711.387486189,674,656.387486189,629,878.387486189,782,800,649,628,650.387486189,0.445867059637,-0.00556324693579,0.0696356010909,0.999999838841,-9.62241823022e-05,-0.000556206276007,-6.07778786252e-05,1793193353029122048
+240,4.000000000,POSE1_TO_POSE2_PRESS,764.195053497,742.195053497,711,674.195053497,656,629,878,781.804946503,800,649,628,650,0.445867685657,-0.00556316654931,0.0696357953285,0.999999839141,-9.65168781427e-05,-0.000555610687491,-6.08140734656e-05,1793193353045788928
+241,4.016666667,POSE1_TO_POSE2_PRESS,764.773035382,742.773035382,711,674.773035382,656,629,878,781.226964618,800,649,628,650,0.445867163969,-0.00556272609267,0.0696355366684,0.999999838849,-9.68807360773e-05,-0.000556086308428,-6.07033854211e-05,1793193353062456064
+242,4.033333333,POSE1_TO_POSE2_PRESS,764.647392747,743,711,674.647392747,656,629,878,781,800,649,628,650,0.445867443083,-0.00556220545976,0.0696359993084,0.999999838977,-9.62601398857e-05,-0.000555966120351,-6.067462495e-05,1793193353079122432
+243,4.050000000,POSE1_TO_POSE2_PRESS,764.066792829,743,711,674.066792829,656,629,878,781,800,649,628,650,0.445868239989,-0.00556163298562,0.0696369283346,0.999999839377,-9.50030045324e-05,-0.000555460687529,-6.06988381121e-05,1793193353095788544
+244,4.066666667,POSE1_TO_POSE2_PRESS,763.491105526,743,711,674,656,629,878.508894474,781.508894474,800,649.508894474,628,650,0.445869141406,-0.00556221528194,0.0696372026295,0.999999840032,-9.52400832448e-05,-0.000554245336372,-6.06400148887e-05,1793193353112455168
+245,4.083333333,HOLD_POSE2,764,743,712,675,656,629,878,781,800,649,628,651,0.445867259411,-0.00556467514493,0.0696348646366,0.999999838053,-9.7706455303e-05,-0.000557395754415,-6.04823753961e-05,1793193353155124992
+246,4.100000000,HOLD_POSE2,764,743,712,674.417415768,656,629,878,781.582584232,800,649,628,650.417415768,0.445868077374,-0.00556312772113,0.0696353588029,0.999999838742,-9.60276549339e-05,-0.000556407270743,-6.08805391967e-05,1793193353171791872
+247,4.116666667,HOLD_POSE2,764,743,711.837152381,674.162847619,656,629,878,781.837152381,800,649.162847619,628,650.162847619,0.445868776065,-0.00556207411815,0.0696358646677,0.999999839229,-9.51812023083e-05,-0.000555652268305,-6.10911220065e-05,1793193353188458752
+248,4.133333333,HOLD_POSE2,764,743,711.262754139,674.737245861,656,629,878,781.262754139,800,649.737245861,628,650.737245861,0.445869173326,-0.00556226850527,0.0696364000974,0.999999839217,-9.64382693765e-05,-0.000555487322476,-6.08276477801e-05,1793193353205125376
+249,4.150000000,HOLD_POSE2,764,743,711.312439947,674.687560053,656,629,878,781.312439947,800,649.687560053,628,650.687560053,0.445869719461,-0.0055625133573,0.0696368883654,0.999999839495,-9.63774410221e-05,-0.000555032971896,-6.04925786086e-05,1793193353221791744
+250,4.166666667,HOLD_POSE2,764,743,711.888304992,674.111695008,656,629,878,781.888304992,800,649.111695008,628,650.111695008,0.445870391114,-0.00556280075743,0.0696373368702,0.999999840019,-9.52054655185e-05,-0.000554334617717,-6.00971461552e-05,1793193353238458368
+251,4.183333333,HOLD_POSE2,764,743,711.523309126,674,656,629,878.476690874,782,800,649.476690874,628,650.476690874,0.445870515691,-0.00556163735182,0.0696367782339,0.99999983985,-9.42528834445e-05,-0.000554759165619,-6.04857575679e-05,1793193353255124736
+252,4.200000000,HOLD_POSE2,764,743,711.066695555,674,656,629,878.933304445,781.933304445,799.933304445,649.933304445,628,650.933304445,0.445870626239,-0.00556041759569,0.0696361538057,0.999999839621,-9.34183265407e-05,-0.000555263419471,-6.09433853436e-05,1793193353271791104
+253,4.216666667,HOLD_POSE2,764,743,711.645985505,674,656,629,878.354014495,781.354014495,799.354014495,649.354014495,628,650.354014495,0.445871640722,-0.0055614478899,0.0696368863475,0.999999840212,-9.30851133454e-05,-0.000554303551899,-6.04814243412e-05,1793193353288457728
+254,4.233333333,HOLD_POSE2,764,743,711.776957221,674.223042779,656,629,878,781,799.223042779,649.223042779,628,650,0.445871367891,-0.00556256421991,0.0696367361031,0.999999839981,-9.41546883662e-05,-0.000554582299631,-6.00873202586e-05,1793193353305124608
+255,4.250000000,HOLD_POSE2,764,743,711.203408593,674.796591407,656,629,878,781,799.796591407,649.796591407,628,650,0.445869072079,-0.00556381575283,0.0696351985833,0.999999838449,-9.74287081296e-05,-0.000556807498758,-5.97998515803e-05,1793193353321791488
+256,4.266666667,HOLD_POSE2,764,743,711,675,656,629,878,781,799.620172352,649.620172352,628,650.379827648,0.445869800271,-0.00556419854656,0.0696356273199,0.999999838875,-9.74093510949e-05,-0.000556050616248,-5.97500682644e-05,1793193353338458112
+257,4.283333333,HOLD_POSE2,764,743,711,675,656,629,878,781,799.031612279,649.031612279,628,650.968387721,0.445872190288,-0.00556410392903,0.0696371366028,0.999999840375,-9.55801352567e-05,-0.000553654945571,-5.98309037499e-05,1793193353355124992
+258,4.300000000,HOLD_POSE2,764,743,711.548158638,674.451841362,656,629,878.548158638,781,799.548158638,649,628,650.451841362,0.445872080285,-0.00556432759617,0.0696368212804,0.999999840179,-9.60342764791e-05,-0.000553954403289,-5.96150999112e-05,1793193353371791360
+259,4.316666667,HOLD_POSE2,764,743,711.873245335,674,656,629,879,781.126754665,799.873245335,649,628,650.126754665,0.445871802749,-0.00556406811122,0.0696363732426,0.999999839874,-9.62023126782e-05,-0.000554483625015,-5.95351202772e-05,1793193353388457984
+260,4.333333333,HOLD_POSE2,764,743,711.297046166,674,656,629,879,781.702953834,799.297046166,649,628,650.702953834,0.44587143433,-0.0055620314166,0.0696358218418,0.999999839527,-9.48963385967e-05,-0.000555285123606,-5.99964447797e-05,1793193353405124608
+261,4.350000000,HOLD_POSE2,764,743,711.278262243,674.278262243,656,629,878.721737757,781.721737757,799.556524486,649,628,651,0.445870916855,-0.00556092194866,0.0696353777714,0.999999839125,-9.46379424699e-05,-0.00055601842979,-6.03007952268e-05,1793193353421790976
+262,4.366666667,HOLD_POSE2,764,743,711.852622761,674.852622761,656,629,878.147377239,781.147377239,800.705245522,649,628,651,0.445870240769,-0.00556079914083,0.0696350479112,0.999999838668,-9.54942719458e-05,-0.000556679172527,-6.04381098805e-05,1793193353438457600
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765,743,711,675,656,629,879,781,800,649,628,651,0.445871800851,-0.00555926156649,0.0696381264455,0.999999840617,-9.29266683142e-05,-0.00055362034153,-6.02968588437e-05,1793193353471027200
+264,4.400000000,POSE2_TO_POSE3_RETREAT,764.419443645,743,711,674.419443645,656,629,879,781,800,649,628,650.419443645,0.445872271886,-0.00556068320982,0.0696376892504,0.99999984049,-9.47717950315e-05,-0.000553563309487,-6.00444779712e-05,1793193353487693824
+265,4.416666667,POSE2_TO_POSE3_RETREAT,764,743,711,674,656,629,878.840105754,781.159894246,800,649,628,650.159894246,0.445872517251,-0.00556182340893,0.0696371449434,0.999999840228,-9.62429719703e-05,-0.000553800012821,-5.98843254801e-05,1793193353504360192
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764,743,711,674,656,629,878.263939909,781.736060091,800,649,628,650.736060091,0.445872175104,-0.00556223089132,0.0696363217794,0.99999983962,-9.67406016328e-05,-0.000554801432184,-5.99642819859e-05,1793193353521026816
+267,4.450000000,POSE2_TO_POSE3_RETREAT,764,743,711,674.317461927,656,629,878,781.682538073,799.682538073,649,628,651,0.445871798938,-0.00556188241329,0.0696363008221,0.999999839613,-9.58066788723e-05,-0.000554978976245,-5.99395780889e-05,1793193353537693440
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764,743,711,674.903289968,656,629,878,781.096710032,799.096710032,649,628,651,0.445871394014,-0.00556089488487,0.0696369580096,0.999999840111,-9.36625947107e-05,-0.000554460058105,-5.98263996229e-05,1793193353554359808
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,743,711,674.516237953,656,629,878,781,799.483762047,649.483762047,628,651,0.445869653118,-0.00556033251963,0.0696365309702,0.9999998395,-9.30373483089e-05,-0.000555616749596,-6.02789458269e-05,1793193353571026688
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764,743,711,674.063005529,656,629,878,781.063005529,800,649.936994471,628,651,0.445866188323,-0.00555974566086,0.069634959877,0.999999837978,-9.26135051468e-05,-0.000558362531132,-6.08162409567e-05,1793193353587693312
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764,743,711,674.64086315,656,629,878,781.64086315,800,649.35913685,628,651,0.44585079515,-0.0055582717145,0.0696257918946,0.999999830715,-9.13814446225e-05,-0.00057138633423,-6.113202181e-05,1793193353604359936
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764,743,711,675,656,629,878,781.784197583,800,649,628,650.784197583,0.445824739423,-0.00555726036093,0.0696126725345,0.999999818493,-9.07870026047e-05,-0.000592449763463,-6.14329260737e-05,1793193353621026816
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764,743,711,675,656,629,878,781.214050274,800,649,628,650.214050274,0.445781175916,-0.00555700857912,0.0695930650622,0.999999797548,-9.12395223349e-05,-0.000626714157475,-6.17094030951e-05,1793193353637693696
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764,743,711,674.628847724,656,629,878,781,799.628847724,649,628,650,0.445723175165,-0.00555552735584,0.0695739835806,0.999999775365,-9.02612324041e-05,-0.000661265434173,-6.20483676358e-05,1793193353654360320
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764,743,711,674.034595397,656,629,878,781,799.034595397,649,628,650,0.445656496166,-0.00555330711388,0.0695552182706,0.999999751942,-8.84228811704e-05,-0.000695989159333,-6.24248934905e-05,1793193353671027200
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764,743,711,674.545129801,656,629,878,781.545129801,799.545129801,649,628,650.545129801,0.44558388335,-0.0055525290591,0.0695492838462,0.999999748626,-8.78128475106e-05,-0.000700903957735,-6.14040912761e-05,1793193353687693312
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764,743,711,674.876696716,656.123303284,629,878,782,800,649,628,650.876696716,0.445506323491,-0.00555117635917,0.0695456091187,0.99999974716,-8.66929201961e-05,-0.000703250484462,-6.00329721832e-05,1793193353704359936
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764,743,711,674.300921935,656.699078065,629,878,782,800,649,628,650.300921935,0.445411956036,-0.00554738781091,0.0695473160189,0.999999747798,-8.34232688935e-05,-0.000702934282555,-5.76933013654e-05,1793193353721026560
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764,743,711,674.279931671,656.720068329,629,878,782,799.720068329,649,628,650,0.445304518184,-0.00554433045508,0.0695482312174,0.999999747505,-8.01861043643e-05,-0.000703923714368,-5.52471982538e-05,1793193353737693184
+280,4.666666667,POSE2_TO_POSE3_RETREAT,764,743,711,674.866345781,656.133654219,629,878,782,799.133654219,649,628,650,0.445182770249,-0.00554207364355,0.0695482796234,0.999999746189,-7.69845080875e-05,-0.000706342615769,-5.26845681708e-05,1793193353754359808
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764,743,711.44717977,674.55282023,656,629,878,782,799.44717977,649.44717977,628,650,0.445023891964,-0.00553820958917,0.0695435145988,0.999999739884,-7.32233049468e-05,-0.000715827177983,-4.96234840492e-05,1793193353771026688
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764,743,712,674,656,629,878,782,800,649.973701457,628,650.026298543,0.444852393169,-0.00553377018551,0.0695372833821,0.999999731824,-6.90692152407e-05,-0.000727618113013,-4.63977495882e-05,1793193353787693824
+283,4.716666667,POSE2_TO_POSE3_RETREAT,764,743,712,674,656,629,878,782,800,649.396007597,628,650.603992403,0.444646096355,-0.0055272153816,0.0695301029395,0.999999720482,-6.01411763922e-05,-0.000744034270128,-4.2804943726e-05,1793193353804360192
+284,4.733333333,POSE2_TO_POSE3_RETREAT,764,743,712,674.180875827,656.180875827,629.180875827,878,782,800,649,628,651,0.444431309581,-0.00552052881584,0.0695256132321,0.999999712842,-4.97524253167e-05,-0.000755214431247,-3.86273472682e-05,1793193353821026560
+285,4.750000000,POSE2_TO_POSE3_RETREAT,764,743,712,674.75599273,656.75599273,629.75599273,878,782,800,649,628,651,0.444198017921,-0.00551355505984,0.0695269883136,0.999999713796,-3.61798737624e-05,-0.000754982094336,-3.31751283857e-05,1793193353837693184
+286,4.766666667,POSE2_TO_POSE3_RETREAT,764,743,712,675,657,630,878,782,800,649,628,650.661620124,0.443946964719,-0.00550665823754,0.0695343187597,0.999999720439,-2.34553010812e-05,-0.00074688532694,-2.7080888425e-05,1793193353854359808
+287,4.783333333,POSE2_TO_POSE3_RETREAT,764,743,712,675,657,630,878,782,800,649,628,650.073875198,0.443682822334,-0.00549981810991,0.0695460379416,0.999999731086,-1.13556349903e-05,-0.000732992960277,-2.05135180451e-05,1793193353871026432
+288,4.800000000,POSE2_TO_POSE3_RETREAT,764,742.492962244,711.492962244,675,657,630,878,782.507037756,799.492962244,649,628,650,0.443365562998,-0.00548235912756,0.0695531963525,0.999999740986,1.34745309677e-05,-0.000719437043403,-1.60182715536e-05,1793193353887693312
+289,4.816666667,POSE2_TO_POSE3_RETREAT,764,742.086274745,711,674.913725255,657,630,878.086274745,782.913725255,799.086274745,649,628,650,0.443036944826,-0.00546248268147,0.0695611812162,0.999999751006,4.43727600116e-05,-0.000704188748452,-1.16728357619e-05,1793193353904359936
+290,4.833333333,POSE2_TO_POSE3_RETREAT,764,742.661579409,711,674.338420591,657,630,878.661579409,782.338420591,799.661579409,649,628,650,0.442687225703,-0.0054375565185,0.0695775671657,0.999999764479,9.92925975876e-05,-0.000679073398392,-6.48802145997e-06,1793193353921026816
+291,4.850000000,POSE2_TO_POSE3_RETREAT,763.76365123,743,711,674,657.23634877,630,878.52730246,782.23634877,800,649.23634877,628,650.23634877,0.442321053626,-0.0054233239037,0.0695955465386,0.999999776243,0.000147655934321,-0.000652465797664,-1.48846204363e-08,1793193353937693440
+292,4.866666667,POSE2_TO_POSE3_RETREAT,763.189646654,743,711,674,657.810353346,630,877.379293308,782.810353346,800,649.810353346,628,650.810353346,0.441931376327,-0.00542436845318,0.0696158023289,0.999999788029,0.000186652430248,-0.000623726320612,8.2987928185e-06,1793193353954360320
+293,4.883333333,POSE2_TO_POSE3_RETREAT,763.39650297,743,711.39650297,674,658,630.39650297,877.79300594,783,800,649.60349703,628,650.60349703,0.441521322071,-0.00542574568605,0.0696364279157,0.999999811977,0.000175566848157,-0.000587496042609,8.42427053208e-06,1793193353971026944
+294,4.900000000,POSE2_TO_POSE3_RETREAT,763.988645083,743,711.988645083,674,658,630.988645083,878.977290166,783,800,649.011354917,628,650.011354917,0.441101213601,-0.00542728706873,0.0696572359638,0.999999840306,0.000139770189092,-0.000547569716844,4.50959570056e-06,1793193353987693568
+295,4.916666667,POSE2_TO_POSE3_RETREAT,764,743,712,674.568046379,658.568046379,631,878.431953621,783,800,649,628.568046379,650.568046379,0.440609801805,-0.0054296504825,0.0696828278988,0.999999865935,0.000131905427361,-0.000500670869148,7.66095530007e-06,1793193354004360448
+296,4.933333333,POSE2_TO_POSE3_RETREAT,764,743,711.853826358,674.853826358,658.853826358,631,878,783,800,649,628.853826358,650.853826358,0.440101707625,-0.00543257784625,0.0697028815419,0.999999883707,0.000131123002245,-0.000463969415667,1.119956809e-05,1793193354021027072
+297,4.950000000,POSE2_TO_POSE3_RETREAT,764,743,711.278706876,674.278706876,658.278706876,631,878,783,800,649,628.278706876,650.278706876,0.439548749979,-0.00543711295647,0.0697064086284,0.999999884007,0.000149521151513,-0.000457592204979,1.5469180099e-05,1793193354037693952
+298,4.966666667,POSE2_TO_POSE3_RETREAT,763.697761962,743,711.302238038,674,658.302238038,631,878,783,799.697761962,649,628.302238038,650,0.438966602857,-0.00543673929634,0.0696973230297,0.999999878465,0.000148631558044,-0.000469800680258,1.62937474225e-05,1793193354054360576
+299,4.983333333,POSE2_TO_POSE3_RETREAT,763.111339523,743,711.888660477,674,658.888660477,631,878,783,799.111339523,649,628.888660477,650,0.438357009775,-0.00543175008279,0.0696763781419,0.999999866762,0.00012960634189,-0.000499484658512,1.38790539861e-05,1793193354071027456
+300,5.000000000,POSE2_TO_POSE3_RETREAT,763.472308072,743,712,674,658.527691928,631.472308072,877.527691928,783,799,649,629,650,0.437747111027,-0.00543283154565,0.0696880110666,0.999999877653,0.000150807159212,-0.000470855661537,1.56902478339e-05,1793193354087694080
+301,5.016666667,POSE2_TO_POSE3_RETREAT,764,743,712,673.945595305,658.054404695,632,877.054404695,783.054404695,799.054404695,649,628.945595305,650,0.437132840781,-0.00543546317497,0.0697100012881,0.99999989356,0.00017601580847,-0.000426088241904,1.86433765484e-05,1793193354104360704
+302,5.033333333,POSE2_TO_POSE3_RETREAT,764,743,712,673.372091951,658.627908049,632,877.627908049,783.627908049,799.627908049,649,628.372091951,650,0.436477543298,-0.00543931090298,0.0697579673336,0.999999924571,0.00014951503396,-0.000357731471202,2.30426449561e-05,1793193354121027328
+303,5.050000000,POSE2_TO_POSE3_RETREAT,764,743,712,673,659,632,878,784,799.793369915,649,628.206630085,650,0.43580895671,-0.00544068172653,0.0697999032544,0.999999944553,0.000142537818128,-0.000299651856213,2.80248994683e-05,1793193354137693696
+304,5.066666667,POSE2_TO_POSE3_RETREAT,764,743,712,673,659,632,878,784,799.205006803,649,628.794993197,650,0.435115819574,-0.00543747666136,0.0698306989852,0.999999950746,0.000171628862438,-0.000260558494283,3.40841753938e-05,1793193354154360320
+305,5.083333333,POSE2_TO_POSE3_RETREAT,764,743,712,673,659,632,878,784,799,649,628.62250729,650,0.434365514418,-0.00543128833507,0.0698354377064,0.999999950538,0.000172196181695,-0.000260906090377,3.46363935852e-05,1793193354171026944
+306,5.100000000,POSE2_TO_POSE3_RETREAT,764,743,712,673,659,632,878,784,799,649,628.043143462,650,0.433584637643,-0.00542350465554,0.069826241965,0.999999947216,0.000157509917387,-0.000282345460118,3.22436119355e-05,1793193354187693312
+307,5.116666667,POSE2_TO_POSE3_RETREAT,764,743,712,673.536129029,659.536129029,632,878,783.463870971,799,649,628.536129029,650,0.432792609912,-0.00542719473974,0.0698271479043,0.999999948589,0.000164235518471,-0.000273263832766,3.42875341344e-05,1793193354204360192
+308,5.133333333,POSE2_TO_POSE3_RETREAT,763.885546122,743,712,673.885546122,660,632,877.885546122,783.114453878,799.114453878,649,629,650.114453878,0.431980837271,-0.00543180289579,0.069823825439,0.999999947921,0.00017012936294,-0.000271842502506,3.62611450913e-05,1793193354221027072
+309,5.150000000,POSE2_TO_POSE3_RETREAT,763.311001293,743,712,673.311001293,660,632,877.311001293,783.688998707,799.688998707,649,629,650.688998707,0.431093299242,-0.0054363905916,0.0698002380698,0.999999937209,0.000165754330231,-0.000311086166559,3.6517134381e-05,1793193354237693696
+310,5.166666667,POSE2_TO_POSE3_RETREAT,763,743,712,673,659.730988527,632,877.269011473,784,799.730988527,649,629,650.730988527,0.430211688523,-0.00543560275652,0.0697656795125,0.999999919419,0.00016252511751,-0.000365388226963,3.5212031071e-05,1793193354254360320
+311,5.183333333,POSE2_TO_POSE3_RETREAT,763,743,712,673,659.144523105,632,877.855476895,784,799.144523105,649,629,650.144523105,0.429337072365,-0.00542847138773,0.0697181741178,0.999999890896,0.000160648058361,-0.000437460341915,3.20647199908e-05,1793193354271027200
+312,5.200000000,POSE2_TO_POSE3_RETREAT,763.437267244,743,712,673,659,632.437267244,877.562732756,784,799,649,629,650,0.428506861594,-0.00542436766752,0.069744108313,0.999999905126,0.000172282721612,-0.000398592522758,3.44991899353e-05,1793193354287693568
+313,5.216666667,POSE2_TO_POSE3_RETREAT,763.982572369,743,712,673,659,632.982572369,877.017427631,784,799,649,629,650.017427631,0.427690472595,-0.00542147451738,0.0697940915778,0.999999929319,0.0001877969126,-0.000323410071267,3.87406035454e-05,1793193354304360192
+314,5.233333333,POSE2_TO_POSE3_RETREAT,763.40565741,743,712,673,659,632.40565741,877.59434259,784,799,649,629,650.59434259,0.426851622711,-0.0054256593528,0.0698451343481,0.999999951274,0.000186005815232,-0.000247095106232,4.23913469875e-05,1793193354321026816
+315,5.250000000,POSE2_TO_POSE3_RETREAT,763.169980288,743,712,673,659.169980288,632,877.830019712,784,799,649,628.830019712,650.830019712,0.425987787492,-0.00542922589842,0.0698741702039,0.999999961671,0.000182008454108,-0.000203849117216,4.44553704868e-05,1793193354337693440
+316,5.266666667,POSE2_TO_POSE3_RETREAT,763.742592508,743,712,673,659.742592508,632,877.257407492,784,799,649,628.257407492,650.257407492,0.425064769619,-0.00543132790211,0.0698510783268,0.999999955614,0.000172785123042,-0.000238933545897,4.27609342084e-05,1793193354354360320
+317,5.283333333,POSE2_TO_POSE3_RETREAT,763.674336213,743,712,673,659.674336213,632.325663787,877,784,799,649.325663787,628,650,0.424148678121,-0.00542901745839,0.0698257319883,0.999999945407,0.000171164202486,-0.000279675766328,4.08676713679e-05,1793193354371026944
+318,5.300000000,POSE2_TO_POSE3_RETREAT,763.082723718,743,712,673,659.082723718,632.917276282,877,784,799,649.917276282,628,650,0.423238242996,-0.00542310365206,0.0697985445768,0.999999930978,0.000175751682819,-0.000325038340079,3.88120396884e-05,1793193354387693568
+319,5.316666667,POSE2_TO_POSE3_RETREAT,763.498435233,743,712,673,659,632.501564767,877,784,799,649.501564767,628.498435233,650,0.42225581214,-0.00541448473853,0.0697343059594,0.999999883448,0.000189132346495,-0.00044272040767,3.64941535052e-05,1793193354404360192
+320,5.333333333,POSE2_TO_POSE3_RETREAT,764,742.92239263,712,673,659,632,877,784,799,649,629,650,0.42128379304,-0.00540703626881,0.0696783971579,0.999999831018,0.000201531458918,-0.000544204387412,3.45148777857e-05,1793193354421026816
+321,5.350000000,POSE2_TO_POSE3_RETREAT,764,742.345072039,712,673,659,632,877,784,799,649,629,650,0.420454174011,-0.0054099557355,0.0697149057539,0.999999871271,0.000198406496195,-0.000465691685781,3.49904199974e-05,1793193354437693184
+322,5.366666667,POSE2_TO_POSE3_RETREAT,763.770141512,742,712,673,659,632,876.770141512,784,799,649,628.770141512,650.229858488,0.419636040522,-0.00541445544037,0.0697686986762,0.999999912139,0.000194222497104,-0.00036956858834,3.76693837278e-05,1793193354454360064
+323,5.383333333,POSE2_TO_POSE3_RETREAT,763.198762029,742,712,673,659,632,876.198762029,784,799,649,628.198762029,650.801237971,0.418834971989,-0.00542130304469,0.0698481724495,0.999999950715,0.000188464993349,-0.00024728016246,4.36221647816e-05,1793193354471026688
+324,5.400000000,POSE2_TO_POSE3_RETREAT,763,742.386537286,712,672.613462714,659.386537286,632,876.386537286,784,799,649,628.386537286,651,0.418003282339,-0.00542253991456,0.0698754642424,0.999999958251,0.000189786173146,-0.000213119459942,4.53884898538e-05,1793193354487693312
+325,5.416666667,POSE2_TO_POSE3_RETREAT,763,742.979261698,712,672.020738302,659.979261698,632,876.979261698,784,799,649,628.979261698,651,0.417155258788,-0.00542078390015,0.0698749210637,0.999999954471,0.000194883273086,-0.000225967948628,4.49216710601e-05,1793193354504360192
+326,5.433333333,POSE2_TO_POSE3_RETREAT,763.558946584,743,712,672.558946584,659.441053416,632.558946584,877.558946584,784,799,649,628.441053416,650.441053416,0.416299928587,-0.00541653277729,0.0698392928976,0.999999946412,0.000196882069659,-0.00025834535782,4.08866306909e-05,1793193354521026816
+327,5.450000000,POSE2_TO_POSE3_RETREAT,763.862989832,743,712,673,659,632.862989832,877.862989832,784,799,649,628.137010168,650.137010168,0.415438832214,-0.00541084661465,0.0698026278362,0.999999934014,0.000200544718249,-0.000300589606513,3.74123144642e-05,1793193354537693696
+328,5.466666667,POSE2_TO_POSE3_RETREAT,763.288592812,743,712,673,659,632.288592812,877.288592812,784,799,649,628.711407188,650.711407188,0.414560173848,-0.00540086807271,0.0697667135222,0.999999908104,0.000209877606127,-0.000372072067676,3.61410384413e-05,1793193354554360064
+329,5.483333333,POSE2_TO_POSE3_RETREAT,763,743.292004624,711.707995376,672.707995376,659,632.292004624,877,784,799,649,628.707995376,650.707995376,0.41372946509,-0.00539231348644,0.0697493077722,0.999999892109,0.000218049798668,-0.000408616733349,3.56059117408e-05,1793193354571026688
+330,5.500000000,POSE2_TO_POSE3_RETREAT,763,743.878862939,711.121137061,672.121137061,659,632.878862939,877,784,799,649,628.121137061,650.121137061,0.412947173834,-0.0053851967499,0.069750591175,0.999999890033,0.000225049971313,-0.000409882715184,3.58141171352e-05,1793193354587693056
+331,5.516666667,POSE2_TO_POSE3_RETREAT,763,743.539457181,711,672,659,632.539457181,877,784,799,649,628.460542819,650.460542819,0.412261140992,-0.00538451065528,0.0697996226568,0.9999999207,0.000231966663557,-0.000321564098164,3.72666704837e-05,1793193354604359936
+332,5.533333333,POSE2_TO_POSE3_RETREAT,763,743,711.040520633,672.040520633,659,632,877,784,799,649,628.959479367,651,0.411598767653,-0.00538505491221,0.0698582276519,0.999999947539,0.000238433599766,-0.000215741899921,3.9069132387e-05,1793193354621026816
+333,5.550000000,POSE2_TO_POSE3_RETREAT,763,743,711.615811158,672.615811158,659,632,877,784,799,649,628.384188842,651,0.410918209882,-0.00537976193576,0.0698792717137,0.99999995315,0.000239251486659,-0.000186438042247,4.12179751428e-05,1793193354637693440
+334,5.566666667,POSE2_TO_POSE3_RETREAT,763,742.80901387,712,673,659.19098613,632,877,784,799.19098613,649,628,651,0.41022585104,-0.00537443856591,0.0698798383316,0.999999951541,0.000242566868474,-0.000190633704256,4.16975272969e-05,1793193354654360320
+335,5.583333333,POSE2_TO_POSE3_RETREAT,763,742.234071099,712,673,659.765928901,632,877,784,799.765928901,649,628,651,0.409509767315,-0.00536905409256,0.0698392373012,0.999999933402,0.000250903189228,-0.000262176466112,3.88211543161e-05,1793193354671026944
+336,5.600000000,POSE2_TO_POSE3_RETREAT,763,742.350395177,712,672.649604823,659.649604823,632,877,784,799.649604823,649,628.350395177,650.649604823,0.408827197897,-0.0053657356876,0.069802758719,0.999999915361,0.000252912786339,-0.000322521224196,3.59622549852e-05,1793193354687693568
+337,5.616666667,POSE2_TO_POSE3_RETREAT,763,742.941401056,712,672.058598944,659.058598944,632,877,784,799.058598944,649,628.941401056,650.058598944,0.408167642256,-0.00536383601873,0.0697691109575,0.999999897678,0.000250577924225,-0.000375176489921,3.31153547143e-05,1793193354704360192
+338,5.633333333,POSE2_TO_POSE3_RETREAT,763.522829462,743,712,672.522829462,659,632,877,784,799,649,629,650.522829462,0.407590358681,-0.00537421436093,0.069778692265,0.999999906553,0.000242000140613,-0.000356702776583,3.30649367587e-05,1793193354721026816
+339,5.650000000,POSE2_TO_POSE3_RETREAT,764,743,712,673,659,632,877.10195725,784.10195725,799.10195725,649,629,651,0.407029548042,-0.00538807374936,0.0697918235331,0.999999917256,0.000228916016222,-0.000334585800873,3.37285132487e-05,1793193354737693440
+340,5.666666667,POSE2_TO_POSE3_RETREAT,764,743,712,673,659,632,877.675321811,784.675321811,799.675321811,649,629,651,0.406503033853,-0.00541177986426,0.0697993694619,0.999999924653,0.00019817343689,-0.000331820775626,3.62701957867e-05,1793193354754360064
+341,5.683333333,POSE2_TO_POSE3_RETREAT,764,742.745264576,712,673,658.745264576,632,877.745264576,784.745264576,799.745264576,649,629,651,0.405990240867,-0.00542270120777,0.0698021650074,0.999999926906,0.000183335839022,-0.000333434851128,3.73762962587e-05,1793193354771026688
+342,5.700000000,POSE2_TO_POSE3_RETREAT,764,742.157953532,712,673,658.157953532,632,877.157953532,784.157953532,799.157953532,649,629,651,0.405495361953,-0.0054169311007,0.0697987585818,0.999999923359,0.000189263353597,-0.000340766161612,3.66081397872e-05,1793193354787693824
+343,5.716666667,POSE2_TO_POSE3_RETREAT,764,742.426050078,712,672.573949922,658.426050078,632.426050078,877,784,799,649,628.573949922,651,0.4050624775,-0.00541159655084,0.0698105009117,0.999999928798,0.000194623360609,-0.000321257052407,3.63141995718e-05,1793193354804360448
+344,5.733333333,POSE2_TO_POSE3_RETREAT,764,742.991334684,712,672,659,633,877,784,799.008665316,649,628.008665316,651,0.40465320724,-0.00540653868809,0.0698278131217,0.999999936818,0.000199719775907,-0.000291829338051,3.62082829284e-05,1793193354821026816
+345,5.750000000,POSE2_TO_POSE3_RETREAT,764,742.419869037,712,672,659,633,877,784,799.580130963,649,628.580130963,651,0.404296382199,-0.0054090443026,0.0698449241162,0.99999994539,0.000201256010404,-0.000259514282766,3.69835428211e-05,1793193354837693184
+346,5.766666667,POSE2_TO_POSE3_RETREAT,764,742.153116172,712,672,659,632.846883828,877.153116172,784,799.846883828,649,629,651,0.40394232921,-0.00540926616852,0.069855917147,0.999999950137,0.000204216119567,-0.000237971397813,3.73056038941e-05,1793193354854360064
+347,5.783333333,POSE2_TO_POSE3_RETREAT,764,742.730310164,712,672,659,632.269689836,877.730310164,784,799.269689836,649,629,651,0.403595953747,-0.0054031628565,0.069849965579,0.99999994673,0.000211119860451,-0.000246263620573,3.63724642648e-05,1793193354871026688
+348,5.800000000,POSE2_TO_POSE3_RETREAT,764,743,712,672,658.684053702,632.315946298,878,784,798.684053702,649,629,651,0.40326474504,-0.00539933001988,0.0698418177021,0.999999942418,0.000215489154516,-0.000259758871952,3.53968415502e-05,1793193354887693312
+349,5.816666667,POSE2_TO_POSE3_RETREAT,764,743,712,672,658.091013606,632.908986394,878,784,798.091013606,649,629,651,0.402946838026,-0.00539748845447,0.0698317436007,0.999999937135,0.000217635666929,-0.000277817325337,3.43839600237e-05,1793193354904359936
+350,5.833333333,POSE2_TO_POSE3_RETREAT,764,742.510817236,712,672,658.489182764,633,877.510817236,784,798.978365528,649,628.510817236,651,0.402667602128,-0.00539702914856,0.0698198959468,0.999999931388,0.000215873411844,-0.000299190978629,3.32832140539e-05,1793193354921026560
+351,5.850000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632.933305713,877,784,799.933305713,649,628.066694287,651,0.402401581413,-0.00539640610904,0.0698082344519,0.999999925378,0.000213806456892,-0.000320134019,3.2324852537e-05,1793193354937693440
+352,5.866666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632.358509192,877,784,799.358509192,649,628.641490808,651,0.402182828167,-0.00539262657158,0.0698004407343,0.999999920879,0.000214816794529,-0.00033321768686,3.25725839028e-05,1793193354954360064
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764,742.216454155,712,672,659,632,877,784,799,649,629,651,0.401982333165,-0.00539081347093,0.0697964242023,0.999999919077,0.000212551877377,-0.000339952891653,3.31530897182e-05,1793193354971026688
+354,5.900000000,POSE2_TO_POSE3_RETREAT,764,742.791693968,712,672,659,632,877,784,799,649,629,651,0.401812102312,-0.00539225985685,0.0697986685809,0.999999921925,0.000204858030207,-0.000336165139414,3.42851889924e-05,1793193354987693312
+355,5.916666667,POSE2_TO_POSE3_RETREAT,764,743,712,672,658.621314767,632,877.378685233,784,799.378685233,649,629,651,0.401664781681,-0.00539165210711,0.0698012412426,0.999999923584,0.000204188636576,-0.000331516438085,3.5165576824e-05,1793193355004359936
+356,5.933333333,POSE2_TO_POSE3_RETREAT,764,743,712,672,658.027652219,632,877.972347781,784,799.972347781,649,629,651,0.401530467028,-0.00538987823711,0.069804000269,0.999999924564,0.000207506981985,-0.00032637898081,3.59030696992e-05,1793193355021026560
+357,5.950000000,POSE2_TO_POSE3_RETREAT,763.451071798,742.451071798,712,672,658,632.548928202,877.451071798,784,799.451071798,649,629,651,0.401417903299,-0.0053891691177,0.0698031996216,0.999999917303,0.000241593721503,-0.000325549326897,3.23130132637e-05,1793193355037693184
+358,5.966666667,POSE2_TO_POSE3_RETREAT,763.124602033,742,711.875397967,672,658.124602033,632.875397967,877.124602033,784,799,649,629,651,0.401313438002,-0.0053894518997,0.0698020635902,0.999999911804,0.000264177320965,-0.000325297814804,2.79854169966e-05,1793193355054359808
+359,5.983333333,POSE2_TO_POSE3_RETREAT,763.700015343,742,711.299984657,672,658.700015343,632.299984657,877.700015343,784,799,649,629,651,0.401234428261,-0.00539313518826,0.0698003433314,0.999999917774,0.000239703954502,-0.000326376594002,2.1754316301e-05,1793193355071026432
+360,6.000000000,POSE2_TO_POSE3_RETREAT,764,742.275476873,711.275476873,672,659,632,878,784,799,649,629,651,0.401165651696,-0.0053953499543,0.0697999646533,0.999999921035,0.000225512822704,-0.000326646634067,1.93677603942e-05,1793193355087693056
+361,6.016666667,POSE2_TO_POSE3_RETREAT,764,742.850990887,711.850990887,672,659,632,878,784,799,649,629,651,0.401108020654,-0.00539596527081,0.0698010471651,0.999999921869,0.000222520644574,-0.000326035831592,2.11685118395e-05,1793193355104359936
+362,6.033333333,POSE2_TO_POSE3_RETREAT,764,742.558983134,712,672,658.558983134,632,877.558983134,784,799.882033732,649,629,651,0.401064372787,-0.00539522851013,0.0698025969419,0.999999922531,0.000222517705805,-0.000323939120677,2.2096782307e-05,1793193355121026560
+363,6.050000000,POSE2_TO_POSE3_RETREAT,764,742.034903369,712,672.034903369,658.034903369,632.034903369,877,784,800.930193261,649,629,651,0.401026796122,-0.00539413780466,0.0698043667728,0.999999923236,0.000223374618644,-0.000321117703055,2.27147446413e-05,1793193355137693184
+364,6.066666667,POSE2_TO_POSE3_RETREAT,764,742.610067573,712,672.610067573,658.610067573,632.610067573,877,784,799.779864853,649,629,651,0.401007575135,-0.00539488030877,0.0698070158675,0.999999925578,0.000221375598143,-0.000315114299956,2.32477719186e-05,1793193355154360576
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764,743,712,672.815179851,659,633,877,784,799.184820149,649,629,651,0.400990715673,-0.00539543085675,0.0698095450296,0.999999927528,0.000219983670817,-0.000309818773306,2.37455919979e-05,1793193355171027200
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764,743,712,672.241293869,659,633,877,784,799.758706131,649,629,651,0.400978827469,-0.00539557731685,0.0698118217206,0.999999928714,0.000219869738676,-0.000306013401735,2.41692971602e-05,1793193355187693312
+367,6.116666667,POSE2_TO_POSE3_RETREAT,764,743,712,672,659,633,877,784,799.658838103,649,629,651,0.400970709621,-0.00539665377824,0.0698143281504,0.999999930164,0.000218104522084,-0.000302500474355,2.44295121384e-05,1793193355204359936
+368,6.133333333,POSE2_TO_POSE3_RETREAT,764,743,712,672,659,633,877,784,799.070164942,649,629,651,0.400965327145,-0.00539840495098,0.0698170012548,0.999999931795,0.000215141306806,-0.000299199713385,2.45711158429e-05,1793193355221026560
+369,6.150000000,POSE2_TO_POSE3_RETREAT,763.489440083,743,712,672,659,632.489440083,877,784,798.489440083,649.510559917,629,651,0.400961928313,-0.00539781183786,0.0698175427348,0.999999932077,0.000215391813921,-0.000298096833866,2.4295547245e-05,1793193355237693440
+370,6.166666667,POSE2_TO_POSE3_RETREAT,763.08852854,743,712,672,658.91147146,632.08852854,877,784,798.177057079,649.91147146,628.91147146,651,0.400959428562,-0.00539703543455,0.0698179151921,0.999999932235,0.000216138648077,-0.000297043210165,2.40766311052e-05,1793193355254360320
+371,6.183333333,POSE2_TO_POSE3_RETREAT,763.657378742,743,712,672,658.342621258,632.657378742,877,784,799.314757485,649.342621258,628.342621258,651,0.400960350489,-0.00539698573987,0.0698189356329,0.999999932701,0.000217218851684,-0.000294643148288,2.44713764043e-05,1793193355271026944
+372,6.200000000,POSE2_TO_POSE3_RETREAT,764,743,712,672,658.237068703,633,877,784,799.762931297,649,628,651,0.400959579366,-0.00539715010724,0.0698193199691,0.999999932999,0.000217174068772,-0.000293642104144,2.47199040398e-05,1793193355287693568
+373,6.216666667,POSE2_TO_POSE3_RETREAT,764,743,712,672,658.833175323,633,877,784,799.166824677,649,628,651,0.400956244139,-0.00539763866921,0.069818740932,0.999999933048,0.000215425506214,-0.00029475985695,2.47469866254e-05,1793193355304360192
+374,6.233333333,POSE2_TO_POSE3_RETREAT,764,743,712,672,659,633,877,784,799.417510331,649,628.417510331,651,0.400955854931,-0.00539725120593,0.0698185452593,0.999999932692,0.000216957934148,-0.000294857621505,2.45686028465e-05,1793193355321026816
+375,6.250000000,POSE2_TO_POSE3_RETREAT,764,743,712,672,659,633,877,784,799.99727072,649,628.99727072,651,0.400956610586,-0.0053965233076,0.0698184985671,0.999999932174,0.000219765398588,-0.000294559005056,2.43103721095e-05,1793193355337693184
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764,742.428237532,712,672,659,633,877,784,799.428237532,649,629,651,0.400955850799,-0.00539803912783,0.0698192021438,0.99999993332,0.000215171141227,-0.000294070754345,2.41793017141e-05,1793193355354359808
+377,6.283333333,POSE2_TO_POSE3_RETREAT,764.146144392,742.146144392,712,672,658.853855608,632.853855608,877,784,799,649,628.853855608,651,0.400955326376,-0.00539902902893,0.0698196901478,0.999999934127,0.000211937084606,-0.00029368322935,2.40441374356e-05,1793193355371026432
+378,6.300000000,POSE2_TO_POSE3_RETREAT,764.720277568,742.720277568,712,672,658.279722432,632.279722432,877,784,799,649,628.279722432,651,0.400955512216,-0.00539844767882,0.0698195364471,0.999999933976,0.000212788948095,-0.000293593309859,2.38952227355e-05,1793193355387693312
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,742.6955762,712,672.3044238,658,632,877,784,799.3044238,649,628.3044238,650.6955762,0.400956384062,-0.00539866012698,0.0698204657759,0.99999993412,0.000213651021951,-0.000292460470828,2.40864912986e-05,1793193355404360192
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,742.101916401,712,672.898083599,658,632,877,784,799.898083599,649,628.898083599,650.101916401,0.400957907688,-0.00539962677049,0.0698224241016,0.99999993454,0.000214522796872,-0.000290336743833,2.46009712563e-05,1793193355421026560
+381,6.350000000,POSE2_TO_POSE3_RETREAT,764.522579123,742.477420877,712,672.522579123,658.477420877,632.477420877,877,784.477420877,800,649,629,650.477420877,0.400958855026,-0.00539848620243,0.0698231780347,0.999999934913,0.000215510605243,-0.000288335684861,2.43269171297e-05,1793193355437693184
+382,6.366666667,POSE2_TO_POSE3_RETREAT,764,743,712,672,659,633,877,784.946721789,799.946721789,649,629,651,0.400959608032,-0.00539719229578,0.0698236027548,0.999999935266,0.000216283965005,-0.000286559996228,2.39266966716e-05,1793193355454360064
+383,6.383333333,POSE2_TO_POSE3_RETREAT,764,743,712,672,659,633,877,784.375833691,799.375833691,649,629,651,0.400959633425,-0.00539865160642,0.0698232541794,0.999999935552,0.000214740271585,-0.000286726834281,2.38884798311e-05,1793193355471026688
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764,743,712,671.797074047,658.797074047,633,877,784,799,649,628.797074047,651,0.400959252561,-0.00539990549991,0.0698228376157,0.999999935799,0.000212886399031,-0.000287245351843,2.38925786652e-05,1793193355487693312
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764,743,712,671.203147429,658.203147429,633,877,784,799,649,628.203147429,651,0.400958088913,-0.00540076359256,0.069822290051,0.999999935972,0.000210434868928,-0.000288441490561,2.39782119556e-05,1793193355504360192
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764,743,712,671.381238106,658.762476211,633,877,784,799,649,628.381238106,651,0.400957475644,-0.00540008499499,0.069822565291,0.999999935669,0.000211933599829,-0.000288383852066,2.40990568153e-05,1793193355521026816
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764,743,712,671.960663668,659.921327337,633,877,784,799,649,628.960663668,651,0.400957148491,-0.00539860754564,0.069823268268,0.999999935111,0.000215485882567,-0.000287674434722,2.42382064829e-05,1793193355537693696
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764,743,711.462632434,672,658.925264869,632.462632434,877,784,799,649,628.462632434,651,0.400957367171,-0.00539854647433,0.0698229079899,0.999999935292,0.00021512079282,-0.0002873305324,2.40673286683e-05,1793193355554360064
+389,6.483333333,POSE2_TO_POSE3_RETREAT,763.886818287,742.886818287,711.113181713,672,658.226363425,632.113181713,877,784,799.113181713,649,628.113181713,651,0.40095765257,-0.0053988850708,0.0698226779795,0.999999935549,0.000214271478246,-0.00028708074871,2.39761859552e-05,1793193355571026688
+390,6.500000000,POSE2_TO_POSE3_RETREAT,763.313813739,742.313813739,711.686186261,672,659.372372522,632.686186261,877,784,799.686186261,649,628.686186261,651,0.400958047521,-0.00540042829176,0.0698232918224,0.999999935888,0.000212614050049,-0.000287105185137,2.43007193671e-05,1793193355587693312
+391,6.516666667,POSE2_TO_POSE3_RETREAT,763.267245523,742,712,672,659.465508955,633,877,784,799.732754477,649,629,651,0.400958045965,-0.00540144840286,0.0698234875109,0.99999993622,0.000211193333285,-0.000286999460609,2.42827047104e-05,1793193355604359936
+392,6.533333333,POSE2_TO_POSE3_RETREAT,763.858057059,742,712,672,658.283885883,633,877,784,799.141942941,649,629,651,0.400957564341,-0.00540183516183,0.0698231769212,0.999999936544,0.000210059213338,-0.000286736144443,2.38499519492e-05,1793193355621026560
+393,6.550000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,658.438892725,633,877,784,799.438892725,649,628.561107275,651,0.400956850059,-0.00540095800102,0.0698233687079,0.999999935965,0.000212087117638,-0.0002872565993,2.39378681218e-05,1793193355637693184
+394,6.566666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,633,877,784,799.983529943,649.016470057,628.016470057,650.983529943,0.400956123284,-0.00539972789515,0.0698237184039,0.999999935145,0.000214937484458,-0.000287970615096,2.41760779396e-05,1793193355654359808
+395,6.583333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,633,877,784,799.409463133,649.590536867,628.590536867,650.409463133,0.400957464336,-0.0054000800583,0.0698240357985,0.999999936148,0.000211780429631,-0.000286846765894,2.39283217608e-05,1793193355671026432
+396,6.600000000,POSE2_TO_POSE3_RETREAT,763.831448154,742.168551846,712,672,659,633,877,784,799,649.831448154,629,650.168551846,0.40095801884,-0.0054005120254,0.0698239935812,0.999999936747,0.000209532107766,-0.000286421994625,2.3773461362e-05,1793193355687693312
+397,6.616666667,POSE2_TO_POSE3_RETREAT,763.243611865,742.756388135,712,672,659,633,877,784,799,649.243611865,629,650.756388135,0.400956616754,-0.00540114251032,0.0698230568042,0.999999936365,0.000209544322555,-0.000287736228417,2.38496856942e-05,1793193355704359936
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_03/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_03/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6150d996a06a4aca85a629bd0ff70f4045d50383
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_03/depth_03/simulation_data.csv
@@ -0,0 +1,399 @@
+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,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+1,0.016666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+2,0.033333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+3,0.050000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+4,0.066666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+5,0.083333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+6,0.100000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+7,0.116666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+8,0.133333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+9,0.150000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+10,0.166666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+11,0.183333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+12,0.200000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+13,0.216666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+14,0.233333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+15,0.250000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+16,0.266666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+17,0.283333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+18,0.300000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+19,0.316666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+20,0.333333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+21,0.350000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+22,0.366666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+23,0.383333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+24,0.400000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+25,0.416666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+26,0.433333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+27,0.450000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+28,0.466666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+29,0.483333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+30,0.500000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+31,0.516666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+32,0.533333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+33,0.550000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+34,0.566666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+35,0.583333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+36,0.600000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+37,0.616666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+38,0.633333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+39,0.650000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+40,0.666666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+41,0.683333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+42,0.700000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+43,0.716666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+44,0.733333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+45,0.750000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+46,0.766666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+47,0.783333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+48,0.800000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+49,0.816666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+50,0.833333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+51,0.850000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+52,0.866666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+53,0.883333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+54,0.900000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+55,0.916666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+56,0.933333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+57,0.950000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+58,0.966666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+59,0.983333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+60,1.000000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+61,1.016666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+62,1.033333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+63,1.050000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+64,1.066666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+65,1.083333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+66,1.100000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+67,1.116666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+68,1.133333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+69,1.150000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+70,1.166666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+71,1.183333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+72,1.200000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+73,1.216666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+74,1.233333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+75,1.250000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+76,1.266666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+77,1.283333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+78,1.300000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+79,1.316666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+80,1.333333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+81,1.350000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+82,1.366666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+83,1.383333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+84,1.400000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+85,1.416666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+86,1.433333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+87,1.450000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+88,1.466666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+89,1.483333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+90,1.500000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+91,1.516666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+92,1.533333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+93,1.550000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+94,1.566666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+95,1.583333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+96,1.600000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+97,1.616666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+98,1.633333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+99,1.650000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+100,1.666666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+101,1.683333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+102,1.700000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+103,1.716666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+104,1.733333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+105,1.750000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+106,1.766666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+107,1.783333333,pose1_to_pose2_press,0.575709211365,5.46154939886e-05,1.06002918235,0.546279941881,0.00872734561183,1.05969846529
+108,1.800000000,pose1_to_pose2_press,0.575709211814,5.46156459813e-05,1.06002918226,0.546279942327,0.00872734575541,1.05969846522
+109,1.816666667,pose1_to_pose2_press,0.575709236781,5.46240911039e-05,1.06002917705,0.546279967143,0.00872735373321,1.05969846126
+110,1.833333333,pose1_to_pose2_press,0.57570930818,5.46482412331e-05,1.06002916214,0.546280038107,0.00872737654698,1.05969844993
+111,1.850000000,pose1_to_pose2_press,0.575709473479,5.46825106223e-05,1.06002913854,0.546280202743,0.00872740878521,1.05969843209
+112,1.866666667,pose1_to_pose2_press,0.575709764718,5.46614990863e-05,1.060029138,0.546280494098,0.00872738819168,1.05969843223
+113,1.883333333,pose1_to_pose2_press,0.575710749661,5.45404143377e-05,1.06002924692,0.546281480916,0.00872727322269,1.05969853465
+114,1.900000000,pose1_to_pose2_press,0.575713287453,5.4511937157e-05,1.06002926207,0.546284019542,0.00872724774237,1.05969855414
+115,1.916666667,pose1_to_pose2_press,0.575718489889,5.4510675262e-05,1.06002916919,0.546289219242,0.00872723708676,1.05969845836
+116,1.933333333,pose1_to_pose2_press,0.575729406429,5.46160813661e-05,1.0600290572,0.546300136234,0.00872734430546,1.05969835364
+117,1.950000000,pose1_to_pose2_press,0.575747770738,5.46944120897e-05,1.060029088,0.546318500082,0.00872742108503,1.05969838476
+118,1.966666667,pose1_to_pose2_press,0.575776582677,5.45572124788e-05,1.06002915497,0.546347314449,0.00872729205019,1.05969844969
+119,1.983333333,pose1_to_pose2_press,0.575815932493,5.46277884574e-05,1.06002915473,0.54638666254,0.0087273565713,1.05969844409
+120,2.000000000,pose1_to_pose2_press,0.575865449338,5.44866106736e-05,1.0600290401,0.546436180968,0.0087272206665,1.05969832684
+121,2.016666667,pose1_to_pose2_press,0.575924082661,5.45401253084e-05,1.06002893712,0.546494813807,0.00872727292607,1.05969823398
+122,2.033333333,pose1_to_pose2_press,0.575992642729,5.4509063845e-05,1.06002913661,0.546563373396,0.00872724011128,1.05969843002
+123,2.050000000,pose1_to_pose2_press,0.576070339301,5.44108884928e-05,1.06002915113,0.546641071342,0.00872714646874,1.05969844106
+124,2.066666667,pose1_to_pose2_press,0.576158051765,5.45182622458e-05,1.06002921238,0.546728782365,0.00872724894798,1.05969850212
+125,2.083333333,pose1_to_pose2_press,0.576261227134,5.45470563773e-05,1.06002922644,0.546831957125,0.00872727561412,1.05969851456
+126,2.100000000,pose1_to_pose2_press,0.576379522413,5.43938782668e-05,1.06002912199,0.546950255878,0.00872713409011,1.05969840652
+127,2.116666667,pose1_to_pose2_press,0.576515989949,5.44603283805e-05,1.06002905327,0.547086722577,0.00872719770197,1.05969833782
+128,2.133333333,pose1_to_pose2_press,0.576672370245,5.46000087575e-05,1.06002908522,0.547243100112,0.00872732823401,1.05969837547
+129,2.150000000,pose1_to_pose2_press,0.576850851132,5.44933155245e-05,1.06002912318,0.54742158207,0.00872722498872,1.05969840844
+130,2.166666667,pose1_to_pose2_press,0.577049745362,5.44316123987e-05,1.06002912057,0.54762047692,0.00872716528933,1.05969840324
+131,2.183333333,pose1_to_pose2_press,0.577269260853,5.45765535629e-05,1.06002916843,0.547839991561,0.00872730751612,1.05969845543
+132,2.200000000,pose1_to_pose2_press,0.577510532023,5.4599118877e-05,1.0600291632,0.548081262386,0.00872732895168,1.05969845126
+133,2.216666667,pose1_to_pose2_press,0.57777471963,5.45478286105e-05,1.06002922387,0.548345450644,0.00872727984649,1.05969851129
+134,2.233333333,pose1_to_pose2_press,0.57806560403,5.4559967693e-05,1.06002917102,0.548636334271,0.00872728933847,1.05969845767
+135,2.250000000,pose1_to_pose2_press,0.578380735269,5.44878846342e-05,1.06002909161,0.548951465527,0.0087272175011,1.05969838314
+136,2.266666667,pose1_to_pose2_press,0.578719148564,5.45403132644e-05,1.06002913966,0.549289878068,0.0087272674265,1.05969843261
+137,2.283333333,pose1_to_pose2_press,0.579084203723,5.46985103891e-05,1.0600291535,0.549654931774,0.00872742055172,1.05969844273
+138,2.300000000,pose1_to_pose2_press,0.579470322934,5.46485889326e-05,1.06002917054,0.550041053087,0.00872737765066,1.05969845672
+139,2.316666667,pose1_to_pose2_press,0.579871218138,5.45553484231e-05,1.06002928963,0.550441949272,0.00872728782622,1.05969857804
+140,2.333333333,pose1_to_pose2_press,0.580290583946,5.46210511842e-05,1.0600292487,0.55086131386,0.00872734965608,1.0596985441
+141,2.350000000,pose1_to_pose2_press,0.580732335257,5.45465263989e-05,1.06002922179,0.551303066465,0.00872727921173,1.05969850897
+142,2.366666667,pose1_to_pose2_press,0.58119705667,5.44398165779e-05,1.06002918891,0.551767788558,0.00872717471916,1.05969847375
+143,2.383333333,pose1_to_pose2_press,0.581687960501,5.45019127729e-05,1.06002911555,0.552258691661,0.00872723470296,1.05969840969
+144,2.400000000,pose1_to_pose2_press,0.58221654406,5.44633313902e-05,1.06002927472,0.552787276829,0.00872720139817,1.05969856403
+145,2.416666667,pose1_to_pose2_press,0.58277497494,5.44685709047e-05,1.06002922525,0.553345707502,0.00872720592569,1.05969851429
+146,2.433333333,pose1_to_pose2_press,0.583356005691,5.45125627596e-05,1.06002915486,0.553926737955,0.00872724890512,1.05969844372
+147,2.450000000,pose1_to_pose2_press,0.583957183382,5.453839522e-05,1.06002911523,0.554527914528,0.00872727081768,1.05969840071
+148,2.466666667,pose1_to_pose2_press,0.584579142102,5.45761307098e-05,1.06002902861,0.555149871586,0.00872730308482,1.05969831867
+149,2.483333333,pose1_to_pose2_press,0.58522054115,5.45534955551e-05,1.06002905319,0.555791270957,0.00872728176645,1.05969834891
+150,2.500000000,pose1_to_pose2_press,0.585884794057,5.44742105991e-05,1.06002908589,0.556455524487,0.00872720450511,1.05969837919
+151,2.516666667,pose1_to_pose2_press,0.586579649386,5.44723292571e-05,1.06002902863,0.557150380382,0.00872720448187,1.05969832039
+152,2.533333333,pose1_to_pose2_press,0.587291840084,5.45060166587e-05,1.06002902102,0.557862570457,0.00872723610147,1.05969831393
+153,2.550000000,pose1_to_pose2_press,0.588011466818,5.45604443717e-05,1.06002905891,0.558582196346,0.00872728778633,1.05969835506
+154,2.566666667,pose1_to_pose2_press,0.588735094766,5.45395168719e-05,1.06002920574,0.559305825153,0.0087272694927,1.05969849454
+155,2.583333333,pose1_to_pose2_press,0.589463515242,5.44598025173e-05,1.06002925423,0.560034246896,0.00872719384398,1.0596985369
+156,2.600000000,pose1_to_pose2_press,0.590206593826,5.45903717574e-05,1.0600290151,0.560777323056,0.00872731655035,1.05969830724
+157,2.616666667,pose1_to_pose2_press,0.590968883378,5.46290511354e-05,1.0600289095,0.561539612119,0.00872735356029,1.05969820142
+158,2.633333333,pose1_to_pose2_press,0.591754939012,5.45801608892e-05,1.06002921705,0.562325668233,0.00872730605501,1.05969850255
+159,2.650000000,pose1_to_pose2_press,0.592562514634,5.46312561702e-05,1.06002930022,0.56313324396,0.00872735748712,1.05969858527
+160,2.666666667,pose1_to_pose2_press,0.593391974072,5.45104584563e-05,1.06002927855,0.563962705869,0.00872724523768,1.05969856788
+161,2.683333333,pose1_to_pose2_press,0.594227708602,5.45097424009e-05,1.06002932486,0.564798439789,0.00872724245408,1.05969861426
+162,2.700000000,pose1_to_pose2_press,0.595067088348,5.46075432989e-05,1.06002925444,0.565637818302,0.00872733606928,1.05969854386
+163,2.716666667,pose1_to_pose2_press,0.595892266349,5.46729014472e-05,1.06002918952,0.566462995726,0.00872739931585,1.05969847495
+164,2.733333333,pose1_to_pose2_press,0.596702058653,5.45585330074e-05,1.06002928066,0.567272789672,0.00872729062902,1.05969856902
+165,2.750000000,pose1_to_pose2_press,0.59749915126,5.44736311748e-05,1.0600290134,0.568069883624,0.00872721054188,1.05969830832
+166,2.766666667,pose1_to_pose2_press,0.598300522037,5.4568432169e-05,1.06002911718,0.568871250587,0.00872729176111,1.05969839539
+167,2.783333333,pose1_to_pose2_press,0.59911573229,5.45106066285e-05,1.0600292117,0.569686462917,0.00872724115261,1.05969849444
+168,2.800000000,pose1_to_pose2_press,0.599956693127,5.44177066783e-05,1.06002925107,0.570527426366,0.00872715733312,1.05969853955
+169,2.816666667,pose1_to_pose2_press,0.600817023559,5.45613302146e-05,1.0600292191,0.571387754209,0.00872729193241,1.05969850136
+170,2.833333333,pose1_to_pose2_press,0.601682606573,5.45943651118e-05,1.06002930161,0.572253336216,0.00872732159174,1.05969858508
+171,2.850000000,pose1_to_pose2_press,0.602532333281,5.45612611945e-05,1.06002928139,0.573103063606,0.00872729095456,1.05969856892
+172,2.866666667,pose1_to_pose2_press,0.603355136067,5.44577358995e-05,1.06002923411,0.573925866653,0.00872718834009,1.05969852234
+173,2.883333333,pose1_to_pose2_press,0.604142270787,5.45743453049e-05,1.06002921288,0.574713000876,0.00872730318592,1.05969849914
+174,2.900000000,pose1_to_pose2_press,0.604895221276,5.45800405324e-05,1.06002932587,0.575465951798,0.00872731031325,1.05969861128
+175,2.916666667,pose1_to_pose2_press,0.605643686864,5.44683726521e-05,1.0600293427,0.576214418855,0.00872720361189,1.05969862767
+176,2.933333333,pose1_to_pose2_press,0.606391534033,5.4558794201e-05,1.06002917841,0.576962263876,0.00872728702695,1.05969847089
+177,2.950000000,pose1_to_pose2_press,0.60714126245,5.46409132867e-05,1.0600292035,0.577711991426,0.00872736612179,1.05969849386
+178,2.966666667,pose1_to_pose2_press,0.607895997312,5.47158372655e-05,1.0600290232,0.578466724428,0.00872743473852,1.0596983138
+179,2.983333333,pose1_to_pose2_press,0.608650505566,5.47037195574e-05,1.06002898931,0.579221232786,0.00872742329233,1.05969828836
+180,3.000000000,pose1_to_pose2_press,0.609371932801,5.46584571047e-05,1.06002910196,0.5799426627,0.00872738701504,1.05969839835
+181,3.016666667,pose1_to_pose2_press,0.610058316188,5.45856014416e-05,1.06002928756,0.580629047745,0.00872731946327,1.05969857554
+182,3.033333333,pose1_to_pose2_press,0.610702474745,5.46162454011e-05,1.06002927648,0.581273205686,0.00872734812362,1.05969856737
+183,3.050000000,pose1_to_pose2_press,0.611311771062,5.4541681286e-05,1.06002932192,0.581882501935,0.00872727326394,1.05969861127
+184,3.066666667,pose1_to_pose2_press,0.611887672566,5.45904050577e-05,1.0600293782,0.582458402901,0.00872731996719,1.05969866239
+185,3.083333333,pose1_to_pose2_press,0.612433992419,5.45277364232e-05,1.06002927905,0.583004722658,0.00872725688871,1.05969856076
+186,3.100000000,pose1_to_pose2_press,0.612952011182,5.45744121286e-05,1.06002911694,0.583522740174,0.00872729978344,1.05969840862
+187,3.116666667,pose1_to_pose2_press,0.613457200834,5.46743844487e-05,1.06002900899,0.584027929601,0.00872739960706,1.05969831001
+188,3.133333333,pose1_to_pose2_press,0.613952614415,5.45699211104e-05,1.06002923141,0.58452334421,0.00872729895718,1.05969852847
+189,3.150000000,pose1_to_pose2_press,0.614438791534,5.46689240686e-05,1.06002911729,0.585009520995,0.00872739764433,1.05969841631
+190,3.166666667,pose1_to_pose2_press,0.614913892533,5.45574254173e-05,1.06002939626,0.585484624221,0.00872729405928,1.05969868505
+191,3.183333333,pose1_to_pose2_press,0.615373912213,5.45661962476e-05,1.06002918762,0.585944641153,0.00872729410319,1.05969847084
+192,3.200000000,pose1_to_pose2_press,0.615797578948,5.43085354058e-05,1.06002931143,0.586368312143,0.00872705172804,1.05969859105
+193,3.216666667,pose1_to_pose2_press,0.616183477132,5.45755046713e-05,1.06002918489,0.586754207597,0.00872731042672,1.05969847036
+194,3.233333333,pose1_to_pose2_press,0.616535263267,5.44883456802e-05,1.06002906698,0.58710599361,0.00872722367154,1.05969835408
+195,3.250000000,pose1_to_pose2_press,0.616859881283,5.4536242934e-05,1.0600292618,0.587430609153,0.00872726367475,1.05969854377
+196,3.266666667,pose1_to_pose2_press,0.617160749279,5.43825606145e-05,1.06002899364,0.587731479653,0.00872711952565,1.05969828595
+197,3.283333333,pose1_to_pose2_press,0.617448972624,5.44520927753e-05,1.0600290306,0.588019701053,0.00872718331201,1.05969832761
+198,3.300000000,pose1_to_pose2_press,0.617725597667,5.45863603513e-05,1.06002921495,0.588296325157,0.00872731480182,1.05969850697
+199,3.316666667,pose1_to_pose2_press,0.617983675926,5.4711120038e-05,1.0600293542,0.588554401423,0.00872743314427,1.05969864193
+200,3.333333333,pose1_to_pose2_press,0.618222680624,5.45776351734e-05,1.06002917236,0.58879340775,0.00872730595153,1.05969846508
+201,3.350000000,pose1_to_pose2_press,0.618439237365,5.4548739386e-05,1.06002922559,0.58900996644,0.00872728392883,1.05969851563
+202,3.366666667,pose1_to_pose2_press,0.618635007634,5.4624726277e-05,1.0600292912,0.589205735338,0.00872735567963,1.05969857652
+203,3.383333333,pose1_to_pose2_press,0.618809642286,5.456977189e-05,1.06002918338,0.58938036869,0.008727296761,1.05969846644
+204,3.400000000,pose1_to_pose2_press,0.61896739423,5.45569669708e-05,1.06002925743,0.589538120605,0.00872728387484,1.05969853504
+205,3.416666667,pose1_to_pose2_press,0.619108991323,5.45716687944e-05,1.06002915447,0.589679718075,0.00872730041078,1.05969843738
+206,3.433333333,pose1_to_pose2_press,0.619235292502,5.4596366842e-05,1.06002905238,0.58980601903,0.00872732492742,1.05969834358
+207,3.450000000,pose1_to_pose2_press,0.619346931637,5.45678113127e-05,1.06002916351,0.589917660016,0.00872730297617,1.05969845687
+208,3.466666667,pose1_to_pose2_press,0.619442750967,5.44749575432e-05,1.06002902895,0.590013480487,0.00872721443725,1.05969832943
+209,3.483333333,pose1_to_pose2_press,0.619524899154,5.45836285119e-05,1.06002913623,0.590095626033,0.00872731450861,1.0596984291
+210,3.500000000,pose1_to_pose2_press,0.619593342135,5.46091877869e-05,1.0600291518,0.590164068517,0.00872733908595,1.0596984421
+211,3.516666667,pose1_to_pose2_press,0.619649643109,5.45693551786e-05,1.06002912754,0.59022037067,0.00872730305477,1.05969842333
+212,3.533333333,pose1_to_pose2_press,0.619694818935,5.45383515157e-05,1.06002919595,0.590265546543,0.00872727173871,1.05969848447
+213,3.550000000,pose1_to_pose2_press,0.619730570897,5.4804574818e-05,1.06002925292,0.590301293869,0.0087275223898,1.05969854301
+214,3.566666667,pose1_to_pose2_press,0.619758279706,5.46671479099e-05,1.06002915506,0.590329006278,0.00872739669644,1.059698447
+215,3.583333333,pose1_to_pose2_press,0.619778668813,5.46613109503e-05,1.06002924128,0.590349396679,0.00872739548522,1.05969853595
+216,3.600000000,pose1_to_pose2_press,0.619794614432,5.45998802599e-05,1.06002937506,0.590365341988,0.00872733311784,1.05969866194
+217,3.616666667,pose1_to_pose2_press,0.619806294401,5.46007619626e-05,1.06002928364,0.590377021711,0.00872733299574,1.05969856878
+218,3.633333333,pose1_to_pose2_press,0.619814495767,5.45893611311e-05,1.06002915556,0.590385223169,0.00872732185949,1.05969844434
+219,3.650000000,pose1_to_pose2_press,0.61981984128,5.45148727298e-05,1.06002912631,0.590390569108,0.0087272491178,1.05969842186
+220,3.666666667,pose1_to_pose2_press,0.619822919336,5.45344098859e-05,1.06002904355,0.590393646634,0.00872726702421,1.05969834078
+221,3.683333333,pose1_to_pose2_press,0.61982484566,5.45753771123e-05,1.06002896142,0.590395572269,0.0087273057571,1.05969825866
+222,3.700000000,pose1_to_pose2_press,0.619826099457,5.46020416655e-05,1.06002890796,0.590396825617,0.00872733096738,1.05969820522
+223,3.716666667,pose1_to_pose2_press,0.61982673776,5.4615616501e-05,1.06002888074,0.590397463693,0.00872734380185,1.05969817801
+224,3.733333333,pose1_to_pose2_press,0.619826858847,5.46173373756e-05,1.06002887793,0.590397584742,0.00872734539994,1.05969817517
+225,3.750000000,pose1_to_pose2_press,0.619827388444,5.46037485279e-05,1.06002892368,0.590398114325,0.00872733171074,1.05969821995
+226,3.766666667,pose1_to_pose2_press,0.619827986013,5.45884155902e-05,1.0600289753,0.590398711878,0.00872731626457,1.05969827048
+227,3.783333333,pose1_to_pose2_press,0.619828227157,5.4582228097e-05,1.06002899613,0.590398953016,0.00872731003138,1.05969829087
+228,3.800000000,pose1_to_pose2_press,0.619828703282,5.45700112856e-05,1.06002903727,0.590399429127,0.00872729772435,1.05969833113
+229,3.816666667,pose1_to_pose2_press,0.619829489327,5.4549842266e-05,1.06002910517,0.590400215151,0.00872727740638,1.0596983976
+230,3.833333333,pose1_to_pose2_press,0.619829764355,5.45427853422e-05,1.06002912893,0.590400490172,0.00872727029734,1.05969842085
+231,3.850000000,pose1_to_pose2_press,0.619829766594,5.45427279112e-05,1.06002912912,0.59040049241,0.00872727023949,1.05969842104
+232,3.866666667,pose1_to_pose2_press,0.619830120038,5.45351596213e-05,1.06002915538,0.590400845867,0.00872726267409,1.05969844661
+233,3.883333333,pose1_to_pose2_press,0.619830481446,5.45441878524e-05,1.06002913448,0.59040120753,0.00872727248585,1.05969842446
+234,3.900000000,pose1_to_pose2_press,0.619830656153,5.45485521682e-05,1.06002912437,0.59040138236,0.00872727722894,1.05969841375
+235,3.916666667,pose1_to_pose2_press,0.619830913354,5.45549772273e-05,1.0600291095,0.590401639742,0.00872728421161,1.05969839799
+236,3.933333333,pose1_to_pose2_press,0.619831210726,5.45624058094e-05,1.0600290923,0.590401937324,0.0087272922849,1.05969837976
+237,3.950000000,pose1_to_pose2_press,0.619831401112,5.45671617943e-05,1.06002908128,0.590402127845,0.00872729745364,1.05969836809
+238,3.966666667,pose1_to_pose2_press,0.619831578979,5.4571605024e-05,1.060029071,0.590402305836,0.00872730228249,1.05969835719
+239,3.983333333,pose1_to_pose2_press,0.61983175242,5.45759377217e-05,1.06002906096,0.5904024794,0.00872730699121,1.05969834656
+240,4.000000000,pose1_to_pose2_press,0.619831934121,5.4540104597e-05,1.06002905511,0.590402661479,0.00872727248655,1.05969834167
+241,4.016666667,pose1_to_pose2_press,0.619832200738,5.44855516736e-05,1.06002904676,0.590402928664,0.00872721992862,1.0596983348
+242,4.033333333,pose1_to_pose2_press,0.619832427456,5.44523816066e-05,1.06002903039,0.590403155625,0.00872718764457,1.05969831977
+243,4.050000000,pose1_to_pose2_press,0.619832548666,5.45279053795e-05,1.06002895629,0.590403275272,0.00872725792472,1.05969824688
+244,4.066666667,pose1_to_pose2_press,0.619832501265,5.45588157051e-05,1.06002899699,0.590403228553,0.00872729142802,1.05969829381
+245,4.083333333,pose2_hold,0.619832501265,5.45588157051e-05,1.06002899699,0.590403228556,0.00872729142917,1.05969829381
+246,4.100000000,pose2_hold,0.619832501265,5.45588157051e-05,1.06002899699,0.590403228556,0.00872729142901,1.05969829381
+247,4.116666667,pose2_hold,0.619832501265,5.45588157051e-05,1.06002899699,0.590403228556,0.00872729142901,1.05969829381
+248,4.133333333,pose2_hold,0.619832501265,5.45588157051e-05,1.06002899699,0.590403228556,0.00872729142862,1.05969829381
+249,4.150000000,pose2_hold,0.619832501265,5.45588157051e-05,1.06002899699,0.590403228557,0.00872729142761,1.05969829381
+250,4.166666667,pose2_hold,0.619832501265,5.45588157051e-05,1.06002899699,0.590403228556,0.00872729142957,1.05969829381
+251,4.183333333,pose2_hold,0.619832501265,5.45588157051e-05,1.06002899699,0.590403228556,0.00872729142867,1.05969829381
+252,4.200000000,pose2_hold,0.619832501265,5.45588157051e-05,1.06002899699,0.590403228556,0.00872729142917,1.05969829381
+253,4.216666667,pose2_hold,0.619832501265,5.45588157051e-05,1.06002899699,0.590403228556,0.00872729142958,1.05969829381
+254,4.233333333,pose2_hold,0.619832501265,5.45588157051e-05,1.06002899699,0.590403228556,0.0087272914288,1.05969829381
+255,4.250000000,pose2_hold,0.619832501265,5.45588157051e-05,1.06002899699,0.590403228556,0.0087272914292,1.05969829381
+256,4.266666667,pose2_hold,0.619832501265,5.45588157051e-05,1.06002899699,0.590403228556,0.00872729142892,1.05969829381
+257,4.283333333,pose2_hold,0.619832501265,5.45588157051e-05,1.06002899699,0.590403228557,0.00872729142951,1.05969829381
+258,4.300000000,pose2_hold,0.619832501265,5.45588157051e-05,1.06002899699,0.590403228557,0.00872729142931,1.05969829381
+259,4.316666667,pose2_hold,0.619832501265,5.45588157051e-05,1.06002899699,0.590403228556,0.00872729142905,1.05969829381
+260,4.333333333,pose2_hold,0.619832501265,5.45588157051e-05,1.06002899699,0.590403228557,0.00872729142929,1.05969829381
+261,4.350000000,pose2_hold,0.619832501265,5.45588157051e-05,1.06002899699,0.590403228557,0.00872729142965,1.05969829381
+262,4.366666667,pose2_hold,0.619832501265,5.45588157051e-05,1.06002899699,0.590403228557,0.00872729142909,1.05969829381
+263,4.383333333,pose2_to_pose3_retreat,0.619832563264,5.45682305567e-05,1.06002888592,0.590403288971,0.00872729539764,1.05969818137
+264,4.400000000,pose2_to_pose3_retreat,0.61983255676,5.45707538446e-05,1.06002892049,0.590403282286,0.00872729726749,1.0596982149
+265,4.416666667,pose2_to_pose3_retreat,0.619832556727,5.45707667424e-05,1.06002892066,0.590403282252,0.00872729727705,1.05969821507
+266,4.433333333,pose2_to_pose3_retreat,0.619832549657,5.45735097181e-05,1.06002895824,0.590403274985,0.0087272993097,1.05969825151
+267,4.450000000,pose2_to_pose3_retreat,0.619832357447,5.45458198403e-05,1.06002908498,0.590403083768,0.00872727487421,1.05969837548
+268,4.466666667,pose2_to_pose3_retreat,0.619831612596,5.449325623e-05,1.06002905065,0.590402340835,0.00872722883839,1.05969834138
+269,4.483333333,pose2_to_pose3_retreat,0.619828755273,5.44603192392e-05,1.06002888167,0.590399481544,0.00872718944159,1.0596981782
+270,4.500000000,pose2_to_pose3_retreat,0.619820880431,5.45006522614e-05,1.06002917706,0.590391609037,0.0087272375377,1.05969847056
+271,4.516666667,pose2_to_pose3_retreat,0.619804836736,5.45820072505e-05,1.06002921076,0.590375563961,0.00872731425254,1.0596985063
+272,4.533333333,pose2_to_pose3_retreat,0.619777951412,5.46337096886e-05,1.06002917056,0.590348676395,0.00872735790025,1.05969845646
+273,4.550000000,pose2_to_pose3_retreat,0.619738568569,5.46478301691e-05,1.06002920857,0.590309293859,0.00872737326375,1.05969850288
+274,4.566666667,pose2_to_pose3_retreat,0.619687849803,5.47331203285e-05,1.0600291581,0.59025857472,0.00872745661821,1.05969844807
+275,4.583333333,pose2_to_pose3_retreat,0.619626995291,5.45259095164e-05,1.06002928306,0.590197722324,0.00872725605206,1.0596985683
+276,4.600000000,pose2_to_pose3_retreat,0.619555943367,5.45723899723e-05,1.06002914883,0.590126671243,0.00872730518953,1.05969843629
+277,4.616666667,pose2_to_pose3_retreat,0.619475103071,5.46288247312e-05,1.06002908174,0.590045828428,0.0087273536505,1.05969836786
+278,4.633333333,pose2_to_pose3_retreat,0.61938328679,5.46021766516e-05,1.06002926318,0.589954014131,0.00872733370922,1.05969855367
+279,4.650000000,pose2_to_pose3_retreat,0.619274540316,5.4648824083e-05,1.06002917165,0.589845265992,0.00872737430722,1.05969845887
+280,4.666666667,pose2_to_pose3_retreat,0.619147324112,5.4663762477e-05,1.06002916507,0.589718049186,0.00872738692205,1.05969845167
+281,4.683333333,pose2_to_pose3_retreat,0.618998155241,5.4771343058e-05,1.06002888754,0.589568881056,0.00872749710808,1.05969818608
+282,4.700000000,pose2_to_pose3_retreat,0.618827756954,5.47137129195e-05,1.0600290239,0.589398482819,0.00872743907977,1.05969831769
+283,4.716666667,pose2_to_pose3_retreat,0.618635361753,5.45121494581e-05,1.06002917978,0.589206091174,0.00872724886567,1.05969846382
+284,4.733333333,pose2_to_pose3_retreat,0.618424836295,5.46287238257e-05,1.06002926317,0.588995563169,0.00872735662376,1.05969855658
+285,4.750000000,pose2_to_pose3_retreat,0.618195960514,5.45298258464e-05,1.06002925958,0.588766690087,0.00872726629656,1.05969855212
+286,4.766666667,pose2_to_pose3_retreat,0.617945009091,5.45385955203e-05,1.06002903541,0.588515737039,0.00872726896339,1.05969832566
+287,4.783333333,pose2_to_pose3_retreat,0.617671762997,5.47139524471e-05,1.06002897718,0.588242491033,0.00872744440589,1.05969828014
+288,4.800000000,pose2_to_pose3_retreat,0.617375614325,5.45029511292e-05,1.0600292343,0.587946344339,0.00872723899448,1.0596985263
+289,4.816666667,pose2_to_pose3_retreat,0.617056731559,5.44999366626e-05,1.06002917235,0.587627461026,0.00872723343388,1.05969846388
+290,4.833333333,pose2_to_pose3_retreat,0.616713034312,5.45426937753e-05,1.06002925369,0.587283763597,0.00872727468657,1.05969854158
+291,4.850000000,pose2_to_pose3_retreat,0.616351012538,5.45602556181e-05,1.0600290558,0.586921741115,0.00872728951131,1.0596983555
+292,4.866666667,pose2_to_pose3_retreat,0.615970873986,5.4583161581e-05,1.06002906714,0.586541602771,0.00872731229273,1.05969836658
+293,4.883333333,pose2_to_pose3_retreat,0.61556278024,5.46210975313e-05,1.06002913824,0.586133509029,0.00872734921873,1.05969843239
+294,4.900000000,pose2_to_pose3_retreat,0.615126755237,5.4595836389e-05,1.06002905882,0.585697484975,0.00872732647624,1.05969835776
+295,4.916666667,pose2_to_pose3_retreat,0.61465857181,5.46276578576e-05,1.06002906258,0.585229301335,0.00872735656008,1.05969835963
+296,4.933333333,pose2_to_pose3_retreat,0.614156459103,5.46913886109e-05,1.0600290295,0.584727187539,0.00872741550388,1.05969832379
+297,4.950000000,pose2_to_pose3_retreat,0.613617019196,5.46161067854e-05,1.06002898705,0.584187748149,0.00872734103181,1.05969828317
+298,4.966666667,pose2_to_pose3_retreat,0.613054170943,5.45636621816e-05,1.06002924937,0.583624900898,0.00872729077424,1.05969853962
+299,4.983333333,pose2_to_pose3_retreat,0.612470383255,5.45049496532e-05,1.06002939704,0.58304111571,0.00872723952425,1.05969868588
+300,5.000000000,pose2_to_pose3_retreat,0.611866388466,5.44679156933e-05,1.06002940982,0.582437120998,0.00872720160945,1.05969869428
+301,5.016666667,pose2_to_pose3_retreat,0.611245287994,5.4621781185e-05,1.06002930985,0.581816017576,0.00872734463637,1.0596985983
+302,5.033333333,pose2_to_pose3_retreat,0.610607822844,5.46365727116e-05,1.06002915288,0.581178553035,0.0087273605314,1.05969844174
+303,5.050000000,pose2_to_pose3_retreat,0.609942568958,5.45180805591e-05,1.06002918943,0.5805133016,0.00872724909884,1.05969847847
+304,5.066666667,pose2_to_pose3_retreat,0.60924444988,5.4584339431e-05,1.06002925952,0.579815181506,0.00872731089273,1.05969854696
+305,5.083333333,pose2_to_pose3_retreat,0.608519419671,5.4578512508e-05,1.06002923084,0.579090151339,0.00872730455624,1.05969851539
+306,5.100000000,pose2_to_pose3_retreat,0.607766185592,5.45276130155e-05,1.0600293471,0.578336918015,0.00872725938824,1.05969863518
+307,5.116666667,pose2_to_pose3_retreat,0.606974536566,5.44979777547e-05,1.06002911516,0.577545267555,0.00872723024217,1.05969841329
+308,5.133333333,pose2_to_pose3_retreat,0.606157087951,5.45943073431e-05,1.06002909346,0.576727819013,0.00872732674763,1.05969838832
+309,5.150000000,pose2_to_pose3_retreat,0.605321164306,5.45423986777e-05,1.06002906072,0.575891894195,0.00872727066875,1.0596983512
+310,5.166666667,pose2_to_pose3_retreat,0.60447768282,5.45046310528e-05,1.06002916962,0.575048413189,0.00872723439575,1.05969845652
+311,5.183333333,pose2_to_pose3_retreat,0.603633314452,5.45139247922e-05,1.06002911498,0.574204044477,0.00872724260896,1.05969840506
+312,5.200000000,pose2_to_pose3_retreat,0.602798472257,5.45708223742e-05,1.06002904578,0.573369201947,0.00872729860782,1.05969834171
+313,5.216666667,pose2_to_pose3_retreat,0.601967190972,5.45695280555e-05,1.06002928715,0.572537920698,0.00872729702285,1.05969857169
+314,5.233333333,pose2_to_pose3_retreat,0.601126275939,5.45897671046e-05,1.06002943134,0.571697006199,0.0087273191203,1.05969871724
+315,5.250000000,pose2_to_pose3_retreat,0.600268364777,5.44083181883e-05,1.06002912179,0.570839097239,0.00872714553767,1.0596984172
+316,5.266666667,pose2_to_pose3_retreat,0.599392015232,5.4585954891e-05,1.06002918304,0.569962745908,0.00872731689738,1.05969847412
+317,5.283333333,pose2_to_pose3_retreat,0.598487392631,5.45869928119e-05,1.06002915777,0.569058121438,0.00872731176695,1.05969845295
+318,5.300000000,pose2_to_pose3_retreat,0.597561450953,5.44688975515e-05,1.06002897317,0.568132181457,0.00872719937102,1.05969826595
+319,5.316666667,pose2_to_pose3_retreat,0.596653923646,5.44875810255e-05,1.06002915848,0.567224654829,0.00872722013235,1.05969844649
+320,5.333333333,pose2_to_pose3_retreat,0.595765643034,5.44101894385e-05,1.06002910464,0.56633637359,0.00872714065831,1.05969839386
+321,5.350000000,pose2_to_pose3_retreat,0.594898931087,5.45502163256e-05,1.06002915808,0.565469660605,0.00872727716116,1.05969844709
+322,5.366666667,pose2_to_pose3_retreat,0.594061904566,5.46810358372e-05,1.06002930379,0.564632632678,0.00872740307973,1.05969858933
+323,5.383333333,pose2_to_pose3_retreat,0.593249274061,5.4639666378e-05,1.06002908145,0.563820002424,0.00872736254937,1.0596983665
+324,5.400000000,pose2_to_pose3_retreat,0.592431529672,5.45401287747e-05,1.06002910736,0.563002260795,0.00872727257506,1.05969839716
+325,5.416666667,pose2_to_pose3_retreat,0.591605480911,5.46725451988e-05,1.06002896209,0.562176209593,0.00872739690854,1.05969825632
+326,5.433333333,pose2_to_pose3_retreat,0.590764171318,5.45871491404e-05,1.0600292491,0.561334903257,0.0087273224314,1.05969853942
+327,5.450000000,pose2_to_pose3_retreat,0.589923025456,5.45240303379e-05,1.0600291901,0.560493757117,0.00872725829613,1.05969847855
+328,5.466666667,pose2_to_pose3_retreat,0.589094980059,5.46986903682e-05,1.06002930988,0.559665709556,0.00872742561001,1.0596985982
+329,5.483333333,pose2_to_pose3_retreat,0.588300150939,5.46048147953e-05,1.0600293787,0.558870880244,0.00872733079005,1.0596986594
+330,5.500000000,pose2_to_pose3_retreat,0.587544508096,5.44916451887e-05,1.06002913881,0.558115239107,0.00872722395237,1.05969843359
+331,5.516666667,pose2_to_pose3_retreat,0.586827839203,5.44378084176e-05,1.06002919372,0.557398571999,0.00872717569999,1.05969847615
+332,5.533333333,pose2_to_pose3_retreat,0.586138512744,5.45302859187e-05,1.06002916598,0.556709243784,0.00872726262097,1.0596984592
+333,5.550000000,pose2_to_pose3_retreat,0.585462213891,5.4754080184e-05,1.060029274,0.556032941963,0.00872747610352,1.05969856235
+334,5.566666667,pose2_to_pose3_retreat,0.584786703651,5.45343454459e-05,1.06002913013,0.555357433838,0.00872726377168,1.05969842378
+335,5.583333333,pose2_to_pose3_retreat,0.584111759248,5.45726784183e-05,1.06002902528,0.554682489391,0.00872730182711,1.0596983165
+336,5.600000000,pose2_to_pose3_retreat,0.583457290633,5.45244182121e-05,1.06002906192,0.554028020644,0.00872725291518,1.05969834705
+337,5.616666667,pose2_to_pose3_retreat,0.582828666291,5.45424190862e-05,1.06002905598,0.553399396939,0.00872727319513,1.05969834419
+338,5.633333333,pose2_to_pose3_retreat,0.582237512389,5.46585120524e-05,1.06002914173,0.552808240689,0.00872738127706,1.05969842835
+339,5.650000000,pose2_to_pose3_retreat,0.581679827557,5.44766371026e-05,1.06002910629,0.552250557159,0.00872720367069,1.05969838856
+340,5.666666667,pose2_to_pose3_retreat,0.581154461654,5.4701479492e-05,1.06002925773,0.551725189231,0.00872742176249,1.05969854322
+341,5.683333333,pose2_to_pose3_retreat,0.580657686364,5.45712111568e-05,1.06002904503,0.55122841634,0.00872729982341,1.05969833549
+342,5.700000000,pose2_to_pose3_retreat,0.580190822172,5.45807053763e-05,1.06002912889,0.550761553041,0.00872731246603,1.05969842241
+343,5.716666667,pose2_to_pose3_retreat,0.579757300224,5.44854248514e-05,1.06002905077,0.550328030375,0.00872721454509,1.05969833896
+344,5.733333333,pose2_to_pose3_retreat,0.579355111505,5.45974863048e-05,1.06002912642,0.549925841712,0.0087273270488,1.05969842135
+345,5.750000000,pose2_to_pose3_retreat,0.578982271566,5.45620710747e-05,1.06002913686,0.549553001554,0.00872729077101,1.05969842927
+346,5.766666667,pose2_to_pose3_retreat,0.578629469012,5.46680393681e-05,1.06002918668,0.549200199735,0.00872739883708,1.05969846854
+347,5.783333333,pose2_to_pose3_retreat,0.578294695075,5.45522715819e-05,1.06002904211,0.548865425457,0.00872728223757,1.05969833238
+348,5.800000000,pose2_to_pose3_retreat,0.577975342843,5.45396766536e-05,1.06002923009,0.548546073727,0.00872727146061,1.05969852341
+349,5.816666667,pose2_to_pose3_retreat,0.577673216226,5.46212990569e-05,1.06002916827,0.548243944916,0.00872734545988,1.05969845698
+350,5.833333333,pose2_to_pose3_retreat,0.577396445661,5.45411181844e-05,1.06002905044,0.547967175864,0.00872727034492,1.05969833714
+351,5.850000000,pose2_to_pose3_retreat,0.57714545786,5.45854477973e-05,1.0600291819,0.547716185777,0.0087273068351,1.05969846638
+352,5.866666667,pose2_to_pose3_retreat,0.576923515497,5.45623031124e-05,1.06002928332,0.547494245768,0.00872729177275,1.05969857043
+353,5.883333333,pose2_to_pose3_retreat,0.576727547208,5.45869915705e-05,1.06002917963,0.547298276973,0.00872731460405,1.05969846308
+354,5.900000000,pose2_to_pose3_retreat,0.57655761753,5.45108374161e-05,1.06002916685,0.547128350213,0.00872724853521,1.05969845517
+355,5.916666667,pose2_to_pose3_retreat,0.576408460307,5.43757474218e-05,1.06002927063,0.546979194963,0.00872712015823,1.05969855937
+356,5.933333333,pose2_to_pose3_retreat,0.576278320745,5.46079280574e-05,1.06002912536,0.546849051755,0.0087273402802,1.05969842243
+357,5.950000000,pose2_to_pose3_retreat,0.57616621478,5.44784092416e-05,1.06002890243,0.546736945506,0.00872720968756,1.05969819665
+358,5.966666667,pose2_to_pose3_retreat,0.576069411764,5.45748563896e-05,1.060028862,0.546640142336,0.00872730591876,1.05969816495
+359,5.983333333,pose2_to_pose3_retreat,0.575987848402,5.46135685048e-05,1.06002892936,0.546558577315,0.0087273384128,1.05969821664
+360,6.000000000,pose2_to_pose3_retreat,0.575919888907,5.44908703279e-05,1.06002918757,0.546490618792,0.00872721886502,1.05969847091
+361,6.016666667,pose2_to_pose3_retreat,0.575864941131,5.45960758886e-05,1.06002928756,0.546435670175,0.00872732135225,1.05969857443
+362,6.033333333,pose2_to_pose3_retreat,0.575821838456,5.45583559015e-05,1.06002930092,0.546392568569,0.008727287122,1.05969858417
+363,6.050000000,pose2_to_pose3_retreat,0.575788735742,5.46422380012e-05,1.06002927243,0.546359465761,0.00872737099011,1.05969856364
+364,6.066666667,pose2_to_pose3_retreat,0.575764524308,5.46711874681e-05,1.0600292476,0.546335255343,0.00872740354603,1.05969854301
+365,6.083333333,pose2_to_pose3_retreat,0.575747232647,5.46469089332e-05,1.06002902187,0.54631796289,0.00872737642938,1.05969831337
+366,6.100000000,pose2_to_pose3_retreat,0.575736037414,5.4641030533e-05,1.06002895635,0.546306766465,0.00872736649838,1.05969824778
+367,6.116666667,pose2_to_pose3_retreat,0.575727815136,5.46515742975e-05,1.06002901632,0.546298543093,0.0087273734444,1.05969831072
+368,6.133333333,pose2_to_pose3_retreat,0.575722391113,5.46252833773e-05,1.06002912649,0.546293120301,0.00872735106701,1.05969841408
+369,6.150000000,pose2_to_pose3_retreat,0.575719194989,5.46083400388e-05,1.06002919032,0.546289924926,0.00872733652283,1.0596984743
+370,6.166666667,pose2_to_pose3_retreat,0.575717372768,5.45775584325e-05,1.06002921088,0.546288103463,0.00872730846395,1.05969849873
+371,6.183333333,pose2_to_pose3_retreat,0.575715885719,5.45524386563e-05,1.06002922767,0.546286617032,0.00872728556609,1.05969851868
+372,6.200000000,pose2_to_pose3_retreat,0.575714891398,5.45356422348e-05,1.06002923889,0.546285623126,0.00872727025537,1.05969853201
+373,6.216666667,pose2_to_pose3_retreat,0.575714430045,5.45278488978e-05,1.0600292441,0.546285161965,0.00872726315137,1.0596985382
+374,6.233333333,pose2_to_pose3_retreat,0.575713710005,5.4528632085e-05,1.06002920271,0.546284441905,0.00872726392367,1.05969849826
+375,6.250000000,pose2_to_pose3_retreat,0.575713044826,5.45416019357e-05,1.06002911764,0.546283776406,0.00872727585545,1.05969841446
+376,6.266666667,pose2_to_pose3_retreat,0.575712930352,5.45438339964e-05,1.060029103,0.546283661876,0.00872727790887,1.05969840003
+377,6.283333333,pose2_to_pose3_retreat,0.575712847594,5.45454476259e-05,1.06002909241,0.546283579079,0.00872727939335,1.05969838961
+378,6.300000000,pose2_to_pose3_retreat,0.575712644724,5.45494032475e-05,1.06002906647,0.546283376111,0.00872728303237,1.05969836405
+379,6.316666667,pose2_to_pose3_retreat,0.575712174855,5.45585648903e-05,1.06002900637,0.546282906015,0.00872729146075,1.05969830485
+380,6.333333333,pose2_to_pose3_retreat,0.575711505193,5.45716221603e-05,1.06002892073,0.54628223603,0.00872730347295,1.05969822048
+381,6.350000000,pose2_to_pose3_retreat,0.575710906516,5.45893007653e-05,1.06002891088,0.546281637011,0.00872731993421,1.05969820916
+382,6.366666667,pose2_to_pose3_retreat,0.575710548831,5.46081778635e-05,1.06002899738,0.546281279047,0.00872733769208,1.05969829114
+383,6.383333333,pose2_to_pose3_retreat,0.575710526233,5.4609370474e-05,1.06002900284,0.546281256432,0.00872733881398,1.05969829632
+384,6.400000000,pose2_to_pose3_retreat,0.575710354233,5.46184479495e-05,1.06002904444,0.546281084297,0.00872734735325,1.05969833574
+385,6.416666667,pose2_to_pose3_retreat,0.575710047542,5.46346337654e-05,1.0600291186,0.546280777367,0.0087273625794,1.05969840603
+386,6.433333333,pose2_to_pose3_retreat,0.575709773876,5.46431586558e-05,1.06002917363,0.546280503676,0.00872737092843,1.05969845868
+387,6.450000000,pose2_to_pose3_retreat,0.575709615257,5.46244056869e-05,1.06002916087,0.546280345797,0.00872735479791,1.05969844885
+388,6.466666667,pose2_to_pose3_retreat,0.575709611154,5.46239205449e-05,1.06002916054,0.546280341713,0.00872735438061,1.05969844859
+389,6.483333333,pose2_to_pose3_retreat,0.575709554614,5.46172359998e-05,1.06002915599,0.546280285437,0.00872734863084,1.05969844509
+390,6.500000000,pose2_to_pose3_retreat,0.575709513388,5.46123619585e-05,1.06002915267,0.546280244403,0.00872734443839,1.05969844253
+391,6.516666667,pose2_to_pose3_retreat,0.575709462123,5.46063010586e-05,1.06002914855,0.546280193377,0.00872733922506,1.05969843936
+392,6.533333333,pose2_to_pose3_retreat,0.575709317108,5.45926854389e-05,1.06002914178,0.546280048865,0.00872732737531,1.05969843414
+393,6.550000000,pose2_to_pose3_retreat,0.575709281506,5.46003646367e-05,1.06002915544,0.546280012846,0.0087273335152,1.05969844463
+394,6.566666667,pose2_to_pose3_retreat,0.57570927985,5.46007218102e-05,1.06002915608,0.54628001117,0.00872733380077,1.05969844512
+395,6.583333333,pose2_to_pose3_retreat,0.575709222003,5.46131993396e-05,1.06002917827,0.546279952644,0.00872734377716,1.05969846216
+396,6.600000000,pose2_to_pose3_retreat,0.575709217795,5.46132878016e-05,1.06002917018,0.54627994828,0.00872734330056,1.05969845311
+397,6.616666667,pose2_to_pose3_retreat,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398283,1.05969835126
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_03/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_03/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6f68d64f2c92276152e604894c7efcf4f882ac85
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_03/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:18d1f47aae7e8a02f1cf8822ca02a0b0e7058dd25af0eeb8967e62dc13c4ec4d
+size 25440555
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_03/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_03/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d4fa430ccdec44c1255ca1f08e29a5fbb5aa3e4a
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_03/depth_04/franka_data.csv
@@ -0,0 +1,402 @@
+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,764,742,712,672,659,633,877,784,800,649,629,651,0.400958269472,-0.00539708454283,0.0698242101005,0.999999935822,0.000216479550256,-0.000284514128366,2.33382124861e-05,1793193355854809088
+1,0.016666667,BASELINE,764,742.573953908,712,671.426046092,659.573953908,633,877,784,799.426046092,649,629,651,0.400958935344,-0.00539925983321,0.0698246858061,0.999999936734,0.000214031734082,-0.000283139798695,2.3539843221e-05,1793193355871475712
+2,0.033333333,BASELINE,764,743,712,671.151798698,659.848201302,633,877,784,799,649,628.848201302,651,0.400959290551,-0.00540096206573,0.0698249510512,0.999999937416,0.000211705395642,-0.000282466097141,2.37096662369e-05,1793193355888142336
+3,0.050000000,BASELINE,764,743,712,671.740851248,659.259148752,633,877,784,799,649,628.259148752,651,0.400958750886,-0.00540130166271,0.0698246100682,0.99999993745,0.00020972897141,-0.000283810543957,2.37878676464e-05,1793193355904809216
+4,0.066666667,BASELINE,764,743,712,672,658.675546632,632.675546632,877.324453368,784,799,649,628.324453368,651,0.400958072897,-0.00540127377415,0.0698246478691,0.999999937271,0.00020976311584,-0.000284414568231,2.38028618212e-05,1793193355921476096
+5,0.083333333,BASELINE,764,743,712,672,658.096226016,632.096226016,877.903773984,784,799,649,628.903773984,651,0.400957286249,-0.00540095721535,0.0698249832156,0.999999936925,0.000211376618644,-0.000284436969684,2.37682049297e-05,1793193355938142720
+6,0.100000000,BASELINE,764,743,712,671.519720299,658,632.480279701,877.519720299,784,799.480279701,649,629,651,0.400956537879,-0.00539987674376,0.069824507393,0.999999936253,0.00021247466275,-0.000285974032355,2.3826812031e-05,1793193355954809344
+7,0.116666667,BASELINE,764,742.943854472,712,671.056145528,658.056145528,633,877,784,799.943854472,649.056145528,629,651,0.400955982434,-0.00539883923785,0.069823984953,0.999999935653,0.000213286602078,-0.000287461084792,2.38697625839e-05,1793193355971476224
+8,0.133333333,BASELINE,764,742.368720695,712,671.631279305,658.631279305,633,877,784,799.368720695,649.631279305,629,651,0.400957139853,-0.00539960541229,0.0698245251311,0.999999936353,0.000212402962228,-0.000285697056218,2.35962715286e-05,1793193355988142592
+9,0.150000000,BASELINE,764,742.211897474,712,672,659,633,877,784,799,649.788102526,629,651,0.400958139551,-0.00540004672523,0.069825004544,0.999999936862,0.000211861238241,-0.000284325781839,2.3446576037e-05,1793193356004808960
+10,0.166666667,BASELINE,764,742.802312481,712,672,659,633,877,784,799,649.197687519,629,651,0.40095885751,-0.0053999077302,0.0698253754103,0.999999937036,0.000211930286844,-0.000283656093876,2.35180195558e-05,1793193356021475584
+11,0.183333333,BASELINE,764,743,712,672,659,633,877,784,799.385143389,649,629,651,0.400958872605,-0.00539901168511,0.0698252827414,0.999999936719,0.000213437650648,-0.000283655526552,2.33808302777e-05,1793193356038142208
+12,0.200000000,BASELINE,764,743,712,672,659,633,877,784,799.964156735,649,629,651,0.400958533898,-0.00539773456307,0.0698249567425,0.99999993615,0.000215669020413,-0.000283991774997,2.31386213358e-05,1793193356054809088
+13,0.216666667,BASELINE,764,743,712,672,659,632.459344223,877.540655777,784,800,649,629,651,0.40095725035,-0.00539846208463,0.069824108336,0.999999935895,0.000214149883104,-0.000286037475083,2.30530226356e-05,1793193356071475968
+14,0.233333333,BASELINE,764.116990247,743,712,672,659,632,877.883009753,784,800.116990247,649,629,651,0.400956506349,-0.00539947131034,0.0698236326571,0.999999935979,0.000212136142322,-0.000287240421501,2.3103933806e-05,1793193356088142592
+15,0.250000000,BASELINE,764.693330168,743,712,672,659,632,877.306669832,784,800.693330168,649,629,651,0.400958125626,-0.0054010672167,0.069824755808,0.999999937323,0.000209152145504,-0.000284691469609,2.36502588082e-05,1793193356104809728
+16,0.266666667,BASELINE,764.722895013,743,711.722895013,672,659,632.277104987,877,784,800.722895013,649,629,651,0.400957332044,-0.00540125523158,0.0698245702976,0.999999937298,0.000208980463319,-0.000284889873843,2.38448862432e-05,1793193356121476608
+17,0.283333333,BASELINE,764.130665236,743,711.130665236,672,659,632.869334764,877,784,800.130665236,649,629,651,0.400953794551,-0.0053998421871,0.0698228965727,0.999999935714,0.000212006955649,-0.000288212581513,2.36395619043e-05,1793193356138142720
+18,0.300000000,BASELINE,763.551959322,742.551959322,711.448040678,672,659,633,876.551959322,784,799.551959322,649,629,651,0.400954667321,-0.00539843678371,0.069823307412,0.999999935506,0.000214324949163,-0.000287241964219,2.33593599338e-05,1793193356154809088
+19,0.316666667,BASELINE,763.022866728,742,712,672,659,632.977133272,876.022866728,784.022866728,799,649,629,650.977133272,0.400956745205,-0.00539719168934,0.0698242769593,0.999999935708,0.000216247530184,-0.000285109440884,2.30884003788e-05,1793193356171475456
+20,0.333333333,BASELINE,763.596455866,742,712,672,659,632.403544134,876.596455866,784.596455866,799,649,629,650.403544134,0.400957777981,-0.00539975538102,0.0698244898966,0.999999936533,0.000213477532973,-0.000284265410583,2.35505500203e-05,1793193356188142080
+21,0.350000000,BASELINE,764.174729383,742.174729383,712,672,659,632.174729383,877.174729383,784.825270617,799,649,629,650.174729383,0.400957933766,-0.00540138703083,0.0698243791423,0.999999936934,0.000211675783895,-0.000284185411645,2.37571207097e-05,1793193356204808704
+22,0.366666667,BASELINE,764.764119603,742.764119603,712,672,659,632.764119603,877.764119603,784.235880397,799,649,629,650.764119603,0.400956008313,-0.00540080679552,0.0698235002162,0.999999936344,0.000212171843248,-0.000285918581729,2.33571615092e-05,1793193356221475328
+23,0.383333333,BASELINE,764.651784168,742.651784168,712,672,659,633,877.651784168,784,799.348215832,649,629,651,0.40095534017,-0.00540000951544,0.0698232606001,0.999999935936,0.000212787069763,-0.00028690696021,2.31288533759e-05,1793193356238142208
+24,0.400000000,BASELINE,764.07122031,742.07122031,712,672,659,633,877.07122031,784,799.92877969,649,629,651,0.40095551097,-0.00539906741156,0.0698234475656,0.999999935649,0.000213481810964,-0.0002873983745,2.30150798757e-05,1793193356254809088
+25,0.416666667,BASELINE,764,742.506608738,712,672,659,633,877,784,799.493391262,649,629,651,0.400957225198,-0.00539884111008,0.0698245383968,0.999999936222,0.0002137226366,-0.000285208183117,2.31457251357e-05,1793193356271475968
+26,0.433333333,BASELINE,764,743,712,672,659,633,877.083835608,784.083835608,799.083835608,649.083835608,629,651,0.400958742297,-0.00539919279368,0.0698255187979,0.999999936887,0.000213335396183,-0.000283144033016,2.3328089549e-05,1793193356288142848
+27,0.450000000,BASELINE,764,743,712,672,659,633,877.659772666,784.659772666,799.659772666,649.659772666,629,651,0.400957835484,-0.00540234965002,0.0698251091305,0.999999937414,0.000209634068077,-0.000284020693628,2.36134265651e-05,1793193356304809216
+28,0.466666667,BASELINE,764,743,712,672,659,632.759641525,877.759641525,784.759641525,799.759641525,649.759641525,629,651,0.400957127871,-0.0054036687135,0.069824730052,0.999999937559,0.000208032866695,-0.000284678861611,2.37103937763e-05,1793193356321475840
+29,0.483333333,BASELINE,764,743,712,672,659,632.172345665,877.172345665,784.172345665,799.172345665,649.172345665,629,651,0.400956707786,-0.00540233507627,0.069824395126,0.999999937167,0.000209463023067,-0.000285021653681,2.35354648889e-05,1793193356338142208
+30,0.500000000,BASELINE,764,743,712,672,659,632.409736155,877,784,799,649,629,651,0.400956409513,-0.00540038182365,0.0698240201159,0.999999936631,0.00021144318046,-0.000285468501569,2.31777705948e-05,1793193356354808832
+31,0.516666667,BASELINE,764,743,712,672,659,632.989652358,877,784,799,649,629,651,0.400956161834,-0.00539817121966,0.0698236284574,0.999999936032,0.000213651775554,-0.000285958568052,2.27441664168e-05,1793193356371475456
+32,0.533333333,BASELINE,764.564656528,743,712,672,659,633,877,784,799,649,629,651,0.400957003351,-0.0053995628075,0.0698243650392,0.999999936449,0.000212886807114,-0.000285037200636,2.312537298e-05,1793193356388142336
+33,0.550000000,BASELINE,764.860580046,743,712,672,659,633,877,784,799,649.139419954,629,651,0.400957644866,-0.00540058918086,0.0698249185818,0.999999936835,0.000211968418212,-0.00028434697177,2.33528344915e-05,1793193356404808704
+34,0.566666667,BASELINE,764.286289297,743,712,672,659,633,877,784,799,649.713710703,629,651,0.400957600825,-0.00540027227212,0.069824837265,0.99999993707,0.00021073999219,-0.000284457679123,2.30545701709e-05,1793193356421475328
+35,0.583333333,BASELINE,764,742.701804388,712,672,659,633,877,784,799,649.701804388,629,651,0.400957537604,-0.00539956176554,0.0698251500092,0.999999937205,0.000210956184969,-0.000283843624742,2.27918911546e-05,1793193356438141952
+36,0.600000000,BASELINE,764,742.107185852,712,672,659,633,877,784,799,649.107185852,629,651,0.400957455318,-0.00539846000091,0.0698258544718,0.999999937239,0.00021260840855,-0.000282509117144,2.25645858623e-05,1793193356454808576
+37,0.616666667,BASELINE,764,742.47244928,712,672,659,633,877,784,799,649,629,651,0.400956986298,-0.00539919270289,0.0698253100213,0.999999936779,0.000213031974969,-0.000283788135675,2.28953302681e-05,1793193356471475200
+38,0.633333333,BASELINE,764,743,712,672,659,633,877.048712976,784,799.048712976,649.048712976,629,651,0.400956504045,-0.00540025508376,0.0698245717651,0.999999936295,0.000213071817839,-0.000285425312425,2.33190615245e-05,1793193356488141824
+39,0.650000000,BASELINE,764,743,712,672,659,633,877.624148775,784,799.624148775,649.624148775,629,651,0.400956798256,-0.00540052036784,0.0698247074909,0.999999936745,0.000211883941362,-0.000284720950128,2.34213550602e-05,1793193356504808704
+40,0.666666667,BASELINE,764,743,712,672,659,633,877.795918122,784,799.795918122,649.795918122,629,651,0.400957128816,-0.00540051702235,0.0698248666391,0.999999937002,0.000211241398129,-0.000284291175872,2.34953642515e-05,1793193356521475328
+41,0.683333333,BASELINE,764,743,712,672,659,633,877.207515876,784,799.207515876,649.207515876,629,651,0.400957527828,-0.00540000780236,0.0698250698956,0.999999936895,0.000211625808825,-0.000284378496941,2.35161092773e-05,1793193356538141952
+42,0.700000000,BASELINE,764,743,712,672.375370797,659,632.624629203,877,784,799.375370797,649,629,651,0.400957298718,-0.0053998765172,0.0698253454448,0.999999936707,0.000212676252439,-0.000284255713494,2.35259175226e-05,1793193356554808576
+43,0.716666667,BASELINE,764,743,712,672.955252437,659,632.044747563,877,784,799.955252437,649,629,651,0.400956727392,-0.00539995113985,0.0698256603808,0.999999936473,0.000214089566448,-0.00028401846016,2.35297671517e-05,1793193356571475456
+44,0.733333333,BASELINE,764,743,712,672.46822687,659,632.53177313,877,784,799.46822687,649,629,651,0.400957588289,-0.00539931145197,0.069825522147,0.999999936699,0.000214044769734,-0.000283285344525,2.31683099385e-05,1793193356588141824
+45,0.750000000,BASELINE,764,743,712,672,659.108003881,633,876.891996119,784,799,649,629,651,0.40095826064,-0.0053988728324,0.0698252595698,0.999999936834,0.000213918140601,-0.000282926242891,2.28782786079e-05,1793193356604808448
+46,0.766666667,BASELINE,764,743,712,672,659.684195879,633,876.315804121,784,799,649,629,651,0.400957596496,-0.00539956475345,0.069824622241,0.999999936412,0.000213965315137,-0.000284368203748,2.30302904035e-05,1793193356621475072
+47,0.783333333,BASELINE,764.266225118,743,712,672,659.733774882,632.733774882,876.266225118,784,799,649,629,651,0.400957135271,-0.00539958602004,0.0698246774129,0.999999936235,0.000214020442208,-0.000284938173607,2.31334205737e-05,1793193356638141952
+48,0.800000000,BASELINE,764.855333968,743,712,672,659.144666032,632.144666032,876.855333968,784,799,649,629,651,0.400956920149,-0.0053987939021,0.0698255724648,0.999999936359,0.000214085214297,-0.000284450573618,2.31772660438e-05,1793193356654808576
+49,0.816666667,BASELINE,764.5637225,743,712,672,659,632.4362775,877,784.4362775,799,649,629,651,0.400957036592,-0.00539879154054,0.0698256132784,0.999999936528,0.000213661699651,-0.000284166210882,2.32831301626e-05,1793193356671475200
+50,0.833333333,BASELINE,764,743,712,671.985497982,659,632.985497982,877,784.985497982,799,649,629,651,0.400957261521,-0.00539904173536,0.0698253938194,0.999999936712,0.0002130888091,-0.000283938884414,2.34078615996e-05,1793193356688142080
+51,0.850000000,BASELINE,764,743,712,671.409641278,659,632.409641278,877,784.409641278,799,649,629,651,0.400957508222,-0.0053991173882,0.0698258626682,0.999999936918,0.000212886023379,-0.000283358634122,2.34815079842e-05,1793193356704808704
+52,0.866666667,BASELINE,764,743,712,671.16952502,659,632.16952502,877,784,799.16952502,649.16952502,629,651,0.400957490244,-0.00539947624438,0.0698260985364,0.999999937116,0.000212247019889,-0.000283135166054,2.35224555177e-05,1793193356721475328
+53,0.883333333,BASELINE,764,743,712,671.756847847,659,632.756847847,877,784,799.756847847,649.756847847,629,651,0.400956819958,-0.00540053306085,0.0698257602195,0.999999937294,0.000210532948983,-0.000283790994953,2.34828160733e-05,1793193356738141952
+54,0.900000000,BASELINE,764,742.660567874,712,672,659,633,877,784.339432126,799.660567874,649.660567874,629,651,0.400957330447,-0.00540097190744,0.0698256491535,0.999999937293,0.000210650434742,-0.000283708788928,2.34260718559e-05,1793193356754808576
+55,0.916666667,BASELINE,764,742.081331341,712,672,659,633,877,784.918668659,799.081331341,649.081331341,629,651,0.400958675139,-0.00540097416625,0.0698256986373,0.999999937168,0.000212061891665,-0.000283105170748,2.33572433391e-05,1793193356771475200
+56,0.933333333,BASELINE,763.503899983,742,712,672,659,633,877,784.503899983,799.496100017,649,629,651,0.400958885751,-0.00539977581807,0.0698265817029,0.999999937312,0.000213427557222,-0.000281562895155,2.33692440454e-05,1793193356788141824
+57,0.950000000,BASELINE,763.145621552,742.072810776,712,672,659,633,877,784,799.927189224,649,629,651,0.400958718825,-0.00539871002448,0.069827328945,0.999999937465,0.000214365493934,-0.00028030378675,2.3396966738e-05,1793193356804808704
+58,0.966666667,BASELINE,764.293184091,742.646592046,712,672,659,633,877,784,799.353407954,649,629,651,0.400957228865,-0.00539990562848,0.0698262047984,0.99999993739,0.000212411930407,-0.000282047952554,2.34420196877e-05,1793193356821475328
+59,0.983333333,BASELINE,764.771890743,742.771890743,712,672,659,632.771890743,877,784,799.228109257,649,629,651.228109257,0.40095630091,-0.00540051855644,0.069825260865,0.999999937123,0.000211991444315,-0.000283308808588,2.34372022635e-05,1793193356838142208
+60,1.000000000,BASELINE,764.177967476,742.177967476,712,672,659,632.177967476,877,784,799.822032524,649,629,651.822032524,0.400956274229,-0.00540019705929,0.0698246059355,0.999999936553,0.000214029521908,-0.000283794591203,2.33524087785e-05,1793193356854808832
+61,1.016666667,BASELINE,764,742.40422635,712,672,659,632,877,784,799.59577365,649,629,651.191547299,0.40095655941,-0.00540002511036,0.0698247830152,0.999999936492,0.000213832888501,-0.000284173826463,2.31492935272e-05,1793193356871475200
+62,1.033333333,BASELINE,764,742.981401679,712,672,659,632,877,784,799.018598321,649,629,650.037196643,0.400956978022,-0.00539991714591,0.0698253160716,0.999999936649,0.000212680129813,-0.000284507475214,2.28955540983e-05,1793193356888141824
+63,1.050000000,BASELINE,764,743,712,672,659,632.555913586,877,784,799,649,628.444086414,650.555913586,0.400958404375,-0.00540018165478,0.0698261148844,0.999999937411,0.000212163233052,-0.000282195853197,2.30289021396e-05,1793193356904808448
+64,1.066666667,BASELINE,764,743,712,672,659,633,877,784,799,649.130534327,628.130534327,651,0.400959407502,-0.00540020073151,0.0698267222467,0.999999937895,0.000212006659016,-0.000280586011091,2.31292236261e-05,1793193356921475328
+65,1.083333333,BASELINE,764,743,712,672,659,633,877,784,799,649.705828014,628.705828014,651,0.40095885428,-0.00539934131084,0.0698266471453,0.99999993738,0.000213005648026,-0.000281667385371,2.30731026047e-05,1793193356938141952
+66,1.100000000,BASELINE,764,743,712,672,659,633,877,784,799,649.709766405,629,650.709766405,0.40095857461,-0.00539953100953,0.0698268537816,0.999999937382,0.000212590220098,-0.0002819607193,2.3237922549e-05,1793193356954808576
+67,1.116666667,BASELINE,764,743,712,672,659,633,877,784,799,649.115825973,629,650.115825973,0.400958581191,-0.0054008185299,0.0698273552345,0.999999937923,0.000210694715019,-0.000281429430352,2.36339399971e-05,1793193356971475200
+68,1.133333333,BASELINE,764,743,712,672,659,633,877,784.463434841,799,649,629,650.463434841,0.400957564664,-0.00540141444256,0.0698263657747,0.999999937883,0.000209099656742,-0.000282779982017,2.33984079927e-05,1793193356988141824
+69,1.150000000,BASELINE,764,743,712,672.039035684,659,633,877.039035684,784.960964316,799.039035684,649.039035684,629,651,0.400956334262,-0.00540170186104,0.0698250575825,0.999999937617,0.000208096074853,-0.000284482769783,2.30399843481e-05,1793193357004808704
+70,1.166666667,BASELINE,764,743,712,672.613213661,659,633,877.613213661,784.386786339,799.613213661,649.613213661,629,651,0.400955569687,-0.00540005701205,0.0698243313363,0.999999936246,0.000214203263149,-0.000284764604189,2.30942699764e-05,1793193357021475328
+71,1.183333333,BASELINE,764,743,712,672.807940275,659,633,877.807940275,784.192059725,800,649.807940275,629,651,0.400955211888,-0.00539919045025,0.0698242124435,0.999999935588,0.00021715376628,-0.000284831971774,2.32088372456e-05,1793193357038141952
+72,1.200000000,BASELINE,764,743,712,672.219458922,659,633,877.219458922,784.780541078,800,649.219458922,629,651,0.400955693694,-0.00539993031485,0.0698253471606,0.999999936457,0.000213588702143,-0.00028445666834,2.34478290832e-05,1793193357054808576
+73,1.216666667,BASELINE,764,743,712,672,659,633,877,784.635743864,799.635743864,649,628.635743864,651,0.400956722274,-0.00539990293691,0.0698257930522,0.999999936782,0.000212713001348,-0.000283966765561,2.34895861667e-05,1793193357071475200
+74,1.233333333,BASELINE,764,743,712,672,659,633,877,784.054863374,799.054863374,649,628.054863374,651,0.400958076023,-0.00539941927718,0.069825829297,0.999999936788,0.00021343667423,-0.000283408710188,2.34140470616e-05,1793193357088141824
+75,1.250000000,BASELINE,764,742.479831001,712,672,659,633,877,784.520168999,799.520168999,649,628,651,0.400956830038,-0.00539844744375,0.0698254854095,0.999999936346,0.000214449553442,-0.000284220530373,2.31968497735e-05,1793193357104808448
+76,1.266666667,BASELINE,764,742.09467779,712,672,659.09467779,633,877,784.90532221,799.90532221,649,628.09467779,650.90532221,0.400956269839,-0.00539794780691,0.0698256083146,0.999999936277,0.000215102953247,-0.000283982774148,2.30448538598e-05,1793193357121475328
+77,1.283333333,BASELINE,764,742.669624711,712,672,659.669624711,633,877,784.330375289,799.330375289,649,628.669624711,650.330375289,0.400960563868,-0.00540010174894,0.0698283002232,0.99999993832,0.000213779820297,-0.000277696093501,2.32985511149e-05,1793193357138141952
+78,1.300000000,BASELINE,764,743,712,672,659.74860752,633,877,784.25139248,799,649.25139248,629,650.25139248,0.400961877937,-0.00540084238546,0.0698287454594,0.999999938867,0.000213148158828,-0.000276200753923,2.33677758348e-05,1793193357154808576
+79,1.316666667,BASELINE,764,743,712,672,659.157625979,633,877,784.842374021,799,649.842374021,629,650.842374021,0.400959166579,-0.00539967388318,0.0698261558178,0.99999993742,0.000213450559434,-0.000281177712766,2.318780909e-05,1793193357171475200
+80,1.333333333,BASELINE,764,742.575526595,712,672,659,633,877,784.575526595,799.424473405,650,629,651,0.400958029249,-0.00540020331945,0.0698255308559,0.999999937142,0.000212495105176,-0.000282873236144,2.33444099939e-05,1793193357188142080
+81,1.350000000,BASELINE,764,742.003319774,712,672,659,632.996680226,877,784,799.996680226,649.996680226,629,651,0.400957470335,-0.00540135101747,0.0698256200359,0.999999937296,0.000211076518732,-0.000283366141207,2.36227569129e-05,1793193357204808704
+82,1.366666667,BASELINE,764,742.578321774,712,672,659,632.421678226,877,784,799.421678226,649.421678226,629,651,0.400957925386,-0.00540261312148,0.0698256268851,0.999999938094,0.000208692206985,-0.000282300586448,2.37848704184e-05,1793193357221475328
+83,1.383333333,BASELINE,764,742.843283632,712,672,659.156716368,632.156716368,877,784,799,649,629,651,0.400958514266,-0.005403060425,0.0698258861657,0.9999999386,0.000207708301895,-0.000281223834156,2.38853294411e-05,1793193357238141952
+84,1.400000000,BASELINE,764,742.255558437,712,672,659.744441563,632.744441563,877,784,799,649,629,651,0.40095947121,-0.00540126682563,0.0698268396956,0.999999938313,0.000210575861437,-0.000280116285642,2.38162234017e-05,1793193357254808576
+85,1.416666667,BASELINE,764,742.328773144,712,672,659.671226856,633,877,784,799,649,629,651,0.400959299095,-0.00540056379713,0.0698269678815,0.999999937952,0.000212146087589,-0.000280238212201,2.35844310491e-05,1793193357271475200
+86,1.433333333,BASELINE,764,742.910493753,712,672,659.089506247,633,877,784,799,649,629,651,0.400958258318,-0.00540069981884,0.0698264610744,0.999999937539,0.000212718187054,-0.000281306057341,2.32274730927e-05,1793193357288141824
+87,1.450000000,BASELINE,764,743,712,672,659,633,877,784,799,649,629,651,0.400958276217,-0.0053999259227,0.0698268081905,0.99999993787,0.000211979887367,-0.000280706218916,2.29686193038e-05,1793193357304808704
+88,1.466666667,BASELINE,764,743,712,672,659,633,877,784,799,649,629,651,0.400958551865,-0.00539906139555,0.069827255184,0.999999938252,0.000211299708645,-0.000279876641935,2.27699829454e-05,1793193357321475584
+89,1.483333333,BASELINE,764,743,712,672,659,633,877,784,799,649,629,651,0.400959385449,-0.00539883689513,0.0698272283218,0.99999993791,0.000213154668719,-0.000279675867168,2.29337966059e-05,1793193357338142208
+90,1.500000000,BASELINE,764,743,712,672,659,633,877,784.21880128,799,649,629,651,0.400959794716,-0.00539894970673,0.0698270506711,0.999999937712,0.000213952727499,-0.000279761278137,2.31179371924e-05,1793193357354808832
+91,1.516666667,BASELINE,764,743,712,672,659,633,877,784.810887984,799,649,629,651,0.400959480079,-0.00539963798878,0.0698266157679,0.999999937761,0.000212947662045,-0.000280334935655,2.33367564684e-05,1793193357371475456
+92,1.533333333,BASELINE,764,743,712,672,659,633,877.391970147,784.608029853,799.391970147,649,629,651,0.400958639937,-0.00540022382519,0.0698257292752,0.999999937725,0.000211655771339,-0.000281453536693,2.31657841764e-05,1793193357388142080
+93,1.550000000,BASELINE,764,743,712,672,659,633,877.96788804,784.03211196,799.96788804,649,629,651,0.400957553181,-0.00540076158492,0.0698246308559,0.999999937646,0.000210229276266,-0.00028282787443,2.28118865445e-05,1793193357404808704
+94,1.566666667,BASELINE,764,743,712,672,659,633,877.457171838,784,799.457171838,649,629,651,0.400959179108,-0.00540094886441,0.0698259058397,0.999999937868,0.000211348463119,-0.000281160370536,2.33238805191e-05,1793193357421475328
+95,1.583333333,BASELINE,764,742.87902309,712,672,659,633,877.12097691,784.12097691,799,649.12097691,629,651,0.40096046544,-0.00540121791819,0.0698270548692,0.999999938193,0.000211937673389,-0.000279528874753,2.36773064725e-05,1793193357438141952
+96,1.600000000,BASELINE,764,742.288188055,712,672,659,633,877.711811945,784.711811945,799,649.711811945,629,651,0.400959810689,-0.00540188495288,0.069827170384,0.999999938858,0.00020988468939,-0.000278734856838,2.32162886912e-05,1793193357454808576
+97,1.616666667,BASELINE,764,742,712,672,659,633,877.703481993,784.703481993,799.296518007,649.703481993,629,651,0.400959194819,-0.00540259444027,0.0698267268753,0.999999938965,0.000208645983309,-0.000279299155906,2.29807682264e-05,1793193357471475200
+98,1.633333333,BASELINE,764,742,712,672,659,633,877.124612128,784.124612128,799.875387872,649.124612128,629,651,0.400958615972,-0.00540334435214,0.0698257510503,0.999999938542,0.000208182653136,-0.000281156878399,2.295997197e-05,1793193357488141824
+99,1.650000000,BASELINE,764,742,712,672,659,633,877.450591097,784,799.549408903,649,628.549408903,651,0.400957782667,-0.00540153928369,0.0698252569183,0.999999937997,0.000209508772476,-0.00028213140636,2.26899877565e-05,1793193357504809216
+100,1.666666667,BASELINE,764,742.024634853,712,672,659,633,878,784,799,649,628.024634853,651,0.400956874456,-0.00539919099944,0.0698249027175,0.999999937411,0.00021129516834,-0.000282897769916,2.23946685064e-05,1793193357521476864
+101,1.683333333,BASELINE,764,742.595273604,712,672,659,633,878,784,799,649,628.595273604,651,0.400955853147,-0.00540033723188,0.0698247212386,0.999999936729,0.000212403220598,-0.000284420227891,2.30528898637e-05,1793193357538143232
+102,1.700000000,BASELINE,764,743,712,672,659,633,877.826368474,784,799,649,629,651,0.400955542087,-0.00540089947206,0.0698248031276,0.999999936548,0.000212602468982,-0.00028488584148,2.33170404597e-05,1793193357554809344
+103,1.716666667,BASELINE,764,743,712,672,659,633,877.229180505,784,799,649,629,651,0.40095696361,-0.0054000371224,0.0698255274758,0.999999937591,0.000210584782623,-0.0002827733905,2.2619895434e-05,1793193357571475712
+104,1.733333333,BASELINE,764,742.644809457,712,672,659,632.644809457,877,784,799,649,629,651,0.400958117209,-0.00540059472548,0.0698262832113,0.999999938031,0.000210032247272,-0.000281612761455,2.27727331848e-05,1793193357588142592
+105,1.750000000,BASELINE,764,742.068420225,712,672,659,632.068420225,877,784,799,649,629,651,0.400959103955,-0.00540203661916,0.0698270584937,0.999999938099,0.000210392150101,-0.00028104488944,2.34549066849e-05,1793193357604809216
+106,1.766666667,POSE1_TO_POSE2_PRESS,764,743,712,672,659,633,877,785,799,649,629,651,0.400957951158,-0.00539837221492,0.0698257128821,0.999999937076,0.000213954890719,-0.000282011724915,2.32331545545e-05,1793193357635724288
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,742.427166121,712,672.572833879,659,632.427166121,877,784.427166121,799.572833879,649,629,650.427166121,0.400958630553,-0.00539881582403,0.0698261940079,0.999999937422,0.000213088734811,-0.00028145831608,2.30467962022e-05,1793193357652391936
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,742.151533047,712,672.848466953,659,632.151533047,877,784.151533047,799.848466953,649,628.848466953,650.151533047,0.400959040845,-0.00539947655124,0.0698265823337,0.99999993772,0.000212331467127,-0.000280979916376,2.29169807212e-05,1793193357669059072
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,742.747432134,712,672.252567866,659,632.747432134,877,784.747432134,799.252567866,649,628.252567866,650.747432134,0.400958662003,-0.00540077397078,0.0698266985261,0.999999937885,0.000211893510644,-0.000280721478531,2.29529754424e-05,1793193357685725184
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,742.668237928,712,672.331762072,659,633,877,784.668237928,799,649,628.331762072,651,0.400959188773,-0.00540109032088,0.0698271865997,0.999999938134,0.000211632112207,-0.000280006943654,2.32573866542e-05,1793193357702391808
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,742.092418741,712,672.907581259,659,633,877,784.092418741,799,649,628.907581259,651,0.400960381746,-0.00540068495797,0.0698279482437,0.999999938443,0.000211500596777,-0.000278956886036,2.37592554982e-05,1793193357719058432
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,742,712,672.517984835,659,633,877,784,799,649,629,651,0.400960103909,-0.00540113569325,0.0698272963581,0.999999938267,0.00021156518539,-0.000279563878902,2.34712070921e-05,1793193357735724800
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632.942067246,877,784,799.057932754,649,629,651,0.400959963392,-0.00540162481243,0.0698267049232,0.999999938129,0.000211671931883,-0.000280011484255,2.30427195472e-05,1793193357752391424
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632.350029267,877,784,799.649970733,649,629,651,0.40096368134,-0.00540095884294,0.0698291623059,0.999999939201,0.000211821694242,-0.000276068902515,2.27117816048e-05,1793193357769057536
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,742.236732909,712,672,659,632.236732909,877,784.236732909,799.763267091,649,628.763267091,651,0.400970682202,-0.00540091528889,0.0698325879841,0.999999940854,0.000211369589356,-0.000270356357376,2.28747604696e-05,1793193357785724160
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,742.815864377,712,672,659,632.815864377,877,784.815864377,799.184135623,649,628.184135623,651,0.400982431305,-0.00540177196528,0.0698374141559,0.999999943314,0.000210046973972,-0.000262083826636,2.37521157613e-05,1793193357802390784
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,742.608210025,712,672,659,633,877,784.608210025,799,649,628.391789975,651,0.401010291946,-0.00540277624979,0.0698484981578,0.999999948297,0.00021003369467,-0.000242283820837,2.42828375088e-05,1793193357819057664
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,742.033778861,712,672,659,633,877,784.033778861,799,649,628.966221139,651,0.401045663323,-0.00540384934502,0.0698624993801,0.999999953945,0.00021063078987,-0.000217110037703,2.46519687578e-05,1793193357835724288
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,742.541349929,712,672,659,633,877.541349929,784.541349929,799,649,628.458650071,651,0.401103424864,-0.00540434981546,0.0698794802394,0.999999960003,0.000211040887539,-0.000186681997472,2.46134438035e-05,1793193357852391424
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,743,712,672.11987516,659,633,877.88012484,784.88012484,799,649,628.11987516,651,0.401162985403,-0.00540514606773,0.0698939368783,0.999999964245,0.000211146666245,-0.000162266339596,2.44459993558e-05,1793193357869058048
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,743,712,672.711597927,659,633,877.288402073,784.288402073,799,649,628.711597927,651,0.401224120835,-0.00540724738598,0.0698977250291,0.999999964391,0.000210100585162,-0.000162808505607,2.38713595516e-05,1793193357885724416
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,743,712,672.704289061,659,633,877,784,799,649,629,651,0.401297200551,-0.00540854927621,0.0698993271698,0.999999964961,0.000207882620685,-0.000162411544069,2.20202876974e-05,1793193357902391040
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,743,712,672.127411559,659,633,877,784,799,649,629,651,0.401381637076,-0.00540909105771,0.0698988508179,0.99999996592,0.000204550411291,-0.000161121645404,1.89555644127e-05,1793193357919057664
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,742.551091785,712,672,659,633,877,784,799,649,629,651,0.401483125036,-0.00541241138285,0.0698969403248,0.999999965898,0.000200277534594,-0.000166843881852,1.60318418984e-05,1793193357935724288
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,742,712,672,659,633,877,784,799,649,629,651,0.401590773916,-0.00541645767515,0.0698947746267,0.999999965619,0.000195647102851,-0.00017410749156,1.30987832441e-05,1793193357952390912
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,742,712,672,659,633,877,784,799,649,629,651,0.401727599754,-0.00541914820266,0.0698959356184,0.999999967379,0.000189018462203,-0.000171558693094,9.08186614742e-06,1793193357969057536
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632.802466451,877,784,799,649,629,651,0.401876825563,-0.00542168820541,0.069897934047,0.999999968974,0.000183774395486,-0.00016808989443,5.03050117352e-06,1793193357985724160
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632.222286096,877,784,799,649,629,651,0.402050071628,-0.00542393662284,0.0699015546938,0.999999970322,0.000181212419737,-0.000162838942416,9.12406887637e-07,1793193358002391296
+129,2.150000000,POSE1_TO_POSE2_PRESS,764.354836376,742.354836376,712,672,659,632.354836376,877.354836376,784,799,649,629,651,0.402247729718,-0.00542833784918,0.0699063799286,0.999999973253,0.000173011283501,-0.000153443956193,-4.10934490079e-06,1793193358019057920
+130,2.166666667,POSE1_TO_POSE2_PRESS,764.930059671,742.930059671,712,672,659,632.930059671,877.930059671,784,799,649,629,651,0.40246055,-0.00543407617349,0.0699119533268,0.999999976935,0.000161307695458,-0.000141475132605,-9.69235378607e-06,1793193358035724544
+131,2.183333333,POSE1_TO_POSE2_PRESS,764.494830938,743,712,671.494830938,659,633,877.494830938,784,800.010338124,649,628.494830938,651,0.40270462163,-0.0054387369687,0.0699120110003,0.999999978399,0.000152747889368,-0.000140095361126,-1.55795151772e-05,1793193358052390912
+132,2.200000000,POSE1_TO_POSE2_PRESS,763.917517232,742.917517232,712,671.082482768,659,633,877,784,800.835034465,649,628,651,0.402958335746,-0.00544324335606,0.069912311978,0.999999979716,0.000144667682639,-0.000138482128476,-2.14845975405e-05,1793193358069057280
+133,2.216666667,POSE1_TO_POSE2_PRESS,763.32651616,742.32651616,712,671.67348384,659,633,877,784,799.653032319,649,628,651,0.403244828399,-0.00544771732731,0.0699188199047,0.999999982276,0.000136861469447,-0.000126393214913,-2.72406138342e-05,1793193358085723904
+134,2.233333333,POSE1_TO_POSE2_PRESS,763.257669594,742,712,672,659,633,877,784,799,649,628.257669594,651,0.403552608025,-0.00545298918751,0.0699272662662,0.999999989798,8.20168905502e-05,-0.000112247755157,-3.28334788562e-05,1793193358102390784
+135,2.250000000,POSE1_TO_POSE2_PRESS,763.833441555,742,712,672,659,633,877,784,799,649,628.833441555,651,0.403886667166,-0.00545924606998,0.0699381056946,0.999999994226,-3.08982408186e-05,-9.55634149106e-05,-3.82249271388e-05,1793193358119057408
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632.590509504,877,784,799,649.409490496,629,650.590509504,0.404244423922,-0.00546807334769,0.0699426254619,0.999999995354,-1.31221496171e-05,-9.12145591527e-05,-2.82727965049e-05,1793193358135724288
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632.014347842,877,784,799,649.985652158,629,650.014347842,0.404611826094,-0.00547794682967,0.0699445729953,0.999999994032,5.78479956493e-05,-9.18865029798e-05,-1.20755093305e-05,1793193358152390912
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632.575529162,877,784,799,650,629,650.575529162,0.405032132843,-0.00549540643001,0.0699518007345,0.999999996211,3.89115582257e-05,-7.61202540585e-05,-1.63917924446e-05,1793193358169057280
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632.836844334,877.163155666,784,799,649.836844334,629,651,0.405461185737,-0.00551008285633,0.069956621164,0.999999997496,1.9068810075e-05,-6.50343443734e-05,-2.03676804236e-05,1793193358185723904
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632.255877997,877.744122003,784,799,649.255877997,629,651,0.40590917587,-0.0055171359748,0.0699549316087,0.999999997506,2.78498224392e-06,-6.70089395558e-05,-2.21303120364e-05,1793193358202390784
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632,877.678461738,784,799,649,629,651,0.406360016752,-0.00552078210626,0.0699423900712,0.9999999956,-5.99202050409e-06,-9.04964792124e-05,-2.39720642576e-05,1793193358219057408
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632,877.103839695,784,799,649,629,651,0.406813101517,-0.00552174658826,0.0699213069041,0.999999991056,-8.86037927784e-06,-0.000130916925471,-2.58760927214e-05,1793193358235723776
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,742.470332798,712,672,659.470332798,632,877.470332798,784,799,649,628.529667202,651,0.407337412878,-0.00553007263448,0.0699093235459,0.999999989393,-1.65340929565e-05,-0.000141903558429,-2.83555882141e-05,1793193358252390656
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,743,712,672,659.954414769,632.045585231,877.954414769,784,799,649,628.045585231,651,0.407883351722,-0.00553970362056,0.0699015020301,0.999999988927,-2.52937149404e-05,-0.000143369690055,-3.08401404007e-05,1793193358269057536
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,743,712,672,659.365097845,632.634902155,877.365097845,784,799,649,628.634902155,651,0.408499869571,-0.00554553216952,0.0699193814939,0.999999992992,-3.436345482e-05,-0.000108714460782,-3.18710157563e-05,1793193358285724160
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,742.77945305,712,672.22054695,659,633,877,784,799.22054695,649,629,650.77945305,0.409120686117,-0.00555196253234,0.069933024833,0.999999995266,-4.46113012191e-05,-7.98824590811e-05,-3.31139141254e-05,1793193358302390784
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,742.199787648,712,672.800212352,659,633,877,784,799.800212352,649,629,650.199787648,0.409748502231,-0.00555937283337,0.0699397704536,0.999999995954,-5.67774678563e-05,-6.05324699596e-05,-3.47020513283e-05,1793193358319057408
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,742.378426232,712,672.621573768,659,633,877.378426232,784,799.621573768,649,628.621573768,650.378426232,0.410380298672,-0.00556720306112,0.0699369235436,0.99999999481,-6.98408644576e-05,-6.46760098713e-05,-3.63123462266e-05,1793193358335724288
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,742.955876699,712,672.044123301,659,633,877.955876699,784,799.044123301,649,628.044123301,650.955876699,0.411014188451,-0.00557525413905,0.0699290316711,0.99999999251,-8.33761373249e-05,-8.11754107076e-05,-3.79342943783e-05,1793193358352390912
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,742.468965465,712,672,659,633,878,784,799,649,628.531034535,651,0.411717335492,-0.00558155546248,0.0699383135934,0.99999999306,-9.06428853018e-05,-6.4322154566e-05,-3.90624559167e-05,1793193358369058304
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,742,712,672,659,633,877.891331758,784.108668242,799.108668242,649,629,651,0.412437410819,-0.00558476711045,0.0699532170605,0.999999993958,-9.5005664838e-05,-3.89348472705e-05,-3.92685025608e-05,1793193358385725440
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,742,712,672,659,633,877.301905603,784.698094397,799.698094397,649,629,651,0.413207029031,-0.00557495019446,0.0699867048813,0.999999995351,-8.88153992149e-05,1.20003008611e-05,-3.55757640407e-05,1793193358402391296
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,742.282139988,712,672.282139988,659.282139988,633,877,784.717860012,799.717860012,649,628.717860012,651,0.413960688916,-0.00555603470891,0.0700005395426,0.999999997052,-6.17674617646e-05,3.00981685567e-05,-3.42862535738e-05,1793193358419057408
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,742.860535888,712,672.860535888,659.860535888,633,877,784.139464112,799.139464112,649,628.139464112,651,0.414697592148,-0.00552756543627,0.0699937377688,0.999999999193,-1.28183083175e-05,1.37158591938e-05,-3.55202081434e-05,1793193358435724032
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,743,712,673,659.563423607,632.563423607,877,784,799,649,628,650.563423607,0.415407459704,-0.00552450187733,0.0699441348159,0.999999996435,-2.13319714416e-05,-7.11588222436e-05,-4.01386947998e-05,1793193358452390912
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,743,712,672.987864534,659.012135466,632.012135466,877.012135466,784,799.012135466,649,628.012135466,650,0.416111680778,-0.00552962288996,0.069882465994,0.999999982469,-4.77735948141e-05,-0.000175179141688,-4.57420222524e-05,1793193358469057536
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,743,712,672.399630591,659.600369409,632.600369409,877.600369409,784,799.600369409,649,628.600369409,650,0.416955648384,-0.0055400741144,0.0698935993475,0.999999985171,-5.85492787577e-05,-0.000154974072371,-4.70470327987e-05,1793193358485724160
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,743,712,672.186777065,660.186777065,633,877.813222935,784,799.813222935,649,629,650,0.417804384463,-0.00554991439876,0.0699130173019,0.999999989099,-6.80811031578e-05,-0.000122240666254,-4.71605506524e-05,1793193358502390784
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,743,712,672.769314977,660.769314977,633,877.230685023,784,799.230685023,649,629,650,0.41866322438,-0.00555846016507,0.0699499894491,0.999999994206,-7.49773199785e-05,-6.29610403417e-05,-4.47494213437e-05,1793193358519057408
+160,2.666666667,POSE1_TO_POSE2_PRESS,763.652459379,743,712,673,660.652459379,632.652459379,877.347540621,783.652459379,799,649,629,650.347540621,0.419524487322,-0.00555941237156,0.0699775101627,0.999999995881,-7.64362257889e-05,-2.27243727531e-05,-4.3342908852e-05,1793193358535723776
+161,2.683333333,POSE1_TO_POSE2_PRESS,763.077061008,743,712,673,660.077061008,632.077061008,877.922938992,783.077061008,799,649,629,650.922938992,0.420387338835,-0.00555538601879,0.0699988342398,0.999999996318,-7.43302719877e-05,5.02717449078e-06,-4.25950525367e-05,1793193358552390400
+162,2.700000000,POSE1_TO_POSE2_PRESS,763.494611856,743,712,673,660,632,877.505388144,783.494611856,799.494611856,649,628.505388144,650.505388144,0.4212363238,-0.00554699387024,0.070007942916,0.999999996668,-6.66824303613e-05,1.74377692513e-05,-4.37445453779e-05,1793193358569057280
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,743,712,673,660,632.068572825,877,784,799.931427175,649,628.068572825,650,0.422078356745,-0.00553921661089,0.0700079548174,0.999999997109,-5.8852273511e-05,1.62140727646e-05,-4.53376527479e-05,1793193358585724160
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,743,712,673,660,632.664563071,877,784,799.335436929,649,628.664563071,650,0.422883411159,-0.00554136118988,0.0699525287789,0.999999994699,-5.62111760829e-05,-7.16297715587e-05,-4.80861197265e-05,1793193358602390784
+165,2.750000000,POSE1_TO_POSE2_PRESS,763.748186659,743,711.748186659,673,660,632.748186659,877.251813341,784,799,649,628.748186659,650,0.423683470621,-0.00554563845517,0.0698940944103,0.999999983648,-6.30495540092e-05,-0.000161349892039,-5.19226042397e-05,1793193358619057152
+166,2.766666667,POSE1_TO_POSE2_PRESS,763.172188176,743,711.172188176,673,660,632.172188176,877.827811824,784,799,649,628.172188176,650,0.424477099678,-0.00555266134657,0.0698317871021,0.999999962869,-8.20918325303e-05,-0.000253485547095,-5.71598057504e-05,1793193358635723776
+167,2.783333333,POSE1_TO_POSE2_PRESS,763.402922159,743,711.402922159,673,660,632,877.597077841,784,799,649,628.402922159,650,0.425359202185,-0.00555734652423,0.0698527885319,0.999999971181,-8.90119240547e-05,-0.000215644455469,-5.6685114923e-05,1793193358652390656
+168,2.800000000,POSE1_TO_POSE2_PRESS,763.977653745,743,711.977653745,673,660,632,877.022346255,784,799,649,628.977653745,650,0.426279030474,-0.00556103488049,0.0699093135184,0.999999986947,-9.07630105733e-05,-0.000122380169402,-5.37748241321e-05,1793193358669057280
+169,2.816666667,POSE1_TO_POSE2_PRESS,763.435176159,743,712,673,660,632.564823841,878.129647682,784.564823841,799.564823841,649,629,650.564823841,0.427152821674,-0.00555593899568,0.0699596285137,0.999999993642,-8.22080254695e-05,-5.85332959823e-05,-5.03138107873e-05,1793193358685723904
+170,2.833333333,POSE1_TO_POSE2_PRESS,763.150603866,743,712,673,660,633,878.849396134,784.849396134,799.849396134,649,629,651,0.428031494367,-0.00555250194814,0.0700013145606,0.999999995967,-7.59998374806e-05,-3.49708935467e-06,-4.77342741922e-05,1793193358702390528
+171,2.850000000,POSE1_TO_POSE2_PRESS,763.730981129,743,712,673,660,633,878.269018871,784.269018871,799.269018871,649,629,651,0.428929411811,-0.00555481274679,0.0700190933505,0.9999999954,-7.76783893834e-05,2.97924196531e-05,-4.7733756818e-05,1793193358719057152
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.309254615,743,712,673.309254615,660,633,877.690745385,784,799.309254615,649,629,651,0.429778461704,-0.00556142901721,0.0700174718556,0.99999999475,-8.51362738909e-05,3.02770558097e-05,-4.83299398916e-05,1793193358735724032
+173,2.883333333,POSE1_TO_POSE2_PRESS,764.885710373,743,712,673.885710373,660,633,877.114289627,784,799.885710373,649,629,651,0.430585289172,-0.00557176528688,0.0699990881903,0.999999994013,-9.75875980119e-05,2.41773328102e-06,-4.94416820973e-05,1793193358752390656
+174,2.900000000,POSE1_TO_POSE2_PRESS,764.085975291,743.457012354,712,673.542987646,660,633,877.457012354,784,799.542987646,649,629,651,0.431303072032,-0.00557313936494,0.0699388559621,0.999999988483,-0.000100117369337,-0.000101449530961,-5.21440903677e-05,1793193358769057280
+175,2.916666667,POSE1_TO_POSE2_PRESS,763.028386508,743.971613492,712,673.028386508,659.971613492,633,878,784,799.028386508,649,629,650.971613492,0.432003534972,-0.00557222995455,0.0698716411354,0.999999969757,-0.000100405829886,-0.000217625630937,-5.51659693234e-05,1793193358785723904
+176,2.933333333,POSE1_TO_POSE2_PRESS,763.626801988,743.373198012,712,673.626801988,659.373198012,633,878,784,799.626801988,649,629,650.373198012,0.432798378075,-0.00556997075901,0.0698720226933,0.999999972172,-0.000104955543675,-0.000203530999696,-5.67041324067e-05,1793193358802390784
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,743,712.217067606,674,659.217067606,633,878,784,800,649,629,650,0.43361818135,-0.00556796284705,0.0698995319955,0.999999981863,-0.00010360998321,-0.000149543375999,-5.63481660788e-05,1793193358819057152
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,743,712.793828538,674,659.793828538,633,878,784,800,649,629,650,0.43447934517,-0.00556637132587,0.0699719935077,0.999999993892,-9.24956188564e-05,-2.9450798656e-05,-5.28535196475e-05,1793193358835723776
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,743,712.631901097,674,660.368098903,632.631901097,878.368098903,784,800,649,629,650.368098903,0.435251875547,-0.00556958200021,0.0700039388794,0.999999994047,-9.45787939891e-05,2.08188134231e-05,-5.02802756506e-05,1793193358852390656
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,743,712.059016354,674,660.940983646,632.059016354,878.940983646,784,800,649,629,650.940983646,0.435975096098,-0.00557546429805,0.0700133437507,0.999999992909,-0.000104004206801,3.22435467524e-05,-4.82196394029e-05,1793193358869057536
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,743,712,674,660.48045315,632,878.48045315,784,799.48045315,649,629,651,0.436644773766,-0.00557808409463,0.0699850096927,0.999999992786,-0.000108464555004,-1.04655483411e-05,-5.05432552364e-05,1793193358885724160
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,743,712,674,660,632,878.100432755,784,799.100432755,649,629,650.899567245,0.43729693921,-0.00557998839842,0.0699498496522,0.999999990441,-0.000111878573456,-6.10488679921e-05,-5.36161895322e-05,1793193358902390528
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,743,712,674,660,632,878.689445425,784,799.689445425,649,629,650.310554575,0.43789382665,-0.005580234779,0.0699025677751,0.99999998478,-0.000112976458061,-0.000119693582627,-5.78848755609e-05,1793193358919057408
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,743,712,674,659.726845363,632,878.726845363,784,800.273154637,649,629,650.273154637,0.438471595501,-0.0055799477591,0.0698516034717,0.999999972673,-0.000114824808434,-0.000194497128882,-6.03383205304e-05,1793193358935724032
+185,3.083333333,POSE1_TO_POSE2_PRESS,764,743,712,674,659.149050952,632,878.149050952,784,800.850949048,649,629,650.850949048,0.43902804202,-0.00557906585634,0.0697965322907,0.999999949972,-0.000117510126457,-0.000287322048001,-6.07672903934e-05,1793193358952390656
+186,3.100000000,POSE1_TO_POSE2_PRESS,764.423904124,743,712,674,659,632,878,784,800.152191752,649,629,650.576095876,0.439555554994,-0.00557572480428,0.0697580989841,0.999999930135,-0.000105572620931,-0.00035326329688,-6.15641505779e-05,1793193358969057280
+187,3.116666667,POSE1_TO_POSE2_PRESS,764.99517687,743,712,674,659,632,878,784,799.00964626,649,629,650.00482313,0.440073009378,-0.00557152883845,0.0697254497655,0.999999910135,-8.85515477039e-05,-0.000409858549261,-6.24889063661e-05,1793193358985723904
+188,3.133333333,POSE1_TO_POSE2_PRESS,764.41219394,743,712,674,659,632,878,784,799.58780606,649,629,650,0.440613362746,-0.00557230961383,0.0697367007205,0.9999999171,-9.5512998627e-05,-0.00039064549253,-6.38291905596e-05,1793193359002390528
+189,3.150000000,POSE1_TO_POSE2_PRESS,764.176289246,743,711.823710754,674,659,631.823710754,878,783.823710754,800,649,628.823710754,650.176289246,0.441149461639,-0.00557431381383,0.069752792278,0.999999925487,-0.000104321800728,-0.000366107972939,-6.40860440015e-05,1793193359019057664
+190,3.166666667,POSE1_TO_POSE2_PRESS,764.754895784,743,711.245104216,674,659,631.245104216,878,783.245104216,800,649,628.245104216,650.754895784,0.441675406349,-0.00557901333758,0.0697790777309,0.999999936511,-0.00011688050306,-0.000330892346612,-6.18622792399e-05,1793193359035725056
+191,3.183333333,POSE1_TO_POSE2_PRESS,764.668187519,743,711.331812481,674.331812481,659,631,878,783,800,649,628.331812481,651,0.442140469987,-0.00558076767439,0.0697771298554,0.999999933773,-0.000115575991123,-0.000339601936512,-6.13736781744e-05,1793193359052391680
+192,3.200000000,POSE1_TO_POSE2_PRESS,764.092512787,743,711.907487213,674.907487213,659,631,878,783,800,649,628.907487213,651,0.442560789661,-0.00558035747535,0.0697544321771,0.999999920226,-0.000104082848249,-0.000380593924819,-6.21603183323e-05,1793193359069057792
+193,3.216666667,POSE1_TO_POSE2_PRESS,764,743,712,674.520022663,658.520022663,631,878,783,799.520022663,649,629,651,0.442922792963,-0.00557992556869,0.0697198562368,0.999999895276,-0.000112785900789,-0.000439164770341,-6.21399396224e-05,1793193359085724416
+194,3.233333333,POSE1_TO_POSE2_PRESS,764,743,711.94607174,674,658,631,878,782.94607174,799.107856521,649,628.94607174,651,0.443272305716,-0.00557901486676,0.0696844126699,0.999999866505,-0.000122294328398,-0.000498183572804,-6.2017962502e-05,1793193359102391296
+195,3.250000000,POSE1_TO_POSE2_PRESS,764,743,711.351357378,674,658,631,878,782.351357378,800.297285244,649,628.351357378,651,0.443608536572,-0.00557334454374,0.0696630757971,0.99999985358,-0.000101100758261,-0.000527941730056,-6.24267073589e-05,1793193359119057920
+196,3.266666667,POSE1_TO_POSE2_PRESS,764.236580954,743,711.236580954,674.236580954,658,630.763419046,878.236580954,782.236580954,800.763419046,649.236580954,628,650.763419046,0.443943353439,-0.00556946011026,0.0696511414262,0.999999845973,-8.69868385239e-05,-0.000544491335205,-6.33732058739e-05,1793193359135724544
+197,3.283333333,POSE1_TO_POSE2_PRESS,764.814736044,743,711.814736044,674.814736044,658,630.185263956,878.814736044,782.814736044,800.185263956,649.814736044,628,650.185263956,0.44427612877,-0.00556815413367,0.0696527823318,0.999999847563,-8.30944767646e-05,-0.000541970511757,-6.5096109894e-05,1793193359152391680
+198,3.300000000,POSE1_TO_POSE2_PRESS,764.608540704,743,712,675,658,630,878.608540704,782.608540704,800,649.608540704,628,650.391459296,0.444579480671,-0.0055670582665,0.0696520684284,0.999999847909,-9.02961255627e-05,-0.000540175067679,-6.51171893155e-05,1793193359169058048
+199,3.316666667,POSE1_TO_POSE2_PRESS,764.03249257,743,712,675,658,630,878.03249257,782.03249257,800,649.03249257,628,650.96750743,0.444868958268,-0.00556606147427,0.0696502441377,0.999999847543,-0.000102729047161,-0.000538721668923,-6.43357899857e-05,1793193359185724416
+200,3.333333333,POSE1_TO_POSE2_PRESS,764,743,711.44595669,674.44595669,657.44595669,630,878,782,799.44595669,649,628,651,0.445109813541,-0.00556581570346,0.0696506250037,0.999999848121,-0.000110197696348,-0.000536226260684,-6.3845983272e-05,1793193359202391296
+201,3.350000000,POSE1_TO_POSE2_PRESS,764,742.860682294,711,674.139317706,657,629.860682294,878,782,799.139317706,649,628.139317706,651,0.445340552852,-0.00556567312183,0.0696509753103,0.999999849252,-0.000112694265907,-0.000533661143124,-6.32566696837e-05,1793193359219057664
+202,3.366666667,POSE1_TO_POSE2_PRESS,764,742.281371751,711,674.718628249,657,629.281371751,878,782,799.718628249,649,628.718628249,651,0.445548523436,-0.00556571464647,0.0696508127923,0.999999851998,-0.00010042523352,-0.000531072590308,-6.2298043789e-05,1793193359235724032
+203,3.383333333,POSE1_TO_POSE2_PRESS,764.299559411,742.299559411,711,674.700440589,657,629,878,782,800,649,628.700440589,650.700440589,0.445737466016,-0.00556667340413,0.0696506394131,0.999999852634,-9.60156457643e-05,-0.000530654421026,-6.25936837826e-05,1793193359252390656
+204,3.400000000,POSE1_TO_POSE2_PRESS,764.882021041,742.882021041,711,674.117978959,657,629,878,782,800,649,628.117978959,650.117978959,0.445908438646,-0.00556849839147,0.0696504557766,0.99999985138,-9.90284739637e-05,-0.00053228594993,-6.4073845475e-05,1793193359269057280
+205,3.416666667,POSE1_TO_POSE2_PRESS,764.548736696,743,711,674.451263304,656.548736696,629,878.451263304,782,800,649,628,650.451263304,0.446048230606,-0.00556669809263,0.0696453642195,0.999999846341,-9.80907991636e-05,-0.000541620412093,-6.59014980942e-05,1793193359285724160
+206,3.433333333,POSE1_TO_POSE2_PRESS,764,743,711,675,656.018083851,629,879,782,799.981916149,649,628,651,0.446179300975,-0.00556407246372,0.0696391904877,0.999999840335,-9.62291811442e-05,-0.000552703683218,-6.77448458977e-05,1793193359302390528
+207,3.450000000,POSE1_TO_POSE2_PRESS,764,743,711,675,656.614857421,629,879,782,799.385142579,649,628,651,0.446284717463,-0.00556450272171,0.0696382789246,0.99999983784,-9.69111947119e-05,-0.000557139140477,-6.72659997639e-05,1793193359319057152
+208,3.466666667,POSE1_TO_POSE2_PRESS,764,743,711,674.795282701,656.795282701,629,879,781.795282701,799.204717299,649.204717299,628,651,0.446383293878,-0.00556482065857,0.069637405408,0.999999835935,-9.82486077236e-05,-0.000560365033737,-6.68507567522e-05,1793193359335724032
+209,3.483333333,POSE1_TO_POSE2_PRESS,764,743,711,674.218004962,656.218004962,629,879,781.218004962,799.781995038,649.781995038,628,651,0.446469422188,-0.00556493418469,0.0696366011316,0.999999835128,-0.000100778767474,-0.000561389668019,-6.65512636961e-05,1793193359352390656
+210,3.500000000,POSE1_TO_POSE2_PRESS,764,743,711,674.356877223,656.356877223,629,878.643122777,781,800,649.643122777,628,650.643122777,0.446542175463,-0.00556358696316,0.0696366538111,0.999999835171,-0.000100695494163,-0.000561319388726,-6.66292558897e-05,1793193359369057280
+211,3.516666667,POSE1_TO_POSE2_PRESS,764,743,711,674.930305853,656.930305853,629,878.069694147,781,800,649.069694147,628,650.069694147,0.446606812839,-0.00556135336689,0.0696372264872,0.999999835729,-9.90264023039e-05,-0.000560584721166,-6.69363043141e-05,1793193359385724160
+212,3.533333333,POSE1_TO_POSE2_PRESS,764,743,711,675,656.480971179,629,878.519028821,781,800,649,628,650.519028821,0.446652960236,-0.00556203519346,0.0696368272566,0.999999833643,-0.000101046301693,-0.000564020625015,-6.62115371923e-05,1793193359402390528
+213,3.550000000,POSE1_TO_POSE2_PRESS,764.107553454,743,711,674.892446546,656,629,878.892446546,781,800,649.107553454,628,650.892446546,0.44669420939,-0.00556232844215,0.0696361409011,0.999999831494,-0.000102524226807,-0.000567631391301,-6.55418456531e-05,1793193359419057152
+214,3.566666667,POSE1_TO_POSE2_PRESS,764.685946544,743,711,674.314053456,656,629,878.314053456,781,800,649.685946544,628,650.314053456,0.446725214397,-0.00555915478991,0.0696347862557,0.999999830745,-9.93951889673e-05,-0.00056948162692,-6.57382098025e-05,1793193359435724032
+215,3.583333333,POSE1_TO_POSE2_PRESS,764.73771904,743,711.26228096,674,656,629,878.26228096,781,800,650,628,650.26228096,0.446750729962,-0.00555752064266,0.0696334560657,0.999999829944,-9.67337107014e-05,-0.000571354130886,-6.56489393183e-05,1793193359452390656
+216,3.600000000,POSE1_TO_POSE2_PRESS,764.163830504,743,711.836169496,674,656,629,878.836169496,781,800,650,628,650.836169496,0.446769723696,-0.00555771553199,0.0696321549306,0.999999829086,-9.46277251226e-05,-0.000573253091051,-6.52203154969e-05,1793193359469057536
+217,3.616666667,POSE1_TO_POSE2_PRESS,764,743,712,674,656.823809879,629,879,781,800,650,628,651,0.446782367327,-0.00555761510822,0.0696310047681,0.999999827927,-9.4491643078e-05,-0.000575324360413,-6.49583783407e-05,1793193359485723904
+218,3.633333333,POSE1_TO_POSE2_PRESS,764,743,712,674,657.976756527,629,879,781,800,650,628,651,0.446792473901,-0.005557396698,0.0696299149237,0.999999826644,-9.51425966619e-05,-0.000577464472422,-6.47630375196e-05,1793193359502390528
+219,3.650000000,POSE1_TO_POSE2_PRESS,764,743,712,674,656.839719083,629,878.419859541,781,800,649.419859541,628,651,0.446795975356,-0.0055560107969,0.0696282077427,0.999999825341,-9.17005639748e-05,-0.000580267882031,-6.47891348109e-05,1793193359519057152
+220,3.666666667,POSE1_TO_POSE2_PRESS,764,743,712,674,656.168367798,629,878,781.168367798,800,649.168367798,628,651,0.446799250805,-0.00555501181325,0.0696268466399,0.999999824348,-8.93852020231e-05,-0.000582348914684,-6.46869116236e-05,1793193359535724032
+221,3.683333333,POSE1_TO_POSE2_PRESS,764,743,712,674,656.747210295,629,878,781.747210295,800,649.747210295,628,651,0.446802306577,-0.00555501468301,0.0696263602297,0.999999824151,-9.00219310224e-05,-0.000582635546126,-6.42607401721e-05,1793193359552390656
+222,3.700000000,POSE1_TO_POSE2_PRESS,764,743,711.676988664,674,656.676988664,629,878,781.676988664,800.323011336,650,628,651,0.446805584457,-0.00555507233428,0.0696273205316,0.999999824868,-9.03614773977e-05,-0.000581385109772,-6.39571402528e-05,1793193359569057280
+223,3.716666667,POSE1_TO_POSE2_PRESS,764,743,711.103545612,674,656.103545612,629,878,781.103545612,800.896454388,650,628,651,0.446809034537,-0.00555517245784,0.069629402474,0.999999826288,-9.04706172061e-05,-0.000578942979891,-6.37485703868e-05,1793193359585723904
+224,3.733333333,POSE1_TO_POSE2_PRESS,764.482375089,743,711,674.482375089,656,629,878,781,800.517624911,649.517624911,628,651,0.446808695696,-0.00555585189118,0.069627620071,0.999999824992,-9.1359518878e-05,-0.000581071159474,-6.3453845019e-05,1793193359602390528
+225,3.750000000,POSE1_TO_POSE2_PRESS,764.930056627,743.069943373,711,674.930056627,656,629,878,781.069943373,800,649.069943373,628,650.930056627,0.446807850792,-0.00555628981015,0.0696254133801,0.999999823431,-9.20910443798e-05,-0.000583657541826,-6.32470335801e-05,1793193359619057408
+226,3.766666667,POSE1_TO_POSE2_PRESS,764.350516805,743.649483195,711,674.350516805,656,629,878,781.649483195,800,649.649483195,628,650.350516805,0.446809401876,-0.00555403801586,0.069626319572,0.999999824371,-9.04240500344e-05,-0.00058224471904,-6.38190711536e-05,1793193359635724288
+227,3.783333333,POSE1_TO_POSE2_PRESS,764,743.772431851,711,674,656,629,878,781.772431851,800,649.772431851,628,650.227568149,0.44681045046,-0.00555327939074,0.0696265225012,0.999999824554,-9.02353211927e-05,-0.000581934919297,-6.40397989584e-05,1793193359652390912
+228,3.800000000,POSE1_TO_POSE2_PRESS,764,743.19657359,711,674,656,629,878,781.19657359,800,649.19657359,628,650.80342641,0.446810729977,-0.00555480604188,0.0696256490958,0.999999823582,-9.23090587077e-05,-0.000583313282157,-6.37228516658e-05,1793193359669057536
+229,3.816666667,POSE1_TO_POSE2_PRESS,764,743,711.378380012,674,656,629,878,781,800,649,628,650.621619988,0.446810516297,-0.00555448011984,0.0696252979195,0.999999823048,-9.20957022694e-05,-0.000584276678807,-6.35781816426e-05,1793193359685724672
+230,3.833333333,POSE1_TO_POSE2_PRESS,764,743,711.952864736,674,656,629,878,781,800,649,628,650.047135264,0.446810047006,-0.00555319405631,0.0696252174014,0.999999822742,-9.06970032959e-05,-0.000585025009012,-6.35227985444e-05,1793193359702392064
+231,3.850000000,POSE1_TO_POSE2_PRESS,764,743,712,674,656,629,878.542698618,781,800,649,628.542698618,650,0.446810533534,-0.0055542963022,0.0696260460041,0.999999823375,-9.0682600212e-05,-0.000584000364835,-6.3012615043e-05,1793193359719058688
+232,3.866666667,POSE1_TO_POSE2_PRESS,764,743,712,674.131127016,656,628.868872984,879,781,800,649,628.868872984,650,0.446810713925,-0.00555539148023,0.0696264822449,0.999999823688,-9.11625143088e-05,-0.000583432514199,-6.26010896882e-05,1793193359735725056
+233,3.883333333,POSE1_TO_POSE2_PRESS,764,743,712,674.710070048,656,628.289929952,879,781,800,649,628.289929952,650,0.446809557058,-0.00555573349015,0.0696253010091,0.999999822628,-9.29080310495e-05,-0.000584965873329,-6.26653225802e-05,1793193359752391680
+234,3.900000000,POSE1_TO_POSE2_PRESS,764,743,712,675,656,628.286696822,879,781,800,649,628,650,0.446809815541,-0.00555544695882,0.0696252194521,0.999999822405,-9.23728098863e-05,-0.000585429500736,-6.26847652574e-05,1793193359769058304
+235,3.916666667,POSE1_TO_POSE2_PRESS,764,743,712,675,656,628.861000058,879,781,800,649,628,650,0.446811493864,-0.00555452989215,0.0696262410627,0.99999982302,-8.95496150117e-05,-0.000584820002703,-6.2659275623e-05,1793193359785724672
+236,3.933333333,POSE1_TO_POSE2_PRESS,764,743,711.563349183,675,656,629,879,781,800.436650817,649.436650817,628,650.436650817,0.44681150808,-0.00555308973834,0.0696258726199,0.999999822752,-8.98773998305e-05,-0.000585182644659,-6.30797460799e-05,1793193359802391040
+237,3.950000000,POSE1_TO_POSE2_PRESS,764,743,711.013049709,674.973900582,656,629,879,781,800.986950291,649.986950291,628,650.986950291,0.446811051289,-0.00555155045547,0.0696251182367,0.999999822244,-9.11879949052e-05,-0.000585789867667,-6.36147614003e-05,1793193359819057664
+238,3.966666667,POSE1_TO_POSE2_PRESS,764,743,711.603513976,673.792972049,656,629,879,781,800.396486024,649.396486024,628,650.396486024,0.446813265696,-0.00555301564029,0.0696269270101,0.999999823611,-9.14653049671e-05,-0.000583483839608,-6.29171374749e-05,1793193359835724288
+239,3.983333333,POSE1_TO_POSE2_PRESS,764,743,711.810136486,673.189863514,656,629,878.810136486,781,799.810136486,649.189863514,628,650.189863514,0.446814759856,-0.00555412195053,0.0696278721916,0.999999824457,-9.10691099096e-05,-0.00058214734092,-6.24316539619e-05,1793193359852390912
+240,4.000000000,POSE1_TO_POSE2_PRESS,764,743,711.232197371,673.767802629,656,629,878.232197371,781,799.232197371,649.767802629,628,650.767802629,0.446814781851,-0.00555449473129,0.0696270522158,0.999999824244,-8.92962896027e-05,-0.000582792532728,-6.2379779437e-05,1793193359869058048
+241,4.016666667,POSE1_TO_POSE2_PRESS,764.344521633,743,711.344521633,674,656,629,878.344521633,781,799.344521633,650,628,650.655478367,0.446815107856,-0.0055537813416,0.0696266809401,0.999999824218,-8.84168391213e-05,-0.000582956110461,-6.25191876955e-05,1793193359885724672
+242,4.033333333,POSE1_TO_POSE2_PRESS,764.920421198,743,711.920421198,674,656,629,878.920421198,781,799.920421198,650,628,650.079578802,0.446815638032,-0.00555233848864,0.0696266110077,0.999999824319,-8.81373686305e-05,-0.000582796240069,-6.27870599202e-05,1793193359902391552
+243,4.050000000,POSE1_TO_POSE2_PRESS,764.493503839,743,711.493503839,674,656,629,879,781,800,650,628,650.506496161,0.446814462337,-0.0055526507481,0.0696259225456,0.999999823558,-8.9083574484e-05,-0.000583942352041,-6.29204731604e-05,1793193359919058176
+244,4.066666667,POSE1_TO_POSE2_PRESS,764,743,711.093309372,674,656,629,878.906690628,781.093309372,799.906690628,649.906690628,628,651,0.446813558083,-0.00555321431258,0.0696254743788,0.999999823017,-9.01368138887e-05,-0.000584702621138,-6.29543776945e-05,1793193359935724800
+245,4.083333333,POSE1_TO_POSE2_PRESS,764,743,711.675442864,674,656,629,878.324557136,781.675442864,799.324557136,649.324557136,628,651,0.446815508714,-0.00555362016331,0.0696268046032,0.999999824364,-9.07212465908e-05,-0.000582344574523,-6.25799224639e-05,1793193359952391168
+246,4.100000000,HOLD_POSE2,764,743,711,675,656,629,879,781,800,649,629,651,0.446815417807,-0.00555627482798,0.0696263667318,0.999999823811,-9.2550205489e-05,-0.000583089811607,-6.18024235226e-05,1793193359990972416
+247,4.116666667,HOLD_POSE2,764,743,711.577971277,675,656,629,878.422028723,781,800,649.577971277,628.422028723,651,0.44681557751,-0.00555484424207,0.0696264943628,0.999999824202,-9.04032478467e-05,-0.000582768833147,-6.16707241282e-05,1793193360007639552
+248,4.133333333,HOLD_POSE2,764.160618122,743,712,674.839381878,656,629,878.160618122,781.160618122,800,650,628,651,0.446815880842,-0.00555384951751,0.0696267323778,0.999999824461,-8.87907993286e-05,-0.000582585380997,-6.15564041371e-05,1793193360024306688
+249,4.150000000,HOLD_POSE2,764.755918629,743,712,674.244081371,656,629,878.755918629,781.755918629,800,650,628,651,0.44681657288,-0.00555403436846,0.0696272691265,0.99999982437,-8.8624897575e-05,-0.000582774117565,-6.14891181657e-05,1793193360040973056
+250,4.166666667,HOLD_POSE2,764.659616868,743,712,674,656,629,878.659616868,782,800,650,627.659616868,651,0.446817256008,-0.00555331930423,0.0696275042636,0.999999824579,-8.83070454046e-05,-0.00058243363414,-6.17665482383e-05,1793193360057639168
+251,4.183333333,HOLD_POSE2,764.082682933,743,712,674,656,629,878.082682933,782,800,650,627.082682933,651,0.446817932942,-0.00555197883983,0.0696275297943,0.999999824996,-8.78835946113e-05,-0.000581725366864,-6.22835402961e-05,1793193360074305536
+252,4.200000000,HOLD_POSE2,764,743,711.50733066,674.49266934,656,629,878.49266934,781.50733066,800.49266934,649.50733066,627.49266934,650.50733066,0.446817751812,-0.00555335954945,0.0696274068475,0.999999824778,-9.02069280696e-05,-0.000581758034017,-6.21686866895e-05,1793193360090971904
+253,4.216666667,HOLD_POSE2,764,743,711,675,656,629,878.930487791,781,800.930487791,649,628,650,0.446817387816,-0.00555488548945,0.069627235336,0.999999824399,-9.26554911103e-05,-0.000582040723823,-6.20112578597e-05,1793193360107638528
+254,4.233333333,HOLD_POSE2,764,743,711,675,656,629,878.340502924,781,800.340502924,649,628,650,0.446816729409,-0.00555409035631,0.0696268861767,0.99999982367,-9.26011462715e-05,-0.000583267379311,-6.23264836914e-05,1793193360124305152
+255,4.250000000,HOLD_POSE2,764,743,711.244161386,674.755838614,656,629,878.244161386,781,800,649,628,650.244161386,0.446816898797,-0.00555330961256,0.0696267578589,0.999999823642,-9.09305270402e-05,-0.000583578217223,-6.23258313029e-05,1793193360140972032
+256,4.266666667,HOLD_POSE2,764,743,711.821563941,674.178436059,656,629,878.821563941,781,800,649,628,650.821563941,0.446818197993,-0.00555254850809,0.0696269309546,0.999999824561,-8.70539522557e-05,-0.000582639110789,-6.18940557333e-05,1793193360157638656
+257,4.283333333,HOLD_POSE2,764,743,711.60295136,674.39704864,655.60295136,629,878.60295136,781,800,649,628,651,0.446817094917,-0.0055525979548,0.06962629464,0.99999982399,-8.62289380875e-05,-0.000583766421937,-6.16482024135e-05,1793193360174305536
+258,4.300000000,HOLD_POSE2,764,743,711.028324364,674.971675636,655.028324364,629,878.028324364,781,800,649,628,651,0.446814917434,-0.0055530099171,0.0696252963202,0.999999822754,-8.67687214022e-05,-0.00058581792969,-6.14855020106e-05,1793193360190972416
+259,4.316666667,HOLD_POSE2,764,743,711.56061862,675,655,629,878.56061862,781,800,649.56061862,628,651,0.446814838627,-0.00555391261267,0.0696254998088,0.99999982276,-8.76284607416e-05,-0.000585665825997,-6.16131091155e-05,1793193360207639040
+260,4.333333333,HOLD_POSE2,764,743,712,675,655.147551015,628.852448985,879,781,800,649.852448985,628,651,0.446815268846,-0.00555423480213,0.069625881455,0.999999822986,-8.83348961163e-05,-0.00058515927973,-6.17580463905e-05,1793193360224305664
+261,4.350000000,HOLD_POSE2,764,743,712,675,655.726436215,628.273563785,879,781,800,649.273563785,628,651,0.446816869009,-0.00555278562704,0.0696266017553,0.999999823664,-8.8544685889e-05,-0.00058395058558,-6.19096443672e-05,1793193360240972032
+262,4.366666667,HOLD_POSE2,764,743,711.695653371,674.695653371,656,628,878.695653371,781,800,649,628,651,0.446817175193,-0.00555230964741,0.0696269810199,0.999999823958,-8.88126081714e-05,-0.000583418253229,-6.18023226794e-05,1793193360257638656
+263,4.383333333,HOLD_POSE2,764,743,711.118616385,674.118616385,656,628,878.118616385,781,800,649,628,651,0.446816321991,-0.00555270563748,0.0696270547211,0.999999823907,-8.91326163632e-05,-0.000583491931739,-6.14630125566e-05,1793193360274305280
+264,4.400000000,POSE2_TO_POSE3_RETREAT,764,743,711,675,656,629,878,781,800,650,628,650,0.446816922348,-0.00555175276664,0.0696256684017,0.999999823183,-8.83510879146e-05,-0.000584774604301,-6.21841703713e-05,1793193360306828800
+265,4.416666667,POSE2_TO_POSE3_RETREAT,764,743,711.573788993,675,656,629,879.147577987,781,799.426211007,649.426211007,628,650,0.446816400619,-0.00555202445356,0.069624622854,0.999999822801,-8.69289777203e-05,-0.000585683262022,-6.17788257299e-05,1793193360323495168
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764,743,711.848347046,674.848347046,656,629,879.696694092,781.151652954,799.151652954,649.151652954,628,650,0.446816084974,-0.00555223674172,0.0696242413074,0.99999982272,-8.56514084139e-05,-0.000586049621459,-6.14016717721e-05,1793193360340161536
+267,4.450000000,POSE2_TO_POSE3_RETREAT,764,743,711.258714283,674.258714283,656,629,878.517428565,781.741285717,799.741285717,649.741285717,628,650,0.44681636451,-0.00555227748396,0.0696257774223,0.999999823514,-8.47912786537e-05,-0.000584849801935,-6.1105933544e-05,1793193360356827392
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764,743,711.32653747,674,656,629,878,781.67346253,800,649.67346253,628,650.32653747,0.446816075889,-0.00555272361116,0.069625874754,0.999999823066,-8.61257268197e-05,-0.000585414222207,-6.11613869719e-05,1793193360373493760
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,743,711.908364085,674,656,629,878,781.091635915,800,649.091635915,628,650.908364085,0.446815343077,-0.00555348667099,0.0696248472353,0.999999821639,-8.9175910511e-05,-0.000587357936836,-6.14914043665e-05,1793193360390160128
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764,743,711.515914618,674,656,628.515914618,878.484085382,781,800,649,628,650.515914618,0.446815246571,-0.00555229387041,0.0696252588283,0.999999822364,-8.77618710331e-05,-0.000586334477359,-6.14991564163e-05,1793193360406826752
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764,743,711,674,656,628.060471856,879,781.060471856,800,649,628,650.060471856,0.446814348269,-0.00555096909299,0.0696253435019,0.999999822899,-8.5924867748e-05,-0.00058569585167,-6.14696075618e-05,1793193360423493376
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764,743,711,674,656,628.652745071,879,781.652745071,800,649,628,650.652745071,0.446805352746,-0.00555169908273,0.0696201873103,0.99999981824,-8.77073358883e-05,-0.000593319507664,-6.16418253504e-05,1793193360440160256
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764,743,711.238814386,674,656,628.761185614,878.761185614,781.761185614,799.761185614,649.238814386,628,651,0.446787107875,-0.00555187258021,0.0696104373382,0.999999809048,-8.8321105827e-05,-0.000608477984761,-6.21155595258e-05,1793193360456827392
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764,743,711.816091106,674,656,628.183908894,878.183908894,781.183908894,799.183908894,649.816091106,628,651,0.446755754264,-0.0055512573828,0.0695941767802,0.999999793028,-8.72785251132e-05,-0.000634315269599,-6.30166210989e-05,1793193360473494528
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764,743,712,674.393134643,655.606865357,628.393134643,878,781.393134643,799.393134643,649.606865357,628,651,0.44670622214,-0.00554938263639,0.0695747008739,0.999999770216,-8.61436877023e-05,-0.000669407937904,-6.35641680339e-05,1793193360490161408
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764,743,712,674.970069212,655.029930788,628.970069212,878,781.970069212,799.970069212,649.029930788,628,651,0.446648191122,-0.00554691902038,0.0695537217134,0.999999743127,-8.49657178739e-05,-0.000708827722733,-6.39464383588e-05,1793193360506827776
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764.556945345,743,712,675,655.556945345,629,878.556945345,781.443054655,799.443054655,649,628,650.443054655,0.446578753075,-0.00554555544836,0.0695423827125,0.99999973184,-8.29776006785e-05,-0.000724868687253,-6.32525146783e-05,1793193360523493888
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764.857782662,743,712,674.857782662,655.857782662,629,878.857782662,781,799.142217338,649,628,650,0.44650493322,-0.00554340863636,0.0695336821196,0.999999723468,-8.01873110226e-05,-0.000736710393366,-6.23837876074e-05,1793193360540160256
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764.279103058,743,712,674.279103058,655.279103058,629,878.279103058,781,799.720896942,649,628,650,0.446419581212,-0.00553867334793,0.0695314598987,0.999999721815,-7.50712151805e-05,-0.000739590608651,-6.11593147828e-05,1793193360556826880
+280,4.666666667,POSE2_TO_POSE3_RETREAT,764,743,712,674,655.299625014,629,878.599250028,781,800,649,628,650,0.446323408089,-0.00553605462685,0.06953190636,0.999999723067,-7.20015942774e-05,-0.000738360450573,-5.91999970798e-05,1793193360573493504
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764,743,712,674,655.878398208,629,879.756796415,781,800,649,628,650,0.446217153388,-0.00553540782394,0.0695348391218,0.999999727027,-7.08385893747e-05,-0.000733300828198,-5.65560550013e-05,1793193360590160128
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764.451861923,743,711.548138077,674,656,629,879.096276154,781,800,649.451861923,628,650.451861923,0.446088122965,-0.00553297696829,0.0695372251804,0.99999973096,-6.90668334067e-05,-0.000728321591594,-5.34524941661e-05,1793193360606827264
+283,4.716666667,POSE2_TO_POSE3_RETREAT,764.975299252,743,711.024700748,674,656,629,878.024700748,781,800,649.975299252,628,651,0.445951240555,-0.00552992535691,0.0695392137021,0.999999734621,-6.68679211219e-05,-0.000723715506889,-5.02222456048e-05,1793193360623494400
+284,4.733333333,POSE2_TO_POSE3_RETREAT,764.384412429,743,711.615587571,674,656,629,878.615587571,781,800,649.384412429,628,651,0.445773237847,-0.00552352210875,0.0695354231604,0.999999732794,-5.85893108945e-05,-0.000727172636227,-4.68903385542e-05,1793193360640161280
+285,4.750000000,POSE2_TO_POSE3_RETREAT,764.202516482,743,712,674.202516482,656,629,879,781,799.797483518,649,628,651,0.445582311643,-0.00551704818111,0.0695332862545,0.99999973134,-4.93941644694e-05,-0.000730085154496,-4.30687906847e-05,1793193360656827904
+286,4.766666667,POSE2_TO_POSE3_RETREAT,764.782076517,743,712,674.782076517,656,629,879,781,799.217923483,649,628,651,0.445367324597,-0.00551044266371,0.0695342280749,0.999999730624,-3.84926192698e-05,-0.000731983719912,-3.83356338611e-05,1793193360673493760
+287,4.783333333,POSE2_TO_POSE3_RETREAT,764.641415239,743,711.641415239,674.641415239,656,629,878.641415239,781.717169521,799.358584761,649.358584761,628,650.641415239,0.445130789319,-0.0055035749475,0.0695363728088,0.999999731705,-2.75162463483e-05,-0.000731251708794,-3.32130158587e-05,1793193360690160128
+288,4.800000000,POSE2_TO_POSE3_RETREAT,764.066745962,743,711.066745962,674.066745962,656,629,878.066745962,782.866508076,799.933254038,649.933254038,628,650.066745962,0.444881268974,-0.00549654922868,0.0695392424229,0.999999733803,-1.64947809122e-05,-0.00072893450256,-2.78557066373e-05,1793193360706827008
+289,4.816666667,POSE2_TO_POSE3_RETREAT,764,743,711,674.508141853,657.016283706,629,878.508141853,782.491858147,800,649.491858147,628,650.508141853,0.444575891795,-0.00548615994226,0.0695348317246,0.999999725533,2.40581085094e-07,-0.000740549491705,-2.28194879031e-05,1793193360723493632
+290,4.833333333,POSE2_TO_POSE3_RETREAT,764.086002185,742.913997815,711,675,657.82799563,629.086002185,878.913997815,782,800,649,628,651,0.444257216465,-0.00547348536163,0.0695305288054,0.999999716965,2.01928981453e-05,-0.000751891649042,-1.79186215199e-05,1793193360740160512
+291,4.850000000,POSE2_TO_POSE3_RETREAT,764.681295463,742.318704537,711,675,656.637409074,629.681295463,878.318704537,782,800,649,628,651,0.443903258503,-0.0054498951135,0.0695325295719,0.999999716577,5.47490378397e-05,-0.000750776307173,-1.35694197982e-05,1793193360756827392
+292,4.866666667,POSE2_TO_POSE3_RETREAT,764.733413374,742.266586626,711.266586626,675,656.266586626,630,878,782,799.733413374,649,628,651,0.44353706991,-0.00543120610038,0.0695394455668,0.999999721019,0.000103206747966,-0.000739760614083,-7.97744686761e-06,1793193360773494016
+293,4.883333333,POSE2_TO_POSE3_RETREAT,764.159647368,742.840352632,711.840352632,675,656.840352632,630,878,782,799.159647368,649,628,651,0.443156788368,-0.0054181646275,0.0695520252246,0.999999728655,0.000167682797881,-0.000717337056168,-9.53468026309e-07,1793193360790160640
+294,4.900000000,POSE2_TO_POSE3_RETREAT,764,743,711.586691458,675,657,630,878,782,799.413308542,649,628,651,0.44275463963,-0.00541434855419,0.0695718947742,0.999999747928,0.00018223211591,-0.000686226617048,5.40786110296e-06,1793193360806827008
+295,4.916666667,POSE2_TO_POSE3_RETREAT,764,743,711.014047863,675,657,630,878,782,799.985952137,649,628,651,0.442344060852,-0.00541408897562,0.0695945746581,0.999999771774,0.000177534120358,-0.000651767288916,1.15137312104e-05,1793193360823493632
+296,4.933333333,POSE2_TO_POSE3_RETREAT,764,743,711.580436113,674.419563887,657,630.580436113,878,782.580436113,800,649,628.580436113,651,0.441877502356,-0.00541357364194,0.0696188384535,0.999999794642,0.00017585847658,-0.000616219597339,7.97177764595e-06,1793193360840160768
+297,4.950000000,POSE2_TO_POSE3_RETREAT,764,742.829311886,711.829311886,674.170688114,657.170688114,631,878,783,800,649,629,651,0.441402018145,-0.00541608229912,0.0696440443576,0.999999820115,0.00017042420138,-0.000575048437905,6.65127209342e-06,1793193360856827648
+298,4.966666667,POSE2_TO_POSE3_RETREAT,764,742.250492347,711.250492347,674.749507653,657.749507653,631,878,783,800,649,629,651,0.440908557977,-0.00542583698376,0.0696714076845,0.999999852339,0.000155820941589,-0.000520496486479,1.12226074042e-05,1793193360873494528
+299,4.983333333,POSE2_TO_POSE3_RETREAT,764,742.325809774,711,675,658.325809774,631,878,783,799.674190226,649,629,650.674190226,0.440378847402,-0.00543706562818,0.0696943236232,0.999999876058,0.00014191434408,-0.000477007111675,1.44743323949e-05,1793193360890161408
+300,5.000000000,POSE2_TO_POSE3_RETREAT,764,742.900191328,711,675,658.900191328,631,878,783,799.099808672,649,629,650.099808672,0.439821480059,-0.0054494188096,0.0697138464955,0.999999893936,0.000128539253385,-0.000441957761759,1.6719280569e-05,1793193360906827520
+301,5.016666667,POSE2_TO_POSE3_RETREAT,763.52503368,743,711.47496632,674.52503368,658.52503368,631,878,783.47496632,799.47496632,649,629,650.47496632,0.439192691601,-0.00544251411924,0.0697042142577,0.999999886747,0.000135043009169,-0.000456057034395,1.67533899078e-05,1793193360923493888
+302,5.033333333,POSE2_TO_POSE3_RETREAT,763,742.948636128,712,674,658.051363872,631,877.948636128,783.948636128,799.948636128,649,628.948636128,650.948636128,0.438546575743,-0.00543231549811,0.069689322691,0.9999998751,0.000144343433447,-0.00047822042615,1.64120124207e-05,1793193360940160512
+303,5.050000000,POSE2_TO_POSE3_RETREAT,763,742.35601198,712,674,658.64398802,631,877.35601198,783.35601198,799.35601198,649,628.35601198,650.35601198,0.437876152649,-0.00543008597785,0.0696836238266,0.99999987669,0.000139058506091,-0.000476437223954,1.70135590776e-05,1793193360956827136
+304,5.066666667,POSE2_TO_POSE3_RETREAT,763.230277556,742.230277556,712,674,659,631.230277556,877,783,799,649,628.230277556,650,0.437212087778,-0.00543070850985,0.0696984403356,0.999999889628,0.000139500037263,-0.00044824982632,1.88749029693e-05,1793193360973493760
+305,5.083333333,POSE2_TO_POSE3_RETREAT,763.807035859,742.807035859,712,674,659,631.807035859,877,783,799,649,628.807035859,650,0.43655758967,-0.00543562230343,0.0697441247334,0.999999916382,0.000148557725537,-0.000380334085842,2.26317657876e-05,1793193360990160384
+306,5.100000000,POSE2_TO_POSE3_RETREAT,764,743,712,674,659,632,877,783.3813884,799,649,629,650.3813884,0.435869259273,-0.00543836466429,0.0697906464833,0.999999939379,0.000155084468076,-0.000310467415369,2.83016246692e-05,1793193361006827008
+307,5.116666667,POSE2_TO_POSE3_RETREAT,764,743,712,674,659,632,877,783.954531355,799,649,629,650.954531355,0.435163918689,-0.00544001527151,0.0698375892359,0.999999957827,0.0001603387004,-0.000239619857097,3.49332999943e-05,1793193361023493888
+308,5.133333333,POSE2_TO_POSE3_RETREAT,764,743,711.455415749,673.455415749,659,632,877,783.455415749,799,649,628.455415749,651,0.434385113211,-0.00543455525605,0.0698410558068,0.999999957516,0.000153856169744,-0.000245227490895,3.40449099858e-05,1793193361040160256
+309,5.150000000,POSE2_TO_POSE3_RETREAT,764,743,711.13334929,673.13334929,659.13334929,632,877.13334929,783.13334929,799.13334929,649,628.13334929,650.86665071,0.433587728524,-0.00542955886675,0.0698392500518,0.999999955376,0.000151048698479,-0.000255617743503,3.30526558949e-05,1793193361056826880
+310,5.166666667,POSE2_TO_POSE3_RETREAT,764,743,711.712928694,673.712928694,659.712928694,632,877.712928694,783.712928694,799.712928694,649,628.712928694,650.287071306,0.432749355248,-0.00542816424375,0.0698323375704,0.999999952199,0.000163923424216,-0.00025996662835,3.38812213347e-05,1793193361073493504
+311,5.183333333,POSE2_TO_POSE3_RETREAT,763.708975232,743,712,673.708975232,659.708975232,632,878,783.708975232,800,649,629,650,0.431893866824,-0.0054287467101,0.0698218125898,0.999999947426,0.000169478495584,-0.000274190220283,3.52713728316e-05,1793193361090160384
+312,5.200000000,POSE2_TO_POSE3_RETREAT,763.132334848,743,712,673.132334848,659.132334848,632,878,783.132334848,800,649,629,650,0.431021581262,-0.00543126951833,0.0698077422531,0.999999940788,0.000167849961324,-0.000298104982814,3.72126725154e-05,1793193361106827008
+313,5.216666667,POSE2_TO_POSE3_RETREAT,763.441144285,743,712,673,659,632,877.558855715,783.441144285,799.558855715,649,629,650.441144285,0.43011295656,-0.00542854052059,0.069761220834,0.999999916946,0.000167503517138,-0.000369893579724,3.50537807473e-05,1793193361123493376
+314,5.233333333,POSE2_TO_POSE3_RETREAT,764,742.985846151,712,672.985846151,659.014153849,632,877,784,799,649.014153849,629,650.985846151,0.429195879613,-0.00542433906635,0.0697074102617,0.999999883148,0.000167744822455,-0.000452273099814,3.18425712519e-05,1793193361140160000
+315,5.250000000,POSE2_TO_POSE3_RETREAT,764,742.393555599,712,672.393555599,659.606444401,632,877,784,799,649.606444401,629,650.393555599,0.428375657477,-0.00542388631969,0.0697506628567,0.999999909767,0.000176395812116,-0.000384822231538,3.5530760466e-05,1793193361156826624
+316,5.266666667,POSE2_TO_POSE3_RETREAT,763.805965932,742.194034068,712,672.194034068,659.805965932,632,877.194034068,784,799.194034068,649.805965932,629,650.194034068,0.427540724198,-0.00542487464665,0.0697999263471,0.999999934894,0.000182005695678,-0.000309074941299,3.94827625434e-05,1793193361173493504
+317,5.283333333,POSE2_TO_POSE3_RETREAT,763.227685481,742.772314519,712,672.772314519,659.227685481,632,877.772314519,784,799.772314519,649.227685481,629,650.772314519,0.426676658439,-0.00542871673708,0.0698610932332,0.999999959023,0.000181593265348,-0.000216898220893,4.39571940486e-05,1793193361190160128
+318,5.300000000,POSE2_TO_POSE3_RETREAT,763,742.652007308,712,673,659.347992692,632,878.347992692,784.347992692,799.652007308,649,629,651,0.425785934689,-0.00542912343732,0.0698735845757,0.999999962704,0.000179711572607,-0.00020068282992,4.49707780304e-05,1793193361206827008
+319,5.316666667,POSE2_TO_POSE3_RETREAT,763,742.078019144,712,673,659.921980856,632,878.921980856,784.921980856,799.078019144,649,629,651,0.424877898583,-0.00542729910601,0.0698544647566,0.99999995607,0.000176875703343,-0.00023379869863,4.37367979182e-05,1793193361223493632
+320,5.333333333,POSE2_TO_POSE3_RETREAT,763.508488798,742.508488798,712,672.491511202,659.491511202,632,877.983022403,784.491511202,799.508488798,649,629,650.491511202,0.423964734457,-0.00542374890578,0.0698244965204,0.999999943371,0.000180520536883,-0.000280946192738,4.17112581303e-05,1793193361240160512
+321,5.350000000,POSE2_TO_POSE3_RETREAT,764,742.904493492,712,672.095506508,659,632,877,784,799.904493492,649,628.904493492,650,0.423033244985,-0.00541949040293,0.06978589316,0.999999922625,0.000185564202213,-0.000344620902547,3.93943222495e-05,1793193361256827392
+322,5.366666667,POSE2_TO_POSE3_RETREAT,764,742.324874925,712,672.675125075,659,632,877,784,799.324874925,649,628.324874925,650,0.422012955579,-0.00541301774789,0.0697121695051,0.999999865186,0.000192530877188,-0.000480881857258,3.62314975999e-05,1793193361273493760
+323,5.383333333,POSE2_TO_POSE3_RETREAT,764,742,712,673,659,632,877,784,799.253899214,649,628.253899214,650,0.421065908008,-0.00541134902869,0.0696874433744,0.99999984426,0.000195259148744,-0.000521666345137,3.48935396949e-05,1793193361290160640
+324,5.400000000,POSE2_TO_POSE3_RETREAT,764,742,712,673,659,632,877,784,799.831596533,649,628.831596533,650,0.420212265737,-0.00541580677624,0.0697252038605,0.999999883709,0.000192582180748,-0.000440689556129,3.58828375521e-05,1793193361306827264
+325,5.416666667,POSE2_TO_POSE3_RETREAT,764,742.404578,712,673,659,632,877.404578,784,800,649,629,650.404578,0.419409626224,-0.00542065861104,0.0697919654321,0.999999926479,0.000190090904613,-0.000330503731772,4.09215936704e-05,1793193361323493888
+326,5.433333333,POSE2_TO_POSE3_RETREAT,764,742.975619102,712,673,659,632,877.975619102,784,800,649,629,650.975619102,0.418627971783,-0.00542567259228,0.069870659461,0.99999995956,0.000187676029219,-0.00020829988836,4.76264937068e-05,1793193361340160512
+327,5.450000000,POSE2_TO_POSE3_RETREAT,763.432190158,743,712,673,659,632.567809842,877.432190158,784,799.432190158,649,629,651,0.417786007302,-0.00542625076312,0.0698774456122,0.999999959548,0.000189353262358,-0.000206887627287,4.74013881252e-05,1793193361356827648
+328,5.466666667,POSE2_TO_POSE3_RETREAT,763.157387775,743,711.842612225,672.842612225,659,632.842612225,877,784,799.157387775,649,629,651,0.41693249448,-0.00542589492153,0.0698693896223,0.999999956456,0.000190016283949,-0.00022108271284,4.58615897767e-05,1793193361373494528
+329,5.483333333,POSE2_TO_POSE3_RETREAT,763.737416378,743,711.262583622,672.262583622,659,632.262583622,877,784,799.737416378,649,629,651,0.416055193472,-0.00542356219047,0.0698300894311,0.999999947051,0.000187465700361,-0.000262722247107,4.16213621634e-05,1793193361390160896
+330,5.500000000,POSE2_TO_POSE3_RETREAT,763.685396392,743,711.314603608,672.314603608,659,632,877.314603608,784,800,649,629,651,0.415166036616,-0.00541580405801,0.0697913757052,0.999999928377,0.000193421619627,-0.000322988946292,3.88868744956e-05,1793193361406827264
+331,5.516666667,POSE2_TO_POSE3_RETREAT,763.110559513,743,711.889440487,672.889440487,659,632,877.889440487,784,800,649,629,651,0.414267072902,-0.00540355815147,0.0697531470926,0.999999898531,0.000206413932765,-0.000398663628573,3.73979022839e-05,1793193361423493632
+332,5.533333333,POSE2_TO_POSE3_RETREAT,763,743,712,672.524108689,659,632.475891311,878,784,799.524108689,649,628.524108689,650.524108689,0.413474332757,-0.00539619141748,0.0697459264708,0.99999988979,0.000212970858957,-0.000416783891262,3.6811349831e-05,1793193361440160256
+333,5.550000000,POSE2_TO_POSE3_RETREAT,763,743,712,672,659,632.93600887,877.93600887,784,799.06399113,649,628.06399113,650,0.412719444924,-0.00539093388994,0.0697530926386,0.999999892424,0.000218133327295,-0.000407698863392,3.67738759222e-05,1793193361456826880
+334,5.566666667,POSE2_TO_POSE3_RETREAT,763,743,712,672,659,632.35689837,877.35689837,784,799.64310163,649,628.64310163,650,0.412065639838,-0.00539330213195,0.0698166301784,0.99999993201,0.000224406804089,-0.000289943068051,3.94265275396e-05,1793193361473493760
+335,5.583333333,POSE2_TO_POSE3_RETREAT,763.220228053,742.779771947,712,672,659,632,877,784,799.779771947,649,629,650.220228053,0.41139840371,-0.00539189351019,0.0698635447267,0.999999951531,0.000229173840556,-0.000206590043483,4.16837113988e-05,1793193361490160640
+336,5.600000000,POSE2_TO_POSE3_RETREAT,763.794167908,742.205832092,712,672,659,632,877,784,799.205832092,649,629,650.794167908,0.41070959567,-0.00538441880742,0.0698837608323,0.999999956332,0.00023152136401,-0.000178491846381,4.3305729269e-05,1793193361506827520
+337,5.616666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632.369419015,877,784,799,649,629,651,0.409993171487,-0.00537962225722,0.0698633825427,0.999999947303,0.000237893495309,-0.000216798279681,4.24248700828e-05,1793193361523494144
+338,5.633333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632.945403289,877,784,799,649,629,651,0.409261305434,-0.00537632322997,0.0698203053885,0.999999926108,0.000246516035203,-0.000292235692965,4.01444956152e-05,1793193361540160512
+339,5.650000000,POSE2_TO_POSE3_RETREAT,763.464307096,742.535692904,712,672,659,632.464307096,877,784,799,649,628.464307096,651,0.408609890984,-0.00537280875215,0.069787443414,0.999999910175,0.000242772546567,-0.000345487044561,3.67498349775e-05,1793193361556827392
+340,5.666666667,POSE2_TO_POSE3_RETREAT,763.124640907,743,712,672.124640907,659,632,877,784,799,649,628.124640907,651,0.407985146244,-0.00537084909224,0.0697661002369,0.999999899295,0.000238700471102,-0.000378515208791,3.40246810795e-05,1793193361573494016
+341,5.683333333,POSE2_TO_POSE3_RETREAT,763.703246606,743,712,672.703246606,659,632,877,784,799,649,628.703246606,651,0.407426854144,-0.00537463453164,0.0697828146596,0.999999911081,0.000238147883256,-0.000346348361296,3.41629682502e-05,1793193361590160640
+342,5.700000000,POSE2_TO_POSE3_RETREAT,764.279728782,743,712,672.720271218,659,632.279728782,877,784,799.279728782,649.279728782,629,651,0.406878800838,-0.00538937232149,0.0697950912849,0.999999920153,0.00022230963765,-0.000330189556927,3.53131266064e-05,1793193361606827264
+343,5.716666667,POSE2_TO_POSE3_RETREAT,764.853975129,743,712,672.146024871,659,632.853975129,877,784,799.853975129,649.853975129,629,651,0.40634152767,-0.00541564149366,0.0698026954929,0.999999926432,0.000190377607655,-0.000330885115714,3.75286520464e-05,1793193361623493632
+344,5.733333333,POSE2_TO_POSE3_RETREAT,764.576495907,742.576495907,712,672.423504093,659,632.576495907,877,784,800,649.576495907,629,651,0.405838319412,-0.0054212016844,0.0698017126847,0.999999926123,0.000181978612146,-0.00033653614592,3.71533449122e-05,1793193361640160512
+345,5.750000000,POSE2_TO_POSE3_RETREAT,764.008575541,742.008575541,712,672.991424459,659,632.008575541,877,784,800,649.008575541,629,651,0.405346727357,-0.00541970004717,0.0697978016765,0.99999992374,0.000181604455456,-0.000343877008122,3.58945556222e-05,1793193361656827648
+346,5.766666667,POSE2_TO_POSE3_RETREAT,764,742,712,672.408054418,659,632.591945582,877,784,800,649,629,650.408054418,0.40494217917,-0.00541266453609,0.069815056019,0.999999930926,0.000194651105745,-0.000314573560182,3.60860008542e-05,1793193361673494016
+347,5.783333333,POSE2_TO_POSE3_RETREAT,763.816563636,742,712,672,659,632.816563636,877,784,799.816563636,649,629,650.183436364,0.404552667137,-0.00540828981627,0.0698316988433,0.999999938022,0.000202893890041,-0.000285423952335,3.636325883e-05,1793193361690160640
+348,5.800000000,POSE2_TO_POSE3_RETREAT,763.245225579,742,712,672,659,632.245225579,877,784,799.245225579,649,629,650.754774421,0.404192129069,-0.00540972111841,0.0698463623419,0.999999945988,0.000200543126907,-0.000257787678127,3.67749627151e-05,1793193361706827008
+349,5.816666667,POSE2_TO_POSE3_RETREAT,763.330682542,742,712,672.330682542,659,632.330682542,877,784,799,649,628.669317458,651,0.403839310821,-0.00540729784093,0.0698501457609,0.999999947603,0.000204176951971,-0.000248576069894,3.62795803311e-05,1793193361723493632
+350,5.833333333,POSE2_TO_POSE3_RETREAT,763.910027163,742,712,672.910027163,659,632.910027163,877,784,799,649,628.089972837,651,0.403492297637,-0.00540197604996,0.0698457477275,0.999999944786,0.000212310985008,-0.000253219188594,3.51020997629e-05,1793193361740160256
+351,5.850000000,POSE2_TO_POSE3_RETREAT,764,742,712,673,659,632.501147463,877,784,799.498852537,649,628.498852537,651,0.403170692594,-0.00540050425461,0.0698341979842,0.999999939865,0.000212087431192,-0.000272252488479,3.41818040792e-05,1793193361756827136
+352,5.866666667,POSE2_TO_POSE3_RETREAT,764,742.087667762,711.912332238,672.912332238,659,632,877.087667762,784,799.912332238,649.087667762,629,651,0.402860662441,-0.00539944560045,0.0698218094361,0.999999934174,0.000210738642068,-0.000293489265496,3.3238090139e-05,1793193361773493760
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764,742.666657299,711.333342701,672.333342701,659,632,877.666657299,784,799.333342701,649.666657299,629,651,0.402589322045,-0.00539673536947,0.0698120889215,0.999999928335,0.000211695142022,-0.000312247729519,3.18981330347e-05,1793193361790160896
+354,5.900000000,POSE2_TO_POSE3_RETREAT,764,742.756019627,711,672,659,632,877.756019627,784.243980373,799,649.756019627,629,650.756019627,0.402341607496,-0.00539421459958,0.0698034876724,0.999999923401,0.000212198470923,-0.00032739444501,3.13371977704e-05,1793193361806827520
+355,5.916666667,POSE2_TO_POSE3_RETREAT,764,742.180957989,711,672,659,632,877.180957989,784.819042011,799,649.180957989,629,650.180957989,0.402125953232,-0.00539195092856,0.0697964052669,0.999999920003,0.00021208684688,-0.000337640017798,3.1833394941e-05,1793193361823494144
+356,5.933333333,POSE2_TO_POSE3_RETREAT,764,742,711,672,659,632,877.393854453,784.606145547,799,649,628.606145547,650.393854453,0.401938330292,-0.00539191504492,0.0697941052961,0.999999919434,0.00020915778174,-0.000341039124014,3.28081861421e-05,1793193361840160512
+357,5.950000000,POSE2_TO_POSE3_RETREAT,764,742,711,672,659,632,877.968552522,784.031447478,799,649,628.031447478,650.968552522,0.401763578295,-0.00539290207989,0.0697940012446,0.999999920182,0.000204935050279,-0.000341294583087,3.40027303317e-05,1793193361856827136
+358,5.966666667,POSE2_TO_POSE3_RETREAT,764,742.558954998,711.558954998,672,659,632,877.441045002,784,799,649,628,651,0.401621961536,-0.00538979068908,0.0697955973123,0.999999920175,0.000209294128449,-0.000338541083806,3.51439430494e-05,1793193361873493760
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764,743,712,672,658.853029603,632.146970397,877,784,799.146970397,649,628.146970397,651,0.401490070646,-0.00538708375384,0.0697966335765,0.999999918766,0.00021916041382,-0.00033637007728,3.59550046017e-05,1793193361890160128
+360,6.000000000,POSE2_TO_POSE3_RETREAT,764,743,712,672,658.274688596,632.725311404,877,784,799.725311404,649,628.725311404,651,0.401381096131,-0.00538626027259,0.0697957379115,0.999999913067,0.000243732728854,-0.000336419972955,3.58061059559e-05,1793193361906826752
+361,6.016666667,POSE2_TO_POSE3_RETREAT,764,742.697915995,712,672,658.302084005,632.697915995,877,784,799.697915995,649,629,650.697915995,0.401288821233,-0.0053875989594,0.0697958935001,0.999999913678,0.00024439009233,-0.00033476170108,2.9178674489e-05,1793193361923493632
+362,6.033333333,POSE2_TO_POSE3_RETREAT,764,742.122562232,712,672,658.877437768,632.122562232,877,784,799.122562232,649,629,650.122562232,0.401211653067,-0.00539089357617,0.0697970000685,0.999999919938,0.000223413627573,-0.000331558194991,1.66906642931e-05,1793193361940160512
+363,6.050000000,POSE2_TO_POSE3_RETREAT,764,742.462587565,712,672,659,632.462587565,877,784,799,649,629,650.462587565,0.401148564291,-0.00539354456143,0.0697972729393,0.999999921655,0.000216490027636,-0.000331009370168,1.59438021648e-05,1793193361956827136
+364,6.066666667,POSE2_TO_POSE3_RETREAT,763.950335888,743,712,672,659,632.950335888,877,784,799,649,629,651,0.401091142323,-0.00539557181205,0.0697975255204,0.999999922199,0.000214073282656,-0.000330820370634,1.82538991909e-05,1793193361973493504
+365,6.083333333,POSE2_TO_POSE3_RETREAT,763.370990039,743,712,672,659,632.370990039,877,784,799,649,629,651,0.401053512757,-0.0053928048527,0.0697999685021,0.999999922399,0.000219154296841,-0.00032680522805,1.92718882134e-05,1793193361990160128
+366,6.100000000,POSE2_TO_POSE3_RETREAT,763,743,712,672,659,632.207515621,877,784,799.207515621,649,629,650.792484379,0.401021528419,-0.00539181758344,0.0698019870706,0.999999923234,0.000221182044292,-0.000322806974376,2.01406250675e-05,1793193362006827008
+367,6.116666667,POSE2_TO_POSE3_RETREAT,763,743,712,672,659,632.784525212,877,784,799.784525212,649,629,650.215474788,0.400999595752,-0.00539399915908,0.0698032499459,0.999999925243,0.000217773267256,-0.000318838792859,2.07436094048e-05,1793193362023493632
+368,6.133333333,POSE2_TO_POSE3_RETREAT,763.360077247,742.639922753,712,672,658.639922753,632.639922753,877,784,799.639922753,649,629,650.360077247,0.400984067776,-0.00539579289502,0.0698049612753,0.999999926784,0.00021543678185,-0.000315541909837,2.12678412129e-05,1793193362040160256
+369,6.150000000,POSE2_TO_POSE3_RETREAT,763.934760633,742.065239367,712,672,658.065239367,632.065239367,877,784,799.065239367,649,629,650.934760633,0.400972356996,-0.00539735547859,0.0698069398837,0.999999928048,0.000213739382225,-0.000312645120524,2.17451365496e-05,1793193362056826880
+370,6.166666667,POSE2_TO_POSE3_RETREAT,764,742.525438121,712,672,658.525438121,632.525438121,876.474561879,784,799,649,629,651,0.400965709164,-0.00539853719328,0.0698101654888,0.999999929938,0.000211004887907,-0.000308401840559,2.21086633975e-05,1793193362073493504
+371,6.183333333,POSE2_TO_POSE3_RETREAT,764,742.884865616,712,672,659,633,876.115134384,784,799,649,629,651,0.400960286645,-0.00539880684574,0.0698129353735,0.999999931335,0.000209653236519,-0.000304757505511,2.23431036744e-05,1793193362090160128
+372,6.200000000,POSE2_TO_POSE3_RETREAT,764,742.30733577,712,672,659,633,876.69266423,784,799,649,629,651,0.400957181249,-0.00539560941494,0.0698132336855,0.999999930502,0.000214388655222,-0.000304211122549,2.21176265455e-05,1793193362106827008
+373,6.216666667,POSE2_TO_POSE3_RETREAT,764.269094871,742.269094871,712,672,659,632.730905129,877,784,799,649,628.730905129,651,0.400955087403,-0.00539469965884,0.0698136410611,0.999999930331,0.000216298191004,-0.00030342758205,2.19967380953e-05,1793193362123493632
+374,6.233333333,POSE2_TO_POSE3_RETREAT,764.844275173,742.844275173,712,672,659,632.155724827,877,784,799,649,628.155724827,651,0.400954144158,-0.00539639204802,0.0698141724925,0.999999930932,0.000214993389537,-0.00030237428369,2.19948154003e-05,1793193362140160256
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,743,712,672,659,632,877,784,799,649,628.429100293,651,0.400954297627,-0.00539755898115,0.0698149127529,0.99999993144,0.000214547885291,-0.000301002495182,2.20576876394e-05,1793193362156826880
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764.982764772,743,712,672,658.982764772,632,877.017235228,784.017235228,799,649.017235228,628.982764772,651,0.400954834849,-0.00539850328611,0.0698157396062,0.99999993192,0.000214406610298,-0.000299498074658,2.21463462585e-05,1793193362173493504
+377,6.283333333,POSE2_TO_POSE3_RETREAT,764.403462902,743,712,672,658.403462902,632,877.596537098,784.596537098,799,649.596537098,628.403462902,651,0.400954608739,-0.0053985491405,0.0698168620529,0.99999993264,0.00021378304698,-0.000297524339655,2.22914539596e-05,1793193362190160128
+378,6.300000000,POSE2_TO_POSE3_RETREAT,764,743,712,672,658.174588922,632.174588922,877.825411078,784.825411078,799,649.825411078,628.174588922,650.825411078,0.400953829365,-0.00539846358322,0.0698171830442,0.999999932923,0.000213015069054,-0.000297116447554,2.23520159767e-05,1793193362206827008
+379,6.316666667,POSE2_TO_POSE3_RETREAT,764,743,712,672,658.749772434,632.749772434,877.250227566,784.250227566,799,649.250227566,628.749772434,650.250227566,0.400951780526,-0.00539807650163,0.0698156650949,0.999999932209,0.000211915731642,-0.000300301385035,2.22185877526e-05,1793193362223493632
+380,6.333333333,POSE2_TO_POSE3_RETREAT,764,743,712,672,658.674356248,632.674356248,877,784.325643752,799.325643752,649.325643752,629,650.325643752,0.400951811338,-0.0053978453796,0.0698158658473,0.999999932142,0.000212792572174,-0.000299901856048,2.22336521699e-05,1793193362240160256
+381,6.350000000,POSE2_TO_POSE3_RETREAT,764,743,712,672,658.097955235,632.097955235,877,784.902044765,799.902044765,649.902044765,629,650.902044765,0.400953443554,-0.00539773435195,0.0698173900611,0.999999932568,0.000215191139828,-0.000296742160839,2.23630611837e-05,1793193362256826880
+382,6.366666667,POSE2_TO_POSE3_RETREAT,764,743,712,672,658.489464611,632.489464611,876.510535389,784.510535389,800,649.510535389,628.510535389,650.510535389,0.400953813914,-0.00539995597852,0.0698185938406,0.999999933559,0.000212211990115,-0.000295519449301,2.27133700258e-05,1793193362273493504
+383,6.383333333,POSE2_TO_POSE3_RETREAT,764,743,712,672,659,633,876.155459161,784,799.922270419,649,628,650.077729581,0.400953942136,-0.00540176835919,0.0698195504112,0.999999934373,0.000209354170716,-0.000294783511755,2.29800572774e-05,1793193362290160128
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764,743,712,672,659,633,877.31378706,784,799.34310647,649,628,650.65689353,0.400954174932,-0.00539785982351,0.0698193354515,0.999999933366,0.000214381706868,-0.000294629474751,2.24155460729e-05,1793193362306826752
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764,743,712,672,659,632.766394247,877.766394247,784,799,649,628,650.766394247,0.400954102461,-0.00539603226558,0.0698190083435,0.999999932692,0.000217484053717,-0.000294649114163,2.23273102579e-05,1793193362323493888
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764,743,712,672,659,632.19324561,877.19324561,784,799,649,628,650.19324561,0.40095358629,-0.00539722938162,0.0698185182293,0.999999932532,0.000217788162992,-0.000294921189973,2.29313344787e-05,1793193362340161792
+387,6.450000000,POSE2_TO_POSE3_RETREAT,763.617899203,742.617899203,712,671.617899203,659,632.382100797,877,784,799.382100797,649,628.382100797,650.382100797,0.40095358855,-0.00539889336625,0.0698186179234,0.999999933301,0.000214444874078,-0.000294759802973,2.29592164217e-05,1793193362356828416
+388,6.466666667,POSE2_TO_POSE3_RETREAT,763.041434872,742.041434872,712,671.041434872,659,632.958565128,877,784,799.958565128,649,628.958565128,650.958565128,0.40095385452,-0.00540079483328,0.0698190176357,0.999999934521,0.000209246260033,-0.000294377926065,2.26940315668e-05,1793193362373494528
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764.098941614,742,712,671.549470807,658.450529193,632.450529193,877,784,798.901058386,649,629,651,0.400954538791,-0.00540055053558,0.0698192662342,0.999999934891,0.000208957651273,-0.000293353356226,2.23295042204e-05,1793193362390161152
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764.861855289,742.138144711,712,671.861855289,658.138144711,632.138144711,877.138144711,784,798.138144711,649,629,651,0.400954940028,-0.00539967943025,0.0698194484587,0.999999934892,0.000209925938361,-0.000292680475322,2.20061263022e-05,1793193362406827776
+391,6.516666667,POSE2_TO_POSE3_RETREAT,764.283848674,742.716151326,712,671.283848674,658.716151326,632.716151326,877.716151326,784,798.716151326,649,629,651,0.400954336919,-0.00539734164604,0.0698194566067,0.999999933922,0.000213685520925,-0.00029328587528,2.18382675421e-05,1793193362423493888
+392,6.533333333,POSE2_TO_POSE3_RETREAT,764,743,712,671.291902849,658.708097151,633,878,784.291902849,799.291902849,649,629,651,0.400953991544,-0.00539709788222,0.0698197451209,0.999999933839,0.000214142996193,-0.000293229304887,2.19363939029e-05,1793193362440160512
+393,6.550000000,POSE2_TO_POSE3_RETREAT,764,743,712,671.865478381,658.134521619,633,878,784.865478381,799.865478381,649,629,651,0.400953894871,-0.0053988747505,0.0698203041753,0.999999934616,0.000211414091838,-0.000292533963945,2.22911835233e-05,1793193362456827136
+394,6.566666667,POSE2_TO_POSE3_RETREAT,764,742.548711575,712,672,658.451288425,633,877.548711575,784.548711575,799.548711575,649,628.548711575,651,0.400953653973,-0.00540048645004,0.0698201058297,0.999999934918,0.000209809472327,-0.000292664348861,2.21876761159e-05,1793193362473493504
+395,6.583333333,POSE2_TO_POSE3_RETREAT,764,742.040149385,712,671.959850615,658.959850615,633,877,784,799.040149385,649,628,651,0.400953397336,-0.00540178410606,0.0698197185102,0.999999935049,0.000208823542247,-0.000292938954765,2.19540824544e-05,1793193362490160384
+396,6.600000000,POSE2_TO_POSE3_RETREAT,764,742.619639557,712,671.380360443,658.380360443,633,877,784,799.619639557,649,628,651,0.400953522872,-0.0053995429148,0.0698199099734,0.999999934831,0.000211521305705,-0.000291752375726,2.18592719998e-05,1793193362506827264
+397,6.616666667,POSE2_TO_POSE3_RETREAT,764,743,711.801873787,671.198126213,658.198126213,633,877,784,799.801873787,649,628,651,0.400953616276,-0.00539784992057,0.0698200885528,0.999999934552,0.00021337691666,-0.000291363167717,2.17816059968e-05,1793193362523494144
+398,6.633333333,POSE2_TO_POSE3_RETREAT,764,743,711.225303996,671.774696004,658.774696004,633,877,784,799.225303996,649,628,651,0.400953648301,-0.00539720404507,0.0698202425224,0.999999934169,0.000213623920483,-0.00029249702905,2.17366878504e-05,1793193362540160768
+399,6.650000000,POSE2_TO_POSE3_RETREAT,764,742.650580437,711.349419563,672,659,633,877,784,799,649,628,651,0.400953365695,-0.00539828513022,0.069820124723,0.999999934455,0.000211537424181,-0.000293025565878,2.18451673076e-05,1793193362556827392
+400,6.666666667,POSE2_TO_POSE3_RETREAT,764,742.077041085,711.922958915,672,659,633,877,784,799,649,628,651,0.400952881282,-0.00540047389824,0.0698198326092,0.999999935161,0.000207954206993,-0.000293165843918,2.20520369027e-05,1793193362573493760
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_03/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_03/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..957e272b6ebdb5fb1c7bf1ffb0dd2a0d877b3694
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_03/depth_04/simulation_data.csv
@@ -0,0 +1,402 @@
+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,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+1,0.016666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+2,0.033333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+3,0.050000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+4,0.066666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+5,0.083333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+6,0.100000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+7,0.116666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+8,0.133333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+9,0.150000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+10,0.166666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+11,0.183333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+12,0.200000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+13,0.216666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+14,0.233333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+15,0.250000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+16,0.266666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+17,0.283333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+18,0.300000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+19,0.316666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+20,0.333333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+21,0.350000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+22,0.366666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+23,0.383333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+24,0.400000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+25,0.416666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+26,0.433333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+27,0.450000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+28,0.466666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+29,0.483333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+30,0.500000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+31,0.516666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+32,0.533333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+33,0.550000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+34,0.566666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+35,0.583333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+36,0.600000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+37,0.616666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+38,0.633333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+39,0.650000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+40,0.666666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+41,0.683333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+42,0.700000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+43,0.716666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+44,0.733333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+45,0.750000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+46,0.766666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+47,0.783333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+48,0.800000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+49,0.816666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+50,0.833333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+51,0.850000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+52,0.866666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+53,0.883333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+54,0.900000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+55,0.916666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+56,0.933333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+57,0.950000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+58,0.966666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+59,0.983333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+60,1.000000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+61,1.016666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+62,1.033333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+63,1.050000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+64,1.066666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+65,1.083333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+66,1.100000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+67,1.116666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+68,1.133333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+69,1.150000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+70,1.166666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+71,1.183333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+72,1.200000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+73,1.216666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+74,1.233333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+75,1.250000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+76,1.266666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+77,1.283333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+78,1.300000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+79,1.316666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+80,1.333333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+81,1.350000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+82,1.366666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+83,1.383333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+84,1.400000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+85,1.416666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+86,1.433333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+87,1.450000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+88,1.466666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+89,1.483333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+90,1.500000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+91,1.516666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+92,1.533333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+93,1.550000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+94,1.566666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+95,1.583333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+96,1.600000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+97,1.616666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+98,1.633333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+99,1.650000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+100,1.666666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+101,1.683333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+102,1.700000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+103,1.716666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+104,1.733333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+105,1.750000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+106,1.766666667,pose1_to_pose2_press,0.575709211365,5.46154939886e-05,1.06002918235,0.546279941881,0.00872734561183,1.05969846529
+107,1.783333333,pose1_to_pose2_press,0.575709253277,5.46195311211e-05,1.06002906477,0.546279984307,0.00872735163899,1.05969835413
+108,1.800000000,pose1_to_pose2_press,0.575709326248,5.46265599611e-05,1.06002886004,0.546280058174,0.00872736213258,1.0596981606
+109,1.816666667,pose1_to_pose2_press,0.575709587698,5.45956029979e-05,1.06002899913,0.546280319095,0.00872732926951,1.05969829667
+110,1.833333333,pose1_to_pose2_press,0.575709746355,5.45767718584e-05,1.06002908424,0.54628047743,0.00872730927013,1.05969837991
+111,1.850000000,pose1_to_pose2_press,0.575709847455,5.45664726406e-05,1.06002912937,0.546280578352,0.00872729833156,1.05969842409
+112,1.866666667,pose1_to_pose2_press,0.575710481463,5.45817378532e-05,1.06002898503,0.546281212572,0.0087273145225,1.05969828516
+113,1.883333333,pose1_to_pose2_press,0.575712216745,5.45672297313e-05,1.06002902041,0.54628294761,0.00872729915497,1.05969831959
+114,1.900000000,pose1_to_pose2_press,0.575715877848,5.45037917436e-05,1.06002932493,0.546286608672,0.00872723518787,1.05969861389
+115,1.916666667,pose1_to_pose2_press,0.575724579918,5.45010077612e-05,1.06002922857,0.546295312499,0.00872723833077,1.05969851656
+116,1.933333333,pose1_to_pose2_press,0.575740037046,5.45904677404e-05,1.06002893794,0.546310767959,0.00872732216139,1.05969822668
+117,1.950000000,pose1_to_pose2_press,0.575766068002,5.45947324928e-05,1.06002913955,0.546336798367,0.00872732473966,1.05969843279
+118,1.966666667,pose1_to_pose2_press,0.575802421238,5.46512990041e-05,1.06002907809,0.54637315166,0.00872738141206,1.05969836899
+119,1.983333333,pose1_to_pose2_press,0.575848407401,5.46217474111e-05,1.06002925594,0.546419136167,0.00872734627094,1.05969854755
+120,2.000000000,pose1_to_pose2_press,0.575903653675,5.45083866014e-05,1.06002921673,0.546474383125,0.00872723472759,1.05969849504
+121,2.016666667,pose1_to_pose2_press,0.575968451173,5.46349368096e-05,1.06002926332,0.54653918026,0.00872736029895,1.05969854826
+122,2.033333333,pose1_to_pose2_press,0.576042013939,5.45874821319e-05,1.0600291668,0.546612743413,0.00872731444663,1.05969845927
+123,2.050000000,pose1_to_pose2_press,0.576125083363,5.45106208912e-05,1.06002921342,0.546695814778,0.00872724411825,1.05969850442
+124,2.066666667,pose1_to_pose2_press,0.576223028113,5.44363733278e-05,1.06002910279,0.546793760088,0.00872717159318,1.05969838903
+125,2.083333333,pose1_to_pose2_press,0.576336012895,5.46266457635e-05,1.06002928609,0.546906741854,0.00872735164758,1.05969857281
+126,2.100000000,pose1_to_pose2_press,0.576466502272,5.45790304215e-05,1.06002923821,0.547037231714,0.00872730575416,1.05969852695
+127,2.116666667,pose1_to_pose2_press,0.576616000145,5.45428107519e-05,1.06002907986,0.547186731507,0.00872727603466,1.05969836817
+128,2.133333333,pose1_to_pose2_press,0.576786235465,5.45619861499e-05,1.06002927709,0.547356965766,0.00872729123871,1.05969855567
+129,2.150000000,pose1_to_pose2_press,0.576977583098,5.4524486151e-05,1.06002901659,0.547548313407,0.0087272545458,1.05969831559
+130,2.166666667,pose1_to_pose2_press,0.577189547875,5.45730249811e-05,1.06002914625,0.54776027846,0.00872730376184,1.05969843839
+131,2.183333333,pose1_to_pose2_press,0.57742395633,5.45317680156e-05,1.06002916493,0.54799468726,0.00872726348956,1.05969845207
+132,2.200000000,pose1_to_pose2_press,0.577679998775,5.45981732862e-05,1.06002910361,0.548250729192,0.00872732847795,1.05969839928
+133,2.216666667,pose1_to_pose2_press,0.577960130236,5.46151300009e-05,1.06002911,0.548530861144,0.00872734681562,1.059698398
+134,2.233333333,pose1_to_pose2_press,0.578262648158,5.45438985075e-05,1.06002918938,0.548833379071,0.0087272755754,1.05969847675
+135,2.250000000,pose1_to_pose2_press,0.578587657873,5.45645801357e-05,1.060029005,0.549158389773,0.00872729977455,1.05969829675
+136,2.266666667,pose1_to_pose2_press,0.578939145901,5.46659007452e-05,1.06002917838,0.549509875752,0.00872739405596,1.05969846775
+137,2.283333333,pose1_to_pose2_press,0.579314523889,5.4600206775e-05,1.06002900008,0.549885253154,0.00872732627703,1.05969828689
+138,2.300000000,pose1_to_pose2_press,0.579712353129,5.44437200231e-05,1.06002913283,0.550283083868,0.00872717480677,1.05969841989
+139,2.316666667,pose1_to_pose2_press,0.580128631849,5.44679727952e-05,1.06002909002,0.550699362519,0.00872719902139,1.05969838215
+140,2.333333333,pose1_to_pose2_press,0.580561831679,5.4594205548e-05,1.06002922928,0.55113256247,0.0087273256854,1.059698522
+141,2.350000000,pose1_to_pose2_press,0.581015669211,5.45125694908e-05,1.06002918582,0.55158640058,0.00872724579175,1.05969847267
+142,2.366666667,pose1_to_pose2_press,0.581492597664,5.44323337141e-05,1.06002929611,0.552063330854,0.00872717159979,1.0596985794
+143,2.383333333,pose1_to_pose2_press,0.582002634201,5.46418156984e-05,1.06002928308,0.552573363201,0.00872736715493,1.05969857396
+144,2.400000000,pose1_to_pose2_press,0.582546470704,5.45549239265e-05,1.06002931004,0.553117199981,0.00872728138455,1.05969860563
+145,2.416666667,pose1_to_pose2_press,0.583124563731,5.4533745195e-05,1.06002903273,0.553695294315,0.00872726461084,1.05969832747
+146,2.433333333,pose1_to_pose2_press,0.583724007715,5.45091609972e-05,1.06002913029,0.554294738441,0.00872724051089,1.05969842515
+147,2.450000000,pose1_to_pose2_press,0.584340844746,5.47181424516e-05,1.0600291615,0.554911572362,0.0087274384783,1.05969844417
+148,2.466666667,pose1_to_pose2_press,0.584974726297,5.46214614821e-05,1.06002899512,0.555545455374,0.00872734714152,1.05969828791
+149,2.483333333,pose1_to_pose2_press,0.585628320577,5.45654894723e-05,1.06002892486,0.556199050858,0.0087272951903,1.05969821586
+150,2.500000000,pose1_to_pose2_press,0.586309755209,5.46141232684e-05,1.06002902619,0.556880485639,0.00872734442935,1.05969831982
+151,2.516666667,pose1_to_pose2_press,0.587015394972,5.45010374564e-05,1.06002906026,0.557586126406,0.00872723455746,1.05969834878
+152,2.533333333,pose1_to_pose2_press,0.587741239912,5.46489519826e-05,1.06002910779,0.558311969969,0.00872737810461,1.05969840438
+153,2.550000000,pose1_to_pose2_press,0.588468518524,5.44197951573e-05,1.06002903135,0.559039251329,0.00872715820986,1.05969832622
+154,2.566666667,pose1_to_pose2_press,0.589192753582,5.46020223439e-05,1.06002916318,0.559763483612,0.00872733076135,1.05969845134
+155,2.583333333,pose1_to_pose2_press,0.589931634819,5.46569399474e-05,1.06002916359,0.560502364336,0.00872738379727,1.05969844801
+156,2.600000000,pose1_to_pose2_press,0.590689303847,5.4608071657e-05,1.0600290639,0.561260034709,0.00872733958541,1.05969835073
+157,2.616666667,pose1_to_pose2_press,0.591471064117,5.45750259069e-05,1.06002915618,0.562041792266,0.00872729723689,1.05969844047
+158,2.633333333,pose1_to_pose2_press,0.592282496793,5.45977260402e-05,1.06002900248,0.562853227073,0.00872732753285,1.05969829634
+159,2.650000000,pose1_to_pose2_press,0.593125414998,5.45513018283e-05,1.06002888887,0.56369614534,0.00872728133959,1.05969818332
+160,2.666666667,pose1_to_pose2_press,0.593969283452,5.44757271618e-05,1.06002899767,0.564540015632,0.00872721188124,1.05969828902
+161,2.683333333,pose1_to_pose2_press,0.594811888521,5.45884179797e-05,1.06002949048,0.56538261815,0.00872731546735,1.05969877009
+162,2.700000000,pose1_to_pose2_press,0.595643831255,5.46379739599e-05,1.06002918602,0.566214560451,0.0087273636501,1.05969846812
+163,2.716666667,pose1_to_pose2_press,0.596463729722,5.44396154834e-05,1.06002921185,0.567034461212,0.00872717300992,1.05969849221
+164,2.733333333,pose1_to_pose2_press,0.597270044136,5.46404666825e-05,1.06002932001,0.567840774839,0.0087273713479,1.05969860458
+165,2.750000000,pose1_to_pose2_press,0.598082925581,5.46113686097e-05,1.06002947521,0.568653656692,0.00872734381578,1.05969876465
+166,2.766666667,pose1_to_pose2_press,0.59891088726,5.46021783297e-05,1.06002891095,0.569481617636,0.00872733225469,1.05969820364
+167,2.783333333,pose1_to_pose2_press,0.599752635305,5.44272936102e-05,1.06002904551,0.570323368137,0.00872716543621,1.05969833119
+168,2.800000000,pose1_to_pose2_press,0.600609790611,5.45536545786e-05,1.06002902717,0.571180522071,0.00872728739755,1.05969831971
+169,2.816666667,pose1_to_pose2_press,0.601487601819,5.45786686414e-05,1.06002919081,0.572058331688,0.00872730674138,1.05969847617
+170,2.833333333,pose1_to_pose2_press,0.602358822852,5.44818000614e-05,1.06002936998,0.572929554792,0.00872721671193,1.05969865054
+171,2.850000000,pose1_to_pose2_press,0.603207747588,5.44965167695e-05,1.06002893511,0.573778478311,0.00872722765029,1.05969822488
+172,2.866666667,pose1_to_pose2_press,0.604025859956,5.45725891038e-05,1.06002903696,0.574596591194,0.00872730560474,1.05969833039
+173,2.883333333,pose1_to_pose2_press,0.604808717275,5.45875686951e-05,1.06002916099,0.575379447915,0.00872731836843,1.05969844961
+174,2.900000000,pose1_to_pose2_press,0.605571530607,5.45052176546e-05,1.06002914834,0.576142261823,0.00872723805433,1.05969843925
+175,2.916666667,pose1_to_pose2_press,0.606328466391,5.44627494143e-05,1.06002912246,0.576899196709,0.00872719271287,1.05969841796
+176,2.933333333,pose1_to_pose2_press,0.60709598636,5.45977723532e-05,1.06002917837,0.577666716262,0.0087273259155,1.05969846323
+177,2.950000000,pose1_to_pose2_press,0.607874159021,5.45926486044e-05,1.06002916581,0.578444889142,0.00872732171477,1.05969845544
+178,2.966666667,pose1_to_pose2_press,0.608657029823,5.45888113927e-05,1.06002931452,0.579227759628,0.00872731662001,1.05969859947
+179,2.983333333,pose1_to_pose2_press,0.609415053193,5.44872159408e-05,1.06002928399,0.579985784344,0.00872721975933,1.05969857342
+180,3.000000000,pose1_to_pose2_press,0.610139954202,5.44418368513e-05,1.06002890346,0.58071068496,0.00872717299405,1.05969819156
+181,3.016666667,pose1_to_pose2_press,0.610812822292,5.45425979269e-05,1.06002920234,0.58138355264,0.0087272723507,1.05969849008
+182,3.033333333,pose1_to_pose2_press,0.611447247996,5.45668068291e-05,1.06002888032,0.582017977763,0.00872729491158,1.05969817676
+183,3.050000000,pose1_to_pose2_press,0.612048854898,5.44270785139e-05,1.06002892893,0.582619585939,0.00872715933339,1.05969822091
+184,3.066666667,pose1_to_pose2_press,0.61262228803,5.45109603338e-05,1.06002917261,0.583193020188,0.00872724679103,1.05969845882
+185,3.083333333,pose1_to_pose2_press,0.613169040324,5.45420304714e-05,1.06002917179,0.583739772121,0.00872727682934,1.05969845907
+186,3.100000000,pose1_to_pose2_press,0.613704834517,5.45975389753e-05,1.06002916377,0.584275563259,0.00872732233765,1.05969845256
+187,3.116666667,pose1_to_pose2_press,0.61423221414,5.46113995572e-05,1.06002925877,0.584802943507,0.00872733894346,1.05969854675
+188,3.133333333,pose1_to_pose2_press,0.614753568453,5.4576822991e-05,1.06002920268,0.585324298611,0.00872730779833,1.05969848748
+189,3.150000000,pose1_to_pose2_press,0.61526256502,5.46715780911e-05,1.0600291452,0.585833293259,0.00872739727908,1.05969843722
+190,3.166666667,pose1_to_pose2_press,0.615752337344,5.45652623038e-05,1.06002913151,0.586323065807,0.0087272927385,1.05969842618
+191,3.183333333,pose1_to_pose2_press,0.616206910776,5.45423080202e-05,1.06002905477,0.58677763995,0.00872727312013,1.05969834637
+192,3.200000000,pose1_to_pose2_press,0.616624573328,5.46046425634e-05,1.06002920482,0.58719530111,0.00872733166166,1.05969849681
+193,3.216666667,pose1_to_pose2_press,0.617004976398,5.44373069744e-05,1.06002906663,0.587575705922,0.0087271713548,1.05969836349
+194,3.233333333,pose1_to_pose2_press,0.617359650281,5.44831933313e-05,1.06002908338,0.587930379145,0.00872721573641,1.05969837803
+195,3.250000000,pose1_to_pose2_press,0.617697046139,5.46071573618e-05,1.06002916317,0.588267773155,0.00872733397805,1.05969845227
+196,3.266666667,pose1_to_pose2_press,0.618022773836,5.45661190728e-05,1.06002922015,0.588593501624,0.00872729628235,1.05969850778
+197,3.283333333,pose1_to_pose2_press,0.618336513832,5.4527405926e-05,1.06002925288,0.588907242052,0.00872725998811,1.05969854593
+198,3.300000000,pose1_to_pose2_press,0.618631412394,5.45822372599e-05,1.06002908733,0.589202139466,0.00872731159948,1.05969838071
+199,3.316666667,pose1_to_pose2_press,0.618905751439,5.46241230555e-05,1.06002909895,0.589476478112,0.00872735247386,1.05969838401
+200,3.333333333,pose1_to_pose2_press,0.619155536401,5.46127044686e-05,1.06002929527,0.589726263546,0.00872734332084,1.05969857937
+201,3.350000000,pose1_to_pose2_press,0.619382709198,5.46120421909e-05,1.06002921888,0.58995343606,0.00872734240145,1.05969850787
+202,3.366666667,pose1_to_pose2_press,0.619586435945,5.47441140213e-05,1.0600291416,0.590157159847,0.00872746490677,1.05969843426
+203,3.383333333,pose1_to_pose2_press,0.619770224733,5.46881742141e-05,1.06002913318,0.59034095015,0.00872741462901,1.05969842743
+204,3.400000000,pose1_to_pose2_press,0.619934292002,5.44502072438e-05,1.06002913322,0.590505021144,0.00872718969911,1.05969842738
+205,3.416666667,pose1_to_pose2_press,0.620078179911,5.44316475154e-05,1.0600290865,0.590648908997,0.00872717116339,1.0596983803
+206,3.433333333,pose1_to_pose2_press,0.620204321074,5.45340033923e-05,1.060029099,0.590775049741,0.00872727226629,1.05969839137
+207,3.450000000,pose1_to_pose2_press,0.620313740482,5.45302078163e-05,1.06002923973,0.590884468544,0.00872726655073,1.05969852803
+208,3.466666667,pose1_to_pose2_press,0.620409870512,5.4589123179e-05,1.06002917028,0.59098059738,0.00872732150756,1.0596984576
+209,3.483333333,pose1_to_pose2_press,0.620492976244,5.45416108319e-05,1.06002916652,0.591063701947,0.00872727022181,1.05969845363
+210,3.500000000,pose1_to_pose2_press,0.620564344304,5.45199904733e-05,1.06002920864,0.591135070884,0.00872725159849,1.05969848988
+211,3.516666667,pose1_to_pose2_press,0.62062429876,5.45174299291e-05,1.0600292747,0.59119502485,0.0087272469288,1.05969855975
+212,3.533333333,pose1_to_pose2_press,0.620673526731,5.44670190641e-05,1.06002898358,0.591244254627,0.0087272037536,1.05969828514
+213,3.550000000,pose1_to_pose2_press,0.620713474616,5.44063354909e-05,1.06002912655,0.591284203072,0.00872714540133,1.05969841939
+214,3.566666667,pose1_to_pose2_press,0.620744420102,5.45383943952e-05,1.06002906465,0.591315147169,0.00872727206754,1.0596983505
+215,3.583333333,pose1_to_pose2_press,0.620768866273,5.45337300744e-05,1.06002903587,0.591339592089,0.00872726331618,1.05969832603
+216,3.600000000,pose1_to_pose2_press,0.620787257017,5.4501418846e-05,1.06002893313,0.591357982372,0.00872722987223,1.0596982287
+217,3.616666667,pose1_to_pose2_press,0.620800379949,5.45048503993e-05,1.06002897424,0.591371106546,0.00872723744534,1.05969826773
+218,3.633333333,pose1_to_pose2_press,0.620809315888,5.45376869681e-05,1.06002915669,0.591380044755,0.00872727746654,1.05969844244
+219,3.650000000,pose1_to_pose2_press,0.620815169135,5.4557198293e-05,1.06002921315,0.59138589624,0.00872729127513,1.05969850323
+220,3.666666667,pose1_to_pose2_press,0.62081933594,5.45711784728e-05,1.06002925171,0.591390061723,0.00872730098169,1.059698545
+221,3.683333333,pose1_to_pose2_press,0.620822153315,5.46003710361e-05,1.06002922522,0.591392878239,0.00872732702868,1.05969851332
+222,3.700000000,pose1_to_pose2_press,0.620824317361,5.46227940474e-05,1.06002920487,0.591395041624,0.00872734703557,1.05969848899
+223,3.716666667,pose1_to_pose2_press,0.620825774898,5.46272188661e-05,1.06002919328,0.591396498839,0.00872735026428,1.05969847504
+224,3.733333333,pose1_to_pose2_press,0.620826948666,5.45750961647e-05,1.060029195,0.591397672986,0.00872729942722,1.05969847653
+225,3.750000000,pose1_to_pose2_press,0.620827753644,5.45393500713e-05,1.06002919618,0.591398478224,0.00872726456283,1.05969847755
+226,3.766666667,pose1_to_pose2_press,0.620828034119,5.45268952173e-05,1.06002919659,0.59139875879,0.00872725241519,1.0596984779
+227,3.783333333,pose1_to_pose2_press,0.620828335299,5.45135209195e-05,1.06002919703,0.591399060067,0.00872723937078,1.05969847828
+228,3.800000000,pose1_to_pose2_press,0.620828698617,5.44973873349e-05,1.06002919756,0.591399423502,0.00872722363514,1.05969847874
+229,3.816666667,pose1_to_pose2_press,0.620828885826,5.4489074074e-05,1.06002919783,0.591399610772,0.00872721552693,1.05969847898
+230,3.833333333,pose1_to_pose2_press,0.620828929411,5.44871386365e-05,1.0600291979,0.591399654371,0.00872721363923,1.05969847904
+231,3.850000000,pose1_to_pose2_press,0.620829123446,5.44785222686e-05,1.06002919818,0.591399848468,0.00872720523539,1.05969847928
+232,3.866666667,pose1_to_pose2_press,0.620829239371,5.44733744523e-05,1.06002919835,0.591399964431,0.00872720021455,1.05969847943
+233,3.883333333,pose1_to_pose2_press,0.620829474855,5.44691060796e-05,1.06002920041,0.591400199999,0.00872719624231,1.05969848171
+234,3.900000000,pose1_to_pose2_press,0.620829624906,5.44803062898e-05,1.06002920558,0.591400350122,0.00872720771714,1.05969848764
+235,3.916666667,pose1_to_pose2_press,0.620829676851,5.44841835288e-05,1.06002920737,0.591400402091,0.00872721168945,1.05969848969
+236,3.933333333,pose1_to_pose2_press,0.620830247873,5.45268059655e-05,1.06002922705,0.591400973386,0.00872725535697,1.05969851225
+237,3.950000000,pose1_to_pose2_press,0.620831009153,5.45836297247e-05,1.06002925329,0.59140173503,0.00872731357403,1.05969854232
+238,3.966666667,pose1_to_pose2_press,0.620831513075,5.4619935921e-05,1.06002926935,0.591402239177,0.0087273507483,1.05969856088
+239,3.983333333,pose1_to_pose2_press,0.620831921412,5.45685862637e-05,1.06002920202,0.591402646721,0.00872729675405,1.05969849334
+240,4.000000000,pose1_to_pose2_press,0.620832427672,5.45454295556e-05,1.06002920935,0.5914031525,0.00872727174625,1.0596984942
+241,4.016666667,pose1_to_pose2_press,0.62083254863,5.45728860044e-05,1.06002928506,0.591403273754,0.00872729992314,1.0596985633
+242,4.033333333,pose1_to_pose2_press,0.62083264834,5.45919439532e-05,1.06002932732,0.591403373586,0.00872731931785,1.05969860401
+243,4.050000000,pose1_to_pose2_press,0.620832665566,5.45866148737e-05,1.06002928602,0.591403390542,0.00872731342692,1.05969857185
+244,4.066666667,pose1_to_pose2_press,0.620832670479,5.45850950169e-05,1.06002927425,0.591403395378,0.00872731174579,1.05969856269
+245,4.083333333,pose1_to_pose2_press,0.620832670479,5.45850950169e-05,1.06002927425,0.591403395378,0.00872731174509,1.05969856269
+246,4.100000000,pose2_hold,0.620832670479,5.45850950169e-05,1.06002927425,0.591403395385,0.00872731174302,1.0596985627
+247,4.116666667,pose2_hold,0.620832670479,5.45850950169e-05,1.06002927425,0.591403395385,0.00872731174265,1.05969856269
+248,4.133333333,pose2_hold,0.620832670479,5.45850950169e-05,1.06002927425,0.591403395386,0.00872731174221,1.05969856269
+249,4.150000000,pose2_hold,0.620832670479,5.45850950169e-05,1.06002927425,0.591403395386,0.00872731174255,1.05969856269
+250,4.166666667,pose2_hold,0.620832670479,5.45850950169e-05,1.06002927425,0.591403395386,0.00872731174267,1.05969856269
+251,4.183333333,pose2_hold,0.620832670479,5.45850950169e-05,1.06002927425,0.591403395386,0.00872731174271,1.05969856269
+252,4.200000000,pose2_hold,0.620832670479,5.45850950169e-05,1.06002927425,0.591403395386,0.00872731174308,1.05969856269
+253,4.216666667,pose2_hold,0.620832670479,5.45850950169e-05,1.06002927425,0.591403395386,0.00872731174273,1.05969856269
+254,4.233333333,pose2_hold,0.620832670479,5.45850950169e-05,1.06002927425,0.591403395387,0.00872731174273,1.05969856269
+255,4.250000000,pose2_hold,0.620832670479,5.45850950169e-05,1.06002927425,0.591403395387,0.00872731174283,1.05969856269
+256,4.266666667,pose2_hold,0.620832670479,5.45850950169e-05,1.06002927425,0.591403395387,0.00872731174303,1.0596985627
+257,4.283333333,pose2_hold,0.620832670479,5.45850950169e-05,1.06002927425,0.591403395387,0.00872731174283,1.05969856269
+258,4.300000000,pose2_hold,0.620832670479,5.45850950169e-05,1.06002927425,0.591403395387,0.0087273117432,1.05969856269
+259,4.316666667,pose2_hold,0.620832670479,5.45850950169e-05,1.06002927425,0.591403395387,0.00872731174291,1.05969856269
+260,4.333333333,pose2_hold,0.620832670479,5.45850950169e-05,1.06002927425,0.591403395387,0.00872731174295,1.05969856269
+261,4.350000000,pose2_hold,0.620832670479,5.45850950169e-05,1.06002927425,0.591403395387,0.00872731174298,1.05969856269
+262,4.366666667,pose2_hold,0.620832670479,5.45850950169e-05,1.06002927425,0.591403395387,0.00872731174323,1.05969856269
+263,4.383333333,pose2_hold,0.620832670479,5.45850950169e-05,1.06002927425,0.591403395388,0.00872731174387,1.05969856269
+264,4.400000000,pose2_to_pose3_retreat,0.620832670479,5.45850950169e-05,1.06002927425,0.591403395388,0.0087273117438,1.05969856269
+265,4.416666667,pose2_to_pose3_retreat,0.62083263803,5.45747533609e-05,1.06002928871,0.591403363718,0.00872730394118,1.05969857425
+266,4.433333333,pose2_to_pose3_retreat,0.620832588793,5.45590610134e-05,1.06002931065,0.591403315661,0.00872729210154,1.05969859177
+267,4.450000000,pose2_to_pose3_retreat,0.620832458323,5.45563312364e-05,1.0600292561,0.591403184569,0.00872728737747,1.05969854052
+268,4.466666667,pose2_to_pose3_retreat,0.620832359632,5.45566405183e-05,1.06002920794,0.591403085179,0.00872728543251,1.05969849578
+269,4.483333333,pose2_to_pose3_retreat,0.620832204194,5.4556426422e-05,1.06002914171,0.591402928822,0.00872728226625,1.05969843423
+270,4.500000000,pose2_to_pose3_retreat,0.620830711245,5.45086524487e-05,1.06002919789,0.591401438836,0.00872724448716,1.05969848819
+271,4.516666667,pose2_to_pose3_retreat,0.620826170702,5.45389608421e-05,1.06002921519,0.591396898298,0.00872727483717,1.05969850679
+272,4.533333333,pose2_to_pose3_retreat,0.620816134802,5.44701457086e-05,1.06002904916,0.591386861653,0.00872720319284,1.05969833342
+273,4.550000000,pose2_to_pose3_retreat,0.620796281389,5.45484290639e-05,1.06002919212,0.591367007242,0.00872727808318,1.0596984777
+274,4.566666667,pose2_to_pose3_retreat,0.620765405459,5.45139886269e-05,1.06002925157,0.591336132385,0.00872724702606,1.05969853794
+275,4.583333333,pose2_to_pose3_retreat,0.620722646087,5.45454737444e-05,1.06002906931,0.59129337187,0.00872727467474,1.05969835571
+276,4.600000000,pose2_to_pose3_retreat,0.620668752444,5.4539524281e-05,1.06002903571,0.591239478706,0.00872727042388,1.05969833143
+277,4.616666667,pose2_to_pose3_retreat,0.620604237252,5.44585682215e-05,1.06002900491,0.591174965246,0.00872719468066,1.05969829886
+278,4.633333333,pose2_to_pose3_retreat,0.620530370938,5.44676441517e-05,1.06002920726,0.591101099433,0.00872720563666,1.05969850003
+279,4.650000000,pose2_to_pose3_retreat,0.620446893085,5.45799928618e-05,1.06002927673,0.591017619999,0.00872731270134,1.0596985682
+280,4.666666667,pose2_to_pose3_retreat,0.62035158941,5.46668140071e-05,1.06002922198,0.590922313784,0.00872739064736,1.05969851258
+281,4.683333333,pose2_to_pose3_retreat,0.620243878594,5.47560027028e-05,1.06002919229,0.590814601253,0.00872747375265,1.05969848285
+282,4.700000000,pose2_to_pose3_retreat,0.620117869658,5.46867020121e-05,1.0600292876,0.590688595321,0.00872741414816,1.05969857363
+283,4.716666667,pose2_to_pose3_retreat,0.619973073908,5.4566603013e-05,1.06002920029,0.590543801877,0.00872730178977,1.0596984925
+284,4.733333333,pose2_to_pose3_retreat,0.619807009917,5.45107968533e-05,1.06002907306,0.590377736192,0.00872723989862,1.05969836682
+285,4.750000000,pose2_to_pose3_retreat,0.619619779141,5.45910503842e-05,1.06002925693,0.590190506561,0.00872732331523,1.05969854607
+286,4.766666667,pose2_to_pose3_retreat,0.619410094475,5.4548917069e-05,1.06002910347,0.589980822349,0.00872728266585,1.05969839981
+287,4.783333333,pose2_to_pose3_retreat,0.619175430338,5.44970458354e-05,1.06002903125,0.589746159492,0.0087272345781,1.05969832517
+288,4.800000000,pose2_to_pose3_retreat,0.618915441914,5.46806877129e-05,1.06002920799,0.589486168129,0.00872740726498,1.05969849323
+289,4.816666667,pose2_to_pose3_retreat,0.618628145377,5.45900270118e-05,1.06002939943,0.589198874059,0.00872732402243,1.05969867817
+290,4.833333333,pose2_to_pose3_retreat,0.61831513488,5.46860162006e-05,1.06002911349,0.588885862392,0.00872741603689,1.05969841005
+291,4.850000000,pose2_to_pose3_retreat,0.617976337999,5.46632000957e-05,1.06002903392,0.588547065058,0.00872739115063,1.05969833444
+292,4.866666667,pose2_to_pose3_retreat,0.617618328622,5.46144563478e-05,1.06002923344,0.588189056082,0.00872734231801,1.05969851948
+293,4.883333333,pose2_to_pose3_retreat,0.61724223934,5.45849606399e-05,1.0600289437,0.587812967179,0.00872731325887,1.05969822978
+294,4.900000000,pose2_to_pose3_retreat,0.616843701043,5.45357610389e-05,1.06002900911,0.587414429103,0.00872726410271,1.05969830323
+295,4.916666667,pose2_to_pose3_retreat,0.616423659719,5.46117513327e-05,1.06002902687,0.586994388343,0.00872734103576,1.05969831766
+296,4.933333333,pose2_to_pose3_retreat,0.615981292776,5.45671508637e-05,1.06002913829,0.586552021111,0.00872729442773,1.05969842825
+297,4.950000000,pose2_to_pose3_retreat,0.61551374817,5.45918326694e-05,1.06002914845,0.586084475951,0.00872731615383,1.05969843848
+298,4.966666667,pose2_to_pose3_retreat,0.615017096151,5.45495555915e-05,1.06002896815,0.585587825563,0.00872727838557,1.05969825585
+299,4.983333333,pose2_to_pose3_retreat,0.614488435703,5.45134332353e-05,1.06002919033,0.585059167177,0.00872724832252,1.05969848269
+300,5.000000000,pose2_to_pose3_retreat,0.613926135828,5.46302685008e-05,1.06002918804,0.58449686517,0.00872735667723,1.05969847587
+301,5.016666667,pose2_to_pose3_retreat,0.613328936118,5.46048328639e-05,1.0600291372,0.583899667378,0.00872733685148,1.05969843051
+302,5.033333333,pose2_to_pose3_retreat,0.612705065508,5.4471970669e-05,1.06002916008,0.583275798497,0.00872720851734,1.05969844872
+303,5.050000000,pose2_to_pose3_retreat,0.61206209991,5.43953626085e-05,1.06002913589,0.582632833116,0.00872713131151,1.05969842808
+304,5.066666667,pose2_to_pose3_retreat,0.611407311213,5.45096338326e-05,1.06002907189,0.581978042402,0.00872723758257,1.05969836135
+305,5.083333333,pose2_to_pose3_retreat,0.610740917645,5.46028695224e-05,1.0600292744,0.581311648637,0.00872732906675,1.05969856491
+306,5.100000000,pose2_to_pose3_retreat,0.610053020663,5.44847838394e-05,1.0600291527,0.580623754503,0.00872721938834,1.0596984446
+307,5.116666667,pose2_to_pose3_retreat,0.609338742675,5.45215905489e-05,1.06002897083,0.57990947421,0.00872725215007,1.05969825849
+308,5.133333333,pose2_to_pose3_retreat,0.608588210819,5.4659207618e-05,1.0600290624,0.579158939505,0.00872738324866,1.05969835056
+309,5.150000000,pose2_to_pose3_retreat,0.607804694469,5.45257216273e-05,1.06002913576,0.578375424821,0.00872725565125,1.05969842971
+310,5.166666667,pose2_to_pose3_retreat,0.606988192822,5.44433599701e-05,1.06002914557,0.57755892384,0.00872717544658,1.05969843664
+311,5.183333333,pose2_to_pose3_retreat,0.60614616466,5.44841463221e-05,1.06002913285,0.576716894926,0.00872721375417,1.05969842574
+312,5.200000000,pose2_to_pose3_retreat,0.60528049316,5.4640773118e-05,1.06002915007,0.575851222504,0.00872736714638,1.0596984404
+313,5.216666667,pose2_to_pose3_retreat,0.604418314189,5.45668168549e-05,1.0600290461,0.574989044867,0.00872729789579,1.05969834102
+314,5.233333333,pose2_to_pose3_retreat,0.603560185738,5.45837249523e-05,1.0600291276,0.574130916217,0.0087273139148,1.05969841544
+315,5.250000000,pose2_to_pose3_retreat,0.602703614785,5.46657716453e-05,1.06002916726,0.573274343178,0.00872738885796,1.05969845509
+316,5.266666667,pose2_to_pose3_retreat,0.601850541959,5.46372465357e-05,1.06002889104,0.572421270832,0.00872736225737,1.05969818718
+317,5.283333333,pose2_to_pose3_retreat,0.600999370832,5.44859441267e-05,1.06002909467,0.571570101129,0.00872721555021,1.05969838451
+318,5.300000000,pose2_to_pose3_retreat,0.60012973617,5.44476007093e-05,1.06002911826,0.570700467533,0.00872718089162,1.05969840993
+319,5.316666667,pose2_to_pose3_retreat,0.599241073664,5.44972626487e-05,1.06002900841,0.569811804773,0.00872722985557,1.05969830429
+320,5.333333333,pose2_to_pose3_retreat,0.598321736595,5.45742763552e-05,1.06002919272,0.568892466363,0.00872730200968,1.05969848011
+321,5.350000000,pose2_to_pose3_retreat,0.597391232437,5.44870924922e-05,1.06002912762,0.567961963163,0.00872721804051,1.05969841302
+322,5.366666667,pose2_to_pose3_retreat,0.596471391871,5.45248934974e-05,1.0600292298,0.567042123705,0.00872725958457,1.05969851489
+323,5.383333333,pose2_to_pose3_retreat,0.595573331361,5.44960532229e-05,1.06002929722,0.566144062971,0.00872722989354,1.05969858174
+324,5.400000000,pose2_to_pose3_retreat,0.594704851051,5.45660221192e-05,1.06002930674,0.565275581621,0.0087272963368,1.05969858988
+325,5.416666667,pose2_to_pose3_retreat,0.593871573701,5.45504107394e-05,1.06002912026,0.564442304623,0.00872728211904,1.05969840915
+326,5.433333333,pose2_to_pose3_retreat,0.593056778914,5.44843386788e-05,1.06002906407,0.563627510357,0.00872721813662,1.05969836152
+327,5.450000000,pose2_to_pose3_retreat,0.592237318011,5.4455668867e-05,1.06002906256,0.562808049728,0.00872719032095,1.05969835664
+328,5.466666667,pose2_to_pose3_retreat,0.591400759245,5.45437249896e-05,1.06002916155,0.561971489934,0.00872727473211,1.05969845117
+329,5.483333333,pose2_to_pose3_retreat,0.59054113779,5.44981800819e-05,1.06002927723,0.561111868587,0.00872722951147,1.05969856606
+330,5.500000000,pose2_to_pose3_retreat,0.589691298779,5.4568018675e-05,1.06002926315,0.560262029285,0.00872729845704,1.0596985545
+331,5.516666667,pose2_to_pose3_retreat,0.588860852789,5.44943908786e-05,1.06002910476,0.559431583683,0.00872722620479,1.05969839758
+332,5.533333333,pose2_to_pose3_retreat,0.588074600269,5.44539133672e-05,1.06002903896,0.558645331448,0.00872718659482,1.05969832917
+333,5.550000000,pose2_to_pose3_retreat,0.587332107902,5.45342682684e-05,1.06002911518,0.557902838202,0.00872726393458,1.05969840456
+334,5.566666667,pose2_to_pose3_retreat,0.586630974096,5.45020319329e-05,1.06002913382,0.557201704832,0.00872723336786,1.05969842814
+335,5.583333333,pose2_to_pose3_retreat,0.585944912771,5.44766458698e-05,1.06002905803,0.55651564342,0.0087272077995,1.05969835538
+336,5.600000000,pose2_to_pose3_retreat,0.585263558006,5.45424082235e-05,1.06002906802,0.555834287806,0.00872727059337,1.05969836297
+337,5.616666667,pose2_to_pose3_retreat,0.584582758161,5.45788313031e-05,1.06002903543,0.5551534874,0.00872730495602,1.05969832635
+338,5.633333333,pose2_to_pose3_retreat,0.583910296607,5.45245148296e-05,1.06002910008,0.554481027185,0.00872725515221,1.05969839017
+339,5.650000000,pose2_to_pose3_retreat,0.583263729287,5.45257797338e-05,1.06002922466,0.553834459461,0.00872725490418,1.05969851097
+340,5.666666667,pose2_to_pose3_retreat,0.582650429888,5.45831530083e-05,1.06002918021,0.553221158935,0.00872730838605,1.05969846479
+341,5.683333333,pose2_to_pose3_retreat,0.582075384205,5.45601286806e-05,1.06002912451,0.552646114056,0.00872728799915,1.0596984067
+342,5.700000000,pose2_to_pose3_retreat,0.581529626278,5.45977147056e-05,1.06002897421,0.55210035618,0.00872732600168,1.05969826279
+343,5.716666667,pose2_to_pose3_retreat,0.581010249418,5.46640160739e-05,1.06002901337,0.551580978899,0.00872739116801,1.05969830964
+344,5.733333333,pose2_to_pose3_retreat,0.58052117533,5.46947801623e-05,1.06002900083,0.551091904173,0.00872741975637,1.05969829676
+345,5.750000000,pose2_to_pose3_retreat,0.580063464799,5.45867947545e-05,1.0600290603,0.550634193951,0.00872731235001,1.05969834399
+346,5.766666667,pose2_to_pose3_retreat,0.57964064112,5.45540691437e-05,1.06002924828,0.550211370169,0.00872727910241,1.05969852754
+347,5.783333333,pose2_to_pose3_retreat,0.579247420194,5.46891502352e-05,1.06002927945,0.549818148224,0.00872741100087,1.05969856586
+348,5.800000000,pose2_to_pose3_retreat,0.57888283572,5.46814798494e-05,1.06002931825,0.549453564491,0.00872740556309,1.05969859726
+349,5.816666667,pose2_to_pose3_retreat,0.578534740636,5.4575911672e-05,1.06002933985,0.549105471238,0.00872730609515,1.05969861609
+350,5.833333333,pose2_to_pose3_retreat,0.578202291097,5.45866886437e-05,1.06002925629,0.548773021401,0.00872731627485,1.0596985436
+351,5.850000000,pose2_to_pose3_retreat,0.577887551903,5.46637663947e-05,1.06002921334,0.548458282221,0.00872739331694,1.05969849843
+352,5.866666667,pose2_to_pose3_retreat,0.577593544267,5.45048078241e-05,1.06002926984,0.548164275855,0.0087272388347,1.05969855938
+353,5.883333333,pose2_to_pose3_retreat,0.577325547259,5.45683484469e-05,1.06002928342,0.547896277132,0.00872729648334,1.05969857101
+354,5.900000000,pose2_to_pose3_retreat,0.577084012578,5.45636985369e-05,1.06002927769,0.547654742837,0.00872729316273,1.05969856574
+355,5.916666667,pose2_to_pose3_retreat,0.57686912012,5.45037276016e-05,1.06002916449,0.547439851385,0.00872723669463,1.05969845478
+356,5.933333333,pose2_to_pose3_retreat,0.576679888285,5.45707374119e-05,1.06002906804,0.547250619395,0.00872730332624,1.05969836226
+357,5.950000000,pose2_to_pose3_retreat,0.576513546499,5.45382637369e-05,1.06002918899,0.547084277929,0.00872727191775,1.05969848275
+358,5.966666667,pose2_to_pose3_retreat,0.576368215532,5.44344510041e-05,1.06002925912,0.546938947958,0.0087271714399,1.05969855177
+359,5.983333333,pose2_to_pose3_retreat,0.576241667842,5.44790159871e-05,1.06002922352,0.54681239917,0.00872721209261,1.05969851134
+360,6.000000000,pose2_to_pose3_retreat,0.576134392542,5.44606356046e-05,1.06002903645,0.546705123823,0.00872719358892,1.05969832557
+361,6.016666667,pose2_to_pose3_retreat,0.576042632736,5.4512981208e-05,1.06002896784,0.546613362875,0.00872724209159,1.05969825809
+362,6.033333333,pose2_to_pose3_retreat,0.575965471865,5.46526816205e-05,1.06002908731,0.546536200655,0.0087273772203,1.05969837756
+363,6.050000000,pose2_to_pose3_retreat,0.575902441218,5.46108164485e-05,1.06002918151,0.546473171954,0.00872734170547,1.05969846503
+364,6.066666667,pose2_to_pose3_retreat,0.57585129042,5.45589033293e-05,1.06002920738,0.546422021585,0.00872729104907,1.05969848556
+365,6.083333333,pose2_to_pose3_retreat,0.575810853512,5.46191189211e-05,1.06002922346,0.546381583793,0.00872734862303,1.05969851104
+366,6.100000000,pose2_to_pose3_retreat,0.575779812758,5.45151410305e-05,1.06002932543,0.546350544468,0.00872724963557,1.0596986167
+367,6.116666667,pose2_to_pose3_retreat,0.575757662833,5.44354501188e-05,1.06002930886,0.546328395429,0.00872717290419,1.05969859893
+368,6.133333333,pose2_to_pose3_retreat,0.575741430694,5.46098661576e-05,1.06002914405,0.546312160636,0.00872733834218,1.05969843489
+369,6.150000000,pose2_to_pose3_retreat,0.575730360292,5.45484139696e-05,1.06002915067,0.546301090279,0.00872727695987,1.05969843937
+370,6.166666667,pose2_to_pose3_retreat,0.575722788471,5.45211916586e-05,1.06002937208,0.546293520311,0.00872725582221,1.05969865543
+371,6.183333333,pose2_to_pose3_retreat,0.575717840119,5.45275358504e-05,1.06002929387,0.546288572122,0.00872726282753,1.0596985801
+372,6.200000000,pose2_to_pose3_retreat,0.575714832038,5.45419254332e-05,1.0600291432,0.546285563661,0.00872727610439,1.05969843406
+373,6.216666667,pose2_to_pose3_retreat,0.575713064881,5.45265807968e-05,1.06002908407,0.546283796859,0.00872726194258,1.05969837431
+374,6.233333333,pose2_to_pose3_retreat,0.575712220632,5.45192499853e-05,1.06002905582,0.54628295278,0.00872725517686,1.05969834576
+375,6.250000000,pose2_to_pose3_retreat,0.57571182226,5.45157908342e-05,1.06002904249,0.546282554489,0.00872725198436,1.05969833228
+376,6.266666667,pose2_to_pose3_retreat,0.575711627444,5.45140992009e-05,1.06002903597,0.546282359712,0.00872725042312,1.0596983257
+377,6.283333333,pose2_to_pose3_retreat,0.57571129369,5.45417376165e-05,1.06002908294,0.546282025238,0.00872727558351,1.05969837173
+378,6.300000000,pose2_to_pose3_retreat,0.5757109462,5.45742323215e-05,1.06002913892,0.546281676903,0.0087273051692,1.05969842664
+379,6.316666667,pose2_to_pose3_retreat,0.575710751749,5.45924159359e-05,1.06002917024,0.546281481979,0.00872732172498,1.05969845736
+380,6.333333333,pose2_to_pose3_retreat,0.575710640662,5.46028039495e-05,1.06002918814,0.546281370622,0.00872733118303,1.05969847491
+381,6.350000000,pose2_to_pose3_retreat,0.575710624901,5.46042778169e-05,1.06002919068,0.546281354822,0.00872733252495,1.0596984774
+382,6.366666667,pose2_to_pose3_retreat,0.575710290252,5.46355716515e-05,1.06002924459,0.54628101936,0.00872736101729,1.05969853028
+383,6.383333333,pose2_to_pose3_retreat,0.575709970039,5.46655156226e-05,1.06002929617,0.546280698368,0.0087273882806,1.05969858088
+384,6.400000000,pose2_to_pose3_retreat,0.575709952746,5.46660006046e-05,1.06002929602,0.546280681083,0.00872738879585,1.0596985808
+385,6.416666667,pose2_to_pose3_retreat,0.575709930218,5.46642843666e-05,1.06002928975,0.54628065867,0.00872738748207,1.05969857488
+386,6.433333333,pose2_to_pose3_retreat,0.575709921459,5.46636171354e-05,1.06002928731,0.546280649956,0.0087273869713,1.05969857257
+387,6.450000000,pose2_to_pose3_retreat,0.575709885087,5.4660846202e-05,1.06002927717,0.546280613768,0.00872738485014,1.05969856301
+388,6.466666667,pose2_to_pose3_retreat,0.57570980136,5.46544677907e-05,1.06002925385,0.546280530468,0.00872737996746,1.05969854099
+389,6.483333333,pose2_to_pose3_retreat,0.575709726324,5.46487514474e-05,1.06002923294,0.546280455814,0.00872737559158,1.05969852126
+390,6.500000000,pose2_to_pose3_retreat,0.57570968604,5.46456824851e-05,1.06002922172,0.546280415734,0.00872737324228,1.05969851066
+391,6.516666667,pose2_to_pose3_retreat,0.575709682006,5.4645375196e-05,1.06002922059,0.546280411721,0.00872737300705,1.0596985096
+392,6.533333333,pose2_to_pose3_retreat,0.575709593556,5.46386369492e-05,1.06002919595,0.546280323721,0.00872736784891,1.05969848634
+393,6.550000000,pose2_to_pose3_retreat,0.575709439343,5.46268887259e-05,1.06002915298,0.546280170293,0.00872735885562,1.05969844579
+394,6.566666667,pose2_to_pose3_retreat,0.575709365544,5.46220334163e-05,1.06002914434,0.546280096665,0.00872735455849,1.05969843658
+395,6.583333333,pose2_to_pose3_retreat,0.575709337417,5.46208403985e-05,1.06002915128,0.546280068427,0.00872735292631,1.05969844182
+396,6.600000000,pose2_to_pose3_retreat,0.575709318935,5.46200565256e-05,1.06002915583,0.546280049873,0.00872735185389,1.05969844526
+397,6.616666667,pose2_to_pose3_retreat,0.575709297328,5.46191400585e-05,1.06002916116,0.546280028181,0.00872735060006,1.05969844928
+398,6.633333333,pose2_to_pose3_retreat,0.575709258648,5.46174994667e-05,1.0600291707,0.546279989349,0.00872734835555,1.05969845649
+399,6.650000000,pose2_to_pose3_retreat,0.575709212233,5.46151961144e-05,1.06002918071,0.546279942745,0.00872734529978,1.05969846365
+400,6.666666667,pose2_to_pose3_retreat,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398281,1.05969835126
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_03/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_03/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5b5fd3c5d6e7a5d9d9809f99fd239b3fc645d916
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_03/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d6378f4d4cf0940fcb3a8ba151dafdc853dcf79a5423d04de58c033869b111f
+size 25631269
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_03/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_03/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..96fb63a27f1bc0716903c76d977d864124452279
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_03/depth_05/franka_data.csv
@@ -0,0 +1,405 @@
+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,764,743,712,672,658,632,877,784,800,649,629,651,0.400955463868,-0.00540020546057,0.0698214849815,0.999999935525,0.000211967974644,-0.000289009798558,2.21919909659e-05,1793193362692835840
+1,0.016666667,BASELINE,764,743,712,672,658.64076708,632,877,784,800,649,629,651,0.400954779533,-0.00539957867348,0.0698211865305,0.99999993516,0.00021192981501,-0.000290290806286,2.22811910816e-05,1793193362709502464
+2,0.033333333,BASELINE,764.25255525,743,712,672,659,632.25255525,877,784,799.74744475,649,629,651,0.400954649303,-0.00539974710625,0.0698214070461,0.999999935171,0.000211496750387,-0.000290565782862,2.23270934568e-05,1793193362726169344
+3,0.050000000,BASELINE,764.827366892,743,712,672,659,632.827366892,877,784,799.172633108,649,629,651,0.400955226103,-0.00540093022653,0.0698222897547,0.999999935662,0.000210559793417,-0.00028955708023,2.23177486314e-05,1793193362742835712
+4,0.066666667,BASELINE,764.597943158,742.597943158,712,672,659,633,877,784,799,649,629,650.597943158,0.400955486905,-0.00540021905813,0.0698221653686,0.99999993557,0.000211106939859,-0.000289488387246,2.21328227489e-05,1793193362759502080
+5,0.083333333,BASELINE,764.023305478,742.023305478,712,672,659,633,877,784,799,649,629,650.023305478,0.400955612067,-0.00539869477595,0.0698216086923,0.999999935228,0.000212291130137,-0.000289823188645,2.18725295985e-05,1793193362776168704
+6,0.100000000,BASELINE,764,742,712,672.567517063,659,633,877.567517063,784,799,649,629,650.567517063,0.400955960208,-0.0053990695818,0.0698219990974,0.99999993571,0.000211823217331,-0.000288491702998,2.1985432055e-05,1793193362792835840
+7,0.116666667,BASELINE,764,742.156597029,712,672.686805943,658.843402971,633,877.843402971,784,799.156597029,649.156597029,629,651,0.400955943919,-0.00539945312838,0.0698221197803,0.999999935942,0.000211378637682,-0.000288013281923,2.19947503319e-05,1793193362809502720
+8,0.133333333,BASELINE,764,742.739077203,712,671.521845594,658.260922797,633,877.260922797,784,799.739077203,649.739077203,629,651,0.400954910889,-0.00539964212474,0.0698213980458,0.999999935401,0.000211187443079,-0.000290046423994,2.16794567876e-05,1793193362826169344
+9,0.150000000,BASELINE,764,742.683975139,712,671.316024861,658.316024861,633,877,784,799.683975139,649.683975139,629,651,0.400954326251,-0.00539988224701,0.0698215693963,0.999999935541,0.000210382445769,-0.0002901462832,2.17390738494e-05,1793193362842835968
+10,0.166666667,BASELINE,764,742.111516786,712,671.888483214,658.888483214,633,877,784,799.111516786,649.111516786,629,651,0.400954105455,-0.0054001638546,0.0698224654271,0.999999936231,0.000209079387741,-0.00028867740978,2.21029063483e-05,1793193362859502336
+11,0.183333333,BASELINE,764,742.459766306,712,671.540233694,659,632.540233694,877,784,798.540233694,649,629,651,0.400954617684,-0.00539983689203,0.0698223776421,0.999999935849,0.000210764998141,-0.000288783700996,2.1986732037e-05,1793193362876168960
+12,0.200000000,BASELINE,764,743,712,671,659,632.032167896,877,784,798.064335791,649,629,651,0.400955256044,-0.00539940079343,0.069822062612,0.999999935255,0.000212993005789,-0.000289221120177,2.17864457116e-05,1793193362892835584
+13,0.216666667,BASELINE,764,743,712,671,659,632.629202394,877,784,799.258404789,649,629,651,0.400954995126,-0.00539963367574,0.0698219367381,0.999999935575,0.000212048646879,-0.000288781319416,2.21483813994e-05,1793193362909502208
+14,0.233333333,BASELINE,764,743,712,671.432800897,659,633,877,784,799.783599551,649,628.783599551,650.783599551,0.400955908163,-0.00539966965155,0.0698223530321,0.999999935922,0.0002120495075,-0.000287568836281,2.22617037776e-05,1793193362926168832
+15,0.250000000,BASELINE,764,743,712,672.574953727,659,633,877,784,799.212523137,649,628.212523137,650.212523137,0.400958745286,-0.0053993829016,0.0698236579285,0.999999936308,0.000213599563695,-0.000285089942266,2.19675540181e-05,1793193362942835712
+16,0.266666667,BASELINE,764,742.637162365,712,672.637162365,659,632.637162365,877,784,799.362837635,649,628.362837635,650.362837635,0.400958508783,-0.00539936775479,0.0698237817453,0.999999936647,0.000212598810577,-0.00028465460179,2.18887578971e-05,1793193362959502336
+17,0.283333333,BASELINE,764,742.059262186,712,672.059262186,659,632.059262186,877,784,799.940737814,649,628.940737814,650.940737814,0.400956450469,-0.00539951359367,0.0698232055078,0.999999936956,0.000210086131685,-0.000285430524517,2.19376070451e-05,1793193362976169216
+18,0.300000000,BASELINE,764,742,712,672,659,632,877.527882752,784,799.472117248,649,629,651,0.400955131946,-0.00539995777065,0.0698226554439,0.999999936272,0.000210734085866,-0.000287356576768,2.17607146629e-05,1793193362992835584
+19,0.316666667,BASELINE,764.115173414,742,712,672,659,632.115173414,877.884826586,784,799.115173414,649,628.884826586,651,0.400954361704,-0.00540013987588,0.0698222638672,0.999999935653,0.000211702133955,-0.000288805859376,2.16097006737e-05,1793193363009502208
+20,0.333333333,BASELINE,764.698760503,742,712,672,659,632.698760503,877.301239497,784,799.698760503,649,628.301239497,651,0.400955477539,-0.00539911748409,0.069822504699,0.999999935777,0.000212503206337,-0.000287781618388,2.16688413148e-05,1793193363026168832
+21,0.350000000,BASELINE,764.722417645,742,712,672,659,633,877,784.277582355,799.722417645,649,628.277582355,651,0.400955123038,-0.0053992149711,0.0698222489384,0.999999935707,0.000212323875236,-0.000288149685825,2.17867221482e-05,1793193363042835712
+22,0.366666667,BASELINE,764.148679909,742,712,672,659,633,877,784.851320091,799.148679909,649,628.851320091,651,0.400953199821,-0.00540050726803,0.0698214633584,0.999999935426,0.000211098541835,-0.000290003221066,2.19672734744e-05,1793193363059502336
+23,0.383333333,BASELINE,764,742.425714259,712,672,659,632.574285741,877,784.574285741,799,649,629,651,0.400954128941,-0.00539991692324,0.0698218543118,0.999999935492,0.000211867061298,-0.000289218503285,2.1918378818e-05,1793193363076168960
+24,0.400000000,BASELINE,764,743,712,672.00034979,659,632.00034979,877,784,799,649,629,650.99965021,0.400956053625,-0.00539866904042,0.069822656031,0.999999935676,0.000213331790784,-0.000287512688745,2.17893271815e-05,1793193363092835584
+25,0.416666667,BASELINE,764,743,712,672.594867363,659,632.594867363,877,784,799,649,629,650.405132637,0.400954331649,-0.00539909701766,0.0698221482013,0.999999935446,0.000212732887344,-0.000288747680309,2.18307573064e-05,1793193363109502464
+26,0.433333333,BASELINE,764,743,712,672.816088961,659,633,877,784,799,649,629,650.183911039,0.400953681064,-0.00539970924573,0.0698220673904,0.999999935612,0.00021173429498,-0.000288906924407,2.18503474023e-05,1793193363126169344
+27,0.450000000,BASELINE,764,743,712,672.238754951,659,633,877,784,799,649,629,650.761245049,0.400955322403,-0.00540071562375,0.0698229000592,0.99999993662,0.000209880686916,-0.00028676492696,2.18232172589e-05,1793193363142835968
+28,0.466666667,BASELINE,764.337027964,742.662972036,712,672,659,633,877,784,799,649,629,651,0.400955414261,-0.00540090095015,0.0698230970757,0.999999936802,0.000209176048561,-0.000286642178939,2.18567036459e-05,1793193363159502592
+29,0.483333333,BASELINE,764.911717062,742.088282938,712,672,659,633,877,784,799,649,629,651,0.400954413476,-0.00540050729766,0.0698228458508,0.999999936404,0.000209281626303,-0.000287943339922,2.19329348359e-05,1793193363176168960
+30,0.500000000,BASELINE,764.500945618,742,712,672,659.499054382,632.500945618,877.499054382,784,799,649,628.500945618,651,0.400954626532,-0.00540086013105,0.069822761218,0.999999936357,0.00020943960155,-0.000288002642503,2.18035881741e-05,1793193363192835584
+31,0.516666667,BASELINE,764,742.087170842,712,671.912829158,659.912829158,632,877.825658317,784.087170842,799,649,628.087170842,650.912829158,0.400954921807,-0.00540120977717,0.0698226882576,0.999999936349,0.000209568624679,-0.000287944884578,2.16766480049e-05,1793193363209502464
+32,0.533333333,BASELINE,764,742.66672133,712,671.33327867,659.33327867,632,876.66655734,784.66672133,799,649,628.66672133,650.33327867,0.400954437071,-0.00540077612649,0.0698225104392,0.999999936206,0.000209480395708,-0.000288499064173,2.17740582037e-05,1793193363226169344
+33,0.550000000,BASELINE,764,743,712,671,659,632.244758225,876.489516451,784.755241775,799.244758225,649,629,650.244758225,0.400954449903,-0.00540002923294,0.069822388661,0.999999936005,0.000210075563387,-0.000288770400653,2.16717514342e-05,1793193363242835968
+34,0.566666667,BASELINE,764,743,712,671,659,632.820746735,877.64149347,784.179253265,799.820746735,649,629,650.820746735,0.400955136093,-0.00539885842919,0.0698223427218,0.999999935725,0.000211595568904,-0.000288658966684,2.1299168518e-05,1793193363259502592
+35,0.583333333,BASELINE,764,743,712,671.403609104,659,633,877.596390896,784,800,649,629,651,0.40095532469,-0.00539892612696,0.0698227079137,0.999999936161,0.000210746273738,-0.000287761180513,2.13787916519e-05,1793193363276169216
+36,0.600000000,BASELINE,764,743,712,671.989577279,659,633,877.010422721,784,800,649,629,651,0.400955288464,-0.00539955340562,0.0698232588634,0.999999936918,0.000208826478896,-0.000286508103892,2.16627309438e-05,1793193363292835840
+37,0.616666667,BASELINE,764,742.431145473,712,672,659,633,877,784,800,649,629,651,0.400956307671,-0.00540109043749,0.0698241900409,0.999999937625,0.000207741026691,-0.000284817230363,2.17374228529e-05,1793193363309502464
+38,0.633333333,BASELINE,763.852034612,742,712,672,659,632.852034612,877.147965388,784,799.704069225,649,629,651,0.400956978939,-0.00540158170776,0.0698246606134,0.99999993786,0.00020776382537,-0.000283978496589,2.16857218772e-05,1793193363326168832
+39,0.650000000,BASELINE,763.273055339,742,712,672,659,632.273055339,877.726944661,784,798.546110678,649,629,651,0.400956581009,-0.00539897874988,0.0698237694148,0.999999936723,0.00021097087645,-0.00028564508636,2.12768844361e-05,1793193363342835456
+40,0.666666667,BASELINE,763.30390045,742.30390045,712,672,659,632.30390045,878.30390045,784,798.6078009,649,629,651,0.400956116533,-0.00539849724231,0.069823217492,0.999999936235,0.000211947382288,-0.000286623148673,2.13373801203e-05,1793193363359502080
+41,0.683333333,BASELINE,763.879050125,742.879050125,712,672,659,632.879050125,878.879050125,784,799.75810025,649,629,651,0.400955592661,-0.00539990925547,0.0698229683932,0.999999936335,0.000210932993656,-0.000286986659186,2.18167835549e-05,1793193363376168960
+42,0.700000000,BASELINE,764,743,712,672,659,632.536936706,878.073873412,784.463063294,800,649,629,651,0.400954396322,-0.00539979159835,0.0698219198044,0.999999935833,0.000211244182738,-0.00028850804203,2.17694538542e-05,1793193363392836096
+43,0.716666667,BASELINE,764,743,712,672,659,632.048935676,877.048935676,784.951064324,799.951064324,649,629,651,0.400953254261,-0.00539923420192,0.0698208768388,0.999999935255,0.000211908795471,-0.000290031487317,2.15963063852e-05,1793193363409502976
+44,0.733333333,BASELINE,764,743,712,672,659,632.629365996,877.629365996,784.370634004,799.370634004,649,629,651,0.400954646641,-0.00539832490596,0.0698222072515,0.999999935635,0.000212578106912,-0.000288228508123,2.15800708654e-05,1793193363426169344
+45,0.750000000,BASELINE,764,743,712,672,659,633,877.791464666,784,799.208535334,649,629,651,0.40095611224,-0.00539810767061,0.0698234532024,0.999999936025,0.000213103426467,-0.000286476966964,2.16489008175e-05,1793193363442835968
+46,0.766666667,BASELINE,764,743,712,672,659,633,877.214523087,784,799.785476913,649,629,651,0.400957707191,-0.00539911305527,0.0698245499396,0.999999936436,0.000213374364551,-0.000284816298333,2.18680105859e-05,1793193363459502336
+47,0.783333333,BASELINE,764,743,712,672,659,633,877,784.359475417,799.640524583,649,628.640524583,651,0.400957126389,-0.00539943170413,0.0698238546692,0.999999936176,0.00021315092873,-0.000285902783778,2.17719275264e-05,1793193363476168960
+48,0.800000000,BASELINE,764,743,712,672,659,633,877,784.931731908,799.068268092,649,628.068268092,651,0.400955257713,-0.0053993438597,0.0698220986719,0.999999935513,0.000212634862602,-0.000288615367446,2.14892752117e-05,1793193363492835584
+49,0.816666667,BASELINE,764,742.478289698,712,672,659,633,877,784.478289698,799,649,628,651,0.400955502527,-0.00539900831851,0.0698224573198,0.999999935638,0.000213055128564,-0.000287868953268,2.14998986749e-05,1793193363509502208
+50,0.833333333,BASELINE,764,742.111601983,712,672,659,633,877,784,799.111601983,649,628.111601983,651,0.400956152809,-0.00539858085329,0.0698233009223,0.999999935899,0.000213682561382,-0.000286487764254,2.16079770825e-05,1793193363526168832
+51,0.850000000,BASELINE,764,742.691066709,712,672,659,633,877,784,799.691066709,649,628.691066709,651,0.400957302744,-0.00539790867789,0.0698249767435,0.999999936278,0.000214646779776,-0.000284409681693,2.19580698677e-05,1793193363542835712
+52,0.866666667,BASELINE,764,743,712,672,659,633,877,784,800,649,629,651,0.400957621656,-0.00539859114821,0.0698257227079,0.999999936678,0.000213718879047,-0.000283685600245,2.21393419439e-05,1793193363559502592
+53,0.883333333,BASELINE,764,743,712,672,659,633,877,784,800,649,629,651,0.400956991581,-0.00540082055569,0.0698254068225,0.9999999371,0.000210630273632,-0.000284507719916,2.21278292623e-05,1793193363576169216
+54,0.900000000,BASELINE,764,743,712,672,659,632.572845095,877.427154905,784,799.572845095,649,629,651,0.400955378857,-0.00540044314028,0.0698237953582,0.999999936584,0.00021081428219,-0.000286191459148,2.19988980531e-05,1793193363592835840
+55,0.916666667,BASELINE,764,743,712,672,659,632,877.986109676,784,799,649,629,651,0.400953424855,-0.00539915011399,0.069821747827,0.999999935734,0.000212152660353,-0.000288177523654,2.18316313773e-05,1793193363609502208
+56,0.933333333,BASELINE,764,743,712,672,659,632,877.406837887,784,799,649,629,651,0.400952539354,-0.0054002744304,0.0698216745534,0.99999993571,0.000210656098542,-0.000289352109565,2.18915396441e-05,1793193363626168832
+57,0.950000000,BASELINE,764,743,712,672,659,632.171828299,877,784,799.171828299,649,629,651,0.400952556255,-0.00540070713807,0.0698219118984,0.999999935788,0.000210008014025,-0.000289552680266,2.18876372888e-05,1793193363642835456
+58,0.966666667,BASELINE,764,743,712,672,659,632.749065551,877,784,799.749065551,649,629,651,0.400954702267,-0.00539950807493,0.0698228821121,0.999999936112,0.000211361813538,-0.000287455174821,2.17331811591e-05,1793193363659502336
+59,0.983333333,BASELINE,764,743,712,672,659,633,877,784,799.674252667,649,629,651,0.400956013704,-0.00539962009245,0.0698233994831,0.999999936356,0.000211850858517,-0.000286244891778,2.1693660929e-05,1793193363676168960
+60,1.000000000,BASELINE,764,743,712,672,659,633,877,784,799.097997994,649,629,651,0.400956683334,-0.00540074036164,0.0698235686075,0.999999936543,0.000211674887119,-0.000285716903355,2.17425290856e-05,1793193363692835584
+61,1.016666667,BASELINE,764,743,712,672,659,633,877,784,799.488033601,649,629,651,0.400955701725,-0.00540103226938,0.0698234136134,0.999999936547,0.00021065866172,-0.000286433839442,2.20113071427e-05,1793193363709501952
+62,1.033333333,BASELINE,764,743,712,672,659,633,877.074904293,784,799.925095707,649,628.925095707,651,0.400954539689,-0.0054009494293,0.0698231237686,0.999999936419,0.000209920095213,-0.000287405292896,2.22139368306e-05,1793193363726168576
+63,1.050000000,BASELINE,764,743,712,672,659,633,877.653939406,784,799.346060594,649,628.346060594,651,0.400954440529,-0.00539948679691,0.069822373322,0.999999935669,0.000212209050963,-0.000288372870146,2.16680905331e-05,1793193363742835200
+64,1.066666667,BASELINE,764,743,712,672,659,632.768204419,877.536408837,784,799,649,628.231795581,651,0.40095426873,-0.00539863009704,0.069821938458,0.999999935152,0.000213941601371,-0.000288901610304,2.14637890609e-05,1793193363759502080
+65,1.083333333,BASELINE,764,743,712,672,659,632.192099472,876.384198943,784,799,649,628.807900528,651,0.400953989031,-0.00539867344998,0.0698219723607,0.999999934987,0.000214847666648,-0.000288778501394,2.17668186134e-05,1793193363776168960
+66,1.100000000,BASELINE,764,743,712,672,659,632.383776915,876.76755383,784,799,649,629,651,0.400954639016,-0.00539874794459,0.0698227100681,0.999999935267,0.000214973965719,-0.000287716527927,2.17333469119e-05,1793193363792835328
+67,1.116666667,BASELINE,764,743,712,672,659,632.959538946,877.919077892,784,799,649,629,651,0.400955754077,-0.00539883801786,0.0698237998551,0.999999935767,0.000214710185265,-0.000286184885722,2.15315398222e-05,1793193363809501952
+68,1.133333333,BASELINE,763.451940818,742.451940818,712,672,659,633,878,784,799,649,628.451940818,651,0.400955644617,-0.00539937140733,0.06982410133,0.999999936073,0.000213677034619,-0.000285869957439,2.17849991136e-05,1793193363826168832
+69,1.150000000,BASELINE,763.135465632,742.135465632,712,672,659,633,878,784.135465632,799.135465632,649,628.135465632,651,0.40095547516,-0.00539981619811,0.069824137589,0.999999936321,0.000212505834098,-0.000285860381366,2.1962469888e-05,1793193363842835456
+70,1.166666667,BASELINE,763.716043666,742.716043666,712,672,659,633,878,784.716043666,799.716043666,649,628.716043666,651,0.400955412686,-0.00539985977002,0.0698234981865,0.999999936431,0.000211072110046,-0.000286551948614,2.17771883932e-05,1793193363859502080
+71,1.183333333,BASELINE,764,742.706952122,712,671.706952122,659,633,877.706952122,784.706952122,799.706952122,649,629,651,0.400955419866,-0.00539974772316,0.0698232048199,0.999999936381,0.000210738326643,-0.000286975300411,2.17549136318e-05,1793193363876168704
+72,1.200000000,BASELINE,764,742.13336907,712,671.13336907,659,633,877.13336907,784.13336907,799.13336907,649,629,651,0.400955493723,-0.00539948670222,0.0698232427137,0.999999936178,0.000211457517911,-0.000287141889234,2.18886854404e-05,1793193363892835328
+73,1.216666667,BASELINE,764,742,711.547088842,671.452911158,658.547088842,633,877,784,799,649,629,651,0.400955882686,-0.00539976536073,0.0698234044021,0.999999936684,0.000210379917461,-0.000286181707459,2.17130403841e-05,1793193363909501952
+74,1.233333333,BASELINE,764,742,711.042240054,672.042240054,658.042240054,633,877,784,799,649,629,650.957759946,0.400956441788,-0.00540016165802,0.0698236608474,0.999999937372,0.000208945629798,-0.000284844684983,2.14718124171e-05,1793193363926168576
+75,1.250000000,BASELINE,764,742,711.621423949,672.621423949,658.621423949,633,877,784,799,649,629,650.378576051,0.400957950134,-0.00539997493541,0.0698246450591,0.999999937678,0.000209897030107,-0.000283056782155,2.15885376453e-05,1793193363942835200
+76,1.266666667,BASELINE,764,742,712,672.602368575,659,633,877,784,799,649,629,650.198815712,0.400958351584,-0.00539957782012,0.069825012415,0.999999937679,0.00021068461749,-0.00028246504965,2.16402973745e-05,1793193363959502336
+77,1.283333333,BASELINE,764,742,712,671.454349143,659,633,877,784,799,649,629,650.772825428,0.400956664163,-0.00539878366339,0.0698242156746,0.999999937107,0.00021116306613,-0.000284130663655,2.15694578041e-05,1793193363976169984
+78,1.300000000,BASELINE,764,742.355412684,712,671.355412684,659,632.644587316,877,784,799,649,629,651,0.400956122194,-0.00539839847875,0.0698241599967,0.999999936936,0.000211747376185,-0.000284299308445,2.15853918864e-05,1793193363992836864
+79,1.316666667,BASELINE,764,742.943618143,712,671.943618143,659,632.056381857,877,784,799,649,629,651,0.400956330489,-0.00539828116795,0.0698245897096,0.999999937026,0.000212401024695,-0.000283487448999,2.16581620958e-05,1793193364009503232
+80,1.333333333,BASELINE,764,742.47649601,712,672,658.47649601,632.52350399,876.47649601,784,799,649,629,651,0.400956206486,-0.00539963939179,0.0698243479282,0.999999937152,0.00021045462247,-0.000284497413349,2.15903782552e-05,1793193364026169344
+81,1.350000000,BASELINE,764,742,712,672,658,632.897793377,876.204413245,784,799,649,629,651,0.400956046564,-0.00540077327499,0.0698240669942,0.999999937153,0.000209018385797,-0.000285554992666,2.15188919367e-05,1793193364042835456
+82,1.366666667,BASELINE,764,742,712,672,658,632.320491023,877.359017953,784,799,649,629,651,0.400955883435,-0.00540013718726,0.0698239349785,0.999999936579,0.000211234910033,-0.000285936103017,2.14994606407e-05,1793193364059502080
+83,1.383333333,BASELINE,764,742,712,672,658.25607761,632.25607761,877.74392239,784,799,649,629,651,0.400955382529,-0.00539907523134,0.0698234604656,0.999999936067,0.000212672161869,-0.000286657881159,2.1518178504e-05,1793193364076168960
+84,1.400000000,BASELINE,764,742,712,672,658.831730663,632.831730663,877.168269337,784,799,649,629,651,0.400954460091,-0.0053974818075,0.0698225585287,0.999999935638,0.000213136910693,-0.000287804800235,2.15845051132e-05,1793193364092835840
+85,1.416666667,BASELINE,764,742.415521561,712,672.415521561,659,633,877,784,799,649,629,650.584478439,0.400954456108,-0.00539853028906,0.0698230190761,0.999999936089,0.000211224019358,-0.00028765188453,2.15255744316e-05,1793193364109502720
+86,1.433333333,BASELINE,764,743,712,672.997343971,659,633,877,784,799,649,629,650.002656029,0.400954831944,-0.00540066067749,0.0698240346294,0.999999936893,0.000208342188694,-0.000286965220314,2.14155804248e-05,1793193364126169344
+87,1.450000000,BASELINE,764,743,712,672.414083412,659,633,877,784,799,649,629,650.585916588,0.400955306674,-0.00540075181177,0.0698233524353,0.999999936894,0.000208333139381,-0.000286966396123,2.14529298557e-05,1793193364142836224
+88,1.466666667,BASELINE,764,743,712,672,659,633,877,784,799,649,629,651,0.400955814793,-0.00540101720575,0.0698232338849,0.999999936998,0.000208418416374,-0.000286534011014,2.15351784409e-05,1793193364159502592
+89,1.483333333,BASELINE,764,743,712,672,659,633,877,784,799,649,629,651,0.400956404639,-0.00540170912329,0.0698244949263,0.999999937355,0.000208734569439,-0.000285040428396,2.17273236236e-05,1793193364176169216
+90,1.500000000,BASELINE,764,742.691293595,712,671.691293595,658.691293595,632.691293595,877,784,799.308706405,649.308706405,629,651,0.400956238987,-0.00540119656413,0.0698244798551,0.999999937197,0.000209213159052,-0.000285240647168,2.17695271434e-05,1793193364192835840
+91,1.516666667,BASELINE,764,742.117408403,712,671.117408403,658.117408403,632.117408403,877,784,799.882591597,649.882591597,629,651,0.400955424362,-0.0053996493595,0.069823368603,0.999999936596,0.000209831281634,-0.000286895841326,2.16829307721e-05,1793193364209502464
+92,1.533333333,BASELINE,764,742,712,671.471719086,658.471719086,632,877,784,799.528280914,649.528280914,629,651,0.400955591062,-0.00540053950842,0.06982330745,0.999999936997,0.000208576137902,-0.000286411313267,2.1688756055e-05,1793193364226168576
+93,1.550000000,BASELINE,764,742,712,672,659,632,876.936772168,784,799,649,629,651,0.400955912568,-0.00540166780621,0.0698234798081,0.999999937488,0.000207321739586,-0.000285605930482,2.16824712163e-05,1793193364242835456
+94,1.566666667,BASELINE,764,742,712,672,659,632,876.357818055,784,799,649,629,651,0.40095543801,-0.00539962519376,0.0698233537944,0.99999993663,0.000210003408179,-0.000286672445977,2.13835141636e-05,1793193364259502336
+95,1.583333333,BASELINE,764,742.220149708,712,672,659,632.220149708,876.220149708,784,799.220149708,649,629,651,0.400954811623,-0.00539844282187,0.0698232917814,0.999999936158,0.000211582145381,-0.00028717425567,2.11804541569e-05,1793193364276168960
+96,1.600000000,BASELINE,764,742.796521559,712,672,659,632.796521559,876.796521559,784,799.796521559,649,629,651,0.400953939565,-0.00539865239667,0.069823333327,0.99999993632,0.000211376240243,-0.000286762320459,2.11325641984e-05,1793193364292835840
+97,1.616666667,BASELINE,764,743,712,672,659,633,877,784,800,649,629,651,0.40095438009,-0.0053998033737,0.0698235288373,0.999999936836,0.000210014754491,-0.00028595342373,2.12751353811e-05,1793193364309502464
+98,1.633333333,BASELINE,764,743,712,672,659,633,877,784,800,649,629,651,0.400955536859,-0.00540146804988,0.0698238083622,0.99999993754,0.000208022697933,-0.000284927915267,2.15216363449e-05,1793193364326169088
+99,1.650000000,BASELINE,764,742.454955518,712,672.545044482,659,633,877,784,799.454955518,649,629,651,0.400954674227,-0.00540162419338,0.0698237678342,0.999999937203,0.000207757902926,-0.000286291552204,2.1618913355e-05,1793193364342835968
+100,1.666666667,BASELINE,764,742.123593914,712,672.876406086,659,633,877.123593914,784,799.123593914,649,629,651,0.400954422588,-0.00540114661812,0.0698239423536,0.999999936848,0.000208503822793,-0.000286989139017,2.16264989287e-05,1793193364359502848
+101,1.683333333,BASELINE,764,742.702426506,712,672.297573494,659,633,877.702426506,784,799.702426506,649,629,651,0.400956877628,-0.00539867562137,0.0698249812667,0.999999936651,0.000212582358378,-0.000284693720891,2.13374303389e-05,1793193364376169472
+102,1.700000000,BASELINE,764,743,712,672,659,632.720973135,877.720973135,784.279026865,799.720973135,649,628.720973135,651,0.400957016341,-0.00539858362606,0.0698246983766,0.999999936629,0.000212550247226,-0.000284807205893,2.12163239323e-05,1793193364392836096
+103,1.716666667,BASELINE,764,743,712,672,659,632.146734523,877.146734523,784.853265477,799.146734523,649,628.146734523,651,0.40095470437,-0.00540100862571,0.0698230170124,0.999999936787,0.000208169052086,-0.000287469321967,2.12729223297e-05,1793193364409502720
+104,1.733333333,BASELINE,764,743,712,672,659,632,877.437907996,784.562092004,799,649,628.437907996,650.562092004,0.400954618364,-0.00540098999713,0.0698231938831,0.999999936811,0.000208499763598,-0.000287139238623,2.13641775718e-05,1793193364426169344
+105,1.750000000,BASELINE,764,742.97417996,712,672,659,632.02582004,877.97417996,784,799,649,629,650,0.400955297476,-0.00540016314938,0.0698239654926,0.999999936787,0.000210383542742,-0.000285841261698,2.14573898634e-05,1793193364442835712
+106,1.766666667,BASELINE,764,742.392755948,712,672,659,632.607244052,877.392755948,784,799,649,629,650,0.400955999969,-0.00539999305241,0.0698238102391,0.999999936691,0.00021088529585,-0.000285815775083,2.13367441514e-05,1793193364459502336
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632,877,784,799,649,629,651,0.400952685527,-0.00540096815491,0.0698214383856,0.999999936127,0.000208028337019,-0.000289852973673,2.13294937297e-05,1793193364502969600
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632.647801911,877,784,799,649,629,650.352198089,0.400952946828,-0.00540021961088,0.0698218022444,0.999999936061,0.000209021723609,-0.000289367314079,2.13350837436e-05,1793193364519636480
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,742,712,672,659,633,877.268545184,784,799.268545184,649,629,650.268545184,0.400953795677,-0.00539970757518,0.0698224713387,0.999999936326,0.000209783966626,-0.000287895749626,2.13135494846e-05,1793193364536303360
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,742,712,672,659,633,877.857049436,784,799.857049436,649,629,650.857049436,0.400955344562,-0.00539947732802,0.0698235041071,0.999999936983,0.000210270812981,-0.00028524952543,2.12596979196e-05,1793193364552969472
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,742.438387863,712,672.438387863,659,632.561612137,877.561612137,784,800,649,629,651,0.400954501474,-0.00539990796326,0.0698231784387,0.999999936565,0.000211019782044,-0.000286157315223,2.13114849609e-05,1793193364569636096
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,743,712,673,659,632.017274988,877,784.017274988,800.017274988,649,629,651,0.400953008625,-0.00540050612696,0.0698224619811,0.999999935843,0.00021178513966,-0.000288103504943,2.13914647599e-05,1793193364586302720
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,743,712,673,659,632.591257399,877,784.591257399,800.591257399,649,629,651,0.400955307996,-0.00539966997629,0.0698231972823,0.999999936528,0.000210368449846,-0.00028676704361,2.12877513364e-05,1793193364602969344
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,742.829361271,712,672.829361271,659.170638729,633,877,784.829361271,800.658722543,649,629,651,0.400957675947,-0.00539922081148,0.0698241671659,0.99999993703,0.000210282985726,-0.00028506896904,2.13798741921e-05,1793193364619635712
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,742.236625034,712,672.236625034,659.763374966,633,877,784.236625034,799.473250067,649,629,651,0.400960213541,-0.00539972890751,0.0698257173203,0.999999937073,0.000213490484861,-0.000282476396281,2.19564240436e-05,1793193364636302336
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,742,712.347170587,672,659.652829413,633,877,784,799.347170587,649,629,651,0.400969683163,-0.00540089405533,0.0698304145098,0.999999939544,0.000211919615513,-0.000274781893726,2.22752518808e-05,1793193364652968960
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,742,712.925025418,672,659.074974582,633,877,784,799.925025418,649,629,651,0.400983758905,-0.00540249579395,0.0698372028078,0.99999994352,0.000207173666213,-0.000263697314841,2.24228312918e-05,1793193364669635840
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,742,712.498604574,672,659,633,877,784,799.498604574,649,629,651,0.401017893617,-0.00540304626989,0.0698519874832,0.999999949883,0.000208073092052,-0.000237516292411,2.29390627011e-05,1793193364686302720
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,742.079041871,712,672,659,633,877,784,799.079041871,649,629,651,0.40105786649,-0.00540359450319,0.0698681659149,0.999999956059,0.000209373337684,-0.000208550072977,2.3478171807e-05,1793193364702969088
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,742.666318893,712,672,659,633,877,784,799.666318893,649,629,651,0.401116149031,-0.00540513610195,0.0698856404492,0.999999962604,0.00020783893383,-0.00017614729602,2.38109774509e-05,1793193364719635968
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,742.749828221,712,672,659,632.749828221,877,784,799.749828221,649,629,651,0.401177064652,-0.00540710630184,0.0698979220729,0.999999966226,0.00020579546019,-0.000156966319411,2.36371702624e-05,1793193364736302592
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,742.170480726,712,672,659,632.170480726,877,784,799.170480726,649,629,651,0.401241444884,-0.00540964045477,0.0699033708739,0.999999967078,0.000203082153171,-0.000155182566906,2.27967626125e-05,1793193364752969216
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632.407663377,877.407663377,784,799.407663377,649,629,650.592336623,0.401319577477,-0.00541054821371,0.0699033281485,0.999999967188,0.000202574337534,-0.000155437035098,2.06511890275e-05,1793193364769635840
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632.98530568,877.98530568,784,799.98530568,649,629,650.01469432,0.401403444238,-0.00541077783284,0.0699009956813,0.999999966984,0.000202986121602,-0.000156541357917,1.79614147734e-05,1793193364786302720
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,742.559959476,712,672,659,633,878,784,799.440040524,649,629,650.559959476,0.40150476258,-0.00541334934534,0.0698987700394,0.999999966365,0.000200157126477,-0.000164284733529,1.47282401346e-05,1793193364802969088
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,743,712,672,659,633,877.724063429,784,799,649,629,651,0.401614071967,-0.00541643105703,0.0698971246513,0.99999996622,0.000195871374101,-0.000170482175125,1.13728033192e-05,1793193364819635712
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,743,712,672,659,633,876.545588287,784,799,649,629,651,0.401748028657,-0.00542098159537,0.0698973680481,0.999999967838,0.000187097518671,-0.000171056327741,7.66386279608e-06,1793193364836302336
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,742.689035565,711.689035565,671.689035565,659,633,876.621928871,784,799,649.310964435,629,651,0.401902536898,-0.0054240351849,0.0698988064091,0.999999969589,0.000179254910445,-0.00016934494102,3.34113302053e-06,1793193364852968960
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,742.110000251,711.110000251,671.110000251,659,633,877.779999498,784,799,649.889999749,629,651,0.40207476186,-0.00542579831029,0.0699012749043,0.999999971448,0.000172215096264,-0.000165663275779,-1.51072145729e-06,1793193364869635840
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,742,711.467395607,671.467395607,659,633,877.532604393,784,799.467395607,649.532604393,628.532604393,651,0.402282497122,-0.00542933947428,0.0699067721502,0.999999974348,0.000165296296683,-0.000154714773783,-6.62790194301e-06,1793193364886302208
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,742.043969442,712,672,659,632.956030558,877.043969442,784,799.956030558,649,628,651,0.402500660007,-0.00543332788706,0.0699127513443,0.999999977218,0.000158453349386,-0.000142535537325,-1.18507831099e-05,1793193364902968832
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,742.615295141,712,672,659,632.384704859,877.615295141,784,799.384704859,649,628,651,0.402744004492,-0.00543767916594,0.0699159915526,0.999999979013,0.000152179766098,-0.000136035537434,-1.75950882837e-05,1793193364919635712
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,742.806377876,712,672.193622124,659,632.193622124,877.806377876,784,799.193622124,649,628.387244247,651,0.402999342495,-0.00544313180376,0.0699192651889,0.999999981081,0.000143310224007,-0.000129446879286,-2.33276602897e-05,1793193364936302336
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,742.213618161,712,672.786381839,659,632.786381839,877.213618161,784,799.786381839,649,629.572763678,651,0.403279404287,-0.00545085481183,0.0699226077349,0.999999983722,0.000129089304979,-0.000122675457553,-2.90360462985e-05,1793193364952968960
+135,2.250000000,POSE1_TO_POSE2_PRESS,763.629521059,742,712,672.629521059,659,633,877,784,799.629521059,649,629.629521059,651,0.403595927902,-0.00546140813452,0.0699292618532,0.999999992071,4.93394825169e-05,-0.000110843296642,-3.3711981815e-05,1793193364969635840
+136,2.266666667,POSE1_TO_POSE2_PRESS,763.050304732,742,712,672.050304732,659,633,877,784,799.050304732,649,629.050304732,651,0.403932995031,-0.00547355612895,0.0699377817966,0.999999992395,-6.73310131984e-05,-9.61597839633e-05,-3.78062073911e-05,1793193364986302464
+137,2.283333333,POSE1_TO_POSE2_PRESS,763.526242334,742.526242334,712,672,658.473757666,633,877.526242334,784,798.473757666,649,629,651,0.40430515362,-0.00549515254837,0.0699444241867,0.999999995752,-1.91703123925e-05,-8.79895818179e-05,-1.96340159971e-05,1793193365002969088
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,742.895859841,712,671.895859841,658.104140159,633,877.895859841,784.104140159,798.104140159,649,629,651,0.404685442324,-0.0055124981323,0.0699504526836,0.999999996185,3.40894117595e-05,-8.02904652282e-05,-4.70466280417e-06,1793193365019635968
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,742.310547948,712,671.310547948,658.689452052,633,877.310547948,784.689452052,798.689452052,649,629,651,0.405087874723,-0.00550605095876,0.0699544698198,0.999999996569,3.84740255636e-05,-7.19057032967e-05,-1.45435344418e-05,1793193365036303360
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,742.273213987,712,671.273213987,659,632.726786013,877.273213987,784.726786013,799,649,629,651,0.405509849139,-0.00550626821424,0.0699563737201,0.999999996999,3.09389992818e-05,-6.79637843085e-05,-2.06227077325e-05,1793193365052970240
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,742.855224065,712,671.855224065,659,632.144775935,877.855224065,784.144775935,799,649,629,651,0.405953910602,-0.00551401784306,0.0699558891664,0.999999997315,9.93197473147e-06,-6.90433237964e-05,-2.245253657e-05,1793193365069636352
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,743,712,672,659,632.433097146,877.566902854,784,799,649,629,651,0.406409654673,-0.0055200746448,0.0699396018939,0.999999994906,-3.02772976858e-06,-9.78415137703e-05,-2.46109061698e-05,1793193365086302720
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,742.99044689,712,672,659,632.99044689,877,784,799,649,629,651,0.406870708872,-0.00552552111117,0.0699182710565,0.999999990398,-1.3235753162e-05,-0.000135299925255,-2.6893389985e-05,1793193365102969088
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,742.416785716,712,672,659,632.416785716,877,784,799,649,629,651,0.407416899324,-0.00552802626026,0.0699081003515,0.999999989273,-1.83021830613e-05,-0.000142175601853,-3.00810123059e-05,1793193365119635712
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,742.161481344,712,672,659.161481344,632.161481344,877,784,799,649,629,651,0.407977224554,-0.00553334161733,0.0699048577064,0.999999989494,-2.53374932333e-05,-0.00013897853619,-3.24848825896e-05,1793193365136302592
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,742.751985422,712,672,659.751985422,632.751985422,877,784,799,649,629,651,0.408575103104,-0.00554612311984,0.0699200214897,0.999999992812,-3.76037146274e-05,-0.000109020266542,-3.28064855181e-05,1793193365152969728
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,743,712,672,660,633,877,784.335911102,799,649,628.664088898,651,0.409188339743,-0.00555399555088,0.0699312008956,0.999999994766,-4.71670411176e-05,-8.42205774936e-05,-3.39198232428e-05,1793193365169636352
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,743,712,672,660,633,877,784.915072984,799,649,628.084927016,651,0.409812697941,-0.005558313066,0.0699394950046,0.999999995872,-5.47730594498e-05,-6.31564880094e-05,-3.56064974866e-05,1793193365186302720
+149,2.483333333,POSE1_TO_POSE2_PRESS,763.509237334,743,712,672,659.509237334,632.509237334,877.490762666,784.509237334,799,649,628.490762666,650.509237334,0.410448826383,-0.00556261880222,0.0699351969317,0.99999999471,-6.35863773617e-05,-7.16958047651e-05,-3.73826267707e-05,1793193365202969088
+150,2.500000000,POSE1_TO_POSE2_PRESS,763.067182165,743,712,672.067182165,659.067182165,632,878,784,799.067182165,649,629,650.067182165,0.411094326809,-0.00556767834091,0.0699304440211,0.999999993182,-7.32451910529e-05,-8.20987978497e-05,-3.91247128556e-05,1793193365219635968
+151,2.516666667,POSE1_TO_POSE2_PRESS,763.653858719,743,712,672.653858719,659.653858719,632,878,784,799.653858719,649,629,650.653858719,0.411796657715,-0.00557858240147,0.0699389057326,0.999999993039,-8.78377207055e-05,-6.75777283887e-05,-4.04846934698e-05,1793193365236302592
+152,2.533333333,POSE1_TO_POSE2_PRESS,763.762517317,743,712,672.762517317,660,632,878,784,799.762517317,649,628.762517317,651,0.412526257965,-0.00558195455797,0.069957505661,0.999999994121,-9.41779858258e-05,-3.64570408307e-05,-3.94866486946e-05,1793193365252968960
+153,2.550000000,POSE1_TO_POSE2_PRESS,763.18328622,743,712,672.18328622,660,632,878,784,799.18328622,649,628.18328622,651,0.413295099984,-0.00557448795999,0.0699906949453,0.999999995283,-8.86428644154e-05,1.8551253226e-05,-3.50952976315e-05,1793193365269635840
+154,2.566666667,POSE1_TO_POSE2_PRESS,763.395852613,743,712,672,660,632.395852613,878,784,799,649,628.395852613,651,0.414041238552,-0.00555317237333,0.0699973620447,0.999999997515,-5.6213682077e-05,2.454150435e-05,-3.4745686643e-05,1793193365286302464
+155,2.583333333,POSE1_TO_POSE2_PRESS,763.974948786,743,712,672,660,632.974948786,878,784,799,649,628.974948786,651,0.414776867565,-0.00552544597069,0.0699917518007,0.999999999247,-1.13350083622e-05,7.84088891118e-06,-3.62670312875e-05,1793193365302969600
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,743,712,672,660,633,878,784,799,649,628.450140854,651,0.415492409855,-0.00552643118625,0.0699331667898,0.999999994598,-2.84867477725e-05,-9.09479773034e-05,-4.14806739508e-05,1793193365319636480
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,742.872031048,712,672,659.872031048,633,877.872031048,784,799,649,628.127968952,650.872031048,0.416233331511,-0.00553094619142,0.0698869952284,0.999999983533,-4.72526834726e-05,-0.000169102839137,-4.58918738905e-05,1793193365336302848
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,742.281676794,712,672,659.281676794,633,877.281676794,784,799,649,628.718323206,650.281676794,0.417069237304,-0.00554352451611,0.0698943313949,0.999999984314,-6.17169771966e-05,-0.000159290583637,-4.68004154296e-05,1793193365352969472
+159,2.650000000,POSE1_TO_POSE2_PRESS,763.697401271,742.302598729,712.302598729,672,659.302598729,632.697401271,877.302598729,784,799,649,629,650,0.417917734395,-0.00555302979225,0.0699166209669,0.999999988864,-7.07477121931e-05,-0.000123058312033,-4.60906947083e-05,1793193365369635840
+160,2.666666667,POSE1_TO_POSE2_PRESS,763.118672793,742.881327207,712.881327207,672,659.881327207,632.118672793,877.881327207,784,799,649,629,650,0.418777721346,-0.00555973082544,0.0699525559367,0.99999999427,-7.48201728342e-05,-6.27170419194e-05,-4.39042645376e-05,1793193365386302464
+161,2.683333333,POSE1_TO_POSE2_PRESS,763.914492056,743,712.542753972,672.457246028,660,632,878,784,799.457246028,649,629,650.457246028,0.419640021766,-0.00555863016259,0.0699791766202,0.999999995955,-7.45681578862e-05,-2.68982630056e-05,-4.25014583118e-05,1793193365402969088
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.966916288,743,712,673,660,632,878,784,800,649,629,650.966916288,0.420503536268,-0.00555536748344,0.0700023537111,0.999999996478,-7.29812317377e-05,1.50226286729e-06,-4.14172370728e-05,1793193365419635968
+163,2.716666667,POSE1_TO_POSE2_PRESS,764.380310064,743,712,673,660,632,878,784,800,649,629,650.380310064,0.421377379218,-0.00554960277852,0.0700081148152,0.999999996745,-6.77235432333e-05,1.1622535556e-05,-4.22812825845e-05,1793193365436302592
+164,2.733333333,POSE1_TO_POSE2_PRESS,764.203614953,743,712,673,660,632,878,784,799.796385047,649,629,650,0.42222428134,-0.00554559111056,0.0699939185521,0.999999996989,-6.29755622098e-05,-1.01227787798e-05,-4.41970270147e-05,1793193365452969472
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.782597063,743,712,673,660,632,878,784,799.217402937,649,629,650,0.423021517552,-0.00554481119258,0.0699429305891,0.99999999299,-5.9167234721e-05,-9.06127717756e-05,-4.80515935641e-05,1793193365469636096
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.638788961,743,712,673,660,632,878,784,799,649,628.638788961,650.361211039,0.423826192448,-0.0055488030534,0.0698842996289,0.999999980677,-6.68790701337e-05,-0.000177282240607,-5.23812271902e-05,1793193365486302464
+167,2.783333333,POSE1_TO_POSE2_PRESS,764.060396272,743,712,673,660,632,878,784,799,649,628.060396272,650.939603728,0.42463534,-0.00555566399253,0.0698210732374,0.99999995923,-8.15175148543e-05,-0.000267667186281,-5.69964996643e-05,1793193365502969088
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.516173904,743,712,673,660,632.516173904,878,784,799.516173904,649,628.516173904,651,0.425550732243,-0.00555960610405,0.0698641556882,0.999999975407,-8.87939313934e-05,-0.000195483184267,-5.55700409306e-05,1793193365519635712
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.906061789,742.906061789,712,673.093938211,660.187876421,632.906061789,878,784,799.906061789,649.093938211,629,650.906061789,0.426475120984,-0.00556208543552,0.0699191896354,0.999999988335,-9.30300016416e-05,-0.000108874427548,-5.3126659697e-05,1793193365536302592
+170,2.833333333,POSE1_TO_POSE2_PRESS,764.320942341,742.320942341,712,673.679057659,661.358115318,632.320942341,878,784,799.320942341,649.679057659,629,650.320942341,0.42738177827,-0.00555869570145,0.0699719036938,0.999999994056,-8.58570917461e-05,-4.59526083863e-05,-4.90493870904e-05,1793193365552969216
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,742.263168144,712,674,661.473663713,632,877.736831856,784,799,649.736831856,629,650,0.428282948028,-0.00555739245587,0.0700092095049,0.999999995609,-8.11689821846e-05,4.92319516223e-06,-4.65715278746e-05,1793193365569635840
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,742.846052828,712,674,660.307894344,632,877.153947172,784,799,649.153947172,629,650,0.429177451068,-0.0055586240343,0.0700277962101,0.999999994933,-7.94995964408e-05,4.1164585095e-05,-4.60367572467e-05,1793193365586302464
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,743,711.576697623,674,660,632,877.423302377,784,799,649,629,650.423302377,0.430013472943,-0.00556491594199,0.0700138679175,0.999999994648,-8.91140422272e-05,2.20017439013e-05,-4.77247611892e-05,1793193365602968832
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,743,711.001470556,674,660,632,877.998529444,784,799,649,629,650.998529444,0.430828505707,-0.00557302401936,0.0699882698791,0.999999993312,-0.000102778294186,-1.70458686725e-05,-5.02105265833e-05,1793193365619635712
+175,2.916666667,POSE1_TO_POSE2_PRESS,764,743,711.574177784,673.425822216,660,632,877.425822216,784,799,649,628.425822216,650.425822216,0.431537535702,-0.0055720230599,0.0699153297502,0.999999983089,-9.84404636031e-05,-0.000146016560138,-5.3012922093e-05,1793193365636302336
+176,2.933333333,POSE1_TO_POSE2_PRESS,764,743,712,673,660,632,877.153455813,784,799.153455813,649,628.153455813,650,0.432280485062,-0.00557112645037,0.0698637632046,0.999999966504,-9.73961237572e-05,-0.000233322908563,-5.53740783506e-05,1793193365652968960
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,743,712,673,660,632,877.743046567,784,799.743046567,649,628.743046567,650,0.433120608287,-0.00557059276626,0.0698732871351,0.99999997249,-0.00010584331323,-0.000201560474499,-5.64788889998e-05,1793193365669635584
+178,2.966666667,POSE1_TO_POSE2_PRESS,763.673116179,743,712,673.326883821,660.326883821,632,878,784,799.673116179,649,629,650.326883821,0.433970673238,-0.00557069665248,0.0699184226137,0.999999985746,-0.000103538293334,-0.000121870909553,-5.41864980802e-05,1793193365686302464
+179,2.983333333,POSE1_TO_POSE2_PRESS,763.093723287,743,712,673.906276713,660.906276713,632,878,784,799.093723287,649,629,650.906276713,0.434828417998,-0.00557129304479,0.0699910670684,0.999999994455,-9.29274771264e-05,-5.15890424178e-06,-4.92698587433e-05,1793193365702969088
+180,3.000000000,POSE1_TO_POSE2_PRESS,763,743,712,674,661,632,878,784,799,649,629,651,0.435591682199,-0.0055746592599,0.070006622404,0.999999993991,-9.63449247397e-05,1.9779403838e-05,-4.84154737465e-05,1793193365719635712
+181,3.016666667,POSE1_TO_POSE2_PRESS,763.053647136,743,712,674,660.946352864,632,878,784,799,649,629,651,0.436330386093,-0.00557849860482,0.0700078629719,0.999999993289,-0.000102818951911,2.22389528488e-05,-4.85311645759e-05,1793193365736302336
+182,3.033333333,POSE1_TO_POSE2_PRESS,763.628649533,743,712,674,660.371350467,632,878,784,799,649,629,651,0.437007596525,-0.00558174141264,0.0699770542323,0.999999992143,-0.000112688928197,-2.16429169083e-05,-5.04559256397e-05,1793193365752969728
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,743,712,674,660,632,878,784,799.210024952,649,629,650.789975048,0.437666589753,-0.00558364745259,0.069934988963,0.999999988634,-0.00011618488489,-8.00169821007e-05,-5.32064169983e-05,1793193365769636864
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,743,712,674,660,632,878,784,799.803021264,649,629,650.196978736,0.438292364661,-0.00558311595427,0.0698723979036,0.999999978928,-0.00010805809338,-0.000164816932259,-5.74625914028e-05,1793193365786302976
+185,3.083333333,POSE1_TO_POSE2_PRESS,764,743,712,674,660,632,878,784,800,649,628.613869462,650,0.438864444836,-0.00557925203896,0.0698098702497,0.999999957343,-0.000101257918755,-0.000267636525028,-5.85834485132e-05,1793193365802969344
+186,3.100000000,POSE1_TO_POSE2_PRESS,764,743,712,674,660,632,878,784,800,649,628.035678008,650,0.439409817291,-0.00557373058302,0.0697473741355,0.999999921806,-9.51176013795e-05,-0.000379419063933,-5.8144801564e-05,1793193365819635968
+187,3.116666667,POSE1_TO_POSE2_PRESS,764,743.537424442,712,674,659.462575558,632,878,784,800,649,628.537424442,650,0.439982351637,-0.00556938077113,0.0697265885247,0.999999910781,-8.65243144584e-05,-0.00040881757404,-6.18001290997e-05,1793193365836302592
+188,3.133333333,POSE1_TO_POSE2_PRESS,763.886451368,743.772902737,711.886451368,673.886451368,658.886451368,631.886451368,878,783.886451368,799.886451368,649,629,650,0.440558281478,-0.00556661341022,0.0697175534761,0.999999906074,-8.48660580023e-05,-0.000420067103439,-6.47518190167e-05,1793193365852969216
+189,3.150000000,POSE1_TO_POSE2_PRESS,763.296237457,742.592474914,711.296237457,673.296237457,658.296237457,631.296237457,878,783.296237457,799.296237457,649,629,650,0.441140966465,-0.0055701655566,0.0697463309787,0.999999920198,-0.000112997531608,-0.000377872992542,-6.36194806615e-05,1793193365869636096
+190,3.166666667,POSE1_TO_POSE2_PRESS,763.288453308,742.288453308,711.288453308,673.576906616,658,631,878,783,799.576906616,649,628.711546692,650.288453308,0.441702007736,-0.00557659592824,0.0697665558189,0.999999929427,-0.000121605047986,-0.000350018275337,-6.20193724144e-05,1793193365886302720
+191,3.183333333,POSE1_TO_POSE2_PRESS,763.867578518,742.867578518,711.867578518,674.735157036,658,631,878,783,800.735157036,649,628.132421482,650.867578518,0.442241238891,-0.00558592666297,0.0697781622186,0.99999993544,-0.000110538445236,-0.000336613236608,-5.99478964686e-05,1793193365902969600
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,743,711.556620895,674.556620895,658,631,878,783,800.556620895,649,628,650.556620895,0.442686771832,-0.00558956301772,0.0697539502523,0.999999918229,-0.00011695103618,-0.000382418493361,-6.01772069101e-05,1793193365919635968
+193,3.216666667,POSE1_TO_POSE2_PRESS,764,743,711,674,658,631,878,783,800,649.018120163,628,650.018120163,0.443103454597,-0.00559132917038,0.0697190748405,0.999999890695,-0.00012781083459,-0.000445584116024,-6.10645508882e-05,1793193365936302592
+194,3.233333333,POSE1_TO_POSE2_PRESS,764,743,711,674,658,631,878,783,800,649.590599203,628,650.590599203,0.443487276346,-0.00558752266049,0.0696828104591,0.999999864933,-0.000116204365146,-0.000502875416721,-6.12172060784e-05,1793193365952969216
+195,3.250000000,POSE1_TO_POSE2_PRESS,764,743,711,674,657.8300959,630.8300959,878.1699041,782.8300959,799.8300959,649.8300959,628,650.8300959,0.443870442991,-0.00558383721627,0.0696536906672,0.999999842678,-0.000105185920599,-0.000547502932805,-6.18106811327e-05,1793193365969635840
+196,3.266666667,POSE1_TO_POSE2_PRESS,764,743,711,674,657.23365502,630.23365502,878.76634498,782.23365502,799.23365502,649.23365502,628,650.23365502,0.444251965001,-0.0055804557023,0.0696425070556,0.99999983642,-9.56436882588e-05,-0.000560338574126,-6.35108155217e-05,1793193365986302464
+197,3.283333333,POSE1_TO_POSE2_PRESS,764,743,711,674,657.350839124,630,878.649160876,782,799.350839124,649,628,650.350839124,0.444624148701,-0.0055732145333,0.0696406569977,0.999999837655,-9.86502617564e-05,-0.00055750432257,-6.43954007059e-05,1793193366002969088
+198,3.300000000,POSE1_TO_POSE2_PRESS,764,743,711,674,657.92763886,630,878.07236114,782,799.92763886,649,628,650.92763886,0.444990317977,-0.0055634875242,0.0696448182866,0.9999998436,-0.000109738989628,-0.000544577756547,-6.47547251374e-05,1793193366019635968
+199,3.316666667,POSE1_TO_POSE2_PRESS,764,742.498439275,711,674,657.498439275,630,878,782,800,649,628,650.498439275,0.445308540496,-0.00555559897477,0.0696509928154,0.999999851466,-9.61619977325e-05,-0.000532228931888,-6.74826348431e-05,1793193366036302848
+200,3.333333333,POSE1_TO_POSE2_PRESS,764,742.077330113,711,674,656.922669887,630,878,782,800,649,628,650,0.445612499861,-0.00554827527773,0.0696566255732,0.999999858118,-7.98616132479e-05,-0.00052197919516,-7.01688789751e-05,1793193366052969472
+201,3.350000000,POSE1_TO_POSE2_PRESS,764,742.668107241,711,674,656.331892759,630,878,782,800,649,628,650,0.445867423419,-0.00554295097334,0.0696567436248,0.999999857275,-6.89717555875e-05,-0.000525116460077,-7.0322507005e-05,1793193366069636096
+202,3.366666667,POSE1_TO_POSE2_PRESS,764,743,711,674.253647837,656.253647837,630,878,782,800.253647837,649,628,650,0.446106565406,-0.00554140951873,0.0696533638319,0.999999853442,-6.74512758944e-05,-0.00053273869197,-6.89613294087e-05,1793193366086302464
+203,3.383333333,POSE1_TO_POSE2_PRESS,764,743,711,674.832475216,656.832475216,630,878,782,800.832475216,649,628,650,0.446325475264,-0.00554471772181,0.0696454997606,0.999999845689,-7.79424486704e-05,-0.000546110705243,-6.56581530019e-05,1793193366102969088
+204,3.400000000,POSE1_TO_POSE2_PRESS,764,743,711,674.590492328,657,629.590492328,878,781.590492328,800.590492328,649,628,650,0.446519760445,-0.0055471351585,0.0696385450832,0.999999838032,-8.42388843344e-05,-0.000559011523855,-6.59254743292e-05,1793193366119635968
+205,3.416666667,POSE1_TO_POSE2_PRESS,764,743,711,674.014190983,657,629.014190983,878,781.014190983,800.014190983,649,628,650,0.44670401591,-0.00554918978325,0.069631960805,0.999999830335,-8.88267906752e-05,-0.000571720422658,-6.76470700128e-05,1793193366136302592
+206,3.433333333,POSE1_TO_POSE2_PRESS,764,743,711.55865115,674,656.44134885,629,878,781.55865115,800,649,628,650,0.446857593982,-0.00555117437984,0.0696315518766,0.99999982782,-8.87723580659e-05,-0.00057600777636,-6.85176054524e-05,1793193366152969472
+207,3.450000000,POSE1_TO_POSE2_PRESS,764.13595489,743,712,674.13595489,656,628.86404511,878,781.86404511,800,649,628,650,0.447003027387,-0.00555277665768,0.0696302603972,0.999999824851,-8.86343778737e-05,-0.000581076932476,-6.92256095928e-05,1793193366169636352
+208,3.466666667,POSE1_TO_POSE2_PRESS,764.728536967,743,712,674.728536967,656,628.271463033,878,781.271463033,800,649,628,650,0.447123706777,-0.00555310079196,0.0696254810994,0.999999819915,-8.86094250666e-05,-0.00058948598672,-6.94598887869e-05,1793193366186302720
+209,3.483333333,POSE1_TO_POSE2_PRESS,764.685933737,743,712,674.685933737,655.685933737,628.314066263,878,781,800,649,628,650,0.447236205548,-0.00555281734734,0.0696224246179,0.999999817572,-8.78500657354e-05,-0.000593519065683,-6.98092582242e-05,1793193366202969088
+210,3.500000000,POSE1_TO_POSE2_PRESS,764.106366648,743,712,674.106366648,655.106366648,628.893633352,878,781,800,649,628,650,0.447341788698,-0.00555202027638,0.0696208245462,0.999999817463,-8.64698643727e-05,-0.000593852845129,-7.02559209891e-05,1793193366219635712
+211,3.516666667,POSE1_TO_POSE2_PRESS,764,743,711.531344608,674.468655392,655.468655392,628.531344608,878,781,800,649,628,650.468655392,0.447429767301,-0.00555493638571,0.0696243031183,0.999999820058,-9.06580850707e-05,-0.000588965533824,-6.91780998214e-05,1793193366236302848
+212,3.533333333,POSE1_TO_POSE2_PRESS,764,743,711,675,655.957415301,628,878,781,800,649.042584699,628,651,0.447511854108,-0.00555835064587,0.0696287079843,0.999999823044,-9.57156516481e-05,-0.000583220158692,-6.78584958693e-05,1793193366252970240
+213,3.550000000,POSE1_TO_POSE2_PRESS,764,743,711,675,655.384372059,628,878,781,800,649.615627941,628,651,0.447569842128,-0.00555757323578,0.0696304310664,0.999999824077,-9.60106783096e-05,-0.000581405331967,-6.77956699276e-05,1793193366269636608
+214,3.566666667,POSE1_TO_POSE2_PRESS,764,743,711,675,655.196312051,628,878,781,800,649.803687949,628,650.803687949,0.447621727879,-0.00555734353289,0.0696312862333,0.999999824313,-9.63315613603e-05,-0.000580968660492,-6.75989851938e-05,1793193366286302720
+215,3.583333333,POSE1_TO_POSE2_PRESS,764,743,711,675,655.792562699,628,878,781,800,649.207437301,628,650.207437301,0.447661181736,-0.00555822965156,0.0696303732321,0.999999822928,-9.67051206397e-05,-0.000583339648585,-6.712959535e-05,1793193366302969344
+216,3.600000000,POSE1_TO_POSE2_PRESS,764,743,711.375108991,674.624891009,655.624891009,628.375108991,878,781,800,649,627.624891009,650.375108991,0.447693206701,-0.00555789052199,0.069629151073,0.999999822299,-9.59893550443e-05,-0.000584556951712,-6.69354217159e-05,1793193366319636480
+217,3.616666667,POSE1_TO_POSE2_PRESS,764,743,711.950343786,674.049656214,655.049656214,628.950343786,878,781,800,649,627.049656214,650.950343786,0.447721268246,-0.00555689770558,0.0696277639739,0.999999822074,-9.46924196296e-05,-0.000585158747905,-6.68880797418e-05,1793193366336303360
+218,3.633333333,POSE1_TO_POSE2_PRESS,764,743,712,674.523218256,655,628.476781744,878,781,800,649.523218256,627.523218256,651,0.44773938974,-0.00555597889237,0.0696283044807,0.99999982243,-9.2526238038e-05,-0.000584918795753,-6.66958325117e-05,1793193366352969472
+219,3.650000000,POSE1_TO_POSE2_PRESS,764,743,711.900407375,675,655.099592625,628,878,781,800,649.900407375,628,651,0.447754882863,-0.00555484952576,0.069628584491,0.999999822539,-9.03299603901e-05,-0.000585096979467,-6.65162529754e-05,1793193366369636096
+220,3.666666667,POSE1_TO_POSE2_PRESS,764,743,711.305518206,675,655.694481794,628,878,781,800,649.305518206,628,651,0.447761974997,-0.00555263825812,0.0696266632776,0.999999821159,-8.83924376163e-05,-0.000587750155978,-6.64677587999e-05,1793193366386302720
+221,3.683333333,POSE1_TO_POSE2_PRESS,764,743,711.279973007,675,655.720026993,628,878.279973007,781,800,649,628,650.720026993,0.447767527417,-0.00555322008159,0.0696245586947,0.999999819226,-8.9317990451e-05,-0.000590933705021,-6.60898479811e-05,1793193366402969344
+222,3.700000000,POSE1_TO_POSE2_PRESS,764,743,711.855541811,675,655.144458189,628,878.855541811,781,800,649,628,650.144458189,0.447771454204,-0.00555675085376,0.0696222605104,0.999999816694,-9.32663816676e-05,-0.000594677221769,-6.53641387232e-05,1793193366419635968
+223,3.716666667,POSE1_TO_POSE2_PRESS,764,743,711.566767052,674.566767052,655,628,878.566767052,781,799.566767052,649,628,650.433232948,0.447775817493,-0.0055560189969,0.0696228274679,0.999999817636,-9.31085274415e-05,-0.000593166712105,-6.4907634949e-05,1793193366436302592
+224,3.733333333,POSE1_TO_POSE2_PRESS,764,743,711.011538262,674,655.011538262,628,878,781,799.011538262,649,628,650.988461738,0.447780236581,-0.00555389738175,0.0696243282093,0.999999819687,-9.15722461477e-05,-0.000589977552378,-6.45497506704e-05,1793193366452969472
+225,3.750000000,POSE1_TO_POSE2_PRESS,764,743,711.585117149,674,655.585117149,628,878,781,799.585117149,649,628,650.414882851,0.447780248973,-0.00555365503241,0.0696245488771,0.999999819362,-8.99146473208e-05,-0.000590777310583,-6.46016783685e-05,1793193366469636352
+226,3.766666667,POSE1_TO_POSE2_PRESS,764,743,711.836023986,674,655.836023986,628,878,780.836023986,800,649,628,650,0.447780376855,-0.00555327574249,0.0696246529234,0.999999819103,-8.8650353112e-05,-0.000591408953556,-6.458612211e-05,1793193366486302976
+227,3.783333333,POSE1_TO_POSE2_PRESS,764,743,711.243361421,674,655.243361421,628,878,780.243361421,800,649,628,650,0.447780806664,-0.00555253844535,0.0696244520835,0.999999819022,-8.84142845381e-05,-0.000591601088901,-6.43941408859e-05,1793193366502969344
+228,3.800000000,POSE1_TO_POSE2_PRESS,764,743,711.339795851,673.660204149,655,628,878.339795851,780.339795851,800,649,627.660204149,650,0.447780578013,-0.00555185538738,0.0696236862458,0.999999818149,-8.84780936166e-05,-0.000593054625928,-6.44927561376e-05,1793193366519635968
+229,3.816666667,POSE1_TO_POSE2_PRESS,764,743,711.916330659,673.083669341,655,628,878.916330659,780.916330659,800,649,627.083669341,650,0.447779890605,-0.0055512101184,0.0696225267688,0.99999981672,-8.87508302839e-05,-0.000595386993331,-6.47938326927e-05,1793193366536302336
+230,3.833333333,POSE1_TO_POSE2_PRESS,764,742.50816693,711.50816693,673.49183307,655,628,879,781,799.50816693,649,627.49183307,650,0.447780192598,-0.0055525037312,0.0696220910833,0.999999816448,-8.97767909557e-05,-0.000595741496289,-6.43098673964e-05,1793193366552968960
+231,3.850000000,POSE1_TO_POSE2_PRESS,764,742.068718633,711,674.068718633,655,628,878.931281367,780.931281367,799.068718633,649,628,650.068718633,0.447780735829,-0.00555402029713,0.0696218361145,0.999999816422,-9.09102404648e-05,-0.00059567703223,-6.37207702693e-05,1793193366569635840
+232,3.866666667,POSE1_TO_POSE2_PRESS,764,742.657395917,711,674.657395917,655,628,878.342604083,780.342604083,799.657395917,649,628,650.657395917,0.447781833513,-0.00555473335203,0.0696220188303,0.999999816769,-9.18894907975e-05,-0.000594983015655,-6.33445764354e-05,1793193366586302976
+233,3.883333333,POSE1_TO_POSE2_PRESS,764,743,711,675,655.242038565,628,878,780.242038565,800,649,628,650.757961435,0.447782203311,-0.00555446269329,0.0696219395464,0.999999816766,-9.17606200115e-05,-0.000595006297098,-6.33616328959e-05,1793193366602969856
+234,3.900000000,POSE1_TO_POSE2_PRESS,764,743,711,675,655.8210638,628,878,780.8210638,800,649,628,650.1789362,0.447781559686,-0.00555282242473,0.0696214954841,0.999999816274,-9.00889287048e-05,-0.000596028261887,-6.3926205884e-05,1793193366619636736
+235,3.916666667,POSE1_TO_POSE2_PRESS,764,743,711,674.6023015,655.6023015,628,878,781.3976985,800,649,628,650.3976985,0.447782348893,-0.00555316471789,0.0696219770472,0.999999816492,-8.98340729246e-05,-0.000595734999128,-6.36085469758e-05,1793193366636303104
+236,3.933333333,POSE1_TO_POSE2_PRESS,764,743,711,674.026735897,655.026735897,628,878,781.973264103,800,649,628,650.973264103,0.447783778922,-0.00555439369393,0.0696228725878,0.999999817027,-9.02128840416e-05,-0.000594853512678,-6.2896317776e-05,1793193366652969472
+237,3.950000000,POSE1_TO_POSE2_PRESS,764,743,711,674,655,628,878,780.875801256,800,649,628,650.437900628,0.447783423826,-0.00555368177018,0.0696224989134,0.999999817082,-8.96538093635e-05,-0.000594837794032,-6.29832192872e-05,1793193366669635840
+238,3.966666667,POSE1_TO_POSE2_PRESS,764,743,711,674,655,628,878,780.148880463,800,649,628,650.148880463,0.447783190875,-0.00555335961052,0.0696220461568,0.999999816999,-8.9326618901e-05,-0.000595012703863,-6.31131818876e-05,1793193366686302464
+239,3.983333333,POSE1_TO_POSE2_PRESS,764,743,711,674,655,628,878,780.727859958,800,649,628,650.727859958,0.447783562006,-0.00555443657913,0.0696215435575,0.999999816588,-8.98013049336e-05,-0.000595616478237,-6.32550812179e-05,1793193366702969088
+240,4.000000000,POSE1_TO_POSE2_PRESS,764,743,711,674,655,628,878.305480034,781,800,649,628,651,0.447783685146,-0.00555379771776,0.0696214714929,0.999999816415,-8.99317699947e-05,-0.000595867462174,-6.34392971143e-05,1793193366719635712
+241,4.016666667,POSE1_TO_POSE2_PRESS,764,743,711,674,655,628,878.881894389,781,800,649,628,651,0.447783588339,-0.0055516370638,0.0696217812755,0.999999816453,-8.97569408508e-05,-0.000595805551522,-6.36610441301e-05,1793193366736302592
+242,4.033333333,POSE1_TO_POSE2_PRESS,764,743,711,674.456985018,655.456985018,628,879,780.543014982,800,649.456985018,628,650.543014982,0.447783965353,-0.00555271161688,0.0696213635595,0.999999816368,-9.0166931286e-05,-0.00059593229944,-6.32266110959e-05,1793193366752969216
+243,4.050000000,POSE1_TO_POSE2_PRESS,764.032564946,743,711.032564946,674.967435054,656,628,879,780.032564946,800,649.967435054,628,650,0.447784388617,-0.00555442641489,0.069620781839,0.999999816255,-9.05568474643e-05,-0.000596122211228,-6.26743863038e-05,1793193366769635840
+244,4.066666667,POSE1_TO_POSE2_PRESS,764.622354458,743,711.622354458,674.377645542,656,628,879,780.622354458,800,649.377645542,628,650,0.447783513946,-0.00555283081616,0.069620601734,0.999999816199,-8.80244902377e-05,-0.00059656103564,-6.30000512077e-05,1793193366786302464
+245,4.083333333,POSE1_TO_POSE2_PRESS,764.791811556,743,711.791811556,674,655.791811556,628,878.791811556,781,799.791811556,649,628,650.208188444,0.44778335184,-0.00555179248686,0.0696205818975,0.999999816309,-8.62533521956e-05,-0.00059661935738,-6.31485034197e-05,1793193366802969088
+246,4.100000000,POSE1_TO_POSE2_PRESS,764.213019012,743,711.213019012,674,655.213019012,628,878.213019012,781,799.213019012,649,628,650.786980988,0.4477844582,-0.00555174617404,0.0696208473609,0.999999816724,-8.58372893979e-05,-0.000596000331925,-6.29814926024e-05,1793193366819635712
+247,4.116666667,POSE1_TO_POSE2_PRESS,764,743,711.363391843,674,655,628,878.363391843,780.636608157,799,649,628,650.636608157,0.447786210784,-0.00555189713451,0.0696223041005,0.999999817777,-8.62349133869e-05,-0.000594178387456,-6.29339179519e-05,1793193366836302848
+248,4.133333333,POSE1_TO_POSE2_PRESS,764,743,711.938415705,674,655,628,878.938415705,780.061584295,799,649,628,650.061584295,0.447788339716,-0.00555216298294,0.0696244546152,0.999999819196,-8.71064119737e-05,-0.000591655887352,-6.29559004799e-05,1793193366852970496
+249,4.150000000,POSE1_TO_POSE2_PRESS,764,743,712,674,655.513406549,628,878.486593451,780.513406549,799,649,628,650.513406549,0.44778708132,-0.00555301842003,0.0696230327323,0.999999818041,-8.89228428217e-05,-0.000593340881024,-6.2905980767e-05,1793193366869636864
+250,4.166666667,HOLD_POSE2,764,743,712,674,655,628,879,781,800,649,628,651,0.44778638068,-0.00555458055227,0.0696223640193,0.999999817285,-9.06376824093e-05,-0.000594397904274,-6.25043784866e-05,1793193366911955456
+251,4.183333333,HOLD_POSE2,764,743,711.420290529,674,655,628,879,781,800,649,628,650.420290529,0.447787242626,-0.00555288957093,0.069622682259,0.99999981803,-8.65607883225e-05,-0.000593757841655,-6.24364687707e-05,1793193366928621568
+252,4.200000000,HOLD_POSE2,764,743,711.157854654,674,655,628,879,781,800,649,628,650.157854654,0.447788106745,-0.0055519911884,0.0696230713777,0.99999981864,-8.47544337603e-05,-0.000592997351677,-6.2378399642e-05,1793193366945287424
+253,4.216666667,HOLD_POSE2,764,743,711.731875891,674,655,628,879,781,800,649,628,650.731875891,0.447788976597,-0.00555318240583,0.0696236473609,0.999999818918,-8.89341081626e-05,-0.000591919367975,-6.23462741351e-05,1793193366961953536
+254,4.233333333,HOLD_POSE2,764,743,711.693779217,674.306220783,655,627.693779217,878.693779217,780.693779217,799.693779217,649,627.693779217,650.693779217,0.447788681008,-0.00555373688973,0.0696236648052,0.999999818706,-8.9694763479e-05,-0.000592172486921,-6.22429165991e-05,1793193366978620160
+255,4.250000000,HOLD_POSE2,764,743,711.11915067,674.88084933,655,627.11915067,878.11915067,780.11915067,799.11915067,649,627.11915067,650.11915067,0.44778736389,-0.0055537332657,0.0696231926804,0.999999818073,-8.74585897279e-05,-0.000593592340215,-6.20771229713e-05,1793193366995286784
+256,4.266666667,HOLD_POSE2,763.527720113,743,711,674.527720113,655,627,878.472279887,780.472279887,799.472279887,649,627.472279887,650.472279887,0.44778640808,-0.00555239711028,0.0696219130815,0.999999817151,-8.6632257505e-05,-0.000595221234577,-6.24875639245e-05,1793193367011953664
+257,4.283333333,HOLD_POSE2,763.06561911,743,711,674,655,627.06561911,879,780.93438089,800,649,628,650.93438089,0.44778565247,-0.00555124059139,0.0696206133548,0.999999816233,-8.65624394702e-05,-0.000596724206616,-6.29381505153e-05,1793193367028620288
+258,4.300000000,HOLD_POSE2,763.639690434,743,711,674,655,627.639690434,879,780.360309566,800,649,628,650.360309566,0.447785715752,-0.00555417700453,0.0696207943993,0.999999815938,-8.94967832547e-05,-0.000596827743163,-6.25317924209e-05,1793193367045287424
+259,4.316666667,HOLD_POSE2,764,743,711.21462228,674,655.21462228,628,878.78537772,780.21462228,800.21462228,649,628,650.21462228,0.447786357618,-0.00555527969556,0.0696211631817,0.999999816116,-9.02449801589e-05,-0.000596453931455,-6.21879942067e-05,1793193367061954560
+260,4.333333333,HOLD_POSE2,764,743,711.791004536,674,655.791004536,628,878.208995464,780.791004536,800.791004536,649,628,650.791004536,0.447787974727,-0.00555329152701,0.0696218484089,0.999999817093,-8.73082823548e-05,-0.000595275517847,-6.1949644828e-05,1793193367078620928
+261,4.350000000,HOLD_POSE2,764,743,712,674,655.623741926,628,878.376258074,781,800.247483851,649,628,651,0.447788345135,-0.00555298444392,0.0696221501516,0.999999817563,-8.72653973489e-05,-0.000594483942201,-6.20365262374e-05,1793193367095287296
+262,4.366666667,HOLD_POSE2,764,743,712,674,655.033441722,628,878.966558278,781,799.066883444,649,628,651,0.447788006332,-0.00555363368062,0.0696222337414,0.999999817744,-8.88687168814e-05,-0.000593912427164,-6.23084218346e-05,1793193367111953408
+263,4.383333333,HOLD_POSE2,764,743,711.454250167,674.545749833,655,627.454250167,878.454250167,780.454250167,799.545749833,649,628,651,0.447787725608,-0.00555381197782,0.0696218651236,0.999999816847,-9.11082788738e-05,-0.000595066803699,-6.24542082998e-05,1793193367128620288
+264,4.400000000,HOLD_POSE2,764,743,711,675,655,627.123542759,878.123542759,780,800,649,628,650.876457241,0.447787696029,-0.00555404228208,0.0696216540294,0.999999816218,-9.2503873892e-05,-0.000595904099732,-6.24913546105e-05,1793193367145286656
+265,4.416666667,HOLD_POSE2,764,743,711,675,655,627.698662023,878.698662023,780,800,649,628,650.301337977,0.447788571689,-0.00555456606064,0.0696221179839,0.999999816824,-9.06749181503e-05,-0.000595203542207,-6.21590792574e-05,1793193367161953536
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764,743,711,674,655,628,878,780,800,649,628,651,0.447788410436,-0.00555167414197,0.0696218082373,0.999999817558,-8.96508543728e-05,-0.000594135626654,-6.20524563644e-05,1793193367199704576
+267,4.450000000,POSE2_TO_POSE3_RETREAT,763.408422028,743,711,674,655,628,878,780,799.408422028,649,628,650.408422028,0.447788634956,-0.00555203172988,0.0696227365996,0.999999817868,-8.72208761585e-05,-0.000594005920085,-6.17542224928e-05,1793193367216371456
+268,4.466666667,POSE2_TO_POSE3_RETREAT,763.178677752,743,711,674,655,628,878,780,799.178677752,649,628,650,0.447788958994,-0.00555249622552,0.069623350862,0.999999818038,-8.64858759719e-05,-0.000593831402044,-6.17194916738e-05,1793193367233038080
+269,4.483333333,POSE2_TO_POSE3_RETREAT,763.755791658,743,711,674,655,628,878,780,799.755791658,649,628,650,0.447789504949,-0.00555319911637,0.0696232647087,0.999999817898,-8.95305318357e-05,-0.000593556958222,-6.22723501439e-05,1793193367249703936
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764,743,711,674,655,628,878,780.331673327,800,649,628,650,0.447789751986,-0.00555295615217,0.0696230668273,0.999999817871,-8.95460690822e-05,-0.000593620304029,-6.20812269492e-05,1793193367266370048
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764,743,711,674,655,628,878,780.906651032,800,649,628,650,0.447789779747,-0.00555201934054,0.069622786986,0.999999817927,-8.73395467771e-05,-0.000593931440946,-6.13443438363e-05,1793193367283036416
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764,742.503832445,711,674,655,627.503832445,878,781,799.503832445,649,628,650,0.447787797042,-0.00555090351943,0.0696212976612,0.999999816804,-8.45972622713e-05,-0.000596171074473,-6.17689849916e-05,1793193367299703296
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764,742.086379656,711.086379656,674.086379656,655,627.086379656,878,781,799,649,627.913620344,650,0.447784859759,-0.00555020111807,0.0696193703616,0.999999815196,-8.2567066209e-05,-0.000599095280735,-6.22478866631e-05,1793193367316369920
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764,742.664509583,711.664509583,674.664509583,655,627.664509583,878,781,799,649,627.335490417,650,0.447778706493,-0.0055520497896,0.0696162842526,0.999999812185,-8.51818708471e-05,-0.000603788797548,-6.17540698657e-05,1793193367333036800
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764,743,711.758618606,674.758618606,655,628,878,780.758618606,799.241381394,649,627.241381394,650.241381394,0.447763120873,-0.0055524361666,0.0696085404452,0.999999804594,-8.67051848381e-05,-0.000616011024346,-6.18458321545e-05,1793193367349703680
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764,743,711.183486402,674.183486402,655,628,878,780.183486402,799.816513598,649,627.816513598,650.816513598,0.447734493419,-0.00555080067271,0.0695943565783,0.999999790339,-8.67193272178e-05,-0.000638642971941,-6.2747257095e-05,1793193367366370304
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764,743,711.400459984,674.400459984,655,628,878,780.400459984,799.599540016,649,628,650.599540016,0.447685279893,-0.00554915427839,0.0695734197508,0.999999766376,-8.56842472509e-05,-0.000675181014417,-6.35412883974e-05,1793193367383036928
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764,743,711.988535872,674.988535872,655,628,878,780.988535872,799.011464128,649,628,650.011464128,0.44762642177,-0.00554750277705,0.0695493191532,0.999999736462,-8.415760544e-05,-0.000718234077387,-6.42850056627e-05,1793193367399703296
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764,743,711.432504229,674.432504229,655,628,878.567495771,780.432504229,799.567495771,649,627.432504229,650.567495771,0.447553365319,-0.00554476884015,0.0695321827428,0.999999717724,-8.26825087296e-05,-0.000744013437774,-6.45017625924e-05,1793193367416369920
+280,4.666666667,POSE2_TO_POSE3_RETREAT,764,743,711.145363179,674,655,628,878.854636821,780,800,649,627,650.854636821,0.447477869002,-0.00554256567776,0.0695189781504,0.999999702908,-8.13339386911e-05,-0.000763842490147,-6.4131808113e-05,1793193367433036544
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764,743,711.720536349,674,655,628,878.279463651,780,800,649,627,650.279463651,0.447395993141,-0.0055419955422,0.0695169897547,0.99999970063,-8.03564524529e-05,-0.000767093138303,-6.20580432052e-05,1793193367449703168
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764,743,712,674,655.594519894,628,878.297259947,780,800,649,627.297259947,650,0.447301846275,-0.0055396331064,0.0695179590178,0.999999701887,-7.82087034861e-05,-0.000765840481347,-5.99837403512e-05,1793193367466370048
+283,4.716666667,POSE2_TO_POSE3_RETREAT,764,743,712,674,656.750897517,628,878.875448758,780,800,649,627.875448758,650,0.447196102561,-0.00553557683709,0.0695217234496,0.999999706462,-7.49549845896e-05,-0.000760331924907,-5.79089292281e-05,1793193367483036672
+284,4.733333333,POSE2_TO_POSE3_RETREAT,763.538891908,743,711.538891908,674.461108092,656.077783816,628,878.538891908,780.461108092,799.538891908,649,628,650.461108092,0.447067191413,-0.00553154512522,0.0695221663238,0.999999707433,-7.00072117598e-05,-0.00075973185954,-5.51369172199e-05,1793193367499703552
+285,4.750000000,POSE2_TO_POSE3_RETREAT,763.048108744,743,711,675,655,628,878,781,799.048108744,649.048108744,628,651,0.446928684059,-0.00552759899725,0.069521463076,0.999999707136,-6.48072554018e-05,-0.000760797571818,-5.21147801511e-05,1793193367516370176
+286,4.766666667,POSE2_TO_POSE3_RETREAT,763.627274248,743,711,675,655,628,878,781,799.627274248,649.627274248,628,651,0.446754462938,-0.00552452317332,0.0695181751073,0.999999704008,-6.19578497497e-05,-0.00076537465157,-4.84446637014e-05,1793193367533036800
+287,4.783333333,POSE2_TO_POSE3_RETREAT,764,743,711.205715563,674.794284437,655,628,878,781,799.794284437,649.794284437,628,650.794284437,0.446569872593,-0.00552044583107,0.0695173843819,0.999999704197,-5.64838689013e-05,-0.000765791783378,-4.44714258674e-05,1793193367549703424
+288,4.800000000,POSE2_TO_POSE3_RETREAT,764,743,711.782849294,674.217150706,655,628,878,781,799.217150706,649.217150706,628,650.217150706,0.446366560695,-0.00551456025408,0.069521102414,0.99999971032,-4.6271234182e-05,-0.000758698154534,-3.99509046565e-05,1793193367566370048
+289,4.816666667,POSE2_TO_POSE3_RETREAT,764,743,711.644322201,674,655,628.355677799,878,781,799,649,628,650,0.446141399808,-0.00550854217245,0.0695273241081,0.999999718848,-3.51460794598e-05,-0.000748255181351,-3.43836218557e-05,1793193367583036672
+290,4.833333333,POSE2_TO_POSE3_RETREAT,764,743,711.074090661,674,655,628.925909339,878,781,799,649,628,650,0.445903059045,-0.00550244416015,0.0695350560741,0.999999728633,-2.34704688671e-05,-0.000735791799093,-2.81849058508e-05,1793193367599703040
+291,4.850000000,POSE2_TO_POSE3_RETREAT,764,743,711.516704494,674,655,629,878,781,799.516704494,649,628,650,0.445621309163,-0.00549579474727,0.0695336263048,0.999999727292,-1.1735318837e-05,-0.000738084025761,-2.25688980184e-05,1793193367616370176
+292,4.866666667,POSE2_TO_POSE3_RETREAT,764,743,711.892020571,674,655.107979429,629,877.892020571,781,800,649,628,650.107979429,0.44532476608,-0.00548902392375,0.0695317429537,0.999999725178,7.2659208538e-07,-0.00074119156194,-1.66703822645e-05,1793193367633037056
+293,4.883333333,POSE2_TO_POSE3_RETREAT,764,743,711.31207081,674,655.68792919,629,877.31207081,781,800,649,628,650.68792919,0.444991897229,-0.00548208233537,0.0695338571473,0.999999727332,1.63262634312e-05,-0.000738231362488,-9.15669304567e-06,1793193367649703680
+294,4.900000000,POSE2_TO_POSE3_RETREAT,764,743,711,674.26535529,656,629,877.26535529,781,800,649,628,650.73464471,0.444633419619,-0.00547557905107,0.0695351479087,0.999999726104,5.39185008866e-05,-0.000738161211931,-1.43376195502e-06,1793193367666370048
+295,4.916666667,POSE2_TO_POSE3_RETREAT,764,743,711,674.839841365,656,629,877.839841365,781,800,649,628,650.160158635,0.444245108609,-0.00546958637803,0.0695354793966,0.999999718239,0.000117131403274,-0.000741457878015,6.53292906602e-06,1793193367683036672
+296,4.933333333,POSE2_TO_POSE3_RETREAT,764,743,711,674.577574368,656.422425632,629.422425632,878,781.422425632,800.422425632,649,628,650,0.443828179178,-0.00546150062551,0.069540935906,0.999999721553,0.00014219399129,-0.000732474773451,1.25050147952e-05,1793193367699703040
+297,4.950000000,POSE2_TO_POSE3_RETREAT,764,743,711,674.00810829,657,629.99189171,878.00810829,782,800.99189171,649.00810829,628.00810829,650,0.443399524637,-0.00545262095251,0.0695484646245,0.999999730027,0.000152087943424,-0.000718684129675,1.75807718141e-05,1793193367716369664
+298,4.966666667,POSE2_TO_POSE3_RETREAT,764,743,711,674.591523249,657,629.408476751,878.591523249,782,800.408476751,649.591523249,628.591523249,650,0.44292385364,-0.00544481699821,0.0695624591154,0.999999745778,0.00013206827629,-0.000700580688343,1.37652666323e-05,1793193367733036288
+299,4.983333333,POSE2_TO_POSE3_RETREAT,763.82983473,743,711,675,657,629.17016527,878.82983473,782,799.82983473,649.82983473,628.82983473,650.17016527,0.44244743976,-0.0054371446486,0.069581359769,0.999999766212,0.000120503751801,-0.000672994846901,1.14973546164e-05,1793193367749703168
+300,5.000000000,POSE2_TO_POSE3_RETREAT,763.262337489,743,711,675,657,629.737662511,878.262337489,782,799.262337489,649.262337489,628.262337489,650.737662511,0.441969291328,-0.00542977959401,0.069611716197,0.999999797407,0.000128681792683,-0.000623267822884,1.2843037394e-05,1793193367766370048
+301,5.016666667,POSE2_TO_POSE3_RETREAT,763,742.688636467,711,674.688636467,657,630,878,782.311363533,799,649,628,650.688636467,0.441463240077,-0.00542627699889,0.0696428551987,0.999999828114,0.00014399059464,-0.000568200949123,1.36499482621e-05,1793193367783036928
+302,5.033333333,POSE2_TO_POSE3_RETREAT,763,742.109602159,711,674.109602159,657,630,878,782.890397841,799,649,628,650.109602159,0.440933201477,-0.00542609485448,0.0696746669611,0.99999985691,0.000165429518957,-0.000508543545168,1.39936916788e-05,1793193367799703552
+303,5.050000000,POSE2_TO_POSE3_RETREAT,763,742,711,674,657.482519243,630,877.517480757,783,799.482519243,649,628.482519243,650,0.440347933582,-0.00543184008887,0.0697015688352,0.999999882512,0.000146474431254,-0.000461824004171,1.54757542698e-05,1793193367816370176
+304,5.066666667,POSE2_TO_POSE3_RETREAT,763.075295004,742.075295004,711,673.924704996,658.075295004,630.075295004,877,782.924704996,799.924704996,649,628.924704996,650.075295004,0.439738392954,-0.00543684310415,0.0697223773435,0.999999901066,0.000125148227946,-0.000426510928889,1.71447473037e-05,1793193367833036544
+305,5.083333333,POSE2_TO_POSE3_RETREAT,763.652078351,742.652078351,711,673.347921649,658.652078351,630.652078351,877,782.347921649,799.347921649,649,628.347921649,650.652078351,0.439053071677,-0.00542768541222,0.0697102371981,0.999999888529,0.000150843857073,-0.000447049611357,1.82886272925e-05,1793193367849702912
+306,5.100000000,POSE2_TO_POSE3_RETREAT,764,742.771406601,711.228593399,673.228593399,658.771406601,631,877,782.228593399,799.228593399,649,628.228593399,650.771406601,0.438365419871,-0.0054218458975,0.0696979162816,0.999999880398,0.000161700363866,-0.000461205588169,1.86183712195e-05,1793193367866369792
+307,5.116666667,POSE2_TO_POSE3_RETREAT,764,742.195299463,711.804700537,673.804700537,658.195299463,631,877,782.804700537,799.804700537,649,628.804700537,650.195299463,0.437674225173,-0.00542105076421,0.0696853205526,0.999999880175,0.000149998042563,-0.000465658406127,1.77104438993e-05,1793193367883036160
+308,5.133333333,POSE2_TO_POSE3_RETREAT,764,742.388645148,712,673.611354852,658.388645148,631.388645148,877,783,800,649,628.611354852,650,0.436979468993,-0.00542888925235,0.0697120860602,0.999999900101,0.000147795558691,-0.000421345848105,2.05456460473e-05,1793193367899703040
+309,5.150000000,POSE2_TO_POSE3_RETREAT,764,742.976609237,712,673.023390763,658.976609237,631.976609237,877,783,800,649,628.023390763,650,0.436282886307,-0.00544115554383,0.0697590382088,0.9999999264,0.000150465121845,-0.000352023679653,2.5300534008e-05,1793193367916369920
+310,5.166666667,POSE2_TO_POSE3_RETREAT,764,743,712,673.556831195,659,632,877.556831195,783.556831195,799.443168805,648.443168805,628.556831195,650,0.435538685585,-0.00543880369718,0.0698062371219,0.999999945911,0.000158541562839,-0.000286349814123,3.23554563851e-05,1793193367933036800
+311,5.183333333,POSE2_TO_POSE3_RETREAT,763.864040061,743,711.864040061,673.864040061,659,632,877.864040061,783.864040061,799,648.135959939,629,650,0.434773970834,-0.00543482119269,0.0698421804804,0.999999957065,0.000164491358177,-0.000239621340174,3.73436028228e-05,1793193367949703424
+312,5.200000000,POSE2_TO_POSE3_RETREAT,763.287415059,743,711.287415059,673.287415059,659,632,877.287415059,783.287415059,799,648.712584941,629,650,0.433949161715,-0.00542751647044,0.0698416098754,0.999999953911,0.000162822346588,-0.000253807625196,3.53241840385e-05,1793193367966369792
+313,5.216666667,POSE2_TO_POSE3_RETREAT,763,743,711.286996544,673,659,632,877,783,799,649,628.713003456,650.286996544,0.433125865611,-0.00542434278907,0.0698408815708,0.999999953132,0.000165897436164,-0.00025492908088,3.50067954885e-05,1793193367983036416
+314,5.233333333,POSE2_TO_POSE3_RETREAT,763,743,711.859208554,673,659,632,877,783,799,649,628.140791446,650.859208554,0.432304073035,-0.00542527451077,0.0698399965453,0.999999954714,0.000173687185181,-0.000243066788251,3.63808742625e-05,1793193367999703040
+315,5.250000000,POSE2_TO_POSE3_RETREAT,763,743,712,673,659,632,877.448464207,783.448464207,799,649,628.448464207,650.551535793,0.431389080509,-0.00542607178214,0.0698129240264,0.999999942326,0.000175522210937,-0.000288397565864,3.69747603572e-05,1793193368016369664
+316,5.266666667,POSE2_TO_POSE3_RETREAT,763.042098232,743,712,672.957901768,659,632,878,784,799,649,629,650,0.430445355885,-0.00542669424086,0.0697768989138,0.999999922001,0.000175113741291,-0.000352077300898,3.7080109405e-05,1793193368033036288
+317,5.283333333,POSE2_TO_POSE3_RETREAT,763.620648812,743,712,672.379351188,659,632,878,784,799,649,629,650,0.429523078418,-0.00542564820445,0.069735694221,0.999999900052,0.000170879765528,-0.000411734824796,3.42045717995e-05,1793193368049703424
+318,5.300000000,POSE2_TO_POSE3_RETREAT,764,742.802217318,712,672.197782682,659,632,877.802217318,783.802217318,799,649,628.802217318,650.197782682,0.428630760712,-0.00542562557944,0.0697298080353,0.99999989736,0.000170162402962,-0.000418517975749,3.41584581463e-05,1793193368066370048
+319,5.316666667,POSE2_TO_POSE3_RETREAT,764,742.227781437,712,672.772218563,659,632,877.227781437,783.227781437,799,649,628.227781437,650.772218563,0.427795497802,-0.00542755191775,0.0697911816775,0.999999931022,0.000176142005172,-0.00032460827378,3.95006404103e-05,1793193368083036672
+320,5.333333333,POSE2_TO_POSE3_RETREAT,763.644707762,742,712,673,659,632,877,783.355292238,799,649,628,650.644707762,0.426948786599,-0.00542812307084,0.0698395230257,0.999999950723,0.000181991559279,-0.000252011889731,4.38518353981e-05,1793193368099703296
+321,5.350000000,POSE2_TO_POSE3_RETREAT,763.055958346,742,712,673,659,632,877,783.944041654,799,649,628,650.055958346,0.426094552927,-0.00542780375208,0.0698793010473,0.999999962538,0.00018775566072,-0.000193420170038,4.75518674099e-05,1793193368116369664
+322,5.366666667,POSE2_TO_POSE3_RETREAT,763.523812413,742.523812413,712,673,659,632,877,784,799,649,628.523812413,650.523812413,0.425151350001,-0.00542605430129,0.0698613910769,0.999999957982,0.000183538294679,-0.000219706777466,4.55924168906e-05,1793193368133036288
+323,5.383333333,POSE2_TO_POSE3_RETREAT,764,743,711.898048533,673,659,632,877,784,799,649,628.898048533,650.898048533,0.424196433065,-0.00542404137937,0.0698342144503,0.999999948693,0.000179720781271,-0.000261638333932,4.313636392e-05,1793193368149703168
+324,5.400000000,POSE2_TO_POSE3_RETREAT,764,743,711.32310475,673,659,632,877,784,799,649,628.32310475,650.32310475,0.423230522533,-0.00542150297206,0.069792155781,0.999999926435,0.000182621997782,-0.000334794298982,4.11340696688e-05,1793193368166369792
+325,5.416666667,POSE2_TO_POSE3_RETREAT,764,743,711.252787183,673,659,632,877,784,799,649,628,650,0.422255255023,-0.00541723064849,0.0697425199766,0.999999892251,0.000188534865325,-0.000422436420996,3.87389671226e-05,1793193368183036416
+326,5.433333333,POSE2_TO_POSE3_RETREAT,764,743,711.829895654,673,659,632,877,784,799,649,628,650,0.421267982548,-0.005410733742,0.0696831628423,0.999999839951,0.0001983116254,-0.000528664023628,3.58398984072e-05,1793193368199703296
+327,5.450000000,POSE2_TO_POSE3_RETREAT,763.584393245,742.584393245,712,673,659,632,877,784,799,648.584393245,628,650,0.420415690285,-0.00541345045002,0.0697074115236,0.999999862803,0.000198621295253,-0.000483319062708,3.6691179319e-05,1793193368216370176
+328,5.466666667,POSE2_TO_POSE3_RETREAT,763,742,712,672.995181232,659,632,877,784,799.004818768,648.004818768,628,650.004818768,0.419619590214,-0.0054200017858,0.0697667268827,0.999999910089,0.000194929409653,-0.000374557130967,3.91336417524e-05,1793193368233036800
+329,5.483333333,POSE2_TO_POSE3_RETREAT,763,742,712,672.417204142,659,632,877,784,799.582795858,648.582795858,628,650.582795858,0.418797104822,-0.00542463415895,0.0698408212251,0.999999948539,0.000185902411888,-0.000257665552533,4.44011415788e-05,1793193368249703936
+330,5.500000000,POSE2_TO_POSE3_RETREAT,763,742.159969323,711.840030677,672,659,632,877,784,799.840030677,649,628.159969323,651,0.4179585072,-0.00542785156982,0.06988771433,0.999999965255,0.000180441062037,-0.000186190872322,4.75894665264e-05,1793193368266370560
+331,5.516666667,POSE2_TO_POSE3_RETREAT,763,742.735057358,711.264942642,672,659,632,877,784,799.264942642,649,628.735057358,651,0.417078098559,-0.00542739716818,0.0698640205057,0.999999954954,0.000184232537003,-0.000232572579721,4.53823555283e-05,1793193368283036672
+332,5.533333333,POSE2_TO_POSE3_RETREAT,763.317109979,743,711,672.317109979,659,632,877,784,799.317109979,649,629,650.682890021,0.416222143889,-0.00542534417023,0.0698362321767,0.999999946148,0.000185943462442,-0.000267068712705,4.24661067827e-05,1793193368299703040
+333,5.550000000,POSE2_TO_POSE3_RETREAT,763.90511209,743,711,672.90511209,659,632,877,784,799.90511209,649,629,650.09488791,0.415387079141,-0.0054219255667,0.0698049461064,0.999999939506,0.000185877072298,-0.000291411556631,3.89440751852e-05,1793193368316369664
+334,5.566666667,POSE2_TO_POSE3_RETREAT,763.514364899,742.514364899,711.485635101,673,659,632,877,784,799.514364899,649,628.514364899,650,0.414502853806,-0.00541139585487,0.0697672019499,0.999999912687,0.000194648035957,-0.000367876464144,3.74953190563e-05,1793193368333036288
+335,5.583333333,POSE2_TO_POSE3_RETREAT,763,742.064491184,712,673,659,632,877,783.935508816,799,649,628.064491184,650,0.41362593804,-0.00540033793362,0.0697354886078,0.999999882167,0.000204571009428,-0.000438723965063,3.65739705214e-05,1793193368349703168
+336,5.600000000,POSE2_TO_POSE3_RETREAT,763,742.641536815,712,673,659,632,877,783.358463185,799,649,628.641536815,650,0.412882299874,-0.00539595726344,0.069761582778,0.999999903054,0.000210134490036,-0.000385213989506,3.6673548685e-05,1793193368366370304
+337,5.616666667,POSE2_TO_POSE3_RETREAT,763,742.782215195,712,673,659,632,877,783.217784805,799,649,628.782215195,650,0.412173315791,-0.00539290786736,0.0698018906521,0.999999926722,0.00021794272064,-0.000312410640205,3.81748980765e-05,1793193368383037184
+338,5.633333333,POSE2_TO_POSE3_RETREAT,763,742.207275201,712,673,659,632,877,783.792724799,799,649,628.207275201,650,0.411521162394,-0.00539204168743,0.0698655082285,0.999999951174,0.000229432218747,-0.000207967201624,4.19750756268e-05,1793193368399703808
+339,5.650000000,POSE2_TO_POSE3_RETREAT,763.376487967,742.376487967,712,673,659,632.376487967,877,784,799,648.623512033,628.376487967,650,0.410844788121,-0.00538748823306,0.0698842640837,0.99999995566,0.000233353036683,-0.000179924213333,4.3050030511e-05,1793193368416370176
+340,5.666666667,POSE2_TO_POSE3_RETREAT,763.965225265,742.965225265,712,673,659,632.965225265,877,784,799,648.034774735,628.965225265,650,0.410154759095,-0.00538085603626,0.0698777286347,0.999999952944,0.000233006926228,-0.000194952845922,4.25886103858e-05,1793193368433036544
+341,5.683333333,POSE2_TO_POSE3_RETREAT,764,743,712,672.454659164,659,632.454659164,877,784,799.545340836,648.545340836,629,650,0.409441090908,-0.00537525305304,0.0698329221743,0.999999933123,0.00023992563837,-0.000273146689615,3.9745869934e-05,1793193368449703424
+342,5.700000000,POSE2_TO_POSE3_RETREAT,764,743,712,672,659.124086559,632.124086559,877,784,799.875913441,649,629,650,0.408743742099,-0.00537061504006,0.0697924533457,0.999999911046,0.000245361469659,-0.000341089458656,3.69379955466e-05,1793193368466370048
+343,5.716666667,POSE2_TO_POSE3_RETREAT,764,743,712,672,659.699816275,632.699816275,877,784,799.300183725,649,629,650,0.408111192813,-0.00536925411291,0.0697765166634,0.999999905862,0.000243740111486,-0.000357288770296,3.48011171369e-05,1793193368483036416
+344,5.733333333,POSE2_TO_POSE3_RETREAT,764,742.72050261,711.72050261,672,659.44100522,633,877,784,799,649,629,650.27949739,0.407524856042,-0.00537250768779,0.0697769302431,0.999999907665,0.00024004041217,-0.000354829954369,3.38540311777e-05,1793193368499702784
+345,5.750000000,POSE2_TO_POSE3_RETREAT,764,742.136516824,711.136516824,672,658.273033649,633,877,784,799,649,629,650.863483176,0.406988863877,-0.0053807883663,0.0697951560298,0.999999916892,0.000234076538788,-0.000332044710207,3.42031220143e-05,1793193368516369408
+346,5.766666667,POSE2_TO_POSE3_RETREAT,763.554408477,742,711.445591523,672,658,632.554408477,876.554408477,784,799,649,629,651,0.406460644719,-0.0054010613379,0.0698020169718,0.9999999233,0.000208017105858,-0.000329931262308,3.57026995798e-05,1793193368533036288
+347,5.783333333,POSE2_TO_POSE3_RETREAT,763.02703643,742.02703643,711.97296357,672,658,632,876.02703643,784,799,649,628.97296357,651,0.405937371172,-0.00542366914838,0.0698050743897,0.999999927734,0.000177528476828,-0.000334089758231,3.74047163287e-05,1793193368549703168
+348,5.800000000,POSE2_TO_POSE3_RETREAT,763.606627543,742.606627543,711.393372457,672,658,632,876.606627543,784,799,649,628.393372457,651,0.405466707835,-0.00541922084858,0.0698012594951,0.999999925855,0.000181818078154,-0.000337538132936,3.60705689335e-05,1793193368566369792
+349,5.816666667,POSE2_TO_POSE3_RETREAT,763.81551645,743,711.18448355,672,658,632,877,784,799,649,628,651,0.405021032121,-0.00541420317788,0.0698055874602,0.999999927894,0.00018950864961,-0.000327174854424,3.54328085547e-05,1793193368583036160
+350,5.833333333,POSE2_TO_POSE3_RETREAT,763.241325616,743,711.758674384,672,658,632,877,784,799,649,628,651,0.404628140749,-0.00540798275418,0.0698271165885,0.999999937089,0.000204383509035,-0.000287635522852,3.62661118072e-05,1793193368599702784
+351,5.850000000,POSE2_TO_POSE3_RETREAT,763.34256674,742.65743326,712,672,658.34256674,632,877,784,799,649,628.34256674,651,0.404258293684,-0.00540752710835,0.0698434721624,0.99999994468,0.000205567404339,-0.000258906284666,3.67359544796e-05,1793193368616369664
+352,5.866666667,POSE2_TO_POSE3_RETREAT,763.933492614,742.066507386,712,672,658.933492614,632,877,784,799,649,628.933492614,651,0.403905153647,-0.00541125089737,0.0698560769345,0.999999951622,0.00019682541987,-0.000238014311431,3.69422900584e-05,1793193368633036288
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,658.486730883,632.513269117,877,784,799,649,628.486730883,651,0.40356784948,-0.00540520746571,0.0698481600274,0.99999994683,0.000208639385458,-0.000248085337191,3.55490830635e-05,1793193368649702912
+354,5.900000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,658,632.908904242,877,783.908904242,799,649,628.091095758,651,0.403237314163,-0.00539903420082,0.0698373445388,0.999999940468,0.000219717117004,-0.000263868760994,3.40738843028e-05,1793193368666369792
+355,5.916666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,658,632.333924137,877,783.333924137,799,649,628.666075863,651,0.402932065918,-0.00539875098842,0.0698249567659,0.999999934955,0.000213036557749,-0.000289137148066,3.32406943638e-05,1793193368683036416
+356,5.933333333,POSE2_TO_POSE3_RETREAT,764,742.240852786,711.759147214,672,658,632,877,783,799,649,628.759147214,651,0.402646905953,-0.00539746697258,0.0698138404327,0.999999929437,0.000209050350356,-0.000310461890411,3.21995479826e-05,1793193368699703552
+357,5.950000000,POSE2_TO_POSE3_RETREAT,764,742.815348203,711.184651797,672,658,632,877,783,799,649,628.184651797,651,0.402389573412,-0.00539479658838,0.0698044853694,0.999999924482,0.000208796509182,-0.000326323675552,3.0870328899e-05,1793193368716370944
+358,5.966666667,POSE2_TO_POSE3_RETREAT,764,742.59814545,711.40185455,672,658.40185455,632,877,783.40185455,799,649,628.40185455,651,0.402171602209,-0.00539159707172,0.0697984775073,0.99999992138,0.000210588559231,-0.000334545024954,3.11799933712e-05,1793193368733037312
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764,742.005950001,711.994049999,672,658.994049999,632,877,783.994049999,799,649,628.994049999,651,0.401972274724,-0.00538814692795,0.0697940550669,0.99999991921,0.000213349658332,-0.000339147436017,3.22659250853e-05,1793193368749703424
+360,6.000000000,POSE2_TO_POSE3_RETREAT,763.427494268,742,712,672,659,632,877,784,799,649,629,650.427494268,0.401809954706,-0.00538818956097,0.0697967674455,0.999999919741,0.000214232421209,-0.000336817552214,3.43120231587e-05,1793193368766370048
+361,6.016666667,POSE2_TO_POSE3_RETREAT,763.148576416,742,712,672,658.851423584,632,877,784,799,649,629,650,0.401655859466,-0.00538774352152,0.0697983758112,0.99999991982,0.000215789521621,-0.000335406967362,3.60057754171e-05,1793193368783036928
+362,6.033333333,POSE2_TO_POSE3_RETREAT,763.718282241,742,712,672,658.281717759,632,877,784,799,649,629,650,0.401524012129,-0.00538581189559,0.0697966496789,0.999999918561,0.000219312019748,-0.000336801495524,3.66732070457e-05,1793193368799704064
+363,6.050000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,658.300015925,632,877.300015925,784,799,649,628.699984075,650.300015925,0.401409514082,-0.00538468823732,0.0697965304197,0.999999911784,0.000250581026967,-0.000335101422909,3.67051324955e-05,1793193368816370688
+364,6.066666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,658.893515551,632,877.893515551,784,799,649,628.106484449,650.893515551,0.401311987587,-0.00538435495501,0.0697979830471,0.999999897036,0.000308992419868,-0.00033037412707,3.61153884582e-05,1793193368833037312
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632.475133135,877.524866865,784,799,649,628.475133135,651,0.401235070316,-0.0053888937965,0.0697989481784,0.99999990988,0.000269122290578,-0.000327365263001,2.53966510398e-05,1793193368849703680
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764,742,711.946094613,672,659,632.946094613,877,784,799,649,628.946094613,651,0.401164480801,-0.00539405888392,0.0697997080833,0.999999924287,0.000213508716091,-0.00032503514601,1.3844741498e-05,1793193368866369792
+367,6.116666667,POSE2_TO_POSE3_RETREAT,764,742,711.369719807,672,659,632.369719807,877,784,799,649,628.369719807,651,0.401111546936,-0.00539496874558,0.0697995119668,0.999999924047,0.000213582717776,-0.000325641982292,1.56828283279e-05,1793193368883036416
+368,6.133333333,POSE2_TO_POSE3_RETREAT,763.79325033,742,711.20674967,672,658.79325033,632.20674967,877,784,799.20674967,649,628.20674967,650.79325033,0.401065115597,-0.00539454331346,0.0698002017541,0.999999923935,0.000214578964346,-0.000325250154953,1.72402417387e-05,1793193368899703296
+369,6.150000000,POSE2_TO_POSE3_RETREAT,763.216611542,742,711.783388458,672,658.216611542,632.783388458,877,784,799.783388458,649,628.783388458,650.216611542,0.401030317722,-0.00539172895053,0.0698024764831,0.999999924052,0.00021722516927,-0.000323071650906,1.82955112562e-05,1793193368916369920
+370,6.166666667,POSE2_TO_POSE3_RETREAT,763.367110145,742.367110145,712,672,658,633,877,784,800,649,629,650.367110145,0.401008351592,-0.0053922241765,0.0698054724215,0.999999926318,0.000216549187134,-0.000316388241088,1.9224232995e-05,1793193368933036544
+371,6.183333333,POSE2_TO_POSE3_RETREAT,763.955093337,742.955093337,712,672,658,633,877,784,800,649,629,650.955093337,0.400994105722,-0.00539471062744,0.0698089022782,0.999999929805,0.000213874400268,-0.000306994439394,2.00768169388e-05,1793193368949703424
+372,6.200000000,POSE2_TO_POSE3_RETREAT,764,742.46491735,712,672,658.53508265,632.46491735,877,784,800,649,629,650.46491735,0.400981800704,-0.00539259499744,0.0698104941169,0.999999929798,0.000216655397654,-0.000305057853153,2.01061053365e-05,1793193368966370048
+373,6.216666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,658.886190612,632.113809388,877,784,799.886190612,649,628.886190612,650.113809388,0.400970879301,-0.00539085043133,0.0698119513183,0.999999929695,0.000219079970159,-0.000303657476288,2.01510133455e-05,1793193368983036928
+374,6.233333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,658.309908203,632.690091797,877,784,799.309908203,649,628.309908203,650.690091797,0.400964928162,-0.00539216007655,0.0698134790114,0.999999930398,0.000218222961512,-0.000301930293461,2.05360320784e-05,1793193368999703296
+375,6.250000000,POSE2_TO_POSE3_RETREAT,764,742,711.734834566,672,658,633,877,784,799,649,628.265165434,651,0.400960008171,-0.00539303767679,0.069813886965,0.999999930709,0.000217045706291,-0.000301742068584,2.0626095897e-05,1793193369016369664
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764,742,711.161167285,672,658,633,877,784,799,649,628.838832715,651,0.40095628785,-0.00539341262218,0.069812992178,0.999999930564,0.000215495866138,-0.000303344316123,2.03729998245e-05,1793193369033036288
+377,6.283333333,POSE2_TO_POSE3_RETREAT,764,742.42514707,711.42514707,672,658,633,877,784,799,649,628.57485293,651,0.400956221801,-0.00539347046985,0.0698139529958,0.999999931312,0.000214927370457,-0.000301274223856,2.04098968821e-05,1793193369049702912
+378,6.300000000,POSE2_TO_POSE3_RETREAT,764,742.983968501,712,672,658,633,877,784,799,649,628.016031499,651,0.400957569937,-0.00539344164125,0.069815633001,0.999999932387,0.000214751625347,-0.000297800883747,2.05651469374e-05,1793193369066369792
+379,6.316666667,POSE2_TO_POSE3_RETREAT,764,742.406094431,712,672,658,633,877,784,799,649,628.593905569,651,0.400958442498,-0.00539471710888,0.0698171092765,0.999999933049,0.000214902891324,-0.000295433836844,2.08973870839e-05,1793193369083036928
+380,6.333333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,658,632.829918485,877.170081515,784,799.170081515,649,628.829918485,651,0.400958513703,-0.0053950518085,0.0698180855348,0.999999933245,0.000215829184743,-0.000294081033664,2.10521012719e-05,1793193369099703552
+381,6.350000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,658,632.257757058,877.742242942,784,799.742242942,649,628.257757058,651,0.400956690465,-0.00539316249248,0.0698178797307,0.999999932344,0.000218587675874,-0.000295125945984,2.07871365205e-05,1793193369116370176
+382,6.366666667,POSE2_TO_POSE3_RETREAT,763.675190948,742.324809052,712,672,658.324809052,632.324809052,878,784.324809052,799.675190948,649,628.324809052,651,0.400956597812,-0.00539308762764,0.0698181174516,0.999999932612,0.000218350760404,-0.000294407376559,2.05845251833e-05,1793193369133036800
+383,6.383333333,POSE2_TO_POSE3_RETREAT,763.084094736,742.915905264,712,672,658.915905264,632.915905264,878,784.915905264,799.084094736,649,628.915905264,651,0.400957923939,-0.00539450029827,0.069818718786,0.999999933834,0.000215658130689,-0.000292243057685,2.04330328157e-05,1793193369149703424
+384,6.400000000,POSE2_TO_POSE3_RETREAT,763.496664926,742.503335074,712,672,659,632.503335074,877.503335074,784.503335074,799,649,628.503335074,651,0.400956799052,-0.00539472072453,0.0698179083415,0.999999933529,0.000215727365648,-0.000293248174046,2.02321740525e-05,1793193369166369792
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632,877,784,799.075793645,649,628.075793645,651,0.400955430474,-0.00539487040959,0.0698171210575,0.999999933107,0.000216003748683,-0.000294490681528,2.01091006215e-05,1793193369183036416
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632,877,784,799.655478073,649,628.655478073,651,0.400955144569,-0.00539586449911,0.0698180445384,0.999999933596,0.000214611743248,-0.000293816428507,2.05575960562e-05,1793193369199703296
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764,742.233044349,712,671.766955651,659,632,877,784,799.766955651,649,628.766955651,651,0.400955743358,-0.0053958796046,0.0698188563837,0.999999933862,0.000214936244652,-0.00029265819537,2.07475257493e-05,1793193369216369920
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764,742.807507415,712,671.192492585,659,632,877,784,799.192492585,649,628.192492585,651,0.400957638259,-0.0053944604617,0.0698195046786,0.999999933796,0.000217775493086,-0.000290790913236,2.05586468994e-05,1793193369233036800
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764,742.607234185,712,671.392765815,658.607234185,632,877,784,799,649,628.392765815,651,0.400957943463,-0.00539472713398,0.0698197617484,0.999999934022,0.000217319782204,-0.000290353430078,2.05769228773e-05,1793193369249703424
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764,742.016535533,712,671.983464467,658.016535533,632,877,784,799,649,628.983464467,651,0.400957447545,-0.00539584336645,0.0698198216618,0.999999934395,0.000215203589046,-0.000290636488723,2.06995937471e-05,1793193369266370048
+391,6.516666667,POSE2_TO_POSE3_RETREAT,764,742.561159712,711.438840288,672,658.561159712,632,877,784,799,649,628.438840288,650.438840288,0.400956896234,-0.00539548867016,0.0698198454688,0.999999934524,0.000215088590779,-0.000290282644023,2.05928492534e-05,1793193369283036928
+392,6.533333333,POSE2_TO_POSE3_RETREAT,763.861985063,743,711,672,658.861985063,632,876.861985063,784,799,649,628,650,0.40095607177,-0.00539531229346,0.0698196309703,0.999999934455,0.000215086414483,-0.000290527417194,2.05147256059e-05,1793193369299703296
+393,6.550000000,POSE2_TO_POSE3_RETREAT,763.286605206,743,711,672,658.286605206,632,876.286605206,784,799,649,628,650,0.40095438675,-0.00539583524912,0.0698186645844,0.999999933776,0.000215259129832,-0.000292727317842,2.05482379517e-05,1793193369316369920
+394,6.566666667,POSE2_TO_POSE3_RETREAT,763.295213368,742.704786632,711.295213368,672,658,632,876.295213368,784,799.295213368,649,628.295213368,650,0.400954460554,-0.00539567416515,0.0698185889597,0.999999933525,0.000215969598468,-0.000293061242432,2.05724269155e-05,1793193369333036544
+395,6.583333333,POSE2_TO_POSE3_RETREAT,763.883422357,742.116577643,711.883422357,672,658,632,876.883422357,784,799.883422357,649,628.883422357,650,0.40095627997,-0.00539483418035,0.0698193974043,0.999999933698,0.00021721378062,-0.000291543209106,2.05873625418e-05,1793193369349703424
+396,6.600000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,658,632.464246245,877,784,799.535753755,649,628.535753755,650,0.400955378676,-0.00539545684611,0.0698193119567,0.999999933688,0.000216408077905,-0.000292162443242,2.07981791902e-05,1793193369366370048
+397,6.616666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,658.043107261,633,877,784.043107261,799,649,628,650.043107261,0.400954070909,-0.00539632276161,0.0698191107321,0.999999933708,0.000215127499144,-0.000293025032905,2.1005127647e-05,1793193369383036928
+398,6.633333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,658.620266194,633,877,784.620266194,799,649,628,650.620266194,0.400956058986,-0.00539572322401,0.0698202125101,0.999999934685,0.000214241055633,-0.000290357611632,2.05643103512e-05,1793193369399703296
+399,6.650000000,POSE2_TO_POSE3_RETREAT,764,742.195689959,712,671.804310041,659,633,877,784.608620082,799.195689959,649,628,651,0.400957508564,-0.00539522084676,0.0698211035564,0.999999935175,0.000214410911468,-0.000288557590982,2.03131479476e-05,1793193369416369920
+400,6.666666667,POSE2_TO_POSE3_RETREAT,764,742.767776211,712,671.232223789,659,633,877,783.464447578,799.767776211,649,628,651,0.400957922374,-0.00539490535083,0.0698215892745,0.999999934736,0.000216612487118,-0.000288425956447,2.0426773823e-05,1793193369433036288
+401,6.683333333,POSE2_TO_POSE3_RETREAT,764,742.64792418,712,671.35207582,659,633,877,783.70415164,800,649,628,650.64792418,0.400957012621,-0.00539486541123,0.069821139399,0.999999934357,0.000216904359176,-0.000289516144627,2.04595925407e-05,1793193369449703168
+402,6.700000000,POSE2_TO_POSE3_RETREAT,764,742.055279359,712,671.944720641,659,633,877,784.889441281,800,649,628,650.055279359,0.400955198495,-0.00539501375583,0.0698200502442,0.999999934018,0.000215891354587,-0.000291441188976,2.04371967343e-05,1793193369466369536
+403,6.716666667,POSE2_TO_POSE3_RETREAT,764,742,711.475315429,671.475315429,658.475315429,632.475315429,877,784.475315429,800,649,628.524684571,650.524684571,0.40095745222,-0.00539650357972,0.0698212910326,0.999999935311,0.000213703740095,-0.00028858185085,2.06949278012e-05,1793193369483036416
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_03/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_03/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..cd613feed0f372a31e9cdc1b64b45a15089cb4d0
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_03/depth_05/simulation_data.csv
@@ -0,0 +1,405 @@
+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,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+1,0.016666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+2,0.033333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+3,0.050000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+4,0.066666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+5,0.083333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+6,0.100000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+7,0.116666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+8,0.133333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+9,0.150000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+10,0.166666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+11,0.183333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+12,0.200000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+13,0.216666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+14,0.233333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+15,0.250000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+16,0.266666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+17,0.283333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+18,0.300000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+19,0.316666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+20,0.333333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+21,0.350000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+22,0.366666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+23,0.383333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+24,0.400000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+25,0.416666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+26,0.433333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+27,0.450000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+28,0.466666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+29,0.483333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+30,0.500000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+31,0.516666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+32,0.533333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+33,0.550000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+34,0.566666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+35,0.583333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+36,0.600000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+37,0.616666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+38,0.633333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+39,0.650000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+40,0.666666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+41,0.683333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+42,0.700000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+43,0.716666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+44,0.733333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+45,0.750000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+46,0.766666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+47,0.783333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+48,0.800000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+49,0.816666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+50,0.833333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+51,0.850000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+52,0.866666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+53,0.883333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+54,0.900000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+55,0.916666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+56,0.933333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+57,0.950000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+58,0.966666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+59,0.983333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+60,1.000000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+61,1.016666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+62,1.033333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+63,1.050000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+64,1.066666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+65,1.083333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+66,1.100000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+67,1.116666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+68,1.133333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+69,1.150000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+70,1.166666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+71,1.183333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+72,1.200000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+73,1.216666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+74,1.233333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+75,1.250000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+76,1.266666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+77,1.283333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+78,1.300000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+79,1.316666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+80,1.333333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+81,1.350000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+82,1.366666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+83,1.383333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+84,1.400000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+85,1.416666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+86,1.433333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+87,1.450000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+88,1.466666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+89,1.483333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+90,1.500000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+91,1.516666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+92,1.533333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+93,1.550000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+94,1.566666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+95,1.583333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+96,1.600000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+97,1.616666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+98,1.633333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+99,1.650000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+100,1.666666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+101,1.683333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+102,1.700000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+103,1.716666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+104,1.733333333,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+105,1.750000000,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+106,1.766666667,pose1_baseline,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398282,1.05969835126
+107,1.783333333,pose1_to_pose2_press,0.575709211365,5.46154939886e-05,1.06002918235,0.546279941881,0.00872734561183,1.05969846529
+108,1.800000000,pose1_to_pose2_press,0.575709408785,5.46168382008e-05,1.06002890315,0.546280140548,0.0087273518221,1.0596982028
+109,1.816666667,pose1_to_pose2_press,0.575709608607,5.45931212301e-05,1.06002901035,0.546280339962,0.00872732663378,1.05969830764
+110,1.833333333,pose1_to_pose2_press,0.57570964416,5.45889014451e-05,1.06002902942,0.546280375443,0.00872732215221,1.05969832629
+111,1.850000000,pose1_to_pose2_press,0.575709917787,5.45686093689e-05,1.06002911587,0.546280648714,0.00872730057009,1.05969841058
+112,1.866666667,pose1_to_pose2_press,0.575710430931,5.45837306581e-05,1.06002901466,0.54628116207,0.00872731643508,1.05969831
+113,1.883333333,pose1_to_pose2_press,0.575711074827,5.46027049149e-05,1.06002888767,0.546281806232,0.00872733634254,1.0596981838
+114,1.900000000,pose1_to_pose2_press,0.575713450143,5.45749814722e-05,1.0600289781,0.546284181608,0.00872730900897,1.05969827908
+115,1.916666667,pose1_to_pose2_press,0.575718644755,5.45401124496e-05,1.06002902881,0.546289374894,0.00872726932009,1.05969832133
+116,1.933333333,pose1_to_pose2_press,0.575729724264,5.44924194294e-05,1.06002912002,0.546300455918,0.00872722691922,1.05969841646
+117,1.950000000,pose1_to_pose2_press,0.575748046742,5.45312498305e-05,1.06002919594,0.546318778359,0.00872726570575,1.05969849447
+118,1.966666667,pose1_to_pose2_press,0.575777260899,5.46331218742e-05,1.06002911468,0.546347990713,0.00872736149565,1.05969841415
+119,1.983333333,pose1_to_pose2_press,0.575816744317,5.45249640928e-05,1.06002923961,0.546387474363,0.00872725375416,1.05969852929
+120,2.000000000,pose1_to_pose2_press,0.575866088056,5.45628793173e-05,1.06002917531,0.546436817659,0.00872728995689,1.05969845935
+121,2.016666667,pose1_to_pose2_press,0.575924141138,5.47729693485e-05,1.06002906073,0.546494869807,0.00872749728185,1.05969835543
+122,2.033333333,pose1_to_pose2_press,0.575990997764,5.47160209202e-05,1.0600292899,0.546561726972,0.00872744182965,1.05969857574
+123,2.050000000,pose1_to_pose2_press,0.576066438616,5.45575035012e-05,1.06002908544,0.546637169995,0.0087272907757,1.05969837376
+124,2.066666667,pose1_to_pose2_press,0.576151378692,5.46381718877e-05,1.06002903453,0.546722109484,0.00872736964897,1.05969832795
+125,2.083333333,pose1_to_pose2_press,0.57625008183,5.46459944431e-05,1.06002912928,0.546820811876,0.00872737503328,1.05969842506
+126,2.100000000,pose1_to_pose2_press,0.576363935059,5.44387395796e-05,1.06002912902,0.546934666644,0.00872717300571,1.05969842493
+127,2.116666667,pose1_to_pose2_press,0.576495176988,5.44140679761e-05,1.06002908789,0.547065909067,0.00872714989436,1.05969838071
+128,2.133333333,pose1_to_pose2_press,0.576647329876,5.44975225816e-05,1.06002896296,0.547218061439,0.00872723163072,1.0596982566
+129,2.150000000,pose1_to_pose2_press,0.576821031184,5.44708510855e-05,1.06002900748,0.547391762371,0.008727203673,1.05969830077
+130,2.166666667,pose1_to_pose2_press,0.577016319032,5.45551121733e-05,1.06002914255,0.547587049641,0.00872728588453,1.05969843349
+131,2.183333333,pose1_to_pose2_press,0.57723149306,5.45468504994e-05,1.06002914558,0.547802224364,0.0087272799609,1.05969843595
+132,2.200000000,pose1_to_pose2_press,0.577468047231,5.44855867696e-05,1.06002935656,0.548038778892,0.0087272197219,1.0596986419
+133,2.216666667,pose1_to_pose2_press,0.577726020121,5.45541278446e-05,1.06002931971,0.548296751111,0.008727286206,1.05969861088
+134,2.233333333,pose1_to_pose2_press,0.578007540387,5.44837005821e-05,1.06002921858,0.548578272719,0.00872722029073,1.0596985085
+135,2.250000000,pose1_to_pose2_press,0.578314596227,5.447838875e-05,1.06002922374,0.548885328091,0.00872721325066,1.05969850997
+136,2.266666667,pose1_to_pose2_press,0.578646306325,5.45743776957e-05,1.0600291458,0.549217036592,0.00872730403451,1.05969843757
+137,2.283333333,pose1_to_pose2_press,0.579002187696,5.45020125197e-05,1.06002915317,0.549572919289,0.00872723607213,1.0596984423
+138,2.300000000,pose1_to_pose2_press,0.579378938744,5.44841195851e-05,1.06002908685,0.549949670369,0.00872721828615,1.05969837586
+139,2.316666667,pose1_to_pose2_press,0.579776830329,5.45625394241e-05,1.06002909933,0.550347561152,0.00872729406967,1.05969839059
+140,2.333333333,pose1_to_pose2_press,0.580191298691,5.456931656e-05,1.06002917401,0.550762029654,0.00872730111048,1.05969845963
+141,2.350000000,pose1_to_pose2_press,0.580621773442,5.45395276512e-05,1.0600290861,0.551192504629,0.00872727229202,1.05969837723
+142,2.366666667,pose1_to_pose2_press,0.581080564629,5.45710921245e-05,1.06002897113,0.551651295336,0.00872730272059,1.05969827515
+143,2.383333333,pose1_to_pose2_press,0.58156669307,5.45940234408e-05,1.06002904249,0.552137423441,0.00872732435492,1.05969834236
+144,2.400000000,pose1_to_pose2_press,0.582083286029,5.45314836516e-05,1.06002908316,0.552654016987,0.00872726359707,1.05969837752
+145,2.416666667,pose1_to_pose2_press,0.582630997775,5.45041892614e-05,1.06002913394,0.553201728782,0.00872723638449,1.05969842606
+146,2.433333333,pose1_to_pose2_press,0.583210954372,5.45414761972e-05,1.06002920758,0.553781685203,0.00872727303297,1.05969849844
+147,2.450000000,pose1_to_pose2_press,0.583808684554,5.45280077149e-05,1.06002917775,0.554379415939,0.00872726162727,1.05969847348
+148,2.466666667,pose1_to_pose2_press,0.584423278625,5.45010885509e-05,1.06002932688,0.554994010056,0.00872723465836,1.05969861714
+149,2.483333333,pose1_to_pose2_press,0.585058575443,5.45914923783e-05,1.06002931002,0.555629305343,0.00872731964611,1.05969859442
+150,2.500000000,pose1_to_pose2_press,0.585716839323,5.46053239622e-05,1.06002917496,0.556287569519,0.00872733448521,1.05969845944
+151,2.516666667,pose1_to_pose2_press,0.586403566941,5.44395148151e-05,1.06002927994,0.55697429905,0.00872717522573,1.05969856592
+152,2.533333333,pose1_to_pose2_press,0.587112107921,5.45141196759e-05,1.06002931506,0.557682838234,0.00872724366008,1.05969859902
+153,2.550000000,pose1_to_pose2_press,0.587838462527,5.46680695356e-05,1.06002930064,0.558409191682,0.00872739360434,1.05969858258
+154,2.566666667,pose1_to_pose2_press,0.588567416216,5.4664428751e-05,1.06002931425,0.559138145482,0.00872739033741,1.05969859616
+155,2.583333333,pose1_to_pose2_press,0.589298624399,5.46257246834e-05,1.0600291374,0.559869353051,0.00872735003437,1.05969843191
+156,2.600000000,pose1_to_pose2_press,0.590043136106,5.45648357153e-05,1.06002913803,0.56061386561,0.00872729202799,1.05969843228
+157,2.616666667,pose1_to_pose2_press,0.59080788764,5.45509192025e-05,1.06002921917,0.56137861917,0.00872728469187,1.05969850575
+158,2.633333333,pose1_to_pose2_press,0.591597112465,5.4510046089e-05,1.06002916507,0.562167844787,0.00872724679906,1.05969845937
+159,2.650000000,pose1_to_pose2_press,0.592415380368,5.44746710886e-05,1.06002906524,0.562986111908,0.00872720865346,1.05969835639
+160,2.666666667,pose1_to_pose2_press,0.593257899863,5.46201775238e-05,1.06002909028,0.563828629294,0.00872734706275,1.05969838304
+161,2.683333333,pose1_to_pose2_press,0.594107875627,5.45696615996e-05,1.06002895619,0.564678604739,0.00872729556424,1.05969825169
+162,2.700000000,pose1_to_pose2_press,0.594957517278,5.45217800913e-05,1.06002900111,0.56552824801,0.00872725308159,1.05969829398
+163,2.716666667,pose1_to_pose2_press,0.595794733209,5.45825784611e-05,1.06002907314,0.56636546422,0.00872731493942,1.05969836905
+164,2.733333333,pose1_to_pose2_press,0.596620725748,5.44830025504e-05,1.06002897906,0.567191457253,0.00872721685861,1.0596982702
+165,2.750000000,pose1_to_pose2_press,0.597436010072,5.44303180922e-05,1.06002900719,0.568006741713,0.00872716454056,1.0596982959
+166,2.766666667,pose1_to_pose2_press,0.598259392787,5.4542746914e-05,1.06002916846,0.568830123396,0.00872727339375,1.05969845526
+167,2.783333333,pose1_to_pose2_press,0.599098094292,5.4505616893e-05,1.06002918462,0.569668824025,0.00872723311009,1.05969846676
+168,2.800000000,pose1_to_pose2_press,0.599958408669,5.45418199942e-05,1.06002911805,0.570529139788,0.00872727437231,1.05969840949
+169,2.816666667,pose1_to_pose2_press,0.600837694842,5.45835913065e-05,1.06002905806,0.571408424732,0.00872731210081,1.05969835298
+170,2.833333333,pose1_to_pose2_press,0.601733815749,5.45855637243e-05,1.06002924546,0.572304544836,0.00872731117481,1.05969853594
+171,2.850000000,pose1_to_pose2_press,0.602614350734,5.45667754737e-05,1.06002937394,0.573185080977,0.00872729604343,1.05969865742
+172,2.866666667,pose1_to_pose2_press,0.603473250317,5.45088591997e-05,1.06002924603,0.574043980947,0.00872723942596,1.05969852923
+173,2.883333333,pose1_to_pose2_press,0.604293108589,5.45187706104e-05,1.06002921703,0.574863838397,0.0087272466833,1.05969850381
+174,2.900000000,pose1_to_pose2_press,0.605081819351,5.45280276557e-05,1.06002927804,0.575652550015,0.0087272589341,1.05969856726
+175,2.916666667,pose1_to_pose2_press,0.605859800606,5.44909265905e-05,1.06002921969,0.576430531518,0.00872722281916,1.05969851277
+176,2.933333333,pose1_to_pose2_press,0.60664038702,5.45616348477e-05,1.06002918596,0.577211116967,0.00872729022135,1.05969847827
+177,2.950000000,pose1_to_pose2_press,0.607429431623,5.46083534367e-05,1.06002923503,0.578000159858,0.00872733103489,1.05969852491
+178,2.966666667,pose1_to_pose2_press,0.608229200545,5.45752822868e-05,1.06002907718,0.578799930162,0.00872730283605,1.05969837201
+179,2.983333333,pose1_to_pose2_press,0.609028104795,5.45149639791e-05,1.0600291408,0.579598835099,0.00872724456948,1.05969842834
+180,3.000000000,pose1_to_pose2_press,0.609794782929,5.45816023583e-05,1.06002922867,0.58036551263,0.00872730909485,1.0596985146
+181,3.016666667,pose1_to_pose2_press,0.610523699904,5.45791021956e-05,1.06002915145,0.581094429829,0.00872730743813,1.05969843967
+182,3.033333333,pose1_to_pose2_press,0.61120688305,5.46224710338e-05,1.06002909603,0.581777612765,0.0087273501023,1.0596983845
+183,3.050000000,pose1_to_pose2_press,0.611852300747,5.46159747733e-05,1.06002906639,0.582423030615,0.00872734429247,1.05969835917
+184,3.066666667,pose1_to_pose2_press,0.612459596581,5.45274164493e-05,1.06002924451,0.583030327139,0.0087272578605,1.05969853113
+185,3.083333333,pose1_to_pose2_press,0.613046201771,5.44680940419e-05,1.06002937015,0.583616933148,0.00872720115866,1.05969864994
+186,3.100000000,pose1_to_pose2_press,0.6136162938,5.45952623107e-05,1.06002906431,0.584187024364,0.0087273264631,1.05969835849
+187,3.116666667,pose1_to_pose2_press,0.614177948998,5.45436638767e-05,1.06002879156,0.584748678999,0.00872727358749,1.05969808775
+188,3.133333333,pose1_to_pose2_press,0.614737385575,5.45612763741e-05,1.06002899784,0.585308115174,0.0087272908417,1.05969829748
+189,3.150000000,pose1_to_pose2_press,0.615295542829,5.44739549017e-05,1.06002916339,0.585866272983,0.00872720607998,1.05969845261
+190,3.166666667,pose1_to_pose2_press,0.615828408934,5.46968857674e-05,1.06002928028,0.586399137106,0.00872742314928,1.05969856336
+191,3.183333333,pose1_to_pose2_press,0.616329942436,5.46543949011e-05,1.0600290695,0.586900670424,0.00872738164707,1.05969835621
+192,3.200000000,pose1_to_pose2_press,0.616792196138,5.4570382335e-05,1.06002927187,0.58736292379,0.00872729942144,1.05969856096
+193,3.216666667,pose1_to_pose2_press,0.617219415419,5.44005886538e-05,1.06002916736,0.587790146734,0.00872714086652,1.05969845305
+194,3.233333333,pose1_to_pose2_press,0.61761540375,5.45785442378e-05,1.06002913337,0.588186132163,0.00872731009502,1.05969842767
+195,3.250000000,pose1_to_pose2_press,0.617996808233,5.45943293652e-05,1.06002924187,0.588567536035,0.0087273245464,1.05969853476
+196,3.266666667,pose1_to_pose2_press,0.618368379496,5.45869749751e-05,1.06002916347,0.588939105905,0.00872731334098,1.05969845554
+197,3.283333333,pose1_to_pose2_press,0.618726808336,5.45891061946e-05,1.06002926192,0.589297536103,0.00872732055772,1.05969854721
+198,3.300000000,pose1_to_pose2_press,0.619069546446,5.46214850236e-05,1.06002927297,0.589640273345,0.00872735065894,1.05969856361
+199,3.316666667,pose1_to_pose2_press,0.619387316666,5.45571477425e-05,1.06002919726,0.589958043572,0.0087272870483,1.05969848425
+200,3.333333333,pose1_to_pose2_press,0.619678740301,5.44918969986e-05,1.06002927884,0.590249468902,0.00872722802364,1.05969856178
+201,3.350000000,pose1_to_pose2_press,0.619941141632,5.45221619473e-05,1.06002920811,0.59051186872,0.00872725381038,1.05969849119
+202,3.366666667,pose1_to_pose2_press,0.620179049942,5.45078816884e-05,1.06002915239,0.590749776861,0.00872723968847,1.05969844189
+203,3.383333333,pose1_to_pose2_press,0.620393293831,5.45244404541e-05,1.0600291465,0.590964020752,0.00872725684873,1.05969843849
+204,3.400000000,pose1_to_pose2_press,0.620587526247,5.44930538088e-05,1.0600291618,0.591158253513,0.00872722695179,1.0596984506
+205,3.416666667,pose1_to_pose2_press,0.620763312755,5.44718129085e-05,1.06002923881,0.591334040237,0.00872720683789,1.05969852583
+206,3.433333333,pose1_to_pose2_press,0.620919680831,5.45377748351e-05,1.06002933197,0.591490407861,0.00872727177273,1.05969862266
+207,3.450000000,pose1_to_pose2_press,0.621059819534,5.46451396636e-05,1.06002926266,0.591630544748,0.00872737337454,1.05969855666
+208,3.466666667,pose1_to_pose2_press,0.6211844405,5.46193812427e-05,1.06002908737,0.591755165171,0.00872734600561,1.05969838066
+209,3.483333333,pose1_to_pose2_press,0.621296118515,5.44830190892e-05,1.06002905317,0.591866845372,0.00872721727553,1.05969834603
+210,3.500000000,pose1_to_pose2_press,0.621395212662,5.44648806649e-05,1.06002912103,0.591965939982,0.00872720104919,1.05969841596
+211,3.516666667,pose1_to_pose2_press,0.621481930272,5.44343414886e-05,1.06002909664,0.59205265727,0.00872716960246,1.05969839114
+212,3.533333333,pose1_to_pose2_press,0.621556727252,5.44711449536e-05,1.06002909939,0.592127454574,0.00872720740741,1.05969838778
+213,3.550000000,pose1_to_pose2_press,0.621618521517,5.4606127104e-05,1.06002927315,0.592189246875,0.00872733585351,1.05969856106
+214,3.566666667,pose1_to_pose2_press,0.621669328209,5.46271143903e-05,1.06002923779,0.592240053484,0.00872735639651,1.05969852575
+215,3.583333333,pose1_to_pose2_press,0.621709572496,5.44698315189e-05,1.0600290818,0.592280298587,0.00872720233036,1.05969837028
+216,3.600000000,pose1_to_pose2_press,0.621741876639,5.46889471774e-05,1.06002957077,0.592312600566,0.00872741376193,1.05969884644
+217,3.616666667,pose1_to_pose2_press,0.621767033954,5.45017296236e-05,1.06002940612,0.592337761796,0.00872724014793,1.05969869557
+218,3.633333333,pose1_to_pose2_press,0.621786018651,5.45121168008e-05,1.06002922456,0.592356743969,0.00872724220652,1.05969851288
+219,3.650000000,pose1_to_pose2_press,0.621799813454,5.46103316609e-05,1.06002915642,0.592370537406,0.0087273359378,1.05969844588
+220,3.666666667,pose1_to_pose2_press,0.621808962305,5.46411629e-05,1.06002913605,0.592379686288,0.00872736700641,1.05969842969
+221,3.683333333,pose1_to_pose2_press,0.621815433193,5.45449381555e-05,1.06002911612,0.592386158089,0.00872727403499,1.05969841662
+222,3.700000000,pose1_to_pose2_press,0.621819960497,5.45043729083e-05,1.06002918685,0.592390686487,0.00872723690685,1.0596984814
+223,3.716666667,pose1_to_pose2_press,0.62182323329,5.44859923887e-05,1.06002927263,0.592393960257,0.00872722148585,1.05969855847
+224,3.733333333,pose1_to_pose2_press,0.621825437281,5.45051052092e-05,1.06002922663,0.592396163686,0.00872723870571,1.05969851301
+225,3.750000000,pose1_to_pose2_press,0.621826975915,5.45405984403e-05,1.06002912154,0.59239770107,0.00872727014408,1.05969841279
+226,3.766666667,pose1_to_pose2_press,0.621827759099,5.45586649423e-05,1.06002906804,0.592398483618,0.0087272861466,1.05969836177
+227,3.783333333,pose1_to_pose2_press,0.621827816018,5.45599779451e-05,1.06002906416,0.592398540491,0.0087272873096,1.05969835807
+228,3.800000000,pose1_to_pose2_press,0.621827825292,5.45601918921e-05,1.06002906352,0.592398549758,0.0087272874991,1.05969835746
+229,3.816666667,pose1_to_pose2_press,0.621827884349,5.45615542232e-05,1.06002905949,0.592398608767,0.0087272887058,1.05969835361
+230,3.833333333,pose1_to_pose2_press,0.621828053283,5.4565451186e-05,1.06002904795,0.592398777563,0.00872729215756,1.05969834261
+231,3.850000000,pose1_to_pose2_press,0.621828320671,5.45716193041e-05,1.06002902969,0.592399044734,0.00872729762101,1.05969832519
+232,3.866666667,pose1_to_pose2_press,0.621828595263,5.45779535817e-05,1.06002901093,0.592399319102,0.00872730323164,1.05969830731
+233,3.883333333,pose1_to_pose2_press,0.621828920437,5.456260329e-05,1.06002901029,0.592399644346,0.00872728811208,1.05969830637
+234,3.900000000,pose1_to_pose2_press,0.621829374148,5.45368053597e-05,1.06002901354,0.592400098216,0.00872726284458,1.05969830893
+235,3.916666667,pose1_to_pose2_press,0.621829611256,5.4523323424e-05,1.06002901523,0.592400335407,0.00872724963984,1.05969831027
+236,3.933333333,pose1_to_pose2_press,0.621829758497,5.45149513147e-05,1.06002901629,0.5924004827,0.00872724143987,1.05969831111
+237,3.950000000,pose1_to_pose2_press,0.621830057033,5.44979765749e-05,1.06002901842,0.592400781342,0.00872722481415,1.0596983128
+238,3.966666667,pose1_to_pose2_press,0.621830256262,5.4486648442e-05,1.06002901985,0.592400980641,0.00872721371893,1.05969831392
+239,3.983333333,pose1_to_pose2_press,0.621830284677,5.44850327678e-05,1.06002902005,0.592401009066,0.00872721213647,1.05969831408
+240,4.000000000,pose1_to_pose2_press,0.621830365416,5.44804419531e-05,1.06002902063,0.592401089833,0.00872720764005,1.05969831454
+241,4.016666667,pose1_to_pose2_press,0.621830543993,5.44702880523e-05,1.0600290219,0.592401268474,0.00872719769492,1.05969831555
+242,4.033333333,pose1_to_pose2_press,0.621830551159,5.44698806219e-05,1.06002902196,0.592401275642,0.00872719729587,1.05969831559
+243,4.050000000,pose1_to_pose2_press,0.621830600853,5.44670550083e-05,1.06002902231,0.592401325353,0.00872719452835,1.05969831587
+244,4.066666667,pose1_to_pose2_press,0.621830730545,5.44596807304e-05,1.06002902324,0.592401455091,0.00872718730569,1.05969831661
+245,4.083333333,pose1_to_pose2_press,0.621831049452,5.44555381208e-05,1.06002904761,0.592401774103,0.00872718347703,1.05969833993
+246,4.100000000,pose1_to_pose2_press,0.621831551112,5.45040634932e-05,1.06002917283,0.592402275898,0.00872723226461,1.05969846127
+247,4.116666667,pose1_to_pose2_press,0.62183200405,5.45478761518e-05,1.06002928589,0.59240272896,0.008727276314,1.05969857083
+248,4.133333333,pose1_to_pose2_press,0.621832473408,5.45968701325e-05,1.06002921578,0.592403197871,0.00872732358854,1.05969849602
+249,4.150000000,pose1_to_pose2_press,0.621832627327,5.45715149277e-05,1.06002906869,0.5924033527,0.00872730160308,1.05969835284
+250,4.166666667,pose2_hold,0.621832627327,5.45715149277e-05,1.06002906869,0.592403352703,0.00872730160352,1.05969835283
+251,4.183333333,pose2_hold,0.621832627327,5.45715149277e-05,1.06002906869,0.592403352703,0.00872730160332,1.05969835283
+252,4.200000000,pose2_hold,0.621832627327,5.45715149277e-05,1.06002906869,0.592403352704,0.00872730160228,1.05969835284
+253,4.216666667,pose2_hold,0.621832627327,5.45715149277e-05,1.06002906869,0.592403352704,0.00872730160219,1.05969835284
+254,4.233333333,pose2_hold,0.621832627327,5.45715149277e-05,1.06002906869,0.592403352704,0.00872730160223,1.05969835284
+255,4.250000000,pose2_hold,0.621832627327,5.45715149277e-05,1.06002906869,0.592403352704,0.00872730160227,1.05969835284
+256,4.266666667,pose2_hold,0.621832627327,5.45715149277e-05,1.06002906869,0.592403352704,0.00872730160231,1.05969835284
+257,4.283333333,pose2_hold,0.621832627327,5.45715149277e-05,1.06002906869,0.592403352704,0.00872730160239,1.05969835284
+258,4.300000000,pose2_hold,0.621832627327,5.45715149277e-05,1.06002906869,0.592403352704,0.00872730160244,1.05969835284
+259,4.316666667,pose2_hold,0.621832627327,5.45715149277e-05,1.06002906869,0.592403352704,0.00872730160285,1.05969835284
+260,4.333333333,pose2_hold,0.621832627327,5.45715149277e-05,1.06002906869,0.592403352704,0.00872730160397,1.05969835283
+261,4.350000000,pose2_hold,0.621832627327,5.45715149277e-05,1.06002906869,0.592403352704,0.00872730160405,1.05969835283
+262,4.366666667,pose2_hold,0.621832627327,5.45715149277e-05,1.06002906869,0.592403352704,0.00872730160417,1.05969835283
+263,4.383333333,pose2_hold,0.621832627327,5.45715149277e-05,1.06002906869,0.592403352704,0.0087273016043,1.05969835283
+264,4.400000000,pose2_hold,0.621832627327,5.45715149277e-05,1.06002906869,0.592403352704,0.00872730160427,1.05969835283
+265,4.416666667,pose2_hold,0.621832627327,5.45715149277e-05,1.06002906869,0.592403352704,0.00872730160391,1.05969835283
+266,4.433333333,pose2_to_pose3_retreat,0.621832627327,5.45715149277e-05,1.06002906869,0.592403352704,0.00872730160416,1.05969835283
+267,4.450000000,pose2_to_pose3_retreat,0.621832585266,5.45815062285e-05,1.06002915178,0.592403310338,0.00872731059902,1.05969843622
+268,4.466666667,pose2_to_pose3_retreat,0.621832469277,5.45798084556e-05,1.06002917953,0.59240319426,0.00872730864397,1.05969846489
+269,4.483333333,pose2_to_pose3_retreat,0.621832318435,5.45710523038e-05,1.06002917053,0.592403043469,0.00872730011079,1.05969845711
+270,4.500000000,pose2_to_pose3_retreat,0.621832226132,5.4565694206e-05,1.06002916503,0.592402951197,0.00872729488913,1.05969845236
+271,4.516666667,pose2_to_pose3_retreat,0.621831748939,5.45214453928e-05,1.06002917931,0.592402474351,0.0087272516793,1.05969846307
+272,4.533333333,pose2_to_pose3_retreat,0.62183029869,5.44801874609e-05,1.06002914762,0.592401024462,0.00872721159095,1.05969843078
+273,4.550000000,pose2_to_pose3_retreat,0.621826095945,5.45380469717e-05,1.06002913886,0.59239682219,0.00872727143687,1.05969843395
+274,4.566666667,pose2_to_pose3_retreat,0.621816645309,5.44953708804e-05,1.06002941678,0.592387371408,0.00872722789764,1.05969869923
+275,4.583333333,pose2_to_pose3_retreat,0.621798179052,5.46119216248e-05,1.06002911628,0.592368904959,0.00872734403671,1.05969840729
+276,4.600000000,pose2_to_pose3_retreat,0.621768723245,5.46138501906e-05,1.06002935675,0.592339448018,0.00872734206767,1.05969864806
+277,4.616666667,pose2_to_pose3_retreat,0.621726111705,5.4517241006e-05,1.06002924542,0.592296837775,0.00872724997916,1.05969853742
+278,4.633333333,pose2_to_pose3_retreat,0.621671658832,5.44186025334e-05,1.06002910036,0.592242386561,0.00872715610758,1.05969839273
+279,4.650000000,pose2_to_pose3_retreat,0.621606540801,5.45078899383e-05,1.06002915457,0.592177267547,0.00872724148538,1.05969844466
+280,4.666666667,pose2_to_pose3_retreat,0.621532550935,5.46452804401e-05,1.06002927672,0.592103277005,0.00872737667107,1.05969856569
+281,4.683333333,pose2_to_pose3_retreat,0.621449126867,5.45325502112e-05,1.06002908399,0.592019854163,0.00872726828804,1.05969837196
+282,4.700000000,pose2_to_pose3_retreat,0.621354609606,5.44868762342e-05,1.06002908955,0.591925337622,0.00872722484376,1.05969837708
+283,4.716666667,pose2_to_pose3_retreat,0.621247683123,5.45016694886e-05,1.06002924299,0.591818411363,0.00872724002757,1.05969852697
+284,4.733333333,pose2_to_pose3_retreat,0.621122527708,5.45668710609e-05,1.06002923317,0.591693254685,0.00872730054908,1.05969851434
+285,4.750000000,pose2_to_pose3_retreat,0.620979513622,5.47058666212e-05,1.06002928414,0.591550237122,0.00872742766945,1.05969857115
+286,4.766666667,pose2_to_pose3_retreat,0.620817207937,5.45334105435e-05,1.06002922767,0.591387934036,0.00872726380236,1.05969851902
+287,4.783333333,pose2_to_pose3_retreat,0.620635836798,5.45465908384e-05,1.06002912056,0.59120656447,0.00872728190509,1.05969841192
+288,4.800000000,pose2_to_pose3_retreat,0.620434880531,5.46825618309e-05,1.06002904561,0.591005606305,0.00872741101218,1.05969833692
+289,4.816666667,pose2_to_pose3_retreat,0.620212631586,5.46138966017e-05,1.06002915434,0.590783358488,0.00872734549945,1.0596984412
+290,4.833333333,pose2_to_pose3_retreat,0.619968122096,5.46670736103e-05,1.06002901607,0.590538848342,0.00872739623407,1.05969831116
+291,4.850000000,pose2_to_pose3_retreat,0.619698135496,5.45660543506e-05,1.0600289961,0.59026886317,0.00872729967701,1.05969829663
+292,4.866666667,pose2_to_pose3_retreat,0.619401734,5.44667533735e-05,1.0600292683,0.58997246185,0.00872719995452,1.05969855922
+293,4.883333333,pose2_to_pose3_retreat,0.619075690611,5.46734902967e-05,1.06002922189,0.589646415903,0.00872739761658,1.05969852136
+294,4.900000000,pose2_to_pose3_retreat,0.618723006855,5.45297157336e-05,1.06002887407,0.589293734035,0.00872725938289,1.05969817191
+295,4.916666667,pose2_to_pose3_retreat,0.618344090663,5.45301484961e-05,1.06002939909,0.588914818218,0.00872725977637,1.05969868486
+296,4.933333333,pose2_to_pose3_retreat,0.61793707712,5.45535889569e-05,1.06002914932,0.588507805123,0.00872728416478,1.05969844376
+297,4.950000000,pose2_to_pose3_retreat,0.617506572868,5.45729204379e-05,1.06002910773,0.588077301683,0.00872730552794,1.05969840837
+298,4.966666667,pose2_to_pose3_retreat,0.617058396057,5.47006350205e-05,1.06002902019,0.587629122469,0.00872742387975,1.05969831564
+299,4.983333333,pose2_to_pose3_retreat,0.616592593049,5.46522474561e-05,1.06002916225,0.587163320082,0.00872737617431,1.05969844723
+300,5.000000000,pose2_to_pose3_retreat,0.616106622544,5.46210475412e-05,1.06002918073,0.58667734963,0.00872734401775,1.05969846425
+301,5.016666667,pose2_to_pose3_retreat,0.615599005101,5.45269844029e-05,1.06002923811,0.586169734185,0.00872725582683,1.05969852673
+302,5.033333333,pose2_to_pose3_retreat,0.615065122468,5.4430518811e-05,1.06002925784,0.585635853917,0.00872716638256,1.05969854893
+303,5.050000000,pose2_to_pose3_retreat,0.614490298385,5.44989463087e-05,1.06002911764,0.585061029978,0.00872723401204,1.05969840775
+304,5.066666667,pose2_to_pose3_retreat,0.613879582414,5.45579261679e-05,1.06002908781,0.584450312717,0.00872728747811,1.05969838223
+305,5.083333333,pose2_to_pose3_retreat,0.613237024857,5.45580157019e-05,1.06002899671,0.583807755217,0.00872728707246,1.05969828844
+306,5.100000000,pose2_to_pose3_retreat,0.61257278009,5.45451889475e-05,1.06002896039,0.583143509961,0.00872727197885,1.05969825652
+307,5.116666667,pose2_to_pose3_retreat,0.611891312422,5.45690437637e-05,1.06002893844,0.582462041207,0.00872729117833,1.05969823383
+308,5.133333333,pose2_to_pose3_retreat,0.611198256078,5.45756008034e-05,1.06002905255,0.581768986679,0.00872730273904,1.05969834083
+309,5.150000000,pose2_to_pose3_retreat,0.610489937015,5.45282157935e-05,1.06002909782,0.581060668927,0.00872725892557,1.05969838671
+310,5.166666667,pose2_to_pose3_retreat,0.609755192401,5.45046940027e-05,1.06002910094,0.580325924941,0.00872723484342,1.05969838919
+311,5.183333333,pose2_to_pose3_retreat,0.608995107585,5.45692470547e-05,1.06002910295,0.579565840389,0.00872729909981,1.0596983922
+312,5.200000000,pose2_to_pose3_retreat,0.608210183077,5.46259452242e-05,1.06002902103,0.578780915037,0.00872735522811,1.05969831465
+313,5.216666667,pose2_to_pose3_retreat,0.607391435514,5.45759103455e-05,1.06002913127,0.577962167161,0.00872730739994,1.05969842368
+314,5.233333333,pose2_to_pose3_retreat,0.606537505232,5.45435033648e-05,1.06002914287,0.577108236263,0.00872727572194,1.05969843602
+315,5.250000000,pose2_to_pose3_retreat,0.605664324622,5.45843568921e-05,1.06002907211,0.576235054822,0.00872731387129,1.05969836822
+316,5.266666667,pose2_to_pose3_retreat,0.604777439314,5.46368767404e-05,1.0600290796,0.575348168393,0.00872736242747,1.05969837104
+317,5.283333333,pose2_to_pose3_retreat,0.6038879053,5.45649485111e-05,1.06002902374,0.574458634792,0.0087272918871,1.05969831491
+318,5.300000000,pose2_to_pose3_retreat,0.603011810968,5.45405573123e-05,1.06002915954,0.573582541634,0.00872727153414,1.05969845269
+319,5.316666667,pose2_to_pose3_retreat,0.60215332175,5.44928536824e-05,1.06002913642,0.572724053224,0.00872722659763,1.05969843016
+320,5.333333333,pose2_to_pose3_retreat,0.601290694947,5.44218563913e-05,1.06002901717,0.571861426287,0.00872715514723,1.05969831089
+321,5.350000000,pose2_to_pose3_retreat,0.600415764688,5.44839264087e-05,1.06002908179,0.57098649451,0.00872721194545,1.05969837229
+322,5.366666667,pose2_to_pose3_retreat,0.599515031921,5.45689814009e-05,1.06002921497,0.570085760751,0.00872729358524,1.05969850413
+323,5.383333333,pose2_to_pose3_retreat,0.598588900001,5.45630473189e-05,1.06002929104,0.569159629887,0.00872729112639,1.0596985773
+324,5.400000000,pose2_to_pose3_retreat,0.597636480411,5.44838739951e-05,1.06002921746,0.5682072118,0.00872721709712,1.05969850471
+325,5.416666667,pose2_to_pose3_retreat,0.59670199491,5.44609523819e-05,1.06002907623,0.567272726696,0.00872719568793,1.05969836778
+326,5.433333333,pose2_to_pose3_retreat,0.595798942434,5.45088572847e-05,1.06002893318,0.566369673918,0.00872724275359,1.05969822954
+327,5.450000000,pose2_to_pose3_retreat,0.594924220801,5.4685897676e-05,1.06002918779,0.565494950085,0.00872741213874,1.0596984792
+328,5.466666667,pose2_to_pose3_retreat,0.594076400607,5.45293653062e-05,1.06002908781,0.564647131371,0.00872726035831,1.05969837203
+329,5.483333333,pose2_to_pose3_retreat,0.593249672496,5.43759327496e-05,1.0600290345,0.563820404781,0.00872711219797,1.05969832156
+330,5.500000000,pose2_to_pose3_retreat,0.592422330814,5.44649064977e-05,1.06002921502,0.562993062283,0.00872719855203,1.05969850552
+331,5.516666667,pose2_to_pose3_retreat,0.5915872831,5.45142319792e-05,1.06002915378,0.562158014344,0.00872724715602,1.05969844501
+332,5.533333333,pose2_to_pose3_retreat,0.590740018866,5.46423910152e-05,1.06002919186,0.56131074889,0.00872737130422,1.05969848682
+333,5.550000000,pose2_to_pose3_retreat,0.589885365634,5.46652252221e-05,1.06002927707,0.560456094832,0.00872739121594,1.05969856839
+334,5.566666667,pose2_to_pose3_retreat,0.589057656788,5.46862634694e-05,1.06002937432,0.559628385672,0.00872741081851,1.05969865522
+335,5.583333333,pose2_to_pose3_retreat,0.588258883653,5.46969832183e-05,1.06002930137,0.558829613557,0.00872742509578,1.05969858474
+336,5.600000000,pose2_to_pose3_retreat,0.587496340003,5.4603416673e-05,1.06002915706,0.558067071012,0.00872733553225,1.05969844713
+337,5.616666667,pose2_to_pose3_retreat,0.586774857351,5.44942202398e-05,1.06002910304,0.557345589027,0.00872722854172,1.05969839161
+338,5.633333333,pose2_to_pose3_retreat,0.586090207587,5.44535755816e-05,1.06002909169,0.556660939536,0.0087271887371,1.05969837791
+339,5.650000000,pose2_to_pose3_retreat,0.585411503088,5.45995591704e-05,1.06002924527,0.555982234173,0.00872733184817,1.05969853312
+340,5.666666667,pose2_to_pose3_retreat,0.584735210149,5.45369821058e-05,1.0600293078,0.555305941886,0.0087272715693,1.05969859836
+341,5.683333333,pose2_to_pose3_retreat,0.584062921621,5.45719020508e-05,1.0600291752,0.554633652559,0.0087273035703,1.05969846106
+342,5.700000000,pose2_to_pose3_retreat,0.583408408565,5.46151489027e-05,1.06002899333,0.553979138889,0.00872734510476,1.05969828887
+343,5.716666667,pose2_to_pose3_retreat,0.582784268207,5.45713402937e-05,1.06002894886,0.553354998933,0.00872730284054,1.05969824955
+344,5.733333333,pose2_to_pose3_retreat,0.582196826257,5.45621342407e-05,1.0600291463,0.552767556003,0.00872729016154,1.05969844298
+345,5.750000000,pose2_to_pose3_retreat,0.581643767476,5.45518014117e-05,1.06002907424,0.552214496642,0.0087272777032,1.05969836685
+346,5.766666667,pose2_to_pose3_retreat,0.581122691628,5.46258953636e-05,1.06002906006,0.55169341975,0.00872734812085,1.05969834871
+347,5.783333333,pose2_to_pose3_retreat,0.580629393267,5.45809040175e-05,1.06002898119,0.551200122961,0.00872730873787,1.05969827628
+348,5.800000000,pose2_to_pose3_retreat,0.58016444387,5.44510744906e-05,1.06002920187,0.550735176167,0.00872718743696,1.05969848905
+349,5.816666667,pose2_to_pose3_retreat,0.579730872369,5.4515406478e-05,1.06002932727,0.550301602125,0.00872724275447,1.05969860423
+350,5.833333333,pose2_to_pose3_retreat,0.579330813774,5.45989109362e-05,1.06002929975,0.549901542007,0.00872732107829,1.05969857636
+351,5.850000000,pose2_to_pose3_retreat,0.578957090181,5.46054790057e-05,1.0600291073,0.549527820568,0.00872733537255,1.05969839484
+352,5.866666667,pose2_to_pose3_retreat,0.578606182825,5.44540524292e-05,1.06002894675,0.549176915063,0.00872719016434,1.0596982328
+353,5.883333333,pose2_to_pose3_retreat,0.578272575996,5.44458920894e-05,1.06002912741,0.548843308271,0.00872718177865,1.05969840447
+354,5.900000000,pose2_to_pose3_retreat,0.577955846459,5.46448931989e-05,1.06002921069,0.548526577543,0.00872737743371,1.05969850606
+355,5.916666667,pose2_to_pose3_retreat,0.577658086216,5.45603022027e-05,1.06002905523,0.548228815723,0.00872728728838,1.05969834523
+356,5.933333333,pose2_to_pose3_retreat,0.577383901926,5.45545466704e-05,1.06002915829,0.547954632042,0.00872728374616,1.05969845216
+357,5.950000000,pose2_to_pose3_retreat,0.577135708307,5.46143354727e-05,1.06002918277,0.547706438651,0.00872734427097,1.05969847566
+358,5.966666667,pose2_to_pose3_retreat,0.576915751478,5.45167283551e-05,1.06002913125,0.547486483154,0.00872725088545,1.05969841626
+359,5.983333333,pose2_to_pose3_retreat,0.576721597742,5.4630853944e-05,1.06002926605,0.547292328628,0.00872736258737,1.05969855779
+360,6.000000000,pose2_to_pose3_retreat,0.576552211344,5.45921182476e-05,1.06002920851,0.547122942295,0.00872732418684,1.05969850337
+361,6.016666667,pose2_to_pose3_retreat,0.576403428429,5.4498188246e-05,1.06002909737,0.546974159289,0.00872722987514,1.05969839028
+362,6.033333333,pose2_to_pose3_retreat,0.576274605689,5.45196054643e-05,1.06002898547,0.546845336313,0.00872725074015,1.05969828491
+363,6.050000000,pose2_to_pose3_retreat,0.576162681333,5.45581691831e-05,1.06002903509,0.546733411701,0.00872728831031,1.05969833159
+364,6.066666667,pose2_to_pose3_retreat,0.576067231642,5.45585392154e-05,1.06002913451,0.54663796188,0.00872728774129,1.05969841844
+365,6.083333333,pose2_to_pose3_retreat,0.575987313443,5.45007875355e-05,1.06002908443,0.546558044495,0.00872723291035,1.05969837225
+366,6.100000000,pose2_to_pose3_retreat,0.57592088142,5.46483188664e-05,1.06002904399,0.546491609113,0.00872736906209,1.05969833225
+367,6.116666667,pose2_to_pose3_retreat,0.575866745985,5.46707322294e-05,1.06002893031,0.546437474277,0.00872739365581,1.05969822241
+368,6.133333333,pose2_to_pose3_retreat,0.575823467302,5.45938870364e-05,1.06002923386,0.546394197123,0.0087273219686,1.05969852503
+369,6.150000000,pose2_to_pose3_retreat,0.575791173944,5.45621450727e-05,1.06002915937,0.546361902387,0.00872728566801,1.05969845367
+370,6.166666667,pose2_to_pose3_retreat,0.575766803475,5.45941722386e-05,1.06002925054,0.546337533902,0.00872732439261,1.05969854386
+371,6.183333333,pose2_to_pose3_retreat,0.575749220269,5.45702890005e-05,1.06002914772,0.54631995174,0.00872730408701,1.05969844202
+372,6.200000000,pose2_to_pose3_retreat,0.57573731894,5.4553374399e-05,1.06002915485,0.546308049355,0.00872728344127,1.05969844534
+373,6.216666667,pose2_to_pose3_retreat,0.575728624713,5.45745218454e-05,1.0600291631,0.546299355081,0.00872730434885,1.05969845148
+374,6.233333333,pose2_to_pose3_retreat,0.575721899574,5.46242531421e-05,1.06002915614,0.546292630681,0.00872735657826,1.05969844423
+375,6.250000000,pose2_to_pose3_retreat,0.575717508445,5.46559745163e-05,1.06002906605,0.546288237569,0.00872738160536,1.05969835508
+376,6.266666667,pose2_to_pose3_retreat,0.575715256412,5.46662338768e-05,1.06002904019,0.546285984961,0.00872738996901,1.0596983307
+377,6.283333333,pose2_to_pose3_retreat,0.575714217999,5.465999189e-05,1.0600290654,0.546284947089,0.00872738566033,1.05969835846
+378,6.300000000,pose2_to_pose3_retreat,0.575713978722,5.46585535716e-05,1.06002907121,0.546284707937,0.0087273846675,1.05969836485
+379,6.316666667,pose2_to_pose3_retreat,0.575713914259,5.46581660835e-05,1.06002907277,0.546284643508,0.00872738440002,1.05969836657
+380,6.333333333,pose2_to_pose3_retreat,0.575713854057,5.46578041999e-05,1.06002907424,0.546284583337,0.00872738415022,1.05969836818
+381,6.350000000,pose2_to_pose3_retreat,0.575713797378,5.46574634983e-05,1.06002907561,0.546284526687,0.00872738391505,1.0596983697
+382,6.366666667,pose2_to_pose3_retreat,0.575713534248,5.46558817993e-05,1.060029082,0.546284263694,0.00872738282324,1.05969837673
+383,6.383333333,pose2_to_pose3_retreat,0.575713040595,5.46529144123e-05,1.06002909398,0.546283770299,0.00872738077493,1.05969838992
+384,6.400000000,pose2_to_pose3_retreat,0.575712793084,5.46514265982e-05,1.06002909999,0.546283522917,0.00872737974794,1.05969839654
+385,6.416666667,pose2_to_pose3_retreat,0.575712656278,5.46506042474e-05,1.06002910331,0.546283386182,0.00872737918029,1.05969840019
+386,6.433333333,pose2_to_pose3_retreat,0.575712610538,5.46503293009e-05,1.06002910442,0.546283340466,0.0087273789905,1.05969840141
+387,6.450000000,pose2_to_pose3_retreat,0.575712427308,5.46492278873e-05,1.06002910887,0.546283157331,0.00872737823022,1.05969840631
+388,6.466666667,pose2_to_pose3_retreat,0.575712104357,5.4647286601e-05,1.06002911671,0.546282834549,0.00872737689021,1.05969841494
+389,6.483333333,pose2_to_pose3_retreat,0.575711845578,5.46504375381e-05,1.06002912193,0.546282575697,0.00872737978562,1.05969841996
+390,6.500000000,pose2_to_pose3_retreat,0.575711800209,5.46517306154e-05,1.06002912268,0.546282530282,0.00872738091787,1.05969842054
+391,6.516666667,pose2_to_pose3_retreat,0.57571135102,5.46645329872e-05,1.06002913009,0.546282080643,0.00872739212791,1.05969842628
+392,6.533333333,pose2_to_pose3_retreat,0.575710869863,5.46782464649e-05,1.06002913803,0.546281599004,0.00872740413574,1.05969843244
+393,6.550000000,pose2_to_pose3_retreat,0.575710708565,5.46828436317e-05,1.06002914069,0.546281437544,0.00872740816113,1.0596984345
+394,6.566666667,pose2_to_pose3_retreat,0.575710498918,5.46888188087e-05,1.06002914415,0.546281227687,0.00872741339313,1.05969843718
+395,6.583333333,pose2_to_pose3_retreat,0.575710222503,5.46966969251e-05,1.06002914871,0.546280950995,0.00872742029139,1.05969844072
+396,6.600000000,pose2_to_pose3_retreat,0.575710040673,5.47042096349e-05,1.06002914909,0.546280769405,0.00872742861612,1.05969844098
+397,6.616666667,pose2_to_pose3_retreat,0.575709737462,5.47184357792e-05,1.0600291478,0.546280466904,0.0087274452579,1.05969843992
+398,6.633333333,pose2_to_pose3_retreat,0.575709574079,5.47261014615e-05,1.06002914711,0.546280303903,0.00872745422523,1.05969843936
+399,6.650000000,pose2_to_pose3_retreat,0.575709406536,5.46899226412e-05,1.0600291591,0.546280136698,0.00872741907216,1.05969844816
+400,6.666666667,pose2_to_pose3_retreat,0.575709288632,5.46449600732e-05,1.06002917315,0.546280019008,0.00872737469458,1.05969845851
+401,6.683333333,pose2_to_pose3_retreat,0.575709252097,5.46015189691e-05,1.0600291052,0.546279982417,0.00872733097113,1.0596983881
+402,6.700000000,pose2_to_pose3_retreat,0.575709255605,5.46003154846e-05,1.06002909856,0.546279985908,0.00872732971031,1.05969838145
+403,6.716666667,pose2_to_pose3_retreat,0.575709271539,5.45948484089e-05,1.06002906838,0.546280001766,0.00872732398283,1.05969835126
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_04/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_04/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..dd87d452fe8969cae0c51527d3d0de6ac595e2a7
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_04/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d9c386b31d6fcedb756e0f54c39374bd6dc2e609eb64ec7bfac74178ee31ee41
+size 24997924
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_04/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_04/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bc52906addb51d3733e88296131ff0eabf6c1255
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_04/depth_01/franka_data.csv
@@ -0,0 +1,394 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,764,742,712,672,659,632,877,784,799,649,628,651,0.401015446646,-0.00551630548465,0.0798557166781,0.999999981572,9.38750204534e-05,-0.000162776682073,3.93242526809e-05,1793193370817885952
+1,0.016666667,BASELINE,764,742,712,672,659,632,877,784,799,649,628.577229035,651,0.401015401594,-0.00551657595232,0.0798555743725,0.99999998168,9.2733299667e-05,-0.00016279578336,3.92277622927e-05,1793193370834552576
+2,0.033333333,BASELINE,764,742.154515891,712,671.845484109,658.845484109,632.154515891,877,784,799,649,629,651,0.401015564141,-0.00551683677794,0.0798557521,0.999999981824,9.18368015329e-05,-0.000162422144417,3.91982765327e-05,1793193370851219200
+3,0.050000000,BASELINE,764,742.731961136,712,671.268038864,658.268038864,632.731961136,877,784,799,649,629,651,0.401016294911,-0.00551707121217,0.0798568057982,0.999999982073,9.16115082693e-05,-0.000160973526263,3.93521908144e-05,1793193370867885824
+4,0.066666667,BASELINE,764,743,712,671.315773275,658.315773275,633,877,784,799,649,628.684226725,650.684226725,0.401016797236,-0.00551654421773,0.0798570479143,0.999999982131,9.2113187682e-05,-0.000160333811817,3.93147346648e-05,1793193370884552704
+5,0.083333333,BASELINE,764,743,712,671.905101021,658.905101021,633,877,784,799,649,628.094898979,650.094898979,0.401017101659,-0.00551535759742,0.0798565869566,0.999999982025,9.32446437263e-05,-0.000160394850952,3.91114942517e-05,1793193370901219072
+6,0.100000000,BASELINE,764,742.515474039,712,671.515474039,659,632.515474039,877,784,799,649,628,650.484525961,0.401016425152,-0.0055140721356,0.0798561977591,0.999999981844,9.35609086861e-05,-0.000161405288556,3.88125368466e-05,1793193370917885440
+7,0.116666667,BASELINE,763.938116019,742,712,671.061883981,659,632,877,783.938116019,799,649,628,651,0.40101557601,-0.00551296249758,0.079855833754,0.999999981646,9.37911374325e-05,-0.000162561395491,3.85327534301e-05,1793193370934552320
+8,0.133333333,BASELINE,763.36213873,742,712,671.63786127,659,632,877,783.36213873,799,649,628,651,0.401014856815,-0.00551347109502,0.0798555646114,0.999999981429,9.46064444559e-05,-0.000163413826555,3.85648751607e-05,1793193370951218944
+9,0.150000000,BASELINE,763.212740194,742.212740194,712,672.212740194,659,632,877,783.212740194,799,649,628.212740194,651,0.401014298464,-0.00551391609837,0.0798552651784,0.999999981268,9.51304160788e-05,-0.000164055728139,3.87391835892e-05,1793193370967885824
+10,0.166666667,BASELINE,763.785758966,742.785758966,712,672.785758966,659,632,877,783.785758966,799,649,628.785758966,651,0.401014012504,-0.00551425340416,0.079854914448,0.999999981202,9.51610069293e-05,-0.000164341094931,3.91542872317e-05,1793193370984552704
+11,0.183333333,BASELINE,763.627344242,742.627344242,712,672.627344242,659,632.372655758,877,784,799,649,628.627344242,650.627344242,0.401014142148,-0.00551369002238,0.0798548746935,0.999999981164,9.60555546598e-05,-0.000164102613296,3.89423276017e-05,1793193371001219584
+12,0.200000000,BASELINE,763.032160254,742.032160254,712,672.032160254,659,632.967839746,877,784,799,649,628.032160254,650.032160254,0.401014519966,-0.00551258880269,0.0798550206355,0.99999998114,9.74660069281e-05,-0.000163551320035,3.83559224881e-05,1793193371017886208
+13,0.216666667,BASELINE,763.545872668,742,712,672,659,632.454127332,877,784,799,649,628.545872668,650.545872668,0.401014943223,-0.00551375096473,0.0798556820421,0.999999981207,9.67693956637e-05,-0.000163465841187,3.87470781563e-05,1793193371034552576
+14,0.233333333,BASELINE,764,742.122389158,712,672,659,632,877,784,799,649,629,651,0.401015128909,-0.00551476755058,0.0798560297318,0.999999981267,9.58998996e-05,-0.000163551951257,3.89938070098e-05,1793193371051219200
+15,0.250000000,BASELINE,764,742.696922876,712,672,659,632,877,784,799,649,629,651,0.401014427344,-0.00551476870925,0.0798551096771,0.999999981285,9.48363478981e-05,-0.000164173668506,3.85006907555e-05,1793193371067885824
+16,0.266666667,BASELINE,764,742.728788636,712,672.271211364,658.728788636,632,877,784,799,649,629,651,0.401014489361,-0.00551494546199,0.0798552985479,0.999999981441,9.41638739188e-05,-0.000163618071623,3.84742297583e-05,1793193371084552448
+17,0.283333333,BASELINE,764,742.154773978,712,672.845226022,658.154773978,632,877,784,799,649,629,651,0.401015403907,-0.00551531826281,0.0798567255169,0.999999981748,9.39280322346e-05,-0.000161748021676,3.89687821711e-05,1793193371101219328
+18,0.300000000,BASELINE,764,742.435111323,712,672.564888677,658.435111323,632,877,784,799,649,629,651,0.40101664325,-0.00551443139774,0.07985764997,0.999999981778,9.6047918218e-05,-0.000160308921654,3.89877818325e-05,1793193371117885952
+19,0.316666667,BASELINE,764,742.970266138,712,672,659.029733862,632,877.029733862,784,799,649,628.970266138,651,0.401017836606,-0.00551312844538,0.07985828917,0.999999981688,9.8774747252e-05,-0.000159250901237,3.88258661406e-05,1793193371134552320
+20,0.333333333,BASELINE,764,742.396181349,712,672,659.603818651,632,877.603818651,784,799,649,628.396181349,651,0.401015992852,-0.00551272168312,0.0798571024635,0.999999981418,9.66915313857e-05,-0.00016225681826,3.8565964225e-05,1793193371151219200
+21,0.350000000,BASELINE,764,742,712,672,659.821612892,632,877.821612892,784,799.178387108,649,628.178387108,651,0.401015005603,-0.00551256944088,0.0798564740428,0.999999981267,9.5870638223e-05,-0.000163691519552,3.8460940335e-05,1793193371167885824
+22,0.366666667,BASELINE,764,742,712,672,659.245967414,632,877.245967414,784,799.754032586,649,628.754032586,651,0.401015925743,-0.0055129840009,0.0798570888945,0.999999981401,9.78608692342e-05,-0.000161627208602,3.87008214065e-05,1793193371184552448
+23,0.383333333,BASELINE,763.661257013,742.338742987,712,672,659,632.338742987,877,784,800,649,628.661257013,651,0.401016662226,-0.0055130798863,0.0798575317851,0.999999981543,9.80496631035e-05,-0.000160600219706,3.88333866742e-05,1793193371201219072
+24,0.400000000,BASELINE,763.069783361,742.930216639,712,672,659,632.930216639,877,784,800,649,628.069783361,651,0.401017261687,-0.00551293801377,0.0798578463785,0.999999981694,9.68944340579e-05,-0.000160347159804,3.88858853811e-05,1793193371217885696
+25,0.416666667,BASELINE,763.510140043,742.489859957,712,672,659,632.489859957,877,784,800,649,628.510140043,651,0.401016634973,-0.00551257448121,0.0798578493671,0.999999981677,9.73382874225e-05,-0.000160257234819,3.85853888238e-05,1793193371234552320
+26,0.433333333,BASELINE,764,742.087764739,712,672,658.912235261,632.087764739,877,784,799.912235261,649,629,651.087764739,0.401015825475,-0.0055123120399,0.0798577087646,0.999999981614,9.78384114607e-05,-0.000160405395358,3.83292692087e-05,1793193371251219200
+27,0.450000000,BASELINE,764,742.661218682,712,672,658.338781318,632.661218682,877,784,799.338781318,649,629,651.661218682,0.401014912129,-0.00551277311989,0.0798570041955,0.999999981424,9.74662188086e-05,-0.000161750358467,3.85800352242e-05,1793193371267886080
+28,0.466666667,BASELINE,764,742.759008273,712,672,658.240991727,633,877,784,799,649,629,651.759008273,0.401014261082,-0.00551346568742,0.0798564161673,0.999999981316,9.64677639131e-05,-0.000163009420215,3.86003803874e-05,1793193371284552960
+29,0.483333333,BASELINE,764,742.170112795,712,672,658.829887205,633,877,784,799,649,629,651.170112795,0.4010139887,-0.0055144924381,0.0798559963814,0.999999981324,9.45652158339e-05,-0.000164144471792,3.82880822554e-05,1793193371301219584
+30,0.500000000,BASELINE,764,742.411790439,712,672,659.411790439,632.588209561,877,784,799.411790439,649,629,651,0.401014196164,-0.00551431049285,0.0798559940637,0.999999981255,9.57818127213e-05,-0.000163810393162,3.84952618132e-05,1793193371317886208
+31,0.516666667,BASELINE,764,742.990853354,712,672,659.990853354,632.009146646,877,784,799.990853354,649,629,651,0.401014598545,-0.00551363756591,0.0798561613248,0.99999998115,9.82654305808e-05,-0.000162879542399,3.89134572533e-05,1793193371334552576
+32,0.533333333,BASELINE,764,742.432693007,712,672,658.865386013,632,877.567306993,784,799.432693007,649,629,651,0.401013860602,-0.00551289726821,0.079855811441,0.999999980972,9.86650770166e-05,-0.000163821015926,3.85222704915e-05,1793193371351219456
+33,0.550000000,BASELINE,763.856544806,742,711.856544806,672,658.143455194,632,878,784,799,649,629,650.856544806,0.401013432616,-0.00551260307683,0.0798556104125,0.999999980884,9.86342998299e-05,-0.000164419993839,3.83438094076e-05,1793193371367886080
+34,0.566666667,BASELINE,763.281190213,742,711.281190213,672,658.718809787,632,878,784,799,649,629,650.281190213,0.401013992917,-0.0055136552296,0.079855882529,0.99999998107,9.74083448737e-05,-0.000163897354118,3.88449083487e-05,1793193371384552448
+35,0.583333333,BASELINE,763.301436954,742.301436954,711.301436954,672,659,632,877.698563046,784,799,649,629,650.301436954,0.401013846744,-0.00551400570191,0.079855964271,0.999999981189,9.64303408373e-05,-0.000163754881644,3.8829273748e-05,1793193371401219072
+36,0.600000000,BASELINE,763.891016008,742.891016008,711.891016008,672,659,632,877.108983992,784,799,649,629,650.891016008,0.401013025254,-0.00551368544146,0.0798558640349,0.999999981244,9.56893517204e-05,-0.000163975809107,3.83196961581e-05,1793193371417885952
+37,0.616666667,BASELINE,764,743,711.527583649,672,659,632.472416351,877,784,799,649,628.527583649,651,0.401014073872,-0.0055128625807,0.0798560016889,0.99999998122,9.70513680143e-05,-0.000163318194092,3.83211624921e-05,1793193371434552576
+38,0.633333333,BASELINE,763.948259998,743,711.051740002,671.948259998,658.948259998,632.948259998,877,784,799,649,628.051740002,650.948259998,0.401015303766,-0.00551208285913,0.0798561426459,0.999999981166,9.86845691558e-05,-0.000162642385666,3.84319795158e-05,1793193371451219200
+39,0.650000000,BASELINE,763.371190131,743,711.628809869,671.371190131,658.371190131,632.371190131,877,784,799,649,628.628809869,650.371190131,0.40101406839,-0.00551289834956,0.0798557694112,0.999999981019,9.82291307083e-05,-0.000163804648937,3.84764129952e-05,1793193371467885824
+40,0.666666667,BASELINE,763.204514883,742.795485117,712,671.204514883,658.204514883,632,877,784,799,649,629,650,0.401013316176,-0.00551334266901,0.0798555520053,0.999999980942,9.79225236595e-05,-0.000164458103994,3.84703999838e-05,1793193371484552448
+41,0.683333333,BASELINE,763.777759109,742.222240891,712,671.777759109,658.777759109,632,877,784,799,649,629,650,0.401013435074,-0.00551311778708,0.0798556155504,0.999999980993,9.78842516519e-05,-0.000164194205113,3.83734346584e-05,1793193371501219072
+42,0.700000000,BASELINE,763.63620414,742,712,671.63620414,659,632.36379586,877,784.36379586,799.36379586,649,628.63620414,650.36379586,0.401013138672,-0.00551239309423,0.0798555399148,0.999999980949,9.81475300095e-05,-0.000164334011577,3.8249587815e-05,1793193371517885696
+43,0.716666667,BASELINE,763.04206771,742,712,671.04206771,659,632.95793229,877,784.95793229,799.95793229,649,628.04206771,650.95793229,0.40101257932,-0.00551135194168,0.0798553761557,0.999999980845,9.86017376519e-05,-0.000164729427662,3.81087207041e-05,1793193371534552576
+44,0.733333333,BASELINE,763.534343171,742.534343171,712,671.534343171,658.465656829,632.465656829,877.534343171,784.465656829,800,649,628.534343171,651,0.401013137163,-0.00551214951207,0.0798559467724,0.999999980993,9.81605199891e-05,-0.000163992262049,3.85271164839e-05,1793193371551219200
+45,0.750000000,BASELINE,764,742.890442533,712,672,658.109557467,632,878,784,799.890442533,649,628.890442533,651,0.401013578169,-0.00551281242883,0.0798563500888,0.999999981075,9.79115025676e-05,-0.000163559743245,3.8880786639e-05,1793193371567886080
+46,0.766666667,BASELINE,764,742.314572478,712,672,658.685427522,632,878,784,799.314572478,649,628.314572478,651,0.401013159535,-0.00551230585697,0.0798558031375,0.999999980792,9.87709684866e-05,-0.000164791235019,3.87775758316e-05,1793193371584552704
+47,0.783333333,BASELINE,764,742.265663716,712,672,658.734336284,632,877.734336284,784,799.265663716,649,628.265663716,651,0.401012534663,-0.00551250849236,0.0798552987008,0.999999980705,9.78797393415e-05,-0.000165902300859,3.85433222425e-05,1793193371601219072
+48,0.800000000,BASELINE,764,742.851156319,712,672,658.148843681,632,877.148843681,784,799.851156319,649,628.851156319,651,0.401011661504,-0.00551356493249,0.0798548454468,0.999999980849,9.4880872634e-05,-0.000166868387738,3.81513080394e-05,1793193371617885696
+49,0.816666667,BASELINE,764,743,712,672,658.435539696,632.435539696,877,784,799.564460304,648.564460304,628.564460304,650.564460304,0.401013457809,-0.00551304096128,0.0798558194941,0.999999981207,9.51734881742e-05,-0.000164557238954,3.80527903536e-05,1793193371634552576
+50,0.833333333,BASELINE,763.980807487,743,712,672,659,632.980807487,877,784,799,648.019192513,628.019192513,650,0.401016008028,-0.0055120441865,0.0798572167977,0.999999981603,9.65631633597e-05,-0.000161308784937,3.80755795446e-05,1793193371651219200
+51,0.850000000,BASELINE,763.407332411,743,712,672,659,632.407332411,877,784,799,648.592667589,628.592667589,650,0.401014051634,-0.00551295126685,0.0798567866222,0.999999981198,9.72328086161e-05,-0.000163253836267,3.87123777759e-05,1793193371667885824
+52,0.866666667,BASELINE,763.166714688,743,712,671.833285312,659,632,877,784,799,649,628.833285312,650.166714688,0.401012995442,-0.00551337068412,0.0798565059632,0.999999980943,9.7660860726e-05,-0.000164472430477,3.90530639625e-05,1793193371684552448
+53,0.883333333,BASELINE,763.742164182,743,712,671.257835818,659,632,877,784,799,649,628.257835818,650.742164182,0.401014146277,-0.00551259449659,0.0798565918741,0.999999981066,9.74965982917e-05,-0.000163909967884,3.86677714908e-05,1793193371701219072
+54,0.900000000,BASELINE,764,742.672912289,712,671.327087711,659,632.327087711,877.327087711,784,799,649,628.327087711,651,0.401014528538,-0.00551261684983,0.0798565666165,0.999999981058,9.8092502572e-05,-0.000163629587581,3.85733844087e-05,1793193371717885952
+55,0.916666667,BASELINE,764,742.080297856,712,671.919702144,659,632.919702144,877.919702144,784,799,649,628.919702144,651,0.401014286879,-0.005513287451,0.0798564511133,0.999999980941,9.93055030398e-05,-0.00016357819905,3.8715151601e-05,1793193371734552576
+56,0.933333333,BASELINE,764,742.498939659,712,672,658.501060341,632.501060341,877.501060341,784,799,649,629,651,0.401014547038,-0.00551283901019,0.0798576053961,0.999999981134,9.90197904031e-05,-0.000162579578595,3.86519616798e-05,1793193371751219200
+57,0.950000000,BASELINE,764,742.924325413,712,672,658.075674587,632,877,784,799,649,628.924325413,651,0.401014846123,-0.00551236225917,0.0798587049923,0.999999981354,9.83787622011e-05,-0.000161637281754,3.85682677471e-05,1793193371767885824
+58,0.966666667,BASELINE,764,742.350264357,712,672,658.649735643,632,877,784,799,649,628.350264357,651,0.401014883569,-0.00551285418237,0.0798581336998,0.999999981428,9.69446911003e-05,-0.000162043701055,3.85611015986e-05,1793193371784552448
+59,0.983333333,BASELINE,764,742,712,672,659,632.229687506,877.229687506,784,799,649,628.229687506,651,0.401014319166,-0.00551297397316,0.0798570713041,0.999999981375,9.58327020734e-05,-0.000163070795341,3.83832915234e-05,1793193371801219072
+60,1.000000000,BASELINE,764,742,712,672,659,632.818859165,877.818859165,784,799,649,628.818859165,651,0.401012812808,-0.0055125113392,0.0798552402823,0.999999981123,9.52248038121e-05,-0.000165069308746,3.79384064613e-05,1793193371817885696
+61,1.016666667,BASELINE,764,742,712,672,659,632.59880757,877.59880757,784,799.40119243,649,629,651,0.401013115819,-0.0055126164345,0.0798557958188,0.999999981144,9.59230381671e-05,-0.000164513402884,3.8027505145e-05,1793193371834552320
+62,1.033333333,BASELINE,764,742,712,672,659,632.01951017,877.01951017,784,799.98048983,649,629,651,0.401014222079,-0.00551297356699,0.0798574108418,0.999999981285,9.72011157763e-05,-0.000162823490545,3.83536600695e-05,1793193371851219200
+63,1.050000000,BASELINE,764,742,712,672,659,632,877,784,799.441844067,649,628.441844067,650.441844067,0.401015533811,-0.00551237282181,0.079858297641,0.999999981556,9.80759041915e-05,-0.000160668395356,3.8150274836e-05,1793193371867886080
+64,1.066666667,BASELINE,764,742,712,672,659,632,877,784,799,649,628.13469961,650.13469961,0.401016367092,-0.00551214204354,0.0798587960257,0.999999981744,9.81726128804e-05,-0.000159454513696,3.80464033305e-05,1793193371884552448
+65,1.083333333,BASELINE,764,742,712,672,659,632,877,784,799,649,628.707775388,650.707775388,0.401015619966,-0.00551322396222,0.0798581129273,0.99999998166,9.57828266225e-05,-0.0001613565502,3.83264609776e-05,1793193371901219072
+66,1.100000000,BASELINE,763.709016413,742.290983587,712,672,659,632,877.290983587,784,799,649,628.709016413,650.709016413,0.401015618712,-0.00551372888177,0.079857833562,0.999999981727,9.44115920749e-05,-0.000161730928759,3.8403512242e-05,1793193371917885696
+67,1.116666667,BASELINE,763.115265503,742.884734497,712,672,659,632,877.884734497,784,799,649,628.115265503,650.115265503,0.401016393533,-0.00551363343582,0.0798579742795,0.999999981958,9.4100156879e-05,-0.000160515784885,3.82693361158e-05,1793193371934552320
+68,1.133333333,BASELINE,763,743,712,672,659,632,877.53572593,784,799,649,628.46427407,650,0.40101628115,-0.00551301618811,0.0798576223919,0.99999998173,9.60994564678e-05,-0.000160765750264,3.81887615273e-05,1793193371951219200
+69,1.150000000,BASELINE,763,743,712,671.959662428,658.959662428,632,877,784,799,649,629,650.040337572,0.401015926416,-0.00551243295642,0.079857194794,0.999999981419,9.83890708142e-05,-0.000161328362404,3.81399514362e-05,1793193371967885824
+70,1.166666667,BASELINE,763,743,712,671.384297289,658.384297289,632,877,784,799,649,629,650.615702711,0.401015191978,-0.00551396816295,0.0798573369606,0.999999981528,9.71461027037e-05,-0.000161356536737,3.8341190603e-05,1793193371984552448
+71,1.183333333,BASELINE,763.195788956,742.804211044,712,671.195788956,658.195788956,632,877,784,799,648.804211044,628.804211044,651,0.401014056353,-0.00551443942469,0.0798570339249,0.99999998149,9.63016201919e-05,-0.000162085074558,3.83872459559e-05,1793193372001219072
+72,1.200000000,BASELINE,763.785370929,742.214629071,712,671.785370929,658.785370929,632,877,784,799,648.214629071,628.214629071,651,0.401012113814,-0.00551277075993,0.0798558354476,0.999999981156,9.6258617018e-05,-0.00016422226309,3.81211780071e-05,1793193372017885696
+73,1.216666667,BASELINE,763.631750542,742,712,672,659,632,877,784.368249458,799,648.368249458,628,651,0.401012343395,-0.00551222127427,0.0798561041774,0.999999981028,9.72054574744e-05,-0.000164430760272,3.81790372637e-05,1793193372034552576
+74,1.233333333,BASELINE,763.052709208,742,712,672,659,632,877,784.947290792,799,648.947290792,628,651,0.401013816332,-0.00551231242471,0.0798572127602,0.999999981017,9.87189002508e-05,-0.000163535243563,3.84223176468e-05,1793193372051219200
+75,1.250000000,BASELINE,763.524199863,742,712,671.475800137,659,632,876.475800137,784.475800137,799,649,628,651,0.401014400422,-0.0055127218229,0.0798576481456,0.999999981257,9.82872041044e-05,-0.000162303585185,3.85163198898e-05,1793193372067885824
+76,1.266666667,BASELINE,763.90040276,742,712,671.09959724,658.90040276,632,876.09959724,784,799,648.90040276,628.09959724,651,0.401014805657,-0.00551318334859,0.0798579362412,0.999999981454,9.77969269891e-05,-0.000161371485034,3.85612655453e-05,1793193372084552448
+77,1.283333333,BASELINE,763.331127231,742,712,671.668872769,658.331127231,632,876.668872769,784,799,648.331127231,628.668872769,651,0.401014787221,-0.00551374040063,0.0798578476744,0.99999998134,9.79490035759e-05,-0.000162010780224,3.84453691851e-05,1793193372101219072
+78,1.300000000,BASELINE,763.249181373,742,712,672,658.249181373,632.249181373,877,784,799,648.249181373,628.750818627,651,0.401014446428,-0.00551436117829,0.079857616831,0.99999998137,9.64790887783e-05,-0.000162719984687,3.83963856215e-05,1793193372117885952
+79,1.316666667,BASELINE,763.844830584,742,712,672,658.844830584,632.844830584,877,784,799,648.844830584,628.155169416,651,0.401013657425,-0.00551507056156,0.079857188163,0.999999981589,9.27539177083e-05,-0.000163526392644,3.84404392467e-05,1793193372134552576
+80,1.333333333,BASELINE,763.573910539,742.426089461,712,672,658.573910539,632.573910539,877,784,799,648.573910539,628,650.573910539,0.401013800956,-0.00551352517812,0.0798570226783,0.999999981377,9.4512917053e-05,-0.000163870682042,3.8212252771e-05,1793193372151219200
+81,1.350000000,BASELINE,763,742.997728271,712,672,658.002271729,632,877,783.997728271,798.997728271,648,628,650.002271729,0.401014268572,-0.00551120062552,0.0798569488784,0.999999981005,9.81868025994e-05,-0.000164052650968,3.78905316309e-05,1793193372167886080
+82,1.366666667,BASELINE,763,742.423389333,712,672,658.576610667,632,877,783.423389333,798.423389333,648,628,650.576610667,0.401013622978,-0.00551268507214,0.0798566162822,0.999999981006,9.75689890627e-05,-0.000164353402844,3.81652140683e-05,1793193372184552448
+83,1.383333333,BASELINE,763,742,711.844790456,671.844790456,658.844790456,632,876.844790456,783.155209544,798.155209544,648.155209544,628.155209544,651,0.401013626584,-0.0055138114657,0.0798567700064,0.999999981113,9.70184928675e-05,-0.000163984916915,3.83545987422e-05,1793193372201219328
+84,1.400000000,BASELINE,763,742,711.254243004,671.254243004,658.254243004,632,876.254243004,783.745756996,798.745756996,648.745756996,628.745756996,651,0.401015451094,-0.00551393357807,0.0798582877816,0.999999981515,9.66568108897e-05,-0.000161739326222,3.83047369168e-05,1793193372217885952
+85,1.416666667,BASELINE,763,742,711.329938601,671,658.329938601,632,876.329938601,784,799.329938601,649,629,651,0.401015776598,-0.00551235851372,0.0798587059308,0.999999981429,9.83360469823e-05,-0.000161277964693,3.82381112964e-05,1793193372234552320
+86,1.433333333,BASELINE,763,742,711.909307651,671,658.909307651,632,876.909307651,784,799.909307651,649,629,651,0.401014968866,-0.0055095003999,0.079858292773,0.999999980966,0.00010155819777,-0.000162165463594,3.81588124091e-05,1793193372251218944
+87,1.450000000,BASELINE,763,742,712,671,659,632,877,784,799.512992961,648.512992961,628.512992961,650.512992961,0.401015326684,-0.00551043714573,0.0798584714049,0.999999981092,0.000100938495319,-0.000161743504478,3.83057532276e-05,1793193372267886080
+88,1.466666667,BASELINE,763,742,711.935883205,671.064116795,658.935883205,632,877,784,799,648.064116795,628.064116795,650.064116795,0.401015776903,-0.00551203242933,0.0798586999526,0.999999981302,9.9588871443e-05,-0.000161235779477,3.8484097356e-05,1793193372284552704
+89,1.483333333,BASELINE,763,742,711.361002065,671.638997935,658.361002065,632,877,784,799,648.638997935,628.638997935,650.638997935,0.401015240037,-0.0055132633312,0.0798584512237,0.999999981325,9.81044521925e-05,-0.000161980758829,3.85781278615e-05,1793193372301219072
+90,1.500000000,BASELINE,763,742,711.218869716,672,658.218869716,632,877,784,799,649,628.781130284,651,0.401014244464,-0.00551413484132,0.0798577427728,0.999999981255,9.67667734177e-05,-0.00016323495123,3.84872588797e-05,1793193372317885696
+91,1.516666667,BASELINE,763,742,711.807165034,672,658.807165034,632,877,784,799,649,628.192834966,651,0.401012474646,-0.00551439974153,0.0798562583666,0.999999981028,9.56767749653e-05,-0.000165348633585,3.80843019209e-05,1793193372334552576
+92,1.533333333,BASELINE,763,742,712,671.609645475,659,632,877,784,798.609645475,649,628,651,0.401012741613,-0.00551392130642,0.0798559976358,0.999999981009,9.59409365606e-05,-0.0001653322703,3.79721471752e-05,1793193372351219200
+93,1.550000000,BASELINE,763,742,712,671.028945644,659,632,877,784,798.028945644,649,628,651,0.401014001762,-0.00551308040497,0.0798563335953,0.999999981093,9.68654157744e-05,-0.000164277250899,3.80017938397e-05,1793193372367885824
+94,1.566666667,BASELINE,763,742,711.453915024,671.546084976,658.453915024,632,877,784,798.546084976,648.453915024,628,650.453915024,0.401012722311,-0.00551243226938,0.0798566696557,0.999999980929,9.80968768165e-05,-0.000164522711532,3.8085335812e-05,1793193372384552448
+95,1.583333333,BASELINE,763.120931707,742,711.120931707,672,658.120931707,632,877,783.879068293,798.879068293,648.120931707,628.120931707,650,0.401011985239,-0.00551192979165,0.0798570291412,0.99999998085,9.88595254803e-05,-0.000164539013641,3.81231036599e-05,1793193372401219072
+96,1.600000000,BASELINE,763.696205115,742,711.696205115,672,658.696205115,632,877,783.303794885,798.303794885,648.696205115,628.696205115,650,0.40101378644,-0.00551193655825,0.0798574766153,0.99999998114,9.7800336242e-05,-0.000163438044135,3.79782750606e-05,1793193372417885696
+97,1.616666667,BASELINE,764,742,712,672,658.721651198,632.278348802,876.721651198,783.278348802,798.278348802,649,628.721651198,650.278348802,0.401013770245,-0.00551159878256,0.0798569749855,0.999999980945,9.89356306583e-05,-0.000163981175509,3.78409498494e-05,1793193372434552320
+98,1.633333333,BASELINE,764,742,712,672,658.13181944,632.86818056,876.13181944,783.86818056,798.86818056,649,628.13181944,650.86818056,0.401011720313,-0.00551087545087,0.0798554112722,0.999999980195,0.000102526636285,-0.000166364118716,3.77120212248e-05,1793193372451218944
+99,1.650000000,BASELINE,764,742,712,671.549648939,658.450351061,632.549648939,876,784,799,649,628.450351061,651,0.401013307042,-0.00551048046395,0.0798564967906,0.999999980536,0.000101923552048,-0.000164644566879,3.78433258764e-05,1793193372467885824
+100,1.666666667,BASELINE,764,742,712,671.030035147,659,632,876.030035147,784,799,649,628.969964853,651,0.401015711501,-0.00551030903402,0.0798581944041,0.999999981146,0.000100097473275,-0.000161987134582,3.80501490684e-05,1793193372484552448
+101,1.683333333,BASELINE,764,742,712,671.604616664,659,632,876.604616664,784,799,649,628.395383336,651,0.401013965395,-0.00551247744415,0.0798571656916,0.999999981063,9.79830594161e-05,-0.00016373262663,3.82682388061e-05,1793193372501219328
+102,1.700000000,BASELINE,763.816015726,742.183984274,712,672,659,632,877,784,799,649,628,650.816015726,0.401013510208,-0.0055135598053,0.0798570632638,0.999999981112,9.71078318014e-05,-0.000163924861083,3.84133183683e-05,1793193372517885952
+103,1.716666667,BASELINE,763.226088147,742.773911853,712,672,659,632,877,784,799,649,628,650.226088147,0.401015903309,-0.00551224590533,0.0798590045929,0.999999981455,9.89667477193e-05,-0.000160689984333,3.839730809e-05,1793193372534552576
+104,1.733333333,BASELINE,763.357266065,743,712,672,659,632.357266065,877,784,799.357266065,649,628.357266065,650.357266065,0.401014319232,-0.00551210833597,0.0798577910318,0.999999981096,9.93686576061e-05,-0.000162686932434,3.828771786e-05,1793193372551219200
+105,1.750000000,BASELINE,763.936535675,743,712,672,659,632.936535675,877,784,799.936535675,649,628.936535675,650.936535675,0.401010263756,-0.00551270173309,0.0798546170362,0.999999980285,9.88651906042e-05,-0.000167934912912,3.81199774619e-05,1793193372567886080
+106,1.766666667,BASELINE,763.486878114,742.486878114,712,672,659,633,877,784,799.486878114,649,629,651,0.401011779104,-0.00551209760821,0.0798557592374,0.999999980577,9.89866365216e-05,-0.000166113093816,3.81239068741e-05,1793193372584552448
+107,1.783333333,POSE1_TO_POSE2_PRESS,763,742,711,671,659,632,877,784,799,649,628,651,0.401011203004,-0.00551326279429,0.0798564678466,0.999999981126,9.4067286059e-05,-0.000165778842422,3.76425406993e-05,1793193372627702784
+108,1.800000000,POSE1_TO_POSE2_PRESS,763,742,711.591019138,671.591019138,659,632.591019138,877,784,799,649,628.591019138,651,0.401013416186,-0.00551314966698,0.0798572402135,0.999999981244,9.69225511375e-05,-0.000163349075827,3.78851902553e-05,1793193372644369408
+109,1.816666667,POSE1_TO_POSE2_PRESS,763,742,712,671.82186362,659,632.82186362,877,784,799.17813638,649,628.82186362,650.82186362,0.401014805958,-0.0055129305603,0.0798577156228,0.999999981287,9.86744594099e-05,-0.000162014241479,3.79607626078e-05,1793193372661036032
+110,1.833333333,POSE1_TO_POSE2_PRESS,763,742,712,671.243512558,659,632.243512558,877,784,799.756487442,649,628.243512558,650.243512558,0.401014345792,-0.00551247335232,0.079857523865,0.999999981187,9.79474832852e-05,-0.000163139364369,3.76609667109e-05,1793193372677702656
+111,1.850000000,POSE1_TO_POSE2_PRESS,763,742,712,671.332972395,659,632.332972395,877,784,799.667027605,649,628.332972395,650.332972395,0.401013841838,-0.00551232303169,0.0798570984339,0.999999981088,9.73313556041e-05,-0.000164090112357,3.77457536572e-05,1793193372694369536
+112,1.866666667,POSE1_TO_POSE2_PRESS,763,742,712,671.908100178,659,632.908100178,877,784,799.091899822,649,628.908100178,650.908100178,0.401013306038,-0.00551239589602,0.0798565030629,0.999999980991,9.67958429017e-05,-0.000164914045493,3.81102298974e-05,1793193372711036160
+113,1.883333333,POSE1_TO_POSE2_PRESS,763,742,712,672,659,632.506658865,877,784,799,649,628.506658865,651,0.401013341071,-0.005512503233,0.079856565537,0.999999980832,9.74801069242e-05,-0.000165500812692,3.79951426962e-05,1793193372727703552
+114,1.900000000,POSE1_TO_POSE2_PRESS,763.079777833,742,712,672,659,632.079777833,877,784,799,649,628.079777833,651,0.401014109478,-0.00551260270513,0.0798571077384,0.99999998073,9.83711073754e-05,-0.000165616132523,3.78719628679e-05,1793193372744370944
+115,1.916666667,POSE1_TO_POSE2_PRESS,763.661635587,742,712,672,659,632.661635587,877,784,799,649,628.661635587,651,0.401018810139,-0.00551261142007,0.0798598817252,0.999999981065,9.91032635283e-05,-0.000163048270284,3.82718356312e-05,1793193372761036800
+116,1.933333333,POSE1_TO_POSE2_PRESS,763.758830772,742,712,672,659,632.758830772,877,784,799,649,628.758830772,651,0.401027637446,-0.005513365045,0.0798639610907,0.999999981404,9.93538402415e-05,-0.000160673636693,3.87889467103e-05,1793193372777702912
+117,1.950000000,POSE1_TO_POSE2_PRESS,763.182526822,742,712,672,659,632.182526822,877,784,799,649,628.182526822,651,0.401042199244,-0.00551515381526,0.0798698544423,0.999999981755,9.89352022009e-05,-0.000158567518621,3.94689750178e-05,1793193372794369792
+118,1.966666667,POSE1_TO_POSE2_PRESS,763,742,712,671.607744461,659,632,877,784,799,649,628.392255539,651,0.401072933963,-0.00551548680179,0.0798799809558,0.999999983137,9.83546804639e-05,-0.000149994752852,3.94169943224e-05,1793193372811036672
+119,1.983333333,POSE1_TO_POSE2_PRESS,763,742,712,671.033667349,659,632,877,784,799,649,628.966332651,651,0.401111165291,-0.00551514499141,0.0798920696604,0.999999984885,9.76991209923e-05,-0.000138424512175,3.90257067379e-05,1793193372827703296
+120,2.000000000,POSE1_TO_POSE2_PRESS,763.556677212,742,712,671,658.443322788,632,877,784,799,649,629,651,0.401170626302,-0.00551573952193,0.0799016596488,0.999999986608,9.76870845051e-05,-0.000125743259799,3.78131290195e-05,1793193372844370176
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,742,712,671,658,632,877,784,799,649,628.855817616,650.855817616,0.401236701735,-0.00551651122378,0.0799105501774,0.999999988159,9.71350294371e-05,-0.00011373274814,3.62195101966e-05,1793193372861036544
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,742,712,671,658,632,877,784,799,649,628.279850465,650.279850465,0.40131862466,-0.00551763881024,0.0799178122116,0.999999989535,9.48457122745e-05,-0.000103938189973,3.36380103374e-05,1793193372877703168
+123,2.050000000,POSE1_TO_POSE2_PRESS,763.703254121,742,712,671.296745879,658.296745879,632,877,784,798.703254121,649,628.296745879,650.296745879,0.401410628489,-0.00551911936699,0.0799226423574,0.999999990553,9.18535952492e-05,-9.76277089898e-05,3.04117882018e-05,1793193372894369536
+124,2.066666667,POSE1_TO_POSE2_PRESS,763.126063181,742,712,671.873936819,658.873936819,632,877,784,798.126063181,649,628.873936819,650.873936819,0.401512159455,-0.00552093350462,0.0799251742025,0.999999991282,8.81972846456e-05,-9.46099187502e-05,2.65762597753e-05,1793193372911035904
+125,2.083333333,POSE1_TO_POSE2_PRESS,763.459211514,742,712,672,659,632.459211514,876.540788486,784,798.459211514,649,629,651,0.401633945182,-0.00552242995947,0.0799292179211,0.999999992217,8.44890162199e-05,-8.9162808592e-05,2.18514067049e-05,1793193372927702528
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632.953931671,876.046068329,784,798.953931671,648.953931671,629,650.953931671,0.401764665049,-0.00552390687149,0.0799338742216,0.999999993206,8.04209514049e-05,-8.27051267265e-05,1.67573311452e-05,1793193372944369408
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632.37490466,876.62509534,784,798.37490466,648.37490466,629,650.37490466,0.401933263125,-0.00552618470242,0.079940729811,0.999999994708,7.23584167377e-05,-7.24097903258e-05,1.02667816101e-05,1793193372961036288
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632,877,784,798.20335271,648.20335271,628.79664729,650,0.402112108159,-0.00552814408914,0.0799472434889,0.999999996067,6.27900696665e-05,-6.25483348073e-05,3.45457755652e-06,1793193372977703168
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632,877,784,798.780196445,648.780196445,628.219803555,650,0.402309773415,-0.00552951859993,0.0799531291888,0.999999997289,5.04560489354e-05,-5.34837747308e-05,-3.94839772167e-06,1793193372994370304
+130,2.166666667,POSE1_TO_POSE2_PRESS,763.643004546,742,712,672,659,632,877,784,799,649,628.356995454,650.356995454,0.40251663072,-0.00553159574737,0.0799515495364,0.999999998068,1.02566468579e-05,-6.00042232909e-05,-1.2550650558e-05,1793193373011036928
+131,2.183333333,POSE1_TO_POSE2_PRESS,763.066233015,742,712,672,659,632,877,784,799,649,628.933766985,650.933766985,0.402729146917,-0.00553410545711,0.0799453740114,0.999999995754,-4.70974403994e-05,-7.6119224495e-05,-2.18912118458e-05,1793193373027703296
+132,2.200000000,POSE1_TO_POSE2_PRESS,763,742,712,672,659,632.519427213,877,784,799,649,629,651,0.402965728243,-0.00553824659647,0.0799371384871,0.999999994317,-4.66306623512e-05,-9.26157326588e-05,-2.47596741599e-05,1793193373044369920
+133,2.216666667,POSE1_TO_POSE2_PRESS,763,742.105311426,712,672,659,633,877,784,799,649,628.894688574,651,0.403218947879,-0.00554393881896,0.0799295193287,0.999999993124,-4.09637891332e-05,-0.000106638345025,-2.6510696094e-05,1793193373061036288
+134,2.233333333,POSE1_TO_POSE2_PRESS,763,742.686992825,712,672,659,633,877,784,799,649,628.313007175,651,0.403533307775,-0.00555568989768,0.0799258971389,0.999999992623,-4.57058129602e-05,-0.000109246561275,-2.70050881057e-05,1793193373077702912
+135,2.250000000,POSE1_TO_POSE2_PRESS,763,743,712,672,659,633,877,784,799,648.735026327,628.264973673,651,0.403867721094,-0.00556074568097,0.0799284904398,0.999999992558,-5.55086198032e-05,-0.000104931730183,-2.81566445531e-05,1793193373094369536
+136,2.266666667,POSE1_TO_POSE2_PRESS,763,743,712,672,659,633,877,784,799,648.161356677,628.838643323,651,0.404225496759,-0.00555800140274,0.0799383248262,0.99999999273,-7.12072700147e-05,-9.25515057233e-05,-3.00738016154e-05,1793193373111036160
+137,2.283333333,POSE1_TO_POSE2_PRESS,763,742.586002917,712,672,659.413997083,632.586002917,877,784,799,648.413997083,628.586002917,650.586002917,0.4046156114,-0.00555560915427,0.0799411640231,0.999999993827,-6.46705033726e-05,-8.46305288778e-05,-3.16332175109e-05,1793193373127703040
+138,2.300000000,POSE1_TO_POSE2_PRESS,763,742.009990101,712,672,659.990009899,632.009990101,877,784,799,648.990009899,628.009990101,650.009990101,0.405018381732,-0.00555335467098,0.0799412656864,0.999999995154,-4.94320148212e-05,-7.84546570359e-05,-3.30526331027e-05,1793193373144369920
+139,2.316666667,POSE1_TO_POSE2_PRESS,763.58149491,742,712,672,659.41850509,632,877,784,799,649,628.58149491,650.58149491,0.405451402673,-0.00555519066484,0.0799395990792,0.999999994441,-6.09183587115e-05,-7.85404388371e-05,-3.51971412409e-05,1793193373161037056
+140,2.333333333,POSE1_TO_POSE2_PRESS,763.830732624,742.169267376,712,671.830732624,659,632.169267376,877,784,799,649,628.830732624,650.830732624,0.405898447796,-0.00555589132531,0.0799352794836,0.9999999934,-6.72889226607e-05,-8.53409944245e-05,-3.72617010141e-05,1793193373177703424
+141,2.350000000,POSE1_TO_POSE2_PRESS,763.252587802,742.747412198,712,671.252587802,659,632.747412198,877,784,799,649,628.252587802,650.252587802,0.406378079568,-0.00555367511322,0.0799246267936,0.999999991584,-6.01625666332e-05,-0.000108094606796,-3.91022258918e-05,1793193373194369536
+142,2.366666667,POSE1_TO_POSE2_PRESS,763,742.676615607,712,671.323384393,659,632.676615607,877,784,799,649,628,650.323384393,0.406875996071,-0.00555329670045,0.0799199679998,0.999999990404,-6.04882249338e-05,-0.000117804077337,-4.06982688882e-05,1793193373211036416
+143,2.383333333,POSE1_TO_POSE2_PRESS,763,742.102329013,712,671.897670987,659,632.102329013,877,784,799,649,628,650.897670987,0.407388099085,-0.00555434416918,0.0799199596513,0.999999990006,-6.65956296704e-05,-0.000117393074596,-4.21046274825e-05,1793193373227703552
+144,2.400000000,POSE1_TO_POSE2_PRESS,763,742,712,672,659,632,877,783.51648027,799,649,628,650.51648027,0.407905650131,-0.00555196164367,0.0799095671721,0.999999987238,-6.61235608764e-05,-0.000138558189787,-4.41893827201e-05,1793193373244370432
+145,2.416666667,POSE1_TO_POSE2_PRESS,763,742.070735272,712,672,659.070735272,632,877,783.070735272,799,649,628,650,0.408437108139,-0.00554953917806,0.0798993964957,0.999999984096,-6.48439849276e-05,-0.000159559271044,-4.63000473719e-05,1793193373261036800
+146,2.433333333,POSE1_TO_POSE2_PRESS,763,742.649758697,712,672,659.649758697,632,877,783.649758697,799,649,628,650,0.409060010697,-0.00555217366981,0.0799069982016,0.999999985933,-6.80127136732e-05,-0.000145765881764,-4.75399450288e-05,1793193373277703424
+147,2.450000000,POSE1_TO_POSE2_PRESS,763,743,711.772008827,672,659.772008827,632,877,784,799,649,628,650.227991173,0.409718266767,-0.00555483287326,0.0799273494542,0.999999989828,-7.43754881064e-05,-0.000111565539673,-4.86329801948e-05,1793193373294370304
+148,2.466666667,POSE1_TO_POSE2_PRESS,763,743,711.194987245,672,659.194987245,632,877,784,799,649,628,650.805012755,0.410430645292,-0.00555752990755,0.0799672189159,0.999999994045,-8.56280088108e-05,-4.61243082285e-05,-4.95011841843e-05,1793193373311036928
+149,2.483333333,POSE1_TO_POSE2_PRESS,763,743,711.378818489,672.378818489,659,632,877,784,799,649,628,650.621181511,0.411111589486,-0.00555909779225,0.079982893552,0.999999994512,-8.89935434143e-05,-2.31279178228e-05,-5.02216057982e-05,1793193373327703296
+150,2.500000000,POSE1_TO_POSE2_PRESS,763,743,711.950982862,672.950982862,659,632,877,784,799,649,628,650.049017138,0.41177648983,-0.00556008936806,0.0799862193443,0.999999994567,-8.83336240767e-05,-2.17950320348e-05,-5.08666005345e-05,1793193373344369408
+151,2.516666667,POSE1_TO_POSE2_PRESS,763,742.456334731,712,673,659.543665269,632,877,784,799,649,628,650.543665269,0.412431456427,-0.00555747716695,0.07995095142,0.999999991457,-9.21253145489e-05,-7.45908620214e-05,-5.51004944584e-05,1793193373361036288
+152,2.533333333,POSE1_TO_POSE2_PRESS,763,742.134058071,712,672.865941929,659.865941929,632,877,783.865941929,799,649,628,650.865941929,0.413104753664,-0.00555456614712,0.0799177163426,0.999999986394,-9.47360063507e-05,-0.000121284364052,-5.93911576596e-05,1793193373377702656
+153,2.550000000,POSE1_TO_POSE2_PRESS,763,742.71054958,712,672.28945042,659.28945042,632,877,783.28945042,799,649,628,650.28945042,0.413841619383,-0.00555178332212,0.0799031245652,0.999999985198,-9.20724712353e-05,-0.000131100147584,-6.27593881259e-05,1793193373394369536
+154,2.566666667,POSE1_TO_POSE2_PRESS,763,743,712,672.286826846,659,632,877,783.286826846,799.286826846,649,628,650.286826846,0.414612666736,-0.00554809742629,0.079909782481,0.999999986701,-9.69984862348e-05,-0.000113816781152,-6.50800638946e-05,1793193373411036160
+155,2.583333333,POSE1_TO_POSE2_PRESS,763,743,712,672.86288814,659,632,877,783.86288814,799.86288814,649,628,650.86288814,0.415418182729,-0.00554350087899,0.0799378684565,0.999999989401,-0.000109577756973,-6.92067976113e-05,-6.63443921812e-05,1793193373427702784
+156,2.600000000,POSE1_TO_POSE2_PRESS,763,742.55069947,711.55069947,673,659.44930053,632,877,784.44930053,800,649,628,651,0.416171018833,-0.0055385767199,0.0799400381894,0.99999999021,-9.60402153309e-05,-7.972787609e-05,-6.3250246538e-05,1793193373444369152
+157,2.616666667,POSE1_TO_POSE2_PRESS,763,742,711,673,659.961775993,632,877,784.961775993,800,649,628,650.961775993,0.416913244782,-0.00553456316766,0.0799349067416,0.999999989947,-7.67919634419e-05,-0.000103516365639,-5.91099871371e-05,1793193373461035776
+158,2.633333333,POSE1_TO_POSE2_PRESS,763,742,711,673,659.38306418,632,877,784.38306418,800,649,628,650.38306418,0.417738121573,-0.00554487260416,0.079941004041,0.999999991439,-9.21475940229e-05,-7.14019277764e-05,-5.94282838591e-05,1793193373477702400
+159,2.650000000,POSE1_TO_POSE2_PRESS,763.194195289,742,711.194195289,673,659.194195289,632,877,784,800,649,628,650,0.418573672325,-0.00555438635827,0.0799533144125,0.999999992083,-0.000105242898562,-3.52448552834e-05,-5.92953160138e-05,1793193373494369280
+160,2.666666667,POSE1_TO_POSE2_PRESS,763.768611134,742,711.768611134,673,659.768611134,632,877,784,800,649,628,650,0.419430121882,-0.00556234222227,0.0799777895366,0.999999991775,-0.00011391264468,8.82740616005e-06,-5.82788042783e-05,1793193373511036672
+161,2.683333333,POSE1_TO_POSE2_PRESS,763.656156969,742.343843031,712,673,660,632,877.343843031,784,800,649,628,650.343843031,0.42025970557,-0.00556491146661,0.0799729121145,0.999999991438,-0.000117038945123,3.22446323238e-06,-5.84492495152e-05,1793193373527703296
+162,2.700000000,POSE1_TO_POSE2_PRESS,763.08037463,742.91962537,712,673,660,632,877.91962537,784,800,649,628,650.91962537,0.421071166851,-0.00556384716644,0.0799482349319,0.999999990813,-0.000116425914021,-3.58868895292e-05,-5.94203565784e-05,1793193373544369408
+163,2.716666667,POSE1_TO_POSE2_PRESS,763,743,712,673,660,632,878,784,799.491407851,649,628,651,0.421897455683,-0.00556696238643,0.0799538238225,0.99999999095,-0.000117788697749,-2.84255444246e-05,-5.84612549836e-05,1793193373561036288
+164,2.733333333,POSE1_TO_POSE2_PRESS,763.0970945,743,712,673,660,632.0970945,878,784,799,649,628,650.9029055,0.422728862426,-0.00557067124015,0.0799669223783,0.999999991046,-0.000120516044916,-1.01613988267e-05,-5.72743662786e-05,1793193373577703168
+165,2.750000000,POSE1_TO_POSE2_PRESS,763.672764276,743,712,673,660,632.672764276,878,784,799,649,628,650.327235724,0.423573637711,-0.00557396384673,0.0799928328697,0.999999989871,-0.000128389271566,2.41064748614e-05,-5.65082572485e-05,1793193373594369792
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,743,712,673,660,632.750887449,878,784,799,649,628.249112551,650.249112551,0.424384301997,-0.00557548012972,0.0799888366037,0.999999989537,-0.000132994825692,5.42322089444e-06,-5.66525479557e-05,1793193373611036416
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,743,712,673,660,632.173645379,878,784,799,649,628.826354621,650.826354621,0.425150035604,-0.00557465665066,0.0799454473445,0.999999985989,-0.000133296222193,-8.30069279776e-05,-5.79960112456e-05,1793193373627702784
+168,2.800000000,POSE1_TO_POSE2_PRESS,763.588853214,743,712,673.411146786,660,632,878,784,799,649,628.588853214,651,0.425957145687,-0.00557598618519,0.079916027476,0.999999982048,-0.000137338734782,-0.000115182927133,-6.14345215748e-05,1793193373644369408
+169,2.816666667,POSE1_TO_POSE2_PRESS,763.000812696,743,712,673.999187304,660,632,878,784,799,649,628.000812696,651,0.426782057734,-0.00557824204251,0.0798926178665,0.99999998003,-0.000142990843066,-0.000123155870518,-6.57744148658e-05,1793193373661036032
+170,2.833333333,POSE1_TO_POSE2_PRESS,763.57831296,743,712,674,660,632,878,784,799,649,628,651,0.427592551325,-0.00558030867664,0.0798992324826,0.99999998079,-0.000142036314375,-0.000118931130293,-6.40360480228e-05,1793193373677702656
+171,2.850000000,POSE1_TO_POSE2_PRESS,763.842860754,743,712,674,660,632,878,784,799.157139246,649,628,650.842860754,0.428396387138,-0.00558125646752,0.0799082565578,0.999999981655,-0.000141857241059,-0.000112403977628,-6.27025149436e-05,1793193373694369280
+172,2.866666667,POSE1_TO_POSE2_PRESS,763.264803354,743,712,674,660,632,878,784,799.735196646,649,628,650.264803354,0.429182442622,-0.00557920799086,0.079923623383,0.999999982737,-0.000143779818553,-9.97547284356e-05,-6.24759152086e-05,1793193373711036416
+173,2.883333333,POSE1_TO_POSE2_PRESS,763.308966356,743,712,673.691033644,660,632.308966356,878,784,800,649,628,650,0.429977290126,-0.00557941593883,0.0799476924376,0.99999998538,-0.000144558942529,-6.83318101408e-05,-6.0601302613e-05,1793193373727703296
+174,2.900000000,POSE1_TO_POSE2_PRESS,763.879111519,743,712,673.120888481,660,632.879111519,878,784,800,649,628,650,0.430779569756,-0.00558153131237,0.0799791177547,0.999999987714,-0.00014437146958,-2.10389297711e-05,-5.7333573735e-05,1793193373744370432
+175,2.916666667,POSE1_TO_POSE2_PRESS,764,742.532585044,712,673.467414956,660.467414956,632.532585044,878,784,800,649,628,650,0.431555504406,-0.00558148709726,0.0800025432947,0.999999988545,-0.000139634672235,1.63584309609e-05,-5.6078948097e-05,1793193373761036800
+176,2.933333333,POSE1_TO_POSE2_PRESS,764,742,711.940905282,673.940905282,660.940905282,632.059094718,878,784,800,649,628,650,0.432311211857,-0.00558055436435,0.0800158133254,0.999999988795,-0.000133666504588,3.80763112928e-05,-5.56102164117e-05,1793193373777702912
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,742,711.362493885,673.362493885,660.362493885,632.637506115,878,784,800,649,628,650,0.432951462474,-0.00557692020823,0.0799587550324,0.999999988723,-0.000127634955502,-5.45952382491e-05,-5.72874563617e-05,1793193373794369536
+178,2.966666667,POSE1_TO_POSE2_PRESS,763.784747817,742.215252183,711.215252183,673.215252183,660,632.784747817,878,784,800,649,628.215252183,650,0.43359922905,-0.00557419488876,0.0799107303473,0.999999982582,-0.000124716126303,-0.000125387745739,-5.96658311309e-05,1793193373811036160
+179,2.983333333,POSE1_TO_POSE2_PRESS,763.208118646,742.791881354,711.791881354,673.791881354,660,632.208118646,878,784,800,649,628.791881354,650,0.43425961393,-0.00557299537275,0.0798778717618,0.999999977222,-0.000127023099779,-0.0001594485514,-6.32213097991e-05,1793193373827702784
+180,3.000000000,POSE1_TO_POSE2_PRESS,763.365702472,742.634297528,712,674,660,632,878,784,800,649,629,650,0.434927470471,-0.0055782013116,0.0798866016799,0.999999978898,-0.000133640090445,-0.000143070191724,-6.22522528033e-05,1793193373844369920
+181,3.016666667,POSE1_TO_POSE2_PRESS,763.937937689,742.062062311,712,674,660,632,878,784,800,649,629,650,0.435599546639,-0.00558702477098,0.079918818966,0.999999983273,-0.000142691189811,-9.82059975621e-05,-5.87279358644e-05,1793193373861037056
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,742.531531317,712,674,660.531531317,632,878,784,800,649,628.468468683,650.531531317,0.436191256418,-0.00558610912764,0.0799142974394,0.999999981214,-0.000140055529619,-0.000120760285447,-5.8079243702e-05,1793193373877703424
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,743,711.876512622,673.876512622,660.876512622,632,878.123487378,784,800,649,628,651,0.436759281805,-0.00558436458968,0.0798992328036,0.999999976426,-0.000136475409899,-0.000158545121664,-5.81964992505e-05,1793193373894370048
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,743,711.300092865,673.300092865,660.300092865,632,878.699907135,784,800,649,628,651,0.437276295332,-0.00558392530144,0.0798618902411,0.999999964478,-0.000134645694039,-0.000222111667245,-5.98400516568e-05,1793193373911036672
+185,3.083333333,POSE1_TO_POSE2_PRESS,763.724656351,743,711,673.275343649,660,631.724656351,879,783.724656351,800,649,628.275343649,650.724656351,0.437781280807,-0.00558479913596,0.0798314142389,0.99999995231,-0.000135439365565,-0.000270684347872,-6.1369510522e-05,1793193373927703296
+186,3.100000000,POSE1_TO_POSE2_PRESS,763.150287683,743,711,673.849712317,660,631.150287683,879,783.150287683,800,649,628.849712317,650.150287683,0.438273203705,-0.00558709903049,0.0798083953689,0.999999942461,-0.000139082053549,-0.000302973588755,-6.27750630958e-05,1793193373944369664
+187,3.116666667,POSE1_TO_POSE2_PRESS,763.436262947,743,711,674,659.127474107,631.436262947,878.563737053,783,800,648.563737053,628.563737053,650.436262947,0.438749212105,-0.00558744502508,0.0797879042436,0.999999932693,-0.00014116550783,-0.000332554681961,-6.3974303804e-05,1793193373961036288
+188,3.133333333,POSE1_TO_POSE2_PRESS,764,742.973402449,711.026597551,674,658.026597551,631.973402449,878.026597551,783,800,648.026597551,628.026597551,651,0.439216968043,-0.0055870692505,0.0797682241059,0.999999922458,-0.000142590558586,-0.000361266040935,-6.51058397958e-05,1793193373977702400
+189,3.150000000,POSE1_TO_POSE2_PRESS,764,742.394146348,711.605853652,674,658.605853652,631.394146348,878.605853652,783,800,648.605853652,628.605853652,651,0.439630436916,-0.00558608388514,0.0797467818622,0.999999910971,-0.000141816501155,-0.00039184723802,-6.63497654231e-05,1793193373994369536
+190,3.166666667,POSE1_TO_POSE2_PRESS,764,742.183508898,711.816491102,674,658.816491102,631,878.816491102,783,800,649,628.816491102,651,0.440019489124,-0.0055856041481,0.0797180210049,0.999999893061,-0.000141055029798,-0.000435209082648,-6.76372182072e-05,1793193374011036416
+191,3.183333333,POSE1_TO_POSE2_PRESS,764,742.757755621,711.242244379,674,658.242244379,631,878.242244379,783,800,649,628.242244379,651,0.440356552023,-0.00558620102409,0.0796736769255,0.999999859865,-0.000140320357075,-0.000505784230931,-6.90173516711e-05,1793193374027703296
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,742.669344747,711.330655253,674,658,631,878.330655253,783,799.669344747,649,628,651,0.440682998465,-0.0055849849648,0.0796408697827,0.999999832714,-0.000140086949021,-0.00055679575124,-7.01933078732e-05,1793193374044369920
+193,3.216666667,POSE1_TO_POSE2_PRESS,764,742.097428049,711.902571951,674,658,631,878.902571951,783,799.097428049,649,628,651,0.441001698624,-0.00558244610361,0.0796164805276,0.999999811493,-0.00014021928723,-0.000593532735651,-7.12202868753e-05,1793193374061036288
+194,3.233333333,POSE1_TO_POSE2_PRESS,764,742,711.506158412,674.493841588,658,631,878.506158412,783,799.493841588,649,628,651,0.441333691739,-0.00558498488766,0.079624331364,0.999999819343,-0.000144046671604,-0.000579255611191,-7.09046157426e-05,1793193374077702912
+195,3.250000000,POSE1_TO_POSE2_PRESS,764,742.086494084,711,674.913505916,658,630.913505916,878.086494084,782.913505916,800,649,628,651,0.441661383606,-0.00558852540166,0.0796396733102,0.999999832938,-0.000148261006109,-0.000554284951984,-7.00844105228e-05,1793193374094369280
+196,3.266666667,POSE1_TO_POSE2_PRESS,764,742.664425564,711,674.335574436,658,630.335574436,878.664425564,782.335574436,800,649,628,651,0.441949128673,-0.00559183366414,0.0796599649887,0.999999846956,-0.000150363073595,-0.000528071874557,-6.79639715916e-05,1793193374111035904
+197,3.283333333,POSE1_TO_POSE2_PRESS,764,743,711,674.240654019,658,630,878.759345981,782.240654019,799.759345981,649,628,651,0.442214266,-0.00559365611432,0.0796742243674,0.999999856673,-0.000150370714266,-0.000509606640111,-6.59065277879e-05,1793193374127702784
+198,3.300000000,POSE1_TO_POSE2_PRESS,764,743,711,674.814524371,658,630,878.185475629,782.814524371,799.185475629,649,628,651,0.442448099988,-0.00559342126669,0.0796801312525,0.999999861145,-0.000147478352518,-0.000501869289804,-6.39363090363e-05,1793193374144369664
+199,3.316666667,POSE1_TO_POSE2_PRESS,764,742.6011316,711,674.6011316,658,630,878,782.6011316,799.3988684,649,628,651,0.442646618596,-0.00558915612947,0.0796752991033,0.99999985744,-0.00014591867258,-0.000509472896415,-6.53111442592e-05,1793193374161036544
+200,3.333333333,POSE1_TO_POSE2_PRESS,764,742.011785877,711,674.011785877,658,630,878,782.011785877,799.988214123,649,628,651,0.442828272567,-0.00558296635047,0.0796653385903,0.999999849658,-0.00014499540694,-0.000524402488513,-6.82833906961e-05,1793193374177703168
+201,3.350000000,POSE1_TO_POSE2_PRESS,764,742,711,674,657.432300142,630,878.567699858,782,800,649,628,650.432300142,0.442991385023,-0.00556454618668,0.0796651731769,0.999999851931,-0.000124073132435,-0.000525041142418,-7.12488914534e-05,1793193374194369792
+202,3.366666667,POSE1_TO_POSE2_PRESS,764,742.146621537,711,674.146621537,657,630,878.853378463,782,800,649,628,650,0.443144636428,-0.00555075149772,0.0796649332616,0.999999853403,-0.00010801294129,-0.000525496609988,-7.33508343701e-05,1793193374211036160
+203,3.383333333,POSE1_TO_POSE2_PRESS,764,742.724476167,711,674.724476167,657,630,878.275523833,782,800,649,628,650,0.443269998052,-0.00555129496933,0.079663886347,0.999999853088,-0.000107453061685,-0.000526271012317,-7.29133465216e-05,1793193374227702784
+204,3.400000000,POSE1_TO_POSE2_PRESS,763.699097301,743,711,674.699097301,657,630,878,782,800,649,628,650,0.443377978238,-0.00555353634781,0.0796606954174,0.999999849816,-0.000110185314479,-0.000531975113677,-7.23124049262e-05,1793193374244369664
+205,3.416666667,POSE1_TO_POSE2_PRESS,763.123972276,743,711,674.123972276,657,630,878,782,800,649,628,650,0.443470118151,-0.0055573250835,0.0796555505779,0.999999843746,-0.000115917793636,-0.00054217180852,-7.15625026824e-05,1793193374261036032
+206,3.433333333,POSE1_TO_POSE2_PRESS,763.461086544,743,711,674,657,630,878,782,800,648.538913456,628,650.461086544,0.44354496738,-0.00555615681437,0.079650045601,0.9999998398,-0.000114163354941,-0.000549773946783,-7.15192297228e-05,1793193374277702656
+207,3.450000000,POSE1_TO_POSE2_PRESS,764,742.951702094,711,674.048297906,657,630,878,782,800,648.048297906,628,650.951702094,0.443613806901,-0.00555407313556,0.07964470337,0.999999836494,-0.000111046888887,-0.000556370788776,-7.16356494482e-05,1793193374294369536
+208,3.466666667,POSE1_TO_POSE2_PRESS,764,742.370854684,711,674.629145316,657,630,878,782,800,648.629145316,628,650.370854684,0.443668770873,-0.00555691521064,0.0796422468233,0.999999834115,-0.000115597075082,-0.000559744211337,-7.13718587448e-05,1793193374311036416
+209,3.483333333,POSE1_TO_POSE2_PRESS,764,742,711,674.792827752,657,630,878,781.792827752,799.792827752,649,628,650.207172248,0.443718221142,-0.00555827200655,0.0796417334269,0.999999833125,-0.000117625987816,-0.000561133898376,-7.10165066045e-05,1793193374327703552
+210,3.500000000,POSE1_TO_POSE2_PRESS,764,742,711,674.219781949,657,630,878,781.219781949,799.219781949,649,628,650.780218051,0.443757934011,-0.00555700574635,0.0796446517033,0.999999834627,-0.000115202241504,-0.000559020237623,-7.04994537423e-05,1793193374344369664
+211,3.516666667,POSE1_TO_POSE2_PRESS,764.35315591,742.35315591,711,674.35315591,657.35315591,629.64684409,878,781.35315591,799.35315591,649,628,650.64684409,0.443788854568,-0.00555562044856,0.0796450019039,0.999999835324,-0.000112201587899,-0.000558444666546,-7.00101753853e-05,1793193374361036288
+212,3.533333333,POSE1_TO_POSE2_PRESS,764.926026667,742.926026667,711,674.926026667,657.926026667,629.073973333,878,781.926026667,799.926026667,649,628,650.073973333,0.443814305018,-0.00555416109178,0.0796437543845,0.999999835516,-0.000108842012988,-0.000558826012951,-6.95381767993e-05,1793193374377702912
+213,3.550000000,POSE1_TO_POSE2_PRESS,764.481727322,743,711.518272678,675,657.481727322,629.518272678,878,782,800,649,628,650.518272678,0.443832232341,-0.00555659098459,0.0796454395917,0.999999835768,-0.000112639926536,-0.00055768990301,-6.89728401276e-05,1793193374394369536
+214,3.566666667,POSE1_TO_POSE2_PRESS,764,743,711.89033327,674.89033327,657.10966673,630,878.10966673,782,800,649,628,651,0.443846885256,-0.00555866749714,0.0796467606559,0.999999835699,-0.000116074052623,-0.000557159477837,-6.85711055762e-05,1793193374411035904
+215,3.583333333,POSE1_TO_POSE2_PRESS,764,743,711.314763294,674.314763294,657.685236706,630,878.685236706,782,800,649,628,651,0.443852366294,-0.0055567928132,0.0796446873319,0.9999998343,-0.000113454043214,-0.000560158091163,-6.89232062447e-05,1793193374427702784
+216,3.600000000,POSE1_TO_POSE2_PRESS,764,743,711,674,657.738629015,630,878.738629015,782,799.738629015,649,628,651,0.443857614715,-0.00555616732899,0.0796436541306,0.999999833664,-0.000112106906458,-0.000561595688403,-6.86584692296e-05,1793193374444369920
+217,3.616666667,POSE1_TO_POSE2_PRESS,764,743,711,674,657.161813723,630,878.161813723,782,799.161813723,649,628,651,0.443862582394,-0.00555704948333,0.0796438762363,0.999999833962,-0.000112295978751,-0.000561149321048,-6.76492810266e-05,1793193374461036544
+218,3.633333333,POSE1_TO_POSE2_PRESS,764,743,711,674,657,630,878.425080368,782,799.850160737,649,628.425080368,651,0.44386490817,-0.00555714248371,0.0796435592875,0.99999983354,-0.000112784362109,-0.000561807636513,-6.76188336789e-05,1793193374477703168
+219,3.650000000,POSE1_TO_POSE2_PRESS,764,743,711,674,657,630,879,781.984418926,800.984418926,649,628.984418926,651,0.443866229957,-0.00555692465292,0.0796430441378,0.999999832876,-0.000113351308362,-0.000562833592811,-6.79504033535e-05,1793193374494369536
+220,3.666666667,POSE1_TO_POSE2_PRESS,764,743,711,674,657,630,879,781.405601834,800.405601834,649,628.405601834,651,0.443868495933,-0.00555659363017,0.0796429621378,0.999999833699,-0.000112539476881,-0.00056157902514,-6.75732805754e-05,1793193374511035904
+221,3.683333333,POSE1_TO_POSE2_PRESS,764,743,711,674.17239817,657,630,878.82760183,781,800,649,628,650.82760183,0.443869798525,-0.00555616080426,0.0796429224462,0.999999834048,-0.000111909559139,-0.000561117334234,-6.72889335691e-05,1793193374527702784
+222,3.700000000,POSE1_TO_POSE2_PRESS,764,743,711,674.748484791,657,630,878.251515209,781,800,649,628,650.251515209,0.44386884525,-0.00555548959556,0.0796429818243,0.999999833292,-0.000111705611672,-0.000562512247871,-6.72218308469e-05,1793193374544369408
+223,3.716666667,POSE1_TO_POSE2_PRESS,764,743,711,675,657,630,878,781.323192827,799.676807173,649,628,650.323192827,0.443869339731,-0.00555490269536,0.0796431333606,0.999999833188,-0.000110897084503,-0.000562874068465,-6.70754697074e-05,1793193374561036032
+224,3.733333333,POSE1_TO_POSE2_PRESS,764,743,711,675,657,630,878,781.896832638,799.103167362,649,628,650.896832638,0.443870956101,-0.005554381127,0.0796433563116,0.999999833589,-0.000109620059409,-0.000562435329873,-6.68676900215e-05,1793193374577702400
+225,3.750000000,POSE1_TO_POSE2_PRESS,764,743,711,675.485502689,657,630,878.485502689,782,799.485502689,649,628,651,0.443871960888,-0.00555574548488,0.0796439273185,0.99999983388,-0.0001102391297,-0.000561859248242,-6.63398511253e-05,1793193374594369536
+226,3.766666667,POSE1_TO_POSE2_PRESS,764,743,711,675.924468038,657,630,879,782,799.924468038,649,628.075531962,651,0.443872741142,-0.00555748840533,0.0796444686705,0.999999834119,-0.000111553211572,-0.000561234009982,-6.58399758257e-05,1793193374611036416
+227,3.783333333,POSE1_TO_POSE2_PRESS,764,743,711,675.347300691,657,630,879,782,799.347300691,649,628.652699309,651,0.443872920876,-0.00555899893188,0.0796443061836,0.999999834172,-0.000114721742994,-0.000560482323709,-6.59919347146e-05,1793193374627703296
+228,3.800000000,POSE1_TO_POSE2_PRESS,764,743,711,675,657,630,878.770827163,782,799.229172837,649,628.770827163,651,0.443873075888,-0.00555892347613,0.0796442173908,0.999999833974,-0.00011489027594,-0.000560800854153,-6.59960067342e-05,1793193374644369664
+229,3.816666667,POSE1_TO_POSE2_PRESS,764,743,711,675,657,630,878.195401947,782,799.804598053,649,628.195401947,651,0.443873193547,-0.00555645179324,0.0796442399409,0.999999833393,-0.000110526174647,-0.000562736352369,-6.57766396111e-05,1793193374661036032
+230,3.833333333,POSE1_TO_POSE2_PRESS,763.611280459,743,711,674.611280459,657,629.611280459,878.388719541,782,800,649,628,650.611280459,0.443873446428,-0.00555481472971,0.0796438217242,0.999999833424,-0.000108982633292,-0.000562964917193,-6.59224623534e-05,1793193374677702656
+231,3.850000000,POSE1_TO_POSE2_PRESS,763.022687503,743,711,674.022687503,657,629.022687503,878.977312497,782,800,649,628,650.022687503,0.443873768838,-0.00555360681426,0.0796431768722,0.999999833777,-0.000108889379201,-0.000562315803918,-6.62560599321e-05,1793193374694369280
+232,3.866666667,POSE1_TO_POSE2_PRESS,763.556029108,743,711,674.556029108,657,629.556029108,878.443970892,781.443970892,800,649,628,650.556029108,0.443873419726,-0.00555339835435,0.0796430262542,0.999999833442,-0.000107015708722,-0.000563296671318,-6.60406659047e-05,1793193374711035904
+233,3.883333333,POSE1_TO_POSE2_PRESS,764,743,711,675,657,630,878.13399833,781.13399833,799.86600167,649,628,651,0.443873165242,-0.00555386971775,0.0796430104803,0.999999833198,-0.000106551315976,-0.000563832222483,-6.59063164905e-05,1793193374727703040
+234,3.900000000,POSE1_TO_POSE2_PRESS,764,743,711,675,657,630,878.710806071,781.710806071,799.289193929,649,628,651,0.443873312433,-0.00555645520692,0.0796433748334,0.999999833352,-0.000110979882316,-0.000562680241507,-6.61125183404e-05,1793193374744370176
+235,3.916666667,POSE1_TO_POSE2_PRESS,764,742.71407116,711,675,656.71407116,630,878.71407116,781.71407116,799.28592884,648.71407116,628,650.71407116,0.443873694083,-0.00555718453159,0.0796435421487,0.999999833599,-0.000112396244891,-0.000561974302691,-6.59886362717e-05,1793193374761037056
+236,3.933333333,POSE1_TO_POSE2_PRESS,764,742.14064255,711,675,656.14064255,630,878.14064255,781.14064255,799.85935745,648.14064255,628,650.14064255,0.443874311481,-0.00555604749408,0.0796435113438,0.999999833953,-0.000110783854793,-0.000561716856519,-6.55328567857e-05,1793193374777703424
+237,3.950000000,POSE1_TO_POSE2_PRESS,764,742,711,674.550331381,656.449668619,629.550331381,878.449668619,781.449668619,800,648.449668619,628,650,0.443876267964,-0.005556368106,0.0796444053774,0.999999834593,-0.000111932507249,-0.000560341682171,-6.55961282865e-05,1793193374794369536
+238,3.966666667,POSE1_TO_POSE2_PRESS,764,742.043828277,711,674.043828277,657,629.043828277,878.956171723,782,800,649,628,650.043828277,0.443878372,-0.00555717438429,0.079645448922,0.999999835201,-0.00011380412261,-0.000558855561814,-6.57782554174e-05,1793193374811035904
+239,3.983333333,POSE1_TO_POSE2_PRESS,764,742.618163633,711,674.618163633,657,629.618163633,878.381836367,782,800,649,628,650.618163633,0.443876994759,-0.00555812559703,0.0796446643185,0.999999834379,-0.000113566052777,-0.000560423120218,-6.53573451224e-05,1793193374827702784
+240,4.000000000,POSE1_TO_POSE2_PRESS,764,742.806861402,711,675,657,629.806861402,878.193138598,782,800,649,628,651,0.443876288814,-0.00555805554921,0.0796442634721,0.999999833929,-0.00011307594685,-0.000561348951618,-6.51406625773e-05,1793193374844369664
+241,4.016666667,POSE1_TO_POSE2_PRESS,764,742.230617762,711,675,657,629.230617762,878.769382238,782,800,649,628,651,0.443876914435,-0.00555595975365,0.0796446238372,0.999999834223,-0.000112085908245,-0.000561001868784,-6.53290812746e-05,1793193374861036288
+242,4.033333333,HOLD_POSE2,764,742,711,675,657,630,879,781,800,649,628,651,0.443880557515,-0.0055577124967,0.0796456902903,0.999999836308,-0.000111235889445,-0.00055744076739,-6.53457656736e-05,1793193374895944448
+243,4.050000000,HOLD_POSE2,764,742.578997818,711,675,656.421002182,629.421002182,879,781.578997818,800,649,628,651,0.443879949382,-0.00555688660547,0.079645129707,0.999999835763,-0.00011200312609,-0.000558274248873,-6.52607860762e-05,1793193374912611328
+244,4.066666667,HOLD_POSE2,764,743,711,675,656,629,879,782,800,649,628,650.842683847,0.443879261264,-0.00555623251859,0.0796447712186,0.999999835433,-0.000112258366243,-0.00055882917037,-6.5126354708e-05,1793193374929278208
+245,4.083333333,HOLD_POSE2,764,743,711,675,656,629,879,782,800,649,628,650.266175966,0.44387836002,-0.0055560362292,0.079644951241,0.999999835679,-0.000111149317585,-0.000558641828533,-6.48601518987e-05,1793193374945944064
+246,4.100000000,HOLD_POSE2,764,742.691599381,711,675,656.308400619,629.308400619,879,782,799.691599381,649,628,650.308400619,0.443877807421,-0.00555650909326,0.0796448258761,0.999999835206,-0.000111738492012,-0.000559366606899,-6.48950093752e-05,1793193374962610432
+247,4.116666667,HOLD_POSE2,764,742.118679328,711,675,656.881320672,629.881320672,879,782,799.118679328,649,628,650.881320672,0.44387755386,-0.00555755589939,0.0796444385763,0.999999834112,-0.000113784255696,-0.000560873723258,-6.51880903957e-05,1793193374979276800
+248,4.133333333,HOLD_POSE2,764,742,711,674.530500973,657,630,878.530500973,782,799.469499027,649,628,650.530500973,0.443878572607,-0.00555701963919,0.0796449247326,0.999999834778,-0.000111784174386,-0.000560099116614,-6.5094920838e-05,1793193374995943424
+249,4.150000000,HOLD_POSE2,764,742,711,674,657,630,878.059990958,782,800,649,628,650.059990958,0.443879766296,-0.00555614401027,0.0796455439886,0.99999983575,-0.000109083289986,-0.000558911826077,-6.49460693107e-05,1793193375012610304
+250,4.166666667,HOLD_POSE2,764,742,711,674,657,630,878.63609033,782,800,649,628,650.63609033,0.443879605225,-0.00555590706289,0.079645345021,0.999999835476,-0.000109447291299,-0.000559302870651,-6.51863670642e-05,1793193375029277440
+251,4.183333333,HOLD_POSE2,764,742.211805516,711,674.211805516,657,630,878.788194484,781.788194484,800,649,628,651,0.443879400043,-0.005555234917,0.0796451419968,0.999999835365,-0.000108810856077,-0.000559615839743,-6.52740042701e-05,1793193375045944320
+252,4.200000000,HOLD_POSE2,764,742.786861757,711,674.786861757,657,630,878.213138243,781.213138243,800,649,628,651,0.443879119209,-0.00555381639692,0.0796449320152,0.999999835529,-0.000106458652005,-0.000559794907767,-6.50998255369e-05,1793193375062610944
+253,4.216666667,HOLD_POSE2,764,742.628712582,711,674.628712582,656.628712582,629.628712582,878,781,799.628712582,649,628,650.628712582,0.443880095641,-0.00555409179883,0.079645251938,0.999999835902,-0.000107375631352,-0.00055895982283,-6.50341726475e-05,1793193375079277312
+254,4.233333333,HOLD_POSE2,764,742.038769091,711,674.038769091,656.038769091,629.038769091,878,781,799.038769091,649,628,650.038769091,0.443881812494,-0.00555536477368,0.0796458839284,0.999999836393,-0.000110217875845,-0.00055752748981,-6.50324320463e-05,1793193375095943680
+255,4.250000000,HOLD_POSE2,764,742.541033164,711,674.541033164,656.541033164,629.541033164,878,781.541033164,799,649,628,650.541033164,0.443881625476,-0.00555654720788,0.0796465119186,0.999999836183,-0.000112399795062,-0.000557480038303,-6.49280972636e-05,1793193375112610304
+256,4.266666667,HOLD_POSE2,764,742.880199105,711,675,657,629.880199105,878,782,799.119800895,649,628,650.880199105,0.443881272744,-0.00555742650449,0.0796467352706,0.999999835881,-0.000113884486393,-0.000557726702055,-6.48852907586e-05,1793193375129276928
+257,4.283333333,HOLD_POSE2,764,742.302658452,711,675,657,629.302658452,878,782,799.697341548,649,628,650.302658452,0.443880798525,-0.0055571718951,0.0796454136408,0.999999835423,-0.000112882649016,-0.000558724939814,-6.5105146385e-05,1793193375145943552
+258,4.300000000,HOLD_POSE2,764,742,711,674.727534208,657,629.272465792,878.272465792,782,800,649,628,650,0.443880007035,-0.00555626214445,0.0796443739813,0.999999834826,-0.000111845854941,-0.00055999431141,-6.51513795427e-05,1793193375162610432
+259,4.316666667,HOLD_POSE2,764,742,711,674.15507058,657,629.84492942,878.84492942,782,800,649,628,650,0.443878866216,-0.00555463105202,0.0796436447846,0.999999834076,-0.000110770571933,-0.000561562214236,-6.50064460656e-05,1793193375179277312
+260,4.333333333,POSE2_TO_POSE3_RETREAT,764,743,711,675,656,629,878,781,801,649,627,650,0.443881929693,-0.00555709103466,0.0796459296715,0.999999835611,-0.000110508411432,-0.000558977416976,-6.41100983386e-05,1793193375212004864
+261,4.350000000,POSE2_TO_POSE3_RETREAT,764.580658478,742.419341522,711,675,656.580658478,629,878,781.580658478,800.419341522,649,627.580658478,650.580658478,0.443883355866,-0.00555646917539,0.0796475175086,0.999999837197,-0.00010942608447,-0.000556352150315,-6.40663535127e-05,1793193375228671488
+262,4.366666667,POSE2_TO_POSE3_RETREAT,765,742.160142559,711,675,656.839857441,629.160142559,878,782,800,649,628,650.839857441,0.443884120352,-0.00555614023896,0.0796484259323,0.999999838104,-0.000109182537889,-0.000554766021726,-6.40824379263e-05,1793193375245337856
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765,742.736573934,711,675,656.263426066,629.736573934,878,782,800,649,628,650.263426066,0.443883164791,-0.00555657275211,0.0796475682286,0.99999983726,-0.000111119391427,-0.000555881120538,-6.42540477798e-05,1793193375262003712
+264,4.400000000,POSE2_TO_POSE3_RETREAT,764.688480772,743,711,674.688480772,656,630,878.311519228,781.688480772,800,649,628,650.311519228,0.443882427344,-0.00555681920798,0.0796470582969,0.999999836741,-0.00011201601479,-0.000556626676891,-6.43275391599e-05,1793193375278670080
+265,4.416666667,POSE2_TO_POSE3_RETREAT,764.114786202,743,711,674.114786202,656,630,878.885213798,781.114786202,800,649,628,650.885213798,0.443881873461,-0.00555690907758,0.0796468410512,0.999999836497,-0.000112037177784,-0.000557061225342,-6.43184537831e-05,1793193375295336704
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764.475067775,743,711,674.475067775,656,630,879,781,799.524932225,649,628,650.524932225,0.443880379572,-0.00555621535753,0.0796463256381,0.999999836188,-0.00011159133312,-0.000557691587031,-6.44267297493e-05,1793193375312003584
+267,4.450000000,POSE2_TO_POSE3_RETREAT,764.93322693,742.93322693,711,674.93322693,656,629.93322693,879,781,799.06677307,649,628,650.06677307,0.443877332109,-0.00555549475079,0.079644951428,0.99999983517,-0.000111002564415,-0.000559613627146,-6.45760416993e-05,1793193375328670464
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764.35819596,742.35819596,711,674.35819596,656,629.35819596,879,781,799.64180404,649,628,650.64180404,0.443864248972,-0.00555606137449,0.0796376079808,0.999999828808,-0.000110215038666,-0.000570994750609,-6.48142625818e-05,1793193375345336832
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,742.217371462,711,674,656.217371462,629.217371462,879,781.217371462,800,649,628,651,0.443841771632,-0.00555557927922,0.0796272723239,0.999999818867,-0.000109711147025,-0.000588209478791,-6.51102676736e-05,1793193375362003712
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764,742.793825007,711,674,656.793825007,629.793825007,879,781.793825007,800,649,628,651,0.443803775741,-0.00555336477528,0.0796119937516,0.99999980269,-0.000109675798651,-0.000615060902754,-6.55017280948e-05,1793193375378670592
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764,743,711,674.379129982,657,629.620870018,879,782,799.620870018,649,628,650.620870018,0.44374889919,-0.00555234789143,0.0795936659738,0.999999782561,-0.000108933563341,-0.000647108489112,-6.52881261521e-05,1793193375395336960
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764,743,711,674.969363583,657,629.030636417,879,782,799.030636417,649,628,650.030636417,0.443684623302,-0.00555199785502,0.0795736403646,0.999999759499,-0.000107797725763,-0.000682049356151,-6.47376190203e-05,1793193375412003328
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764,743,711,674.450952782,657,629,879,781.450952782,799,649,628,650,0.443615263927,-0.00555021854551,0.079568518656,0.999999757863,-0.00010459652382,-0.000685115093435,-6.28595287024e-05,1793193375428669952
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764,742.873171395,711,674,657,629.126828605,878.873171395,781,799.126828605,649,628,650.126828605,0.44354166072,-0.00554851479221,0.0795662406999,0.999999758263,-0.000102021670442,-0.000685113857891,-6.07015569894e-05,1793193375445336832
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764,742.300051165,711,674,657,629.699948835,878.300051165,781,799.699948835,649,628,650.699948835,0.443454103381,-0.00554735225612,0.079571098296,0.999999761608,-0.000102048734536,-0.000680461058653,-5.78144782804e-05,1793193375462003712
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764,742.27345562,711,674.27345562,657,630,878.27345562,781,800.27345562,649,628.27345562,651,0.443351860535,-0.00554562885313,0.0795743525381,0.999999764567,-9.96657996278e-05,-0.000676768233074,-5.40222232673e-05,1793193375478670592
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764,742.84738712,711,674.84738712,657,630,878.84738712,781,800.84738712,649,628.84738712,651,0.443233481108,-0.00554328916384,0.0795758449981,0.999999767084,-9.46347327435e-05,-0.000674130236807,-4.92353512873e-05,1793193375495337216
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764,743,711,675,657,630,878.563630438,781.436369562,800.563630438,649,628.563630438,651,0.443095541961,-0.00554158905789,0.0795805220207,0.99999977112,-9.03635416615e-05,-0.000669068221304,-4.4069515423e-05,1793193375512003584
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764,742.970075402,711,675,657,630,878,782,800,649,628,651,0.4429479754,-0.00553998617961,0.0795861265083,0.999999775541,-8.60964417428e-05,-0.000663330133204,-3.87005584892e-05,1793193375528670208
+280,4.666666667,POSE2_TO_POSE3_RETREAT,764,742.392608343,711,675,657,630,878,782,800,649,628,651,0.442753890198,-0.00553592327854,0.0795875945255,0.999999777879,-7.68678862443e-05,-0.0006612876078,-3.21267119477e-05,1793193375545336832
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764,742.183853045,711,674.816146955,657,630,878.183853045,782.183853045,800,649,628,651,0.442548386842,-0.00553158017193,0.0795885831877,0.999999779538,-6.66296045551e-05,-0.000660188349517,-2.51969062792e-05,1793193375562003456
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764,742.758178486,711,674.241821514,657,630,878.758178486,782.758178486,800,649,628,651,0.442318633306,-0.00552664195725,0.0795885537817,0.999999779854,-5.42468384635e-05,-0.000661092429455,-1.75111051985e-05,1793193375578670080
+283,4.716666667,POSE2_TO_POSE3_RETREAT,764,743,711.341111869,674.341111869,657,630,878.658888131,782.658888131,800,649,628,651,0.442065544909,-0.00552148421417,0.079587913769,0.999999778667,-4.20035508139e-05,-0.000663936907846,-9.48298740802e-06,1793193375595336704
+284,4.733333333,POSE2_TO_POSE3_RETREAT,764,743,711.930305648,674.930305648,657,630,878.069694352,782.069694352,800,649,628,651,0.441795485644,-0.0055161668132,0.0795868296776,0.999999776313,-2.98617009699e-05,-0.000668192588281,-1.20591066221e-06,1793193375612003840
+285,4.750000000,POSE2_TO_POSE3_RETREAT,764,743,711.488941734,674.488941734,657.511058266,630,878.511058266,782,800,649,628,651,0.441479503771,-0.00551132508938,0.0795849463899,0.99999977445,-1.39015704163e-06,-0.000671608782635,6.28478278019e-06,1793193375628670464
+286,4.766666667,POSE2_TO_POSE3_RETREAT,764,742.910121744,711,674.089878256,658,630.089878256,879,782,800,649,628,651,0.441148714016,-0.00550624495691,0.0795824018112,0.999999771991,2.47821330932e-05,-0.000674738074212,1.1519395705e-05,1793193375645337088
+287,4.783333333,POSE2_TO_POSE3_RETREAT,764,742.335616189,711,674.664383811,658,630.664383811,879,782,800,649,628,651,0.440771298856,-0.00549953521851,0.0795768696453,0.999999770514,2.67442088588e-05,-0.000676927644773,5.15798428812e-06,1793193375662004224
+288,4.800000000,POSE2_TO_POSE3_RETREAT,763.760498812,742.239501188,711,675,657.760498812,631,878.760498812,782.239501188,800,649,628,650.760498812,0.440376732891,-0.00549298012527,0.079571083308,0.99999976741,3.11946017468e-05,-0.000681316753067,3.90500943101e-06,1793193375678671104
+289,4.816666667,POSE2_TO_POSE3_RETREAT,763.184521922,742.815478078,711,675,657.184521922,631,878.184521922,782.815478078,800,649,628,650.184521922,0.439958071749,-0.00548664229375,0.079564939885,0.999999761966,3.91408362615e-05,-0.000688795996191,9.8288877861e-06,1793193375695337472
+290,4.833333333,POSE2_TO_POSE3_RETREAT,763,742.599102006,711,675,657.400897994,631,878.400897994,783,800,649,628,650.400897994,0.439535022704,-0.00547859645673,0.0795727580252,0.999999772874,5.22576151745e-05,-0.000671863383738,1.09667029863e-05,1793193375712003840
+291,4.850000000,POSE2_TO_POSE3_RETREAT,763,742.009230904,711,675,657.990769096,631,878.990769096,783,800,649,628,650.990769096,0.439109905324,-0.0054697455096,0.079587157291,0.999999790655,6.78116568129e-05,-0.000643423643291,9.84848968549e-06,1793193375728670720
+292,4.866666667,POSE2_TO_POSE3_RETREAT,763.569787311,742.569787311,711,674.430212689,658,631,878.430212689,783,800,649,628,650.430212689,0.43865557147,-0.00545633821414,0.079640004899,0.999999838452,7.82808697644e-05,-0.00056288408299,1.13973205981e-05,1793193375745337856
+293,4.883333333,POSE2_TO_POSE3_RETREAT,763.852061098,743,711,674.147938902,658,631,878,783,800,649,628.147938902,650.147938902,0.438180580121,-0.00544362706598,0.0796896909799,0.999999876323,8.99905413246e-05,-0.00048895366966,1.34250877398e-05,1793193375762004480
+294,4.900000000,POSE2_TO_POSE3_RETREAT,763.275918616,743,711,674.724081384,658,631,878,783,800,649,628.724081384,650.724081384,0.437647140923,-0.00543314055537,0.0797284569066,0.999999899004,0.000105524654357,-0.000436550610444,1.67163920122e-05,1793193375778670848
+295,4.916666667,POSE2_TO_POSE3_RETREAT,763.306257764,742.693742236,711.306257764,674.693742236,658.306257764,631,878,783.306257764,800,649,629,650.693742236,0.437092040442,-0.00542772396186,0.0797534596501,0.999999913466,0.000114603916416,-0.000399430409994,1.97134641624e-05,1793193375795337472
+296,4.933333333,POSE2_TO_POSE3_RETREAT,763.893979622,742.106020378,711.893979622,674.106020378,658.893979622,631,878,783.893979622,800,649,629,650.106020378,0.436517032245,-0.00542696683963,0.0797658134389,0.999999921994,0.000117750893978,-0.000376355810605,2.24401247078e-05,1793193375812003584
+297,4.950000000,POSE2_TO_POSE3_RETREAT,764,742,712,674.474848696,659,631.474848696,878,783.525151304,800,649,628.525151304,650,0.43588991717,-0.00542553051596,0.0797696568113,0.999999925778,0.000120165903555,-0.000365283275206,2.39018250683e-05,1793193375828670208
+298,4.966666667,POSE2_TO_POSE3_RETREAT,764,742,712,674.946267819,659,632,878,783,799.946267819,649,628,650,0.435249331211,-0.00542440055203,0.0797728471184,0.999999929217,0.000121666125607,-0.000355160317274,2.49808557217e-05,1793193375845337088
+299,4.983333333,POSE2_TO_POSE3_RETREAT,764,742,712,674.372007997,659,632,878,783,799.372007997,649,628,650,0.434589346805,-0.00542768660002,0.0797878564994,0.99999993897,0.000115865069782,-0.000328645960943,2.50498978461e-05,1793193375862003712
+300,5.000000000,POSE2_TO_POSE3_RETREAT,764,742.202792469,711.797207531,673.797207531,659,632,878,783.202792469,799,648.797207531,628.202792469,650,0.433900308352,-0.00543328974776,0.0798001350517,0.999999945873,0.000108437858385,-0.00030954881049,2.59941399002e-05,1793193375878670336
+301,5.016666667,POSE2_TO_POSE3_RETREAT,764,742.778587326,711.221412674,673.221412674,659,632,878,783.778587326,799,648.221412674,628.778587326,650,0.433157829942,-0.00544315480773,0.0798073907063,0.999999948552,9.80196098068e-05,-0.000304094355458,2.85481639596e-05,1793193375895337216
+302,5.033333333,POSE2_TO_POSE3_RETREAT,763.635789462,743,711.364210538,673,659,632,877.635789462,783.635789462,799,648.364210538,628.635789462,650.364210538,0.432364980198,-0.00544399326723,0.0797823687933,0.999999931344,0.000101726178167,-0.000355067273923,2.98622048462e-05,1793193375912003840
+303,5.050000000,POSE2_TO_POSE3_RETREAT,763.044025663,743,711.955974337,673,659,632,877.044025663,783.044025663,799,648.955974337,628.044025663,650.955974337,0.431540659232,-0.0054391920423,0.0797371803418,0.99999989564,0.000114257719256,-0.000441295163832,3.04015226395e-05,1793193375928670464
+304,5.066666667,POSE2_TO_POSE3_RETREAT,763.534396141,742.465603859,711.465603859,673,659,632,877,783.534396141,799.534396141,649,628.534396141,650.465603859,0.430776609536,-0.00543811964684,0.0797492311368,0.999999903917,0.000116333563109,-0.000421496984381,3.11915409038e-05,1793193375945337088
+305,5.083333333,POSE2_TO_POSE3_RETREAT,763.888581591,742,711.111418409,673.111418409,659.111418409,632,877,784,799.888581591,649,628.888581591,650,0.430018845266,-0.00543732465971,0.0797743230033,0.999999920485,0.000117545567546,-0.000379687255302,3.24020308158e-05,1793193375962003456
+306,5.100000000,POSE2_TO_POSE3_RETREAT,763.312922572,742,711.687077428,673.687077428,659.687077428,632,877,784,799.312922572,649,628.312922572,650,0.429267085289,-0.00543643673762,0.0798345827416,0.999999952668,0.000118659906583,-0.000281671741836,3.52805147994e-05,1793193375978670336
+307,5.116666667,POSE2_TO_POSE3_RETREAT,763,742.268776814,712,674,659.731223186,632,877,784,799,649,628,650,0.428468567997,-0.00543625636225,0.07986418633,0.99999996551,0.000118350643516,-0.000231528160688,3.69809316408e-05,1793193375995336960
+308,5.133333333,POSE2_TO_POSE3_RETREAT,763,742.857670433,712,674,659.142329567,632,877,784,799,649,628,650,0.427614362014,-0.00543691868444,0.0798572780391,0.99999996412,0.000116345852359,-0.00023840068523,3.72782553398e-05,1793193376012003328
+309,5.150000000,POSE2_TO_POSE3_RETREAT,763.438994739,742.561005261,711.561005261,673.561005261,659,632,877.438994739,784,799.438994739,649,628.438994739,650,0.42672025306,-0.00543418482616,0.0798156380085,0.999999948215,0.000116087796001,-0.000298123877782,3.48799018948e-05,1793193376028670208
+310,5.166666667,POSE2_TO_POSE3_RETREAT,764,742.017685153,711,673,659,632,878,784,799.982314847,648.982314847,629,650,0.425814198706,-0.0054304566901,0.0797642322225,0.999999923134,0.000116533508659,-0.000373019718398,3.17373560357e-05,1793193376045337344
+311,5.183333333,POSE2_TO_POSE3_RETREAT,764,742.589440689,711,673,659,632,878,784,799.410559311,648.410559311,629,650,0.42493234588,-0.00542949050839,0.0797536801521,0.999999913867,0.000121586179657,-0.000395532626682,3.21970301836e-05,1793193376062003712
+312,5.200000000,POSE2_TO_POSE3_RETREAT,763.836968488,743,711.163031512,672.836968488,659,632,877.836968488,784,799,648.163031512,629,650,0.424045476364,-0.00542667698304,0.0797439472617,0.999999905071,0.000129317004623,-0.000414807691108,3.27132004751e-05,1793193376078670080
+313,5.216666667,POSE2_TO_POSE3_RETREAT,763.258703305,743,711.741296695,672.258703305,659,632,877.258703305,784,799,648.741296695,629,650,0.423145829628,-0.00541915835953,0.0797363007856,0.999999898426,0.000143868962849,-0.000425836117014,3.33732638165e-05,1793193376095336704
+314,5.233333333,POSE2_TO_POSE3_RETREAT,763,742.672833123,711.672833123,672,659,632,877,783.672833123,798.672833123,649,629,650,0.422304728441,-0.00541639676638,0.0797649228381,0.999999918964,0.000153240211378,-0.000370594028211,3.5356137304e-05,1793193376112003584
+315,5.250000000,POSE2_TO_POSE3_RETREAT,763,742.080806296,711.080806296,672,659,632,877,783.080806296,798.080806296,649,629,650,0.421511023207,-0.00541748625667,0.0798229063008,0.99999995247,0.000158417382536,-0.000261702234097,3.84098995038e-05,1793193376128670208
+316,5.266666667,POSE2_TO_POSE3_RETREAT,763,742,711.500033007,672.500033007,659,632,877,783.500033007,799.000066014,649,629,650.500033007,0.420677954547,-0.00541742749905,0.0798602286378,0.999999965696,0.000159334888868,-0.000203840967729,4.08638874803e-05,1793193376145336832
+317,5.283333333,POSE2_TO_POSE3_RETREAT,763,742,711.921580661,673,659,632,877,784,799.921580661,649,629,651,0.419830061024,-0.00541681724802,0.0798834632748,0.999999971567,0.000160385277833,-0.000171229187026,4.26943599604e-05,1793193376162003456
+318,5.300000000,POSE2_TO_POSE3_RETREAT,763,742,711.347521582,673,659,632,877,784,799.347521582,649,629,651,0.418927794513,-0.00541386848882,0.0798382994768,0.999999954726,0.000166531081493,-0.000247222498588,4.11831731835e-05,1793193376178670080
+319,5.316666667,POSE2_TO_POSE3_RETREAT,763,742,711.23210888,672.76789112,659,632,877,784,799.23210888,648.76789112,628.76789112,650.76789112,0.418041698339,-0.00541070033365,0.0798098073153,0.999999940826,0.000170965511521,-0.000295940904126,3.9222474307e-05,1793193376195336960
+320,5.333333333,POSE2_TO_POSE3_RETREAT,763,742,711.820286254,672.179713746,659,632,877,784,799.820286254,648.179713746,628.179713746,650.179713746,0.417180408262,-0.00540719561188,0.0798068904049,0.999999938556,0.000172774597192,-0.000302818034077,3.65721978406e-05,1793193376212004096
+321,5.350000000,POSE2_TO_POSE3_RETREAT,763,742,712,672.402215517,659,632,877,783.597784483,799.195568965,648.402215517,628,650,0.416323366317,-0.00540591732473,0.0798052885625,0.999999933991,0.000173949768533,-0.000316817578358,3.72309542615e-05,1793193376228670464
+322,5.366666667,POSE2_TO_POSE3_RETREAT,763,742,712,672.981395734,659,632,877,783.018604266,798.037208531,648.981395734,628,650,0.415468193493,-0.00540561861297,0.079804265317,0.999999928179,0.000174846033381,-0.000333950805113,3.93456019816e-05,1793193376245337088
+323,5.383333333,POSE2_TO_POSE3_RETREAT,763.559839017,742,711.440160983,673,659,632,877,783,798.559839017,649,628,650.559839017,0.414666456931,-0.00540625137927,0.0797868044496,0.999999922057,0.000172162413441,-0.000353467760466,3.61544375861e-05,1793193376262003456
+324,5.400000000,POSE2_TO_POSE3_RETREAT,763.862850467,742,711.137149533,673,659,632.137149533,877,783.137149533,799,649,628,650.862850467,0.413884775097,-0.00540769462655,0.0797784185395,0.999999921194,0.000168870235896,-0.00035769582719,3.38773936308e-05,1793193376278670080
+325,5.416666667,POSE2_TO_POSE3_RETREAT,763.289068422,742,711.710931578,673,659,632.710931578,877,783.710931578,799,649,628,650.289068422,0.413161294079,-0.00541161972279,0.0798006606358,0.99999993695,0.000164018881233,-0.000312997964969,3.50711635832e-05,1793193376295336704
+326,5.433333333,POSE2_TO_POSE3_RETREAT,763.292789402,742.292789402,712,673,659,633,877,784,799,649,628,650,0.412411777706,-0.00541503410561,0.0798064705328,0.999999939736,0.000163079355925,-0.000304466571577,3.51258992817e-05,1793193376312003584
+327,5.450000000,POSE2_TO_POSE3_RETREAT,763.882846492,742.882846492,712,673,659,633,877,784,799,649,628,650,0.411635827803,-0.0054179299633,0.0797955968947,0.999999930295,0.000166111492806,-0.000332654824999,3.40241788798e-05,1793193376328670208
+328,5.466666667,POSE2_TO_POSE3_RETREAT,763.536118008,743,711.536118008,672.536118008,659,632.536118008,877,784,799,648.536118008,628.463881992,650.463881992,0.410906237074,-0.00542031144029,0.0797885927487,0.999999925819,0.000159819035614,-0.000348801946856,3.40092009251e-05,1793193376345336832
+329,5.483333333,POSE2_TO_POSE3_RETREAT,763,743,711.042562022,672,659,632,877,783.957437978,799,648,628.957437978,651,0.410195110177,-0.00542265788462,0.0797849103521,0.999999924021,0.000151965892959,-0.000357326827525,3.43802310017e-05,1793193376362004224
+330,5.500000000,POSE2_TO_POSE3_RETREAT,763,743,711.619727571,672,659,632,877,783.380272429,799,648,628.380272429,651,0.409571646303,-0.00542616487485,0.0798109104985,0.999999940257,0.00015352462414,-0.000307579871699,3.62181702047e-05,1793193376378670592
+331,5.516666667,POSE2_TO_POSE3_RETREAT,763.199875862,743,712,672,659,632,877,783.199875862,799,648.199875862,628,651,0.408958128631,-0.00542892240951,0.0798335612746,0.999999951782,0.000152273988179,-0.00026800150571,3.77344049446e-05,1793193376395337216
+332,5.533333333,POSE2_TO_POSE3_RETREAT,763.785785019,743,712,672,659,632,877,783.785785019,799,648.785785019,628,651,0.408363820597,-0.00543023247234,0.0798497431976,0.999999957887,0.000145597438986,-0.000248062393153,3.86293113202e-05,1793193376412003840
+333,5.550000000,POSE2_TO_POSE3_RETREAT,764,742.632643119,712,672,659,632,877,784,799,649,628,651,0.40773523504,-0.00542906454907,0.0798280225165,0.999999946487,0.000149017592461,-0.000288695001563,3.84052203328e-05,1793193376428670464
+334,5.566666667,POSE2_TO_POSE3_RETREAT,764,742.053570963,712,672,659,632,877,784,799,649,628,651,0.407086894682,-0.00542646851172,0.0797844577894,0.999999920439,0.000158256681635,-0.000364236329869,3.75362280803e-05,1793193376445336832
+335,5.583333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632.522439795,877,784,798.477560205,649,628.522439795,651,0.406547242959,-0.00542733154784,0.0797696385428,0.999999914191,0.000155998816968,-0.000382091259509,3.58850061917e-05,1793193376462003968
+336,5.600000000,POSE2_TO_POSE3_RETREAT,764,742,712,672.196718414,659,632.901640793,877,783.901640793,798.098359207,649,629,650.901640793,0.40603299792,-0.00542842504727,0.0797639693403,0.999999914039,0.000153325625007,-0.000383690674878,3.45513476396e-05,1793193376478671104
+337,5.616666667,POSE2_TO_POSE3_RETREAT,764,742,712,673.350705525,659,632.324647237,877,783.324647237,798.675352763,649,629,650.324647237,0.405588469216,-0.00542892407534,0.0797885661444,0.999999931426,0.000154334687578,-0.000334804306764,3.51510539284e-05,1793193376495337472
+338,5.633333333,POSE2_TO_POSE3_RETREAT,763.742302783,742,712,673.484605565,659,632,877,783,799,649,629,650,0.405158505366,-0.00543017904355,0.0798086981656,0.999999942682,0.00015398832583,-0.000299395931293,3.58561470183e-05,1793193376512004096
+339,5.650000000,POSE2_TO_POSE3_RETREAT,763.153074363,742,712,672.306148727,659,632,877,783,799,649,629,650,0.404747279446,-0.00543240653965,0.079823086177,0.999999948218,0.000151898191324,-0.000281327193017,3.6696821784e-05,1793193376528670208
+340,5.666666667,POSE2_TO_POSE3_RETREAT,763.428869603,742,712,672,658.571130397,632,877,783.428869603,799,648.571130397,628.571130397,650.428869603,0.404339568349,-0.00543339862369,0.0798310093095,0.999999949123,0.000155273838959,-0.000275974974218,3.8496241367e-05,1793193376545336576
+341,5.683333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,658,632,877,784,799,648.008199602,628,651,0.403933940382,-0.00543395929664,0.0798365508133,0.999999948423,0.000160490565275,-0.000275224048622,4.05922328235e-05,1793193376562003200
+342,5.700000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,658,632,877,784,799,648.583556975,628,651,0.403587077387,-0.00543467034199,0.0798342977074,0.999999946006,0.000160366452683,-0.000284035934588,3.99274706503e-05,1793193376578670080
+343,5.716666667,POSE2_TO_POSE3_RETREAT,764,742.159404277,711.840595723,672.159404277,658.159404277,632,877,784,799,648.840595723,628.159404277,650.840595723,0.403255862428,-0.00543534302937,0.0798331538833,0.999999944374,0.000159377065888,-0.000290315431736,3.9598268532e-05,1793193376595337216
+344,5.733333333,POSE2_TO_POSE3_RETREAT,764,742.73653559,711.26346441,672.73653559,658.73653559,632,877,784,799,648.26346441,628.73653559,650.26346441,0.402965653867,-0.00543591519792,0.0798349169884,0.999999944969,0.000156120183935,-0.000289958676827,4.01484185091e-05,1793193376612003584
+345,5.750000000,POSE2_TO_POSE3_RETREAT,764,742.679922009,711.320077991,672.679922009,658.679922009,632,877,784,799,648.320077991,628.679922009,650.320077991,0.402700017175,-0.0054360683808,0.0798346191908,0.999999944533,0.000155720973658,-0.000291653328019,4.02786399179e-05,1793193376628670464
+346,5.766666667,POSE2_TO_POSE3_RETREAT,764,742.090994651,711.909005349,672.090994651,658.090994651,632,877,784,799,648.909005349,628.090994651,650.909005349,0.402455019632,-0.00543586963683,0.0798325903388,0.999999943226,0.000157722063624,-0.00029507105687,4.00561424802e-05,1793193376645337344
+347,5.783333333,POSE2_TO_POSE3_RETREAT,764,742.489813394,712,672,658.489813394,632.489813394,877,784,799,649,628.489813394,651,0.402244720288,-0.00543898800128,0.0798352687345,0.999999945219,0.000159491461359,-0.000287343791962,3.94808180289e-05,1793193376662003968
+348,5.800000000,POSE2_TO_POSE3_RETREAT,764,743,711.931427201,672,659,632.931427201,877.068572799,784,799,649,629,651,0.402045562916,-0.00544210942151,0.0798390905384,0.9999999477,0.000160814115961,-0.000277876887367,3.90374170273e-05,1793193376678670848
+349,5.816666667,POSE2_TO_POSE3_RETREAT,764,743,711.356836176,672,659,632.356836176,877.643163824,784,799,649,629,651,0.401881833885,-0.00544078018246,0.0798450020295,0.999999949921,0.000159152568912,-0.000270602005485,4.00433133606e-05,1793193376695337216
+350,5.833333333,POSE2_TO_POSE3_RETREAT,764,742.777145824,711,672,659,632,878,784,799,649,629,651,0.401731175908,-0.00544024243048,0.0798490760877,0.999999951879,0.000156101731439,-0.000264993880886,4.06470940495e-05,1793193376712003584
+351,5.850000000,POSE2_TO_POSE3_RETREAT,764,742.189099232,711,672,659,632,878,784,799,649,629,651,0.401601937558,-0.00544100169303,0.0798501391338,0.999999953457,0.000150774255962,-0.000262117081726,4.0591925432e-05,1793193376728669952
+352,5.866666667,POSE2_TO_POSE3_RETREAT,764,742,711.392480807,672,658.607519193,632,877.607519193,784,799.392480807,649,628.607519193,650.607519193,0.401481736824,-0.00544306737927,0.0798452091387,0.999999952911,0.000143047686274,-0.00026858575902,3.97155929934e-05,1793193376745336832
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764,742,711.970995782,672,658.029004218,632,877.029004218,784,799.970995782,649,628.029004218,650.029004218,0.401365819869,-0.00544575230464,0.0798374384687,0.999999951202,0.000134183956041,-0.000279484150542,3.84500325229e-05,1793193376762003712
+354,5.900000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,658,632,877,783.45193606,799.45193606,649,628.54806394,650,0.401272912613,-0.00544595520528,0.0798323260404,0.999999947941,0.000135305824294,-0.000290584458178,3.70360619612e-05,1793193376778670592
+355,5.916666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,658.124177698,632,877.124177698,783.124177698,799,649,629,650.124177698,0.401188841421,-0.00544556807486,0.0798278724082,0.999999944515,0.000140685465003,-0.000299803523887,3.5992999655e-05,1793193376795337472
+356,5.933333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,658.697118504,632,877.697118504,783.697118504,799,649,629,650.697118504,0.401132313624,-0.00544352208351,0.0798252925305,0.999999940955,0.000159547451931,-0.000302185498087,3.6318663145e-05,1793193376812004096
+357,5.950000000,POSE2_TO_POSE3_RETREAT,763.72068044,742.27931956,712,672,659,632,878,784,799,649,628.72068044,651,0.401085525242,-0.00544413343868,0.0798239285418,0.99999993911,0.000169031767033,-0.000303094185809,3.66432700693e-05,1793193376828670720
+358,5.966666667,POSE2_TO_POSE3_RETREAT,763.128093707,742.871906293,712,672,659,632,878,784,799,649,628.128093707,651,0.401049659976,-0.00544772510593,0.0798239282173,0.999999939497,0.000167998676775,-0.000302350528444,3.6966692008e-05,1793193376845336832
+359,5.983333333,POSE2_TO_POSE3_RETREAT,763.454297371,742.545702629,711.545702629,672,659,632.454297371,877.545702629,784,798.545702629,649.454297371,628.454297371,651,0.401022634544,-0.00544727399432,0.0798237890939,0.999999939055,0.000170760438145,-0.000302248103294,3.70986056016e-05,1793193376862003200
+360,6.000000000,POSE2_TO_POSE3_RETREAT,764,742,711.033565575,672,658.966434425,632.966434425,877.033565575,784,798.033565575,649.966434425,629,651,0.400998578355,-0.00544590406668,0.0798236421076,0.99999993845,0.000174061499165,-0.000302359714309,3.71739298426e-05,1793193376878669568
+361,6.016666667,POSE2_TO_POSE3_RETREAT,764,742,711.607820791,672,658.392179209,632.392179209,877.607820791,784,798.607820791,649.392179209,629,651,0.400983083365,-0.00544769244618,0.0798239850424,0.99999993907,0.000169192183919,-0.00030307060695,3.71884140027e-05,1793193376895336448
+362,6.033333333,POSE2_TO_POSE3_RETREAT,764,742,712,672.186364925,658.186364925,632,878,784,799,649,629,651,0.400970495453,-0.00544873388905,0.0798237366911,0.999999939306,0.000166353209361,-0.000303884153384,3.6994683992e-05,1793193376912003328
+363,6.050000000,POSE2_TO_POSE3_RETREAT,764,742,712,672.774147017,658.774147017,632,878,784,799,649,629,651,0.400964169191,-0.00544816648181,0.0798222147501,0.999999938758,0.000167887448926,-0.000304918808914,3.63524750499e-05,1793193376928670208
+364,6.066666667,POSE2_TO_POSE3_RETREAT,764,742,712,673,658.64298408,632,878,784,799.35701592,649,629,651,0.400961111333,-0.00544828314333,0.0798225114836,0.999999939116,0.000167678792335,-0.000303869652573,3.62642541358e-05,1793193376945337088
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764,742,712,673,658.063181074,632,878,784,799.936818926,649,629,651,0.400960093042,-0.00544882668123,0.0798239431165,0.999999940034,0.000166382524013,-0.00030152014431,3.65217358894e-05,1793193376962003456
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764,742.514357733,712,672.485642267,658.514357733,632,878,784,800,649,629,651,0.400958988963,-0.00544905970335,0.0798246178035,0.999999940516,0.00016625273801,-0.000300021912816,3.62669648403e-05,1793193376978670336
+367,6.116666667,POSE2_TO_POSE3_RETREAT,764,742.908978314,712,672.091021686,659,632.091021686,878,784.091021686,799.908978314,649,629,651,0.400958127784,-0.00544928015565,0.0798253383079,0.999999940915,0.000166505907709,-0.000298577115874,3.60100601841e-05,1793193376995336960
+368,6.133333333,POSE2_TO_POSE3_RETREAT,764,742.335483663,712,672.664516337,659,632.664516337,878,784.664516337,799.335483663,649,629,651,0.400958609743,-0.00544963527171,0.0798267923629,0.999999941168,0.000168032815074,-0.000296863715745,3.60739136198e-05,1793193377012003328
+369,6.150000000,POSE2_TO_POSE3_RETREAT,764,742.244014164,712,673,658.755985836,633,877.755985836,784.755985836,799,649,629,651,0.400958439725,-0.00544989864112,0.0798273265914,0.999999941322,0.000167805586223,-0.000296486612314,3.59563998714e-05,1793193377028669696
+370,6.166666667,POSE2_TO_POSE3_RETREAT,764,742.831973612,712,673,658.168026388,633,877.168026388,784.168026388,799,649,629,651,0.400957350723,-0.00545003269086,0.0798265642966,0.999999941337,0.000165105849662,-0.000297993059273,3.55832436324e-05,1793193377045336320
+371,6.183333333,POSE2_TO_POSE3_RETREAT,764,742.58408342,712,672.58408342,658,632.58408342,877.41591658,784,799,649,629,651,0.40095744485,-0.00544998728349,0.0798269462182,0.999999941668,0.000165069290511,-0.000296917118402,3.54447930901e-05,1793193377062003456
+372,6.200000000,POSE2_TO_POSE3_RETREAT,764,742.001747567,712,672.001747567,658,632.001747567,877.998252433,784,799,649,629,651,0.400958012379,-0.00544987007056,0.0798277859712,0.999999942123,0.000166098339457,-0.000294807895521,3.54002545412e-05,1793193377078670336
+373,6.216666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,658,632.57379641,878,784,799,649,629,651,0.400958561354,-0.00545156502636,0.0798285198947,0.999999942727,0.000164618246838,-0.000293546046538,3.57479554882e-05,1793193377095336960
+374,6.233333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,658.148893619,632.851106381,878,784,799,649,629,651,0.400958480367,-0.00545266855714,0.0798288341002,0.99999994306,0.000163267703519,-0.00029313644579,3.59683748111e-05,1793193377112003584
+375,6.250000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,658.72277387,632.27722613,878,784,799,649,629,651,0.400956601441,-0.00545206841575,0.0798279512149,0.999999942629,0.000162308489734,-0.000295152134842,3.58221246034e-05,1793193377128669952
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764,742.306342428,712,672,659,632,877.693657572,784,799,649,629,651,0.40095600882,-0.00545137339498,0.0798278130592,0.999999942571,0.000162044747688,-0.000295517483332,3.56077750236e-05,1793193377145336576
+377,6.283333333,POSE2_TO_POSE3_RETREAT,764,742.898964869,712,672,659,632,877.101035131,784,799,649,629,651,0.400956618263,-0.00545058970841,0.0798283708605,0.999999942866,0.000162430930717,-0.000294340572558,3.53297858936e-05,1793193377162003456
+378,6.300000000,POSE2_TO_POSE3_RETREAT,764,742.521360569,712,672,658.521360569,632,877,784,799,649,629,650.521360569,0.400958004226,-0.00545139494885,0.0798298464125,0.999999943557,0.000162312160491,-0.000292029529245,3.54795407218e-05,1793193377178670080
+379,6.316666667,POSE2_TO_POSE3_RETREAT,763.944483764,742,711.944483764,672,658.055516236,632.055516236,877.055516236,784,799,648.944483764,628.944483764,650.055516236,0.400959243512,-0.00545226839045,0.0798312296494,0.999999944123,0.000162501712768,-0.000289953887493,3.56915915331e-05,1793193377195336704
+380,6.333333333,POSE2_TO_POSE3_RETREAT,763.368886296,742,711.368886296,672,658.631113704,632.631113704,877.631113704,784,799,648.368886296,628.368886296,650.631113704,0.400957613601,-0.00545072141373,0.0798299810259,0.999999942784,0.000166551899944,-0.000292267176304,3.56636551131e-05,1793193377212004096
+381,6.350000000,POSE2_TO_POSE3_RETREAT,763.211763443,742,711.211763443,672,659,633,878,784,799,648.211763443,628.211763443,651,0.400957107718,-0.005450444666,0.0798292866018,0.999999942326,0.00016776662522,-0.000293147601952,3.56036812612e-05,1793193377228671232
+382,6.366666667,POSE2_TO_POSE3_RETREAT,763.801429173,742,711.801429173,672,659,633,878,784,799,648.801429173,628.801429173,651,0.400958607721,-0.00545243470452,0.0798295811737,0.999999943458,0.000163921328917,-0.000291471012622,3.54865350377e-05,1793193377245337600
+383,6.383333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,658.615807521,632.615807521,878,784,799.384192479,649,629,651,0.400959408821,-0.00545302212368,0.0798302336988,0.999999943937,0.000163240751541,-0.000290196611549,3.55462355286e-05,1793193377262003968
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,658.036548803,632.036548803,878,784,799.963451197,649,629,651,0.400959855065,-0.00545289739014,0.0798310679675,0.99999994409,0.000164166998591,-0.00028912641377,3.56957264933e-05,1793193377278670336
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,658,632,877.461507212,784,799.461507212,649,629,651,0.400958029542,-0.00545087783118,0.0798300480709,0.999999943135,0.000166748840968,-0.000290980621271,3.54214739842e-05,1793193377295336960
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764,742.113569034,712,672,658.113569034,632.113569034,877.113569034,784,799,649,628.886430966,651,0.4009564839,-0.00544916043124,0.0798291388632,0.999999942288,0.000168902793256,-0.000292676405178,3.5172183679e-05,1793193377312003584
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764,742.689943695,712,672,658.689943695,632.689943695,877.689943695,784,799,649,628.310056305,651,0.40095670226,-0.00544919437319,0.0798291895774,0.999999942224,0.000168858690099,-0.000292924028259,3.51409083048e-05,1793193377328669952
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764.273080053,743,712,672,659,632.726919947,877.726919947,784,799,649,628.273080053,651,0.400956115233,-0.00544965020687,0.0798288031958,0.999999942182,0.000167652041709,-0.000293761849239,3.51187005146e-05,1793193377345336576
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764.864088671,743,712,672,659,632.135911329,877.135911329,784,799,649,628.864088671,651,0.400954590547,-0.00545059722046,0.0798279079331,0.999999942159,0.000165091920831,-0.000295286797589,3.51070494928e-05,1793193377362003456
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764.555957674,742.555957674,712,672,659,632,877.444042326,784,799,649,629,651,0.40095534244,-0.00545093787874,0.0798284723884,0.999999942629,0.000163534110778,-0.000294582280198,3.49362899751e-05,1793193377378670336
+391,6.516666667,POSE2_TO_POSE3_RETREAT,764,742,712,672.0205307,658.9794693,632,877.9794693,784,799,649,629,651,0.400956716874,-0.00545109554615,0.0798294317493,0.999999943223,0.000162322848443,-0.000293256507395,3.47199509714e-05,1793193377395336960
+392,6.533333333,POSE2_TO_POSE3_RETREAT,764,742,712,672.592619519,658.407380481,632,877.407380481,784,799,649,629,651,0.400956550774,-0.00545120196863,0.0798292888933,0.999999943257,0.000162380023531,-0.000293127771613,3.45556505622e-05,1793193377412003840
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_04/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_04/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ad2d1aa284a10f30da3c82d009c6d95320d3c190
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_04/depth_01/simulation_data.csv
@@ -0,0 +1,394 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+1,0.016666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+2,0.033333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+3,0.050000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+4,0.066666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+5,0.083333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+6,0.100000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+7,0.116666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+8,0.133333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+9,0.150000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+10,0.166666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+11,0.183333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+12,0.200000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+13,0.216666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+14,0.233333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+15,0.250000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+16,0.266666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+17,0.283333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+18,0.300000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+19,0.316666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+20,0.333333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+21,0.350000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+22,0.366666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+23,0.383333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+24,0.400000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+25,0.416666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+26,0.433333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+27,0.450000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+28,0.466666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+29,0.483333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+30,0.500000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+31,0.516666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+32,0.533333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+33,0.550000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+34,0.566666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+35,0.583333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+36,0.600000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+37,0.616666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+38,0.633333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+39,0.650000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+40,0.666666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+41,0.683333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+42,0.700000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+43,0.716666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+44,0.733333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+45,0.750000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+46,0.766666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+47,0.783333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+48,0.800000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+49,0.816666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+50,0.833333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+51,0.850000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+52,0.866666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+53,0.883333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+54,0.900000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+55,0.916666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+56,0.933333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+57,0.950000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+58,0.966666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+59,0.983333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+60,1.000000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+61,1.016666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+62,1.033333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+63,1.050000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+64,1.066666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+65,1.083333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+66,1.100000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+67,1.116666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+68,1.133333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+69,1.150000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+70,1.166666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+71,1.183333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+72,1.200000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+73,1.216666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+74,1.233333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+75,1.250000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+76,1.266666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+77,1.283333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+78,1.300000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+79,1.316666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+80,1.333333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+81,1.350000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+82,1.366666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+83,1.383333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+84,1.400000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+85,1.416666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+86,1.433333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+87,1.450000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+88,1.466666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+89,1.483333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+90,1.500000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+91,1.516666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+92,1.533333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+93,1.550000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+94,1.566666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+95,1.583333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+96,1.600000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+97,1.616666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+98,1.633333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+99,1.650000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+100,1.666666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+101,1.683333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+102,1.700000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+103,1.716666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+104,1.733333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+105,1.750000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+106,1.766666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+107,1.783333333,pose1_to_pose2_press,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+108,1.800000000,pose1_to_pose2_press,0.575709424823,5.45797081243e-05,1.07002914221,0.546280154381,0.00872730679012,1.06969843072
+109,1.816666667,pose1_to_pose2_press,0.575709722768,5.45152316867e-05,1.07002914478,0.546280454176,0.00872724855786,1.06969843252
+110,1.833333333,pose1_to_pose2_press,0.575709989222,5.44957503865e-05,1.07002914544,0.546280721352,0.0087272315364,1.06969843337
+111,1.850000000,pose1_to_pose2_press,0.575710000257,5.44967240222e-05,1.07002914539,0.546280732374,0.00872723246621,1.06969843337
+112,1.866666667,pose1_to_pose2_press,0.575710102574,5.4505751751e-05,1.07002914494,0.546280834566,0.0087272410876,1.06969843338
+113,1.883333333,pose1_to_pose2_press,0.575710758413,5.45636183282e-05,1.07002914202,0.546281489604,0.00872729634956,1.0696984334
+114,1.900000000,pose1_to_pose2_press,0.575712839939,5.45769123875e-05,1.0700292991,0.54628356989,0.00872730515102,1.06969858298
+115,1.916666667,pose1_to_pose2_press,0.575717600179,5.45610219008e-05,1.07002926374,0.546288329828,0.00872728807857,1.06969854362
+116,1.933333333,pose1_to_pose2_press,0.575728131011,5.45771436156e-05,1.07002891077,0.546298859893,0.00872730219163,1.06969820603
+117,1.950000000,pose1_to_pose2_press,0.57574596689,5.45731497443e-05,1.07002932217,0.546316696961,0.00872730218774,1.06969861628
+118,1.966666667,pose1_to_pose2_press,0.575774450905,5.46568192557e-05,1.07002905767,0.546345180752,0.00872738525611,1.06969835583
+119,1.983333333,pose1_to_pose2_press,0.575814285242,5.45643458477e-05,1.07002926812,0.546385014051,0.00872728888458,1.0696985564
+120,2.000000000,pose1_to_pose2_press,0.57586754226,5.4650162401e-05,1.07002939113,0.54643827094,0.00872737395619,1.06969867119
+121,2.016666667,pose1_to_pose2_press,0.575932956944,5.4554492828e-05,1.07002921423,0.546503687251,0.00872728407483,1.06969850127
+122,2.033333333,pose1_to_pose2_press,0.576010984057,5.45366596816e-05,1.07002921925,0.546581714657,0.00872726739061,1.06969851032
+123,2.050000000,pose1_to_pose2_press,0.576101370492,5.44721950878e-05,1.07002909865,0.546672102481,0.00872720746012,1.0696983849
+124,2.066666667,pose1_to_pose2_press,0.576204782723,5.45015723857e-05,1.07002903814,0.54677551288,0.00872723060958,1.06969832401
+125,2.083333333,pose1_to_pose2_press,0.576325359969,5.45123795455e-05,1.07002909962,0.546896091278,0.0087272457003,1.0696983953
+126,2.100000000,pose1_to_pose2_press,0.57646317775,5.46229015738e-05,1.07002924722,0.547033907635,0.00872735122241,1.06969853844
+127,2.116666667,pose1_to_pose2_press,0.576620200132,5.44322362629e-05,1.07002912839,0.547190932399,0.00872716868445,1.06969842071
+128,2.133333333,pose1_to_pose2_press,0.576794112958,5.44702771185e-05,1.07002927782,0.547364844388,0.00872720364792,1.06969856398
+129,2.150000000,pose1_to_pose2_press,0.576984314855,5.45166497072e-05,1.07002919031,0.547555046086,0.00872724916385,1.06969847161
+130,2.166666667,pose1_to_pose2_press,0.577187931874,5.45082926612e-05,1.0700291119,0.54775866183,0.00872723700052,1.06969840678
+131,2.183333333,pose1_to_pose2_press,0.577406511554,5.45106921975e-05,1.07002925531,0.547977243038,0.0087272442917,1.06969854239
+132,2.200000000,pose1_to_pose2_press,0.577648368958,5.45032508195e-05,1.07002906205,0.548219099983,0.00872723554909,1.0696983558
+133,2.216666667,pose1_to_pose2_press,0.577915439929,5.46194633504e-05,1.070029224,0.548486170112,0.00872734872628,1.0696985131
+134,2.233333333,pose1_to_pose2_press,0.578211382785,5.45138964784e-05,1.07002917895,0.548782113566,0.00872724516823,1.06969846734
+135,2.250000000,pose1_to_pose2_press,0.57853779723,5.45743879967e-05,1.07002895418,0.549108527889,0.008727305257,1.06969824291
+136,2.266666667,pose1_to_pose2_press,0.578894088723,5.46645764908e-05,1.07002895176,0.549464817102,0.00872738825726,1.06969825479
+137,2.283333333,pose1_to_pose2_press,0.579273822073,5.45453649153e-05,1.07002913653,0.54984455447,0.00872728207513,1.06969842365
+138,2.300000000,pose1_to_pose2_press,0.579676087486,5.45772032498e-05,1.07002925555,0.550246816939,0.00872730395891,1.06969854353
+139,2.316666667,pose1_to_pose2_press,0.580102479386,5.46220810429e-05,1.07002905283,0.550673207714,0.00872734516439,1.06969834455
+140,2.333333333,pose1_to_pose2_press,0.58055035581,5.44764479008e-05,1.07002937395,0.55112108691,0.00872720850163,1.06969865421
+141,2.350000000,pose1_to_pose2_press,0.581020011797,5.4775261221e-05,1.07002940964,0.551590739794,0.00872749697767,1.06969869484
+142,2.366666667,pose1_to_pose2_press,0.581506515127,5.46667070646e-05,1.07002919659,0.552077243897,0.00872739114387,1.06969848437
+143,2.383333333,pose1_to_pose2_press,0.582009834586,5.46466868791e-05,1.07002916305,0.552580563396,0.00872737118889,1.06969844887
+144,2.400000000,pose1_to_pose2_press,0.582541581394,5.47731773182e-05,1.07002923519,0.553112309637,0.0087274958617,1.06969852378
+145,2.416666667,pose1_to_pose2_press,0.583105236101,5.47229516359e-05,1.07002905409,0.553675964145,0.0087274452384,1.06969834998
+146,2.433333333,pose1_to_pose2_press,0.583708658924,5.45614809074e-05,1.0700294104,0.55427938885,0.00872728985785,1.06969869846
+147,2.450000000,pose1_to_pose2_press,0.58434448487,5.47508102991e-05,1.07002934722,0.55491521249,0.0087274711073,1.06969862854
+148,2.466666667,pose1_to_pose2_press,0.585006847071,5.45679301772e-05,1.0700291769,0.555577575937,0.00872729269807,1.06969846451
+149,2.483333333,pose1_to_pose2_press,0.585675675682,5.45235309812e-05,1.07002916454,0.556246406228,0.00872725391756,1.06969845008
+150,2.500000000,pose1_to_pose2_press,0.586347537658,5.45549572217e-05,1.07002908587,0.556918268521,0.00872728705949,1.06969838811
+151,2.516666667,pose1_to_pose2_press,0.587024292003,5.46641534034e-05,1.07002909741,0.557595020107,0.00872738682629,1.06969839792
+152,2.533333333,pose1_to_pose2_press,0.587718989748,5.45226242934e-05,1.07002902796,0.558289720182,0.00872725300048,1.06969832308
+153,2.550000000,pose1_to_pose2_press,0.588441628863,5.46098825628e-05,1.07002923968,0.559012359472,0.00872734046219,1.06969852462
+154,2.566666667,pose1_to_pose2_press,0.589183626369,5.45689347554e-05,1.07002918891,0.559754357093,0.00872729987918,1.06969847317
+155,2.583333333,pose1_to_pose2_press,0.589939418726,5.46516169616e-05,1.07002933364,0.560510148902,0.00872738097444,1.06969862505
+156,2.600000000,pose1_to_pose2_press,0.590712643197,5.45426844518e-05,1.07002920931,0.561283374998,0.00872727735232,1.06969849535
+157,2.616666667,pose1_to_pose2_press,0.591498778472,5.45092243612e-05,1.07002916569,0.562069509476,0.00872724116235,1.06969845114
+158,2.633333333,pose1_to_pose2_press,0.592295050982,5.46489032617e-05,1.0700292442,0.562865780301,0.00872737525079,1.06969853298
+159,2.650000000,pose1_to_pose2_press,0.593106436657,5.46804636118e-05,1.07002917296,0.563677165682,0.0087274058132,1.0696984617
+160,2.666666667,pose1_to_pose2_press,0.593931726085,5.45937106084e-05,1.07002925296,0.564502457656,0.00872732769913,1.06969854176
+161,2.683333333,pose1_to_pose2_press,0.594757204342,5.46191191118e-05,1.07002916033,0.565327933275,0.00872734423778,1.06969845134
+162,2.700000000,pose1_to_pose2_press,0.595581978876,5.45773701716e-05,1.07002912181,0.566152709597,0.00872730880245,1.06969841926
+163,2.716666667,pose1_to_pose2_press,0.596404304153,5.45126116325e-05,1.07002926324,0.566975035605,0.0087272461391,1.06969855063
+164,2.733333333,pose1_to_pose2_press,0.59722292326,5.4529150999e-05,1.07002905268,0.567793654059,0.00872726053469,1.06969834208
+165,2.750000000,pose1_to_pose2_press,0.598032410985,5.45281436418e-05,1.07002914487,0.56860314204,0.00872726030764,1.06969843198
+166,2.766666667,pose1_to_pose2_press,0.598838112369,5.46627707479e-05,1.07002890795,0.569408841421,0.00872738851451,1.06969820498
+167,2.783333333,pose1_to_pose2_press,0.599642613576,5.4567216981e-05,1.07002909013,0.570213343925,0.00872729715594,1.06969838181
+168,2.800000000,pose1_to_pose2_press,0.600440220188,5.46322290153e-05,1.07002914133,0.571010949098,0.00872735718901,1.06969843061
+169,2.816666667,pose1_to_pose2_press,0.601236580741,5.47210226443e-05,1.07002922104,0.571807309595,0.00872744604767,1.06969851709
+170,2.833333333,pose1_to_pose2_press,0.602036911237,5.45855134157e-05,1.07002920519,0.572607642419,0.00872731791801,1.06969848766
+171,2.850000000,pose1_to_pose2_press,0.602834626937,5.46691814729e-05,1.07002902812,0.573405355285,0.00872739243615,1.06969832289
+172,2.866666667,pose1_to_pose2_press,0.603628020786,5.46460458123e-05,1.07002901647,0.574198749046,0.00872736892616,1.06969830938
+173,2.883333333,pose1_to_pose2_press,0.604414419228,5.44919211489e-05,1.07002925527,0.574985150599,0.00872722510294,1.06969854155
+174,2.900000000,pose1_to_pose2_press,0.605191106457,5.46202052595e-05,1.0700291982,0.575761836371,0.00872734911347,1.06969850212
+175,2.916666667,pose1_to_pose2_press,0.605939162058,5.45979239807e-05,1.07002925848,0.576509893405,0.00872733115416,1.06969854832
+176,2.933333333,pose1_to_pose2_press,0.606657725709,5.46500198652e-05,1.07002922822,0.577228455406,0.00872737794245,1.0696985258
+177,2.950000000,pose1_to_pose2_press,0.607348329688,5.45369088144e-05,1.07002928359,0.577919061511,0.00872727158988,1.06969856925
+178,2.966666667,pose1_to_pose2_press,0.60801727491,5.46857286025e-05,1.07002903425,0.578588004325,0.00872741258655,1.06969832919
+179,2.983333333,pose1_to_pose2_press,0.608669600204,5.46651991092e-05,1.07002925895,0.579240329747,0.00872739207712,1.06969854307
+180,3.000000000,pose1_to_pose2_press,0.609312268471,5.45606061942e-05,1.07002929636,0.57988299809,0.0087272876622,1.06969857842
+181,3.016666667,pose1_to_pose2_press,0.60993907412,5.46304857073e-05,1.07002894588,0.580509804294,0.00872735971494,1.0696982357
+182,3.033333333,pose1_to_pose2_press,0.610537444389,5.45366019063e-05,1.07002913919,0.581108175279,0.00872726801611,1.06969842265
+183,3.050000000,pose1_to_pose2_press,0.611103308994,5.45102814348e-05,1.07002904717,0.581674039225,0.00872723960622,1.06969833458
+184,3.066666667,pose1_to_pose2_press,0.61163344498,5.44284268362e-05,1.0700289229,0.582204177685,0.00872716622665,1.06969821242
+185,3.083333333,pose1_to_pose2_press,0.612140599449,5.44581572194e-05,1.07002928669,0.582711330856,0.00872719146883,1.06969857411
+186,3.100000000,pose1_to_pose2_press,0.612627810714,5.46040114858e-05,1.07002898995,0.583198539932,0.00872733031953,1.06969828898
+187,3.116666667,pose1_to_pose2_press,0.613094377626,5.46047775639e-05,1.07002886691,0.583665106458,0.00872732986977,1.06969816694
+188,3.133333333,pose1_to_pose2_press,0.613537916066,5.45112358028e-05,1.07002912225,0.58410864645,0.00872724149,1.06969841715
+189,3.150000000,pose1_to_pose2_press,0.613950717623,5.4486532951e-05,1.0700292746,0.584521449071,0.00872722026355,1.06969856202
+190,3.166666667,pose1_to_pose2_press,0.614333819735,5.45197173797e-05,1.07002921452,0.584904550653,0.00872725192476,1.06969850179
+191,3.183333333,pose1_to_pose2_press,0.614687266768,5.44828442484e-05,1.07002911713,0.5852579976,0.00872721556268,1.06969841344
+192,3.200000000,pose1_to_pose2_press,0.615024443101,5.43870713957e-05,1.07002905903,0.585595175039,0.00872712426156,1.0696983574
+193,3.216666667,pose1_to_pose2_press,0.61534939182,5.43934101256e-05,1.07002902302,0.585920123812,0.0087271312516,1.06969831134
+194,3.233333333,pose1_to_pose2_press,0.615664497057,5.44982354641e-05,1.07002913124,0.5862352275,0.00872723161431,1.06969841827
+195,3.250000000,pose1_to_pose2_press,0.615967419612,5.45456959169e-05,1.07002938011,0.586538149637,0.00872727772288,1.06969866251
+196,3.266666667,pose1_to_pose2_press,0.616253440685,5.45973037851e-05,1.07002929612,0.586824170057,0.00872732771414,1.06969857748
+197,3.283333333,pose1_to_pose2_press,0.616512760726,5.44235533962e-05,1.07002924152,0.587083491877,0.00872716079347,1.06969852414
+198,3.300000000,pose1_to_pose2_press,0.616743175101,5.44714850933e-05,1.07002907574,0.587313904844,0.00872720490782,1.0696983692
+199,3.316666667,pose1_to_pose2_press,0.61694892119,5.4570569971e-05,1.0700291984,0.587519649694,0.00872730003696,1.0696984905
+200,3.333333333,pose1_to_pose2_press,0.617132320307,5.45575010104e-05,1.07002944643,0.587703049911,0.00872729083421,1.06969872877
+201,3.350000000,pose1_to_pose2_press,0.617294194632,5.45963484458e-05,1.07002930139,0.587864922647,0.00872732457481,1.06969858198
+202,3.366666667,pose1_to_pose2_press,0.617438121276,5.46699303861e-05,1.07002933217,0.5880088484,0.00872739562632,1.06969861525
+203,3.383333333,pose1_to_pose2_press,0.617564198289,5.46243324535e-05,1.07002937945,0.588134926041,0.00872735250332,1.06969866234
+204,3.400000000,pose1_to_pose2_press,0.617672784286,5.46072226315e-05,1.07002921532,0.588243512008,0.00872733536572,1.06969849582
+205,3.416666667,pose1_to_pose2_press,0.61776457543,5.45080379664e-05,1.07002889824,0.588335305039,0.00872724316678,1.06969818962
+206,3.433333333,pose1_to_pose2_press,0.61784250008,5.45408668686e-05,1.07002888971,0.588413228361,0.0087272715331,1.06969818172
+207,3.450000000,pose1_to_pose2_press,0.617908906158,5.44007242366e-05,1.07002889241,0.588479637932,0.00872714359865,1.06969818485
+208,3.466666667,pose1_to_pose2_press,0.617964686992,5.46261651917e-05,1.07002912003,0.588535412621,0.0087273481965,1.06969840905
+209,3.483333333,pose1_to_pose2_press,0.618011889199,5.44332057781e-05,1.07002911067,0.588582618806,0.00872716883048,1.06969840639
+210,3.500000000,pose1_to_pose2_press,0.618050565792,5.44715496559e-05,1.07002896627,0.588621296273,0.00872721021909,1.06969825778
+211,3.516666667,pose1_to_pose2_press,0.618081790321,5.45030452288e-05,1.07002880741,0.588652519264,0.00872723677964,1.06969810216
+212,3.533333333,pose1_to_pose2_press,0.6181061632,5.44902368376e-05,1.0700288083,0.588676891323,0.00872722131191,1.06969810535
+213,3.550000000,pose1_to_pose2_press,0.618123991208,5.45084078751e-05,1.0700289631,0.588694719185,0.00872723879873,1.06969825578
+214,3.566666667,pose1_to_pose2_press,0.61813694444,5.4563075083e-05,1.07002915669,0.588707671867,0.00872729129552,1.06969844322
+215,3.583333333,pose1_to_pose2_press,0.618145661638,5.45703140516e-05,1.07002917277,0.588716389225,0.00872729916199,1.06969845656
+216,3.600000000,pose1_to_pose2_press,0.618151513558,5.45859847974e-05,1.07002920122,0.588722240922,0.00872731415272,1.06969848627
+217,3.616666667,pose1_to_pose2_press,0.618154939243,5.46039264125e-05,1.07002923219,0.588725666208,0.00872733080312,1.0696985205
+218,3.633333333,pose1_to_pose2_press,0.618157784052,5.46031702524e-05,1.07002923888,0.588728510936,0.00872732984251,1.06969853031
+219,3.650000000,pose1_to_pose2_press,0.618159858937,5.4501757616e-05,1.07002912109,0.588730587372,0.00872723387171,1.0696984176
+220,3.666666667,pose1_to_pose2_press,0.618160925492,5.44496283775e-05,1.07002906054,0.588731654724,0.00872718453975,1.06969835966
+221,3.683333333,pose1_to_pose2_press,0.618161680181,5.44127420272e-05,1.0700290177,0.588732409976,0.00872714963273,1.06969831866
+222,3.700000000,pose1_to_pose2_press,0.618162485036,5.43734036984e-05,1.07002897201,0.588733215433,0.00872711240531,1.06969827493
+223,3.716666667,pose1_to_pose2_press,0.618163048824,5.43736455026e-05,1.07002896676,0.588733779203,0.00872711260899,1.06969827018
+224,3.733333333,pose1_to_pose2_press,0.618163503307,5.44007469931e-05,1.07002898844,0.588734233247,0.00872713821158,1.06969829138
+225,3.750000000,pose1_to_pose2_press,0.618164132783,5.44382834919e-05,1.07002901846,0.588734862114,0.00872717367206,1.06969832075
+226,3.766666667,pose1_to_pose2_press,0.618164709828,5.44726934827e-05,1.07002904598,0.588735438602,0.00872720617894,1.06969834767
+227,3.783333333,pose1_to_pose2_press,0.618165055399,5.44933003512e-05,1.07002906246,0.588735783839,0.00872722564611,1.06969836379
+228,3.800000000,pose1_to_pose2_press,0.618165284839,5.45069821685e-05,1.0700290734,0.588736013057,0.00872723857122,1.0696983745
+229,3.816666667,pose1_to_pose2_press,0.618165443566,5.45164472445e-05,1.07002908097,0.58873617163,0.00872724751282,1.0696983819
+230,3.833333333,pose1_to_pose2_press,0.618165520612,5.4521041651e-05,1.07002908465,0.588736248602,0.00872725185312,1.0696983855
+231,3.850000000,pose1_to_pose2_press,0.618165534413,5.45218646009e-05,1.07002908531,0.588736262389,0.00872725263056,1.06969838614
+232,3.866666667,pose1_to_pose2_press,0.618165552775,5.45229595405e-05,1.07002908618,0.588736280733,0.00872725366494,1.069698387
+233,3.883333333,pose1_to_pose2_press,0.618165591025,5.45252404421e-05,1.07002908801,0.588736318947,0.00872725581969,1.06969838878
+234,3.900000000,pose1_to_pose2_press,0.618165674835,5.45302381819e-05,1.070029092,0.588736402676,0.00872726054102,1.06969839269
+235,3.916666667,pose1_to_pose2_press,0.618166081533,5.45480112325e-05,1.07002911248,0.588736809622,0.00872727903424,1.06969840925
+236,3.933333333,pose1_to_pose2_press,0.618166818452,5.45788332033e-05,1.07002914982,0.588737547128,0.00872731160088,1.06969843875
+237,3.950000000,pose1_to_pose2_press,0.618167325394,5.45875163637e-05,1.07002916182,0.588738054116,0.00872732035304,1.069698448
+238,3.966666667,pose1_to_pose2_press,0.618167652973,5.45663059707e-05,1.07002914025,0.588738380955,0.0087272967639,1.06969843034
+239,3.983333333,pose1_to_pose2_press,0.618167915823,5.46094567861e-05,1.0700291192,0.588738642758,0.00872733653404,1.0696984135
+240,4.000000000,pose1_to_pose2_press,0.618167951588,5.46490906838e-05,1.07002911423,0.588738678124,0.00872737488201,1.06969840972
+241,4.016666667,pose1_to_pose2_press,0.618167985174,5.46863105712e-05,1.07002910956,0.588738711336,0.00872741089387,1.06969840617
+242,4.033333333,pose2_hold,0.618167985174,5.46863105712e-05,1.07002910956,0.588738711338,0.00872741089674,1.06969840617
+243,4.050000000,pose2_hold,0.618167985174,5.46863105712e-05,1.07002910956,0.588738711338,0.00872741089721,1.06969840617
+244,4.066666667,pose2_hold,0.618167985174,5.46863105712e-05,1.07002910956,0.588738711338,0.00872741089735,1.06969840617
+245,4.083333333,pose2_hold,0.618167985174,5.46863105712e-05,1.07002910956,0.588738711339,0.00872741089695,1.06969840617
+246,4.100000000,pose2_hold,0.618167985174,5.46863105712e-05,1.07002910956,0.588738711339,0.00872741089692,1.06969840617
+247,4.116666667,pose2_hold,0.618167985174,5.46863105712e-05,1.07002910956,0.588738711339,0.00872741089756,1.06969840617
+248,4.133333333,pose2_hold,0.618167985174,5.46863105712e-05,1.07002910956,0.588738711339,0.00872741089772,1.06969840617
+249,4.150000000,pose2_hold,0.618167985174,5.46863105712e-05,1.07002910956,0.58873871134,0.00872741089725,1.06969840617
+250,4.166666667,pose2_hold,0.618167985174,5.46863105712e-05,1.07002910956,0.588738711339,0.00872741089779,1.06969840617
+251,4.183333333,pose2_hold,0.618167985174,5.46863105712e-05,1.07002910956,0.588738711339,0.00872741089793,1.06969840617
+252,4.200000000,pose2_hold,0.618167985174,5.46863105712e-05,1.07002910956,0.58873871134,0.00872741089747,1.06969840617
+253,4.216666667,pose2_hold,0.618167985174,5.46863105712e-05,1.07002910956,0.588738711339,0.008727410898,1.06969840617
+254,4.233333333,pose2_hold,0.618167985174,5.46863105712e-05,1.07002910956,0.58873871134,0.00872741089814,1.06969840617
+255,4.250000000,pose2_hold,0.618167985174,5.46863105712e-05,1.07002910956,0.58873871134,0.00872741089758,1.06969840617
+256,4.266666667,pose2_hold,0.618167985174,5.46863105712e-05,1.07002910956,0.58873871134,0.0087274108982,1.06969840617
+257,4.283333333,pose2_hold,0.618167985174,5.46863105712e-05,1.07002910956,0.58873871134,0.00872741089773,1.06969840617
+258,4.300000000,pose2_hold,0.618167985174,5.46863105712e-05,1.07002910956,0.58873871134,0.00872741089831,1.06969840617
+259,4.316666667,pose2_hold,0.618167985174,5.46863105712e-05,1.07002910956,0.588738711341,0.00872741089787,1.06969840617
+260,4.333333333,pose2_to_pose3_retreat,0.618167985174,5.46863105712e-05,1.07002910956,0.588738711341,0.00872741089862,1.06969840617
+261,4.350000000,pose2_to_pose3_retreat,0.61816789509,5.46368494408e-05,1.07002911178,0.588738622233,0.00872736475416,1.06969840838
+262,4.366666667,pose2_to_pose3_retreat,0.61816785867,5.46210278819e-05,1.07002911074,0.588738586137,0.00872735002949,1.06969840728
+263,4.383333333,pose2_to_pose3_retreat,0.618167854476,5.46218564797e-05,1.07002910939,0.588738581935,0.0087273508295,1.06969840589
+264,4.400000000,pose2_to_pose3_retreat,0.618167632504,5.466571319e-05,1.0700290379,0.588738359543,0.00872739317297,1.06969833233
+265,4.416666667,pose2_to_pose3_retreat,0.618166861819,5.4590778463e-05,1.07002911065,0.588737589123,0.00872731885931,1.06969839795
+266,4.433333333,pose2_to_pose3_retreat,0.618164110582,5.44659803361e-05,1.07002905841,0.588734840117,0.00872720163611,1.06969834575
+267,4.450000000,pose2_to_pose3_retreat,0.618157404957,5.44699476316e-05,1.07002921946,0.588728134998,0.00872720744543,1.0696985113
+268,4.466666667,pose2_to_pose3_retreat,0.618143516752,5.44380342171e-05,1.07002909619,0.588714247074,0.0087271761508,1.06969838364
+269,4.483333333,pose2_to_pose3_retreat,0.61811924961,5.44009480656e-05,1.07002876847,0.588689979364,0.00872713742785,1.06969806448
+270,4.500000000,pose2_to_pose3_retreat,0.618083090727,5.44574515391e-05,1.07002905807,0.588653819844,0.00872719182832,1.06969834571
+271,4.516666667,pose2_to_pose3_retreat,0.618035645979,5.44642513984e-05,1.0700292982,0.588606376244,0.00872720197483,1.06969857756
+272,4.533333333,pose2_to_pose3_retreat,0.617977894075,5.45701106141e-05,1.07002920539,0.58854862259,0.00872730166413,1.06969849893
+273,4.550000000,pose2_to_pose3_retreat,0.617910244972,5.46828359869e-05,1.0700291694,0.588480970997,0.00872740660549,1.0696984618
+274,4.566666667,pose2_to_pose3_retreat,0.61783312742,5.45963276922e-05,1.07002915605,0.588403854845,0.0087273242761,1.06969844383
+275,4.583333333,pose2_to_pose3_retreat,0.617745211271,5.45750871699e-05,1.07002914284,0.588315939099,0.00872730404525,1.06969843316
+276,4.600000000,pose2_to_pose3_retreat,0.617643688445,5.46914762815e-05,1.07002907218,0.588214414981,0.00872741578542,1.06969836217
+277,4.616666667,pose2_to_pose3_retreat,0.617527465567,5.46660690123e-05,1.07002917871,0.588098192703,0.00872739190843,1.06969846249
+278,4.633333333,pose2_to_pose3_retreat,0.617390104291,5.45729579236e-05,1.07002929984,0.587960832682,0.00872730267079,1.06969858132
+279,4.650000000,pose2_to_pose3_retreat,0.617232336957,5.45484612563e-05,1.07002929032,0.587803065386,0.00872727801975,1.06969857412
+280,4.666666667,pose2_to_pose3_retreat,0.617052506113,5.45970864713e-05,1.07002911094,0.587623234316,0.00872732566239,1.06969839996
+281,4.683333333,pose2_to_pose3_retreat,0.616849773129,5.4635064874e-05,1.07002910655,0.587420501827,0.0087273650533,1.06969839967
+282,4.700000000,pose2_to_pose3_retreat,0.616622710176,5.45592487097e-05,1.07002923006,0.587193439497,0.00872729068821,1.06969852052
+283,4.716666667,pose2_to_pose3_retreat,0.616371411702,5.45428672645e-05,1.07002906149,0.586942140917,0.00872727340866,1.06969835407
+284,4.733333333,pose2_to_pose3_retreat,0.616095289289,5.4538155136e-05,1.07002900241,0.586666019154,0.00872727053049,1.0696983016
+285,4.750000000,pose2_to_pose3_retreat,0.615789844278,5.45055121697e-05,1.07002911403,0.586360574986,0.00872723968569,1.06969840349
+286,4.766666667,pose2_to_pose3_retreat,0.615456300836,5.45801088557e-05,1.0700292604,0.586027030712,0.00872731040649,1.06969854237
+287,4.783333333,pose2_to_pose3_retreat,0.615093223973,5.46246570211e-05,1.07002906858,0.585663952603,0.00872735038775,1.0696983616
+288,4.800000000,pose2_to_pose3_retreat,0.6147089096,5.4598421455e-05,1.07002927645,0.585279639048,0.00872732589249,1.06969856255
+289,4.816666667,pose2_to_pose3_retreat,0.614305776194,5.46331860971e-05,1.07002936297,0.584876505665,0.00872735995555,1.06969864666
+290,4.833333333,pose2_to_pose3_retreat,0.613887345692,5.46222878694e-05,1.07002928754,0.584458075668,0.00872735031851,1.0696985726
+291,4.850000000,pose2_to_pose3_retreat,0.613452886633,5.46460211774e-05,1.07002931555,0.584023617251,0.0087273758941,1.06969860457
+292,4.866666667,pose2_to_pose3_retreat,0.612995528325,5.45870081816e-05,1.07002937696,0.58356625832,0.00872731484013,1.0696986691
+293,4.883333333,pose2_to_pose3_retreat,0.612512055292,5.45638695228e-05,1.07002932795,0.583082785322,0.0087272927461,1.06969862288
+294,4.900000000,pose2_to_pose3_retreat,0.611998691091,5.47163145501e-05,1.07002921651,0.582569419782,0.00872744068176,1.06969851292
+295,4.916666667,pose2_to_pose3_retreat,0.611451103161,5.46256990339e-05,1.07002917497,0.582021833608,0.00872735570283,1.06969846219
+296,4.933333333,pose2_to_pose3_retreat,0.610870695935,5.4584590352e-05,1.07002936441,0.581441426712,0.00872731573409,1.06969865149
+297,4.950000000,pose2_to_pose3_retreat,0.610265114775,5.45116789328e-05,1.07002902247,0.580835846058,0.00872724470038,1.06969831544
+298,4.966666667,pose2_to_pose3_retreat,0.609632973453,5.45629183265e-05,1.07002914038,0.580203704284,0.00872729440517,1.0696984323
+299,4.983333333,pose2_to_pose3_retreat,0.608967580935,5.46201138708e-05,1.07002940859,0.579538311418,0.00872735009265,1.06969869215
+300,5.000000000,pose2_to_pose3_retreat,0.608269272604,5.4578272141e-05,1.07002941848,0.578840006069,0.00872731817637,1.06969869751
+301,5.016666667,pose2_to_pose3_retreat,0.607534585387,5.46737147601e-05,1.07002911509,0.578105314215,0.00872739848712,1.06969840938
+302,5.033333333,pose2_to_pose3_retreat,0.606779112787,5.45176411428e-05,1.07002903678,0.577349842891,0.00872724641275,1.0696983226
+303,5.050000000,pose2_to_pose3_retreat,0.60600984172,5.47405348528e-05,1.07002903715,0.576580569131,0.00872746044524,1.06969833042
+304,5.066666667,pose2_to_pose3_retreat,0.605238962715,5.46583146468e-05,1.07002921902,0.575809692132,0.00872738493204,1.06969850875
+305,5.083333333,pose2_to_pose3_retreat,0.60446672872,5.46243949316e-05,1.07002887901,0.575037460464,0.00872735922587,1.06969817749
+306,5.100000000,pose2_to_pose3_retreat,0.603688701738,5.45879740566e-05,1.0700290506,0.574259431366,0.00872731528123,1.06969833994
+307,5.116666667,pose2_to_pose3_retreat,0.602884766667,5.45514757262e-05,1.0700292582,0.573455497763,0.00872728375606,1.06969854691
+308,5.133333333,pose2_to_pose3_retreat,0.602051341626,5.44546631871e-05,1.0700291873,0.5726220733,0.00872718856456,1.06969846624
+309,5.150000000,pose2_to_pose3_retreat,0.601192262165,5.4664970545e-05,1.07002915815,0.571762991513,0.0087273911957,1.06969844319
+310,5.166666667,pose2_to_pose3_retreat,0.600315565495,5.468883932e-05,1.07002909613,0.570886296025,0.00872741942507,1.06969839096
+311,5.183333333,pose2_to_pose3_retreat,0.599429771689,5.46185380977e-05,1.07002895213,0.570000501078,0.00872734513827,1.06969824399
+312,5.200000000,pose2_to_pose3_retreat,0.598554684112,5.48055783443e-05,1.07002928059,0.569125412044,0.00872752686814,1.06969856273
+313,5.216666667,pose2_to_pose3_retreat,0.597701708586,5.45618377421e-05,1.0700291488,0.568272440466,0.00872729677137,1.06969843729
+314,5.233333333,pose2_to_pose3_retreat,0.596858507976,5.45288691418e-05,1.07002918316,0.567429238501,0.00872725901942,1.06969846637
+315,5.250000000,pose2_to_pose3_retreat,0.59602289216,5.45915040895e-05,1.07002925962,0.56659362265,0.00872732175903,1.06969854782
+316,5.266666667,pose2_to_pose3_retreat,0.595186801331,5.47381103229e-05,1.070029087,0.565757529821,0.00872746206517,1.0696983877
+317,5.283333333,pose2_to_pose3_retreat,0.594341774445,5.45419742064e-05,1.07002899626,0.564912504879,0.00872727235091,1.06969829236
+318,5.300000000,pose2_to_pose3_retreat,0.59348345515,5.45972093347e-05,1.07002910009,0.564054184038,0.00872732251543,1.0696984007
+319,5.316666667,pose2_to_pose3_retreat,0.592620388724,5.45748350339e-05,1.07002927207,0.563191120414,0.00872730916902,1.0696985601
+320,5.333333333,pose2_to_pose3_retreat,0.591755837373,5.46564807822e-05,1.07002926195,0.562326567053,0.0087273839208,1.069698548
+321,5.350000000,pose2_to_pose3_retreat,0.590911245004,5.45971897297e-05,1.07002911237,0.561481974253,0.00872732346834,1.06969840622
+322,5.366666667,pose2_to_pose3_retreat,0.590087505307,5.46285851422e-05,1.07002905657,0.560658234359,0.00872735375129,1.06969833883
+323,5.383333333,pose2_to_pose3_retreat,0.589290873866,5.45294340024e-05,1.07002900204,0.559861605513,0.00872726399156,1.06969829956
+324,5.400000000,pose2_to_pose3_retreat,0.588515753365,5.4587219456e-05,1.07002910357,0.559086483796,0.00872731769286,1.06969840219
+325,5.416666667,pose2_to_pose3_retreat,0.587756295568,5.4615655345e-05,1.07002911207,0.558327027017,0.00872734960727,1.06969841128
+326,5.433333333,pose2_to_pose3_retreat,0.587011277263,5.46304436639e-05,1.07002925712,0.557582007845,0.00872736095978,1.0696985434
+327,5.450000000,pose2_to_pose3_retreat,0.586280277331,5.46535800219e-05,1.07002891246,0.556851005284,0.00872737542644,1.06969820526
+328,5.466666667,pose2_to_pose3_retreat,0.585569056004,5.45914674853e-05,1.07002916264,0.556139786892,0.00872732311177,1.06969845119
+329,5.483333333,pose2_to_pose3_retreat,0.584884825475,5.45612662065e-05,1.07002924932,0.55545555592,0.00872729143615,1.06969853861
+330,5.500000000,pose2_to_pose3_retreat,0.584236773932,5.46295057917e-05,1.07002899316,0.554807502682,0.00872735419631,1.06969828961
+331,5.516666667,pose2_to_pose3_retreat,0.58360867547,5.44744398657e-05,1.07002904586,0.554179406975,0.00872720806849,1.06969833285
+332,5.533333333,pose2_to_pose3_retreat,0.582993187436,5.44807925755e-05,1.07002923434,0.55356391968,0.00872721716693,1.06969852699
+333,5.550000000,pose2_to_pose3_retreat,0.582394194768,5.45886286307e-05,1.07002891487,0.552964923315,0.00872731221044,1.06969820059
+334,5.566666667,pose2_to_pose3_retreat,0.581815171464,5.46309526674e-05,1.07002905283,0.552385903396,0.00872736591913,1.06969833657
+335,5.583333333,pose2_to_pose3_retreat,0.581265648844,5.4591565392e-05,1.07002904818,0.551836379178,0.00872732121049,1.06969833423
+336,5.600000000,pose2_to_pose3_retreat,0.580755763608,5.45680108574e-05,1.07002911033,0.551326495417,0.00872730296159,1.06969840459
+337,5.616666667,pose2_to_pose3_retreat,0.580292810365,5.45099225413e-05,1.07002906322,0.550863540143,0.00872723759066,1.06969834667
+338,5.633333333,pose2_to_pose3_retreat,0.579856095261,5.45475439934e-05,1.07002928955,0.55042682685,0.00872728126599,1.06969857056
+339,5.650000000,pose2_to_pose3_retreat,0.579440933901,5.45552359923e-05,1.07002904057,0.550011664121,0.00872728462407,1.06969832971
+340,5.666666667,pose2_to_pose3_retreat,0.579045239791,5.45455367993e-05,1.07002925198,0.549615969375,0.00872727274591,1.06969854055
+341,5.683333333,pose2_to_pose3_retreat,0.578669185595,5.47222158247e-05,1.07002906053,0.549239912845,0.00872744136144,1.06969834554
+342,5.700000000,pose2_to_pose3_retreat,0.578317163434,5.44766886885e-05,1.07002899066,0.54888789426,0.00872720844583,1.06969828821
+343,5.716666667,pose2_to_pose3_retreat,0.577993494822,5.46047655087e-05,1.07002939302,0.548564223268,0.00872732787669,1.06969867589
+344,5.733333333,pose2_to_pose3_retreat,0.577701458758,5.45535625524e-05,1.07002887775,0.548272189594,0.00872728555772,1.06969818082
+345,5.750000000,pose2_to_pose3_retreat,0.577436744559,5.45224193096e-05,1.07002912176,0.548007476381,0.00872725724007,1.06969841115
+346,5.766666667,pose2_to_pose3_retreat,0.577198169014,5.4568316974e-05,1.07002927312,0.547768898281,0.00872729430258,1.06969855816
+347,5.783333333,pose2_to_pose3_retreat,0.57698468345,5.45663932573e-05,1.07002929098,0.547555412972,0.00872729315989,1.06969857372
+348,5.800000000,pose2_to_pose3_retreat,0.57679404627,5.45536481602e-05,1.0700293655,0.54736477719,0.00872728534258,1.06969865322
+349,5.816666667,pose2_to_pose3_retreat,0.576626299522,5.457941395e-05,1.07002904934,0.547197029168,0.00872730683785,1.06969833841
+350,5.833333333,pose2_to_pose3_retreat,0.576476449737,5.45687605817e-05,1.07002921337,0.547047179711,0.00872729739439,1.06969850502
+351,5.850000000,pose2_to_pose3_retreat,0.576343185485,5.45643786715e-05,1.07002906512,0.546913915393,0.00872729302454,1.06969836303
+352,5.866666667,pose2_to_pose3_retreat,0.576224041128,5.46459833855e-05,1.07002909753,0.54679476954,0.00872736931234,1.06969838911
+353,5.883333333,pose2_to_pose3_retreat,0.576118171365,5.46133741839e-05,1.07002930365,0.54668890074,0.00872733955727,1.06969858486
+354,5.900000000,pose2_to_pose3_retreat,0.576026700209,5.45796765996e-05,1.07002937969,0.546597430511,0.00872730888104,1.06969865785
+355,5.916666667,pose2_to_pose3_retreat,0.575949723854,5.45665425421e-05,1.07002925725,0.546520453303,0.00872729312347,1.06969854237
+356,5.933333333,pose2_to_pose3_retreat,0.575888648293,5.46298300705e-05,1.07002915459,0.546459376894,0.0087273536545,1.06969844275
+357,5.950000000,pose2_to_pose3_retreat,0.575840563783,5.46869217284e-05,1.07002915068,0.546411292658,0.00872741173464,1.06969844035
+358,5.966666667,pose2_to_pose3_retreat,0.575804238056,5.46277685508e-05,1.07002914012,0.546374967518,0.00872735460399,1.06969843063
+359,5.983333333,pose2_to_pose3_retreat,0.575776006666,5.46048697148e-05,1.07002923732,0.546346736177,0.00872733181397,1.06969852629
+360,6.000000000,pose2_to_pose3_retreat,0.575754497225,5.46259588611e-05,1.07002932122,0.546325227,0.00872735372139,1.06969860812
+361,6.016666667,pose2_to_pose3_retreat,0.575738752103,5.45689890467e-05,1.07002915329,0.546309482264,0.00872729791044,1.06969843628
+362,6.033333333,pose2_to_pose3_retreat,0.57572754793,5.46128191553e-05,1.07002904395,0.54629827647,0.00872733637806,1.0696983306
+363,6.050000000,pose2_to_pose3_retreat,0.575720791588,5.45843869749e-05,1.0700291309,0.546291520236,0.0087273083627,1.06969841895
+364,6.066666667,pose2_to_pose3_retreat,0.575716721297,5.46012964078e-05,1.07002921989,0.546287450316,0.0087273264157,1.069698505
+365,6.083333333,pose2_to_pose3_retreat,0.575714687812,5.46221083241e-05,1.07002927765,0.546285417127,0.00872734812311,1.06969855992
+366,6.100000000,pose2_to_pose3_retreat,0.575713781598,5.46286967387e-05,1.07002930422,0.546284511087,0.00872735525903,1.06969858537
+367,6.116666667,pose2_to_pose3_retreat,0.575713381379,5.46194596904e-05,1.0700293197,0.546284111136,0.0087273469349,1.06969860102
+368,6.133333333,pose2_to_pose3_retreat,0.575712970568,5.46099781598e-05,1.07002933559,0.546283700598,0.00872733839046,1.06969861709
+369,6.150000000,pose2_to_pose3_retreat,0.575712739253,5.46046394101e-05,1.07002934454,0.546283469438,0.00872733357936,1.06969862614
+370,6.166666667,pose2_to_pose3_retreat,0.575712721965,5.46042403989e-05,1.07002934521,0.546283452161,0.00872733321978,1.06969862682
+371,6.183333333,pose2_to_pose3_retreat,0.575712714716,5.46040730946e-05,1.07002934549,0.546283444917,0.00872733306901,1.0696986271
+372,6.200000000,pose2_to_pose3_retreat,0.575712708628,5.46039325754e-05,1.07002934573,0.546283438833,0.00872733294238,1.06969862734
+373,6.216666667,pose2_to_pose3_retreat,0.575712596382,5.46013419431e-05,1.07002935007,0.546283326662,0.00872733060779,1.06969863173
+374,6.233333333,pose2_to_pose3_retreat,0.575712381259,5.4596376889e-05,1.07002935839,0.546283111682,0.00872732613344,1.06969864015
+375,6.250000000,pose2_to_pose3_retreat,0.575712172414,5.45915567519e-05,1.07002936647,0.546282902977,0.0087273217897,1.06969864832
+376,6.266666667,pose2_to_pose3_retreat,0.575712088954,5.45896304894e-05,1.0700293697,0.546282819572,0.00872732005381,1.06969865158
+377,6.283333333,pose2_to_pose3_retreat,0.575711974632,5.4586991926e-05,1.07002937412,0.546282705326,0.00872731767603,1.06969865605
+378,6.300000000,pose2_to_pose3_retreat,0.575711823006,5.45834923965e-05,1.07002937998,0.546282553801,0.00872731452236,1.06969866199
+379,6.316666667,pose2_to_pose3_retreat,0.575711658386,5.45796929717e-05,1.07002938635,0.546282389291,0.00872731109845,1.06969866842
+380,6.333333333,pose2_to_pose3_retreat,0.575711360357,5.45728144477e-05,1.07002939788,0.54628209146,0.00872730489975,1.06969868008
+381,6.350000000,pose2_to_pose3_retreat,0.575711149942,5.45679580796e-05,1.07002940602,0.546281881186,0.00872730052335,1.06969868831
+382,6.366666667,pose2_to_pose3_retreat,0.575711058329,5.45658436435e-05,1.07002940956,0.546281789634,0.00872729861789,1.0696986919
+383,6.383333333,pose2_to_pose3_retreat,0.575711005028,5.45661881627e-05,1.07002940399,0.546281736246,0.00872729867733,1.0696986865
+384,6.400000000,pose2_to_pose3_retreat,0.575710925172,5.45667216638e-05,1.07002939555,0.546281656261,0.00872729877925,1.06969867834
+385,6.416666667,pose2_to_pose3_retreat,0.575710681252,5.45683512504e-05,1.07002936977,0.546281411942,0.00872729909055,1.06969865341
+386,6.433333333,pose2_to_pose3_retreat,0.575710259636,5.45711679898e-05,1.07002932521,0.546280989639,0.00872729962865,1.06969861032
+387,6.450000000,pose2_to_pose3_retreat,0.575709615248,5.45820895506e-05,1.07002923111,0.54628034434,0.00872730754555,1.06969851855
+388,6.466666667,pose2_to_pose3_retreat,0.575709323828,5.4595813339e-05,1.07002915402,0.546280052693,0.0087273205451,1.06969844264
+389,6.483333333,pose2_to_pose3_retreat,0.575709298561,5.4597003203e-05,1.07002914734,0.546280027407,0.00872732167217,1.06969843606
+390,6.500000000,pose2_to_pose3_retreat,0.575709282133,5.45977768847e-05,1.07002914299,0.546280010965,0.00872732240502,1.06969843178
+391,6.516666667,pose2_to_pose3_retreat,0.575709261049,5.46082500462e-05,1.070029172,0.546279990002,0.00872733322614,1.06969845922
+392,6.533333333,pose2_to_pose3_retreat,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_04/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_04/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6305efd461743f979933fb17387cf7179126158d
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_04/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:275eb5b326d29adfe16b7e74855fc449b39bb9a0c73f2d0347b23bffa918a888
+size 25207980
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_04/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_04/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b6ed2fb8cf3603467c0e8b0a4f711b2deacf504c
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_04/depth_02/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,764,742,712,672,659,632,877,784,799,649,629,651,0.400956016048,-0.00545373878432,0.0798297442436,0.999999944227,0.000159955766077,-0.00029109114561,3.50086015154e-05,1793193377538990080
+1,0.016666667,BASELINE,764,742,712,672,658.402372236,632.597627764,877,784,799.597627764,649,628.402372236,651,0.40095578304,-0.00545237222858,0.0798295001706,0.999999943511,0.000162742374305,-0.000292019530415,3.48790195954e-05,1793193377555657216
+2,0.033333333,BASELINE,764,742,712,672,658.188696748,632.811303252,877.188696748,784,799.622606504,649,628,651,0.400955928758,-0.00545131282731,0.0798296332262,0.99999994313,0.000164884790971,-0.000292139040255,3.47440561131e-05,1793193377572324096
+3,0.050000000,BASELINE,764,742,712,672,658.766249849,632.233750151,877.766249849,784,798.467500302,649,628,651,0.400956854936,-0.00545088639362,0.0798305434484,0.999999943452,0.000165699691994,-0.0002905916632,3.45980025665e-05,1793193377588990208
+4,0.066666667,BASELINE,764,742.342753608,712,672,658.657246392,632,878,784,798.685507216,649,628,651,0.400957059735,-0.00545103737568,0.0798306472756,0.99999994352,0.000165798819248,-0.00029029411451,3.46360790149e-05,1793193377605656832
+5,0.083333333,BASELINE,764,742.91854389,712,672,658.08145611,632,878,784,799.83708778,649,628,651,0.400956774071,-0.0054515809402,0.0798302028382,0.999999943418,0.000165411295012,-0.000290846318734,3.47993446475e-05,1793193377622323456
+6,0.100000000,BASELINE,764,742.507730383,712,672,658,632,877.507730383,784,799.507730383,649,628,651,0.400956638773,-0.00545234141665,0.0798301046907,0.999999943899,0.000162022749595,-0.000291119476509,3.46446014048e-05,1793193377638990080
+7,0.116666667,BASELINE,764,742,712,672,658.0680832,632,877,784,799,649,628.0680832,651,0.400956624121,-0.00545314857939,0.079830175971,0.999999944408,0.000158826340889,-0.000291145943559,3.45172052174e-05,1793193377655657216
+8,0.133333333,BASELINE,764,742,712,672,658.662673635,632,877,784,799,649,628.662673635,651,0.40095735084,-0.00545404037276,0.0798311162124,0.999999944496,0.000160939945063,-0.000289620264729,3.50065265121e-05,1793193377672323328
+9,0.150000000,BASELINE,764,742,712,672,658.750462482,632,876.750462482,784,799,649,628.750462482,650.750462482,0.400957212013,-0.00545424256546,0.0798311280551,0.99999994429,0.000162272382069,-0.000289558271383,3.52526465569e-05,1793193377688989952
+10,0.166666667,BASELINE,764,742,712,672,658.173729751,632,876.173729751,784,799,649,628.173729751,650.173729751,0.400955938275,-0.0054535405492,0.0798299225753,0.999999943703,0.000162580547452,-0.000291415472065,3.51798795058e-05,1793193377705656320
+11,0.183333333,BASELINE,764,742,712,672,658.802088903,632.401044451,876.802088903,784,799.401044451,649,628,650.401044451,0.400956218582,-0.00545296424063,0.0798301092124,0.999999943776,0.000162621472466,-0.000291162897583,3.50317946181e-05,1793193377722323200
+12,0.200000000,BASELINE,764,742,712,672,659.949948809,632.974974405,877.949948809,784,799.974974405,649,628,650.974974405,0.400957168819,-0.00545244212309,0.0798308959744,0.999999944132,0.000162547193356,-0.000290000824233,3.48512410991e-05,1793193377738990080
+13,0.216666667,BASELINE,764,742.559922823,712,672,658.880154354,632.440077177,877.440077177,783.440077177,800,648.440077177,628.559922823,650.440077177,0.400958064535,-0.00545205058764,0.0798317555988,0.999999944549,0.000163330407682,-0.000288107836168,3.49267584799e-05,1793193377755656448
+14,0.233333333,BASELINE,764,742.854931238,712,672,658.145068762,632,877,783.145068762,799.854931238,648.145068762,629,650.145068762,0.400958652459,-0.00545174649763,0.0798322511617,0.999999944801,0.000164092644971,-0.000286790181624,3.49695480205e-05,1793193377772322816
+15,0.250000000,BASELINE,764,742.270707952,712,672,658.729292048,632,877,783.729292048,799.270707952,648.729292048,629,650.729292048,0.400958316153,-0.00545168910134,0.0798316345762,0.999999944558,0.00016467303214,-0.000287315063979,3.4877921306e-05,1793193377788989696
+16,0.266666667,BASELINE,764,742.308880851,712,672,659,632,877,784,799,649,628.691119149,651,0.400957941264,-0.0054522758849,0.0798314396966,0.999999944511,0.000163781025229,-0.000288010466958,3.46979631939e-05,1793193377805656576
+17,0.283333333,BASELINE,764,742.884467927,712,672,659,632,877,784,799,649,628.115532073,651,0.400957533059,-0.00545341889193,0.079831608943,0.999999944629,0.000161617665053,-0.000288853107622,3.44417344682e-05,1793193377822323456
+18,0.300000000,BASELINE,764,742.530996346,712,672,659,632,877,784,799,649,628,651,0.400957426429,-0.00545302194809,0.0798313478962,0.999999944326,0.000162726169934,-0.000289266364057,3.45559317611e-05,1793193377838989824
+19,0.316666667,BASELINE,764,742,712,672,659,632,877,784,799,649,628.055080995,650.944919005,0.400957302989,-0.00545234131582,0.0798309679581,0.999999943965,0.000164241387385,-0.000289640432004,3.46986286956e-05,1793193377855656448
+20,0.333333333,BASELINE,764,742,712,672,659,632,877,784,799,649,628.634441949,650.365558051,0.400956298693,-0.0054526413994,0.0798304849068,0.99999994408,0.000161807063082,-0.000290667851936,3.42271619579e-05,1793193377872323072
+21,0.350000000,BASELINE,764,742,712,672.212868817,659,632,877,784,799,649,629,650.212868817,0.400955722471,-0.00545283134341,0.0798303326162,0.999999944212,0.000160269323159,-0.000291086671089,3.40373135749e-05,1793193377888989696
+22,0.366666667,BASELINE,764,742,712,672.789698537,659,632,877,784,799,649,629,650.789698537,0.400955878164,-0.00545283297189,0.0798307458572,0.999999944383,0.000160264554191,-0.000290464910814,3.43289733922e-05,1793193377905656320
+23,0.383333333,BASELINE,764,742,712,672.634472055,658.634472055,632,877,784,798.634472055,649,628.634472055,651,0.400956636101,-0.00545309554729,0.0798312650786,0.999999944431,0.000161459734047,-0.000289592444935,3.47062011505e-05,1793193377922322944
+24,0.400000000,BASELINE,764,742,712,672.059216537,658.059216537,632,877,784,798.059216537,649,628.059216537,651,0.400957739584,-0.00545350784522,0.0798318451082,0.999999944404,0.000163343403956,-0.000288576132599,3.5132524927e-05,1793193377938989824
+25,0.416666667,BASELINE,764,742,712,672,658,632,877,784,798.52837607,649,628,650.47162393,0.400956928039,-0.00545287829216,0.079830837556,0.999999944076,0.000162624815484,-0.000290168105654,3.46915478634e-05,1793193377955656448
+26,0.433333333,BASELINE,764,742,712,672,658.115496069,632,877.115496069,784,799,649,628.115496069,650.115496069,0.400956301664,-0.00545242368949,0.0798300872228,0.999999943916,0.000161908393466,-0.000291159085968,3.43449867416e-05,1793193377972323328
+27,0.450000000,BASELINE,764,742,712,672,658.695029423,632,877.695029423,784,799,649,628.695029423,650.695029423,0.40095730218,-0.00545315234142,0.0798311022891,0.999999944583,0.000162400441577,-0.000288532868054,3.47776348674e-05,1793193377988989696
+28,0.466666667,BASELINE,764,742,711.72715265,672,659,632.27284735,877.72715265,784,799,649,629,651,0.400957625162,-0.00545297631913,0.0798313000196,0.999999944693,0.000163134534014,-0.000287741950983,3.47309259222e-05,1793193378005656064
+29,0.483333333,BASELINE,764,742,711.151240165,672,659,632.848759835,877.151240165,784,799,649,629,651,0.400957195574,-0.00545179543013,0.0798305898946,0.999999944189,0.000164137477103,-0.000288989594077,3.41517711904e-05,1793193378022322688
+30,0.500000000,BASELINE,764,742,711.424319786,672,659,632.575680214,877,784,799,649,628.575680214,650.575680214,0.400957619939,-0.00545265042182,0.0798309558939,0.999999944237,0.000163704109776,-0.00028906115723,3.42115918084e-05,1793193378038989312
+31,0.516666667,BASELINE,764,742,711.999754174,672,659,632.000245826,877,784,799,649,628.000245826,650.000245826,0.400958348425,-0.00545423045938,0.0798317051373,0.999999944482,0.000162759223788,-0.000288713878578,3.44989731363e-05,1793193378055655936
+32,0.533333333,BASELINE,763.410992453,742,711.410992453,671.410992453,659,632.589007547,877,784,799,648.410992453,628,650,0.400956602497,-0.00545400554976,0.0798303868943,0.999999944018,0.0001626255362,-0.000290369163748,3.46863352783e-05,1793193378072323072
+33,0.550000000,BASELINE,763.175293659,742,711.175293659,671.175293659,659,633,877,784,799,648.175293659,628,650.175293659,0.400955966247,-0.00545362991726,0.0798299385375,0.999999943972,0.000162398418089,-0.000290649947405,3.47152377156e-05,1793193378088990208
+34,0.566666667,BASELINE,763.754725084,742,711.754725084,671.754725084,659,633,877,784,799,648.754725084,628,650.754725084,0.400957890785,-0.00545290857317,0.0798314977324,0.999999944891,0.000161955097571,-0.000287759858251,3.43789114237e-05,1793193378105656832
+35,0.583333333,BASELINE,764,742.331329455,712,672,659,632.668670545,877.331329455,784,799,649,628.331329455,651,0.400957077655,-0.00545227317959,0.0798313016274,0.999999944513,0.000162756029643,-0.000288637789029,3.42440375812e-05,1793193378122323456
+36,0.600000000,BASELINE,764,742.905858796,712,672,659,632.094141204,877.905858796,784,799,649,628.905858796,651,0.400954255044,-0.00545170087466,0.0798298171109,0.999999943174,0.000164470258334,-0.000292281492361,3.42570322726e-05,1793193378138989568
+37,0.616666667,BASELINE,763.519732273,743,712,672,659,632.480267727,877.519732273,784,799,649,629,650.519732273,0.400955267665,-0.0054521134139,0.0798301627,0.999999943689,0.00016347579942,-0.000291079578715,3.42197715005e-05,1793193378155656192
+38,0.633333333,BASELINE,763,742.943543764,712,672,658.943543764,632.943543764,877.056456236,784,799,648.943543764,628.943543764,650.056456236,0.400956715416,-0.00545267928115,0.0798307736142,0.999999944433,0.000162093438088,-0.000289294292233,3.41933363282e-05,1793193378172323072
+39,0.650000000,BASELINE,763,742.3502073,712,672,658.3502073,632.3502073,877.6497927,784,799,648.3502073,628.3502073,650.6497927,0.400955153769,-0.00545286789117,0.0798304970952,0.999999943938,0.000162070164694,-0.000290991617922,3.43635051568e-05,1793193378188989696
+40,0.666666667,BASELINE,763.236932886,742,712,672,658.236932886,632.236932886,877.763067114,784,799,648.236932886,628,651,0.400955123073,-0.00545341362871,0.0798306271919,0.999999944122,0.000161087276641,-0.000290893490746,3.44650207926e-05,1793193378205656320
+41,0.683333333,BASELINE,763.815147814,742,712,672,658.815147814,632.815147814,877.184852186,784,799,648.815147814,628,651,0.400957297583,-0.0054544737786,0.0798313429847,0.999999945277,0.000158722143781,-0.000288209163497,3.44676472246e-05,1793193378222322944
+42,0.700000000,BASELINE,764,742,712,672,658.609901069,632.609901069,877.390098931,784,799,649,628.390098931,651,0.400957567398,-0.00545380117814,0.0798317536956,0.999999945325,0.000160078858615,-0.000287301018297,3.43929330536e-05,1793193378238989824
+43,0.716666667,BASELINE,764,742,712,672,658.036483724,632.036483724,877.963516276,784,799,649,628.963516276,651,0.400956942143,-0.00545231430974,0.0798320210399,0.999999944848,0.000163184573988,-0.000287227550864,3.4281874367e-05,1793193378255656448
+44,0.733333333,BASELINE,764,742,712,672,658.552481335,632,877.447518665,784,799,649,629,650.447518665,0.400957269147,-0.00545170162397,0.0798319638739,0.999999944876,0.000163039406325,-0.000287217908452,3.42357014305e-05,1793193378272322816
+45,0.750000000,BASELINE,764,742.13994323,712,672.13994323,659,632,877,784,799.13994323,649,629,650.13994323,0.400957343695,-0.00545169086414,0.0798317162843,0.999999944905,0.00016243662974,-0.000287460922551,3.42273481137e-05,1793193378288989184
+46,0.766666667,BASELINE,764,742.719366779,712,672.719366779,659,632,877,784,799.719366779,649,629,650.719366779,0.400956422225,-0.0054533838654,0.0798309399307,0.999999944824,0.000161090462879,-0.000288483764479,3.4323918525e-05,1793193378305655808
+47,0.783333333,BASELINE,763.70225415,742.70225415,712,672.70225415,659,632,877,784,799.70225415,648.70225415,629,650.70225415,0.400956556735,-0.00545324094491,0.0798310143065,0.999999944744,0.000161799928407,-0.000288363654964,3.43447142352e-05,1793193378322322432
+48,0.800000000,BASELINE,763.124856016,742.124856016,712,672.124856016,659,632,877,784,799.124856016,648.124856016,629,650.124856016,0.400957683055,-0.00545137366908,0.0798318877141,0.999999944658,0.000164440108477,-0.000287170049564,3.42943399701e-05,1793193378338989056
+49,0.816666667,BASELINE,763.458081557,742.458081557,712,672,659,632,877.458081557,784,799.458081557,648.458081557,629,650.458081557,0.400957751045,-0.00545084083849,0.0798319777428,0.99999994452,0.000165759903974,-0.000286871546891,3.4486386676e-05,1793193378355655936
+50,0.833333333,BASELINE,764,742.957819176,712,672,658.957819176,632,877.957819176,784,799.957819176,649,629,651,0.400957553814,-0.00545063860987,0.0798318867872,0.999999944393,0.000166571898644,-0.000286816778269,3.47093675053e-05,1793193378372322304
+51,0.850000000,BASELINE,764,742.378389161,712,672,658.378389161,632,877.378389161,784,799.378389161,649,629,651,0.400957697564,-0.00544995785381,0.0798322435227,0.999999944597,0.000165556062863,-0.000286720944977,3.44744648655e-05,1793193378388989184
+52,0.866666667,BASELINE,764,742,711.799191295,672,658.200808705,632.200808705,877,784,799.200808705,649,629,650.799191295,0.400957555256,-0.00544981678532,0.0798320591781,0.999999944632,0.000164730608923,-0.000287096497725,3.4285033632e-05,1793193378405656064
+53,0.883333333,BASELINE,764,742,711.220430402,672,658.779569598,632.779569598,877,784,799.779569598,649,629,650.220430402,0.400956874545,-0.00545069149008,0.0798308564397,0.999999944349,0.000164263482307,-0.000288359269914,3.41811864392e-05,1793193378422322688
+54,0.900000000,BASELINE,764,742,711.353971113,672,658.646028887,632.646028887,877,784,799.292057773,649,628.646028887,650.353971113,0.400957254453,-0.00545157592881,0.0798313491703,0.999999944546,0.000164432412331,-0.000287564557234,3.43101117783e-05,1793193378438989056
+55,0.916666667,BASELINE,764,742,711.925690894,672,658.074309106,632.074309106,877,784,798.148618211,649,628.074309106,650.925690894,0.400958286811,-0.00545246635546,0.0798328848847,0.999999945034,0.00016499261861,-0.000285504163291,3.45822293389e-05,1793193378455655936
+56,0.933333333,BASELINE,764,742,712,672,658.514103287,632,877,784,798.514103287,649,628.514103287,651,0.40095719688,-0.00545252707506,0.0798326328209,0.999999944778,0.000164861101063,-0.000286479224367,3.45487550721e-05,1793193378472322816
+57,0.950000000,BASELINE,764,742,712,672,659,632,877,784,799,649,629,651,0.400956037742,-0.00545259317621,0.0798320966699,0.999999944462,0.000164536518982,-0.000287775455704,3.44792226233e-05,1793193378488989440
+58,0.966666667,BASELINE,764,742,712,672,659,632,877,784,799,649,629,651,0.400956025423,-0.00545325772341,0.0798314818215,0.999999944387,0.000163796756565,-0.000288459502607,3.44540867427e-05,1793193378505656064
+59,0.983333333,BASELINE,764,742.264447546,712,672,659,632,877,783.735552454,799,649,629,651,0.400956436392,-0.00545356286396,0.0798313596527,0.999999944557,0.000163026717232,-0.000288318051413,3.43676394267e-05,1793193378522322688
+60,1.000000000,BASELINE,764,742.839679994,712,672,659,632,877,783.160320006,799,649,629,651,0.400957344817,-0.00545344562155,0.0798318164924,0.999999945013,0.000162221095667,-0.000287206455764,3.42091374841e-05,1793193378538990336
+61,1.016666667,BASELINE,764,742.587053977,712,671.587053977,659,632.412946023,877.412946023,783.412946023,799.412946023,649,629,651,0.400957433877,-0.00545322408055,0.0798318567082,0.999999944959,0.000162437026824,-0.000287258704669,3.43419250684e-05,1793193378555656960
+62,1.033333333,BASELINE,764,742.014547795,712,671.014547795,659,632.985452205,877.985452205,783.985452205,799.985452205,649,629,651,0.40095720634,-0.00545296223912,0.0798317359427,0.999999944706,0.000163047680596,-0.00028776065702,3.45872653945e-05,1793193378572323072
+63,1.050000000,BASELINE,764,742,712,671.579782596,659,633,877.420217404,784,799.420217404,649,629,651,0.400958434757,-0.00545357972531,0.0798326713092,0.999999945518,0.000161357337137,-0.000285941907339,3.41363341296e-05,1793193378588989696
+64,1.066666667,BASELINE,764,742,712,672,659,632.831108745,877,784,799.168891255,649,629,651,0.400958996543,-0.00545369902096,0.0798331768982,0.999999945758,0.000161302282773,-0.000285156409404,3.39305739644e-05,1793193378605656320
+65,1.083333333,BASELINE,764,742,712,672,659,632.255930448,877,784,799.744069552,649,629,651,0.400957863351,-0.00545256470942,0.0798325823658,0.999999944558,0.000165325425199,-0.000287002075166,3.43582723467e-05,1793193378622322688
+66,1.100000000,BASELINE,764,742,712,672,659,632,877.319670544,784,800,649,629,651,0.400957101302,-0.00545202586203,0.079832020836,0.999999944188,0.000166078182534,-0.000287842537557,3.4490180671e-05,1793193378638989568
+67,1.116666667,BASELINE,764,742,712,672,659,632,877.895610368,784,800,649,629,651,0.400956636784,-0.00545196437859,0.0798314857634,0.99999994449,0.000164209180333,-0.000287877161633,3.43849638881e-05,1793193378655656192
+68,1.133333333,BASELINE,764,742,712,672,659,632,877.516640167,784,799.516640167,648.516640167,629,651,0.400955987703,-0.00545189793773,0.0798311086191,0.999999944309,0.000164426392438,-0.000288391003029,3.43093137287e-05,1793193378672323072
+69,1.150000000,BASELINE,764,742,712,672,659,632.072346208,877,784,799,648.072346208,628.927653792,650.927653792,0.40095551608,-0.00545196339642,0.0798309478692,0.999999944147,0.000164831828181,-0.000288724192095,3.42693914193e-05,1793193378688989952
+70,1.166666667,BASELINE,764,742,712,672,659,632.651679365,877,784,799,648.651679365,628.348320635,650.348320635,0.400956574379,-0.00545296087006,0.0798320585627,0.999999944872,0.00016331984161,-0.000287047972531,3.44339741239e-05,1793193378705656576
+71,1.183333333,BASELINE,764,742,712,672,658.770556849,633,877,784,799.229443151,649,628,650.229443151,0.400958215533,-0.00545339648966,0.0798333746425,0.999999945528,0.000163019922161,-0.00028491043368,3.45590448649e-05,1793193378722322944
+72,1.200000000,BASELINE,764,742,712,672,658.195159272,633,877,784,799.804840728,649,628,650.804840728,0.400960735516,-0.00545298494578,0.0798350004038,0.999999946079,0.000164547557514,-0.000282077317269,3.46245394844e-05,1793193378738989568
+73,1.216666667,BASELINE,764,742,712,672,658.376788918,632.623211082,877.753577837,784,799.623211082,648.623211082,628.376788918,650.623211082,0.400960038522,-0.00545399512732,0.0798341582521,0.999999946057,0.000162526839162,-0.000283350338236,3.43965369544e-05,1793193378755656192
+74,1.233333333,BASELINE,764,742,712,672,658.94696666,632.05303334,878.89393332,784,799.05303334,648.05303334,628.94696666,650.05303334,0.400957690398,-0.00545573501666,0.0798320494312,0.999999945724,0.000158684910181,-0.000286730855198,3.40178955195e-05,1793193378772323328
+75,1.250000000,BASELINE,763.459328324,742,712,672,659,632.540671676,877.918656648,784.540671676,799,648,629,650.540671676,0.400957941273,-0.005453887441,0.0798320575853,0.99999994514,0.000162196448539,-0.000286787313048,3.41462333771e-05,1793193378788990208
+76,1.266666667,BASELINE,763.132252797,742,712,672,659,632.867747203,877.132252797,784.867747203,799,648.132252797,628.867747203,651,0.40095827251,-0.0054520530274,0.0798322766407,0.999999944656,0.000165524583937,-0.000286550457635,3.43265066927e-05,1793193378805656832
+77,1.283333333,BASELINE,763.708600257,742,712,672,659,632.291399743,877.708600257,784.291399743,799,648.708600257,628.291399743,651,0.400957978615,-0.00545149817666,0.0798324748932,0.999999944642,0.000165704654544,-0.00028647333919,3.45065938173e-05,1793193378822323456
+78,1.300000000,BASELINE,764,742,712,672,659,632.284649132,877.715350868,784,799,649,628.284649132,651,0.400957430992,-0.00545207395597,0.0798322489063,0.999999944592,0.000165204725657,-0.000286918091026,3.46592515299e-05,1793193378838990080
+79,1.316666667,BASELINE,764,742,712,672,659,632.860392626,877.139607374,784,799,649,628.860392626,651,0.400956623897,-0.00545380596591,0.0798315890742,0.999999944503,0.000164009400231,-0.000287896529708,3.47838587429e-05,1793193378855656448
+80,1.333333333,BASELINE,764,742,712,672,659,632.563287611,877,784,799.436712389,649,629,651,0.400956527315,-0.00545388688592,0.0798314495566,0.999999944526,0.000163391338416,-0.000288183369813,3.46698591257e-05,1793193378872322816
+81,1.350000000,BASELINE,764,742,712,672,659,632,877,784,799.98641554,649,629,651,0.400956664811,-0.00545345862133,0.0798314807954,0.999999944588,0.000162956825186,-0.000288235234442,3.44824649534e-05,1793193378888989696
+82,1.366666667,BASELINE,764,742,712,672,659,632,877,784,799.393868022,649,629,651,0.400957085361,-0.00545385419509,0.0798316911865,0.999999944821,0.000162469731017,-0.000287707709905,3.44222310593e-05,1793193378905656320
+83,1.383333333,BASELINE,764,742,712,672,658.806360162,632,877,784,799.193639838,649,628.806360162,651,0.40095720182,-0.00545384488528,0.0798316368072,0.999999944885,0.000162289769028,-0.000287594366928,3.43796485217e-05,1793193378922322944
+84,1.400000000,BASELINE,764,742,712,672,658.228842964,632,877,784,799.771157036,649,628.228842964,651,0.400956715442,-0.00545303292235,0.0798310575392,0.999999944612,0.000162718674902,-0.000288302109667,3.43720585468e-05,1793193378938989568
+85,1.416666667,BASELINE,764,742,712,672,658.345515929,632,877,784,799.654484071,649,628.345515929,651,0.400957319178,-0.00545246489454,0.0798315843824,0.99999994463,0.000163826152944,-0.00028763267716,3.41720197248e-05,1793193378955656448
+86,1.433333333,BASELINE,764,742,712,672,658.917801919,632,877,784,799.082198081,649,628.917801919,651,0.400958638379,-0.00545205696703,0.079832837192,0.999999944837,0.0001653789935,-0.000286059372783,3.3845672293e-05,1793193378972323072
+87,1.450000000,BASELINE,764,742,712,672,659,632.507294501,877,784,799,649,628.492705499,651,0.400957946536,-0.00545256511506,0.0798327193448,0.999999944978,0.000164146384047,-0.000286240235723,3.41640375762e-05,1793193378988989696
+88,1.466666667,BASELINE,764,742,712,672,659,632.902714953,877.097285047,784,799,649,628.097285047,651,0.400957116794,-0.00545302654144,0.0798324892821,0.999999945054,0.000163010735093,-0.000286579547377,3.45194641199e-05,1793193379005656576
+89,1.483333333,BASELINE,764,742,712,672,659,632.324528549,877.675471451,784,799,649,628.675471451,651,0.400957272701,-0.00545249751047,0.0798328409002,0.999999944878,0.000164663750259,-0.000286247756897,3.45235727634e-05,1793193379022322944
+90,1.500000000,BASELINE,764,742,712,672,659,632,878.252178106,784,799.252178106,649,629,651,0.400957411099,-0.00545176477099,0.0798327442509,0.99999994469,0.000165778528307,-0.000286274764631,3.44206545068e-05,1793193379038989312
+91,1.516666667,BASELINE,764,742,712,672,659,632,878.826991532,784,799.826991532,649,629,651,0.400957527095,-0.00545077140799,0.0798320740908,0.999999944488,0.000166204688541,-0.000286760816908,3.41808066062e-05,1793193379055656192
+92,1.533333333,BASELINE,764,742.400334472,712,671.599665528,659,632.400334472,878.599665528,784,799.599665528,649,629,651,0.400958995775,-0.0054525693014,0.0798327966104,0.999999945346,0.000164312747973,-0.000284821524434,3.44335653174e-05,1793193379072322816
+93,1.550000000,BASELINE,764,742.973044301,712,671.026955699,659,632.973044301,878.026955699,784,799.026955699,649,629,651,0.400961046891,-0.0054555690493,0.0798341187876,0.999999946646,0.00016142268341,-0.000281837931046,3.48984297516e-05,1793193379088989440
+94,1.566666667,BASELINE,764,742.434581392,712,671.565418608,659,632.434581392,877.434581392,784,799,649,629,651,0.400959337686,-0.00545475027651,0.0798327512225,0.999999945459,0.000163298671322,-0.000284978918776,3.46879900009e-05,1793193379105656320
+95,1.583333333,BASELINE,764,742,712,672,659,632.154125534,877,784,799,649,629,651,0.400957697958,-0.00545405898373,0.0798315483457,0.999999944525,0.000164421597541,-0.000287618546301,3.45162104749e-05,1793193379122322944
+96,1.600000000,BASELINE,764,742,712,672,659,632.730135343,877,784,799,649,629,651,0.400956756799,-0.0054542328976,0.0798311599154,0.999999944657,0.000162838822017,-0.00028805777785,3.45415548423e-05,1793193379138989568
+97,1.616666667,BASELINE,764,742,712,672,659,633,877,784,799,649,628.694270342,651,0.400957064393,-0.0054548873476,0.0798314949767,0.999999945251,0.000161100158742,-0.000286981034316,3.44331394362e-05,1793193379155656192
+98,1.633333333,BASELINE,764,742,712,672,659,633,877,784,799,649,628.119042317,651,0.400958472753,-0.00545596538655,0.0798324677903,0.999999946249,0.000159224081694,-0.000284567970255,3.42068158058e-05,1793193379172322816
+99,1.650000000,BASELINE,764,742,712,671.529648795,659,633,877.470351205,784,799,649,628.470351205,651,0.400958290481,-0.00545527766748,0.0798324829592,0.999999945936,0.000159992606701,-0.000285219099849,3.43617884773e-05,1793193379188989440
+100,1.666666667,BASELINE,764,742,712,671.061746868,659,632.938253132,877.938253132,784,799,649,629,651,0.400957681472,-0.00545418553082,0.0798322209712,0.999999945304,0.000161344463224,-0.000286645659127,3.45504639589e-05,1793193379205656064
+101,1.683333333,BASELINE,764,742,712,671.638996901,659,632.361003099,877.361003099,784,799,649,629,651,0.400956975126,-0.00545356392011,0.0798317314136,0.99999994489,0.000161804840719,-0.000287870380992,3.41898230797e-05,1793193379222322944
+102,1.700000000,BASELINE,764,742,712,672,658.783755361,632,877.216244639,784,799,649,629,651,0.400957785246,-0.00545276509726,0.0798324269636,0.999999945095,0.000162097468705,-0.000287023662295,3.394982676e-05,1793193379238989824
+103,1.716666667,BASELINE,764,742,712,672,658.206511511,632,877.793488489,784,799,649,629,651,0.400961126959,-0.00545167043617,0.0798351009344,0.99999994632,0.000162110055295,-0.000282718876677,3.39112347326e-05,1793193379255656704
+104,1.733333333,BASELINE,764,742.377216019,712,672,658.377216019,632.377216019,877.622783981,784,799,649,629,651,0.400960833488,-0.00545289837967,0.0798346377924,0.999999946364,0.000161306595436,-0.000282996749377,3.41187180517e-05,1793193379272323328
+105,1.750000000,BASELINE,764,742.964555253,712,672,658.964555253,632.964555253,877.035444747,784,799,649,629,651,0.400958515087,-0.00545542009935,0.0798324271633,0.99999994575,0.000160048567652,-0.000285827331123,3.44632743973e-05,1793193379288989952
+106,1.766666667,BASELINE,764,742.455578783,712,672.544421217,659,632.455578783,877,784,799,649,629,651,0.400958046505,-0.00545431384413,0.0798328522728,0.999999945446,0.000162121063581,-0.000285690431445,3.47170082005e-05,1793193379305656320
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632,877,784,799,649,628,650,0.400957410593,-0.00545357831911,0.079831892425,0.999999945015,0.00016203615142,-0.000287281033713,3.44178424576e-05,1793193379348098304
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,742,712,672,658.417499392,632,877.582500608,783.417499392,799,649,628.582500608,650.582500608,0.400956220081,-0.00545494174531,0.0798312888939,0.999999944914,0.000160692206267,-0.000288358465785,3.46340776653e-05,1793193379364765440
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,742.167503428,712,672,658.167503428,632,877.832496572,783.167503428,799,649,629,650.832496572,0.400955951927,-0.00545558653284,0.0798311923045,0.999999944982,0.000159926955858,-0.000288543123742,3.466112919e-05,1793193379381432320
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,742.758837673,712,672,658.758837673,632,877.241162327,783.758837673,799,649,629,650.241162327,0.400958017602,-0.00545441296253,0.0798323784206,0.999999945482,0.000160625965743,-0.000286468812146,3.42094927975e-05,1793193379398098944
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,743,712,672,659,632,877,784,799,649,629,650.342665314,0.400959207493,-0.00545321411135,0.0798331726449,0.999999945613,0.000162199326713,-0.00028512787381,3.41652866796e-05,1793193379414765568
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,743,712,672,659,632,877,784,799,649,629,650.921323144,0.400959794236,-0.00545199784937,0.0798336969747,0.999999945488,0.000164374850463,-0.00028429200744,3.44016765282e-05,1793193379431431936
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,743,712,672,659,632,877,784,799,649,628.503507814,650.503507814,0.400959534786,-0.00545247043976,0.0798337052339,0.999999945579,0.000163434358333,-0.000284504434133,3.44869908685e-05,1793193379448098048
+114,1.900000000,POSE1_TO_POSE2_PRESS,764.071114094,743,712,672.071114094,659,632,877.071114094,784,799,649,628.071114094,650.071114094,0.400959636464,-0.00545326317065,0.0798338879841,0.999999945824,0.000161877537787,-0.000284524751379,3.45397003806e-05,1793193379464764416
+115,1.916666667,POSE1_TO_POSE2_PRESS,764.645749179,743,712,672.645749179,659,632,877.645749179,784,799,649,628.645749179,650.645749179,0.400963237913,-0.00545444095998,0.079835881207,0.999999946928,0.000159428627326,-0.000282016856735,3.45298778188e-05,1793193379481431040
+116,1.933333333,POSE1_TO_POSE2_PRESS,764.773723693,743,712,672.773723693,659,632,878,784.226276307,799,649,628.773723693,651,0.400972077589,-0.00545462491604,0.0798399580003,0.999999948702,0.000159746628492,-0.000275456668325,3.46381926735e-05,1793193379498097920
+117,1.950000000,POSE1_TO_POSE2_PRESS,764.183725611,743,712,672.183725611,659,632,878,784.816274389,799,649,628.183725611,651,0.400989337313,-0.00545321136136,0.0798473839726,0.999999951435,0.000164512227669,-0.00026238272933,3.49364043429e-05,1793193379514764544
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,742.5999418,712,672,659,632.4000582,877.5999418,784.5999418,799,649,628,650.5999418,0.401023352732,-0.00545404594857,0.0798598072991,0.999999957438,0.00016380123872,-0.000238867171075,3.51458302951e-05,1793193379531431680
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,742.018968173,712,672,659,632.981031827,877.018968173,784.018968173,799,649,628,650.018968173,0.40106494546,-0.00545589719662,0.0798744905436,0.999999964296,0.00016061361222,-0.000210629673527,3.53151053283e-05,1793193379548098560
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632.445516641,878.108966718,784,799,649,628,650.554483359,0.401127727905,-0.00545784349576,0.0798881258927,0.999999970189,0.000160699434925,-0.000180599186964,3.43711980226e-05,1793193379564765184
+121,2.016666667,POSE1_TO_POSE2_PRESS,763.869090709,742,712,672,659,632,878.738181418,784,799,649,628.130909291,651,0.401193831324,-0.00545956699842,0.0799005069518,0.999999974562,0.000160095285687,-0.000155401269587,3.3094936004e-05,1793193379581431808
+122,2.033333333,POSE1_TO_POSE2_PRESS,763.281400206,742,712,672,659,632,877.562800412,784,799,649,628.718599794,651,0.401269027174,-0.00546050190499,0.079908634833,0.999999976404,0.000156698117365,-0.00014727676144,3.07900858559e-05,1793193379598098176
+123,2.050000000,POSE1_TO_POSE2_PRESS,763.302023211,742.302023211,712,672,659,632,877,784,799,649,629,650.697976789,0.401354557592,-0.00546238893336,0.0799139242237,0.999999978165,0.000152906152318,-0.000139671960209,2.79632423877e-05,1793193379614764800
+124,2.066666667,POSE1_TO_POSE2_PRESS,763.881526264,742.881526264,712,672,659,632,877,784,799,649,629,650.118473736,0.401449582753,-0.00546515071103,0.079916605788,0.999999979848,0.000148751473191,-0.000132544633343,2.46568245795e-05,1793193379631431168
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,742.540860733,712,672,659,632,877,784,799,649,629,650.459139267,0.401566858422,-0.00547533910958,0.0799208121686,0.999999982769,0.00013494329684,-0.000125651332227,2.15221130347e-05,1793193379648097792
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632,877,784,799,648.964016257,628.964016257,650.964016257,0.401691930347,-0.00548756965503,0.0799255151482,0.999999985808,0.000118399345177,-0.00011843877605,1.83716653051e-05,1793193379664764672
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632,877,784,799,648.391389656,628.391389656,650.391389656,0.401847998426,-0.00550179382593,0.0799317804173,0.999999989518,9.80516687836e-05,-0.000105568131034,1.43284861231e-05,1793193379681431808
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,742.187430065,712,672,659,632,877,784,799,648.187430065,628.187430065,650,0.402013331507,-0.00550941490731,0.0799375619637,0.999999991823,8.49246331349e-05,-9.51914973464e-05,8.94327842883e-06,1793193379698098432
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,742.779624041,712,672,659,632,877,784,799,648.779624041,628.779624041,650,0.402198672766,-0.00550277630899,0.0799422988879,0.999999992113,8.7390908549e-05,-9.0200798488e-05,6.59898504321e-07,1793193379714765056
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,742.63623092,711.63623092,672,659,632,877.36376908,784,798.63623092,649,628.63623092,650,0.402401880795,-0.00550338645313,0.079943544254,0.999999992954,7.84947918472e-05,-8.87186776379e-05,-7.67238857698e-06,1793193379731431424
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,742.056856417,711.056856417,672,659,632,877.943143583,784,798.056856417,649,628.056856417,650,0.40261567845,-0.00550829291608,0.079942720179,0.999999993907,6.28642015554e-05,-8.93160855372e-05,-1.60336636512e-05,1793193379748097792
+132,2.200000000,POSE1_TO_POSE2_PRESS,763.48163031,742,711.51836969,672,659,632,877.48163031,784,798.51836969,649,628,650.51836969,0.40284976713,-0.0055098503981,0.0799368604518,0.999999994732,-1.15118590472e-06,-0.000100123020501,-2.260083559e-05,1793193379764764672
+133,2.216666667,POSE1_TO_POSE2_PRESS,763.09320101,742,711.90679899,671.90679899,659,632.09320101,877.09320101,784,799,649,628.09320101,651,0.40309483448,-0.00551025383608,0.0799309567785,0.999999992206,-5.11797611149e-05,-0.000110551251172,-2.73225474697e-05,1793193379781431296
+134,2.233333333,POSE1_TO_POSE2_PRESS,763.668325256,742,711.331674744,671.331674744,659,632.668325256,877.668325256,784,799,649,628.668325256,651,0.403385253683,-0.00550657424182,0.0799276591572,0.999999993306,-1.66191170336e-06,-0.000113276934524,-2.35112134988e-05,1793193379798097920
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,742,711.250464674,671.250464674,658.749535326,632.749535326,878,784,799,649,629,650.749535326,0.403701424312,-0.00550760693645,0.0799285788878,0.999999993521,1.71329793053e-05,-0.000110144303425,-2.30737489661e-05,1793193379814764800
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,742,711.842161504,671.842161504,658.157838496,632.157838496,878,784,799,649,629,650.157838496,0.404052678574,-0.00551505963644,0.0799352443233,0.999999994708,-5.92897865534e-06,-9.90303262629e-05,-2.72328320779e-05,1793193379831431424
+137,2.283333333,POSE1_TO_POSE2_PRESS,763.576162261,742.423837739,712,672,658.423837739,632,878,784,799.423837739,649,629,650.423837739,0.404426482233,-0.00551502271486,0.079936558956,0.999999994836,-7.61285954109e-06,-9.6989270041e-05,-2.93766459406e-05,1793193379848098304
+138,2.300000000,POSE1_TO_POSE2_PRESS,763.003717569,742.998141215,712,672,659,632,878,784,799.998141215,649,629,651,0.404808650434,-0.00551227582802,0.0799359337144,0.999999994702,-1.54738508637e-06,-9.82155746938e-05,-3.07883425103e-05,1793193379864764672
+139,2.316666667,POSE1_TO_POSE2_PRESS,764.153798992,742.423100504,712,672,659,632,878,784,799.423100504,649,629,651,0.405240476479,-0.0055140845307,0.0799373924041,0.999999995489,-4.1253796889e-06,-8.91470899781e-05,-3.25212199358e-05,1793193379881431808
+140,2.333333333,POSE1_TO_POSE2_PRESS,764.844480846,742,712,672,659,632,878,784,799,649,628.844480846,650.844480846,0.405679936383,-0.00551554004495,0.0799358063964,0.999999995493,-6.70920339323e-06,-8.82595949225e-05,-3.43530821882e-05,1793193379898098944
+141,2.350000000,POSE1_TO_POSE2_PRESS,764.255895165,742,712,672,659,632,878,784,799,649,628.255895165,650.255895165,0.406140653845,-0.00551601205252,0.0799257419695,0.999999993225,-9.30925867855e-06,-0.000110153300195,-3.64605823178e-05,1793193379914765824
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632,877.670503049,784,799,649,628.329496951,650.329496951,0.406625176364,-0.00551569775249,0.0799177875722,0.999999991453,-1.13840089343e-05,-0.000124416385337,-3.85460509918e-05,1793193379931432192
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632,877.08756726,784,799,649,628.91243274,650.91243274,0.407128009043,-0.0055147786491,0.0799114561431,0.999999990271,-1.30547111292e-05,-0.000132810236451,-4.06145739847e-05,1793193379948098304
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,742.484776227,712,672,659,632.484776227,877.484776227,784,799,649,629,650.515223773,0.40765361201,-0.00551582754827,0.0799079485079,0.999999988844,-1.78694907573e-05,-0.000142043730376,-4.26139090983e-05,1793193379964765440
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,742.94294029,712,672,659.05705971,633,878,784,799,649,629,650.05705971,0.408187814903,-0.00551710152128,0.0799050269876,0.999999987362,-2.31157001544e-05,-0.000150844853572,-4.45854343934e-05,1793193379981432576
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,742.353754239,712,672,659.646245761,633,878,784,799,649,629,650.646245761,0.408764681499,-0.00551723016053,0.0799029163175,0.99999998666,-2.72022061432e-05,-0.000154229606374,-4.64116714304e-05,1793193379998098688
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,742.231514219,712,672,659.768485781,632.768485781,877.768485781,784,799,649,629,650.768485781,0.409389414996,-0.00551922344737,0.0799152955263,0.999999989266,-3.21410699352e-05,-0.000134807901687,-4.75580923873e-05,1793193380014765056
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,742.810896158,712,672,659.189103842,632.189103842,877.189103842,784,799,649,629,650.189103842,0.410086072115,-0.00552401850901,0.0799494468803,0.999999994837,-3.83606658442e-05,-8.11177596421e-05,-4.76830377771e-05,1793193380031431680
+149,2.483333333,POSE1_TO_POSE2_PRESS,763.610059209,742.610059209,712,672,659.389940791,632.389940791,877,783.610059209,799,649,629,650,0.410775406179,-0.00552708483087,0.079971645239,0.99999999684,-4.35163014597e-05,-4.53739907026e-05,-4.8663032296e-05,1793193380048098304
+150,2.500000000,POSE1_TO_POSE2_PRESS,763.03117803,742.03117803,712,672,659.96882197,632.96882197,877,783.03117803,799,649,629,650,0.411461191937,-0.00552931351577,0.079988051939,0.99999999742,-4.8156409742e-05,-1.83258888507e-05,-5.00573289892e-05,1793193380064764928
+151,2.516666667,POSE1_TO_POSE2_PRESS,763,742,711.456800991,672.543199009,659.456800991,632.456800991,877,783.543199009,799,648.456800991,628.456800991,650.543199009,0.412122524066,-0.00552871975333,0.0799598659965,0.999999995174,-5.36297583353e-05,-6.26901250441e-05,-5.33449669886e-05,1793193380081431552
+152,2.533333333,POSE1_TO_POSE2_PRESS,763.120341176,742,711.120341176,672.879658824,659,632,877,784,799,648.120341176,628,651,0.412789872193,-0.00552822830891,0.0799294259366,0.999999990743,-5.95568925706e-05,-0.000108201424971,-5.70845926173e-05,1793193380098097920
+153,2.550000000,POSE1_TO_POSE2_PRESS,763.709247947,742,711.709247947,672.290752053,659,632,877,784,799,648.709247947,628,651,0.413486064345,-0.00552876083816,0.0799000929287,0.999999985687,-6.70662209295e-05,-0.000142350722703,-6.21644451011e-05,1793193380114764800
+154,2.566666667,POSE1_TO_POSE2_PRESS,763.706439681,742.293560319,712,672,659,632,877.293560319,784,799.293560319,649,628.293560319,651,0.414237607847,-0.00552933331446,0.0798970146057,0.999999985528,-7.33952159636e-05,-0.00013915168104,-6.47621565008e-05,1793193380131431680
+155,2.583333333,POSE1_TO_POSE2_PRESS,763.126607569,742.873392431,712,672,659,632,877.873392431,784,799.873392431,649,628.873392431,651,0.415043128515,-0.00552994474607,0.0799195391122,0.999999989851,-7.85731838893e-05,-9.95315896678e-05,-6.49393540707e-05,1793193380148098304
+156,2.600000000,POSE1_TO_POSE2_PRESS,763,743,712,672,659.449237911,632.449237911,877.550762089,784,799.550762089,649,629,651,0.415816766655,-0.00552691874592,0.0799316256413,0.999999991575,-6.94134120103e-05,-9.01050094347e-05,-6.25489425497e-05,1793193380164764928
+157,2.616666667,POSE1_TO_POSE2_PRESS,763,742.976057569,712,672.023942431,659.976057569,633,877.023942431,783.976057569,799,648.976057569,628.976057569,650.976057569,0.416582830751,-0.00552223833892,0.0799400704005,0.999999992671,-5.59792316083e-05,-8.92297446032e-05,-5.96939968625e-05,1793193380181431040
+158,2.633333333,POSE1_TO_POSE2_PRESS,763,742.401979488,712,672.598020512,659.401979488,633,877.598020512,783.401979488,799,648.401979488,628.401979488,650.401979488,0.417379508584,-0.00550289152212,0.079931834996,0.999999993233,-3.63598902017e-05,-9.10383625916e-05,-6.26459824974e-05,1793193380198097920
+159,2.650000000,POSE1_TO_POSE2_PRESS,763.177633129,742.177633129,712,673,659,632.822366871,878,783.177633129,799.177633129,648,628,650.177633129,0.418197312845,-0.0054932448569,0.0799369892141,0.999999995062,-2.63969041279e-05,-7.19438142508e-05,-6.32727232826e-05,1793193380214764544
+160,2.666666667,POSE1_TO_POSE2_PRESS,763.770173006,742.770173006,712,673,659,632.229826994,878,783.770173006,799.770173006,648,628,650.770173006,0.419064463134,-0.00550625533112,0.0799734182563,0.999999997523,-3.89887603559e-05,-4.02467490789e-06,-5.84682708657e-05,1793193380231431168
+161,2.683333333,POSE1_TO_POSE2_PRESS,763.645571823,743,712,673,659.354428177,632,877.645571823,784,799.645571823,648.354428177,628.354428177,650.645571823,0.419907710129,-0.00552406157447,0.0799774379917,0.99999999645,-6.25085693881e-05,5.73905968288e-06,-5.62071841485e-05,1793193380248098048
+162,2.700000000,POSE1_TO_POSE2_PRESS,763.06656614,743,712,673,659.93343386,632,877.06656614,784,799.06656614,648.93343386,628.93343386,650.06656614,0.420735811167,-0.00554490657647,0.0799609221086,0.999999993909,-9.29526930477e-05,-2.13464108947e-05,-5.55576589296e-05,1793193380264765184
+163,2.716666667,POSE1_TO_POSE2_PRESS,763,743,712,673,660,632,877.50844707,784,799,649,628.49155293,650.50844707,0.421564177265,-0.00554398943471,0.0799530576422,0.999999993993,-8.81132132598e-05,-3.26952602215e-05,-5.64060284064e-05,1793193380281431808
+164,2.733333333,POSE1_TO_POSE2_PRESS,763.084947964,742.915052036,712,673,660,632,878,784,799,649,628,650.915052036,0.42239491658,-0.00554203671205,0.079951483675,0.999999994399,-8.20424462065e-05,-3.48750479159e-05,-5.70419965833e-05,1793193380298098688
+165,2.750000000,POSE1_TO_POSE2_PRESS,763.673338985,742.326661015,712,673,660,632,878,784,799,649,628,650.326661015,0.42323951635,-0.00555070029729,0.0799805299529,0.999999993867,-9.58376817455e-05,5.17060497096e-06,-5.5266011047e-05,1793193380314764800
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,742.257743371,712,673.257743371,660,632,878.257743371,784,799.257743371,649,628.257743371,650.257743371,0.424063285476,-0.00555704464514,0.0799858483907,0.999999992926,-0.00010568979392,6.79517705524e-07,-5.45567012239e-05,1793193380331431424
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,742.837172177,712,673.837172177,660,632,878.837172177,784,799.837172177,649,628.837172177,650.837172177,0.424861056316,-0.00556049439054,0.0799615524892,0.999999990595,-0.000110620557773,-5.9397167119e-05,-5.51786922481e-05,1793193380348098048
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,743,712,674,660.414663117,632,878.585336883,784,799.585336883,649,628.585336883,651,0.425688152474,-0.00556069943448,0.0799278384332,0.999999986798,-0.00011112411607,-0.000103208104787,-5.83347062506e-05,1793193380364764416
+169,2.816666667,POSE1_TO_POSE2_PRESS,764,743,712,674,660.991396612,632,878.008603388,784,799.008603388,649,628.008603388,651,0.426526710335,-0.00555963629213,0.079890443309,0.999999982117,-0.000109897308244,-0.000140661599068,-6.24811387856e-05,1793193380381431040
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,743,712,674,660.434879246,632,878,784,799.565120754,649,628.565120754,650.434879246,0.427353823229,-0.00556717785036,0.0798966282852,0.999999982356,-0.000122763370005,-0.000127687608607,-6.25582011916e-05,1793193380398098432
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,742.856978418,712,673.856978418,660,632,878,784,799.856978418,649,628.856978418,650,0.428170419563,-0.00557271744843,0.0799045228388,0.999999982541,-0.000132057821907,-0.000116612753109,-6.2288526163e-05,1793193380414765312
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,742.265848657,712,673.265848657,660,632,878,784,799.265848657,649,628.265848657,650,0.428954608902,-0.00557157634125,0.0799157060382,0.999999983263,-0.000129493225469,-0.00011388077575,-6.11255473652e-05,1793193380431431936
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,742.318836215,712,673,660,632,878.318836215,784,799,649,628,650.318836215,0.429769233536,-0.00557097189485,0.0799383254923,0.999999986667,-0.000126624894977,-8.46765070989e-05,-5.88370057046e-05,1793193380448098560
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,742.89825372,712,673,660,632,878.89825372,784,799,649,628,650.89825372,0.430608732558,-0.00557080605541,0.0799702916696,0.999999990253,-0.000123508325894,-3.38367293085e-05,-5.56285539794e-05,1793193380464764672
+175,2.916666667,POSE1_TO_POSE2_PRESS,764,743,712,673,660,632,878.526487786,784,799.473512214,649,628.473512214,651,0.43142006342,-0.00556731824542,0.0799963679783,0.999999991848,-0.000115424677899,4.97467113339e-06,-5.43688709199e-05,1793193380481431296
+176,2.933333333,POSE1_TO_POSE2_PRESS,764,743,712,673.049026264,660.049026264,632,878,784,800,649,629,651,0.432212792948,-0.00556334033542,0.0800149792832,0.999999992382,-0.000106673628882,3.1253330239e-05,-5.36630410318e-05,1793193380498098432
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,743,712,673.63708989,660.63708989,632,878,784,800,649,629,651,0.43286697131,-0.00556175376632,0.0799653076662,0.999999991935,-0.000102217302511,-5.2093910757e-05,-5.44828165372e-05,1793193380514764800
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,743,712,674,660.778158664,632,878,784,800,649,629,651,0.433532839419,-0.00556118421231,0.0799191482736,0.99999998583,-0.000102566786346,-0.000120780250121,-5.68436143568e-05,1793193380531431424
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,743,712,674,660.198745812,632,878,784,800,649,629,651,0.434217549571,-0.00556225391805,0.0798786499975,0.999999978223,-0.000110662440919,-0.000165835655972,-6.16882856407e-05,1793193380548098048
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,743,711.620967354,674.379032646,660,632,878,784,800,649,629,650.620967354,0.434918893737,-0.00556388480123,0.0798846989241,0.999999980075,-0.000113212390102,-0.000152528207877,-6.13767706396e-05,1793193380564764416
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,743,711.044042245,674.955957755,660,632,878,784,800,649,629,650.044042245,0.43562892246,-0.00556580867438,0.0799150500885,0.999999986014,-0.000112866932972,-0.000108749585146,-5.83732169948e-05,1793193380581431040
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,743,711.532379411,673.935241179,660,632,878.532379411,784,799.467620589,649,628.467620589,650.532379411,0.43625638725,-0.00556978434644,0.0799112791917,0.999999982816,-0.000116605394642,-0.000132296603831,-5.71712125492e-05,1793193380598097920
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,743,711.888941503,673.111058497,659.888941503,632,878.888941503,784,799.111058497,649,628.111058497,650.888941503,0.436862616735,-0.00557306633974,0.0798993688238,0.999999977286,-0.000119959553916,-0.000166790895982,-5.67271308647e-05,1793193380614764800
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,743,711.300377516,673.699622484,659.300377516,632,878.300377516,784,799.699622484,649,628.699622484,650.300377516,0.437406882823,-0.00557263668178,0.0798645876018,0.999999965856,-0.000120210125053,-0.000224429319054,-5.89016106512e-05,1793193380631431424
+185,3.083333333,POSE1_TO_POSE2_PRESS,763.715504554,743,711.284495446,674,659,632,878,783.715504554,800,649,629,650.284495446,0.437943690825,-0.0055713527896,0.0798337306275,0.999999954117,-0.000119131622274,-0.000271827042051,-6.06970951773e-05,1793193380648097792
+186,3.100000000,POSE1_TO_POSE2_PRESS,763.134478793,743,711.865521207,674,659,632,878,783.134478793,800,649,629,650.865521207,0.438472725212,-0.00556917852698,0.0798069639086,0.999999943664,-0.000116667822616,-0.000308550854536,-6.20975519558e-05,1793193380664764416
+187,3.116666667,POSE1_TO_POSE2_PRESS,763.440942084,742.559057916,711.559057916,674,658.559057916,632,878,783,800,649,629,650.559057916,0.438978011404,-0.00557058975837,0.0797836927588,0.999999932113,-0.000118722139295,-0.000343051435833,-6.32032462233e-05,1793193380681431296
+188,3.133333333,POSE1_TO_POSE2_PRESS,764,742.015010585,711,674,658.015010585,631.984989415,878,783,800,649,629,650,0.43947443352,-0.00557307637846,0.0797611653673,0.999999919262,-0.00012218102915,-0.000377384926908,-6.42595092701e-05,1793193380698097920
+189,3.150000000,POSE1_TO_POSE2_PRESS,764,742.601860408,711,674,658.601860408,631.398139592,878,783,800,649,629,650,0.439905624905,-0.00557539566542,0.0797268686833,0.999999896844,-0.000127313479158,-0.000430859211133,-6.68143536785e-05,1793193380714764800
+190,3.166666667,POSE1_TO_POSE2_PRESS,764,743,711,673.813708071,658.813708071,631,878,783,799.813708071,649,628.813708071,650,0.440317728765,-0.00557716567784,0.0796882581738,0.999999868851,-0.00012851001015,-0.000491040754009,-6.82815480601e-05,1793193380731431168
+191,3.183333333,POSE1_TO_POSE2_PRESS,764,743,711,673.23437856,658.23437856,631,878,783,799.23437856,649,628.23437856,650,0.440689561961,-0.00557777683458,0.0796405463746,0.999999830532,-0.000121402564149,-0.000565373241083,-6.74540255648e-05,1793193380748098048
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,743,711,673.344252966,658,631,878,783,799.344252966,649,628,650,0.441068794624,-0.00557801557138,0.0796181337308,0.999999811091,-0.000123058498864,-0.000598324172214,-6.8432286297e-05,1793193380764764672
+193,3.216666667,POSE1_TO_POSE2_PRESS,764,743,711,673.922410208,658,631,878,783,799.922410208,649,628,650,0.441453054866,-0.00557800126569,0.0796129107185,0.999999807068,-0.000130668753996,-0.00060315821024,-7.06374950447e-05,1793193380781431040
+194,3.233333333,POSE1_TO_POSE2_PRESS,764,743,711,674,658,631,878.49820002,783,800,649,628,650.49820002,0.441829721921,-0.00558262216999,0.0796356976469,0.999999827243,-0.000138247202624,-0.000567134684271,-6.89960076225e-05,1793193380798097664
+195,3.250000000,POSE1_TO_POSE2_PRESS,764,743,711,674,657.924754159,631,879,783,800.075245841,649,628,651,0.44219853717,-0.00558768724809,0.0796616877539,0.999999848638,-0.000143893872306,-0.000526855679246,-6.66447524892e-05,1793193380814764288
+196,3.266666667,POSE1_TO_POSE2_PRESS,764,743,711,674,657.336646473,631,879,783,800.663353527,649,628,651,0.442521857972,-0.00559088274248,0.0796799182918,0.99999986331,-0.000136407495416,-0.000500737174911,-6.35197959799e-05,1793193380831430912
+197,3.283333333,POSE1_TO_POSE2_PRESS,764,743,711,674.247712116,657.247712116,631,878.752287884,782.752287884,800.504575767,649,628,650.752287884,0.442817420282,-0.00559192299735,0.0796893680641,0.999999869613,-0.000132977794531,-0.000489096616304,-6.2258140663e-05,1793193380848097792
+198,3.300000000,POSE1_TO_POSE2_PRESS,764,743,711,674.827051516,657.827051516,631,878.172948484,782.172948484,799.345896968,649,628,650.172948484,0.443075820582,-0.00559007790169,0.0796870624896,0.99999986545,-0.000134979013361,-0.000496838567073,-6.34910003297e-05,1793193380864764672
+199,3.316666667,POSE1_TO_POSE2_PRESS,764,743,711,675,657.59588049,630.59588049,878,782,799.40411951,649,628,650.40411951,0.443295359051,-0.00558956762972,0.0796770096299,0.999999856461,-0.000145491919435,-0.000511918477595,-6.2037085556e-05,1793193380881431296
+200,3.333333333,POSE1_TO_POSE2_PRESS,764,743,711,675,657.019779093,630.019779093,878,782,799.980220907,649,628,650.980220907,0.44349835904,-0.00558962542098,0.0796636597435,0.999999844979,-0.000159627160105,-0.000530121217666,-5.94397552906e-05,1793193380898098176
+201,3.350000000,POSE1_TO_POSE2_PRESS,764,743,711,675,657,630,878.554764367,782,800,649,628,651,0.443673533476,-0.00558907849749,0.0796520825458,0.999999836488,-0.00014908191611,-0.000548807654166,-6.00786575805e-05,1793193380914765312
+202,3.366666667,POSE1_TO_POSE2_PRESS,764,743,711,674.867082393,657,630,878.867082393,782,800,649,628,651,0.44384365894,-0.00558844020967,0.0796434927401,0.999999830035,-0.000139500096067,-0.000562812046121,-6.0927134244e-05,1793193380931432448
+203,3.383333333,POSE1_TO_POSE2_PRESS,764,743,711,674.27630359,657,630,878.27630359,782,800,649,628,651,0.443999800067,-0.00558756125875,0.0796449764964,0.999999831636,-0.000136259608505,-0.000560628969469,-6.21011891281e-05,1793193380948098560
+204,3.400000000,POSE1_TO_POSE2_PRESS,764,743,711,674.307796171,657,630,878.307796171,782,800,649,628,651,0.444141199369,-0.00558702973381,0.0796476210722,0.999999833857,-0.000134353421136,-0.000557081484111,-6.24194379792e-05,1793193380964764672
+205,3.416666667,POSE1_TO_POSE2_PRESS,764,743,711,674.886027569,657,630,878.886027569,782,800,649,628,651,0.444269646229,-0.00558680346359,0.0796512855647,0.999999836615,-0.000133619574005,-0.000552335204959,-6.19857602532e-05,1793193380981431296
+206,3.433333333,POSE1_TO_POSE2_PRESS,764,742.538375556,711,675,656.538375556,629.538375556,879,782,800,649,628,651,0.444375538627,-0.00558660904733,0.0796527954996,0.999999838495,-0.000134747320368,-0.000548679597674,-6.16730408442e-05,1793193380998098176
+207,3.450000000,POSE1_TO_POSE2_PRESS,764,742.037455703,711,674.962544297,656.037455703,629.037455703,879,782.037455703,800,649,628,651,0.444474217304,-0.00558501560336,0.079653482529,0.999999840087,-0.000134899404957,-0.000545727957041,-6.17138692729e-05,1793193381014765312
+208,3.466666667,POSE1_TO_POSE2_PRESS,764,742.626257393,711,674.373742607,656.626257393,629.626257393,879,782.626257393,800,649,628,651,0.444548214249,-0.00556271343526,0.079649842245,0.999999840485,-0.000113962656668,-0.000549197364601,-6.65218026664e-05,1793193381031431936
+209,3.483333333,POSE1_TO_POSE2_PRESS,764,743,711,674,657,629.788555308,878.788555308,782.577110616,800,649,628,651,0.44461389834,-0.00554290272047,0.0796468165272,0.999999840263,-9.35631710272e-05,-0.000553010617387,-6.99916073048e-05,1793193381048098304
+210,3.500000000,POSE1_TO_POSE2_PRESS,764,743,711,674,657,629.209649378,878.209649378,781.419298755,800,649,628,651,0.444665135848,-0.00552742180463,0.0796448588399,0.999999839365,-7.40973747948e-05,-0.000557421424844,-7.11359312478e-05,1793193381064764672
+211,3.516666667,POSE1_TO_POSE2_PRESS,764,743,711,674.367790132,656.632209868,629,878.367790132,781,800,649,627.632209868,650.632209868,0.44470704784,-0.00552926539216,0.0796419024637,0.9999998367,-7.50697147857e-05,-0.000562146624853,-7.03982396484e-05,1793193381081431552
+212,3.533333333,POSE1_TO_POSE2_PRESS,764,743,711,674.94439712,656.05560288,629,878.94439712,781,800,649,627.05560288,650.05560288,0.444743665174,-0.00554094515382,0.0796383790708,0.999999833034,-8.76460275182e-05,-0.000567050325074,-6.85920133227e-05,1793193381098097920
+213,3.550000000,POSE1_TO_POSE2_PRESS,764,743,711,675,656.515888032,629.515888032,878.484111968,781.515888032,800,649,627.515888032,650.515888032,0.444768961631,-0.00553668415951,0.0796377077053,0.999999832695,-8.33615985622e-05,-0.000568214973624,-6.92338636738e-05,1793193381114764544
+214,3.566666667,POSE1_TO_POSE2_PRESS,764,743,711,675,656.909121599,629.909121599,878.090878401,782,799.909121599,649,628,651,0.444791592059,-0.00553172192294,0.0796374779909,0.999999832697,-7.80327234457e-05,-0.000568887841967,-6.9875361778e-05,1793193381131431424
+215,3.583333333,POSE1_TO_POSE2_PRESS,764,743,711,675,656.311576713,629.311576713,878.688423287,782,799.311576713,649,628,651,0.444806094742,-0.00553233487321,0.0796380136165,0.999999832752,-7.69129924382e-05,-0.000569043670236,-6.90582885231e-05,1793193381148098304
+216,3.600000000,POSE1_TO_POSE2_PRESS,764,743,711,675,656,629,879.276838085,781.723161915,799.276838085,649,628,651,0.444817547026,-0.00553324516791,0.0796382867478,0.999999832947,-7.69158954584e-05,-0.000568791789937,-6.83029196326e-05,1793193381164765184
+217,3.616666667,POSE1_TO_POSE2_PRESS,764,743,711,675,656,629,879.855305156,781.144694844,799.855305156,649,628,651,0.444825675746,-0.00553447943424,0.0796382738783,0.999999833295,-7.81419646576e-05,-0.000568095690683,-6.76147807925e-05,1793193381181432064
+218,3.633333333,POSE1_TO_POSE2_PRESS,764,743,711,675,656,629,879.139976884,781,800,649,628,650.569988442,0.444829842327,-0.00553276668475,0.0796374809892,0.999999832448,-7.75577315157e-05,-0.000569638699979,-6.78281439128e-05,1793193381198098176
+219,3.650000000,POSE1_TO_POSE2_PRESS,764.003564044,743,711,675,656,629,878.003564044,781,800,649,628,650,0.444832688691,-0.0055301066328,0.0796364337416,0.999999831202,-7.63997372314e-05,-0.00057191754398,-6.83341345057e-05,1793193381214764544
+220,3.666666667,POSE1_TO_POSE2_PRESS,764.593664866,743,711,675,656,629,878.593664866,781,800,649,628,650,0.444835773284,-0.00553332888494,0.0796363467986,0.999999830699,-8.01965357173e-05,-0.000572374241932,-6.75088277957e-05,1793193381231431424
+221,3.683333333,POSE1_TO_POSE2_PRESS,764.819682379,742.819682379,711,674.819682379,656,629.180317621,878.819682379,781,800,649,628,650.180317621,0.444837482908,-0.00553538446366,0.0796359169725,0.999999830141,-8.20256451469e-05,-0.000573163081476,-6.68832607438e-05,1793193381248098304
+222,3.700000000,POSE1_TO_POSE2_PRESS,764.240653925,742.240653925,711,674.240653925,656,629.759346075,878.240653925,781,800,649,628,650.759346075,0.444836152259,-0.00553486034215,0.0796347289773,0.999999829483,-7.95038817819e-05,-0.000574686338664,-6.66993498365e-05,1793193381264764928
+223,3.716666667,POSE1_TO_POSE2_PRESS,764.335279444,742.335279444,711,674,656.335279444,630,878.335279444,781.335279444,800,649,628,651,0.444836334174,-0.00553396141423,0.0796337224902,0.99999982903,-7.76953633984e-05,-0.000575706681164,-6.68262478426e-05,1793193381281431808
+224,3.733333333,POSE1_TO_POSE2_PRESS,764.909011631,742.909011631,711,674,656.909011631,630,878.909011631,781.909011631,800,649,628,651,0.444837591832,-0.00553279592171,0.0796328450927,0.999999828725,-7.63941088447e-05,-0.000576369347892,-6.71741949842e-05,1793193381298098944
+225,3.750000000,POSE1_TO_POSE2_PRESS,764.51593108,743,711,674,656.51593108,629.51593108,879,781.51593108,800,649,628,651,0.444838504206,-0.0055341444309,0.079633266019,0.999999828807,-7.81838954712e-05,-0.000576048673649,-6.66409017219e-05,1793193381314765056
+226,3.766666667,POSE1_TO_POSE2_PRESS,764,742.93882433,711,674,656,629,879,781,800,649,628,650.93882433,0.444839293472,-0.00553562589305,0.07963391453,0.999999828962,-8.02065999819e-05,-0.000575568117765,-6.60587002516e-05,1793193381331431680
+227,3.783333333,POSE1_TO_POSE2_PRESS,764,742.346079203,711,674,656,629,879,781,800,649,628,650.346079203,0.444839578525,-0.0055341452819,0.079634414234,0.999999829164,-7.91907971521e-05,-0.000575308790502,-6.64947846147e-05,1793193381348098304
+228,3.800000000,POSE1_TO_POSE2_PRESS,763.758885049,742.241114951,710.758885049,674.241114951,656,629.241114951,878.758885049,781,800,649,628,650.241114951,0.444839197449,-0.0055328046164,0.0796340779986,0.999999829017,-7.7921155815e-05,-0.00057572022006,-6.66433620963e-05,1793193381364764928
+229,3.816666667,POSE1_TO_POSE2_PRESS,763.1794791,742.8205209,710.1794791,674.8205209,656,629.8205209,878.1794791,781,800,649,628,650.8205209,0.444837881774,-0.00553166029862,0.079632568917,0.999999828379,-7.62953720376e-05,-0.000577072740146,-6.63885593831e-05,1793193381381431296
+230,3.833333333,POSE1_TO_POSE2_PRESS,763.394328993,742.605671007,710,675,656,629.605671007,878,781,799.605671007,649,628,651,0.444838271506,-0.00553215243263,0.0796320580106,0.99999982806,-7.68051262245e-05,-0.000577598765538,-6.602905959e-05,1793193381398097920
+231,3.850000000,POSE1_TO_POSE2_PRESS,763.965624865,742.034375135,710,675,656,629.034375135,878,781,799.034375135,649,628,651,0.444839426592,-0.00553337897316,0.0796319950653,0.999999827884,-7.82732667184e-05,-0.000577753876783,-6.56225738708e-05,1793193381414764544
+232,3.866666667,POSE1_TO_POSE2_PRESS,764,742,710.555151285,675,656,629,878,781,799,649,628,650.444848715,0.44484141342,-0.00553311329806,0.0796338103985,0.999999829222,-7.70695058624e-05,-0.000575551189423,-6.60046345998e-05,1793193381431431680
+233,3.883333333,POSE1_TO_POSE2_PRESS,764,742.143055306,711,675,656,629,878,781,799,649,628,650,0.444843021745,-0.00553317797713,0.079635027686,0.999999830168,-7.6558615053e-05,-0.000573949310617,-6.62245435678e-05,1793193381448098048
+234,3.900000000,POSE1_TO_POSE2_PRESS,764,742.722450614,711,675,656,629,878,781,799,649,628,650,0.444843313158,-0.00553454168395,0.0796340540563,0.999999829634,-7.86828473307e-05,-0.000574640416188,-6.57958789447e-05,1793193381464764672
+235,3.916666667,POSE1_TO_POSE2_PRESS,764,743,711,675,656,629.300668919,878,781,799.300668919,649,628,650.300668919,0.444843110876,-0.00553419851188,0.0796335517455,0.99999982942,-7.83430131696e-05,-0.000575081230603,-6.56079943333e-05,1793193381481431552
+236,3.933333333,POSE1_TO_POSE2_PRESS,764,743,711,675,656,629.877805029,878,781,799.877805029,649,628,650.877805029,0.444842454637,-0.00553228585282,0.0796334828158,0.999999829497,-7.57374527968e-05,-0.000575291900615,-6.56415085898e-05,1793193381498097920
+237,3.950000000,POSE1_TO_POSE2_PRESS,764,743,711,674.548599277,656,630,878.451400723,781,800.451400723,649,628,651,0.44484354799,-0.00553302515238,0.0796348319572,0.999999830558,-7.56512849603e-05,-0.000573484549078,-6.53934437471e-05,1793193381514764544
+238,3.966666667,POSE1_TO_POSE2_PRESS,764,742.975278913,711,674.024721087,656,629.975278913,878.975278913,781,800.950557826,649,628,650.975278913,0.444845044671,-0.00553436703415,0.0796364795079,0.999999831809,-7.62363099418e-05,-0.000571255296017,-6.50963725404e-05,1793193381531431168
+239,3.983333333,POSE1_TO_POSE2_PRESS,764,742.38654366,711,674.61345634,656,629.38654366,878.38654366,781,799.77308732,649,628,650.38654366,0.444845021793,-0.00553320562286,0.0796362453239,0.999999831461,-7.66957675422e-05,-0.00057176680041,-6.54067395344e-05,1793193381548097792
+240,4.000000000,POSE1_TO_POSE2_PRESS,764,742.20014136,711,675,656,629,878,781,799.20014136,649,628,650.20014136,0.444845109754,-0.00553264977213,0.0796360261774,0.999999831219,-7.71125181849e-05,-0.000572113097636,-6.55953523135e-05,1793193381564764672
+241,4.016666667,POSE1_TO_POSE2_PRESS,764,742.782906774,711,675,656,629,878,781,799.782906774,649,628,650.782906774,0.444845409611,-0.0055332516134,0.0796358357793,0.999999831178,-7.74476229611e-05,-0.000572143556889,-6.55511991372e-05,1793193381581432064
+242,4.033333333,POSE1_TO_POSE2_PRESS,764.36012728,743,711,675,656,629,878,781,800,649,628,651,0.444846085962,-0.00553342500424,0.0796360459182,0.999999831349,-7.66326434059e-05,-0.000571994913258,-6.51974029773e-05,1793193381598098944
+243,4.050000000,POSE1_TO_POSE2_PRESS,764.93405585,743,711,675,656,629,878,781,800,649,628,651,0.444846985831,-0.00553334403151,0.0796364938489,0.999999831644,-7.51348788144e-05,-0.000571739939363,-6.46597771759e-05,1793193381614765312
+244,4.066666667,POSE1_TO_POSE2_PRESS,764.493352491,743,710.493352491,674.493352491,656,629,878.506647509,781,800,649,628,651,0.44484757823,-0.00553273393133,0.0796367633917,0.999999832397,-7.39090516699e-05,-0.000570572959906,-6.47363474986e-05,1793193381631431424
+245,4.083333333,HOLD_POSE2,764,742,711,675,657,629,879,781,800,649,628,650,0.444846855375,-0.0055346437115,0.0796363041016,0.999999831572,-7.74320599225e-05,-0.0005715647607,-6.45994666656e-05,1793193381673953280
+246,4.100000000,HOLD_POSE2,764,742,711,675,656.420341841,629,878.420341841,781,800,649,628,650,0.444845770213,-0.00553474886642,0.0796349979346,0.999999830442,-7.69032681052e-05,-0.000573614723951,-6.45621986095e-05,1793193381690619392
+247,4.116666667,HOLD_POSE2,764,742.15821522,711,675,656.15821522,629,878.15821522,781,800,649,628,650.15821522,0.444845563538,-0.00553480514076,0.0796345357824,0.999999830034,-7.63679097837e-05,-0.000574399887961,-6.45408139398e-05,1793193381707285760
+248,4.133333333,HOLD_POSE2,764,742.73386726,711,675,656.73386726,629,878.73386726,781,800,649,628,650.73386726,0.444847674675,-0.00553473244807,0.0796363004885,0.999999831537,-7.58152262086e-05,-0.000571847991842,-6.45613361683e-05,1793193381723952384
+249,4.150000000,HOLD_POSE2,764,743,711,675,656.682795283,629,878.682795283,781.317204717,800,649,628,651,0.444848394032,-0.00553580487708,0.0796367793574,0.999999831754,-7.73170750426e-05,-0.00057127756219,-6.44619408081e-05,1793193381740619264
+250,4.166666667,HOLD_POSE2,764,743,711,675,656.092849739,629,878.092849739,781.907150261,800,649,628,651,0.4448479167,-0.00553786191137,0.0796361526301,0.999999830861,-8.05854640555e-05,-0.000572410848849,-6.42594371999e-05,1793193381757285888
+251,4.183333333,HOLD_POSE2,764.487693896,742.512306104,711,675,656,629,878.487693896,781.512306104,800,649,628,650.512306104,0.44484798314,-0.00553408894742,0.0796361534284,0.999999831615,-7.7416527428e-05,-0.000571484701044,-6.46613475889e-05,1793193381773952512
+252,4.200000000,HOLD_POSE2,765,742,711,675,656,629.066024054,878.933975946,781,800,649,628,650.132048109,0.444847962503,-0.00553007846336,0.0796361285065,0.999999832368,-7.38032825413e-05,-0.000570594444875,-6.51103210111e-05,1793193381790619136
+253,4.216666667,HOLD_POSE2,765,742,711,675,656,629.640829913,878.359170087,781,800,649,628,651.281659825,0.444846488172,-0.00553262912433,0.0796350021486,0.999999830861,-7.60318357573e-05,-0.000572945041229,-6.50519920856e-05,1793193381807285760
+254,4.233333333,HOLD_POSE2,764.779555668,742,711,675,656.220444332,629.779555668,878.220444332,781,800,649,628,651.779555668,0.444846205147,-0.00553391180714,0.0796346481826,0.999999830361,-7.69404575793e-05,-0.000573717172445,-6.4859403895e-05,1793193381823952128
+255,4.250000000,HOLD_POSE2,764.19193201,742,711,675,656.80806799,629.19193201,878.80806799,781,800,649,628,651.19193201,0.444847906404,-0.00553308250356,0.0796355807384,0.99999983155,-7.56505580493e-05,-0.000571860159998,-6.44431890647e-05,1793193381840618752
+256,4.266666667,HOLD_POSE2,764.389955806,742.389955806,711,675,656.610044194,629,878.610044194,781,800,649,627.610044194,651,0.444847941756,-0.00553262947492,0.0796352503689,0.999999831326,-7.48631308317e-05,-0.000572373315955,-6.42831254144e-05,1793193381857285376
+257,4.283333333,HOLD_POSE2,764.969061477,742.969061477,711,675,656.030938523,629,878.030938523,781,800,649,627.030938523,651,0.444847169055,-0.00553235896009,0.0796343074117,0.999999830416,-7.43194300149e-05,-0.000574036132877,-6.424730904e-05,1793193381873952512
+258,4.300000000,HOLD_POSE2,764.452753587,743,711,675,656,629,878.547246413,781,800.547246413,649,627.547246413,651,0.444846846318,-0.00553358911735,0.0796342760904,0.999999830245,-7.50647362146e-05,-0.000574226617826,-6.43339699417e-05,1793193381890619136
+259,4.316666667,HOLD_POSE2,764.124363275,743,711,675,656,629,879,781.124363275,800.875636725,649,628,651,0.444846928193,-0.00553438847902,0.0796345078525,0.999999830329,-7.59470898339e-05,-0.000573949841371,-6.44661359354e-05,1793193381907285760
+260,4.333333333,HOLD_POSE2,764.697811063,743,711,675,656,629,879,781.697811063,800.302188937,649,628,651,0.444848379444,-0.00553332635806,0.079635503828,0.99999983118,-7.70616208161e-05,-0.00057228582514,-6.47376621136e-05,1793193381923952128
+261,4.350000000,POSE2_TO_POSE3_RETREAT,764,743,711,675,656,629,878,781,800,649,628,651,0.444848575943,-0.00553613680842,0.0796362481588,0.999999831033,-8.11699810777e-05,-0.000571993385143,-6.45665566813e-05,1793193381960973824
+262,4.366666667,POSE2_TO_POSE3_RETREAT,764,742.420908676,711,675,656,629,878.579091324,781,800.579091324,649,628,651,0.444847621525,-0.00553501897667,0.0796355864248,0.999999830655,-7.91412257518e-05,-0.000572994373339,-6.4057769564e-05,1793193381977640704
+263,4.383333333,POSE2_TO_POSE3_RETREAT,763.842485351,742.157514649,711,675,656,629,879,781,800.842485351,649,628,650.842485351,0.444847481082,-0.00553356002571,0.0796355126044,0.999999830761,-7.69473121795e-05,-0.000573125513862,-6.39135954312e-05,1793193381994307584
+264,4.400000000,POSE2_TO_POSE3_RETREAT,763.26583938,742.73416062,711,675,656,629,879,781,800.26583938,649,628,650.26583938,0.444849506547,-0.00553119338918,0.0796370031653,0.999999832156,-7.43139279658e-05,-0.000570942073679,-6.47396212427e-05,1793193382010974464
+265,4.416666667,POSE2_TO_POSE3_RETREAT,763.616354326,743,711,675,656,629,878.691822837,781,800,649,628,650.308177163,0.444850328335,-0.00553110202301,0.0796376175866,0.999999832784,-7.34495730084e-05,-0.000569922016474,-6.50046021021e-05,1793193382027641344
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764.759889337,743,711,675,656,629,878.120055332,781,800,649,628,650.879944668,0.444850120592,-0.00553295674309,0.0796374826274,0.999999832765,-7.40983057555e-05,-0.000569897025081,-6.47897094864e-05,1793193382044307968
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,743,711,675,656,629,878.469228388,781,800,649,628,651,0.444847889593,-0.00553428126698,0.0796356559921,0.999999831048,-7.7457274701e-05,-0.0005724694779,-6.46721044144e-05,1793193382060974336
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764.938526843,743,711,675,656,629,879,781.061473157,800,649,628,650.938526843,0.444844477306,-0.00553523434711,0.079633116646,0.999999828706,-8.0811645747e-05,-0.000576096155696,-6.4581995273e-05,1793193382077640960
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764.36051924,743,711,675,656,629,879,781.63948076,800,649,628,650.36051924,0.444835657518,-0.00553425038325,0.0796283665756,0.999999825055,-7.80748023856e-05,-0.000582780376293,-6.45056580365e-05,1793193382094306816
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764.216095725,742.783904275,711,675,656,629,879,781.783904275,800,649,628,650.216095725,0.444818254718,-0.00553314288108,0.0796196618186,0.999999817081,-7.58107745688e-05,-0.000596585742994,-6.46307557328e-05,1793193382110972928
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764.790402127,742.209597873,711,675,656,629,879,781.209597873,800,649,628,650.790402127,0.444786624304,-0.00553183059593,0.0796044015834,0.999999801556,-7.43305088078e-05,-0.000622195463474,-6.50897616555e-05,1793193382127639808
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764.62563494,742,711,674.62563494,656.37436506,629,879,781,800,649,628,651,0.444739179199,-0.00553046949087,0.0795881381574,0.999999782941,-7.34074333025e-05,-0.00065152512513,-6.51540353955e-05,1793193382144306688
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764.036122348,742,711,674.036122348,656.963877652,629,879,781,800,649,628,651,0.444682645392,-0.00552908032891,0.0795712981965,0.999999761998,-7.28045747574e-05,-0.000682992638371,-6.4991456628e-05,1793193382160973312
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764,742.543402324,711,674.543402324,656.456597676,629,878.456597676,781,800,649,628,651,0.444616439309,-0.00552728778535,0.0795610074258,0.999999755389,-7.1749761596e-05,-0.000692801088902,-6.40351465027e-05,1793193382177640448
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764,742.878168534,711,675,656,629,878.121831466,781,800,649,628,651,0.444545932039,-0.00552569616042,0.0795539399335,0.999999751133,-7.04560917069e-05,-0.000699184707781,-6.25304039286e-05,1793193382194307328
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764,742.301395606,711,675,656,629,878.698604394,781,800,649,628,651,0.444461720908,-0.00552495312605,0.0795573124119,0.999999752268,-6.83806487569e-05,-0.000698058714388,-5.91711820158e-05,1793193382210973440
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764,742.272500202,711,674.727499798,656,629,879,781,800,649,628,651,0.444366550678,-0.00552440013684,0.0795611083503,0.999999754349,-6.67427838885e-05,-0.000695544897087,-5.53569147748e-05,1793193382227639808
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764,742.843247018,711,674.156752982,656,629,879,781,800,649,628,651,0.444259385916,-0.00552405514869,0.079565367758,0.999999757452,-6.55838405557e-05,-0.000691512131311,-5.10446087327e-05,1793193382244306432
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764,743,711,674,656,629,878.568695649,781,800,649,628,651,0.444123702217,-0.0055207315274,0.0795672950862,0.999999758726,-6.02292113406e-05,-0.000690480443419,-4.64440018235e-05,1793193382260973056
+280,4.666666667,POSE2_TO_POSE3_RETREAT,764,743,711,674,656,629,878,781,800,649,628,650.974821252,0.443975674053,-0.00551640396786,0.0795681757152,0.999999759087,-5.33623402913e-05,-0.000690827104539,-4.1679041102e-05,1793193382277639936
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764,743,711,674,656,629,878,781,800,649,628,650.397126191,0.443793717086,-0.00551479479017,0.0795654643732,0.999999755657,-4.81718819321e-05,-0.000696484875036,-3.57029428442e-05,1793193382294307072
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764,743,711,674,656,629,878.180430803,781.180430803,799.819569197,649,628.180430803,650.180430803,0.443601253051,-0.00551173729888,0.0795636466744,0.999999753113,-4.03775996008e-05,-0.000700915782776,-2.93470356914e-05,1793193382310973952
+283,4.716666667,POSE2_TO_POSE3_RETREAT,764,743,711,674,656,629,878.757684069,781.757684069,799.242315931,649,628.757684069,650.757684069,0.443385680787,-0.00550549452368,0.0795637943704,0.999999752536,-2.68567134867e-05,-0.000702648443739,-2.21558135243e-05,1793193382327640320
+284,4.733333333,POSE2_TO_POSE3_RETREAT,764,742.659245696,711,674.340754304,656.340754304,629.340754304,879,782,799,648.659245696,628.659245696,650.659245696,0.443152641759,-0.00550151056028,0.0795653167456,0.999999753728,-1.50233474862e-05,-0.000701516914461,-1.38581088488e-05,1793193382344306688
+285,4.750000000,POSE2_TO_POSE3_RETREAT,764,742.071967019,711,674.928032981,656.928032981,629.928032981,879,782,799,648.071967019,628.071967019,650.071967019,0.442906966087,-0.00549916077125,0.0795678336554,0.999999756158,-4.41084460343e-06,-0.000698313239233,-4.7599002411e-06,1793193382360973312
+286,4.766666667,POSE2_TO_POSE3_RETREAT,764,742,711,674.491606028,657,630,879,782,799.508393972,648.508393972,628,650,0.442614211454,-0.00549577024462,0.0795767307467,0.999999766266,7.32700618344e-06,-0.000683668872734,3.22835724501e-06,1793193382377639936
+287,4.783333333,POSE2_TO_POSE3_RETREAT,764,742.087311994,711,674.087311994,657.087311994,630,879,782,799.912688006,649,628,650,0.442308311509,-0.0054915419682,0.0795859486932,0.999999776198,2.2093732751e-05,-0.000668595852618,9.78343399885e-06,1793193382394306048
+288,4.800000000,POSE2_TO_POSE3_RETREAT,764,742.663559872,711,674.663559872,657.663559872,630,879,782,799.336440128,649,628,650,0.441965618094,-0.00548343632182,0.0795919736901,0.99999978071,5.29416845865e-05,-0.000660069759761,9.18093821408e-06,1793193382410972928
+289,4.816666667,POSE2_TO_POSE3_RETREAT,764,743,711,675,657.760411528,630,878.760411528,782,799.239588472,649,628,650.239588472,0.441599182834,-0.00547781799687,0.0795937997979,0.999999781798,6.82808569489e-05,-0.00065699966483,9.68359743071e-06,1793193382427639552
+290,4.833333333,POSE2_TO_POSE3_RETREAT,764,743,711,675,657.184690601,630,878.184690601,782,799.815309399,649,628,650.815309399,0.441199438794,-0.00547568927876,0.0795897350423,0.999999779171,6.18618684089e-05,-0.000661584104567,1.17367422366e-05,1793193382444306432
+291,4.850000000,POSE2_TO_POSE3_RETREAT,764,743,711,675,657,630.400634048,878,782,800,649,628.400634048,650.599365952,0.440768481996,-0.00547025798578,0.0795818265373,0.999999774739,6.73060035607e-05,-0.000667723909822,1.16752506143e-05,1793193382460973056
+292,4.866666667,POSE2_TO_POSE3_RETREAT,764,743,711,675,657,630.990494691,878,782,800,649,628.990494691,650.009505309,0.440322782868,-0.00546326682795,0.0795721025611,0.999999769333,7.83533034297e-05,-0.000674598341694,1.0614978496e-05,1793193382477639680
+293,4.883333333,POSE2_TO_POSE3_RETREAT,764,743,711,674.430306689,657.569693311,631,878,782,799.430306689,649,629,650.569693311,0.439808422116,-0.00545634497535,0.0795597943898,0.999999758832,7.73199755129e-05,-0.000690080227312,1.212865793e-05,1793193382494306304
+294,4.900000000,POSE2_TO_POSE3_RETREAT,764,743,711,674,658,631,878.147288631,782.147288631,799,649,629,651,0.439301752591,-0.00545111755989,0.0795617382558,0.999999763114,7.93919944546e-05,-0.000683576323914,1.38744155103e-05,1793193382510973184
+295,4.916666667,POSE2_TO_POSE3_RETREAT,764,743,711,674,658,631,878.720750053,782.720750053,799,649,629,651,0.438820591255,-0.00545078963619,0.0796050421954,0.999999807812,9.10216934757e-05,-0.000613049650918,1.61696999427e-05,1793193382527639808
+296,4.933333333,POSE2_TO_POSE3_RETREAT,764,743,711,674,658,631,879,783,799,649,628.698068556,651,0.438323427036,-0.00545022421835,0.0796565036731,0.999999851366,9.58159272664e-05,-0.000536357518676,2.02041753335e-05,1793193382544306688
+297,4.950000000,POSE2_TO_POSE3_RETREAT,764,743,711,674,658,631,879,783,799,649,628.109559712,651,0.43781107367,-0.00544943338355,0.0797157078607,0.999999892262,9.41222991923e-05,-0.000453813448749,2.58893992794e-05,1793193382560973568
+298,4.966666667,POSE2_TO_POSE3_RETREAT,764,743,711.471240715,674,658,631,878.528759285,783,799.471240715,649,628.471240715,651,0.437225355053,-0.00545461820239,0.079754008382,0.999999916455,8.88083913947e-05,-0.000397964463509,2.87550875419e-05,1793193382577640192
+299,4.983333333,POSE2_TO_POSE3_RETREAT,764,743,712,674,658.100390322,631.050195161,878,783,799.949804839,649,628.949804839,650.949804839,0.436615667227,-0.00546043261005,0.0797849096141,0.999999934414,8.31121103252e-05,-0.000351186742649,3.05340674536e-05,1793193382594306816
+300,5.000000000,POSE2_TO_POSE3_RETREAT,764,743,712,674,659.256561011,631.628280506,878,783,799.371719494,649,628.371719494,650.371719494,0.435930396188,-0.00545849256523,0.0797882825132,0.999999939937,8.21038424297e-05,-0.000335588627846,2.76673887784e-05,1793193382610973184
+301,5.016666667,POSE2_TO_POSE3_RETREAT,764,743,712,674,659.794849655,632,878,783,799.205150345,649,628.205150345,650.205150345,0.43524179006,-0.00545178084391,0.0797917203499,0.999999943664,8.77875660454e-05,-0.000322972678226,2.55641205037e-05,1793193382627639552
+302,5.033333333,POSE2_TO_POSE3_RETREAT,764,743,712,674,659.220169295,632,878,783,799.779830705,649,628.779830705,650.779830705,0.434547176595,-0.00543647407167,0.079795275156,0.999999944282,0.000105525335814,-0.000315728397565,2.48359563824e-05,1793193382644306688
+303,5.050000000,POSE2_TO_POSE3_RETREAT,763.636702339,743,711.636702339,674,659,632,878,783,800,649,629,650.636702339,0.433832487823,-0.00542922738417,0.0798014105027,0.999999945537,0.000116725705786,-0.000307538417075,2.68517449892e-05,1793193382660973568
+304,5.066666667,POSE2_TO_POSE3_RETREAT,763.047778484,743,711.047778484,674,659,632,878,783,800,649,629,650.047778484,0.433105331297,-0.0054269864169,0.0798091484953,0.999999947232,0.000123866019683,-0.000298761109518,3.05716668403e-05,1793193382677640192
+305,5.083333333,POSE2_TO_POSE3_RETREAT,763.532262651,742.467737349,711,673.467737349,659,632,878,783,800,649,629,650,0.432247068865,-0.00542113495599,0.0797694787994,0.999999919186,0.000132920808223,-0.000378195229218,3.04625311385e-05,1793193382694306560
+306,5.100000000,POSE2_TO_POSE3_RETREAT,763.889026538,742,711,673,659.110973462,632,878,783,799.889026538,649,628.889026538,650,0.431388965965,-0.00541578528421,0.0797366127085,0.999999891102,0.000140854664361,-0.000443896169464,3.01936835043e-05,1793193382710973184
+307,5.116666667,POSE2_TO_POSE3_RETREAT,763.312606168,742,711,673,659.687393832,632,878,783,799.312606168,649,628.312606168,650,0.430580082696,-0.00541387724138,0.0797498381355,0.999999901332,0.000143378130967,-0.000419331271356,3.06729214982e-05,1793193382727639808
+308,5.133333333,POSE2_TO_POSE3_RETREAT,763.263172649,742.263172649,711.263172649,673,659.736827351,632,878,783.263172649,799,649,628.263172649,650,0.429791519851,-0.00541825106727,0.0797840506769,0.99999992445,0.000139015040501,-0.000361566939172,3.23230704971e-05,1793193382744306432
+309,5.150000000,POSE2_TO_POSE3_RETREAT,763.838191333,742.838191333,711.838191333,673,659.161808667,632,878,783.838191333,799,649,628.838191333,650,0.429027035555,-0.00543006858385,0.0798431318701,0.999999956404,0.000126491733966,-0.00026446298161,3.53606885969e-05,1793193382760973312
+310,5.166666667,POSE2_TO_POSE3_RETREAT,764,742.575820224,712,673,659.424179776,632,878,784,799.424179776,649,629,650.424179776,0.428206530613,-0.00543833941886,0.0798577893557,0.999999964263,0.000116030692621,-0.000238098080151,3.63219355632e-05,1793193382777639936
+311,5.183333333,POSE2_TO_POSE3_RETREAT,763.985841095,742.014158905,711.985841095,673,659.985841095,632,878,784,799.985841095,649,629,650.985841095,0.427362035075,-0.00544485042459,0.0798538346109,0.999999964533,0.000106720736853,-0.000241288564277,3.63895608108e-05,1793193382794306560
+312,5.200000000,POSE2_TO_POSE3_RETREAT,763.40800113,742.59199887,711.40800113,673,659.40800113,632,878,784,799.40800113,649,629,650.40800113,0.426435785314,-0.00543659208617,0.0798014546039,0.999999942614,0.000111086816214,-0.000318317414909,3.32509285278e-05,1793193382810973184
+313,5.216666667,POSE2_TO_POSE3_RETREAT,763,743,711.168990503,673,659,632,877.831009497,784,799.168990503,649,629,650.168990503,0.4255079169,-0.00542785796215,0.0797608087442,0.999999920182,0.000118935661807,-0.000380172661869,3.09550028184e-05,1793193382827639552
+314,5.233333333,POSE2_TO_POSE3_RETREAT,763,743,711.743944168,673,659,632,877.256055832,784,799.743944168,649,629,650.743944168,0.424576160079,-0.00541798086655,0.0797483516402,0.99999990815,0.000135151101626,-0.000405576604322,3.06834981062e-05,1793193382844306432
+315,5.250000000,POSE2_TO_POSE3_RETREAT,763.326339906,743,711.673660094,673,659,632,877.326339906,783.673660094,799.673660094,649,628.673660094,650.673660094,0.423672935752,-0.00541273035381,0.0797385241623,0.999999899575,0.000147535687805,-0.00042197428092,3.19432538277e-05,1793193382860973056
+316,5.266666667,POSE2_TO_POSE3_RETREAT,763.914711153,743,711.085288847,673,659,632,877.914711153,783.085288847,799.085288847,649,628.085288847,650.085288847,0.422792621348,-0.00541119470965,0.0797308081168,0.999999894166,0.000156844327898,-0.000431140465965,3.44325197216e-05,1793193382877639680
+317,5.283333333,POSE2_TO_POSE3_RETREAT,763.504709251,743,711.495290749,673,659,632,877.504709251,783,799,649,628,650.495290749,0.421985955876,-0.00540989834428,0.0797796272973,0.999999928087,0.000161812388245,-0.000341032334056,3.65957992768e-05,1793193382894306560
+318,5.300000000,POSE2_TO_POSE3_RETREAT,763.074180075,743,712,673,659,632,877,783.074180075,799,649,628,651,0.421184713061,-0.0054084827249,0.0798345437384,0.999999956187,0.000166073241402,-0.00024195821692,3.87469390622e-05,1793193382910973184
+319,5.316666667,POSE2_TO_POSE3_RETREAT,763.650568709,743,712,673,659,632,877,783.650568709,799,649,628,651,0.42033565163,-0.00540598510743,0.0798658506794,0.999999965379,0.000170528151286,-0.000196126106042,4.11900455732e-05,1793193382927639808
+320,5.333333333,POSE2_TO_POSE3_RETREAT,763.772999671,742.772999671,711.772999671,673,659,632,877,784,799.227000329,649,628.227000329,650.772999671,0.41944891402,-0.00540388804944,0.0798653541914,0.999999963609,0.000175045055755,-0.000201015153182,4.16471904576e-05,1793193382944306432
+321,5.350000000,POSE2_TO_POSE3_RETREAT,763.196501781,742.196501781,711.196501781,673,659,632,877,784,799.803498219,649,628.803498219,650.196501781,0.418504168731,-0.00540240770631,0.0798158920486,0.999999942772,0.000179657409526,-0.00028399624302,3.90466803772e-05,1793193382960973056
+322,5.366666667,POSE2_TO_POSE3_RETREAT,763.388074529,742,711,673,659,632,877,783.611925471,799.611925471,649,628.611925471,650,0.417633402062,-0.0054079205502,0.0798010782281,0.999999935578,0.000171563104668,-0.00031318421533,3.64085485224e-05,1793193382977639424
+323,5.383333333,POSE2_TO_POSE3_RETREAT,763.976828277,742,711,673,659,632,877,783.023171723,799.023171723,649,628.023171723,650,0.416800890915,-0.00541704967715,0.079804181583,0.99999993765,0.000156897994213,-0.000314554947149,3.37509621183e-05,1793193382994306048
+324,5.400000000,POSE2_TO_POSE3_RETREAT,764,742,711,672.447252892,659,632,877,783.552747108,799,649,628,650.552747108,0.415955067309,-0.00543327309012,0.0797999285297,0.999999934874,0.000137249081479,-0.000331868459752,3.57544369504e-05,1793193383010973696
+325,5.416666667,POSE2_TO_POSE3_RETREAT,764,742,711,672.257837416,659,632,877.128918708,783.871081292,799.128918708,649,628.128918708,650.871081292,0.415118952386,-0.00544556594745,0.0797931475153,0.9999999309,0.000122311180035,-0.000349112274757,3.68801176813e-05,1793193383027641088
+326,5.433333333,POSE2_TO_POSE3_RETREAT,764,742,711,673.415615789,659,632,877.707807894,783.292192106,799.707807894,649,628.707807894,650.292192106,0.414318627799,-0.00544312534681,0.0797785950045,0.999999925472,0.00012452899917,-0.000363833030759,3.42754723477e-05,1793193383044307456
+327,5.450000000,POSE2_TO_POSE3_RETREAT,764,742.284197381,711.284197381,673.715802619,659,632,877.715802619,783.284197381,800,648.715802619,629,650.284197381,0.413544581716,-0.00544049019771,0.0797836394525,0.999999930825,0.00012718061211,-0.000347981718614,3.29328660543e-05,1793193383060973824
+328,5.466666667,POSE2_TO_POSE3_RETREAT,764,742.858039221,711.858039221,673.141960779,659,632,877.141960779,783.858039221,800,648.141960779,629,650.858039221,0.412797317855,-0.00543765677149,0.0798086564662,0.999999945682,0.000130274332858,-0.0003009723763,3.28764878259e-05,1793193383077640192
+329,5.483333333,POSE2_TO_POSE3_RETREAT,764,742.551175947,711.551175947,673,659,632,877,784,799.551175947,648.448824053,629,651,0.412043212203,-0.00543721317241,0.0798058426865,0.999999942022,0.000135356744465,-0.000310677299842,3.33770818427e-05,1793193383094306560
+330,5.500000000,POSE2_TO_POSE3_RETREAT,764,742.043641307,711.043641307,673,659,632,877,784,799,649,628.956358693,651,0.411290774512,-0.00543721596967,0.0797944072163,0.999999932528,0.000140824169417,-0.000337575039528,3.39931880528e-05,1793193383110972928
+331,5.516666667,POSE2_TO_POSE3_RETREAT,764,742.619708973,711.619708973,673,659,632,877,784,799,649,628.380291027,651,0.410586123732,-0.00543308114207,0.0797893936995,0.999999929071,0.000143013725618,-0.000346790521851,3.37849788505e-05,1793193383127639808
+332,5.533333333,POSE2_TO_POSE3_RETREAT,763.805070958,743,712,672.805070958,659,632,877.194929042,784,799,649,628.194929042,650.805070958,0.409910703865,-0.00543074269606,0.079795249315,0.999999932646,0.000144180240119,-0.000335801123898,3.40339320684e-05,1793193383144306432
+333,5.550000000,POSE2_TO_POSE3_RETREAT,763.231497223,743,712,672.231497223,659,632,877.768502777,784,799,649,628.768502777,650.231497223,0.409292064177,-0.00543189367476,0.0798222179421,0.999999948332,0.000143359522359,-0.000285564262172,3.5170911544e-05,1793193383160973056
+334,5.566666667,POSE2_TO_POSE3_RETREAT,763.352849793,742.647150207,712,672,659,632,877.647150207,784,799,649,629,650.352849793,0.408672544194,-0.00543236945328,0.079837733499,0.999999955532,0.000138840607781,-0.000261487190986,3.58261786432e-05,1793193383177639680
+335,5.583333333,POSE2_TO_POSE3_RETREAT,763.944487496,742.055512504,712,672,659,632,877.055512504,784,799,649,629,650.944487496,0.408052428517,-0.00543238829611,0.0798454982925,0.999999958117,0.00013181897214,-0.000255113524951,3.61554512169e-05,1793193383194306560
+336,5.600000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632.523575906,877,784,799,649,629,650.476424094,0.407425948486,-0.00542942149992,0.0798049949135,0.999999935657,0.000143943394335,-0.000326633823968,3.57251153785e-05,1793193383210973440
+337,5.616666667,POSE2_TO_POSE3_RETREAT,763.899181986,742,712,672,659,632.899181986,877.100818014,784,799,648.899181986,629,650,0.406819879344,-0.00542698439988,0.0797672457292,0.999999910917,0.00015489025752,-0.000391087304275,3.50232348394e-05,1793193383227640064
+338,5.633333333,POSE2_TO_POSE3_RETREAT,763.324510365,742,712,672,659,632.324510365,877.675489635,784,799,648.324510365,629,650,0.406312840521,-0.00542848992665,0.0797659319646,0.999999914155,0.000150984764571,-0.000384417802824,3.34147463731e-05,1793193383244306688
+339,5.650000000,POSE2_TO_POSE3_RETREAT,763.256383685,742.256383685,712,672,659,632,877.743616315,784,799,648.256383685,628.743616315,650.256383685,0.40583244642,-0.00542882164405,0.0797748796915,0.9999999232,0.000149564194926,-0.000360786094893,3.26036927028e-05,1793193383260973056
+340,5.666666667,POSE2_TO_POSE3_RETREAT,763.845349454,742.845349454,712,672,659,632,877.154650546,784,799,648.845349454,628.154650546,650.845349454,0.405386616013,-0.00542763069049,0.079797138672,0.999999938345,0.000151367079198,-0.000315150935446,3.28270751605e-05,1793193383277639680
+341,5.683333333,POSE2_TO_POSE3_RETREAT,763.57259475,742.57259475,711.57259475,672,659,632,877,783.57259475,799,648.57259475,628.42740525,651,0.404959765584,-0.00542965090292,0.079812908552,0.999999944875,0.000153016851787,-0.000292709153123,3.4026140981e-05,1793193383294306560
+342,5.700000000,POSE2_TO_POSE3_RETREAT,763.006964644,742,711.006964644,672,659,632,877,783.006964644,799,648.006964644,629,651,0.404540099189,-0.00543277972377,0.0798262942947,0.999999948593,0.000154589292456,-0.000278660643709,3.55642452436e-05,1793193383310973184
+343,5.716666667,POSE2_TO_POSE3_RETREAT,763.583583422,742,711.583583422,672,659,632,877,783.583583422,799,648.583583422,629,651,0.404155251429,-0.00543306047721,0.0798336678339,0.99999994945,0.000154295868423,-0.000275621261625,3.64167596222e-05,1793193383327640064
+344,5.733333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,658.840400939,632.159599061,877.159599061,784,799,649,629,651,0.403781583593,-0.00543306890165,0.0798369337754,0.999999948626,0.000155824202579,-0.000277640819194,3.71790178596e-05,1793193383344306688
+345,5.750000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,658.265952927,632.734047073,877.734047073,784,799,649,629,651,0.403436975869,-0.00543236945609,0.07982952276,0.999999943284,0.000162087868263,-0.000292810176616,3.77066717261e-05,1793193383360973312
+346,5.766666667,POSE2_TO_POSE3_RETREAT,764,742.317096488,712,672,658.317096488,632.682903512,878,784,799,649,629,651,0.403121192,-0.00543264955698,0.0798262550664,0.999999940836,0.000161432599241,-0.000301417880129,3.76148778967e-05,1793193383377639680
+347,5.783333333,POSE2_TO_POSE3_RETREAT,764,742.907561117,712,672,658.907561117,632.092438883,878,784,799,649,629,651,0.402830257131,-0.00543377412261,0.0798265593212,0.999999941012,0.000154812532446,-0.00030436879629,3.69890596314e-05,1793193383394306304
+348,5.800000000,POSE2_TO_POSE3_RETREAT,764,742.511604414,712,672,658.511604414,632,877.511604414,784,799,649,628.511604414,651,0.402581938282,-0.00543604697726,0.0798283914211,0.999999941852,0.00015446165643,-0.000301779485197,3.69629129775e-05,1793193383410972928
+349,5.816666667,POSE2_TO_POSE3_RETREAT,764,742,711.933098011,672,658,632,877,784,799.066901989,649,628.066901989,651,0.402347069016,-0.00543827241446,0.0798306871791,0.999999943023,0.000155277796013,-0.000297446062819,3.69880495126e-05,1793193383427639808
+350,5.833333333,POSE2_TO_POSE3_RETREAT,764,742,711.358692499,672,658,632,877,784,799.641307501,649,628.641307501,651,0.402154221889,-0.00543852136163,0.0798343489365,0.999999945764,0.000156119628782,-0.000287682847141,3.65578706949e-05,1793193383444306432
+351,5.850000000,POSE2_TO_POSE3_RETREAT,764,742.220838793,711.220838793,672,658,632,877,784,799.779161207,649,629,651,0.401973957629,-0.00543888255949,0.0798383707122,0.999999948261,0.000154659624724,-0.00027965430402,3.67803140109e-05,1793193383460973056
+352,5.866666667,POSE2_TO_POSE3_RETREAT,764,742.808893289,711.808893289,672,658,632,877,784,799.191106711,649,629,651,0.401814616464,-0.00543943041028,0.0798429911341,0.999999950441,0.000149372074625,-0.000274510214382,3.80879521132e-05,1793193383477639936
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764,742.608744346,712,672,658,632,877.391255654,784,799,649,629,651,0.401671804578,-0.00543945125347,0.0798442134952,0.99999995166,0.000144866842812,-0.000272399952138,3.86257749726e-05,1793193383494306304
+354,5.900000000,POSE2_TO_POSE3_RETREAT,764,742.029122353,712,672,658,632,877.970877647,784,799,649,629,651,0.401536950543,-0.00543921837386,0.0798437998924,0.99999995242,0.000140738250279,-0.00027175029699,3.87929776685e-05,1793193383510972928
+355,5.916666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,658.548829087,632.548829087,877.451170913,784,799,649,629,651,0.401422811134,-0.00544077510919,0.0798359830608,0.999999950457,0.000129858798949,-0.000284485814479,3.59361681361e-05,1793193383527639552
+356,5.933333333,POSE2_TO_POSE3_RETREAT,764,742.125940563,712,672,659,632.874059437,877,784,799.125940563,649,629,650.874059437,0.401316065339,-0.00544223307398,0.0798287656314,0.999999947377,0.000127689149808,-0.000296352372539,3.34147255292e-05,1793193383544306176
+357,5.950000000,POSE2_TO_POSE3_RETREAT,764,742.700375667,712,672,659,632.299624333,877,784,799.700375667,649,629,650.299624333,0.401231746905,-0.00544300215357,0.0798250774712,0.999999941231,0.000157808303436,-0.000302602779781,3.26572752567e-05,1793193383560972800
+358,5.966666667,POSE2_TO_POSE3_RETREAT,764,742.71832878,712,672,658.71832878,632.28167122,877,784,800,649,628.71832878,650.28167122,0.401160209628,-0.00544244340379,0.0798207875379,0.999999936097,0.000176317793966,-0.000309324393608,3.21956315588e-05,1793193383577639680
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764,742.12955336,712,672,658.12955336,632.87044664,877,784,800,649,628.12955336,650.87044664,0.401102607563,-0.00544043693072,0.0798158414958,0.999999932788,0.000182169346749,-0.000316559760589,3.20565038096e-05,1793193383594306304
+360,6.000000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,658.45185841,633,877,784,799.54814159,649,628.45185841,651,0.40106507562,-0.00544068181004,0.0798164711374,0.999999933968,0.000180763924963,-0.000313586536259,3.24364149838e-05,1793193383610972928
+361,6.016666667,POSE2_TO_POSE3_RETREAT,764,742.030987411,712,672,658.969012589,632.969012589,877.030987411,784,799,649,629,651,0.401033616373,-0.00544147635834,0.0798185870332,0.999999936268,0.000177433541208,-0.000308052447576,3.29502598486e-05,1793193383627639552
+362,6.033333333,POSE2_TO_POSE3_RETREAT,764,742.606507565,712,672,658.393492435,632.393492435,877.606507565,784,799,649,629,651,0.401009372778,-0.00544076895099,0.0798191788671,0.999999936444,0.000176252971632,-0.000308126349985,3.32445357177e-05,1793193383644306176
+363,6.050000000,POSE2_TO_POSE3_RETREAT,764,743,712,672,658,632,878,784,799.18101325,649,629,651,0.400987923445,-0.0054411830967,0.0798193673219,0.999999936576,0.000173937032502,-0.000308982836266,3.35273616543e-05,1793193383660972800
+364,6.066666667,POSE2_TO_POSE3_RETREAT,764,743,712,672,658,632,878,784,799.753325863,649,629,651,0.400972514517,-0.00544402172246,0.0798186837853,0.999999936595,0.000169166746218,-0.000311531047144,3.37854360423e-05,1793193383677639680
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764,742.662366146,711.662366146,672,658,632,878,784,799.662366146,649,629,651,0.400964811751,-0.00544550446396,0.0798193376321,0.999999937247,0.000167571255628,-0.000310269353837,3.40365787642e-05,1793193383694306304
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764,742.068971483,711.068971483,672,658,632,878,784,799.068971483,649,629,651,0.400962946473,-0.00544596011072,0.0798210045593,0.999999938381,0.000168380702026,-0.000306121622672,3.42824707114e-05,1793193383710972928
+367,6.116666667,POSE2_TO_POSE3_RETREAT,764,742.511995342,711.511995342,672,658,632.511995342,877.488004658,784,798.488004658,649,629,650.488004658,0.400960562005,-0.00544419227282,0.0798215971548,0.999999938572,0.000170094921087,-0.000304609743932,3.37031665543e-05,1793193383727639808
+368,6.133333333,POSE2_TO_POSE3_RETREAT,764,742.909513863,712,672,658.090486137,632.909513863,877,784,798.180972275,649,628.909513863,650.090486137,0.400958015886,-0.0054427840499,0.0798218573029,0.999999938664,0.00017108506004,-0.000303822609183,3.3063908252e-05,1793193383744306432
+369,6.150000000,POSE2_TO_POSE3_RETREAT,764,742.335519551,712,672,658.664480449,632.335519551,877,784,799.328960897,649,628.335519551,650.664480449,0.400954970864,-0.00544485999573,0.0798210960362,0.999999938896,0.000167570272079,-0.000305055725489,3.26842057398e-05,1793193383760973056
+370,6.166666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632,877,784,799.755627753,649,628.244372247,651,0.40095336258,-0.00544574790604,0.0798210582284,0.999999939174,0.000165658534785,-0.000305215577514,3.24572725434e-05,1793193383777639680
+371,6.183333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632,877,784,799.167438583,649,628.832561417,651,0.400953775701,-0.00544496432233,0.0798220382834,0.999999939528,0.000166002192723,-0.000303865411749,3.24452765274e-05,1793193383794306304
+372,6.200000000,POSE2_TO_POSE3_RETREAT,764,742,711.584241318,672,659,632,877,784,799,649,629,651,0.400954085271,-0.00544389921168,0.0798231865216,0.999999939925,0.000166424690193,-0.00030232984818,3.24006084045e-05,1793193383810973952
+373,6.216666667,POSE2_TO_POSE3_RETREAT,764,742,711.003030607,672,659,632,877,784,799,649,629,651,0.400954353634,-0.00544272206683,0.0798244016886,0.999999940336,0.00016687856201,-0.000300720505201,3.23429383489e-05,1793193383827641856
+374,6.233333333,POSE2_TO_POSE3_RETREAT,764,742,711.571470578,672,659,632,877,784,799,649,629,651,0.400954125225,-0.00544419434977,0.0798237088832,0.999999940324,0.000166107871679,-0.000301198720744,3.22538308371e-05,1793193383844307456
+375,6.250000000,POSE2_TO_POSE3_RETREAT,764.146323842,742,712,672,659,632,877.146323842,784,799.146323842,649,629,651,0.400954093226,-0.00544529248028,0.0798234473178,0.999999940438,0.000165410575177,-0.000301207945058,3.21890609955e-05,1793193383860973568
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764.722314123,742,712,672,659,632,877.722314123,784,799.722314123,649,629,651,0.400954645613,-0.00544525116761,0.0798244814154,0.999999940935,0.000164947640939,-0.000299807889095,3.21962403603e-05,1793193383877639936
+377,6.283333333,POSE2_TO_POSE3_RETREAT,764.694916341,742,712,672,658.694916341,632,877.694916341,784,799.694916341,649,629,651,0.400954401265,-0.0054454651109,0.0798248141971,0.999999941022,0.000164663058164,-0.000299659446351,3.23411475794e-05,1793193383894306560
+378,6.300000000,POSE2_TO_POSE3_RETREAT,764.105836058,742,712,672,658.105836058,632,877.105836058,784,799.105836058,649,629,651,0.400953415252,-0.00544591666712,0.0798244941372,0.999999940728,0.000164544499346,-0.000300676106584,3.26142630612e-05,1793193383910973440
+379,6.316666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,658.475118225,632,877,784,799.475118225,649,629,651,0.400953252635,-0.0054466515635,0.0798247914371,0.999999940898,0.000164552492212,-0.00030014289663,3.22659525292e-05,1793193383927640064
+380,6.333333333,POSE2_TO_POSE3_RETREAT,764,742.05366905,712,672,658.94633095,632.05366905,877.05366905,784,799.94633095,649,629,651,0.400953173412,-0.00544733712181,0.0798251131035,0.999999941094,0.000164685557151,-0.000299460466346,3.18445132511e-05,1793193383944306688
+381,6.350000000,POSE2_TO_POSE3_RETREAT,764,742.626189859,712,672,658.373810141,632.626189859,877.626189859,784,799.373810141,649,629,651,0.400952157017,-0.00544694577755,0.0798243631873,0.999999940564,0.000165759820539,-0.000300617000833,3.20318503758e-05,1793193383960973056
+382,6.366666667,POSE2_TO_POSE3_RETREAT,764,743,712,672,658,632.795097519,877.795097519,784,799,649,629,651,0.40095161984,-0.00544640627864,0.0798239496416,0.999999940297,0.000166205262328,-0.000301245956083,3.2143605745e-05,1793193383977639680
+383,6.383333333,POSE2_TO_POSE3_RETREAT,764,743,712,672,658,632.204737027,877.204737027,784,799,649,629,651,0.400951984155,-0.00544558807451,0.0798241688688,0.999999940529,0.000165467778782,-0.000300882440883,3.21131783781e-05,1793193383994306560
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764,743,711.621695389,672,658.378304611,632.378304611,877.378304611,784,799,649,629,650.621695389,0.400952570353,-0.00544526149802,0.0798240884445,0.999999940454,0.000166604897271,-0.000300522170994,3.19681484611e-05,1793193384010973184
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764,743,711.04253953,672,658.95746047,632.95746047,877.95746047,784,799,649,629,650.04253953,0.400953274354,-0.00544519593879,0.0798238489278,0.99999994021,0.000168737288234,-0.000300163624132,3.17622732249e-05,1793193384027639808
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764.535562812,742.464437188,711.535562812,671.464437188,659,633,878,784,799,649,629,650.535562812,0.400953762458,-0.00544585324947,0.0798249796815,0.999999940667,0.0001681248467,-0.000298932468645,3.22313868141e-05,1793193384044306688
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764.887333559,742.112666441,712,671.112666441,658.887333559,633,877.887333559,784,799,649,629,651,0.400953954426,-0.00544633452616,0.079825911723,0.99999994107,0.000167342487845,-0.000297991850626,3.25202840063e-05,1793193384060973568
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764.313972336,742.686027664,712,671.686027664,658.313972336,633,877.313972336,784,799,649,629,651,0.400953005469,-0.00544586167793,0.0798255870526,0.999999941031,0.000166755075228,-0.000298522102105,3.18534751089e-05,1793193384077640192
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764,742.732742634,711.732742634,672,658.267257366,632.732742634,877.267257366,784,799,649,628.732742634,651,0.400952573824,-0.00544587472222,0.0798252402862,0.999999941074,0.000165719977833,-0.000298994153829,3.14787583167e-05,1793193384094306816
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764,742.141988603,711.141988603,672,658.858011397,632.141988603,877.858011397,784,799,649,628.141988603,651,0.400952768349,-0.00544647590593,0.0798248667739,0.999999941215,0.00016414298872,-0.000299395758823,3.1457598844e-05,1793193384110973184
+391,6.516666667,POSE2_TO_POSE3_RETREAT,764,742,711.439920131,672,658.560079869,632.439920131,877.560079869,784,799,649,628.439920131,651,0.400952513608,-0.00544620144104,0.0798249821473,0.999999941119,0.000165575884925,-0.000298916485348,3.15668688481e-05,1793193384127639552
+392,6.533333333,POSE2_TO_POSE3_RETREAT,764,742.01890821,712,672,658,633,877.01890821,784,799.01890821,649,629,651,0.400952209473,-0.0054457029374,0.079825302308,0.999999940982,0.000167850425271,-0.00029808745951,3.1722090475e-05,1793193384144306432
+393,6.550000000,POSE2_TO_POSE3_RETREAT,764,742.594306184,712,672,658,633,877.594306184,784,799.594306184,649,629,651,0.400954635176,-0.00544676472186,0.0798270971063,0.999999942003,0.000166867582358,-0.000295167529643,3.20151666399e-05,1793193384160973312
+394,6.566666667,POSE2_TO_POSE3_RETREAT,764,742.82694981,712,672,658.17305019,633,877.82694981,784,799.82694981,649,629,651,0.400956112345,-0.0054471562902,0.0798282438144,0.999999942659,0.000166245869986,-0.000293281584723,3.2112016451e-05,1793193384177639936
+395,6.583333333,POSE2_TO_POSE3_RETREAT,764,742.240206834,712,672,658.759793166,633,877.240206834,784,799.240206834,649,629,651,0.400955321954,-0.00544594564368,0.0798278412019,0.999999942458,0.000166487474272,-0.000293867478435,3.17397686554e-05,1793193384194306560
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_04/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_04/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a14c91156ccfcda538ec3497becd7f37edcee87d
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_04/depth_02/simulation_data.csv
@@ -0,0 +1,397 @@
+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,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+1,0.016666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+2,0.033333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+3,0.050000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+4,0.066666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+5,0.083333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+6,0.100000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+7,0.116666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+8,0.133333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+9,0.150000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+10,0.166666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+11,0.183333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+12,0.200000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+13,0.216666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+14,0.233333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+15,0.250000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+16,0.266666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+17,0.283333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+18,0.300000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+19,0.316666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+20,0.333333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+21,0.350000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+22,0.366666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+23,0.383333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+24,0.400000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+25,0.416666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+26,0.433333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+27,0.450000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+28,0.466666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+29,0.483333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+30,0.500000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+31,0.516666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+32,0.533333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+33,0.550000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+34,0.566666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+35,0.583333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+36,0.600000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+37,0.616666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+38,0.633333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+39,0.650000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+40,0.666666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+41,0.683333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+42,0.700000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+43,0.716666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+44,0.733333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+45,0.750000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+46,0.766666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+47,0.783333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+48,0.800000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+49,0.816666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+50,0.833333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+51,0.850000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+52,0.866666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+53,0.883333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+54,0.900000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+55,0.916666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+56,0.933333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+57,0.950000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+58,0.966666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+59,0.983333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+60,1.000000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+61,1.016666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+62,1.033333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+63,1.050000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+64,1.066666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+65,1.083333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+66,1.100000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+67,1.116666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+68,1.133333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+69,1.150000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+70,1.166666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+71,1.183333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+72,1.200000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+73,1.216666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+74,1.233333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+75,1.250000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+76,1.266666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+77,1.283333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+78,1.300000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+79,1.316666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+80,1.333333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+81,1.350000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+82,1.366666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+83,1.383333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+84,1.400000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+85,1.416666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+86,1.433333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+87,1.450000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+88,1.466666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+89,1.483333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+90,1.500000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+91,1.516666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+92,1.533333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+93,1.550000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+94,1.566666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+95,1.583333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+96,1.600000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+97,1.616666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+98,1.633333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+99,1.650000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+100,1.666666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+101,1.683333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+102,1.700000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+103,1.716666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+104,1.733333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+105,1.750000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+106,1.766666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+107,1.783333333,pose1_to_pose2_press,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+108,1.800000000,pose1_to_pose2_press,0.57570923999,5.46370158039e-05,1.07002925528,0.546279969271,0.00872736294367,1.06969853824
+109,1.816666667,pose1_to_pose2_press,0.575709352373,5.46020610899e-05,1.0700291519,0.546280081335,0.00872732712584,1.06969844063
+110,1.833333333,pose1_to_pose2_press,0.575709657736,5.45767143034e-05,1.07002921746,0.546280387693,0.00872730513403,1.06969850558
+111,1.850000000,pose1_to_pose2_press,0.575710094321,5.45550855963e-05,1.07002925579,0.546280825027,0.00872728605993,1.06969854422
+112,1.866666667,pose1_to_pose2_press,0.575710602358,5.45569688853e-05,1.07002919779,0.546281332688,0.00872728676457,1.06969848875
+113,1.883333333,pose1_to_pose2_press,0.575711324762,5.45594519733e-05,1.07002911866,0.546282054589,0.00872728766742,1.06969841303
+114,1.900000000,pose1_to_pose2_press,0.575713284909,5.45528654614e-05,1.07002913167,0.54628401543,0.00872728333988,1.06969842355
+115,1.916666667,pose1_to_pose2_press,0.575718187207,5.46034557489e-05,1.07002912495,0.546288915797,0.00872732746497,1.06969841899
+116,1.933333333,pose1_to_pose2_press,0.575729560655,5.46306078413e-05,1.07002906615,0.54630029046,0.00872735844428,1.06969835241
+117,1.950000000,pose1_to_pose2_press,0.575749036209,5.45966297735e-05,1.07002916102,0.546319765856,0.00872732397043,1.06969844829
+118,1.966666667,pose1_to_pose2_press,0.575779933411,5.4536415903e-05,1.07002927024,0.546350665421,0.00872727183382,1.06969855895
+119,1.983333333,pose1_to_pose2_press,0.575822296138,5.47446226797e-05,1.0700291706,0.546393024139,0.0087274665304,1.06969846171
+120,2.000000000,pose1_to_pose2_press,0.575876182677,5.45722071965e-05,1.07002920644,0.546446912878,0.00872730145483,1.06969849424
+121,2.016666667,pose1_to_pose2_press,0.575940347929,5.44864915648e-05,1.07002916614,0.546511078945,0.00872721841669,1.0696984515
+122,2.033333333,pose1_to_pose2_press,0.576015171821,5.4449515507e-05,1.07002910909,0.546585904085,0.008727186145,1.06969840675
+123,2.050000000,pose1_to_pose2_press,0.576100986421,5.44923625755e-05,1.07002913371,0.546671717077,0.00872722333451,1.06969842604
+124,2.066666667,pose1_to_pose2_press,0.576198404469,5.45296480444e-05,1.0700292792,0.546769135067,0.00872726005174,1.06969856175
+125,2.083333333,pose1_to_pose2_press,0.576311982556,5.46261501037e-05,1.07002920578,0.546882712636,0.00872735474022,1.0696984868
+126,2.100000000,pose1_to_pose2_press,0.576441351508,5.47298517806e-05,1.07002924317,0.547012080348,0.00872745462094,1.0696985343
+127,2.116666667,pose1_to_pose2_press,0.576588695118,5.46600406212e-05,1.07002912976,0.547159426622,0.00872739403984,1.06969842585
+128,2.133333333,pose1_to_pose2_press,0.576753102737,5.46094019645e-05,1.070029164,0.547323833683,0.0087273411222,1.06969844989
+129,2.150000000,pose1_to_pose2_press,0.576935105618,5.46216865639e-05,1.07002891708,0.54750583555,0.00872735042773,1.06969821497
+130,2.166666667,pose1_to_pose2_press,0.57713274587,5.44725877826e-05,1.07002899737,0.547703476863,0.0087272046484,1.0696982879
+131,2.183333333,pose1_to_pose2_press,0.577346206914,5.45228666709e-05,1.07002921313,0.54791693821,0.00872725584346,1.06969850065
+132,2.200000000,pose1_to_pose2_press,0.577580497791,5.46034976256e-05,1.07002925222,0.54815122733,0.0087273306907,1.0696985444
+133,2.216666667,pose1_to_pose2_press,0.577837248074,5.44728942082e-05,1.07002908377,0.548407979642,0.00872720704157,1.06969837765
+134,2.233333333,pose1_to_pose2_press,0.578121358739,5.44278505181e-05,1.07002891886,0.54869209031,0.00872716205252,1.06969821393
+135,2.250000000,pose1_to_pose2_press,0.578433170986,5.4561895382e-05,1.07002908207,0.549003901457,0.00872729249015,1.06969838024
+136,2.266666667,pose1_to_pose2_press,0.578772245954,5.45385466827e-05,1.0700292328,0.549342977711,0.00872727343501,1.06969852918
+137,2.283333333,pose1_to_pose2_press,0.579139394047,5.46267549954e-05,1.07002920254,0.549710123899,0.00872735483412,1.06969848982
+138,2.300000000,pose1_to_pose2_press,0.579530989787,5.45908389715e-05,1.07002914378,0.550101720881,0.00872732328468,1.0696984349
+139,2.316666667,pose1_to_pose2_press,0.579944451869,5.45617813259e-05,1.07002919691,0.550515183126,0.00872729495826,1.06969849268
+140,2.333333333,pose1_to_pose2_press,0.58037993278,5.46031896299e-05,1.07002919038,0.550950662454,0.00872733079566,1.06969848091
+141,2.350000000,pose1_to_pose2_press,0.580839315013,5.45992069557e-05,1.07002915508,0.551410044936,0.00872732752838,1.06969844212
+142,2.366666667,pose1_to_pose2_press,0.581317493248,5.45162958191e-05,1.07002922614,0.551888224107,0.00872724777233,1.06969851262
+143,2.383333333,pose1_to_pose2_press,0.581814520738,5.45380317779e-05,1.07002920455,0.552385251438,0.00872726905539,1.06969849327
+144,2.400000000,pose1_to_pose2_press,0.582334555702,5.46332472392e-05,1.07002922426,0.552905285205,0.00872736015834,1.06969851163
+145,2.416666667,pose1_to_pose2_press,0.582882428102,5.45574981887e-05,1.07002921243,0.553453158367,0.00872728694998,1.06969849859
+146,2.433333333,pose1_to_pose2_press,0.583468749362,5.45552175288e-05,1.07002912101,0.554039480099,0.00872728654959,1.06969841437
+147,2.450000000,pose1_to_pose2_press,0.584087650761,5.46377376668e-05,1.07002910543,0.554658380529,0.0087273659853,1.06969840412
+148,2.466666667,pose1_to_pose2_press,0.584736733899,5.46163169784e-05,1.07002928873,0.555307463372,0.00872734318055,1.06969857735
+149,2.483333333,pose1_to_pose2_press,0.585402523241,5.46065683454e-05,1.07002907971,0.55597325338,0.00872733582563,1.06969837187
+150,2.500000000,pose1_to_pose2_press,0.586076851508,5.45626050116e-05,1.07002887828,0.556647581264,0.00872729075122,1.0696981753
+151,2.516666667,pose1_to_pose2_press,0.586751233529,5.43837385473e-05,1.07002912304,0.557321965301,0.00872711840591,1.06969841168
+152,2.533333333,pose1_to_pose2_press,0.587437885368,5.44756206841e-05,1.07002913989,0.558008616691,0.00872720871792,1.0696984273
+153,2.550000000,pose1_to_pose2_press,0.58814833197,5.46229329108e-05,1.07002910067,0.558719061007,0.00872734834637,1.06969838998
+154,2.566666667,pose1_to_pose2_press,0.588881177104,5.45676590162e-05,1.07002914913,0.5594519065,0.00872729428773,1.06969843839
+155,2.583333333,pose1_to_pose2_press,0.58963351679,5.45343967929e-05,1.07002914441,0.560204247256,0.00872726466551,1.06969843386
+156,2.600000000,pose1_to_pose2_press,0.590405773995,5.45822785797e-05,1.07002913931,0.560976503897,0.00872731069447,1.06969843038
+157,2.616666667,pose1_to_pose2_press,0.591191240401,5.45825063303e-05,1.0700291428,0.561761970804,0.00872731259165,1.06969843305
+158,2.633333333,pose1_to_pose2_press,0.591989026256,5.46403064073e-05,1.07002928727,0.562559756115,0.00872736844798,1.06969857494
+159,2.650000000,pose1_to_pose2_press,0.592800625909,5.46417732419e-05,1.07002941248,0.563371355934,0.0087273703445,1.06969869667
+160,2.666666667,pose1_to_pose2_press,0.593624486481,5.46065483315e-05,1.07002934306,0.564195217185,0.00872733739332,1.06969862652
+161,2.683333333,pose1_to_pose2_press,0.594454663483,5.46360822119e-05,1.07002922811,0.565025392666,0.00872736174146,1.06969851097
+162,2.700000000,pose1_to_pose2_press,0.595287446454,5.46158220191e-05,1.07002924045,0.565858176805,0.00872734554593,1.069698526
+163,2.716666667,pose1_to_pose2_press,0.596115766723,5.4606851678e-05,1.07002918501,0.56668649656,0.00872733505237,1.06969847642
+164,2.733333333,pose1_to_pose2_press,0.596940236696,5.46782739029e-05,1.07002915765,0.567510965999,0.00872740447322,1.06969844415
+165,2.750000000,pose1_to_pose2_press,0.597758636915,5.45719888159e-05,1.070029123,0.568329367538,0.00872730296367,1.06969841733
+166,2.766666667,pose1_to_pose2_press,0.598576833982,5.44795230373e-05,1.07002918863,0.569147564865,0.00872721140485,1.06969848362
+167,2.783333333,pose1_to_pose2_press,0.599396581733,5.45394416185e-05,1.07002928479,0.56996731175,0.00872726800871,1.06969856997
+168,2.800000000,pose1_to_pose2_press,0.600212801352,5.45834464129e-05,1.07002929597,0.570783531777,0.00872731327855,1.06969857805
+169,2.816666667,pose1_to_pose2_press,0.601027620756,5.46077153742e-05,1.07002934843,0.571598351459,0.00872733858538,1.06969863314
+170,2.833333333,pose1_to_pose2_press,0.601839728714,5.45704246097e-05,1.07002920667,0.572410459689,0.00872730229103,1.06969849331
+171,2.850000000,pose1_to_pose2_press,0.602649352161,5.45385960836e-05,1.07002909891,0.573220082686,0.00872726897644,1.06969838669
+172,2.866666667,pose1_to_pose2_press,0.603459224889,5.44732100616e-05,1.07002923265,0.574029955518,0.00872720383505,1.06969851766
+173,2.883333333,pose1_to_pose2_press,0.604265848849,5.44842987235e-05,1.07002920585,0.574836580353,0.00872721799607,1.06969849365
+174,2.900000000,pose1_to_pose2_press,0.605067647872,5.44742323164e-05,1.07002915845,0.575638379308,0.00872720765294,1.06969844518
+175,2.916666667,pose1_to_pose2_press,0.60584369878,5.46074266929e-05,1.07002914862,0.576414427936,0.00872733320228,1.06969843779
+176,2.933333333,pose1_to_pose2_press,0.606590216671,5.45989553902e-05,1.07002906531,0.577160945888,0.00872732497502,1.06969835558
+177,2.950000000,pose1_to_pose2_press,0.607305989114,5.45689044706e-05,1.07002924103,0.577876720051,0.00872730079695,1.06969853229
+178,2.966666667,pose1_to_pose2_press,0.60799997667,5.45760364125e-05,1.07002933298,0.578570707789,0.00872730833566,1.06969861881
+179,2.983333333,pose1_to_pose2_press,0.608677472287,5.45253079676e-05,1.07002907606,0.579248203586,0.00872725822753,1.06969836224
+180,3.000000000,pose1_to_pose2_press,0.60934957834,5.45175261235e-05,1.07002903911,0.579920309575,0.00872725036691,1.06969832902
+181,3.016666667,pose1_to_pose2_press,0.610009897038,5.45931257737e-05,1.07002910196,0.580580626616,0.00872732064817,1.06969839994
+182,3.033333333,pose1_to_pose2_press,0.610642300167,5.4620277649e-05,1.07002910254,0.581213029791,0.00872734803426,1.0696984026
+183,3.050000000,pose1_to_pose2_press,0.611241986304,5.46279913688e-05,1.07002896751,0.581812716308,0.00872735703361,1.06969826755
+184,3.066666667,pose1_to_pose2_press,0.61180579918,5.45194110351e-05,1.07002907078,0.582376529474,0.0087272492787,1.06969836672
+185,3.083333333,pose1_to_pose2_press,0.612345285861,5.45123321579e-05,1.07002920012,0.582916015495,0.00872723980265,1.06969849202
+186,3.100000000,pose1_to_pose2_press,0.612862888777,5.46856545174e-05,1.07002908846,0.583433616848,0.00872740778479,1.06969837903
+187,3.116666667,pose1_to_pose2_press,0.613358068346,5.47151287731e-05,1.07002910848,0.583928797866,0.00872744223486,1.06969839866
+188,3.133333333,pose1_to_pose2_press,0.613828442914,5.46261455159e-05,1.0700292125,0.584399174395,0.00872736011275,1.06969850431
+189,3.150000000,pose1_to_pose2_press,0.614267570555,5.45952380087e-05,1.07002908846,0.584838300225,0.00872732319352,1.06969837683
+190,3.166666667,pose1_to_pose2_press,0.614681735668,5.45175349608e-05,1.07002889404,0.585252465962,0.00872724836336,1.06969818925
+191,3.183333333,pose1_to_pose2_press,0.615073517166,5.46342007436e-05,1.07002899625,0.58564424521,0.00872735819089,1.06969829233
+192,3.200000000,pose1_to_pose2_press,0.615454600092,5.47412383054e-05,1.07002903476,0.586025327055,0.00872746246913,1.06969832491
+193,3.216666667,pose1_to_pose2_press,0.615826817426,5.46246172227e-05,1.07002938184,0.586397548574,0.00872736054656,1.06969867263
+194,3.233333333,pose1_to_pose2_press,0.616189460409,5.46072438999e-05,1.07002903431,0.586760190258,0.00872733948843,1.06969832173
+195,3.250000000,pose1_to_pose2_press,0.616535271845,5.44951321133e-05,1.07002913637,0.587106002474,0.00872723095068,1.06969842748
+196,3.266666667,pose1_to_pose2_press,0.616856275465,5.4482908614e-05,1.07002924222,0.587427005191,0.00872721647407,1.06969853308
+197,3.283333333,pose1_to_pose2_press,0.617145962238,5.46929918496e-05,1.07002914182,0.587716690278,0.00872742199074,1.06969842905
+198,3.300000000,pose1_to_pose2_press,0.61740276035,5.47319159734e-05,1.07002907634,0.587973485428,0.00872745100704,1.06969836296
+199,3.316666667,pose1_to_pose2_press,0.617630104245,5.44847621486e-05,1.07002935223,0.588200832775,0.00872721596031,1.06969864369
+200,3.333333333,pose1_to_pose2_press,0.617832567431,5.44608135699e-05,1.07002900995,0.588403296383,0.00872719401232,1.06969830436
+201,3.350000000,pose1_to_pose2_press,0.618014686557,5.4549935634e-05,1.0700290834,0.588585414813,0.00872728146399,1.06969838546
+202,3.366666667,pose1_to_pose2_press,0.618181444443,5.43911695214e-05,1.07002916005,0.588752174867,0.00872712995667,1.06969844481
+203,3.383333333,pose1_to_pose2_press,0.618333216878,5.45878044387e-05,1.07002915934,0.588903944468,0.00872731733636,1.06969844766
+204,3.400000000,pose1_to_pose2_press,0.618471226798,5.45528584905e-05,1.07002926006,0.589041955046,0.0087272848393,1.06969854559
+205,3.416666667,pose1_to_pose2_press,0.618594976184,5.45614228844e-05,1.07002907418,0.589165703756,0.00872729157368,1.06969836436
+206,3.433333333,pose1_to_pose2_press,0.618702421642,5.48135028996e-05,1.07002911526,0.589273145966,0.0087275328419,1.06969840565
+207,3.450000000,pose1_to_pose2_press,0.618795024545,5.45747010818e-05,1.07002935973,0.589365751479,0.00872730270027,1.06969863982
+208,3.466666667,pose1_to_pose2_press,0.618872131789,5.46304172707e-05,1.07002911428,0.589442857595,0.00872735497161,1.06969840494
+209,3.483333333,pose1_to_pose2_press,0.618936647151,5.45973835065e-05,1.07002917562,0.589507374636,0.00872732787708,1.06969846629
+210,3.500000000,pose1_to_pose2_press,0.618988881242,5.45253322675e-05,1.0700291982,0.589559609126,0.00872725758221,1.06969848735
+211,3.516666667,pose1_to_pose2_press,0.619031423998,5.45003735487e-05,1.07002926978,0.589602151482,0.00872723145119,1.06969855861
+212,3.533333333,pose1_to_pose2_press,0.619065574932,5.45117008636e-05,1.07002930288,0.589636302032,0.00872724137923,1.06969859157
+213,3.550000000,pose1_to_pose2_press,0.619092608011,5.45706759149e-05,1.07002917481,0.589663334059,0.00872729675224,1.0696984648
+214,3.566666667,pose1_to_pose2_press,0.619113547075,5.46592853123e-05,1.07002926631,0.589684273124,0.00872738536088,1.06969855465
+215,3.583333333,pose1_to_pose2_press,0.619128826817,5.4473493033e-05,1.0700290687,0.589699555111,0.00872720715856,1.06969835732
+216,3.600000000,pose1_to_pose2_press,0.619140070962,5.43830063369e-05,1.07002916431,0.589710800724,0.00872712163468,1.06969845271
+217,3.616666667,pose1_to_pose2_press,0.619147592153,5.43746984949e-05,1.07002922256,0.589718322004,0.00872711371503,1.0696985124
+218,3.633333333,pose1_to_pose2_press,0.619152914067,5.44728894995e-05,1.07002907272,0.589723641761,0.00872720489784,1.06969836813
+219,3.650000000,pose1_to_pose2_press,0.619156451768,5.45163918752e-05,1.07002904742,0.589727178707,0.00872724589677,1.06969834298
+220,3.666666667,pose1_to_pose2_press,0.619158260912,5.45090769864e-05,1.0700291354,0.589728988387,0.00872724022826,1.06969842619
+221,3.683333333,pose1_to_pose2_press,0.61915938196,5.45045442627e-05,1.07002918991,0.589730109768,0.00872723671573,1.06969847776
+222,3.700000000,pose1_to_pose2_press,0.619160228663,5.4501120802e-05,1.07002923109,0.589730956721,0.0087272340628,1.06969851671
+223,3.716666667,pose1_to_pose2_press,0.619160700254,5.44992140234e-05,1.07002925402,0.589731428452,0.00872723258518,1.0696985384
+224,3.733333333,pose1_to_pose2_press,0.619161012912,5.44979498552e-05,1.07002926922,0.589731741203,0.00872723160555,1.06969855278
+225,3.750000000,pose1_to_pose2_press,0.619161603214,5.44964526539e-05,1.07002929171,0.589732331637,0.00872723050347,1.06969857386
+226,3.766666667,pose1_to_pose2_press,0.619162081677,5.450493046e-05,1.0700292422,0.589732809739,0.00872723775372,1.06969852472
+227,3.783333333,pose1_to_pose2_press,0.619162130127,5.45057889427e-05,1.07002923718,0.589732858153,0.0087272384879,1.06969851975
+228,3.800000000,pose1_to_pose2_press,0.619162169012,5.45064779388e-05,1.07002923316,0.589732897009,0.00872723907713,1.06969851575
+229,3.816666667,pose1_to_pose2_press,0.619162191257,5.45068720908e-05,1.07002923086,0.589732919237,0.00872723941421,1.06969851347
+230,3.833333333,pose1_to_pose2_press,0.619162497875,5.45123049899e-05,1.07002919913,0.589733225623,0.00872724406044,1.06969848198
+231,3.850000000,pose1_to_pose2_press,0.619163136928,5.45236282613e-05,1.07002913299,0.589733864194,0.00872725374414,1.06969841635
+232,3.866666667,pose1_to_pose2_press,0.619164044531,5.45397099231e-05,1.07002903907,0.589734771113,0.00872726749724,1.06969832315
+233,3.883333333,pose1_to_pose2_press,0.619164853207,5.45540387041e-05,1.07002895538,0.589735579178,0.00872727975126,1.0696982401
+234,3.900000000,pose1_to_pose2_press,0.619165341648,5.45482295976e-05,1.07002893059,0.589736067403,0.008727273208,1.06969821571
+235,3.916666667,pose1_to_pose2_press,0.619165649393,5.45133548355e-05,1.07002897056,0.589736375339,0.00872723899076,1.06969825594
+236,3.933333333,pose1_to_pose2_press,0.619165941041,5.44803041214e-05,1.07002900844,0.589736667169,0.00872720656317,1.06969829407
+237,3.950000000,pose1_to_pose2_press,0.619166187378,5.44523883167e-05,1.07002904043,0.58973691366,0.00872717917369,1.06969832628
+238,3.966666667,pose1_to_pose2_press,0.61916647556,5.44197305006e-05,1.07002907786,0.589737202021,0.00872714713159,1.06969836396
+239,3.983333333,pose1_to_pose2_press,0.619166901584,5.43714519175e-05,1.07002913319,0.58973762831,0.00872709976324,1.06969841966
+240,4.000000000,pose1_to_pose2_press,0.619167223091,5.44013530067e-05,1.07002909187,0.589737949606,0.00872712902266,1.0696983795
+241,4.016666667,pose1_to_pose2_press,0.61916744643,5.44604929878e-05,1.0700290151,0.589738172562,0.00872718694844,1.06969830406
+242,4.033333333,pose1_to_pose2_press,0.61916774056,5.45383781882e-05,1.070028914,0.589738466186,0.00872726323458,1.06969820472
+243,4.050000000,pose1_to_pose2_press,0.619167978597,5.45079879086e-05,1.07002891047,0.589738705581,0.00872723738524,1.06969819982
+244,4.066666667,pose1_to_pose2_press,0.619167969573,5.45550955388e-05,1.07002889208,0.58973869752,0.00872728788861,1.06969818611
+245,4.083333333,pose2_hold,0.619167969573,5.45550955388e-05,1.07002889208,0.589738697522,0.00872728789099,1.06969818611
+246,4.100000000,pose2_hold,0.619167969573,5.45550955388e-05,1.07002889208,0.589738697522,0.00872728789147,1.06969818611
+247,4.116666667,pose2_hold,0.619167969573,5.45550955388e-05,1.07002889208,0.589738697523,0.00872728789127,1.06969818611
+248,4.133333333,pose2_hold,0.619167969573,5.45550955388e-05,1.07002889208,0.589738697523,0.00872728789143,1.06969818611
+249,4.150000000,pose2_hold,0.619167969573,5.45550955388e-05,1.07002889208,0.589738697523,0.00872728789156,1.06969818611
+250,4.166666667,pose2_hold,0.619167969573,5.45550955388e-05,1.07002889208,0.589738697523,0.00872728789203,1.06969818611
+251,4.183333333,pose2_hold,0.619167969573,5.45550955388e-05,1.07002889208,0.589738697523,0.00872728789195,1.06969818611
+252,4.200000000,pose2_hold,0.619167969573,5.45550955388e-05,1.07002889208,0.589738697523,0.00872728789212,1.06969818611
+253,4.216666667,pose2_hold,0.619167969573,5.45550955388e-05,1.07002889208,0.589738697523,0.00872728789265,1.06969818611
+254,4.233333333,pose2_hold,0.619167969573,5.45550955388e-05,1.07002889208,0.589738697523,0.00872728789247,1.06969818611
+255,4.250000000,pose2_hold,0.619167969573,5.45550955388e-05,1.07002889208,0.589738697523,0.00872728789276,1.06969818611
+256,4.266666667,pose2_hold,0.619167969573,5.45550955388e-05,1.07002889208,0.589738697523,0.0087272878927,1.06969818611
+257,4.283333333,pose2_hold,0.619167969573,5.45550955388e-05,1.07002889208,0.589738697523,0.00872728789284,1.06969818611
+258,4.300000000,pose2_hold,0.619167969573,5.45550955388e-05,1.07002889208,0.589738697524,0.00872728789306,1.06969818611
+259,4.316666667,pose2_hold,0.619167969573,5.45550955388e-05,1.07002889208,0.589738697524,0.00872728789289,1.06969818611
+260,4.333333333,pose2_hold,0.619167969573,5.45550955388e-05,1.07002889208,0.589738697524,0.00872728789325,1.06969818611
+261,4.350000000,pose2_to_pose3_retreat,0.619167969573,5.45550955388e-05,1.07002889208,0.589738697524,0.00872728789362,1.06969818611
+262,4.366666667,pose2_to_pose3_retreat,0.619167919677,5.45244990666e-05,1.07002896619,0.589738646617,0.00872725377496,1.06969825793
+263,4.383333333,pose2_to_pose3_retreat,0.619167808328,5.45165519383e-05,1.07002899206,0.589738534812,0.00872724422522,1.06969828238
+264,4.400000000,pose2_to_pose3_retreat,0.619167700243,5.45379198217e-05,1.07002894992,0.589738427154,0.00872726705381,1.06969824065
+265,4.416666667,pose2_to_pose3_retreat,0.619167681486,5.45416281371e-05,1.07002894261,0.58973840847,0.00872727101562,1.0696982334
+266,4.433333333,pose2_to_pose3_retreat,0.619167367687,5.4554308006e-05,1.07002892591,0.589738094751,0.00872728394708,1.06969821622
+267,4.450000000,pose2_to_pose3_retreat,0.61916546075,5.44919777651e-05,1.07002902327,0.5897361872,0.00872721942211,1.0696983111
+268,4.466666667,pose2_to_pose3_retreat,0.61916034811,5.4579669997e-05,1.07002891744,0.58973107448,0.00872730710371,1.06969821246
+269,4.483333333,pose2_to_pose3_retreat,0.619149282212,5.45743061387e-05,1.07002899007,0.589720008676,0.00872730217966,1.06969828779
+270,4.500000000,pose2_to_pose3_retreat,0.619129505455,5.46048017491e-05,1.07002907469,0.589700232389,0.00872733389753,1.06969836637
+271,4.516666667,pose2_to_pose3_retreat,0.619099153397,5.44967909469e-05,1.07002912072,0.589669881155,0.00872722869695,1.06969841698
+272,4.533333333,pose2_to_pose3_retreat,0.61905752238,5.4571730946e-05,1.07002941479,0.589628248908,0.00872729879963,1.06969869417
+273,4.550000000,pose2_to_pose3_retreat,0.619005385053,5.45282010497e-05,1.07002922997,0.58957611365,0.00872726316033,1.06969852112
+274,4.566666667,pose2_to_pose3_retreat,0.618942532485,5.45499873954e-05,1.07002917094,0.589513259981,0.00872728121739,1.06969846403
+275,4.583333333,pose2_to_pose3_retreat,0.618870184569,5.46090349438e-05,1.07002919595,0.589440911078,0.00872733564559,1.06969848359
+276,4.600000000,pose2_to_pose3_retreat,0.61878776466,5.46521098305e-05,1.07002908402,0.589358490128,0.00872737520768,1.06969836913
+277,4.616666667,pose2_to_pose3_retreat,0.618691498552,5.46647694168e-05,1.07002919232,0.58926222501,0.00872739108028,1.06969847917
+278,4.633333333,pose2_to_pose3_retreat,0.618579816342,5.45320858181e-05,1.07002926254,0.589150544372,0.00872726357966,1.06969855402
+279,4.650000000,pose2_to_pose3_retreat,0.618448797812,5.47516902896e-05,1.07002923359,0.589019523462,0.00872747486755,1.06969852587
+280,4.666666667,pose2_to_pose3_retreat,0.618298498888,5.46046812872e-05,1.07002918351,0.588869227119,0.00872733625183,1.06969847458
+281,4.683333333,pose2_to_pose3_retreat,0.618126661694,5.45360134659e-05,1.07002934197,0.588697389658,0.00872726633987,1.06969863365
+282,4.700000000,pose2_to_pose3_retreat,0.617935481591,5.46504949664e-05,1.07002912733,0.588506209451,0.00872738005293,1.06969841834
+283,4.716666667,pose2_to_pose3_retreat,0.617724794132,5.45933455088e-05,1.0700290385,0.58829552224,0.00872732296961,1.06969832316
+284,4.733333333,pose2_to_pose3_retreat,0.617492038004,5.44959354113e-05,1.07002894904,0.588062767929,0.008727231178,1.06969823391
+285,4.750000000,pose2_to_pose3_retreat,0.61723692353,5.4628119618e-05,1.07002914078,0.587807651605,0.00872735703336,1.06969843355
+286,4.766666667,pose2_to_pose3_retreat,0.616956451742,5.4678527799e-05,1.07002925429,0.587527178392,0.0087274016835,1.06969854643
+287,4.783333333,pose2_to_pose3_retreat,0.616649385093,5.47060330019e-05,1.07002885292,0.587220113453,0.00872743466642,1.06969815622
+288,4.800000000,pose2_to_pose3_retreat,0.616311756608,5.45437094611e-05,1.0700291236,0.586882485732,0.00872727396271,1.06969841828
+289,4.816666667,pose2_to_pose3_retreat,0.615946732662,5.45893456616e-05,1.0700292563,0.586517462643,0.00872732165625,1.06969854712
+290,4.833333333,pose2_to_pose3_retreat,0.615553869704,5.46790010397e-05,1.07002920868,0.58612459696,0.00872740147493,1.06969851013
+291,4.850000000,pose2_to_pose3_retreat,0.615126951476,5.46351809138e-05,1.07002913492,0.585697680313,0.00872736167739,1.0696984258
+292,4.866666667,pose2_to_pose3_retreat,0.614672044066,5.45168826099e-05,1.07002900736,0.585242774504,0.00872724807617,1.06969830144
+293,4.883333333,pose2_to_pose3_retreat,0.614200933622,5.46699260029e-05,1.07002917138,0.584771664841,0.00872740272272,1.069698454
+294,4.900000000,pose2_to_pose3_retreat,0.613716631579,5.45600732852e-05,1.07002917105,0.584287363177,0.00872729391101,1.06969845628
+295,4.916666667,pose2_to_pose3_retreat,0.613219078536,5.4574249081e-05,1.07002880715,0.583789808716,0.00872730370073,1.06969810409
+296,4.933333333,pose2_to_pose3_retreat,0.61270725107,5.46102276099e-05,1.07002891799,0.583277980179,0.00872733631824,1.06969822175
+297,4.950000000,pose2_to_pose3_retreat,0.612175062361,5.45702096627e-05,1.0700291769,0.582745792013,0.00872729777517,1.06969847172
+298,4.966666667,pose2_to_pose3_retreat,0.611602240911,5.45353219127e-05,1.07002929127,0.582172972063,0.00872726760181,1.06969857547
+299,4.983333333,pose2_to_pose3_retreat,0.610991358722,5.46391667768e-05,1.07002929587,0.581562088908,0.00872736814486,1.06969857889
+300,5.000000000,pose2_to_pose3_retreat,0.610344338913,5.46989181021e-05,1.0700292183,0.580915068036,0.00872742430436,1.06969850195
+301,5.016666667,pose2_to_pose3_retreat,0.609671677704,5.46599310149e-05,1.07002915206,0.580242408109,0.00872738982194,1.06969844006
+302,5.033333333,pose2_to_pose3_retreat,0.608975635931,5.46401711686e-05,1.07002905213,0.579546366191,0.00872736981594,1.06969834676
+303,5.050000000,pose2_to_pose3_retreat,0.608245258793,5.45654690421e-05,1.07002909325,0.578815989132,0.00872729520385,1.06969838343
+304,5.066666667,pose2_to_pose3_retreat,0.607481271971,5.45633983427e-05,1.07002917375,0.578052001428,0.00872728988802,1.06969845697
+305,5.083333333,pose2_to_pose3_retreat,0.606694395798,5.45839973311e-05,1.07002903364,0.577265125349,0.00872731137452,1.0696983303
+306,5.100000000,pose2_to_pose3_retreat,0.605892981267,5.46021862259e-05,1.07002908002,0.576463711732,0.00872733262619,1.06969837651
+307,5.116666667,pose2_to_pose3_retreat,0.605084169385,5.45879703461e-05,1.07002911057,0.575654899192,0.00872731619001,1.06969840803
+308,5.133333333,pose2_to_pose3_retreat,0.604282673589,5.46395879545e-05,1.07002905542,0.574853403972,0.00872736953867,1.06969834699
+309,5.150000000,pose2_to_pose3_retreat,0.603483926219,5.46206949557e-05,1.0700288596,0.574054655664,0.00872734749486,1.06969815088
+310,5.166666667,pose2_to_pose3_retreat,0.602661896015,5.45716262983e-05,1.07002899271,0.573232625819,0.00872729976697,1.06969828729
+311,5.183333333,pose2_to_pose3_retreat,0.601812113429,5.45021674852e-05,1.07002905958,0.572382844125,0.00872723322417,1.06969835199
+312,5.200000000,pose2_to_pose3_retreat,0.600929260267,5.45170785115e-05,1.07002921991,0.571499991318,0.00872724892284,1.06969850135
+313,5.216666667,pose2_to_pose3_retreat,0.600029873869,5.44910250761e-05,1.07002919174,0.570600605178,0.00872722400266,1.06969848
+314,5.233333333,pose2_to_pose3_retreat,0.59912347721,5.45884981282e-05,1.07002926098,0.569694207329,0.00872731729328,1.06969854533
+315,5.250000000,pose2_to_pose3_retreat,0.598240643824,5.44891149122e-05,1.07002911663,0.568811374164,0.00872721861847,1.06969839971
+316,5.266666667,pose2_to_pose3_retreat,0.597382936451,5.454160634e-05,1.07002912151,0.567953667807,0.00872727481241,1.06969841041
+317,5.283333333,pose2_to_pose3_retreat,0.596541746914,5.45979315372e-05,1.07002912121,0.567112476941,0.00872732686459,1.06969841582
+318,5.300000000,pose2_to_pose3_retreat,0.595703764797,5.46554574634e-05,1.07002919767,0.566274494224,0.00872738233769,1.06969849174
+319,5.316666667,pose2_to_pose3_retreat,0.594853035523,5.46229118194e-05,1.07002908351,0.56542376682,0.00872735619593,1.06969837903
+320,5.333333333,pose2_to_pose3_retreat,0.593989581926,5.45971600425e-05,1.07002910301,0.564560312572,0.00872732794735,1.06969839096
+321,5.350000000,pose2_to_pose3_retreat,0.593119914908,5.45961256237e-05,1.07002915727,0.563690645043,0.00872732511266,1.06969844341
+322,5.366666667,pose2_to_pose3_retreat,0.592250994207,5.45906689938e-05,1.07002915253,0.562821723586,0.00872731713597,1.0696984398
+323,5.383333333,pose2_to_pose3_retreat,0.591392097843,5.46081034995e-05,1.07002916784,0.561962826256,0.00872733120429,1.06969845277
+324,5.400000000,pose2_to_pose3_retreat,0.590561819875,5.45965733825e-05,1.07002920868,0.561132549307,0.0087273234662,1.06969850234
+325,5.416666667,pose2_to_pose3_retreat,0.589750852391,5.45615355372e-05,1.07002907423,0.560321582217,0.00872728986506,1.0696983705
+326,5.433333333,pose2_to_pose3_retreat,0.588956816621,5.45645228803e-05,1.07002907265,0.559527546553,0.00872729324602,1.06969836975
+327,5.450000000,pose2_to_pose3_retreat,0.58818097514,5.44980940921e-05,1.07002913987,0.558751706449,0.00872723128579,1.0696984316
+328,5.466666667,pose2_to_pose3_retreat,0.587421759025,5.45573481764e-05,1.07002896218,0.5579924906,0.00872729158688,1.06969825769
+329,5.483333333,pose2_to_pose3_retreat,0.586681620106,5.45836677916e-05,1.07002903675,0.557252349848,0.00872731173838,1.06969833355
+330,5.500000000,pose2_to_pose3_retreat,0.585960963751,5.44680236117e-05,1.07002903786,0.556531695027,0.00872720124936,1.06969833341
+331,5.516666667,pose2_to_pose3_retreat,0.58526597033,5.45541932508e-05,1.07002891363,0.555836700873,0.00872728494687,1.06969820951
+332,5.533333333,pose2_to_pose3_retreat,0.584597753309,5.4535124287e-05,1.0700291362,0.55516848428,0.00872726701471,1.06969842373
+333,5.550000000,pose2_to_pose3_retreat,0.583955762807,5.45382998647e-05,1.07002920779,0.554526493734,0.00872726994973,1.06969849385
+334,5.566666667,pose2_to_pose3_retreat,0.583329299203,5.46526673829e-05,1.07002912681,0.553900028907,0.00872738043904,1.06969842021
+335,5.583333333,pose2_to_pose3_retreat,0.582716689158,5.46273829699e-05,1.07002905784,0.553287419024,0.00872735570492,1.06969835072
+336,5.600000000,pose2_to_pose3_retreat,0.582126339456,5.45523880566e-05,1.07002907287,0.552697069431,0.00872728120525,1.06969836924
+337,5.616666667,pose2_to_pose3_retreat,0.581563635191,5.44986903692e-05,1.07002912706,0.55213436637,0.00872723149902,1.06969842128
+338,5.633333333,pose2_to_pose3_retreat,0.581035562458,5.45887817693e-05,1.07002913816,0.551606291394,0.0087273138493,1.06969842901
+339,5.650000000,pose2_to_pose3_retreat,0.580547165743,5.45171856705e-05,1.07002916562,0.551117896096,0.00872724682895,1.06969844996
+340,5.666666667,pose2_to_pose3_retreat,0.580095763169,5.4514582036e-05,1.07002931654,0.550666494796,0.00872724845989,1.0696985983
+341,5.683333333,pose2_to_pose3_retreat,0.579668593658,5.45307996753e-05,1.0700292667,0.550239324896,0.0087272635095,1.06969855234
+342,5.700000000,pose2_to_pose3_retreat,0.579262715606,5.44402667015e-05,1.07002907908,0.549833447378,0.00872717496093,1.06969836921
+343,5.716666667,pose2_to_pose3_retreat,0.578876994784,5.45150580529e-05,1.07002914416,0.549447725957,0.00872724769843,1.06969843393
+344,5.733333333,pose2_to_pose3_retreat,0.578513310568,5.46078187848e-05,1.07002918509,0.549084039844,0.00872733412729,1.06969847782
+345,5.750000000,pose2_to_pose3_retreat,0.578175277966,5.46013173554e-05,1.07002925553,0.548746006282,0.00872732428975,1.06969854632
+346,5.766666667,pose2_to_pose3_retreat,0.577864400632,5.4612538521e-05,1.07002927325,0.548435129997,0.00872733888447,1.06969855917
+347,5.783333333,pose2_to_pose3_retreat,0.577581146707,5.45333922119e-05,1.07002909615,0.548151877802,0.00872726563446,1.06969838275
+348,5.800000000,pose2_to_pose3_retreat,0.577327938633,5.45455567821e-05,1.07002901057,0.547898668892,0.00872727519441,1.06969830311
+349,5.816666667,pose2_to_pose3_retreat,0.577101643872,5.46076862806e-05,1.07002899538,0.547672373131,0.00872733409141,1.06969829206
+350,5.833333333,pose2_to_pose3_retreat,0.576901569781,5.46185411095e-05,1.07002908221,0.547472299668,0.008727346782,1.0696983713
+351,5.850000000,pose2_to_pose3_retreat,0.57672232696,5.46560457415e-05,1.07002912774,0.54729305718,0.00872738531943,1.06969841429
+352,5.866666667,pose2_to_pose3_retreat,0.576562920127,5.46164157506e-05,1.07002901022,0.547133651521,0.00872734995514,1.06969830424
+353,5.883333333,pose2_to_pose3_retreat,0.576419303682,5.45282662492e-05,1.07002904162,0.546990036753,0.00872726740463,1.06969833319
+354,5.900000000,pose2_to_pose3_retreat,0.576290267913,5.44828123669e-05,1.07002916136,0.546860999132,0.00872721544388,1.06969844713
+355,5.916666667,pose2_to_pose3_retreat,0.576176156896,5.45936930184e-05,1.07002913793,0.54674688888,0.00872732912086,1.06969842912
+356,5.933333333,pose2_to_pose3_retreat,0.576076309786,5.45206820666e-05,1.07002917005,0.546647040562,0.00872725153831,1.06969844936
+357,5.950000000,pose2_to_pose3_retreat,0.57599177604,5.44627294826e-05,1.07002902538,0.546562506828,0.00872719415845,1.06969831853
+358,5.966666667,pose2_to_pose3_retreat,0.575922324522,5.45446347729e-05,1.07002918419,0.54649305526,0.00872727586168,1.06969847642
+359,5.983333333,pose2_to_pose3_retreat,0.575867879536,5.44970164971e-05,1.07002931026,0.546438610717,0.00872722977515,1.06969860319
+360,6.000000000,pose2_to_pose3_retreat,0.575825126541,5.46557600239e-05,1.0700290309,0.546395855636,0.00872738153428,1.06969832624
+361,6.016666667,pose2_to_pose3_retreat,0.575792311943,5.46952602281e-05,1.07002928219,0.546363041152,0.00872742104101,1.06969856754
+362,6.033333333,pose2_to_pose3_retreat,0.575767785511,5.46851193084e-05,1.07002917087,0.546338515028,0.00872741199267,1.06969845744
+363,6.050000000,pose2_to_pose3_retreat,0.575748993113,5.46159713938e-05,1.07002914776,0.546319722984,0.00872734410143,1.06969843592
+364,6.066666667,pose2_to_pose3_retreat,0.575735999125,5.46042813814e-05,1.0700291544,0.546306729252,0.00872733321692,1.06969844091
+365,6.083333333,pose2_to_pose3_retreat,0.575727250862,5.45697253088e-05,1.07002913301,0.546297981411,0.00872729996408,1.06969841615
+366,6.100000000,pose2_to_pose3_retreat,0.575722053587,5.45009091156e-05,1.07002908426,0.546292784677,0.00872723284647,1.06969836392
+367,6.116666667,pose2_to_pose3_retreat,0.575718997583,5.44711554501e-05,1.07002909096,0.546289728954,0.00872720415047,1.06969837336
+368,6.133333333,pose2_to_pose3_retreat,0.575717000024,5.44563577596e-05,1.07002911069,0.546287731564,0.00872719006969,1.06969839697
+369,6.150000000,pose2_to_pose3_retreat,0.575715399982,5.44445048276e-05,1.0700291265,0.546286131656,0.00872717879101,1.06969841588
+370,6.166666667,pose2_to_pose3_retreat,0.575714330998,5.4464974928e-05,1.07002913337,0.546285062592,0.00872719904907,1.06969842434
+371,6.183333333,pose2_to_pose3_retreat,0.575713778269,5.45009958329e-05,1.07002913361,0.546284509668,0.00872723442659,1.06969842499
+372,6.200000000,pose2_to_pose3_retreat,0.57571365064,5.45093133059e-05,1.07002913366,0.546284381994,0.00872724259551,1.06969842514
+373,6.216666667,pose2_to_pose3_retreat,0.575713540367,5.45164997393e-05,1.07002913371,0.546284271682,0.00872724965358,1.06969842527
+374,6.233333333,pose2_to_pose3_retreat,0.575713409074,5.45250559548e-05,1.07002913377,0.546284140343,0.00872725805697,1.06969842543
+375,6.250000000,pose2_to_pose3_retreat,0.575713361383,5.4528163985e-05,1.07002913379,0.546284092635,0.00872726110949,1.06969842548
+376,6.266666667,pose2_to_pose3_retreat,0.575713219757,5.45373936527e-05,1.07002913385,0.546283950959,0.0087272701743,1.06969842565
+377,6.283333333,pose2_to_pose3_retreat,0.57571308806,5.45459762083e-05,1.0700291339,0.546283819216,0.00872727860356,1.06969842581
+378,6.300000000,pose2_to_pose3_retreat,0.575712949236,5.45550232462e-05,1.07002913396,0.546283680343,0.00872728748901,1.06969842597
+379,6.316666667,pose2_to_pose3_retreat,0.575712573643,5.4579500393e-05,1.07002913413,0.546283304617,0.00872731152896,1.06969842641
+380,6.333333333,pose2_to_pose3_retreat,0.575712153854,5.46068577254e-05,1.07002913431,0.54628288468,0.00872733839766,1.0696984269
+381,6.350000000,pose2_to_pose3_retreat,0.575711937864,5.46209336025e-05,1.0700291344,0.546282668614,0.00872735222213,1.06969842716
+382,6.366666667,pose2_to_pose3_retreat,0.57571183489,5.46276443409e-05,1.07002913445,0.546282565604,0.008727358813,1.06969842728
+383,6.383333333,pose2_to_pose3_retreat,0.575711819655,5.46286371786e-05,1.07002913445,0.546282550364,0.00872735978811,1.0696984273
+384,6.400000000,pose2_to_pose3_retreat,0.575711577353,5.46444278554e-05,1.07002913456,0.546282307976,0.00872737529674,1.06969842758
+385,6.416666667,pose2_to_pose3_retreat,0.575711243888,5.4618520517e-05,1.07002913184,0.546281974865,0.00872735059017,1.06969842487
+386,6.433333333,pose2_to_pose3_retreat,0.575711099136,5.46042658763e-05,1.07002913048,0.546281830296,0.00872733695711,1.06969842349
+387,6.450000000,pose2_to_pose3_retreat,0.575711098644,5.4604217431e-05,1.07002913047,0.546281829805,0.00872733691078,1.06969842349
+388,6.466666667,pose2_to_pose3_retreat,0.575711026927,5.45971550394e-05,1.0700291298,0.546281758179,0.00872733015635,1.06969842281
+389,6.483333333,pose2_to_pose3_retreat,0.575710849926,5.45797246428e-05,1.07002912813,0.546281581402,0.00872731348602,1.06969842113
+390,6.500000000,pose2_to_pose3_retreat,0.575710602611,5.45553700584e-05,1.07002912581,0.5462813344,0.00872729019343,1.06969841878
+391,6.516666667,pose2_to_pose3_retreat,0.57571037163,5.45326239806e-05,1.07002912364,0.546281103712,0.00872726843921,1.06969841659
+392,6.533333333,pose2_to_pose3_retreat,0.575709879279,5.44906195596e-05,1.07002912078,0.546280611871,0.00872722815444,1.06969841344
+393,6.550000000,pose2_to_pose3_retreat,0.575709665634,5.45743886646e-05,1.07002914744,0.546280396662,0.00872730645954,1.06969843602
+394,6.566666667,pose2_to_pose3_retreat,0.575709430677,5.46665143577e-05,1.07002917677,0.546280159984,0.00872739257617,1.06969846086
+395,6.583333333,pose2_to_pose3_retreat,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684827,1.06969858496
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_04/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_04/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a67ec8997228e0b3716cd43952930db967dcb5b9
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_04/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:400f96496390ad9266ab44f8429e21f2d40ad8241e930f107bbe2c88d96a46ca
+size 25396525
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_04/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_04/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7f7f0e5e2389e3cb56597144c585e26bd03b9667
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_04/depth_03/franka_data.csv
@@ -0,0 +1,400 @@
+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,763,743,712,671,659,632,877,784,799,649,629,651,0.400951637843,-0.00544790747451,0.0798255830064,0.999999941692,0.000162973432651,-0.000298410842141,3.174031621e-05,1793193384344817408
+1,0.016666667,BASELINE,763.5732,742.4268,712,672.1464,658.4268,632.5732,877.5732,784,799,649,629,651,0.400952143275,-0.00544769473918,0.079826080855,0.999999941811,0.00016413798661,-0.000297353765632,3.18977818392e-05,1793193384361483520
+2,0.033333333,BASELINE,764,742,712,672.849277483,658.150722517,632.849277483,877.849277483,784,799,648.849277483,629,650.849277483,0.400952716755,-0.00544725407595,0.0798264248917,0.999999941861,0.000165260428763,-0.000296556058084,3.19609099298e-05,1793193384378149632
+3,0.050000000,BASELINE,764,742,712,672.259153391,658.740846609,632.259153391,877.259153391,784,799,648.259153391,629,650.259153391,0.400953488617,-0.00544614893411,0.079826320521,0.999999941714,0.000166260102587,-0.000296514489004,3.1749015693e-05,1793193384394815744
+4,0.066666667,BASELINE,764,742.324860232,712,672,658.675139768,632.324860232,877,784,799,648.324860232,628.675139768,650.324860232,0.40095368619,-0.00544543446498,0.0798263226627,0.999999941665,0.00016677893064,-0.000296415368792,3.15051181477e-05,1793193384411482368
+5,0.083333333,BASELINE,764,742.904089261,712,672,658.095910739,632.904089261,877,784,799,648.904089261,628.095910739,650.904089261,0.400953434088,-0.00544502589655,0.0798264082048,0.999999941692,0.000166921251602,-0.000296271185473,3.12361617054e-05,1793193384428148992
+6,0.100000000,BASELINE,764,742.516452033,712,672,658.483547967,633,877,784,798.516452033,649,628.483547967,650.516452033,0.400953221034,-0.00544623418294,0.0798263796131,0.999999941851,0.000165768533521,-0.000296356108977,3.14869452315e-05,1793193384444815360
+7,0.116666667,BASELINE,764,742,712,672,658.937490258,632.937490258,877,784,798.062509742,649,629,650.062509742,0.400953214111,-0.0054476745997,0.0798264653221,0.999999942129,0.000164328374718,-0.000296186343749,3.18001329485e-05,1793193384461481984
+8,0.133333333,BASELINE,764,742,712,672,658.362972062,632.362972062,877,784,798.637027938,649,629,650.637027938,0.400954832104,-0.00544838830847,0.0798276727663,0.999999943181,0.000162638801435,-0.0002935580662,3.17796730565e-05,1793193384478148864
+9,0.150000000,BASELINE,764,742.216509836,712,672,658.216509836,632.216509836,877.216509836,784,799,649,629,651,0.400955408431,-0.00544820781538,0.0798282132953,0.999999943447,0.000162765970891,-0.000292592781315,3.16549302068e-05,1793193384494816000
+10,0.166666667,BASELINE,764,742.80450842,712,672,658.80450842,632.80450842,877.80450842,784,799,649,629,651,0.400954197462,-0.00544649304582,0.0798276095271,0.999999942369,0.000166010317554,-0.000294480868526,3.13512580953e-05,1793193384511482880
+11,0.183333333,BASELINE,764,743,711.613260637,672.386739363,659,632.613260637,877.613260637,784,799.386739363,649,628.613260637,651,0.40095364005,-0.00544596605983,0.0798270297178,0.999999941977,0.000166317196933,-0.000295656313041,3.11610407686e-05,1793193384528149504
+12,0.200000000,BASELINE,764,743,711.033902267,672.966097733,659,632.033902267,877.033902267,784,799.966097733,649,628.033902267,651,0.400953408146,-0.00544603065993,0.0798264618412,0.99999994193,0.000165161044689,-0.000296476819645,3.10273305871e-05,1793193384544816128
+13,0.216666667,BASELINE,764,742.457306201,711.542693799,672.457306201,659.542693799,632,877.542693799,784,799.457306201,649,628,650.457306201,0.400953731326,-0.00544642963116,0.0798270533948,0.999999942121,0.000165724160089,-0.000295469899187,3.14784795844e-05,1793193384561482496
+14,0.233333333,BASELINE,764,742,712,672,659.762545054,632.118727473,877.881272527,784,799,649,628.118727473,650.118727473,0.40095376371,-0.00544666499656,0.0798275118357,0.999999942157,0.00016660893548,-0.00029481136767,3.18526269622e-05,1793193384578148864
+15,0.250000000,BASELINE,764,742,712,672,658.613477262,632.693261369,877.306738631,784,799,649,628.693261369,650.693261369,0.400952547248,-0.00544619247722,0.0798271825868,0.999999941543,0.000168318351907,-0.000295926387072,3.17916014034e-05,1793193384594815488
+16,0.266666667,BASELINE,764,742,712,672,658.275314947,632.724685053,877,784,799.275314947,649,628.724685053,651,0.400951996627,-0.00544546871337,0.0798269242181,0.999999941234,0.000169433683846,-0.00029635990181,3.15548854482e-05,1793193384611482112
+17,0.283333333,BASELINE,764,742,712,672,658.865981701,632.134018299,877,784,799.865981701,649,628.134018299,651,0.400952208675,-0.00544445716855,0.0798267470373,0.999999941276,0.000169868538219,-0.000296012806025,3.11169298462e-05,1793193384628148992
+18,0.300000000,BASELINE,764,742,712,672,659,632.447989345,877.447989345,784,799.552010655,649,628.447989345,651,0.400953193576,-0.00544452190539,0.0798269394911,0.999999941646,0.000168269459889,-0.000295672909783,3.1163567125e-05,1793193384644815872
+19,0.316666667,BASELINE,764,742,712,672,659,632.972735722,877.972735722,784,799,649,628.972735722,651,0.400954311846,-0.00544492278684,0.0798272089153,0.99999994208,0.000166139527866,-0.000295389468821,3.13324356935e-05,1793193384661482752
+20,0.333333333,BASELINE,764,742,712,672,659,632.397309116,877.397309116,784,799,649,628.397309116,651,0.400953551272,-0.00544573130459,0.0798268447973,0.999999941981,0.000165337962949,-0.000296198608515,3.10994311329e-05,1793193384678149120
+21,0.350000000,BASELINE,764,742,712,672,658.822545357,632.177454643,877,784,799.177454643,649,628.177454643,651,0.400952944301,-0.00544651558475,0.0798266453073,0.999999941972,0.000164610966674,-0.000296644533843,3.10044092572e-05,1793193384694815488
+22,0.366666667,BASELINE,764,742,712,672,658.249260221,632.750739779,877,784,799.750739779,649,628.750739779,651,0.400952679956,-0.0054472458004,0.0798268130366,0.999999942165,0.000164050303392,-0.000296280272766,3.12171717188e-05,1793193384711482112
+23,0.383333333,BASELINE,764,742,712,672,658.335097363,633,877.335097363,784,800,649,629,651,0.400952857197,-0.005447019175,0.0798268121895,0.999999942449,0.000163893863811,-0.000295409608234,3.12194954802e-05,1793193384728148480
+24,0.400000000,BASELINE,764,742,712,672,658.927972629,633,877.927972629,784,800,649,629,651,0.400953374133,-0.00544605648754,0.0798266816628,0.9999999428,0.000164048378391,-0.000294149386374,3.10599366204e-05,1793193384744815104
+25,0.416666667,BASELINE,764,742,712,672,659,633,878,784,799.49281338,649,629,650.49281338,0.400953017059,-0.00544592320014,0.0798268979203,0.999999942596,0.000164836631071,-0.000294392853719,3.11267525371e-05,1793193384761482240
+26,0.433333333,BASELINE,764,742,711.918955538,672,658.918955538,633,878,784,799,649,629,650.081044462,0.400952625697,-0.00544598699609,0.0798270641041,0.999999942407,0.00016522836203,-0.000294810152419,3.11956622213e-05,1793193384778149120
+27,0.450000000,BASELINE,764,742,711.36531437,672,658.36531437,633,878,784,799,649,629,650.63468563,0.400952739202,-0.00544653121586,0.0798266586421,0.999999942744,0.000162796795272,-0.000295028533975,3.1094231305e-05,1793193384794816000
+28,0.466666667,BASELINE,764,742,711.208730586,672,658.208730586,632.791269414,877.791269414,783.791269414,799,649,629,651,0.400953044331,-0.00544716113003,0.0798267346772,0.999999942956,0.000161410669286,-0.000295068643579,3.1138871298e-05,1793193384811482368
+29,0.483333333,BASELINE,764,742,711.822354563,672,658.822354563,632.177645437,877.177645437,783.177645437,799,649,629,651,0.400953721171,-0.00544795727326,0.0798277447155,0.999999942932,0.000162052478442,-0.000294762943116,3.14668581087e-05,1793193384828148736
+30,0.500000000,BASELINE,764,742,712,672,658.588682663,632,877.411317337,783.411317337,799,649,629,651,0.400954153351,-0.00544838245028,0.0798279198225,0.999999943205,0.000161988247237,-0.000293874234982,3.14166601303e-05,1793193384844815616
+31,0.516666667,BASELINE,764,742,712,672,658.009768448,632,877.990231552,783.990231552,799,649,629,651,0.400954485841,-0.00544865647203,0.0798277547254,0.999999943599,0.000161636330211,-0.000292747972401,3.12123655767e-05,1793193384861482240
+32,0.533333333,BASELINE,764,742,712,672,658,632,877.433706514,784,799.566293486,649,629,651,0.400955332428,-0.00544767633266,0.079828467066,0.999999943609,0.000162903736981,-0.000292009652023,3.12306856674e-05,1793193384878148864
+33,0.550000000,BASELINE,764,742.141526831,712,672,658.141526831,632.141526831,877,784,800,649,629,650.858473169,0.400956021796,-0.00544722544854,0.0798291452916,0.999999943656,0.00016371442877,-0.000291389092668,3.12768326582e-05,1793193384894815232
+34,0.566666667,BASELINE,764,742.714383982,712,672,658.714383982,632.714383982,877,784,800,649,629,650.285616018,0.400956205114,-0.00544845317551,0.0798296736475,0.999999943843,0.00016304848871,-0.000291107140164,3.13961428271e-05,1793193384911482112
+35,0.583333333,BASELINE,764,742.703110416,712,672,659,632.703110416,877.296889584,784,799.703110416,649,628.703110416,650,0.400955823903,-0.00544866866849,0.0798291749311,0.999999943673,0.00016265482146,-0.000291907401657,3.14226783396e-05,1793193384928149248
+36,0.600000000,BASELINE,764,742.111010881,712,672,659,632.111010881,877.888989119,784,799.111010881,649,628.111010881,650,0.400954881356,-0.00544787765428,0.0798276549532,0.999999943146,0.000162531886575,-0.000293783754564,3.13569640761e-05,1793193384944816128
+37,0.616666667,BASELINE,764,742,711.529741774,671.529741774,659,632,877.059483548,784,799,649,628.470258226,650,0.400954462222,-0.00544767837531,0.0798272441725,0.999999943037,0.000162942059853,-0.000293944597724,3.11870799873e-05,1793193384961482496
+38,0.633333333,BASELINE,764,742.048718961,711.048718961,671.048718961,659.048718961,632,876.048718961,784,799,649,629,650,0.400954250255,-0.00544751203189,0.0798271303044,0.999999943031,0.000163503723257,-0.00029367172354,3.10073169741e-05,1793193384978148608
+39,0.650000000,BASELINE,764,742.623838622,711.623838622,671.623838622,659.623838622,632,876.623838622,784,799,649,629,650,0.400954971717,-0.00544622623161,0.0798274590695,0.999999943089,0.000164373063362,-0.000292989727767,3.09805308575e-05,1793193384994815232
+40,0.666666667,BASELINE,764,742.795663965,712,672,659.591327929,632,877,784,799.204336035,649,629,650,0.400955388107,-0.00544562728791,0.079828146143,0.999999943287,0.000164654912801,-0.000292159596329,3.09534447084e-05,1793193385011481856
+41,0.683333333,BASELINE,764,742.204999116,712,672,658.409998232,632,877,784,799.795000884,649,629,650,0.400955227711,-0.00544632695267,0.079829510654,0.999999943747,0.000163826020405,-0.000291049391596,3.09257913035e-05,1793193385028148480
+42,0.700000000,BASELINE,764,742.377975844,712,672.377975844,658.377975844,632,877.377975844,784,799.622024156,649.377975844,629,650.377975844,0.400955450978,-0.00544581855502,0.0798297158716,0.999999943788,0.000164524699142,-0.000290518534116,3.09101310778e-05,1793193385044815360
+43,0.716666667,BASELINE,764,742.956863256,712,672.956863256,658.956863256,632,877.956863256,784,799.043136744,649.956863256,629,650.956863256,0.400955878181,-0.00544466801653,0.0798293048713,0.999999943603,0.000166035352307,-0.000290295626417,3.09008457799e-05,1793193385061482240
+44,0.733333333,BASELINE,764,742.468411567,712,672.468411567,659,632.531588433,878,784,799,649.468411567,628.468411567,651,0.400955012115,-0.00544626144972,0.0798287480146,0.999999943556,0.000164309512167,-0.000291421941259,3.10481743552e-05,1793193385078149120
+45,0.750000000,BASELINE,764,742,712,672,659,632.891408224,878,784,799,649,628.108591776,651,0.400954181368,-0.00544773242225,0.0798281443166,0.999999943482,0.000162609999956,-0.000292614395458,3.11419849798e-05,1793193385094815744
+46,0.766666667,BASELINE,764,742,712,672,659,632.302854614,878,784,799,649,628.697145386,651,0.400953966967,-0.00544768562967,0.0798273854924,0.999999943264,0.000162178633316,-0.000293619025683,3.09435184596e-05,1793193385111482112
+47,0.783333333,BASELINE,764,742.280889832,712,672,658.719110168,632.280889832,877.719110168,784,799,649,629,651,0.400954084981,-0.00544709977395,0.0798273305285,0.999999943019,0.000162854899769,-0.000294089466104,3.08436337461e-05,1793193385128148736
+48,0.800000000,BASELINE,764,742.859536406,712,672,658.140463594,632.859536406,877.140463594,784,799,649,629,651,0.400954555372,-0.00544594248536,0.0798280216904,0.999999942744,0.000164705310564,-0.000293993639743,3.08482504685e-05,1793193385144815616
+49,0.816666667,BASELINE,764,742.56173942,712,672,658,633,877.43826058,784,799.43826058,649,629,651,0.400954063183,-0.00544606527782,0.0798272927898,0.999999942627,0.000164720589238,-0.000294389623183,3.07887729376e-05,1793193385161481984
+50,0.833333333,BASELINE,764,742,712,672,658,633,878,784,799.983156069,649,629,651,0.400953286257,-0.00544660356853,0.0798261663321,0.999999942567,0.000164166143376,-0.000294908775343,3.07148652876e-05,1793193385178148608
+51,0.850000000,BASELINE,764,742,712,672,658,633,878,784,799.410043741,649,629,651,0.400953296209,-0.005447312152,0.0798269439903,0.999999942737,0.000164224108878,-0.000294289051768,3.08429336798e-05,1793193385194815488
+52,0.866666667,BASELINE,764,742,712,672,658,632.832107292,877.832107292,784,799.167892708,649,628.832107292,651,0.400953305323,-0.00544786278957,0.0798274646016,0.999999942979,0.000163615485044,-0.000293793557371,3.09276744296e-05,1793193385211482624
+53,0.883333333,BASELINE,764,742,712,672,658,632.242040399,877.242040399,784,799.757959601,649,628.242040399,651,0.400953312333,-0.00544801626463,0.0798273388566,0.999999943405,0.000161330690671,-0.000293610443178,3.09034657573e-05,1793193385228149504
+54,0.900000000,BASELINE,764,742,712,672,658.341596679,632,877,784,799.658403321,649,628.341596679,651,0.40095354482,-0.00544845050365,0.07982766,0.99999994366,0.000160708128309,-0.000293070896855,3.10343547045e-05,1793193385244816128
+55,0.916666667,BASELINE,764,742,712,672,658.920762017,632,877,784,799.079237983,649,628.920762017,651,0.400953934118,-0.00544908000426,0.0798282919389,0.999999943797,0.000161241590839,-0.000292283464341,3.12731086756e-05,1793193385261482496
+56,0.933333333,BASELINE,764,742,712,672,658.501177551,632,877,784,799.498822449,649,628.501177551,651,0.400953582015,-0.00544802113102,0.0798279103666,0.999999943274,0.000163058288953,-0.000293073640917,3.11728361239e-05,1793193385278149120
+57,0.950000000,BASELINE,764,742,712,672,658.075684157,632,877,784,799.924315843,649,628.075684157,650.924315843,0.400953045043,-0.00544678253537,0.0798273656734,0.999999942681,0.000164932327963,-0.000294062962684,3.1035794205e-05,1793193385294815744
+58,0.966666667,BASELINE,764,742,712,672,658.645857837,632,877,784,799.354142163,649,628.645857837,650.354142163,0.400952067989,-0.00544611813306,0.0798268047742,0.999999942336,0.000165852130448,-0.000294719696217,3.10096012772e-05,1793193385311482624
+59,0.983333333,BASELINE,764,742,712,672,659,632,877,784,799,649,629,650.224680616,0.400951838792,-0.00544582083691,0.0798268557242,0.999999942358,0.000165889742882,-0.00029463418645,3.09114557441e-05,1793193385328149248
+60,1.000000000,BASELINE,764,742,712,672,659,632,877,784,799,649,629,650.817682028,0.400952835565,-0.00544612534083,0.0798279096833,0.99999994298,0.000164481174003,-0.000293331911197,3.06953577048e-05,1793193385344815872
+61,1.016666667,BASELINE,764,742.40097729,712,672,659,632.40097729,877,784,799.40097729,649,629,650.59902271,0.400953567486,-0.00544617131336,0.0798280730397,0.999999943137,0.000165079489415,-0.000292430761231,3.09520238512e-05,1793193385361482496
+62,1.033333333,BASELINE,764,742.979963588,712,672,659,632.979963588,877,784,799.979963588,649,629,650.020036412,0.40095418183,-0.00544610251398,0.0798278410238,0.999999943087,0.000166568736875,-0.000291707686054,3.14185679416e-05,1793193385378149632
+63,1.050000000,BASELINE,764,742.44338063,712,672,659,632.44338063,877.55661937,784,800,649,629,650.55661937,0.400954082677,-0.00544713955576,0.0798281381989,0.999999943433,0.000164032907391,-0.000291981007253,3.1200191914e-05,1793193385394815744
+64,1.066666667,BASELINE,764,742,712,672,659,632,878,784,799.86472422,649,629,651,0.400953854943,-0.00544801499139,0.0798283149034,0.999999943671,0.000161975349558,-0.00029233270681,3.10336565392e-05,1793193385411482112
+65,1.083333333,BASELINE,764,742,712,672,659,632,878,784,799.279129862,649,629,651,0.400953284314,-0.00544822049819,0.0798280274263,0.999999943522,0.000161990216344,-0.000292826420277,3.11214241585e-05,1793193385428148736
+66,1.100000000,BASELINE,764,742,712,672,658.696929272,632,877.696929272,784,799,649,628.696929272,651,0.400953377753,-0.00544810304368,0.0798281940323,0.999999943509,0.000162329464253,-0.000292686276865,3.10928222275e-05,1793193385444815360
+67,1.116666667,BASELINE,764,742,712,672,658.117819778,632,877.117819778,784,799,649,628.117819778,651,0.400954076029,-0.00544769143393,0.07982877422,0.999999943619,0.000162964160572,-0.00029196881251,3.09582301578e-05,1793193385461481984
+68,1.133333333,BASELINE,764,742,712,672,658.460608511,632,877,784,799,649,628,650.539391489,0.40095581219,-0.00544736042532,0.0798297217316,0.999999943989,0.000163565214653,-0.000290356687379,3.09907452996e-05,1793193385478148864
+69,1.150000000,BASELINE,764,742,712,671.961395357,658.961395357,632,877,784,799,649,628,650.038604643,0.400957587392,-0.00544698739477,0.0798306476668,0.99999994437,0.000164103165582,-0.000288733564002,3.10330575989e-05,1793193385494815744
+70,1.166666667,BASELINE,764,742,712,671.386983041,658.386983041,632,877,784,799,649,628,650.613016959,0.400956225179,-0.00544574539754,0.079829971979,0.999999944015,0.000163884545708,-0.000290129348761,3.06189563197e-05,1793193385511482368
+71,1.183333333,BASELINE,764,742,712,671.19212922,658.19212922,632.19212922,877.19212922,784,799,649,628.19212922,651,0.40095498103,-0.00544551963426,0.0798291418503,0.999999943686,0.000163643510268,-0.000291420169319,3.03713320537e-05,1793193385528148992
+72,1.200000000,BASELINE,764,742,712,671.780945507,658.780945507,632.780945507,877.780945507,784,799,649,628.780945507,651,0.400953980643,-0.0054473920777,0.079827992849,0.999999943417,0.000163356193616,-0.000292494271717,3.04674309524e-05,1793193385544815872
+73,1.216666667,BASELINE,764,742.363816884,712,672,659,632.636183116,877.636183116,784,799,649,629,651,0.400954623771,-0.00544865658435,0.0798284743555,0.999999943787,0.000162329254858,-0.000291757439931,3.08659665053e-05,1793193385561482496
+74,1.233333333,BASELINE,764,742.943166338,712,672,659,632.056833662,877.056833662,784,799,649,629,651,0.400956240552,-0.00544956093668,0.0798299218084,0.999999944532,0.000160864148837,-0.000289947773593,3.14436717183e-05,1793193385578149120
+75,1.250000000,BASELINE,764.518411677,742.481588323,712,672,658.481588323,632,877.518411677,784,799,649,628.481588323,651,0.400955027398,-0.00544860903885,0.0798290755952,0.999999943972,0.00016190399523,-0.000291308774085,3.1346917829e-05,1793193385594815488
+76,1.266666667,BASELINE,764.906709445,742,712,672,658.093290555,632.093290555,877.906709445,784,799,648.906709445,628.093290555,650.906709445,0.40095394132,-0.0054474624459,0.0798282596551,0.999999943363,0.000163489366585,-0.00029252772065,3.11811966396e-05,1793193385611482112
+77,1.283333333,BASELINE,764.331417565,742,712,672,658.668582435,632.668582435,877.331417565,784,799,648.331417565,628.668582435,650.331417565,0.400955102152,-0.00544635309366,0.0798288891086,0.999999943252,0.000166485564363,-0.000291230887089,3.10381732757e-05,1793193385628148992
+78,1.300000000,BASELINE,764,742,712,672,658.748995304,633,877,784,799.251004696,648.251004696,628.748995304,650.251004696,0.400955345993,-0.00544620219407,0.0798287913658,0.999999943136,0.000167249007471,-0.000291200053318,3.09484257072e-05,1793193385644815616
+79,1.316666667,BASELINE,764,742,712,672,658.156883126,633,877,784,799.843116874,648.843116874,628.156883126,650.843116874,0.40095434367,-0.00544735380158,0.0798277053859,0.999999943021,0.000164978207011,-0.000292889673528,3.09310782794e-05,1793193385661482240
+80,1.333333333,BASELINE,764,742,712,672,658.422427831,632.577572169,877.422427831,784,799.577572169,649,628.422427831,651,0.400953550502,-0.00544841501818,0.0798275838804,0.99999994334,0.000162084742112,-0.000293388460991,3.11647201235e-05,1793193385678148864
+81,1.350000000,BASELINE,764,742,712,672,658.997124494,632.002875506,877.997124494,784,799.002875506,649,628.997124494,651,0.400952832727,-0.00544944365246,0.0798278100303,0.99999994381,0.000158966830672,-0.000293457999621,3.14888338533e-05,1793193385694815488
+82,1.366666667,BASELINE,764,742,712,672,659,632,878,784,799,649,629,651,0.400953307928,-0.00544856730092,0.0798281679476,0.999999943516,0.000161865639384,-0.000292915880587,3.11176403962e-05,1793193385711482112
+83,1.383333333,BASELINE,764,742.148794864,712,672,659,632,878,784,799,649,629,650.851205136,0.40095368799,-0.00544771527839,0.0798283270398,0.999999943283,0.000164081615456,-0.000292511499619,3.07900651803e-05,1793193385728148480
+84,1.400000000,BASELINE,764,742.742105073,712,672,659,632,878,784,799,649,629,650.257894927,0.40095376591,-0.00544696455539,0.0798278901752,0.99999994327,0.000164167284049,-0.000292527791234,3.06032421504e-05,1793193385744815104
+85,1.416666667,BASELINE,764,742.673644501,712,672,659,632,877.673644501,784,799,649,629,650,0.400953488669,-0.00544671206733,0.0798277358776,0.999999943199,0.000164068456608,-0.000292818027469,3.0676514299e-05,1793193385761482240
+86,1.433333333,BASELINE,764,742.096360018,712,672,659,632,877.096360018,784,799,649,629,650,0.400952938352,-0.00544684266337,0.0798277988409,0.999999943083,0.000163827773415,-0.000293318894888,3.0949769051e-05,1793193385778149120
+87,1.450000000,BASELINE,763.519429202,742.480570798,711.519429202,672.480570798,658.519429202,632,877,784,799.480570798,649,628.519429202,650.480570798,0.400954081113,-0.00544791955185,0.0798286552562,0.999999943617,0.000162710209491,-0.000292087190489,3.12356362572e-05,1793193385794815744
+88,1.466666667,BASELINE,763.057164835,742.942835165,711,672.88567033,658,632,877,784,799.942835165,649,628,651,0.400955279563,-0.00544889139028,0.0798294737218,0.99999994412,0.000161876358254,-0.000290802054672,3.14728063365e-05,1793193385811482624
+89,1.483333333,BASELINE,763.631353835,742.368646165,711,671.73729233,658,632,877,784,799.368646165,649,628,651,0.400953913536,-0.0054471982551,0.0798285110724,0.999999943184,0.000165197598295,-0.000292173397314,3.12466819143e-05,1793193385828148992
+90,1.500000000,BASELINE,764,742,711.213148518,671.213148518,658.213148518,632.213148518,877,784,799,649,628.213148518,651,0.400952485986,-0.00544614767283,0.0798275027772,0.999999942427,0.000167154928393,-0.000293665024652,3.10663276955e-05,1793193385844815616
+91,1.516666667,BASELINE,764,742,711.808584119,671.808584119,658.808584119,632.808584119,877,784,799,649,628.808584119,651,0.400950948093,-0.00544624952509,0.079826412615,0.999999942009,0.00016666605229,-0.00029537238539,3.0968063481e-05,1793193385861482240
+92,1.533333333,BASELINE,764,742,712,672,659,633,877.390458292,784,799,649,629,651,0.400951895281,-0.00544703900979,0.0798269925827,0.999999942701,0.000164381761175,-0.000294313429127,3.09185083702e-05,1793193385878148608
+93,1.550000000,BASELINE,764,742,712,672,659,633,877.965907403,784,799,649,629,651,0.400954019847,-0.00544815428011,0.0798283638223,0.999999943907,0.000161246840639,-0.000291943850959,3.08920305857e-05,1793193385894815488
+94,1.566666667,BASELINE,764,742,712,672,659,632.45816814,877.45816814,784,799,649,628.45816814,650.45816814,0.40095387776,-0.00544843620846,0.0798283221619,0.999999943812,0.000161432534361,-0.000292163935623,3.09156863586e-05,1793193385911482112
+95,1.583333333,BASELINE,764,742,712,672,658.87909515,632,877,784,799,649,628.12090485,650.12090485,0.400953677123,-0.00544839720264,0.0798282304756,0.99999994363,0.00016198084979,-0.000292478016551,3.09523762898e-05,1793193385928148992
+96,1.600000000,BASELINE,764,742,712,672,658.287891187,632,877,784,799,649,628.712108813,650.712108813,0.400953803992,-0.00544731395908,0.0798282903104,0.999999943429,0.000163126261431,-0.000292523345612,3.10274858121e-05,1793193385944815872
+97,1.616666667,BASELINE,764,742.296557125,712,672,658.296557125,632,877,784,799,649,629,650.703442875,0.400953730595,-0.00544718839593,0.0798280948226,0.999999943214,0.000163924878458,-0.000292785409424,3.12539498695e-05,1793193385961482496
+98,1.633333333,BASELINE,764,742.874593235,712,672,658.874593235,632,877,784,799,649,629,650.125406765,0.400953467113,-0.00544797182099,0.0798276569939,0.999999942988,0.00016439433322,-0.00029325318833,3.16240729922e-05,1793193385978148864
+99,1.650000000,BASELINE,764,742.549832415,712,672,659,632.450167585,877,784,799,649,629,650,0.400954025565,-0.00544702263179,0.0798278525016,0.999999943277,0.000163614642402,-0.000292765711121,3.10439076109e-05,1793193385994815488
+100,1.666666667,BASELINE,764,742.025074267,712,671.974925733,658.974925733,632.974925733,877.025074267,784,799,649,628.974925733,650,0.400954758716,-0.00544573155969,0.0798282126884,0.999999943698,0.000162472650478,-0.00029204799496,3.02528717329e-05,1793193386011482368
+101,1.683333333,BASELINE,764,742.600296912,712,671.399703088,658.399703088,632.399703088,877.600296912,784,799,649,628.399703088,650,0.400954328413,-0.00544747182402,0.0798283360305,0.999999943918,0.000160975013903,-0.000292085633152,3.06119507969e-05,1793193386028148736
+102,1.700000000,BASELINE,764,742.820126831,712,671.179873169,658.179873169,632,877.820126831,783.820126831,798.820126831,649,628.179873169,650.179873169,0.400954003099,-0.00544842730384,0.0798284072856,0.999999943937,0.000160619793683,-0.000292183796661,3.09054868474e-05,1793193386044815360
+103,1.716666667,BASELINE,764,742.230636361,712,671.769363639,658.769363639,632,877.230636361,783.230636361,798.230636361,649,628.769363639,650.769363639,0.400953916869,-0.00544759562794,0.0798283599256,0.999999943501,0.000162866148478,-0.000292419791822,3.10497646101e-05,1793193386061481984
+104,1.733333333,BASELINE,764,742,712,672,659,632.35354804,877,783.35354804,798.35354804,649,628.64645196,650.64645196,0.400953941591,-0.00544757501769,0.07982838644,0.999999943537,0.000162767361775,-0.000292356508348,3.09927924754e-05,1793193386078148864
+105,1.750000000,BASELINE,764,742,712,672,659,632.934322276,877,783.934322276,798.934322276,649,628.065677724,650.065677724,0.400954037623,-0.00544807568125,0.0798284604336,0.999999943878,0.000161161347075,-0.000292100877782,3.08064765502e-05,1793193386094815744
+106,1.766666667,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632,877,784,799,649,628,651,0.400954276498,-0.00545088032185,0.0798287202517,0.999999944423,0.000158421820996,-0.000291720560777,3.09013351202e-05,1793193386125784064
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,742,711.423330247,672.576669753,659,632,878.153339506,784,798.423330247,649,628.576669753,651,0.400954339804,-0.00544771396665,0.0798284551448,0.999999943584,0.000162424837205,-0.000292415635861,3.07270310999e-05,1793193386142451456
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,742,711.157165146,672.842834854,658.842834854,632.157165146,878.685669708,784,798.157165146,649,629,651,0.400954518036,-0.00544549787687,0.0798283745125,0.999999943111,0.000164947930557,-0.000292630588385,3.06088560856e-05,1793193386159118592
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,742,711.748222263,672.251777737,658.251777737,632.748222263,877.503555474,784,798.748222263,649,629,651,0.400955013551,-0.00544590522134,0.0798288031665,0.999999943691,0.00016338534385,-0.000291520047933,3.06456385771e-05,1793193386175784960
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,742,712,672,658.331957323,633,877,784,799,649,629,650.668042677,0.400953617602,-0.0054464419468,0.0798280049274,0.999999943292,0.000163719141206,-0.000292683138293,3.08028549519e-05,1793193386192451072
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,742,712,672,658.910258683,633,877,784,799,649,629,650.089741317,0.400950818006,-0.00544707468529,0.0798262962165,0.999999942159,0.00016546023674,-0.000295533479919,3.10494447674e-05,1793193386209117184
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632.517197164,877,784,799,649,628.517197164,650,0.400952350906,-0.00544815689645,0.0798276992152,0.999999942982,0.000164055389973,-0.000293521593299,3.11099376059e-05,1793193386225783808
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,742,711.943701672,671.943701672,659,632,877.056298328,783.943701672,799,649,628.056298328,650.056298328,0.400954612722,-0.00544914118316,0.0798294742252,0.999999944054,0.000162238853441,-0.000290869152601,3.10912953051e-05,1793193386242450688
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,742,711.351068498,671.351068498,659,632,877.648931502,783.351068498,799,649,628.648931502,650.648931502,0.400956237206,-0.00544840604174,0.0798293480564,0.999999944177,0.000162005396781,-0.000290622821085,3.06444121413e-05,1793193386259117312
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,742,711.236130614,671.236130614,659,632,877.763869386,783.236130614,799,649,628.763869386,651,0.400963936571,-0.00544841220865,0.0798327952703,0.999999945811,0.000162205535499,-0.000284821132293,3.07281109698e-05,1793193386275783680
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,742,711.815432298,671.815432298,659,632,877.184567702,783.815432298,799,649,628.184567702,651,0.400980464626,-0.00544949572669,0.0798414357182,0.999999949505,0.000163035822873,-0.000270945785175,3.15829101418e-05,1793193386292450304
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,742,712,672,658.607688693,632,877,784,799,649,628.392311307,651,0.401011745596,-0.00544957498866,0.0798538844055,0.999999955313,0.0001630439858,-0.000248556178379,3.17828678584e-05,1793193386309116672
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,742,712,672,658.031942414,632,877,784,799,649,628.968057586,651,0.401049924663,-0.00544918468565,0.0798681137313,0.999999961585,0.000162667743852,-0.000222185514997,3.16766381197e-05,1793193386325783296
+119,1.983333333,POSE1_TO_POSE2_PRESS,763.445613767,742,712,672,658.554386233,632,877,784,799,649,629,650.445613767,0.401109218272,-0.00545266678481,0.0798851056614,0.999999969438,0.000158205932609,-0.000187379427988,3.13523435884e-05,1793193386342450432
+120,2.000000000,POSE1_TO_POSE2_PRESS,763.13956199,742,712,672,659,632.13956199,877,784,799,649,628.86043801,650.13956199,0.401172475514,-0.00545555935782,0.0799002019965,0.999999974966,0.000154965344229,-0.000158466529972,3.06833931264e-05,1793193386359117056
+121,2.016666667,POSE1_TO_POSE2_PRESS,763.719143188,742,712,672,659,632.719143188,877,784,799,649,628.280856812,650.719143188,0.401244319231,-0.00545587608859,0.0799088101718,0.999999976156,0.000156331726254,-0.000149696215458,2.89681758767e-05,1793193386375783936
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632.702071441,877.297928559,783.702071441,799,649,628.297928559,651,0.401325370283,-0.00545758643577,0.0799143856353,0.999999977606,0.000154836635492,-0.000141796509341,2.65993693131e-05,1793193386392450560
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632.12403433,877.87596567,783.12403433,799,649,628.87596567,651,0.401415077949,-0.00546060704293,0.0799171097824,0.999999979299,0.000150651225185,-0.000134715338432,2.36160666881e-05,1793193386409117184
+124,2.066666667,POSE1_TO_POSE2_PRESS,763.548184601,742,712,672,658.548184601,632,878,783.451815399,799,649,629,651,0.401528234657,-0.00547821392253,0.0799206347558,0.999999983503,0.000127342109631,-0.000127750994993,2.14020555123e-05,1793193386425783808
+125,2.083333333,POSE1_TO_POSE2_PRESS,763.02770129,742,712,672,658.02770129,632.02770129,878,784,799,649,629,650.97229871,0.40164912807,-0.00549906849527,0.079924539241,0.999999987577,9.96920255241e-05,-0.000120563428643,1.92838727692e-05,1793193386442450176
+126,2.100000000,POSE1_TO_POSE2_PRESS,763.616422533,742,712,672,658.616422533,632.616422533,878,784,799,649,629,650.383577467,0.401796965162,-0.0055049908922,0.0799316987975,0.999999989991,8.99382490463e-05,-0.000108208635803,1.48499539649e-05,1793193386459116800
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,742,712,672,658.798035478,632.798035478,877.798035478,784,799,649,629,650.201964522,0.401954610397,-0.00550602689072,0.0799379669873,0.999999991579,8.48116115628e-05,-9.78131861202e-05,8.9967198193e-06,1793193386475783424
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,742,712,672,658.218438116,632.218438116,877.218438116,784,799,649,629,650.781561884,0.40213059486,-0.00549792631107,0.0799425685009,0.99999999195,8.83367899921e-05,-9.10813135876e-05,4.89653327016e-07,1793193386492450048
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,742,712,672,658.357365105,632,877,784,799,649,629,651,0.402325985061,-0.00550180877714,0.0799454496382,0.999999993259,7.7471456475e-05,-8.61840038913e-05,-7.19106833235e-06,1793193386509116928
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,742,712,672,658.93087359,632,877,784,799,649,629,651,0.402533112358,-0.0055129388891,0.0799472902492,0.999999994826,5.79023806438e-05,-8.23962831456e-05,-1.43719967238e-05,1793193386525783808
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,742,712,672,658.482232166,632.517767834,877,784,799,649,629,651,0.402760606992,-0.00551034658837,0.0799417375671,0.999999994312,4.86717276009e-05,-9.24889963294e-05,-2.12706555289e-05,1793193386542450944
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,742,712,672,658.104842292,632.895157708,877,784,799,649,628.895157708,650.895157708,0.403000327851,-0.00550703532879,0.0799361831149,0.999999993726,3.76011185082e-05,-0.000102322047803,-2.57625097433e-05,1793193386559118336
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,742,712,672,658.684425908,632.315574092,877,784,799,649,628.315574092,650.315574092,0.403282771165,-0.00550898451058,0.0799352088502,0.999999994501,1.17829916795e-05,-0.000102365256107,-1.95311747073e-05,1793193386575784704
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,742,712,672.263767113,659.263767113,632,877.263767113,784,799,649,628.263767113,650.263767113,0.403587699718,-0.00550963986474,0.0799361039662,0.999999994845,1.68528256365e-06,-9.97390386745e-05,-1.89335328805e-05,1793193386592450816
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,742,712,672.842818526,659.842818526,632,877.842818526,784,799,649,628.842818526,650.842818526,0.403919505156,-0.00550874868958,0.0799392335777,0.999999995221,1.0378397104e-05,-9.39220215945e-05,-2.50699190449e-05,1793193386609117184
+136,2.266666667,POSE1_TO_POSE2_PRESS,763.583049536,742,712,672.166099072,659.583049536,632,878,784,799,648.583049536,629,651,0.404280053426,-0.00550814734607,0.0799406077975,0.999999995414,1.15388974468e-05,-9.10833909215e-05,-2.72377436666e-05,1793193386625783808
+137,2.283333333,POSE1_TO_POSE2_PRESS,763.010750522,742,712,671.021501045,659.010750522,632,878,784,799,648.010750522,629,651,0.404651310773,-0.00550765398886,0.0799413279886,0.999999995569,9.89287549838e-06,-8.93544557733e-05,-2.79269505869e-05,1793193386642450432
+138,2.300000000,POSE1_TO_POSE2_PRESS,763.579915467,742.579915467,712,672.159830933,659,632,878,784,799,648.579915467,628.420084533,651,0.405074260065,-0.00550894773478,0.0799391829888,0.99999999566,7.24521800529e-06,-8.76224859611e-05,-3.08349337104e-05,1793193386659117056
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,742.832689872,712,672.832689872,659,632,877.832689872,784,799.167310128,648.832689872,628,651,0.405506300137,-0.00551066566725,0.0799359657347,0.999999995373,2.81030520214e-06,-9.01110882765e-05,-3.35632206411e-05,1793193386675783936
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,742.254199054,712,672.254199054,659,632,877.254199054,784,799.745800946,648.254199054,628,651,0.405958249538,-0.00551334199681,0.079930248118,0.999999994042,-5.96983238629e-06,-0.000102972294549,-3.57454947159e-05,1793193386692450560
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,742,712,672,659.321409635,632,877,784,799.678590365,648.321409635,628.321409635,650.678590365,0.406428561062,-0.00551471319719,0.0799244388447,0.99999999275,-8.66709399659e-06,-0.00011408381252,-3.75549504216e-05,1793193386709117184
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,742,712,672,659.894759201,632,877,784,799.105240799,648.894759201,628.894759201,650.105240799,0.406913265955,-0.0055150613602,0.0799185577248,0.999999991549,-6.59623764768e-06,-0.00012382382243,-3.90721692173e-05,1793193386725783552
+143,2.383333333,POSE1_TO_POSE2_PRESS,763.530650488,742.469349512,711.530650488,672,659.530650488,632.469349512,877.469349512,784,799,649,628.530650488,650.469349512,0.407433619631,-0.00551613443742,0.0799154388116,0.999999990564,-1.32647690134e-05,-0.000130330704807,-4.13436575008e-05,1793193386742450176
+144,2.400000000,POSE1_TO_POSE2_PRESS,763.045715585,742.954284415,711.045715585,672,659,632.954284415,878,784,799,649,628,650.954284415,0.407965246667,-0.00551735508186,0.0799122806045,0.999999989374,-2.19359708615e-05,-0.00013730063434,-4.37993929602e-05,1793193386759116800
+145,2.416666667,POSE1_TO_POSE2_PRESS,763.64004475,742.35995525,711.64004475,672,659,632.35995525,878,784,799,649,628,650.35995525,0.408535981083,-0.00551839081145,0.079901198451,0.999999985871,-3.1061646193e-05,-0.000158550335187,-4.64311952632e-05,1793193386775783424
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,742.226675297,712,672,659,632.226675297,878,783.773324703,799,649,628.226675297,650,0.409141799244,-0.00552066119028,0.0799049121373,0.999999986213,-3.69295382466e-05,-0.000154623705431,-4.79778208921e-05,1793193386792450304
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,742.801482146,712,672,659,632.801482146,878,783.198517854,799,649,628.801482146,650,0.409801499547,-0.0055248277631,0.079931349512,0.999999991865,-3.77940739827e-05,-0.000112030862454,-4.78578146139e-05,1793193386809117184
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,743,712,672.377421389,659,633,878.377421389,783,799,649,629,650.377421389,0.410484678348,-0.00552775407387,0.0799617251367,0.999999995936,-4.22938639723e-05,-6.32005302609e-05,-4.84264005805e-05,1793193386825784064
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,743,712,672.953958027,659,633,878.953958027,783,799,649,629,650.953958027,0.411180243618,-0.00553002606257,0.0799941784532,0.999999997534,-4.87114957714e-05,-1.10795028872e-05,-4.93582653434e-05,1793193386842450944
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,742.472133176,712,672.472133176,659,633,878.472133176,783.527866824,799,649,628.472133176,651,0.411843141981,-0.00553185032782,0.0799737634736,0.999999995992,-5.73769719002e-05,-4.45877510104e-05,-5.23050572528e-05,1793193386859117056
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,742.105371375,712,672,659,632.894628625,877.894628625,784,799.105371375,649,628,651,0.412511508503,-0.00553340947515,0.0799465665658,0.999999992517,-6.58740616384e-05,-8.6671450298e-05,-5.58014611826e-05,1793193386875783424
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,742.700654171,712,672,659,632.299345829,877.299345829,784,799.700654171,649,628,651,0.413218480201,-0.00553391665484,0.0799091714642,0.999999986508,-7.26812009892e-05,-0.000134072312504,-6.1040150276e-05,1793193386892450304
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,742.712936052,712,672.287063948,659,632,877.287063948,783.712936052,799.712936052,649,628,651,0.413958797009,-0.00553633707503,0.0798975262556,0.99999998418,-8.13831904246e-05,-0.000144591818219,-6.41090970698e-05,1793193386909116928
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,742.135501429,712,672.864498571,659,632,877.864498571,783.135501429,799.135501429,649,628,651,0.414732843118,-0.00554069277463,0.0799119275517,0.999999986717,-9.20018578623e-05,-0.000117805132365,-6.49833087332e-05,1793193386925783552
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,742,712,673,659,632,878.439281838,783.439281838,799,649,628.439281838,651,0.415510504752,-0.00554182018158,0.0799305357869,0.999999990193,-8.70270555356e-05,-8.97704487852e-05,-6.30934413953e-05,1793193386942450688
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,742.013575985,712,672.986424015,659.013575985,632,878.97284803,784,799,648.986424015,628.986424015,651,0.416289404443,-0.00554197027518,0.0799496217584,0.999999993198,-7.76298684556e-05,-6.26135675337e-05,-6.04669399978e-05,1793193386959117312
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,742.601572682,712,672.398427318,659.601572682,632,877.796854636,784,799,648.398427318,628.398427318,651,0.417073785464,-0.00554264992393,0.0799343442107,0.999999990625,-8.34114695927e-05,-8.8788257807e-05,-6.25311756428e-05,1793193386975783936
+158,2.633333333,POSE1_TO_POSE2_PRESS,763.812085236,743,712,672.187914764,660,632,877.187914764,784,799.187914764,648.187914764,628,651,0.41789262484,-0.00554049859115,0.0799351697623,0.999999991055,-8.37990097885e-05,-8.31158178408e-05,-6.29226930242e-05,1793193386992450560
+159,2.650000000,POSE1_TO_POSE2_PRESS,763.229220773,743,712,672.770779227,660,632,877.770779227,784,799.770779227,648.770779227,628,651,0.418783886989,-0.00553239724526,0.07996983999,0.999999995503,-7.28495863591e-05,-1.05086966861e-05,-5.97985759213e-05,1793193387009116928
+160,2.666666667,POSE1_TO_POSE2_PRESS,763.348195063,742.651804937,712,673,660,632,878,784,799.651804937,649,628,651,0.419630169032,-0.00552710150468,0.0799783388422,0.999999996187,-6.45178369272e-05,1.03802547503e-05,-5.79315508451e-05,1793193387025783552
+161,2.683333333,POSE1_TO_POSE2_PRESS,763.922079247,742.077920753,712,673,660,632,878,784,799.077920753,649,628,651,0.420447296347,-0.00552362426981,0.0799698742282,0.999999996705,-5.78827822849e-05,-2.25289254587e-06,-5.68793336589e-05,1793193387042450176
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,742,711.507081959,673,660,632,878,784,799,648.507081959,628.492918041,650.507081959,0.421259045684,-0.00553622932705,0.0799548356625,0.999999995,-7.77687468026e-05,-2.67586335106e-05,-5.68919582569e-05,1793193387059116800
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,742,711.066296892,673,660,632.066296892,878,784,799,648,629,650,0.422080032202,-0.00554949909979,0.0799439642338,0.99999999249,-9.86057884154e-05,-4.54112190914e-05,-5.68664536908e-05,1793193387075783424
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,742,711.663864338,673,660,632.663864338,878,784,799,648,629,650,0.422981811352,-0.00554784794466,0.079974762804,0.999999994087,-9.36742905926e-05,-2.2118862815e-06,-5.5194764334e-05,1793193387092450304
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,742.252386089,712,673,660,633,878,784,799,648.252386089,629,650.252386089,0.423846029033,-0.00554998398349,0.0799869202376,0.999999994201,-9.30890704984e-05,6.90772910242e-06,-5.37063096067e-05,1793193387109117440
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,742.829277424,712,673,660,633,878,784,799,648.829277424,629,650.829277424,0.424661952201,-0.0055569894042,0.0799751098465,0.999999993427,-9.8092073528e-05,-2.77906236525e-05,-5.24534485102e-05,1793193387125784064
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,742.59556534,712,673,660,632.59556534,878,783.59556534,799.40443466,649,629,651,0.425470932083,-0.00556324378783,0.0799393141698,0.999999989077,-0.000108011222443,-8.42369729617e-05,-5.55328905511e-05,1793193387142450432
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,742.021137021,712,673,660,632.021137021,878,783.021137021,799.978862979,649,629,651,0.426276993485,-0.00556918249202,0.0798934368989,0.999999979751,-0.000119996745561,-0.000149824528226,-6.0433304141e-05,1793193387159116800
+169,2.816666667,POSE1_TO_POSE2_PRESS,764,742.569517455,712,673.569517455,660,632.569517455,878,783.569517455,800,649,628.430482545,650.430482545,0.427124208181,-0.00557138059361,0.0798987056053,0.999999982553,-0.000122162785633,-0.000127575412453,-6.07814107347e-05,1793193387175783424
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,743,712,674,660.157122837,632.842877163,878,784,800,649,628.157122837,650,0.427968955396,-0.00557318144107,0.0799060069204,0.999999984283,-0.000124493395823,-0.000110649917137,-6.07628263482e-05,1793193387192450304
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,743,712,674,660.734905376,632.265094624,878,784,800,649,628.734905376,650,0.428802887391,-0.00557430131401,0.0799135189699,0.99999998312,-0.000128268919635,-0.000116960918784,-6.02281126872e-05,1793193387209116928
+172,2.866666667,POSE1_TO_POSE2_PRESS,763.688900951,743,711.688900951,674,660.688900951,632,878,784,800,649,629,650.311099049,0.429642105685,-0.00556749097337,0.0799329503561,0.999999986741,-0.000119775503097,-9.3186358806e-05,-5.90602456947e-05,1793193387225783808
+173,2.883333333,POSE1_TO_POSE2_PRESS,763.114054337,743,711.114054337,674,660.114054337,632,878,784,800,649,629,650.885945663,0.430485805622,-0.00555395745387,0.0799624868711,0.999999992303,-0.000100880565541,-4.39054726348e-05,-5.73555957026e-05,1793193387242450688
+174,2.900000000,POSE1_TO_POSE2_PRESS,763.458575935,743,711.458575935,674,660,632,878.458575935,784,800,649,629,651,0.4313046737,-0.00554764804853,0.0799927259788,0.999999994539,-8.88018170973e-05,1.67737362432e-06,-5.50776490573e-05,1793193387259117312
+175,2.916666667,POSE1_TO_POSE2_PRESS,764,743,711.967977382,674,660,632,878.967977382,784,800,649,629,650.967977382,0.432111016907,-0.00554398538345,0.0800190812823,0.999999994629,-7.98131907496e-05,3.96771140479e-05,-5.29002846672e-05,1793193387275783936
+176,2.933333333,POSE1_TO_POSE2_PRESS,764,743,711.37042519,674,660,632,878.37042519,784,800,649,629,650.37042519,0.432804711997,-0.00555548662615,0.0799737761279,0.999999993114,-9.56018854584e-05,-4.00782177e-05,-5.50052589773e-05,1793193387292450304
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,743,711.219486838,674,660,632,878.219486838,784,799.780513162,649,629,650,0.433510425107,-0.00556306623636,0.0799277692562,0.99999998648,-0.00010752850234,-0.000110098151957,-5.7939687393e-05,1793193387309116928
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,743,711.796938485,674,660,632,878.796938485,784,799.203061515,649,629,650,0.434235738717,-0.00556424999138,0.0798806179346,0.999999978174,-0.000113156394043,-0.000164240473948,-6.22268872896e-05,1793193387325783552
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,743,712,674,660,632,878.628935626,784,799.371064374,649,629,650.371064374,0.43495916614,-0.00556838766116,0.0798809938917,0.999999978919,-0.000117231255239,-0.000156773249928,-6.19769626779e-05,1793193387342450176
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,743,712,674,660,632,878.056613594,784,799.943386406,649,629,650.943386406,0.435681570489,-0.00557412747326,0.0799071476664,0.999999984273,-0.000120463784372,-0.00011589027664,-5.92661951153e-05,1793193387359116800
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,743,711.481103862,674,660,632,878.518896138,784,800,649,628.481103862,651,0.436327615686,-0.00557884217281,0.0799066411547,0.999999981218,-0.000124734387908,-0.000136508360748,-5.8058137502e-05,1793193387375783936
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,743,711,674,659.902236465,632,879,784,800,649,628.097763535,651,0.436956060973,-0.00558295690761,0.0798980514305,0.999999975827,-0.000129041803243,-0.000168457625698,-5.75825007426e-05,1793193387392450560
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,743,711,674,659.308097953,632,879,784,800,649,628.691902047,651,0.437537707059,-0.00558459681497,0.0798632806422,0.99999996435,-0.000132957523849,-0.000223659406729,-5.99880090282e-05,1793193387409117440
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,742.7231025,711,674,659,632,879,783.7231025,800,649,629,651,0.438114357134,-0.0055854274939,0.0798316815508,0.999999952053,-0.000134002055458,-0.000272289130643,-6.1613120399e-05,1793193387425784064
+185,3.083333333,POSE1_TO_POSE2_PRESS,764,742.147955193,711,674,659,632,879,783.147955193,800,649,629,651,0.438685625906,-0.00558538654252,0.0798034987367,0.9999999401,-0.000131953992892,-0.000313840005165,-6.2397656273e-05,1793193387442450688
+186,3.100000000,POSE1_TO_POSE2_PRESS,764,742.426139837,711,674,659,631.573860163,878.573860163,783,800,649,628.573860163,650.573860163,0.439214528489,-0.00557906615646,0.0797741015216,0.999999925787,-0.00012728290213,-0.000357993865849,-6.37553486278e-05,1793193387459117056
+187,3.116666667,POSE1_TO_POSE2_PRESS,764,742.999870463,711,674,659,631.000129537,878.000129537,783,800,649,628.000129537,650.000129537,0.439728757862,-0.00557057092862,0.0797442837043,0.999999909237,-0.000121703342092,-0.000403049256873,-6.53115500124e-05,1793193387475783680
+188,3.133333333,POSE1_TO_POSE2_PRESS,763.410061283,743,711,673.410061283,659,631,878,783,799.410061283,649,628.589938717,650.589938717,0.44017116769,-0.00555754377818,0.079700869479,0.999999882124,-0.000102988880656,-0.000469658026778,-6.75762890846e-05,1793193387492450304
+189,3.150000000,POSE1_TO_POSE2_PRESS,763.177271877,743,711,673.177271877,659,631,878,783,799.177271877,649,628.822728123,651,0.440606517198,-0.00554967675613,0.0796581676862,0.999999849794,-9.08595760077e-05,-0.000536044134428,-6.93730871651e-05,1793193387509116928
+190,3.166666667,POSE1_TO_POSE2_PRESS,763.758366251,743,711,673.758366251,659,631,878,783,799.758366251,649,628.241633749,651,0.441025820446,-0.00555356675273,0.0796170957896,0.999999812,-9.37379071869e-05,-0.000601911949124,-7.01035595361e-05,1793193387525783808
+191,3.183333333,POSE1_TO_POSE2_PRESS,763.664208083,742.664208083,711.335791917,674,658.328416166,631,878.335791917,783,800,649,628,651,0.44146343339,-0.00555825320595,0.0796096351895,0.999999805138,-0.000105713858471,-0.000611200713248,-7.05857475774e-05,1793193387542450688
+192,3.200000000,POSE1_TO_POSE2_PRESS,763.089393898,742.089393898,711.910606102,674,657.178787797,631,878.910606102,783,800,649,628,651,0.441914079457,-0.00556350658999,0.0796260996713,0.999999821454,-0.000124165646869,-0.000580215565647,-7.08912027441e-05,1793193387559117824
+193,3.216666667,POSE1_TO_POSE2_PRESS,763.482663475,742,711.517336525,674,657.482663475,631,878.517336525,782.517336525,799.517336525,649,628,651,0.442334221189,-0.00556576485771,0.0796594908796,0.9999998511,-0.000116606979571,-0.00052878053348,-6.77838507444e-05,1793193387575784448
+194,3.233333333,POSE1_TO_POSE2_PRESS,764,742,711,674,658,630.943353801,878.056646199,782,799.056646199,649,628,650.943353801,0.442741133752,-0.00556792353552,0.0796931729439,0.999999877898,-0.000106555304988,-0.000478237829771,-6.43295369238e-05,1793193387592450816
+195,3.250000000,POSE1_TO_POSE2_PRESS,764,742,711,674,658,630.346153458,878.653846542,782,799.653846542,649,628,650.346153458,0.443075411969,-0.00557439533208,0.0796998843528,0.999999879506,-0.000118423254721,-0.00047214791863,-6.35617920691e-05,1793193387609117440
+196,3.266666667,POSE1_TO_POSE2_PRESS,764,742,711,674.241267238,657.758732762,630,879,782,800,649,628,650,0.443377870163,-0.00557868750963,0.0796942407441,0.999999872522,-0.000126581036399,-0.000484761424185,-6.27581739935e-05,1793193387625783808
+197,3.283333333,POSE1_TO_POSE2_PRESS,764,742,711,674.815203319,657.184796681,630,879,782,800,649,628,650,0.443636453617,-0.00557997434148,0.0796715615465,0.999999852833,-0.000129623090055,-0.000523163942912,-6.19050925068e-05,1793193387642450176
+198,3.300000000,POSE1_TO_POSE2_PRESS,764,742.390217462,711,675,657,630,878.609782538,782,800,649,628,650.390217462,0.443885244005,-0.00558086371355,0.0796547284598,0.999999840332,-0.00012762684768,-0.000546874682767,-6.30519797951e-05,1793193387659117056
+199,3.316666667,POSE1_TO_POSE2_PRESS,764,742.965743614,711,675,657,630,878.034256386,782,800,649,628,650.965743614,0.444129383829,-0.00558156433778,0.0796406716056,0.999999831457,-0.00012323799091,-0.000563608510566,-6.51486235744e-05,1793193387675783936
+200,3.333333333,POSE1_TO_POSE2_PRESS,764,743,711,674.44327964,657,630,878.55672036,782,799.44327964,649,628,650.44327964,0.444346018537,-0.00558403623974,0.0796409099653,0.999999829863,-0.000137912506357,-0.000563357188162,-6.2319769895e-05,1793193387692450560
+201,3.350000000,POSE1_TO_POSE2_PRESS,764,743,711,674.145526869,656.854473131,629.854473131,879,782,799.145526869,649,628,650,0.444554634704,-0.00558625176301,0.0796434446777,0.999999830667,-0.000147451875012,-0.000559779322501,-5.97619292169e-05,1793193387709117184
+202,3.366666667,POSE1_TO_POSE2_PRESS,764,743,711,674.724947376,656.275052624,629.275052624,879,782,799.724947376,649,628,650,0.444744533522,-0.00558736864752,0.0796501285677,0.999999837761,-0.000138083396158,-0.000549488315603,-5.89415556674e-05,1793193387725783808
+203,3.383333333,POSE1_TO_POSE2_PRESS,764,742.698058462,711,675,656,629,879,781.698058462,800,649,628,650.301941538,0.444911338032,-0.00558685519136,0.0796511709744,0.999999839184,-0.000131587191373,-0.000548427461392,-5.95252123659e-05,1793193387742450432
+204,3.400000000,POSE1_TO_POSE2_PRESS,764,742.123256985,711,675,656,629,879,781.123256985,800,649,628,650.876743015,0.445057272558,-0.00558486842127,0.0796471152588,0.999999835559,-0.000127686617204,-0.00055570775532,-6.13776697284e-05,1793193387759117056
+205,3.416666667,POSE1_TO_POSE2_PRESS,764,742,711,675,656,629,879,781,800,649,628,651,0.445186690936,-0.00558701695706,0.0796454194163,0.999999834205,-0.000126342750148,-0.000558498680178,-6.08848895752e-05,1793193387775783680
+206,3.433333333,POSE1_TO_POSE2_PRESS,763.97545629,742.02454371,711,675,656,629,879,781,800,649,628,651,0.44531047096,-0.00559022005367,0.079644537611,0.999999833626,-0.000125819412904,-0.000559771655393,-5.97789877871e-05,1793193387792450048
+207,3.450000000,POSE1_TO_POSE2_PRESS,763.382413684,742.617586316,711,675,656,629,879,781,800,649,628,651,0.445408077611,-0.00559170347253,0.0796475904184,0.999999836425,-0.000128136560265,-0.000554269591828,-5.92996846672e-05,1793193387809117184
+208,3.466666667,POSE1_TO_POSE2_PRESS,763.205476006,743,711,675,656,629,879,781.205476006,800,649,628,651,0.44549539945,-0.00559169227281,0.0796486592204,0.999999837218,-0.000130677817069,-0.000552259197662,-5.91439267372e-05,1793193387825784064
+209,3.483333333,POSE1_TO_POSE2_PRESS,763.784010098,743,711,675,656,629,879,781.784010098,800,649,628,651,0.445564048382,-0.00558896747359,0.0796461259018,0.999999834402,-0.000133625962208,-0.000556588208567,-5.95755909749e-05,1793193387842450688
+210,3.500000000,POSE1_TO_POSE2_PRESS,764,743,711,675,656,629,879,781.640441688,800,649,628,651,0.445623344199,-0.00558869220728,0.0796440376699,0.999999831143,-0.000148842617917,-0.000558549801609,-5.98498364032e-05,1793193387859117312
+211,3.516666667,POSE1_TO_POSE2_PRESS,764,743,711,675,656,629,879,781.06667229,800,649,628,651,0.445677067794,-0.00558987627867,0.0796422146033,0.999999827218,-0.000171368383054,-0.000559100977855,-6.00302977449e-05,1793193387875783680
+212,3.533333333,POSE1_TO_POSE2_PRESS,764,742.479100183,711,675,656.520899817,629,878.479100183,781,800,649,628,651,0.445711111912,-0.00558923024225,0.0796388312865,0.999999824563,-0.000170347298059,-0.000564178052105,-5.96507801109e-05,1793193387892450304
+213,3.550000000,POSE1_TO_POSE2_PRESS,764,742,711,675,656.891565916,629,878.108434084,781,800,649,628,650.891565916,0.445741122302,-0.00558475221016,0.0796358421498,0.999999823031,-0.000163098215283,-0.000568967657092,-6.0105044932e-05,1793193387909116928
+214,3.566666667,POSE1_TO_POSE2_PRESS,764,742,711,675,656.312079391,629,878.687920609,781,800,649,628,650.312079391,0.445764849763,-0.00556467275043,0.079635456536,0.999999825397,-0.000142242875557,-0.000569923446837,-6.45012117282e-05,1793193387925783552
+215,3.583333333,POSE1_TO_POSE2_PRESS,764,742.264377926,711,675,656,629,879,781,800,649,628,650.264377926,0.445782663016,-0.00554476639439,0.0796335607468,0.999999826749,-0.000120084025276,-0.00057223399445,-6.80392970311e-05,1793193387942450432
+216,3.600000000,POSE1_TO_POSE2_PRESS,764,742.837299948,711,675,656,629,879,781,800,649,628,650.837299948,0.445793574048,-0.0055250620614,0.0796299024971,0.999999826902,-9.64039051906e-05,-0.000576125621588,-7.05759520943e-05,1793193387959117056
+217,3.616666667,POSE1_TO_POSE2_PRESS,764,742.589619561,711,674.589619561,656,629,878.589619561,781,800,649,628,651,0.445802553936,-0.00552815680686,0.0796291813561,0.999999825936,-9.95213377847e-05,-0.000577407404986,-6.94491240122e-05,1793193387975783680
+218,3.633333333,POSE1_TO_POSE2_PRESS,764,742.016476231,711,674.016476231,656,629,878.016476231,781,800,649,628,651,0.445810767904,-0.00554029400107,0.0796296251156,0.999999824507,-0.000113267072639,-0.000577654086046,-6.68693048209e-05,1793193387992450560
+219,3.650000000,POSE1_TO_POSE2_PRESS,764,742.578480812,711,674,656,629,878.578480812,781,799.421519188,649,628,651,0.44581363621,-0.0055350553146,0.0796283885471,0.999999824005,-0.000108001228477,-0.000579402737184,-6.79637294497e-05,1793193388009117184
+220,3.666666667,POSE1_TO_POSE2_PRESS,764.168070626,743,711,674.168070626,656,629,879,781,799.168070626,649,628,650.831929374,0.445816273239,-0.00553110743126,0.0796277068484,0.999999823866,-0.000103815843578,-0.000580326000523,-6.86386212075e-05,1793193388025783808
+221,3.683333333,POSE1_TO_POSE2_PRESS,764.743101016,743,711,674.743101016,656,629,879,781,799.743101016,649,628,650.256898984,0.445818733373,-0.00553153033509,0.0796284891151,0.999999824615,-0.000103609153609,-0.000579143058932,-6.80343483007e-05,1793193388042450432
+222,3.700000000,POSE1_TO_POSE2_PRESS,764.680216931,743,711,674.680216931,656,629,879,781,800,649,628,650.319783069,0.445819075718,-0.00553243344302,0.0796276668593,0.999999823606,-0.00010508981969,-0.000580658404485,-6.76732566067e-05,1793193388059117056
+223,3.716666667,POSE1_TO_POSE2_PRESS,764.102201054,743,711,674.102201054,656,629,879,781,800,649,628,650.897798946,0.445817707896,-0.00553372432777,0.0796255489116,0.999999821162,-0.000107933067858,-0.000584352684091,-6.75085397425e-05,1793193388075783680
+224,3.733333333,POSE1_TO_POSE2_PRESS,764,743,711,674.47180298,655.52819702,629,879,781,800,649,628,650.52819702,0.445818032296,-0.00552976529742,0.079625318594,0.999999821429,-0.000102182794279,-0.0005848888701,-6.78720000823e-05,1793193388092450304
+225,3.750000000,POSE1_TO_POSE2_PRESS,764,743,711,675,655.046643534,629,879,781,800,649,628,650.046643534,0.445818881688,-0.00552560469874,0.0796255538418,0.999999822231,-9.56682087457e-05,-0.000584581598234,-6.81962562007e-05,1793193388109117184
+226,3.766666667,POSE1_TO_POSE2_PRESS,764,743,711,675,655.641442127,629,879,781,800,649,628,650.641442127,0.445821629223,-0.00553232727157,0.0796264955994,0.999999823029,-0.000101863467989,-0.00058233376825,-6.67265423227e-05,1793193388125783808
+227,3.783333333,POSE1_TO_POSE2_PRESS,764,743,711,675,656,629,879,781,800,649,628,651,0.445822424048,-0.00553555422299,0.0796262663877,0.999999822755,-0.000105175534632,-0.000582299508351,-6.59927590026e-05,1793193388142450432
+228,3.800000000,POSE1_TO_POSE2_PRESS,764,743,711,675,656,629,879,781,800,649,628,651,0.445820255121,-0.00553347564308,0.0796242599203,0.999999820899,-0.000104111592828,-0.000585624927248,-6.63759452289e-05,1793193388159117056
+229,3.816666667,POSE1_TO_POSE2_PRESS,764,742.617073042,711.382926958,675,656,628.617073042,879,781,800,649,627.617073042,651,0.445820453062,-0.00552957371396,0.0796240391249,0.999999821005,-0.000100739838317,-0.000585931023352,-6.72845726019e-05,1793193388175783680
+230,3.833333333,POSE1_TO_POSE2_PRESS,764,742.042406558,711.957593442,675,656,628.042406558,879,781,800,649,627.042406558,651,0.445821836143,-0.00552475879587,0.0796247124528,0.999999822077,-9.62125138115e-05,-0.00058472528136,-6.8456299319e-05,1793193388192450304
+231,3.850000000,POSE1_TO_POSE2_PRESS,764,742.546048581,711.453951419,675,655.453951419,628.546048581,879,781,800,649,627,651,0.445822345575,-0.00553041617987,0.0796252552089,0.999999821758,-0.000102377972904,-0.000584329872245,-6.75440584967e-05,1793193388209116928
+232,3.866666667,POSE1_TO_POSE2_PRESS,764,743,711,675,655.133287623,629,878.866712377,781,800,649,627.133287623,650.866712377,0.445822523405,-0.00553491382734,0.0796253973959,0.999999821302,-0.00010678825801,-0.000584412604621,-6.67429192531e-05,1793193388225783552
+233,3.883333333,POSE1_TO_POSE2_PRESS,764,743,711,675,655.712777775,629,878.287222225,781,800,649,627.712777775,650.287222225,0.445821824156,-0.00553273591621,0.0796242334371,0.999999820886,-0.000102470852035,-0.000585879865535,-6.68695418491e-05,1793193388242450176
+234,3.900000000,POSE1_TO_POSE2_PRESS,764,743,711,675,655.709305538,629,878.290694462,781,799.709305538,649,628,650,0.44582191378,-0.00553114909628,0.0796238325576,0.999999820779,-0.000100732585291,-0.000586363088736,-6.68841801811e-05,1793193388259117312
+235,3.916666667,POSE1_TO_POSE2_PRESS,764,743,711,675,655.132935082,629,878.867064918,781,799.132935082,649,628,650,0.445822778657,-0.00553014316286,0.0796241815837,0.999999820988,-0.000101528931716,-0.000585879262563,-6.67887675305e-05,1793193388275783936
+236,3.933333333,POSE1_TO_POSE2_PRESS,764,742.563189253,711,674.563189253,655.436810747,629,879,781,799.436810747,649,628,650,0.445823331653,-0.00553010381825,0.0796245105829,0.999999821292,-0.000102219370168,-0.000585227370143,-6.68962103691e-05,1793193388292450560
+237,3.950000000,POSE1_TO_POSE2_PRESS,764,742.004815905,711,674.004815905,656,628.995184095,879,781,800,649,628,650.004815905,0.445823787489,-0.00553035483407,0.0796248308318,0.999999821621,-0.000102871348543,-0.000584531565545,-6.70632246944e-05,1793193388309116928
+238,3.966666667,POSE1_TO_POSE2_PRESS,764,742.603050162,711,674.603050162,656,628.396949838,879,781,800,649,628,650.603050162,0.445823791997,-0.00553067880136,0.0796248126512,0.999999821579,-0.000102696460472,-0.000584633175958,-6.70772671319e-05,1793193388325783808
+239,3.983333333,POSE1_TO_POSE2_PRESS,764,742.805356238,711,675,656,628,878.805356238,781,800.194643762,649,628,651,0.445824036901,-0.0055313857179,0.0796248782855,0.999999821642,-0.000102744790186,-0.00058454734449,-6.68052946793e-05,1793193388342450432
+240,4.000000000,POSE1_TO_POSE2_PRESS,764,742.226858607,711,675,656,628,878.226858607,781,800.773141393,649,628,651,0.445824755887,-0.00553284784254,0.0796251092097,0.999999821914,-0.000103233324154,-0.000584091861867,-6.59692768079e-05,1793193388359117056
+241,4.016666667,POSE1_TO_POSE2_PRESS,764,742,711,675,655.651276395,628.348723605,878.348723605,781,800.30255279,649,628,651,0.445825040984,-0.00553178361923,0.0796251901444,0.999999822202,-0.000101816561447,-0.000583858994958,-6.58688174969e-05,1793193388375783680
+242,4.033333333,POSE1_TO_POSE2_PRESS,764,742,711,675,655.077575076,628.922424924,878.922424924,781,799.155150152,649,628,651,0.445825046159,-0.00552908953205,0.0796251743141,0.999999822495,-9.91706037858e-05,-0.000583769747749,-6.6242901038e-05,1793193388392450560
+243,4.050000000,POSE1_TO_POSE2_PRESS,764,742,711,675.510178998,655,629,878.489821002,781,799.510178998,649,628,651,0.445824547858,-0.00553139323987,0.0796249429636,0.999999821823,-0.000102423017911,-0.000584377802852,-6.60700001798e-05,1793193388409117184
+244,4.066666667,POSE1_TO_POSE2_PRESS,764,742.098327159,711,675.901672841,655,629,878,781,800,649,628,650.901672841,0.445824173676,-0.00553351123049,0.0796246496632,0.999999821183,-0.000105053041998,-0.00058502824616,-6.58729094191e-05,1793193388425783808
+245,4.083333333,POSE1_TO_POSE2_PRESS,764,742.677654053,711,675.322345947,655,629,878,781,800,649,628,650.322345947,0.445824791771,-0.00553089793878,0.0796242181644,0.999999821492,-0.000100126808216,-0.000585352682668,-6.5975871046e-05,1793193388442450176
+246,4.100000000,HOLD_POSE2,764,743,711,675,655,629,878,781,800,649,628,650,0.445825602897,-0.00553019035194,0.0796240734146,0.999999821187,-9.93873930736e-05,-0.000586043400884,-6.5579578538e-05,1793193388480807168
+247,4.116666667,HOLD_POSE2,764.57308468,742.42691532,711,674.42691532,655,629,878.57308468,781,799.42691532,649,628,650.57308468,0.445824862958,-0.00553078618206,0.0796236885818,0.99999982064,-0.000100073916776,-0.000586844344523,-6.57170650166e-05,1793193388497473280
+248,4.133333333,HOLD_POSE2,764.848168936,742.151831064,711,674.151831064,655,628.848168936,878.848168936,780.848168936,799,649,628,651,0.445824978036,-0.00553103467701,0.0796239114727,0.999999820876,-0.000100152295952,-0.000586417063098,-6.58177180734e-05,1793193388514139392
+249,4.150000000,HOLD_POSE2,764.252886332,742.747113668,711,674.747113668,655,628.252886332,878.252886332,780.252886332,799,649,628,651,0.445827590354,-0.0055302687136,0.079625909337,0.999999823391,-9.84544733603e-05,-0.000582402516615,-6.58107921379e-05,1793193388530806272
+250,4.166666667,HOLD_POSE2,764,743,711,675,655,628,878,780.333118699,799.333118699,649,628,650.666881301,0.445827241222,-0.00553043853437,0.07962552178,0.999999823067,-9.87540406149e-05,-0.000582902687694,-6.58605647661e-05,1793193388547473152
+251,4.183333333,HOLD_POSE2,764,743,711,675,655,628,878,780.912271485,799.912271485,649,628,650.087728515,0.445824704829,-0.00553129950464,0.0796233724038,0.999999820642,-0.000100528835829,-0.000586737329312,-6.59522136963e-05,1793193388564140288
+252,4.200000000,HOLD_POSE2,764.486744548,742.513255452,711,674.513255452,655.486744548,628,878,780.513255452,800,649,628,650,0.44582528034,-0.00553145441422,0.079623706801,0.999999820933,-9.99852941171e-05,-0.000586362366696,-6.57023231015e-05,1793193388580806656
+253,4.216666667,HOLD_POSE2,764.938007528,742,711,674.061992472,655.938007528,628,878,780.061992472,800,649,628,650,0.44582637268,-0.00553132511538,0.0796244015418,0.999999821673,-9.91852150078e-05,-0.000585257757841,-6.54966604457e-05,1793193388597472768
+254,4.233333333,HOLD_POSE2,764.349072034,742,711,674.650927966,655.349072034,628,878,780.650927966,800,649,628,650,0.445827136036,-0.00552985141106,0.0796243902899,0.999999822112,-9.97224547423e-05,-0.000584338856323,-6.61852028501e-05,1793193388614139392
+255,4.250000000,HOLD_POSE2,764,742.2361197,711,674.7638803,655,628,878.472239399,781,800,649,628,650,0.445827124362,-0.00552940093145,0.0796241867583,0.999999821896,-0.000100715083531,-0.000584521294386,-6.63346871975e-05,1793193388630806272
+256,4.266666667,HOLD_POSE2,764,742.815863108,711,674.184136892,655,628,879.631726216,781,800,649,628,650,0.445825984789,-0.00553043954533,0.0796237034034,0.999999820724,-0.000102370437476,-0.000586306506008,-6.56996832386e-05,1793193388647472896
+257,4.283333333,HOLD_POSE2,764,743,711,674.393449325,655,628,879.606550675,780.606550675,800,649,627.606550675,650.393449325,0.445827199795,-0.00553008325944,0.0796250532564,0.999999821954,-0.00010049427869,-0.000584541618984,-6.56115274927e-05,1793193388664139520
+258,4.300000000,HOLD_POSE2,764,743,711,674.970031518,655,628,879.029968482,780.029968482,800,649,627.029968482,650.970031518,0.445829510751,-0.00552907771089,0.0796272563849,0.999999824282,-9.69743605762e-05,-0.000581124321736,-6.57779048025e-05,1793193388680806144
+259,4.316666667,HOLD_POSE2,764,742.445598732,710.445598732,674.445598732,655.554401268,628.554401268,879,780.554401268,800,649,627.554401268,650.445598732,0.445829093763,-0.00552953743621,0.0796264739949,0.999999823406,-9.8121194801e-05,-0.000582439623463,-6.5757353866e-05,1793193388697473024
+260,4.333333333,HOLD_POSE2,764.137918979,742.137918979,710.137918979,674.137918979,655.862081021,629,879,781,800,649,628,650.137918979,0.445828663565,-0.00553003817878,0.0796256301143,0.999999822529,-9.8943484778e-05,-0.000583818483054,-6.56375368628e-05,1793193388714139904
+261,4.350000000,HOLD_POSE2,764.717342528,742.717342528,710.717342528,674.717342528,655.282657472,629,879,781,800,649,628,650.717342528,0.445828669856,-0.00553041305902,0.0796251133707,0.999999822218,-9.79077985053e-05,-0.000584570197662,-6.52327578065e-05,1793193388730806272
+262,4.366666667,POSE2_TO_POSE3_RETREAT,764,742,711,675,656,628,878,780,800,649,627,650,0.445826757545,-0.00552935697668,0.0796253325328,0.999999822186,-9.78825134622e-05,-0.000584602280247,-6.54725831884e-05,1793193388767717376
+263,4.383333333,POSE2_TO_POSE3_RETREAT,764,742,711,675,655.425979356,628.574020644,878,780.574020644,800,649,627.574020644,650.574020644,0.445828366484,-0.00552965946894,0.0796255417606,0.999999822577,-9.96541684697e-05,-0.000583638203966,-6.54337016483e-05,1793193388784384512
+264,4.400000000,POSE2_TO_POSE3_RETREAT,764,742.151790196,711,675,655.151790196,628.848209804,878.151790196,781,799.848209804,649,628,650.848209804,0.445829429474,-0.005529959947,0.0796257915985,0.99999982284,-0.00010052148774,-0.000583043516939,-6.53810327817e-05,1793193388801051648
+265,4.416666667,POSE2_TO_POSE3_RETREAT,764,742.740347131,711,675,655.740347131,628.259652869,878.740347131,781,799.259652869,649,628,650.259652869,0.445828921527,-0.00553025462938,0.079626158289,0.999999822746,-9.87866382349e-05,-0.000583511724035,-6.52886917419e-05,1793193388817718016
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764,743,711,674.676361044,656,628.323638956,879,780.676361044,799,649,628,650,0.445828565885,-0.00553040420777,0.0796260662707,0.999999822579,-9.92993688474e-05,-0.000583714275241,-6.5260324228e-05,1793193388834384384
+267,4.450000000,POSE2_TO_POSE3_RETREAT,764,743,711,674.097225787,656,628.902774213,879,780.097225787,799,649,628,650,0.44582833048,-0.00553043923401,0.0796256121253,0.999999822352,-0.000101586448401,-0.000583707104766,-6.5282460526e-05,1793193388851051264
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764.479883503,743,711,674.479883503,655.520116497,629,879,780.479883503,799.479883503,649,628,650.479883503,0.445826739405,-0.00552988750058,0.0796248127963,0.999999821647,-0.000100608752312,-0.000585047091919,-6.56076064126e-05,1793193388867717632
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764.943438466,743,711,675,655,629,879,781,800,649,628,650.943438466,0.445824313596,-0.00552934757448,0.0796236236345,0.999999820551,-9.92563877202e-05,-0.000587108799619,-6.59539329155e-05,1793193388884383744
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764.36696739,743,711,675,655,629,879,781,800,649,628,650.36696739,0.445816729035,-0.00553000431585,0.0796194912935,0.999999816769,-0.000100514564733,-0.0005933062311,-6.59330243187e-05,1793193388901050368
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764,742.78621753,711,674.78621753,655,629,878.78621753,781,800,649,628,650,0.445801080899,-0.00553058182543,0.0796114740418,0.999999809208,-0.000101677422157,-0.000605720774219,-6.59467128971e-05,1793193388917716736
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764,742.197972999,711,674.197972999,655,629,878.197972999,781,800,649,628,650,0.44577130858,-0.00553102055232,0.0795966519681,0.999999794713,-0.00010267331732,-0.000629025229189,-6.60210019799e-05,1793193388934383360
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764,742,711,674.38491031,655.38491031,629,878,780.61508969,800,649,628,650,0.445723131562,-0.00552904594617,0.0795788766421,0.999999775259,-9.98197854078e-05,-0.000659668805815,-6.59949237707e-05,1793193388951049984
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764,742,711,674.965074083,655.965074083,629,878,780.034925917,800,649,628,650,0.445665618389,-0.00552584712854,0.0795596032183,0.999999752471,-9.50135545143e-05,-0.000694035300474,-6.59179321951e-05,1793193388967716864
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764,742,711,675,655.459989121,629,878.540010879,780.540010879,800,649,628,650.540010879,0.445599251215,-0.00552459623773,0.0795516469933,0.999999746036,-9.4527484415e-05,-0.000703454733002,-6.43737229073e-05,1793193388984383488
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764,742.11435339,711,675,655.11435339,629,879,781,800,649,628,650.88564661,0.445528597673,-0.00552335368888,0.0795461434102,0.999999741759,-9.39199739211e-05,-0.000709755453034,-6.25208026922e-05,1793193389001050368
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764,742.687654735,711,675,655.687654735,629,879,781,800,649,628,650.312345265,0.445443017354,-0.00552164383731,0.079547573824,0.999999741989,-9.17144251287e-05,-0.000709952986141,-5.98060951936e-05,1793193389017716992
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764,743,711,675,656,629,879,781,800,649,628,650.271522849,0.445343997645,-0.00552089264445,0.0795491471981,0.999999741937,-9.07949969159e-05,-0.000710413806266,-5.6516983507e-05,1793193389034383616
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764,743,711,675,656,629,879,781,800,649,628,650.868038572,0.445228891978,-0.00552128889565,0.0795508916851,0.999999741546,-9.14149605483e-05,-0.000711189761566,-5.25403524293e-05,1793193389051050240
+280,4.666666667,POSE2_TO_POSE3_RETREAT,764,742.55318273,711,675,656,629,878.55318273,781,800,649,628,650.55318273,0.445093663016,-0.0055192120234,0.0795529328145,0.999999744362,-8.58463605399e-05,-0.000708275824625,-4.7460950965e-05,1793193389067716608
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764,742.020619316,711,674.979380684,656,629,878,781,800,649,628,650,0.444951077493,-0.00551634206709,0.0795548663736,0.999999747719,-7.84633533091e-05,-0.000704724089494,-4.2060132923e-05,1793193389084383488
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764,742.596082737,711,674.403917263,656,629,878,781,800,649,628,650,0.444764352316,-0.00551103502254,0.0795516378702,0.999999743292,-6.95604712401e-05,-0.000712214540394,-3.64396470016e-05,1793193389101050112
+283,4.716666667,POSE2_TO_POSE3_RETREAT,764,743,711,674.176552993,656,629,878,781,800,649,628,650.176552993,0.444567458436,-0.00550610422683,0.0795484680364,0.999999739154,-5.98336421963e-05,-0.000719157760698,-3.03837951725e-05,1793193389117716736
+284,4.733333333,POSE2_TO_POSE3_RETREAT,764,743,711,674.7688121,656,629,878,781,800,649,628,650.7688121,0.444346621679,-0.00550205933554,0.0795454363447,0.999999735892,-4.81667748404e-05,-0.000724812488163,-2.33028452969e-05,1793193389134383360
+285,4.750000000,POSE2_TO_POSE3_RETREAT,764,742.646852561,711,675,656,629,878.353147439,781.353147439,800,649,628,651,0.444105315317,-0.00549833212285,0.0795481032962,0.999999737649,-3.6544652669e-05,-0.000723285871803,-1.49757918917e-05,1793193389151049984
+286,4.766666667,POSE2_TO_POSE3_RETREAT,764,742.067590622,711,675,656,629,878.932409378,781.932409378,800,649,628,651,0.443850902582,-0.00549480831415,0.0795544189949,0.999999742512,-2.4951178952e-05,-0.000717161159537,-5.85087818554e-06,1793193389167716608
+287,4.783333333,POSE2_TO_POSE3_RETREAT,764,742.506680368,711,675,656,629,879,782,800,649,628,651,0.443564368548,-0.0054895658331,0.0795605069268,0.999999745875,3.92879453814e-05,-0.000711829353155,2.40968627631e-06,1793193389184383232
+288,4.800000000,POSE2_TO_POSE3_RETREAT,764,743,711,674.919631703,656.080368297,629.080368297,879,781.919631703,800,649,628,650.919631703,0.443267051975,-0.0054841701597,0.0795662557583,0.999999745718,9.77645011191e-05,-0.000706340392421,9.4947408482e-06,1793193389201049856
+289,4.816666667,POSE2_TO_POSE3_RETREAT,764,743,711,674.345475148,656.654524852,629.654524852,879,781.345475148,800,649,628,650.345475148,0.442929556828,-0.0054792281643,0.0795701059964,0.999999752429,7.81073495236e-05,-0.000699242345667,1.00589075439e-05,1793193389217716480
+290,4.833333333,POSE2_TO_POSE3_RETREAT,764,743,711,674.236313088,657.236313088,630,879,781.236313088,799.763686912,649,628.236313088,650.236313088,0.442574251522,-0.00547531374653,0.0795768206505,0.999999761956,6.65232786002e-05,-0.000686688365235,1.10156552845e-05,1793193389234383360
+291,4.850000000,POSE2_TO_POSE3_RETREAT,764,743,711,674.829630675,657.829630675,630,879,781.829630675,799.170369325,649,628.829630675,650.829630675,0.442192039952,-0.00547295171806,0.0795878626543,0.999999775961,6.71354276317e-05,-0.000665891960549,1.25654856711e-05,1793193389251049984
+292,4.866666667,POSE2_TO_POSE3_RETREAT,763.589067044,743,711,675,657.589067044,630,878.589067044,782,799.410932956,648.589067044,628.589067044,650.589067044,0.441773617323,-0.00546936837091,0.0795965906592,0.999999786523,6.54693311756e-05,-0.000649989650046,1.34638453859e-05,1793193389267716864
+293,4.883333333,POSE2_TO_POSE3_RETREAT,763.012604706,743,711,675,657.012604706,630,878.012604706,782,799.987395294,648.012604706,628.012604706,650.012604706,0.441340608398,-0.00546529306004,0.0796043865537,0.999999795638,6.28855264457e-05,-0.000636058747682,1.40997838191e-05,1793193389284383744
+294,4.900000000,POSE2_TO_POSE3_RETREAT,763.563884941,743,711,675,657,630.563884941,878.563884941,782,800,648.563884941,628,650.563884941,0.440845793377,-0.0054593597918,0.0795934962123,0.999999787435,7.96905133562e-05,-0.000646959533683,1.48987308922e-05,1793193389301050112
+295,4.916666667,POSE2_TO_POSE3_RETREAT,764,743,711,675,657.143329579,631,878.856670421,782,800,649,628.143329579,650.856670421,0.440332108698,-0.00545308336924,0.079579934138,0.999999775847,9.23854018442e-05,-0.000662971705375,1.54860240167e-05,1793193389317716992
+296,4.933333333,POSE2_TO_POSE3_RETREAT,764,743,711,675,657.731952718,631,878.268047282,782,800,649,628.731952718,650.268047282,0.439764092675,-0.00544586987824,0.0795593693417,0.999999755523,9.09645562915e-05,-0.000693139262283,1.54044336132e-05,1793193389334383360
+297,4.950000000,POSE2_TO_POSE3_RETREAT,764,743,711,675,657.684974304,631,878,782.315025696,800,649,628.684974304,650,0.439214291309,-0.00544249707415,0.0795691244284,0.999999768247,9.55590971603e-05,-0.000673872902122,1.64112086583e-05,1793193389351049984
+298,4.966666667,POSE2_TO_POSE3_RETREAT,764,743,711,675,657.10654199,631,878,782.89345801,800,649,628.10654199,650,0.438679719944,-0.00544233563378,0.0796042312789,0.999999806249,0.000105183362553,-0.000613272706358,1.8328013107e-05,1793193389367716864
+299,4.983333333,POSE2_TO_POSE3_RETREAT,764,743,711,674.530044316,657.469955684,631,878,782.530044316,800,649,628.469955684,650,0.438125427845,-0.0054429889174,0.0796675735608,0.99999985894,0.000105175320784,-0.000520056557258,2.44739833702e-05,1793193389384383744
+300,5.000000000,POSE2_TO_POSE3_RETREAT,764,743,711,674.046624388,658,631,878,782.046624388,799.953375612,649,629,650.046624388,0.437562541667,-0.00544432317385,0.0797348829243,0.999999904984,0.000102355540997,-0.000422613758155,3.08707251389e-05,1793193389401051136
+301,5.016666667,POSE2_TO_POSE3_RETREAT,764,743,711,674.630294835,658,631,878,782.630294835,799.369705165,649,629,650.630294835,0.436951949895,-0.00545138246736,0.0797744575941,0.999999930053,9.21986224937e-05,-0.000361307926807,2.91575184253e-05,1793193389417718016
+302,5.033333333,POSE2_TO_POSE3_RETREAT,764.213258417,743,711,675,658.213258417,631.213258417,878,783.213258417,799,649,628.786741583,650.786741583,0.436296207122,-0.00545315611557,0.0798000206089,0.999999944738,8.93494113594e-05,-0.000319005054086,2.78562587335e-05,1793193389434384640
+303,5.050000000,POSE2_TO_POSE3_RETREAT,764.795000589,743,711,675,658.795000589,631.795000589,878,783.795000589,799,649,628.204999411,650.204999411,0.435562449126,-0.00544579683221,0.0798013732413,0.999999946809,9.91270017144e-05,-0.000309536912443,2.72667920072e-05,1793193389451051008
+304,5.066666667,POSE2_TO_POSE3_RETREAT,764.624391819,742.624391819,711,674.248783639,659,632,878,784,799.375608181,649,628.375608181,650,0.43482643869,-0.00543412507677,0.0798032600086,0.999999947843,0.000113260752868,-0.000301237792557,2.72307800952e-05,1793193389467717120
+305,5.083333333,POSE2_TO_POSE3_RETREAT,764.044401613,742.044401613,711,673.088803227,659,632,878,784,799.955598387,649,628.955598387,650,0.434089202642,-0.0054201067492,0.0798054374179,0.999999948109,0.000129764848662,-0.000293574780029,2.7495923022e-05,1793193389484383232
+306,5.100000000,POSE2_TO_POSE3_RETREAT,764,742,711.530838903,673.530838903,659,632,877.469161097,784,800.530838903,649,628.469161097,650,0.433289506938,-0.00541723211815,0.0797998101737,0.999999940868,0.000136763109129,-0.000314160492952,2.93729775905e-05,1793193389501050112
+307,5.116666667,POSE2_TO_POSE3_RETREAT,764,742,712,674,658.892198587,632,877.107801413,783.892198587,800.784397174,649,628.107801413,650,0.432473054379,-0.00541442082904,0.0797865529206,0.999999928692,0.000143238433919,-0.00034805593015,3.0900632062e-05,1793193389517716480
+308,5.133333333,POSE2_TO_POSE3_RETREAT,764,742,712,674,658.305843962,632,877.694156038,783.305843962,799.611687924,649,628.694156038,650,0.431605201341,-0.00540778960857,0.0797422967304,0.999999895432,0.00015089068682,-0.000430639894971,3.0284006983e-05,1793193389534383104
+309,5.150000000,POSE2_TO_POSE3_RETREAT,764,742.278668716,712,673.721331284,658.278668716,632.278668716,878,783.278668716,799.557337433,649,629,650,0.430764090062,-0.00540630495617,0.0797379064006,0.999999891079,0.000153476718873,-0.000439721461834,3.05432887912e-05,1793193389551049984
+310,5.166666667,POSE2_TO_POSE3_RETREAT,764,742.861173172,712,673.138826828,658.861173172,632.861173172,878,783.861173172,800.722346344,649,629,650,0.429952135527,-0.00541043166592,0.0797769822761,0.999999920209,0.00015053899272,-0.000368662521371,3.17575820373e-05,1793193389567716864
+311,5.183333333,POSE2_TO_POSE3_RETREAT,764,743,712,673,659,632.562699449,878,784,800.125398898,649,629,650.437300551,0.429144551543,-0.00542517120985,0.0798235456903,0.999999946971,0.00013211371321,-0.000295669854877,3.44000426585e-05,1793193389584383744
+312,5.200000000,POSE2_TO_POSE3_RETREAT,764,743,711.988515113,673.011484887,659,632,878,784,799.011484887,649,628.988515113,651,0.428336386395,-0.00544290740241,0.0798709330199,0.999999968179,0.000109290582463,-0.000224270746,3.74134200623e-05,1793193389601050112
+313,5.216666667,POSE2_TO_POSE3_RETREAT,764,743,711.411752584,673.588247416,659,632,878,784,799.588247416,649,628.411752584,651,0.427432304775,-0.00544469121816,0.0798435595392,0.999999959355,0.000108527855538,-0.000261085965634,3.6688261615e-05,1793193389617716736
+314,5.233333333,POSE2_TO_POSE3_RETREAT,763.831241412,742.831241412,711.168758588,673.831241412,659,632,877.831241412,783.831241412,799.831241412,648.831241412,628.168758588,650.831241412,0.426526772822,-0.00544149953023,0.0798122384356,0.999999946455,0.000112627204272,-0.000305242413416,3.51014826714e-05,1793193389634383360
+315,5.250000000,POSE2_TO_POSE3_RETREAT,763.241376212,742.241376212,711.758623788,673.241376212,659,632,877.241376212,783.241376212,799.241376212,648.241376212,628.758623788,650.241376212,0.425617621882,-0.00542589237037,0.0797710667531,0.999999923598,0.000128858985732,-0.000367717569425,3.13646852735e-05,1793193389651050240
+316,5.266666667,POSE2_TO_POSE3_RETREAT,763.341214364,742.341214364,712,673.341214364,659,632,877.341214364,783.341214364,799.341214364,648,629,650,0.424672945009,-0.0054167884015,0.0797436715487,0.999999904655,0.000138721987528,-0.000412934582393,3.05028094738e-05,1793193389667716864
+317,5.283333333,POSE2_TO_POSE3_RETREAT,763.918766244,742.918766244,712,673.918766244,659,632,877.918766244,783.918766244,799.918766244,648,629,650,0.423703661616,-0.00541218878063,0.0797258184374,0.99999988956,0.000144173739648,-0.000446197973683,3.16322094483e-05,1793193389684383232
+318,5.300000000,POSE2_TO_POSE3_RETREAT,764,742.50599422,711.50599422,673.50599422,659,632,877.50599422,784,799.50599422,648.49400578,629,650,0.422840216875,-0.00540842066009,0.079741126119,0.999999902542,0.000154992956521,-0.0004120344106,3.34703756913e-05,1793193389701050112
+319,5.316666667,POSE2_TO_POSE3_RETREAT,764,742.070581302,711.070581302,673,659,632,877.070581302,784,799.070581302,649,629,650.070581302,0.422001413867,-0.00540479886211,0.0797671872367,0.999999921138,0.000166011435193,-0.00035902536241,3.55757622636e-05,1793193389717716736
+320,5.333333333,POSE2_TO_POSE3_RETREAT,764,742.659753357,711.659753357,673,659,632,877.659753357,784,799.659753357,649,629,650.659753357,0.421216385834,-0.00540125221984,0.0798323801193,0.999999953539,0.000172039200765,-0.000248636415552,3.87921858137e-05,1793193389734383616
+321,5.350000000,POSE2_TO_POSE3_RETREAT,764,742.755270769,711.755270769,673,659,632,878,784,799.755270769,649,629,651,0.420384232219,-0.00539946745693,0.0798683339783,0.999999965636,0.000175570733208,-0.000190373752888,4.07489601423e-05,1793193389751050240
+322,5.366666667,POSE2_TO_POSE3_RETREAT,764,742.176030411,711.176030411,673,659,632,878,784,799.176030411,649,629,651,0.419487664321,-0.00540009093973,0.0798643221318,0.999999963049,0.000175690262162,-0.000203360523037,4.09839685837e-05,1793193389767716864
+323,5.383333333,POSE2_TO_POSE3_RETREAT,763.598438027,742,711.401561973,673,659,632,877.598438027,784,799,649,629,651,0.418564702107,-0.00539648821517,0.0798328314318,0.999999950224,0.000181446368883,-0.000255187296761,3.8845319011e-05,1793193389784383488
+324,5.400000000,POSE2_TO_POSE3_RETREAT,763.021565136,742,711.978434864,673,659,632,877.021565136,784,799,649,629,651,0.417630216913,-0.00539104044463,0.07978934422,0.999999928899,0.000189663249745,-0.000323970546366,3.56703954405e-05,1793193389801050112
+325,5.416666667,POSE2_TO_POSE3_RETREAT,763.55048653,742.55048653,712,673.55048653,659,632,877,784,799,649,628.44951347,650.44951347,0.416789630075,-0.00538685939087,0.0798014806955,0.999999929819,0.000192793365953,-0.00031925209162,3.56452359948e-05,1793193389817716736
+326,5.433333333,POSE2_TO_POSE3_RETREAT,764,742.873218906,711.873218906,673.746437812,659,632.126781094,877,784,799,649,628.126781094,650.126781094,0.415953385952,-0.00538328741906,0.0798079648734,0.999999928673,0.000195951582763,-0.000320927609228,3.55223192457e-05,1793193389834383360
+327,5.450000000,POSE2_TO_POSE3_RETREAT,764,742.280648228,711.280648228,672.561296456,659,632.719351772,877,784,799,649,628.719351772,650.719351772,0.415119699737,-0.00538177246327,0.0797857464781,0.999999915839,0.000199938803889,-0.000356581369022,3.45908466654e-05,1793193389851050496
+328,5.466666667,POSE2_TO_POSE3_RETREAT,763.695100831,742,711.304899169,672.304899169,659,633,877,784,799,649,629,650.695100831,0.414322732934,-0.00538271456357,0.0797800333924,0.999999915441,0.000197451658164,-0.000359199622836,3.32777870541e-05,1793193389867717376
+329,5.483333333,POSE2_TO_POSE3_RETREAT,763.115872572,742,711.884127428,672.884127428,659,633,877,784,799,649,629,650.115872572,0.413558803992,-0.00538586736843,0.0797891707469,0.99999992647,0.000189139284321,-0.000332094604995,3.16213994989e-05,1793193389884383744
+330,5.500000000,POSE2_TO_POSE3_RETREAT,763,742,712,673,659,633,877,784,799,649,629,650.459980555,0.412797351016,-0.00540302914129,0.0798012513386,0.999999936538,0.000170103314807,-0.00031153919123,3.05364905295e-05,1793193389901050368
+331,5.516666667,POSE2_TO_POSE3_RETREAT,763.035719925,742.035719925,712,672.964280075,659,633,877.035719925,784,799,649,629,651,0.41203825359,-0.00542353847795,0.0798125282069,0.999999944975,0.000148026050272,-0.000295387174271,2.97343756753e-05,1793193389917716736
+332,5.533333333,POSE2_TO_POSE3_RETREAT,763.622729396,742.622729396,712,672.377270604,659,633,877.622729396,784,799,649,629,651,0.411305955737,-0.00544164483663,0.0798000411186,0.999999940453,0.000120398597049,-0.000321917308159,3.10911697728e-05,1793193389934383360
+333,5.550000000,POSE2_TO_POSE3_RETREAT,764,742.793146847,712,672.206853153,659,632.793146847,878,784,799,649,629,651,0.410593878681,-0.0054485053642,0.0797929073661,0.99999993648,0.000110757941682,-0.000337266054506,3.2018193152e-05,1793193389951050240
+334,5.566666667,POSE2_TO_POSE3_RETREAT,764,742.214213709,712,672.785786291,659,632.214213709,878,784,799,649,629,651,0.409918173941,-0.00543513729984,0.0797954029988,0.999999935296,0.000133471284514,-0.000332502129644,3.21721607628e-05,1793193389967716864
+335,5.583333333,POSE2_TO_POSE3_RETREAT,764,742.364620828,711.635379172,673,659,632.364620828,878,783.635379172,799,649,629,651,0.409284380077,-0.00543393911719,0.0798167416599,0.999999946184,0.000136845043078,-0.000296322338172,3.31568397187e-05,1793193389984383744
+336,5.600000000,POSE2_TO_POSE3_RETREAT,764,742.943397418,711.056602582,673,659,632.943397418,878,783.056602582,799,649,629,651,0.408675202114,-0.00543988877249,0.0798491475523,0.999999961891,0.000128859922206,-0.000241690805895,3.46294271458e-05,1793193390001050624
+337,5.616666667,POSE2_TO_POSE3_RETREAT,764,742.481761681,711.518238319,672.481761681,659,632.481761681,877.481761681,783.518238319,799,648.481761681,629,651,0.408037384555,-0.00543773211231,0.0798317190946,0.999999952803,0.000132042150193,-0.000275238073265,3.46903311478e-05,1793193390017717504
+338,5.633333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632,877,783.905069697,799,648.094930303,629,650.905069697,0.407408092785,-0.00543477518953,0.0798074870511,0.999999939045,0.000136604604521,-0.000319480802778,3.43817462215e-05,1793193390034384640
+339,5.650000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632,877,783.316534453,799,648.683465547,629,650.316534453,0.406839274396,-0.00543222615501,0.0797759669337,0.999999921053,0.000142049487152,-0.00036963586838,3.29476160157e-05,1793193390051051008
+340,5.666666667,POSE2_TO_POSE3_RETREAT,764,742,712,672.267439816,659,632,877,783,799,649,629,650,0.406313343967,-0.00543375364021,0.0797638858827,0.999999915497,0.00014217764692,-0.000384426600595,3.17544262628e-05,1793193390067717120
+341,5.683333333,POSE2_TO_POSE3_RETREAT,764,742,712,672.84610632,659,632,877,783,799,649,629,650,0.405837323417,-0.00544002507788,0.0797744265824,0.999999926156,0.000136118597521,-0.000358062933021,3.08416253554e-05,1793193390084383488
+342,5.700000000,POSE2_TO_POSE3_RETREAT,764,742,712,672.576640538,659,632,877.423359462,783.423359462,799,649,629,650,0.40539237795,-0.00543855570549,0.0797914834336,0.999999936181,0.000139430698129,-0.000327422496376,3.14960940442e-05,1793193390101050112
+343,5.716666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632,878,784,799,649,628.999900226,650,0.404958695176,-0.00543428320965,0.0798108998522,0.999999945205,0.000146135985829,-0.000295235960501,3.2718375896e-05,1793193390117716480
+344,5.733333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632,878,784,799,649,628.427867465,650,0.404549870018,-0.00543771956427,0.0798233644116,0.999999949536,0.000141677085532,-0.000282320482473,3.39228789945e-05,1793193390134383360
+345,5.750000000,POSE2_TO_POSE3_RETREAT,764,742,711.849651908,672.150348092,658.849651908,632.150348092,877.849651908,784,799,649,628.150348092,650.150348092,0.404150482515,-0.00544014746807,0.0798319254874,0.999999951741,0.000139222210741,-0.000275526392015,3.49258644266e-05,1793193390151050496
+346,5.766666667,POSE2_TO_POSE3_RETREAT,764,742,711.253086314,672.746913686,658.253086314,632.746913686,877.253086314,784,799,649,628.746913686,650.746913686,0.403779104896,-0.00543958239558,0.0798289014323,0.999999948036,0.000142715074215,-0.000286899940233,3.53307666844e-05,1793193390167716864
+347,5.783333333,POSE2_TO_POSE3_RETREAT,764,742.332079513,711.332079513,672.667920487,658.332079513,632.667920487,877,784,799,649,629,651,0.40343821843,-0.00543906067228,0.0798249182452,0.999999944535,0.000146359883452,-0.000297076068421,3.54151299118e-05,1793193390184383488
+348,5.800000000,POSE2_TO_POSE3_RETREAT,764,742.9088456,711.9088456,672.0911544,658.9088456,632.0911544,877,784,799,649,629,651,0.40311979882,-0.00543857089004,0.0798202283396,0.999999941179,0.00015011665087,-0.000306369899387,3.52633099295e-05,1793193390201050112
+349,5.816666667,POSE2_TO_POSE3_RETREAT,764,742.515492777,712,672.484507223,659,632,877,784,799,649,629,651,0.402841988419,-0.00544084980202,0.0798219045185,0.999999941092,0.000145682386947,-0.00030874848131,3.55823602374e-05,1793193390217716480
+350,5.833333333,POSE2_TO_POSE3_RETREAT,764,742,712,672.938628997,658.938628997,632.061371003,877,784,799,649,629,651,0.402577330048,-0.00544327163884,0.0798249101194,0.999999941795,0.000140692627766,-0.00030875224946,3.58705454108e-05,1793193390234383360
+351,5.850000000,POSE2_TO_POSE3_RETREAT,764,742,712,672.349647841,658.349647841,632.650352159,877,784,799,649,629,651,0.402360207025,-0.0054424542064,0.0798290715199,0.999999944144,0.000144145585784,-0.000299499141764,3.51335104665e-05,1793193390251049984
+352,5.866666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,658,632.764711694,877,784.235288306,799,649,628.764711694,650.764711694,0.402158551659,-0.00544288226613,0.0798331229699,0.999999946798,0.000144231952775,-0.000290477462757,3.4990933071e-05,1793193390267716608
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,658,632.185685051,877,784.814314949,799,649,628.185685051,650.185685051,0.401979493382,-0.00544512989534,0.0798370137906,0.999999949942,0.000139399985765,-0.000281793884308,3.5716813055e-05,1793193390284383232
+354,5.900000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,658.390646425,632,877,784.609353575,799,649,628.390646425,650.390646425,0.40182035428,-0.00544596548665,0.0798403957572,0.999999951674,0.000136452824001,-0.000276897982412,3.68870052383e-05,1793193390301050112
+355,5.916666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,658.965705643,632,877,784.034294357,799,649,628.965705643,650.965705643,0.401670618424,-0.00544613449621,0.079843537509,0.999999952756,0.000134395423438,-0.000273790131471,3.82669443268e-05,1793193390317716992
+356,5.933333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632,877,784,799,649,629,651,0.401542839837,-0.00544729005179,0.0798373267586,0.999999951153,0.000127541782221,-0.000282879670225,3.7489898437e-05,1793193390334383616
+357,5.950000000,POSE2_TO_POSE3_RETREAT,764,742.138047838,712,672,658.861952162,632,877,784,799,649,629,651,0.401422779574,-0.00544866600862,0.0798310761215,0.999999949699,0.000118280732398,-0.00029213222938,3.56361206868e-05,1793193390351049984
+358,5.966666667,POSE2_TO_POSE3_RETREAT,764,742.716873811,712,672,658.283126189,632,877,784,799,649,629,651,0.40132291727,-0.00545054592696,0.0798265919198,0.999999949462,0.000102304168479,-0.00029943544959,3.07811740223e-05,1793193390367716864
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764,743,712,672,658,632,877.295291364,784,799,649,629,651,0.401235982948,-0.00545128728157,0.0798224441012,0.999999945686,0.000117828799439,-0.000306443590088,2.89149222956e-05,1793193390384383488
+360,6.000000000,POSE2_TO_POSE3_RETREAT,764,743,712,672,658,632,877.87331783,784,799,649,629,651,0.401161426894,-0.00545093848588,0.0798186183626,0.999999937147,0.00016351514487,-0.000313169197276,2.99102816675e-05,1793193390401050112
+361,6.016666667,POSE2_TO_POSE3_RETREAT,764,743,712,672,658.44707497,632.44707497,877.55292503,784,799,649,629,651,0.401109904074,-0.00544990198944,0.0798173141909,0.99999993517,0.000172671549539,-0.000314520613841,3.03692802123e-05,1793193390417716736
+362,6.033333333,POSE2_TO_POSE3_RETREAT,764,742.979726368,712,672.020273632,658.979726368,633,877.020273632,784,799.020273632,649,629,651,0.401065304504,-0.00544873110999,0.0798166907882,0.999999935393,0.000171521098935,-0.000314410176454,3.06876304833e-05,1793193390434383616
+363,6.050000000,POSE2_TO_POSE3_RETREAT,764,742.388508787,712,672.611491213,658.388508787,633,877.611491213,784,799.611491213,649,629,651,0.401033612685,-0.00544921161757,0.0798153076341,0.999999935449,0.000168857665987,-0.000315610959691,3.12846740814e-05,1793193390451050240
+364,6.066666667,POSE2_TO_POSE3_RETREAT,764,742,712,672.602874923,658.198562539,633,877.801437461,784,799.801437461,649,629,651,0.401006171957,-0.00544987023739,0.079815019655,0.999999935702,0.000166671913697,-0.000315911296979,3.18684135864e-05,1793193390467716864
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764,742,712,671.44462571,658.777687145,633,877.222312855,784,799.222312855,649,629,651,0.400986878813,-0.00545087022444,0.0798168306725,0.999999936345,0.000165401677501,-0.00031448585255,3.24266545921e-05,1793193390484383488
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764.356574001,742.356574001,711.643425999,671.356574001,659,632.643425999,877.356574001,784,799,649,628.643425999,651,0.400973659587,-0.00545212333184,0.0798170960437,0.999999937087,0.000162151507759,-0.000313826104903,3.23381131265e-05,1793193390501049856
+367,6.116666667,POSE2_TO_POSE3_RETREAT,764.935312782,742.935312782,711.064687218,671.935312782,659,632.064687218,877.935312782,784,799,649,628.064687218,651,0.400964224737,-0.00545353414693,0.0798163983944,0.999999937877,0.000157667732805,-0.000313643427389,3.18465914485e-05,1793193390517716480
+368,6.133333333,POSE2_TO_POSE3_RETREAT,764.48998065,742.48998065,711.51001935,672,658.48998065,632,877.48998065,784.51001935,799,649,628,650.48998065,0.400959438798,-0.00545315125063,0.0798165092282,0.999999937933,0.000157940472345,-0.000313351439155,3.16307058379e-05,1793193390534383104
+369,6.150000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,658,632,877,784.827287204,799,649,628.086356398,650.086356398,0.400956034861,-0.00545254501089,0.0798170307102,0.999999938099,0.000158839611342,-0.000312384005836,3.14413875283e-05,1793193390551049984
+370,6.166666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,658,632,877,783.649736335,799,649,628.675131832,650.675131832,0.400957267805,-0.00545195258049,0.0798193494238,0.99999993943,0.000159900776596,-0.000307566881094,3.12048377542e-05,1793193390567716608
+371,6.183333333,POSE2_TO_POSE3_RETREAT,764,742,712,672.259585627,658,632,877.259585627,783.259585627,799,649,629,651,0.400957327595,-0.00545220455326,0.0798211047413,0.999999940416,0.000159361244199,-0.000304630450102,3.1193643427e-05,1793193390584383488
+372,6.200000000,POSE2_TO_POSE3_RETREAT,764,742,712,672.838719475,658,632,877.838719475,783.838719475,799,649,629,651,0.40095594324,-0.00545349598089,0.0798221665217,0.999999940993,0.000156851263327,-0.0003040091412,3.14598602067e-05,1793193390601050112
+373,6.216666667,POSE2_TO_POSE3_RETREAT,764,742.414492037,711.585507963,672.585507963,658.414492037,632,877.585507963,784,799,649,629,651,0.400954910628,-0.00545377564045,0.0798217739036,0.999999940894,0.000156512026809,-0.000304524791527,3.13186387388e-05,1793193390617717504
+374,6.233333333,POSE2_TO_POSE3_RETREAT,764,742.988967216,711.011032784,672.011032784,658.988967216,632,877.011032784,784,799,649,629,651,0.40095401378,-0.00545366478382,0.0798208199254,0.999999940534,0.000157010641191,-0.000305479278549,3.10201567019e-05,1793193390634385152
+375,6.250000000,POSE2_TO_POSE3_RETREAT,764,743,711.576234932,672,659,632,877.576234932,784,799,649,629,650.423765068,0.400954201772,-0.00545463563303,0.0798213646544,0.999999940677,0.000156648404649,-0.000305148029648,3.15000774337e-05,1793193390651050752
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764,742.838581247,712,672,659,632,877.838581247,784,799,649,628.838581247,650,0.400954153198,-0.00545521858861,0.0798220378434,0.999999940956,0.000156403730014,-0.000304325290317,3.18198628055e-05,1793193390667716608
+377,6.283333333,POSE2_TO_POSE3_RETREAT,764,742.259438509,712,672,659,632,877.259438509,784,799,649,628.259438509,650,0.400953437457,-0.00545474292943,0.0798229675217,0.999999941559,0.000156506906784,-0.000302295809564,3.16858018201e-05,1793193390684383488
+378,6.300000000,POSE2_TO_POSE3_RETREAT,764.319187151,742,712,672.319187151,659,632.319187151,877.319187151,784,799.319187151,649,628.319187151,650.319187151,0.400952964075,-0.00545429559411,0.0798232677159,0.999999941671,0.000156437769337,-0.000301988120441,3.14337285279e-05,1793193390701050112
+379,6.316666667,POSE2_TO_POSE3_RETREAT,764.897393268,742,712,672.897393268,659,632.897393268,877.897393268,784,799.897393268,649,628.897393268,650.897393268,0.400952687366,-0.00545387124344,0.0798230570867,0.999999941385,0.000156228799678,-0.000303077657417,3.10858887545e-05,1793193390717716736
+380,6.333333333,POSE2_TO_POSE3_RETREAT,764.528317629,742,712,672.528317629,658.528317629,632.528317629,877.528317629,784,799.528317629,649,628.528317629,651,0.400952732881,-0.00545355077248,0.0798229497224,0.999999941309,0.000156774063331,-0.000303059904226,3.096150845e-05,1793193390734383360
+381,6.350000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,658.046455565,632,877.046455565,784,799,649,628,651,0.400952797633,-0.00545324360176,0.0798227785681,0.999999941269,0.000157383845243,-0.000302884686547,3.08787418224e-05,1793193390751050240
+382,6.366666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,658.63679031,632,877.63679031,784,799,649,628,651,0.400952273727,-0.00545282976393,0.0798215997639,0.999999941123,0.0001568439323,-0.000303662746393,3.07187535247e-05,1793193390767717120
+383,6.383333333,POSE2_TO_POSE3_RETREAT,764,742.222842488,712,672,659,632.222842488,878,784,799,649,628.222842488,651,0.400951669367,-0.00545306523573,0.0798209578735,0.999999941025,0.000156485874695,-0.000304168931777,3.07113559179e-05,1793193390784383744
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764,742.802046113,712,672,659,632.802046113,878,784,799,649,628.802046113,651,0.400950936349,-0.00545433905852,0.0798211745953,0.999999941007,0.000156418633191,-0.000304240345927,3.09479754867e-05,1793193390801050112
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764,742.621324418,712,672,659,632.621324418,877.621324418,784,799,649,629,651,0.400951384357,-0.00545591449298,0.0798218928939,0.999999941545,0.000154903064953,-0.000303231968689,3.10745640913e-05,1793193390817716736
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764,742.04603153,712,672,659,632.04603153,877.04603153,784,799,649,629,651,0.400952445581,-0.0054576465313,0.0798228716229,0.999999942366,0.000152635491271,-0.000301662938259,3.11440220133e-05,1793193390834383360
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632,877,784,799,649,628.460119976,651,0.400953060032,-0.0054572649971,0.0798235357989,0.999999942641,0.000152332832929,-0.00030089385959,3.12195012722e-05,1793193390851050240
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764,742.125139876,711.874860124,672,659,632.125139876,877,784,799.125139876,649,628,650.874860124,0.400953569282,-0.00545677366764,0.0798240585443,0.999999942743,0.000152864024294,-0.000300279296188,3.12865100442e-05,1793193390867716864
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764,742.704679678,711.295320322,672,659,632.704679678,877,784,799.704679678,649,628,650.295320322,0.400953837626,-0.005456551147,0.0798241670749,0.99999994238,0.000155802494896,-0.000299973165052,3.13208597009e-05,1793193390884384000
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764,742.716367486,711.283632514,672,659,632.716367486,877.567265027,783.716367486,799.716367486,649,628,650.283632514,0.400953213722,-0.00545690295655,0.0798237267415,0.999999942285,0.000155300970398,-0.000300557752246,3.12588525479e-05,1793193390901050880
+391,6.516666667,POSE2_TO_POSE3_RETREAT,764,742.138024472,711.861975528,672,659,632.138024472,878.723951055,783.138024472,799.138024472,649,628,650.861975528,0.400951662722,-0.00545785152818,0.0798227161068,0.999999942459,0.000151225093433,-0.000302067846992,3.10967251298e-05,1793193390917717504
+392,6.533333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632,878.562930501,783.437069499,799,649,628.437069499,651,0.40095115299,-0.00545723927118,0.0798223813615,0.999999942312,0.000151195062416,-0.000302589245518,3.09318045869e-05,1793193390934383872
+393,6.550000000,POSE2_TO_POSE3_RETREAT,764,742.011449541,712,672,659,632,877.988550459,784,799,649,628.988550459,651,0.400951015137,-0.00545617451488,0.0798222906173,0.999999942086,0.000152384582368,-0.000302753981349,3.07717116563e-05,1793193390951050240
+394,6.566666667,POSE2_TO_POSE3_RETREAT,764,742.601213146,712,672,659,632,877.398786854,784,799,649,628.398786854,651,0.400953174368,-0.00545696679446,0.0798238229183,0.999999942937,0.000151115272619,-0.000300557839677,3.08996836736e-05,1793193390967716864
+395,6.583333333,POSE2_TO_POSE3_RETREAT,764,742.812418602,712,672,659,632,877,784,799,649,628,650.812418602,0.400954017584,-0.00545750276278,0.0798245380545,0.99999994347,0.000150072513616,-0.000299300961622,3.09519545389e-05,1793193390984383488
+396,6.600000000,POSE2_TO_POSE3_RETREAT,764,742.23314037,712,672,659,632,877,784,799,649,628,650.23314037,0.400952112773,-0.00545750351642,0.0798235468336,0.999999943347,0.000149502825109,-0.000300005400707,3.08461505459e-05,1793193391001049856
+397,6.616666667,POSE2_TO_POSE3_RETREAT,764,742.343306659,712,672,659,632,877,784,799,649,628.343306659,650,0.400951516919,-0.00545817937858,0.079823467479,0.999999943208,0.000149434598099,-0.000300485813939,3.10219644666e-05,1793193391017716736
+398,6.633333333,POSE2_TO_POSE3_RETREAT,764,742.917846714,712,672,659,632,877,784,799,649,628.917846714,650,0.400951802709,-0.0054593099585,0.0798240023098,0.999999943057,0.000149704129331,-0.000300815335054,3.13874614781e-05,1793193391034383872
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_04/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_04/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ec767f3a4d0d2ee3224b2a0dff04afb9f800ecd2
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_04/depth_03/simulation_data.csv
@@ -0,0 +1,400 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+1,0.016666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+2,0.033333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+3,0.050000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+4,0.066666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+5,0.083333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+6,0.100000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+7,0.116666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+8,0.133333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+9,0.150000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+10,0.166666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+11,0.183333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+12,0.200000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+13,0.216666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+14,0.233333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+15,0.250000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+16,0.266666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+17,0.283333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+18,0.300000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+19,0.316666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+20,0.333333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+21,0.350000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+22,0.366666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+23,0.383333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+24,0.400000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+25,0.416666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+26,0.433333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+27,0.450000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+28,0.466666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+29,0.483333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+30,0.500000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+31,0.516666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+32,0.533333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+33,0.550000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+34,0.566666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+35,0.583333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+36,0.600000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+37,0.616666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+38,0.633333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+39,0.650000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+40,0.666666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+41,0.683333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+42,0.700000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+43,0.716666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+44,0.733333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+45,0.750000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+46,0.766666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+47,0.783333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+48,0.800000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+49,0.816666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+50,0.833333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+51,0.850000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+52,0.866666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+53,0.883333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+54,0.900000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+55,0.916666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+56,0.933333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+57,0.950000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+58,0.966666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+59,0.983333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+60,1.000000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+61,1.016666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+62,1.033333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+63,1.050000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+64,1.066666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+65,1.083333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+66,1.100000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+67,1.116666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+68,1.133333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+69,1.150000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+70,1.166666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+71,1.183333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+72,1.200000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+73,1.216666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+74,1.233333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+75,1.250000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+76,1.266666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+77,1.283333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+78,1.300000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+79,1.316666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+80,1.333333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+81,1.350000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+82,1.366666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+83,1.383333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+84,1.400000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+85,1.416666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+86,1.433333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+87,1.450000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+88,1.466666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+89,1.483333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+90,1.500000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+91,1.516666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+92,1.533333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+93,1.550000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+94,1.566666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+95,1.583333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+96,1.600000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+97,1.616666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+98,1.633333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+99,1.650000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+100,1.666666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+101,1.683333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+102,1.700000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+103,1.716666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+104,1.733333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+105,1.750000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+106,1.766666667,pose1_to_pose2_press,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+107,1.783333333,pose1_to_pose2_press,0.575709245638,5.4607230841e-05,1.07002919915,0.546279975498,0.00872733514315,1.06969848258
+108,1.800000000,pose1_to_pose2_press,0.575709274744,5.45687192579e-05,1.07002910494,0.546280004936,0.00872729786043,1.06969839106
+109,1.816666667,pose1_to_pose2_press,0.575709734437,5.45661767672e-05,1.07002912556,0.546280464876,0.00872729602317,1.06969840823
+110,1.833333333,pose1_to_pose2_press,0.575710030979,5.45869654897e-05,1.07002919322,0.546280761385,0.00872731656167,1.06969847221
+111,1.850000000,pose1_to_pose2_press,0.575710042868,5.45875382263e-05,1.0700291941,0.54628077327,0.00872731712249,1.06969847315
+112,1.866666667,pose1_to_pose2_press,0.575710196514,5.45949398695e-05,1.07002920548,0.546280926863,0.00872732437013,1.06969848528
+113,1.883333333,pose1_to_pose2_press,0.57571154952,5.46378540334e-05,1.07002928231,0.546282279597,0.00872736656028,1.06969856728
+114,1.900000000,pose1_to_pose2_press,0.575716356177,5.45771355599e-05,1.07002917373,0.54628708652,0.00872730668564,1.06969845726
+115,1.916666667,pose1_to_pose2_press,0.575726855035,5.4546755931e-05,1.07002914603,0.546297586532,0.00872728050059,1.06969843665
+116,1.933333333,pose1_to_pose2_press,0.575744254748,5.45920435442e-05,1.07002921262,0.546314986522,0.00872732681493,1.06969850552
+117,1.950000000,pose1_to_pose2_press,0.575772999613,5.45937485172e-05,1.07002930316,0.546343730339,0.00872732474702,1.06969859031
+118,1.966666667,pose1_to_pose2_press,0.57581271616,5.4609302082e-05,1.07002916165,0.546383447235,0.00872734161182,1.06969845204
+119,1.983333333,pose1_to_pose2_press,0.57586357042,5.45501135994e-05,1.07002917526,0.546434302735,0.0087272867027,1.06969846751
+120,2.000000000,pose1_to_pose2_press,0.575924347646,5.45709213196e-05,1.07002913469,0.546495078238,0.00872730170501,1.06969842789
+121,2.016666667,pose1_to_pose2_press,0.575995363614,5.46376333522e-05,1.07002906051,0.546566093731,0.00872736659513,1.06969834813
+122,2.033333333,pose1_to_pose2_press,0.576077181097,5.46266059297e-05,1.0700290681,0.546647910064,0.00872735170478,1.06969835677
+123,2.050000000,pose1_to_pose2_press,0.576170475867,5.45790824606e-05,1.07002916815,0.546741205077,0.00872730488794,1.06969845356
+124,2.066666667,pose1_to_pose2_press,0.576278839969,5.4683896593e-05,1.07002922421,0.546849568541,0.00872740769283,1.06969851376
+125,2.083333333,pose1_to_pose2_press,0.576402426372,5.45915188505e-05,1.07002910591,0.54697315605,0.00872731911361,1.06969839663
+126,2.100000000,pose1_to_pose2_press,0.576543190299,5.45185618706e-05,1.07002899497,0.54711392174,0.00872725235431,1.06969829124
+127,2.116666667,pose1_to_pose2_press,0.576700300649,5.45751336406e-05,1.07002918149,0.54727103134,0.00872730604162,1.06969846882
+128,2.133333333,pose1_to_pose2_press,0.576874573277,5.45746725221e-05,1.07002919815,0.547445304021,0.00872730577239,1.06969848575
+129,2.150000000,pose1_to_pose2_press,0.577064693657,5.46273997364e-05,1.07002901646,0.547635423122,0.00872735422016,1.06969830557
+130,2.166666667,pose1_to_pose2_press,0.577271222288,5.46822334093e-05,1.07002917422,0.547841951651,0.00872740853386,1.06969845869
+131,2.183333333,pose1_to_pose2_press,0.577498895227,5.45971613487e-05,1.07002914593,0.548069625838,0.00872732801663,1.06969843877
+132,2.200000000,pose1_to_pose2_press,0.577748254582,5.45646159272e-05,1.07002901944,0.548318984685,0.00872729394127,1.06969831725
+133,2.216666667,pose1_to_pose2_press,0.578022389575,5.4552362178e-05,1.07002912469,0.548593119828,0.00872728186211,1.0696984137
+134,2.233333333,pose1_to_pose2_press,0.578322980282,5.44097174635e-05,1.07002893521,0.54889371203,0.00872714441798,1.06969822749
+135,2.250000000,pose1_to_pose2_press,0.578649827384,5.44705963261e-05,1.07002905309,0.54922055852,0.00872720325982,1.06969834636
+136,2.266666667,pose1_to_pose2_press,0.57900459134,5.46187412987e-05,1.07002917868,0.549575320341,0.00872734377067,1.06969846167
+137,2.283333333,pose1_to_pose2_press,0.579384489539,5.46664620847e-05,1.07002923536,0.549955218723,0.00872739201869,1.0696985159
+138,2.300000000,pose1_to_pose2_press,0.579788315286,5.45167373508e-05,1.07002923792,0.550359046502,0.00872724943688,1.06969852492
+139,2.316666667,pose1_to_pose2_press,0.580214023574,5.44701524254e-05,1.07002915501,0.550784756036,0.00872720707593,1.06969844179
+140,2.333333333,pose1_to_pose2_press,0.580662369759,5.45091512663e-05,1.07002921027,0.551233100843,0.00872724127228,1.06969849369
+141,2.350000000,pose1_to_pose2_press,0.581130083002,5.46351277517e-05,1.07002924694,0.551700811098,0.00872735711876,1.06969853058
+142,2.366666667,pose1_to_pose2_press,0.581617580036,5.45873721089e-05,1.07002910283,0.552188309779,0.00872731520807,1.06969839312
+143,2.383333333,pose1_to_pose2_press,0.582128700196,5.44741619237e-05,1.07002903684,0.552699431507,0.00872720722556,1.06969832471
+144,2.400000000,pose1_to_pose2_press,0.582666742403,5.45135351225e-05,1.07002910513,0.553237472566,0.00872724263147,1.06969839101
+145,2.416666667,pose1_to_pose2_press,0.583239635571,5.45728067321e-05,1.07002926103,0.553810365588,0.00872730128557,1.06969854369
+146,2.433333333,pose1_to_pose2_press,0.583844784657,5.45440590891e-05,1.07002920193,0.554415514951,0.00872727356724,1.06969848688
+147,2.450000000,pose1_to_pose2_press,0.584482614037,5.45983225045e-05,1.07002915579,0.555053343082,0.00872732367573,1.06969844293
+148,2.466666667,pose1_to_pose2_press,0.585138703103,5.45267113388e-05,1.07002893235,0.555709432465,0.00872725331681,1.06969822407
+149,2.483333333,pose1_to_pose2_press,0.585807207491,5.45613709439e-05,1.07002898771,0.556377938478,0.00872729377748,1.06969828687
+150,2.500000000,pose1_to_pose2_press,0.586485255443,5.45579134015e-05,1.07002902641,0.557055985461,0.00872728700765,1.069698325
+151,2.516666667,pose1_to_pose2_press,0.587174696617,5.45658491403e-05,1.07002900633,0.55774542633,0.0087272937392,1.06969830044
+152,2.533333333,pose1_to_pose2_press,0.587879707262,5.45906705199e-05,1.07002894075,0.558450436198,0.00872731603492,1.06969823768
+153,2.550000000,pose1_to_pose2_press,0.588607517487,5.4566958046e-05,1.07002936335,0.55917824796,0.00872729712284,1.06969864942
+154,2.566666667,pose1_to_pose2_press,0.589357298187,5.45679858081e-05,1.07002924674,0.559928028563,0.00872729778558,1.06969853188
+155,2.583333333,pose1_to_pose2_press,0.59012245216,5.46742021395e-05,1.07002916704,0.560693180496,0.0087273973562,1.06969845944
+156,2.600000000,pose1_to_pose2_press,0.590903322126,5.47025351131e-05,1.07002930666,0.561474049531,0.00872742233196,1.0696985938
+157,2.616666667,pose1_to_pose2_press,0.591707340589,5.45809097664e-05,1.07002930508,0.562278070768,0.00872731022711,1.0696985951
+158,2.633333333,pose1_to_pose2_press,0.592525106527,5.4550501341e-05,1.07002911668,0.56309583634,0.00872727878801,1.0696984122
+159,2.650000000,pose1_to_pose2_press,0.593350462535,5.45569605638e-05,1.0700291167,0.563921192911,0.00872728683781,1.06969840389
+160,2.666666667,pose1_to_pose2_press,0.594181198898,5.46147092397e-05,1.07002908729,0.564751929978,0.00872734729088,1.06969838278
+161,2.683333333,pose1_to_pose2_press,0.595012381739,5.46611677951e-05,1.07002921798,0.565583111348,0.00872738860588,1.06969850956
+162,2.700000000,pose1_to_pose2_press,0.595845748215,5.46497642224e-05,1.0700291394,0.566416475933,0.00872737075813,1.06969843022
+163,2.716666667,pose1_to_pose2_press,0.596682602278,5.46138272539e-05,1.07002912297,0.567253331643,0.0087273405012,1.06969841622
+164,2.733333333,pose1_to_pose2_press,0.597519296876,5.46132486808e-05,1.07002916797,0.56809002791,0.00872734560097,1.06969846171
+165,2.750000000,pose1_to_pose2_press,0.598355382583,5.4606085504e-05,1.07002920805,0.568926113077,0.00872733659252,1.06969850148
+166,2.766666667,pose1_to_pose2_press,0.59918848955,5.45621654719e-05,1.07002913325,0.56975922047,0.00872729410728,1.06969842649
+167,2.783333333,pose1_to_pose2_press,0.600010825869,5.45743899735e-05,1.0700291921,0.570581556601,0.00872730551805,1.06969848079
+168,2.800000000,pose1_to_pose2_press,0.600829215584,5.46179135054e-05,1.07002920644,0.571399945906,0.00872734764121,1.06969849496
+169,2.816666667,pose1_to_pose2_press,0.601651183077,5.45708001716e-05,1.07002909164,0.572221914831,0.00872730572981,1.06969838919
+170,2.833333333,pose1_to_pose2_press,0.602479220392,5.45547800223e-05,1.07002941505,0.573049952095,0.00872728891205,1.06969869629
+171,2.850000000,pose1_to_pose2_press,0.603314613528,5.45190478997e-05,1.07002934094,0.57388534394,0.00872724882616,1.06969862293
+172,2.866666667,pose1_to_pose2_press,0.604144468071,5.44968652692e-05,1.0700291682,0.574715197823,0.00872722448539,1.0696984525
+173,2.883333333,pose1_to_pose2_press,0.604966604087,5.45399187899e-05,1.07002919485,0.57553733411,0.00872726864835,1.06969848418
+174,2.900000000,pose1_to_pose2_press,0.605760908281,5.46803586279e-05,1.07002924603,0.576331637194,0.00872740550681,1.06969854026
+175,2.916666667,pose1_to_pose2_press,0.606528660324,5.46241429413e-05,1.07002918718,0.577099389962,0.00872735184718,1.06969848402
+176,2.933333333,pose1_to_pose2_press,0.607272884562,5.46172593409e-05,1.07002919914,0.577843613871,0.00872734355593,1.06969848837
+177,2.950000000,pose1_to_pose2_press,0.607998177968,5.44817129897e-05,1.07002919007,0.578568909166,0.00872721432224,1.06969847693
+178,2.966666667,pose1_to_pose2_press,0.608706758057,5.44322156486e-05,1.07002905939,0.579277489189,0.008727164787,1.06969835116
+179,2.983333333,pose1_to_pose2_press,0.609405842768,5.46230048214e-05,1.07002909569,0.57997657145,0.00872734724049,1.069698387
+180,3.000000000,pose1_to_pose2_press,0.610089510158,5.45163782344e-05,1.0700289891,0.580660240828,0.00872724724829,1.06969827758
+181,3.016666667,pose1_to_pose2_press,0.610744598866,5.44836497057e-05,1.07002899889,0.581315330698,0.00872721840496,1.06969828596
+182,3.033333333,pose1_to_pose2_press,0.61137062091,5.45445521413e-05,1.07002922201,0.581941351433,0.00872727460477,1.06969850227
+183,3.050000000,pose1_to_pose2_press,0.611966596715,5.46231132684e-05,1.07002927549,0.582537326122,0.00872734966904,1.06969856333
+184,3.066666667,pose1_to_pose2_press,0.612539187284,5.46698952889e-05,1.07002920823,0.583109916468,0.00872739583137,1.06969849959
+185,3.083333333,pose1_to_pose2_press,0.613089145652,5.4596797057e-05,1.07002906315,0.58365987579,0.00872732598989,1.06969835454
+186,3.100000000,pose1_to_pose2_press,0.613611384758,5.46834268843e-05,1.07002923769,0.584182113652,0.00872740844114,1.06969852642
+187,3.116666667,pose1_to_pose2_press,0.614105591548,5.46882155653e-05,1.07002902868,0.584676320483,0.00872741365611,1.06969831882
+188,3.133333333,pose1_to_pose2_press,0.61456953648,5.46243198833e-05,1.07002901928,0.58514026369,0.00872734429521,1.06969830878
+189,3.150000000,pose1_to_pose2_press,0.615015341828,5.44981981878e-05,1.07002925621,0.58558607107,0.00872722577493,1.06969854194
+190,3.166666667,pose1_to_pose2_press,0.615448551804,5.45489202777e-05,1.0700292678,0.586019281067,0.00872727761878,1.06969855708
+191,3.183333333,pose1_to_pose2_press,0.615877205768,5.45404975605e-05,1.07002905991,0.586447936517,0.00872727530292,1.06969835196
+192,3.200000000,pose1_to_pose2_press,0.616300033873,5.46168499808e-05,1.07002909121,0.586870762986,0.00872734779427,1.06969838783
+193,3.216666667,pose1_to_pose2_press,0.616706012119,5.44367479349e-05,1.07002901477,0.587276741991,0.00872717106805,1.06969831045
+194,3.233333333,pose1_to_pose2_press,0.617085225813,5.45816470852e-05,1.07002936642,0.587655955057,0.00872731381338,1.06969865076
+195,3.250000000,pose1_to_pose2_press,0.61742615316,5.45375334398e-05,1.07002892257,0.587996882237,0.00872727042742,1.0696982185
+196,3.266666667,pose1_to_pose2_press,0.617733078305,5.44783842543e-05,1.07002910832,0.588303807633,0.00872721249831,1.06969839888
+197,3.283333333,pose1_to_pose2_press,0.618007588556,5.45789038228e-05,1.07002910985,0.588578316209,0.00872730841259,1.0696984075
+198,3.300000000,pose1_to_pose2_press,0.618258797628,5.45928478566e-05,1.07002914541,0.588829524064,0.00872731830205,1.06969843434
+199,3.316666667,pose1_to_pose2_press,0.618491328684,5.45947294588e-05,1.07002921787,0.589062054592,0.00872731884271,1.06969851004
+200,3.333333333,pose1_to_pose2_press,0.618710211865,5.46557886647e-05,1.0700291047,0.589280937618,0.0087273800116,1.06969839561
+201,3.350000000,pose1_to_pose2_press,0.618912783509,5.46349645804e-05,1.07002926318,0.589483511257,0.00872736629451,1.06969854932
+202,3.366666667,pose1_to_pose2_press,0.619095769805,5.45331386471e-05,1.07002910584,0.589666497848,0.00872726603395,1.06969839497
+203,3.383333333,pose1_to_pose2_press,0.619261412086,5.45502097552e-05,1.07002910951,0.589832138603,0.00872727831465,1.06969840127
+204,3.400000000,pose1_to_pose2_press,0.619410198109,5.45717546348e-05,1.07002923016,0.58998092459,0.00872729965824,1.06969851237
+205,3.416666667,pose1_to_pose2_press,0.619540629798,5.4611169866e-05,1.07002925593,0.590111355328,0.00872733609372,1.06969853514
+206,3.433333333,pose1_to_pose2_press,0.619655291554,5.46236217183e-05,1.07002929369,0.590226016683,0.00872734758479,1.06969857674
+207,3.450000000,pose1_to_pose2_press,0.619754601755,5.46210128877e-05,1.07002914556,0.590325327913,0.00872734888493,1.06969843392
+208,3.466666667,pose1_to_pose2_press,0.619839911778,5.46802688833e-05,1.07002911184,0.590410637372,0.00872740633458,1.06969839813
+209,3.483333333,pose1_to_pose2_press,0.61991134122,5.46752023876e-05,1.07002920988,0.590482067126,0.00872740282323,1.06969849965
+210,3.500000000,pose1_to_pose2_press,0.619970270454,5.46366768487e-05,1.07002916812,0.590540997552,0.00872736857566,1.06969846581
+211,3.516666667,pose1_to_pose2_press,0.62001784563,5.46476590656e-05,1.07002904955,0.590588571717,0.00872737597728,1.06969834875
+212,3.533333333,pose1_to_pose2_press,0.62005650366,5.46850102664e-05,1.07002904922,0.590627228205,0.00872740831941,1.06969834364
+213,3.550000000,pose1_to_pose2_press,0.620087033577,5.47306548232e-05,1.07002913578,0.59065775802,0.00872745343653,1.06969842033
+214,3.566666667,pose1_to_pose2_press,0.620109139348,5.4738380622e-05,1.07002903622,0.590679863908,0.00872746154523,1.06969832791
+215,3.583333333,pose1_to_pose2_press,0.620126315882,5.45531641876e-05,1.0700291699,0.590697043284,0.00872728573134,1.06969845329
+216,3.600000000,pose1_to_pose2_press,0.620139255861,5.45475156292e-05,1.07002917416,0.590709983619,0.00872728133922,1.06969845778
+217,3.616666667,pose1_to_pose2_press,0.620148209783,5.44837693732e-05,1.07002907974,0.590718937524,0.00872721782644,1.06969837048
+218,3.633333333,pose1_to_pose2_press,0.620154285634,5.442590518e-05,1.07002899186,0.590725013325,0.00872716006149,1.06969828898
+219,3.650000000,pose1_to_pose2_press,0.620158635905,5.44530543107e-05,1.07002899527,0.590729363629,0.00872718736447,1.0696982915
+220,3.666666667,pose1_to_pose2_press,0.620161461604,5.44294082317e-05,1.07002900912,0.590732190453,0.00872716738992,1.06969830205
+221,3.683333333,pose1_to_pose2_press,0.620162633251,5.43990596628e-05,1.07002902065,0.590733363115,0.00872714034117,1.06969831087
+222,3.700000000,pose1_to_pose2_press,0.620163375421,5.43798355889e-05,1.07002902795,0.590734105929,0.00872712320734,1.06969831646
+223,3.716666667,pose1_to_pose2_press,0.620163815794,5.43684288475e-05,1.07002903228,0.590734546683,0.00872711304086,1.06969831977
+224,3.733333333,pose1_to_pose2_press,0.620164304686,5.43557653021e-05,1.07002903709,0.590735036,0.00872710175423,1.06969832345
+225,3.750000000,pose1_to_pose2_press,0.620164817551,5.43956224526e-05,1.07002903276,0.59073554785,0.00872713824776,1.0696983204
+226,3.766666667,pose1_to_pose2_press,0.620165199081,5.4434914982e-05,1.07002902783,0.590735928361,0.00872717416564,1.06969831688
+227,3.783333333,pose1_to_pose2_press,0.62016556167,5.44722568026e-05,1.07002902314,0.590736289981,0.00872720830036,1.06969831353
+228,3.800000000,pose1_to_pose2_press,0.620166004197,5.45178311079e-05,1.07002901743,0.590736731325,0.00872724996052,1.06969830945
+229,3.816666667,pose1_to_pose2_press,0.620166111494,5.45288812829e-05,1.07002901604,0.590736838335,0.00872726006165,1.06969830846
+230,3.833333333,pose1_to_pose2_press,0.620166126376,5.45304139264e-05,1.07002901585,0.590736853177,0.00872726146266,1.06969830832
+231,3.850000000,pose1_to_pose2_press,0.62016636139,5.45546172668e-05,1.07002901281,0.590737087564,0.0087272835873,1.06969830615
+232,3.866666667,pose1_to_pose2_press,0.62016658018,5.45771497502e-05,1.07002900999,0.590737305769,0.00872730418458,1.06969830413
+233,3.883333333,pose1_to_pose2_press,0.620166706421,5.45690263114e-05,1.07002899915,0.590737432084,0.00872729631145,1.06969829336
+234,3.900000000,pose1_to_pose2_press,0.620166832764,5.45518258813e-05,1.07002898434,0.590737558676,0.00872727994846,1.06969827846
+235,3.916666667,pose1_to_pose2_press,0.620166994726,5.45297761159e-05,1.07002896536,0.59073772096,0.00872725897223,1.06969825935
+236,3.933333333,pose1_to_pose2_press,0.620167246858,5.44954505233e-05,1.07002893581,0.590737973591,0.00872722631785,1.06969822961
+237,3.950000000,pose1_to_pose2_press,0.620167518886,5.44584163389e-05,1.07002890394,0.590738246157,0.00872719108675,1.06969819752
+238,3.966666667,pose1_to_pose2_press,0.620167727768,5.44614787456e-05,1.07002890459,0.590738455154,0.00872719472171,1.06969820286
+239,3.983333333,pose1_to_pose2_press,0.620167878978,5.44889365236e-05,1.07002892519,0.590738606209,0.00872722194332,1.06969823075
+240,4.000000000,pose1_to_pose2_press,0.620167955458,5.45069598478e-05,1.07002894759,0.590738682565,0.00872723960866,1.06969825422
+241,4.016666667,pose1_to_pose2_press,0.620167956105,5.45149320849e-05,1.07002897042,0.590738683125,0.00872724712683,1.06969827212
+242,4.033333333,pose1_to_pose2_press,0.620167956222,5.45163746818e-05,1.07002897455,0.590738683226,0.00872724848726,1.06969827536
+243,4.050000000,pose1_to_pose2_press,0.620167956253,5.45167531585e-05,1.07002897563,0.590738683253,0.00872724884418,1.06969827621
+244,4.066666667,pose1_to_pose2_press,0.620167956388,5.45404944178e-05,1.07002896968,0.590738683192,0.00872727198176,1.06969827172
+245,4.083333333,pose1_to_pose2_press,0.620167956472,5.45793299276e-05,1.07002895428,0.59073868296,0.00872730988709,1.06969825995
+246,4.100000000,pose2_hold,0.620167956472,5.45793299276e-05,1.07002895428,0.590738682963,0.00872730988339,1.06969825995
+247,4.116666667,pose2_hold,0.620167956472,5.45793299276e-05,1.07002895428,0.590738682962,0.00872730988418,1.06969825995
+248,4.133333333,pose2_hold,0.620167956472,5.45793299276e-05,1.07002895428,0.590738682963,0.00872730988428,1.06969825995
+249,4.150000000,pose2_hold,0.620167956472,5.45793299276e-05,1.07002895428,0.590738682963,0.00872730988444,1.06969825995
+250,4.166666667,pose2_hold,0.620167956472,5.45793299276e-05,1.07002895428,0.590738682963,0.00872730988462,1.06969825995
+251,4.183333333,pose2_hold,0.620167956472,5.45793299276e-05,1.07002895428,0.590738682963,0.00872730988478,1.06969825995
+252,4.200000000,pose2_hold,0.620167956472,5.45793299276e-05,1.07002895428,0.590738682963,0.00872730988494,1.06969825995
+253,4.216666667,pose2_hold,0.620167956472,5.45793299276e-05,1.07002895428,0.590738682963,0.00872730988511,1.06969825995
+254,4.233333333,pose2_hold,0.620167956472,5.45793299276e-05,1.07002895428,0.590738682963,0.00872730988523,1.06969825995
+255,4.250000000,pose2_hold,0.620167956472,5.45793299276e-05,1.07002895428,0.590738682963,0.00872730988505,1.06969825995
+256,4.266666667,pose2_hold,0.620167956472,5.45793299276e-05,1.07002895428,0.590738682963,0.00872730988561,1.06969825995
+257,4.283333333,pose2_hold,0.620167956472,5.45793299276e-05,1.07002895428,0.590738682963,0.00872730988612,1.06969825995
+258,4.300000000,pose2_hold,0.620167956472,5.45793299276e-05,1.07002895428,0.590738682963,0.00872730988674,1.06969825995
+259,4.316666667,pose2_hold,0.620167956472,5.45793299276e-05,1.07002895428,0.590738682963,0.00872730988664,1.06969825995
+260,4.333333333,pose2_hold,0.620167956472,5.45793299276e-05,1.07002895428,0.590738682963,0.00872730988631,1.06969825995
+261,4.350000000,pose2_hold,0.620167956472,5.45793299276e-05,1.07002895428,0.590738682963,0.00872730988711,1.06969825995
+262,4.366666667,pose2_to_pose3_retreat,0.620167956339,5.45178147605e-05,1.07002897867,0.590738683331,0.0087272498498,1.0696982786
+263,4.383333333,pose2_to_pose3_retreat,0.620167918722,5.45118696246e-05,1.07002896884,0.590738645573,0.00872724365523,1.06969827452
+264,4.400000000,pose2_to_pose3_retreat,0.620167805319,5.45402461895e-05,1.0700290725,0.590738531278,0.00872726859163,1.06969836713
+265,4.416666667,pose2_to_pose3_retreat,0.620167706678,5.45649287671e-05,1.07002916266,0.590738431861,0.00872729028188,1.06969844769
+266,4.433333333,pose2_to_pose3_retreat,0.620167516489,5.45551509545e-05,1.07002915001,0.590738242133,0.00872728207392,1.06969843508
+267,4.450000000,pose2_to_pose3_retreat,0.620166874146,5.45066428703e-05,1.07002905694,0.590737601873,0.00872724084886,1.06969834716
+268,4.466666667,pose2_to_pose3_retreat,0.620165046962,5.44986853135e-05,1.07002901089,0.590735774972,0.00872723392913,1.06969830322
+269,4.483333333,pose2_to_pose3_retreat,0.620160497113,5.45492273827e-05,1.07002901105,0.590731224935,0.00872728378899,1.06969830357
+270,4.500000000,pose2_to_pose3_retreat,0.620150688715,5.4547781378e-05,1.07002926514,0.590721415914,0.00872728001734,1.06969855336
+271,4.516666667,pose2_to_pose3_retreat,0.620131781954,5.45835688469e-05,1.07002921047,0.590702508288,0.00872731277047,1.06969849612
+272,4.533333333,pose2_to_pose3_retreat,0.620102038336,5.47003040551e-05,1.07002917257,0.590672765087,0.00872743101136,1.06969846587
+273,4.550000000,pose2_to_pose3_retreat,0.620060737205,5.44884246932e-05,1.07002877253,0.590631465127,0.00872722337578,1.06969806811
+274,4.566666667,pose2_to_pose3_retreat,0.620008482017,5.45867299362e-05,1.07002911231,0.590579209022,0.00872731788544,1.06969840878
+275,4.583333333,pose2_to_pose3_retreat,0.619945005283,5.46459443243e-05,1.07002913229,0.59051573093,0.00872737214267,1.06969842497
+276,4.600000000,pose2_to_pose3_retreat,0.619871371225,5.46543664588e-05,1.07002912133,0.590442097128,0.00872738155095,1.06969841727
+277,4.616666667,pose2_to_pose3_retreat,0.619786234456,5.45899066108e-05,1.07002909856,0.590356961084,0.00872731938623,1.0696983879
+278,4.633333333,pose2_to_pose3_retreat,0.619687416915,5.45980161139e-05,1.07002901939,0.590258142695,0.00872732451151,1.06969831147
+279,4.650000000,pose2_to_pose3_retreat,0.619574258363,5.4606583986e-05,1.07002905682,0.590144984492,0.0087273340119,1.06969834892
+280,4.666666667,pose2_to_pose3_retreat,0.619441079883,5.45787751271e-05,1.07002921613,0.590011807394,0.0087273104876,1.0696985067
+281,4.683333333,pose2_to_pose3_retreat,0.619288391173,5.46495545107e-05,1.07002930803,0.589859117361,0.00872737637443,1.06969859801
+282,4.700000000,pose2_to_pose3_retreat,0.619114622192,5.45582438196e-05,1.07002918133,0.589685350067,0.00872729042751,1.06969847212
+283,4.716666667,pose2_to_pose3_retreat,0.61891993509,5.45907658414e-05,1.07002922453,0.589490663894,0.0087273256234,1.06969851441
+284,4.733333333,pose2_to_pose3_retreat,0.618702906742,5.44925158399e-05,1.07002911514,0.589273636262,0.00872722923016,1.06969840209
+285,4.750000000,pose2_to_pose3_retreat,0.618465990567,5.44603283266e-05,1.07002907004,0.589036719591,0.00872719486686,1.06969835707
+286,4.766666667,pose2_to_pose3_retreat,0.61820908263,5.44744235244e-05,1.07002915321,0.588779810326,0.00872720383089,1.0696984399
+287,4.783333333,pose2_to_pose3_retreat,0.617929060969,5.45316073208e-05,1.07002911564,0.588499789733,0.00872726402659,1.0696984046
+288,4.800000000,pose2_to_pose3_retreat,0.617626253329,5.4644080518e-05,1.07002896524,0.588196980495,0.00872737071725,1.0696982632
+289,4.816666667,pose2_to_pose3_retreat,0.617298043898,5.45557953244e-05,1.07002891515,0.587868772171,0.00872728528936,1.06969820895
+290,4.833333333,pose2_to_pose3_retreat,0.616943683579,5.46184977985e-05,1.07002916318,0.587514412976,0.00872735080893,1.06969845101
+291,4.850000000,pose2_to_pose3_retreat,0.616562285691,5.47057401614e-05,1.07002927042,0.587133012578,0.00872742836055,1.06969855306
+292,4.866666667,pose2_to_pose3_retreat,0.616149574705,5.46382194273e-05,1.07002913248,0.586720303226,0.0087273660197,1.06969842672
+293,4.883333333,pose2_to_pose3_retreat,0.615705421545,5.45883450783e-05,1.0700294379,0.586276150446,0.00872731576043,1.06969871321
+294,4.900000000,pose2_to_pose3_retreat,0.615224267351,5.45340761374e-05,1.07002912333,0.585794998723,0.00872726940599,1.06969841457
+295,4.916666667,pose2_to_pose3_retreat,0.614717000213,5.46847694729e-05,1.07002902724,0.585287729926,0.00872741346533,1.06969831863
+296,4.933333333,pose2_to_pose3_retreat,0.614189504146,5.46221830042e-05,1.07002895774,0.584760232974,0.0087273479812,1.06969826431
+297,4.950000000,pose2_to_pose3_retreat,0.613650171752,5.46721722624e-05,1.07002914298,0.584220900864,0.00872739779707,1.06969843483
+298,4.966666667,pose2_to_pose3_retreat,0.613100949106,5.45029578929e-05,1.07002901997,0.583671679519,0.00872723309714,1.06969831313
+299,4.983333333,pose2_to_pose3_retreat,0.612543271177,5.45804348526e-05,1.07002900548,0.58311400155,0.00872731048121,1.06969830039
+300,5.000000000,pose2_to_pose3_retreat,0.611964608021,5.46269389023e-05,1.07002912141,0.582535336672,0.00872735094653,1.06969841116
+301,5.016666667,pose2_to_pose3_retreat,0.611346237213,5.44401202364e-05,1.07002906767,0.581916970567,0.00872717994841,1.0696983538
+302,5.033333333,pose2_to_pose3_retreat,0.6106916786,5.44817330951e-05,1.07002921278,0.581262410683,0.00872721725748,1.06969849873
+303,5.050000000,pose2_to_pose3_retreat,0.610002488822,5.44951527792e-05,1.07002908179,0.58057322128,0.00872723224725,1.06969837608
+304,5.066666667,pose2_to_pose3_retreat,0.609275841173,5.44632976101e-05,1.07002917428,0.579846573734,0.00872720065137,1.06969846634
+305,5.083333333,pose2_to_pose3_retreat,0.608517276089,5.4566684762e-05,1.07002925897,0.57908800736,0.00872729962544,1.06969855011
+306,5.100000000,pose2_to_pose3_retreat,0.607731951071,5.45633620237e-05,1.0700291546,0.578302681857,0.00872729481182,1.06969844999
+307,5.116666667,pose2_to_pose3_retreat,0.606925722988,5.45718366106e-05,1.07002903278,0.5774964529,0.0087273002413,1.06969832618
+308,5.133333333,pose2_to_pose3_retreat,0.606104644827,5.45617552687e-05,1.07002911642,0.576675375292,0.00872729182903,1.06969840446
+309,5.150000000,pose2_to_pose3_retreat,0.605281922686,5.4560769827e-05,1.07002904578,0.575852653558,0.00872729229635,1.06969833523
+310,5.166666667,pose2_to_pose3_retreat,0.604460987873,5.45715432317e-05,1.07002893418,0.575031717722,0.0087272995573,1.06969822236
+311,5.183333333,pose2_to_pose3_retreat,0.603632724983,5.45398421542e-05,1.07002907747,0.574203455589,0.00872727052577,1.06969836831
+312,5.200000000,pose2_to_pose3_retreat,0.60279159927,5.45514813866e-05,1.07002910346,0.573362329882,0.00872728253804,1.06969840228
+313,5.216666667,pose2_to_pose3_retreat,0.601931226507,5.45880099874e-05,1.0700290498,0.572501956135,0.00872731544898,1.0696983418
+314,5.233333333,pose2_to_pose3_retreat,0.601043580344,5.44562071823e-05,1.07002901768,0.571614312184,0.0087271910813,1.0696983084
+315,5.250000000,pose2_to_pose3_retreat,0.600123913314,5.45990492013e-05,1.07002900865,0.570694644178,0.00872733074578,1.06969830284
+316,5.266666667,pose2_to_pose3_retreat,0.59921240766,5.4677949935e-05,1.0700290723,0.569783137149,0.00872740526996,1.06969837407
+317,5.283333333,pose2_to_pose3_retreat,0.598314092299,5.4677005894e-05,1.07002920815,0.568884821873,0.0087274044842,1.06969850637
+318,5.300000000,pose2_to_pose3_retreat,0.597440453977,5.46312293916e-05,1.07002907254,0.568011182134,0.00872735353702,1.06969836096
+319,5.316666667,pose2_to_pose3_retreat,0.596589048288,5.46000590475e-05,1.07002910377,0.567159778062,0.00872732810326,1.06969839787
+320,5.333333333,pose2_to_pose3_retreat,0.595752163326,5.45024996265e-05,1.07002922313,0.56632289419,0.00872723421643,1.06969851614
+321,5.350000000,pose2_to_pose3_retreat,0.594903425689,5.45151553176e-05,1.07002926303,0.565474156896,0.00872724795511,1.06969855386
+322,5.366666667,pose2_to_pose3_retreat,0.594035754363,5.45344476936e-05,1.07002919233,0.56460648567,0.00872726751055,1.06969848114
+323,5.383333333,pose2_to_pose3_retreat,0.593157016088,5.45397516092e-05,1.0700291486,0.563727747763,0.00872727411969,1.06969843887
+324,5.400000000,pose2_to_pose3_retreat,0.592277546918,5.45752249744e-05,1.07002925923,0.562848277277,0.00872730488728,1.06969854315
+325,5.416666667,pose2_to_pose3_retreat,0.59141047761,5.46265262645e-05,1.07002916079,0.561981207357,0.00872735436831,1.06969845139
+326,5.433333333,pose2_to_pose3_retreat,0.590568546976,5.46106009771e-05,1.07002915169,0.561139275745,0.00872733499888,1.06969843894
+327,5.450000000,pose2_to_pose3_retreat,0.589760518864,5.45850487454e-05,1.07002925175,0.560331248325,0.00872731184916,1.06969854033
+328,5.466666667,pose2_to_pose3_retreat,0.588968152984,5.45986873265e-05,1.07002927137,0.559538883645,0.00872732959122,1.06969856087
+329,5.483333333,pose2_to_pose3_retreat,0.588191198672,5.46124896138e-05,1.07002917743,0.558761928608,0.00872734091454,1.06969846633
+330,5.500000000,pose2_to_pose3_retreat,0.587434395818,5.45802562004e-05,1.07002935333,0.558005126247,0.00872731013581,1.06969863656
+331,5.516666667,pose2_to_pose3_retreat,0.586694341599,5.45546140691e-05,1.07002919598,0.557265072581,0.00872728669585,1.06969848759
+332,5.533333333,pose2_to_pose3_retreat,0.585972035702,5.45335752028e-05,1.07002915499,0.556542765869,0.0087272627229,1.06969844224
+333,5.550000000,pose2_to_pose3_retreat,0.585275028631,5.44754390228e-05,1.07002923473,0.555845759374,0.00872720656861,1.06969852264
+334,5.566666667,pose2_to_pose3_retreat,0.584607874295,5.44498613031e-05,1.07002916007,0.555178606478,0.00872718602136,1.06969845181
+335,5.583333333,pose2_to_pose3_retreat,0.58395949664,5.45706262567e-05,1.07002912007,0.554530227509,0.00872730237421,1.06969841298
+336,5.600000000,pose2_to_pose3_retreat,0.58332760573,5.44922687103e-05,1.07002921359,0.553898337618,0.00872722731317,1.06969850315
+337,5.616666667,pose2_to_pose3_retreat,0.58271706125,5.45190239932e-05,1.07002924967,0.553287793168,0.00872725422303,1.06969854066
+338,5.633333333,pose2_to_pose3_retreat,0.582127900686,5.4628442278e-05,1.07002907169,0.552698630555,0.00872735683334,1.06969836591
+339,5.650000000,pose2_to_pose3_retreat,0.581565253315,5.45650201317e-05,1.07002909327,0.552135983874,0.00872729571962,1.06969838718
+340,5.666666667,pose2_to_pose3_retreat,0.58104086272,5.45743609307e-05,1.07002930817,0.551611594098,0.00872730782407,1.06969860186
+341,5.683333333,pose2_to_pose3_retreat,0.580555430703,5.44759422029e-05,1.07002919776,0.551126162501,0.0087272108094,1.06969849089
+342,5.700000000,pose2_to_pose3_retreat,0.580101861769,5.45961410003e-05,1.07002925245,0.5506725914,0.00872732334744,1.06969853704
+343,5.716666667,pose2_to_pose3_retreat,0.579673419688,5.4649746768e-05,1.07002922513,0.550244148558,0.00872737426787,1.06969850685
+344,5.733333333,pose2_to_pose3_retreat,0.579265808875,5.46054519269e-05,1.07002908272,0.549836538636,0.00872733323286,1.06969837058
+345,5.750000000,pose2_to_pose3_retreat,0.578878951639,5.46594154244e-05,1.07002919988,0.549449680574,0.00872738425492,1.06969848414
+346,5.766666667,pose2_to_pose3_retreat,0.578515010292,5.45666276171e-05,1.07002918982,0.549085740095,0.00872729461433,1.0696984794
+347,5.783333333,pose2_to_pose3_retreat,0.578177136246,5.4622175928e-05,1.07002911778,0.548747865787,0.00872734946697,1.0696984127
+348,5.800000000,pose2_to_pose3_retreat,0.577866035637,5.46367005148e-05,1.07002920804,0.548436765635,0.00872736546191,1.06969850091
+349,5.816666667,pose2_to_pose3_retreat,0.57758562722,5.4454512523e-05,1.07002918097,0.548156358773,0.00872718851912,1.06969847312
+350,5.833333333,pose2_to_pose3_retreat,0.577332914189,5.44863379385e-05,1.07002906709,0.547903645812,0.00872722057763,1.06969835894
+351,5.850000000,pose2_to_pose3_retreat,0.577107850108,5.45973768116e-05,1.07002896692,0.547678580865,0.00872732854271,1.06969825513
+352,5.866666667,pose2_to_pose3_retreat,0.57690637698,5.4628772025e-05,1.07002917255,0.547477107761,0.0087273598874,1.06969845738
+353,5.883333333,pose2_to_pose3_retreat,0.576727754794,5.45774956621e-05,1.07002928114,0.547298485818,0.00872730960189,1.06969857037
+354,5.900000000,pose2_to_pose3_retreat,0.576566923489,5.45385619069e-05,1.07002918067,0.547137654015,0.00872726907092,1.06969847243
+355,5.916666667,pose2_to_pose3_retreat,0.576422312427,5.45689481251e-05,1.07002932249,0.546993042915,0.00872729909088,1.06969860806
+356,5.933333333,pose2_to_pose3_retreat,0.576293423471,5.45273584153e-05,1.07002924627,0.546864154384,0.00872725907685,1.06969853528
+357,5.950000000,pose2_to_pose3_retreat,0.576178968948,5.45733653955e-05,1.07002888418,0.546749698672,0.00872730128609,1.06969817963
+358,5.966666667,pose2_to_pose3_retreat,0.576079405703,5.46380161811e-05,1.07002900162,0.546650135056,0.00872736456197,1.06969829465
+359,5.983333333,pose2_to_pose3_retreat,0.575995053943,5.45462009082e-05,1.07002922895,0.546565784861,0.00872727797446,1.06969851955
+360,6.000000000,pose2_to_pose3_retreat,0.575925645516,5.46348926103e-05,1.07002911527,0.546496375259,0.00872736259716,1.06969840368
+361,6.016666667,pose2_to_pose3_retreat,0.575869780626,5.4600914538e-05,1.07002903492,0.546440510303,0.00872732841312,1.0696983237
+362,6.033333333,pose2_to_pose3_retreat,0.57582563364,5.46164700428e-05,1.07002906222,0.546396362493,0.0087273412173,1.06969835208
+363,6.050000000,pose2_to_pose3_retreat,0.57579232244,5.46311504887e-05,1.07002914951,0.546363053563,0.00872736338799,1.06969843386
+364,6.066666667,pose2_to_pose3_retreat,0.575766509465,5.45035752708e-05,1.07002904231,0.546337241717,0.00872723972726,1.06969832879
+365,6.083333333,pose2_to_pose3_retreat,0.575747742544,5.45583999089e-05,1.07002905585,0.546318472013,0.00872728502421,1.06969834021
+366,6.100000000,pose2_to_pose3_retreat,0.575734151907,5.45461921839e-05,1.07002914753,0.546304882005,0.0087272750666,1.06969843501
+367,6.116666667,pose2_to_pose3_retreat,0.575725092161,5.4538671895e-05,1.0700290889,0.546295821976,0.00872726641416,1.06969837183
+368,6.133333333,pose2_to_pose3_retreat,0.575719905464,5.45451116493e-05,1.07002909331,0.546290635563,0.00872727386214,1.06969837748
+369,6.150000000,pose2_to_pose3_retreat,0.575717132671,5.45549344379e-05,1.07002912524,0.546287863228,0.00872728536462,1.06969841274
+370,6.166666667,pose2_to_pose3_retreat,0.575715731501,5.45595595085e-05,1.07002913462,0.546286462229,0.00872729064333,1.06969842404
+371,6.183333333,pose2_to_pose3_retreat,0.575714991442,5.4560169961e-05,1.07002910309,0.546285721937,0.00872729054306,1.06969839469
+372,6.200000000,pose2_to_pose3_retreat,0.575714661128,5.45604424273e-05,1.07002908901,0.546285391518,0.0087272904983,1.06969838159
+373,6.216666667,pose2_to_pose3_retreat,0.575714160033,5.45608557659e-05,1.07002906766,0.546284890265,0.00872729043041,1.06969836171
+374,6.233333333,pose2_to_pose3_retreat,0.575713641227,5.45612837133e-05,1.07002904555,0.546284371295,0.00872729036012,1.06969834114
+375,6.250000000,pose2_to_pose3_retreat,0.575713231696,5.45616215233e-05,1.0700290281,0.546283961635,0.00872729030463,1.06969832489
+376,6.266666667,pose2_to_pose3_retreat,0.575712913563,5.45618839424e-05,1.07002901454,0.546283643401,0.00872729026153,1.06969831228
+377,6.283333333,pose2_to_pose3_retreat,0.575712696781,5.45620627591e-05,1.0700290053,0.54628342655,0.00872729023216,1.06969830368
+378,6.300000000,pose2_to_pose3_retreat,0.575712456714,5.45622607835e-05,1.07002899507,0.546283186407,0.00872729019963,1.06969829416
+379,6.316666667,pose2_to_pose3_retreat,0.575712235168,5.45624435302e-05,1.07002898563,0.546282964791,0.00872729016962,1.06969828537
+380,6.333333333,pose2_to_pose3_retreat,0.575712044974,5.45626004152e-05,1.07002897752,0.546282774538,0.00872729014385,1.06969827783
+381,6.350000000,pose2_to_pose3_retreat,0.575711864311,5.45609625902e-05,1.07002900246,0.546282593975,0.00872728879747,1.0696983014
+382,6.366666667,pose2_to_pose3_retreat,0.575711627612,5.45583000555e-05,1.07002904456,0.546282357455,0.00872728665123,1.06969834118
+383,6.383333333,pose2_to_pose3_retreat,0.575711445322,5.45562495375e-05,1.07002907699,0.546282175302,0.00872728499833,1.06969837181
+384,6.400000000,pose2_to_pose3_retreat,0.575711397732,5.45557142196e-05,1.07002908546,0.546282127748,0.00872728456682,1.06969837981
+385,6.416666667,pose2_to_pose3_retreat,0.575711291441,5.4554518592e-05,1.07002910436,0.546282021537,0.00872728360304,1.06969839767
+386,6.433333333,pose2_to_pose3_retreat,0.575711034615,5.45516296482e-05,1.07002915005,0.546281764904,0.00872728127429,1.06969844083
+387,6.450000000,pose2_to_pose3_retreat,0.575710642427,5.45472180688e-05,1.07002921981,0.546281373011,0.00872727771817,1.06969850673
+388,6.466666667,pose2_to_pose3_retreat,0.575710395137,5.45444364009e-05,1.0700292638,0.546281125907,0.0087272754759,1.06969854829
+389,6.483333333,pose2_to_pose3_retreat,0.575710289312,5.45432460131e-05,1.07002928263,0.546281020162,0.00872727451634,1.06969856607
+390,6.500000000,pose2_to_pose3_retreat,0.575710077622,5.45695135881e-05,1.0700293178,0.546280807954,0.00872729902597,1.06969860123
+391,6.516666667,pose2_to_pose3_retreat,0.575709814972,5.46178997121e-05,1.07002936007,0.546280544288,0.00872734400715,1.06969864462
+392,6.533333333,pose2_to_pose3_retreat,0.575709746768,5.46304645758e-05,1.07002937104,0.546280475819,0.00872735568782,1.06969865589
+393,6.550000000,pose2_to_pose3_retreat,0.575709664104,5.46456930637e-05,1.07002938435,0.546280392836,0.00872736984468,1.06969866955
+394,6.566666667,pose2_to_pose3_retreat,0.575709617824,5.46542189005e-05,1.0700293918,0.546280346377,0.00872737777055,1.0696986772
+395,6.583333333,pose2_to_pose3_retreat,0.5757095804,5.46611132286e-05,1.07002939782,0.546280308809,0.00872738417972,1.06969868338
+396,6.600000000,pose2_to_pose3_retreat,0.575709507236,5.46712472418e-05,1.07002933004,0.546280235448,0.00872739367968,1.06969861641
+397,6.616666667,pose2_to_pose3_retreat,0.575709391993,5.46814450002e-05,1.07002908615,0.546280120046,0.00872740342067,1.06969837469
+398,6.633333333,pose2_to_pose3_retreat,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684824,1.06969858496
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_04/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_04/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..11b4740682f1ec36064b0f7f983d66d7962387dd
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_04/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d33efab8318cc8dabf3570d34988c9fa67e480228a4b2425ca0ceca6ac59fa9d
+size 25513389
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_04/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_04/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f96222de2b5471c20f69a9a896f1a34a1fe6c9ae
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_04/depth_04/franka_data.csv
@@ -0,0 +1,402 @@
+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,764,742,711,672,659,633,877,784,799,649,629,650,0.400954418613,-0.00546005469743,0.0798247230395,0.999999944167,0.000148438963445,-0.000297746102226,3.1304805964e-05,1793193391151700736
+1,0.016666667,BASELINE,764,742,711.587845861,672.587845861,659,632.412154139,877,784,799,649,629,650.587845861,0.400952783285,-0.00546130005244,0.0798243078124,0.999999943922,0.000147504685704,-0.000299012492168,3.14645995429e-05,1793193391168367872
+2,0.033333333,BASELINE,764,742,712,672.826681789,659,632,877.173318211,784,799.173318211,648.826681789,629,651,0.400952092238,-0.00546186159197,0.0798241913502,0.999999943771,0.000147290150618,-0.000299607815882,3.15922584732e-05,1793193391185035008
+3,0.050000000,BASELINE,764,742,712,672.246777329,659,632,877.753222671,784,799.753222671,648.246777329,629,651,0.400953616375,-0.00546081897272,0.0798247757588,0.999999943844,0.000148764055722,-0.000298628889245,3.16445329386e-05,1793193391201701376
+4,0.066666667,BASELINE,764,742,712,672,659,632.331179179,877.668820821,783.668820821,800,648.331179179,629,651,0.400953445078,-0.00546596141268,0.0798250310215,0.999999944798,0.000142722094598,-0.000298287920439,3.25327124717e-05,1793193391218367488
+5,0.083333333,BASELINE,764,742,712,672,659,632.907692629,877.092307371,783.092307371,800,648.907692629,629,651,0.400952017821,-0.00547568568357,0.0798250424561,0.999999946298,0.000131112453772,-0.000298419544532,3.40401222306e-05,1793193391235033344
+6,0.100000000,BASELINE,764,742.483688301,712,672,659,633,877,783.483688301,800,649,629,651,0.400951461684,-0.00548923340948,0.0798244083567,0.999999947915,0.000114969280248,-0.000299462679729,3.56972036472e-05,1793193391251699968
+7,0.116666667,BASELINE,764,743,712,672,659,632.939064776,877.060935224,784,799.939064776,649,629,651,0.400951292662,-0.00550114233658,0.0798238935486,0.999999949161,0.000100647935277,-0.000300282313845,3.71151470021e-05,1793193391268366848
+8,0.133333333,BASELINE,764,743,712,672,659,632.350120313,877.649879687,784,799.350120313,649,629,651,0.400953039029,-0.00549253502399,0.079825478756,0.999999949037,0.000109601764617,-0.000297659581874,3.62136974571e-05,1793193391285033472
+9,0.150000000,BASELINE,764,742.765110072,712,672,659,632.234889928,877.765110072,784,799,649,629,651,0.400953346792,-0.00548890852537,0.0798259265246,0.999999948989,0.000113379205095,-0.00029644846342,3.58647363422e-05,1793193391301700096
+10,0.166666667,BASELINE,764,742.18586752,712,672,659,632.81413248,877.18586752,784,799,649,629,651,0.400951545537,-0.00549258398536,0.0798247067888,0.999999949142,0.000109567970829,-0.00029730679461,3.63257327297e-05,1793193391318366976
+11,0.183333333,BASELINE,764.390845178,742.390845178,712,672,658.609154822,632.609154822,877,784.390845178,799,649,628.609154822,651,0.400951996118,-0.00549334540798,0.0798248767385,0.999999949224,0.000109720425188,-0.000296975262134,3.63181971637e-05,1793193391335033856
+12,0.200000000,BASELINE,764.966362585,742.966362585,712,672,658.033637415,632.033637415,877,784.966362585,799,649,628.033637415,651,0.400953510678,-0.00549272996406,0.079825703307,0.999999949273,0.000111745700611,-0.0002960815256,3.60892828288e-05,1793193391351700736
+13,0.216666667,BASELINE,764.459339746,742.459339746,712,672.540660254,658.540660254,632,877.540660254,785,799,649,628,651,0.400952766132,-0.00549319294406,0.0798254193819,0.999999949256,0.000109702016016,-0.000296904938492,3.60818246674e-05,1793193391368367104
+14,0.233333333,BASELINE,764.118456546,742.118456546,712,672.881543454,659,632.118456546,878,784.881543454,799,649,628.118456546,651,0.400951716482,-0.00549388527745,0.0798248765805,0.999999949114,0.000107940804908,-0.00029801595882,3.61591971128e-05,1793193391385033472
+15,0.250000000,BASELINE,764.710544492,742.710544492,712,672.289455508,659,632.710544492,878,784.289455508,799,649,628.710544492,651,0.40095000763,-0.00549522698319,0.0798235743234,0.999999948511,0.000108318936447,-0.000299850740601,3.65207871827e-05,1793193391401700096
+16,0.266666667,BASELINE,764.70477489,742.70477489,712,672,659,633,877.70477489,784,799.29522511,649,629,651,0.400950029751,-0.00549415702539,0.0798238430331,0.999999948404,0.000109457648424,-0.000299804411882,3.64544124985e-05,1793193391418366720
+17,0.283333333,BASELINE,764.12717911,742.12717911,712,672,659,633,877.12717911,784,799.87282089,649,629,651,0.400951707477,-0.00549078041058,0.079825614308,0.999999948767,0.000111323824269,-0.000297958878268,3.59787071158e-05,1793193391435033344
+18,0.300000000,BASELINE,764.449018697,742.449018697,712,672.449018697,659,633,877.449018697,784,799.550981303,649,629,651,0.400951316304,-0.00549240444147,0.0798251955252,0.999999948785,0.000109690598673,-0.00029849396575,3.60566367611e-05,1793193391451700480
+19,0.316666667,BASELINE,764.974627562,742.974627562,712,672.974627562,659,632.974627562,877.974627562,784,799,649,628.974627562,651,0.400950443389,-0.00549525830335,0.0798242332821,0.999999948708,0.000107300674428,-0.000299591090243,3.62791094635e-05,1793193391468367872
+20,0.333333333,BASELINE,764.386050273,742.386050273,712,672.386050273,659,632.386050273,877.386050273,784,799,649,628.386050273,651,0.400951844156,-0.00549406899435,0.0798249341128,0.999999948814,0.000110046989169,-0.000298243108671,3.6240080863e-05,1793193391485034496
+21,0.350000000,BASELINE,764,742,712,672,658.800733566,632,877.398532867,784,799,649.199266434,628.199266434,651,0.400952900592,-0.00549286236051,0.0798255562311,0.999999948923,0.000112299005057,-0.000297044799518,3.61604983305e-05,1793193391501700608
+22,0.366666667,BASELINE,764,742,712,672,658.221632141,632,878.556735718,784,799,649.778367859,628.778367859,651,0.400953300679,-0.00549162270275,0.0798260283103,0.999999949051,0.00011360880474,-0.000296131791067,3.60036132587e-05,1793193391518366720
+23,0.383333333,BASELINE,764.355674159,742,712,672,658.355674159,632.355674159,878.644325841,784,799,649.644325841,629,651,0.400952481483,-0.00549176073709,0.0798253367509,0.999999948845,0.000112332438302,-0.00029731657887,3.59750549027e-05,1793193391535033344
+24,0.400000000,BASELINE,764.931867532,742,712,672,658.931867532,632.931867532,878.068132468,784,799,649.068132468,629,651,0.400950906328,-0.0054927529452,0.0798239237315,0.99999994842,0.000109452640016,-0.000299802007539,3.60260595405e-05,1793193391551699968
+25,0.416666667,BASELINE,764.491844229,742,712,672.508155771,659,633,878,784,799,649,628.491844229,651,0.400950860199,-0.00549157161872,0.0798235893332,0.999999948177,0.000111901259412,-0.000299729393884,3.5879149218e-05,1793193391568366848
+26,0.433333333,BASELINE,764.086309267,742,712,672.913690733,659,632.913690733,877.913690733,784,799,649,628.086309267,651,0.400950970486,-0.00549070460767,0.0798235230118,0.999999948088,0.0001137778394,-0.000299335637538,3.57187249649e-05,1793193391585033984
+27,0.450000000,BASELINE,764.675251477,742,712,672.324748523,659,632.324748523,877.324748523,784,799,649,628.675251477,651,0.400950797572,-0.00549336550727,0.0798241755037,0.999999948794,0.000108161766254,-0.000299069408796,3.56341653173e-05,1793193391601700608
+28,0.466666667,BASELINE,764.740050038,742,712,672,659,632,877.519899924,784,799.259949962,649,629,651,0.400951246529,-0.00549439432145,0.0798250845271,0.99999994923,0.000106692927797,-0.000298125393241,3.5750836191e-05,1793193391618367232
+29,0.483333333,BASELINE,764.160568,742,712,672,659,632,878.678863999,784,799.839432,649,629,651,0.400952459893,-0.00549341696612,0.0798263088806,0.999999949351,0.000110321895802,-0.000296348238031,3.6114860852e-05,1793193391635033600
+30,0.500000000,BASELINE,764,742,712,672,659,632,878.169153564,784,800,649,628.584576782,651,0.400952040894,-0.00549229953336,0.0798256503766,0.99999994897,0.000111599592888,-0.000297148986575,3.61569370608e-05,1793193391651700224
+31,0.516666667,BASELINE,764,742,712,672,659,632,877.019847188,784,800,649,628.009923594,651,0.400950996217,-0.00549112840954,0.0798242701811,0.999999948398,0.000111976057642,-0.000298937834817,3.6075611775e-05,1793193391668366592
+32,0.533333333,BASELINE,764,742,712,672,659,632.577063473,877.577063473,784,800,649,628.577063473,651,0.400953204439,-0.00549269387124,0.0798255884413,0.999999949377,0.000111040842691,-0.000295968983361,3.62980439824e-05,1793193391685033216
+33,0.550000000,BASELINE,764.162141191,742,712,671.837858809,659,633,878,784,800,649,629,651,0.40095439598,-0.00549341416366,0.079826457825,0.999999949883,0.000110709844076,-0.000294365798873,3.64255856241e-05,1793193391701699840
+34,0.566666667,BASELINE,764.741744822,742,712,671.258255178,659,633,878,784,800,649,629,651,0.400952822712,-0.00549183459982,0.0798260494064,0.999999949116,0.000111993856625,-0.000296494029816,3.62950710113e-05,1793193391718366464
+35,0.583333333,BASELINE,765,742.320126737,712,671.320126737,659,633,878,784,799.679873263,649,629,651,0.400952963534,-0.00549217607174,0.0798265977226,0.999999949381,0.000110794334068,-0.000296044273875,3.63306429636e-05,1793193391735033344
+36,0.600000000,BASELINE,765,742.897526872,712,671.897526872,659,633,878,784,799.102473128,649,629,651,0.400954481905,-0.00549406140514,0.0798279149291,0.999999950467,0.000107598891164,-0.000293522690462,3.64996922086e-05,1793193391751700224
+37,0.616666667,BASELINE,764.528618988,742.528618988,712,672,659,632.528618988,878,784,799,649,629,651,0.400953387136,-0.00549348495126,0.079826740496,0.999999949917,0.000108114145606,-0.000295236415473,3.62363405003e-05,1793193391768366848
+38,0.633333333,BASELINE,764,742.045818472,712,672,659,632,877.954181528,783.954181528,799,649,629,651,0.400951803618,-0.00549239719895,0.0798251571619,0.999999949057,0.000109544309265,-0.000297650371453,3.5914168444e-05,1793193391785033728
+39,0.650000000,BASELINE,764,742.636285228,712,672,659,632,877.363714772,783.363714772,799,649,629,651,0.400951112555,-0.00549154566246,0.0798251038165,0.999999948782,0.000112332772176,-0.000297525189585,3.60018285143e-05,1793193391801700352
+40,0.666666667,BASELINE,764,742.777254619,712,672,659,632,877,783.222745381,799.222745381,649,629,650.777254619,0.400951484753,-0.00549163050093,0.0798256263171,0.999999948846,0.000113852443966,-0.000296703262168,3.62412976618e-05,1793193391818366976
+41,0.683333333,BASELINE,764,742.197221171,712,672,659,632,877,783.802778829,799.802778829,649,629,650.197221171,0.400953562443,-0.00549321730369,0.0798270724862,0.99999994946,0.000113336949147,-0.000294763740905,3.67242716135e-05,1793193391835033344
+42,0.700000000,BASELINE,764,742.380831124,712,671.619168876,659,632.380831124,877,784,799.619168876,649,629,650.380831124,0.40095313977,-0.00549255912154,0.0798265265283,0.999999949283,0.000113282735183,-0.000295409226793,3.6541352232e-05,1793193391851699968
+43,0.716666667,BASELINE,764,742.957862729,712,671.042137271,659,632.957862729,877,784,799.042137271,649,629,650.957862729,0.400951428935,-0.00549074434499,0.0798249542459,0.999999948695,0.000113466168633,-0.000297386483226,3.60153710817e-05,1793193391868366848
+44,0.733333333,BASELINE,764,742.47020826,712,672.05958348,658.47020826,632.47020826,877,784,799.52979174,649,629,651,0.400952336575,-0.00549134441188,0.0798256525051,0.999999949105,0.000112478320509,-0.000296396497826,3.58757543783e-05,1793193391885033216
+45,0.750000000,BASELINE,764,742,712,672.894247383,658.105752617,632.105752617,877.211505234,784,799.894247383,648.894247383,629,651,0.400953103514,-0.00549224532446,0.0798262545584,0.999999949472,0.000111228073149,-0.000295638292546,3.58104577155e-05,1793193391901700096
+46,0.766666667,BASELINE,764,742,712,672.297709804,658.702290196,632.702290196,878.404580392,784,799.297709804,648.297709804,629,651,0.400952260173,-0.00549365957363,0.0798255800365,0.999999949276,0.000109188276333,-0.000297040555298,3.59488189548e-05,1793193391918366720
+47,0.783333333,BASELINE,764,742.287806779,712,672,659,632.712193221,878.712193221,784,799.287806779,648.287806779,628.712193221,651,0.400951528427,-0.00549376550103,0.0798253853077,0.999999949088,0.000109157067817,-0.000297665267984,3.60996636739e-05,1793193391935033600
+48,0.800000000,BASELINE,764,742.862343665,712,672,659,632.137656335,878.137656335,784,799.862343665,648.862343665,628.137656335,651,0.400950907857,-0.0054925680012,0.0798256685768,0.99999994891,0.000111126933326,-0.000297515339548,3.62629451893e-05,1793193391951700224
+49,0.816666667,BASELINE,764,743,712,672,659,632.43708705,878,784,800,649,628.43708705,651,0.400951785127,-0.00549309070476,0.0798257541151,0.99999994921,0.00010977737088,-0.000297013994818,3.6214846314e-05,1793193391968366592
+50,0.833333333,BASELINE,764,742.987749605,712,672,659,633,877.987749605,784,799.987749605,649,629,651,0.400953122419,-0.00549410610742,0.079825791035,0.999999949649,0.000107503430579,-0.000296380012342,3.61034580761e-05,1793193391985033216
+51,0.850000000,BASELINE,764,742.395790382,712,672,659,633,877.395790382,784,799.395790382,649,629,651,0.400953895193,-0.00549278768611,0.0798264755235,0.999999949761,0.000110980860521,-0.000294709197949,3.61489081819e-05,1793193392001699840
+52,0.866666667,BASELINE,764,742,712,672,659,632.809301303,877,784,799,649,629,651,0.40095421629,-0.00549179770633,0.079826846292,0.99999994971,0.000113161747026,-0.000294059826215,3.60931987388e-05,1793193392018366720
+53,0.883333333,BASELINE,764,742,712,672,659,632.233848829,877,784,799,649,629,651,0.400953626085,-0.00549147039042,0.0798265840989,0.999999949353,0.000112726726693,-0.000295471317764,3.58333897413e-05,1793193392035033600
+54,0.900000000,BASELINE,764,742,712,672,659,632.343047744,877.343047744,784,799,649,629,651,0.400953051622,-0.00549143296815,0.0798267348354,0.999999949338,0.000111700784994,-0.000295909617215,3.58502888199e-05,1793193392051700224
+55,0.916666667,BASELINE,764,742,712,672,659,632.920932869,877.920932869,784,799,649,629,651,0.400952487936,-0.005491593996,0.0798271682478,0.999999949556,0.000110270321116,-0.000295681706477,3.6056611688e-05,1793193392068366848
+56,0.933333333,BASELINE,764,742.507107621,712,672,659.507107621,633,878,784.507107621,799,649,629,650.492892379,0.400952905413,-0.0054920909387,0.0798268027632,0.999999949496,0.000112676066606,-0.000294962973312,3.61923698287e-05,1793193392085033472
+57,0.950000000,BASELINE,764.093289071,742.906710929,712,672,659.906710929,632.906710929,878,784.906710929,799,649,629,650,0.400953408718,-0.00549244544075,0.0798264487776,0.999999949498,0.000114464838118,-0.000294263352295,3.62024409688e-05,1793193392101700096
+58,0.966666667,BASELINE,764.672658739,742.327341261,712,672,659.327341261,632.327341261,878,784.327341261,799,649,629,650,0.40095354888,-0.00549178032424,0.0798268145234,0.999999950092,0.000109870525636,-0.000294068688885,3.56159027204e-05,1793193392118366720
+59,0.983333333,BASELINE,764.748828731,742.251171269,712,672,659,632.251171269,878,784,799.251171269,649,629,650,0.400953475487,-0.00549210108092,0.0798270004161,0.999999950344,0.000106925928898,-0.000294311885151,3.5492678552e-05,1793193392135033600
+60,1.000000000,BASELINE,764.171429397,742.828570603,712,672,659,632.828570603,878,784,799.828570603,649,629,650,0.400953124723,-0.00549370231637,0.0798269527106,0.999999950173,0.000106124027137,-0.000295123785433,3.59712192124e-05,1793193392151700480
+61,1.016666667,BASELINE,764,742.596440023,712,672,659,633,877.596440023,784,799.596440023,649,629,650,0.400953860681,-0.0054937296498,0.0798270755479,0.999999950118,0.000108133815848,-0.000294559580133,3.6138953701e-05,1793193392168366848
+62,1.033333333,BASELINE,764,742.022468341,712,672,659,633,877.022468341,784,799.022468341,649,629,650,0.400955055532,-0.00549309236983,0.0798272704006,0.999999950102,0.000111330900166,-0.000293414285196,3.61754437036e-05,1793193392185033216
+63,1.050000000,BASELINE,764,742,712,672.566373075,658.433626925,632.433626925,877.566373075,784,799,649,628.433626925,650.566373075,0.400954295977,-0.00549354995976,0.079827357159,0.999999950171,0.000110122818249,-0.000293660081572,3.59765938327e-05,1793193392201699840
+64,1.066666667,BASELINE,764.153203724,742.153203724,712,673,658.153203724,632,877.846796276,784,799,649,628.153203724,651,0.400953844026,-0.00549376764211,0.0798274378386,0.99999995022,0.000109501895712,-0.000293732606218,3.59355254742e-05,1793193392218366208
+65,1.083333333,BASELINE,764.732752801,742.732752801,712,673,658.732752801,632,877.267247199,784,799,649,628.732752801,651,0.400954469674,-0.00549319356369,0.0798275138564,0.999999950204,0.00011101439197,-0.000293165224766,3.63602233716e-05,1793193392235033088
+66,1.100000000,BASELINE,764.689963548,742.689963548,712,672.689963548,658.689963548,632,877.310036452,784,799,649,629,651,0.40095375949,-0.00549284292708,0.0798269994601,0.999999949836,0.000111665358458,-0.000294151013469,3.65152947769e-05,1793193392251700224
+67,1.116666667,BASELINE,764.114618529,742.114618529,712,672.114618529,658.114618529,632,877.885381471,784,799,649,629,651,0.400951906192,-0.00549268349715,0.0798259798266,0.999999949165,0.000111579085012,-0.000296465901879,3.64396377478e-05,1793193392268367616
+68,1.133333333,BASELINE,764,742,712,672,658.469377148,632.469377148,877.530622852,783.530622852,799.469377148,649,628.530622852,651,0.400951831689,-0.00549297458278,0.0798255748697,0.999999949304,0.000109866075722,-0.000296680312491,3.6073851841e-05,1793193392285033984
+69,1.150000000,BASELINE,763.945127693,742,712,672,659,632.945127693,877.054872307,783.054872307,799.945127693,649,628.054872307,650.945127693,0.400952262956,-0.0054932247273,0.0798254238065,0.999999949606,0.000108239619546,-0.000296308978258,3.56773186683e-05,1793193392301699840
+70,1.166666667,BASELINE,763.365869599,742,712,672,659,632.365869599,877.634130401,783.634130401,799.365869599,649,628.634130401,650.365869599,0.400953298617,-0.00549201254568,0.0798262377166,0.999999949558,0.000111307772354,-0.000295333746101,3.5676713998e-05,1793193392318366720
+71,1.183333333,BASELINE,763.21331003,742,712,672,659,632.21331003,877.78668997,784,799,649,629,650.21331003,0.40095352061,-0.00549159681981,0.0798265441693,0.999999949453,0.000112192266823,-0.000295353313147,3.56716984249e-05,1793193392335033600
+72,1.200000000,BASELINE,763.792355221,742,712,672,659,632.792355221,877.207644779,784,799,649,629,650.792355221,0.400952347508,-0.00549254667358,0.0798259805503,0.99999994926,0.000109332724838,-0.000297078533762,3.5659120047e-05,1793193392351700480
+73,1.216666667,BASELINE,764,742,712,672,659,632.631303917,877.368696083,784,799,649,628.631303917,650.631303917,0.400950897237,-0.00549326826386,0.0798254313586,0.999999948848,0.000109686793052,-0.000298299674295,3.59298529369e-05,1793193392368367360
+74,1.233333333,BASELINE,764,742,712,672,659,632.056475042,877.943524958,784,799,649,628.056475042,650.056475042,0.400949292006,-0.00549386223517,0.0798248902329,0.999999948313,0.00011183754568,-0.000299238990644,3.6358981171e-05,1793193392385033728
+75,1.250000000,BASELINE,764,742,712,672,659,632.529613201,877.470386799,784,799,649,628,650,0.400949670513,-0.0054931797677,0.079824847147,0.999999948617,0.000109827177891,-0.000299006690466,3.60311601047e-05,1793193392401700352
+76,1.266666667,BASELINE,764,742,712,672,659,632.884054813,877,784,799.115945187,649,628.115945187,650.115945187,0.400950700612,-0.00549253648316,0.0798252804852,0.999999949076,0.000108358289794,-0.000298035599091,3.57887671457e-05,1793193392418366720
+77,1.283333333,BASELINE,764,742,712,672,659,632.30167722,877,784,799.69832278,649,628.69832278,650.69832278,0.400953482513,-0.00549261028286,0.079827412127,0.999999949799,0.000110891501267,-0.000294605960178,3.62218072485e-05,1793193392435033344
+78,1.300000000,BASELINE,764,742,712,672,659,632,877,784,799.444616482,649,629,651,0.400954226392,-0.00549231256496,0.0798279489705,0.999999949983,0.000112075381979,-0.00029353882841,3.61797395423e-05,1793193392451699968
+79,1.316666667,BASELINE,764,742,712,672,659,632,877,784,798.2923455,649,629,651,0.400952779947,-0.00549161556585,0.079826771836,0.999999949599,0.000111809095948,-0.000295010754755,3.56270590759e-05,1793193392468366592
+80,1.333333333,BASELINE,764.425813552,742,712,672,659,632,877,784,798.425813552,649,629,651,0.400951936216,-0.0054927026699,0.0798260300806,0.999999949251,0.000111642715811,-0.000296238564779,3.57392166075e-05,1793193392485033472
+81,1.350000000,BASELINE,764.996389317,742,712,672,659,632,877,784,798.996389317,649,629,651,0.400951297388,-0.00549439630866,0.0798254363393,0.999999948913,0.000111510300277,-0.000297383383624,3.60773965376e-05,1793193392501700096
+82,1.366666667,BASELINE,764.409534353,742,712,672,659,632,877.590465647,784,799,649,629,651,0.400951857472,-0.00549283253479,0.0798261882483,0.999999949321,0.000111749635788,-0.00029593268351,3.59769164117e-05,1793193392518366720
+83,1.383333333,BASELINE,763.821071598,742,712,671.821071598,659,632,877.821071598,784,799,649,628.821071598,651,0.400952149848,-0.00549205112603,0.0798264783716,0.999999949636,0.000111196759671,-0.000295097587457,3.57930841155e-05,1793193392535033600
+84,1.400000000,BASELINE,763.245388102,742,712,671.245388102,659,632,877.245388102,784,799,649,628.245388102,651,0.400951831677,-0.0054930505292,0.0798257255311,0.999999949736,0.000108881987215,-0.000295664181241,3.54306215184e-05,1793193392551700224
+85,1.416666667,BASELINE,763.329653249,742,712,671.329653249,659,632,877.329653249,784,799,649,628.329653249,650.670346751,0.400951833461,-0.00549353565616,0.0798258375388,0.999999949696,0.000108395251912,-0.00029598318763,3.53839180107e-05,1793193392568366592
+86,1.433333333,BASELINE,763.904217494,742,712,671.904217494,659,632,877.904217494,784,799,649,628.904217494,650.095782506,0.40095207295,-0.00549363870918,0.0798265920729,0.999999949555,0.000109266629855,-0.000296118252596,3.55718030598e-05,1793193392585033216
+87,1.450000000,BASELINE,764,742,712,672,659,632,877.507171886,784,799,649,629,650.492828114,0.400953039146,-0.00549346384563,0.0798270226817,0.999999949929,0.000109749901257,-0.000294619652314,3.60095807203e-05,1793193392601700352
+88,1.466666667,BASELINE,764,742.082448613,712,672,659,632,877.082448613,784,799,649,629,650.917551387,0.400953921681,-0.00549317875563,0.0798272705893,0.99999995029,0.000110103859069,-0.000293213222124,3.63691387946e-05,1793193392618366976
+89,1.483333333,BASELINE,764,742.661232258,712,672,659,632,877.661232258,784,799,649,629,650.338767742,0.400953425393,-0.00549256480906,0.0798268087566,0.999999949973,0.000110146760522,-0.000294329097587,3.59568708101e-05,1793193392635033600
+90,1.500000000,BASELINE,764,743,712,672,659,632,877.763453771,784,799,649,628.763453771,650.236546229,0.400953168809,-0.0054922191387,0.0798264937165,0.999999949792,0.000110391740395,-0.000294886966231,3.56528316451e-05,1793193392651700224
+91,1.516666667,BASELINE,764,743,712,672,659,632,877.193037081,784,799,649,628.193037081,650.806962919,0.400953250553,-0.00549225212375,0.0798263858653,0.999999949807,0.000110921941531,-0.000294657242459,3.55015508399e-05,1793193392668366848
+92,1.533333333,BASELINE,764.383536765,743,712,672,659,632.383536765,877,784,799,649,628.383536765,651,0.400953291153,-0.00549272785432,0.0798268804878,0.999999949795,0.000110849017253,-0.000294713922149,3.55746976487e-05,1793193392685033728
+93,1.550000000,BASELINE,764.963260169,743,712,672,659,632.963260169,877,784,799,649,628.963260169,651,0.400953310707,-0.00549343005797,0.0798276832876,0.999999949771,0.00011046758245,-0.000294917102855,3.57626436065e-05,1793193392701700352
+94,1.566666667,BASELINE,765,742.445976578,712,672,659,633,877.554023422,784,799.554023422,649,629,651,0.400953686559,-0.00549361781122,0.0798276448691,0.999999950189,0.00010937549183,-0.000293901419499,3.57944775113e-05,1793193392718366976
+95,1.583333333,BASELINE,764.858058689,742,712,672,659,633,878,784,799.858058689,649,629,651,0.400953715565,-0.00549356752222,0.0798275046441,0.999999950458,0.00010854426092,-0.000293293267365,3.57978270487e-05,1793193392735033344
+96,1.600000000,BASELINE,764.281149143,742,712,672,659,633,878,784,799.281149143,649,629,651,0.400952607813,-0.00549289444117,0.0798272268654,0.999999950185,0.000108659767107,-0.000294186691716,3.57462579104e-05,1793193392751700224
+97,1.616666667,BASELINE,764,742,712,672,658.704099838,632.704099838,877.704099838,784,799.295900162,649,629,651,0.400951870464,-0.0054928301689,0.0798266052726,0.999999949965,0.000108634354268,-0.000294952359242,3.5666449692e-05,1793193392768366848
+98,1.633333333,BASELINE,764,742,712,672,658.126917714,632.126917714,877.126917714,784,799.873082286,649,629,651,0.400951485217,-0.00549334462881,0.0798256568511,0.999999949796,0.000108474984146,-0.000295596581394,3.55597974771e-05,1793193392785033728
+99,1.650000000,BASELINE,764,742.458023908,712,672,658.458023908,632,877,784,799.541976092,649,629,651,0.400952381495,-0.00549297831368,0.0798259701541,0.999999949923,0.000109016963594,-0.000294934652271,3.58195060733e-05,1793193392801700352
+100,1.666666667,BASELINE,763.955469786,742.955469786,712,672,659,632.044530214,877,784,799,649,629,650.955469786,0.400953560529,-0.0054924884455,0.0798266275473,0.99999995015,0.000109662570254,-0.000293885123315,3.61472366716e-05,1793193392818366976
+101,1.683333333,BASELINE,763.376435533,742.376435533,712,672,659,632.623564467,877,784,799,649,629,650.376435533,0.400953797655,-0.00549349554511,0.0798271462205,0.999999950582,0.000109179100397,-0.00029260237144,3.6051909469e-05,1793193392835033600
+102,1.700000000,BASELINE,763.202345137,742,712,672,658.797654863,633,877.202345137,784,799.202345137,648.797654863,629,650.202345137,0.400953978783,-0.00549377549453,0.0798276049453,0.999999950788,0.000109135540722,-0.000291923403094,3.5967422578e-05,1793193392851699968
+103,1.716666667,BASELINE,763.780654578,742,712,672,658.219345422,633,877.780654578,784,799.780654578,648.219345422,629,650.780654578,0.400954055869,-0.0054927043735,0.079827952284,0.999999950576,0.000109909349521,-0.000292366285692,3.59030773736e-05,1793193392868366592
+104,1.733333333,BASELINE,764,742,712,672,658.357542394,632.642457606,878,784,799.642457606,648.357542394,629,651,0.400952927827,-0.00549262339452,0.0798273443718,0.999999950195,0.000109770412225,-0.000293735319134,3.57831710658e-05,1793193392885033216
+105,1.750000000,BASELINE,764,742,712,672,658.93356158,632.06643842,878,784,799.06643842,648.93356158,629,651,0.400951063392,-0.00549314744315,0.0798261527522,0.999999949706,0.000109073740196,-0.000295670278419,3.56293140599e-05,1793193392901700096
+106,1.766666667,BASELINE,764,742,712,672,659,632.518762691,877.481237309,784,799,649,628.481237309,651,0.400952387824,-0.00549280070657,0.0798267868902,0.999999949899,0.000110146997752,-0.000294654301116,3.53471640211e-05,1793193392918367488
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632,877,784,799,649,629,651,0.400953324514,-0.00549247385148,0.0798267065462,0.99999994973,0.000112026376893,-0.000294488769812,3.55931604737e-05,1793193392960828160
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632,877,784,798.421552027,649,628.421552027,651,0.400953301246,-0.00549145745957,0.079827001559,0.999999949936,0.000111374789589,-0.000294046875794,3.55015149404e-05,1793193392977494272
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632.155870993,877,784,798.155870993,649,628.155870993,651,0.400953100931,-0.00549120319186,0.0798271248796,0.999999950073,0.000110564402782,-0.000293886257303,3.55106979065e-05,1793193392994160640
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632.730540271,877,784,798.730540271,649,628.730540271,651,0.400952424922,-0.0054929966193,0.0798267868932,0.999999950024,0.00010932734915,-0.000294481377199,3.57907895175e-05,1793193393010827264
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,742,712,672,658.687755247,632.687755247,877,784,799,648.687755247,629,651,0.400952811987,-0.0054936854757,0.0798271064825,0.999999950115,0.000109515931269,-0.000294093978903,3.58363344722e-05,1793193393027493632
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,742,712,672,658.099839644,632.099839644,877,784,799,648.099839644,629,651,0.400954137607,-0.00549339914176,0.0798280066244,0.99999995033,0.000110963161418,-0.000292839146855,3.56748057101e-05,1793193393044160256
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,742.482379747,712,672,658.482379747,632,877,784,799,648.482379747,629,651,0.400954829232,-0.00549253513131,0.0798282539944,0.999999950611,0.000110563155777,-0.000292031147101,3.56567012345e-05,1793193393060826880
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,742.937217917,712,672,658.937217917,632,877,784,799,649,629,650.937217917,0.400956089656,-0.0054916307028,0.0798287300652,0.999999951037,0.000109835034236,-0.000290844301018,3.56544779431e-05,1793193393077493504
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,742.362134665,712,672,658.362134665,632,877,784,799,649,629,650.362134665,0.400963049729,-0.00549136071386,0.0798321619307,0.999999952525,0.000109512873848,-0.00028582022558,3.55424428727e-05,1793193393094160128
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,742,712,672,658,632.212457996,877.212457996,784,799,649,628.787542004,650.212457996,0.400976194153,-0.00549203151368,0.0798384512796,0.999999955288,0.000109625734092,-0.000275905832576,3.58051650869e-05,1793193393110827008
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,742,712,672,658,632.786216313,877.786216313,784,799,649,628.213783687,650.786216313,0.400999855516,-0.00549430219346,0.0798495999872,0.999999960025,0.000110478378672,-0.000257675098241,3.6705189408e-05,1793193393127493632
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,742,712,672,658.372905603,633,878,784,799,649,628.372905603,650.627094397,0.401042139179,-0.00549499821129,0.0798655048748,0.999999967325,0.000110505535113,-0.00022755993461,3.67968963419e-05,1793193393144160256
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,742,712,672,658.967274467,633,878,784,799,649,628.967274467,650.032725533,0.401095482361,-0.0054947590603,0.0798842343904,0.999999975159,0.000110042446024,-0.000190386777813,3.64085552844e-05,1793193393160826880
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,742,712,672,658.455334657,633,878,784,799,649,628.455334657,650,0.401160623671,-0.00549672211186,0.0798968202894,0.999999980021,0.000107011841785,-0.000165109343923,3.52930079652e-05,1793193393177493248
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,742,712,672,658.120530429,632.879469571,878,784,799,649,628,650.120530429,0.401229255085,-0.0054986321516,0.0799080323891,0.99999998355,0.000104325651688,-0.000144452062814,3.39035841639e-05,1793193393194160128
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,742,712,672,658.694377802,632.305622198,878,784,799,649,628,650.694377802,0.401308427354,-0.00549986021211,0.0799154239529,0.999999984543,0.000103497466033,-0.000138564359215,3.16434696479e-05,1793193393210827264
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632.276717904,878,784,799,649,628.276717904,651,0.401396784242,-0.00550049831525,0.0799196378027,0.999999985553,0.000102147183983,-0.000132877330992,2.83300657108e-05,1793193393227494144
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632.86873479,878,784,799,649,628.86873479,651,0.401495606297,-0.00550046420681,0.079920230889,0.999999986578,0.000100202012888,-0.000127418957434,2.38165188089e-05,1793193393244160512
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632.550316511,878,784,799,649,629,651,0.401622555111,-0.0055019415984,0.0799256047833,0.999999988055,9.75368258268e-05,-0.00011834813895,1.92602857039e-05,1793193393260826880
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,742,712,672.027328386,659,632.027328386,877.972671614,784,799.027328386,649,629,651,0.401758665176,-0.00550380796473,0.0799323378205,0.999999989573,9.44571649341e-05,-0.000108249063243,1.46115240988e-05,1793193393277493504
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,742,712,672.601958498,659,632.601958498,877.398041502,784,799.601958498,649,629,651,0.401917768475,-0.00550484037409,0.079939013208,0.999999991346,8.71849630708e-05,-9.81681145208e-05,8.353253228e-06,1793193393294159872
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,742,712,673,659,633,877.17711376,784,800,649,629,651,0.402087526772,-0.00550599248749,0.0799451158067,0.999999992919,7.97204122962e-05,-8.83375402431e-05,1.7126451828e-06,1793193393310826496
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,742,712,673,659,633,877.753452665,784,800,649,629,651,0.402281302055,-0.00550741442094,0.0799499273039,0.999999994278,7.18222964282e-05,-7.90713265185e-05,-5.78977316644e-06,1793193393327493376
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,742,712,672.66148574,659,633,878,784,799.66148574,649,628.66148574,650.66148574,0.40248463322,-0.00550940399349,0.0799501151434,0.999999994649,6.47328024944e-05,-7.95810842178e-05,-1.337291929e-05,1793193393344160256
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,742,712,672.069903128,659,633,878,784,799.069903128,649,628.069903128,650.069903128,0.402695108244,-0.00551181792494,0.0799468464041,0.999999994263,5.82478217657e-05,-8.73992154383e-05,-2.10164171131e-05,1793193393360827392
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,742.508882647,712,672,659,632.491117353,877.491117353,784,799.508882647,649,628.508882647,650.508882647,0.402945282715,-0.00551225962546,0.0799430211027,0.999999995214,-5.6725331923e-06,-9.5199806284e-05,-2.18409995258e-05,1793193393377494016
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,742.914427291,712,672,659,632,877.085572709,784,799.914427291,649,628.914427291,651,0.403207657653,-0.00551214264665,0.0799396035985,0.999999992781,-6.07298068349e-05,-0.000101358346584,-2.18254332344e-05,1793193393394160640
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,742.339913833,712,672,659,632,877.660086167,784,799.339913833,649,628.339913833,651,0.403509348337,-0.00551034349726,0.0799389422577,0.999999994712,-2.11719867059e-05,-9.81480614621e-05,-2.22301753034e-05,1793193393410827008
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,742.240714465,712,672,659,632.240714465,878,784,799,648.759285535,628.240714465,651,0.403825934906,-0.0055111918233,0.0799395052028,0.999999995139,1.13293701208e-06,-9.56824895186e-05,-2.3768412202e-05,1793193393427493632
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,742.830202585,712,672,659,632.830202585,878,784,799,648.169797415,628.830202585,651,0.40416410426,-0.00551587610371,0.0799418420282,0.99999999519,-1.56004003144e-06,-9.42959404979e-05,-2.69489813874e-05,1793193393444160256
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,742.587933829,712,672,659,632.587933829,878,784,799.412066171,648.412066171,628.587933829,651,0.404544476222,-0.00551643402302,0.0799419812719,0.999999995422,-1.96361966446e-06,-9.11797609885e-05,-2.89389428102e-05,1793193393460826624
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,742.009154973,712,672,659,632.009154973,878,784,799.990845027,648.990845027,628.009154973,651,0.4049419224,-0.00551532250953,0.0799412314235,0.999999995719,-1.440960639e-06,-8.73638119992e-05,-3.04472110889e-05,1793193393477493248
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632.566345403,878,784,799.433654597,649,628.566345403,651,0.40538860588,-0.00551606263249,0.0799417290628,0.999999996088,-5.30492730323e-06,-8.20350874091e-05,-3.26619203731e-05,1793193393494160640
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,742,711.858148432,672,659,632.858148432,878,784,798.858148432,649,629,650.858148432,0.405840588402,-0.00551726431456,0.0799398904508,0.999999995915,-9.51613195653e-06,-8.28018950085e-05,-3.49840862503e-05,1793193393510827776
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,742,711.282463525,672,659,632.282463525,878,784,798.282463525,649,629,650.282463525,0.40630635702,-0.00551978659592,0.0799308454194,0.999999993956,-1.45736954813e-05,-0.000102285401892,-3.76001684835e-05,1793193393527493888
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,742,711.300830682,672,659,632.300830682,878,783.699169318,798.300830682,649,629,650,0.406787238326,-0.00552105849805,0.0799247956072,0.999999992535,-1.92632001535e-05,-0.000114012529121,-3.94975455154e-05,1793193393544160256
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,742,711.891455085,672,659,632.891455085,878,783.108544915,798.891455085,649,629,650,0.407282677917,-0.00552112589552,0.0799216311239,0.9999999919,-2.3598150022e-05,-0.000118267847308,-4.07025857276e-05,1793193393560826880
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632.527441112,878,783.472558888,799.472558888,649,628.527441112,650.472558888,0.407812225539,-0.00552057693621,0.0799133580829,0.999999989639,-2.31692118768e-05,-0.000135458367468,-4.28402569966e-05,1793193393577493504
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632,877.948809722,784,799.948809722,648.948809722,628,650.948809722,0.408356784185,-0.00552018005492,0.0799050075816,0.999999986961,-2.24566508404e-05,-0.000153422236384,-4.51173458104e-05,1793193393594160128
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632,877.373543681,784,799.373543681,648.373543681,628,650.373543681,0.408976399241,-0.00552276090632,0.0799076399931,0.999999987293,-2.98218464657e-05,-0.000149486049021,-4.66719194126e-05,1793193393610827008
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,742,712,672,659.205519976,632.205519976,877.205519976,784,799,648.205519976,628.205519976,650.205519976,0.409615285904,-0.00552537948644,0.0799223087406,0.999999990298,-3.77062456242e-05,-0.000125275890135,-4.78301042166e-05,1793193393627493888
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,742,712,672,659.791615914,632.791615914,877.791615914,784,799,648.791615914,628.791615914,650.791615914,0.410289859135,-0.00552806793137,0.0799592660276,0.999999995735,-4.65520903758e-05,-6.3522975618e-05,-4.82542674681e-05,1793193393644161536
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,742,712,672.373549214,659.626450786,633,878,784,799,649,629,651,0.410966139499,-0.00553173408714,0.0799774471447,0.999999996693,-5.41036768208e-05,-3.4998734062e-05,-4.96202618671e-05,1793193393660828416
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,742,712,672.953185963,659.046814037,633,878,784,799,649,629,651,0.411643361667,-0.00553593964702,0.0799852694258,0.999999996509,-6.09412192281e-05,-2.4806792057e-05,-5.15058656537e-05,1793193393677494784
+151,2.516666667,POSE1_TO_POSE2_PRESS,763.469911678,742,712,672.469911678,659,632.469911678,878,784,799,649,629,650.469911678,0.412320724571,-0.00553533270518,0.0799562594574,0.999999994052,-6.49460420544e-05,-6.79363831249e-05,-5.53492959901e-05,1793193393694160896
+152,2.533333333,POSE1_TO_POSE2_PRESS,763.106397654,742,712,672,659.106397654,632.106397654,878,784,799.106397654,649,629,650.106397654,0.413010927179,-0.00553518107557,0.0799261389088,0.999999989694,-6.95141699769e-05,-0.000110718602493,-5.93319735299e-05,1793193393710827264
+153,2.550000000,POSE1_TO_POSE2_PRESS,763.681153892,742,712,672,659.681153892,632.681153892,878,784,799.681153892,649,629,650.681153892,0.41375759507,-0.00553889498965,0.0799053748188,0.999999986363,-7.7657523998e-05,-0.000131349138612,-6.31704055578e-05,1793193393727493888
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,742,712,672.264082708,660.264082708,633,878,784,800,649,628.735917292,650.735917292,0.414518093128,-0.00554222520926,0.0799052704965,0.999999986163,-8.8313382505e-05,-0.000124757015087,-6.56503073149e-05,1793193393744160256
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,742,712,672.857194066,660.857194066,633,878,784,800,649,628.142805934,650.142805934,0.415295822711,-0.00554507737282,0.0799309068022,0.999999989032,-0.000102099647521,-8.42473575458e-05,-6.64375754964e-05,1793193393760826880
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,742.439110166,712,673,660.121779668,632.560889834,877.560889834,784,799.560889834,649,628,650,0.416063623501,-0.00554586430401,0.0799354000941,0.999999989259,-9.70696192473e-05,-8.86516847838e-05,-6.48104847351e-05,1793193393777493760
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,742.982665189,712,673,659,632.017334811,877,784,799.017334811,649,628,650,0.416830527408,-0.00554610360015,0.07993347229,0.999999988703,-8.66003867973e-05,-0.000105764293779,-6.2522020707e-05,1793193393794160640
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,742.408967623,712,673,659,632.591032377,877,784,799.591032377,649,628,650,0.417669706198,-0.00554978717487,0.0799406599768,0.999999990938,-9.30783456259e-05,-7.35997842646e-05,-6.35809269289e-05,1793193393810827264
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,742,712,673,659,632.830774673,877.169225327,784,799.830774673,648.830774673,628,650,0.418520180232,-0.00554953616875,0.079953607084,0.999999992846,-9.42976861587e-05,-3.71200165893e-05,-6.35404052011e-05,1793193393827493888
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,742,712,673,659,632.241421274,877.758578726,784,799.241421274,648.241421274,628,650,0.419398696409,-0.00553951695634,0.0799808528437,0.999999994703,-8.24616923532e-05,1.007304551e-05,-6.07703833681e-05,1793193393844160512
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,742,712,672.65810405,659.34189595,632.34189595,878.34189595,784,799.34189595,648.34189595,628.34189595,650.34189595,0.420240096888,-0.00553085590263,0.0799762580037,0.999999995775,-7.02204166584e-05,5.65412123573e-06,-5.90498060841e-05,1793193393860826880
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,742,712,672.078975198,659.921024802,632.921024802,878.921024802,784,799.921024802,648.921024802,628.921024802,650.921024802,0.421055743692,-0.00552313724111,0.0799495697806,0.999999996052,-5.76979266542e-05,-3.45770493336e-05,-5.80574117764e-05,1793193393877493248
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,742.498210504,711.501789496,672.996421009,660,633,878.501789496,784,799.501789496,649,628.501789496,651,0.42191082889,-0.0055369174508,0.0799560026831,0.999999995399,-7.25511554651e-05,-2.79068093453e-05,-5.62182934154e-05,1793193393894159872
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,743,711,673.925309172,660,632.925309172,877.925309172,784,799.074690828,649,628,650.925309172,0.422774350399,-0.00555187577989,0.0799692658301,0.999999994462,-8.93543953581e-05,-1.15632543918e-05,-5.43877561106e-05,1793193393910826240
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,743,711,673.351492463,660,632.351492463,877.351492463,784,799.648507537,649,628,650.351492463,0.423652632719,-0.00555202158965,0.0799932234514,0.999999994293,-9.03021444326e-05,1.99329603893e-05,-5.3508016809e-05,1793193393927492864
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,742.771248301,711,673,660.228751699,632,877.228751699,784,799.771248301,649,628,650,0.424496562581,-0.00555344830537,0.0799885442573,0.99999999413,-9.41055831304e-05,4.89639790923e-07,-5.37105694746e-05,1793193393944159488
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,742.180842308,711,673,660.819157692,632,877.819157692,784,799.180842308,649,628,650,0.425286181668,-0.00555690012145,0.0799385905303,0.999999988259,-0.000102423839994,-9.94886043866e-05,-5.56242151623e-05,1793193393960826112
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,742.401220008,711.401220008,673.401220008,660.598779992,632.401220008,878,784,799.401220008,649,628.401220008,650,0.426133845634,-0.00556340293362,0.0799115727513,0.999999983446,-0.00011528470284,-0.000127607605689,-5.94473693845e-05,1793193393977492992
+169,2.816666667,POSE1_TO_POSE2_PRESS,764,742.97959815,711.97959815,673.97959815,660.02040185,632.97959815,878,784,799.97959815,649,628.97959815,650,0.427007139189,-0.00557125290865,0.0798946823111,0.999999981787,-0.000130151346796,-0.000123997253002,-6.41136644702e-05,1793193393994159616
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,743,712,673.449442655,660.550557345,632.449442655,878,784,799.449442655,649,628.449442655,650.550557345,0.427834207359,-0.00557088234267,0.079901199822,0.999999982958,-0.000122058088712,-0.000124125689107,-6.14635897902e-05,1793193394010826496
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,742.877180892,712,673.122819108,660.877180892,632,878,784.122819108,799.122819108,649,628.122819108,650.877180892,0.428666117062,-0.00556799535337,0.0799115877991,0.999999984806,-0.000112809103152,-0.000119101125005,-5.89607818736e-05,1793193394027493120
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,742.299085136,712,673.700914864,660.299085136,632,878,784.700914864,799.700914864,649,628.700914864,650.299085136,0.429522239069,-0.00555689446652,0.0799331504775,0.999999988614,-0.000102387920754,-9.44682168886e-05,-5.79955265539e-05,1793193394044159744
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,742.286378833,712,674,660,632,878,784.713621167,800,649,628.713621167,650,0.430386528785,-0.0055476592343,0.0799626394371,0.999999992667,-9.34748384864e-05,-5.21488011006e-05,-5.6652892251e-05,1793193394060826368
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,742.87974111,712,674,660,632,878,784.12025889,800,649,628.12025889,650,0.431259573813,-0.00554042388902,0.0800006249629,0.999999994738,-8.61783627936e-05,9.12964379101e-06,-5.49057269371e-05,1793193394077492992
+175,2.916666667,POSE1_TO_POSE2_PRESS,764,743,712,674,660,632,878.461566168,784,800,649,628.461566168,650.461566168,0.43205724397,-0.00554664566263,0.080003164786,0.999999994363,-9.09488219396e-05,8.40766252763e-06,-5.41438085784e-05,1793193394094159872
+176,2.933333333,POSE1_TO_POSE2_PRESS,764,743,712,674,660,632,878.959936323,784,799.959936323,649,629,650.959936323,0.432829696827,-0.00555568778966,0.0799923501124,0.999999993584,-9.86292345256e-05,-1.37314577487e-05,-5.40059825266e-05,1793193394110826496
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,743,712,674,660,632,878.386694646,784,799.386694646,649,629,650.386694646,0.433521532186,-0.00555674052093,0.0799237177175,0.99999998666,-0.000104215455241,-0.000111157459023,-5.88408007111e-05,1793193394127493120
+178,2.966666667,POSE1_TO_POSE2_PRESS,763.808280474,743,712,674,660,632,878,784,799.191719526,649,628.808280474,650,0.434239816605,-0.00556008348958,0.0798792073499,0.999999977388,-0.000109511543504,-0.000171465160276,-6.18886965322e-05,1793193394144159744
+179,2.983333333,POSE1_TO_POSE2_PRESS,763.219144095,743,712,674,660,632,878,784,799.780855905,649,628.219144095,650,0.43501292761,-0.00556817390877,0.0798846997021,0.999999979618,-0.000114206216755,-0.000154830076785,-6.12324693413e-05,1793193394160826368
+180,3.000000000,POSE1_TO_POSE2_PRESS,763,743,712,674,660,632,877.636202775,784,800.363797225,649,628.363797225,650.363797225,0.435740380994,-0.00557383784548,0.0798965645319,0.999999980419,-0.000121724828167,-0.000143939967576,-6.02164203493e-05,1793193394177492992
+181,3.016666667,POSE1_TO_POSE2_PRESS,763,743,712,674,660,632,877.056930784,784,800.943069216,649,628.943069216,650.943069216,0.436440791617,-0.00557806459167,0.0799122037391,0.999999980381,-0.000130916039773,-0.000136452570817,-5.89872512502e-05,1793193394194159616
+182,3.033333333,POSE1_TO_POSE2_PRESS,763.521680722,742.478319278,712,674,660,632,877.521680722,784,799.956638557,649,629,650.478319278,0.437086367098,-0.00557874633581,0.0798918796698,0.999999974041,-0.000128953803923,-0.000178120421075,-5.96818960172e-05,1793193394210826496
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,742.099322792,711.900677208,674,659.900677208,632,878.099322792,784,799.099322792,649,628.900677208,650,0.437718055575,-0.00557934045731,0.0798666052402,0.999999964976,-0.000126564306308,-0.000224395113067,-6.0630505105e-05,1793193394227493120
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,742.672681614,711.327318386,674,659.327318386,632,878.672681614,784,799.672681614,649,628.327318386,650,0.438311990041,-0.00558136043014,0.0798364117678,0.999999954239,-0.000127937448056,-0.000267087118345,-6.17904720857e-05,1793193394244159744
+185,3.083333333,POSE1_TO_POSE2_PRESS,764,743,711,674,659,632,878.747229794,783.747229794,800,649,628,650,0.438893100229,-0.0055810719359,0.079803259989,0.999999939898,-0.000129380315322,-0.000315410640057,-6.30965001581e-05,1793193394260826112
+186,3.100000000,POSE1_TO_POSE2_PRESS,764,743,711,674,659,632,878.15818834,783.15818834,800,649,628,650,0.439457149672,-0.00557771238691,0.0797661726486,0.99999992044,-0.000130915941342,-0.000371226010563,-6.45968395682e-05,1793193394277492736
+187,3.116666667,POSE1_TO_POSE2_PRESS,764,742.574631116,711,674,658.574631116,631.574631116,878,783,799.574631116,649,628.425368884,650.425368884,0.439973231105,-0.00556546398899,0.0797197882268,0.999999893328,-0.000116536216517,-0.000441841745867,-6.7374087908e-05,1793193394294159616
+188,3.133333333,POSE1_TO_POSE2_PRESS,764,742.006826863,711,674,658,631,878,783,799.013653726,649,629,651,0.440471208803,-0.00555006473231,0.0796700599818,0.999999858792,-9.64343574754e-05,-0.000517815587826,-7.05951958775e-05,1793193394310826240
+189,3.150000000,POSE1_TO_POSE2_PRESS,764,742.581156658,711,674,658,631,878,783,800.162313316,649,629,651,0.440928266641,-0.00554403367475,0.0796261189089,0.999999821126,-8.6408591159e-05,-0.000587482287543,-7.17414911416e-05,1793193394327492864
+190,3.166666667,POSE1_TO_POSE2_PRESS,764,743,711,674,658,631,878.159337855,782.840662145,800.681324291,649,628.840662145,650.840662145,0.441390964274,-0.00554237768592,0.0795981538321,0.999999795226,-8.48775435903e-05,-0.000630146062232,-7.25305754866e-05,1793193394344159488
+191,3.183333333,POSE1_TO_POSE2_PRESS,764,743,711,674,658,631,878.747893937,782.252106063,799.504212125,649,628.252106063,650.252106063,0.441868854271,-0.00555250708888,0.0796132242736,0.999999811698,-0.000106229243702,-0.00060007041033,-7.23574197175e-05,1793193394360826368
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,743,711,674.33112904,658,630.66887096,879,782.33112904,799.33112904,649,628,650,0.442353316025,-0.00555945333323,0.07964445847,0.999999839921,-0.000111295556623,-0.000550316578831,-7.01667129941e-05,1793193394377492992
+193,3.216666667,POSE1_TO_POSE2_PRESS,764,743,711,674.910377032,658,630.089622968,879,782.910377032,799.910377032,649,628,650,0.442842702047,-0.00556401439814,0.0796878043605,0.999999874357,-0.000104159032427,-0.0004858176522,-6.64642310204e-05,1793193394394159616
+194,3.233333333,POSE1_TO_POSE2_PRESS,764,743,711,674.513241229,658,630.486758771,879,782.513241229,799.513241229,649,628.486758771,650.486758771,0.443238618088,-0.00556773266328,0.0796991378631,0.999999881103,-0.000113474673147,-0.000469831919101,-6.46117968023e-05,1793193394410826240
+195,3.250000000,POSE1_TO_POSE2_PRESS,764.062619494,743,711,674,657.937380506,630.937380506,879.062619494,781.937380506,799.062619494,649,628.937380506,651,0.443608872023,-0.00557098367675,0.0797012062975,0.999999880596,-0.000123991729081,-0.000468419615953,-6.33847467828e-05,1793193394427492864
+196,3.266666667,POSE1_TO_POSE2_PRESS,764.63851003,743,711,674,657.36148997,630.36148997,879.63851003,781.36148997,799.63851003,649,628.36148997,651,0.443909020071,-0.0055716692803,0.0796753618926,0.999999858828,-0.0001196723588,-0.000513674013444,-6.45080402073e-05,1793193394444159488
+197,3.283333333,POSE1_TO_POSE2_PRESS,764.78043463,743,711,674,657,629.78043463,879.78043463,781,800,649,628,650.78043463,0.444201618121,-0.00557355191747,0.0796530935371,0.99999983962,-0.000121078833411,-0.000549442509464,-6.49119865331e-05,1793193394460826368
+198,3.300000000,POSE1_TO_POSE2_PRESS,764.190671234,743,711,674,657,629.190671234,879.190671234,781,800,649,628,650.190671234,0.444481486471,-0.00557745281221,0.0796368545799,0.999999827211,-0.000132139365249,-0.000569217305105,-6.41030782681e-05,1793193394477492992
+199,3.316666667,POSE1_TO_POSE2_PRESS,763.608131964,742.608131964,711,674,656.608131964,629.391868036,879,781,799.608131964,649,628,650,0.444758267199,-0.00557824842624,0.0796356419685,0.999999826817,-0.000130459512637,-0.000570310093958,-6.39768097365e-05,1793193394494159616
+200,3.333333333,POSE1_TO_POSE2_PRESS,763.029044061,742.029044061,711,674,656.029044061,629.970955939,879,781,799.029044061,649,628,650,0.445033572801,-0.00557756045382,0.0796416083809,0.999999832224,-0.000122692782564,-0.000562477321561,-6.41766808307e-05,1793193394510826496
+201,3.350000000,POSE1_TO_POSE2_PRESS,763.547371468,742,711,674.547371468,656.547371468,630,879,781,799,649,628,650,0.445267203983,-0.00558080283699,0.0796478127136,0.999999838086,-0.000115550308601,-0.000553727416443,-6.21491587663e-05,1793193394527493120
+202,3.366666667,POSE1_TO_POSE2_PRESS,764,742.125744045,711,675,657,629.874255955,879,781,799.125744045,649.125744045,628,650.125744045,0.445488776856,-0.00558383264919,0.0796531287256,0.999999843058,-0.000110577628002,-0.000545933404818,-6.01116099204e-05,1793193394544160000
+203,3.383333333,POSE1_TO_POSE2_PRESS,764,742.71179748,711,675,657,629.28820252,879,781,799.71179748,649.71179748,628,650.71179748,0.445674263605,-0.0055853245857,0.0796551468878,0.999999845076,-0.000113427210308,-0.000541815894238,-5.84679013665e-05,1793193394560826624
+204,3.400000000,POSE1_TO_POSE2_PRESS,764,743,711,675,656.705715721,629,878.705715721,781,800.294284279,649.705715721,628,651,0.445841906803,-0.0055863126901,0.0796506852233,0.999999840095,-0.000132475323532,-0.000546619909634,-5.88748922874e-05,1793193394577493248
+205,3.416666667,POSE1_TO_POSE2_PRESS,764,743,711,675,656.12668006,629,878.12668006,781,800.87331994,649.12668006,628,651,0.445992284454,-0.00558681328316,0.0796399536362,0.999999827314,-0.000167197240357,-0.000560056451294,-6.12661533997e-05,1793193394594159872
+206,3.433333333,POSE1_TO_POSE2_PRESS,764.451023428,743,711,675,656,629,878,781,801,649,628,651,0.446123738435,-0.00558660102251,0.0796332037046,0.999999823098,-0.000167138571699,-0.000567484191753,-6.18977063474e-05,1793193394610826496
+207,3.450000000,POSE1_TO_POSE2_PRESS,764.971723286,743,711,675,656,629,878,781,800.971723286,649,628,651,0.446248675154,-0.00558618921429,0.0796279391431,0.999999821683,-0.000157531437904,-0.000572690564441,-6.19872785017e-05,1793193394627493120
+208,3.466666667,POSE1_TO_POSE2_PRESS,764.395963298,743,711,675,656,629,878,781,800.395963298,649,628,651,0.446350033761,-0.00558577902783,0.0796298446978,0.999999825625,-0.00015163542988,-0.000567468158775,-6.11245915589e-05,1793193394644159744
+209,3.483333333,POSE1_TO_POSE2_PRESS,764,743,711,675,656,629,878,781,800,649,628,651,0.446445057243,-0.00558624811171,0.0796328304037,0.999999829741,-0.000147636452719,-0.000561320082346,-6.03505475747e-05,1793193394660826624
+210,3.500000000,POSE1_TO_POSE2_PRESS,764,743,711,675,656,629,878,781,800,649,628,651,0.446526128974,-0.00558865359795,0.079638194908,0.999999834311,-0.000147815275478,-0.000553133417516,-5.97717206041e-05,1793193394677493248
+211,3.516666667,POSE1_TO_POSE2_PRESS,764,742.645674772,711,675,656,628.645674772,878.354325228,781,800,649,628,650.645674772,0.446595392686,-0.00558943477782,0.0796402585043,0.999999837179,-0.000147521431974,-0.00054806294977,-5.9208623735e-05,1793193394694159872
+212,3.533333333,POSE1_TO_POSE2_PRESS,764,742.066641692,711,675,656,628.066641692,878.933358308,781,800,649,628,650.066641692,0.446657167935,-0.0055891858467,0.0796402287138,0.99999983899,-0.000146927830492,-0.000544968727634,-5.86555026095e-05,1793193394710826496
+213,3.550000000,POSE1_TO_POSE2_PRESS,764,742.510672353,711,675.510672353,655.489327647,628.510672353,879,781,800,649,628,650,0.446697283022,-0.00558836446272,0.0796391614176,0.999999838127,-0.000145995817905,-0.000546777429246,-5.88686798714e-05,1793193394727493120
+214,3.566666667,POSE1_TO_POSE2_PRESS,764,743,711,675.911218726,655.088781274,628.911218726,879,781,800,649,628,650.088781274,0.446732338363,-0.00558768413352,0.0796378790312,0.999999836897,-0.000145065743046,-0.0005492496298,-5.90437799894e-05,1793193394744159744
+215,3.583333333,POSE1_TO_POSE2_PRESS,764,743,711,675.327431112,655.672568888,628.327431112,879,781,800,649,628,650.672568888,0.446754889815,-0.00558820538458,0.0796361497512,0.999999835589,-0.000144391873796,-0.000551865815075,-5.84508897913e-05,1793193394760826368
+216,3.600000000,POSE1_TO_POSE2_PRESS,764,743,711,675,655.745038859,628.254961141,879,781,800,649,628,651,0.4467745476,-0.00558790370229,0.0796346572581,0.999999834905,-0.000142940338013,-0.000553524549583,-5.80330894167e-05,1793193394777493248
+217,3.616666667,POSE1_TO_POSE2_PRESS,764,743,711,675,655.164428862,628.835571138,879,781,800,649,628,651,0.446790509453,-0.0055865509292,0.0796334672009,0.999999835022,-0.000140495528492,-0.000553960380931,-5.78389223747e-05,1793193394794159872
+218,3.633333333,POSE1_TO_POSE2_PRESS,764,743,711,675,655,628.586411668,879,781,800,649,628,651,0.446801862746,-0.00558521917327,0.079632642843,0.999999834763,-0.000139485932197,-0.000554691535985,-5.77526922394e-05,1793193394810826496
+219,3.650000000,POSE1_TO_POSE2_PRESS,764,743,711,675,655,628.009418876,879,781,800,649,628,651,0.446811395246,-0.00558389572104,0.0796319629692,0.999999834356,-0.000139043373814,-0.000555539370361,-5.77091068607e-05,1793193394827493120
+220,3.666666667,POSE1_TO_POSE2_PRESS,764,743,711,675,655.567382385,628.567382385,878.432617615,781,799.432617615,649,628,651,0.446815451078,-0.00558281436504,0.0796311332153,0.999999834366,-0.000136220665115,-0.000556200614047,-5.7900878847e-05,1793193394844160000
+221,3.683333333,POSE1_TO_POSE2_PRESS,764,743,711,675,656,628.853164193,878.146835807,780.853164193,799,649,628,651,0.446818248503,-0.00557710891082,0.079630276994,0.9999998344,-0.000129599358942,-0.000557593519811,-5.90991294068e-05,1793193394860826624
+222,3.700000000,POSE1_TO_POSE2_PRESS,764,743,711,675,656,628.26574346,878.73425654,780.26574346,799,649,628,651,0.446817542742,-0.00555751666651,0.07962934882,0.99999983429,-0.000111698772294,-0.00056119108882,-6.33056275774e-05,1793193394877493248
+223,3.716666667,POSE1_TO_POSE2_PRESS,764,743,711,675,655.682834447,628,879,780,799.317165553,649,628,650.682834447,0.446819019036,-0.00553759263392,0.0796291567296,0.999999835891,-9.17823453038e-05,-0.000561532702569,-6.68924457813e-05,1793193394894159872
+224,3.733333333,POSE1_TO_POSE2_PRESS,764,743,711,675,655.103652585,628,879,780,799.896347415,649,628,650.103652585,0.446822297966,-0.00551739450277,0.0796295727315,0.999999838745,-7.02005934774e-05,-0.000559184511973,-6.99673353934e-05,1793193394910826496
+225,3.750000000,POSE1_TO_POSE2_PRESS,764,742.526004509,711,674.526004509,655.473995491,628,879.473995491,780.473995491,800,649,628,650.473995491,0.446823500798,-0.00552354526347,0.0796294381398,0.999999838526,-7.60797598365e-05,-0.000559005808128,-6.8354955792e-05,1793193394927493376
+226,3.766666667,POSE1_TO_POSE2_PRESS,764,742.051108485,711,674.051108485,655.948891515,628,879.948891515,781,799.948891515,648.948891515,627.948891515,650.948891515,0.446824175434,-0.00553384646783,0.0796291383454,0.999999837619,-8.63135635011e-05,-0.000559416863885,-6.60689050774e-05,1793193394944159744
+227,3.783333333,POSE1_TO_POSE2_PRESS,764,742.626163754,711,674.626163754,655.373836246,628,879.373836246,781,799.373836246,648.373836246,627.373836246,650.373836246,0.446824074411,-0.00552781775374,0.0796283752978,0.999999837171,-7.98258541282e-05,-0.000561026030388,-6.73507113594e-05,1793193394960826624
+228,3.800000000,POSE1_TO_POSE2_PRESS,764,742.79263918,711,675,655.20736082,628,879,780.79263918,799.20736082,648.20736082,627.20736082,650.20736082,0.446824165723,-0.00552337326981,0.0796280435602,0.999999837013,-7.50571956902e-05,-0.000561860549411,-6.82088276056e-05,1793193394977493248
+229,3.816666667,POSE1_TO_POSE2_PRESS,764,742.200031567,711,675,655.799968433,628,879,780.200031567,799.799968433,648.799968433,627.799968433,650.799968433,0.446824614368,-0.00552187205963,0.079628513135,0.999999837465,-7.34822888153e-05,-0.000561255883972,-6.82797881929e-05,1793193394994159872
+230,3.833333333,POSE1_TO_POSE2_PRESS,764,742.382275954,711,674.617724046,656,628,878.617724046,780.382275954,800,649,628,651,0.446824768812,-0.00552572658935,0.0796281978509,0.999999837135,-7.67926837576e-05,-0.000561535020052,-6.71719992604e-05,1793193395010826752
+231,3.850000000,POSE1_TO_POSE2_PRESS,764,742.95933519,711,674.04066481,656,628,878.04066481,780.95933519,800,649,628,651,0.446824773349,-0.00553231006033,0.0796274826531,0.999999836376,-8.25923149047e-05,-0.000562264484647,-6.54635952465e-05,1793193395027493376
+232,3.866666667,POSE1_TO_POSE2_PRESS,764.535230997,743,711,675.070461994,655.464769003,628,878.535230997,781,799.464769003,649,628,651,0.446824592607,-0.00552764130824,0.0796271247599,0.999999836531,-7.87762143805e-05,-0.000562374086834,-6.68395837123e-05,1793193395044159744
+233,3.883333333,POSE1_TO_POSE2_PRESS,764.886556891,742.886556891,711,675.886556891,655.113443109,628.113443109,878.886556891,780.886556891,799.113443109,649.113443109,628,651,0.446824380892,-0.00552391480815,0.0796268473619,0.999999836547,-7.58313461297e-05,-0.000562629985206,-6.78443205591e-05,1793193395060826624
+234,3.900000000,POSE1_TO_POSE2_PRESS,764.298280509,742.298280509,711,675.298280509,655.701719491,628.701719491,878.298280509,780.298280509,799.701719491,649.701719491,628,651,0.44682409833,-0.00552770280357,0.079626793509,0.999999835758,-7.95844178277e-05,-0.000563694923151,-6.63163876735e-05,1793193395077493248
+235,3.916666667,POSE1_TO_POSE2_PRESS,764,742.285423873,711,675,655.714576127,629,878.285423873,780.285423873,800,649.714576127,628,651,0.44682438125,-0.00552850876624,0.0796269217355,0.999999835576,-8.05239371505e-05,-0.000563941361682,-6.58375304509e-05,1793193395094159616
+236,3.933333333,POSE1_TO_POSE2_PRESS,764,742.864425714,711,675,655.135574286,629,878.864425714,780.864425714,800,649.135574286,628,651,0.446825245808,-0.00552624750481,0.0796272372433,0.999999836027,-7.85695259555e-05,-0.000563345917743,-6.64377190859e-05,1793193395110826240
+237,3.950000000,POSE1_TO_POSE2_PRESS,764,742.559283832,711,675,655,628.559283832,878.559283832,780.559283832,800,649,628,650.559283832,0.446826487811,-0.00552422374624,0.0796275576153,0.999999836611,-7.64128912455e-05,-0.000562550336413,-6.6897867179e-05,1793193395127493888
+238,3.966666667,POSE1_TO_POSE2_PRESS,764,742,711,675,655,628,878.016152703,780,799.983847297,649,627.983847297,650.016152703,0.446827814306,-0.00552244165647,0.0796278886267,0.99999983722,-7.43331288753e-05,-0.000561701784218,-6.72790128638e-05,1793193395144161280
+239,3.983333333,POSE1_TO_POSE2_PRESS,764,742,711,675,655,628,878.590728471,780,799.409271529,649,627.409271529,650.590728471,0.446828072227,-0.00552650402093,0.0796285360454,0.999999837389,-7.70484449531e-05,-0.000561137389858,-6.64091492953e-05,1793193395160827136
+240,4.000000000,POSE1_TO_POSE2_PRESS,764,742,711,675,655,628,878.829788102,780,799.170211898,649,627.170211898,650.829788102,0.446828446907,-0.00552882074444,0.079628962791,0.999999837418,-7.90789709655e-05,-0.000560859857237,-6.59308601292e-05,1793193395177492992
+241,4.016666667,POSE1_TO_POSE2_PRESS,764,742,711,675,655,628,878.238153991,780,799.761846009,649,627.761846009,650.238153991,0.446829110664,-0.00552681549093,0.0796288431788,0.999999837116,-7.94140469217e-05,-0.0005612925565,-6.6422057598e-05,1793193395194159616
+242,4.033333333,POSE1_TO_POSE2_PRESS,764,742.346170056,711,675,655,628,878.346170056,780.346170056,800.346170056,649,627.653829944,650.346170056,0.446829097092,-0.00552622852714,0.0796289905333,0.999999837092,-8.01451273226e-05,-0.000561203020599,-6.66633522006e-05,1793193395210826496
+243,4.050000000,POSE1_TO_POSE2_PRESS,764,742.925568989,711,675,655,628,878.925568989,780.925568989,800.925568989,649,627.074431011,650.925568989,0.446828627174,-0.00552659712303,0.0796293177542,0.999999837254,-8.11430120478e-05,-0.000560761633563,-6.67362770349e-05,1793193395227493120
+244,4.066666667,POSE1_TO_POSE2_PRESS,764,743,711,674.499851701,655,628,878.499851701,780.499851701,800.499851701,649,627.500148299,651,0.446827979391,-0.0055247337963,0.0796281801096,0.999999836923,-7.87709622429e-05,-0.000561677998041,-6.68383085614e-05,1793193395244160000
+245,4.083333333,POSE1_TO_POSE2_PRESS,764,743,711,674.075863516,655,628,878.075863516,780,800,649,628,651,0.446827622869,-0.00552323140105,0.0796272186873,0.99999983668,-7.6473883259e-05,-0.000562425631433,-6.68481774586e-05,1793193395260826880
+246,4.100000000,POSE1_TO_POSE2_PRESS,764,743,711,674.66404691,655,628,878.66404691,780,800,649,628,651,0.446829410343,-0.00552638810113,0.0796289054569,0.999999837581,-7.80375354175e-05,-0.00056068228503,-6.62066827588e-05,1793193395277493504
+247,4.116666667,HOLD_POSE2,765,743,711,675,654,628,879,781,800,649,628,651,0.446828838447,-0.0055257576027,0.0796278314654,0.999999836561,-7.61449016866e-05,-0.000562782738119,-6.60038316962e-05,1793193395315816448
+248,4.133333333,HOLD_POSE2,764.423888845,742.423888845,711,674.423888845,654.576111155,628,878.423888845,780.423888845,799.423888845,649,628,651,0.446829384886,-0.00552610582707,0.0796273118732,0.999999836617,-7.81419648171e-05,-0.00056238639022,-6.61866545351e-05,1793193395332482560
+249,4.150000000,HOLD_POSE2,764,742.150966968,711,674.301933935,655,628.150966968,878.150966968,780.150966968,799.150966968,649,628,651,0.44682962815,-0.00552598177221,0.079626973953,0.999999836516,-7.92378649916e-05,-0.000562399396198,-6.63076439316e-05,1793193395349148928
+250,4.166666667,HOLD_POSE2,764,742.722327196,711,675.444654393,655,628.722327196,878.722327196,780.722327196,799.722327196,649,628,651,0.446829027173,-0.00552454257541,0.0796271419294,0.999999835981,-7.78243237257e-05,-0.000563552317761,-6.62564476076e-05,1793193395365815296
+251,4.183333333,HOLD_POSE2,764,742.694448679,711,675.694448679,655,628.694448679,878.694448679,781,799.694448679,649,628,650.694448679,0.446829699455,-0.00552497775195,0.0796280155075,0.999999836434,-7.7602028412e-05,-0.000562812430169,-6.59743450753e-05,1793193395382482176
+252,4.200000000,HOLD_POSE2,764,742.100007625,711,675.100007625,655,628.100007625,878.100007625,781,799.100007625,649,628,650.100007625,0.446831575566,-0.00552718509311,0.0796295562109,0.999999837816,-7.85060209789e-05,-0.000560282947464,-6.5473927559e-05,1793193395399149312
+253,4.216666667,HOLD_POSE2,764,742,711,674.518027176,655,628,878.481972824,781,799,649,628,650.481972824,0.446831437327,-0.00552811740498,0.0796295375513,0.999999837743,-8.05425068302e-05,-0.000560121547407,-6.54973645087e-05,1793193395415815936
+254,4.233333333,HOLD_POSE2,763.938936698,742.061063302,711,674.061063302,655,628,879,780.938936698,799.061063302,649,627.938936698,651,0.446831016359,-0.00552864553188,0.0796292396523,0.999999837458,-8.23070113871e-05,-0.000560361599184,-6.56137802082e-05,1793193395432482304
+255,4.250000000,HOLD_POSE2,763.362962813,742.637037187,711,674.637037187,655,628,879,780.362962813,799.637037187,649,627.362962813,651,0.446831646983,-0.00552794009505,0.0796292467407,0.999999837888,-7.98464803072e-05,-0.000559947857655,-6.56207450985e-05,1793193395449148928
+256,4.266666667,HOLD_POSE2,763,743,711,675,655,628,879,780,799.78338079,649,627.21661921,651,0.44683184484,-0.00552742913124,0.079629137803,0.99999983808,-7.85964512337e-05,-0.000559774550688,-6.56827844124e-05,1793193395465815296
+257,4.283333333,HOLD_POSE2,763,743,711,675,655,628,879,780,799.197650693,649,627.802349307,651,0.446831305278,-0.00552724954212,0.079628831161,0.999999837874,-7.94090717429e-05,-0.000560010935106,-6.58386684473e-05,1793193395482481920
+258,4.300000000,HOLD_POSE2,763.383920303,742.616079697,711,675,654.616079697,628,879,780,799,649,628,650.616079697,0.446831832613,-0.00552789791976,0.0796295662648,0.999999838128,-7.97331315555e-05,-0.000559523163947,-6.57366144232e-05,1793193395499148544
+259,4.316666667,HOLD_POSE2,763.963373102,742.036626898,711,675,654.036626898,628,879,780,799,649,628,650.036626898,0.446832903324,-0.00552896798492,0.0796308319349,0.999999838616,-7.98083650804e-05,-0.000558666576818,-6.55031912933e-05,1793193395515815168
+260,4.333333333,HOLD_POSE2,764,742.542443304,711,675,654,628,879,780,799,649,628,650.542443304,0.446832843611,-0.00552821979561,0.0796301928126,0.999999838723,-7.96705887908e-05,-0.000558473568522,-6.5681350983e-05,1793193395532482048
+261,4.350000000,HOLD_POSE2,764,742.879495636,711,675,654.120504364,628,879,780,799,649,628,650.879495636,0.446832863164,-0.00552740800505,0.0796296627167,0.999999838818,-7.93629253314e-05,-0.000558330320446,-6.58193966025e-05,1793193395549148928
+262,4.366666667,HOLD_POSE2,764,742.305137894,711,675,654.694862106,628,879,780,799,649,628,650.305137894,0.446833468527,-0.00552681874322,0.0796300273054,0.999999838966,-7.84695506356e-05,-0.000558205849436,-6.57017667101e-05,1793193395565815808
+263,4.383333333,POSE2_TO_POSE3_RETREAT,764,743,711,675,655,628,879,780,800,649,628,650,0.446833306615,-0.00552647692623,0.0796299269864,0.99999983832,-7.7810597468e-05,-0.000559471825355,-6.55473147534e-05,1793193395603015424
+264,4.400000000,POSE2_TO_POSE3_RETREAT,764,743,711,675,655,628,879,780,800,649,628,650,0.446832630007,-0.00552575256407,0.0796295367194,0.999999838112,-7.7013594033e-05,-0.00055994821754,-6.55972988618e-05,1793193395619683072
+265,4.416666667,POSE2_TO_POSE3_RETREAT,764,743,711,675,655,628,878.838151872,780,799.838151872,649,628,650,0.446832636728,-0.0055250657998,0.0796294181313,0.99999983812,-7.59517035834e-05,-0.000560082586383,-6.55586712088e-05,1793193395636350208
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764,743,711,675,655,628,878.263956487,780,799.263956487,649,628,650,0.446834384391,-0.00552447482509,0.0796299917112,0.999999838681,-7.42149492208e-05,-0.000559345568134,-6.52942836696e-05,1793193395653016320
+267,4.450000000,POSE2_TO_POSE3_RETREAT,764,743,711,675,655,628,878,780.30975478,799,649,628,650.30975478,0.446834972374,-0.00552458531652,0.0796305340443,0.999999839173,-7.38932386672e-05,-0.000558505176348,-6.53172220831e-05,1793193395669682688
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764,743,711,675,655,628,878,780.883054119,799,649,628,650.883054119,0.446834573682,-0.00552529262713,0.079631049792,0.999999839608,-7.47754712066e-05,-0.00055757683267,-6.55846222487e-05,1793193395686349312
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,742.527005723,711,675,655,628,878.472994277,780.527005723,799.472994277,649,627.527005723,650.527005723,0.446832762744,-0.00552637855428,0.0796296136119,0.99999983826,-7.67074417113e-05,-0.000559729072796,-6.55676025133e-05,1793193395703015936
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764,742.065331995,711,674.934668005,655,628,879,780,800,649,627,650.065331995,0.446830486238,-0.00552719914017,0.0796277525481,0.999999836557,-7.83385227553e-05,-0.000562545208083,-6.55089872261e-05,1793193395719682560
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764,742.643029058,711,674.356970942,655,628,879,780,800,649,627,650.643029058,0.446827396761,-0.00552517787582,0.0796264821852,0.999999835731,-7.55001961307e-05,-0.000564376796181,-6.56957660226e-05,1793193395736348928
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764,742.780183619,711,674,654.780183619,628,878.780183619,780,800,649,627.219816381,650.780183619,0.446818555033,-0.00552354603366,0.0796218059542,0.999999832152,-7.3296977636e-05,-0.000570922941314,-6.6106307007e-05,1793193395753015808
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764,742.204867636,711,674,654.204867636,628,878.204867636,780,800,649,627.795132364,650.204867636,0.446800410437,-0.00552254398752,0.0796116215589,0.999999823996,-7.21208925356e-05,-0.000585093737005,-6.68787289504e-05,1793193395769682432
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764,742.378882124,711,674.378882124,654.378882124,628,878,780,800,649,628,650.378882124,0.446763825236,-0.00552245337359,0.0795951327756,0.999999807631,-7.28516851525e-05,-0.000612330880749,-6.69381717916e-05,1793193395786348800
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764,742.967296038,711,674.967296038,654.967296038,628,878,780,800,649,628,650.967296038,0.446717041892,-0.00552286680557,0.0795751574986,0.999999785825,-7.4637031176e-05,-0.000646794059745,-6.66033184296e-05,1793193395803015168
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764,743,711,675,655,628,878,780,800,649,627.452977751,651,0.446649737746,-0.00552101616211,0.0795579135709,0.999999767255,-7.26731465213e-05,-0.000675140359318,-6.62944007962e-05,1793193395819682048
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764,743,711,675,655,628.125308816,878.125308816,780,800,649,627.125308816,650.874691184,0.446578601013,-0.00551905877659,0.0795434849237,0.9999997514,-7.08510250545e-05,-0.000698477085051,-6.56456501015e-05,1793193395836348672
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764,743,711,675,655,628.700264281,878.700264281,780,800,649,627.700264281,650.299735719,0.446498045233,-0.00551719648264,0.0795385815738,0.99999974689,-7.03293359121e-05,-0.000705129655544,-6.37719967479e-05,1793193395853015808
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764,743,711,675,655,628.721062672,879,780,800,649,628,650.278937328,0.446408947545,-0.00551575719425,0.0795375611474,0.99999974487,-6.84979159123e-05,-0.000708438632056,-6.06873253631e-05,1793193395869682688
+280,4.666666667,POSE2_TO_POSE3_RETREAT,764,743,711,675,655,628.138340923,879,780,800,649,628,650.861659077,0.446310547061,-0.00551477859187,0.0795407695267,0.999999745581,-6.52400972865e-05,-0.000708106174565,-5.628376137e-05,1793193395886349056
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764.444735264,743,711,675,655,628,878.555264736,780,800,649,628,651,0.446183110434,-0.00551223787524,0.0795395806333,0.999999741795,-6.03896709849e-05,-0.000714165445591,-5.22552356729e-05,1793193395903015424
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764.972258499,742.972258499,711,675,655,628,878.027741501,780.027741501,800,649,628,651,0.44604511785,-0.00550924959982,0.0795371338655,0.999999736665,-5.51861943018e-05,-0.000722007265621,-4.82758309384e-05,1793193395919682048
+283,4.716666667,POSE2_TO_POSE3_RETREAT,764.392837402,742.392837402,711,675,655,628,878.607162598,780.607162598,800,649,628,651,0.445876964114,-0.00550703183433,0.079536895441,0.999999734343,-5.28214436038e-05,-0.000725727218559,-4.29514492405e-05,1793193395936348928
+284,4.733333333,POSE2_TO_POSE3_RETREAT,764,742.18493063,710.81506937,675,655,628,879,781,800,649,628,651,0.445696808316,-0.0055046086897,0.0795365089448,0.999999732537,-4.85632827296e-05,-0.000728833987082,-3.70071301329e-05,1793193395953015552
+285,4.750000000,POSE2_TO_POSE3_RETREAT,764,742.759218194,710.240781806,675,655,628,879,781,800,649,628,651,0.445491383141,-0.0055017531357,0.0795358106957,0.99999973182,-4.03186955779e-05,-0.000730649743455,-2.97575821193e-05,1793193395969682432
+286,4.766666667,POSE2_TO_POSE3_RETREAT,764,743,710.341038245,674.658961755,655.341038245,628.341038245,878.658961755,781,800,649,628,651,0.445268669284,-0.00549786196638,0.0795394548977,0.999999733652,-2.88983511663e-05,-0.000728968612264,-2.15985824022e-05,1793193395986349312
+287,4.783333333,POSE2_TO_POSE3_RETREAT,764,743,710.928296602,674.071703398,655.928296602,628.928296602,878.071703398,781,800,649,628,651,0.445033473459,-0.00549322311135,0.0795462342285,0.999999737162,-1.51851976327e-05,-0.000724762825743,-1.27829831396e-05,1793193396003016192
+288,4.800000000,POSE2_TO_POSE3_RETREAT,764.508665416,742.491334584,711,674,655.491334584,629,878,781,800,649,628,651,0.444759870087,-0.00548853810611,0.0795498476583,0.999999740228,-4.08432494966e-06,-0.000720770583593,-4.14436292427e-06,1793193396019682560
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,742,711,674.087973811,655.087973811,629,878,781,800,649,628,650.912026189,0.444473190078,-0.00548363998974,0.0795525476366,0.999999742215,1.23560318865e-05,-0.000717913193559,4.22251561224e-06,1793193396036348928
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,742,711,674.66671219,655.66671219,629,878,781,800,649,628,650.33328781,0.444143360501,-0.00547758883082,0.0795526082016,0.999999738021,6.06096368585e-05,-0.000721220927502,1.1210789705e-05,1793193396053015296
+291,4.850000000,POSE2_TO_POSE3_RETREAT,764.756089571,742.243910429,711,675,656,629,878,781,799.756089571,649,628,650.243910429,0.443794561534,-0.00547258564398,0.0795552256504,0.999999736399,8.75197690686e-05,-0.000720666892279,1.34527515115e-05,1793193396069681920
+292,4.866666667,POSE2_TO_POSE3_RETREAT,764.180982665,742.819017335,711,675,656,629,878,781,799.180982665,649,628,650.819017335,0.443420004789,-0.00546900545799,0.0795613149921,0.999999740788,8.54484276104e-05,-0.000714869112626,9.24988020926e-06,1793193396086348800
+293,4.883333333,POSE2_TO_POSE3_RETREAT,764,743,711,674.597577269,656,629.402422731,878,781,799.402422731,648.597577269,628,650.597577269,0.443032745458,-0.00546563765961,0.0795677568781,0.9999997493,8.05690466742e-05,-0.000703413746406,1.08739574654e-05,1793193396103015680
+294,4.900000000,POSE2_TO_POSE3_RETREAT,764,743,711,674.010361204,656,629.989638796,878,781,799.989638796,648.010361204,628,650.010361204,0.442639653084,-0.00546236739013,0.0795743606529,0.999999759508,7.44002083634e-05,-0.000689360404995,1.51737814155e-05,1793193396119682304
+295,4.916666667,POSE2_TO_POSE3_RETREAT,764,742.431042974,711,674,656.568957026,630,878.568957026,781,799.431042974,648.568957026,628,650,0.442198772319,-0.00545815175233,0.0795906848384,0.99999977862,8.66437445973e-05,-0.000659520593842,1.69073854352e-05,1793193396136349440
+296,4.933333333,POSE2_TO_POSE3_RETREAT,764,742.14709174,711,674,657,630,878.85290826,781.14709174,799,649,628,650,0.441737657002,-0.00545391899835,0.0796033045554,0.999999792273,9.52587470257e-05,-0.00063721599723,1.83144158725e-05,1793193396153016320
+297,4.950000000,POSE2_TO_POSE3_RETREAT,764,742.722195307,711,674,657,630,878.277804693,781.722195307,799,649,628,650,0.441220160341,-0.00544968584966,0.0796046368614,0.99999979225,9.2353010996e-05,-0.000637662674491,1.89052962887e-05,1793193396169682944
+298,4.966666667,POSE2_TO_POSE3_RETREAT,764,742.696459345,711,674.303540655,657,630,878,782,799,649,628,650.303540655,0.440666921832,-0.00544488108975,0.0795939233882,0.999999782945,9.62466763551e-05,-0.000651529612843,1.8876524894e-05,1793193396186349312
+299,4.983333333,POSE2_TO_POSE3_RETREAT,764,742.10928143,711,674.89071857,657,630,878,782,799,649,628,650.89071857,0.440080285035,-0.0054395421991,0.0795719539869,0.999999764363,0.000106493900751,-0.000677936835147,1.82687327895e-05,1793193396203015680
+300,5.000000000,POSE2_TO_POSE3_RETREAT,764,742.47104421,711,675,657.47104421,630.47104421,878,782.47104421,799,649,628,650.52895579,0.439482607088,-0.00543591952018,0.0795677655433,0.9999997653,0.000105074218829,-0.000676781333152,1.80430998929e-05,1793193396219682816
+301,5.016666667,POSE2_TO_POSE3_RETREAT,763.950171694,743,711,674.950171694,658,631,878,782.950171694,799,649,628,650,0.438884706148,-0.00543393894221,0.079573403489,0.999999776297,0.000101280875411,-0.000660918524959,1.82923959905e-05,1793193396236350208
+302,5.033333333,POSE2_TO_POSE3_RETREAT,763.371117651,743,711,674.371117651,658,631,878,782.371117651,799,649,628,650,0.438311252236,-0.00544523089625,0.0796402224171,0.99999984023,0.000100612546242,-0.000555791740901,2.26577485414e-05,1793193396253016576
+303,5.050000000,POSE2_TO_POSE3_RETREAT,763.206658605,743,711,674,658.206658605,631,878.206658605,782.206658605,799.206658605,649,628,650.206658605,0.43771622799,-0.00545543891206,0.0797067915438,0.999999891986,9.14238451706e-05,-0.00045499470508,2.54811711212e-05,1793193396269683456
+304,5.066666667,POSE2_TO_POSE3_RETREAT,763.782154277,743,711,674,658.782154277,631,878.782154277,782.782154277,799.782154277,649,628,650.782154277,0.437082705802,-0.00546371235203,0.0797729148294,0.999999931932,6.70282826684e-05,-0.000361925264922,2.55526108433e-05,1793193396286350080
+305,5.083333333,POSE2_TO_POSE3_RETREAT,764,742.633418053,711.366581947,674,659,631,879,783.366581947,799.633418053,649,628,650.633418053,0.436396843595,-0.00545492572445,0.0798088956639,0.999999949574,8.29197760495e-05,-0.000305312794746,2.75764242179e-05,1793193396303016192
+306,5.100000000,POSE2_TO_POSE3_RETREAT,764,742.043549894,711.956450106,674,659,631,879,783.956450106,799.043549894,649,628,650.043549894,0.435679100941,-0.00543574775605,0.0798265166349,0.999999955223,0.0001233502421,-0.000270906382975,3.07894345243e-05,1793193396319682048
+307,5.116666667,POSE2_TO_POSE3_RETREAT,763.465899253,742,711.465899253,673.465899253,659,631.534100747,878.465899253,783.465899253,799.534100747,649,628,650,0.434910060066,-0.00542832914376,0.0798188678355,0.999999951431,0.000128628264761,-0.000282231156667,3.06431789793e-05,1793193396336348672
+308,5.133333333,POSE2_TO_POSE3_RETREAT,763.110394581,742,711,673.110394581,659,632,878.110394581,783,800,648.889605419,628,650.110394581,0.434130589012,-0.00542235128779,0.0798097638893,0.999999946863,0.000131732239793,-0.000296642060842,3.03950046043e-05,1793193396353015296
+309,5.150000000,POSE2_TO_POSE3_RETREAT,763.685077947,742,711,673.685077947,659,632,878.685077947,783,800,648.314922053,628,650.685077947,0.433324449993,-0.00541849040996,0.0798030119495,0.999999942426,0.000137477987322,-0.000308700523933,3.08444158961e-05,1793193396369681920
+310,5.166666667,POSE2_TO_POSE3_RETREAT,764,742.266327628,711.266327628,673.733672372,659,632,878.467344744,783,799.733672372,648.266327628,628.266327628,651,0.432463841957,-0.00541247823954,0.0797774565456,0.999999925007,0.000145762121371,-0.000357460322587,3.10225131485e-05,1793193396386348800
+311,5.183333333,POSE2_TO_POSE3_RETREAT,764,742.85553807,711.85553807,673.14446193,659,632,877.28892386,783,799.14446193,648.85553807,628.85553807,651,0.431537198197,-0.00540385794488,0.0797291047249,0.999999885608,0.00015712367309,-0.000450715055838,3.08716821669e-05,1793193396403015424
+312,5.200000000,POSE2_TO_POSE3_RETREAT,764,743,711.562928246,673.437071754,659,632,877.437071754,783,799,649,629,650.562928246,0.430695503177,-0.00540374885091,0.0797392118467,0.999999892334,0.00016084037983,-0.000434152339417,3.12179654191e-05,1793193396419682048
+313,5.216666667,POSE2_TO_POSE3_RETREAT,764,742.983955914,711,673.983955914,659,632,878,783.016044086,799.016044086,649,628.983955914,650,0.429881377544,-0.00540686135856,0.0797690930335,0.999999913948,0.000161229506428,-0.000380916213527,3.18152267502e-05,1793193396436348928
+314,5.233333333,POSE2_TO_POSE3_RETREAT,764,742.407351519,711,673.407351519,659,632,878,783.592648481,799.592648481,649,628.407351519,650,0.429066431965,-0.00542594150709,0.0798264221588,0.999999947821,0.000132116230886,-0.000292642631142,3.55397476837e-05,1793193396453015552
+315,5.250000000,POSE2_TO_POSE3_RETREAT,764,742.168821437,711,673,659,632,878,784,799.831178563,649,628,650.168821437,0.428226469635,-0.00544078123456,0.0798613411803,0.99999996509,0.000111385635085,-0.000236573832883,3.80166531641e-05,1793193396469682176
+316,5.266666667,POSE2_TO_POSE3_RETREAT,764,742.743955988,711,673,659,632,878,784,799.256044012,649,628,650.743955988,0.427326297976,-0.00544541527419,0.0798423243994,0.99999995987,0.000110830163084,-0.000258014313699,3.74908448806e-05,1793193396486348800
+317,5.283333333,POSE2_TO_POSE3_RETREAT,763.673034213,742.673034213,711.326965787,673,659,632,878,783.673034213,799.326965787,648.673034213,628,651,0.426398110924,-0.00543930014395,0.0798097994286,0.999999946059,0.000116533396244,-0.000305094739135,3.49063986933e-05,1793193396503015424
+318,5.300000000,POSE2_TO_POSE3_RETREAT,763.083705203,742.083705203,711.916294797,673,659,632,878,783.083705203,799.916294797,648.083705203,628,651,0.42544744386,-0.00542455968639,0.0797664352445,0.999999921961,0.000127258726549,-0.000372749114901,3.06700643586e-05,1793193396519682048
+319,5.316666667,POSE2_TO_POSE3_RETREAT,763,742,711.501487406,673,659,632,878,783.498512594,799.501487406,648.498512594,628,650.501487406,0.424488750248,-0.00541556954021,0.079744229437,0.999999905964,0.000135492613316,-0.000410889113535,2.9733840032e-05,1793193396536348672
+320,5.333333333,POSE2_TO_POSE3_RETREAT,763.078613991,742,711,673,659,632,878,783.921386009,799,649,628.078613991,650,0.423540969043,-0.00540815608757,0.0797298247236,0.999999894246,0.000144392899968,-0.000435630465161,2.97611821023e-05,1793193396553015552
+321,5.350000000,POSE2_TO_POSE3_RETREAT,763.652794915,742,711,673,659,632,878,783.347205085,799,649,628.652794915,650,0.42267035428,-0.00540468086732,0.0797425160179,0.999999903953,0.000160094066245,-0.000406710134644,3.24187129574e-05,1793193396569682432
+322,5.366666667,POSE2_TO_POSE3_RETREAT,764,742.228164108,711,673,659,632.228164108,877.771835892,783,799,649,628.771835892,650,0.421825741505,-0.00540288569018,0.0797769177726,0.999999925918,0.00016931029417,-0.000343867625832,3.53888091844e-05,1793193396586349056
+323,5.383333333,POSE2_TO_POSE3_RETREAT,764,742.805351084,711,673,659,632.805351084,877.194648916,783,799,649,628.194648916,650,0.421020903865,-0.00540366047614,0.0798445300429,0.99999995878,0.000168606506348,-0.000229134319027,3.88370371111e-05,1793193396603015424
+324,5.400000000,POSE2_TO_POSE3_RETREAT,764,742.607857047,711,673,659,632.607857047,877,783.392142953,799.784285905,649,628.392142953,650,0.420148282005,-0.00540212100334,0.0798652055059,0.999999965015,0.000171658216993,-0.000197210448315,4.014505097e-05,1793193396619682048
+325,5.416666667,POSE2_TO_POSE3_RETREAT,764,742.016177905,711,673,659,632.016177905,877,783.983822095,800.96764419,649,628.983822095,650,0.419241169186,-0.00539940395387,0.079861997859,0.999999962076,0.000176620858728,-0.000207422952251,4.03640482609e-05,1793193396636348672
+326,5.433333333,POSE2_TO_POSE3_RETREAT,763.439730925,742,711.560269075,672.439730925,659,632,877,783.439730925,799.87946185,649,629,650.560269075,0.418324434938,-0.00539254890143,0.0798200985737,0.999999943738,0.000185361198508,-0.000277118748481,3.70162988672e-05,1793193396653015296
+327,5.450000000,POSE2_TO_POSE3_RETREAT,763.135852457,742,711.864147543,672,659,632,877,783.135852457,799.135852457,649,628.864147543,650.864147543,0.41742535704,-0.00538641011491,0.079791405348,0.999999926903,0.000193183964339,-0.000328139302255,3.46106872487e-05,1793193396669681920
+328,5.466666667,POSE2_TO_POSE3_RETREAT,763.710030973,742,711.289969027,672,659,632,877,783.710030973,799.710030973,649,628.289969027,650.289969027,0.416584119824,-0.00538295766639,0.0798088306121,0.99999993068,0.000197703556742,-0.000313509330234,3.55683735807e-05,1793193396686348544
+329,5.483333333,POSE2_TO_POSE3_RETREAT,764,742.29227328,711,672,658.70772672,632.29227328,877,784,799.70772672,648.70772672,628.29227328,650.29227328,0.41574120168,-0.0053810968553,0.0798044161189,0.999999925718,0.00019852027119,-0.000328511661785,3.51313292707e-05,1793193396703015168
+330,5.500000000,POSE2_TO_POSE3_RETREAT,764,742.882742755,711,672,658.117257245,632.882742755,877,784,799.117257245,648.117257245,628.882742755,650.882742755,0.414896568597,-0.00538085993637,0.0797777192849,0.999999910481,0.000195559068333,-0.000373746795848,3.32712900027e-05,1793193396719681792
+331,5.516666667,POSE2_TO_POSE3_RETREAT,764,743,711.464358027,672.464358027,658.464358027,632.535641973,877,784,799.464358027,648.464358027,629,650.535641973,0.414105901092,-0.00538063763562,0.0797815482243,0.999999917367,0.000194109426393,-0.000355792549621,3.16209457972e-05,1793193396736348416
+332,5.533333333,POSE2_TO_POSE3_RETREAT,764,743,711.95656176,673,659,632,877,783.95656176,799.95656176,649,628.95656176,650,0.413331164547,-0.00538021947936,0.0797928115455,0.99999992846,0.000193545960392,-0.000323596283373,3.00917961186e-05,1793193396753015040
+333,5.550000000,POSE2_TO_POSE3_RETREAT,764,743,711.381655163,673,659,632,877,783.381655163,799.381655163,649,628.381655163,650,0.412587736099,-0.00537736070638,0.079802489212,0.999999932065,0.00019924226236,-0.000308720878792,2.9409730895e-05,1793193396769681664
+334,5.566666667,POSE2_TO_POSE3_RETREAT,764,742.807443877,711.192556123,672.807443877,659,632,877,783.192556123,799,649,628.192556123,650,0.411843618803,-0.00537587941025,0.0798052140672,0.999999931929,0.00020168403874,-0.000307576955391,2.93615546689e-05,1793193396786348544
+335,5.583333333,POSE2_TO_POSE3_RETREAT,764,742.234605667,711.765394333,672.234605667,659,632,877,783.765394333,799,649,628.765394333,650,0.411098140954,-0.00537711851408,0.0797942077089,0.999999924362,0.000197698402867,-0.000333551545328,3.05652555719e-05,1793193396803015424
+336,5.600000000,POSE2_TO_POSE3_RETREAT,764,742,712,672.349939198,659,632,877,783.650060802,799,648.650060802,629,650,0.410401159747,-0.00537663388503,0.0797931908329,0.999999922789,0.000198415680167,-0.000337762459887,3.11545305993e-05,1793193396819682304
+337,5.616666667,POSE2_TO_POSE3_RETREAT,764,742,712,672.942604025,659,632,877,783.057395975,799,648.057395975,629,650,0.409737816937,-0.00537495363636,0.0797991028852,0.999999925603,0.000202395003166,-0.00032687760256,3.13176260773e-05,1793193396836348672
+338,5.633333333,POSE2_TO_POSE3_RETREAT,763.480042561,742,711.480042561,673,659,632,877,783.519957439,799,648.519957439,629,650.519957439,0.409112656429,-0.00537450055137,0.0798271273932,0.999999939265,0.000205708041658,-0.000279424641998,3.28026736023e-05,1793193396853015552
+339,5.650000000,POSE2_TO_POSE3_RETREAT,763.096134119,742.096134119,711,672.903865881,659,632.096134119,877,783.903865881,799,648.903865881,629,650.903865881,0.408490474683,-0.00537398413039,0.0798487925927,0.999999947904,0.000208918494742,-0.00024367422222,3.41800230183e-05,1793193396869682176
+340,5.666666667,POSE2_TO_POSE3_RETREAT,763.67464444,742.67464444,711,672.32535556,659,632.67464444,877,783.32535556,799,648.32535556,629,650.32535556,0.407862695859,-0.00537248963773,0.079826650948,0.999999935956,0.000211972693173,-0.000286319385831,3.43057030339e-05,1793193396886349056
+341,5.683333333,POSE2_TO_POSE3_RETREAT,764.250975852,743,711.250975852,672,659,632.749024148,877,783,799,648,629,650.250975852,0.407257854023,-0.00537203366822,0.0798005775333,0.999999921469,0.000214122811232,-0.000331767542585,3.38304279303e-05,1793193396903015936
+342,5.700000000,POSE2_TO_POSE3_RETREAT,764.824506875,743,711.824506875,672,659,632.175493125,877,783,799,648,629,650.824506875,0.406682490946,-0.00537291241294,0.0797694509935,0.999999903822,0.000215111001354,-0.000380818114076,3.25828028901e-05,1793193396919682560
+343,5.716666667,POSE2_TO_POSE3_RETREAT,764.177620904,742.588810452,712,672.411189548,659,632,877,783,799.411189548,648.411189548,629,651,0.406180245105,-0.00537278404789,0.0797667895626,0.999999903983,0.000219265771129,-0.000378134045781,3.11717179658e-05,1793193396936349184
+344,5.733333333,POSE2_TO_POSE3_RETREAT,763,742,711.996411557,672.996411557,658.996411557,632,877,783,799.996411557,648.996411557,628.996411557,650.996411557,0.405710417365,-0.00537223472746,0.0797767611273,0.999999912154,0.000224735320857,-0.000352565896267,2.97099678611e-05,1793193396953015552
+345,5.750000000,POSE2_TO_POSE3_RETREAT,763,742,711.41721941,672.41721941,658.41721941,632,877,783,799.41721941,648.41721941,628.41721941,650.41721941,0.40526963582,-0.00537538672397,0.0798000231539,0.999999926293,0.000217155721096,-0.000315046264328,3.16814712754e-05,1793193396969682432
+346,5.766666667,POSE2_TO_POSE3_RETREAT,763.160666681,742,711.160666681,672.160666681,658.160666681,632,877,783.160666681,799,648.160666681,628,650.160666681,0.404841169596,-0.00537786252373,0.0798200079102,0.999999936512,0.000212247389722,-0.000284275445098,3.33722421004e-05,1793193396986349056
+347,5.783333333,POSE2_TO_POSE3_RETREAT,763.735188674,742,711.735188674,672.735188674,658.735188674,632,877,783.735188674,799,648.735188674,628,650.735188674,0.40444442585,-0.00537859653416,0.0798315508734,0.999999939775,0.000214219878041,-0.000270888633822,3.43398848385e-05,1793193397003015424
+348,5.800000000,POSE2_TO_POSE3_RETREAT,764,742,712,673,659,632.31843755,877.31843755,784,799,648.68156245,628,651,0.404062531733,-0.00537855540023,0.0798336156033,0.999999938663,0.000215983073541,-0.000273559814137,3.45094587554e-05,1793193397019682048
+349,5.816666667,POSE2_TO_POSE3_RETREAT,764,742,712,673,659,632.90914812,877.90914812,784,799,648.09085188,628,651,0.403693334487,-0.00537785149615,0.0798275761777,0.999999933716,0.000217567317682,-0.000289961027632,3.39966614245e-05,1793193397036348672
+350,5.833333333,POSE2_TO_POSE3_RETREAT,764,742,712,672.509968357,658.509968357,633,878,783.509968357,799,648.490031643,628.490031643,650.509968357,0.403365169204,-0.0053793147821,0.0798273152009,0.999999931761,0.000219293743647,-0.00029523818662,3.49531969588e-05,1793193397053015296
+351,5.850000000,POSE2_TO_POSE3_RETREAT,764,742.068648509,712,672,658,632.931351491,877.931351491,783.068648509,799,649,629,650.068648509,0.40304970552,-0.0053809655267,0.0798280221822,0.999999930371,0.000220978762216,-0.00029853805496,3.60763247997e-05,1793193397069681920
+352,5.866666667,POSE2_TO_POSE3_RETREAT,764,742.643720411,712,672,658,632.356279589,877.356279589,783.643720411,799,649,629,650.643720411,0.402772925815,-0.00538109335894,0.0798281219993,0.999999929004,0.000222167676696,-0.000302166668947,3.64583065859e-05,1793193397086348544
+353,5.883333333,POSE2_TO_POSE3_RETREAT,763.780948746,742.780948746,712,672,658.219051254,632,877.219051254,784,799,649,629,651,0.40252123917,-0.00538145005779,0.0798295989786,0.999999929525,0.000222792162738,-0.000300012844151,3.61492952211e-05,1793193397103015168
+354,5.900000000,POSE2_TO_POSE3_RETREAT,763.205196302,742.205196302,712,672,658.794803698,632,877.794803698,784,799,649,629,651,0.402310413875,-0.00538217944103,0.0798333185171,0.999999933045,0.000222497538202,-0.000288442945087,3.47150764753e-05,1793193397119681792
+355,5.916666667,POSE2_TO_POSE3_RETREAT,763.37968775,742,712,671.62031225,658.62031225,632,877.62031225,784,799,649,629,651,0.402120428703,-0.00538226000171,0.079836455595,0.999999935568,0.000219491274447,-0.000281917439865,3.47891435211e-05,1793193397136348672
+356,5.933333333,POSE2_TO_POSE3_RETREAT,763.969628505,742,712,671.030371495,658.030371495,632,877.030371495,784,799,649,629,651,0.401941983778,-0.0053819812754,0.0798392701342,0.99999993756,0.00021498343393,-0.000278185278791,3.56984273188e-05,1793193397153015296
+357,5.950000000,POSE2_TO_POSE3_RETREAT,764,742,712,671.545831802,658.545831802,632,877,784,799,648.454168198,628.454168198,651,0.401787724726,-0.00538310712268,0.0798402434379,0.999999938453,0.000211339058614,-0.000277604902926,3.69518607339e-05,1793193397169681920
+358,5.966666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,658.878669759,632,877,784,799,648.121330241,628,651,0.401640428168,-0.00538391910588,0.0798400767959,0.999999938881,0.000207880292179,-0.0002785623255,3.77648995126e-05,1793193397186348544
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,658.303018515,632,877,784,799,648.696981485,628,651,0.40151428712,-0.0053832703621,0.079836015838,0.999999937811,0.000204941047636,-0.000284637468941,3.68589367697e-05,1793193397203015168
+360,6.000000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,658,632,877,783.720703455,799,649,628.279296545,651,0.401401192019,-0.00538411931954,0.0798316961285,0.999999937231,0.000198662602461,-0.000291426367333,3.37954805405e-05,1793193397219682048
+361,6.016666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,658,632,877,783.130981913,799,649,628.869018087,651,0.401302596883,-0.00538663290161,0.0798270888289,0.999999937097,0.000188672792702,-0.00029900857045,2.83340716378e-05,1793193397236348672
+362,6.033333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,658,632,877,783.45070442,799,649,629,650.54929558,0.401224930027,-0.00538796524037,0.079824503764,0.999999930463,0.000214593266016,-0.00030371115193,2.80002459084e-05,1793193397253015296
+363,6.050000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,658.029893923,632.029893923,877,784,799,649,629,650,0.401154368382,-0.0053889102142,0.0798224297071,0.999999921333,0.000248728500687,-0.000307606224024,2.91099652338e-05,1793193397269681920
+364,6.066666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,658.605386396,632.605386396,877,784,799,649,629,650,0.401104424158,-0.00538894099344,0.0798191439203,0.999999920781,0.000245657968668,-0.000311769528469,2.98453312153e-05,1793193397286348544
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764,742,712,671.819098748,658.819098748,632.819098748,877,784,799,648.819098748,629,650,0.401060658093,-0.00538939802732,0.0798171166579,0.999999921045,0.000241477199255,-0.000314129107884,3.03615535839e-05,1793193397303015168
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764,742,712,671.243535131,658.243535131,632.243535131,877,784,799,648.243535131,629,650,0.401030370585,-0.00539078499759,0.0798178350498,0.99999992311,0.000234874286081,-0.000312553598567,3.0399682228e-05,1793193397319682048
+367,6.116666667,POSE2_TO_POSE3_RETREAT,764.340351349,742,711.659648651,671.680702698,658.340351349,632.340351349,877,784,799,648.340351349,629,650.340351349,0.401004995429,-0.00539190332256,0.0798175873775,0.999999923782,0.000231669255795,-0.000312778609207,3.05601996983e-05,1793193397336348672
+368,6.133333333,POSE2_TO_POSE3_RETREAT,764.930342517,742,711.069657483,672.860685034,658.930342517,632.930342517,877,784,799,648.930342517,629,650.930342517,0.400983223367,-0.00539282460258,0.0798166311195,0.999999923455,0.000230956493104,-0.000314324259312,3.08104865381e-05,1793193397353015296
+369,6.150000000,POSE2_TO_POSE3_RETREAT,764.486528192,742,711.513471808,672.486528192,658.486528192,632.486528192,877.513471808,784,799,649,629,651,0.400973384114,-0.0053925203786,0.0798184672248,0.999999924247,0.000231474875493,-0.000311380667386,3.10987650232e-05,1793193397369681920
+370,6.166666667,POSE2_TO_POSE3_RETREAT,763.905735893,742.094264107,712,672,658,632.094264107,878,784,799,648.905735893,629,651,0.400965962321,-0.00539222579186,0.0798203318984,0.999999925098,0.000231786784837,-0.000308379352053,3.13091535845e-05,1793193397386348288
+371,6.183333333,POSE2_TO_POSE3_RETREAT,763.332155624,742.667844376,712,672,658,632.667844376,878,784,799,648.332155624,629,651,0.400962710112,-0.0053928144203,0.0798204410502,0.999999925543,0.000230210764195,-0.000308140390083,3.10976246319e-05,1793193397403014912
+372,6.200000000,POSE2_TO_POSE3_RETREAT,763.24244374,742.75755626,711.75755626,672,658,632.75755626,878,784,799.24244374,648.24244374,629,650.75755626,0.400960584672,-0.00539400000438,0.0798210384807,0.99999992655,0.00022771830067,-0.000306732893651,3.09754453201e-05,1793193397419681536
+373,6.216666667,POSE2_TO_POSE3_RETREAT,763.818445153,742.181554847,711.181554847,672,658,632.181554847,878,784,799.818445153,648.818445153,629,650.181554847,0.400960009459,-0.0053960068888,0.0798223076924,0.999999928318,0.000223964981595,-0.000303717710275,3.0976194575e-05,1793193397436348160
+374,6.233333333,POSE2_TO_POSE3_RETREAT,764,742.405263589,711.405263589,672,658,632,877.594736411,783.594736411,799.594736411,649,628.594736411,650.405263589,0.400958353346,-0.00539632514718,0.0798233295503,0.999999928295,0.000225223638534,-0.000302857425507,3.10225221619e-05,1793193397453015040
+375,6.250000000,POSE2_TO_POSE3_RETREAT,764,742.997060839,711.997060839,672,658,632,877.002939161,783.002939161,799.002939161,649,628.002939161,650.997060839,0.400956199719,-0.00539586616916,0.079824237557,0.999999927443,0.000228789194736,-0.000302988991897,3.10898284237e-05,1793193397469681920
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764,742.42585477,712,672,658,632.57414523,877.57414523,783.57414523,798.42585477,649,628.57414523,650.42585477,0.400956797895,-0.00539535782932,0.0798245185097,0.999999928263,0.000227472520472,-0.000301274868824,3.10494443477e-05,1793193397486348544
+377,6.283333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,658,633,878,784,798.150678994,649,629,650.150678994,0.40095705911,-0.00539584883127,0.079824666485,0.999999929133,0.000225218285626,-0.000300079452091,3.1035549662e-05,1793193397503015168
+378,6.300000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,658,633,878,784,798.725868263,649,629,650.725868263,0.400956332298,-0.00539915598859,0.0798244486381,0.999999930119,0.000220391301081,-0.000300371349255,3.10977983004e-05,1793193397519681792
+379,6.316666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,658,633,877.691848535,784,799,648.691848535,629,650.691848535,0.400956236507,-0.00540698593627,0.0798248165687,0.999999932034,0.000211842709639,-0.000300014838891,3.23484591243e-05,1793193397536348416
+380,6.333333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,658,633,877.103105796,784,799,648.103105796,629,650.103105796,0.4009567153,-0.00541893416921,0.0798257178866,0.999999934697,0.000199905360645,-0.000299067912727,3.46812439368e-05,1793193397553015040
+381,6.350000000,POSE2_TO_POSE3_RETREAT,763.52213475,742,712,672,658,632.52213475,877.9557305,784,799.47786525,648.47786525,629,650.47786525,0.400956243,-0.00543296366351,0.0798257717324,0.999999938221,0.000181255632013,-0.000298993771661,3.61603788184e-05,1793193397569681664
+382,6.366666667,POSE2_TO_POSE3_RETREAT,763.056797934,742,712,672,658,632,878.886404133,784,799.943202066,649,628.943202066,651,0.400955704303,-0.00544499564826,0.0798257129468,0.999999941115,0.000164378854996,-0.000298939808104,3.72133019333e-05,1793193397586348288
+383,6.383333333,POSE2_TO_POSE3_RETREAT,763.632185161,742,712,672,658,632,877.735629678,784,799.367814839,649,628.367814839,651,0.400956403039,-0.00543475503665,0.0798262685992,0.999999939522,0.00017670171379,-0.000297378194181,3.60295185215e-05,1793193397603015936
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,658,632.206982389,877,784,799,649,628.206982389,651,0.400956322187,-0.0054302796401,0.079826437513,0.999999938607,0.000182700414125,-0.000296880856315,3.56173489519e-05,1793193397619683328
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,658,632.780734114,877,784,799,649,628.780734114,651,0.400954859917,-0.00543602010895,0.0798259211326,0.999999939097,0.000177492810597,-0.000298269398003,3.65724663012e-05,1793193397636349696
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,658,633,877,784,799.354492134,648.645507866,629,651,0.400954472359,-0.00543576115679,0.0798256066136,0.999999938976,0.000177996946469,-0.000298387209607,3.64808835133e-05,1793193397653015808
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,658,633,877,784,799.928254026,648.071745974,629,651,0.400954749561,-0.00543179128541,0.0798254169552,0.999999938475,0.000182034057172,-0.000297719015908,3.57418683095e-05,1793193397669681920
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764.522358291,742,712,672,658,633,877,784,799.477641709,648.522358291,629,651,0.400954494686,-0.00543174582888,0.0798260125839,0.999999938482,0.000182246153102,-0.000297547408295,3.5879638997e-05,1793193397686348800
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764.885607647,742.114392353,712,672,658,632.885607647,877.114392353,784,799,649,629,651,0.400954019908,-0.00543282192233,0.0798264167523,0.999999938546,0.000181477587331,-0.00029777307274,3.61255502561e-05,1793193397703015680
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764.313490314,742.686509686,712,672,658,632.313490314,877.686509686,784,799,649,629,651,0.400952969489,-0.0054361415355,0.0798256057466,0.999999938534,0.000178972403801,-0.000299304389341,3.63027743828e-05,1793193397719683072
+391,6.516666667,POSE2_TO_POSE3_RETREAT,764,742.73300826,712,672.26699174,658.26699174,632,878,783.73300826,799,649,629,651,0.400953162019,-0.00543629457609,0.0798256336963,0.999999938477,0.000179321890066,-0.000299301989329,3.61544575026e-05,1793193397736349952
+392,6.533333333,POSE2_TO_POSE3_RETREAT,764,742.142386976,712,672.857613024,658.857613024,632,878,783.142386976,799,649,629,651,0.400954861168,-0.00543260930948,0.0798266785718,0.999999938362,0.000183131615942,-0.000297440520741,3.56115415931e-05,1793193397753016320
+393,6.550000000,POSE2_TO_POSE3_RETREAT,764,742,712,672.557869051,658.557869051,632.442130949,877.557869051,783.442130949,799,649,628.557869051,651,0.400955926291,-0.00543325331672,0.0798271026014,0.999999938738,0.000182333917208,-0.000296634929254,3.58486130025e-05,1793193397769682688
+394,6.566666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,658.024334482,632.975665518,877.024334482,784,799,649,628.024334482,651,0.400956712718,-0.00543516295848,0.0798273142239,0.99999993924,0.000180200518823,-0.00029619155933,3.63073285118e-05,1793193397786348800
+395,6.583333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,658.598059341,632.401940659,877.598059341,784,799,649,628.598059341,651,0.400955754218,-0.00543459795764,0.0798271829503,0.999999939061,0.000180954751797,-0.000296353458964,3.61761587108e-05,1793193397803015424
+396,6.600000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632,877.828481043,783.828481043,799,649,629,651,0.40095518331,-0.0054340396114,0.0798271251193,0.999999938976,0.000181405527416,-0.000296382295074,3.60100146295e-05,1793193397819682048
+397,6.616666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632,877.25564208,783.25564208,799,649,629,651,0.400955519292,-0.0054334968356,0.0798272391291,0.999999939116,0.000181146273559,-0.000296099789183,3.57620377443e-05,1793193397836348672
+398,6.633333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,658.670652164,632,877,783.329347836,799,649,629,651,0.400955092381,-0.00543372533493,0.079826831755,0.999999939054,0.000180311274891,-0.000296811566416,3.58150157426e-05,1793193397853015296
+399,6.650000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,658.07586932,632,877,783.92413068,799,649,629,651,0.400954050623,-0.00543457543673,0.079826004176,0.999999938827,0.000179012259743,-0.000298324677447,3.61105457076e-05,1793193397869682176
+400,6.666666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,658.505433286,632.505433286,877,784,799,649,629,650.494566714,0.40095590476,-0.00543306128355,0.0798269866694,0.999999939139,0.000181497184112,-0.00029578719092,3.59139684254e-05,1793193397886349056
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_04/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_04/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..31b019dd7e27cd8dab359b12d8f1746096bd9416
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_04/depth_04/simulation_data.csv
@@ -0,0 +1,402 @@
+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,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+1,0.016666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+2,0.033333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+3,0.050000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+4,0.066666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+5,0.083333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+6,0.100000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+7,0.116666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+8,0.133333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+9,0.150000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+10,0.166666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+11,0.183333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+12,0.200000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+13,0.216666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+14,0.233333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+15,0.250000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+16,0.266666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+17,0.283333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+18,0.300000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+19,0.316666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+20,0.333333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+21,0.350000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+22,0.366666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+23,0.383333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+24,0.400000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+25,0.416666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+26,0.433333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+27,0.450000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+28,0.466666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+29,0.483333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+30,0.500000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+31,0.516666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+32,0.533333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+33,0.550000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+34,0.566666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+35,0.583333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+36,0.600000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+37,0.616666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+38,0.633333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+39,0.650000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+40,0.666666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+41,0.683333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+42,0.700000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+43,0.716666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+44,0.733333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+45,0.750000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+46,0.766666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+47,0.783333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+48,0.800000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+49,0.816666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+50,0.833333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+51,0.850000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+52,0.866666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+53,0.883333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+54,0.900000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+55,0.916666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+56,0.933333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+57,0.950000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+58,0.966666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+59,0.983333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+60,1.000000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+61,1.016666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+62,1.033333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+63,1.050000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+64,1.066666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+65,1.083333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+66,1.100000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+67,1.116666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+68,1.133333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+69,1.150000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+70,1.166666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+71,1.183333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+72,1.200000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+73,1.216666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+74,1.233333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+75,1.250000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+76,1.266666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+77,1.283333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+78,1.300000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+79,1.316666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+80,1.333333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+81,1.350000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+82,1.366666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+83,1.383333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+84,1.400000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+85,1.416666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+86,1.433333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+87,1.450000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+88,1.466666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+89,1.483333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+90,1.500000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+91,1.516666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+92,1.533333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+93,1.550000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+94,1.566666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+95,1.583333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+96,1.600000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+97,1.616666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+98,1.633333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+99,1.650000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+100,1.666666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+101,1.683333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+102,1.700000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+103,1.716666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+104,1.733333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+105,1.750000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+106,1.766666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+107,1.783333333,pose1_to_pose2_press,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+108,1.800000000,pose1_to_pose2_press,0.575709253679,5.45965917592e-05,1.07002917312,0.546279983631,0.00872732484355,1.0696984573
+109,1.816666667,pose1_to_pose2_press,0.575709276809,5.45659863804e-05,1.07002909825,0.546280007025,0.00872729521475,1.06969838456
+110,1.833333333,pose1_to_pose2_press,0.575709343991,5.45380287708e-05,1.07002903385,0.546280074467,0.0087272681999,1.0696983217
+111,1.850000000,pose1_to_pose2_press,0.575709569156,5.45523179348e-05,1.0700290893,0.54628029961,0.00872728229272,1.06969837402
+112,1.866666667,pose1_to_pose2_press,0.57571000662,5.45805367172e-05,1.0700291932,0.54628073702,0.00872731011474,1.06969847229
+113,1.883333333,pose1_to_pose2_press,0.575711400704,5.4680646047e-05,1.07002925977,0.546282130385,0.00872740815936,1.06969854866
+114,1.900000000,pose1_to_pose2_press,0.575715128595,5.46155842936e-05,1.07002927918,0.546285858227,0.00872734255996,1.06969855832
+115,1.916666667,pose1_to_pose2_press,0.575723085314,5.45860341899e-05,1.07002910866,0.546293815679,0.00872731566395,1.06969839216
+116,1.933333333,pose1_to_pose2_press,0.57573899708,5.45506646657e-05,1.0700291574,0.546309727209,0.00872727967642,1.06969844567
+117,1.950000000,pose1_to_pose2_press,0.575765008451,5.4687578455e-05,1.07002915645,0.546335737284,0.00872741210035,1.06969844217
+118,1.966666667,pose1_to_pose2_press,0.575802604877,5.46894371408e-05,1.07002915409,0.546373334289,0.00872741603639,1.06969844274
+119,1.983333333,pose1_to_pose2_press,0.575851281881,5.45261948599e-05,1.07002915973,0.546422012812,0.00872725788088,1.06969844653
+120,2.000000000,pose1_to_pose2_press,0.575910925633,5.46032875297e-05,1.07002924001,0.546481655816,0.00872733247256,1.0696985277
+121,2.016666667,pose1_to_pose2_press,0.57597990738,5.46756680072e-05,1.07002928556,0.546550636033,0.00872739967493,1.06969857354
+122,2.033333333,pose1_to_pose2_press,0.576057966264,5.45666829061e-05,1.07002913475,0.546628696335,0.00872729566176,1.0696984269
+123,2.050000000,pose1_to_pose2_press,0.576148318806,5.46298722501e-05,1.0700291227,0.546719048709,0.00872735836697,1.06969841704
+124,2.066666667,pose1_to_pose2_press,0.57625214823,5.46586263822e-05,1.07002913295,0.546822876647,0.00872738200348,1.06969842526
+125,2.083333333,pose1_to_pose2_press,0.576371884913,5.44984550985e-05,1.07002908004,0.546942615199,0.00872722812479,1.06969837094
+126,2.100000000,pose1_to_pose2_press,0.576507719957,5.44833043261e-05,1.07002900636,0.547078451239,0.00872721647005,1.06969830036
+127,2.116666667,pose1_to_pose2_press,0.576662472787,5.45393799986e-05,1.07002908675,0.547233203381,0.00872727000248,1.06969837522
+128,2.133333333,pose1_to_pose2_press,0.576832414698,5.44502059082e-05,1.07002930336,0.547403146749,0.00872718537838,1.06969858142
+129,2.150000000,pose1_to_pose2_press,0.577017112369,5.45302462385e-05,1.07002932526,0.547587844132,0.00872726446067,1.06969860385
+130,2.166666667,pose1_to_pose2_press,0.577219985708,5.45429373022e-05,1.07002917181,0.547790716863,0.00872727527318,1.06969845504
+131,2.183333333,pose1_to_pose2_press,0.577441251575,5.44582611617e-05,1.07002910466,0.548011984313,0.00872719622535,1.06969839467
+132,2.200000000,pose1_to_pose2_press,0.577683904795,5.45758685625e-05,1.07002902822,0.548254635851,0.00872730843261,1.06969832628
+133,2.216666667,pose1_to_pose2_press,0.577949274664,5.45551172785e-05,1.07002923042,0.548520004786,0.00872728398311,1.06969851455
+134,2.233333333,pose1_to_pose2_press,0.578239932504,5.465199179e-05,1.07002938278,0.548810661051,0.00872737529192,1.06969866103
+135,2.250000000,pose1_to_pose2_press,0.578556407109,5.46328343944e-05,1.0700291593,0.549127136524,0.00872735941591,1.06969844622
+136,2.266666667,pose1_to_pose2_press,0.578899729705,5.47146342075e-05,1.07002913023,0.549470458841,0.00872744050644,1.06969842334
+137,2.283333333,pose1_to_pose2_press,0.579271979762,5.45668712992e-05,1.07002909108,0.549842710906,0.00872729965338,1.06969838673
+138,2.300000000,pose1_to_pose2_press,0.579671065407,5.45689534843e-05,1.07002899937,0.550241795427,0.00872729788109,1.06969829385
+139,2.316666667,pose1_to_pose2_press,0.580095510233,5.44696150485e-05,1.0700290672,0.550666241763,0.00872720357931,1.06969835935
+140,2.333333333,pose1_to_pose2_press,0.580540082282,5.4492907281e-05,1.07002925076,0.551110813874,0.00872722682654,1.06969853613
+141,2.350000000,pose1_to_pose2_press,0.581004040712,5.46105269878e-05,1.07002914772,0.551574772193,0.00872734419115,1.06969843626
+142,2.366666667,pose1_to_pose2_press,0.581484498812,5.45666771545e-05,1.07002909417,0.55205522962,0.00872729815356,1.06969838516
+143,2.383333333,pose1_to_pose2_press,0.58198348277,5.46507117294e-05,1.07002889778,0.552554212562,0.0087273789618,1.06969819457
+144,2.400000000,pose1_to_pose2_press,0.582513049084,5.45192796359e-05,1.07002903543,0.55308377974,0.0087272502976,1.06969832782
+145,2.416666667,pose1_to_pose2_press,0.583073945706,5.44930854659e-05,1.07002914656,0.5536446776,0.00872722826245,1.06969843781
+146,2.433333333,pose1_to_pose2_press,0.583670416732,5.45482159686e-05,1.07002914542,0.554241146334,0.0087272754328,1.06969843191
+147,2.450000000,pose1_to_pose2_press,0.584296081327,5.46213644827e-05,1.07002900109,0.554866809887,0.0087273454125,1.06969829708
+148,2.466666667,pose1_to_pose2_press,0.584948118184,5.46015346604e-05,1.07002905642,0.55551884787,0.00872732907393,1.06969834377
+149,2.483333333,pose1_to_pose2_press,0.585611721868,5.47509404036e-05,1.07002921858,0.556182449971,0.00872747321123,1.06969850858
+150,2.500000000,pose1_to_pose2_press,0.586285530955,5.46554352672e-05,1.07002943827,0.556856260819,0.00872738356731,1.0696987252
+151,2.516666667,pose1_to_pose2_press,0.586973669621,5.45208752069e-05,1.07002913733,0.55754440156,0.00872725613311,1.06969842653
+152,2.533333333,pose1_to_pose2_press,0.587678681652,5.45036228461e-05,1.07002916787,0.558249413236,0.00872723745979,1.06969845133
+153,2.550000000,pose1_to_pose2_press,0.58840355298,5.45252790603e-05,1.0700291398,0.558974284655,0.00872725973758,1.06969843148
+154,2.566666667,pose1_to_pose2_press,0.589146523746,5.4649660918e-05,1.07002927778,0.559717253071,0.00872737576707,1.0696985596
+155,2.583333333,pose1_to_pose2_press,0.589904573549,5.46219320155e-05,1.07002910398,0.560475303197,0.0087273495378,1.06969839635
+156,2.600000000,pose1_to_pose2_press,0.590681115123,5.44651389135e-05,1.07002890204,0.561251847273,0.00872720139977,1.06969819871
+157,2.616666667,pose1_to_pose2_press,0.591475633515,5.45347646446e-05,1.07002913056,0.562046363872,0.00872726492787,1.0696984269
+158,2.633333333,pose1_to_pose2_press,0.592290053717,5.46147630413e-05,1.07002924561,0.56286078394,0.00872734424051,1.06969853585
+159,2.650000000,pose1_to_pose2_press,0.593119095721,5.46389938893e-05,1.07002914398,0.563689825565,0.00872736737006,1.06969843915
+160,2.666666667,pose1_to_pose2_press,0.593957831475,5.46454238679e-05,1.07002921018,0.56452856096,0.00872737249153,1.06969850297
+161,2.683333333,pose1_to_pose2_press,0.594799768359,5.44575767562e-05,1.07002900366,0.565370499683,0.00872719108029,1.06969830161
+162,2.700000000,pose1_to_pose2_press,0.595644295159,5.46618523196e-05,1.07002911413,0.566215022963,0.00872738313831,1.06969840499
+163,2.716666667,pose1_to_pose2_press,0.596488806514,5.46480345221e-05,1.07002902666,0.567059536344,0.00872737636994,1.06969832207
+164,2.733333333,pose1_to_pose2_press,0.597333743199,5.45869895669e-05,1.07002910739,0.567904473873,0.00872731828892,1.0696984055
+165,2.750000000,pose1_to_pose2_press,0.598173613519,5.44960771121e-05,1.07002917904,0.56874434517,0.00872723030772,1.06969846709
+166,2.766666667,pose1_to_pose2_press,0.599012062915,5.46421725454e-05,1.07002925058,0.569582792185,0.00872736837286,1.06969854004
+167,2.783333333,pose1_to_pose2_press,0.599852388142,5.45827929107e-05,1.0700291653,0.570423117508,0.00872730898328,1.06969844598
+168,2.800000000,pose1_to_pose2_press,0.600682518557,5.45378249578e-05,1.07002906453,0.571253247768,0.00872726361842,1.06969834863
+169,2.816666667,pose1_to_pose2_press,0.601510174764,5.46153930101e-05,1.07002914458,0.57208090363,0.00872734036066,1.06969843784
+170,2.833333333,pose1_to_pose2_press,0.602351108638,5.45551268037e-05,1.07002922435,0.572921838885,0.00872728470011,1.06969851554
+171,2.850000000,pose1_to_pose2_press,0.603195432682,5.44251966601e-05,1.07002906997,0.573766164158,0.00872715874713,1.06969835609
+172,2.866666667,pose1_to_pose2_press,0.604039580248,5.45554993863e-05,1.07002928706,0.574610310699,0.00872728531767,1.06969856665
+173,2.883333333,pose1_to_pose2_press,0.604877882169,5.44619102221e-05,1.07002917313,0.575448614635,0.00872719873245,1.06969845716
+174,2.900000000,pose1_to_pose2_press,0.605704292526,5.45457024135e-05,1.07002910657,0.576275024824,0.00872728230393,1.06969839987
+175,2.916666667,pose1_to_pose2_press,0.606498153405,5.45493655465e-05,1.07002899103,0.577068884526,0.00872728188353,1.06969828202
+176,2.933333333,pose1_to_pose2_press,0.60726298475,5.46196770247e-05,1.07002891446,0.577833714396,0.00872734724274,1.06969820695
+177,2.950000000,pose1_to_pose2_press,0.608007991704,5.46988626111e-05,1.07002901153,0.578578720238,0.00872742285328,1.06969830924
+178,2.966666667,pose1_to_pose2_press,0.608739117505,5.45446736162e-05,1.07002916378,0.579309848109,0.00872727543558,1.06969845494
+179,2.983333333,pose1_to_pose2_press,0.609455767197,5.46382223107e-05,1.07002933096,0.5800264967,0.00872736499997,1.06969861578
+180,3.000000000,pose1_to_pose2_press,0.610163170789,5.46311340589e-05,1.07002950181,0.580733900308,0.00872735785242,1.06969878369
+181,3.016666667,pose1_to_pose2_press,0.610853368146,5.46173381963e-05,1.07002919463,0.581424098193,0.00872734642169,1.0696984917
+182,3.033333333,pose1_to_pose2_press,0.611508013979,5.4647686629e-05,1.07002904427,0.582078742765,0.00872737229681,1.06969833623
+183,3.050000000,pose1_to_pose2_press,0.612133551459,5.45603099137e-05,1.07002925421,0.582704282279,0.00872729187662,1.06969854766
+184,3.066666667,pose1_to_pose2_press,0.612732046574,5.46310281136e-05,1.07002928616,0.583302775824,0.00872735684034,1.0696985683
+185,3.083333333,pose1_to_pose2_press,0.613304719987,5.45349774807e-05,1.07002912498,0.583875450144,0.00872726443426,1.06969842019
+186,3.100000000,pose1_to_pose2_press,0.613850823733,5.46777746241e-05,1.070029241,0.584421553208,0.00872740497944,1.06969853321
+187,3.116666667,pose1_to_pose2_press,0.614369709562,5.45494083301e-05,1.07002889654,0.584940439229,0.0087272782078,1.06969819974
+188,3.133333333,pose1_to_pose2_press,0.614865053673,5.45353372316e-05,1.07002917281,0.585435784937,0.00872726977553,1.06969846404
+189,3.150000000,pose1_to_pose2_press,0.615343286675,5.46014755055e-05,1.0700292997,0.585914015901,0.0087273301827,1.06969858063
+190,3.166666667,pose1_to_pose2_press,0.615815270601,5.46422325322e-05,1.07002930686,0.586385998025,0.00872736576696,1.06969858561
+191,3.183333333,pose1_to_pose2_press,0.616285356378,5.44989262589e-05,1.07002919851,0.586856085306,0.00872722837481,1.06969848441
+192,3.200000000,pose1_to_pose2_press,0.616743295149,5.44493866308e-05,1.07002907395,0.587314025834,0.0087271857734,1.0696983618
+193,3.216666667,pose1_to_pose2_press,0.617182776031,5.44720647279e-05,1.07002932456,0.587753506379,0.00872720794816,1.06969860224
+194,3.233333333,pose1_to_pose2_press,0.617586928315,5.44925836653e-05,1.07002925797,0.588157656789,0.00872722306243,1.06969853729
+195,3.250000000,pose1_to_pose2_press,0.6179529516,5.45640327574e-05,1.07002915469,0.588523680339,0.00872729651826,1.06969844213
+196,3.266666667,pose1_to_pose2_press,0.618277432689,5.45911895461e-05,1.07002906052,0.588848159992,0.00872731965782,1.06969835112
+197,3.283333333,pose1_to_pose2_press,0.61857826851,5.46912287418e-05,1.07002908113,0.589148993897,0.00872741380811,1.06969837052
+198,3.300000000,pose1_to_pose2_press,0.618860125216,5.47120303384e-05,1.07002913556,0.589430850289,0.00872743418327,1.0696984258
+199,3.316666667,pose1_to_pose2_press,0.619128718562,5.46388894681e-05,1.07002917806,0.589699444553,0.00872736490663,1.06969847228
+200,3.333333333,pose1_to_pose2_press,0.619383193861,5.46152465022e-05,1.07002914182,0.58995392006,0.00872734251253,1.06969843596
+201,3.350000000,pose1_to_pose2_press,0.619618881038,5.46203969732e-05,1.07002906123,0.590189607211,0.00872734799607,1.0696983533
+202,3.366666667,pose1_to_pose2_press,0.61983290537,5.46732797221e-05,1.07002917716,0.590403631817,0.00872740248315,1.06969847032
+203,3.383333333,pose1_to_pose2_press,0.620022017496,5.46548436842e-05,1.07002911442,0.590592743446,0.00872738268563,1.06969840778
+204,3.400000000,pose1_to_pose2_press,0.620190849801,5.45820265391e-05,1.07002897801,0.590761575777,0.00872730993701,1.06969827105
+205,3.416666667,pose1_to_pose2_press,0.620340494074,5.45091464236e-05,1.07002914611,0.590911220618,0.00872723948837,1.06969843617
+206,3.433333333,pose1_to_pose2_press,0.6204733854,5.4336943636e-05,1.07002914723,0.591044115367,0.0087270791869,1.0696984361
+207,3.450000000,pose1_to_pose2_press,0.620591896499,5.45576600443e-05,1.07002916449,0.591162623577,0.0087272902194,1.06969845102
+208,3.466666667,pose1_to_pose2_press,0.620696739469,5.45380902056e-05,1.07002916896,0.59126746533,0.00872726666568,1.06969845387
+209,3.483333333,pose1_to_pose2_press,0.620789067592,5.45638379956e-05,1.07002909602,0.591359793548,0.00872729342849,1.06969839364
+210,3.500000000,pose1_to_pose2_press,0.620868921234,5.45862056308e-05,1.0700290288,0.591439645988,0.00872731165047,1.06969831981
+211,3.516666667,pose1_to_pose2_press,0.620936504854,5.4628735436e-05,1.07002915385,0.591507230816,0.00872735832093,1.06969844185
+212,3.533333333,pose1_to_pose2_press,0.620992306922,5.45205966376e-05,1.07002914174,0.591563032579,0.00872724982207,1.06969843185
+213,3.550000000,pose1_to_pose2_press,0.62103640302,5.4780962941e-05,1.07002915238,0.591607126478,0.00872750245619,1.06969844613
+214,3.566666667,pose1_to_pose2_press,0.621070862718,5.45825099585e-05,1.07002938864,0.591641590335,0.00872731777842,1.06969867714
+215,3.583333333,pose1_to_pose2_press,0.621096335124,5.44944853748e-05,1.07002921654,0.591667062094,0.00872722767794,1.0696984985
+216,3.600000000,pose1_to_pose2_press,0.621116168006,5.46229693038e-05,1.07002914523,0.591686893162,0.00872735022973,1.06969843382
+217,3.616666667,pose1_to_pose2_press,0.621130938292,5.46629473461e-05,1.07002918772,0.591701663384,0.00872739007107,1.06969848027
+218,3.633333333,pose1_to_pose2_press,0.62114208455,5.46142772117e-05,1.07002927956,0.591712810654,0.00872734483287,1.0696985726
+219,3.650000000,pose1_to_pose2_press,0.621150038634,5.45536468852e-05,1.07002935649,0.591720765452,0.00872728665648,1.06969864985
+220,3.666666667,pose1_to_pose2_press,0.621154911157,5.44812962699e-05,1.07002931243,0.591725637881,0.00872721403225,1.06969860313
+221,3.683333333,pose1_to_pose2_press,0.621157996747,5.443051122e-05,1.07002927167,0.591728723337,0.00872716282322,1.06969856027
+222,3.700000000,pose1_to_pose2_press,0.621159877417,5.44560928858e-05,1.0700292272,0.591730603909,0.00872718808607,1.06969851705
+223,3.716666667,pose1_to_pose2_press,0.621161230174,5.45007919511e-05,1.0700291861,0.59173195659,0.00872723252771,1.06969847802
+224,3.733333333,pose1_to_pose2_press,0.621162226197,5.45337034406e-05,1.07002915583,0.591732952556,0.00872726524966,1.06969844928
+225,3.750000000,pose1_to_pose2_press,0.621163323845,5.4569972963e-05,1.07002912248,0.591734050142,0.00872730131031,1.06969841761
+226,3.766666667,pose1_to_pose2_press,0.62116412139,5.45971274652e-05,1.07002918501,0.591734847509,0.00872732779625,1.06969847887
+227,3.783333333,pose1_to_pose2_press,0.621164473984,5.46092145224e-05,1.07002922154,0.591735200011,0.00872733953481,1.06969851459
+228,3.800000000,pose1_to_pose2_press,0.621164666996,5.46158310586e-05,1.07002924154,0.591735392973,0.00872734596057,1.06969853414
+229,3.816666667,pose1_to_pose2_press,0.621164758008,5.46189509976e-05,1.07002925097,0.591735483961,0.00872734899055,1.06969854336
+230,3.833333333,pose1_to_pose2_press,0.621164836886,5.46216549603e-05,1.07002925914,0.591735562818,0.00872735161655,1.06969855135
+231,3.850000000,pose1_to_pose2_press,0.621164869638,5.46227777188e-05,1.07002926253,0.591735595562,0.00872735270694,1.06969855467
+232,3.866666667,pose1_to_pose2_press,0.621164948188,5.46254704211e-05,1.07002927067,0.591735674091,0.008727355322,1.06969856263
+233,3.883333333,pose1_to_pose2_press,0.621165007181,5.46274927316e-05,1.07002927679,0.591735733069,0.008727357286,1.0696985686
+234,3.900000000,pose1_to_pose2_press,0.621165079097,5.46299580372e-05,1.07002928424,0.591735804966,0.00872735968022,1.06969857589
+235,3.916666667,pose1_to_pose2_press,0.621165367577,5.46398472703e-05,1.07002931413,0.591736093371,0.00872736928432,1.06969860511
+236,3.933333333,pose1_to_pose2_press,0.621165890198,5.46577629307e-05,1.07002936828,0.591736615856,0.00872738668342,1.06969865805
+237,3.950000000,pose1_to_pose2_press,0.621166423457,5.4630050403e-05,1.0700293136,0.591737149518,0.00872736040582,1.06969860336
+238,3.966666667,pose1_to_pose2_press,0.621166938428,5.45810013958e-05,1.07002920752,0.591737665143,0.00872731369327,1.06969849786
+239,3.983333333,pose1_to_pose2_press,0.62116745016,5.45703889155e-05,1.07002914531,0.591738177078,0.00872730382896,1.06969843549
+240,4.000000000,pose1_to_pose2_press,0.621167823853,5.46089960366e-05,1.0700291524,0.59173855038,0.00872734106925,1.06969844156
+241,4.016666667,pose1_to_pose2_press,0.621167923155,5.4607539987e-05,1.07002914876,0.591738649657,0.00872733955212,1.06969843872
+242,4.033333333,pose1_to_pose2_press,0.621167927424,5.46018013875e-05,1.07002914593,0.591738653963,0.00872733395728,1.06969843645
+243,4.050000000,pose1_to_pose2_press,0.621167965308,5.45508639923e-05,1.07002912082,0.59173869218,0.00872728429592,1.06969841625
+244,4.066666667,pose1_to_pose2_press,0.621167979085,5.45323395217e-05,1.07002911168,0.591738706078,0.00872726623551,1.06969840891
+245,4.083333333,pose1_to_pose2_press,0.621167993487,5.45129761064e-05,1.07002910213,0.591738720606,0.00872724735718,1.06969840123
+246,4.100000000,pose1_to_pose2_press,0.621168002985,5.4528693022e-05,1.07002898734,0.591738729676,0.00872726157348,1.06969828554
+247,4.116666667,pose2_hold,0.621168002985,5.4528693022e-05,1.07002898734,0.59173872968,0.00872726157703,1.06969828555
+248,4.133333333,pose2_hold,0.621168002985,5.4528693022e-05,1.07002898734,0.59173872968,0.00872726157729,1.06969828555
+249,4.150000000,pose2_hold,0.621168002985,5.4528693022e-05,1.07002898734,0.59173872968,0.00872726157809,1.06969828555
+250,4.166666667,pose2_hold,0.621168002985,5.4528693022e-05,1.07002898734,0.59173872968,0.00872726157806,1.06969828555
+251,4.183333333,pose2_hold,0.621168002985,5.4528693022e-05,1.07002898734,0.59173872968,0.00872726157737,1.06969828555
+252,4.200000000,pose2_hold,0.621168002985,5.4528693022e-05,1.07002898734,0.59173872968,0.00872726157749,1.06969828555
+253,4.216666667,pose2_hold,0.621168002985,5.4528693022e-05,1.07002898734,0.59173872968,0.00872726157781,1.06969828555
+254,4.233333333,pose2_hold,0.621168002985,5.4528693022e-05,1.07002898734,0.59173872968,0.00872726157761,1.06969828555
+255,4.250000000,pose2_hold,0.621168002985,5.4528693022e-05,1.07002898734,0.59173872968,0.00872726157832,1.06969828555
+256,4.266666667,pose2_hold,0.621168002985,5.4528693022e-05,1.07002898734,0.59173872968,0.00872726157866,1.06969828555
+257,4.283333333,pose2_hold,0.621168002985,5.4528693022e-05,1.07002898734,0.59173872968,0.00872726157872,1.06969828555
+258,4.300000000,pose2_hold,0.621168002985,5.4528693022e-05,1.07002898734,0.59173872968,0.00872726157875,1.06969828555
+259,4.316666667,pose2_hold,0.621168002985,5.4528693022e-05,1.07002898734,0.591738729679,0.00872726157933,1.06969828555
+260,4.333333333,pose2_hold,0.621168002985,5.4528693022e-05,1.07002898734,0.591738729679,0.0087272615795,1.06969828555
+261,4.350000000,pose2_hold,0.621168002985,5.4528693022e-05,1.07002898734,0.591738729679,0.00872726157983,1.06969828555
+262,4.366666667,pose2_hold,0.621168002985,5.4528693022e-05,1.07002898734,0.59173872968,0.00872726157909,1.06969828555
+263,4.383333333,pose2_to_pose3_retreat,0.621167974761,5.45476177897e-05,1.07002913187,0.591738700743,0.0087272778934,1.06969842472
+264,4.400000000,pose2_to_pose3_retreat,0.62116793348,5.46074350566e-05,1.07002913365,0.591738659346,0.00872733723705,1.06969842517
+265,4.416666667,pose2_to_pose3_retreat,0.621167784792,5.46155312823e-05,1.0700290916,0.591738510752,0.00872734568971,1.06969838428
+266,4.433333333,pose2_to_pose3_retreat,0.621167646155,5.45963116533e-05,1.07002904613,0.591738372267,0.00872732706866,1.06969834066
+267,4.450000000,pose2_to_pose3_retreat,0.621167631632,5.45942982192e-05,1.07002904136,0.591738357759,0.00872732511794,1.06969833609
+268,4.466666667,pose2_to_pose3_retreat,0.621167393468,5.45833896442e-05,1.07002899663,0.591738119668,0.00872731454917,1.06969829342
+269,4.483333333,pose2_to_pose3_retreat,0.6211665979,5.47122538088e-05,1.07002909684,0.591737322931,0.00872743940068,1.06969839207
+270,4.500000000,pose2_to_pose3_retreat,0.621164084209,5.45838981233e-05,1.0700288443,0.591734810449,0.00872731562659,1.06969815207
+271,4.516666667,pose2_to_pose3_retreat,0.621158512696,5.4558814336e-05,1.07002926184,0.591729240554,0.00872729546051,1.06969855639
+272,4.533333333,pose2_to_pose3_retreat,0.621146402665,5.4545619816e-05,1.07002932965,0.591717130021,0.00872728017933,1.06969861458
+273,4.550000000,pose2_to_pose3_retreat,0.621125480715,5.45797985942e-05,1.07002890034,0.591696206852,0.00872731075173,1.06969819774
+274,4.566666667,pose2_to_pose3_retreat,0.621092154777,5.46413179642e-05,1.07002926848,0.5916628812,0.00872737277362,1.06969855335
+275,4.583333333,pose2_to_pose3_retreat,0.621046306976,5.46175164056e-05,1.07002914435,0.591617032591,0.00872734616014,1.06969843438
+276,4.600000000,pose2_to_pose3_retreat,0.62098810546,5.45617385021e-05,1.07002914725,0.591558832247,0.00872729386175,1.0696984366
+277,4.616666667,pose2_to_pose3_retreat,0.620919294725,5.44874198647e-05,1.0700290397,0.5914900221,0.00872722116209,1.06969833198
+278,4.633333333,pose2_to_pose3_retreat,0.620840198119,5.45220612389e-05,1.0700291041,0.591410924872,0.0087272543036,1.06969840105
+279,4.650000000,pose2_to_pose3_retreat,0.620749198602,5.45617863431e-05,1.070029257,0.591319923131,0.00872728599015,1.06969854655
+280,4.666666667,pose2_to_pose3_retreat,0.620644672772,5.46059744662e-05,1.07002894417,0.591215398511,0.00872733420132,1.06969823788
+281,4.683333333,pose2_to_pose3_retreat,0.620522921388,5.46779421292e-05,1.0700290966,0.591093645545,0.00872740045893,1.06969838742
+282,4.700000000,pose2_to_pose3_retreat,0.620383071203,5.46257643169e-05,1.07002911846,0.59095379685,0.00872735320726,1.06969841461
+283,4.716666667,pose2_to_pose3_retreat,0.62022199536,5.45379642038e-05,1.07002915552,0.590792722424,0.00872726954794,1.06969844416
+284,4.733333333,pose2_to_pose3_retreat,0.620041798687,5.46106483675e-05,1.0700290956,0.59061252546,0.00872734058322,1.06969837579
+285,4.750000000,pose2_to_pose3_retreat,0.619842330105,5.46021324844e-05,1.07002921889,0.59041305833,0.00872733686995,1.06969850735
+286,4.766666667,pose2_to_pose3_retreat,0.619621927856,5.45841491676e-05,1.0700293049,0.590192653736,0.00872731017905,1.06969858578
+287,4.783333333,pose2_to_pose3_retreat,0.619380234206,5.4511251887e-05,1.07002908112,0.589950961999,0.00872724371191,1.06969837249
+288,4.800000000,pose2_to_pose3_retreat,0.619113907901,5.45368500893e-05,1.07002912287,0.589684634941,0.00872726593062,1.0696984086
+289,4.816666667,pose2_to_pose3_retreat,0.61882244371,5.46563752568e-05,1.07002923871,0.589393170294,0.00872738323563,1.06969852386
+290,4.833333333,pose2_to_pose3_retreat,0.618503217508,5.46556249516e-05,1.07002918463,0.589073943238,0.00872737890256,1.06969847216
+291,4.850000000,pose2_to_pose3_retreat,0.618161361271,5.4555145615e-05,1.07002909979,0.588732088653,0.00872728369899,1.06969839804
+292,4.866666667,pose2_to_pose3_retreat,0.617798396522,5.45375996433e-05,1.07002919102,0.588369125303,0.0087272700158,1.06969848605
+293,4.883333333,pose2_to_pose3_retreat,0.617413268443,5.46187258556e-05,1.07002916833,0.587983996109,0.00872734653785,1.06969846456
+294,4.900000000,pose2_to_pose3_retreat,0.617005871237,5.4616826004e-05,1.07002925716,0.587576598919,0.00872734350977,1.06969854776
+295,4.916666667,pose2_to_pose3_retreat,0.616570066956,5.46349847603e-05,1.07002924429,0.587140794988,0.00872736159589,1.06969852842
+296,4.933333333,pose2_to_pose3_retreat,0.616101153531,5.47082931406e-05,1.07002909894,0.586671881291,0.00872743339258,1.06969839413
+297,4.950000000,pose2_to_pose3_retreat,0.615593816499,5.46406381363e-05,1.07002916651,0.586164545262,0.00872736826532,1.06969846642
+298,4.966666667,pose2_to_pose3_retreat,0.615055317689,5.45681947053e-05,1.07002916385,0.585626047037,0.00872729660558,1.06969846035
+299,4.983333333,pose2_to_pose3_retreat,0.614489594857,5.45918827073e-05,1.07002913636,0.585060323815,0.00872731790366,1.06969843076
+300,5.000000000,pose2_to_pose3_retreat,0.613912691955,5.46304895133e-05,1.07002916384,0.584483420359,0.00872735364875,1.06969845364
+301,5.016666667,pose2_to_pose3_retreat,0.613327451572,5.46425588732e-05,1.07002923733,0.583898180449,0.00872736642631,1.06969852192
+302,5.033333333,pose2_to_pose3_retreat,0.612732752458,5.46378413537e-05,1.07002899843,0.583303482137,0.00872736395293,1.06969828991
+303,5.050000000,pose2_to_pose3_retreat,0.612120591779,5.45482156826e-05,1.07002924149,0.582691322962,0.00872727919006,1.06969853133
+304,5.066666667,pose2_to_pose3_retreat,0.611484520665,5.46096552128e-05,1.07002917737,0.582055250669,0.00872733809235,1.06969846285
+305,5.083333333,pose2_to_pose3_retreat,0.610809690688,5.45706639329e-05,1.07002926625,0.581380420862,0.00872729979116,1.0696985549
+306,5.100000000,pose2_to_pose3_retreat,0.610098216002,5.44787069226e-05,1.07002925838,0.580668948263,0.00872721494255,1.06969854724
+307,5.116666667,pose2_to_pose3_retreat,0.609352222996,5.46263004234e-05,1.07002915478,0.579922955136,0.00872736208917,1.06969844362
+308,5.133333333,pose2_to_pose3_retreat,0.608571683393,5.45038579578e-05,1.07002918653,0.579142416345,0.00872724216706,1.06969846864
+309,5.150000000,pose2_to_pose3_retreat,0.607749632238,5.44452346773e-05,1.07002922095,0.578320364291,0.00872718091267,1.06969851479
+310,5.166666667,pose2_to_pose3_retreat,0.606913120663,5.46958247269e-05,1.07002913612,0.5774838492,0.00872741946032,1.06969842631
+311,5.183333333,pose2_to_pose3_retreat,0.606069586651,5.46913539328e-05,1.07002914,0.576640315505,0.00872741612975,1.06969843193
+312,5.200000000,pose2_to_pose3_retreat,0.605224248797,5.47416143845e-05,1.07002917927,0.57579497626,0.00872746167677,1.06969847128
+313,5.216666667,pose2_to_pose3_retreat,0.604383173712,5.46948254573e-05,1.07002936186,0.574953902428,0.00872741912283,1.06969865341
+314,5.233333333,pose2_to_pose3_retreat,0.603547215618,5.46055503869e-05,1.07002927722,0.57411794788,0.00872734203985,1.06969857297
+315,5.250000000,pose2_to_pose3_retreat,0.602694166817,5.46340206529e-05,1.07002949086,0.573264896713,0.00872736197717,1.0696987733
+316,5.266666667,pose2_to_pose3_retreat,0.601813832656,5.44175313694e-05,1.07002915793,0.572384564218,0.00872715143329,1.06969844796
+317,5.283333333,pose2_to_pose3_retreat,0.600905108266,5.45109382308e-05,1.07002929512,0.571475839402,0.00872724332173,1.06969858305
+318,5.300000000,pose2_to_pose3_retreat,0.599974860505,5.46622260645e-05,1.07002941087,0.570545590864,0.00872739180682,1.06969869385
+319,5.316666667,pose2_to_pose3_retreat,0.599050548285,5.46460457153e-05,1.07002942066,0.569621277528,0.0087273718329,1.06969870255
+320,5.333333333,pose2_to_pose3_retreat,0.59814275611,5.44457081566e-05,1.07002947394,0.568713487809,0.00872717956531,1.06969874982
+321,5.350000000,pose2_to_pose3_retreat,0.597263852618,5.46012532308e-05,1.07002949985,0.567834584528,0.00872733616259,1.06969878593
+322,5.366666667,pose2_to_pose3_retreat,0.596402196535,5.45945459616e-05,1.07002937642,0.566972926905,0.00872732434087,1.06969866446
+323,5.383333333,pose2_to_pose3_retreat,0.595548556701,5.44855965619e-05,1.07002926739,0.566119289237,0.0087272226753,1.06969855363
+324,5.400000000,pose2_to_pose3_retreat,0.594685838009,5.46077796878e-05,1.07002912382,0.565256569016,0.00872733988699,1.06969841556
+325,5.416666667,pose2_to_pose3_retreat,0.593812201173,5.44229911459e-05,1.07002890033,0.564382931626,0.00872715337488,1.06969819701
+326,5.433333333,pose2_to_pose3_retreat,0.592931309914,5.46104636824e-05,1.07002914014,0.563502038395,0.00872733402443,1.06969843126
+327,5.450000000,pose2_to_pose3_retreat,0.592056464701,5.45673480601e-05,1.07002915608,0.562627195767,0.00872729954355,1.06969844355
+328,5.466666667,pose2_to_pose3_retreat,0.591194010135,5.46961095882e-05,1.07002916159,0.561764740014,0.00872742457641,1.06969845687
+329,5.483333333,pose2_to_pose3_retreat,0.590356689226,5.46743883861e-05,1.07002933923,0.560927417618,0.00872739747823,1.06969862583
+330,5.500000000,pose2_to_pose3_retreat,0.58954392787,5.45648309147e-05,1.0700290275,0.560114659156,0.00872729801994,1.06969832143
+331,5.516666667,pose2_to_pose3_retreat,0.588750756029,5.44747963443e-05,1.07002914614,0.559321488926,0.00872721305643,1.0696984296
+332,5.533333333,pose2_to_pose3_retreat,0.587977213162,5.4489881456e-05,1.070029016,0.55854794585,0.00872722767285,1.06969830583
+333,5.550000000,pose2_to_pose3_retreat,0.58722336056,5.452123701e-05,1.0700290265,0.55779409064,0.0087272505276,1.06969832546
+334,5.566666667,pose2_to_pose3_retreat,0.586488155491,5.44669759023e-05,1.07002936114,0.557058885968,0.00872719719949,1.06969864921
+335,5.583333333,pose2_to_pose3_retreat,0.585775112981,5.46386589316e-05,1.07002913334,0.556345841494,0.00872736234086,1.06969842463
+336,5.600000000,pose2_to_pose3_retreat,0.58508549213,5.47007697102e-05,1.07002913235,0.555656220885,0.00872742535223,1.0696984257
+337,5.616666667,pose2_to_pose3_retreat,0.584420182284,5.46383526678e-05,1.07002917239,0.554990911489,0.00872736428967,1.06969846113
+338,5.633333333,pose2_to_pose3_retreat,0.583778476982,5.45461712159e-05,1.07002936395,0.554349207777,0.00872727742786,1.06969865073
+339,5.650000000,pose2_to_pose3_retreat,0.583154902017,5.45028781702e-05,1.07002909228,0.553725632816,0.00872723391582,1.06969837298
+340,5.666666667,pose2_to_pose3_retreat,0.582548922936,5.45524777342e-05,1.07002937038,0.553119653219,0.00872728191797,1.06969865515
+341,5.683333333,pose2_to_pose3_retreat,0.581967537319,5.4536808085e-05,1.07002901682,0.552538268545,0.00872726983158,1.0696983115
+342,5.700000000,pose2_to_pose3_retreat,0.581416276857,5.45476972349e-05,1.0700291519,0.551987007718,0.00872727939998,1.06969844456
+343,5.716666667,pose2_to_pose3_retreat,0.58090225791,5.45863066147e-05,1.0700292291,0.551472986166,0.00872730920412,1.06969852351
+344,5.733333333,pose2_to_pose3_retreat,0.580423237071,5.44726489079e-05,1.07002909461,0.550993969775,0.00872721074496,1.06969839139
+345,5.750000000,pose2_to_pose3_retreat,0.579979804958,5.46365844404e-05,1.07002900593,0.55055053404,0.00872736232846,1.06969830142
+346,5.766666667,pose2_to_pose3_retreat,0.579560249188,5.46371134353e-05,1.07002925756,0.550130978681,0.00872736411619,1.06969854945
+347,5.783333333,pose2_to_pose3_retreat,0.579160726687,5.46112497798e-05,1.07002914319,0.549731456469,0.00872733920379,1.06969843406
+348,5.800000000,pose2_to_pose3_retreat,0.57878372319,5.4577078314e-05,1.07002911924,0.549354454262,0.0087273094829,1.06969841233
+349,5.816666667,pose2_to_pose3_retreat,0.578429222693,5.4545806688e-05,1.07002913791,0.548999954141,0.00872727947739,1.06969843023
+350,5.833333333,pose2_to_pose3_retreat,0.578098549961,5.45584518114e-05,1.07002939964,0.548669281397,0.00872729185111,1.06969868635
+351,5.850000000,pose2_to_pose3_retreat,0.577793753092,5.46236148562e-05,1.07002902391,0.548364483308,0.00872735316076,1.06969831793
+352,5.866666667,pose2_to_pose3_retreat,0.577520434482,5.46509461556e-05,1.07002929397,0.548091164686,0.00872738004443,1.06969857734
+353,5.883333333,pose2_to_pose3_retreat,0.577274693494,5.46803871438e-05,1.07002925665,0.547845424315,0.00872741194018,1.06969854951
+354,5.900000000,pose2_to_pose3_retreat,0.577055984377,5.45533927832e-05,1.07002889819,0.547626715126,0.00872728494569,1.06969819746
+355,5.916666667,pose2_to_pose3_retreat,0.576861742349,5.45649417943e-05,1.0700292393,0.547432472172,0.00872729275673,1.06969852289
+356,5.933333333,pose2_to_pose3_retreat,0.576688238228,5.46545308293e-05,1.07002909292,0.547258966717,0.00872737793188,1.06969837952
+357,5.950000000,pose2_to_pose3_retreat,0.576531552038,5.45091100763e-05,1.07002929901,0.547102282238,0.00872723834202,1.06969858628
+358,5.966666667,pose2_to_pose3_retreat,0.576390190021,5.45860078119e-05,1.07002911576,0.546960920866,0.00872731765082,1.06969840887
+359,5.983333333,pose2_to_pose3_retreat,0.576264727559,5.45541250884e-05,1.07002920438,0.546835457884,0.00872728377719,1.06969849159
+360,6.000000000,pose2_to_pose3_retreat,0.576154547181,5.45752400567e-05,1.07002922805,0.546725276693,0.00872730186695,1.06969850897
+361,6.016666667,pose2_to_pose3_retreat,0.576059550657,5.46702764998e-05,1.07002922343,0.546630279331,0.00872739441184,1.06969851363
+362,6.033333333,pose2_to_pose3_retreat,0.57597978206,5.45851630665e-05,1.07002926822,0.546550511873,0.00872731315351,1.06969855791
+363,6.050000000,pose2_to_pose3_retreat,0.575913669742,5.45707850536e-05,1.07002915792,0.546484400169,0.00872730116176,1.06969845545
+364,6.066666667,pose2_to_pose3_retreat,0.575861078272,5.4542019321e-05,1.0700292115,0.546431810192,0.00872727730557,1.06969850492
+365,6.083333333,pose2_to_pose3_retreat,0.575818859924,5.4552622981e-05,1.07002929578,0.546389591489,0.00872728629495,1.06969857838
+366,6.100000000,pose2_to_pose3_retreat,0.5757861911,5.45098316793e-05,1.07002913327,0.54635692138,0.00872723927303,1.06969841932
+367,6.116666667,pose2_to_pose3_retreat,0.575761467598,5.45774928982e-05,1.07002911177,0.546332196407,0.00872730189015,1.06969839649
+368,6.133333333,pose2_to_pose3_retreat,0.575743898107,5.45868253619e-05,1.07002916562,0.546314626767,0.00872731074068,1.06969845096
+369,6.150000000,pose2_to_pose3_retreat,0.575731566497,5.45057733993e-05,1.07002915909,0.546302296434,0.00872723407237,1.06969844589
+370,6.166666667,pose2_to_pose3_retreat,0.575723618806,5.45286417939e-05,1.07002918832,0.546294349595,0.00872725951929,1.06969846692
+371,6.183333333,pose2_to_pose3_retreat,0.575719549872,5.46405986429e-05,1.07002916201,0.546290279032,0.00872736623734,1.06969844825
+372,6.200000000,pose2_to_pose3_retreat,0.575716915279,5.47130895576e-05,1.07002914498,0.546287643384,0.00872743533619,1.06969843615
+373,6.216666667,pose2_to_pose3_retreat,0.575715334332,5.46857217249e-05,1.07002915741,0.546286062916,0.00872740946483,1.06969844516
+374,6.233333333,pose2_to_pose3_retreat,0.575714381887,5.46663041175e-05,1.07002916583,0.546285110807,0.00872739109479,1.06969845125
+375,6.250000000,pose2_to_pose3_retreat,0.575713813928,5.46547250467e-05,1.07002917086,0.546284543046,0.0087273801404,1.06969845489
+376,6.266666667,pose2_to_pose3_retreat,0.575713221545,5.46426480765e-05,1.0700291761,0.546283950872,0.00872736871498,1.06969845868
+377,6.283333333,pose2_to_pose3_retreat,0.575712880528,5.46356957016e-05,1.07002917911,0.546283609974,0.00872736213768,1.06969846086
+378,6.300000000,pose2_to_pose3_retreat,0.575712797469,5.46340023691e-05,1.07002917985,0.546283526945,0.0087273605357,1.06969846139
+379,6.316666667,pose2_to_pose3_retreat,0.575712708076,5.46321799168e-05,1.07002918064,0.546283437584,0.00872735881157,1.06969846197
+380,6.333333333,pose2_to_pose3_retreat,0.575712509161,5.4626906328e-05,1.07002917952,0.546283238859,0.00872735419653,1.06969846112
+381,6.350000000,pose2_to_pose3_retreat,0.57571249923,5.46266115434e-05,1.07002917938,0.546283228941,0.008727353946,1.06969846102
+382,6.366666667,pose2_to_pose3_retreat,0.575712487203,5.46262545066e-05,1.07002917923,0.546283216929,0.00872735364256,1.0696984609
+383,6.383333333,pose2_to_pose3_retreat,0.57571222675,5.46185229469e-05,1.0700291758,0.546282956809,0.00872734707163,1.06969845836
+384,6.400000000,pose2_to_pose3_retreat,0.575711978194,5.46111445152e-05,1.07002917253,0.546282708569,0.00872734080082,1.06969845592
+385,6.416666667,pose2_to_pose3_retreat,0.57571184417,5.46071660133e-05,1.07002917077,0.546282574716,0.00872733741956,1.06969845461
+386,6.433333333,pose2_to_pose3_retreat,0.575711576282,5.45992137224e-05,1.07002916725,0.54628230717,0.00872733066104,1.06969845199
+387,6.450000000,pose2_to_pose3_retreat,0.575711253096,5.4589619904e-05,1.070029163,0.546281984396,0.00872732250741,1.06969844883
+388,6.466666667,pose2_to_pose3_retreat,0.575710987724,5.45817423083e-05,1.07002915951,0.546281719362,0.00872731581237,1.06969844623
+389,6.483333333,pose2_to_pose3_retreat,0.575710803783,5.45762819953e-05,1.07002915709,0.546281535655,0.00872731117174,1.06969844443
+390,6.500000000,pose2_to_pose3_retreat,0.575710788116,5.45758169182e-05,1.07002915689,0.546281520008,0.00872731077648,1.06969844428
+391,6.516666667,pose2_to_pose3_retreat,0.575710587152,5.45698512822e-05,1.07002915424,0.546281319301,0.00872730570639,1.06969844231
+392,6.533333333,pose2_to_pose3_retreat,0.575710259422,5.45747434099e-05,1.07002919903,0.546280990687,0.00872730753121,1.06969848525
+393,6.550000000,pose2_to_pose3_retreat,0.575709926212,5.45816316621e-05,1.070029251,0.546280656409,0.00872731070805,1.06969853495
+394,6.566666667,pose2_to_pose3_retreat,0.575709684352,5.45866314887e-05,1.07002928872,0.546280413774,0.00872731301396,1.06969857102
+395,6.583333333,pose2_to_pose3_retreat,0.575709610646,5.45938980284e-05,1.07002927299,0.546280339816,0.00872731942832,1.06969855542
+396,6.600000000,pose2_to_pose3_retreat,0.575709531107,5.46185949001e-05,1.07002917609,0.546280259956,0.00872734311393,1.06969846054
+397,6.616666667,pose2_to_pose3_retreat,0.575709283221,5.46805535516e-05,1.07002898964,0.546280011501,0.00872740327841,1.06969827765
+398,6.633333333,pose2_to_pose3_retreat,0.575709272158,5.46757834294e-05,1.07002903931,0.546280000629,0.0087273991097,1.06969832612
+399,6.650000000,pose2_to_pose3_retreat,0.575709219139,5.4652923333e-05,1.07002927734,0.546279948524,0.00872737913179,1.06969855841
+400,6.666666667,pose2_to_pose3_retreat,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684824,1.06969858496
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_04/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_04/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..29f0d40f2d2f0f1a283540391a62751fe049eb0f
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_04/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e36fd48ec46f3a9de66e64eeba3c6f5b9ba2b12b20a4a2dc0202d41bfcb9a77
+size 25701942
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_04/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_04/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..74b91164589faa0e01616d81de4dff4e3dde95a2
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_04/depth_05/franka_data.csv
@@ -0,0 +1,405 @@
+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,764,742,712,672,658,632,877,784,799,649,628,651,0.400956866011,-0.00543391051786,0.0798293216534,0.999999939568,0.000183776366982,-0.000292926147263,3.5850170209e-05,1793193398015630080
+1,0.016666667,BASELINE,763.426040558,742.573959442,712,672,658,632.573959442,877,784,799,649,628,651,0.400956261291,-0.00543461406485,0.0798283611083,0.999999939634,0.000181733548372,-0.000293977420471,3.5799847633e-05,1793193398032297216
+2,0.033333333,BASELINE,763.152063437,742.847936563,712,672,658,633,877,784,799.152063437,649,628.152063437,650.847936563,0.400955996896,-0.0054349983671,0.0798278228857,0.99999993966,0.000180789572268,-0.000294468616212,3.5828424658e-05,1793193398048964096
+3,0.050000000,BASELINE,763.742104839,742.257895161,712,672,658,633,877,784,799.742104839,649,628.742104839,650.257895161,0.400956712717,-0.00543446317065,0.0798285010499,0.999999939576,0.000183010516939,-0.000293346659202,3.60842508205e-05,1793193398065630720
+4,0.066666667,BASELINE,764,742,712,671.674289658,658,632.674289658,877,784,799.674289658,649,629,650.325710342,0.400956710303,-0.0054335668744,0.0798284648501,0.999999939581,0.000183040905729,-0.000293319883528,3.60167640651e-05,1793193398082296832
+5,0.083333333,BASELINE,764,742,712,671.095681347,658,632.095681347,877,784,799.095681347,649,629,650.904318653,0.400956150215,-0.00543239020206,0.079827873982,0.999999939655,0.000181370436104,-0.000294143462056,3.56982408074e-05,1793193398098963200
+6,0.100000000,BASELINE,764,742.480158142,712,671.480158142,658,632,877,784,799,649,629,651,0.400954592522,-0.00543298952244,0.0798270865027,0.999999939453,0.000180409862975,-0.000295422234813,3.56663960915e-05,1793193398115629568
+7,0.116666667,BASELINE,764,742.944334462,712,672,658.055665538,632,877.055665538,784,799,649,629,651,0.400953146661,-0.00543388596252,0.079826433617,0.999999939269,0.000179638169662,-0.000296508957347,3.56985380533e-05,1793193398132296448
+8,0.133333333,BASELINE,764,742.366797446,712,672,658.633202554,632,877.633202554,784,799,649,629,651,0.400954602265,-0.00543426907554,0.0798274077646,0.999999939784,0.000179318633531,-0.000294949672832,3.57980650081e-05,1793193398148963072
+9,0.150000000,BASELINE,764,742.214607384,712,672,658.785392616,632.214607384,878,784,799,648.785392616,628.785392616,651,0.400956086195,-0.00543432061212,0.0798284077944,0.99999994027,0.000179229068297,-0.000293354562868,3.57703778821e-05,1793193398165629952
+10,0.166666667,BASELINE,764,742.80274418,712,672,658.19725582,632.80274418,878,784,799,648.19725582,628.19725582,651,0.400957619427,-0.00543379503172,0.0798294528728,0.999999940708,0.000179539773078,-0.000291697097993,3.55212715195e-05,1793193398182296832
+11,0.183333333,BASELINE,764,742.614904458,712,672,658.385095542,633,877.614904458,784,799,648.385095542,628,650.614904458,0.400957265697,-0.00543338682541,0.0798289621424,0.999999940507,0.000180403964291,-0.000291861362958,3.54557520609e-05,1793193398198963456
+12,0.200000000,BASELINE,764,742.03547263,712,672,658.96452737,633,877.03547263,784,799,648.96452737,628,650.03547263,0.400955959721,-0.00543303785122,0.0798276963749,0.999999939982,0.000181547469327,-0.000292944953426,3.54828786718e-05,1793193398215629824
+13,0.216666667,BASELINE,764,742,712,672,659,632.459993014,877,784,799,648.459993014,628,650.540006986,0.400956505028,-0.00543437362094,0.0798286211416,0.999999940322,0.000180382058133,-0.00029250368911,3.54918542644e-05,1793193398232296704
+14,0.233333333,BASELINE,763.88255856,742,712,672,658.88255856,632.11744144,877,784,799,648.11744144,628,651,0.400956974163,-0.00543551195153,0.0798293421496,0.99999994058,0.000179432498893,-0.000292204597134,3.5502284403e-05,1793193398248963328
+15,0.250000000,BASELINE,763.296291366,742,712,672,658.296291366,632.703708634,877,784,799,648.703708634,628,651,0.400956657279,-0.00543542352409,0.0798286795017,0.999999940292,0.000179945689778,-0.0002928700154,3.55232462648e-05,1793193398265629696
+16,0.266666667,BASELINE,763.286447583,742,711.713552417,672,658,633,877,784.286447583,799,649,628.286447583,651,0.400956799747,-0.00543566887515,0.0798288610932,0.999999940396,0.000179820578559,-0.000292578837098,3.56526200883e-05,1793193398282296320
+17,0.283333333,BASELINE,763.865581412,742,711.134418588,672,658,633,877,784.865581412,799,649,628.865581412,651,0.400957411571,-0.0054362552742,0.0798299053112,0.999999940897,0.000179043263356,-0.00029131022807,3.58927670216e-05,1793193398298963200
+18,0.300000000,BASELINE,764,742,711.444498652,671.555501348,658.444498652,633,877.444498652,784.555501348,799.444498652,649,629,651,0.400955744111,-0.00543588593727,0.0798288862704,0.99999994026,0.000179828544031,-0.000293007826461,3.58897731402e-05,1793193398315630080
+19,0.316666667,BASELINE,764,742.023101741,712,671.023101741,658.976898259,633,878,784,799.976898259,649,628.976898259,651,0.40095355292,-0.00543522387114,0.0798273634951,0.999999939353,0.000180967988297,-0.000295400167252,3.58158587552e-05,1793193398332297216
+20,0.333333333,BASELINE,764,742.595788846,712,671.595788846,658.404211154,633,878,784,799.404211154,649,628.404211154,651,0.40095529177,-0.00543447019829,0.0798286931451,0.999999940363,0.000179296837255,-0.000292991338165,3.58031000354e-05,1793193398348963840
+21,0.350000000,BASELINE,764,742.826327918,711.826327918,672,658.173672082,632.826327918,877.826327918,784,799,649,628.173672082,651,0.400956196055,-0.00543388529687,0.0798292563049,0.999999940763,0.000178759427787,-0.000291966085923,3.57187769367e-05,1793193398365630208
+22,0.366666667,BASELINE,764,742.235978097,711.235978097,672,658.764021903,632.235978097,877.235978097,784,799,649,628.764021903,651,0.400955098034,-0.00543370531556,0.0798279804851,0.999999939707,0.00018094211537,-0.000294260340903,3.54627550666e-05,1793193398382296832
+23,0.383333333,BASELINE,764,742,711.34842167,672,658.65157833,632,877,784,798.65157833,648.65157833,628.65157833,650.65157833,0.400955122902,-0.00543395517571,0.0798280492155,0.999999939554,0.00018155042944,-0.00029440622506,3.54404550146e-05,1793193398398963200
+24,0.400000000,BASELINE,764,742,711.928859322,672,658.071140678,632,877,784,798.071140678,648.071140678,628.071140678,650.071140678,0.400955895507,-0.00543449126972,0.0798290132893,0.999999940007,0.000181110359412,-0.00029312149704,3.55737916311e-05,1793193398415629568
+25,0.416666667,BASELINE,764,742,712,672.501323505,658,632.501323505,877.501323505,784,798.501323505,648.501323505,628.501323505,650.501323505,0.400955240814,-0.00543510317247,0.0798284962698,0.999999940085,0.000179439861106,-0.00029387372523,3.56308772004e-05,1793193398432296192
+26,0.433333333,BASELINE,764,742,711.926765988,672.926765988,658,632.926765988,877.926765988,784,799,649,628.926765988,650.926765988,0.400954553163,-0.00543551600472,0.0798278520078,0.999999940116,0.000177980063987,-0.000294652259201,3.56457878457e-05,1793193398448963072
+27,0.450000000,BASELINE,764,742,711.351011953,672.351011953,658,632.351011953,877.351011953,784,799,649,628.351011953,650.351011953,0.400955007418,-0.00543449018552,0.079827754241,0.999999940208,0.000179145416508,-0.000293658898184,3.54443868043e-05,1793193398465629696
+28,0.466666667,BASELINE,764,742.232507462,711,672,658,632,877,784,799,649,628,650,0.400955446965,-0.00543433687094,0.0798280779233,0.999999940486,0.000178819570781,-0.0002929176554,3.53560415424e-05,1793193398482296576
+29,0.483333333,BASELINE,764,742.828155147,711,672,658,632,877,784,799,649,628,650,0.400955863541,-0.00543554627191,0.079829059843,0.999999941056,0.000176164706976,-0.000292570181853,3.54442717056e-05,1793193398498963200
+30,0.500000000,BASELINE,764.40946146,742.59053854,711,672,658,632,877.40946146,784,799.40946146,649,628,650,0.400956606795,-0.00543583516578,0.0798295655421,0.999999941031,0.000177311751772,-0.000291943902788,3.55878201631e-05,1793193398515629824
+31,0.516666667,BASELINE,764.984952577,742.015047423,711,672,658,632,877.984952577,784,799.984952577,649,628,650,0.400957482511,-0.00543575080965,0.0798298781418,0.999999940761,0.000180000405882,-0.000291204572836,3.57537992455e-05,1793193398532296704
+32,0.533333333,BASELINE,765,742,711.560252566,672,658,632.560252566,877.439747434,784,799.439747434,649,628.560252566,650.560252566,0.40095767931,-0.00543512901929,0.0798302281656,0.999999941042,0.000179347883298,-0.000290642190406,3.57347863715e-05,1793193398548963072
+33,0.550000000,BASELINE,764.860652939,742,712,672,658.139347061,633,877,784,799,649,629,651,0.400957786553,-0.00543477407066,0.0798305693261,0.999999941186,0.000179146987273,-0.000290267234216,3.57659415173e-05,1793193398565629696
+34,0.566666667,BASELINE,764.269231654,742,712,672,658.730768346,633,877,784,799,649,629,651,0.400957662391,-0.00543533163177,0.0798308784725,0.999999940835,0.000180702305354,-0.000290484919408,3.59759670614e-05,1793193398582296320
+35,0.583333333,BASELINE,763.686074504,742,712,672,659,633,877,784,799,649,629,651,0.400956867788,-0.00543496648804,0.0798301297553,0.999999940329,0.000181676566971,-0.000291630403327,3.58837998152e-05,1793193398598962944
+36,0.600000000,BASELINE,763.109823059,742,712,672,659,633,877,784,799,649,629,651,0.400955512943,-0.0054338303034,0.0798284970545,0.99999993969,0.00018216527983,-0.000293551184863,3.55391108588e-05,1793193398615629824
+37,0.616666667,BASELINE,763.467634914,742,712,672.467634914,659,632.532365086,877,784,799.467634914,649,629,651,0.40095523171,-0.00543433763646,0.0798286645557,0.999999939918,0.000181270946004,-0.000293335706237,3.54893303766e-05,1793193398632296960
+38,0.633333333,BASELINE,764,742,711.953870558,672.907741116,659,632,877,784,799.953870558,649,629,651,0.400955174571,-0.00543521630635,0.0798291462046,0.999999940328,0.000179971907877,-0.00029273183796,3.55140218056e-05,1793193398648963584
+39,0.650000000,BASELINE,764,742,711.366547531,671.733095061,659,632,877,784,799.366547531,649,629,651,0.4009547808,-0.00543591150862,0.0798283406165,0.999999940507,0.000177745348693,-0.000293472513347,3.55977740304e-05,1793193398665630464
+40,0.666666667,BASELINE,764,742.217603699,711.217603699,671.217603699,659,632,877.217603699,784,799,649,629,651,0.400954910493,-0.00543622289731,0.0798283779397,0.999999940652,0.000177235383866,-0.000293279518941,3.56410195469e-05,1793193398682297088
+41,0.683333333,BASELINE,764,742.796488844,711.796488844,671.796488844,659,632,877.796488844,784,799,649,629,651,0.40095590928,-0.0054358970508,0.0798298147254,0.999999940745,0.000179575433648,-0.000291536378169,3.56170128829e-05,1793193398698963456
+42,0.700000000,BASELINE,764,743,712,672,658.625522131,632.374477869,877.625522131,784,799,648.625522131,629,651,0.4009552851,-0.00543502374578,0.0798294449461,0.99999994022,0.000181160539374,-0.000292363543755,3.55510230499e-05,1793193398715629568
+43,0.716666667,BASELINE,764,743,712,672,658.04801896,632.95198104,877.04801896,784,799,648.04801896,629,651,0.400953781021,-0.00543385363303,0.0798280957274,0.999999939358,0.000182336347821,-0.000294584215568,3.54622718045e-05,1793193398732296448
+44,0.733333333,BASELINE,764,742.472808497,712,672,658,633,877,784,799.527191503,648.527191503,629,651,0.40095429443,-0.00543398213888,0.0798277575678,0.999999939372,0.000182060837958,-0.000294711348997,3.54323112435e-05,1793193398748963584
+45,0.750000000,BASELINE,764,742.104590079,712,672,658.104590079,633,877,784,799.895409921,649,628.895409921,651,0.400955116396,-0.00543402771027,0.0798276773378,0.999999939569,0.00018149542073,-0.000294404120593,3.53157668281e-05,1793193398765630464
+46,0.766666667,BASELINE,764,742.693073925,712,672,658.693073925,633,877,784,799.306926075,649,628.306926075,651,0.40095651941,-0.00543314469908,0.0798283662145,0.999999940245,0.000180197676114,-0.000292965700847,3.47739681344e-05,1793193398782296832
+47,0.783333333,BASELINE,764.276971267,742.723028733,712,672,658.723028733,633,877.276971267,784,799,649,628.276971267,651,0.400956942622,-0.00543272495644,0.0798290182258,0.999999940368,0.00018068413472,-0.00029222729802,3.4937179935e-05,1793193398798963456
+48,0.800000000,BASELINE,764.855868933,742.144131067,712,672,658.144131067,633,877.855868933,784,799,649,628.855868933,651,0.400956297752,-0.00543281022275,0.0798296300503,0.999999939885,0.000183115553228,-0.000292251983509,3.58689236595e-05,1793193398815629824
+49,0.816666667,BASELINE,765,742,711.565266666,672,658.434733334,633,878,784,799.434733334,649,629,651,0.400954992175,-0.00543299551203,0.0798292144136,0.999999939797,0.000182184613763,-0.000293143044027,3.58104727979e-05,1793193398832296448
+50,0.833333333,BASELINE,764.98653458,742,711.01346542,672,659,632.98653458,878,783.98653458,799.98653458,649,628.98653458,651,0.400953525842,-0.00543319708565,0.0798284708313,0.999999939835,0.000180224234817,-0.000294268952351,3.54303992895e-05,1793193398848963072
+51,0.850000000,BASELINE,764.412847125,742,711.587152875,672,659,632.412847125,878,783.412847125,799.412847125,649,628.412847125,651,0.400954484084,-0.00543269659873,0.079828254444,0.999999939861,0.000181809723802,-0.000293216146326,3.53265946753e-05,1793193398865629696
+52,0.866666667,BASELINE,764,742,712,672,659,632,878,783.1660106,799,649,628.1660106,651,0.400955214125,-0.00543260837672,0.0798281670635,0.99999993977,0.000183201434425,-0.000292662060856,3.53084114874e-05,1793193398882296576
+53,0.883333333,BASELINE,764,742,712,672,659,632,878,783.758139403,799,649,628.758139403,651,0.400955358415,-0.00543357836177,0.0798284108195,0.999999939386,0.000184095752095,-0.00029338809797,3.55100025157e-05,1793193398898963456
+54,0.900000000,BASELINE,764,742,712,672,659,632.339580766,877.660419234,784,799,649,629,651,0.400954816526,-0.00543385759013,0.0798283253192,0.999999939418,0.000182862526759,-0.00029406175756,3.53847982469e-05,1793193398915630080
+55,0.916666667,BASELINE,764,742,712,672,659,632.913642415,877.086357585,784,799,649,629,651,0.400953800829,-0.0054336598502,0.0798280124671,0.999999939734,0.000180160230652,-0.000294699250381,3.50339414655e-05,1793193398932296704
+56,0.933333333,BASELINE,764.4646457,742,712,672,658.5353543,632.5353543,876.5353543,784,799.4646457,649,628.5353543,651,0.40095452139,-0.0054340409693,0.0798288970588,0.999999939683,0.000182220387704,-0.000293561437795,3.53720714376e-05,1793193398948963328
+57,0.950000000,BASELINE,764.986779406,742,711.986779406,672,658.013220594,632,876.026441188,784,799.986779406,649,628.013220594,651,0.400955520445,-0.00543448369109,0.0798299560203,0.999999939557,0.000185065547363,-0.000292154238977,3.58170558968e-05,1793193398965629952
+58,0.966666667,BASELINE,764.361623034,742,711.361623034,672,658.638376966,632,877.276753932,784,799.361623034,649,628.638376966,651,0.400955179818,-0.00543303349124,0.0798292717725,0.999999939342,0.000185212965443,-0.000292828387797,3.55610682364e-05,1793193398982296576
+59,0.983333333,BASELINE,764,742,711.486472223,672,659,632.243236111,877.756763889,784,799,649,628.756763889,651,0.400954907867,-0.00543250429092,0.0798285347294,0.999999939245,0.000184426648643,-0.000293687990714,3.52704758996e-05,1793193398998962944
+60,1.000000000,BASELINE,764,742,712.640486571,672,659,632.820243285,877.179756715,784,799,649,628.179756715,651,0.400954730151,-0.00543323889529,0.0798277252401,0.999999939308,0.000182359051377,-0.000294802075723,3.49323986373e-05,1793193399015629568
+61,1.016666667,BASELINE,764,742,712.60422088,672,659,633,877.39577912,784,799.39577912,649,628.39577912,651,0.400955753126,-0.00543367459307,0.0798288069274,0.999999940112,0.000180980204036,-0.000292885085265,3.52347591591e-05,1793193399032296448
+62,1.033333333,BASELINE,764,742,712.029350864,672,659,633,877.970649136,784,799.970649136,649,628.970649136,651,0.400957319416,-0.00543397503494,0.0798307443762,0.999999941241,0.000179913017626,-0.000289596526623,3.58269191639e-05,1793193399048963072
+63,1.050000000,BASELINE,764.542088212,742,712,672,658.457911788,633,877.457911788,784,800,649,629,651,0.400955840256,-0.00543370122246,0.0798295604398,0.999999940346,0.000181003015614,-0.000292014146115,3.56902387683e-05,1793193399065629952
+64,1.066666667,BASELINE,764.762937314,742,712,672,658.118531343,633,877,784,799.881468657,648.881468657,629,650.881468657,0.400954714379,-0.00543326008429,0.0798285835608,0.999999939531,0.000182605182535,-0.000293824538574,3.55149199159e-05,1793193399082296576
+65,1.083333333,BASELINE,763.568126141,742,712,672,658.71593693,633,877,784,799.28406307,648.28406307,629,650.28406307,0.400955677776,-0.0054322677651,0.079829121702,0.999999939498,0.000185807638119,-0.000291941344003,3.53419270973e-05,1793193399098963200
+66,1.100000000,BASELINE,763.302494147,742,712,672,658.697505853,632.697505853,877.302494147,784,799.302494147,648.302494147,629,650,0.400956285639,-0.00543291328403,0.0798293811905,0.999999940051,0.000184361266322,-0.00029097585279,3.52284649606e-05,1793193399115629824
+67,1.116666667,BASELINE,763.87921666,742,712,672,658.12078334,632.12078334,877.87921666,784,799.87921666,648.87921666,629,650,0.400956571191,-0.00543504359761,0.079829388064,0.99999994112,0.000178700464585,-0.000290842312621,3.51689708245e-05,1793193399132296448
+68,1.133333333,BASELINE,764,742,712,672.454724963,658.454724963,632,877.545275037,784,799.545275037,649,629,650.454724963,0.400956361389,-0.00543520654945,0.0798294251128,0.999999940787,0.000179232442332,-0.00029162317268,3.54698396187e-05,1793193399148963072
+69,1.150000000,BASELINE,764,741.969376843,712,672.938753685,658.969376843,632.030623157,877,784,798.969376843,648.969376843,628.969376843,650.969376843,0.400956106071,-0.00543485895411,0.079829514977,0.999999940169,0.000181214675164,-0.000292473183201,3.58282520892e-05,1793193399165629952
+70,1.166666667,BASELINE,764,741.380508233,712,671.761016465,658.380508233,632.619491767,877,784,798.380508233,648.380508233,628.380508233,650.380508233,0.400957413168,-0.00543470511618,0.0798304219167,0.99999994112,0.000179728176937,-0.000290167948819,3.54953922876e-05,1793193399182296832
+71,1.183333333,BASELINE,764,741.205510139,712,671.205510139,658,632.794489861,877.205510139,784,798.205510139,648.205510139,628,650.205510139,0.400957700968,-0.00543413636647,0.0798305319862,0.999999941391,0.000179589495858,-0.000289344315393,3.52955861285e-05,1793193399198963456
+72,1.200000000,BASELINE,764,741.786323498,712,671.786323498,658,632.213676502,877.786323498,784,798.786323498,648.786323498,628,650.786323498,0.400956127324,-0.00543280990362,0.0798291868093,0.999999940423,0.000181912202159,-0.000291226385594,3.53387628662e-05,1793193399215630080
+73,1.216666667,BASELINE,764,742.362733849,712,672,658,632,878,784,799,649,628.362733849,651,0.400956725929,-0.00543253205132,0.0798298293163,0.999999940403,0.00018321735202,-0.000290457448719,3.55025416834e-05,1793193399232296704
+74,1.233333333,BASELINE,764,742.936581582,712,672,658,632,878,784,799,649,628.936581582,651,0.400958588798,-0.0054328644985,0.0798316286705,0.999999940932,0.000183930276083,-0.000288145605269,3.57365118337e-05,1793193399248963072
+75,1.250000000,BASELINE,764,742.487925556,712,672,658,632,877.487925556,784,799,649,629,651,0.400957295145,-0.00543375189886,0.0798305441035,0.999999941009,0.000181375594965,-0.000289520268677,3.55464772018e-05,1793193399265629696
+76,1.266666667,BASELINE,764,742,712,672,658,632,877,784,799,649,629,651,0.400955931343,-0.00543480543688,0.0798293553242,0.999999941045,0.000178744696266,-0.000291045344641,3.54099187313e-05,1793193399282296320
+77,1.283333333,BASELINE,764,742,712,672,658,632,877,784,799,649,629,651,0.400956357743,-0.00543639924235,0.0798295791017,0.999999941224,0.000177946981422,-0.000290860360612,3.58634887865e-05,1793193399298962944
+78,1.300000000,BASELINE,764.269618353,742,712,672,658.269618353,632.269618353,877,784,799,649,629,651,0.400956961084,-0.00543686229399,0.079830136998,0.99999994143,0.000178100520839,-0.000290033066169,3.60765292588e-05,1793193399315630080
+79,1.316666667,BASELINE,764.845454723,742,712,672,658.845454723,632.845454723,877,784,799,649,629,651,0.400957765386,-0.00543604109617,0.0798310743686,0.999999941662,0.000179334443708,-0.000288476270136,3.60163891428e-05,1793193399332296960
+80,1.333333333,BASELINE,764.579965631,742,712,672,658.579965631,633,877.420034369,784,799,649,628.579965631,651,0.400958668421,-0.00543480855534,0.0798315011091,0.99999994158,0.000181035119528,-0.00028772674532,3.57854950204e-05,1793193399348963328
+81,1.350000000,BASELINE,764.005846951,742,712,672,658.005846951,633,877.994153049,784,799,649,628.005846951,651,0.400959607675,-0.00543342511844,0.0798317405315,0.99999994138,0.00018290701788,-0.00028727335764,3.54919619395e-05,1793193399365629952
+82,1.366666667,BASELINE,764,742,712,671.431283681,658.568716319,633,877.431283681,784,799.568716319,648.431283681,628.568716319,651,0.400958303012,-0.00543287758129,0.0798309765041,0.99999994083,0.000183884199972,-0.000288566639024,3.54263268304e-05,1793193399382296576
+83,1.383333333,BASELINE,764,742,712,671.148642042,658.851357958,633,877,784,799.851357958,648.148642042,628.851357958,650.851357958,0.400957200326,-0.00543282769472,0.0798304431904,0.999999940533,0.000183976965253,-0.000289545647508,3.53402342847e-05,1793193399398962944
+84,1.400000000,BASELINE,764,742,712,671.74469506,658.25530494,633,877,784,799.25530494,648.74469506,628.25530494,650.25530494,0.400956775081,-0.00543424984333,0.0798306353992,0.999999941009,0.000181435354682,-0.00028952460421,3.51855071013e-05,1793193399415629568
+85,1.416666667,BASELINE,764,742,712,672,658.327799368,632.672200632,877,784,799,649,628.327799368,650.327799368,0.400955717269,-0.00543514531769,0.0798299526994,0.999999940884,0.000180221834883,-0.000290708174342,3.52352810831e-05,1793193399432296192
+86,1.433333333,BASELINE,764,742,712,672,658.901201844,632.098798156,877,784,799,649,628.901201844,650.901201844,0.400954185506,-0.0054356461822,0.079828614476,0.999999940307,0.000180003384938,-0.000292794298993,3.54382772163e-05,1793193399448963072
+87,1.450000000,BASELINE,764,742.477835558,712,672,658.522164442,632,877,784,799,649,628.522164442,651,0.400954556775,-0.00543408231345,0.0798289569063,0.999999940142,0.000182079751454,-0.000292079249116,3.54033529329e-05,1793193399465629952
+88,1.466666667,BASELINE,764,742.943610948,711.943610948,672,658.056389052,632,877.056389052,784,799,649,628.056389052,651,0.400955214108,-0.00543241969979,0.0798295674534,0.999999940058,0.00018424117643,-0.000291012660634,3.53549002543e-05,1793193399482296576
+89,1.483333333,BASELINE,764,742.353247738,711.353247738,672,658.646752262,632,877.646752262,784,799,649,628.646752262,651,0.400954828966,-0.0054338921384,0.0798294039278,0.999999940005,0.000182684393432,-0.000292139016236,3.56473424946e-05,1793193399498963456
+90,1.500000000,BASELINE,764,742,711.232712169,672,659,632,877.767287831,784,799,649,629,651,0.400955467678,-0.00543443407547,0.0798297261567,0.999999940197,0.000182196377885,-0.00029179142672,3.56046897884e-05,1793193399515629824
+91,1.516666667,BASELINE,764,742,711.81211211,672,659,632,877.18788789,784,799,649,629,651,0.400957631698,-0.00543358977849,0.0798307720485,0.999999940754,0.000183300580913,-0.000289247996846,3.50628224221e-05,1793193399532296448
+92,1.533333333,BASELINE,764,742,712,672,659,632,877.388363433,784,799,648.611636567,628.611636567,651,0.400956577703,-0.00543380074369,0.0798300238697,0.999999940745,0.000181812854633,-0.000290211348959,3.50877528421e-05,1793193399548963072
+93,1.550000000,BASELINE,764,742,712,672,659,632,877.963103774,784,799,648.036896226,628.036896226,651,0.400953979371,-0.00543451813268,0.0798284147106,0.999999940456,0.000179081252913,-0.00029285761724,3.53846913657e-05,1793193399565629440
+94,1.566666667,BASELINE,764.537828871,742,712,672,658.462171129,632,877.462171129,784,799.537828871,648.537828871,628.537828871,651,0.400955011931,-0.00543423216726,0.0798295106737,0.999999940814,0.000179790017622,-0.000291203447331,3.53322601292e-05,1793193399582296320
+95,1.583333333,BASELINE,764.884142105,742,712.115857895,672,658.115857895,632,877.115857895,784,799.884142105,649,629,651,0.400956208228,-0.00543388367931,0.0798305570351,0.999999941158,0.000180510098465,-0.000289585952403,3.52279771478e-05,1793193399598962944
+96,1.600000000,BASELINE,764.292541833,742,712.707458167,672,658.707458167,632,877.707458167,784,799.292541833,649,629,651,0.400957054086,-0.00543356109268,0.0798306377127,0.999999941276,0.000180307529085,-0.000289330445064,3.50091915488e-05,1793193399615630080
+97,1.616666667,BASELINE,764,742,712.707314027,672,659,632,878.292685973,783.707314027,799,648.707314027,629,651,0.40095794184,-0.00543357945457,0.0798311198394,0.999999941458,0.000181131078575,-0.000288165105246,3.51611595109e-05,1793193399632296960
+98,1.633333333,BASELINE,764,742,712.128319864,672,659,632,878.871680136,783.128319864,799,648.128319864,629,651,0.400958870575,-0.00543393133555,0.0798319946674,0.999999941697,0.000182958387272,-0.000286109758697,3.56758021296e-05,1793193399648963584
+99,1.650000000,BASELINE,764,742,711.553276499,672.446723501,659,632,878.553276499,783.446723501,799.446723501,648,628.553276499,651,0.400958644053,-0.00543440932459,0.0798314591909,0.999999941599,0.000182037869994,-0.000287037175658,3.56856509031e-05,1793193399665630208
+100,1.666666667,BASELINE,764,742,711.021167319,672.978832681,659,632,878,784,799.978832681,648.021167319,628.021167319,651,0.400958095184,-0.00543486006854,0.0798305584418,0.999999941394,0.000180460581442,-0.000288759544499,3.55478381632e-05,1793193399682296832
+101,1.683333333,BASELINE,764,742,711.609692775,672.390307225,659,632,878,784,799.390307225,648.609692775,628.609692775,651,0.400957722913,-0.00543361812758,0.0798306301576,0.999999941001,0.000182250169853,-0.000289025781699,3.53046269028e-05,1793193399698963200
+102,1.700000000,BASELINE,764,742,711.804716786,672,659,632,877.804716786,784,799,649,628.804716786,650.804716786,0.400957172286,-0.00543328010495,0.0798306171806,0.999999940865,0.000182538106516,-0.000289326086023,3.52102457959e-05,1793193399715629824
+103,1.716666667,BASELINE,764,742,711.224905692,672,659,632,877.224905692,784,799,649,628.224905692,650.224905692,0.400956270462,-0.00543472196818,0.0798304374371,0.999999941235,0.000179869173544,-0.000289693471143,3.54089228996e-05,1793193399732296448
+104,1.733333333,BASELINE,764,742,711.33832093,672,659,632.33832093,877,784,799.33832093,648.66167907,628.33832093,650.33832093,0.400956550175,-0.00543517637996,0.0798305208092,0.999999941336,0.000179844923387,-0.00028934743438,3.55274418807e-05,1793193399748963328
+105,1.750000000,BASELINE,764,742,711.891037926,672,659,632.891037926,877,784,799.891037926,648.108962074,628.891037926,650.891037926,0.400957578635,-0.00543500503779,0.0798307709193,0.999999941266,0.000181496624833,-0.000288549297793,3.5595164183e-05,1793193399765629952
+106,1.766666667,BASELINE,764,742,712,672,659,632.519093329,877.480906671,784,800.480906671,648.480906671,628.519093329,651,0.400957241316,-0.00543421764084,0.0798305433799,0.999999941129,0.000181726689788,-0.000288891064496,3.54942585403e-05,1793193399782296576
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632,878,784,800,649,629,651,0.400955062045,-0.00543518464151,0.0798294716016,0.999999940368,0.000182338668717,-0.000291081296075,3.58844495961e-05,1793193399824803840
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632,877.42347114,784,799.42347114,648.42347114,628.42347114,650.42347114,0.400955655947,-0.00543616487522,0.0798301242137,0.999999940823,0.000180784779238,-0.000290497596833,3.58020957288e-05,1793193399841470464
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632,877.153053016,784,799.153053016,648.153053016,628.153053016,650.153053016,0.40095617687,-0.00543627931399,0.0798305436928,0.999999941139,0.000179902967099,-0.000289977501222,3.56422841866e-05,1793193399858137088
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632,877.729564287,784,799.729564287,648.729564287,628.729564287,650.729564287,0.40095649588,-0.0054339983215,0.0798303181535,0.999999941075,0.000180880619423,-0.000289633380336,3.52681672004e-05,1793193399874803456
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632,877.687812045,784,799.687812045,649,629,651,0.400956596563,-0.00543303952606,0.0798301762152,0.999999941009,0.000181158451965,-0.000289709242584,3.51097076071e-05,1793193399891469568
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632,877.09978775,784,799.09978775,649,629,651,0.400956504341,-0.00543324896928,0.0798301081433,0.99999994094,0.000180817952693,-0.000290156184543,3.51417939712e-05,1793193399908136192
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,742.480786713,711.519213287,672,659,632,877,783.519213287,799,649,629,651,0.400957973095,-0.00543351359441,0.0798313987797,0.999999941646,0.000179977626031,-0.000288232489108,3.51933807399e-05,1793193399924803328
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,742.940455383,711.059544617,672,659,632,877,783.059544617,799,649,629,650.940455383,0.40095976081,-0.0054337887852,0.0798328104812,0.999999942393,0.000179310508368,-0.000286039062127,3.52530860724e-05,1793193399941469952
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,742.364247881,711.635752119,672,659,632,877,783.635752119,799,649,629,650.364247881,0.400961547861,-0.0054340577925,0.0798328630912,0.999999942174,0.000181032712499,-0.000285709337287,3.5348652987e-05,1793193399958136576
+116,1.933333333,POSE1_TO_POSE2_PRESS,764.211070496,742,712,672,658.788929504,632,877,783.788929504,799,649,628.788929504,650.211070496,0.400970182032,-0.00543483000517,0.079836576694,0.999999943857,0.000181248444138,-0.000279582809359,3.56081791646e-05,1793193399974803456
+117,1.950000000,POSE1_TO_POSE2_PRESS,764.784860872,742,712,672,658.215139128,632,877,783.215139128,799,649,628.215139128,650.784860872,0.400990582822,-0.00543646696489,0.07984658163,0.999999948634,0.000178875336605,-0.000263494606201,3.61494656174e-05,1793193399991470080
+118,1.966666667,POSE1_TO_POSE2_PRESS,764.630763781,742,712,672,658.369236219,632.369236219,877.369236219,783.369236219,799,649,628.369236219,651,0.401026646098,-0.00543772362081,0.0798606110069,0.99999995536,0.000177523936312,-0.000237567177002,3.64327724267e-05,1793193400008136448
+119,1.983333333,POSE1_TO_POSE2_PRESS,764.040038917,742,712,672,658.959961083,632.959961083,877.959961083,783.959961083,799,649,628.959961083,651,0.401072104617,-0.00543875214929,0.0798770544708,0.999999962541,0.00017678541311,-0.000205737625108,3.65613285671e-05,1793193400024802816
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,742,712,672,658.464275677,633,877.464275677,784,799,648.464275677,629,651,0.401137214726,-0.00543843501207,0.0798924831228,0.999999968532,0.000177896021216,-0.000173309186775,3.5394930943e-05,1793193400041469696
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,742,712,672,658.111056986,632.888943014,877,784,799.111056986,648.111056986,629,651,0.401204936498,-0.00543840384359,0.0799063785988,0.999999972811,0.00017845769095,-0.000146196081557,3.40104214977e-05,1793193400058136320
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,742,712,672,658.6891538,632.3108462,877,784,799.6891538,648.6891538,629,651,0.401277632648,-0.00543998674609,0.079914136744,0.999999973943,0.000176145454647,-0.000141619223971,3.21046130578e-05,1793193400074803200
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,742,712,672,658.728085271,632.271914729,877,784,799.728085271,649,629,651,0.401360676183,-0.00544141700655,0.0799185404578,0.999999975053,0.000174066186069,-0.00013690015234,2.92111151042e-05,1793193400091469824
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,742,712,672,658.139899422,632.860100578,877,784,799.139899422,649,629,651,0.401455755027,-0.00544266972498,0.0799190425446,0.999999976133,0.000172257888467,-0.000132015668117,2.51688098082e-05,1793193400108136448
+125,2.083333333,POSE1_TO_POSE2_PRESS,764.441096912,742,712,672,658.441096912,633,877,784,799.441096912,649,629,651,0.401571786568,-0.0054443310643,0.0799229782503,0.999999977586,0.000169089263137,-0.000125690876829,2.09511282333e-05,1793193400124803072
+126,2.100000000,POSE1_TO_POSE2_PRESS,764.980216514,742,712,672,659,633,877,784,800,649,629,651,0.401695490516,-0.00544608275861,0.0799280084427,0.999999979144,0.000165358643935,-0.000118715530212,1.66018861392e-05,1793193400141469696
+127,2.116666667,POSE1_TO_POSE2_PRESS,764.403390422,742,712,672,659,633,877,784,800,649,629,651,0.401851112437,-0.00544678797908,0.0799336844648,0.999999981879,0.000157757336046,-0.000106078659896,1.0089349407e-05,1793193400158136320
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632.827457127,877,784,799.827457127,649,629,651,0.402015186277,-0.00544806657231,0.0799397485573,0.999999984317,0.000150048186275,-9.40145852221e-05,3.50373683921e-06,1793193400174802944
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632.253600448,877,784,799.253600448,649,629,651,0.402198918231,-0.00545067876094,0.0799467152536,0.999999986432,0.00014208821048,-8.32827655813e-05,-3.2518403508e-06,1793193400191469568
+130,2.166666667,POSE1_TO_POSE2_PRESS,764.331064702,742,712,672,658.668935298,632.331064702,877.331064702,784,799.331064702,648.668935298,628.668935298,651,0.40239931929,-0.00545165683933,0.0799497371523,0.999999987697,0.000135034063957,-7.90641113773e-05,-1.09677205835e-05,1793193400208136448
+131,2.183333333,POSE1_TO_POSE2_PRESS,764.924288792,742,712,672,658.075711208,632.924288792,877.924288792,784,799.924288792,648.075711208,628.075711208,651,0.402612920094,-0.00545134091916,0.0799496352945,0.999999988329,0.00012869721337,-8.00030202532e-05,-1.94440343412e-05,1793193400224803328
+132,2.200000000,POSE1_TO_POSE2_PRESS,764.49764737,742,712,672,658,632.49764737,878,783.49764737,799.49764737,649.00470526,628,650.49764737,0.402844122394,-0.0054526138805,0.0799437317919,0.999999990362,0.000102275820912,-9.03414210921e-05,-2.5587779751e-05,1793193400241469952
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,742,711.921697697,672,658.078302303,632,878.078302303,783.078302303,799,649.921697697,628.078302303,650,0.40308553035,-0.0054536372916,0.0799377407762,0.999999991645,7.60840650916e-05,-0.000100212563455,-2.9637757253e-05,1793193400258136832
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,742,711.345087497,672,658.654912503,632,878.654912503,783.654912503,799,649.345087497,628.654912503,650,0.403375498691,-0.00545159329947,0.0799365943214,0.999999992455,7.00529305092e-05,-9.83589458676e-05,-2.25348952382e-05,1793193400274803200
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,742.236544552,711,672.236544552,659,632.236544552,878.526910896,784,799,649,629,650.236544552,0.403683066726,-0.00545156445082,0.0799375373275,0.999999992897,6.85881829355e-05,-9.53222658866e-05,-2.03858450206e-05,1793193400291469824
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,742.825661696,711,672.825661696,659,632.825661696,877.348676607,784,799,649,629,650.825661696,0.404016867306,-0.00545453919865,0.079941594701,0.999999992842,7.39296922667e-05,-9.05222168329e-05,-2.5620513228e-05,1793193400308136448
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,742.593553678,711.406446322,672.593553678,659,632.593553678,877,784,799.406446322,648.593553678,629,651,0.404388604363,-0.00545605431155,0.0799419830343,0.999999992945,7.31068219947e-05,-8.92348150942e-05,-2.83394616313e-05,1793193400324803072
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,742.01627136,711.98372864,672.01627136,659,632.01627136,877,784,799.98372864,648.01627136,629,651,0.404776286731,-0.0054569559161,0.0799408292102,0.999999993123,6.96929626428e-05,-8.94238362399e-05,-3.00010119775e-05,1793193400341469696
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632,877.561073986,784,799.438926014,648.561073986,628.438926014,650.438926014,0.405202126264,-0.00545796271245,0.079939212434,0.999999993365,6.90391711806e-05,-8.6587761458e-05,-3.17157259915e-05,1793193400358136576
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,742,712,671.861989956,659,632,877.861989956,783.861989956,799,649,628,650.138010044,0.405636297476,-0.00545895901826,0.0799364350336,0.999999993313,6.74440725352e-05,-8.76970459055e-05,-3.36962843354e-05,1793193400374803200
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,742,712,671.286357639,659,632,877.286357639,783.286357639,799,649,628,650.713642361,0.406093378629,-0.00545991238455,0.0799300199353,0.999999992213,6.26103000504e-05,-0.000101595063319,-3.65149307071e-05,1793193400391470080
+142,2.366666667,POSE1_TO_POSE2_PRESS,763.703747629,742,712,671.296252371,659,632,877,783,799,649,628,651,0.406565426106,-0.00546086633727,0.0799238012999,0.999999991197,5.67849515075e-05,-0.000113390425808,-3.90326140597e-05,1793193400408136960
+143,2.383333333,POSE1_TO_POSE2_PRESS,763.11423022,742,712,671.88576978,659,632,877,783,799,649,628,651,0.407052289043,-0.00546182087065,0.0799177771455,0.999999990323,4.997802513e-05,-0.000123104337668,-4.12523695649e-05,1793193400424803584
+144,2.400000000,POSE1_TO_POSE2_PRESS,763.468971994,742,712,672.468971994,659,632.468971994,877.468971994,783.468971994,799,648.531028006,628.468971994,651,0.407589754538,-0.00546264990326,0.0799156499987,0.999999989225,5.0232044886e-05,-0.0001311771138,-4.26556366907e-05,1793193400441470720
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,742,712,672.949950215,659,632.949950215,878,784,799,648.050049785,629,651,0.408141588177,-0.00546358992524,0.0799138959997,0.999999988041,5.07144346371e-05,-0.000139330602245,-4.39586854005e-05,1793193400458138112
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,742,712,672.375231317,659,632.375231317,878,784,799,648.624768683,629,651,0.408716551317,-0.00546600963777,0.0799062353166,0.999999986666,3.58010148825e-05,-0.000152464981348,-4.62682640888e-05,1793193400474804224
+147,2.450000000,POSE1_TO_POSE2_PRESS,763.800850517,742.199149483,712,672,659.199149483,632,877.800850517,784,799,649,629,651,0.409324797355,-0.00546832078885,0.079912127396,0.999999988269,2.57435419615e-05,-0.000143215784239,-4.78422407974e-05,1793193400491470592
+148,2.466666667,POSE1_TO_POSE2_PRESS,763.227105705,742.772894295,712,672,659.772894295,632,877.227105705,784,799,649,629,651,0.40999564768,-0.00547042773833,0.079943511892,0.999999994319,2.48199876871e-05,-9.18636242172e-05,-4.80325678961e-05,1793193400508137728
+149,2.483333333,POSE1_TO_POSE2_PRESS,763,742.64144492,712,672,659.64144492,632,877,784,799,649,629,651,0.410677179369,-0.00547314520368,0.0799707085392,0.999999997507,2.08368773852e-05,-4.62572195311e-05,-4.91228135275e-05,1793193400524804352
+150,2.500000000,POSE1_TO_POSE2_PRESS,763,742.047977232,712,672,659.047977232,632,877,784,799,649,629,651,0.411365709085,-0.00547626265736,0.0799951614545,0.99999999859,1.48492542263e-05,-4.41523255015e-06,-5.08026539316e-05,1793193400541470976
+151,2.516666667,POSE1_TO_POSE2_PRESS,763.530501774,742,711.469498226,672.530501774,659,632,877,783.469498226,799,648.469498226,628.469498226,650.469498226,0.412046416646,-0.00547693581906,0.0799693402082,0.999999997445,9.27601885437e-06,-4.65733453228e-05,-5.34387520044e-05,1793193400558137088
+152,2.533333333,POSE1_TO_POSE2_PRESS,763.892757036,742,711.107242964,673,659,632,877.107242964,783.107242964,799.107242964,648.107242964,628,650,0.41273215502,-0.00547772147836,0.0799392753028,0.999999994039,2.92170836967e-06,-9.32995579266e-05,-5.66404029331e-05,1793193400574803712
+153,2.550000000,POSE1_TO_POSE2_PRESS,763.317845481,742,711.682154519,673,659,632,877.682154519,783.682154519,799.682154519,648.682154519,628,650,0.413442831893,-0.00547993521898,0.0799099869729,0.9999999899,-6.99767486228e-06,-0.000127728574246,-6.19415659476e-05,1793193400591470080
+154,2.566666667,POSE1_TO_POSE2_PRESS,763.263227039,742,712,672.736772961,659,632.263227039,878,784,800,649,628,650.263227039,0.414177262125,-0.00548222804359,0.0799016395454,0.999999988922,-1.5166252744e-05,-0.00013296974933,-6.51553882607e-05,1793193400608136448
+155,2.583333333,POSE1_TO_POSE2_PRESS,763.851917271,742,712,672.148082729,659,632.851917271,878,784,800,649,628,650.851917271,0.414941061943,-0.00548461865072,0.079919184184,0.999999992397,-2.11700744895e-05,-0.000102122053032,-6.57883496749e-05,1793193400624803328
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,742,711.566529304,672.433470696,659,632.566529304,878,784,799.566529304,649,628,650.566529304,0.415728060794,-0.00548759587356,0.0799350426699,0.999999994237,-1.88304452475e-05,-8.43939623151e-05,-6.36389021934e-05,1793193400641470208
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,742,711,673,659,632.012564825,878,784,799,648.987435175,628,650,0.416523495437,-0.00549076325361,0.0799497878274,0.999999995506,-1.40163128077e-05,-7.14916507058e-05,-6.06721210628e-05,1793193400658137088
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,742,711,673,659,632.588936676,878,784,799,648.411063324,628,650,0.417347600174,-0.00549361667064,0.079940004574,0.999999994742,-2.39931601836e-05,-7.72758289512e-05,-6.29912155529e-05,1793193400674804224
+159,2.650000000,POSE1_TO_POSE2_PRESS,763.834571683,742.165428317,711.165428317,673,659,632.834571683,878,784,799,648.165428317,628,650,0.418189030337,-0.00549715426706,0.079941806698,0.999999995353,-3.23341981146e-05,-6.41039650798e-05,-6.4335720933e-05,1793193400691470848
+160,2.666666667,POSE1_TO_POSE2_PRESS,763.257782203,742.742217797,711.742217797,673,659,632.257782203,878,784,799,648.742217797,628,650,0.419073542598,-0.00550239317319,0.0799724175203,0.999999997322,-3.66075613032e-05,-3.79519153686e-06,-6.32567708672e-05,1793193400708136704
+161,2.683333333,POSE1_TO_POSE2_PRESS,763.325058877,742.674941123,712,673,659,632,878,783.674941123,799,648.674941123,628,650,0.419912180029,-0.00550676732825,0.0799776176225,0.99999999708,-4.20062927336e-05,8.45288747084e-06,-6.32723420946e-05,1793193400724802816
+162,2.700000000,POSE1_TO_POSE2_PRESS,763.912790083,742.087209917,712,673,659,632,878,783.087209917,799,648.087209917,628,650,0.42071374706,-0.00551044269834,0.0799622839262,0.999999996609,-4.83144072561e-05,-1.8135737685e-05,-6.41723700306e-05,1793193400741469440
+163,2.716666667,POSE1_TO_POSE2_PRESS,763.506822522,742,712,673,659.493177478,632,878,783.493177478,799,648.493177478,628.493177478,650.493177478,0.421571405812,-0.00551632431732,0.0799578017609,0.999999996123,-5.48171096051e-05,-2.52035194573e-05,-6.4145714698e-05,1793193400758136320
+164,2.733333333,POSE1_TO_POSE2_PRESS,763.071756096,742,712,673.071756096,659.928243904,632.071756096,878,783.928243904,799.071756096,649,628.928243904,651,0.422444136055,-0.00552236375449,0.0799591916864,0.999999995808,-6.13471422934e-05,-2.3403623026e-05,-6.38220945818e-05,1793193400774802944
+165,2.750000000,POSE1_TO_POSE2_PRESS,763.646623945,742,712,673.646623945,659.353376055,632.646623945,878,783.353376055,799.646623945,649,628.353376055,651,0.423354013552,-0.00552681443981,0.0799884964384,0.999999995603,-6.78310766245e-05,1.67234874529e-05,-6.25484195083e-05,1793193400791469824
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,742.221193961,712,674,659.221193961,633,878,783.221193961,799.778806039,649,628.221193961,650.778806039,0.424220789787,-0.0055297860956,0.0799927368535,0.999999995408,-7.22099920651e-05,1.01258180955e-05,-6.21802883473e-05,1793193400808136704
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,742.79528889,712,674,659.79528889,633,878,783.79528889,799.20471111,649,628.79528889,650.20471111,0.425018800829,-0.00553039805409,0.0799569887094,0.999999992796,-7.32304838913e-05,-7.10182748167e-05,-6.32568948524e-05,1793193400824803328
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,742.618755531,712,673.618755531,660,632.618755531,878.381244469,783.618755531,799,649,628.618755531,650.381244469,0.425848561424,-0.00553290382905,0.079924251311,0.999999988062,-8.04288498234e-05,-0.000113689710362,-6.69453766257e-05,1793193400841469952
+169,2.816666667,POSE1_TO_POSE2_PRESS,764,742.026226861,712,673.026226861,660,632.026226861,878.973773139,783.026226861,799,649,628.026226861,650.973773139,0.426695917452,-0.0055364591497,0.0798931824582,0.999999984139,-9.10509696382e-05,-0.000135039744163,-7.20813495743e-05,1793193400858136320
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,742,711.447232511,673.552767489,660,632,878.447232511,783.552767489,799.552767489,649,628,650.447232511,0.427566777255,-0.00553612316685,0.0798979714139,0.999999985633,-8.62799229249e-05,-0.000129492729584,-6.72450681327e-05,1793193400874803200
+171,2.850000000,POSE1_TO_POSE2_PRESS,763.86952505,742,711.13047495,674,660,632,878,784,799.86952505,649,628,650,0.428439664983,-0.0055352281838,0.0799069051204,0.999999987471,-8.1146583822e-05,-0.000120589435765,-6.26969765234e-05,1793193400891469568
+172,2.866666667,POSE1_TO_POSE2_PRESS,763.294068801,742,711.705931199,674,660,632,878,784,799.294068801,649,628,650,0.429315756488,-0.00553304136767,0.0799243107332,0.999999989718,-7.72089699905e-05,-0.00010448796616,-6.07068422979e-05,1793193400908136192
+173,2.883333333,POSE1_TO_POSE2_PRESS,763.287180365,742.287180365,712,674,660,632,878,784,799.287180365,649,628.287180365,650,0.430186136214,-0.00553909574864,0.0799527523757,0.999999992555,-8.47672944575e-05,-6.53682088688e-05,-5.85760131149e-05,1793193400924803072
+174,2.900000000,POSE1_TO_POSE2_PRESS,763.874483483,742.874483483,712,674,660,632,878,784,799.874483483,649,628.874483483,650,0.431050546694,-0.00555376273372,0.0799927274088,0.999999992969,-0.000104339645847,-2.19279714812e-06,-5.62981482062e-05,1793193400941469952
+175,2.916666667,POSE1_TO_POSE2_PRESS,764,742.544470881,712,674,660,632,878,784,799.544470881,649,629,650.455529119,0.43187547067,-0.00555995377798,0.0800069405113,0.999999992419,-0.000108828103513,1.70357709303e-05,-5.50314930688e-05,1793193400958136832
+176,2.933333333,POSE1_TO_POSE2_PRESS,764,742.034750869,712,674,660,632,878,784,799.034750869,649,629,650.965249131,0.432683938963,-0.00556356955203,0.0800092531475,0.999999992414,-0.000109190162204,1.72446334711e-05,-5.4327885759e-05,1793193400974803456
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,742.612050603,712,674,660,632,878,784,799.612050603,649,629,650.387949397,0.433403055785,-0.00556294720861,0.0799350923291,0.999999988031,-0.000109138465981,-9.3000076683e-05,-5.81237249405e-05,1793193400991469824
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,742.811787044,711.811787044,674,660,632,878,783.811787044,799.811787044,649,629,650,0.434147958735,-0.00556476325822,0.0798844317152,0.999999978215,-0.000111887293005,-0.000165264697584,-6.11383204037e-05,1793193401008136192
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,742.237954905,711.237954905,674,660,632,878,783.237954905,799.237954905,649,629,650,0.434945693597,-0.00557157519721,0.0798819193659,0.999999978044,-0.000120373960501,-0.000159714022553,-6.25522704427e-05,1793193401024802816
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,742.345385837,711.345385837,674,660,632,878,783.345385837,799.345385837,649,629,650.345385837,0.435696867386,-0.00557208994111,0.0798929557318,0.99999997966,-0.000121371414603,-0.000148795780372,-6.17148974279e-05,1793193401041469440
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,742.935462988,711.935462988,674,660,632,878,783.935462988,799.935462988,649,629,650.935462988,0.436415054568,-0.00556814338718,0.079913590792,0.999999982403,-0.000117063075998,-0.000134074843306,-5.92825567811e-05,1793193401058136064
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,743,712,674,660,632,878,784,799.482169506,649,629,651,0.437093804826,-0.00556109410341,0.0798994539057,0.999999978847,-0.000104763947333,-0.000166744423423,-5.93930746955e-05,1793193401074803200
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,743,711.901841625,673.901841625,659.901841625,632,878.098158375,784,799.098158375,649,628.901841625,650.901841625,0.437760077378,-0.00555542336432,0.0798782436389,0.999999972304,-9.4577425856e-05,-0.00020698250215,-6.00446739651e-05,1793193401091470080
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,743,711.326822995,673.326822995,659.326822995,632,878.673177005,784,799.673177005,649,628.326822995,650.326822995,0.438389259518,-0.00555830071015,0.0798434145493,0.999999960452,-9.94212228345e-05,-0.000255716769602,-6.18078729226e-05,1793193401108136960
+185,3.083333333,POSE1_TO_POSE2_PRESS,764,743,711,673.254048092,659,632,878.745951908,783.745951908,800,649,628.254048092,650.254048092,0.439000615776,-0.00556045393988,0.0798063262477,0.999999944434,-0.000106113510117,-0.000309508257164,-6.38450968868e-05,1793193401124803584
+186,3.100000000,POSE1_TO_POSE2_PRESS,764,743,711,673.842625625,659,632,878.157374375,783.157374375,800,649,628.842625625,650.842625625,0.439588498939,-0.00556165365641,0.0797662630282,0.999999922731,-0.000115239881111,-0.00036995906655,-6.62431556531e-05,1793193401141469952
+187,3.116666667,POSE1_TO_POSE2_PRESS,764,742.57580984,711,674,658.57580984,632,878.42419016,783,800,649,629,650.57580984,0.440122839303,-0.00556249602643,0.0797104290611,0.999999887719,-0.000110533772947,-0.000455870957917,-6.72804565234e-05,1793193401158136320
+188,3.133333333,POSE1_TO_POSE2_PRESS,764,742,711,674,658,631.996814086,878.996814086,783,800,649,628.996814086,650,0.440637532737,-0.00556320837743,0.079648953429,0.999999840867,-0.000100874693303,-0.000550897185217,-6.7841959181e-05,1793193401174802944
+189,3.150000000,POSE1_TO_POSE2_PRESS,764,742,711,674,658,631.419498914,878.419498914,783,800,649,628.419498914,650,0.441133181087,-0.00556399283891,0.0796080436604,0.999999803127,-0.000108409494744,-0.000613829870504,-7.21576077727e-05,1793193401191469568
+190,3.166666667,POSE1_TO_POSE2_PRESS,764,742,711,674,658,631,878,782.840299848,800,649,628,650.159700152,0.441643226522,-0.00556469245243,0.0795887660027,0.999999784285,-0.000114057344284,-0.000642554493417,-7.44560592218e-05,1793193401208136448
+191,3.183333333,POSE1_TO_POSE2_PRESS,764,742,711,674,658,631,878,782.256092985,800,649,628,650.743907015,0.442191541657,-0.00556516652768,0.0796269896976,0.999999822472,-0.000114689397933,-0.000580349026247,-7.13925026436e-05,1793193401224803584
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,742,711.325491765,674.325491765,658,631,878,782,800,649,628,650.674508235,0.44271675625,-0.00556351862022,0.0796662296814,0.999999856319,-0.000114329047785,-0.000519185444922,-6.88316872413e-05,1793193401241470720
+193,3.216666667,POSE1_TO_POSE2_PRESS,764,742,711.90502992,674.90502992,658,631,878,782,800,649,628,650.09497008,0.443223940832,-0.0055602145048,0.0797062628765,0.999999886107,-0.000113194126153,-0.000458835059171,-6.6663261573e-05,1793193401258137600
+194,3.233333333,POSE1_TO_POSE2_PRESS,764,742,711.516845107,675,657.516845107,630.516845107,878.483154893,782,799.516845107,649,628,650.483154893,0.443631838694,-0.00556090566204,0.079701861449,0.999999881099,-0.000108285615948,-0.000471036875,-6.48149059703e-05,1793193401274803712
+195,3.250000000,POSE1_TO_POSE2_PRESS,764,742,711,674.939133838,657,630,879,782,799.060866162,649,628,650.939133838,0.444015561355,-0.00556252101965,0.0796875844642,0.999999868422,-0.000104590401273,-0.000498205335769,-6.33073813194e-05,1793193401291469824
+196,3.266666667,POSE1_TO_POSE2_PRESS,764,742,711,674.362581039,657,630,879,782,799.637418961,649,628,650.362581039,0.444359327171,-0.00556533243835,0.0796634213473,0.999999849691,-0.000117440882801,-0.000531704437916,-6.41560560093e-05,1793193401308136448
+197,3.283333333,POSE1_TO_POSE2_PRESS,764,742.217751215,711,674,656.782248785,630,878.782248785,782,800,649,628,650,0.444696058837,-0.00556671896349,0.0796448298745,0.999999834601,-0.000121779449558,-0.000558337340928,-6.50192983562e-05,1793193401324803072
+198,3.300000000,POSE1_TO_POSE2_PRESS,764,742.804487803,711,674,656.195512197,630,878.195512197,782,800,649,628,650,0.44502087091,-0.00556569096735,0.0796356797071,0.999999827234,-0.000111694343496,-0.000573335279684,-6.59072260083e-05,1793193401341469440
+199,3.316666667,POSE1_TO_POSE2_PRESS,764,743,711,674,656,629.613448401,878,781.613448401,800,649,628,650,0.445335293255,-0.00556796262106,0.0796384125187,0.999999831532,-0.00010275328541,-0.000567628529033,-6.46163373376e-05,1793193401358136320
+200,3.333333333,POSE1_TO_POSE2_PRESS,764,743,711,674,656,629.033719754,878,781.033719754,800,649,628,650,0.445644523419,-0.00557188325665,0.0796470837833,0.999999841492,-9.43839581209e-05,-0.000551574724288,-6.22365971892e-05,1793193401374803456
+201,3.350000000,POSE1_TO_POSE2_PRESS,764,743,711,674.54169627,656,629,878,781,800.54169627,649,628,650.54169627,0.445908353303,-0.00557469965048,0.0796507956439,0.999999842229,-0.000129060373173,-0.000543120852359,-6.24846942556e-05,1793193401391470080
+202,3.366666667,POSE1_TO_POSE2_PRESS,764,743,711,675,656,629,878.116939321,781,800.883060679,649,628,650.883060679,0.44615857002,-0.00557717396877,0.0796519643732,0.999999840484,-0.000158081989961,-0.000538651944565,-6.24227518098e-05,1793193401408136448
+203,3.383333333,POSE1_TO_POSE2_PRESS,764,743,711,675,656,629,878.692548736,781,800.307451264,649,628,650.307451264,0.446366389236,-0.00557857404636,0.079644359509,0.999999836098,-0.000154496963211,-0.000547972310264,-6.05082084478e-05,1793193401424803072
+204,3.400000000,POSE1_TO_POSE2_PRESS,764.275288525,743,711,675,656,629,878.724711475,781,800,649,628,650.275288525,0.446565973963,-0.00557922125334,0.0796393146336,0.999999835526,-0.00014652571488,-0.000551309653935,-5.94662476817e-05,1793193401441469696
+205,3.416666667,POSE1_TO_POSE2_PRESS,764.866203463,743,711,675,656,629,878.133796537,781,800,649,628,650.866203463,0.446756117595,-0.00557900527188,0.0796372048612,0.999999839284,-0.000133525534349,-0.00054778728581,-5.94247287093e-05,1793193401458136320
+206,3.433333333,POSE1_TO_POSE2_PRESS,764.552692022,743,711,675,655.552692022,628.552692022,878.447307978,781,800,649,628,651,0.446918891303,-0.00558103806547,0.0796368924151,0.999999841583,-0.00013087140523,-0.000544137249901,-6.01846509543e-05,1793193401474802688
+207,3.450000000,POSE1_TO_POSE2_PRESS,764,743,711,675,655,628.025453029,879,780.974546971,800,649,628,651,0.447071950078,-0.00558365188821,0.0796370337945,0.999999843275,-0.000131318397668,-0.000540803109855,-6.11378622941e-05,1793193401491469824
+208,3.466666667,POSE1_TO_POSE2_PRESS,764,743,711,675,655,628.60169408,879,780.39830592,800,649,628,651,0.447188138017,-0.00558459564008,0.0796356118609,0.999999840663,-0.000133342425491,-0.000545113378438,-6.11976005953e-05,1793193401508136448
+209,3.483333333,POSE1_TO_POSE2_PRESS,763.818995133,743,711,675,655,629,879,780.181004867,800,649,628,651,0.447295994218,-0.0055844089179,0.0796338624111,0.999999838242,-0.000134869327869,-0.000549139420034,-6.14138448451e-05,1793193401524803072
+210,3.500000000,POSE1_TO_POSE2_PRESS,763.232812852,743,711,675,655,629,879,780.767187148,800,649,628,651,0.447385199901,-0.00558169164181,0.07963137982,0.999999836284,-0.000135283420114,-0.000552529222067,-6.19804259437e-05,1793193401541469952
+211,3.516666667,POSE1_TO_POSE2_PRESS,763.349338093,742.650661907,711,675,655,628.650661907,879,780.650661907,799.650661907,649,628,651,0.447463938028,-0.00558160658842,0.0796292586427,0.999999834626,-0.00013456181504,-0.000555745207157,-6.15486865388e-05,1793193401558136576
+212,3.533333333,POSE1_TO_POSE2_PRESS,763.9288331,742.0711669,711,675,655,628.0711669,879,780.0711669,799.0711669,649,628,651,0.44753577975,-0.00558325574086,0.0796273755778,0.999999833161,-0.000133091970417,-0.000558846675525,-6.04592165503e-05,1793193401574803712
+213,3.550000000,POSE1_TO_POSE2_PRESS,764,742.50826576,711,675,655,628,879,780,799.50826576,649,628,651,0.447589786246,-0.00558421745674,0.0796268895789,0.999999832739,-0.00013330864511,-0.000559618956869,-5.98043539895e-05,1793193401591470080
+214,3.566666667,POSE1_TO_POSE2_PRESS,764,743,711,675,655,628,879,780,799.913112695,649,628,650.913112695,0.447638282982,-0.00558479755622,0.079626249892,0.999999832027,-0.000133653974215,-0.000560862765532,-5.92899451387e-05,1793193401608136448
+215,3.583333333,POSE1_TO_POSE2_PRESS,764,743,711,675,655,628,879,780,799.338990435,649,628,650.338990435,0.447669884994,-0.00558377737419,0.0796236515597,0.999999828843,-0.000133396695379,-0.000566579348956,-5.922195023e-05,1793193401624802816
+216,3.600000000,POSE1_TO_POSE2_PRESS,764,743,711,675,655.240679687,628,879,780,799.240679687,649,628,650.240679687,0.447699215581,-0.00558291444796,0.0796230890067,0.999999827933,-0.000132605016872,-0.000568389154329,-5.90255745318e-05,1793193401641469952
+217,3.616666667,POSE1_TO_POSE2_PRESS,764,743,711,675,655.828348147,628,879,780,799.828348147,649,628,650.828348147,0.447725271443,-0.00558227823804,0.0796254614442,0.999999830327,-0.000131042892446,-0.000564566543335,-5.86441117907e-05,1793193401658137600
+218,3.633333333,POSE1_TO_POSE2_PRESS,764,742.589737444,711,675,655.589737444,628,879,780,800.410262556,649.410262556,628,650.589737444,0.447743757685,-0.00558174823643,0.0796256545666,0.999999831011,-0.000128827162942,-0.000563941849897,-5.78959242668e-05,1793193401674804224
+219,3.650000000,POSE1_TO_POSE2_PRESS,764,742.010197219,711,675,655.010197219,628,879,780,800.989802781,649.989802781,628,650.010197219,0.447759120639,-0.00558126205725,0.0796249484858,0.999999830987,-0.000126341750703,-0.000564636643358,-5.69964231225e-05,1793193401691470592
+220,3.666666667,POSE1_TO_POSE2_PRESS,764,742,711,675,654.438736848,628,878.438736848,780,799.877473697,649.438736848,627.438736848,650,0.44776638149,-0.00558210305359,0.0796241477712,0.999999829492,-0.000129274303835,-0.000566571388337,-5.74624221114e-05,1793193401708136448
+221,3.683333333,POSE1_TO_POSE2_PRESS,764,742.134648968,711,675,654.134648968,628,878,780,799.134648968,649,627.134648968,650.134648968,0.447772670455,-0.0055825510945,0.0796235967413,0.999999828313,-0.000131097688461,-0.000568217438178,-5.75842905454e-05,1793193401724802816
+222,3.700000000,POSE1_TO_POSE2_PRESS,764,742.714885354,711,675,654.714885354,628,878,780,799.714885354,649,627.714885354,650.714885354,0.447776223416,-0.00558162008435,0.0796238775903,0.999999828307,-0.000128929429166,-0.000568834630184,-5.64864103315e-05,1793193401741469440
+223,3.716666667,POSE1_TO_POSE2_PRESS,764,743,711,675,655,628,878.299935247,780.299935247,800,649,628,650.700064753,0.447777052365,-0.0055813820074,0.0796224122221,0.999999826798,-0.000128446701931,-0.000571630677417,-5.60723353623e-05,1793193401758136320
+224,3.733333333,POSE1_TO_POSE2_PRESS,764,743,711,675,655,628,878.889635501,780.889635501,800,649,628,650.110364499,0.447775249669,-0.00558181336746,0.0796192598477,0.999999823823,-0.000129592353265,-0.000576531699048,-5.63188789546e-05,1793193401774802944
+225,3.750000000,POSE1_TO_POSE2_PRESS,764,742.528570509,711,675.471429491,655,628,879,780.528570509,800,649,628,650,0.447776937286,-0.00558106222095,0.0796195166987,0.99999982423,-0.000129506294558,-0.000575835193739,-5.64045718817e-05,1793193401791469568
+226,3.766666667,POSE1_TO_POSE2_PRESS,764,742.051079034,711,676,654.948920966,628,879,780,800,649,627.948920966,650.051079034,0.447779254841,-0.0055800892847,0.0796204758819,0.99999982535,-0.000128890773252,-0.000574026374988,-5.64036423708e-05,1793193401808136448
+227,3.783333333,POSE1_TO_POSE2_PRESS,764,742.627396575,711,676,654.372603425,628,879,780,800,649,627.372603425,650.627396575,0.447779786379,-0.00557963538639,0.0796205854585,0.999999825775,-0.000125747026365,-0.000574032348573,-5.5892812334e-05,1793193401824803072
+228,3.800000000,POSE1_TO_POSE2_PRESS,764,742.797936643,711,675.595873286,654.202063357,628.202063357,879,780,800,649,627.202063357,651,0.447780096686,-0.00557925477062,0.0796203683769,0.999999825897,-0.000124149789535,-0.000574180252245,-5.57636976838e-05,1793193401841469696
+229,3.816666667,POSE1_TO_POSE2_PRESS,764,742.226289216,711,674.452578431,654.773710784,628.773710784,879,780,800,649,627.773710784,651,0.44778000235,-0.00557900819232,0.0796195538207,0.999999825478,-0.000125381197782,-0.000574587753212,-5.63327597585e-05,1793193401858136320
+230,3.833333333,POSE1_TO_POSE2_PRESS,764.360182244,742.360182244,711,674.360182244,654.639817756,628.639817756,879.360182244,780,800,649,628,651,0.447780020179,-0.00557749473847,0.0796189697925,0.99999982527,-0.000124804608135,-0.000575054782378,-5.65236942703e-05,1793193401874802944
+231,3.850000000,POSE1_TO_POSE2_PRESS,764.956366836,742.956366836,711,674.956366836,654.043633164,628.043633164,879.956366836,780,800,649,628,651,0.447780111503,-0.00557515118929,0.0796185368132,0.999999825201,-0.000123043363288,-0.000575560816214,-5.64668680922e-05,1793193401891469568
+232,3.866666667,POSE1_TO_POSE2_PRESS,764.467698754,743,711,675,654.532301246,628,878.935397508,780,799.467698754,649,628,651,0.447780888833,-0.00555139195815,0.0796188761877,0.999999827242,-0.0001001930859,-0.000575946096132,-6.13539393187e-05,1793193401908136192
+233,3.883333333,POSE1_TO_POSE2_PRESS,764,743,711,675,655.106568425,628,878.21313685,780,799,649,628,651,0.447782118578,-0.00552863602481,0.0796195501963,0.99999982914,-7.77334513027e-05,-0.000575625910047,-6.58200302403e-05,1793193401924802816
+234,3.900000000,POSE1_TO_POSE2_PRESS,764,743,711,675,655.680536584,628,879.361073168,780,799,649,628,651,0.447785094983,-0.00551769760335,0.0796214243825,0.99999983197,-6.42911454817e-05,-0.000572253435385,-6.67274628436e-05,1793193401941469696
+235,3.916666667,POSE1_TO_POSE2_PRESS,764,743,711,674.737855713,655.475711426,628,879.475711426,779.737855713,799.262144287,649,628,651,0.447786481505,-0.00551743145859,0.0796221494911,0.999999832947,-6.27220186251e-05,-0.000570759999603,-6.63768562871e-05,1793193401958136320
+236,3.933333333,POSE1_TO_POSE2_PRESS,764,743,711,674.146658502,654.293317004,628,878.293317004,779.146658502,799.853341498,649,628,651,0.447785872348,-0.00553056153735,0.0796214322364,0.999999831653,-7.60565305965e-05,-0.000571625200479,-6.44471139235e-05,1793193401974803200
+237,3.950000000,POSE1_TO_POSE2_PRESS,764.435117103,742.564882897,711,674.435117103,654,628,878.435117103,779.435117103,799.564882897,649,628,650.564882897,0.447786527955,-0.00552838173616,0.0796214576639,0.999999831905,-7.35746849458e-05,-0.000571462250425,-6.48712428883e-05,1793193401991469824
+238,3.966666667,POSE1_TO_POSE2_PRESS,764.986266964,742,711,675,654.013733036,628,879,779.986266964,799,649,627.986266964,650.013733036,0.447787573432,-0.00552137553929,0.0796217176227,0.999999832623,-6.61387985725e-05,-0.000570980490314,-6.60334814844e-05,1793193402008136192
+239,3.983333333,POSE1_TO_POSE2_PRESS,764.409754895,742,711,675,654.590245105,628,879,779.409754895,799,649,627.409754895,650.590245105,0.447787496429,-0.00552356982081,0.0796215477793,0.999999832219,-6.9519959635e-05,-0.000571334266075,-6.56196362303e-05,1793193402024802816
+240,4.000000000,POSE1_TO_POSE2_PRESS,764.169579463,742.169579463,711,675,654.830420537,628,878.830420537,779.169579463,799.169579463,649,627.169579463,650.830420537,0.447787216347,-0.00552534300172,0.0796211352083,0.999999831481,-7.18542822375e-05,-0.00057237836547,-6.52562696827e-05,1793193402041469440
+241,4.016666667,POSE1_TO_POSE2_PRESS,764.755848704,742.755848704,711,675,654.244151296,628,878.244151296,779.755848704,799.755848704,649,627.755848704,650.244151296,0.447786437261,-0.00552608145629,0.0796201262083,0.999999829941,-7.16163186082e-05,-0.000575118724504,-6.50169391774e-05,1793193402058136320
+242,4.033333333,POSE1_TO_POSE2_PRESS,764.66192337,742.66192337,711,675,654,628,878,779.66192337,799.66192337,649,628,650.33807663,0.44778754348,-0.00552462778585,0.0796204197777,0.99999983045,-6.96702219364e-05,-0.000574436151284,-6.53443321195e-05,1793193402074802944
+243,4.050000000,POSE1_TO_POSE2_PRESS,764.08257954,742.08257954,711,675,654,628,878,779.08257954,799.08257954,649,628,650.91742046,0.447789995142,-0.00552160971306,0.0796216429214,0.999999832407,-6.65051221236e-05,-0.000571310814348,-6.60761652701e-05,1793193402091469568
+244,4.066666667,POSE1_TO_POSE2_PRESS,764,742,711,675,654.495286359,628,878.990572718,779,799.495286359,649,628,651,0.447789140434,-0.0055243405764,0.0796210361444,0.999999831626,-7.04595936375e-05,-0.000572269582923,-6.55112398065e-05,1793193402108136192
+245,4.083333333,POSE1_TO_POSE2_PRESS,764,742,711,675,654.927292523,627.927292523,879.854585046,779.072707477,800.072707477,649,628,650.927292523,0.447788111277,-0.00552716574554,0.0796204926131,0.999999830787,-7.40990144578e-05,-0.000573349790682,-6.48518009323e-05,1793193402124802560
+246,4.100000000,POSE1_TO_POSE2_PRESS,764,742,711,675,654.351249984,627.351249984,878.702499968,779.648750016,800.648750016,649,628,650.351249984,0.447789679421,-0.00552402788656,0.0796224927898,0.999999832841,-6.73642090773e-05,-0.000570570697415,-6.50303815549e-05,1793193402141469440
+247,4.116666667,POSE1_TO_POSE2_PRESS,764,742,711,675.229397291,654,627.229397291,877.770602709,780,800.770602709,649,627.770602709,650,0.447790901634,-0.00552217392713,0.0796235390064,0.999999833969,-6.4695381399e-05,-0.000568880348476,-6.5197165513e-05,1793193402158136064
+248,4.133333333,POSE1_TO_POSE2_PRESS,764,742,711,675.817239793,654,627.817239793,877.182760207,780,800.182760207,649,627.182760207,650,0.447791583314,-0.00552232612709,0.0796230946109,0.999999833708,-6.83798545818e-05,-0.000568891218854,-6.53455165995e-05,1793193402174802688
+249,4.150000000,HOLD_POSE2,764,742,711,675,654,628,878,780,800,649,627,650,0.447790995616,-0.00552448023378,0.0796225129654,0.999999832708,-6.87929238084e-05,-0.000570711575554,-6.43417955047e-05,1793193402208771840
+250,4.166666667,HOLD_POSE2,763.423581025,742.576418975,711,674.423581025,654,628,878.576418975,780,800,649,627,650.576418975,0.447791167734,-0.0055230527549,0.0796229456292,0.999999832635,-6.80397654641e-05,-0.000570887490102,-6.47141449303e-05,1793193402225438720
+251,4.183333333,HOLD_POSE2,763.305965052,742.847017474,711,674.152982526,654,628,878.847017474,780,800,649,627,650.847017474,0.447791081766,-0.00552183372194,0.0796228523375,0.999999832494,-6.72383313099e-05,-0.00057118696512,-6.50927674051e-05,1793193402242105600
+252,4.200000000,HOLD_POSE2,764.459893788,742.270053106,711,674.729946894,654,628,878.270053106,780,800,649,627,650.270053106,0.447790280525,-0.00552119238396,0.079621301392,0.999999832163,-6.630310349e-05,-0.000571828880569,-6.54887753416e-05,1793193402258772480
+253,4.216666667,HOLD_POSE2,764.687136695,742,711,675,654,628,878.312863305,780,800,649,627,650.312863305,0.447790388976,-0.00552190800769,0.0796214459956,0.999999832193,-6.7353281455e-05,-0.000571655143606,-6.54791500536e-05,1793193402275438848
+254,4.233333333,HOLD_POSE2,764.098983081,742,711,675,654,628,878.901016919,780,800,649,627,650.901016919,0.447791297869,-0.00552381763025,0.0796230825234,0.999999832534,-7.01504300042e-05,-0.000570763709125,-6.51126056205e-05,1793193402292105472
+255,4.250000000,HOLD_POSE2,764,742,711,675,654,628,878.520462615,780,799.520462615,649,627,651,0.447791998303,-0.0055246030313,0.0796231166714,0.99999983291,-7.13021199377e-05,-0.000569952533,-6.51933121656e-05,1793193402308771840
+256,4.266666667,HOLD_POSE2,764.056245597,742.056245597,711,675,654,628,878.056245597,779.943754403,799.056245597,649,627.056245597,651,0.447792673538,-0.0055251901133,0.0796229228182,0.999999833304,-7.19517012466e-05,-0.000569167349092,-6.52933729447e-05,1793193402325438464
+257,4.283333333,HOLD_POSE2,764.634224677,742.634224677,711,675,654,628,878.634224677,779.365775323,799.634224677,649,627.634224677,651,0.447793506305,-0.00552604773748,0.0796236216718,0.999999833801,-7.10322305709e-05,-0.000568472624876,-6.47334798885e-05,1793193402342105088
+258,4.300000000,HOLD_POSE2,764.784623011,743,711,675,654.215376989,628,879,779,800,649,628,651,0.447793391394,-0.00552510713233,0.0796235968353,0.999999833767,-6.93891359396e-05,-0.00056875023558,-6.46128746539e-05,1793193402358771456
+259,4.316666667,HOLD_POSE2,764.19800106,743,711,675,654.80199894,628,879,779,800,649,628,651,0.44779164297,-0.00552106692218,0.0796223245752,0.999999832809,-6.64987319858e-05,-0.000570703858449,-6.5249469169e-05,1793193402375438336
+260,4.333333333,HOLD_POSE2,764,743,711,675.385670842,655,628,878.614329158,779.385670842,800,649,628,651,0.44779193555,-0.00552127738745,0.079622527337,0.999999833086,-6.66406442629e-05,-0.000570191028993,-6.53391287565e-05,1793193402392105216
+261,4.350000000,HOLD_POSE2,764,743,711,675.967839756,655,628,878.032160244,779.967839756,800,649,628,651,0.447793268014,-0.00552365355804,0.0796234816175,0.999999833992,-6.83275117947e-05,-0.000568421550067,-6.5150126788e-05,1793193402408772096
+262,4.366666667,HOLD_POSE2,764,743,711,675.456652292,654.456652292,627.456652292,878.543347708,780,800,649,628,651,0.447791891494,-0.00552350733914,0.0796218992798,0.999999832293,-6.78922807538e-05,-0.00057147764233,-6.49504301425e-05,1793193402425438976
+263,4.383333333,HOLD_POSE2,764,742.881846914,711,675,654.118153086,627.118153086,879.118153086,780,800,649,628,651,0.447790667126,-0.0055230162239,0.0796206627501,0.999999830906,-6.71360454417e-05,-0.000573999828387,-6.48439657648e-05,1793193402442105600
+264,4.400000000,HOLD_POSE2,764,742.308248247,711,675,654.691751753,627.691751753,879.691751753,780,800,649,628,651,0.44779063985,-0.0055217641641,0.0796213309457,0.999999831348,-6.5620739463e-05,-0.000573376311224,-6.50992949574e-05,1793193402458771968
+265,4.416666667,HOLD_POSE2,764,742,711,675,654.725521601,628,879.725521601,780,800,649,627.725521601,651,0.447790985518,-0.00552087043775,0.0796218922113,0.999999831779,-6.52916791465e-05,-0.000572647073314,-6.52263310199e-05,1793193402475438592
+266,4.433333333,HOLD_POSE2,764,742,711,675,654.132191341,628,879.132191341,780,800,649,627.132191341,651,0.447791764424,-0.00552039297478,0.0796223292601,0.999999832199,-6.63406386112e-05,-0.000571795023388,-6.5204333469e-05,1793193402492105216
+267,4.450000000,POSE2_TO_POSE3_RETREAT,764,743,711,675,654,628,878,780,800,649,628,650,0.447792126566,-0.00552250584377,0.0796225432189,0.99999983244,-6.8962843016e-05,-0.000571105601402,-6.483082598e-05,1793193402524619264
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764,742.426430429,711,675,654,628,878,780,800,649,628,650,0.447793515081,-0.0055225809187,0.0796237636404,0.999999833609,-6.78827468639e-05,-0.000569188288368,-6.48008511643e-05,1793193402541285632
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,742,711,675,654,628,878.151020071,780,800,649,628,650.151020071,0.447794471466,-0.00552267828998,0.0796244018862,0.999999834363,-6.70480686497e-05,-0.000567972152802,-6.46938484409e-05,1793193402557952000
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764,742,711,675,654,628,878.739718205,780,800,649,628,650.739718205,0.447794175476,-0.00552284027935,0.0796233529028,0.999999833929,-6.69246469491e-05,-0.000568788130762,-6.43636076673e-05,1793193402574619392
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764,742,710.677702218,675,654.322297782,628,878.677702218,780,800,649,628,651,0.447793259972,-0.0055243284214,0.0796224939204,0.999999833021,-6.87605051226e-05,-0.000570180697158,-6.42242737245e-05,1793193402591286016
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764,742,710.099971853,675,654.900028147,628,878.099971853,780,800,649,628,651,0.447791853481,-0.00552686758716,0.0796217855206,0.999999831725,-7.21491630707e-05,-0.000572030230573,-6.42362403303e-05,1793193402607951872
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764,742,710.479131008,675,654.520868992,628,878.479131008,779.520868992,799.520868992,649,628,651,0.447790076903,-0.00552546187235,0.0796209096979,0.999999831259,-7.07944711862e-05,-0.000573013371452,-6.42386057132e-05,1793193402624618240
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764,742,711,675,654,627.941420489,879,779,799.058579511,649.058579511,627.941420489,651,0.447787289249,-0.00552336529143,0.0796194704519,0.999999830449,-6.84875485125e-05,-0.000574695642628,-6.4311441418e-05,1793193402641284864
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764,742,711,675,654,627.361451772,879,779,799.638548228,649.638548228,627.361451772,651,0.447776191733,-0.0055224667891,0.079613328252,0.999999825019,-6.65395305275e-05,-0.000584214166578,-6.50293827929e-05,1793193402657951744
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764,742,710.780244838,675,654,627,878.780244838,779.219755162,800,649.780244838,627,651,0.447755903222,-0.00552144320754,0.0796029482453,0.99999981526,-6.60167419778e-05,-0.000600676498079,-6.56431518196e-05,1793193402674618624
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764,742,710.196989809,675,654,627,878.196989809,779.803010191,800,649.196989809,627,651,0.44772041177,-0.00552021273088,0.0795855584279,0.99999979793,-6.78514440997e-05,-0.000628624670577,-6.60846079146e-05,1793193402691286016
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764,742,710.380520831,675,654,627,878.380520831,780,799.619479169,649,627.380520831,651,0.447669314236,-0.0055196993839,0.0795677669687,0.999999777907,-6.86095640083e-05,-0.000659615270531,-6.62329255643e-05,1793193402707952640
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764,742,710.955101967,675,654,627,878.955101967,780,799.044898033,649,627.955101967,651,0.447610257817,-0.0055195517629,0.0795497706763,0.999999755898,-6.88186421625e-05,-0.00069215746808,-6.62317467045e-05,1793193402724619008
+280,4.666666667,POSE2_TO_POSE3_RETREAT,764.534306243,742,711,675,654,627.534306243,879,779.465693757,799.534306243,649,628,651,0.447540145541,-0.00551685703901,0.0795396691799,0.999999749959,-6.51307105389e-05,-0.0007011438979,-6.50970627529e-05,1793193402741285376
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764.884452318,742.115547682,711,675,654,628,878.884452318,779.115547682,800.115547682,649,628,651,0.447466341441,-0.00551445947081,0.0795323469106,0.999999746162,-6.16475575709e-05,-0.000707001092265,-6.34448326564e-05,1793193402757951488
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764.296483895,742.703516105,711,675,654,628,878.296483895,779.703516105,800.703516105,649,628,651,0.44738127469,-0.00551415955814,0.0795336515825,0.999999745581,-6.03521972998e-05,-0.000708227796061,-6.00694246149e-05,1793193402774618368
+283,4.716666667,POSE2_TO_POSE3_RETREAT,764,742.712858904,710.712858904,675,654,628,878.287141096,780,800.138576712,649,627.712858904,651,0.44728108036,-0.0055118701325,0.079534508187,0.99999974625,-5.66029651911e-05,-0.000707876729113,-5.66196633426e-05,1793193402791284992
+284,4.733333333,POSE2_TO_POSE3_RETREAT,764,742.133651876,710.133651876,675,654,628,878.866348124,780,798.400955629,649,627.133651876,651,0.447165498999,-0.0055075570712,0.0795349090391,0.99999974816,-5.03577742947e-05,-0.000705920830549,-5.30942737878e-05,1793193402807951616
+285,4.750000000,POSE2_TO_POSE3_RETREAT,764,742,710.443612278,675,654.443612278,628,879,780,798.887224556,649,627.443612278,651,0.44702414909,-0.00550597110128,0.0795340180306,0.999999746442,-4.74875719372e-05,-0.000708904398482,-4.81279446193e-05,1793193402824618496
+286,4.766666667,POSE2_TO_POSE3_RETREAT,764.020083657,742.020083657,711,675,655,628,879,780,800,649,628,650.979916343,0.446873787395,-0.00550509620253,0.0795326619935,0.999999743557,-4.54597116837e-05,-0.000713438269719,-4.27239124775e-05,1793193402841285120
+287,4.783333333,POSE2_TO_POSE3_RETREAT,764.590798362,742.590798362,711,675,655,628,879,780,800,649,628,650.409201638,0.446688275304,-0.0055012886179,0.0795291807927,0.999999739463,-3.87697940698e-05,-0.000719853653188,-3.71699480778e-05,1793193402857952000
+288,4.800000000,POSE2_TO_POSE3_RETREAT,764.831498228,742.831498228,711,675,655,628,879,780,799.831498228,649,628,650.168501772,0.446491019587,-0.00549749524292,0.0795270887985,0.999999735175,-3.06081554427e-05,-0.000726468011286,-3.09372367327e-05,1793193402874618624
+289,4.816666667,POSE2_TO_POSE3_RETREAT,764.236088664,742.236088664,711,675,655,628,879,780,799.236088664,649,628,650.763911336,0.446264010825,-0.00549373786941,0.0795285164305,0.999999730486,-1.87178379665e-05,-0.000733586480789,-2.29848864063e-05,1793193402891284992
+290,4.833333333,POSE2_TO_POSE3_RETREAT,764,742.349305379,711,675,655,628,878.650694621,780,799,649,628,650.650694621,0.446008242708,-0.00548964217401,0.07953037892,0.999999727295,-6.95572350036e-06,-0.000738351747057,-1.41080169836e-05,1793193402907951872
+291,4.850000000,POSE2_TO_POSE3_RETREAT,764,742.928118868,711,675,655,628,878.071881132,780,799,649,628,650.071881132,0.445733578482,-0.00548532418674,0.0795325271291,0.999999725014,4.72215745696e-06,-0.000741570861929,-4.62369940826e-06,1793193402924618496
+292,4.866666667,POSE2_TO_POSE3_RETREAT,764.504055196,743,711,675,655,628,878.504055196,780,800.008110391,649,628,650,0.445431145258,-0.00548113510451,0.0795365233358,0.999999725993,2.36719178536e-05,-0.000739889841296,4.09154027183e-06,1793193402941285120
+293,4.883333333,POSE2_TO_POSE3_RETREAT,764.920282914,743,711,674.920282914,655,628.079717086,878.920282914,780.079717086,800.840565829,648.920282914,628,650.079717086,0.445118636701,-0.00547659952716,0.0795410356938,0.999999727866,4.3868341896e-05,-0.000736348406184,1.15599319442e-05,1793193402957951744
+294,4.900000000,POSE2_TO_POSE3_RETREAT,764.343788633,743,711,674.343788633,655,628.656211367,878.343788633,780.656211367,799.687577267,648.343788633,628,650.656211367,0.444767878817,-0.00546979077033,0.0795471316177,0.999999734583,6.54079545538e-05,-0.000725543281375,1.19378660581e-05,1793193402974618368
+295,4.916666667,POSE2_TO_POSE3_RETREAT,764,742.762706355,711,674.237293645,655.237293645,629,878,780.762706355,799.237293645,648.237293645,628,651,0.444402394515,-0.00546413964497,0.0795523545055,0.999999739359,7.61177217658e-05,-0.000717857955445,1.29287153757e-05,1793193402991285248
+296,4.933333333,POSE2_TO_POSE3_RETREAT,764,742.174846015,711,674.825153985,655.825153985,629,878,780.174846015,799.825153985,648.825153985,628,651,0.444015154101,-0.0054601987514,0.0795562876096,0.999999741925,7.08279731899e-05,-0.000714781677724,1.48250573527e-05,1793193403007951872
+297,4.950000000,POSE2_TO_POSE3_RETREAT,764,742,711,675,656,629,878,780.405191185,800,649,628,650.594808815,0.443584526732,-0.00545627395384,0.0795614499715,0.999999743364,9.17964521189e-05,-0.000710342152832,1.60807633524e-05,1793193403024618496
+298,4.966666667,POSE2_TO_POSE3_RETREAT,764,742,711,675,656,629,878,780.981916512,800,649,628,650.018083488,0.443135531883,-0.00545235597047,0.0795671327288,0.999999743439,0.000123881121888,-0.000705325508633,1.70652616559e-05,1793193403041285120
+299,4.983333333,POSE2_TO_POSE3_RETREAT,764,742,711,674.440774816,656,629.559225184,878,781,800,649,628,650,0.442666644808,-0.00544547887776,0.0795788526516,0.999999761672,0.000108099609332,-0.000681663376848,1.74892495089e-05,1793193403057951744
+300,5.000000000,POSE2_TO_POSE3_RETREAT,764,742.139528837,711,674.139528837,656.139528837,630,878,781.139528837,800,649,628,650.139528837,0.442187617677,-0.00543943623384,0.0795915978998,0.999999778859,9.92137196629e-05,-0.000657345912142,1.83195902135e-05,1793193403074618112
+301,5.016666667,POSE2_TO_POSE3_RETREAT,764,742.729438835,711,674.729438835,656.729438835,630,878,781.729438835,800,649,628,650.729438835,0.441677938332,-0.00543639627525,0.0796070219552,0.999999792619,0.000117587443528,-0.000632861346309,2.05201520924e-05,1793193403091284736
+302,5.033333333,POSE2_TO_POSE3_RETREAT,764,742.688046039,710.688046039,674.688046039,657,630.311953961,878.311953961,782,799.688046039,649,628,650.688046039,0.441121923772,-0.00543222583397,0.0796105355889,0.999999797794,0.000123165618416,-0.000623515870451,2.17051952717e-05,1793193403107952384
+303,5.050000000,POSE2_TO_POSE3_RETREAT,764,742.111795988,710.111795988,674.111795988,657,630.888204012,878.888204012,782,799.111795988,649,628,650.111795988,0.440526652669,-0.00542709761593,0.0796039583833,0.999999796244,0.000117903049738,-0.000626996651134,2.20298629648e-05,1793193403124620288
+304,5.066666667,POSE2_TO_POSE3_RETREAT,764,742,710.465580917,674,657,631,878.534419083,782,799,649,628,650,0.439863272456,-0.00542149022064,0.0795808465492,0.999999774166,0.000124227188448,-0.000660123584456,2.17266862674e-05,1793193403141286912
+305,5.083333333,POSE2_TO_POSE3_RETREAT,764,742,711,674,657,631,878,782,799,649,628,650,0.439189450926,-0.0054176844064,0.079559363423,0.999999752208,0.00013108182038,-0.000691340121125,2.12343444571e-05,1793193403157953280
+306,5.100000000,POSE2_TO_POSE3_RETREAT,764,742,711,674,657,631,878,782,799,649,628,650,0.438589220687,-0.00543757653564,0.0796072173768,0.999999807253,0.000110016055024,-0.000610721179904,2.02717278238e-05,1793193403174619392
+307,5.116666667,POSE2_TO_POSE3_RETREAT,764,742,711,674,657.216771483,631,878,782.216771483,799,649,628,650,0.437976903164,-0.00544974148775,0.079667555904,0.999999861752,9.57549540266e-05,-0.000516590401642,2.14948342495e-05,1793193403191285760
+308,5.133333333,POSE2_TO_POSE3_RETREAT,764,742,711,674,657.796266637,631,878,782.796266637,799,649,628,650,0.43734436003,-0.00544897655496,0.079748784862,0.999999915399,9.28800976828e-05,-0.00039985027495,2.63753106197e-05,1793193403207951872
+309,5.150000000,POSE2_TO_POSE3_RETREAT,764,742.374378895,711,674,658.374378895,631,878,783,799,649,628.374378895,650,0.436655471752,-0.00544166981157,0.0798010791508,0.999999942829,0.000110136967383,-0.000318244201028,3.05323389997e-05,1793193403224618240
+310,5.166666667,POSE2_TO_POSE3_RETREAT,764,742.951741345,711,674,658.951741345,631,878,783,799,649,628.951741345,650,0.435936033861,-0.0054308161803,0.0798376854212,0.999999957159,0.000138309007315,-0.000255687375463,3.42971227915e-05,1793193403241285120
+311,5.183333333,POSE2_TO_POSE3_RETREAT,764,742.473460181,711,674,658.473460181,631,878,783,799.526539819,649,629,650.526539819,0.435131174735,-0.00543428796399,0.0798323092094,0.999999956548,0.000127445134914,-0.000263630697044,3.40733935433e-05,1793193403257952000
+312,5.200000000,POSE2_TO_POSE3_RETREAT,764,742.103796689,711,673.896203311,658.103796689,631,878,783.103796689,799.896203311,649,628.896203311,650.896203311,0.43431763028,-0.00543690811052,0.0798227191667,0.999999953934,0.000116550926461,-0.000278263957239,3.3426434206e-05,1793193403274618368
+313,5.216666667,POSE2_TO_POSE3_RETREAT,764,742.693660881,711,673.306339119,658.693660881,631,878,783.693660881,799.306339119,649,628.306339119,650.306339119,0.433499898628,-0.00542942150426,0.0798113277147,0.999999948756,0.000122187585672,-0.000294113546694,3.25011030117e-05,1793193403291285248
+314,5.233333333,POSE2_TO_POSE3_RETREAT,764,742.721513749,711,673.278486251,659,631.278486251,878,783.721513749,799,649,628,650,0.432624987937,-0.00542007311536,0.0797819530776,0.999999929297,0.000134745522571,-0.000349583059555,3.22649650281e-05,1793193403307952128
+315,5.250000000,POSE2_TO_POSE3_RETREAT,764,742.14213258,711,673.85786742,659,631.85786742,878,783.14213258,799,649,628,650,0.431688297136,-0.00540871313273,0.0797331482195,0.999999887195,0.000154781664267,-0.000447860551124,3.277347651e-05,1793193403324618752
+316,5.266666667,POSE2_TO_POSE3_RETREAT,764,742,711,674,659,632,878,783,799.4341245,649,628.4341245,650,0.430821117124,-0.00540498273943,0.0797329151694,0.999999886428,0.000160544641682,-0.000447584229401,3.22262097942e-05,1793193403341285120
+317,5.283333333,POSE2_TO_POSE3_RETREAT,764,742,711.009357186,674,659,632,878,783,800,649,629,650,0.429976657127,-0.00540373943173,0.0797493494155,0.999999900721,0.000161673799441,-0.000414043084647,3.14303397209e-05,1793193403357951488
+318,5.300000000,POSE2_TO_POSE3_RETREAT,764,742,711.58405585,674,659,632,878,783,800,649,629,650,0.429139731176,-0.00540291914196,0.0798188597953,0.999999939132,0.000163155379645,-0.000306260540686,3.63493467525e-05,1793193403374618112
+319,5.316666667,POSE2_TO_POSE3_RETREAT,764,742.163487649,712,674,659,632,878,783,800,648.836512351,629,650.163487649,0.428285709323,-0.00540323863461,0.0798656908362,0.999999958967,0.000163772115777,-0.000231693869045,3.95368324056e-05,1793193403391284736
+320,5.333333333,POSE2_TO_POSE3_RETREAT,764,742.755320441,712,674,659,632,878,783,800,648.244679559,629,650.755320441,0.427386895474,-0.00540654440958,0.0798531009641,0.999999956323,0.00016212292493,-0.000244154322062,3.81876532224e-05,1793193403407951616
+321,5.350000000,POSE2_TO_POSE3_RETREAT,764,742.663357375,711.663357375,673.663357375,659,632,878,783.336642625,799.326714749,648,629,651,0.426463618061,-0.0054198307389,0.0798210513449,0.999999947541,0.000141438652718,-0.000289202799262,3.56922373586e-05,1793193403424618496
+322,5.366666667,POSE2_TO_POSE3_RETREAT,764,742.089443272,711.089443272,673.089443272,659,632,878,783.910556728,798.178886543,648,629,651,0.425523098349,-0.00544015153342,0.0797752861638,0.999999929912,0.000107338129123,-0.000357219871276,3.23889341786e-05,1793193403441285376
+323,5.383333333,POSE2_TO_POSE3_RETREAT,763.510084919,742,711,673,659,632,878,783.510084919,798.489915081,648.489915081,629,650.510084919,0.424545831267,-0.00543501264485,0.0797475850887,0.999999911225,0.000109125022904,-0.000405888444089,2.99319861509e-05,1793193403457952000
+324,5.400000000,POSE2_TO_POSE3_RETREAT,763.071073377,742,711,673,659,632,878,783,799,649,628.928926623,650,0.4235739456,-0.00542522450475,0.0797277787201,0.999999894822,0.000119678571262,-0.000441851069712,2.82975521194e-05,1793193403474618624
+325,5.416666667,POSE2_TO_POSE3_RETREAT,763.658000222,742,711,673,659,632,878,783,799,649,628.341999778,650,0.42269035984,-0.00541580746734,0.0797410668633,0.999999904205,0.000145772306202,-0.000411520061406,3.14988577338e-05,1793193403491284992
+326,5.433333333,POSE2_TO_POSE3_RETREAT,763.758444427,742.241555573,711,673,659,632,877.758444427,783,799,648.758444427,628,650,0.421834536769,-0.00541146021,0.0797773463251,0.999999927499,0.000159488748456,-0.000344041328098,3.4659593382e-05,1793193403507951360
+327,5.450000000,POSE2_TO_POSE3_RETREAT,763.179596723,742.820403277,711,673,659,632,877.179596723,783,799,648.179596723,628,650,0.421017479543,-0.00541419205489,0.0798457293366,0.999999961888,0.000155922365105,-0.000224691975692,3.77636800051e-05,1793193403524618240
+328,5.466666667,POSE2_TO_POSE3_RETREAT,763.398982487,742.601017513,711,673,659,632,877,783,799,648.398982487,628.398982487,650.398982487,0.420149918949,-0.00541175896503,0.0798676958438,0.999999967847,0.000161521425405,-0.000191457816501,3.9493893996e-05,1793193403541284864
+329,5.483333333,POSE2_TO_POSE3_RETREAT,763.977440885,742.022559115,711,673,659,632,877,783,799,648.977440885,628.977440885,650.977440885,0.419259640269,-0.00540700251145,0.0798687826224,0.999999965117,0.000171243415261,-0.000196961211984,4.06060932594e-05,1793193403557951488
+330,5.500000000,POSE2_TO_POSE3_RETREAT,764,742,711.551543056,673,658.448456944,632,877.551543056,783.551543056,799,649,628.448456944,650.448456944,0.418332298457,-0.00540391403128,0.0798250713957,0.99999994823,0.000172711436707,-0.000269011126883,3.66678570427e-05,1793193403574618112
+331,5.516666667,POSE2_TO_POSE3_RETREAT,763.871191433,742,711.871191433,673,658.128808567,632,878,783.871191433,799,649,628,650.128808567,0.417419533446,-0.00540169934416,0.0797928436476,0.999999931529,0.000173321738389,-0.000325229894674,3.35682818278e-05,1793193403591284992
+332,5.533333333,POSE2_TO_POSE3_RETREAT,763.281987483,742,711.281987483,673,658.718012517,632,878,783.281987483,799,649,628,650.718012517,0.416564245709,-0.00540236588479,0.079808158714,0.999999934933,0.00017206355182,-0.000315211569988,3.41988566572e-05,1793193403607952128
+333,5.550000000,POSE2_TO_POSE3_RETREAT,763.302028101,742,711,673,659.604056202,632,877.697971899,783,799,649,628.302028101,650.697971899,0.415706705476,-0.00540125497068,0.0798023550739,0.999999929498,0.000173487259246,-0.000331290169616,3.39452753516e-05,1793193403624618752
+334,5.566666667,POSE2_TO_POSE3_RETREAT,763.881281363,742,711,673,660.762562726,632,877.118718637,783,799,649,628.881281363,650.118718637,0.414847097771,-0.00539851256868,0.0797771670222,0.999999914789,0.000177372619908,-0.000371322580351,3.28801458886e-05,1793193403641285120
+335,5.583333333,POSE2_TO_POSE3_RETREAT,764,742,711,673,660.097147601,632,877,783,799,649,628.5485738,650,0.414082453045,-0.00540507890438,0.0797803844622,0.999999922151,0.000168613399955,-0.000355393307218,3.10452065003e-05,1793193403657951744
+336,5.600000000,POSE2_TO_POSE3_RETREAT,764,742.019779667,711,673,659,632,877,783,799,649,628.019779667,650,0.413341502723,-0.00541416119256,0.0797909836068,0.999999934388,0.000156430285268,-0.000325435112488,2.90654891482e-05,1793193403674618368
+337,5.616666667,POSE2_TO_POSE3_RETREAT,764,742.6040169,711,673,659,632,877,783,799,649,628.6040169,650,0.412578135958,-0.00542656249403,0.0798032724833,0.999999942786,0.000139557978244,-0.000306809905716,2.86172866265e-05,1793193403691284992
+338,5.633333333,POSE2_TO_POSE3_RETREAT,763.810125462,742.810125462,711.189874538,672.810125462,659,632,877,783.189874538,799,648.810125462,629,650.189874538,0.411818437739,-0.0054353135025,0.0798075272674,0.999999945546,0.00012705967381,-0.000303218378933,2.86955719335e-05,1793193403707951616
+339,5.650000000,POSE2_TO_POSE3_RETREAT,763.220859273,742.220859273,711.779140727,672.220859273,659,632,877,783.779140727,799,648.220859273,629,650.779140727,0.411066455983,-0.00543638630344,0.0797948827397,0.999999937032,0.000123761863319,-0.000331249447338,2.98812981475e-05,1793193403724618752
+340,5.666666667,POSE2_TO_POSE3_RETREAT,763.362318445,742,712,672.362318445,659,632,877,783.637681555,799,648.362318445,629,651,0.410363039546,-0.0054330278181,0.0797948513735,0.99999993536,0.000129197724688,-0.000334143309209,3.05820843603e-05,1793193403741285120
+341,5.683333333,POSE2_TO_POSE3_RETREAT,763.941846101,742,712,672.941846101,659,632,877,783.058153899,799,648.941846101,629,651,0.409688737971,-0.00542701278509,0.079802381574,0.999999937906,0.000139869405757,-0.000321967462446,3.09921499067e-05,1793193403757951744
+342,5.700000000,POSE2_TO_POSE3_RETREAT,764,742,712,672.482787888,658.482787888,632.517212112,877.517212112,783,799,649,629,650.482787888,0.409081689457,-0.005431608364,0.0798295956635,0.999999952533,0.000134843003717,-0.000275175292433,3.20792572589e-05,1793193403774618368
+343,5.716666667,POSE2_TO_POSE3_RETREAT,763.905965593,742,711.905965593,672,658,632.905965593,877.905965593,783,799.094034407,649,628.905965593,650,0.408476273805,-0.00543571096785,0.0798505228654,0.999999962102,0.000130578663711,-0.000240093328257,3.31718194305e-05,1793193403791285248
+344,5.733333333,POSE2_TO_POSE3_RETREAT,763.319077721,742,711.319077721,672,658,632.319077721,877.319077721,783,799.680922279,649,628.319077721,650,0.407840100019,-0.00543102679833,0.0798269919573,0.999999948621,0.000139485586761,-0.000286623731143,3.38971713709e-05,1793193403807951872
+345,5.750000000,POSE2_TO_POSE3_RETREAT,763.264909579,742,711,672,658,632,877,783.264909579,800,649,628.264909579,650,0.407231979307,-0.00542868103334,0.0797999446335,0.999999933404,0.000145579677848,-0.000332966539449,3.3636483937e-05,1793193403824618496
+346,5.766666667,POSE2_TO_POSE3_RETREAT,763.845441001,742,711,672,658,632,877,783.845441001,800,649,628.845441001,650,0.40665728198,-0.00542912131952,0.0797687077399,0.999999916629,0.000148322469371,-0.000379085838283,3.22009972593e-05,1793193403841285120
+347,5.783333333,POSE2_TO_POSE3_RETREAT,764,742,711.422520589,672,658,632,877,784,799.577479411,649,629,650.422520589,0.406155997376,-0.00543056233782,0.0797677772745,0.999999918984,0.000146943393815,-0.000373496559082,3.06609237426e-05,1793193403857952000
+348,5.800000000,POSE2_TO_POSE3_RETREAT,764,742,711.998347768,672,658,632,877,784,799.001652232,649,629,650.998347768,0.405681349661,-0.00543236645995,0.0797778431349,0.999999928248,0.000144068747847,-0.000349145438764,2.90829020125e-05,1793193403874618880
+349,5.816666667,POSE2_TO_POSE3_RETREAT,764,742,712,672.570649851,658.570649851,632,877,784,799,649,628.429350149,651,0.405258137651,-0.00543254699849,0.0798008640565,0.999999939471,0.000145320299775,-0.00031461859118,3.09151963787e-05,1793193403891285504
+350,5.833333333,POSE2_TO_POSE3_RETREAT,764,742,711.851731663,672.851731663,658.851731663,632,877,783.851731663,799,648.851731663,628.148268337,650.851731663,0.404840191688,-0.00543320969404,0.0798210012885,0.999999948283,0.000145876514256,-0.000284784814018,3.24266154909e-05,1793193403907951872
+351,5.850000000,POSE2_TO_POSE3_RETREAT,764,742,711.258113835,672.258113835,658.258113835,632,877,783.258113835,799,648.258113835,628.741886165,650.258113835,0.404437618526,-0.0054353346644,0.0798323648933,0.999999952828,0.000144308499724,-0.000269135426718,3.2944754667e-05,1793193403924618496
+352,5.866666667,POSE2_TO_POSE3_RETREAT,764,742,711.325721159,672,658,632,877,783.325721159,799,648.325721159,629,650,0.404047617532,-0.0054358797255,0.079832131222,0.999999950892,0.000145342800196,-0.000275627714329,3.34842867389e-05,1793193403941285120
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764,742,711.902029877,672,658,632,877,783.902029877,799,648.902029877,629,650,0.403667288729,-0.00543520931248,0.0798229753997,0.999999943666,0.000148379143704,-0.000299154291459,3.40402769988e-05,1793193403957951488
+354,5.900000000,POSE2_TO_POSE3_RETREAT,764.478744126,742,712,672,658,632.478744126,877,783.521255874,799,649,629,650.478744126,0.403345852553,-0.00543529683376,0.0798250718008,0.999999943251,0.000150028282889,-0.000299689779788,3.42784586959e-05,1793193403974618368
+355,5.916666667,POSE2_TO_POSE3_RETREAT,764.943475216,742,711.943475216,672.056524784,658.056524784,632.943475216,877,783.056524784,799,648.943475216,629,651,0.403040968653,-0.00543566748799,0.0798291775828,0.999999944153,0.000151012296051,-0.000296141778886,3.44898014213e-05,1793193403991284992
+356,5.933333333,POSE2_TO_POSE3_RETREAT,764.356465779,742,711.356465779,672.643534221,658.643534221,632.356465779,877,783.643534221,799,648.356465779,629,651,0.402778225999,-0.00543723846307,0.0798305126852,0.999999943831,0.000148420551454,-0.000298463079876,3.50601431731e-05,1793193404007952128
+357,5.950000000,POSE2_TO_POSE3_RETREAT,764,742,711,672.771020274,658.771020274,632,877,784,799,648,628.771020274,650.771020274,0.402529342997,-0.00543850778357,0.0798304166029,0.999999943802,0.000146988778106,-0.000299289277587,3.48747791919e-05,1793193404024619008
+358,5.966666667,POSE2_TO_POSE3_RETREAT,764,742,711,672.187992966,658.187992966,632,877,784,799,648,628.187992966,650.187992966,0.402301889761,-0.00543931068679,0.0798281076283,0.999999944239,0.000147350548136,-0.000297803752079,3.35209458278e-05,1793193404041285120
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764,741.610300539,711,672,658.389699461,632,877,784,799,648.389699461,628.389699461,650,0.402107918163,-0.00544011581119,0.0798297315324,0.999999945989,0.000144932588939,-0.000293055162938,3.36889417608e-05,1793193404057951744
+360,6.000000000,POSE2_TO_POSE3_RETREAT,764,741.03514688,711,672,658.96485312,632,877,784,799,648.96485312,628.96485312,650,0.401929880132,-0.00544092199272,0.079833227055,0.999999948321,0.000141191783554,-0.000286753713275,3.45811613941e-05,1793193404074618112
+361,6.016666667,POSE2_TO_POSE3_RETREAT,764,741.539225995,711.539225995,672.539225995,659,632,877.539225995,784,799,649,628.460774005,650.539225995,0.401780703235,-0.00544185092832,0.0798382194843,0.999999950178,0.000138186459056,-0.000281447401677,3.65575341279e-05,1793193404091284992
+362,6.033333333,POSE2_TO_POSE3_RETREAT,764,742,712,672.883745769,658.883745769,632.116254231,877.883745769,784.116254231,799,649,628,651,0.401638664146,-0.00544229857809,0.0798414120723,0.999999951411,0.000135468840329,-0.000278178366239,3.79939381671e-05,1793193404107951616
+363,6.050000000,POSE2_TO_POSE3_RETREAT,764,742,712,672.295735775,658.295735775,632.704264225,877.295735775,784.704264225,799,649,628,651,0.401517967286,-0.00544076076492,0.0798369056077,0.999999950356,0.000133724468218,-0.000282913694801,3.69528249604e-05,1793193404124617984
+364,6.066666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,658.287700428,632.712299572,877,784.424599144,799,649,628.287700428,650.712299572,0.401407003038,-0.00544149706853,0.07983296359,0.999999949917,0.000125881610583,-0.000288430894157,3.35665824312e-05,1793193404141284864
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,658.866508636,632.133491364,877,783.266982728,799,649,628.866508636,650.133491364,0.401305886677,-0.00544453442227,0.0798295927043,0.999999949921,0.000111868040696,-0.000294739223981,2.78074363295e-05,1793193404157952000
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,658.556135146,632,877.443864854,783,799,649,628.556135146,650.443864854,0.401227254716,-0.00544535620993,0.079827639092,0.99999994518,0.000138614769158,-0.000299444900917,2.75280623381e-05,1793193404174618880
+367,6.116666667,POSE2_TO_POSE3_RETREAT,763.979354482,742,711.979354482,671.979354482,658,632,877.979354482,783.020645518,799,649,628.020645518,651,0.401156210772,-0.00544554504529,0.07982608795,0.999999938009,0.000176000445755,-0.000303601643122,2.88596044725e-05,1793193404191285504
+368,6.133333333,POSE2_TO_POSE3_RETREAT,763.406327273,742,711.406327273,671.406327273,658,632,877.406327273,783.593672727,799,649,628.593672727,651,0.401107853676,-0.00544656869728,0.0798239379742,0.999999938133,0.000171121760263,-0.000305925321927,2.93419389329e-05,1793193404207951872
+369,6.150000000,POSE2_TO_POSE3_RETREAT,763.172532452,742,711.172532452,671.172532452,658,632,877.172532452,783.827467548,799.172532452,649,629,651,0.401065120242,-0.00544771086088,0.0798226299237,0.999999938629,0.000166413021295,-0.000306866388824,2.97045160962e-05,1793193404224618240
+370,6.166666667,POSE2_TO_POSE3_RETREAT,763.765608711,742,711.765608711,671.765608711,658,632,877.765608711,783.234391289,799.765608711,649,629,651,0.401036094358,-0.0054491418936,0.0798233740466,0.999999940074,0.000162118523719,-0.00030443737127,2.9775187585e-05,1793193404241284864
+371,6.183333333,POSE2_TO_POSE3_RETREAT,764,742,711.649269827,672,658,632.350730173,877.649269827,783.350730173,799.649269827,649,629,651,0.401011541051,-0.0054511072384,0.0798234514299,0.99999994088,0.000157630716482,-0.000304097942964,3.02858993563e-05,1793193404257951488
+372,6.200000000,POSE2_TO_POSE3_RETREAT,764,742,711.069346562,672,658,632.930653438,877.069346562,783.930653438,799.069346562,649,629,651,0.400989910454,-0.00545342174247,0.0798230931161,0.99999994126,0.000153016585956,-0.000305124006921,3.10841660736e-05,1793193404274618112
+373,6.216666667,POSE2_TO_POSE3_RETREAT,764,742,711.503956559,672,658,632.496043441,877,783.496043441,799,649,629,651,0.400977574258,-0.00545527917241,0.0798225723893,0.999999941078,0.000151269927347,-0.000306549262479,3.14373137025e-05,1793193404291284992
+374,6.233333333,POSE2_TO_POSE3_RETREAT,764,742,711.921385911,672.078614089,658,632,877.078614089,783.078614089,799.078614089,649,629,651,0.40096736277,-0.00545855811392,0.0798220613571,0.999999941202,0.000148001344944,-0.000307682991915,3.19727236591e-05,1793193404307951872
+375,6.250000000,POSE2_TO_POSE3_RETREAT,764,742,711.332088844,672.667911156,658,632,877.667911156,783.667911156,799.667911156,649,629,651,0.400962753111,-0.00547147457645,0.0798217565985,0.999999943673,0.000132316269003,-0.000306570740918,3.40848507474e-05,1793193404324618496
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764,742,711.254309108,672.745690892,658,632,878,783.745690892,799.745690892,649,629,651,0.400959936856,-0.00548334821834,0.0798224238313,0.999999945813,0.000118337232465,-0.000305106990604,3.57881560782e-05,1793193404341285120
+377,6.283333333,POSE2_TO_POSE3_RETREAT,764,742,711.836963896,672.163036104,658,632,878,783.163036104,799.163036104,649,629,651,0.400959436114,-0.00549387544425,0.0798243460298,0.999999947677,0.000106560912599,-0.000303189409697,3.6963619957e-05,1793193404357952000
+378,6.300000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,658,632,877.587048471,783.412951529,799.412951529,649,628.587048471,651,0.400957202962,-0.00549170061166,0.0798245490252,0.999999947261,0.000109451300262,-0.000303595369663,3.64531798683e-05,1793193404374618624
+379,6.316666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,658,632,877.013651268,783.986348732,799.986348732,649,628.013651268,651,0.400954296709,-0.0054845905983,0.0798240840519,0.999999945927,0.00011804020149,-0.000304904104096,3.52877088825e-05,1793193404391284992
+380,6.333333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,658,632,877.574474785,784,800,649,628,651,0.400955625159,-0.00548907368557,0.0798252176226,0.999999947528,0.000111051728164,-0.000302190891849,3.59556167123e-05,1793193404407951360
+381,6.350000000,POSE2_TO_POSE3_RETREAT,763.839562603,742,712,672,658,632,877.839562603,784,800.160437397,649,628.160437397,651,0.400956681328,-0.00549155716808,0.0798261484103,0.999999948625,0.000107430067302,-0.000299813855112,3.63421202518e-05,1793193404424618496
+382,6.366666667,POSE2_TO_POSE3_RETREAT,763.260187295,742,712,672,658,632,877.260187295,784,800.739812705,649,628.739812705,651,0.400956756828,-0.00548808094695,0.0798264478856,0.999999948333,0.000113591927511,-0.000298570779433,3.58770584091e-05,1793193404441285376
+383,6.383333333,POSE2_TO_POSE3_RETREAT,763.318378734,742,712,672,658.318378734,632.318378734,877.636757468,784,800.681621266,649,629,651,0.40095693293,-0.00548710805902,0.0798267461234,0.999999948379,0.000115566925753,-0.000297686399216,3.56338414343e-05,1793193404457952000
+384,6.400000000,POSE2_TO_POSE3_RETREAT,763.896285139,742,712,672,658.896285139,632.896285139,878.792570278,784,800.103714861,649,629,651,0.40095719104,-0.00548817577257,0.0798270433525,0.999999948722,0.000114128987748,-0.000297094410878,3.55714621216e-05,1793193404474618624
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764,742.468802959,712,672,658.531197041,633,878.062394082,784,799.531197041,648.531197041,629,651,0.400956138358,-0.00548940903075,0.0798268881683,0.999999948793,0.000111085312497,-0.000298006386892,3.557552172e-05,1793193404491284992
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764.041605953,742.958394047,712,672,658,633,877,784,799.041605953,648.041605953,629,651,0.400954909157,-0.00549047466254,0.0798266312614,0.999999948779,0.000108122280232,-0.000299141869049,3.55870812136e-05,1793193404507951360
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764.633779246,742.366220754,712,672,658,633,877,784,799.633779246,648.633779246,629,651,0.400955137915,-0.00548884297841,0.0798263376835,0.999999948558,0.000110873856038,-0.000298882076242,3.5505592551e-05,1793193404524618240
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,742,712,672,658,632.77989989,877.22010011,784,799.77989989,649,629,651,0.400955753602,-0.00548843320474,0.0798266901384,0.999999948781,0.000111831857214,-0.000297766797275,3.56025926757e-05,1793193404541284864
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,742,712,672,658,632.203064595,877.796935405,784,799.203064595,649,629,651,0.400956996417,-0.00549000388659,0.0798280896742,0.999999949725,0.000109882857518,-0.000295264958302,3.59888849386e-05,1793193404557951744
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764.625140141,742,712,672,658.374859859,632,877.625140141,784,799,649,629.374859859,650.625140141,0.400956945013,-0.00548990529448,0.0798281596617,0.999999949466,0.000111713284138,-0.000295445750968,3.60635267277e-05,1793193404574618368
+391,6.516666667,POSE2_TO_POSE3_RETREAT,764.046623982,742,712,672,658.953376018,632,877.046623982,784,799,649,629.953376018,650.046623982,0.400956190476,-0.0054888998083,0.0798275073235,0.999999948542,0.000115597022115,-0.000297083981266,3.59688530085e-05,1793193404591285248
+392,6.533333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632.538866197,877.538866197,784,799,649,629.461133803,650.538866197,0.400958011775,-0.0054887713006,0.0798286790379,0.999999949324,0.000114138679961,-0.000295043088906,3.56969348362e-05,1793193404607951872
+393,6.550000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,633,878,784,799.123153427,649,629,651,0.400959299804,-0.00548890400036,0.0798295157527,0.999999949984,0.0001126366328,-0.000293394813504,3.55470584326e-05,1793193404624618496
+394,6.566666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,633,878,784,799.700745818,649,629,651,0.40095778689,-0.00548971689796,0.0798285263105,0.999999949673,0.000112701239928,-0.000294385337449,3.59048497482e-05,1793193404641285120
+395,6.583333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,658.72019231,633,877.72019231,784,800,649,628.72019231,650.72019231,0.40095716447,-0.00548958888962,0.0798284036147,0.999999949638,0.00011285522291,-0.000294449982711,3.58846886813e-05,1793193404657951744
+396,6.600000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,658.139550461,633,877.139550461,784,800,649,628.139550461,650.139550461,0.400957499461,-0.00548844926997,0.079829212798,0.999999949898,0.000113105298006,-0.000293519173201,3.54581736117e-05,1793193404674618368
+397,6.616666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,658,633,877.436246814,784,800,648.563753186,628.436246814,650.436246814,0.400955821006,-0.00549024812241,0.0798282629357,0.999999949448,0.000110894223534,-0.000295901013794,3.53299372182e-05,1793193404691284736
+398,6.633333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,658,633,878,784,799.989237468,648,629,651,0.400953561175,-0.00549286914891,0.0798267810403,0.999999948771,0.00010800206208,-0.000299246452069,3.5292352104e-05,1793193404707951872
+399,6.650000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,658,633,878,784,799.401250127,648,629,651,0.400954284811,-0.00548972539781,0.0798266123714,0.999999948877,0.000110342317026,-0.000298062971084,3.50554269815e-05,1793193404724619008
+400,6.666666667,POSE2_TO_POSE3_RETREAT,764,742,711.816064547,672,658.183935453,632.816064547,877.816064547,784,799,648.183935453,629,651,0.400955051276,-0.00548777014493,0.0798266607618,0.999999949083,0.000111408834248,-0.000296990746955,3.49056706608e-05,1793193404741285888
+401,6.683333333,POSE2_TO_POSE3_RETREAT,764,742,711.236899263,672,658.763100737,632.236899263,877.236899263,784,799,648.763100737,629,651,0.400955909769,-0.00548836866824,0.0798271755566,0.999999949514,0.000109738417612,-0.000296157585176,3.49432176183e-05,1793193404757952256
+402,6.700000000,POSE2_TO_POSE3_RETREAT,764,742,711,672,658.658893967,632,877,784,799,649,629,651,0.400956555142,-0.00548836707821,0.0798281138943,0.999999949945,0.000110111235897,-0.000294533198402,3.51543013519e-05,1793193404774618624
+403,6.716666667,POSE2_TO_POSE3_RETREAT,764,742,711,672,658.081691579,632,877,784,799,649,629,651,0.400957053003,-0.00548795012003,0.0798293453868,0.999999950372,0.00011189827819,-0.000292361165711,3.54854984688e-05,1793193404791285248
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_04/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_04/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..229b84f05d6f32617ff8c78b199e40de729badef
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_04/depth_05/simulation_data.csv
@@ -0,0 +1,405 @@
+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,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+1,0.016666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+2,0.033333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+3,0.050000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+4,0.066666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+5,0.083333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+6,0.100000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+7,0.116666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+8,0.133333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+9,0.150000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+10,0.166666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+11,0.183333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+12,0.200000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+13,0.216666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+14,0.233333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+15,0.250000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+16,0.266666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+17,0.283333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+18,0.300000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+19,0.316666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+20,0.333333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+21,0.350000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+22,0.366666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+23,0.383333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+24,0.400000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+25,0.416666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+26,0.433333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+27,0.450000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+28,0.466666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+29,0.483333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+30,0.500000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+31,0.516666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+32,0.533333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+33,0.550000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+34,0.566666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+35,0.583333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+36,0.600000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+37,0.616666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+38,0.633333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+39,0.650000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+40,0.666666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+41,0.683333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+42,0.700000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+43,0.716666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+44,0.733333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+45,0.750000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+46,0.766666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+47,0.783333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+48,0.800000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+49,0.816666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+50,0.833333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+51,0.850000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+52,0.866666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+53,0.883333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+54,0.900000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+55,0.916666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+56,0.933333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+57,0.950000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+58,0.966666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+59,0.983333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+60,1.000000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+61,1.016666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+62,1.033333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+63,1.050000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+64,1.066666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+65,1.083333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+66,1.100000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+67,1.116666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+68,1.133333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+69,1.150000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+70,1.166666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+71,1.183333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+72,1.200000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+73,1.216666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+74,1.233333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+75,1.250000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+76,1.266666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+77,1.283333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+78,1.300000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+79,1.316666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+80,1.333333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+81,1.350000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+82,1.366666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+83,1.383333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+84,1.400000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+85,1.416666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+86,1.433333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+87,1.450000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+88,1.466666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+89,1.483333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+90,1.500000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+91,1.516666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+92,1.533333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+93,1.550000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+94,1.566666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+95,1.583333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+96,1.600000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+97,1.616666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+98,1.633333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+99,1.650000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+100,1.666666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+101,1.683333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+102,1.700000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+103,1.716666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+104,1.733333333,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+105,1.750000000,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+106,1.766666667,pose1_baseline,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+107,1.783333333,pose1_to_pose2_press,0.575709213079,5.46503105954e-05,1.07002930454,0.546279942569,0.00872737684829,1.06969858496
+108,1.800000000,pose1_to_pose2_press,0.575709279224,5.45627911144e-05,1.07002909043,0.546280009468,0.00872729212144,1.06969837697
+109,1.816666667,pose1_to_pose2_press,0.575709435174,5.45648137954e-05,1.07002905174,0.546280165192,0.00872729344576,1.06969834004
+110,1.833333333,pose1_to_pose2_press,0.575709615107,5.46041935284e-05,1.07002908996,0.546280344508,0.00872733072496,1.06969837806
+111,1.850000000,pose1_to_pose2_press,0.575709908549,5.465745935e-05,1.07002914493,0.546280637174,0.00872738133815,1.06969843255
+112,1.866666667,pose1_to_pose2_press,0.575710411152,5.46282447722e-05,1.07002915814,0.546281140968,0.00872735607843,1.06969844346
+113,1.883333333,pose1_to_pose2_press,0.57571111963,5.45870634209e-05,1.07002917676,0.546281851125,0.0087273204719,1.06969845884
+114,1.900000000,pose1_to_pose2_press,0.575713175939,5.44809420978e-05,1.07002917216,0.54628390791,0.00872721597359,1.06969845447
+115,1.916666667,pose1_to_pose2_press,0.575719041229,5.46245207057e-05,1.07002917904,0.546289770836,0.00872735163738,1.06969846408
+116,1.933333333,pose1_to_pose2_press,0.575731370362,5.46079615272e-05,1.07002922079,0.546302099684,0.00872733423031,1.06969850897
+117,1.950000000,pose1_to_pose2_press,0.575752107926,5.45921519347e-05,1.07002939599,0.546322837288,0.00872731837277,1.06969867924
+118,1.966666667,pose1_to_pose2_press,0.575785321969,5.45698519906e-05,1.07002917368,0.546356052302,0.0087272993115,1.0696984554
+119,1.983333333,pose1_to_pose2_press,0.575830384368,5.44549127963e-05,1.07002924801,0.546401117068,0.00872719254354,1.0696985333
+120,2.000000000,pose1_to_pose2_press,0.575885812243,5.44938310466e-05,1.07002916731,0.546456543629,0.00872722702564,1.06969845317
+121,2.016666667,pose1_to_pose2_press,0.575950706373,5.45079988951e-05,1.07002911196,0.546521437304,0.00872723997601,1.06969840637
+122,2.033333333,pose1_to_pose2_press,0.57602559478,5.44567144074e-05,1.07002901017,0.546596326878,0.00872719272929,1.06969830642
+123,2.050000000,pose1_to_pose2_press,0.57611060088,5.45329425983e-05,1.0700291003,0.546681332304,0.00872726642539,1.06969839009
+124,2.066666667,pose1_to_pose2_press,0.576206821839,5.45796586201e-05,1.07002893425,0.546777551584,0.00872730734866,1.06969822153
+125,2.083333333,pose1_to_pose2_press,0.576319493116,5.44637004872e-05,1.07002904847,0.546890225185,0.00872719948866,1.06969834118
+126,2.100000000,pose1_to_pose2_press,0.576448409606,5.45609960561e-05,1.0700292325,0.547019139526,0.00872728908248,1.06969851453
+127,2.116666667,pose1_to_pose2_press,0.576594801084,5.46246959471e-05,1.07002894927,0.547165531501,0.0087273549735,1.06969824444
+128,2.133333333,pose1_to_pose2_press,0.576758018882,5.44835283052e-05,1.07002922457,0.547328750886,0.00872721916707,1.06969851912
+129,2.150000000,pose1_to_pose2_press,0.576939099339,5.4685282845e-05,1.07002912035,0.547509828806,0.00872741221964,1.06969841238
+130,2.166666667,pose1_to_pose2_press,0.577135282292,5.45373039502e-05,1.0700290177,0.547706012546,0.0087272671072,1.06969831475
+131,2.183333333,pose1_to_pose2_press,0.577346981873,5.45840643457e-05,1.07002929556,0.547917710819,0.00872730893876,1.06969857969
+132,2.200000000,pose1_to_pose2_press,0.577579810556,5.45215333794e-05,1.07002940348,0.548150540223,0.00872724887456,1.06969868814
+133,2.216666667,pose1_to_pose2_press,0.577833819916,5.46418067068e-05,1.07002912119,0.548404548757,0.00872736687326,1.06969841961
+134,2.233333333,pose1_to_pose2_press,0.578111763747,5.46434185524e-05,1.07002924933,0.548682494893,0.00872737606962,1.06969854154
+135,2.250000000,pose1_to_pose2_press,0.578417762512,5.46044389306e-05,1.07002942097,0.548988492517,0.00872733273194,1.06969870034
+136,2.266666667,pose1_to_pose2_press,0.578752814405,5.45399974338e-05,1.07002915035,0.549323544646,0.00872726951725,1.06969844083
+137,2.283333333,pose1_to_pose2_press,0.579114928178,5.43785960305e-05,1.07002918168,0.549685660589,0.00872711511723,1.06969846256
+138,2.300000000,pose1_to_pose2_press,0.579502264573,5.45700158998e-05,1.07002939872,0.55007299497,0.00872729978334,1.06969868175
+139,2.316666667,pose1_to_pose2_press,0.579913972124,5.45231660403e-05,1.07002895989,0.550484701246,0.00872724856246,1.06969824165
+140,2.333333333,pose1_to_pose2_press,0.580345999972,5.4611131955e-05,1.0700291323,0.550916730563,0.00872734185503,1.06969842297
+141,2.350000000,pose1_to_pose2_press,0.580797553116,5.47445884147e-05,1.07002927618,0.55136827999,0.00872746255441,1.06969856302
+142,2.366666667,pose1_to_pose2_press,0.581271391631,5.45504911267e-05,1.07002917975,0.551842121178,0.00872727743579,1.06969846412
+143,2.383333333,pose1_to_pose2_press,0.581768540562,5.44948563626e-05,1.07002925898,0.552339271164,0.0087272255486,1.06969854773
+144,2.400000000,pose1_to_pose2_press,0.582289215611,5.45152772448e-05,1.07002914292,0.552859946624,0.00872724752543,1.06969843584
+145,2.416666667,pose1_to_pose2_press,0.582837158629,5.45673514813e-05,1.07002918645,0.553407889086,0.00872729725675,1.06969846737
+146,2.433333333,pose1_to_pose2_press,0.583421565567,5.45994373902e-05,1.07002913481,0.553992296446,0.00872733120195,1.0696984269
+147,2.450000000,pose1_to_pose2_press,0.58403464451,5.44768217024e-05,1.07002914829,0.554605377086,0.00872721424208,1.06969843762
+148,2.466666667,pose1_to_pose2_press,0.584674990235,5.47005247064e-05,1.07002937231,0.555245719285,0.00872742591919,1.06969866005
+149,2.483333333,pose1_to_pose2_press,0.585336318343,5.46048919051e-05,1.07002913387,0.555907047838,0.00872733210537,1.06969842966
+150,2.500000000,pose1_to_pose2_press,0.586013123095,5.46182069689e-05,1.07002916606,0.556583852678,0.00872734533997,1.06969845183
+151,2.516666667,pose1_to_pose2_press,0.586697887497,5.47152963702e-05,1.07002936913,0.557268615261,0.00872743643281,1.06969865949
+152,2.533333333,pose1_to_pose2_press,0.587393225547,5.47053713738e-05,1.07002927664,0.557963952344,0.00872742316517,1.06969856541
+153,2.550000000,pose1_to_pose2_press,0.588103476612,5.45705370794e-05,1.0700291549,0.558674206678,0.00872729953926,1.06969844665
+154,2.566666667,pose1_to_pose2_press,0.588835047458,5.46625764171e-05,1.07002921724,0.559405776791,0.00872738924231,1.06969851296
+155,2.583333333,pose1_to_pose2_press,0.589588318026,5.46479075819e-05,1.07002911818,0.560159048578,0.00872737880419,1.06969841637
+156,2.600000000,pose1_to_pose2_press,0.59036417518,5.45895629974e-05,1.07002937119,0.560934905848,0.00872732034696,1.06969865607
+157,2.616666667,pose1_to_pose2_press,0.591161269657,5.45706331191e-05,1.07002905042,0.561731999335,0.00872729845531,1.06969834577
+158,2.633333333,pose1_to_pose2_press,0.591982460641,5.45075547533e-05,1.07002931519,0.562553190225,0.00872723499461,1.06969860887
+159,2.650000000,pose1_to_pose2_press,0.592813922993,5.46004535066e-05,1.07002904448,0.563384653339,0.00872733046388,1.06969833779
+160,2.666666667,pose1_to_pose2_press,0.593646536118,5.46433774197e-05,1.07002913558,0.56421726327,0.00872736233664,1.06969842332
+161,2.683333333,pose1_to_pose2_press,0.594485967944,5.46151307489e-05,1.07002914018,0.565056696797,0.00872733991085,1.06969842922
+162,2.700000000,pose1_to_pose2_press,0.595331472595,5.46415623514e-05,1.07002912068,0.565902202355,0.00872736963419,1.06969841538
+163,2.716666667,pose1_to_pose2_press,0.596182321445,5.45960091708e-05,1.07002926744,0.566753050717,0.00872732217663,1.06969855562
+164,2.733333333,pose1_to_pose2_press,0.597038380547,5.46202430918e-05,1.07002926329,0.56760911033,0.00872734821837,1.06969855346
+165,2.750000000,pose1_to_pose2_press,0.597893991411,5.44692775544e-05,1.07002919102,0.568464723211,0.00872720379464,1.0696984733
+166,2.766666667,pose1_to_pose2_press,0.598743904119,5.44679201743e-05,1.07002902294,0.569314634389,0.0087271975424,1.06969831302
+167,2.783333333,pose1_to_pose2_press,0.599588904486,5.451639937e-05,1.07002899095,0.570159635119,0.00872724748984,1.06969828731
+168,2.800000000,pose1_to_pose2_press,0.600426095879,5.45113817348e-05,1.07002912004,0.57099682598,0.00872724043491,1.06969841038
+169,2.816666667,pose1_to_pose2_press,0.601264527386,5.45746026263e-05,1.07002913601,0.571835257598,0.00872730408112,1.06969842768
+170,2.833333333,pose1_to_pose2_press,0.602118470699,5.46297709845e-05,1.0700292499,0.57268920073,0.00872735848866,1.06969853776
+171,2.850000000,pose1_to_pose2_press,0.602980507748,5.4543323747e-05,1.07002915238,0.573551239114,0.00872727663612,1.06969844203
+172,2.866666667,pose1_to_pose2_press,0.603845863799,5.45324110713e-05,1.07002938863,0.574416593156,0.00872725856382,1.06969866942
+173,2.883333333,pose1_to_pose2_press,0.604702043727,5.46375386874e-05,1.07002916824,0.575272774624,0.00872736926327,1.06969845811
+174,2.900000000,pose1_to_pose2_press,0.605545507691,5.4505200813e-05,1.07002890358,0.576116237968,0.00872723502433,1.06969819888
+175,2.916666667,pose1_to_pose2_press,0.60635775459,5.45597432183e-05,1.07002918152,0.576928485723,0.00872729180296,1.06969845934
+176,2.933333333,pose1_to_pose2_press,0.607144859649,5.47591686243e-05,1.07002937519,0.577715589164,0.00872748612037,1.06969866316
+177,2.950000000,pose1_to_pose2_press,0.607918804987,5.46296132655e-05,1.07002905011,0.578489535328,0.00872735949277,1.06969834137
+178,2.966666667,pose1_to_pose2_press,0.608678087701,5.4612111045e-05,1.07002927082,0.579248817168,0.00872733870029,1.06969855374
+179,2.983333333,pose1_to_pose2_press,0.609419377847,5.45465410306e-05,1.07002904501,0.579990107115,0.0087272726973,1.06969833428
+180,3.000000000,pose1_to_pose2_press,0.610152640565,5.45116028723e-05,1.07002899604,0.580723371725,0.00872724442671,1.0696982919
+181,3.016666667,pose1_to_pose2_press,0.610870200875,5.44060749356e-05,1.07002900889,0.581440933617,0.00872714406341,1.06969829952
+182,3.033333333,pose1_to_pose2_press,0.611554341973,5.46563886579e-05,1.07002899256,0.582125071197,0.00872738270047,1.06969829014
+183,3.050000000,pose1_to_pose2_press,0.612210590164,5.468160426e-05,1.07002911487,0.582781319683,0.00872740868785,1.06969840611
+184,3.066666667,pose1_to_pose2_press,0.612840941858,5.46684223927e-05,1.07002905906,0.583411670935,0.0087273938245,1.06969834589
+185,3.083333333,pose1_to_pose2_press,0.613442517301,5.45923003272e-05,1.07002920337,0.584013247075,0.00872732025695,1.06969849237
+186,3.100000000,pose1_to_pose2_press,0.614013959781,5.4551123788e-05,1.07002911796,0.584584689548,0.00872727936711,1.06969840576
+187,3.116666667,pose1_to_pose2_press,0.614558797729,5.45547883648e-05,1.07002902533,0.585129528617,0.00872728748379,1.06969831527
+188,3.133333333,pose1_to_pose2_press,0.615083496753,5.46142993226e-05,1.07002919829,0.585654226273,0.00872734319691,1.0696984866
+189,3.150000000,pose1_to_pose2_press,0.615600319385,5.46356935187e-05,1.0700291799,0.58617104702,0.00872735946204,1.06969846957
+190,3.166666667,pose1_to_pose2_press,0.616115230398,5.46168848615e-05,1.07002897287,0.586685958482,0.00872734360769,1.06969826858
+191,3.183333333,pose1_to_pose2_press,0.616628579119,5.46224708146e-05,1.07002914362,0.587199306621,0.00872734821207,1.06969843545
+192,3.200000000,pose1_to_pose2_press,0.617124436841,5.45167212844e-05,1.07002909193,0.587695165003,0.00872724581831,1.06969838273
+193,3.216666667,pose1_to_pose2_press,0.61759514666,5.45025480259e-05,1.07002907093,0.588165875,0.00872723328593,1.06969836118
+194,3.233333333,pose1_to_pose2_press,0.618025159056,5.45395786775e-05,1.0700291317,0.588595886516,0.00872726842942,1.06969842257
+195,3.250000000,pose1_to_pose2_press,0.618417664532,5.45629831894e-05,1.07002920297,0.588988390855,0.00872728861978,1.06969848968
+196,3.266666667,pose1_to_pose2_press,0.618774025241,5.45992114281e-05,1.07002928105,0.589344751029,0.00872732340282,1.06969855732
+197,3.283333333,pose1_to_pose2_press,0.619111758331,5.4572793063e-05,1.07002924582,0.589682484823,0.00872730034637,1.06969852148
+198,3.300000000,pose1_to_pose2_press,0.61943449553,5.45856934105e-05,1.07002918746,0.590005222821,0.0087273172147,1.06969848117
+199,3.316666667,pose1_to_pose2_press,0.619741350829,5.46165998932e-05,1.07002899829,0.590312077017,0.00872734514803,1.06969829335
+200,3.333333333,pose1_to_pose2_press,0.620031039126,5.45884325161e-05,1.07002894986,0.590601763987,0.00872731358941,1.06969825035
+201,3.350000000,pose1_to_pose2_press,0.620297318135,5.4625590777e-05,1.07002896038,0.590868043954,0.00872735409234,1.06969825712
+202,3.366666667,pose1_to_pose2_press,0.620540735303,5.46521963706e-05,1.07002923814,0.591111461538,0.00872738227413,1.06969852671
+203,3.383333333,pose1_to_pose2_press,0.620760529122,5.4540233737e-05,1.07002919062,0.591331254763,0.00872726891495,1.06969848268
+204,3.400000000,pose1_to_pose2_press,0.620960231113,5.45981436584e-05,1.07002938332,0.591530956269,0.00872732520857,1.06969866753
+205,3.416666667,pose1_to_pose2_press,0.62114050805,5.44963537294e-05,1.07002928357,0.591711235329,0.0087272310632,1.06969856995
+206,3.433333333,pose1_to_pose2_press,0.621302569479,5.45933649156e-05,1.07002931603,0.591873295389,0.00872732368089,1.06969859974
+207,3.450000000,pose1_to_pose2_press,0.621446442281,5.46233440571e-05,1.07002939168,0.592017168042,0.0087273533399,1.06969867254
+208,3.466666667,pose1_to_pose2_press,0.621570169336,5.45940434855e-05,1.07002922443,0.592140894991,0.0087273243928,1.06969851793
+209,3.483333333,pose1_to_pose2_press,0.621677236421,5.45012122569e-05,1.07002916236,0.592247961555,0.00872722984556,1.06969845099
+210,3.500000000,pose1_to_pose2_press,0.621768216124,5.45207145874e-05,1.07002925949,0.592338941807,0.00872725127966,1.06969854476
+211,3.516666667,pose1_to_pose2_press,0.6218467825,5.4793770405e-05,1.07002901631,0.592417503544,0.00872750901962,1.06969830826
+212,3.533333333,pose1_to_pose2_press,0.621913510728,5.45144399192e-05,1.07002898838,0.592484236723,0.00872724662087,1.06969828614
+213,3.550000000,pose1_to_pose2_press,0.621968949446,5.4645677833e-05,1.07002902701,0.59253967463,0.00872737516984,1.06969831561
+214,3.566666667,pose1_to_pose2_press,0.622014556348,5.45573590186e-05,1.07002909943,0.592585282416,0.00872728990748,1.06969839246
+215,3.583333333,pose1_to_pose2_press,0.622051083672,5.45349344545e-05,1.07002910512,0.592621809019,0.00872726533286,1.06969840409
+216,3.600000000,pose1_to_pose2_press,0.622080702134,5.4612230302e-05,1.07002909399,0.592651425951,0.00872733765303,1.0696983952
+217,3.616666667,pose1_to_pose2_press,0.622103778287,5.46043488698e-05,1.07002910846,0.592674502412,0.00872733074077,1.06969840607
+218,3.633333333,pose1_to_pose2_press,0.622121984571,5.44914174552e-05,1.07002914038,0.592692710186,0.00872722265288,1.06969843198
+219,3.650000000,pose1_to_pose2_press,0.62213579532,5.45096333671e-05,1.07002914219,0.592706518975,0.00872723434427,1.06969843401
+220,3.666666667,pose1_to_pose2_press,0.62214515657,5.45428089691e-05,1.0700289617,0.592715881427,0.00872727168432,1.06969825572
+221,3.683333333,pose1_to_pose2_press,0.622151185035,5.45466775044e-05,1.07002895824,0.592721910006,0.00872727600131,1.06969825367
+222,3.700000000,pose1_to_pose2_press,0.622154051516,5.45367212323e-05,1.07002903339,0.592724776069,0.00872726465816,1.06969832944
+223,3.716666667,pose1_to_pose2_press,0.622155927511,5.4530205256e-05,1.07002908257,0.592726651791,0.00872725723454,1.06969837903
+224,3.733333333,pose1_to_pose2_press,0.622157097305,5.45263463259e-05,1.07002911325,0.592727821417,0.00872725282018,1.06969840995
+225,3.750000000,pose1_to_pose2_press,0.622157710425,5.45345836382e-05,1.07002912968,0.592728434615,0.0087272612966,1.06969842586
+226,3.766666667,pose1_to_pose2_press,0.622158234297,5.45416218877e-05,1.07002914372,0.592728958552,0.00872726853915,1.06969843946
+227,3.783333333,pose1_to_pose2_press,0.622159052146,5.45526097418e-05,1.07002916565,0.592729776504,0.00872727984594,1.06969846068
+228,3.800000000,pose1_to_pose2_press,0.622159582656,5.45597371671e-05,1.07002917987,0.59273030708,0.00872728718025,1.06969847445
+229,3.816666667,pose1_to_pose2_press,0.622159730072,5.45617177075e-05,1.07002918382,0.592730454514,0.00872728921828,1.06969847827
+230,3.833333333,pose1_to_pose2_press,0.622159919784,5.45642665013e-05,1.0700291889,0.59273064425,0.00872729184106,1.0696984832
+231,3.850000000,pose1_to_pose2_press,0.622160267714,5.45689409691e-05,1.07002919823,0.592730992225,0.00872729665121,1.06969849223
+232,3.866666667,pose1_to_pose2_press,0.622161144063,5.45807147676e-05,1.07002922172,0.592731868683,0.00872730876676,1.06969851497
+233,3.883333333,pose1_to_pose2_press,0.622162255939,5.45956528852e-05,1.07002925152,0.592732980699,0.00872732413849,1.06969854382
+234,3.900000000,pose1_to_pose2_press,0.622163208418,5.46187956313e-05,1.07002926249,0.592733932609,0.00872734528023,1.06969855312
+235,3.916666667,pose1_to_pose2_press,0.622164129718,5.46442441621e-05,1.07002926879,0.592734853154,0.00872736809081,1.06969855756
+236,3.933333333,pose1_to_pose2_press,0.622165020912,5.46688611183e-05,1.07002927487,0.592735743619,0.00872739015601,1.06969856185
+237,3.950000000,pose1_to_pose2_press,0.622165413252,5.4679698492e-05,1.07002927755,0.592736135637,0.00872739987,1.06969856373
+238,3.966666667,pose1_to_pose2_press,0.622165533308,5.46830147262e-05,1.07002927837,0.592736255595,0.00872740284248,1.06969856431
+239,3.983333333,pose1_to_pose2_press,0.622165625601,5.46855640958e-05,1.07002927901,0.592736347813,0.00872740512758,1.06969856476
+240,4.000000000,pose1_to_pose2_press,0.62216577108,5.46829671856e-05,1.07002926818,0.592736493418,0.00872740297188,1.06969855427
+241,4.016666667,pose1_to_pose2_press,0.622166112581,5.46748697366e-05,1.07002923918,0.592736835288,0.00872739616965,1.06969852629
+242,4.033333333,pose1_to_pose2_press,0.622166344413,5.46693726925e-05,1.07002921949,0.592737067371,0.00872739155187,1.06969850729
+243,4.050000000,pose1_to_pose2_press,0.622166470613,5.46663803234e-05,1.07002920878,0.592737193708,0.00872738903814,1.06969849694
+244,4.066666667,pose1_to_pose2_press,0.622166927811,5.46555395434e-05,1.07002916996,0.592737651401,0.00872737993138,1.06969845947
+245,4.083333333,pose1_to_pose2_press,0.622167366963,5.46379380492e-05,1.07002916325,0.592738090867,0.00872736325824,1.06969844942
+246,4.100000000,pose1_to_pose2_press,0.622167554566,5.46258932917e-05,1.07002917963,0.592738278504,0.00872735114597,1.06969846144
+247,4.116666667,pose1_to_pose2_press,0.622167843132,5.46073663958e-05,1.07002920484,0.592738567122,0.00872733251522,1.06969847995
+248,4.133333333,pose1_to_pose2_press,0.622168023572,5.45706631763e-05,1.07002915306,0.592738747769,0.00872729707666,1.06969844196
+249,4.150000000,pose2_hold,0.622168023572,5.45706631763e-05,1.07002915306,0.592738747773,0.00872729707654,1.06969844196
+250,4.166666667,pose2_hold,0.622168023572,5.45706631763e-05,1.07002915306,0.592738747773,0.00872729707658,1.06969844196
+251,4.183333333,pose2_hold,0.622168023572,5.45706631763e-05,1.07002915306,0.592738747774,0.00872729707661,1.06969844196
+252,4.200000000,pose2_hold,0.622168023572,5.45706631763e-05,1.07002915306,0.592738747774,0.00872729707703,1.06969844196
+253,4.216666667,pose2_hold,0.622168023572,5.45706631763e-05,1.07002915306,0.592738747774,0.00872729707704,1.06969844196
+254,4.233333333,pose2_hold,0.622168023572,5.45706631763e-05,1.07002915306,0.592738747774,0.00872729707717,1.06969844196
+255,4.250000000,pose2_hold,0.622168023572,5.45706631763e-05,1.07002915306,0.592738747774,0.00872729707712,1.06969844196
+256,4.266666667,pose2_hold,0.622168023572,5.45706631763e-05,1.07002915306,0.592738747774,0.00872729707726,1.06969844196
+257,4.283333333,pose2_hold,0.622168023572,5.45706631763e-05,1.07002915306,0.592738747774,0.00872729707731,1.06969844196
+258,4.300000000,pose2_hold,0.622168023572,5.45706631763e-05,1.07002915306,0.592738747774,0.00872729707737,1.06969844196
+259,4.316666667,pose2_hold,0.622168023572,5.45706631763e-05,1.07002915306,0.592738747774,0.00872729707742,1.06969844196
+260,4.333333333,pose2_hold,0.622168023572,5.45706631763e-05,1.07002915306,0.592738747774,0.00872729707679,1.06969844196
+261,4.350000000,pose2_hold,0.622168023572,5.45706631763e-05,1.07002915306,0.592738747775,0.00872729707727,1.06969844196
+262,4.366666667,pose2_hold,0.622168023572,5.45706631763e-05,1.07002915306,0.592738747775,0.0087272970773,1.06969844196
+263,4.383333333,pose2_hold,0.622168023572,5.45706631763e-05,1.07002915306,0.592738747775,0.00872729707722,1.06969844196
+264,4.400000000,pose2_hold,0.622168023572,5.45706631763e-05,1.07002915306,0.592738747775,0.00872729707736,1.06969844196
+265,4.416666667,pose2_hold,0.622168023572,5.45706631763e-05,1.07002915306,0.592738747775,0.0087272970774,1.06969844196
+266,4.433333333,pose2_hold,0.622168023572,5.45706631763e-05,1.07002915306,0.592738747775,0.0087272970774,1.06969844196
+267,4.450000000,pose2_to_pose3_retreat,0.622168023572,5.45706631763e-05,1.07002915306,0.592738747776,0.00872729707771,1.06969844196
+268,4.466666667,pose2_to_pose3_retreat,0.622167985701,5.45871790286e-05,1.07002903512,0.592738709887,0.00872731358865,1.06969832567
+269,4.483333333,pose2_to_pose3_retreat,0.622167842438,5.4586276009e-05,1.07002907563,0.592738566806,0.00872731324171,1.06969836498
+270,4.500000000,pose2_to_pose3_retreat,0.62216780792,5.45860584338e-05,1.07002908539,0.592738532332,0.00872731315811,1.06969837445
+271,4.516666667,pose2_to_pose3_retreat,0.6221673771,5.45741529892e-05,1.07002913785,0.592738102003,0.00872730282714,1.06969842513
+272,4.533333333,pose2_to_pose3_retreat,0.622166489054,5.45202751927e-05,1.07002902453,0.592737214783,0.00872725188274,1.06969831398
+273,4.550000000,pose2_to_pose3_retreat,0.622163853865,5.4589945329e-05,1.07002925757,0.59273457939,0.00872732084683,1.06969854738
+274,4.566666667,pose2_to_pose3_retreat,0.622157516839,5.45776007554e-05,1.07002911265,0.592728241091,0.00872730423227,1.06969840425
+275,4.583333333,pose2_to_pose3_retreat,0.622144819454,5.47034788567e-05,1.07002907594,0.592715542604,0.00872742645439,1.06969837128
+276,4.600000000,pose2_to_pose3_retreat,0.622122564489,5.4594586323e-05,1.07002904615,0.592693290428,0.00872732663934,1.06969833304
+277,4.616666667,pose2_to_pose3_retreat,0.622089062276,5.45984092318e-05,1.07002903696,0.592659787808,0.00872732955706,1.06969833444
+278,4.633333333,pose2_to_pose3_retreat,0.622044008181,5.46623058307e-05,1.07002911217,0.592614732827,0.00872738998009,1.06969840124
+279,4.650000000,pose2_to_pose3_retreat,0.621988177809,5.46951688753e-05,1.0700292753,0.59255890109,0.008727417835,1.06969856176
+280,4.666666667,pose2_to_pose3_retreat,0.621922454082,5.46473997897e-05,1.07002904419,0.592493176248,0.00872736668757,1.06969833842
+281,4.683333333,pose2_to_pose3_retreat,0.621846886404,5.45702103061e-05,1.07002901159,0.592417611065,0.00872729768749,1.06969830598
+282,4.700000000,pose2_to_pose3_retreat,0.621759998044,5.46143276875e-05,1.07002902942,0.592330722992,0.00872734234139,1.06969831792
+283,4.716666667,pose2_to_pose3_retreat,0.621658884332,5.45751724252e-05,1.07002932653,0.592229610796,0.0087273080558,1.06969861311
+284,4.733333333,pose2_to_pose3_retreat,0.621542553707,5.45213652501e-05,1.07002906665,0.592113280393,0.0087272552324,1.06969836578
+285,4.750000000,pose2_to_pose3_retreat,0.621406300319,5.45434651354e-05,1.07002888489,0.59197702673,0.00872727618196,1.06969818576
+286,4.766666667,pose2_to_pose3_retreat,0.621250842165,5.46220224469e-05,1.07002887247,0.591821567616,0.00872735096583,1.06969816873
+287,4.783333333,pose2_to_pose3_retreat,0.621073109392,5.46475060634e-05,1.07002906934,0.591643835142,0.00872737688632,1.0696983603
+288,4.800000000,pose2_to_pose3_retreat,0.620872562447,5.46645536312e-05,1.07002934098,0.591443288953,0.00872739582166,1.06969862528
+289,4.816666667,pose2_to_pose3_retreat,0.620647329399,5.45993250974e-05,1.070029186,0.591218055747,0.00872732995027,1.06969847987
+290,4.833333333,pose2_to_pose3_retreat,0.620398911965,5.44614636823e-05,1.07002913619,0.590969639254,0.00872719472066,1.06969842868
+291,4.850000000,pose2_to_pose3_retreat,0.620127467592,5.45739794957e-05,1.07002914361,0.590698193145,0.00872730074345,1.06969843514
+292,4.866666667,pose2_to_pose3_retreat,0.619831371162,5.46584129967e-05,1.0700289304,0.590402096896,0.00872738545401,1.0696982282
+293,4.883333333,pose2_to_pose3_retreat,0.619513429602,5.45935010433e-05,1.07002906394,0.590084155561,0.00872732040384,1.06969835607
+294,4.900000000,pose2_to_pose3_retreat,0.619173027252,5.45251550017e-05,1.0700292325,0.589743753646,0.00872725265124,1.06969852114
+295,4.916666667,pose2_to_pose3_retreat,0.618807125894,5.46077933713e-05,1.07002908004,0.589377851492,0.0087273319364,1.0696983734
+296,4.933333333,pose2_to_pose3_retreat,0.618414001603,5.46036714252e-05,1.07002927415,0.588984728645,0.00872733183142,1.0696985617
+297,4.950000000,pose2_to_pose3_retreat,0.617997368724,5.45857276162e-05,1.07002941824,0.588568096455,0.00872731493267,1.06969870012
+298,4.966666667,pose2_to_pose3_retreat,0.617558130693,5.46567798423e-05,1.0700292569,0.58812885776,0.0087273821049,1.06969854148
+299,4.983333333,pose2_to_pose3_retreat,0.617094516692,5.46047722378e-05,1.0700291651,0.587665245034,0.00872733310351,1.06969844969
+300,5.000000000,pose2_to_pose3_retreat,0.616605871594,5.45675097458e-05,1.07002916056,0.587176600639,0.00872729752878,1.06969844606
+301,5.016666667,pose2_to_pose3_retreat,0.616088117801,5.46461890598e-05,1.07002914757,0.586658846381,0.0087273738395,1.06969843602
+302,5.033333333,pose2_to_pose3_retreat,0.615531748086,5.47030406205e-05,1.070029213,0.58610247688,0.00872743014159,1.06969850121
+303,5.050000000,pose2_to_pose3_retreat,0.61493653626,5.46233371589e-05,1.0700290567,0.585507265478,0.00872735097244,1.06969835347
+304,5.066666667,pose2_to_pose3_retreat,0.614323288202,5.45303572188e-05,1.07002897915,0.584894017786,0.00872725816316,1.06969827816
+305,5.083333333,pose2_to_pose3_retreat,0.613698871809,5.45834659243e-05,1.0700291802,0.584269601685,0.00872731087517,1.06969847442
+306,5.100000000,pose2_to_pose3_retreat,0.613066922017,5.46349043603e-05,1.07002930729,0.583637652991,0.0087273647956,1.06969859866
+307,5.116666667,pose2_to_pose3_retreat,0.612429856558,5.4592430244e-05,1.07002928145,0.583000588459,0.00872732418581,1.06969856725
+308,5.133333333,pose2_to_pose3_retreat,0.611783705295,5.45551833763e-05,1.07002905687,0.582354436409,0.00872728337423,1.06969834688
+309,5.150000000,pose2_to_pose3_retreat,0.611096803476,5.46120714866e-05,1.07002918264,0.581667534902,0.00872734018689,1.06969846834
+310,5.166666667,pose2_to_pose3_retreat,0.610370027877,5.45961450359e-05,1.07002924905,0.580940761815,0.00872733168705,1.06969853763
+311,5.183333333,pose2_to_pose3_retreat,0.609606309657,5.44768622281e-05,1.07002912438,0.580177044106,0.00872721311066,1.06969841377
+312,5.200000000,pose2_to_pose3_retreat,0.608805523174,5.44783488019e-05,1.07002906114,0.579376256452,0.00872720955154,1.06969835235
+313,5.216666667,pose2_to_pose3_retreat,0.60796157139,5.45570995964e-05,1.07002920034,0.578532304232,0.0087272850414,1.06969849168
+314,5.233333333,pose2_to_pose3_retreat,0.607105206405,5.45868350517e-05,1.07002908919,0.577675940379,0.00872731681743,1.06969837746
+315,5.250000000,pose2_to_pose3_retreat,0.606242778677,5.45989070896e-05,1.07002924382,0.576813512342,0.00872732625481,1.06969853023
+316,5.266666667,pose2_to_pose3_retreat,0.60537637159,5.45609423558e-05,1.07002912036,0.575947105511,0.00872728707483,1.06969840657
+317,5.283333333,pose2_to_pose3_retreat,0.604514166548,5.46246461942e-05,1.0700290117,0.575084900842,0.00872735125905,1.06969830262
+318,5.300000000,pose2_to_pose3_retreat,0.603659358063,5.46243350864e-05,1.07002903851,0.574230091662,0.00872734835439,1.06969833044
+319,5.316666667,pose2_to_pose3_retreat,0.602793498556,5.45073902279e-05,1.07002919238,0.573364234396,0.00872723743892,1.06969847621
+320,5.333333333,pose2_to_pose3_retreat,0.601908522747,5.45921466522e-05,1.07002927424,0.572479257777,0.00872732099103,1.06969856037
+321,5.350000000,pose2_to_pose3_retreat,0.600995630037,5.47327056355e-05,1.07002924823,0.571566359704,0.00872745217894,1.06969853573
+322,5.366666667,pose2_to_pose3_retreat,0.600059266629,5.4510567709e-05,1.07002917144,0.570629999925,0.00872724192128,1.06969846292
+323,5.383333333,pose2_to_pose3_retreat,0.599126010071,5.45502361609e-05,1.07002929968,0.569696743302,0.00872728046883,1.06969858086
+324,5.400000000,pose2_to_pose3_retreat,0.598206085159,5.45704702142e-05,1.0700293251,0.568776818338,0.00872730005176,1.06969860873
+325,5.416666667,pose2_to_pose3_retreat,0.597310742154,5.4596711494e-05,1.07002930642,0.567881473901,0.00872732083429,1.06969858931
+326,5.433333333,pose2_to_pose3_retreat,0.596437143016,5.45523138138e-05,1.0700290755,0.567007876026,0.00872728063332,1.06969836974
+327,5.450000000,pose2_to_pose3_retreat,0.595579808523,5.45358245934e-05,1.07002914974,0.566150541936,0.00872726512071,1.06969844718
+328,5.466666667,pose2_to_pose3_retreat,0.594713866546,5.45153090504e-05,1.07002889985,0.565284600848,0.00872724674326,1.06969819289
+329,5.483333333,pose2_to_pose3_retreat,0.593836405856,5.44917253053e-05,1.07002888695,0.564407140577,0.00872722427843,1.06969818193
+330,5.500000000,pose2_to_pose3_retreat,0.59295159476,5.46348925973e-05,1.07002892108,0.563522328612,0.00872736428697,1.06969822485
+331,5.516666667,pose2_to_pose3_retreat,0.592068728782,5.47004065182e-05,1.07002922439,0.562639461221,0.00872742394377,1.06969851753
+332,5.533333333,pose2_to_pose3_retreat,0.591191920162,5.45695873839e-05,1.07002919673,0.561762653256,0.00872729458058,1.06969848316
+333,5.550000000,pose2_to_pose3_retreat,0.590347506314,5.46273302693e-05,1.07002925483,0.56091823986,0.00872735334794,1.0696985406
+334,5.566666667,pose2_to_pose3_retreat,0.589537325055,5.45536393792e-05,1.07002909595,0.560108059731,0.00872728334245,1.06969838979
+335,5.583333333,pose2_to_pose3_retreat,0.588745483765,5.44949223205e-05,1.07002908835,0.559316219063,0.00872722612167,1.06969837858
+336,5.600000000,pose2_to_pose3_retreat,0.587972988051,5.45892982866e-05,1.07002923886,0.558543722826,0.00872731822568,1.06969852851
+337,5.616666667,pose2_to_pose3_retreat,0.587221874303,5.4615493019e-05,1.07002910399,0.557792608555,0.00872734244342,1.06969840082
+338,5.633333333,pose2_to_pose3_retreat,0.586483152337,5.45675401555e-05,1.07002915327,0.557053886518,0.00872729331607,1.06969844004
+339,5.650000000,pose2_to_pose3_retreat,0.585757634075,5.45401085939e-05,1.07002909279,0.556328369654,0.00872727048562,1.06969838923
+340,5.666666667,pose2_to_pose3_retreat,0.585063138171,5.45255888657e-05,1.07002913381,0.555633874052,0.00872725605535,1.06969841718
+341,5.683333333,pose2_to_pose3_retreat,0.584399493483,5.45997584115e-05,1.07002937249,0.554970228771,0.00872732771832,1.06969865308
+342,5.700000000,pose2_to_pose3_retreat,0.583758884275,5.45134686476e-05,1.07002920613,0.554329620943,0.00872724593177,1.06969849139
+343,5.716666667,pose2_to_pose3_retreat,0.583137244232,5.46413391117e-05,1.07002943002,0.553707979735,0.00872736925306,1.06969870884
+344,5.733333333,pose2_to_pose3_retreat,0.582535422343,5.45705056899e-05,1.07002932514,0.5531061591,0.00872730285993,1.06969861621
+345,5.750000000,pose2_to_pose3_retreat,0.581954670208,5.45822790051e-05,1.07002921106,0.552525406798,0.00872731352634,1.06969849751
+346,5.766666667,pose2_to_pose3_retreat,0.581400013273,5.45876392095e-05,1.07002934708,0.55197074953,0.00872731749669,1.06969863308
+347,5.783333333,pose2_to_pose3_retreat,0.580887652881,5.45430235364e-05,1.07002915101,0.551458388832,0.00872727156297,1.06969843907
+348,5.800000000,pose2_to_pose3_retreat,0.58041312621,5.44974867941e-05,1.07002915186,0.550983864315,0.00872723305398,1.06969843915
+349,5.816666667,pose2_to_pose3_retreat,0.579972890761,5.45971641731e-05,1.07002908466,0.550543627354,0.00872732772638,1.06969838084
+350,5.833333333,pose2_to_pose3_retreat,0.579554851733,5.44194831658e-05,1.07002889891,0.550125588403,0.00872715017633,1.069698199
+351,5.850000000,pose2_to_pose3_retreat,0.5791556918,5.4452983794e-05,1.0700292573,0.549726429278,0.00872718557891,1.06969854152
+352,5.866666667,pose2_to_pose3_retreat,0.578776709638,5.46995917766e-05,1.07002905595,0.549347445211,0.00872742550702,1.0696983402
+353,5.883333333,pose2_to_pose3_retreat,0.578420297571,5.43412674786e-05,1.0700292062,0.54899103619,0.00872707699558,1.06969848271
+354,5.900000000,pose2_to_pose3_retreat,0.57809162808,5.46581613102e-05,1.07002916007,0.548662363501,0.00872738319357,1.06969844561
+355,5.916666667,pose2_to_pose3_retreat,0.577791211871,5.46424435317e-05,1.07002912669,0.548361949154,0.00872737380863,1.06969841884
+356,5.933333333,pose2_to_pose3_retreat,0.577521040315,5.45509517375e-05,1.07002898508,0.548091776807,0.00872727997261,1.06969828995
+357,5.950000000,pose2_to_pose3_retreat,0.577276319384,5.46675030985e-05,1.0700292255,0.547847054514,0.00872739140008,1.06969852036
+358,5.966666667,pose2_to_pose3_retreat,0.577056795527,5.45554461126e-05,1.07002902441,0.547627532395,0.0087272849299,1.06969831468
+359,5.983333333,pose2_to_pose3_retreat,0.576859810173,5.46197439161e-05,1.07002909043,0.547430546571,0.00872734792094,1.06969839106
+360,6.000000000,pose2_to_pose3_retreat,0.576684344072,5.44451691177e-05,1.07002914047,0.547255082988,0.00872718136749,1.06969843002
+361,6.016666667,pose2_to_pose3_retreat,0.576529943092,5.45168412929e-05,1.07002915636,0.547100681111,0.00872724983021,1.06969844411
+362,6.033333333,pose2_to_pose3_retreat,0.576392010367,5.45482663637e-05,1.07002911633,0.546962748558,0.00872728205601,1.06969841191
+363,6.050000000,pose2_to_pose3_retreat,0.576269392385,5.45549621162e-05,1.07002904896,0.546840129518,0.00872728492125,1.0696983401
+364,6.066666667,pose2_to_pose3_retreat,0.576160931417,5.45671996674e-05,1.0700293306,0.546731667668,0.00872729371291,1.06969861151
+365,6.083333333,pose2_to_pose3_retreat,0.576066581506,5.45497068387e-05,1.07002922474,0.546637318156,0.00872727767025,1.0696985098
+366,6.100000000,pose2_to_pose3_retreat,0.575986609029,5.45658170336e-05,1.07002923372,0.546557345723,0.00872729399121,1.06969852276
+367,6.116666667,pose2_to_pose3_retreat,0.575920180016,5.44744375991e-05,1.07002917363,0.546490919043,0.0087272105816,1.06969846425
+368,6.133333333,pose2_to_pose3_retreat,0.575867960451,5.46053524512e-05,1.07002907685,0.546438697804,0.00872733566373,1.0696983643
+369,6.150000000,pose2_to_pose3_retreat,0.575826443167,5.47491746375e-05,1.0700291007,0.546397177927,0.00872747072044,1.06969838927
+370,6.166666667,pose2_to_pose3_retreat,0.575794618589,5.4696433117e-05,1.07002913458,0.546365354287,0.00872742120253,1.06969842471
+371,6.183333333,pose2_to_pose3_retreat,0.575769899511,5.45831024229e-05,1.07002912377,0.54634063693,0.00872731377581,1.06969841608
+372,6.200000000,pose2_to_pose3_retreat,0.575751604572,5.45462050333e-05,1.07002911176,0.546322341998,0.00872727701428,1.06969840704
+373,6.216666667,pose2_to_pose3_retreat,0.575738092906,5.45310406817e-05,1.07002913129,0.546308831103,0.00872726425542,1.06969842138
+374,6.233333333,pose2_to_pose3_retreat,0.575728674752,5.45232989013e-05,1.07002912497,0.546299412735,0.00872725591031,1.06969841828
+375,6.250000000,pose2_to_pose3_retreat,0.575723242937,5.45341753386e-05,1.07002913781,0.546293980574,0.00872726551085,1.06969842862
+376,6.266666667,pose2_to_pose3_retreat,0.575719711012,5.45533628243e-05,1.07002915959,0.546290448261,0.0087272831746,1.0696984452
+377,6.283333333,pose2_to_pose3_retreat,0.575717465882,5.45730893652e-05,1.07002915917,0.546288202711,0.0087273013615,1.06969844172
+378,6.300000000,pose2_to_pose3_retreat,0.575716277423,5.45971757525e-05,1.07002913308,0.54628701372,0.00872732359811,1.06969841448
+379,6.316666667,pose2_to_pose3_retreat,0.575715734622,5.46081766555e-05,1.07002912116,0.546286470675,0.00872733375417,1.06969840204
+380,6.333333333,pose2_to_pose3_retreat,0.575715287898,5.46172303529e-05,1.07002911135,0.546286023752,0.00872734211257,1.0696983918
+381,6.350000000,pose2_to_pose3_retreat,0.575715242875,5.46181428303e-05,1.07002911036,0.546285978708,0.00872734295497,1.06969839076
+382,6.366666667,pose2_to_pose3_retreat,0.575714760297,5.4627923196e-05,1.07002909977,0.546285495914,0.00872735198423,1.0696983797
+383,6.383333333,pose2_to_pose3_retreat,0.575714674731,5.46296573701e-05,1.07002909789,0.546285410309,0.00872735358522,1.06969837774
+384,6.400000000,pose2_to_pose3_retreat,0.575714379253,5.46356457939e-05,1.0700290914,0.546285114698,0.00872735911375,1.06969837097
+385,6.416666667,pose2_to_pose3_retreat,0.575714109328,5.46411163366e-05,1.07002908548,0.546284844652,0.00872736416416,1.06969836478
+386,6.433333333,pose2_to_pose3_retreat,0.575713912696,5.46451014575e-05,1.07002908116,0.546284647932,0.00872736784324,1.06969836027
+387,6.450000000,pose2_to_pose3_retreat,0.575713880246,5.4645759117e-05,1.07002908045,0.546284615468,0.00872736845039,1.06969835953
+388,6.466666667,pose2_to_pose3_retreat,0.575713745751,5.46484849216e-05,1.0700290775,0.546284480912,0.00872737096686,1.06969835644
+389,6.483333333,pose2_to_pose3_retreat,0.575713532113,5.4652814685e-05,1.07002907281,0.546284267179,0.00872737496411,1.06969835155
+390,6.500000000,pose2_to_pose3_retreat,0.575713072511,5.46587162579e-05,1.07002909507,0.54628380764,0.00872738107371,1.06969837353
+391,6.516666667,pose2_to_pose3_retreat,0.575712535051,5.4660220839e-05,1.07002917228,0.546283270683,0.00872738428155,1.06969845064
+392,6.533333333,pose2_to_pose3_retreat,0.575712415247,5.46605562205e-05,1.07002918948,0.546283150991,0.0087273849966,1.06969846783
+393,6.550000000,pose2_to_pose3_retreat,0.575712381987,5.46606493316e-05,1.07002919426,0.546283117762,0.00872738519512,1.0696984726
+394,6.566666667,pose2_to_pose3_retreat,0.575712183598,5.46612047072e-05,1.07002922276,0.546282919558,0.00872738637921,1.06969850107
+395,6.583333333,pose2_to_pose3_retreat,0.575711851567,5.46621342057e-05,1.07002927045,0.546282587837,0.00872738836095,1.06969854871
+396,6.600000000,pose2_to_pose3_retreat,0.575710981824,5.46645689887e-05,1.07002939538,0.546281718907,0.00872739355203,1.0696986735
+397,6.616666667,pose2_to_pose3_retreat,0.575710524179,5.46381470698e-05,1.07002939258,0.546281261441,0.0087273678088,1.06969867248
+398,6.633333333,pose2_to_pose3_retreat,0.57571027938,5.46102396908e-05,1.07002935699,0.546281016615,0.0087273398808,1.06969863878
+399,6.650000000,pose2_to_pose3_retreat,0.575710095225,5.45892458128e-05,1.07002933023,0.54628083244,0.00872731887141,1.06969861343
+400,6.666666667,pose2_to_pose3_retreat,0.57571001018,5.45795506256e-05,1.07002931787,0.546280747386,0.00872730916906,1.06969860172
+401,6.683333333,pose2_to_pose3_retreat,0.575709613064,5.45944382769e-05,1.07002916444,0.546280349469,0.00872732146437,1.06969845154
+402,6.700000000,pose2_to_pose3_retreat,0.575709309074,5.46956628948e-05,1.07002890408,0.546280043737,0.00872741688373,1.06969819398
+403,6.716666667,pose2_to_pose3_retreat,0.575709213079,5.46503105954e-05,1.07002930454,0.546279949313,0.00872737647172,1.06969858464
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_05/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_05/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8f522975770a0a8abc396fbcef1f3f232923c6f2
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_05/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:94669234c29ced095d70a7d51e4f19ad3369e3ecb79cd262582fcb539334f0f1
+size 24775137
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_05/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_05/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a184844fbb5b6be91ef3f584c8870cc9afb2b239
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_05/depth_01/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,764,742,712,672,659,633,877,783,800,649,628,650,0.400907506649,-0.0154277997261,0.0599126474055,0.999999972254,-1.62307581096e-05,-0.000230136548145,-4.75956987085e-05,1793193406487823616
+1,0.016666667,BASELINE,764.579264556,742,711.420735444,672,659,632.420735444,877,783.579264556,799.420735444,649,628.579264556,650,0.400908208019,-0.0154278787646,0.0599129687229,0.999999972393,-1.64316208265e-05,-0.000229483108408,-4.77710055509e-05,1793193406504490240
+2,0.033333333,BASELINE,765,742,711,672,659,632.1575389,876.8424611,784,799,649,629,650,0.400908577828,-0.0154275864043,0.0599131275413,0.999999972455,-1.61421935004e-05,-0.000229186770765,-4.79937403331e-05,1793193406521156608
+3,0.050000000,BASELINE,765,742,711,672,659,632.733185353,876.266814647,784,799,649,629,650,0.400908067676,-0.0154263083532,0.059912855088,0.999999972313,-1.4551538585e-05,-0.000229838180377,-4.83423486987e-05,1793193406537823232
+4,0.066666667,BASELINE,764.685538374,742,711.314461626,672,659,633,876.314461626,784,799.314461626,649,629,650.314461626,0.400907767668,-0.0154260644868,0.0599127871858,0.99999997227,-1.34716584466e-05,-0.000230105221348,-4.82722061183e-05,1793193406554490624
+5,0.083333333,BASELINE,764.099398265,742,711.900601735,672,659,633,876.900601735,784,799.900601735,649,629,650.900601735,0.400907649216,-0.0154267141024,0.0599128960051,0.999999972314,-1.28330612364e-05,-0.000230040187772,-4.78402844865e-05,1793193406571158528
+6,0.100000000,BASELINE,764.481045485,742,712,672,659,633,877,784,800,649,629,650.518954515,0.400906958121,-0.015427032566,0.0599123110786,0.999999972159,-1.32302947173e-05,-0.000230720920152,-4.76944619814e-05,1793193406587824640
+7,0.116666667,BASELINE,765,742,712,672,659,633,877,784,800,649,628.939875403,650,0.400906344511,-0.0154271765573,0.0599117467586,0.999999972016,-1.37799694811e-05,-0.000231321964472,-4.76295340141e-05,1793193406604490240
+8,0.133333333,BASELINE,765,742,712,672,659,633,877,784,800,649,628.362528607,650,0.400907403452,-0.0154264013934,0.0599125784311,0.999999972331,-1.38213461203e-05,-0.00022992738218,-4.77579027661e-05,1793193406621156864
+9,0.150000000,BASELINE,765,742.213451866,712,672.213451866,659,633,877,784,799.786548134,649,628.213451866,650.213451866,0.400907938298,-0.0154259260388,0.0599130556643,0.999999972514,-1.28532086618e-05,-0.000229177463486,-4.78024838146e-05,1793193406637823744
+10,0.166666667,BASELINE,765,742.787126467,712,672.787126467,659,633,877,784,799.212873533,649,628.787126467,650.787126467,0.400907588677,-0.015425956644,0.0599129347435,0.999999972472,-1.01814087478e-05,-0.000229515483341,-4.77056641851e-05,1793193406654490624
+11,0.183333333,BASELINE,764.62924113,742.62924113,712,672.62924113,659,633,877,784,799,649,629,651,0.40090719156,-0.0154260146523,0.0599125249792,0.999999972372,-1.00337064009e-05,-0.000229922247095,-4.78548985937e-05,1793193406671156992
+12,0.200000000,BASELINE,764.039733542,742.039733542,712,672.039733542,659,633,877,784,799,649,629,651,0.400906766421,-0.0154260888284,0.0599119447966,0.999999972241,-1.13752280653e-05,-0.000230369569963,-4.81493055287e-05,1793193406687823360
+13,0.216666667,BASELINE,764.539938434,742,712,672,659,633,877,784,799.539938434,649,629,651,0.400906300016,-0.0154252360197,0.0599111249088,0.999999972031,-1.04701685726e-05,-0.000231341342818,-4.80600908563e-05,1793193406704489984
+14,0.233333333,BASELINE,765,742,712,672,659,633,877,784,799.88163284,649,628.88163284,651,0.400906353155,-0.0154248634038,0.0599108369163,0.999999971969,-1.03233567884e-05,-0.000231646307647,-4.79157345716e-05,1793193406721156864
+15,0.250000000,BASELINE,765,742,712,672,659,633,877,784,799.305263998,649,628.305263998,651,0.400908428121,-0.0154266080406,0.0599126740341,0.999999972498,-1.37387036134e-05,-0.000229224511607,-4.76652954381e-05,1793193406737823488
+16,0.266666667,BASELINE,764.730196113,742,712,671.730196113,659,633,877,784,799.539607775,649,628.269803887,651,0.400909345791,-0.0154267562457,0.0599134457883,0.999999972737,-1.39214326787e-05,-0.00022815993604,-4.76905547813e-05,1793193406754490112
+17,0.283333333,BASELINE,764.156593137,742,712,671.156593137,659,633,877,784,800.686813726,649,628.843406863,651,0.400908960347,-0.0154251068691,0.0599130179433,0.999999972658,-1.04642350033e-05,-0.000228623590425,-4.80262505342e-05,1793193406771156992
+18,0.300000000,BASELINE,764.429819366,742,712,671.429819366,659.429819366,633,877,784,800.570180634,649,629,651,0.400908070505,-0.0154267597728,0.0599123281113,0.999999972409,-1.38630786887e-05,-0.00022956310852,-4.78681156964e-05,1793193406787823616
+19,0.316666667,BASELINE,765,742,712,672,659.979372405,633,877,784,799.979372405,649,629,651,0.400907059498,-0.0154295312614,0.059911581571,0.999999972086,-1.95380370841e-05,-0.000230623073845,-4.75262057585e-05,1793193406804490496
+20,0.333333333,BASELINE,765,742,712,672,659.399793862,633,877,784,799.399793862,649,629,651,0.400907897733,-0.0154290112912,0.0599119642154,0.999999972264,-1.71264631064e-05,-0.000230104723827,-4.72294213475e-05,1793193406821157120
+21,0.350000000,BASELINE,765,742,712,672,659,633,877,783.821435643,799.178564357,649,629,650.821435643,0.400908222615,-0.0154287781191,0.0599120824182,0.999999972314,-1.59043501983e-05,-0.000229990662866,-4.71472926724e-05,1793193406837823488
+22,0.366666667,BASELINE,765,742,712,672,659,633,877,783.245791178,799.754208822,649,629,650.245791178,0.400907405939,-0.0154291827104,0.0599116125722,0.999999972091,-1.73272858086e-05,-0.000230775634381,-4.75425018688e-05,1793193406854490112
+23,0.383333333,BASELINE,765,742,712,672,659,632.664321209,876.664321209,783.335678791,800,649,629,650.335678791,0.400907072493,-0.0154288761265,0.0599112147067,0.999999971927,-1.7133367734e-05,-0.000231471023905,-4.76838081176e-05,1793193406871156736
+24,0.400000000,BASELINE,765,742,712,672,659,632.078510285,876.078510285,783.921489715,800,649,629,650.921489715,0.400907099128,-0.015428039608,0.0599108704778,0.999999971806,-1.5734646077e-05,-0.000232099661203,-4.76359178085e-05,1793193406887823360
+25,0.416666667,BASELINE,765,742,712,672,659,632.50452069,876.50452069,784,799.49547931,649,629,651,0.400908227721,-0.015427407523,0.0599114073214,0.999999972137,-1.26715716394e-05,-0.000230874253599,-4.75648821724e-05,1793193406904490240
+26,0.433333333,BASELINE,764.914360062,742,712,672,659,633,877,784,799,649,629,650.914360062,0.400909281432,-0.0154271143804,0.0599119435378,0.999999972443,-1.02399455768e-05,-0.000229681614881,-4.74851753597e-05,1793193406921157120
+27,0.450000000,BASELINE,764.341666212,742,712,672,659,633,877,784,799,649,629,650.341666212,0.40090893936,-0.0154285689458,0.0599117007014,0.999999972274,-1.28644069416e-05,-0.00023030719666,-4.7376525156e-05,1793193406937823744
+28,0.466666667,BASELINE,764.233310426,742,712,672,659,633,877,783.766689574,799,649,629,650.233310426,0.400908886656,-0.0154294427212,0.0599119612926,0.999999972293,-1.51160203938e-05,-0.000230103165669,-4.72975025919e-05,1793193406954490368
+29,0.483333333,BASELINE,764.811663038,742,712,672,659,633,877,783.188336962,799,649,629,650.811663038,0.400909261895,-0.0154294575677,0.0599129664015,0.999999972596,-1.68162298736e-05,-0.000228672222459,-4.7262296274e-05,1793193406971156992
+30,0.500000000,BASELINE,765,742,712,672,659,633,877,783.398301128,799,649,629,651,0.400909285653,-0.0154299890805,0.0599131090774,0.999999972678,-1.69616144951e-05,-0.000228301145577,-4.7269497236e-05,1793193406987823616
+31,0.516666667,BASELINE,765,742,712,672,659,633,877,783.988940224,799,649,629,651,0.400909139681,-0.0154307700893,0.0599128352878,0.999999972655,-1.63561805738e-05,-0.000228441873803,-4.72971764992e-05,1793193407004489984
+32,0.533333333,BASELINE,764.432229165,742,711.432229165,672,659.567770835,633,877.567770835,784,799,649,629,651,0.400909620008,-0.015429657236,0.0599131429085,0.999999972648,-1.68858951714e-05,-0.000228451914659,-4.72041371947e-05,1793193407021156608
+33,0.550000000,BASELINE,764,742,711.145238763,672,659.854761237,633,877.854761237,784,799.145238763,649,629,650.854761237,0.400909616429,-0.0154285459045,0.0599130163208,0.999999972521,-1.71753769599e-05,-0.00022897185277,-4.72710267013e-05,1793193407037823232
+34,0.566666667,BASELINE,764,742,711.719348148,672,659.280651852,633,877.280651852,784,799.719348148,649,629,650.280651852,0.400908148648,-0.0154275457823,0.0599115748125,0.999999972036,-1.66915201735e-05,-0.000231004813159,-4.78169668194e-05,1793193407054490112
+35,0.583333333,BASELINE,764,742,712,672,659,633,877,784,800,649,629,650,0.400908241167,-0.0154280621881,0.0599116048464,0.999999972047,-1.72134082329e-05,-0.00023092560685,-4.77804104223e-05,1793193407071156736
+36,0.600000000,BASELINE,764,742,712,672,659,633,877,784,800,649,629,650,0.400909825901,-0.0154300289451,0.0599130422084,0.999999972531,-1.86971533657e-05,-0.000228826402757,-4.718677599e-05,1793193407087823104
+37,0.616666667,BASELINE,764,742,712,672,659,633,877,784,800,649,629,650,0.400909334355,-0.0154295895839,0.0599123946076,0.999999972421,-1.69251038632e-05,-0.000229426781296,-4.72658960326e-05,1793193407104489728
+38,0.633333333,BASELINE,764,742,711.9514492,671.9514492,659,633,877,784,800,649,628.9514492,650.0485508,0.40090848345,-0.0154287049756,0.0599113755334,0.9999999722,-1.47457346393e-05,-0.000230492125648,-4.74886527935e-05,1793193407121156352
+39,0.650000000,BASELINE,764,742,711.373995551,671.373995551,659,633,877,784,800,649,628.373995551,650.626004449,0.400908975418,-0.015429062804,0.0599115893296,0.999999972333,-1.63735626423e-05,-0.000229786720375,-4.75725827112e-05,1793193407137822976
+40,0.666666667,BASELINE,764,742,711,671.20226534,659,633,877,784,799.79773466,649,628.20226534,650.79773466,0.400908914769,-0.0154292380378,0.0599116507865,0.999999972358,-1.71251476593e-05,-0.000229627558284,-4.75666570078e-05,1793193407154489856
+41,0.683333333,BASELINE,764,742,711,671.776333678,659,633,877,784,799.223666322,649,628.776333678,650.223666322,0.400907838302,-0.0154290776272,0.0599114322139,0.999999972186,-1.62660277086e-05,-0.000230472497346,-4.73955592081e-05,1793193407171156480
+42,0.700000000,BASELINE,764.35990802,742,711.35990802,672,659,633,877,784,799.35990802,649,629,650,0.400908132606,-0.0154291113991,0.0599112905408,0.999999972284,-1.62094487063e-05,-0.00023007260802,-4.72783269873e-05,1793193407187823104
+43,0.716666667,BASELINE,764.94955015,742,711.94955015,672,659,633,877,784,799.94955015,649,629,650,0.400909301893,-0.0154292691203,0.0599111979535,0.999999972555,-1.66651423727e-05,-0.000228878128027,-4.71954778934e-05,1793193407204489728
+44,0.733333333,BASELINE,765,742.52961645,711.47038355,672,659,633,877,784,799.47038355,649,629,650.52961645,0.400907903909,-0.0154299267092,0.0599105285715,0.999999972143,-1.81283070387e-05,-0.000230544184554,-4.72819030354e-05,1793193407221157120
+45,0.750000000,BASELINE,764.892060346,742.892060346,711.107939654,672,659,633,877,784,799.107939654,649,629,651,0.400906620087,-0.0154301299974,0.0599100494635,0.999999971769,-1.87162462137e-05,-0.00023208798149,-4.74024395997e-05,1793193407237824256
+46,0.766666667,BASELINE,764.317400203,742.317400203,711.682599797,672,659,633,877,784,799.682599797,649,629,651,0.400906868518,-0.0154281667034,0.0599106264351,0.999999971853,-1.51122046303e-05,-0.000231945856419,-4.76019875612e-05,1793193407254490624
+47,0.783333333,BASELINE,764,742.255209703,711.744790297,672,659,633,876.744790297,784,799.744790297,649,629,650.744790297,0.400908132866,-0.0154276358369,0.0599116232485,0.999999972251,-1.4485345778e-05,-0.000230271727902,-4.7580827981e-05,1793193407271156736
+48,0.800000000,BASELINE,764,742.82529016,711.17470984,672,659,633,876.17470984,784,799.17470984,649,629,650.17470984,0.400910650622,-0.0154288722601,0.0599131380512,0.99999997303,-1.75316530952e-05,-0.000226707455396,-4.7287365497e-05,1793193407287823360
+49,0.816666667,BASELINE,764,742.586221846,711.413778154,672,659,633,876.413778154,784,799,649,629,650,0.4009115254,-0.0154299505617,0.0599136705729,0.999999973178,-1.8722682642e-05,-0.000226006902163,-4.70579169663e-05,1793193407304490240
+50,0.833333333,BASELINE,764,742.010095574,711.989904426,672,659,633,876.989904426,783.989904426,799,649,629,650.010095574,0.400911625077,-0.0154309207677,0.0599137461351,0.999999973045,-1.90552538519e-05,-0.000226604493689,-4.68664793876e-05,1793193407321156864
+51,0.850000000,BASELINE,764,742.589242538,711.410757462,672,659,633,876.410757462,783.410757462,799,649,629,650.589242538,0.400908957829,-0.0154297364558,0.0599125308772,0.999999972506,-1.72102842719e-05,-0.000229045231578,-4.72231428102e-05,1793193407337823488
+52,0.866666667,BASELINE,764,742.833217307,711,672,659,633,876.166782693,783.166782693,799,649,628.833217307,650.833217307,0.400907446156,-0.0154289056113,0.0599115900954,0.999999972146,-1.59749323851e-05,-0.000230645521978,-4.7500177391e-05,1793193407354490368
+53,0.883333333,BASELINE,764,742.259596722,711,672,659,633,876.740403278,783.740403278,799,649,628.259596722,650.259596722,0.400908753312,-0.0154289369903,0.0599113188507,0.999999972241,-1.62266388482e-05,-0.000230195684136,-4.75829709926e-05,1793193407371157248
+54,0.900000000,BASELINE,764,742,711.322073369,672,659,633,877,784,799,649,628.322073369,650.322073369,0.400909235639,-0.0154291545052,0.0599114467042,0.999999972392,-1.65976856137e-05,-0.00022951367042,-4.75895884658e-05,1793193407387824128
+55,0.916666667,BASELINE,764,742,711.910397782,672,659,633,877,784,799,649,628.910397782,650.910397782,0.400909036096,-0.0154295258946,0.0599119044834,0.999999972587,-1.7067388397e-05,-0.000228639721986,-4.75332327878e-05,1793193407404491008
+56,0.933333333,BASELINE,764,742,712,672,659,633,877,784,799,649,629,651,0.400907918893,-0.0154296584025,0.0599115079442,0.999999972409,-1.68976916438e-05,-0.000229450740552,-4.7416040711e-05,1793193407421157376
+57,0.950000000,BASELINE,764.075181454,742,711.924818546,672,659,633,877,783.924818546,799,649,629,650.924818546,0.400907086846,-0.0154296721556,0.0599111175191,0.999999972234,-1.66206697937e-05,-0.000230251823367,-4.73312731033e-05,1793193407437823744
+58,0.966666667,BASELINE,764.648596234,742,711.351403766,672,659,633,877,783.351403766,799,649,629,650.351403766,0.400909237161,-0.0154291833338,0.0599117848032,0.99999997252,-1.63936938908e-05,-0.000228980863958,-4.75338195522e-05,1793193407454490368
+59,0.983333333,BASELINE,764.777272645,742,711,672,659,633,877,783.222727355,799,649,629,650,0.400910128625,-0.0154290896831,0.059912102737,0.999999972638,-1.65102090722e-05,-0.000228453884509,-4.75374444631e-05,1793193407471156992
+60,1.000000000,BASELINE,764.202007597,742,711,672,659,633,877,783.797992403,799,649,629,650,0.400909027555,-0.0154296215178,0.0599118677114,0.999999972493,-1.71704093649e-05,-0.000229104492499,-4.72262120755e-05,1793193407487823872
+61,1.016666667,BASELINE,764,742,711,672,659,633,877,784,799.38420393,649,628.61579607,650,0.400908216619,-0.0154292984994,0.0599111219558,0.999999972319,-1.65863494828e-05,-0.00022987570454,-4.73759403839e-05,1793193407504490752
+62,1.033333333,BASELINE,764,742,711,672,659,633,877,784,799.976339676,649,628.023660324,650,0.400907562704,-0.015428512833,0.0599100997922,0.999999972127,-1.53288938566e-05,-0.000230712187656,-4.77751414167e-05,1793193407521157376
+63,1.050000000,BASELINE,764,742,711.553527631,672,659,633,877,784,800,649,628.553527631,650,0.400908643157,-0.0154285650811,0.0599112972127,0.999999972507,-1.56901311718e-05,-0.000229048584277,-4.77035828497e-05,1793193407537824000
+64,1.066666667,BASELINE,764,742,712,672,659,633,877,784,800,649,629,650,0.400909396816,-0.0154288570532,0.0599120951122,0.999999972764,-1.62304237261e-05,-0.000227913988433,-4.7579232664e-05,1793193407554490624
+65,1.083333333,BASELINE,764,742,712,672,659,633,877,784,800,649,629,650,0.400908781205,-0.0154298520556,0.0599112048368,0.999999972523,-1.71540091163e-05,-0.000228952023399,-4.73409480845e-05,1793193407571156992
+66,1.100000000,BASELINE,764,742,712,672,659,633,877,784,799.711254001,649,629,650,0.400908125707,-0.0154297843571,0.0599105345488,0.999999972223,-1.6996702531e-05,-0.000230266504157,-4.73602664611e-05,1793193407587823360
+67,1.116666667,BASELINE,764,742,712,672,659,633,877,784,799.122694988,649,629,650,0.400907428794,-0.0154286132263,0.0599100926796,0.99999997186,-1.57170756364e-05,-0.000231868026219,-4.76470611787e-05,1793193407604489984
+68,1.133333333,BASELINE,764,742,711.541649302,672,659,632.541649302,877,784,799,649,629,650.458350698,0.400907866559,-0.0154292937577,0.0599103315813,0.999999972105,-1.58521996552e-05,-0.000230853156587,-4.73966224306e-05,1793193407621156608
+69,1.150000000,BASELINE,764.037190051,742,711,672,659,632.037190051,877,784,799.037190051,648.962809949,629,651,0.400908585687,-0.0154302573153,0.0599107366984,0.999999972484,-1.61448087129e-05,-0.000229254999475,-4.7049794133e-05,1793193407637823488
+70,1.166666667,BASELINE,764.612734925,742,711,672,659,632.612734925,877,784,799.612734925,648.387265075,629,651,0.4009090518,-0.0154282584406,0.0599109524749,0.999999972526,-1.33234020309e-05,-0.00022918829054,-4.73558536342e-05,1793193407654490368
+71,1.183333333,BASELINE,765,742,711.188965979,672,659,633,877,784,799.811034021,648.188965979,629,651,0.400908850636,-0.0154272325043,0.0599110778201,0.999999972445,-1.16005261266e-05,-0.000229601740178,-4.7512984582e-05,1793193407671157248
+72,1.200000000,BASELINE,765,742,711.766608517,672,659,633,877,784,799.233391483,648.766608517,629,651,0.400907276977,-0.0154282077659,0.059911017161,0.999999972124,-1.21371736968e-05,-0.000231002808758,-4.73637904054e-05,1793193407687823616
+73,1.216666667,BASELINE,764.649453535,742,712,672,659,633,876.649453535,784,799,649,629,650.649453535,0.400907834605,-0.0154286878743,0.0599113972056,0.999999972271,-1.45211016233e-05,-0.000230216078725,-4.74123773492e-05,1793193407704490240
+74,1.233333333,BASELINE,764.061247529,742,712,672,659,633,876.061247529,784,799,649,629,650.061247529,0.400909837178,-0.0154288322843,0.0599120760335,0.999999972723,-1.81574278272e-05,-0.00022794608957,-4.75950537155e-05,1793193407721156608
+75,1.250000000,BASELINE,764,742,711.481553079,672,659,632.481553079,876.518446921,784,799.518446921,649,629,650,0.400910409358,-0.0154285309956,0.0599118515752,0.999999972795,-1.75049509165e-05,-0.000227702392828,-4.74876060271e-05,1793193407737823232
+76,1.266666667,BASELINE,764.096600583,742,711,672,659,632.096600583,877,784,800,649,629,650.096600583,0.40091042894,-0.0154282230964,0.0599113891832,0.999999972734,-1.65737330176e-05,-0.000228051249718,-4.74404530601e-05,1793193407754490112
+77,1.283333333,BASELINE,764.672020593,742,711,672,659,632.672020593,877,784,800,649,629,650.672020593,0.400908533523,-0.0154281392025,0.0599102678174,0.999999972226,-1.67316970855e-05,-0.00023016984896,-4.78593054167e-05,1793193407771156736
+78,1.300000000,BASELINE,764.75282876,742,711.24717124,672,659,633,877,784,799.75282876,649,629,650.75282876,0.400908420545,-0.0154283336719,0.0599105801095,0.999999972291,-1.64680221532e-05,-0.000229925781312,-4.77603859759e-05,1793193407787823360
+79,1.316666667,BASELINE,764.178035198,742,711.821964802,672,659,633,877,784,799.178035198,649,629,650.178035198,0.400910670171,-0.0154288971081,0.059912792697,0.999999973112,-1.56454700969e-05,-0.000226550028694,-4.69751665946e-05,1793193407804490240
+80,1.333333333,BASELINE,764.410478539,742.410478539,712,672,659,633,877,784,799.410478539,649,629,650,0.400910806456,-0.0154296867031,0.059912731764,0.999999973114,-1.54790655159e-05,-0.000226598089144,-4.67409007342e-05,1793193407821157120
+81,1.350000000,BASELINE,764.995007197,742.995007197,712,671.995007197,659,633,877,783.995007197,800,649,629,650,0.400910001739,-0.0154305688037,0.0599116624494,0.999999972754,-1.56170330962e-05,-0.000228168727738,-4.6758565e-05,1793193407837823744
+82,1.366666667,BASELINE,764.418365836,742.418365836,712,671.418365836,659,633,877,783.418365836,800,649,629,650,0.400910033444,-0.0154304230424,0.0599119444936,0.999999972709,-1.68933856839e-05,-0.000228162686008,-4.73147865968e-05,1793193407854490112
+83,1.383333333,BASELINE,764,742,711.839416891,671,659,633,877,783,800,649,629,650.160583109,0.40091006474,-0.0154301298766,0.059912147504,0.999999972711,-1.74666783921e-05,-0.000228043579762,-4.763998577e-05,1793193407871156992
+84,1.400000000,BASELINE,764,742,711.254368242,671,659,633,877,783,800,649,629,650.745631758,0.400910094955,-0.0154294470795,0.0599121416066,0.999999972841,-1.61815897954e-05,-0.000227625612746,-4.73545289461e-05,1793193407887823616
+85,1.416666667,BASELINE,764,742,711.327237116,671.327237116,659,633,876.672762884,783.327237116,800,649,629,650.672762884,0.400909712677,-0.0154285300872,0.0599117282997,0.999999972749,-1.56293022712e-05,-0.000228019695985,-4.75957507606e-05,1793193407904490240
+86,1.433333333,BASELINE,764,742,711.906193769,671.906193769,659,633,876.093806231,783.906193769,800,649,629,650.093806231,0.400909013099,-0.0154274329457,0.0599110016025,0.999999972485,-1.56407049948e-05,-0.000229038430009,-4.82421078775e-05,1793193407921156864
+87,1.450000000,BASELINE,764,742,712,672.483941351,659,633,876.483941351,784,799.516058649,649,629,650.483941351,0.400909030695,-0.0154285208678,0.0599108375897,0.999999972488,-1.52029793048e-05,-0.000229159229845,-4.77340059033e-05,1793193407937823488
+88,1.466666667,BASELINE,764,742,712,672.938682944,659,633,877,783.938682944,799,649,629,651,0.400909119596,-0.0154299693968,0.0599107021831,0.999999972508,-1.49273197461e-05,-0.000229229820839,-4.70620071439e-05,1793193407954490368
+89,1.483333333,BASELINE,764,742,712,672.362466877,659,633,877,783.362466877,799,649,629,651,0.400908642819,-0.01543089825,0.0599098933814,0.999999972233,-1.6741814961e-05,-0.000230336735078,-4.68881675511e-05,1793193407971156992
+90,1.500000000,BASELINE,764.217868846,742,712,672,659,633,877,783.217868846,799,649,629,650.782131154,0.400908488509,-0.0154309055129,0.0599095481895,0.999999972105,-1.70395336664e-05,-0.000230875097735,-4.6869053071e-05,1793193407987823616
+91,1.516666667,BASELINE,764.805190445,742,712,672,659,633,877,783.805190445,799,649,629,650.194809555,0.400908881028,-0.0154293499822,0.0599099891678,0.999999972228,-1.47651668774e-05,-0.000230449334607,-4.71123148963e-05,1793193408004489984
+92,1.533333333,BASELINE,764.613230031,742,712,671.613230031,659,633,877,784,799.386769969,649,629,650.386769969,0.400909487664,-0.0154307433135,0.0599105501697,0.999999972365,-1.65403253917e-05,-0.000229764215873,-4.69653619132e-05,1793193408021156608
+93,1.550000000,BASELINE,764.034500334,742,712,671.034500334,659,633,877,784,799.965499666,649,629,650.965499666,0.400910200569,-0.015433600209,0.059911170741,0.999999972497,-2.03253237727e-05,-0.000228950375027,-4.66247394964e-05,1793193408037823232
+94,1.566666667,BASELINE,764,742,711.456210276,671.543789724,659,633,877,784,799.456210276,649,629,651,0.400910609972,-0.0154310878758,0.0599120746314,0.999999972957,-1.71911162373e-05,-0.000227162381461,-4.67787059503e-05,1793193408054489856
+95,1.583333333,BASELINE,764,742,711.120996926,672,659,633,877,784,799.120996926,649,629,650.879003074,0.400910712277,-0.0154292202104,0.0599124734496,0.999999973189,-1.47168259052e-05,-0.000226275209105,-4.69613538907e-05,1793193408071156736
+96,1.600000000,BASELINE,764,742,711.694260924,672,659,633,877,784,799.694260924,649,629,650.305739076,0.400909738618,-0.0154310344633,0.0599109172568,0.999999972538,-1.6348724673e-05,-0.000228985989465,-4.71340144265e-05,1793193408087823872
+97,1.616666667,BASELINE,764,742,711.724799704,672,659,633,876.724799704,784,800,649,628.724799704,650,0.400908882285,-0.015431624209,0.0599099783769,0.999999972199,-1.66186365876e-05,-0.000230429188046,-4.72113852682e-05,1793193408104491008
+98,1.633333333,BASELINE,764,742,711.135088616,672,659,633,876.135088616,784,800,649,628.135088616,650,0.400908160037,-0.0154308145349,0.059909744989,0.999999972222,-1.53320109627e-05,-0.000230423739225,-4.71798549189e-05,1793193408121157376
+99,1.650000000,BASELINE,764,742,711.448148398,672,659,633,876.448148398,784,799.551851602,649,628.448148398,650.448148398,0.400908170081,-0.0154300081011,0.0599100212538,0.999999972279,-1.43780027354e-05,-0.000230261669373,-4.70616066737e-05,1793193408137823744
+100,1.666666667,BASELINE,764,742,712,672,659,633,877,783.970838402,799,649,629,650.970838402,0.400908412508,-0.0154291846311,0.0599104750453,0.999999972356,-1.35233278178e-05,-0.000230008120333,-4.69253701949e-05,1793193408154490368
+101,1.683333333,BASELINE,764,742,712,672,659,633,877,783.395445846,799,649,629,650.395445846,0.400908931889,-0.0154280240143,0.0599114174622,0.999999972618,-1.26779778726e-05,-0.000228912790514,-4.69348532466e-05,1793193408171156736
+102,1.700000000,BASELINE,764,742.178486923,711.821513077,672,659,633,877,783.178486923,799,649,628.821513077,650.178486923,0.400909317855,-0.0154280186909,0.0599118613808,0.999999972746,-1.31429425391e-05,-0.000228325286088,-4.69318259175e-05,1793193408187823360
+103,1.716666667,BASELINE,764,742.749211629,711.250788371,672,659,633,877,783.749211629,799,649,628.250788371,650.749211629,0.40090941063,-0.0154305522073,0.0599112098131,0.999999972577,-1.64874174251e-05,-0.000228853764442,-4.69013061305e-05,1793193408204489984
+104,1.733333333,BASELINE,764.334272312,743,711,672,659,633,877,784,799.334272312,649,628.334272312,651,0.400909649632,-0.0154308373448,0.0599110086102,0.999999972497,-1.74288688563e-05,-0.000229120243985,-4.6962105441e-05,1793193408221156864
+105,1.750000000,BASELINE,764.930570595,743,711,672,659,633,877,784,799.930570595,649,628.930570595,651,0.400910003257,-0.0154293600462,0.0599111604346,0.999999972493,-1.64866631303e-05,-0.000229181350633,-4.70944870314e-05,1793193408237823744
+106,1.766666667,BASELINE,765,742.490778735,711.509221265,672,659,633,877,784,799.490778735,649,629,650.490778735,0.40090942904,-0.0154295585947,0.0599106140669,0.999999972425,-1.65539503924e-05,-0.000229443013064,-4.72458071015e-05,1793193408254490624
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,742,712,672,659,633,877,784,799,649,629,651,0.400909244426,-0.0154296853529,0.0599113009903,0.999999972616,-1.60537521369e-05,-0.000228630876416,-4.73061897909e-05,1793193408297605376
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,742,712,672,659,633,877,784,799,649,629,650.411570277,0.400907923688,-0.0154302048772,0.0599100997255,0.999999972206,-1.71830501585e-05,-0.000230328239369,-4.73448114478e-05,1793193408314271744
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,742,712,672,659.174160383,633,877,784,799,649,629,650.174160383,0.400908071398,-0.0154303357682,0.0599099226308,0.999999972154,-1.71236420547e-05,-0.000230595020075,-4.71759030679e-05,1793193408330938112
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,742,712,672,659.75361016,633,877,784,799,649,629,650.75361016,0.40091163634,-0.0154295622693,0.0599121288867,0.99999997293,-1.42979909271e-05,-0.000227532686886,-4.65240506347e-05,1793193408347604480
+111,1.850000000,POSE1_TO_POSE2_PRESS,764.329826214,742,712,672,659.670173786,633,877,784,799,649,629.329826214,651,0.400913453664,-0.0154298043576,0.0599129133199,0.999999973348,-1.42031688605e-05,-0.000225714833184,-4.64303386428e-05,1793193408364270848
+112,1.866666667,POSE1_TO_POSE2_PRESS,764.903650001,742,712,672,659.096349999,633,877,784,799,649,629.903650001,651,0.40091397814,-0.0154307977534,0.0599126459224,0.999999973506,-1.61285492276e-05,-0.000224817615937,-4.67495256883e-05,1793193408380937728
+113,1.883333333,POSE1_TO_POSE2_PRESS,764.510691896,742,712,672,659,633,877,784,799.489308104,649,629.510691896,651,0.400920615616,-0.0154309872118,0.0599145195867,0.999999974462,-1.61190326957e-05,-0.000220492972288,-4.68909900768e-05,1793193408397604864
+114,1.900000000,POSE1_TO_POSE2_PRESS,764.076169194,742,712,672,659,633,876.923830806,784,800,649,629,650.923830806,0.400930086176,-0.0154311704719,0.059917039598,0.999999975762,-1.57809919322e-05,-0.000214531097714,-4.6946632592e-05,1793193408414271744
+115,1.916666667,POSE1_TO_POSE2_PRESS,764.655206465,742,712,672,659,633,876.344793535,784,800,649,629,650.344793535,0.400950116851,-0.0154323838345,0.0599209744132,0.999999978317,-1.58517521335e-05,-0.00020232634061,-4.66724463562e-05,1793193408430937856
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,742,712,672,659,633,876.234054442,784,799.765945558,649,629,650,0.40097700297,-0.0154337467821,0.0599254299329,0.999999981174,-1.71777657615e-05,-0.000187585513653,-4.65582877796e-05,1793193408447604224
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,742,712,672,659,633,876.812623741,784,799.187376259,649,629,650,0.401013979911,-0.01543532991,0.0599306518998,0.999999984404,-2.03514411867e-05,-0.00016911173687,-4.66796808562e-05,1793193408464270848
+118,1.966666667,POSE1_TO_POSE2_PRESS,764.611575201,742,712,672,659,633,877,784,799.388424799,649,629,650.388424799,0.401058621222,-0.0154370177279,0.059934064638,0.999999986955,-2.03412611829e-05,-0.000153215933883,-4.6913198574e-05,1793193408480937472
+119,1.983333333,POSE1_TO_POSE2_PRESS,764.037100042,742,712,672,659,633,877,784,799.962899958,649,629,650.962899958,0.401106933668,-0.0154387556912,0.0599366107799,0.99999998911,-1.88060566662e-05,-0.000138554944721,-4.72004225247e-05,1793193408497604096
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,742,711.449559447,672,659,633,877,784,799.449559447,649,628.449559447,651,0.401171377668,-0.0154431052048,0.0599397759811,0.999999989702,-2.17452405169e-05,-0.000133721485928,-4.73450278217e-05,1793193408514271232
+121,2.016666667,POSE1_TO_POSE2_PRESS,764.137489959,742,711.137489959,672.137489959,659,633,877.137489959,784,799,649,628.137489959,650.862510041,0.401242964617,-0.0154478505222,0.0599431945481,0.99999999042,-2.54355944768e-05,-0.000127492416188,-4.75319680806e-05,1793193408530938112
+122,2.033333333,POSE1_TO_POSE2_PRESS,764.720029719,742,711.720029719,672.720029719,659,633,877.720029719,784,799,649,628.720029719,650.279970281,0.401334067996,-0.0154532934188,0.0599472949061,0.999999991826,-3.05575318422e-05,-0.000114549570227,-4.78878171502e-05,1793193408547604736
+123,2.050000000,POSE1_TO_POSE2_PRESS,764.701803368,742,711.701803368,672.701803368,659,633,877.701803368,784.298196632,799.298196632,649,629,650.298196632,0.401433369743,-0.0154580760273,0.0599489827578,0.999999992419,-3.52386624139e-05,-0.000107448088806,-4.87340108421e-05,1793193408564270848
+124,2.066666667,POSE1_TO_POSE2_PRESS,764.127682725,742,711.127682725,672.127682725,659,633,877.127682725,784.872317275,799.872317275,649,629,650.872317275,0.401540257509,-0.015462247665,0.0599484382957,0.999999992376,-3.95119102123e-05,-0.000105751675037,-5.00339247833e-05,1793193408580937472
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,742,711.446962423,672,659,633,877,784.553037577,799.553037577,649,628.553037577,651,0.401668349018,-0.0154680780534,0.0599475893925,0.999999992358,-4.52114495784e-05,-0.000103082207749,-5.11196307574e-05,1793193408597604096
+126,2.100000000,POSE1_TO_POSE2_PRESS,764.022411863,742,711.977588137,672,659,633,877,784,799.022411863,649,628.022411863,651,0.401804057706,-0.015474484121,0.0599467275239,0.999999992313,-5.15697981917e-05,-9.99858225648e-05,-5.21361924814e-05,1793193408614270464
+127,2.116666667,POSE1_TO_POSE2_PRESS,764.61449218,742,711.38550782,672,659,633,877,784,799.61449218,649,628.61449218,651,0.401979236751,-0.0154834643142,0.059947749289,0.999999992196,-6.43051889159e-05,-9.31117539205e-05,-5.29524579386e-05,1793193408630937344
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,742,711.201077737,672,659,633,877,784,800,649,629,651,0.402166262773,-0.0154932363105,0.0599480867011,0.999999991151,-8.57349493431e-05,-8.64865258852e-05,-5.35552970543e-05,1793193408647604224
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,742,711.777408849,672,659,633,877,784,800,649,629,651,0.402375397731,-0.0155044859768,0.0599471469663,0.999999987716,-0.000123390231958,-8.03256875091e-05,-5.37598375728e-05,1793193408664271104
+130,2.166666667,POSE1_TO_POSE2_PRESS,764.646617213,742,712,672,659,633,877,784,799.646617213,649,629,651,0.402611591828,-0.0155141090338,0.0599499748469,0.999999987024,-0.000134899278077,-6.97219842465e-05,-5.37835525968e-05,1793193408680937984
+131,2.183333333,POSE1_TO_POSE2_PRESS,764.070867971,742,712,672,659,633,877,784,799.070867971,649,629,651,0.402864812936,-0.0155227085464,0.059955173503,0.999999988528,-0.000129955783738,-5.63226034609e-05,-5.36934830515e-05,1793193408697604608
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,742,711.498324808,672,659,633,877,784,799.501675192,649,628.498324808,651,0.403135508182,-0.0155313616662,0.0599544419286,0.999999988993,-0.000126930226142,-5.49751170119e-05,-5.36749316069e-05,1793193408714270976
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,742,711,672,659,633,877,784,799.923059088,649,628.076940912,651,0.403414036002,-0.0155385960453,0.0599512537725,0.999999989237,-0.000123638942302,-5.77852363675e-05,-5.38558644075e-05,1793193408730937344
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,742,711,672,659,633,877,784,799.326361459,649,628.673638541,651,0.403728905989,-0.0155361956199,0.0599370938309,0.999999988673,-0.000116734001752,-7.72534100698e-05,-5.53165533247e-05,1793193408747604224
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,742,711,672,659.26026065,633,877,784,799.26026065,649,629,650.73973935,0.40405491267,-0.0155304964696,0.0599239302413,0.999999987057,-0.000114105460491,-9.79556391753e-05,-5.71906751161e-05,1793193408764270592
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,742,711,672,659.834719123,633,877,784,799.834719123,649,629,650.165280877,0.404394364026,-0.015520814957,0.0599119694913,0.999999984206,-0.000116639572331,-0.000120147671735,-5.95639107232e-05,1793193408780937216
+137,2.283333333,POSE1_TO_POSE2_PRESS,764.409630989,742,711.409630989,672,659.590369011,633,877,784,800,649.409630989,629,650,0.404777049502,-0.015520294625,0.0599057438743,0.99999998329,-0.000108958117817,-0.000133860805095,-6.02425219065e-05,1793193408797604352
+138,2.300000000,POSE1_TO_POSE2_PRESS,764.984725983,742,711.984725983,672,659.015274017,633,877,784,800,649.984725983,629,650,0.405177198713,-0.0155234748081,0.0599018348745,0.999999983077,-9.71502456352e-05,-0.000144149019732,-6.02366161049e-05,1793193408814271232
+139,2.316666667,POSE1_TO_POSE2_PRESS,764.44137177,742,711.44137177,672,659.55862823,633,877,784,800,649.44137177,629,650.55862823,0.405649237508,-0.01553120904,0.0599222908358,0.999999986625,-0.000107212392886,-0.000109071442725,-5.79624476609e-05,1793193408830938368
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,742,711.137795624,672,659.862204376,633,877,784,800,649,628.862204376,651,0.406141157679,-0.0155376705172,0.0599455185765,0.999999989567,-0.000114476342705,-6.83578076859e-05,-5.55723977443e-05,1793193408847605248
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,742,711.734610345,672,659.265389655,633,877,784,800,649,628.265389655,651,0.406692771978,-0.0155394783427,0.0599757651038,0.999999992413,-0.000110431360996,-1.29927147925e-05,-5.30024833323e-05,1793193408864271616
+142,2.366666667,POSE1_TO_POSE2_PRESS,764.319654532,742,712,672,659.319654532,633,877,784,800,649,628.319654532,651,0.40723129714,-0.0155406441409,0.0599929114029,0.999999992403,-0.000111207090944,1.24340977607e-05,-5.16992022462e-05,1793193408880937984
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.895273489,742,712,672,659.895273489,633,877,784,800,649,628.895273489,651,0.407759341193,-0.0155412958338,0.0599995676542,0.999999991872,-0.000115843021476,1.38877391358e-05,-5.14101818071e-05,1793193408897604608
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,742,712,672,659.520768184,633,877,784,800,649,629,651,0.408289319287,-0.0155410272645,0.059987902422,0.999999992344,-0.000111304022553,-1.43073298541e-05,-5.21471865214e-05,1793193408914271744
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,742,711.935657061,672,659,633,877.064342939,784,800,649,629,651,0.408828719033,-0.0155407157663,0.0599730437989,0.999999991919,-0.000105472451868,-4.71033146317e-05,-5.30849970412e-05,1793193408930938880
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,742,711.356165096,672,659,633,877.643834904,784,800,649,629,651,0.409440107912,-0.0155416991862,0.059965241188,0.999999990929,-0.00010562905754,-6.39430832091e-05,-5.38035779014e-05,1793193408947605760
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.777174644,742,711.222825356,672,659,633,878,784,799.777174644,649,629,651,0.410083731027,-0.0155427739654,0.0599642423905,0.999999991,-0.000105392906021,-6.31187458512e-05,-5.39330889518e-05,1793193408964272384
+148,2.466666667,POSE1_TO_POSE2_PRESS,764.198984047,742,711.801015953,672,659,633,878,784,799.198984047,649,629,651,0.410778761752,-0.0155439944456,0.0599740944177,0.999999992543,-0.000104530379373,-3.41234247293e-05,-5.31231425242e-05,1793193408980937984
+149,2.483333333,POSE1_TO_POSE2_PRESS,764.377374745,742,712,672,659,633,877.622625255,784.377374745,799,649,628.622625255,650.622625255,0.411460896463,-0.0155464520925,0.0599733751446,0.999999992455,-0.000105636198117,-3.28900729465e-05,-5.33843440921e-05,1793193408997604096
+150,2.500000000,POSE1_TO_POSE2_PRESS,764.952772302,742,712,672,659,633,877.047227698,784.952772302,799,649,628.047227698,650.047227698,0.412136264126,-0.0155495589277,0.0599671087098,0.999999991655,-0.000107774882229,-4.62244781685e-05,-5.42076175889e-05,1793193409014270720
+151,2.516666667,POSE1_TO_POSE2_PRESS,764.46014646,742.53985354,711.46014646,672,659,633,877,784.46014646,799.53985354,649,628.53985354,650.53985354,0.412773532842,-0.0155466041549,0.059934483278,0.999999986662,-0.000105116951246,-0.000111180445657,-5.71422403908e-05,1793193409030937344
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,742.873357264,711.126642736,672,659,633,877.126642736,784,799.873357264,649,629,650.873357264,0.413438059724,-0.015544018776,0.0599085854096,0.999999979867,-0.000102322970643,-0.000162035799906,-5.94971106024e-05,1793193409047603968
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,742.29137452,711.70862548,672,659,633,877.70862548,784,799.29137452,649,629,650.29137452,0.414212841086,-0.015544710339,0.0599153506668,0.999999982597,-0.00010058193379,-0.000145596579626,-5.90887033416e-05,1793193409064270592
+154,2.566666667,POSE1_TO_POSE2_PRESS,764.286949226,742.286949226,712,672,659,633,877.713050774,784,799.286949226,649,629,650.286949226,0.415030533868,-0.0155500441781,0.0599467066924,0.999999989339,-0.000102386605062,-8.7836726728e-05,-5.58875260767e-05,1793193409080937216
+155,2.583333333,POSE1_TO_POSE2_PRESS,764.861604396,742.861604396,712,672,659,633,877.138395604,784,799.861604396,649,629,650.861604396,0.415891251324,-0.0155600325355,0.0600027183357,0.999999992887,-0.000107746333954,1.13527287235e-05,-4.98862134961e-05,1793193409097603840
+156,2.600000000,POSE1_TO_POSE2_PRESS,764.564590853,743,712,672,659.435409147,633,877.435409147,784,800,649,628.564590853,650.564590853,0.416686337616,-0.0155623060909,0.0600169561865,0.999999992341,-0.000110111920772,2.9913522642e-05,-4.79534060913e-05,1793193409114270464
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.009255752,743,712,672.009255752,660,633,878,784,800,649,628.009255752,650,0.417460694582,-0.0155621183659,0.0600175591909,0.999999992411,-0.000111464701375,2.25807229455e-05,-4.73776401919e-05,1793193409130937088
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.60277638,743,712,672.60277638,660,633,878,784,800,649,628.60277638,650,0.418240798703,-0.0155610534399,0.0599939948442,0.999999992766,-0.000108842662985,-4.67306277182e-06,-5.09921000471e-05,1793193409147603712
+159,2.650000000,POSE1_TO_POSE2_PRESS,764.808570602,742.808570602,711.808570602,673,660,633,878,784,800,649,629,650.191429398,0.419025642791,-0.0155606785205,0.059968330839,0.9999999918,-0.000109195992774,-3.90335993206e-05,-5.43351088275e-05,1793193409164270592
+160,2.666666667,POSE1_TO_POSE2_PRESS,764.229767641,742.229767641,711.229767641,673,660,633,878,784,800,649,629,650.770232359,0.419820078555,-0.0155616998877,0.0599384179989,0.999999987838,-0.000115570231628,-8.77752450674e-05,-5.71288131822e-05,1793193409180937216
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.345175132,742,711,672.654824868,660,633,878,784,800,649.345175132,629,650.654824868,0.420608289492,-0.0155584489107,0.0599094523202,0.999999981842,-0.000111967541679,-0.000142121579433,-5.98398992282e-05,1793193409197604096
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.917576745,742,711,672.082423255,660,633,878,784,800,649.917576745,629,650.082423255,0.421392402635,-0.0155523854781,0.0598811101529,0.999999972834,-0.00010179710577,-0.000200157440658,-6.24965979823e-05,1793193409214270720
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,742.505076989,711,672,660,633,878,784,800,649.494923011,629,650,0.422214367155,-0.0155521716788,0.0598807017789,0.999999973316,-0.000102771578991,-0.000197133448468,-6.28084512013e-05,1793193409230937088
+164,2.733333333,POSE1_TO_POSE2_PRESS,764.906970091,742.906970091,711.093029909,672.093029909,660,633,878,783.906970091,800,649,629,650,0.42305541215,-0.0155539972915,0.059895441638,0.999999978354,-0.000105870768225,-0.000168206648595,-6.15598125399e-05,1793193409247603712
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.329877646,742.329877646,711.670122354,672.670122354,660,633,878,783.329877646,800,649,629,650,0.423962607368,-0.0155613144539,0.059964552141,0.99999999077,-0.00011027046832,-5.79448201769e-05,-5.42438845493e-05,1793193409264270336
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,742,712,672.751846019,660,633,877.751846019,783.248153981,799.751846019,649,629,650,0.424840438706,-0.0155659759489,0.0600080339397,0.999999992415,-0.000112071739811,1.24918158925e-05,-4.95334503556e-05,1793193409280937216
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,742,712,672.172561088,660,633,877.172561088,783.827438912,799.172561088,649,629,650,0.425679087689,-0.0155670937837,0.0600173173958,0.999999992295,-0.000110405730106,2.97866485926e-05,-4.82997266462e-05,1793193409297604096
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,742,712,672,660.410527332,633,877,784,799.410527332,649,629,650,0.426489154754,-0.0155689619134,0.059999857682,0.999999992179,-0.000113840444787,1.13487658625e-05,-5.05259363391e-05,1793193409314270720
+169,2.816666667,POSE1_TO_POSE2_PRESS,764,742,712,672,660.995229427,633,877,784,799.995229427,649,629,650,0.427287095296,-0.0155711483713,0.0599710516214,0.99999999115,-0.000119439247913,-2.22494658926e-05,-5.42200947931e-05,1793193409330937344
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,742,712,672.57471986,660.42528014,633,877.57471986,784,799.42528014,649.57471986,629,650,0.428069155759,-0.0155710569224,0.0599549353945,0.999999990463,-0.000118147961071,-4.51494800021e-05,-5.54582236136e-05,1793193409347603968
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,742.153475334,711.846524666,673,660.153475334,633,878,784,799.153475334,649.846524666,628.846524666,650,0.4288378346,-0.0155694696808,0.0599384710546,0.999999989039,-0.000116569752115,-7.14485361752e-05,-5.68266187219e-05,1793193409364270848
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,742.73032161,711.26967839,673,660.73032161,633,878,784,799.73032161,649.26967839,628.26967839,650,0.429569959738,-0.015563807896,0.0599207584646,0.99999998598,-0.000114356402555,-0.000107366818951,-5.86100938475e-05,1793193409380937472
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,743,711.306975051,672.693024949,660.693024949,633,877.693024949,784,799.693024949,649,628.306975051,650,0.430336272696,-0.0155616785399,0.0599203850591,0.999999986397,-0.000112271759725,-0.000105505361543,-5.89091447816e-05,1793193409397604096
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,743,711.883459162,672.116540838,660.116540838,633,877.116540838,784,799.116540838,649,628.883459162,650,0.431132600847,-0.0155626504834,0.0599352346094,0.999999989757,-0.000110300115203,-7.047514057e-05,-5.79049438731e-05,1793193409414270720
+175,2.916666667,POSE1_TO_POSE2_PRESS,764,742.531014939,712,672.468985061,660,632.531014939,877,784,799,649,629,650,0.431925005338,-0.0155681641854,0.0599743696033,0.999999991756,-0.000115980381149,-5.56383310033e-06,-5.48159961755e-05,1793193409430937344
+176,2.933333333,POSE1_TO_POSE2_PRESS,764,742,712,673,660.055993697,632,877.055993697,784,799.055993697,649,629,650,0.432705551357,-0.0155742810202,0.0600138661784,0.999999989507,-0.000122818650819,5.69790042327e-05,-5.15347819027e-05,1793193409447603968
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,742,712,673,660.63544569,632,877.63544569,784,799.63544569,649,629,650,0.433384531742,-0.0155752780202,0.0599992171451,0.99999999084,-0.00012235718076,2.65996654186e-05,-5.13943805884e-05,1793193409464270592
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,742.214182775,711.785817225,672.785817225,660.785817225,632.214182775,877.785817225,784,800,649,629,650,0.434048038515,-0.0155747990468,0.059977546822,0.999999991051,-0.000122357744529,-1.21146992253e-05,-5.27259061616e-05,1793193409480937216
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,742.791707177,711.208292823,672.208292823,660.208292823,632.791707177,877.208292823,784,800,649,629,650,0.434685295821,-0.015571816219,0.0599439655158,0.999999988708,-0.000123142106577,-6.49686832001e-05,-5.65544219808e-05,1793193409497603840
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,742.632403325,711.367596675,672.367596675,660.367596675,633,877,784,799.632403325,649,629,650,0.435310842872,-0.015569530398,0.0599233328897,0.999999985954,-0.000119773387415,-0.000101506941123,-5.86768861505e-05,1793193409514270464
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,742.057436153,711.942563847,672.942563847,660.942563847,633,877,784,799.057436153,649,629,650,0.435929783837,-0.0155676377762,0.0599100049405,0.999999983405,-0.00011406181106,-0.000128841085909,-5.98369236207e-05,1793193409530937088
+182,3.033333333,POSE1_TO_POSE2_PRESS,764.529749547,742.529749547,712,673,660.470250453,632.470250453,878.059499095,784,799.529749547,649,629,650,0.436536997438,-0.0155667540038,0.0599211293738,0.999999985221,-0.000118053373798,-0.000110650708932,-5.8125095068e-05,1793193409547603968
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,742.883553121,712,673.116446879,660,632.116446879,878.883553121,784,800,649,629,650,0.437128299879,-0.015566241859,0.0599309827936,0.999999986424,-0.000120785536018,-9.67324608424e-05,-5.6620819342e-05,1793193409564270336
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,742.304187938,712,673.695812062,660,632.695812062,878.304187938,784,800,649,629,650,0.437661523704,-0.0155667619737,0.0599249953348,0.999999984653,-0.000114230201487,-0.000119882419535,-5.72086790031e-05,1793193409580936960
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,742.273494563,712,674,660,632.726505437,877.726505437,784,800,649,629,650,0.438184279296,-0.0155695365486,0.0599215182733,0.999999983708,-0.000109542340801,-0.000131595897179,-5.71548633404e-05,1793193409597603584
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,742.849316947,712,674,660,632.150683053,877.150683053,784,800,649,629,650,0.438695463004,-0.0155748032608,0.0599208162692,0.999999984157,-0.000106918833517,-0.000130667197399,-5.63917235032e-05,1793193409614270464
+187,3.116666667,POSE1_TO_POSE2_PRESS,764.567444095,742.567444095,712,673.567444095,660,632,877.432555905,783.567444095,800,649,629,650,0.439186715115,-0.0155804560186,0.0599277994456,0.999999982304,-0.000132874121331,-0.000121213738731,-5.51619310897e-05,1793193409630937088
+188,3.133333333,POSE1_TO_POSE2_PRESS,764,742.018340856,711.981659144,673,660,632,878.018340856,783,800,649,629,650,0.439668829309,-0.0155861566863,0.059936972003,0.999999978534,-0.000167375826358,-0.000109644590313,-5.38073468535e-05,1793193409647603712
+189,3.150000000,POSE1_TO_POSE2_PRESS,764,742.601577882,711.398422118,673,660,632,878.601577882,783,800,649,629,650,0.44008707817,-0.0155891187078,0.0599296821822,0.9999999789,-0.00015312656618,-0.000125972745765,-5.37033930001e-05,1793193409664270592
+190,3.166666667,POSE1_TO_POSE2_PRESS,764.181958573,743,711.181958573,673,660,632,878.636082854,783.181958573,800,649,629,650,0.440473218601,-0.0155913471815,0.0599106936934,0.999999975255,-0.000144577735378,-0.000159961943441,-5.47737654901e-05,1793193409680937216
+191,3.183333333,POSE1_TO_POSE2_PRESS,764.756181713,743,711.756181713,673,660,632,877.487636574,783.756181713,800,649,629,650,0.440790140065,-0.0155919942805,0.0598664853257,0.999999960379,-0.000148317833119,-0.000232024651256,-5.83757394202e-05,1793193409697604096
+192,3.200000000,POSE1_TO_POSE2_PRESS,764.668057366,742.668057366,712,673.331942634,660,632,877,783.668057366,799.668057366,649,629,650,0.441096551087,-0.0155934898914,0.0598279431953,0.999999943632,-0.000155665048187,-0.000291000798304,-6.18286595585e-05,1793193409714270464
+193,3.216666667,POSE1_TO_POSE2_PRESS,764.091161693,742.091161693,712,673.908838307,660,632,877,783.091161693,799.091161693,649,629,650,0.441395206037,-0.0155956116513,0.0597935823986,0.999999926244,-0.000165674091601,-0.000340319872409,-6.51715870842e-05,1793193409730937088
+194,3.233333333,POSE1_TO_POSE2_PRESS,764,742.496930381,712,673.503069619,660,632,877.496930381,783,799.496930381,649,629,650,0.441685695025,-0.0155959273336,0.0597772255591,0.999999917821,-0.00016506834463,-0.000364200843072,-6.6838576454e-05,1793193409747603712
+195,3.250000000,POSE1_TO_POSE2_PRESS,764.08535914,742.91464086,712,673,659.91464086,632,877.91464086,783,800,649,629,650.08535914,0.441970228753,-0.0155966310859,0.0597657139264,0.999999911832,-0.00016378413728,-0.000380653143501,-6.79273921433e-05,1793193409764270848
+196,3.266666667,POSE1_TO_POSE2_PRESS,764.663598563,742.336401437,712,673,659.336401437,632,877.336401437,783,800,649,629,650.663598563,0.442229225034,-0.0156015328602,0.0597626687404,0.999999910381,-0.000170085516261,-0.000381777890472,-6.74939189614e-05,1793193409780937472
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,742.24014202,712,673.24014202,659.24014202,632,877.24014202,783,800,649,629,650.75985798,0.442470574056,-0.0156047992183,0.0597599801309,0.999999908895,-0.000174913718777,-0.000383488505995,-6.7461941494e-05,1793193409797604096
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,742.814326306,712,673.814326306,659.814326306,632,877.814326306,783,800,649,629,650.185673694,0.442687375372,-0.0156057906802,0.0597577875266,0.999999907398,-0.00017769270337,-0.000386014076108,-6.7988452492e-05,1793193409814270720
+199,3.316666667,POSE1_TO_POSE2_PRESS,764.601223546,743,712,673.601223546,659.601223546,631.601223546,877.601223546,783,800,649,628.601223546,650,0.442872044571,-0.0156071557333,0.059752392524,0.999999903063,-0.000180853357561,-0.00039558509357,-6.84045136619e-05,1793193409830937344
+200,3.333333333,POSE1_TO_POSE2_PRESS,764.011867174,743,712,673.011867174,659.011867174,631.011867174,877.011867174,783,800,649,628.011867174,650,0.443041357477,-0.01560869933,0.0597454670579,0.999999897226,-0.000184196416325,-0.000408523212671,-6.87677896073e-05,1793193409847603968
+201,3.350000000,POSE1_TO_POSE2_PRESS,764,742.432648341,712,673,659,631.567351659,877,782.432648341,800,649,628.567351659,650,0.443191745162,-0.0156125392669,0.0597380133138,0.999999892301,-0.000187294593567,-0.000419063440217,-6.85875370864e-05,1793193409864270592
+202,3.366666667,POSE1_TO_POSE2_PRESS,764,742.145847643,712,673.145847643,659,631.854152357,877,782.145847643,800,649,628.854152357,650,0.443334779646,-0.015616825587,0.0597326087908,0.999999888235,-0.000191135840796,-0.00042701608868,-6.82279586781e-05,1793193409880937216
+203,3.383333333,POSE1_TO_POSE2_PRESS,764,742.722822817,712,673.722822817,659,631.277177183,877,782.722822817,800,649,628.277177183,650,0.443457227617,-0.0156222919315,0.0597332938806,0.999999886926,-0.000197188488666,-0.000427465481971,-6.73713071646e-05,1793193409897603840
+204,3.400000000,POSE1_TO_POSE2_PRESS,764.297421136,743,712,673.702578864,659,631,877.297421136,782.702578864,800,649,628,650,0.443564664783,-0.0156258967187,0.0597340350247,0.999999886948,-0.00020053751464,-0.000425959486527,-6.668691701e-05,1793193409914270208
+205,3.416666667,POSE1_TO_POSE2_PRESS,764.869821909,743,712,673.130178091,659,631,877.869821909,782.130178091,800,649,628,650,0.443658223755,-0.0156277804094,0.0597348279937,0.999999888218,-0.000201386916403,-0.000422645643478,-6.61617905244e-05,1793193409930937088
+206,3.433333333,POSE1_TO_POSE2_PRESS,764.542680611,743,712,673.457319389,659,631.457319389,878,782,800,649,628,650,0.443733564371,-0.01562904029,0.0597346536644,0.999999887727,-0.00020049106389,-0.000424355601811,-6.53623411409e-05,1793193409947603712
+207,3.450000000,POSE1_TO_POSE2_PRESS,764,743,712,673.951818234,659,631.951818234,878,782,800.048181766,649,628,650,0.443801805957,-0.0156300244981,0.0597340481844,0.999999886647,-0.000199261014329,-0.000427588483028,-6.45649277019e-05,1793193409964270592
+208,3.466666667,POSE1_TO_POSE2_PRESS,764,743,712,673.372844245,659,631.372844245,878,782,800.627155755,649,628,650,0.443850922431,-0.0156299947521,0.0597318298411,0.999999884894,-0.000200009050488,-0.000431306695833,-6.46795553482e-05,1793193409980937216
+209,3.483333333,POSE1_TO_POSE2_PRESS,764,743,712,673.204891195,659.204891195,631.204891195,877.795108805,782.204891195,800.795108805,649,628,650,0.443894087723,-0.0156302138413,0.0597301100887,0.999999883331,-0.000200922811345,-0.00043447854741,-6.4784568842e-05,1793193409997603840
+210,3.500000000,POSE1_TO_POSE2_PRESS,764,743,712,673.780386305,659.780386305,631.780386305,877.219613695,782.780386305,800.219613695,649,628,650,0.443926488607,-0.0156308830195,0.0597292921797,0.999999882129,-0.000202136332304,-0.000436662149147,-6.48721923992e-05,1793193410014270464
+211,3.516666667,POSE1_TO_POSE2_PRESS,764,743,712,674,659.637116305,631.637116305,877.362883695,782.637116305,800,649,628.362883695,650,0.443949888869,-0.0156297631811,0.0597259327763,0.999999880322,-0.00020188549646,-0.000440837679736,-6.52658469833e-05,1793193410030937344
+212,3.533333333,POSE1_TO_POSE2_PRESS,764,743,712,674,659.050297765,631.050297765,877.949702235,782.050297765,800,649,628.949702235,650,0.443967734866,-0.015627539344,0.0597210050215,0.999999878119,-0.000200731008904,-0.000446242426064,-6.58483527445e-05,1793193410047603968
+213,3.550000000,POSE1_TO_POSE2_PRESS,764.529754084,742.470245916,712,673.470245916,659,631,878,782,800,649,628.470245916,650,0.443979902156,-0.0156300014059,0.0597190267868,0.999999876314,-0.000204358303195,-0.000448669432389,-6.56091367178e-05,1793193410064270592
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,742.108827884,712,673.108827884,659,631,878,782,800,649,628.108827884,650,0.443990634657,-0.0156318502761,0.0597175739253,0.999999874928,-0.000206778904706,-0.000450683243991,-6.53487526767e-05,1793193410080937472
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,742.686421476,712,673.686421476,659,631,878,782,800,649,628.686421476,650,0.443997480073,-0.0156291656663,0.0597171930102,0.999999875244,-0.000202070859143,-0.000452119702722,-6.53290093701e-05,1793193410097603840
+216,3.600000000,POSE1_TO_POSE2_PRESS,764.737124207,742.737124207,712,674,659,631,878,782,800,649,629,650,0.444002466177,-0.0156287813952,0.0597167976042,0.999999875248,-0.000200401066303,-0.000452910970218,-6.4921631338e-05,1793193410114270720
+217,3.616666667,POSE1_TO_POSE2_PRESS,764.162023076,742.162023076,712,674,659,631,878,782,800,649,629,650,0.444005243919,-0.0156311293045,0.0597163849867,0.999999874902,-0.000202339896182,-0.000452935924962,-6.4053848104e-05,1793193410130937344
+218,3.633333333,POSE1_TO_POSE2_PRESS,764,742,712,674,659,631,878.422899015,782,800,649,628.577100985,650,0.444008025612,-0.0156305550531,0.0597168449347,0.999999875215,-0.000202089042325,-0.000452385836372,-6.38584894613e-05,1793193410147603968
+219,3.650000000,POSE1_TO_POSE2_PRESS,764.011481922,742.011481922,712,673.988518078,659.011481922,631,878.988518078,782,800,649,628.011481922,650,0.444010757189,-0.0156288780585,0.0597176307186,0.999999875761,-0.00020103802465,-0.000451635735419,-6.3927352859e-05,1793193410164270592
+220,3.666666667,POSE1_TO_POSE2_PRESS,764.590608305,742.590608305,712,673.409391695,659.590608305,631,878.409391695,782,800,649,628.590608305,650,0.44401093452,-0.0156293479778,0.0597176050478,0.99999987515,-0.00020288920168,-0.000452148229943,-6.40196771984e-05,1793193410180937216
+221,3.683333333,POSE1_TO_POSE2_PRESS,764.830680021,743,712,673,659.830680021,631,878,782,800,649,628.830680021,650,0.444010971633,-0.0156293817128,0.0597175107167,0.999999874883,-0.000203253439445,-0.000452577331637,-6.39919433618e-05,1793193410197603840
+222,3.700000000,POSE1_TO_POSE2_PRESS,764.252968685,743,712,673,659.252968685,631,878,782,800,649,628.252968685,650,0.444010670548,-0.0156283633926,0.0597172507799,0.99999987545,-0.000200031253491,-0.000452805293908,-6.36746351711e-05,1793193410214270720
+223,3.716666667,POSE1_TO_POSE2_PRESS,764.328508312,743,712,673,659,631.328508312,878,782.328508312,800,649,628.328508312,650,0.444011086544,-0.015628050542,0.0597167567992,0.999999875369,-0.00020013768318,-0.000452951414721,-6.35769103041e-05,1793193410230937344
+224,3.733333333,POSE1_TO_POSE2_PRESS,764.912918755,743,712,673,659,631.912918755,878,782.912918755,800,649,628.912918755,650,0.444012061134,-0.0156282872395,0.0597160805024,0.999999874783,-0.000202837044888,-0.000453033782521,-6.36502369054e-05,1793193410247604224
+225,3.750000000,POSE1_TO_POSE2_PRESS,765,742.507130582,712,673.492869418,659,631.507130582,878,782.507130582,800.492869418,649,629,650,0.444011795123,-0.0156256186825,0.0597159141819,0.999999875125,-0.000198605317533,-0.000454081432366,-6.41524123475e-05,1793193410264270848
+226,3.766666667,POSE1_TO_POSE2_PRESS,765,742,712,674,659.072052971,631,878,782,800.927947029,649,629,650,0.444011573843,-0.0156231055696,0.0597159700225,0.999999875576,-0.00019415953904,-0.000454954672239,-6.45488148564e-05,1793193410280937472
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,742,712,674,659.651333855,631,878,782,800.348666145,649,629,650,0.444013196651,-0.015625267824,0.0597169611892,0.999999875827,-0.000196750364653,-0.00045341029369,-6.36720019412e-05,1793193410297603840
+228,3.800000000,POSE1_TO_POSE2_PRESS,764.770577145,742,711.770577145,673.770577145,659.770577145,631,877.770577145,782,800,649,628.770577145,650,0.444014189517,-0.0156265474382,0.0597173827342,0.999999875818,-0.000198549498695,-0.000452709448718,-6.32235801919e-05,1793193410314270464
+229,3.816666667,POSE1_TO_POSE2_PRESS,764.194290188,742,711.194290188,673.194290188,659.194290188,631,877.194290188,782,800,649,628.194290188,650,0.444014229972,-0.0156264925898,0.0597169430688,0.999999875425,-0.000199151675181,-0.000453283941111,-6.34228425167e-05,1793193410330937088
+230,3.833333333,POSE1_TO_POSE2_PRESS,764.388594729,742,711.388594729,673,659,631,877.388594729,782,800,649,628.388594729,650,0.444015839907,-0.0156260518557,0.0597177433479,0.999999876203,-0.000199177764536,-0.000451525104125,-6.36107962436e-05,1793193410347603712
+231,3.850000000,POSE1_TO_POSE2_PRESS,764.974835465,742,711.974835465,673,659,631,877.974835465,782,800,649,628.974835465,650,0.444018248106,-0.0156254148535,0.0597191742841,0.999999877571,-0.000198910845981,-0.000448579495402,-6.37929982154e-05,1793193410364270336
+232,3.866666667,POSE1_TO_POSE2_PRESS,764.443062548,742.556937452,711.443062548,673.556937452,658.443062548,631,878,782,800,649,628.443062548,650,0.444017306558,-0.0156247509688,0.0597183950429,0.999999876952,-0.000198039946554,-0.00045033089942,-6.38542311203e-05,1793193410380936960
+233,3.883333333,POSE1_TO_POSE2_PRESS,764.137459877,743,711.137459877,674,658.137459877,631,878,782,800,649,628,650,0.444016302258,-0.0156244349924,0.059717641582,0.999999876288,-0.000197371237173,-0.000452099242875,-6.38315295013e-05,1793193410397603840
+234,3.900000000,POSE1_TO_POSE2_PRESS,764.713534332,743,711.713534332,674,658.713534332,631,878,782,800,649,628,650,0.444015577109,-0.0156252329887,0.0597172866846,0.999999875773,-0.000197434123699,-0.000453249441237,-6.35583170005e-05,1793193410414270464
+235,3.916666667,POSE1_TO_POSE2_PRESS,764.71139987,742.71139987,712,674,659,631,877.71139987,782,800,649,628.28860013,650,0.444015690459,-0.0156257613824,0.0597172461946,0.999999875808,-0.000197499569658,-0.000453192932296,-6.31925520942e-05,1793193410430937088
+236,3.933333333,POSE1_TO_POSE2_PRESS,764.137331716,742.137331716,712,674,659,631,877.137331716,782,800,649,628.862668284,650,0.444016633208,-0.0156260230995,0.0597175166998,0.99999987639,-0.000197567547283,-0.000451942812279,-6.27352391973e-05,1793193410447603712
+237,3.950000000,POSE1_TO_POSE2_PRESS,764,742.450674017,712,674,659,631,877.450674017,782.450674017,800,649,629,650,0.444017102357,-0.0156250857586,0.0597176779461,0.999999876951,-0.00019640586515,-0.00045117392977,-6.29685840244e-05,1793193410464270336
+238,3.966666667,POSE1_TO_POSE2_PRESS,764,743,712,673.958111674,659,631,878,782.958111674,800,649,628.958111674,650,0.444017321889,-0.0156239259539,0.0597177097404,0.99999987741,-0.000195003779027,-0.000450709038658,-6.33601137627e-05,1793193410480937216
+239,3.983333333,POSE1_TO_POSE2_PRESS,764,743,712,673.381874195,659,631,878,782.381874195,800,649,628.381874195,650,0.444016256905,-0.0156247380455,0.059716528447,0.999999876673,-0.00019546748993,-0.000452191637659,-6.29991073513e-05,1793193410497603840
+240,4.000000000,HOLD_POSE2,765,743,711,674,659,631,878,782,800,649,628,650,0.444015093228,-0.0156235567941,0.0597160512543,0.99999987645,-0.000195400925024,-0.000452680560734,-6.32378733485e-05,1793193410537651712
+241,4.016666667,HOLD_POSE2,764.41257846,742.41257846,711.58742154,674,658.41257846,631,877.41257846,782,800.58742154,649,628,650,0.444016906458,-0.0156241479,0.0597169407849,0.999999877121,-0.000194931714717,-0.000451494616962,-6.25531123693e-05,1793193410554318336
+242,4.033333333,HOLD_POSE2,764,742.17239253,712,673.82760747,658.17239253,631,877.17239253,782,800.82760747,649,628,650,0.444018114977,-0.0156245898623,0.0597175408152,0.999999877455,-0.000194996924878,-0.000450771225661,-6.22239925649e-05,1793193410570984960
+243,4.050000000,HOLD_POSE2,764,742.751581054,712,673.248418946,658.751581054,631,877.751581054,782,800.248418946,649,628,650,0.444017896557,-0.0156246798893,0.0597174577096,0.999999876997,-0.00019632321108,-0.000451139322784,-6.27340818691e-05,1793193410587651584
+244,4.066666667,HOLD_POSE2,764,743,711.672048449,673,659.327951551,631,878,782,800,649,628,650,0.444017692434,-0.0156243673183,0.0597169567033,0.999999876846,-0.000196247233258,-0.000451482187118,-6.29224570751e-05,1793193410604318208
+245,4.083333333,HOLD_POSE2,764,743,711.09779442,673,659.90220558,631,878,782,800,649,628,650,0.444017499047,-0.0156237523829,0.0597161418395,0.999999876924,-0.000195118108621,-0.00045180610077,-6.28692143055e-05,1793193410620984832
+246,4.100000000,HOLD_POSE2,764,742.521329973,711.478670027,673,659.521329973,631,877.521329973,782,800,649,628,650,0.444017845172,-0.015623846589,0.0597168043151,0.999999876816,-0.00019545480489,-0.000451922739458,-6.27066079294e-05,1793193410637651456
+247,4.116666667,HOLD_POSE2,764.056882736,742.056882736,712,673.056882736,659,631,877.056882736,782,800,649,628,650,0.444018232293,-0.0156242714379,0.0597175785784,0.999999876662,-0.000196101594115,-0.000452008976253,-6.25072659433e-05,1793193410654318080
+248,4.133333333,HOLD_POSE2,764.647236494,742.647236494,712,673.647236494,659,631,877.647236494,782,800,649,628,650,0.44401796536,-0.01562643214,0.0597165574391,0.999999876449,-0.000196834945168,-0.00045220908382,-6.21739203633e-05,1793193410670984704
+249,4.150000000,HOLD_POSE2,765,743,712,674,659,631,877.766732419,782,800,649,628,650,0.444017864841,-0.0156268641449,0.0597163101952,0.999999876503,-0.00019657122017,-0.000452209889556,-6.21231562937e-05,1793193410687651328
+250,4.166666667,HOLD_POSE2,765,743,712,674,659,631,877.187119496,782,800,649,628,650,0.444018011407,-0.0156247294568,0.0597172119969,0.999999876955,-0.000194827080881,-0.00045191478077,-6.24919567273e-05,1793193410704317952
+251,4.183333333,HOLD_POSE2,764.610341841,743,712,674,659,631,877.389658159,782,800,649,628,650,0.444018740816,-0.0156231020414,0.0597175246097,0.999999877459,-0.000193192645044,-0.000451492595393,-6.25462228236e-05,1793193410720984832
+252,4.200000000,HOLD_POSE2,764.034915837,743,712,674,659,631,877.965084163,782,800,649,628,650,0.444019748093,-0.0156217164659,0.0597175563292,0.999999877988,-0.000191610509701,-0.000451009826774,-6.24505360639e-05,1793193410737651456
+253,4.216666667,HOLD_POSE2,764,743,712,673.449134456,659,631,877.449134456,782,800,649,628,650,0.444018495808,-0.0156231914765,0.0597165298862,0.999999877008,-0.000194657979432,-0.000451861501165,-6.25625499344e-05,1793193410754318080
+254,4.233333333,HOLD_POSE2,764.135641846,742.864358154,712,673,659,631,877.135641846,782,800,649,628,650,0.444017561253,-0.0156241746246,0.0597159480676,0.999999876346,-0.00019685722228,-0.00045235837338,-6.26686229858e-05,1793193410770984704
+255,4.250000000,HOLD_POSE2,764.714942905,742.285057095,712,673,659,631,877.714942905,782,800,649,628,650,0.444018143348,-0.0156229445754,0.0597170441092,0.999999877075,-0.000195303894833,-0.000451412802497,-6.27113801514e-05,1793193410787651328
+256,4.266666667,POSE2_TO_POSE3_RETREAT,765,743,712,674,659,631,878,782,801,649,629,650,0.444022146049,-0.0156211729059,0.0597183489941,0.999999878737,-0.000193470946222,-0.000448476633827,-6.29646707484e-05,1793193410824629504
+257,4.283333333,POSE2_TO_POSE3_RETREAT,765,743,712,674,659,631,877.434641686,782,800.434641686,649,628.434641686,650,0.444019879039,-0.0156219016733,0.0597173257976,0.999999878187,-0.000192698270686,-0.000450070759954,-6.26858764901e-05,1793193410841296384
+258,4.300000000,POSE2_TO_POSE3_RETREAT,764.861822533,743,711.861822533,674,659,631,877,782,800,649,628,650,0.444018318355,-0.0156224867447,0.0597165745573,0.999999877748,-0.000192233223683,-0.000451272094025,-6.24785757187e-05,1793193410857963520
+259,4.316666667,POSE2_TO_POSE3_RETREAT,764.264195433,743,711.264195433,674,659,631,877,782,800,649,628,650,0.444019106252,-0.0156225940172,0.0597167275897,0.999999877686,-0.000192791062641,-0.000451167367759,-6.25089956641e-05,1793193410874629888
+260,4.333333333,POSE2_TO_POSE3_RETREAT,764,742.677295007,711.322704993,674,659,631,877,782,800,649,628.322704993,650,0.44401970433,-0.0156232398632,0.0597169023685,0.999999877554,-0.000193909038033,-0.000451004471221,-6.23396875102e-05,1793193410891296256
+261,4.350000000,POSE2_TO_POSE3_RETREAT,764,742.098893922,711.901106078,674,659,631,877,782,800,649,628.901106078,650,0.444020152004,-0.0156243124492,0.0597170943781,0.999999877365,-0.000195470838864,-0.000450795483333,-6.20121243058e-05,1793193410907963136
+262,4.366666667,POSE2_TO_POSE3_RETREAT,764,742,711.523668045,674,659,631,877,782,800,649,628.523668045,650,0.444019726539,-0.015623850714,0.0597167883982,0.999999877296,-0.000195367679802,-0.000450924201739,-6.25084499147e-05,1793193410924629760
+263,4.383333333,POSE2_TO_POSE3_RETREAT,764,742,711.052157302,673.947842698,659,631,877.052157302,782,800,649,628,650,0.444018829805,-0.015623129871,0.0597162496713,0.999999877194,-0.000194918519281,-0.000451260767889,-6.31066278194e-05,1793193410941296384
+264,4.400000000,POSE2_TO_POSE3_RETREAT,764,742,711.640886655,673.359113345,659,631,877.640886655,782,800,649,628,650,0.444014937419,-0.0156229988327,0.0597143731344,0.999999876498,-0.00019444241701,-0.000453019065725,-6.3004559883e-05,1793193410957963008
+265,4.416666667,POSE2_TO_POSE3_RETREAT,764.225467636,742.225467636,711.774532364,673.225467636,659,631,878,782,800,649,628,650,0.44400408925,-0.0156212809899,0.0597087740521,0.999999873282,-0.000192836541642,-0.000460662136515,-6.35604801243e-05,1793193410974629888
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764.80356062,742.80356062,711.19643938,673.80356062,659,631,878,782,800,649,628,650,0.443982362423,-0.015617081427,0.0596973530086,0.999999865922,-0.000189463731395,-0.00047750883443,-6.51454762605e-05,1793193410991296512
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,743,711.381137145,673.618862855,659,631,878,782,800,649,628.381137145,650,0.4439431047,-0.0156159155105,0.0596815413573,0.999999854109,-0.000189219117886,-0.000501589747595,-6.62282372703e-05,1793193411007963136
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,743,711.958447898,673.041552102,659,631,878,782,800,649,628.958447898,650,0.443894823716,-0.0156163110298,0.0596634698324,0.999999839462,-0.000190584605863,-0.000529394156621,-6.70524949132e-05,1793193411024629760
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764.464920803,743,712,673.535079197,659,631,878,782,799.464920803,649.535079197,628.464920803,650,0.44382921611,-0.0156104601603,0.0596466361671,0.999999829872,-0.000186696587841,-0.000548294911267,-6.90869535814e-05,1793193411041296640
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764,742.885312519,712,674,659,631,877.885312519,782,799.114687481,649.885312519,628,650,0.443759434373,-0.0156045792722,0.0596325417796,0.999999821552,-0.000183204291296,-0.000564202020495,-7.07740980686e-05,1793193411057963264
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764,742.293089062,712,674,659,631,877.293089062,782,799.706910938,649.293089062,628,650,0.443677867715,-0.0156005905624,0.0596294534503,0.999999818005,-0.000183056235711,-0.000570519482404,-7.06242806143e-05,1793193411074629888
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764.291868124,742,712,673.708131876,659,631,877,782.291868124,800,649,628,650,0.443586031174,-0.0155949561274,0.0596307662652,0.999999819315,-0.000181296200743,-0.000568878174079,-6.98532483959e-05,1793193411091296256
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764.869705851,742,712,673.130294149,659,631,877,782.869705851,800,649,628,650,0.443484132303,-0.0155877092268,0.0596363912793,0.999999825335,-0.000177956763761,-0.000559438938228,-6.8473555886e-05,1793193411107962880
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764.555607547,742,712,673,659,631,877.444392453,782.555607547,800,649,628,650,0.44335666317,-0.0155806402917,0.0596390575805,0.999999827819,-0.000174291369025,-0.00055631976571,-6.70239998309e-05,1793193411124629760
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764.018669927,742,711.981330073,673,659,631,877.981330073,782,800.018669927,649,628.018669927,650,0.443220422859,-0.0155735248019,0.0596406569844,0.999999829132,-0.000170422888279,-0.000555331885456,-6.55628793036e-05,1793193411141296384
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764.608496633,742,711.391503367,673,659,631,877.391503367,782,800.608496633,649,628.608496633,650,0.443043590661,-0.0155634000592,0.0596359689911,0.999999825975,-0.000163244640027,-0.000563256199076,-6.43702066216e-05,1793193411157963008
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764.80517555,742.19482445,711.19482445,673,659,631,877.19482445,782,800.80517555,648.80517555,629,650,0.442852059615,-0.0155516298869,0.0596310157061,0.999999821863,-0.000155428334247,-0.000572792570215,-6.34379951401e-05,1793193411174629888
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764.225754842,742.774245158,711.774245158,673,659,631,877.774245158,782,800.225754842,648.225754842,629,650,0.442631512097,-0.0155366115299,0.0596255387183,0.999999815893,-0.000146352461861,-0.000585511247841,-6.30199513167e-05,1793193411191296512
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764.352257419,743,712,673,659,631,877.647742581,782.352257419,800,648.352257419,629,650,0.442393425606,-0.0155219110644,0.0596270716988,0.999999817744,-0.000135026595339,-0.000585296502382,-6.08953199508e-05,1793193411207963136
+280,4.666666667,POSE2_TO_POSE3_RETREAT,764.929370687,743,712,673,659,631,877.070629313,782.929370687,800,648.929370687,629,650,0.44214414347,-0.0155074135165,0.0596330793392,0.999999824498,-0.000122264493186,-0.000576825989322,-5.76813255683e-05,1793193411224629760
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764.497797951,743,712,673,659,631,877.502202049,783,800,649,629,650,0.441860353562,-0.0154927930459,0.0596384659701,0.999999830565,-0.00011055836297,-0.000568886250839,-5.49068339367e-05,1793193411241296128
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764,743,712,673,659,631.074394012,878,783,800,649,628.925605988,650,0.441565902062,-0.0154787293456,0.0596441535548,0.999999836443,-9.98140696563e-05,-0.000560754728216,-5.20143472805e-05,1793193411257963008
+283,4.716666667,POSE2_TO_POSE3_RETREAT,764,743,712,673,659,631.646303443,878,783,800,649,628.353696557,650,0.441232331632,-0.0154685037169,0.0596524329365,0.999999842669,-9.45173437777e-05,-0.000550845640222,-4.79228858903e-05,1793193411274629632
+284,4.733333333,POSE2_TO_POSE3_RETREAT,764,742.772432575,711.772432575,673,659,631.772432575,877.772432575,783,800,649,628.227567425,650,0.44088791953,-0.0154613688318,0.0596668793287,0.999999853939,-8.94368641482e-05,-0.000531231811665,-4.37705152587e-05,1793193411291296512
+285,4.750000000,POSE2_TO_POSE3_RETREAT,764,742.176006039,711.176006039,673,659,631.176006039,877.176006039,783,800,649,628.823993961,650,0.440525934414,-0.0154592436666,0.0596913216943,0.999999872679,-8.47068936364e-05,-0.000495887779472,-3.95194183711e-05,1793193411307963136
+286,4.766666667,POSE2_TO_POSE3_RETREAT,764,742,711.406902596,673,659,631.406902596,877,783,799.593097404,648.593097404,629,650,0.440124683327,-0.0154649860144,0.0597170979477,0.999999893035,-4.96393522405e-05,-0.000458692388758,-3.26602251085e-05,1793193411324629760
+287,4.783333333,POSE2_TO_POSE3_RETREAT,764,742,711.984152044,673,659,631.984152044,877,783,799.015847956,648.015847956,629,650,0.439706993831,-0.0154740220401,0.059743432623,0.999999911189,-1.87120454361e-06,-0.00042072193966,-2.47091710336e-05,1793193411341296384
+288,4.800000000,POSE2_TO_POSE3_RETREAT,764,742,711.446870479,673,659.553129521,632,877,783,799.553129521,648.553129521,629,650,0.4392740172,-0.0154665910521,0.0597790325239,0.999999934248,1.54721641774e-06,-0.000362204286279,-1.76181254544e-05,1793193411357963008
+289,4.816666667,POSE2_TO_POSE3_RETREAT,764,742,711,673,660,632.128474124,877,783.128474124,799.871525876,649,629,650,0.438825280449,-0.0154581819146,0.0598122773331,0.999999952364,6.63887909131e-06,-0.000308402140409,-1.07319350951e-05,1793193411374629888
+290,4.833333333,POSE2_TO_POSE3_RETREAT,764,742,711,673,660,632.728020981,877,783.728020981,799.271979019,649,629,650,0.438320338905,-0.0154478906836,0.0598359277604,0.999999962195,2.24563044989e-05,-0.000274017031299,-4.50786647043e-06,1793193411391296512
+291,4.850000000,POSE2_TO_POSE3_RETREAT,764.312439072,742,711.312439072,673,660,633,877,784,799.312439072,649,629,650,0.43775882198,-0.0154401854278,0.0598359784832,0.999999961122,4.4638017712e-05,-0.000275252403087,2.36165282182e-07,1793193411407962880
+292,4.866666667,POSE2_TO_POSE3_RETREAT,764.884295835,742,711.884295835,673,660,633,877,784,799.884295835,649,629,650,0.437150330546,-0.015434627302,0.0598164344095,0.999999950556,7.21039912337e-05,-0.000306063402737,3.7513253256e-06,1793193411424629760
+293,4.883333333,POSE2_TO_POSE3_RETREAT,764.538401842,742,712,672.538401842,660,633,877,784,799.538401842,649,629,650,0.436483211755,-0.0154307681733,0.0597813479362,0.999999933043,7.21929639069e-05,-0.00035871561349,5.04607957975e-06,1793193411441296384
+294,4.900000000,POSE2_TO_POSE3_RETREAT,764,742,711.958876952,672.041123048,660,633,877,784,799.041123048,649,629,650,0.435804934807,-0.0154276144425,0.0597459452583,0.999999913296,6.98730093008e-05,-0.000410474810385,6.07109043104e-06,1793193411457963008
+295,4.916666667,POSE2_TO_POSE3_RETREAT,764,742,711.368106986,672.631893014,660,633,877,784,799.631893014,649,629,650,0.435176282324,-0.0154281288941,0.0597590094856,0.999999920943,0.000128171626856,-0.000376250002679,1.10185644522e-05,1793193411474629888
+296,4.933333333,POSE2_TO_POSE3_RETREAT,764,742,711.218260279,673,660,633,877.218260279,784,800,649,629,650,0.434526188577,-0.0154283261786,0.0597724164633,0.999999929636,0.000152724362323,-0.000342341241989,1.43519021434e-05,1793193411491296512
+297,4.950000000,POSE2_TO_POSE3_RETREAT,764,742,711.797348953,673,660,633,877.797348953,784,800,649,629,650,0.433840648124,-0.0154279991217,0.0597863900759,0.999999944781,0.000121488324949,-0.000308954974798,1.50167456924e-05,1793193411507962880
+298,4.966666667,POSE2_TO_POSE3_RETREAT,764,742,711.62554472,672.62554472,660,633,878,783.62554472,800,649,629,650,0.433104919943,-0.015426374839,0.0597910193478,0.999999947929,0.00010733427989,-0.000304114747652,1.16842181267e-05,1793193411524629504
+299,4.983333333,POSE2_TO_POSE3_RETREAT,764,742,711.049505586,672.049505586,660,633,878,783.049505586,800,649,629,650,0.432342173778,-0.015424052209,0.059790618197,0.999999945241,0.000102376137342,-0.000314641966366,6.19975006814e-06,1793193411541296128
+300,5.000000000,POSE2_TO_POSE3_RETREAT,763.475964821,742,711.524035179,672.524035179,659.475964821,632.475964821,877.475964821,783,800,649,629,650,0.431560309686,-0.0154263625844,0.0597938501389,0.999999948043,9.92458654367e-05,-0.000306535834237,1.00473687513e-05,1793193411557963264
+301,5.016666667,POSE2_TO_POSE3_RETREAT,763.100506632,742,712,673,659,632,877,783.100506632,800,649,629,650,0.430779435989,-0.015428662991,0.0598011833014,0.999999952509,9.78247053299e-05,-0.000291897210792,1.44117957687e-05,1793193411574630144
+302,5.033333333,POSE2_TO_POSE3_RETREAT,763.692456563,742,712,673,659,632,877,783.692456563,800,649,629,650,0.430012194402,-0.0154287847012,0.0598268997816,0.999999962227,0.000103920187691,-0.000253883315739,1.70129586925e-05,1793193411591297024
+303,5.050000000,POSE2_TO_POSE3_RETREAT,764,742,712,672.721544726,659.278455274,632.278455274,877,784,799.721544726,648.721544726,628.721544726,650,0.429188730034,-0.0154262518503,0.0598240701884,0.999999957575,0.000111542640873,-0.000268495814689,1.78271390404e-05,1793193411607963904
+304,5.066666667,POSE2_TO_POSE3_RETREAT,764,742,712,672.141981305,659.858018695,632.858018695,877,784,799.141981305,648.141981305,628.141981305,650,0.428304468958,-0.0154208484847,0.059790372247,0.999999934757,0.000120816287367,-0.000340015960845,1.67089626112e-05,1793193411624630528
+305,5.083333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,659.564931745,632.564931745,877,784,799,648.435068255,628.435068255,650,0.427449440297,-0.0154192302672,0.0597682791411,0.999999926653,0.000118941947799,-0.00036378891917,1.4331957809e-05,1793193411641296640
+306,5.100000000,POSE2_TO_POSE3_RETREAT,764,742,712,672.011261683,659,632.011261683,877,783.988738317,799,649,629,650,0.426603679908,-0.0154188996587,0.0597509153662,0.999999924597,0.000113677729772,-0.000371141448471,1.16849366062e-05,1793193411657963008
+307,5.116666667,POSE2_TO_POSE3_RETREAT,764,742,712,672.58543428,659,632.58543428,877,783.41456572,799,649,629,650,0.425747084972,-0.0154215406437,0.0597817334838,0.999999937552,0.000119774192921,-0.000332108051118,1.59574198071e-05,1793193411674629632
+308,5.133333333,POSE2_TO_POSE3_RETREAT,764,742,711.835751029,672.835751029,659,632.835751029,877,783.164248971,799.164248971,649,629,650,0.424892760967,-0.0154232940324,0.0598100429557,0.999999947347,0.000124949975341,-0.000298809243269,2.01410927346e-05,1793193411691296512
+309,5.150000000,POSE2_TO_POSE3_RETREAT,764,742,711.244878911,672.244878911,659,632.244878911,877,783.755121089,799.755121089,649,629,650,0.42404433557,-0.0154227419625,0.0598318364255,0.999999952238,0.000127734365597,-0.000280405561747,2.40940881039e-05,1793193411707963136
+310,5.166666667,POSE2_TO_POSE3_RETREAT,764,742,711.338886721,672,659,632,877.338886721,783.661113279,800,649,628.661113279,650,0.423197910311,-0.0154215961764,0.0598475794144,0.999999958521,0.000131376877678,-0.000254986197881,2.60783846518e-05,1793193411724629760
+311,5.183333333,POSE2_TO_POSE3_RETREAT,764,742,711.917622669,672,659,632,877.917622669,783.082377331,800,649,628.082377331,650,0.422352900699,-0.015420030184,0.0598590401362,0.999999965224,0.000135626730733,-0.000224601440981,2.66693219401e-05,1793193411741296896
+312,5.200000000,POSE2_TO_POSE3_RETREAT,764,742,711.507751122,672,659,632.492248878,877.507751122,783.492248878,799.507751122,648.507751122,628.492248878,650,0.421454318722,-0.0154167671581,0.0598471556781,0.999999958859,0.00014099920937,-0.000248469521973,2.57657328571e-05,1793193411757963520
+313,5.216666667,POSE2_TO_POSE3_RETREAT,763.932121863,742,711,671.932121863,659,633,876.932121863,784,799,648.067878137,629,650,0.420542790193,-0.0154131943772,0.059825647151,0.999999946848,0.000146171896126,-0.000290451220679,2.40108179469e-05,1793193411774629888
+314,5.233333333,POSE2_TO_POSE3_RETREAT,763.343566799,742,711,671.343566799,659,633,876.343566799,784,799,648.656433201,629,650,0.419600153357,-0.0154094059754,0.0597600346364,0.999999907909,0.000148382848854,-0.000402310736484,1.76282163164e-05,1793193411791296512
+315,5.250000000,POSE2_TO_POSE3_RETREAT,763.242385783,742,711,671.242385783,659,633,876.242385783,784,799,649,629,650,0.418705804119,-0.0154091487692,0.0597266532073,0.999999888503,0.000147921680607,-0.000448248959886,1.36702620073e-05,1793193411807963136
+316,5.266666667,POSE2_TO_POSE3_RETREAT,763.824688778,742,711,671.824688778,659,633,876.824688778,784,799,649,629,650,0.417879172355,-0.0154138436441,0.0597384720301,0.99999990889,0.000143713182891,-0.00040174043781,1.31125862803e-05,1793193411824629760
+317,5.283333333,POSE2_TO_POSE3_RETREAT,764,742,711.402427573,672,659.402427573,633,877,784,799,649,629,650,0.417077115256,-0.015416248722,0.059775101825,0.99999992941,0.000145364532261,-0.00034601591452,1.796187398e-05,1793193411841296384
+318,5.300000000,POSE2_TO_POSE3_RETREAT,764,742,711.978200311,672,659.978200311,633,877,784,799,649,629,650,0.416285643711,-0.0154176674725,0.0598224189138,0.999999947513,0.00014954000319,-0.000286321612401,2.51402042725e-05,1793193411857963008
+319,5.316666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,660,633,877,784,799.55050943,649,629,650,0.415479183284,-0.0154156969076,0.0598331125638,0.999999945942,0.000160711824551,-0.000285603094721,2.68055212554e-05,1793193411874629888
+320,5.333333333,POSE2_TO_POSE3_RETREAT,764,742,712,672.12662519,659.87337481,632.87337481,876.87337481,783.87337481,799.87337481,649,629,650,0.414678666162,-0.0154141540637,0.0598414196633,0.999999945136,0.000168508638159,-0.000283808464353,2.80379551093e-05,1793193411891296768
+321,5.350000000,POSE2_TO_POSE3_RETREAT,764,742,712,672.717187296,659.282812704,632.282812704,876.282812704,783.282812704,799.282812704,649,629,650,0.413902085593,-0.0154146669961,0.0598462630888,0.999999949988,0.000162931173406,-0.000269568068204,2.84792238585e-05,1793193411907963392
+322,5.366666667,POSE2_TO_POSE3_RETREAT,763.698159531,742,711.698159531,672.698159531,659,632,876,783.301840469,799.301840469,649,629,650,0.413106617312,-0.0154122652924,0.0598339803915,0.999999944234,0.000164338428068,-0.000289453868654,2.72238348594e-05,1793193411924630016
+323,5.383333333,POSE2_TO_POSE3_RETREAT,763.118936526,742,711.118936526,672.118936526,659,632,876,783.881063474,799.881063474,649,629,650,0.412293791822,-0.0154071851236,0.0598059592896,0.999999926843,0.00017216443494,-0.000340700642756,2.44092670936e-05,1793193411941296640
+324,5.400000000,POSE2_TO_POSE3_RETREAT,763,742,711,671.545243802,659,632.454756198,876,784,799.545243802,648.545243802,629,650,0.411529669106,-0.0154029861714,0.0597660961294,0.999999904458,0.000170917050758,-0.000401853592049,1.9643843943e-05,1793193411957963008
+325,5.416666667,POSE2_TO_POSE3_RETREAT,763.027200063,742.027200063,711.027200063,671.027200063,659.027200063,633,876,784,799.027200063,648.027200063,629,650,0.410783469883,-0.0153992906257,0.0597268015635,0.999999880195,0.000167611738703,-0.00045967141773,1.4789625203e-05,1793193411974629632
+326,5.433333333,POSE2_TO_POSE3_RETREAT,763.603278302,742.603278302,711.603278302,671.603278302,659.603278302,633,876,784,799.603278302,648.603278302,629,650,0.410145006114,-0.0154011585814,0.0597607285199,0.999999905952,0.000170089966548,-0.00039853529972,1.83158594594e-05,1793193411991296512
+327,5.450000000,POSE2_TO_POSE3_RETREAT,764,742.629557082,712,672,659.814778541,633,876,784,799.814778541,649,629,650,0.409514703045,-0.0154030882705,0.0597974068767,0.999999928092,0.000171690415407,-0.000337397697165,2.2382717368e-05,1793193412007963392
+328,5.466666667,POSE2_TO_POSE3_RETREAT,764,741.439725119,712,672,659.219862559,633,876,784,799.219862559,649,629,650,0.408902450645,-0.0154051545095,0.05984017111,0.999999946779,0.000171349291123,-0.000276256801031,2.76453907638e-05,1793193412024630272
+329,5.483333333,POSE2_TO_POSE3_RETREAT,764,741.725910368,712,672,659,633,876,784,799.362955184,648.637044816,629,650,0.40829868926,-0.015404552203,0.0598581694046,0.999999953817,0.00017356966742,-0.000247720529573,2.95664626284e-05,1793193412041296640
+330,5.500000000,POSE2_TO_POSE3_RETREAT,764,742.877361409,712,672,659,633,876,784,799.938680704,648.061319296,629,650,0.407699905485,-0.0154023855508,0.0598616494934,0.999999955455,0.000177291638018,-0.000238297632798,2.95286320927e-05,1793193412057963264
+331,5.516666667,POSE2_TO_POSE3_RETREAT,764,742.486749066,711.486749066,671.486749066,659,633,876.513250934,784,800,648.513250934,629,650,0.40712830926,-0.0154003787234,0.0598465435006,0.99999994856,0.000179677892724,-0.000264257778103,2.76180569434e-05,1793193412074630144
+332,5.533333333,POSE2_TO_POSE3_RETREAT,763.909449591,741.909449591,711,671.090550409,659,633,877,784,799.909449591,649,629,650,0.406569407124,-0.0153988404235,0.0598319416803,0.999999941602,0.000181775926543,-0.000288256889458,2.57117731756e-05,1793193412091296512
+333,5.550000000,POSE2_TO_POSE3_RETREAT,763.316235038,741.316235038,711,671.683764962,659,633,877,784,799.316235038,649,629,650,0.406062981805,-0.0153997972569,0.059832437526,0.999999944283,0.000183157865434,-0.000277956002521,2.50685563981e-05,1793193412107962880
+334,5.566666667,POSE2_TO_POSE3_RETREAT,763,741.536650632,711.268325316,672,659,632.731674684,876.731674684,784,799.268325316,648.731674684,628.731674684,650,0.405580854759,-0.0153989616286,0.0598340722961,0.99999994639,0.000183153095537,-0.000270301453925,2.47201093687e-05,1793193412124629760
+335,5.583333333,POSE2_TO_POSE3_RETREAT,763,742.686009795,711.843004897,672,659,632.156995103,876.156995103,784,799.843004897,648.156995103,628.156995103,650,0.405126469743,-0.0153960794984,0.059837007407,0.999999947922,0.000181565082661,-0.000265668302062,2.47082089734e-05,1793193412141296640
+336,5.600000000,POSE2_TO_POSE3_RETREAT,763.418904672,742.581095328,712,671.581095328,659,632.418904672,876,783.581095328,800,648,628.418904672,650,0.404683718664,-0.0153935850102,0.0598223417878,0.99999994106,0.000187325466786,-0.000286827724619,2.28028280372e-05,1793193412157963520
+337,5.616666667,POSE2_TO_POSE3_RETREAT,763.995263129,742.004736871,712,671.004736871,659,632.995263129,876,783.004736871,800,648,628.995263129,650,0.404245340397,-0.0153912362247,0.0598010605789,0.999999930157,0.000195847894093,-0.000317681806734,2.01857441635e-05,1793193412174630400
+338,5.633333333,POSE2_TO_POSE3_RETREAT,764,742,712,671.561605299,659,633,876,783.561605299,799.438394701,648.561605299,629,650,0.403854119833,-0.0153895871894,0.0597754924358,0.999999914748,0.000189701503412,-0.000366347802679,1.75126030318e-05,1793193412191297024
+339,5.650000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,633.136411398,876,783.863588602,799.136411398,649,629,650,0.403484687644,-0.01538821847,0.0597591076382,0.99999990411,0.000186131976191,-0.000396094885224,1.55856744545e-05,1793193412207963648
+340,5.666666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,633.740521575,876,783.259478425,799.740521575,649,629,650,0.403188618921,-0.015387790958,0.0597743305614,0.999999916503,0.000191814224608,-0.000360470714127,1.62187950066e-05,1793193412224629760
+341,5.683333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,633.672759863,876,783.327240137,800,649,629,650,0.402924080054,-0.0153877799442,0.0597935538518,0.999999928068,0.000195843273946,-0.000324323227672,1.79752046048e-05,1793193412241296640
+342,5.700000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,633.099135743,876,783.900864257,800,649,629,650,0.402683280503,-0.015388082518,0.0598157890775,0.999999938653,0.000198627604615,-0.00028778173131,2.05773552428e-05,1793193412257963264
+343,5.716666667,POSE2_TO_POSE3_RETREAT,764,742,711.522223362,672,659,633,876,784,800,649,628.522223362,650,0.402465911954,-0.0153865279739,0.0598329464213,0.999999946459,0.000197520072372,-0.000259987486026,2.17947496286e-05,1793193412274629888
+344,5.733333333,POSE2_TO_POSE3_RETREAT,764,742,711,672,659,633,876,784,800,648.943368404,628.056631596,650,0.402254878849,-0.0153847360447,0.0598470249855,0.999999952362,0.00019562733404,-0.000237691249911,2.25713212439e-05,1793193412291296512
+345,5.750000000,POSE2_TO_POSE3_RETREAT,764,742,711,672,659,633,876,784,800,648.352672928,628.647327072,650,0.402057425272,-0.0153843645935,0.0598420742454,0.99999994969,0.000193997972183,-0.000250008975029,2.19191444449e-05,1793193412307963136
+346,5.766666667,POSE2_TO_POSE3_RETREAT,764,742,711,672,659,633,876.23273076,784,799.76726924,648,628.76726924,650,0.401869651248,-0.0153850578819,0.0598358502233,0.999999946243,0.000193130988209,-0.000264148141006,2.09692367736e-05,1793193412324630016
+347,5.783333333,POSE2_TO_POSE3_RETREAT,764,742,711,672,659,633,876.810293668,784,799.189706332,648,628.189706332,650,0.401696219224,-0.0153873287718,0.0598277396069,0.999999941631,0.00019339360325,-0.000280986095531,1.95781877462e-05,1793193412341296640
+348,5.800000000,POSE2_TO_POSE3_RETREAT,764,742,711,671.61422513,659,633,876.61422513,784,799.38577487,648,628.38577487,650.38577487,0.401558350886,-0.0153905760006,0.0598261484229,0.999999939905,0.000194871775102,-0.000286066004117,1.95405213619e-05,1793193412357963264
+349,5.816666667,POSE2_TO_POSE3_RETREAT,764,742,711,671.039762069,659,633,876.039762069,784,799.960237931,648,628.960237931,650.960237931,0.401437877256,-0.0153943007714,0.059827745989,0.999999939678,0.000196944493797,-0.000285394880183,2.01648143086e-05,1793193412374629632
+350,5.833333333,POSE2_TO_POSE3_RETREAT,764.549080696,742,711.549080696,671.549080696,659,633,876.549080696,784,800,648.549080696,628.450919304,650.450919304,0.401347851402,-0.0153936559193,0.0598322494681,0.999999941188,0.000195006177206,-0.000281432340797,1.98195739605e-05,1793193412391296512
+351,5.850000000,POSE2_TO_POSE3_RETREAT,764.727196781,742,712,671.863598391,659.136401609,633,876.863598391,784,800,649,628,650.136401609,0.401264864365,-0.0153925314262,0.059836241904,0.999999942672,0.000193267403139,-0.000277341442321,1.96106484999e-05,1793193412407963136
+352,5.866666667,POSE2_TO_POSE3_RETREAT,763.569367185,742,712,671.284683592,659.715316408,633,876.284683592,784,800,649,628,650.715316408,0.401197367108,-0.0153909050498,0.0598378753712,0.99999994371,0.000193143639473,-0.000273628170283,2.00778532789e-05,1793193412424629760
+353,5.883333333,POSE2_TO_POSE3_RETREAT,763.292374913,742,712,671.292374913,659.707625087,633,876,784,800,649,628.292374913,651,0.401140754127,-0.0153889118543,0.0598390446458,0.99999994404,0.000195047420386,-0.000271050149642,2.02013510571e-05,1793193412441296384
+354,5.900000000,POSE2_TO_POSE3_RETREAT,763.867637325,742,712,671.867637325,659.132362675,633,876,784,800,649,628.867637325,651,0.401094672236,-0.0153865637431,0.0598397647904,0.999999943683,0.000198912953126,-0.000269570542309,1.99922949178e-05,1793193412457963008
+355,5.916666667,POSE2_TO_POSE3_RETREAT,763.556666355,742,712,672,659,632.556666355,876,784,799.556666355,649,629,650.556666355,0.401058211511,-0.0153864939907,0.0598392726681,0.999999943557,0.000197999852212,-0.000270737349582,1.96006896092e-05,1793193412474629632
+356,5.933333333,POSE2_TO_POSE3_RETREAT,763.019642072,742,712,671.980357928,659,632,876,784,799,649,629,650,0.401025063915,-0.0153870769041,0.059838417241,0.999999943473,0.000195706339313,-0.000272736292592,1.9161161403e-05,1793193412491296256
+357,5.950000000,POSE2_TO_POSE3_RETREAT,763.609967372,742,712,671.390032628,659,632,876,784,799,649,629,650,0.401004636179,-0.0153868395511,0.059837532381,0.999999942778,0.000194798858569,-0.000275933494287,1.89143426785e-05,1793193412507962880
+358,5.966666667,POSE2_TO_POSE3_RETREAT,764,742,712,671,659,632.196427349,876,784,799.196427349,649,629,650.196427349,0.400987714783,-0.0153867510547,0.0598366566915,0.999999942218,0.000194324141131,-0.00027830208987,1.86839665962e-05,1793193412524629504
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764,742,712,671,659,632.775360266,876,784,799.775360266,649,629,650.775360266,0.400977621329,-0.015386952429,0.05983579886,0.99999994194,0.000194692149495,-0.000279057129479,1.8485609517e-05,1793193412541296384
+360,6.000000000,POSE2_TO_POSE3_RETREAT,764,742,712,671.351912325,659,633,876,784,799.648087675,649,629,651,0.400972136652,-0.0153878326487,0.0598368231191,0.999999943079,0.000192298431801,-0.000276633364501,1.83507893541e-05,1793193412557963008
+361,6.016666667,POSE2_TO_POSE3_RETREAT,764,742,712,671.926954856,659,633,876,784,799.073045144,649,629,651,0.400969574171,-0.0153891432907,0.0598390407185,0.999999945088,0.000188153640183,-0.000272194076758,1.82562547889e-05,1793193412574629888
+362,6.033333333,POSE2_TO_POSE3_RETREAT,764,742,711.498857189,671.498857189,659,633,876,784,799.501142811,649,629,651,0.40096847136,-0.0153883435213,0.0598404402162,0.999999945072,0.000190828402076,-0.000270370367742,1.84315721612e-05,1793193412591296768
+363,6.050000000,POSE2_TO_POSE3_RETREAT,764,742,711.078016177,671,659,633,876,784,800,649,628.921983823,651,0.400967587492,-0.0153876318187,0.0598416162441,0.99999994491,0.000193594843967,-0.000268986385437,1.86244208018e-05,1793193412607963392
+364,6.066666667,POSE2_TO_POSE3_RETREAT,764,742,711.673527433,671,659,633,876,784,800,649,628.326472567,651,0.400966747046,-0.0153895412203,0.0598420995785,0.999999945791,0.000190387272979,-0.000267994664882,1.86730999655e-05,1793193412624630016
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764,742,712,671.259280398,659,633,876.259280398,783.740719602,799.740719602,649,628.259280398,650.740719602,0.400966332007,-0.0153902611844,0.0598423803294,0.999999946314,0.000188831512472,-0.000267155755098,1.8522644348e-05,1793193412641296896
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764,742,712,671.833191858,659,633,876.833191858,783.166808142,799.166808142,649,628.833191858,650.166808142,0.400966433188,-0.0153895377921,0.0598424152496,0.99999994641,0.000189280187854,-0.000266502277888,1.81305430498e-05,1793193412657963520
+367,6.116666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,633,876.59537096,783.40462904,799.40462904,649,629,650,0.400966546907,-0.015389674123,0.0598433519685,0.999999946665,0.000189942271067,-0.000265073151696,1.81421302086e-05,1793193412674630144
+368,6.133333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,633,876.024947613,783.975052387,799.975052387,649,629,650,0.400966665764,-0.0153901627202,0.059844658194,0.99999994698,0.000190691796839,-0.000263326208031,1.83191262856e-05,1793193412691296768
+369,6.150000000,POSE2_TO_POSE3_RETREAT,764,742,712,671.428464323,659,633,876,784,800,649,629,650.571535677,0.400965756602,-0.0153908482354,0.0598442252069,0.999999946871,0.000189406980016,-0.00026465230316,1.84996928421e-05,1793193412707963392
+370,6.166666667,POSE2_TO_POSE3_RETREAT,764,742,712,671.163530973,659.163530973,633,876,784,800,649,629,650.836469027,0.400964921376,-0.0153911791384,0.0598436049707,0.999999946774,0.000188157027917,-0.000265914982189,1.84095568584e-05,1793193412724630016
+371,6.183333333,POSE2_TO_POSE3_RETREAT,764,742,712,671.741144022,659.741144022,633,876,784,800,649,629,650.258855978,0.400964392419,-0.0153905893116,0.0598427120103,0.999999946763,0.000187230952053,-0.00026666119939,1.76335526798e-05,1793193412741296640
+372,6.200000000,POSE2_TO_POSE3_RETREAT,764,742,712,671.682355826,659.682355826,633,876.317644174,784,800,649,629,650.317644174,0.40096505208,-0.0153901193026,0.0598433214859,0.999999947024,0.000187907436886,-0.000265212622656,1.74393544156e-05,1793193412757963520
+373,6.216666667,POSE2_TO_POSE3_RETREAT,764,742,712,671.106759372,659.106759372,633,876.893240628,784,800,649,629,650.893240628,0.400966676994,-0.015389746595,0.0598451510588,0.999999947498,0.000189885328087,-0.000261981699138,1.7717628644e-05,1793193412774630400
+374,6.233333333,POSE2_TO_POSE3_RETREAT,764,742,711.52091632,671.47908368,659,633,876.52091632,783.52091632,799.52091632,649,629,650.52091632,0.400965974212,-0.0153911436564,0.0598447769184,0.999999947624,0.00018798979885,-0.000262859120815,1.7789016568e-05,1793193412791296768
+375,6.250000000,POSE2_TO_POSE3_RETREAT,764,742,711.066190806,672,659,633,876.066190806,783.066190806,799,649,629,650.066190806,0.400964783257,-0.0153925741949,0.0598440597053,0.999999947665,0.000185541829562,-0.000264440096852,1.77872249973e-05,1793193412807963136
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764,742,711.645017562,672,659,633,876.645017562,783.645017562,799,649,629,650.645017562,0.400963916561,-0.015391142878,0.0598445718818,0.999999947706,0.000185646400673,-0.000264224576438,1.75835321308e-05,1793193412824629760
+377,6.283333333,POSE2_TO_POSE3_RETREAT,764,742,712,671.776213451,659,633,876.776213451,784,799.223786549,649,629,650.776213451,0.400964466914,-0.0153902378564,0.0598453250295,0.99999994795,0.000186056681169,-0.000263017611231,1.74466949207e-05,1793193412841296640
+378,6.300000000,POSE2_TO_POSE3_RETREAT,764,742,712,671.197536112,659,633,876.197536112,784,799.802463888,649,629,650.197536112,0.400967264486,-0.0153901674579,0.0598464603203,0.999999948511,0.00018695176937,-0.000260238368227,1.74158804337e-05,1793193412857963264
+379,6.316666667,POSE2_TO_POSE3_RETREAT,764,742,711.621565591,671.378434409,659,633,876,783.621565591,800,649,629,650,0.40096687036,-0.0153904302148,0.059845865368,0.999999948328,0.000186874401212,-0.000260993678092,1.74609332769e-05,1793193412874630144
+380,6.333333333,POSE2_TO_POSE3_RETREAT,764,742,711.046997965,671.953002035,659,633,876,783.046997965,800,649,629,650,0.400964822056,-0.015390865638,0.0598443736734,0.999999947756,0.000186293032887,-0.00026358085959,1.75453062866e-05,1793193412891296768
+381,6.350000000,POSE2_TO_POSE3_RETREAT,764,742,711.539794145,672,659.539794145,633,876,783.539794145,800,649,629,650.539794145,0.40096355672,-0.0153911402018,0.059844572692,0.999999947546,0.000186823289963,-0.000263995030505,1.76752565825e-05,1793193412907963136
+382,6.366666667,POSE2_TO_POSE3_RETREAT,764,742,712,671.874176374,659.874176374,633,876,784,799.874176374,649,629,651,0.400962597561,-0.0153911582927,0.0598447706246,0.999999947448,0.000187212111125,-0.000264086181494,1.76957224714e-05,1793193412924629504
+383,6.383333333,POSE2_TO_POSE3_RETREAT,764,742,712,671.294821247,659.294821247,633,876,784,799.294821247,649,629,651,0.400962490601,-0.0153903035794,0.0598444217496,0.999999947644,0.000186734179745,-0.000263710766919,1.73069165642e-05,1793193412941296384
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764,742,711.716312465,671,659,633,876,784,799,649,629,650.716312465,0.400962608075,-0.0153905259276,0.05984429549,0.999999947601,0.000186808717013,-0.000263827130494,1.71785288142e-05,1793193412957963008
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764,742,711.138680557,671,659,633,876,784,799,649,629,650.138680557,0.400962958099,-0.015391864279,0.0598443998945,0.999999947312,0.000187455697595,-0.000264453052606,1.73199746967e-05,1793193412974629632
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764,742,711.435447989,671,659,633,876,784,799,649,629,650.435447989,0.40096355226,-0.0153924728789,0.0598444704586,0.999999947882,0.00018556360256,-0.000263636631678,1.72840537429e-05,1793193412991297024
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764,742,711.991224366,671,659,633,876,784,799,649,629,651,0.400964209911,-0.0153928429621,0.0598445399035,0.999999948702,0.000182917679265,-0.000262376026427,1.71934932044e-05,1793193413007964160
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764,742,711.397501884,671,659,633,876,784,799,649,629,651,0.400963958281,-0.0153926823312,0.0598452473909,0.999999948726,0.000183495037557,-0.000261882214219,1.71960500281e-05,1793193413024630784
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764,742,711,671,659,633,876,784,799.189969332,649,629,650.810030668,0.400963649598,-0.0153923546058,0.0598457786773,0.999999948715,0.000183883256208,-0.000261654392136,1.71663104725e-05,1793193413041297152
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764,742,711,671,659,633,876,784,799.764776756,649,629,650.235223244,0.400963225338,-0.0153916883816,0.0598459530172,0.999999948634,0.00018388831751,-0.000261965410385,1.70711452148e-05,1793193413057963264
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_05/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_05/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c26fb799eafac2313d610dcc5ff3f1302f6b4361
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_05/depth_01/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
+0,0.000000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+1,0.016666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+2,0.033333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+3,0.050000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+4,0.066666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+5,0.083333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+6,0.100000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+7,0.116666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+8,0.133333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+9,0.150000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+10,0.166666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+11,0.183333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+12,0.200000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+13,0.216666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+14,0.233333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+15,0.250000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+16,0.266666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+17,0.283333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+18,0.300000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+19,0.316666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+20,0.333333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+21,0.350000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+22,0.366666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+23,0.383333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+24,0.400000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+25,0.416666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+26,0.433333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+27,0.450000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+28,0.466666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+29,0.483333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+30,0.500000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+31,0.516666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+32,0.533333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+33,0.550000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+34,0.566666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+35,0.583333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+36,0.600000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+37,0.616666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+38,0.633333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+39,0.650000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+40,0.666666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+41,0.683333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+42,0.700000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+43,0.716666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+44,0.733333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+45,0.750000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+46,0.766666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+47,0.783333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+48,0.800000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+49,0.816666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+50,0.833333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+51,0.850000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+52,0.866666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+53,0.883333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+54,0.900000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+55,0.916666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+56,0.933333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+57,0.950000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+58,0.966666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+59,0.983333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+60,1.000000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+61,1.016666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+62,1.033333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+63,1.050000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+64,1.066666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+65,1.083333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+66,1.100000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+67,1.116666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+68,1.133333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+69,1.150000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+70,1.166666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+71,1.183333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+72,1.200000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+73,1.216666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+74,1.233333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+75,1.250000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+76,1.266666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+77,1.283333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+78,1.300000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+79,1.316666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+80,1.333333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+81,1.350000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+82,1.366666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+83,1.383333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+84,1.400000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+85,1.416666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+86,1.433333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+87,1.450000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+88,1.466666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+89,1.483333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+90,1.500000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+91,1.516666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+92,1.533333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+93,1.550000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+94,1.566666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+95,1.583333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+96,1.600000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+97,1.616666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+98,1.633333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+99,1.650000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+100,1.666666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+101,1.683333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+102,1.700000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+103,1.716666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+104,1.733333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+105,1.750000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+106,1.766666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+107,1.783333333,pose1_to_pose2_press,0.575709297938,-0.00994554640867,1.05002942762,0.54628003044,-0.00127280956149,1.04969871023
+108,1.800000000,pose1_to_pose2_press,0.575709447089,-0.00994547748147,1.05002941521,0.546280178319,-0.00127274486586,1.04969870012
+109,1.816666667,pose1_to_pose2_press,0.575709888641,-0.00994532469471,1.05002931392,0.546280619051,-0.00127259479838,1.04969860047
+110,1.833333333,pose1_to_pose2_press,0.575710467904,-0.00994536238133,1.05002922888,0.546281198049,-0.00127263319448,1.04969852046
+111,1.850000000,pose1_to_pose2_press,0.575712229587,-0.00994545335995,1.05002914623,0.546282959893,-0.00127272356154,1.04969843946
+112,1.866666667,pose1_to_pose2_press,0.575715731696,-0.00994544980518,1.05002915426,0.54628646343,-0.0012727155486,1.04969843732
+113,1.883333333,pose1_to_pose2_press,0.575722289482,-0.00994546222977,1.05002909074,0.546293021986,-0.00127272518625,1.04969837837
+114,1.900000000,pose1_to_pose2_press,0.575733483596,-0.00994545437413,1.05002921806,0.546304214265,-0.00127272342844,1.049698509
+115,1.916666667,pose1_to_pose2_press,0.575751640445,-0.00994540007902,1.05002922144,0.546322370774,-0.00127267043706,1.0496985083
+116,1.933333333,pose1_to_pose2_press,0.575777227752,-0.00994544120687,1.05002885114,0.546347957609,-0.00127271287244,1.04969814578
+117,1.950000000,pose1_to_pose2_press,0.57581031001,-0.00994552865157,1.05002921703,0.546381040886,-0.00127279697042,1.04969850863
+118,1.966666667,pose1_to_pose2_press,0.57585195599,-0.00994540307675,1.05002903607,0.546422686637,-0.0012726720897,1.04969832978
+119,1.983333333,pose1_to_pose2_press,0.575902509201,-0.00994535084777,1.05002904277,0.546473238282,-0.00127262534195,1.04969833204
+120,2.000000000,pose1_to_pose2_press,0.575963532384,-0.00994536919968,1.05002912717,0.546534261825,-0.00127264217803,1.04969842411
+121,2.016666667,pose1_to_pose2_press,0.576035303454,-0.00994545514996,1.05002917773,0.546606031248,-0.00127273424385,1.04969846075
+122,2.033333333,pose1_to_pose2_press,0.576118435608,-0.00994558019044,1.0500292875,0.546689167623,-0.00127284491242,1.04969857178
+123,2.050000000,pose1_to_pose2_press,0.576213945191,-0.00994560240764,1.05002917075,0.546784677883,-0.00127286460727,1.04969846079
+124,2.066666667,pose1_to_pose2_press,0.576322006926,-0.0099454058207,1.05002925942,0.546892736865,-0.00127267741495,1.04969854811
+125,2.083333333,pose1_to_pose2_press,0.576446441166,-0.00994535454097,1.05002910785,0.547017169837,-0.00127263037807,1.04969839813
+126,2.100000000,pose1_to_pose2_press,0.576588003882,-0.00994531470113,1.05002900129,0.547158733928,-0.00127258548336,1.04969830168
+127,2.116666667,pose1_to_pose2_press,0.576749558033,-0.00994550681611,1.05002902099,0.547320290975,-0.00127276798506,1.04969831572
+128,2.133333333,pose1_to_pose2_press,0.576932125968,-0.009945492945,1.05002919372,0.547502858786,-0.00127275472431,1.04969848342
+129,2.150000000,pose1_to_pose2_press,0.577137682076,-0.00994546677142,1.05002923545,0.547708413392,-0.0012727338312,1.04969852022
+130,2.166666667,pose1_to_pose2_press,0.577361824909,-0.00994542005841,1.05002909097,0.54793255472,-0.00127269200658,1.04969838148
+131,2.183333333,pose1_to_pose2_press,0.577603869495,-0.0099453405847,1.05002919072,0.548174597889,-0.0012726174373,1.04969847863
+132,2.200000000,pose1_to_pose2_press,0.577866609622,-0.00994543177316,1.05002915185,0.548437339198,-0.0012727045816,1.0496984406
+133,2.216666667,pose1_to_pose2_press,0.578146862076,-0.00994546238699,1.05002907946,0.548717592598,-0.00127273176835,1.04969837384
+134,2.233333333,pose1_to_pose2_press,0.578443985776,-0.00994536692954,1.05002915376,0.549014716588,-0.0012726354015,1.0496984461
+135,2.250000000,pose1_to_pose2_press,0.578762995535,-0.00994540273363,1.05002911245,0.549333726773,-0.00127266978945,1.04969840394
+136,2.266666667,pose1_to_pose2_press,0.57910571029,-0.00994550659308,1.05002906361,0.549676440675,-0.0012727764747,1.04969835691
+137,2.283333333,pose1_to_pose2_press,0.579479090943,-0.00994545392797,1.05002914712,0.550049821802,-0.00127272224951,1.04969843907
+138,2.300000000,pose1_to_pose2_press,0.57988487158,-0.00994541757214,1.05002914665,0.550455602436,-0.0012726858368,1.04969844031
+139,2.316666667,pose1_to_pose2_press,0.580331978018,-0.00994541235086,1.05002903992,0.550902708039,-0.00127268343566,1.04969833392
+140,2.333333333,pose1_to_pose2_press,0.580809517969,-0.0099455560043,1.05002886399,0.551380250161,-0.00127281970534,1.04969815842
+141,2.350000000,pose1_to_pose2_press,0.581312113022,-0.00994553874279,1.05002907822,0.551882844648,-0.00127280478902,1.04969836136
+142,2.366666667,pose1_to_pose2_press,0.581825973306,-0.00994549177625,1.05002917479,0.552396704815,-0.00127275800518,1.04969846349
+143,2.383333333,pose1_to_pose2_press,0.582349122596,-0.00994544946109,1.05002932428,0.552919853805,-0.00127271666642,1.04969861404
+144,2.400000000,pose1_to_pose2_press,0.582884066855,-0.00994544182227,1.05002914291,0.553454798483,-0.00127270737489,1.04969843875
+145,2.416666667,pose1_to_pose2_press,0.583439560435,-0.00994535757537,1.05002916208,0.554010289934,-0.00127263054937,1.04969845266
+146,2.433333333,pose1_to_pose2_press,0.584027598294,-0.00994541449688,1.05002908489,0.554598328885,-0.00127268360349,1.0496983798
+147,2.450000000,pose1_to_pose2_press,0.584645257882,-0.00994565163843,1.05002891668,0.555215992728,-0.00127290628915,1.04969821195
+148,2.466666667,pose1_to_pose2_press,0.585289488929,-0.00994546462721,1.05002905582,0.555860221328,-0.0012727277552,1.04969834655
+149,2.483333333,pose1_to_pose2_press,0.585938751564,-0.00994537733434,1.05002919523,0.556509481072,-0.00127265043268,1.04969848168
+150,2.500000000,pose1_to_pose2_press,0.586592213318,-0.00994549047326,1.05002931872,0.557162944432,-0.00127275829658,1.04969860062
+151,2.516666667,pose1_to_pose2_press,0.587261290937,-0.0099453800927,1.05002931942,0.557832021449,-0.00127265013692,1.0496985966
+152,2.533333333,pose1_to_pose2_press,0.587956737691,-0.00994531646388,1.05002917593,0.558527466628,-0.00127259151409,1.04969846202
+153,2.550000000,pose1_to_pose2_press,0.588688327275,-0.00994537765821,1.05002916784,0.559259057807,-0.00127264714825,1.04969845776
+154,2.566666667,pose1_to_pose2_press,0.589450688748,-0.00994546296446,1.05002930733,0.560021418087,-0.001272737053,1.0496985829
+155,2.583333333,pose1_to_pose2_press,0.590234501667,-0.00994556866161,1.05002894279,0.560805232756,-0.00127283619127,1.04969823459
+156,2.600000000,pose1_to_pose2_press,0.591019321025,-0.00994539781188,1.05002919163,0.561590050296,-0.00127267181597,1.04969847546
+157,2.616666667,pose1_to_pose2_press,0.59179781891,-0.00994546015183,1.05002917696,0.562368549108,-0.00127273070871,1.04969846871
+158,2.633333333,pose1_to_pose2_press,0.592563522275,-0.00994534826042,1.05002938832,0.563134251726,-0.00127262154985,1.04969867488
+159,2.650000000,pose1_to_pose2_press,0.593327777751,-0.00994553780886,1.05002918036,0.563898508331,-0.00127280737538,1.04969846413
+160,2.666666667,pose1_to_pose2_press,0.594093851703,-0.00994561860758,1.0500290108,0.564664586052,-0.00127287498642,1.049698305
+161,2.683333333,pose1_to_pose2_press,0.59486829242,-0.00994523375914,1.05002928368,0.565439019777,-0.00127251410483,1.04969857162
+162,2.700000000,pose1_to_pose2_press,0.595653508261,-0.00994560623161,1.05002918622,0.566224240731,-0.00127286929854,1.04969847237
+163,2.716666667,pose1_to_pose2_press,0.596460865675,-0.00994538085321,1.05002931963,0.567031594377,-0.00127265699108,1.04969859831
+164,2.733333333,pose1_to_pose2_press,0.597285529744,-0.00994547776366,1.05002892307,0.567856260238,-0.00127274717662,1.04969821877
+165,2.750000000,pose1_to_pose2_press,0.598120979029,-0.00994563231433,1.05002888271,0.568691711939,-0.00127289345914,1.04969818023
+166,2.766666667,pose1_to_pose2_press,0.598954101843,-0.00994561183047,1.05002893844,0.569524834881,-0.00127287297861,1.04969822457
+167,2.783333333,pose1_to_pose2_press,0.599778693968,-0.00994541917605,1.05002920384,0.570349426441,-0.00127268243319,1.04969848501
+168,2.800000000,pose1_to_pose2_press,0.600578858406,-0.00994538568928,1.05002929219,0.571149588704,-0.00127265608334,1.0496985798
+169,2.816666667,pose1_to_pose2_press,0.601357864484,-0.0099454099892,1.0500292965,0.571928593593,-0.00127268440132,1.04969858459
+170,2.833333333,pose1_to_pose2_press,0.602116112842,-0.00994548479968,1.05002915123,0.572686843423,-0.00127275398662,1.04969844547
+171,2.850000000,pose1_to_pose2_press,0.602865711753,-0.00994545345694,1.05002903569,0.573436443061,-0.00127272014059,1.04969833101
+172,2.866666667,pose1_to_pose2_press,0.603614989053,-0.00994554489612,1.05002923033,0.574185721532,-0.00127280765582,1.04969852443
+173,2.883333333,pose1_to_pose2_press,0.604366326979,-0.00994531296043,1.05002895949,0.574937055718,-0.00127258839046,1.04969825414
+174,2.900000000,pose1_to_pose2_press,0.605119899318,-0.00994541748292,1.05002913594,0.575690628573,-0.00127269138014,1.04969842499
+175,2.916666667,pose1_to_pose2_press,0.605863129081,-0.00994541575528,1.05002927738,0.576433859479,-0.00127268573777,1.04969856745
+176,2.933333333,pose1_to_pose2_press,0.60658615188,-0.00994536584404,1.0500290491,0.5771568825,-0.00127263498651,1.0496983415
+177,2.950000000,pose1_to_pose2_press,0.607278264739,-0.00994544888777,1.05002913643,0.577848993993,-0.00127272265723,1.04969842912
+178,2.966666667,pose1_to_pose2_press,0.607937798132,-0.00994565809608,1.05002915194,0.578508531225,-0.0012729188989,1.04969844318
+179,2.983333333,pose1_to_pose2_press,0.608565834047,-0.00994537625138,1.05002903003,0.579136565103,-0.00127264371664,1.04969832794
+180,3.000000000,pose1_to_pose2_press,0.609179898836,-0.00994541401319,1.05002926223,0.579750628475,-0.00127268667335,1.04969855009
+181,3.016666667,pose1_to_pose2_press,0.609779707451,-0.00994549050478,1.05002913428,0.580350438947,-0.00127275642847,1.04969843358
+182,3.033333333,pose1_to_pose2_press,0.610359089863,-0.00994539013857,1.05002901433,0.580929820628,-0.00127265852618,1.04969831411
+183,3.050000000,pose1_to_pose2_press,0.610918612893,-0.00994548737181,1.05002916114,0.581489343352,-0.00127275732588,1.0496984472
+184,3.066666667,pose1_to_pose2_press,0.611457116558,-0.00994553687641,1.05002906889,0.58202784792,-0.00127280372639,1.04969835607
+185,3.083333333,pose1_to_pose2_press,0.611973037422,-0.00994548551992,1.0500295005,0.582543767665,-0.00127275655615,1.04969877781
+186,3.100000000,pose1_to_pose2_press,0.61246742245,-0.00994549401534,1.05002919843,0.583038152906,-0.00127276360232,1.04969849357
+187,3.116666667,pose1_to_pose2_press,0.612939366324,-0.00994544112825,1.05002917453,0.583510096643,-0.00127271126231,1.04969846184
+188,3.133333333,pose1_to_pose2_press,0.613384638628,-0.0099454852891,1.05002904905,0.583955370239,-0.0012727504487,1.04969834103
+189,3.150000000,pose1_to_pose2_press,0.613792040425,-0.00994551673457,1.05002914527,0.584362771498,-0.00127278262312,1.04969843663
+190,3.166666667,pose1_to_pose2_press,0.61416339494,-0.00994554919584,1.05002909404,0.584734124376,-0.00127282028184,1.04969837902
+191,3.183333333,pose1_to_pose2_press,0.614498994685,-0.00994550642082,1.05002911628,0.585069723646,-0.00127277806193,1.04969840993
+192,3.200000000,pose1_to_pose2_press,0.614809676393,-0.00994540056703,1.05002890419,0.585380404951,-0.00127267273513,1.04969820242
+193,3.216666667,pose1_to_pose2_press,0.615100546602,-0.00994536992034,1.05002912978,0.58567127488,-0.00127264275211,1.04969842007
+194,3.233333333,pose1_to_pose2_press,0.615380045771,-0.00994545305782,1.05002937497,0.585950775335,-0.00127272115488,1.04969865936
+195,3.250000000,pose1_to_pose2_press,0.615646759867,-0.00994552001695,1.05002913762,0.586217489498,-0.00127278708054,1.04969842719
+196,3.266666667,pose1_to_pose2_press,0.615897448991,-0.00994556579529,1.05002911008,0.586468179283,-0.0012728300716,1.04969839955
+197,3.283333333,pose1_to_pose2_press,0.616127505071,-0.00994554463718,1.05002934771,0.58669823712,-0.00127280270424,1.04969862908
+198,3.300000000,pose1_to_pose2_press,0.616335113184,-0.0099453915551,1.05002910029,0.586905841079,-0.00127266302326,1.04969838633
+199,3.316666667,pose1_to_pose2_press,0.616521468525,-0.0099454526181,1.05002899977,0.587092196883,-0.00127272174427,1.04969829564
+200,3.333333333,pose1_to_pose2_press,0.616688682489,-0.0099453651318,1.0500293095,0.587259408614,-0.00127264161562,1.04969859897
+201,3.350000000,pose1_to_pose2_press,0.61683748591,-0.00994550707991,1.05002936371,0.587408213636,-0.00127277822006,1.04969864036
+202,3.366666667,pose1_to_pose2_press,0.616971272247,-0.00994557181792,1.05002898918,0.587542001602,-0.00127283680086,1.04969827604
+203,3.383333333,pose1_to_pose2_press,0.617090042872,-0.00994535021914,1.05002922691,0.587660771258,-0.00127261790304,1.04969852243
+204,3.400000000,pose1_to_pose2_press,0.617194275093,-0.00994544896357,1.05002904302,0.58776500331,-0.00127271709457,1.04969833595
+205,3.416666667,pose1_to_pose2_press,0.617284015659,-0.00994544443555,1.05002916296,0.587854741461,-0.00127272088054,1.04969844649
+206,3.433333333,pose1_to_pose2_press,0.617359463764,-0.00994551037536,1.05002893323,0.587930193293,-0.00127277362292,1.04969822561
+207,3.450000000,pose1_to_pose2_press,0.617422216291,-0.00994539348155,1.05002913375,0.587992945023,-0.0012726589819,1.04969843116
+208,3.466666667,pose1_to_pose2_press,0.617473155617,-0.00994538515562,1.0500291387,0.588043882772,-0.00127265587338,1.04969843374
+209,3.483333333,pose1_to_pose2_press,0.617514320736,-0.00994557644443,1.0500293239,0.588085049673,-0.00127284162828,1.04969860214
+210,3.500000000,pose1_to_pose2_press,0.617545399497,-0.00994564236705,1.05002916591,0.588116129401,-0.00127290372667,1.049698458
+211,3.516666667,pose1_to_pose2_press,0.617569452541,-0.00994555498869,1.0500291526,0.588140181424,-0.0012728200427,1.04969844414
+212,3.533333333,pose1_to_pose2_press,0.617587282707,-0.00994544902473,1.05002904026,0.588158010327,-0.00127271833129,1.04969833296
+213,3.550000000,pose1_to_pose2_press,0.617600267674,-0.00994539587234,1.05002895556,0.588170994468,-0.00127266782997,1.0496982487
+214,3.566666667,pose1_to_pose2_press,0.617609826272,-0.00994544461404,1.05002916288,0.588180552864,-0.00127271752978,1.0496984449
+215,3.583333333,pose1_to_pose2_press,0.617616482049,-0.00994539051393,1.05002912082,0.588187208276,-0.00127266447597,1.04969840695
+216,3.600000000,pose1_to_pose2_press,0.617621416468,-0.00994531952781,1.05002902426,0.588192142345,-0.00127259439851,1.0496983176
+217,3.616666667,pose1_to_pose2_press,0.617624857148,-0.00994543982504,1.05002917012,0.588195584367,-0.00127271038257,1.04969845874
+218,3.633333333,pose1_to_pose2_press,0.617627154583,-0.00994552614232,1.05002927503,0.588197882754,-0.00127279364528,1.04969856016
+219,3.650000000,pose1_to_pose2_press,0.617628534094,-0.00994554032691,1.05002924949,0.588199262109,-0.00127280833159,1.04969853573
+220,3.666666667,pose1_to_pose2_press,0.617629375436,-0.00994552786367,1.05002918426,0.588200102948,-0.00127279748445,1.04969847297
+221,3.683333333,pose1_to_pose2_press,0.617629850001,-0.00994552083368,1.05002914746,0.58820057723,-0.00127279136604,1.04969843756
+222,3.700000000,pose1_to_pose2_press,0.617630052164,-0.00994551783893,1.05002913179,0.588200779272,-0.00127278875962,1.04969842248
+223,3.716666667,pose1_to_pose2_press,0.617630185591,-0.0099455158624,1.05002912145,0.58820091262,-0.00127278703938,1.04969841253
+224,3.733333333,pose1_to_pose2_press,0.617630278958,-0.00994551447931,1.05002911421,0.58820100593,-0.00127278583564,1.04969840557
+225,3.750000000,pose1_to_pose2_press,0.617630670603,-0.00994550867766,1.05002908384,0.588201397342,-0.00127278078628,1.04969837635
+226,3.766666667,pose1_to_pose2_press,0.617631151687,-0.00994550155111,1.05002904654,0.588201878137,-0.00127277458384,1.04969834046
+227,3.783333333,pose1_to_pose2_press,0.617631486496,-0.00994550499225,1.05002904366,0.588202212998,-0.00127277786133,1.04969833745
+228,3.800000000,pose1_to_pose2_press,0.617632107694,-0.00994553009096,1.05002908971,0.58820283485,-0.00127280085922,1.0496983808
+229,3.816666667,pose1_to_pose2_press,0.617633132727,-0.00994557150611,1.0500291657,0.588203860963,-0.00127283880783,1.04969845233
+230,3.833333333,pose1_to_pose2_press,0.617633647697,-0.00994547634125,1.05002916755,0.5882043745,-0.00127274842978,1.04969845638
+231,3.850000000,pose1_to_pose2_press,0.617633885498,-0.0099453994671,1.05002915808,0.588204611078,-0.00127267561976,1.0496984492
+232,3.866666667,pose1_to_pose2_press,0.617634037125,-0.0099453504502,1.05002915205,0.588204761926,-0.00127262919425,1.04969844462
+233,3.883333333,pose1_to_pose2_press,0.617634053947,-0.00994534501239,1.05002915138,0.588204778661,-0.00127262404392,1.04969844411
+234,3.900000000,pose1_to_pose2_press,0.617634161123,-0.00994538467922,1.05002913957,0.588204887055,-0.00127265944026,1.04969843529
+235,3.916666667,pose1_to_pose2_press,0.617634173203,-0.00994539163841,1.05002913799,0.588204899331,-0.0012726657138,1.0496984341
+236,3.933333333,pose1_to_pose2_press,0.617634233519,-0.00994542638754,1.05002913009,0.588204960629,-0.00127269703928,1.0496984282
+237,3.950000000,pose1_to_pose2_press,0.617634242787,-0.00994544614295,1.05002912089,0.58820497011,-0.00127271599857,1.04969842063
+238,3.966666667,pose1_to_pose2_press,0.617634226552,-0.00994545996276,1.05002911017,0.588204953711,-0.00127273030578,1.0496984115
+239,3.983333333,pose1_to_pose2_press,0.617634222966,-0.00994546301557,1.05002910781,0.588204950089,-0.00127273346639,1.04969840949
+240,4.000000000,pose2_hold,0.617634222966,-0.00994546301557,1.05002910781,0.588204950092,-0.00127273346648,1.04969840949
+241,4.016666667,pose2_hold,0.617634222966,-0.00994546301557,1.05002910781,0.588204950092,-0.00127273346663,1.04969840949
+242,4.033333333,pose2_hold,0.617634222966,-0.00994546301557,1.05002910781,0.588204950092,-0.00127273346662,1.04969840949
+243,4.050000000,pose2_hold,0.617634222966,-0.00994546301557,1.05002910781,0.588204950092,-0.00127273346652,1.04969840949
+244,4.066666667,pose2_hold,0.617634222966,-0.00994546301557,1.05002910781,0.588204950092,-0.00127273346675,1.04969840949
+245,4.083333333,pose2_hold,0.617634222966,-0.00994546301557,1.05002910781,0.588204950092,-0.00127273346697,1.04969840949
+246,4.100000000,pose2_hold,0.617634222966,-0.00994546301557,1.05002910781,0.588204950092,-0.00127273346701,1.04969840949
+247,4.116666667,pose2_hold,0.617634222966,-0.00994546301557,1.05002910781,0.588204950093,-0.00127273346704,1.04969840949
+248,4.133333333,pose2_hold,0.617634222966,-0.00994546301557,1.05002910781,0.588204950093,-0.00127273346706,1.04969840949
+249,4.150000000,pose2_hold,0.617634222966,-0.00994546301557,1.05002910781,0.588204950092,-0.0012727334669,1.04969840949
+250,4.166666667,pose2_hold,0.617634222966,-0.00994546301557,1.05002910781,0.588204950093,-0.00127273346724,1.04969840949
+251,4.183333333,pose2_hold,0.617634222966,-0.00994546301557,1.05002910781,0.588204950093,-0.00127273346717,1.04969840949
+252,4.200000000,pose2_hold,0.617634222966,-0.00994546301557,1.05002910781,0.588204950093,-0.00127273346704,1.04969840949
+253,4.216666667,pose2_hold,0.617634222966,-0.00994546301557,1.05002910781,0.588204950093,-0.00127273346741,1.04969840949
+254,4.233333333,pose2_hold,0.617634222966,-0.00994546301557,1.05002910781,0.588204950093,-0.00127273346697,1.04969840949
+255,4.250000000,pose2_hold,0.617634222966,-0.00994546301557,1.05002910781,0.588204950093,-0.00127273346737,1.04969840949
+256,4.266666667,pose2_to_pose3_retreat,0.617634222966,-0.00994546301557,1.05002910781,0.588204950093,-0.00127273346736,1.04969840949
+257,4.283333333,pose2_to_pose3_retreat,0.61763404473,-0.00994544166817,1.05002905957,0.588204771187,-0.00127271463554,1.04969835486
+258,4.300000000,pose2_to_pose3_retreat,0.617633770512,-0.00994543379991,1.05002910526,0.588204496191,-0.00127270931792,1.04969840283
+259,4.316666667,pose2_to_pose3_retreat,0.617633561312,-0.00994542096027,1.05002913136,0.588204286789,-0.00127269723342,1.04969842709
+260,4.333333333,pose2_to_pose3_retreat,0.617633545958,-0.00994541969781,1.05002913286,0.588204271438,-0.00127269597064,1.0496984283
+261,4.350000000,pose2_to_pose3_retreat,0.617633494463,-0.0099454154638,1.05002913791,0.588204219955,-0.00127269173555,1.04969843233
+262,4.366666667,pose2_to_pose3_retreat,0.617633074726,-0.00994538095236,1.05002917904,0.588203800314,-0.00127265721534,1.04969846523
+263,4.383333333,pose2_to_pose3_retreat,0.617630923448,-0.00994548846303,1.05002930142,0.588201651147,-0.00127275798801,1.04969857718
+264,4.400000000,pose2_to_pose3_retreat,0.617624790641,-0.00994538413483,1.05002890223,0.588195517151,-0.00127265693253,1.04969819735
+265,4.416666667,pose2_to_pose3_retreat,0.617611418996,-0.00994557829924,1.05002916316,0.58818214827,-0.00127284216458,1.04969844785
+266,4.433333333,pose2_to_pose3_retreat,0.617589040507,-0.00994552027087,1.0500290848,0.588159768547,-0.00127278801176,1.04969837779
+267,4.450000000,pose2_to_pose3_retreat,0.617554725596,-0.00994543699048,1.05002929094,0.588125454165,-0.00127270314569,1.04969857641
+268,4.466666667,pose2_to_pose3_retreat,0.617508859333,-0.00994536299152,1.05002915198,0.588079586567,-0.00127263386909,1.0496984438
+269,4.483333333,pose2_to_pose3_retreat,0.617451195264,-0.00994541328376,1.05002904085,0.588021923669,-0.00127267998032,1.04969834381
+270,4.500000000,pose2_to_pose3_retreat,0.617383271724,-0.00994543550746,1.05002907503,0.587954000336,-0.00127270197038,1.04969837333
+271,4.516666667,pose2_to_pose3_retreat,0.61730481965,-0.00994543302261,1.05002906993,0.58787554194,-0.00127270462211,1.04969836327
+272,4.533333333,pose2_to_pose3_retreat,0.617214207576,-0.00994545269095,1.05002917684,0.587784931315,-0.00127272523228,1.04969846799
+273,4.550000000,pose2_to_pose3_retreat,0.617110523691,-0.00994538860586,1.05002915238,0.587681249723,-0.00127266449071,1.04969844382
+274,4.566666667,pose2_to_pose3_retreat,0.616988280458,-0.00994537651845,1.0500291238,0.587559006463,-0.00127265280561,1.04969841235
+275,4.583333333,pose2_to_pose3_retreat,0.616846558767,-0.0099454066706,1.0500293127,0.587417286479,-0.00127267768769,1.04969859714
+276,4.600000000,pose2_to_pose3_retreat,0.616681619331,-0.00994542765338,1.05002916036,0.587252348321,-0.00127269460462,1.04969844975
+277,4.616666667,pose2_to_pose3_retreat,0.616495188332,-0.00994549037394,1.05002904613,0.587065917183,-0.00127275823893,1.04969833596
+278,4.633333333,pose2_to_pose3_retreat,0.616286656556,-0.0099454839849,1.05002916048,0.586857386184,-0.00127274973069,1.04969845016
+279,4.650000000,pose2_to_pose3_retreat,0.616057140329,-0.00994539410074,1.0500291524,0.586627869482,-0.00127266185439,1.04969844486
+280,4.666666667,pose2_to_pose3_retreat,0.615807489468,-0.00994536674492,1.05002916062,0.586378216825,-0.00127264126317,1.04969845084
+281,4.683333333,pose2_to_pose3_retreat,0.615535717841,-0.00994541671706,1.05002929488,0.586106446065,-0.00127268911487,1.04969857802
+282,4.700000000,pose2_to_pose3_retreat,0.61524309984,-0.00994551194889,1.05002927856,0.585813829948,-0.00127277853652,1.0496985629
+283,4.716666667,pose2_to_pose3_retreat,0.614928417314,-0.00994553317403,1.05002910945,0.585499147686,-0.00127279929648,1.04969840316
+284,4.733333333,pose2_to_pose3_retreat,0.614590875671,-0.0099454260381,1.05002926145,0.585161605602,-0.00127269454988,1.04969854917
+285,4.750000000,pose2_to_pose3_retreat,0.614229169653,-0.00994547749949,1.05002915619,0.584799900311,-0.00127274445042,1.04969844142
+286,4.766666667,pose2_to_pose3_retreat,0.613847958344,-0.00994541091378,1.05002910108,0.584418686542,-0.00127268687117,1.04969838825
+287,4.783333333,pose2_to_pose3_retreat,0.613446298372,-0.00994545850306,1.05002927826,0.58401702802,-0.00127273036836,1.04969856537
+288,4.800000000,pose2_to_pose3_retreat,0.61301683196,-0.00994538794555,1.05002921804,0.583587560815,-0.00127266318582,1.04969849678
+289,4.816666667,pose2_to_pose3_retreat,0.612555912227,-0.00994540403034,1.05002925986,0.583126642895,-0.00127267301424,1.04969855535
+290,4.833333333,pose2_to_pose3_retreat,0.612057624019,-0.0099454198451,1.05002914807,0.58262835315,-0.00127269405614,1.04969844134
+291,4.850000000,pose2_to_pose3_retreat,0.61151377419,-0.00994551230592,1.05002917392,0.582084506388,-0.00127277632447,1.04969846228
+292,4.866666667,pose2_to_pose3_retreat,0.610925169831,-0.00994541171205,1.05002917676,0.581495898985,-0.00127268614603,1.04969846289
+293,4.883333333,pose2_to_pose3_retreat,0.610312189187,-0.0099453777179,1.05002925845,0.580882918664,-0.00127265080519,1.0496985515
+294,4.900000000,pose2_to_pose3_retreat,0.609681864493,-0.00994543767794,1.05002891757,0.58025259532,-0.00127270612274,1.04969821188
+295,4.916666667,pose2_to_pose3_retreat,0.609036502851,-0.00994563123167,1.05002916765,0.57960723534,-0.00127289430532,1.04969845497
+296,4.933333333,pose2_to_pose3_retreat,0.608377750451,-0.00994535066828,1.05002916105,0.578948478579,-0.0012726285827,1.04969844709
+297,4.950000000,pose2_to_pose3_retreat,0.60770220665,-0.00994554757904,1.05002888477,0.578272938662,-0.00127281175196,1.04969818459
+298,4.966666667,pose2_to_pose3_retreat,0.606997026968,-0.00994544193984,1.05002917619,0.577567757193,-0.00127271262984,1.04969846487
+299,4.983333333,pose2_to_pose3_retreat,0.606266124586,-0.00994548901682,1.05002927659,0.576836855281,-0.00127275799631,1.04969856859
+300,5.000000000,pose2_to_pose3_retreat,0.60551934998,-0.00994553013718,1.0500291235,0.57609008086,-0.00127279818938,1.04969842335
+301,5.016666667,pose2_to_pose3_retreat,0.604755253059,-0.00994554551227,1.05002924032,0.575325983648,-0.00127281457758,1.04969853939
+302,5.033333333,pose2_to_pose3_retreat,0.603967507181,-0.00994544981313,1.05002915083,0.574538238931,-0.00127271524164,1.04969844166
+303,5.050000000,pose2_to_pose3_retreat,0.603165508022,-0.00994558586079,1.05002915462,0.573736240324,-0.00127284950983,1.04969844442
+304,5.066666667,pose2_to_pose3_retreat,0.60235068053,-0.00994541836378,1.05002914346,0.572921410953,-0.00127268811918,1.04969843794
+305,5.083333333,pose2_to_pose3_retreat,0.601518504711,-0.00994534354945,1.05002927886,0.572089232819,-0.00127262134161,1.04969856849
+306,5.100000000,pose2_to_pose3_retreat,0.600680233651,-0.00994534494971,1.05002926864,0.571250964958,-0.00127261173473,1.04969856213
+307,5.116666667,pose2_to_pose3_retreat,0.5998489374,-0.00994542871403,1.05002891604,0.570419669361,-0.00127269333243,1.04969820819
+308,5.133333333,pose2_to_pose3_retreat,0.5990193956,-0.00994543806296,1.05002926302,0.569590126701,-0.00127270558669,1.04969855541
+309,5.150000000,pose2_to_pose3_retreat,0.598189800621,-0.00994547904635,1.05002904636,0.568760531257,-0.00127274825083,1.04969833594
+310,5.166666667,pose2_to_pose3_retreat,0.597352235944,-0.00994546625342,1.0500291576,0.567922965969,-0.00127273753977,1.04969844697
+311,5.183333333,pose2_to_pose3_retreat,0.596503302085,-0.00994549575751,1.05002906328,0.567074032811,-0.00127276469241,1.04969835189
+312,5.200000000,pose2_to_pose3_retreat,0.595636035153,-0.00994537847361,1.0500290141,0.566206763158,-0.00127265637866,1.04969830954
+313,5.216666667,pose2_to_pose3_retreat,0.594759524571,-0.00994534052843,1.05002913061,0.565330253276,-0.00127261608731,1.0496984252
+314,5.233333333,pose2_to_pose3_retreat,0.593886561855,-0.00994539648688,1.05002917208,0.564457290351,-0.00127267304556,1.04969845902
+315,5.250000000,pose2_to_pose3_retreat,0.593032405797,-0.00994549785082,1.05002930138,0.563603135118,-0.00127277172275,1.04969858535
+316,5.266666667,pose2_to_pose3_retreat,0.592201589201,-0.00994558967951,1.05002912116,0.562772320954,-0.00127285469892,1.04969842073
+317,5.283333333,pose2_to_pose3_retreat,0.591397540086,-0.00994547330133,1.05002929205,0.561968271785,-0.00127273906774,1.04969857675
+318,5.300000000,pose2_to_pose3_retreat,0.590611846968,-0.00994541533582,1.05002929104,0.56118257679,-0.00127268730502,1.04969858018
+319,5.316666667,pose2_to_pose3_retreat,0.589835903328,-0.00994538428637,1.05002940712,0.560406633119,-0.00127265656367,1.04969869085
+320,5.333333333,pose2_to_pose3_retreat,0.589061190173,-0.00994555447821,1.05002924013,0.559631923199,-0.00127281588634,1.04969852098
+321,5.350000000,pose2_to_pose3_retreat,0.588282348018,-0.00994548514876,1.05002886844,0.558853079169,-0.00127275255717,1.04969815879
+322,5.366666667,pose2_to_pose3_retreat,0.587511919545,-0.00994545420218,1.05002912417,0.558082649182,-0.00127272700802,1.04969840763
+323,5.383333333,pose2_to_pose3_retreat,0.586752032608,-0.00994542537078,1.05002904184,0.557322762764,-0.00127269600721,1.04969833606
+324,5.400000000,pose2_to_pose3_retreat,0.586019116183,-0.00994536772772,1.05002912425,0.556589846469,-0.00127263788543,1.04969841936
+325,5.416666667,pose2_to_pose3_retreat,0.585318552318,-0.00994537770639,1.05002904052,0.555889282498,-0.00127264825013,1.04969833493
+326,5.433333333,pose2_to_pose3_retreat,0.584657090292,-0.00994532714313,1.05002890063,0.555227820402,-0.00127259769731,1.04969820106
+327,5.450000000,pose2_to_pose3_retreat,0.584027100949,-0.0099453681854,1.05002909026,0.554597830902,-0.00127263947816,1.04969838524
+328,5.466666667,pose2_to_pose3_retreat,0.583425881626,-0.00994540314975,1.05002918756,0.553996612382,-0.0012726720845,1.04969847282
+329,5.483333333,pose2_to_pose3_retreat,0.582837782488,-0.00994540032287,1.05002919018,0.553408513382,-0.00127266878341,1.04969847557
+330,5.500000000,pose2_to_pose3_retreat,0.582263613947,-0.00994553800163,1.05002917373,0.552834345965,-0.00127280259469,1.04969846052
+331,5.516666667,pose2_to_pose3_retreat,0.581710119306,-0.00994542865693,1.05002916331,0.552280848752,-0.0012727018323,1.04969845399
+332,5.533333333,pose2_to_pose3_retreat,0.581180404146,-0.00994556171094,1.05002893704,0.551751135345,-0.00127282900053,1.04969822598
+333,5.550000000,pose2_to_pose3_retreat,0.580679020192,-0.00994548555154,1.05002918731,0.551249751608,-0.00127275213014,1.04969847613
+334,5.566666667,pose2_to_pose3_retreat,0.580202882222,-0.00994543062249,1.05002932403,0.550773612422,-0.00127270128877,1.04969861392
+335,5.583333333,pose2_to_pose3_retreat,0.57975024292,-0.0099454319419,1.05002921359,0.550320973549,-0.00127270120206,1.04969850208
+336,5.600000000,pose2_to_pose3_retreat,0.579320186407,-0.00994548971629,1.05002904715,0.549890916887,-0.00127275978549,1.04969832791
+337,5.616666667,pose2_to_pose3_retreat,0.578912281828,-0.00994542017157,1.05002902573,0.54948301236,-0.00127268986799,1.04969831167
+338,5.633333333,pose2_to_pose3_retreat,0.578535245107,-0.00994553922519,1.05002912831,0.549105976473,-0.00127280590903,1.04969841875
+339,5.650000000,pose2_to_pose3_retreat,0.57819298278,-0.0099454621763,1.05002916451,0.548763714687,-0.00127272704516,1.04969845432
+340,5.666666667,pose2_to_pose3_retreat,0.577889360083,-0.00994544204643,1.05002924212,0.548460092035,-0.00127270674026,1.04969853255
+341,5.683333333,pose2_to_pose3_retreat,0.577619726444,-0.00994539490823,1.05002921222,0.548190457127,-0.00127266394747,1.04969850184
+342,5.700000000,pose2_to_pose3_retreat,0.577380952486,-0.00994549541881,1.05002916529,0.547951682874,-0.00127276549567,1.049698454
+343,5.716666667,pose2_to_pose3_retreat,0.577161466214,-0.00994555416157,1.05002917948,0.547732196544,-0.00127282457264,1.04969846454
+344,5.733333333,pose2_to_pose3_retreat,0.576957001236,-0.00994544387137,1.05002919113,0.54752773139,-0.00127271491944,1.04969847507
+345,5.750000000,pose2_to_pose3_retreat,0.576765699854,-0.00994542250969,1.05002903615,0.547336430401,-0.00127269183763,1.04969833023
+346,5.766666667,pose2_to_pose3_retreat,0.576590133947,-0.00994542868335,1.05002891202,0.547160863614,-0.00127270081653,1.04969821087
+347,5.783333333,pose2_to_pose3_retreat,0.57643228306,-0.00994542692509,1.05002922445,0.547003013269,-0.00127269738006,1.0496985191
+348,5.800000000,pose2_to_pose3_retreat,0.576295440422,-0.00994532253562,1.05002910871,0.54686616972,-0.00127259614027,1.04969840181
+349,5.816666667,pose2_to_pose3_retreat,0.57617909236,-0.00994541636409,1.05002910025,0.546749822145,-0.00127268851977,1.04969838839
+350,5.833333333,pose2_to_pose3_retreat,0.57608322951,-0.00994550714321,1.05002918931,0.546653960602,-0.0012727747448,1.04969848123
+351,5.850000000,pose2_to_pose3_retreat,0.576003112548,-0.00994550380751,1.05002922642,0.546573844214,-0.00127276947695,1.04969851758
+352,5.866666667,pose2_to_pose3_retreat,0.575937644275,-0.0099454377729,1.05002904048,0.54650837346,-0.00127271187177,1.04969833123
+353,5.883333333,pose2_to_pose3_retreat,0.575882539764,-0.0099453740231,1.05002902837,0.546453269877,-0.00127264488709,1.04969832131
+354,5.900000000,pose2_to_pose3_retreat,0.575837137988,-0.00994554653369,1.05002904044,0.546407870498,-0.00127280934769,1.04969833114
+355,5.916666667,pose2_to_pose3_retreat,0.575801094486,-0.00994541140523,1.05002924979,0.546371824611,-0.00127268227469,1.04969854149
+356,5.933333333,pose2_to_pose3_retreat,0.575772537736,-0.00994557295497,1.05002896468,0.546343270878,-0.00127283359,1.04969825641
+357,5.950000000,pose2_to_pose3_retreat,0.575751060863,-0.00994521155964,1.05002910216,0.546321788734,-0.00127248998004,1.04969839653
+358,5.966666667,pose2_to_pose3_retreat,0.575735525515,-0.00994538700214,1.05002917413,0.546306254747,-0.00127266104463,1.04969846227
+359,5.983333333,pose2_to_pose3_retreat,0.575725745754,-0.00994536878427,1.05002917348,0.546296475009,-0.00127264271015,1.0496984627
+360,6.000000000,pose2_to_pose3_retreat,0.575719526077,-0.00994534579019,1.05002915876,0.546290255601,-0.00127261868251,1.04969845123
+361,6.016666667,pose2_to_pose3_retreat,0.575716145918,-0.00994541515275,1.05002914612,0.546286876712,-0.00127268366823,1.0496984403
+362,6.033333333,pose2_to_pose3_retreat,0.575714425963,-0.00994546997149,1.0500291829,0.546285157635,-0.00127273557416,1.04969847527
+363,6.050000000,pose2_to_pose3_retreat,0.575713554803,-0.00994550689572,1.05002922179,0.546284287029,-0.00127277070139,1.04969851198
+364,6.066666667,pose2_to_pose3_retreat,0.575713083405,-0.00994552687599,1.05002924284,0.54628381593,-0.00127278970927,1.04969853185
+365,6.083333333,pose2_to_pose3_retreat,0.575712794584,-0.00994553911773,1.05002925573,0.546283527293,-0.00127280135524,1.04969854402
+366,6.100000000,pose2_to_pose3_retreat,0.575712656251,-0.00994554498098,1.05002926191,0.546283389048,-0.00127280693314,1.04969854985
+367,6.116666667,pose2_to_pose3_retreat,0.575712507606,-0.00994555128135,1.05002926854,0.546283240497,-0.00127281292688,1.04969855612
+368,6.133333333,pose2_to_pose3_retreat,0.575712295899,-0.00994556025459,1.05002927799,0.546283028924,-0.00127282146342,1.04969856504
+369,6.150000000,pose2_to_pose3_retreat,0.57571198962,-0.00994557323623,1.05002929167,0.546282722841,-0.00127283381328,1.04969857795
+370,6.166666667,pose2_to_pose3_retreat,0.575711771667,-0.00994557046956,1.05002929069,0.546282504797,-0.00127283135276,1.04969857688
+371,6.183333333,pose2_to_pose3_retreat,0.575711770095,-0.00994557032171,1.05002929057,0.546282503223,-0.00127283121517,1.04969857676
+372,6.200000000,pose2_to_pose3_retreat,0.575711739648,-0.00994556745672,1.05002928822,0.546282472716,-0.00127282854898,1.04969857449
+373,6.216666667,pose2_to_pose3_retreat,0.575711720323,-0.00994556563829,1.05002928673,0.546282453354,-0.00127282685673,1.04969857306
+374,6.233333333,pose2_to_pose3_retreat,0.575711653743,-0.00994555937328,1.0500292816,0.546282386643,-0.00127282102645,1.0496985681
+375,6.250000000,pose2_to_pose3_retreat,0.575711571869,-0.00994555166917,1.05002927528,0.546282304609,-0.00127281385691,1.049698562
+376,6.266666667,pose2_to_pose3_retreat,0.575711489669,-0.00994554393443,1.05002926895,0.546282222249,-0.00127280665888,1.04969855589
+377,6.283333333,pose2_to_pose3_retreat,0.575711364284,-0.00994553213601,1.05002925928,0.546282096619,-0.00127279567915,1.04969854655
+378,6.300000000,pose2_to_pose3_retreat,0.575711358855,-0.0099455316252,1.05002925886,0.546282091179,-0.00127279520378,1.04969854615
+379,6.316666667,pose2_to_pose3_retreat,0.575711308508,-0.00994552688764,1.05002925498,0.546282040733,-0.00127279079496,1.0496985424
+380,6.333333333,pose2_to_pose3_retreat,0.575711046955,-0.00994550227631,1.05002923481,0.54628177867,-0.00127276789138,1.04969852293
+381,6.350000000,pose2_to_pose3_retreat,0.575710379012,-0.00994543942479,1.0500291833,0.546281109422,-0.00127270940108,1.04969847321
+382,6.366666667,pose2_to_pose3_retreat,0.575709875271,-0.00994544438251,1.05002921218,0.546280605829,-0.00127271395323,1.0496984995
+383,6.383333333,pose2_to_pose3_retreat,0.575709696852,-0.00994547416177,1.05002925865,0.546280428069,-0.00127274161138,1.04969854296
+384,6.400000000,pose2_to_pose3_retreat,0.575709696425,-0.00994547423302,1.05002925876,0.546280427643,-0.00127274167755,1.04969854306
+385,6.416666667,pose2_to_pose3_retreat,0.575709542089,-0.00994549999252,1.05002929896,0.546280273878,-0.00127276560225,1.04969858065
+386,6.433333333,pose2_to_pose3_retreat,0.575709422542,-0.00994552168097,1.05002935002,0.546280154715,-0.00127278600599,1.04969863125
+387,6.450000000,pose2_to_pose3_retreat,0.575709350332,-0.00994553601102,1.05002939499,0.546280082696,-0.00127279965675,1.04969867702
+388,6.466666667,pose2_to_pose3_retreat,0.575709331804,-0.00994553968789,1.05002940653,0.546280064217,-0.00127280315933,1.04969868877
+389,6.483333333,pose2_to_pose3_retreat,0.575709309138,-0.00994554418593,1.05002942064,0.546280041611,-0.00127280744414,1.04969870313
+390,6.500000000,pose2_to_pose3_retreat,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473493,1.0496984415
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_05/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_05/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e2df231641681031677fdce1ddba47f6dccc435d
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_05/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:471404bda4e52ab7421c8eba1011cfef1a03cae1ed0fd5e8af05d0fae3de2f59
+size 25034604
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_05/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_05/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3aa2b86e7c85bc27143189dfcfa23f13cd7233e6
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_05/depth_02/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,763,742,712,671,659,633,876,784,801,649,628,650,0.400966188118,-0.0153920534103,0.0598475647864,0.999999948618,0.000187041734411,-0.000259764273695,1.73990975148e-05,1793193413179877632
+1,0.016666667,BASELINE,763.575890152,742,711.424109848,671.575890152,659,633,876.575890152,784,800.424109848,649,628.575890152,650,0.400962038218,-0.0153934117256,0.0598458097747,0.999999948148,0.000183988580371,-0.000263731875167,1.72643853467e-05,1793193413196544256
+2,0.033333333,BASELINE,763.843659875,742,711.156340125,671.843659875,659,633,876.843659875,784,800,649,629,650.156340125,0.400959880408,-0.0153944204739,0.0598447267939,0.999999947906,0.000182422320349,-0.000265728608555,1.72576319742e-05,1793193413213210880
+3,0.050000000,BASELINE,763.250468553,742,711.749531447,671.250468553,659,633,876.250468553,784,800,649,629,650.749531447,0.400963288964,-0.0153944524499,0.0598455216258,0.999999948351,0.000185010792337,-0.000262218272444,1.76084256366e-05,1793193413229877760
+4,0.066666667,BASELINE,763.334452,742,712,671.334452,659,633,876.334452,784,799.665548,648.665548,629,651,0.400964135244,-0.0153937395589,0.0598457865627,0.999999948592,0.000185315264291,-0.000261087941046,1.75455501293e-05,1793193413246544128
+5,0.083333333,BASELINE,763.913328077,742,712,671.913328077,659,633,876.913328077,784,799.086671923,648.086671923,629,651,0.400963108963,-0.0153924823044,0.0598456642419,0.999999948691,0.000183950544093,-0.000261696963956,1.71803570631e-05,1793193413263210496
+6,0.100000000,BASELINE,764,742.488660969,712,671.511339031,659,633,876.511339031,784,799.488660969,648.488660969,629,651,0.400962234837,-0.0153932966447,0.059844817724,0.999999948549,0.000182472368191,-0.000263284242513,1.69695566861e-05,1793193413279877120
+7,0.116666667,BASELINE,764,742.937179604,712,671,659,633,876,784,800,649,629,651,0.400961568335,-0.0153942395662,0.0598441252454,0.999999948388,0.000181441695851,-0.000264613606754,1.68374882847e-05,1793193413296544000
+8,0.133333333,BASELINE,764,742.367454534,712,671,659,633,876,784,800,649,629,651,0.400962360976,-0.0153932765275,0.0598457047286,0.999999948446,0.000184183186355,-0.00026247184376,1.71213426571e-05,1793193413313210880
+9,0.150000000,BASELINE,764,742,711.788131288,670.788131288,659,633,876.211868712,784,800,649,629,650.788131288,0.40096263891,-0.0153929511106,0.0598464042114,0.999999948538,0.000185160417251,-0.000261431412827,1.71424794563e-05,1793193413329877504
+10,0.166666667,BASELINE,764,742,711.191371593,670.191371593,659,633,876.808628407,784,800,649,629,650.191371593,0.400961981805,-0.0153937840285,0.0598455050424,0.999999948704,0.000182932608246,-0.000262391715394,1.66863507333e-05,1793193413346544384
+11,0.183333333,BASELINE,764,742,711.39318325,670.7863665,659,633,877,784,800,649,629,650.39318325,0.400961239412,-0.0153932416494,0.0598449169296,0.999999948374,0.000183333275221,-0.000263367051945,1.66918066603e-05,1793193413363210752
+12,0.200000000,BASELINE,764,742,711.971976598,671.943953196,659,633,877,784,800,649,629,650.971976598,0.400960456757,-0.0153920500336,0.0598444756569,0.999999947809,0.000184974767195,-0.000264349485677,1.69151629081e-05,1793193413379877376
+13,0.216666667,BASELINE,764,742.547338646,711.452661354,671.452661354,659,633,876.452661354,784,800,649,629,650.452661354,0.400962007514,-0.0153926359938,0.0598452776349,0.999999948447,0.000184639372381,-0.0002621515915,1.70329495345e-05,1793193413396544000
+14,0.233333333,BASELINE,764,742.874899017,711,671.125100983,659,633,876,784,799.874899017,649,629,650.125100983,0.400963191559,-0.0153933145137,0.0598458931517,0.999999949046,0.000183624975212,-0.000260572732685,1.70949997264e-05,1793193413413210368
+15,0.250000000,BASELINE,764,742.287623878,711,671.712376122,659,633,876,784,799.287623878,649,629,650.712376122,0.400962582204,-0.0153940008506,0.059845586108,0.99999994928,0.000180473667166,-0.000261878658701,1.69709810269e-05,1793193413429877248
+16,0.266666667,BASELINE,764,742,711.297160361,671.702839639,659,633,876,784,799.297160361,649,629,651,0.400962789103,-0.0153944865387,0.059845974581,0.999999949491,0.000179555983201,-0.0002617060817,1.69724362116e-05,1793193413446543872
+17,0.283333333,BASELINE,764,742,711.879553644,671.120446356,659,633,876,784,799.879553644,649,629,651,0.400963779493,-0.0153947796316,0.0598470306539,0.999999949683,0.000180782270189,-0.000260114345837,1.70943290108e-05,1793193413463210752
+18,0.300000000,BASELINE,763.545469571,742,712,671,659,633,876,784,800,649,629,651,0.400963392521,-0.0153941007999,0.0598467614375,0.999999949361,0.000182510525778,-0.000260140310881,1.71678360192e-05,1793193413479877632
+19,0.316666667,BASELINE,763.028341163,742,712,671.028341163,659,633,876,784,800,649,628.971658837,650.971658837,0.40096261603,-0.0153932345595,0.0598461463386,0.999999948909,0.000184228053963,-0.000260662989652,1.72144515478e-05,1793193413496544512
+20,0.333333333,BASELINE,763.617338992,742,712,671.617338992,659,633,876,784,800,649,628.382661008,650.382661008,0.400961238321,-0.0153936741024,0.0598455246818,0.999999948588,0.000183144217189,-0.000262667772992,1.69786623247e-05,1793193413513210880
+21,0.350000000,BASELINE,764,742,712,672,659,633,876,784,800,649,628.202852787,650.202852787,0.400960882502,-0.0153936573852,0.0598452480555,0.999999948425,0.000182843896527,-0.00026350279843,1.68796992684e-05,1793193413529877504
+22,0.366666667,BASELINE,764,742,712,672,659,633,876,784,800,649,628.781905221,650.781905221,0.400962421824,-0.0153927945129,0.0598456113036,0.999999948561,0.000183996641964,-0.000262168454839,1.70344865377e-05,1793193413546544128
+23,0.383333333,BASELINE,764,742,712,672,659,633,876,784,800,649,629,650.63982146,0.400962970794,-0.0153933394242,0.0598459261771,0.999999948573,0.00018421282058,-0.000261961505239,1.71710519895e-05,1793193413563210496
+24,0.400000000,BASELINE,764,742,712,672,659,633,876,784,800,649,629,650.062018836,0.400962921382,-0.0153947349345,0.059846211822,0.999999948511,0.000183863114685,-0.000262435740138,1.72966076211e-05,1793193413579877120
+25,0.416666667,BASELINE,764,742,712,672,659,633,876,784,800,649,629,650.512852103,0.400963290843,-0.0153946231834,0.0598464314577,0.999999949002,0.00018280478132,-0.000261311489858,1.71529991345e-05,1793193413596544256
+26,0.433333333,BASELINE,764,742,712,671.910401705,659,633,876,783.910401705,799.910401705,649,629,651,0.400963727484,-0.0153946531618,0.059846741826,0.999999949575,0.000181581146164,-0.000259978328603,1.70444152945e-05,1793193413613210880
+27,0.450000000,BASELINE,764,742,712,671.321234045,659,633,876,783.321234045,799.321234045,649,629,651,0.400964257885,-0.0153964838845,0.0598476023421,0.999999950242,0.000179910927967,-0.00025855201969,1.73115718984e-05,1793193413629877504
+28,0.466666667,BASELINE,764,742,712,671,659.263301935,632.736698065,876,783.263301935,799,649,629,650.736698065,0.400964013769,-0.0153963464588,0.0598474084792,0.999999949943,0.000180900650645,-0.000259007360562,1.74113009805e-05,1793193413646544128
+29,0.483333333,BASELINE,764,742,712,671,659.842284814,632.157715186,876,783.842284814,799,649,629,650.157715186,0.400962841062,-0.0153938493582,0.0598459504885,0.999999948475,0.000185079459914,-0.000261718670424,1.73102959425e-05,1793193413663211008
+30,0.500000000,BASELINE,764,742,712,671,659.581137716,632.418862284,876,784,799.418862284,649,629,650,0.400963518647,-0.0153937259059,0.0598465165722,0.999999948794,0.000184480030061,-0.000260928551612,1.72154588197e-05,1793193413679877632
+31,0.516666667,BASELINE,764,742,712,671,659.005460802,632.994539198,876,784,799.994539198,649,629,650,0.400964888949,-0.0153944911056,0.0598478404338,0.999999949779,0.000182091711907,-0.00025882755978,1.71229308575e-05,1793193413696544000
+32,0.533333333,BASELINE,764,742,712,671.568468207,659,633,876.568468207,784,799.431531793,649,629,650.568468207,0.400963498445,-0.0153958212466,0.0598471290717,0.999999949591,0.000181088899437,-0.000260247481795,1.71997705382e-05,1793193413713210624
+33,0.550000000,BASELINE,764,742,712,671.852388831,659,633,876.852388831,784,799.147611169,649,629,650.852388831,0.400962353995,-0.0153968231119,0.0598465403578,0.999999949451,0.000180115530213,-0.000261455077539,1.72718363095e-05,1793193413729877248
+34,0.566666667,BASELINE,764,742,712,671.257392611,659,633,876.257392611,784,799.742607389,649,629,650.257392611,0.400962035429,-0.0153968136295,0.0598463824433,0.999999949495,0.000179191183834,-0.000261916951027,1.73245171615e-05,1793193413746543872
+35,0.583333333,BASELINE,764,742,712,671.326917878,659,633,876,784,799.673082122,649,629,650,0.400962299673,-0.0153957171123,0.0598464114832,0.999999949282,0.000180631916783,-0.000261746925303,1.72188777569e-05,1793193413763210752
+36,0.600000000,BASELINE,764,742,712,671.903081512,659,633,876,784,799.096918488,649,629,650,0.400963008256,-0.0153937918279,0.0598465830591,0.999999948865,0.000183875811906,-0.000261095132777,1.69925332675e-05,1793193413779877632
+37,0.616666667,BASELINE,764,742,712,671.521216028,659,633,876,784,799,649,629,650,0.400963169019,-0.0153941940609,0.0598470068819,0.99999994907,0.000183822457156,-0.000260341054895,1.70615363463e-05,1793193413796544512
+38,0.633333333,BASELINE,764,742,712,671.055352369,659.055352369,633,876.055352369,784,799,649,629,650,0.40096328373,-0.0153950430716,0.0598474140608,0.99999994938,0.000183047257434,-0.000259688056464,1.72034287343e-05,1793193413813211136
+39,0.650000000,BASELINE,764,742,712,671.641112562,659.641112562,633,876.641112562,784,799,649,629,650,0.400964018756,-0.0153956628748,0.0598471729309,0.999999949479,0.000181744671194,-0.000260201854759,1.74714322519e-05,1793193413829877760
+40,0.666666667,BASELINE,764,742,712,672,659.774263659,632.774263659,876.774263659,784,799,649,629,650,0.400964594913,-0.0153957947938,0.0598473119877,0.999999949696,0.000181051822121,-0.000259849221214,1.75273537772e-05,1793193413846544128
+41,0.683333333,BASELINE,764,742,712,672,659.191437597,632.191437597,876.191437597,784,799,649,629,650,0.400964919758,-0.015395154934,0.0598480524572,0.999999950098,0.000181323509336,-0.000258125989081,1.72477852229e-05,1793193413863210752
+42,0.700000000,BASELINE,764,742,711.614579619,671.614579619,659,632.385420381,876,784,799.385420381,649,629,650.385420381,0.400964177998,-0.0153954899875,0.059847544125,0.999999950107,0.000179991401981,-0.000259026852059,1.71692735563e-05,1793193413879877376
+43,0.716666667,BASELINE,764,742,711.040640791,671.040640791,659,632.959359209,876,784,799.959359209,649,629,650.959359209,0.400962914536,-0.0153963018947,0.0598464249736,0.999999949917,0.000177874839839,-0.000261211223579,1.71891036926e-05,1793193413896544000
+44,0.733333333,BASELINE,764,742,711.535365454,671.535365454,659,633,876,784,800,649,629,650.464634546,0.40096279017,-0.0153953187418,0.0598463008925,0.999999949399,0.000180438109132,-0.000261443972927,1.70357793754e-05,1793193413913211136
+45,0.750000000,BASELINE,764,742.114406033,712,671.885593967,659,633,876,784,800,649,629,650.114406033,0.40096290897,-0.0153944628912,0.0598462205097,0.999999949013,0.000182445708852,-0.000261538643488,1.68853983644e-05,1793193413929878016
+46,0.766666667,BASELINE,764,742.705431228,712,671.294568772,659,633,876,784,800,649,629,650.705431228,0.400963679172,-0.0153947072794,0.0598460062614,0.999999949304,0.000180652623425,-0.000261677672107,1.68022521741e-05,1793193413946544384
+47,0.783333333,BASELINE,764,742.710445641,711.710445641,671,659,633,876,784,800,648.710445641,629,651,0.400964183472,-0.0153943256422,0.0598461625343,0.999999949552,0.000180246386155,-0.000261011044861,1.67224649795e-05,1793193413963211008
+48,0.800000000,BASELINE,764,742.133180559,711.133180559,671,659,633,876,784,800,648.133180559,629,651,0.400964423563,-0.0153933219656,0.059846686969,0.99999994976,0.000181218166566,-0.000259543891495,1.66460153832e-05,1793193413979877632
+49,0.816666667,BASELINE,764,741.557390271,711.442609729,671.442609729,659,633,876,784,800,648.442609729,629,651,0.400963371022,-0.0153942816275,0.0598463873234,0.999999949577,0.000181139945773,-0.000260279600937,1.69831325642e-05,1793193413996544256
+50,0.833333333,BASELINE,764,741.017907624,711.982092376,671.982092376,659.017907624,633,876,784,800,648.982092376,629,650.982092376,0.400962006381,-0.0153958254053,0.0598458920463,0.9999999493,0.000180724017653,-0.000261598844255,1.7436888172e-05,1793193414013210880
+51,0.850000000,BASELINE,764,741.591651483,711.408348517,671.408348517,659.591651483,633,876,784,800,648.408348517,629,650.408348517,0.40096298706,-0.0153972236843,0.0598469955777,0.999999949779,0.000179599997726,-0.000260524891677,1.76612693557e-05,1793193414029877504
+52,0.866666667,BASELINE,764,742,711,671,659.828787225,633,876,784,800.171212775,648,629,650,0.400963726021,-0.0153973899031,0.0598475283146,0.999999949923,0.000179545180544,-0.000260011844711,1.76329242561e-05,1793193414046544128
+53,0.883333333,BASELINE,764,742,711,671,659.234863168,633,876,784,800.765136832,648,629,650,0.400963868197,-0.0153945142591,0.0598466518035,0.99999994924,0.000182130143447,-0.000260883630977,1.69806172286e-05,1793193414063210496
+54,0.900000000,BASELINE,764,742.349828925,711.349828925,671.349828925,659,633,876,784,800.650171075,648.349828925,629,650,0.400962972631,-0.0153936514714,0.0598459870201,0.999999948868,0.000182285533946,-0.000262217417962,1.66594044255e-05,1793193414079877376
+55,0.916666667,BASELINE,764,742.928482329,711.928482329,671.928482329,659,633,876,784,800.071517671,648.928482329,629,650,0.400961398273,-0.0153941053011,0.0598454607288,0.9999999487,0.000180851731449,-0.000263853401406,1.65547616866e-05,1793193414096544256
+56,0.933333333,BASELINE,764,742.49815434,712,672,659,633,876,784,800,649,629,650.50184566,0.400964375549,-0.0153944775596,0.059847552306,0.999999949712,0.000181695857691,-0.000259386845831,1.67592003097e-05,1793193414113210624
+57,0.950000000,BASELINE,764,742,712,672,659,633.076733482,876,784,799.923266518,649,629,651,0.40096711553,-0.0153947727175,0.0598494316691,0.999999950567,0.000182773396026,-0.00025528646756,1.69981756889e-05,1793193414129876992
+58,0.966666667,BASELINE,764,742,712,672,659,633.666810669,876,784,799.333189331,649,629,651,0.400963973832,-0.015394629033,0.0598474215364,0.999999949417,0.000183263370581,-0.000259393157714,1.71766018645e-05,1793193414146543616
+59,0.983333333,BASELINE,764,742,712,672,659,633.747805103,876,784.252194897,799.252194897,649,628.747805103,651,0.400961832808,-0.0153949138936,0.0598462148424,0.999999948919,0.000182383275588,-0.00026191759064,1.72626783332e-05,1793193414163210496
+60,1.000000000,BASELINE,764,742,712,672,659,633.168507668,876,784.831492332,799.831492332,649,628.168507668,651,0.400960989682,-0.0153957545871,0.0598460502265,0.999999949277,0.00017972616919,-0.000262389800395,1.72289751488e-05,1793193414179877120
+61,1.016666667,BASELINE,764.408726365,742,712,672,659,633,876.408726365,784.182547269,800,649,628.408726365,651,0.40096113639,-0.0153962283099,0.0598462674879,0.999999949373,0.000179966024827,-0.000261860767602,1.71655339266e-05,1793193414196544000
+62,1.033333333,BASELINE,764.985113949,742,712,672,659,633,876.985113949,783.029772103,800,649,628.985113949,651,0.400961689133,-0.0153965514997,0.0598466413968,0.999999949362,0.000181394226234,-0.000260921021013,1.70898940422e-05,1793193414213211136
+63,1.050000000,BASELINE,764.441356188,742,712,672,659,633,876.441356188,783.558643812,800,649,628.441356188,651,0.400961404143,-0.0153956808568,0.0598457594611,0.999999949174,0.000180749307649,-0.00026211185723,1.6688493474e-05,1793193414229877760
+64,1.066666667,BASELINE,764,742,712,672,659,633,876,784,800,649,628.136322717,651,0.400961478631,-0.0153949497088,0.059845435176,0.999999949181,0.00018021372975,-0.000262467475067,1.64633727036e-05,1793193414246544384
+65,1.083333333,BASELINE,764,742,712,672,659,633,876,784,800,649,628.7281172,651,0.400962828385,-0.0153947903775,0.0598470853123,0.999999949858,0.000180227104312,-0.000259843799601,1.68560804367e-05,1793193414263210752
+66,1.100000000,BASELINE,764,742,711.68605439,671.68605439,659,633,876,784,799.68605439,649,629,650.68605439,0.400963286168,-0.015394480503,0.0598474237823,0.999999949862,0.00018131646684,-0.000259059156066,1.69617795524e-05,1793193414279877376
+67,1.116666667,BASELINE,764,742,711.105296384,671.105296384,659,633,876,784,799.105296384,649,629,650.105296384,0.400962985894,-0.0153940426865,0.0598466475086,0.999999949298,0.000183320277336,-0.000259837447447,1.68235591473e-05,1793193414296544000
+68,1.133333333,BASELINE,764,742,711.469428546,671,659,633,876,784,799,649,629,650,0.400963132098,-0.0153958320891,0.0598469305171,0.999999949578,0.000181456544529,-0.000260035730852,1.72699581361e-05,1793193414313210624
+69,1.150000000,BASELINE,764,742,712,671,659,633,876,784,799.043827232,649,629,650,0.400963281569,-0.0153978590357,0.0598473377693,0.999999949976,0.000178969592321,-0.000260194428052,1.77734294776e-05,1793193414329877248
+70,1.166666667,BASELINE,764,742,712,671,659,633,876,784,799.630738949,649,629,650,0.400962246279,-0.0153967174908,0.059846377666,0.999999949582,0.000179373477513,-0.000261454271687,1.73797783404e-05,1793193414346544128
+71,1.183333333,BASELINE,764,742,712,671.215818622,659,633,876.215818622,784,799.784181378,649,629,650,0.400961702666,-0.0153959672798,0.0598461247632,0.999999949345,0.000180040459543,-0.000261915195083,1.71971241519e-05,1793193414363211008
+72,1.200000000,BASELINE,764,742,712,671.797790189,659,633,876.797790189,784,799.202209811,649,629,650,0.400961993222,-0.0153958809967,0.0598470716805,0.999999949375,0.000181153805728,-0.000261020688858,1.73724425024e-05,1793193414379877888
+73,1.216666667,BASELINE,764,742,712,671.624949031,659,633,876.624949031,784,799,649,629,650,0.400962366422,-0.0153967582992,0.0598473140322,0.999999949743,0.000180023835517,-0.000260391062959,1.73571939953e-05,1793193414396544256
+74,1.233333333,BASELINE,764,742,712,671.050196614,659,633,876.050196614,784,799,649,629,650,0.400962783626,-0.0153981486771,0.0598471812274,0.999999950288,0.000177699378166,-0.000259902476569,1.72404753293e-05,1793193414413210624
+75,1.250000000,BASELINE,764,742,712,671.536182069,659,633,876.536182069,784,799.536182069,649,628.463817931,650.536182069,0.400962861421,-0.0153972122762,0.0598474329512,0.999999950341,0.000177488584241,-0.000259852021828,1.71262552079e-05,1793193414429877248
+76,1.266666667,BASELINE,764,742,712,671.878176051,659,633,876.878176051,784,799.878176051,649,628.121823949,650.878176051,0.40096325221,-0.0153963306676,0.0598478905897,0.999999950459,0.000177648829526,-0.000259289584891,1.70690753557e-05,1793193414446543616
+77,1.283333333,BASELINE,764,742,712,671.299469939,659,633,876.299469939,784,799.299469939,649,628.700530061,650.299469939,0.400964938643,-0.0153964895929,0.0598489824793,0.999999950996,0.000178442040584,-0.000256649798227,1.72249196593e-05,1793193414463210240
+78,1.300000000,BASELINE,764,742,712,671,659,633,876.278874154,784,799,649.278874154,629,650.278874154,0.400965542276,-0.0153965088171,0.059849119936,0.999999951109,0.000179196387713,-0.000255678885756,1.72770677336e-05,1793193414479877376
+79,1.316666667,BASELINE,764,742,712,671,659,633,876.856829958,784,799,649.856829958,629,650.856829958,0.400964984648,-0.0153963782172,0.0598482338006,0.999999950773,0.000179909054743,-0.000256497775917,1.72180056375e-05,1793193414496544256
+80,1.333333333,BASELINE,764,742,712,671.433059379,659,633,876.566940621,784,799.866118757,649.566940621,629,651,0.400963554508,-0.0153962115077,0.0598470915534,0.999999950021,0.000180590372969,-0.000258930700245,1.73036944817e-05,1793193414513210624
+81,1.350000000,BASELINE,764.008897112,742,711.991102888,672,659,633,876.008897112,784,800.991102888,649,629,651,0.400961882745,-0.0153960273214,0.0598458942448,0.999999949154,0.000181216653597,-0.000261819237069,1.74273692311e-05,1793193414529876992
+82,1.366666667,BASELINE,764.596225749,742,711.403774251,672,659,633,876.596225749,784,800.403774251,649,629,651,0.400963181113,-0.01539547995,0.059846600089,0.999999950106,0.000178935870279,-0.000259775144878,1.69217821874e-05,1793193414546543616
+83,1.383333333,BASELINE,765,742,711.18098289,672,659,633,876.81901711,784,799.81901711,649,629,650.81901711,0.40096370128,-0.0153952679844,0.0598470268315,0.999999950564,0.000177962170555,-0.000258699001522,1.66224630002e-05,1793193414563210496
+84,1.400000000,BASELINE,765,742,711.760083491,672,659,633,876.239916509,784,799.239916509,649,629,650.239916509,0.400962509598,-0.0153957938285,0.0598468396191,0.999999949948,0.000179863731841,-0.000259752106418,1.67768821142e-05,1793193414579877120
+85,1.416666667,BASELINE,764.662279956,742,712,672,659,633,876,784,799,649,629,650,0.40096179435,-0.0153961242943,0.0598466610772,0.999999949748,0.000180350761184,-0.000260184710426,1.67996667328e-05,1793193414596544000
+86,1.433333333,BASELINE,764.085679007,742,712,672,659,633,876,784,799,649,629,650,0.400961416098,-0.0153963165622,0.0598464886684,0.999999949843,0.000179837243731,-0.000260178412935,1.67293417745e-05,1793193414613211392
+87,1.450000000,BASELINE,764,742,712,671.511492907,659,633,876,784,799.488507093,649,629,650,0.400963263788,-0.0153957557261,0.0598470445092,0.999999949889,0.000181298489882,-0.000258963453453,1.70265556302e-05,1793193414629877760
+88,1.466666667,BASELINE,764,742,712,671.064115734,659,633,876,784,800,649,629,650.064115734,0.400965240217,-0.0153951541512,0.0598477163129,0.999999949944,0.000182853473003,-0.000257632437397,1.73560224689e-05,1793193414646544384
+89,1.483333333,BASELINE,764,742,712,671.654870777,659,633,876,784,800,649,629,650.654870777,0.400965083111,-0.0153952975595,0.0598482966465,0.999999950178,0.000182347492992,-0.000257080814447,1.74235290512e-05,1793193414663211520
+90,1.500000000,BASELINE,764,742,711.759190953,672,659,633,876,784,800,649,629,650.759190953,0.400964216755,-0.015395776764,0.0598481642217,0.999999950228,0.000181191152302,-0.000257701806555,1.74030403785e-05,1793193414679878144
+91,1.516666667,BASELINE,764,742,711.180020784,672,659,633,876,784,800,649,629,650.180020784,0.400962353831,-0.0153967277961,0.0598470302989,0.999999950017,0.000179120988974,-0.000259970441726,1.72589094469e-05,1793193414696544256
+92,1.533333333,BASELINE,764,742,711.396953723,672,659,633,876,784,800,649,629,650,0.400961618013,-0.0153965267108,0.0598463815592,0.999999949793,0.000178952937485,-0.0002609755744,1.68003803306e-05,1793193414713210624
+93,1.550000000,BASELINE,764,742,711.972938012,672,659,633,876,784,800,649,629,650,0.400961390533,-0.0153958060076,0.0598459516425,0.999999949565,0.000179642759519,-0.000261410853521,1.62000541058e-05,1793193414729876992
+94,1.566666667,BASELINE,764,742,712,671.451275297,659,633,876,784,800,649,629,650,0.400962281719,-0.0153963037363,0.0598466507685,0.999999949831,0.000180272898713,-0.000259926568448,1.66519841538e-05,1793193414746543616
+95,1.583333333,BASELINE,764,742,712,671.127309968,659,633,876,784,800,649,629,650,0.400962792818,-0.0153964973149,0.0598471348536,0.999999949916,0.00018103998748,-0.000259040372237,1.70383050324e-05,1793193414763210496
+96,1.600000000,BASELINE,764,742,712,671.716074566,659,633,876,784,800,649,629,650,0.400961726333,-0.0153953707251,0.0598466377342,0.999999949263,0.000182314136377,-0.000260665059899,1.69987812488e-05,1793193414779877888
+97,1.616666667,BASELINE,764,742,712,672.299401107,659,633,876.299401107,783.700598893,800,649,629,650.299401107,0.400962585152,-0.0153951516314,0.0598473274882,0.999999949407,0.000183030863175,-0.000259606630688,1.70507881326e-05,1793193414796545024
+98,1.633333333,BASELINE,764,742,712,672.877662639,659,633,876.877662639,783.122337361,800,649,629,650.877662639,0.400965237188,-0.0153957777744,0.0598491226892,0.999999950285,0.000183228410239,-0.000256049162163,1.71880461426e-05,1793193414813211392
+99,1.650000000,BASELINE,764,742,711.545152833,672.090305667,659,633,876.545152833,783.454847167,799.545152833,649,628.545152833,651,0.400965622642,-0.0153955399513,0.0598492407398,0.99999995073,0.000181517041979,-0.000255545779328,1.69532176199e-05,1793193414829878016
+100,1.666666667,BASELINE,764,742,711.032459645,671.032459645,659,633,876,784,799,649,628.032459645,651,0.400965347251,-0.0153952057417,0.0598488866411,0.999999951027,0.000179361316562,-0.000255925442951,1.66620993306e-05,1793193414846544128
+101,1.683333333,BASELINE,764,742,711.62238508,671.62238508,659,633,876,784,799,649,628.62238508,651,0.400964167505,-0.015397197598,0.0598481526078,0.999999950819,0.000178371006865,-0.000257396501416,1.71189410131e-05,1793193414863210496
+102,1.700000000,BASELINE,764,742,711.791668578,672,659,633,876,784,799.416662843,649,628.791668578,650.791668578,0.400963269231,-0.0153982683533,0.0598477235451,0.999999950754,0.000177462004904,-0.000258262006672,1.73470970545e-05,1793193414879877120
+103,1.716666667,BASELINE,764,742,711.212799504,672,659,633,876,784,800.574400993,649,628.212799504,650.212799504,0.400962871585,-0.0153977008408,0.0598478369024,0.999999950947,0.000176697616748,-0.000258050476619,1.71685134395e-05,1793193414896544000
+104,1.733333333,BASELINE,764,742,711,672,659,633,876.363689143,784,800.272621715,648.636310857,628.363689143,650.363689143,0.40096333703,-0.0153970654163,0.0598478773609,0.999999950759,0.000178013025016,-0.000257877941949,1.71098998831e-05,1793193414913210624
+105,1.750000000,BASELINE,764,742,711,672,659,633,876.938794079,784,799.122411842,648.061205921,628.938794079,650.938794079,0.400964304198,-0.015396390514,0.0598478754427,0.999999950345,0.000180537437714,-0.000257728075628,1.71210259919e-05,1793193414929877504
+106,1.766666667,BASELINE,764,742,711.524781041,672,659,633,876.475218959,784,799.524781041,648.524781041,629,650.475218959,0.400963769223,-0.0153955798218,0.0598474168415,0.999999950057,0.000181297693667,-0.000258311267718,1.70805473816e-05,1793193414946544128
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,742,712,672,659,633,876,784,800,649,629,651,0.400964567309,-0.0153944387418,0.0598487381557,0.999999949865,0.00018471011675,-0.000256613098116,1.73970534707e-05,1793193414988803072
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,742,712,672,659,633,876,784,800,649,629,651,0.400964863166,-0.0153954033237,0.0598486769654,0.999999950508,0.000181364803986,-0.00025652138052,1.69858715832e-05,1793193415005469696
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,742,712,672,659,633,876,784,800,649,629,650.845174602,0.400964756742,-0.0153963405597,0.0598485403089,0.999999950895,0.000178974866363,-0.000256704444764,1.67556815281e-05,1793193415022136064
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,742,712,672,659,633,876,784,800,649,629,650.268398301,0.400963553973,-0.0153972032691,0.059848197982,0.999999950613,0.000179188644255,-0.000257636381259,1.70187545565e-05,1793193415038802688
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,742,711.6861399,672,659,633,876,784,799.6861399,649,629,650,0.400963864686,-0.0153969656261,0.0598483127017,0.999999950644,0.000179487191166,-0.000257307940737,1.70181158836e-05,1793193415055469312
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,742,711.09911016,672,659,633,876,784,799.09911016,649,629,650,0.400965492665,-0.0153957702861,0.0598488252142,0.999999950946,0.000179859517187,-0.000255882524995,1.67879544547e-05,1793193415072135936
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,742,711.481717867,672,659,633,876.481717867,784,799.481717867,649,629,650.481717867,0.400965525889,-0.0153961629958,0.0598485333985,0.999999950758,0.000179267554247,-0.000257036015101,1.6717339713e-05,1793193415088802816
+114,1.900000000,POSE1_TO_POSE2_PRESS,764.061083165,742,712,671.938916835,659,633,876.938916835,784,800,649,629,650.938916835,0.400966061155,-0.0153969145673,0.059848521383,0.999999950721,0.000178425456462,-0.00025776224444,1.67401004628e-05,1793193415105469184
+115,1.916666667,POSE1_TO_POSE2_PRESS,764.638731874,742,712,671.361268126,659,633,876.361268126,784,800,649,629,650.361268126,0.400973581543,-0.0153979729871,0.05985225725,0.999999952803,0.000177124489068,-0.00025044517583,1.72784450686e-05,1793193415122136064
+116,1.933333333,POSE1_TO_POSE2_PRESS,764.785540631,742,711.785540631,671,659,633,876.214459369,784,800,648.785540631,629,650,0.400986401489,-0.0153984186245,0.0598579879348,0.999999955171,0.000177702317587,-0.000240327150042,1.79920166839e-05,1793193415138802944
+117,1.950000000,POSE1_TO_POSE2_PRESS,764.213020845,742,711.213020845,671,659,633,876.786979155,784,800,648.213020845,629,650,0.401008069554,-0.0153978411627,0.0598670491581,0.999999957931,0.000181416975585,-0.00022553265922,1.89981464857e-05,1793193415155470592
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,742,711,671.370820238,659,633,876.629179762,784,800,648.370820238,629,650,0.401043794174,-0.0153999974844,0.0598802773029,0.999999962923,0.000180675890885,-0.00020271288114,2.04218153977e-05,1793193415172136960
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,742,711,671.961369803,659,633,876.038630197,784,800,648.961369803,629,650,0.401087848001,-0.015403773708,0.0598959745555,0.999999968703,0.000177294558564,-0.000175137721998,2.20928969642e-05,1793193415188802816
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,742,711.541106499,672,659,633,876,784,800,649,629,650.541106499,0.40115401668,-0.0154063316173,0.0599111032139,0.999999972364,0.000177672136518,-0.000152179838327,2.33630513469e-05,1793193415205469696
+121,2.016666667,POSE1_TO_POSE2_PRESS,764.11929097,742,712,672,659,633,876.11929097,784,800,649,629,651,0.401224800236,-0.0154092625954,0.0599246500003,0.999999975241,0.000178193423086,-0.00013104384439,2.43404260249e-05,1793193415222136064
+122,2.033333333,POSE1_TO_POSE2_PRESS,764.694436075,742,712,672,659,633,876.694436075,784,800,649,629,651,0.40130730394,-0.015413945064,0.0599323039637,0.999999977131,0.000178258489839,-0.000115634979538,2.43062181251e-05,1793193415238802944
+123,2.050000000,POSE1_TO_POSE2_PRESS,764.724729553,742,712,671.724729553,659,633,876.724729553,784.275270447,800,649,629,651,0.401395184488,-0.0154189192116,0.0599354619983,0.999999978424,0.000176026984739,-0.000107745316019,2.36300393053e-05,1793193415255469568
+124,2.066666667,POSE1_TO_POSE2_PRESS,764.137446565,742,712,671.137446565,659,633,876.137446565,784.862553435,800,649,629,651,0.401489159556,-0.0154242239702,0.0599335240037,0.999999979227,0.000171192369799,-0.000108378490286,2.222620164e-05,1793193415272136192
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,742.443582304,712,671.443582304,659.443582304,633,876.443582304,784.556417696,800,649,629,650.556417696,0.401601332003,-0.0154302925037,0.0599304075042,0.999999979563,0.000167962169077,-0.000110668068006,2.03637858187e-05,1793193415288803072
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,742.977356793,711.977356793,672,659.977356793,633,876.977356793,784,800,649.022643207,629,650.022643207,0.40172050528,-0.0154366669516,0.0599270799789,0.999999979775,0.000165236535036,-0.000113182480628,1.83655243241e-05,1793193415305469696
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,742.399693628,711.399693628,672,659.399693628,633,876.399693628,784,800,649.600306372,629,650.600306372,0.401874991388,-0.0154448195856,0.0599274062385,0.999999980683,0.000162862427878,-0.00010880239375,1.64719731538e-05,1793193415322136320
+128,2.133333333,POSE1_TO_POSE2_PRESS,763.822284628,742,711.177715372,671.822284628,659,633,876,784,799.822284628,649.822284628,629,651,0.402043063626,-0.0154541488676,0.0599288740961,0.99999998219,0.000158268803348,-0.000101766036717,1.46837519614e-05,1793193415338802944
+129,2.150000000,POSE1_TO_POSE2_PRESS,763.245446524,742,711.754553476,671.245446524,659,633,876,784,799.245446524,649.245446524,629,651,0.402241648304,-0.0154661207278,0.0599329058156,0.99999998492,0.000148690467716,-8.87640859864e-05,1.31320867483e-05,1793193415355469824
+130,2.166666667,POSE1_TO_POSE2_PRESS,763.336663183,742,712,671.336663183,659,633,876,784,799.336663183,649,629,650.663336817,0.402456569336,-0.0154778605423,0.0599347633954,0.999999986945,0.000139560123196,-8.07232227687e-05,1.08312861073e-05,1793193415372136704
+131,2.183333333,POSE1_TO_POSE2_PRESS,763.922677385,742,712,671.922677385,659,633,876,784,799.922677385,649,629,650.077322615,0.402683589979,-0.0154894284926,0.0599350106896,0.999999988504,0.000130761584207,-7.63568087663e-05,7.97563496385e-06,1793193415388803584
+132,2.200000000,POSE1_TO_POSE2_PRESS,764.50566742,742,712,672,659,633,876,784,800,649,629,650,0.402943925007,-0.0155003714806,0.0599349270337,0.999999989496,0.000124374706878,-7.42560922955e-05,4.93719227331e-06,1793193415405470208
+133,2.216666667,POSE1_TO_POSE2_PRESS,764.913167407,742,712,672,659,633,876,784,800,649,629,650,0.403211684548,-0.0155106583217,0.0599326883392,0.999999990076,0.000118495461209,-7.61936959517e-05,1.52055284942e-06,1793193415422136576
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.339653593,742,712,672,659,633,876,784,800,649,629,650,0.403492675095,-0.0155178000171,0.0599186529899,0.999999988678,0.000113406784494,-9.88351043257e-05,-3.86008397348e-06,1793193415438803200
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,742,712,672,659.234926332,633,876.234926332,784,800,649,629,650,0.403794203589,-0.0155184717659,0.059907418334,0.999999989029,8.96065073237e-05,-0.000117641513001,-8.5790991319e-06,1793193415455469824
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,742,712,672,659.811054619,633,876.811054619,784,800,649,629,650,0.404125560942,-0.0155097467027,0.0599002513458,0.999999990613,3.86299039248e-05,-0.000130878049012,-1.23371888685e-05,1793193415472136448
+137,2.283333333,POSE1_TO_POSE2_PRESS,763.602407517,742,712,671.602407517,659.602407517,633,876.602407517,784,799.602407517,649,629,650,0.404487409781,-0.015499130365,0.0598916316617,0.999999988404,3.09463224491e-05,-0.000147964084672,-1.84405961253e-05,1793193415488802816
+138,2.300000000,POSE1_TO_POSE2_PRESS,763.010789794,742,712,671.010789794,659.010789794,633,876.010789794,784,799.010789794,649,629,650,0.404864138465,-0.0154875910852,0.0598823030619,0.999999984752,4.43897490701e-05,-0.000166928676882,-2.56885188703e-05,1793193415505469440
+139,2.316666667,POSE1_TO_POSE2_PRESS,763.566644791,742,712,671.566644791,659,633,876.566644791,784,799,649,629,650,0.405309960128,-0.0154993510605,0.0598936898419,0.999999987733,3.34594372563e-05,-0.000150408633066,-2.81379219724e-05,1793193415522136832
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,742,711.856926783,672,659,633,877,784,799.143073217,649,629,650,0.405772968748,-0.0155109223898,0.0599097989603,0.999999991665,1.88023237411e-05,-0.000124133419474,-3.01361317161e-05,1793193415538803968
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,742,711.282736364,672,659,633,877,784,799.717263636,649,629,650,0.406283898547,-0.0155206210752,0.0599389781564,0.99999999702,-5.72027371691e-06,-7.04496104062e-05,-3.10433792616e-05,1793193415555470848
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,742,711.2996127,671.7003873,659,633,877,784,799.7003873,649,629,650,0.406813773577,-0.0155262164224,0.0599640117446,0.999999998717,-2.50638569366e-05,-2.95967999226e-05,-3.25742785642e-05,1793193415572137472
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,742,711.889876443,671.110123557,659,633,877,784,799.110123557,649,629,650,0.407362027233,-0.0155278311665,0.0599850237266,0.999999998621,-3.93833372876e-05,-1.19119636279e-06,-3.47101758628e-05,1793193415588804096
+144,2.400000000,POSE1_TO_POSE2_PRESS,763.528765252,742,712,671.471234748,659,633,877,784,799,649,628.528765252,650.471234748,0.407896048012,-0.0155266986036,0.0599801853721,0.999999998749,-3.0572112513e-05,-2.14593169962e-05,-3.32729397089e-05,1793193415605470720
+145,2.416666667,POSE1_TO_POSE2_PRESS,763.050324921,742,712,672,659.050324921,633,877,784,799,649,628,650.949675079,0.408430582319,-0.0155248925268,0.0599689440772,0.999999997992,-1.57539850191e-05,-5.30039151761e-05,-3.09433750529e-05,1793193415622137344
+146,2.433333333,POSE1_TO_POSE2_PRESS,763.627055637,742,712,672,659.627055637,633,877,784,799,649,628,650.372944363,0.409004634776,-0.015522632482,0.0599527448516,0.999999995917,6.4041532369e-06,-8.57285830432e-05,-2.78522584477e-05,1793193415638803456
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,742,712,672,660,633,877,784,799.202843105,649,628.202843105,650,0.409607040013,-0.0155211082378,0.0599440291136,0.999999994644,1.62821552107e-05,-9.84702166176e-05,-2.74030951e-05,1793193415655469824
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,742,712,672,660,633,877,784,799.776904324,649,628.776904324,650,0.410261332936,-0.0155209305638,0.0599490087206,0.999999996702,3.68658427794e-06,-7.4641394981e-05,-3.17889048515e-05,1793193415672137216
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,742,712,672,660,633,877,784,800,649,629,650,0.410940345265,-0.015525648547,0.0599549078507,0.999999997578,-7.28049715305e-06,-6.04463776563e-05,-3.37370286072e-05,1793193415688804096
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,742,712,672,660,633,877,784,800,649,629,650,0.411635070771,-0.0155334785161,0.0599613914868,0.999999997898,-1.72124083092e-05,-5.23752098957e-05,-3.41356064991e-05,1793193415705470464
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,742,712.526851344,672,659.473148656,633,877,784,800.526851344,649.526851344,628.473148656,650,0.412297300024,-0.0155331303555,0.0599411063597,0.999999995234,-1.52679550256e-05,-8.95193779737e-05,-3.58398732284e-05,1793193415722136832
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,742,712.796853868,672,659.101573066,633,877,784,800.796853868,649.898426934,628,650,0.412964641479,-0.0155316598337,0.0599180068595,0.999999990495,-1.2235562193e-05,-0.000131991872843,-3.79331677939e-05,1793193415738802944
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,742,711.636513839,672,659.68174308,633,877,784,799.636513839,649.31825692,628,650,0.413669647035,-0.0155283175991,0.0598928299987,0.999999982783,-9.0387063029e-06,-0.000180680429475,-4.13140078566e-05,1793193415755469568
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,742,711.265141772,672,660,633,877,783.734858228,799.265141772,649,628,650.265141772,0.414427127301,-0.0155301265531,0.0599008370228,0.999999985265,-1.00196809589e-05,-0.000166326765953,-4.12964880667e-05,1793193415772136192
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,742,711.852463785,672,660,633,877,783.147536215,799.852463785,649,628,650.852463785,0.415248370962,-0.0155381948419,0.0599491665923,0.99999999634,-1.60772390658e-05,-7.53689671514e-05,-3.71495385289e-05,1793193415788802816
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,742,711.566235688,672,660,633,877,783.433764312,800,649,628.433764312,651,0.416078358526,-0.0155445437895,0.0599822357343,0.999999998893,-2.55906629702e-05,-1.92014298163e-05,-3.45089340359e-05,1793193415805469440
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,742,711.013030529,672,660,633,877,784,800,649,629,650.986969471,0.416910289477,-0.0155501486875,0.0600091172094,0.999999998549,-3.59087373334e-05,2.35898040036e-05,-3.24887504618e-05,1793193415822136320
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,742,711.591679092,672,660,633,877,784,800,649,629,650.408320908,0.417699251516,-0.0155484934377,0.0599896309387,0.999999998867,-3.08303771912e-05,-7.63296182687e-06,-3.54639849327e-05,1793193415838802944
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,742,712,671.831791991,660,633,877.168208009,784,800,649,628.831791991,650,0.418489823115,-0.015547139627,0.0599684399445,0.999999997897,-3.0928708978e-05,-4.18540515296e-05,-3.86867261619e-05,1793193415855469568
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,742,712,671.260344464,660,633,877.739655536,784,800,649,628.260344464,650,0.419284253211,-0.0155465084463,0.0599431622743,0.999999994687,-4.34369540813e-05,-8.32629223664e-05,-4.25028070367e-05,1793193415872135936
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,742,712,671.321777983,660,633,877.678222017,784,800,649,628.321777983,650.321777983,0.420069266405,-0.0155446866084,0.059917355485,0.999999990528,-4.63336613061e-05,-0.000121121838442,-4.61230733287e-05,1793193415888802816
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,742,712,671.912833632,660,633,877.087166368,784,800,649,628.912833632,650.912833632,0.420846399089,-0.0155418683772,0.0598911059074,0.999999985753,-4.1187019292e-05,-0.000156009997484,-4.95794733634e-05,1793193415905469440
+163,2.716666667,POSE1_TO_POSE2_PRESS,763.503865046,742.496134954,712,672,660,632.503865046,877,783.503865046,800,649,629,650.503865046,0.421633664268,-0.0155393310002,0.0598699021629,0.999999976976,-3.90456041684e-05,-0.00020458383788,-5.16596473742e-05,1793193415922136320
+164,2.733333333,POSE1_TO_POSE2_PRESS,763.076834987,742.923165013,712,672.076834987,660,632.076834987,877,783.076834987,800,649,629,650.076834987,0.422445407605,-0.015537784208,0.0598608185676,0.999999970609,-3.83581037615e-05,-0.000233548853601,-5.25843327647e-05,1793193415938803200
+165,2.750000000,POSE1_TO_POSE2_PRESS,763.64940601,742.35059399,712,672.64940601,660,632.64940601,877,783.64940601,800,649,629,650.64940601,0.42340377368,-0.015542315164,0.0599243019799,0.999999990626,-4.36970490145e-05,-0.000120723887197,-4.75898683048e-05,1793193415955469824
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,742.227494206,712,672.772505794,660,633,877,783.772505794,800,649,629,650.772505794,0.424318471801,-0.0155469172566,0.0599776313897,0.999999997585,-4.66119945955e-05,-2.89496037398e-05,-4.26640932318e-05,1793193415972136448
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,742.814296402,712,672.185703598,660,633,877,783.185703598,800,649,629,650.185703598,0.425164200203,-0.015551631704,0.0600149234151,0.999999997802,-4.56984377159e-05,2.95769098428e-05,-3.78468071613e-05,1793193415988802816
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,743,711.604114979,672,660,633,877,783.395885021,800,649,629,650,0.425997487691,-0.0155540688707,0.0600110831012,0.999999997362,-5.31942917051e-05,2.98579297319e-05,-3.94309910976e-05,1793193416005469440
+169,2.816666667,POSE1_TO_POSE2_PRESS,764,743,711.024940216,672,660,633,877,783.975059784,800,649,629,650,0.426825015143,-0.0155554516851,0.0599881990338,0.999999996942,-6.45835962917e-05,3.17202158386e-06,-4.39789747231e-05,1793193416022135808
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,743,711.553877078,672.553877078,660,633,877,784,800,649,629,650,0.427645449954,-0.015555788076,0.0599621884728,0.99999999621,-6.48176278452e-05,-3.4101607587e-05,-4.70821968794e-05,1793193416038802688
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.132175347,742.867824653,712,673,660,633,877.132175347,784,800,649,629,650,0.428451033185,-0.0155553925425,0.0599380311187,0.999999994183,-6.49366871464e-05,-7.02561676274e-05,-4.98027206003e-05,1793193416055469312
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.70878248,742.29121752,712,673,660,633,877.70878248,784,800,649,629,650,0.429207751987,-0.0155526942879,0.0599205781279,0.999999991369,-6.63570389423e-05,-0.000101045917484,-5.14550471371e-05,1793193416072135936
+173,2.883333333,POSE1_TO_POSE2_PRESS,764.708374159,742,712,673,660,633,877.708374159,784,800,649,629,650.291625841,0.429968148015,-0.0155503782098,0.0599081955106,0.999999989057,-6.71305549732e-05,-0.000120737286117,-5.29365741861e-05,1793193416088802560
+174,2.900000000,POSE1_TO_POSE2_PRESS,764.119167258,742,712,673,660,633,877.119167258,784,800,649,629,650.880832742,0.430732296315,-0.0155484521126,0.0599009868086,0.999999987934,-6.72440263219e-05,-0.000129103634381,-5.42438138271e-05,1793193416105469184
+175,2.916666667,POSE1_TO_POSE2_PRESS,764,742,712,673,660.460988132,632.539011868,877,784,800,649,629,650.539011868,0.431562854514,-0.0155537022886,0.0599439735318,0.999999994831,-7.04179749322e-05,-5.30831076308e-05,-5.06095059256e-05,1793193416122135808
+176,2.933333333,POSE1_TO_POSE2_PRESS,764,742,712,673,660.961340725,632.038659275,877,784,799.961340725,648.961340725,629,650,0.432403006879,-0.0155604853877,0.0599960532334,0.999999995458,-7.45667874293e-05,3.74727017853e-05,-4.60466868297e-05,1793193416138802688
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,742,712,673,660.386298789,632.613701211,877,784,799.386298789,648.386298789,629,650,0.433142671873,-0.0155632941144,0.059997728256,0.999999995084,-8.1476006318e-05,3.28626501071e-05,-4.59834096416e-05,1793193416155470080
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,742.19303994,712,673,660,633,877,784,799,648.19303994,629,650,0.433855390574,-0.0155646167015,0.0599877426904,0.999999995121,-8.61150630172e-05,1.13114036242e-05,-4.7057421716e-05,1793193416172137216
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,742.78117298,712,673,660,633,877,784,799,648.78117298,629,650,0.434512958675,-0.0155628976205,0.059953891505,0.999999994011,-8.61078003662e-05,-4.49132341025e-05,-5.04591133454e-05,1793193416188803072
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,743,712,673,660,632.636402921,877.363597079,784,799,649,629,650,0.435161110335,-0.0155608095113,0.0599257401695,0.999999990771,-8.23852161089e-05,-9.41503121999e-05,-5.29705919352e-05,1793193416205469440
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,743,712,673,660,632.057361607,877.942638393,784,799,649,629,650,0.43580368238,-0.0155585027398,0.0599009662004,0.999999985872,-7.64611712915e-05,-0.000139247008614,-5.49545873293e-05,1793193416222136064
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,742.47893475,712,673,660.52106525,632.52106525,877.47893475,784,799.52106525,649,629,650,0.436448264331,-0.0155578000115,0.0599079398024,0.999999986749,-8.66562398559e-05,-0.000126405433677,-5.49041023644e-05,1793193416238803456
+183,3.050000000,POSE1_TO_POSE2_PRESS,764.098483219,742,712,673,660.901516781,632.901516781,877.098483219,784,800,649,629,650,0.437081401378,-0.0155571256821,0.05991554015,0.999999987532,-9.37509527385e-05,-0.000114724404316,-5.46312938972e-05,1793193416255470592
+184,3.066666667,POSE1_TO_POSE2_PRESS,764.671366741,742,712,673,660.328633259,632.328633259,877.671366741,784,800,649,629,650,0.437658342966,-0.0155557385492,0.059909344042,0.999999985824,-7.73733361916e-05,-0.000139321592486,-5.43651282874e-05,1793193416272137216
+185,3.083333333,POSE1_TO_POSE2_PRESS,764.748554997,742,712,673,660,632,878,784,800,649,629,650,0.43822293436,-0.0155568519243,0.0599060878678,0.999999984645,-6.86419521675e-05,-0.000151853606623,-5.42084040917e-05,1793193416288803840
+186,3.100000000,POSE1_TO_POSE2_PRESS,764.158796421,742,712,673,660,632,878,784,800,649,629,650,0.438770908801,-0.0155613296765,0.0599067873088,0.999999985093,-7.01984027233e-05,-0.000148152199702,-5.41989309178e-05,1793193416305470464
+187,3.116666667,POSE1_TO_POSE2_PRESS,764,742.424619235,712,673,660,632,878,784,800,649,629,650,0.439304859601,-0.015568288193,0.0599176362042,0.999999984966,-9.78578424426e-05,-0.000132981835566,-5.29950575683e-05,1793193416322136832
+188,3.133333333,POSE1_TO_POSE2_PRESS,764,742.994364115,711.994364115,673,660,632,878,783.994364115,800,649,629,650,0.439832826457,-0.0155761305004,0.059931940512,0.999999983101,-0.000134721131758,-0.000114049842062,-5.13895674276e-05,1793193416338802944
+189,3.150000000,POSE1_TO_POSE2_PRESS,764,742.419596381,711.419596381,673,660,632,878,783.419596381,800,649,629,650,0.440278319563,-0.0155809134446,0.0599175297901,0.99999998006,-0.000129745975691,-0.000142007925544,-5.36702781497e-05,1793193416355470080
+190,3.166666667,POSE1_TO_POSE2_PRESS,764,742.153893229,711.153893229,673,660,632,877.846106771,783,800,649,629,650,0.440701433637,-0.0155844747667,0.0598931915408,0.999999972786,-0.00013105967423,-0.000184395429629,-5.70054799203e-05,1793193416372137472
+191,3.183333333,POSE1_TO_POSE2_PRESS,764,742.723926813,711.723926813,673,660,632,877.276073187,783,800,649,629,650,0.441064033005,-0.0155847327202,0.0598420084118,0.999999951521,-0.000149378968062,-0.000265801317733,-6.31921153676e-05,1793193416388804352
+192,3.200000000,POSE1_TO_POSE2_PRESS,764.30841911,743,712,673,660,632,877,783,800,649,629,650.30841911,0.441414214039,-0.0155860223209,0.0597994449659,0.99999993045,-0.000158921137119,-0.000330391249783,-6.84578768559e-05,1793193416405470976
+193,3.216666667,POSE1_TO_POSE2_PRESS,764.906490288,743,712,673,660,632,877,783,800,649,629,650.906490288,0.441752732362,-0.0155882807941,0.0597649767057,0.999999912619,-0.000160220261432,-0.000379188458506,-7.28587986138e-05,1793193416422137600
+194,3.233333333,POSE1_TO_POSE2_PRESS,764.513825822,743,711.513825822,673,660,632,877.486174178,783,800,649,629,650.513825822,0.442086787535,-0.0155922512353,0.0597512906003,0.999999911963,-0.000129237233072,-0.00039391814888,-6.48062292151e-05,1793193416438803712
+195,3.250000000,POSE1_TO_POSE2_PRESS,764,743,711.062365596,673,660,631.937634404,877.937634404,783,800,649,628.937634404,650,0.442415982137,-0.0155964955361,0.0597427848456,0.999999913152,-9.71153628497e-05,-0.000401435018951,-5.58085000618e-05,1793193416455469824
+196,3.266666667,POSE1_TO_POSE2_PRESS,764,743,711.637859479,673,660,631.362140521,877.362140521,783,800,649,628.362140521,650,0.442711990779,-0.0156003826112,0.0597452122952,0.999999912197,-0.000104848423313,-0.000401554063171,-5.80237852109e-05,1793193416472136192
+197,3.283333333,POSE1_TO_POSE2_PRESS,764,742.78164197,712,673,660,631.21835803,877.21835803,782.78164197,800,649,628,650,0.442993173072,-0.015601311182,0.0597453602785,0.999999909803,-0.000117084531149,-0.000403824387081,-6.00978199955e-05,1793193416488802816
+198,3.300000000,POSE1_TO_POSE2_PRESS,764,742.192648685,712,673,660,631.807351315,877.807351315,782.192648685,800,649,628,650,0.443249189473,-0.0155972180641,0.0597416391546,0.999999904757,-0.000136963993966,-0.000409746237229,-6.19320998379e-05,1793193416505469696
+199,3.316666667,POSE1_TO_POSE2_PRESS,764.389744035,742.389744035,712,673,659.610255965,632,877.610255965,782.779488071,800,649,628,650,0.44347899188,-0.0155986526232,0.0597379715011,0.999999899332,-0.000155801124823,-0.000415989143396,-6.3358863449e-05,1793193416522136320
+200,3.333333333,POSE1_TO_POSE2_PRESS,764.968928514,742.968928514,712,673,659.031071486,632,877.031071486,783.937857028,800,649,628,650,0.443696052639,-0.0156027739853,0.0597343298372,0.999999893547,-0.000174131617656,-0.000422388103707,-6.45875483491e-05,1793193416538803200
+201,3.350000000,POSE1_TO_POSE2_PRESS,764.455098537,743,711.455098537,673,659,631.455098537,877,782.910197075,800,649,628.544901463,650,0.443875340749,-0.015612882879,0.0597318328277,0.999999889678,-0.000180408144964,-0.000428838242221,-6.47721525014e-05,1793193416555469824
+202,3.366666667,POSE1_TO_POSE2_PRESS,764,743,711.12289672,673,659,631,877.24579344,782,800,649,628.87710328,650,0.444045856087,-0.0156222690088,0.0597290235827,0.999999885829,-0.000186040845248,-0.000435313221994,-6.50677439921e-05,1793193416572136960
+203,3.383333333,POSE1_TO_POSE2_PRESS,764,743,711.709204212,673,659,631,878.418408425,782,800,649,628.290795788,650,0.444191365813,-0.0156276499226,0.0597247923041,0.999999881799,-0.000191822451229,-0.000441870933802,-6.60050174357e-05,1793193416588803584
+204,3.400000000,POSE1_TO_POSE2_PRESS,764,743,711.708063718,673,659,631,878.416127436,782,800,649,628,650,0.44431695506,-0.0156292458296,0.059716982741,0.999999875681,-0.000193694618683,-0.00045454282488,-6.7167834872e-05,1793193416605470208
+205,3.416666667,POSE1_TO_POSE2_PRESS,764,743,711.128850048,673,659,631,877.257700096,782,800,649,628,650,0.444422941723,-0.0156271171328,0.0597056519983,0.999999867298,-0.000191719736382,-0.00047323132101,-6.85525968646e-05,1793193416622136320
+206,3.433333333,POSE1_TO_POSE2_PRESS,764.449103016,742.550896984,711.449103016,673,659,631,877.898206032,782,800,649,628,650,0.444511992695,-0.0156262125564,0.0596976175584,0.999999860284,-0.000194668738732,-0.000486579458392,-6.91149953973e-05,1793193416638802688
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,742.026668378,712,673.026668378,659,631,878.973331622,782,799.973331622,649,628,650,0.444595537539,-0.0156257247169,0.0596908156602,0.999999853815,-0.000198943255397,-0.00049796964096,-6.94174987507e-05,1793193416655469312
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,742.603675917,712,673.603675917,659,631,878.396324083,782,799.396324083,649,628,650,0.444665446117,-0.0156266094714,0.0596899872129,0.999999852061,-0.000201500409044,-0.000500484813458,-6.92120345913e-05,1793193416672136192
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,743,712,673.816435398,659,631,878,782,799.183564602,649,628,650,0.44473012266,-0.0156280231931,0.0596902896109,0.999999851209,-0.000203800260576,-0.000501324627725,-6.87029179431e-05,1793193416688803072
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,743,712,673.230227076,659,631,878,782,799.769772924,649,628,650,0.444783322873,-0.0156305971888,0.059693072486,0.999999852352,-0.000205535726923,-0.000498489591164,-6.75277482473e-05,1793193416705469952
+211,3.516666667,POSE1_TO_POSE2_PRESS,764.648088424,743,712,673.351911576,659,631,877.648088424,782,800,649,628.351911576,650,0.44482451362,-0.0156321852803,0.0596929307094,0.999999851236,-0.000207979758953,-0.000499764288003,-6.71480170358e-05,1793193416722136832
+212,3.533333333,POSE1_TO_POSE2_PRESS,764.06858173,743,712,673.93141827,659,631,877.06858173,782,800,649,628.93141827,650,0.444857937377,-0.0156331357487,0.0596908974452,0.999999848646,-0.000210882048568,-0.000503696911502,-6.7282727199e-05,1793193416738803456
+213,3.550000000,POSE1_TO_POSE2_PRESS,764,743,712,674,659,631,877.508802789,782,800,648.491197211,629,650.508802789,0.444881550871,-0.0156306517819,0.0596898753978,0.999999848564,-0.000207881027445,-0.000505095326745,-6.73575036692e-05,1793193416755469824
+214,3.566666667,POSE1_TO_POSE2_PRESS,764,743,712,674,659,631,878.085632113,782,800.085632113,648.085632113,628.914367887,650.914367887,0.444902221229,-0.0156283108939,0.0596888419776,0.999999848639,-0.000204569127963,-0.000506297891306,-6.73553444238e-05,1793193416772136192
+215,3.583333333,POSE1_TO_POSE2_PRESS,764,743,712,674,659,631,878.660915866,782,800.660915866,648.660915866,628.339084134,650.339084134,0.444913592273,-0.0156294242122,0.0596869673751,0.999999847751,-0.000204010634301,-0.000508325675619,-6.69592618966e-05,1793193416788803072
+216,3.600000000,POSE1_TO_POSE2_PRESS,764.241601689,743,712,673.758398311,659,631,878.758398311,782,800.758398311,649,628,650,0.444923589842,-0.015630427881,0.059686471668,0.999999847488,-0.000203838430567,-0.000508989985131,-6.63621037209e-05,1793193416805469952
+217,3.616666667,POSE1_TO_POSE2_PRESS,764.830042595,743,712,673.169957405,659,631,878.169957405,782,800.169957405,649,628,650,0.444931615671,-0.0156312741387,0.0596879554792,0.999999848125,-0.000204220778026,-0.000507696913612,-6.54762848357e-05,1793193416822136576
+218,3.633333333,POSE1_TO_POSE2_PRESS,764.585945664,743,712,673,659,631,878.414054336,781.585945664,800,649,628,650,0.444935708918,-0.0156300853659,0.0596878294528,0.999999847974,-0.000204135649519,-0.000508035375657,-6.54278359618e-05,1793193416838803456
+219,3.650000000,POSE1_TO_POSE2_PRESS,764.003732742,743,712,673,659,631,878.996267258,781.003732742,800,649,628,650,0.444938205036,-0.0156280701125,0.0596870496281,0.999999847502,-0.000203860666456,-0.000509036447339,-6.57194655628e-05,1793193416855470336
+220,3.666666667,POSE1_TO_POSE2_PRESS,764,743,712,673,658.430449076,631,878.430449076,781.569550924,800,649,628.569550924,650,0.444939918207,-0.0156277470484,0.0596860419555,0.999999846996,-0.000203870498843,-0.000510002244062,-6.58918440071e-05,1793193416872136704
+221,3.683333333,POSE1_TO_POSE2_PRESS,764,743,712,673.146740298,658.146740298,631,878,782,799.853259702,649,628.853259702,650,0.444941320092,-0.0156279327043,0.0596853238739,0.999999846599,-0.000203827006888,-0.000510801691526,-6.58609296554e-05,1793193416888803328
+222,3.700000000,POSE1_TO_POSE2_PRESS,764,743,712,673.735878344,658.735878344,631,878,782,799.264121656,649,628.264121656,650,0.444941798733,-0.0156296191474,0.0596854832939,0.999999846531,-0.000203617210129,-0.000511100309521,-6.52194409705e-05,1793193416905469696
+223,3.716666667,POSE1_TO_POSE2_PRESS,764,743,712,674,659,631,878,782,799.319273821,649,628,650,0.444943055595,-0.0156286614662,0.0596859552976,0.999999847095,-0.000202104594726,-0.000510613635399,-6.50893096903e-05,1793193416922136320
+224,3.733333333,POSE1_TO_POSE2_PRESS,764,743,712,674,659,631,878,782,799.898002715,649,628,650,0.444944944872,-0.0156255550609,0.0596866813197,0.999999848167,-0.000199533255144,-0.000509488800551,-6.53747284532e-05,1793193416938802944
+225,3.750000000,POSE1_TO_POSE2_PRESS,764.474626352,743,712,674,659,631,877.525373648,782,800,649,628,649.525373648,0.444945712823,-0.015626142883,0.0596863552286,0.999999847994,-0.000200288209029,-0.000509564233893,-6.51264018492e-05,1793193416955469312
+226,3.766666667,POSE1_TO_POSE2_PRESS,764.949344092,743,712,674,658.949344092,631,877.050655908,782,800,649,628,649.050655908,0.444946041521,-0.0156273220554,0.0596857382011,0.999999847472,-0.000201635126309,-0.000510097833483,-6.48005115605e-05,1793193416972135936
+227,3.783333333,POSE1_TO_POSE2_PRESS,764.374799878,743,712,674,658.374799878,631,877.625200122,782,800,649,628,649.625200122,0.444944308591,-0.0156264428001,0.0596844402953,0.999999846109,-0.000201744085464,-0.000512713995169,-6.48534702398e-05,1793193416988802816
+228,3.800000000,POSE1_TO_POSE2_PRESS,764,742.794827789,712,673.794827789,658.205172211,631,878,782,800,649,628,650,0.444943804029,-0.0156255884248,0.0596840401864,0.99999984581,-0.00020046701159,-0.000513796226034,-6.48501215362e-05,1793193417005469696
+229,3.816666667,POSE1_TO_POSE2_PRESS,764,742.204670884,712,673.204670884,658.795329116,631,878,782,800,649,628,650,0.444945604373,-0.0156247807341,0.0596853247016,0.999999847509,-0.000196589188329,-0.00051200019226,-6.47411177775e-05,1793193417022136320
+230,3.833333333,POSE1_TO_POSE2_PRESS,764,742.378561842,711.621438158,673.378561842,659,631,877.621438158,782,800,649,628,650,0.444945530644,-0.0156257597682,0.0596850907222,0.999999847195,-0.000197491663262,-0.000512298021612,-6.44839248058e-05,1793193417038802688
+231,3.850000000,POSE1_TO_POSE2_PRESS,764,742.958118209,711.041881791,673.958118209,659,631,877.041881791,782,800,649,628,650,0.444944461888,-0.0156276874502,0.0596840505096,0.999999845808,-0.000200932201224,-0.000513707571694,-6.41480519038e-05,1793193417055469312
+232,3.866666667,POSE1_TO_POSE2_PRESS,763.46582788,743,711.53417212,673.46582788,658.46582788,631,877,782,800,649,628,650,0.4449448552,-0.0156260911306,0.0596838984665,0.999999846035,-0.000199441427092,-0.000513814296273,-6.44115169754e-05,1793193417072135936
+233,3.883333333,POSE1_TO_POSE2_PRESS,763.109573387,743,711.890426613,673,658.109573387,631,877.109573387,782,800,648.890426613,628.109573387,649.890426613,0.444945436619,-0.0156246832223,0.0596839627913,0.999999846381,-0.00019804231258,-0.000513653129177,-6.4638133377e-05,1793193417088802816
+234,3.900000000,POSE1_TO_POSE2_PRESS,763.683365343,743,711.316634657,673,658.683365343,631,877.683365343,782,800,648.316634657,628.683365343,649.316634657,0.444946332478,-0.0156252364829,0.0596846506777,0.999999846711,-0.000198658891251,-0.000512786953859,-6.45108509009e-05,1793193417105469440
+235,3.916666667,POSE1_TO_POSE2_PRESS,764,743,711,673.265220408,658.734779592,631,877.734779592,781.734779592,799.734779592,648.265220408,628.734779592,649.265220408,0.444946426314,-0.0156259627245,0.0596845967556,0.999999846506,-0.000199876371528,-0.000512726071611,-6.44214561947e-05,1793193417122136064
+236,3.933333333,POSE1_TO_POSE2_PRESS,764,743,711,673.857003558,658.142996442,631,877.142996442,781.142996442,799.142996442,648.857003558,628.142996442,649.857003558,0.444945532631,-0.0156269019557,0.0596836294536,0.999999845638,-0.000201833734909,-0.000513656737052,-6.43787122332e-05,1793193417138802688
+237,3.950000000,POSE1_TO_POSE2_PRESS,764,743,711.438506371,674,658.438506371,631,877,781,799,649,628,650,0.444945090863,-0.015626630577,0.0596834710834,0.99999984545,-0.000201720364603,-0.000514062419778,-6.44107988207e-05,1793193417155469568
+238,3.966666667,POSE1_TO_POSE2_PRESS,764,742.983336513,711.983336513,673.983336513,658.983336513,631,877,781.016663487,799,649,628,650,0.444944851786,-0.0156259685451,0.0596835777568,0.999999845507,-0.000200924451796,-0.000514256410981,-6.44661976827e-05,1793193417172136192
+239,3.983333333,POSE1_TO_POSE2_PRESS,764,742.407529865,711.407529865,673.407529865,658.407529865,631,877,781.592470135,799,649,628,650,0.444946582369,-0.0156251414898,0.0596839292014,0.999999846482,-0.000199365269275,-0.00051295999648,-6.45037821374e-05,1793193417188802816
+240,4.000000000,POSE1_TO_POSE2_PRESS,764,742,711.171423241,673,658,631,877,781.828576759,799,649,628,650,0.444947456581,-0.015624524177,0.0596840374635,0.999999847015,-0.000198223799578,-0.000512370882253,-6.44474567133e-05,1793193417205469184
+241,4.016666667,POSE1_TO_POSE2_PRESS,764,742,711.75799635,673,658,631,877,781.24200365,799,649,628,650,0.444946256849,-0.015624414815,0.05968355679,0.999999846482,-0.000198093939734,-0.000513494695796,-6.41637019518e-05,1793193417222136064
+242,4.033333333,POSE1_TO_POSE2_PRESS,764.341906345,742.341906345,711.658093655,673,658,631,877.341906345,781.341906345,799.341906345,649,628,650,0.444946514175,-0.0156247207661,0.0596836282238,0.999999846654,-0.000198039178021,-0.000513184429357,-6.4143764432e-05,1793193417238802688
+243,4.050000000,POSE1_TO_POSE2_PRESS,764.923945915,742.923945915,711.076054085,673,658,631,877.923945915,781.923945915,799.923945915,649,628,650,0.444947794844,-0.0156253184067,0.0596840874226,0.999999847319,-0.000198037160455,-0.000511866956494,-6.43091153393e-05,1793193417255469312
+244,4.066666667,HOLD_POSE2,764,742,712,674,659,630,877,782,799,649,628,650,0.444948138707,-0.0156240850151,0.0596842282895,0.999999847455,-0.000197498095913,-0.000511843251003,-6.40344361189e-05,1793193417286563328
+245,4.083333333,HOLD_POSE2,764.574336742,742,712,673.425663258,659,630.574336742,877.574336742,782,799.574336742,648.425663258,628,650,0.444949237615,-0.015626645723,0.0596854191121,0.999999847599,-0.000200731526254,-0.000510370602457,-6.34903220291e-05,1793193417303229952
+246,4.100000000,HOLD_POSE2,765,742.153108219,711.846891781,673,659.153108219,631,877.846891781,782,800,648.153108219,628,650,0.444949843007,-0.0156279616476,0.0596862112082,0.999999847647,-0.000202555544204,-0.000509594992763,-6.31709711587e-05,1793193417319896320
+247,4.116666667,HOLD_POSE2,765,742.744576813,711.255423187,673,659.744576813,631,877.255423187,782,800,648.744576813,628,650,0.444949035421,-0.0156257136642,0.0596858617206,0.999999847449,-0.00020034430899,-0.000510815057513,-6.34951342044e-05,1793193417336562944
+248,4.133333333,HOLD_POSE2,765,743,711,673,659.345635116,631,877,782,800,649,628,650,0.444948986414,-0.0156240450769,0.0596854915919,0.999999847433,-0.000198399923847,-0.000511557853647,-6.38696487739e-05,1793193417353230080
+249,4.150000000,HOLD_POSE2,765,743,711,673,658.193897145,631,877,782,800,649,628,650,0.444949513992,-0.0156228168802,0.0596851057741,0.999999847556,-0.000196658367637,-0.000511937884877,-6.42824347741e-05,1793193417369897472
+250,4.166666667,HOLD_POSE2,764.521354087,743,711.478645913,673,658,631,877,781.521354087,800,649,628,650,0.444947853005,-0.01562514773,0.0596841718849,0.999999846276,-0.000198960849528,-0.000513614026833,-6.37394353123e-05,1793193417386563584
+251,4.183333333,HOLD_POSE2,764,743,712,673,658,631,877.053809177,781,800,649,628,650,0.444946108438,-0.0156278441781,0.0596833693069,0.999999844953,-0.000201721293035,-0.000515193846268,-6.30707306902e-05,1793193417403229696
+252,4.200000000,HOLD_POSE2,764,743,712,673,658,631,877.625358018,781,800,649,628,650,0.444947822454,-0.0156271261991,0.0596848976808,0.999999846059,-0.000201011364972,-0.000513322373098,-6.30541504774e-05,1793193417419896320
+253,4.216666667,HOLD_POSE2,764,743,712,673,658.205523891,630.794476109,878,781.205523891,800,649,628,650,0.444948800721,-0.0156264278771,0.0596852625899,0.999999846482,-0.000200473749559,-0.000512702200895,-6.31112926873e-05,1793193417436562688
+254,4.233333333,HOLD_POSE2,764,743,712,673,658.802084765,630.197915235,878,781.802084765,800,649,628,650,0.444948379127,-0.0156257669553,0.0596834138497,0.999999845607,-0.000200263982331,-0.000514462798133,-6.3308701774e-05,1793193417453229568
+255,4.250000000,HOLD_POSE2,764,743,712,673.386192831,659,630.386192831,878,782,799.613807169,649,628.386192831,650,0.444948293352,-0.0156249943238,0.0596832769671,0.999999845964,-0.000198101608938,-0.000514613087926,-6.32552817816e-05,1793193417469896192
+256,4.266666667,HOLD_POSE2,764,743,712,673.964118514,659,630.964118514,878,782,799.035881486,649,628.964118514,650,0.444948374302,-0.0156241662318,0.0596839899689,0.999999846925,-0.000194969826674,-0.000513963909798,-6.30773328902e-05,1793193417486562816
+257,4.283333333,HOLD_POSE2,764,743,712,674,659,631,878,781.461491494,799.538508506,649,628.461491494,650,0.444949733215,-0.015623083324,0.0596846877456,0.999999847603,-0.000194923415411,-0.000512603185809,-6.35324567951e-05,1793193417503229440
+258,4.300000000,HOLD_POSE2,764,743,712,674,658.884031867,630.884031867,877.884031867,781.115968133,800,649,628,650,0.444950770216,-0.0156229089816,0.0596852645858,0.99999984801,-0.000195627755304,-0.00051150974769,-6.37711790872e-05,1793193417519896064
+259,4.316666667,HOLD_POSE2,764,743,712,674,658.293039638,630.293039638,877.293039638,781.706960362,800,649,628,650,0.444950142091,-0.0156265253624,0.0596853501791,0.999999847383,-0.000198570688239,-0.000511704092019,-6.2951826867e-05,1793193417536562944
+260,4.333333333,POSE2_TO_POSE3_RETREAT,764,743,712,673,658,631,877,781,800,649,628,650,0.444946974823,-0.0156245236973,0.0596828411848,0.999999845333,-0.000196676929383,-0.000516357822978,-6.34510917536e-05,1793193417573840128
+261,4.350000000,POSE2_TO_POSE3_RETREAT,764,743,711.419921236,673,658,631,877.580078764,781,799.419921236,649,628,650,0.444947809408,-0.0156247241306,0.0596825425837,0.99999984533,-0.000198982839225,-0.000515466835059,-6.35638447366e-05,1793193417590506752
+262,4.366666667,POSE2_TO_POSE3_RETREAT,764,743,711.162270182,673,658,631,877.837729818,781,799.162270182,649,628,650,0.44494891375,-0.0156243955317,0.0596829561226,0.999999845786,-0.000200144628944,-0.000514102730436,-6.37837719198e-05,1793193417607173376
+263,4.383333333,POSE2_TO_POSE3_RETREAT,764,743,711.750000952,673,658,631,877.249999048,781,799.750000952,649,628,650,0.444950725377,-0.0156226798485,0.059685236841,0.999999847456,-0.000198306619608,-0.000511498148118,-6.42847020681e-05,1793193417623840000
+264,4.400000000,POSE2_TO_POSE3_RETREAT,764.332891183,743,712,673,658,631,876.667108817,781.332891183,800,649,628.332891183,650,0.444951024977,-0.0156224564274,0.0596857956222,0.99999984798,-0.000197137209036,-0.000510952295134,-6.40680141849e-05,1793193417640506880
+265,4.416666667,POSE2_TO_POSE3_RETREAT,764.912198268,743,712,673,658,631,876.087801732,781.912198268,800,649,628.912198268,650,0.444950205329,-0.0156233376227,0.0596850797742,0.99999984766,-0.000196462715161,-0.000511930374672,-6.33201241746e-05,1793193417657173504
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764.511149476,743,712,673.488850524,658.488850524,631,876.488850524,781.511149476,800,649,628.511149476,650,0.444948967013,-0.0156224694687,0.0596842586068,0.999999846958,-0.000196529388262,-0.000513223964596,-6.37280655277e-05,1793193417673840128
+267,4.450000000,POSE2_TO_POSE3_RETREAT,764,743,712,673.933879308,659,631,877.066120692,781.066120692,799.933879308,649,628,650,0.444946937433,-0.0156213785272,0.0596830581412,0.999999845992,-0.000196570522978,-0.000515013424565,-6.43165250547e-05,1793193417690506752
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764,743,712,673.34802427,659,631,877.65197573,781.65197573,799.34802427,649,628,650,0.444939276089,-0.0156209927695,0.0596790241314,0.999999843488,-0.000195370193601,-0.000520257586543,-6.47009470122e-05,1793193417707173376
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,743,711.764756676,673.235243324,659,631,877.764756676,782,799,649,628,649.764756676,0.444922391715,-0.015620561829,0.0596705614255,0.999999837131,-0.00019519776001,-0.000532324098163,-6.53247763102e-05,1793193417723840256
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764,743,711.185275409,673.814724591,659,631,877.185275409,782,799,649,628,649.185275409,0.444892011032,-0.0156200647714,0.0596556180885,0.999999824825,-0.000196529474267,-0.000554373938579,-6.62989368137e-05,1793193417740506880
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764,743,711.39400461,673.60599539,658.60599539,631,877,781.60599539,799.78800922,649,628,649.39400461,0.444845272264,-0.0156160081032,0.0596371974878,0.999999809855,-0.000193877559497,-0.000581404363235,-6.83446782827e-05,1793193417757173504
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764,743,711.973190095,673.026809905,658.026809905,631,877,781.026809905,800.94638019,649,628,649.973190095,0.444790845247,-0.0156102784298,0.0596171425832,0.999999793036,-0.000189353352149,-0.000610775647749,-7.08940593365e-05,1793193417773840128
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764,743,711.450695318,673.549304682,658,631,877.549304682,781.549304682,800.450695318,649,628,650,0.444722040942,-0.0156070097483,0.0596031143596,0.99999978411,-0.000190119009993,-0.000624897344085,-7.1678292542e-05,1793193417790506752
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764,743,711.127403758,674,658,631,878,782,800,649,628,650,0.444648670364,-0.0156035405272,0.0595917773354,0.999999776953,-0.00019040386703,-0.000636106105249,-7.2181991832e-05,1793193417807173120
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764,743,711.713179001,674,658,631,878,782,800,649,628,650,0.44456138187,-0.0155989200661,0.0595890702831,0.999999775252,-0.000188035185047,-0.000639497648776,-7.19846219506e-05,1793193417823839744
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764,743,712,674,658,631,877.704310566,781.704310566,800,648.704310566,628.295689434,650,0.444466115525,-0.0155936918487,0.0595910809089,0.999999778364,-0.000184971432859,-0.000635627125604,-7.09637549884e-05,1793193417840506368
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764,743,712,674,658,631,877.124932473,781.124932473,800,648.124932473,628.875067527,650,0.444363195121,-0.0155878805416,0.0595976177424,0.999999786004,-0.000181240820535,-0.000624789271831,-6.91528131902e-05,1793193417857173248
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764,742.548451189,712,674,658,631,877.451548811,781,800,648.451548811,628.548451189,650,0.444234305191,-0.0155787517696,0.0596028355413,0.999999792746,-0.000175320397762,-0.000615755262136,-6.79423867382e-05,1793193417873840128
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764,742.027271137,712,674,658.027271137,631,877.972728863,781.027271137,799.972728863,649,628.027271137,650,0.444096523051,-0.015568750499,0.0596076997674,0.999999799039,-0.000168895804855,-0.000607393766581,-6.6844810839e-05,1793193417890506752
+280,4.666666667,POSE2_TO_POSE3_RETREAT,764,742.603746999,712,674,658.603746999,631,877.396253001,781.603746999,799.396253001,649,628.603746999,650,0.443923440221,-0.0155595449386,0.0596127461568,0.99999980283,-0.000164441471198,-0.000602589084445,-6.46952260109e-05,1793193417907173376
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764,743,712,674,659,631,877,782,799.184052641,649,628.815947359,650,0.443738341084,-0.0155492661895,0.0596182159935,0.999999807898,-0.000158333582109,-0.00059600863328,-6.25185677442e-05,1793193417923840000
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764,743,712,674,659,631,877,782,799.772778681,649,628.227221319,650,0.443526821919,-0.0155366278397,0.0596246168559,0.999999815724,-0.000148590049506,-0.000585523829683,-6.02823838507e-05,1793193417940506624
+283,4.716666667,POSE2_TO_POSE3_RETREAT,764,743,712,674,659,631,877,782,800,649,628,650,0.443289098698,-0.0155224259612,0.0596303022084,0.999999822603,-0.000136640603908,-0.000576870666785,-5.78258556287e-05,1793193417957173504
+284,4.733333333,POSE2_TO_POSE3_RETREAT,764,743,712,674,659,631,877,782,800,649,628,650,0.443034905074,-0.015507241336,0.0596355378327,0.999999828782,-0.000123304645477,-0.000569368768319,-5.52308312275e-05,1793193417973840128
+285,4.750000000,POSE2_TO_POSE3_RETREAT,764.510900477,743,711.489099523,674,659,631,877,782.510900477,799.489099523,649,628,650,0.442729580768,-0.0154925408866,0.0596325173196,0.999999826931,-0.00011030969094,-0.000575473506421,-5.29118325637e-05,1793193417990506752
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,742.913180542,711.086819458,674,659,631,877,783,799.086819458,649,628,650,0.442412520894,-0.015479168605,0.0596291617919,0.999999824383,-9.91122767669e-05,-0.000582100871701,-5.06816374123e-05,1793193418007173120
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,742.337607584,711.662392416,674,659,631,877,783,799.662392416,649,628,650,0.442066061239,-0.0154729260831,0.0596298408207,0.999999824719,-9.77896443022e-05,-0.000581912972735,-4.87534241596e-05,1793193418023839744
+288,4.800000000,POSE2_TO_POSE3_RETREAT,764.756066287,742,712,673.756066287,659,631,877,783,800,649,628,650,0.44169855574,-0.0154711379722,0.0596362311519,0.999999830248,-8.23190980073e-05,-0.000575070798688,-4.49552068132e-05,1793193418040506624
+289,4.816666667,POSE2_TO_POSE3_RETREAT,764.166057589,742,712,673.166057589,659,631,877,783,800,649,628,650,0.441301191987,-0.0154756694482,0.0596507242534,0.999999842043,-4.67765452532e-05,-0.000558788034128,-3.85039669967e-05,1793193418057173248
+290,4.833333333,POSE2_TO_POSE3_RETREAT,764,742,712,673,659,631.415527698,877,782.584472302,800,649,628.415527698,650,0.440888701667,-0.0154747518422,0.0596711235468,0.99999985906,-3.41306659487e-05,-0.000528817757876,-3.267639471e-05,1793193418073840128
+291,4.850000000,POSE2_TO_POSE3_RETREAT,764,742,712,673,659,631.993813602,877,782.006186398,800,649,628.993813602,650,0.440470286427,-0.015471699883,0.0596938362385,0.999999877405,-3.04531943938e-05,-0.000493486214851,-2.70931071302e-05,1793193418090506752
+292,4.866666667,POSE2_TO_POSE3_RETREAT,764,742,712,673,659,632,877,782.570062494,800,649,629,650,0.440006505233,-0.0154652318795,0.0597209156206,0.999999895824,7.57115677214e-07,-0.000456009792383,-2.01639725633e-05,1793193418107174144
+293,4.883333333,POSE2_TO_POSE3_RETREAT,764,742.145599503,712,672.854400497,659.145599503,632,877.145599503,783,799.854400497,649,629,650,0.439539423066,-0.0154588422382,0.0597534112827,0.999999916347,2.62991092526e-05,-0.000407986644148,-1.27235750189e-05,1793193418123841280
+294,4.900000000,POSE2_TO_POSE3_RETREAT,764,742.719108955,712,672.280891045,659.719108955,632,877.719108955,783,799.280891045,649,629,650,0.439064081325,-0.0154527914641,0.0598016863518,0.999999945272,3.43071835456e-05,-0.000329035347943,-3.8233729218e-06,1793193418140507648
+295,4.916666667,POSE2_TO_POSE3_RETREAT,764,742.696752408,712,672.303247592,660,632,877.696752408,783,799,649,629,650,0.438532480006,-0.0154473885746,0.0598348936843,0.999999960286,4.76497182252e-05,-0.000277744904058,3.96994703961e-06,1793193418157174528
+296,4.933333333,POSE2_TO_POSE3_RETREAT,764,742.102410505,712,672.897589495,660,632,877.102410505,783,799,649,629,650,0.437946873773,-0.0154426076037,0.0598536371568,0.999999965751,6.61129247119e-05,-0.000253006737917,1.07007465187e-05,1793193418173841408
+297,4.950000000,POSE2_TO_POSE3_RETREAT,764,742,711.523623113,673,659.523623113,632,877,783,799,649,629,650,0.437281732222,-0.0154350234119,0.059826349704,0.999999952663,8.44271012323e-05,-0.000295637040247,1.2033730606e-05,1793193418190508032
+298,4.966666667,POSE2_TO_POSE3_RETREAT,764,742.051891466,711.051891466,673,659.051891466,632.051891466,877,783,799.051891466,649,629,650,0.436598863904,-0.0154277326404,0.0597903464331,0.999999933366,0.000100605555679,-0.00035070337549,1.24076555774e-05,1793193418207174400
+299,4.983333333,POSE2_TO_POSE3_RETREAT,764,742.627056856,711.627056856,673,659.627056856,632.627056856,877,783,799.627056856,649,629,650,0.43590420624,-0.0154292854998,0.059763085176,0.999999919378,9.55602454787e-05,-0.000389748631257,1.44420194259e-05,1793193418223840512
+300,5.000000000,POSE2_TO_POSE3_RETREAT,763.791930968,743,712,673,660,632.791930968,877,783.208069032,799.791930968,649,629,650,0.435217899169,-0.0154298737546,0.0597519351256,0.999999915217,0.000108731726413,-0.000396783608383,1.75081260957e-05,1793193418240506624
+301,5.016666667,POSE2_TO_POSE3_RETREAT,763.200136044,743,712,673,660,632.200136044,877,783.799863956,799.200136044,649,629,650,0.434546992504,-0.0154286830626,0.05977049775,0.999999928219,0.000155499050115,-0.000344784460125,2.24769974492e-05,1793193418257173504
+302,5.033333333,POSE2_TO_POSE3_RETREAT,763.380141795,743,712,673,659.619858205,632,877,783.619858205,799,649,629,650,0.433815272932,-0.0154264767003,0.0597835355638,0.999999937392,0.000155205377772,-0.000317092976119,2.40744169013e-05,1793193418273840384
+303,5.050000000,POSE2_TO_POSE3_RETREAT,763.954534434,743,712,673,659.045465566,632,877,783.045465566,799,649,629,650,0.433052478245,-0.0154237513348,0.0597937502222,0.999999945602,0.000130863734846,-0.000301822607351,2.39490386066e-05,1793193418290507008
+304,5.066666667,POSE2_TO_POSE3_RETREAT,764,742.470050619,712,673,659,632,877.529949381,783.529949381,799.529949381,649,629,650,0.432259751896,-0.015424455855,0.0597933291295,0.99999994599,0.000102624572378,-0.000311963977272,1.2939806701e-05,1793193418307173376
+305,5.083333333,POSE2_TO_POSE3_RETREAT,764,742.108404624,712,673,659.108404624,632.108404624,877.891595376,784,799.891595376,649,629,650,0.431471031359,-0.0154264196179,0.0597967956079,0.999999947674,8.08943555473e-05,-0.000313187225993,4.60521019369e-06,1793193418323840000
+306,5.100000000,POSE2_TO_POSE3_RETREAT,764,742.700020038,712,673,659.700020038,632.700020038,877.299979962,784,799.299979962,649,629,650,0.430711635355,-0.0154326822408,0.0598216659855,0.999999960811,8.96709608607e-05,-0.000264921519173,1.23629484964e-05,1793193418340506880
+307,5.116666667,POSE2_TO_POSE3_RETREAT,764,743,712,672.714807149,660,633,877.285192851,783.714807149,799,649,629,650,0.429899908992,-0.0154321392042,0.0598323633063,0.99999996383,9.95899620094e-05,-0.000249251144538,1.72242832167e-05,1793193418357173504
+308,5.133333333,POSE2_TO_POSE3_RETREAT,764,743,712,672.136261208,660,633,877.863738792,783.136261208,799,649,629,650,0.429034354848,-0.015424595778,0.0598284820386,0.999999958018,0.000110684047643,-0.000267108748788,1.91063403526e-05,1793193418373840384
+309,5.150000000,POSE2_TO_POSE3_RETREAT,764,742.560201528,711.560201528,672.439798472,659.560201528,632.560201528,877.560201528,783.439798472,799.439798472,649,629,650,0.428125801208,-0.0154180203715,0.0597938843657,0.99999993835,0.000118221648578,-0.000330248839539,1.60888264034e-05,1793193418390506752
+310,5.166666667,POSE2_TO_POSE3_RETREAT,764,742.014983402,711.014983402,673,659,632,877,784,799.985016598,649,629,650,0.427206364536,-0.0154120647839,0.0597513126661,0.999999910449,0.000124347630684,-0.000404354950424,1.17104392869e-05,1793193418407173376
+311,5.183333333,POSE2_TO_POSE3_RETREAT,764,742.586132148,711.586132148,673,659,632,877,784,799.413867852,649,629,650,0.426374691537,-0.015418046077,0.0597640192862,0.999999925277,0.000118747093521,-0.000367668242743,1.28482742422e-05,1793193418423840000
+312,5.200000000,POSE2_TO_POSE3_RETREAT,764,742.835897279,711.835897279,673,659.164102721,632.164102721,877,784,799,649,629,650.164102721,0.425535736683,-0.015422422249,0.0597819115085,0.999999937749,0.000116756783776,-0.000332627302508,1.51542670238e-05,1793193418440506624
+313,5.216666667,POSE2_TO_POSE3_RETREAT,764,742.239975835,711.239975835,673,659.760024165,632.760024165,877,784,799,649,629,650.760024165,0.424677620457,-0.0154225747164,0.0598134490866,0.999999946491,0.000124266401243,-0.000301917026072,2.05341419095e-05,1793193418457173504
+314,5.233333333,POSE2_TO_POSE3_RETREAT,764,742.344202519,711,672.655797481,659.655797481,633,877,784,799,649,629,650.655797481,0.423811032818,-0.0154214684194,0.0598342815553,0.999999952953,0.000129502428741,-0.000277044785,2.38647554343e-05,1793193418473840384
+315,5.250000000,POSE2_TO_POSE3_RETREAT,764,742.920463747,711,672.079536253,659.079536253,633,877,784,799,649,629,650.079536253,0.422938733854,-0.0154195134731,0.05984789672,0.999999957999,0.00013320561896,-0.000256108504066,2.58137723864e-05,1793193418490507008
+316,5.266666667,POSE2_TO_POSE3_RETREAT,764,742.502383698,711.497616302,672,659,633,877.497616302,784,799,649,629,650,0.422047605536,-0.0154189462553,0.0598551895441,0.999999960634,0.000140544398382,-0.000241349775114,2.70168590477e-05,1793193418507173632
+317,5.283333333,POSE2_TO_POSE3_RETREAT,764,742,711.923722847,672,659,632.923722847,877.847445694,784,799,649,628.923722847,650,0.421147129451,-0.0154179723517,0.0598531935058,0.999999959207,0.000147601359046,-0.000243010469888,2.72946925986e-05,1793193418523840000
+318,5.300000000,POSE2_TO_POSE3_RETREAT,764,742,711.335904229,672,659,632.335904229,876.671808457,784,799,649,628.335904229,650,0.420204183883,-0.0154127808861,0.0597956921983,0.999999928069,0.00014886433491,-0.000348151971412,2.21684543548e-05,1793193418540506624
+319,5.316666667,POSE2_TO_POSE3_RETREAT,763.751839093,742,711.248160907,672,659.248160907,632.248160907,876.248160907,784,799,649,628.248160907,650,0.419298521932,-0.0154101438586,0.0597543727798,0.999999903817,0.000149800890421,-0.000411841947895,1.76363504293e-05,1793193418557173248
+320,5.333333333,POSE2_TO_POSE3_RETREAT,763.172778793,742,711.827221207,672,659.827221207,632.827221207,876.827221207,784,799,649,628.827221207,650,0.418442574071,-0.015410912935,0.0597346303908,0.999999900299,0.000150302196773,-0.000420260206109,1.38964686574e-05,1793193418573840128
+321,5.350000000,POSE2_TO_POSE3_RETREAT,763.40403572,742,712,672,659.59596428,633,877,784,799.40403572,649,629,650,0.417617731902,-0.0154139611926,0.0597570911143,0.999999916772,0.000147000849391,-0.000380242436436,1.61816298587e-05,1793193418590507008
+322,5.366666667,POSE2_TO_POSE3_RETREAT,763.979895135,742,712,672,659.020104865,633,877,784,799.979895135,649,629,650,0.416806118058,-0.0154179787143,0.0597974994967,0.999999938605,0.000142082352377,-0.000319626344442,2.10290526806e-05,1793193418607173888
+323,5.383333333,POSE2_TO_POSE3_RETREAT,764,742,711.44503996,672,660.109920081,633,877,784,799.44503996,649,629,650,0.415981804316,-0.0154153386781,0.0598255668057,0.999999946173,0.000153819095855,-0.000288709945201,2.52935672667e-05,1793193418623840512
+324,5.400000000,POSE2_TO_POSE3_RETREAT,764,742,711,672,660.732830166,633,877,784.133584917,799.133584917,649,629,650,0.415167933094,-0.0154131321197,0.0598468923531,0.999999950964,0.000162976608024,-0.000265897326452,2.84631102052e-05,1793193418640507136
+325,5.416666667,POSE2_TO_POSE3_RETREAT,764,742,711,672,659.551008671,633,877,784.724495665,799.724495665,649,629,650,0.414391384566,-0.0154132340859,0.059846665994,0.999999950925,0.000161241456683,-0.000267149647252,2.7956226641e-05,1793193418657173760
+326,5.433333333,POSE2_TO_POSE3_RETREAT,763.691317875,742,711.308682125,672,659,633,877,784.691317875,799.691317875,649,629,650,0.413611032161,-0.015411750211,0.0598436636207,0.999999949188,0.000163681705561,-0.000272168788074,2.74891173709e-05,1793193418673840384
+327,5.450000000,POSE2_TO_POSE3_RETREAT,763.113005043,742,711.886994957,672,659,633,877,784.113005043,799.113005043,649,629,650,0.412827357149,-0.0154088811199,0.0598382364273,0.999999945889,0.000169769124287,-0.000280478207917,2.70567505682e-05,1793193418690507008
+328,5.466666667,POSE2_TO_POSE3_RETREAT,763.46166025,742,712,672,659,633,876.53833975,784,799.46166025,649,629,650,0.412022903118,-0.0154039073438,0.0597923719458,0.999999921104,0.000170878094209,-0.000357912155388,2.21765639589e-05,1793193418707173376
+329,5.483333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632.965678841,876,783.965678841,799.965678841,649,629,650,0.411221819403,-0.0153988321276,0.0597405414253,0.99999988636,0.000170915950872,-0.000444739686506,1.65880909829e-05,1793193418723840000
+330,5.500000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632.410009529,876,783.410009529,799.410009529,649,629,650,0.410548589072,-0.0153999804596,0.0597472633604,0.999999897003,0.000173049434172,-0.000419249317404,1.66491205583e-05,1793193418740506624
+331,5.516666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632.161342516,876.161342516,783,799.161342516,649,629,650.161342516,0.409890957735,-0.0154010557556,0.0597660487847,0.999999911509,0.00017536300557,-0.000381955708081,1.84207807995e-05,1793193418757173248
+332,5.533333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632.776839145,876.776839145,783,799.776839145,649,629,650.776839145,0.409277234993,-0.0154019254672,0.0598187910582,0.999999935316,0.000178183497194,-0.000311437805148,2.50076005452e-05,1793193418773839872
+333,5.550000000,POSE2_TO_POSE3_RETREAT,764,742,711.631207946,671.631207946,659,633,877,783.368792054,799.631207946,649,628.631207946,650.631207946,0.408675882331,-0.0154022584297,0.0598516061064,0.999999948892,0.00018201571281,-0.000261215361141,2.92075363459e-05,1793193418790506752
+334,5.566666667,POSE2_TO_POSE3_RETREAT,764,742,711.052646756,671.052646756,659,633,877,783.947353244,799.052646756,649,628.052646756,650.052646756,0.408081565813,-0.015402286089,0.0598730865342,0.999999957348,0.000186423397577,-0.000222536990489,3.2049810786e-05,1793193418807173376
+335,5.583333333,POSE2_TO_POSE3_RETREAT,764,742,711,671.518030918,659,633,877,784,799,649,628.518030918,650,0.407497570083,-0.0154011044216,0.0598603624602,0.999999953927,0.000181973079114,-0.000241123752896,2.98457130971e-05,1793193418823840000
+336,5.600000000,POSE2_TO_POSE3_RETREAT,763.910746394,742,711,672,659.089253606,633,876.910746394,784,799.089253606,649,628.910746394,650,0.40692106938,-0.0153999422788,0.0598452346047,0.999999949147,0.000178040236431,-0.000263174220114,2.73193157278e-05,1793193418840506880
+337,5.616666667,POSE2_TO_POSE3_RETREAT,763.332209746,742,711,672,659.667790254,633,876.332209746,784,799.667790254,649,628.332209746,650,0.406379992255,-0.0153995508119,0.0598356997886,0.999999945934,0.000181805178923,-0.000272787086852,2.57953917183e-05,1793193418857173504
+338,5.633333333,POSE2_TO_POSE3_RETREAT,763.252565261,742.252565261,711,672,659.747434739,633,876,784,800,649,628,650,0.405871744395,-0.0153978609723,0.0598321130605,0.99999994459,0.000184307999203,-0.000276116291231,2.47026538297e-05,1793193418873840128
+339,5.650000000,POSE2_TO_POSE3_RETREAT,763.845753606,742.845753606,711,672,659.154246394,633,876,784,800,649,628,650,0.40540777189,-0.0153944200778,0.0598365482443,0.999999945862,0.00018510865335,-0.000270971010104,2.41914368427e-05,1793193418890507008
+340,5.666666667,POSE2_TO_POSE3_RETREAT,764,742.575357539,711.424642461,671.575357539,659,633,876,784,799.575357539,649,628.424642461,650,0.404965508716,-0.015393581836,0.0598305855488,0.999999944288,0.000185757228351,-0.000276408238587,2.27209880675e-05,1793193418907173632
+341,5.683333333,POSE2_TO_POSE3_RETREAT,764,742.00149355,711.99850645,671.00149355,659,633,876,784,799.00149355,649,628.99850645,650,0.404530874275,-0.0153936581794,0.0598209689859,0.999999941644,0.000186352362014,-0.000285564214543,2.0913460301e-05,1793193418923840000
+342,5.700000000,POSE2_TO_POSE3_RETREAT,764,742,711.424886339,671,659,633,876.575113661,784,799.575113661,649,629,650,0.404112662107,-0.0153915802651,0.0597948467798,0.999999926944,0.000190625143114,-0.000330766548644,1.91856020427e-05,1793193418940506880
+343,5.716666667,POSE2_TO_POSE3_RETREAT,764,742,711.156658891,671,659,633,876.843341109,783.843341109,800,649,629,650,0.403715086499,-0.0153892258846,0.059774182813,0.999999913837,0.000195554294871,-0.000365739850266,1.78444278581e-05,1793193418957173248
+344,5.733333333,POSE2_TO_POSE3_RETREAT,764,742,711.75201222,671,659,633,876.24798778,783.24798778,800,649,629,650,0.403375179685,-0.0153861130524,0.0597689242462,0.999999910264,0.000202294620754,-0.000371805240744,1.75855089162e-05,1793193418973840128
+345,5.750000000,POSE2_TO_POSE3_RETREAT,764,742,712,671.335648061,659,633,876.335648061,783.335648061,800,649,629,650.335648061,0.403087736634,-0.0153842371767,0.0597803710466,0.999999916521,0.000210018846611,-0.00034996347061,1.93999014509e-05,1793193418990506752
+346,5.766666667,POSE2_TO_POSE3_RETREAT,764,742,712,671.910918635,659,633,876.910918635,783.910918635,800,649,629,650.910918635,0.40283774801,-0.015383244377,0.0598037439762,0.99999992839,0.000218445487814,-0.00030819849815,2.2694451803e-05,1793193419007173376
+347,5.783333333,POSE2_TO_POSE3_RETREAT,763.51439549,742,711.51439549,671.51439549,659,633,876.51439549,784,800,649,629,650.51439549,0.40261356009,-0.0153838689043,0.0598247026153,0.999999938087,0.000219248826778,-0.000274003501289,2.60206249564e-05,1793193419023840000
+348,5.800000000,POSE2_TO_POSE3_RETREAT,763.062032697,741.937967303,711.062032697,671,659,633,876,784,800,649,628.937967303,650,0.402394753465,-0.0153842869814,0.0598431007099,0.999999945846,0.000217906635124,-0.00024493740337,2.88317638449e-05,1793193419040506624
+349,5.816666667,POSE2_TO_POSE3_RETREAT,763.654268366,741.345731634,711.654268366,671,659,633,876,784,800,649,628.345731634,650,0.402181536637,-0.0153804076977,0.0598433943161,0.99999994683,0.000210164667261,-0.00024785390176,2.71913036062e-05,1793193419057173504
+350,5.833333333,POSE2_TO_POSE3_RETREAT,763.759859177,741.240140823,712,671,659,633,876,784,799.759859177,649,628.240140823,650,0.401981702819,-0.0153798021162,0.0598401816719,0.99999994936,0.000187653214417,-0.000256053212274,2.24294608515e-05,1793193419073840128
+351,5.850000000,POSE2_TO_POSE3_RETREAT,763.182911426,741.817088574,712,671,659,633,876,784,799.182911426,649,628.817088574,650,0.401800639217,-0.0153837880308,0.0598320513736,0.999999952582,0.000144426979631,-0.000271661873491,1.32897567244e-05,1793193419090506752
+352,5.866666667,POSE2_TO_POSE3_RETREAT,763.393533197,742,712,671.393533197,659,633,876,784,799.393533197,648.606466803,629,650,0.401651196093,-0.0153905006723,0.059829116098,0.999999951234,0.000140769208106,-0.00027854585717,1.13423463219e-05,1793193419107173376
+353,5.883333333,POSE2_TO_POSE3_RETREAT,763.969744319,742,712,671.969744319,659,633,876,784,799.969744319,648.030255681,629,650,0.401516431163,-0.0153984790593,0.0598285923487,0.999999948245,0.00015547909495,-0.000281379851129,1.27335944978e-05,1793193419123840000
+354,5.900000000,POSE2_TO_POSE3_RETREAT,764,742,712,671.456501677,659,633,876,784,800,648.543498323,629,650,0.401415945884,-0.0154020876394,0.059833493751,0.999999946119,0.000176198650129,-0.000276590464328,1.46263675304e-05,1793193419140506880
+355,5.916666667,POSE2_TO_POSE3_RETREAT,764,742,712,671,659,633,876,784,799.878795441,649,629,650,0.401321626405,-0.0154033947714,0.0598377604251,0.999999944037,0.000193502855023,-0.000272432173909,1.6203674852e-05,1793193419157173504
+356,5.933333333,POSE2_TO_POSE3_RETREAT,764,742,712,671,659,633,876,784,799.285153044,649,629,650,0.401243935519,-0.0153966751188,0.0598383811309,0.999999943523,0.000196196371835,-0.000272380537333,1.64430082751e-05,1793193419173840128
+357,5.950000000,POSE2_TO_POSE3_RETREAT,764,741.700845254,712,671.299154746,659,633,876,784,799,649,629,650.299154746,0.401178341635,-0.0153928406777,0.0598386780056,0.999999943766,0.000195948967481,-0.000271648262093,1.66878660358e-05,1793193419190506752
+358,5.966666667,POSE2_TO_POSE3_RETREAT,764,741.125165968,712,671.874834032,659,633,876,784,799,649,629,650.874834032,0.401123929654,-0.0153916731905,0.059838675546,0.999999944708,0.000192983114131,-0.000270286836574,1.69378302192e-05,1793193419207173632
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764,741.449329565,712,671.550670435,659,633,876.449329565,784,799.89865913,649,629,651,0.401082142221,-0.0153909690927,0.059837456533,0.999999944565,0.000191163754863,-0.000272110021015,1.68316432384e-05,1793193419223840256
+360,6.000000000,POSE2_TO_POSE3_RETREAT,764,742,712,671.024208056,659,633,876.975791944,784,800.951583889,649,629,650.975791944,0.401044345365,-0.0153904517065,0.0598359235254,0.999999944106,0.000189726616503,-0.000274798662001,1.66389581479e-05,1793193419240506880
+361,6.016666667,POSE2_TO_POSE3_RETREAT,764,742,712,671.615769782,659,633,876.384230218,784,799.768460436,649,629,650.384230218,0.401017870778,-0.0153912928993,0.0598349529964,0.999999943477,0.000189782172022,-0.000277034448445,1.67380875825e-05,1793193419257173504
+362,6.033333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,633,876.20288447,784,799,649,629,650.20288447,0.400995473713,-0.015391865427,0.0598339268973,0.999999943012,0.000189197333026,-0.000279104424243,1.67415943798e-05,1793193419273840128
+363,6.050000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,633,876.781757767,784,799,649,629,650.781757767,0.400980633179,-0.0153919400601,0.0598327978149,0.999999942855,0.000187425704404,-0.000280867116781,1.65678917263e-05,1793193419290506752
+364,6.066666667,POSE2_TO_POSE3_RETREAT,764,742,712,671.642954792,659,633,877,784,799.357045208,649,629,650.642954792,0.400972561579,-0.0153913906071,0.0598327659748,0.999999942974,0.000187983393859,-0.000280080970373,1.64268625098e-05,1793193419307173376
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764,742,712,671.06983734,659,633,877,784,799.93016266,649,629,650.06983734,0.400968586318,-0.0153904634773,0.0598333981503,0.999999943253,0.000189950711316,-0.00027775234901,1.63056061867e-05,1793193419323840000
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764,742,711.49313325,671.50686675,658.49313325,633,877,784,800,649,629,650,0.400967878201,-0.0153911420673,0.0598358659678,0.999999944649,0.000188000698378,-0.000274015885475,1.65526918358e-05,1793193419340506880
+367,6.116666667,POSE2_TO_POSE3_RETREAT,764,742,711,671.913857848,658.086142152,633,876.913857848,784,800,649,629,650,0.400967600332,-0.0153922080356,0.0598384371635,0.999999946058,0.000185685492312,-0.000270410342464,1.68500799184e-05,1793193419357173248
+368,6.133333333,POSE2_TO_POSE3_RETREAT,764,742,711,671.322418703,658.677581297,633,876.322418703,784,800,649,629,650,0.400967186875,-0.0153942392981,0.0598401206022,0.999999946743,0.000184416710166,-0.00026871870077,1.71427150098e-05,1793193419373840128
+369,6.150000000,POSE2_TO_POSE3_RETREAT,764,742,711,671,659,633,876.263488154,784,799.736511846,649,629,650.263488154,0.400965634979,-0.0153943341682,0.059840181082,0.999999946596,0.000184642022178,-0.000269129636534,1.68737672866e-05,1793193419390506752
+370,6.166666667,POSE2_TO_POSE3_RETREAT,764,742,711,671,659,633,876.842764574,784,799.157235426,649,629,650.842764574,0.400962718673,-0.0153921082888,0.0598382964594,0.999999945444,0.000186657993149,-0.000272060493239,1.59317674145e-05,1793193419407173376
+371,6.183333333,POSE2_TO_POSE3_RETREAT,764,742,711.418697823,671.418697823,659,633.418697823,876.581302177,784,799.418697823,649,629,650.581302177,0.400962083966,-0.0153919653388,0.0598382301487,0.999999945458,0.000185858102426,-0.000272558488808,1.58667932598e-05,1793193419423840000
+372,6.200000000,POSE2_TO_POSE3_RETREAT,764,742,711.993385529,671.993385529,659,633.993385529,876.006614471,784,799.993385529,649,629,650.006614471,0.400962299292,-0.0153925984043,0.0598388412676,0.999999945907,0.000184009135421,-0.000272150098602,1.61285634551e-05,1793193419440506624
+373,6.216666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,633.434554506,876,784,800,649,629,650,0.40096298137,-0.0153941443104,0.0598394949235,0.999999946668,0.000182920397518,-0.000270069594624,1.63021714441e-05,1793193419457173248
+374,6.233333333,POSE2_TO_POSE3_RETREAT,764,742.142867441,712,671.857132559,659,633,876,784,799.857132559,648.857132559,628.857132559,650,0.400963229468,-0.0153949561582,0.0598399714893,0.99999994708,0.000182818955235,-0.000268608013119,1.63529436296e-05,1793193419473839872
+375,6.250000000,POSE2_TO_POSE3_RETREAT,764,742.737335075,712,671.262664925,659,633,876,784,799.262664925,648.262664925,628.262664925,650,0.400962088591,-0.0153934140696,0.0598398867125,0.999999946384,0.000185810347907,-0.000269164372384,1.60186799091e-05,1793193419490506752
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764,742.675741723,712,671,659,633,876,783.675741723,799,648.324258277,628.324258277,650,0.400961910587,-0.0153924843104,0.0598400615955,0.999999946068,0.000187527972895,-0.000269157048326,1.58876824447e-05,1793193419507173120
+377,6.283333333,POSE2_TO_POSE3_RETREAT,764,742.094790858,712,671,659,633,876,783.094790858,799,648.905209142,628.905209142,650,0.400962494821,-0.0153920392895,0.0598404420328,0.999999946056,0.000188237245456,-0.000268703495682,1.59175966164e-05,1793193419523839744
+378,6.300000000,POSE2_TO_POSE3_RETREAT,764,742,712,671.478747553,659,633,876,783.478747553,799,648.521252447,629,650,0.400962189706,-0.0153924990611,0.0598402885581,0.999999945922,0.000188783915498,-0.000268794039577,1.63130551567e-05,1793193419540507136
+379,6.316666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,633,876,784,799,648.05223824,629,650.05223824,0.400961829529,-0.0153931452648,0.0598401709772,0.99999994586,0.000189026403335,-0.000268831337401,1.67170218526e-05,1793193419557174272
+380,6.333333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,633,876,784,799,648.640057916,629,650.640057916,0.400962682683,-0.0153938941666,0.0598414887208,0.99999994677,0.000186475262768,-0.00026723504342,1.64774777937e-05,1793193419573840384
+381,6.350000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,633,876,784,799.22533795,649,628.77466205,650.77466205,0.400962524803,-0.0153944383705,0.0598416976325,0.99999994722,0.000184234049664,-0.000267126028608,1.61823782933e-05,1793193419590506752
+382,6.366666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,633,876,784,799.806606477,649,628.193393523,650.193393523,0.400960769953,-0.0153946592456,0.0598401550984,0.999999946946,0.000182482379914,-0.000269366232637,1.57995266976e-05,1793193419607173632
+383,6.383333333,POSE2_TO_POSE3_RETREAT,764,742,712,671.6154687,659,632.6154687,876,784,799.6154687,649,628,650,0.400961165273,-0.0153946224611,0.0598407060518,0.999999947387,0.000181874431134,-0.000268136848553,1.58452958628e-05,1793193419623840512
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764,742,712,671.039211059,659,632.039211059,876,784,799.039211059,649,628,650,0.400962632662,-0.0153944572081,0.059842300813,0.999999948178,0.000181836738813,-0.000265177536469,1.61047742762e-05,1793193419640507392
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764,742.546926445,712,671,659,632.546926445,876,784,799.546926445,649,628.546926445,650,0.400960097626,-0.015393355767,0.05984043271,0.999999946609,0.000185191701144,-0.000268752957446,1.60276994266e-05,1793193419657174016
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764,742.86789243,711.86789243,671,659,633,876.13210757,784,800,649,629,650,0.400958079967,-0.0153927272101,0.0598390941598,0.999999945468,0.000187325044338,-0.000271510537156,1.59708566542e-05,1793193419673840640
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764,742.288393191,711.288393191,671,659,633,876.711606809,784,800,649,629,650,0.400958804083,-0.0153939315929,0.0598404052118,0.999999946436,0.000184482413309,-0.000269882649441,1.60657479947e-05,1793193419690507008
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764,742,711.290776195,671.290776195,659,633,876.709223805,784,800,649,629,650.290776195,0.400960186599,-0.015394496288,0.0598413565945,0.999999947292,0.000182772766877,-0.000267866912883,1.6053313565e-05,1793193419707173632
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764,742,711.869618873,671.869618873,659,633,876.130381127,784,800,649,629,650.869618873,0.400962221379,-0.0153944272566,0.0598419516595,0.999999948041,0.000182185546539,-0.000265466941612,1.59345535341e-05,1793193419723840000
+390,6.500000000,POSE2_TO_POSE3_RETREAT,763.555976558,742,712,672,659,633,876,784,800,649,629,651,0.400961348425,-0.0153941333229,0.0598412746489,0.999999947841,0.000182094339553,-0.000266302636136,1.55705948215e-05,1793193419740506880
+391,6.516666667,POSE2_TO_POSE3_RETREAT,763.017608324,741.982391676,712,671.982391676,659,633,876,784,800,649,629,650.982391676,0.400959731161,-0.0153938330104,0.0598403025601,0.999999947392,0.000182148040615,-0.000267970467902,1.51690247478e-05,1793193419757173760
+392,6.533333333,POSE2_TO_POSE3_RETREAT,763.606461517,741.393538483,712,671.393538483,659,633,876,784,800,649,629,650.393538483,0.400961392262,-0.0153954469909,0.0598417555618,0.999999947862,0.000182224522296,-0.000266116194549,1.58599361973e-05,1793193419773840384
+393,6.550000000,POSE2_TO_POSE3_RETREAT,764,741.192084384,711.807915616,671,659,633,876.192084384,784,799.807915616,649,629,650,0.400962179802,-0.015396258619,0.0598424466583,0.999999948117,0.000182152461755,-0.000265187553572,1.62060030647e-05,1793193419790507264
+394,6.566666667,POSE2_TO_POSE3_RETREAT,764,741.771198451,711.228801549,671,659,633,876.771198451,784,799.228801549,649,629,650,0.400961207207,-0.0153954535919,0.0598416025964,0.999999947941,0.000181781104373,-0.000266123963884,1.58572445908e-05,1793193419807173888
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_05/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_05/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..62899b5147488b6ab2841712ddcbabf63bfe589d
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_05/depth_02/simulation_data.csv
@@ -0,0 +1,396 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+1,0.016666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+2,0.033333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+3,0.050000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+4,0.066666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+5,0.083333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+6,0.100000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+7,0.116666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+8,0.133333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+9,0.150000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+10,0.166666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+11,0.183333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+12,0.200000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+13,0.216666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+14,0.233333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+15,0.250000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+16,0.266666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+17,0.283333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+18,0.300000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+19,0.316666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+20,0.333333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+21,0.350000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+22,0.366666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+23,0.383333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+24,0.400000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+25,0.416666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+26,0.433333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+27,0.450000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+28,0.466666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+29,0.483333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+30,0.500000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+31,0.516666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+32,0.533333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+33,0.550000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+34,0.566666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+35,0.583333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+36,0.600000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+37,0.616666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+38,0.633333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+39,0.650000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+40,0.666666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+41,0.683333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+42,0.700000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+43,0.716666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+44,0.733333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+45,0.750000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+46,0.766666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+47,0.783333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+48,0.800000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+49,0.816666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+50,0.833333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+51,0.850000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+52,0.866666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+53,0.883333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+54,0.900000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+55,0.916666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+56,0.933333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+57,0.950000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+58,0.966666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+59,0.983333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+60,1.000000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+61,1.016666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+62,1.033333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+63,1.050000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+64,1.066666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+65,1.083333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+66,1.100000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+67,1.116666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+68,1.133333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+69,1.150000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+70,1.166666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+71,1.183333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+72,1.200000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+73,1.216666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+74,1.233333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+75,1.250000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+76,1.266666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+77,1.283333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+78,1.300000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+79,1.316666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+80,1.333333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+81,1.350000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+82,1.366666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+83,1.383333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+84,1.400000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+85,1.416666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+86,1.433333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+87,1.450000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+88,1.466666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+89,1.483333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+90,1.500000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+91,1.516666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+92,1.533333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+93,1.550000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+94,1.566666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+95,1.583333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+96,1.600000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+97,1.616666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+98,1.633333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+99,1.650000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+100,1.666666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+101,1.683333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+102,1.700000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+103,1.716666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+104,1.733333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+105,1.750000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+106,1.766666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+107,1.783333333,pose1_to_pose2_press,0.575709297938,-0.00994554640867,1.05002942762,0.54628003044,-0.00127280956149,1.04969871023
+108,1.800000000,pose1_to_pose2_press,0.575709357152,-0.00994551742941,1.05002942472,0.546280089057,-0.00127278257108,1.04969870841
+109,1.816666667,pose1_to_pose2_press,0.57570939821,-0.00994549733589,1.05002942272,0.5462801297,-0.00127276385658,1.04969870715
+110,1.833333333,pose1_to_pose2_press,0.575709473574,-0.00994547310224,1.05002938838,0.54628020473,-0.00127274068868,1.04969867456
+111,1.850000000,pose1_to_pose2_press,0.575709536869,-0.00994545672268,1.05002934991,0.54628026788,-0.00127272474384,1.04969863767
+112,1.866666667,pose1_to_pose2_press,0.575709661451,-0.00994542448339,1.0500292742,0.546280392174,-0.0012726933602,1.04969856506
+113,1.883333333,pose1_to_pose2_press,0.575710956255,-0.00994544923901,1.05002912928,0.546281687011,-0.00127271776613,1.04969842638
+114,1.900000000,pose1_to_pose2_press,0.575714282386,-0.00994552169678,1.0500292997,0.546285014479,-0.00127278618664,1.0496985837
+115,1.916666667,pose1_to_pose2_press,0.57572159692,-0.00994538657717,1.05002907391,0.546292327152,-0.00127265716386,1.0496983638
+116,1.933333333,pose1_to_pose2_press,0.575735481039,-0.00994526596679,1.05002914327,0.546306208577,-0.00127254547782,1.04969843857
+117,1.950000000,pose1_to_pose2_press,0.575757856013,-0.00994552455807,1.05002894476,0.54632858679,-0.00127279346324,1.04969822995
+118,1.966666667,pose1_to_pose2_press,0.575791441329,-0.00994541559052,1.05002924285,0.546362171783,-0.00127268544037,1.04969853189
+119,1.983333333,pose1_to_pose2_press,0.575836463285,-0.00994544313376,1.05002932864,0.546407194303,-0.00127271107462,1.04969861747
+120,2.000000000,pose1_to_pose2_press,0.575893405935,-0.00994537629639,1.050029288,0.546464135882,-0.00127264785612,1.04969857718
+121,2.016666667,pose1_to_pose2_press,0.575960462904,-0.00994534048981,1.05002911819,0.546531192394,-0.0012726132133,1.04969841745
+122,2.033333333,pose1_to_pose2_press,0.576037704198,-0.00994560644054,1.05002920088,0.546608437914,-0.00127286556355,1.04969848067
+123,2.050000000,pose1_to_pose2_press,0.576123700467,-0.00994542649896,1.05002904057,0.546694432198,-0.00127269185756,1.04969833339
+124,2.066666667,pose1_to_pose2_press,0.576219378711,-0.0099455386981,1.05002914887,0.54679010944,-0.0012728075278,1.04969843983
+125,2.083333333,pose1_to_pose2_press,0.57632908956,-0.00994539887542,1.05002925908,0.546899819581,-0.00127267002827,1.04969855208
+126,2.100000000,pose1_to_pose2_press,0.576454467289,-0.00994537783817,1.05002903346,0.547025196975,-0.00127264989592,1.04969833251
+127,2.116666667,pose1_to_pose2_press,0.576600468063,-0.00994539649203,1.05002926333,0.547171199108,-0.00127266441633,1.0496985498
+128,2.133333333,pose1_to_pose2_press,0.576766502372,-0.00994547420611,1.05002917664,0.547337234132,-0.00127273960054,1.04969846578
+129,2.150000000,pose1_to_pose2_press,0.576953518676,-0.00994551288734,1.05002918857,0.54752424879,-0.00127278407698,1.04969847219
+130,2.166666667,pose1_to_pose2_press,0.577161289459,-0.00994543549199,1.05002914626,0.547732020497,-0.00127270307433,1.04969844216
+131,2.183333333,pose1_to_pose2_press,0.577388606426,-0.00994540905866,1.05002895831,0.547959337131,-0.00127267793779,1.04969824976
+132,2.200000000,pose1_to_pose2_press,0.577632302835,-0.00994534718063,1.05002912177,0.548203033769,-0.00127261536955,1.04969841089
+133,2.216666667,pose1_to_pose2_press,0.577892862947,-0.00994535679486,1.05002908007,0.548463593215,-0.00127262727965,1.04969836815
+134,2.233333333,pose1_to_pose2_press,0.578173738679,-0.0099454547421,1.05002912452,0.548744470069,-0.00127272136456,1.04969841409
+135,2.250000000,pose1_to_pose2_press,0.578474627603,-0.00994546475271,1.05002897741,0.549045358197,-0.00127273384484,1.0496982729
+136,2.266666667,pose1_to_pose2_press,0.578796868,-0.00994539293563,1.05002896797,0.549367598378,-0.00127266266674,1.04969826581
+137,2.283333333,pose1_to_pose2_press,0.579151269043,-0.00994553659726,1.05002895287,0.549722002289,-0.00127279673428,1.0496982471
+138,2.300000000,pose1_to_pose2_press,0.579537358914,-0.00994555193301,1.05002912688,0.550108091729,-0.00127281371406,1.04969841634
+139,2.316666667,pose1_to_pose2_press,0.579958696409,-0.00994544120752,1.05002922774,0.550529427101,-0.00127271028876,1.04969851458
+140,2.333333333,pose1_to_pose2_press,0.580412826025,-0.00994546791727,1.05002923754,0.550983557531,-0.00127273413811,1.04969852697
+141,2.350000000,pose1_to_pose2_press,0.580900552071,-0.00994542429964,1.05002910218,0.551471282493,-0.00127269401694,1.04969839625
+142,2.366666667,pose1_to_pose2_press,0.581405579286,-0.00994535364879,1.05002918006,0.551976309265,-0.00127262479436,1.04969847604
+143,2.383333333,pose1_to_pose2_press,0.581924645782,-0.00994547918128,1.05002927822,0.552495377446,-0.00127274480558,1.04969856899
+144,2.400000000,pose1_to_pose2_press,0.582456143531,-0.00994555302478,1.05002911545,0.553026876554,-0.00127281403006,1.04969840642
+145,2.416666667,pose1_to_pose2_press,0.583001850621,-0.00994551584252,1.05002893805,0.553572582767,-0.00127277962931,1.0496982341
+146,2.433333333,pose1_to_pose2_press,0.583568341954,-0.00994548154232,1.05002914529,0.554139073759,-0.00127274668751,1.04969843593
+147,2.450000000,pose1_to_pose2_press,0.584163225802,-0.00994543775723,1.05002925036,0.554733956138,-0.00127270826338,1.04969853117
+148,2.466666667,pose1_to_pose2_press,0.584789432117,-0.0099453798149,1.05002926868,0.555360160656,-0.00127265643231,1.04969854911
+149,2.483333333,pose1_to_pose2_press,0.585432971314,-0.00994538942022,1.05002925343,0.556003700462,-0.00127266396586,1.04969853394
+150,2.500000000,pose1_to_pose2_press,0.586089290191,-0.00994538367054,1.05002917908,0.556660019182,-0.00127265853929,1.04969846509
+151,2.516666667,pose1_to_pose2_press,0.586755575691,-0.00994547420886,1.0500292486,0.557326307055,-0.00127274114253,1.04969853157
+152,2.533333333,pose1_to_pose2_press,0.587437165233,-0.00994551163943,1.05002924401,0.558007897434,-0.00127277568684,1.04969852812
+153,2.550000000,pose1_to_pose2_press,0.588143523675,-0.00994544165171,1.05002916112,0.558714253505,-0.00127271351484,1.04969845123
+154,2.566666667,pose1_to_pose2_press,0.588882734922,-0.0099453926461,1.05002923457,0.559453464057,-0.00127266699644,1.04969852138
+155,2.583333333,pose1_to_pose2_press,0.589654123156,-0.00994530365878,1.05002931067,0.560224852693,-0.00127257674272,1.04969859489
+156,2.600000000,pose1_to_pose2_press,0.590441992627,-0.00994535133261,1.05002926068,0.561012723027,-0.00127262163101,1.04969854117
+157,2.616666667,pose1_to_pose2_press,0.591236357068,-0.00994543150342,1.05002917917,0.561807086945,-0.00127270333794,1.04969846592
+158,2.633333333,pose1_to_pose2_press,0.592025535247,-0.0099454459398,1.05002916116,0.562596265107,-0.00127271767107,1.04969845208
+159,2.650000000,pose1_to_pose2_press,0.592805897543,-0.00994538172843,1.05002915673,0.563376627724,-0.00127265237079,1.04969844767
+160,2.666666667,pose1_to_pose2_press,0.593575494741,-0.00994538272451,1.05002910033,0.564146224999,-0.00127265310752,1.04969839127
+161,2.683333333,pose1_to_pose2_press,0.59434481603,-0.0099455199178,1.05002904208,0.564915546962,-0.00127278804326,1.04969833236
+162,2.700000000,pose1_to_pose2_press,0.595118368808,-0.00994553687828,1.0500290422,0.565689099574,-0.00127280552743,1.04969833351
+163,2.716666667,pose1_to_pose2_press,0.595923951154,-0.00994545515751,1.0500291377,0.566494680839,-0.00127272763285,1.04969842492
+164,2.733333333,pose1_to_pose2_press,0.596754820764,-0.00994555076315,1.05002930632,0.567325551987,-0.00127281816067,1.0496985899
+165,2.750000000,pose1_to_pose2_press,0.59759916858,-0.00994557888937,1.05002925538,0.568169900494,-0.00127284391034,1.04969853983
+166,2.766666667,pose1_to_pose2_press,0.598452520932,-0.0099453986631,1.05002917909,0.569023250498,-0.00127267157357,1.04969846568
+167,2.783333333,pose1_to_pose2_press,0.599308901923,-0.0099454486381,1.05002915959,0.569879631538,-0.00127272122931,1.04969845023
+168,2.800000000,pose1_to_pose2_press,0.600138319897,-0.00994550422345,1.05002917532,0.570709050773,-0.00127277273619,1.04969846067
+169,2.816666667,pose1_to_pose2_press,0.600946369124,-0.00994545156118,1.0500291089,0.5715170993,-0.0012727222829,1.04969839875
+170,2.833333333,pose1_to_pose2_press,0.601736996581,-0.00994547242397,1.05002899063,0.57230772627,-0.00127274477978,1.04969828107
+171,2.850000000,pose1_to_pose2_press,0.602513413537,-0.00994548077321,1.05002893615,0.573084143517,-0.00127275233962,1.04969822139
+172,2.866666667,pose1_to_pose2_press,0.603277509497,-0.00994549665639,1.05002894901,0.573848241076,-0.00127276285495,1.04969823287
+173,2.883333333,pose1_to_pose2_press,0.604043477504,-0.00994545457082,1.05002896995,0.574614208571,-0.00127272231008,1.04969825899
+174,2.900000000,pose1_to_pose2_press,0.604816095856,-0.00994540429879,1.05002909124,0.575386826075,-0.00127267495804,1.04969837928
+175,2.916666667,pose1_to_pose2_press,0.605585391475,-0.00994537508522,1.05002911235,0.576156121837,-0.00127264508046,1.04969840512
+176,2.933333333,pose1_to_pose2_press,0.606345361778,-0.00994546550464,1.05002913669,0.576916091823,-0.00127273663852,1.04969842793
+177,2.950000000,pose1_to_pose2_press,0.607084466041,-0.00994547724737,1.05002916132,0.577655196503,-0.00127274686551,1.04969845528
+178,2.966666667,pose1_to_pose2_press,0.607787839134,-0.00994549611678,1.05002919183,0.578358570581,-0.00127276250976,1.04969848273
+179,2.983333333,pose1_to_pose2_press,0.608452534106,-0.00994545876476,1.05002917651,0.579023265755,-0.00127272423157,1.04969847391
+180,3.000000000,pose1_to_pose2_press,0.609098644037,-0.00994548097387,1.05002895904,0.579669374245,-0.00127275112642,1.04969826185
+181,3.016666667,pose1_to_pose2_press,0.609729117106,-0.00994552257862,1.0500290558,0.580299847967,-0.0012727908087,1.04969835098
+182,3.033333333,pose1_to_pose2_press,0.610343773459,-0.00994542531946,1.0500290779,0.580914503714,-0.00127269566462,1.04969837165
+183,3.050000000,pose1_to_pose2_press,0.610942095487,-0.00994541571823,1.05002928969,0.581512824585,-0.00127269023716,1.04969857701
+184,3.066666667,pose1_to_pose2_press,0.611521836706,-0.0099454294431,1.05002913508,0.582092566561,-0.00127270137489,1.04969842313
+185,3.083333333,pose1_to_pose2_press,0.612079927989,-0.00994544499539,1.05002926102,0.582650658287,-0.0012727154887,1.04969854737
+186,3.100000000,pose1_to_pose2_press,0.612617378282,-0.00994549863815,1.05002911807,0.583188109321,-0.0012727663839,1.04969840801
+187,3.116666667,pose1_to_pose2_press,0.613129044826,-0.00994547171017,1.05002917589,0.583699774559,-0.00127274359089,1.04969846438
+188,3.133333333,pose1_to_pose2_press,0.613612997738,-0.00994541044794,1.05002936234,0.584183727481,-0.00127268149884,1.04969865221
+189,3.150000000,pose1_to_pose2_press,0.61406074661,-0.00994542969247,1.05002927545,0.584631477207,-0.00127269668541,1.04969856798
+190,3.166666667,pose1_to_pose2_press,0.614472469271,-0.00994542327619,1.05002930044,0.585043199256,-0.00127269166183,1.04969858665
+191,3.183333333,pose1_to_pose2_press,0.614847201329,-0.00994536523345,1.05002926973,0.585417931563,-0.00127263207774,1.04969855779
+192,3.200000000,pose1_to_pose2_press,0.615200054439,-0.0099454488447,1.05002921314,0.585770784091,-0.00127271708802,1.04969849573
+193,3.216666667,pose1_to_pose2_press,0.615534486787,-0.00994533504809,1.05002928229,0.586105213573,-0.0012726118837,1.04969857361
+194,3.233333333,pose1_to_pose2_press,0.615855828311,-0.00994541386517,1.05002912178,0.586426556528,-0.00127268490723,1.04969842135
+195,3.250000000,pose1_to_pose2_press,0.616163685434,-0.00994541993816,1.05002913768,0.586734412874,-0.00127269303289,1.04969843174
+196,3.266666667,pose1_to_pose2_press,0.616455290947,-0.00994542696752,1.05002927583,0.58702601967,-0.00127269527566,1.04969856424
+197,3.283333333,pose1_to_pose2_press,0.616726411825,-0.00994528062932,1.05002917914,0.587297137237,-0.00127255949031,1.04969846907
+198,3.300000000,pose1_to_pose2_press,0.616975645861,-0.00994535191837,1.05002904658,0.587546372858,-0.0012726247781,1.04969833826
+199,3.316666667,pose1_to_pose2_press,0.617201892675,-0.00994550450183,1.05002902856,0.587772621149,-0.00127277175809,1.04969832178
+200,3.333333333,pose1_to_pose2_press,0.617406552792,-0.00994549481766,1.05002900615,0.587977281279,-0.00127276138574,1.04969830374
+201,3.350000000,pose1_to_pose2_press,0.617589585267,-0.00994550813809,1.05002908358,0.588160313459,-0.00127277587763,1.04969836471
+202,3.366666667,pose1_to_pose2_press,0.617752224302,-0.00994557295613,1.05002913792,0.588322953547,-0.00127283633109,1.049698429
+203,3.383333333,pose1_to_pose2_press,0.617893156403,-0.00994534024689,1.05002929338,0.588463882102,-0.00127261559378,1.04969857559
+204,3.400000000,pose1_to_pose2_press,0.618016435032,-0.00994537908128,1.05002918618,0.588587161329,-0.00127265174669,1.04969847723
+205,3.416666667,pose1_to_pose2_press,0.618122613794,-0.00994544944095,1.05002914562,0.588693340718,-0.00127271954186,1.04969844075
+206,3.433333333,pose1_to_pose2_press,0.618214101527,-0.00994562162823,1.05002924957,0.588784830299,-0.00127288560275,1.04969853543
+207,3.450000000,pose1_to_pose2_press,0.618293644894,-0.00994567823497,1.05002910393,0.588864373768,-0.00127294147004,1.04969839315
+208,3.466666667,pose1_to_pose2_press,0.618362870648,-0.00994553518265,1.05002904328,0.588933597616,-0.00127280453826,1.04969833827
+209,3.483333333,pose1_to_pose2_press,0.618422790164,-0.00994538380319,1.05002920918,0.588993516165,-0.00127265664672,1.04969849906
+210,3.500000000,pose1_to_pose2_press,0.618472813918,-0.00994537049702,1.05002906654,0.589043539846,-0.00127264337701,1.0496983588
+211,3.516666667,pose1_to_pose2_press,0.618513827164,-0.00994544050717,1.05002916789,0.58908455264,-0.0012727152041,1.04969845491
+212,3.533333333,pose1_to_pose2_press,0.618546343134,-0.00994541690963,1.05002914635,0.589117068704,-0.00127269053442,1.04969843861
+213,3.550000000,pose1_to_pose2_press,0.618570738655,-0.00994551493029,1.05002916748,0.589141466461,-0.00127278152746,1.04969845567
+214,3.566666667,pose1_to_pose2_press,0.618589151193,-0.0099455609711,1.05002916276,0.589159880215,-0.00127282306547,1.04969845221
+215,3.583333333,pose1_to_pose2_press,0.618602621529,-0.00994557339263,1.05002897975,0.589173350667,-0.00127283476269,1.04969827583
+216,3.600000000,pose1_to_pose2_press,0.618612429808,-0.00994553427301,1.05002903986,0.589183157748,-0.00127279975576,1.04969833391
+217,3.616666667,pose1_to_pose2_press,0.618618915198,-0.00994546956001,1.05002930041,0.589189641366,-0.00127274136335,1.04969858549
+218,3.633333333,pose1_to_pose2_press,0.618623372234,-0.00994552762115,1.0500291433,0.589194100605,-0.00127279168918,1.04969843431
+219,3.650000000,pose1_to_pose2_press,0.618626355088,-0.00994556640622,1.05002902555,0.589197084839,-0.00127282562038,1.04969832037
+220,3.666666667,pose1_to_pose2_press,0.618628030347,-0.00994555279365,1.05002898713,0.589198759069,-0.00127281561478,1.04969827888
+221,3.683333333,pose1_to_pose2_press,0.61862923898,-0.00994554297272,1.05002895941,0.58919996696,-0.00127280839613,1.04969824894
+222,3.700000000,pose1_to_pose2_press,0.618630347779,-0.009945533963,1.05002893398,0.589201075078,-0.00127280177374,1.04969822147
+223,3.716666667,pose1_to_pose2_press,0.618631272057,-0.00994545335939,1.05002901621,0.589201998127,-0.00127272529917,1.04969830404
+224,3.733333333,pose1_to_pose2_press,0.618632023058,-0.00994538241994,1.05002909074,0.589202748081,-0.00127265787406,1.04969837899
+225,3.750000000,pose1_to_pose2_press,0.618632422281,-0.00994534470933,1.05002913036,0.589203146748,-0.00127262203164,1.04969841883
+226,3.766666667,pose1_to_pose2_press,0.618632541329,-0.00994533346411,1.05002914217,0.589203265629,-0.00127261134351,1.04969843071
+227,3.783333333,pose1_to_pose2_press,0.618632646231,-0.00994532355511,1.05002915258,0.589203370385,-0.0012726019254,1.04969844118
+228,3.800000000,pose1_to_pose2_press,0.618632675208,-0.00994532081787,1.05002915545,0.589203399322,-0.00127259932377,1.04969844407
+229,3.816666667,pose1_to_pose2_press,0.618632911068,-0.00994530682478,1.05002916494,0.589203634947,-0.00127258612534,1.04969845376
+230,3.833333333,pose1_to_pose2_press,0.618632972448,-0.00994531478135,1.05002914794,0.589203696399,-0.00127259385615,1.04969843691
+231,3.850000000,pose1_to_pose2_press,0.618633155777,-0.00994533854573,1.05002909714,0.58920387994,-0.00127261694622,1.04969838658
+232,3.866666667,pose1_to_pose2_press,0.618633237538,-0.0099453491442,1.05002907449,0.589203961796,-0.00127262724396,1.04969836413
+233,3.883333333,pose1_to_pose2_press,0.618633338116,-0.00994536218179,1.05002904662,0.589204062491,-0.00127263991161,1.04969833652
+234,3.900000000,pose1_to_pose2_press,0.618633458353,-0.00994537776778,1.0500290133,0.589204182868,-0.00127265505536,1.0496983035
+235,3.916666667,pose1_to_pose2_press,0.618633484816,-0.00994538119815,1.05002900597,0.589204209362,-0.00127265838839,1.04969829624
+236,3.933333333,pose1_to_pose2_press,0.618633550489,-0.00994538971112,1.05002898777,0.589204275111,-0.00127266665981,1.04969827821
+237,3.950000000,pose1_to_pose2_press,0.61863357855,-0.00994539334859,1.05002898,0.589204303204,-0.00127267019407,1.0496982705
+238,3.966666667,pose1_to_pose2_press,0.618633694242,-0.00994540834541,1.05002894794,0.589204419031,-0.00127268476535,1.04969823874
+239,3.983333333,pose1_to_pose2_press,0.618633775567,-0.0099454188873,1.05002892541,0.58920450045,-0.00127269500812,1.04969821641
+240,4.000000000,pose1_to_pose2_press,0.618633920333,-0.00994543276027,1.05002900355,0.589204646079,-0.00127270589141,1.04969829352
+241,4.016666667,pose1_to_pose2_press,0.618634180976,-0.00994544793636,1.05002920418,0.589204908032,-0.00127271651164,1.04969849196
+242,4.033333333,pose1_to_pose2_press,0.618634182733,-0.00994542072707,1.05002928624,0.589204908323,-0.00127269438102,1.04969857425
+243,4.050000000,pose1_to_pose2_press,0.618634182733,-0.00994542072707,1.05002928624,0.589204908323,-0.00127269437944,1.04969857424
+244,4.066666667,pose2_hold,0.618634182733,-0.00994542072707,1.05002928624,0.589204908328,-0.00127269438029,1.04969857425
+245,4.083333333,pose2_hold,0.618634182733,-0.00994542072707,1.05002928624,0.589204908328,-0.00127269438033,1.04969857425
+246,4.100000000,pose2_hold,0.618634182733,-0.00994542072707,1.05002928624,0.589204908328,-0.00127269438036,1.04969857425
+247,4.116666667,pose2_hold,0.618634182733,-0.00994542072707,1.05002928624,0.589204908329,-0.00127269438039,1.04969857425
+248,4.133333333,pose2_hold,0.618634182733,-0.00994542072707,1.05002928624,0.589204908329,-0.00127269438041,1.04969857425
+249,4.150000000,pose2_hold,0.618634182733,-0.00994542072707,1.05002928624,0.589204908329,-0.00127269438043,1.04969857425
+250,4.166666667,pose2_hold,0.618634182733,-0.00994542072707,1.05002928624,0.589204908329,-0.00127269438046,1.04969857425
+251,4.183333333,pose2_hold,0.618634182733,-0.00994542072707,1.05002928624,0.589204908329,-0.00127269438048,1.04969857425
+252,4.200000000,pose2_hold,0.618634182733,-0.00994542072707,1.05002928624,0.58920490833,-0.00127269438051,1.04969857425
+253,4.216666667,pose2_hold,0.618634182733,-0.00994542072707,1.05002928624,0.58920490833,-0.00127269438053,1.04969857425
+254,4.233333333,pose2_hold,0.618634182733,-0.00994542072707,1.05002928624,0.58920490833,-0.00127269438055,1.04969857425
+255,4.250000000,pose2_hold,0.618634182733,-0.00994542072707,1.05002928624,0.58920490833,-0.00127269438056,1.04969857425
+256,4.266666667,pose2_hold,0.618634182733,-0.00994542072707,1.05002928624,0.58920490833,-0.00127269438058,1.04969857425
+257,4.283333333,pose2_hold,0.618634182733,-0.00994542072707,1.05002928624,0.58920490833,-0.0012726943806,1.04969857425
+258,4.300000000,pose2_hold,0.618634182733,-0.00994542072707,1.05002928624,0.589204908331,-0.00127269438063,1.04969857425
+259,4.316666667,pose2_hold,0.618634182733,-0.00994542072707,1.05002928624,0.589204908331,-0.00127269438065,1.04969857425
+260,4.333333333,pose2_to_pose3_retreat,0.618634182733,-0.00994542072707,1.05002928624,0.589204908331,-0.00127269438074,1.04969857425
+261,4.350000000,pose2_to_pose3_retreat,0.618633925748,-0.00994548204234,1.05002905365,0.589204652931,-0.0012727502844,1.04969834306
+262,4.366666667,pose2_to_pose3_retreat,0.618633464207,-0.00994549889563,1.05002896096,0.58920419097,-0.00127276851758,1.04969825184
+263,4.383333333,pose2_to_pose3_retreat,0.618633130429,-0.00994547729054,1.05002904612,0.589203857175,-0.00127274698062,1.04969833626
+264,4.400000000,pose2_to_pose3_retreat,0.618633010825,-0.00994546954867,1.05002907663,0.589203737564,-0.00127273926317,1.0496983665
+265,4.416666667,pose2_to_pose3_retreat,0.618632806631,-0.0099454563314,1.05002912873,0.589203533359,-0.00127272608756,1.04969841814
+266,4.433333333,pose2_to_pose3_retreat,0.618631179451,-0.00994552479199,1.05002916131,0.589201906695,-0.00127279280414,1.04969845027
+267,4.450000000,pose2_to_pose3_retreat,0.618626595106,-0.00994542201556,1.05002897641,0.589197319951,-0.00127269800442,1.04969827103
+268,4.466666667,pose2_to_pose3_retreat,0.618616749923,-0.00994548818769,1.05002906381,0.589187475658,-0.0012727615264,1.04969835056
+269,4.483333333,pose2_to_pose3_retreat,0.618598060197,-0.00994533816073,1.05002889449,0.589168787026,-0.00127260740956,1.04969819088
+270,4.500000000,pose2_to_pose3_retreat,0.618569372446,-0.00994532466054,1.05002914704,0.589140097521,-0.00127260010955,1.04969843771
+271,4.516666667,pose2_to_pose3_retreat,0.618528704494,-0.00994537223899,1.05002890515,0.589099431427,-0.00127264113815,1.04969820461
+272,4.533333333,pose2_to_pose3_retreat,0.618477013783,-0.00994540097314,1.05002915946,0.589047739249,-0.00127267551385,1.04969844777
+273,4.550000000,pose2_to_pose3_retreat,0.618414037333,-0.00994554779033,1.0500290658,0.588984765267,-0.00127281383469,1.049698362
+274,4.566666667,pose2_to_pose3_retreat,0.618341636432,-0.00994536320235,1.05002921436,0.588912362532,-0.0012726357782,1.04969850768
+275,4.583333333,pose2_to_pose3_retreat,0.618259570097,-0.0099454511863,1.05002910772,0.588830297361,-0.00127272039374,1.04969839386
+276,4.600000000,pose2_to_pose3_retreat,0.618165663132,-0.00994538081951,1.05002927606,0.588736388415,-0.00127265686269,1.04969856255
+277,4.616666667,pose2_to_pose3_retreat,0.618059236548,-0.00994535257916,1.05002915517,0.588629963365,-0.00127262357558,1.04969844493
+278,4.633333333,pose2_to_pose3_retreat,0.617935856222,-0.00994524826707,1.05002915155,0.588506578943,-0.00127253333375,1.04969844316
+279,4.650000000,pose2_to_pose3_retreat,0.617795001052,-0.00994548530363,1.05002914468,0.588365727784,-0.00127275705969,1.04969843875
+280,4.666666667,pose2_to_pose3_retreat,0.617632825559,-0.00994540097073,1.05002926117,0.588203550735,-0.00127267848541,1.04969855202
+281,4.683333333,pose2_to_pose3_retreat,0.617449411478,-0.00994515940454,1.05002928009,0.588020136517,-0.00127243786581,1.04969857118
+282,4.700000000,pose2_to_pose3_retreat,0.617243272254,-0.00994529427021,1.05002919505,0.587813999059,-0.00127256730442,1.04969848325
+283,4.716666667,pose2_to_pose3_retreat,0.617011189768,-0.00994547357637,1.050029171,0.587581917851,-0.00127274283995,1.04969845945
+284,4.733333333,pose2_to_pose3_retreat,0.616753136631,-0.00994542551181,1.05002893649,0.587323864118,-0.00127269712112,1.04969823366
+285,4.750000000,pose2_to_pose3_retreat,0.616468811297,-0.00994554979481,1.05002900203,0.587039540838,-0.00127281518748,1.04969829556
+286,4.766666667,pose2_to_pose3_retreat,0.616159115255,-0.00994547305061,1.05002894432,0.58672984283,-0.00127274587002,1.04969823639
+287,4.783333333,pose2_to_pose3_retreat,0.615821181483,-0.00994544967945,1.05002908929,0.586391911033,-0.00127271654679,1.04969838452
+288,4.800000000,pose2_to_pose3_retreat,0.61546223702,-0.00994534038586,1.05002895181,0.5860329646,-0.00127261481261,1.0496982477
+289,4.816666667,pose2_to_pose3_retreat,0.615083535788,-0.0099454286299,1.05002917899,0.585654266362,-0.00127269388557,1.04969846946
+290,4.833333333,pose2_to_pose3_retreat,0.614681802301,-0.00994547971743,1.0500292058,0.585252533067,-0.00127274530856,1.04969849274
+291,4.850000000,pose2_to_pose3_retreat,0.614260496105,-0.00994542977465,1.05002918156,0.584831226349,-0.00127269819587,1.04969846727
+292,4.866666667,pose2_to_pose3_retreat,0.613823892601,-0.00994543626512,1.05002908398,0.584394622165,-0.00127270756071,1.04969837685
+293,4.883333333,pose2_to_pose3_retreat,0.613363952265,-0.00994550123937,1.05002908843,0.583934682941,-0.00127276950542,1.04969838234
+294,4.900000000,pose2_to_pose3_retreat,0.612871215089,-0.00994553662417,1.0500291738,0.583441946705,-0.00127280268409,1.04969846163
+295,4.916666667,pose2_to_pose3_retreat,0.612339056176,-0.00994545842787,1.05002921569,0.582909787106,-0.00127272728968,1.04969850547
+296,4.933333333,pose2_to_pose3_retreat,0.611764695307,-0.00994545573933,1.05002911067,0.58233542725,-0.0012727214535,1.04969840551
+297,4.950000000,pose2_to_pose3_retreat,0.6111474033,-0.00994549389705,1.05002896886,0.581718134944,-0.00127276132036,1.04969826018
+298,4.966666667,pose2_to_pose3_retreat,0.610499785881,-0.00994537725556,1.05002910263,0.581070515832,-0.00127265108173,1.04969839246
+299,4.983333333,pose2_to_pose3_retreat,0.609835463049,-0.00994550567142,1.05002908716,0.58040619386,-0.00127277549766,1.04969838072
+300,5.000000000,pose2_to_pose3_retreat,0.609158084208,-0.00994548965076,1.05002900618,0.579728814732,-0.00127275897042,1.0496983042
+301,5.016666667,pose2_to_pose3_retreat,0.608464952324,-0.00994542877456,1.05002894869,0.579035682218,-0.00127270027713,1.04969824551
+302,5.033333333,pose2_to_pose3_retreat,0.607752680124,-0.00994542177273,1.05002890514,0.578323409785,-0.00127269425532,1.04969819721
+303,5.050000000,pose2_to_pose3_retreat,0.607020311518,-0.00994543855958,1.05002896497,0.577591041988,-0.00127270830009,1.04969825697
+304,5.066666667,pose2_to_pose3_retreat,0.606270544685,-0.00994551940606,1.05002914806,0.576841275892,-0.00127278670514,1.04969843874
+305,5.083333333,pose2_to_pose3_retreat,0.605505146257,-0.00994547959633,1.05002917564,0.576075876793,-0.00127274919447,1.04969846557
+306,5.100000000,pose2_to_pose3_retreat,0.604719627361,-0.00994545760473,1.0500290889,0.575290358009,-0.0012727267638,1.04969838024
+307,5.116666667,pose2_to_pose3_retreat,0.603911379303,-0.00994543855415,1.0500290332,0.574482109321,-0.00127270964419,1.0496983298
+308,5.133333333,pose2_to_pose3_retreat,0.603077616073,-0.00994542474755,1.05002899636,0.573648345777,-0.00127269684137,1.04969829379
+309,5.150000000,pose2_to_pose3_retreat,0.60222968047,-0.00994538364957,1.05002910052,0.572800410726,-0.00127265400865,1.04969839385
+310,5.166666667,pose2_to_pose3_retreat,0.6013763477,-0.00994540672187,1.05002900122,0.571947079351,-0.00127267211533,1.04969830132
+311,5.183333333,pose2_to_pose3_retreat,0.600524509923,-0.00994539559427,1.05002906049,0.571095240558,-0.00127266449324,1.04969835954
+312,5.200000000,pose2_to_pose3_retreat,0.599680858832,-0.00994543631752,1.05002919204,0.570251589416,-0.00127270551117,1.04969848787
+313,5.216666667,pose2_to_pose3_retreat,0.59884637057,-0.00994552707994,1.05002916113,0.569417102402,-0.0012727920866,1.04969845565
+314,5.233333333,pose2_to_pose3_retreat,0.598000218622,-0.00994551946325,1.05002917284,0.568570949393,-0.00127278817593,1.04969846438
+315,5.250000000,pose2_to_pose3_retreat,0.597142106156,-0.00994544864532,1.05002931557,0.56771283604,-0.00127272041374,1.04969860527
+316,5.266666667,pose2_to_pose3_retreat,0.59626738544,-0.00994543229177,1.05002906226,0.566838115098,-0.00127270467735,1.04969835526
+317,5.283333333,pose2_to_pose3_retreat,0.595385050358,-0.0099454190189,1.05002905568,0.565955780779,-0.00127268882897,1.04969834818
+318,5.300000000,pose2_to_pose3_retreat,0.59450590408,-0.00994544657828,1.05002919857,0.565076634256,-0.00127271736776,1.04969848709
+319,5.316666667,pose2_to_pose3_retreat,0.593639712881,-0.00994546488947,1.05002905493,0.564210443348,-0.0012727346967,1.04969834335
+320,5.333333333,pose2_to_pose3_retreat,0.592790912458,-0.00994542908581,1.05002901082,0.5633616438,-0.00127269559244,1.04969830791
+321,5.350000000,pose2_to_pose3_retreat,0.591965349267,-0.00994542993486,1.05002904045,0.562536080019,-0.00127269871105,1.04969833047
+322,5.366666667,pose2_to_pose3_retreat,0.591157738346,-0.00994537177171,1.05002912453,0.561728467615,-0.00127264591875,1.04969840568
+323,5.383333333,pose2_to_pose3_retreat,0.590365671499,-0.00994531106081,1.05002917033,0.560936400644,-0.00127258530606,1.04969845986
+324,5.400000000,pose2_to_pose3_retreat,0.589582367005,-0.00994544418684,1.05002925719,0.560153097321,-0.00127271465745,1.04969854148
+325,5.416666667,pose2_to_pose3_retreat,0.588804504603,-0.00994539096462,1.05002940551,0.559375233739,-0.00127266555225,1.0496986868
+326,5.433333333,pose2_to_pose3_retreat,0.588030583561,-0.00994549707631,1.05002927403,0.558601313409,-0.00127276914554,1.04969855795
+327,5.450000000,pose2_to_pose3_retreat,0.587259245605,-0.009945584257,1.05002922691,0.557829977384,-0.00127284958083,1.04969851581
+328,5.466666667,pose2_to_pose3_retreat,0.586508151082,-0.00994549826531,1.05002940175,0.557078881567,-0.00127276823445,1.049698684
+329,5.483333333,pose2_to_pose3_retreat,0.585781004627,-0.00994547915674,1.05002929197,0.556351734839,-0.00127274980032,1.04969858081
+330,5.500000000,pose2_to_pose3_retreat,0.585087224314,-0.00994546736576,1.05002924171,0.555657953834,-0.00127273995733,1.04969854102
+331,5.516666667,pose2_to_pose3_retreat,0.584433098788,-0.00994546087607,1.05002928878,0.555003829307,-0.00127273015553,1.04969858606
+332,5.533333333,pose2_to_pose3_retreat,0.583819495059,-0.00994547096022,1.05002931854,0.554390226875,-0.00127273613199,1.04969860814
+333,5.550000000,pose2_to_pose3_retreat,0.583223437235,-0.00994546178846,1.05002907854,0.553794167935,-0.00127273066994,1.04969837005
+334,5.566666667,pose2_to_pose3_retreat,0.582643417434,-0.00994547084882,1.05002923918,0.553214148104,-0.00127274002352,1.04969852578
+335,5.583333333,pose2_to_pose3_retreat,0.582077411271,-0.00994548796276,1.05002885288,0.552648141699,-0.00127275788178,1.04969814246
+336,5.600000000,pose2_to_pose3_retreat,0.581529717841,-0.00994529054046,1.05002926563,0.552100445683,-0.00127256922291,1.0496985551
+337,5.616666667,pose2_to_pose3_retreat,0.581007626735,-0.0099454725209,1.0500290553,0.551578357923,-0.00127273985124,1.04969834469
+338,5.633333333,pose2_to_pose3_retreat,0.58051345041,-0.00994531420511,1.0500291643,0.55108417968,-0.00127258810079,1.0496984526
+339,5.650000000,pose2_to_pose3_retreat,0.580046824941,-0.00994558901694,1.05002900682,0.550617557109,-0.00127285270276,1.04969830507
+340,5.666666667,pose2_to_pose3_retreat,0.579604473772,-0.00994555016354,1.05002914224,0.550175205319,-0.00127281599571,1.04969843906
+341,5.683333333,pose2_to_pose3_retreat,0.579183784238,-0.00994548731412,1.05002925631,0.549754514849,-0.00127275653725,1.04969854715
+342,5.700000000,pose2_to_pose3_retreat,0.578787409743,-0.00994548476845,1.05002901508,0.54935814076,-0.00127275270715,1.04969830343
+343,5.716666667,pose2_to_pose3_retreat,0.578421387017,-0.00994554329567,1.05002883349,0.548992117016,-0.00127281459612,1.04969812423
+344,5.733333333,pose2_to_pose3_retreat,0.578091512625,-0.00994547275465,1.05002906759,0.548662243129,-0.00127274239654,1.04969835705
+345,5.750000000,pose2_to_pose3_retreat,0.577799556071,-0.00994557313084,1.05002915078,0.548370287767,-0.00127283880554,1.04969843833
+346,5.766666667,pose2_to_pose3_retreat,0.577542570706,-0.00994541699186,1.05002891102,0.548113301985,-0.00127268380067,1.04969820588
+347,5.783333333,pose2_to_pose3_retreat,0.577310477305,-0.00994546127361,1.05002917631,0.547881208337,-0.00127272929887,1.0496984614
+348,5.800000000,pose2_to_pose3_retreat,0.577095407316,-0.00994532198451,1.0500291399,0.547666137145,-0.00127259371698,1.04969843492
+349,5.816666667,pose2_to_pose3_retreat,0.576893946964,-0.00994549791457,1.05002917514,0.54746467854,-0.00127276402613,1.04969846204
+350,5.833333333,pose2_to_pose3_retreat,0.576707252075,-0.00994544083444,1.0500290514,0.547277983438,-0.00127270748253,1.04969834322
+351,5.850000000,pose2_to_pose3_retreat,0.576536956941,-0.00994544001419,1.05002921269,0.547107688672,-0.00127270532077,1.04969850687
+352,5.866666667,pose2_to_pose3_retreat,0.576388740087,-0.00994544808784,1.0500290616,0.546959471672,-0.00127271383008,1.04969835737
+353,5.883333333,pose2_to_pose3_retreat,0.576261189269,-0.00994535824972,1.05002901443,0.546831919921,-0.00127262715166,1.04969831047
+354,5.900000000,pose2_to_pose3_retreat,0.576153950369,-0.0099453453626,1.05002904037,0.546724679647,-0.00127261910216,1.04969833262
+355,5.916666667,pose2_to_pose3_retreat,0.576063018357,-0.00994537760676,1.05002913085,0.54663374757,-0.00127265165705,1.04969842066
+356,5.933333333,pose2_to_pose3_retreat,0.575987727866,-0.00994532176634,1.0500290997,0.546558456811,-0.00127259679116,1.04969838767
+357,5.950000000,pose2_to_pose3_retreat,0.575923889786,-0.00994535178985,1.05002916878,0.54649462044,-0.001272620921,1.04969845911
+358,5.966666667,pose2_to_pose3_retreat,0.575871029569,-0.00994543917021,1.05002908515,0.546441761233,-0.00127270471337,1.04969837963
+359,5.983333333,pose2_to_pose3_retreat,0.575828239543,-0.00994550033676,1.05002890223,0.546398971449,-0.00127276503457,1.0496981973
+360,6.000000000,pose2_to_pose3_retreat,0.57579392116,-0.00994548487101,1.05002899216,0.546364653723,-0.00127274739154,1.04969828583
+361,6.016666667,pose2_to_pose3_retreat,0.575767200177,-0.00994537744492,1.05002910713,0.546337931162,-0.00127264525812,1.04969840248
+362,6.033333333,pose2_to_pose3_retreat,0.575747124068,-0.00994540088488,1.05002900917,0.546317853977,-0.00127267217772,1.04969830898
+363,6.050000000,pose2_to_pose3_retreat,0.575733382982,-0.00994545506359,1.05002901187,0.54630411313,-0.00127272555908,1.04969831141
+364,6.066666667,pose2_to_pose3_retreat,0.575724678312,-0.00994542145906,1.05002918824,0.546295408963,-0.00127269093855,1.04969846967
+365,6.083333333,pose2_to_pose3_retreat,0.575719906832,-0.00994541159582,1.05002911658,0.54629063724,-0.00127268173035,1.04969840247
+366,6.100000000,pose2_to_pose3_retreat,0.575717615444,-0.00994540796638,1.05002906038,0.546288345669,-0.00127267857228,1.04969835029
+367,6.116666667,pose2_to_pose3_retreat,0.575716444406,-0.00994541036872,1.05002904048,0.5462871746,-0.00127268101585,1.04969833209
+368,6.133333333,pose2_to_pose3_retreat,0.575715531412,-0.00994544860057,1.0500291002,0.546286262116,-0.00127271757465,1.04969839024
+369,6.150000000,pose2_to_pose3_retreat,0.575714629841,-0.00994548635411,1.05002915918,0.546285361047,-0.00127275367607,1.04969844767
+370,6.166666667,pose2_to_pose3_retreat,0.575713805009,-0.00994552089413,1.05002921314,0.546284536676,-0.0012727867046,1.0496985002
+371,6.183333333,pose2_to_pose3_retreat,0.575713150641,-0.00994554829597,1.05002925595,0.546283882673,-0.00127281290731,1.04969854188
+372,6.200000000,pose2_to_pose3_retreat,0.575712776348,-0.00994556396958,1.05002928044,0.546283508589,-0.00127282789503,1.04969856572
+373,6.216666667,pose2_to_pose3_retreat,0.575712678308,-0.00994556807501,1.05002928685,0.546283410605,-0.0012728318208,1.04969857197
+374,6.233333333,pose2_to_pose3_retreat,0.575712651331,-0.00994556920469,1.05002928861,0.546283383642,-0.00127283290105,1.04969857369
+375,6.250000000,pose2_to_pose3_retreat,0.575712620907,-0.0099455704787,1.0500292906,0.546283353235,-0.00127283411931,1.04969857562
+376,6.266666667,pose2_to_pose3_retreat,0.575712499584,-0.00994557571011,1.05002929726,0.546283231986,-0.00127283910501,1.04969858214
+377,6.283333333,pose2_to_pose3_retreat,0.575712303344,-0.00994558568154,1.05002929516,0.546283035927,-0.00127284844519,1.04969858054
+378,6.300000000,pose2_to_pose3_retreat,0.575712220066,-0.00994558991312,1.05002929426,0.546282952726,-0.00127285240888,1.04969857986
+379,6.316666667,pose2_to_pose3_retreat,0.575712133967,-0.00994559428803,1.05002929334,0.546282866706,-0.00127285650684,1.04969857916
+380,6.333333333,pose2_to_pose3_retreat,0.575711892179,-0.00994560657385,1.05002929076,0.546282625141,-0.00127286801489,1.04969857719
+381,6.350000000,pose2_to_pose3_retreat,0.575711748577,-0.00994561387064,1.05002928922,0.546282481671,-0.00127287484975,1.04969857602
+382,6.366666667,pose2_to_pose3_retreat,0.575711635996,-0.00994561959117,1.05002928801,0.546282369194,-0.00127288020813,1.04969857511
+383,6.383333333,pose2_to_pose3_retreat,0.575711273629,-0.00994563800391,1.05002928414,0.546282007161,-0.00127289745524,1.04969857216
+384,6.400000000,pose2_to_pose3_retreat,0.575710650564,-0.00994566966341,1.05002927747,0.546281384669,-0.0012729271105,1.04969856709
+385,6.416666667,pose2_to_pose3_retreat,0.575710377866,-0.00994566282593,1.05002926676,0.54628111191,-0.00127292046638,1.04969855682
+386,6.433333333,pose2_to_pose3_retreat,0.575710245483,-0.0099456349419,1.0500292523,0.546280979126,-0.00127289394703,1.04969854229
+387,6.450000000,pose2_to_pose3_retreat,0.57571018985,-0.00994562322377,1.05002924623,0.546280923324,-0.0012728828024,1.04969853618
+388,6.466666667,pose2_to_pose3_retreat,0.575710020657,-0.00994558758645,1.05002922775,0.546280753618,-0.00127284890921,1.04969851761
+389,6.483333333,pose2_to_pose3_retreat,0.575709797303,-0.00994554054123,1.05002920337,0.546280529587,-0.00127280416643,1.04969849308
+390,6.500000000,pose2_to_pose3_retreat,0.575709447871,-0.00994546719492,1.05002916586,0.546280179099,-0.00127273440936,1.04969845535
+391,6.516666667,pose2_to_pose3_retreat,0.575709355748,-0.00994551586587,1.05002932669,0.546280087759,-0.00127278058468,1.04969861196
+392,6.533333333,pose2_to_pose3_retreat,0.575709308875,-0.00994554063038,1.05002940852,0.546280041284,-0.00127280407939,1.04969869164
+393,6.550000000,pose2_to_pose3_retreat,0.575709302348,-0.00994554407871,1.05002941992,0.546280034813,-0.0012728073509,1.04969870274
+394,6.566666667,pose2_to_pose3_retreat,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_05/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_05/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4226c1c4d84826aa69955a698570a1db67c3e7d0
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_05/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:17e62e7abdd5577153756d73ef8a6fd54e3400bf4ff7854c7d345e0ee184fe53
+size 25165003
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_05/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_05/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..04aaba4707c9cb16cd33397e6f916c8c24ded231
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_05/depth_03/franka_data.csv
@@ -0,0 +1,398 @@
+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,764,742,711,671,659,633,876,784,801,648,629,651,0.400959779007,-0.0153959444299,0.0598411921419,0.999999947499,0.000183493452186,-0.000266592873073,1.61367236922e-05,1793193419957610240
+1,0.016666667,BASELINE,763.426154228,742,711,671.573845772,659,633,876,784,799.852308456,648.573845772,629,650.426154228,0.400960488244,-0.015396545263,0.0598415293174,0.999999947819,0.000182177852379,-0.00026629636767,1.60900960577e-05,1793193419974276352
+2,0.033333333,BASELINE,763.151881945,742,711.151881945,671.848118055,659,633,876,784,799,648.848118055,629,650,0.400960895791,-0.0153966024711,0.0598417223716,0.999999947859,0.000182100268256,-0.000266206069592,1.59987705319e-05,1793193419990942720
+3,0.050000000,BASELINE,763.74200938,742,711.74200938,671.25799062,659,633,876,784,799,648.25799062,629,650,0.40096043283,-0.0153950910848,0.059841499573,0.999999947085,0.000185594897706,-0.000266710769296,1.57784721321e-05,1793193420007609088
+4,0.066666667,BASELINE,764,742,712,671.326426336,659,633,876.326426336,783.673573664,799.326426336,648.326426336,629,650,0.400960240967,-0.0153939256183,0.0598417463541,0.999999946824,0.00018702560146,-0.000266696306167,1.57077126388e-05,1793193420024275712
+5,0.083333333,BASELINE,764,742,712,671.906407587,659,633,876.906407587,783.093592413,799.906407587,648.906407587,629,650,0.400960259682,-0.0153930288486,0.0598423578861,0.999999946967,0.000186853130127,-0.0002662785781,1.57531089967e-05,1793193420040942336
+6,0.100000000,BASELINE,764,742,711.51894389,671.51894389,658.51894389,633,876.51894389,783.48105611,799.51894389,649,629,650,0.40096109722,-0.0153954691844,0.0598433481699,0.999999947885,0.000184218707809,-0.00026463053357,1.62430806591e-05,1793193420057609216
+7,0.116666667,BASELINE,764,742,711.056358253,671.056358253,658.056358253,633,876.056358253,784,799,649,629,650.056358253,0.40096198382,-0.0153982123714,0.0598442243122,0.99999994882,0.000181390306337,-0.00026301667948,1.67350224988e-05,1793193420074276096
+8,0.133333333,BASELINE,764,742,711.647602721,671.647602721,658.647602721,633,876.647602721,784,799,649,629,650.647602721,0.400961840674,-0.0153977354678,0.0598433254606,0.999999948604,0.000181217028141,-0.000263974189846,1.64337560087e-05,1793193420090942720
+9,0.150000000,BASELINE,764,742,712,672,659,633,876.765889079,784,799,649,629,651,0.400961446965,-0.0153972940179,0.0598428642109,0.999999948458,0.000181060272547,-0.000264645432569,1.62409533817e-05,1793193420107609344
+10,0.166666667,BASELINE,764,742,712,672,659,633,876.186368864,784,799,649,629,651,0.400960683573,-0.0153969048768,0.0598430486031,0.999999948417,0.000180927894558,-0.000264894313433,1.62081793105e-05,1793193420124275712
+11,0.183333333,BASELINE,764,742,712,671.609013969,659.390986031,633,876,784,799.390986031,649,629,650.609013969,0.400960793545,-0.0153974014338,0.0598428405539,0.999999948475,0.000180226543709,-0.000265149026171,1.62889664562e-05,1793193420140942080
+12,0.200000000,BASELINE,764,742,712,671.032685467,659.967314533,633,876,784,799.967314533,649,629,650.032685467,0.400961317525,-0.0153983178458,0.0598424464724,0.999999948579,0.00017925547775,-0.000265406503466,1.64235859989e-05,1793193420157608960
+13,0.216666667,BASELINE,763.448063245,742,712,671,659.448063245,633,876,784,799.448063245,648.448063245,629,650,0.400961336503,-0.0153982095556,0.0598421881784,0.999999948376,0.000180525514821,-0.000265320984407,1.62139075368e-05,1793193420174275584
+14,0.233333333,BASELINE,763,742,712,671.135708969,659,633,876,784,799.135708969,648.135708969,629,650.135708969,0.400961273431,-0.0153978722593,0.0598420599544,0.999999948178,0.000181809263234,-0.000265203219552,1.60427350246e-05,1793193420190942208
+15,0.250000000,BASELINE,763,742,712,671.715072374,659,633,876,784,799.715072374,648.715072374,629,650.715072374,0.400961041382,-0.0153969877124,0.0598423302608,0.999999948057,0.00018269734363,-0.000265047454549,1.60651170063e-05,1793193420207609600
+16,0.266666667,BASELINE,763.293538181,742.293538181,711.706461819,671.706461819,659,633,876,784,800,649,629,650.706461819,0.400961612134,-0.0153969377539,0.0598429636661,0.999999948407,0.00018176544928,-0.000264370204516,1.60149739277e-05,1793193420224276224
+17,0.283333333,BASELINE,763.871135342,742.871135342,711.128864658,671.128864658,659,633,876,784,800,649,629,650.128864658,0.40096295976,-0.0153976954326,0.0598439484448,0.999999949206,0.000179072352409,-0.000263188309729,1.58946478321e-05,1793193420240942848
+18,0.300000000,BASELINE,764,742.554789779,711.445210221,671,659,633,876,784,800,649,629,650.445210221,0.40096274066,-0.0153979512116,0.0598440581109,0.999999949031,0.000180065501837,-0.000263159001593,1.61919007078e-05,1793193420257609216
+19,0.316666667,BASELINE,764.018845803,742,712,671,659.037691606,633,876,784,800,649,629,650.981154197,0.40096211287,-0.0153980308757,0.0598439229962,0.999999948591,0.000182086092451,-0.000263413966209,1.65931101722e-05,1793193420274275584
+20,0.333333333,BASELINE,764.609854154,742,712,671,660.219708309,633,876,784,800,649,629,650.390145846,0.400962736961,-0.0153971395551,0.0598439861198,0.999999948702,0.000183160787918,-0.000262250469588,1.65097234947e-05,1793193420290942464
+21,0.350000000,BASELINE,764.803164887,742,711.803164887,671,660.606329774,633,876,784,800,648.803164887,628.803164887,650.196835113,0.400962660374,-0.0153965246699,0.0598438222016,0.999999948558,0.000184065294499,-0.000262173687161,1.63800408854e-05,1793193420307608832
+22,0.366666667,BASELINE,764.224006613,742,711.224006613,671,659.448013225,633,876,784,800,648.224006613,628.224006613,650.775993387,0.400961222822,-0.0153964467197,0.0598432172879,0.999999947921,0.000184639234158,-0.000264207686827,1.616043527e-05,1793193420324275456
+23,0.383333333,BASELINE,764,742,711.352680422,671.352680422,659,633,876.352680422,784,800,648.352680422,628.352680422,651,0.400960648503,-0.0153964614035,0.0598427988935,0.999999947885,0.000183844394546,-0.000264910491594,1.59096690115e-05,1793193420340942336
+24,0.400000000,BASELINE,764,742,711.927808816,671.927808816,659,633,876.927808816,784,800,648.927808816,628.927808816,651,0.400960618657,-0.0153965345148,0.0598424981432,0.999999948229,0.000182186217663,-0.00026477366502,1.56392486158e-05,1793193420357609728
+25,0.416666667,BASELINE,764,742,712,672.503220988,659,633,877,784,800,649,629,650.496779012,0.400960483194,-0.0153968617043,0.0598426558727,0.999999948186,0.000182249652791,-0.00026488333958,1.58007882958e-05,1793193420374276352
+26,0.433333333,BASELINE,764,742,712,672.838481533,659,633,876.919240766,784,799.919240766,649,629,650,0.400960515781,-0.0153970802756,0.0598429507244,0.999999948122,0.000182591211183,-0.000264879287486,1.60004429786e-05,1793193420390943232
+27,0.450000000,BASELINE,764,742,712,671.657069156,659,633,876.328534578,784,799.328534578,649,629,650,0.400961705243,-0.0153963826989,0.0598436958724,0.999999948273,0.000183128544993,-0.000263933698622,1.60492579622e-05,1793193420407609344
+28,0.466666667,BASELINE,764,742,712,671,659,633,876,783.743035268,799.256964732,649,629,650,0.400961474308,-0.0153963670452,0.0598436112133,0.999999948307,0.000182837413368,-0.000264005000664,1.60515731489e-05,1793193420424275968
+29,0.483333333,BASELINE,764,742,712,671,659,633,876,783.164060877,799.835939123,649,629,650,0.400959463433,-0.0153972059282,0.0598424866997,0.999999948194,0.000181508108613,-0.000265350597062,1.59956181427e-05,1793193420440942336
+30,0.500000000,BASELINE,764,742,712,671.412747419,659,633,876,783.412747419,800,649,629,650,0.400959915333,-0.0153971524262,0.0598428569571,0.999999948186,0.000182392818009,-0.000264767985462,1.60773972372e-05,1793193420457608960
+31,0.516666667,BASELINE,764,742,712,671.988699204,659,633,876,783.988699204,800,649,629,650,0.400961341039,-0.0153967460665,0.0598438182615,0.999999948217,0.00018415297029,-0.000263422941524,1.62136377438e-05,1793193420474275840
+32,0.533333333,BASELINE,764,742,712,671.425897049,659.574102951,633,876,783.425897049,800,649,629,650,0.400960525907,-0.0153964342798,0.0598431365148,0.999999948172,0.000183178755191,-0.000264297554755,1.57884575426e-05,1793193420490942464
+33,0.550000000,BASELINE,764,742,712,671,659.841362216,633,876,783,800,649,629,650,0.400960077078,-0.0153961319891,0.0598428941864,0.999999948207,0.000182479864514,-0.000264664495513,1.54991474779e-05,1793193420507609344
+34,0.566666667,BASELINE,764,742,712,671,659.259649308,633,876,783,800,649,629,650,0.400960724756,-0.0153958499757,0.0598439114523,0.999999948464,0.000182661191179,-0.000263559036826,1.56021589548e-05,1793193420524275968
+35,0.583333333,BASELINE,764,742,712,671,659,633,876,783.319246087,800,649,629,650,0.40096077705,-0.0153965590091,0.0598438759349,0.99999994852,0.00018180912416,-0.000263918018492,1.5884935383e-05,1793193420540942592
+36,0.600000000,BASELINE,764,742,712,671,659,633,876,783.895870052,800,649,629,650,0.400960349342,-0.0153980670295,0.059842991658,0.999999948411,0.000180123929731,-0.000265457639565,1.63126392732e-05,1793193420557608960
+37,0.616666667,BASELINE,764,742,712,671.471976219,659,633,876,783.528023781,799.528023781,648.528023781,629,650,0.400959372141,-0.0153982704045,0.0598424621464,0.999999948444,0.000178662237723,-0.000266334065252,1.60909714946e-05,1793193420574275584
+38,0.633333333,BASELINE,764,742,711.950912252,671.950912252,659,633,876,783.049087748,799.049087748,648.049087748,629,650,0.400958534527,-0.0153981841454,0.0598421860296,0.999999948502,0.000177670795757,-0.000266793158594,1.58154454159e-05,1793193420590942208
+39,0.650000000,BASELINE,764,742,711.361477363,671.361477363,659,633,876,783.638522637,799.638522637,648.638522637,629,650,0.400960566475,-0.0153980746424,0.0598438385897,0.999999948508,0.000181313559678,-0.000264267218339,1.65223919515e-05,1793193420607608832
+40,0.666666667,BASELINE,764,742,711.223831198,671.223831198,659,633,876,784,799.776168802,649,629,650,0.400961696957,-0.0153972012656,0.0598446576913,0.999999948347,0.000183984734136,-0.000263018631473,1.66343365392e-05,1793193420624275712
+41,0.683333333,BASELINE,764,742,711.802596513,671.802596513,659,633,876,784,799.197403487,649,629,650,0.400961397962,-0.015395116597,0.0598441551589,0.999999947947,0.000185115237324,-0.000263795572499,1.58027732379e-05,1793193420640942848
+42,0.700000000,BASELINE,764,742,711.62136083,671.62136083,659,633,876.37863917,784,799.37863917,649,629,650.37863917,0.400961064986,-0.0153957244181,0.0598436379941,0.999999948062,0.000183693920694,-0.000264354957555,1.57548367252e-05,1793193420657609728
+43,0.716666667,BASELINE,764,742,711.046727514,671.046727514,659,633,876.953272486,784,799.953272486,649,629,650.953272486,0.40096071442,-0.0153977259466,0.0598431132551,0.999999948438,0.000180951711247,-0.000264801729575,1.6112527219e-05,1793193420674276608
+44,0.733333333,BASELINE,764,742,711.539855971,671.539855971,659,633,876.460144029,784,800,649,629,650.460144029,0.400960589099,-0.0153969843187,0.0598432895087,0.999999948237,0.000182804065477,-0.000264293127269,1.60313552551e-05,1793193420690942720
+45,0.750000000,BASELINE,763.874412423,742,712,672,659.125587577,633,876,783.874412423,800,648.874412423,629,650,0.400960499775,-0.0153964067372,0.0598434039195,0.999999948004,0.000184489451468,-0.00026400633136,1.59859718303e-05,1793193420707608832
+46,0.766666667,BASELINE,763.295572962,742,712,672,659.704427038,633,876,783.295572962,800,648.295572962,629,650,0.40096046841,-0.0153972975222,0.0598430712011,0.999999947855,0.000184104485553,-0.000264825244779,1.62099477126e-05,1793193420724275712
+47,0.783333333,BASELINE,763.272666447,742,712,671.727333553,659.727333553,633,876,783.272666447,800,648.272666447,629,650.272666447,0.40096048887,-0.0153980376069,0.0598429471871,0.999999947968,0.000183021615151,-0.000265150774807,1.62074115553e-05,1793193420740942336
+48,0.800000000,BASELINE,763.829845354,742,712,671.170154646,659.170154646,633,876,783.829845354,800,648.829845354,629,650.829845354,0.400960563406,-0.0153986204441,0.0598430409446,0.999999948352,0.000181210519705,-0.000264961486467,1.59685225538e-05,1793193420757608960
+49,0.816666667,BASELINE,764,742,712,671,659,633,876,783.586241882,799.586241882,649,629,650.586241882,0.400960171629,-0.0153973039441,0.0598428172749,0.999999948313,0.000181333057087,-0.000265040617668,1.56622158295e-05,1793193420774275840
+50,0.833333333,BASELINE,764,742,712,671.00933451,659,633,876,783.00933451,799,649,629,650,0.400959602653,-0.0153951824449,0.0598424681442,0.999999948095,0.000182300171537,-0.000265220784451,1.53378530391e-05,1793193420790942464
+51,0.850000000,BASELINE,764,742,712,671.599322734,659,633,876,783.599322734,799,649,629,650,0.400960763932,-0.0153949296744,0.0598429958203,0.999999948207,0.000182922564726,-0.000264345041432,1.57340745705e-05,1793193420807609344
+52,0.866666667,BASELINE,764,742.186400969,712,671.813599031,659,633,876,783.813599031,799.186400969,649,629,650.186400969,0.400961771272,-0.0153949842271,0.0598435656382,0.999999948431,0.000183243663155,-0.000263261687041,1.59303137251e-05,1793193420824275968
+53,0.883333333,BASELINE,764,742.767320171,712,671.232679829,659,633,876,783.232679829,799.767320171,649,629,650.767320171,0.4009624528,-0.0153956892305,0.0598442246493,0.999999948892,0.000182927070252,-0.000261738922588,1.57032895312e-05,1793193420840942848
+54,0.900000000,BASELINE,764,742.655234129,711.655234129,671,659,633,876,783.344765871,799.655234129,648.655234129,628.655234129,651,0.400962153033,-0.0153962508329,0.0598443081741,0.999999948871,0.000183172637519,-0.000261638305908,1.58726104056e-05,1793193420857609472
+55,0.916666667,BASELINE,764,742.080109307,711.080109307,671,659,633,876,783.919890693,799.080109307,648.080109307,628.080109307,651,0.400961197605,-0.0153967166205,0.0598440071818,0.999999948527,0.00018379381804,-0.000262487912311,1.6306753423e-05,1793193420874275584
+56,0.933333333,BASELINE,764,742,711.493625982,671.493625982,659,633,876.987251964,784,799,648.493625982,628.493625982,650.506374018,0.400961307027,-0.0153973066945,0.0598437678398,0.999999948664,0.000182781166916,-0.000262673806491,1.63008490846e-05,1793193420890942208
+57,0.950000000,BASELINE,764,742,712,671.861012797,659,633,877.861012797,783.930506399,799.069493601,649,628.930506399,650.069493601,0.4009614,-0.0153978044452,0.0598435003231,0.999999948812,0.000181662175491,-0.000262892061664,1.61798057697e-05,1793193420907608832
+58,0.966666667,BASELINE,764,742,712,670.67371997,659,633,876.67371997,783.336859985,799.663140015,649,628.336859985,650.663140015,0.400960069136,-0.0153974541458,0.0598429450481,0.999999948471,0.000181735389953,-0.000264164532765,1.57274578275e-05,1793193420924275712
+59,0.983333333,BASELINE,764,742.249336091,711.750663909,670.249336091,659,633,876,783.249336091,799.750663909,649,628.249336091,650.750663909,0.400960297802,-0.015397348595,0.0598432078885,0.999999948539,0.000181890950589,-0.000263806307739,1.56221141509e-05,1793193420940942336
+60,1.000000000,BASELINE,764,742.825758674,711.174241326,670.825758674,659,633,876,783.825758674,799.174241326,649,628.825758674,650.174241326,0.400962572304,-0.0153975641125,0.0598445439569,0.999999949141,0.000182154535395,-0.000261308887259,1.59719809169e-05,1793193420957609216
+61,1.016666667,BASELINE,764,742.600157452,711.399842548,671,659,633,875.600157452,783.600157452,799,649,629,650,0.400962657625,-0.0153977726579,0.0598444577945,0.999999949504,0.000180273041594,-0.000261227549717,1.59302859539e-05,1793193420974275840
+62,1.033333333,BASELINE,764,742.027086837,711.972913163,671,659,633,875.027086837,783.027086837,799,649,629,650,0.400961794504,-0.0153979781827,0.0598437554638,0.999999949757,0.000177462212407,-0.0002621929578,1.571895049e-05,1793193420990942208
+63,1.050000000,BASELINE,763.436019422,742,711.436019422,671,659,633,876.127961157,783.563980578,799,649,629,650,0.400961291692,-0.0153975123333,0.0598436708995,0.999999949247,0.000179825185488,-0.000262520956979,1.58371475534e-05,1793193421007608832
+64,1.066666667,BASELINE,763.152540403,742,711.152540403,671,659,633,876.847459597,784,799,649,629,650,0.400961480205,-0.0153973526564,0.0598440421247,0.999999949049,0.000181563223244,-0.000262065695298,1.60802901472e-05,1793193421024275200
+65,1.083333333,BASELINE,763.7315924,742,711.7315924,671,659,633,876.2684076,784,799,649,629,650,0.400963551719,-0.015398142185,0.0598456020694,0.999999949838,0.000180836220595,-0.000259508810343,1.66270762854e-05,1793193421040942080
+66,1.100000000,BASELINE,764,742,712,671.308406654,659,633,876,784,799,649,629,650,0.400963907568,-0.015397522731,0.0598455385076,0.999999949848,0.000181541711391,-0.000258995445831,1.63558668136e-05,1793193421057608960
+67,1.116666667,BASELINE,764,742,712,671.883287393,659,633,876,784,799,649,629,650,0.400962781023,-0.0153956858669,0.0598440721794,0.999999949184,0.000183484926423,-0.000260247754243,1.53778806354e-05,1793193421074275840
+68,1.133333333,BASELINE,764,742,712,671.541754753,659,633,876.458245247,784,799.458245247,649,629,650,0.400961799532,-0.0153957271102,0.0598433009732,0.999999948842,0.000182469977733,-0.00026227082777,1.53375195584e-05,1793193421090942720
+69,1.150000000,BASELINE,764.034170543,742,712,671,659,633,876.965829457,784,800,649,629,650.034170543,0.400960927115,-0.0153962104448,0.0598427531124,0.999999948589,0.000180881124324,-0.000264316572945,1.55352515625e-05,1793193421107609600
+70,1.166666667,BASELINE,764.625550613,742,712,671,659,633,876.374449387,784,800,649,629,650.625550613,0.400961230773,-0.0153961013052,0.0598429597936,0.99999994855,0.000182221784237,-0.000263530308573,1.57206685104e-05,1793193421124275968
+71,1.183333333,BASELINE,764.787660949,742,711.787660949,671.212339051,659,633,876.212339051,784,799.787660949,649,629,650.787660949,0.400961353483,-0.0153968422861,0.0598433577939,0.999999948729,0.000182119985761,-0.000262907303277,1.59448692685e-05,1793193421140942336
+72,1.200000000,BASELINE,764.208798147,742,711.208798147,671.791201853,659,633,876.791201853,784,799.208798147,649,629,650.208798147,0.400961163853,-0.0153990506813,0.0598440860351,0.999999949283,0.000179528323971,-0.000262566103435,1.62360157628e-05,1793193421157608960
+73,1.216666667,BASELINE,764,742,711.366899569,672,659,633,877,784,799,649,628.633100431,650.366899569,0.400961378325,-0.0153994064183,0.0598441863874,0.99999994915,0.000180660314305,-0.000262288596974,1.63309977841e-05,1793193421174275584
+74,1.233333333,BASELINE,764,742,711.940811444,672,659,633,877,784,799,649,628.059188556,650.940811444,0.400961820799,-0.0153987168473,0.0598439324717,0.999999948624,0.000183893266137,-0.000262047027654,1.63152997456e-05,1793193421190942208
+75,1.250000000,BASELINE,764,742,712,671.472796519,659,633,877,784.527203481,799.527203481,649,628.527203481,651,0.400961406007,-0.0153968333213,0.0598436927561,0.999999948563,0.000183887531925,-0.000262322169991,1.57301418113e-05,1793193421207609088
+76,1.266666667,BASELINE,764,742,712,671.114031242,659,633,877,784.885968758,800,649,629,650.885968758,0.400961192172,-0.0153956631135,0.0598437124558,0.999999948637,0.000183505343581,-0.000262327029121,1.53712386659e-05,1793193421224276224
+77,1.283333333,BASELINE,764,742,712,671.696751341,659,633,877,784.303248659,800,649,629,650.303248659,0.400962209475,-0.0153979890748,0.0598447916882,0.99999994905,0.000183106573366,-0.000260976760442,1.62114292327e-05,1793193421240942592
+78,1.300000000,BASELINE,764,742,712,672,659,633,877,784,800,649,628.723687749,650.276312251,0.400963020748,-0.0153986116533,0.0598453168091,0.999999949245,0.000183342198765,-0.000260049281319,1.64118188743e-05,1793193421257608960
+79,1.316666667,BASELINE,764,742,712,672,659,633,877,784,800,649,628.147554846,650.852445154,0.400963608463,-0.0153973859265,0.059845240675,0.999999949205,0.000184266193616,-0.000259580562399,1.59179738444e-05,1793193421274275584
+80,1.333333333,BASELINE,764,742,712,672,659,633,877,784,800,649,628.426571175,651,0.400962139519,-0.0153975526533,0.0598444713762,0.999999948892,0.000183649858077,-0.000261215795263,1.59487594407e-05,1793193421290942208
+81,1.350000000,BASELINE,764,742,712,672,659,633,876.999993542,784,799.999993542,649,629,650.999993542,0.400959962534,-0.0153981987675,0.0598434634558,0.99999994848,0.000182503222563,-0.000263575345107,1.61601665888e-05,1793193421307608832
+82,1.366666667,BASELINE,764,742,712,672,659,633,876.411794974,784,799.411794974,649,629,650.411794974,0.400961936447,-0.0153970609966,0.0598449891707,0.999999948975,0.000183125099944,-0.000261259589358,1.60814542147e-05,1793193421324275456
+83,1.383333333,BASELINE,764,742,711.826340081,671.826340081,659,633,876,784,799.173659919,649,629,650,0.400963248955,-0.0153966516634,0.0598459479779,0.999999949357,0.000183226856251,-0.000259722878912,1.60792399286e-05,1793193421340942336
+84,1.400000000,BASELINE,764,742,711.24728988,671.24728988,659,633,876,784,799.75271012,649,629,650,0.400963017489,-0.0153979427889,0.0598455834007,0.999999949484,0.000182114446346,-0.000260004764922,1.62556021317e-05,1793193421357609216
+85,1.416666667,BASELINE,764,742.330117587,711.330117587,671.330117587,659,633,876,783.669882413,799.669882413,649,629,650,0.400962616567,-0.0153986409968,0.0598452210618,0.999999949438,0.000181613684786,-0.000260537034105,1.61833398144e-05,1793193421374276096
+86,1.433333333,BASELINE,764,742.906300547,711.906300547,671.906300547,659,633,876,783.093699453,799.093699453,649,629,650,0.400962089335,-0.0153988972516,0.0598448603914,0.999999949262,0.000181568838045,-0.000261255935646,1.59257559895e-05,1793193421390942720
+87,1.450000000,BASELINE,764,742.506492538,712,672,659,633,876.493507462,783,799.493507462,649,628.506492538,650,0.400961879885,-0.0153980284497,0.0598445576458,0.999999949158,0.000181584282132,-0.000261656169958,1.57069095655e-05,1793193421407609088
+88,1.466666667,BASELINE,764,742,711.918670657,671.918670657,659,633,876.918670657,783.081329343,800,649,628.081329343,650,0.400961764054,-0.0153970428768,0.0598444397948,0.999999949076,0.000181839500805,-0.000261801607241,1.55377478633e-05,1793193421424275712
+89,1.483333333,BASELINE,764,742,711.34017664,671.34017664,659,633,876.34017664,783.65982336,800,649,628.65982336,650,0.400961843255,-0.015396679102,0.059845383435,0.999999949044,0.000183488882214,-0.000260767782829,1.56263205691e-05,1793193421440942336
+90,1.500000000,BASELINE,764,742,711,671,659.237917038,633,876.475834076,784,799.762082962,649,629,650,0.400962280596,-0.0153968013075,0.0598460426855,0.999999949137,0.000184193520573,-0.000259900397406,1.58075301926e-05,1793193421457608704
+91,1.516666667,BASELINE,764,742,711,671,659.815439219,633,877.630878438,784,799.184560781,649,629,650,0.400963229149,-0.0153976172061,0.0598462959951,0.999999949414,0.000183549623174,-0.000259270588738,1.61209706656e-05,1793193421474275328
+92,1.533333333,BASELINE,764,742,711.390945078,671.390945078,659.609054922,633,877.218109844,784,799,649,628.609054922,650,0.400963363427,-0.0153982934842,0.0598460498797,0.999999949819,0.000181292948365,-0.000259311081869,1.58975232354e-05,1793193421490942208
+93,1.550000000,BASELINE,764,742,711.965503989,671.965503989,659.034496011,633,876.068992021,784,799,649,628.034496011,650,0.400963115268,-0.0153989041875,0.059845569201,0.999999950276,0.000178278805867,-0.000259666393289,1.5421917534e-05,1793193421507609088
+94,1.566666667,BASELINE,764,742,711.445719971,671.445719971,659,633,876.554280029,783.445719971,799.554280029,648.445719971,628.554280029,650.554280029,0.400962707118,-0.0153987435992,0.0598450383768,0.999999949851,0.000179480786049,-0.00026045538415,1.57170199595e-05,1793193421524275712
+95,1.583333333,BASELINE,764,742,711.141424705,671.141424705,659,633,877,783.141424705,800.141424705,648.141424705,629,650.858575295,0.400961993347,-0.0153983308415,0.0598444543501,0.999999949315,0.000180975797264,-0.000261466431893,1.59069256592e-05,1793193421540942336
+96,1.600000000,BASELINE,764,742,711.7207072,671.7207072,659,633,877,783.7207072,800.7207072,648.7207072,629,650.2792928,0.400960364998,-0.0153972898833,0.0598437155221,0.999999948611,0.000182544278562,-0.000263079215551,1.56187241549e-05,1793193421557608960
+97,1.616666667,BASELINE,764,742,712,672,659,633,876.702095229,784,800.702095229,649,629,650,0.400960078672,-0.0153973498617,0.059843583573,0.99999994855,0.000182552975471,-0.000263309339685,1.56023106917e-05,1793193421574275840
+98,1.633333333,BASELINE,764,742,712,672,659,633,876.126838773,784,800.126838773,649,629,650,0.400961041777,-0.0153984348207,0.0598440166329,0.999999949086,0.000181109500749,-0.000262252196828,1.58389340502e-05,1793193421590942464
+99,1.650000000,BASELINE,764,742,712,671.553345093,659,633,876.446654907,784,800,649,629,650,0.400961959022,-0.015398253731,0.0598445468642,0.999999949484,0.000180391987086,-0.000261230525496,1.57679092482e-05,1793193421607608832
+100,1.666666667,BASELINE,764,742,712,671,659,633,876.979662279,784,799.979662279,649,629,650.020337721,0.400962807606,-0.0153977695547,0.0598450734279,0.999999949815,0.00017995470858,-0.000260273636241,1.56259870504e-05,1793193421624275968
+101,1.683333333,BASELINE,764,742,712,671,659,633,876.386612054,784,799.386612054,649,629,650.613387946,0.400962087981,-0.0153988349189,0.0598447227045,0.999999949355,0.000181626365121,-0.000260858474787,1.59381047638e-05,1793193421640942592
+102,1.700000000,BASELINE,764,742,712,671,659,633,876,784,799.399711997,649,629,651,0.400962187441,-0.0153987935617,0.0598448140365,0.999999949134,0.000182974374628,-0.00026075797082,1.60823886843e-05,1793193421657609472
+103,1.716666667,BASELINE,764,742,712,671,659,633,876,784,800.547994133,649,629,651,0.400963820862,-0.0153966795658,0.0598457332382,0.99999994936,0.000183716266273,-0.000259373975313,1.59123578467e-05,1793193421674276352
+104,1.733333333,BASELINE,764,742,711.648353205,671.351646795,659,633,876.351646795,784,800.648353205,649,629,650.648353205,0.400963453429,-0.015396668487,0.0598456476527,0.999999949423,0.000182787858723,-0.000259789112384,1.58702155731e-05,1793193421690942976
+105,1.750000000,BASELINE,764,742,711.068425682,671.931574318,659,633,876.931574318,784,800.068425682,649,629,650.068425682,0.400961787089,-0.0153980225718,0.0598449097832,0.999999949376,0.000180775132765,-0.000261372203362,1.59110954944e-05,1793193421707609344
+106,1.766666667,POSE1_TO_POSE2_PRESS,765,742,712,671,659,633,876,784,800,649,628,651,0.400961125866,-0.0154004449389,0.0598451152579,0.999999949973,0.000177654918276,-0.000261215318047,1.61009860111e-05,1793193421737984256
+107,1.783333333,POSE1_TO_POSE2_PRESS,764.418415442,742,712,671.581584558,659,633,876,784,800,649,628.581584558,650.418415442,0.400962430571,-0.015399017354,0.0598455727077,0.999999949739,0.000179387434079,-0.00026093881493,1.58876448343e-05,1793193421754651648
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,742,712,672,659,633,876,784,799.839041529,649,629,650,0.400963318091,-0.015397897746,0.0598458226739,0.9999999496,0.000180683311509,-0.000260588649085,1.57088312224e-05,1793193421771319040
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,742,712,672,659,633,876,784,799.26533626,649,629,650,0.400963135821,-0.0153975678846,0.0598455405888,0.99999994971,0.000180859514853,-0.000260049589395,1.56185568118e-05,1793193421787985664
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,742,712,671.691188262,659,633,876,784,799.308811738,649,629,650,0.400962168698,-0.0153980620779,0.0598447244421,0.999999949462,0.000180858048953,-0.000261002995652,1.56353002686e-05,1793193421804651776
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,742,712,671.116659352,659,633,876,784,799.883340648,649,629,650,0.400960526246,-0.0153992653293,0.059843448762,0.999999948901,0.000180703707477,-0.000263240594812,1.5744127294e-05,1793193421821317632
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,742.47375646,712,671.47375646,659,633,876.47375646,783.52624354,800,649,629,650,0.400961339882,-0.0153975732802,0.0598442376255,0.999999948807,0.000182882488408,-0.000262106195298,1.55275183485e-05,1793193421837984000
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,742.933956393,712,672,659,633,876.933956393,783.066043607,800.066043607,649,629,650.066043607,0.40096301718,-0.0153956870067,0.0598456017637,0.999999948961,0.000184899075891,-0.000260105327886,1.53531631995e-05,1793193421854650624
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,742.358458138,712,672,659,633,876.358458138,783.641541862,800.641541862,649,629,650.641541862,0.400966529466,-0.0153979929469,0.0598473458518,0.999999950181,0.000181078981865,-0.00025804795265,1.6144364342e-05,1793193421871318016
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,742,712,671.783146425,659,633,876,784,800.56629285,649,629,651,0.400974445287,-0.0153996528741,0.0598508907374,0.999999951959,0.000179315320187,-0.000252276505072,1.68540433876e-05,1793193421887984896
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,742,712,671.208142858,659,633,876,784,799.416285715,649,629,651,0.400989633876,-0.0154002458621,0.0598574097751,0.999999954588,0.000180948011596,-0.000240370987809,1.7429082478e-05,1793193421904651264
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,742,712,671.376542495,659,633,876.376542495,784,799.376542495,649,629,651,0.401020146621,-0.0154019618172,0.0598697800313,0.999999959887,0.000180099514632,-0.000217841273386,1.82895348764e-05,1793193421921317888
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,742,712,671.966720981,659,633,876.966720981,784,799.966720981,649,629,651,0.401059353716,-0.0154043149015,0.0598854700484,0.999999966085,0.000177843285136,-0.000189283789477,1.93119200497e-05,1793193421937984768
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,742,712,671.454352865,659,633,876.454352865,784,800,649,628.454352865,650.454352865,0.401119661597,-0.0154079218037,0.0599033755781,0.999999971416,0.00017634673873,-0.000160032690816,2.1429487449e-05,1793193421954651392
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,742,712,671,659.123406623,633,876.123406623,784,800,649,628.123406623,650.123406623,0.40118465552,-0.0154115668772,0.0599198732784,0.999999975406,0.000175452924939,-0.00013365478837,2.32507311991e-05,1793193421971318016
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,742,712,671,659.699353811,633,876.699353811,784,800,649,628.699353811,650.699353811,0.401262209565,-0.0154150771726,0.0599307228786,0.999999977166,0.000176602899533,-0.000117965081627,2.37453431217e-05,1793193421987984384
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,742,711.726126053,671.273873947,659.726126053,633,877,784,800,649,629,650.726126053,0.401345315835,-0.0154199855363,0.0599370325504,0.999999978588,0.000175251430151,-0.000107427226468,2.38667847117e-05,1793193422004651008
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,742,711.153164383,671.846835617,659.153164383,633,877,784,800,649,629,650.153164383,0.401434485484,-0.015426420679,0.0599383843317,0.999999979818,0.00017116822524,-0.000102515520987,2.35807006025e-05,1793193422021317632
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,742,711.434150055,671.565849945,659,633,877,784,800,649,628.565849945,650.434150055,0.401536357033,-0.0154314730765,0.0599363111616,0.999999980204,0.00016891720973,-0.000102827949669,2.20248174898e-05,1793193422037984256
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,742.02611886,712,671.02611886,659,633,876.97388114,783.97388114,800,649,628.02611886,651,0.401644422022,-0.0154361606163,0.0599331169567,0.999999980319,0.000167257441556,-0.000104812092048,2.00096055961e-05,1793193422054651136
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,742.605748095,712,671.605748095,659,633,876.394251905,783.394251905,800,649,628.605748095,651,0.401785527685,-0.0154438074346,0.0599326473952,0.99999998121,0.000163960956019,-0.000101830353004,1.80783438307e-05,1793193422071317760
+127,2.116666667,POSE1_TO_POSE2_PRESS,763.81653712,742.81653712,711.81653712,672,659,633,876.18346288,783.18346288,800,649,629,650.81653712,0.401940290196,-0.0154522946051,0.0599328208868,0.999999982393,0.000159515522863,-9.75067585541e-05,1.61584238331e-05,1793193422087984384
+128,2.133333333,POSE1_TO_POSE2_PRESS,763.242893973,742.242893973,711.242893973,672,659,633,876.757106027,783.757106027,800,649,629,650.242893973,0.402124097438,-0.0154625689967,0.0599343619937,0.999999984171,0.000152626562101,-9.03293692124e-05,1.42626252227e-05,1793193422104651008
+129,2.150000000,POSE1_TO_POSE2_PRESS,763.339249759,742,711.339249759,672,659,633,876.660750241,784,800,649,628.660750241,650,0.402321144662,-0.0154722886029,0.059934504408,0.99999998549,0.000146739746943,-8.57009581132e-05,1.19248890342e-05,1793193422121317632
+130,2.166666667,POSE1_TO_POSE2_PRESS,763.927636169,742,711.927636169,672,659,633,876.072363831,784,800,649,628.072363831,650,0.402527915021,-0.0154816007895,0.0599336196571,0.999999986494,0.000141588882071,-8.29444529946e-05,9.26260459609e-06,1793193422137984256
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,742,712,671.490359465,659.509640535,633,876.509640535,784,800,649,628.509640535,650,0.402776212726,-0.0154931853122,0.0599366300561,0.999999988323,0.000132928805705,-7.51265157757e-05,6.35353618282e-06,1793193422154651136
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,742,712,671,659.91033895,633,877,784,800,649,629,650.08966105,0.403034472428,-0.0155047046099,0.0599389328932,0.999999989877,0.000124600134105,-6.86262771913e-05,3.25563987151e-06,1793193422171317504
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,742,712,671,659.336201837,633,877,784,800,649,629,650.663798163,0.403315094041,-0.0155141496297,0.0599344609603,0.999999990043,0.000120721254157,-7.30813704025e-05,-6.75574900958e-07,1793193422187984128
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,742,712,671.238278784,659,633,877,784,800,649,629,650.761721216,0.403611505927,-0.0155180093092,0.059927261168,0.999999988965,0.00012275356827,-8.35537232292e-05,-4.53527060447e-06,1793193422204650752
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,742,712,671.813244746,659,633,877,784,800,649,629,650.186755254,0.403930229407,-0.0155139769195,0.0599162069193,0.999999985847,0.000133138381375,-0.000102528444856,-8.29390984949e-06,1793193422221317376
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,742,712,671.599617498,659,633,876.599617498,784,799.599617498,649,629,650,0.404265133771,-0.0155011004898,0.0599032169546,0.999999988426,8.40254289635e-05,-0.000125936803597,-1.51137803481e-05,1793193422237984256
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,742,712,671.006624315,659,633,876.006624315,784,799.006624315,649,629,650,0.404607822211,-0.0154839694873,0.0598892957818,0.999999988233,6.29008322083e-06,-0.000151478036185,-2.34063070127e-05,1793193422254651136
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,742,712,671,659.570949361,633,876.570949361,784,799.570949361,649,629,650,0.405019389898,-0.0154919433931,0.0598899418606,0.99999998759,1.30186638643e-05,-0.000154779710074,-2.63405659713e-05,1793193422271317760
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,742,712,671.147473015,660,633,877,784,800,649,629,650.147473015,0.405452662576,-0.0155013735002,0.0598978527079,0.999999989044,1.57907087918e-05,-0.000144313696478,-2.89107774152e-05,1793193422287984384
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,742,712,671.721463531,660,633,877,784,800,649,629,650.721463531,0.405946459251,-0.0155141949296,0.0599262985621,0.999999995033,4.36004202604e-06,-9.47557876024e-05,-3.06031726862e-05,1793193422304651008
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,742,711.696404503,672,659.696404503,633,877,784,800,649,629,650.696404503,0.406464595778,-0.0155228687427,0.0599546371738,0.999999998329,-1.08769995041e-05,-4.6969399781e-05,-3.1900765993e-05,1793193422321317888
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,742,711.106597194,672,659.106597194,633,877,784,800,649,629,650.106597194,0.40700567853,-0.0155276324309,0.059982874687,0.99999999902,-2.97024665127e-05,-8.53091110879e-07,-3.28261636391e-05,1793193422337984512
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,742,711.474814986,671.525185014,659,633,877,783.525185014,800,649,629,650,0.407534405416,-0.0155257137034,0.0599856827786,0.999999998193,-4.69754575125e-05,-3.93656099854e-06,-3.73105022669e-05,1793193422354651136
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,742,712,671.053971348,659,633,877,783.053971348,799.946028652,649,629,650.053971348,0.408063569713,-0.0155228272269,0.0599820712415,0.999999996901,-6.33638791548e-05,-1.91270851972e-05,-4.26168949e-05,1793193422371318016
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,742,712,671.62922762,659,633,877,783.62922762,799.37077238,649,629,650.62922762,0.408623285713,-0.0155248318994,0.0599706377892,0.999999994981,-7.45165105973e-05,-4.64243878608e-05,-4.82801158593e-05,1793193422387984896
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,742,712,671.79491826,659,633,876.79491826,784,799.20508174,649,629,650.79491826,0.409207306309,-0.0155250010684,0.0599622942675,0.999999995525,-5.28805195766e-05,-6.45815602229e-05,-4.45387329302e-05,1793193422404651776
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,742,712,671.21798015,659,633,876.21798015,784,799.78201985,649,629,650.21798015,0.409835396222,-0.0155218420828,0.059959553441,0.999999997131,2.82081476628e-05,-6.61657502729e-05,-2.37448227518e-05,1793193422421318400
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,742,711.633372563,671.366627437,659,633,876.366627437,784,800,649,628.633372563,650,0.410497789741,-0.0155204930954,0.0599638402631,0.999999997308,4.68321228168e-05,-5.28603532836e-05,-1.98981695267e-05,1793193422437984768
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,742,711.044107645,671.955892355,659,633,876.955892355,784,800,649,628.044107645,650,0.411181014378,-0.0155202432442,0.0599723946817,0.999999998809,2.7523904853e-05,-3.05131340417e-05,-2.63428761671e-05,1793193422454651136
+150,2.500000000,POSE1_TO_POSE2_PRESS,763.465492554,742,711.534507446,671.465492554,659.534507446,633,876.465492554,784,800,649,628.534507446,650,0.411862582944,-0.0155271723418,0.0599629421185,0.999999998467,5.50622327885e-06,-4.59445294764e-05,-3.03982195457e-05,1793193422471317760
+151,2.516666667,POSE1_TO_POSE2_PRESS,763,742,712,671.11206219,659.88793781,633,876.11206219,783.88793781,799.88793781,649,629,650.11206219,0.412539880042,-0.015532722389,0.0599474109075,0.999999996549,-1.08957270123e-05,-7.49856617245e-05,-3.40742383645e-05,1793193422487983872
+152,2.533333333,POSE1_TO_POSE2_PRESS,763,742,712,671.688792906,659.311207094,633,876.688792906,783.311207094,799.311207094,649,629,650.688792906,0.41320002081,-0.0155301457218,0.0599127155574,0.999999988391,-3.10291757518e-06,-0.000147785635992,-3.69789791177e-05,1793193422504651008
+153,2.550000000,POSE1_TO_POSE2_PRESS,763.530609535,742,712,672,659.265304768,633,877,783.265304768,799.265304768,649,629,650.469390465,0.41392240616,-0.0155291769905,0.0599025698661,0.999999985217,-1.7576448629e-06,-0.000167547511188,-3.85985397059e-05,1793193422521317632
+154,2.566666667,POSE1_TO_POSE2_PRESS,764.683120395,742,712,672,659.841560198,633,877,783.841560198,799.841560198,649,629,649.316879605,0.414717745406,-0.0155300928416,0.0599211976169,0.999999991388,-7.96921165122e-06,-0.000125146050529,-3.8711804376e-05,1793193422537984000
+155,2.583333333,POSE1_TO_POSE2_PRESS,764.572343834,742,712,671.572343834,660,633,877,784,800,649,629,649.427656166,0.415551072197,-0.0155376864412,0.0599633458636,0.999999997904,-1.76619340463e-05,-5.11394121119e-05,-3.55655417148e-05,1793193422554650624
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,742.017142817,712,671.017142817,660,633,877,784,800,649,628.982857183,650,0.416397158018,-0.0155474569599,0.0600127447345,0.999999998603,-2.82637723289e-05,3.18227495909e-05,-3.13320786776e-05,1793193422571317248
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,742.595469516,712,671.595469516,660,633,877,784,800,649,628.404530484,650,0.417189355213,-0.0155455948617,0.0600075214243,0.999999999044,-2.5412118262e-05,1.56128970888e-05,-3.19711577387e-05,1793193422587984896
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,742.827187384,712,671.827187384,660,632.827187384,877,784,800.172812616,649,628,650,0.417983547622,-0.0155436953537,0.0599970400512,0.999999999135,-2.39197869147e-05,-4.64272125084e-06,-3.36963466455e-05,1793193422604652032
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,742.252133757,712,671.252133757,660,632.252133757,877,784,800.747866243,649,628,650,0.418782384068,-0.0155417087699,0.0599743199393,0.999999998364,-2.55914339197e-05,-3.43153185957e-05,-3.79495796667e-05,1793193422621317888
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,742,712,671.329742793,660,632.329742793,877,783.670257207,800.340514413,649,628,650,0.419587889856,-0.0155419667209,0.0599485034407,0.999999996224,-3.11088343497e-05,-6.95706130233e-05,-4.17709093639e-05,1793193422637984000
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,742,712,671.91694661,660,632.91694661,877,783.08305339,799.16610678,649,628,650,0.420398602985,-0.0155439771899,0.0599202693046,0.99999999223,-3.96289738768e-05,-0.000109184839484,-4.5255011529e-05,1793193422654650880
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,742,712,672,660,633,877.500024129,783,799,649,628.500024129,650,0.421190605698,-0.0155413454961,0.0598924757739,0.999999983676,-3.67941951392e-05,-0.000170265328715,-4.80001055741e-05,1793193422671318016
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,742,712,672.081325048,660,633,878,783.081325048,799,649,629,650,0.421995651375,-0.0155383640231,0.0598733031696,0.999999974839,-3.2594852447e-05,-0.000216251566857,-4.99437568532e-05,1793193422687984896
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,742,712,672.655972253,660,633,878,783.655972253,799,649,629,650,0.422898513697,-0.0155378997669,0.0599059852795,0.99999998723,-3.1465162558e-05,-0.000149223620172,-4.77643163302e-05,1793193422704651264
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,742.230577939,711.769422061,672.769422061,660,633,878,784,799.230577939,649,628.769422061,650,0.423803359625,-0.0155404566318,0.0599496403509,0.999999995946,-3.25356114487e-05,-7.14737341936e-05,-4.40604695412e-05,1793193422721317888
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,742.805121778,711.194878222,672.194878222,660,633,878,784,799.805121778,649,628.194878222,650,0.424711164742,-0.0155475202705,0.0600096644023,0.999999998346,-3.68881291706e-05,2.22706731135e-05,-3.80825810337e-05,1793193422737984512
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,742.608633647,711.391366353,672,660,633,877.608633647,784,800,649,628.391366353,650,0.425581620962,-0.015551312201,0.0600235130383,0.999999997202,-4.56978990306e-05,4.58897407075e-05,-3.74461266509e-05,1793193422754650880
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,742.016383246,711.983616754,672,660,633,877.016383246,784,800,649,628.983616754,650,0.426432906349,-0.0155534247991,0.0600136603375,0.999999997043,-5.6795527267e-05,3.35142367568e-05,-3.95513721524e-05,1793193422771317504
+169,2.816666667,POSE1_TO_POSE2_PRESS,764,742,712,672,660,632.438264637,877,784,800,649,629,650,0.427255992038,-0.015556446007,0.059987986466,0.999999997172,-6.13901426761e-05,2.93568011376e-06,-4.33354464194e-05,1793193422787984128
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,742,712,672,660,632.138825116,877,783.861174884,799.861174884,649,629,650,0.428067746593,-0.0155572152148,0.0599630167919,0.99999999648,-6.34519144374e-05,-2.84908299661e-05,-4.69333751875e-05,1793193422804650752
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,742,712,672,660,632.713944921,877,783.286055079,799.286055079,649,629,650,0.428846411368,-0.0155508256761,0.0599416748283,0.999999995213,-5.81349931369e-05,-6.09547087775e-05,-4.97961870432e-05,1793193422821317376
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.295793973,742.295793973,712,672.295793973,660,633,877.295793973,783.295793973,799,649,629,650,0.429615929257,-0.0155465459646,0.0599225690826,0.999999992406,-5.68975715496e-05,-9.62861619621e-05,-5.17677263868e-05,1793193422837983744
+173,2.883333333,POSE1_TO_POSE2_PRESS,764.884302174,742.884302174,712,672.884302174,660,633,877.884302174,783.884302174,799,649,629,650,0.430376395449,-0.0155443541134,0.0599056762731,0.999999987782,-5.96971750668e-05,-0.000134455330957,-5.28572727776e-05,1793193422854650368
+174,2.900000000,POSE1_TO_POSE2_PRESS,764.535157018,742.535157018,712,672.535157018,660,633,877.535157018,784,799.464842982,649,629,650,0.431238654518,-0.0155493661094,0.0599378701924,0.999999994244,-6.24889991437e-05,-7.0940154141e-05,-5.07334812672e-05,1793193422871317248
+175,2.916666667,POSE1_TO_POSE2_PRESS,764,742.0432859,712,672,660,633,877,784,800,649,628.9567141,650,0.432117504371,-0.0155558263546,0.0599804774929,0.99999999663,-6.54372327881e-05,1.3022009094e-05,-4.78271533954e-05,1793193422887983616
+176,2.933333333,POSE1_TO_POSE2_PRESS,764,742.619901686,712,672,660,633,877,784,800,649,628.380098314,650,0.432893864323,-0.0155584109975,0.0600033924507,0.999999995619,-7.03360617617e-05,4.23348896075e-05,-4.4967345485e-05,1793193422904650496
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,742.805712811,712,672,660,633,877.194287189,784,799.805712811,649,628.194287189,650,0.433642570377,-0.0155599652181,0.0600075780013,0.999999995393,-7.36766695965e-05,4.28028533625e-05,-4.42000909153e-05,1793193422921317376
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,742.235640953,712,672,660,633,877.764359047,784,799.235640953,649,628.764359047,650,0.434337789194,-0.015559526426,0.0599755376779,0.999999996056,-7.40034119341e-05,-1.25201824461e-05,-4.74801920351e-05,1793193422937983744
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,742,712,672.349319826,660,633,878,784.349319826,799.349319826,649,629,650,0.435017312978,-0.0155585922083,0.0599453720452,0.999999993954,-7.22551554974e-05,-6.57048704479e-05,-5.05414551801e-05,1793193422954650368
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,742,712,672.944771345,660,633,878,784.944771345,799.944771345,649,629,650,0.435685777958,-0.0155573089125,0.0599165273266,0.999999989299,-6.90448492531e-05,-0.000117382869402,-5.34485242668e-05,1793193422971317248
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,742.525959404,712,673,660,633,878,784.474040596,800,649,629,649.474040596,0.436375038941,-0.0155573989295,0.0599185775781,0.999999989354,-7.89982882176e-05,-0.000110745012215,-5.27829352371e-05,1793193422987984128
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,742.895246679,712,673,660,632.895246679,877.895246679,784,800,649,629,649.104753321,0.437048901257,-0.0155571226739,0.0599215016634,0.999999989489,-8.47282743771e-05,-0.000105566145445,-5.19523896431e-05,1793193423004650496
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,742.320650701,712,673,660,632.320650701,877.320650701,784,800,649,629,649.679349299,0.437644161226,-0.0155545738846,0.0599141785493,0.999999987569,-6.54790175775e-05,-0.00013367127151,-5.20201786372e-05,1793193423021317120
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,742,712,673,660,632,877,784,799.740771587,649,629,650,0.438237332687,-0.0155551728312,0.0599122388122,0.999999986692,-5.71468699726e-05,-0.000143590154653,-5.22749999057e-05,1793193423037984256
+185,3.083333333,POSE1_TO_POSE2_PRESS,764,742,712,673,660,632,877,784,799.154221625,649,629,650,0.438827866996,-0.0155597463494,0.0599170965377,0.999999988127,-6.25994978631e-05,-0.000130545699665,-5.2765982423e-05,1793193423054651904
+186,3.100000000,POSE1_TO_POSE2_PRESS,764,742,712,673,660,632,877.426937778,783.573062222,799.426937778,649,629,650,0.439403225689,-0.0155675119332,0.0599287916959,0.999999987934,-9.09306617402e-05,-0.000114718228447,-5.19927515512e-05,1793193423071318272
+187,3.116666667,POSE1_TO_POSE2_PRESS,764,742.006154513,712,673,660,632,877.993845487,783.006154513,799.993845487,649,629,650,0.43997230381,-0.0155763676412,0.0599425446227,0.999999985794,-0.000126999102936,-9.8492691323e-05,-5.08237227336e-05,1793193423087984384
+188,3.133333333,POSE1_TO_POSE2_PRESS,764,742.583535604,712,673,660,632,877.416464396,783.583535604,799.416464396,649,629,650,0.440460900748,-0.0155807162013,0.0599209070333,0.999999981399,-0.000123711121128,-0.00013746403604,-5.47758783977e-05,1793193423104651520
+189,3.150000000,POSE1_TO_POSE2_PRESS,764,742.840345438,712,673.159654562,660,632,877,783.840345438,799.159654562,649,629,650,0.440922113831,-0.0155838904765,0.0598891641561,0.999999971868,-0.000129007607533,-0.000189860428206,-5.97787535232e-05,1793193423121318144
+190,3.166666667,POSE1_TO_POSE2_PRESS,764,742.267492855,712,673.732507145,660,632,877,783.267492855,799.732507145,649,629,650,0.441312455537,-0.0155840256153,0.0598312680286,0.999999947107,-0.000156521342848,-0.000277001861629,-6.75009704307e-05,1793193423137984768
+191,3.183333333,POSE1_TO_POSE2_PRESS,764,742.315267988,712,674,659.684732012,632,877,783,800,649,629,650,0.441692712114,-0.0155848540273,0.0597857993113,0.999999922989,-0.000167328413366,-0.00034727697332,-7.36369364732e-05,1793193423154651136
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,742.906708357,712,674,659.093291643,632,877,783,800,649,629,650,0.442064134171,-0.0155862897414,0.0597512169149,0.999999902447,-0.00016350057023,-0.00040277730984,-7.83833584479e-05,1793193423171317504
+193,3.216666667,POSE1_TO_POSE2_PRESS,764,743,712,673.511494134,659,632,877.488505866,783,800,648.511494134,629,650,0.442449339258,-0.0155921676847,0.059743127368,0.999999901962,-0.000156169040411,-0.000407250440706,-7.63823871359e-05,1793193423187984128
+194,3.233333333,POSE1_TO_POSE2_PRESS,764,743,712,673.068082628,659,632,877.931917372,783,800,648.068082628,628.931917372,650,0.442832035083,-0.0155980826487,0.0597409180168,0.999999905533,-0.000147256413115,-0.000402562859239,-7.20570694329e-05,1793193423204650752
+195,3.250000000,POSE1_TO_POSE2_PRESS,764,743,712,673.64456148,659,632,877.35543852,783,800,648.64456148,628.35543852,650,0.443176718409,-0.0155980617845,0.0597455689324,0.999999909242,-0.000131436952666,-0.00040082856297,-5.98110160353e-05,1793193423221317376
+196,3.266666667,POSE1_TO_POSE2_PRESS,764,743,712,673.780856284,659,631.780856284,877.219143716,782.780856284,800,649,628.219143716,650,0.44350040293,-0.0156001828088,0.059747460334,0.999999910668,-0.0001237251845,-0.000400665409062,-5.31355637968e-05,1793193423237984000
+197,3.283333333,POSE1_TO_POSE2_PRESS,764,743,712,673.20932391,659,631.20932391,877.79067609,782.20932391,800,649,628.79067609,650,0.443790320805,-0.0156057480443,0.0597449143667,0.999999908921,-0.000129050792837,-0.000403028692305,-5.54177807797e-05,1793193423254650880
+198,3.300000000,POSE1_TO_POSE2_PRESS,764,743,712,673,659,631,877.624365003,782.375634997,800,649,628.624365003,650,0.444048203721,-0.0156117699966,0.0597407202742,0.999999904266,-0.000136251899816,-0.000411858598865,-5.72300974963e-05,1793193423271318016
+199,3.316666667,POSE1_TO_POSE2_PRESS,764,743,712,673,659,631,877.031646711,782.968353289,800,649,628.031646711,650,0.444287573337,-0.0156180558908,0.0597355737131,0.999999897759,-0.000144536877068,-0.000424425633138,-5.87708542628e-05,1793193423287984896
+200,3.333333333,POSE1_TO_POSE2_PRESS,764,743,712,673.548155012,659,631.548155012,877.548155012,782.451844988,800,649,628,650,0.444489569562,-0.0156163459991,0.0597203342126,0.999999882199,-0.000168398310482,-0.000451075224731,-6.14389237959e-05,1793193423304651008
+201,3.350000000,POSE1_TO_POSE2_PRESS,764,743,712,674,659,631.873238736,878,782,800.126761264,648.873238736,628.126761264,650,0.444682829065,-0.0156163993548,0.0597057734303,0.999999866484,-0.000189180090108,-0.000476616006673,-6.38757266721e-05,1793193423321317632
+202,3.366666667,POSE1_TO_POSE2_PRESS,764,743,712,674,659,631.296290586,878,782,800.703709414,648.296290586,628.703709414,650,0.44485254705,-0.0156243164907,0.0596956448616,0.999999855971,-0.000195904406054,-0.000495397942945,-6.52653782061e-05,1793193423337984000
+203,3.383333333,POSE1_TO_POSE2_PRESS,764,742.715216352,712,673.715216352,659,631,878.284783648,782,800.715216352,648.284783648,628.715216352,650,0.44500657872,-0.0156319364243,0.0596885116989,0.99999984792,-0.000201286351876,-0.000509219924859,-6.58632674388e-05,1793193423354650624
+204,3.400000000,POSE1_TO_POSE2_PRESS,764,742.129786243,712,673.129786243,659,631,878.870213757,782,800.129786243,648.870213757,628.129786243,650,0.445144050317,-0.0156392426006,0.059684540791,0.999999842721,-0.000205251155479,-0.000517805675586,-6.56252921262e-05,1793193423371317504
+205,3.416666667,POSE1_TO_POSE2_PRESS,764,742.45276357,712,673.45276357,659,631,878.09447286,782,800,649,628,650,0.445269224558,-0.0156421731715,0.0596835422391,0.999999841661,-0.000206993730164,-0.000519134480361,-6.58153247532e-05,1793193423387984384
+206,3.433333333,POSE1_TO_POSE2_PRESS,764.034025755,743,712,674,659,631,877.034025755,782,800,649,628,650,0.445389351931,-0.0156438316662,0.0596833474933,0.999999841768,-0.000208142306015,-0.000518432331444,-6.60965570262e-05,1793193423404651008
+207,3.450000000,POSE1_TO_POSE2_PRESS,764.607875859,743,712,674,659,631,877.607875859,782,800,649,628,650,0.445484982353,-0.0156450820656,0.0596824730186,0.999999841479,-0.000209909369651,-0.000518303312144,-6.58904948125e-05,1793193423421317888
+208,3.466666667,POSE1_TO_POSE2_PRESS,764.813356172,743,712,674,659,631,878,782,800,649,628,650,0.445572726988,-0.01564651,0.0596818965964,0.999999840852,-0.00021240224247,-0.00051854184641,-6.55363484321e-05,1793193423437984768
+209,3.483333333,POSE1_TO_POSE2_PRESS,764.223976624,743,712,674,659,631,878,782,800,649,628,650,0.445643455844,-0.0156483210147,0.0596819633047,0.99999983949,-0.000216461249269,-0.000519573479241,-6.48626694994e-05,1793193423454651136
+210,3.500000000,POSE1_TO_POSE2_PRESS,764,743,712,674,659,631,878,781.641091543,800,649,628,650,0.44570153632,-0.0156500716352,0.0596806896256,0.999999837533,-0.000219162903157,-0.00052230000019,-6.40610738936e-05,1793193423471317504
+211,3.516666667,POSE1_TO_POSE2_PRESS,764,743,712,674,659,631,878,781.062187242,800,649,628,650,0.445751863876,-0.0156517852366,0.059678594345,0.999999835204,-0.000221032556977,-0.000526065416633,-6.31810706614e-05,1793193423487983872
+212,3.533333333,POSE1_TO_POSE2_PRESS,764.515757025,743,712,673.484242975,658.484242975,631,878,781.515757025,799.484242975,649,628,650,0.445787962945,-0.0156561781263,0.0596770268289,0.99999983335,-0.00022644256584,-0.000527384237036,-6.23659045224e-05,1793193423504650496
+213,3.550000000,POSE1_TO_POSE2_PRESS,764.906868954,743,712,673.093131046,658.093131046,631,877.906868954,781.906868954,799.186262092,649,628,650,0.445820479824,-0.0156608656616,0.0596757046933,0.99999983158,-0.000231975584579,-0.000528443688279,-6.14408576286e-05,1793193423521317376
+214,3.566666667,POSE1_TO_POSE2_PRESS,764.331847512,743,712,673.668152488,658.668152488,631,877.331847512,781.331847512,800.336304975,649,628,650,0.44584332185,-0.0156654093086,0.0596753235795,0.999999830089,-0.000235940400738,-0.000529684656898,-5.99068753582e-05,1793193423537984512
+215,3.583333333,POSE1_TO_POSE2_PRESS,764,743,712,674,658.75108172,631,877.24891828,781.24891828,800.75108172,649,628,650,0.445862040908,-0.015670098243,0.0596754942669,0.999999828877,-0.000240374281776,-0.000530132030635,-5.8525838093e-05,1793193423554651392
+216,3.600000000,POSE1_TO_POSE2_PRESS,764,743,712,674,658.162476931,631,877.837523069,781.837523069,800.162476931,649,628,650,0.445875133552,-0.0156749854437,0.0596764179702,0.99999982805,-0.000245448272304,-0.00052949642447,-5.73535174315e-05,1793193423571318272
+217,3.616666667,POSE1_TO_POSE2_PRESS,764,743,712,674,658.418646603,631,878,782,800,649,628,650,0.445884472437,-0.0156766170533,0.0596765481954,0.999999827622,-0.000247435444734,-0.000529494384006,-5.62774391149e-05,1793193423587984640
+218,3.633333333,POSE1_TO_POSE2_PRESS,764,743,712,674,658.996917619,631,878,782,800,649,628,650,0.445892380063,-0.015677007349,0.0596763758778,0.999999827352,-0.000248245654132,-0.00052973391378,-5.52380567588e-05,1793193423604650752
+219,3.650000000,POSE1_TO_POSE2_PRESS,764,743,712,673.42725529,658.42725529,631,878,782,800,649,628,650,0.44589451614,-0.0156771738188,0.0596749650894,0.999999826087,-0.000248844113297,-0.000531832154664,-5.52842326102e-05,1793193423621317376
+220,3.666666667,POSE1_TO_POSE2_PRESS,764,743,712,673.148294381,658.148294381,631,878,782,799.851705619,649,628,650,0.445897078212,-0.0156774287274,0.0596743104621,0.999999825519,-0.000249236156591,-0.000532730865004,-5.51375081316e-05,1793193423637984000
+221,3.683333333,POSE1_TO_POSE2_PRESS,764,743,712,673.723083761,658.723083761,631,878,782,799.276916239,649,628,650,0.445900954398,-0.0156779414363,0.0596758496441,0.999999826979,-0.000249037810781,-0.000530151075362,-5.44192709625e-05,1793193423654650624
+222,3.700000000,POSE1_TO_POSE2_PRESS,764,743,712,673.693237933,659,631,878,782,799.306762067,649,628,650,0.445902778175,-0.0156773742373,0.0596763021854,0.999999827488,-0.000247832100639,-0.000529783084547,-5.41597257153e-05,1793193423671317504
+223,3.716666667,POSE1_TO_POSE2_PRESS,764,743,712,673.101296012,659,631,878,782,799.898703988,649,628,650,0.445902693939,-0.0156758031073,0.0596757445367,0.999999827112,-0.000245689899156,-0.000531471281377,-5.43266010832e-05,1793193423687984896
+224,3.733333333,POSE1_TO_POSE2_PRESS,764,743,712,673.479542648,658.520457352,631,878,781.520457352,800,649,628,650,0.44590274287,-0.0156760668906,0.0596755859248,0.999999826879,-0.000246966446232,-0.000531323829041,-5.4268143744e-05,1793193423704652032
+225,3.750000000,POSE1_TO_POSE2_PRESS,764.057422124,743,712,674,658,630.942577876,878,781.057422124,800.057422124,649,628,650,0.445902831007,-0.015676705609,0.0596754748305,0.999999826643,-0.000248814607299,-0.000530916546415,-5.41623657717e-05,1793193423721318912
+226,3.766666667,POSE1_TO_POSE2_PRESS,764.629327041,743,712,674,658,630.370672959,878,781.629327041,800.629327041,649,628,650,0.445903024093,-0.0156773094665,0.0596750513556,0.999999826137,-0.000249460367487,-0.00053157678543,-5.40494226808e-05,1793193423737984768
+227,3.783333333,POSE1_TO_POSE2_PRESS,764.791802147,743,712,673.791802147,658,630.208197853,878,781.791802147,800.583604294,649,628,650,0.445903843754,-0.0156772677917,0.0596751157522,0.999999826265,-0.000249259156451,-0.000531445271311,-5.39064185749e-05,1793193423754651136
+228,3.800000000,POSE1_TO_POSE2_PRESS,764.200100066,743,712,673.200100066,658,630.799899934,878,781.200100066,799.400200133,649,628,650,0.445905817578,-0.0156760370345,0.0596760788171,0.999999827557,-0.000247497808984,-0.000529855333489,-5.370804154e-05,1793193423771317504
+229,3.816666667,POSE1_TO_POSE2_PRESS,764,742.617118592,712,673.382881408,658,630.617118592,878,781,799.382881408,649,628,650,0.445905989239,-0.0156748436463,0.059675144143,0.999999827172,-0.000247094505075,-0.000530741221325,-5.39820789629e-05,1793193423787984128
+230,3.833333333,POSE1_TO_POSE2_PRESS,764,742.038593175,712,673.961406825,658,630.038593175,878,781,799.961406825,649,628,650,0.445905240034,-0.0156736693528,0.0596732397657,0.999999825928,-0.000247385131716,-0.000532892201866,-5.44975098278e-05,1793193423804650752
+231,3.850000000,POSE1_TO_POSE2_PRESS,764,742.539046628,712,673.460953372,658,630.539046628,878,781,800,649,628,650,0.445906440061,-0.0156751848321,0.0596740821349,0.999999826307,-0.000249298951533,-0.000531294838966,-5.44159342387e-05,1793193423821317632
+232,3.866666667,POSE1_TO_POSE2_PRESS,764,743,712,673,658.115692541,631,878.115692541,781,800,649,628,650,0.445907089199,-0.0156763034509,0.0596746142927,0.999999826587,-0.000250221543644,-0.00053034839464,-5.4271715482e-05,1793193423837984512
+233,3.883333333,POSE1_TO_POSE2_PRESS,764,743,712,673,658.688660154,631,878.688660154,781,800,649,628,650,0.445905010259,-0.0156750935725,0.0596731443382,0.99999982603,-0.0002467677267,-0.000533033676068,-5.40485634921e-05,1793193423854651648
+234,3.900000000,POSE1_TO_POSE2_PRESS,764,743,712,673,659,630.729852145,878.459704289,781,800,649,628,650,0.445903772105,-0.0156737646016,0.0596721344058,0.999999825569,-0.000244250871336,-0.000535037034371,-5.42164639983e-05,1793193423871318272
+235,3.916666667,POSE1_TO_POSE2_PRESS,764,743,712,673,659,630.13822537,877.276450739,781,800,649,628,650,0.445903534497,-0.0156722939091,0.0596716719046,0.999999825237,-0.000242849010109,-0.000536228897015,-5.48497212487e-05,1793193423887984640
+236,3.933333333,POSE1_TO_POSE2_PRESS,764.443773225,743,712,673.443773225,659,630.443773225,877.443773225,781,800.443773225,649,628,650,0.445904287353,-0.0156737382889,0.0596721033636,0.999999825201,-0.000244848899158,-0.000535451179521,-5.42138699693e-05,1793193423904651008
+237,3.950000000,POSE1_TO_POSE2_PRESS,764.977318163,743,712,674,658.977318163,631,877.977318163,781,800.977318163,649,628,650,0.445905341599,-0.0156759773828,0.0596728271417,0.99999982528,-0.000247715251691,-0.000534081596175,-5.32263181255e-05,1793193423921317376
+238,3.966666667,POSE1_TO_POSE2_PRESS,764.402176829,743,712,674,658.402176829,631,877.402176829,781,800.402176829,649,628,650,0.445906382026,-0.0156759273249,0.0596740327843,0.999999826225,-0.000246426204397,-0.000532921151587,-5.30962212869e-05,1793193423937984000
+239,3.983333333,POSE1_TO_POSE2_PRESS,764,743,712,674,658.176481841,631,877.176481841,781.176481841,800,649,628,650.176481841,0.445906788098,-0.0156756683432,0.0596746049129,0.99999982664,-0.000245577898369,-0.000532535569364,-5.30701450403e-05,1793193423954650624
+240,4.000000000,POSE1_TO_POSE2_PRESS,764,743,712,674,658.763318982,631,877.763318982,781.763318982,800,649,628,650.763318982,0.445905719169,-0.0156749235724,0.0596737039955,0.99999982583,-0.000245754403326,-0.00053395169597,-5.328593732e-05,1793193423971317760
+241,4.016666667,POSE1_TO_POSE2_PRESS,764.345486223,743,712,673.654513777,659,631,877.654513777,781.654513777,799.654513777,649,628,650.654513777,0.445905512549,-0.0156746694659,0.0596730775453,0.999999825716,-0.000245052448134,-0.000534487247003,-5.3289820357e-05,1793193423987984384
+242,4.033333333,POSE1_TO_POSE2_PRESS,764.924496915,743,712,673.075503085,659,631,877.075503085,781.075503085,799.075503085,649,628,650.075503085,0.445905888788,-0.0156747470141,0.0596726366157,0.999999826072,-0.000243756715455,-0.00053442759062,-5.31504675922e-05,1793193424004651008
+243,4.050000000,POSE1_TO_POSE2_PRESS,764.497427395,743,712,673.502572605,658.497427395,630.497427395,877.502572605,781,799.502572605,649,628,650,0.445907371056,-0.0156749186151,0.0596735603645,0.999999826616,-0.000244658892072,-0.000532993205753,-5.31775518677e-05,1793193424021317632
+244,4.066666667,HOLD_POSE2,764,743,712,673,658,630,878,781,800,649,628,651,0.445906348386,-0.0156753412632,0.0596719390052,0.999999825123,-0.000247678311165,-0.000534371773061,-5.34496640075e-05,1793193424064691200
+245,4.083333333,HOLD_POSE2,764,742.410517495,711.410517495,673.589482505,658,630.589482505,877.410517495,781.589482505,800,649,628,650.410517495,0.44590795633,-0.0156748401161,0.0596738694249,0.999999826791,-0.000245815401142,-0.000532101264157,-5.34864118918e-05,1793193424081357312
+246,4.100000000,HOLD_POSE2,764.17691324,742.17691324,711.17691324,674,658,630.82308676,877.17691324,781.82308676,799.82308676,649,628.17691324,650,0.445909238556,-0.0156740551651,0.0596750790942,0.999999827887,-0.000244441032366,-0.000530672718611,-5.34968668685e-05,1793193424098023424
+247,4.116666667,HOLD_POSE2,764.759637653,742.759637653,711.759637653,674,658,630.240362347,877.759637653,781.240362347,799.240362347,649,628.759637653,650,0.445909773637,-0.0156726192125,0.0596746354756,0.999999827684,-0.000244187300077,-0.000531175504261,-5.34470100549e-05,1793193424114690048
+248,4.133333333,HOLD_POSE2,764.663256113,743,712,673.663256113,658,630,878,781.336743887,799.336743887,649.336743887,628.663256113,650,0.445909746571,-0.0156721095334,0.0596744059883,0.999999827638,-0.000243832987087,-0.000531450955745,-5.31847043109e-05,1793193424131356928
+249,4.150000000,HOLD_POSE2,764.09009427,743,712,673.09009427,658,630,878,781.90990573,799.90990573,649.90990573,628.09009427,650,0.445909324839,-0.0156722501638,0.0596743268364,0.999999827702,-0.000243408059369,-0.000531566802583,-5.27732444397e-05,1793193424148023808
+250,4.166666667,HOLD_POSE2,764,743,712,673.482274333,658,630.482274333,878,781.517725667,800,649.517725667,628,650,0.445908875006,-0.0156721338986,0.0596741292331,0.999999827546,-0.000242660231897,-0.000532163567358,-5.31533546176e-05,1793193424164690432
+251,4.183333333,HOLD_POSE2,764,743,712,674,658,630.945146928,878,781,800,649,628,650,0.445908494547,-0.0156719845427,0.0596739172084,0.999999827384,-0.00024186950645,-0.000532780044245,-5.36264505708e-05,1793193424181357056
+252,4.200000000,HOLD_POSE2,764,743,712,674,658,630.369166256,878,781,800,649,628,650,0.445908822954,-0.0156719759985,0.059673778054,0.999999827564,-0.000241243368994,-0.000532731669491,-5.35803901032e-05,1793193424198023424
+253,4.216666667,HOLD_POSE2,764,742.785741767,712,674,658.214258233,630.214258233,878,781.214258233,800,649,628,650,0.445908991622,-0.0156722434563,0.0596736717188,0.999999827334,-0.00024208652594,-0.000532794381329,-5.34506023735e-05,1793193424214689792
+254,4.233333333,HOLD_POSE2,764,742.189030037,712,674,658.810969963,630.810969963,878,781.810969963,800,649,628,650,0.445908875152,-0.0156730035811,0.059673623966,0.999999826364,-0.000245552390942,-0.000533055384056,-5.3171360489e-05,1793193424231356416
+255,4.250000000,HOLD_POSE2,764,742.393203291,712,673.606796709,659,630.606796709,877.606796709,781.606796709,800,649.393203291,628,650,0.44590945526,-0.0156737383754,0.059673690127,0.999999826594,-0.000246399606978,-0.000532245524496,-5.30442366132e-05,1793193424248023040
+256,4.266666667,HOLD_POSE2,764,742.968723461,712,673.031276539,659,630.031276539,877.031276539,781.031276539,800,649.968723461,628,650,0.44591035835,-0.0156744614248,0.0596738091064,0.999999827382,-0.0002460326323,-0.000530939137403,-5.29876453892e-05,1793193424264689920
+257,4.283333333,HOLD_POSE2,764.558021225,743,712,673.558021225,659,630,877.558021225,781.558021225,800,649.441978775,628,650,0.445909299103,-0.0156727033528,0.0596734209171,0.999999826817,-0.000244369591787,-0.000532765368501,-5.30179648632e-05,1793193424281356800
+258,4.300000000,HOLD_POSE2,764.854831311,742.854831311,712,674,658.854831311,630.145168689,878,782,800,649,628,650,0.445908634595,-0.0156714953988,0.0596733281274,0.999999826602,-0.000243001336091,-0.000533799036279,-5.29703158825e-05,1793193424298023680
+259,4.316666667,HOLD_POSE2,764.27646317,742.27646317,712,674,658.27646317,630.72353683,878,782,800,649,628,650,0.445909484553,-0.0156723545467,0.0596742038178,0.999999827678,-0.000242735013626,-0.000531930393244,-5.26750960361e-05,1793193424314690304
+260,4.333333333,POSE2_TO_POSE3_RETREAT,764,743,712,673,658,630,878,782,800,650,628,650,0.445911243769,-0.0156730075725,0.0596754601488,0.999999827741,-0.000246238054295,-0.000530148982431,-5.31632645228e-05,1793193424352334080
+261,4.350000000,POSE2_TO_POSE3_RETREAT,764,743,712,673,658,630.571414177,878,781.428585823,799.428585823,649.428585823,628,650,0.445910092899,-0.0156732471374,0.059674759795,0.999999827183,-0.000245575868485,-0.000531540848094,-5.28253112545e-05,1793193424369000960
+262,4.366666667,POSE2_TO_POSE3_RETREAT,764.151999694,742.848000306,712,673,658,631,877.848000306,781.151999694,799.151999694,649,628,650,0.445909132277,-0.0156734692196,0.0596740232985,0.999999826727,-0.000244738696494,-0.00053281756627,-5.24745533139e-05,1793193424385667584
+263,4.383333333,POSE2_TO_POSE3_RETREAT,764.760105848,742.239894152,712,673,658,631,877.239894152,781.760105848,799.760105848,649,628,650,0.445908742534,-0.0156736388418,0.0596731783482,0.999999826584,-0.000243376442189,-0.000533748760975,-5.20853722289e-05,1793193424402334464
+264,4.400000000,POSE2_TO_POSE3_RETREAT,764.648990079,742.351009921,711.648990079,673,658,631,877,781.648990079,800,649,628.351009921,650,0.445909795579,-0.0156726615359,0.0596740489137,0.999999827404,-0.000243505440712,-0.000532121628172,-5.23816397181e-05,1793193424419001344
+265,4.416666667,POSE2_TO_POSE3_RETREAT,764.069293386,742.930706614,711.069293386,673,658,631,877,781.069293386,800,649,628.930706614,650,0.445911788615,-0.015670936994,0.0596760371564,0.999999828843,-0.000244606006714,-0.000528827717179,-5.31244844135e-05,1793193424435667968
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764,743,711.507590736,673.507590736,658,631,877,781,800,649,628.492409264,650,0.445909521557,-0.0156719421685,0.0596737465165,0.999999826798,-0.000246123707929,-0.00053199837138,-5.29559361175e-05,1793193424452334592
+267,4.450000000,POSE2_TO_POSE3_RETREAT,764,743,712,673.914663622,658.085336378,630.914663622,877.085336378,781,800,649,628,650,0.445906540231,-0.0156729977891,0.0596711470095,0.999999824567,-0.000247088194119,-0.000535752164452,-5.27553654492e-05,1793193424469000960
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764,743,712,673.329637454,658.670362546,630.329637454,877.670362546,781,800,649,628,650,0.445902763084,-0.0156721787866,0.0596701404574,0.999999824101,-0.000244481707421,-0.000537781482706,-5.30918066015e-05,1793193424485667328
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,743,712,673.253922902,659,630,877.746077098,781.253922902,800,649,628,650,0.445892854732,-0.015672149535,0.0596657390064,0.99999982054,-0.000243975691396,-0.000544553272243,-5.34497985337e-05,1793193424502333952
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764,743,712,673.835591248,659,630,877.164408752,781.835591248,800,649,628,650,0.44587503266,-0.015673139637,0.0596569556638,0.999999812875,-0.000246180812216,-0.000557446302853,-5.38356066327e-05,1793193424519000320
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764,743,712,674,658.586685815,630,877.413314185,782,800,649,628.413314185,650,0.445837068498,-0.0156698860246,0.0596394400663,0.999999797848,-0.000245384318025,-0.000583951610806,-5.55894253903e-05,1793193424535666944
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764,743,712,674,658.010517401,630,877.989482599,782,800,649,628.989482599,650,0.445791167941,-0.0156649603022,0.0596184837812,0.999999779084,-0.0002434051262,-0.000615820434611,-5.78822682708e-05,1793193424552333824
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764,743,712,674,658.56317128,630,877.43682872,782,799.43682872,649,628.43682872,650,0.445721855892,-0.015659585136,0.0595980531412,0.99999976585,-0.000239402223545,-0.000638272994872,-5.99569979911e-05,1793193424569000960
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764.140559664,743,712,673.859440336,659,630.140559664,877.140559664,781.859440336,799,649,628.140559664,650,0.445649790039,-0.0156540855071,0.0595806725017,0.999999753677,-0.000235337590977,-0.000658382186936,-6.16096018296e-05,1793193424585668096
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764.729908076,743,712,673.270091924,659,630.729908076,877.729908076,781.270091924,799,649,628.729908076,650,0.445570321484,-0.0156482151657,0.0595729989068,0.999999745855,-0.000231196002652,-0.000671568325372,-6.19273617685e-05,1793193424602334464
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764.685247913,742.685247913,712,673.314752087,658.685247913,631,877.685247913,781,799.629504174,649,628.685247913,650,0.445479946504,-0.0156417548166,0.0595690290778,0.999999742011,-0.000227927594374,-0.000678380538195,-6.18557380337e-05,1793193424619000832
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764.104214672,742.104214672,712,673.895785328,658.104214672,631,877.104214672,781,800.791570655,649,628.104214672,650,0.445380344662,-0.0156347953196,0.0595681926455,0.999999741645,-0.000225397899152,-0.000679800391258,-6.14546946008e-05,1793193424635667200
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764,742,712,673.526762945,658,630.526762945,877,781,800.05352589,649,628,650,0.445259470155,-0.0156281931783,0.0595704195137,0.999999744402,-0.000221680224936,-0.000677061289399,-6.03424744647e-05,1793193424652333824
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764,742.050821107,712,673.050821107,658,630,877.050821107,781,799.050821107,648.949178893,628,650,0.445130864959,-0.0156213269632,0.0595731243819,0.999999747747,-0.000217411038044,-0.000673608870764,-5.9073042106e-05,1793193424669000448
+280,4.666666667,POSE2_TO_POSE3_RETREAT,764,742.638064282,712,673.638064282,658,630,877.638064282,781,799.638064282,648.361935718,628,650,0.444969736498,-0.0156108490205,0.0595738077088,0.999999750326,-0.00021006118567,-0.000672221821248,-5.77848675628e-05,1793193424685667072
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764,743,712,673.77827954,658.22172046,630,877.77827954,781,800,648.22172046,628,650,0.444795313766,-0.0155994414116,0.0595744445353,0.999999752991,-0.000202326817255,-0.000670741291598,-5.6458146249e-05,1793193424702333952
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764,743,712,673.200385599,658.799614401,630,877.200385599,781,800,648.799614401,628,650,0.444599535029,-0.0155865403808,0.0595750066632,0.999999755816,-0.000193974759977,-0.000669110594876,-5.50695032261e-05,1793193424719000832
+283,4.716666667,POSE2_TO_POSE3_RETREAT,764,743,712,673.375432015,659,630.375432015,877.375432015,781.375432015,800,649.375432015,628,650,0.444383841146,-0.0155750374287,0.0595797201904,0.999999762993,-0.000187005155633,-0.000660480524488,-5.29912041068e-05,1793193424735667456
+284,4.733333333,POSE2_TO_POSE3_RETREAT,764,743,712,673.950147544,659,630.950147544,877.950147544,781.950147544,800,649.950147544,628,650,0.444157576063,-0.0155642765912,0.0595866373268,0.999999772344,-0.000180769371978,-0.000648135108017,-5.05468276815e-05,1793193424752334080
+285,4.750000000,POSE2_TO_POSE3_RETREAT,764,743,712,673.473396403,659,631,877.473396403,782,800,649.473396403,628,650,0.443894299657,-0.0155467778235,0.0595970049032,0.999999785917,-0.000164255834622,-0.000631557754251,-4.81773754278e-05,1793193424769000448
+286,4.766666667,POSE2_TO_POSE3_RETREAT,764.105962666,743,711.894037334,673,658.894037334,631,877.105962666,782,800,649,628,650,0.443619664365,-0.0155297113384,0.0596084847094,0.999999800097,-0.000148187621192,-0.000613004000071,-4.55342330741e-05,1793193424785667328
+287,4.783333333,POSE2_TO_POSE3_RETREAT,764.697877194,743,711.302122806,673,658.302122806,631,877.697877194,782,800,649,628,650,0.443309058247,-0.0155175623198,0.0596235622921,0.999999817105,-0.000138638605282,-0.000587229739499,-4.16032925021e-05,1793193424802333952
+288,4.800000000,POSE2_TO_POSE3_RETREAT,764.717571424,743,711,673,658.282428576,631,877.717571424,782.282428576,800,649,628,650,0.442969330179,-0.0155063332542,0.0596340512521,0.999999828717,-0.000126062591993,-0.000570207958045,-3.92037526921e-05,1793193424819000576
+289,4.816666667,POSE2_TO_POSE3_RETREAT,764.140696537,743,711,673,658.859303463,631,877.140696537,782.859303463,800,649,628,650,0.442599241,-0.0154960632877,0.0596397563362,0.999999835079,-0.000110330778934,-0.000562311087832,-3.84007771623e-05,1793193424835667200
+290,4.833333333,POSE2_TO_POSE3_RETREAT,764,743,711.435631676,673.435631676,659,631,877.435631676,783,800,649,628.435631676,650,0.442182585048,-0.0154877840222,0.0596361342672,0.999999833738,-6.95663496116e-05,-0.000571222413005,-3.72640119428e-05,1793193424852334336
+291,4.850000000,POSE2_TO_POSE3_RETREAT,764,743,712,673.988191399,659,631.011808601,877.988191399,783,800,649,629,650,0.441750312326,-0.0154800895208,0.0596299143417,0.999999828078,-2.16472893804e-05,-0.000584879334703,-3.59448878536e-05,1793193424869001728
+292,4.866666667,POSE2_TO_POSE3_RETREAT,764,743,712,673.410814163,659,631.589185837,877.410814163,783,800,649,629,650,0.441289499478,-0.0154696473219,0.0596433681355,0.999999839096,-1.77938111752e-05,-0.000566151663625,-3.1048540685e-05,1793193424885668096
+293,4.883333333,POSE2_TO_POSE3_RETREAT,764,743,712,673,659,632,877.1703057,783,800,649,629,650,0.440819131258,-0.0154597119937,0.0596603934229,0.999999852159,-1.13984588871e-05,-0.000543038852634,-2.57039598037e-05,1793193424902334720
+294,4.900000000,POSE2_TO_POSE3_RETREAT,764,743,712,673,659,632,877.760656358,783,800,649,629,650,0.440325195569,-0.0154510268213,0.0596862275029,0.999999870217,1.26621551808e-06,-0.000509110458623,-1.92538481805e-05,1793193424919001344
+295,4.916666667,POSE2_TO_POSE3_RETREAT,764,743,712,673.343037845,659.343037845,632,877.656962155,783,800,649,629,650,0.439816472169,-0.0154460478205,0.0597199442653,0.999999894832,3.1990213739e-05,-0.000457363432493,-1.1497400372e-05,1793193424935667712
+296,4.933333333,POSE2_TO_POSE3_RETREAT,764,743,712,673.919985396,659.919985396,632,877.080014604,783,800,649,629,650,0.439297665315,-0.015443595973,0.0597590360522,0.999999919773,7.5028455386e-05,-0.000393466280954,-2.85019092242e-06,1793193424952334336
+297,4.950000000,POSE2_TO_POSE3_RETREAT,764,742.506293512,711.506293512,673.506293512,660,632,877.493706488,783,800,649,629,650,0.438749537864,-0.0154413280904,0.0598023478977,0.999999943742,7.86251463389e-05,-0.00032603374362,5.96513081046e-06,1793193424969001728
+298,4.966666667,POSE2_TO_POSE3_RETREAT,764,742,711.068989898,673,660,632,877.931010102,783,800,649,629,650,0.438181561622,-0.015438627346,0.0598403918885,0.999999960946,8.04504910399e-05,-0.000267274321907,1.41635292599e-05,1793193424985668608
+299,4.983333333,POSE2_TO_POSE3_RETREAT,764,742,711.660026851,673,660,632,877.339973149,783,800,649,629,650,0.437499113843,-0.0154324269847,0.0598334322193,0.999999954243,0.000116928265402,-0.000278451972766,1.74888387943e-05,1793193425002335232
+300,5.000000000,POSE2_TO_POSE3_RETREAT,764,742.246104445,711.753895555,673,660,632,877.246104445,783.246104445,799.753895555,649,629,650,0.436784435447,-0.015425535731,0.0598072000317,0.999999939276,0.000134822874865,-0.000320812239294,1.8689567753e-05,1793193425019001600
+301,5.016666667,POSE2_TO_POSE3_RETREAT,764,742.825466386,711.174533614,673,660,632,877.825466386,783.825466386,799.174533614,649,629,650,0.436026112635,-0.0154177089192,0.0597548703426,0.999999909547,0.000127553454335,-0.000405397829828,1.70133374377e-05,1793193425035668224
+302,5.033333333,POSE2_TO_POSE3_RETREAT,764,743,711.402027084,673,660,632,877.597972916,783.597972916,799.402027084,649,629,650,0.435306163999,-0.0154163215221,0.0597452494298,0.999999906097,0.000153437047146,-0.000404905002315,1.77596048612e-05,1793193425052334848
+303,5.050000000,POSE2_TO_POSE3_RETREAT,764,743,711.977380067,673,660,632,877.022619933,783.022619933,799.977380067,649,629,650,0.434602759637,-0.0154177103494,0.0597540415493,0.999999913452,0.000193613895616,-0.000367732321881,1.95502835445e-05,1793193425069001216
+304,5.066666667,POSE2_TO_POSE3_RETREAT,764,743,712,673,659.436156725,632,877.563843275,783,800,649,629,650,0.433866320951,-0.0154204013901,0.0597708979713,0.999999938085,0.000107708723937,-0.000334970490528,4.86606084566e-06,1793193425085667328
+305,5.083333333,POSE2_TO_POSE3_RETREAT,764,742.851201407,712,673,659.148798593,632.148798593,877.851201407,783,800.148798593,649,629,650.148798593,0.433102981866,-0.015422606539,0.0597848880927,0.999999950081,5.10045088177e-05,-0.000311795562787,-4.48264466017e-06,1793193425102333696
+306,5.100000000,POSE2_TO_POSE3_RETREAT,764,742.271923946,712,673,659.728076054,632.728076054,877.271923946,783,800.728076054,649,629,650.728076054,0.432265730301,-0.0154232518133,0.0597896311526,0.999999945728,9.37068978532e-05,-0.000315833635883,3.55499259761e-06,1793193425119000320
+307,5.116666667,POSE2_TO_POSE3_RETREAT,764,742.305256339,712,672.694743661,660,633,877,783,800.694743661,649,629,650.694743661,0.4314461959,-0.0154224736798,0.0597983806922,0.99999994754,0.000114342838937,-0.000302903533438,9.76157749133e-06,1793193425135667456
+308,5.133333333,POSE2_TO_POSE3_RETREAT,764,742.880581259,712,672.119418741,660,633,877,783,800.119418741,649,629,650.119418741,0.430642336261,-0.0154204362186,0.0598106748738,0.99999995543,0.000115455998525,-0.000274961225471,1.43481814915e-05,1793193425152334336
+309,5.150000000,POSE2_TO_POSE3_RETREAT,764,743,712,672.456543278,660,632.543456722,877.456543278,783.456543278,800,649,629,650,0.42978869569,-0.0154164925418,0.0598172485442,0.999999955493,0.000118443561248,-0.000273371465847,1.59111866109e-05,1793193425169000960
+310,5.166666667,POSE2_TO_POSE3_RETREAT,764,742.96657329,711.96657329,672.96657329,659.96657329,632.03342671,878,784,799.96657329,649,629,650,0.428919724046,-0.0154120385664,0.0598194578301,0.999999952346,0.000122144104427,-0.000283052113658,1.64138252822e-05,1793193425185667328
+311,5.183333333,POSE2_TO_POSE3_RETREAT,764,742.377138609,711.377138609,672.377138609,659.377138609,632.622861391,878,784,799.377138609,649,629,650,0.428012633804,-0.0154074017839,0.0597739955918,0.99999992478,0.000129537398258,-0.00036538348541,1.2452431811e-05,1793193425202333952
+312,5.200000000,POSE2_TO_POSE3_RETREAT,764,742.208687021,711,672.208687021,659.208687021,633,877.791312979,784,799,649,629,650.208687021,0.427116470729,-0.0154058832964,0.0597488880763,0.999999909612,0.000132413417926,-0.00040390582479,1.00925945946e-05,1793193425219000832
+313,5.216666667,POSE2_TO_POSE3_RETREAT,764,742.788101228,711,672.788101228,659.788101228,633,877.211898772,784,799,649,629,650.788101228,0.426239719539,-0.0154099043809,0.0597599402109,0.999999925378,0.000127264615604,-0.000364602530326,1.05778816933e-05,1793193425235667456
+314,5.233333333,POSE2_TO_POSE3_RETREAT,764,742.634948291,711.365051709,672.634948291,660,633,877,784,799.365051709,649,629,650.634948291,0.425362232066,-0.0154127682406,0.0597821531744,0.999999935804,0.000128833802624,-0.000334061146778,1.40030115637e-05,1793193425252333824
+315,5.250000000,POSE2_TO_POSE3_RETREAT,764,742.059418344,711.940581656,672.059418344,660,633,877,784,799.940581656,649,629,650.059418344,0.424484320104,-0.0154149648779,0.0598108011481,0.999999943194,0.000134276387834,-0.00030857162858,1.91231695799e-05,1793193425269000448
+316,5.266666667,POSE2_TO_POSE3_RETREAT,764,742,711.490523715,672.509476285,659.490523715,633,877,784,799.490523715,649,628.490523715,650,0.423620868909,-0.0154125944557,0.0598281556175,0.999999949508,0.000139739010718,-0.000284603339787,2.13958681041e-05,1793193425285667328
+317,5.283333333,POSE2_TO_POSE3_RETREAT,764,742.08178114,711.08178114,672.91821886,659,633,877,784,799,649,628,650.08178114,0.42275736532,-0.015410118279,0.05984294433,0.999999954977,0.0001451711034,-0.000261595736088,2.32254623739e-05,1793193425302333952
+318,5.300000000,POSE2_TO_POSE3_RETREAT,764,742.6804688,711.6804688,672.3195312,659,633,877,784,799,649,628,650.6804688,0.421883008237,-0.0154102969934,0.0598497338605,0.999999958736,0.000150395643869,-0.000243553300764,2.4326384666e-05,1793193425319000832
+319,5.316666667,POSE2_TO_POSE3_RETREAT,764,742.730736084,712,672,659,633,877,784,799.269263916,649,628.269263916,650.730736084,0.420949493077,-0.0154075318982,0.0598259123123,0.99999994673,0.000155400788559,-0.00028614136642,2.26433519303e-05,1793193425335667456
+320,5.333333333,POSE2_TO_POSE3_RETREAT,764,742.153264209,712,672,659,633,877,784,799.846735791,649,628.846735791,650.153264209,0.419948263607,-0.0154013972259,0.0597670523602,0.999999907764,0.000160154805225,-0.000398129008784,1.77737165019e-05,1793193425352334080
+321,5.350000000,POSE2_TO_POSE3_RETREAT,764,742,712,672.422280024,659,633,876.577719976,784,800,648.577719976,629,650,0.419048446558,-0.0154005310031,0.0597324199659,0.999999890973,0.000159322814497,-0.000438754351485,1.28580676758e-05,1793193425369000704
+322,5.366666667,POSE2_TO_POSE3_RETREAT,764,742,712,672.997127773,659,633,876.002872227,784,800,648.002872227,629,650,0.418185269385,-0.0154015682459,0.0597065408744,0.999999884852,0.000156472626516,-0.000453596835645,7.92579476618e-06,1793193425385667328
+323,5.383333333,POSE2_TO_POSE3_RETREAT,764,742,712,672.411013395,659,633,876.588986605,784,800,648.588986605,629,650,0.417384148817,-0.0154048826957,0.059745844365,0.99999990968,0.000155928875641,-0.000395156943794,1.3314853247e-05,1793193425402333952
+324,5.400000000,POSE2_TO_POSE3_RETREAT,764,742,711.823403812,672,659.176596188,632.823403812,877,784,799.823403812,649,629,650,0.416582179951,-0.0154069046464,0.0597845653177,0.999999929224,0.000158057382768,-0.000340918984448,1.85597024502e-05,1793193425419000576
+325,5.416666667,POSE2_TO_POSE3_RETREAT,764,742,711.245641162,672,659.754358838,632.245641162,877,784,799.245641162,649,629,650,0.415777576188,-0.0154059645017,0.0598212193799,0.999999941788,0.000166230041507,-0.000297062349276,2.33592179879e-05,1793193425435667200
+326,5.433333333,POSE2_TO_POSE3_RETREAT,764,742,711.330380727,672,659.669619273,632.330380727,877,784,799.330380727,649,628.669619273,650.330380727,0.414971172066,-0.0154051267052,0.0598393530963,0.999999946962,0.000171606046796,-0.000275629820474,2.55873989144e-05,1793193425452334080
+327,5.450000000,POSE2_TO_POSE3_RETREAT,764,742,711.905115104,672,659.094884896,632.905115104,877,784,799.905115104,649,628.094884896,650.905115104,0.414163436412,-0.0154043646068,0.0598437889356,0.999999947705,0.000174913612615,-0.000270782438728,2.59137889559e-05,1793193425469000704
+328,5.466666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,633,876.507969228,784,799.507969228,649,628.492030772,651,0.413383084093,-0.0154030424943,0.0598383816039,0.999999945048,0.000178015980624,-0.000278477237446,2.57737693268e-05,1793193425485667328
+329,5.483333333,POSE2_TO_POSE3_RETREAT,763.920055627,742.079944373,712,672,659,633,876,784,799.079944373,649,629,650.920055627,0.412602968079,-0.015401098631,0.0598243815095,0.999999938168,0.000180678832337,-0.000300678970428,2.47122993812e-05,1793193425502333952
+330,5.500000000,POSE2_TO_POSE3_RETREAT,763.340951003,742.659048997,712,672,659,633,876,784,799.659048997,649,629,650.340951003,0.411790519009,-0.0153959640754,0.0597688824215,0.999999904284,0.000180850757936,-0.000397974529548,1.84732897614e-05,1793193425519000576
+331,5.516666667,POSE2_TO_POSE3_RETREAT,763,742.763315172,712,671.763315172,659.236684828,632.763315172,876.236684828,784,800,649,629,650,0.411032712914,-0.0153919862388,0.0597372936284,0.999999883711,0.000183148461554,-0.000445901730776,1.43908976386e-05,1793193425535667200
+332,5.533333333,POSE2_TO_POSE3_RETREAT,763,742.187782044,712,671.187782044,659.812217956,632.187782044,876.812217956,784,800,649,629,650,0.410353135961,-0.0153896644107,0.0597399358458,0.999999892618,0.00018848952339,-0.000423151061231,1.33960122363e-05,1793193425552333568
+333,5.550000000,POSE2_TO_POSE3_RETREAT,763.388008016,742,711.611991984,671.388008016,660,632.388008016,877,784,799.611991984,649,629,650,0.409710571702,-0.0153927686874,0.0597754961902,0.999999914507,0.000186682561255,-0.000368547426976,1.75685186083e-05,1793193425569000704
+334,5.566666667,POSE2_TO_POSE3_RETREAT,763.963922471,742,711.036077529,671.963922471,660,632.963922471,877,784,799.036077529,649,629,650,0.409085932176,-0.015398500745,0.0598269982876,0.999999938694,0.000181413917698,-0.000298517881515,2.42435149842e-05,1793193425585667584
+335,5.583333333,POSE2_TO_POSE3_RETREAT,764,742,711.552894953,672,659.447105047,633,876.447105047,784,799.552894953,649,629,650.552894953,0.408494520496,-0.0153977244115,0.0598487533531,0.999999948421,0.000184011477006,-0.000261856752148,2.6989415865e-05,1793193425602334208
+336,5.600000000,POSE2_TO_POSE3_RETREAT,763.859922258,742,711.859922258,672,659.140077742,633,876.140077742,784,800,648.859922258,629,650.859922258,0.407905573843,-0.0153960487848,0.0598596755146,0.999999952937,0.000186695103018,-0.000241801759912,2.83179745357e-05,1793193425619000832
+337,5.616666667,POSE2_TO_POSE3_RETREAT,763.281078831,742,711.281078831,672,659.718921169,633,876.718921169,784,800,648.281078831,629,650.281078831,0.407317392733,-0.0153929187219,0.0598428927925,0.999999946404,0.00018800166021,-0.000266777082993,2.60294797609e-05,1793193425635667456
+338,5.633333333,POSE2_TO_POSE3_RETREAT,763.29603922,742,711.29603922,672,659.70396078,633,877,784,799.70396078,648.29603922,629,650.29603922,0.406760334678,-0.015391458825,0.0598307339942,0.999999941956,0.000189547324983,-0.00028212190049,2.38091193138e-05,1793193425652334080
+339,5.650000000,POSE2_TO_POSE3_RETREAT,763.871528548,742,711.871528548,672,659.128471452,633,877,784,799.128471452,648.871528548,629,650.871528548,0.406232655671,-0.0153915755034,0.0598229400102,0.999999939884,0.000191318698496,-0.00028837587453,2.16530752997e-05,1793193425669000960
+340,5.666666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,633,877,784,799.44554954,649,629,650.55445046,0.405743678792,-0.0153913369263,0.0598252562201,0.999999941384,0.000189386698399,-0.000284443912322,2.13492692146e-05,1793193425685667328
+341,5.683333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,633,876.98021866,784,799.98021866,648.98021866,629,650,0.405267578909,-0.0153909107654,0.0598300896235,0.99999994374,0.000186640449684,-0.000277887480012,2.15234724616e-05,1793193425702333952
+342,5.700000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,633,876.387665264,784,799.387665264,648.387665264,629,650,0.40484227133,-0.0153880093894,0.0598236755937,0.999999942302,0.000191135567282,-0.000280102572681,2.01248971413e-05,1793193425719000576
+343,5.716666667,POSE2_TO_POSE3_RETREAT,763.799849969,742,712,672,659,633,876.200150031,784,799.200150031,648.200150031,629,650.200150031,0.404416507089,-0.0153853262184,0.0598094950228,0.999999935523,0.000196715834131,-0.000299852201401,1.85681790251e-05,1793193425735667200
+344,5.733333333,POSE2_TO_POSE3_RETREAT,763.220999451,742,712,672,659,633,876.779000549,784,799.779000549,648.779000549,629,650.779000549,0.403989878733,-0.0153830559087,0.0597806195101,0.999999916755,0.000204349293929,-0.000352778628941,1.67122413221e-05,1793193425752334080
+345,5.750000000,POSE2_TO_POSE3_RETREAT,763,742,712,672,659,633,876.643443956,783.643443956,799.643443956,649,628.643443956,650.643443956,0.403621102741,-0.0153816120882,0.0597669243548,0.999999907326,0.00020994653047,-0.000375500613321,1.64537982268e-05,1793193425769000704
+346,5.766666667,POSE2_TO_POSE3_RETREAT,763,742,712,672,659,633,876.066688267,783.066688267,799.066688267,649,628.066688267,650.066688267,0.403288054874,-0.0153806786858,0.0597626041912,0.999999904857,0.000214286248823,-0.000379569124563,1.7181925954e-05,1793193425785667584
+347,5.783333333,POSE2_TO_POSE3_RETREAT,763.517960357,742,712,672,659,633,876,783.517960357,799,649,628.517960357,650.517960357,0.403025610246,-0.0153794914234,0.0597806887739,0.999999915851,0.000222118694402,-0.000344324247718,2.00456244487e-05,1793193425802334208
+348,5.800000000,POSE2_TO_POSE3_RETREAT,764,742,712,671.897596276,659,633,876.102403724,783.897596276,799.102403724,649,629,651,0.402777748623,-0.015378196771,0.0598015132447,0.99999992669,0.0002296311218,-0.000305530291916,2.32513943934e-05,1793193425819000576
+349,5.816666667,POSE2_TO_POSE3_RETREAT,764,742,712,671.318907264,659,633,876.681092736,783.318907264,799.681092736,649,629,651,0.4025547797,-0.0153765570131,0.0598214568116,0.999999934799,0.000233531209475,-0.000274135755649,2.6749521914e-05,1793193425835667200
+350,5.833333333,POSE2_TO_POSE3_RETREAT,764,742,712,671,659.2587932,633,877,783,800,649,629,651,0.402338414855,-0.0153732428291,0.0598336225763,0.999999938627,0.000236706087074,-0.000256652331686,2.90964359448e-05,1793193425852333824
+351,5.850000000,POSE2_TO_POSE3_RETREAT,764,742,712,671,659.835280083,633,877,783,800,649,629,651,0.402130157174,-0.0153678731251,0.0598362403349,0.99999993816,0.000238990699105,-0.000256246146059,3.00301238454e-05,1793193425869000448
+352,5.866666667,POSE2_TO_POSE3_RETREAT,764,742,712,671.409398331,659.590601669,632.590601669,876.590601669,783.409398331,800,649,629,650.590601669,0.401940544443,-0.0153678862319,0.0598320541949,0.999999936223,0.000235882056249,-0.000266449779217,3.02932872925e-05,1793193425885667584
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764,742,712,671.982569098,659.017430902,632.017430902,876.017430902,783.982569098,800,649,629,650.017430902,0.401758390272,-0.0153700526349,0.0598251462778,0.999999933498,0.000230615938971,-0.000280897679368,3.02882195705e-05,1793193425902334720
+354,5.900000000,POSE2_TO_POSE3_RETREAT,763.422916181,742,712,672,659,632.577083819,876,784,799.422916181,649,629,650.577083819,0.401615903166,-0.0153818791365,0.0598242552587,0.999999946159,0.000159300510599,-0.000286518288741,1.45740253455e-05,1793193425919001088
+355,5.916666667,POSE2_TO_POSE3_RETREAT,763.167419003,742,712,671.832580997,658.832580997,633,876.167419003,784,799.167419003,649,629,650.832580997,0.401487465175,-0.0153931112452,0.0598254293829,0.999999951634,0.00011792670381,-0.000287766806698,3.81894592415e-06,1793193425935667456
+356,5.933333333,POSE2_TO_POSE3_RETREAT,763.745850072,742,712,671.254149928,658.254149928,633,876.745850072,784,799.745850072,649,629,650.254149928,0.40139046318,-0.0154021402875,0.059831210105,0.999999949034,0.000155145164636,-0.000278961598818,6.4480665535e-06,1793193425952333824
+357,5.950000000,POSE2_TO_POSE3_RETREAT,763.677807227,742,712,671,658.322192773,633,876.677807227,784,799.677807227,649,629,650,0.401303648507,-0.0154024895715,0.059834356043,0.999999946746,0.000175015320892,-0.000275343032168,7.97200995935e-06,1793193425969000704
+358,5.966666667,POSE2_TO_POSE3_RETREAT,763.103101285,742,712,671,658.896898715,633,876.103101285,784,799.103101285,649,629,650,0.401224817982,-0.0153960362405,0.059835437013,0.9999999455,0.000181289033009,-0.00027578940913,8.62978914507e-06,1793193425985667328
+359,5.983333333,POSE2_TO_POSE3_RETREAT,763.482095806,742,711.517904194,671,659,633,876,784,799.482095806,649,628.517904194,650.482095806,0.401165518642,-0.0153943687206,0.0598348240933,0.999999945805,0.000181076790005,-0.000274790892808,9.55447400227e-06,1793193426002333952
+360,6.000000000,POSE2_TO_POSE3_RETREAT,764,742,711.068609793,671.068609793,659,633,876,784,800,649,628.068609793,651,0.401112402717,-0.0153938557021,0.059833887544,0.999999946312,0.000179584419134,-0.000273888428377,1.05025633609e-05,1793193426019000576
+361,6.016666667,POSE2_TO_POSE3_RETREAT,764,742,711.647854927,671.647854927,659,633,876,784,800,649,628.647854927,651,0.401073528547,-0.0153941482467,0.0598332984553,0.999999945793,0.000179117779422,-0.000276051806781,1.11905644084e-05,1793193426035667712
+362,6.033333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,633,876,784,799.773788082,649,628.773788082,650.773788082,0.401038727197,-0.0153929774771,0.059832548089,0.999999944904,0.000179879266813,-0.000278749324405,1.1589768583e-05,1793193426052334336
+363,6.050000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,633,876,784,799.196808314,649,628.196808314,650.196808314,0.401010241229,-0.0153895376688,0.059831547643,0.999999943432,0.000182545107945,-0.000282275086721,1.15411596026e-05,1793193426069000704
+364,6.066666667,POSE2_TO_POSE3_RETREAT,764,742,712,671.621778358,659,633,877.134664926,784,799.378221642,649,628.378221642,650,0.400992819289,-0.0153895384668,0.0598320764732,0.999999943759,0.000181981516693,-0.000281463700572,1.19615844693e-05,1793193426085667328
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764,742,712,671.047757734,659,633,878.856726797,784,799.952242266,649,628.952242266,650,0.400981125007,-0.0153913204086,0.059833396984,0.999999945011,0.000179746102857,-0.000278407045936,1.26248202643e-05,1793193426102333952
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764,742,712,671.540852725,659,633,877.377441824,783.459147275,799.459147275,649,629,650.540852725,0.400973832286,-0.0153905602462,0.0598324417797,0.99999994458,0.000180785407017,-0.000279294338849,1.22777110008e-05,1793193426119000576
+367,6.116666667,POSE2_TO_POSE3_RETREAT,764,741.871376434,712,671.871376434,659,633,876.257247132,783.128623566,799.128623566,649,628.871376434,651,0.400968304005,-0.0153899043691,0.0598317465921,0.999999944294,0.000181728780522,-0.000279719431163,1.19730082313e-05,1793193426135667200
+368,6.133333333,POSE2_TO_POSE3_RETREAT,764,741.291201169,712,671.291201169,659,633,877.417597662,783.708798831,799.708798831,649,628.291201169,651,0.400967567762,-0.0153904244816,0.059832689244,0.999999945055,0.000181292093664,-0.000277265411515,1.21390621903e-05,1793193426152334080
+369,6.150000000,POSE2_TO_POSE3_RETREAT,764,741.286425991,712,671.286425991,659,633,877.427148019,784,800.286425991,649,628.286425991,650.713574009,0.400965290884,-0.0153905113495,0.0598326288061,0.999999945084,0.000181567168177,-0.000276980827372,1.21470273707e-05,1793193426169000448
+370,6.166666667,POSE2_TO_POSE3_RETREAT,764,741.861485372,712,671.861485372,659,633,876.277029256,784,800.861485372,649,628.861485372,650.138514628,0.400961461497,-0.0153901616341,0.0598315575481,0.999999944376,0.000182559489419,-0.000278882398078,1.19956854192e-05,1793193426185667328
+371,6.183333333,POSE2_TO_POSE3_RETREAT,764,742,712,671.567667507,659,633,876,784,800.567667507,649,628.567667507,650,0.400960889743,-0.0153904135856,0.0598326348623,0.999999944424,0.000183289361971,-0.000278228331721,1.20810845972e-05,1793193426202333952
+372,6.200000000,POSE2_TO_POSE3_RETREAT,763.998061339,742,712,671,659,633,876,783.998061339,799.998061339,649,628.001938661,650,0.400961355881,-0.0153908580026,0.0598343909581,0.999999944712,0.000183927134729,-0.000276761074187,1.22413971687e-05,1793193426219000832
+373,6.216666667,POSE2_TO_POSE3_RETREAT,763.399010221,742,712,671,659,633,876,783.399010221,799.399010221,649,628.600989779,650,0.400963132249,-0.0153917822629,0.0598352367867,0.999999945691,0.0001818466541,-0.000274587398069,1.23388743626e-05,1793193426235667456
+374,6.233333333,POSE2_TO_POSE3_RETREAT,763,742,712,671,658.807703,633,876,783.192297,799.192297,649,629,650,0.400963854802,-0.015392335416,0.0598359283089,0.999999946389,0.00018033136777,-0.000273041076765,1.23312346763e-05,1793193426252334080
+375,6.250000000,POSE2_TO_POSE3_RETREAT,763,742,712,671,658.231842158,633,876,783.768157842,799.768157842,649,629,650,0.400962475373,-0.0153921483423,0.0598363120446,0.999999946542,0.00017994344248,-0.000272746104548,1.21139243413e-05,1793193426269000704
+376,6.266666667,POSE2_TO_POSE3_RETREAT,763.34283769,742,712,671,658.34283769,633,876,784,800,649,628.65716231,650,0.400961365741,-0.0153925924167,0.0598361322663,0.999999946501,0.000179812321087,-0.000272977754763,1.22132186802e-05,1793193426285667072
+377,6.283333333,POSE2_TO_POSE3_RETREAT,763.916721696,742,712,671,658.916721696,633,876,784,800,649,628.083278304,650,0.400960437934,-0.0153934618365,0.0598355727228,0.999999946329,0.000179854265791,-0.000273564308092,1.25258802714e-05,1793193426302333952
+378,6.300000000,POSE2_TO_POSE3_RETREAT,764,742,712,671,659,633,876.503967422,784,799.496032578,649,628,650,0.400960495141,-0.0153925450341,0.059835657842,0.999999946069,0.000181328907122,-0.00027354941368,1.23857536106e-05,1793193426319000576
+379,6.316666667,POSE2_TO_POSE3_RETREAT,764,742,711.907803684,671.092196316,659,633,876.907803684,784,799,649,628.092196316,650.092196316,0.400960745232,-0.015391448867,0.0598358959656,0.999999945855,0.00018284657698,-0.000273330590856,1.21839061335e-05,1793193426335667712
+380,6.333333333,POSE2_TO_POSE3_RETREAT,764,742,711.326392693,671.673607307,659,633,876.326392693,784,799,649,628.673607307,650.673607307,0.400961131592,-0.0153910098186,0.0598363653108,0.99999994598,0.000183302121886,-0.000272571407587,1.20623849458e-05,1793193426352334336
+381,6.350000000,POSE2_TO_POSE3_RETREAT,764,742,711.252412634,671.747587366,659,633,876.252412634,784,799.252412634,649,629,651,0.40096069185,-0.0153908114994,0.0598365399411,0.999999945809,0.000184281825158,-0.000272533960823,1.214976117e-05,1793193426369000960
+382,6.366666667,POSE2_TO_POSE3_RETREAT,764,742,711.82788299,671.17211701,659,633,876.82788299,784,799.82788299,649,629,651,0.400959194797,-0.0153909212847,0.059836337372,0.999999945257,0.00018593238788,-0.00027342024977,1.25045008895e-05,1793193426385667328
+383,6.383333333,POSE2_TO_POSE3_RETREAT,764,742,712,671.404578033,659,633,876.595421967,784,800,649,629,650.595421967,0.400959348791,-0.0153910894068,0.0598364407011,0.999999945406,0.000185227562984,-0.000273353338368,1.2496749102e-05,1793193426402333952
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764,742,712,671.981795653,659,633,876.018204347,784,800,649,629,650.018204347,0.400960207311,-0.0153912824222,0.0598366745617,0.999999945853,0.000183517658397,-0.000272879681887,1.23343166772e-05,1793193426419000576
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,633,876.568102538,784,799.431897462,649,629,650,0.400959972204,-0.0153913592192,0.0598365148018,0.999999945866,0.000183106152619,-0.000273124597157,1.20009848458e-05,1793193426435667200
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,633,877,784,799.152779832,649,629,650,0.40096007574,-0.0153915475693,0.0598367003208,0.999999946064,0.00018251225702,-0.000272800962904,1.18293400554e-05,1793193426452333824
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,633,877,784,799.732081294,649,629,650,0.400961224104,-0.0153920579122,0.059837885554,0.99999994682,0.000181291134564,-0.000270824758111,1.21246206189e-05,1793193426469000704
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764,742,712,671.689982861,659,633,876.689982861,784,800,649,629,650.310017139,0.400960693514,-0.0153915749831,0.0598377810512,0.99999994658,0.00018220309995,-0.000271099102403,1.21234500708e-05,1793193426485667584
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764,742,712,671.113221948,659,633,876.113221948,784,800,649,629,650.886778052,0.400958718323,-0.0153902374265,0.0598365668386,0.999999945477,0.000184950408558,-0.000273309855391,1.18672082132e-05,1793193426502334464
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764,742,712,671.471002816,659,633,876,784,800,649,629,650.528997184,0.400959434767,-0.0153910364349,0.0598373763015,0.999999946009,0.000184465012887,-0.000271682696196,1.19888008474e-05,1793193426519000832
+391,6.516666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,633,876,783.943335543,800,649,628.943335543,650.056664457,0.400960610275,-0.0153923882466,0.0598384986062,0.999999946878,0.000183011476999,-0.000269448822368,1.22002939447e-05,1793193426535667456
+392,6.533333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,633,876,783.361254647,800,649,628.361254647,650.638745353,0.400959946312,-0.0153940269052,0.0598379384108,0.999999947215,0.000179902495323,-0.000270281488858,1.23896474697e-05,1793193426552334080
+393,6.550000000,POSE2_TO_POSE3_RETREAT,763.781412251,742,712,672,659,633,876.218587749,783.218587749,799.781412251,649,628.218587749,651,0.400960160927,-0.015395087676,0.0598381047233,0.999999947534,0.000178077746014,-0.000270303446191,1.25122951456e-05,1793193426569000704
+394,6.566666667,POSE2_TO_POSE3_RETREAT,763.2052319,742,712,672,659,633,876.7947681,783.7947681,799.2052319,649,628.7947681,651,0.40096181283,-0.0153952030671,0.0598394595463,0.999999947836,0.00017835390142,-0.000268999146183,1.25258172155e-05,1793193426585667840
+395,6.583333333,POSE2_TO_POSE3_RETREAT,763,742,712,672,659,633,877,784,799.370571907,649,628.629428093,650.629428093,0.400962355211,-0.0153941605214,0.0598395258928,0.999999947688,0.000179965004986,-0.000268478164906,1.24647375444e-05,1793193426602334720
+396,6.600000000,POSE2_TO_POSE3_RETREAT,763,742,712,672,659,633,877,784,799.946167367,649,628.053832633,650.053832633,0.400962283735,-0.0153924773328,0.0598388793735,0.999999947288,0.000182314685348,-0.000268390564579,1.23623835245e-05,1793193426619001088
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_05/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_05/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..df2a23224edd9667b6f2ec176bbd3613000bd1c5
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_05/depth_03/simulation_data.csv
@@ -0,0 +1,398 @@
+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,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+1,0.016666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+2,0.033333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+3,0.050000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+4,0.066666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+5,0.083333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+6,0.100000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+7,0.116666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+8,0.133333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+9,0.150000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+10,0.166666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+11,0.183333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+12,0.200000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+13,0.216666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+14,0.233333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+15,0.250000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+16,0.266666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+17,0.283333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+18,0.300000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+19,0.316666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+20,0.333333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+21,0.350000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+22,0.366666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+23,0.383333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+24,0.400000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+25,0.416666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+26,0.433333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+27,0.450000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+28,0.466666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+29,0.483333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+30,0.500000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+31,0.516666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+32,0.533333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+33,0.550000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+34,0.566666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+35,0.583333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+36,0.600000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+37,0.616666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+38,0.633333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+39,0.650000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+40,0.666666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+41,0.683333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+42,0.700000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+43,0.716666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+44,0.733333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+45,0.750000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+46,0.766666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+47,0.783333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+48,0.800000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+49,0.816666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+50,0.833333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+51,0.850000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+52,0.866666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+53,0.883333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+54,0.900000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+55,0.916666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+56,0.933333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+57,0.950000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+58,0.966666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+59,0.983333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+60,1.000000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+61,1.016666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+62,1.033333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+63,1.050000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+64,1.066666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+65,1.083333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+66,1.100000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+67,1.116666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+68,1.133333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+69,1.150000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+70,1.166666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+71,1.183333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+72,1.200000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+73,1.216666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+74,1.233333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+75,1.250000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+76,1.266666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+77,1.283333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+78,1.300000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+79,1.316666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+80,1.333333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+81,1.350000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+82,1.366666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+83,1.383333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+84,1.400000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+85,1.416666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+86,1.433333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+87,1.450000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+88,1.466666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+89,1.483333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+90,1.500000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+91,1.516666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+92,1.533333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+93,1.550000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+94,1.566666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+95,1.583333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+96,1.600000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+97,1.616666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+98,1.633333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+99,1.650000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+100,1.666666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+101,1.683333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+102,1.700000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+103,1.716666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+104,1.733333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+105,1.750000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+106,1.766666667,pose1_to_pose2_press,0.575709297938,-0.00994554640867,1.05002942762,0.54628003044,-0.00127280956149,1.04969871023
+107,1.783333333,pose1_to_pose2_press,0.575709418168,-0.00994548756888,1.05002942174,0.546280149456,-0.00127275475988,1.04969870654
+108,1.800000000,pose1_to_pose2_press,0.575709519172,-0.00994549574151,1.05002936148,0.546280250641,-0.0012727622521,1.04969864808
+109,1.816666667,pose1_to_pose2_press,0.575709577449,-0.00994550064138,1.05002932654,0.546280309026,-0.00127276674635,1.04969861417
+110,1.833333333,pose1_to_pose2_press,0.575709683454,-0.00994550955408,1.05002926297,0.546280415226,-0.00127277492125,1.0496985525
+111,1.850000000,pose1_to_pose2_press,0.575709712699,-0.00994551201301,1.05002924544,0.546280444526,-0.00127277717663,1.04969853548
+112,1.866666667,pose1_to_pose2_press,0.575710100475,-0.00994550153745,1.05002913667,0.546280832085,-0.00127276730066,1.04969843029
+113,1.883333333,pose1_to_pose2_press,0.575711834293,-0.00994536121331,1.05002914204,0.546282563016,-0.00127263676375,1.04969843586
+114,1.900000000,pose1_to_pose2_press,0.575716541329,-0.00994535502978,1.05002924421,0.546287270858,-0.00127262819572,1.04969852885
+115,1.916666667,pose1_to_pose2_press,0.575726669026,-0.00994543884509,1.05002904495,0.546297399495,-0.00127270849563,1.04969833811
+116,1.933333333,pose1_to_pose2_press,0.575744086342,-0.00994542667123,1.05002912681,0.546314817491,-0.00127269380064,1.04969842545
+117,1.950000000,pose1_to_pose2_press,0.575772511677,-0.0099455129461,1.05002925115,0.546343243569,-0.00127277793574,1.04969853969
+118,1.966666667,pose1_to_pose2_press,0.575811982763,-0.0099454470749,1.05002899855,0.546382712665,-0.00127271838474,1.04969829847
+119,1.983333333,pose1_to_pose2_press,0.57586371196,-0.00994535841661,1.05002906212,0.546434441074,-0.00127263262797,1.04969835595
+120,2.000000000,pose1_to_pose2_press,0.575925814605,-0.00994544865738,1.05002915217,0.546496544627,-0.00127271991234,1.04969844265
+121,2.016666667,pose1_to_pose2_press,0.575997841004,-0.00994544207436,1.05002916947,0.546568570263,-0.00127271606532,1.04969845603
+122,2.033333333,pose1_to_pose2_press,0.576078082678,-0.00994543807552,1.05002901622,0.546648811462,-0.00127271353018,1.04969830654
+123,2.050000000,pose1_to_pose2_press,0.576166871633,-0.00994542945956,1.05002912115,0.54673760185,-0.00127269998411,1.04969841319
+124,2.066666667,pose1_to_pose2_press,0.576268094365,-0.00994547033795,1.05002908583,0.546838826214,-0.00127273522743,1.0496983804
+125,2.083333333,pose1_to_pose2_press,0.576383335519,-0.00994553731036,1.05002896002,0.54695406846,-0.00127279851773,1.049698254
+126,2.100000000,pose1_to_pose2_press,0.57651708101,-0.00994543908135,1.05002913311,0.54708781221,-0.00127270629435,1.04969842447
+127,2.116666667,pose1_to_pose2_press,0.576669472516,-0.00994540446814,1.0500291856,0.54724020259,-0.00127267549111,1.0496984772
+128,2.133333333,pose1_to_pose2_press,0.576841268941,-0.00994549915292,1.05002910394,0.547412001242,-0.00127276277938,1.04969839123
+129,2.150000000,pose1_to_pose2_press,0.577034090673,-0.00994537464566,1.05002924104,0.547604820914,-0.00127264543037,1.04969852395
+130,2.166666667,pose1_to_pose2_press,0.577247150174,-0.0099453612242,1.05002920536,0.547817880076,-0.00127263293288,1.04969849411
+131,2.183333333,pose1_to_pose2_press,0.577479202722,-0.0099453464999,1.0500290219,0.548049932002,-0.00127262011722,1.04969831592
+132,2.200000000,pose1_to_pose2_press,0.577730704502,-0.00994531979134,1.05002902156,0.548301435007,-0.00127258914813,1.04969831818
+133,2.216666667,pose1_to_pose2_press,0.578004250026,-0.00994540173125,1.05002908208,0.548574980094,-0.00127267283079,1.04969837184
+134,2.233333333,pose1_to_pose2_press,0.578294825519,-0.00994544281112,1.05002916151,0.548865555435,-0.00127271439739,1.0496984519
+135,2.250000000,pose1_to_pose2_press,0.578601961254,-0.00994552682905,1.05002917511,0.54917269154,-0.00127279712918,1.04969846633
+136,2.266666667,pose1_to_pose2_press,0.578934768797,-0.00994555696636,1.05002925413,0.549505502413,-0.00127281599888,1.0496985445
+137,2.283333333,pose1_to_pose2_press,0.579294410049,-0.00994543028184,1.05002916901,0.549865140037,-0.00127270164762,1.04969845873
+138,2.300000000,pose1_to_pose2_press,0.579688318935,-0.00994543416902,1.05002927939,0.550259048735,-0.0012727062448,1.04969856714
+139,2.316666667,pose1_to_pose2_press,0.580118220494,-0.00994532902119,1.05002905342,0.550688950071,-0.00127260180829,1.04969834236
+140,2.333333333,pose1_to_pose2_press,0.580586940314,-0.00994553110414,1.05002912115,0.551157672243,-0.00127279585643,1.04969841129
+141,2.350000000,pose1_to_pose2_press,0.581078737378,-0.00994544469716,1.05002898713,0.551649467715,-0.00127271490315,1.04969827598
+142,2.366666667,pose1_to_pose2_press,0.581589249414,-0.00994523521853,1.05002932831,0.552159977359,-0.00127251388168,1.04969860815
+143,2.383333333,pose1_to_pose2_press,0.582112743436,-0.0099453947817,1.05002926813,0.552683474216,-0.0012726634966,1.04969855654
+144,2.400000000,pose1_to_pose2_press,0.582649228314,-0.00994533982609,1.05002911923,0.553219957783,-0.00127261286452,1.04969841085
+145,2.416666667,pose1_to_pose2_press,0.583202794748,-0.00994534360587,1.05002894603,0.55377352415,-0.00127261682882,1.04969823874
+146,2.433333333,pose1_to_pose2_press,0.583782583582,-0.00994541043031,1.05002918511,0.55435331517,-0.00127267652139,1.04969847036
+147,2.450000000,pose1_to_pose2_press,0.584392580646,-0.00994544706901,1.05002916246,0.554963311741,-0.00127271453904,1.04969845533
+148,2.466666667,pose1_to_pose2_press,0.585026498537,-0.00994530720987,1.05002930758,0.555597228562,-0.00127257859706,1.04969859297
+149,2.483333333,pose1_to_pose2_press,0.585678740875,-0.00994539889678,1.05002929697,0.55624947084,-0.00127267069682,1.04969857683
+150,2.500000000,pose1_to_pose2_press,0.586337090151,-0.00994539495521,1.05002895509,0.556907819815,-0.00127266753959,1.04969824108
+151,2.516666667,pose1_to_pose2_press,0.587007406196,-0.00994537201496,1.0500291617,0.557578137226,-0.00127263984816,1.04969845076
+152,2.533333333,pose1_to_pose2_press,0.5876997224,-0.00994550299526,1.05002892971,0.558270454507,-0.00127276721393,1.04969821764
+153,2.550000000,pose1_to_pose2_press,0.588421747098,-0.00994541023846,1.05002920076,0.558992476126,-0.00127268520549,1.04969848078
+154,2.566666667,pose1_to_pose2_press,0.58917665328,-0.00994545629762,1.0500289487,0.559747383773,-0.00127272608851,1.04969823413
+155,2.583333333,pose1_to_pose2_press,0.589957850964,-0.00994550093183,1.05002939759,0.560528582495,-0.00127276698683,1.04969868865
+156,2.600000000,pose1_to_pose2_press,0.590752727523,-0.00994531800346,1.05002915584,0.561323456309,-0.0012725933255,1.04969844823
+157,2.616666667,pose1_to_pose2_press,0.591548519926,-0.00994545687974,1.05002921796,0.562119251607,-0.00127272298446,1.04969849441
+158,2.633333333,pose1_to_pose2_press,0.592338776983,-0.00994541492195,1.05002917555,0.562909506143,-0.00127268920086,1.04969846197
+159,2.650000000,pose1_to_pose2_press,0.593122320502,-0.009945413032,1.05002917615,0.563693051869,-0.00127267974457,1.04969846461
+160,2.666666667,pose1_to_pose2_press,0.593905667592,-0.00994550608521,1.0500291596,0.564476398996,-0.00127277253707,1.0496984517
+161,2.683333333,pose1_to_pose2_press,0.594691276834,-0.00994551464086,1.05002913743,0.565262007529,-0.0012727833979,1.04969843215
+162,2.700000000,pose1_to_pose2_press,0.595497166381,-0.00994543035868,1.05002919068,0.566067897016,-0.00127269976073,1.04969847389
+163,2.716666667,pose1_to_pose2_press,0.596322481177,-0.00994543668331,1.05002880768,0.566893210973,-0.00127270831241,1.04969810717
+164,2.733333333,pose1_to_pose2_press,0.597166939323,-0.00994533243658,1.05002914045,0.567737668231,-0.00127260757061,1.04969842708
+165,2.750000000,pose1_to_pose2_press,0.598026684889,-0.00994545527997,1.05002912583,0.568597415396,-0.00127272450716,1.04969842509
+166,2.766666667,pose1_to_pose2_press,0.598895442021,-0.00994538168311,1.05002901028,0.569466171455,-0.00127265457197,1.04969830912
+167,2.783333333,pose1_to_pose2_press,0.599748708494,-0.00994532914327,1.05002911803,0.570319437593,-0.00127260316082,1.04969841711
+168,2.800000000,pose1_to_pose2_press,0.600583606831,-0.00994551861327,1.05002918237,0.57115433646,-0.00127279138475,1.04969846703
+169,2.816666667,pose1_to_pose2_press,0.601393278795,-0.00994551274734,1.05002938564,0.571964008767,-0.00127278400767,1.04969867953
+170,2.833333333,pose1_to_pose2_press,0.602183149528,-0.00994539140193,1.05002916915,0.572753878703,-0.0012726654453,1.04969846094
+171,2.850000000,pose1_to_pose2_press,0.602955211987,-0.00994542454257,1.05002926936,0.573525942649,-0.00127269361797,1.04969855916
+172,2.866666667,pose1_to_pose2_press,0.603734938476,-0.00994543589847,1.05002910413,0.574305668394,-0.00127270777678,1.04969838676
+173,2.883333333,pose1_to_pose2_press,0.604527879434,-0.00994548367903,1.05002919152,0.575098609528,-0.00127275504047,1.04969847215
+174,2.900000000,pose1_to_pose2_press,0.605320174518,-0.00994540437169,1.05002904589,0.575890904764,-0.00127267476695,1.04969833845
+175,2.916666667,pose1_to_pose2_press,0.606108468218,-0.00994540344704,1.05002914586,0.576679197251,-0.00127267800084,1.04969843732
+176,2.933333333,pose1_to_pose2_press,0.606883927803,-0.00994540645354,1.05002903761,0.577454658202,-0.0012726763146,1.04969833067
+177,2.950000000,pose1_to_pose2_press,0.607623541438,-0.0099454302424,1.05002916139,0.578194272226,-0.00127269890869,1.04969845127
+178,2.966666667,pose1_to_pose2_press,0.608322074174,-0.00994542533083,1.05002906129,0.578892803194,-0.00127270003718,1.04969835018
+179,2.983333333,pose1_to_pose2_press,0.609003349687,-0.00994534178968,1.05002890154,0.57957407933,-0.00127261399903,1.0496982006
+180,3.000000000,pose1_to_pose2_press,0.609670129685,-0.00994540037896,1.05002905586,0.580240858312,-0.00127267656754,1.04969834102
+181,3.016666667,pose1_to_pose2_press,0.610317123583,-0.00994541352809,1.05002893741,0.580887853061,-0.00127268660269,1.04969822857
+182,3.033333333,pose1_to_pose2_press,0.610947239261,-0.00994553553191,1.05002913191,0.58151797133,-0.00127279991898,1.04969842049
+183,3.050000000,pose1_to_pose2_press,0.611562008689,-0.00994545883459,1.05002916875,0.582132740221,-0.00127272503291,1.04969845763
+184,3.066666667,pose1_to_pose2_press,0.612154559783,-0.00994539112933,1.05002905793,0.582725288614,-0.00127266649651,1.04969834688
+185,3.083333333,pose1_to_pose2_press,0.612726396592,-0.00994543060009,1.05002916548,0.583297127265,-0.00127269972351,1.04969845118
+186,3.100000000,pose1_to_pose2_press,0.613277311219,-0.00994538779589,1.05002926545,0.583848041788,-0.00127265651379,1.04969855604
+187,3.116666667,pose1_to_pose2_press,0.613802348149,-0.00994537268523,1.05002914225,0.584373076772,-0.00127264658931,1.04969843946
+188,3.133333333,pose1_to_pose2_press,0.614288222424,-0.00994547451176,1.05002927014,0.584858952087,-0.00127274435595,1.04969855926
+189,3.150000000,pose1_to_pose2_press,0.614735852389,-0.00994559814698,1.05002927249,0.585306584423,-0.00127285893825,1.0496985644
+190,3.166666667,pose1_to_pose2_press,0.615144775931,-0.00994553083636,1.05002921945,0.58571550644,-0.00127279622429,1.04969850408
+191,3.183333333,pose1_to_pose2_press,0.615533407984,-0.00994553772385,1.0500292745,0.586104137402,-0.00127280609601,1.04969855721
+192,3.200000000,pose1_to_pose2_press,0.615906619154,-0.00994554212278,1.05002933343,0.586477348636,-0.0012728095457,1.04969861291
+193,3.216666667,pose1_to_pose2_press,0.616270729149,-0.00994549100263,1.05002911759,0.586841457974,-0.00127275949429,1.0496984046
+194,3.233333333,pose1_to_pose2_press,0.616623721872,-0.00994548565027,1.05002901424,0.587194450184,-0.00127275474996,1.04969830924
+195,3.250000000,pose1_to_pose2_press,0.616960819326,-0.00994552281708,1.05002915865,0.587531547997,-0.0012727900447,1.04969844984
+196,3.266666667,pose1_to_pose2_press,0.617272878711,-0.00994552096173,1.0500291642,0.587843607171,-0.00127278818013,1.04969845457
+197,3.283333333,pose1_to_pose2_press,0.617556811078,-0.00994549682332,1.05002928442,0.588127539113,-0.0012727648534,1.04969857335
+198,3.300000000,pose1_to_pose2_press,0.617812815057,-0.00994545047163,1.05002925445,0.588383541639,-0.00127272291176,1.04969854019
+199,3.316666667,pose1_to_pose2_press,0.618043256304,-0.00994537085777,1.05002905447,0.58861398082,-0.00127264965861,1.04969834172
+200,3.333333333,pose1_to_pose2_press,0.618250120615,-0.00994537060307,1.05002911122,0.588820845292,-0.00127264810906,1.04969840436
+201,3.350000000,pose1_to_pose2_press,0.61843666082,-0.00994547542586,1.05002923226,0.589007387801,-0.00127274461025,1.04969852516
+202,3.366666667,pose1_to_pose2_press,0.618603323432,-0.00994548011291,1.05002917575,0.589174051283,-0.00127274603867,1.04969846667
+203,3.383333333,pose1_to_pose2_press,0.618754793019,-0.00994560636943,1.05002924477,0.589325521322,-0.00127287032576,1.04969853711
+204,3.400000000,pose1_to_pose2_press,0.618891857257,-0.0099454684243,1.0500290281,0.589462583259,-0.00127273985743,1.04969831954
+205,3.416666667,pose1_to_pose2_press,0.619014340076,-0.00994549533844,1.05002900906,0.589585066772,-0.00127276388648,1.04969830552
+206,3.433333333,pose1_to_pose2_press,0.619124076621,-0.00994545240824,1.05002916831,0.589694802187,-0.00127272491504,1.0496984543
+207,3.450000000,pose1_to_pose2_press,0.619220745898,-0.00994543905024,1.0500290733,0.589791470251,-0.00127271542519,1.04969835941
+208,3.466666667,pose1_to_pose2_press,0.619303911312,-0.00994532244104,1.05002894393,0.589874636797,-0.0012725951108,1.0496982339
+209,3.483333333,pose1_to_pose2_press,0.619373573286,-0.00994542200026,1.05002909971,0.589944299686,-0.00127269078073,1.04969839265
+210,3.500000000,pose1_to_pose2_press,0.619431656861,-0.00994546852722,1.05002916739,0.590002383383,-0.00127273689473,1.04969845581
+211,3.516666667,pose1_to_pose2_press,0.619478990972,-0.00994546105688,1.050029157,0.590049717818,-0.00127272824356,1.04969844856
+212,3.533333333,pose1_to_pose2_press,0.619516996239,-0.00994540019688,1.05002911798,0.590087722399,-0.0012726692812,1.04969841814
+213,3.550000000,pose1_to_pose2_press,0.619547325178,-0.00994536351164,1.05002912172,0.590118050156,-0.00127263649682,1.0496984198
+214,3.566666667,pose1_to_pose2_press,0.619570454484,-0.00994540391472,1.05002918881,0.590141179388,-0.00127267735959,1.04969847866
+215,3.583333333,pose1_to_pose2_press,0.619588434795,-0.00994549117788,1.0500292851,0.590159161358,-0.00127275894221,1.04969857768
+216,3.600000000,pose1_to_pose2_press,0.61960166133,-0.00994545697059,1.05002944739,0.590172387835,-0.00127272534095,1.04969872449
+217,3.616666667,pose1_to_pose2_press,0.619610918867,-0.0099453682634,1.05002933254,0.590181643715,-0.00127264207914,1.04969861123
+218,3.633333333,pose1_to_pose2_press,0.619617187851,-0.00994530502946,1.0500291728,0.590187911382,-0.00127258305188,1.04969845691
+219,3.650000000,pose1_to_pose2_press,0.619621706838,-0.00994538379542,1.05002901291,0.590192431728,-0.00127265707969,1.04969830255
+220,3.666666667,pose1_to_pose2_press,0.619624890929,-0.00994543005095,1.0500289269,0.590195616605,-0.00127270058472,1.04969822005
+221,3.683333333,pose1_to_pose2_press,0.619626591252,-0.00994541042531,1.05002900872,0.590197316524,-0.00127268231016,1.04969830196
+222,3.700000000,pose1_to_pose2_press,0.619627947493,-0.00994539477117,1.05002907398,0.590198672442,-0.00127266773369,1.0496983673
+223,3.716666667,pose1_to_pose2_press,0.619628895886,-0.00994538382452,1.05002911961,0.59019962061,-0.00127265754065,1.04969841299
+224,3.733333333,pose1_to_pose2_press,0.619629237092,-0.00994537988623,1.05002913603,0.590199961734,-0.00127265387347,1.04969842943
+225,3.750000000,pose1_to_pose2_press,0.619629412761,-0.0099453778586,1.05002914448,0.590200137361,-0.00127265198543,1.04969843789
+226,3.766666667,pose1_to_pose2_press,0.619629893095,-0.00994538315681,1.0500291702,0.590200617985,-0.00127265633891,1.04969846244
+227,3.783333333,pose1_to_pose2_press,0.619630388585,-0.00994538986972,1.05002919703,0.590201113821,-0.00127266192466,1.04969848793
+228,3.800000000,pose1_to_pose2_press,0.619630756273,-0.00994539485115,1.05002921693,0.590201481766,-0.00127266606966,1.04969850684
+229,3.816666667,pose1_to_pose2_press,0.61963127765,-0.00994540191476,1.05002924516,0.590202003506,-0.00127267194722,1.04969853366
+230,3.833333333,pose1_to_pose2_press,0.619631773,-0.00994540862576,1.05002927198,0.590202499201,-0.00127267753138,1.04969855914
+231,3.850000000,pose1_to_pose2_press,0.61963189622,-0.00994541029515,1.05002927865,0.590202622508,-0.00127267892046,1.04969856548
+232,3.866666667,pose1_to_pose2_press,0.619632232848,-0.00994541474557,1.05002929222,0.590202959305,-0.00127268282173,1.04969857835
+233,3.883333333,pose1_to_pose2_press,0.619632479535,-0.00994541724005,1.05002926976,0.590203205658,-0.00127268642113,1.04969855688
+234,3.900000000,pose1_to_pose2_press,0.6196327909,-0.00994542038854,1.0500292414,0.590203516603,-0.00127269096425,1.04969852978
+235,3.916666667,pose1_to_pose2_press,0.619633043671,-0.00994542294454,1.05002921838,0.590203769033,-0.00127269465243,1.04969850778
+236,3.933333333,pose1_to_pose2_press,0.619633242082,-0.00994542495085,1.05002920032,0.590203967176,-0.00127269754744,1.04969849051
+237,3.950000000,pose1_to_pose2_press,0.619633667609,-0.00994543775849,1.05002916447,0.590204392359,-0.001272711496,1.04969845617
+238,3.966666667,pose1_to_pose2_press,0.619633907516,-0.00994550063996,1.05002916329,0.590204633578,-0.00127277001384,1.0496984545
+239,3.983333333,pose1_to_pose2_press,0.619634042059,-0.0099455359048,1.05002916263,0.590204768857,-0.00127280283151,1.04969845356
+240,4.000000000,pose1_to_pose2_press,0.619634102148,-0.00994555165456,1.05002916234,0.590204829274,-0.00127281748832,1.04969845314
+241,4.016666667,pose1_to_pose2_press,0.619634184545,-0.00994556462282,1.05002914455,0.590204911933,-0.00127282962475,1.04969843326
+242,4.033333333,pose1_to_pose2_press,0.619634210883,-0.0099455591233,1.05002911944,0.590204938145,-0.00127282460477,1.04969840534
+243,4.050000000,pose1_to_pose2_press,0.619634256808,-0.00994554953395,1.05002907566,0.590204983857,-0.00127281585109,1.04969835664
+244,4.066666667,pose2_hold,0.619634256808,-0.00994554953395,1.05002907566,0.590204983864,-0.00127281585111,1.04969835664
+245,4.083333333,pose2_hold,0.619634256808,-0.00994554953395,1.05002907566,0.590204983864,-0.00127281585109,1.04969835664
+246,4.100000000,pose2_hold,0.619634256808,-0.00994554953395,1.05002907566,0.590204983865,-0.00127281585102,1.04969835664
+247,4.116666667,pose2_hold,0.619634256808,-0.00994554953395,1.05002907566,0.590204983865,-0.001272815851,1.04969835664
+248,4.133333333,pose2_hold,0.619634256808,-0.00994554953395,1.05002907566,0.590204983865,-0.00127281585102,1.04969835665
+249,4.150000000,pose2_hold,0.619634256808,-0.00994554953395,1.05002907566,0.590204983866,-0.00127281585103,1.04969835665
+250,4.166666667,pose2_hold,0.619634256808,-0.00994554953395,1.05002907566,0.590204983866,-0.00127281585104,1.04969835665
+251,4.183333333,pose2_hold,0.619634256808,-0.00994554953395,1.05002907566,0.590204983866,-0.00127281585104,1.04969835665
+252,4.200000000,pose2_hold,0.619634256808,-0.00994554953395,1.05002907566,0.590204983866,-0.00127281585105,1.04969835665
+253,4.216666667,pose2_hold,0.619634256808,-0.00994554953395,1.05002907566,0.590204983867,-0.00127281585107,1.04969835665
+254,4.233333333,pose2_hold,0.619634256808,-0.00994554953395,1.05002907566,0.590204983867,-0.00127281585108,1.04969835665
+255,4.250000000,pose2_hold,0.619634256808,-0.00994554953395,1.05002907566,0.590204983867,-0.00127281585109,1.04969835665
+256,4.266666667,pose2_hold,0.619634256808,-0.00994554953395,1.05002907566,0.590204983867,-0.0012728158511,1.04969835665
+257,4.283333333,pose2_hold,0.619634256808,-0.00994554953395,1.05002907566,0.590204983867,-0.0012728158511,1.04969835665
+258,4.300000000,pose2_hold,0.619634256808,-0.00994554953395,1.05002907566,0.590204983868,-0.0012728158511,1.04969835665
+259,4.316666667,pose2_hold,0.619634256808,-0.00994554953395,1.05002907566,0.590204983868,-0.0012728158511,1.04969835665
+260,4.333333333,pose2_to_pose3_retreat,0.619634256808,-0.00994554953395,1.05002907566,0.590204983869,-0.00127281585127,1.04969835665
+261,4.350000000,pose2_to_pose3_retreat,0.619634153555,-0.00994553655106,1.05002905286,0.590204880557,-0.00127280281443,1.04969834036
+262,4.366666667,pose2_to_pose3_retreat,0.619634033979,-0.00994547330341,1.05002904609,0.59020476009,-0.00127274250685,1.04969833533
+263,4.383333333,pose2_to_pose3_retreat,0.619633988991,-0.00994544950804,1.05002904354,0.590204714768,-0.0012727198176,1.04969833344
+264,4.400000000,pose2_to_pose3_retreat,0.619633941816,-0.00994542455548,1.05002904087,0.590204667241,-0.00127269602497,1.04969833146
+265,4.416666667,pose2_to_pose3_retreat,0.619633637019,-0.00994539670653,1.05002903012,0.590204361958,-0.00127266972479,1.04969832349
+266,4.433333333,pose2_to_pose3_retreat,0.619632831477,-0.00994542877376,1.05002900685,0.590203556543,-0.00127270117464,1.04969830627
+267,4.450000000,pose2_to_pose3_retreat,0.619630380567,-0.00994535155497,1.05002927006,0.590201105838,-0.00127262378322,1.0496985564
+268,4.466666667,pose2_to_pose3_retreat,0.619624420668,-0.0099453884787,1.05002911956,0.590195144855,-0.00127266383565,1.04969841902
+269,4.483333333,pose2_to_pose3_retreat,0.619611705646,-0.00994546446702,1.05002921963,0.590182431972,-0.00127273304429,1.04969850879
+270,4.500000000,pose2_to_pose3_retreat,0.619590823905,-0.00994545817145,1.05002919501,0.590161551077,-0.00127272393357,1.04969848495
+271,4.516666667,pose2_to_pose3_retreat,0.619557314926,-0.00994539151813,1.05002940893,0.590128041299,-0.0012726603107,1.04969869331
+272,4.533333333,pose2_to_pose3_retreat,0.619511569031,-0.00994541963553,1.05002917715,0.590082295969,-0.00127268638016,1.049698469
+273,4.550000000,pose2_to_pose3_retreat,0.619453791606,-0.0099455006044,1.05002909446,0.590024518724,-0.00127276681986,1.04969838697
+274,4.566666667,pose2_to_pose3_retreat,0.619385526731,-0.0099455305753,1.05002915799,0.589956254773,-0.00127279395175,1.04969844831
+275,4.583333333,pose2_to_pose3_retreat,0.619306629878,-0.00994544437453,1.05002896517,0.589877355699,-0.00127271532932,1.04969826019
+276,4.600000000,pose2_to_pose3_retreat,0.619217679681,-0.0099454253882,1.05002929779,0.589788405756,-0.00127269614562,1.04969858126
+277,4.616666667,pose2_to_pose3_retreat,0.619117573367,-0.00994545236948,1.05002928816,0.589688299354,-0.0012727238026,1.04969856781
+278,4.633333333,pose2_to_pose3_retreat,0.619001414084,-0.00994544060279,1.05002908694,0.58957214013,-0.00127271177475,1.04969837614
+279,4.650000000,pose2_to_pose3_retreat,0.618868797853,-0.00994541419933,1.05002917334,0.589439524457,-0.00127268348947,1.04969846282
+280,4.666666667,pose2_to_pose3_retreat,0.618717334876,-0.00994549245963,1.0500290597,0.589288061667,-0.00127276162845,1.04969834701
+281,4.683333333,pose2_to_pose3_retreat,0.61854728104,-0.00994553132508,1.05002897008,0.589118006861,-0.00127280449004,1.04969825899
+282,4.700000000,pose2_to_pose3_retreat,0.618358036341,-0.00994544455709,1.05002906756,0.588928761396,-0.00127272076449,1.0496983577
+283,4.716666667,pose2_to_pose3_retreat,0.618148664489,-0.00994535645871,1.0500290263,0.588719390017,-0.00127263146645,1.04969831978
+284,4.733333333,pose2_to_pose3_retreat,0.617919716343,-0.00994530755803,1.05002932088,0.58849044226,-0.00127258195783,1.04969861066
+285,4.750000000,pose2_to_pose3_retreat,0.617668385517,-0.00994545105761,1.05002937977,0.58823911296,-0.00127272117254,1.04969866214
+286,4.766666667,pose2_to_pose3_retreat,0.617392616326,-0.00994543886241,1.05002918043,0.58796334413,-0.00127270827052,1.04969846604
+287,4.783333333,pose2_to_pose3_retreat,0.617088680087,-0.00994540438601,1.05002918595,0.587659406658,-0.0012726787886,1.04969847143
+288,4.800000000,pose2_to_pose3_retreat,0.616754601221,-0.00994541748885,1.05002918275,0.587325327882,-0.00127269250679,1.04969846517
+289,4.816666667,pose2_to_pose3_retreat,0.616389644891,-0.00994563908083,1.05002905464,0.586960374807,-0.00127290377132,1.04969834054
+290,4.833333333,pose2_to_pose3_retreat,0.615995160124,-0.00994550117776,1.05002903952,0.586565889619,-0.00127276796645,1.04969833231
+291,4.850000000,pose2_to_pose3_retreat,0.615575221723,-0.00994545343527,1.05002919182,0.586145950037,-0.00127272561377,1.04969847286
+292,4.866666667,pose2_to_pose3_retreat,0.615130682625,-0.00994545282341,1.05002906271,0.585701412363,-0.00127272081683,1.04969835203
+293,4.883333333,pose2_to_pose3_retreat,0.614668302093,-0.00994554585912,1.05002927918,0.585239031332,-0.0012728165743,1.04969856881
+294,4.900000000,pose2_to_pose3_retreat,0.614188870736,-0.00994555625728,1.05002917849,0.584759600606,-0.0012728259824,1.04969846515
+295,4.916666667,pose2_to_pose3_retreat,0.613692143842,-0.00994558855174,1.05002917011,0.584262875596,-0.00127285299788,1.04969845648
+296,4.933333333,pose2_to_pose3_retreat,0.61317632083,-0.00994550209606,1.05002910128,0.583747052589,-0.00127276671497,1.04969840386
+297,4.950000000,pose2_to_pose3_retreat,0.612623532088,-0.00994556569384,1.05002926438,0.583194264452,-0.00127282913035,1.04969855144
+298,4.966666667,pose2_to_pose3_retreat,0.612030372808,-0.00994536318706,1.05002928922,0.582601103085,-0.00127263366717,1.04969857893
+299,4.983333333,pose2_to_pose3_retreat,0.611390280217,-0.00994540121069,1.05002906346,0.581961011257,-0.00127266882462,1.04969836057
+300,5.000000000,pose2_to_pose3_retreat,0.610716627044,-0.00994538987393,1.05002902619,0.581287356564,-0.00127266276544,1.04969832066
+301,5.016666667,pose2_to_pose3_retreat,0.610016248236,-0.00994553457258,1.05002905354,0.580586980081,-0.00127279980699,1.04969834172
+302,5.033333333,pose2_to_pose3_retreat,0.609305279172,-0.00994540220526,1.0500289753,0.579876007716,-0.00127267885187,1.04969825773
+303,5.050000000,pose2_to_pose3_retreat,0.608584629938,-0.00994545144177,1.05002923757,0.579155361069,-0.00127271914873,1.04969852407
+304,5.066666667,pose2_to_pose3_retreat,0.607848587886,-0.00994551793875,1.05002933444,0.578419319068,-0.00127278574477,1.04969861353
+305,5.083333333,pose2_to_pose3_retreat,0.607093005844,-0.00994544465473,1.05002920349,0.577663736303,-0.00127271455077,1.04969849132
+306,5.100000000,pose2_to_pose3_retreat,0.606317725144,-0.00994529957171,1.05002905751,0.576888455497,-0.00127256958886,1.04969835167
+307,5.116666667,pose2_to_pose3_retreat,0.605519481261,-0.00994545031073,1.0500292229,0.576090211365,-0.00127272132106,1.04969851397
+308,5.133333333,pose2_to_pose3_retreat,0.60470048563,-0.00994557505417,1.05002908621,0.575271218155,-0.00127283790443,1.04969837595
+309,5.150000000,pose2_to_pose3_retreat,0.603867809257,-0.00994545837811,1.0500291309,0.574438540241,-0.00127272643863,1.0496984211
+310,5.166666667,pose2_to_pose3_retreat,0.603020113153,-0.00994535559532,1.05002907334,0.573590841152,-0.00127263382043,1.04969836249
+311,5.183333333,pose2_to_pose3_retreat,0.602158025829,-0.00994540556339,1.05002894124,0.57272875438,-0.00127268179624,1.04969823325
+312,5.200000000,pose2_to_pose3_retreat,0.601291405376,-0.0099454295594,1.05002914054,0.571862134157,-0.0012727051668,1.04969842765
+313,5.216666667,pose2_to_pose3_retreat,0.600422903435,-0.00994540578933,1.0500290937,0.570993632328,-0.00127268108012,1.04969837877
+314,5.233333333,pose2_to_pose3_retreat,0.599563035338,-0.00994538104137,1.05002926501,0.570133763947,-0.00127265729826,1.04969854999
+315,5.250000000,pose2_to_pose3_retreat,0.5987094515,-0.00994543658692,1.05002928808,0.569280181672,-0.00127270736944,1.04969857743
+316,5.266666667,pose2_to_pose3_retreat,0.597856281738,-0.00994547342123,1.05002911941,0.568427011825,-0.00127274461762,1.04969840547
+317,5.283333333,pose2_to_pose3_retreat,0.596992268858,-0.00994541096781,1.05002901254,0.567562998388,-0.00127268363139,1.04969830961
+318,5.300000000,pose2_to_pose3_retreat,0.596104022344,-0.00994536317878,1.05002909302,0.566674752333,-0.00127263419349,1.04969839239
+319,5.316666667,pose2_to_pose3_retreat,0.595208726675,-0.00994535409408,1.05002914309,0.565779456699,-0.00127262514169,1.04969843851
+320,5.333333333,pose2_to_pose3_retreat,0.594313506469,-0.00994539020655,1.05002926092,0.564884236018,-0.00127266312456,1.04969854948
+321,5.350000000,pose2_to_pose3_retreat,0.59343260079,-0.00994553971853,1.05002928857,0.564003332485,-0.00127280535818,1.04969857696
+322,5.366666667,pose2_to_pose3_retreat,0.592577533513,-0.00994555517891,1.05002939965,0.563148265539,-0.00127281984111,1.04969868426
+323,5.383333333,pose2_to_pose3_retreat,0.59176081124,-0.00994548982105,1.05002911427,0.562331542743,-0.00127275595168,1.04969840676
+324,5.400000000,pose2_to_pose3_retreat,0.590962640487,-0.00994535844133,1.05002913811,0.561533370071,-0.00127263123807,1.0496984266
+325,5.416666667,pose2_to_pose3_retreat,0.590175323505,-0.00994535052523,1.050029204,0.560746051594,-0.00127262868265,1.04969848492
+326,5.433333333,pose2_to_pose3_retreat,0.589391993018,-0.009945443793,1.05002920266,0.559962722785,-0.00127271621481,1.04969848461
+327,5.450000000,pose2_to_pose3_retreat,0.588612985882,-0.00994542440121,1.05002910445,0.559183716858,-0.00127269253458,1.04969839121
+328,5.466666667,pose2_to_pose3_retreat,0.587832496205,-0.00994540634991,1.05002914456,0.558403225809,-0.00127267929786,1.04969842721
+329,5.483333333,pose2_to_pose3_retreat,0.587061574949,-0.00994551085357,1.05002924296,0.55763230635,-0.00127277752279,1.04969853025
+330,5.500000000,pose2_to_pose3_retreat,0.586315794771,-0.00994557323444,1.05002921305,0.556886526849,-0.00127283759515,1.04969850067
+331,5.516666667,pose2_to_pose3_retreat,0.585596988727,-0.00994549972032,1.05002905525,0.556167720417,-0.0012727650697,1.04969835143
+332,5.533333333,pose2_to_pose3_retreat,0.584908715001,-0.00994543595831,1.05002895633,0.555479445058,-0.0012727070527,1.04969824714
+333,5.550000000,pose2_to_pose3_retreat,0.584263753905,-0.00994544844096,1.05002897396,0.554834484511,-0.00127271743825,1.04969827087
+334,5.566666667,pose2_to_pose3_retreat,0.583651835446,-0.00994550194292,1.05002893185,0.554222566662,-0.0012727687697,1.04969823147
+335,5.583333333,pose2_to_pose3_retreat,0.583057962995,-0.00994546403432,1.05002902997,0.553628693999,-0.0012727317141,1.049698326
+336,5.600000000,pose2_to_pose3_retreat,0.582480925232,-0.00994542223128,1.05002895673,0.553051655674,-0.00127269189639,1.04969825071
+337,5.616666667,pose2_to_pose3_retreat,0.581922894702,-0.00994536379582,1.05002889925,0.552493624787,-0.00127263458935,1.04969819594
+338,5.633333333,pose2_to_pose3_retreat,0.581384933578,-0.00994543005481,1.05002906663,0.551955664427,-0.0012726981859,1.04969836546
+339,5.650000000,pose2_to_pose3_retreat,0.580869146247,-0.0099455155099,1.05002915595,0.551439877339,-0.00127278312172,1.04969844654
+340,5.666666667,pose2_to_pose3_retreat,0.580385314534,-0.0099454439238,1.05002919206,0.550956045363,-0.00127271274501,1.04969847448
+341,5.683333333,pose2_to_pose3_retreat,0.579927324994,-0.00994533282831,1.05002938957,0.550498055224,-0.00127260383972,1.04969866798
+342,5.700000000,pose2_to_pose3_retreat,0.579489143905,-0.0099453602293,1.05002944222,0.550059873914,-0.00127263183929,1.04969872443
+343,5.716666667,pose2_to_pose3_retreat,0.579074504833,-0.00994548556413,1.05002911187,0.549645235586,-0.00127275446496,1.04969839883
+344,5.733333333,pose2_to_pose3_retreat,0.578688029359,-0.00994549990406,1.05002900423,0.549258760334,-0.00127276804379,1.04969829111
+345,5.750000000,pose2_to_pose3_retreat,0.578333415895,-0.00994541696875,1.05002903048,0.548904146318,-0.00127268674277,1.04969832365
+346,5.766666667,pose2_to_pose3_retreat,0.578013709768,-0.00994537571801,1.05002902942,0.548584439737,-0.0012726469845,1.04969832398
+347,5.783333333,pose2_to_pose3_retreat,0.577733895953,-0.00994545688841,1.05002899652,0.548304626291,-0.00127272714578,1.04969828484
+348,5.800000000,pose2_to_pose3_retreat,0.577483935196,-0.00994556600128,1.05002897583,0.548054666481,-0.00127283304636,1.04969826405
+349,5.816666667,pose2_to_pose3_retreat,0.577258414955,-0.0099456274347,1.05002901067,0.547829147314,-0.00127289054769,1.04969830635
+350,5.833333333,pose2_to_pose3_retreat,0.577047162377,-0.00994553292757,1.05002904412,0.547617894195,-0.00127279787039,1.04969834014
+351,5.850000000,pose2_to_pose3_retreat,0.576848912487,-0.0099453851755,1.05002912728,0.547419641916,-0.00127265847726,1.04969841669
+352,5.866666667,pose2_to_pose3_retreat,0.57666654583,-0.00994551816004,1.0500290077,0.54723727668,-0.00127278669683,1.04969829565
+353,5.883333333,pose2_to_pose3_retreat,0.57650148273,-0.00994557884464,1.05002937711,0.547072215754,-0.00127284030675,1.04969865707
+354,5.900000000,pose2_to_pose3_retreat,0.576358092675,-0.00994554616537,1.0500290549,0.546928825415,-0.00127280811848,1.04969834731
+355,5.916666667,pose2_to_pose3_retreat,0.576234902132,-0.00994540625357,1.05002917657,0.546805634052,-0.00127267096065,1.04969846993
+356,5.933333333,pose2_to_pose3_retreat,0.57613201841,-0.00994540051391,1.05002929797,0.546702750168,-0.00127266614639,1.04969858233
+357,5.950000000,pose2_to_pose3_retreat,0.576045263977,-0.00994550655847,1.05002920239,0.546615995726,-0.00127277239571,1.0496984819
+358,5.966666667,pose2_to_pose3_retreat,0.575973268109,-0.00994554002766,1.05002920173,0.546544000327,-0.00127280421509,1.04969848255
+359,5.983333333,pose2_to_pose3_retreat,0.575912550782,-0.00994539140574,1.0500292062,0.546483279666,-0.00127266699821,1.04969848455
+360,6.000000000,pose2_to_pose3_retreat,0.575862154072,-0.00994543137321,1.05002926858,0.546432884817,-0.00127270023156,1.04969855788
+361,6.016666667,pose2_to_pose3_retreat,0.575821555262,-0.00994543569684,1.05002927845,0.546392285382,-0.00127270664184,1.04969856865
+362,6.033333333,pose2_to_pose3_retreat,0.575789059682,-0.00994534534403,1.05002920507,0.546359789782,-0.00127261636578,1.04969849501
+363,6.050000000,pose2_to_pose3_retreat,0.575764652981,-0.00994531866699,1.05002929738,0.54633538301,-0.00127258980613,1.04969859058
+364,6.066666667,pose2_to_pose3_retreat,0.575746372855,-0.00994542162796,1.05002920565,0.546317103333,-0.0012726912473,1.04969849887
+365,6.083333333,pose2_to_pose3_retreat,0.575733632456,-0.00994551576292,1.05002904543,0.546304363282,-0.00127278432734,1.04969833532
+366,6.100000000,pose2_to_pose3_retreat,0.575726004633,-0.00994551654241,1.05002905708,0.546296735061,-0.0012727865603,1.0496983444
+367,6.116666667,pose2_to_pose3_retreat,0.575721269216,-0.00994544480302,1.05002904608,0.546291998948,-0.00127271714643,1.04969833439
+368,6.133333333,pose2_to_pose3_retreat,0.57571789849,-0.00994538896703,1.05002903704,0.546288627697,-0.00127266305978,1.04969832623
+369,6.150000000,pose2_to_pose3_retreat,0.57571578113,-0.00994546215958,1.05002908656,0.546286511946,-0.00127273075988,1.04969837657
+370,6.166666667,pose2_to_pose3_retreat,0.57571464709,-0.00994550433053,1.05002911459,0.546285378821,-0.00127276980833,1.04969840505
+371,6.183333333,pose2_to_pose3_retreat,0.575713923146,-0.00994553125144,1.05002913249,0.546284655461,-0.0012727947359,1.04969842323
+372,6.200000000,pose2_to_pose3_retreat,0.575713688755,-0.00994553996759,1.05002913828,0.546284421259,-0.00127280280668,1.04969842912
+373,6.216666667,pose2_to_pose3_retreat,0.575713523275,-0.00994554612121,1.05002914237,0.546284255912,-0.00127280850466,1.04969843327
+374,6.233333333,pose2_to_pose3_retreat,0.575713445585,-0.00994554901024,1.05002914429,0.546284178285,-0.00127281117977,1.04969843522
+375,6.250000000,pose2_to_pose3_retreat,0.575713295762,-0.00994555458163,1.050029148,0.546284028583,-0.00127281633863,1.04969843899
+376,6.266666667,pose2_to_pose3_retreat,0.575712888028,-0.00994555078815,1.05002915419,0.546283620869,-0.00127281247621,1.04969844524
+377,6.283333333,pose2_to_pose3_retreat,0.575712427334,-0.00994552878128,1.05002915755,0.546283159906,-0.00127279137651,1.04969844859
+378,6.300000000,pose2_to_pose3_retreat,0.575712228247,-0.00994551927115,1.050029159,0.546282960705,-0.00127278225841,1.04969845003
+379,6.316666667,pose2_to_pose3_retreat,0.575712128408,-0.00994551450192,1.05002915973,0.546282860807,-0.00127277768579,1.04969845076
+380,6.333333333,pose2_to_pose3_retreat,0.575711944232,-0.00994550570407,1.05002916107,0.546282676525,-0.00127276925059,1.0496984521
+381,6.350000000,pose2_to_pose3_retreat,0.575711774396,-0.00994549759118,1.05002916231,0.54628250659,-0.00127276147214,1.04969845333
+382,6.366666667,pose2_to_pose3_retreat,0.575711694701,-0.00994549378424,1.05002916289,0.546282426849,-0.00127275782213,1.04969845391
+383,6.383333333,pose2_to_pose3_retreat,0.575711522933,-0.00994548557908,1.05002916415,0.546282254981,-0.00127274995521,1.04969845515
+384,6.400000000,pose2_to_pose3_retreat,0.575711431654,-0.00994548121879,1.05002916481,0.546282163649,-0.00127274577465,1.04969845582
+385,6.416666667,pose2_to_pose3_retreat,0.575711131005,-0.00994546685709,1.05002916701,0.546281862825,-0.00127273200498,1.049698458
+386,6.433333333,pose2_to_pose3_retreat,0.575710931779,-0.00994545734029,1.05002916846,0.546281663484,-0.00127272288048,1.04969845945
+387,6.450000000,pose2_to_pose3_retreat,0.57571071118,-0.00994544680251,1.05002917007,0.546281442756,-0.00127271277709,1.04969846105
+388,6.466666667,pose2_to_pose3_retreat,0.575710633233,-0.00994544284343,1.05002917157,0.546281364757,-0.00127270899963,1.04969846248
+389,6.483333333,pose2_to_pose3_retreat,0.575710569528,-0.00994543762354,1.05002918061,0.546281300945,-0.0012727041651,1.04969847095
+390,6.500000000,pose2_to_pose3_retreat,0.575710417244,-0.00994542514552,1.05002920224,0.546281148405,-0.00127269260827,1.04969849121
+391,6.516666667,pose2_to_pose3_retreat,0.575710353772,-0.00994541994466,1.05002921126,0.546281084826,-0.00127268779135,1.04969849965
+392,6.533333333,pose2_to_pose3_retreat,0.575709984976,-0.00994538972589,1.05002926363,0.54628071541,-0.00127265980347,1.0496985487
+393,6.550000000,pose2_to_pose3_retreat,0.575709636924,-0.0099453612069,1.05002931306,0.546280366773,-0.00127263338987,1.04969859498
+394,6.566666667,pose2_to_pose3_retreat,0.575709475738,-0.00994540672312,1.05002926152,0.546280206327,-0.00127267626747,1.04969854679
+395,6.583333333,pose2_to_pose3_retreat,0.575709262748,-0.00994548994509,1.05002916417,0.546279994713,-0.00127275458269,1.04969845573
+396,6.600000000,pose2_to_pose3_retreat,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.001272894735,1.0496984415
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_05/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_05/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5d6953c526958e9a1d3376bafdc0cfb588cdba62
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_05/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:338fd3bb23e94cfadd59ca73b827910bb33f443c8306c9fc9372fd7d77793b6b
+size 25408205
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_05/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_05/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b18c675c004d80ebe6316bb6a40c8c14b7402a02
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_05/depth_04/franka_data.csv
@@ -0,0 +1,402 @@
+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,764,742,712,671,659,633,876,784,800,649,629,651,0.400962666921,-0.0153926571294,0.0598408704887,0.999999948023,0.000181774807907,-0.000266011487935,1.22083290047e-05,1793193426763728128
+1,0.016666667,BASELINE,764,742,712,671.576434744,659.576434744,633,876,784,799.423565256,649,628.423565256,651,0.400961345963,-0.0153939247203,0.059839700235,0.99999994759,0.000181430065578,-0.000267859089064,1.2414341154e-05,1793193426780394496
+2,0.033333333,BASELINE,764,742,712,671.847650487,659.847650487,633,876,784,799.152349513,649,628.152349513,650.847650487,0.400960094454,-0.0153945386183,0.0598387814742,0.999999947181,0.000181382644234,-0.00026940601965,1.25591091746e-05,1793193426797060864
+3,0.050000000,BASELINE,764,742,712,671.273176318,659.273176318,633,876,784,799.726823682,649,628.726823682,650.273176318,0.400959035372,-0.0153933412874,0.0598385595405,0.999999946848,0.000182159029316,-0.000270119863321,1.25341841701e-05,1793193426813727232
+4,0.066666667,BASELINE,764,742,712,671,658.69003134,633,876,784,800,649,629,650,0.40095882543,-0.0153933540431,0.0598385894811,0.999999946771,0.000182690055473,-0.000270039845012,1.26832878626e-05,1793193426830393344
+5,0.083333333,BASELINE,764,742,712,671,658.099024875,633,876,784,800,649,629,650,0.400959385376,-0.0153944639423,0.0598388477874,0.999999946926,0.000182998623177,-0.000269240059612,1.29901773242e-05,1793193426847059712
+6,0.100000000,BASELINE,763.518715174,742,712,671,658.481284826,633,876,784,799.518715174,649,629,650.481284826,0.400960744992,-0.0153928190076,0.0598393429039,0.999999947075,0.000183893445913,-0.000268100791178,1.24944345187e-05,1793193426863726592
+7,0.116666667,BASELINE,763.05919954,742,712,671.05919954,659,633,876,784,799.05919954,649,629,651,0.400962052251,-0.0153909544689,0.0598397884597,0.999999947201,0.00018477616025,-0.000267046595338,1.19516782258e-05,1793193426880393216
+8,0.133333333,BASELINE,763.635002752,742,712,671.635002752,659,633,876,784,799.635002752,649,629,651,0.400961498029,-0.0153920122749,0.059839385581,0.999999947166,0.000184523486059,-0.000267331067182,1.24084391935e-05,1793193426897060864
+9,0.150000000,BASELINE,764,742,712,671.785058704,659,633,876,784,799.785058704,649,629,650.785058704,0.400960907573,-0.0153927090414,0.0598392633313,0.999999947123,0.000184262665823,-0.00026765973249,1.26449508009e-05,1793193426913728000
+10,0.166666667,BASELINE,764,742,712,671.197960152,659,633,876,784,799.197960152,649,629,650.197960152,0.400960254381,-0.0153927806909,0.0598396269729,0.999999947067,0.000183987741254,-0.000268064915956,1.25001145281e-05,1793193426930394368
+11,0.183333333,BASELINE,763.615901667,742,711.615901667,671.384098333,659,633,876,784,799.384098333,649,629,650,0.400960095168,-0.0153925669018,0.0598395419036,0.999999946726,0.000185058822169,-0.000268598815774,1.24667355687e-05,1793193426947060480
+12,0.200000000,BASELINE,763.036407083,742,711.036407083,671.963592917,659,633,876,784,799.963592917,649,629,650,0.40096018725,-0.015392207906,0.0598392285688,0.999999946238,0.000186814635076,-0.000269198195454,1.24900565071e-05,1793193426963726848
+13,0.216666667,BASELINE,763.541641809,742,711.541641809,672,659,633,876,784,800,649,629,650.541641809,0.400959940791,-0.0153929873368,0.059839001469,0.999999946842,0.000183677233104,-0.000269133363601,1.20385382502e-05,1793193426980393216
+14,0.233333333,BASELINE,764,742,712,671.881067907,659,633,876.118932093,783.881067907,800,649,629,650.881067907,0.400959771118,-0.0153936144508,0.059838874791,0.999999947376,0.000181038062806,-0.000268952005413,1.17268458771e-05,1793193426997059840
+15,0.250000000,BASELINE,764,742,712,671.306313473,659,633,876.693686527,783.306313473,800,649,629,650.306313473,0.400959982718,-0.0153933652974,0.0598391108358,0.999999947399,0.000181565634958,-0.00026849470024,1.20730536242e-05,1793193427013726464
+16,0.266666667,BASELINE,764,742,712,671,659,633,876.724961719,783,799.724961719,649,629,650,0.400959166343,-0.015393336463,0.0598388925443,0.999999947145,0.000182042425363,-0.000269111971431,1.22322258798e-05,1793193427030393088
+17,0.283333333,BASELINE,764,742,712,671,659,633,876.136081909,783,799.136081909,649,629,650,0.40095717696,-0.0153935590308,0.0598381558173,0.999999946571,0.000182461269545,-0.000270955423555,1.21779750803e-05,1793193427047059968
+18,0.300000000,BASELINE,763.554716031,742,712,671,659,633,876.445283969,783.445283969,799.445283969,649,629,650,0.400958752671,-0.0153937557214,0.0598391427015,0.999999946977,0.000182777706736,-0.000269229563079,1.24131760375e-05,1793193427063726592
+19,0.316666667,BASELINE,763.024274676,742,712,671,659,633,876.975725324,784,799.975725324,649,629,650,0.400961261785,-0.0153939445086,0.0598405387412,0.999999947637,0.000183034878156,-0.000266577110103,1.27198103614e-05,1793193427080393472
+20,0.333333333,BASELINE,763.600605535,742,712,671,659,633,876.399394465,784,799.399394465,649,629,650,0.400960631694,-0.0153941304215,0.0598394592817,0.99999994753,0.000182644155195,-0.000267247570649,1.26726419267e-05,1793193427097060096
+21,0.350000000,BASELINE,764,742,712,671,659,633,876,784,799.176359705,649,629,650,0.400960094488,-0.0153941639814,0.0598387655216,0.999999947471,0.000182061849887,-0.000267863639635,1.26596682083e-05,1793193427113726464
+22,0.366666667,BASELINE,764,742,712,671,659,633,876,784,799.750812054,649,629,650,0.400959766948,-0.0153938536383,0.0598389423914,0.999999947522,0.000181047090272,-0.00026835693173,1.27238814304e-05,1793193427130393088
+23,0.383333333,BASELINE,764,742.334322609,712,671,659,633,876,784,800,649,629,650.334322609,0.400959220777,-0.0153934341308,0.0598388846685,0.999999947331,0.000181174088552,-0.000268997008141,1.24564117278e-05,1793193427147059968
+24,0.400000000,BASELINE,764,742.924772798,712,671,659,633,876,784,800,649,629,650.924772798,0.40095850711,-0.0153929309914,0.0598386472218,0.999999946952,0.000182175797794,-0.000269749537398,1.19348367382e-05,1793193427163726592
+25,0.416666667,BASELINE,763.49533395,742.49533395,712,671,659,633,876,784,800,649,629,651,0.400959616677,-0.0153937573074,0.0598392065833,0.999999947333,0.000181499954146,-0.000268788175782,1.20295783159e-05,1793193427180392960
+26,0.433333333,BASELINE,763.082199217,742,712,671,659.082199217,633,876.082199217,783.917800783,800,649,629,650.917800783,0.400960785063,-0.015394767787,0.0598397699232,0.999999947768,0.000180665669574,-0.000267721982993,1.22231721341e-05,1793193427197059840
+27,0.450000000,BASELINE,763.654847908,742,712,671,659.654847908,633,876.654847908,783.345152092,800,649,629,650.345152092,0.400960716036,-0.0153957189058,0.0598396628397,0.999999947875,0.000180347476788,-0.000267523406364,1.2469656698e-05,1793193427213726976
+28,0.466666667,BASELINE,763.765356846,742,712,671,659.765356846,633,876.765356846,783.234643154,799.765356846,649,629,650,0.400960785347,-0.0153956045249,0.0598398083044,0.99999994806,0.000180188386134,-0.000266941800567,1.24410840974e-05,1793193427230393600
+29,0.483333333,BASELINE,763.174719062,742,712,671,659.174719062,633,876.174719062,783.825280938,799.174719062,649,629,650,0.400961064541,-0.015393873595,0.0598403369287,0.99999994836,0.000180270681209,-0.000265779072666,1.19952017435e-05,1793193427247059968
+30,0.500000000,BASELINE,763.407648676,742,712,671.407648676,659.407648676,633,876,784,799,649,629,650,0.400960346533,-0.0153942869516,0.059840133723,0.999999947973,0.00018080471142,-0.000266858332054,1.22593590961e-05,1793193427263726592
+31,0.516666667,BASELINE,763.986542321,742,712,671.986542321,659.986542321,633,876,784,799,649,629,650,0.400959209621,-0.0153956010796,0.0598396230902,0.999999947293,0.000181528506427,-0.000268879405012,1.28217897876e-05,1793193427280393216
+32,0.533333333,BASELINE,764,742,712,671.435300812,659.435300812,633,876,784,799.564699188,649,629,650,0.400959485017,-0.0153945998472,0.0598397598515,0.999999947655,0.000180811862749,-0.000268036726592,1.23651137845e-05,1793193427297059840
+33,0.550000000,BASELINE,764,742,712,671.141897584,658.858102416,633,876.141897584,784,800,649,629,650,0.400959934368,-0.0153938205127,0.0598399696135,0.999999948001,0.000180228385942,-0.000267155332104,1.20096488297e-05,1793193427313726464
+34,0.566666667,BASELINE,764,742,712,671.716228368,658.283771632,633,876.716228368,784,800,649,629,650,0.400960811406,-0.015393885351,0.0598403548884,0.999999948225,0.000180155213784,-0.000266363664638,1.20365428958e-05,1793193427330393088
+35,0.583333333,BASELINE,764,742.297877025,711.702122975,671.702122975,658.297877025,633,876.702122975,784,799.702122975,649,628.702122975,650.297877025,0.400961098131,-0.0153939597656,0.0598403468859,0.999999948009,0.000181219839155,-0.000266446415188,1.21620697686e-05,1793193427347059712
+36,0.600000000,BASELINE,764,742.886672678,711.113327322,671.113327322,658.886672678,633,876.113327322,784,799.113327322,649,628.113327322,650.886672678,0.400960808333,-0.0153940435328,0.059839954793,0.999999947359,0.000183395683129,-0.000267383157282,1.23839253916e-05,1793193427363726848
+37,0.616666667,BASELINE,764,742.531522431,711.468477569,671,659,633,876.468477569,784,799,649,628.468477569,651,0.400961080225,-0.0153943938342,0.0598403396443,0.999999947767,0.000182256939197,-0.000266630799705,1.25222721235e-05,1793193427380393472
+38,0.633333333,BASELINE,764,742,712,671.048174254,659,633,876.951825746,784,799.048174254,649,629,651,0.400961406985,-0.0153948228289,0.0598408604985,0.99999994837,0.000180375642053,-0.000265642824648,1.26131494581e-05,1793193427397060096
+39,0.650000000,BASELINE,764,742,712,671.623039308,659,633,876.376960692,784,799.623039308,649,629,651,0.400960869911,-0.0153954176259,0.0598408436566,0.999999948394,0.000179013388824,-0.00026648041913,1.24026561251e-05,1793193427413726720
+40,0.666666667,BASELINE,764,742,712,671.797061384,659,633,876.202938616,784,800,648.797061384,629,650.797061384,0.400960692029,-0.0153954523722,0.0598407053711,0.999999948412,0.000178381053345,-0.000266846355958,1.22426838208e-05,1793193427430393344
+41,0.683333333,BASELINE,764,742,712,671.207573055,659,633,876.792426945,784,800,648.207573055,629,650.207573055,0.400961198325,-0.015394420355,0.0598403357642,0.999999948419,0.000179139037358,-0.000266313897279,1.21789420522e-05,1793193427447060224
+42,0.700000000,BASELINE,764,742,712,671,659,633,876.624898516,784,800,648.375101484,629,650,0.400960398125,-0.0153933225548,0.0598398775252,0.999999948017,0.000180886273083,-0.000266650502021,1.20045156258e-05,1793193427463726592
+43,0.716666667,BASELINE,764,742,712,671,659,633,876.045927329,784,800,648.954072671,629,650,0.40095888784,-0.0153921890013,0.0598393711142,0.999999947388,0.000183171172492,-0.000267459447496,1.17699314855e-05,1793193427480393216
+44,0.733333333,BASELINE,764,742.531717905,712,671.531717905,659,633,876,784,799.468282095,649,629,650,0.400960450553,-0.0153945354132,0.0598404782671,0.999999948272,0.000180557927366,-0.000265907825988,1.21785982947e-05,1793193427497060096
+45,0.750000000,BASELINE,763.891680827,742.891680827,712,672,659,633,876,783.891680827,799.108319173,649,629,650,0.400961608868,-0.0153963987617,0.0598412776426,0.999999948924,0.000178310025763,-0.000264955508152,1.25185465948e-05,1793193427513726976
+46,0.766666667,BASELINE,763.319064854,742.319064854,712,672,659,633,876,783.319064854,799.680935146,649,629,650,0.400959898869,-0.0153949063093,0.059840161853,0.999999948062,0.000179437090145,-0.000267443828325,1.23263782122e-05,1793193427530393600
+47,0.783333333,BASELINE,763,742,712,671.738350222,659,633,876,783.261649778,800.261649778,649,629,650,0.40095924148,-0.0153942367878,0.0598396681874,0.999999947702,0.000180446432734,-0.000268119608738,1.214133122e-05,1793193427547060224
+48,0.800000000,BASELINE,763,742,712,671.147444278,659,633,876,783.852555722,800.852555722,649,629,650,0.400959908677,-0.0153946028297,0.0598399573932,0.999999947977,0.000181307636134,-0.000266514516583,1.1965245653e-05,1793193427563726592
+49,0.816666667,BASELINE,763.434701435,742,712,671.434701435,658.565298565,633.434701435,876,784,800.130597129,649,629,650.434701435,0.400961062061,-0.0153944187148,0.059840968681,0.999999948604,0.000180266042876,-0.000264859071645,1.20383055437e-05,1793193427580393216
+50,0.833333333,BASELINE,764,742,712,671.972359367,658.013820317,633.986179683,876,784,799.027640633,649,628.986179683,651,0.400962314292,-0.015394047669,0.0598421607742,0.999999949312,0.000178655591023,-0.000263268979645,1.21870087167e-05,1793193427597059840
+51,0.850000000,BASELINE,764,742,712,670.823383623,658.588308189,633.411691811,876,784,800.176616377,649,628.411691811,651,0.400961018753,-0.0153935138604,0.059840948146,0.999999948678,0.000179633089438,-0.000265009321678,1.20438714774e-05,1793193427613726464
+52,0.866666667,BASELINE,764,742,712,670.332915016,659,633,876,784,800.833542492,649,628.166457508,650.833542492,0.400960348612,-0.0153932462792,0.0598400312104,0.999999948296,0.000180178361226,-0.000266084516466,1.19337106287e-05,1793193427630393088
+53,0.883333333,BASELINE,764,742,712,671.507732313,659,633,876,784,800.246133844,649,628.753866156,650.246133844,0.400961260027,-0.0153936519552,0.0598398620461,0.999999948556,0.000179630583486,-0.000265477633273,1.19069431388e-05,1793193427647059968
+54,0.900000000,BASELINE,764,742,711.663613617,671.663613617,659,633,876,784,800,649,629,650,0.400961767637,-0.0153937468251,0.0598403453483,0.999999948628,0.000180310299032,-0.000264745177616,1.19646732474e-05,1793193427663726592
+55,0.916666667,BASELINE,764,742,711.084619037,671.084619037,659,633,876,784,800,649,629,650,0.400961984014,-0.0153936175357,0.0598412992219,0.99999994856,0.000181875305884,-0.000263922156758,1.20833446168e-05,1793193427680393216
+56,0.933333333,BASELINE,764,742,711.494753308,671,659,633,876.494753308,784,800,649,629,650,0.400961685356,-0.015393782718,0.0598413341818,0.999999948509,0.000181432766239,-0.000264408010366,1.23267096027e-05,1793193427697059840
+57,0.950000000,BASELINE,764,742,712,671,659,633,877,784,800,649,629,650,0.400961294462,-0.0153939242406,0.059841129135,0.999999948434,0.000180775459648,-0.000265134060527,1.25059887014e-05,1793193427713726464
+58,0.966666667,BASELINE,764,742,712,671,659,633,877,784,800,649,629,650,0.400960875773,-0.0153935613875,0.0598403607372,0.999999948177,0.000180995651496,-0.000265970196594,1.21034850365e-05,1793193427730393088
+59,0.983333333,BASELINE,764,742,712,671,659,633,877,784,799.771956351,649,629,650,0.400960649628,-0.0153935622147,0.0598401247381,0.999999948146,0.000180970655191,-0.000266111932641,1.19154836802e-05,1793193427747059712
+60,1.000000000,BASELINE,764,742,712,671,659,633,877,784,799.18569619,649,629,650,0.400960725933,-0.0153941343196,0.0598407250437,0.99999994847,0.000180560511403,-0.000265162888368,1.20644277075e-05,1793193427763726336
+61,1.016666667,BASELINE,764,742,712,671.397530154,659,633,876.602469846,784,799.397530154,649,628.602469846,650,0.400959884528,-0.0153955804116,0.0598399014428,0.999999948252,0.000179970459566,-0.000266377762742,1.22527174205e-05,1793193427780393216
+62,1.033333333,BASELINE,764,742,712,671.979350025,659,633,876.020649975,784,799.979350025,649,628.020649975,650,0.400958617685,-0.0153974316724,0.0598384177375,0.999999947777,0.000179297004763,-0.000268595801216,1.24592472636e-05,1793193427797059840
+63,1.050000000,BASELINE,764,742,712,672,659,633,876.555215011,783.444784989,799.444784989,649,628.555215011,650,0.400959509016,-0.0153970225707,0.0598390910628,0.999999948081,0.0001787210718,-0.000267848840424,1.24300154683e-05,1793193427813726464
+64,1.066666667,BASELINE,764,742,711.86995424,671.86995424,659,633,876.86995424,783.13004576,799.13004576,649,629,650,0.400960353815,-0.0153964024767,0.0598397486457,0.999999948342,0.000178559124837,-0.000266981311627,1.23655685606e-05,1793193427830393600
+65,1.083333333,BASELINE,764,742,711.297894006,671.297894006,659,633,876.297894006,783.702105994,799.702105994,649,629,650,0.400960770523,-0.0153953479492,0.0598400829346,0.999999948365,0.000179792083692,-0.000266074825447,1.22109160284e-05,1793193427847060736
+66,1.100000000,BASELINE,764,742,711.284702878,671,659,633,876,784,799.715297122,649,629,650,0.40096074415,-0.0153949929348,0.0598403633727,0.999999948422,0.000179951006094,-0.000265752149395,1.21835899336e-05,1793193427863727360
+67,1.116666667,BASELINE,764,742,711.878748269,671,659,633,876,784,799.121251731,649,629,650,0.40096023635,-0.0153953979731,0.0598405852996,0.999999948519,0.000178942939381,-0.00026606380943,1.22946097642e-05,1793193427880393216
+68,1.133333333,BASELINE,764,742,712,671,659,633,876,784,799.920711943,649,629,650,0.400961633554,-0.0153955876048,0.0598412324599,0.999999949071,0.000177777145629,-0.000264767462955,1.23336471749e-05,1793193427897060096
+69,1.150000000,BASELINE,764,742,712,671.038452143,659,633,876,784,800.961547857,649,629,650,0.400963367836,-0.0153957766333,0.0598419173099,0.999999949676,0.000176690024192,-0.000263202858223,1.23722480661e-05,1793193427913726720
+70,1.166666667,BASELINE,764,742,712,671.612069189,659,633,876,784,800.387930811,649,629,650,0.400962993931,-0.0153967261207,0.0598416089276,0.999999949455,0.00017726081628,-0.000263644182704,1.26617006435e-05,1793193427930393856
+71,1.183333333,BASELINE,764,742,712,672,659,633,876,784,800,648.809123458,629,650.190876542,0.400962776777,-0.0153967166662,0.0598417487353,0.999999949316,0.000178087020743,-0.000263609917068,1.27657226256e-05,1793193427947060736
+72,1.200000000,BASELINE,764,742,712,672,659,633,876,784,800,648.219472546,629,650.780527454,0.400962887104,-0.0153947038155,0.0598428248899,0.999999949347,0.000179446826291,-0.000262582060851,1.24823478225e-05,1793193427963727104
+73,1.216666667,BASELINE,764,742,712,671.636458076,659,633,876,784,800,648.363541924,629,650.636458076,0.400963140508,-0.0153945614464,0.0598427813797,0.999999949304,0.000179805730138,-0.000262506168199,1.23681226422e-05,1793193427980393472
+74,1.233333333,BASELINE,764,742,712,671.057378275,659,633,876,784,800,648.942621725,629,650.057378275,0.400963478741,-0.0153955280544,0.0598420740392,0.999999949218,0.000179571216163,-0.000262994678754,1.23541834381e-05,1793193427997059840
+75,1.250000000,BASELINE,764,742,711.480465224,671.519534776,659,633,876,784,800,649,629,650.519534776,0.400962644576,-0.015395161614,0.0598420952364,0.999999949396,0.000178867777687,-0.000262805475302,1.21437068837e-05,1793193428013726464
+76,1.266666667,BASELINE,764,742.095705688,711.095705688,671.904294312,659,633,876,784,800,649,629,650.904294312,0.400961815023,-0.015394913678,0.059842126819,0.999999949535,0.000178219223239,-0.00026272466248,1.1992779633e-05,1793193428030393344
+77,1.283333333,BASELINE,764,742.669360469,711.669360469,671.330639531,659,633,876,784,800,649,629,650.330639531,0.400961652441,-0.0153959897225,0.0598418101166,0.999999949334,0.000178102313019,-0.00026355738043,1.22471863735e-05,1793193428047059968
+78,1.300000000,BASELINE,764,742.749956998,712,671,659,633,876,784,800,649,629,650,0.400961631945,-0.0153964013692,0.059841578404,0.999999949244,0.000177954546714,-0.000263991967879,1.23417150696e-05,1793193428063726592
+79,1.316666667,BASELINE,764,742.159712757,712,671,659,633,876,784,800,649,629,650,0.400961804767,-0.0153959090553,0.0598414623261,0.999999949308,0.000177764798526,-0.000263884870475,1.22187183267e-05,1793193428080393728
+80,1.333333333,BASELINE,763.576550105,742,712,671.423449895,659,633,876,784,799.576550105,649,629,650.423449895,0.400961877077,-0.0153950348757,0.0598414391832,0.999999948997,0.00017911153173,-0.00026415469604,1.21506801495e-05,1793193428097060608
+81,1.350000000,BASELINE,763.003935245,742,712,671.996064755,659.003935245,633,876.003935245,784,799.003935245,649,629,650.996064755,0.400961908122,-0.0153940324706,0.0598414520785,0.999999948549,0.000181006340173,-0.000264561666441,1.21048745549e-05,1793193428113727232
+82,1.366666667,BASELINE,763.577141573,742,712,671.422858427,659.577141573,633,876.577141573,784,799.577141573,649,629,650.422858427,0.400961363693,-0.0153949734293,0.059841690972,0.999999948771,0.000179731939137,-0.00026458080591,1.23259370351e-05,1793193428130393856
+83,1.383333333,BASELINE,763.849168897,742,712,671,659.698337794,633,876.849168897,784,799.849168897,649,628.849168897,650,0.400961083791,-0.0153956519792,0.0598419204194,0.999999948977,0.000179104679977,-0.000264224766035,1.23991243226e-05,1793193428147060224
+84,1.400000000,BASELINE,763.274120215,742,712,671,658.54824043,633,876.274120215,784,799.274120215,649,628.274120215,650,0.400961547878,-0.0153955924959,0.0598421232994,0.999999949138,0.000180297528941,-0.00026281352157,1.20564076785e-05,1793193428163726848
+85,1.416666667,BASELINE,763,742,712,671.31126755,658.31126755,633,876.31126755,784,799.31126755,648.68873245,628,650,0.400961829982,-0.01539519355,0.0598422523025,0.999999949204,0.000180271661094,-0.000262586658912,1.19420951326e-05,1793193428180393216
+86,1.433333333,BASELINE,763,742,712,671.906073304,658.906073304,633,876.906073304,784,799.906073304,648.093926696,628,650,0.400961946315,-0.0153944853828,0.0598423140101,0.999999949183,0.000179135646053,-0.000263438667201,1.20358392707e-05,1793193428197059840
+87,1.450000000,BASELINE,763.479417277,742,712,672,659,633,876.520582723,784,800,648.479417277,628.479417277,650,0.400961833182,-0.0153948240408,0.0598417638772,0.999999949037,0.000179297432367,-0.000263875883135,1.21583267556e-05,1793193428213726720
+88,1.466666667,BASELINE,764,742,712,672,659,633,876,784,799.950638244,649,629,650.049361756,0.400961571735,-0.0153953107604,0.0598411516953,0.999999948873,0.000179581888904,-0.000264300416637,1.22712291208e-05,1793193428230393344
+89,1.483333333,BASELINE,764,742,712,672,659,633,876,784,799.374016728,649,629,650.625983272,0.400960185689,-0.0153952821726,0.0598411022774,0.999999948756,0.00017857710134,-0.000265420328999,1.22241734657e-05,1793193428247060224
+90,1.500000000,BASELINE,763.790539647,742,712,672,659,633,876.209460353,783.790539647,799.209460353,649,629,651,0.400960026904,-0.0153950753773,0.0598411904969,0.999999948727,0.000178497178607,-0.000265586064373,1.2185166369e-05,1793193428263726848
+91,1.516666667,BASELINE,763.194406979,742,712,672,659,633,876.805593021,783.194406979,799.805593021,649,629,651,0.400962133692,-0.0153945396038,0.0598415328007,0.999999948858,0.000180124594004,-0.000263990350173,1.2161017243e-05,1793193428280393216
+92,1.533333333,BASELINE,763.388720755,742,711.611279245,672,659,633,877,783.388720755,800,649,629,651,0.400961859673,-0.0153952244135,0.0598413427907,0.999999948903,0.000179446490254,-0.000264278330834,1.22344703465e-05,1793193428297059840
+93,1.550000000,BASELINE,763.965555067,742,711.034444933,672,659,633,877,783.965555067,800,649,629,651,0.40096043351,-0.0153964998997,0.0598408951783,0.999999948904,0.000177652677235,-0.000265477887425,1.2355156075e-05,1793193428313726720
+94,1.566666667,BASELINE,764,742,711.540296117,671.459703883,659,633,877,784,800,649,628.459703883,650.459703883,0.400959389949,-0.0153959192079,0.0598405377054,0.999999948368,0.000179638425522,-0.00026617217206,1.21098391415e-05,1793193428330393600
+95,1.583333333,BASELINE,764,742,712,671,659,633,876.885167792,784,800,649,628.114832208,650.114832208,0.400958943076,-0.0153954367862,0.0598403294664,0.999999948098,0.000180864576757,-0.000266363203613,1.19258763481e-05,1793193428347060224
+96,1.600000000,BASELINE,764,742,712,671,659,633,876.310919684,784,800,649,628.689080316,650.689080316,0.400960786198,-0.0153958191219,0.0598406953741,0.999999949044,0.00017809148454,-0.000264669216826,1.20803675124e-05,1793193428363726848
+97,1.616666667,BASELINE,764,742,712,671.272601403,659,633,876,784,800,649,629,650.727398597,0.400961272855,-0.015395929434,0.0598406078271,0.999999949215,0.000177496751598,-0.000264422415974,1.20710308051e-05,1793193428380393472
+98,1.633333333,BASELINE,764,742,712,671.867071334,659,633,876,784,800,649,629,650.132928666,0.400960157893,-0.0153957185597,0.0598399848727,0.999999948477,0.000179474071964,-0.000265884350403,1.18682576811e-05,1793193428397060352
+99,1.650000000,BASELINE,764,742.449236302,712,671.550763698,658.550763698,633,876,784,800,649,629,650.449236302,0.400961052989,-0.0153945111628,0.0598409928581,0.999999948291,0.000182508124418,-0.000264508310759,1.20246873957e-05,1793193428413726720
+100,1.666666667,BASELINE,764,742.972448791,711.972448791,671,658.027551209,633,876,784,800,649,629,650.972448791,0.400962395126,-0.0153931548021,0.0598423610248,0.999999948274,0.000185461867158,-0.000262497005434,1.22637355537e-05,1793193428430393344
+101,1.683333333,BASELINE,764,742.400185654,711.400185654,671,658.599814346,633,876,784,800,649,629,650.400185654,0.400961129974,-0.0153945277163,0.0598415633626,0.99999994871,0.000180810550162,-0.000264085983601,1.20908435498e-05,1793193428447060224
+102,1.700000000,BASELINE,764,742,711.177557883,671,659,633,876.177557883,783.822442117,800,649,629,650,0.400960354865,-0.0153952050042,0.0598411440275,0.999999948942,0.000178132595873,-0.00026503059307,1.19770007308e-05,1793193428463727104
+103,1.716666667,BASELINE,764,742,711.768046626,671,659,633,876.768046626,783.231953374,800,649,629,650,0.400960719404,-0.0153942645342,0.0598416045349,0.999999948746,0.000180043919527,-0.000264476650327,1.20004834677e-05,1793193428480393984
+104,1.733333333,BASELINE,764,742,712,671,659,633,876.648339092,783.351660908,799.648339092,649,629,650.351660908,0.400961495128,-0.0153940078819,0.0598420869244,0.999999948953,0.000180099022528,-0.000263660565381,1.18617337737e-05,1793193428497060352
+105,1.750000000,BASELINE,764,742,712,671,659,633,876.069172164,783.930827836,799.069172164,649,629,650.930827836,0.400962536867,-0.0153941936233,0.0598425834703,0.999999949421,0.000178953249067,-0.000262674888231,1.16180282742e-05,1793193428513726976
+106,1.766666667,POSE1_TO_POSE2_PRESS,764,742,711,671,659,633,876,784,800,649,629,650,0.40096080171,-0.0153933816968,0.0598400892278,0.999999948373,0.000179752532759,-0.00026609828508,1.16219528294e-05,1793193428544684288
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,742,711.569939237,671,659,633,876,784,800,649,629,650,0.400961937484,-0.0153951683517,0.0598412730059,0.999999949001,0.000178650002833,-0.000264454959422,1.20645746401e-05,1793193428561351424
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,742,711.853789134,671.146210866,659,633,876,784,799.853789134,649,629,650,0.40096224567,-0.0153962797485,0.0598417769473,0.999999949257,0.000178232176388,-0.000263756107393,1.23131355736e-05,1793193428578017792
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,742,711.258048221,671.741951779,659,633,876,784,799.258048221,649,629,650,0.400960009415,-0.0153953150433,0.0598401907087,0.999999948375,0.000179919492717,-0.000265961069737,1.19650501595e-05,1793193428594683648
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,742,711.329122031,671.670877969,659,633,876.329122031,784,799.329122031,649,628.670877969,650,0.400959838584,-0.0153952778435,0.0598403148653,0.999999948344,0.00018020318898,-0.000265882239288,1.20349427839e-05,1793193428611349760
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,742,711.909742971,671.090257029,659,633,876.909742971,784,799.909742971,649,628.090257029,650,0.400961246049,-0.0153959493978,0.0598417460221,0.999999948965,0.000179414307557,-0.000264058246309,1.24242337377e-05,1793193428628016384
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,742,712,671,659,633,877,784,800,649,628,650,0.400962212788,-0.0153964570753,0.059842086167,0.999999949219,0.000179075497903,-0.000263318713508,1.25769696857e-05,1793193428644683520
+113,1.883333333,POSE1_TO_POSE2_PRESS,763.941471631,742,711.941471631,671,659,633,876.941471631,784,799.941471631,649,628.058528369,650,0.40096326149,-0.0153969141952,0.0598422891082,0.999999949458,0.000178718060428,-0.000262646264754,1.26772851219e-05,1793193428661350656
+114,1.900000000,POSE1_TO_POSE2_PRESS,763.350564654,742,711.350564654,671,659,633,876.350564654,784,799.350564654,649,628.649435346,650,0.400965793609,-0.0153971858074,0.0598430706449,0.999999950177,0.00017743765641,-0.000260768375285,1.26968284369e-05,1793193428678017280
+115,1.916666667,POSE1_TO_POSE2_PRESS,763.235594489,742,711.235594489,671,659,633,876,784,799.235594489,648.764405511,629,650,0.400973203422,-0.0153970687165,0.0598464949599,0.999999951616,0.000177776848183,-0.000254941819873,1.29425362985e-05,1793193428694684160
+116,1.933333333,POSE1_TO_POSE2_PRESS,763.814828364,742,711.814828364,671,659,633,876,784,799.814828364,648.185171636,629,650,0.400987727865,-0.0153963846611,0.0598537740455,0.999999954011,0.000180478391172,-0.000243355719244,1.35181289795e-05,1793193428711350528
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,742,712,671,659,633,876,784,800,648.391044085,628.608955915,650,0.401016168626,-0.0153976602383,0.0598660939749,0.999999958848,0.000180471440667,-0.000222515073252,1.48719960021e-05,1793193428728016640
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,742,712,671,659,633,876,784,800,648.965841612,628.034158388,650,0.401051148732,-0.0153998566559,0.059880782621,0.999999964339,0.000179191756561,-0.00019732567202,1.65915778177e-05,1793193428744683008
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,742,712,671,659,633,876,784,800,649,628.541418317,650.541418317,0.401111025966,-0.0154040549849,0.0598999720853,0.999999970397,0.00017785162429,-0.000165031949918,1.84220851794e-05,1793193428761349888
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,742.120133919,712,671,659,633,876.120133919,784,799.879866081,649,629,650.879866081,0.401174538896,-0.0154084023528,0.0599179312684,0.999999975061,0.000175979672093,-0.000136044789803,2.00431796536e-05,1793193428778016512
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,742.710955068,712,671,659,633,876.710955068,784,799.289044932,649,629,650.289044932,0.401246133383,-0.015412838094,0.0599299560279,0.99999997757,0.000172039002143,-0.000121771449529,2.08163313964e-05,1793193428794683392
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,742.704188917,712,671,659.295811083,633,877,784,799,649,629,650,0.401328760535,-0.0154176874156,0.0599376740601,0.99999997938,0.000169720873837,-0.000109517066983,2.09834209882e-05,1793193428811350016
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,742.125046415,712,671,659.874953585,633,877,784,799,649,629,650,0.401421954902,-0.0154229328692,0.0599412670562,0.999999980595,0.000168956835709,-9.91964673364e-05,2.05700169061e-05,1793193428828016896
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,742,712,671,659.551294948,633,876.551294948,784,799,649,629,650.448705052,0.401522879054,-0.0154291768258,0.0599387070486,0.999999981033,0.000166252628348,-9.96101153103e-05,1.92735893827e-05,1793193428844683520
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,742,712,671,659,633,876,784,799.021620319,649,628.978379681,650.978379681,0.401627058492,-0.0154356922078,0.0599345756074,0.999999981269,0.000163036937694,-0.000102793108662,1.77148200058e-05,1793193428861349888
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,742,712,671,659,633,876,784,799.611579228,649,628.388420772,650.388420772,0.401760855902,-0.015442114623,0.0599336760694,0.999999981902,0.000160420320299,-0.000101071137655,1.56518647791e-05,1793193428878016512
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,742,712,671.197655215,659,633,876,784,800,649,628.197655215,650,0.401907312491,-0.0154490188611,0.0599328686269,0.999999982638,0.000157114401854,-9.92786772209e-05,1.35198245609e-05,1793193428894683136
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,742,712,671.776247652,659,633,876,784,800,649,628.776247652,650,0.402078166866,-0.0154568517067,0.0599322386787,0.999999983573,0.000152480006613,-9.73503640231e-05,1.12546383613e-05,1793193428911350272
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,742,712,671.646447697,659,633,876,784,800,649,629,650,0.40227695765,-0.0154662732698,0.059933054389,0.999999985078,0.000146374542922,-9.13300626781e-05,8.74058633429e-06,1793193428928016896
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,742,712,671.069955031,659,633,876,784,800,649,629,650,0.402493364381,-0.0154766966351,0.0599347816919,0.999999986851,0.000139341463441,-8.27294658991e-05,6.06960613538e-06,1793193428944683264
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,742,712,671,659.503319176,633,876,784,800,649,629,650.503319176,0.40273538377,-0.0154876301135,0.0599377231145,0.999999988538,0.000131597368845,-7.47899651277e-05,3.4656724323e-06,1793193428961350144
+132,2.200000000,POSE1_TO_POSE2_PRESS,763.921159561,742,712,671.078840439,659.921159561,633,876,784,800,649,629,650.921159561,0.402984470656,-0.0154983217113,0.0599400297386,0.999999989938,0.000124318270063,-6.83250980763e-05,7.42834286839e-07,1793193428978016768
+133,2.216666667,POSE1_TO_POSE2_PRESS,763.328082478,742,712,671.671917522,659.328082478,633,876,784,800,649,629,650.328082478,0.403256583893,-0.0155069761457,0.0599371022306,0.999999990198,0.000120712574182,-7.08830181949e-05,-2.81595355578e-06,1793193428994683392
+134,2.233333333,POSE1_TO_POSE2_PRESS,763.258769006,742.258769006,712,671.741230994,659,633,876,784,800,649,629,650,0.403543175775,-0.0155113948968,0.0599292232894,0.999999989268,0.000120967372711,-8.23974736073e-05,-6.51842702172e-06,1793193429011349760
+135,2.250000000,POSE1_TO_POSE2_PRESS,763.837912715,742.837912715,712,671.162087285,659,633,876,784,800,649,629,650,0.40384769325,-0.0155105695659,0.0599152141167,0.999999986495,0.000126001742068,-0.000105000765838,-1.03987934422e-05,1793193429028016640
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,742.585058984,712,671,659,633,876,784,800,649,628.585058984,650.414941016,0.404185501411,-0.0154971534519,0.0599026526724,0.999999988857,7.34825641029e-05,-0.000128817580395,-1.71127222796e-05,1793193429044683008
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,742.008852843,712,671,659,633,876,784,800,649,628.008852843,650.991147157,0.404536247854,-0.0154788439817,0.0598906538821,0.999999987968,-1.40456476972e-06,-0.00015310602423,-2.49279033627e-05,1793193429061349632
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,742,712,672.107938991,659,633,876,784,800,649,628.553969496,650.446030504,0.404932382251,-0.0154850793225,0.0598899664328,0.99999998723,7.02998842464e-06,-0.000157079551747,-2.85652856983e-05,1793193429078016256
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,742,712,672.749708779,659,633,876.12514561,784,799.87485439,649,629,650,0.405347282238,-0.0154938303099,0.0598946547636,0.999999987992,1.22961093689e-05,-0.000151208760343,-3.16444796135e-05,1793193429094683136
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,742,712,671.541838062,659,633,876.729080969,784,799.270919031,649,629,650,0.405831267112,-0.0155107405395,0.0599192348217,0.999999993532,4.66124010356e-07,-0.000108887725001,-3.2837526608e-05,1793193429111350272
+141,2.350000000,POSE1_TO_POSE2_PRESS,763.680746087,742,712,671.319253913,659,633,876.680746087,783.680746087,799,649,629,650,0.40634304907,-0.0155204166816,0.0599444907259,0.999999997192,-1.38579293743e-05,-6.502125188e-05,-3.4596895677e-05,1793193429128017152
+142,2.366666667,POSE1_TO_POSE2_PRESS,763.101769227,742,712,671.898230773,659,633,876.101769227,783.101769227,799,649,629,650,0.406877444868,-0.0155242076714,0.0599702964545,0.999999998668,-3.02109856142e-05,-1.98975126397e-05,-3.68169853999e-05,1793193429144683520
+143,2.383333333,POSE1_TO_POSE2_PRESS,763.473522236,742,711.526477764,672,659,633,876.473522236,783,799,649,628.526477764,650,0.407418669413,-0.0155221189043,0.0599799722354,0.999999997979,-4.75994365188e-05,-1.17931488088e-05,-4.04583880978e-05,1793193429161350144
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,741.95086695,711.04913305,671.95086695,659,632.95086695,877,783,799,649,628.04913305,650,0.407960940922,-0.0155191987235,0.059984397161,0.999999996805,-6.47582754479e-05,-1.43463893572e-05,-4.46103869376e-05,1793193429178017024
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,741.363139496,711.636860504,671.363139496,659,632.363139496,877,783,799,649,628.636860504,650,0.408498725726,-0.0155209099929,0.0599689701486,0.999999994621,-7.69796412328e-05,-4.7185961692e-05,-5.103685392e-05,1793193429194683648
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,741.222469005,712,671.222469005,659.222469005,632.222469005,877,783,799,649,629,650,0.40906729357,-0.0155229908841,0.0599586535124,0.999999995304,-4.94827434193e-05,-7.03435365679e-05,-4.46747675014e-05,1793193429211350528
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,741.804651306,712,671.804651306,659.804651306,632.804651306,877,783,799,649,629,650,0.409685634914,-0.0155256694216,0.0599565999167,0.999999995923,4.2235180151e-05,-7.78461498929e-05,-1.76346867748e-05,1793193429228017408
+148,2.466666667,POSE1_TO_POSE2_PRESS,763.619172366,742,712,671.619172366,659.619172366,633,877.380827634,783,799.380827634,649,628.619172366,650,0.410345668849,-0.0155216447067,0.059962179964,0.999999995672,6.93370563194e-05,-6.07039650751e-05,-1.27983380559e-05,1793193429244684544
+149,2.483333333,POSE1_TO_POSE2_PRESS,763.046029037,742,712,671.046029037,659.046029037,633,877.953970963,783,799.953970963,649,628.046029037,650,0.411026757276,-0.0155142348891,0.0599716149557,0.999999997296,6.38082093314e-05,-3.11163033892e-05,-1.91747430955e-05,1793193429261351168
+150,2.500000000,POSE1_TO_POSE2_PRESS,763.527496084,742,712,671,659,632.472503916,877.472503916,783.527496084,799.472503916,649,628,650,0.411714967846,-0.0155208929125,0.0599627393119,0.999999997949,3.38785439622e-05,-4.78507109693e-05,-2.57700101656e-05,1793193429278017280
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,742,712,671.10460725,659,632.10460725,877,784,799.10460725,649,628.10460725,650,0.41239616769,-0.0155270113937,0.0599472188203,0.999999996352,7.07030498329e-06,-7.88026305394e-05,-3.21946322506e-05,1793193429294683648
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,742,712,671.698329732,659,632.698329732,877,784,799.698329732,649,628.698329732,650,0.413041679111,-0.0155248632574,0.0599081050018,0.999999986902,4.8198103438e-06,-0.000157318612799,-3.77320017495e-05,1793193429311350272
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,742,712,672,659,633.284427076,877,784,800,649,629,650,0.413752172276,-0.0155245144288,0.0598937582953,0.99999998228,7.49822910009e-07,-0.000183875295519,-4.03656870721e-05,1793193429328016384
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,742,712,672,659,633.862648238,877,784,800,649,629,650,0.414529787301,-0.0155260241641,0.0599049943487,0.999999986899,-5.19957875123e-06,-0.000156761518449,-4.00000623096e-05,1793193429344682752
+155,2.583333333,POSE1_TO_POSE2_PRESS,763.562701368,742.437298632,712,671.562701368,659,633.562701368,877.437298632,783.562701368,800,649,629,650.437298632,0.415365469388,-0.0155347652814,0.059951267295,0.999999996525,-1.11537124569e-05,-7.43012722115e-05,-3.61177965187e-05,1793193429361349376
+156,2.600000000,POSE1_TO_POSE2_PRESS,763.01114517,742.98885483,712,671.01114517,659.01114517,633,877.98885483,783.01114517,799.98885483,649,629,650.98885483,0.416218234979,-0.0155455563691,0.0600073837798,0.999999999091,-1.7141755595e-05,2.33922488354e-05,-3.12459274803e-05,1793193429378016256
+157,2.616666667,POSE1_TO_POSE2_PRESS,763.601018338,742.398981662,712,671.601018338,659.601018338,633,877.398981662,783.601018338,799.398981662,649,629,650.398981662,0.417018705933,-0.0155458091163,0.0600078292596,0.999999999044,-2.48140629734e-05,1.67255278819e-05,-3.18781219947e-05,1793193429394683136
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,742,711.812482306,672,660,632.812482306,877,783.812482306,799,649,628.812482306,650,0.417822761228,-0.0155450265146,0.0600001755379,0.999999999035,-2.83820965424e-05,1.24419567814e-06,-3.35095004036e-05,1793193429411350272
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,742,711.233034578,672,660,632.233034578,877,783.233034578,799,649,628.233034578,650,0.41863430809,-0.015542079934,0.0599755937053,0.999999998501,-2.33718022436e-05,-3.26605222468e-05,-3.72292692878e-05,1793193429428017152
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,742,711.344711762,672,660,632.344711762,877,783,799.344711762,649,628.344711762,650,0.419439811283,-0.015542405239,0.0599492678851,0.999999996288,-2.7269530054e-05,-7.08659157175e-05,-4.07322722701e-05,1793193429444683520
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,742,711.921313544,672,660,632.921313544,877,783,799.921313544,649,628.921313544,650,0.420241248824,-0.0155449315644,0.0599217688732,0.99999999207,-3.71597469803e-05,-0.000111964402348,-4.40894551237e-05,1793193429461349888
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,742,712,672,659.504281649,633,877.495718351,783.495718351,799.504281649,649,629,650,0.421025422951,-0.0155409287196,0.059888645665,0.999999981912,-3.41599424801e-05,-0.000180925271718,-4.77037123665e-05,1793193429478016256
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,742,712,672.071743443,659,633,877.928256557,783.928256557,799.071743443,649,628.928256557,650,0.421822104521,-0.0155364073838,0.0598617169847,0.999999969749,-2.98175025795e-05,-0.000238829294245,-5.07328208822e-05,1793193429494682880
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,742,712,672.661987495,659,633,877.338012505,783.338012505,799.661987495,649,628.338012505,650,0.422728895748,-0.015535595931,0.0598859806072,0.99999998121,-3.04935840755e-05,-0.000185001626226,-4.92393618772e-05,1793193429511349760
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.247139161,742.247139161,712,672.752860839,659.247139161,633,877.247139161,783.247139161,800,649,628,650,0.423647971766,-0.015537694423,0.0599276100983,0.99999999228,-3.20240873402e-05,-0.000110959003611,-4.58545440052e-05,1793193429528016640
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.825466663,742.825466663,712,672.174533337,659.825466663,633,877.825466663,783.825466663,800,649,628,650,0.424583510619,-0.0155436924981,0.0599925113929,0.999999998552,-3.46995913225e-05,-9.82654543923e-06,-3.99351375203e-05,1793193429544683520
+167,2.783333333,POSE1_TO_POSE2_PRESS,764.597786332,742.597786332,712,672,660,633,878,784,800,648.597786332,628.402213668,650,0.425462699079,-0.0155481838734,0.0600132022463,0.999999997999,-4.39552519795e-05,2.39262234079e-05,-3.87055817179e-05,1793193429561349888
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.021722504,742.021722504,712,672,660,633,878,784,800,648.021722504,628.978277496,650,0.426317530963,-0.0155520240025,0.0600147838688,0.999999997241,-5.60550757137e-05,2.85552376727e-05,-3.95031362285e-05,1793193429578016512
+169,2.816666667,POSE1_TO_POSE2_PRESS,764,742,711.447230573,672,660,632.447230573,878,783.447230573,800,648,629,650,0.427157381595,-0.0155552008051,0.0599893587939,0.999999997405,-5.81251636522e-05,-7.56370358614e-08,-4.25594007243e-05,1793193429594683136
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,742.131682015,711,672.131682015,660,632.131682015,878,783.131682015,800.131682015,648.131682015,629,650,0.427991669842,-0.0155566975665,0.0599647478113,0.999999996835,-5.86561805563e-05,-2.84560706833e-05,-4.56034986852e-05,1793193429611349760
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,742.726354043,711,672.726354043,660,632.726354043,878,783.726354043,800.726354043,648.726354043,629,650,0.428808464942,-0.0155523787446,0.0599467200656,0.999999995993,-5.51577402114e-05,-5.13735005792e-05,-4.82936203677e-05,1793193429628016384
+172,2.866666667,POSE1_TO_POSE2_PRESS,763.689726705,742.689726705,711.310273295,673,660,633,877.689726705,784,800.689726705,649,628.689726705,650,0.429606053726,-0.0155474789671,0.0599262643542,0.999999993325,-5.47026530692e-05,-8.82322504728e-05,-5.0723328004e-05,1793193429644683264
+173,2.883333333,POSE1_TO_POSE2_PRESS,763.114973263,742.114973263,711.885026737,673,660,633,877.114973263,784,800.114973263,649,628.114973263,650,0.430387270809,-0.0155420839774,0.0599037390207,0.999999987603,-5.68417516039e-05,-0.000136974723659,-5.29310558149e-05,1793193429661349888
+174,2.900000000,POSE1_TO_POSE2_PRESS,763.459910912,742.459910912,712,673,660,632.540089088,877.459910912,784,799.540089088,649,628.459910912,650,0.431241671094,-0.0155474149002,0.0599332318022,0.999999993806,-5.99725040769e-05,-7.89203254607e-05,-5.06189540362e-05,1793193429678016768
+175,2.916666667,POSE1_TO_POSE2_PRESS,764,742.964325763,712,673,660,632.035674237,877.964325763,784,799,649,629,650,0.432110572813,-0.0155550463695,0.0599745972181,0.999999996872,-6.33863174441e-05,2.56390173548e-06,-4.72314750793e-05,1793193429694684160
+176,2.933333333,POSE1_TO_POSE2_PRESS,764,742.375436742,712,673,660,632.624563258,877.375436742,784,799,649,629,650,0.432920563086,-0.0155567603589,0.0599983603367,0.999999996181,-6.73442336477e-05,3.32466509287e-05,-4.46947038098e-05,1793193429711350784
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,742.210867294,712,673,660,633,877,784,799.210867294,648.789132706,629,650,0.433701601267,-0.015557795635,0.0600013662444,0.999999995992,-7.09027416645e-05,3.19402624303e-05,-4.43700161426e-05,1793193429728017152
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,742.792624751,712,673,660,633,877,784,799.792624751,648.207375249,629,650,0.43443171634,-0.0155576371362,0.059967862723,0.999999995802,-7.37587393959e-05,-2.56311598465e-05,-4.79361165393e-05,1793193429744683264
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,742.630480061,712,673,660,633,877,784,799.630480061,648,629,650,0.435140916086,-0.015556345168,0.0599389821296,0.999999993368,-6.91895304947e-05,-7.65752339248e-05,-5.11212413894e-05,1793193429761349888
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,742.056278183,712,673,660,633,877,784,799.056278183,648,629,650,0.435838530515,-0.0155544253562,0.0599126622386,0.999999989037,-6.05074020786e-05,-0.000123848329413,-5.40953386403e-05,1793193429778016512
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,742.53117359,712,673,660,633,877.53117359,784,799.53117359,648.53117359,629,650,0.436518315956,-0.0155531407273,0.0599127035183,0.999999988645,-7.10578954328e-05,-0.000121446950756,-5.3966014334e-05,1793193429794683136
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,742.882366556,712,673,660,633,877.882366556,783.882366556,800,649,629,650,0.437189904805,-0.0155519758811,0.0599134357104,0.999999988286,-7.69894511106e-05,-0.000120986379417,-5.35002176209e-05,1793193429811349760
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,742.305401823,712,673,660,633,877.305401823,783.305401823,800,649,629,650,0.437837052615,-0.0155510092528,0.0599056808008,0.999999985857,-5.67247918437e-05,-0.000149180918493,-5.30373453316e-05,1793193429828017408
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,742.271901489,712,673,660,632.728098511,877.271901489,783,799.728098511,649,629,650,0.4384805028,-0.0155528032308,0.059906788057,0.999999985026,-5.91177424358e-05,-0.000153935067405,-5.25082119332e-05,1793193429844684288
+185,3.083333333,POSE1_TO_POSE2_PRESS,764,742.849585532,712,673,660,632.150414468,877.849585532,783,799.150414468,649,629,650,0.439119794561,-0.0155577018085,0.059917861775,0.999999986114,-8.69916206846e-05,-0.000132327967262,-5.19045608081e-05,1793193429861350656
+186,3.100000000,POSE1_TO_POSE2_PRESS,764,742.574596269,712,673,660,632,878,783.425403731,799.425403731,649,629,650,0.439722334508,-0.015567747374,0.0599300346217,0.999999986538,-0.000103205020315,-0.00011673615269,-5.14237983588e-05,1793193429878017024
+187,3.116666667,POSE1_TO_POSE2_PRESS,764,742,711.999420588,673,660,632,878,783.999420588,799.999420588,648.999420588,629,650,0.440311820473,-0.0155795958897,0.0599425435195,0.999999986712,-0.000115309768814,-0.000103337983667,-5.09917430024e-05,1793193429894683392
+188,3.133333333,POSE1_TO_POSE2_PRESS,764,742,711.409724529,673,660,632,878,783.409724529,799.409724529,648.409724529,629,650,0.44078331121,-0.015582315905,0.0599033169207,0.999999976798,-0.000123613388618,-0.000167260375572,-5.60967375497e-05,1793193429911350016
+189,3.150000000,POSE1_TO_POSE2_PRESS,764,742,711,673,660,632,877.822613726,783,799.177386274,648.177386274,628.822613726,650,0.441246085405,-0.0155842789689,0.0598582438314,0.999999960769,-0.000133604113793,-0.000238265024088,-6.19827000283e-05,1793193429928016384
+190,3.166666667,POSE1_TO_POSE2_PRESS,764,742,711,673,660,632,877.241388421,783,799.758611579,648.758611579,628.241388421,650,0.441689015542,-0.0155845187514,0.0597998605667,0.999999933766,-0.000147435718703,-0.000325393208289,-6.96466215847e-05,1793193429944683008
+191,3.183333333,POSE1_TO_POSE2_PRESS,764,742,711,672.664491975,659.664491975,632,877,783,799.664491975,649,628,650,0.442118909091,-0.0155872731747,0.059760198743,0.99999991291,-0.000151280221659,-0.000381826932629,-7.41828833307e-05,1793193429961349632
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,742,711,672.09067038,659.09067038,632,877,783,799.09067038,649,628,650,0.442539542638,-0.015591813764,0.0597338348861,0.999999899399,-0.000148030819681,-0.000416458174961,-7.64975473847e-05,1793193429978016768
+193,3.216666667,POSE1_TO_POSE2_PRESS,764,742,711,672.493870462,659,632,877.493870462,782.506129538,799,649,628,649.506129538,0.442944875075,-0.0155967209295,0.0597335099879,0.999999899923,-0.00014154216608,-0.000418959721465,-6.77744141316e-05,1793193429994683392
+194,3.233333333,POSE1_TO_POSE2_PRESS,763.920193304,742.079806696,711.079806696,673,659,632,877.920193304,782.079806696,799,649,628,649,0.443344036986,-0.0156012769301,0.0597379067109,0.999999903297,-0.000133915427033,-0.000414854545976,-5.80320179201e-05,1793193430011350016
+195,3.250000000,POSE1_TO_POSE2_PRESS,763.338135231,742.661864769,711.661864769,673,659,632,877.338135231,782.661864769,799,649,628,649,0.443722436829,-0.0156031899859,0.0597412652223,0.999999908062,-0.000122952001024,-0.000407117381701,-5.49111111531e-05,1793193430028016640
+196,3.266666667,POSE1_TO_POSE2_PRESS,763.240701619,743,712,673,659,631.759298381,877,783,799.240701619,649,628,649.240701619,0.444072493338,-0.0156090600305,0.0597400123778,0.999999906706,-0.000122954906186,-0.00041057539219,-5.38398929025e-05,1793193430044683264
+197,3.283333333,POSE1_TO_POSE2_PRESS,763.815073038,743,712,673,659,631.184926962,877,783,799.815073038,649,628,649.815073038,0.444383259202,-0.0156204154044,0.0597323670948,0.999999896652,-0.000138159760377,-0.000429552583129,-5.56100315992e-05,1793193430061350144
+198,3.300000000,POSE1_TO_POSE2_PRESS,764,743,712,673.39034595,659,631,877.39034595,782.60965405,800,649,628,650,0.444653963755,-0.0156293261489,0.0597168592464,0.999999880391,-0.00015688237105,-0.00045980307595,-5.64479509449e-05,1793193430078016768
+199,3.316666667,POSE1_TO_POSE2_PRESS,764,743,712,673.966046984,659,631,877.966046984,782.033953016,800,649,628,650,0.444905645292,-0.0156370760665,0.0596976178721,0.999999859957,-0.000177275383329,-0.000495406677371,-5.68432076658e-05,1793193430094683136
+200,3.333333333,POSE1_TO_POSE2_PRESS,764,743,712,674,659,631,878,782,799.443148846,649,628,650,0.445127937396,-0.0156446455459,0.0596834067239,0.999999843831,-0.000204149786099,-0.000517062598169,-5.75103068916e-05,1793193430111350016
+201,3.350000000,POSE1_TO_POSE2_PRESS,764.145390448,743,712.145390448,673.854609552,659,631,877.854609552,782,799.145390448,649,628,650,0.445344533821,-0.0156535525509,0.0596721818577,0.999999829976,-0.000226998379535,-0.000534024342262,-5.7775387225e-05,1793193430128016896
+202,3.366666667,POSE1_TO_POSE2_PRESS,764.724352988,743,712.724352988,673.275647012,659,631,877.275647012,782,799.724352988,649,628,650,0.445549637936,-0.015666481946,0.0596689223033,0.999999824809,-0.000236630160428,-0.000539594288358,-5.67907913567e-05,1793193430144684032
+203,3.383333333,POSE1_TO_POSE2_PRESS,764.699770378,742.699770378,712.699770378,673.300229622,658.699770378,631,877.300229622,781.699770378,800,649,628,650,0.445743527685,-0.0156776110236,0.0596698373998,0.999999824014,-0.000244613817624,-0.000537605343206,-5.58332708521e-05,1793193430161350912
+204,3.400000000,POSE1_TO_POSE2_PRESS,764.126698186,742.126698186,712.126698186,673.873301814,658.126698186,631,877.873301814,781.126698186,800,649,628,650,0.445927226034,-0.0156871040087,0.0596745463344,0.999999827181,-0.000251099692967,-0.000528747031203,-5.49003559457e-05,1793193430178017024
+205,3.416666667,POSE1_TO_POSE2_PRESS,764,742.458820334,711.541179666,674,658.458820334,630.541179666,877.541179666,781,799.541179666,649,628,650,0.446076554042,-0.0156913549846,0.0596770199542,0.999999828277,-0.000254227041795,-0.000525205438717,-5.45331694334e-05,1793193430194683648
+206,3.433333333,POSE1_TO_POSE2_PRESS,764,742.9530031,711.0469969,674,659.0469969,630,877.0469969,781.0469969,799,649,628,650,0.446214175025,-0.0156940970686,0.0596787624578,0.999999828698,-0.000256517025661,-0.000523309454337,-5.43082601183e-05,1793193430211350016
+207,3.450000000,POSE1_TO_POSE2_PRESS,764,742.374714823,711.625285177,674,659.625285177,630,877.625285177,781.625285177,799,649,628,650,0.44632973587,-0.0156966016696,0.0596794123793,0.999999827976,-0.000260117403224,-0.000522956777517,-5.38764909768e-05,1793193430228016640
+208,3.466666667,POSE1_TO_POSE2_PRESS,764,742.203906495,712,673.796093505,659.59218701,630,878,782,799.203906495,649,628,649.796093505,0.446433852476,-0.0156981106418,0.0596783148396,0.999999825956,-0.000263135600744,-0.000525306018578,-5.38652088917e-05,1793193430244683264
+209,3.483333333,POSE1_TO_POSE2_PRESS,764,742.783140773,712,673.216859227,658.433718455,630,878,782,799.783140773,649,628,649.216859227,0.44651690382,-0.015697786974,0.0596740007728,0.999999821527,-0.000265082187343,-0.000532628641456,-5.46279113934e-05,1793193430261349888
+210,3.500000000,POSE1_TO_POSE2_PRESS,764,743,712,673,658.359857717,630,878,782,800,649,628,649.359857717,0.446588218005,-0.0156988439476,0.059670303113,0.999999817932,-0.000268079914772,-0.000537835833876,-5.47928517736e-05,1793193430278017024
+211,3.516666667,POSE1_TO_POSE2_PRESS,764,743,712,673,658.935068246,630,878,782,800,649,628,649.935068246,0.446652508226,-0.0157007271504,0.0596669743347,0.999999814836,-0.000271706685823,-0.000541777071377,-5.46000681926e-05,1793193430294683904
+212,3.533333333,POSE1_TO_POSE2_PRESS,764,743,712,673,658.478919911,630,877.478919911,781.478919911,800,649,628,650,0.446699756711,-0.015701104424,0.0596641646613,0.999999812632,-0.000273413150267,-0.000544963533213,-5.47384585846e-05,1793193430311350016
+213,3.550000000,POSE1_TO_POSE2_PRESS,764,743,712,673.106834962,658,630,877.106834962,781,799.893165038,649,628,649.893165038,0.446742129849,-0.015701556659,0.0596616643247,0.999999810541,-0.00027502544721,-0.00054796997862,-5.48530281027e-05,1793193430328016640
+214,3.566666667,POSE1_TO_POSE2_PRESS,764,743,712,673.685386727,658,630,877.685386727,781,799.314613273,649,628,649.314613273,0.446772551343,-0.0157031859774,0.0596602381686,0.999999808474,-0.000277300876749,-0.000550605652321,-5.46763506115e-05,1793193430344683264
+215,3.583333333,POSE1_TO_POSE2_PRESS,764,742.736861895,712,674,658,630,877.736861895,781,799.263138105,649,628,649.263138105,0.446798163933,-0.0157038276183,0.059658592401,0.999999807045,-0.000278460418685,-0.000552618253782,-5.46224783838e-05,1793193430361349888
+216,3.600000000,POSE1_TO_POSE2_PRESS,764,742.16006461,712,674,658,630,877.16006461,781,799.83993539,649,628,649.83993539,0.446818044335,-0.0157032919527,0.059656684858,0.999999806384,-0.000278289828571,-0.00055388815639,-5.4714989369e-05,1793193430378016512
+217,3.616666667,POSE1_TO_POSE2_PRESS,764,742.414309684,712,674,658,630,877.414309684,781,800.414309684,649,628,650,0.446833332207,-0.0157026557107,0.0596562930771,0.999999806741,-0.000277495330225,-0.000553658220474,-5.45552622702e-05,1793193430394683136
+218,3.633333333,POSE1_TO_POSE2_PRESS,764,742.987753309,712,674,658,630,877.987753309,781,800.987753309,649,628,650,0.446846856114,-0.0157019808378,0.0596564834915,0.999999807488,-0.000276461192361,-0.000552852205275,-5.42986519879e-05,1793193430411349760
+219,3.650000000,POSE1_TO_POSE2_PRESS,764,742.421366765,712,674,658,630,878,781,800.421366765,649,628,650,0.446852776377,-0.0157024187007,0.0596552106776,0.999999806407,-0.000277898378853,-0.000554080019449,-5.43439278694e-05,1793193430428016896
+220,3.666666667,POSE1_TO_POSE2_PRESS,764,742.167186242,712,674,658,630,878,781,800,648.832813758,628,650,0.446857407567,-0.0157019476245,0.0596542544963,0.999999805879,-0.00027756633152,-0.000555200194672,-5.4328327142e-05,1793193430444683776
+221,3.683333333,POSE1_TO_POSE2_PRESS,764,742.749024266,712,674,658,630,878,781,800,648.250975734,628,650,0.446859253156,-0.0156991619915,0.0596541628161,0.999999806812,-0.000272712510733,-0.000555943327734,-5.41454023705e-05,1793193430461349888
+222,3.700000000,POSE1_TO_POSE2_PRESS,764,743,712,674,658.326563712,630.326563712,878,781,800,648.326563712,628,650,0.44686056715,-0.0156981663294,0.0596538238743,0.999999806694,-0.000270692197654,-0.000557160596593,-5.39381595583e-05,1793193430478016512
+223,3.716666667,POSE1_TO_POSE2_PRESS,764,743,712,674,658.900842529,630.900842529,878,781,800,648.900842529,628,650,0.446861477902,-0.0156985284505,0.0596532973721,0.999999805792,-0.000270821243092,-0.000558737521541,-5.37124702625e-05,1793193430494683136
+224,3.733333333,POSE1_TO_POSE2_PRESS,764,743,712,674,658.526329065,631,877.526329065,781,800.473670935,649,628,650,0.446863227746,-0.0156987810771,0.0596532745562,0.999999806029,-0.000271348908917,-0.000558035572581,-5.39267157218e-05,1793193430511349760
+225,3.750000000,POSE1_TO_POSE2_PRESS,764,742.952001736,711.952001736,673.952001736,658,630.952001736,877,781,800.904003473,649,628,650,0.446864982262,-0.015699079342,0.0596533234034,0.999999806413,-0.00027204283494,-0.000556986297896,-5.41508643103e-05,1793193430528016384
+226,3.766666667,POSE1_TO_POSE2_PRESS,764,742.35714765,711.35714765,673.35714765,658,630.35714765,877,781,799.7142953,649,628,650,0.446864794863,-0.0157001579284,0.0596529910796,0.999999805774,-0.000273683179999,-0.000557398474027,-5.34417821415e-05,1793193430544683264
+227,3.783333333,POSE1_TO_POSE2_PRESS,764,742.230158486,711.230158486,673.230158486,658,630,877,781,799,649,628,650,0.44686476211,-0.0157002989794,0.059652541609,0.999999805303,-0.000274393814944,-0.000557932621449,-5.30475933987e-05,1793193430561350144
+228,3.800000000,POSE1_TO_POSE2_PRESS,764,742.80612399,711.80612399,673.80612399,658,630,877,781,799,649,628,650,0.446864961707,-0.015699031408,0.0596519161284,0.999999805086,-0.000273707585009,-0.000558650027475,-5.31265237168e-05,1793193430578017280
+229,3.816666667,POSE1_TO_POSE2_PRESS,764,743,712,674,658,630,877.38112584,781,799.38112584,649,628,650,0.446865241953,-0.0156985361294,0.0596518210239,0.999999805014,-0.000273302469845,-0.000558959849778,-5.32981349925e-05,1793193430594683648
+230,3.833333333,POSE1_TO_POSE2_PRESS,764,743,712,674,658,630,877.955638703,781,799.955638703,649,628,650,0.446865563121,-0.0156984327199,0.0596519950375,0.999999805017,-0.000273039995121,-0.000559062860045,-5.35167735012e-05,1793193430611350016
+231,3.850000000,POSE1_TO_POSE2_PRESS,764,742.454526654,711.454526654,674,658,630,878,780.454526654,800,649,628,650,0.446864744032,-0.0156989768563,0.0596507830322,0.999999803859,-0.000274086911047,-0.00056061386107,-5.3575443858e-05,1793193430628016384
+232,3.866666667,POSE1_TO_POSE2_PRESS,764,742.133852981,711.133852981,674,658,630,878,780.133852981,800,649,628,650,0.446864382605,-0.0156993667139,0.0596499188837,0.999999803105,-0.000274875279576,-0.000561570275525,-5.35891351923e-05,1793193430644683008
+233,3.883333333,POSE1_TO_POSE2_PRESS,764,742.713124383,711.713124383,674,658,630,878,780.713124383,800,649,628,650,0.446865861632,-0.0156990628751,0.0596505982225,0.99999980403,-0.000274438690313,-0.000560144911982,-5.34976940508e-05,1793193430661349632
+234,3.900000000,POSE1_TO_POSE2_PRESS,764,742.710547112,712,674,658,630,878,781,800,649,628,650,0.446866938937,-0.0156989213704,0.0596511851351,0.999999804841,-0.000273692196445,-0.000559077319871,-5.33116974866e-05,1793193430678016512
+235,3.916666667,POSE1_TO_POSE2_PRESS,764,742.137105875,712,674,658,630,878,781,800,649,628,650,0.446867622104,-0.0156989391353,0.0596516813666,0.999999805544,-0.000272641648564,-0.000558360744703,-5.3032930587e-05,1793193430694683648
+236,3.933333333,POSE1_TO_POSE2_PRESS,764,742.448348238,711.551651762,674,658.448348238,630.448348238,877.551651762,781.448348238,800,649,628,650,0.44686819693,-0.0156991680842,0.059651857165,0.999999805133,-0.00027380898775,-0.000558522807246,-5.30540117833e-05,1793193430711350272
+237,3.950000000,POSE1_TO_POSE2_PRESS,764,743,711,674,658.963044692,630.963044692,877,781.963044692,800,649,628,650,0.446868677661,-0.0156992837933,0.0596519243434,0.99999980448,-0.000275321427315,-0.000558938828693,-5.31634258553e-05,1793193430728016896
+238,3.966666667,POSE1_TO_POSE2_PRESS,764,743,711,674,658.383564634,630.383564634,877,781.383564634,800,649,628,650,0.446868276788,-0.0156967628954,0.059651875059,0.999999805426,-0.000271669143233,-0.00055903000203,-5.31864333301e-05,1793193430744683264
+239,3.983333333,POSE1_TO_POSE2_PRESS,764,743,711.194799102,673.805200898,658,630,877,781,800,649,628,650,0.446868028922,-0.0156956571735,0.0596517325085,0.999999805812,-0.000269801405914,-0.00055924544257,-5.31691999243e-05,1793193430761349888
+240,4.000000000,POSE1_TO_POSE2_PRESS,764,743,711.770977262,673.229022738,658,630,877,781,800,649,628,650,0.446868080614,-0.0156973220933,0.0596514073611,0.999999805121,-0.000271427467069,-0.000559704174318,-5.30731826383e-05,1793193430778016512
+241,4.016666667,POSE1_TO_POSE2_PRESS,764,742.652993945,712,673.347006055,658,630,877,780.652993945,800,649.347006055,628,650,0.446868596488,-0.0156971572699,0.0596512062719,0.999999805033,-0.000272192675599,-0.000559473649078,-5.32411968412e-05,1793193430794682880
+242,4.033333333,POSE1_TO_POSE2_PRESS,764,742.077063714,712,673.922936286,658,630,877,780.077063714,800,649.922936286,628,650,0.446869418589,-0.0156957853425,0.0596510870255,0.999999805344,-0.000272389968965,-0.000558788412482,-5.35833958792e-05,1793193430811349504
+243,4.050000000,POSE1_TO_POSE2_PRESS,764,742.510069988,712,673.489930012,658,630,877.510069988,780,800,649.489930012,628,650,0.446869096975,-0.015696276445,0.0596504150068,0.999999805066,-0.000271357211656,-0.00055983769591,-5.30618901821e-05,1793193430828016384
+244,4.066666667,POSE1_TO_POSE2_PRESS,764,743,712,673.097154528,658,630,878,780,800,649,628,650,0.446868580134,-0.0156966656416,0.0596498837559,0.999999804867,-0.000269975140852,-0.000560904989504,-5.25800381008e-05,1793193430844683008
+245,4.083333333,POSE1_TO_POSE2_PRESS,764,743,712,673.675424942,658,630,878,780,800,649,628,650,0.446867971435,-0.0156951250052,0.059650472459,0.999999805527,-0.000267804214898,-0.000560734590534,-5.29552737858e-05,1793193430861350400
+246,4.100000000,HOLD_POSE2,764,743,711,674,658,630,878,781,800,649,628,650,0.446868941329,-0.0156961410569,0.0596509637215,0.999999805284,-0.00026955544087,-0.000560384530273,-5.23505678783e-05,1793193430899823104
+247,4.116666667,HOLD_POSE2,764,743,711.591031085,673.408968915,658,630,877.408968915,781,800,649,628,650,0.446869933303,-0.0156972984877,0.0596513880668,0.999999805377,-0.000271595175882,-0.000559223790902,-5.24559879226e-05,1793193430916489728
+248,4.133333333,HOLD_POSE2,764,742.821667399,712,673,658,630,877.178332601,781,800,649,628,650,0.446870152198,-0.0156977215707,0.0596513820037,0.999999805048,-0.000272976197375,-0.000559125129491,-5.26049334937e-05,1793193430933156352
+249,4.150000000,HOLD_POSE2,764,742.242743552,712,673,658,630,877.757256448,781,800,649,628,650,0.446868634512,-0.0156964950774,0.0596504091078,0.99999980378,-0.000272877541034,-0.000561412229803,-5.28516511409e-05,1793193430949822976
+250,4.166666667,HOLD_POSE2,764,742.334871219,712,673.334871219,658.334871219,630,878,781,800,649,628,650,0.446869007699,-0.0156959856359,0.0596508777607,0.999999804402,-0.000272000104887,-0.000560735862876,-5.278837471e-05,1793193430966489600
+251,4.183333333,HOLD_POSE2,764,742.911540718,712,673.911540718,658.911540718,630,878,781,800,649,628,650,0.446870746217,-0.0156959939516,0.0596523873033,0.999999806383,-0.00027056034028,-0.000557919684317,-5.25012628586e-05,1793193430983156224
+252,4.200000000,HOLD_POSE2,764,743,712,673.511744203,658.511744203,630,878,781,800,649,628,650,0.446870326369,-0.0156956821816,0.0596515888811,0.999999805937,-0.000270126699242,-0.000558925765699,-5.2524031089e-05,1793193430999823104
+253,4.216666667,HOLD_POSE2,764,742.93423524,712,673,658,630,877.93423524,780.93423524,800,649,628,650,0.446869484143,-0.0156953990722,0.0596504558149,0.999999805107,-0.00026988633206,-0.000560517666195,-5.26064130147e-05,1793193431016489728
+254,4.233333333,HOLD_POSE2,764,742.350539052,712,673,658,630,877.350539052,780.350539052,800,649,628,650,0.446868395398,-0.0156957984324,0.059649980657,0.999999804721,-0.000269732385669,-0.000561268935179,-5.27160932364e-05,1793193431033156352
+255,4.250000000,HOLD_POSE2,764,742.232187282,712,673.232187282,658,630,877.232187282,780.232187282,800,649,628,650,0.446868590605,-0.0156962610715,0.0596502417509,0.999999805177,-0.000269398432871,-0.000560614631401,-5.27344535972e-05,1793193431049822976
+256,4.266666667,HOLD_POSE2,764,742.813455439,712,673.813455439,658,630,877.813455439,780.813455439,800,649,628,650,0.446870716162,-0.0156968188471,0.0596516097592,0.999999806894,-0.000268793850301,-0.000557847125801,-5.26155195327e-05,1793193431066489600
+257,4.283333333,HOLD_POSE2,764,743,712,674,658,630,877.605949046,780.605949046,799.605949046,649,628,650,0.446870638201,-0.0156972402697,0.0596514417119,0.999999806211,-0.000269278317152,-0.000558848063326,-5.25045718166e-05,1793193431083156224
+258,4.300000000,HOLD_POSE2,764,743,712,674,658,630,877.025671368,780.025671368,799.025671368,649,628,650,0.446869518868,-0.0156975972525,0.0596505477317,0.999999804388,-0.00027027746385,-0.000561629950027,-5.23973984024e-05,1793193431099822848
+259,4.316666667,HOLD_POSE2,764,743,712,674,658,630,877.548216702,780.548216702,799.548216702,649,628,650,0.446869730993,-0.0156969964949,0.0596506306054,0.99999980509,-0.000269237170719,-0.000560861467039,-5.25954514666e-05,1793193431116489728
+260,4.333333333,HOLD_POSE2,764.125071138,743,712,674,658,630,877.874928862,781,800,649,628,650,0.446870332518,-0.015696343875,0.0596508811068,0.999999805787,-0.00026880687846,-0.000559807545834,-5.27584205888e-05,1793193431133156608
+261,4.350000000,HOLD_POSE2,764.714024794,743,712,674,658,630,877.285975206,781,800,649,628,650,0.446872149731,-0.015695663323,0.059651585626,0.99999980604,-0.00027098917554,-0.000558304469491,-5.27388644802e-05,1793193431149823232
+262,4.366666667,HOLD_POSE2,764.70126615,743,712,674,658,630,877.29873385,781,800,649,628,650,0.446872853771,-0.0156951447062,0.0596516845724,0.999999806509,-0.000270332002462,-0.000557779553974,-5.27743888624e-05,1793193431166490112
+263,4.383333333,HOLD_POSE2,764.120563522,743,712,674,658,630,877.879436478,781,800,649,628,650,0.446872507108,-0.015694778937,0.0596512119309,0.999999807178,-0.000266994711375,-0.000558177904569,-5.28619025957e-05,1793193431183156480
+264,4.400000000,POSE2_TO_POSE3_RETREAT,764,742,712,674,658,630,877,780,801,649,628,650,0.446869660397,-0.0156956391416,0.0596496672961,0.999999803823,-0.000272860168051,-0.00056133659517,-5.29473787863e-05,1793193431215601920
+265,4.416666667,POSE2_TO_POSE3_RETREAT,764,742.588787103,712,674,658,630,877,780.588787103,800.411212897,649,628,650,0.446871034343,-0.0156950004345,0.0596504037355,0.999999805253,-0.000269942622685,-0.000560215812464,-5.27551128299e-05,1793193431232268032
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764,743,712,674,658,630,877.174481564,781,800,649.174481564,628,650,0.446872198985,-0.0156949695109,0.0596510088638,0.999999806282,-0.000268618643359,-0.000559029995148,-5.25815072344e-05,1793193431248934656
+267,4.450000000,POSE2_TO_POSE3_RETREAT,764,743,712,674,658,630,877.753014431,781,800,649.753014431,628,650,0.446872878939,-0.0156963460466,0.0596513099121,0.999999806397,-0.000270984924033,-0.000557693575354,-5.24511138639e-05,1793193431265601024
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764,742.669151929,712,673.669151929,658,630,877.669151929,780.669151929,800,649.669151929,628,650,0.446873015261,-0.0156963514045,0.0596515627993,0.999999806737,-0.000270838053824,-0.00055715707157,-5.2422909987e-05,1793193431282267648
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,742.091839211,712,673.091839211,658,630,877.091839211,780.091839211,800,649.091839211,628,650,0.446872746604,-0.0156953353059,0.0596517798088,0.999999807246,-0.000268819016465,-0.000557216463788,-5.24708319882e-05,1793193431298934528
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764,742.481726557,712,673.481726557,658,630,877,780,800,649,628,650,0.446869999533,-0.015695308145,0.0596511039677,0.999999806108,-0.000269678255461,-0.000558797149839,-5.29508981835e-05,1793193431315600896
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764,743,712,674,658,630,877,780.056416398,800,649,628,650,0.446865840772,-0.0156953730436,0.0596496908257,0.999999804254,-0.000271009563162,-0.000561413788587,-5.34890820962e-05,1793193431332267264
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764,743,712,674,658,630,877,780.648509756,800,649,628,650,0.446852729715,-0.0156945356992,0.0596428807289,0.999999798558,-0.000271653164746,-0.000571134275351,-5.38028698369e-05,1793193431348933888
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764,743,712,674,658,630,877.234994048,781,800,649,628,650,0.446828838726,-0.0156932165522,0.0596313098516,0.999999788432,-0.00027166724978,-0.000588519583981,-5.45598726009e-05,1793193431365600768
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764,743,712,674,658,630,877.813284166,781,800,649,628,650,0.446789199646,-0.0156911935533,0.0596127840871,0.99999977137,-0.000270761691954,-0.000617102210034,-5.59643554348e-05,1793193431382267392
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764,743,712,674,658,630,878,781,800.389369291,649,628,650,0.446732708364,-0.0156874523044,0.0595932545232,0.999999756646,-0.00026830295568,-0.000641383861489,-5.78615933487e-05,1793193431398934016
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764,743,712,674,658,630,878,781,800.964403053,649,628,650,0.446668181378,-0.0156828917355,0.0595732463122,0.999999742868,-0.000265103611172,-0.000663614664952,-5.99937936949e-05,1793193431415600640
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764,743,712,673.448570347,658,630,878.551429653,780.448570347,800.448570347,649,628,650,0.44659513047,-0.015676915534,0.0595649670479,0.999999735769,-0.000261104069978,-0.000675731290167,-6.06152232185e-05,1793193431432267264
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764,743,712,673.136928212,658,630,878.726143576,780.136928212,799.863071788,649,627.863071788,650,0.446516480761,-0.0156711533538,0.0595590796782,0.999999730241,-0.000257718416543,-0.000685130249568,-6.07933464536e-05,1793193431448934400
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764,743,712,673.714955114,658,630,877.570089772,780.714955114,799.285044886,649,627.285044886,650,0.446421607116,-0.0156663815479,0.0595584042266,0.999999728697,-0.000256480434807,-0.000687924595565,-5.9864563146e-05,1793193431465601024
+280,4.666666667,POSE2_TO_POSE3_RETREAT,764,743,712,674,658,630,877.293582647,781,799.293582647,649,627.293582647,650,0.44631448522,-0.0156599692717,0.0595614379883,0.999999731363,-0.000253319721193,-0.000685311986877,-5.87414531752e-05,1793193431482267392
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764,743,712,674,658,630,877.872794506,781,799.872794506,649,627.872794506,650,0.446195446895,-0.0156519609677,0.0595680804773,0.999999738066,-0.000248288364416,-0.000677438902904,-5.74292810896e-05,1793193431498933760
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764.448964847,743,712,673.551035153,658,630,878,781,800,649,628,650,0.446043646924,-0.0156418326271,0.0595691334151,0.999999739424,-0.000241151284544,-0.000678120942823,-5.61211418598e-05,1793193431515600640
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,743,712,673.024793989,658,630,878,781.024793989,800,649,628,650,0.44588139427,-0.0156311078562,0.0595685208508,0.999999739068,-0.000233545360823,-0.000681407277408,-5.48170502593e-05,1793193431532267264
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,743,712,673.61230615,658,630,878,781.61230615,800,649,628,650,0.44569116301,-0.0156203875972,0.0595658096646,0.999999734933,-0.000228748202297,-0.000689157332808,-5.35790638919e-05,1793193431548933888
+285,4.750000000,POSE2_TO_POSE3_RETREAT,764.803037581,743,712,673.803037581,658,630,877.803037581,781.803037581,800,649,628,650,0.445486450149,-0.0156083777403,0.0595632140106,0.999999732023,-0.000221728961327,-0.000695729555339,-5.2444503446e-05,1793193431565600512
+286,4.766666667,POSE2_TO_POSE3_RETREAT,764.223922473,743,712,673.223922473,658,630,877.223922473,781.223922473,800,649,628,650,0.44525363965,-0.0155938657661,0.0595608425162,0.999999731528,-0.000210398366557,-0.000700016508557,-5.15106133775e-05,1793193431582267904
+287,4.783333333,POSE2_TO_POSE3_RETREAT,764,742.646374534,712,673,658.353625466,630.353625466,877.353625466,781.353625466,800,649,628,650,0.444996426659,-0.0155785263298,0.0595600165755,0.99999973283,-0.000198921115715,-0.000701625659482,-4.99261081402e-05,1793193431598934528
+288,4.800000000,POSE2_TO_POSE3_RETREAT,764,742.069814521,712,673,658.930185479,630.930185479,877.930185479,781.930185479,800,649,628,650,0.44472382969,-0.0155626652387,0.0595601649912,0.999999735217,-0.000187351408013,-0.000701546655679,-4.79314383513e-05,1793193431615600896
+289,4.816666667,POSE2_TO_POSE3_RETREAT,764,742,711.496269805,673,658.496269805,631,878,781.496269805,800,648.496269805,628,650,0.444424081595,-0.0155481090589,0.0595708875884,0.999999753019,-0.000174613776254,-0.000679298082922,-4.50165717362e-05,1793193431632267264
+290,4.833333333,POSE2_TO_POSE3_RETREAT,764,742.079372041,711.079372041,673.079372041,658,631,877.920627959,781.079372041,800,648.079372041,628.079372041,650,0.444116653957,-0.0155346405446,0.0595834860635,0.999999771967,-0.000162876020116,-0.000654045218834,-4.19709221063e-05,1793193431648933888
+291,4.850000000,POSE2_TO_POSE3_RETREAT,764,742.671237299,711.671237299,673.671237299,658,631,877.328762701,781.671237299,800,648.671237299,628.671237299,650,0.443783793152,-0.015527034115,0.0595987904078,0.999999788768,-0.00015863324533,-0.000629115309215,-3.88993977719e-05,1793193431665600768
+292,4.866666667,POSE2_TO_POSE3_RETREAT,764.257509215,743,712,673.742490785,658,631,877,782,800,649,628.742490785,650,0.443426713846,-0.0155233648045,0.0596152879709,0.999999809858,-0.000133275376503,-0.000601079729143,-3.49920493352e-05,1793193431682267648
+293,4.883333333,POSE2_TO_POSE3_RETREAT,764.836791877,743,712,673.163208123,658,631,877,782,800,649,628.163208123,650,0.443039372068,-0.0155246151643,0.0596332765327,0.999999834251,-8.15329117871e-05,-0.000569163424963,-3.00402878942e-05,1793193431698934016
+294,4.900000000,POSE2_TO_POSE3_RETREAT,764.587613742,742.587613742,712,673,658.412386258,631,877.412386258,782.412386258,800,649,628.412386258,650,0.44260201761,-0.0155201689803,0.059642513823,0.999999842721,-6.62102187104e-05,-0.000556343371118,-2.56068159227e-05,1793193431715601664
+295,4.916666667,POSE2_TO_POSE3_RETREAT,764.013466127,742.013466127,712,673,658.986533873,631,877.986533873,782.986533873,800,649,628.986533873,650,0.442145045342,-0.0155134882876,0.0596483183664,0.99999984584,-6.51734337032e-05,-0.000551013954519,-2.13766467146e-05,1793193431732269824
+296,4.933333333,POSE2_TO_POSE3_RETREAT,764,742,712,673,659,631.573159727,877.426840273,782.426840273,800.573159727,649,629,650,0.441639934216,-0.0154933167973,0.0596517941758,0.99999984909,-3.80797279408e-05,-0.000547695503446,-1.99709472404e-05,1793193431748935936
+297,4.950000000,POSE2_TO_POSE3_RETREAT,764,742.159095756,711.840904244,673,659,632,877.159095756,782.159095756,800.840904244,649,628.840904244,650,0.441123105315,-0.0154718214875,0.0596587121665,0.999999854104,-9.5759635435e-06,-0.000539784568022,-1.82591729615e-05,1793193431765602048
+298,4.966666667,POSE2_TO_POSE3_RETREAT,764,742.742393304,711.257606696,673,659,632,877.742393304,782.742393304,800.257606696,649,628.257606696,650,0.440578115773,-0.0154476603699,0.0596749572762,0.999999864718,2.10188347613e-05,-0.000519499775731,-1.55504279931e-05,1793193431782267904
+299,4.983333333,POSE2_TO_POSE3_RETREAT,764,743,711.321215104,673,659,632,878,783,800,649,628.321215104,650,0.440030304958,-0.0154336766668,0.0597033012479,0.999999883653,6.32356443645e-05,-0.00047812594469,-9.54661041294e-06,1793193431798934272
+300,5.000000000,POSE2_TO_POSE3_RETREAT,764,743,711.896496852,673,659,632,878,783,800,649,628.896496852,650,0.439480262585,-0.0154277428364,0.0597412148751,0.999999905198,0.000114644943192,-0.000420071632126,-9.36538846503e-07,1793193431815600640
+301,5.016666667,POSE2_TO_POSE3_RETREAT,764,743,712,673.480491741,659,632,877.519508259,783,800,649,629,650,0.438904790252,-0.0154297770966,0.0597938324322,0.999999937785,0.000112987038985,-0.000334046182433,8.77701174203e-06,1793193431832267008
+302,5.033333333,POSE2_TO_POSE3_RETREAT,764,742.934409579,712,673.934409579,659.065590421,632,877.065590421,783.065590421,799.934409579,649.065590421,629,650,0.43830995809,-0.0154326213392,0.0598432121429,0.999999962296,0.000104496849805,-0.000253300204983,1.81199433979e-05,1793193431848933632
+303,5.050000000,POSE2_TO_POSE3_RETREAT,764,742.355630764,712,673.355630764,659.644369236,632,877.644369236,783.644369236,799.355630764,649.644369236,629,650,0.437607302991,-0.0154281255192,0.0598420187744,0.999999956524,0.000133641446531,-0.000261874839828,2.26689514194e-05,1793193431865601024
+304,5.066666667,POSE2_TO_POSE3_RETREAT,764,742,712,673,659.776930714,632,877.776930714,783.776930714,799,649.776930714,629,650,0.436870110808,-0.0154214751154,0.0598207055362,0.999999943042,0.000152900424431,-0.000299870824416,2.47948912288e-05,1793193431882267904
+305,5.083333333,POSE2_TO_POSE3_RETREAT,764,742,712,673,659.198356228,632,877.198356228,783.198356228,799,649.198356228,629,650,0.436077876968,-0.0154113909548,0.0597673272907,0.999999913484,0.000156404703526,-0.000384755570088,2.30591903527e-05,1793193431898934272
+306,5.100000000,POSE2_TO_POSE3_RETREAT,764,742,712,673,659.378326008,632,877.378326008,783.378326008,799.378326008,649,629,650,0.435318736511,-0.0154082711017,0.0597483270183,0.999999910852,0.000132314567122,-0.000400905083496,8.04167991208e-06,1793193431915600896
+307,5.116666667,POSE2_TO_POSE3_RETREAT,764,742,712,673,659.954021057,632,877.954021057,783.954021057,799.954021057,649,629,650,0.434576860578,-0.0154087844614,0.0597472614057,0.999999922846,9.38286894315e-05,-0.00038119608457,-1.39048228136e-05,1793193431932267264
+308,5.133333333,POSE2_TO_POSE3_RETREAT,764,742.540045266,712,672.459954734,660,632,877.459954734,784,800,649,629,650,0.433794470026,-0.015414017388,0.0597659351475,0.999999937798,7.72749597762e-05,-0.00034406312214,-7.2984669414e-06,1793193431948933888
+309,5.150000000,POSE2_TO_POSE3_RETREAT,764,742.874136322,712,672.125863678,660,632.125863678,877,784,800.125863678,649,629,650,0.432997157031,-0.0154183348812,0.0597833603985,0.999999948031,7.35534107435e-05,-0.000313889944475,1.11394500496e-06,1793193431965600512
+310,5.166666667,POSE2_TO_POSE3_RETREAT,764,742.292311521,712,672.707688479,660,632.707688479,877,784,800.707688479,649,629,650,0.432158524878,-0.0154178520317,0.0597900558686,0.999999944562,0.000109422043025,-0.000314408560287,7.09080629894e-06,1793193431982267392
+311,5.183333333,POSE2_TO_POSE3_RETREAT,764,742,711.714159793,673,660,632.714159793,877,783.714159793,800.428319586,649,628.714159793,650,0.431329374128,-0.0154166071237,0.0598026696654,0.999999948236,0.000126354069685,-0.0002956634624,1.21103351999e-05,1793193431998934016
+312,5.200000000,POSE2_TO_POSE3_RETREAT,764,742,711.139716572,673,660,632.139716572,877,783.139716572,799.279433143,649,628.139716572,650,0.43050979632,-0.0154145927916,0.0598212589936,0.999999959016,0.000124166461999,-0.000257468456144,1.61632792642e-05,1793193432015600896
+313,5.216666667,POSE2_TO_POSE3_RETREAT,763.564592241,742,711.435407759,673,659.564592241,632,877,783,799,649,628,650,0.429638784223,-0.0154117937162,0.0598251333481,0.99999995777,0.000126527493568,-0.000261090743112,1.6815670963e-05,1793193432032267520
+314,5.233333333,POSE2_TO_POSE3_RETREAT,763.011045667,742,712,672.988954333,659.011045667,632,877,783,799.011045667,649,628.011045667,650,0.428750125302,-0.0154087805475,0.0598234459292,0.999999952388,0.000130306456556,-0.00027924534104,1.63179080022e-05,1793193432048934400
+315,5.250000000,POSE2_TO_POSE3_RETREAT,763.602160537,742,712,672.397839463,659.602160537,632,877,783,799.602160537,649,628.602160537,650,0.427802836051,-0.015407769001,0.0597780374461,0.9999999283,0.000131777195681,-0.000354782303509,1.28134760097e-05,1793193432065600768
+316,5.266666667,POSE2_TO_POSE3_RETREAT,764,742.189171763,711.810828237,672,660,632.189171763,877,783.189171763,800,649,629,650,0.42688237919,-0.0154083420297,0.0597536543497,0.99999991466,0.00013144945603,-0.00039151048963,1.09459062275e-05,1793193432082267136
+317,5.283333333,POSE2_TO_POSE3_RETREAT,764,742.767735985,711.232264015,672,660,632.767735985,877,783.767735985,800,649,629,650,0.426017154362,-0.0154121767593,0.059772550057,0.999999931129,0.000127419716322,-0.000348354421666,1.24476652168e-05,1793193432098933760
+318,5.300000000,POSE2_TO_POSE3_RETREAT,764,743,711.344142927,672,659.655857073,633,877,784,800,649,629.344142927,650,0.42513228864,-0.0154128756279,0.0597952083669,0.999999940369,0.000130875610303,-0.000319202964039,1.55691482565e-05,1793193432115600384
+319,5.316666667,POSE2_TO_POSE3_RETREAT,764,743,711.919102953,672,659.080897047,633,877,784,800,649,629.919102953,650,0.424234249779,-0.0154114712706,0.0598203902583,0.999999945261,0.000139352128581,-0.000299444418352,1.97769822297e-05,1793193432132267264
+320,5.333333333,POSE2_TO_POSE3_RETREAT,764,743,711.494422471,672,659,633,877,784,800,649,629.494422471,650,0.423363712198,-0.0154071341781,0.0598332703851,0.999999950878,0.000147237373816,-0.000275866361845,2.15254375102e-05,1793193432148934144
+321,5.350000000,POSE2_TO_POSE3_RETREAT,763.907491145,742.907491145,711.092508855,672,659,632.907491145,877,784,800,649,628.907491145,650,0.422488973197,-0.0154032312176,0.0598428945123,0.999999955383,0.000154431801559,-0.000254693418572,2.27377026414e-05,1793193432165601024
+322,5.366666667,POSE2_TO_POSE3_RETREAT,763.32807932,742.32807932,711.67192068,672,659,632.32807932,877,784,800,649,628.32807932,650,0.421568420364,-0.0154041406789,0.0598459830279,0.999999956051,0.000158499801416,-0.000249471023302,2.32473383778e-05,1793193432182267648
+323,5.383333333,POSE2_TO_POSE3_RETREAT,763,742,712,672,659,632,877.250203308,783.749796692,800,649,628.250203308,650,0.420624924896,-0.0154030100395,0.0598200908114,0.999999942865,0.00016162845913,-0.000296146825261,2.1071825719e-05,1793193432198934528
+324,5.400000000,POSE2_TO_POSE3_RETREAT,763,742,712,672,659,632,877.827012006,783.172987994,800,649,628.827012006,650,0.419651480902,-0.0153992163342,0.0597563683067,0.999999902227,0.000163530936234,-0.000410568454957,1.53912275993e-05,1793193432215600640
+325,5.416666667,POSE2_TO_POSE3_RETREAT,763,742.400735741,711.599264259,672,659,632,877.198528519,783,799.599264259,649,629,650,0.418767310142,-0.0154001100063,0.0597324107888,0.999999893984,0.000159476980287,-0.000431813092848,1.16916450574e-05,1793193432232267008
+326,5.433333333,POSE2_TO_POSE3_RETREAT,763,742.973137909,711.026862091,672,659,632,876.053724181,783,799.026862091,649,629,650,0.417921382142,-0.0154030116485,0.0597254877254,0.999999902933,0.000152871419106,-0.000413142739689,8.84068665302e-06,1793193432248933632
+327,5.450000000,POSE2_TO_POSE3_RETREAT,763.56341846,742.43658154,711.56341846,672.56341846,659.56341846,632,876.56341846,783.56341846,799.56341846,649,629,650,0.417118914721,-0.0154038816825,0.0597678492394,0.999999923914,0.000160181684418,-0.00035538258658,1.47517634562e-05,1793193432265600256
+328,5.466666667,POSE2_TO_POSE3_RETREAT,764,742,712,672.848701125,659.848701125,632.151298875,877,784,799.848701125,649,629,650,0.416309556124,-0.015404070639,0.0598071007118,0.999999939061,0.000167655874584,-0.000305542003704,2.03356242708e-05,1793193432282267136
+329,5.483333333,POSE2_TO_POSE3_RETREAT,764,742,712,672.270085804,659.270085804,632.729914196,877,784,799.270085804,649,629,650,0.41547469071,-0.0154026185462,0.0598307145233,0.999999944451,0.000173657796433,-0.000283504966434,2.37768039022e-05,1793193432298934272
+330,5.500000000,POSE2_TO_POSE3_RETREAT,764,742,711.69262148,672,659.30737852,632.69262148,877,784,799,649,629,650,0.414667878308,-0.0154020990802,0.0598438244591,0.999999948118,0.000174211884224,-0.000269753138259,2.54620873096e-05,1793193432315601152
+331,5.516666667,POSE2_TO_POSE3_RETREAT,764,742,711.116164765,672,659.883835235,632.116164765,877,784,799,649,629,650,0.413885623467,-0.015402396033,0.0598477393337,0.999999950571,0.000169996954859,-0.000263254157446,2.56102644826e-05,1793193432332267776
+332,5.533333333,POSE2_TO_POSE3_RETREAT,763.539838992,742,711.460161008,671.539838992,659.539838992,632.460161008,876.539838992,783.539838992,799,649,629,650,0.413084898798,-0.0153995893659,0.0598313461469,0.999999941718,0.000178640490238,-0.000289955710329,2.40465753934e-05,1793193432348934144
+333,5.550000000,POSE2_TO_POSE3_RETREAT,763,742,712,671.037260799,659,633,876,783,799.037260799,649,629,650,0.412281771502,-0.0153959132806,0.0598082555938,0.999999928108,0.000189662228364,-0.000327618765896,2.18643699834e-05,1793193432365600512
+334,5.566666667,POSE2_TO_POSE3_RETREAT,763,742,712,671.626311642,659,633,876,783,799.626311642,649,629,650,0.411512092991,-0.0153909613895,0.0597618828403,0.999999900797,0.000187845964479,-0.000403527452645,1.69204721866e-05,1793193432382267136
+335,5.583333333,POSE2_TO_POSE3_RETREAT,763,742,712,672,659,633,876,783.211917092,799.788082908,649,629,650,0.41077827792,-0.0153886624476,0.0597402931019,0.999999888107,0.000186308466002,-0.000434595895731,1.4208950251e-05,1793193432398933760
+336,5.600000000,POSE2_TO_POSE3_RETREAT,763,742,712,672,659,633,876,783.791544326,799.208455674,649,629,650,0.410106691541,-0.0153909667971,0.0597617058616,0.999999907505,0.000185254671185,-0.000387859339375,1.53709577845e-05,1793193432415600384
+337,5.616666667,POSE2_TO_POSE3_RETREAT,763,742.366784829,712,672,659,633,876,783.633215171,799,648.633215171,628.633215171,650,0.409481025015,-0.015392025888,0.0597996678723,0.999999928288,0.000187439082836,-0.000328470509545,1.99449820672e-05,1793193432432267520
+338,5.633333333,POSE2_TO_POSE3_RETREAT,763,742.939561642,712,672,659,633,876,783.060438358,799,648.060438358,628.060438358,650,0.408881147822,-0.0153923856224,0.0598469241947,0.99999994701,0.000191442120415,-0.000261975970838,2.64352471392e-05,1793193432448934656
+339,5.650000000,POSE2_TO_POSE3_RETREAT,763.529209195,742.470790805,712,671.470790805,659,633,876,783.529209195,799,648.529209195,628.529209195,650,0.40828732541,-0.0153922063842,0.0598571577512,0.999999950462,0.000194711692852,-0.00024575774884,2.76777386829e-05,1793193432465601280
+340,5.666666667,POSE2_TO_POSE3_RETREAT,764,742,712,671.118296353,659.118296353,633,876.118296353,784,799.118296353,649,629,650,0.407696984718,-0.0153919178157,0.0598586612007,0.999999951056,0.000196314817702,-0.000242040600733,2.76504162654e-05,1793193432482267648
+341,5.683333333,POSE2_TO_POSE3_RETREAT,764,742,712,671.697447106,659.697447106,633,876.697447106,784,799.697447106,649,629,650,0.407117425426,-0.0153914510165,0.0598431686459,0.999999946472,0.000191762935363,-0.00026391936146,2.50879005717e-05,1793193432498934272
+342,5.700000000,POSE2_TO_POSE3_RETREAT,763.725157643,742,712,672,659.725157643,633,876.725157643,784,799.725157643,649,629,650,0.406566498478,-0.0153914232482,0.0598332682025,0.999999943854,0.000191087462737,-0.000274298777509,2.31874173343e-05,1793193432515600896
+343,5.716666667,POSE2_TO_POSE3_RETREAT,763.149682662,742,712,672,659.149682662,633,876.149682662,784,799.149682662,649,629,650,0.406046890674,-0.0153918757079,0.0598294846159,0.999999943794,0.00019465214924,-0.000272099788343,2.20110895947e-05,1793193432532267520
+344,5.733333333,POSE2_TO_POSE3_RETREAT,763.433766104,742,712,671.566233896,659,633,876,784,799,649,629,650,0.405578757819,-0.0153890540104,0.0598314745163,0.999999944698,0.000194210063017,-0.000269099855513,2.17237714559e-05,1793193432548934400
+345,5.750000000,POSE2_TO_POSE3_RETREAT,764,742,711.980246669,671.019753331,659,633,876.019753331,784,799.019753331,649,628.980246669,650,0.405129401269,-0.0153851603639,0.0598349295437,0.999999945719,0.000192659407535,-0.000266409137895,2.16837946176e-05,1793193432565601280
+346,5.766666667,POSE2_TO_POSE3_RETREAT,764,742,711.401746414,671.598253586,659,633,876.598253586,784,799.598253586,649,628.401746414,650,0.404699304299,-0.0153835026215,0.0598224175714,0.999999940565,0.000199593719497,-0.000280429307698,1.98001120462e-05,1793193432582268672
+347,5.783333333,POSE2_TO_POSE3_RETREAT,763.823120646,742,711.176879354,671.823120646,659,633,876.823120646,784,799.823120646,649,628.176879354,650,0.404273790995,-0.0153823135881,0.0598051801031,0.999999931554,0.000206773797317,-0.000306277213939,1.81630553111e-05,1793193432598935552
+348,5.800000000,POSE2_TO_POSE3_RETREAT,763.244209488,742,711.755790512,671.244209488,659,633,876.244209488,784,799.244209488,649,628.755790512,650,0.403858695891,-0.0153821898906,0.0597772019798,0.999999912403,0.000214512481214,-0.000359008566627,1.70865578385e-05,1793193432615601920
+349,5.816666667,POSE2_TO_POSE3_RETREAT,763.332875552,742,712,671.332875552,659,633,876.332875552,783.667124448,799.332875552,649,628.667124448,650.332875552,0.403502957377,-0.0153804643604,0.0597684685337,0.999999906596,0.000218873646086,-0.00037229665956,1.72208783682e-05,1793193432632268032
+350,5.833333333,POSE2_TO_POSE3_RETREAT,763.908628161,742,712,671.908628161,659,633,876.908628161,783.091371839,799.908628161,649,628.091371839,650.908628161,0.403190527427,-0.0153775700799,0.0597737766448,0.999999911809,0.000220770460742,-0.000356805637782,1.82386520037e-05,1793193432648934912
+351,5.850000000,POSE2_TO_POSE3_RETREAT,764,742,712,671.506092897,659,633,876.506092897,783.493907103,799.506092897,649,628.493907103,650.506092897,0.402935363084,-0.0153743682306,0.0597892181415,0.99999991912,0.000231364464114,-0.000328314918831,2.09693872524e-05,1793193432665601024
+352,5.866666667,POSE2_TO_POSE3_RETREAT,763.920122402,742,711.920122402,671.079877598,659,633,876.079877598,784,799.079877598,649,629,650.079877598,0.402695108009,-0.0153716214798,0.0598066665567,0.999999926212,0.000241790704111,-0.000297545955266,2.40762749053e-05,1793193432682267136
+353,5.883333333,POSE2_TO_POSE3_RETREAT,763.341060326,742,711.341060326,671.658939674,659,633,876.658939674,784,799.658939674,649,629,650.658939674,0.402480518397,-0.015372081387,0.0598247111191,0.999999934726,0.000240915778659,-0.000267864203814,2.75145386198e-05,1793193432698934016
+354,5.900000000,POSE2_TO_POSE3_RETREAT,763.236937908,742,711,672,659,633,876.763062092,784,800,649,629,651,0.402271468979,-0.0153707916371,0.0598365689716,0.999999938873,0.000241576160202,-0.000250976248111,3.01089827309e-05,1793193432715600896
+355,5.916666667,POSE2_TO_POSE3_RETREAT,763.813411591,742,711,672,659,633,876.186588409,784,800,649,629,651,0.402070358764,-0.0153669946007,0.0598395611693,0.999999937771,0.000244436661309,-0.00025242200718,3.14942197174e-05,1793193432732267776
+356,5.933333333,POSE2_TO_POSE3_RETREAT,764,742,711.388517485,672,659,633,876,784,799.611482515,649,629,650.611482515,0.401885120397,-0.015365633383,0.0598350410659,0.999999935285,0.000242969434739,-0.000263474506045,3.12555904895e-05,1793193432748934400
+357,5.950000000,POSE2_TO_POSE3_RETREAT,764,742,711.962968844,672,659,633,876,784,799.037031156,649,629,650.037031156,0.401707477845,-0.0153654378814,0.0598269257803,0.999999931924,0.000239431075916,-0.000279124528685,3.0239823288e-05,1793193432765601024
+358,5.966666667,POSE2_TO_POSE3_RETREAT,764,742,711.444482744,672,658.444482744,633,876.555517256,784,800.111034512,649,628.444482744,650,0.401574486745,-0.0153748896131,0.0598240739335,0.999999929734,0.000241779147655,-0.000285222108803,2.68897341095e-05,1793193432782267904
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764,742,711.144295445,671.855704555,658.288590891,633,876.855704555,784,800.711409109,649,628.144295445,650.144295445,0.401453290397,-0.0153845996894,0.059823071443,0.999999930939,0.000233283947453,-0.000288535701312,2.11808799385e-05,1793193432798934272
+360,6.000000000,POSE2_TO_POSE3_RETREAT,764,742,711.718138254,671.281861746,659.436276508,633,876.281861746,784,799.563723492,649,628.718138254,650.718138254,0.401358046358,-0.0153930999665,0.0598264945817,0.999999940901,0.000191302408418,-0.000285521166725,8.92913157124e-06,1793193432815600640
+361,6.016666667,POSE2_TO_POSE3_RETREAT,764,742,712,671.294387402,659.411225196,633,876.294387402,784,799.294387402,649,629,650.705612598,0.401276635001,-0.0153964401376,0.0598307574468,0.999999946088,0.00017082612052,-0.00028040796312,3.69273417831e-06,1793193432832267264
+362,6.033333333,POSE2_TO_POSE3_RETREAT,764,742,712,671.872959457,658.254081085,633,876.872959457,784,799.872959457,649,629,650.127040543,0.401208576924,-0.0153947990389,0.0598358309352,0.999999948009,0.000171109767043,-0.000273268825803,5.22855357274e-06,1793193432848933888
+363,6.050000000,POSE2_TO_POSE3_RETREAT,763.553803593,742,711.553803593,671.553803593,658.446196407,633,876.553803593,783.553803593,799.553803593,649,629,650.446196407,0.401153259427,-0.0153928478922,0.0598355001955,0.999999948145,0.000172129473117,-0.000272114375907,5.8501898509e-06,1793193432865600768
+364,6.066666667,POSE2_TO_POSE3_RETREAT,763.018690822,742,711,671,659,633,876,783.018690822,799.018690822,649,628.981309178,650.981309178,0.401102022178,-0.0153908472541,0.0598336914904,0.999999947789,0.000173280231882,-0.00027268452632,6.21753862106e-06,1793193432882267904
+365,6.083333333,POSE2_TO_POSE3_RETREAT,763.614610966,742,711,671,659,633,876,783.614610966,799.614610966,649,628.385389034,650.385389034,0.401066091309,-0.0153900122064,0.059833196545,0.999999947493,0.000172082608902,-0.000274514086698,6.67513606743e-06,1793193432898934784
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764,742,711.203750056,671.203750056,659,633,876,783.796249944,800,649,628.203750056,650,0.401034238926,-0.0153890489936,0.0598326624002,0.999999947056,0.000171557251549,-0.000276419981038,6.99652183495e-06,1793193432915601664
+367,6.116666667,POSE2_TO_POSE3_RETREAT,764,742,711.780475982,671.780475982,659,633,876,783.219524018,800,649,628.780475982,650,0.401009852446,-0.0153878511674,0.0598320564987,0.999999946366,0.000172262514145,-0.000278465608764,7.06856445894e-06,1793193432932268288
+368,6.133333333,POSE2_TO_POSE3_RETREAT,764,742.355806842,712,671.644193158,659,633,876,783.355806842,800,649,629,650,0.40099105433,-0.0153879040354,0.0598307998785,0.999999945426,0.00017256556774,-0.000281631630621,7.28933841976e-06,1793193432948934656
+369,6.150000000,POSE2_TO_POSE3_RETREAT,764,742.930280397,712,671.069719603,659,633,876,783.930280397,800,649,629,650,0.40097569063,-0.0153887255372,0.0598291433488,0.999999944321,0.00017262143751,-0.000285486208583,7.60151757928e-06,1793193432965600512
+370,6.166666667,POSE2_TO_POSE3_RETREAT,764,742.481049406,712,671.518950594,659,633,876.518950594,784,800,649,629,650.518950594,0.400972966608,-0.01538889084,0.0598313307267,0.999999945377,0.000173591237626,-0.000281154407529,8.01264725359e-06,1793193432982267136
+371,6.183333333,POSE2_TO_POSE3_RETREAT,764,742,712,671.892468373,658.892468373,633,876.892468373,784,800.107531627,649,629,651,0.400971674228,-0.0153890277625,0.0598335017075,0.999999946427,0.000174769525883,-0.000276643376131,8.3830764731e-06,1793193432998934016
+372,6.200000000,POSE2_TO_POSE3_RETREAT,764,742,712,671.312886773,658.312886773,633,876.312886773,784,800.687113227,649,629,651,0.400969002434,-0.0153894379889,0.0598332699358,0.999999946248,0.000176308884362,-0.000276309396456,8.51483694745e-06,1793193433015600640
+373,6.216666667,POSE2_TO_POSE3_RETREAT,764,742.264016776,711.735983224,671.264016776,658.264016776,633,876,784,800.471966448,649,628.735983224,650.735983224,0.400967548213,-0.0153892743606,0.0598339751257,0.999999946436,0.000177217924284,-0.000275040997506,8.62606416897e-06,1793193433032267264
+374,6.233333333,POSE2_TO_POSE3_RETREAT,764,742.837778397,711.162221603,671.837778397,658.837778397,633,876,784,799.324443206,649,628.162221603,650.162221603,0.400967522452,-0.0153884374852,0.0598357795603,0.999999947053,0.000177387473515,-0.000272676336597,8.7132017421e-06,1793193433048934400
+375,6.250000000,POSE2_TO_POSE3_RETREAT,763.577781633,742.577781633,711,671.577781633,659,633,876,784,799,649,628.422218367,650,0.400967406807,-0.0153894213947,0.0598363836915,0.999999947613,0.000175824218207,-0.000271628227092,8.81284716021e-06,1793193433065601024
+376,6.266666667,POSE2_TO_POSE3_RETREAT,763,742,711.010688088,671.010688088,658.989311912,633,876,784,799.010688088,649,629,650,0.400967247577,-0.0153910962998,0.0598365305366,0.999999948143,0.000173632176239,-0.000271083042369,8.92038270598e-06,1793193433082267648
+377,6.283333333,POSE2_TO_POSE3_RETREAT,763,742,711.58961735,671.58961735,658.41038265,633,876,784,799.58961735,649,629,650,0.400966654749,-0.0153913503604,0.0598375201533,0.999999948398,0.000174324560691,-0.000269685296119,9.18527661969e-06,1793193433098934272
+378,6.300000000,POSE2_TO_POSE3_RETREAT,763.168420744,742,712,672,658.168420744,633,876,783.831579256,800,649,629,650.168420744,0.40096568086,-0.0153909628707,0.0598379391431,0.999999948289,0.000175240671164,-0.000269493159629,9.2720637751e-06,1793193433115600640
+379,6.316666667,POSE2_TO_POSE3_RETREAT,763.746917587,742,712,672,658.746917587,633,876,783.253082413,800,649,629,650.746917587,0.400963779152,-0.0153890133138,0.0598369687524,0.999999947292,0.00017670151665,-0.000272236479704,8.92519098362e-06,1793193433132267264
+380,6.333333333,POSE2_TO_POSE3_RETREAT,763.677716976,742,711.677716976,672,659,633,876.322283024,783.322283024,800,649,629,651,0.400963506169,-0.0153885313958,0.0598368007774,0.999999947254,0.000176812564589,-0.000272312990756,8.64440325603e-06,1793193433148933632
+381,6.350000000,POSE2_TO_POSE3_RETREAT,763.104786845,742,711.104786845,672,659,633,876.895213155,783.895213155,800,649,629,651,0.400964499886,-0.0153891908949,0.0598372568598,0.999999947964,0.0001758738433,-0.000270315461835,8.415011404e-06,1793193433165600512
+382,6.366666667,POSE2_TO_POSE3_RETREAT,763.482070406,742,711.482070406,671.517929594,659,633,877,783.517929594,799.517929594,649,629,650.517929594,0.400964598853,-0.0153892134642,0.0598371784601,0.999999947857,0.000176741658492,-0.000270139177848,8.56041215898e-06,1793193433182267648
+383,6.383333333,POSE2_TO_POSE3_RETREAT,763.929364746,742,711.929364746,671,659,632.929364746,876.929364746,783,799,649,629,650,0.400964437671,-0.0153891234572,0.0598370730714,0.99999994761,0.00017786495166,-0.000270309063897,8.77553784676e-06,1793193433198934272
+384,6.400000000,POSE2_TO_POSE3_RETREAT,763.35093448,742,711.35093448,671,659,632.35093448,876.35093448,783,799,649,629,650,0.400963846067,-0.0153892490547,0.0598376337176,0.999999947673,0.000177917892822,-0.000270036912293,8.8888191445e-06,1793193433215600896
+385,6.416666667,POSE2_TO_POSE3_RETREAT,763.226489007,742,711,671.226489007,658.773510993,632.226489007,876,783.226489007,799.226489007,649,629,650.226489007,0.400963860505,-0.0153893327203,0.059838047057,0.999999947655,0.000178485596319,-0.000269723137553,9.07201535376e-06,1793193433232267520
+386,6.433333333,POSE2_TO_POSE3_RETREAT,763.802359406,742,711,671.802359406,658.197640594,632.802359406,876,783.802359406,799.802359406,649,629,650.802359406,0.400964809819,-0.0153893517021,0.0598382331612,0.99999994751,0.000179847370938,-0.000269345155079,9.36306212828e-06,1793193433248934144
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764,742,711,671.614427691,658,633,876,783.614427691,799.614427691,649,629,650.614427691,0.400964196948,-0.015389411093,0.059838066709,0.999999947584,0.00017859748193,-0.000269908685333,9.14535985503e-06,1793193433265600512
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764,742,711,671.027378046,658,633,876,783.027378046,799.027378046,649,629,650.027378046,0.40096276777,-0.0153894915992,0.0598377160316,0.999999947767,0.000175982891579,-0.00027096419459,8.66181534127e-06,1793193433282267136
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764,742,711.551580547,671,658,633,876.551580547,783.551580547,799.551580547,649,628.448419453,650.551580547,0.400964870806,-0.0153903996337,0.0598388616698,0.999999948515,0.00017526241089,-0.000268656167727,8.79875685068e-06,1793193433298933760
+390,6.500000000,POSE2_TO_POSE3_RETREAT,763.869648299,742,712,671,658,633,877,784,799.869648299,649,628,651,0.400966332473,-0.0153912782667,0.0598396830841,0.999999949002,0.000175037835964,-0.000266977374849,8.98821038079e-06,1793193433315600640
+391,6.516666667,POSE2_TO_POSE3_RETREAT,763.290159357,742,712,671,658,633,877,784,799.290159357,649,628,651,0.40096498889,-0.0153919161136,0.0598391351525,0.999999948512,0.000176202690038,-0.000268033586346,9.25401466451e-06,1793193433332267520
+392,6.533333333,POSE2_TO_POSE3_RETREAT,763.286709815,742,712,671,658.573419629,633,877,783.713290185,799.286709815,649,628,650.713290185,0.400964633613,-0.0153917830733,0.0598389984694,0.999999948354,0.000176615024988,-0.000268350956156,9.36094783011e-06,1793193433348934144
+393,6.550000000,POSE2_TO_POSE3_RETREAT,763.860951769,742,712,671,659.721903539,633,877,783.139048231,799.860951769,649,628,650.139048231,0.400965269477,-0.0153908769348,0.0598392742142,0.999999948528,0.000176272682617,-0.000267927365297,9.3085542438e-06,1793193433365600768
+394,6.566666667,POSE2_TO_POSE3_RETREAT,763.551963135,742,712,671.448036865,659.551963135,633,876.551963135,783.448036865,800,649,628.448036865,650,0.400964550427,-0.0153900857004,0.0598391600737,0.999999948055,0.000178366990608,-0.000268305461791,9.31188535406e-06,1793193433382267392
+395,6.583333333,POSE2_TO_POSE3_RETREAT,763.038446951,742,711.961553049,671.961553049,659,632.961553049,876,783.961553049,799.961553049,648.961553049,629,650,0.400963412816,-0.0153893882559,0.0598388760434,0.999999947403,0.000180977595276,-0.000268987138139,9.32315124662e-06,1793193433398934016
+396,6.600000000,POSE2_TO_POSE3_RETREAT,763.617902772,742,711.382097228,671.382097228,659,632.382097228,876,783.382097228,799.382097228,648.382097228,629,650,0.400962477074,-0.0153894939728,0.0598379543191,0.999999947235,0.000179898150845,-0.000270336281345,9.1955343132e-06,1793193433415600640
+397,6.616666667,POSE2_TO_POSE3_RETREAT,764,742,711,671,659,632.195421292,876,783.195421292,799,648.195421292,629,650,0.400961970887,-0.0153900554916,0.0598374663791,0.999999947371,0.000178665543171,-0.000270651344547,9.17945643649e-06,1793193433432267264
+398,6.633333333,POSE2_TO_POSE3_RETREAT,764,742,711,671,659,632.769189055,876,783.769189055,799,648.769189055,629,650,0.400962296342,-0.0153914994682,0.05983781827,0.999999948096,0.000177136403019,-0.000268964371363,9.37932437463e-06,1793193433448933888
+399,6.650000000,POSE2_TO_POSE3_RETREAT,763.656231898,742,711.343768102,671.343768102,659,633,876,784,799.343768102,649,628.656231898,650.343768102,0.400963124962,-0.0153921217481,0.0598384257191,0.999999948556,0.000176272114557,-0.00026781485662,9.59603414692e-06,1793193433465600512
+400,6.666666667,POSE2_TO_POSE3_RETREAT,763.081106878,742,711.918893122,671.918893122,659,633,876,784,799.918893122,649,628.081106878,650.918893122,0.400964292213,-0.0153921910237,0.0598392051596,0.999999948837,0.000175855273249,-0.000267027053014,9.82407851377e-06,1793193433482267648
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_05/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_05/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c1e484a3ffc01a98a1568c1b29286afa97df89e7
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_05/depth_04/simulation_data.csv
@@ -0,0 +1,402 @@
+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,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+1,0.016666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+2,0.033333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+3,0.050000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+4,0.066666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+5,0.083333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+6,0.100000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+7,0.116666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+8,0.133333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+9,0.150000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+10,0.166666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+11,0.183333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+12,0.200000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+13,0.216666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+14,0.233333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+15,0.250000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+16,0.266666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+17,0.283333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+18,0.300000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+19,0.316666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+20,0.333333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+21,0.350000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+22,0.366666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+23,0.383333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+24,0.400000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+25,0.416666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+26,0.433333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+27,0.450000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+28,0.466666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+29,0.483333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+30,0.500000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+31,0.516666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+32,0.533333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+33,0.550000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+34,0.566666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+35,0.583333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+36,0.600000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+37,0.616666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+38,0.633333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+39,0.650000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+40,0.666666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+41,0.683333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+42,0.700000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+43,0.716666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+44,0.733333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+45,0.750000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+46,0.766666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+47,0.783333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+48,0.800000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+49,0.816666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+50,0.833333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+51,0.850000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+52,0.866666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+53,0.883333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+54,0.900000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+55,0.916666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+56,0.933333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+57,0.950000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+58,0.966666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+59,0.983333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+60,1.000000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+61,1.016666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+62,1.033333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+63,1.050000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+64,1.066666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+65,1.083333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+66,1.100000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+67,1.116666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+68,1.133333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+69,1.150000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+70,1.166666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+71,1.183333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+72,1.200000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+73,1.216666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+74,1.233333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+75,1.250000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+76,1.266666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+77,1.283333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+78,1.300000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+79,1.316666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+80,1.333333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+81,1.350000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+82,1.366666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+83,1.383333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+84,1.400000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+85,1.416666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+86,1.433333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+87,1.450000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+88,1.466666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+89,1.483333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+90,1.500000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+91,1.516666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+92,1.533333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+93,1.550000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+94,1.566666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+95,1.583333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+96,1.600000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+97,1.616666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+98,1.633333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+99,1.650000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+100,1.666666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+101,1.683333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+102,1.700000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+103,1.716666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+104,1.733333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+105,1.750000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+106,1.766666667,pose1_to_pose2_press,0.575709297938,-0.00994554640867,1.05002942762,0.54628003044,-0.00127280956149,1.04969871023
+107,1.783333333,pose1_to_pose2_press,0.575709346431,-0.00994552267649,1.05002942525,0.546280078444,-0.00127278745805,1.04969870874
+108,1.800000000,pose1_to_pose2_press,0.57570940538,-0.00994549382728,1.05002942237,0.546280136797,-0.00127276058876,1.04969870693
+109,1.816666667,pose1_to_pose2_press,0.575709441224,-0.00994548954098,1.05002940822,0.546280172548,-0.00127275659411,1.04969869343
+110,1.833333333,pose1_to_pose2_press,0.575709468595,-0.00994549227213,1.05002939181,0.54628019997,-0.00127275913474,1.04969867751
+111,1.850000000,pose1_to_pose2_press,0.57570956959,-0.00994550234953,1.05002933125,0.546280301151,-0.00127276850921,1.04969861875
+112,1.866666667,pose1_to_pose2_press,0.575710210778,-0.00994549839623,1.05002913502,0.546280942335,-0.00127276431811,1.0496984292
+113,1.883333333,pose1_to_pose2_press,0.575712071673,-0.00994536832231,1.05002909288,0.546282801224,-0.00127264098416,1.04969838874
+114,1.900000000,pose1_to_pose2_press,0.575716397429,-0.00994540320092,1.05002909328,0.546287128188,-0.00127267189293,1.04969838579
+115,1.916666667,pose1_to_pose2_press,0.575725730726,-0.00994544702062,1.05002913903,0.546296461604,-0.00127271519477,1.04969843444
+116,1.933333333,pose1_to_pose2_press,0.57574161011,-0.00994528027242,1.05002893219,0.54631233937,-0.00127255381156,1.04969823079
+117,1.950000000,pose1_to_pose2_press,0.57576857152,-0.00994541489976,1.05002922542,0.546339301646,-0.00127268577454,1.04969851679
+118,1.966666667,pose1_to_pose2_press,0.575806430579,-0.00994537564538,1.05002887213,0.546377159401,-0.00127265050953,1.04969817492
+119,1.983333333,pose1_to_pose2_press,0.57585547985,-0.00994538409073,1.05002905312,0.546426210904,-0.00127265172351,1.04969834684
+120,2.000000000,pose1_to_pose2_press,0.575915256862,-0.00994539129402,1.05002906316,0.546485987516,-0.00127266034025,1.04969835529
+121,2.016666667,pose1_to_pose2_press,0.575986467877,-0.00994542602991,1.05002917696,0.546557198836,-0.00127269422251,1.04969846425
+122,2.033333333,pose1_to_pose2_press,0.576065839493,-0.00994554332386,1.05002914191,0.546636571608,-0.00127280749033,1.04969843191
+123,2.050000000,pose1_to_pose2_press,0.576153337253,-0.00994546444723,1.05002916303,0.546724067479,-0.00127273502911,1.04969845279
+124,2.066666667,pose1_to_pose2_press,0.576253015218,-0.00994539370647,1.05002923827,0.546823744013,-0.00127266916235,1.04969852755
+125,2.083333333,pose1_to_pose2_press,0.576365201016,-0.00994543029006,1.05002903779,0.54693593058,-0.00127270305789,1.04969832913
+126,2.100000000,pose1_to_pose2_press,0.576492676991,-0.00994538442509,1.05002911354,0.547063406357,-0.00127265814619,1.04969839745
+127,2.116666667,pose1_to_pose2_press,0.57663929672,-0.00994543430501,1.05002920204,0.547210026833,-0.00127270561175,1.04969848269
+128,2.133333333,pose1_to_pose2_press,0.576807882649,-0.00994548784848,1.05002925575,0.547378613773,-0.00127275560963,1.0496985394
+129,2.150000000,pose1_to_pose2_press,0.576997696223,-0.00994534354541,1.05002933486,0.547568425097,-0.00127261868292,1.04969862521
+130,2.166666667,pose1_to_pose2_press,0.577207731705,-0.00994547677313,1.05002913037,0.547778462199,-0.00127274643643,1.04969842011
+131,2.183333333,pose1_to_pose2_press,0.577437657154,-0.00994541910945,1.05002908485,0.548008388627,-0.00127268543265,1.04969837494
+132,2.200000000,pose1_to_pose2_press,0.577684832554,-0.00994541649887,1.05002921284,0.548255563335,-0.00127268508023,1.0496985052
+133,2.216666667,pose1_to_pose2_press,0.577949387669,-0.00994541724605,1.05002935234,0.548520117709,-0.00127268842297,1.04969864257
+134,2.233333333,pose1_to_pose2_press,0.578232737875,-0.00994538818551,1.05002915032,0.548803467254,-0.00127266154136,1.04969844215
+135,2.250000000,pose1_to_pose2_press,0.578535954475,-0.00994540314768,1.05002915257,0.549106683296,-0.00127267841673,1.04969844392
+136,2.266666667,pose1_to_pose2_press,0.578863534644,-0.00994546609219,1.05002915937,0.549434265893,-0.00127273305634,1.04969845233
+137,2.283333333,pose1_to_pose2_press,0.579216579847,-0.00994542092904,1.05002933769,0.54978730898,-0.0012726956853,1.04969861457
+138,2.300000000,pose1_to_pose2_press,0.579604676435,-0.00994543378663,1.05002919997,0.550175405617,-0.00127270815556,1.04969848254
+139,2.316666667,pose1_to_pose2_press,0.580026836168,-0.00994547990538,1.05002928158,0.550597566649,-0.00127274965613,1.04969856962
+140,2.333333333,pose1_to_pose2_press,0.580485016992,-0.00994548702092,1.05002926468,0.551055747473,-0.00127275663436,1.04969855633
+141,2.350000000,pose1_to_pose2_press,0.580971631576,-0.0099454553081,1.05002912899,0.551542362272,-0.00127272419125,1.04969842057
+142,2.366666667,pose1_to_pose2_press,0.581483404891,-0.0099456301108,1.05002895476,0.552054139343,-0.00127288610869,1.04969824998
+143,2.383333333,pose1_to_pose2_press,0.582005835472,-0.00994546607715,1.05002934904,0.552576568218,-0.00127272813789,1.04969863704
+144,2.400000000,pose1_to_pose2_press,0.582539384623,-0.00994542852938,1.05002894066,0.55311011447,-0.00127270010048,1.04969823711
+145,2.416666667,pose1_to_pose2_press,0.583089608533,-0.00994539226511,1.05002927869,0.553660337827,-0.0012726659656,1.04969856849
+146,2.433333333,pose1_to_pose2_press,0.583662949484,-0.00994536278048,1.05002916346,0.554233679357,-0.00127263435258,1.04969845757
+147,2.450000000,pose1_to_pose2_press,0.584263621739,-0.00994542103031,1.05002939337,0.554834353638,-0.00127268594857,1.04969868169
+148,2.466666667,pose1_to_pose2_press,0.584893868266,-0.00994553836057,1.05002903202,0.555464598848,-0.00127280753939,1.04969832567
+149,2.483333333,pose1_to_pose2_press,0.585546050827,-0.00994545853796,1.05002902559,0.556116783068,-0.00127272204753,1.04969832032
+150,2.500000000,pose1_to_pose2_press,0.586203798609,-0.00994537670507,1.05002910109,0.556774528918,-0.0012726464553,1.04969840402
+151,2.516666667,pose1_to_pose2_press,0.586871404564,-0.00994539752058,1.05002900301,0.557442135306,-0.00127266594165,1.04969830223
+152,2.533333333,pose1_to_pose2_press,0.587558071848,-0.00994547424992,1.05002939257,0.558128802827,-0.00127274234776,1.04969867918
+153,2.550000000,pose1_to_pose2_press,0.588273581166,-0.00994544686341,1.05002941092,0.558844311394,-0.00127271749226,1.04969869804
+154,2.566666667,pose1_to_pose2_press,0.589022686291,-0.00994538209015,1.05002897076,0.559593416444,-0.00127265287232,1.04969826047
+155,2.583333333,pose1_to_pose2_press,0.589802261692,-0.00994537734914,1.05002938886,0.560372992908,-0.001272644647,1.04969867537
+156,2.600000000,pose1_to_pose2_press,0.590600301073,-0.00994555913064,1.05002928557,0.561171034585,-0.00127281857895,1.04969857363
+157,2.616666667,pose1_to_pose2_press,0.591404893166,-0.0099455954768,1.05002901775,0.561975625251,-0.0012728594801,1.04969831336
+158,2.633333333,pose1_to_pose2_press,0.592203563444,-0.00994560717067,1.05002888902,0.562774296272,-0.00127286861051,1.04969818569
+159,2.650000000,pose1_to_pose2_press,0.592992353442,-0.00994544254826,1.05002901002,0.563563082782,-0.00127271597611,1.04969830268
+160,2.666666667,pose1_to_pose2_press,0.593777852577,-0.00994539757291,1.0500291268,0.564348582307,-0.00127266958866,1.04969842181
+161,2.683333333,pose1_to_pose2_press,0.594561955906,-0.00994539716351,1.05002894868,0.565132684451,-0.00127267331349,1.0496982408
+162,2.700000000,pose1_to_pose2_press,0.595364744,-0.00994548777946,1.05002914184,0.565935475781,-0.00127275321556,1.04969842701
+163,2.716666667,pose1_to_pose2_press,0.596189823551,-0.00994540093737,1.050029287,0.566760552432,-0.0012726762873,1.04969857025
+164,2.733333333,pose1_to_pose2_press,0.597041103225,-0.00994544209306,1.05002909949,0.567611834106,-0.00127271051389,1.04969838657
+165,2.750000000,pose1_to_pose2_press,0.597911149202,-0.00994556952064,1.05002904517,0.568481880981,-0.00127283479214,1.04969833498
+166,2.766666667,pose1_to_pose2_press,0.598792499142,-0.00994544018245,1.05002925794,0.569363229611,-0.00127270982217,1.04969854984
+167,2.783333333,pose1_to_pose2_press,0.599660779642,-0.00994542316338,1.05002916651,0.570231509841,-0.0012726936374,1.04969846053
+168,2.800000000,pose1_to_pose2_press,0.600512423586,-0.00994548580229,1.05002929798,0.571083155277,-0.00127275160431,1.04969858187
+169,2.816666667,pose1_to_pose2_press,0.601340594914,-0.00994552508687,1.05002916536,0.571911327667,-0.00127278699878,1.04969845684
+170,2.833333333,pose1_to_pose2_press,0.602153031662,-0.00994550604817,1.0500292808,0.572723762758,-0.00127277370385,1.04969856912
+171,2.850000000,pose1_to_pose2_press,0.602950932959,-0.00994554584826,1.05002918925,0.573521664485,-0.00127281201652,1.04969847833
+172,2.866666667,pose1_to_pose2_press,0.603751640147,-0.00994547131562,1.0500291762,0.574322371809,-0.00127273705991,1.04969846439
+173,2.883333333,pose1_to_pose2_press,0.604559066852,-0.00994541434447,1.05002924968,0.575129797813,-0.00127268228591,1.04969854275
+174,2.900000000,pose1_to_pose2_press,0.605365273426,-0.0099454732704,1.05002918256,0.575936004718,-0.00127274018128,1.0496984733
+175,2.916666667,pose1_to_pose2_press,0.6061681381,-0.00994550434305,1.05002904667,0.576738870208,-0.00127276841299,1.04969833938
+176,2.933333333,pose1_to_pose2_press,0.606961044572,-0.00994540938525,1.05002923545,0.577531774769,-0.00127267986065,1.04969853028
+177,2.950000000,pose1_to_pose2_press,0.607725299934,-0.00994551649101,1.05002906483,0.578296031703,-0.00127278181276,1.04969835506
+178,2.966666667,pose1_to_pose2_press,0.608456071316,-0.00994547858899,1.05002923022,0.579026801283,-0.00127274984638,1.04969852512
+179,2.983333333,pose1_to_pose2_press,0.609161202094,-0.00994546163047,1.05002918831,0.57973193257,-0.00127273147298,1.04969847514
+180,3.000000000,pose1_to_pose2_press,0.60984487164,-0.00994551556194,1.05002940706,0.580415602502,-0.00127278426729,1.04969868949
+181,3.016666667,pose1_to_pose2_press,0.61051222983,-0.00994555575755,1.05002930972,0.581082960406,-0.00127282527054,1.04969859648
+182,3.033333333,pose1_to_pose2_press,0.611166657672,-0.00994530037063,1.05002929952,0.581737386006,-0.00127257746717,1.04969858703
+183,3.050000000,pose1_to_pose2_press,0.611809601442,-0.00994528867118,1.05002918659,0.582380330167,-0.00127256428085,1.04969847869
+184,3.066666667,pose1_to_pose2_press,0.612437387812,-0.00994546689904,1.0500291464,0.583008117576,-0.00127273894576,1.04969843867
+185,3.083333333,pose1_to_pose2_press,0.613049066498,-0.00994537699017,1.05002913616,0.583619796366,-0.00127264816152,1.04969843253
+186,3.100000000,pose1_to_pose2_press,0.613626224001,-0.00994547205269,1.05002902665,0.584196954267,-0.00127274081387,1.04969832617
+187,3.116666667,pose1_to_pose2_press,0.614167847427,-0.00994548815087,1.05002914394,0.584738576441,-0.00127276057207,1.0496984307
+188,3.133333333,pose1_to_pose2_press,0.614670990678,-0.00994532682859,1.05002916385,0.585241717604,-0.0012726052503,1.04969845379
+189,3.150000000,pose1_to_pose2_press,0.615140295448,-0.0099454148633,1.05002899404,0.585711023634,-0.00127268804382,1.04969828284
+190,3.166666667,pose1_to_pose2_press,0.615576433631,-0.00994547705598,1.05002897559,0.586147162568,-0.0012727464481,1.04969827113
+191,3.183333333,pose1_to_pose2_press,0.615999624528,-0.0099455084604,1.05002926116,0.586570354365,-0.00127277425982,1.04969854765
+192,3.200000000,pose1_to_pose2_press,0.616410256173,-0.00994551421452,1.05002925179,0.586980985658,-0.0012727803065,1.04969853406
+193,3.216666667,pose1_to_pose2_press,0.616808107665,-0.00994547395669,1.05002920959,0.587378835611,-0.00127274412216,1.04969849798
+194,3.233333333,pose1_to_pose2_press,0.617190266589,-0.00994539816341,1.05002918714,0.587760993722,-0.00127267030342,1.04969847712
+195,3.250000000,pose1_to_pose2_press,0.617550858457,-0.00994538897512,1.05002904388,0.588121584929,-0.00127266236405,1.04969833223
+196,3.266666667,pose1_to_pose2_press,0.61788507561,-0.00994540540593,1.05002918134,0.588455802082,-0.0012726779051,1.04969846723
+197,3.283333333,pose1_to_pose2_press,0.618190269426,-0.00994538351122,1.05002915067,0.588760996555,-0.00127265287981,1.04969844217
+198,3.300000000,pose1_to_pose2_press,0.618464725056,-0.00994539911143,1.05002917206,0.589035451607,-0.00127266960238,1.04969846906
+199,3.316666667,pose1_to_pose2_press,0.618713106742,-0.00994538571647,1.05002924167,0.589283832145,-0.0012726593349,1.04969854005
+200,3.333333333,pose1_to_pose2_press,0.618940835375,-0.00994551112754,1.0500292877,0.589511561062,-0.00127278363965,1.04969857497
+201,3.350000000,pose1_to_pose2_press,0.619153438907,-0.00994553055313,1.05002929916,0.589724165364,-0.00127280009225,1.04969858449
+202,3.366666667,pose1_to_pose2_press,0.619352557076,-0.00994546662306,1.050029164,0.589923284479,-0.00127273209856,1.04969845374
+203,3.383333333,pose1_to_pose2_press,0.619537397055,-0.0099455114164,1.05002911267,0.59010812475,-0.00127277523465,1.04969841343
+204,3.400000000,pose1_to_pose2_press,0.619706751856,-0.00994548889714,1.05002927209,0.590277480149,-0.00127275041779,1.04969856383
+205,3.416666667,pose1_to_pose2_press,0.61985846892,-0.00994554871901,1.05002932475,0.590429195087,-0.00127281753725,1.04969860378
+206,3.433333333,pose1_to_pose2_press,0.61999248815,-0.00994554919756,1.05002928799,0.590563214595,-0.00127281618979,1.04969857705
+207,3.450000000,pose1_to_pose2_press,0.620106805554,-0.00994549359309,1.05002895252,0.590677530326,-0.00127276615869,1.04969823756
+208,3.466666667,pose1_to_pose2_press,0.620205806358,-0.00994552001911,1.05002918033,0.590776532363,-0.00127278828988,1.0496984622
+209,3.483333333,pose1_to_pose2_press,0.62029042135,-0.00994543498904,1.05002914263,0.590861145847,-0.00127270767527,1.04969843683
+210,3.500000000,pose1_to_pose2_press,0.620361734556,-0.00994561820777,1.05002901548,0.590932464048,-0.00127287386566,1.04969831646
+211,3.516666667,pose1_to_pose2_press,0.620421004114,-0.00994550819044,1.0500290085,0.590991729334,-0.00127277809351,1.04969830448
+212,3.533333333,pose1_to_pose2_press,0.620469923158,-0.00994545931575,1.05002913215,0.591040647567,-0.00127273198943,1.04969842116
+213,3.550000000,pose1_to_pose2_press,0.620509945625,-0.00994553316422,1.05002914262,0.591080669936,-0.00127280592375,1.04969843617
+214,3.566666667,pose1_to_pose2_press,0.62054132836,-0.00994560593264,1.05002901646,0.591112052789,-0.00127287822755,1.04969831158
+215,3.583333333,pose1_to_pose2_press,0.620566457368,-0.00994560878973,1.05002895489,0.591137182543,-0.00127287851816,1.04969824604
+216,3.600000000,pose1_to_pose2_press,0.620585983437,-0.00994553958552,1.05002903757,0.591156709004,-0.00127280763192,1.04969832792
+217,3.616666667,pose1_to_pose2_press,0.620600773265,-0.00994542219533,1.05002901568,0.591171497901,-0.00127269335089,1.04969830943
+218,3.633333333,pose1_to_pose2_press,0.62061151586,-0.00994536908934,1.05002909309,0.591182240424,-0.00127264030713,1.04969839305
+219,3.650000000,pose1_to_pose2_press,0.620618862639,-0.00994528592969,1.0500290722,0.591189586599,-0.00127255954435,1.04969836652
+220,3.666666667,pose1_to_pose2_press,0.620623640005,-0.00994526628008,1.05002905984,0.591194364017,-0.0012725400176,1.04969834905
+221,3.683333333,pose1_to_pose2_press,0.620626115223,-0.00994536533595,1.05002910673,0.591196840637,-0.00127263430639,1.04969839684
+222,3.700000000,pose1_to_pose2_press,0.62062788446,-0.00994543613916,1.05002914025,0.591198610877,-0.00127270170218,1.049698431
+223,3.716666667,pose1_to_pose2_press,0.620629119871,-0.00994543886889,1.05002917707,0.591199846127,-0.00127270489521,1.04969846837
+224,3.733333333,pose1_to_pose2_press,0.620630002728,-0.00994541911107,1.05002920961,0.591200728468,-0.00127268678958,1.04969850136
+225,3.750000000,pose1_to_pose2_press,0.620630671032,-0.0099454041548,1.05002923424,0.591201396382,-0.00127267308398,1.04969852632
+226,3.766666667,pose1_to_pose2_press,0.620631226042,-0.00994539173401,1.05002925469,0.591201951068,-0.00127266170184,1.04969854706
+227,3.783333333,pose1_to_pose2_press,0.620631546928,-0.00994538455277,1.05002926652,0.591202271767,-0.0012726551211,1.04969855905
+228,3.800000000,pose1_to_pose2_press,0.620631639466,-0.00994538248183,1.05002926993,0.59120236425,-0.00127265322335,1.04969856251
+229,3.816666667,pose1_to_pose2_press,0.620631647563,-0.00994538230061,1.05002927023,0.591202372343,-0.00127265305727,1.04969856281
+230,3.833333333,pose1_to_pose2_press,0.620631703983,-0.00994537980848,1.050029267,0.591202428711,-0.00127265074424,1.04969855961
+231,3.850000000,pose1_to_pose2_press,0.62063183698,-0.00994537367545,1.05002925828,0.591202561581,-0.00127264504885,1.04969855095
+232,3.866666667,pose1_to_pose2_press,0.620632087772,-0.00994536211043,1.05002924183,0.591202812133,-0.00127263430907,1.04969853462
+233,3.883333333,pose1_to_pose2_press,0.620632392062,-0.00994534807837,1.05002922188,0.591203116134,-0.00127262127829,1.0496985148
+234,3.900000000,pose1_to_pose2_press,0.620632902354,-0.00994532454673,1.05002918841,0.591203625939,-0.00127259942578,1.04969848157
+235,3.916666667,pose1_to_pose2_press,0.620633497343,-0.00994532294617,1.05002917482,0.591204220702,-0.00127259860606,1.04969846878
+236,3.933333333,pose1_to_pose2_press,0.620633762015,-0.00994537068601,1.05002921646,0.591204485913,-0.00127264448601,1.04969851177
+237,3.950000000,pose1_to_pose2_press,0.620633881464,-0.00994539223149,1.05002923525,0.591204605605,-0.0012726651921,1.04969853117
+238,3.966666667,pose1_to_pose2_press,0.620633931711,-0.00994540129475,1.05002924315,0.591204655954,-0.00127267390227,1.04969853933
+239,3.983333333,pose1_to_pose2_press,0.620633975498,-0.00994540919273,1.05002925004,0.59120469983,-0.00127268149255,1.04969854645
+240,4.000000000,pose1_to_pose2_press,0.62063404924,-0.00994542567759,1.05002926022,0.591204773671,-0.0012726976544,1.04969855669
+241,4.016666667,pose1_to_pose2_press,0.620634105592,-0.00994545016292,1.05002926269,0.591204829904,-0.00127272262173,1.04969855804
+242,4.033333333,pose1_to_pose2_press,0.620634143464,-0.00994546661845,1.05002926435,0.591204867696,-0.00127273940119,1.04969855895
+243,4.050000000,pose1_to_pose2_press,0.620634150965,-0.00994546987781,1.05002926468,0.591204875181,-0.00127274272471,1.04969855913
+244,4.066666667,pose1_to_pose2_press,0.62063419391,-0.00994548853773,1.05002926656,0.591204918035,-0.00127276175196,1.04969856016
+245,4.083333333,pose1_to_pose2_press,0.620634244338,-0.00994555419335,1.05002930689,0.591204970354,-0.00127282107138,1.04969859454
+246,4.100000000,pose2_hold,0.620634244338,-0.00994555419335,1.05002930689,0.591204970363,-0.00127282107141,1.04969859454
+247,4.116666667,pose2_hold,0.620634244338,-0.00994555419335,1.05002930689,0.591204970363,-0.00127282107148,1.04969859454
+248,4.133333333,pose2_hold,0.620634244338,-0.00994555419335,1.05002930689,0.591204970363,-0.00127282107176,1.04969859454
+249,4.150000000,pose2_hold,0.620634244338,-0.00994555419335,1.05002930689,0.591204970363,-0.0012728210724,1.04969859454
+250,4.166666667,pose2_hold,0.620634244338,-0.00994555419335,1.05002930689,0.591204970364,-0.00127282107179,1.04969859454
+251,4.183333333,pose2_hold,0.620634244338,-0.00994555419335,1.05002930689,0.591204970364,-0.0012728210724,1.04969859454
+252,4.200000000,pose2_hold,0.620634244338,-0.00994555419335,1.05002930689,0.591204970364,-0.00127282107244,1.04969859455
+253,4.216666667,pose2_hold,0.620634244338,-0.00994555419335,1.05002930689,0.591204970365,-0.00127282107187,1.04969859455
+254,4.233333333,pose2_hold,0.620634244338,-0.00994555419335,1.05002930689,0.591204970366,-0.0012728210715,1.04969859454
+255,4.250000000,pose2_hold,0.620634244338,-0.00994555419335,1.05002930689,0.591204970366,-0.00127282107192,1.04969859454
+256,4.266666667,pose2_hold,0.620634244338,-0.00994555419335,1.05002930689,0.591204970366,-0.00127282107234,1.04969859455
+257,4.283333333,pose2_hold,0.620634244338,-0.00994555419335,1.05002930689,0.591204970366,-0.00127282107219,1.04969859455
+258,4.300000000,pose2_hold,0.620634244338,-0.00994555419335,1.05002930689,0.591204970367,-0.00127282107222,1.04969859455
+259,4.316666667,pose2_hold,0.620634244338,-0.00994555419335,1.05002930689,0.591204970368,-0.00127282107222,1.04969859455
+260,4.333333333,pose2_hold,0.620634244338,-0.00994555419335,1.05002930689,0.591204970367,-0.00127282107152,1.04969859455
+261,4.350000000,pose2_hold,0.620634244338,-0.00994555419335,1.05002930689,0.591204970368,-0.00127282107206,1.04969859455
+262,4.366666667,pose2_hold,0.620634244338,-0.00994555419335,1.05002930689,0.591204970368,-0.00127282107222,1.04969859455
+263,4.383333333,pose2_hold,0.620634244338,-0.00994555419335,1.05002930689,0.591204970368,-0.00127282107183,1.04969859454
+264,4.400000000,pose2_to_pose3_retreat,0.620634244338,-0.00994555419335,1.05002930689,0.59120497037,-0.00127282107224,1.04969859455
+265,4.416666667,pose2_to_pose3_retreat,0.620634099554,-0.00994545262355,1.05002928345,0.591204824412,-0.00127272335107,1.04969857267
+266,4.433333333,pose2_to_pose3_retreat,0.620633812977,-0.00994548699178,1.05002926792,0.59120453816,-0.00127275649599,1.04969855996
+267,4.450000000,pose2_to_pose3_retreat,0.620633407966,-0.00994549243149,1.05002926831,0.59120413345,-0.00127276093718,1.0496985606
+268,4.466666667,pose2_to_pose3_retreat,0.620633272165,-0.00994549425543,1.05002926844,0.59120399775,-0.00127276242632,1.04969856082
+269,4.483333333,pose2_to_pose3_retreat,0.620632414538,-0.00994549104167,1.05002926085,0.591203140316,-0.00127275864975,1.04969855209
+270,4.500000000,pose2_to_pose3_retreat,0.620629428868,-0.00994541225571,1.05002919837,0.591200153324,-0.00127268469495,1.04969848085
+271,4.516666667,pose2_to_pose3_retreat,0.620621992855,-0.00994537304228,1.05002928356,0.591192717214,-0.00127264567744,1.04969856967
+272,4.533333333,pose2_to_pose3_retreat,0.620607195138,-0.00994551135752,1.05002923523,0.591177921189,-0.00127277837669,1.04969851748
+273,4.550000000,pose2_to_pose3_retreat,0.620582066882,-0.00994544778677,1.05002913648,0.59115279097,-0.00127272128067,1.04969842783
+274,4.566666667,pose2_to_pose3_retreat,0.62054517994,-0.00994544179879,1.05002912701,0.591115904294,-0.00127271482689,1.04969841425
+275,4.583333333,pose2_to_pose3_retreat,0.620496401554,-0.00994538455973,1.05002912804,0.591067127441,-0.00127265189298,1.04969842734
+276,4.600000000,pose2_to_pose3_retreat,0.620437089188,-0.00994548959975,1.05002933549,0.591007813109,-0.00127276449754,1.04969861287
+277,4.616666667,pose2_to_pose3_retreat,0.620366528134,-0.00994549183997,1.05002896504,0.590937253473,-0.00127276212128,1.04969825282
+278,4.633333333,pose2_to_pose3_retreat,0.620286188561,-0.00994543020076,1.05002951432,0.590856913038,-0.00127270387069,1.04969879672
+279,4.650000000,pose2_to_pose3_retreat,0.620194957113,-0.00994557478975,1.05002904984,0.590765683948,-0.00127284025625,1.04969833632
+280,4.666666667,pose2_to_pose3_retreat,0.620088363781,-0.00994542099996,1.05002917393,0.590659088206,-0.00127269490598,1.049698461
+281,4.683333333,pose2_to_pose3_retreat,0.619965243177,-0.00994543039444,1.05002927138,0.590535968821,-0.00127270033258,1.04969856281
+282,4.700000000,pose2_to_pose3_retreat,0.61982352818,-0.00994539173505,1.0500292837,0.590394253815,-0.00127266214751,1.04969857328
+283,4.716666667,pose2_to_pose3_retreat,0.619662594382,-0.00994556323339,1.05002916886,0.590233320507,-0.00127283247886,1.0496984578
+284,4.733333333,pose2_to_pose3_retreat,0.619479449961,-0.00994547634393,1.05002942753,0.590050177891,-0.00127274028807,1.04969870786
+285,4.750000000,pose2_to_pose3_retreat,0.619275431177,-0.00994548069946,1.0500293233,0.589846156582,-0.00127275369795,1.04969860467
+286,4.766666667,pose2_to_pose3_retreat,0.619049875265,-0.00994548961078,1.05002920804,0.589620601669,-0.00127275959715,1.04969848996
+287,4.783333333,pose2_to_pose3_retreat,0.618802635726,-0.00994544456525,1.05002905173,0.589373362936,-0.00127271232145,1.04969834228
+288,4.800000000,pose2_to_pose3_retreat,0.618535188038,-0.00994544767475,1.0500292267,0.589105914546,-0.00127271852126,1.04969851678
+289,4.816666667,pose2_to_pose3_retreat,0.618248207375,-0.00994541905901,1.05002918042,0.588818933817,-0.00127269084533,1.04969847448
+290,4.833333333,pose2_to_pose3_retreat,0.617941577197,-0.00994541272182,1.05002931014,0.588512304805,-0.00127268131466,1.04969860357
+291,4.850000000,pose2_to_pose3_retreat,0.617612263763,-0.00994535304261,1.05002923763,0.588182990928,-0.00127262391148,1.04969853179
+292,4.866666667,pose2_to_pose3_retreat,0.6172560499,-0.00994540830391,1.05002921517,0.587826777421,-0.00127267893703,1.04969850676
+293,4.883333333,pose2_to_pose3_retreat,0.616870486113,-0.00994553212036,1.05002923936,0.58744121461,-0.00127280055948,1.04969852398
+294,4.900000000,pose2_to_pose3_retreat,0.616451030327,-0.00994553684605,1.05002911309,0.587021758967,-0.0012728056844,1.04969840095
+295,4.916666667,pose2_to_pose3_retreat,0.616000232915,-0.00994546024707,1.05002903362,0.586570961543,-0.00127273008672,1.0496983262
+296,4.933333333,pose2_to_pose3_retreat,0.615518492459,-0.00994539591314,1.05002909727,0.58608922023,-0.00127266965346,1.0496983881
+297,4.950000000,pose2_to_pose3_retreat,0.61501500389,-0.00994541793715,1.0500290788,0.585585732427,-0.00127268989009,1.0496983753
+298,4.966666667,pose2_to_pose3_retreat,0.614493200722,-0.00994547836375,1.05002906994,0.585063931079,-0.00127274553736,1.04969836382
+299,4.983333333,pose2_to_pose3_retreat,0.613957607929,-0.00994540722433,1.05002918218,0.584528336995,-0.00127268021166,1.04969846814
+300,5.000000000,pose2_to_pose3_retreat,0.61340661622,-0.00994531446394,1.05002908596,0.583977344542,-0.00127259075917,1.04969837847
+301,5.016666667,pose2_to_pose3_retreat,0.612824640685,-0.00994536623449,1.05002888754,0.583395369973,-0.00127264006047,1.04969818553
+302,5.033333333,pose2_to_pose3_retreat,0.612205553525,-0.00994536316724,1.0500288716,0.582776283057,-0.00127263741494,1.04969817334
+303,5.050000000,pose2_to_pose3_retreat,0.611538830962,-0.00994526532179,1.05002897693,0.582109559454,-0.00127254443805,1.04969827784
+304,5.066666667,pose2_to_pose3_retreat,0.610836287179,-0.00994549800209,1.05002936213,0.581407018242,-0.0012727703026,1.04969864917
+305,5.083333333,pose2_to_pose3_retreat,0.610104627484,-0.00994550974846,1.05002921546,0.580675360158,-0.00127277785231,1.04969850092
+306,5.100000000,pose2_to_pose3_retreat,0.609357344364,-0.00994548755144,1.05002934197,0.579928076288,-0.00127275956834,1.04969862546
+307,5.116666667,pose2_to_pose3_retreat,0.608598286628,-0.00994541517211,1.05002932228,0.579169018637,-0.00127268846133,1.04969859843
+308,5.133333333,pose2_to_pose3_retreat,0.607829991542,-0.0099455044793,1.05002904955,0.578400727379,-0.00127276563061,1.04969834028
+309,5.150000000,pose2_to_pose3_retreat,0.60704804498,-0.00994547069865,1.05002929982,0.577618779502,-0.00127273809448,1.04969858405
+310,5.166666667,pose2_to_pose3_retreat,0.606250738523,-0.00994551807883,1.05002898161,0.576821473029,-0.00127278665746,1.04969827051
+311,5.183333333,pose2_to_pose3_retreat,0.605436067675,-0.00994548533578,1.05002918853,0.576006800655,-0.00127275710642,1.04969847192
+312,5.200000000,pose2_to_pose3_retreat,0.604603448549,-0.0099454735754,1.05002917568,0.5751741793,-0.00127274250139,1.04969846418
+313,5.216666667,pose2_to_pose3_retreat,0.603749446426,-0.00994544591871,1.05002905012,0.57432017797,-0.00127271181418,1.04969834706
+314,5.233333333,pose2_to_pose3_retreat,0.602877532198,-0.00994550608979,1.05002886596,0.573448264042,-0.00127277106258,1.04969816042
+315,5.250000000,pose2_to_pose3_retreat,0.601996817971,-0.00994538978297,1.05002919587,0.572567548536,-0.00127265954172,1.04969847827
+316,5.266666667,pose2_to_pose3_retreat,0.601113206599,-0.00994536828918,1.05002921272,0.571683937389,-0.0012726371454,1.04969849904
+317,5.283333333,pose2_to_pose3_retreat,0.600227846838,-0.00994533240867,1.05002932302,0.570798576167,-0.00127260638786,1.04969860501
+318,5.300000000,pose2_to_pose3_retreat,0.599357388007,-0.00994548147865,1.05002928087,0.569928118777,-0.00127275051386,1.04969856416
+319,5.316666667,pose2_to_pose3_retreat,0.598495985808,-0.00994549885195,1.0500291388,0.569066716554,-0.00127276770578,1.04969842889
+320,5.333333333,pose2_to_pose3_retreat,0.597623706016,-0.0099454979851,1.05002904868,0.568194436224,-0.00127276868335,1.04969833827
+321,5.350000000,pose2_to_pose3_retreat,0.596739942083,-0.00994549331602,1.05002903539,0.567310673714,-0.00127275898517,1.04969833016
+322,5.366666667,pose2_to_pose3_retreat,0.595841470016,-0.00994537100996,1.05002915663,0.56641220005,-0.00127264220459,1.0496984486
+323,5.383333333,pose2_to_pose3_retreat,0.594940233066,-0.00994542099157,1.05002911195,0.565510962283,-0.00127269502789,1.04969840204
+324,5.400000000,pose2_to_pose3_retreat,0.594044708814,-0.00994541468725,1.05002900051,0.564615438506,-0.00127268726818,1.04969828647
+325,5.416666667,pose2_to_pose3_retreat,0.593172275988,-0.00994539787453,1.0500291635,0.563743006542,-0.00127266758225,1.04969844798
+326,5.433333333,pose2_to_pose3_retreat,0.592326192244,-0.00994533395364,1.05002907477,0.562896922018,-0.0012726060805,1.04969836494
+327,5.450000000,pose2_to_pose3_retreat,0.591507394168,-0.00994535809194,1.05002912803,0.562078124065,-0.00127262946445,1.04969842627
+328,5.466666667,pose2_to_pose3_retreat,0.590703683279,-0.00994550308855,1.05002918164,0.561274415079,-0.00127276850178,1.04969846763
+329,5.483333333,pose2_to_pose3_retreat,0.589912532291,-0.00994549879642,1.05002918234,0.560483263721,-0.00127276553772,1.04969846729
+330,5.500000000,pose2_to_pose3_retreat,0.589121723554,-0.00994536036959,1.05002920336,0.559692452785,-0.00127263455932,1.04969848795
+331,5.516666667,pose2_to_pose3_retreat,0.588332242885,-0.00994551640937,1.05002938011,0.558902974246,-0.00127278324622,1.04969866847
+332,5.533333333,pose2_to_pose3_retreat,0.587555462578,-0.00994536576269,1.0500291593,0.558126190507,-0.00127264405735,1.04969845274
+333,5.550000000,pose2_to_pose3_retreat,0.586793139118,-0.00994535189,1.05002924429,0.557363868863,-0.00127262397274,1.04969853848
+334,5.566666667,pose2_to_pose3_retreat,0.586052593887,-0.00994544831989,1.05002917608,0.556623324125,-0.00127271890641,1.04969846403
+335,5.583333333,pose2_to_pose3_retreat,0.585346274797,-0.00994559094013,1.0500291947,0.555917007206,-0.00127285427831,1.04969847967
+336,5.600000000,pose2_to_pose3_retreat,0.584680010129,-0.00994546888652,1.05002928061,0.555250741519,-0.00127273562322,1.04969856716
+337,5.616666667,pose2_to_pose3_retreat,0.584048160293,-0.00994552570209,1.05002916967,0.554618891867,-0.00127279173259,1.04969845839
+338,5.633333333,pose2_to_pose3_retreat,0.583444364345,-0.00994552293605,1.05002914091,0.554015095582,-0.00127278991288,1.04969843481
+339,5.650000000,pose2_to_pose3_retreat,0.582858869533,-0.00994558957558,1.05002907971,0.553429601244,-0.00127285539447,1.04969836179
+340,5.666666667,pose2_to_pose3_retreat,0.582288148648,-0.00994540088915,1.05002938978,0.552858878873,-0.00127267147716,1.04969867904
+341,5.683333333,pose2_to_pose3_retreat,0.581732953213,-0.00994554712732,1.05002906111,0.552303685156,-0.00127281189198,1.04969835022
+342,5.700000000,pose2_to_pose3_retreat,0.581202678991,-0.00994541082192,1.05002925394,0.551773408811,-0.00127268263165,1.04969854717
+343,5.716666667,pose2_to_pose3_retreat,0.580700052213,-0.00994530609729,1.05002927384,0.551270780765,-0.00127258227864,1.04969856532
+344,5.733333333,pose2_to_pose3_retreat,0.580226749144,-0.00994553031019,1.05002901577,0.550797481238,-0.00127279419392,1.04969831455
+345,5.750000000,pose2_to_pose3_retreat,0.579778199465,-0.0099455327514,1.05002905354,0.550348929392,-0.00127280443503,1.04969834059
+346,5.766666667,pose2_to_pose3_retreat,0.579350122774,-0.00994544502141,1.05002933028,0.549920852697,-0.00127271718496,1.04969860575
+347,5.783333333,pose2_to_pose3_retreat,0.578944187555,-0.00994537772646,1.05002919423,0.549514916528,-0.00127265274547,1.04969847888
+348,5.800000000,pose2_to_pose3_retreat,0.578565103133,-0.009945478378,1.05002909277,0.549135835617,-0.00127274071294,1.04969839799
+349,5.816666667,pose2_to_pose3_retreat,0.578220474524,-0.00994532054597,1.05002906499,0.548791204244,-0.00127259293594,1.04969835246
+350,5.833333333,pose2_to_pose3_retreat,0.577911964712,-0.0099454212042,1.05002886584,0.54848269474,-0.00127269194414,1.04969816915
+351,5.850000000,pose2_to_pose3_retreat,0.577643057454,-0.0099454368833,1.05002915689,0.54821378852,-0.00127270473329,1.04969844366
+352,5.866666667,pose2_to_pose3_retreat,0.577402761859,-0.00994540825069,1.05002907471,0.547973490834,-0.00127268314245,1.04969836293
+353,5.883333333,pose2_to_pose3_retreat,0.577184353242,-0.00994538157937,1.05002911702,0.547755083377,-0.0012726522913,1.04969841158
+354,5.900000000,pose2_to_pose3_retreat,0.576979739093,-0.00994545244898,1.05002923469,0.547550468985,-0.0012727240638,1.04969852718
+355,5.916666667,pose2_to_pose3_retreat,0.576787431853,-0.00994534663146,1.05002912533,0.547358159626,-0.00127262550141,1.04969841602
+356,5.933333333,pose2_to_pose3_retreat,0.576611242092,-0.00994537143978,1.0500290572,0.547181971311,-0.00127264556263,1.04969834372
+357,5.950000000,pose2_to_pose3_retreat,0.576452339151,-0.00994546120108,1.05002921773,0.547023070125,-0.00127272939305,1.04969850367
+358,5.966666667,pose2_to_pose3_retreat,0.576314248247,-0.00994547611472,1.05002912214,0.546884979693,-0.00127274255543,1.049698412
+359,5.983333333,pose2_to_pose3_retreat,0.576196456482,-0.00994540463852,1.05002906079,0.546767185745,-0.00127267866768,1.04969834659
+360,6.000000000,pose2_to_pose3_retreat,0.576100093435,-0.00994539706838,1.05002912325,0.546670822991,-0.00127266998226,1.04969841239
+361,6.016666667,pose2_to_pose3_retreat,0.576018939543,-0.00994536770794,1.05002915718,0.546589669498,-0.00127263918031,1.04969844844
+362,6.033333333,pose2_to_pose3_retreat,0.575951450547,-0.00994539863574,1.0500290995,0.546522180389,-0.00127267048791,1.04969839072
+363,6.050000000,pose2_to_pose3_retreat,0.575895557782,-0.0099454444761,1.05002903733,0.546466288169,-0.00127271447166,1.04969832871
+364,6.066666667,pose2_to_pose3_retreat,0.575849404242,-0.00994538830068,1.05002908871,0.546420134824,-0.00127265779494,1.04969837587
+365,6.083333333,pose2_to_pose3_retreat,0.575811862683,-0.00994542067087,1.05002916354,0.546382593356,-0.00127268997662,1.04969844752
+366,6.100000000,pose2_to_pose3_retreat,0.575781381074,-0.00994556437722,1.05002906898,0.546352113583,-0.0012728272238,1.049698359
+367,6.116666667,pose2_to_pose3_retreat,0.575757863243,-0.00994543220121,1.05002932354,0.546328595107,-0.00127269759582,1.04969860415
+368,6.133333333,pose2_to_pose3_retreat,0.575740723054,-0.00994547901873,1.05002927763,0.546311454912,-0.0012727439954,1.04969856968
+369,6.150000000,pose2_to_pose3_retreat,0.575729532349,-0.00994545598728,1.05002931464,0.54630026466,-0.00127271975366,1.04969859828
+370,6.166666667,pose2_to_pose3_retreat,0.575722446787,-0.00994539105643,1.05002937437,0.546293177837,-0.00127265899599,1.04969866093
+371,6.183333333,pose2_to_pose3_retreat,0.575718431703,-0.00994537677198,1.05002936101,0.54628916212,-0.001272646734,1.04969865086
+372,6.200000000,pose2_to_pose3_retreat,0.575717062299,-0.0099454285539,1.0500292634,0.546287793223,-0.00127269676793,1.04969855397
+373,6.216666667,pose2_to_pose3_retreat,0.575716130192,-0.00994546380008,1.05002919695,0.546286861461,-0.00127273082433,1.04969848802
+374,6.233333333,pose2_to_pose3_retreat,0.575715388059,-0.0099454918627,1.05002914405,0.546286119602,-0.00127275793965,1.04969843551
+375,6.250000000,pose2_to_pose3_retreat,0.575714994467,-0.00994550674578,1.05002911599,0.546285726156,-0.00127277232033,1.04969840766
+376,6.266666667,pose2_to_pose3_retreat,0.575714681403,-0.0099455185838,1.05002909368,0.546285413208,-0.00127278375875,1.04969838551
+377,6.283333333,pose2_to_pose3_retreat,0.575714053835,-0.00994554231434,1.05002904894,0.546284785872,-0.00127280668822,1.04969834111
+378,6.300000000,pose2_to_pose3_retreat,0.575713453456,-0.00994553300606,1.05002908547,0.546284185348,-0.00127279790182,1.04969837679
+379,6.316666667,pose2_to_pose3_retreat,0.575713050494,-0.00994551376846,1.05002914217,0.54628378214,-0.00127277953726,1.04969843246
+380,6.333333333,pose2_to_pose3_retreat,0.575712748986,-0.00994549937437,1.0500291846,0.546283480449,-0.0012727657964,1.04969847411
+381,6.350000000,pose2_to_pose3_retreat,0.575712566667,-0.00994549067034,1.05002921025,0.546283298018,-0.00127275748738,1.0496984993
+382,6.366666667,pose2_to_pose3_retreat,0.575712556853,-0.00994549020184,1.05002921163,0.546283288198,-0.00127275704014,1.04969850066
+383,6.383333333,pose2_to_pose3_retreat,0.575712504888,-0.009945487721,1.05002921894,0.546283236202,-0.00127275467189,1.04969850783
+384,6.400000000,pose2_to_pose3_retreat,0.575712459435,-0.00994548555105,1.05002922534,0.546283190721,-0.00127275260041,1.04969851411
+385,6.416666667,pose2_to_pose3_retreat,0.575712400494,-0.00994548273716,1.05002923363,0.546283131743,-0.00127274991422,1.04969852226
+386,6.433333333,pose2_to_pose3_retreat,0.575712155595,-0.00994547104556,1.0500292681,0.546282886695,-0.00127273875322,1.04969855609
+387,6.450000000,pose2_to_pose3_retreat,0.575712005312,-0.00994546387098,1.05002928924,0.54628273632,-0.00127273190423,1.04969857685
+388,6.466666667,pose2_to_pose3_retreat,0.575711642785,-0.00994544656382,1.05002934026,0.546282373573,-0.0012727153825,1.04969862693
+389,6.483333333,pose2_to_pose3_retreat,0.575711616524,-0.00994544531008,1.05002934395,0.546282347295,-0.00127271418566,1.04969863056
+390,6.500000000,pose2_to_pose3_retreat,0.575711552485,-0.00994544225282,1.05002935296,0.546282283217,-0.00127271126715,1.04969863941
+391,6.516666667,pose2_to_pose3_retreat,0.575711185597,-0.00994542473744,1.05002940459,0.546281916106,-0.00127269454665,1.04969869009
+392,6.533333333,pose2_to_pose3_retreat,0.575711138612,-0.00994542249435,1.0500294112,0.546281869092,-0.00127269240535,1.04969869659
+393,6.550000000,pose2_to_pose3_retreat,0.575710751514,-0.00994543510871,1.05002938711,0.546281482145,-0.00127270449775,1.04969867275
+394,6.566666667,pose2_to_pose3_retreat,0.575710423152,-0.00994544971315,1.05002935681,0.54628115396,-0.00127271848859,1.04969864283
+395,6.583333333,pose2_to_pose3_retreat,0.575710075063,-0.00994546519503,1.05002932468,0.546280806057,-0.00127273332001,1.04969861111
+396,6.600000000,pose2_to_pose3_retreat,0.575709707014,-0.00994546931199,1.05002927396,0.546280438149,-0.00127273689989,1.04969856195
+397,6.616666667,pose2_to_pose3_retreat,0.57570956334,-0.00994545034498,1.05002922602,0.546280294434,-0.00127271797623,1.04969851653
+398,6.633333333,pose2_to_pose3_retreat,0.575709474704,-0.00994543864386,1.05002919644,0.546280205773,-0.00127270630185,1.04969848851
+399,6.650000000,pose2_to_pose3_retreat,0.575709298792,-0.0099454203763,1.05002914871,0.546280029867,-0.00127268791507,1.0496984434
+400,6.666666667,pose2_to_pose3_retreat,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473498,1.0496984415
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_05/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_05/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1cd553f1822c5e2c447ef25f036f22142df5c573
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_05/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c2160d09b68b8a4a032431beb25b0384024988876293051828fdccb363363471
+size 25547773
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_05/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_05/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5d49081ba879360b8830628f1e64a8a14c557c96
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_05/depth_05/franka_data.csv
@@ -0,0 +1,404 @@
+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,763,742,712,672,658,633,877,784,800,649,629,650,0.400963820864,-0.0153908930861,0.0598394727265,0.999999948958,0.00017624951825,-0.000266339426753,9.14604771232e-06,1793193433598918400
+1,0.016666667,BASELINE,763,742.578368121,711.421631879,670.843263758,658.578368121,633,876.421631879,784,799.421631879,649,628.421631879,650.578368121,0.400965637808,-0.0153903100175,0.0598411451089,0.999999949263,0.000178833495601,-0.000263449980757,9.28105513106e-06,1793193433615586048
+2,0.033333333,BASELINE,763,742.843600329,711.156399671,670.156399671,659,633,876,783.843600329,799,649,628,651,0.400966721293,-0.0153906915611,0.0598421827213,0.999999949594,0.000179423661863,-0.000261783537066,9.4428789197e-06,1793193433632253440
+3,0.050000000,BASELINE,763,742.266474052,711.733525948,670.733525948,659,633,876,783.266474052,799,649,628,651,0.400965831723,-0.0153936679822,0.0598415127563,0.99999995001,0.000174650330394,-0.000263407058796,9.67684074354e-06,1793193433648919552
+4,0.066666667,BASELINE,763.315201633,742,712,671.315201633,659,633,876.315201633,783.315201633,799.315201633,649,628,650.684798367,0.40096533319,-0.0153937003176,0.0598413576717,0.999999950028,0.000173408174906,-0.000264159371922,9.6364168669e-06,1793193433665585920
+5,0.083333333,BASELINE,763.900779716,742,712,671.900779716,659,633,876.900779716,783.900779716,799.900779716,649,628,650.099220284,0.400965170084,-0.0153912072488,0.0598416442458,0.999999949718,0.00017519502312,-0.000264164371923,9.36062797966e-06,1793193433682252032
+6,0.100000000,BASELINE,764,742,712,672,659,633,876.519014095,784,799.519014095,649,628.480985905,650,0.400966083433,-0.0153905726222,0.0598421161944,0.999999949758,0.000176202071355,-0.000263341013013,9.44996844662e-06,1793193433698918400
+7,0.116666667,BASELINE,763.940172614,742,712,671.940172614,659,633,876,784,799.059827386,649,628.940172614,650,0.40096698034,-0.0153904754451,0.0598425041589,0.999999949844,0.000176896560478,-0.000262539377221,9.59282318454e-06,1793193433715585024
+8,0.133333333,BASELINE,763.363652603,742,712,671.363652603,659,633,876,784,799.636347397,649,628.363652603,650,0.400965838661,-0.0153917455345,0.0598418401967,0.999999949734,0.000176265582863,-0.000263384821347,9.55453320052e-06,1793193433732251648
+9,0.150000000,BASELINE,763.212147213,742,712,671.212147213,659,633,876,783.787852787,800,649,628,650,0.400965334136,-0.0153922063152,0.0598412903597,0.999999949535,0.000176558968537,-0.000263942198554,9.59912542704e-06,1793193433748918272
+10,0.166666667,BASELINE,763.786716622,742,712,671.786716622,659,633,876,783.213283378,800,649,628,650,0.400965918096,-0.0153912845112,0.0598409354887,0.999999949183,0.000178431492499,-0.000264007455867,9.78530967909e-06,1793193433765585152
+11,0.183333333,BASELINE,764,742,712,672,659.371073249,633,876,783.371073249,799.628926751,648.628926751,628.371073249,650.371073249,0.400965317108,-0.0153921650059,0.0598406405901,0.999999949286,0.000176931467291,-0.000264635667547,9.58437240368e-06,1793193433782251776
+12,0.200000000,BASELINE,764,742,712,672,659.961207768,633,876,783.961207768,799.038792232,648.038792232,628.961207768,650.961207768,0.400964016592,-0.0153941094786,0.0598403810959,0.999999949647,0.000173440474434,-0.000265596216575,9.15489985483e-06,1793193433798918400
+13,0.216666667,BASELINE,764,742,712,672,659.457864335,633,876,784,799.542135665,648.542135665,629,650.457864335,0.400963846356,-0.0153921045846,0.0598404296379,0.999999949105,0.00017621128043,-0.00026580425615,9.31729039177e-06,1793193433815585024
+14,0.233333333,BASELINE,764,742,712,671.878890125,659,633,876.121109875,784,800,649,629,650,0.4009638619,-0.0153909123199,0.059840563745,0.999999948861,0.000177912588571,-0.0002655822776,9.53921844621e-06,1793193433832251648
+15,0.250000000,BASELINE,764,742,712,671.30480018,659,633,876.69519982,784,800,649,629,650,0.400964274867,-0.0153937988067,0.0598409368225,0.999999949985,0.000173965851467,-0.000263949959659,9.82807538711e-06,1793193433848918272
+16,0.266666667,BASELINE,764,742,712,671,659,633,876.729537905,784,799.729537905,649,629,650.270462095,0.400964330333,-0.0153944992818,0.0598410500896,0.999999950269,0.000172537521699,-0.000263807415646,9.87818293244e-06,1793193433865585152
+17,0.283333333,BASELINE,764,742,712,671,659,633,876.152948745,784,799.152948745,649,629,650.847051255,0.400963981156,-0.0153927254828,0.0598408692857,0.999999949617,0.000173959693814,-0.000265351097377,9.65805794707e-06,1793193433882251776
+18,0.300000000,BASELINE,764,742,712,671.432458342,658.567541658,633,876.432458342,783.567541658,799.432458342,649,629,650.567541658,0.40096466127,-0.0153933141871,0.0598405384346,0.99999994952,0.000174522129488,-0.000265343198001,9.76989563177e-06,1793193433898918656
+19,0.316666667,BASELINE,764,742,712,672,658.02077081,633,876.97922919,783.02077081,800,649,629,650.02077081,0.400965652349,-0.0153946637172,0.0598401779386,0.999999949619,0.00017479651134,-0.000264779410343,9.98278144431e-06,1793193433915585280
+20,0.333333333,BASELINE,764,742,712,672,658.601582696,633,876.398417304,783.601582696,800,649,629,650.601582696,0.400965008275,-0.0153935294519,0.059840478772,0.999999949587,0.000175673259735,-0.000264331180084,9.68871645129e-06,1793193433932251904
+21,0.350000000,BASELINE,764,742,712,671.819461978,659,633,876,784,799.819461978,649,629,650.819461978,0.400964470127,-0.0153928858777,0.0598405568726,0.999999949591,0.000175958563116,-0.000264131828453,9.49241021628e-06,1793193433948918528
+22,0.366666667,BASELINE,764,742,712,671.244562143,659,633,876,784,799.244562143,649,629,650.244562143,0.400964163363,-0.0153933141543,0.0598401484423,0.999999949677,0.000174951931725,-0.000264476119852,9.50964530365e-06,1793193433965585152
+23,0.383333333,BASELINE,764,742,711.661553704,671.338446296,659,633,876,784,799,649,629,650,0.400963991654,-0.0153927532276,0.059840468271,0.999999949614,0.000175217009718,-0.000264539476887,9.43345251214e-06,1793193433982251776
+24,0.400000000,BASELINE,764,742,711.072542081,671.927457919,659,633,876,784,799,649,629,650,0.400963919931,-0.015391459954,0.0598413272587,0.999999949442,0.000176423584918,-0.000264394847015,9.28809132743e-06,1793193433998918144
+25,0.416666667,BASELINE,764,742,711.507363374,672,659,633,876,784,799.507363374,649,629,650,0.400963820689,-0.0153928918615,0.0598414716921,0.999999949814,0.000174148695227,-0.000264492890179,9.36363649456e-06,1793193434015584768
+26,0.433333333,BASELINE,764,742,712,672,659,633,876.085440915,784,800,649,629,650,0.400963729827,-0.015394337302,0.0598414066964,0.99999995012,0.000172072347628,-0.000264690663989,9.49202171185e-06,1793193434032251648
+27,0.450000000,BASELINE,764,742,712,672,659,633,876.660374126,784,800,649,629,650,0.400963709121,-0.0153936673652,0.0598407168682,0.999999949643,0.000173934928041,-0.000265264521177,9.74536865474e-06,1793193434048918528
+28,0.466666667,BASELINE,764,742.235644992,712,671.764355008,659,633,877,784,799.764355008,649,628.764355008,650,0.400964053896,-0.0153932023201,0.0598405786031,0.999999949576,0.000174969402176,-0.00026483602013,9.82221949883e-06,1793193434065585408
+29,0.483333333,BASELINE,764,742.81140317,712,671.18859683,659,633,877,784,799.18859683,649,628.18859683,650,0.40096492618,-0.0153930330011,0.0598412364249,0.9999999501,0.000174808646621,-0.00026296078662,9.64432843891e-06,1793193434082252032
+30,0.500000000,BASELINE,764,742.602629287,711.602629287,671.397370713,658.602629287,633,877,783.602629287,799,649,628.397370713,650,0.400964643135,-0.0153926976856,0.0598412194546,0.999999950123,0.000174738477772,-0.00026293111256,9.38543244064e-06,1793193434098918400
+31,0.516666667,BASELINE,764,742.011688501,711.011688501,671.988311499,658.011688501,633,877,783.011688501,799,649,628.988311499,650,0.400963797297,-0.0153922815087,0.0598408737747,0.999999949901,0.000174712436172,-0.000263800460715,9.08707674084e-06,1793193434115585024
+32,0.533333333,BASELINE,764,742,711.566519979,671.433480021,658.566519979,633,876.433480021,783.566519979,799.566519979,649,629,650.566519979,0.400964447888,-0.0153937088586,0.0598407502942,0.999999949735,0.000174276085746,-0.00026471131526,9.29037497531e-06,1793193434132251648
+33,0.550000000,BASELINE,764,742,712,671,659,633,876,783.857392138,799.857392138,649.142607862,629,650.857392138,0.400965209392,-0.0153944707908,0.0598409561935,0.999999949698,0.000174398035465,-0.000264764275388,9.44481763366e-06,1793193434148918272
+34,0.566666667,BASELINE,764,742,712,671,659,633,876,783.286896234,799.286896234,649.713103766,629,650.286896234,0.400966213084,-0.0153931245528,0.0598421369283,0.999999950044,0.000176219980159,-0.000262240651355,9.42229884294e-06,1793193434165584896
+35,0.583333333,BASELINE,763.712810719,742,712,671.287189281,659,633,876,783.287189281,799,649.712810719,629,650,0.400966113112,-0.0153934134065,0.0598425415991,0.999999950195,0.000175967590901,-0.000261824829996,9.6002981161e-06,1793193434182251520
+36,0.600000000,BASELINE,763.135093796,742,712,671.864906204,659,633,876,783.864906204,799,649.135093796,629,650,0.400964896647,-0.0153953563584,0.0598421611849,0.999999950152,0.000173616755336,-0.000263541312636,9.98114632273e-06,1793193434198918400
+37,0.616666667,BASELINE,763.454964052,742,712,671.545035948,659,633,876,784,799,649,629,650,0.400964108446,-0.0153946511337,0.0598417430304,0.999999949635,0.000175026120835,-0.000264575727561,9.82071757611e-06,1793193434215585280
+38,0.633333333,BASELINE,763.952570886,742,712,671.047429114,659,633,876,784,799,649,629,650.047429114,0.400963642099,-0.0153933334785,0.0598413347996,0.999999949092,0.000177211876119,-0.000265181863657,9.54420461596e-06,1793193434232252160
+39,0.650000000,BASELINE,763.375291607,742,712,671.624708393,659,633,876,784,799,649,629,650.624708393,0.400965311077,-0.0153942034576,0.0598411661107,0.999999949924,0.000175250046614,-0.000263329131081,9.81642997291e-06,1793193434248918528
+40,0.666666667,BASELINE,763.200873681,742,712,671.799126319,659,633,876,784,799,649,629,650.799126319,0.400966360933,-0.0153948531871,0.0598413147002,0.999999950447,0.000174185835763,-0.00026204314402,9.94675420215e-06,1793193434265585152
+41,0.683333333,BASELINE,763.77496915,742,712,671.22503085,659,633,876,784,799,649,629,650.22503085,0.400966260468,-0.0153950936944,0.0598420527904,0.999999950404,0.000174789393729,-0.00026181016597,9.81342718918e-06,1793193434282251776
+42,0.700000000,BASELINE,764,742,712,671,659,633,876,784,799,649,628.652841593,650,0.400965872413,-0.0153952730376,0.0598425481505,0.999999950434,0.000174923179902,-0.000261604442749,9.85352864051e-06,1793193434298918400
+43,0.716666667,BASELINE,764,742,712,671,659,633,876,784,799,649,628.08188123,650,0.40096529896,-0.0153954129503,0.0598428870301,0.999999950511,0.000174754119158,-0.000261416289855,1.00054338978e-05,1793193434315584768
+44,0.733333333,BASELINE,764,742,712,671,659,633,876,784,799.51314195,649,628.51314195,650,0.400964680755,-0.0153954774152,0.0598420601826,0.999999950071,0.000174771458987,-0.000263082028013,1.00003027899e-05,1793193434332251648
+45,0.750000000,BASELINE,764,742,712,671,659,632.891679215,876.108320785,784,799.891679215,649,629,650,0.400964314936,-0.0153953035481,0.0598414159505,0.999999949677,0.000175084481534,-0.00026437258032,9.95372594778e-06,1793193434348918528
+46,0.766666667,BASELINE,764,742,712,671,659,632.313306879,876.686693121,784,799.313306879,649,629,650,0.400965076849,-0.0153941502665,0.0598424110747,0.999999949865,0.000176545180458,-0.000262688173447,9.84138562145e-06,1793193434365585408
+47,0.783333333,BASELINE,764,742,712,671,659,632.261882653,877,784,799,649,629,650,0.400965271099,-0.0153935657224,0.059842659213,0.999999950064,0.000176527561313,-0.000261947452954,9.67356432451e-06,1793193434382252288
+48,0.800000000,BASELINE,764,742,712,671,659,632.833310191,877,784,799,649,629,650,0.400964794371,-0.015393653425,0.0598420244152,0.999999950278,0.000174762572717,-0.000262322168064,9.44016459245e-06,1793193434398918656
+49,0.816666667,BASELINE,763.579271822,742,712,671.420728178,659,633,876.579271822,784,799,649,629,650,0.400965882301,-0.0153941027242,0.0598431614861,0.999999950784,0.000174531192766,-0.000260534909022,9.66176908534e-06,1793193434415585024
+50,0.833333333,BASELINE,763.014275856,742,712,671.985724144,659,633,876,783.985724144,799.014275856,649,629,650,0.400967514245,-0.0153946671496,0.0598449186082,0.999999951361,0.000174937345968,-0.000258019545138,1.00575956557e-05,1793193434432251648
+51,0.850000000,BASELINE,763.589897597,742,712,671.410102403,659,633,876,783.410102403,799.589897597,649,629,650,0.40096519895,-0.0153939026686,0.059842362703,0.999999950245,0.000175576354396,-0.000261885895825,9.93556849956e-06,1793193434448918272
+52,0.866666667,BASELINE,763.834724801,742,712,671,659,633.165275199,876,783,799.834724801,649,628.834724801,650,0.400963902977,-0.0153933301987,0.0598408781288,0.999999949608,0.000175818739273,-0.000264150014553,9.801339792e-06,1793193434465584896
+53,0.883333333,BASELINE,763.259952126,742,712,671,659,633.740047874,876,783,799.259952126,649,628.259952126,650,0.400965132549,-0.0153932334691,0.0598420479599,0.999999950189,0.000175078421673,-0.000262444330309,9.63687966896e-06,1793193434482251776
+54,0.900000000,BASELINE,763,741.67635885,711.67635885,671,659,633.67635885,876.32364115,783.32364115,799.32364115,649,628.32364115,650.32364115,0.400965629626,-0.0153937312869,0.0598425555196,0.999999950434,0.000174722350528,-0.000261745261154,9.70141907942e-06,1793193434498918656
+55,0.916666667,BASELINE,763,741.085482298,711.085482298,671,659,633.085482298,876.914517702,783.914517702,799.914517702,649,628.914517702,650.914517702,0.400965521869,-0.0153947200314,0.0598425162318,0.999999950403,0.000174683557538,-0.000261877369418,9.95504688301e-06,1793193434515585280
+56,0.933333333,BASELINE,763,741.495528045,711.495528045,671,659,633,877,784,800,649,629,650.504471955,0.400964820385,-0.0153937946591,0.0598421958213,0.999999949789,0.000176652109588,-0.000262904177882,9.87495182086e-06,1793193434532252160
+57,0.950000000,BASELINE,763,742,712,671,658.925305075,633,876.925305075,784,800,649,629,650,0.400964172197,-0.015392722703,0.0598418596047,0.999999949239,0.000178455711402,-0.000263783082931,9.7438134621e-06,1793193434548918528
+58,0.966666667,BASELINE,763,742,712,671,658.347315558,633,876.347315558,784,800,649,629,650,0.400964559773,-0.0153928445169,0.0598417372721,0.999999949822,0.000176860176923,-0.000262645755689,9.6490774436e-06,1793193434565584896
+59,0.983333333,BASELINE,763,742,712,671,658.228998761,633,876.228998761,783.771001239,799.771001239,649,629,650.228998761,0.400964678678,-0.0153928207791,0.0598415064403,0.999999950058,0.000175974367247,-0.000262352448282,9.43850232747e-06,1793193434582251520
+60,1.000000000,BASELINE,763,742,712,671,658.802790895,633,876.802790895,783.197209105,799.197209105,649,629,650.802790895,0.400964393055,-0.0153925778904,0.0598411122463,0.999999949772,0.000176157158787,-0.000263329944293,9.05351335697e-06,1793193434598918144
+61,1.016666667,BASELINE,763.388880086,742,711.611119914,671,659,633,876.611119914,783.388880086,799,649,629,650.611119914,0.400964774056,-0.01539356417,0.0598415779712,0.999999949937,0.000175751130441,-0.000262967369375,9.30361976302e-06,1793193434615584768
+62,1.033333333,BASELINE,763.981408967,742,711.018591033,671,659,633,876.018591033,783.981408967,799,649,629,650.018591033,0.400965504154,-0.0153951941408,0.0598424940186,0.999999950336,0.000175036748779,-0.000261903025808,9.8863130565e-06,1793193434632251648
+63,1.050000000,BASELINE,764,742,711,671,658.440121003,633,876.559878997,783.440121003,799.559878997,649,628.440121003,650,0.400965077681,-0.0153946406376,0.059842407091,0.999999950133,0.000175751737147,-0.00026218762283,1.01662464546e-05,1793193434648919040
+64,1.066666667,BASELINE,764,742,711.13721395,671,658.13721395,633,876.86278605,783,799.86278605,649,628,650,0.400964748889,-0.0153940682834,0.0598422354658,0.99999995,0.000176075536408,-0.000262471476414,1.02960406727e-05,1793193434665585920
+65,1.083333333,BASELINE,764,742,711.712379504,671,658.712379504,633,876.287620496,783,799.287620496,649,628,650,0.400964851444,-0.0153936615052,0.0598418972026,0.999999950154,0.000175002982237,-0.000262613494016,9.97793074501e-06,1793193434682252544
+66,1.100000000,BASELINE,764,742,712,671,659,633,876.293979532,783.293979532,799,649,628.293979532,650,0.40096556962,-0.0153938380668,0.0598421667688,0.999999950408,0.000174747450053,-0.00026181832781,9.8890248746e-06,1793193434698919168
+67,1.116666667,BASELINE,764,742,712,671,659,633,876.882015687,783.882015687,799,649,628.882015687,650,0.400966903575,-0.0153945981213,0.0598430443239,0.999999950761,0.000175309154172,-0.000260085732026,1.00293831857e-05,1793193434715586304
+68,1.133333333,BASELINE,764,742,712,671,659,633,876.537515463,784,799.462484537,649,629,650,0.400965924032,-0.0153955296152,0.0598424586031,0.999999950617,0.000174743368194,-0.000261009737487,1.02668691912e-05,1793193434732252672
+69,1.150000000,BASELINE,764,742,711.959066296,671.040933704,659,633,876.040933704,784,799.959066296,649,628.959066296,650.040933704,0.400964548216,-0.015396405692,0.059841626481,0.9999999504,0.000173865526383,-0.000262414385273,1.04673702335e-05,1793193434748919296
+70,1.166666667,BASELINE,764,742,711.382192373,671.617807627,659,633,876.617807627,784,799.382192373,649,628.382192373,650.617807627,0.400965587022,-0.0153959927901,0.0598423770922,0.999999950895,0.000172607301821,-0.000261381503996,9.86443559833e-06,1793193434765585408
+71,1.183333333,BASELINE,764,742,711.194048165,671.805951835,659,633,876.805951835,784,799.194048165,649,628.194048165,650.805951835,0.400965914166,-0.015395717391,0.0598426292741,0.999999951064,0.000172013114664,-0.000261140636351,9.43580367e-06,1793193434782252032
+72,1.200000000,BASELINE,764,742,711.769045364,671.230954636,659,633,876.230954636,784,799.769045364,649,628.769045364,650.230954636,0.400964844198,-0.0153957119332,0.0598419029559,0.999999950599,0.000172722543881,-0.00026245462388,9.34935702893e-06,1793193434798918400
+73,1.216666667,BASELINE,763.647113896,742,712,671,659,633,876,784,799.647113896,649,629,650,0.400965109968,-0.0153954501305,0.0598422570895,0.999999950443,0.000174310067709,-0.000261985887703,9.65757865029e-06,1793193434815585024
+74,1.233333333,BASELINE,763.057336551,742,712,671,659,633,876,784,799.057336551,649,629,650,0.400966272416,-0.0153950162444,0.0598433365268,0.99999995049,0.000176487053413,-0.000260320415096,1.02307397367e-05,1793193434832251648
+75,1.250000000,BASELINE,763.52285134,742,712,671.52285134,659,633,876,784,799.52285134,649,629,650,0.400965339851,-0.0153939573418,0.0598426716881,0.999999950255,0.00017630166044,-0.000261358747035,1.00011705258e-05,1793193434848918016
+76,1.266666667,BASELINE,764,742.101655565,712,672,659,633,876,784,800,648.898344435,629,650,0.400964339475,-0.0153929610688,0.0598419542322,0.999999949981,0.000176204775964,-0.000262478459298,9.71632051411e-06,1793193434865584896
+77,1.283333333,BASELINE,764,742.678817861,712,672,659,633,876,784,800,648.321182139,629,650,0.400964077192,-0.015392572584,0.0598418692719,0.99999994968,0.000177711869148,-0.00026261688861,9.577235698e-06,1793193434882251520
+78,1.300000000,BASELINE,764,743,712,672,659,633,876.254812061,784,799.745187939,648.254812061,628.745187939,650,0.400965086678,-0.0153928609168,0.0598424748913,0.999999950045,0.00017709695762,-0.000261639884468,9.57873446562e-06,1793193434898918144
+79,1.316666667,BASELINE,764,743,712,672,659,633,876.82934059,784,799.17065941,648.82934059,628.17065941,650,0.400967691871,-0.0153939984626,0.0598439469911,0.999999951237,0.000173819535234,-0.000259263329438,9.75662554839e-06,1793193434915584768
+80,1.333333333,BASELINE,764,742.586154178,712,672,659,633,876.586154178,784,799,649,628.413845822,650,0.400967133438,-0.0153948891765,0.0598433121292,0.999999951102,0.000173399638844,-0.000260059562106,9.87027621398e-06,1793193434932251392
+81,1.350000000,BASELINE,764,742,712,672,659.002528221,633,876,783.997471779,799.002528221,649,629,650.002528221,0.400965255076,-0.0153956663484,0.0598418009469,0.999999950411,0.000174189872283,-0.000262177036645,9.95517298098e-06,1793193434948918016
+82,1.366666667,BASELINE,764,742,712,672,659.582384784,633,876,783.417615216,799.582384784,649,629,650.582384784,0.400967235281,-0.0153943334266,0.0598434867503,0.999999950777,0.000175585291691,-0.000259851842748,9.67278589427e-06,1793193434965584640
+83,1.383333333,BASELINE,764,742,712,672,659.839031356,633,876,783.160968644,799.839031356,649,628.839031356,650.839031356,0.400968043791,-0.0153936385524,0.0598442161226,0.999999951038,0.000175854168901,-0.000258666990216,9.50825444249e-06,1793193434982251520
+84,1.400000000,BASELINE,764,742,712,672,659.263723356,633,876,783.736276644,799.263723356,649,628.263723356,650.263723356,0.400965836314,-0.0153945860367,0.0598424836057,0.999999951042,0.000173223284335,-0.000260417418842,9.64708777663e-06,1793193434998918144
+85,1.416666667,BASELINE,763.682192728,742,712,672,659,633,876,784,799,649,628.317807272,650,0.400965508222,-0.0153950802425,0.0598423925563,0.999999951046,0.000173116195884,-0.000260467584199,9.7892401208e-06,1793193435015584768
+86,1.433333333,BASELINE,763.095395339,742,712,672,659,633,876,784,799,649,628.904604661,650,0.400966770831,-0.0153951907963,0.0598436908352,0.999999951052,0.000175145233069,-0.000259078657097,9.93420164629e-06,1793193435032251392
+87,1.450000000,BASELINE,763.484857117,742,712,671.515142883,659,633,876,784,799,649,628.515142883,650,0.400966373971,-0.0153946817834,0.0598432688117,0.999999950718,0.000175500642023,-0.000260125493154,9.92441266829e-06,1793193435048918016
+88,1.466666667,BASELINE,763.936343247,742,712,671,659,633,876.063656753,783.936343247,799.063656753,649,628,650,0.400965742141,-0.0153941208017,0.0598426352643,0.999999950379,0.000175482932581,-0.000261437557035,9.88204748445e-06,1793193435065584640
+89,1.483333333,BASELINE,763.359014311,742,712,671,659,633,876.640985689,783.359014311,799.640985689,649,628,650,0.400965813815,-0.0153941110171,0.0598429897073,0.999999950546,0.000175076126136,-0.000261074217071,9.81922908968e-06,1793193435082251264
+90,1.500000000,BASELINE,763.215859572,742,712,671,659,633,876.784140428,783.215859572,800,649,628.215859572,650.215859572,0.400965859689,-0.0153944605076,0.0598432540317,0.999999950734,0.000174651526253,-0.000260635035754,9.95547352108e-06,1793193435098918144
+91,1.516666667,BASELINE,763.786696109,742,712,671,659,633,876.213303891,783.786696109,800,649,628.786696109,650.786696109,0.400965863136,-0.015395400819,0.0598433701577,0.999999950955,0.000174197665442,-0.000260071134811,1.04190729952e-05,1793193435115584768
+92,1.533333333,BASELINE,764,742,712,671.371812642,659,633,876,784,800,648.628187358,629,651,0.400965966519,-0.0153943693021,0.0598429932802,0.999999950677,0.000175288034217,-0.000260416829313,1.01942958596e-05,1793193435132251392
+93,1.550000000,BASELINE,764,742,712,671.965448674,659,633,876,784,800,648.034551326,629,651,0.400966129523,-0.0153921613927,0.0598423222768,0.999999950097,0.000177299690185,-0.000261305188324,9.55883334321e-06,1793193435148918016
+94,1.566666667,BASELINE,764,742,712,672,659.546362053,633,876,784,800,648.546362053,629,650.453637947,0.40096675246,-0.0153942570112,0.0598429966615,0.999999950535,0.000176183423821,-0.000260380952536,9.52213284403e-06,1793193435165584896
+95,1.583333333,BASELINE,764,742,712,671.874614726,659.874614726,633,876,784,800,649,629,650.125385274,0.400967191509,-0.0153956383761,0.059843458449,0.999999950917,0.000174973465476,-0.000259729722951,9.4789577197e-06,1793193435182251264
+96,1.600000000,BASELINE,764,742,712,671.299550349,659.299550349,633,876,784,800,649,629,650.700449651,0.400966869129,-0.0153935043347,0.0598428595948,0.999999950878,0.000174120756768,-0.000260459335778,9.27985400924e-06,1793193435198917888
+97,1.616666667,BASELINE,763.717652968,742,712,671,659,633,876,784,799.717652968,648.717652968,629,651,0.400966440968,-0.015393321026,0.0598429467508,0.999999950985,0.000173335005413,-0.000260571353404,9.36536951856e-06,1793193435215584768
+98,1.633333333,BASELINE,763.128326493,742,712,671,659,633,876,784,799.128326493,648.128326493,629,651,0.400965897796,-0.0153952586351,0.0598437797658,0.99999995125,0.000172622052929,-0.000260011895787,9.76033489861e-06,1793193435232251648
+99,1.650000000,BASELINE,763.45309623,742,711.54690377,671,659,633,876,784,799,648.45309623,629,651,0.400966146567,-0.0153947297963,0.0598438937839,0.999999951074,0.000173756770414,-0.000259926524307,9.90792726926e-06,1793193435248918272
+100,1.666666667,BASELINE,764,742,711.032109197,671,659,633,876,784,799,648.967890803,628.967890803,650.967890803,0.400966556259,-0.0153935710988,0.0598437517282,0.999999950777,0.00017534587172,-0.000260000846455,9.96125561705e-06,1793193435265584896
+101,1.683333333,BASELINE,764,742,711.607574983,671,659,633,876,784,799,648.392425017,628.392425017,650.392425017,0.400965958618,-0.0153933721468,0.0598426632172,0.999999950538,0.00017592059613,-0.000260544325021,9.5846952515e-06,1793193435282251264
+102,1.700000000,BASELINE,764,742,711.81348859,671,658.81348859,633,876,784,799.18651141,648.18651141,628,650,0.400965578595,-0.0153934663727,0.059842195111,0.99999995047,0.000175884798225,-0.000260832949095,9.4742819503e-06,1793193435298918144
+103,1.716666667,BASELINE,764,742,711.227111458,671,658.227111458,633,876,784,799.772888542,648.772888542,628,650,0.400965665131,-0.015394189149,0.0598430571039,0.999999950769,0.000174540088656,-0.000260575185209,9.93446696851e-06,1793193435315584768
+104,1.733333333,BASELINE,764,742,711,671,658.354472369,633,876,784,799.645527631,649,628.354472369,650.354472369,0.400964983294,-0.0153937599942,0.0598426740337,0.999999950244,0.000176299130663,-0.000261404544673,9.86636263032e-06,1793193435332251392
+105,1.750000000,BASELINE,764,742,711,671,658.933026142,633,876,784,799.066973858,649,628.933026142,650.933026142,0.400963815728,-0.0153926026408,0.059841503891,0.999999949188,0.000180020223953,-0.000262921134337,9.46429769149e-06,1793193435348918016
+106,1.766666667,BASELINE,764,742,711.511949739,671,659,633,876,784,799.511949739,649,629,650.488050261,0.400963977212,-0.0153930030403,0.0598420071985,0.999999949498,0.000178753187227,-0.000262606235414,9.47569274993e-06,1793193435365584640
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,742,712,672,658,633,876,784,799,649,629,650,0.400964954683,-0.0153935765789,0.059843126547,0.999999950225,0.000176176040683,-0.000261559461314,9.88950526783e-06,1793193435408653312
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,742,712,672,658.588538812,633,876,784,799,649,629,650,0.400965053571,-0.0153939284216,0.0598419343273,0.999999950198,0.000175954269572,-0.000261825530656,9.55425434246e-06,1793193435425319680
+109,1.816666667,POSE1_TO_POSE2_PRESS,763.825669121,742,712,671.825669121,659,633,876.174330879,784,799.174330879,649,628.825669121,650,0.400965107433,-0.0153944435926,0.0598413267993,0.999999950273,0.000175404632212,-0.000261916181979,9.34947809724e-06,1793193435441986048
+110,1.833333333,POSE1_TO_POSE2_PRESS,763.24625933,742,712,671.24625933,659,633,876.75374067,784,799.75374067,649,628.24625933,650,0.400965056671,-0.015395338277,0.0598420778731,0.999999950584,0.000174093157863,-0.000261599228339,9.44787550681e-06,1793193435458652928
+111,1.850000000,POSE1_TO_POSE2_PRESS,763.332963067,742.332963067,712,671,659,633,876.667036933,784,799.667036933,649,628.332963067,650,0.40096514482,-0.0153956652006,0.0598426272158,0.999999950904,0.000173354272817,-0.000260867507474,9.42903236933e-06,1793193435475319552
+112,1.866666667,POSE1_TO_POSE2_PRESS,763.912046912,742.912046912,712,671,659,633,876.087953088,784,799.087953088,649,628.912046912,650,0.400965335649,-0.0153955724447,0.0598430274423,0.99999995123,0.000173038636366,-0.000259829197572,9.32352695768e-06,1793193435491986176
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,742.516942524,712,671,659,633,876.483057476,784,799.483057476,649,629,650,0.400966318306,-0.015394804134,0.059843199714,0.999999951179,0.000173302677482,-0.000259854857083,9.11052647155e-06,1793193435508652800
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,742.054749019,712,671,659,633,876.945250981,784,800.054749019,649,629,650,0.400967679237,-0.0153941371732,0.0598434769208,0.999999951146,0.000173644132892,-0.000259760522496,8.98215785568e-06,1793193435525319424
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,742.647333181,712,671,659,633,876.352666819,784,800.647333181,649,629,650,0.400971363182,-0.0153956543063,0.0598451860021,0.999999951935,0.000173726283191,-0.000256615623121,9.87429339156e-06,1793193435541986048
+116,1.933333333,POSE1_TO_POSE2_PRESS,763.765861916,742.765861916,711.765861916,671,659,633,876,784,800.765861916,649,629,650,0.400980737949,-0.0153970190801,0.059849618211,0.999999953923,0.0001728350971,-0.000249331956047,1.07095115179e-05,1793193435558652928
+117,1.950000000,POSE1_TO_POSE2_PRESS,763.187552295,742.187552295,711.187552295,671,659,633,876,784,800.187552295,649,629,650,0.400998477946,-0.0153981598931,0.0598580532843,0.999999957557,0.000170513154069,-0.000235964503011,1.14610637542e-05,1793193435575319552
+118,1.966666667,POSE1_TO_POSE2_PRESS,763,742,711.388846938,671,658.611153062,633,876,783.611153062,799.611153062,649,628.611153062,650,0.401031320337,-0.0153984891304,0.0598715495353,0.999999962346,0.00017296463462,-0.000212658566774,1.29241200512e-05,1793193435591986176
+119,1.983333333,POSE1_TO_POSE2_PRESS,763,742,711.964329291,671,658.035670709,633,876,783.035670709,799.035670709,649,628.035670709,650,0.401071411445,-0.0153984288346,0.0598874750077,0.999999967066,0.000177707221724,-0.000184582441379,1.47286780166e-05,1793193435608652800
+120,2.000000000,POSE1_TO_POSE2_PRESS,763.5384041,742,712,671.5384041,658.5384041,633,876.5384041,783.5384041,799,649,628.5384041,650,0.401131510106,-0.0154029136526,0.0599040280011,0.999999971567,0.000175449554539,-0.000160676855972,1.63140978428e-05,1793193435625319680
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,742,712,671.88397831,659,633,876.88397831,784,799.11602169,649,629,650.11602169,0.401196777857,-0.0154078735944,0.0599196479278,0.999999975415,0.000172675528693,-0.000137973222818,1.77681564666e-05,1793193435641986048
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,742,712,671.291427463,659,633,876.291427463,784,799.708572537,649,629,650.708572537,0.401277846157,-0.0154135514142,0.0599312652155,0.999999978339,0.000169680604841,-0.000119074380978,1.87421588089e-05,1793193435658652672
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,742,711.705660238,671.294339762,659,632.705660238,876.294339762,784,799.705660238,649,629,650.705660238,0.401364974579,-0.0154183358786,0.0599378024039,0.999999980042,0.000168067898345,-0.000106420286922,1.8553531729e-05,1793193435675319552
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,742,711.126458242,671.873541758,659,632.126458242,876.873541758,784,799.126458242,649,629,650.126458242,0.401457967987,-0.0154222557528,0.0599394230678,0.999999980793,0.000167792903019,-9.98098654129e-05,1.72397110056e-05,1793193435691986176
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,742,711.449592819,671.550407181,659,632.449592819,876.550407181,783.550407181,799,649,629,650.449592819,0.401561224351,-0.0154275210102,0.0599361231122,0.999999980642,0.000166379216766,-0.000103878108855,1.55819588361e-05,1793193435708653568
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,742,712,671.024727012,659,633,876,783.024727012,799.024727012,649,628.975272988,650.975272988,0.401668961535,-0.0154332598509,0.0599315939586,0.999999980272,0.00016450955865,-0.000110458529083,1.3817973598e-05,1793193435725321216
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,742,712,671.599044265,659,633,876,783.599044265,799.599044265,649,628.400955735,650.400955735,0.401812576887,-0.0154411723679,0.0599302922032,0.999999981518,0.000159574489631,-0.00010658064202,1.18279959298e-05,1793193435741987328
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,742,712,672,659,633,876.179512069,784,799.820487931,649,628.179512069,650,0.4019694955,-0.0154492659841,0.0599301271604,0.999999982928,0.000154192084468,-0.000101366139417,9.73072565927e-06,1793193435758653440
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,742,712,672,659,633,876.77420497,784,799.22579503,649,628.77420497,650,0.402157182274,-0.0154577784507,0.0599325911405,0.999999984724,0.000147775067703,-9.30602733215e-05,7.38530615483e-06,1793193435775319808
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,742,712,672,659,633,877,784,799.356845173,649,629,650.356845173,0.402363265907,-0.015468973107,0.0599344756426,0.999999986625,0.000139309825156,-8.55437647017e-05,5.07803827284e-06,1793193435791986688
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,742,712,672,659,633,877,784,799.932108216,649,629,650.932108216,0.402580609912,-0.0154818094793,0.059936005458,0.999999988517,0.000129590903505,-7.85104053643e-05,2.79412201688e-06,1793193435808653568
+132,2.200000000,POSE1_TO_POSE2_PRESS,763.493667751,742,712,671.493667751,659,633,877,784,800,649,629,650.493667751,0.402831089472,-0.0154922693441,0.059940670353,0.999999990117,0.000122955779357,-6.81697944915e-05,3.34968460856e-07,1793193435825319936
+133,2.216666667,POSE1_TO_POSE2_PRESS,763,742,712,671.083074767,659,633,876.916925233,784.083074767,800,649,628.916925233,650,0.403088006752,-0.0155015102769,0.059943419786,0.999999991184,0.0001177256757,-6.13646592127e-05,-2.48209087342e-06,1793193435841986560
+134,2.233333333,POSE1_TO_POSE2_PRESS,763,742,712,671.676131568,659,633,876.323868432,784.676131568,800,649,628.323868432,650,0.403357225284,-0.0155052205584,0.059931835234,0.999999989823,0.000118587592261,-7.89799266528e-05,-7.3523273724e-06,1793193435858652928
+135,2.250000000,POSE1_TO_POSE2_PRESS,763,742,712,672,659,633,876.262267411,784.737732589,800,648.737732589,628.262267411,650,0.403651123593,-0.0155043365765,0.0599205672486,0.999999987602,0.000123738431518,-9.66406005158e-05,-1.20175725402e-05,1793193435875319552
+136,2.266666667,POSE1_TO_POSE2_PRESS,763,742,712,672,659,633,876.840076411,784.159923589,800,648.159923589,628.840076411,650,0.403974714849,-0.0154979251016,0.0599096801341,0.999999984342,0.000134049398975,-0.000114355903112,-1.64361863528e-05,1793193435891986176
+137,2.283333333,POSE1_TO_POSE2_PRESS,763.416118521,742,712,672,659,633,877,783.583881479,800,648.416118521,629,650,0.404314985154,-0.0154859050627,0.0598973530971,0.999999986995,8.18190102495e-05,-0.000137082702683,-2.28792849169e-05,1793193435908653056
+138,2.300000000,POSE1_TO_POSE2_PRESS,763.991484435,742,712,672,659,633,877,783.008515565,800,648.991484435,629,650,0.404661638479,-0.0154717386423,0.059884475006,0.999999986453,5.65421903163e-06,-0.000161727386953,-3.00971478979e-05,1793193435925319936
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,742,712,671.420703206,659,633,877,783.579296794,800,649,628.420703206,650,0.405071642432,-0.0154840279272,0.0598885994246,0.99999998683,7.49130865523e-06,-0.000158790799516,-3.26992406998e-05,1793193435941986304
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,742.164470591,712,671.164470591,659,633,877,784,799.835529409,649.164470591,628.164470591,650,0.405507180453,-0.0154969413012,0.0598996056823,0.999999989129,7.10029570869e-06,-0.000143095281661,-3.48652161659e-05,1793193435958652672
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,742.742538853,712,671.742538853,659,633,877,784,799.257461147,649.742538853,628.742538853,650,0.406004536232,-0.0155104246489,0.0599272755308,0.999999994704,-1.84050165938e-06,-9.63565676591e-05,-3.61088506391e-05,1793193435975319552
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,742.679481911,712,672,659,633,876.679481911,784,799.320518089,649.679481911,629,650.320518089,0.406533311759,-0.0155172400377,0.0599555541293,0.999999997889,-1.70123566013e-05,-5.00924882223e-05,-3.77228290616e-05,1793193435991986432
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,742.101574103,712,672,659,633,876.101574103,784,799.898425897,649.101574103,629,650.898425897,0.407087318738,-0.0155187007722,0.059984321583,0.999999998514,-3.71880179192e-05,-4.2095555573e-06,-3.96342096061e-05,1793193436008653056
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,742.473561466,712,672,659,633,876.473561466,784,800,649,628.526438534,650.526438534,0.407613487589,-0.0155178353273,0.0599855720099,0.999999997403,-5.60284662146e-05,-8.8848844673e-06,-4.4442834061e-05,1793193436025319680
+145,2.416666667,POSE1_TO_POSE2_PRESS,763.950617353,742.950617353,712,671.950617353,659,633,877,783.950617353,800,649,628.049382647,650,0.408135759902,-0.0155167488086,0.0599798784425,0.999999995656,-7.42222114767e-05,-2.61275454992e-05,-4.99649425661e-05,1793193436041986304
+146,2.433333333,POSE1_TO_POSE2_PRESS,763.360823653,742.360823653,712,671.360823653,659,633,877,783.360823653,800,649,628.639176347,650,0.40868035378,-0.0155186713139,0.0599624074,0.999999992511,-8.84546976625e-05,-6.29173603375e-05,-5.6534020475e-05,1793193436058652928
+147,2.450000000,POSE1_TO_POSE2_PRESS,763.225149752,742,712,671.225149752,659,632.774850248,877,783.225149752,799.774850248,649,629,650,0.409263785873,-0.0155187456824,0.0599522408104,0.999999993963,-5.52874885268e-05,-8.13983542075e-05,-4.8908615695e-05,1793193436075320064
+148,2.466666667,POSE1_TO_POSE2_PRESS,763.80510289,742,712,671.80510289,659,632.19489711,877,783.80510289,799.19489711,649,629,650,0.409908421335,-0.0155159076552,0.0599535849809,0.999999995917,5.25747735829e-05,-7.10272964046e-05,-1.89147622151e-05,1793193436091987456
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,742.381572353,712,672,659.381572353,632.381572353,877,784,799,649,628.618427647,650,0.41058796772,-0.0155154188948,0.0599599414078,0.999999995131,8.00852906591e-05,-5.61670763403e-05,-1.30148072888e-05,1793193436108653824
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,742.956278527,712,672,659.956278527,632.956278527,877,784,799,649,628.043721473,650,0.41128518434,-0.0155161192219,0.059968834801,0.999999996812,6.69255635595e-05,-3.90346558922e-05,-1.93100416787e-05,1793193436125319680
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,742.470323327,712,671.470323327,660,633,877,784,799,649,628.529676673,650,0.411954829164,-0.0155197459356,0.0599560617693,0.999999997184,3.26158750624e-05,-6.17243551683e-05,-2.75369788095e-05,1793193436141986560
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,742,712,671,659.892969348,633,877,784,799.107030652,649.107030652,629,650,0.412620168441,-0.0155231626088,0.0599372609172,0.999999994686,3.17608323089e-06,-9.68479765377e-05,-3.5177056943e-05,1793193436158653184
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,742,712,671,659.297054516,633,877,784,799.702945484,649.702945484,629,650,0.413276210989,-0.0155245192454,0.0598990756576,0.999999984114,3.93517499816e-06,-0.000173788698699,-3.94100098318e-05,1793193436175319808
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,742,712,671,659,633,877,784,799.711805447,649.711805447,629,650,0.414010432128,-0.0155283095084,0.0598935388601,0.999999982189,-1.51787414851e-06,-0.000184365794228,-4.03514196999e-05,1793193436191986432
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,742,712,671,659,633,877,784,799.137157628,649.137157628,629,650,0.414822359577,-0.0155345186941,0.0599204532566,0.999999990873,-1.31455300287e-05,-0.000128980245124,-3.80211748047e-05,1793193436208653056
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,742,712,671.438191929,659.438191929,633,877,784,799.438191929,649,629,650,0.415672665576,-0.0155407435572,0.059963811047,0.999999997766,-1.95398335808e-05,-5.3840839061e-05,-3.44688064833e-05,1793193436225319680
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,742,712,672,660,633,877,784,800,649,629,650,0.416533127017,-0.015546840434,0.0600109158292,0.999999998923,-2.42179919486e-05,2.50690899842e-05,-3.06556700012e-05,1793193436241986304
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,742,712,672,660,633,877,784,800,649,629,650,0.417316977814,-0.0155475116538,0.0600005321308,0.999999999147,-2.58165111868e-05,5.08071895071e-06,-3.18386645369e-05,1793193436258652672
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,742.192089307,712,672,660,633,877,784,799.807910693,649,629,650,0.418110332122,-0.015547187476,0.0599861513746,0.999999998827,-2.86702253596e-05,-1.90077719078e-05,-3.41124111468e-05,1793193436275319296
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,742.769531677,712,672,660,633,877,784,799.230468323,649,629,650,0.41892275151,-0.0155448664173,0.0599637520652,0.99999999736,-3.40420036611e-05,-5.13215696519e-05,-3.85743307726e-05,1793193436291986176
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,742.65384934,712,672,660,633,877,784,799.34615066,649,628.65384934,650,0.419738794867,-0.0155446329799,0.0599393438997,0.999999994729,-3.72405127856e-05,-8.60499778778e-05,-4.18324019141e-05,1793193436308652800
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,742.077777294,712,672,660,633,877,784,799.922222706,649,628.077777294,650,0.420557245317,-0.0155457861899,0.0599136014058,0.99999999077,-3.89954853167e-05,-0.000122382225674,-4.42908484561e-05,1793193436325319424
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,742.496757839,712,672,660,633,877,784,799.503242161,649,628.496757839,650,0.421371183347,-0.0155424479901,0.0598832308852,0.999999980545,-3.5253064575e-05,-0.000188281497595,-4.7081775675e-05,1793193436341986048
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,743,711.926727406,672.073272594,660,632.926727406,877,784,799,649,629,650,0.422198404228,-0.0155393080035,0.0598616674662,0.999999969755,-3.17887933127e-05,-0.000238867291897,-4.92048931811e-05,1793193436358652928
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,743,711.334492964,672.665507036,660,632.334492964,877,784,799,649,629,650,0.423124690572,-0.0155425371588,0.0599075977084,0.999999987272,-3.63719430965e-05,-0.000148307063972,-4.6230610103e-05,1793193436375319552
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,742.749064357,711.250935643,672.749064357,660,632.250935643,877,784,799.250935643,649,629,650,0.424045296784,-0.015546874796,0.0599561029636,0.999999996297,-4.01794170815e-05,-6.33150493504e-05,-4.22118773566e-05,1793193436391986432
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,742.172468181,711.827531819,672.172468181,660,632.827531819,877,784,799.827531819,649,629,650,0.424958531534,-0.0155526510048,0.0600079500386,0.999999998293,-4.2980231355e-05,1.44506328268e-05,-3.68376731933e-05,1793193436408653312
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,742.401652295,712,671.598347705,659.598347705,633,877,783.598347705,799.598347705,649,628.598347705,650,0.425837459198,-0.0155560808203,0.0600157237203,0.999999997477,-5.13481458449e-05,3.23136270395e-05,-3.69557121613e-05,1793193436425319680
+169,2.816666667,POSE1_TO_POSE2_PRESS,764,742.974716191,712,671.025283809,659.025283809,633,877,783.025283809,799.025283809,649,628.025283809,650,0.426701745705,-0.0155585092742,0.0600046883667,0.999999996993,-6.20919101336e-05,2.46121774226e-05,-3.94176549347e-05,1793193436441986304
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,742.434071279,712,671.565928721,659.565928721,633,877.565928721,783.565928721,799,649,628.565928721,650,0.427552271145,-0.0155609018666,0.0599781317466,0.999999997049,-6.28295919972e-05,-1.26105316018e-05,-4.23667078031e-05,1793193436458652928
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,742,712,672.148752563,660,632.851247437,877.851247437,783.851247437,799.148752563,649,629,650,0.428388833665,-0.0155611886726,0.0599519718891,0.999999995664,-6.28741740615e-05,-5.16450144317e-05,-4.52900222242e-05,1793193436475319808
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,742,712,672.706225506,660,632.293774494,877.293774494,783.293774494,799.706225506,649,629,650,0.429188776102,-0.0155556940567,0.0599288706528,0.99999999268,-6.22833603595e-05,-9.19136450549e-05,-4.80808395021e-05,1793193436491987200
+173,2.883333333,POSE1_TO_POSE2_PRESS,763.717516277,742.282483723,712,673,660.282483723,632.282483723,877,783.282483723,799.717516277,649,628.717516277,650,0.430000469078,-0.0155517255856,0.0599138664487,0.999999990084,-6.14132068087e-05,-0.000116475375906,-4.99366099966e-05,1793193436508654080
+174,2.900000000,POSE1_TO_POSE2_PRESS,763.120330277,742.879669723,712,673,660.879669723,632.879669723,877,783.879669723,799.120330277,649,628.120330277,650,0.430825252742,-0.0155494573234,0.0599078827818,0.999999989267,-6.02318535512e-05,-0.000123538761024,-5.07506872454e-05,1793193436525319936
+175,2.916666667,POSE1_TO_POSE2_PRESS,763.459361222,743,712,673,660.540638778,633,877.459361222,784,799,649,628.459361222,650,0.431710247321,-0.0155550545274,0.0599486144958,0.999999995653,-6.35796362101e-05,-4.90124537856e-05,-4.7423006366e-05,1793193436541987072
+176,2.933333333,POSE1_TO_POSE2_PRESS,764,742.964169123,711.964169123,673,660.035830877,633,878,784,799.035830877,649,629,650,0.43260411655,-0.0155622457306,0.0599979903528,0.999999995952,-6.81305992437e-05,3.97250490674e-05,-4.33257337376e-05,1793193436558654208
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,742.369083719,711.369083719,673,660.630916281,633,878,784,799.630916281,649,629,650,0.433399356128,-0.0155633375497,0.0599982930285,0.999999995924,-7.36226350962e-05,2.89254684728e-05,-4.35292085762e-05,1793193436575320576
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,742,711.21843551,673.21843551,660.78156449,633,878,784,799.78156449,649,629,650,0.43417259176,-0.0155638249198,0.0599840344035,0.999999996,-7.72250124206e-05,1.35617902696e-07,-4.51231606395e-05,1793193436591987200
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,742,711.793598498,673.793598498,660.206401502,633,878,784,799.206401502,649,629,650,0.434909892829,-0.0155633251632,0.0599459956888,0.999999994094,-7.77413852464e-05,-5.80341810441e-05,-4.89879038353e-05,1793193436608653568
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,742.369874084,712,673.630125916,660,633,878,784,799.369874084,649,629,650,0.435633527675,-0.0155631189472,0.0599222569016,0.99999999081,-7.77879492076e-05,-9.85611606947e-05,-5.11303961063e-05,1793193436625319936
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,742.946772373,712,673.053227627,660,633,878,784,799.946772373,649,629,650,0.43634951328,-0.0155630770304,0.0599065220057,0.999999987275,-7.75715539414e-05,-0.000129213179963,-5.23089178781e-05,1793193436641986304
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,743,712,673,660,633,877.466346612,784,800,649,629,650,0.437050654887,-0.015559317411,0.059907488142,0.999999986971,-7.17048677359e-05,-0.000134981881387,-5.19324810123e-05,1793193436658653184
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,742.880034797,712,673,660,633,877,784,800,649,629,650,0.437743331598,-0.0155561996966,0.0599086620029,0.999999986791,-6.42031385686e-05,-0.000140215407364,-5.13438204961e-05,1793193436675320064
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,742.299799861,712,673,660,633,877,784,800,649,629,650,0.438409319847,-0.0155569945838,0.0599041198665,0.999999985618,-5.26317188676e-05,-0.000153099483316,-5.0547316753e-05,1793193436691986944
+185,3.083333333,POSE1_TO_POSE2_PRESS,763.722595938,742.277404062,712,673,660,633,877,784,799.722595938,649,629,650,0.439071149136,-0.0155622922881,0.0599111343182,0.999999985994,-6.57899270624e-05,-0.000145704238065,-4.95415506462e-05,1793193436708654080
+186,3.100000000,POSE1_TO_POSE2_PRESS,763.148632364,742.851367636,712,673,660,633,877,784,799.148632364,649,629,650,0.439728532234,-0.0155724037401,0.0599305033697,0.999999986479,-0.000105385406832,-0.000116629332398,-4.83120720575e-05,1793193436725320960
+187,3.116666667,POSE1_TO_POSE2_PRESS,763,742.573990475,711.573990475,673,660,632.573990475,877,783.573990475,799,649,629,650.426009525,0.440317240403,-0.0155801863918,0.0599285319528,0.999999984677,-0.000112073319733,-0.000124829449663,-5.00278762795e-05,1793193436741987328
+188,3.133333333,POSE1_TO_POSE2_PRESS,763.000915811,742,711.000915811,673,660,632,877,783,799,649,629,650.999084189,0.440881830036,-0.0155871436686,0.0599190182794,0.999999982166,-0.000107313650901,-0.000146171338543,-5.27815736476e-05,1793193436758653696
+189,3.150000000,POSE1_TO_POSE2_PRESS,763.593466869,742,711.593466869,673,660,632,877,783,799,649,629,650.406533131,0.441368853671,-0.0155866237808,0.0598547152228,0.999999959475,-0.000136145082481,-0.000242439256141,-6.11306424795e-05,1793193436775320320
+190,3.166666667,POSE1_TO_POSE2_PRESS,764,742.181543205,712,673,659.818456795,632,877.181543205,783,799.181543205,649,628.818456795,650,0.441846450362,-0.0155875759374,0.0597959620945,0.999999931447,-0.000153109754596,-0.000330191083751,-6.81036960334e-05,1793193436791986688
+191,3.183333333,POSE1_TO_POSE2_PRESS,764,742.759840365,712,673,659.240159635,632,877.759840365,783,799.759840365,649,628.240159635,650,0.442303445012,-0.0155917451761,0.0597493380555,0.999999907282,-0.000144140201331,-0.000399331427637,-7.20695368056e-05,1793193436808653056
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,743,712,673,659,631.66502684,877.66502684,783,800,649,628,650,0.442761410049,-0.0155961794325,0.0597281548316,0.999999893512,-0.000149318616501,-0.000430574869074,-7.27022394149e-05,1793193436825319680
+193,3.216666667,POSE1_TO_POSE2_PRESS,764,743,712,673,659,631.092141545,877.092141545,783,800,649,628,650,0.443220064267,-0.0156008019154,0.0597250407556,0.999999889374,-0.000164545519277,-0.00043490232117,-7.09676059741e-05,1793193436841986560
+194,3.233333333,POSE1_TO_POSE2_PRESS,764,743,712,673,659,631,877,782.505208387,800,649,628,650,0.443657458389,-0.015607524805,0.0597335501617,0.999999895195,-0.000169822920717,-0.000419673332688,-6.81475048505e-05,1793193436858653184
+195,3.250000000,POSE1_TO_POSE2_PRESS,764,742.917158706,711.917158706,673.082841294,659.082841294,631,877,782,800.082841294,649.082841294,628,650,0.444081919497,-0.0156151010455,0.0597415601125,0.999999901159,-0.000169012418744,-0.000406233749507,-6.39540273074e-05,1793193436875319552
+196,3.266666667,POSE1_TO_POSE2_PRESS,764,742.338540573,711.338540573,673.661459427,659.661459427,631,877,782,800.661459427,649.661459427,628,650,0.444453367263,-0.0156253750338,0.0597332483141,0.999999897646,-0.000143180440574,-0.000425935302169,-5.27864436028e-05,1793193436891986176
+197,3.283333333,POSE1_TO_POSE2_PRESS,764.239409923,742,711.239409923,674,659.760590077,631,877.239409923,781.760590077,801,649.760590077,628,650,0.44479332878,-0.0156338917115,0.0597184385744,0.999999885234,-0.000135325879948,-0.000457141841062,-4.73316086607e-05,1793193436908652800
+198,3.300000000,POSE1_TO_POSE2_PRESS,764.816418915,742,711.816418915,674,659.183581085,631,877.816418915,781.183581085,801,649.183581085,628,650,0.445088890567,-0.0156399303524,0.0596944658944,0.99999985978,-0.000152821813739,-0.000504571902034,-4.99324919413e-05,1793193436925319424
+199,3.316666667,POSE1_TO_POSE2_PRESS,764.608711127,742,712,673.608711127,659,631,878,781.391288873,800.608711127,649,628.391288873,650,0.445369680192,-0.0156505164619,0.0596741333004,0.999999839774,-0.000172482532808,-0.000536673349104,-5.18051123288e-05,1793193436941986304
+200,3.333333333,POSE1_TO_POSE2_PRESS,764.034839234,742,712,673.034839234,659,631,878,781.965160766,800.034839234,649,628.965160766,650,0.445643576863,-0.0156632245095,0.0596554992393,0.999999822214,-0.000193153384428,-0.000561622170041,-5.33379112683e-05,1793193436958652928
+201,3.350000000,POSE1_TO_POSE2_PRESS,764,742,711.446106785,673,658.446106785,631,877.446106785,781.446106785,800,649,628.446106785,650,0.445907674058,-0.0156754438824,0.0596600959221,0.999999821147,-0.000222860743449,-0.000552564345353,-5.20726263995e-05,1793193436975320576
+202,3.366666667,POSE1_TO_POSE2_PRESS,764,742.141238825,711,673.141238825,658,631,877.141238825,781,800,649,628,649.858761175,0.446165112723,-0.0156858326106,0.0596670489116,0.99999982193,-0.000247955527617,-0.000540426767325,-5.0965566174e-05,1793193436991987712
+203,3.383333333,POSE1_TO_POSE2_PRESS,764,742.721291707,711,673.721291707,658,631,877.721291707,781,800,649,628,649.278708293,0.446403831916,-0.0156906318523,0.0596766577902,0.999999827603,-0.000256904940152,-0.000525549510595,-5.09119691574e-05,1793193437008654336
+204,3.400000000,POSE1_TO_POSE2_PRESS,764,742.701036484,711.298963516,674,658,630.701036484,878,781,800,649,628,649.298963516,0.44661433368,-0.0156967412695,0.0596815547005,0.999999829423,-0.000263982182304,-0.000518532623498,-5.089722085e-05,1793193437025320448
+205,3.416666667,POSE1_TO_POSE2_PRESS,764,742.125566922,711.874433078,674,658,630.125566922,878,781,800,649,628,649.874433078,0.446798737631,-0.0157040624446,0.0596820935943,0.999999827866,-0.000269327886833,-0.000518785653645,-5.09184030366e-05,1793193437041986560
+206,3.433333333,POSE1_TO_POSE2_PRESS,764.458034962,742.458034962,712,673.541965038,658,630,877.541965038,781,800,649,628,650,0.446950305424,-0.0157079112249,0.0596754588238,0.999999822226,-0.000272689987502,-0.000527717820163,-5.19811105439e-05,1793193437058653184
+207,3.450000000,POSE1_TO_POSE2_PRESS,764.956340637,743,712,673,658,630,877.043659363,781,800,649,628,650.043659363,0.447091179279,-0.015710959563,0.05966705888,0.999999815336,-0.000275688002463,-0.00053896971187,-5.32552493079e-05,1793193437075319808
+208,3.466666667,POSE1_TO_POSE2_PRESS,764.373767478,743,712,673,658,630,877.626232522,781,800,649,628,650.626232522,0.447213174477,-0.0157160902197,0.0596615841453,0.999999808403,-0.000281025552209,-0.000548955098938,-5.35510792825e-05,1793193437091986432
+209,3.483333333,POSE1_TO_POSE2_PRESS,763.793450182,742.793450182,712,673.206549818,658.206549818,630,878,781,800,649,628,651,0.447327073857,-0.0157207527559,0.059658176294,0.999999803349,-0.000286679618973,-0.000555192307256,-5.36438106687e-05,1793193437108653312
+210,3.500000000,POSE1_TO_POSE2_PRESS,763.217171001,742.217171001,712,673.782828999,658.782828999,630,878,781,800,649,628,651,0.447426481509,-0.0157245773443,0.0596584682165,0.999999801823,-0.000292900258622,-0.000554720180496,-5.3372990458e-05,1793193437125319936
+211,3.516666667,POSE1_TO_POSE2_PRESS,763.357517652,742.357517652,712,674.357517652,658.642482348,630,878,781,799.642482348,649,628,650.642482348,0.447514383249,-0.015726682622,0.0596602111419,0.999999803481,-0.000296066485866,-0.00055004637194,-5.32047800341e-05,1793193437141986816
+212,3.533333333,POSE1_TO_POSE2_PRESS,763.931244486,742.931244486,712,674.931244486,658.068755514,630,878,781,799.068755514,649,628,650.068755514,0.447595326788,-0.0157277481453,0.0596628315628,0.999999807038,-0.000297385554528,-0.000542831591756,-5.30986229612e-05,1793193437158653952
+213,3.550000000,POSE1_TO_POSE2_PRESS,764.519886329,743,712,674.480113671,658,630,878,781,799.519886329,649,628,650,0.447649949032,-0.0157277050122,0.0596607778587,0.99999980569,-0.000296856652308,-0.000545600282701,-5.30681829017e-05,1793193437175320320
+214,3.566666667,POSE1_TO_POSE2_PRESS,764.891483311,743,712,674,658,630,877.891483311,780.891483311,800,649,628,650,0.447698050002,-0.0157277613403,0.0596582375829,0.999999803526,-0.000296740580689,-0.000549617913888,-5.30335614082e-05,1793193437191986944
+215,3.583333333,POSE1_TO_POSE2_PRESS,764.311721531,743,712,674,658,630,877.311721531,780.311721531,800,649,628,650,0.447733394849,-0.0157289051127,0.0596563480212,0.999999800755,-0.000299509932015,-0.000553156201489,-5.29360118515e-05,1793193437208653312
+216,3.600000000,POSE1_TO_POSE2_PRESS,764.265807032,743,712,674,658,630,877.265807032,780.265807032,800,649,628,650,0.447763640727,-0.0157296192362,0.0596549219113,0.999999798884,-0.000301351622997,-0.000555552858497,-5.27221666413e-05,1793193437225319936
+217,3.616666667,POSE1_TO_POSE2_PRESS,764.840738404,743,712,674,658,630,877.840738404,780.840738404,800,649,628,650,0.447787956678,-0.0157298336929,0.0596540347796,0.999999798078,-0.000302114477073,-0.000556621838597,-5.23730736341e-05,1793193437241986560
+218,3.633333333,POSE1_TO_POSE2_PRESS,764.576053103,743,712,674,657.576053103,630,877.576053103,780.576053103,800,649,628,650,0.447805153946,-0.0157298707921,0.0596526899724,0.999999796926,-0.000303386120411,-0.00055799721845,-5.23907552532e-05,1793193437258653440
+219,3.650000000,POSE1_TO_POSE2_PRESS,764,743,712,673.989799924,657.010200076,630,877,780,800,649,628,650,0.447819495381,-0.0157298313938,0.0596511754663,0.999999795635,-0.000304841730601,-0.000559499790166,-5.25442830642e-05,1793193437275320320
+220,3.666666667,POSE1_TO_POSE2_PRESS,764,743,712,673.410610851,657.589389149,630,877,780,800,649,628,650,0.447826677157,-0.0157293153814,0.0596499765194,0.999999794235,-0.00030568523982,-0.000561548838949,-5.24366640463e-05,1793193437291987200
+221,3.683333333,POSE1_TO_POSE2_PRESS,764,743,712,673.167559537,658,630,877.167559537,780,800,649,628,650,0.447832337754,-0.0157288424616,0.0596487263145,0.999999792752,-0.000306103479011,-0.00056395316994,-5.24761002866e-05,1793193437308654080
+222,3.700000000,POSE1_TO_POSE2_PRESS,764,743,712,673.743248601,658,630,877.743248601,780,800,649,628,650,0.447834293172,-0.0157284745033,0.0596473512593,0.99999979107,-0.000305485875786,-0.000567222871598,-5.28737232141e-05,1793193437325320192
+223,3.716666667,POSE1_TO_POSE2_PRESS,764,743,712,673.681279204,658,630,877.681279204,780.318720796,800,649,628,650,0.447837068063,-0.0157282417471,0.0596469274778,0.999999790842,-0.000304597628513,-0.000568109397156,-5.27962537119e-05,1793193437341986560
+224,3.733333333,POSE1_TO_POSE2_PRESS,764,743,712,673.105981531,658,630,877.105981531,780.894018469,800,649,628,650,0.447840502648,-0.0157281178313,0.0596472694913,0.999999791788,-0.000303491507081,-0.000567077416685,-5.23363249541e-05,1793193437358653184
+225,3.750000000,POSE1_TO_POSE2_PRESS,764,743,712,673,658,629.518232985,877,781,800,649,628,650,0.447841292115,-0.0157283685922,0.0596466338285,0.999999791792,-0.000302314411961,-0.000567740697481,-5.18891627459e-05,1793193437375319808
+226,3.766666667,POSE1_TO_POSE2_PRESS,764,743,712,673.070827652,658,629.070827652,877,781,800,649,628,650.070827652,0.447841727158,-0.0157286196676,0.0596459406632,0.999999791677,-0.000301490347052,-0.000568410986095,-5.15552236675e-05,1793193437391986432
+227,3.783333333,POSE1_TO_POSE2_PRESS,764,743,712,673.649143916,658,629.649143916,877,781,800,649,628,650.649143916,0.447843902616,-0.0157282667553,0.0596464173999,0.999999792251,-0.000303310623298,-0.000566388493523,-5.20118849247e-05,1793193437408653056
+228,3.800000000,POSE1_TO_POSE2_PRESS,764,743,712,674,658,629.773580183,877.226419817,781,800,649,628,650.773580183,0.447845334529,-0.0157280746228,0.0596465789114,0.999999792452,-0.000303927599842,-0.000565698416287,-5.20422681788e-05,1793193437425320192
+229,3.816666667,POSE1_TO_POSE2_PRESS,764,743,712,674,658,629.19790907,877.80209093,781,800,649,628,650.19790907,0.447845619525,-0.0157281304923,0.0596462541899,0.999999792088,-0.000302688493238,-0.000567063582355,-5.14151199778e-05,1793193437441986816
+230,3.833333333,POSE1_TO_POSE2_PRESS,764,743,712,674,658,629.374717352,878,780.625282648,800,649,628,650,0.44784516483,-0.0157265252255,0.0596452626961,0.99999979185,-0.000300932960375,-0.000568407736443,-5.14949695466e-05,1793193437458653440
+231,3.850000000,POSE1_TO_POSE2_PRESS,764,743,712,674,658,629.945748648,878,780.054251352,800,649,628,650,0.447844322611,-0.0157240496913,0.0596439218811,0.999999791676,-0.000298906872493,-0.000569740882339,-5.19452143642e-05,1793193437475320064
+232,3.866666667,POSE1_TO_POSE2_PRESS,764,743.541689241,712,674.541689241,658,630,878.541689241,780,800,649,628,650,0.447844995216,-0.0157239128196,0.0596438836419,0.99999979133,-0.00029963317112,-0.000569974993911,-5.18519521602e-05,1793193437491986432
+233,3.883333333,POSE1_TO_POSE2_PRESS,764,743.864941096,712,674.864941096,658,630,878.864941096,780.135058904,800,649,628,650,0.447846087805,-0.0157245006873,0.0596443808863,0.999999791384,-0.000300606686413,-0.000569393288939,-5.15673673202e-05,1793193437508653056
+234,3.900000000,POSE1_TO_POSE2_PRESS,764,743.288518732,712,674.288518732,658,630,878.288518732,780.711481268,800,649,628,650,0.447848033193,-0.0157266546387,0.0596461811852,0.999999792799,-0.000301443837907,-0.000566522591731,-5.08440118935e-05,1793193437525319936
+235,3.916666667,POSE1_TO_POSE2_PRESS,763.714068829,743,712,673.714068829,657.714068829,630,878,780.714068829,800,648.714068829,627.714068829,650,0.447848598314,-0.0157267708533,0.0596466819439,0.999999793284,-0.000301657749359,-0.0005655520804,-5.08483115294e-05,1793193437541986304
+236,3.933333333,POSE1_TO_POSE2_PRESS,763.141595531,743,712,673.141595531,657.141595531,630,878,780.141595531,800,648.141595531,627.141595531,650,0.447847780219,-0.0157248449773,0.0596458803858,0.999999792842,-0.000301247089182,-0.000566485814768,-5.15818209367e-05,1793193437558653184
+237,3.950000000,POSE1_TO_POSE2_PRESS,763.446116158,742.553883842,712,673,657.446116158,630,878,780,800,648.446116158,627.446116158,650,0.447849331404,-0.0157241204868,0.0596462650376,0.999999793619,-0.000300132903021,-0.000565707125771,-5.15495692194e-05,1793193437575320064
+238,3.966666667,POSE1_TO_POSE2_PRESS,764.037952377,742.037952377,712,673.037952377,658,630,878.037952377,780,800,649,627.962047623,650,0.447851397803,-0.0157238404847,0.0596469098836,0.999999794636,-0.00029894434053,-0.000564562688083,-5.12723360149e-05,1793193437591987200
+239,3.983333333,POSE1_TO_POSE2_PRESS,764.617193701,742.617193701,712,673.617193701,658,630,878.617193701,780,800,649,627.382806299,650,0.447849707776,-0.0157242691435,0.0596457060557,0.99999979339,-0.000299992353386,-0.00056622778044,-5.10901435968e-05,1793193437608653824
+240,4.000000000,POSE1_TO_POSE2_PRESS,764.804518311,743,712,673.804518311,658,629.804518311,878.609036622,780,800.195481689,649,627.195481689,650,0.447848432334,-0.01572400759,0.0596447295264,0.999999792476,-0.000300039608229,-0.000567807363326,-5.11814467693e-05,1793193437625320448
+241,4.016666667,POSE1_TO_POSE2_PRESS,764.228088187,743,712,673.228088187,658,629.228088187,877.456176374,780,800.771911813,649,627.771911813,650,0.447847964821,-0.015722400973,0.0596441959496,0.999999792209,-0.00029813661795,-0.000569220308007,-5.18057293726e-05,1793193437641986560
+242,4.033333333,POSE1_TO_POSE2_PRESS,764,743,712,673.345924736,658,629.345924736,877.691849472,780,800.654075264,649,628,650,0.447848417513,-0.0157219577138,0.0596448966675,0.999999792929,-0.000297029385494,-0.000568545030519,-5.16945875888e-05,1793193437658652928
+243,4.050000000,POSE1_TO_POSE2_PRESS,764,743,712,673.918354895,658,629.918354895,878.83670979,780,800.081645105,649,628,650,0.447849472738,-0.0157222762008,0.0596464055801,0.999999794292,-0.000296443201318,-0.000566502421888,-5.11019028473e-05,1793193437675319552
+244,4.066666667,POSE1_TO_POSE2_PRESS,763.492922643,743,712,674,658,629.492922643,877.985845286,780.507077357,800,649,628,650,0.447850602294,-0.01572190357,0.0596461676058,0.999999794816,-0.000296167788638,-0.000565722670629,-5.10917473176e-05,1793193437691986176
+245,4.083333333,POSE1_TO_POSE2_PRESS,763.19299411,743,712,674,658,629,877.096497055,780.903502945,800,649,628,650,0.447851502028,-0.015721464262,0.0596457132312,0.999999795028,-0.000296090654217,-0.00056538277278,-5.11620965587e-05,1793193437708653056
+246,4.100000000,POSE1_TO_POSE2_PRESS,764.351687005,743,712,674,658,629,877.675843503,780.324156497,800,649,628,650,0.447851189914,-0.0157212666086,0.0596456301621,0.999999794375,-0.000296746970531,-0.000566192588822,-5.11503711865e-05,1793193437725319936
+247,4.116666667,POSE1_TO_POSE2_PRESS,764.746673914,743,712,674,658,629,877.746673914,780,800,649,627.746673914,650.253326086,0.447851271954,-0.0157214948827,0.059645419671,0.99999979394,-0.000297121110216,-0.000566769781806,-5.10973763577e-05,1793193437741986816
+248,4.133333333,POSE1_TO_POSE2_PRESS,764.171558837,743,712,674,658,629,877.171558837,780,800,649,627.171558837,650.828441163,0.447851854673,-0.0157222641937,0.0596450473211,0.999999793781,-0.000297136813424,-0.000567051484055,-5.0991958751e-05,1793193437758653952
+249,4.150000000,HOLD_POSE2,765,743,712,674,658,630,878,781,800,649,628,650,0.447850169784,-0.0157211727842,0.0596452889594,0.999999792819,-0.00029676400613,-0.000568926211559,-5.11475428199e-05,1793193437791999488
+250,4.166666667,HOLD_POSE2,764.421005823,743,712,674,658,629.421005823,877.421005823,780.421005823,800,649,628,650,0.447849400192,-0.0157224765652,0.0596444144156,0.999999792075,-0.00029864187771,-0.000569280733937,-5.08163955965e-05,1793193437808665600
+251,4.183333333,HOLD_POSE2,764,743,712,673.842325096,657.842325096,629,877.157674904,780,800.157674904,649,628,650,0.447849268074,-0.0157230049915,0.0596439935398,0.999999792029,-0.000299097856005,-0.000569138887686,-5.06247076882e-05,1793193437825331968
+252,4.200000000,HOLD_POSE2,764,743,712,673.264479521,657.264479521,629,877.735520479,780,800.735520479,649,628,650,0.447850834687,-0.0157214672596,0.0596447815939,0.999999793844,-0.000295764786244,-0.000567674322849,-5.08046496388e-05,1793193437841998336
+253,4.216666667,HOLD_POSE2,764,743,712,673.311175808,657.311175808,629.311175808,878,780,800.688824192,649,628,650,0.447851972725,-0.0157211255131,0.0596453588768,0.999999794413,-0.000295583716568,-0.000566761139148,-5.08541743966e-05,1793193437858665472
+254,4.233333333,HOLD_POSE2,764,743,712,673.884982546,657.884982546,629.884982546,878,780,800.115017454,649,628,650,0.447852749049,-0.0157217931726,0.0596457582696,0.999999793934,-0.000298062920452,-0.000566313318642,-5.07936276415e-05,1793193437875332608
+255,4.250000000,HOLD_POSE2,764,743,712,674,658,629.525658598,878.474341402,780,800.474341402,649,627.525658598,650,0.447851586973,-0.0157220310511,0.0596448766328,0.999999793579,-0.000297151905911,-0.000567430570201,-5.06502673333e-05,1793193437891999488
+256,4.266666667,HOLD_POSE2,764,743,712,674,658,629,878.934100179,780,800.934100179,649,627.065899821,650,0.447850139718,-0.0157220250042,0.0596437372179,0.999999793253,-0.000295589014824,-0.000568829563684,-5.05281411311e-05,1793193437908665600
+257,4.283333333,HOLD_POSE2,764,743,712,674,658,629,878.355755815,780,800.355755815,649,627.644244185,650,0.447850253706,-0.0157209600044,0.0596430905998,0.999999792943,-0.000295566133891,-0.000569368377795,-5.07325750152e-05,1793193437925331968
+258,4.300000000,HOLD_POSE2,764,743,712,673.778770778,658,629.221229222,877.778770778,780.221229222,800,649.221229222,628,650,0.447850293021,-0.0157204421179,0.0596428136537,0.999999792738,-0.000295818901597,-0.000569574212452,-5.10009704524e-05,1793193437941998592
+259,4.316666667,HOLD_POSE2,764,743,712,673.203958363,658,629.796041637,877.203958363,780.796041637,800,649.796041637,628,650,0.44785021299,-0.0157207986644,0.0596431275419,0.999999792699,-0.000296512229214,-0.000569247857245,-5.13715934591e-05,1793193437958665216
+260,4.333333333,HOLD_POSE2,764,743,712,673.378970625,657.621029375,630,877.378970625,781,800,649.621029375,628,650.378970625,0.447851806063,-0.0157214684867,0.0596445063432,0.999999793745,-0.000296684243019,-0.000567332791828,-5.12127088688e-05,1793193437975331584
+261,4.350000000,HOLD_POSE2,764,743,712,673.966363533,657.033636467,630,877.966363533,781,800,649.033636467,628,650.966363533,0.447854319293,-0.0157223106011,0.0596464708142,0.99999979538,-0.000296569550193,-0.000564543984224,-5.0762611286e-05,1793193437991998464
+262,4.366666667,HOLD_POSE2,764,743,712,673.454729355,657.545270645,629.454729355,877.454729355,781,800,649,628,650.454729355,0.447853439223,-0.0157222913631,0.0596453024301,0.999999794441,-0.000297388616319,-0.000565793363271,-5.05488817578e-05,1793193438008665088
+263,4.383333333,HOLD_POSE2,764,743,712,673,657.876749122,629,877.123250878,780.876749122,800,649.123250878,628,650,0.447852563292,-0.0157221439858,0.0596442993866,0.999999793624,-0.000297861076387,-0.000567001250427,-5.04017437572e-05,1793193438025332224
+264,4.400000000,HOLD_POSE2,764,743,712,673,657.30028164,629,877.69971836,780.30028164,800,649.69971836,628,650,0.447852460505,-0.0157217178092,0.0596446040886,0.999999793835,-0.000296850435847,-0.000567154591072,-5.04466798332e-05,1793193438041998848
+265,4.416666667,POSE2_TO_POSE3_RETREAT,764,743,712,674,658,630,878,780,800,649,628,650,0.447852661347,-0.015720667989,0.05964364669,0.999999793682,-0.000296053323104,-0.000567834567463,-5.05135061601e-05,1793193438079642880
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764.590294517,742.409705483,712,674,657.409705483,629.409705483,877.409705483,779.409705483,800,649,628,650,0.447854146072,-0.0157208117615,0.0596450144618,0.999999795032,-0.000295083253102,-0.000565967464475,-5.04320638591e-05,1793193438096308992
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,742.177062615,712,674,657.177062615,629,877,779.177062615,800,649,628,650,0.447854510837,-0.0157209666109,0.0596456411537,0.999999795436,-0.000294742383208,-0.000565430195425,-5.04307684876e-05,1793193438112975104
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,742.755830376,712,674,657.755830376,629,877,779.755830376,800,649,628,650,0.447852334732,-0.0157211465903,0.0596445865449,0.999999793701,-0.000295828990755,-0.000567909944249,-5.06113038842e-05,1793193438129641728
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764.667263705,743,712,673.667263705,658,629.332736295,877,780,800,649,628,650,0.447852265435,-0.0157210778811,0.0596444023541,0.999999793395,-0.000296726928152,-0.000567987305884,-5.0539942121e-05,1793193438146308608
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764.091716481,743,712,673.091716481,658,629.908283519,877,780,800,649,628,650,0.447853733562,-0.0157208276939,0.059644853342,0.999999794132,-0.000297487185358,-0.000566311549745,-5.02847609557e-05,1793193438162975744
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764,742.516136423,712,673.483863577,658,629.516136423,877.483863577,780,800,649,628,650.483863577,0.447853322993,-0.0157207586587,0.0596451736174,0.999999794467,-0.000296700435859,-0.000566136121256,-5.02531354848e-05,1793193438179642368
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764,742.061094507,711.938905493,674,658,629.061094507,878,780,800,649,628,650.938905493,0.447851747372,-0.0157206164153,0.0596449092797,0.999999794269,-0.000295662663503,-0.000567019846737,-5.03307799287e-05,1793193438196308992
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764,742.652604082,711.347395918,674,658,629.652604082,878,780,800,649,628,650.347395918,0.447843148792,-0.0157195404545,0.0596397845256,0.99999979009,-0.000294991549483,-0.000574629832468,-5.09891725064e-05,1793193438212975360
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764,743,711.238189567,674,657.761810433,629.761810433,877.761810433,780,800.238189567,649.238189567,628,650,0.447828366292,-0.0157186477743,0.0596320868055,0.999999783707,-0.000294803777706,-0.000585654150081,-5.18270981379e-05,1793193438229641728
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764,743,711.815344483,674,657.184655517,629.184655517,877.184655517,780,800.815344483,649.815344483,628,650,0.447804783514,-0.0157180159192,0.0596207275221,0.999999774074,-0.000295303845789,-0.000601537370816,-5.29205155209e-05,1793193438246308352
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764,743,712,673.608847827,657.391152173,629.391152173,877.391152173,780,800.608847827,649.608847827,628,650,0.447762966588,-0.0157154295859,0.0596029884255,0.999999759839,-0.000294776010644,-0.00062485665026,-5.46119242324e-05,1793193438262974976
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764,743,712,673.033673902,657.966326098,629.966326098,877.966326098,780,800.033673902,649.033673902,628,650,0.447712571208,-0.0157119237472,0.0595822478761,0.999999742911,-0.000293764587245,-0.00065167430466,-5.65846644706e-05,1793193438279641600
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764,742.445734994,712,673.554265006,657.445734994,629.445734994,878,780,800,649,628,650,0.447646540288,-0.0157076327594,0.0595655642147,0.999999731402,-0.000291159004062,-0.000670106261719,-5.81430153442e-05,1793193438296308992
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764.140754369,742.140754369,712,673.859245631,657.140754369,629.140754369,877.859245631,780,800,649,628,650,0.447574797834,-0.015702980079,0.0595518913787,0.999999721609,-0.000288344976697,-0.00068565949577,-5.92519707833e-05,1793193438312976128
+280,4.666666667,POSE2_TO_POSE3_RETREAT,764.72025117,742.72025117,712,673.27974883,657.72025117,629.72025117,877.27974883,780,800,649,628,650,0.447488282847,-0.0156973521669,0.0595468171318,0.999999716866,-0.00028519022343,-0.000693865009886,-5.90404508621e-05,1793193438329643008
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764.702027427,743,712,673.297972573,658,629.702027427,877,780,800,649,628,650,0.447391458525,-0.0156913053214,0.0595462804351,0.999999716204,-0.000281892823258,-0.000696226390935,-5.82844228921e-05,1793193438346309120
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764.125963001,743,712,673.874036999,658,629.125963001,877,780,800,649,628,650,0.44728501271,-0.015684867494,0.0595499785437,0.999999719387,-0.00027846229378,-0.000693133558839,-5.70202164497e-05,1793193438362975232
+283,4.716666667,POSE2_TO_POSE3_RETREAT,764,743,712,673.552812192,658,629.447187808,877,780.447187808,800,649,628,650,0.447156733248,-0.0156762182349,0.0595534025444,0.999999723812,-0.000273481958373,-0.000688788892186,-5.6162306146e-05,1793193438379641856
+284,4.733333333,POSE2_TO_POSE3_RETREAT,764,743,712,673.020196856,658,630,877.020196856,780.979803144,800,649,628,650,0.447021072085,-0.0156668467791,0.0595565838941,0.999999728321,-0.000268010194171,-0.000684439759207,-5.54127721264e-05,1793193438396308480
+285,4.750000000,POSE2_TO_POSE3_RETREAT,764,743,712,673.612280328,658,630,877.612280328,780.387719672,800,649,628,650,0.4468494089,-0.0156545498317,0.0595550665333,0.999999726509,-0.000260904381061,-0.000689884022043,-5.45123834821e-05,1793193438412975104
+286,4.766666667,POSE2_TO_POSE3_RETREAT,764,743,712,674,658,630,877.799971188,780,800,649,628,650,0.446662174933,-0.0156425270971,0.0595529649289,0.999999723521,-0.000253314101379,-0.000697089437779,-5.34347305897e-05,1793193438429641728
+287,4.783333333,POSE2_TO_POSE3_RETREAT,764,743,712,674,658,630,877.220447125,780,800,649,628,650,0.446445400054,-0.0156310246014,0.0595497548955,0.999999718308,-0.000244804691096,-0.000707636117378,-5.20207715448e-05,1793193438446308864
+288,4.800000000,POSE2_TO_POSE3_RETREAT,764,743,712,674,658,630,877,780.356283104,800.356283104,649.356283104,628,650,0.446206487831,-0.0156171322076,0.0595509934613,0.999999719579,-0.000234437765281,-0.000709515000443,-4.96988446692e-05,1793193438462976000
+289,4.816666667,POSE2_TO_POSE3_RETREAT,764,743,712,674,658,630,877,780.931298178,800.931298178,649.931298178,628,650,0.445953984866,-0.0156017725888,0.0595549631438,0.999999724786,-0.000222930458904,-0.000706072486491,-4.68194913019e-05,1793193438479642368
+290,4.833333333,POSE2_TO_POSE3_RETREAT,764,742.482567084,712,673.482567084,658,630.517432916,877,781,800.482567084,649.482567084,628,650,0.445675468223,-0.0155854209687,0.0595559876436,0.999999728004,-0.000209879039523,-0.000705605731902,-4.5433961671e-05,1793193438496308736
+291,4.850000000,POSE2_TO_POSE3_RETREAT,764,742,711.896440555,673,658,630.896440555,877.103559445,781,800,649,628,650,0.445383020472,-0.0155693462005,0.0595562170999,0.999999730256,-0.0001970042955,-0.000706209251898,-4.41165941217e-05,1793193438512975104
+292,4.866666667,POSE2_TO_POSE3_RETREAT,764,742,711.317280893,673,658,630.317280893,877.682719107,781,800,649,628,650,0.445042804297,-0.0155551610565,0.0595546306198,0.99999972987,-0.00018590316792,-0.000709873662571,-4.21813679454e-05,1793193438529641728
+293,4.883333333,POSE2_TO_POSE3_RETREAT,764,742.261268337,711,673,658,630,877.738731663,781,800,649,628,650,0.444691266776,-0.0155459183699,0.0595581189145,0.999999737552,-0.000177384391203,-0.000701314129732,-3.98637493199e-05,1793193438546308352
+294,4.900000000,POSE2_TO_POSE3_RETREAT,764,742.839077957,711,673,658,630,877.160922043,781,800,649,628,650,0.444326012827,-0.0155426637495,0.0595677555843,0.999999754717,-0.000171994278402,-0.00067794460143,-3.70828408409e-05,1793193438562974976
+295,4.916666667,POSE2_TO_POSE3_RETREAT,764,743,711,673,658,630.414746613,877,781,800,649,628,650,0.443929980303,-0.0155411614196,0.0595851585028,0.99999978014,-0.00014117932829,-0.000647092973431,-3.25483289203e-05,1793193438579641856
+296,4.933333333,POSE2_TO_POSE3_RETREAT,764,743,711,673,658,630.989588826,877,781,800,649,628,650,0.443522067004,-0.0155403354884,0.0596055592569,0.99999980647,-0.00010055018194,-0.000613353192557,-2.73369116574e-05,1793193438596308736
+297,4.950000000,POSE2_TO_POSE3_RETREAT,764,742.418723556,711.581276444,673,658,631,877,781,800,649,628.581276444,650,0.443082408287,-0.0155300559424,0.059630297499,0.999999831547,-8.93064930484e-05,-0.000573097607767,-2.21060402877e-05,1793193438612975360
+298,4.966666667,POSE2_TO_POSE3_RETREAT,764,742,711.830471612,673,658.169528388,631,877,781.169528388,799.830471612,649,628.830471612,650,0.442619231177,-0.0155168386048,0.0596510156664,0.999999850477,-7.37018200029e-05,-0.000541568173283,-1.78282654321e-05,1793193438629641984
+299,4.983333333,POSE2_TO_POSE3_RETREAT,764,742,711.251273023,673,658.748726977,631,877,781.748726977,799.251273023,649,628.251273023,650,0.44210063628,-0.015496943396,0.0596618258655,0.999999857603,-4.62488810362e-05,-0.000531416173196,-1.58545435523e-05,1793193438646309376
+300,5.000000000,POSE2_TO_POSE3_RETREAT,764,742,711.324130022,673,659,631,877,782,799,649,628.324130022,650,0.441547539835,-0.0154744631826,0.0596652035891,0.999999858457,-5.90763374196e-06,-0.000531839765167,-1.40354652318e-05,1793193438662976000
+301,5.016666667,POSE2_TO_POSE3_RETREAT,764,742,711.896624793,673,659,631,877,782,799,649,628.896624793,650,0.440968006511,-0.0154500022062,0.0596628861766,0.999999852944,4.43092874794e-05,-0.000540366906547,-1.23348823648e-05,1793193438679642624
+302,5.033333333,POSE2_TO_POSE3_RETREAT,764,742,712,673.471416656,659,631.471416656,877,782.471416656,799,649,629,650,0.440364344889,-0.0154373195809,0.0596833890257,0.999999866013,6.4349049598e-05,-0.000513597268992,-7.1344461291e-06,1793193438696309248
+303,5.050000000,POSE2_TO_POSE3_RETREAT,763.951783534,742,711.951783534,673.951783534,659,632,877,783,799.048216466,649,629,650,0.439757462576,-0.0154283888635,0.0597113999476,0.999999884494,7.88196523667e-05,-0.000474128449094,-8.25455280001e-07,1793193438712976128
+304,5.066666667,POSE2_TO_POSE3_RETREAT,763.357990676,742,711.357990676,673.357990676,659,632,877,783,799.642009324,649,629,650,0.439174298872,-0.0154325433122,0.0597674656532,0.999999922578,0.000105518326174,-0.000378975701725,9.30044196982e-06,1793193438729643264
+305,5.083333333,POSE2_TO_POSE3_RETREAT,763.228737389,742,711.228737389,672.771262611,659,632,877,783,799.771262611,649,629,650,0.438558628896,-0.0154333612372,0.0598150445213,0.999999947188,0.00012023607588,-0.000301373014625,1.85049150454e-05,1793193438746309888
+306,5.100000000,POSE2_TO_POSE3_RETREAT,763.804739779,742,711.804739779,672.195260221,659,632,877,783,799.195260221,649,629,650,0.437893608516,-0.0154291137114,0.0598497388219,0.999999961483,0.000116764601066,-0.000250414523681,2.63104979584e-05,1793193438762976000
+307,5.116666667,POSE2_TO_POSE3_RETREAT,764,742.380607652,712,672.380607652,659.380607652,632,877,783,799.380607652,648.619392348,629,650,0.4371307505,-0.0154203947765,0.0598309453767,0.999999948954,0.000143830030827,-0.000283823467242,2.91408877577e-05,1793193438779642368
+308,5.133333333,POSE2_TO_POSE3_RETREAT,764,742.956406522,712,672.956406522,659.956406522,632,877,783,799.956406522,648.043593478,629,650,0.436317717351,-0.0154093827197,0.0597847212202,0.999999917186,0.000186556037331,-0.000360499492358,2.94197940233e-05,1793193438796308480
+309,5.150000000,POSE2_TO_POSE3_RETREAT,763.469917862,742.469917862,712,672.469917862,659.469917862,632,877,783,799.469917862,648.530082138,629,650,0.435513160138,-0.0154036678739,0.0597590950274,0.999999912793,0.000160894013321,-0.000385127791742,1.42602610934e-05,1793193438812975104
+310,5.166666667,POSE2_TO_POSE3_RETREAT,763.107589384,742,711.892410616,672,659,632,877,783,799.107589384,649,628.892410616,650,0.434714124819,-0.0154007012313,0.0597433303216,0.999999914688,0.000127191711084,-0.000392996140256,-2.00726116995e-07,1793193438829641472
+311,5.183333333,POSE2_TO_POSE3_RETREAT,763.703267995,742,711.296732005,672,659,632,877,783,799.703267995,649,628.296732005,650,0.433936990684,-0.0154082336421,0.0597646490355,0.999999937359,8.24267282926e-05,-0.000344172182826,-5.75581516566e-06,1793193438846308096
+312,5.200000000,POSE2_TO_POSE3_RETREAT,763.712171967,742.287828033,711.287828033,672.575656065,659.287828033,632.287828033,877.287828033,783,799.712171967,649,628.287828033,650,0.43313069146,-0.0154143557083,0.0597811139678,0.999999947586,7.17472143073e-05,-0.000315697490888,-4.02127116471e-06,1793193438862975232
+313,5.216666667,POSE2_TO_POSE3_RETREAT,763.138648069,742.861351931,711.861351931,673.722703862,659.861351931,632.861351931,877.861351931,783,799.138648069,649,628.861351931,650,0.432295443103,-0.0154190778785,0.0597927610769,0.999999948231,9.4900666324e-05,-0.000307421316657,4.94890520299e-06,1793193438879642112
+314,5.233333333,POSE2_TO_POSE3_RETREAT,763.437179331,742.562820669,712,673.125641337,659.562820669,632.562820669,877.562820669,783,799.437179331,649,629,649.562820669,0.431446812098,-0.0154163505508,0.0598048036528,0.999999952417,0.000109338201706,-0.000288277585998,1.03284131314e-05,1793193438896308992
+315,5.250000000,POSE2_TO_POSE3_RETREAT,764,742,711.985907467,672,659.014092533,632,877.014092533,783.014092533,800,649,629,649.014092533,0.430593006468,-0.0154113359513,0.0598170248312,0.99999995724,0.00012085850593,-0.000265901430704,1.45028890132e-05,1793193438912975616
+316,5.266666667,POSE2_TO_POSE3_RETREAT,764,742,711.394600139,672,659.605399861,632,877.605399861,783.605399861,800,649,629,649.605399861,0.429702010463,-0.0154099172626,0.059831397158,0.999999959825,0.000126709987553,-0.000253043813474,1.62097147328e-05,1793193438929641984
+317,5.283333333,POSE2_TO_POSE3_RETREAT,764,742,711.192525199,672.192525199,659.807474801,632,877.807474801,783.807474801,800,649,628.807474801,650,0.42878551336,-0.0154069927488,0.0598238783832,0.999999953005,0.000133080540929,-0.000275717283237,1.61056429369e-05,1793193438946308864
+318,5.300000000,POSE2_TO_POSE3_RETREAT,764,742,711.771261313,672.771261313,659.228738687,632,877.228738687,783.228738687,800,649,628.228738687,650,0.427817860398,-0.0154010475079,0.0597724454475,0.999999921728,0.000140492365629,-0.000369667103116,1.23688600582e-05,1793193438962975232
+319,5.316666667,POSE2_TO_POSE3_RETREAT,764,742,712,672.653091331,659,632,877,783,799.653091331,649,628,650,0.426909755546,-0.015401386581,0.0597553686099,0.999999915008,0.000139824538241,-0.000387714369953,1.05322565745e-05,1793193438979642112
+320,5.333333333,POSE2_TO_POSE3_RETREAT,764,742,712,672.079462636,659,632,877,783,799.079462636,649,628,650,0.426040568033,-0.015405832729,0.0597607449909,0.999999927566,0.00013387630413,-0.000356155988021,9.93750382236e-06,1793193438996309248
+321,5.350000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632.507180249,877,783.507180249,799,649,628.507180249,650,0.425133378516,-0.0154075963762,0.059788923821,0.999999937319,0.000137475353133,-0.000325975390168,1.42547257198e-05,1793193439012975872
+322,5.366666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632.905671316,877,783.905671316,799.094328684,649,628.905671316,650,0.424222249908,-0.015408369486,0.0598178304596,0.999999945275,0.000142960084393,-0.000297746428099,1.89479872481e-05,1793193439029642752
+323,5.383333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632.326677944,877,783.326677944,799.673322056,649,628.326677944,650,0.423322279849,-0.0154062694678,0.0598316371064,0.999999949727,0.000150245517747,-0.000278406731783,2.15150576754e-05,1793193439046309120
+324,5.400000000,POSE2_TO_POSE3_RETREAT,763.748694773,742,712,672,659,632,877,783,800,649,628.251305227,650,0.422426008075,-0.0154044972913,0.0598431071274,0.999999953659,0.000157198396334,-0.000259677772157,2.32165436317e-05,1793193439062975744
+325,5.416666667,POSE2_TO_POSE3_RETREAT,763.172019453,742,712,672,659,632,877,783,800,649,628.827980547,650,0.421534524424,-0.015403149578,0.0598515518724,0.999999957096,0.000163720710388,-0.000241739543389,2.37973397643e-05,1793193439079642112
+326,5.433333333,POSE2_TO_POSE3_RETREAT,763,742.404340509,711.595659491,672,659,632,877,783,800.404340509,649,628.595659491,650,0.420585947072,-0.0153984276218,0.059813719007,0.999999937993,0.000167276523638,-0.000309222512527,2.03383563664e-05,1793193439096308736
+327,5.450000000,POSE2_TO_POSE3_RETREAT,763,742.980566378,711.019433622,672,659,632,877,783,800.980566378,649,628.019433622,650,0.419613099213,-0.0153922712733,0.0597562135049,0.999999900216,0.000169571273945,-0.000413018075496,1.51620603734e-05,1793193439112975360
+328,5.466666667,POSE2_TO_POSE3_RETREAT,763,742.432020439,711.567979561,672.567979561,659,632,877,783,800.432020439,649,628,650,0.418724446414,-0.0153932300949,0.0597324329045,0.999999895134,0.000167088053044,-0.00042626532481,1.05413758694e-05,1793193439129641728
+329,5.483333333,POSE2_TO_POSE3_RETREAT,763.153442812,742,712,672.846557188,659,632,877,783.153442812,799.846557188,648.846557188,628,650,0.417856549898,-0.0153954419109,0.059727454305,0.999999899339,0.000165341733673,-0.000417021001703,8.81249149026e-06,1793193439146308352
+330,5.500000000,POSE2_TO_POSE3_RETREAT,763.732415594,742,712,672.267584406,659,632,877,783.732415594,799.267584406,648.267584406,628,650,0.417038065575,-0.0154004398508,0.059771353369,0.999999923375,0.000166101475068,-0.000354167148905,1.50494126729e-05,1793193439162975232
+331,5.516666667,POSE2_TO_POSE3_RETREAT,763.690046554,742,711.690046554,672,659,632,877.309953446,783.690046554,799,648.309953446,628.309953446,650,0.416223790734,-0.0154015179783,0.0598078492347,0.999999938505,0.000169701105694,-0.000306261421857,1.98975277166e-05,1793193439179642112
+332,5.533333333,POSE2_TO_POSE3_RETREAT,763.113741808,742,711.113741808,672,659,632,877.886258192,783.113741808,799,648.886258192,628.886258192,650,0.415413133256,-0.0153992277056,0.0598379833313,0.999999947505,0.000175741129443,-0.000271201023588,2.35522041323e-05,1793193439196308736
+333,5.550000000,POSE2_TO_POSE3_RETREAT,763,742,711,672,659,632.470735786,877.058528428,783,799,649,629,650,0.414634886334,-0.0154000270149,0.0598478080361,0.999999951251,0.000174188002193,-0.000257979448562,2.4574518611e-05,1793193439212975360
+334,5.566666667,POSE2_TO_POSE3_RETREAT,763,742,711,672,659,632.943170177,876.056829823,783.056829823,799,649,629,650,0.413858826266,-0.0154011302747,0.0598507135873,0.999999952706,0.000172136108778,-0.000253652621874,2.48636897246e-05,1793193439229641728
+335,5.583333333,POSE2_TO_POSE3_RETREAT,763,742,711,672,659,632.360713458,876.639286542,783.639286542,799,649,629,650,0.41302928144,-0.0153980181327,0.0598358128761,0.999999943265,0.000182740275451,-0.000281926200139,2.43587357141e-05,1793193439246308352
+336,5.600000000,POSE2_TO_POSE3_RETREAT,763,742,711,672,659,632.21876219,877,783.78123781,799,649,629,650,0.412213599188,-0.0153938372281,0.0598072880227,0.999999927099,0.000188424932241,-0.000331405307301,2.16514168511e-05,1793193439262974720
+337,5.616666667,POSE2_TO_POSE3_RETREAT,763,742,711,672,659,632.793388572,877,783.206611428,799,649,629,650,0.411420467289,-0.0153879177488,0.0597566005418,0.999999896294,0.000186106939218,-0.000415379813937,1.5361473288e-05,1793193439279641344
+338,5.633333333,POSE2_TO_POSE3_RETREAT,763,742,711.368410339,672,659,633,876.631589661,783,799,649,628.631589661,650,0.410710516104,-0.0153863246301,0.0597466473438,0.999999893236,0.000186885956298,-0.000422403870103,1.32816643772e-05,1793193439296308480
+339,5.650000000,POSE2_TO_POSE3_RETREAT,763,742,711.943654048,672,659,633,876.056345952,783,799,649,628.056345952,650,0.410047264383,-0.0153871604223,0.0597595632385,0.999999907386,0.000189403700914,-0.000386226308458,1.35655146738e-05,1793193439312975360
+340,5.666666667,POSE2_TO_POSE3_RETREAT,763,742,712,672,659,632.466972254,876,783.533027746,799,649,628,650,0.409441874882,-0.0153885112892,0.059803150771,0.999999929282,0.000188558754027,-0.000324836208288,1.90786932378e-05,1793193439329642496
+341,5.683333333,POSE2_TO_POSE3_RETREAT,763,742,712,672,659,632.121420007,876,784,799.121420007,649,628.121420007,650,0.4088386665,-0.0153893971141,0.0598432623868,0.999999945543,0.000189463377357,-0.00026912901659,2.42327742139e-05,1793193439346309632
+342,5.700000000,POSE2_TO_POSE3_RETREAT,763,742,712,672,659,632.700333141,876,784,799.700333141,649,628.700333141,650,0.408220002351,-0.015388319988,0.0598577281571,0.999999949947,0.000198335954207,-0.000245149749853,2.58942834723e-05,1793193439362976000
+343,5.716666667,POSE2_TO_POSE3_RETREAT,763,742,712,672,659,633,876.276718276,783.723281724,799.723281724,649,628.723281724,650,0.407622958835,-0.0153863568403,0.0598580110956,0.999999949963,0.000200881053551,-0.000243042297713,2.55283989092e-05,1793193439379642624
+344,5.733333333,POSE2_TO_POSE3_RETREAT,763,742,712,672,659,633,876.850390507,783.149609493,799.149609493,649,628.149609493,650,0.407049117051,-0.0153834428786,0.0598430740483,0.999999945448,0.00019663596307,-0.000264406090011,2.2986862446e-05,1793193439396309504
+345,5.750000000,POSE2_TO_POSE3_RETREAT,763,742,711.564947212,672,659,633,876.564947212,783,799,649,628.435052788,650,0.406528615081,-0.0153834976049,0.0598348827312,0.999999943413,0.000198081684789,-0.000271072396891,2.1394178504e-05,1793193439412976640
+346,5.766666667,POSE2_TO_POSE3_RETREAT,763,742.023196004,711.023196004,672,659,633,876.023196004,783,799,649,628.976803996,650,0.406028210266,-0.0153845329681,0.0598294356334,0.999999942461,0.000201339284778,-0.000272273648251,2.02071623516e-05,1793193439429643264
+347,5.783333333,POSE2_TO_POSE3_RETREAT,763,742.601846796,711.601846796,672,659,633,876.601846796,783,799,649,628.398153204,650,0.405558429913,-0.015383970704,0.0598327126819,0.999999944219,0.000199907207709,-0.000266775312315,2.07182237506e-05,1793193439446309888
+348,5.800000000,POSE2_TO_POSE3_RETREAT,763,742.819465772,712,672,659,633,876.819465772,783.180534228,799.180534228,649,628.180534228,650,0.405094830119,-0.015382695609,0.0598312015115,0.999999943546,0.000201431849828,-0.000268154210849,2.06709507251e-05,1793193439462976512
+349,5.816666667,POSE2_TO_POSE3_RETREAT,763,742.240697407,712,672,659,633,876.240697407,783.759302593,799.759302593,649,628.759302593,650,0.404644863714,-0.0153798481051,0.0598191281768,0.999999937343,0.000209478615019,-0.000284703359118,1.93920674278e-05,1793193439479643136
+350,5.833333333,POSE2_TO_POSE3_RETREAT,763,742,712,672,659,632.665884151,876.334115849,783.665884151,799.665884151,649,628.665884151,650,0.404222590983,-0.0153787409537,0.059800371862,0.999999926517,0.000215596911682,-0.000316480888438,1.79972783757e-05,1793193439496309504
+351,5.850000000,POSE2_TO_POSE3_RETREAT,763,742,712,672,659,632.093886861,876.906113139,783.093886861,799.093886861,649,628.093886861,650,0.403820035424,-0.0153788728864,0.0597768574471,0.999999911112,0.000220342190186,-0.000359100611541,1.65199676162e-05,1793193439512975616
+352,5.866666667,POSE2_TO_POSE3_RETREAT,763,742,711.52066427,671.52066427,659,632.47933573,876.52066427,783.47933573,799,649,628.47933573,650,0.403487179484,-0.0153765342389,0.0597695498095,0.999999907929,0.000222759660071,-0.000366387218998,1.67203537375e-05,1793193439529642496
+353,5.883333333,POSE2_TO_POSE3_RETREAT,763.054989309,742,711.054989309,671.054989309,659,633,876,783.945010691,799,649,629,650,0.403174522016,-0.0153739856633,0.0597677845251,0.999999908557,0.000225039998921,-0.000363229852042,1.75113289421e-05,1793193439546308864
+354,5.900000000,POSE2_TO_POSE3_RETREAT,763.652242791,742,711.652242791,671.652242791,659,633,876,783.347757209,799,649,629,650,0.402926076291,-0.0153741511171,0.0597892900295,0.999999920246,0.000230475767458,-0.000325502959046,2.08774615354e-05,1793193439562975232
+355,5.916666667,POSE2_TO_POSE3_RETREAT,764,742,711.759766653,671.759766653,659,633,876,783.240233347,799,649,629,650,0.402687576463,-0.0153737411945,0.0598094950475,0.999999929571,0.000235437827328,-0.000291269839284,2.42632894226e-05,1793193439579641856
+356,5.933333333,POSE2_TO_POSE3_RETREAT,764,742,711.184687156,671.184687156,659,633,876,783.815312844,799,649,629,650,0.402462939616,-0.015372529291,0.0598278873975,0.999999936582,0.000239739614262,-0.00026190647371,2.76765690789e-05,1793193439596308736
+357,5.950000000,POSE2_TO_POSE3_RETREAT,764,742,711.390083082,671.390083082,659,633,876,783.609916918,799.390083082,649,629,650,0.402253160856,-0.0153678740286,0.0598352419485,0.999999937659,0.000243983070839,-0.000253574015962,2.92308325095e-05,1793193439612975616
+358,5.966666667,POSE2_TO_POSE3_RETREAT,764,742,711.964707067,671.964707067,659,633,876,783.035292933,799.964707067,649,629,650,0.402050411155,-0.0153615897783,0.059837374728,0.99999993619,0.000248198932875,-0.000255190879033,2.9905630955e-05,1793193439629643008
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764.554229676,742,712,672,659,632.445770324,876,783,799.445770324,649,629,650,0.40187795664,-0.0153625202905,0.0598330867493,0.999999934475,0.000246578967779,-0.000263333192779,3.00801338862e-05,1793193439646309376
+360,6.000000000,POSE2_TO_POSE3_RETREAT,764.857855631,742,712,672,659,632,876,783.142144369,799.142144369,649,628.857855631,650,0.401715370941,-0.0153654686193,0.0598285743672,0.99999993303,0.000242957152172,-0.000272065799645,2.98767709299e-05,1793193439662975488
+361,6.016666667,POSE2_TO_POSE3_RETREAT,764.277896182,742,712,672,659,632,876,783.722103818,799.722103818,649,628.277896182,650,0.401577075735,-0.0153731778006,0.0598246649399,0.999999932567,0.000234345729376,-0.000281301318091,2.86103903924e-05,1793193439679642112
+362,6.033333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632.300362577,876.300362577,784,799.699637423,648.699637423,628.300362577,650,0.401458784621,-0.0153832850075,0.0598259788414,0.999999937614,0.000211731140542,-0.000282039028312,1.98860722408e-05,1793193439696308480
+363,6.050000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632.877056679,876.877056679,784,799.122943321,648.122943321,628.877056679,650,0.401358897144,-0.0153955983813,0.0598320981701,0.99999994666,0.000176233734606,-0.000274958811984,4.30050232889e-06,1793193439712975104
+364,6.066666667,POSE2_TO_POSE3_RETREAT,764,742,711.539285111,672,658.539285111,633,876.539285111,784,799,648.460714889,629,650.460714889,0.401278594643,-0.0153983154803,0.0598322671997,0.999999948072,0.000167810458288,-0.000275121067557,2.14310930192e-06,1793193439729641984
+365,6.083333333,POSE2_TO_POSE3_RETREAT,763.954268521,742,711,671.954268521,658.045731479,633,876.045731479,783.954268521,799,649,629,650.954268521,0.401205422777,-0.0153979578352,0.059830991131,0.999999947703,0.000167063950645,-0.000276895730117,3.50775362017e-06,1793193439746308864
+366,6.100000000,POSE2_TO_POSE3_RETREAT,763.375413394,742,711,671.375413394,658.624586606,633,876.624586606,783.375413394,799,649,629,650.375413394,0.401153515777,-0.0153920669476,0.059831663403,0.999999947794,0.000170293419073,-0.000274590973419,3.51644745544e-06,1793193439762975744
+367,6.116666667,POSE2_TO_POSE3_RETREAT,763,742,711.203116577,671,659,633,876.796883423,783.203116577,799,649,629,650,0.401107003047,-0.0153893571811,0.0598325357498,0.999999948279,0.000170524322306,-0.000272665808682,4.04259002016e-06,1793193439779642368
+368,6.133333333,POSE2_TO_POSE3_RETREAT,763,742,711.781046468,671,659,633,876.218953532,783.781046468,799,649,629,650,0.401070444432,-0.0153925175738,0.0598337772966,0.999999949495,0.000165221938954,-0.000271441109531,5.52358656996e-06,1793193439796308736
+369,6.150000000,POSE2_TO_POSE3_RETREAT,763.357365929,742,712,671,659,633,876,783.642634071,799.357365929,649,629,650,0.401039603008,-0.0153912209654,0.0598335726872,0.999999948928,0.000166034701252,-0.000273020876472,5.98577013177e-06,1793193439812975360
+370,6.166666667,POSE2_TO_POSE3_RETREAT,763.932703183,742,712,671,659,633,876,783.067296817,799.932703183,649,629,650,0.401012248716,-0.0153872058598,0.0598324860113,0.999999947261,0.000170577327254,-0.000276311195799,5.8265403288e-06,1793193439829641984
+371,6.183333333,POSE2_TO_POSE3_RETREAT,764,742,712,671,659,633,876,783,800,649,629,650,0.400995779745,-0.0153866792631,0.0598311441256,0.999999946372,0.000172732090053,-0.000278182009277,5.78832678169e-06,1793193439846308352
+372,6.200000000,POSE2_TO_POSE3_RETREAT,764,742,712,671.110413343,659,633,876,783.110413343,799.889586657,649,629,650.110413343,0.400982729578,-0.0153871331201,0.0598301385465,0.999999945947,0.000173588072561,-0.000279173231892,5.90261941306e-06,1793193439862974976
+373,6.216666667,POSE2_TO_POSE3_RETREAT,764,742,712,671.68822438,659,633,876,783.68822438,799.31177562,649,629,650.68822438,0.400978047933,-0.0153897812528,0.0598306997142,0.99999994705,0.000170285076306,-0.000277236976598,6.59463696297e-06,1793193439879641600
+374,6.233333333,POSE2_TO_POSE3_RETREAT,763.73513846,742,712,672,659,633,876,784,799,649,629,650.73513846,0.400975765971,-0.0153903676071,0.0598322108581,0.99999994814,0.000169095189054,-0.000274008086967,6.76591698541e-06,1793193439896308480
+375,6.250000000,POSE2_TO_POSE3_RETREAT,763.15987704,742,712,672,659,633,876,784,799,649,629,650.15987704,0.400976296276,-0.015388537696,0.0598348353101,0.999999949213,0.000170381723382,-0.0002692643171,6.32692766824e-06,1793193439912975360
+376,6.266666667,POSE2_TO_POSE3_RETREAT,763.415415586,742,712,671.584584414,658.584584414,633,876.415415586,784,799,649,629,650,0.40097525299,-0.0153888055224,0.0598361837865,0.999999949518,0.000171288177619,-0.000267541985855,6.68670934304e-06,1793193439929641984
+377,6.283333333,POSE2_TO_POSE3_RETREAT,763.99072021,742,712,671.00927979,658.00927979,633,876.99072021,784,799,649,629,650,0.400973604045,-0.0153898807457,0.0598370411535,0.999999949533,0.000172048343046,-0.000266982574287,7.35392948085e-06,1793193439946308608
+378,6.300000000,POSE2_TO_POSE3_RETREAT,764,742,712,671.584175185,658.584175185,633,877.584175185,783.415824815,799.584175185,649,629,650,0.400973134322,-0.0153891769968,0.0598371140536,0.999999949388,0.000173060593969,-0.000266864447286,7.5795578357e-06,1793193439962975232
+379,6.316666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,633,877.65517518,783.17241241,799.82758759,649,629,650.17241241,0.400972519439,-0.0153890385058,0.0598371638263,0.999999949322,0.000173474108012,-0.000266840271871,7.70700321169e-06,1793193439979641856
+380,6.333333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,633,876.504479979,783.747760011,799.252239989,649,629,650.747760011,0.40097152013,-0.0153902892086,0.0598371896062,0.999999949447,0.000172478689501,-0.000267018757518,7.62191033604e-06,1793193439996308480
+381,6.350000000,POSE2_TO_POSE3_RETREAT,763.6771517,742,712,671.6771517,659,633,876,784,799,649,629,651,0.400970872272,-0.0153910462592,0.0598374748443,0.999999949586,0.000171684520752,-0.000267015902735,7.44729521026e-06,1793193440012974848
+382,6.366666667,POSE2_TO_POSE3_RETREAT,763.102265786,742,712,671.102265786,659,633,876,784,799,649,629,651,0.400970498779,-0.0153914179309,0.0598379626335,0.999999949735,0.000171047461318,-0.000266871481146,7.20279284246e-06,1793193440029641472
+383,6.383333333,POSE2_TO_POSE3_RETREAT,763.485762765,742.485762765,712,671,659,633,876.485762765,783.514237235,799.485762765,649,629,650.514237235,0.400970353872,-0.0153914236322,0.0598382363432,0.999999949764,0.000172210193667,-0.000266002285576,7.67025160474e-06,1793193440046308352
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764,742.925105971,712,671,659,633,876.925105971,783.074894029,799.925105971,648.925105971,629,650,0.400970304553,-0.0153913926148,0.059838482778,0.99999994977,0.00017350449524,-0.000265120924993,8.19218772432e-06,1793193440062974976
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764,742.347657564,712,671,659,633,876.347657564,783.652342436,799.347657564,648.347657564,629,650,0.400970564751,-0.0153916465816,0.0598388570272,0.999999949823,0.000173068432309,-0.000265210275471,8.04594086705e-06,1793193440079641600
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764,742,711.770968868,671,659,633,876,784,799.229031132,648.229031132,629,650,0.400969576313,-0.0153909988753,0.059838545392,0.999999949542,0.000173538327609,-0.000265968112131,7.78563788145e-06,1793193440096308480
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764,742,711.195429594,671,659,633,876,784,799.804570406,648.804570406,629,650,0.400966698775,-0.0153889870002,0.0598371960615,0.999999948752,0.0001753788746,-0.000267737321796,7.35277593117e-06,1793193440112975104
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764,742,711,671,658.620280216,633,876.379719784,783.620280216,799.620280216,649,628.620280216,650,0.400966393536,-0.0153896624859,0.0598370681852,0.999999948738,0.000175234137254,-0.000267880396538,7.50275499359e-06,1793193440129641472
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764,742,711,671,658.045331316,633,876.954668684,783.045331316,799.045331316,649,628.045331316,650,0.400967410819,-0.0153917196512,0.0598375683074,0.999999949124,0.000174068685838,-0.000267187410278,7.95239592567e-06,1793193440146308096
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764,742,711.545096008,671,658.545096008,633,876.454903992,783.545096008,799,649,628.545096008,650,0.400969477024,-0.0153922148599,0.0598389553944,0.999999950183,0.000171826647249,-0.000264668010989,7.79623901556e-06,1793193440162974976
+391,6.516666667,POSE2_TO_POSE3_RETREAT,763.866401104,742,712,671,659,633,876,784,799,648.866401104,629,650,0.400970487121,-0.0153924809338,0.0598397280463,0.999999950832,0.000170360290527,-0.000263161391881,7.69595187658e-06,1793193440179641600
+392,6.533333333,POSE2_TO_POSE3_RETREAT,763.28869942,742,712,671,659,633,876,784,799,648.28869942,629,650,0.400967688114,-0.0153924297409,0.0598382058619,0.999999949958,0.000171778730538,-0.000265541062283,7.95374738586e-06,1793193440196308224
+393,6.550000000,POSE2_TO_POSE3_RETREAT,763.287657425,742,711.712342575,671,659,633,876,784,799,648.287657425,629,650,0.400967811393,-0.0153918649659,0.0598384803312,0.999999949814,0.000173075888106,-0.000265238477772,8.03325852363e-06,1793193440212974848
+394,6.566666667,POSE2_TO_POSE3_RETREAT,763.862670912,742,711.137329088,671,659,633,876,784,799,648.862670912,629,650,0.400970853897,-0.0153907871468,0.059840549572,0.999999950397,0.000174251890462,-0.000262256448701,7.93467210059e-06,1793193440229641472
+395,6.583333333,POSE2_TO_POSE3_RETREAT,764,742,711.448527279,671.448527279,658.551472721,633,876,784,799.448527279,649,629,650,0.400970404282,-0.0153914846269,0.059840444543,0.999999950304,0.000174145877433,-0.000262675406071,8.2076886395e-06,1793193440246308096
+396,6.600000000,POSE2_TO_POSE3_RETREAT,763.962868983,742,712,672,658.037131017,633,876,783.962868983,799.962868983,649,629,650,0.400968989962,-0.0153925526776,0.0598397458931,0.99999995002,0.000173736739792,-0.000264013681613,8.53308426644e-06,1793193440262974976
+397,6.616666667,POSE2_TO_POSE3_RETREAT,763.383820191,742,712,672,658.616179809,633,876,783.383820191,799.383820191,649,629,650,0.400969487432,-0.0153908995056,0.0598403401032,0.99999995006,0.000174774293383,-0.000263195075367,7.92126251652e-06,1793193440279641600
+398,6.633333333,POSE2_TO_POSE3_RETREAT,763,742,712,672,659,633,876,783.193989717,799.193989717,649,629,650,0.400969375144,-0.0153901623887,0.059840339908,0.999999949963,0.000175303380144,-0.000263218875283,7.66906064076e-06,1793193440296308224
+399,6.650000000,POSE2_TO_POSE3_RETREAT,763,742,712,672,659,633,876,783.769363938,799.769363938,649,629,650,0.40096806407,-0.0153912262396,0.05983917111,0.999999949598,0.000174832819162,-0.000264898848898,8.12387281329e-06,1793193440312974848
+400,6.666666667,POSE2_TO_POSE3_RETREAT,763.344384437,742,712,672,659,633,876.344384437,783.655615563,800,649,628.655615563,650,0.400967128203,-0.0153920732279,0.0598385930504,0.999999949531,0.000173644735877,-0.000265926506437,8.31355119857e-06,1793193440329641728
+401,6.683333333,POSE2_TO_POSE3_RETREAT,763.919168267,742,712,672,659,633,876.919168267,783.080831733,800,649,628.080831733,650,0.400966443357,-0.0153927751313,0.0598384102055,0.999999949662,0.000171976617266,-0.000266517752704,8.32585028616e-06,1793193440346308352
+402,6.700000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,658.492810849,632.492810849,876.492810849,783,799.492810849,649,628.507189151,650,0.400967831585,-0.0153923459206,0.0598392962257,0.999999949857,0.000173682043451,-0.000264668682016,8.39708190966e-06,1793193440362974720
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_05/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_05/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1dc69f3fab33247638352fdf6a4cc3dc01bc4cea
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_05/depth_05/simulation_data.csv
@@ -0,0 +1,404 @@
+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,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+1,0.016666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+2,0.033333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+3,0.050000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+4,0.066666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+5,0.083333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+6,0.100000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+7,0.116666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+8,0.133333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+9,0.150000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+10,0.166666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+11,0.183333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+12,0.200000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+13,0.216666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+14,0.233333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+15,0.250000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+16,0.266666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+17,0.283333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+18,0.300000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+19,0.316666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+20,0.333333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+21,0.350000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+22,0.366666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+23,0.383333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+24,0.400000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+25,0.416666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+26,0.433333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+27,0.450000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+28,0.466666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+29,0.483333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+30,0.500000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+31,0.516666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+32,0.533333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+33,0.550000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+34,0.566666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+35,0.583333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+36,0.600000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+37,0.616666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+38,0.633333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+39,0.650000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+40,0.666666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+41,0.683333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+42,0.700000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+43,0.716666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+44,0.733333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+45,0.750000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+46,0.766666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+47,0.783333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+48,0.800000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+49,0.816666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+50,0.833333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+51,0.850000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+52,0.866666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+53,0.883333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+54,0.900000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+55,0.916666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+56,0.933333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+57,0.950000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+58,0.966666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+59,0.983333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+60,1.000000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+61,1.016666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+62,1.033333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+63,1.050000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+64,1.066666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+65,1.083333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+66,1.100000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+67,1.116666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+68,1.133333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+69,1.150000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+70,1.166666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+71,1.183333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+72,1.200000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+73,1.216666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+74,1.233333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+75,1.250000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+76,1.266666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+77,1.283333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+78,1.300000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+79,1.316666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+80,1.333333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+81,1.350000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+82,1.366666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+83,1.383333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+84,1.400000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+85,1.416666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+86,1.433333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+87,1.450000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+88,1.466666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+89,1.483333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+90,1.500000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+91,1.516666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+92,1.533333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+93,1.550000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+94,1.566666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+95,1.583333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+96,1.600000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+97,1.616666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+98,1.633333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+99,1.650000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+100,1.666666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+101,1.683333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+102,1.700000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+103,1.716666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+104,1.733333333,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+105,1.750000000,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+106,1.766666667,pose1_baseline,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473495,1.0496984415
+107,1.783333333,pose1_to_pose2_press,0.575709297938,-0.00994554640867,1.05002942762,0.54628003044,-0.00127280956149,1.04969871023
+108,1.800000000,pose1_to_pose2_press,0.575709304319,-0.00994554328576,1.05002942731,0.546280036757,-0.00127280665291,1.04969871004
+109,1.816666667,pose1_to_pose2_press,0.575709316215,-0.00994553746371,1.05002942673,0.546280048533,-0.00127280123043,1.04969870967
+110,1.833333333,pose1_to_pose2_press,0.575709340051,-0.00994552579842,1.05002942556,0.546280072129,-0.00127279036573,1.04969870894
+111,1.850000000,pose1_to_pose2_press,0.575709419519,-0.0099454871406,1.05002942167,0.546280150802,-0.00127275435024,1.04969870649
+112,1.866666667,pose1_to_pose2_press,0.575709698312,-0.00994543253863,1.05002940677,0.546280429554,-0.00127269972063,1.04969869593
+113,1.883333333,pose1_to_pose2_press,0.575710479214,-0.00994535571297,1.05002928555,0.546281209164,-0.00127262715011,1.04969857813
+114,1.900000000,pose1_to_pose2_press,0.57571275274,-0.00994543086525,1.05002931589,0.546283482856,-0.00127270194586,1.04969860304
+115,1.916666667,pose1_to_pose2_press,0.575718135555,-0.00994535749091,1.05002928251,0.546288866897,-0.00127262418212,1.04969857556
+116,1.933333333,pose1_to_pose2_press,0.575729615851,-0.00994537035433,1.05002910707,0.546300345452,-0.00127264292575,1.04969840087
+117,1.950000000,pose1_to_pose2_press,0.575748592012,-0.00994530930808,1.05002910214,0.54631932111,-0.00127258358215,1.04969839591
+118,1.966666667,pose1_to_pose2_press,0.575778489742,-0.0099454594333,1.05002921961,0.546349221781,-0.00127272427547,1.04969849896
+119,1.983333333,pose1_to_pose2_press,0.575819203778,-0.00994558242587,1.05002913792,0.546389936811,-0.00127284334056,1.04969843179
+120,2.000000000,pose1_to_pose2_press,0.575872432722,-0.00994542881838,1.05002908093,0.546443163634,-0.00127269708024,1.04969837083
+121,2.016666667,pose1_to_pose2_press,0.57593642089,-0.00994540831524,1.05002937077,0.546507151017,-0.00127267951152,1.04969865348
+122,2.033333333,pose1_to_pose2_press,0.576010817371,-0.0099454766099,1.05002905809,0.546581548206,-0.0012727450713,1.04969834944
+123,2.050000000,pose1_to_pose2_press,0.57609386365,-0.00994535752505,1.05002918094,0.546664591916,-0.00127263493165,1.04969846615
+124,2.066666667,pose1_to_pose2_press,0.576185258542,-0.00994552889874,1.05002903779,0.546755989553,-0.00127279668559,1.04969833104
+125,2.083333333,pose1_to_pose2_press,0.576288943199,-0.00994533786337,1.05002903661,0.546859672766,-0.0012726106571,1.04969832697
+126,2.100000000,pose1_to_pose2_press,0.576406394518,-0.00994545161293,1.05002910794,0.54697712448,-0.00127272285137,1.04969840393
+127,2.116666667,pose1_to_pose2_press,0.576542370341,-0.00994544575517,1.05002914827,0.547113101182,-0.00127271408747,1.04969844225
+128,2.133333333,pose1_to_pose2_press,0.576698496891,-0.00994539994501,1.05002893702,0.547269227549,-0.00127266866372,1.04969823702
+129,2.150000000,pose1_to_pose2_press,0.576876166339,-0.00994543054613,1.05002892205,0.547446896969,-0.0012726997161,1.04969821271
+130,2.166666667,pose1_to_pose2_press,0.57707477596,-0.00994535953827,1.0500291138,0.547645505421,-0.00127263275238,1.04969840239
+131,2.183333333,pose1_to_pose2_press,0.57729312088,-0.00994544893115,1.05002914036,0.547863851481,-0.00127271800867,1.04969843587
+132,2.200000000,pose1_to_pose2_press,0.577527567827,-0.00994545842753,1.05002896859,0.548098298541,-0.00127272721375,1.04969826165
+133,2.216666667,pose1_to_pose2_press,0.577779292418,-0.00994540268463,1.05002917648,0.54835002149,-0.00127267721734,1.04969846493
+134,2.233333333,pose1_to_pose2_press,0.578051854881,-0.00994547400341,1.05002931297,0.548622585065,-0.00127274499501,1.04969859519
+135,2.250000000,pose1_to_pose2_press,0.578342015988,-0.00994545728627,1.05002914061,0.548912747536,-0.00127272345361,1.04969842794
+136,2.266666667,pose1_to_pose2_press,0.578649814382,-0.00994541589262,1.05002915598,0.549220545299,-0.00127268397655,1.04969844922
+137,2.283333333,pose1_to_pose2_press,0.578985356284,-0.00994545792395,1.0500291999,0.549556086515,-0.00127272828436,1.0496984944
+138,2.300000000,pose1_to_pose2_press,0.579348776261,-0.00994540353661,1.05002914338,0.549919505905,-0.00127267591833,1.04969843705
+139,2.316666667,pose1_to_pose2_press,0.579746257309,-0.00994539956113,1.05002922586,0.550316987732,-0.00127266950785,1.04969851396
+140,2.333333333,pose1_to_pose2_press,0.580180759863,-0.00994555992143,1.05002918619,0.550751492365,-0.00127282292333,1.04969847145
+141,2.350000000,pose1_to_pose2_press,0.580655975262,-0.00994555954965,1.05002906445,0.551226706223,-0.00127282775925,1.04969835011
+142,2.366666667,pose1_to_pose2_press,0.581154189518,-0.00994541594738,1.05002916159,0.551724917702,-0.00127269381246,1.04969844115
+143,2.383333333,pose1_to_pose2_press,0.581669333865,-0.00994540175916,1.05002934893,0.552240064385,-0.001272671609,1.04969863079
+144,2.400000000,pose1_to_pose2_press,0.582193743246,-0.00994541536437,1.05002917924,0.552764474302,-0.00127268311779,1.04969846833
+145,2.416666667,pose1_to_pose2_press,0.582729066801,-0.0099454380912,1.05002902215,0.553299797468,-0.0012727069264,1.04969831741
+146,2.433333333,pose1_to_pose2_press,0.583282236051,-0.00994551757583,1.05002903944,0.553852968296,-0.00127278119598,1.04969833101
+147,2.450000000,pose1_to_pose2_press,0.583865415215,-0.00994555200003,1.0500290379,0.55443614772,-0.00127281480591,1.04969832764
+148,2.466666667,pose1_to_pose2_press,0.584482988628,-0.00994552202963,1.05002896615,0.555053719556,-0.00127279012757,1.04969825735
+149,2.483333333,pose1_to_pose2_press,0.585125138792,-0.00994546860064,1.05002897871,0.555695868959,-0.00127273924281,1.04969827091
+150,2.500000000,pose1_to_pose2_press,0.585783458853,-0.00994539837333,1.05002915422,0.556354188143,-0.00127267193708,1.04969844787
+151,2.516666667,pose1_to_pose2_press,0.5864440508,-0.00994542471318,1.05002910778,0.557014780426,-0.0012726972787,1.04969839765
+152,2.533333333,pose1_to_pose2_press,0.587115359778,-0.00994550397878,1.05002904668,0.557686090753,-0.00127277210707,1.04969833291
+153,2.550000000,pose1_to_pose2_press,0.587809317058,-0.00994547055338,1.05002913577,0.558380046514,-0.00127274393102,1.04969841947
+154,2.566666667,pose1_to_pose2_press,0.588538671185,-0.00994538171328,1.0500291657,0.559109398964,-0.00127266078195,1.04969844933
+155,2.583333333,pose1_to_pose2_press,0.589306315505,-0.00994535756288,1.05002913311,0.559877044579,-0.0012726319913,1.04969842312
+156,2.600000000,pose1_to_pose2_press,0.590099136673,-0.0099454142316,1.05002902639,0.56066986557,-0.00127268929335,1.04969831563
+157,2.616666667,pose1_to_pose2_press,0.590903455958,-0.00994547500984,1.05002914204,0.56147418545,-0.00127274791556,1.04969843481
+158,2.633333333,pose1_to_pose2_press,0.591707931879,-0.00994547778682,1.0500290654,0.56227866267,-0.0012727460554,1.04969836424
+159,2.650000000,pose1_to_pose2_press,0.59250583029,-0.00994549342429,1.05002897247,0.563076560726,-0.00127276313715,1.04969826504
+160,2.666666667,pose1_to_pose2_press,0.593295505575,-0.00994550343094,1.05002915819,0.56386623634,-0.00127277241085,1.04969844073
+161,2.683333333,pose1_to_pose2_press,0.59409102382,-0.00994551693603,1.05002935901,0.564661755344,-0.00127278343732,1.04969863902
+162,2.700000000,pose1_to_pose2_press,0.59489320236,-0.00994553097536,1.05002913324,0.565463933227,-0.00127279944431,1.04969842016
+163,2.716666667,pose1_to_pose2_press,0.595717708725,-0.00994555675046,1.05002907657,0.566288439898,-0.00127282412571,1.04969836493
+164,2.733333333,pose1_to_pose2_press,0.596562725457,-0.00994557985402,1.05002923334,0.56713345838,-0.00127284119477,1.04969852431
+165,2.750000000,pose1_to_pose2_press,0.597426457835,-0.00994556538698,1.05002934825,0.567997189411,-0.00127283189747,1.0496986235
+166,2.766666667,pose1_to_pose2_press,0.598302901219,-0.00994538481963,1.0500291394,0.568873631117,-0.0012726568943,1.04969841811
+167,2.783333333,pose1_to_pose2_press,0.599186554767,-0.00994535535541,1.05002923741,0.569757284291,-0.00127262844625,1.0496985228
+168,2.800000000,pose1_to_pose2_press,0.600055377812,-0.00994542330721,1.0500292625,0.570626108629,-0.0012726920585,1.04969854673
+169,2.816666667,pose1_to_pose2_press,0.600907789408,-0.00994547993009,1.05002917829,0.571478521381,-0.00127274469772,1.04969846406
+170,2.833333333,pose1_to_pose2_press,0.60173789251,-0.00994552048818,1.05002909798,0.572308623361,-0.00127278879846,1.04969839084
+171,2.850000000,pose1_to_pose2_press,0.602554731778,-0.0099455480847,1.05002913535,0.573125462295,-0.00127281771593,1.0496984233
+172,2.866666667,pose1_to_pose2_press,0.603363851569,-0.00994552143739,1.05002913727,0.573934582222,-0.00127279060645,1.0496984253
+173,2.883333333,pose1_to_pose2_press,0.604179756902,-0.00994545832283,1.05002885635,0.574750486877,-0.0012727295276,1.04969815145
+174,2.900000000,pose1_to_pose2_press,0.60500692137,-0.00994542604128,1.05002907109,0.575577651267,-0.00127269759525,1.04969836405
+175,2.916666667,pose1_to_pose2_press,0.60583309753,-0.00994550809075,1.0500291933,0.576403828054,-0.00127277756712,1.04969848504
+176,2.933333333,pose1_to_pose2_press,0.60665164901,-0.00994544379026,1.05002922098,0.577222380267,-0.00127271071686,1.04969851445
+177,2.950000000,pose1_to_pose2_press,0.607453009243,-0.00994535239818,1.05002915167,0.578023738715,-0.00127262537911,1.04969844527
+178,2.966666667,pose1_to_pose2_press,0.608222763367,-0.00994536360483,1.05002916059,0.578793492248,-0.00127263867212,1.04969845216
+179,2.983333333,pose1_to_pose2_press,0.60895763667,-0.0099454027388,1.05002912091,0.579528367249,-0.00127267210749,1.04969841086
+180,3.000000000,pose1_to_pose2_press,0.609673903941,-0.00994543313769,1.05002897596,0.580244635083,-0.00127270040587,1.04969827108
+181,3.016666667,pose1_to_pose2_press,0.610374332533,-0.00994554602211,1.0500290114,0.580945064971,-0.00127280884645,1.04969830771
+182,3.033333333,pose1_to_pose2_press,0.611060864049,-0.00994547930293,1.05002918662,0.58163159519,-0.0012727469361,1.04969847233
+183,3.050000000,pose1_to_pose2_press,0.611735098385,-0.00994538470721,1.05002900046,0.582305828662,-0.00127265516057,1.04969828927
+184,3.066666667,pose1_to_pose2_press,0.612397754223,-0.00994539304951,1.05002920102,0.582968485918,-0.00127265894117,1.049698482
+185,3.083333333,pose1_to_pose2_press,0.613038388332,-0.00994547139939,1.05002918547,0.583609119161,-0.00127273974828,1.04969846996
+186,3.100000000,pose1_to_pose2_press,0.613653891823,-0.00994549935149,1.05002914237,0.584224622599,-0.0012727666274,1.04969843514
+187,3.116666667,pose1_to_pose2_press,0.614234105532,-0.00994564420243,1.05002918986,0.58480483723,-0.00127290722344,1.04969847998
+188,3.133333333,pose1_to_pose2_press,0.61477824499,-0.00994551568621,1.0500292973,0.585348974355,-0.0012727857056,1.04969858321
+189,3.150000000,pose1_to_pose2_press,0.615283010979,-0.009945457545,1.05002924788,0.585853739747,-0.00127272856289,1.04969853401
+190,3.166666667,pose1_to_pose2_press,0.615762069388,-0.00994541948694,1.05002907709,0.586332795917,-0.00127269708142,1.04969836216
+191,3.183333333,pose1_to_pose2_press,0.616220328414,-0.00994555433613,1.05002917622,0.586791058466,-0.00127281886248,1.04969846223
+192,3.200000000,pose1_to_pose2_press,0.61666880232,-0.00994553617563,1.05002918056,0.587239531224,-0.00127280353613,1.04969846622
+193,3.216666667,pose1_to_pose2_press,0.6171067273,-0.00994551653692,1.050029052,0.587677454864,-0.00127278732932,1.04969834066
+194,3.233333333,pose1_to_pose2_press,0.617527849314,-0.00994547947942,1.05002913922,0.588098577128,-0.00127274836176,1.04969843289
+195,3.250000000,pose1_to_pose2_press,0.617925750736,-0.00994546654505,1.05002925457,0.588496478475,-0.00127273467127,1.04969854806
+196,3.266666667,pose1_to_pose2_press,0.618291563999,-0.00994556690791,1.05002894924,0.588862291892,-0.001272833284,1.0496982442
+197,3.283333333,pose1_to_pose2_press,0.618626683114,-0.00994547390573,1.05002912498,0.589197410751,-0.00127274134631,1.04969841354
+198,3.300000000,pose1_to_pose2_press,0.618932365302,-0.0099453642915,1.05002935768,0.589503090209,-0.00127263975502,1.04969864281
+199,3.316666667,pose1_to_pose2_press,0.61921685149,-0.00994534616321,1.05002933137,0.589787575498,-0.00127262364361,1.04969861992
+200,3.333333333,pose1_to_pose2_press,0.619485057712,-0.00994537132966,1.05002914595,0.590055782718,-0.00127264467445,1.04969843653
+201,3.350000000,pose1_to_pose2_press,0.619742056515,-0.00994547569382,1.05002924963,0.590312783195,-0.00127274292945,1.04969853839
+202,3.366666667,pose1_to_pose2_press,0.61998520811,-0.00994546735749,1.05002921552,0.590555933757,-0.00127273730131,1.04969850474
+203,3.383333333,pose1_to_pose2_press,0.620210693517,-0.00994548677816,1.05002898784,0.590781418895,-0.00127275689428,1.04969827504
+204,3.400000000,pose1_to_pose2_press,0.620414076005,-0.00994549169443,1.05002912289,0.590984801723,-0.00127276016416,1.04969841111
+205,3.416666667,pose1_to_pose2_press,0.62059457538,-0.00994543809,1.05002893043,0.591165300019,-0.0012727093794,1.04969822971
+206,3.433333333,pose1_to_pose2_press,0.620752214582,-0.00994547293719,1.0500288941,0.591322940005,-0.0012727412851,1.04969818956
+207,3.450000000,pose1_to_pose2_press,0.620890958711,-0.00994541379593,1.05002911803,0.591461683155,-0.0012726853127,1.04969840579
+208,3.466666667,pose1_to_pose2_press,0.621012966933,-0.00994532628057,1.05002908244,0.591583688792,-0.00127260606741,1.04969837293
+209,3.483333333,pose1_to_pose2_press,0.621122360501,-0.00994537088186,1.05002916827,0.591693083345,-0.00127264710257,1.04969845697
+210,3.500000000,pose1_to_pose2_press,0.621219980224,-0.00994538075598,1.05002914654,0.591790703357,-0.00127265556487,1.04969843875
+211,3.516666667,pose1_to_pose2_press,0.621304503344,-0.00994539107834,1.05002914824,0.591875225446,-0.00127266890201,1.04969843975
+212,3.533333333,pose1_to_pose2_press,0.621376050907,-0.00994541728506,1.05002917736,0.591946775191,-0.00127268722547,1.04969846395
+213,3.550000000,pose1_to_pose2_press,0.621435013713,-0.00994546476023,1.05002915313,0.592005738162,-0.00127273461452,1.04969843889
+214,3.566666667,pose1_to_pose2_press,0.621482715309,-0.00994538779267,1.05002898829,0.592053438796,-0.00127266012808,1.04969828682
+215,3.583333333,pose1_to_pose2_press,0.621519374189,-0.00994553205357,1.05002892009,0.592090099021,-0.00127280044934,1.04969821301
+216,3.600000000,pose1_to_pose2_press,0.621548854303,-0.00994535422959,1.05002927442,0.592119576846,-0.00127263004693,1.04969855929
+217,3.616666667,pose1_to_pose2_press,0.621571628278,-0.00994525976691,1.05002927269,0.592142349998,-0.00127253816211,1.04969856298
+218,3.633333333,pose1_to_pose2_press,0.621588984297,-0.00994551252223,1.05002921372,0.592159709413,-0.00127277956107,1.04969850173
+219,3.650000000,pose1_to_pose2_press,0.621601659479,-0.0099457191791,1.05002912962,0.592172386942,-0.00127297829957,1.04969841751
+220,3.666666667,pose1_to_pose2_press,0.621610133609,-0.00994575145536,1.05002904001,0.592180860887,-0.00127301101745,1.04969833265
+221,3.683333333,pose1_to_pose2_press,0.621615823526,-0.0099456195189,1.05002907821,0.592186549542,-0.00127288329722,1.04969837375
+222,3.700000000,pose1_to_pose2_press,0.621619548993,-0.00994551176238,1.05002911691,0.592190274023,-0.0012727788466,1.04969841431
+223,3.716666667,pose1_to_pose2_press,0.621622103468,-0.00994547461444,1.05002914107,0.592192828309,-0.00127274237683,1.04969843683
+224,3.733333333,pose1_to_pose2_press,0.621623720416,-0.00994547521865,1.0500291548,0.592194445457,-0.0012727423674,1.0496984476
+225,3.750000000,pose1_to_pose2_press,0.621625375258,-0.00994547583702,1.05002916886,0.592196100502,-0.00127274235775,1.04969845862
+226,3.766666667,pose1_to_pose2_press,0.621626798825,-0.00994547636896,1.05002918094,0.592197524245,-0.00127274234946,1.04969846811
+227,3.783333333,pose1_to_pose2_press,0.621627653001,-0.00994545043158,1.05002918213,0.592198378103,-0.00127271751503,1.04969846914
+228,3.800000000,pose1_to_pose2_press,0.621628282598,-0.00994541437294,1.05002917909,0.592199007193,-0.00127268319014,1.04969846689
+229,3.816666667,pose1_to_pose2_press,0.621628704547,-0.00994539020682,1.05002917705,0.592199428802,-0.00127266018596,1.04969846538
+230,3.833333333,pose1_to_pose2_press,0.621628882173,-0.00994538003368,1.05002917619,0.592199606286,-0.00127265050196,1.04969846475
+231,3.850000000,pose1_to_pose2_press,0.621629004635,-0.00994537301997,1.0500291756,0.592199728649,-0.00127264382547,1.04969846431
+232,3.866666667,pose1_to_pose2_press,0.621629397031,-0.00994535054644,1.05002917371,0.592200120729,-0.0012726224325,1.04969846291
+233,3.883333333,pose1_to_pose2_press,0.621629955221,-0.00994531857745,1.05002917101,0.592200678469,-0.00127259200062,1.04969846091
+234,3.900000000,pose1_to_pose2_press,0.621630517332,-0.00994528638385,1.05002916829,0.592201240128,-0.00127256135493,1.04969845891
+235,3.916666667,pose1_to_pose2_press,0.621631205464,-0.00994527868765,1.05002916201,0.592201927907,-0.00127255483693,1.04969845386
+236,3.933333333,pose1_to_pose2_press,0.621632007213,-0.00994534879829,1.05002914733,0.59220272975,-0.00127262453319,1.04969844151
+237,3.950000000,pose1_to_pose2_press,0.621632260055,-0.00994537090867,1.0500291427,0.592202982623,-0.0012726465129,1.04969843762
+238,3.966666667,pose1_to_pose2_press,0.621632285116,-0.00994537310019,1.05002914224,0.592203007687,-0.00127264869146,1.04969843723
+239,3.983333333,pose1_to_pose2_press,0.621632312989,-0.00994537553759,1.05002914173,0.592203035563,-0.00127265111445,1.0496984368
+240,4.000000000,pose1_to_pose2_press,0.621632450976,-0.00994538760416,1.0500291392,0.592203173566,-0.00127266310971,1.04969843468
+241,4.016666667,pose1_to_pose2_press,0.621632741639,-0.00994541302179,1.05002913387,0.592203464263,-0.00127268837711,1.0496984302
+242,4.033333333,pose1_to_pose2_press,0.621632876701,-0.00994542483257,1.0500291314,0.592203599341,-0.00127270011809,1.04969842812
+243,4.050000000,pose1_to_pose2_press,0.62163327951,-0.0099454464621,1.05002914312,0.592204002674,-0.0012727200751,1.04969843731
+244,4.066666667,pose1_to_pose2_press,0.621633667588,-0.00994545824579,1.05002916714,0.592204391573,-0.00127272927214,1.0496984564
+245,4.083333333,pose1_to_pose2_press,0.621633992503,-0.0099454504509,1.05002917405,0.592204716861,-0.00127272027535,1.04969846183
+246,4.100000000,pose1_to_pose2_press,0.621634229241,-0.00994541017772,1.05002915324,0.592204953252,-0.00127268101425,1.0496984451
+247,4.116666667,pose1_to_pose2_press,0.621634230777,-0.00994548962249,1.05002902456,0.592204955569,-0.0012727576736,1.04969831812
+248,4.133333333,pose1_to_pose2_press,0.621634230756,-0.00994549083162,1.05002902261,0.592204955563,-0.00127275882283,1.0496983162
+249,4.150000000,pose2_hold,0.621634230756,-0.00994549083162,1.05002902261,0.592204955574,-0.00127275882285,1.0496983162
+250,4.166666667,pose2_hold,0.621634230756,-0.00994549083162,1.05002902261,0.592204955574,-0.00127275882288,1.0496983162
+251,4.183333333,pose2_hold,0.621634230756,-0.00994549083162,1.05002902261,0.592204955575,-0.0012727588229,1.0496983162
+252,4.200000000,pose2_hold,0.621634230756,-0.00994549083162,1.05002902261,0.592204955576,-0.00127275882294,1.0496983162
+253,4.216666667,pose2_hold,0.621634230756,-0.00994549083162,1.05002902261,0.592204955576,-0.00127275882296,1.0496983162
+254,4.233333333,pose2_hold,0.621634230756,-0.00994549083162,1.05002902261,0.592204955577,-0.00127275882297,1.04969831621
+255,4.250000000,pose2_hold,0.621634230756,-0.00994549083162,1.05002902261,0.592204955577,-0.001272758823,1.04969831621
+256,4.266666667,pose2_hold,0.621634230756,-0.00994549083162,1.05002902261,0.592204955578,-0.00127275882303,1.04969831621
+257,4.283333333,pose2_hold,0.621634230756,-0.00994549083162,1.05002902261,0.592204955578,-0.00127275882305,1.04969831621
+258,4.300000000,pose2_hold,0.621634230756,-0.00994549083162,1.05002902261,0.592204955578,-0.00127275882306,1.04969831621
+259,4.316666667,pose2_hold,0.621634230756,-0.00994549083162,1.05002902261,0.592204955579,-0.00127275882306,1.04969831621
+260,4.333333333,pose2_hold,0.621634230756,-0.00994549083162,1.05002902261,0.592204955579,-0.00127275882307,1.04969831621
+261,4.350000000,pose2_hold,0.621634230756,-0.00994549083162,1.05002902261,0.59220495558,-0.00127275882404,1.04969831621
+262,4.366666667,pose2_hold,0.621634230756,-0.00994549083162,1.05002902261,0.59220495558,-0.00127275882476,1.04969831621
+263,4.383333333,pose2_hold,0.621634230756,-0.00994549083162,1.05002902261,0.592204955581,-0.00127275882475,1.04969831621
+264,4.400000000,pose2_hold,0.621634230756,-0.00994549083162,1.05002902261,0.592204955581,-0.0012727588247,1.04969831621
+265,4.416666667,pose2_to_pose3_retreat,0.621634230756,-0.00994549083162,1.05002902261,0.592204955583,-0.001272758824,1.04969831621
+266,4.433333333,pose2_to_pose3_retreat,0.621634199205,-0.00994547647987,1.05002904416,0.592204924131,-0.00127274410176,1.04969833884
+267,4.450000000,pose2_to_pose3_retreat,0.62163416096,-0.00994545908315,1.05002907028,0.592204886005,-0.00127272625593,1.04969836627
+268,4.466666667,pose2_to_pose3_retreat,0.621634068648,-0.00994542071245,1.05002911245,0.592204793838,-0.00127268732193,1.04969841072
+269,4.483333333,pose2_to_pose3_retreat,0.621634027413,-0.00994541425522,1.0500290697,0.59220475224,-0.00127268214983,1.04969836634
+270,4.500000000,pose2_to_pose3_retreat,0.621633888969,-0.00994539257526,1.05002892616,0.592204612577,-0.00127266478465,1.04969821733
+271,4.516666667,pose2_to_pose3_retreat,0.621632710186,-0.00994547288746,1.05002914009,0.592203434312,-0.0012727433373,1.04969843488
+272,4.533333333,pose2_to_pose3_retreat,0.621629133339,-0.00994544325775,1.05002908744,0.592199856662,-0.00127271656719,1.0496983745
+273,4.550000000,pose2_to_pose3_retreat,0.621620790075,-0.00994549688058,1.05002922774,0.592191514773,-0.00127276532692,1.0496985191
+274,4.566666667,pose2_to_pose3_retreat,0.621604856443,-0.00994551622247,1.05002919602,0.592175580779,-0.0012727862026,1.04969847806
+275,4.583333333,pose2_to_pose3_retreat,0.621579246557,-0.00994540849459,1.05002921607,0.592149970341,-0.00127268001822,1.0496985048
+276,4.600000000,pose2_to_pose3_retreat,0.621542376036,-0.009945398723,1.05002903562,0.592113099758,-0.00127267091925,1.04969832633
+277,4.616666667,pose2_to_pose3_retreat,0.621494414583,-0.0099456705318,1.05002938587,0.592065142415,-0.00127292975137,1.04969866966
+278,4.633333333,pose2_to_pose3_retreat,0.621433958282,-0.00994540966336,1.05002902742,0.592004683754,-0.00127267640452,1.04969831974
+279,4.650000000,pose2_to_pose3_retreat,0.621362737957,-0.00994538513156,1.05002894407,0.591933462215,-0.00127265546036,1.0496982384
+280,4.666666667,pose2_to_pose3_retreat,0.621280472251,-0.00994539576396,1.05002913794,0.591851196438,-0.00127266746721,1.04969842622
+281,4.683333333,pose2_to_pose3_retreat,0.621185784519,-0.00994544110902,1.05002900257,0.591756509496,-0.00127270995438,1.04969829511
+282,4.700000000,pose2_to_pose3_retreat,0.621078540661,-0.00994546479419,1.05002898312,0.591649263971,-0.00127273974113,1.0496982714
+283,4.716666667,pose2_to_pose3_retreat,0.620954705538,-0.00994541496528,1.05002928619,0.591525430734,-0.00127268395886,1.04969857179
+284,4.733333333,pose2_to_pose3_retreat,0.620813012226,-0.00994556653628,1.05002916337,0.59138373978,-0.00127282776699,1.04969845321
+285,4.750000000,pose2_to_pose3_retreat,0.620649751383,-0.00994535789505,1.05002917643,0.59122047474,-0.00127263413852,1.04969845815
+286,4.766666667,pose2_to_pose3_retreat,0.620464809106,-0.00994539170595,1.05002896941,0.591035532373,-0.00127266872379,1.04969825223
+287,4.783333333,pose2_to_pose3_retreat,0.620256580374,-0.00994535629121,1.05002907093,0.590827303056,-0.0012726357018,1.04969835803
+288,4.800000000,pose2_to_pose3_retreat,0.620027570551,-0.00994528271459,1.05002916458,0.590598293218,-0.00127256274656,1.0496984505
+289,4.816666667,pose2_to_pose3_retreat,0.619777784946,-0.00994529614633,1.05002892303,0.590348507925,-0.0012725755922,1.04969821722
+290,4.833333333,pose2_to_pose3_retreat,0.619503680554,-0.00994526046316,1.05002915441,0.590074402174,-0.0012725454352,1.04969844487
+291,4.850000000,pose2_to_pose3_retreat,0.619207504865,-0.00994545391659,1.05002903101,0.589778231178,-0.00127272356378,1.04969832536
+292,4.866666667,pose2_to_pose3_retreat,0.618889102161,-0.00994528692148,1.05002923266,0.58945982856,-0.00127255701798,1.0496985303
+293,4.883333333,pose2_to_pose3_retreat,0.618547579922,-0.00994535798053,1.05002903006,0.589118306315,-0.00127262906105,1.04969832883
+294,4.900000000,pose2_to_pose3_retreat,0.618183258799,-0.0099454291191,1.05002913834,0.588753986674,-0.00127269622592,1.04969843101
+295,4.916666667,pose2_to_pose3_retreat,0.617799526169,-0.00994526339032,1.05002904978,0.588370250619,-0.0012725430221,1.04969834126
+296,4.933333333,pose2_to_pose3_retreat,0.617393826266,-0.00994532291654,1.05002922048,0.587964551388,-0.00127260148129,1.04969850853
+297,4.950000000,pose2_to_pose3_retreat,0.616957856944,-0.009945367762,1.05002912301,0.58752858273,-0.00127264513868,1.04969841215
+298,4.966666667,pose2_to_pose3_retreat,0.616491133123,-0.009945345732,1.05002920397,0.587061860131,-0.00127261984445,1.04969849238
+299,4.983333333,pose2_to_pose3_retreat,0.615990682045,-0.00994533048835,1.05002905675,0.586561410345,-0.00127260131162,1.04969834848
+300,5.000000000,pose2_to_pose3_retreat,0.61545803352,-0.00994533620176,1.05002900493,0.586028759968,-0.00127261475935,1.04969829248
+301,5.016666667,pose2_to_pose3_retreat,0.614897032513,-0.00994537209261,1.05002911812,0.585467760559,-0.00127264638986,1.04969840741
+302,5.033333333,pose2_to_pose3_retreat,0.614323245498,-0.00994537181187,1.050029172,0.58489397469,-0.00127264348613,1.04969846002
+303,5.050000000,pose2_to_pose3_retreat,0.613737153279,-0.00994534560137,1.05002916388,0.584307881424,-0.00127262196389,1.04969845288
+304,5.066666667,pose2_to_pose3_retreat,0.61313425284,-0.00994542921037,1.05002913681,0.583704981987,-0.0012727031355,1.04969843243
+305,5.083333333,pose2_to_pose3_retreat,0.61250013543,-0.00994555326102,1.05002916291,0.583070866672,-0.00127282155473,1.0496984532
+306,5.100000000,pose2_to_pose3_retreat,0.611825541323,-0.00994556703331,1.05002924639,0.582396273528,-0.00127283368343,1.04969852747
+307,5.116666667,pose2_to_pose3_retreat,0.611107357518,-0.0099454908824,1.05002916653,0.581678089494,-0.00127275948071,1.04969845229
+308,5.133333333,pose2_to_pose3_retreat,0.61035311691,-0.00994539243913,1.05002906705,0.580923847873,-0.00127266322438,1.04969835893
+309,5.150000000,pose2_to_pose3_retreat,0.609576846602,-0.00994544356797,1.05002922005,0.580147576967,-0.00127271364952,1.04969851273
+310,5.166666667,pose2_to_pose3_retreat,0.608792025834,-0.0099454581608,1.05002923306,0.579362756153,-0.00127272861494,1.04969851975
+311,5.183333333,pose2_to_pose3_retreat,0.608002851139,-0.00994539766347,1.05002924463,0.578573581277,-0.00127266874671,1.04969853078
+312,5.200000000,pose2_to_pose3_retreat,0.607204979174,-0.00994539412481,1.05002914234,0.577775709059,-0.00127266576775,1.04969843618
+313,5.216666667,pose2_to_pose3_retreat,0.606396329174,-0.00994556547212,1.05002913276,0.57696706121,-0.00127282972925,1.04969842916
+314,5.233333333,pose2_to_pose3_retreat,0.605565250209,-0.00994563279047,1.0500292087,0.576135983494,-0.0012728930664,1.04969849816
+315,5.250000000,pose2_to_pose3_retreat,0.604712605506,-0.00994553475815,1.05002927325,0.575283336205,-0.00127280409071,1.04969855462
+316,5.266666667,pose2_to_pose3_retreat,0.603833901807,-0.00994549536582,1.05002912927,0.574404632353,-0.00127276497599,1.04969841646
+317,5.283333333,pose2_to_pose3_retreat,0.602943418792,-0.0099454644428,1.05002901972,0.573514149491,-0.00127273323088,1.04969831547
+318,5.300000000,pose2_to_pose3_retreat,0.602049994965,-0.00994540578177,1.05002907652,0.572620724819,-0.00127267753454,1.04969837018
+319,5.316666667,pose2_to_pose3_retreat,0.601153506971,-0.00994536397922,1.05002922551,0.571724236193,-0.00127263810083,1.04969851331
+320,5.333333333,pose2_to_pose3_retreat,0.600257953088,-0.00994534798782,1.0500292265,0.570828682714,-0.00127262064115,1.04969851682
+321,5.350000000,pose2_to_pose3_retreat,0.599375585314,-0.00994536782379,1.05002904282,0.569946315694,-0.00127263774289,1.04969833762
+322,5.366666667,pose2_to_pose3_retreat,0.598495613511,-0.00994539014947,1.05002901455,0.569066343788,-0.00127266049288,1.04969830666
+323,5.383333333,pose2_to_pose3_retreat,0.597611335233,-0.00994543739951,1.05002923929,0.568182065115,-0.00127270933011,1.0496985242
+324,5.400000000,pose2_to_pose3_retreat,0.596718818055,-0.00994543243906,1.05002920952,0.567289547005,-0.00127270740039,1.04969849769
+325,5.416666667,pose2_to_pose3_retreat,0.59581425746,-0.00994547370552,1.05002910481,0.566384987542,-0.00127274495143,1.04969838966
+326,5.433333333,pose2_to_pose3_retreat,0.594911871482,-0.0099454058777,1.05002915986,0.565482601577,-0.00127267690058,1.04969844935
+327,5.450000000,pose2_to_pose3_retreat,0.594015098521,-0.00994549528864,1.05002917377,0.564585830242,-0.00127276089907,1.04969846054
+328,5.466666667,pose2_to_pose3_retreat,0.593132645556,-0.00994555491845,1.05002904148,0.563703378269,-0.00127281689166,1.04969833527
+329,5.483333333,pose2_to_pose3_retreat,0.592276620662,-0.00994543209725,1.05002909259,0.562847351104,-0.00127270173445,1.04969838745
+330,5.500000000,pose2_to_pose3_retreat,0.591452507568,-0.00994538157631,1.05002937895,0.562023236462,-0.00127265681296,1.04969866474
+331,5.516666667,pose2_to_pose3_retreat,0.590650062287,-0.00994548894681,1.05002932297,0.561220791577,-0.00127276306522,1.04969860282
+332,5.533333333,pose2_to_pose3_retreat,0.589865515448,-0.00994552383647,1.05002924889,0.560436246455,-0.00127279181531,1.0496985368
+333,5.550000000,pose2_to_pose3_retreat,0.589078866019,-0.00994542390236,1.05002915223,0.55964959675,-0.00127269266352,1.04969844428
+334,5.566666667,pose2_to_pose3_retreat,0.588292116,-0.00994536000992,1.05002912992,0.55886284469,-0.00127263553166,1.04969842627
+335,5.583333333,pose2_to_pose3_retreat,0.587508841232,-0.00994535306522,1.05002918135,0.558079570002,-0.00127262844983,1.04969847413
+336,5.600000000,pose2_to_pose3_retreat,0.586738926802,-0.00994537397512,1.0500292609,0.557309656522,-0.00127264636276,1.04969854769
+337,5.616666667,pose2_to_pose3_retreat,0.585991234454,-0.00994545123823,1.05002914281,0.556561965093,-0.00127272023936,1.04969843664
+338,5.633333333,pose2_to_pose3_retreat,0.585287571515,-0.00994540919901,1.05002920485,0.555858300551,-0.00127268386561,1.04969849274
+339,5.650000000,pose2_to_pose3_retreat,0.584625634142,-0.009945374332,1.05002917701,0.555196362913,-0.00127264980688,1.04969846728
+340,5.666666667,pose2_to_pose3_retreat,0.583997913022,-0.00994539313537,1.0500289529,0.554568642849,-0.00127266478125,1.04969824953
+341,5.683333333,pose2_to_pose3_retreat,0.583392408784,-0.00994548414047,1.05002914894,0.553963140325,-0.00127275010736,1.04969844225
+342,5.700000000,pose2_to_pose3_retreat,0.582804618735,-0.00994554650194,1.05002915147,0.553375349572,-0.00127281507933,1.04969843988
+343,5.716666667,pose2_to_pose3_retreat,0.582233486583,-0.00994554888383,1.0500289995,0.552804217067,-0.0012728183622,1.04969829525
+344,5.733333333,pose2_to_pose3_retreat,0.581682466881,-0.00994539616563,1.05002891954,0.552253197342,-0.00127266546177,1.04969822205
+345,5.750000000,pose2_to_pose3_retreat,0.58116095022,-0.00994551518495,1.0500292395,0.551731680554,-0.00127278525391,1.0496985335
+346,5.766666667,pose2_to_pose3_retreat,0.580665632754,-0.00994552299007,1.05002904779,0.551236363532,-0.00127279176517,1.04969833636
+347,5.783333333,pose2_to_pose3_retreat,0.580194627711,-0.0099454815108,1.05002903779,0.550765359442,-0.00127274688598,1.0496983302
+348,5.800000000,pose2_to_pose3_retreat,0.579743028498,-0.00994547680892,1.0500289985,0.550313760669,-0.00127274057674,1.04969829354
+349,5.816666667,pose2_to_pose3_retreat,0.579310641656,-0.00994555643146,1.05002894785,0.549881372301,-0.00127282542435,1.0496982417
+350,5.833333333,pose2_to_pose3_retreat,0.578905237968,-0.00994547816038,1.05002926205,0.549475969004,-0.00127274603594,1.04969855037
+351,5.850000000,pose2_to_pose3_retreat,0.578529376739,-0.00994561849318,1.05002913894,0.549100109946,-0.00127287899463,1.04969842762
+352,5.866666667,pose2_to_pose3_retreat,0.578193272853,-0.00994552059219,1.05002907872,0.548764004075,-0.00127278793926,1.04969836454
+353,5.883333333,pose2_to_pose3_retreat,0.577893214871,-0.00994569800913,1.05002916327,0.548463948871,-0.00127295579354,1.04969845268
+354,5.900000000,pose2_to_pose3_retreat,0.577628011345,-0.00994541919334,1.05002915087,0.548198741645,-0.00127268938641,1.0496984444
+355,5.916666667,pose2_to_pose3_retreat,0.57738709159,-0.00994547633735,1.05002914586,0.547957824581,-0.00127273744495,1.04969843813
+356,5.933333333,pose2_to_pose3_retreat,0.577167687715,-0.00994533777693,1.05002940129,0.547738418223,-0.00127260756306,1.04969868682
+357,5.950000000,pose2_to_pose3_retreat,0.576963145047,-0.00994544293418,1.05002908795,0.547533876218,-0.00127271025577,1.04969837901
+358,5.966666667,pose2_to_pose3_retreat,0.576773815089,-0.0099454001113,1.05002912967,0.547344544346,-0.00127267390528,1.04969842135
+359,5.983333333,pose2_to_pose3_retreat,0.576601460092,-0.00994539639553,1.05002928422,0.547172190397,-0.00127266693096,1.04969856817
+360,6.000000000,pose2_to_pose3_retreat,0.576447046855,-0.00994550534464,1.05002918518,0.547017777528,-0.00127277445986,1.04969847366
+361,6.016666667,pose2_to_pose3_retreat,0.57631277667,-0.0099454468233,1.05002917272,0.546883507931,-0.00127271396826,1.04969846067
+362,6.033333333,pose2_to_pose3_retreat,0.576196598964,-0.00994538723016,1.05002939298,0.546767328167,-0.00127266161756,1.04969867409
+363,6.050000000,pose2_to_pose3_retreat,0.57609801866,-0.00994552883073,1.050029258,0.546668749661,-0.00127279713611,1.0496985392
+364,6.066666667,pose2_to_pose3_retreat,0.576016408156,-0.0099454686983,1.05002917585,0.546587139296,-0.00127273627071,1.04969846392
+365,6.083333333,pose2_to_pose3_retreat,0.575948736261,-0.00994547045497,1.05002935756,0.546519467822,-0.0012727368285,1.04969863951
+366,6.100000000,pose2_to_pose3_retreat,0.575893436372,-0.00994546962101,1.05002934569,0.5464641672,-0.00127273830273,1.04969863227
+367,6.116666667,pose2_to_pose3_retreat,0.575847911179,-0.00994554806219,1.05002916599,0.546418642828,-0.00127281387103,1.04969845475
+368,6.133333333,pose2_to_pose3_retreat,0.575811282201,-0.00994560805982,1.05002904383,0.546382015101,-0.00127286962802,1.04969833241
+369,6.150000000,pose2_to_pose3_retreat,0.575781488487,-0.00994551003043,1.05002905118,0.546352220378,-0.00127277474761,1.04969834711
+370,6.166666667,pose2_to_pose3_retreat,0.575758369054,-0.00994548715875,1.05002913478,0.546329100998,-0.00127275170078,1.04969843047
+371,6.183333333,pose2_to_pose3_retreat,0.575741528807,-0.00994563503816,1.05002910006,0.546312262635,-0.00127289318547,1.0496983958
+372,6.200000000,pose2_to_pose3_retreat,0.575729894748,-0.0099454279708,1.05002886369,0.546300625157,-0.00127269733176,1.04969816975
+373,6.216666667,pose2_to_pose3_retreat,0.575723651857,-0.00994547905436,1.05002914185,0.546294383225,-0.00127274560915,1.04969843576
+374,6.233333333,pose2_to_pose3_retreat,0.575720109862,-0.00994550500796,1.05002928654,0.54629084172,-0.00127277013286,1.04969857422
+375,6.250000000,pose2_to_pose3_retreat,0.575718591798,-0.00994546953639,1.05002920398,0.54628932305,-0.00127273657015,1.04969849572
+376,6.266666667,pose2_to_pose3_retreat,0.575717774403,-0.00994545043684,1.05002915953,0.546288505328,-0.00127271849842,1.04969845344
+377,6.283333333,pose2_to_pose3_retreat,0.575717234331,-0.00994543781735,1.05002913016,0.546287965041,-0.00127270655803,1.04969842552
+378,6.300000000,pose2_to_pose3_retreat,0.575716439803,-0.00994541925214,1.05002908694,0.546287170195,-0.00127268899188,1.04969838443
+379,6.316666667,pose2_to_pose3_retreat,0.575715711055,-0.00994540222399,1.05002904731,0.546286441157,-0.00127267288008,1.04969834674
+380,6.333333333,pose2_to_pose3_retreat,0.575715194484,-0.00994539015361,1.05002901922,0.546285924379,-0.00127266145925,1.04969832003
+381,6.350000000,pose2_to_pose3_retreat,0.575714731946,-0.00994537934581,1.05002899406,0.546285461657,-0.00127265123305,1.04969829611
+382,6.366666667,pose2_to_pose3_retreat,0.575714393235,-0.00994538221584,1.05002903188,0.546285122988,-0.00127265400178,1.04969833289
+383,6.383333333,pose2_to_pose3_retreat,0.575714248595,-0.00994538401742,1.05002905104,0.546284978374,-0.00127265573194,1.0496983515
+384,6.400000000,pose2_to_pose3_retreat,0.575714052391,-0.00994538646123,1.05002907702,0.546284782208,-0.00127265807887,1.04969837674
+385,6.416666667,pose2_to_pose3_retreat,0.575713477085,-0.00994539362697,1.05002915322,0.546284207009,-0.00127266496055,1.04969845075
+386,6.433333333,pose2_to_pose3_retreat,0.575712877505,-0.00994540109505,1.05002923262,0.546283607542,-0.00127267213258,1.04969852789
+387,6.450000000,pose2_to_pose3_retreat,0.575712439404,-0.00994540655182,1.05002929064,0.546283169524,-0.00127267737303,1.04969858425
+388,6.466666667,pose2_to_pose3_retreat,0.575712274726,-0.00994540860297,1.05002931245,0.546283004877,-0.00127267934286,1.04969860543
+389,6.483333333,pose2_to_pose3_retreat,0.575712136833,-0.00994541032049,1.05002933072,0.54628286701,-0.0012726809923,1.04969862317
+390,6.500000000,pose2_to_pose3_retreat,0.575711987051,-0.00994541218611,1.05002935055,0.546282717256,-0.00127268278396,1.04969864244
+391,6.516666667,pose2_to_pose3_retreat,0.575711772393,-0.00994541485979,1.05002937898,0.546282502638,-0.00127268535165,1.04969867006
+392,6.533333333,pose2_to_pose3_retreat,0.575711282805,-0.00994540717443,1.05002936825,0.54628201301,-0.00127267789443,1.04969865696
+393,6.550000000,pose2_to_pose3_retreat,0.575711156565,-0.00994540259389,1.05002935124,0.546281886734,-0.00127267346131,1.04969863923
+394,6.566666667,pose2_to_pose3_retreat,0.575710952736,-0.0099453951981,1.05002932377,0.546281682847,-0.00127266630355,1.04969861062
+395,6.583333333,pose2_to_pose3_retreat,0.57571070777,-0.00994538630968,1.05002929075,0.546281437812,-0.0012726577012,1.04969857623
+396,6.600000000,pose2_to_pose3_retreat,0.575710494874,-0.00994537858494,1.05002926205,0.546281224857,-0.00127265022507,1.04969854634
+397,6.616666667,pose2_to_pose3_retreat,0.575710115056,-0.00994536480353,1.05002921086,0.546280844932,-0.0012726368872,1.04969849301
+398,6.633333333,pose2_to_pose3_retreat,0.575709741116,-0.00994541938174,1.05002930099,0.546280471625,-0.00127268927907,1.04969858407
+399,6.650000000,pose2_to_pose3_retreat,0.575709466212,-0.00994547729248,1.05002940393,0.546280197381,-0.00127274489788,1.04969868848
+400,6.666666667,pose2_to_pose3_retreat,0.575709354252,-0.00994551884856,1.05002942487,0.546280086186,-0.00127278389274,1.0496987085
+401,6.683333333,pose2_to_pose3_retreat,0.575709296523,-0.00994560595643,1.05002924186,0.546280029597,-0.00127286700002,1.04969852901
+402,6.700000000,pose2_to_pose3_retreat,0.57570929584,-0.00994563470988,1.05002915217,0.54628002919,-0.00127289473499,1.0496984415
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_06/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_06/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1ba8d35a281d8020f8ada33d3012283b23786e91
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_06/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a78bd95a7519b7663ec2bad42eb74949c62a9d03805ebb574cb3b8f1155c80ba
+size 24723924
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_06/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_06/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c9a3ff3845835ba71e690c7eddec14d4a9ee4471
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_06/depth_01/franka_data.csv
@@ -0,0 +1,390 @@
+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,764,742,712,672,659,633,876,784,800,650,629,651,0.400918489149,-0.0154485282984,0.0499193037001,0.999999971883,-1.0318339397e-05,-0.000233291463687,-4.1260413352e-05,1793193441697979904
+1,0.016666667,BASELINE,763.417714745,742,712,671.417714745,659.582285255,633,876,784,800,650,629,651,0.400919269947,-0.0154499309706,0.0499196394994,0.999999972091,-1.13962076487e-05,-0.000232383109517,-4.10680981641e-05,1793193441714645760
+2,0.033333333,BASELINE,763.162331387,742,712,671,659.837668613,633,876,784,799.837668613,650,629,650.837668613,0.400919708346,-0.01545088139,0.0499197216049,0.999999972177,-1.25643582411e-05,-0.000231963347327,-4.10069326812e-05,1793193441731311616
+3,0.050000000,BASELINE,763.736694275,742,712,671,659.263305725,633,876,784,799.263305725,650,629,650.263305725,0.400919277661,-0.0154506838959,0.0499191597821,0.999999971956,-1.39616647975e-05,-0.000232783735049,-4.12786529334e-05,1793193441747978240
+4,0.066666667,BASELINE,764,742,712,671,659,633,876,784,799.310498745,649.689501255,629,650.310498745,0.400919320866,-0.0154503959137,0.0499195295113,0.999999972001,-1.46697010022e-05,-0.000232553382073,-4.12470209103e-05,1793193441764644864
+5,0.083333333,BASELINE,764,742,712,671,659,633,876,784,799.883830486,649.116169514,629,650.883830486,0.400919765212,-0.0154500313345,0.0499206877868,0.999999972271,-1.47942790728e-05,-0.000231433591227,-4.0958605264e-05,1793193441781311488
+6,0.100000000,BASELINE,763.528356403,742,712,671,659.471643597,633,876,784,800,649.471643597,629,650.528356403,0.400919237706,-0.0154505751968,0.0499197811125,0.999999972001,-1.36711456326e-05,-0.000232716077078,-4.06745199262e-05,1793193441797978368
+7,0.116666667,BASELINE,763.061395693,742,712,671,659.938604307,633,875.938604307,784,800,649.938604307,629,650.061395693,0.40091849847,-0.0154512955136,0.0499185274746,0.999999971624,-1.26961237804e-05,-0.000234421152418,-4.04683528361e-05,1793193441814645248
+8,0.133333333,BASELINE,763.636579349,742,712,671,659.363420651,633,875.363420651,784,800,649.363420651,629,650.636579349,0.400918054037,-0.0154515606732,0.0499187614227,0.999999971534,-1.56138427058e-05,-0.000234554184582,-4.09050337316e-05,1793193441831311872
+9,0.150000000,BASELINE,764,742,711.786491572,671,659,633.213508428,875.213508428,784,800,649.213508428,629,651,0.400918772909,-0.0154519852664,0.0499193958633,0.999999971778,-1.70615465398e-05,-0.000233372811434,-4.11174954422e-05,1793193441847978496
+10,0.166666667,BASELINE,764,742,711.206567115,671,659,633.793432885,875.793432885,784,800,649.793432885,629,651,0.400921488207,-0.0154526834741,0.0499207176156,0.999999972599,-1.59864593099e-05,-0.000229935699814,-4.09451596371e-05,1793193441864645120
+11,0.183333333,BASELINE,764,742,711.37864377,671.37864377,659.37864377,633.62135623,876,784,800,650,629,650.62135623,0.400921777045,-0.0154521651986,0.049920714762,0.999999972676,-1.47296586109e-05,-0.000229706285365,-4.082793457e-05,1793193441881311744
+12,0.200000000,BASELINE,764,742,711.966779529,671.966779529,659.966779529,633.033220471,876,784,800,650,629,650.033220471,0.400920723396,-0.0154509738804,0.0499199790447,0.999999972342,-1.33723213208e-05,-0.000231251591094,-4.07412005684e-05,1793193441897978112
+13,0.216666667,BASELINE,764,742,712,671.456406213,660,633,876,784,799.456406213,649.456406213,629,650.543593787,0.400919521374,-0.015451219054,0.0499197190042,0.999999972098,-1.35853666668e-05,-0.000232280450736,-4.08126406545e-05,1793193441914644736
+14,0.233333333,BASELINE,764,742,712,671,660,633,876,784,799,649,629,650.879495245,0.400918850927,-0.0154512801724,0.0499196009394,0.999999971971,-1.37709089954e-05,-0.000232795588203,-4.09289874717e-05,1793193441931311872
+15,0.250000000,BASELINE,764,742,712,671,660,633,876,784,799,649,629,650.299631823,0.400920240686,-0.015450311865,0.0499199155269,0.999999972272,-1.34932406063e-05,-0.000231470296333,-4.118042048e-05,1793193441947978496
+16,0.266666667,BASELINE,764.283112038,742,712,671.283112038,660,633,876,784,799.283112038,649,629,650.283112038,0.400920452459,-0.0154505634714,0.049920000369,0.999999972383,-1.34397608044e-05,-0.000230988902911,-4.12020980956e-05,1793193441964645120
+17,0.283333333,BASELINE,764.868935714,742,712,671.868935714,660,633,876,784,799.868935714,649,629,650.868935714,0.400919404694,-0.0154521194452,0.0499198395606,0.999999972292,-1.36259899863e-05,-0.000231409830368,-4.09781145385e-05,1793193441981311744
+18,0.300000000,BASELINE,764.550356402,742,712,672,660,633,876,784,800,649.449643598,629,650.550356402,0.40091996085,-0.0154518071201,0.0499194071188,0.999999972266,-1.33286992192e-05,-0.000231537568319,-4.10046095242e-05,1793193441997978368
+19,0.316666667,BASELINE,764,742,712,672,659.971385724,633,876,784,799.971385724,649.971385724,629,650.028614276,0.40092083704,-0.0154510110255,0.0499188854144,0.999999972242,-1.28680020232e-05,-0.000231649064266,-4.10985221569e-05,1793193442014644992
+20,0.333333333,BASELINE,764,742,712,672,659.397423569,633,876,784,799.397423569,649.397423569,629,650.602576431,0.400919002608,-0.0154512571507,0.0499181545191,0.999999971925,-1.1948884836e-05,-0.000233061440955,-4.11014925877e-05,1793193442031311616
+21,0.350000000,BASELINE,764,742,712,672,659.178197244,633,876,784,799.178197244,649.178197244,629,651,0.400918004053,-0.0154512069251,0.0499178104197,0.999999971725,-1.1937202459e-05,-0.000233901200378,-4.11970445103e-05,1793193442047978240
+22,0.366666667,BASELINE,764,742,712,672,659.757551949,633,876,784,799.757551949,649.757551949,629,651,0.400918887224,-0.0154504895551,0.0499183370749,0.999999971791,-1.3968336552e-05,-0.000233451884186,-4.15010157948e-05,1793193442064644864
+23,0.383333333,BASELINE,763.658509675,742,712,671.658509675,659.658509675,633,876.341490325,784,800,650,629,651,0.40091947388,-0.0154506208769,0.0499187043046,0.999999971952,-1.4723100184e-05,-0.000232749727217,-4.13201348551e-05,1793193442081311488
+24,0.400000000,BASELINE,763.071272693,742,712,671.071272693,659.071272693,633,876.928727307,784,800,650,629,651,0.400919847156,-0.0154513629427,0.0499189568071,0.999999972181,-1.45593496453e-05,-0.000231865618411,-4.07903397763e-05,1793193442097978112
+25,0.416666667,BASELINE,763,742,711.491467119,671.508532881,659,633,876.491467119,784,800,649.491467119,629,651,0.400920938211,-0.0154513913091,0.0499192378419,0.999999972435,-1.38539160674e-05,-0.000230795603488,-4.08825121686e-05,1793193442114645248
+26,0.433333333,BASELINE,763.087239611,742,711.087239611,672,659.087239611,633,876.087239611,784.087239611,800,649.087239611,629,651,0.400921661301,-0.0154513443122,0.0499193288129,0.999999972594,-1.32426570788e-05,-0.000230114140687,-4.10264304968e-05,1793193442131311616
+27,0.450000000,BASELINE,763.66553956,742,711.66553956,672,659.66553956,633,876.66553956,784.66553956,800,649.66553956,629,651,0.400919755054,-0.0154514280364,0.0499183277541,0.999999972211,-1.35826762997e-05,-0.000231764336533,-4.09780132615e-05,1793193442147978496
+28,0.466666667,BASELINE,764,742,711.757141846,672,659.757141846,633,876.757141846,784.757141846,800,649.757141846,629,651,0.400919056832,-0.0154517532029,0.0499179584203,0.999999972034,-1.4088941364e-05,-0.000232511410914,-4.08914777685e-05,1793193442164645376
+29,0.483333333,BASELINE,764,742,711.181169355,672,659.181169355,633,876.181169355,784.181169355,800,649.181169355,629,651,0.400920015585,-0.0154524095417,0.049918455587,0.999999972143,-1.48232361156e-05,-0.000232019726261,-4.07526576922e-05,1793193442181311744
+30,0.500000000,BASELINE,764,742,711.402488639,672,659.402488639,633,876,784,800,649.402488639,629,651,0.400920152243,-0.0154522756158,0.0499186791892,0.99999997219,-1.54869416381e-05,-0.000231766399599,-4.07938347697e-05,1793193442197978368
+31,0.516666667,BASELINE,764,742,711.989673382,672,659.989673382,633,876,784,800,649.989673382,629,651,0.400919911654,-0.0154517790492,0.0499187772566,0.999999972208,-1.61182547835e-05,-0.000231622451918,-4.09176098914e-05,1793193442214644992
+32,0.533333333,BASELINE,764,742,711.428566697,672,660,633,876.571433303,784,799.428566697,650,628.428566697,651,0.400919311213,-0.0154508136442,0.0499191086211,0.999999972241,-1.49285964954e-05,-0.000231544102466,-4.10150747863e-05,1793193442231311872
+33,0.550000000,BASELINE,764,742,711,671.848967798,660,633,876.848967798,784,799.151032202,650,628.151032202,651,0.400918887653,-0.0154505072225,0.0499191235863,0.999999972203,-1.43449477584e-05,-0.000231747265659,-4.10011143106e-05,1793193442247978752
+34,0.566666667,BASELINE,764,742,711,671.275146565,660,633,876.275146565,784,799.724853435,650,628.724853435,651,0.400918977276,-0.0154520690072,0.0499182411544,0.999999971969,-1.55489730258e-05,-0.000232735188493,-4.06765558549e-05,1793193442264645120
+35,0.583333333,BASELINE,764,742,711,671,659.702208669,633,876,784,800,650,629,651,0.400918802637,-0.0154523679156,0.0499174384503,0.999999971765,-1.55256135256e-05,-0.000233592944832,-4.07771910425e-05,1793193442281312000
+36,0.600000000,BASELINE,764,742,711,671,659.130084462,633,876,784,800,650,629,651,0.400918384554,-0.0154515034307,0.0499167091935,0.99999997159,-1.43715563912e-05,-0.00023433078863,-4.126952529e-05,1793193442297978368
+37,0.616666667,BASELINE,764,742,711.457493286,671.457493286,659.457493286,633,876,784,800,650,629,651,0.400918767701,-0.01545190514,0.0499174515499,0.99999997173,-1.47135847193e-05,-0.000233728156744,-4.11567275604e-05,1793193442314644736
+38,0.633333333,BASELINE,764,742,712,671.951368703,659.951368703,633,876,784,799.951368703,649.951368703,629,651,0.400919287725,-0.0154526749252,0.0499184524036,0.999999971927,-1.54893894629e-05,-0.000232886148659,-4.0863938437e-05,1793193442331311616
+39,0.650000000,BASELINE,764,742,712,671.371026468,659.371026468,633,876,784,799.371026468,649.371026468,629,651,0.40091872631,-0.0154533950461,0.0499175445691,0.99999997173,-1.61941813965e-05,-0.000233739950035,-4.05502466454e-05,1793193442347977984
+40,0.666666667,BASELINE,764,742,712,671,659.206979288,633,876,784,799.206979288,649,629,651,0.400918323341,-0.0154536985106,0.0499170661595,0.999999971624,-1.67791871624e-05,-0.000234168423472,-4.04393203643e-05,1793193442364644864
+41,0.683333333,BASELINE,764,742,712,671,659.780843441,633,876,784,799.780843441,649,629,651,0.400918201231,-0.0154532634233,0.0499173489345,0.999999971684,-1.71518637569e-05,-0.000233842974156,-4.068780976e-05,1793193442381311744
+42,0.700000000,BASELINE,764,742,712,671.354714846,660,633,876,784,800,649.354714846,629,651,0.400918399004,-0.0154532596723,0.0499177614154,0.999999971819,-1.71588489229e-05,-0.000233256859205,-4.0724847744e-05,1793193442397978624
+43,0.716666667,BASELINE,764,742,712,671.928590711,660,633,876,784,800,649.928590711,629,651,0.400918794416,-0.0154535224232,0.0499182540354,0.999999972001,-1.69398911604e-05,-0.000232509691671,-4.06312401947e-05,1793193442414645248
+44,0.733333333,BASELINE,764,742,712,672,659.480222638,633,875.480222638,784,800,650,629,651,0.400919762785,-0.0154529289153,0.0499184156767,0.999999972188,-1.52756157139e-05,-0.000231802671221,-4.07207692117e-05,1793193442431311872
+45,0.750000000,BASELINE,764,742,711.890159856,672,659.109840144,633,875.109840144,784,800,650,629,651,0.400920481233,-0.0154521625356,0.0499184503062,0.999999972307,-1.37973019082e-05,-0.000231364502701,-4.08188030692e-05,1793193442447978240
+46,0.766666667,BASELINE,764,742,711.315271562,672,659.684728438,633,875.684728438,784,800,650,629,651,0.400919796803,-0.0154511794571,0.0499181463367,0.999999972147,-1.39759811555e-05,-0.000232040459949,-4.08426508507e-05,1793193442464644864
+47,0.783333333,BASELINE,763.738106254,742,711.261893746,671.738106254,660,633,876,784,799.738106254,650,629,650.738106254,0.400919718854,-0.0154512388533,0.0499182576137,0.999999972147,-1.48133334388e-05,-0.00023200176444,-4.07753599292e-05,1793193442481311488
+48,0.800000000,BASELINE,763.158175724,742,711.841824276,671.158175724,660,633,876,784,799.158175724,650,629,650.158175724,0.400920377402,-0.015452564203,0.049918873155,0.999999972338,-1.6450560725e-05,-0.000231095213763,-4.0597392599e-05,1793193442497978112
+49,0.816666667,BASELINE,763.426804914,742,712,671.426804914,660,633,876,784,799,650,629,650.426804914,0.400920043017,-0.015452911082,0.0499185858198,0.999999972215,-1.74383440284e-05,-0.000231522406171,-4.07857977545e-05,1793193442514644992
+50,0.833333333,BASELINE,764,742,712,672,660,633,876,784,799.013568124,650,629,651,0.400919337627,-0.0154528749085,0.0499179612764,0.999999971977,-1.81297538519e-05,-0.00023244063437,-4.10972076504e-05,1793193442531311872
+51,0.850000000,BASELINE,764,742,712,672,660,633,876,784,799.595663698,650,629,651,0.400918690315,-0.0154521647437,0.0499173957415,0.999999971891,-1.66085557788e-05,-0.000232974469146,-4.08052216279e-05,1793193442547978752
+52,0.866666667,BASELINE,764,742,711.824913869,672,659.824913869,633,876,784,799.824913869,650,629,651,0.400918480991,-0.015451554361,0.0499172845861,0.99999997194,-1.51544709598e-05,-0.000232893096985,-4.06256551522e-05,1793193442564645376
+53,0.883333333,BASELINE,764,742,711.251571872,672,659.251571872,633,876,784,799.251571872,650,629,651,0.400919267928,-0.0154511709458,0.0499182069753,0.9999999723,-1.38530439379e-05,-0.00023141235769,-4.07018013749e-05,1793193442581311744
+54,0.900000000,BASELINE,764,742,711.325871948,671.674128052,659,633,876,784,799.325871948,650,629,650.674128052,0.400919883323,-0.0154521315059,0.0499185600436,0.999999972396,-1.46579307333e-05,-0.000230982546517,-4.04966540645e-05,1793193442597978112
+55,0.916666667,BASELINE,764,742,711.906522698,671.093477302,659,633,876,784,799.906522698,650,629,650.093477302,0.4009203646,-0.0154541428357,0.0499184679955,0.999999972284,-1.7109612026e-05,-0.000231374390081,-4.007158101e-05,1793193442614644736
+56,0.933333333,BASELINE,764,742,712,671,659.492988402,633,876,784,799.507011598,650,629,650.492988402,0.400920344802,-0.0154549974957,0.0499184228342,0.999999972213,-1.84184583518e-05,-0.000231614492041,-3.98626280394e-05,1793193442631311360
+57,0.950000000,BASELINE,764.079136025,742,711.920863975,671.079136025,659.920863975,633,876,784,799.158272051,649.920863975,629,651,0.400920224106,-0.0154554597822,0.0499184623635,0.999999972169,-1.92284781994e-05,-0.0002317635292,-3.97210688159e-05,1793193442647978240
+58,0.966666667,BASELINE,764.656260524,742,711.343739476,671.656260524,659.343739476,633,876,784,800.312521047,649.343739476,629,651,0.400920073499,-0.0154548495504,0.0499189782228,0.999999972242,-1.82793853243e-05,-0.000231522731932,-3.97426528714e-05,1793193442664645120
+59,0.983333333,BASELINE,764.767871964,742,711,672.232128036,659.232128036,633,876,784,800.767871964,649.232128036,629,651,0.400920875179,-0.015454079214,0.0499192299028,0.99999997246,-1.7070276566e-05,-0.000230649278327,-3.98802486021e-05,1793193442681312000
+60,1.000000000,BASELINE,764.193855709,742,711,672.806144291,659.806144291,633,876,784,800.193855709,649.806144291,629,651,0.40092307943,-0.0154530730684,0.0499190924882,0.999999972888,-1.5478205019e-05,-0.000228844021048,-4.01887113527e-05,1793193442697978880
+61,1.016666667,BASELINE,764,742,711.390977554,672.609022446,659.609022446,633,876,784,800,650,629,651,0.400921561871,-0.0154537827882,0.0499182149551,0.999999972509,-1.78800457402e-05,-0.000230279081209,-4.04268010976e-05,1793193442714645504
+62,1.033333333,BASELINE,764,742,711.981326712,672.018673288,659.018673288,633,876,784,800,650,629,651,0.400918146446,-0.0154553674811,0.0499169600126,0.999999971696,-2.2318506528e-05,-0.000233366480022,-4.06290054407e-05,1793193442731312128
+63,1.050000000,BASELINE,764,742.56059069,711.43940931,672,659,633,876.56059069,784,800,650,629,650.43940931,0.400919884185,-0.0154551472631,0.0499179998563,0.999999972287,-1.94288999519e-05,-0.000231115170649,-4.04367673633e-05,1793193442747978496
+64,1.066666667,BASELINE,764,743,711.138445991,671.861554009,659,633,876.861554009,784,800,650,629,650.138445991,0.400921169085,-0.0154549186207,0.0499187481201,0.999999972682,-1.68123531222e-05,-0.000229643337484,-4.02133444894e-05,1793193442764645120
+65,1.083333333,BASELINE,764,743,711.713004452,671.286995548,659,633,876.286995548,784,800,650,629,650.713004452,0.400920497288,-0.0154548491548,0.0499183417716,0.999999972357,-1.58099720645e-05,-0.000231176217047,-3.99322734725e-05,1793193442781311744
+66,1.100000000,BASELINE,763.705960875,742.705960875,711.705960875,671,659.294039125,633,876,784,800,650,629,651,0.400919715769,-0.0154540897927,0.0499178440017,0.99999997205,-1.5781640751e-05,-0.000232463459279,-4.01452063775e-05,1793193442797978368
+67,1.116666667,BASELINE,763.118462803,742.118462803,711.118462803,671,659.881537197,633,876,784,800,650,629,651,0.400918824742,-0.0154526418956,0.0499172549909,0.999999971763,-1.67254373141e-05,-0.000233505548759,-4.08511684864e-05,1793193442814645248
+68,1.133333333,BASELINE,763.461982838,742,711.461982838,671,660,633,876,784.461982838,800,650,629,650.538017162,0.400920621699,-0.015452989853,0.0499186867941,0.9999999723,-1.77588479696e-05,-0.000231137452886,-4.07388864586e-05,1793193442831311872
+69,1.150000000,BASELINE,764,742.040697513,712,671.040697513,660,633,876,784.959302487,800,650,629,650.040697513,0.400922928888,-0.0154536058823,0.0499204964889,0.999999972996,-1.8598967255e-05,-0.00022808792834,-4.0459551649e-05,1793193442847978496
+70,1.166666667,BASELINE,764,742.620076648,712,671.620076648,660,633,876,784.379923352,800,650,629,650.620076648,0.400923003585,-0.0154517665693,0.0499205523937,0.999999973174,-1.65810536116e-05,-0.000227419226333,-4.07044861728e-05,1793193442864645120
+71,1.183333333,BASELINE,763.802413099,742.802413099,711.802413099,671.802413099,660,633,876.197586901,784,800,649.802413099,629,651,0.400922851961,-0.0154510053827,0.0499202953217,0.99999997318,-1.56056462607e-05,-0.000227438795557,-4.08364500448e-05,1793193442881311744
+72,1.200000000,BASELINE,763.228462591,742.228462591,711.228462591,671.228462591,660,633,876.771537409,784,800,649.228462591,629,651,0.400922269238,-0.0154522978113,0.0499194420916,0.999999972864,-1.66160049585e-05,-0.000228769383977,-4.07532274171e-05,1793193442897978368
+73,1.216666667,BASELINE,763.3540571,742,711.3540571,671,660,633,876.6459429,784,800,649,629,651,0.400920663287,-0.0154529161902,0.0499181600558,0.999999972426,-1.71526253249e-05,-0.000230644844051,-4.07056935234e-05,1793193442914644992
+74,1.233333333,BASELINE,763.942243344,742,711.942243344,671,660,633,876.057756656,784,800,649,629,651,0.400918380702,-0.0154530888368,0.0499165944615,0.999999971905,-1.73759742691e-05,-0.000232880614102,-4.06817597059e-05,1793193442931311616
+75,1.250000000,BASELINE,764,742,712,671,660,633,876.522128327,784,799.477871673,649.522128327,629,651,0.400919876956,-0.0154538148683,0.049917407542,0.999999972302,-1.83623141988e-05,-0.000231117184358,-4.05476745117e-05,1793193442947978496
+76,1.266666667,BASELINE,764,742,712,671,659.899346427,633,876.899346427,784,799.100653573,650,629,651,0.400921235264,-0.0154541093847,0.0499182555902,0.99999997267,-1.87765204804e-05,-0.000229501357359,-4.04625016959e-05,1793193442964645120
+77,1.283333333,BASELINE,764,742,712,671,659.322975627,633,876.322975627,784,799.677024373,650,629,651,0.400919996908,-0.0154520796501,0.049918044771,0.999999972446,-1.60940044183e-05,-0.000230641245598,-4.06651896617e-05,1793193442981312000
+78,1.300000000,BASELINE,763.746581358,742,711.746581358,671.253418642,659,633,876,784,800,650,629,651,0.400919906255,-0.0154520054453,0.0499183182446,0.999999972459,-1.56845564331e-05,-0.00023062846661,-4.05742531183e-05,1793193442997979136
+79,1.316666667,BASELINE,763.17015722,742,711.17015722,671.82984278,659,633,876,784,800,650,629,651,0.400921278456,-0.0154544237445,0.0499192089943,0.999999972776,-1.81723441398e-05,-0.000229146506551,-4.01090649668e-05,1793193443014645760
+80,1.333333333,BASELINE,763.41429909,742.41429909,711.41429909,672,659,633,876,784,800.41429909,650,629,651,0.400921943185,-0.0154538521067,0.0499195997928,0.999999972992,-1.75753767124e-05,-0.000228237039851,-4.0178911081e-05,1793193443031311872
+81,1.350000000,BASELINE,764,742.997909646,712,672.002090354,659,633,876,783.997909646,800.997909646,649.997909646,629,651,0.40092230612,-0.0154520330844,0.049919775341,0.999999973162,-1.56923218922e-05,-0.000227577645553,-4.04723348996e-05,1793193443047978240
+82,1.366666667,BASELINE,764,742.418192916,712,672.581807084,659,633,876,783.418192916,800.418192916,649.418192916,629,651,0.400921154174,-0.0154515664547,0.0499183328942,0.99999997266,-1.5440759105e-05,-0.000229762906593,-4.06244684966e-05,1793193443064644864
+83,1.383333333,BASELINE,764,742,712,672.840125532,659.159874468,633,876,783.159874468,800.159874468,649.159874468,629,651,0.400920227921,-0.0154515891692,0.049917509182,0.999999972336,-1.51966329704e-05,-0.000231195916034,-4.05733671931e-05,1793193443081311744
+84,1.400000000,BASELINE,764,742,712,672.266328262,659.733671738,633,876,783.733671738,800.733671738,649.733671738,629,651,0.400919886,-0.0154528788197,0.0499182874032,0.999999972481,-1.49717606387e-05,-0.000230681309828,-3.99960808429e-05,1793193443097978368
+85,1.416666667,BASELINE,763.691734471,742,712,672,660,633,876,784,800.691734471,649.691734471,629,651,0.40091970933,-0.0154535433357,0.0499182756408,0.999999972423,-1.58342087325e-05,-0.000230857376478,-4.01118442718e-05,1793193443114644992
+86,1.433333333,BASELINE,763.116450772,742,712,672,660,633,876,784,800.116450772,649.116450772,629,651,0.4009196758,-0.0154536663629,0.0499175795984,0.999999972184,-1.76384887421e-05,-0.000231631700777,-4.08279242348e-05,1793193443131311872
+87,1.450000000,BASELINE,763.472656165,742,712,672,659.527343835,633,876,784,800,649,629,650.527343835,0.400920173646,-0.0154532761504,0.0499182257197,0.999999972426,-1.6878371186e-05,-0.000230685170331,-4.05928845284e-05,1793193443147978240
+88,1.466666667,BASELINE,764,742,712,672,659,633,876,784,799.936408055,649.063591945,629,650.063591945,0.400920543633,-0.0154528954859,0.0499189488315,0.999999972699,-1.57271287921e-05,-0.000229652795297,-4.01819788145e-05,1793193443164645120
+89,1.483333333,BASELINE,764,742,712,672,659,633,876,784,799.35904104,649.64095896,629,650.64095896,0.40091879103,-0.0154536443582,0.0499175418679,0.999999972263,-1.6674176287e-05,-0.000231455464549,-4.03004741772e-05,1793193443181311744
+90,1.500000000,BASELINE,764,742,712,672,659,633,876,784,799,650,629,651,0.400918518257,-0.0154538610002,0.0499171334705,0.999999972164,-1.72935645086e-05,-0.000231822003393,-4.03930794597e-05,1793193443197978368
+91,1.516666667,BASELINE,764,742,712,672,659,633,876,784,799,650,629,651,0.400920679089,-0.0154532023796,0.0499183672335,0.999999972621,-1.73741110868e-05,-0.000229826799853,-4.04431080295e-05,1793193443214644992
+92,1.533333333,BASELINE,764,742,712,671.623654672,659,633,876,784,799.376345328,649.623654672,629,651,0.400921573031,-0.0154533315691,0.0499187816878,0.999999972779,-1.74844805266e-05,-0.000229162730847,-4.02697699465e-05,1793193443231311616
+93,1.550000000,BASELINE,764,742,712,671.035324652,659,633,876,784,799.964675348,649.035324652,629,651,0.40092175337,-0.0154539045097,0.0499187346488,0.999999972769,-1.76116483494e-05,-0.000229248452131,-3.99706157428e-05,1793193443247978240
+94,1.566666667,BASELINE,764,742,712,671,659,633,876,784,799.455224994,649.544775006,629,651,0.400921455763,-0.0154542254747,0.0499187178931,0.999999972771,-1.54099350762e-05,-0.000229418409827,-3.98388744014e-05,1793193443264645376
+95,1.583333333,BASELINE,764,742,712,671,659.123604491,633,876,784,799,649.876395509,629,651,0.400921269088,-0.0154543984657,0.0499188008012,0.999999972792,-1.3767710941e-05,-0.000229436196691,-3.98104495325e-05,1793193443281312000
+96,1.600000000,BASELINE,764,742,712,671,659.699708855,633,876,784,799,649.300291145,629,651,0.400921600285,-0.0154540886666,0.0499192414833,0.999999972894,-1.47183057477e-05,-0.000228877207612,-4.01211036415e-05,1793193443297978880
+97,1.616666667,BASELINE,763.718335767,742,711.718335767,671.281664233,659.718335767,633,876,784,799.281664233,649.281664233,629,650.718335767,0.400921336172,-0.015453293048,0.0499189627382,0.999999972738,-1.52105436626e-05,-0.000229479234035,-4.03889909241e-05,1793193443314645248
+98,1.633333333,BASELINE,763.130010143,742,711.130010143,671.869989857,659.130010143,633,876,784,799.869989857,649.869989857,629,650.130010143,0.400920423915,-0.0154519684945,0.0499179007179,0.999999972299,-1.52037463401e-05,-0.000231345313875,-4.06103158887e-05,1793193443331311616
+99,1.650000000,BASELINE,763,742,711,671.549535552,659.450464448,633,876,784,800,649.549535552,629,650,0.40092131408,-0.0154534790183,0.0499184482978,0.999999972607,-1.61022668468e-05,-0.000230045708384,-4.00643919799e-05,1793193443347978240
+100,1.666666667,BASELINE,763.028574405,742,711.028574405,671,659.971425595,633,876,784,800,649,629,650.028574405,0.400922651292,-0.0154556066991,0.0499194038684,0.999999973098,-1.7148200853e-05,-0.000227946639289,-3.93671187818e-05,1793193443364644864
+101,1.683333333,BASELINE,763.604052153,742,711.604052153,671,659.395947847,633,876,784,800,649,629,650.604052153,0.400922758876,-0.0154541539673,0.0499194291779,0.999999973142,-1.61003064117e-05,-0.00022773368204,-3.99387229315e-05,1793193443381311488
+102,1.700000000,BASELINE,763.820300047,742,712,671.179699953,659.179699953,633,876,784,800.179699953,649,629,651,0.400922528402,-0.0154533437271,0.0499193213203,0.999999973077,-1.56842070061e-05,-0.000227981172703,-4.03039433254e-05,1793193443397978368
+103,1.716666667,BASELINE,763.244277277,742,712,671.755722723,659.755722723,633,876,784,800.755722723,649,629,651,0.400921552354,-0.015453950483,0.0499189197664,0.999999972776,-1.66615125942e-05,-0.000229244167352,-4.02139905083e-05,1793193443414645248
+104,1.733333333,BASELINE,763.340300231,742,711.659699769,672,659.659699769,633,876,783.659699769,800.659699769,649.340300231,629,651,0.400921108332,-0.0154538816377,0.0499190169061,0.999999972735,-1.67998903154e-05,-0.000229448749497,-4.00073203605e-05,1793193443431311872
+105,1.750000000,BASELINE,763.931176992,742,711.068823008,672,659.068823008,633,876,783.068823008,800.068823008,649.931176992,629,651,0.400921056062,-0.0154533153205,0.0499194812536,0.999999972887,-1.63205323428e-05,-0.000228873980751,-3.97147066127e-05,1793193443447978496
+106,1.766666667,BASELINE,764,742,711.509906461,671.490093539,659.509906461,633,876.509906461,783.509906461,800,649.490093539,629,651,0.400921533541,-0.0154527743026,0.0499186210353,0.999999972926,-1.57744643429e-05,-0.000228654201994,-4.02137326458e-05,1793193443464645120
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,742,712,671,660,633,876,784,800,650,629,651,0.400920221961,-0.0154555789969,0.0499183603822,0.999999972605,-1.68128865228e-05,-0.000230050226193,-3.98120544935e-05,1793193443507738368
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,742.573156732,712,671,660,633,876,784,800,649.426843268,629,651,0.400921980887,-0.0154546997311,0.0499194244647,0.999999973001,-1.72175611971e-05,-0.000228261739037,-3.99770257576e-05,1793193443524404992
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,742.848180648,712,671.151819352,660,633,876,784,799.848180648,649.151819352,629,651,0.400923006097,-0.0154540098717,0.0499199622911,0.999999973226,-1.71136791442e-05,-0.000227255710135,-4.01272670412e-05,1793193443541071616
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,742.253455448,712,671.746544552,660,633,876,784,799.253455448,649.746544552,629,651,0.40092189082,-0.0154538725717,0.0499189648593,0.999999972957,-1.55261737592e-05,-0.000228532363031,-4.02345362764e-05,1793193443557738496
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,742,711.6677103,672,659.6677103,633,876,784,799,650,629,651,0.400921685424,-0.0154535616661,0.0499185567338,0.999999972856,-1.46627979576e-05,-0.000229024802763,-4.02523649148e-05,1793193443574405376
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,742,711.088634523,672,659.088634523,633,876,784,799,650,629,651,0.400922155782,-0.0154531218266,0.0499185862765,0.999999972883,-1.43372213446e-05,-0.000228934820239,-4.02037674916e-05,1793193443591072000
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,742,711.487675879,671.512324121,659.487675879,633,876,784,799.487675879,650,629,651,0.400926663739,-0.0154544104416,0.0499198921969,0.999999973443,-1.69471073275e-05,-0.000226338268767,-3.99753930421e-05,1793193443607738368
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,742.06461433,712,671,659.93538567,633,876,783.93538567,799.93538567,650,629,651,0.400933052985,-0.0154558129983,0.0499215817011,0.99999997428,-1.93313080158e-05,-0.000222466800781,-3.96856894664e-05,1793193443624404736
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,742.650654068,712,671,659.349345932,633,876,783.349345932,799.349345932,650,629,651,0.400948735416,-0.0154556142502,0.0499245051741,0.999999976647,-1.56131667997e-05,-0.000211962599938,-3.91632598382e-05,1793193443641071360
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,742.766369307,711.766369307,671,659.233630693,633,876,783.233630693,799,650,629,650.766369307,0.400971696158,-0.0154562181082,0.0499288908896,0.999999979697,-1.46098461646e-05,-0.000197197441081,-3.88132917258e-05,1793193443657738240
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,742.187913705,711.187913705,671,659.812086295,633,876,783.812086295,799,650,629,650.187913705,0.401005399249,-0.0154580065645,0.049935434787,0.999999983582,-1.76134384225e-05,-0.000176143364313,-3.87178665203e-05,1793193443674405376
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,742,711.390672831,671.390672831,659.609327169,633,876,784,799,650,629,650,0.401046181821,-0.0154601853035,0.0499387908251,0.999999986888,-1.81617816577e-05,-0.000156141819822,-3.89129415796e-05,1793193443691072000
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,742,711.969322418,671.969322418,659.030677582,633,876,784,799,650,629,650,0.40109037077,-0.0154625518316,0.0499406129884,0.99999998974,-1.75287536572e-05,-0.000136646711528,-3.92477941902e-05,1793193443707738624
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,742.544602461,712,671.455397539,659,633,876,783.455397539,799,650,629,650.544602461,0.401151453506,-0.0154662170145,0.0499449906818,0.999999991702,-1.83014535237e-05,-0.00012154760499,-3.85760706943e-05,1793193443724405504
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,742.877585494,711.877585494,671,659.122414506,633,876,783.122414506,799.122414506,650,629,650.877585494,0.401215916748,-0.0154701549209,0.0499486195617,0.999999993013,-1.94774328714e-05,-0.000110281829279,-3.78516831258e-05,1793193443741072128
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,742.28942209,711.28942209,671,659.71057791,633,876,783.71057791,799.71057791,650,629,650.28942209,0.401289643383,-0.0154748538411,0.0499488551116,0.999999992724,-2.18883432592e-05,-0.000112664321064,-3.71413268006e-05,1793193443757738240
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,742,711.294632792,671,660,633,876,784,799.705367208,650,629,650.294632792,0.401378003915,-0.0154802079061,0.0499500377903,0.999999992829,-2.50940367947e-05,-0.000111306743216,-3.63786973349e-05,1793193443774404864
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,742,711.874707281,671,660,633,876,784,799.125292719,650,629,650.874707281,0.401480541832,-0.0154861966784,0.0499521380521,0.999999993292,-2.90697200044e-05,-0.000106325767377,-3.55654254355e-05,1793193443791071744
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,742,712,671,660,633,876,784,799.449215212,650,629,651,0.401600949657,-0.0154942892864,0.0499531160421,0.999999993145,-3.29568431514e-05,-0.000106974137128,-3.43645816852e-05,1793193443807738368
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,742.022231673,712,671.022231673,660,633,876.022231673,784,799.977768327,649.977768327,629,651,0.401727182382,-0.0155029567889,0.0499535106914,0.999999992782,-3.67508434519e-05,-0.000109502942157,-3.30912015949e-05,1793193443824404992
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,742.596293861,712,671.596293861,660,633,876.596293861,784,799.403706139,649.403706139,629,651,0.401875797623,-0.0155115072898,0.049947100342,0.999999991487,-3.88389785739e-05,-0.000120211687198,-3.26677199571e-05,1793193443841071872
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,742.822738225,712,671.822738225,660,633,876.822738225,784,799.177261775,649.177261775,629,651,0.402039055369,-0.0155210422509,0.0499430931698,0.999999990648,-4.24673476643e-05,-0.00012604933177,-3.18240290454e-05,1793193443857738496
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,742.225405357,712,671.225405357,660,633,876.225405357,784,799.774594643,649.774594643,629,651,0.402237012585,-0.0155329101628,0.0499447809954,0.999999991072,-4.97457293851e-05,-0.000120343547018,-2.99845354126e-05,1793193443874405376
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,742,712,671,659.642282194,633,876,784,800,650,629,650.642282194,0.402458500372,-0.0155448433605,0.0499482452294,0.999999991837,-5.43326695612e-05,-0.000112286166377,-2.76664645375e-05,1793193443891071744
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,742,712,671,659.067770717,633,876,784,800,650,629,650.067770717,0.402694248801,-0.0155568161255,0.0499527860499,0.999999992761,-5.72884713562e-05,-0.000102803608415,-2.50583533584e-05,1793193443907738112
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,742,712,671,659.508811283,633,876,784.508811283,800,650,629,650,0.402970189894,-0.0155657525217,0.0499595428615,0.99999999463,-5.49398890193e-05,-8.5123257047e-05,-2.18019137865e-05,1793193443924404736
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,742,712,671.087629646,659.912370354,633,876,784.912370354,800,650,629,650.087629646,0.40325835425,-0.0155719667117,0.0499663183449,0.999999996375,-4.88324506472e-05,-6.72437763169e-05,-1.85553356132e-05,1793193443941071616
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,742,712,671.677682745,659.322317255,633,876,784.322317255,800,650,629,650.677682745,0.403585781408,-0.0155649014207,0.0499715016902,0.99999999807,-2.52409940882e-05,-5.45085489382e-05,-1.58624265062e-05,1793193443957737984
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,742,712,672,659.262148798,633,876,784,800,650,629,650.737851202,0.40392777781,-0.0155571572027,0.0499766688399,0.999999998955,-6.70710955171e-07,-4.35494586949e-05,-1.39163435875e-05,1793193443974404864
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,742,712,672,659.839888776,633,876,784,800,650,629,650.160111224,0.404287313564,-0.0155485956503,0.0499818164918,0.999999999,2.50779436336e-05,-3.47285946176e-05,-1.28693370853e-05,1793193443991071744
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,742,712,672,660,633,876,784,800,650,629,650.415963122,0.40467706434,-0.015542016336,0.0499819464836,0.999999998269,4.78017359463e-05,-3.20946071728e-05,-1.21623996738e-05,1793193444007738624
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,742,712,672,660,633,876,784,800,650,629,650.991398881,0.405078398993,-0.0155361969755,0.0499801527964,0.99999999702,6.93658508905e-05,-3.18325550452e-05,-1.15858385411e-05,1793193444024405248
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,742.580057614,711.419942386,671.419942386,660,633,876,784,799.419942386,650,629,650.419942386,0.4054742496,-0.015532132335,0.0499614090378,0.999999994709,7.52191489806e-05,-6.94925059164e-05,-9.75918064371e-06,1793193444041071616
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,743,711.166068586,671.166068586,660,633,876,783.833931414,799.332137172,649.833931414,629,650,0.40589244737,-0.0155300640382,0.0499427232166,0.999999991779,7.4065149022e-05,-0.000104381867322,-7.75979460797e-06,1793193444057738240
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,743,711.744998084,671.744998084,660,633,876,783.255001916,800.489996168,649.255001916,629,650,0.406366408942,-0.0155328926312,0.0499248208564,0.999999989839,5.60830684665e-05,-0.000130952737248,-5.37815007609e-06,1793193444074404864
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,742.677039055,712,672,660,633,876,783.322960945,801,649.322960945,628.677039055,650.322960945,0.406867902762,-0.015536837357,0.0499167331856,0.999999988018,6.16649855042e-05,-0.000141977266304,-1.83322123254e-06,1793193444091071488
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,742.099837087,712,672,660,633,876,783.900162913,801,649.900162913,628.099837087,650.900162913,0.407391070546,-0.0155416607243,0.0499163718241,0.999999986409,8.57969295018e-05,-0.000140763421816,2.6274674892e-06,1793193444107738112
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,742,711.52401136,671.52401136,660,633,876,784,800.52401136,649.52401136,628.47598864,651,0.407984398295,-0.0155436923851,0.0499405790858,0.999999989454,0.0001104857332,-9.38284899721e-05,9.05739548046e-06,1793193444124405504
+145,2.416666667,POSE1_TO_POSE2_PRESS,763.947482984,742,711.052517016,671.052517016,660,633,876,784,800,649.052517016,629,651,0.40859272216,-0.0155452373225,0.0499689021577,0.99999999031,0.000132428247477,-4.01289331206e-05,1.52368882236e-05,1793193444141073152
+146,2.433333333,POSE1_TO_POSE2_PRESS,763.360881309,742,711.639118691,671.639118691,660,633,876,784,800,649.639118691,629,651,0.409204328357,-0.015547770149,0.0499868264518,0.999999991937,0.0001252573218,-1.48800024131e-05,1.46811055023e-05,1793193444157740032
+147,2.450000000,POSE1_TO_POSE2_PRESS,763.223341235,742.223341235,712,672,660,633,876.223341235,783.776658765,800,650,629,650.776658765,0.409821288313,-0.0155508284927,0.0499919705767,0.999999992214,0.000123178440262,-1.32250416171e-05,1.49551691939e-05,1793193444174406656
+148,2.466666667,POSE1_TO_POSE2_PRESS,763.803759992,742.803759992,712,672,660,633,876.803759992,783.196240008,800,650,629,650.196240008,0.410446807811,-0.0155547270323,0.0499766817914,0.999999990297,0.000129240709214,-4.92920745903e-05,1.65559897162e-05,1793193444191072768
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,742.618621867,712,672,660,633,877,783.381378133,800,650,629,650,0.411074635157,-0.015554504852,0.0499502508738,0.999999986108,0.000131965945109,-0.000100561479812,1.59955427159e-05,1793193444207738880
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,742.042434311,712,672,660,633,877,783.957565689,800,650,629,650,0.411703641342,-0.015552177792,0.0499181285124,0.999999978319,0.000132986611118,-0.000159596314164,1.4331111826e-05,1793193444224405248
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,742,712,672,660,633,877,783.467692621,800,650,629,650,0.412446453191,-0.0155566822451,0.0499339440129,0.999999984006,0.000133667730375,-0.000117581435881,1.72121328343e-05,1793193444241071872
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,742,712,672,660,633,877,783.110037588,800,649.889962412,628.889962412,650.110037588,0.413196176058,-0.0155615196612,0.049952372317,0.999999988031,0.000134407851083,-7.39034582715e-05,2.02466515474e-05,1793193444257738752
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,742,712,672,660,633,877,783.701341119,800,649.298658881,628.298658881,650.701341119,0.413936553401,-0.015565437935,0.0499655594964,0.999999988879,0.000135524089269,-5.8087960862e-05,2.2372002919e-05,1793193444274405632
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,742.286269368,712,672,660,633,877,784,800,649,628.286269368,651,0.414677909351,-0.0155663344208,0.0499558780944,0.999999987538,0.000135455755822,-7.82805822033e-05,2.11428803544e-05,1793193444291072256
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,742.864691383,712,672,660,633,877,784,800,649,628.864691383,651,0.415420264109,-0.0155641470167,0.0499228581278,0.99999998172,0.000134178505783,-0.000135221343056,1.64903444066e-05,1793193444307738880
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,742.558385123,712,672,660,633,876.558385123,784,800,649.441614877,629,651,0.416201712787,-0.0155660685242,0.0499192619969,0.999999982344,0.000128713790379,-0.000135995204435,1.57905344272e-05,1793193444324405248
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,742.017999898,712,672,660.017999898,633,876.017999898,784,800,650,629,651,0.416996320972,-0.0155692932103,0.0499254060614,0.999999985383,0.000122131142861,-0.000118525290609,1.64473664372e-05,1793193444341071616
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,742.591888034,712,672,660.591888034,633,876.591888034,784,800,650,629,651,0.417828664304,-0.0155740152852,0.0499548779831,0.999999990237,0.000120512827906,-6.73092458955e-05,2.17255704512e-05,1793193444357737984
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,742.828809711,712,671.828809711,660.828809711,633,877,784,800,649.828809711,629,650.828809711,0.41864107958,-0.015576075169,0.0499714207532,0.999999991256,0.000122674437388,-4.24256824254e-05,2.5279146054e-05,1793193444374404608
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,742.236178876,712,671.236178876,660.236178876,633,877,784,800,649.236178876,629,650.236178876,0.419404435417,-0.0155715812038,0.049956134212,0.999999987309,0.000134141560242,-8.2368084811e-05,2.45869879769e-05,1793193444391071488
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,742.346568743,712,671.346568743,660,633,877,784,800,649.346568743,629,650.346568743,0.420230138448,-0.015571990056,0.0499497709678,0.999999986497,0.000138189454116,-8.56845416243e-05,2.3825317203e-05,1793193444407738368
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,742.922767892,712,671.922767892,660,633,877,784,800,649.922767892,629,650.922767892,0.421097151612,-0.0155756474296,0.0499493201453,0.999999988211,0.00013732149582,-6.4733283897e-05,2.30175885668e-05,1793193444424405248
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,743,712,672,660,633,877,784,800,650,629,651,0.421956608771,-0.0155818900802,0.0499692728082,0.99999999019,0.000135170190566,-2.5705824749e-05,2.6243673429e-05,1793193444441072128
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,742.924474025,712,672,660,633,877,784,799.924474025,649.924474025,629,650.924474025,0.422805063156,-0.0155873538063,0.0499867419422,0.999999990641,0.000133506281501,5.49182330878e-06,2.94017659088e-05,1793193444457738752
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,742.334533708,712,672,660,633,877,784,799.334533708,649.334533708,629,650.334533708,0.423586542135,-0.0155847866808,0.0499657851897,0.999999989657,0.000136515040811,-3.56969079599e-05,2.78441149496e-05,1793193444474405120
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,742.501332554,712,672,660,633,877,784,799.250666277,649.250666277,628.749333723,650,0.424398653789,-0.0155837484692,0.0499586312907,0.999999988716,0.000138691204331,-5.06648044765e-05,2.76848905392e-05,1793193444491071744
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,743.659314834,712,672,660,633,877,784,799.829657417,649.829657417,628.170342583,650,0.425250888498,-0.0155847128421,0.0499695564862,0.999999989311,0.000139776827286,-3.12884300226e-05,2.9357337174e-05,1793193444507738368
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.406524499,743.593475501,712,672,660.406524499,633,877,784,800,649.593475501,628.406524499,650.406524499,0.426096914081,-0.0155818979011,0.0499836978625,0.99999998883,0.000145204052419,-1.67261801015e-05,3.12521102297e-05,1793193444524404992
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.982506146,743.017493854,712,672,660.982506146,633,877,784,800,649.017493854,628.982506146,650.982506146,0.42694035138,-0.015577507577,0.0499991798827,0.99999998782,0.000152441046688,-4.1706684898e-06,3.32395585348e-05,1793193444541071616
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,742.443599512,712,672,660.443599512,633,877,784,799.443599512,649.556400488,629,651,0.427680931082,-0.0155723531138,0.0499670244489,0.99999998515,0.000155611971045,-6.72951813511e-05,3.09228335467e-05,1793193444557738240
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.865996069,742,712,672,660.134003931,633,877,784,799.134003931,650,629,651,0.428431050689,-0.0155687060608,0.0499412672703,0.99999998046,0.000158578118519,-0.00011442230407,2.89778177301e-05,1793193444574405120
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.275535666,742,712,672,660.724464334,633,877,784,799.724464334,650,629,651,0.429224640585,-0.0155702752184,0.0499423872068,0.999999981682,0.000161280576887,-9.89827895464e-05,2.8758196166e-05,1793193444591072000
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,742,712,672,661,632.69066713,877.30933287,784,799.69066713,649.69066713,629,650.69066713,0.430017246483,-0.0155735168028,0.0499511162592,0.999999983659,0.000160280150395,-7.82158578939e-05,2.9585825997e-05,1793193444607738624
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,742,712,672,661,632.110691092,877.889308908,784,799.110691092,649.110691092,629,650.110691092,0.430808991413,-0.0155782216356,0.04996650272,0.999999985942,0.000156039975886,-5.27878347551e-05,3.13297226172e-05,1793193444624405248
+175,2.916666667,POSE1_TO_POSE2_PRESS,764,742.464796988,712,672,660.535203012,632.464796988,877.535203012,784,799.464796988,649.464796988,629,650.464796988,0.431542561912,-0.0155734463879,0.0499487208043,0.999999983176,0.000160322976744,-8.39977256766e-05,2.98213236213e-05,1793193444641071872
+176,2.933333333,POSE1_TO_POSE2_PRESS,764,742.959881773,712,672,660.040118227,632.959881773,877,784,800,649.959881773,629,651,0.432261720489,-0.0155668325358,0.0499252989621,0.999999978087,0.000166360368685,-0.000124020151811,2.77457598555e-05,1793193444657738496
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,742.372394283,712,672,660.627605717,632.372394283,877,784,800,649.372394283,629,651,0.432971461124,-0.0155656418595,0.0499316694103,0.99999998013,0.00016890511246,-0.000102007078599,2.83984356284e-05,1793193444674405120
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,742.213024991,712,672.213024991,661,632.213024991,877.213024991,784,800,649,629,651,0.433677845764,-0.0155657742492,0.0499434887626,0.99999998209,0.000170007705529,-7.76318983988e-05,2.98284636139e-05,1793193444691072000
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,742.794863624,712,672.794863624,661,632.794863624,877.794863624,784,800,649,629,651,0.434378420228,-0.0155681972845,0.0499647418924,0.999999984045,0.000168613479982,-4.91671602291e-05,3.26043342831e-05,1793193444707739136
+180,3.000000000,POSE1_TO_POSE2_PRESS,764.372059776,742.627940224,712,673,660.627940224,633,877.627940224,784,800,649,629,650.627940224,0.435026415031,-0.0155672611756,0.0499689322002,0.999999983601,0.000170048453954,-5.25683666427e-05,3.3435751288e-05,1793193444724406016
+181,3.016666667,POSE1_TO_POSE2_PRESS,764.94672779,742.05327221,712,673,660.05327221,633,877.05327221,784,800,649,629,650.05327221,0.435645777101,-0.0155644958167,0.0499638308054,0.999999981792,0.000173024092081,-7.3322439368e-05,3.32082997421e-05,1793193444741072896
+182,3.033333333,POSE1_TO_POSE2_PRESS,764.480451335,742.519548665,712,672.480451335,660.519548665,633,877,784,800,649,629,650.519548665,0.436239783149,-0.0155619389125,0.0499432629449,0.999999977307,0.000178314209091,-0.000112139919172,3.18667178863e-05,1793193444757739264
+183,3.050000000,POSE1_TO_POSE2_PRESS,764.095902515,742.904097485,712,672.095902515,661,633,877,784,800,649,629,650.904097485,0.436833491263,-0.015560610371,0.049928654555,0.999999973537,0.000182207484299,-0.000136992469004,3.09793493103e-05,1793193444774405888
+184,3.066666667,POSE1_TO_POSE2_PRESS,764.69165406,742.30834594,712,672.69165406,661,633,877,784,800,649,629,650.30834594,0.437439149288,-0.0155655731133,0.0499533435633,0.99999998053,0.000177587822592,-7.94397962044e-05,3.30526698634e-05,1793193444791072256
+185,3.083333333,POSE1_TO_POSE2_PRESS,764.721922157,742.278077843,712,672.721922157,661,633,877.278077843,784,800,649,629,650,0.438014102431,-0.0155679828242,0.0499721099616,0.999999983218,0.000175282958004,-4.07123522896e-05,3.43848102913e-05,1793193444807738624
+186,3.100000000,POSE1_TO_POSE2_PRESS,764.145505794,742.854494206,712,672.145505794,661,633,877.854494206,784,800,649,629,650,0.438556113505,-0.0155676534904,0.0499845222285,0.999999983751,0.000175461546769,-2.21817422933e-05,3.49217683565e-05,1793193444824404992
+187,3.116666667,POSE1_TO_POSE2_PRESS,764.429112595,743,712,672.429112595,661,633,877.570887405,784,800,649,629,650,0.439027718029,-0.0155666747026,0.0499689963333,0.999999982987,0.000175128011224,-4.73818242004e-05,3.3347438929e-05,1793193444841071360
+188,3.133333333,POSE1_TO_POSE2_PRESS,764.996804748,742.996804748,712,673,661,633,877,784,800,649,629,650,0.439475259811,-0.0155654776347,0.0499439931074,0.999999980452,0.000174613723489,-8.74211950788e-05,3.10546688222e-05,1793193444857738240
+189,3.150000000,POSE1_TO_POSE2_PRESS,764.409684046,742.409684046,712,673,661,633,877,784,800,649,629,650,0.439870067388,-0.0155644672287,0.0499110522006,0.999999974802,0.00017266986527,-0.000140750088866,2.77529632021e-05,1793193444874405632
+190,3.166666667,POSE1_TO_POSE2_PRESS,764,742,712,673,661,633,877.176067472,784,800,649,629,650,0.440265887395,-0.015564081927,0.0498873960774,0.999999969107,0.000171004764143,-0.000178611699386,2.5337487705e-05,1793193444891072768
+191,3.183333333,POSE1_TO_POSE2_PRESS,764,742,712,673,661,633,877.758657793,784,800,649,629,650,0.440664045082,-0.015565139931,0.0498851776194,0.999999968904,0.000169983286898,-0.000180760852739,2.49682317746e-05,1793193444907739648
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,742,712,673,660.662911126,632.662911126,877.662911126,783.662911126,800,649,629,650,0.441033206417,-0.0155668961288,0.0498869579067,0.999999969533,0.000167773775745,-0.000179266443375,2.54908890818e-05,1793193444924406272
+193,3.216666667,POSE1_TO_POSE2_PRESS,764,742,712,673,660.087421634,632.087421634,877.087421634,783.087421634,800,649,629,650,0.441381860531,-0.0155691461128,0.0498915662416,0.999999970731,0.000164724047015,-0.000175195183477,2.6644337525e-05,1793193444941072896
+194,3.233333333,POSE1_TO_POSE2_PRESS,764,742.487449342,712,672.512550658,660,632.487449342,877,783.487449342,800,649,629,650,0.441696604033,-0.0155722293154,0.0498871518842,0.999999970946,0.000160593084054,-0.000177855299795,2.61942292565e-05,1793193444957738752
+195,3.250000000,POSE1_TO_POSE2_PRESS,764,742.936086179,712,672,660.063913821,632.936086179,877,783.936086179,800,649,629,650.063913821,0.44199849785,-0.0155752197623,0.0498800717781,0.999999970433,0.000156447975863,-0.000184424700955,2.53891740169e-05,1793193444974405120
+196,3.266666667,POSE1_TO_POSE2_PRESS,764,742.345579856,712,672,660.654420144,632.345579856,877,783.345579856,800,649,629,650.654420144,0.442244566056,-0.0155762163467,0.0498643437124,0.999999965145,0.00015378197628,-0.000213269138328,2.40261548475e-05,1793193444991071744
+197,3.283333333,POSE1_TO_POSE2_PRESS,764,742.239224168,712,672.239224168,661,632,877.239224168,783,800,649,629,650.760775832,0.442475796623,-0.0155763460747,0.0498495603323,0.999999959635,0.000152826110139,-0.000238441965736,2.27891102124e-05,1793193445007738624
+198,3.300000000,POSE1_TO_POSE2_PRESS,764,742.815982466,712,672.815982466,661,632,877.815982466,783,800,649,629,650.184017534,0.442686091954,-0.0155752527088,0.0498361098608,0.999999954468,0.000154283162746,-0.000258434320647,2.17298098931e-05,1793193445024405760
+199,3.316666667,POSE1_TO_POSE2_PRESS,764,743,712,673,660.60702519,632,878,783,800,649,629,650,0.442873289937,-0.0155745932296,0.0498238186506,0.999999949371,0.000153645734869,-0.000277927754871,2.01767082629e-05,1793193445041072640
+200,3.333333333,POSE1_TO_POSE2_PRESS,764,743,712,673,660.029923133,632,878,783,800,649,629,650,0.443049665739,-0.0155741370467,0.0498120706079,0.999999944115,0.000152026944124,-0.000297187422908,1.8392237314e-05,1793193445057739008
+201,3.350000000,POSE1_TO_POSE2_PRESS,764,743,712,673,660,632,877.442273316,783.557726684,799.442273316,649,629,650,0.443198061598,-0.0155751465195,0.0498023247562,0.999999939495,0.000150006430778,-0.000313361189122,1.76944658383e-05,1793193445074405120
+202,3.366666667,POSE1_TO_POSE2_PRESS,764,743,712,673,660,632,877,783.856323462,799.143676538,649,629,650,0.443339421625,-0.0155761439111,0.0497944582161,0.999999935463,0.000147740721826,-0.000327035756341,1.71346209225e-05,1793193445091071488
+203,3.383333333,POSE1_TO_POSE2_PRESS,764,743,712,673,660,632,877,783.277272658,799.722727342,649,629,650,0.443464098055,-0.0155768618168,0.0497919546496,0.999999933715,0.000144798581508,-0.000333648528778,1.68126469081e-05,1793193445107738112
+204,3.400000000,POSE1_TO_POSE2_PRESS,764,743,712,673,660,632,877,783,800,649.301660962,629,650.301660962,0.443576653231,-0.0155778149263,0.0497896436556,0.99999993269,0.000142250915132,-0.000337805978771,1.65072543878e-05,1793193445124404736
+205,3.416666667,POSE1_TO_POSE2_PRESS,764,743,712,673,660,632,877,783,800,649.880486879,629,650.880486879,0.443678071436,-0.0155789841402,0.0497875095967,0.999999932359,0.000140065690108,-0.000339707487365,1.62170969016e-05,1793193445141071360
+206,3.433333333,POSE1_TO_POSE2_PRESS,764,742.548948235,712,673,660,632,877.451051765,783,800,649.548948235,629,650.548948235,0.443758347986,-0.0155809181994,0.0497873563057,0.99999993271,0.00013750889301,-0.000339704961955,1.65005485192e-05,1793193445157738240
+207,3.450000000,POSE1_TO_POSE2_PRESS,764,742.020283616,712,673,660,632,877.979716384,783,800,649,629,650,0.443832432611,-0.0155829296461,0.0497876189854,0.999999933156,0.000134950741332,-0.000339398218804,1.6893509154e-05,1793193445174405120
+208,3.466666667,POSE1_TO_POSE2_PRESS,764,742.61253951,712,673,660,632,877.38746049,783,800,649,629,650,0.443887035581,-0.015581511421,0.0497850780097,0.999999931412,0.000135080729334,-0.000344483401057,1.61657399192e-05,1793193445191072000
+209,3.483333333,POSE1_TO_POSE2_PRESS,764,743,712,673.200864109,660,631.799135891,877,783,800,649.200864109,629,650,0.443934657613,-0.0155801280555,0.0497819213646,0.99999992947,0.000135473682943,-0.000349958239735,1.53801862364e-05,1793193445207738624
+210,3.500000000,POSE1_TO_POSE2_PRESS,764,743,712,673.781750869,660,631.218249131,877,783,800,649.781750869,629,650,0.443969072131,-0.0155788106426,0.0497775999109,0.999999927169,0.000136364151442,-0.00035617028405,1.44853079824e-05,1793193445224405248
+211,3.516666667,POSE1_TO_POSE2_PRESS,764,742.640699251,712,673.640699251,659.640699251,631.359300749,877.359300749,783,800,650,629,650,0.443997477453,-0.0155784148952,0.049774178336,0.999999925681,0.00013591725305,-0.000360508349081,1.40535897742e-05,1793193445241071872
+212,3.533333333,POSE1_TO_POSE2_PRESS,764,742.065157578,712,673.065157578,659.065157578,631.934842422,877.934842422,783,800,650,629,650,0.444022266214,-0.0155785738411,0.0497712983421,0.99999992469,0.000134665476228,-0.000363718582346,1.39006188997e-05,1793193445257738240
+213,3.550000000,POSE1_TO_POSE2_PRESS,764,742.519624339,712,673,659,631.480375661,877.480375661,783,800,649.480375661,629,650,0.444037963939,-0.0155774177811,0.0497704985044,0.999999923651,0.000136346810985,-0.000365945788209,1.38157735991e-05,1793193445274405120
+214,3.566666667,POSE1_TO_POSE2_PRESS,764,743,712,673,659.105054849,631,877,783,800,649,629,650,0.444051321757,-0.0155763896778,0.0497698415806,0.999999922845,0.000137434769054,-0.000367741283822,1.37189679842e-05,1793193445291071744
+215,3.583333333,POSE1_TO_POSE2_PRESS,764,743,712,673,659.688069471,631,877,783,800,649,629,650,0.444059314167,-0.0155767075134,0.0497686266607,0.99999992315,0.000134119472931,-0.000368143625941,1.35281786133e-05,1793193445307738624
+216,3.600000000,POSE1_TO_POSE2_PRESS,764,742.732433002,712,673,660,631.267566998,877,783,800,649,629,650,0.444064857992,-0.0155757965112,0.049767617563,0.99999992295,0.00013371011157,-0.000368853426593,1.30260293852e-05,1793193445324405504
+217,3.616666667,POSE1_TO_POSE2_PRESS,764,742.156982555,712,673,660,631.843017445,877,783,800,649,629,650,0.444067584282,-0.0155734715124,0.0497668453003,0.999999922171,0.000136644545514,-0.000369917012982,1.21656052414e-05,1793193445341072128
+218,3.633333333,POSE1_TO_POSE2_PRESS,764,742.418343347,712,673,660,631.581656653,877,783,800,649,629,650.418343347,0.444068774044,-0.0155741248059,0.0497667859585,0.999999921995,0.000135292760525,-0.000370875339366,1.25376342769e-05,1793193445357738496
+219,3.650000000,POSE1_TO_POSE2_PRESS,764,742.993622513,712,673,660,631.006377487,877,783,800,649,629,650.993622513,0.444069387398,-0.0155758953655,0.0497669940593,0.999999922039,0.0001323330587,-0.000371794178865,1.33720013887e-05,1793193445374404864
+220,3.666666667,POSE1_TO_POSE2_PRESS,764,743,712,673,660,631,876.416939877,783,800,649,629,650.416939877,0.444069479097,-0.015573709045,0.0497658622859,0.999999921189,0.000134390057472,-0.000373356591213,1.28716599347e-05,1793193445391071488
+221,3.683333333,POSE1_TO_POSE2_PRESS,764,743,712,673.169720817,660,631,876.339441634,783,800,649,628.830279183,650,0.444069814084,-0.0155723125999,0.049765029499,0.999999920641,0.000135651263489,-0.000374380288329,1.2474746227e-05,1793193445407738368
+222,3.700000000,POSE1_TO_POSE2_PRESS,764,743,712,673.7492923,660,631,877.4985846,783,800,649,628.2507077,650,0.444070750696,-0.015572930704,0.0497649549916,0.999999920861,0.000134854940755,-0.000374085645524,1.23637270817e-05,1793193445424404992
+223,3.716666667,POSE1_TO_POSE2_PRESS,764,743,712,673.673148189,659.673148189,631,877.673148189,783,800,649.326851811,628.326851811,650,0.444071520859,-0.015572921317,0.0497646921395,0.99999992091,0.000134677331943,-0.000374018995466,1.23003528728e-05,1793193445441071872
+224,3.733333333,POSE1_TO_POSE2_PRESS,764,743,712,673.097122433,659.097122433,631,877.097122433,783,800,649.902877567,628.902877567,650,0.44407216413,-0.0155724335653,0.0497642857037,0.999999920831,0.000134971396704,-0.000374126154582,1.22733005461e-05,1793193445457738752
+225,3.750000000,POSE1_TO_POSE2_PRESS,764,743,712,673,659,631,877,783,799.52187331,649.52187331,629,650,0.444073043971,-0.0155728048532,0.0497650009878,0.999999921177,0.000133330347904,-0.00037378234141,1.2454273019e-05,1793193445474405120
+226,3.766666667,POSE1_TO_POSE2_PRESS,764,743,712,673,659.054718935,631,877,783,799.054718935,649.054718935,629,650,0.444073902783,-0.0155732399378,0.0497657898869,0.999999921568,0.000131654643479,-0.000373324117987,1.2651544278e-05,1793193445491072256
+227,3.783333333,POSE1_TO_POSE2_PRESS,764,743,712,673,659.646027103,631,877,783,799.646027103,649.646027103,629,650,0.444074084904,-0.0155725922328,0.0497650698785,0.999999921581,0.000133487515095,-0.000372640817802,1.25949408064e-05,1793193445507738624
+228,3.800000000,POSE1_TO_POSE2_PRESS,764,742.768404044,712,672.768404044,660,631.231595956,877,783,800,649.768404044,628.768404044,650,0.444074772849,-0.0155721211856,0.0497651808937,0.999999921781,0.00013409613222,-0.000371886819781,1.25111289116e-05,1793193445524404992
+229,3.816666667,POSE1_TO_POSE2_PRESS,764,742.191395107,712,672.191395107,660,631.808604893,877,783,800,649.191395107,628.191395107,650,0.444076215205,-0.0155719136142,0.0497665313363,0.999999922264,0.000132878839143,-0.000371027379762,1.23867371127e-05,1793193445541071616
+230,3.833333333,POSE1_TO_POSE2_PRESS,764,742.384049034,712,672.384049034,660,631.615950966,877.384049034,783,800,649.384049034,628.384049034,650.384049034,0.444075481937,-0.01557019424,0.0497661053359,0.999999921688,0.000133196057833,-0.00037247884582,1.1939204991e-05,1793193445557738240
+231,3.850000000,POSE1_TO_POSE2_PRESS,764,742.958716489,712,672.958716489,660,631.041283511,877.958716489,783,800,649.958716489,628.958716489,650.958716489,0.444073668821,-0.0155677244997,0.0497647976179,0.999999920579,0.000134274914227,-0.000375077304155,1.13312858064e-05,1793193445574405120
+232,3.866666667,POSE1_TO_POSE2_PRESS,764.547329581,743,712,673,660,631,877.452670419,783,800,650,629,650.452670419,0.444074508201,-0.0155689886336,0.0497648116163,0.999999920849,0.000134580766145,-0.000374242382736,1.15412800046e-05,1793193445591072000
+233,3.883333333,POSE1_TO_POSE2_PRESS,764.865660223,742.865660223,712,673,659.865660223,631,877.134339777,783,800,649.865660223,629,650,0.444075353864,-0.0155699243144,0.0497649813931,0.999999921086,0.000134891210273,-0.000373490448945,1.17107501316e-05,1793193445607738880
+234,3.900000000,POSE1_TO_POSE2_PRESS,764.28751141,742.28751141,712,673,659.28751141,631,877.71248859,783,800,649.28751141,629,650,0.444075542048,-0.0155688201605,0.0497653278432,0.999999920868,0.000135414481416,-0.00037389058599,1.15372043884e-05,1793193445624405504
+235,3.916666667,POSE1_TO_POSE2_PRESS,764,742.289559672,712,673,659.289559672,631,878,783,800,649,629,650.289559672,0.444076275072,-0.0155685686025,0.0497653518163,0.999999920905,0.000135528032758,-0.000373752518266,1.14115151427e-05,1793193445641071872
+236,3.933333333,POSE1_TO_POSE2_PRESS,764,742.865564684,712,673,659.865564684,631,878,783,800,649,629,650.865564684,0.444077547076,-0.0155691604701,0.0497650567808,0.999999921196,0.000135236271065,-0.000373082034433,1.13331676579e-05,1793193445657738240
+237,3.950000000,POSE1_TO_POSE2_PRESS,764,743,712,673,659.559554581,631.440445419,877.559554581,783,800,649,629,650.559554581,0.444076974673,-0.0155689748705,0.0497645035057,0.999999921129,0.000134897372228,-0.000373389893226,1.11740930792e-05,1793193445674404864
+238,3.966666667,POSE1_TO_POSE2_PRESS,764,743,712,673,659.015465275,631.984534725,877,783,799.984534725,649,629,650,0.444075892463,-0.0155685541557,0.049763895495,0.999999920963,0.000134509773829,-0.000373978263011,1.10014028187e-05,1793193445691071488
+239,3.983333333,POSE1_TO_POSE2_PRESS,764,743,712,673,659.608463943,631.391536057,877,783,799.391536057,649,629,650,0.444076741666,-0.0155681925822,0.0497641794442,0.999999921206,0.000132839460061,-0.000373918936753,1.12380599537e-05,1793193445707738112
+240,4.000000000,HOLD_POSE2,764,743,712,673,660,631,878,783,800,650,629,650,0.444079821436,-0.0155665713266,0.0497653877558,0.999999921988,0.000136147852147,-0.000370623349872,1.12373179609e-05,1793193445747617792
+241,4.016666667,HOLD_POSE2,763.423897647,743,712,673,660,631.576102353,877.423897647,783,800,649.423897647,629,650,0.444078277461,-0.0155676671891,0.0497650392234,0.999999921538,0.000134466684346,-0.000372440454723,1.14223823091e-05,1793193445764283648
+242,4.033333333,HOLD_POSE2,763.155470108,743,712,673.155470108,659.844529892,631.844529892,877.155470108,783,800,649.155470108,628.844529892,650,0.444076996224,-0.0155685313748,0.0497646246135,0.999999921132,0.000132873344798,-0.00037409758725,1.14325959547e-05,1793193445780949760
+243,4.050000000,HOLD_POSE2,763.743932305,743,712,673.743932305,659.256067695,631.256067695,877.743932305,783,800,649.743932305,628.256067695,650,0.444076446725,-0.0155687503291,0.0497640259743,0.999999920862,0.000131524610981,-0.000375309189211,1.09558416234e-05,1793193445797616128
+244,4.066666667,HOLD_POSE2,764,743,712,673.673002031,659,631.326997969,877.673002031,783,799.673002031,649.673002031,628.326997969,650,0.444076506198,-0.0155680549653,0.0497637222772,0.999999920716,0.000131660263915,-0.000375657036324,1.07814935873e-05,1793193445814282496
+245,4.083333333,HOLD_POSE2,764,743,712,673.094093742,659,631.905906258,877.094093742,783,799.094093742,649.094093742,628.905906258,650,0.444077034805,-0.0155666552357,0.0497636457954,0.999999920665,0.000132939448009,-0.000375339470181,1.08401111442e-05,1793193445830948864
+246,4.100000000,HOLD_POSE2,764,742.517645393,712.482354607,673,659.482354607,632,877.482354607,783,799.964709215,649,629,650,0.444077629265,-0.0155668635359,0.0497641243728,0.999999920988,0.000133148863884,-0.000374391675623,1.12610412415e-05,1793193445847615488
+247,4.116666667,HOLD_POSE2,764,742.058017395,712.941982605,672.941982605,659.941982605,631.941982605,877.941982605,783,800.941982605,649.058017395,629,650,0.444078211652,-0.0155672777777,0.0497647052035,0.999999921364,0.000133095291476,-0.000373392632109,1.16522151689e-05,1793193445864282368
+248,4.133333333,HOLD_POSE2,764,742.630945503,712.369054497,672.369054497,659.369054497,631.369054497,877.369054497,783,800.369054497,649.630945503,629,650,0.444078573454,-0.0155667499441,0.0497652374557,0.999999921579,0.00013255034329,-0.00037302431584,1.11552171316e-05,1793193445880948992
+249,4.150000000,HOLD_POSE2,764.210788495,743,712,672.210788495,659.210788495,631,877,783,800,649.789211505,628.789211505,650,0.444078996277,-0.015566583148,0.0497654284248,0.999999921703,0.00013209159297,-0.000372862320855,1.0907686503e-05,1793193445897615872
+250,4.166666667,HOLD_POSE2,764.803148831,743,712,672.803148831,659.803148831,631,877,783,800,649.196851169,628.196851169,650,0.44407952956,-0.0155670699064,0.0497650015993,0.999999921662,0.000131788879107,-0.000373073811154,1.11117447986e-05,1793193445914282240
+251,4.183333333,HOLD_POSE2,764.613473896,743,712,673,659.613473896,631,877,783,799.613473896,649,628.386526104,650,0.444078995421,-0.0155671920996,0.0497646945855,0.999999921562,0.000131586886316,-0.000373409533438,1.11971379242e-05,1793193445930948608
+252,4.200000000,HOLD_POSE2,764.034567584,743,712,673,659.034567584,631,877,783,799.034567584,649,628.965432416,650,0.444077930009,-0.0155671328429,0.0497644472041,0.999999921434,0.000131435023981,-0.00037380708798,1.12234695198e-05,1793193445947615488
+253,4.216666667,HOLD_POSE2,764,742.459834181,712,673,659,631,877,783,799.540165819,649,629,650,0.44407897129,-0.0155667879039,0.0497652758136,0.99999992171,0.000132336056954,-0.000372749859146,1.11875561488e-05,1793193445964282112
+254,4.233333333,HOLD_POSE2,763.882666178,742.117333822,711.882666178,673,659,631,877.117333822,783,800,649,629,650.117333822,0.444079872634,-0.0155664723303,0.049765962256,0.999999921903,0.000133201116295,-0.000371925335884,1.10954026543e-05,1793193445980948736
+255,4.250000000,HOLD_POSE2,763.294669067,742.705330933,711.294669067,673,659,631,877.705330933,783,800,649,629,650.705330933,0.444079676004,-0.0155663473239,0.0497658043295,0.999999921667,0.000133653666021,-0.000372404851143,1.07935080276e-05,1793193445997615360
+256,4.266666667,POSE2_TO_POSE3_RETREAT,765,742,712,673,660,632,878,783,800,650,629,650,0.444080787302,-0.0155661334975,0.0497660504473,0.999999922315,0.000132524261696,-0.00037105928123,1.10721548855e-05,1793193446034864896
+257,4.283333333,POSE2_TO_POSE3_RETREAT,764.420111924,742,712,673.579888076,659.420111924,631.420111924,878,783,800,649.420111924,628.420111924,650,0.444079113862,-0.0155660547327,0.0497647807027,0.999999921643,0.000132400448503,-0.000372924061338,1.05752465039e-05,1793193446051531520
+258,4.300000000,POSE2_TO_POSE3_RETREAT,764,742.158655078,712,673.841344922,659.158655078,631,877.841344922,783,800,649,628,650,0.444078127712,-0.0155664136453,0.0497640132364,0.99999992132,0.000131711831331,-0.000374037706202,1.0358423311e-05,1793193446068198144
+259,4.316666667,POSE2_TO_POSE3_RETREAT,764,742.734474478,712,673.265525522,659.734474478,631,877.265525522,783,800,649,628,650,0.444078948706,-0.0155679233777,0.0497645664496,0.99999992192,0.000129538130445,-0.000373176332281,1.08780501055e-05,1793193446084864768
+260,4.333333333,POSE2_TO_POSE3_RETREAT,764,743,712,673,660,631.317005587,877.317005587,783,800,649.317005587,628,650,0.444078808604,-0.0155678713101,0.0497644750163,0.999999921736,0.000129147401485,-0.000373803699649,1.0947666455e-05,1793193446101531648
+261,4.350000000,POSE2_TO_POSE3_RETREAT,764,743,712,673,660,631.905280023,877.905280023,783,800,649.905280023,628,650,0.44407784607,-0.0155664827749,0.0497638319444,0.99999992088,0.000130282402043,-0.000375705016649,1.06321986611e-05,1793193446118198272
+262,4.366666667,POSE2_TO_POSE3_RETREAT,764,743,712,673,660,632,878,783,800,650,628.486160496,650.486160496,0.444077706178,-0.015566762661,0.0497644038614,0.999999920994,0.000131201779492,-0.000375073005118,1.08539640789e-05,1793193446134864640
+263,4.383333333,POSE2_TO_POSE3_RETREAT,764,742.934886012,712,673,659.934886012,631.934886012,877.934886012,783,799.934886012,649.934886012,629,650.934886012,0.444077100347,-0.0155671951623,0.0497647776817,0.999999921059,0.000132007132804,-0.000374609884629,1.11025066704e-05,1793193446151531520
+264,4.400000000,POSE2_TO_POSE3_RETREAT,764,742.359910112,712,673,659.359910112,631.359910112,877.359910112,783,799.359910112,649.359910112,629,650.359910112,0.444071609848,-0.0155663154763,0.0497617745299,0.999999919273,0.00013224366935,-0.000379276173527,1.07533989452e-05,1793193446168198144
+265,4.416666667,POSE2_TO_POSE3_RETREAT,764,742,712,673,659.215518425,631.215518425,877.215518425,783,799.215518425,649.215518425,629,650,0.444058319124,-0.0155651065221,0.0497553170246,0.999999915081,0.000132610292294,-0.000390066456186,1.00327359582e-05,1793193446184864768
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764,742,712,673,659.791704388,631.791704388,877.791704388,783,799.791704388,649.791704388,629,650,0.444031974815,-0.0155633465414,0.0497430786998,0.999999906588,0.000133194613232,-0.000411105169431,8.69027966526e-06,1793193446201531136
+267,4.450000000,POSE2_TO_POSE3_RETREAT,764,742.376413806,712,672.623586194,659.623586194,631.623586194,878,783,800,649.623586194,628.623586194,650,0.443988564597,-0.0155619721972,0.049725407325,0.999999893685,0.000133131263898,-0.000441426559515,7.02577033463e-06,1793193446218198016
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764,742.965949169,712,672.034050831,659.034050831,631.034050831,878,783,800,649.034050831,628.034050831,650,0.443935491837,-0.0155608161962,0.0497046598131,0.999999877416,0.000132701210374,-0.000477003705657,5.17891781272e-06,1793193446234864640
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,742.453431401,712,672.546568599,659,631,877.453431401,783,800,649,628.546568599,650.546568599,0.443866388228,-0.0155541596165,0.0496891267321,0.999999869528,0.000133646038252,-0.000493028145173,2.27497262574e-06,1793193446251531520
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764,742.125288131,712,673,659.125288131,631,877,783,800.125288131,649.125288131,629,650.874711869,0.443793888239,-0.0155470242389,0.0496768801217,0.999999863163,0.000135694797294,-0.000505233251455,-3.22136921613e-07,1793193446268198144
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764,742.699162217,712,673,659.699162217,631,877,783,800.699162217,649.699162217,629,650.300837783,0.443712746136,-0.0155393818117,0.0496752560456,0.999999860943,0.000141394353442,-0.000508054883094,-1.58863350161e-06,1793193446284864768
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764,743,712,673.279788639,659.720211361,631.279788639,877.279788639,783,800.720211361,650,629,650,0.443620979298,-0.0155331219199,0.0496769389486,0.999999861826,0.000144877976379,-0.00050532501105,-2.08505550997e-06,1793193446301531648
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764,743,712,673.867854906,659.132145094,631.867854906,877.867854906,783,800.132145094,650,629,650,0.443517505885,-0.0155283853383,0.0496822655581,0.999999866107,0.000145920032236,-0.000496478362984,-1.73299137355e-06,1793193446318198016
+274,4.566666667,POSE2_TO_POSE3_RETREAT,763.550754089,742.550754089,712,673.550754089,659,631.550754089,877.550754089,783,800,649.550754089,629,650,0.443387153458,-0.0155198361766,0.0496866944298,0.9999998678,0.000150265838162,-0.000491747305228,-2.09810757295e-06,1793193446334864640
+275,4.583333333,POSE2_TO_POSE3_RETREAT,763.057285682,742.028642841,712,673,659.057285682,631.028642841,877,783,800,649,628.971357159,650,0.443247494936,-0.0155101050269,0.0496908568348,0.999999868789,0.000155627884198,-0.000488051050333,-2.68543567685e-06,1793193446351531520
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764.213803929,742.606901965,712,673,660.213803929,631.606901965,877,783,800,649,628.393098035,650,0.443078757436,-0.015498897458,0.04969489903,0.999999871018,0.000162115816948,-0.000481321690208,-3.54798499363e-06,1793193446368198144
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764.816526302,743,712,673,660.816526302,631.816526302,877,783,800,649,628.183473698,650,0.442897917337,-0.0154874359205,0.0496977209992,0.99999987244,0.000167845815698,-0.000476367042092,-4.65522416295e-06,1793193446384864768
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764.243536981,743,712,673,660.243536981,631.243536981,877,783,800,649,628.756463019,650,0.44269138338,-0.0154754352076,0.0496979524219,0.999999872296,0.000171966715793,-0.000475180117802,-6.28194106269e-06,1793193446401531392
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764,743,711.660824701,673,659.660824701,631.339175299,877,783.339175299,800.339175299,649.339175299,628.660824701,650,0.442462789758,-0.0154626601597,0.0497038097554,0.999999875713,0.000176725470104,-0.000466138657593,-7.60107007551e-06,1793193446418198016
+280,4.666666667,POSE2_TO_POSE3_RETREAT,764,743,711.070924976,673,659.070924976,631.929075024,877,783.929075024,800.929075024,649.929075024,628.070924976,650,0.442217889217,-0.0154493127085,0.0497138258624,0.999999881576,0.000181955738021,-0.000451290984225,-8.69282480836e-06,1793193446434864640
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764,743,711.51011278,673,659.51011278,632,877,784,799.979774441,649.48988722,628.51011278,650,0.441945315516,-0.0154396445014,0.0497291736762,0.999999893799,0.000182076604175,-0.000423270539965,-9.57083759282e-06,1793193446451531264
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764,743,712,673,660,632,877,784,799.178497092,649,629,650,0.441660835342,-0.0154325121941,0.0497448023468,0.999999906178,0.000178462375424,-0.000394569630769,-1.05281609355e-05,1793193446468198144
+283,4.716666667,POSE2_TO_POSE3_RETREAT,764,743,712,673,660,632,877,784,800.329242824,649,629,650,0.441332101734,-0.0154364537903,0.049757991955,0.999999918216,0.000158306984333,-0.000371967962554,-1.20765850032e-05,1793193446484865792
+284,4.733333333,POSE2_TO_POSE3_RETREAT,764,743,712,673,660.244812516,632,877,783.755187484,800.755187484,649,629,650,0.440981122237,-0.0154404155384,0.0497685167574,0.999999926733,0.000139601334222,-0.00035619750133,-1.29902624069e-05,1793193446501532672
+285,4.750000000,POSE2_TO_POSE3_RETREAT,764,743,712,673,660.831736805,632,877,783.168263195,800.168263195,649,629,650,0.440599055377,-0.0154444054472,0.0497753176425,0.99999993112,0.000122921617219,-0.000349973270709,-1.30169168354e-05,1793193446518198528
+286,4.766666667,POSE2_TO_POSE3_RETREAT,764.412890487,743,712,673,660.587109513,632,877,783.412890487,799.587109513,649,628.587109513,650,0.440172312682,-0.0154369163368,0.0497807486674,0.999999937161,0.000112589452123,-0.000335751956274,-1.6522289092e-05,1793193446534865152
+287,4.783333333,POSE2_TO_POSE3_RETREAT,764.991724902,743,712,673,660.008275098,632,877,783.991724902,799.008275098,649,628.008275098,650,0.439727614427,-0.0154248137182,0.0497856291346,0.999999943615,0.000104808418345,-0.000318316551135,-2.14257853493e-05,1793193446551531776
+288,4.800000000,POSE2_TO_POSE3_RETREAT,764.431265306,743,712,673,660,632.568734694,877.568734694,783.431265306,799,649,628.568734694,650.568734694,0.439230528402,-0.0154137463417,0.0497806595025,0.999999940418,9.80996910297e-05,-0.000329978038026,-2.55888430268e-05,1793193446568198656
+289,4.816666667,POSE2_TO_POSE3_RETREAT,764,743,712,672.854907782,660,632.854907782,877.854907782,783.145092218,799.145092218,649,629.145092218,650.854907782,0.438721055244,-0.0154049466661,0.049775324407,0.999999937543,8.80385193659e-05,-0.000340990202733,-2.9806933553e-05,1793193446584865280
+290,4.833333333,POSE2_TO_POSE3_RETREAT,764,743,712,672.280402484,660,632.280402484,877.280402484,783.719597516,799.719597516,649,629.719597516,650.280402484,0.438177170082,-0.0154028140145,0.0497693305006,0.99999993626,6.80094692977e-05,-0.000348831675211,-3.42196806807e-05,1793193446601532416
+291,4.850000000,POSE2_TO_POSE3_RETREAT,764,743,712,672.30372404,660,632,877,784,800.30372404,649,629.69627596,650,0.437625536788,-0.0154047050824,0.049775096061,0.999999940494,4.5216060792e-05,-0.00034000164463,-3.69705673976e-05,1793193446618199552
+292,4.866666667,POSE2_TO_POSE3_RETREAT,764,743,712,672.897023667,660,632,877,784,800.897023667,649,629.102976333,650,0.437066516233,-0.0154104324316,0.0497920732935,0.999999949377,1.97870642637e-05,-0.000315276724423,-3.81370090499e-05,1793193446634866688
+293,4.883333333,POSE2_TO_POSE3_RETREAT,764,743,712,673,660,632.476934074,877,784,800.523065926,649,629,650,0.436447968379,-0.015410976236,0.0498192603017,0.999999958837,-2.35466889932e-06,-0.000284294393929,-3.87004548617e-05,1793193446651533312
+294,4.900000000,POSE2_TO_POSE3_RETREAT,764,743,712,672.946152717,660.053847283,632.946152717,877,784,800,649.053847283,629,650.053847283,0.435809779434,-0.0154095085865,0.0498434939617,0.999999965459,-2.32252618742e-05,-0.000258761268973,-3.98211505189e-05,1793193446668199680
+295,4.916666667,POSE2_TO_POSE3_RETREAT,764,743,712,672.371032282,660.628967718,632.371032282,877,784,800,649.628967718,629,650.628967718,0.435102477163,-0.0153991074962,0.0498183801189,0.999999953518,-3.84737891194e-05,-0.000298701492679,-4.75622952453e-05,1793193446684865792
+296,4.933333333,POSE2_TO_POSE3_RETREAT,764,743,712,672.208003314,660.791996686,632.208003314,877.208003314,784,800,649.791996686,629,651,0.434397747771,-0.0153911003978,0.0497944388755,0.999999941695,-4.88002003753e-05,-0.000333507962874,-5.47870017164e-05,1793193446701531904
+297,4.950000000,POSE2_TO_POSE3_RETREAT,764,743,712,672.794156637,660.205843363,632.794156637,877.794156637,784,800,649.205843363,629,651,0.433697695918,-0.0153874455771,0.049772629419,0.999999932442,-5.0178204337e-05,-0.000358981267909,-6.10728231284e-05,1793193446718198272
+298,4.966666667,POSE2_TO_POSE3_RETREAT,763.621893857,743,712,673,660,633,877.621893857,784,800,649,629,650.621893857,0.432981911876,-0.0153880991534,0.0497808405211,0.999999937746,-3.8532820179e-05,-0.000344869576146,-6.39341332995e-05,1793193446734864896
+299,4.983333333,POSE2_TO_POSE3_RETREAT,763.039137191,743,712,673,660,633,877.039137191,784,800,649,629,650.039137191,0.432257612786,-0.0153910846563,0.0498053002969,0.999999949851,-1.98385073333e-05,-0.00030933244354,-6.49419212861e-05,1793193446751532288
+300,5.000000000,POSE2_TO_POSE3_RETREAT,763.537668051,742.462331949,712,673,660,632.462331949,877,784,800,649,629,650,0.431468472563,-0.0153933105486,0.0498129268319,0.999999951163,-4.65172438307e-05,-0.000301728252392,-6.68562924258e-05,1793193446768198656
+301,5.016666667,POSE2_TO_POSE3_RETREAT,764.113598728,742.113598728,712,672.886401272,660,632,877,784,800,649,629,650,0.430665226649,-0.01539351134,0.0498115407447,0.999999948669,-6.27027999705e-05,-0.000307025241785,-6.68299627129e-05,1793193446784865536
+302,5.033333333,POSE2_TO_POSE3_RETREAT,764.68772079,742.68772079,712,672.31227921,660,632,877,784,800,649,629,650,0.429823721658,-0.0153857241758,0.0497785308845,0.999999934476,-2.31070167199e-05,-0.000356470472249,-5.86715379621e-05,1793193446801532160
+303,5.050000000,POSE2_TO_POSE3_RETREAT,764.732096351,742.732096351,711.732096351,672.267903649,660,632.267903649,876.732096351,784,800,649,629,650,0.42900309735,-0.0153787925478,0.0497639916116,0.999999928522,-6.0105032468e-06,-0.000373938654624,-5.55834764036e-05,1793193446818198528
+304,5.066666667,POSE2_TO_POSE3_RETREAT,764.144685183,742.144685183,711.144685183,672.855314817,660,632.855314817,876.144685183,784,800,649,629,650,0.428207375673,-0.0153728812493,0.0497714807447,0.999999935762,-1.57470863778e-05,-0.00035327034547,-5.85424356162e-05,1793193446834865408
+305,5.083333333,POSE2_TO_POSE3_RETREAT,764,742.438758505,711.438758505,672.561241495,660,633,876.438758505,784,799.561241495,649,629,650,0.427346376301,-0.0153681818002,0.0497774650027,0.999999933212,-2.82357353082e-05,-0.000359128621014,-6.16901759035e-05,1793193446851532032
+306,5.100000000,POSE2_TO_POSE3_RETREAT,764,742.979365161,712,671.979365161,660,633,877,784,799,649.020634839,629,650,0.426464728744,-0.0153641785183,0.0497826801225,0.999999927704,-4.08506937085e-05,-0.000372441647086,-6.48844531997e-05,1793193446868198144
+307,5.116666667,POSE2_TO_POSE3_RETREAT,764,742.404756847,712,671.404756847,660,633,877,784,799,649.595243153,629,650,0.42560146713,-0.0153682326315,0.0497804497229,0.999999934816,-3.27111691825e-05,-0.000353155595692,-6.76718064528e-05,1793193446884865024
+308,5.133333333,POSE2_TO_POSE3_RETREAT,764,742,712,671.169624948,660,633,877,784.169624948,799.169624948,650,629,650.169624948,0.424752719074,-0.015372538917,0.0497900126979,0.999999945788,-3.07167289467e-05,-0.000320640658798,-6.83320383787e-05,1793193446901531904
+309,5.150000000,POSE2_TO_POSE3_RETREAT,764,742,712,671.743466912,660,633,877,784.743466912,799.743466912,650,629,650.743466912,0.423938556942,-0.0153774461298,0.0498276793377,0.999999964095,-4.33660526871e-05,-0.000256601228702,-6.3923330305e-05,1793193446918198528
+310,5.166666667,POSE2_TO_POSE3_RETREAT,764,742,712,672.326671982,660,633,877,784.673328018,800.326671982,649.673328018,628.673328018,650.673328018,0.423097585148,-0.0153773708024,0.0498437649636,0.999999970713,-5.12021156799e-05,-0.000228204051647,-6.22509328789e-05,1793193446934865408
+311,5.183333333,POSE2_TO_POSE3_RETREAT,764,742,712,672.917446764,660,633,877,784.082553236,800.917446764,649.082553236,628.082553236,650.082553236,0.422234938724,-0.0153732672665,0.0498424030974,0.999999970374,-5.51468262465e-05,-0.000228622385575,-6.27907466872e-05,1793193446951532032
+312,5.200000000,POSE2_TO_POSE3_RETREAT,764,742.500086832,712,672.499913168,660,633,877,784,799.999826337,649,628.500086832,650.500086832,0.42132078405,-0.0153701594423,0.049816133746,0.999999957247,-6.54314967144e-05,-0.000277128008654,-6.6522291476e-05,1793193446968198400
+313,5.216666667,POSE2_TO_POSE3_RETREAT,764,743,711.919738537,672,660,633,876.919738537,784,799,649,629,650.919738537,0.420405016281,-0.0153682949271,0.0497928610154,0.999999942774,-7.27557886054e-05,-0.000322921086599,-6.98608970136e-05,1793193446984865024
+314,5.233333333,POSE2_TO_POSE3_RETREAT,764,743,711.346589906,672,660,633,876.346589906,784,799,649,629,650.346589906,0.419530723361,-0.0153730723555,0.0498128363089,0.999999949936,-5.5576101027e-05,-0.000304088337251,-6.76026400385e-05,1793193447001531648
+315,5.250000000,POSE2_TO_POSE3_RETREAT,763.772933415,742.772933415,711,672,660,632.772933415,876,784.227066585,799.227066585,649,629,650.227066585,0.418652676818,-0.0153744513795,0.0498160374607,0.999999948625,-4.36309250169e-05,-0.000310462589835,-6.67839197459e-05,1793193447018198016
+316,5.266666667,POSE2_TO_POSE3_RETREAT,763.198499915,742.198499915,711,672,660,632.198499915,876,784.801500085,799.801500085,649,629,650.801500085,0.417768887842,-0.0153706315186,0.0497935774999,0.999999933735,-3.96935126605e-05,-0.00035539856143,-6.81674051708e-05,1793193447034864896
+317,5.283333333,POSE2_TO_POSE3_RETREAT,763,742.387568773,711.387568773,672,660,632.387568773,876,784.612431227,800,649,629,650.612431227,0.416949666172,-0.0153709957485,0.0497901208174,0.999999933606,-5.0166553008e-05,-0.000354241411611,-6.91745005582e-05,1793193447051532032
+318,5.300000000,POSE2_TO_POSE3_RETREAT,763,742.97978102,711.97978102,672,660,632.97978102,876,784.02021898,800,649,629,650.02021898,0.416164537285,-0.015373569256,0.0497966982184,0.999999941185,-6.82485789329e-05,-0.000328746239103,-6.99828549601e-05,1793193447068198912
+319,5.316666667,POSE2_TO_POSE3_RETREAT,763.55903249,742.44096751,712,672,660,633,876,784,800,649,629,650,0.415374960676,-0.0153736980138,0.0498181523927,0.999999952885,-7.96018173175e-05,-0.00028830776417,-6.90769075472e-05,1793193447084865536
+320,5.333333333,POSE2_TO_POSE3_RETREAT,763.863298234,742.136701766,712,672,660,633,876,784,800,649.136701766,629,650.136701766,0.414574606462,-0.0153726133663,0.0498293266613,0.999999957912,-8.89457267228e-05,-0.000267437882295,-6.88555077988e-05,1793193447101532160
+321,5.350000000,POSE2_TO_POSE3_RETREAT,763.289225348,742.710774652,712,672,660,633,876,784,800,649.710774652,629,650.710774652,0.413740272841,-0.0153679229731,0.0498059283426,0.99999994487,-9.2621872383e-05,-0.000310866848847,-7.1018167031e-05,1793193447118198272
+322,5.366666667,POSE2_TO_POSE3_RETREAT,763,742.706213929,712,672,660,633,876.293786071,784,799.706213929,649.706213929,629,650.706213929,0.412946640309,-0.0153665083929,0.0497884311784,0.999999935685,-9.41639397569e-05,-0.000338295077123,-7.29406203982e-05,1793193447134864896
+323,5.383333333,POSE2_TO_POSE3_RETREAT,763,742.114126635,712,672,660,633,876.885873365,784,799.114126635,649.114126635,629,650.114126635,0.412194334446,-0.0153684199715,0.049776925864,0.999999931774,-9.35391304404e-05,-0.000349476652132,-7.46191761803e-05,1793193447151531520
+324,5.400000000,POSE2_TO_POSE3_RETREAT,763,742,712,672.467456479,660,633,876.532543521,784,799,649,629,650,0.41148611395,-0.0153698457824,0.0497958719479,0.999999940452,-7.56962025362e-05,-0.000328679639101,-7.30501464062e-05,1793193447168198144
+325,5.416666667,POSE2_TO_POSE3_RETREAT,763,742,712,672.953980659,660,633,876,784,799.046019341,649.046019341,629,650.046019341,0.410787547445,-0.015370745283,0.0498188915455,0.999999949544,-5.61066640814e-05,-0.000304500347808,-7.10219038644e-05,1793193447184864768
+326,5.433333333,POSE2_TO_POSE3_RETREAT,763,742,712,672.381278957,660,633,876,784,799.618721043,649.618721043,629,650.618721043,0.410078994359,-0.0153669487562,0.0498053149908,0.999999941221,-6.35807040686e-05,-0.000329001729229,-7.2612971493e-05,1793193447201531648
+327,5.450000000,POSE2_TO_POSE3_RETREAT,763,742,712,672,660,633,876,784,799.803434444,649.803434444,629,651,0.409397702178,-0.015365221831,0.0497952202829,0.999999935411,-7.2016292486e-05,-0.00034429296588,-7.38500354511e-05,1793193447218198784
+328,5.466666667,POSE2_TO_POSE3_RETREAT,763,742,712,672,660,633,876,784,799.215346292,649.215346292,629,651,0.408770708602,-0.0153676171724,0.0497920607737,0.999999935619,-8.23671107255e-05,-0.000341239285246,-7.43819892748e-05,1793193447234865920
+329,5.483333333,POSE2_TO_POSE3_RETREAT,763,742,711.632201145,672,659.632201145,633,876,784,799,649,628.632201145,650.632201145,0.408181114652,-0.0153716898311,0.0498060451023,0.999999942466,-9.56530471108e-05,-0.00031703046691,-7.35475690644e-05,1793193447251532544
+330,5.500000000,POSE2_TO_POSE3_RETREAT,763,742,711.051911783,672,659.051911783,633,876,784,799,649,628.051911783,650.051911783,0.407613127836,-0.0153767315355,0.0498299340372,0.999999951925,-0.000110634705113,-0.000280599571399,-7.19237457584e-05,1793193447268198656
+331,5.516666667,POSE2_TO_POSE3_RETREAT,763.525029168,742,711.525029168,672,659.525029168,633,876,784,799.525029168,649,628,650.525029168,0.407061681902,-0.0153779446295,0.0498325856944,0.999999950655,-0.000115618687026,-0.000283396844461,-7.07755186711e-05,1793193447284865536
+332,5.533333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,660,633,876.101303557,784,799.898696443,649.101303557,628.101303557,651,0.406513093943,-0.0153777421915,0.0498282861971,0.999999946425,-0.000117437906529,-0.000297384266148,-7.01487361569e-05,1793193447301532160
+333,5.550000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,660,633,876.676000364,784,799.323999636,649.676000364,628.676000364,651,0.405970267242,-0.0153726827109,0.0498012541314,0.999999931742,-0.000109058193138,-0.000345653307593,-7.1740320872e-05,1793193447318198272
+334,5.566666667,POSE2_TO_POSE3_RETREAT,764,741.742713251,712,672,659.742713251,633,876.742713251,784,799,650,629,651,0.40545731105,-0.0153702749328,0.0497812136131,0.999999919288,-0.000107122316614,-0.000380257129451,-7.31622414229e-05,1793193447334864640
+335,5.583333333,POSE2_TO_POSE3_RETREAT,764,741.152910575,712,672,659.152910575,633,876.152910575,784,799,650,629,651,0.404982959374,-0.0153712942001,0.049770208933,0.999999911908,-0.00011351441895,-0.000397200096574,-7.43648890108e-05,1793193447351531776
+336,5.600000000,POSE2_TO_POSE3_RETREAT,764,741.427357416,712,672,659.427357416,633,876,784,799.427357416,649.572642584,629,651,0.404579419606,-0.0153748237589,0.0497822391575,0.999999920902,-0.000113894107102,-0.000374011074176,-7.30803088541e-05,1793193447368198656
+337,5.616666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,660,633,876,784,800,649.004273306,629,651,0.40420106284,-0.015379218811,0.0498024079019,0.999999934506,-0.00011210686373,-0.00033673579793,-7.09196734666e-05,1793193447384865280
+338,5.633333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,660,633,876,784,800,649.57918028,629,651,0.403876004391,-0.015381864616,0.0498327772291,0.999999949244,-0.000101959143612,-0.000294091563733,-6.80199632583e-05,1793193447401531648
+339,5.650000000,POSE2_TO_POSE3_RETREAT,764,742,712,671.846138397,659.846138397,633,876,784,800,649.846138397,629,650.846138397,0.403554001989,-0.0153848440677,0.0498562610983,0.999999958973,-9.64734095219e-05,-0.000261610281017,-6.56272779992e-05,1793193447418198272
+340,5.666666667,POSE2_TO_POSE3_RETREAT,764,742,712,671.272073208,659.272073208,633,876,784,800,649.272073208,629,650.272073208,0.403240345729,-0.0153887347257,0.0498609404508,0.999999959538,-0.000103719786134,-0.000256884509077,-6.46193024039e-05,1793193447434864896
+341,5.683333333,POSE2_TO_POSE3_RETREAT,764,742,712,671,659,633,876,784,800,649,629,650,0.402936115667,-0.0153902577324,0.0498565240012,0.999999955581,-0.000109566883916,-0.000269466571587,-6.49658620307e-05,1793193447451531520
+342,5.700000000,POSE2_TO_POSE3_RETREAT,764,742,712,671,659,633,876,784,800,649,629,650,0.402640377954,-0.0153896476544,0.0498439128843,0.999999946976,-0.000114153331065,-0.000297641755045,-6.65327610268e-05,1793193447468198144
+343,5.716666667,POSE2_TO_POSE3_RETREAT,764,742,712,671.484953879,659.484953879,633,876,784,800,649.484953879,629,650.484953879,0.402386836122,-0.0153877043073,0.0498312821782,0.999999940116,-0.000115773112308,-0.000318897301234,-6.83310148698e-05,1793193447484865024
+344,5.733333333,POSE2_TO_POSE3_RETREAT,764,742.061607626,712,671.938392374,659.938392374,633,876,784.061607626,800,650,629,651,0.402147501846,-0.0153859008154,0.0498197589396,0.999999933886,-0.000116515997147,-0.000337313780391,-6.98024325338e-05,1793193447501531904
+345,5.750000000,POSE2_TO_POSE3_RETREAT,764,742.633705444,712,671.366294556,659.366294556,633,876,784.633705444,800,650,629,651,0.40195938346,-0.0153873577138,0.0498174432214,0.999999932237,-0.000114668909359,-0.000343112203762,-6.82009693094e-05,1793193447518198272
+346,5.766666667,POSE2_TO_POSE3_RETREAT,764,742.786547621,711.786547621,671,659,633.213452379,876.213452379,784.786547621,800,649.786547621,629,651,0.401787472926,-0.0153881856642,0.0498178352193,0.999999933155,-0.000111181479512,-0.00034191334948,-6.65064028583e-05,1793193447534864896
+347,5.783333333,POSE2_TO_POSE3_RETREAT,764,742.193186633,711.193186633,671,659,633.806813367,876.806813367,784.193186633,800,649.193186633,629,651,0.401644409612,-0.0153878941951,0.0498230464875,0.999999938544,-0.000104774522433,-0.000328260540911,-6.46461288029e-05,1793193447551531776
+348,5.800000000,POSE2_TO_POSE3_RETREAT,764,742.389600386,711.389600386,670.610399614,659.389600386,633.610399614,876.610399614,784,800,649.389600386,629,651,0.401521925708,-0.015388336798,0.0498267324467,0.999999941783,-0.000104454502365,-0.000318455539767,-6.41042222215e-05,1793193447568198400
+349,5.816666667,POSE2_TO_POSE3_RETREAT,764,742.967282807,711.967282807,670.032717193,659.967282807,633.032717193,876.032717193,784,800,649.967282807,629,651,0.401409376631,-0.0153891337787,0.0498296820538,0.999999943999,-0.000107072988834,-0.000310508090634,-6.4198765661e-05,1793193447584864768
+350,5.833333333,POSE2_TO_POSE3_RETREAT,763.455937285,742.455937285,712,670.544062715,659.455937285,633,876,784,800,649.455937285,629,651,0.401324577288,-0.0153921613851,0.0498341056755,0.999999946084,-0.000112140525803,-0.000301938393215,-6.39546500556e-05,1793193447601531392
+351,5.850000000,POSE2_TO_POSE3_RETREAT,763.120179512,742,712,671.120179512,659,633,876,784,800,649.120179512,629,651,0.401245849136,-0.0153961141362,0.0498380700044,0.999999947608,-0.000118400313385,-0.000294461037076,-6.37039021998e-05,1793193447618198016
+352,5.866666667,POSE2_TO_POSE3_RETREAT,763.69399796,742,712,671.69399796,659,633,876,784,800,649.69399796,629,651,0.401183749263,-0.0154030535199,0.0498399666203,0.999999947301,-0.000128605474769,-0.000291247925228,-6.35048646283e-05,1793193447634864896
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764,742,712,671.723280209,659,633,876,784,800,650,629,651,0.401128312904,-0.0154068761244,0.0498408072079,0.999999946974,-0.000133832262405,-0.000290035497714,-6.34090964592e-05,1793193447651531520
+354,5.900000000,POSE2_TO_POSE3_RETREAT,764,742,712,671.130385575,659,633,876,784,800,650,629,651,0.401080490154,-0.0154071375548,0.0498404411973,0.999999946722,-0.000133370852961,-0.000291109014821,-6.34313219907e-05,1793193447668198400
+355,5.916666667,POSE2_TO_POSE3_RETREAT,764,742,712,671,659,633,876.45030946,784,800,650,629,650.54969054,0.401050414652,-0.015408210251,0.049841127158,0.999999947475,-0.000134152482079,-0.000288185056245,-6.32617524433e-05,1793193447684865024
+356,5.933333333,POSE2_TO_POSE3_RETREAT,764,742,712,671,659.027416795,633,876.972583205,784.027416795,800.027416795,650,629,650.027416795,0.401025689095,-0.0154094097255,0.0498420488649,0.999999948456,-0.000135126314868,-0.000284349492747,-6.30376113513e-05,1793193447701531648
+357,5.950000000,POSE2_TO_POSE3_RETREAT,764,742,712,671,659.601562595,633,876.398437405,784.601562595,800.601562595,650,629,650.601562595,0.401007879838,-0.0154085766754,0.0498417578531,0.999999948633,-0.000132945013712,-0.000284807716029,-6.28034448667e-05,1793193447718198272
+358,5.966666667,POSE2_TO_POSE3_RETREAT,764,742,712,671,660,633,876.180523517,784.819476483,800.638952966,650,628.819476483,651,0.400992343955,-0.0154081971124,0.0498417973621,0.999999948745,-0.000132021994392,-0.000284858061726,-6.27367454134e-05,1793193447734864640
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764,742,712,671,660,633,876.770403158,784.229596842,799.459193685,650,628.229596842,651,0.400981963188,-0.0154088458797,0.0498425863621,0.999999948717,-0.000133952262203,-0.000283983501901,-6.30497951558e-05,1793193447751531264
+360,6.000000000,POSE2_TO_POSE3_RETREAT,764,742,711.64677555,671,659.64677555,633,876.64677555,784,799,650,628.35322445,650.64677555,0.400977216907,-0.015409166544,0.0498443159164,0.999999949665,-0.000133507577644,-0.000280916809405,-6.27038637407e-05,1793193447768198144
+361,6.016666667,POSE2_TO_POSE3_RETREAT,764,742,711.068452263,671,659.068452263,633,876.068452263,784,799,650,628.931547737,650.068452263,0.400976061307,-0.0154092781186,0.0498466448563,0.999999951216,-0.000131549410794,-0.000276453139588,-6.19379843813e-05,1793193447784864768
+362,6.033333333,POSE2_TO_POSE3_RETREAT,764.508644708,742,711.508644708,671.508644708,659,633,876.508644708,784,799.508644708,649.491355292,629,650.508644708,0.400973957,-0.0154099163727,0.0498463169235,0.99999995113,-0.000131143615616,-0.000276917237459,-6.21065772774e-05,1793193447801531648
+363,6.050000000,POSE2_TO_POSE3_RETREAT,764.914628889,742,711.914628889,671.914628889,659,633,876.914628889,784,800,649,629,651,0.400971783082,-0.0154105305679,0.0498456509382,0.999999950806,-0.000131277818253,-0.000277970838266,-6.23405824905e-05,1793193447818198528
+364,6.066666667,POSE2_TO_POSE3_RETREAT,764.339084632,742,711.339084632,671.339084632,659,633,876.339084632,784,800,649,629,651,0.400969940785,-0.0154106006383,0.0498450919981,0.999999950365,-0.000133315877405,-0.000278610637264,-6.222983246e-05,1793193447834864896
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764,742,711.243064894,671,659.486129789,633,876.243064894,784,800.243064894,649,629,651,0.400969563207,-0.0154113371737,0.0498457372746,0.999999950396,-0.000135246061596,-0.000277631310538,-6.19458054492e-05,1793193447851531520
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764,742,711.834686384,671,660.669372767,633,876.834686384,784,800.834686384,649,629,651,0.400971286044,-0.0154130294242,0.0498481094054,0.999999951098,-0.00013702155229,-0.000274330147251,-6.14132981599e-05,1793193447868198144
+367,6.116666667,POSE2_TO_POSE3_RETREAT,764,742,712,671.418069344,660.163861312,633,877.418069344,784.418069344,800.581930656,649,629,651,0.400972290311,-0.0154125617815,0.0498489880841,0.99999995185,-0.000135381916057,-0.00027242409726,-6.1300750358e-05,1793193447884864768
+368,6.133333333,POSE2_TO_POSE3_RETREAT,764,742,712,671.998257556,659.003484889,633,877.998257556,784.998257556,800.001742444,649,629,651,0.400973015931,-0.0154112565756,0.0498492876319,0.999999952614,-0.000132417962379,-0.000271059044167,-6.13510543949e-05,1793193447901531392
+369,6.150000000,POSE2_TO_POSE3_RETREAT,764,742,711.42796942,672,659.57203058,633,876.85593884,784.42796942,800,649,628.42796942,650.42796942,0.400970520511,-0.015411464676,0.0498481276282,0.999999952174,-0.000131600774031,-0.000273076200055,-6.13387933218e-05,1793193447918198016
+370,6.166666667,POSE2_TO_POSE3_RETREAT,764,742,711.14940582,671.85059418,660,633,876.14940582,784,800,649,628,650.14940582,0.400968857203,-0.0154118055455,0.0498473497647,0.999999951859,-0.000131416500691,-0.000274322101094,-6.13072985963e-05,1793193447934865152
+371,6.183333333,POSE2_TO_POSE3_RETREAT,764,742,711.737412474,671.262587526,660,633,876.737412474,784,800,649,628,650.737412474,0.400969665156,-0.0154125227948,0.0498477066318,0.999999951933,-0.00013307125065,-0.000273273970891,-6.12198941671e-05,1793193447951532032
+372,6.200000000,POSE2_TO_POSE3_RETREAT,764,742.320654875,712,671.320654875,660,633,877,784,800,649,628.320654875,651,0.400969794939,-0.0154127143599,0.0498479584099,0.999999952105,-0.000132711694579,-0.000272824038881,-6.11962463305e-05,1793193447968198912
+373,6.216666667,POSE2_TO_POSE3_RETREAT,764,742.900052963,712,671.900052963,660,633,877,784,800,649,628.900052963,651,0.400969377494,-0.0154124817394,0.0498481253894,0.999999952356,-0.000130726752475,-0.000272856805552,-6.12240450298e-05,1793193447984865024
+374,6.233333333,POSE2_TO_POSE3_RETREAT,764,742.522574616,712,671.522574616,659.522574616,633,876.522574616,784,799.522574616,649.477425384,628.522574616,651,0.400968566911,-0.0154129594525,0.0498477602435,0.999999951921,-0.000131789381587,-0.000273937329964,-6.12128093614e-05,1793193448001531392
+375,6.250000000,POSE2_TO_POSE3_RETREAT,764,742,712,671,659,633,876,784.05424125,799.05424125,649.94575875,628.05424125,651,0.400967840769,-0.0154136357173,0.0498473887063,0.999999951431,-0.000133391116826,-0.000274957648052,-6.1175803577e-05,1793193448018198016
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764,742,712,671,659,633,876,784.629766985,799.629766985,649.370233015,628.629766985,651,0.400968713772,-0.015414797067,0.0498480218114,0.999999951808,-0.00013406837455,-0.000273300262515,-6.09693365901e-05,1793193448034864896
+377,6.283333333,POSE2_TO_POSE3_RETREAT,764,742,712,671,659,633,876.21005456,784.78994544,800,649.21005456,629,651,0.400969565266,-0.0154152758842,0.0498488828489,0.999999952189,-0.000134017190927,-0.000271959875243,-6.08282447873e-05,1793193448051531776
+378,6.300000000,POSE2_TO_POSE3_RETREAT,764,742,712,671,659,633,876.798929792,784.201070208,800,649.798929792,629,651,0.400970377971,-0.0154145237955,0.0498501549484,0.999999952581,-0.000132652307423,-0.000271191175237,-6.08050531805e-05,1793193448068198400
+379,6.316666667,POSE2_TO_POSE3_RETREAT,763.618106153,742,712,671,659.381893847,633,877,784.381893847,800,649.618106153,629,650.618106153,0.400970495439,-0.0154141035703,0.0498504519721,0.999999952977,-0.000131019822303,-0.000270525672571,-6.07894931571e-05,1793193448084865024
+380,6.333333333,POSE2_TO_POSE3_RETREAT,763.038206959,742,712,671,659.961793041,633,877,784.961793041,800,649.038206959,629,650.038206959,0.40097025244,-0.0154138554106,0.0498502434357,0.999999953374,-0.000129248590422,-0.000269913675962,-6.07778899783e-05,1793193448101531904
+381,6.350000000,POSE2_TO_POSE3_RETREAT,763.536880647,742.536880647,712,671.536880647,660,633,877,784.463119353,800,649.536880647,629,650.536880647,0.400970067676,-0.0154139247629,0.0498503497889,0.999999953339,-0.00012962217751,-0.00026992414957,-6.05000083115e-05,1793193448118198784
+382,6.366666667,POSE2_TO_POSE3_RETREAT,764,742.888166376,712,672,659.888166376,633,877,784,800,649.888166376,629,651,0.400970054254,-0.0154140033427,0.0498505299571,0.999999953325,-0.000130169890778,-0.000269763061285,-6.02762142926e-05,1793193448134865152
+383,6.383333333,POSE2_TO_POSE3_RETREAT,764,742.312364124,712,672,659.312364124,633,877,784,800,649.312364124,629,651,0.400970734646,-0.0154140272938,0.0498509242212,0.999999953521,-0.000130812388228,-0.000268708059191,-6.03547347236e-05,1793193448151531776
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764,742,712,671.730451141,659,633,877,784,800,649,629,651,0.400970930208,-0.0154150132362,0.0498509514813,0.999999953491,-0.00013196636828,-0.000268278151748,-6.02416283848e-05,1793193448168198144
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764,742,712,671.141292457,659,633,877,784,800,649,629,651,0.400970550898,-0.0154171398323,0.0498505435772,0.999999953194,-0.000133726824232,-0.00026858943221,-5.99013061127e-05,1793193448184865024
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764,742,712,671,659,633,877.440107976,784,800,649,629,651,0.400970682514,-0.0154168613832,0.0498505334725,0.999999953267,-0.000133604216209,-0.000268375131453,-5.99283845023e-05,1793193448201531648
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764,742,712,671.018934829,659,633,877.962130342,784,800,649.018934829,629,651,0.400970972448,-0.0154158130407,0.0498506655448,0.999999953458,-0.00013291331778,-0.000267973160306,-6.00745841323e-05,1793193448218198272
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764,742,712,671.594061238,659,633,876.811877524,784,800,649.594061238,629,651,0.400971178102,-0.0154144371205,0.0498512875631,0.999999953714,-0.000132979592124,-0.000266929058998,-6.03151917992e-05,1793193448234865664
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_06/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_06/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7454e88a633d634608dd4972151567aac02d904a
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_06/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
+0,0.000000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+1,0.016666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+2,0.033333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+3,0.050000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+4,0.066666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+5,0.083333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+6,0.100000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+7,0.116666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+8,0.133333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+9,0.150000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+10,0.166666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+11,0.183333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+12,0.200000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+13,0.216666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+14,0.233333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+15,0.250000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+16,0.266666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+17,0.283333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+18,0.300000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+19,0.316666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+20,0.333333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+21,0.350000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+22,0.366666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+23,0.383333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+24,0.400000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+25,0.416666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+26,0.433333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+27,0.450000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+28,0.466666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+29,0.483333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+30,0.500000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+31,0.516666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+32,0.533333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+33,0.550000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+34,0.566666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+35,0.583333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+36,0.600000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+37,0.616666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+38,0.633333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+39,0.650000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+40,0.666666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+41,0.683333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+42,0.700000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+43,0.716666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+44,0.733333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+45,0.750000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+46,0.766666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+47,0.783333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+48,0.800000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+49,0.816666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+50,0.833333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+51,0.850000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+52,0.866666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+53,0.883333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+54,0.900000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+55,0.916666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+56,0.933333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+57,0.950000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+58,0.966666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+59,0.983333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+60,1.000000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+61,1.016666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+62,1.033333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+63,1.050000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+64,1.066666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+65,1.083333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+66,1.100000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+67,1.116666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+68,1.133333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+69,1.150000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+70,1.166666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+71,1.183333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+72,1.200000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+73,1.216666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+74,1.233333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+75,1.250000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+76,1.266666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+77,1.283333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+78,1.300000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+79,1.316666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+80,1.333333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+81,1.350000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+82,1.366666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+83,1.383333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+84,1.400000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+85,1.416666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+86,1.433333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+87,1.450000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+88,1.466666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+89,1.483333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+90,1.500000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+91,1.516666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+92,1.533333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+93,1.550000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+94,1.566666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+95,1.583333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+96,1.600000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+97,1.616666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+98,1.633333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+99,1.650000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+100,1.666666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+101,1.683333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+102,1.700000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+103,1.716666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+104,1.733333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+105,1.750000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+106,1.766666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+107,1.783333333,pose1_to_pose2_press,0.575709242258,-0.00994531867307,1.04002929125,0.546279971438,-0.00127259288748,1.03969857948
+108,1.800000000,pose1_to_pose2_press,0.575709264878,-0.0099453411041,1.0400291715,0.546279993906,-0.00127261552001,1.03969846797
+109,1.816666667,pose1_to_pose2_press,0.575709376479,-0.00994533060481,1.04002913639,0.546280105297,-0.0012726056544,1.03969843495
+110,1.833333333,pose1_to_pose2_press,0.575709586226,-0.00994529625574,1.04002913744,0.546280314714,-0.00127257245279,1.03969843527
+111,1.850000000,pose1_to_pose2_press,0.575710160854,-0.00994524417554,1.04002908786,0.546280888668,-0.00127252270087,1.03969838449
+112,1.866666667,pose1_to_pose2_press,0.575711567611,-0.00994522615704,1.04002890561,0.546282294699,-0.00127250716858,1.0396982018
+113,1.883333333,pose1_to_pose2_press,0.575715852456,-0.00994541154605,1.04002900388,0.546286581889,-0.0012726845098,1.03969830226
+114,1.900000000,pose1_to_pose2_press,0.575724288139,-0.00994545668989,1.04002909439,0.546295019214,-0.00127272446954,1.03969838261
+115,1.916666667,pose1_to_pose2_press,0.575738913267,-0.0099454853941,1.04002914602,0.546309644505,-0.00127275264152,1.03969843371
+116,1.933333333,pose1_to_pose2_press,0.575760479469,-0.00994542268124,1.04002904055,0.546331207795,-0.00127269956257,1.03969833457
+117,1.950000000,pose1_to_pose2_press,0.575789468016,-0.00994536270455,1.04002919275,0.546360197431,-0.00127263623871,1.0396984776
+118,1.966666667,pose1_to_pose2_press,0.575827107601,-0.00994539850514,1.04002912214,0.546397837401,-0.00127267047127,1.03969841384
+119,1.983333333,pose1_to_pose2_press,0.575872858988,-0.00994539582166,1.04002906824,0.546443588721,-0.00127266788009,1.03969836342
+120,2.000000000,pose1_to_pose2_press,0.575926327129,-0.00994546687197,1.04002914424,0.546497057492,-0.00127273708833,1.03969843165
+121,2.016666667,pose1_to_pose2_press,0.575988907173,-0.00994551525644,1.04002909231,0.546559638239,-0.0012727830498,1.03969838056
+122,2.033333333,pose1_to_pose2_press,0.576062783445,-0.00994556241526,1.04002905463,0.546633514606,-0.00127282931947,1.03969835777
+123,2.050000000,pose1_to_pose2_press,0.576148128958,-0.00994541757411,1.04002897879,0.546718858785,-0.00127268934902,1.03969827282
+124,2.066666667,pose1_to_pose2_press,0.576245496938,-0.00994527772949,1.04002928966,0.546816225019,-0.00127255563275,1.03969857827
+125,2.083333333,pose1_to_pose2_press,0.576357148882,-0.00994551263043,1.04002917175,0.546927880405,-0.00127277884676,1.03969846055
+126,2.100000000,pose1_to_pose2_press,0.576483384448,-0.00994537342404,1.04002907596,0.547054113263,-0.00127264886749,1.03969836376
+127,2.116666667,pose1_to_pose2_press,0.576627989435,-0.00994548335958,1.04002939618,0.547198719118,-0.00127275597695,1.03969868074
+128,2.133333333,pose1_to_pose2_press,0.576792038656,-0.00994549220978,1.04002930747,0.547362770826,-0.00127275622138,1.03969859637
+129,2.150000000,pose1_to_pose2_press,0.576977201242,-0.00994549021206,1.04002928308,0.54754793253,-0.00127275711125,1.03969857463
+130,2.166666667,pose1_to_pose2_press,0.57718699358,-0.00994557456691,1.04002910298,0.547757725706,-0.00127283870462,1.03969839238
+131,2.183333333,pose1_to_pose2_press,0.577420766831,-0.00994537798943,1.04002933748,0.547991495978,-0.00127265213754,1.03969862938
+132,2.200000000,pose1_to_pose2_press,0.577679592181,-0.00994536073133,1.04002909356,0.54825032116,-0.00127263532935,1.03969838858
+133,2.216666667,pose1_to_pose2_press,0.577961754421,-0.00994530734852,1.04002894327,0.548532482413,-0.00127258543882,1.03969823447
+134,2.233333333,pose1_to_pose2_press,0.578267748104,-0.0099453922917,1.04002922104,0.548838476199,-0.00127266997044,1.03969851382
+135,2.250000000,pose1_to_pose2_press,0.578595671097,-0.00994536985106,1.04002918997,0.549166399519,-0.00127264650622,1.03969848042
+136,2.266666667,pose1_to_pose2_press,0.578945570937,-0.00994543921419,1.04002930177,0.549516301639,-0.0012727083885,1.03969858547
+137,2.283333333,pose1_to_pose2_press,0.57930879756,-0.0099454031172,1.04002930878,0.549879527572,-0.00127267451346,1.03969859554
+138,2.300000000,pose1_to_pose2_press,0.579686666252,-0.00994551023824,1.04002920251,0.550257397107,-0.00127277868991,1.03969849139
+139,2.316666667,pose1_to_pose2_press,0.580086637087,-0.00994548220469,1.04002910518,0.550657367878,-0.00127275096886,1.03969839154
+140,2.333333333,pose1_to_pose2_press,0.58050824932,-0.00994551866047,1.0400292417,0.551078979754,-0.00127278878071,1.03969852414
+141,2.350000000,pose1_to_pose2_press,0.58095337162,-0.00994547940398,1.04002926411,0.551524100756,-0.00127275395456,1.0396985459
+142,2.366666667,pose1_to_pose2_press,0.581436541088,-0.00994551538905,1.04002933401,0.552007271897,-0.00127278420043,1.03969861737
+143,2.383333333,pose1_to_pose2_press,0.581956385868,-0.00994547574591,1.04002914502,0.552527117115,-0.00127274282256,1.0396984349
+144,2.400000000,pose1_to_pose2_press,0.582502852834,-0.00994546493221,1.04002898635,0.553073583686,-0.00127273320051,1.03969828008
+145,2.416666667,pose1_to_pose2_press,0.583071685982,-0.00994550906706,1.04002920758,0.553642416856,-0.00127277754003,1.03969849398
+146,2.433333333,pose1_to_pose2_press,0.583660216857,-0.00994549527161,1.04002915699,0.55423094777,-0.00127276348041,1.0396984468
+147,2.450000000,pose1_to_pose2_press,0.584255466361,-0.00994550628318,1.04002904888,0.55482619729,-0.00127277441641,1.03969833919
+148,2.466666667,pose1_to_pose2_press,0.584854759862,-0.00994554254899,1.04002908609,0.555425490592,-0.00127281170611,1.03969836717
+149,2.483333333,pose1_to_pose2_press,0.585479327624,-0.00994555173382,1.04002913433,0.556050058767,-0.00127281942234,1.03969841717
+150,2.500000000,pose1_to_pose2_press,0.586129536916,-0.00994552404165,1.04002911982,0.556700268102,-0.0012727912676,1.039698411
+151,2.516666667,pose1_to_pose2_press,0.586801876742,-0.00994553592079,1.04002894889,0.557372607744,-0.0012728037509,1.03969824057
+152,2.533333333,pose1_to_pose2_press,0.587496163489,-0.00994551852084,1.04002890109,0.558066894064,-0.00127278788696,1.03969819049
+153,2.550000000,pose1_to_pose2_press,0.588212420114,-0.00994542952892,1.04002905336,0.558783149847,-0.00127270175188,1.03969834276
+154,2.566666667,pose1_to_pose2_press,0.588936079881,-0.00994537620898,1.04002903848,0.559506810434,-0.00127264546693,1.03969833269
+155,2.583333333,pose1_to_pose2_press,0.589668489484,-0.00994539254125,1.04002907957,0.560239220381,-0.00127266061629,1.03969837414
+156,2.600000000,pose1_to_pose2_press,0.590418609359,-0.00994549168453,1.04002910381,0.56098933977,-0.00127276166883,1.03969839163
+157,2.616666667,pose1_to_pose2_press,0.591182434112,-0.00994549355556,1.04002909713,0.561753165315,-0.00127276090177,1.03969838361
+158,2.633333333,pose1_to_pose2_press,0.591950322234,-0.00994546880491,1.04002937456,0.562521053617,-0.00127273560896,1.03969865924
+159,2.650000000,pose1_to_pose2_press,0.592726780054,-0.00994538583875,1.04002915852,0.563297509535,-0.00127265900544,1.03969844567
+160,2.666666667,pose1_to_pose2_press,0.593517086501,-0.00994534160644,1.04002904245,0.564087814624,-0.00127261919292,1.03969833458
+161,2.683333333,pose1_to_pose2_press,0.594312701764,-0.00994537096881,1.04002912197,0.564883430606,-0.00127264630845,1.0396984091
+162,2.700000000,pose1_to_pose2_press,0.595115278791,-0.00994543226041,1.04002928802,0.56568601011,-0.00127269904504,1.03969857906
+163,2.716666667,pose1_to_pose2_press,0.595921435102,-0.00994544830928,1.04002927469,0.566492167034,-0.00127271340876,1.03969855548
+164,2.733333333,pose1_to_pose2_press,0.596724861079,-0.00994536043223,1.04002910688,0.567295591258,-0.00127263111958,1.03969839717
+165,2.750000000,pose1_to_pose2_press,0.597525465433,-0.00994548666052,1.0400292892,0.568096197306,-0.00127275181447,1.03969857383
+166,2.766666667,pose1_to_pose2_press,0.598323584508,-0.00994552553158,1.04002916766,0.568894314836,-0.00127279570014,1.03969845838
+167,2.783333333,pose1_to_pose2_press,0.599120525853,-0.00994541773656,1.04002912496,0.56969125532,-0.00127269043949,1.03969842596
+168,2.800000000,pose1_to_pose2_press,0.599909816427,-0.00994559638138,1.04002919873,0.570480547143,-0.00127286535433,1.03969848636
+169,2.816666667,pose1_to_pose2_press,0.600687017035,-0.00994544570402,1.04002927717,0.571257746702,-0.00127271825319,1.03969856442
+170,2.833333333,pose1_to_pose2_press,0.601452835963,-0.00994544340275,1.04002909916,0.572023567547,-0.00127270955825,1.03969838362
+171,2.850000000,pose1_to_pose2_press,0.602208393872,-0.00994531691134,1.04002929446,0.572779122974,-0.00127259148659,1.03969857908
+172,2.866666667,pose1_to_pose2_press,0.602953981197,-0.00994540221662,1.04002903804,0.57352471145,-0.00127267255048,1.03969833156
+173,2.883333333,pose1_to_pose2_press,0.603698131889,-0.00994543809569,1.04002903127,0.574268862287,-0.00127270783801,1.03969832742
+174,2.900000000,pose1_to_pose2_press,0.60443644519,-0.00994548422555,1.04002930108,0.575007175291,-0.00127275532948,1.03969858806
+175,2.916666667,pose1_to_pose2_press,0.605158342816,-0.00994547131506,1.04002932531,0.575729073058,-0.0012727421531,1.03969860675
+176,2.933333333,pose1_to_pose2_press,0.605863834029,-0.00994548175285,1.0400291932,0.576434563952,-0.00127275346794,1.03969848012
+177,2.950000000,pose1_to_pose2_press,0.606551452273,-0.00994523783702,1.04002915485,0.577122180556,-0.00127251484749,1.03969844892
+178,2.966666667,pose1_to_pose2_press,0.607222827444,-0.00994546419847,1.04002930453,0.57779355891,-0.00127273068397,1.03969859155
+179,2.983333333,pose1_to_pose2_press,0.607874719613,-0.00994536138124,1.04002893823,0.578445449193,-0.00127263410414,1.03969822954
+180,3.000000000,pose1_to_pose2_press,0.608504430152,-0.0099453806973,1.04002939139,0.579075158631,-0.00127265715755,1.03969868272
+181,3.016666667,pose1_to_pose2_press,0.60911230283,-0.00994534519017,1.04002918646,0.579683032981,-0.00127261610999,1.03969847442
+182,3.033333333,pose1_to_pose2_press,0.609701719637,-0.00994553730656,1.04002906753,0.580272450302,-0.00127280650972,1.03969835482
+183,3.050000000,pose1_to_pose2_press,0.610277162951,-0.00994545244077,1.040029189,0.580847892758,-0.00127272460479,1.03969847512
+184,3.066666667,pose1_to_pose2_press,0.610837630396,-0.00994549632873,1.04002942147,0.581408362074,-0.00127276211793,1.03969870831
+185,3.083333333,pose1_to_pose2_press,0.611374398871,-0.00994549693416,1.04002941647,0.581945130209,-0.00127276376087,1.03969870636
+186,3.100000000,pose1_to_pose2_press,0.611882957815,-0.00994539664892,1.04002937413,0.582453688812,-0.00127266436984,1.03969867142
+187,3.116666667,pose1_to_pose2_press,0.612350752809,-0.00994558570232,1.04002923433,0.582921486891,-0.00127284364539,1.03969851113
+188,3.133333333,pose1_to_pose2_press,0.612784158247,-0.00994543455987,1.04002931213,0.58335488837,-0.00127270536052,1.03969859629
+189,3.150000000,pose1_to_pose2_press,0.613189687576,-0.00994561360204,1.04002931331,0.583760420382,-0.00127287479664,1.03969859784
+190,3.166666667,pose1_to_pose2_press,0.613575412023,-0.00994539766623,1.04002917179,0.584146139842,-0.00127267467046,1.03969846322
+191,3.183333333,pose1_to_pose2_press,0.613942096573,-0.00994540358932,1.04002917246,0.584512825824,-0.00127267513878,1.03969846121
+192,3.200000000,pose1_to_pose2_press,0.614293270733,-0.00994546656098,1.04002927789,0.584864000268,-0.0012727365066,1.0396985635
+193,3.216666667,pose1_to_pose2_press,0.614626247248,-0.00994549910816,1.04002921377,0.585196978364,-0.00127276304698,1.03969849876
+194,3.233333333,pose1_to_pose2_press,0.614929802678,-0.00994540887139,1.04002928333,0.585500532762,-0.00127267547473,1.03969857169
+195,3.250000000,pose1_to_pose2_press,0.615206790796,-0.00994549294273,1.04002909449,0.585777520916,-0.0012727587017,1.03969838683
+196,3.266666667,pose1_to_pose2_press,0.615457087969,-0.00994550880506,1.0400290552,0.586027818021,-0.00127277426698,1.03969834522
+197,3.283333333,pose1_to_pose2_press,0.61568279807,-0.00994554138272,1.04002903931,0.586253526852,-0.00127281048599,1.03969833441
+198,3.300000000,pose1_to_pose2_press,0.615884305278,-0.00994539050881,1.04002902845,0.586455031773,-0.00127266671619,1.03969832601
+199,3.316666667,pose1_to_pose2_press,0.616066946014,-0.00994538926024,1.04002898612,0.586637672212,-0.00127266638969,1.03969827656
+200,3.333333333,pose1_to_pose2_press,0.616232167377,-0.00994551502173,1.04002899182,0.586802895163,-0.00127278642432,1.03969828129
+201,3.350000000,pose1_to_pose2_press,0.616380885377,-0.00994550967754,1.04002906682,0.586951614011,-0.001272777502,1.03969836448
+202,3.366666667,pose1_to_pose2_press,0.616515301166,-0.00994542231903,1.04002915358,0.587086028471,-0.00127269457606,1.03969844761
+203,3.383333333,pose1_to_pose2_press,0.616635217439,-0.00994545205292,1.04002921,0.587205943535,-0.001272728654,1.03969849059
+204,3.400000000,pose1_to_pose2_press,0.616741855681,-0.00994547296917,1.04002913778,0.587312583286,-0.00127274375705,1.03969842926
+205,3.416666667,pose1_to_pose2_press,0.616835558186,-0.00994541452093,1.04002905869,0.587406285199,-0.00127268692506,1.039698355
+206,3.433333333,pose1_to_pose2_press,0.616915786841,-0.00994544421687,1.04002927923,0.587486516029,-0.00127270921018,1.03969857307
+207,3.450000000,pose1_to_pose2_press,0.616983431147,-0.0099454038898,1.04002942249,0.587554158878,-0.00127267417216,1.03969870581
+208,3.466666667,pose1_to_pose2_press,0.617038341723,-0.00994544868684,1.04002930347,0.587609069128,-0.00127271979996,1.03969858857
+209,3.483333333,pose1_to_pose2_press,0.617083188571,-0.0099454776168,1.04002914887,0.587653916324,-0.00127274680575,1.03969844333
+210,3.500000000,pose1_to_pose2_press,0.617118605794,-0.00994546977782,1.04002918836,0.587689332282,-0.00127274400195,1.03969847405
+211,3.516666667,pose1_to_pose2_press,0.617146458254,-0.00994542739652,1.04002918858,0.587717185533,-0.00127269832639,1.03969847558
+212,3.533333333,pose1_to_pose2_press,0.617167832736,-0.00994538735983,1.04002900861,0.587738560083,-0.00127265789391,1.03969830154
+213,3.550000000,pose1_to_pose2_press,0.617184229484,-0.00994537823515,1.04002904526,0.587754955953,-0.00127265184025,1.03969833715
+214,3.566666667,pose1_to_pose2_press,0.617196324456,-0.00994544922114,1.04002912912,0.587767050964,-0.00127272274637,1.0396984174
+215,3.583333333,pose1_to_pose2_press,0.617204339342,-0.00994557480892,1.04002904663,0.587775067335,-0.00127284327389,1.03969833486
+216,3.600000000,pose1_to_pose2_press,0.617209593648,-0.00994550094179,1.04002906613,0.587780320236,-0.00127277445782,1.03969835117
+217,3.616666667,pose1_to_pose2_press,0.617212633774,-0.00994548040054,1.04002909264,0.587783360259,-0.00127275432109,1.03969837735
+218,3.633333333,pose1_to_pose2_press,0.61721429096,-0.00994549866985,1.04002912731,0.587785018333,-0.00127276946845,1.03969841385
+219,3.650000000,pose1_to_pose2_press,0.61721509895,-0.00994550757737,1.04002914421,0.587785826756,-0.00127277685381,1.03969843165
+220,3.666666667,pose1_to_pose2_press,0.61721561517,-0.00994551326833,1.04002915501,0.587786343252,-0.00127278157227,1.03969844302
+221,3.683333333,pose1_to_pose2_press,0.617216062983,-0.00994551820515,1.04002916438,0.587786791304,-0.00127278566546,1.03969845288
+222,3.700000000,pose1_to_pose2_press,0.617216507714,-0.00994552370021,1.04002916928,0.587787236239,-0.00127279043555,1.03969845834
+223,3.716666667,pose1_to_pose2_press,0.617217014403,-0.00994553482889,1.04002913868,0.587787742875,-0.00127280166589,1.03969842894
+224,3.733333333,pose1_to_pose2_press,0.617217595545,-0.00994554759282,1.04002910358,0.587788323957,-0.00127281454644,1.03969839522
+225,3.750000000,pose1_to_pose2_press,0.617218069449,-0.00994555800142,1.04002907496,0.587788797811,-0.00127282505012,1.03969836773
+226,3.766666667,pose1_to_pose2_press,0.617218531667,-0.00994556815335,1.04002904704,0.587789259981,-0.0012728352948,1.03969834091
+227,3.783333333,pose1_to_pose2_press,0.617219101516,-0.0099455727827,1.04002905265,0.587789829743,-0.00127284026486,1.03969834561
+228,3.800000000,pose1_to_pose2_press,0.617219438245,-0.00994556719544,1.0400290982,0.587790166392,-0.00127283511781,1.03969838824
+229,3.816666667,pose1_to_pose2_press,0.617219470559,-0.00994556665925,1.04002910257,0.587790198699,-0.00127283462387,1.03969839233
+230,3.833333333,pose1_to_pose2_press,0.617219529024,-0.00994556568915,1.04002911048,0.58779025715,-0.0012728337302,1.03969839973
+231,3.850000000,pose1_to_pose2_press,0.617219609274,-0.00994556435759,1.04002912134,0.58779033738,-0.00127283250356,1.03969840989
+232,3.866666667,pose1_to_pose2_press,0.617219702249,-0.00994556281487,1.04002913392,0.587790430333,-0.00127283108239,1.03969842166
+233,3.883333333,pose1_to_pose2_press,0.617219811796,-0.00994556099719,1.04002914874,0.587790539854,-0.00127282940792,1.03969843553
+234,3.900000000,pose1_to_pose2_press,0.617220295064,-0.00994555694114,1.04002919827,0.587791022655,-0.00127282711199,1.03969848197
+235,3.916666667,pose1_to_pose2_press,0.617220528956,-0.00994556113604,1.04002919764,0.587791255776,-0.00127283391215,1.03969848154
+236,3.933333333,pose1_to_pose2_press,0.617220580031,-0.00994556205207,1.0400291975,0.587791306683,-0.00127283539709,1.03969848145
+237,3.950000000,pose1_to_pose2_press,0.617220649676,-0.00994550995438,1.04002904249,0.587791376283,-0.00127278328348,1.03969832988
+238,3.966666667,pose1_to_pose2_press,0.617220673244,-0.0099454853698,1.04002896985,0.58779139986,-0.00127275859029,1.03969825885
+239,3.983333333,pose1_to_pose2_press,0.617220687868,-0.00994547011463,1.04002892478,0.587791414467,-0.00127274328757,1.03969821476
+240,4.000000000,pose2_hold,0.617220687868,-0.00994547011463,1.04002892478,0.587791414472,-0.00127274328732,1.03969821476
+241,4.016666667,pose2_hold,0.617220687868,-0.00994547011463,1.04002892478,0.587791414473,-0.00127274328734,1.03969821476
+242,4.033333333,pose2_hold,0.617220687868,-0.00994547011463,1.04002892478,0.587791414473,-0.00127274328737,1.03969821476
+243,4.050000000,pose2_hold,0.617220687868,-0.00994547011463,1.04002892478,0.587791414473,-0.00127274328742,1.03969821476
+244,4.066666667,pose2_hold,0.617220687868,-0.00994547011463,1.04002892478,0.587791414473,-0.00127274328746,1.03969821476
+245,4.083333333,pose2_hold,0.617220687868,-0.00994547011463,1.04002892478,0.587791414473,-0.00127274328708,1.03969821476
+246,4.100000000,pose2_hold,0.617220687868,-0.00994547011463,1.04002892478,0.587791414473,-0.00127274328693,1.03969821476
+247,4.116666667,pose2_hold,0.617220687868,-0.00994547011463,1.04002892478,0.587791414474,-0.00127274328753,1.03969821476
+248,4.133333333,pose2_hold,0.617220687868,-0.00994547011463,1.04002892478,0.587791414473,-0.00127274328736,1.03969821476
+249,4.150000000,pose2_hold,0.617220687868,-0.00994547011463,1.04002892478,0.587791414474,-0.00127274328793,1.03969821476
+250,4.166666667,pose2_hold,0.617220687868,-0.00994547011463,1.04002892478,0.587791414474,-0.00127274328757,1.03969821476
+251,4.183333333,pose2_hold,0.617220687868,-0.00994547011463,1.04002892478,0.587791414474,-0.00127274328758,1.03969821476
+252,4.200000000,pose2_hold,0.617220687868,-0.00994547011463,1.04002892478,0.587791414474,-0.00127274328728,1.03969821476
+253,4.216666667,pose2_hold,0.617220687868,-0.00994547011463,1.04002892478,0.587791414475,-0.00127274328766,1.03969821476
+254,4.233333333,pose2_hold,0.617220687868,-0.00994547011463,1.04002892478,0.587791414475,-0.00127274328756,1.03969821476
+255,4.250000000,pose2_hold,0.617220687868,-0.00994547011463,1.04002892478,0.587791414475,-0.00127274328732,1.03969821476
+256,4.266666667,pose2_to_pose3_retreat,0.617220687868,-0.00994547011463,1.04002892478,0.587791414476,-0.00127274328735,1.03969821476
+257,4.283333333,pose2_to_pose3_retreat,0.617220586455,-0.00994555102644,1.0400290594,0.587791314124,-0.00127282079786,1.03969834468
+258,4.300000000,pose2_to_pose3_retreat,0.617220367584,-0.00994560352763,1.04002905608,0.587791095757,-0.00127287152385,1.0396983427
+259,4.316666667,pose2_to_pose3_retreat,0.617220038358,-0.00994566635946,1.04002905072,0.58779076715,-0.00127293215859,1.03969833932
+260,4.333333333,pose2_to_pose3_retreat,0.617219869699,-0.00994565303344,1.04002904691,0.587790598419,-0.00127291904134,1.03969833642
+261,4.350000000,pose2_to_pose3_retreat,0.617219746607,-0.00994564330776,1.04002904414,0.587790475275,-0.00127290946802,1.0396983343
+262,4.366666667,pose2_to_pose3_retreat,0.617218862071,-0.00994557583948,1.04002902733,0.587789590374,-0.00127284308055,1.03969832186
+263,4.383333333,pose2_to_pose3_retreat,0.617215943793,-0.00994555279945,1.04002920428,0.587786671612,-0.00127282228245,1.03969848419
+264,4.400000000,pose2_to_pose3_retreat,0.617208535137,-0.00994559370968,1.04002919524,0.587779263325,-0.00127286176771,1.03969847866
+265,4.416666667,pose2_to_pose3_retreat,0.617192972476,-0.00994545863125,1.04002917211,0.587763700079,-0.00127272845723,1.03969846229
+266,4.433333333,pose2_to_pose3_retreat,0.617167462806,-0.009945546162,1.04002913373,0.587738191951,-0.00127281064421,1.03969843178
+267,4.450000000,pose2_to_pose3_retreat,0.617129873703,-0.00994555942096,1.04002911469,0.587700602865,-0.00127282427526,1.03969840434
+268,4.466666667,pose2_to_pose3_retreat,0.617080766083,-0.00994556523512,1.04002912549,0.587651495694,-0.00127282894166,1.03969841471
+269,4.483333333,pose2_to_pose3_retreat,0.617020951344,-0.00994546192113,1.0400292742,0.587591679733,-0.00127272990862,1.0396985614
+270,4.500000000,pose2_to_pose3_retreat,0.616951590074,-0.00994549933889,1.04002927351,0.58752231886,-0.00127276583263,1.03969856571
+271,4.516666667,pose2_to_pose3_retreat,0.616872528955,-0.00994554008763,1.04002899115,0.587443257189,-0.00127280824073,1.03969828528
+272,4.533333333,pose2_to_pose3_retreat,0.616781515065,-0.00994549552475,1.04002910359,0.58735224294,-0.00127276526832,1.03969839709
+273,4.550000000,pose2_to_pose3_retreat,0.616677551731,-0.00994545337407,1.04002907814,0.587248278997,-0.0012727255753,1.0396983705
+274,4.566666667,pose2_to_pose3_retreat,0.616556729995,-0.00994533274169,1.04002901974,0.587127455352,-0.00127261157505,1.03969831521
+275,4.583333333,pose2_to_pose3_retreat,0.616418655452,-0.00994531177173,1.04002908221,0.58698938056,-0.00127259170071,1.03969837897
+276,4.600000000,pose2_to_pose3_retreat,0.616260686081,-0.00994540650374,1.04002914966,0.586831412798,-0.0012726814731,1.03969844289
+277,4.616666667,pose2_to_pose3_retreat,0.616083783116,-0.00994540571067,1.04002911313,0.586654510577,-0.00127267869946,1.03969840293
+278,4.633333333,pose2_to_pose3_retreat,0.615886472696,-0.0099454477575,1.04002910116,0.586457201068,-0.00127271808735,1.03969839114
+279,4.650000000,pose2_to_pose3_retreat,0.615669047587,-0.00994553836254,1.04002918154,0.586239776403,-0.00127280777119,1.03969846864
+280,4.666666667,pose2_to_pose3_retreat,0.615431635125,-0.00994541852826,1.04002916687,0.586002362346,-0.00127269403052,1.03969845003
+281,4.683333333,pose2_to_pose3_retreat,0.615170445322,-0.00994540263486,1.04002909328,0.585741173813,-0.00127267405969,1.03969838648
+282,4.700000000,pose2_to_pose3_retreat,0.614885662581,-0.00994538138624,1.04002925348,0.585456390181,-0.00127265644217,1.03969854643
+283,4.716666667,pose2_to_pose3_retreat,0.614574448186,-0.00994552556723,1.04002917114,0.585145177516,-0.00127279562822,1.0396984582
+284,4.733333333,pose2_to_pose3_retreat,0.614233443657,-0.00994561636262,1.0400290522,0.58480417764,-0.00127287119033,1.03969834477
+285,4.750000000,pose2_to_pose3_retreat,0.613861366915,-0.00994540636635,1.04002916053,0.584432096333,-0.00127267762789,1.03969845118
+286,4.766666667,pose2_to_pose3_retreat,0.613456807331,-0.00994531643987,1.04002915157,0.584027537063,-0.00127258700368,1.03969844991
+287,4.783333333,pose2_to_pose3_retreat,0.613021837251,-0.00994548132523,1.04002932305,0.583592568824,-0.00127274694738,1.03969860454
+288,4.800000000,pose2_to_pose3_retreat,0.612555246731,-0.00994560401662,1.04002921614,0.583125978698,-0.0012728688896,1.03969849592
+289,4.816666667,pose2_to_pose3_retreat,0.612064564336,-0.00994546946199,1.04002917415,0.582635295069,-0.00127273850065,1.03969846127
+290,4.833333333,pose2_to_pose3_retreat,0.611551853957,-0.00994540590308,1.04002908809,0.582122584263,-0.00127267643132,1.03969837407
+291,4.850000000,pose2_to_pose3_retreat,0.611015548701,-0.00994543852322,1.0400292566,0.581586280291,-0.0012727042664,1.03969855402
+292,4.866666667,pose2_to_pose3_retreat,0.610454332772,-0.00994548945454,1.04002929629,0.581025064106,-0.00127275649403,1.0396985827
+293,4.883333333,pose2_to_pose3_retreat,0.609861531265,-0.00994537552371,1.04002906412,0.580432261474,-0.00127264633919,1.03969835174
+294,4.900000000,pose2_to_pose3_retreat,0.609239162057,-0.00994536516047,1.04002902738,0.579809893288,-0.00127263210057,1.03969832523
+295,4.916666667,pose2_to_pose3_retreat,0.608589706725,-0.00994543814901,1.04002931219,0.57916043684,-0.00127270947451,1.03969859429
+296,4.933333333,pose2_to_pose3_retreat,0.60792112903,-0.00994550057966,1.04002908225,0.578491859631,-0.00127277017205,1.03969836635
+297,4.950000000,pose2_to_pose3_retreat,0.607235973582,-0.00994550555084,1.04002916549,0.577806703592,-0.00127277693155,1.03969845625
+298,4.966666667,pose2_to_pose3_retreat,0.60653500204,-0.00994535404187,1.04002920413,0.577105731256,-0.00127262839435,1.03969848682
+299,4.983333333,pose2_to_pose3_retreat,0.6058150078,-0.0099454636283,1.04002918547,0.57638573831,-0.00127273335348,1.03969847428
+300,5.000000000,pose2_to_pose3_retreat,0.605067760988,-0.00994558823173,1.04002934899,0.575638491858,-0.00127285726796,1.03969862388
+301,5.016666667,pose2_to_pose3_retreat,0.604300051976,-0.00994525982085,1.04002915751,0.574870780937,-0.00127253458917,1.03969845185
+302,5.033333333,pose2_to_pose3_retreat,0.603518630995,-0.00994535137676,1.04002896247,0.574089360305,-0.00127262546163,1.03969824595
+303,5.050000000,pose2_to_pose3_retreat,0.602723173934,-0.00994543508877,1.04002895513,0.573293904455,-0.00127270492804,1.03969824078
+304,5.066666667,pose2_to_pose3_retreat,0.601912678043,-0.00994563948383,1.04002894904,0.572483410212,-0.0012729036905,1.03969823372
+305,5.083333333,pose2_to_pose3_retreat,0.601097900481,-0.00994547034776,1.04002913776,0.571668632663,-0.00127273403213,1.03969843471
+306,5.100000000,pose2_to_pose3_retreat,0.600277706268,-0.00994545998302,1.04002891808,0.570848437426,-0.00127272718087,1.03969821393
+307,5.116666667,pose2_to_pose3_retreat,0.599454047549,-0.00994532144592,1.0400293189,0.570024775621,-0.0012725997841,1.03969859717
+308,5.133333333,pose2_to_pose3_retreat,0.598634082659,-0.00994554804027,1.04002921191,0.569204814098,-0.00127281475795,1.03969849522
+309,5.150000000,pose2_to_pose3_retreat,0.597817823123,-0.00994547709724,1.04002917106,0.568388554076,-0.00127274514843,1.03969846255
+310,5.166666667,pose2_to_pose3_retreat,0.596991817867,-0.00994556346112,1.04002928654,0.567562550433,-0.00127282628366,1.03969857165
+311,5.183333333,pose2_to_pose3_retreat,0.59615272525,-0.00994542816683,1.04002919441,0.566723455392,-0.00127269905638,1.03969848359
+312,5.200000000,pose2_to_pose3_retreat,0.595302161309,-0.00994539691847,1.04002906282,0.565872891931,-0.00127266598678,1.03969835691
+313,5.216666667,pose2_to_pose3_retreat,0.594444451003,-0.00994538172521,1.04002917078,0.56501518057,-0.00127265467256,1.03969845707
+314,5.233333333,pose2_to_pose3_retreat,0.593582611945,-0.00994537647855,1.04002928697,0.56415334255,-0.00127264589931,1.03969857325
+315,5.250000000,pose2_to_pose3_retreat,0.592739118985,-0.00994552683195,1.04002919157,0.563309851391,-0.00127278998246,1.03969848201
+316,5.266666667,pose2_to_pose3_retreat,0.591920809834,-0.00994536868151,1.04002927434,0.562491540644,-0.00127263732103,1.03969856281
+317,5.283333333,pose2_to_pose3_retreat,0.591118961411,-0.00994537376936,1.04002919181,0.56168969104,-0.00127264625075,1.03969848454
+318,5.300000000,pose2_to_pose3_retreat,0.590332069967,-0.00994537151482,1.04002917043,0.560902798119,-0.00127264913721,1.03969845978
+319,5.316666667,pose2_to_pose3_retreat,0.589554714804,-0.00994553713701,1.04002898841,0.560125445667,-0.0012728054632,1.03969828022
+320,5.333333333,pose2_to_pose3_retreat,0.58878237193,-0.00994552424211,1.04002917368,0.559353103492,-0.00127279025974,1.03969846384
+321,5.350000000,pose2_to_pose3_retreat,0.5880163996,-0.00994550385357,1.04002909101,0.558587130859,-0.00127277124455,1.03969837206
+322,5.366666667,pose2_to_pose3_retreat,0.587266166114,-0.00994540311231,1.04002919333,0.557836896086,-0.00127267472056,1.03969847833
+323,5.383333333,pose2_to_pose3_retreat,0.586535669165,-0.00994542865594,1.04002922783,0.557106399296,-0.00127269968647,1.03969851377
+324,5.400000000,pose2_to_pose3_retreat,0.585829404456,-0.00994545077018,1.0400290952,0.556400135379,-0.00127271900429,1.03969838401
+325,5.416666667,pose2_to_pose3_retreat,0.585144816122,-0.00994529395596,1.04002902084,0.5557155446,-0.00127257020362,1.03969831698
+326,5.433333333,pose2_to_pose3_retreat,0.584484499376,-0.00994526595506,1.04002903087,0.555055227407,-0.00127254376913,1.03969832564
+327,5.450000000,pose2_to_pose3_retreat,0.583847140703,-0.0099454773392,1.04002897759,0.554417871007,-0.00127274758998,1.03969826843
+328,5.466666667,pose2_to_pose3_retreat,0.583235071534,-0.0099454518418,1.04002920422,0.553805802231,-0.00127272087052,1.03969849214
+329,5.483333333,pose2_to_pose3_retreat,0.582653414445,-0.00994544989192,1.04002916791,0.553224145281,-0.00127271845636,1.03969845631
+330,5.500000000,pose2_to_pose3_retreat,0.582097334601,-0.00994548246973,1.04002892552,0.552668065738,-0.00127274985543,1.03969821835
+331,5.516666667,pose2_to_pose3_retreat,0.581557526931,-0.00994544323273,1.04002890515,0.552128257424,-0.00127271263146,1.039698202
+332,5.533333333,pose2_to_pose3_retreat,0.58103263338,-0.00994539556049,1.04002903157,0.551603362936,-0.00127266832882,1.03969832354
+333,5.550000000,pose2_to_pose3_retreat,0.580525872527,-0.00994531584257,1.04002901972,0.551096601484,-0.00127259084055,1.03969830691
+334,5.566666667,pose2_to_pose3_retreat,0.580047724881,-0.00994546935645,1.04002890311,0.550618455379,-0.00127273875419,1.03969819977
+335,5.583333333,pose2_to_pose3_retreat,0.579602534576,-0.00994550548459,1.04002914647,0.550173265733,-0.00127277268274,1.03969844188
+336,5.600000000,pose2_to_pose3_retreat,0.579199347934,-0.00994545732181,1.0400291299,0.549770078642,-0.00127272627312,1.03969841916
+337,5.616666667,pose2_to_pose3_retreat,0.578833038041,-0.009945442072,1.04002903098,0.549403768103,-0.00127271318514,1.03969832121
+338,5.633333333,pose2_to_pose3_retreat,0.578497810252,-0.00994538365823,1.04002908996,0.549068539285,-0.00127265823042,1.0396983813
+339,5.650000000,pose2_to_pose3_retreat,0.578181693816,-0.00994539105536,1.04002897209,0.548752423304,-0.00127266389788,1.03969826824
+340,5.666666667,pose2_to_pose3_retreat,0.577881744969,-0.00994527095227,1.04002920514,0.548452472739,-0.00127254970702,1.03969849927
+341,5.683333333,pose2_to_pose3_retreat,0.577595679152,-0.00994532728014,1.04002937226,0.548166408149,-0.0012726021545,1.03969865878
+342,5.700000000,pose2_to_pose3_retreat,0.577325658629,-0.00994547958179,1.0400291711,0.547896389485,-0.00127274826273,1.03969845455
+343,5.716666667,pose2_to_pose3_retreat,0.577079860464,-0.00994542566722,1.0400290821,0.547650589674,-0.00127269968815,1.03969837203
+344,5.733333333,pose2_to_pose3_retreat,0.576859676273,-0.00994538237911,1.04002911781,0.547430405496,-0.00127265625879,1.0396984103
+345,5.750000000,pose2_to_pose3_retreat,0.576668935897,-0.00994547970938,1.04002904835,0.547239665582,-0.00127275211518,1.03969833831
+346,5.766666667,pose2_to_pose3_retreat,0.576503568691,-0.00994542454626,1.04002907969,0.547074299291,-0.00127269372207,1.03969837311
+347,5.783333333,pose2_to_pose3_retreat,0.576362725047,-0.00994539301292,1.0400292759,0.546933455571,-0.00127266278289,1.03969856052
+348,5.800000000,pose2_to_pose3_retreat,0.576241729548,-0.00994541128083,1.04002938707,0.546812459385,-0.00127268354015,1.0396986676
+349,5.816666667,pose2_to_pose3_retreat,0.576138659436,-0.0099452857209,1.04002915867,0.546709386791,-0.00127256594409,1.03969845142
+350,5.833333333,pose2_to_pose3_retreat,0.576051313758,-0.00994555428375,1.04002914249,0.546622046415,-0.0012728166073,1.03969843332
+351,5.850000000,pose2_to_pose3_retreat,0.575976870052,-0.0099454941613,1.04002904014,0.546547601229,-0.00127276146355,1.03969833196
+352,5.866666667,pose2_to_pose3_retreat,0.575914831045,-0.00994548410401,1.04002905252,0.546485561855,-0.00127275266977,1.03969834376
+353,5.883333333,pose2_to_pose3_retreat,0.575863309356,-0.00994527180559,1.04002903305,0.546434036938,-0.00127255120378,1.03969832741
+354,5.900000000,pose2_to_pose3_retreat,0.575822386763,-0.00994551808201,1.04002907748,0.546393116572,-0.00127279038066,1.03969835978
+355,5.916666667,pose2_to_pose3_retreat,0.575789856106,-0.00994556254303,1.04002935402,0.546360587445,-0.00127282965828,1.03969863612
+356,5.933333333,pose2_to_pose3_retreat,0.575764892395,-0.00994554366576,1.04002939384,0.546335623234,-0.00127281268037,1.03969867066
+357,5.950000000,pose2_to_pose3_retreat,0.575747029301,-0.00994547663051,1.04002919942,0.54631776011,-0.00127274550444,1.03969848265
+358,5.966666667,pose2_to_pose3_retreat,0.575734015646,-0.00994542272074,1.040029079,0.546304746066,-0.00127269252098,1.03969837251
+359,5.983333333,pose2_to_pose3_retreat,0.575725395847,-0.00994543052405,1.0400291344,0.546296125172,-0.00127270390707,1.0396984315
+360,6.000000000,pose2_to_pose3_retreat,0.575719628328,-0.00994552883943,1.04002914527,0.546290358559,-0.00127279925423,1.03969843959
+361,6.016666667,pose2_to_pose3_retreat,0.575716239911,-0.00994545435066,1.04002906379,0.546286969527,-0.00127272686269,1.03969835796
+362,6.033333333,pose2_to_pose3_retreat,0.575714313232,-0.00994534257477,1.04002897135,0.546285041895,-0.00127261829556,1.03969826619
+363,6.050000000,pose2_to_pose3_retreat,0.575713096971,-0.00994528429983,1.04002891651,0.546283825187,-0.00127256151814,1.03969821179
+364,6.066666667,pose2_to_pose3_retreat,0.575712418573,-0.00994534856222,1.0400289137,0.546283147767,-0.00127262245653,1.03969820919
+365,6.083333333,pose2_to_pose3_retreat,0.575712181795,-0.00994537099143,1.04002891271,0.546282911329,-0.00127264372559,1.03969820829
+366,6.100000000,pose2_to_pose3_retreat,0.57571200665,-0.00994538758231,1.04002891199,0.546282736437,-0.0012726594583,1.03969820762
+367,6.116666667,pose2_to_pose3_retreat,0.575711924291,-0.00994539538389,1.04002891164,0.546282654197,-0.00127266685633,1.0396982073
+368,6.133333333,pose2_to_pose3_retreat,0.575711823993,-0.00994540488483,1.04002891123,0.546282554043,-0.00127267586583,1.03969820692
+369,6.150000000,pose2_to_pose3_retreat,0.575711593722,-0.00994542669769,1.04002891027,0.546282324103,-0.00127269655041,1.03969820604
+370,6.166666667,pose2_to_pose3_retreat,0.575711239217,-0.00994546027879,1.0400289088,0.546281970108,-0.00127272839451,1.03969820468
+371,6.183333333,pose2_to_pose3_retreat,0.575710722322,-0.00994550924251,1.04002890666,0.546281453958,-0.00127277482556,1.0396982027
+372,6.200000000,pose2_to_pose3_retreat,0.575710489435,-0.00994545784316,1.04002895406,0.546281219975,-0.00127272716116,1.03969824974
+373,6.216666667,pose2_to_pose3_retreat,0.575710370438,-0.00994542732355,1.04002898108,0.546281100334,-0.0012726988325,1.03969827654
+374,6.233333333,pose2_to_pose3_retreat,0.575710259057,-0.00994539875715,1.04002900637,0.54628098835,-0.00127267231682,1.03969830164
+375,6.250000000,pose2_to_pose3_retreat,0.575710232168,-0.00994539186095,1.04002901248,0.546280961316,-0.00127266591569,1.03969830769
+376,6.266666667,pose2_to_pose3_retreat,0.575710115039,-0.00994536182047,1.04002903907,0.546280843554,-0.00127263803176,1.03969833408
+377,6.283333333,pose2_to_pose3_retreat,0.57570988926,-0.00994530391418,1.04002909034,0.546280616554,-0.00127258428245,1.03969838495
+378,6.300000000,pose2_to_pose3_retreat,0.575709611971,-0.00994524359462,1.04002915353,0.546280337999,-0.00127252826651,1.03969844804
+379,6.316666667,pose2_to_pose3_retreat,0.575709483429,-0.00994527464174,1.04002918405,0.546280210136,-0.00127255692699,1.03969848068
+380,6.333333333,pose2_to_pose3_retreat,0.575709437004,-0.00994528585499,1.04002919507,0.546280163956,-0.00127256727827,1.03969849248
+381,6.350000000,pose2_to_pose3_retreat,0.57570940314,-0.0099452940341,1.04002920311,0.546280130272,-0.00127257482864,1.03969850108
+382,6.366666667,pose2_to_pose3_retreat,0.575709361863,-0.00994530400403,1.04002921291,0.546280089212,-0.00127258403217,1.03969851156
+383,6.383333333,pose2_to_pose3_retreat,0.575709333526,-0.00994531084814,1.04002921964,0.546280061026,-0.00127259035015,1.03969851876
+384,6.400000000,pose2_to_pose3_retreat,0.575709275153,-0.00994532494733,1.0400292335,0.54628000296,-0.00127260336552,1.03969853358
+385,6.416666667,pose2_to_pose3_retreat,0.575709230738,-0.00994538266217,1.04002925638,0.546279959462,-0.00127265807042,1.03969855387
+386,6.433333333,pose2_to_pose3_retreat,0.575709221477,-0.00994542098665,1.04002926805,0.546279950773,-0.00127269454458,1.03969856314
+387,6.450000000,pose2_to_pose3_retreat,0.5757092163,-0.00994544241021,1.04002927457,0.546279945916,-0.0012727149338,1.03969856832
+388,6.466666667,pose2_to_pose3_retreat,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471563,1.03969857335
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_06/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_06/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..099409ff95757535463a210df8f1a507dc835d6a
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_06/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec639a252ba76e0ccc67dab6650da84764b697723969a73f49c6a0dbb13e76ea
+size 24978760
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_06/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_06/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a43035bbc0db186e521cf236f702510b255011bd
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_06/depth_02/franka_data.csv
@@ -0,0 +1,394 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,764,742,712,671,659,633,876,784,799,649,629,651,0.400974498715,-0.0154156968889,0.0498540003937,0.999999955463,-0.00013096469762,-0.00026149536365,-5.95251730066e-05,1793193448389901312
+1,0.016666667,BASELINE,764,742,712,671.579614112,659.579614112,633,876,784.579614112,799.579614112,649.579614112,629,651,0.400971051595,-0.0154167604007,0.0498521942326,0.999999954435,-0.000131014514472,-0.000265365221724,-5.95460782208e-05,1793193448406567680
+2,0.033333333,BASELINE,764,742.158385613,712,671.841614387,659.841614387,633,876,785,800,650,629,651,0.400968632683,-0.0154170986206,0.0498508598906,0.999999953678,-0.000130841271383,-0.000268260742787,-5.96649207043e-05,1793193448423234048
+3,0.050000000,BASELINE,764,742.734932622,712,671.265067378,659.265067378,633,876,785,800,650,629,651,0.400968928394,-0.0154155219631,0.0498507712204,0.999999953669,-0.000130079117141,-0.000268583871169,-6.00423320417e-05,1793193448439900160
+4,0.066666667,BASELINE,764,742.683613254,712,671,659.316386746,633,876,784.683613254,800,650,629,651,0.400968802471,-0.0154147396873,0.0498506188075,0.999999953601,-0.000129945975974,-0.000268833636208,-6.03290180247e-05,1793193448456566528
+5,0.083333333,BASELINE,764,742.097983238,712,671,659.902016762,633,876,784.097983238,800,650,629,651,0.400968317741,-0.0154146334259,0.0498504121498,0.999999953486,-0.000130348121304,-0.000269020969452,-6.05384972392e-05,1793193448473233152
+6,0.100000000,BASELINE,764,742,711.514499551,671,660,633,876.485500449,784,800,650,629,650.514499551,0.40096993276,-0.0154155799231,0.0498516215772,0.999999954071,-0.000130508809207,-0.000266811658554,-6.03042637466e-05,1793193448489899776
+7,0.116666667,BASELINE,764,742,711.067524217,671,660,633,877,784,799.932475783,650,629,650,0.400971469626,-0.0154166099525,0.0498527895827,0.999999954623,-0.000130638251718,-0.000264738747376,-6.00095872187e-05,1793193448506566400
+8,0.133333333,BASELINE,764,742,711.641827795,671,660,633,877,784,799.358172205,650,629,650,0.400969253502,-0.0154166793265,0.049851511233,0.999999953911,-0.000130897314419,-0.000267303712831,-5.99304022677e-05,1793193448523233280
+9,0.150000000,BASELINE,764,742,712,671,660,633,877,784,799.216590895,650,629,650.216590895,0.400968594444,-0.0154167859442,0.0498509203211,0.999999953586,-0.000131286415189,-0.000268364174067,-5.97740486325e-05,1793193448539899904
+10,0.166666667,BASELINE,764,742,712,671,660,633,877,784,799.792115456,650,629,650.792115456,0.400970515751,-0.0154169542821,0.0498514686287,0.999999953907,-0.00013189101456,-0.000266931375966,-5.94898113344e-05,1793193448556566784
+11,0.183333333,BASELINE,764,742,712,671,659.621875318,633,877,784,800,649.621875318,629,651,0.400970434346,-0.0154168319373,0.0498515075364,0.999999954184,-0.00013063744015,-0.000266515158372,-5.94678375254e-05,1793193448573233408
+12,0.200000000,BASELINE,764,742,712,671,659.029937413,633,877,784,800,649.029937413,629,651,0.400969220494,-0.0154165452239,0.0498512584005,0.999999954432,-0.000128333148545,-0.000266673773139,-5.9594162398e-05,1793193448589899520
+13,0.216666667,BASELINE,764,742,712,671,659,633,876.451528865,784,799.451528865,649,629,651,0.400968686115,-0.0154145533557,0.0498512980016,0.999999954271,-0.00012810215135,-0.000267287434276,-6.00434205177e-05,1793193448606566400
+14,0.233333333,BASELINE,764,742,712,671.125818277,659,633,876,784,799.125818277,649.125818277,629,651,0.400968618044,-0.0154132610046,0.0498514942609,0.999999954191,-0.000128326367108,-0.000267410380753,-6.03426248785e-05,1793193448623233024
+15,0.250000000,BASELINE,764,742,712,671.701946181,659,633,876,784,799.701946181,649.701946181,629,651,0.400970089366,-0.015414797352,0.0498521961591,0.99999995448,-0.000129784530642,-0.000265690279961,-6.0043211401e-05,1793193448639899904
+16,0.266666667,BASELINE,764,742.283558615,712,671.716441385,659.283558615,633,876,784,800.283558615,649.716441385,629,651,0.400970319161,-0.0154158372393,0.0498522008548,0.999999954393,-0.000130859205161,-0.000265536002717,-5.98341981628e-05,1793193448656566528
+17,0.283333333,BASELINE,764,742.871049611,712,671.128950389,659.871049611,633,876,784,800.871049611,649.128950389,629,651,0.400969218227,-0.0154163449956,0.0498514582539,0.999999953907,-0.000131522836783,-0.000267060053984,-5.97220804644e-05,1793193448673233152
+18,0.300000000,BASELINE,764,742.547933252,712,670.547933252,660,633,876,784,800.547933252,649,628.547933252,651,0.400969530295,-0.015416332684,0.0498520787408,0.999999954271,-0.000130809734114,-0.000266061373323,-5.96568390385e-05,1793193448689899776
+19,0.316666667,BASELINE,764,742.031033427,712,670.031033427,659.968966573,633,876,784.031033427,799.968966573,649.031033427,628.031033427,651,0.400970238789,-0.0154162282949,0.0498530097498,0.999999954825,-0.000129841281965,-0.000264459244175,-5.96003716265e-05,1793193448706566400
+20,0.333333333,BASELINE,764,742.605971166,712,670.605971166,659.394028834,633,876,784.605971166,799.394028834,649.605971166,628.605971166,651,0.400970930856,-0.0154170734086,0.0498526647629,0.99999995459,-0.000131183064128,-0.00026471477279,-5.94666392297e-05,1793193448723233024
+21,0.350000000,BASELINE,764,742.818891014,712,671,659.181108986,633,876.181108986,784.818891014,799.181108986,649.818891014,629,650.818891014,0.400971460242,-0.0154172550592,0.049852524931,0.999999954546,-0.000131596957645,-0.000264688687242,-5.94172608034e-05,1793193448739899648
+22,0.366666667,BASELINE,764,742.243317479,712,671,659.756682521,633,876.756682521,784.243317479,799.756682521,649.243317479,629,650.243317479,0.400971635299,-0.0154159916533,0.0498528319372,0.999999954917,-0.000129989862505,-0.000264049231744,-5.95516096164e-05,1793193448756566272
+23,0.383333333,BASELINE,764,742,711.659344284,671,659.659344284,633,876.659344284,784,800,649.340655716,629,650,0.400971381278,-0.0154167192649,0.0498528804774,0.999999954558,-0.000131753002489,-0.000264559262072,-5.94365887706e-05,1793193448773233152
+24,0.400000000,BASELINE,764,742,711.069219795,671,659.069219795,633,876.069219795,784,800,649.930780205,629,650,0.400970813033,-0.015418904937,0.049852739738,0.999999953651,-0.000135984230704,-0.000265911083042,-5.91389497108e-05,1793193448789899520
+25,0.416666667,BASELINE,764,742,711.511728769,671,659,633,876.511728769,784,800,650,629,650,0.400968785096,-0.0154183104611,0.0498518291341,0.999999953473,-0.000133993292188,-0.000267550051985,-5.9300311462e-05,1793193448806566144
+26,0.433333333,BASELINE,764,742,712,671,659,633,876.909346152,784,800,649.909346152,629,650,0.400967327362,-0.0154175302756,0.0498512139116,0.999999953539,-0.000131576042028,-0.000268453224644,-5.95127714812e-05,1793193448823232768
+27,0.450000000,BASELINE,764,742,712,671,659,633,876.334714025,784,800,649.334714025,629,650,0.400969949351,-0.015417730963,0.0498527218235,0.999999954428,-0.000131297032575,-0.000265224452754,-5.96724019576e-05,1793193448839899392
+28,0.466666667,BASELINE,764,742.245299983,712,671.245299983,659,633,876,784,800,649,629,650,0.400970375765,-0.0154176660734,0.0498528944252,0.999999954643,-0.000131223008014,-0.000264441273542,-5.97171687347e-05,1793193448856566272
+29,0.483333333,BASELINE,764,742.832822312,712,671.832822312,659,633,876,784,800,649,629,650,0.400967739095,-0.0154172306725,0.0498512041118,0.999999953923,-0.000131434961521,-0.000267069984148,-5.96016871233e-05,1793193448873232896
+30,0.500000000,BASELINE,764,742.58561984,712,671.58561984,659,633,876,784,799.58561984,649.41438016,629,650,0.400968315047,-0.0154171934706,0.0498516865282,0.99999995417,-0.000131400900589,-0.000266201138043,-5.94274349695e-05,1793193448889899520
+31,0.516666667,BASELINE,764,742.006434173,712,671.006434173,659,633,876,784,799.006434173,649.993565827,629,650,0.400970168708,-0.0154173146387,0.0498530330735,0.999999954798,-0.000131268995845,-0.000263941258575,-5.92298088494e-05,1793193448906566144
+32,0.533333333,BASELINE,764,742,711.427859671,671,659,633,876,784,799,650,628.427859671,650.572140329,0.400970952343,-0.0154172170428,0.0498533699588,0.999999955036,-0.000130800502218,-0.000263224892847,-5.94218631744e-05,1793193448923232768
+33,0.550000000,BASELINE,764,742,711.149222031,671,659,633,876,784,799.149222031,649.850777969,628,650.850777969,0.400971034321,-0.015416955318,0.0498533183083,0.999999955098,-0.000130200137853,-0.000263254329701,-5.95790649791e-05,1793193448939899648
+34,0.566666667,BASELINE,764,742,711.722085069,671,659,633,876,784,799.722085069,649.277914931,628,650.277914931,0.40096915842,-0.0154162346086,0.0498521958065,0.999999954666,-0.000129236127581,-0.000265351871662,-5.96248925534e-05,1793193448956566272
+35,0.583333333,BASELINE,764,742,712,671,659.303870881,633,876,784,799.696129119,649.303870881,628.303870881,650.303870881,0.400969124335,-0.0154166511349,0.0498522131519,0.999999954575,-0.000129625056407,-0.000265507640609,-5.96011996779e-05,1793193448973232640
+36,0.600000000,BASELINE,764,742,712,671,659.894064247,633,876,784,799.105935753,649.894064247,628.894064247,650.894064247,0.400970825701,-0.0154181392221,0.0498533045186,0.999999954807,-0.000131288792638,-0.000263833773237,-5.951200113e-05,1793193448989899264
+37,0.616666667,BASELINE,764,742,712,671.475597311,659.524402689,633,876,784,799,649.524402689,628.524402689,651,0.400969686204,-0.0154188400656,0.0498524232485,0.999999954403,-0.000132430405801,-0.000264788795956,-5.953008421e-05,1793193449006565888
+38,0.633333333,BASELINE,764,742,711.945057528,671.945057528,659,633,876,784,799.054942472,649.054942472,628.054942472,651,0.400968205993,-0.0154191825221,0.0498513208489,0.999999953948,-0.000133291334046,-0.000266056775081,-5.95989505413e-05,1793193449023232768
+39,0.650000000,BASELINE,764,742,711.368497335,671.368497335,659,633,876,784,799.631502665,649.631502665,628.631502665,651,0.400969391191,-0.015417757499,0.0498522159884,0.999999954348,-0.000132571855623,-0.000264836053869,-5.99271369708e-05,1793193449039899648
+40,0.666666667,BASELINE,764,742.206484558,711.206484558,671,659,633,876,784,800,650,628.793515442,651,0.400970323614,-0.0154166130368,0.0498530341123,0.999999954759,-0.000131496831158,-0.000263770871842,-6.012292361e-05,1793193449056566272
+41,0.683333333,BASELINE,764,742.778671114,711.778671114,671,659,633,876,784,800,650,628.221328886,651,0.400970808347,-0.0154159654723,0.0498537158349,0.999999955192,-0.000129792103972,-0.000262981163224,-6.00842187597e-05,1793193449073232896
+42,0.700000000,BASELINE,764,742.637199241,712,671,659.362800759,633,876.362800759,784,800,650,628.362800759,651,0.400970228091,-0.0154168915208,0.0498534516675,0.999999955028,-0.000129813447578,-0.00026370580891,-5.95987138839e-05,1793193449089899520
+43,0.716666667,BASELINE,764,742.045535648,712,671,659.954464352,633,876.954464352,784,800,650,628.954464352,651,0.400968976016,-0.0154188102396,0.0498525908113,0.999999954484,-0.000130923635308,-0.000265385743188,-5.88313575599e-05,1793193449106566400
+44,0.733333333,BASELINE,764,742,712,671,660,633,876.465394892,784,800,650,629,651,0.400967492959,-0.015416812675,0.0498518754777,0.999999954232,-0.000129207328165,-0.000267064819309,-5.930481662e-05,1793193449123232768
+45,0.750000000,BASELINE,764,742,712,671,660,633,876.113248157,784,800.113248157,650,629,650.886751843,0.400966825345,-0.0154152314652,0.0498516168562,0.999999954183,-0.000128020711365,-0.000267727641082,-5.9721105224e-05,1793193449139899392
+46,0.766666667,BASELINE,764,742,712,671,660,633,876.689694883,784,800.689694883,650,629,650.310305117,0.400969571763,-0.0154166887692,0.0498531766148,0.999999954876,-0.000129964513136,-0.00026423415266,-5.94804037808e-05,1793193449156566016
+47,0.783333333,BASELINE,764,742,712,671,659.729527329,633,877,784,800.459054657,649.729527329,629,650,0.400970965385,-0.0154179589069,0.0498536985288,0.999999955164,-0.000131628404483,-0.0002623371342,-5.93674141459e-05,1793193449173232640
+48,0.800000000,BASELINE,764,742,712,671,659.143699705,633,877,784,799.28739941,649.143699705,629,650,0.400970781726,-0.0154190108199,0.0498530103785,0.999999954995,-0.000132965937282,-0.000262301503742,-5.94033288076e-05,1793193449189899520
+49,0.816666667,BASELINE,764,742.437618916,712,671,659,633,876.562381084,784,799.437618916,649.437618916,629,650.437618916,0.400970227541,-0.0154186390394,0.0498528278806,0.99999995497,-0.000132426298207,-0.000262627110514,-5.95830069498e-05,1793193449206565888
+50,0.833333333,BASELINE,764,743,712,671,659,633,876,784,799.98260746,650,629,651,0.400969579912,-0.0154178535624,0.0498528054565,0.999999954977,-0.000131374088527,-0.00026307634755,-5.98072680254e-05,1793193449223232768
+51,0.850000000,BASELINE,764,743,712,671,659,633,876,784,799.405391259,650,629,651,0.400969800811,-0.0154186462477,0.0498526455064,0.999999954521,-0.000133461606421,-0.000263725841101,-5.99625566722e-05,1793193449239899392
+52,0.866666667,BASELINE,764,742.828883107,712,671,659.171116893,633,876.171116893,784,799.342233786,649.828883107,629,651,0.400969835704,-0.0154190702924,0.0498525581326,0.999999954239,-0.000134508923191,-0.000264266924688,-5.99337220128e-05,1793193449256566272
+53,0.883333333,BASELINE,764,742.254045509,712,671,659.745954491,633,876.745954491,784,800.491908982,649.254045509,629,651,0.400969431748,-0.0154186245932,0.0498526419902,0.99999995438,-0.000133102065235,-0.00026455223368,-5.94704802566e-05,1793193449273232896
+54,0.900000000,BASELINE,764,742,711.670828166,671.329171834,659.670828166,633,876.670828166,784,800.341656331,649.329171834,629,650.670828166,0.400969768216,-0.0154184155811,0.049852587993,0.999999954487,-0.000132688522115,-0.000264358796865,-5.94548315646e-05,1793193449289899520
+55,0.916666667,BASELINE,764,742,711.080974663,671.919025337,659.080974663,633,876.080974663,784,799.161949325,649.919025337,629,650.080974663,0.400970691047,-0.0154183940092,0.0498524248243,0.999999954568,-0.000133061616742,-0.000263786225971,-5.97936461104e-05,1793193449306566144
+56,0.933333333,BASELINE,764,742,711.499639275,671.500360725,659,633,876,784,799.499639275,650,629,650.499639275,0.400969610161,-0.0154170551363,0.0498518692534,0.999999954705,-0.000129834226961,-0.000264876283712,-5.97793202904e-05,1793193449323232512
+57,0.950000000,BASELINE,764,742,712,671,659,633,876,784,800,649.92198497,629,651,0.400968464842,-0.0154156900686,0.0498514366499,0.999999954838,-0.000126619791313,-0.000265947116652,-5.9697718467e-05,1793193449339899392
+58,0.966666667,BASELINE,764,742,712,671,659,633,876,784,800,649.348486806,629,651,0.400968935291,-0.0154154899176,0.0498521815941,0.999999954977,-0.000127126330951,-0.000265215573987,-5.95457270667e-05,1793193449356567040
+59,0.983333333,BASELINE,764,742,712,671,659.231013601,633,876,784,800,649.231013601,629,651,0.400968713744,-0.0154157621672,0.049852438761,0.999999954956,-0.000127345994404,-0.000265243125168,-5.93098868976e-05,1793193449373234176
+60,1.000000000,BASELINE,764,742,712,671,659.819810086,633,876,784,800,649.819810086,629,651,0.400967420466,-0.0154167660485,0.0498519404816,0.999999954686,-0.000127121357737,-0.000266446324698,-5.89441857182e-05,1793193449389900288
+61,1.016666667,BASELINE,764,742,712,671,659.598140826,633,876,784,800,650,629,651,0.400967276593,-0.015417869988,0.0498512676528,0.999999954282,-0.000128901132247,-0.000267076874117,-5.90815165944e-05,1793193449406566656
+62,1.033333333,BASELINE,764,742,712,671,659.019067283,633,876,784,800,650,629,651,0.400967639592,-0.0154190180518,0.04985051785,0.999999953813,-0.000131564824537,-0.000267454892638,-5.9440677712e-05,1793193449423233536
+63,1.050000000,BASELINE,764,742,712,671,659,633,876.555622988,784,800,650,629,651,0.400969628062,-0.0154194531531,0.0498520927876,0.999999954506,-0.000131427134084,-0.000265029338612,-5.89514583843e-05,1793193449439899904
+64,1.066666667,BASELINE,764,742,711.869362735,671.130637265,659.130637265,633,877,784,800,649.869362735,629,651,0.400970883529,-0.0154197544858,0.0498531932867,0.999999954997,-0.000131127801344,-0.000263397374079,-5.85896244361e-05,1793193449456566272
+65,1.083333333,BASELINE,764,742,711.292732819,671.707267181,659.707267181,633,877,784,800,649.292732819,629,651,0.400969447592,-0.0154196820103,0.0498524038357,0.999999954685,-0.000130602258974,-0.00026480059413,-5.8761297259e-05,1793193449473232896
+66,1.100000000,BASELINE,764,742,711.290042399,672,659.709957601,633,876.709957601,784,799.709957601,649.290042399,629,650.709957601,0.400968426581,-0.01541884675,0.0498520305317,0.999999954571,-0.000129383362713,-0.000265788469055,-5.89525727729e-05,1793193449489899520
+67,1.116666667,BASELINE,764,742,711.879154143,672,659.120845857,633,876.120845857,784,799.120845857,649.879154143,629,650.120845857,0.40096783341,-0.015417224965,0.0498520863267,0.999999954657,-0.00012744953344,-0.000266348072045,-5.91640610591e-05,1793193449506566144
+68,1.133333333,BASELINE,764,742.460194566,711.539805434,671.539805434,659,633,876,784.460194566,799.460194566,650,629,650.460194566,0.40096888046,-0.0154179059362,0.0498521321679,0.999999954737,-0.000128167609332,-0.000265723991036,-5.90778885139e-05,1793193449523232768
+69,1.150000000,BASELINE,764,742.961052135,711.038947865,671,659,633,876,784.961052135,800,650,629,650.961052135,0.400970272608,-0.0154191175013,0.0498522180274,0.999999954818,-0.000129608095946,-0.000264754032385,-5.89184623812e-05,1793193449539899648
+70,1.166666667,BASELINE,764,742.385114122,711.614885878,671,659,633,876,784.385114122,800,650,629,650.385114122,0.40097058664,-0.0154194510731,0.0498528910511,0.999999954971,-0.000131572927962,-0.000263227020582,-5.88081753995e-05,1793193449556566528
+71,1.183333333,BASELINE,764,742,712,671.189782555,659.189782555,633,876,784,800,650,629,650.189782555,0.40097084035,-0.0154193931245,0.0498534207168,0.999999955118,-0.00013257780772,-0.000262153050076,-5.88496779541e-05,1793193449573233152
+72,1.200000000,BASELINE,764,742,712,671.762577749,659.762577749,633,876,784,800,650,629,650.762577749,0.40097097232,-0.0154185450229,0.0498536610622,0.999999955262,-0.00013164534514,-0.000261993391691,-5.91975169212e-05,1793193449589899776
+73,1.216666667,BASELINE,763.652154963,742,712,671.652154963,659.652154963,633,876.347845037,784,800,649.652154963,629,651,0.40097051055,-0.0154180925069,0.0498536297092,0.999999955331,-0.000129674149543,-0.0002626875093,-5.93033696438e-05,1793193449606566144
+74,1.233333333,BASELINE,763.058058279,742,712,671.058058279,659.058058279,633,876.941941721,784,800,649.058058279,629,651,0.400969628451,-0.0154179200399,0.0498534060114,0.999999955341,-0.000126967598627,-0.000263986044753,-5.92379118327e-05,1793193449623232768
+75,1.250000000,BASELINE,763.521660846,742,712,671,659.521660846,633,876.478339154,784,800,649.521660846,629,651,0.400969088979,-0.01541729935,0.0498526424038,0.999999955184,-0.000127861558574,-0.000264108693546,-5.94127674373e-05,1793193449639899392
+76,1.266666667,BASELINE,764,742,712,671,659.900772749,633,876,784,800,650,628.900772749,651,0.400968976821,-0.0154168280186,0.0498521398569,0.999999955058,-0.00012918513424,-0.000263908537088,-5.95532227926e-05,1793193449656566272
+77,1.283333333,BASELINE,764,742,712,671,659.32605987,633,876,784,800,650,628.32605987,651,0.400970734482,-0.015417305027,0.0498531685015,0.99999995517,-0.000130698682539,-0.000262771830302,-5.94041113191e-05,1793193449673232896
+78,1.300000000,BASELINE,764,742,711.745170098,671,659,633,876,784,799.745170098,650,628,650.745170098,0.400970945426,-0.0154175801704,0.0498534932306,0.999999955207,-0.00013082897938,-0.0002625788005,-5.93472497555e-05,1793193449689899776
+79,1.316666667,BASELINE,764,742,711.15618058,671,659,633,876,784,799.15618058,650,628,650.15618058,0.400969128152,-0.0154175906072,0.0498528949119,0.999999955147,-0.000129145412146,-0.000263623218727,-5.94113559316e-05,1793193449706566656
+80,1.333333333,BASELINE,764,742,711,671,659.425845497,633,876.425845497,784.425845497,799,649.574154503,628.425845497,650.425845497,0.400968659884,-0.0154174397042,0.0498523678774,0.999999954878,-0.000129658711143,-0.000264345900463,-5.96204910424e-05,1793193449723233280
+81,1.350000000,BASELINE,763.994676156,742,711.005323844,671,659.994676156,633,877,784.994676156,799.010647688,649,629,651,0.400968675978,-0.0154172470841,0.0498518722381,0.999999954536,-0.000130948511674,-0.000264943055428,-5.98767699103e-05,1793193449739899648
+82,1.366666667,BASELINE,763.418947439,742,711.581052561,671,659.418947439,633,877,784.418947439,800.162105122,649,629,651,0.400968431528,-0.0154188226173,0.049851984338,0.999999954722,-0.000130497772081,-0.000264530175235,-5.95769360043e-05,1793193449756566272
+83,1.383333333,BASELINE,763.156429832,742.156429832,711.843570168,671,659,633,877,784,800.843570168,649.156429832,629,651,0.400968607774,-0.0154193705411,0.0498522974868,0.999999954951,-0.000129752395559,-0.000264084082373,-5.93408349186e-05,1793193449773233152
+84,1.400000000,BASELINE,763.730868104,742.730868104,711.269131896,671,659,633,877,784,800.269131896,649.730868104,629,651,0.400969908198,-0.0154171725096,0.0498531478744,0.999999955294,-0.000128219696458,-0.000263549239242,-5.92750392413e-05,1793193449789899776
+85,1.416666667,BASELINE,764,742.685965935,711.314034065,671.314034065,659.314034065,633,876.685965935,784,800,649.685965935,629,651,0.400970733028,-0.0154168289402,0.0498537753678,0.99999995539,-0.000128900370616,-0.000262874257731,-5.91706362422e-05,1793193449806566144
+86,1.433333333,BASELINE,764,742.095106428,711.904893572,671.904893572,659.904893572,633,876.095106428,784,800,649.095106428,629,651,0.400971138614,-0.0154181201052,0.0498542063767,0.999999955265,-0.000131532164504,-0.000262075742302,-5.903220035e-05,1793193449823233024
+87,1.450000000,BASELINE,764,742,712,671.513940152,659.513940152,633,876,784,800,649.486059848,629,651,0.400970541068,-0.0154186590807,0.0498538253805,0.999999955222,-0.000131535067037,-0.00026225187662,-5.8980956149e-05,1793193449839900160
+88,1.466666667,BASELINE,764,742,711.934913287,671,659,633,876,784,800,649.934913287,629,650.934913287,0.400969984234,-0.0154189767518,0.0498533385177,0.999999955226,-0.000131088557293,-0.000262462288985,-5.89718153224e-05,1793193449856567040
+89,1.483333333,BASELINE,764,742,711.358086616,671,659,633,876,784,800,649.358086616,629,650.358086616,0.400971260559,-0.0154186889953,0.0498532440719,0.999999955476,-0.00013107385537,-0.000261472099607,-5.91621941008e-05,1793193449873233664
+90,1.500000000,BASELINE,764,742,711.217915172,671.217915172,659.217915172,633,876,784,800,649.217915172,629,650.217915172,0.400971660164,-0.0154189730015,0.049853178375,0.999999955483,-0.000131698609357,-0.000261124687534,-5.91900843568e-05,1793193449889900032
+91,1.516666667,BASELINE,764,742,711.792566538,671.792566538,659.792566538,633,876,784,800,649.792566538,629,650.792566538,0.400970624538,-0.0154201930069,0.0498531597414,0.999999955091,-0.000133370179243,-0.000261829528723,-5.89519741292e-05,1793193449906566656
+92,1.533333333,BASELINE,764,742,712,672,660,633,876.379391843,784,800,649.620608157,629,651,0.400970003462,-0.0154195676251,0.0498528954082,0.999999954911,-0.000132010405036,-0.000263222110527,-5.88653211039e-05,1793193449923233280
+93,1.550000000,BASELINE,764,742,712,672,660,633,876.973094001,784,800,649.026905999,629,651,0.400969616555,-0.0154178998237,0.0498524922847,0.999999954842,-0.000128938289734,-0.000265003182314,-5.88642229804e-05,1793193449939899904
+94,1.566666667,BASELINE,764,742.549923494,712,671.450076506,660,633,876.450076506,784,799.450076506,649,628.450076506,650.450076506,0.400969652703,-0.015418311877,0.0498523446608,0.999999954775,-0.000129629417349,-0.000264856096376,-5.91341236423e-05,1793193449956566528
+95,1.583333333,BASELINE,764,742.874269117,712,671,659.874269117,633,876,784,799.125730883,649,628.125730883,650.125730883,0.400969464251,-0.015418538225,0.0498522064375,0.999999954737,-0.000130004855325,-0.000264772766741,-5.93359933452e-05,1793193449973233152
+96,1.600000000,BASELINE,764,742.299251842,712,671,659.299251842,633,876,784,799.700748158,649,628.700748158,650.700748158,0.400968401455,-0.0154177481678,0.0498520584655,0.999999954797,-0.00012861384888,-0.00026524433769,-5.92487918677e-05,1793193449989900288
+97,1.616666667,BASELINE,764,742,712,671,659,633,876,784,800,649.283271876,629,651,0.400967800008,-0.0154175315071,0.0498517397983,0.999999954719,-0.000128415402453,-0.00026560309686,-5.93858324173e-05,1793193450006567168
+98,1.633333333,BASELINE,764,742,712,671,659,633,876,784,800,649.873941309,629,651,0.400967699202,-0.0154179370778,0.0498512358982,0.999999954492,-0.000129511084005,-0.000265839436277,-5.97662132304e-05,1793193450023233280
+99,1.650000000,BASELINE,764,742,712,671.455394535,659,633,876,784,800,649.544605465,629,650.544605465,0.400968289223,-0.0154187019526,0.0498519513728,0.99999995464,-0.000130616046179,-0.000264817594355,-5.94305728277e-05,1793193450039899904
+100,1.666666667,BASELINE,764,742,712,671.965832087,659,633,876.034167913,784,800,649.034167913,629,650.034167913,0.400969006879,-0.015419473719,0.0498529088211,0.999999954886,-0.000131514258575,-0.000263548182658,-5.89477645539e-05,1793193450056566272
+101,1.683333333,BASELINE,764,742,712,671.389901492,659,633,876.610098508,784,800,649.610098508,629,650.610098508,0.400968776334,-0.0154188090189,0.0498524571813,0.999999955128,-0.000129094343841,-0.000263766074622,-5.9211828578e-05,1793193450073232896
+102,1.700000000,BASELINE,764,742,712,671,659,633,876.81495929,784,800,650,629,651,0.400968449551,-0.0154180874129,0.0498522002635,0.999999955152,-0.000128018613086,-0.000264149869029,-5.94273114276e-05,1793193450089899520
+103,1.716666667,BASELINE,764,742,712,671,659,633,876.24208875,784,800,650,629,651,0.400967921063,-0.015417246537,0.049852351467,0.999999954728,-0.000129760179686,-0.000264881381039,-5.95409721716e-05,1793193450106566144
+104,1.733333333,BASELINE,764,742,712,671,659.342319749,633,876,784,800,650,629,650.657680251,0.400968838435,-0.0154167730432,0.0498528357996,0.999999954887,-0.000130319812208,-0.000263987220809,-5.96042150314e-05,1793193450123232768
+105,1.750000000,BASELINE,764,742,712,671,659.935172576,633,876,784,800,650,629,650.064827424,0.400970813986,-0.0154165684247,0.049853563939,0.999999955474,-0.00013001442446,-0.000261903282175,-5.96305586363e-05,1793193450139899648
+106,1.766666667,BASELINE,764,742,712,671,659.487362835,633,876.512637165,784,800,649.487362835,628.487362835,650.512637165,0.400971880919,-0.0154177040275,0.0498541411122,0.999999955736,-0.000130492926731,-0.000260732060232,-5.93076246813e-05,1793193450156566528
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,742,711,671,659,633,876,784,800,649,629,651,0.400968912407,-0.0154185074367,0.0498529483072,0.999999955508,-0.000127569716257,-0.000263065621189,-5.92141142031e-05,1793193450199644672
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,742,711.587299786,671,659.587299786,633,876.587299786,784,800,649,629,650.412700214,0.400969055675,-0.0154177238727,0.0498530077818,0.999999955117,-0.000129138445749,-0.000263750283238,-5.93793742595e-05,1793193450216310528
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,742.173227728,712,671,659.826772272,633,877,784,800.173227728,649,629,650.173227728,0.400969240837,-0.01541707513,0.0498530674101,0.999999954982,-0.000129816195299,-0.000263898890188,-5.95094352389e-05,1793193450232976640
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,742.755913167,712,671,659.244086833,633,877,784,800.755913167,649,629,650.755913167,0.400969525028,-0.0154167450637,0.0498531274021,0.999999955458,-0.000128387939321,-0.000262780425909,-5.95562963296e-05,1793193450249643264
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,742.666270924,712,671,659.333729076,633,876.666270924,784,800.666270924,649,629,650.666270924,0.400970213627,-0.0154171662138,0.0498535177589,0.999999955599,-0.00012917782394,-0.000261864497768,-5.95163333814e-05,1793193450266309888
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,742.091965367,712,671,659.908034633,633,876.091965367,784,800.091965367,649,629,650.091965367,0.400971193754,-0.0154181288961,0.049854146267,0.999999955495,-0.000131566707647,-0.000261094572647,-5.94137812721e-05,1793193450282976768
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,742,712,670.517563024,659.517563024,633,876,784,799.517563024,649,629,650,0.400973321093,-0.0154187325058,0.0498547735783,0.999999955961,-0.000130788389427,-0.000259780268376,-5.90396382792e-05,1793193450299643392
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,742,712,670.058658556,659,633,876,784,799.117317112,649,629,650.058658556,0.400976362724,-0.0154193127143,0.0498558315945,0.999999956685,-0.000129717798826,-0.000257620085805,-5.86125903784e-05,1793193450316310016
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,742,712,670.65127228,659,633,876,784,800.30254456,649,629,650.65127228,0.40098573585,-0.0154203031053,0.0498608122954,0.999999958737,-0.000131483648667,-0.000248704882918,-5.81753287348e-05,1793193450332976640
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,742,712,671,659,633,876,784,800.762118738,649.237881262,629,650.762118738,0.401001576933,-0.0154212273196,0.0498674802032,0.999999961853,-0.000131889316454,-0.000235796505029,-5.74311755826e-05,1793193450349643264
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,742,712,671,659,633,876,784,800.184095865,649.815904135,629,650.184095865,0.401026666418,-0.0154220569091,0.0498765606136,0.999999966339,-0.000130350087232,-0.000217178367623,-5.62482044923e-05,1793193450366309888
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,742,712,671,659,633,876,784,799.607482739,650,629,650.392517261,0.40106781285,-0.0154243541694,0.0498888685057,0.999999971741,-0.000131377471528,-0.000190370115128,-5.49204253582e-05,1793193450382976768
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,742,712,671,659,633,876,784,799.031528386,650,629,650.968471614,0.40111646326,-0.0154273373238,0.049902684714,0.999999976885,-0.000133604324173,-0.00015973433264,-5.35249722012e-05,1793193450399643392
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,742,712,671,659,633,876.541805956,784.541805956,799.541805956,649.458194044,629,651,0.401187414509,-0.0154318420506,0.0499158499312,0.999999980558,-0.000132865645372,-0.000136389651676,-5.12784030779e-05,1793193450416310272
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,742.119179395,712,671,659,633,876.880820605,784.880820605,799.880820605,649.119179395,629,650.880820605,0.401260261208,-0.0154364296354,0.0499270116421,0.999999983016,-0.000132771221519,-0.000117961493383,-4.92426103124e-05,1793193450432976896
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,742.713252165,712,671,659,633,876.286747835,784.286747835,799.286747835,649.713252165,629,650.286747835,0.401335514603,-0.0154409962698,0.0499303402199,0.999999982702,-0.000135928277978,-0.000117441680744,-4.82430984544e-05,1793193450449643520
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,742.701776709,711.701776709,671,659.298223291,633,876,784.298223291,799,649.701776709,629,650,0.401424033189,-0.0154472838758,0.0499307526777,0.999999982214,-0.00013852603673,-0.000118966736032,-4.72065879373e-05,1793193450466309888
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,742.125297857,711.125297857,671,659.874702143,633,876,784.874702143,799,649.125297857,629,650,0.401524928782,-0.0154551772245,0.0499284442658,0.99999998156,-0.000140601945716,-0.000122399743848,-4.6135556089e-05,1793193450482976512
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,742,711.449419116,671,660,633,876,784.550580884,799.449419116,649,628.550580884,650.449419116,0.401645470483,-0.0154621804581,0.0499271562288,0.999999980921,-0.00014095019799,-0.000127545895287,-4.49846782531e-05,1793193450499643136
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,742.024278191,712,671,659.975721809,633,876,784,799.975721809,649.024278191,628.024278191,651,0.401772556682,-0.0154690132211,0.0499260965101,0.999999980255,-0.000140947715537,-0.000133050945187,-4.38355056875e-05,1793193450516310016
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,742.613838565,712,671,659.386161435,633,876,784,799.386161435,649.613838565,628.613838565,651,0.401924988474,-0.015477632393,0.0499237550108,0.999999979479,-0.000143950073343,-0.000135835080352,-4.32423289064e-05,1793193450532976640
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,743,712,671,659,633,876,784,799.200113288,650,629,651,0.402094078732,-0.0154879594869,0.0499238545274,0.999999979069,-0.000147858043831,-0.000135040001282,-4.20089716115e-05,1793193450549643264
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,743,712,671,659,633,876,784,799.78015,650,629,651,0.402294795764,-0.0155015291408,0.0499285884151,0.999999979317,-0.000153485357421,-0.000127449634379,-3.95602049758e-05,1793193450566310144
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,742.643396691,712,671,659.356603309,633,876,784,800,650,629,651,0.402521642775,-0.0155132091045,0.0499328020161,0.999999980375,-0.00015337873365,-0.00011980812975,-3.7020368254e-05,1793193450582976768
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,742.069130558,712,671,659.930869442,633,876,784,800,650,629,651,0.40276443897,-0.0155237356442,0.049936698046,0.999999981904,-0.000149772241032,-0.000112135411041,-3.44249441149e-05,1793193450599643648
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,742,712,671,659.482644133,633,876,784,799.482644133,649.482644133,629,651,0.403039371991,-0.0155331194134,0.0499437223176,0.999999984361,-0.000144784687233,-9.68481041872e-05,-3.06032278519e-05,1793193450616310272
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,742.103910976,712,671,659,633,876,784,799.103910976,649,629,651,0.403327278563,-0.015538810371,0.0499514019996,0.99999998727,-0.00013518993375,-8.04018568961e-05,-2.68073785739e-05,1793193450632976640
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,742.683130518,712,671,659,633,876,784,799.683130518,649,629,651,0.403654410978,-0.0155283250868,0.0499601213677,0.99999999215,-0.000105385519285,-6.34211442321e-05,-2.38975108717e-05,1793193450649643008
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.261888844,742.738111156,712,671,659.261888844,633,876.261888844,784,799.738111156,649.261888844,629,651,0.403998420515,-0.0155202581216,0.0499659059509,0.999999995537,-7.62876864482e-05,-5.15786809943e-05,-2.10944952213e-05,1793193450666309888
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.840090072,742.159909928,712,671,659.840090072,633,876.840090072,784,799.159909928,649.840090072,629,651,0.404362814417,-0.0155151120308,0.0499681458665,0.999999997621,-4.80432729432e-05,-4.59422560694e-05,-1.84205369055e-05,1793193450682976768
+137,2.283333333,POSE1_TO_POSE2_PRESS,764.585694646,742,712,671,660,633,877,784,799.414305354,650,629,650.585694646,0.40475742746,-0.0155208091221,0.0499653963783,0.999999998093,-3.30802818731e-05,-5.00292825638e-05,-1.47280838647e-05,1793193450699643648
+138,2.300000000,POSE1_TO_POSE2_PRESS,764.013003177,742,712,671,660,633,877,784,799.986996823,650,629,650.013003177,0.405163593066,-0.0155306514881,0.0499607394749,0.999999998002,-2.31946887968e-05,-5.7833518445e-05,-1.06462672895e-05,1793193450716310272
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,742,712,671,660,633,877,784,799.422721441,650,629,650.577278559,0.405564448014,-0.0155330548986,0.0499430898147,0.999999995371,-3.68886885427e-06,-9.57561411544e-05,-8.69226889875e-06,1793193450732977408
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,742.164704156,712,671,660,633,877,784,799.329408312,650,629,650.835295844,0.405983709647,-0.0155346058166,0.0499253827981,0.999999991338,1.67257012587e-05,-0.000130380597934,-6.71212604874e-06,1793193450749644544
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,742.743913231,712,671,660,633,877,784,800.487826462,650,629,650.256086769,0.40644960516,-0.0155344462486,0.0499082911158,0.999999987231,3.88647980188e-05,-0.000154943672587,-4.54177453729e-06,1793193450766310912
+142,2.366666667,POSE1_TO_POSE2_PRESS,763.679456193,743,712,671,659.679456193,633,877,784,800.679456193,650,629,650,0.406955042329,-0.0155334241544,0.0499033105663,0.99999998526,6.41777110497e-05,-0.000159246793986,-1.20212340933e-06,1793193450782977536
+143,2.383333333,POSE1_TO_POSE2_PRESS,763.104869115,743,712,671,659.104869115,633,877,784,800.104869115,650,629,650,0.40749181783,-0.0155317184751,0.0499079285526,0.999999984886,9.20059976753e-05,-0.00014749312734,3.06424278305e-06,1793193450799644672
+144,2.400000000,POSE1_TO_POSE2_PRESS,763.93993262,743,712,671,659.46996631,633,877,784,800,649.53003369,629,650,0.408099613581,-0.0155346340189,0.0499341333971,0.999999987822,0.000119240959852,-0.000100124788049,1.06509327344e-05,1793193450816311552
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.908102859,743,712,671,659.954051429,633,877,784,800,649.045948571,629,650,0.40872245099,-0.0155387148394,0.0499638319968,0.999999988062,0.000145744803972,-4.77418320662e-05,1.88223460581e-05,1793193450832978688
+146,2.433333333,POSE1_TO_POSE2_PRESS,763.730345665,743,712,671,659.365172832,633,877,784,800,649.634827168,629,650,0.409335667004,-0.0155443736196,0.049977865849,0.999999985591,0.000165174972138,-3.00590677246e-05,2.51437140942e-05,1793193450849644288
+147,2.450000000,POSE1_TO_POSE2_PRESS,763.220354394,742.779645606,712,671.220354394,659.220354394,633,877,784,800,650,629,650.220354394,0.409946559263,-0.0155483330601,0.0499804498952,0.99999998225,0.000183130548855,-3.31795717595e-05,2.93807310918e-05,1793193450866310400
+148,2.466666667,POSE1_TO_POSE2_PRESS,763.800410875,742.199589125,712,671.800410875,659.800410875,633,877,784,800,650,629,650.800410875,0.410553658234,-0.0155495185321,0.0499643435073,0.999999977339,0.0001986790309,-7.0258914363e-05,3.02152949273e-05,1793193450882977024
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,742.376697613,711.623302387,672,660,633,877.376697613,784,799.623302387,650,629,650.623302387,0.411184610568,-0.0155515904031,0.0499381369658,0.999999978638,0.000169150087235,-0.000117092042439,2.00642933855e-05,1793193450899643648
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,742.951006767,711.048993233,672,660,633,877.951006767,784,799.048993233,650,629,650.048993233,0.411828076103,-0.0155541272695,0.0499066319922,0.999999978979,0.000115974006819,-0.000169041900424,4.15038159686e-06,1793193450916310272
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,742.495848226,711,671.495848226,660,633,877.495848226,784,799,649.495848226,629,650,0.412583762246,-0.0155606898575,0.0499305265892,0.999999991535,5.30341980559e-05,-0.000118429951598,9.61482409076e-06,1793193450932976896
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,742,711.06244224,671.06244224,660,633,876.93755776,784,799.06244224,649.06244224,629,650.06244224,0.413348948448,-0.0155669988549,0.0499570963517,0.999999997797,-1.87933866525e-06,-6.42193809831e-05,1.66790198574e-05,1793193450949643520
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,742,711.684541366,671.684541366,660,633,876.315458634,784,799.684541366,649.684541366,629,650.684541366,0.414105475066,-0.0155676698327,0.0499613340629,0.999999997509,2.33065681004e-05,-6.34874696345e-05,2.02111144694e-05,1793193450966309888
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,742,712,672,660,633,876.284665453,784,799.715334547,650,629,651,0.4148467254,-0.0155662325146,0.0499475886882,0.999999994996,3.98456005286e-05,-8.98354242699e-05,1.87043160344e-05,1793193450982976512
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,742,712,672,660,633,876.862182632,784,799.137817368,650,629,651,0.415572260236,-0.0155626262714,0.0499153430792,0.999999988426,4.74890989891e-05,-0.000144041994322,1.20137189016e-05,1793193450999643136
+156,2.600000000,POSE1_TO_POSE2_PRESS,764.436291393,742,712,671.563708607,660,633,877,784,799,649.563708607,629,650.563708607,0.416358135156,-0.0155661698877,0.0499155387196,0.999999988388,5.97124736012e-05,-0.000139587278989,1.31716668905e-05,1793193451016310016
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.990373056,742,712,671,660.009626944,633,877,784,799.009626944,649,629,650,0.41716367986,-0.0155718682628,0.0499262195408,0.999999990409,7.34245152486e-05,-0.000116228820281,1.68045893185e-05,1793193451032976640
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.399208831,742,712,671,660.600791169,633,877,784,799.600791169,649,629,650,0.418014960743,-0.0155723560284,0.0499560467001,0.999999993792,9.03486394006e-05,-6.1625492036e-05,2.1341499049e-05,1793193451049643264
+159,2.650000000,POSE1_TO_POSE2_PRESS,764.188089706,742,712,671.188089706,660.811910294,633,877,784,799.811910294,649,629,650,0.418841836309,-0.0155728586538,0.0499691151619,0.999999993498,0.000103243136714,-4.19473857669e-05,2.41875116774e-05,1793193451066309632
+160,2.666666667,POSE1_TO_POSE2_PRESS,764.767348751,742,712,671.767348751,660.232651249,633,877,784,799.232651249,649,629,650,0.419617956191,-0.0155733921832,0.0499473306321,0.999999989414,0.000107757236026,-9.49031145142e-05,2.35169728003e-05,1793193451082976256
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.656418078,742.343581922,712,672,660.343581922,633,877,784,799,649.343581922,628.656418078,650,0.420445978794,-0.0155749581614,0.0499441220951,0.999999989391,0.000109977553463,-9.26773901193e-05,2.30895561341e-05,1793193451099643392
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.082215968,742.917784032,712,672,660.917784032,633,877,784,799,649.917784032,628.082215968,650,0.421308839679,-0.0155772171431,0.0499533821979,0.99999999219,0.00011065823091,-5.3412587078e-05,2.28253287876e-05,1793193451116310784
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,743,712,672,661,633,877,784,799.491841466,649.508158534,628,650,0.422169315359,-0.015581361379,0.0499708259241,0.999999993165,0.000112080554905,-2.1318278979e-05,2.5580727648e-05,1793193451132977152
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,743,712,672,660.931520231,633,877.068479769,784,799.931520231,649.068479769,628.068479769,650,0.423026027492,-0.0155850104896,0.0499849842975,0.999999993444,0.000110961546378,1.57476108199e-06,2.82492781377e-05,1793193451149643520
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,743,712,672,660.33478688,633,877.66521312,784,799.33478688,649.66521312,628.66521312,650,0.423856781867,-0.0155824099324,0.0499632499862,0.999999994973,8.92826249836e-05,-3.72674653166e-05,2.63553058764e-05,1793193451166310144
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,743,712,672,660.253037585,633,877.746962415,784,799,649.746962415,629,650,0.424698765189,-0.0155821738022,0.049957183069,0.999999995129,8.14151974983e-05,-4.92814330546e-05,2.61628122027e-05,1793193451182977024
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,743,712,672,660.829475918,633,877.170524082,784,799,649.170524082,629,650,0.425555100048,-0.0155849595843,0.0499711402371,0.999999995081,9.119987787e-05,-2.70069074341e-05,2.81449337834e-05,1793193451199643648
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.405170842,743,712,672,660.594829158,633,877,784,799.405170842,649,629,650,0.426381452154,-0.0155835178791,0.0499814612565,0.999999993613,0.000106144167027,-2.42144075863e-05,3.03449329643e-05,1793193451216310016
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.980553426,743,712,672,660.019446574,633,877,784,799.980553426,649,629,650,0.427195208493,-0.0155803002117,0.0499902547337,0.999999991433,0.000123256000512,-2.96062827216e-05,3.26364621184e-05,1793193451232976384
+170,2.833333333,POSE1_TO_POSE2_PRESS,764.43178425,743,712,672,660,633,877,784,800,649,629,650,0.427966150766,-0.0155728762052,0.04995171627,0.999999986397,0.000135228031894,-8.99203432129e-05,2.88850964402e-05,1793193451249643264
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,743,712,672,660,632.845875156,877,784,800,649,629,650.154124844,0.428755002482,-0.0155687474471,0.0499261719395,0.999999981348,0.000143316212753,-0.000126745083382,2.64476690996e-05,1793193451266309888
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,743,712,672,660,632.26599579,877,784,800,649,629,650.73400421,0.429597464269,-0.0155741279367,0.0499410962205,0.999999985277,0.000141172295128,-9.33758698637e-05,2.82237813814e-05,1793193451282976512
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,743,712,671.688726704,660,632.311273296,877,784,800,649.311273296,629,650.688726704,0.430401890073,-0.0155764380082,0.0499487692509,0.999999988365,0.000127006432627,-7.94054976472e-05,2.88956789731e-05,1793193451299643136
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,743,712,671.113669689,660,632.886330311,877,784,800,649.886330311,629,650.113669689,0.431174082832,-0.0155761461013,0.0499502973207,0.99999999097,0.000102652759815,-8.18743739046e-05,2.86318268931e-05,1793193451316310272
+175,2.916666667,POSE1_TO_POSE2_PRESS,764,743,712,671.462036236,660,633,877.462036236,784,799.537963764,650,629,650,0.431914631036,-0.015572766714,0.0499376381819,0.999999988534,0.000110998982989,-9.91924438224e-05,2.77701896538e-05,1793193451332976896
+176,2.933333333,POSE1_TO_POSE2_PRESS,764,743,712,672,660.038884281,633,877.961115719,784,799,649.961115719,629,650,0.432649279335,-0.0155688980658,0.0499237084949,0.999999984792,0.000126993659972,-0.000116459067852,2.69516366723e-05,1793193451349643520
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,743,712,672,660.629673324,633,877.370326676,784,799,649.370326676,629,650,0.433410840676,-0.0155688813495,0.0499413549122,0.999999986886,0.000137202245632,-8.10710160715e-05,2.88349290832e-05,1793193451366310144
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,742.784753084,712,672,661,633,877,784,799.215246916,649,629,650,0.43415027932,-0.0155696399858,0.0499578661715,0.999999987781,0.000143853445762,-5.30574658654e-05,3.04947698763e-05,1793193451382976768
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,742.207940173,712,672,661,633,877,784,799.792059827,649,629,650,0.434852556971,-0.0155717010384,0.0499724706255,0.99999998835,0.000144529046999,-3.74313999842e-05,3.17792629886e-05,1793193451399643136
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,742.368290025,712,672,660.631709975,633,877.368290025,784,799.631709975,649,629,650,0.43549622241,-0.0155700490081,0.0499631157157,0.999999985982,0.000150230639231,-6.71573185985e-05,3.09406831158e-05,1793193451416310016
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,742.944191704,712,672,660.055808296,633,877.944191704,784,799.055808296,649,629,650,0.436106847058,-0.0155663038467,0.0499402544844,0.999999979482,0.000158765471786,-0.000122448960251,2.89052889941e-05,1793193451432977152
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,743,712,672.531672174,660,633,877.468327826,784,800.063344348,649.531672174,629,650,0.436726600159,-0.0155641420401,0.0499349527339,0.999999978135,0.000167105648478,-0.000122296979714,2.91279363533e-05,1793193451449643776
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,743.118564255,712,672.881435745,660,633,877.118564255,784,800.881435745,649.881435745,629,650,0.437354205488,-0.0155639781968,0.0499382198694,0.999999978802,0.000174168367155,-0.000105564572351,3.02866778294e-05,1793193451466310656
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,743.698334471,712,672.301665529,660,633,877.698334471,784,800.301665529,649.301665529,629,650,0.438008545102,-0.0155709253779,0.049967489891,0.999999982742,0.0001763431208,-4.74780558125e-05,3.41442345606e-05,1793193451482977536
+185,3.083333333,POSE1_TO_POSE2_PRESS,764.275774954,743.724225046,712,672.275774954,660,633,877.724225046,784,800.275774954,649,629,650,0.438599125403,-0.0155736956533,0.049977859971,0.999999982653,0.00018049772871,-2.82588267317e-05,3.62636805307e-05,1793193451499643904
+186,3.100000000,POSE1_TO_POSE2_PRESS,764.850688294,743.149311706,712,672.850688294,660,633,877.149311706,784,800.850688294,649,629,650,0.43912054471,-0.0155719351584,0.0499677289199,0.999999980576,0.000186799922818,-5.11996941719e-05,3.64977642315e-05,1793193451516310272
+187,3.116666667,POSE1_TO_POSE2_PRESS,764.575090205,742.575090205,712,672.575090205,660.424909795,632.575090205,877.424909795,784,800.575090205,649,629.424909795,650,0.439592331589,-0.0155683065273,0.049939898335,0.999999978658,0.000180399486041,-9.44318355382e-05,3.49712569626e-05,1793193451532976640
+188,3.133333333,POSE1_TO_POSE2_PRESS,764.001111372,742.001111372,712,672.001111372,660.998888628,632.001111372,877.998888628,784,800.001111372,649,629.998888628,650,0.440046706205,-0.0155640225069,0.0499058583079,0.999999974608,0.000169542647112,-0.000144782667584,3.28270900615e-05,1793193451549643264
+189,3.150000000,POSE1_TO_POSE2_PRESS,764,742.591446495,712,672.591446495,661,632.591446495,877.408553505,784,800,649,629.408553505,650.591446495,0.440477750766,-0.0155662493794,0.0498916095488,0.999999973008,0.000153602856659,-0.000171230502127,3.27021259025e-05,1793193451566310144
+190,3.166666667,POSE1_TO_POSE2_PRESS,764,743,712,673,661,632.820682814,877,784,799.820682814,649,629,650.820682814,0.440907622455,-0.0155690400139,0.0498830908661,0.999999971604,0.000143949181925,-0.00018706152814,3.28571879084e-05,1793193451582977024
+191,3.183333333,POSE1_TO_POSE2_PRESS,764,743,712,673,661,632.243297141,877,784,799.243297141,649,629,650.243297141,0.44133499103,-0.0155730541111,0.049887207215,0.999999972345,0.00014827202258,-0.000179427114529,3.3625187532e-05,1793193451599644416
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,743,712,673,660.666215227,632,877.333784773,784,799.333784773,649,628.666215227,650,0.441726372246,-0.0155743758475,0.0498856982139,0.999999975013,0.000130127441224,-0.000179843236929,2.63945720591e-05,1793193451616311552
+193,3.216666667,POSE1_TO_POSE2_PRESS,764,743,712,673,660.089354556,632,877.910645444,784,799.910645444,649,628.089354556,650,0.442091545952,-0.015573736895,0.0498800925995,0.999999978019,9.56211521038e-05,-0.000186122093389,1.33390336754e-05,1793193451632977920
+194,3.233333333,POSE1_TO_POSE2_PRESS,763.504893928,743,712.495106072,673,660,632,878,783.504893928,800,649,628.495106072,650,0.442394733443,-0.0155768276359,0.0498662532908,0.999999973075,9.40445423543e-05,-0.000211783274341,1.24047442709e-05,1793193451649644032
+195,3.250000000,POSE1_TO_POSE2_PRESS,763.080176357,743,712.919823643,673,660,632,877.919823643,783,800,649,629,650,0.442682873205,-0.015580312646,0.0498505098678,0.999999966106,9.85021646324e-05,-0.000240630156186,1.35318288008e-05,1793193451666310144
+196,3.266666667,POSE1_TO_POSE2_PRESS,763.660361504,743,712.339638496,673,660,632,877.339638496,783,800,649,629,650,0.442948023673,-0.0155819932083,0.0498323032818,0.999999958912,0.000102950936533,-0.000267189118038,1.36591069182e-05,1793193451682976512
+197,3.283333333,POSE1_TO_POSE2_PRESS,764,743,712,673,660,631.760480979,877.239519021,783,800,649.239519021,629,650,0.443195708576,-0.0155827613532,0.0498128825719,0.999999949614,0.000107759065405,-0.000298301036284,1.32949677047e-05,1793193451699643392
+198,3.300000000,POSE1_TO_POSE2_PRESS,764,743,712,673,660,631.18277447,877.81722553,783,800,649.81722553,629,650,0.443418733053,-0.0155822412155,0.0497917475883,0.999999937137,0.000113074585862,-0.000335841472531,1.22369746331e-05,1793193451716310016
+199,3.316666667,POSE1_TO_POSE2_PRESS,764,743,712,673,660,631.391599333,878,783,800,649.608400667,628.608400667,650,0.443625243184,-0.0155803180627,0.0497804826589,0.999999930047,0.000119363517084,-0.000354268891667,1.2312468455e-05,1793193451732977152
+200,3.333333333,POSE1_TO_POSE2_PRESS,764,743,712,673,660,631.964430809,878,783,800,649.035569191,628.035569191,650,0.443824110496,-0.0155777455946,0.0497737855881,0.999999925772,0.000126102943242,-0.000363850811218,1.29125398435e-05,1793193451749644544
+201,3.350000000,POSE1_TO_POSE2_PRESS,763.4457324,743,712,673,660,632,877.4457324,783,800,649,628.5542676,650,0.444001201105,-0.0155769248816,0.0497742866346,0.999999925423,0.000130674777466,-0.000363184444885,1.32057162214e-05,1793193451766311168
+202,3.366666667,POSE1_TO_POSE2_PRESS,763.14248679,743,712,673,659.85751321,631.85751321,877,783,800,649.14248679,629,650.14248679,0.444168997081,-0.0155773840798,0.0497741130073,0.999999925105,0.000132947963794,-0.000363225754607,1.34779558394e-05,1793193451782977536
+203,3.383333333,POSE1_TO_POSE2_PRESS,763.722286145,743,712,673,659.277713855,631.277713855,877,783,800,649.722286145,629,650.722286145,0.444312691364,-0.0155814155697,0.0497704061142,0.9999999241,0.000128606704096,-0.000367521386086,1.37482959579e-05,1793193451799643648
+204,3.400000000,POSE1_TO_POSE2_PRESS,764,742.70016042,712,673,659.29983958,631.29983958,877,783,799.70016042,649.70016042,628.70016042,650.70016042,0.444439292688,-0.0155855129858,0.0497656562621,0.99999992272,0.000123913063054,-0.000372849454955,1.37655126308e-05,1793193451816310016
+205,3.416666667,POSE1_TO_POSE2_PRESS,764,742.124671743,712,673,659.875328257,631.875328257,877,783,799.124671743,649.124671743,628.124671743,650.124671743,0.44455018007,-0.015589671009,0.0497599475954,0.999999920972,0.000118895470378,-0.000379126665878,1.35500273566e-05,1793193451832976640
+206,3.433333333,POSE1_TO_POSE2_PRESS,764,742,712,673.448649174,660,631.551350826,877.448649174,783,799,649.448649174,628.448649174,650,0.44463891639,-0.0155888779244,0.0497553176378,0.999999918747,0.000118210306532,-0.00038517452876,1.31358710943e-05,1793193451849643264
+207,3.450000000,POSE1_TO_POSE2_PRESS,764,742.022136124,712,673.955727753,659.977863876,631,877.977863876,782.977863876,799.022136124,650,629,650,0.444720755463,-0.0155867862112,0.049751053471,0.999999916436,0.000118544473603,-0.000391043560218,1.26782958955e-05,1793193451866309888
+208,3.466666667,POSE1_TO_POSE2_PRESS,764,742.615373291,712,672.769253418,659.384626709,631,877.384626709,782.384626709,799.615373291,650,629,650,0.444782691447,-0.0155865154711,0.0497485301964,0.999999915801,0.000114266047325,-0.000393935174286,1.25180026729e-05,1793193451882976768
+209,3.483333333,POSE1_TO_POSE2_PRESS,764,743,712,672.203363283,659,631,877.203363283,782.203363283,800,649.796636717,629,650.203363283,0.444838287578,-0.015586122536,0.0497452857385,0.999999914488,0.000111092882754,-0.000398165392618,1.21509494131e-05,1793193451899643648
+210,3.500000000,POSE1_TO_POSE2_PRESS,764,743,712,672.781678704,659,631,877.781678704,782.781678704,800,649.218321296,629,650.781678704,0.444882194564,-0.0155855043034,0.0497407115953,0.999999911932,0.000109957550816,-0.000404863669372,1.14026812511e-05,1793193451916310272
+211,3.516666667,POSE1_TO_POSE2_PRESS,764,743,712,673,659,631,877.64323655,783,800,649,628.64323655,650.64323655,0.444919319837,-0.0155854087006,0.0497393386886,0.999999910987,0.000109718464328,-0.000407254162335,1.14771532339e-05,1793193451932976640
+212,3.533333333,POSE1_TO_POSE2_PRESS,764,743,712,673,659,631,877.070111018,783,800,649,628.070111018,650.070111018,0.44495233229,-0.0155856300509,0.0497399071975,0.999999911037,0.000110022913044,-0.000407032165592,1.20505825668e-05,1793193451949643264
+213,3.550000000,POSE1_TO_POSE2_PRESS,764,743,712,673,659,631.517657974,877,783,800,649,628.517657974,650.517657974,0.444972735336,-0.0155837332459,0.0497386440582,0.999999910866,0.000109946566845,-0.000407490191827,1.14904496013e-05,1793193451966310144
+214,3.566666667,POSE1_TO_POSE2_PRESS,764,743,711.894236848,673,659,631.894236848,877.105763152,783,800.105763152,649,629,650.894236848,0.444990169416,-0.0155820982118,0.0497372597694,0.999999910702,0.000109313344439,-0.000408079535613,1.08490765684e-05,1793193451982976512
+215,3.583333333,POSE1_TO_POSE2_PRESS,764,743,711.313783226,673,659,631.313783226,877.686216774,783,800.686216774,649,629,650.313783226,0.445002166241,-0.0155829631401,0.0497364775714,0.99999991071,0.000106418944752,-0.000408832856518,1.05522106481e-05,1793193451999643136
+216,3.600000000,POSE1_TO_POSE2_PRESS,764,743,711,673,659,631,877.736600878,782.736600878,800.473201756,649,629,650,0.445010712915,-0.0155836249035,0.0497354972356,0.999999910242,0.000104122134255,-0.00041056730298,1.04288645586e-05,1793193452016309760
+217,3.616666667,POSE1_TO_POSE2_PRESS,764,743,711,673,659,631,877.163267776,782.163267776,799.326535552,649,629,650,0.445015199897,-0.0155840476087,0.0497342837569,0.999999909216,0.000102528489512,-0.000413456210907,1.05096941556e-05,1793193452032976640
+218,3.633333333,POSE1_TO_POSE2_PRESS,764,743,711.413694429,673.413694429,659,631,877,782.413694429,799.827388858,649,628.586305571,650,0.44501776593,-0.0155817855353,0.0497333528644,0.999999908331,0.000104384714456,-0.000415143456848,9.9296303951e-06,1793193452049643520
+219,3.650000000,POSE1_TO_POSE2_PRESS,764,743,711.99210155,673.99210155,659,631,877,782.99210155,800.9842031,649,628.00789845,650,0.445019567136,-0.0155784545158,0.049732534484,0.999999907494,0.000107614507177,-0.000416352260258,9.08643153531e-06,1793193452066310144
+220,3.666666667,POSE1_TO_POSE2_PRESS,764,743,712,674,659,631.584130055,877.584130055,783,800.415869945,649,628.584130055,650,0.445021525161,-0.0155791055241,0.0497314524591,0.999999907611,0.000105232823761,-0.000416682859624,8.8799768544e-06,1793193452082976768
+221,3.683333333,POSE1_TO_POSE2_PRESS,764,743,712,673.830036036,659,631.830036036,877.830036036,782.830036036,800,649,629,650,0.445023388606,-0.0155790734533,0.0497308631017,0.9999999077,0.000104694717636,-0.000416610322802,8.69251353079e-06,1793193452099643136
+222,3.700000000,POSE1_TO_POSE2_PRESS,764,743,712,673.259255312,659,631.259255312,877.259255312,782.259255312,800,649,629,650,0.445025023891,-0.015577300505,0.0497314441829,0.999999907689,0.000108687428342,-0.000415615764224,8.52904751807e-06,1793193452116310016
+223,3.716666667,POSE1_TO_POSE2_PRESS,764,742.683468078,712,673,659,631,877,782,800,649,628.683468078,650,0.445025588593,-0.0155760654684,0.0497308603208,0.999999907392,0.00011027170501,-0.000415916729676,8.32411502568e-06,1793193452132976640
+224,3.733333333,POSE1_TO_POSE2_PRESS,764,742.103514301,712,673,659,631,877,782,800,649,628.103514301,650,0.445025262342,-0.0155752780885,0.0497293069783,0.999999906866,0.000109851652953,-0.000417295846449,8.08467358831e-06,1793193452149643264
+225,3.750000000,POSE1_TO_POSE2_PRESS,764,742.482338599,712,673,659.482338599,631,877.482338599,782.482338599,800,649.482338599,628,650,0.445025499978,-0.0155766476667,0.0497299479661,0.999999907289,0.000106814357835,-0.000417065681389,8.34283055269e-06,1793193452166310144
+226,3.766666667,POSE1_TO_POSE2_PRESS,764,742.931090477,712,673,659.931090477,631,878,782.931090477,799.931090477,649.931090477,628.068909523,650,0.445025885549,-0.0155781292891,0.0497308727618,0.999999907819,0.00010364022519,-0.000416588433928,8.61147644023e-06,1793193452182977280
+227,3.783333333,POSE1_TO_POSE2_PRESS,764,742.348719198,712,673,659.348719198,631,878,782.348719198,799.348719198,649.348719198,628.651280802,650,0.445026460549,-0.0155769538687,0.0497303598672,0.999999907699,0.000103683549699,-0.000416875389705,8.15271331264e-06,1793193452199643904
+228,3.800000000,POSE1_TO_POSE2_PRESS,764,742.230468421,712,672.769531579,659,631,877.769531579,782,799.230468421,649,628.769531579,650,0.445026992907,-0.0155766993377,0.049730200464,0.999999907694,0.000102965529082,-0.000417069991365,7.86871740778e-06,1793193452216310272
+229,3.816666667,POSE1_TO_POSE2_PRESS,764,742.80490448,712,672.19509552,659,631,877.19509552,782,799.80490448,649,628.19509552,650,0.445027461625,-0.0155778192082,0.0497305686366,0.99999990786,0.000101111222268,-0.000417126757086,7.8455566972e-06,1793193452232976896
+230,3.833333333,POSE1_TO_POSE2_PRESS,764,742.620273797,712,672.379726203,659.379726203,631,877,782,799.620273797,649,628,650,0.445027564975,-0.0155780635191,0.0497307177664,0.999999908016,0.00010102164534,-0.000416768766092,8.09249984219e-06,1793193452249643520
+231,3.850000000,POSE1_TO_POSE2_PRESS,764,742.045253744,712,672.954746256,659.954746256,631,877,782,799.045253744,649,628,650,0.445027480416,-0.0155778575281,0.049730754242,0.999999908168,0.000101839672136,-0.000416197464991,8.47835787262e-06,1793193452266310144
+232,3.866666667,POSE1_TO_POSE2_PRESS,764,742,712,673,660,631,877.545673658,782.545673658,799,649,628,650,0.445027716254,-0.0155767000158,0.0497306312312,0.999999908085,0.000101267183981,-0.000416549464555,7.89016131071e-06,1793193452282976512
+233,3.883333333,POSE1_TO_POSE2_PRESS,764,742,711.865185105,673,659.865185105,631,877.865185105,782.865185105,799.134814895,649,628,650.134814895,0.445027780508,-0.0155756523624,0.0497303642187,0.999999907841,0.000101243794293,-0.000417147075398,7.44384763198e-06,1793193452299643392
+234,3.900000000,POSE1_TO_POSE2_PRESS,764,742,711.286401043,673,659.286401043,631,877.286401043,782.286401043,799.713598957,649,628,650.713598957,0.445027189576,-0.0155752341662,0.0497296678487,0.999999907137,0.000103419848294,-0.00041829379362,7.73879064795e-06,1793193452316310272
+235,3.916666667,POSE1_TO_POSE2_PRESS,764,742.289788953,711.289788953,673,659,631,877,782,800,649,628,650.710211047,0.445027538774,-0.0155752451921,0.0497297201604,0.999999907073,0.000104590606028,-0.000418151834285,8.01673551243e-06,1793193452332976896
+236,3.933333333,POSE1_TO_POSE2_PRESS,764,742.863438023,711.863438023,673,659,631,877,782,800,649,628,650.136561977,0.445028808865,-0.0155756766586,0.0497305058365,0.999999907637,0.000104776635259,-0.000416747562774,8.27803002818e-06,1793193452349643520
+237,3.950000000,POSE1_TO_POSE2_PRESS,764,743,712,673,659.43945707,631.43945707,877,782.43945707,800.43945707,649,628,650,0.445028625129,-0.0155755848514,0.0497301977667,0.999999907567,0.000104283639912,-0.000417053916808,7.59651481834e-06,1793193452366310144
+238,3.966666667,POSE1_TO_POSE2_PRESS,764,743,712,673,660,631.983362438,877.016637562,782.983362438,800.983362438,649,628.016637562,650,0.445028047995,-0.0155753947027,0.0497296103587,0.999999907328,0.000103541161467,-0.000417826752783,6.68219263124e-06,1793193452382976768
+239,3.983333333,POSE1_TO_POSE2_PRESS,764,743,712,673,660,631.391629188,877.608370812,782.391629188,800.391629188,649,628.608370812,650,0.445029573496,-0.0155774564807,0.0497311794538,0.999999908185,0.000101508293963,-0.000416249787699,7.90271328465e-06,1793193452399643392
+240,4.000000000,POSE1_TO_POSE2_PRESS,764,743,712,673,659.804880808,631.195119192,878,782.195119192,800.195119192,649.195119192,629,650.195119192,0.445030538817,-0.0155782950395,0.0497317972536,0.999999908549,0.000100874580678,-0.000415516371914,8.54558076923e-06,1793193452416310016
+241,4.016666667,POSE1_TO_POSE2_PRESS,764,743,712,673,659.227888491,631.772111509,878,782.772111509,800.772111509,649.772111509,629,650.772111509,0.445030407793,-0.0155767396026,0.0497305532471,0.999999907957,0.000102979190641,-0.00041643388971,8.0579073095e-06,1793193452432976640
+242,4.033333333,HOLD_POSE2,764,743,712,672,659,631,877,782,800,649,628,651,0.445030405867,-0.0155733930303,0.0497295851037,0.999999907158,0.000102564429999,-0.000418463493082,7.21513526609e-06,1793193452468635904
+243,4.050000000,HOLD_POSE2,764.591538205,743,712,672.591538205,659,631,877.591538205,782,800,649,628,651,0.44502945412,-0.0155746786401,0.0497297825355,0.99999990756,0.000100412062135,-0.000418027586485,7.07803206042e-06,1793193452485302528
+244,4.066666667,HOLD_POSE2,764.821386916,743,712,672.821386916,659,631,877.821386916,782.178613084,800,649,628.178613084,650.821386916,0.445028757526,-0.0155756096219,0.0497299050176,0.999999907723,9.91376498826e-05,-0.000417941915994,7.15393234145e-06,1793193452501969152
+245,4.083333333,HOLD_POSE2,764.244270052,743,712,672.244270052,659,631,877.244270052,782.755729948,800,649,628.755729948,650.244270052,0.445028630203,-0.0155757493933,0.0497298602794,0.999999907359,9.98220446156e-05,-0.000418637657455,7.70506482991e-06,1793193452518636544
+246,4.100000000,HOLD_POSE2,764,743,712,672.331733235,659,631.331733235,877.331733235,782.668266765,800,649,629,650,0.445029065555,-0.0155752081359,0.0497300748188,0.999999907338,0.000100578579028,-0.000418507188162,7.67245280082e-06,1793193452535302912
+247,4.116666667,HOLD_POSE2,764,743,712,672.906919253,659,631.906919253,877.906919253,782.093080747,800,649,629,650,0.445029913844,-0.0155741670842,0.0497304796371,0.999999907568,0.000101388055356,-0.00041777037829,7.21144161271e-06,1793193452551968512
+248,4.133333333,HOLD_POSE2,764,742.518266283,712,673,659,631.518266283,877.518266283,782,800.481733717,649.481733717,629,650,0.445031787807,-0.0155740452666,0.0497313755276,0.999999908241,0.000101618069246,-0.000416101714885,7.1198093687e-06,1793193452568635392
+249,4.150000000,HOLD_POSE2,764,742.058301695,712,673,659,631,877,782.058301695,800.941698305,650,629,650,0.445033436293,-0.0155741672531,0.0497321236185,0.999999908876,0.000101448147087,-0.000414616543345,7.09267313046e-06,1793193452585301760
+250,4.166666667,HOLD_POSE2,764,742.651619451,712,673,659,631,877,782.651619451,800.348380549,650,629,650,0.4450311984,-0.0155748978956,0.0497306453398,0.999999908389,9.8634804727e-05,-0.00041646623399,7.00294725304e-06,1793193452601968640
+251,4.183333333,HOLD_POSE2,764,743,712,673,659,631,877.237143034,782.762856966,800.237143034,650,628.762856966,650,0.445030598997,-0.0155752068517,0.0497301405291,0.9999999082,9.81191087771e-05,-0.000417041368124,6.98725733502e-06,1793193452618635520
+252,4.200000000,HOLD_POSE2,764,743,712,673,659,631,877.811580712,782.188419288,800.811580712,650,628.188419288,650,0.445032330059,-0.0155749160324,0.0497310203073,0.999999908441,0.000100871414728,-0.000415803667555,7.07687067639e-06,1793193452635302144
+253,4.216666667,HOLD_POSE2,764,743,712,673,659,631,878,782.387579137,800.612420863,650,628,650,0.445032342695,-0.0155742656243,0.0497310318773,0.99999990816,0.000102326458036,-0.00041612654862,6.88144921648e-06,1793193452651968768
+254,4.233333333,HOLD_POSE2,764,743,712,673,659,631,878,782.964339431,800.035660569,650,628,650,0.445031516549,-0.0155734396974,0.0497306196665,0.999999907626,0.000103148295045,-0.000417211164687,6.5468994989e-06,1793193452668635392
+255,4.250000000,HOLD_POSE2,764,743,712,673,659,631,877.44619068,782.44619068,800,649.44619068,628.55380932,650,0.445031840849,-0.0155723432086,0.0497307394382,0.999999907591,0.000103388704508,-0.000417234748656,6.66417904248e-06,1793193452685302016
+256,4.266666667,HOLD_POSE2,764,743,712,673,659,631,877,782,800,649,629,650,0.445031887146,-0.0155716431558,0.0497308995387,0.999999907665,0.000103396475958,-0.000417054476622,6.74173329282e-06,1793193452701968384
+257,4.283333333,HOLD_POSE2,764,743,712,673,659,631,877,782,800,649,629,650,0.445030837996,-0.0155722256882,0.0497310759524,0.999999907975,0.000102802626776,-0.000416459552901,6.60410506825e-06,1793193452718635008
+258,4.300000000,POSE2_TO_POSE3_RETREAT,764,743,712,674,659,631,877,782,801,649,629,650,0.445032782658,-0.0155752902618,0.0497309954199,0.999999908387,9.95356998951e-05,-0.000416247706977,7.45889721416e-06,1793193452755783424
+259,4.316666667,POSE2_TO_POSE3_RETREAT,764,743,712,673.426460707,659,631,877.573539293,782,800.426460707,649,629,650,0.445034249869,-0.0155725719391,0.0497315656528,0.999999909084,0.000103034854389,-0.000413723745658,6.90098160935e-06,1793193452772450048
+260,4.333333333,POSE2_TO_POSE3_RETREAT,764,743,712,673,659,631.153047192,877.846952808,782.153047192,800,649.153047192,628.846952808,650.153047192,0.445034453453,-0.0155708296267,0.0497314097546,0.999999909136,0.000104957504023,-0.000413121420609,6.48095968728e-06,1793193452789116672
+261,4.350000000,POSE2_TO_POSE3_RETREAT,764,743,712,673,659,631.749861464,877.250138536,782.749861464,800,649.749861464,628.250138536,650.749861464,0.445030993098,-0.0155719172984,0.0497291484074,0.999999907346,0.000102309009146,-0.000418090964049,6.46076644641e-06,1793193452805783552
+262,4.366666667,POSE2_TO_POSE3_RETREAT,764,743,712,673,659,631.665678477,877.334321523,782.665678477,800,650,628,650.665678477,0.445030872474,-0.0155721180411,0.0497290751941,0.999999907247,0.000101463353474,-0.000418532619344,6.44182101633e-06,1793193452822450176
+263,4.383333333,POSE2_TO_POSE3_RETREAT,764,743,712,673,659,631.090132446,877.909867554,782.090132446,800,650,628,650.090132446,0.445033161581,-0.0155716788339,0.0497305807952,0.999999908379,0.000101918508624,-0.000415707246897,6.42377592602e-06,1793193452839116544
+264,4.400000000,POSE2_TO_POSE3_RETREAT,764,743,712,673.486198677,659,631,877.513801323,782,800,649.513801323,628.486198677,650,0.445032320064,-0.0155712172087,0.0497303925719,0.999999907928,0.000102698710185,-0.00041660177498,6.34656981216e-06,1793193452855783168
+265,4.416666667,POSE2_TO_POSE3_RETREAT,764,743,712,673.935947505,659,631,877,782,800,649,628.935947505,650,0.445030284409,-0.0155706021167,0.0497296422036,0.999999907029,0.000103700936313,-0.000418507679994,6.21848754307e-06,1793193452872449792
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764,743,712,673.346805976,659,631,877,782,800,649,628.346805976,650,0.445023224829,-0.015568763059,0.0497268617942,0.99999990488,0.000106028494441,-0.000423042283139,5.76338687968e-06,1793193452889116672
+267,4.450000000,POSE2_TO_POSE3_RETREAT,764,743,712,673,659,631,877,782,800.237296365,649,628.237296365,650.237296365,0.445009330739,-0.0155686260511,0.0497207166962,0.999999900551,0.000105166783525,-0.000433371688189,5.1705087398e-06,1793193452905783296
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764,743,712,673,659,631,877,782,800.814187081,649,628.814187081,650.814187081,0.444985655798,-0.0155709248435,0.0497097563996,0.999999892867,9.974091586e-05,-0.000451994022118,4.38045756778e-06,1793193452922449664
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,742.608964007,712,673,659,631,877.391035993,782,800.608964007,649.391035993,628.608964007,650.608964007,0.444942187315,-0.0155683731894,0.0496931745781,0.999999879951,9.92448759212e-05,-0.000479835154611,2.54981608078e-06,1793193452939116544
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764,742.032134906,712,673,659,631,877.967865094,782,800.032134906,649.967865094,628.032134906,650.032134906,0.444889314315,-0.0155635169406,0.049673921798,0.999999863789,0.000101091146701,-0.00051205642031,2.24758375612e-07,1793193452955783424
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764,742.543915451,712,673,659.543915451,631,878,782.543915451,800,650,628,650,0.444821068881,-0.0155579955574,0.0496597795124,0.999999854876,0.000105047749294,-0.00052840307165,-1.97214087194e-06,1793193452972450048
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764,743,712,673,659.877208212,631,877.877208212,783,800,650,628.122791788,650.122791788,0.444748903138,-0.0155526670965,0.0496480972757,0.999999847034,0.000108771781487,-0.000542296297073,-3.79857438427e-06,1793193452989116416
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764,743,712,673,659.287409085,631,877.287409085,783,800,650,628.712590915,650.712590915,0.444665276702,-0.0155482216059,0.0496446245278,0.999999842334,0.000111137782263,-0.000550420446836,-4.24479214461e-06,1793193453005783296
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764,743,712.296408473,673,659,631.296408473,877.296408473,783,800,649.703591527,629,650.703591527,0.444570102326,-0.0155427633403,0.0496445098394,0.999999840907,0.000113619562528,-0.000552500073221,-4.53239559955e-06,1793193453022449920
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764,743,712.874540766,673,659,631.874540766,877.874540766,783,800,649.125459234,629,650.125459234,0.444463952125,-0.0155363424746,0.049647586846,0.999999842627,0.000116211386204,-0.000548834633228,-4.66924278424e-06,1793193453039116544
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764,743,712.552226013,673,659,632,878,783,800,649,629,650,0.44433586643,-0.0155268722144,0.0496534057443,0.999999846503,0.000121014057692,-0.000540666728104,-5.47094650662e-06,1793193453055783168
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764,743,712,673,659,631.979645135,877.979645135,783,800,649,629,650.020354865,0.444200434668,-0.0155165241557,0.0496598459286,0.999999850723,0.000126455710729,-0.00053152686981,-6.45182838974e-06,1793193453072449792
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764,743,712,673,659,631.38723824,877.38723824,783,800,649,629,650.61276176,0.444029406341,-0.0155052584242,0.0496623899335,0.999999850653,0.000132634833669,-0.000530141279975,-7.28971377839e-06,1793193453089116672
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764,743,712,673,659.200720031,631,877.200720031,782.799279969,800,649,628.799279969,650.799279969,0.443843975684,-0.0154932268481,0.0496640883329,0.999999850343,0.0001382230876,-0.000529280745945,-8.42596211766e-06,1793193453105783552
+280,4.666666667,POSE2_TO_POSE3_RETREAT,764,743,712,673,659.78028184,631,877.78028184,782.21971816,800,649,628.21971816,650.21971816,0.443631361889,-0.0154797498076,0.0496641907245,0.99999984963,0.000142696126454,-0.000529411209724,-1.01253447431e-05,1793193453122449920
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764,743,712,673,659.640581016,631,877.640581016,782.359418984,800,649,628.359418984,650,0.443393876815,-0.0154670271445,0.0496670553921,0.999999850212,0.000147516537047,-0.00052695779769,-1.14059084196e-05,1793193453139116288
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764,743,712,673,659.061703115,631,877.061703115,782.938296885,800,649,628.938296885,650,0.443141205477,-0.0154547650982,0.0496716066875,0.999999851561,0.000152549051016,-0.000522926687716,-1.24307441055e-05,1793193453155783168
+283,4.716666667,POSE2_TO_POSE3_RETREAT,764,742.488620708,712,673,659,631.511379292,877,783,799.488620708,649.511379292,628.488620708,650,0.442854538139,-0.0154428577416,0.049676580338,0.999999857838,0.000152707877629,-0.000510681765605,-1.44400685623e-05,1793193453172449792
+284,4.733333333,POSE2_TO_POSE3_RETREAT,764,742,712,673,659.086355618,631.913644382,877,783,799.086355618,649.913644382,628,650.086355618,0.442560931879,-0.0154329762686,0.0496834951545,0.999999866254,0.000150080206441,-0.000494666716003,-1.64944368574e-05,1793193453189116416
+285,4.750000000,POSE2_TO_POSE3_RETREAT,764,742,712,673,659.67641229,631.32358771,877,783,799.67641229,649.32358771,628,650.67641229,0.442250509776,-0.0154346646738,0.0497014386209,0.999999883882,0.000134590896449,-0.000462377059286,-1.81264269629e-05,1793193453205783296
+286,4.766666667,POSE2_TO_POSE3_RETREAT,764,742,712,673,660,631.262171835,877,783,800,649,628.262171835,650.737828165,0.44191838933,-0.0154388769011,0.04972212997,0.999999901769,0.000117160922383,-0.000427073777715,-1.85179665804e-05,1793193453222450432
+287,4.783333333,POSE2_TO_POSE3_RETREAT,764,742,712,673,660,631.84271311,877,783,800,649,628.84271311,650.15728689,0.441559919429,-0.015446153942,0.0497461582205,0.999999919793,9.73742958766e-05,-0.000388110890358,-1.7403159972e-05,1793193453239116800
+288,4.800000000,POSE2_TO_POSE3_RETREAT,764,742,712,673,660,632,877,783,799.581754617,649,629,650,0.441154398786,-0.015442785763,0.0497637707253,0.999999931124,8.65295658535e-05,-0.000360434302283,-1.87777851356e-05,1793193453255783424
+289,4.816666667,POSE2_TO_POSE3_RETREAT,764,742,712,673,660,632,877,783,799.008083768,649,629,650,0.440731393478,-0.0154354616805,0.0497789990545,0.999999939888,7.90077621968e-05,-0.000336951851792,-2.10775157962e-05,1793193453272450048
+290,4.833333333,POSE2_TO_POSE3_RETREAT,764,742,712,673,660,632,877,783.579750335,799,649,629,650,0.440251704974,-0.0154285141596,0.0497890731805,0.999999945971,7.0123616361e-05,-0.000320275771415,-2.37379402134e-05,1793193453289116416
+291,4.850000000,POSE2_TO_POSE3_RETREAT,764,742,712,673,660,632,877.165314914,784,799.165314914,649,629,650.165314914,0.439752190991,-0.0154207596284,0.0497940745595,0.99999994913,6.14207977909e-05,-0.000311818965109,-2.71381041492e-05,1793193453305783296
+292,4.866666667,POSE2_TO_POSE3_RETREAT,764,742,712,673,660,632,877.744687986,784,799.744687986,649,629,650.744687986,0.439205050103,-0.0154109703288,0.0497865549271,0.999999945667,5.32209140012e-05,-0.000323705016482,-3.2378153678e-05,1793193453322450432
+293,4.883333333,POSE2_TO_POSE3_RETREAT,764,742,712,673.323095423,660,632,877.676904577,784,800.323095423,649,629,650.676904577,0.438632931551,-0.0154043843132,0.0497772850704,0.999999941054,4.04830535717e-05,-0.000338900844631,-3.74020093605e-05,1793193453339117568
+294,4.900000000,POSE2_TO_POSE3_RETREAT,764,742,712,673.900742145,660,632,877.099257855,784,800.900742145,649,629,650.099257855,0.438041134244,-0.0154003220095,0.0497666362956,0.999999935196,2.41699393571e-05,-0.000356704287406,-4.22555368894e-05,1793193453355784704
+295,4.916666667,POSE2_TO_POSE3_RETREAT,764,742,712,673.047082787,660,632.476458606,877.476458606,784,800.523541394,649,629,650,0.437432468281,-0.015400374562,0.049778490528,0.999999941614,2.70332040921e-06,-0.000338735953969,-4.49838728719e-05,1793193453372451328
+296,4.933333333,POSE2_TO_POSE3_RETREAT,764,742.052962177,712,672.052962177,660,633,877.947037823,784.052962177,799.947037823,649,629,650,0.436816024637,-0.0154014262514,0.0497960801709,0.999999949805,-1.98977494244e-05,-0.00031269706787,-4.70548789875e-05,1793193453389117696
+297,4.950000000,POSE2_TO_POSE3_RETREAT,764,742.641475157,712,672.641475157,660,633,877.358524843,784.641475157,799.358524843,649,629,650,0.436156324585,-0.0154039479306,0.049824453257,0.999999958739,-4.31579620285e-05,-0.000280100619721,-4.69377884837e-05,1793193453405784064
+298,4.966666667,POSE2_TO_POSE3_RETREAT,764,742.772386512,712,672.772386512,660,632.772386512,877.227613488,784.772386512,799.227613488,649,629,650,0.43545738571,-0.0154021908248,0.0498312034889,0.999999958178,-6.17052869878e-05,-0.0002781812775,-4.95088397777e-05,1793193453422450432
+299,4.983333333,POSE2_TO_POSE3_RETREAT,764,742.189950021,712,672.189950021,660,632.189950021,877.810049979,784.189950021,799.810049979,649,629,650,0.434697278104,-0.0153937635895,0.0498042461995,0.999999943244,-7.29057658167e-05,-0.000324083984307,-5.62703921025e-05,1793193453439116800
+300,5.000000000,POSE2_TO_POSE3_RETREAT,764,742.3722767,711.6277233,672,660,632,877.6277233,783.6277233,800,649,629,650,0.433953555693,-0.0153901016563,0.0497888342471,0.999999938728,-4.55945211033e-05,-0.000341498997736,-6.19979297166e-05,1793193453455783168
+301,5.016666667,POSE2_TO_POSE3_RETREAT,764,742.924722567,711.075277433,672,660,632,877.075277433,783.075277433,800,649,629,650,0.433217763177,-0.0153887459664,0.049779009843,0.999999938184,3.55078589519e-07,-0.000345126941983,-6.72250393768e-05,1793193453472449792
+302,5.033333333,POSE2_TO_POSE3_RETREAT,764,742.485371518,711,672.514628482,660,632.514628482,877,784.029256964,799.485371518,649,629,650,0.43247185353,-0.0153898586238,0.0497990987599,0.999999947142,-2.10610848461e-05,-0.000317100874929,-6.86925343352e-05,1793193453489116672
+303,5.050000000,POSE2_TO_POSE3_RETREAT,764,742,711,672.889700155,660,633,877,784.889700155,799.110299845,649,629,650,0.431709583524,-0.0153909933602,0.0498186249418,0.999999953735,-5.29937679118e-05,-0.000291184329434,-7.02442209453e-05,1793193453505783808
+304,5.066666667,POSE2_TO_POSE3_RETREAT,764,742,711,672.294662682,660,633,877,784.294662682,799.705337318,649,629,650,0.430882428715,-0.0153905138075,0.0498149389666,0.999999949688,-8.44385827229e-05,-0.000296484480026,-7.47724702036e-05,1793193453522450432
+305,5.083333333,POSE2_TO_POSE3_RETREAT,764,742.291315001,711.291315001,672.291315001,660,632.708684999,877,784,800.291315001,649,629,650,0.430031181515,-0.0153868242933,0.0497964490834,0.999999942521,-6.28828620991e-05,-0.000326126601127,-6.815971192e-05,1793193453539116800
+306,5.100000000,POSE2_TO_POSE3_RETREAT,764,742.868405248,711.868405248,672.868405248,660,632.131594752,877,784,800.868405248,649,629,650,0.429156299977,-0.0153799858593,0.0497634368083,0.999999926596,1.06655127321e-05,-0.000379647795584,-5.06178077764e-05,1793193453555783424
+307,5.116666667,POSE2_TO_POSE3_RETREAT,764,743,712,672.555780644,660,632,877,784,800.111561287,649,629,650,0.428316886941,-0.0153728401006,0.0497716631199,0.999999932084,1.14895449275e-05,-0.000365044207807,-4.9418837577e-05,1793193453572449792
+308,5.133333333,POSE2_TO_POSE3_RETREAT,764,742.980004265,712,672,660,632.019995735,877,784,799.019995735,649,629,650,0.42748519399,-0.015365772736,0.0497909140987,0.999999943217,-9.23972106153e-06,-0.000332652818236,-5.31334253754e-05,1793193453589116416
+309,5.150000000,POSE2_TO_POSE3_RETREAT,764,742.394635311,712,672,660,632.605364689,877,784,799.605364689,649,629,650,0.426575547851,-0.0153634887176,0.04977745741,0.999999930644,-3.19844759517e-05,-0.000366298398328,-5.92803412263e-05,1793193453605783040
+310,5.166666667,POSE2_TO_POSE3_RETREAT,764,742,712,672.189885529,660,632.810114471,877,784,799.810114471,649,629,650,0.425689167323,-0.0153639958512,0.0497730817783,0.999999927747,-3.95859436328e-05,-0.000372561943483,-6.43166158729e-05,1793193453622449920
+311,5.183333333,POSE2_TO_POSE3_RETREAT,764,742,712,672.772651554,660,632.227348446,877,784,799.227348446,649,629,650,0.424850924295,-0.0153702779867,0.0497874952054,0.999999945729,-1.58553635604e-05,-0.000322170998543,-6.70549306265e-05,1793193453639117056
+312,5.200000000,POSE2_TO_POSE3_RETREAT,763.648816591,742,712,672.648816591,660,632.351183409,877,784,799.351183409,649,629,650,0.424008241714,-0.0153736952668,0.0498166643725,0.999999961854,-1.22772167033e-05,-0.000268323793164,-6.4365800013e-05,1793193453655783680
+313,5.216666667,POSE2_TO_POSE3_RETREAT,763.072993213,742,712,672.072993213,660,632.927006787,877,784,799.927006787,649,629,650,0.423162719334,-0.015375279997,0.0498552722794,0.999999975545,-2.1589890425e-05,-0.00021226573827,-5.82049187421e-05,1793193453672450304
+314,5.233333333,POSE2_TO_POSE3_RETREAT,763.501525154,742.501525154,712,672,660,633,877,783.498474846,799.498474846,649,629,650,0.422264036557,-0.0153715954371,0.0498373733333,0.999999968061,-3.77706361079e-05,-0.000242219792685,-6.14872275871e-05,1793193453689116928
+315,5.250000000,POSE2_TO_POSE3_RETREAT,763.922321674,742.922321674,711.922321674,672,660,633,877,783.077678326,799.077678326,649.077678326,629,650,0.421358526826,-0.0153679286255,0.0498135537947,0.999999956877,-5.49054464511e-05,-0.000280894484998,-6.58068525433e-05,1793193453705783552
+316,5.266666667,POSE2_TO_POSE3_RETREAT,763.334180727,742.334180727,711.334180727,672,660,633,877,783.665819273,799.665819273,649.665819273,629,650,0.420458866542,-0.0153694050846,0.049804731799,0.999999951657,-7.17580875561e-05,-0.000294825594792,-6.79348686503e-05,1793193453722449920
+317,5.283333333,POSE2_TO_POSE3_RETREAT,763.249819735,742,711.249819735,671.750180265,660,632.750180265,877,784,800,649.750180265,628.750180265,650,0.419566875816,-0.0153706211094,0.0498044357765,0.999999948067,-7.84368090646e-05,-0.000305083711501,-6.81010576955e-05,1793193453739116544
+318,5.300000000,POSE2_TO_POSE3_RETREAT,763.828371901,742,711.828371901,671.171628099,660,632.171628099,877,784,800,649.171628099,628.171628099,650,0.418684977171,-0.0153714944342,0.0498153588981,0.999999947062,-7.17278903095e-05,-0.000310508617436,-6.56857209032e-05,1793193453755783168
+319,5.316666667,POSE2_TO_POSE3_RETREAT,764,742,712,671.402744687,660,632,876.597255313,784,799.194510626,649,628.402744687,650,0.417816704637,-0.0153695143469,0.049802558074,0.999999939337,-5.07986798916e-05,-0.0003380713509,-6.67326130429e-05,1793193453772449792
+320,5.333333333,POSE2_TO_POSE3_RETREAT,764,742,712,671.975354704,660,632,876.024645296,784,798.049290593,649,628.975354704,650,0.416954179232,-0.0153663307779,0.0497797512183,0.999999927016,-2.38717878697e-05,-0.000374971138619,-6.92397669507e-05,1793193453789116672
+321,5.350000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,660,632.553513873,876.553513873,784,799.107027746,649,629,650,0.416168237063,-0.0153696357805,0.0498008754755,0.999999942953,-4.53287564574e-05,-0.000327606800572,-6.86541362282e-05,1793193453805783552
+322,5.366666667,POSE2_TO_POSE3_RETREAT,764,742,712,671.86424087,660,633,876.86424087,784,800,649,628.86424087,650.13575913,0.41537781158,-0.0153716167652,0.0498198041627,0.999999954867,-6.48741918614e-05,-0.00028529942069,-6.82782034103e-05,1793193453822450176
+323,5.383333333,POSE2_TO_POSE3_RETREAT,764,742,712,671.269011153,660,633,876.269011153,784,800,649,628.269011153,650.730988847,0.414560555108,-0.0153681289851,0.049824614873,0.999999957876,-7.05851654629e-05,-0.000272933728623,-6.90827661853e-05,1793193453839116544
+324,5.400000000,POSE2_TO_POSE3_RETREAT,764,742,712,671.315206954,660,633,876.315206954,784,800,649,628.315206954,651,0.413746560911,-0.0153655436661,0.04981168959,0.999999950694,-7.43936154484e-05,-0.000296861031977,-7.03693057345e-05,1793193453855783424
+325,5.416666667,POSE2_TO_POSE3_RETREAT,764,742,712,671.890344478,660,633,876.890344478,784,800,649,628.890344478,651,0.41293525694,-0.0153637025478,0.0497841385926,0.999999932967,-7.6633178144e-05,-0.000350716796002,-7.20532998301e-05,1793193453872450048
+326,5.433333333,POSE2_TO_POSE3_RETREAT,764,742.465806488,712,672,659.534193512,633,876.534193512,784,800,649,629,651,0.41219489128,-0.0153678851678,0.049786466725,0.999999934381,-8.68485255877e-05,-0.000344184505052,-7.23325658912e-05,1793193453889116416
+327,5.450000000,POSE2_TO_POSE3_RETREAT,763.957546452,743,712,672,659.042453548,633,876.042453548,784,799.957546452,649,629,651,0.411473883522,-0.0153730312218,0.0497965955859,0.999999940397,-9.74560848617e-05,-0.000323272441574,-7.21358700178e-05,1793193453905783296
+328,5.466666667,POSE2_TO_POSE3_RETREAT,763.366576268,743,712,672,659.633423732,633,876.633423732,784,799.366576268,649,629,651,0.410787072484,-0.0153722906991,0.0498165694967,0.999999948486,-8.88551800654e-05,-0.000300371841218,-7.00651440588e-05,1793193453922449920
+329,5.483333333,POSE2_TO_POSE3_RETREAT,763.219746337,743,711.780253663,672,659.780253663,633,876.780253663,784,799.219746337,649,629,650.780253663,0.410090864775,-0.0153709970618,0.0498195737811,0.999999948058,-8.46973646e-05,-0.000303107134842,-6.95372285429e-05,1793193453939116800
+330,5.500000000,POSE2_TO_POSE3_RETREAT,763.798476618,743,711.201523382,672,659.201523382,633,876.201523382,784,799.798476618,649,629,650.201523382,0.409379306289,-0.0153687998406,0.0497948559982,0.999999933132,-8.77979063995e-05,-0.000347721959274,-7.15296922248e-05,1793193453955783680
+331,5.516666667,POSE2_TO_POSE3_RETREAT,764,742.624748953,711.375251047,672,659.375251047,633,876.375251047,784,800,649,629,650.375251047,0.408749890809,-0.0153698905534,0.0497957366813,0.999999934584,-9.91225106671e-05,-0.000340295826349,-7.21555846776e-05,1793193453972450560
+332,5.533333333,POSE2_TO_POSE3_RETREAT,764,742.049019475,711.950980525,672,659.950980525,633,876.950980525,784,800,649,629,650.950980525,0.408164360397,-0.0153727378499,0.0498102933845,0.999999944277,-0.000114840832327,-0.000305066731536,-7.20513842579e-05,1793193453989117440
+333,5.550000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,659.462449744,633,877,784,800.537550256,649.537550256,629,651,0.407621033384,-0.0153768475684,0.0498293877502,0.999999950472,-0.000127553434771,-0.000279101675992,-6.99184123683e-05,1793193454005783552
+334,5.566666667,POSE2_TO_POSE3_RETREAT,763.876647177,742.123352823,712,671.876647177,659,633,876.876647177,784,800.876647177,649.876647177,628.876647177,651,0.407076849783,-0.0153793426402,0.0498413602078,0.999999952961,-0.000135905415185,-0.00026643587844,-6.7966124256e-05,1793193454022449920
+335,5.583333333,POSE2_TO_POSE3_RETREAT,763.297408485,742.702591515,712,671.297408485,659,633,876.297408485,784,800.297408485,649.297408485,628.297408485,651,0.406514984279,-0.0153754361011,0.0498254508426,0.999999944466,-0.000129175299362,-0.000299734887831,-6.73794153621e-05,1793193454039116544
+336,5.600000000,POSE2_TO_POSE3_RETREAT,763.279998971,742.720001029,711.720001029,671,659,633,876,784,800,649,628.279998971,650.720001029,0.405969971831,-0.015373021032,0.0498054804957,0.999999932598,-0.0001294473928,-0.000336674504976,-6.85382064921e-05,1793193454055783680
+337,5.616666667,POSE2_TO_POSE3_RETREAT,763.855473932,742.144526068,711.144526068,671,659,633,876,784,800,649,628.855473932,650.144526068,0.405442744032,-0.0153721798744,0.0497812246963,0.999999916805,-0.000137108744893,-0.000377455963207,-7.15389806446e-05,1793193454072450816
+338,5.633333333,POSE2_TO_POSE3_RETREAT,763.569302928,742,711.430697072,671,659.430697072,633,876.430697072,784,800,649.430697072,629,650.430697072,0.404990050181,-0.015373214501,0.0497791794789,0.999999913707,-0.000145841678354,-0.000382286920345,-7.19252955318e-05,1793193454089117184
+339,5.650000000,POSE2_TO_POSE3_RETREAT,763,742,712,671,660,633,877,784,800,650,629,651,0.40456322145,-0.0153748901235,0.0497847740024,0.999999915265,-0.000154937756578,-0.000374649000296,-7.1430362589e-05,1793193454105783552
+340,5.666666667,POSE2_TO_POSE3_RETREAT,763,742,712,671,660,633,877,784,800,650,629,651,0.404221159044,-0.0153777285292,0.0498090053893,0.999999930604,-0.000164401698342,-0.000326793459955,-7.05018763799e-05,1793193454122449920
+341,5.683333333,POSE2_TO_POSE3_RETREAT,763.18492636,742,712,671,660,633,877,784,800,650,629,651,0.403885813251,-0.0153819870264,0.0498338418727,0.999999942194,-0.000174547272028,-0.000283535323661,-6.89349948097e-05,1793193454139116544
+342,5.700000000,POSE2_TO_POSE3_RETREAT,763.763811721,742,712,671,660,633,877,784,800,650,629,651,0.403564776172,-0.0153892708251,0.0498599674315,0.999999949229,-0.000186144966778,-0.000250071287287,-6.6008103854e-05,1793193454155782912
+343,5.716666667,POSE2_TO_POSE3_RETREAT,764,742.341384497,711.658615503,671,660,633,876.658615503,784,800.341384497,649.658615503,629,650.658615503,0.403246146553,-0.0153916989741,0.0498670087529,0.999999956658,-0.000147823007052,-0.000245915164247,-6.60141966082e-05,1793193454172449536
+344,5.733333333,POSE2_TO_POSE3_RETREAT,764,742.918052599,711.081947401,671,660,633,876.081947401,784,800.918052599,649.081947401,629,650.081947401,0.402929176185,-0.0153907805889,0.0498608971374,0.999999960554,-7.50962139939e-05,-0.000261958177208,-6.8041713775e-05,1793193454189116416
+345,5.750000000,POSE2_TO_POSE3_RETREAT,764,742.509029384,711.490970616,671,659.509029384,633,876,784,800.509029384,649.490970616,629,650.490970616,0.402651231083,-0.0153912082098,0.0498484742298,0.999999953687,-7.17284518688e-05,-0.000287386681945,-6.99236722771e-05,1793193454205783040
+346,5.766666667,POSE2_TO_POSE3_RETREAT,764,742,712,671.06556356,659,633,876.06556356,784.06556356,800,649.93443644,629,651,0.402385100721,-0.0153915885643,0.0498351441223,0.999999945081,-7.96637193751e-05,-0.000313580027594,-7.18253908193e-05,1793193454222449664
+347,5.783333333,POSE2_TO_POSE3_RETREAT,764,742,712,671.658630245,659,633,876.658630245,784.658630245,800,649.341369755,629,651,0.402162018313,-0.0153897947839,0.0498229261378,0.999999937965,-8.61036054375e-05,-0.000333418840938,-7.40800807094e-05,1793193454239116288
+348,5.800000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,633,876.755272418,784.755272418,800,649,629,651,0.401961994526,-0.015387576711,0.0498165744923,0.999999936675,-6.84367321564e-05,-0.000342093641332,-7.02790915873e-05,1793193454255782912
+349,5.816666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,633,876.178627465,784.178627465,800,649,629,651,0.401793244539,-0.0153847831817,0.0498181792039,0.999999941817,-1.80745155852e-05,-0.000335626992195,-5.82649492799e-05,1793193454272449536
+350,5.833333333,POSE2_TO_POSE3_RETREAT,764,742,712,671.60252651,659.39747349,633,876.794946981,784,799.60252651,649,629,651,0.401649169024,-0.0153839104158,0.0498219647787,0.999999944869,-7.74130628605e-06,-0.000327307328395,-5.54344361443e-05,1793193454289116160
+351,5.850000000,POSE2_TO_POSE3_RETREAT,764,742,712,671.026669647,659.973330353,633,877.946660706,784,799.026669647,649,629,651,0.401516167229,-0.0153838996751,0.0498267291101,0.999999947661,-1.53728361567e-05,-0.000318156044007,-5.67254717006e-05,1793193454305783040
+352,5.866666667,POSE2_TO_POSE3_RETREAT,764,742,712,671.560601314,659.439398686,633,876.878797372,784,799,649,629,650.439398686,0.401419591963,-0.0153846572094,0.0498312981746,0.999999950778,-2.08229413946e-05,-0.000307778389758,-5.72945949562e-05,1793193454322449920
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764,742,711.853535598,671.853535598,659,633,876.292928804,784,799.146464402,649.146464402,629,650.146464402,0.4013297086,-0.0153864020765,0.049835412234,0.99999995348,-2.75867794595e-05,-0.000298220153264,-5.78293172124e-05,1793193454339116544
+354,5.900000000,POSE2_TO_POSE3_RETREAT,764,742,711.273481121,671.273481121,659,633,877.453037758,784,799.726518879,649.726518879,629,650.726518879,0.401254399027,-0.0153909593739,0.0498382073787,0.999999955136,-3.85533712426e-05,-0.00029126400649,-5.83659831816e-05,1793193454355783168
+355,5.916666667,POSE2_TO_POSE3_RETREAT,764,742,711.304661922,671,659.304661922,633,877.695338078,784,800,649.695338078,629,651,0.401188325606,-0.0153964746781,0.0498393132911,0.999999955373,-5.01046059681e-05,-0.000288547100473,-5.90187440041e-05,1793193454372449792
+356,5.933333333,POSE2_TO_POSE3_RETREAT,764,742,711.881099821,671,659.881099821,633,877.118900179,784,800,649.118900179,629,651,0.401130491368,-0.0154028445792,0.049838912311,0.999999954343,-6.21773752039e-05,-0.000289611841731,-5.9775068088e-05,1793193454389116672
+357,5.950000000,POSE2_TO_POSE3_RETREAT,763.544160724,742,712,671.455839276,659.544160724,633,877,784.455839276,800,649,629,650.544160724,0.401088349417,-0.0154076983906,0.0498402841969,0.999999954553,-6.99568616461e-05,-0.000287164716153,-5.94726834084e-05,1793193454405783040
+358,5.966666667,POSE2_TO_POSE3_RETREAT,763.031011111,742,711.968988889,671.968988889,659.031011111,633,876.968988889,784.968988889,800,649,629,650.031011111,0.401051186804,-0.0154117764148,0.0498421133941,0.999999955107,-7.61426218194e-05,-0.000283750845159,-5.89439669463e-05,1793193454422449664
+359,5.983333333,POSE2_TO_POSE3_RETREAT,763.621959614,742,711.378040386,671.378040386,659.621959614,633,876.378040386,784.378040386,800,649,629,650.621959614,0.401030299672,-0.0154089606235,0.0498438811524,0.999999956505,-7.36970210778e-05,-0.000279359822602,-5.92962854311e-05,1793193454439116288
+360,6.000000000,POSE2_TO_POSE3_RETREAT,764,742,711.208025234,671,659.791974766,633,876.208025234,784,800,649,629,651,0.401012721064,-0.015407712522,0.0498455265385,0.999999957545,-7.26095272556e-05,-0.000275871891052,-5.94274520645e-05,1793193454455782912
+361,6.016666667,POSE2_TO_POSE3_RETREAT,764,742,711.785420727,671,659.214579273,633,876.785420727,784,800,649,629,651,0.401001017082,-0.0154092480156,0.04984695464,0.999999957982,-7.39334926188e-05,-0.000273987491218,-5.91659407388e-05,1793193454472449536
+362,6.033333333,POSE2_TO_POSE3_RETREAT,763.63808699,742,711.63808699,671,659.36191301,633,876.63808699,784,799.63808699,649.36191301,629,651,0.400992480196,-0.0154102687488,0.0498477553375,0.999999958415,-7.38150739348e-05,-0.000272525216644,-5.87543295141e-05,1793193454489116928
+363,6.050000000,POSE2_TO_POSE3_RETREAT,763.062128835,742,711.062128835,671,659.937871165,633,876.062128835,784,799.062128835,649.937871165,629,651,0.400985816415,-0.0154109850389,0.0498481849714,0.999999958845,-7.28435904312e-05,-0.00027131259819,-5.82539451238e-05,1793193454505784576
+364,6.066666667,POSE2_TO_POSE3_RETREAT,763.524444665,742,711.524444665,671,659.475555335,633,876.524444665,784.524444665,799.524444665,649.475555335,629,651,0.400982129568,-0.0154101312287,0.0498489254598,0.999999958987,-7.30603992407e-05,-0.000270668156088,-5.85386544952e-05,1793193454522450432
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764,742,712,671,659.110730636,632.889269364,876.889269364,784.889269364,800,649.110730636,628.889269364,651,0.400979422004,-0.015409598963,0.0498496661313,0.999999959157,-7.35863053078e-05,-0.000269833250284,-5.88241334498e-05,1793193454539116288
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764,742,712,671,659.690363918,632.309636082,876.309636082,784.309636082,800,649.690363918,628.309636082,651,0.400979337069,-0.0154112322439,0.0498502484142,0.999999959593,-7.48126896138e-05,-0.000267900882873,-5.87108855883e-05,1793193454555782912
+367,6.116666667,POSE2_TO_POSE3_RETREAT,764,742,712,671,659.731215991,632.268784009,876,784,800,649.731215991,628.268784009,651,0.400979140302,-0.0154122301522,0.0498507522121,0.999999959988,-7.57045171856e-05,-0.000266206785849,-5.85463325299e-05,1793193454572449536
+368,6.133333333,POSE2_TO_POSE3_RETREAT,764,742,712,671,659.154187236,632.845812764,876,784,800,649.154187236,628.845812764,651,0.400978815285,-0.0154124994075,0.0498511660025,0.999999960339,-7.62126709837e-05,-0.0002647859403,-5.83229420594e-05,1793193454589116160
+369,6.150000000,POSE2_TO_POSE3_RETREAT,763.581799404,742,712,671,659,632.581799404,876,784,799.581799404,649,628.581799404,650.581799404,0.400977225339,-0.0154114015719,0.0498506658595,0.999999960151,-7.47225539246e-05,-0.000265913950818,-5.83419074419e-05,1793193454605783040
+370,6.166666667,POSE2_TO_POSE3_RETREAT,763.011103874,742,712,671,659,632.011103874,876,784,799.011103874,649,628.011103874,650.011103874,0.400975174143,-0.015409805233,0.0498498324547,0.999999959759,-7.25037765336e-05,-0.000267971390061,-5.84492467813e-05,1793193454622449664
+371,6.183333333,POSE2_TO_POSE3_RETREAT,763.580621108,741.419378892,711.419378892,671.580621108,659,632.580621108,876,784,799.580621108,649,628.580621108,650,0.400977277535,-0.0154119829588,0.0498512740755,0.999999960641,-7.46767976831e-05,-0.000264109631085,-5.81943319016e-05,1793193454639116032
+372,6.200000000,POSE2_TO_POSE3_RETREAT,764,741.338949987,711.169474994,671.830525006,659,633,876,784,799.830525006,649,629,650,0.400978242663,-0.0154133829426,0.0498521445823,0.999999961089,-7.60009716105e-05,-0.000262051045296,-5.80943346421e-05,1793193454655782912
+373,6.216666667,POSE2_TO_POSE3_RETREAT,764,742.500692654,711.750346327,671.249653673,659,633,876,784,799.249653673,649,629,650,0.400976244562,-0.0154127131878,0.0498515191406,0.999999960458,-7.5053045741e-05,-0.000264654733857,-5.83878451419e-05,1793193454672449792
+374,6.233333333,POSE2_TO_POSE3_RETREAT,764,742.671916389,711.671916389,671,659,633,876.328083611,784,799.328083611,649.328083611,629,650,0.400975764175,-0.0154126665468,0.0498512773557,0.999999960276,-7.51600413718e-05,-0.000265314556188,-5.83627375616e-05,1793193454689116672
+375,6.250000000,POSE2_TO_POSE3_RETREAT,764,742.096541318,711.096541318,671,659,633,876.903458682,784,799.903458682,649.903458682,629,650,0.400976427757,-0.015413089575,0.0498513247502,0.999999960437,-7.60621789592e-05,-0.000264509198884,-5.80974731524e-05,1793193454705783296
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764,742,711.47963784,671,659,632.52036216,876.52036216,784,799.52036216,649.52036216,629,650.47963784,0.400975502375,-0.0154130047094,0.0498515054785,0.999999960516,-7.46732351185e-05,-0.000264608239205,-5.80818255046e-05,1793193454722449664
+377,6.283333333,POSE2_TO_POSE3_RETREAT,764,742,712,671,659,632.057286829,876,784,799.057286829,649,629,650.942713171,0.400974476692,-0.0154128826027,0.049851712134,0.999999960583,-7.31430404529e-05,-0.000264781207125,-5.80980803303e-05,1793193454739116288
+378,6.300000000,POSE2_TO_POSE3_RETREAT,764,742,712,671,659,632.647092218,876,784,799.647092218,649,629,650.352907782,0.400975496623,-0.0154133661946,0.0498519099103,0.999999960705,-7.45936964631e-05,-0.000263946387859,-5.79430658881e-05,1793193454755783168
+379,6.316666667,POSE2_TO_POSE3_RETREAT,763.767953333,742,711.767953333,671,659,633,876.232046667,784,800,649.232046667,628.767953333,650,0.400976362902,-0.0154140781278,0.049852128262,0.999999960856,-7.54192821658e-05,-0.000263189771307,-5.77166017727e-05,1793193454772450048
+380,6.333333333,POSE2_TO_POSE3_RETREAT,763.190225391,742,711.190225391,671,659,633,876.809774609,784,800,649.809774609,628.190225391,650,0.400977000283,-0.0154151302224,0.0498523772652,0.999999961051,-7.53136968952e-05,-0.000262549653845,-5.73836986713e-05,1793193454789116672
+381,6.350000000,POSE2_TO_POSE3_RETREAT,763.38375714,742.38375714,711.38375714,671,659,633,876.61624286,784,800,650,628.38375714,650.38375714,0.400976885074,-0.0154142006941,0.0498528226574,0.999999961151,-7.49345807774e-05,-0.000262246007919,-5.75287799387e-05,1793193454805783040
+382,6.366666667,POSE2_TO_POSE3_RETREAT,763.955901027,742.955901027,711.955901027,671,659,633,876.044098973,784,800,650,628.955901027,650.955901027,0.400976400418,-0.0154122983851,0.0498533644571,0.999999961204,-7.44211881077e-05,-0.000262107536212,-5.79085041997e-05,1793193454822449664
+383,6.383333333,POSE2_TO_POSE3_RETREAT,764,742.453875061,712,671,659,633,876.546124939,784,799.453875061,649.453875061,629,650.453875061,0.400977577293,-0.0154138983683,0.0498542171415,0.999999961891,-7.37998703645e-05,-0.00025973854503,-5.7506709328e-05,1793193454839116544
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764,742,712,671.134951854,659,633,876.865048146,784,799.134951854,649.134951854,629,650.134951854,0.400978090006,-0.0154152747676,0.0498545483401,0.999999962279,-7.35630661832e-05,-0.000258381746087,-5.71856322166e-05,1793193454855783168
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764,742,712,671.714208115,659,633,876.285791885,784,799.714208115,649.714208115,629,650.714208115,0.400975959246,-0.0154149520897,0.0498530771626,0.999999961519,-7.4621877414e-05,-0.000260970695656,-5.73451852191e-05,1793193454872449792
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764,742,712,671.707034612,659,632.707034612,876,784,800,649.707034612,629,651,0.400974947985,-0.0154145181322,0.0498523697949,0.999999961183,-7.40123773457e-05,-0.000262367311704,-5.76210559133e-05,1793193454889116416
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764,742,712,671.128763215,659,632.128763215,876,784,800,649.128763215,629,651,0.400975026955,-0.0154139758045,0.0498524062675,0.999999961261,-7.17781829523e-05,-0.000262602767277,-5.80102032722e-05,1793193454905783296
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764,742.443640691,712,671,659,632.443640691,876.443640691,784,800,649.443640691,629,651,0.40097428257,-0.0154127126891,0.0498520695568,0.99999996118,-7.10136497092e-05,-0.000263105114253,-5.807132267e-05,1793193454922449664
+389,6.483333333,POSE2_TO_POSE3_RETREAT,763.985073533,742.985073533,711.985073533,671,659,633,877,784,799.985073533,649.985073533,629,651,0.400973349606,-0.0154113454418,0.0498516557051,0.99999996106,-7.07410888033e-05,-0.000263644042038,-5.80270810952e-05,1793193454939116544
+390,6.500000000,POSE2_TO_POSE3_RETREAT,763.391993686,742.391993686,711.391993686,671,659,633,877,784,799.391993686,649.391993686,629,651,0.400974247635,-0.0154139421798,0.0498523945092,0.999999961175,-7.32179302769e-05,-0.000262638623311,-5.75414255192e-05,1793193454955783168
+391,6.516666667,POSE2_TO_POSE3_RETREAT,763.196201568,742.196201568,711.196201568,671,659,633,876.803798432,784,799.196201568,649.196201568,629,651,0.400975203279,-0.0154155516898,0.0498531636056,0.999999961361,-7.4616851216e-05,-0.000261601472987,-5.72328745641e-05,1793193454972449792
+392,6.533333333,POSE2_TO_POSE3_RETREAT,763.774874848,742.774874848,711.774874848,671,659,633,876.225125152,784,799.774874848,649.774874848,629,651,0.400976271234,-0.0154152367159,0.049853991753,0.999999961698,-7.39144936242e-05,-0.000260502465738,-5.72695681167e-05,1793193454989116416
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_06/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_06/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..333b87ce089679b4b7eae0b8b74d2059a50853cf
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_06/depth_02/simulation_data.csv
@@ -0,0 +1,394 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+1,0.016666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+2,0.033333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+3,0.050000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+4,0.066666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+5,0.083333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+6,0.100000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+7,0.116666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+8,0.133333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+9,0.150000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+10,0.166666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+11,0.183333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+12,0.200000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+13,0.216666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+14,0.233333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+15,0.250000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+16,0.266666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+17,0.283333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+18,0.300000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+19,0.316666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+20,0.333333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+21,0.350000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+22,0.366666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+23,0.383333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+24,0.400000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+25,0.416666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+26,0.433333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+27,0.450000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+28,0.466666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+29,0.483333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+30,0.500000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+31,0.516666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+32,0.533333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+33,0.550000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+34,0.566666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+35,0.583333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+36,0.600000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+37,0.616666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+38,0.633333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+39,0.650000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+40,0.666666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+41,0.683333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+42,0.700000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+43,0.716666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+44,0.733333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+45,0.750000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+46,0.766666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+47,0.783333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+48,0.800000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+49,0.816666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+50,0.833333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+51,0.850000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+52,0.866666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+53,0.883333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+54,0.900000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+55,0.916666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+56,0.933333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+57,0.950000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+58,0.966666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+59,0.983333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+60,1.000000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+61,1.016666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+62,1.033333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+63,1.050000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+64,1.066666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+65,1.083333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+66,1.100000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+67,1.116666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+68,1.133333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+69,1.150000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+70,1.166666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+71,1.183333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+72,1.200000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+73,1.216666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+74,1.233333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+75,1.250000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+76,1.266666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+77,1.283333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+78,1.300000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+79,1.316666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+80,1.333333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+81,1.350000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+82,1.366666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+83,1.383333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+84,1.400000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+85,1.416666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+86,1.433333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+87,1.450000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+88,1.466666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+89,1.483333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+90,1.500000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+91,1.516666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+92,1.533333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+93,1.550000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+94,1.566666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+95,1.583333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+96,1.600000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+97,1.616666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+98,1.633333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+99,1.650000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+100,1.666666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+101,1.683333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+102,1.700000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+103,1.716666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+104,1.733333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+105,1.750000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+106,1.766666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+107,1.783333333,pose1_to_pose2_press,0.575709242258,-0.00994531867307,1.04002929125,0.546279971438,-0.00127259288748,1.03969857948
+108,1.800000000,pose1_to_pose2_press,0.575709250779,-0.00994532712261,1.04002924614,0.546279979902,-0.00127260141293,1.03969853747
+109,1.816666667,pose1_to_pose2_press,0.575709268877,-0.00994534506963,1.04002915033,0.546279997878,-0.00127261952117,1.03969844826
+110,1.833333333,pose1_to_pose2_press,0.575709515675,-0.00994533599331,1.04002914571,0.546280244507,-0.00127261109675,1.03969844157
+111,1.850000000,pose1_to_pose2_press,0.575710043918,-0.00994531944186,1.0400291489,0.546280772555,-0.00127259539445,1.03969843982
+112,1.866666667,pose1_to_pose2_press,0.575711042378,-0.00994532224291,1.04002908603,0.546281771148,-0.00127259786284,1.03969837399
+113,1.883333333,pose1_to_pose2_press,0.575713452179,-0.00994543062416,1.04002912307,0.546284183794,-0.00127269634064,1.03969841741
+114,1.900000000,pose1_to_pose2_press,0.575718555023,-0.0099454079487,1.04002926796,0.54628928546,-0.00127267775476,1.03969855982
+115,1.916666667,pose1_to_pose2_press,0.575728114941,-0.0099455717093,1.04002870968,0.546298848319,-0.00127283164256,1.03969799914
+116,1.933333333,pose1_to_pose2_press,0.575745013268,-0.00994551087859,1.04002912102,0.54631574311,-0.00127278293529,1.03969840667
+117,1.950000000,pose1_to_pose2_press,0.575770661666,-0.00994553386594,1.04002900079,0.546341391597,-0.00127280542717,1.03969829148
+118,1.966666667,pose1_to_pose2_press,0.575808060591,-0.00994534989067,1.04002916065,0.546378788243,-0.00127262927813,1.03969844883
+119,1.983333333,pose1_to_pose2_press,0.575856523057,-0.00994551603287,1.04002920414,0.546427254469,-0.00127278279971,1.0396984887
+120,2.000000000,pose1_to_pose2_press,0.575914719267,-0.0099454154119,1.04002925636,0.546485449551,-0.00127268567358,1.03969854957
+121,2.016666667,pose1_to_pose2_press,0.575982089655,-0.009945540155,1.0400290932,0.546552821206,-0.00127280608708,1.03969838712
+122,2.033333333,pose1_to_pose2_press,0.576059644217,-0.00994565014242,1.04002893409,0.546630376954,-0.00127291195927,1.03969823034
+123,2.050000000,pose1_to_pose2_press,0.576147042175,-0.00994557752089,1.04002908518,0.546717772898,-0.00127284642883,1.03969837461
+124,2.066666667,pose1_to_pose2_press,0.57624475238,-0.0099453759513,1.04002914635,0.546815480868,-0.00127265258752,1.03969843203
+125,2.083333333,pose1_to_pose2_press,0.57635740229,-0.00994537655489,1.04002894332,0.546928132896,-0.00127264576618,1.03969823518
+126,2.100000000,pose1_to_pose2_press,0.576485719236,-0.00994556803389,1.04002902506,0.547056450362,-0.00127283550035,1.03969831634
+127,2.116666667,pose1_to_pose2_press,0.576633357788,-0.00994546701172,1.0400289294,0.547204089261,-0.00127273330683,1.03969822047
+128,2.133333333,pose1_to_pose2_press,0.576801421389,-0.00994547224104,1.04002913786,0.547372153288,-0.00127273685315,1.03969843508
+129,2.150000000,pose1_to_pose2_press,0.576992057425,-0.0099453013143,1.04002906916,0.547562785132,-0.00127258049054,1.03969835749
+130,2.166666667,pose1_to_pose2_press,0.577206205603,-0.00994550570848,1.0400291848,0.547776935979,-0.00127277580976,1.03969847349
+131,2.183333333,pose1_to_pose2_press,0.577443476472,-0.00994537804262,1.04002925809,0.548014206265,-0.001272649823,1.03969855454
+132,2.200000000,pose1_to_pose2_press,0.577705127158,-0.00994564929623,1.04002914769,0.548275859047,-0.00127291406052,1.03969844165
+133,2.216666667,pose1_to_pose2_press,0.577989570643,-0.00994551403267,1.0400290478,0.548560302422,-0.00127277934695,1.03969833703
+134,2.233333333,pose1_to_pose2_press,0.57829748914,-0.00994541807375,1.04002890629,0.548868219193,-0.00127268887787,1.03969820514
+135,2.250000000,pose1_to_pose2_press,0.578628711642,-0.00994556786173,1.04002914814,0.549199444796,-0.00127282835268,1.03969844132
+136,2.266666667,pose1_to_pose2_press,0.578982804141,-0.00994545689681,1.04002904216,0.54955353355,-0.00127273011981,1.03969833472
+137,2.283333333,pose1_to_pose2_press,0.579351190499,-0.00994531682068,1.04002902075,0.54992191911,-0.00127259253957,1.03969831881
+138,2.300000000,pose1_to_pose2_press,0.579734218362,-0.00994546207839,1.0400290454,0.550304948766,-0.00127273190907,1.03969833826
+139,2.316666667,pose1_to_pose2_press,0.580136916382,-0.00994544730811,1.04002919629,0.550707645889,-0.0012727205682,1.03969847895
+140,2.333333333,pose1_to_pose2_press,0.580560982998,-0.00994531199166,1.04002900969,0.55113171219,-0.00127258557979,1.03969831178
+141,2.350000000,pose1_to_pose2_press,0.581010513948,-0.00994539995941,1.04002913666,0.551581244224,-0.00127267020221,1.03969842993
+142,2.366666667,pose1_to_pose2_press,0.581500041012,-0.00994549021297,1.04002921821,0.552070772086,-0.00127275816356,1.03969850054
+143,2.383333333,pose1_to_pose2_press,0.582028893823,-0.00994531988686,1.04002940385,0.552599622269,-0.00127259672374,1.03969868696
+144,2.400000000,pose1_to_pose2_press,0.582586268921,-0.00994549799145,1.04002933696,0.553157000113,-0.00127276548685,1.03969862064
+145,2.416666667,pose1_to_pose2_press,0.583164179981,-0.00994545640491,1.04002924719,0.553734908981,-0.00127273159954,1.03969852405
+146,2.433333333,pose1_to_pose2_press,0.58375556812,-0.00994539147563,1.04002928298,0.554326297745,-0.00127266416386,1.03969856988
+147,2.450000000,pose1_to_pose2_press,0.584351686627,-0.00994554627533,1.04002933716,0.554922419707,-0.00127280749249,1.03969861739
+148,2.466666667,pose1_to_pose2_press,0.584951721228,-0.00994571991049,1.04002923917,0.555522456174,-0.00127297481034,1.03969851897
+149,2.483333333,pose1_to_pose2_press,0.585579325346,-0.00994560989808,1.0400290844,0.556150057277,-0.00127287472984,1.03969837209
+150,2.500000000,pose1_to_pose2_press,0.586236812724,-0.00994550118789,1.04002902368,0.556807543668,-0.00127276909062,1.0396983186
+151,2.516666667,pose1_to_pose2_press,0.586923216594,-0.00994549395266,1.0400290372,0.557493947527,-0.00127276198304,1.03969832974
+152,2.533333333,pose1_to_pose2_press,0.58763098309,-0.00994547973697,1.04002908145,0.558201714501,-0.00127274653122,1.0396983639
+153,2.550000000,pose1_to_pose2_press,0.588354623517,-0.00994555623883,1.04002923145,0.558925355239,-0.00127282181745,1.03969851806
+154,2.566666667,pose1_to_pose2_press,0.589084180225,-0.00994555923351,1.04002911159,0.559654913293,-0.00127281995972,1.03969840569
+155,2.583333333,pose1_to_pose2_press,0.589821601424,-0.00994548577302,1.04002921098,0.560392333426,-0.0012727502303,1.03969850206
+156,2.600000000,pose1_to_pose2_press,0.590577315225,-0.0099453618626,1.04002930796,0.561148044825,-0.001272634654,1.0396985942
+157,2.616666667,pose1_to_pose2_press,0.59134958911,-0.00994535338611,1.04002923448,0.561920317756,-0.00127262949066,1.03969851885
+158,2.633333333,pose1_to_pose2_press,0.592131570721,-0.00994545771282,1.04002910344,0.562702302,-0.00127272473548,1.03969839167
+159,2.650000000,pose1_to_pose2_press,0.592921812508,-0.00994550587384,1.04002920161,0.563492544577,-0.00127277018861,1.03969849055
+160,2.666666667,pose1_to_pose2_press,0.593723180674,-0.00994548802764,1.04002908069,0.564293912456,-0.00127275332881,1.03969836936
+161,2.683333333,pose1_to_pose2_press,0.594526346063,-0.00994548649375,1.04002900512,0.565097077383,-0.00127275337132,1.03969829365
+162,2.700000000,pose1_to_pose2_press,0.595335316186,-0.00994544480646,1.04002927959,0.565906046949,-0.00127271372854,1.03969856406
+163,2.716666667,pose1_to_pose2_press,0.596154712089,-0.00994550065097,1.0400292373,0.566725443242,-0.00127276781382,1.03969853317
+164,2.733333333,pose1_to_pose2_press,0.59697681318,-0.00994544181798,1.04002912376,0.567547543797,-0.00127271069637,1.03969842239
+165,2.750000000,pose1_to_pose2_press,0.597797788911,-0.00994540027622,1.04002908879,0.568368519893,-0.00127266814627,1.03969838152
+166,2.766666667,pose1_to_pose2_press,0.598612095747,-0.00994557044001,1.04002917514,0.569182828873,-0.00127283100453,1.03969846865
+167,2.783333333,pose1_to_pose2_press,0.599418142991,-0.00994560984589,1.04002921518,0.569988875926,-0.0012728711386,1.0396985067
+168,2.800000000,pose1_to_pose2_press,0.600212559855,-0.00994549472048,1.04002913126,0.570783291575,-0.00127275990436,1.0396984289
+169,2.816666667,pose1_to_pose2_press,0.600996682871,-0.00994553602732,1.04002913581,0.57156741439,-0.00127280191868,1.03969843287
+170,2.833333333,pose1_to_pose2_press,0.601778178819,-0.00994556458934,1.04002916903,0.572348910398,-0.00127283054644,1.0396984591
+171,2.850000000,pose1_to_pose2_press,0.602555344288,-0.00994548292723,1.0400292217,0.573126075467,-0.00127275018106,1.03969851346
+172,2.866666667,pose1_to_pose2_press,0.603324471235,-0.00994550516001,1.04002919297,0.573895201563,-0.00127277542847,1.03969848145
+173,2.883333333,pose1_to_pose2_press,0.604087739761,-0.00994558496705,1.04002905865,0.574658470796,-0.00127285288773,1.03969834587
+174,2.900000000,pose1_to_pose2_press,0.60484048081,-0.00994561470883,1.04002902347,0.575411212764,-0.00127287924512,1.0396983177
+175,2.916666667,pose1_to_pose2_press,0.6055775454,-0.00994556908843,1.04002898554,0.57614827648,-0.00127283668355,1.03969827747
+176,2.933333333,pose1_to_pose2_press,0.606302042225,-0.00994550667099,1.04002904252,0.576872773055,-0.00127277525732,1.03969833071
+177,2.950000000,pose1_to_pose2_press,0.607013012837,-0.00994551884633,1.04002911018,0.577583744658,-0.00127278392389,1.03969840234
+178,2.966666667,pose1_to_pose2_press,0.607705213982,-0.00994556655017,1.04002892214,0.578275946041,-0.0012728307184,1.03969821705
+179,2.983333333,pose1_to_pose2_press,0.608373350041,-0.00994545688671,1.04002887932,0.578944080544,-0.00127272626554,1.03969817617
+180,3.000000000,pose1_to_pose2_press,0.60901397325,-0.00994540893741,1.0400289944,0.579584703413,-0.00127267965422,1.03969828651
+181,3.016666667,pose1_to_pose2_press,0.60963306327,-0.0099453796127,1.04002901747,0.580203793305,-0.00127265078451,1.03969830901
+182,3.033333333,pose1_to_pose2_press,0.610242896725,-0.00994532751114,1.04002923192,0.580813625465,-0.00127260331501,1.03969851733
+183,3.050000000,pose1_to_pose2_press,0.610842263716,-0.00994540869506,1.04002918595,0.58141299324,-0.00127268204386,1.03969846611
+184,3.066666667,pose1_to_pose2_press,0.611424317499,-0.00994551573272,1.04002902774,0.581995047847,-0.00127278595109,1.03969831694
+185,3.083333333,pose1_to_pose2_press,0.61197781937,-0.00994544700775,1.04002906401,0.582548549495,-0.00127271796263,1.03969835298
+186,3.100000000,pose1_to_pose2_press,0.612497719233,-0.00994539406412,1.04002888822,0.583068449195,-0.00127266501323,1.03969818776
+187,3.116666667,pose1_to_pose2_press,0.612974439851,-0.00994534245203,1.04002893683,0.583545168707,-0.00127261667231,1.03969823838
+188,3.133333333,pose1_to_pose2_press,0.613420103362,-0.00994541572163,1.04002910102,0.583990833094,-0.0012726865902,1.03969839041
+189,3.150000000,pose1_to_pose2_press,0.613847504139,-0.00994540929345,1.04002922265,0.584418232799,-0.00127268288044,1.03969850958
+190,3.166666667,pose1_to_pose2_press,0.614259327381,-0.00994545153225,1.04002925016,0.584830057558,-0.001272719137,1.03969854271
+191,3.183333333,pose1_to_pose2_press,0.614653780401,-0.00994546831996,1.04002918407,0.585224509617,-0.00127273754339,1.03969847909
+192,3.200000000,pose1_to_pose2_press,0.615023582032,-0.00994539682044,1.04002927569,0.585594309435,-0.00127267049108,1.03969856284
+193,3.216666667,pose1_to_pose2_press,0.615365798715,-0.00994540322673,1.04002919043,0.585936527033,-0.00127267503065,1.03969847663
+194,3.233333333,pose1_to_pose2_press,0.615676733549,-0.0099454091866,1.04002916847,0.586247461978,-0.00127267973861,1.03969845384
+195,3.250000000,pose1_to_pose2_press,0.615959890706,-0.00994530981998,1.04002905709,0.586530617319,-0.00127258546723,1.03969834059
+196,3.266666667,pose1_to_pose2_press,0.61621550598,-0.00994542644583,1.0400289586,0.586786232992,-0.00127270032885,1.03969824513
+197,3.283333333,pose1_to_pose2_press,0.616452266401,-0.00994530584694,1.04002916558,0.587022992631,-0.00127258216766,1.03969845336
+198,3.300000000,pose1_to_pose2_press,0.616671773051,-0.00994545326175,1.04002918611,0.587242500638,-0.00127272452734,1.03969847121
+199,3.316666667,pose1_to_pose2_press,0.616874441167,-0.00994553626574,1.04002919008,0.58744517024,-0.00127280203966,1.03969847539
+200,3.333333333,pose1_to_pose2_press,0.617061397686,-0.00994551884234,1.04002908443,0.587632125839,-0.00127278714829,1.03969837374
+201,3.350000000,pose1_to_pose2_press,0.617232959571,-0.00994539660224,1.04002940831,0.587803686107,-0.00127267005247,1.03969869505
+202,3.366666667,pose1_to_pose2_press,0.617389141138,-0.00994553658692,1.04002947343,0.587959869584,-0.00127280335431,1.03969875555
+203,3.383333333,pose1_to_pose2_press,0.617528195743,-0.00994540238954,1.04002927126,0.588098923842,-0.00127266988725,1.03969855669
+204,3.400000000,pose1_to_pose2_press,0.617650084925,-0.00994535339039,1.04002902545,0.588220812209,-0.00127262324714,1.03969831443
+205,3.416666667,pose1_to_pose2_press,0.61775553807,-0.0099453983442,1.04002917106,0.588326265057,-0.0012726690813,1.03969845664
+206,3.433333333,pose1_to_pose2_press,0.61784516159,-0.0099455276106,1.04002931737,0.588415888963,-0.00127279691446,1.03969860102
+207,3.450000000,pose1_to_pose2_press,0.617920951768,-0.00994552577394,1.04002910837,0.588491678541,-0.00127279686503,1.03969839936
+208,3.466666667,pose1_to_pose2_press,0.617983879978,-0.00994542540321,1.04002911562,0.588554605884,-0.00127269929412,1.03969840723
+209,3.483333333,pose1_to_pose2_press,0.618036947609,-0.00994547060018,1.04002936841,0.588607674593,-0.0012727406128,1.03969865104
+210,3.500000000,pose1_to_pose2_press,0.618080627811,-0.00994552379177,1.04002920388,0.58865135586,-0.00127278968058,1.03969848708
+211,3.516666667,pose1_to_pose2_press,0.618116241026,-0.00994535929293,1.04002921972,0.588686966475,-0.00127263419295,1.03969849968
+212,3.533333333,pose1_to_pose2_press,0.618144435908,-0.00994545308975,1.04002921864,0.588715162682,-0.00127272353469,1.03969849888
+213,3.550000000,pose1_to_pose2_press,0.618166444312,-0.0099453902896,1.0400292014,0.588737171059,-0.00127266077826,1.03969848479
+214,3.566666667,pose1_to_pose2_press,0.618183151131,-0.00994547019207,1.04002938249,0.588753878469,-0.00127273869472,1.03969866433
+215,3.583333333,pose1_to_pose2_press,0.618194472718,-0.00994540456404,1.04002937774,0.588765199432,-0.00127267526309,1.03969866257
+216,3.600000000,pose1_to_pose2_press,0.618202444816,-0.00994532637391,1.04002928515,0.588773170929,-0.00127259920588,1.03969857259
+217,3.616666667,pose1_to_pose2_press,0.618207503785,-0.00994543620768,1.04002923694,0.588778231076,-0.00127270510364,1.03969851902
+218,3.633333333,pose1_to_pose2_press,0.618210811487,-0.00994549814661,1.04002918775,0.588781539328,-0.00127276513114,1.03969846854
+219,3.650000000,pose1_to_pose2_press,0.618212944418,-0.00994552431024,1.0400291314,0.588783672306,-0.00127279098595,1.03969841445
+220,3.666666667,pose1_to_pose2_press,0.618214597495,-0.00994554458774,1.04002908772,0.58878532542,-0.00127281102412,1.03969837253
+221,3.683333333,pose1_to_pose2_press,0.61821585617,-0.00994555033337,1.04002909048,0.588786584113,-0.00127281671646,1.03969837564
+222,3.700000000,pose1_to_pose2_press,0.618216723262,-0.00994554562535,1.04002912458,0.58878745121,-0.00127281208698,1.03969840909
+223,3.716666667,pose1_to_pose2_press,0.618217328426,-0.0099455423395,1.04002914839,0.588788056376,-0.00127280885596,1.03969843244
+224,3.733333333,pose1_to_pose2_press,0.618217708584,-0.00994554027537,1.04002916334,0.588788436536,-0.00127280682627,1.03969844711
+225,3.750000000,pose1_to_pose2_press,0.618217927315,-0.00994553908773,1.04002917194,0.588788655268,-0.00127280565845,1.03969845555
+226,3.766666667,pose1_to_pose2_press,0.618218141121,-0.00994553792684,1.04002918035,0.588788869075,-0.00127280451692,1.03969846379
+227,3.783333333,pose1_to_pose2_press,0.618218466181,-0.00994553258938,1.04002918562,0.588789194171,-0.00127279903516,1.0396984699
+228,3.800000000,pose1_to_pose2_press,0.61821874918,-0.00994551958309,1.04002917261,0.58878947728,-0.00127278549666,1.03969846014
+229,3.816666667,pose1_to_pose2_press,0.61821896775,-0.00994550953789,1.04002916256,0.588789695935,-0.00127277504042,1.03969845261
+230,3.833333333,pose1_to_pose2_press,0.618219139838,-0.00994550162889,1.04002915465,0.588789868091,-0.00127276680778,1.03969844668
+231,3.850000000,pose1_to_pose2_press,0.618219247776,-0.00994549666822,1.04002914968,0.58878997607,-0.00127276164412,1.03969844296
+232,3.866666667,pose1_to_pose2_press,0.618219285059,-0.00994549495473,1.04002914797,0.588790013368,-0.00127275986052,1.03969844168
+233,3.883333333,pose1_to_pose2_press,0.61821928865,-0.0099454947897,1.0400291478,0.58879001696,-0.00127275968874,1.03969844155
+234,3.900000000,pose1_to_pose2_press,0.618219470708,-0.00994548642252,1.04002913943,0.588790199089,-0.00127275097918,1.03969843528
+235,3.916666667,pose1_to_pose2_press,0.618219595265,-0.00994548069801,1.04002913371,0.588790323695,-0.00127274502043,1.03969843099
+236,3.933333333,pose1_to_pose2_press,0.618219631923,-0.00994547901326,1.04002913202,0.588790360367,-0.00127274326674,1.03969842972
+237,3.950000000,pose1_to_pose2_press,0.618219956229,-0.00994547340415,1.04002912628,0.588790684808,-0.00127273706078,1.03969842674
+238,3.966666667,pose1_to_pose2_press,0.618220337791,-0.00994557048387,1.04002922181,0.588791066613,-0.00127283358372,1.03969851468
+239,3.983333333,pose1_to_pose2_press,0.618220541151,-0.00994562222429,1.04002927272,0.588791270102,-0.0012728850274,1.03969856154
+240,4.000000000,pose1_to_pose2_press,0.618220668739,-0.00994552997512,1.04002929878,0.588791395849,-0.00127279909724,1.03969858606
+241,4.016666667,pose1_to_pose2_press,0.618220706823,-0.00994540538642,1.04002929426,0.588791431433,-0.00127268302428,1.03969858138
+242,4.033333333,pose2_hold,0.618220706823,-0.00994540538642,1.04002929426,0.588791431439,-0.00127268302502,1.03969858138
+243,4.050000000,pose2_hold,0.618220706823,-0.00994540538642,1.04002929426,0.588791431439,-0.00127268302523,1.03969858138
+244,4.066666667,pose2_hold,0.618220706823,-0.00994540538642,1.04002929426,0.588791431439,-0.0012726830253,1.03969858138
+245,4.083333333,pose2_hold,0.618220706823,-0.00994540538642,1.04002929426,0.588791431439,-0.00127268302527,1.03969858138
+246,4.100000000,pose2_hold,0.618220706823,-0.00994540538642,1.04002929426,0.58879143144,-0.0012726830253,1.03969858138
+247,4.116666667,pose2_hold,0.618220706823,-0.00994540538642,1.04002929426,0.58879143144,-0.00127268302542,1.03969858138
+248,4.133333333,pose2_hold,0.618220706823,-0.00994540538642,1.04002929426,0.58879143144,-0.00127268302536,1.03969858138
+249,4.150000000,pose2_hold,0.618220706823,-0.00994540538642,1.04002929426,0.588791431441,-0.00127268302549,1.03969858138
+250,4.166666667,pose2_hold,0.618220706823,-0.00994540538642,1.04002929426,0.588791431441,-0.00127268302543,1.03969858138
+251,4.183333333,pose2_hold,0.618220706823,-0.00994540538642,1.04002929426,0.588791431441,-0.0012726830256,1.03969858138
+252,4.200000000,pose2_hold,0.618220706823,-0.00994540538642,1.04002929426,0.588791431441,-0.00127268302568,1.03969858138
+253,4.216666667,pose2_hold,0.618220706823,-0.00994540538642,1.04002929426,0.588791431442,-0.0012726830256,1.03969858138
+254,4.233333333,pose2_hold,0.618220706823,-0.00994540538642,1.04002929426,0.588791431442,-0.00127268302566,1.03969858138
+255,4.250000000,pose2_hold,0.618220706823,-0.00994540538642,1.04002929426,0.588791431442,-0.0012726830257,1.03969858138
+256,4.266666667,pose2_hold,0.618220706823,-0.00994540538642,1.04002929426,0.588791431442,-0.00127268302574,1.03969858138
+257,4.283333333,pose2_hold,0.618220706823,-0.00994540538642,1.04002929426,0.588791431443,-0.00127268302575,1.03969858138
+258,4.300000000,pose2_to_pose3_retreat,0.618220706823,-0.00994540538642,1.04002929426,0.588791431444,-0.00127268302597,1.03969858138
+259,4.316666667,pose2_to_pose3_retreat,0.618220634475,-0.00994550981791,1.04002915493,0.588791361361,-0.00127277958911,1.039698447
+260,4.333333333,pose2_to_pose3_retreat,0.618220444201,-0.00994547825574,1.04002915264,0.588791170955,-0.0012727484671,1.03969844535
+261,4.350000000,pose2_to_pose3_retreat,0.618220406456,-0.00994547199476,1.04002915218,0.588791133184,-0.00127274229343,1.03969844502
+262,4.366666667,pose2_to_pose3_retreat,0.618220214228,-0.00994544010838,1.04002914987,0.588790940822,-0.00127271085174,1.03969844335
+263,4.383333333,pose2_to_pose3_retreat,0.618219768023,-0.00994540723045,1.04002922264,0.588790494819,-0.00127267745116,1.03969851131
+264,4.400000000,pose2_to_pose3_retreat,0.618218844596,-0.0099453613921,1.04002929693,0.588789571512,-0.00127263141461,1.03969857924
+265,4.416666667,pose2_to_pose3_retreat,0.618215546173,-0.00994536577858,1.04002906691,0.588786271748,-0.00127264022763,1.03969835232
+266,4.433333333,pose2_to_pose3_retreat,0.618207736972,-0.00994556164464,1.04002914636,0.588778465136,-0.00127282750694,1.03969842605
+267,4.450000000,pose2_to_pose3_retreat,0.618191996908,-0.0099454279014,1.04002940406,0.588762723358,-0.00127269940618,1.0396986869
+268,4.466666667,pose2_to_pose3_retreat,0.618166526784,-0.00994549908639,1.04002903368,0.588737255094,-0.00127276418367,1.03969832104
+269,4.483333333,pose2_to_pose3_retreat,0.618129337446,-0.00994531100621,1.04002902949,0.58870006355,-0.00127258351363,1.03969832404
+270,4.500000000,pose2_to_pose3_retreat,0.618080859366,-0.00994538708611,1.04002906935,0.588651586486,-0.00127265685688,1.03969836256
+271,4.516666667,pose2_to_pose3_retreat,0.61802068017,-0.00994551571645,1.04002939501,0.588591407522,-0.00127278543156,1.03969867669
+272,4.533333333,pose2_to_pose3_retreat,0.61795038187,-0.00994548492832,1.0400293306,0.588521108816,-0.00127275603128,1.03969861308
+273,4.550000000,pose2_to_pose3_retreat,0.617869721073,-0.009945360834,1.0400290759,0.588440448255,-0.00127263554556,1.03969836588
+274,4.566666667,pose2_to_pose3_retreat,0.617777401536,-0.0099454025316,1.04002931487,0.588348125999,-0.00127268283226,1.03969859239
+275,4.583333333,pose2_to_pose3_retreat,0.617672816175,-0.00994555507546,1.04002911259,0.588243544376,-0.00127282207629,1.03969839741
+276,4.600000000,pose2_to_pose3_retreat,0.617551324974,-0.00994545566852,1.04002917038,0.58812205286,-0.00127272408537,1.03969845327
+277,4.616666667,pose2_to_pose3_retreat,0.617412407965,-0.00994532230785,1.04002918343,0.587983134659,-0.00127259499085,1.0396984693
+278,4.633333333,pose2_to_pose3_retreat,0.617252935507,-0.00994540634474,1.04002908744,0.587823662066,-0.00127267974865,1.0396983766
+279,4.650000000,pose2_to_pose3_retreat,0.617072229487,-0.00994538942777,1.04002905918,0.587642955854,-0.00127266393419,1.03969834778
+280,4.666666667,pose2_to_pose3_retreat,0.616868801716,-0.00994535002419,1.04002927796,0.58743952672,-0.00127262698507,1.03969856625
+281,4.683333333,pose2_to_pose3_retreat,0.616642977688,-0.00994542045906,1.04002927148,0.587213704413,-0.00127269279253,1.03969856134
+282,4.700000000,pose2_to_pose3_retreat,0.616396086193,-0.00994551827593,1.04002913712,0.586966815596,-0.00127278381667,1.03969843265
+283,4.716666667,pose2_to_pose3_retreat,0.616130332705,-0.00994548484555,1.04002902726,0.586701061107,-0.0012727544039,1.03969832286
+284,4.733333333,pose2_to_pose3_retreat,0.615846269786,-0.00994543114485,1.04002902932,0.586416998072,-0.00127270195509,1.03969831988
+285,4.750000000,pose2_to_pose3_retreat,0.615541610303,-0.00994546099297,1.04002921387,0.58611234061,-0.00127272574982,1.03969850196
+286,4.766666667,pose2_to_pose3_retreat,0.615214014314,-0.00994545900818,1.04002931069,0.585784744107,-0.00127272632054,1.03969859567
+287,4.783333333,pose2_to_pose3_retreat,0.614861281952,-0.00994547315231,1.04002923497,0.585432011208,-0.00127274305404,1.03969852034
+288,4.800000000,pose2_to_pose3_retreat,0.614475678645,-0.00994542444905,1.04002896089,0.585046406646,-0.00127269920815,1.03969825251
+289,4.816666667,pose2_to_pose3_retreat,0.614057787413,-0.00994550733527,1.0400291754,0.584628517952,-0.00127277444552,1.03969846466
+290,4.833333333,pose2_to_pose3_retreat,0.613603361424,-0.00994536871603,1.04002920045,0.584174089725,-0.0012726446446,1.03969848152
+291,4.850000000,pose2_to_pose3_retreat,0.61311658889,-0.00994547693494,1.04002909798,0.583687319419,-0.00127274604777,1.03969838472
+292,4.866666667,pose2_to_pose3_retreat,0.612597309373,-0.00994533180188,1.04002931575,0.58316803983,-0.00127260225023,1.03969859813
+293,4.883333333,pose2_to_pose3_retreat,0.612052801597,-0.00994532485564,1.04002916516,0.582623530416,-0.00127260155183,1.0396984548
+294,4.900000000,pose2_to_pose3_retreat,0.611485869437,-0.00994542723233,1.04002913677,0.58205660016,-0.00127269835129,1.03969842875
+295,4.916666667,pose2_to_pose3_retreat,0.610896916073,-0.00994553098857,1.04002908617,0.581467648153,-0.00127279857602,1.03969837067
+296,4.933333333,pose2_to_pose3_retreat,0.610283374995,-0.0099454487958,1.04002917415,0.580854107165,-0.00127271520262,1.0396984664
+297,4.950000000,pose2_to_pose3_retreat,0.609637342832,-0.0099454657986,1.04002933592,0.580208075718,-0.0012727332263,1.03969861492
+298,4.966666667,pose2_to_pose3_retreat,0.608965102431,-0.00994553936303,1.04002926966,0.579535835869,-0.00127280578093,1.03969855803
+299,4.983333333,pose2_to_pose3_retreat,0.608269768013,-0.00994550352089,1.0400290699,0.578840502407,-0.00127276779347,1.03969835961
+300,5.000000000,pose2_to_pose3_retreat,0.607557721536,-0.00994540546626,1.04002919715,0.578128454506,-0.00127267671947,1.03969848394
+301,5.016666667,pose2_to_pose3_retreat,0.606833285897,-0.00994552633485,1.040029298,0.577404019802,-0.00127279471485,1.03969858555
+302,5.033333333,pose2_to_pose3_retreat,0.60609590963,-0.00994540163844,1.04002928738,0.57666664436,-0.00127266840199,1.03969857619
+303,5.050000000,pose2_to_pose3_retreat,0.605337702346,-0.00994551630903,1.04002915582,0.575908437361,-0.0012727828227,1.03969845154
+304,5.066666667,pose2_to_pose3_retreat,0.604552497494,-0.00994554119838,1.04002916052,0.575123232833,-0.00127280782068,1.03969844906
+305,5.083333333,pose2_to_pose3_retreat,0.603749284129,-0.00994557958835,1.04002891328,0.574320019637,-0.001272847023,1.03969820998
+306,5.100000000,pose2_to_pose3_retreat,0.602932643346,-0.00994553731044,1.04002912099,0.573503377893,-0.00127280914809,1.03969841755
+307,5.116666667,pose2_to_pose3_retreat,0.60209993503,-0.00994539918454,1.04002892932,0.572670669343,-0.00127267353079,1.03969822561
+308,5.133333333,pose2_to_pose3_retreat,0.601260468283,-0.00994540191242,1.0400292169,0.571831202843,-0.00127267638056,1.03969850227
+309,5.150000000,pose2_to_pose3_retreat,0.600428025074,-0.00994543976978,1.04002946506,0.570998760918,-0.00127271008557,1.03969874099
+310,5.166666667,pose2_to_pose3_retreat,0.599594998628,-0.00994548105043,1.04002920163,0.570165728786,-0.0012727521085,1.03969848833
+311,5.183333333,pose2_to_pose3_retreat,0.598759269595,-0.0099453429891,1.04002946978,0.56932999785,-0.0012726207179,1.03969874531
+312,5.200000000,pose2_to_pose3_retreat,0.597925540199,-0.00994546608572,1.04002917129,0.568496270872,-0.00127273508867,1.03969846431
+313,5.216666667,pose2_to_pose3_retreat,0.597088253709,-0.00994530391582,1.04002909905,0.567658982807,-0.0012725786701,1.03969838131
+314,5.233333333,pose2_to_pose3_retreat,0.59623894026,-0.00994529367115,1.04002927344,0.566809668891,-0.00127256972395,1.03969856193
+315,5.250000000,pose2_to_pose3_retreat,0.595380230077,-0.00994550085343,1.04002916284,0.56595096092,-0.00127276913859,1.03969845734
+316,5.266666667,pose2_to_pose3_retreat,0.594514412107,-0.00994544291789,1.04002926694,0.565085141491,-0.00127271615874,1.03969856091
+317,5.283333333,pose2_to_pose3_retreat,0.593654500926,-0.00994549549404,1.04002919085,0.564225232955,-0.00127276011046,1.03969847952
+318,5.300000000,pose2_to_pose3_retreat,0.59280297628,-0.0099454778802,1.04002917306,0.563373707905,-0.00127274366568,1.03969846299
+319,5.316666667,pose2_to_pose3_retreat,0.591973348573,-0.00994551918544,1.04002894078,0.562544079421,-0.00127278750464,1.03969823483
+320,5.333333333,pose2_to_pose3_retreat,0.591163385335,-0.00994556504783,1.04002914264,0.561734118061,-0.00127282715317,1.03969843254
+321,5.350000000,pose2_to_pose3_retreat,0.590366082169,-0.0099454413579,1.04002925905,0.560936813246,-0.00127270893078,1.03969855275
+322,5.366666667,pose2_to_pose3_retreat,0.589579254687,-0.00994554978334,1.04002907882,0.560149987012,-0.00127281309669,1.03969837341
+323,5.383333333,pose2_to_pose3_retreat,0.58880234425,-0.00994533924135,1.04002902766,0.55937307356,-0.00127261268924,1.03969832502
+324,5.400000000,pose2_to_pose3_retreat,0.588034271215,-0.00994530535103,1.04002904254,0.558604999783,-0.00127258143334,1.03969833614
+325,5.416666667,pose2_to_pose3_retreat,0.587279595246,-0.00994537867804,1.0400291602,0.557850324797,-0.00127265167762,1.03969844675
+326,5.433333333,pose2_to_pose3_retreat,0.586550384489,-0.00994543843263,1.04002915579,0.557121115163,-0.00127270738199,1.03969844941
+327,5.450000000,pose2_to_pose3_retreat,0.585843798997,-0.00994539589718,1.0400291707,0.556414529157,-0.0012726667177,1.0396984607
+328,5.466666667,pose2_to_pose3_retreat,0.585156590919,-0.00994546283426,1.04002918077,0.555727320459,-0.00127273584415,1.03969846833
+329,5.483333333,pose2_to_pose3_retreat,0.584490784978,-0.00994548094375,1.04002904971,0.5550615152,-0.00127275125059,1.03969834737
+330,5.500000000,pose2_to_pose3_retreat,0.583851364735,-0.00994559163788,1.04002912256,0.554422096193,-0.00127285794224,1.03969841515
+331,5.516666667,pose2_to_pose3_retreat,0.583239686501,-0.00994555102327,1.04002899649,0.553810417906,-0.00127281750058,1.03969828919
+332,5.533333333,pose2_to_pose3_retreat,0.582657457497,-0.00994564697626,1.04002890803,0.553228190524,-0.00127290789778,1.03969820204
+333,5.550000000,pose2_to_pose3_retreat,0.582104280503,-0.00994561072647,1.0400290227,0.552675012681,-0.00127287487178,1.03969830772
+334,5.566666667,pose2_to_pose3_retreat,0.58156744037,-0.009945404223,1.04002905598,0.552138169567,-0.00127267833062,1.03969834492
+335,5.583333333,pose2_to_pose3_retreat,0.581041917327,-0.00994547323801,1.04002903091,0.55161264763,-0.00127274341046,1.03969832464
+336,5.600000000,pose2_to_pose3_retreat,0.580534058759,-0.00994557861893,1.04002903446,0.551104790079,-0.00127284540154,1.03969832676
+337,5.616666667,pose2_to_pose3_retreat,0.580048974398,-0.00994565020643,1.04002911521,0.550619707615,-0.00127291058065,1.03969840671
+338,5.633333333,pose2_to_pose3_retreat,0.579606418465,-0.00994551551425,1.04002910468,0.550177150405,-0.00127278035916,1.03969839232
+339,5.650000000,pose2_to_pose3_retreat,0.579204295663,-0.009945422681,1.0400290015,0.549775025974,-0.00127269315491,1.03969828646
+340,5.666666667,pose2_to_pose3_retreat,0.578842116456,-0.00994545538516,1.04002902386,0.549412847292,-0.00127272412864,1.0396983074
+341,5.683333333,pose2_to_pose3_retreat,0.578506010529,-0.00994550836752,1.04002901582,0.549076741868,-0.00127277532411,1.03969830138
+342,5.700000000,pose2_to_pose3_retreat,0.578191200327,-0.00994549056413,1.04002904884,0.54876193135,-0.00127275867088,1.0396983324
+343,5.716666667,pose2_to_pose3_retreat,0.57788884328,-0.00994536130217,1.04002920488,0.548459572833,-0.00127263446335,1.03969848674
+344,5.733333333,pose2_to_pose3_retreat,0.577599956427,-0.00994540561999,1.04002921556,0.548170685782,-0.00127267915875,1.03969850527
+345,5.750000000,pose2_to_pose3_retreat,0.577330126422,-0.00994552346698,1.04002917554,0.54790085696,-0.00127279318996,1.03969846002
+346,5.766666667,pose2_to_pose3_retreat,0.577083198793,-0.00994543442576,1.04002893208,0.547653927889,-0.0012727087446,1.03969822432
+347,5.783333333,pose2_to_pose3_retreat,0.576865050342,-0.00994540371731,1.04002889977,0.547435779275,-0.0012726783549,1.03969819822
+348,5.800000000,pose2_to_pose3_retreat,0.576672854565,-0.00994539087822,1.04002910218,0.547243583556,-0.00127266553568,1.03969839497
+349,5.816666667,pose2_to_pose3_retreat,0.576506390147,-0.00994542246908,1.04002918505,0.5470771198,-0.0012726951579,1.03969847058
+350,5.833333333,pose2_to_pose3_retreat,0.576364330976,-0.00994538120683,1.04002911371,0.546935059327,-0.001272658151,1.03969840354
+351,5.850000000,pose2_to_pose3_retreat,0.576243523978,-0.00994537766722,1.04002916,0.546814252605,-0.00127265353721,1.03969845346
+352,5.866666667,pose2_to_pose3_retreat,0.57614085869,-0.00994542475737,1.04002926736,0.546711589049,-0.00127269495594,1.03969855677
+353,5.883333333,pose2_to_pose3_retreat,0.576053283425,-0.00994546943534,1.04002935505,0.546624014443,-0.00127273758612,1.03969864087
+354,5.900000000,pose2_to_pose3_retreat,0.575980135135,-0.0099455369547,1.04002913719,0.546550866935,-0.00127280214876,1.03969842923
+355,5.916666667,pose2_to_pose3_retreat,0.57591754419,-0.00994552339873,1.04002910029,0.54648827444,-0.00127279400898,1.03969838811
+356,5.933333333,pose2_to_pose3_retreat,0.575865100408,-0.009945440351,1.04002930295,0.546435828932,-0.00127271691591,1.03969858815
+357,5.950000000,pose2_to_pose3_retreat,0.575823244617,-0.00994553830752,1.04002920122,0.546393976921,-0.00127280209442,1.03969848525
+358,5.966666667,pose2_to_pose3_retreat,0.575790591496,-0.0099454477536,1.04002915201,0.54636132148,-0.00127271902583,1.03969844631
+359,5.983333333,pose2_to_pose3_retreat,0.575766801846,-0.00994536047994,1.04002893229,0.546337529058,-0.0012726408957,1.03969823364
+360,6.000000000,pose2_to_pose3_retreat,0.575749444913,-0.00994534385312,1.04002908883,0.546320173574,-0.00127261983051,1.0396983779
+361,6.016666667,pose2_to_pose3_retreat,0.575737725382,-0.00994538664089,1.04002916036,0.546308455535,-0.00127265774179,1.0396984443
+362,6.033333333,pose2_to_pose3_retreat,0.575729146806,-0.00994546542217,1.04002906035,0.546299877457,-0.00127273458368,1.03969835015
+363,6.050000000,pose2_to_pose3_retreat,0.575723435573,-0.00994541301018,1.04002912249,0.546294165044,-0.00127268619787,1.03969841165
+364,6.066666667,pose2_to_pose3_retreat,0.57571973484,-0.0099453702581,1.04002917355,0.54629046342,-0.00127264650041,1.03969846191
+365,6.083333333,pose2_to_pose3_retreat,0.575717577387,-0.00994539315546,1.04002916277,0.546288306999,-0.00127266576418,1.0396984546
+366,6.100000000,pose2_to_pose3_retreat,0.575716450487,-0.00994540738852,1.04002915522,0.546287180711,-0.00127267784195,1.03969844905
+367,6.116666667,pose2_to_pose3_retreat,0.575715661103,-0.00994541735866,1.04002914992,0.546286391757,-0.00127268630231,1.03969844516
+368,6.133333333,pose2_to_pose3_retreat,0.575714977368,-0.00994542599442,1.04002914534,0.546285708394,-0.00127269363037,1.03969844179
+369,6.150000000,pose2_to_pose3_retreat,0.575714645866,-0.00994543018138,1.04002914312,0.546285377072,-0.0012726971833,1.03969844015
+370,6.166666667,pose2_to_pose3_retreat,0.575714501383,-0.00994543200625,1.04002914215,0.546285232667,-0.00127269873183,1.03969843944
+371,6.183333333,pose2_to_pose3_retreat,0.575714091161,-0.00994543590915,1.04002913764,0.546284822598,-0.00127270209801,1.03969843543
+372,6.200000000,pose2_to_pose3_retreat,0.575713868244,-0.00994543432008,1.0400291301,0.54628459956,-0.00127270093662,1.03969842749
+373,6.216666667,pose2_to_pose3_retreat,0.575713676992,-0.00994543295673,1.04002912362,0.546284408203,-0.0012726999402,1.03969842068
+374,6.233333333,pose2_to_pose3_retreat,0.575713406171,-0.00994543102618,1.04002911446,0.546284137234,-0.00127269852924,1.03969841103
+375,6.250000000,pose2_to_pose3_retreat,0.575712831631,-0.00994542693055,1.04002909501,0.54628356238,-0.0012726955359,1.03969839056
+376,6.266666667,pose2_to_pose3_retreat,0.575712717524,-0.00994542611714,1.04002909115,0.546283448212,-0.00127269494141,1.03969838649
+377,6.283333333,pose2_to_pose3_retreat,0.575712626182,-0.009945425466,1.04002908806,0.54628335682,-0.00127269446551,1.03969838324
+378,6.300000000,pose2_to_pose3_retreat,0.575712538837,-0.00994542484336,1.0400290851,0.546283269427,-0.00127269401045,1.03969838013
+379,6.316666667,pose2_to_pose3_retreat,0.575712327891,-0.00994542333962,1.04002907796,0.546283058366,-0.00127269291143,1.03969837261
+380,6.333333333,pose2_to_pose3_retreat,0.575712034405,-0.0099454212475,1.04002906803,0.54628276472,-0.00127269138237,1.03969836215
+381,6.350000000,pose2_to_pose3_retreat,0.575711716975,-0.0099454189847,1.04002905728,0.546282447117,-0.00127268972858,1.03969835084
+382,6.366666667,pose2_to_pose3_retreat,0.575711453487,-0.00994541710641,1.04002904837,0.546282183485,-0.00127268835581,1.03969834146
+383,6.383333333,pose2_to_pose3_retreat,0.575711294665,-0.00994541597424,1.04002904299,0.546282024576,-0.00127268752835,1.0396983358
+384,6.400000000,pose2_to_pose3_retreat,0.575711029296,-0.00994541486848,1.04002905839,0.546281759135,-0.00127268670663,1.0396983502
+385,6.416666667,pose2_to_pose3_retreat,0.575710872655,-0.00994541513046,1.04002909584,0.546281602536,-0.00127268687431,1.03969838648
+386,6.433333333,pose2_to_pose3_retreat,0.575710496899,-0.00994541575891,1.0400291857,0.546281226878,-0.00127268727655,1.03969847349
+387,6.450000000,pose2_to_pose3_retreat,0.575709956265,-0.0099454166631,1.04002931499,0.546280686386,-0.00127268785528,1.03969859868
+388,6.466666667,pose2_to_pose3_retreat,0.575709763663,-0.00994540743915,1.04002931183,0.54628049338,-0.0012726798894,1.0396985985
+389,6.483333333,pose2_to_pose3_retreat,0.575709735102,-0.00994540545184,1.04002930817,0.54628046473,-0.00127267817782,1.03969859556
+390,6.500000000,pose2_to_pose3_retreat,0.575709595899,-0.00994539576587,1.04002929033,0.546280325091,-0.00127266983571,1.03969858126
+391,6.516666667,pose2_to_pose3_retreat,0.575709373419,-0.0099453802853,1.0400292618,0.546280101915,-0.00127265650297,1.03969855841
+392,6.533333333,pose2_to_pose3_retreat,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471547,1.03969857335
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_06/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_06/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9ea6fd0bcf7efaebdc742e368cfd633e05d79d6b
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_06/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:366cf095220c39f7a59288d3a293c6d83a856d5659d622768866394b62e153f2
+size 25232830
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_06/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_06/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fa7e793ed891450436e539e9b21f6ab8db1824b6
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_06/depth_03/franka_data.csv
@@ -0,0 +1,398 @@
+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,764,742,711,671,659,633,876,784,799,649,629,651,0.400975196487,-0.0154170018755,0.0498543821024,0.999999961455,-7.85672239094e-05,-0.000260085778331,-5.72017880261e-05,1793193455110565376
+1,0.016666667,BASELINE,764,742,711.574784801,671,659,633,876,784,799.574784801,649,628.425215199,651,0.400977641371,-0.0154162846798,0.0498555271042,0.99999996223,-7.55318199301e-05,-0.000258068403489,-5.68909156765e-05,1793193455127232000
+2,0.033333333,BASELINE,764,742,712,671,659,633,876,784,800,649.153486037,628.153486037,650.846513963,0.400979131134,-0.0154155326826,0.0498562130278,0.999999962814,-7.28713078166e-05,-0.000256597578872,-5.6736357411e-05,1793193455143898880
+3,0.050000000,BASELINE,764,742,712,671,659,633,876,784,800,649.743321546,628.743321546,650.256678454,0.400977905557,-0.0154146817472,0.0498555938265,0.999999962891,-7.12765848983e-05,-0.000256680555728,-5.70261884745e-05,1793193455160565504
+4,0.066666667,BASELINE,764,742,712,671,659,633,876.327231718,784,800,649.672768282,629,650,0.400976230419,-0.015414391386,0.0498546815915,0.999999962438,-7.07549103723e-05,-0.00025854282599,-5.72181572543e-05,1793193455177232128
+5,0.083333333,BASELINE,764,742,712,671,659,633,876.906576721,784,800,649.093423279,629,650,0.400974208921,-0.0154145329151,0.049853543591,0.999999961568,-7.10599582333e-05,-0.000261775939846,-5.7334728735e-05,1793193455193898752
+6,0.100000000,BASELINE,764,742,712,671,659,633,877,784,800,649.482418421,629,650,0.400974383449,-0.0154156324292,0.0498535582163,0.999999961377,-7.33665466793e-05,-0.000261857109425,-5.73962609618e-05,1793193455210565376
+7,0.116666667,BASELINE,764,742,712,671,659,633,876.942627664,784,799.942627664,650,629,650.057372336,0.400975034694,-0.0154165463782,0.0498538157475,0.99999996139,-7.55646601416e-05,-0.000261170723302,-5.74475948216e-05,1793193455227232000
+8,0.133333333,BASELINE,764,742,712,671,659,633,876.369599292,784,799.369599292,650,629,650.630400708,0.400976175853,-0.0154141370819,0.0498542647406,0.999999962109,-7.33291299066e-05,-0.000259032226356,-5.7502375327e-05,1793193455243898880
+9,0.150000000,BASELINE,764,742,712,671.210643417,659,633,876.210643417,784,799.421286834,649.789356583,629,650.789356583,0.400977014414,-0.0154134146194,0.0498547086611,0.999999962624,-7.21823422063e-05,-0.000257395341716,-5.73612358435e-05,1793193455260565504
+10,0.166666667,BASELINE,764,742,712,671.8039934,659,633,876.8039934,784,800.607986799,649.1960066,629,650.1960066,0.400977303202,-0.0154157568736,0.0498551433656,0.999999962778,-7.30136318387e-05,-0.000256669809428,-5.6864139984e-05,1793193455277232128
+11,0.183333333,BASELINE,764,742,712,671.612103189,659.387896811,633,876.612103189,784,800.612103189,649.387896811,629,650.387896811,0.400976461183,-0.0154172620629,0.0498547114228,0.999999962423,-7.49239546835e-05,-0.000257545655619,-5.66637432445e-05,1793193455293898752
+12,0.200000000,BASELINE,764,742,712,671.032859651,659.967140349,633,876.032859651,784,800.032859651,649.967140349,629,650.967140349,0.400975061343,-0.0154183543341,0.0498538519691,0.99999996181,-7.73665569819e-05,-0.000259211450313,-5.66097060177e-05,1793193455310565376
+13,0.216666667,BASELINE,764,742,712,671,659.459404918,633,877.081190164,784,800,650,629,651,0.400974378756,-0.0154169645848,0.0498538539528,0.999999961672,-7.50391929384e-05,-0.000260371439523,-5.68495582082e-05,1793193455327232000
+14,0.233333333,BASELINE,763.883278186,742,711.883278186,671,659,633,877.766556371,784,800,649.883278186,629,651,0.400974115189,-0.0154157455065,0.0498540368269,0.999999961653,-7.28972192331e-05,-0.000261025175406,-5.69655535446e-05,1793193455343898624
+15,0.250000000,BASELINE,763.294948581,742,711.294948581,671,659,633,876.589897162,784,800,649.294948581,629,651,0.400975370357,-0.0154158191278,0.0498547412549,0.999999962027,-7.26633728392e-05,-0.000259756331389,-5.65096993399e-05,1793193455360565248
+16,0.266666667,BASELINE,763.289471903,742,711.289471903,671.289471903,659,633,876,784.289471903,800,649.289471903,629,650.710528097,0.400976918146,-0.0154156260894,0.0498556284107,0.999999962407,-7.28068765053e-05,-0.000258276662588,-5.63700134337e-05,1793193455377231872
+17,0.283333333,BASELINE,763.869962346,742,711.869962346,671.869962346,659,633,876,784.869962346,800,649.869962346,629,650.130037654,0.400978760119,-0.0154151649663,0.0498566992706,0.999999962795,-7.33297464099e-05,-0.000256585042651,-5.65481851265e-05,1793193455393898496
+18,0.300000000,BASELINE,763.554251166,742,712,671.554251166,659,633,876,784.554251166,800,650,629,650.445748834,0.400977154963,-0.0154161670018,0.0498558652127,0.99999996243,-7.53879802806e-05,-0.000257368753824,-5.67235716155e-05,1793193455410565376
+19,0.316666667,BASELINE,763,742,711.979847193,671,659,633,876,784,800,649.979847193,629,651,0.400974648881,-0.0154175202881,0.0498545195396,0.99999996186,-7.77180323537e-05,-0.000258850205842,-5.68836777123e-05,1793193455427232000
+20,0.333333333,BASELINE,763,742,711.406117826,671,659,633,876,784,800,649.406117826,629,651,0.400974730307,-0.0154169195182,0.0498542259374,0.999999961792,-7.5339525146e-05,-0.000259869000988,-5.66461335775e-05,1793193455443898624
+21,0.350000000,BASELINE,763.173175971,742,711.173175971,671,659.173175971,633,876,784,800.173175971,649,629,651,0.400974922635,-0.0154164267181,0.0498539974076,0.999999961744,-7.36384600092e-05,-0.000260555399648,-5.65633825968e-05,1793193455460565504
+22,0.366666667,BASELINE,763.765952131,742,711.765952131,671,659.765952131,633,876,784,800.765952131,649,629,651,0.400975383673,-0.0154161955255,0.0498539265466,0.999999961763,-7.35788170552e-05,-0.000260436411433,-5.68556908251e-05,1793193455477232128
+23,0.383333333,BASELINE,764,742,712,671,659.650113153,633,876,784,800.650113153,649,629,651,0.400976565973,-0.0154155267351,0.049854666741,0.99999996223,-7.32417914438e-05,-0.000258723108594,-5.69048057706e-05,1793193455493898752
+24,0.400000000,BASELINE,764,742,712,671,659.071946872,633,876,784,800.071946872,649,629,651,0.40097821885,-0.0154145724393,0.0498559360987,0.999999962983,-7.27237908712e-05,-0.000255969614472,-5.67952522328e-05,1793193455510565376
+25,0.416666667,BASELINE,764,742,712,671.505123766,659,633,876.505123766,784,800,649,629,650.494876234,0.400977501452,-0.0154149140668,0.0498554802997,0.999999962792,-7.27024809286e-05,-0.000256655440719,-5.70847044055e-05,1793193455527232256
+26,0.433333333,BASELINE,764,742,712,671.916614332,659,633,876.916614332,784,800,649.083385668,629,650.083385668,0.400976586008,-0.0154155585035,0.049854835457,0.999999962489,-7.3073530354e-05,-0.000257676370753,-5.73216442975e-05,1793193455543898624
+27,0.450000000,BASELINE,764,742,712,671.330226864,659,633,876.330226864,784,800,649.669773136,629,650.669773136,0.400976508033,-0.0154169185139,0.0498545292975,0.999999962317,-7.53855520749e-05,-0.000257770071036,-5.68997359037e-05,1793193455560565248
+28,0.466666667,BASELINE,764,742,712,671,659.254425923,633,876.254425923,784,800,650,629,651,0.400975888536,-0.0154177259008,0.0498543525514,0.999999962143,-7.67293193543e-05,-0.000258104365508,-5.6637611638e-05,1793193455577232128
+29,0.483333333,BASELINE,764,742,712,671,659.836842428,633,876.836842428,784,800,650,629,651,0.400974570941,-0.0154178208784,0.0498543426374,0.999999961973,-7.68248711641e-05,-0.000258748819517,-5.65814714759e-05,1793193455593898752
+30,0.500000000,BASELINE,764,742,712,671,659.586058905,633,876.586058905,784,799.586058905,649.586058905,629,651,0.400974816529,-0.0154163942655,0.0498545988642,0.999999962064,-7.48251340891e-05,-0.000258968899081,-5.66459502787e-05,1793193455610565376
+31,0.516666667,BASELINE,764,742,712,671,659.011029726,633,876.011029726,784,799.011029726,649.011029726,629,651,0.40097567044,-0.015414375515,0.0498549586614,0.99999996225,-7.20100006245e-05,-0.000259023830331,-5.67573688001e-05,1793193455627232000
+32,0.533333333,BASELINE,763.436532497,742,712,671,659,633,876,784,799.563467503,649.563467503,629,651,0.400976134669,-0.0154148138289,0.0498552372299,0.999999962367,-7.2177703232e-05,-0.000258507464083,-5.68267175163e-05,1793193455643898624
+33,0.550000000,BASELINE,763.141534228,742,711.858465772,671.141534228,659,633,876,784,800,649.858465772,628.858465772,650.858465772,0.400976413151,-0.0154153004995,0.0498553291063,0.999999962466,-7.2346137003e-05,-0.000258069659698,-5.68652226961e-05,1793193455660565504
+34,0.566666667,BASELINE,763.730928804,742,711.269071196,671.730928804,659,633,876,784,800,649.269071196,628.269071196,650.269071196,0.400976127987,-0.015415788137,0.0498548352552,0.99999996251,-7.23322992967e-05,-0.000257915803976,-5.68087322585e-05,1793193455677232128
+35,0.583333333,BASELINE,764,742,711.315547912,671.684452088,659,633,876.315547912,784,800,649.315547912,628.315547912,650.315547912,0.400976743543,-0.0154157290877,0.0498552381518,0.999999962748,-7.21583664e-05,-0.000257065908367,-5.66984610456e-05,1793193455693898752
+36,0.600000000,BASELINE,764,742,711.896155698,671.103844302,659,633,876.896155698,784,800,649.896155698,628.896155698,650.896155698,0.400978115703,-0.0154152108221,0.0498563943152,0.999999963147,-7.18499537301e-05,-0.000255631340055,-5.65430140385e-05,1793193455710565376
+37,0.616666667,BASELINE,763.528488694,742,712,671,659,633,877,784,800,650,629,651,0.400978066659,-0.015416545994,0.049856276075,0.99999996308,-7.5143767597e-05,-0.000254939522774,-5.65533273988e-05,1793193455727232000
+38,0.633333333,BASELINE,763,742,712,671,659,633,876.95338961,784,799.95338961,649.95338961,629,650.95338961,0.400977509092,-0.0154180983383,0.0498558166101,0.999999962847,-7.88582959892e-05,-0.000254722939833,-5.66054091168e-05,1793193455743898624
+39,0.650000000,BASELINE,763,742,712,671,659,633,876.368032395,784,799.368032395,649.368032395,629,650.368032395,0.400974651743,-0.0154174947137,0.0498546214947,0.999999962005,-7.83668021357e-05,-0.000258129430849,-5.6722957565e-05,1793193455760566272
+40,0.666666667,BASELINE,763.215437206,742,712,671.215437206,659,633,876,784,799,649.215437206,629,650.215437206,0.4009732844,-0.0154174892027,0.0498541358045,0.999999961626,-7.77751388875e-05,-0.000259766016556,-5.67526175772e-05,1793193455777233152
+41,0.683333333,BASELINE,763.795710163,742,712,671.795710163,659,633,876,784,799,649.795710163,629,650.795710163,0.400974440334,-0.0154184965769,0.0498548515022,0.999999962044,-7.70138421286e-05,-0.000258405326229,-5.6633441437e-05,1793193455793899264
+42,0.700000000,BASELINE,764,742,712,671.62507576,659,633,876,784.37492424,799.37492424,649.62507576,629,650.62507576,0.400975143475,-0.0154187455583,0.0498550587299,0.999999962164,-7.70253756375e-05,-0.000257906963895,-5.67754452018e-05,1793193455810565376
+43,0.716666667,BASELINE,764,742,712,671.046437041,659,633,876,784.953562959,799.953562959,649.046437041,629,650.046437041,0.400975600592,-0.0154185824681,0.0498549896812,0.999999962122,-7.74568252454e-05,-0.000257877146121,-5.70593606489e-05,1793193455827232000
+44,0.733333333,BASELINE,764,742,712,671,659,633,876.527280037,785,800,649,629,650.527280037,0.400975186525,-0.0154173930589,0.0498550481209,0.999999962274,-7.69261064717e-05,-0.000257472299328,-5.69397361249e-05,1793193455843898880
+45,0.750000000,BASELINE,764,742,712,671,659,633,877,784.896602116,799.896602116,649.103397884,629,651,0.400974897184,-0.0154166004949,0.0498552202351,0.999999962424,-7.66155017707e-05,-0.000257028860382,-5.67286096135e-05,1793193455860566016
+46,0.766666667,BASELINE,764,742,712,671,659,633,877,784.307181027,799.307181027,649.692818973,629,651,0.400975551429,-0.0154180942436,0.049855874389,0.999999962486,-7.77341716732e-05,-0.000256557833555,-5.62528852377e-05,1793193455877232640
+47,0.783333333,BASELINE,763.721624848,742,711.721624848,671,659,633,877.278375152,784,799,650,629,651,0.400976438817,-0.015418572973,0.0498563538377,0.99999996261,-7.8176878556e-05,-0.000255955494815,-5.61678026812e-05,1793193455893899008
+48,0.800000000,BASELINE,763.140275043,742,711.140275043,671,659,633,877.859724957,784,799,650,629,651,0.40097757995,-0.0154179469879,0.0498566431427,0.999999962804,-7.78838889448e-05,-0.00025521024031,-5.65078821868e-05,1793193455910565632
+49,0.816666667,BASELINE,763.435899255,742.435899255,711.435899255,671,659,633,877.564100745,784,799.435899255,650,629,650.564100745,0.400976793421,-0.0154173726982,0.049856015175,0.999999962697,-7.71630606378e-05,-0.000255839039056,-5.6555681455e-05,1793193455927232256
+50,0.833333333,BASELINE,764,742.989594041,712,671,659,633,876.989594041,784,800,649.989594041,629,650,0.400975405293,-0.0154168435625,0.0498550986887,0.999999962487,-7.63386102889e-05,-0.000256911859868,-5.65133176608e-05,1793193455943898624
+51,0.850000000,BASELINE,764,742.416255362,712,671,659,633,876.416255362,784,800,649.416255362,629,650,0.400974636809,-0.0154178677356,0.0498543554052,0.999999962035,-7.72692597692e-05,-0.000258365084513,-5.66219304967e-05,1793193455960565504
+52,0.866666667,BASELINE,764,742,712,671,659,633,876,784,800,649,629,650.163317116,0.400974546462,-0.0154182317005,0.0498541049926,0.99999996187,-7.74034169656e-05,-0.000258940223299,-5.67329618845e-05,1793193455977232640
+53,0.883333333,BASELINE,764,742,712,671,659,633,876,784,800,649,629,650.759408513,0.40097625311,-0.0154168461786,0.0498551606394,0.999999962466,-7.542694795e-05,-0.000257188520904,-5.68504021901e-05,1793193455993899520
+54,0.900000000,BASELINE,764,742,712,671.343241523,659,633,876,784,799.313516954,649,629,651,0.400976017241,-0.0154162483079,0.0498551985399,0.999999962593,-7.45510162196e-05,-0.000256937365651,-5.69218104369e-05,1793193456010566144
+55,0.916666667,BASELINE,764,742,712,671.918778406,659,633,876,784,798.162443187,649,629,651,0.400974466735,-0.0154161834954,0.0498545476606,0.999999962403,-7.44198945315e-05,-0.000257701734867,-5.69620655901e-05,1793193456027232768
+56,0.933333333,BASELINE,764,742,712,671.506867576,659,633,876.493132424,784,798.986264849,649.493132424,629,650.506867576,0.400975593092,-0.0154159596719,0.0498551843512,0.999999962687,-7.23991999272e-05,-0.000257236018788,-5.66959271286e-05,1793193456043899136
+57,0.950000000,BASELINE,764,742,712,670.93100088,659.06899912,633,876.93100088,784,800,650,629,650.06899912,0.400976912445,-0.0154158587119,0.0498559676104,0.999999962983,-7.07509605167e-05,-0.000256594713781,-5.64494916899e-05,1793193456060565248
+58,0.966666667,BASELINE,764,742,712,670.342276504,659.657723496,633,876.342276504,784,800,650,629,650.657723496,0.400976372487,-0.0154168800023,0.0498562613146,0.999999962827,-7.42468131257e-05,-0.00025615322721,-5.67306743694e-05,1793193456077231872
+59,0.983333333,BASELINE,764,742,712,670.243239612,659.756760388,633,876,784.243239612,800,649.756760388,629,650.756760388,0.400975316311,-0.0154174666817,0.0498556048476,0.999999962457,-7.61851544323e-05,-0.000256978627499,-5.69489737897e-05,1793193456093898752
+60,1.000000000,BASELINE,764,742,712,670.824300052,659.175699948,633,876,784.824300052,800,649.175699948,629,650.175699948,0.400973543193,-0.0154174497564,0.0498536287453,0.999999961799,-7.59603627188e-05,-0.000259563530487,-5.70799384842e-05,1793193456110565376
+61,1.016666667,BASELINE,764,742.400920829,712,671,659,633,876,784.599079171,799.599079171,649,629,650,0.400974205216,-0.0154179444834,0.0498540354785,0.999999961933,-7.59720067164e-05,-0.000259085567555,-5.68979043622e-05,1793193456127232512
+62,1.033333333,BASELINE,764,742.975617239,712,671,659,633,876,784.024382761,799.024382761,649,629,650,0.400975922729,-0.0154186609814,0.0498554750309,0.999999962408,-7.60861316915e-05,-0.000257280032374,-5.65802036686e-05,1793193456143899136
+63,1.050000000,BASELINE,763.453123132,742.453123132,712,671,659.546876868,633,876,784.546876868,799.546876868,649.546876868,629,650,0.400975587404,-0.0154178746163,0.0498558726394,0.999999962512,-7.54283871743e-05,-0.000257114261671,-5.63884599161e-05,1793193456160566016
+64,1.066666667,BASELINE,763,742,712,671,660,633,876.122861287,784.877138713,799.877138713,650,629,650.122861287,0.400975617529,-0.0154172210845,0.0498562509705,0.9999999627,-7.47119552245e-05,-0.000256611204312,-5.62963213794e-05,1793193456177232896
+65,1.083333333,BASELINE,763,742,712,671,660,633,876.717576243,784.282423757,799.282423757,650,629,650.717576243,0.400977400495,-0.0154173334361,0.0498567325662,0.999999963276,-7.39014754324e-05,-0.000254533757054,-5.6565287453e-05,1793193456193899264
+66,1.100000000,BASELINE,763.303982748,742,711.696017252,671,659.696017252,633,877,784,799.303982748,649.696017252,629,650.696017252,0.400977466334,-0.0154170176788,0.0498564793085,0.999999963176,-7.43517455137e-05,-0.000254761246086,-5.67076721647e-05,1793193456210565632
+67,1.116666667,BASELINE,763.882875387,742,711.117124613,671,659.117124613,633,877,784,799.882875387,649.117124613,629,650.117124613,0.40097597927,-0.0154163147569,0.0498555614789,0.999999962464,-7.59421876176e-05,-0.000257073227818,-5.67355817186e-05,1793193456227232256
+68,1.133333333,BASELINE,764,742,711.458779929,671,659,633,877,784,800,649.458779929,629,650.458779929,0.400976362611,-0.0154161767596,0.0498554235607,0.99999996236,-7.53560442398e-05,-0.000257623322272,-5.68490947332e-05,1793193456243898880
+69,1.150000000,BASELINE,763.965351693,742,711.965351693,670.965351693,659,633,876.965351693,784,800,649.965351693,629,651,0.400977163494,-0.0154162165884,0.0498555298108,0.999999962424,-7.43288587118e-05,-0.000257646413333,-5.6971122159e-05,1793193456260565504
+70,1.166666667,BASELINE,763.377970191,742,711.377970191,670.377970191,659,633,876.377970191,784,800,649.377970191,629,651,0.400977057065,-0.0154168073668,0.049856375445,0.999999962696,-7.50729852798e-05,-0.000256391510769,-5.6882599968e-05,1793193456277232640
+71,1.183333333,BASELINE,763,742,711.20658729,670.20658729,659.20658729,633,876,784,800,649,629,650.79341271,0.400977030684,-0.0154173752271,0.0498567403053,0.999999962879,-7.53203459151e-05,-0.000255651978751,-5.66685184667e-05,1793193456293899264
+72,1.200000000,BASELINE,763,742,711.786047745,670.786047745,659.786047745,633,876,784,800,649,629,650.213952255,0.400977148781,-0.0154179017223,0.0498562374079,0.999999962904,-7.46710847916e-05,-0.000255842648213,-5.62278126634e-05,1793193456310565888
+73,1.216666667,BASELINE,763,742,712,671,659.636193983,633,876.363806017,784,800,649,629,650,0.400976223713,-0.0154176839689,0.0498558049208,0.999999962752,-7.43456231563e-05,-0.000256526669883,-5.62330163077e-05,1793193456327232512
+74,1.233333333,BASELINE,763,742,712,671,659.059432128,633,876.940567872,784,800,649,629,650,0.400974688024,-0.0154170305656,0.0498554136489,0.999999962497,-7.42096993591e-05,-0.000257499477952,-5.64992355092e-05,1793193456343899136
+75,1.250000000,BASELINE,763.511941026,742,712,671,659,633,877,784,799.488058974,649.511941026,629,650.511941026,0.400975364105,-0.0154174946118,0.0498557369752,0.999999962526,-7.48395719346e-05,-0.000257231656836,-5.63841016093e-05,1793193456360565504
+76,1.266666667,BASELINE,763.914093173,742,712,671,659,633,877,784,799.085906827,649.914093173,629,651,0.400975989101,-0.0154177857906,0.049855974326,0.999999962549,-7.52995812014e-05,-0.000257022093083,-5.63225264978e-05,1793193456377232128
+77,1.283333333,BASELINE,763.321172131,742,712,671,659,633,877,784,799.678827869,649.321172131,629,651,0.400974812956,-0.0154162990617,0.0498552197417,0.999999962348,-7.42378429902e-05,-0.000257997537704,-5.68356177358e-05,1793193456393898752
+78,1.300000000,BASELINE,763.266368504,742.266368504,711.733631496,671,659,633,876.733631496,784,799.733631496,649,629,650.733631496,0.400974958367,-0.0154160840807,0.0498553322393,0.999999962469,-7.38654718809e-05,-0.000257641271216,-5.67986503601e-05,1793193456410565376
+79,1.316666667,BASELINE,763.847550152,742.847550152,711.152449848,671,659,633,876.152449848,784,799.152449848,649,629,650.152449848,0.400976665685,-0.0154173721415,0.0498564695156,0.999999962971,-7.43078436599e-05,-0.00025571109425,-5.61115847619e-05,1793193456427232000
+80,1.333333333,BASELINE,764,743,711.423500726,671,659,633,876.847001453,784,799.423500726,649,629,650.423500726,0.400976450111,-0.015417356796,0.0498561538724,0.999999963019,-7.33251433093e-05,-0.000255807922513,-5.61013867159e-05,1793193456443898880
+81,1.350000000,BASELINE,764,743,711.997591265,671,659,633,877.995182531,784,799.997591265,649,629,650.997591265,0.400975550787,-0.015416877981,0.0498553215954,0.999999962905,-7.1835711054e-05,-0.000256625519954,-5.63318714545e-05,1793193456460566016
+82,1.366666667,BASELINE,763.415668554,742.415668554,712,671.584331446,659,633,876.831337109,784,800,649.584331446,629,650.415668554,0.400974802849,-0.0154175108141,0.0498552808002,0.999999962532,-7.35339791118e-05,-0.000257600492739,-5.63072245258e-05,1793193456477232384
+83,1.383333333,BASELINE,763.169744158,742,712,671.830255842,659,633,876,784,800,650,629,650,0.400974113553,-0.0154178374151,0.0498549346829,0.999999962164,-7.47420757304e-05,-0.000258655467222,-5.64133405964e-05,1793193456493898752
+84,1.400000000,BASELINE,763.751803058,742,712,671.248196942,659,633,876,784,800,650,629,650,0.400973565154,-0.0154174087899,0.0498538388267,0.999999961818,-7.47269037486e-05,-0.000259903158283,-5.68396959088e-05,1793193456510565376
+85,1.416666667,BASELINE,764,742,712,671.331373532,659.331373532,633,876.331373532,784,800,649.668626468,629,650,0.400974056112,-0.0154179936258,0.0498541919397,0.999999962078,-7.47437170284e-05,-0.000258924287139,-5.67084319338e-05,1793193456527232000
+86,1.433333333,BASELINE,764,742,712,671.909094045,659.909094045,633,876.909094045,784,800,649.090905955,629,650,0.40097531974,-0.0154193318805,0.0498556222333,0.999999962784,-7.4784308528e-05,-0.000256290163392,-5.61626271969e-05,1793193456543898880
+87,1.450000000,BASELINE,763.519616079,742,712,671.519616079,659.519616079,633,876.519616079,784,800,649,629,650,0.40097573905,-0.0154192768475,0.0498557027958,0.999999962721,-7.4888109785e-05,-0.000256505519443,-5.6162497516e-05,1793193456560565760
+88,1.466666667,BASELINE,763.052617952,742,712,671,659,633,876,784,799.947382048,649,629,650,0.400976055104,-0.0154189334295,0.0498556244613,0.999999962574,-7.48730052996e-05,-0.000257066469224,-5.62402494697e-05,1793193456577232896
+89,1.483333333,BASELINE,763.646934535,742,712,671,659,633,876,784,799.353065465,649,629,650,0.400976931278,-0.0154182996149,0.0498565050695,0.999999963033,-7.35122564833e-05,-0.000255707334357,-5.60707611111e-05,1793193456593899264
+90,1.500000000,BASELINE,764,742,712,671,659.23425779,633,876,784,799,649.23425779,629,650.23425779,0.400977353678,-0.0154179218411,0.0498570119611,0.999999963259,-7.30902764652e-05,-0.000254966486909,-5.59631236653e-05,1793193456610565888
+91,1.516666667,BASELINE,764,742,712,671,659.811346419,633,876,784,799,649.811346419,629,650.811346419,0.400977111993,-0.015417918777,0.0498569719272,0.999999963148,-7.40421629131e-05,-0.000255130488867,-5.59460036101e-05,1793193456627232512
+92,1.533333333,BASELINE,764,742,711.613908745,671.386091255,659.613908745,633,876,784,799.386091255,649.613908745,628.613908745,651,0.400977641282,-0.0154176533326,0.0498570219986,0.999999963347,-7.4101311502e-05,-0.00025429817008,-5.61094238498e-05,1793193456643898880
+93,1.550000000,BASELINE,764,742,711.040302181,671.959697819,659.040302181,633,876,784,799.959697819,649.040302181,628.040302181,651,0.400978545016,-0.0154172604562,0.0498571158319,0.999999963694,-7.37268787018e-05,-0.0002529819621,-5.6360528201e-05,1793193456660565248
+94,1.566666667,BASELINE,764,742,711.533623408,671.466376592,659,633,876,784,800,649,628.533623408,650.466376592,0.400978485599,-0.0154162934413,0.0498570937439,0.999999963724,-7.33134306893e-05,-0.000252968435249,-5.64210587559e-05,1793193456677232128
+95,1.583333333,BASELINE,763.888223763,742,711.888223763,671,659,633,876,784,800,649,629,650.111776237,0.400977838094,-0.0154155448809,0.0498568841407,0.999999963591,-7.27652872621e-05,-0.000253651394377,-5.64257502516e-05,1793193456693898496
+96,1.600000000,BASELINE,763.291848326,742,711.291848326,671,659,633,876,784,800,649,629,650.708151674,0.40097495653,-0.0154159315225,0.0498558995561,0.999999962846,-7.16459624131e-05,-0.000256927126585,-5.62507929714e-05,1793193456710565632
+97,1.616666667,BASELINE,763,742,711,671,659.295006286,633,876,784.295006286,800,649,629,651,0.400973993011,-0.0154171383819,0.049855474046,0.999999962495,-7.3451634939e-05,-0.000257809660012,-5.61194294425e-05,1793193456727232256
+98,1.633333333,BASELINE,763,742,711,671,659.872736432,633,876,784.872736432,800,649,629,651,0.400974867681,-0.0154191313096,0.0498555843338,0.999999962513,-7.80605242163e-05,-0.000256398634001,-5.60298446723e-05,1793193456743899136
+99,1.650000000,BASELINE,763.431875412,742.431875412,711.431875412,671,659.568124588,633,876.431875412,785,800,649.431875412,629,650.568124588,0.40097515938,-0.0154190652268,0.049855640606,0.999999962584,-7.64657822476e-05,-0.000256615988307,-5.59729612429e-05,1793193456760566016
+100,1.666666667,BASELINE,763.985762099,742.985762099,711.985762099,671,659.014237901,633,876.985762099,785,800,649.985762099,629,650.014237901,0.40097528638,-0.0154184174426,0.049855681618,0.999999962663,-7.31184214046e-05,-0.000257293384478,-5.59253164335e-05,1793193456777232896
+101,1.683333333,BASELINE,764,742.402753824,712,671,659,633,877,785,800,650,629,650,0.400973141813,-0.0154176239325,0.0498547728039,0.999999962117,-7.34218422833e-05,-0.000259248037213,-5.62721674335e-05,1793193456793899008
+102,1.700000000,BASELINE,764,742,712,671,659,633,876.801548443,784.801548443,800,650,629,650.198451557,0.400972852556,-0.0154172492512,0.0498546599447,0.999999962052,-7.31478071858e-05,-0.0002595355876,-5.64495783341e-05,1793193456810565376
+103,1.716666667,BASELINE,764,742,712,671,659,633,876.222943954,784.222943954,800,650,629,650.777056046,0.400976232127,-0.0154176842421,0.0498561198182,0.999999962941,-7.15830879771e-05,-0.000256565090771,-5.62824725098e-05,1793193456827232000
+104,1.733333333,BASELINE,764,742.354211776,712,670.645788224,659,633,876,784,800,649.645788224,629,650.645788224,0.40097764439,-0.0154188958779,0.0498569015084,0.999999963341,-7.33910016942e-05,-0.000254556687211,-5.59715007352e-05,1793193456843898624
+105,1.750000000,BASELINE,764,742.930459416,712,670.069540584,659,633,876,784,800,649.069540584,629,650.069540584,0.400977823455,-0.0154205943497,0.0498572580829,0.999999963425,-7.7313033182e-05,-0.000253151366666,-5.55703472992e-05,1793193456860565504
+106,1.766666667,BASELINE,764,742.498040712,711.498040712,670.501959288,659,633,876.501959288,784,799.498040712,649.501959288,629,650,0.400976760997,-0.0154199427739,0.0498563461518,0.999999963062,-7.77293309757e-05,-0.00025441865653,-5.57251692245e-05,1793193456877232384
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,742,711,671,659,633,876,784,800,650,629,651,0.400979393543,-0.0154191970132,0.0498585448375,0.999999963881,-7.61834787807e-05,-0.000251585028824,-5.60208812896e-05,1793193456919774208
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,742,711.578659834,671,659,633,876.578659834,784,800,649.421340166,629,651,0.400975367343,-0.0154186865587,0.0498559213145,0.999999962689,-7.61882854734e-05,-0.000256223585794,-5.62758224824e-05,1793193456936440832
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,742.156707909,712,671,659.156707909,633,877,784,800,649.156707909,629,650.843292091,0.400973246373,-0.015418297667,0.0498544368376,0.999999962031,-7.64560902238e-05,-0.000258660397328,-5.64475801557e-05,1793193456953107456
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,742.733117673,712,671,659.733117673,633,877,784,800,649.733117673,629,650.266882327,0.400976228072,-0.0154182343497,0.0498560030021,0.999999962849,-7.74282676798e-05,-0.000255200400637,-5.63965522099e-05,1793193456969774080
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,743,712,671,659.685831576,633,877,784,800,649.685831576,629,650.314168424,0.40097770168,-0.0154180166844,0.0498570888286,0.999999963195,-7.78279449307e-05,-0.000253702853536,-5.64637442738e-05,1793193456986440960
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,743,712,671,659.100779286,633,877,784,800,649.100779286,629,650.899220714,0.400977874974,-0.0154176659365,0.0498577604954,0.999999963143,-7.77339981391e-05,-0.000253897379725,-5.66328685879e-05,1793193457003107840
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,742.520341402,711.520341402,671,659,633,877,784,800,649,629,650.520341402,0.400977282727,-0.0154177669731,0.049857506321,0.999999963173,-7.49776876322e-05,-0.000254684328942,-5.62948685259e-05,1793193457019774464
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,742,711.058870857,671,659,633,876.941129143,784.058870857,799.941129143,649.058870857,629,650,0.4009772078,-0.0154179924581,0.0498573610315,0.999999963343,-7.2010898913e-05,-0.000254962883789,-5.58784541913e-05,1793193457036441088
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,742,711.63574834,671,659,633,876.36425166,784.63574834,799.36425166,649.63574834,629,650,0.400983086572,-0.0154184856987,0.0498598691467,0.999999964681,-7.20672033635e-05,-0.000249683264214,-5.57006738595e-05,1793193457053107456
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,742,712,671,659.211663425,633,876.211663425,784.788336575,799.211663425,650,629,650.211663425,0.400992957175,-0.0154187013873,0.0498636278136,0.999999966669,-7.17606995009e-05,-0.000241738010944,-5.54489411087e-05,1793193457069774080
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,742,712,671,659.785929756,633,876.785929756,784.214070244,799.785929756,650,629,650.785929756,0.401009666225,-0.0154184415985,0.0498695288142,0.999999969703,-7.08326647746e-05,-0.000229226232231,-5.5070519682e-05,1793193457086440960
+118,1.966666667,POSE1_TO_POSE2_PRESS,763.63046239,742.36953761,712,671,659.63046239,633,876.63046239,784,800,649.63046239,629,650.63046239,0.401041532542,-0.0154207957557,0.0498808132779,0.999999974475,-7.31348774539e-05,-0.000206905498761,-5.37781521035e-05,1793193457103107584
+119,1.983333333,POSE1_TO_POSE2_PRESS,763.041302665,742.958697335,712,671,659.041302665,633,876.041302665,784,800,649.041302665,629,650.041302665,0.401082407065,-0.0154247034228,0.0498952972205,0.999999979682,-7.73568777245e-05,-0.000178755145192,-5.19426116336e-05,1793193457119773952
+120,2.000000000,POSE1_TO_POSE2_PRESS,763.540577661,742.459422339,712,671,659,633,876,784,799.459422339,649.540577661,629,650.540577661,0.401142772966,-0.0154278113704,0.0499084972038,0.999999984494,-7.69114048768e-05,-0.000150356121559,-4.98894151085e-05,1793193457136440832
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,742.120526063,712,671,659,633,876,784,799.120526063,649.879473937,629,651,0.401206570274,-0.0154314969316,0.049920017565,0.999999987778,-7.69169097503e-05,-0.000127399451949,-4.79289731128e-05,1793193457153107968
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,742.695262203,712,671,659,633,876,784,799.695262203,649.304737797,629,651,0.401277761375,-0.0154375864758,0.0499255729536,0.999999987913,-7.99480286435e-05,-0.000125023278978,-4.63799202236e-05,1793193457169774592
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,742.730089679,711.730089679,671,659,633,876,784,799.730089679,649.269910321,629,651,0.401358838975,-0.0154433380028,0.0499287195252,0.999999988052,-8.22489958431e-05,-0.000122817058824,-4.52483398916e-05,1793193457186441216
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,742.155540944,711.155540944,671,659,633,876,784,799.155540944,649.844459056,629,651,0.40145107512,-0.0154487080213,0.0499291473483,0.999999988204,-8.37258659767e-05,-0.000120802658662,-4.45879464447e-05,1793193457203107584
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,742.433745232,711,671,659.433745232,633,876.433745232,784,799.433745232,650,629,651,0.401562500393,-0.0154564232377,0.0499295814994,0.99999998789,-8.63265228987e-05,-0.000122073068041,-4.31963380817e-05,1793193457219774208
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,742.972387289,711.027612711,671,659.972387289,633,876.972387289,784.027612711,800,649.972387289,629,651,0.401682152933,-0.0154649394833,0.0499297986182,0.999999987361,-8.92640150254e-05,-0.000124822646582,-4.15960357011e-05,1793193457236440576
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,742.396189788,711.603810212,671,659.396189788,633,876.396189788,784.603810212,800,649.396189788,629,651,0.401823739237,-0.0154720742207,0.0499256572619,0.999999986236,-9.06056123919e-05,-0.000132733834588,-4.12422374281e-05,1793193457253107200
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,742,712,671.179172481,659,633,876,785,800,649,629,650.820827519,0.401977430483,-0.0154814572588,0.04992362386,0.999999985482,-9.32093433516e-05,-0.000136866727466,-4.01988249864e-05,1793193457269774080
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,742,712,671.752696359,659,633,876,785,800,649,629,650.247303641,0.402157764196,-0.0154957887152,0.0499262299812,0.999999985629,-9.85909792345e-05,-0.000132683744248,-3.76375996453e-05,1793193457286440704
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,742.336582122,712,671.663417878,659,633,876,785,799.663417878,649.336582122,628.663417878,650.336582122,0.402360719017,-0.0155072418274,0.0499278420435,0.999999985792,-0.00010119297371,-0.000130077280564,-3.54401115019e-05,1793193457303107328
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,742.928323166,712,671.071676834,659,633,876,785,799.071676834,649.928323166,628.071676834,650.928323166,0.402580822651,-0.0155165129024,0.0499287005217,0.999999985991,-0.000101687755507,-0.000128665957241,-3.35183679533e-05,1793193457319774464
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,742.491028295,712,671,659,633,876,785,799.508971705,650,628.508971705,650.491028295,0.40284554183,-0.01552729778,0.0499362442468,0.999999988176,-9.96008108081e-05,-0.000113184988661,-3.02908439128e-05,1793193457336441344
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,742.087344307,712,671,659,633,876.087344307,784.912655693,800,649.912655693,629,650,0.403122640545,-0.015536123264,0.049944876924,0.999999990644,-9.43351328619e-05,-9.53793978107e-05,-2.67514394791e-05,1793193457353107968
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,742.66155255,712,671,659,633,876.66155255,784.33844745,800,649.33844745,629,650,0.403434468571,-0.0155328639827,0.0499544436581,0.999999994214,-7.3334324723e-05,-7.54249883341e-05,-2.24767362812e-05,1793193457369774336
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,742.758645206,712,670.758645206,659,633,877,784,800.241354794,649,629,650.241354794,0.40375688751,-0.0155250542349,0.0499617942892,0.999999996914,-4.68067311883e-05,-6.00646025407e-05,-1.93132730698e-05,1793193457386440704
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,742.170812504,712,670.170812504,659,633,877,784,800.829187496,649,629,650.829187496,0.40409451026,-0.0155107120459,0.0499659635839,0.999999998451,-1.23451384949e-05,-5.12991883266e-05,-1.77450554387e-05,1793193457403107328
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,742.410812892,712,670.410812892,659.410812892,633,877,784,800.589187108,649.410812892,629,651,0.404476943233,-0.0155144510495,0.0499688340716,0.999999998823,3.459763718e-06,-4.63669603737e-05,-1.38574164084e-05,1793193457419773952
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,742.989895746,712,670.989895746,659.989895746,633,877,784,800.010104254,649.989895746,629,651,0.404877730573,-0.0155255961539,0.0499711725648,0.999999998967,1.16228391943e-05,-4.30048150827e-05,-9.01973676341e-06,1793193457436440832
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,743,712,671,660,633,877,784,800,650,629,651,0.405275685129,-0.0155306694796,0.0499548220177,0.999999996935,2.57425741788e-05,-7.36072393055e-05,-6.96479167379e-06,1793193457453107456
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,742.857412227,712,671.142587773,659.857412227,633,877.142587773,784.142587773,800,650,628.857412227,650.857412227,0.405683352205,-0.0155341561945,0.0499375964591,0.999999993567,4.23358995844e-05,-0.000105112501937,-5.06751989421e-06,1793193457469774336
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,742.283716063,712,671.716283937,659.283716063,633,877.716283937,784.716283937,800,650,628.283716063,650.283716063,0.406120536725,-0.0155331718627,0.0499187288002,0.999999988354,6.60881963484e-05,-0.000137523816485,-3.49755580855e-06,1793193457486440960
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,742.298146628,712,671.701853372,659.298146628,633,877.701853372,784.701853372,799.701853372,650,628.298146628,650.298146628,0.406584926853,-0.0155322992575,0.049905782737,0.999999983204,9.04419994631e-05,-0.000159410067819,-1.10198325274e-06,1793193457503107840
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,742.887999505,712,671.112000495,659.887999505,633,877.112000495,784.112000495,799.112000495,650,628.887999505,650.887999505,0.407075934963,-0.0155315359652,0.0498986303526,0.999999978721,0.000115384318414,-0.000170998615782,2.10136367271e-06,1793193457519774464
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,743,712,671.470042826,660,633,877.470042826,784,799.470042826,650,629,651,0.407661906207,-0.0155320941641,0.0499160315036,0.999999981007,0.000142938593422,-0.000132269397487,7.68419807236e-06,1793193457536441088
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,743,712,672,659.950157539,633,877.950157539,784,799.950157539,649.950157539,629,650.950157539,0.408271202785,-0.01553336995,0.0499392585005,0.999999981861,0.000170859252824,-8.30061947341e-05,1.39685307041e-05,1793193457553107456
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,743,712,672,659.374715402,633,877.374715402,784,799.374715402,649.374715402,629,650.374715402,0.408891757711,-0.0155389466235,0.0499632333133,0.999999979412,0.000196187775256,-4.70262114339e-05,2.17691302776e-05,1793193457569774336
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,742.80029567,712,672,659,633,876.80029567,784,799,649,629,650,0.409509910567,-0.0155437198738,0.0499780802398,0.999999974773,0.000221255025664,-2.61490535449e-05,2.85733010682e-05,1793193457586441216
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,742.227784591,712,672,659,633,876.227784591,784,799,649,629,650,0.410123579218,-0.0155469932982,0.049975887286,0.999999968661,0.000245834534147,-3.34657544984e-05,3.35173446557e-05,1793193457603108352
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,742,712,672,659.356772347,633,876.356772347,784,799.713544695,649.356772347,629,650,0.410726519784,-0.0155455194129,0.0499536488718,0.999999959083,0.000270819366971,-8.49454997975e-05,3.57106230206e-05,1793193457619774976
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,742,712,672,659.949288794,633,876.949288794,784,800.898577587,649.949288794,629,650,0.41132237154,-0.0155409086525,0.0499181650392,0.999999941807,0.000296072023115,-0.000165606814014,3.60862806738e-05,1793193457636441344
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,742,712,672,660,633,876.468216358,784,800.468216358,650,629,650,0.412060700746,-0.0155418321112,0.0499177099223,0.999999984712,9.08829005787e-05,-0.00014875686543,1.37031645487e-05,1793193457653107712
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,742.111829837,712,671.888170163,660,633,876,784,800,650,629,650,0.412815416982,-0.0155468901129,0.0499256243016,0.999999989027,-8.70650465243e-05,-0.00011979818689,-3.87245027137e-06,1793193457669774080
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,742.685635226,712,671.314364774,660,633,876,784,800,650,629,650,0.413582739376,-0.0155668883259,0.0499545695765,0.999999994883,-6.33768966386e-05,-7.85207553315e-05,7.2117728078e-06,1793193457686440704
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,743,712,671.260179274,660,633,876.520358548,784.260179274,800,650,629,650,0.414331761441,-0.0155757453969,0.049959344503,0.999999996554,-3.59669409504e-05,-7.36263108142e-05,1.33483262547e-05,1793193457703107328
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,743,712,671.835618431,660,633,877.671236862,784.835618431,800,650,629,650,0.415058609052,-0.0155711027208,0.0499348321612,0.999999993537,-4.047260679e-06,-0.000112817218118,1.34897773839e-05,1793193457719774208
+156,2.600000000,POSE1_TO_POSE2_PRESS,764.421527971,743,712,672,660,633,877.578472029,784.578472029,799.578472029,649.578472029,629,650,0.415810256771,-0.015566322476,0.0499190455381,0.999999990451,2.31860336813e-05,-0.000135618166591,1.29568568848e-05,1793193457736441088
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.988615564,742.988615564,712,671.988615564,660,633,877,784,799,649,629,650,0.416573876823,-0.0155616995355,0.0499076174869,0.999999987439,4.83896258631e-05,-0.000150432583018,1.22828640704e-05,1793193457753107968
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.410708979,742.410708979,712,671.410708979,660,633,877,784,799,649,629,650,0.417439751552,-0.0155676421225,0.0499394415152,0.999999993254,6.5849170726e-05,-9.3976580147e-05,1.80087867383e-05,1793193457769774848
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,742,712,671.166303446,660,633,876.833696554,784,799,649,629,650,0.418283958558,-0.0155718128243,0.0499607221857,0.999999994492,8.30405983248e-05,-6.02185447398e-05,2.22276806341e-05,1793193457786441472
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,742,712,671.741119395,660,633,876.258880605,784,799,649,629,650,0.419074940301,-0.0155716310169,0.0499561038508,0.999999991404,9.9573414477e-05,-8.22164445094e-05,2.27446660862e-05,1793193457803107584
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,742,712,672,660,633,876.323405858,784,799.323405858,649.323405858,629,650,0.419879195633,-0.015571830765,0.0499479238838,0.999999989399,0.000111285509726,-9.13100929087e-05,2.19199119324e-05,1793193457819773696
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,742,712,672,660,633,876.911813705,784,799.911813705,649.911813705,629,650,0.420694327437,-0.0155723431633,0.0499368254801,0.999999988679,0.000119047457339,-8.98298677834e-05,1.99957229261e-05,1793193457836440320
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,742.494994365,712,672,660,633,877,784.494994365,800,650,629,650,0.421586244983,-0.0155785020018,0.0499577983609,0.999999991079,0.000123455711339,-4.54400322431e-05,2.31619167313e-05,1793193457853107200
+164,2.733333333,POSE1_TO_POSE2_PRESS,764.076065127,743,712,672,660,633,877,784.923934873,800,649.923934873,629,650,0.422483358219,-0.0155846073532,0.0499790949143,0.999999992263,0.000121454450144,-4.12419914507e-06,2.65490087208e-05,1793193457869773824
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.649367241,743,712,672,660,633,877,784.350632759,800,649.350632759,629,650,0.42332594462,-0.0155838559007,0.0499655472225,0.999999995837,8.14191655975e-05,-3.23536614736e-05,2.5513771908e-05,1793193457886440704
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.776201143,743,712,672,660,633,877,784,800,649,629,650.223798857,0.424171445296,-0.0155831514952,0.0499569382135,0.999999996476,6.3451235607e-05,-4.89559002193e-05,2.49964855681e-05,1793193457903107584
+167,2.783333333,POSE1_TO_POSE2_PRESS,764.199990838,743,712,672,660,633,877,784,800,649,629,650.800009162,0.425021535152,-0.0155825211737,0.0499561060445,0.999999995345,8.02323082472e-05,-4.72489939898e-05,2.52948050798e-05,1793193457919774464
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,743,712,672,660,633,877.387989608,784,800,649,629,650.612010392,0.42587101074,-0.0155824860359,0.0499703213033,0.999999994285,9.76889716805e-05,-3.3303970049e-05,2.78998134924e-05,1793193457936440832
+169,2.816666667,POSE1_TO_POSE2_PRESS,764,743,712,672,660,633,877.982226793,784,800,649,629,650.017773207,0.426720159745,-0.015582767286,0.0499925354761,0.999999992743,0.000115504764716,-1.28534056482e-05,3.17310119229e-05,1793193457953107200
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,743,712,672,660,633,878,784,800,649.557104855,629,650.557104855,0.427493599969,-0.0155751795986,0.0499606446339,0.999999987551,0.000133317261832,-7.90208805794e-05,2.96540653614e-05,1793193457969774080
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,743,712,672.131567819,660,633,878,784,800,649.868432181,629,650.868432181,0.42828492663,-0.0155695253174,0.0499335224581,0.999999980198,0.00014777465491,-0.00013039140944,2.76413755735e-05,1793193457986440704
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,743,712,672.706643491,660,633,878,784,800,649.293356509,629,650.293356509,0.429144415935,-0.0155712062696,0.0499280983857,0.999999980711,0.000150922521073,-0.000122879944738,2.64593320245e-05,1793193458003107328
+173,2.883333333,POSE1_TO_POSE2_PRESS,764.289944712,743,712,672.710055288,660.289944712,632.710055288,877.710055288,784,800,649,629,650,0.429979604905,-0.015573897988,0.049932399708,0.999999984004,0.000142381788351,-0.000104973951243,2.64742002935e-05,1793193458019773952
+174,2.900000000,POSE1_TO_POSE2_PRESS,764.881811231,743,712,672.118188769,660.881811231,632.118188769,877.118188769,784,800,649,629,650,0.430789489682,-0.0155776422256,0.049946828164,0.999999989307,0.000121669621464,-7.62440500746e-05,2.77354227012e-05,1793193458036440832
+175,2.916666667,POSE1_TO_POSE2_PRESS,764.072898574,743,712,672,661,632.463550713,877,784,800,649.463550713,629,650,0.431551589853,-0.0155739047903,0.0499332398534,0.999999988035,0.000112440535964,-0.000102840548614,2.66558373311e-05,1793193458053107456
+176,2.933333333,POSE1_TO_POSE2_PRESS,763.042365547,742.957634453,712,672.042365547,661,633,877.042365547,784,800,649.957634453,629,650,0.432303932841,-0.0155688557016,0.049915206811,0.999999984369,0.000107680006196,-0.000137939080569,2.52979589662e-05,1793193458069774080
+177,2.950000000,POSE1_TO_POSE2_PRESS,763.616189329,742.383810671,712,672.616189329,661,633,877.616189329,784,800,649.383810671,629,650,0.433083442926,-0.0155707703851,0.0499291100014,0.999999986373,0.000123033188648,-0.000106518353619,2.77758285266e-05,1793193458086440704
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,742.189251255,712,672.810748745,661,633,878,784,800,649.189251255,629,650,0.433856655621,-0.0155723365362,0.0499455580695,0.999999987748,0.000133582746864,-7.60774109601e-05,2.95412099255e-05,1793193458103107072
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,742.760774397,712,672.239225603,661,633,878,784,800,649.760774397,629,650,0.434617148253,-0.0155731986812,0.0499671465825,0.999999989385,0.000134429384251,-4.76155460362e-05,2.98674246373e-05,1793193458119773696
+180,3.000000000,POSE1_TO_POSE2_PRESS,764.346260416,742.653739584,712,672,661,632.653739584,877.653739584,784,800.346260416,650,629,650,0.435307478883,-0.0155720676956,0.0499645185134,0.999999987603,0.000139733654842,-6.60957921302e-05,2.99829625075e-05,1793193458136440576
+181,3.016666667,POSE1_TO_POSE2_PRESS,764.941798469,742.058201531,712,672,661,632.058201531,877.058201531,784,800.941798469,650,629,650,0.435947298877,-0.0155695018279,0.0499444565924,0.999999981557,0.000148247036582,-0.000118370311171,2.99468311481e-05,1793193458153107456
+182,3.033333333,POSE1_TO_POSE2_PRESS,764.480589716,742.519410284,712,672.519410284,661,632.519410284,878.038820568,784,800.480589716,650,629,650,0.436599632947,-0.0155657188439,0.0499320461334,0.999999977682,0.000162763275985,-0.000131432285886,2.94832313123e-05,1793193458169774080
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,743,712,673,661,633,878.809944854,784,800,649.904972427,629,650,0.437257410869,-0.0155632539333,0.0499272492941,0.999999975784,0.00017598394464,-0.000128771491385,2.96632710247e-05,1793193458186440704
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,743,712,673,661,633,877.659244557,784,800,649.329622279,629,650,0.437935853795,-0.015568117656,0.0499567469001,0.999999981039,0.00017936960405,-6.81072546643e-05,3.33306576033e-05,1793193458203107584
+185,3.083333333,POSE1_TO_POSE2_PRESS,764,743,712,672.753747626,661,633,877.246252374,784,800,649,629.246252374,650,0.438572472362,-0.0155693054171,0.0499699521712,0.999999981234,0.000185820936595,-4.18162074984e-05,3.5398458961e-05,1793193458219774208
+186,3.100000000,POSE1_TO_POSE2_PRESS,764,743,712,672.177169442,661,633,877.822830558,784,800,649,629.822830558,650,0.43915298719,-0.0155655622,0.0499613027116,0.999999978193,0.000196384599231,-6.16337630915e-05,3.53205578582e-05,1793193458236440832
+187,3.116666667,POSE1_TO_POSE2_PRESS,764,743,712,672.411401241,661,633,877.588598759,784,799.588598759,649,629.588598759,650,0.439673364828,-0.0155640120448,0.0499361277483,0.99999997466,0.000198097863941,-0.00010121777615,3.45139878213e-05,1793193458253107712
+188,3.133333333,POSE1_TO_POSE2_PRESS,764.00512438,743,712,673,661,633,877.00512438,784.00512438,799.00512438,649.00512438,629,650,0.440166902522,-0.0155634810472,0.0499037971548,0.999999969155,0.000195605604332,-0.000149372256217,3.3401932088e-05,1793193458269774080
+189,3.150000000,POSE1_TO_POSE2_PRESS,764.580247396,743,712,673,661,633,877.580247396,784.580247396,799.580247396,649.580247396,629,650,0.440642156285,-0.0155681068779,0.0498909037736,0.99999997088,0.000162004826221,-0.000175555172674,3.42627999865e-05,1793193458286440960
+190,3.166666667,POSE1_TO_POSE2_PRESS,764.844353191,742.844353191,712,673,660.844353191,632.844353191,877.844353191,784.844353191,800,650,629,650,0.441113028796,-0.015572039695,0.0498819098298,0.999999970973,0.000139902654457,-0.000192998750886,3.5118680291e-05,1793193458303108096
+191,3.183333333,POSE1_TO_POSE2_PRESS,764.268206925,742.268206925,712,673,660.268206925,632.268206925,877.268206925,784.268206925,800,650,629,650,0.441572064908,-0.0155741002491,0.0498834507048,0.99999997082,0.000148865408987,-0.000186831912812,3.59610863158e-05,1793193458319774464
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,742.315646917,712,673,660,632,877.315646917,784,799.684353083,649.684353083,629,650,0.442001559208,-0.0155756449434,0.0498799576918,0.999999969296,0.000154765633198,-0.000190156995382,3.60025449029e-05,1793193458336440832
+193,3.216666667,POSE1_TO_POSE2_PRESS,764,742.906213815,712,673,660,632,877.906213815,784,799.093786185,649.093786185,629,650,0.442405323356,-0.0155767403376,0.0498720802974,0.999999966542,0.000157998475271,-0.000201749286082,3.53463997468e-05,1793193458353107200
+194,3.233333333,POSE1_TO_POSE2_PRESS,764,743,712,673,660,632,878,783.514098791,799.485901209,649,629,650,0.442751923974,-0.0155788286286,0.0498525447837,0.999999966382,0.000114179250894,-0.000231923266636,2.02741872841e-05,1793193458369773824
+195,3.250000000,POSE1_TO_POSE2_PRESS,764,743,712,673,660,632,877.936677414,783,800,649,629,650,0.443081366913,-0.0155814368455,0.0498297596556,0.999999961749,6.75712550391e-05,-0.000268173316788,4.42940242478e-06,1793193458386440448
+196,3.266666667,POSE1_TO_POSE2_PRESS,764,743,712,673,660,632,877.360972238,783,800,649,629,650,0.443359299414,-0.0155867353577,0.0497984888184,0.999999944643,7.02743410528e-05,-0.000325203244637,4.35524706098e-06,1793193458403107840
+197,3.283333333,POSE1_TO_POSE2_PRESS,764,742.781085257,712,673,660,632,877.218914743,783,799.781085257,649,629,650,0.443634987966,-0.0155892518773,0.0497735492222,0.999999928969,7.69403931217e-05,-0.000368946368302,4.60862395247e-06,1793193458419774720
+198,3.300000000,POSE1_TO_POSE2_PRESS,764,742.1941686,712,673,660,632,877.8058314,783,799.1941686,649,629,650,0.443906904346,-0.0155870917875,0.0497592526257,0.999999919723,9.02683038985e-05,-0.000390353991649,5.41259190939e-06,1793193458436440832
+199,3.316666667,POSE1_TO_POSE2_PRESS,764,742.387991546,712,673,659.612008454,631.612008454,878,783,799.387991546,649,629,650,0.444168436576,-0.0155874898052,0.0497564975712,0.999999918731,9.69195563991e-05,-0.000391283179629,6.49196549299e-06,1793193458453107456
+200,3.333333333,POSE1_TO_POSE2_PRESS,764,742.9678002,712,673,659.0321998,631.0321998,878,783,799.9678002,649,629,650,0.444424835065,-0.015589152512,0.0497594484779,0.999999921948,0.000100269972009,-0.00038208814323,7.70749549392e-06,1793193458469774336
+201,3.350000000,POSE1_TO_POSE2_PRESS,764,743,712,672.455731592,659.544268408,631,878,783,800,649.544268408,628.455731592,650,0.444642541445,-0.0155919344736,0.0497620547501,0.999999924554,0.000102461239986,-0.000374563125738,9.81391012446e-06,1793193458486440960
+202,3.366666667,POSE1_TO_POSE2_PRESS,764,742.879307649,712,672.120692351,659.879307649,631,878,783,800,650,628.120692351,650,0.444847098061,-0.0155933832613,0.0497622517353,0.999999925491,0.000104762202839,-0.000371370118915,1.12555376496e-05,1793193458503107584
+203,3.383333333,POSE1_TO_POSE2_PRESS,764,742.302308286,712,672.697691714,659.302308286,631,878,783,800,650,628.697691714,650,0.445010540493,-0.0155895428371,0.049753416437,0.999999920348,0.000107735585453,-0.000384184075211,9.98572213728e-06,1793193458519774208
+204,3.400000000,POSE1_TO_POSE2_PRESS,764,742,712,673.279915666,659,631,878,783,800,650,629,650,0.445161483782,-0.0155893132697,0.049744095237,0.99999991564,0.000107962188252,-0.000396200152692,9.48386798166e-06,1793193458536440832
+205,3.416666667,POSE1_TO_POSE2_PRESS,764,742,712,673.867889448,659,631,878,783,800,650,629,650,0.445298671267,-0.0155930575913,0.0497342392839,0.99999991146,0.00010516585249,-0.000407338132648,9.8271853475e-06,1793193458553107200
+206,3.433333333,POSE1_TO_POSE2_PRESS,764,742.449105686,712,673.550894314,659.449105686,631,877.550894314,782.550894314,799.550894314,649.550894314,629,650.449105686,0.445414578665,-0.0155958197561,0.049726236438,0.999999908282,9.776550344e-05,-0.000416885482049,9.1541793207e-06,1793193458569773824
+207,3.450000000,POSE1_TO_POSE2_PRESS,764,743,712,673,659.971879903,631,877.028120097,782.028120097,799.028120097,649.028120097,628.971879903,650.971879903,0.445523213843,-0.0155981758421,0.0497191073833,0.99999990543,8.91765287491e-05,-0.000425580672474,8.25767050603e-06,1793193458586440704
+208,3.466666667,POSE1_TO_POSE2_PRESS,764,743,712,673,659.397594175,631,877.602405825,782.602405825,799.602405825,649.602405825,628.397594175,650.397594175,0.445610383453,-0.0155981731181,0.049718518987,0.999999905456,8.34160941837e-05,-0.00042667794791,8.74076537999e-06,1793193458603107328
+209,3.483333333,POSE1_TO_POSE2_PRESS,764,743,712.180961278,673,659,631,877.819038722,783,800,649.819038722,628.180961278,650,0.445691232348,-0.0155980007921,0.0497176609866,0.999999905471,7.79719769329e-05,-0.000427668251514,8.8466324315e-06,1793193458619774208
+210,3.500000000,POSE1_TO_POSE2_PRESS,764,743,712.769124455,673,659,631,877.230875545,783,800,649.230875545,628.769124455,650,0.445757858257,-0.0155974468253,0.0497161963189,0.999999905514,7.32396426314e-05,-0.000428417845299,8.10365547396e-06,1793193458636440832
+211,3.516666667,POSE1_TO_POSE2_PRESS,764,743,712.648194937,673,659,631,877,783,800,649.351805063,628.648194937,650,0.445813362926,-0.0155974321432,0.0497147768282,0.99999990523,7.05939421724e-05,-0.000429535644342,7.49173641201e-06,1793193458653107456
+212,3.533333333,POSE1_TO_POSE2_PRESS,764,743,712.069057049,673,659,631,877,783,800,649.930942951,628.069057049,650,0.445861681169,-0.0155977659414,0.0497133865304,0.999999904741,6.92966026388e-05,-0.000430891373924,6.96450554496e-06,1793193458669774336
+213,3.550000000,POSE1_TO_POSE2_PRESS,764,743,712,673,659,631,877.509355578,782.490644422,800,649.490644422,628,650,0.445891479325,-0.0155975649888,0.0497100488527,0.999999902072,6.84712960077e-05,-0.000437173722113,6.82828667939e-06,1793193458686440960
+214,3.566666667,POSE1_TO_POSE2_PRESS,764,743,712,673,659,631,878,782.087017432,800,649.087017432,628.087017432,650,0.445917233644,-0.01559735498,0.0497065437527,0.999999899269,6.78050119145e-05,-0.000443642956859,6.68828848431e-06,1793193458703107328
+215,3.583333333,POSE1_TO_POSE2_PRESS,764,743,712,673,659,631,878,782.661027341,800,649.661027341,628.661027341,650,0.445934388937,-0.0155974994572,0.0497035771609,0.999999897596,6.76710468967e-05,-0.000447425310563,6.23087785762e-06,1793193458719773952
+216,3.600000000,POSE1_TO_POSE2_PRESS,764,742.765788763,712,673,659,631,878,782.765788763,800,650,629,650.234211237,0.445950585913,-0.0155973617395,0.0497027161829,0.999999897291,6.68465436004e-05,-0.000448235486696,5.83570718868e-06,1793193458736440832
+217,3.616666667,POSE1_TO_POSE2_PRESS,764,742.193796184,712,673,659,631,878,782.193796184,800,650,629,650.806203816,0.445965400795,-0.0155968170378,0.0497048919384,0.999999898965,6.50261404149e-05,-0.000444759164042,5.5302995183e-06,1793193458753107456
+218,3.633333333,POSE1_TO_POSE2_PRESS,764,742,712,673.395105686,659.395105686,631,878,782.395105686,800,649.604894314,628.604894314,650.604894314,0.4459735035,-0.0155954357542,0.0497044255859,0.999999898696,6.55484464596e-05,-0.000445291840925,5.1970645173e-06,1793193458769774592
+219,3.650000000,POSE1_TO_POSE2_PRESS,764,742,712,673.992672233,659.992672233,631,878,782.992672233,800,649.007327767,628.007327767,650.007327767,0.445978166738,-0.0155936257876,0.0497026053591,0.999999897428,6.72712083941e-05,-0.000447878817621,4.84957018826e-06,1793193458786441984
+220,3.666666667,POSE1_TO_POSE2_PRESS,764.568452489,742,712,674,659.431547511,631,878,783,800,649,628.568452489,650,0.445980743122,-0.0155942835091,0.0497031163309,0.999999897107,6.67374938965e-05,-0.000448669468993,5.21657199014e-06,1793193458803108096
+221,3.683333333,POSE1_TO_POSE2_PRESS,764.855858125,742.144141875,712,673.855858125,659,631,878,782.855858125,800,649,628.855858125,650,0.445983050384,-0.0155945831604,0.0497032917431,0.999999896914,6.62021336341e-05,-0.000449177577994,5.33629600058e-06,1793193458819774464
+222,3.700000000,POSE1_TO_POSE2_PRESS,764.279630448,742.720369552,712,673.279630448,659,631,878,782.279630448,800,649,628.279630448,650,0.445984628576,-0.0155937176089,0.0497023745107,0.99999989707,6.57458159376e-05,-0.000448905576986,4.68817921874e-06,1793193458836441088
+223,3.716666667,POSE1_TO_POSE2_PRESS,764.304609783,743,712,673,659,631,878,782,800,649,628.304609783,650.304609783,0.445986048697,-0.0155930895274,0.0497017574885,0.99999989713,6.5699428688e-05,-0.000448780225498,4.37249691982e-06,1793193458853107456
+224,3.733333333,POSE1_TO_POSE2_PRESS,764.89640428,743,712,673,659,631,878,782,800,649,628.89640428,650.89640428,0.445987319791,-0.0155926853312,0.049701423503,0.999999897102,6.60395219406e-05,-0.000448793134479,4.37023225947e-06,1793193458869774080
+225,3.750000000,POSE1_TO_POSE2_PRESS,764.523384499,743,712,673.476615501,659,631,877.523384499,782.476615501,800.476615501,649,628.523384499,650.523384499,0.445988242318,-0.0155922740479,0.0497015497932,0.999999897154,6.45504815865e-05,-0.000448896831277,4.00100681832e-06,1793193458886440960
+226,3.766666667,POSE1_TO_POSE2_PRESS,764,743,712,673.946091896,659.053908104,631,877,783,801,649.053908104,628,650,0.445988985724,-0.0155917965749,0.0497017416903,0.999999897166,6.30803131599e-05,-0.00044908317115,3.5856530639e-06,1793193458903107328
+227,3.783333333,POSE1_TO_POSE2_PRESS,764,743,712,673.373233386,659.626766614,631,877,783,801,649.626766614,628,650,0.445988716857,-0.0155906963982,0.0497016249262,0.999999896651,6.55282928711e-05,-0.000449879623319,3.47585343062e-06,1793193458919773952
+228,3.800000000,POSE1_TO_POSE2_PRESS,764,743,712,673,659.793845449,631,877.206154551,783,800.793845449,650,628,650,0.445988685616,-0.0155901894101,0.0497012943476,0.999999896192,6.7095241125e-05,-0.000450668312349,3.46228698683e-06,1793193458936440320
+229,3.816666667,POSE1_TO_POSE2_PRESS,764,743,712,673,659.202249664,631,877.797750336,783,800.202249664,650,628,650,0.445989098656,-0.0155907914894,0.0497005640058,0.999999895848,6.70149500593e-05,-0.000451442486815,3.62864497595e-06,1793193458953106944
+230,3.833333333,POSE1_TO_POSE2_PRESS,764,743,712,673,659,631,877.618661052,782.618661052,800,649.618661052,628.381338948,650,0.445989823185,-0.0155906909369,0.0497008202095,0.999999896105,6.69153932571e-05,-0.000450883999592,3.94373430254e-06,1793193458969773824
+231,3.850000000,POSE1_TO_POSE2_PRESS,764,743,712,673,659,631,877.039231863,782.039231863,800,649.039231863,628.960768137,650,0.445990709519,-0.0155902253953,0.049701588884,0.999999896674,6.68058286824e-05,-0.000449633248216,4.33608356976e-06,1793193458986440448
+232,3.866666667,POSE1_TO_POSE2_PRESS,764,742.464608437,712,673,659,631,877.535391563,782,800,649.535391563,629,650.535391563,0.445989631004,-0.0155899126364,0.0497004647065,0.999999896037,6.63043974212e-05,-0.000451125472318,3.87548230644e-06,1793193459003107840
+233,3.883333333,POSE1_TO_POSE2_PRESS,764,742.109772647,712,673,659,631,877.890227353,782.109772647,800.109772647,650,628.890227353,651,0.445989148981,-0.015590088114,0.0496997376356,0.99999989571,6.52954791524e-05,-0.000452000864582,3.54138729841e-06,1793193459019774976
+234,3.900000000,POSE1_TO_POSE2_PRESS,764,742.684605522,712,673,659,631,877.315394478,782.684605522,800.684605522,650,628.315394478,651,0.445991798596,-0.0155922850349,0.0497012753332,0.999999897065,6.22571236351e-05,-0.000449419037904,4.00568308105e-06,1793193459036441088
+235,3.916666667,POSE1_TO_POSE2_PRESS,764.267138479,743,712,673,659,631,877.267138479,783,801,650,628.267138479,650.732861521,0.445993330624,-0.0155922921325,0.0497024041321,0.999999897832,6.15229157526e-05,-0.00044781180673,4.00595316886e-06,1793193459053107712
+236,3.933333333,POSE1_TO_POSE2_PRESS,764.859032365,743,712,673,659,631,877.859032365,783,801,650,628.859032365,650.140967635,0.445993504021,-0.015589637102,0.0497030358403,0.999999897894,6.35898179706e-05,-0.000447389373303,3.44211569442e-06,1793193459069774592
+237,3.950000000,POSE1_TO_POSE2_PRESS,764.56442771,743,712,673,659,631,877.56442771,782.56442771,800.56442771,650,628.56442771,650,0.445993089701,-0.0155899634788,0.0497024497839,0.999999897588,6.4150936155e-05,-0.000447992288,3.36502856922e-06,1793193459086441216
+238,3.966666667,POSE1_TO_POSE2_PRESS,764,743,712,673,659.007394593,631,877,782,800.007394593,649.992605407,628,650,0.445992499656,-0.0155911912489,0.0497014870618,0.999999897169,6.42470159963e-05,-0.000448912120816,3.43799879849e-06,1793193459103107840
+239,3.983333333,POSE1_TO_POSE2_PRESS,764,743,712,673,659.585572347,631,877,782,800.585572347,649.414427653,628,650,0.445992527486,-0.0155900533268,0.0497008353658,0.999999896847,6.47828247812e-05,-0.000449552216449,3.34813582052e-06,1793193459119774208
+240,4.000000000,POSE1_TO_POSE2_PRESS,764,743,712,673,659.832339063,631,877.167660937,782,800.832339063,649,628.167660937,650.167660937,0.445992514886,-0.0155894457,0.0497005619049,0.999999896541,6.44051102603e-05,-0.000450288602157,3.296498273e-06,1793193459136440832
+241,4.016666667,POSE1_TO_POSE2_PRESS,764,743,712,673,659.240352751,631,877.759647249,782,800.240352751,649,628.759647249,650.759647249,0.445992399962,-0.0155901801736,0.049701245702,0.999999896268,6.1715401482e-05,-0.000451268683954,3.3416037191e-06,1793193459153107456
+242,4.033333333,POSE1_TO_POSE2_PRESS,764,743,712,673,659,631,877.655821154,782,800,649.344178846,628.655821154,651,0.445991647975,-0.0155900498095,0.0497009325096,0.999999895944,6.15692299798e-05,-0.000452007897247,3.23489712027e-06,1793193459169774336
+243,4.050000000,POSE1_TO_POSE2_PRESS,764,743,712,673,659,631,877.076385116,782,800,649.923614884,628.076385116,651,0.445990460536,-0.0155893283014,0.049699937843,0.999999895585,6.31616472431e-05,-0.000452582469214,3.02442215672e-06,1793193459186440960
+244,4.066666667,HOLD_POSE2,763,742,712,673,659,631,878,782,800,649,628,650,0.445994343026,-0.0155922390452,0.0497013129244,0.999999896898,6.25015552734e-05,-0.000449759416521,3.63109061568e-06,1793193459217681152
+245,4.083333333,HOLD_POSE2,763.577691451,742.577691451,712,673,659,631,878,782,800,649,628.577691451,650,0.44599287139,-0.0155907226774,0.0497004464323,0.999999896072,6.27825284625e-05,-0.00045155717372,3.25040410977e-06,1793193459234347264
+246,4.100000000,HOLD_POSE2,763.841484599,743,712,673,659,631,878,782,800,649.158515401,628.841484599,650.158515401,0.445992107601,-0.0155895351274,0.0497001102341,0.999999895695,6.29974378345e-05,-0.000452363415576,2.99812068077e-06,1793193459251013632
+247,4.116666667,HOLD_POSE2,763.252146837,743,712,673,659,631,878,782,800,649.747853163,628.252146837,650.747853163,0.44599326764,-0.0155892412572,0.0497012152992,0.999999896545,6.30327951908e-05,-0.000450474859857,3.09481850645e-06,1793193459267679744
+248,4.133333333,HOLD_POSE2,763.331348585,743,712,672.668651415,659.331348585,631,877.668651415,782,800,650,628,650.668651415,0.44599363229,-0.0155888456607,0.0497015398265,0.999999896793,6.28757264739e-05,-0.000449945092922,3.07878748121e-06,1793193459284346112
+249,4.150000000,HOLD_POSE2,763.910475149,743,712,672.089524851,659.910475149,631,877.089524851,782,800,650,628,650.089524851,0.445993402159,-0.0155883739947,0.0497012806783,0.999999896594,6.25747641474e-05,-0.000450431409925,2.9784593444e-06,1793193459301012736
+250,4.166666667,HOLD_POSE2,764,743,712,672.485131901,659.514868099,631,877.485131901,782.485131901,800.485131901,649.514868099,628.485131901,650.485131901,0.445993205087,-0.0155888951236,0.0497013323767,0.999999896562,6.21424945153e-05,-0.000450561523604,3.01901281269e-06,1793193459317679360
+251,4.183333333,HOLD_POSE2,764,743,712,673,659,631,878,782.939565409,800.939565409,649.060434591,629,651,0.445993170364,-0.0155894543157,0.0497014575579,0.999999896588,6.20055969425e-05,-0.000450520947633,3.1064903961e-06,1793193459334345984
+252,4.200000000,HOLD_POSE2,764,743,712,673,659,631,878,782.351487294,800.351487294,649.648512706,629,651,0.445994500297,-0.0155887608811,0.0497017280527,0.999999896852,6.46571653178e-05,-0.000449558772392,3.37874333974e-06,1793193459351012864
+253,4.216666667,HOLD_POSE2,764,743,712,673,659,631,877.766889137,782,800,649.766889137,628.766889137,650.766889137,0.44599482968,-0.0155887854341,0.0497017283721,0.999999896952,6.49922961035e-05,-0.000449290170952,3.36134679932e-06,1793193459367679744
+254,4.233333333,HOLD_POSE2,764,743,712,673,659,631,877.187460976,782,800,649.187460976,628.187460976,650.187460976,0.445993672612,-0.0155898766534,0.0497013273097,0.999999896807,6.18860494583e-05,-0.000450051966045,2.91363726904e-06,1793193459384346368
+255,4.250000000,HOLD_POSE2,764,743,712,673,659.385650164,631,877.385650164,782,800.385650164,649.385650164,628,650,0.445994594992,-0.0155899563421,0.0497017090115,0.99999989724,6.09127847662e-05,-0.000449223168084,3.0204022447e-06,1793193459401012992
+256,4.266666667,HOLD_POSE2,764,743,712,673,659.955740195,631,877.955740195,782,800.955740195,649.955740195,628,650,0.445996511883,-0.0155895522594,0.0497024650757,0.999999897948,6.09596332205e-05,-0.000447633658027,3.39234846114e-06,1793193459417679360
+257,4.283333333,HOLD_POSE2,764,743,712,673,659.471044656,631,878,782.528955344,800.471044656,650,628,650,0.445996464822,-0.0155903269482,0.0497024792992,0.999999897959,5.99892041963e-05,-0.000447738685718,3.74942481751e-06,1793193459434346240
+258,4.300000000,HOLD_POSE2,764,743,712,673.103614038,659,631,878,782.896385962,800,649.896385962,628,650,0.445996275793,-0.0155908174314,0.0497023561752,0.999999897867,5.9543476983e-05,-0.000448002354196,3.91585463628e-06,1793193459451012864
+259,4.316666667,HOLD_POSE2,764,743,712,673.683701503,659,631,878,782.316298497,800,649.316298497,628,650,0.445996194096,-0.0155895447228,0.0497018885938,0.999999897575,6.19043649767e-05,-0.000448339642507,3.21134420827e-06,1793193459467679488
+260,4.333333333,POSE2_TO_POSE3_RETREAT,764,743,712,673,659,631,877,782,800,650,628,650,0.445994950646,-0.0155878932539,0.0497004558647,0.999999896313,6.35625452506e-05,-0.00045091615207,2.73170652794e-06,1793193459504709632
+261,4.350000000,POSE2_TO_POSE3_RETREAT,764,742.425414328,712,673,659,631,877.574585672,782,800,649.425414328,628.574585672,650,0.445995031464,-0.0155867626713,0.0497007054505,0.999999896349,6.40350218575e-05,-0.000450771189138,2.48528296048e-06,1793193459521376512
+262,4.366666667,POSE2_TO_POSE3_RETREAT,764,742.142694743,712,673.142694743,659,631,878,782,800,649,628.857305257,650,0.445995021323,-0.0155861329563,0.0497008909077,0.999999896409,6.40990803496e-05,-0.000450630985012,2.4266678649e-06,1793193459538043392
+263,4.383333333,POSE2_TO_POSE3_RETREAT,764,742.692333649,712,673.692333649,659,631,878,782,800,649,628.307666351,650,0.445994751776,-0.0155869316407,0.0497008934795,0.999999896534,6.2998391298e-05,-0.000450504352265,2.90365451083e-06,1793193459554709760
+264,4.400000000,POSE2_TO_POSE3_RETREAT,764,743,712,673.726018299,659,631,877.726018299,782,800.547963402,649.273981701,628.273981701,650.273981701,0.445994236792,-0.0155875591613,0.0497007477395,0.999999896345,6.22223349034e-05,-0.000451031852477,2.91896324207e-06,1793193459571376128
+265,4.416666667,POSE2_TO_POSE3_RETREAT,764,743,712,673.103670885,659,631,877.103670885,782,801.79265823,649.896329115,628.896329115,650.896329115,0.445993409735,-0.0155879690483,0.049700413422,0.999999895755,6.18590466041e-05,-0.00045239107793,2.34725188082e-06,1793193459588042496
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764,743,712,673,659.48588798,631,877.48588798,782,801.51411202,650,628.51411202,651,0.445994115903,-0.0155877909389,0.0497009206829,0.999999896394,6.26321301008e-05,-0.000450869411528,2.42878905175e-06,1793193459604709120
+267,4.450000000,POSE2_TO_POSE3_RETREAT,764,743,712,673,659.93359422,631,877.93359422,782,801,649.93359422,628,650.93359422,0.445994374031,-0.0155875457922,0.0497012003215,0.999999896929,6.35257386701e-05,-0.000449554495317,2.5790197244e-06,1793193459621376000
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764,743,712,673,659.371638707,631,877.371638707,782,801,649.371638707,628,650.371638707,0.44598900178,-0.0155876774166,0.0496985260733,0.999999894879,6.36237894278e-05,-0.000454079473232,2.26751085899e-06,1793193459638042624
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,743,712,673,659.20235515,631,877.4047103,782,800.79764485,649,628,650.20235515,0.445979936227,-0.0155867173578,0.0496943827059,0.999999891613,6.41598810597e-05,-0.000461143957889,1.73050749977e-06,1793193459654709504
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764,743,712,673,659.799856657,631,878.599713314,782,800.200143343,649,628,650.799856657,0.445963658624,-0.0155836255289,0.0496873705356,0.999999885908,6.55513512287e-05,-0.000473167430355,7.53172771334e-07,1793193459671376128
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764,743,712,673,659.614377963,631,878.614377963,782,800,649,628,650.614377963,0.445927979957,-0.0155819788964,0.0496727311479,0.999999874078,6.54027246036e-05,-0.00049755939548,-7.33516825977e-07,1793193459688042752
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764,743,712,673,659.034523841,631,878.034523841,782,800,649,628,650.034523841,0.445882529261,-0.0155810601874,0.0496542500437,0.999999858431,6.44783742079e-05,-0.000528181187109,-2.47676098235e-06,1793193459704709376
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764,743,712,673,659.544273371,631,878,782,800.544273371,649,628.544273371,650,0.445818567888,-0.0155746645143,0.0496374660211,0.999999847027,6.79652934039e-05,-0.00054890884521,-5.08663028215e-06,1793193459721376000
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764,743,712,673,659.878529097,630.878529097,878,782.121470903,800.878529097,649.121470903,629,650.121470903,0.445750204891,-0.0155684491228,0.049622606195,0.999999836514,7.12561510965e-05,-0.000567309335873,-7.44642606021e-06,1793193459738042880
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764,743,712,673,659.307010286,630.307010286,878,782.692989714,800.307010286,649.692989714,629,650.692989714,0.445669875706,-0.015564186323,0.0496144774237,0.999999829456,7.27859165363e-05,-0.000579408437091,-8.67643201362e-06,1793193459754709504
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764,743,712,673.273527552,659,630.273527552,877.726472448,783,800,650,628.726472448,651,0.445580725296,-0.0155591462405,0.0496116704942,0.999999827093,7.50366256176e-05,-0.000583175290868,-9.44488374253e-06,1793193459771376128
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764,743,712,673.864533577,659,630.864533577,877.135466423,783,800,650,628.135466423,651,0.445481336255,-0.0155532039803,0.0496150405305,0.999999830281,7.81241208354e-05,-0.000577271055349,-9.67761777346e-06,1793193459788043008
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764,743,712,673.553139771,659,631,877,782.553139771,800,650,628.446860229,650.553139771,0.445362001309,-0.0155445848669,0.0496208674216,0.999999834024,8.20375036745e-05,-0.000570192601854,-1.01444475206e-05,1793193459804709632
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764,743,712,673,659.026412012,631,877.026412012,782,800,650,628.973587988,650,0.445234911842,-0.0155351085858,0.0496272956645,0.999999837728,8.62801504335e-05,-0.000563014275237,-1.06959758815e-05,1793193459821376256
+280,4.666666667,POSE2_TO_POSE3_RETREAT,764,743,712,673,659.601934134,631,877.601934134,782,800,650,628.398065866,650,0.445069919923,-0.0155243612611,0.0496310366307,0.999999838306,9.22622074584e-05,-0.000561019160015,-1.15611080347e-05,1793193459838042624
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764.176346708,742.823653292,712,673,659.823653292,631.176346708,878,782.176346708,800.176346708,649.823653292,628.176346708,650,0.444893344684,-0.0155128075329,0.0496340757589,0.999999837707,9.85007498793e-05,-0.000561010144063,-1.23284286846e-05,1793193459854709504
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764.748270289,742.251729711,712,673,659.251729711,631.748270289,878,782.748270289,800.748270289,649.251729711,628.748270289,650,0.444690786026,-0.0154994449006,0.0496355405394,0.999999834501,0.000105314633632,-0.000565456300538,-1.28763407062e-05,1793193459871376128
+283,4.716666667,POSE2_TO_POSE3_RETREAT,764.665522168,742.334477832,712,673,659,631.665522168,877.665522168,783,800.665522168,649.334477832,629,650.334477832,0.444465454233,-0.0154839539318,0.0496404550723,0.999999834407,0.000113682373419,-0.000563971601264,-1.4066251535e-05,1793193459888042752
+284,4.733333333,POSE2_TO_POSE3_RETREAT,764.068084808,742.931915192,712,673,659,631.068084808,877.068084808,783,800.068084808,649.931915192,629,650.931915192,0.444222218652,-0.0154667897076,0.049648081729,0.999999836694,0.000123271723285,-0.000557824186774,-1.57608885549e-05,1793193459904709376
+285,4.750000000,POSE2_TO_POSE3_RETREAT,764,743,712,673,659,631,877.50895037,783,800,650,629,650.49104963,0.443950563279,-0.0154537298541,0.0496545973289,0.999999843206,0.000125432155977,-0.000545471701714,-1.7732035926e-05,1793193459921376256
+286,4.766666667,POSE2_TO_POSE3_RETREAT,764,743,712,673.08520532,659,631,877.82958936,783,800,649.91479468,629,650,0.443668929319,-0.0154422967008,0.0496605190227,0.999999849625,0.000125292117747,-0.000533534836286,-1.98064683678e-05,1793193459938042880
+287,4.783333333,POSE2_TO_POSE3_RETREAT,764,743,712,673.672322092,659,631,876.655355815,783,800,649.327677908,629,650,0.443350047373,-0.015437336147,0.0496637840346,0.999999853093,0.000117229379137,-0.000528747458718,-2.22798172876e-05,1793193459954709760
+288,4.800000000,POSE2_TO_POSE3_RETREAT,764,743,712,673.743762003,659,631.256237997,876.512475993,783,800,649,629,650,0.443008200999,-0.0154366240577,0.0496676353064,0.999999857936,0.000104041527768,-0.000522230940589,-2.40571239974e-05,1793193459971376384
+289,4.816666667,POSE2_TO_POSE3_RETREAT,764,743,712,673.163888912,659,631.836111088,877.672222176,783,800,649,629,650,0.442637349991,-0.015441277887,0.0496722270392,0.999999864272,8.43805293336e-05,-0.000513530474195,-2.49553115716e-05,1793193459988043008
+290,4.833333333,POSE2_TO_POSE3_RETREAT,764,743,712,673,659,632,878,783,800.415287029,649.415287029,629,650,0.442248098698,-0.0154407858075,0.0496913329692,0.999999883045,7.04457497907e-05,-0.000477740934927,-2.66514935837e-05,1793193460004709376
+291,4.850000000,POSE2_TO_POSE3_RETREAT,764,743,712,673,659,632,878,783,800.994188295,649.994188295,629,650,0.441851598094,-0.0154382663494,0.0497161571833,0.999999904862,5.87669787496e-05,-0.000431278877772,-2.86620683215e-05,1793193460021376000
+292,4.866666667,POSE2_TO_POSE3_RETREAT,764,742.432478636,712,673,659.567521364,632,877.432478636,783,800.432478636,649.432478636,629,650,0.441422423028,-0.0154338962232,0.0497493523333,0.99999992564,5.00999480108e-05,-0.00038131633129,-2.8409069968e-05,1793193460038042880
+293,4.883333333,POSE2_TO_POSE3_RETREAT,764,742,712,673,660,632.144267225,877,783,800,649,629,650,0.440977261765,-0.0154296770061,0.0497781912776,0.999999941553,4.04043066754e-05,-0.000338293723786,-2.86160336291e-05,1793193460054710016
+294,4.900000000,POSE2_TO_POSE3_RETREAT,764,742,712,673,660,632.731669242,877,783,800,649,629,650,0.440484014772,-0.0154259789735,0.0497933888371,0.999999949015,2.74553475922e-05,-0.000316697055107,-3.03063371548e-05,1793193460071377408
+295,4.916666667,POSE2_TO_POSE3_RETREAT,764,742.315668998,712,673,660.315668998,632.684331002,877.315668998,783.315668998,800,649,629,650,0.439945784644,-0.0154205081142,0.0497991566593,0.999999952575,1.33848831141e-05,-0.000305816734257,-3.38567997623e-05,1793193460088044032
+296,4.933333333,POSE2_TO_POSE3_RETREAT,764,742.896807603,712,673,660.896807603,632.103192397,877.896807603,783.896807603,800,649,629,650,0.439369724786,-0.0154135463523,0.0497969943137,0.999999953047,-1.62874033102e-06,-0.000303948587334,-3.89716090882e-05,1793193460104710400
+297,4.950000000,POSE2_TO_POSE3_RETREAT,764,742.526274342,712,673,660.526274342,632,877.526274342,784,800,649,629,650,0.438729824556,-0.0154060944623,0.0497821282001,0.999999944355,-1.76954818312e-05,-0.000330121256968,-4.46818384034e-05,1793193460121376768
+298,4.966666667,POSE2_TO_POSE3_RETREAT,764,742.049730515,711.950269485,673,660,632.049730515,877,784,800,649,629,650,0.438076415735,-0.015399215665,0.0497665591867,0.999999933809,-3.45115313191e-05,-0.000358700526449,-5.02407757022e-05,1793193460138043136
+299,4.983333333,POSE2_TO_POSE3_RETREAT,764,742.625715183,711.374284817,673,660,632.625715183,877,784,800,649,629,650,0.437425917115,-0.0153995212237,0.0497725770995,0.999999936199,-5.6850731757e-05,-0.000348680109805,-5.2838333824e-05,1793193460154709504
+300,5.000000000,POSE2_TO_POSE3_RETREAT,764,742.793614107,711.206385893,673,660,633,877.206385893,784,800,649,629,650,0.436773779833,-0.0154004595174,0.0497890258875,0.999999942717,-7.67542214785e-05,-0.000325166854057,-5.423989745e-05,1793193460171375872
+301,5.016666667,POSE2_TO_POSE3_RETREAT,764,742.204247766,711.795752234,673,660,633,877.795752234,784,800,649,629,650,0.436118601803,-0.0154025719474,0.0498248307523,0.99999995607,-9.2137877704e-05,-0.000276615581316,-5.342211099e-05,1793193460188042496
+302,5.033333333,POSE2_TO_POSE3_RETREAT,764,742.378111024,712,673,660,632.621888976,877.621888976,784,800,649,629,650,0.435382088101,-0.0153970478555,0.0498258638416,0.999999957739,-4.48660889033e-05,-0.000281570226606,-5.6814967788e-05,1793193460204709120
+303,5.050000000,POSE2_TO_POSE3_RETREAT,764,742.956753339,712,673,660,632.043246661,877.043246661,784,800,649,629,650,0.434602438024,-0.015387473732,0.0498084557087,0.999999947834,3.56350339889e-05,-0.000314901751008,-6.24409401741e-05,1793193460221376000
+304,5.066666667,POSE2_TO_POSE3_RETREAT,763.467270538,742.467270538,712,673,660,632.532729462,877.532729462,784.532729462,800,649,629,650,0.433812853473,-0.0153868434291,0.0497910790598,0.99999994296,1.32265133163e-05,-0.000330650474493,-6.76461576654e-05,1793193460238042624
+305,5.083333333,POSE2_TO_POSE3_RETREAT,763.110612996,742,712,673,660,632.889387004,877.889387004,784.889387004,799.889387004,649,629,650,0.433028244469,-0.0153873124312,0.0497813128289,0.999999940507,-1.75920050515e-05,-0.000336878024247,-7.20414987073e-05,1793193460254709504
+306,5.100000000,POSE2_TO_POSE3_RETREAT,763.697639214,742,712,673,660,632.302360786,877.302360786,784.302360786,799.302360786,649,629,650,0.432268521713,-0.0153894046086,0.0498043139301,0.999999948638,-4.88302623711e-05,-0.000308214682887,-7.30950591916e-05,1793193460271376128
+307,5.116666667,POSE2_TO_POSE3_RETREAT,764,742.2808238,712,673,660,632,877,784,799.2808238,649,629,650,0.431473993734,-0.0153898121614,0.049814875453,0.999999952113,-6.31711108067e-05,-0.000294436859133,-7.13450016643e-05,1793193460288042752
+308,5.133333333,POSE2_TO_POSE3_RETREAT,764,742.859928022,712,673,660,632,877,784,799.859928022,649,629,650,0.430642496868,-0.0153884303699,0.0498122241288,0.99999995206,-5.95641744116e-05,-0.000296469866193,-6.66170473329e-05,1793193460304709376
+309,5.150000000,POSE2_TO_POSE3_RETREAT,764,743,712,672.562172462,660,632.437827538,877.437827538,784,800,649,629,650,0.429757632862,-0.0153808578102,0.0497869362059,0.999999940264,-3.08005243157e-05,-0.00033897544693,-6.01550089685e-05,1793193460321376000
+310,5.166666667,POSE2_TO_POSE3_RETREAT,763.98484944,742.98484944,712,672.01515056,660,633,877.98484944,784,799.98484944,649,629,650,0.428856713588,-0.0153715001421,0.0497559305229,0.999999921758,4.26504677916e-06,-0.000391935329994,-5.34030752268e-05,1793193460338042880
+311,5.183333333,POSE2_TO_POSE3_RETREAT,763.414565141,742.414565141,712,672.585434859,660,633,877.414565141,784,799.414565141,649,629,650,0.427991384183,-0.0153691056784,0.0497800470201,0.999999935183,-2.38480134882e-05,-0.000354818423524,-5.63009128218e-05,1793193460354709504
+312,5.200000000,POSE2_TO_POSE3_RETREAT,763.161798928,742,712,672.838201072,660,632.838201072,877,784,799,649.161798928,629,650,0.427115545082,-0.015366806229,0.0497933697149,0.999999940543,-4.88434562343e-05,-0.000336123167988,-5.9576741991e-05,1793193460371375872
+313,5.216666667,POSE2_TO_POSE3_RETREAT,763.754348896,742,712,672.245651104,660,632.245651104,877,784,799,649.754348896,629,650,0.426211726475,-0.015364759733,0.0497779564844,0.999999928663,-6.55389845797e-05,-0.00036647116651,-6.38588836031e-05,1793193460388042496
+314,5.233333333,POSE2_TO_POSE3_RETREAT,763.671097026,742.328902974,712,672,660,632,877,784,799.328902974,649.671097026,629,650,0.425339243894,-0.0153685826988,0.0497828521713,0.99999993648,-5.14676920834e-05,-0.000346426260654,-6.61810722796e-05,1793193460404709120
+315,5.250000000,POSE2_TO_POSE3_RETREAT,763.109286485,742.890713515,712,672,660,632,877,784,799.890713515,649.109286485,629,650,0.424488951475,-0.0153765620337,0.0498021293053,0.999999955374,-1.56093492542e-05,-0.000290696394794,-6.71153501535e-05,1793193460421376000
+316,5.266666667,POSE2_TO_POSE3_RETREAT,763.477360228,743,712,672,660.477360228,632.477360228,877.477360228,784.477360228,799.522639772,649,629,650.477360228,0.423632904513,-0.0153798137329,0.0498304837909,0.999999967713,-1.58635273806e-05,-0.000245934402138,-6.196175705e-05,1793193460438042624
+317,5.283333333,POSE2_TO_POSE3_RETREAT,764,742.932183944,712,672,660.932183944,633,877.932183944,784.932183944,799.067816056,649,629,650.932183944,0.422764984614,-0.0153806456393,0.0498541453345,0.999999975016,-2.55005381393e-05,-0.000214709067686,-5.67196983071e-05,1793193460454708992
+318,5.300000000,POSE2_TO_POSE3_RETREAT,764,742.358070426,712,672,660.358070426,633,877.358070426,784.358070426,799.641929574,649,629,650.358070426,0.421818800365,-0.0153719359576,0.0498264039956,0.999999962236,-4.00761734558e-05,-0.000264769833654,-6.17936707299e-05,1793193460471375616
+319,5.316666667,POSE2_TO_POSE3_RETREAT,763.776494753,742.223505247,712,672.223505247,660,633,877,784,800,649,629,650,0.420900048099,-0.0153674025404,0.0498086694179,0.999999952353,-5.56321707967e-05,-0.000296485417759,-6.55343309448e-05,1793193460488042496
+320,5.333333333,POSE2_TO_POSE3_RETREAT,763.182551188,742.817448812,712,672.817448812,660,633,877,784,800,649,629,650,0.42002676154,-0.0153697908763,0.0498075200743,0.999999950759,-7.28130257865e-05,-0.000297795647206,-6.70651562325e-05,1793193460504709120
+321,5.350000000,POSE2_TO_POSE3_RETREAT,763.400028047,743,712,672.599971953,660.400028047,633,877,784,800,649,629,650.400028047,0.419138414559,-0.0153702896239,0.0498073109825,0.999999946493,-7.58000793122e-05,-0.000311184885764,-6.65729364699e-05,1793193460521375744
+322,5.366666667,POSE2_TO_POSE3_RETREAT,763.977564443,743,712,672.022435557,660.977564443,633,877,784,800,649,629,650.977564443,0.418243384723,-0.015369949886,0.0498075191179,0.99999994082,-7.24887778057e-05,-0.000329934060718,-6.51830110856e-05,1793193460538042624
+323,5.383333333,POSE2_TO_POSE3_RETREAT,764,742.445412643,712,672,660.445412643,633,877,784.554587357,800,649,629,650.445412643,0.417382652329,-0.0153689940668,0.0497910473885,0.999999935307,-4.55330860973e-05,-0.000350223779161,-6.82299721514e-05,1793193460554709504
+324,5.400000000,POSE2_TO_POSE3_RETREAT,763.869285478,742,712,672,660,633,877,785,799.869285478,649,629,650,0.416537121616,-0.0153689227192,0.049784085011,0.999999934612,-2.90621764826e-05,-0.00035354946408,-7.02495824931e-05,1793193460571376384
+325,5.416666667,POSE2_TO_POSE3_RETREAT,763.296120087,742,712,672,660,633,877,785,799.296120087,649,629,650,0.415738354466,-0.0153719294709,0.0498115924075,0.999999951585,-5.13155311246e-05,-0.000299243447506,-6.81847562242e-05,1793193460588043008
+326,5.433333333,POSE2_TO_POSE3_RETREAT,763.288289768,742,712,672,660,633,877,784.711710232,799.288289768,649,629,650.288289768,0.414940061777,-0.015372698802,0.0498259917696,0.999999958804,-6.74948687883e-05,-0.000270727286284,-6.74097272817e-05,1793193460604709632
+327,5.450000000,POSE2_TO_POSE3_RETREAT,763.88471824,742,712,672,660,633,877,784.11528176,799.88471824,649,629,650.88471824,0.414142276268,-0.0153710766647,0.0498263805988,0.999999958319,-7.71819882151e-05,-0.000269776632847,-6.80132993601e-05,1793193460621376256
+328,5.466666667,POSE2_TO_POSE3_RETREAT,763.536544643,742,712,672,660,633,877,784,799.536544643,649.463455357,629,651,0.413338041866,-0.0153687067195,0.0498026766126,0.999999945839,-7.873303034e-05,-0.000311789499732,-7.0076066618e-05,1793193460638042624
+329,5.483333333,POSE2_TO_POSE3_RETREAT,763,742,712,672.037904081,660,633,876.962095919,784,799,649.962095919,628.962095919,650.962095919,0.412538141971,-0.0153665060194,0.0497761821932,0.999999929865,-7.88381865357e-05,-0.000358934206008,-7.2252715366e-05,1793193460654709248
+330,5.500000000,POSE2_TO_POSE3_RETREAT,763,742,712,672.611651298,660,633,876.388348702,784,799,649.388348702,628.388348702,650.388348702,0.411821362446,-0.0153692308498,0.0497918460004,0.999999938291,-8.60612542364e-05,-0.000333102748706,-7.10967690337e-05,1793193460671376128
+331,5.516666667,POSE2_TO_POSE3_RETREAT,763.191842119,742,712,672.808157881,660,633,876.191842119,784,799.191842119,649,628.191842119,650.191842119,0.411106890316,-0.0153708633245,0.0498061229348,0.999999944771,-8.99651318885e-05,-0.000312230640035,-6.9823844816e-05,1793193460688043264
+332,5.533333333,POSE2_TO_POSE3_RETREAT,763.785530276,742,712,672.214469724,660,633,876.785530276,784,799.785530276,649,628.785530276,650.785530276,0.410397251283,-0.0153702076741,0.0498174948304,0.999999948364,-8.69164013383e-05,-0.000301746728492,-6.83058903365e-05,1793193460704709888
+333,5.550000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,660,633,876.631103752,784.368896248,800,649,629,650.631103752,0.409706623521,-0.0153691823923,0.0498077242023,0.999999941761,-8.80516964037e-05,-0.00032236856974,-6.93092784928e-05,1793193460721376512
+334,5.566666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,660,633,876.053575602,784.946424398,800,649,629,650.053575602,0.409026747761,-0.0153679480629,0.0497859962686,0.999999928226,-9.15532970607e-05,-0.00036058249146,-7.17386299596e-05,1793193460738042624
+335,5.583333333,POSE2_TO_POSE3_RETREAT,763.479536887,742,712,672,659.479536887,633,877.040926225,784.479536887,800,649,629,650.520463113,0.408447732338,-0.0153708149095,0.0498026252376,0.999999939884,-0.000103013264408,-0.000323286180177,-7.14607934662e-05,1793193460754709248
+336,5.600000000,POSE2_TO_POSE3_RETREAT,763.09687535,742,712,671.90312465,659.09687535,633,877.90312465,784,800,649.09687535,629,650.90312465,0.407880806127,-0.0153741466458,0.049822680286,0.999999951063,-0.000114582628501,-0.000282443506601,-7.04978446898e-05,1793193460771375872
+337,5.616666667,POSE2_TO_POSE3_RETREAT,763.687194753,742,712,671.312805247,659.687194753,633,877.312805247,784,800,649.687194753,629,650.312805247,0.407322925971,-0.0153777103086,0.0498402088054,0.999999955665,-0.000122564224257,-0.000262865428846,-6.74552071279e-05,1793193460788042496
+338,5.633333333,POSE2_TO_POSE3_RETREAT,764,742,712,671.272130986,660,633,877,784,800,649.727869014,629,650.272130986,0.406764511966,-0.0153779619449,0.049838868317,0.999999952636,-0.00012394181421,-0.000273839375348,-6.61668217688e-05,1793193460804709632
+339,5.650000000,POSE2_TO_POSE3_RETREAT,764,742,712,671.850999437,660,633,877,784,800,649.149000563,629,650.850999437,0.40620549626,-0.0153744803693,0.0498162592768,0.999999939857,-0.000117875576379,-0.000319250601227,-6.68557743066e-05,1793193460821376512
+340,5.666666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,660,633,877,784,799.571929483,649,629,650.571929483,0.405688798265,-0.0153715747467,0.0497939490138,0.999999926946,-0.00012039923793,-0.00035603157519,-6.96729700309e-05,1793193460838043392
+341,5.683333333,POSE2_TO_POSE3_RETREAT,763.995496151,742.004503849,711.995496151,672,659.995496151,632.995496151,877,784.004503849,799.004503849,649.004503849,629,650.004503849,0.405187440179,-0.0153689140723,0.0497719692858,0.999999913534,-0.000125958781131,-0.000389498797384,-7.31987261218e-05,1793193460854710016
+342,5.700000000,POSE2_TO_POSE3_RETREAT,763.420934684,742.579065316,711.420934684,672,659.420934684,632.420934684,877,784.579065316,799.579065316,649.579065316,629,650.579065316,0.404771113485,-0.0153719885848,0.0497787180398,0.999999914658,-0.000138917075112,-0.000382166896239,-7.3037422519e-05,1793193460871376640
+343,5.716666667,POSE2_TO_POSE3_RETREAT,763.315924193,743,711,672,659.157962096,632.157962096,876.842037904,784.842037904,799.842037904,650,629,651,0.40437492115,-0.015375964672,0.0497920275559,0.999999920288,-0.000152078889649,-0.000362046475442,-7.22449345131e-05,1793193460888043008
+344,5.733333333,POSE2_TO_POSE3_RETREAT,764.497475391,743,711,672,659.748737696,632.748737696,876.251262304,784.251262304,799.251262304,650,629,651,0.404033896529,-0.0153824110596,0.0498233134519,0.999999936735,-0.000165798349782,-0.000306885722414,-6.97230116491e-05,1793193460904709632
+345,5.750000000,POSE2_TO_POSE3_RETREAT,764.667522029,743,711.332477971,671.667522029,660,633,876.332477971,784.332477971,799.332477971,649.667522029,629,650.667522029,0.403708092106,-0.0153867376351,0.0498489100864,0.999999946777,-0.000176418980858,-0.000265961283117,-6.77207079812e-05,1793193460921376256
+346,5.766666667,POSE2_TO_POSE3_RETREAT,764.088988393,743,711.911011607,671.088988393,660,633,876.911011607,784.911011607,799.911011607,649.088988393,629,650.088988393,0.403393551655,-0.0153894954093,0.0498702962898,0.999999953002,-0.00018474627303,-0.000235572660125,-6.6102957064e-05,1793193460938042624
+347,5.783333333,POSE2_TO_POSE3_RETREAT,764.485963849,742.514036151,712,671,660,633,877,784.514036151,799.514036151,649,629,650.485963849,0.40308585287,-0.0153914087728,0.0498648046356,0.999999946646,-0.000194908636791,-0.000253344985724,-6.7345121421e-05,1793193460954709504
+348,5.800000000,POSE2_TO_POSE3_RETREAT,764.939589507,742,712,671,659.939589507,633,877,784.060410493,799.060410493,649,629,651,0.402783636795,-0.0153928366181,0.0498538165984,0.999999937395,-0.000205032576975,-0.000279957172594,-6.92480885539e-05,1793193460971376384
+349,5.816666667,POSE2_TO_POSE3_RETREAT,764.363902466,742,712,671,659.363902466,633,877,784.636097534,799.636097534,649,629,651,0.402517578043,-0.0153914324438,0.0498376204902,0.999999927698,-0.000211983523978,-0.000307296733436,-7.23531652424e-05,1793193460988043264
+350,5.833333333,POSE2_TO_POSE3_RETREAT,764,742,712,671,659,633,876.781921412,785,800,649,629,651,0.402268795676,-0.0153900938834,0.0498248836913,0.999999919365,-0.00021755788758,-0.000329094242238,-7.50748615134e-05,1793193461004709888
+351,5.850000000,POSE2_TO_POSE3_RETREAT,764,742,712,671,659,633,876.189125624,785,800,649,629,651,0.402049698775,-0.0153888680655,0.0498180909106,0.999999914389,-0.000220766913103,-0.000341369024409,-7.71378076879e-05,1793193461021376256
+352,5.866666667,POSE2_TO_POSE3_RETREAT,764,742.392447177,712,671,659.392447177,633,876.392447177,784.607552823,800,649,629,651,0.401869844495,-0.0153919493818,0.0498168981907,0.99999991229,-0.000228351004364,-0.000342429064899,-7.75782210904e-05,1793193461038042624
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764,742.968761888,712,671,659.968761888,633,876.968761888,784.031238112,800,649,629,651,0.401708375966,-0.0153970486566,0.0498183291848,0.999999911496,-0.000237984881434,-0.000338234827619,-7.72584531312e-05,1793193461054709504
+354,5.900000000,POSE2_TO_POSE3_RETREAT,764,742.457119187,712,671,660,633,877,784,800,649,629,650.457119187,0.401586877859,-0.0153960697157,0.049825449022,0.999999928345,-0.000185213159641,-0.000323893347983,-6.40272140737e-05,1793193461071376384
+355,5.916666667,POSE2_TO_POSE3_RETREAT,763.88018963,742,712,671,660,633,876.88018963,784.11981037,800,649,628.88018963,650.11981037,0.401473453371,-0.0153932865913,0.0498323485803,0.999999941577,-0.00013601966541,-0.000309122060086,-5.28064819502e-05,1793193461088043008
+356,5.933333333,POSE2_TO_POSE3_RETREAT,763.291774719,742,712,671,660,633,876.291774719,784.708225281,800,649,628.291774719,650.708225281,0.401382647157,-0.0153848093448,0.0498371114259,0.999999948543,-0.000114809620559,-0.000294944205034,-5.23433885915e-05,1793193461104709632
+357,5.950000000,POSE2_TO_POSE3_RETREAT,763.292487729,742,711.707512271,671,659.707512271,633,876.292487729,784.707512271,800,649.292487729,628.292487729,650.707512271,0.401299490276,-0.0153829746511,0.0498410486681,0.999999951644,-0.000109994957559,-0.000286140658097,-5.23194414823e-05,1793193461121376256
+358,5.966666667,POSE2_TO_POSE3_RETREAT,763.872665787,742,711.127334213,671,659.127334213,633,876.872665787,784.127334213,800,649.872665787,628.872665787,650.127334213,0.401223857271,-0.0153876735593,0.0498441738481,0.999999951314,-0.000121306759773,-0.000282623270538,-5.27274377689e-05,1793193461138043136
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764,742,711.450113162,671,659,633,877,784.450113162,800,649.549886838,629,650.450113162,0.401163291336,-0.0153953978272,0.0498444946093,0.999999949567,-0.000134177163238,-0.000282920902925,-5.308132421e-05,1793193461154709760
+360,6.000000000,POSE2_TO_POSE3_RETREAT,764,742.026727769,712,671,659.026727769,633,877,785,800.026727769,649.026727769,629,651,0.401107998192,-0.0154036465156,0.0498440927862,0.999999947434,-0.000146896756517,-0.000284080158962,-5.33962126885e-05,1793193461171376384
+361,6.016666667,POSE2_TO_POSE3_RETREAT,764,742.602009879,712,671,659.602009879,633,877,785,800.602009879,649.602009879,629,651,0.401073969971,-0.0154051988388,0.0498450452124,0.999999948247,-0.000147526421889,-0.000280906566473,-5.32229862724e-05,1793193461188043008
+362,6.033333333,POSE2_TO_POSE3_RETREAT,764,742.817508465,712,671.182491535,659.817508465,633,876.817508465,784.817508465,801,650,629,651,0.401044701142,-0.0154064024768,0.0498459790605,0.999999949274,-0.000147051519462,-0.000277462604346,-5.33154664933e-05,1793193461204709632
+363,6.050000000,POSE2_TO_POSE3_RETREAT,764,742.225354802,712,671.774645198,659.225354802,633,876.225354802,784.225354802,801,650,629,651,0.401026116334,-0.0154068233762,0.0498468712039,0.999999950783,-0.000144097052097,-0.000273411709284,-5.40044124671e-05,1793193461221376256
+364,6.066666667,POSE2_TO_POSE3_RETREAT,763.64343911,742.35656089,712,671.64343911,659,633,876.35656089,784,800.286878221,649.64343911,628.64343911,651,0.401009909205,-0.0154069925757,0.0498469659243,0.999999956656,-9.75532244755e-05,-0.000272408215968,-5.4460402207e-05,1793193461238042880
+365,6.083333333,POSE2_TO_POSE3_RETREAT,763.067813394,742.932186606,712,671.067813394,659,633,876.932186606,784,799.135626787,649.067813394,628.067813394,651,0.400995162878,-0.0154070071352,0.049846570722,0.999999960866,-2.42288491128e-05,-0.00027327699186,-5.47732675072e-05,1793193461254709760
+366,6.100000000,POSE2_TO_POSE3_RETREAT,763.508490445,742.491509555,712,671,659,633.508490445,876.491509555,784,799.508490445,649,628.508490445,651,0.400986990527,-0.0154072185247,0.0498463938677,0.999999960824,-1.5015157145e-05,-0.000274040081269,-5.5038183832e-05,1793193461271376640
+367,6.116666667,POSE2_TO_POSE3_RETREAT,764,742,711.913126809,671,659,633.913126809,876.086873191,784,800,649.086873191,628.913126809,651,0.400980701243,-0.015407470495,0.0498464719089,0.999999960742,-1.49185445724e-05,-0.000274307667459,-5.52217337426e-05,1793193461288043520
+368,6.133333333,POSE2_TO_POSE3_RETREAT,764,742,711.323230654,671,659,633.323230654,876.676769346,784,800,649.676769346,628.323230654,651,0.40098023224,-0.0154078052435,0.0498478570402,0.999999961392,-1.80397335319e-05,-0.000271787855622,-5.49712226906e-05,1793193461304709632
+369,6.150000000,POSE2_TO_POSE3_RETREAT,764,742,711.261862255,671,659,633,876.738137745,784,800,650,628.261862255,650.738137745,0.400979484132,-0.0154083619152,0.0498486549658,0.999999961877,-1.89666510663e-05,-0.000269985990476,-5.47149800863e-05,1793193461321376000
+370,6.166666667,POSE2_TO_POSE3_RETREAT,764,742,711.841133018,671,659,633,876.158866982,784,800,650,628.841133018,650.158866982,0.400978397717,-0.0154091875845,0.0498487411275,0.999999962174,-1.72338478746e-05,-0.000269054363108,-5.44517901678e-05,1793193461338042368
+371,6.183333333,POSE2_TO_POSE3_RETREAT,764,742,712,671,659,633,876,784,800,650,629,650.419007763,0.400976889662,-0.015409165013,0.0498491870751,0.999999962261,-1.82359604183e-05,-0.000268635066709,-5.45928168677e-05,1793193461354709248
+372,6.200000000,POSE2_TO_POSE3_RETREAT,764,742,712,671,659,633,876,784,800,650,629,650.996354953,0.400975222272,-0.0154088218987,0.0498497689827,0.999999962266,-2.02715741133e-05,-0.000268409375791,-5.48865935536e-05,1793193461371375872
+373,6.216666667,POSE2_TO_POSE3_RETREAT,764,742.569784097,712,671,659,633,876,784.569784097,800,650,629,651,0.400975241471,-0.0154103954335,0.0498505912504,0.999999962451,-2.1975803152e-05,-0.000267665566059,-5.45063744015e-05,1793193461388042752
+374,6.233333333,POSE2_TO_POSE3_RETREAT,764,742.852432887,712,671,659,633,876,784.852432887,800,650,629,651,0.400975166929,-0.015411575652,0.0498511684857,0.999999962599,-2.30838887289e-05,-0.00026706633159,-5.42719131718e-05,1793193461404709632
+375,6.250000000,POSE2_TO_POSE3_RETREAT,764,742.261493777,712,671,659,633,876,784.261493777,800,650,629,651,0.400974778546,-0.0154115375463,0.0498510049213,0.999999962644,-2.24071602623e-05,-0.000266911370753,-5.448825448e-05,1793193461421376512
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764,742,711.67731829,671,659,633,876.32268171,784,800,649.67731829,629,651,0.4009739227,-0.0154117926907,0.0498503173356,0.999999962394,-2.27703052844e-05,-0.000267813952775,-5.4497549642e-05,1793193461438043136
+377,6.283333333,POSE2_TO_POSE3_RETREAT,764,742,711.098511293,671,659,633,876.901488707,784,800,649.098511293,629,651,0.40097269581,-0.0154122805993,0.0498492138135,0.999999961906,-2.39588391098e-05,-0.000269555948535,-5.43425040802e-05,1793193461454709248
+378,6.300000000,POSE2_TO_POSE3_RETREAT,764,742,711,671,659,633,876.523926402,784,800,649,629,651,0.400972244909,-0.0154121588716,0.0498495893943,0.999999961958,-2.44807455865e-05,-0.000269314435269,-5.43610739829e-05,1793193461471375872
+379,6.316666667,POSE2_TO_POSE3_RETREAT,764,742,711.049914892,671,659,633,876,784,800,649.049914892,629,651,0.400972002793,-0.0154120046547,0.0498502613842,0.99999996212,-2.48335315042e-05,-0.000268670594664,-5.44069114612e-05,1793193461488042496
+380,6.333333333,POSE2_TO_POSE3_RETREAT,764,742,711.625044278,671,659,633,876,784,800,649.625044278,629,651,0.400972282843,-0.0154128242736,0.0498508601085,0.999999962282,-2.48454865806e-05,-0.00026807411702,-5.43649737057e-05,1793193461504709376
+381,6.350000000,POSE2_TO_POSE3_RETREAT,764,742,712,670.793500725,659,633,876.206499275,784,800,650,629,651,0.400972840416,-0.0154127604317,0.0498513360112,0.999999962567,-2.4765965183e-05,-0.000267002518954,-5.4424189035e-05,1793193461521376000
+382,6.366666667,POSE2_TO_POSE3_RETREAT,764,742,712,670.200196929,659,633,876.799803071,784,800,650,629,651,0.40097391783,-0.0154110417338,0.0498515818506,0.999999963082,-2.45150944492e-05,-0.000265040948174,-5.46728794645e-05,1793193461538042368
+383,6.383333333,POSE2_TO_POSE3_RETREAT,764,742,712,670.381311543,659,633,877,784,800,650,629,650.618688457,0.400974434548,-0.0154115006271,0.04985189862,0.999999963111,-2.5159405498e-05,-0.000264871782986,-5.46552331834e-05,1793193461554709504
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764,742,712,670.956813012,659,633,877,784,800,650,629,650.043186988,0.400974665722,-0.015413068499,0.0498522515117,0.999999962894,-2.62596043637e-05,-0.000265615433418,-5.45019500198e-05,1793193461571377152
+385,6.416666667,POSE2_TO_POSE3_RETREAT,763.469081128,742,712,671,659.530918872,633,876.469081128,784,800,650,628.469081128,650.530918872,0.400973823969,-0.0154130841729,0.049852415738,0.999999963058,-2.68151534455e-05,-0.000264945593278,-5.4479262668e-05,1793193461588043520
+386,6.433333333,POSE2_TO_POSE3_RETREAT,763.108183942,742,712,671.108183942,660,633,876.108183942,784,800.108183942,650,628.108183942,651,0.400973046123,-0.01541306454,0.0498524178945,0.99999996318,-2.69628388489e-05,-0.000264482829484,-5.44199492642e-05,1793193461604709632
+387,6.450000000,POSE2_TO_POSE3_RETREAT,763.700080581,742,712,671.700080581,660,633,876.700080581,784,800.700080581,650,628.700080581,651,0.400972943221,-0.0154134501048,0.0498517638421,0.999999962975,-2.54844541175e-05,-0.000265458692886,-5.41494993994e-05,1793193461621376000
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764,742,712,671.715152276,659.715152276,633.284847724,876.715152276,784,800.430304552,649.715152276,629,651,0.400973310183,-0.0154132011613,0.0498517146162,0.999999962979,-2.50141113561e-05,-0.000265502478638,-5.40857795144e-05,1793193461638042624
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764,742,712,671.137708491,659.137708491,633.862291509,876.137708491,784,799.275416982,649.137708491,629,651,0.400974159791,-0.0154123004499,0.049852286669,0.999999963199,-2.55792308212e-05,-0.000264588832782,-5.42344129794e-05,1793193461654709248
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764,742,712,671,659,633.562367893,876.437632107,784,799,649.437632107,629,651,0.400973418083,-0.015413065977,0.0498521266855,0.999999963172,-2.82718226747e-05,-0.000264391269393,-5.43485053453e-05,1793193461671376128
+391,6.516666667,POSE2_TO_POSE3_RETREAT,764,742.012361952,712,671.012361952,659,633,877,784,799.024723903,649.987638048,629,651,0.400972202957,-0.0154143067865,0.0498517460316,0.99999996306,-3.1479562336e-05,-0.000264432671171,-5.44503250679e-05,1793193461688043008
+392,6.533333333,POSE2_TO_POSE3_RETREAT,764,742.589280265,712,671.589280265,659,633,877,784,800.17856053,649.410719735,629,651,0.400972126007,-0.015413423053,0.0498517570239,0.999999962978,-2.7786917906e-05,-0.000265146098566,-5.44856660656e-05,1793193461704709888
+393,6.550000000,POSE2_TO_POSE3_RETREAT,764,742.829317215,712,671.829317215,659,633,877,784,800.829317215,649,629,651,0.400972273354,-0.0154131661085,0.0498518544688,0.999999962946,-2.57384060232e-05,-0.000265492593486,-5.43993871229e-05,1793193461721376768
+394,6.566666667,POSE2_TO_POSE3_RETREAT,764,742.236833095,712,671.236833095,659,633,877,784,800.236833095,649,629,651,0.400972975003,-0.0154144581218,0.049852165561,0.999999963062,-2.77529714029e-05,-0.000264932303263,-5.40125538305e-05,1793193461738043136
+395,6.583333333,POSE2_TO_POSE3_RETREAT,764,742,711.655396159,671,659,633,876.655396159,784,799.655396159,649.344603841,628.655396159,650.655396159,0.400973310981,-0.0154143936831,0.0498526425678,0.999999963249,-2.86370421505e-05,-0.000264127892602,-5.40245271426e-05,1793193461754709504
+396,6.600000000,POSE2_TO_POSE3_RETREAT,764,742,711.081315725,671,659,633,876.081315725,784,799.081315725,649.918684275,628.081315725,650.081315725,0.400973403454,-0.0154134259639,0.0498532300594,0.999999963485,-2.87683003819e-05,-0.000263160918697,-5.43020714537e-05,1793193461771376128
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_06/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_06/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..95c6b2442b33ac98fef6c1d771c1da121d16a7b1
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_06/depth_03/simulation_data.csv
@@ -0,0 +1,398 @@
+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,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+1,0.016666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+2,0.033333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+3,0.050000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+4,0.066666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+5,0.083333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+6,0.100000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+7,0.116666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+8,0.133333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+9,0.150000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+10,0.166666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+11,0.183333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+12,0.200000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+13,0.216666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+14,0.233333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+15,0.250000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+16,0.266666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+17,0.283333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+18,0.300000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+19,0.316666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+20,0.333333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+21,0.350000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+22,0.366666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+23,0.383333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+24,0.400000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+25,0.416666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+26,0.433333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+27,0.450000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+28,0.466666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+29,0.483333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+30,0.500000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+31,0.516666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+32,0.533333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+33,0.550000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+34,0.566666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+35,0.583333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+36,0.600000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+37,0.616666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+38,0.633333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+39,0.650000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+40,0.666666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+41,0.683333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+42,0.700000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+43,0.716666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+44,0.733333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+45,0.750000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+46,0.766666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+47,0.783333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+48,0.800000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+49,0.816666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+50,0.833333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+51,0.850000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+52,0.866666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+53,0.883333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+54,0.900000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+55,0.916666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+56,0.933333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+57,0.950000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+58,0.966666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+59,0.983333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+60,1.000000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+61,1.016666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+62,1.033333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+63,1.050000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+64,1.066666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+65,1.083333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+66,1.100000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+67,1.116666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+68,1.133333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+69,1.150000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+70,1.166666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+71,1.183333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+72,1.200000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+73,1.216666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+74,1.233333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+75,1.250000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+76,1.266666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+77,1.283333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+78,1.300000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+79,1.316666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+80,1.333333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+81,1.350000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+82,1.366666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+83,1.383333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+84,1.400000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+85,1.416666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+86,1.433333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+87,1.450000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+88,1.466666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+89,1.483333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+90,1.500000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+91,1.516666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+92,1.533333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+93,1.550000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+94,1.566666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+95,1.583333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+96,1.600000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+97,1.616666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+98,1.633333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+99,1.650000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+100,1.666666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+101,1.683333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+102,1.700000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+103,1.716666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+104,1.733333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+105,1.750000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+106,1.766666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+107,1.783333333,pose1_to_pose2_press,0.575709242258,-0.00994531867307,1.04002929125,0.546279971438,-0.00127259288748,1.03969857948
+108,1.800000000,pose1_to_pose2_press,0.575709410886,-0.00994533543864,1.04002914587,0.546280139745,-0.00127261042386,1.03969844241
+109,1.816666667,pose1_to_pose2_press,0.575709624092,-0.00994531654838,1.04002916119,0.546280352763,-0.00127259231333,1.03969845406
+110,1.833333333,pose1_to_pose2_press,0.575709815459,-0.00994529959302,1.04002917494,0.546280543961,-0.00127257605781,1.03969846452
+111,1.850000000,pose1_to_pose2_press,0.575710082779,-0.0099452913282,1.04002918508,0.546280810949,-0.00127256900804,1.03969847228
+112,1.866666667,pose1_to_pose2_press,0.575710664181,-0.00994528866131,1.04002919811,0.546281391536,-0.00127256921952,1.03969848236
+113,1.883333333,pose1_to_pose2_press,0.575711671038,-0.00994529059148,1.04002920982,0.546282397782,-0.00127257332095,1.03969849152
+114,1.900000000,pose1_to_pose2_press,0.575713912145,-0.00994533309716,1.04002917258,0.546284642198,-0.00127260424395,1.03969846355
+115,1.916666667,pose1_to_pose2_press,0.575719187783,-0.00994533352346,1.04002903754,0.546289917003,-0.00127260742768,1.03969833021
+116,1.933333333,pose1_to_pose2_press,0.57573034284,-0.00994546544851,1.04002931646,0.54630107506,-0.00127272943982,1.03969860213
+117,1.950000000,pose1_to_pose2_press,0.575749244117,-0.00994545975902,1.04002917657,0.546319974829,-0.00127272887441,1.03969846203
+118,1.966666667,pose1_to_pose2_press,0.575778621888,-0.00994548981293,1.0400291745,0.546349352159,-0.00127276035405,1.03969846174
+119,1.983333333,pose1_to_pose2_press,0.575818439729,-0.00994538876707,1.04002925821,0.546389169356,-0.0012726613906,1.03969854804
+120,2.000000000,pose1_to_pose2_press,0.57586875751,-0.00994546554647,1.04002904454,0.546439489278,-0.00127273062266,1.03969834181
+121,2.016666667,pose1_to_pose2_press,0.575928709667,-0.00994546717316,1.0400289569,0.546499440527,-0.00127273527809,1.03969825541
+122,2.033333333,pose1_to_pose2_press,0.575998759114,-0.00994545795454,1.04002912065,0.546569489366,-0.0012727284893,1.03969840951
+123,2.050000000,pose1_to_pose2_press,0.576078661959,-0.00994533718923,1.04002903344,0.546649390936,-0.00127261204413,1.03969832234
+124,2.066666667,pose1_to_pose2_press,0.576169493748,-0.00994535822127,1.04002913518,0.546740223387,-0.0012726308366,1.03969842385
+125,2.083333333,pose1_to_pose2_press,0.576273923498,-0.00994541514635,1.0400291589,0.546844653856,-0.00127268519463,1.03969845091
+126,2.100000000,pose1_to_pose2_press,0.576392375196,-0.00994541360459,1.04002909469,0.546963104087,-0.00127268860191,1.03969838744
+127,2.116666667,pose1_to_pose2_press,0.5765279403,-0.00994546755394,1.0400291638,0.547098669733,-0.00127274076925,1.03969845493
+128,2.133333333,pose1_to_pose2_press,0.57668125325,-0.00994555591399,1.04002921488,0.54725198608,-0.00127281758782,1.03969850635
+129,2.150000000,pose1_to_pose2_press,0.57685408227,-0.0099455278322,1.04002926323,0.547424815144,-0.00127278950426,1.03969855084
+130,2.166666667,pose1_to_pose2_press,0.57705077344,-0.0099454259641,1.0400290799,0.547621504101,-0.00127269499979,1.03969837125
+131,2.183333333,pose1_to_pose2_press,0.577271310881,-0.00994556060229,1.04002896001,0.547842042395,-0.00127282668824,1.03969825283
+132,2.200000000,pose1_to_pose2_press,0.577517439776,-0.00994548264404,1.04002909659,0.548088169918,-0.00127275345073,1.0396983875
+133,2.216666667,pose1_to_pose2_press,0.577786758057,-0.009945422378,1.04002905829,0.54835748753,-0.00127269545409,1.03969834924
+134,2.233333333,pose1_to_pose2_press,0.578078768358,-0.00994548644583,1.04002902333,0.548649498489,-0.00127275723098,1.03969831568
+135,2.250000000,pose1_to_pose2_press,0.578393653025,-0.00994547780919,1.04002911566,0.548964383293,-0.0012727482911,1.03969840372
+136,2.266666667,pose1_to_pose2_press,0.578732610477,-0.00994545219296,1.04002913493,0.549303340645,-0.0012727231609,1.03969841913
+137,2.283333333,pose1_to_pose2_press,0.579088248074,-0.00994544250722,1.04002911235,0.549658978052,-0.00127271384506,1.03969840369
+138,2.300000000,pose1_to_pose2_press,0.579460400831,-0.00994546308867,1.0400291357,0.550031131438,-0.00127273206997,1.03969843284
+139,2.316666667,pose1_to_pose2_press,0.57985199415,-0.00994546732008,1.04002928016,0.550422725483,-0.00127273395314,1.03969857418
+140,2.333333333,pose1_to_pose2_press,0.580259532003,-0.00994542222594,1.04002919351,0.550830262214,-0.00127269263679,1.03969848829
+141,2.350000000,pose1_to_pose2_press,0.580684482026,-0.00994546614807,1.04002908875,0.551255212035,-0.00127273741249,1.03969837902
+142,2.366666667,pose1_to_pose2_press,0.581145891781,-0.00994554344275,1.04002919321,0.551716623257,-0.00127280994432,1.03969847781
+143,2.383333333,pose1_to_pose2_press,0.581646448201,-0.00994554469982,1.04002909166,0.552217178471,-0.00127281491579,1.03969838616
+144,2.400000000,pose1_to_pose2_press,0.582182537421,-0.00994550300903,1.04002898143,0.552753268048,-0.0012727720824,1.03969827405
+145,2.416666667,pose1_to_pose2_press,0.582748381302,-0.00994546183062,1.04002913997,0.553319111439,-0.00127273268957,1.03969842935
+146,2.433333333,pose1_to_pose2_press,0.583338055306,-0.00994541091147,1.04002901524,0.553908784667,-0.00127268406712,1.03969831339
+147,2.450000000,pose1_to_pose2_press,0.583931139137,-0.00994546479466,1.04002899424,0.554501868929,-0.00127273660164,1.03969828932
+148,2.466666667,pose1_to_pose2_press,0.584521598495,-0.00994537467962,1.04002898528,0.555092326657,-0.00127265213147,1.03969827742
+149,2.483333333,pose1_to_pose2_press,0.585135000375,-0.00994538022292,1.04002918394,0.555705730502,-0.00127265140163,1.03969846566
+150,2.500000000,pose1_to_pose2_press,0.585774748919,-0.00994538191026,1.04002905837,0.556345476706,-0.00127266081794,1.03969834561
+151,2.516666667,pose1_to_pose2_press,0.586444413369,-0.00994552035105,1.04002908646,0.557015143819,-0.00127279025914,1.03969837273
+152,2.533333333,pose1_to_pose2_press,0.587142195959,-0.00994552403263,1.04002917823,0.557712926856,-0.00127279251569,1.03969846204
+153,2.550000000,pose1_to_pose2_press,0.58786550833,-0.00994556238739,1.04002902118,0.558436239079,-0.00127283089861,1.03969831741
+154,2.566666667,pose1_to_pose2_press,0.588591381628,-0.0099453991584,1.04002901548,0.559162112066,-0.00127266862821,1.0396983143
+155,2.583333333,pose1_to_pose2_press,0.589319163736,-0.00994545626131,1.04002909428,0.559889893441,-0.00127272860499,1.03969838293
+156,2.600000000,pose1_to_pose2_press,0.590066013928,-0.00994537047276,1.04002929471,0.560636743456,-0.00127264347788,1.03969858181
+157,2.616666667,pose1_to_pose2_press,0.590831193858,-0.00994537211808,1.04002917357,0.561401923891,-0.00127264330209,1.0396984635
+158,2.633333333,pose1_to_pose2_press,0.59160896395,-0.00994551488544,1.04002920906,0.562179694559,-0.00127278432331,1.03969849354
+159,2.650000000,pose1_to_pose2_press,0.592396846509,-0.0099453689714,1.04002924025,0.562967576371,-0.00127264045272,1.03969853754
+160,2.666666667,pose1_to_pose2_press,0.593194713556,-0.00994531670545,1.04002892294,0.563765441558,-0.00127259457226,1.03969821831
+161,2.683333333,pose1_to_pose2_press,0.593997657303,-0.00994525871059,1.04002929949,0.564568385116,-0.00127253755328,1.03969858618
+162,2.700000000,pose1_to_pose2_press,0.594810821968,-0.00994553124581,1.04002903034,0.565381552869,-0.0012727991513,1.03969832913
+163,2.716666667,pose1_to_pose2_press,0.595634046874,-0.0099453927665,1.04002917228,0.566204777799,-0.00127266092344,1.03969846237
+164,2.733333333,pose1_to_pose2_press,0.596465220115,-0.00994545109423,1.04002914618,0.567035951212,-0.00127271840583,1.03969844315
+165,2.750000000,pose1_to_pose2_press,0.597303288707,-0.00994553910989,1.04002916709,0.567874018777,-0.00127281018243,1.03969845683
+166,2.766666667,pose1_to_pose2_press,0.598132870332,-0.00994541994629,1.04002903335,0.568703599371,-0.00127269434015,1.0396983278
+167,2.783333333,pose1_to_pose2_press,0.598953381284,-0.00994547731693,1.04002903379,0.569524112853,-0.00127274315134,1.03969832764
+168,2.800000000,pose1_to_pose2_press,0.599760494755,-0.00994561624179,1.04002902927,0.570331227069,-0.00127287955675,1.03969832297
+169,2.816666667,pose1_to_pose2_press,0.600557159063,-0.00994538422772,1.04002915752,0.571127889849,-0.00127265275803,1.03969845047
+170,2.833333333,pose1_to_pose2_press,0.601355348634,-0.0099455783828,1.04002914437,0.571926080708,-0.00127284245278,1.03969843983
+171,2.850000000,pose1_to_pose2_press,0.602151029872,-0.0099453673545,1.04002915251,0.572721760233,-0.00127263728344,1.03969844673
+172,2.866666667,pose1_to_pose2_press,0.602939087523,-0.00994532757396,1.04002938586,0.573509816493,-0.00127260231363,1.03969867778
+173,2.883333333,pose1_to_pose2_press,0.603724752425,-0.00994556616132,1.04002905436,0.574295484251,-0.00127283092857,1.03969835366
+174,2.900000000,pose1_to_pose2_press,0.604503039425,-0.0099455254463,1.04002940462,0.575073770437,-0.00127279370913,1.03969868491
+175,2.916666667,pose1_to_pose2_press,0.605265833947,-0.00994561279026,1.04002910909,0.57583656525,-0.00127287976872,1.03969839712
+176,2.933333333,pose1_to_pose2_press,0.606016195151,-0.00994539726253,1.04002903263,0.576586925868,-0.0012726659859,1.03969832714
+177,2.950000000,pose1_to_pose2_press,0.606757348626,-0.00994543164639,1.04002924188,0.577328079536,-0.0012726997956,1.03969853436
+178,2.966666667,pose1_to_pose2_press,0.607484554371,-0.00994539066343,1.04002905242,0.578055284783,-0.00127266033223,1.0396983495
+179,2.983333333,pose1_to_pose2_press,0.608189925063,-0.00994532854717,1.04002936317,0.578760653285,-0.00127260595156,1.03969865238
+180,3.000000000,pose1_to_pose2_press,0.608870488115,-0.00994532989472,1.04002885587,0.579441215896,-0.00127260832108,1.03969815754
+181,3.016666667,pose1_to_pose2_press,0.609528671665,-0.00994542655015,1.04002877842,0.580099402327,-0.0012726953184,1.03969807712
+182,3.033333333,pose1_to_pose2_press,0.610171058357,-0.00994549337087,1.04002899624,0.58074178981,-0.00127275963416,1.03969829035
+183,3.050000000,pose1_to_pose2_press,0.610803051802,-0.00994550601034,1.04002919758,0.581373782796,-0.00127277437803,1.03969847741
+184,3.066666667,pose1_to_pose2_press,0.611423295927,-0.00994540684587,1.04002917553,0.581994026489,-0.00127267629225,1.03969846549
+185,3.083333333,pose1_to_pose2_press,0.612018124419,-0.00994553498231,1.04002917189,0.582588856316,-0.0012727998792,1.03969846199
+186,3.100000000,pose1_to_pose2_press,0.612581107508,-0.00994539009969,1.0400291397,0.583151838186,-0.00127265868188,1.03969843642
+187,3.116666667,pose1_to_pose2_press,0.613104552834,-0.00994542728993,1.04002930067,0.583675283476,-0.00127269586332,1.03969858417
+188,3.133333333,pose1_to_pose2_press,0.613595861857,-0.00994539828107,1.04002928931,0.584166591144,-0.00127267110073,1.03969857957
+189,3.150000000,pose1_to_pose2_press,0.614063744328,-0.00994544025808,1.04002911331,0.584634474258,-0.00127270947099,1.03969840269
+190,3.166666667,pose1_to_pose2_press,0.61451390814,-0.009945487148,1.04002903862,0.585084638234,-0.00127275461816,1.03969833198
+191,3.183333333,pose1_to_pose2_press,0.614946614107,-0.00994543019,1.04002904424,0.585517342667,-0.00127270196508,1.03969833462
+192,3.200000000,pose1_to_pose2_press,0.61535443632,-0.00994543984847,1.04002913912,0.585925165135,-0.00127270980589,1.03969842825
+193,3.216666667,pose1_to_pose2_press,0.615734782873,-0.00994543440313,1.04002915265,0.58630551129,-0.00127270461757,1.03969844677
+194,3.233333333,pose1_to_pose2_press,0.616080042783,-0.00994546373679,1.0400291662,0.586650771777,-0.0012727313371,1.03969845742
+195,3.250000000,pose1_to_pose2_press,0.616395486345,-0.00994550696674,1.04002923073,0.586966215602,-0.00127277296935,1.0396985213
+196,3.266666667,pose1_to_pose2_press,0.616685337632,-0.00994544374151,1.04002923085,0.58725606494,-0.00127271556981,1.03969852314
+197,3.283333333,pose1_to_pose2_press,0.616958733239,-0.00994540611311,1.04002918738,0.587529459446,-0.00127268120514,1.03969847526
+198,3.300000000,pose1_to_pose2_press,0.617217988603,-0.00994552806959,1.04002916679,0.587788716606,-0.00127279669374,1.03969845004
+199,3.316666667,pose1_to_pose2_press,0.617465338585,-0.00994552503445,1.04002907779,0.588036066243,-0.00127279400333,1.03969836718
+200,3.333333333,pose1_to_pose2_press,0.617698972912,-0.00994557291106,1.04002918699,0.588269702174,-0.00127283607605,1.039698472
+201,3.350000000,pose1_to_pose2_press,0.617911588151,-0.00994554498716,1.04002918544,0.588482316701,-0.00127281003513,1.03969847118
+202,3.366666667,pose1_to_pose2_press,0.618102576141,-0.00994551050587,1.04002916657,0.588673303923,-0.00127277739251,1.0396984578
+203,3.383333333,pose1_to_pose2_press,0.618270625687,-0.00994552577147,1.04002917012,0.588841352665,-0.00127279503625,1.03969846055
+204,3.400000000,pose1_to_pose2_press,0.618418904792,-0.00994543458949,1.04002916804,0.588989631797,-0.00127270332072,1.03969846068
+205,3.416666667,pose1_to_pose2_press,0.618548658413,-0.00994528755984,1.04002928727,0.589119381511,-0.00127256940754,1.03969857505
+206,3.433333333,pose1_to_pose2_press,0.618663621611,-0.00994556207487,1.04002908048,0.589234349674,-0.0012728269263,1.03969836482
+207,3.450000000,pose1_to_pose2_press,0.61876488064,-0.00994532436126,1.04002916533,0.589335604586,-0.00127260274455,1.03969845579
+208,3.466666667,pose1_to_pose2_press,0.618852581336,-0.00994541629117,1.04002907916,0.589423306362,-0.00127269085871,1.03969836618
+209,3.483333333,pose1_to_pose2_press,0.618928415595,-0.0099454594591,1.040029151,0.589499141089,-0.00127273285498,1.03969844098
+210,3.500000000,pose1_to_pose2_press,0.618992710611,-0.00994547119081,1.04002917982,0.589563437237,-0.00127274000184,1.0396984674
+211,3.516666667,pose1_to_pose2_press,0.619045894954,-0.00994555444176,1.04002918775,0.589616621536,-0.00127282349592,1.03969847351
+212,3.533333333,pose1_to_pose2_press,0.619088473071,-0.00994548953324,1.04002926726,0.589659198745,-0.00127276151523,1.03969855401
+213,3.550000000,pose1_to_pose2_press,0.619121520147,-0.00994549212009,1.04002916535,0.589692247381,-0.00127275843281,1.03969845404
+214,3.566666667,pose1_to_pose2_press,0.619147023602,-0.00994548202189,1.04002908715,0.589717751364,-0.00127274626759,1.03969837708
+215,3.583333333,pose1_to_pose2_press,0.619166178628,-0.00994537078044,1.04002917527,0.589736904047,-0.00127264290079,1.03969846494
+216,3.600000000,pose1_to_pose2_press,0.619181222097,-0.00994529857796,1.04002919326,0.589751946291,-0.00127257507516,1.03969847959
+217,3.616666667,pose1_to_pose2_press,0.61919224887,-0.00994533377199,1.04002911777,0.589762972986,-0.00127261061699,1.0396984036
+218,3.633333333,pose1_to_pose2_press,0.619200541503,-0.00994536586879,1.04002902382,0.589771265593,-0.00127264279244,1.03969831217
+219,3.650000000,pose1_to_pose2_press,0.619206254389,-0.00994536798838,1.04002893212,0.589776978248,-0.00127264561494,1.03969822592
+220,3.666666667,pose1_to_pose2_press,0.619209582267,-0.0099454106599,1.04002898349,0.589780306765,-0.0012726861298,1.03969827738
+221,3.683333333,pose1_to_pose2_press,0.619211726443,-0.00994545865217,1.04002906843,0.589782451736,-0.00127273146308,1.03969836085
+222,3.700000000,pose1_to_pose2_press,0.619213290848,-0.00994549366763,1.0400291304,0.589784016721,-0.00127276453852,1.03969842175
+223,3.716666667,pose1_to_pose2_press,0.619214527457,-0.0099454803552,1.04002915592,0.589785253361,-0.00127275105019,1.03969844798
+224,3.733333333,pose1_to_pose2_press,0.619215455196,-0.00994542235522,1.04002914758,0.589786180623,-0.00127269450843,1.039698442
+225,3.750000000,pose1_to_pose2_press,0.619216094225,-0.00994538240465,1.04002914183,0.589786819324,-0.00127265556228,1.03969843787
+226,3.766666667,pose1_to_pose2_press,0.619216506395,-0.00994535663675,1.04002913812,0.589787231282,-0.00127263044223,1.03969843522
+227,3.783333333,pose1_to_pose2_press,0.619216784445,-0.00994533925373,1.04002913562,0.589787509189,-0.00127261349625,1.03969843342
+228,3.800000000,pose1_to_pose2_press,0.619217031547,-0.00994532380555,1.0400291334,0.589787756164,-0.00127259843645,1.03969843183
+229,3.816666667,pose1_to_pose2_press,0.619217300989,-0.00994530696067,1.04002913097,0.589788025467,-0.00127258201508,1.03969843009
+230,3.833333333,pose1_to_pose2_press,0.619217443877,-0.00994529802765,1.04002912969,0.589788168282,-0.00127257330665,1.03969842917
+231,3.850000000,pose1_to_pose2_press,0.619217516304,-0.00994529349966,1.04002912904,0.589788240672,-0.0012725688925,1.03969842871
+232,3.866666667,pose1_to_pose2_press,0.619217925751,-0.00994529261876,1.04002916228,0.589788650051,-0.00127256827714,1.0396984612
+233,3.883333333,pose1_to_pose2_press,0.619218447063,-0.00994531295897,1.04002923668,0.589789171398,-0.0012725886272,1.03969853309
+234,3.900000000,pose1_to_pose2_press,0.61921886241,-0.00994532916475,1.04002929595,0.589789586775,-0.00127260484082,1.03969859037
+235,3.916666667,pose1_to_pose2_press,0.619219376477,-0.00994534922229,1.04002936931,0.589790100877,-0.00127262490808,1.03969866126
+236,3.933333333,pose1_to_pose2_press,0.619219819498,-0.00994533399017,1.04002936227,0.589790543951,-0.00127260951918,1.03969865359
+237,3.950000000,pose1_to_pose2_press,0.619219897191,-0.00994531890234,1.0400293342,0.589790621662,-0.00127259434079,1.039698626
+238,3.966666667,pose1_to_pose2_press,0.619219984142,-0.00994530201678,1.04002930279,0.589790708633,-0.00127257735389,1.03969859511
+239,3.983333333,pose1_to_pose2_press,0.619220101826,-0.00994527916305,1.04002926028,0.589790826343,-0.00127255436301,1.03969855331
+240,4.000000000,pose1_to_pose2_press,0.619220255501,-0.0099452493197,1.04002920477,0.589790980054,-0.00127252434055,1.03969849872
+241,4.016666667,pose1_to_pose2_press,0.619220467771,-0.00994523053767,1.04002916539,0.589791192195,-0.0012725059732,1.03969845927
+242,4.033333333,pose1_to_pose2_press,0.61922066515,-0.0099452934701,1.04002926242,0.589791388821,-0.00127257166326,1.03969855141
+243,4.050000000,pose1_to_pose2_press,0.619220781236,-0.0099453990657,1.04002930748,0.589791506911,-0.00127267054315,1.03969859337
+244,4.066666667,pose2_hold,0.619220781236,-0.0099453990657,1.04002930748,0.589791506919,-0.00127267054585,1.03969859337
+245,4.083333333,pose2_hold,0.619220781236,-0.0099453990657,1.04002930748,0.589791506919,-0.00127267054594,1.03969859337
+246,4.100000000,pose2_hold,0.619220781236,-0.0099453990657,1.04002930748,0.589791506919,-0.00127267054617,1.03969859337
+247,4.116666667,pose2_hold,0.619220781236,-0.0099453990657,1.04002930748,0.58979150692,-0.00127267054584,1.03969859337
+248,4.133333333,pose2_hold,0.619220781236,-0.0099453990657,1.04002930748,0.589791506921,-0.00127267054575,1.03969859337
+249,4.150000000,pose2_hold,0.619220781236,-0.0099453990657,1.04002930748,0.589791506921,-0.00127267054583,1.03969859337
+250,4.166666667,pose2_hold,0.619220781236,-0.0099453990657,1.04002930748,0.589791506921,-0.00127267054587,1.03969859337
+251,4.183333333,pose2_hold,0.619220781236,-0.0099453990657,1.04002930748,0.589791506922,-0.00127267054593,1.03969859337
+252,4.200000000,pose2_hold,0.619220781236,-0.0099453990657,1.04002930748,0.589791506922,-0.00127267054601,1.03969859337
+253,4.216666667,pose2_hold,0.619220781236,-0.0099453990657,1.04002930748,0.589791506922,-0.00127267054562,1.03969859337
+254,4.233333333,pose2_hold,0.619220781236,-0.0099453990657,1.04002930748,0.589791506922,-0.00127267054605,1.03969859337
+255,4.250000000,pose2_hold,0.619220781236,-0.0099453990657,1.04002930748,0.589791506923,-0.00127267054609,1.03969859337
+256,4.266666667,pose2_hold,0.619220781236,-0.0099453990657,1.04002930748,0.589791506923,-0.00127267054612,1.03969859337
+257,4.283333333,pose2_hold,0.619220781236,-0.0099453990657,1.04002930748,0.589791506923,-0.00127267054614,1.03969859337
+258,4.300000000,pose2_hold,0.619220781236,-0.0099453990657,1.04002930748,0.589791506923,-0.00127267054616,1.03969859337
+259,4.316666667,pose2_hold,0.619220781236,-0.0099453990657,1.04002930748,0.589791506924,-0.00127267054618,1.03969859337
+260,4.333333333,pose2_to_pose3_retreat,0.619220781236,-0.0099453990657,1.04002930748,0.589791506924,-0.00127267054627,1.03969859337
+261,4.350000000,pose2_to_pose3_retreat,0.619220759871,-0.00994538663374,1.04002930542,0.589791485452,-0.00127265846631,1.03969859163
+262,4.366666667,pose2_to_pose3_retreat,0.619220683178,-0.0099453420086,1.04002929802,0.589791408375,-0.00127261510468,1.03969858537
+263,4.383333333,pose2_to_pose3_retreat,0.619220537537,-0.00994531565864,1.0400292603,0.58979126265,-0.00127258891771,1.03969855088
+264,4.400000000,pose2_to_pose3_retreat,0.619220462059,-0.00994533886848,1.04002922582,0.589791187535,-0.00127261080009,1.03969851874
+265,4.416666667,pose2_to_pose3_retreat,0.619220408697,-0.00994535527759,1.04002920143,0.58979113443,-0.00127262627071,1.03969849602
+266,4.433333333,pose2_to_pose3_retreat,0.61921983197,-0.00994545299034,1.04002919288,0.589790558897,-0.00127271989078,1.03969848837
+267,4.450000000,pose2_to_pose3_retreat,0.619217865648,-0.00994548090266,1.04002929365,0.589788592052,-0.00127274982128,1.03969858319
+268,4.466666667,pose2_to_pose3_retreat,0.619213108592,-0.00994542536262,1.04002919033,0.589783833656,-0.00127269869699,1.0396984841
+269,4.483333333,pose2_to_pose3_retreat,0.619202046176,-0.00994559866526,1.0400292897,0.58977277447,-0.00127286137455,1.03969857553
+270,4.500000000,pose2_to_pose3_retreat,0.619182043911,-0.00994541918827,1.04002912918,0.589752768697,-0.00127269385537,1.03969841637
+271,4.516666667,pose2_to_pose3_retreat,0.619150991364,-0.00994544608128,1.04002906323,0.589721717598,-0.00127271596793,1.0396983496
+272,4.533333333,pose2_to_pose3_retreat,0.619108280881,-0.00994559234871,1.04002916591,0.589679008571,-0.00127285719445,1.03969845757
+273,4.550000000,pose2_to_pose3_retreat,0.619053165594,-0.0099454819775,1.04002919449,0.589623892518,-0.0012727494491,1.03969848909
+274,4.566666667,pose2_to_pose3_retreat,0.618987657905,-0.00994553060687,1.04002918925,0.589558385804,-0.00127279533766,1.03969847708
+275,4.583333333,pose2_to_pose3_retreat,0.618911641986,-0.00994556063943,1.04002912254,0.589482369709,-0.00127282646097,1.0396984085
+276,4.600000000,pose2_to_pose3_retreat,0.61882480605,-0.00994541883769,1.04002925164,0.589395531597,-0.00127269182028,1.03969853694
+277,4.616666667,pose2_to_pose3_retreat,0.618726460352,-0.00994545907232,1.04002931868,0.589297186487,-0.00127273042403,1.03969860325
+278,4.633333333,pose2_to_pose3_retreat,0.618611756932,-0.00994551106391,1.0400292076,0.589182484171,-0.00127277881816,1.03969849518
+279,4.650000000,pose2_to_pose3_retreat,0.618480166341,-0.00994546146821,1.04002909314,0.589050892286,-0.00127273388385,1.03969838284
+280,4.666666667,pose2_to_pose3_retreat,0.61832844736,-0.00994542468866,1.04002916095,0.588899172854,-0.00127269896221,1.03969845241
+281,4.683333333,pose2_to_pose3_retreat,0.618156221819,-0.00994562764346,1.04002914391,0.588726950502,-0.00127289164422,1.03969843145
+282,4.700000000,pose2_to_pose3_retreat,0.617961594204,-0.00994573448998,1.04002905349,0.588532324693,-0.00127299277066,1.03969834194
+283,4.716666667,pose2_to_pose3_retreat,0.617746181618,-0.00994550079204,1.04002907813,0.588316909377,-0.00127276885111,1.03969836953
+284,4.733333333,pose2_to_pose3_retreat,0.617510351744,-0.00994556429014,1.04002925145,0.588081079964,-0.001272831609,1.0396985343
+285,4.750000000,pose2_to_pose3_retreat,0.617252001025,-0.00994557823601,1.04002942842,0.58782272986,-0.00127284418727,1.03969871251
+286,4.766666667,pose2_to_pose3_retreat,0.616970916232,-0.00994553246811,1.04002936447,0.587541645206,-0.00127279829288,1.03969865912
+287,4.783333333,pose2_to_pose3_retreat,0.616665195449,-0.00994529149535,1.04002926277,0.587235921101,-0.00127256922657,1.03969855535
+288,4.800000000,pose2_to_pose3_retreat,0.616336629763,-0.00994549257302,1.04002906418,0.586907357733,-0.00127276338215,1.03969835112
+289,4.816666667,pose2_to_pose3_retreat,0.615985692448,-0.00994530058407,1.04002911214,0.586556420881,-0.00127257093498,1.0396983917
+290,4.833333333,pose2_to_pose3_retreat,0.615613297973,-0.00994542996145,1.04002914781,0.586184025961,-0.00127270208773,1.03969844205
+291,4.850000000,pose2_to_pose3_retreat,0.615220899879,-0.0099455340214,1.04002927967,0.585791628989,-0.00127280333321,1.03969856934
+292,4.866666667,pose2_to_pose3_retreat,0.614804732045,-0.00994545077642,1.04002917536,0.585375462018,-0.00127271793939,1.03969846938
+293,4.883333333,pose2_to_pose3_retreat,0.614359716693,-0.0099454723197,1.04002924825,0.58493044559,-0.00127274285612,1.03969854002
+294,4.900000000,pose2_to_pose3_retreat,0.613879836367,-0.00994545469401,1.04002913011,0.58445056541,-0.00127272678797,1.03969841665
+295,4.916666667,pose2_to_pose3_retreat,0.613359082624,-0.00994550788953,1.04002925488,0.583929812877,-0.00127277757578,1.03969853679
+296,4.933333333,pose2_to_pose3_retreat,0.612797928637,-0.00994537211872,1.04002928786,0.583368658514,-0.00127264351577,1.03969858016
+297,4.950000000,pose2_to_pose3_retreat,0.61220636409,-0.00994530745634,1.040029029,0.582777092654,-0.00127258417566,1.03969831825
+298,4.966666667,pose2_to_pose3_retreat,0.611592717908,-0.00994537046624,1.04002920868,0.582163448945,-0.0012726392716,1.03969849842
+299,4.983333333,pose2_to_pose3_retreat,0.610963466379,-0.00994536695721,1.04002911269,0.581534197121,-0.00127263720549,1.03969840306
+300,5.000000000,pose2_to_pose3_retreat,0.610315667892,-0.00994537016426,1.04002923322,0.580886397338,-0.00127264466564,1.03969852178
+301,5.016666667,pose2_to_pose3_retreat,0.609643289611,-0.00994551005223,1.04002925285,0.580214023305,-0.00127277141873,1.03969853345
+302,5.033333333,pose2_to_pose3_retreat,0.608943899183,-0.00994546399331,1.04002916971,0.579514632079,-0.00127272839002,1.03969846303
+303,5.050000000,pose2_to_pose3_retreat,0.608218811434,-0.00994542134813,1.04002925635,0.578789544007,-0.0012726875881,1.03969854694
+304,5.066666667,pose2_to_pose3_retreat,0.607473492307,-0.00994543570658,1.04002914245,0.578044223822,-0.00127270640711,1.03969842577
+305,5.083333333,pose2_to_pose3_retreat,0.606716900907,-0.00994543529735,1.04002913689,0.577287631583,-0.00127270932282,1.03969842507
+306,5.100000000,pose2_to_pose3_retreat,0.605950199333,-0.00994556960121,1.04002928954,0.576520932615,-0.00127283180772,1.0396985717
+307,5.116666667,pose2_to_pose3_retreat,0.605164976725,-0.00994557287063,1.04002914075,0.575735708951,-0.00127283683134,1.0396984291
+308,5.133333333,pose2_to_pose3_retreat,0.604357236599,-0.00994547845332,1.04002902954,0.574927966345,-0.00127275050073,1.03969832482
+309,5.150000000,pose2_to_pose3_retreat,0.603528971386,-0.00994550875778,1.04002915499,0.574099701428,-0.00127278017374,1.03969843974
+310,5.166666667,pose2_to_pose3_retreat,0.602684955276,-0.00994553741544,1.04002903303,0.573255685607,-0.00127280784451,1.03969831844
+311,5.183333333,pose2_to_pose3_retreat,0.601826927193,-0.0099455650238,1.04002911971,0.57239765854,-0.00127283200917,1.03969840509
+312,5.200000000,pose2_to_pose3_retreat,0.600971349965,-0.0099455401152,1.04002921426,0.571542081378,-0.00127280698169,1.03969849549
+313,5.216666667,pose2_to_pose3_retreat,0.600125437906,-0.00994539859508,1.04002903281,0.57069616803,-0.00127266961314,1.03969831973
+314,5.233333333,pose2_to_pose3_retreat,0.599281366553,-0.00994547737008,1.04002925084,0.569852097218,-0.00127274663791,1.03969853654
+315,5.250000000,pose2_to_pose3_retreat,0.598438818327,-0.00994557961698,1.04002929327,0.569009550141,-0.00127284506102,1.03969857776
+316,5.266666667,pose2_to_pose3_retreat,0.597588045262,-0.00994552233576,1.04002932509,0.568158777309,-0.00127278692889,1.03969861123
+317,5.283333333,pose2_to_pose3_retreat,0.596728300718,-0.00994543967583,1.0400292253,0.567299032089,-0.00127270642654,1.0396985149
+318,5.300000000,pose2_to_pose3_retreat,0.595864076341,-0.00994543265552,1.04002896679,0.566434806813,-0.00127270224113,1.03969826232
+319,5.316666667,pose2_to_pose3_retreat,0.59499369934,-0.00994545665662,1.04002896682,0.565564430071,-0.0012727253252,1.03969826303
+320,5.333333333,pose2_to_pose3_retreat,0.594118066025,-0.00994548962446,1.04002896863,0.564688798099,-0.00127275378017,1.03969826349
+321,5.350000000,pose2_to_pose3_retreat,0.593258980412,-0.00994554373795,1.04002904249,0.563829713755,-0.00127280359782,1.0396983367
+322,5.366666667,pose2_to_pose3_retreat,0.592414114943,-0.00994555557966,1.04002908352,0.562984847643,-0.00127281757507,1.03969837878
+323,5.383333333,pose2_to_pose3_retreat,0.591583688187,-0.00994555328248,1.04002910511,0.562154419355,-0.00127282060709,1.03969839733
+324,5.400000000,pose2_to_pose3_retreat,0.590770699185,-0.00994550019728,1.0400292452,0.561341429856,-0.00127276935773,1.03969853297
+325,5.416666667,pose2_to_pose3_retreat,0.589976541014,-0.00994539513351,1.0400291855,0.560547271591,-0.00127266452937,1.03969847533
+326,5.433333333,pose2_to_pose3_retreat,0.589193356566,-0.00994541998903,1.04002910116,0.559764087316,-0.00127268875679,1.03969839254
+327,5.450000000,pose2_to_pose3_retreat,0.58841906824,-0.00994548979421,1.04002916752,0.558989799182,-0.00127275789979,1.03969845908
+328,5.466666667,pose2_to_pose3_retreat,0.58766071498,-0.00994545523169,1.040029127,0.558231445196,-0.00127272592669,1.03969841524
+329,5.483333333,pose2_to_pose3_retreat,0.586918655238,-0.00994537671876,1.04002906495,0.55748938461,-0.00127265040092,1.03969834994
+330,5.500000000,pose2_to_pose3_retreat,0.586193755784,-0.00994536014955,1.0400291529,0.556764485887,-0.00127263119009,1.03969844194
+331,5.516666667,pose2_to_pose3_retreat,0.585490756754,-0.0099454955134,1.04002925131,0.556061487646,-0.00127276380908,1.03969854165
+332,5.533333333,pose2_to_pose3_retreat,0.584811083764,-0.00994546111814,1.04002906609,0.55538181405,-0.00127273130055,1.039698361
+333,5.550000000,pose2_to_pose3_retreat,0.584158182859,-0.00994540410354,1.04002901171,0.554728913413,-0.00127267356884,1.03969830262
+334,5.566666667,pose2_to_pose3_retreat,0.583533929032,-0.00994547088745,1.04002925656,0.554104659907,-0.0012727396876,1.03969853603
+335,5.583333333,pose2_to_pose3_retreat,0.582939037399,-0.00994554667082,1.0400292975,0.553509768495,-0.00127281468621,1.03969857813
+336,5.600000000,pose2_to_pose3_retreat,0.582369870263,-0.00994547003436,1.04002914854,0.552940601662,-0.00127273673104,1.03969843647
+337,5.616666667,pose2_to_pose3_retreat,0.581824097583,-0.00994545610624,1.04002906617,0.552394828535,-0.00127272409666,1.03969835957
+338,5.633333333,pose2_to_pose3_retreat,0.581290474977,-0.00994553463147,1.04002916012,0.551861207011,-0.00127279916206,1.03969844793
+339,5.650000000,pose2_to_pose3_retreat,0.580769764879,-0.00994552490751,1.04002908621,0.551340497564,-0.00127278746592,1.03969836711
+340,5.666666667,pose2_to_pose3_retreat,0.580276346035,-0.00994539660103,1.04002908089,0.550847074944,-0.0012726716696,1.03969836971
+341,5.683333333,pose2_to_pose3_retreat,0.579814515149,-0.00994541438716,1.0400291649,0.550385243527,-0.00127269116571,1.03969845632
+342,5.700000000,pose2_to_pose3_retreat,0.57939488075,-0.0099453860832,1.04002921717,0.549965609973,-0.00127266019337,1.03969850393
+343,5.716666667,pose2_to_pose3_retreat,0.579012278204,-0.00994544988942,1.04002923909,0.549583008443,-0.00127272040664,1.03969852936
+344,5.733333333,pose2_to_pose3_retreat,0.578665879008,-0.00994553811695,1.04002902957,0.549236610699,-0.00127280354508,1.03969832388
+345,5.750000000,pose2_to_pose3_retreat,0.578340547754,-0.00994561884123,1.04002913114,0.548911279414,-0.00127288521655,1.03969840381
+346,5.766666667,pose2_to_pose3_retreat,0.57803351757,-0.00994557405997,1.04002904915,0.548604249731,-0.0012728380614,1.03969833939
+347,5.783333333,pose2_to_pose3_retreat,0.577741079367,-0.00994550192986,1.04002928192,0.548311809335,-0.00127277326975,1.03969857462
+348,5.800000000,pose2_to_pose3_retreat,0.577463576689,-0.0099455162501,1.04002916886,0.548034306354,-0.00127278871721,1.03969845893
+349,5.816666667,pose2_to_pose3_retreat,0.577204783284,-0.00994553099172,1.04002930196,0.547775513858,-0.0012728005998,1.03969858642
+350,5.833333333,pose2_to_pose3_retreat,0.576970770191,-0.00994534601011,1.04002913942,0.547541499997,-0.00127261785188,1.03969843351
+351,5.850000000,pose2_to_pose3_retreat,0.576764061886,-0.00994542818992,1.04002911334,0.547334792955,-0.00127269612604,1.03969839748
+352,5.866666667,pose2_to_pose3_retreat,0.57658537608,-0.00994559137407,1.04002925199,0.547156108527,-0.00127285447203,1.03969854038
+353,5.883333333,pose2_to_pose3_retreat,0.576432724638,-0.00994551739494,1.04002907358,0.547003454781,-0.00127278829998,1.03969836239
+354,5.900000000,pose2_to_pose3_retreat,0.576305008729,-0.0099456149159,1.04002920965,0.546875740183,-0.00127288166373,1.03969849073
+355,5.916666667,pose2_to_pose3_retreat,0.576195997575,-0.00994554364726,1.04002917064,0.546766728822,-0.00127281073806,1.03969846121
+356,5.933333333,pose2_to_pose3_retreat,0.576103524278,-0.00994550339637,1.04002914752,0.546674256116,-0.00127276832272,1.03969844298
+357,5.950000000,pose2_to_pose3_retreat,0.576022975168,-0.00994531098526,1.04002938737,0.546593705818,-0.00127258025153,1.03969867472
+358,5.966666667,pose2_to_pose3_retreat,0.575953696602,-0.00994543224988,1.04002910983,0.546524427013,-0.00127270209164,1.03969840322
+359,5.983333333,pose2_to_pose3_retreat,0.575895353816,-0.00994545472313,1.04002896762,0.54646608459,-0.00127272345584,1.0396982577
+360,6.000000000,pose2_to_pose3_retreat,0.575847475199,-0.00994542026028,1.04002910515,0.546418205494,-0.0012726906933,1.03969839318
+361,6.016666667,pose2_to_pose3_retreat,0.575810543195,-0.00994537495553,1.04002923319,0.546381272234,-0.00127264952723,1.03969852453
+362,6.033333333,pose2_to_pose3_retreat,0.575782056539,-0.00994544785399,1.04002910953,0.546352785971,-0.00127272102413,1.03969840268
+363,6.050000000,pose2_to_pose3_retreat,0.575761304288,-0.00994558095391,1.04002897981,0.546332035277,-0.00127284892621,1.03969827069
+364,6.066666667,pose2_to_pose3_retreat,0.575745598722,-0.00994561857657,1.04002918564,0.546316330296,-0.00127288474162,1.03969847194
+365,6.083333333,pose2_to_pose3_retreat,0.575734213175,-0.00994537539522,1.04002918771,0.546304942223,-0.00127265011822,1.03969847443
+366,6.100000000,pose2_to_pose3_retreat,0.575726136014,-0.00994534640872,1.0400291892,0.54629686512,-0.00127262093341,1.03969847605
+367,6.116666667,pose2_to_pose3_retreat,0.575720835431,-0.00994538545387,1.0400291813,0.546291565273,-0.00127265747584,1.0396984684
+368,6.133333333,pose2_to_pose3_retreat,0.575718063271,-0.00994540277735,1.04002911289,0.546288793089,-0.00127267481132,1.03969840176
+369,6.150000000,pose2_to_pose3_retreat,0.575716393068,-0.0099454132146,1.04002907168,0.546287122871,-0.0012726852558,1.0396983616
+370,6.166666667,pose2_to_pose3_retreat,0.575715487107,-0.00994541887604,1.04002904932,0.546286216902,-0.00127269092115,1.03969833983
+371,6.183333333,pose2_to_pose3_retreat,0.575714696367,-0.00994544231386,1.04002903923,0.54628542633,-0.00127271377168,1.03969833013
+372,6.200000000,pose2_to_pose3_retreat,0.575714041073,-0.00994547781167,1.04002903906,0.546284771328,-0.00127274826941,1.03969833019
+373,6.216666667,pose2_to_pose3_retreat,0.575713491731,-0.00994550756998,1.04002903892,0.546284222231,-0.00127277718933,1.03969833023
+374,6.233333333,pose2_to_pose3_retreat,0.575713041386,-0.00994553196555,1.0400290388,0.546283772087,-0.0012728008976,1.03969833027
+375,6.250000000,pose2_to_pose3_retreat,0.575712657903,-0.00994555273916,1.0400290387,0.546283388774,-0.00127282108595,1.03969833031
+376,6.266666667,pose2_to_pose3_retreat,0.575712203065,-0.00994557737812,1.04002903858,0.546282934139,-0.00127284503075,1.03969833035
+377,6.283333333,pose2_to_pose3_retreat,0.575711722791,-0.00994560339494,1.04002903845,0.546282454079,-0.0012728703146,1.03969833039
+378,6.300000000,pose2_to_pose3_retreat,0.57571137687,-0.00994556571768,1.0400290872,0.546282107955,-0.0012728333611,1.03969837816
+379,6.316666667,pose2_to_pose3_retreat,0.57571122854,-0.00994554640118,1.04002911084,0.546281959519,-0.00127281442507,1.03969840133
+380,6.333333333,pose2_to_pose3_retreat,0.57571106106,-0.0099455245907,1.04002913754,0.546281791918,-0.00127279304418,1.03969842748
+381,6.350000000,pose2_to_pose3_retreat,0.575710760966,-0.00994548551024,1.04002918536,0.546281491608,-0.00127275473347,1.03969847434
+382,6.366666667,pose2_to_pose3_retreat,0.575710396006,-0.00994543798255,1.04002924353,0.546281126385,-0.00127270814192,1.03969853132
+383,6.383333333,pose2_to_pose3_retreat,0.575710184791,-0.00994541047669,1.04002927719,0.546280915019,-0.00127268117783,1.0396985643
+384,6.400000000,pose2_to_pose3_retreat,0.575710156599,-0.00994540680526,1.04002928169,0.546280886806,-0.00127267757871,1.0396985687
+385,6.416666667,pose2_to_pose3_retreat,0.575710023027,-0.00994538941053,1.04002930298,0.546280753137,-0.0012726605266,1.03969858956
+386,6.433333333,pose2_to_pose3_retreat,0.575709915285,-0.00994538638175,1.04002929565,0.546280645104,-0.00127265852834,1.03969858118
+387,6.450000000,pose2_to_pose3_retreat,0.575709873266,-0.00994538739393,1.04002928791,0.546280602928,-0.00127266009278,1.03969857289
+388,6.466666667,pose2_to_pose3_retreat,0.575709839555,-0.00994538820596,1.04002928171,0.546280569093,-0.00127266134786,1.03969856623
+389,6.483333333,pose2_to_pose3_retreat,0.575709769528,-0.00994538989283,1.04002926881,0.546280498804,-0.0012726639551,1.03969855241
+390,6.500000000,pose2_to_pose3_retreat,0.575709701656,-0.00994539152777,1.04002925631,0.546280430679,-0.00127266648208,1.03969853902
+391,6.516666667,pose2_to_pose3_retreat,0.575709615544,-0.00994539360208,1.04002924045,0.546280344246,-0.00127266968816,1.03969852202
+392,6.533333333,pose2_to_pose3_retreat,0.575709517143,-0.00994539597241,1.04002922233,0.546280245479,-0.00127267335176,1.0396985026
+393,6.550000000,pose2_to_pose3_retreat,0.575709508248,-0.00994539618668,1.04002922069,0.546280236551,-0.00127267368294,1.03969850084
+394,6.566666667,pose2_to_pose3_retreat,0.575709396945,-0.00994536884702,1.04002924296,0.546280125501,-0.00127264538155,1.03969852579
+395,6.583333333,pose2_to_pose3_retreat,0.575709274344,-0.00994532908059,1.04002928123,0.546280003395,-0.00127260377626,1.03969856834
+396,6.600000000,pose2_to_pose3_retreat,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471553,1.03969857335
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_06/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_06/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..472e11ba9fcce349ddfb1a6e85a345722696d6a1
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_06/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b69d436b7a74cacd435f925dc436d8d44a39a3a167406ca6827f06e9f90b714a
+size 25427308
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_06/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_06/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5a7b29e4c67edf18208ed0992c65f528dc3951d9
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_06/depth_04/franka_data.csv
@@ -0,0 +1,401 @@
+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,763,742,712,671,660,633,876,784,800,650,629,650,0.400971790752,-0.0154158525904,0.0498524464169,0.999999963297,-2.93311070079e-05,-0.000263872069227,-5.40195497586e-05,1793193461889698560
+1,0.016666667,BASELINE,763.596306817,742,712,671,659.403693183,633,876.596306817,784,800,649.403693183,629,650.596306817,0.40097233341,-0.0154146780089,0.0498529539812,0.99999996354,-2.91764886248e-05,-0.000262885396604,-5.44022785872e-05,1793193461906364928
+2,0.033333333,BASELINE,764,742,712,671,659.191300691,633,877,784,800,649.191300691,629,650.808699309,0.400972803166,-0.0154137315415,0.0498531582615,0.999999963708,-2.83236131013e-05,-0.000262318053166,-5.45008022698e-05,1793193461923031552
+3,0.050000000,BASELINE,764,742,712,671,659.78354292,633,877,784,800,649.78354292,629,650.21645708,0.400973120128,-0.0154132631715,0.0498527268981,0.999999963716,-2.60072807836e-05,-0.000262629569345,-5.40036687513e-05,1793193461939698176
+4,0.066666667,BASELINE,764,742,712,671,660,633,877,784,800,650,629,650.368411432,0.400973776072,-0.0154138363041,0.0498528005191,0.999999963824,-2.60905352909e-05,-0.000262258145624,-5.37834174496e-05,1793193461956364544
+5,0.083333333,BASELINE,764,742,712,671,660,633,877,784,800,650,629,650.949032553,0.400974627273,-0.0154150093556,0.0498531650175,0.999999963988,-2.75559825896e-05,-0.000261493339782,-5.37226538701e-05,1793193461973031424
+6,0.100000000,BASELINE,763.476514471,742.523485529,712,671.523485529,659.476514471,633,877,784,800,649.476514471,629,651,0.400973583359,-0.0154143445736,0.0498531044218,0.999999963709,-2.85902691327e-05,-0.000262342020869,-5.42347802214e-05,1793193461989698048
+7,0.116666667,BASELINE,763.099441437,742.900558563,712,671.900558563,659,633,877,784,800,649,628.900558563,651,0.400972959198,-0.015413641798,0.0498532512118,0.999999963576,-2.918053231e-05,-0.000262698655093,-5.46431725506e-05,1793193462006364672
+8,0.133333333,BASELINE,763.685659827,742.314340173,712,671.314340173,659,633,877,784,800,649,628.314340173,651,0.400975282467,-0.0154136187432,0.0498546134166,0.99999996437,-2.78003480701e-05,-0.000259886638003,-5.42739176006e-05,1793193462023031552
+9,0.150000000,BASELINE,764,742,712,671,659,633,877,784,800,649,628.27059219,651,0.400975726992,-0.01541378915,0.0498549997955,0.99999996464,-2.74292189481e-05,-0.000258919232732,-5.41221705352e-05,1793193462039698176
+10,0.166666667,BASELINE,764,742,712,671,659,633,877,784,800,649,628.854037636,651,0.400973999351,-0.0154141832334,0.0498542579438,0.99999996431,-2.82247391808e-05,-0.000260084530792,-5.4221901743e-05,1793193462056364800
+11,0.183333333,BASELINE,764,742,712,671,659,633,877,784,800,649,629.43101781,651,0.400973566856,-0.0154148983997,0.0498539586012,0.999999964076,-2.89936614505e-05,-0.0002609222224,-5.40987197333e-05,1793193462073031424
+12,0.200000000,BASELINE,764,742.005835536,712,671,659,633,877,784,800,649.005835536,629.988328928,651,0.400973563301,-0.0154157086713,0.0498538058818,0.999999963876,-2.97329246688e-05,-0.000261644582995,-5.39034089013e-05,1793193462089698048
+13,0.216666667,BASELINE,764,742.58012585,712,671,659,633,877,784,800,649.58012585,628.8397483,651,0.400973250557,-0.0154153479293,0.0498535541925,0.999999963877,-2.84474729978e-05,-0.000261779733489,-5.39267132892e-05,1793193462106364672
+14,0.233333333,BASELINE,764,742.841623005,712,671,659,633,877,784,800,649.841623005,628.158376995,651,0.400973007972,-0.0154149125016,0.0498535131952,0.99999996395,-2.75081245884e-05,-0.000261593212728,-5.39749134414e-05,1793193462123031296
+15,0.250000000,BASELINE,764,742.252601807,712,671,659,633,877,784,800,649.252601807,628.747398193,651,0.400972956155,-0.0154142739955,0.0498540450922,0.99999996422,-2.75098681518e-05,-0.000260532033008,-5.40908078797e-05,1793193462139698176
+16,0.266666667,BASELINE,763.668610767,742,711.668610767,671,659,632.668610767,876.668610767,784,800,649,629,651,0.400971962231,-0.0154144100441,0.0498535437481,0.999999963942,-2.73855740803e-05,-0.000261617936493,-5.40556992783e-05,1793193462156364800
+17,0.283333333,BASELINE,763.088396676,742,711.088396676,671,659,632.088396676,876.088396676,784,800,649,629,651,0.400970260923,-0.0154151276701,0.0498522665912,0.999999963247,-2.71666441743e-05,-0.000264315985576,-5.39072094672e-05,1793193462173031424
+18,0.300000000,BASELINE,763,742,711.484306615,671,659,632.484306615,876.484306615,784,800,649.484306615,629,650.515693385,0.400971871162,-0.015415274562,0.0498531090277,0.999999963654,-2.69553326516e-05,-0.000262808001392,-5.38303409265e-05,1793193462189698304
+19,0.316666667,BASELINE,763.057169216,742,712,671,659,633,877,784,799.942830784,649.942830784,629,650.057169216,0.400973961524,-0.0154153309765,0.0498542563991,0.999999964219,-2.68418113778e-05,-0.000260671252133,-5.37684608713e-05,1793193462206364672
+20,0.333333333,BASELINE,763.644015242,742,712,671,659,633,877,784,799.355984758,649.355984758,629,650.644015242,0.400974985686,-0.015415499528,0.0498546993501,0.99999996445,-2.76216370881e-05,-0.000259713068214,-5.37261825068e-05,1793193462223031552
+21,0.350000000,BASELINE,764,742,712,671,659.230236707,633,877,784,799.230236707,649.230236707,629,651,0.400974846843,-0.0154155199807,0.0498546807583,0.99999996445,-2.82325780549e-05,-0.000259634137968,-5.37930042045e-05,1793193462239698176
+22,0.366666667,BASELINE,764,742,712,671,659.815495051,633,877,784,799.815495051,649.815495051,629,651,0.400972914661,-0.0154153120672,0.0498539504744,0.999999964095,-2.85831011431e-05,-0.000260911004123,-5.40280566081e-05,1793193462256364800
+23,0.383333333,BASELINE,764,742,712,671,659.607925855,633,876.607925855,784,800,649.607925855,629,650.607925855,0.400973157865,-0.0154154770914,0.0498542041641,0.999999964188,-2.84644677966e-05,-0.000260617660978,-5.37880298695e-05,1793193462273031424
+24,0.400000000,BASELINE,764,742,712,671,659.035342598,633,876.035342598,784,800,649.035342598,629,650.035342598,0.400974402606,-0.0154158138143,0.0498549108707,0.999999964486,-2.81298370401e-05,-0.000259601400885,-5.33292789238e-05,1793193462289698048
+25,0.416666667,BASELINE,764,742,711.460685299,671,659,633,876,784,799.460685299,649.539314701,628.460685299,650.539314701,0.400973592078,-0.0154155665891,0.049854318586,0.999999964185,-2.78885571821e-05,-0.000260750581732,-5.34910136874e-05,1793193462306364928
+26,0.433333333,BASELINE,764,742,711.117140197,671,659,633,876,784.117140197,799.117140197,649.882859803,628.117140197,650.882859803,0.400972974195,-0.015415483265,0.0498538394059,0.999999963935,-2.82567855965e-05,-0.000261619481784,-5.37211519106e-05,1793193462323031552
+27,0.450000000,BASELINE,764,742,711.707205852,671,659,633,876,784.707205852,799.707205852,649.292794148,628.707205852,650.292794148,0.400973679942,-0.0154162167443,0.0498541618614,0.999999964053,-3.10609641065e-05,-0.000260781690149,-5.40626562086e-05,1793193462339698176
+28,0.466666667,BASELINE,763.707879933,742,711.707879933,671,659,633,876.292120067,784.707879933,800,649,629,650.292120067,0.400973497432,-0.0154160696627,0.0498537831195,0.999999964031,-3.12665347262e-05,-0.000260791309374,-5.42969540051e-05,1793193462356364800
+29,0.483333333,BASELINE,763.128039604,742,711.128039604,671,659,633,876.871960396,784.128039604,800,649,629,650.871960396,0.400972440046,-0.0154150552828,0.0498527137415,0.999999963874,-2.89126365672e-05,-0.000261635576118,-5.44256599848e-05,1793193462373031424
+30,0.500000000,BASELINE,763.44680129,742,711.44680129,671,659,633,876.55319871,784,800,649.44680129,629,651,0.400971512191,-0.0154158338498,0.0498524390654,0.999999963698,-2.89809778484e-05,-0.000262393634821,-5.39778394856e-05,1793193462389698048
+31,0.516666667,BASELINE,764,742,712,671,659,633,876,784,800,649.98047603,629,650.98047603,0.400970717985,-0.0154170471147,0.0498524437824,0.999999963542,-2.96928640604e-05,-0.000263026890828,-5.34042234827e-05,1793193462406364672
+32,0.533333333,BASELINE,764,742,712,671,659,633,876,784,800,649.426937168,629,650.426937168,0.400972575276,-0.0154162522069,0.0498539303024,0.999999964084,-2.92309810351e-05,-0.000260914810875,-5.38587921027e-05,1793193462423031296
+33,0.550000000,BASELINE,764,742,712,671,659,633,876.142151219,784,799.857848781,649,629,650.142151219,0.400974052034,-0.0154157174284,0.0498551001962,0.999999964559,-2.8263792844e-05,-0.000259151626728,-5.40686392041e-05,1793193462439697920
+34,0.566666667,BASELINE,764,742,712,671,659,633,876.763676934,784,799.236323066,649,629,650.763676934,0.40097424553,-0.0154160598805,0.0498552023359,0.999999964816,-2.55925714625e-05,-0.000258565019285,-5.34532153854e-05,1793193462456364800
+35,0.583333333,BASELINE,764,742,712,671,659,633,877,784,799.358257929,649,629,651,0.400974305151,-0.0154156019629,0.0498552476922,0.999999964879,-2.57180168224e-05,-0.000258312252135,-5.34369773305e-05,1793193462473031424
+36,0.600000000,BASELINE,764,742,712,671,659,633,877,784,799.936308307,649,629,651,0.40097428264,-0.0154146530159,0.0498552582116,0.999999964823,-2.75592264144e-05,-0.000258264297074,-5.37883417058e-05,1793193462489698048
+37,0.616666667,BASELINE,764,742,712,671,659,633,877,784,800,649.510871652,629,651,0.400973631393,-0.0154155398302,0.0498547499107,0.999999964592,-2.8519603661e-05,-0.000259031463792,-5.39059859571e-05,1793193462506364672
+38,0.633333333,BASELINE,764,742,712,671.08721631,659,633,877,784,800,650,629,651,0.400972970019,-0.0154163866275,0.0498541918173,0.999999964357,-2.93039710491e-05,-0.000259832503163,-5.39866412029e-05,1793193462523031296
+39,0.650000000,BASELINE,764,742,712,671.676295927,659,633,877,784,800,650,629,651,0.400972698374,-0.0154156951191,0.0498537168818,0.999999964235,-2.97031577184e-05,-0.000260247653692,-5.40209860849e-05,1793193462539697920
+40,0.666666667,BASELINE,764,742,712,671.739014812,659,633,876.739014812,784,800.260985188,650,629,651,0.400972890297,-0.0154156924996,0.0498536831162,0.999999964276,-2.9607362387e-05,-0.000260126257642,-5.38963985689e-05,1793193462556364800
+41,0.683333333,BASELINE,764,742,712,671.159680925,659,633,876.159680925,784,800.840319075,650,629,651,0.400973647678,-0.0154165301841,0.0498541874879,0.999999964516,-2.89077899452e-05,-0.00025935038417,-5.35779459402e-05,1793193462573031424
+42,0.700000000,BASELINE,764,742,712,671,659,633,876,784,801,650,629,651,0.400973235814,-0.0154154564875,0.049854454668,0.999999964447,-2.82635456157e-05,-0.000259618083996,-5.38969160537e-05,1793193462589698304
+43,0.716666667,BASELINE,764,742,712,671,659,633,876,784,801,650,629,651,0.400972379046,-0.0154136554968,0.0498546315949,0.999999964262,-2.7640354039e-05,-0.000260282870841,-5.44584300236e-05,1793193462606364928
+44,0.733333333,BASELINE,764,742,712,671.578714337,659,633,876.578714337,784,800.421285663,650,629,651,0.400973690915,-0.0154163743811,0.0498550453617,0.999999964646,-2.95462032082e-05,-0.000258707878727,-5.39034820651e-05,1793193462623031552
+45,0.750000000,BASELINE,764,742.162922985,712,671.837077015,659,633,877,784,800,650,629,651,0.400974619599,-0.0154179331416,0.0498553403591,0.999999964918,-3.02833160546e-05,-0.000257647087789,-5.35307258467e-05,1793193462639698432
+46,0.766666667,BASELINE,764,742.742292231,712,671.257707769,659,633,877,784,800,650,629,651,0.400974498063,-0.0154163790359,0.0498553240429,0.999999964894,-2.79505083139e-05,-0.000257973726323,-5.3660098527e-05,1793193462656364800
+47,0.783333333,BASELINE,764,742.678656964,712,671,659.321343036,633,877,784,800,650,629,650.678656964,0.400974415696,-0.0154158566378,0.0498549154908,0.999999964762,-2.76721195578e-05,-0.000258482759813,-5.38158814738e-05,1793193462673031680
+48,0.800000000,BASELINE,764,742.099861224,712,671,659.900138776,633,877,784,800,650,629,650.099861224,0.400974364708,-0.0154161608201,0.0498541926881,0.999999964545,-2.90396841381e-05,-0.000259137924014,-5.39928237374e-05,1793193462689698304
+49,0.816666667,BASELINE,764,742,712,671,660,633,877,784,800,650,629,650,0.400974261054,-0.0154151676529,0.049854836257,0.999999964738,-2.81608170319e-05,-0.00025851620845,-5.38570220955e-05,1793193462706364672
+50,0.833333333,BASELINE,764,742.050907221,712,671,660,633,877.050907221,784.050907221,800,650,629,650.050907221,0.4009742009,-0.0154140058715,0.0498556339686,0.999999964988,-2.67728358804e-05,-0.000257728749073,-5.36940548699e-05,1793193462723031296
+51,0.850000000,BASELINE,764,742.626884105,712,671,660,633,877.626884105,784.626884105,800,650,629,650.626884105,0.400974702678,-0.0154138950303,0.0498550830373,0.999999964958,-2.49648866025e-05,-0.000257977815509,-5.39234799117e-05,1793193462739697920
+52,0.866666667,BASELINE,764,742.791964601,712,671.208035399,659.791964601,633,877.791964601,785,800,650,629,651,0.400974537597,-0.0154143430974,0.049854797577,0.999999964861,-2.47970023562e-05,-0.000258358128559,-5.39844303151e-05,1793193462756364800
+53,0.883333333,BASELINE,764,742.201296215,712,671.798703785,659.201296215,633,877.201296215,785,800,650,629,651,0.400973145988,-0.015415819147,0.0498550003892,0.999999964639,-2.7645638422e-05,-0.000258979839379,-5.37355105831e-05,1793193462773031424
+54,0.900000000,BASELINE,764,742,712,671.619456502,659,633,877,785,800,649.619456502,628.619456502,651,0.400973432161,-0.0154166890101,0.0498552196068,0.99999996463,-2.77700819228e-05,-0.000259101581531,-5.32491283865e-05,1793193462789698304
+55,0.916666667,BASELINE,764,742,712,671.042181022,659,633,877,785,800,649.042181022,628.042181022,651,0.400974585708,-0.0154172454892,0.0498554473057,0.999999964732,-2.64861822605e-05,-0.000258964851699,-5.26399837244e-05,1793193462806364928
+56,0.933333333,BASELINE,764,742,712,671,659,633,876.465589526,784.465589526,800,649,628.534410474,651,0.400973670186,-0.0154164089171,0.0498547743131,0.999999964542,-2.71518295511e-05,-0.000259479687421,-5.33684516586e-05,1793193462823031552
+57,0.950000000,BASELINE,764,742,712,671,659,633,876.113062059,784,800,649,629,651,0.400973014629,-0.0154158449778,0.0498543223655,0.999999964437,-2.8028837241e-05,-0.000259667211456,-5.39734785221e-05,1793193462839698176
+58,0.966666667,BASELINE,764,742,712,671,659,633,876.700584838,784,800,649,629,651,0.400974134467,-0.0154168859575,0.0498550959771,0.999999964787,-2.91478939125e-05,-0.000258265643903,-5.36180024516e-05,1793193462856364800
+59,0.983333333,BASELINE,764,742,712,671,659,633,877,784,800,649.285009179,629,651,0.400974503834,-0.0154177863577,0.0498552768216,0.999999964857,-3.02434022975e-05,-0.000257907076185,-5.34406335674e-05,1793193462873031424
+60,1.000000000,BASELINE,764,742,712,671,659,633,877,784,800,649.866213546,629,651,0.400974093279,-0.0154185406611,0.0498548416342,0.999999964636,-3.13144383124e-05,-0.000258632443678,-5.34483621579e-05,1793193462889698048
+61,1.016666667,BASELINE,764,742.4415028,711.5584972,671.4415028,659.4415028,633,876.5584972,784,800,650,629,651,0.400973631294,-0.0154170043076,0.0498545560796,0.999999964388,-2.97421363131e-05,-0.000259763389435,-5.35072529438e-05,1793193462906364928
+62,1.033333333,BASELINE,764,742.984939076,711.015060924,671.984939076,659.984939076,633,876,784,800,650,629,651,0.400973189662,-0.0154148806175,0.0498543462151,0.99999996415,-2.74975883962e-05,-0.000260908216132,-5.35804301081e-05,1793193462923031296
+63,1.050000000,BASELINE,764,742.409981826,711.590018174,671.409981826,659.409981826,633,876,784,800,650,629,651,0.400974076352,-0.0154163857386,0.0498552868206,0.999999964826,-2.96457713496e-05,-0.000258060602993,-5.36159825763e-05,1793193462939698176
+64,1.066666667,BASELINE,764,742,712,671.1696523,659,633,876.3393046,784,800,650,629,651,0.400974877214,-0.0154174704164,0.0498560264058,0.99999996534,-3.09780239216e-05,-0.000255903936909,-5.35972776057e-05,1793193462956364800
+65,1.083333333,BASELINE,764,742,712,671.760908934,659,633,877.521817867,784,800,650,629,651,0.400975464784,-0.0154175102469,0.0498562664342,0.999999965482,-3.02826010263e-05,-0.000255464349241,-5.34437370252e-05,1793193462973031424
+66,1.100000000,BASELINE,764,742,712,671.654266765,659.345733235,633,877.30853353,784,800,650,629,650.654266765,0.400975912716,-0.0154172176554,0.049856135386,0.999999965442,-2.86608529139e-05,-0.000255815676373,-5.34121394789e-05,1793193462989698048
+67,1.116666667,BASELINE,764,742,712,671.073809504,659.926190496,633,876.147619008,784,800,650,629,650.073809504,0.400976265846,-0.0154166993771,0.0498557524078,0.999999965274,-2.64102072822e-05,-0.000256703968692,-5.34633310862e-05,1793193463006364672
+68,1.133333333,BASELINE,764,742,712,671,659.499779124,633,876.500220876,784.500220876,799.499779124,650,629,650.500220876,0.400974003907,-0.0154170810645,0.0498546846382,0.999999964922,-2.7836928185e-05,-0.000257949446429,-5.33248504383e-05,1793193463023031552
+69,1.150000000,BASELINE,764,742.075249478,712,671,659.075249478,633,877,784.924750522,799.075249478,650,629,651,0.400971788788,-0.0154172479459,0.0498536614079,0.999999964575,-2.93035040805e-05,-0.000259142124273,-5.32631269718e-05,1793193463039698176
+70,1.166666667,BASELINE,764,742.663465068,712,671,659.663465068,633,877,784.336534932,799.663465068,650,629,651,0.400972489846,-0.0154150567699,0.0498536218616,0.99999996447,-2.73897864899e-05,-0.000259620151859,-5.39130103299e-05,1793193463056364544
+71,1.183333333,BASELINE,764,742.7521674,712,671,659.7521674,633,877.2478326,784.2478326,800,650,629,651,0.400973318351,-0.015415061491,0.0498538032575,0.999999964467,-2.78639469895e-05,-0.000259558757456,-5.40331999684e-05,1793193463073031424
+72,1.200000000,BASELINE,764,742.172945221,712,671,659.172945221,633,877.827054779,784.827054779,800,650,629,651,0.400974317272,-0.0154180024575,0.0498542800864,0.999999964592,-3.15310605154e-05,-0.000258776074529,-5.34451092737e-05,1793193463089698304
+73,1.216666667,BASELINE,764,742,712,671,659.403133025,633,877.193733951,784.596866975,800,649.596866975,629,651,0.400974483143,-0.015418160276,0.0498547792813,0.99999996476,-3.10250509897e-05,-0.000258207629658,-5.33431993158e-05,1793193463106364672
+74,1.233333333,BASELINE,764,742,712,671,659.977872916,633,876.044254169,784.022127084,800,649.022127084,629,651,0.400974294397,-0.0154171333555,0.0498552879971,0.999999964946,-2.8742613794e-05,-0.00025773038233,-5.34482482572e-05,1793193463123031552
+75,1.250000000,BASELINE,764,742,712,671.5549953,659.4450047,633,876,784,800,649.5549953,629,651,0.400974575841,-0.0154181293743,0.0498557045716,0.999999964933,-3.01576577421e-05,-0.000257576998004,-5.36572717246e-05,1793193463139697920
+76,1.266666667,BASELINE,764,742.134950467,712,671.865049533,659.134950467,633,876.134950467,784.134950467,800,649.865049533,629,650.865049533,0.400974776411,-0.0154186576746,0.0498559690313,0.999999964889,-3.15666664067e-05,-0.000257540663216,-5.38321074075e-05,1793193463156364544
+77,1.283333333,BASELINE,764,742.724119133,712,671.275880867,659.724119133,633,876.724119133,784.724119133,800,649.275880867,629,650.275880867,0.400974641411,-0.0154173390899,0.0498557339192,0.999999964777,-3.24570516341e-05,-0.000257854648404,-5.38778606971e-05,1793193463173031424
+78,1.300000000,BASELINE,764,742.691461455,712,671,659.691461455,633,876.691461455,784.691461455,800,649.308538545,629,650.308538545,0.400974486953,-0.0154160156534,0.0498555137376,0.999999964762,-3.15740284918e-05,-0.000258006703158,-5.395145825e-05,1793193463189698048
+79,1.316666667,BASELINE,764,742.111224261,712,671,659.111224261,633,876.111224261,784.111224261,800,649.888775739,629,650.888775739,0.400974315361,-0.0154146879442,0.0498553067038,0.999999964829,-2.91293441604e-05,-0.000258016162162,-5.40495754231e-05,1793193463206364672
+80,1.333333333,BASELINE,764,742,712,671,659,633,876,784,799.535518243,650,629,651,0.400974602076,-0.0154152303463,0.0498550678201,0.999999964965,-2.80603377612e-05,-0.000257660036163,-5.37984009283e-05,1793193463223031296
+81,1.350000000,BASELINE,764,742,712,671.039922408,659,633,876.039922408,784,799.079844816,650,629,650.960077592,0.400974997622,-0.0154162170098,0.0498549051798,0.999999965111,-2.75466192649e-05,-0.00025721258417,-5.34894406284e-05,1793193463239697920
+82,1.366666667,BASELINE,764,742,712,671.626441345,659,633,876.626441345,784,800.252882691,650,629,650.373558655,0.400975395154,-0.0154172142588,0.0498558898372,0.999999965165,-3.01689633734e-05,-0.000256701752166,-5.35234124541e-05,1793193463256364800
+83,1.383333333,BASELINE,764,742,711.788956006,671.788956006,659,633,876.788956006,784,800.788956006,650,629,650.211043994,0.400975209693,-0.0154176973462,0.0498563210411,0.999999965123,-3.13595903776e-05,-0.000256725828896,-5.34971513489e-05,1793193463273031680
+84,1.400000000,BASELINE,764,742,711.207714667,671.207714667,659,633,876.207714667,784,800.207714667,650,629,650.792285333,0.400974001594,-0.0154172785302,0.0498557814194,0.999999964923,-3.0038808425e-05,-0.000257688201811,-5.33652342175e-05,1793193463289699328
+85,1.416666667,BASELINE,764,742,711.370206745,671,659.370206745,633,876,784.370206745,799.629793255,649.629793255,629,651,0.400972698024,-0.0154165313005,0.0498548127598,0.999999964538,-2.89994799711e-05,-0.000259249669516,-5.36013736024e-05,1793193463306366208
+86,1.433333333,BASELINE,764,742,711.946281942,671,659.946281942,633,876,784.946281942,799.053718058,649.053718058,629,651,0.400971341364,-0.015415601443,0.0498536055164,0.999999964046,-2.81166652126e-05,-0.000261144288082,-5.40421857268e-05,1793193463323032576
+87,1.450000000,BASELINE,764,742,712,671.521014793,660,633,876.521014793,784.478985207,799.521014793,649.521014793,629,651,0.400972283714,-0.0154160943751,0.049854453192,0.999999964351,-2.89229773221e-05,-0.000259931760309,-5.38177167457e-05,1793193463339698944
+88,1.466666667,BASELINE,764,742.098399321,712,671.901600679,660,633,877,784,800,650,629,650.901600679,0.400973436086,-0.0154166087457,0.0498554404628,0.999999964726,-2.96085739998e-05,-0.00025845411858,-5.36011522699e-05,1793193463356365056
+89,1.483333333,BASELINE,764,742.689759778,712,671.310240222,660,633,877,784,800,650,629,650.310240222,0.400974456184,-0.0154164975023,0.04985606839,0.999999965051,-2.88191770647e-05,-0.000257249100979,-5.37669386614e-05,1793193463373031424
+90,1.500000000,BASELINE,764,742.725338593,712,671,659.725338593,633,876.725338593,784,800,650,629,650.274661407,0.400974410172,-0.0154161995124,0.0498560137801,0.999999965061,-2.7937926514e-05,-0.000257283905452,-5.38788253275e-05,1793193463389698048
+91,1.516666667,BASELINE,764,742.147564873,712,671,659.147564873,633,876.147564873,784,800,650,629,650.852435127,0.400973187615,-0.0154156954316,0.049855205932,0.999999964723,-2.69553077081e-05,-0.000258686959519,-5.39312290336e-05,1793193463406364672
+92,1.533333333,BASELINE,764,742,712,671,659.428396548,633,876.428396548,784.428396548,800,650,629,651,0.400973145471,-0.015416112677,0.0498547749462,0.99999996459,-2.75725781152e-05,-0.000259162322682,-5.38070932226e-05,1793193463423031808
+93,1.550000000,BASELINE,764,742,712,671,659.996176387,633,877,785,800,650,629,651,0.400973503823,-0.0154168535916,0.0498544763445,0.999999964526,-2.87466586152e-05,-0.000259317238766,-5.36227767143e-05,1793193463439699200
+94,1.566666667,BASELINE,764,742,712,671,659.407404717,633,877,785,800,650,629,651,0.400973190004,-0.015418764414,0.0498546546818,0.99999996451,-3.11501046153e-05,-0.000259129147224,-5.34956300926e-05,1793193463456365568
+95,1.583333333,BASELINE,763.821611635,742,712,671.178388365,659.178388365,633,876.821611635,785,800,650,629,651,0.400973252236,-0.0154189516463,0.0498548984767,0.999999964614,-3.13520798174e-05,-0.000258683404153,-5.35933470581e-05,1793193463473031936
+96,1.600000000,BASELINE,763.242509244,742,712,671.757490756,659.757490756,633,876.242509244,785,800,650,629,651,0.40097415919,-0.0154152671761,0.0498552893088,0.999999964983,-2.66088886424e-05,-0.000257658898067,-5.41961753798e-05,1793193463489698304
+97,1.616666667,BASELINE,763.335503699,742,712,672,659.664496301,633,876.335503699,785,800,649.664496301,629,651,0.400974354234,-0.0154149353793,0.0498555426356,0.999999965128,-2.59035351374e-05,-0.000257206273919,-5.40262618791e-05,1793193463506364672
+98,1.633333333,BASELINE,763.91273168,742,712,672,659.08726832,633,876.91273168,785,800,649.08726832,629,651,0.400974036359,-0.0154170191227,0.0498556968923,0.999999965117,-2.81073701457e-05,-0.000257165680318,-5.32996019853e-05,1793193463523031296
+99,1.650000000,BASELINE,764,742,712,671.512940617,659,633,877,785,800,649.487059383,629,651,0.400972820382,-0.0154166712938,0.0498554742788,0.999999964761,-2.86012314758e-05,-0.00025845552208,-5.34936543274e-05,1793193463539698176
+100,1.666666667,BASELINE,764,742.062651713,712,671,659.062651713,633.062651713,877,784.937348287,800,650,629,651,0.400971836497,-0.0154159509154,0.0498553075547,0.999999964446,-2.8773449622e-05,-0.000259585568962,-5.38170845828e-05,1793193463556364800
+101,1.683333333,BASELINE,764,742.653253832,712,671,659.653253832,633.653253832,877,784.346746168,800,650,629,651,0.400974156365,-0.0154157407421,0.049856177447,0.999999965015,-2.8801787969e-05,-0.000257372192082,-5.38488383735e-05,1793193463573031424
+102,1.700000000,BASELINE,764,742.760779102,712,671,659.760779102,633.760779102,877,784,800,650,629,651,0.400974407245,-0.0154157924896,0.04985602183,0.999999965052,-2.88015052026e-05,-0.00025721888845,-5.39062255398e-05,1793193463589698048
+103,1.716666667,BASELINE,764,742.181402807,712,671,659.181402807,633.181402807,877,784,800,650,629,651,0.400971716169,-0.0154162166704,0.0498544080103,0.99999996433,-2.8760525211e-05,-0.000259994865172,-5.40000615722e-05,1793193463606364672
+104,1.733333333,BASELINE,764,742.395484217,712,671.395484217,659,633,877,784.395484217,800,650,629,651,0.40097177466,-0.0154164077653,0.0498541221561,0.999999964349,-2.88545442643e-05,-0.000259923807877,-5.39264936432e-05,1793193463623031296
+105,1.750000000,BASELINE,764,742.971236642,712,671.971236642,659,633,877,784.971236642,800,650,629,651,0.400973086449,-0.015416492616,0.0498544416102,0.999999964708,-2.90100980978e-05,-0.000258555025921,-5.37766202453e-05,1793193463639698176
+106,1.766666667,BASELINE,764,743,712,672,659,633,876.454324076,784.454324076,800,649.454324076,629,651,0.400974686682,-0.0154170174343,0.0498564702202,0.999999965259,-2.84377652175e-05,-0.000256603403775,-5.31816680624e-05,1793193463656364800
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,743,712,672,660,633,877,784,800,650,629,650,0.400969218219,-0.0154160051352,0.0498531337701,0.999999963615,-3.17860457169e-05,-0.000262376430646,-5.40196753795e-05,1793193463697871360
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,742.419799246,711.419799246,672,659.419799246,633,876.419799246,784,800,649.419799246,629,650,0.400971745111,-0.0154154177353,0.0498543718052,0.99999996437,-2.82653410904e-05,-0.000259883321861,-5.40466729121e-05,1793193463714537728
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,742.158896011,711.158896011,671.682207979,659,633,876.158896011,784,800,649.158896011,629,650.158896011,0.400973518486,-0.0154152614723,0.0498552034295,0.999999964847,-2.66038400389e-05,-0.000258241714476,-5.39332048071e-05,1793193463731204352
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,742.733651237,711.733651237,670.532697525,659,633,876.733651237,784,800,649.733651237,629,650.733651237,0.400973319774,-0.0154162335712,0.0498549714043,0.999999964631,-2.98082057688e-05,-0.000258828637678,-5.34521130686e-05,1793193463747870720
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,742.683983569,712,670.316016431,659,633,877,784.316016431,799.683983569,650,629,651,0.400973377995,-0.0154177328934,0.0498550861342,0.999999964603,-3.14533773377e-05,-0.000258809803587,-5.31240963945e-05,1793193463764537344
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,742.095046223,712,670.904953777,659,633,877,784.904953777,799.095046223,650,629,651,0.400973658112,-0.0154196875407,0.0498555003318,0.999999964744,-3.17519836123e-05,-0.00025826781997,-5.29282797958e-05,1793193463781203968
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,742,712,671,659.485549932,633,876.514450068,785,799.971099865,649.514450068,629,651,0.400975747974,-0.0154198585134,0.0498569428792,0.999999965546,-3.14415211793e-05,-0.000255171577483,-5.29722243815e-05,1793193463797870592
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,742,712,671,659.935740042,633,876.064259958,784.935740042,800.935740042,649,629,651,0.400978150382,-0.0154194709216,0.0498584789775,0.999999966374,-3.07489537625e-05,-0.000251984379027,-5.30160245017e-05,1793193463814537216
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,742,712,671,659.359269185,633,876.640730815,784.359269185,800.359269185,649,629,651,0.400980267999,-0.01541736713,0.0498591833222,0.999999966472,-2.79449412995e-05,-0.000251990290593,-5.269089075e-05,1793193463831203840
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,742.216497525,712,671,659,633,877,784,799.783502475,649.216497525,629,651,0.400987255868,-0.0154167204972,0.0498618726884,0.999999967655,-2.66369714289e-05,-0.000247462543554,-5.23781664502e-05,1793193463847870720
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,742.79109946,712,671,659,633,877,784,799.20890054,649.79109946,629,651,0.401002299529,-0.015418484123,0.0498678454406,0.999999970542,-2.78035772467e-05,-0.000235435758589,-5.2085968415e-05,1793193463864537344
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,743,712,671,659,633,876.624389043,784,799,650,629,650.624389043,0.401029330077,-0.01542081221,0.0498776848501,0.999999975136,-2.90679078957e-05,-0.000215145093453,-5.09454023396e-05,1793193463881203968
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,743,712,671,659,633,876.034216827,784,799,650,629,650.034216827,0.401063207928,-0.0154234627358,0.0498897330213,0.999999980247,-3.03880622604e-05,-0.000190133828528,-4.93202206495e-05,1793193463897870592
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,742.455453246,712,671,659,633,877.089093507,784,799.544546754,649.455453246,629,650.544546754,0.401122193137,-0.0154259290057,0.0499045514289,0.999999986001,-3.1053133167e-05,-0.000157377358702,-4.76124909895e-05,1793193463914537472
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,742,712,671,659,633,877.756236251,784.121881875,800,649,628.878118125,651,0.401185204972,-0.0154289915268,0.0499180014995,0.999999989969,-3.20981022587e-05,-0.000130112952342,-4.58609137973e-05,1793193463931204096
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,742,712,671,659,633,876.606961694,784.696519153,800,649,628.303480847,651,0.40125743438,-0.0154343110727,0.0499257352574,0.999999990616,-3.47040505903e-05,-0.00012502069142,-4.39653281233e-05,1793193463947870720
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,742,712,671.277635254,659,633,876,784.722364746,799.722364746,649.277635254,628.277635254,651,0.401335294555,-0.0154404321353,0.0499303910654,0.99999999107,-3.70913754194e-05,-0.000121186921576,-4.24137113135e-05,1793193463964537344
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,742,712,671.866002478,659,633,876,784.133997522,799.133997522,649.866002478,628.866002478,651,0.401419456734,-0.0154474502624,0.0499316020024,0.999999991328,-3.92340146261e-05,-0.000118761667013,-4.12470677856e-05,1793193463981203968
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,742,711.550820653,671.550820653,659,633,876.898358693,784,799.449179347,650,629,650.550820653,0.401523687241,-0.0154529877244,0.0499308549558,0.999999991028,-4.05436169844e-05,-0.000121052221598,-4.0589320215e-05,1793193463997870592
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,742,711.030339671,671.030339671,659,633,877.939320658,784.030339671,799.969660329,649.969660329,629,650.030339671,0.401635188181,-0.0154583422004,0.0499294310748,0.999999990522,-4.1812064349e-05,-0.000124917976098,-4.00358801366e-05,1793193464014537216
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,742,711.602818243,671.602818243,659,633,876.794363513,784.602818243,799.397181757,649.397181757,629,650.602818243,0.401770849977,-0.0154682295885,0.0499262308689,0.999999989438,-4.67349809088e-05,-0.000132079974499,-3.86645716372e-05,1793193464031204608
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,742,712,671.823017642,659,633,876,784.823017642,799.176982358,649,629,651,0.401919142996,-0.0154787300152,0.0499241248962,0.999999988618,-5.14390293649e-05,-0.000136879809738,-3.71695107204e-05,1793193464047871488
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,742,712,671.245034559,659,633,876,784.245034559,799.754965441,649,629,651,0.402096055403,-0.0154906194427,0.0499244982013,0.999999988533,-5.5647173109e-05,-0.000136327533513,-3.53940558951e-05,1793193464064537856
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,742,711.658680261,671,659.341319739,633,876.341319739,784.341319739,800,649.341319739,629,650.658680261,0.402289245466,-0.0155013752557,0.0499257590614,0.99999998864,-5.88630650613e-05,-0.000134623892102,-3.36497738347e-05,1793193464081204224
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,742,711.066165079,671,659.933834921,633,876.933834921,784.933834921,800,649.933834921,629,650.066165079,0.402494415147,-0.0155112967824,0.0499276731208,0.999999988887,-6.1348706309e-05,-0.000132072899438,-3.19284332938e-05,1793193464097870592
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,742,711,671,659.488175515,633,877,785,800,650,629,650,0.402750873049,-0.0155213138372,0.0499362163556,0.999999991516,-5.82533099311e-05,-0.00011286078803,-2.89149113698e-05,1793193464114537216
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,742,711.087865938,671.087865938,659,633,877,784.912134062,800,649.912134062,629,650,0.403018877846,-0.0155297960662,0.0499450721619,0.999999993962,-5.26115624382e-05,-9.30285920085e-05,-2.55548953911e-05,1793193464131204096
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,742,711.663229846,671.663229846,659,633,877,784.336770154,800,649.336770154,629,650,0.40331517683,-0.0155296961511,0.049951038734,0.99999999579,-3.67345779923e-05,-8.13761513177e-05,-2.11736772415e-05,1793193464147871232
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,742,712,671.76199704,659.23800296,633,877,784,800,649,629,650.23800296,0.403632541921,-0.0155236933429,0.0499571598171,0.99999999737,-1.26998105337e-05,-6.90846930434e-05,-1.80358862428e-05,1793193464164538112
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,742,712,671.188057852,659.811942148,633,877,784,800,649,629,650.811942148,0.403979641366,-0.0155093587238,0.0499634989887,0.999999998038,2.28494970295e-05,-5.58912754014e-05,-1.6653167059e-05,1793193464181204736
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,742,712,671,660,633,877,784,800,649,629,651,0.404348043919,-0.0155111922,0.0499682320921,0.999999998048,4.08158270291e-05,-4.55310925423e-05,-1.28436367532e-05,1793193464197871360
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,742,712,671,660,633,877,784,800,649,629,651,0.404726828451,-0.0155209051377,0.049972182484,0.99999999804,5.02131572447e-05,-3.65516765246e-05,-7.85140911403e-06,1793193464214537984
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,742,712,671.571030238,660,633,877,784,800,649.571030238,629,651,0.405119783127,-0.0155277228099,0.0499611015477,0.999999996336,6.15948994629e-05,-5.92141318731e-05,-5.27671653129e-06,1793193464231204352
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,742,712,671.853816169,660,633,877,784,800,650,629,651,0.405520402253,-0.0155326583362,0.0499463824105,0.999999993222,7.66073099449e-05,-8.76212917613e-05,-3.05318574021e-06,1793193464247870976
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,742,712,671.277357261,660,633,877,784,800,650,629,651,0.405943311947,-0.015532108901,0.0499212397662,0.999999986012,0.00010226852751,-0.000132337138934,-1.81740386973e-06,1793193464264537600
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,742,712,671,660,633,877,784,800,650,629,651,0.40640190845,-0.015531011371,0.0499051971422,0.999999979272,0.000126992185835,-0.000159151231362,2.03411006061e-08,1793193464281204480
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,742,712,671,660,633,877,784,800,650,629,651,0.406893597423,-0.015529405592,0.0498975929755,0.999999974278,0.000150846447421,-0.000169365009852,2.41628733739e-06,1793193464297871360
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,742.472659675,712,671.472659675,660,633,877,784,800,649.527340325,629,651,0.407456273111,-0.0155313545435,0.0499116104473,0.999999974679,0.000176879610334,-0.000138888609746,8.14945586746e-06,1793193464314538496
+145,2.416666667,POSE1_TO_POSE2_PRESS,763.946032358,742.946032358,712,671.946032358,660,633,877,784,800,649.053967642,629,651,0.408038051212,-0.015534248884,0.0499312008299,0.999999974406,0.000202890340644,-9.90320623825e-05,1.47233523404e-05,1793193464331205376
+146,2.433333333,POSE1_TO_POSE2_PRESS,763.371497888,742.371497888,712,671.371497888,660,633,877,784,800,649.628502112,629,651,0.408645676138,-0.0155383296398,0.049956296253,0.999999972941,0.000223822282073,-5.94994825587e-05,2.1959506435e-05,1793193464347871744
+147,2.450000000,POSE1_TO_POSE2_PRESS,763.203412231,742,712,671,660,633,877.203412231,784,800,650,629,651,0.409258664652,-0.0155426244877,0.0499736574474,0.999999968832,0.000245646460162,-3.42525917744e-05,2.86365646873e-05,1793193464364538112
+148,2.466666667,POSE1_TO_POSE2_PRESS,763.779009645,742,712,671,660,633,877.779009645,784,800,650,629,651,0.409881466935,-0.0155473110615,0.0499768672528,0.999999962586,0.000269103171007,-3.51443567146e-05,3.42906398946e-05,1793193464381204480
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,742.362990015,712,671,660.362990015,633,878,784,800,650,629,651,0.41049316672,-0.0155461337624,0.049959176873,0.999999954739,0.000288620018153,-7.65619508857e-05,3.68730297841e-05,1793193464397871104
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,742.952194604,712,671,660.952194604,633,878,784,800,650,629,651,0.41109794743,-0.0155413021105,0.049928461544,0.999999942317,0.000305681549051,-0.000143235151888,3.75411518354e-05,1793193464414537728
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,743,712,671,660.46588571,633,877.46588571,784,800,649.46588571,628.46588571,651,0.411794277444,-0.0155413860919,0.0499177548834,0.999999984612,8.83141910349e-05,-0.000151041060329,1.27708517643e-05,1793193464431204352
+152,2.533333333,POSE1_TO_POSE2_PRESS,763.886763693,742.886763693,712,671.113236307,660,633,877,784,800,649,628.113236307,650.886763693,0.412511663583,-0.0155445749876,0.0499165621273,0.999999985104,-9.71048340105e-05,-0.00014252712172,-7.0058833023e-06,1793193464447870976
+153,2.550000000,POSE1_TO_POSE2_PRESS,763.316340189,742.316340189,712,671.683659811,660,633,877,784,800,649,628.683659811,650.316340189,0.413281424889,-0.015558547398,0.0499466481701,0.99999999358,-6.99581586053e-05,-8.91090463624e-05,2.44768368183e-06,1793193464464537600
+154,2.566666667,POSE1_TO_POSE2_PRESS,763.256864911,742,712,671.743135089,659.743135089,633,877,784,799.743135089,649,629,650,0.414036451683,-0.0155688745033,0.0499575976705,0.999999996661,-4.1617928017e-05,-6.96282820469e-05,9.86330772105e-06,1793193464481204224
+155,2.583333333,POSE1_TO_POSE2_PRESS,763.833533247,742,712,671.166466753,659.166466753,633,877,784,799.166466753,649,629,650,0.414773133734,-0.0155746631115,0.049944721687,0.999999995553,-1.1791687023e-05,-9.24003365934e-05,1.47416416143e-05,1793193464497870848
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,742,711.575884162,671.424115838,659.424115838,633,877.424115838,784,799.424115838,649.424115838,629,650.424115838,0.415537179938,-0.0155697223364,0.0499255182424,0.999999992094,1.55151676477e-05,-0.000124019248529,1.38141030556e-05,1793193464514537472
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,742.019663607,711.019663607,672,660,633,877.980336393,784,800,649.980336393,629,650.980336393,0.416314544233,-0.0155609006599,0.0499054242786,0.999999986872,4.15990756949e-05,-0.000156231417563,1.08070765708e-05,1793193464531204352
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,742.595923022,711.595923022,672,660,633,877.404076978,784,800,649.404076978,629,650.404076978,0.417154557949,-0.0155654751337,0.0499328069349,0.999999992588,6.20066543908e-05,-0.00010361240101,1.56304005072e-05,1793193464547870720
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,743,712,672,660,632.828460639,877.171539361,784,800,649,629,650,0.417985914223,-0.0155690128336,0.0499545098529,0.999999994435,8.10455370956e-05,-6.45931504022e-05,1.97408298543e-05,1793193464564537344
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,743,712,672,660,632.254353503,877.745646497,784,800,649,629,650,0.418796953202,-0.0155701174373,0.0499628835862,0.999999993409,9.68723695757e-05,-5.74897710682e-05,2.21782413024e-05,1793193464581203968
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,743,712,671.67065169,660,632.32934831,877.67065169,784,799.67065169,649,629,650.32934831,0.419614037505,-0.0155719696058,0.0499527912263,0.999999991239,0.000108093591633,-7.32012471986e-05,2.18953705467e-05,1793193464597870848
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,743,712,671.079317655,660,632.920682345,877.079317655,784,799.079317655,649,629,650.920682345,0.420435930624,-0.0155744164376,0.0499280096975,0.999999987392,0.000115651201552,-0.000107061189201,1.94486048197e-05,1793193464614537984
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,743,712,671,660.499063645,633,877,784,799,649.499063645,629,650.500936355,0.42133092662,-0.0155805567794,0.0499491799657,0.99999999056,0.000120980454025,-6.13063341772e-05,2.20310262487e-05,1793193464631204608
+164,2.733333333,POSE1_TO_POSE2_PRESS,764.075463601,743,712,671.075463601,660.924536399,632.924536399,877.075463601,784,799.150927201,650,629,650,0.422228955201,-0.0155863960547,0.049973071116,0.999999992464,0.000119529601393,-1.25437157328e-05,2.5061670525e-05,1793193464647871232
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.652030595,743,712,671.652030595,660.347969405,632.347969405,877.652030595,784,800.304061189,650,629,650,0.423071922046,-0.0155864367443,0.0499677606058,0.999999996496,7.53488399684e-05,-2.57058837135e-05,2.58952912873e-05,1793193464664537600
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.766691849,743,712,672,660,632.233308151,878,784,800.766691849,650,629,650,0.423912050348,-0.0155851733883,0.0499609865482,0.999999997364,5.62631130328e-05,-3.79601971351e-05,2.58061438351e-05,1793193464681204224
+167,2.783333333,POSE1_TO_POSE2_PRESS,764.178243822,743,712,672,660,632.821756178,878,784,800.178243822,650,629,650,0.424747857968,-0.0155819250239,0.0499519846893,0.999999995671,7.53768482365e-05,-4.88325833741e-05,2.43123658827e-05,1793193464697870848
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,742.596018486,712,672,660,633,878,784,800,650,629,650,0.425629839068,-0.015582032932,0.0499648012819,0.999999994554,9.41247408047e-05,-3.64969643735e-05,2.6475281743e-05,1793193464714537472
+169,2.816666667,POSE1_TO_POSE2_PRESS,764,742.016497097,712,672,660,633,878,784,800,650,629,650,0.426531883628,-0.015583599223,0.0499870985273,0.999999993092,0.000112713664572,-1.40768972423e-05,3.02271208198e-05,1793193464731204096
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,742.558305435,712,672,660,633,877.441694565,784,799.441694565,649.441694565,629,650,0.4273244089,-0.0155770634877,0.0499641488451,0.999999988737,0.000129875933656,-6.9241719382e-05,2.94018881619e-05,1793193464747871232
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,743,712,672,660,633,877.136058584,784,799.136058584,649.136058584,629,650,0.428120059058,-0.0155720772965,0.0499414550585,0.999999982385,0.000144215715286,-0.000116778288656,2.82050597327e-05,1793193464764538112
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,743,712,672,660,633,877.724072256,784,799.724072256,649.724072256,629,650,0.428936748905,-0.0155730269077,0.0499240152126,0.999999979872,0.000149318705273,-0.000131424177607,2.62193660814e-05,1793193464781204480
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,743,711.692448926,672.307551074,660,633,878,784,800,649.692448926,629,650,0.429779320385,-0.0155749842916,0.0499270850909,0.99999998166,0.000149954078203,-0.000116319607234,2.57535709293e-05,1793193464797871360
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,743,711.112979587,672.887020413,660,633,878,784,800,649.112979587,629,650,0.430644774813,-0.0155778326878,0.0499482884418,0.999999986088,0.000146639450891,-7.49114591856e-05,2.66315792003e-05,1793193464814537984
+175,2.916666667,POSE1_TO_POSE2_PRESS,764,742.534274387,711.465725613,672.534274387,660,633,877.534274387,784,800,649,629,650,0.431452809207,-0.0155755608898,0.049935597346,0.999999987617,0.000118392508106,-0.000100222424439,2.65338903421e-05,1793193464831204352
+176,2.933333333,POSE1_TO_POSE2_PRESS,764,742,712,672.044058735,660,633,877,784,800,649,629,650,0.43224688497,-0.0155722702577,0.0499170577103,0.999999986428,8.83749819194e-05,-0.000136533344939,2.63311944737e-05,1793193464847870720
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,742,712,672.620133151,660,633,877,784,800,649,629,650,0.433040331898,-0.0155716510189,0.0499270201185,0.999999987467,0.000109891766944,-0.000110550858427,2.77139420118e-05,1793193464864537600
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,742.19455526,712,672.80544474,660,633,877,784,800,649.19455526,629,650,0.433825806763,-0.0155723087385,0.0499411207304,0.999999988334,0.000124818164833,-8.31808259572e-05,2.88649791542e-05,1793193464881204224
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,742.765778529,712,672.234221471,660,633,877,784,800,649.765778529,629,650,0.434595847487,-0.0155754387086,0.0499632330988,0.999999990089,0.000126985271403,-5.31244357085e-05,2.95674144976e-05,1793193464897871360
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,742.648411896,712,672.351588104,660.351588104,633,877,784,800,649.648411896,629,650,0.435303848354,-0.0155731093106,0.0499604932002,0.999999987802,0.000134950566294,-7.29653231666e-05,2.93256794909e-05,1793193464914537984
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,742.052464647,712,672.947535353,660.947535353,633,877,784,800,649.052464647,629,650,0.435968730519,-0.0155669855676,0.0499404805922,0.999999980673,0.000146945690919,-0.000127485588376,2.8427731455e-05,1793193464931204352
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,742,712,672.473676164,660.473676164,633,877.526323836,784,799.473676164,649,629,650,0.436675157125,-0.0155648884204,0.0499296430935,0.999999978262,0.000156695808885,-0.000134658739639,2.80966319863e-05,1793193464947870976
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,742,712,672,660.102636005,633,877.897363995,784,799.205272011,649,629,650,0.437384162448,-0.0155645889863,0.0499269829211,0.999999977985,0.000165277315765,-0.000126075769886,2.86024062781e-05,1793193464964537600
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,742,712,672,660.675194188,633,877.324805812,784,800.350388377,649,629,650,0.438086612475,-0.0155707407445,0.0499577076364,0.999999982904,0.000169500558093,-6.6279607772e-05,3.26892949029e-05,1793193464981204224
+185,3.083333333,POSE1_TO_POSE2_PRESS,764,742,712,672.254488745,661,633,877.254488745,784,800.745511255,649,629,650,0.438736481369,-0.0155728858374,0.049971115248,0.999999982918,0.000176787565673,-4.09169866923e-05,3.51477235195e-05,1793193464997871104
+186,3.100000000,POSE1_TO_POSE2_PRESS,764,742,712,672.842614708,661,633,877.842614708,784,800.157385292,649,629,650,0.439317415832,-0.0155697781525,0.049961819966,0.99999997984,0.000188091199512,-6.06970774789e-05,3.54712250271e-05,1793193465014537984
+187,3.116666667,POSE1_TO_POSE2_PRESS,764.426376515,742.426376515,712,672.573623485,660.573623485,632.573623485,877.573623485,784,800,649,629,650,0.439865800402,-0.0155696630166,0.0499337792314,0.99999997487,0.000193524500742,-0.000107773755594,3.45501855115e-05,1793193465031204608
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,743,712,672.008444679,660,632,877.008444679,784,800,649,629,650,0.440402190103,-0.0155706704706,0.0498992635578,0.999999966605,0.000196797707018,-0.000164188384279,3.32094955365e-05,1793193465047871232
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,743,712,672.583859141,660,632,877.583859141,784,800,649,629,650,0.440931749229,-0.0155736359396,0.049889880298,0.999999963776,0.000199052052894,-0.000177918460128,3.42243073377e-05,1793193465064538112
+190,3.166666667,POSE1_TO_POSE2_PRESS,764.841071058,742.841071058,711.841071058,673,660,632,878,784,800,649,629,650,0.441449693809,-0.0155761959092,0.0498827918713,0.999999961754,0.000201047266905,-0.000186715764633,3.47600032185e-05,1793193465081204992
+191,3.183333333,POSE1_TO_POSE2_PRESS,764.266901647,742.266901647,711.266901647,673,660,632,878,784,800,649,629,650,0.441937292684,-0.0155776964141,0.0498816992513,0.999999962269,0.000202365436541,-0.000182625008687,3.4043892596e-05,1793193465097871360
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,742.315290749,711.315290749,673,660,632,878,784,800,649.315290749,629,650,0.442380998808,-0.0155798998355,0.0498723393832,0.999999961019,0.000195279049855,-0.000196971982416,3.20866595746e-05,1793193465114537728
+193,3.216666667,POSE1_TO_POSE2_PRESS,764,742.904452105,711.904452105,673,660,632,878,784,800,649.904452105,629,650,0.442786578399,-0.0155827138304,0.0498557983458,0.999999957377,0.000180892223737,-0.000227334498154,2.90513519804e-05,1793193465131204352
+194,3.233333333,POSE1_TO_POSE2_PRESS,764,743,712,673,660,632,877.514608027,783.514608027,800,649.514608027,629,650,0.443153175869,-0.0155852167359,0.0498266585773,0.999999956819,9.63017685391e-05,-0.00027719071902,1.59320445665e-05,1793193465147870976
+195,3.250000000,POSE1_TO_POSE2_PRESS,764,742.935669021,712,673,660,632,877.064330979,783,800,649,629,650.064330979,0.44350866061,-0.015587505354,0.0497951430017,0.999999945332,1.0408758372e-05,-0.000330486522491,2.53527985307e-06,1793193465164537344
+196,3.266666667,POSE1_TO_POSE2_PRESS,764,742.359984566,712,673,660,632,877.640015434,783,800,649,629,650.640015434,0.4438357918,-0.0155885692996,0.0497641274607,0.999999927121,2.21796715007e-05,-0.000381129205342,2.44864589523e-06,1793193465181203968
+197,3.283333333,POSE1_TO_POSE2_PRESS,764,742.215730528,712,673,660,631.784269472,878,783,800,649.215730528,628.784269472,650.784269472,0.444161162576,-0.0155888994796,0.0497448935527,0.999999915309,3.36368066033e-05,-0.000410175375672,2.75414191264e-06,1793193465197870848
+198,3.300000000,POSE1_TO_POSE2_PRESS,764,742.791496696,712,673,660,631.208503304,878,783,800,649.791496696,628.208503304,650.208503304,0.444483595342,-0.0155880050679,0.0497453221768,0.999999917723,4.45702721533e-05,-0.000403178825995,3.71406904776e-06,1793193465214537472
+199,3.316666667,POSE1_TO_POSE2_PRESS,764,743,712,673,660,631,877.620762315,783,800,649.620762315,628,650.379237685,0.444782515495,-0.0155908193676,0.0497494543355,0.99999992261,5.24065579216e-05,-0.000389871661443,5.76104617336e-06,1793193465231204096
+200,3.333333333,POSE1_TO_POSE2_PRESS,764,743,712,673,660,631,877.026222898,783,800,649.026222898,628,650.973777102,0.44506808704,-0.0155957391858,0.049755689074,0.999999928697,5.84845063421e-05,-0.000372981818677,8.42516602681e-06,1793193465247870720
+201,3.350000000,POSE1_TO_POSE2_PRESS,764,743,712,673,660,631,877.549399422,783,800.549399422,649.549399422,628.549399422,650.450600578,0.44530492149,-0.0155964599227,0.0497501065939,0.999999925844,6.20011759412e-05,-0.000380003957492,8.09342896458e-06,1793193465264537344
+202,3.366666667,POSE1_TO_POSE2_PRESS,764.124132892,743,712,672.875867108,659.875867108,631,878,782.875867108,800.875867108,649.875867108,628.875867108,650,0.445530776748,-0.0155977031145,0.0497421114783,0.99999992155,6.47248371478e-05,-0.000390705287304,7.7093419931e-06,1793193465281203968
+203,3.383333333,POSE1_TO_POSE2_PRESS,764.698808491,743,712,672.301191509,659.301191509,631,878,782.301191509,800.301191509,649.301191509,628.301191509,650,0.445724944928,-0.0156015457902,0.0497273386948,0.999999913498,6.49991999707e-05,-0.000410755751138,7.63696890489e-06,1793193465297870592
+204,3.400000000,POSE1_TO_POSE2_PRESS,764.718592691,743,712,672.281407309,659,631,878,782,800,649,628,650,0.445900017387,-0.0156030583538,0.0497146195454,0.999999906136,6.64077937787e-05,-0.000428096146788,7.12368487333e-06,1793193465314537472
+205,3.416666667,POSE1_TO_POSE2_PRESS,764.127267964,743,712,672.872732036,659,631,878,782,800,649,628,650,0.446054059476,-0.0156020047353,0.04970416209,0.999999899714,6.90655304636e-05,-0.000442451909053,6.12482006748e-06,1793193465331204352
+206,3.433333333,POSE1_TO_POSE2_PRESS,764,742.545866678,712,673,659,631,878,782,800,649,628,650,0.446187023629,-0.0156026833434,0.0496966391191,0.999999894494,6.68970905545e-05,-0.000454431088493,5.30997658913e-06,1793193465347870976
+207,3.450000000,POSE1_TO_POSE2_PRESS,764,742.032505422,712,673.032505422,659,631,877.967494578,782,800,649.032505422,628,650,0.446312218725,-0.0156038958823,0.0496896731811,0.99999988927,6.3459844321e-05,-0.000466275921564,4.50284722335e-06,1793193465364537344
+208,3.466666667,POSE1_TO_POSE2_PRESS,764,742.605759289,712,673.605759289,659,631,877.394240711,782,800,649.605759289,628,650,0.446404335296,-0.0156060876985,0.0496785857289,0.999999879687,6.09338433611e-05,-0.000486728594312,2.9844793765e-06,1793193465381203968
+209,3.483333333,POSE1_TO_POSE2_PRESS,764,743,712,673.815667994,659,631,877,782,800,649.815667994,628,650,0.446490257103,-0.0156074177637,0.0496678958,0.999999870847,5.95794071614e-05,-0.000504731580138,1.63698995556e-06,1793193465397870848
+210,3.500000000,POSE1_TO_POSE2_PRESS,764,743,712,673.225381651,659,631,877,782,800,649.225381651,628,650,0.446562536172,-0.0156068499947,0.0496580813381,0.999999864331,6.08051081472e-05,-0.00051733961864,6.65826256507e-07,1793193465414537472
+211,3.516666667,POSE1_TO_POSE2_PRESS,764,742.642092797,712,673,659,630.642092797,877,782,800,649,628,650,0.446628129807,-0.0156062315796,0.049652628948,0.999999861149,6.03003408965e-05,-0.000523512707209,-2.19739017263e-07,1793193465431204096
+212,3.533333333,POSE1_TO_POSE2_PRESS,764,742.063125853,712,673,659,630.063125853,877,782,800,649,628,650,0.446689594221,-0.0156055818833,0.0496498707707,0.999999860089,5.87267580023e-05,-0.000525711279734,-1.05243491064e-06,1793193465447870976
+213,3.550000000,POSE1_TO_POSE2_PRESS,764,742,712,673.511270175,659,630,877.511270175,782,800,649,628,650,0.446734703316,-0.0156061252237,0.0496503982131,0.999999860341,5.83659820624e-05,-0.000525272028116,-9.83291979629e-07,1793193465464537344
+214,3.566666667,POSE1_TO_POSE2_PRESS,764,742.084910063,712,673.915089937,659,630.084910063,877.915089937,782.084910063,800,649,628,650,0.446776252943,-0.0156068684428,0.0496513205339,0.999999860898,5.75368031207e-05,-0.000524302135089,-8.88677473815e-07,1793193465481204224
+215,3.583333333,POSE1_TO_POSE2_PRESS,764,742.657420193,712,673.342579807,659,630.657420193,877.342579807,782.657420193,800,649,628,650,0.446808855738,-0.0156079210781,0.049652201519,0.999999862271,5.31655072411e-05,-0.000522138718141,-1.28155119773e-06,1793193465497870848
+216,3.600000000,POSE1_TO_POSE2_PRESS,764,742.760668038,712,673,659,630.760668038,877,782.760668038,800,649,628,650,0.446836072587,-0.0156090913194,0.0496528002716,0.999999862864,4.97992270254e-05,-0.000521335108726,-1.45457672241e-06,1793193465514537472
+217,3.616666667,POSE1_TO_POSE2_PRESS,764,742.164748533,712,673,659,630.164748533,877,782.164748533,800,649,628,650,0.446855264759,-0.0156104367851,0.0496529785176,0.999999862317,4.79303486914e-05,-0.000522557515636,-1.30004409576e-06,1793193465531204352
+218,3.633333333,POSE1_TO_POSE2_PRESS,764,742.416681268,712,672.583318732,659,630,877,782,800,649,628,650,0.446867041284,-0.0156076539666,0.0496513426879,0.999999860876,5.08100555699e-05,-0.000525037171454,-1.71449681606e-06,1793193465547870720
+219,3.650000000,POSE1_TO_POSE2_PRESS,764,742.992574604,712,672.007425396,659,630,877,782,800,649,628,650,0.446875984324,-0.015603293749,0.0496490137079,0.999999859066,5.55041758699e-05,-0.00052799721647,-2.34635632112e-06,1793193465564537600
+220,3.666666667,POSE1_TO_POSE2_PRESS,764,743,712,673.136674153,659,630.568337077,877.568337077,782,800.568337077,649,628,650,0.446879379497,-0.0156039343637,0.0496478404878,0.999999858027,5.50367693642e-05,-0.000530010149729,-2.31576413036e-06,1793193465581204224
+221,3.683333333,POSE1_TO_POSE2_PRESS,764,743,712,673.852627696,659,630.852627696,877.852627696,782,800.852627696,649,628,650,0.446882587066,-0.015604667345,0.049646943062,0.999999857245,5.40404978216e-05,-0.0005315860984,-2.23740755585e-06,1793193465597871104
+222,3.700000000,POSE1_TO_POSE2_PRESS,764,743,712,673.263783511,659,630.263783511,877.263783511,782,800.263783511,649,628,650,0.446885449727,-0.0156054813432,0.0496468265883,0.99999985721,5.16619123846e-05,-0.000531890065292,-2.04188809144e-06,1793193465614537728
+223,3.716666667,POSE1_TO_POSE2_PRESS,764,743,712,673,659,630.320272221,877.320272221,782,800.320272221,649,628,650,0.446888579951,-0.0156060911018,0.0496478372199,0.999999857835,5.0498801623e-05,-0.000530825572893,-1.90098504389e-06,1793193465631204352
+224,3.733333333,POSE1_TO_POSE2_PRESS,764,743,712,673,659,630.900442236,877.900442236,782,800.900442236,649,628,650,0.4468919273,-0.0156065351222,0.0496497624865,0.999999858996,5.0322036482e-05,-0.000528650589117,-1.80440266625e-06,1793193465647870976
+225,3.750000000,POSE1_TO_POSE2_PRESS,764,743,712.476826465,673,659,631,878,782,801,649,628.476826465,650.476826465,0.446892029901,-0.0156053860164,0.0496484899853,0.999999858202,5.05714492577e-05,-0.000530125529757,-2.21929989999e-06,1793193465664537344
+226,3.766666667,POSE1_TO_POSE2_PRESS,764,743,712.947532474,673,659,630.947532474,877.947532474,782,801,649,628.947532474,651,0.4468914241,-0.0156041029513,0.0496466421046,0.999999857039,5.08282464883e-05,-0.000532288764203,-2.69766123287e-06,1793193465681204224
+227,3.783333333,POSE1_TO_POSE2_PRESS,764,743,712.371481394,673,659,630.371481394,877.371481394,782,801,649,628.371481394,651,0.446890456455,-0.015604776339,0.0496456627215,0.999999856274,5.02777536246e-05,-0.000533775610828,-2.75202925907e-06,1793193465697870592
+228,3.800000000,POSE1_TO_POSE2_PRESS,764,743,712,673.209565855,659,630.209565855,877.209565855,782,801,649.209565855,628.209565855,650.790434145,0.446890733001,-0.0156050926948,0.0496455351185,0.999999856328,4.99339544903e-05,-0.00053370641402,-2.7926561243e-06,1793193465714537472
+229,3.816666667,POSE1_TO_POSE2_PRESS,764,743,712,673.79968569,659,630.79968569,877.79968569,782,801,649.79968569,628.79968569,650.20031431,0.446893268893,-0.0156047607104,0.0496469542769,0.999999857867,4.99654938315e-05,-0.000530811573012,-2.80833019275e-06,1793193465731204096
+230,3.833333333,POSE1_TO_POSE2_PRESS,764,742.617769459,712,673.617769459,659,630.617769459,877.617769459,782,800.617769459,649.617769459,628.617769459,650,0.446893729353,-0.0156044449385,0.0496465323012,0.999999857782,5.0105466236e-05,-0.000530958923216,-2.7744848585e-06,1793193465747870720
+231,3.850000000,POSE1_TO_POSE2_PRESS,764,742.03911728,712,673.03911728,659,630.03911728,877.03911728,782,800.03911728,649.03911728,628.03911728,650,0.446893123285,-0.0156041374979,0.0496451641985,0.999999856863,5.03011605081e-05,-0.000532669602752,-2.71519236256e-06,1793193465764537344
+232,3.866666667,POSE1_TO_POSE2_PRESS,764,742.535744383,712,673,659,630,877.535744383,782,800.535744383,649.535744383,628,650,0.446893379213,-0.0156052379268,0.0496451537712,0.999999856738,4.81990207132e-05,-0.000533097286999,-2.8273765278e-06,1793193465781204224
+233,3.883333333,POSE1_TO_POSE2_PRESS,764,743,712,673,659,630,878,782,800.890244969,650,628,650,0.446893585722,-0.0156062403476,0.0496452063704,0.999999856672,4.63259757895e-05,-0.000533387037061,-2.85193300555e-06,1793193465797870592
+234,3.900000000,POSE1_TO_POSE2_PRESS,764,743,712,673,659,630,878,782,800.318659007,650,628,650,0.446893321307,-0.0156064008596,0.0496451099805,0.999999856629,4.61179380753e-05,-0.000533487793664,-2.45545333257e-06,1793193465814537472
+235,3.916666667,POSE1_TO_POSE2_PRESS,764,743,712,673,659,630,877.736221374,782,800,649.736221374,628.263778626,650,0.446893459264,-0.0156063018836,0.0496451223417,0.99999985673,4.66790537209e-05,-0.000533250638122,-2.15168328834e-06,1793193465831204352
+236,3.933333333,POSE1_TO_POSE2_PRESS,764,743,712,673,659,630,877.140111798,782,800,649.140111798,628.859888202,650,0.446894104164,-0.0156058759822,0.0496452717168,0.999999857011,4.82092147538e-05,-0.000532587751874,-1.96471673747e-06,1793193465847870976
+237,3.950000000,POSE1_TO_POSE2_PRESS,764,743,712,673,659,630.44133461,877.44133461,781.55866539,800,649,628.55866539,650,0.446894666722,-0.0156075028694,0.0496454661879,0.999999856918,4.67257938135e-05,-0.000532897290735,-1.40851932642e-06,1793193465864537600
+238,3.966666667,POSE1_TO_POSE2_PRESS,764,743,712,673,658.981845081,630.981845081,877.981845081,781.018154919,800,649,628,650,0.446895159043,-0.0156096712213,0.0496456226781,0.999999856687,4.44040527116e-05,-0.000533528545892,-7.61496903865e-07,1793193465881204224
+239,3.983333333,POSE1_TO_POSE2_PRESS,764,743,712,673,658.408711272,630.408711272,877.408711272,781.591288728,800,649,628,650,0.44689427769,-0.0156091102524,0.0496441945482,0.99999985596,4.47615549398e-05,-0.000534860593856,-8.06141641501e-07,1793193465897870848
+240,4.000000000,POSE1_TO_POSE2_PRESS,764,743,712,673,658,630.164325339,877,782,800.164325339,649.164325339,628,650,0.446893722584,-0.0156130492337,0.0496434995378,0.999999855696,4.10747457736e-05,-0.00053564960904,6.09936363236e-07,1793193465914537472
+241,4.016666667,POSE1_TO_POSE2_PRESS,764,743,712,673,658,630.737120301,877,782,800.737120301,649.737120301,628,650,0.446893978442,-0.0156281739094,0.04964462687,0.99999985645,2.73348408792e-05,-0.000535088787235,5.65698738172e-06,1793193465931204096
+242,4.033333333,POSE1_TO_POSE2_PRESS,764,742.676486979,712,673,658.323513021,631,877,782,801,650,627.676486979,650.323513021,0.446894625915,-0.0156419074017,0.0496455808105,0.999999857309,1.42861152594e-05,-0.000533931625783,9.73264842473e-06,1793193465947870976
+243,4.050000000,POSE1_TO_POSE2_PRESS,764,742.078560252,712,673,658.921439748,631,877,782,801,650,627.078560252,650.921439748,0.446895605567,-0.0156544608487,0.049646387675,0.999999858259,1.82366988478e-06,-0.00053226863071,1.29843463204e-05,1793193465964537856
+244,4.066666667,POSE1_TO_POSE2_PRESS,764,742.497922975,712,673,658.502077025,631,877,782,801,650,627.497922975,651,0.446895853716,-0.0156488086707,0.0496459840335,0.999999858144,7.45621402321e-06,-0.000532465507396,1.1693976483e-05,1793193465981204224
+245,4.083333333,POSE1_TO_POSE2_PRESS,764,743,712,673,658.071764379,630.928235621,877,782,801,650,628,650.928235621,0.446895902,-0.0156417343742,0.0496454601576,0.999999857823,1.4298134133e-05,-0.000532961980897,1.00206378944e-05,1793193465997870848
+246,4.100000000,POSE1_TO_POSE2_PRESS,764,743,712,673,658.649851107,630.350148893,877,782,801,650,628,650.350148893,0.446895320831,-0.0156440556482,0.0496453798432,0.999999857534,1.03615823149e-05,-0.000533587351696,1.04926334059e-05,1793193466014537728
+247,4.116666667,HOLD_POSE2,764,742,712,673,658,630,878,781,800,649,628,651,0.446895631876,-0.0156446117811,0.0496445789542,0.999999857418,1.01796465368e-05,-0.000533799405136,1.09026800751e-05,1793193466052864768
+248,4.133333333,HOLD_POSE2,764,742.580488051,712,673,658.580488051,630,878,781.580488051,800.580488051,649.580488051,628,650.419511949,0.446895983304,-0.0156424588984,0.0496453615085,0.999999857511,1.22312921506e-05,-0.000533590278196,1.04980401704e-05,1793193466069531136
+249,4.150000000,HOLD_POSE2,764,743,712,673,658.840713048,630,877.840713048,782,801,650,628,650,0.446896517944,-0.0156422496007,0.049646081795,0.999999857853,1.20841898407e-05,-0.000532950824184,1.05162316982e-05,1793193466086197760
+250,4.166666667,HOLD_POSE2,764,743,712,673,658.266316034,630,877.266316034,782,801,650,628,650,0.446897530045,-0.0156471053858,0.0496466398085,0.999999858832,6.20703678608e-06,-0.000531189915441,1.16363437928e-05,1793193466102864640
+251,4.183333333,HOLD_POSE2,764,743,712,673,658,630,877.308390519,782,801,649.691609481,628,650.308390519,0.446897270003,-0.0156478331066,0.0496463445845,0.999999858744,5.61793645898e-06,-0.000531359738564,1.17060124463e-05,1793193466119531264
+252,4.200000000,HOLD_POSE2,764,743,712,673,658,630,877.883364614,782,801,649.116635386,628,650.883364614,0.446895910277,-0.0156449923835,0.049645311792,0.999999857745,9.6000146462e-06,-0.000533198554108,1.08676408963e-05,1793193466136197888
+253,4.216666667,HOLD_POSE2,764,742.527812858,712,673,658.472187142,630,878,782,801,649,628,650.527812858,0.44689636634,-0.015643644302,0.0496450808895,0.999999857779,1.10025436504e-05,-0.000533113203438,1.05276089708e-05,1793193466152864256
+254,4.233333333,HOLD_POSE2,764,742.062877874,712,673,659,630.062877874,878,782,800.937122126,649.062877874,628,650,0.446896969273,-0.0156429050969,0.0496449542858,0.999999857939,1.15202557176e-05,-0.000532805569699,1.03585403117e-05,1793193466169531136
+255,4.250000000,HOLD_POSE2,764,742.640025541,712,673,659,630.640025541,878,782,800.359974459,649.640025541,628,650,0.446894994215,-0.0156440391593,0.0496440117468,0.999999856949,1.01700113006e-05,-0.000534684700262,1.05505578251e-05,1793193466186197760
+256,4.266666667,HOLD_POSE2,764,742.784454017,712,673,658.784454017,630.784454017,878,781.784454017,800.215545983,649.784454017,628,650,0.44689417289,-0.0156445055152,0.0496434929714,0.999999856504,8.66124164296e-06,-0.000535542248469,1.05827048183e-05,1793193466202864384
+257,4.283333333,HOLD_POSE2,764,742.211630829,712,673,658.211630829,630.211630829,878,781.211630829,800.788369171,649.211630829,628,650,0.446895263928,-0.0156438651171,0.0496436766036,0.999999856967,6.88970937189e-06,-0.000534706477589,1.03498591833e-05,1793193466219531008
+258,4.300000000,HOLD_POSE2,764,742.372075469,712,673,658.372075469,630,877.627924531,781.372075469,800.627924531,649,628,650,0.446895491778,-0.0156442779512,0.049643766108,0.999999857035,6.96926109548e-06,-0.000534577503015,1.04481376017e-05,1793193466236197888
+259,4.316666667,HOLD_POSE2,764,742.962158484,712,673,658.962158484,630,877.037841516,781.962158484,800.037841516,649,628,650,0.446895213866,-0.0156453078983,0.0496438004608,0.99999985687,8.13340519606e-06,-0.000534862656517,1.07404291714e-05,1793193466252864768
+260,4.333333333,HOLD_POSE2,764,743,712,673,659,630,877.542376488,782,800.542376488,649.542376488,628,650,0.446895105564,-0.0156447951274,0.049643959965,0.999999856473,9.14159172989e-06,-0.000535587010607,1.08393711546e-05,1793193466269531136
+261,4.350000000,HOLD_POSE2,764,743,712,673,659,630,878,782,800.879308244,650,628,650,0.446895409992,-0.0156443418747,0.0496443965467,0.999999856477,9.64285469477e-06,-0.000535568838524,1.09202263617e-05,1793193466286197760
+262,4.366666667,HOLD_POSE2,764,743,712,673,659,630,878,782,800.305597446,650,628,650,0.44689721999,-0.0156445088179,0.0496458409556,0.999999858047,8.28148264716e-06,-0.000532650614771,1.09829228576e-05,1793193466302864384
+263,4.383333333,POSE2_TO_POSE3_RETREAT,763,743,712,673,659,630,877,782,800,650,628,650,0.446898398864,-0.0156466009254,0.0496459745891,0.999999858683,6.45318092974e-06,-0.00053146384364,1.1743583607e-05,1793193466340782080
+264,4.400000000,POSE2_TO_POSE3_RETREAT,763.595664113,743,712,673,659,630.595664113,877.595664113,782,800,650,628,650,0.446898470019,-0.0156440236899,0.0496464665665,0.999999858549,8.11943123353e-06,-0.000531708343712,1.10633606483e-05,1793193466357448704
+265,4.416666667,POSE2_TO_POSE3_RETREAT,763.81512711,743,712,673,659,630.81512711,878,782,800.18487289,650,628,650,0.446898107039,-0.0156430231453,0.0496460783284,0.999999858134,8.35105399117e-06,-0.0005324925165,1.06936644046e-05,1793193466374115328
+266,4.433333333,POSE2_TO_POSE3_RETREAT,763.239560353,743,712,673,659,630.239560353,878,782,800.760439647,650,628,650,0.446896826599,-0.0156453546381,0.0496438299217,0.999999857123,5.55086324723e-06,-0.000534417185492,1.09802074788e-05,1793193466390781696
+267,4.450000000,POSE2_TO_POSE3_RETREAT,763,743,712,673,659,630,878,781.663243234,801,649.663243234,628,650.336756766,0.446896913926,-0.0156453577501,0.0496435890402,0.999999856873,5.74944158009e-06,-0.000534883669611,1.09309177057e-05,1793193466407448064
+268,4.466666667,POSE2_TO_POSE3_RETREAT,763,743,712,673,659,630,878,781.086391169,801,649.086391169,628,650.913608831,0.446897976422,-0.0156437008113,0.0496447794512,0.999999857167,8.08603313085e-06,-0.000534310520949,1.06421913359e-05,1793193466424115200
+269,4.483333333,POSE2_TO_POSE3_RETREAT,763,743,712,673,659,630,877.512812777,781.487187223,800.512812777,649.487187223,628,650.512812777,0.446898274557,-0.0156444597882,0.0496455495663,0.999999858072,7.54837678122e-06,-0.000532621899681,1.06012097183e-05,1793193466440781824
+270,4.500000000,POSE2_TO_POSE3_RETREAT,763.062655232,742.937344768,712,673,659,630,877,782.062655232,800,649.937344768,628,650,0.446897794364,-0.0156455767273,0.0496458471436,0.999999858682,6.60777667626e-06,-0.000531487719081,1.0637762073e-05,1793193466457448704
+271,4.516666667,POSE2_TO_POSE3_RETREAT,763.659135836,742.340864164,712,673,659,630,877,782.659135836,800,649.340864164,628,650,0.446891829899,-0.0156461178491,0.0496427494336,0.999999855867,6.5475901839e-06,-0.000536751437345,1.09631056994e-05,1793193466474115072
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764,742.246800213,712,673,659,630,877,782.753199787,800,649,628.246800213,650,0.446877490844,-0.0156452618334,0.0496358637628,0.999999849507,6.72846867799e-06,-0.000548484955715,1.0261990197e-05,1793193466490781952
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764,742.822708115,712,673,659,630,877,782.177291885,800,649,628.822708115,650,0.446851984289,-0.015642542737,0.0496239268525,0.999999838147,7.23080695005e-06,-0.00056884594164,8.19209305458e-06,1793193466507448832
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764,742.603260631,712,673,659,630,877,782,800.396739369,649.396739369,628.603260631,650,0.446809200512,-0.0156399418549,0.0496088892751,0.999999822635,7.02900215506e-06,-0.00059551440722,6.59562031678e-06,1793193466524115456
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764,742.030064002,712,673,659,630,877,782,800.969935998,649.969935998,628.030064002,650,0.446758732365,-0.0156373935506,0.049592472617,0.99999980466,6.51401659013e-06,-0.000624988243836,5.20971176105e-06,1793193466540782080
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764,742.561796092,712,673,659,630,877.561796092,782,801,649.438203908,628,650,0.446695274983,-0.0156312744527,0.0495804200576,0.9999997976,1.11346122095e-05,-0.00063613357008,3.22254325384e-06,1793193466557448448
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764,742.849016033,712,673,659,630,878,782,800.849016033,649.150983967,628,650,0.446626485405,-0.0156256320085,0.0495708832126,0.999999791776,1.49529597939e-05,-0.000645151885839,1.57976128679e-06,1793193466574114816
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764,742.270324394,712,673,659,630,878,782,800.270324394,649.729675606,628,650,0.446544627525,-0.0156218997433,0.049567788577,0.999999787964,1.56934191214e-05,-0.000651018788244,1.00683766546e-06,1793193466590781696
+279,4.650000000,POSE2_TO_POSE3_RETREAT,763.693549192,742.306450808,712,673,659,630.306450808,877.693549192,782,800,649.693549192,628,650,0.446450200231,-0.0156150052776,0.0495666850285,0.999999786205,1.816536499e-05,-0.000653651247229,-7.58300698977e-08,1793193466607448576
+280,4.666666667,POSE2_TO_POSE3_RETREAT,763.118454034,742.881545966,712,673,659,630.881545966,877.118454034,782,800,649.118454034,628,650,0.446344754202,-0.0156053387284,0.0495673269293,0.999999786256,2.21551859969e-05,-0.000653448291744,-1.60535538238e-06,1793193466624114944
+281,4.683333333,POSE2_TO_POSE3_RETREAT,763.466140871,743,712,673,659,631,877.466140871,782,800,649,628,650.466140871,0.446223825894,-0.0155961084439,0.049573295697,0.999999793287,2.87877288626e-05,-0.000642333086887,-2.27041946375e-06,1793193466640781824
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764,742.947498982,712,673,658.947498982,630.947498982,877.947498982,782,800,649,628,650.947498982,0.446095746742,-0.0155870528381,0.0495809287954,0.999999801879,3.566209068e-05,-0.00062846128814,-2.63559526862e-06,1793193466657449216
+283,4.716666667,POSE2_TO_POSE3_RETREAT,764,742.368153395,712,673,658.368153395,630.368153395,877.368153395,782,800,649,628,650.368153395,0.445936211085,-0.0155786144836,0.0495913970269,0.999999809955,3.80838422043e-05,-0.000615332830404,-2.24168286127e-06,1793193466674115840
+284,4.733333333,POSE2_TO_POSE3_RETREAT,764,742.210869547,712,673,658.210869547,630,877,782,800.210869547,649,628,650,0.445762059059,-0.0155679262732,0.0496008393264,0.999999816931,4.2861968945e-05,-0.000603568808795,-2.2351746003e-06,1793193466690782208
+285,4.750000000,POSE2_TO_POSE3_RETREAT,764,742.789329987,712,673,658.789329987,630,877,782,800.789329987,649,628,650,0.445562427579,-0.0155533160816,0.0496084932051,0.99999982213,5.17477633528e-05,-0.00059418329376,-2.90399498354e-06,1793193466707448576
+286,4.766666667,POSE2_TO_POSE3_RETREAT,764,742.634229651,712,673,659,630.365770349,877,782,800.634229651,649.365770349,628,650,0.445330469289,-0.0155389888285,0.0496142966792,0.999999824818,5.87464727663e-05,-0.00058897963253,-4.0641338761e-06,1793193466724115200
+287,4.783333333,POSE2_TO_POSE3_RETREAT,764,742.058946335,712,673,659,630.941053665,877,782,800.058946335,649.941053665,628,650,0.445079994208,-0.0155248236411,0.0496190402437,0.999999826096,6.4664262222e-05,-0.000586171332997,-5.50569968683e-06,1793193466740781568
+288,4.800000000,POSE2_TO_POSE3_RETREAT,764,742.52709204,712,673,659,631,877.52709204,782,800.52709204,649.47290796,628.52709204,650,0.444790873826,-0.0155108713125,0.0496244234854,0.999999827495,6.65043297062e-05,-0.000583547262517,-7.74942712134e-06,1793193466757448448
+289,4.816666667,POSE2_TO_POSE3_RETREAT,764,743,712,673,659,631.113305334,878,782.113305334,800.886694666,649,629,650.113305334,0.444489475045,-0.0154984515241,0.0496309389083,0.999999830276,6.67059951417e-05,-0.000578705167256,-9.97060443188e-06,1793193466774115072
+290,4.833333333,POSE2_TO_POSE3_RETREAT,764,743,712,673,659,631.695164707,878,782.695164707,800.304835293,649,629,650.695164707,0.44415554544,-0.0154922687875,0.0496418342757,0.999999838617,6.2057428656e-05,-0.000564603850162,-1.17198308889e-05,1793193466790782720
+291,4.850000000,POSE2_TO_POSE3_RETREAT,764,743,712,673,659,632,877.727500158,783,800,649,629,650.727500158,0.443803079198,-0.0154903807404,0.0496514709258,0.999999847601,5.11248228252e-05,-0.000549554355213,-1.32224793368e-05,1793193466807449856
+292,4.866666667,POSE2_TO_POSE3_RETREAT,764,743,712,673,659,632,877.155143495,783,800,649,629,650.155143495,0.443430215397,-0.0154932185384,0.0496597224921,0.999999857051,3.32773066226e-05,-0.000533461493042,-1.44537950503e-05,1793193466824116480
+293,4.883333333,POSE2_TO_POSE3_RETREAT,764,742.581963671,712.418036329,673,659,631.581963671,877,783,800,649,629,650,0.443014719305,-0.0154898634272,0.049663380831,0.999999860632,2.18672126147e-05,-0.000527220858171,-1.71970441656e-05,1793193466840782848
+294,4.900000000,POSE2_TO_POSE3_RETREAT,764,742.008477762,712.991522238,673,659,631.008477762,877,783,800,649,629,650,0.442583370121,-0.0154842054414,0.0496653311478,0.999999862082,1.2850917134e-05,-0.000524643839734,-2.05025157147e-05,1793193466857448960
+295,4.916666667,POSE2_TO_POSE3_RETREAT,764,742,712.415438985,673,659,631.584561015,877.584561015,783,800,649.584561015,628.415438985,650.584561015,0.442141791761,-0.0154768495264,0.0496927347036,0.999999886952,3.2503645177e-06,-0.000474956767417,-2.23733029856e-05,1793193466874115584
+296,4.933333333,POSE2_TO_POSE3_RETREAT,764,742.173757237,712,673,659.173757237,632,878,783.173757237,800,650,628.173757237,650.826242763,0.441687893859,-0.0154709903938,0.0497242368129,0.999999911059,-7.70392388302e-06,-0.000421035225065,-2.34846324745e-05,1793193466890781696
+297,4.950000000,POSE2_TO_POSE3_RETREAT,764,742.7532946,712,673,659.7532946,632,878,783.7532946,800,650,628.7532946,650.2467054,0.441205584288,-0.0154686862368,0.0497644184822,0.999999935105,-2.17991550236e-05,-0.000358875590367,-2.28726513134e-05,1793193466907448320
+298,4.966666667,POSE2_TO_POSE3_RETREAT,764,743,712,672.67101806,660,632,877.67101806,784,800,649.67101806,629,650,0.440683199763,-0.0154667424789,0.0497920044339,0.999999949115,-3.76298536839e-05,-0.000315906625767,-2.35935291249e-05,1793193466924115456
+299,4.983333333,POSE2_TO_POSE3_RETREAT,764,743,712,672.098184418,660,632,877.098184418,784,800,649.098184418,629,650,0.440131110378,-0.0154650658598,0.0498102540501,0.99999995695,-5.47469366405e-05,-0.000287162379939,-2.53023636532e-05,1793193466940782592
+300,5.000000000,POSE2_TO_POSE3_RETREAT,764,743,712,672.487542786,660,632,877,784,800,649,629,650.487542786,0.439503346202,-0.0154598548079,0.0498046298745,0.999999953049,-7.33711276752e-05,-0.000295974595663,-3.02885016559e-05,1793193466957449728
+301,5.016666667,POSE2_TO_POSE3_RETREAT,764,742.924904685,712,673,660,632,877,784,800,649,629,650.924904685,0.438852538744,-0.015453671707,0.0497926451581,0.999999945537,-9.18353462347e-05,-0.000314960521929,-3.59361229148e-05,1793193466974116608
+302,5.033333333,POSE2_TO_POSE3_RETREAT,764,742.343032697,712,673,660,632,877,784,800,649,629,650.343032697,0.43815186378,-0.015445862716,0.0497710635744,0.999999932092,-0.000107116142695,-0.000350175802677,-4.14727400779e-05,1793193466990782720
+303,5.050000000,POSE2_TO_POSE3_RETREAT,764,742,712,673,660,632.236646678,877,784,800,649,629,650.236646678,0.43745668602,-0.0154420296495,0.0497666203721,0.999999926661,-0.000126464537527,-0.000358669298616,-4.51836539209e-05,1793193467007448832
+304,5.066666667,POSE2_TO_POSE3_RETREAT,764,742,712,673,660,632.81317688,877,784,800,649,629,650.81317688,0.436769403656,-0.0154439070005,0.0497867921523,0.99999993338,-0.000151655015071,-0.00032878365941,-4.62724031247e-05,1793193467024115200
+305,5.083333333,POSE2_TO_POSE3_RETREAT,764,742.387052177,712,673,660,632.612947823,877,784,799.612947823,649,629,650.612947823,0.436055356726,-0.0154435057722,0.0498111123072,0.999999940577,-0.000172738854225,-0.0002946650459,-4.66817655322e-05,1793193467040781824
+306,5.100000000,POSE2_TO_POSE3_RETREAT,764,742.959654712,712,673,660,632.040345288,877,784,799.040345288,649,629,650.040345288,0.435328479052,-0.0154420122075,0.0498374211661,0.999999947087,-0.000191853996088,-0.000258517171947,-4.67654341435e-05,1793193467057448192
+307,5.116666667,POSE2_TO_POSE3_RETREAT,764,743,712,672.448617492,660,632,877.551382508,784,799.551382508,649,629,650,0.434498540463,-0.0154367042752,0.0498075054521,0.99999992809,-0.00020937664294,-0.000311842288966,-5.23094530374e-05,1793193467074115328
+308,5.133333333,POSE2_TO_POSE3_RETREAT,764,742.859467952,712,672,659.859467952,632,877.859467952,784,800,649,629,650,0.433672595915,-0.0154328251706,0.0497832953404,0.999999919286,-0.000185101270539,-0.00035233140739,-5.50231341818e-05,1793193467090781952
+309,5.150000000,POSE2_TO_POSE3_RETREAT,764,742.28281861,712,672,659.28281861,632,877.28281861,784,800,649,629,650,0.432883289741,-0.0154342774576,0.0497900175041,0.999999943276,-3.14874621985e-05,-0.000331939130069,-4.76688850096e-05,1793193467107448320
+310,5.166666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,659.293188176,632,877,784,800,649,629,650,0.432077066388,-0.0154317230728,0.0498032557738,0.999999949561,4.61958717207e-05,-0.00031159260581,-4.06789765636e-05,1793193467124114688
+311,5.183333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,659.868576556,632,877,784,800,649,629,650,0.431254559778,-0.0154253121764,0.0498227659429,0.999999955706,5.07944371518e-05,-0.000291290123029,-3.40397541586e-05,1793193467140781312
+312,5.200000000,POSE2_TO_POSE3_RETREAT,763.557739449,742,712,672,660,632,877,784,800,649,629,650,0.430382207841,-0.0154198264705,0.0498033270977,0.999999947977,3.02468194224e-05,-0.000318842346506,-3.8348251947e-05,1793193467157448192
+313,5.216666667,POSE2_TO_POSE3_RETREAT,763,742,712,672,660,632,876.983950875,784,800,649,629,650,0.429494760995,-0.0154148389406,0.0497732219711,0.999999934424,2.12550590611e-06,-0.000359238207044,-4.57651542375e-05,1793193467174114816
+314,5.233333333,POSE2_TO_POSE3_RETREAT,763,742,712,672,660,632,876.388157914,784,800,649,629,650,0.428595045169,-0.0154179537723,0.0497743086385,0.999999936454,-3.06871417766e-05,-0.000351864485807,-4.84007199967e-05,1793193467190781440
+315,5.250000000,POSE2_TO_POSE3_RETREAT,763.200551759,742,712,672.200551759,660,632.200551759,876.200551759,784,799.799448241,649,629,650,0.427689377332,-0.0154189066075,0.049775967168,0.999999934219,-5.92064556201e-05,-0.000354290300757,-5.03388695769e-05,1793193467207448320
+316,5.266666667,POSE2_TO_POSE3_RETREAT,763.776019731,742,712,672.776019731,660,632.776019731,876.776019731,784,799.223980269,649,629,650,0.426772582719,-0.0154158177549,0.0497786947498,0.999999925199,-7.96997074372e-05,-0.000375035601891,-5.09732527132e-05,1793193467224114944
+317,5.283333333,POSE2_TO_POSE3_RETREAT,764,742,711.648299471,672.648299471,660,632.648299471,876.648299471,784,799.351700529,649,629,650.351700529,0.425878642558,-0.0154132268773,0.0497775310831,0.999999925564,-9.27741502665e-05,-0.000370784807049,-5.27608524109e-05,1793193467240781568
+318,5.300000000,POSE2_TO_POSE3_RETREAT,764,742,711.072483075,672.072483075,660,632.072483075,876.072483075,784,799.927516925,649,629,650.927516925,0.424999266087,-0.015410953327,0.0497738877767,0.999999931897,-0.000101121067965,-0.000350605625543,-5.52833219765e-05,1793193467257448192
+319,5.316666667,POSE2_TO_POSE3_RETREAT,764,742.515878888,711.515878888,672,660,632,876.515878888,784,799.484121112,649,629,650.484121112,0.4241637079,-0.0154157905706,0.0498119901416,0.999999955701,-7.8570414341e-05,-0.000282523747954,-5.10375395366e-05,1793193467274115072
+320,5.333333333,POSE2_TO_POSE3_RETREAT,764,742.895896315,711.895896315,672,660,632,877,784,799,649,629,650,0.423313643181,-0.0154197645004,0.0498468380785,0.999999972143,-5.90961490659e-05,-0.000223608654675,-4.71260798207e-05,1793193467290781952
+321,5.350000000,POSE2_TO_POSE3_RETREAT,764,742.316545437,711.316545437,672,660,632,877,784,799,649,629,650,0.422368548015,-0.0154151225997,0.0498393852036,0.999999967724,-7.39782997044e-05,-0.000238032756235,-4.91903476911e-05,1793193467307448320
+322,5.366666667,POSE2_TO_POSE3_RETREAT,764,742,711.260599609,672,660,632.260599609,877,784,799.260599609,649.260599609,629,650,0.421435702683,-0.0154116159652,0.0498241426759,0.999999959639,-8.93954645625e-05,-0.000264601163523,-5.21257495261e-05,1793193467324114944
+323,5.383333333,POSE2_TO_POSE3_RETREAT,764,742,711.835087838,672,660,632.835087838,877,784,799.835087838,649.835087838,629,650,0.420517611981,-0.0154094767426,0.0497995176185,0.999999946109,-0.000105457048515,-0.000305797220469,-5.61104203735e-05,1793193467340781568
+324,5.400000000,POSE2_TO_POSE3_RETREAT,763.59136856,742,711.59136856,672,660,632.59136856,877,784,799.59136856,649.59136856,629,650,0.419628294868,-0.0154115784958,0.0498048804291,0.999999943137,-0.000118010220254,-0.00031103300177,-5.52951983899e-05,1793193467357448192
+325,5.416666667,POSE2_TO_POSE3_RETREAT,763.018205338,742,711.018205338,672,660,632.018205338,877,784,799.018205338,649.018205338,629,650,0.418750563237,-0.0154153878399,0.0498223175872,0.999999944741,-0.000129150760369,-0.000301789698379,-5.25473424064e-05,1793193467374114816
+326,5.433333333,POSE2_TO_POSE3_RETREAT,763,742,711.575017425,672,660,632,877,784,799.575017425,649,628.424982575,650.575017425,0.41786133458,-0.0154124155524,0.0497977476882,0.999999934549,-8.15100810793e-05,-0.000348216981647,-5.48023495118e-05,1793193467390781440
+327,5.450000000,POSE2_TO_POSE3_RETREAT,763,742,712,672,660,632.163704211,876.836295789,784,800.163704211,649,628.163704211,651,0.416992967039,-0.0154110817939,0.0497842762455,0.999999928477,-5.3916188307e-05,-0.000370054160851,-5.65547724601e-05,1793193467407448320
+328,5.466666667,POSE2_TO_POSE3_RETREAT,763,742,712,672,660,632.739321722,876.260678278,784,800.739321722,649,628.739321722,651,0.41617803939,-0.015414430692,0.0498021982156,0.999999942116,-8.16161448343e-05,-0.000325422341156,-5.66296355707e-05,1793193467424114944
+329,5.483333333,POSE2_TO_POSE3_RETREAT,763,742,712,671.685188399,660,632.685188399,876,784,800.685188399,649,629,650.685188399,0.415377032614,-0.0154152649128,0.0498186549901,0.999999952351,-9.99141350518e-05,-0.000286596488391,-5.63701364506e-05,1793193467440782080
+330,5.500000000,POSE2_TO_POSE3_RETREAT,763,742,712,671.109804191,660,632.109804191,876,784,800.109804191,649,629,650.109804191,0.41458754832,-0.0154140177105,0.0498338990072,0.999999960447,-0.000110430025497,-0.000252576293058,-5.58338825126e-05,1793193467457449728
+331,5.516666667,POSE2_TO_POSE3_RETREAT,763,742,712,671.477194262,660,632,876,784,800,649,629,650,0.413781855371,-0.0154123357543,0.049813939551,0.99999994851,-0.000115896485885,-0.000293733757694,-5.7163678806e-05,1793193467474115584
+332,5.533333333,POSE2_TO_POSE3_RETREAT,763,742,712,672,660,632.065734637,876.065734637,784,800,649,629,650,0.412978719478,-0.0154107327522,0.049788791873,0.999999931426,-0.000120495291814,-0.000345194202306,-5.89065135177e-05,1793193467490781696
+333,5.550000000,POSE2_TO_POSE3_RETREAT,763,742,712,672,660,632.644923121,876.644923121,784,800,649,629,650,0.412225416479,-0.0154105473563,0.0497879700492,0.999999932692,-0.000127618792832,-0.000338640614093,-6.04379975168e-05,1793193467507448320
+334,5.566666667,POSE2_TO_POSE3_RETREAT,763.221956442,742,711.778043558,672,660,632.778043558,876.778043558,784,800,649,629,650.221956442,0.411487011788,-0.0154103588088,0.0497967569505,0.999999937413,-0.00013074426768,-0.000323157788851,-6.04013590623e-05,1793193467524115200
+335,5.583333333,POSE2_TO_POSE3_RETREAT,763.795575265,742,711.204424735,672,660,632.204424735,876.204424735,784,800,649,629,650.795575265,0.410772211496,-0.0154101652682,0.0498207676819,0.999999947113,-0.000127535368251,-0.000293527696696,-5.78802257823e-05,1793193467540781568
+336,5.600000000,POSE2_TO_POSE3_RETREAT,763.628368724,742,711.371631276,672,660,632.371631276,876.371631276,784,799.628368724,649,629,650.628368724,0.410068655986,-0.0154087178098,0.049815376783,0.999999942581,-0.0001272169751,-0.000308671210939,-5.80973150769e-05,1793193467557448192
+337,5.616666667,POSE2_TO_POSE3_RETREAT,763.050963263,742,711.949036737,672,660,632.949036737,876.949036737,784,799.050963263,649,629,650.050963263,0.409371326812,-0.0154065760506,0.0497937060459,0.999999929191,-0.000128499070483,-0.000348606107024,-5.98305726473e-05,1793193467574114816
+338,5.633333333,POSE2_TO_POSE3_RETREAT,763.538583327,742,712,672,659.461416673,633,877,784,799,649,629,650,0.408773106151,-0.0154086491196,0.0498001793997,0.999999933992,-0.000137204946241,-0.000331029299652,-6.00784771818e-05,1793193467590781440
+339,5.650000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,659.126781807,633,877,784.126781807,799.126781807,649,629,650.126781807,0.408189074343,-0.0154113635461,0.0498117526577,0.999999940285,-0.000146881700323,-0.000307057476999,-5.97558809829e-05,1793193467607448064
+340,5.666666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,659.705975489,633,877,784.705975489,799.705975489,649,629,650.705975489,0.407621437567,-0.0154149106042,0.0498318022209,0.999999946689,-0.000157458429078,-0.000280132842238,-5.79106067971e-05,1793193467624114688
+341,5.683333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,660,633,876.717985319,785,799.717985319,649,629,651,0.407060183829,-0.0154163184946,0.0498394226861,0.999999948239,-0.000159786764134,-0.000273556388171,-5.61874998572e-05,1793193467640781568
+342,5.700000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,660,633,876.14519861,785,799.14519861,649,629,651,0.406505511376,-0.0154155207901,0.0498342280938,0.999999945251,-0.000153610569139,-0.000287959984709,-5.45903539401e-05,1793193467657448448
+343,5.716666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,660,633,876.440154804,784.559845196,799.440154804,649,629,651,0.405974274538,-0.0154131478923,0.049809109674,0.999999931339,-0.000153542012044,-0.000332346888721,-5.73746695925e-05,1793193467674114816
+344,5.733333333,POSE2_TO_POSE3_RETREAT,763.970733841,742,712,672,659.970733841,633,877,784,800,649,629,650.970733841,0.405454752915,-0.0154103374437,0.0497787036599,0.999999912103,-0.00015557143411,-0.000384463638047,-6.14801930291e-05,1793193467690781696
+345,5.750000000,POSE2_TO_POSE3_RETREAT,763.391201334,742,712,672,659.391201334,633,877,784,800,649,629,650.391201334,0.40500587258,-0.0154093573306,0.0497760883287,0.999999909322,-0.000158051596112,-0.000390481934982,-6.24526950238e-05,1793193467707448320
+346,5.766666667,POSE2_TO_POSE3_RETREAT,763,742.186503575,711.813496425,672,659,632.813496425,877,784,800,649,629,650.186503575,0.404586937227,-0.0154104701853,0.0497822247024,0.99999991291,-0.000163754327567,-0.000378746797294,-6.2570190867e-05,1793193467724114944
+347,5.783333333,POSE2_TO_POSE3_RETREAT,763,742.760412302,711.239587698,672,659,632.239587698,877,784,800,649,629,650.760412302,0.404230203495,-0.0154159305516,0.0498065401138,0.999999928136,-0.000176150979248,-0.000330134232551,-6.09116683414e-05,1793193467740781568
+348,5.800000000,POSE2_TO_POSE3_RETREAT,763.334941894,743,711.334941894,672,659,632.334941894,877.334941894,784,800,649,629,651,0.403890172063,-0.015421827728,0.0498335459252,0.999999939021,-0.000189470675856,-0.000287441649557,-5.86265362556e-05,1793193467757448192
+349,5.816666667,POSE2_TO_POSE3_RETREAT,763.909916385,743,711.909916385,672,659,632.909916385,877.909916385,784,800,649,629,651,0.403562110178,-0.0154280379393,0.0498624797822,0.999999946743,-0.000203451862174,-0.000248991562376,-5.58923510926e-05,1793193467774114816
+350,5.833333333,POSE2_TO_POSE3_RETREAT,764,742.49809127,712,671.49809127,659.50190873,632.49809127,877.49809127,784,800,649,629,651,0.403254795875,-0.0154315446769,0.0498667511708,0.999999944801,-0.000214826876075,-0.000247176864143,-5.61252657364e-05,1793193467790781440
+351,5.850000000,POSE2_TO_POSE3_RETREAT,764,742.093846667,712,671,659.906153333,632.093846667,877,784,799.906153333,649.093846667,629,651,0.402954542101,-0.0154337134814,0.0498639374286,0.999999940211,-0.000224764855149,-0.000256489308013,-5.72074095462e-05,1793193467807448064
+352,5.866666667,POSE2_TO_POSE3_RETREAT,764,742.6692812,712,671,659.3307188,632.6692812,877,784,799.3307188,649.6692812,629,651,0.402670740484,-0.0154315938804,0.0498482775987,0.999999930339,-0.000229813109442,-0.000287975466356,-5.98187723513e-05,1793193467824114944
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764,742.755493827,712,671.244506173,659,633,877,784,799,649.755493827,629,650.755493827,0.402408211402,-0.0154300931358,0.0498338673639,0.9999999207,-0.00023582050125,-0.000314795985901,-6.23800734416e-05,1793193467840781824
+354,5.900000000,POSE2_TO_POSE3_RETREAT,764,742.180552107,712,671.819447893,659,633,877,784,799,649.180552107,629,650.180552107,0.402174430909,-0.0154294287388,0.0498211458838,0.999999912124,-0.000243124110105,-0.000335311169848,-6.48737189356e-05,1793193467857448448
+355,5.916666667,POSE2_TO_POSE3_RETREAT,764,742,712,671.594780155,659,632.594780155,876.594780155,784,799,649,628.594780155,650.405219845,0.401978587607,-0.0154309880704,0.0498169938229,0.999999908418,-0.000249594753677,-0.000341440365713,-6.54571162509e-05,1793193467874115328
+356,5.933333333,POSE2_TO_POSE3_RETREAT,764,742,712,671.004050057,659,632.004050057,876.004050057,784,799,649,628.004050057,650.995949943,0.401800111988,-0.0154335654282,0.0498167648539,0.999999907055,-0.000255684065156,-0.000340983636463,-6.51659993067e-05,1793193467890782208
+357,5.950000000,POSE2_TO_POSE3_RETREAT,763.425949262,742,712,671.574050738,659,632,876,784,799.574050738,649.574050738,628.574050738,651,0.401664062346,-0.0154346850464,0.0498229194074,0.999999912189,-0.000253142609538,-0.000327884177005,-6.35051832675e-05,1793193467907448832
+358,5.966666667,POSE2_TO_POSE3_RETREAT,763.151661293,742,712,672,659,632.151661293,876.151661293,784,800,650,629,650.848338707,0.401537357574,-0.0154332025763,0.0498288959088,0.999999921707,-0.000233177227114,-0.000314238805049,-5.88871596659e-05,1793193467924115200
+359,5.983333333,POSE2_TO_POSE3_RETREAT,763.728142971,742,712,672,659,632.728142971,876.728142971,784,800,650,629,650.271857029,0.401436008408,-0.0154244595519,0.0498342502288,0.999999940607,-0.000164572352902,-0.000299308739955,-4.60121495503e-05,1793193467940781824
+360,6.000000000,POSE2_TO_POSE3_RETREAT,764,742,712,671.699373553,659.300626447,633,876.699373553,784,799.699373553,650,629,650.300626447,0.401347503979,-0.0154215557727,0.0498393605071,0.999999948257,-0.000136600542861,-0.000288466081489,-4.01657086224e-05,1793193467957448704
+361,6.016666667,POSE2_TO_POSE3_RETREAT,764,742,712,671.130458238,659.869541762,633,876.130458238,784,799.130458238,650,629,650.869541762,0.401270462617,-0.0154238631272,0.0498442529944,0.999999949123,-0.000144891011919,-0.000281271160147,-4.05917934686e-05,1793193467974115328
+362,6.033333333,POSE2_TO_POSE3_RETREAT,764,742,712,671,660,633,876.460544069,784,799.460544069,649.539455931,629,650.539455931,0.401204905538,-0.0154289525831,0.0498453885827,0.999999948285,-0.000154185910562,-0.00027923608875,-4.10301481748e-05,1793193467990782208
+363,6.050000000,POSE2_TO_POSE3_RETREAT,764,742,711.943878572,671,660,633,877,784,800,649.056121428,628.943878572,650,0.401144522067,-0.0154347861028,0.0498454221964,0.999999946885,-0.000163750831192,-0.000278742068125,-4.1461453642e-05,1793193468007448576
+364,6.066666667,POSE2_TO_POSE3_RETREAT,764,742,711.366834614,671,660,633,877,784,800,649.633165386,628.366834614,650,0.401100443298,-0.0154398425188,0.0498456029376,0.999999945428,-0.000173048101431,-0.000278301812314,-4.17934410728e-05,1793193468024115200
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764,742,711.20945326,671.20945326,660,633,876.79054674,784,800,649.79054674,628.20945326,650.20945326,0.401062938572,-0.0154432703235,0.0498454778454,0.999999944312,-0.000179609995469,-0.000278084655301,-4.22534476251e-05,1793193468040781568
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764,742,711.784421637,671.784421637,660,633,876.215578363,784,800,649.215578363,628.784421637,650.784421637,0.401036906158,-0.0154438560517,0.0498448190458,0.999999943912,-0.000181398406601,-0.000278256826199,-4.29368592377e-05,1793193468057448192
+367,6.116666667,POSE2_TO_POSE3_RETREAT,764,742,711.641797459,671.641797459,659.641797459,633,876.358202541,784,799.641797459,649,629,650.641797459,0.40101782405,-0.0154436195684,0.0498451011147,0.99999994393,-0.000183787445119,-0.000276534050458,-4.34830661539e-05,1793193468074114816
+368,6.133333333,POSE2_TO_POSE3_RETREAT,764,742,711.068728799,671.068728799,659.068728799,633,876.931271201,784,799.068728799,649,629,650.068728799,0.401002911049,-0.0154428898855,0.0498459475592,0.999999944187,-0.000186536767332,-0.000273674599857,-4.39469715401e-05,1793193468090781696
+369,6.150000000,POSE2_TO_POSE3_RETREAT,763.476344225,742,711,671,659,633,877,784,799.523655775,649.523655775,629,650,0.400993977909,-0.0154424672783,0.0498472455977,0.999999944485,-0.000186167698089,-0.000272837805192,-4.39497147814e-05,1793193468107448320
+370,6.166666667,POSE2_TO_POSE3_RETREAT,763.114227861,742,711.114227861,671.114227861,659,633,877,784,800,650,629,650.114227861,0.400986616989,-0.0154422565504,0.0498482525139,0.999999944722,-0.000185571460322,-0.000272372960221,-4.39582559557e-05,1793193468124115200
+371,6.183333333,POSE2_TO_POSE3_RETREAT,763.686959143,742,711.686959143,671.686959143,659,633,877,784,800,650,629,650.686959143,0.400982295883,-0.0154427283231,0.0498478438626,0.999999944694,-0.000185769137122,-0.000272294708251,-4.42423245703e-05,1793193468140781824
+372,6.200000000,POSE2_TO_POSE3_RETREAT,764,742,712,671.737569116,659,633,876.737569116,784,800,650,629,651,0.400980203066,-0.0154429418797,0.0498482719644,0.999999945017,-0.000186003530855,-0.000270931546662,-4.43200322728e-05,1793193468157448704
+373,6.216666667,POSE2_TO_POSE3_RETREAT,764,742,712,671.158793952,659,633,876.158793952,784,800,650,629,651,0.400980796316,-0.0154428441726,0.0498497087207,0.999999945758,-0.000186282184578,-0.00026801950561,-4.41489845796e-05,1793193468174115072
+374,6.233333333,POSE2_TO_POSE3_RETREAT,764,742,712,671,659,633,876.430337445,784,800,649.569662555,629,650.569662555,0.400981250693,-0.0154435831937,0.0498509662266,0.999999946256,-0.000187468765529,-0.000265364640874,-4.38846744089e-05,1793193468190781696
+375,6.250000000,POSE2_TO_POSE3_RETREAT,764,742,711.977351623,671.022648377,659,633,876.977351623,784,800,649,629,650.022648377,0.400981560919,-0.0154446126178,0.0498520826851,0.999999946625,-0.000188958008468,-0.000262949909859,-4.36112677553e-05,1793193468207448064
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764,742,711.402973112,671.597026888,659,633,876.402973112,784,800,649,629,650.597026888,0.400979638596,-0.015445009591,0.0498514141593,0.999999946234,-0.000189457641618,-0.000264016221365,-4.39752791648e-05,1793193468224114688
+377,6.283333333,POSE2_TO_POSE3_RETREAT,764,742,711,672,659,633,876.172353671,784,800,649.172353671,629,650.827646329,0.400979047061,-0.0154453170334,0.0498514862622,0.999999946221,-0.000189723291214,-0.000263854007536,-4.40837916729e-05,1793193468240781824
+378,6.300000000,POSE2_TO_POSE3_RETREAT,764,742,711,672,659,633,876.749909754,784,800,649.749909754,629,650.250090246,0.4009815842,-0.0154454139894,0.0498532995784,0.999999947097,-0.000189438846858,-0.000260803538103,-4.35916277946e-05,1793193468257448448
+379,6.316666667,POSE2_TO_POSE3_RETREAT,763.665956414,742,711.334043586,671.665956414,659,633,877,784,800,649.665956414,628.665956414,650.334043586,0.400980775815,-0.0154455777722,0.0498530779227,0.999999946999,-0.000189092812463,-0.000261456503044,-4.34341948882e-05,1793193468274115072
+380,6.333333333,POSE2_TO_POSE3_RETREAT,763.076799,742,711.923201,671.076799,659,633,877,784,800,649.076799,628.076799,650.923201,0.400977412405,-0.0154457925917,0.0498513021301,0.999999946153,-0.00018869974085,-0.00026493783305,-4.3532400723e-05,1793193468290781696
+381,6.350000000,POSE2_TO_POSE3_RETREAT,763.503612545,742,712,671,659,633,877,784,800,649,628.503612545,651,0.400977608928,-0.0154458638255,0.0498517380611,0.99999994626,-0.000189717189431,-0.000263769130717,-4.37505577114e-05,1793193468307448320
+382,6.366666667,POSE2_TO_POSE3_RETREAT,764,742,712,671,659,633,877,784,800,649.082244737,629,650.917755263,0.400978205333,-0.0154460386599,0.0498524398475,0.999999946511,-0.00019065717611,-0.000262101097603,-4.39348088809e-05,1793193468324114944
+383,6.383333333,POSE2_TO_POSE3_RETREAT,764,742,712,671,659,633,877,784,800,649.658066107,629,650.341933893,0.400977999202,-0.015446964397,0.0498527475481,0.999999946794,-0.00018986344819,-0.000261619386196,-4.38076778564e-05,1793193468340781568
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764,742,712,671,659,633,877,784,799.766888037,650,629,650.233111963,0.400977958216,-0.0154473039655,0.0498529654389,0.999999946909,-0.000189783399939,-0.000261240930638,-4.37904530787e-05,1793193468357448192
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764,742,712,671,659,633,877,784,799.192975984,650,629,650.807024016,0.400978158665,-0.0154467865796,0.0498530520314,0.999999946779,-0.000190746722023,-0.000261013430904,-4.39339067158e-05,1793193468374114816
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764,742,712,671,659,633,877,784,799.392652529,650,629,651,0.400977912057,-0.0154468589904,0.0498531667126,0.999999946889,-0.000190010594179,-0.00026113938482,-4.38705790766e-05,1793193468390781440
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764,742,712,671,659,633,877,784,799.98421639,650,629,651,0.400977438975,-0.0154472301826,0.0498532956231,0.999999947119,-0.000188413552835,-0.000261444392564,-4.37024994286e-05,1793193468407448320
+388,6.466666667,POSE2_TO_POSE3_RETREAT,763.436687829,742,711.436687829,671,659,633,876.436687829,784,800,649.436687829,629,651,0.40097608595,-0.0154475239515,0.0498526999261,0.999999946513,-0.000190303321059,-0.000262381531209,-4.37502356311e-05,1793193468424114944
+389,6.483333333,POSE2_TO_POSE3_RETREAT,763,742,711.140424154,671.140424154,659.140424154,633,876.140424154,784,800.140424154,649.140424154,629,651,0.400975179318,-0.0154477760221,0.0498523132512,0.999999946129,-0.000191494669438,-0.000262985204939,-4.37115132584e-05,1793193468440781568
+390,6.500000000,POSE2_TO_POSE3_RETREAT,763,742,711.712488742,671.712488742,659.712488742,633,876.712488742,784,800.712488742,649.712488742,629,651,0.400975718971,-0.0154479064433,0.0498526301321,0.999999946506,-0.000190245387027,-0.000262510598562,-4.33888466364e-05,1793193468457448192
+391,6.516666667,POSE2_TO_POSE3_RETREAT,763.287248841,742,711.712751159,671.712751159,659.712751159,633,877,784,800.425502317,650,628.712751159,651,0.400975801367,-0.0154482142458,0.0498524836073,0.999999946518,-0.000190101443514,-0.000262584562241,-4.32897514336e-05,1793193468474115072
+392,6.533333333,POSE2_TO_POSE3_RETREAT,763.864732542,742,711.135267458,671.135267458,659.135267458,633,877,784,799.270534916,650,628.135267458,651,0.400975421752,-0.0154487012734,0.0498518688597,0.999999946162,-0.000191074328998,-0.000263212798429,-4.34165516874e-05,1793193468490781696
+393,6.550000000,POSE2_TO_POSE3_RETREAT,763.549171912,742,711.450828088,671,659,633,877,784,799.901656177,649.549171912,628.450828088,651,0.400976015271,-0.0154471559982,0.0498527095227,0.999999946898,-0.00018940215491,-0.000261551014534,-4.38449541584e-05,1793193468507448576
+394,6.566666667,POSE2_TO_POSE3_RETREAT,763.039104339,742,712,671.039104339,659,633,877,784,800.960895661,649.039104339,629,651,0.400976787644,-0.0154450675161,0.0498538891421,0.999999947872,-0.00018705919191,-0.000259419911084,-4.43312393508e-05,1793193468524114944
+395,6.583333333,POSE2_TO_POSE3_RETREAT,763.621084827,742,712,671.621084827,659,633,877,784,800.378915173,649.621084827,629,651,0.400975910548,-0.0154440680632,0.0498535939637,0.999999947671,-0.000186636156715,-0.000260497999525,-4.43403333281e-05,1793193468540781824
+396,6.600000000,POSE2_TO_POSE3_RETREAT,764,742,712,671.799749156,659,633,877,784.200250844,799.799749156,650,629,651,0.400975215791,-0.0154442055011,0.0498531032133,0.999999947361,-0.000186828814952,-0.000261568119677,-4.42180622251e-05,1793193468557448448
+397,6.616666667,POSE2_TO_POSE3_RETREAT,764,742,712,671.225834909,659,633,877,784.774165091,799.225834909,650,629,651,0.400974861275,-0.0154464643509,0.0498522475302,0.999999946849,-0.000188170342792,-0.000262623371128,-4.38506669468e-05,1793193468574115072
+398,6.633333333,POSE2_TO_POSE3_RETREAT,764,742,712,671,659.3564801,633,877,784.6435199,799.3564801,649.6435199,629,650.6435199,0.400975248112,-0.0154465836089,0.0498521376028,0.999999946805,-0.000188802990759,-0.000262328079623,-4.39096641727e-05,1793193468590781696
+399,6.650000000,POSE2_TO_POSE3_RETREAT,764,742,712,671,659.944245525,633,877,784.055754475,799.944245525,649.055754475,629,650.055754475,0.400976115941,-0.0154453146936,0.049852511524,0.999999947064,-0.000188975715349,-0.000261156551881,-4.42453061104e-05,1793193468607448320
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_06/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_06/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bffbce403d423ec9a507769817fc6084ce15e36a
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_06/depth_04/simulation_data.csv
@@ -0,0 +1,401 @@
+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,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+1,0.016666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+2,0.033333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+3,0.050000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+4,0.066666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+5,0.083333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+6,0.100000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+7,0.116666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+8,0.133333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+9,0.150000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+10,0.166666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+11,0.183333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+12,0.200000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+13,0.216666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+14,0.233333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+15,0.250000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+16,0.266666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+17,0.283333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+18,0.300000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+19,0.316666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+20,0.333333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+21,0.350000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+22,0.366666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+23,0.383333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+24,0.400000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+25,0.416666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+26,0.433333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+27,0.450000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+28,0.466666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+29,0.483333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+30,0.500000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+31,0.516666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+32,0.533333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+33,0.550000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+34,0.566666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+35,0.583333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+36,0.600000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+37,0.616666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+38,0.633333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+39,0.650000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+40,0.666666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+41,0.683333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+42,0.700000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+43,0.716666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+44,0.733333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+45,0.750000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+46,0.766666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+47,0.783333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+48,0.800000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+49,0.816666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+50,0.833333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+51,0.850000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+52,0.866666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+53,0.883333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+54,0.900000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+55,0.916666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+56,0.933333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+57,0.950000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+58,0.966666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+59,0.983333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+60,1.000000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+61,1.016666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+62,1.033333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+63,1.050000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+64,1.066666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+65,1.083333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+66,1.100000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+67,1.116666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+68,1.133333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+69,1.150000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+70,1.166666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+71,1.183333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+72,1.200000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+73,1.216666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+74,1.233333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+75,1.250000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+76,1.266666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+77,1.283333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+78,1.300000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+79,1.316666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+80,1.333333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+81,1.350000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+82,1.366666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+83,1.383333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+84,1.400000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+85,1.416666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+86,1.433333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+87,1.450000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+88,1.466666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+89,1.483333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+90,1.500000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+91,1.516666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+92,1.533333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+93,1.550000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+94,1.566666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+95,1.583333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+96,1.600000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+97,1.616666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+98,1.633333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+99,1.650000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+100,1.666666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+101,1.683333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+102,1.700000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+103,1.716666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+104,1.733333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+105,1.750000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+106,1.766666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+107,1.783333333,pose1_to_pose2_press,0.575709242258,-0.00994531867307,1.04002929125,0.546279971438,-0.00127259288748,1.03969857948
+108,1.800000000,pose1_to_pose2_press,0.575709572771,-0.00994526924742,1.04002915666,0.54628030057,-0.00127254793,1.03969845058
+109,1.816666667,pose1_to_pose2_press,0.57571011541,-0.00994534373881,1.04002915335,0.546280844612,-0.00127261776509,1.03969844454
+110,1.833333333,pose1_to_pose2_press,0.575710715611,-0.00994538351196,1.040029101,0.54628144411,-0.00127265998807,1.03969839051
+111,1.850000000,pose1_to_pose2_press,0.575711256732,-0.00994541937013,1.04002905381,0.546281984598,-0.00127269805494,1.03969834181
+112,1.866666667,pose1_to_pose2_press,0.575711967455,-0.00994542608249,1.04002903992,0.546282695973,-0.00127270243095,1.03969833114
+113,1.883333333,pose1_to_pose2_press,0.575713036476,-0.00994543496784,1.04002902047,0.546283766018,-0.00127270764507,1.03969831671
+114,1.900000000,pose1_to_pose2_press,0.575715251702,-0.00994541086445,1.04002901626,0.546285981961,-0.00127268104491,1.0396983142
+115,1.916666667,pose1_to_pose2_press,0.575720009185,-0.00994532877865,1.04002907243,0.546290738956,-0.00127260093977,1.03969836179
+116,1.933333333,pose1_to_pose2_press,0.575729283339,-0.00994544026897,1.04002912927,0.546300014879,-0.00127270630193,1.03969842191
+117,1.950000000,pose1_to_pose2_press,0.575744598033,-0.00994545346263,1.04002907624,0.546315329031,-0.00127272132014,1.03969836928
+118,1.966666667,pose1_to_pose2_press,0.575770697284,-0.00994545873518,1.04002904692,0.546341427521,-0.00127272890981,1.03969834687
+119,1.983333333,pose1_to_pose2_press,0.575807518941,-0.00994546859741,1.04002887826,0.546378249274,-0.00127273838039,1.03969817976
+120,2.000000000,pose1_to_pose2_press,0.57585555571,-0.00994545934316,1.04002931625,0.546426285878,-0.00127273033375,1.03969860068
+121,2.016666667,pose1_to_pose2_press,0.575913509772,-0.00994565414028,1.04002921649,0.546484243073,-0.00127291437242,1.03969850425
+122,2.033333333,pose1_to_pose2_press,0.575981272875,-0.00994547211933,1.04002907001,0.546552003178,-0.00127274219379,1.0396983664
+123,2.050000000,pose1_to_pose2_press,0.5760579346,-0.00994537954436,1.04002915343,0.546628663293,-0.00127265513333,1.03969844838
+124,2.066666667,pose1_to_pose2_press,0.576144028764,-0.00994536441043,1.04002926,0.546714758569,-0.00127263633772,1.03969855194
+125,2.083333333,pose1_to_pose2_press,0.576242477228,-0.00994529647513,1.04002925425,0.546813206448,-0.00127257045431,1.0396985445
+126,2.100000000,pose1_to_pose2_press,0.576354680227,-0.00994552981723,1.04002892215,0.54692541172,-0.00127279602506,1.0396982139
+127,2.116666667,pose1_to_pose2_press,0.576484707476,-0.00994545805965,1.04002899079,0.547055438669,-0.0012727253596,1.03969828044
+128,2.133333333,pose1_to_pose2_press,0.576632141668,-0.00994542608433,1.04002913012,0.54720287219,-0.00127269554079,1.03969842294
+129,2.150000000,pose1_to_pose2_press,0.576797792894,-0.00994548491392,1.04002900681,0.547368523469,-0.0012727541327,1.039698301
+130,2.166666667,pose1_to_pose2_press,0.576986896631,-0.00994546947435,1.04002901856,0.547557628092,-0.00127273602875,1.03969830377
+131,2.183333333,pose1_to_pose2_press,0.577199237002,-0.00994549351036,1.04002926256,0.54776996942,-0.00127275666651,1.03969855167
+132,2.200000000,pose1_to_pose2_press,0.577434846873,-0.00994557859061,1.0400291628,0.548005580083,-0.00127283901108,1.03969845313
+133,2.216666667,pose1_to_pose2_press,0.577694582262,-0.00994542712576,1.04002914819,0.548265312178,-0.00127269854081,1.03969844325
+134,2.233333333,pose1_to_pose2_press,0.577981891716,-0.00994553123406,1.04002909491,0.548552622025,-0.00127280146082,1.03969838605
+135,2.250000000,pose1_to_pose2_press,0.578290961031,-0.00994553731805,1.04002894003,0.548861691462,-0.00127280694984,1.03969823599
+136,2.266666667,pose1_to_pose2_press,0.578621745749,-0.00994548010113,1.04002914154,0.549192475447,-0.00127275262155,1.03969842689
+137,2.283333333,pose1_to_pose2_press,0.5789712257,-0.00994545943248,1.04002922258,0.549541955487,-0.0012727315518,1.03969851046
+138,2.300000000,pose1_to_pose2_press,0.579336883077,-0.00994550722893,1.040029075,0.549907614503,-0.00127277342843,1.03969837227
+139,2.316666667,pose1_to_pose2_press,0.579717428541,-0.00994542054501,1.04002928937,0.550288159656,-0.0012726878484,1.03969858528
+140,2.333333333,pose1_to_pose2_press,0.580115554185,-0.00994540080013,1.04002936016,0.55068628461,-0.00127267072308,1.03969864875
+141,2.350000000,pose1_to_pose2_press,0.580535677087,-0.00994540513461,1.04002903114,0.551106406313,-0.00127267874572,1.0396983296
+142,2.366666667,pose1_to_pose2_press,0.580988599395,-0.00994539692992,1.04002916077,0.551559328642,-0.00127267080691,1.03969845035
+143,2.383333333,pose1_to_pose2_press,0.581476952037,-0.00994538248211,1.04002908233,0.552047681621,-0.00127265528284,1.03969837012
+144,2.400000000,pose1_to_pose2_press,0.58200105921,-0.00994554076211,1.04002928336,0.552571790426,-0.00127280792173,1.0396985738
+145,2.416666667,pose1_to_pose2_press,0.582555350381,-0.00994553869089,1.04002917297,0.5531260827,-0.00127280220024,1.03969846089
+146,2.433333333,pose1_to_pose2_press,0.58313498461,-0.00994543528137,1.04002907534,0.553705715574,-0.00127270328073,1.03969836611
+147,2.450000000,pose1_to_pose2_press,0.58372419912,-0.00994555212762,1.04002931305,0.554294930251,-0.00127281988553,1.03969859518
+148,2.466666667,pose1_to_pose2_press,0.584318010088,-0.00994546601334,1.04002915922,0.554888740639,-0.0012727352824,1.03969845332
+149,2.483333333,pose1_to_pose2_press,0.584929189074,-0.00994560025627,1.04002909622,0.555499921514,-0.0012728636476,1.03969837632
+150,2.500000000,pose1_to_pose2_press,0.585560527108,-0.00994546534376,1.04002894756,0.556131256577,-0.00127273865501,1.03969823191
+151,2.516666667,pose1_to_pose2_press,0.586220410152,-0.00994554727249,1.04002920301,0.556791141275,-0.00127281508893,1.03969848426
+152,2.533333333,pose1_to_pose2_press,0.58690812208,-0.00994543065908,1.04002907332,0.557478852281,-0.00127270139652,1.03969835996
+153,2.550000000,pose1_to_pose2_press,0.587621638403,-0.00994532438492,1.04002903956,0.558192366909,-0.00127260058069,1.03969833384
+154,2.566666667,pose1_to_pose2_press,0.588348242596,-0.0099454954889,1.04002926109,0.558918974066,-0.00127276166382,1.03969855442
+155,2.583333333,pose1_to_pose2_press,0.589086583622,-0.00994537847077,1.04002916651,0.559657313488,-0.00127265012138,1.03969845898
+156,2.600000000,pose1_to_pose2_press,0.589838628693,-0.0099454338624,1.0400293233,0.560409359264,-0.00127270351862,1.03969860531
+157,2.616666667,pose1_to_pose2_press,0.590605558965,-0.00994560297557,1.04002934659,0.561176290499,-0.00127286956314,1.0396986234
+158,2.633333333,pose1_to_pose2_press,0.591386819505,-0.00994560591027,1.04002916093,0.561957553256,-0.001272864369,1.03969845362
+159,2.650000000,pose1_to_pose2_press,0.59217836126,-0.00994558786934,1.04002918603,0.562749091779,-0.00127285762634,1.03969847007
+160,2.666666667,pose1_to_pose2_press,0.592978650351,-0.00994542314879,1.04002909676,0.563549379995,-0.00127269594372,1.03969837906
+161,2.683333333,pose1_to_pose2_press,0.593789724251,-0.0099455172448,1.04002930839,0.564360457031,-0.00127277957616,1.03969858602
+162,2.700000000,pose1_to_pose2_press,0.59461349721,-0.00994541578532,1.04002917632,0.565184229342,-0.00127267983448,1.03969846663
+163,2.716666667,pose1_to_pose2_press,0.595443665811,-0.00994531812273,1.04002914753,0.56601439377,-0.00127259614235,1.03969844276
+164,2.733333333,pose1_to_pose2_press,0.596278236435,-0.00994540471135,1.04002907483,0.56684896606,-0.00127267726717,1.03969836523
+165,2.750000000,pose1_to_pose2_press,0.597115554091,-0.00994548489844,1.04002935611,0.567686284345,-0.00127275522445,1.03969864898
+166,2.766666667,pose1_to_pose2_press,0.597950393463,-0.00994559399856,1.04002920676,0.568521126614,-0.00127285460941,1.03969849668
+167,2.783333333,pose1_to_pose2_press,0.598786030144,-0.00994560087827,1.0400291976,0.569356762841,-0.00127286329544,1.03969848063
+168,2.800000000,pose1_to_pose2_press,0.599611767922,-0.00994539033226,1.040029139,0.570182497794,-0.00127266181095,1.03969843587
+169,2.816666667,pose1_to_pose2_press,0.600428948913,-0.00994532206658,1.0400293612,0.570999677704,-0.00127259743311,1.03969865228
+170,2.833333333,pose1_to_pose2_press,0.601242318253,-0.00994539630131,1.04002900259,0.571813046859,-0.00127267207987,1.03969829944
+171,2.850000000,pose1_to_pose2_press,0.602048129579,-0.00994548131371,1.0400291471,0.572618859876,-0.00127275188703,1.03969843001
+172,2.866666667,pose1_to_pose2_press,0.602846737321,-0.00994558315433,1.04002908861,0.573417468988,-0.00127284888054,1.03969837685
+173,2.883333333,pose1_to_pose2_press,0.603648289748,-0.00994542847092,1.04002901785,0.574219020234,-0.00127269786,1.03969831511
+174,2.900000000,pose1_to_pose2_press,0.604449704059,-0.00994554663023,1.04002910179,0.575020435483,-0.00127281283998,1.03969839908
+175,2.916666667,pose1_to_pose2_press,0.605246585882,-0.00994544852096,1.04002925443,0.575817316261,-0.00127271854664,1.03969854476
+176,2.933333333,pose1_to_pose2_press,0.606032182896,-0.0099454004996,1.04002924091,0.576602913096,-0.00127267140274,1.03969852416
+177,2.950000000,pose1_to_pose2_press,0.60679932784,-0.00994542389891,1.04002918956,0.577370058202,-0.00127269413597,1.03969847599
+178,2.966666667,pose1_to_pose2_press,0.607546974995,-0.00994543695937,1.04002909127,0.578117706034,-0.001272704773,1.0396983811
+179,2.983333333,pose1_to_pose2_press,0.608269441672,-0.00994526715651,1.04002909024,0.578840170923,-0.00127254059747,1.0396983917
+180,3.000000000,pose1_to_pose2_press,0.608975097824,-0.00994546974665,1.04002905167,0.579545827937,-0.00127274041526,1.03969834924
+181,3.016666667,pose1_to_pose2_press,0.609665850721,-0.00994544534355,1.04002903897,0.580236580344,-0.00127271786752,1.0396983315
+182,3.033333333,pose1_to_pose2_press,0.610343387261,-0.00994546042771,1.04002913305,0.580914119105,-0.00127272547645,1.03969842411
+183,3.050000000,pose1_to_pose2_press,0.611009671562,-0.00994553029693,1.04002912087,0.581580402571,-0.00127279854276,1.03969840251
+184,3.066666667,pose1_to_pose2_press,0.611659598228,-0.00994549260588,1.04002917045,0.582230327858,-0.00127276548744,1.03969845382
+185,3.083333333,pose1_to_pose2_press,0.61227872527,-0.00994546974294,1.0400291731,0.582849455375,-0.0012727407449,1.03969846121
+186,3.100000000,pose1_to_pose2_press,0.61286425038,-0.00994543329965,1.04002898262,0.583434979482,-0.00127270708561,1.03969827504
+187,3.116666667,pose1_to_pose2_press,0.613416280259,-0.0099454619342,1.04002891204,0.583987010359,-0.00127273134826,1.0396982066
+188,3.133333333,pose1_to_pose2_press,0.61394270711,-0.00994539969514,1.04002910308,0.584513436629,-0.00127267028269,1.03969839247
+189,3.150000000,pose1_to_pose2_press,0.614450796338,-0.0099453680614,1.04002902163,0.585021524681,-0.00127264167772,1.03969830759
+190,3.166666667,pose1_to_pose2_press,0.614938575501,-0.0099453406119,1.04002907813,0.585509303291,-0.00127261473016,1.0396983724
+191,3.183333333,pose1_to_pose2_press,0.615400925958,-0.00994544720125,1.04002926757,0.585971655591,-0.00127271445015,1.03969855323
+192,3.200000000,pose1_to_pose2_press,0.615831594237,-0.00994543177867,1.04002925665,0.586402323312,-0.00127270019139,1.03969853687
+193,3.216666667,pose1_to_pose2_press,0.61623066508,-0.00994552286754,1.04002921946,0.586801394292,-0.00127278991396,1.03969849821
+194,3.233333333,pose1_to_pose2_press,0.616598567964,-0.00994553811798,1.0400292087,0.587169296274,-0.00127280722327,1.03969849034
+195,3.250000000,pose1_to_pose2_press,0.616943449944,-0.00994551790556,1.04002916766,0.587514178207,-0.00127278600449,1.03969845891
+196,3.266666667,pose1_to_pose2_press,0.61727211717,-0.00994555896195,1.04002910561,0.587842846544,-0.00127282238912,1.03969840095
+197,3.283333333,pose1_to_pose2_press,0.617587610989,-0.00994548011187,1.0400291335,0.588158338846,-0.00127274821459,1.03969842214
+198,3.300000000,pose1_to_pose2_press,0.617889438276,-0.00994545145687,1.0400292654,0.5884601666,-0.00127271717341,1.03969855445
+199,3.316666667,pose1_to_pose2_press,0.618173663417,-0.00994537661316,1.04002916136,0.588744390202,-0.00127264656125,1.03969845415
+200,3.333333333,pose1_to_pose2_press,0.618438520545,-0.00994542504404,1.040029101,0.589009247259,-0.00127269472924,1.03969839136
+201,3.350000000,pose1_to_pose2_press,0.618678430392,-0.00994542879195,1.04002902742,0.589249156528,-0.00127270003915,1.03969831464
+202,3.366666667,pose1_to_pose2_press,0.618894250141,-0.00994539099221,1.04002921585,0.589464975554,-0.001272664341,1.03969849603
+203,3.383333333,pose1_to_pose2_press,0.619084563393,-0.00994545807531,1.04002917045,0.58965528942,-0.0012727284661,1.03969846072
+204,3.400000000,pose1_to_pose2_press,0.619254527626,-0.0099455434845,1.04002915224,0.589825255493,-0.00127280701403,1.03969844596
+205,3.416666667,pose1_to_pose2_press,0.619405136986,-0.00994561629203,1.04002912458,0.589975863862,-0.00127288287367,1.0396984177
+206,3.433333333,pose1_to_pose2_press,0.619535852479,-0.00994559888319,1.04002903364,0.590106579277,-0.0012728653898,1.03969832675
+207,3.450000000,pose1_to_pose2_press,0.61964931651,-0.00994539825762,1.04002904261,0.590220042252,-0.00127266810683,1.03969833574
+208,3.466666667,pose1_to_pose2_press,0.61974694084,-0.00994536450086,1.04002921202,0.590317664089,-0.00127264302731,1.03969849176
+209,3.483333333,pose1_to_pose2_press,0.619831292736,-0.00994549323063,1.04002918385,0.590402018847,-0.00127276156394,1.03969847028
+210,3.500000000,pose1_to_pose2_press,0.619903385343,-0.00994546671251,1.04002908917,0.590474111653,-0.00127273402656,1.03969837864
+211,3.516666667,pose1_to_pose2_press,0.619966428647,-0.00994546226256,1.04002907631,0.590537154009,-0.00127273260629,1.03969836128
+212,3.533333333,pose1_to_pose2_press,0.620020855849,-0.00994538982073,1.04002900988,0.590591580196,-0.00127266367497,1.03969829542
+213,3.550000000,pose1_to_pose2_press,0.620067483181,-0.00994533734876,1.04002892162,0.590638206966,-0.00127261276704,1.03969821341
+214,3.566666667,pose1_to_pose2_press,0.620106656314,-0.00994538813208,1.04002895889,0.590677380131,-0.00127266304586,1.03969825254
+215,3.583333333,pose1_to_pose2_press,0.620137721623,-0.00994539738597,1.04002907439,0.590708445564,-0.00127267206294,1.03969836728
+216,3.600000000,pose1_to_pose2_press,0.620162214798,-0.00994536017196,1.04002910191,0.590732938468,-0.00127263521793,1.03969840081
+217,3.616666667,pose1_to_pose2_press,0.620180611306,-0.00994540419876,1.04002899394,0.59075133559,-0.00127267734458,1.03969829531
+218,3.633333333,pose1_to_pose2_press,0.620193344973,-0.00994547317074,1.04002891774,0.590764070571,-0.00127274170983,1.03969821542
+219,3.650000000,pose1_to_pose2_press,0.620201664196,-0.00994539771921,1.04002907044,0.590772388265,-0.00127267170234,1.03969836598
+220,3.666666667,pose1_to_pose2_press,0.620206991631,-0.00994540255013,1.04002918399,0.590777715236,-0.00127267821112,1.03969847805
+221,3.683333333,pose1_to_pose2_press,0.620210690513,-0.00994551638971,1.04002925181,0.590781415092,-0.00127278865617,1.03969854462
+222,3.700000000,pose1_to_pose2_press,0.620213371848,-0.00994557782904,1.04002929892,0.590784097549,-0.00127284637648,1.03969858806
+223,3.716666667,pose1_to_pose2_press,0.620215410125,-0.00994559055844,1.04002933142,0.590786137351,-0.00127285425107,1.03969861332
+224,3.733333333,pose1_to_pose2_press,0.620216831134,-0.00994559945363,1.04002934553,0.590787559372,-0.00127285990551,1.0396986229
+225,3.750000000,pose1_to_pose2_press,0.62021760116,-0.00994560452983,1.0400292478,0.590788329328,-0.00127286500136,1.03969852911
+226,3.766666667,pose1_to_pose2_press,0.620217932296,-0.00994560671276,1.04002920577,0.590788660433,-0.00127286719273,1.03969848878
+227,3.783333333,pose1_to_pose2_press,0.620218138631,-0.00994560807296,1.04002917958,0.590788866749,-0.0012728685582,1.03969846365
+228,3.800000000,pose1_to_pose2_press,0.620218400004,-0.009945609796,1.0400291464,0.590789128098,-0.00127287028791,1.03969843182
+229,3.816666667,pose1_to_pose2_press,0.620218661336,-0.00994561151876,1.04002911323,0.590789389406,-0.00127287201734,1.03969839998
+230,3.833333333,pose1_to_pose2_press,0.620219110851,-0.00994561448207,1.04002905618,0.590789838881,-0.00127287499212,1.03969834523
+231,3.850000000,pose1_to_pose2_press,0.620219486669,-0.00994561006579,1.04002909209,0.59079021459,-0.00127287109292,1.03969837956
+232,3.866666667,pose1_to_pose2_press,0.620219493343,-0.00994560995783,1.04002909308,0.590790221262,-0.00127287099632,1.03969838051
+233,3.883333333,pose1_to_pose2_press,0.620219527735,-0.00994560940153,1.04002909822,0.590790255642,-0.00127287049854,1.03969838542
+234,3.900000000,pose1_to_pose2_press,0.620219652635,-0.00994560738122,1.04002911685,0.590790380501,-0.00127286869076,1.03969840324
+235,3.916666667,pose1_to_pose2_press,0.62021981658,-0.00994560472934,1.04002914131,0.590790544391,-0.00127286631786,1.03969842664
+236,3.933333333,pose1_to_pose2_press,0.62022001692,-0.00994560148877,1.04002917121,0.590790744663,-0.0012728634182,1.03969845524
+237,3.950000000,pose1_to_pose2_press,0.620220138701,-0.00994559951892,1.04002918938,0.590790866404,-0.00127286165556,1.03969847262
+238,3.966666667,pose1_to_pose2_press,0.620220172231,-0.00994559897656,1.04002919438,0.590790899923,-0.00127286117026,1.03969847741
+239,3.983333333,pose1_to_pose2_press,0.62022018824,-0.00994559871761,1.04002919677,0.590790915926,-0.00127286093855,1.03969847969
+240,4.000000000,pose1_to_pose2_press,0.620220193436,-0.00994559863356,1.04002919754,0.59079092112,-0.00127286086334,1.03969848043
+241,4.016666667,pose1_to_pose2_press,0.620220250294,-0.00994559771385,1.04002920603,0.59079097796,-0.00127286004039,1.03969848855
+242,4.033333333,pose1_to_pose2_press,0.620220372284,-0.00994557801153,1.04002920106,0.59079109915,-0.00127284294406,1.0396984846
+243,4.050000000,pose1_to_pose2_press,0.620220536362,-0.00994554980095,1.04002919216,0.590791262081,-0.00127281846999,1.03969847723
+244,4.066666667,pose1_to_pose2_press,0.620220676082,-0.00994558812838,1.04002919882,0.590791403058,-0.00127285262667,1.03969848148
+245,4.083333333,pose1_to_pose2_press,0.620220734996,-0.00994560933918,1.04002920278,0.590791462686,-0.0012728714848,1.03969848412
+246,4.100000000,pose1_to_pose2_press,0.620220734996,-0.00994560933918,1.04002920278,0.590791462691,-0.00127287148722,1.03969848412
+247,4.116666667,pose2_hold,0.620220734996,-0.00994560933918,1.04002920278,0.590791462699,-0.00127287148663,1.03969848413
+248,4.133333333,pose2_hold,0.620220734996,-0.00994560933918,1.04002920278,0.590791462699,-0.00127287148675,1.03969848413
+249,4.150000000,pose2_hold,0.620220734996,-0.00994560933918,1.04002920278,0.5907914627,-0.00127287148709,1.03969848413
+250,4.166666667,pose2_hold,0.620220734996,-0.00994560933918,1.04002920278,0.5907914627,-0.00127287148695,1.03969848413
+251,4.183333333,pose2_hold,0.620220734996,-0.00994560933918,1.04002920278,0.5907914627,-0.00127287148725,1.03969848413
+252,4.200000000,pose2_hold,0.620220734996,-0.00994560933918,1.04002920278,0.5907914627,-0.0012728714872,1.03969848413
+253,4.216666667,pose2_hold,0.620220734996,-0.00994560933918,1.04002920278,0.590791462701,-0.00127287148621,1.03969848413
+254,4.233333333,pose2_hold,0.620220734996,-0.00994560933918,1.04002920278,0.590791462701,-0.00127287148716,1.03969848413
+255,4.250000000,pose2_hold,0.620220734996,-0.00994560933918,1.04002920278,0.590791462701,-0.00127287148722,1.03969848413
+256,4.266666667,pose2_hold,0.620220734996,-0.00994560933918,1.04002920278,0.590791462702,-0.00127287148694,1.03969848413
+257,4.283333333,pose2_hold,0.620220734996,-0.00994560933918,1.04002920278,0.590791462702,-0.00127287148735,1.03969848413
+258,4.300000000,pose2_hold,0.620220734996,-0.00994560933918,1.04002920278,0.590791462702,-0.00127287148732,1.03969848413
+259,4.316666667,pose2_hold,0.620220734996,-0.00994560933918,1.04002920278,0.590791462703,-0.00127287148732,1.03969848413
+260,4.333333333,pose2_hold,0.620220734996,-0.00994560933918,1.04002920278,0.590791462703,-0.00127287148734,1.03969848413
+261,4.350000000,pose2_hold,0.620220734996,-0.00994560933918,1.04002920278,0.590791462703,-0.00127287148691,1.03969848413
+262,4.366666667,pose2_hold,0.620220734996,-0.00994560933918,1.04002920278,0.590791462704,-0.00127287148684,1.03969848413
+263,4.383333333,pose2_to_pose3_retreat,0.620220734996,-0.00994560933918,1.04002920278,0.590791462705,-0.00127287148692,1.03969848413
+264,4.400000000,pose2_to_pose3_retreat,0.620220620745,-0.00994555049078,1.04002918758,0.590791347012,-0.00127281738381,1.03969847345
+265,4.416666667,pose2_to_pose3_retreat,0.620220497407,-0.00994553875807,1.04002918258,0.590791223253,-0.00127280701903,1.03969847013
+266,4.433333333,pose2_to_pose3_retreat,0.620220462184,-0.00994553580453,1.04002918124,0.590791187918,-0.00127280442736,1.03969846925
+267,4.450000000,pose2_to_pose3_retreat,0.620220445887,-0.00994553443795,1.04002918062,0.590791171569,-0.0012728032282,1.03969846884
+268,4.466666667,pose2_to_pose3_retreat,0.620220419816,-0.00994553225185,1.04002917963,0.590791145415,-0.00127280130995,1.03969846818
+269,4.483333333,pose2_to_pose3_retreat,0.620219881427,-0.00994553708677,1.04002908543,0.590790607264,-0.00127280523458,1.03969837675
+270,4.500000000,pose2_to_pose3_retreat,0.620217161852,-0.00994555794723,1.04002897944,0.590787888511,-0.00127282303078,1.03969827772
+271,4.516666667,pose2_to_pose3_retreat,0.620209639563,-0.00994551697666,1.04002897671,0.5907803643,-0.00127278887929,1.03969827004
+272,4.533333333,pose2_to_pose3_retreat,0.620194095558,-0.0099455474466,1.04002910066,0.59076482136,-0.00127281606398,1.03969838546
+273,4.550000000,pose2_to_pose3_retreat,0.620168984895,-0.00994549500991,1.04002896189,0.590739709191,-0.00127276855728,1.0396982543
+274,4.566666667,pose2_to_pose3_retreat,0.620132654896,-0.00994554408051,1.04002899524,0.590703381049,-0.00127281163465,1.03969828431
+275,4.583333333,pose2_to_pose3_retreat,0.620085775801,-0.00994541778675,1.04002902252,0.59065649926,-0.00127269457938,1.03969830432
+276,4.600000000,pose2_to_pose3_retreat,0.620027757654,-0.00994548496495,1.04002929954,0.590598483725,-0.00127275323072,1.03969858212
+277,4.616666667,pose2_to_pose3_retreat,0.619959635037,-0.00994531656656,1.04002919193,0.590530359054,-0.00127259218295,1.03969847621
+278,4.633333333,pose2_to_pose3_retreat,0.619880833163,-0.00994553238051,1.04002930814,0.590451560177,-0.00127279884287,1.039698594
+279,4.650000000,pose2_to_pose3_retreat,0.619790682129,-0.0099454494592,1.04002917288,0.59036140595,-0.0012727256554,1.03969846518
+280,4.666666667,pose2_to_pose3_retreat,0.619689019516,-0.00994564219426,1.0400290623,0.590259747854,-0.0012729032169,1.03969835424
+281,4.683333333,pose2_to_pose3_retreat,0.61957235333,-0.00994547994047,1.04002913586,0.590143079892,-0.00127274742244,1.03969842603
+282,4.700000000,pose2_to_pose3_retreat,0.619440117725,-0.00994532302773,1.04002918661,0.590010841828,-0.00127259911396,1.039698473
+283,4.716666667,pose2_to_pose3_retreat,0.619289511107,-0.0099453585525,1.04002915516,0.589860236364,-0.0012726309834,1.03969844823
+284,4.733333333,pose2_to_pose3_retreat,0.619117384823,-0.00994543089255,1.04002903021,0.589688110342,-0.00127270317307,1.03969831954
+285,4.750000000,pose2_to_pose3_retreat,0.618921444946,-0.00994542374477,1.04002907311,0.58949216988,-0.00127269855386,1.03969836127
+286,4.766666667,pose2_to_pose3_retreat,0.618700350836,-0.00994534673779,1.04002916625,0.589271075797,-0.00127262185712,1.03969845883
+287,4.783333333,pose2_to_pose3_retreat,0.618454559623,-0.00994528634301,1.04002910484,0.58902528442,-0.00127256271264,1.03969839681
+288,4.800000000,pose2_to_pose3_retreat,0.618182616801,-0.00994534321203,1.04002917928,0.588753342602,-0.00127261692427,1.03969846944
+289,4.816666667,pose2_to_pose3_retreat,0.61788715426,-0.00994551399481,1.04002925514,0.588457881935,-0.00127278233798,1.03969853819
+290,4.833333333,pose2_to_pose3_retreat,0.617567879102,-0.00994556804621,1.04002914092,0.588138607118,-0.00127283605648,1.03969842261
+291,4.850000000,pose2_to_pose3_retreat,0.617224028897,-0.00994548685594,1.04002896235,0.587794756456,-0.00127275671376,1.0396982585
+292,4.866666667,pose2_to_pose3_retreat,0.616854825306,-0.00994542964023,1.04002889905,0.587425552229,-0.00127270243713,1.03969819637
+293,4.883333333,pose2_to_pose3_retreat,0.616464619974,-0.00994537612933,1.04002909749,0.587035346354,-0.00127265198292,1.03969838535
+294,4.900000000,pose2_to_pose3_retreat,0.61605463581,-0.00994534883145,1.04002920469,0.586625363067,-0.00127262269279,1.0396984926
+295,4.916666667,pose2_to_pose3_retreat,0.615623393103,-0.00994548227254,1.04002910783,0.586194122576,-0.00127274966943,1.03969839372
+296,4.933333333,pose2_to_pose3_retreat,0.615171447089,-0.00994558851226,1.04002921506,0.585742177194,-0.00127285473037,1.03969850184
+297,4.950000000,pose2_to_pose3_retreat,0.614695895537,-0.00994531806089,1.04002927268,0.585266622146,-0.00127259717738,1.03969856032
+298,4.966666667,pose2_to_pose3_retreat,0.614184118308,-0.00994554096709,1.04002913491,0.584754847779,-0.00127281153197,1.03969842368
+299,4.983333333,pose2_to_pose3_retreat,0.613634047314,-0.00994548450318,1.04002893265,0.584204777881,-0.00127275224157,1.03969822245
+300,5.000000000,pose2_to_pose3_retreat,0.613041494084,-0.00994559577176,1.0400289925,0.583612225998,-0.0012728601623,1.0396982782
+301,5.016666667,pose2_to_pose3_retreat,0.61241537498,-0.00994539457078,1.04002927939,0.582986105502,-0.0012726645965,1.03969856228
+302,5.033333333,pose2_to_pose3_retreat,0.611762944001,-0.00994555820808,1.04002912553,0.582333675911,-0.00127282395279,1.03969841364
+303,5.050000000,pose2_to_pose3_retreat,0.611093713228,-0.00994548494703,1.04002940926,0.58166444581,-0.00127274938297,1.03969868791
+304,5.066666667,pose2_to_pose3_retreat,0.610409599085,-0.00994535422915,1.04002915483,0.580980329916,-0.00127262508968,1.03969844475
+305,5.083333333,pose2_to_pose3_retreat,0.60970029477,-0.00994550940548,1.04002906048,0.580271026371,-0.00127277762186,1.03969835297
+306,5.100000000,pose2_to_pose3_retreat,0.608965720847,-0.00994540050139,1.04002916627,0.579536452158,-0.00127267067681,1.03969844537
+307,5.116666667,pose2_to_pose3_retreat,0.608211210997,-0.00994541131226,1.04002890916,0.578781940588,-0.0012726871712,1.03969820985
+308,5.133333333,pose2_to_pose3_retreat,0.607438737219,-0.00994553841953,1.04002906207,0.57800946864,-0.0012728090491,1.03969835421
+309,5.150000000,pose2_to_pose3_retreat,0.606647600643,-0.00994540113327,1.04002915201,0.577218332003,-0.00127267253637,1.03969844028
+310,5.166666667,pose2_to_pose3_retreat,0.605848284121,-0.00994546274151,1.0400290857,0.57641901468,-0.00127273690015,1.03969836676
+311,5.183333333,pose2_to_pose3_retreat,0.605036917274,-0.00994552146016,1.04002908373,0.5756076495,-0.00127279017646,1.03969837464
+312,5.200000000,pose2_to_pose3_retreat,0.604204139936,-0.00994551579025,1.04002925301,0.574774871698,-0.00127278690991,1.03969853777
+313,5.216666667,pose2_to_pose3_retreat,0.603351941946,-0.00994533638397,1.04002893619,0.573922672198,-0.0012726130698,1.03969822556
+314,5.233333333,pose2_to_pose3_retreat,0.602481477891,-0.00994550221758,1.04002896514,0.573052211989,-0.0012727664461,1.03969825539
+315,5.250000000,pose2_to_pose3_retreat,0.601606712056,-0.00994544976673,1.04002915722,0.572177446489,-0.0012727135579,1.03969844523
+316,5.266666667,pose2_to_pose3_retreat,0.600733563671,-0.00994544920335,1.04002903749,0.571304296974,-0.00127271747444,1.03969832524
+317,5.283333333,pose2_to_pose3_retreat,0.599872906772,-0.00994545577183,1.04002896164,0.570443640007,-0.00127272478065,1.03969825199
+318,5.300000000,pose2_to_pose3_retreat,0.599022989692,-0.00994531190646,1.0400291799,0.569593721207,-0.00127258752551,1.03969846957
+319,5.316666667,pose2_to_pose3_retreat,0.598167643154,-0.00994536997922,1.04002912073,0.568738376606,-0.00127263894047,1.03969841968
+320,5.333333333,pose2_to_pose3_retreat,0.597304526675,-0.00994544810626,1.04002892347,0.567875259285,-0.0012727208535,1.03969822205
+321,5.350000000,pose2_to_pose3_retreat,0.5964342223,-0.00994536206988,1.04002933226,0.567004955217,-0.00127263516688,1.03969861015
+322,5.366666667,pose2_to_pose3_retreat,0.595553214382,-0.00994533184642,1.04002905523,0.566123945495,-0.00127261124018,1.03969834537
+323,5.383333333,pose2_to_pose3_retreat,0.59466691167,-0.00994542873967,1.04002903861,0.565237646178,-0.00127269720134,1.03969832937
+324,5.400000000,pose2_to_pose3_retreat,0.593791523501,-0.00994537255247,1.04002902237,0.564362258905,-0.00127263835586,1.03969832158
+325,5.416666667,pose2_to_pose3_retreat,0.592928760687,-0.00994534574683,1.04002920009,0.563499494174,-0.0012726192314,1.03969848462
+326,5.433333333,pose2_to_pose3_retreat,0.59208588281,-0.00994536429385,1.04002920216,0.562656616823,-0.0012726364999,1.03969848671
+327,5.450000000,pose2_to_pose3_retreat,0.591260213007,-0.00994544290367,1.04002943531,0.561830947239,-0.00127271513466,1.03969871688
+328,5.466666667,pose2_to_pose3_retreat,0.590451702532,-0.00994535979358,1.04002901378,0.561022436444,-0.00127263310334,1.0396983106
+329,5.483333333,pose2_to_pose3_retreat,0.589659539164,-0.00994549638503,1.04002919825,0.560230276481,-0.00127275913444,1.03969848192
+330,5.500000000,pose2_to_pose3_retreat,0.588879990334,-0.00994541803188,1.04002918474,0.559450725248,-0.00127268937241,1.03969847154
+331,5.516666667,pose2_to_pose3_retreat,0.588112448142,-0.0099454490804,1.04002931506,0.558683183046,-0.00127272084909,1.03969859702
+332,5.533333333,pose2_to_pose3_retreat,0.587357190498,-0.00994537907799,1.0400290575,0.557927925911,-0.00127264964949,1.03969835035
+333,5.550000000,pose2_to_pose3_retreat,0.586616454608,-0.00994547019763,1.0400294004,0.557187191512,-0.00127273633074,1.03969868544
+334,5.566666667,pose2_to_pose3_retreat,0.585895410632,-0.00994542486626,1.04002919529,0.556466145799,-0.00127269713184,1.03969848553
+335,5.583333333,pose2_to_pose3_retreat,0.585195108924,-0.00994550045636,1.04002908382,0.555765844318,-0.00127277284445,1.03969836719
+336,5.600000000,pose2_to_pose3_retreat,0.584525022249,-0.00994545784732,1.04002914624,0.555095758984,-0.00127272609438,1.03969843958
+337,5.616666667,pose2_to_pose3_retreat,0.583884964044,-0.00994544018703,1.04002917592,0.5544556998,-0.00127271249706,1.03969846401
+338,5.633333333,pose2_to_pose3_retreat,0.583273517682,-0.00994549506521,1.040029196,0.553844254811,-0.00127276325798,1.03969847953
+339,5.650000000,pose2_to_pose3_retreat,0.582689726166,-0.00994539087591,1.04002926311,0.553260461923,-0.00127266381044,1.03969855459
+340,5.666666667,pose2_to_pose3_retreat,0.582133716114,-0.00994545075438,1.04002920728,0.552704452406,-0.00127272238335,1.03969849519
+341,5.683333333,pose2_to_pose3_retreat,0.581590809017,-0.00994545762478,1.04002908548,0.552161546549,-0.00127272544978,1.03969837344
+342,5.700000000,pose2_to_pose3_retreat,0.5810603766,-0.00994546844468,1.04002923072,0.55163111534,-0.00127273245142,1.03969852101
+343,5.716666667,pose2_to_pose3_retreat,0.580553243098,-0.00994557292266,1.04002899172,0.551123981531,-0.00127283827292,1.03969828377
+344,5.733333333,pose2_to_pose3_retreat,0.580073704348,-0.00994560512017,1.0400290404,0.550644442024,-0.00127287364627,1.03969832496
+345,5.750000000,pose2_to_pose3_retreat,0.579632736902,-0.00994535226049,1.04002926925,0.550203471926,-0.00127263013316,1.03969855221
+346,5.766666667,pose2_to_pose3_retreat,0.579228964123,-0.00994536108643,1.04002931701,0.549799699427,-0.00127263826782,1.03969860011
+347,5.783333333,pose2_to_pose3_retreat,0.578862338659,-0.00994544634222,1.04002921406,0.549433075128,-0.00127271967858,1.03969850091
+348,5.800000000,pose2_to_pose3_retreat,0.578523261819,-0.00994540396587,1.04002918244,0.549093997925,-0.00127267879678,1.03969846819
+349,5.816666667,pose2_to_pose3_retreat,0.578207267099,-0.00994543419566,1.04002933934,0.548778004338,-0.00127270543978,1.0396986235
+350,5.833333333,pose2_to_pose3_retreat,0.577905553332,-0.00994549549399,1.04002929226,0.548476291834,-0.00127276258591,1.03969857827
+351,5.850000000,pose2_to_pose3_retreat,0.577618943904,-0.00994541744041,1.0400291724,0.548189681236,-0.00127268855953,1.03969846139
+352,5.866666667,pose2_to_pose3_retreat,0.577350754162,-0.00994548494002,1.04002921351,0.547921491798,-0.00127275552575,1.03969849383
+353,5.883333333,pose2_to_pose3_retreat,0.577104255804,-0.00994542508385,1.04002917247,0.54767499357,-0.00127269500406,1.03969846293
+354,5.900000000,pose2_to_pose3_retreat,0.576881557407,-0.00994533372949,1.04002916299,0.547452293904,-0.00127260809182,1.03969845447
+355,5.916666667,pose2_to_pose3_retreat,0.576687603847,-0.00994544062837,1.04002918471,0.547258340799,-0.00127271382427,1.03969846969
+356,5.933333333,pose2_to_pose3_retreat,0.576519908776,-0.00994546878377,1.04002908417,0.547090645881,-0.00127274140323,1.0396983731
+357,5.950000000,pose2_to_pose3_retreat,0.576377903007,-0.00994543337498,1.0400290657,0.546948641448,-0.00127270162378,1.0396983525
+358,5.966666667,pose2_to_pose3_retreat,0.576256744694,-0.00994548129756,1.04002911547,0.546827483106,-0.00127274948526,1.03969840807
+359,5.983333333,pose2_to_pose3_retreat,0.576155327139,-0.00994554028794,1.04002922526,0.546726065841,-0.00127280754124,1.03969851808
+360,6.000000000,pose2_to_pose3_retreat,0.576067591246,-0.00994550543788,1.04002932377,0.546638328913,-0.00127277666819,1.03969860719
+361,6.016666667,pose2_to_pose3_retreat,0.5759926976,-0.00994547854926,1.04002936328,0.546563434843,-0.00127275121129,1.03969864787
+362,6.033333333,pose2_to_pose3_retreat,0.575928944541,-0.0099455231579,1.0400291628,0.546499683183,-0.00127279049528,1.03969846167
+363,6.050000000,pose2_to_pose3_retreat,0.575875118351,-0.00994548557989,1.04002889548,0.546445856372,-0.00127275502566,1.03969819569
+364,6.066666667,pose2_to_pose3_retreat,0.575831219086,-0.00994535373014,1.04002927324,0.546401955792,-0.00127262809281,1.03969856229
+365,6.083333333,pose2_to_pose3_retreat,0.57579622298,-0.00994531532504,1.04002918771,0.546366958398,-0.00127259421626,1.03969847306
+366,6.100000000,pose2_to_pose3_retreat,0.575770005325,-0.0099455066881,1.04002918949,0.546340742266,-0.00127278057405,1.03969847099
+367,6.116666667,pose2_to_pose3_retreat,0.575750556146,-0.00994554699055,1.04002918434,0.546321296559,-0.00127280898465,1.03969846893
+368,6.133333333,pose2_to_pose3_retreat,0.575736663226,-0.00994547669206,1.04002924254,0.546307401483,-0.00127274564348,1.0396985368
+369,6.150000000,pose2_to_pose3_retreat,0.575727014566,-0.00994546978367,1.04002920308,0.546297751878,-0.00127274201471,1.03969849539
+370,6.166666667,pose2_to_pose3_retreat,0.57572055519,-0.0099454673551,1.04002911388,0.546291291905,-0.00127274161301,1.03969840623
+371,6.183333333,pose2_to_pose3_retreat,0.575716853763,-0.00994545114054,1.04002902634,0.54628758987,-0.00127272729175,1.03969832339
+372,6.200000000,pose2_to_pose3_retreat,0.575714807733,-0.00994539357858,1.04002901766,0.546285543687,-0.00127267026806,1.03969831417
+373,6.216666667,pose2_to_pose3_retreat,0.575714013351,-0.00994536014907,1.04002902335,0.546284749288,-0.00127263693164,1.03969831893
+374,6.233333333,pose2_to_pose3_retreat,0.575713595853,-0.00994534257973,1.04002902633,0.546284331781,-0.00127261941123,1.03969832143
+375,6.250000000,pose2_to_pose3_retreat,0.575713414228,-0.00994533493651,1.04002902763,0.546284150152,-0.00127261178929,1.03969832252
+376,6.266666667,pose2_to_pose3_retreat,0.57571329044,-0.00994532972721,1.04002902852,0.546284026361,-0.0012726065945,1.03969832326
+377,6.283333333,pose2_to_pose3_retreat,0.57571321583,-0.00994532658743,1.04002902905,0.546283951749,-0.00127260346346,1.0396983237
+378,6.300000000,pose2_to_pose3_retreat,0.575712564039,-0.00994529915846,1.04002903372,0.546283299944,-0.00127257611088,1.03969832761
+379,6.316666667,pose2_to_pose3_retreat,0.575712245148,-0.00994528573879,1.040029036,0.546282981046,-0.00127256272857,1.03969832952
+380,6.333333333,pose2_to_pose3_retreat,0.575712128252,-0.00994528648257,1.04002904143,0.546282864172,-0.00127256341091,1.03969833458
+381,6.350000000,pose2_to_pose3_retreat,0.575711672262,-0.00994530686332,1.04002907684,0.546282408346,-0.00127258332004,1.03969836783
+382,6.366666667,pose2_to_pose3_retreat,0.57571131388,-0.0099453228814,1.04002910467,0.546282050093,-0.00127259896745,1.03969839396
+383,6.383333333,pose2_to_pose3_retreat,0.57571121896,-0.0099453271239,1.04002911204,0.546281955207,-0.00127260311177,1.03969840088
+384,6.400000000,pose2_to_pose3_retreat,0.575711180404,-0.00994532884719,1.04002911503,0.546281916665,-0.00127260479518,1.03969840369
+385,6.416666667,pose2_to_pose3_retreat,0.575711082928,-0.00994533320394,1.0400291226,0.546281819224,-0.00127260905112,1.0396984108
+386,6.433333333,pose2_to_pose3_retreat,0.575710839574,-0.0099453440808,1.0400291415,0.546281575957,-0.00127261967628,1.03969842854
+387,6.450000000,pose2_to_pose3_retreat,0.575710486115,-0.00994535987886,1.04002916894,0.546281222625,-0.00127263510877,1.03969845431
+388,6.466666667,pose2_to_pose3_retreat,0.57571015557,-0.0099453617105,1.04002916159,0.546280892073,-0.00127263683339,1.03969845046
+389,6.483333333,pose2_to_pose3_retreat,0.575709863382,-0.00994535959465,1.04002914556,0.546280599843,-0.00127263469073,1.03969843899
+390,6.500000000,pose2_to_pose3_retreat,0.575709584132,-0.0099453575725,1.04002913024,0.546280320553,-0.00127263264296,1.03969842802
+391,6.516666667,pose2_to_pose3_retreat,0.575709574348,-0.00994535750165,1.0400291297,0.546280310767,-0.00127263257121,1.03969842764
+392,6.533333333,pose2_to_pose3_retreat,0.575709396535,-0.00994535914032,1.0400291253,0.546280132894,-0.00127263437125,1.03969842439
+393,6.550000000,pose2_to_pose3_retreat,0.575709387328,-0.00994536020369,1.04002912686,0.546280123671,-0.00127263550239,1.03969842546
+394,6.566666667,pose2_to_pose3_retreat,0.575709359184,-0.009945363454,1.04002913163,0.546280095482,-0.00127263895986,1.03969842876
+395,6.583333333,pose2_to_pose3_retreat,0.575709332246,-0.009945366565,1.0400291362,0.546280068501,-0.00127264226913,1.03969843191
+396,6.600000000,pose2_to_pose3_retreat,0.575709295375,-0.00994537082321,1.04002914245,0.54628003157,-0.00127264679874,1.03969843622
+397,6.616666667,pose2_to_pose3_retreat,0.575709261277,-0.00994538955149,1.04002917046,0.546279997667,-0.00127266491698,1.03969846289
+398,6.633333333,pose2_to_pose3_retreat,0.575709249434,-0.00994540699507,1.04002919662,0.546279986076,-0.00127268151187,1.03969848892
+399,6.650000000,pose2_to_pose3_retreat,0.575709211277,-0.0099454631955,1.0400292809,0.546279948731,-0.00127273497931,1.03969857279
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_06/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_06/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..606ccd8426c4091a1351b8c43bd84a3b5f4cda55
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_06/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a2ab8b642888e6ab2d15fe9f3bed0b2b4baf1d82f1c647567eedae049a4f9c5
+size 25483842
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_06/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_06/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6adad50384a8eaaa2c8ce84e33ff857705b04a33
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_06/depth_05/franka_data.csv
@@ -0,0 +1,402 @@
+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,764,742,712,671,660,633,876,784,800,650,629,650,0.400977830122,-0.0154488962258,0.0498551942078,0.999999948046,-0.000190910068416,-0.000256081326224,-4.33959394689e-05,1793193468752546048
+1,0.016666667,BASELINE,764,742.575997029,712,671,659.424002971,633,876.575997029,784,799.424002971,650,629,650.575997029,0.400977313273,-0.0154487411089,0.0498549825201,0.999999947573,-0.000191853704693,-0.000257161841366,-4.37444432615e-05,1793193468769212672
+2,0.033333333,BASELINE,764,743,712,671.154654238,659,633,876.845345762,784.154654238,799.154654238,650,629,651,0.400976708792,-0.0154481957425,0.0498547689503,0.999999947299,-0.000191739102531,-0.000258270671609,-4.39924706203e-05,1793193468785879296
+3,0.050000000,BASELINE,764,743,712,671.740732425,659,633,876.259267575,784.740732425,799.740732425,650,629,651,0.400975859856,-0.0154465617348,0.0498545501301,0.999999947576,-0.00018867243532,-0.000259458489984,-4.39602086834e-05,1793193468802545920
+4,0.066666667,BASELINE,763.676791555,742.676791555,711.676791555,671.676791555,659,633,876.323208445,784.676791555,800,649.676791555,629,650.676791555,0.400975699515,-0.0154466300588,0.0498545468658,0.99999994768,-0.000187972439282,-0.00025958403557,-4.38409619673e-05,1793193468819212800
+5,0.083333333,BASELINE,763.097173265,742.097173265,711.097173265,671.097173265,659,633,876.902826735,784.097173265,800,649.097173265,629,650.097173265,0.400976085456,-0.0154480488879,0.0498547146077,0.999999947652,-0.000189149986542,-0.000258866851863,-4.36527079173e-05,1793193468835879424
+6,0.100000000,BASELINE,763,742,711,671.480692157,659,633,877,784,800,649.480692157,629,650.480692157,0.400976585806,-0.0154480245548,0.0498554064041,0.999999947742,-0.000189794943251,-0.000258069546513,-4.35162193771e-05,1793193468852547072
+7,0.116666667,BASELINE,763.057930657,742,711.057930657,671.942069343,659.057930657,633,877,784.057930657,800,650,629,651,0.400977014657,-0.0154477743935,0.049856031673,0.999999947839,-0.000190263496646,-0.00025736776906,-4.34029873932e-05,1793193468869214208
+8,0.133333333,BASELINE,763.632725751,742,711.632725751,671.367274249,659.632725751,633,877,784.632725751,800,650,629,651,0.400976599977,-0.0154481028413,0.0498551216088,0.999999947791,-0.000190115265307,-0.000257662288112,-4.34042265451e-05,1793193468885880064
+9,0.150000000,BASELINE,764,742,712,671,659.787581813,633,877,784.787581813,800.212418187,649.787581813,628.787581813,650.787581813,0.400976479986,-0.0154480249868,0.0498546241908,0.999999947839,-0.000189642262408,-0.000257811638262,-4.34761017745e-05,1793193468902546176
+10,0.166666667,BASELINE,764,742,712,671,659.199222031,633,877,784.199222031,800.800777969,649.199222031,628.199222031,650.199222031,0.400976881543,-0.0154472280508,0.0498548570817,0.999999948057,-0.000188594472874,-0.000257704065802,-4.36729900263e-05,1793193468919212800
+11,0.183333333,BASELINE,764,742,712,671,659,632.61768459,877,784,800.235369179,649.38231541,628.38231541,650.38231541,0.400976584814,-0.0154476865425,0.0498554359152,0.999999948008,-0.000189415426829,-0.000257309735154,-4.35522182179e-05,1793193468935879424
+12,0.200000000,BASELINE,764,742,712,671,659,632.039639845,877,784,799.079279691,649.960360155,628.960360155,650.960360155,0.400975930593,-0.0154487877599,0.0498561918566,0.999999947821,-0.000191193098384,-0.000256768596425,-4.32688179004e-05,1793193468952546048
+13,0.216666667,BASELINE,763.464831375,742,712,671,659,632.535168625,877,784,799,650,629,651,0.400976439618,-0.0154496387301,0.0498554849761,0.999999947579,-0.000192075553538,-0.00025700884068,-4.3537110681e-05,1793193468969212928
+14,0.233333333,BASELINE,763.109925855,742,712,671,659,633,877,784,799,649.890074145,629,651,0.400976517775,-0.0154502170317,0.0498547438278,0.999999947264,-0.000192994260522,-0.000257508518037,-4.37660985051e-05,1793193468985879296
+15,0.250000000,BASELINE,763.685475478,742,712,671,659,633,877,784,799,649.314524522,629,651,0.400974408092,-0.0154497184066,0.0498543137219,0.999999946657,-0.000194345704473,-0.000258863420537,-4.36565481122e-05,1793193469002546176
+16,0.266666667,BASELINE,764,742,712,671,659,633,877,784,799.268822208,649.268822208,629,651,0.400972547684,-0.0154493101589,0.0498534852086,0.999999946223,-0.000194071831502,-0.000260727005843,-4.37296238697e-05,1793193469019212800
+17,0.283333333,BASELINE,764,742,712,671,659,633,877,784,799.861564095,649.861564095,629,651,0.400970987643,-0.0154490108126,0.0498521766307,0.999999945992,-0.000191839518561,-0.000263203532879,-4.40227566164e-05,1793193469035879680
+18,0.300000000,BASELINE,764,742.44200804,712,671.44200804,659,633,877,784,800,650,629,651,0.400973084498,-0.0154492035813,0.0498527016093,0.999999946445,-0.000191854030361,-0.000261484879463,-4.38948957804e-05,1793193469052546048
+19,0.316666667,BASELINE,764,743,711.98131681,671.98131681,659.01868319,633,877,784,800,650,629,651,0.400976234255,-0.0154494970905,0.0498537985409,0.99999994711,-0.000192466736364,-0.000258516717293,-4.36475152737e-05,1793193469069212416
+20,0.333333333,BASELINE,764,743,711.405278924,671.405278924,659.594721076,633,877,784,800,650,629,651,0.400977551576,-0.0154483223741,0.0498552902265,0.999999948029,-0.000190500262787,-0.000256409043973,-4.36616198767e-05,1793193469085879296
+21,0.350000000,BASELINE,764,742.825572184,711.174427816,671,659.825572184,633,877,784,800,650,629,650.825572184,0.400978132923,-0.0154476574136,0.0498560143645,0.999999948544,-0.000188982095349,-0.000255518478111,-4.36728865539e-05,1793193469102546176
+22,0.366666667,BASELINE,764,742.237157876,711.762842124,671,659.237157876,633,877,784,800,650,629,650.237157876,0.400976967508,-0.0154482023063,0.0498549168069,0.999999948117,-0.000188527936735,-0.000257516592009,-4.36774177043e-05,1793193469119212544
+23,0.383333333,BASELINE,764,742.34567354,712,671,659.34567354,633,877.34567354,784,799.65432646,650,629,650,0.40097579509,-0.01544866635,0.0498545301857,0.999999947847,-0.000188740505128,-0.000258430204386,-4.35546679136e-05,1793193469135879168
+24,0.400000000,BASELINE,764,742.92473561,712,671,659.92473561,633,877.92473561,784,799.07526439,650,629,650,0.400974617943,-0.0154490758069,0.0498546235674,0.999999947684,-0.000189403227794,-0.000258611593675,-4.33459818033e-05,1793193469152546048
+25,0.416666667,BASELINE,764,743,712,671.502602422,659.497397578,633,877.497397578,784.502602422,799,650,628.497397578,650,0.400974781891,-0.0154489719884,0.0498547689449,0.999999947667,-0.000189772320784,-0.000258367804886,-4.35672125289e-05,1793193469169212672
+26,0.433333333,BASELINE,764,742.92036374,711.92036374,671.92036374,659.07963626,633,877,784.92036374,799.07963626,650,628.07963626,650.07963626,0.400975059692,-0.0154488172823,0.0498548852379,0.999999947653,-0.000190131328831,-0.000258115887651,-4.38183815299e-05,1793193469185879040
+27,0.450000000,BASELINE,764,742.347383698,711.347383698,671.347383698,659.652616302,633,877,784.347383698,799.652616302,650,628.652616302,650.652616302,0.400974801638,-0.0154488223611,0.0498547732313,0.99999994752,-0.000190699612781,-0.000258207113323,-4.38571330478e-05,1793193469202545664
+28,0.466666667,BASELINE,764,742,711.232467178,671,659.767532822,633,876.767532822,784,800,649.767532822,629,651,0.400974911024,-0.0154489940148,0.0498548208631,0.999999947478,-0.000191195424881,-0.000258023855921,-4.3729084869e-05,1793193469219212544
+29,0.483333333,BASELINE,764,742,711.822898046,671,659.177101954,633,876.177101954,784,800,649.177101954,629,651,0.400975586214,-0.0154494221684,0.0498551143136,0.999999947577,-0.000191579641449,-0.00025741793681,-4.3344190817e-05,1793193469235879424
+30,0.500000000,BASELINE,763.594253211,742,712,671.405746789,659,633,876.405746789,784.405746789,800,649,629,651,0.400976270745,-0.0154493027743,0.0498552197302,0.999999947548,-0.000192144640949,-0.000257082857339,-4.35019072893e-05,1793193469252546304
+31,0.516666667,BASELINE,763.014653249,742,712,671.985346751,659,633,876.985346751,784.985346751,800,649,629,651,0.400976959278,-0.0154489487687,0.0498552445786,0.999999947464,-0.000192787101772,-0.000256863826443,-4.38921199086e-05,1793193469269212928
+32,0.533333333,BASELINE,763.56119368,742,711.43880632,671.43880632,659.56119368,633,876.43880632,784.43880632,800.56119368,649,629,651,0.40097817889,-0.0154485612509,0.0498566025385,0.999999948102,-0.000192086136974,-0.000254924996431,-4.37264033514e-05,1793193469285879552
+33,0.550000000,BASELINE,764,742,711.136194763,671,659.863805237,633,876,784,800.863805237,649,629,650.863805237,0.400978697989,-0.0154483247614,0.0498572777149,0.99999994849,-0.000191272105816,-0.000254035161357,-4.35925080283e-05,1793193469302546432
+34,0.566666667,BASELINE,764,742,711.708797319,671,659.291202681,633,876,784,800.291202681,649,629,650.291202681,0.400976928304,-0.0154485749957,0.0498556542569,0.999999948025,-0.00019020743062,-0.000256649547008,-4.36067810993e-05,1793193469319213056
+35,0.583333333,BASELINE,764,742,711.70847029,671,659,633,876.29152971,784.29152971,800,649,629,650,0.400976198911,-0.0154489396335,0.0498549036961,0.999999947765,-0.00018998915278,-0.000257826064353,-4.35767723973e-05,1793193469335879424
+36,0.600000000,BASELINE,764,742,711.115255111,671,659,633,876.884744889,784.884744889,800,649,629,650,0.40097654605,-0.0154494226604,0.0498550564408,0.999999947724,-0.000190646757357,-0.000257514623979,-4.35009393199e-05,1793193469352546048
+37,0.616666667,BASELINE,764,742,711.466145269,671,659.466145269,633,877,785,800.466145269,649.466145269,629,650.466145269,0.400975533198,-0.0154499489611,0.049854841918,0.999999947513,-0.000191339072346,-0.000257845600174,-4.33429172819e-05,1793193469369212672
+38,0.633333333,BASELINE,763.95559993,742,712,671.04440007,659.95559993,633,876.95559993,784.95559993,800.911199861,649.95559993,629,651,0.400974369312,-0.0154504107395,0.0498545936289,0.999999947295,-0.000191992895893,-0.000258230343888,-4.31929993264e-05,1793193469385879296
+39,0.650000000,BASELINE,763.380886819,742,712,671.619113181,659.380886819,633,876.380886819,784.380886819,799.761773639,649.380886819,629,651,0.400975318472,-0.0154499772306,0.0498549998285,0.999999947481,-0.000192087007728,-0.000257407020381,-4.33765938337e-05,1793193469402545920
+40,0.666666667,BASELINE,763,742,711.801660993,671.801660993,659,633.198339007,876.198339007,784,799,649,629,651,0.400976156294,-0.0154498150117,0.0498555737482,0.999999947747,-0.000191966434748,-0.000256464712002,-4.33729720741e-05,1793193469419212544
+41,0.683333333,BASELINE,763,742,711.213567294,671.213567294,659,633.786432706,876.786432706,784,799,649,629,651,0.400976775327,-0.015450185903,0.0498564772539,0.999999948168,-0.000191423986026,-0.000255288587274,-4.30014528352e-05,1793193469435879680
+42,0.700000000,BASELINE,763.370643623,742,711.370643623,671.370643623,659,633.258712754,876.629356377,784,799,649,628.629356377,650.629356377,0.400976694168,-0.0154509609146,0.0498562882399,0.999999947728,-0.000193337453211,-0.000255567080352,-4.3022369318e-05,1793193469452546304
+43,0.716666667,BASELINE,763.95264043,742,711.95264043,671.95264043,659,632.09471914,876.04735957,784,799,649,628.04735957,650.04735957,0.400976213738,-0.0154519663689,0.0498554762352,0.999999946787,-0.000196651364434,-0.000256675044381,-4.32670655682e-05,1793193469469212672
+44,0.733333333,BASELINE,763.473610487,742,712,672,659,632.526389513,876.526389513,784,799.526389513,649.526389513,628.526389513,650,0.400974880809,-0.0154493514518,0.0498546227615,0.999999947132,-0.000192847735525,-0.000258119018989,-4.3819602004e-05,1793193469485879296
+45,0.750000000,BASELINE,763.099867898,742,712,671.900132102,659,633,877,784,800.099867898,650,629,650.099867898,0.400973674755,-0.0154471165462,0.0498539348433,0.999999947458,-0.000189480030362,-0.000259271405341,-4.4273827345e-05,1793193469502545920
+46,0.766666667,BASELINE,763.675537236,742,712,671.324462764,659,633,877,784,800.675537236,650,629,650.675537236,0.400973432952,-0.0154482200564,0.0498540531841,0.999999947236,-0.000191193052187,-0.000258892766762,-4.41297488488e-05,1793193469519212544
+47,0.783333333,BASELINE,764,742,712,671,659,633,877,784.258927896,800.741072104,649.741072104,629,651,0.400973555237,-0.01544844965,0.0498545071914,0.999999947265,-0.00019172156002,-0.000258415396808,-4.39804673221e-05,1793193469535879168
+48,0.800000000,BASELINE,764,742,712,671,659,633,877,784.852291631,800.147708369,649.147708369,629,651,0.400974147785,-0.0154475504778,0.0498553947517,0.999999947619,-0.000190720128921,-0.000257810503616,-4.38244654495e-05,1793193469552546048
+49,0.816666667,BASELINE,764,742,712,671,659.432606873,633,877,784.567393127,800,649.432606873,629,651,0.400975777336,-0.0154480644992,0.0498555941055,0.999999947957,-0.000190511919163,-0.000256671427136,-4.3725836604e-05,1793193469569213184
+50,0.833333333,BASELINE,764,742,712,671,659.991406143,633,876.991406143,784,800,649.991406143,629,651,0.400977696821,-0.0154490468818,0.0498555646399,0.999999948274,-0.000190584669534,-0.000255390741131,-4.3645825205e-05,1793193469585880320
+51,0.850000000,BASELINE,764,742,712,671,659.415644947,633,876.415644947,784,800,649.415644947,629,651,0.40097606761,-0.0154500273767,0.0498554876743,0.999999947766,-0.000191848941056,-0.000256449017606,-4.35395259358e-05,1793193469602546688
+52,0.866666667,BASELINE,763.835903082,742.164096918,712,671,659,633,876.164096918,784,800,649,629,651,0.400975068688,-0.0154504476487,0.0498556173265,0.999999947465,-0.000192687347354,-0.000256995152178,-4.35290006958e-05,1793193469619213056
+53,0.883333333,BASELINE,763.245827852,742.754172148,712,671,659,633,876.754172148,784,800,649,629,651,0.400975705933,-0.015449413641,0.0498562833365,0.999999947707,-0.000192420252322,-0.000256211820263,-4.37670947505e-05,1793193469635879680
+54,0.900000000,BASELINE,763,742.662203259,712,671,659,632.662203259,876.662203259,784,800,649.337796741,629,650.662203259,0.400974823668,-0.01544864816,0.0498554819442,0.999999947613,-0.000191261943842,-0.000257429021796,-4.38555515971e-05,1793193469652546048
+55,0.916666667,BASELINE,763,742.083185105,712,671,659,632.083185105,876.083185105,784,800,649.916814895,629,650.083185105,0.400972856318,-0.0154480744345,0.0498536326765,0.999999947271,-0.00018946721784,-0.000260074808798,-4.38371521661e-05,1793193469669212416
+56,0.933333333,BASELINE,763.494177958,742,712,671.494177958,659.494177958,632.494177958,876.494177958,784,800,650,629,650.494177958,0.400974330952,-0.0154494040564,0.0498550131157,0.999999947662,-0.000190080862806,-0.000258202168923,-4.33319893342e-05,1793193469685879040
+57,0.950000000,BASELINE,763.929160522,742,711.929160522,671.929160522,660,633,876.929160522,784,800,649.929160522,629,650.929160522,0.400976143295,-0.0154507356222,0.0498566647026,0.999999948106,-0.000190989921693,-0.000255871372664,-4.29095050699e-05,1793193469702545920
+58,0.966666667,BASELINE,763.355507898,742,711.355507898,671.355507898,660,633,876.355507898,784,800,649.355507898,629,650.355507898,0.400976253927,-0.0154498144653,0.0498563949162,0.999999948099,-0.000191127900361,-0.000255669193328,-4.36535084439e-05,1793193469719212800
+59,0.983333333,BASELINE,763.224718031,742,711.224718031,671,659.775281969,633,876,784,800,649,629,650,0.400976774215,-0.0154492018535,0.0498565486565,0.999999948145,-0.000191645821142,-0.000255041909427,-4.39981246499e-05,1793193469735879680
+60,1.000000000,BASELINE,763.815656491,742,711.815656491,671,659.184343509,633,876,784,800,649,629,650,0.400977962115,-0.0154490920741,0.0498573926133,0.999999948275,-0.000192782929304,-0.0002537218374,-4.36918642308e-05,1793193469752546048
+61,1.016666667,BASELINE,764,742.396918526,712,671,659.396918526,633,876.396918526,784,799.603081474,649.396918526,628.603081474,650,0.400976523047,-0.0154502805029,0.0498566119616,0.999999947846,-0.000193319185953,-0.000255074456686,-4.32747997779e-05,1793193469769212672
+62,1.033333333,BASELINE,764,742.973793393,712,671,659.973793393,633,876.973793393,784,799.026206607,649.973793393,628.026206607,650,0.400973892954,-0.0154520575181,0.0498550947392,0.999999947158,-0.000193583026323,-0.000257638830398,-4.2807498614e-05,1793193469785879296
+63,1.050000000,BASELINE,764,742.451054659,712,671,659.451054659,633,877,784,800.097890683,650,628.548945341,650.548945341,0.400974162346,-0.0154510226457,0.0498549750621,0.999999947185,-0.00019326276864,-0.000257671300392,-4.3411152371e-05,1793193469802546176
+64,1.066666667,BASELINE,763.873001538,742,711.873001538,671,659.126998462,633,876.873001538,784,800.873001538,650,629,651,0.400974590103,-0.0154500340466,0.0498550385972,0.999999947304,-0.000192908467201,-0.000257391138808,-4.39084326432e-05,1793193469819213056
+65,1.083333333,BASELINE,763.284098403,742,711.284098403,671,659.715901597,633,876.284098403,784,800.284098403,650,629,651,0.400975091973,-0.01544970046,0.0498555265885,0.999999947632,-0.000192531447776,-0.000256412158358,-4.38334503544e-05,1793193469835879680
+66,1.100000000,BASELINE,763.299812341,742,711.299812341,671.299812341,659.700187659,633,876,784,800.299812341,649.700187659,629,651,0.400975810387,-0.0154499223898,0.0498560102602,0.999999948049,-0.000191267434585,-0.000255777232069,-4.35532183176e-05,1793193469852546304
+67,1.116666667,BASELINE,763.879069811,742,711.879069811,671.879069811,659.120930189,633,876,784,800.879069811,649.120930189,629,651,0.400976730632,-0.0154506620978,0.0498564899056,0.999999948547,-0.000189176683977,-0.000255462987291,-4.30816798101e-05,1793193469869213440
+68,1.133333333,BASELINE,763.545059517,742,712,671.545059517,659.454940483,633,876,784,800.090119035,649.454940483,628.545059517,650.545059517,0.400976736345,-0.0154491875883,0.0498563708569,0.999999948835,-0.000188310761024,-0.000254921968958,-4.34034468105e-05,1793193469885879808
+69,1.150000000,BASELINE,763.029932134,742,712,671,659.970067866,633,876.029932134,784,799.059864268,650,628.029932134,650.029932134,0.400976495071,-0.0154473362856,0.0498561043584,0.999999949022,-0.000187889556456,-0.000254414883125,-4.38854971658e-05,1793193469902546432
+70,1.166666667,BASELINE,763.605188804,742,712,671,659.394811196,633,876.605188804,784,800.210377607,650,628.605188804,650.605188804,0.400976150196,-0.0154492641028,0.0498560294551,0.999999948395,-0.000189682765765,-0.000255616110281,-4.34742615419e-05,1793193469919213056
+71,1.183333333,BASELINE,764,742,712,671,659,633,877,784,800.814755552,650,628.814755552,651,0.400976167118,-0.0154502763078,0.0498561164255,0.999999948024,-0.000190942993001,-0.000256151480072,-4.33521111039e-05,1793193469935879680
+72,1.200000000,BASELINE,764,742,712,671,659,633,877,784,800.22419973,650,628.22419973,651,0.400976975647,-0.0154492851705,0.0498565575723,0.999999948219,-0.000191037065818,-0.000255229966686,-4.38624735459e-05,1793193469952546560
+73,1.216666667,BASELINE,763.640545168,742,712,671,659,633,877,784.359454832,799.640545168,649.640545168,628.359454832,651,0.400977797854,-0.0154493841282,0.0498569577857,0.999999948521,-0.000190372357872,-0.000254571240053,-4.37084384488e-05,1793193469969213184
+74,1.233333333,BASELINE,763.061114019,742,712,671,659,633,877,784.938885981,799.061114019,649.061114019,628.938885981,651,0.400978628432,-0.0154501501937,0.049857332949,0.999999948886,-0.00018924329729,-0.000254073331628,-4.31478105871e-05,1793193469985879552
+75,1.250000000,BASELINE,763.513945972,742,712,671.513945972,659.513945972,633,877,784.486054028,799.513945972,649.513945972,629,650.486054028,0.400976140009,-0.0154507956781,0.0498562678135,0.999999947847,-0.000192035386769,-0.000256034359973,-4.33067268239e-05,1793193470002546432
+76,1.266666667,BASELINE,764,742,712,671.911147567,659.911147567,633,876.911147567,784,800,650,629,650.088852433,0.400973783533,-0.0154507980557,0.0498551924036,0.999999946988,-0.000193933285483,-0.000257908319273,-4.35614022646e-05,1793193470019213056
+77,1.283333333,BASELINE,764,742,712,671.334253491,659.334253491,633,876.334253491,784,800,650,629,650.665746509,0.400974301326,-0.0154473461195,0.0498549933525,0.999999948086,-0.000188380154734,-0.000257711529748,-4.38760516534e-05,1793193470035879936
+78,1.300000000,BASELINE,764,742,712,671.249325999,659,633,876.249325999,784,799.750674001,649.750674001,629,651,0.400975280339,-0.0154467299875,0.0498553417186,0.999999948646,-0.000186926858572,-0.000256604829934,-4.38298538073e-05,1793193470052546304
+79,1.316666667,BASELINE,764,742,712,671.84211504,659,633,876.84211504,784,799.15788496,649.15788496,629,651,0.400976894714,-0.0154500203635,0.049856444188,0.999999948479,-0.000191121355994,-0.000254244668577,-4.32865650198e-05,1793193470069212928
+80,1.333333333,BASELINE,764,742,712,672,659.423999845,633,876.576000155,784,799,649.423999845,629,651,0.400976990174,-0.015451206191,0.0498568146243,0.999999948259,-0.00019245221658,-0.000254122498493,-4.31910083347e-05,1793193470085879552
+81,1.350000000,BASELINE,764,742.001911338,712,671.998088662,659.998088662,633,876.001911338,784.001911338,799,650,629,651,0.400976532782,-0.0154516216682,0.0498569158324,0.999999948025,-0.00019273942086,-0.000254815681311,-4.32582272947e-05,1793193470102546176
+82,1.366666667,BASELINE,764,742.575411496,712,671.424588504,659.424588504,633,876.575411496,784.575411496,799,650,629,651,0.400975646235,-0.0154501448322,0.0498559777106,0.999999947799,-0.000191812818053,-0.000256371916806,-4.33953264086e-05,1793193470119212800
+83,1.383333333,BASELINE,764,743,712,671.153215308,659.153215308,633,876.846784692,784.846784692,799,649.846784692,629,651,0.400975358315,-0.0154490602593,0.0498555129302,0.999999947778,-0.000190965464765,-0.000257073739233,-4.34556074575e-05,1793193470135879680
+84,1.400000000,BASELINE,764,743,712,671.743290176,659.743290176,633,876.256709824,784.256709824,799,649.256709824,629,651,0.400976777246,-0.0154490941377,0.0498563977778,0.999999948348,-0.000190344073737,-0.000255339392166,-4.32968588186e-05,1793193470152546304
+85,1.416666667,BASELINE,764,742.67273125,712,671.67273125,659.67273125,633,876.654537501,784,799.32726875,649.32726875,629,650.67273125,0.400976981036,-0.0154487282881,0.0498565311181,0.999999948623,-0.00018941527586,-0.000254937906236,-4.33921781595e-05,1793193470169213184
+86,1.433333333,BASELINE,764,742.093447199,712,671.093447199,659.093447199,633,877.813105602,784,799.906552801,649.906552801,629,650.093447199,0.4009762491,-0.0154480546255,0.0498560857555,0.999999948671,-0.000188249757501,-0.000255562798272,-4.36831441096e-05,1793193470185879808
+87,1.450000000,BASELINE,764,742,712,671,659,633.48146369,877.037072619,784,799.51853631,649.51853631,629,650.48146369,0.400975819364,-0.0154476408812,0.0498557523192,0.999999948647,-0.000188285142526,-0.000255606022393,-4.38313210737e-05,1793193470202546432
+88,1.466666667,BASELINE,763.944264618,742,712,671.055735382,659,633.944264618,876,784,799,649,628.944264618,650.944264618,0.400975321308,-0.0154474119724,0.0498554054396,0.999999948563,-0.000188572819753,-0.000255705403467,-4.39214691866e-05,1793193470219213056
+89,1.483333333,BASELINE,763.368107233,742,712,671.631892767,659,633.368107233,876,784,799,649,628.368107233,650.368107233,0.400973642585,-0.0154484421359,0.0498547320177,0.999999948052,-0.00018905944966,-0.000257373804467,-4.37262259028e-05,1793193470235879680
+90,1.500000000,BASELINE,763,742,711.786577282,671.786577282,659,633,876.213422718,784,799,649,628.213422718,650.213422718,0.400973476316,-0.01544917264,0.0498546755342,0.999999948013,-0.000189217112452,-0.000257431915386,-4.35804311316e-05,1793193470252546560
+91,1.516666667,BASELINE,763,742,711.195541608,671.195541608,659,633,876.804458392,784,799,649,628.804458392,650.804458392,0.400975986057,-0.0154493729507,0.0498557106116,0.999999948811,-0.000188792727288,-0.000254640908631,-4.35221265943e-05,1793193470269212928
+92,1.533333333,BASELINE,763.386818442,742,711.386818442,671.386818442,659,633,877,784,799.386818442,649.386818442,629,651,0.400976226038,-0.0154492265922,0.049855987974,0.99999994869,-0.00018942559826,-0.000254658748993,-4.34359057922e-05,1793193470285879552
+93,1.550000000,BASELINE,763.96488911,742,711.96488911,671.96488911,659,633,877,784,799.96488911,649.96488911,629,651,0.400975343794,-0.0154489088322,0.0498558907043,0.999999948116,-0.000190581201738,-0.000256065349836,-4.33358825206e-05,1793193470302546432
+94,1.566666667,BASELINE,764,742,712,671.460813597,659,633,877,784.539186403,799.460813597,649.460813597,629,651,0.400975924633,-0.0154503820271,0.0498559105388,0.999999948117,-0.000191621407117,-0.000255235937836,-4.36111748973e-05,1793193470319213312
+95,1.583333333,BASELINE,764,742,712,671,659,633,877,784.883805499,799,649,628.883805499,651,0.400976411307,-0.01545112024,0.0498559578909,0.999999948293,-0.000191666980893,-0.000254478023979,-4.38051542883e-05,1793193470335880448
+96,1.600000000,BASELINE,764,742,712,671,659,633,877,784.294773018,799,649,628.294773018,651,0.40097612978,-0.0154483962549,0.0498560864062,0.999999949026,-0.000187695401533,-0.000254599465463,-4.35694776853e-05,1793193470352546816
+97,1.616666667,BASELINE,763.710619054,742,711.710619054,671,659,633,876.710619054,784,799,649.289380946,628.289380946,650.710619054,0.400976247078,-0.0154476493103,0.0498564091541,0.999999949288,-0.000186693121626,-0.000254333830164,-4.33969930232e-05,1793193470369212928
+98,1.633333333,BASELINE,763.131352157,742,711.131352157,671,659,633,876.131352157,784,799,649.868647843,628.868647843,650.131352157,0.400976763896,-0.0154488828565,0.0498569264735,0.999999949089,-0.000188665323198,-0.000253680442581,-4.32878105939e-05,1793193470385879552
+99,1.650000000,BASELINE,763,742,711.445070896,671,659,633,876.445070896,784,799.445070896,649.554929104,629,650.445070896,0.400976944778,-0.0154495625062,0.0498570374771,0.999999948676,-0.000190482798671,-0.000253945978322,-4.33106178547e-05,1793193470402546176
+100,1.666666667,BASELINE,763.020591144,742,711.979408856,671,659,633,877,784,800,649.020591144,628.979408856,650.979408856,0.400976977808,-0.0154500583305,0.0498569913494,0.999999948211,-0.000192173867967,-0.000254493299876,-4.3367083053e-05,1793193470419213056
+101,1.683333333,BASELINE,763.594262531,742,711.405737469,671,659,633,877,784,800,649.594262531,628.405737469,650.405737469,0.400975685624,-0.0154499795158,0.0498559251243,0.999999948084,-0.000191688400792,-0.000255371247225,-4.32879482542e-05,1793193470435879680
+102,1.700000000,BASELINE,764,742,711.173409298,671,659,633,877,784,800,650,628.173409298,650.173409298,0.400974783715,-0.0154497327149,0.0498552625373,0.999999947994,-0.000191058404714,-0.000256191480458,-4.32940514244e-05,1793193470452546304
+103,1.716666667,BASELINE,764,742,711.765784793,671,659,633,877,784,800,650,628.765784793,650.765784793,0.400974824735,-0.01544908005,0.049855575162,0.999999947997,-0.000190079219096,-0.000256872273152,-4.35060941267e-05,1793193470469212928
+104,1.733333333,BASELINE,763.649849525,742,711.649849525,671,659.350150475,633,876.649849525,784,799.649849525,649.649849525,628.649849525,650.649849525,0.400975768086,-0.0154487512642,0.0498562904731,0.999999948377,-0.000189768583103,-0.00025562855151,-4.3438819786e-05,1793193470485879552
+105,1.750000000,BASELINE,763.070721719,742,711.070721719,671,659.929278281,633,876.070721719,784,799.070721719,649.070721719,628.070721719,650.070721719,0.400977301506,-0.0154486342758,0.0498572691169,0.999999949001,-0.000189895138219,-0.000253126313416,-4.31888889354e-05,1793193470502546176
+106,1.766666667,BASELINE,763,742,711.498747879,671,659.501252121,633,876,784,799,649,628,650.498747879,0.40097664618,-0.0154499353679,0.0498567504938,0.99999994854,-0.000191635455457,-0.000253606714689,-4.3351227085e-05,1793193470519212800
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,742,712,671,659,633,877,784,799,649,629,651,0.400975426179,-0.0154515922642,0.0498559472601,0.999999948335,-0.000191075558435,-0.000254949905498,-4.26660135296e-05,1793193470561998848
+108,1.800000000,POSE1_TO_POSE2_PRESS,763.421189768,742,711.421189768,671.578810232,659,633,876.421189768,784,799,649,629,651,0.400975893149,-0.0154500616103,0.0498564262898,0.999999948652,-0.000189755946272,-0.000254660262205,-4.28586209968e-05,1793193470578665728
+109,1.816666667,POSE1_TO_POSE2_PRESS,763.157389992,742,711,671.842610008,659,633,876,784.157389992,799.157389992,649,629,650.842610008,0.400976257854,-0.0154492479851,0.0498567858347,0.999999948806,-0.000189346148851,-0.000254328395847,-4.30491472089e-05,1793193470595332608
+110,1.833333333,POSE1_TO_POSE2_PRESS,763.735354013,742,711,671.264645987,659,633,876,784.735354013,799.735354013,649,629,650.264645987,0.400976349287,-0.0154503503878,0.0498568260949,0.999999948526,-0.000191367537826,-0.000253883701896,-4.32341119803e-05,1793193470611999488
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,742,711.313286681,671,659,633,876,784.686713319,800,649.313286681,629,650.313286681,0.400976525794,-0.0154505481112,0.0498567458702,0.999999948505,-0.000191716054852,-0.000253705560826,-4.32366638371e-05,1793193470628665600
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,742,711.891192831,671,659,633,876,784.108807169,800,649.891192831,629,650.891192831,0.400976774157,-0.0154499816918,0.0498565638772,0.999999948703,-0.000190651570463,-0.000253752565274,-4.30851395237e-05,1793193470645331456
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,742,712,671,659,633,876,784,800,649.521809599,629,650.521809599,0.400977712295,-0.015449161676,0.0498569899972,0.999999948723,-0.000190637038719,-0.000253645620252,-4.33013563202e-05,1793193470661997824
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,742,711.93385843,671,659.06614157,633,876,784.06614157,799.93385843,649.06614157,629,650,0.400979953063,-0.0154485112579,0.0498581040644,0.999999948981,-0.000190885175176,-0.000252407323331,-4.34889003548e-05,1793193470678664448
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,742,711.354864107,671,659.645135893,633,876,784.645135893,799.354864107,649.645135893,629,650,0.400991053694,-0.0154496319707,0.0498634586869,0.999999951345,-0.000191281662028,-0.000242673555939,-4.27927361375e-05,1793193470695331328
+116,1.933333333,POSE1_TO_POSE2_PRESS,763.777881937,742,711.222118063,671,659.777881937,633,876,784.777881937,799.222118063,650,629,650,0.401008678325,-0.0154511536491,0.049870723365,0.99999995464,-0.000191324016914,-0.000228830929985,-4.18435479936e-05,1793193470711997952
+117,1.950000000,POSE1_TO_POSE2_PRESS,763.204085654,742,711.795914346,671,659.204085654,633,876,784.204085654,799.795914346,650,629,650,0.401036632364,-0.015453310174,0.0498810122221,0.999999959244,-0.000190805676679,-0.000208482773374,-4.04937486173e-05,1793193470728664576
+118,1.966666667,POSE1_TO_POSE2_PRESS,763.379179215,742,711.620820785,671,659.379179215,633,876.75835843,784,800,650,628.620820785,650,0.401078972254,-0.0154546102136,0.0498936980729,0.999999964773,-0.000189691562304,-0.000181500241507,-3.90969233234e-05,1793193470745331200
+119,1.983333333,POSE1_TO_POSE2_PRESS,763.967670937,742,711.032329063,671,659.967670937,633,877.935341874,784,800,650,628.032329063,650,0.401129253347,-0.015455437461,0.0499077071004,0.999999970193,-0.000188248571669,-0.000150855434855,-3.76741388812e-05,1793193470761998080
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,742,711.5472362,671,659.4527638,633,877.4527638,784,799.4527638,649.4527638,628.5472362,650,0.401196638143,-0.0154626636458,0.0499175026597,0.999999971657,-0.000191645160155,-0.000136717911321,-3.55765421074e-05,1793193470778664704
+121,2.016666667,POSE1_TO_POSE2_PRESS,763.874240398,742,712,671,659.125759602,633,877,784,799.125759602,649.125759602,629,650.125759602,0.401267522331,-0.0154697006916,0.0499255825362,0.999999972506,-0.000195095739142,-0.000125678706,-3.36364992042e-05,1793193470795331584
+122,2.033333333,POSE1_TO_POSE2_PRESS,763.297591874,742,712,671,659.702408126,633,877,784,799.702408126,649.702408126,629,650.702408126,0.401347388405,-0.015474726009,0.049928389268,0.999999972447,-0.000197731273338,-0.000122307679908,-3.24019754171e-05,1793193470811998720
+123,2.050000000,POSE1_TO_POSE2_PRESS,763.279224971,742,712,671,659.720775029,633,876.720775029,784,800,649.720775029,629,651,0.40143798356,-0.0154798871495,0.0499290578862,0.999999972148,-0.00019921149706,-0.00012257420098,-3.15467436917e-05,1793193470828665344
+124,2.066666667,POSE1_TO_POSE2_PRESS,763.856221284,742,712,671,659.143778716,633,876.143778716,784,800,649.143778716,629,651,0.401540020427,-0.0154851931341,0.0499274463753,0.999999971595,-0.000199459673405,-0.000126719878529,-3.10959970171e-05,1793193470845331712
+125,2.083333333,POSE1_TO_POSE2_PRESS,763.559056351,742,712,671,659,633,876.440943649,784,800,649,629,651,0.401659053984,-0.0154928400002,0.0499260814027,0.99999997046,-0.000202207806848,-0.00013148007618,-3.00712675786e-05,1793193470861998080
+126,2.100000000,POSE1_TO_POSE2_PRESS,763.027836391,742,711.972163609,671.027836391,659,633,877,784,800,649,628.972163609,650.972163609,0.401785479901,-0.0155013278019,0.0499246927494,0.999999969117,-0.000205680093811,-0.000136486150512,-2.8877723588e-05,1793193470878664960
+127,2.116666667,POSE1_TO_POSE2_PRESS,763.6069309,742,711.3930691,671.6069309,659,633,877,784,800,649,628.3930691,650.3930691,0.401946589785,-0.0155110836337,0.0499212147584,0.99999996804,-0.000207062192581,-0.00014232251343,-2.81135609501e-05,1793193470895331840
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,742,711.185545986,671.814454014,659.185545986,633.185545986,877,784,800,649,628.185545986,650,0.402120224228,-0.0155210201126,0.0499199740811,0.999999967599,-0.000208105420166,-0.000144132958422,-2.68340799101e-05,1793193470911998464
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,742,711.763147986,671.236852014,659.763147986,633.763147986,877,784,800,649,628.763147986,650,0.402320322864,-0.0155313382952,0.0499234608163,0.999999968534,-0.000208432617621,-0.000137436695716,-2.44657385592e-05,1793193470928665088
+130,2.166666667,POSE1_TO_POSE2_PRESS,763.661546332,742,711.661546332,671,659.661546332,633.661546332,877,784,800,649,629,650,0.402545810623,-0.0155422321053,0.0499293969968,0.999999970084,-0.000208534149647,-0.000125973649683,-2.18383218247e-05,1793193470945331456
+131,2.183333333,POSE1_TO_POSE2_PRESS,763.087836738,742,711.087836738,671,659.087836738,633.087836738,877,784,800,649,629,650,0.402788946138,-0.0155535260299,0.0499370357639,0.999999971905,-0.000208478823783,-0.000111197257211,-1.90308240116e-05,1793193470961997824
+132,2.200000000,POSE1_TO_POSE2_PRESS,763.499315795,742,711.499315795,671.499315795,659,633,877.499315795,784,800,649.499315795,629,650.499315795,0.403061595548,-0.0155573901476,0.049943261479,0.999999975611,-0.000197746143331,-9.70480499253e-05,-1.60237711217e-05,1793193470978664704
+133,2.216666667,POSE1_TO_POSE2_PRESS,763.91264426,742,712,671.91264426,659,633,877.825288519,784,799.91264426,649.91264426,629,651,0.403348272952,-0.01555725685,0.0499493599404,0.999999980056,-0.00018111003828,-8.31636586965e-05,-1.30885739304e-05,1793193470995331584
+134,2.233333333,POSE1_TO_POSE2_PRESS,763.333293381,742,712,671.333293381,659,633,876.666586763,784,799.333293381,649.333293381,629,651,0.403683907001,-0.0155421746144,0.0499561804358,0.999999987387,-0.000142096754759,-7.01321440345e-05,-1.07612553173e-05,1793193471011998208
+135,2.250000000,POSE1_TO_POSE2_PRESS,763,742,712,671,659,633,876.244036776,784,799.244036776,649.244036776,629,650.755963224,0.404032153236,-0.0155276123163,0.0499630344584,0.999999992817,-0.000104740034999,-5.74719917306e-05,-9.61483639293e-06,1793193471028665088
+136,2.266666667,POSE1_TO_POSE2_PRESS,763,742,712,671,659,633,876.818629763,784,799.818629763,649.818629763,629,650.181370237,0.404397483091,-0.0155137542924,0.0499699338943,0.999999996499,-6.96271903297e-05,-4.53148633639e-05,-1.00679868805e-05,1793193471045331712
+137,2.283333333,POSE1_TO_POSE2_PRESS,763,742,711.598208865,671,659,633,876.598208865,784,799.598208865,649.598208865,628.598208865,650,0.404776998354,-0.0155111644819,0.0499683118166,0.999999997752,-4.60380712598e-05,-4.80769611485e-05,-8.07136548645e-06,1793193471061998336
+138,2.300000000,POSE1_TO_POSE2_PRESS,763,742,711.011095422,671,659,633,876.011095422,784,799.011095422,649.011095422,628.011095422,650,0.40516305649,-0.0155137720271,0.0499627592725,0.999999997937,-2.77641610755e-05,-5.77204092403e-05,-4.9448102966e-06,1793193471078664704
+139,2.316666667,POSE1_TO_POSE2_PRESS,763.571447648,742,711.571447648,671,659,633,876.571447648,784,799.571447648,649,628,650,0.405573346504,-0.0155224661675,0.0499404873071,0.999999994713,-1.68687253751e-05,-0.000101398793924,-2.83004247332e-06,1793193471095331072
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,742,712,671,659,633,876.848440304,784,800,649,628.151559696,650.151559696,0.406000689908,-0.0155282111349,0.0499193626783,0.999999990091,-2.05265828366e-06,-0.000140755206034,-9.79394364265e-07,1793193471111997952
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,742,712,671,659,633,876.274852553,784,800,649,628.725147447,650.725147447,0.406474219813,-0.0155254174655,0.0499023296696,0.99999998589,2.40764258042e-05,-0.000166251255311,1.90063813982e-07,1793193471128664832
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,742,712,671,659,633,876,784,799.699733166,649,629,650.699733166,0.406985289186,-0.015524951655,0.0498998949218,0.99999998498,4.92989837e-05,-0.000166120299965,3.66760448886e-06,1793193471145331456
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,742,712,671,659,633,876,784,799.123204526,649,629,650.123204526,0.407530896965,-0.0155266276008,0.0499108913655,0.999999987102,7.36874912252e-05,-0.000142411110401,9.26870664456e-06,1793193471161998080
+144,2.400000000,POSE1_TO_POSE2_PRESS,763.535377313,742,712,671,659.464622687,633,876.464622687,784,799,649,629,650,0.408116450896,-0.0155277994525,0.0499352604777,0.999999990273,9.91128563393e-05,-9.68749083729e-05,1.56587714769e-05,1793193471178665472
+145,2.416666667,POSE1_TO_POSE2_PRESS,763,742,711.94576114,671,660,632.94576114,877,784,799,649,628.94576114,650,0.408715352364,-0.0155292844183,0.0499616629201,0.999999990792,0.00012445499037,-4.93031147999e-05,2.22757853893e-05,1793193471195332608
+146,2.433333333,POSE1_TO_POSE2_PRESS,763,742,711.368504495,671,660,632.368504495,877,784,799,649,628.368504495,650,0.409338274231,-0.0155351097997,0.0499726262292,0.999999988108,0.000146277224647,-3.93052633788e-05,2.90135772248e-05,1793193471211999488
+147,2.450000000,POSE1_TO_POSE2_PRESS,763.20842618,742,711.20842618,671,660,632.20842618,877,784,799,649.20842618,628.20842618,650.20842618,0.409961582805,-0.0155387184541,0.0499733762424,0.999999983822,0.00017008898496,-4.74137885677e-05,3.43281583299e-05,1793193471228666112
+148,2.466666667,POSE1_TO_POSE2_PRESS,763.784781393,742,711.784781393,671,660,632.784781393,877,784,799,649.784781393,628.784781393,650.784781393,0.410585573986,-0.0155384139808,0.0499560970029,0.999999975998,0.000197412799728,-8.74850056301e-05,3.71303840364e-05,1793193471245332480
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,742.368114293,711.631885707,671,660,633,876.631885707,784,799.368114293,650,628.631885707,650.631885707,0.411216848754,-0.0155384081556,0.0499310861798,0.999999980807,0.000143589869474,-0.000132000568022,1.85590748222e-05,1793193471261999360
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,742.95560551,711.04439449,671,660,633,876.04439449,784,799.95560551,650,628.04439449,650.04439449,0.411852464138,-0.015538580309,0.0499014677366,0.999999983011,4.14077079999e-05,-0.000179164725726,-1.27497470101e-05,1793193471278665984
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,742.46427402,711.53572598,671,660,633,876.53572598,784,800,650,628.53572598,650,0.412617231057,-0.0155550271784,0.0499275652911,0.99999999107,5.07372874704e-05,-0.000123519034217,-5.42962684141e-06,1793193471295332096
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,742.114723458,712,671,660,633,877,784,800,650,628.885276542,650,0.413387665469,-0.0155686273546,0.049952646134,0.999999994794,7.15339621822e-05,-7.26527850465e-05,4.16789549393e-06,1793193471311998464
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,742.691623959,712,671,660,633,877,784,800,650,628.308376041,650,0.414138400647,-0.0155653998207,0.0499552830594,0.999999991961,0.000101804990819,-7.48976570492e-05,1.02192117396e-05,1793193471328665600
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,742.731690325,712,671,660,633,877,784,800,650,628.268309675,650,0.414894386621,-0.01556128209,0.0499426146883,0.999999990872,9.09078239054e-05,-9.9139643447e-05,1.28068950723e-05,1793193471345332224
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,742.155251195,712,671,660,633,877,784,800,650,628.844748805,650,0.415656402758,-0.0155561420482,0.0499123695653,0.999999988352,3.2732702072e-05,-0.000148643331167,1.14169092215e-05,1793193471361998592
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,742.429534468,712,671.429534468,660,633,877.429534468,784,799.570465532,649.570465532,629,650,0.416449064193,-0.015557330021,0.0499136430269,0.999999989651,2.76323929707e-05,-0.000140666696395,1.20996957786e-05,1793193471378664960
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,743,712,672,660,633,877.982899188,784.017100812,799.017100812,649,629,650,0.417254199673,-0.0155608879385,0.0499269358095,0.99999999285,4.22586185323e-05,-0.000111034572881,1.36448165224e-05,1793193471395331328
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,743,712,672,660,633,877.40503396,784.59496604,799.59496604,649,629,650,0.418097968366,-0.0155656728839,0.0499533935529,0.999999995713,6.22296594144e-05,-6.60538630623e-05,1.84134863038e-05,1793193471411997952
+159,2.650000000,POSE1_TO_POSE2_PRESS,763.827623808,743,712,672,660,633,877.172376192,784.827623808,800,649.172376192,629,650,0.418927512109,-0.0155689538369,0.0499646584434,0.999999995276,8.05673478666e-05,-5.00592806691e-05,2.12565979324e-05,1793193471428664576
+160,2.666666667,POSE1_TO_POSE2_PRESS,763.251280175,743,712,672,660,633,877.748719825,784.251280175,800,649.748719825,629,650,0.419723719314,-0.0155687101502,0.0499403185439,0.999999990087,9.50772375247e-05,-0.000101994335791,1.95871209495e-05,1793193471445331200
+161,2.683333333,POSE1_TO_POSE2_PRESS,763.324793767,743,712,672,660,633,878,784,799.675206233,649.675206233,629,650,0.420591877878,-0.0155710121809,0.0499388846823,0.999999989251,0.000108250493319,-9.69158883623e-05,1.96663840547e-05,1793193471461998080
+162,2.700000000,POSE1_TO_POSE2_PRESS,763.900659206,743,712,672,660,633,878,784,799.099340794,649.099340794,629,650,0.421515656153,-0.0155752820989,0.0499551576186,0.99999999139,0.000120390505352,-4.77649321787e-05,2.10974561015e-05,1793193471478664960
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,743,712,672,660,633,877.511779379,784,799,649.488220621,629,650.488220621,0.422384981329,-0.0155773810905,0.0499681233637,0.999999992919,0.000114595565842,-2.21892596454e-05,2.32011029732e-05,1793193471495331840
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,742.923452158,712,672,660,633,877,784,799.076547842,650,629,650.923452158,0.423240969838,-0.0155787926851,0.0499764380793,0.999999994306,0.000103419927409,-8.24463028848e-06,2.49736523105e-05,1793193471511998464
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,742.346067686,712,672,660,633,877,784,799.653932314,650,629,650.346067686,0.424083971395,-0.0155786678661,0.0499588329852,0.999999995667,8.15022663794e-05,-3.82434880848e-05,2.36625250853e-05,1793193471528664832
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,742,712,672,660.231013269,633,877,784,800,649.768986731,629,650,0.424947381277,-0.0155788061445,0.0499552832026,0.999999995699,7.63991058085e-05,-4.6904021923e-05,2.37946745842e-05,1793193471545331456
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,742,712,672,660.807640226,633,877,784,800,649.192359774,629,650,0.425841323716,-0.0155793380368,0.0499727612486,0.999999994729,9.64517330568e-05,-2.36407800067e-05,2.60860773324e-05,1793193471561998080
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.391414162,742.391414162,712,672,660.608585838,633,877.391414162,784,799.608585838,649,629,650,0.426695800252,-0.0155775341822,0.0499767874468,0.999999992283,0.000115356536102,-3.64742541193e-05,2.82329282301e-05,1793193471578664448
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.978765759,742.978765759,712,672,660.021234241,633,877.978765759,784,799.021234241,649,629,650,0.427530520559,-0.0155745610795,0.0499740798035,0.999999988335,0.00013368675024,-6.73773310974e-05,3.03074179722e-05,1793193471595331072
+170,2.833333333,POSE1_TO_POSE2_PRESS,763.878934916,743,712,672,660,633,877.439467458,784,799.560532542,649.560532542,629,650,0.428361646591,-0.0155693423147,0.0499424296841,0.99999998262,0.000148006140683,-0.000110070841587,2.71860942073e-05,1793193471611998464
+171,2.850000000,POSE1_TO_POSE2_PRESS,763.140373159,743,712,672,660,633,877,784,800,650,629,650,0.429203782591,-0.0155666824323,0.0499223558633,0.999999980016,0.000148390901293,-0.000131629000018,2.49222062586e-05,1793193471628665856
+172,2.866666667,POSE1_TO_POSE2_PRESS,763.714904228,743,712,672,660,633,877,784,800,650,629,650,0.430080388072,-0.0155721973949,0.0499414437983,0.999999990294,0.000106142760843,-8.64501590693e-05,2.5913032392e-05,1793193471645332224
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,742.710062596,712,672,660.289937404,633,877,784,800,649.710062596,628.710062596,650,0.430918658495,-0.01557300169,0.0499436524087,0.999999992107,9.20571396121e-05,-8.14366380465e-05,2.60546604899e-05,1793193471661998592
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,742.134534874,712,672,660.865465126,633,877,784,800,649.134534874,628.134534874,650,0.431719168573,-0.0155691659454,0.0499292347684,0.999999987365,0.000105711794197,-0.00011598623337,2.53598227302e-05,1793193471678664704
+175,2.916666667,POSE1_TO_POSE2_PRESS,764,742,712,672.451142301,661,633,877,784,800,649,628,650,0.432527980668,-0.0155666791936,0.0499248314516,0.999999985177,0.000121860931056,-0.000118911919283,2.56254689399e-05,1793193471695331072
+176,2.933333333,POSE1_TO_POSE2_PRESS,764,742.03935531,712,673,660.96064469,632.96064469,877.03935531,784,800,649,628.03935531,650,0.433339687211,-0.0155648888557,0.0499253333037,0.999999984095,0.000137936749734,-0.000109956449367,2.63142529084e-05,1793193471711997952
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,742.619860789,712,673,660.380139211,632.380139211,877.619860789,784,800,649,628.619860789,650,0.434156366809,-0.0155670156293,0.0499512743393,0.999999986956,0.00014254038627,-7.02886398071e-05,2.87922392684e-05,1793193471728664576
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,743,712,673,660.198448396,632,877.801551604,784,800,649,629,650,0.434935134547,-0.0155678985256,0.0499641194932,0.999999987265,0.000146024471812,-5.70209130908e-05,2.99299559138e-05,1793193471745331200
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,743,712,673,660.773397475,632,877.226602525,784,800,649,629,650,0.435641975209,-0.015566421511,0.0499521188553,0.999999984329,0.000147384521503,-9.38399999962e-05,2.85248837238e-05,1793193471761998080
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,742.651358941,712.348641059,673,661,632.348641059,877.348641059,784,799.651358941,649,629,650,0.436350980709,-0.0155646858203,0.0499367058709,0.999999980548,0.000152149418482,-0.000122558972276,2.70868215874e-05,1793193471778664960
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,742.075923812,712.924076188,673,661,632.924076188,877.924076188,784,799.075923812,649,629,650,0.437061394411,-0.0155627818588,0.0499190731258,0.999999976351,0.000159129198452,-0.000146008746678,2.56272992895e-05,1793193471795331840
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,742,712.485248744,673,660.485248744,633,878,784,799.514751256,649,629,650,0.437810503743,-0.0155653661877,0.049944971445,0.999999981546,0.000165927559317,-9.24204214407e-05,2.88864884769e-05,1793193471811998208
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,742,712,673,660,633,878,784,799.895254599,649,629,650,0.438543504364,-0.0155676384345,0.0499699489363,0.99999998358,0.000173268302513,-4.22074821592e-05,3.22114603037e-05,1793193471828664576
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,742,712,673,660,633,878,784,799.318759774,649,629,650,0.439177465672,-0.0155654326474,0.0499609797702,0.999999980896,0.000183176006248,-5.99334207528e-05,3.26024795134e-05,1793193471845331200
+185,3.083333333,POSE1_TO_POSE2_PRESS,764,742,712,673,660,632.744115422,878,784,799.255884578,649,629,650,0.439778636476,-0.0155647629194,0.0499418570848,0.99999997701,0.000190652023711,-9.26419716628e-05,3.23827228244e-05,1793193471861997824
+186,3.100000000,POSE1_TO_POSE2_PRESS,764,742,712,673,660,632.171759728,878,784,799.828240272,649,629,650,0.440339252824,-0.0155659929476,0.0499101768023,0.99999997012,0.000195120596415,-0.000143880610346,3.14075749643e-05,1793193471878664448
+187,3.116666667,POSE1_TO_POSE2_PRESS,764,742.414550223,712,673,660,632,878,784,799.585449777,649,629,650,0.440900189426,-0.015568162028,0.0498939496276,0.999999965676,0.000196418042795,-0.000170586995662,3.11222278538e-05,1793193471895331584
+188,3.133333333,POSE1_TO_POSE2_PRESS,764,742.993327828,712,673,660,632,878,783.993327828,799.006672172,649,629,650,0.441460850205,-0.0155707365599,0.0498844173069,0.999999962827,0.000196376525962,-0.000186585325559,3.11219936808e-05,1793193471911998976
+189,3.150000000,POSE1_TO_POSE2_PRESS,764,742.415842546,712,673,660,632,878,783.415842546,799.584157454,649,629,650,0.441986162652,-0.0155735525913,0.0498808027923,0.999999962555,0.000198105100661,-0.000186363502132,3.02109463941e-05,1793193471928665600
+190,3.166666667,POSE1_TO_POSE2_PRESS,764,742.161846709,712,673,660,632,877.838153291,783.161846709,799.838153291,649,629,650,0.442490845691,-0.0155770418218,0.0498727980059,0.999999961137,0.000197142487362,-0.000194999071078,2.89150797168e-05,1793193471945332224
+191,3.183333333,POSE1_TO_POSE2_PRESS,764,742.740060829,712,673,660,632,877.259939171,783.740060829,799.259939171,649,629,650,0.442942457552,-0.0155822629274,0.0498534987903,0.999999956103,0.000189256514584,-0.000226421198644,2.66292251053e-05,1793193471961998592
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,742.677638006,711.677638006,673,660,632,877.322361994,783.677638006,799.322361994,649,628.677638006,650,0.443347348893,-0.0155840642339,0.0498219126236,0.999999946593,0.000164619029173,-0.000281725927,1.85806744734e-05,1793193471978665216
+193,3.216666667,POSE1_TO_POSE2_PRESS,764,742.091998935,711.091998935,673,660,632,877.908001065,783.091998935,799.908001065,649,628.091998935,650,0.443714082971,-0.0155830725473,0.0497802915513,0.999999928448,0.000126300373292,-0.000356535871188,5.82565788777e-06,1793193471995332096
+194,3.233333333,POSE1_TO_POSE2_PRESS,764,742.488080374,711.488080374,673,659.511919626,632,878,783,800,649,628,650,0.444096676248,-0.0155862393026,0.0497533669837,0.999999919406,6.07497043401e-05,-0.000396857274768,1.30100128629e-06,1793193472011998464
+195,3.250000000,POSE1_TO_POSE2_PRESS,764,743,712,673,659.06692578,631.93307422,877.93307422,783,800,649,628,650,0.444480190073,-0.0155900958224,0.04973267153,0.999999909807,-8.15066320759e-07,-0.000424716385069,-1.10372444672e-06,1793193472028665088
+196,3.266666667,POSE1_TO_POSE2_PRESS,764,743,712,673,659.644263136,631.355736864,877.355736864,783,800,649,628,650,0.444848183106,-0.015593302273,0.0497385938108,0.999999917335,6.72481928621e-06,-0.000406551540924,9.61091017488e-07,1793193472045332480
+197,3.283333333,POSE1_TO_POSE2_PRESS,764,743,712,673,659.779591413,631,877.220408587,782.779591413,799.779591413,649,628,650.220408587,0.445197535662,-0.0155969047357,0.0497426061889,0.999999922835,1.39440971746e-05,-0.000392592244773,2.79618608808e-06,1793193472061999104
+198,3.300000000,POSE1_TO_POSE2_PRESS,764,743,712,673,659.20535939,631,877.79464061,782.20535939,799.20535939,649,628,650.79464061,0.445516964495,-0.0156011429191,0.0497435525863,0.999999925517,2.06487005419e-05,-0.000385384145962,4.26250921633e-06,1793193472078664704
+199,3.316666667,POSE1_TO_POSE2_PRESS,764.381031463,742.618968537,712,673,659,631,878,782,799.381031463,649.381031463,628,650.618968537,0.44579935902,-0.0156043102596,0.0497373540663,0.999999922606,2.55342939018e-05,-0.000392576003271,4.56403670767e-06,1793193472095331328
+200,3.333333333,POSE1_TO_POSE2_PRESS,764.974191455,742.025808545,712,673,659,631,878,782,799.974191455,649.974191455,628,650.025808545,0.446061135768,-0.0156068814389,0.049727177815,0.999999916415,2.94072053211e-05,-0.000407784629625,4.21709718783e-06,1793193472111997952
+201,3.350000000,POSE1_TO_POSE2_PRESS,764.446708734,742.553291266,712,673,659,631,877.446708734,782,800,649.446708734,628,650,0.446274020752,-0.0156078559237,0.0497066808735,0.999999901694,3.25978120776e-05,-0.000442199792181,3.06158071543e-06,1793193472128665088
+202,3.366666667,POSE1_TO_POSE2_PRESS,764,743,712,673,659,631,877.130683409,782,800,649,628,650,0.446475507788,-0.0156081968339,0.049685507093,0.999999885872,3.53052664885e-05,-0.000476452916868,1.52743754367e-06,1793193472145332480
+203,3.383333333,POSE1_TO_POSE2_PRESS,764,743,712,673,659,631,877.704454348,782,800,649,628,650,0.446645890437,-0.0156066358482,0.0496636302595,0.999999870711,3.64798083732e-05,-0.000507194353096,-1.16574534838e-06,1793193472161998336
+204,3.400000000,POSE1_TO_POSE2_PRESS,764,743,712,673,659,631,878,782,800,649.276819565,628,650,0.446807602222,-0.0156067590669,0.0496482922935,0.999999859551,3.80705840632e-05,-0.000528621745796,-2.700872506e-06,1793193472178664704
+205,3.416666667,POSE1_TO_POSE2_PRESS,764,743,712,673,659,631,878,782,800,649.847691517,628,650,0.446960103347,-0.0156086713366,0.0496399002599,0.999999853307,4.01035052745e-05,-0.000540155267237,-3.00585143987e-06,1793193472195331584
+206,3.433333333,POSE1_TO_POSE2_PRESS,764,743,712,673,658.561510113,630.561510113,877.561510113,781.561510113,800,650,628,650,0.447102041807,-0.0156119187771,0.0496416405473,0.99999985447,3.94190040031e-05,-0.000538049734551,-2.78868165747e-06,1793193472211998464
+207,3.450000000,POSE1_TO_POSE2_PRESS,764,743,712,673,658.035185651,630,877,781.035185651,800,649.964814349,628,650,0.447238684948,-0.0156157249966,0.0496469395321,0.999999858256,3.75183979956e-05,-0.000531107851226,-2.34493481906e-06,1793193472228665600
+208,3.466666667,POSE1_TO_POSE2_PRESS,764,743,712,673,658.611081738,630,877,781.611081738,800,649.388918262,628,650,0.447353018793,-0.0156206519875,0.049650267032,0.999999861086,3.2125120281e-05,-0.000526112714579,-1.33911797739e-06,1793193472245331968
+209,3.483333333,POSE1_TO_POSE2_PRESS,764,742.813715015,712,673,658.813715015,629.813715015,877.186284985,781.813715015,800,649.186284985,628,650,0.447455570956,-0.0156242105296,0.0496513739314,0.999999862121,2.77715769257e-05,-0.000524391779101,-7.48152184513e-07,1793193472261998336
+210,3.500000000,POSE1_TO_POSE2_PRESS,764,742.239952965,712,673,658.239952965,629.239952965,877.760047035,781.239952965,800,649.760047035,628,650,0.447533616934,-0.0156249226659,0.0496478619304,0.999999859497,2.55807056933e-05,-0.000529481258238,-1.02008626656e-06,1793193472278664960
+211,3.516666667,POSE1_TO_POSE2_PRESS,764,742.344128396,712,673,658,629.344128396,878,781.344128396,800,650,628,650,0.447598250572,-0.0156249033439,0.0496444510381,0.999999856412,2.61355933657e-05,-0.000535248603105,-1.2770719989e-06,1793193472295331328
+212,3.533333333,POSE1_TO_POSE2_PRESS,764,742.935627679,712,673,658,629.935627679,878,781.935627679,800,650,628,650,0.447653242984,-0.0156243582255,0.0496411128257,0.999999852975,2.8664223233e-05,-0.000541503220819,-1.52331239048e-06,1793193472311997696
+213,3.550000000,POSE1_TO_POSE2_PRESS,764,743,712,673,658,630,878,781.484117622,800,649.484117622,628,650,0.447697959317,-0.0156243296494,0.0496405919387,0.999999852473,2.85939012397e-05,-0.00054243347532,-1.17292387579e-06,1793193472328664576
+214,3.566666667,POSE1_TO_POSE2_PRESS,764,743,712,673,658.09412513,630,877.90587487,781.09412513,800.09412513,649,628,650,0.447739760787,-0.0156248109401,0.0496404615309,0.999999852531,2.77046388691e-05,-0.000542374104357,-7.75403905109e-07,1793193472345331456
+215,3.583333333,POSE1_TO_POSE2_PRESS,764,743,712,673,658.669104834,630,877.330895166,781.669104834,800.669104834,649,628,650,0.4477730821,-0.01562757472,0.0496405683173,0.999999853592,2.42530778477e-05,-0.00054058075513,-5.09321713726e-07,1793193472361997824
+216,3.600000000,POSE1_TO_POSE2_PRESS,764,743,712,673.249360928,659,630,877.249360928,782,800.750639072,649.249360928,628,650.249360928,0.447798667701,-0.0156305090203,0.0496400323092,0.999999853109,2.11580529996e-05,-0.000541603370425,3.11328195477e-08,1793193472378664704
+217,3.616666667,POSE1_TO_POSE2_PRESS,764,743,712,673.83676997,659,630,877.83676997,782,800.16323003,649.83676997,628,650.83676997,0.447813766322,-0.0156336744877,0.0496386248915,0.999999850527,1.854636944e-05,-0.000546443470387,9.43542370826e-07,1793193472395331584
+218,3.633333333,POSE1_TO_POSE2_PRESS,763.581763751,742.581763751,712,673.581763751,658.581763751,630,877.581763751,781.581763751,800,650,628,650.581763751,0.447825128714,-0.0156479310146,0.0496379677292,0.999999849772,6.31423977145e-06,-0.000548062518043,6.60512481597e-06,1793193472411998208
+219,3.650000000,POSE1_TO_POSE2_PRESS,763.002584345,742.002584345,712,673.002584345,658.002584345,630,877.002584345,781.002584345,800,650,628,650.002584345,0.447835053352,-0.0156664555363,0.0496375992757,0.99999984946,-9.61997205359e-06,-0.000548442059468,1.40942553903e-05,1793193472428664832
+220,3.666666667,POSE1_TO_POSE2_PRESS,763.574328497,742,712,673,658,630,877,781.574328497,800,650,628,650,0.447837012461,-0.0156761183467,0.0496343289029,0.99999984679,-2.13687480067e-05,-0.000552906543265,1.60329152342e-05,1793193472445331200
+221,3.683333333,POSE1_TO_POSE2_PRESS,764,742,712,673,658,630,877.151451435,781.848548565,800.151451435,650,627.848548565,650,0.447839647082,-0.0156803469974,0.0496322015755,0.999999845018,-2.73517342909e-05,-0.000555818212121,1.67959588498e-05,1793193472461997824
+222,3.700000000,POSE1_TO_POSE2_PRESS,764,742,712,673,658,630,877.729194231,781.270805769,800.729194231,650,627.270805769,650,0.447844283565,-0.0156693918777,0.0496333281958,0.999999846122,-1.71585144025e-05,-0.000554307627286,1.43200106115e-05,1793193472478664448
+223,3.716666667,POSE1_TO_POSE2_PRESS,764,742.310338345,712,673,658,630,878,781.310338345,800.689661655,650,627.310338345,650,0.447848574265,-0.0156665064277,0.0496348247999,0.999999847529,-1.39433563136e-05,-0.000551863852295,1.39262777351e-05,1793193472495331072
+224,3.733333333,POSE1_TO_POSE2_PRESS,764,742.894483453,712,673,658,630,878,781.894483453,800.105516547,650,627.894483453,650,0.447852559887,-0.0156707407222,0.0496366478352,0.99999984926,-1.68848340084e-05,-0.000548596737799,1.53696512676e-05,1793193472511998208
+225,3.750000000,POSE1_TO_POSE2_PRESS,764,743,712,673,658,630,878,782,800,649.523957281,628,650,0.44785111985,-0.0156712185206,0.0496347540702,0.999999847652,-1.84867517348e-05,-0.000551475293941,1.51500493432e-05,1793193472528664832
+226,3.766666667,POSE1_TO_POSE2_PRESS,764,743,712,673,658,630,878,781.943192564,800.056807436,649.056807436,628,650.056807436,0.447848790422,-0.0156707708326,0.0496322855776,0.999999845565,-1.9552506151e-05,-0.00055522483495,1.46012687095e-05,1793193472545331712
+227,3.783333333,POSE1_TO_POSE2_PRESS,764,743,712,673,658,630,878,781.364489853,800.635510147,649.635510147,628,650.635510147,0.447849278917,-0.0156694288344,0.0496320648296,0.999999845976,-1.84055565646e-05,-0.000554529063229,1.43963996106e-05,1793193472561998336
+228,3.800000000,POSE1_TO_POSE2_PRESS,764,743,712,673,658.211237393,630,878,781,800.788762607,650,628,650.788762607,0.447849888996,-0.0156699141865,0.0496321027813,0.999999846154,-1.8623690531e-05,-0.000554198309569,1.44907121881e-05,1793193472578664704
+229,3.816666667,POSE1_TO_POSE2_PRESS,764,743,712,673,658.78190176,630,878,781,800.21809824,650,628,650.21809824,0.447850705951,-0.0156735088319,0.0496325809183,0.999999845933,-2.11645565573e-05,-0.000554488645498,1.50940916767e-05,1793193472595331584
+230,3.833333333,POSE1_TO_POSE2_PRESS,764,743,712,673,658.634311786,630,877.634311786,781.365688214,800,649.634311786,628,650,0.447851707261,-0.0156723143191,0.0496330393484,0.99999984625,-2.11787644632e-05,-0.000553929614902,1.45896777302e-05,1793193472611998208
+231,3.850000000,POSE1_TO_POSE2_PRESS,764,743,712,673,658.042408,630,877.042408,781.957592,800,649.042408,628,650,0.447852822614,-0.0156681572218,0.0496334855878,0.999999846899,-1.96299757385e-05,-0.000552845164205,1.33999801894e-05,1793193472628664832
+232,3.866666667,POSE1_TO_POSE2_PRESS,764,743,712,673,659.076581995,630,877.538290998,781.461709002,800,649,628,650,0.447853728032,-0.0156684430537,0.0496339374899,0.999999847283,-1.88229713245e-05,-0.000552157570393,1.42154852222e-05,1793193472645331456
+233,3.883333333,POSE1_TO_POSE2_PRESS,764,743,712,672.882746699,659.765493399,630,878,781.117253301,800,649.117253301,628,650,0.447854428551,-0.0156693018678,0.0496341876528,0.999999847437,-1.84643049638e-05,-0.000551868781773,1.50078043841e-05,1793193472661998336
+234,3.900000000,POSE1_TO_POSE2_PRESS,764,743,712,672.307192683,658.614385367,630,878,781.692807317,800,649.692807317,628,650,0.447854391519,-0.0156710600346,0.0496336475819,0.999999846778,-1.96342678815e-05,-0.000553019065073,1.51046210397e-05,1793193472678664960
+235,3.916666667,POSE1_TO_POSE2_PRESS,764,743,712,672,658.274623962,629.725376038,877.725376038,782,799.725376038,649.725376038,628,650,0.447854124937,-0.0156703722501,0.0496330955151,0.999999846118,-1.83293367093e-05,-0.000554264290377,1.48309164526e-05,1793193472695331584
+236,3.933333333,POSE1_TO_POSE2_PRESS,764,743,712,672,658.863609504,629.136390496,877.136390496,782,799.136390496,649.136390496,628,650,0.44785359559,-0.0156668845895,0.0496325297164,0.999999845444,-1.41913986633e-05,-0.000555618195767,1.41330768461e-05,1793193472711997952
+237,3.950000000,POSE1_TO_POSE2_PRESS,764,743,712,672,659,629.445319423,877.445319423,781.554680577,799.445319423,649,627.554680577,650.445319423,0.447853753908,-0.0156676961738,0.0496324230859,0.999999845296,-1.45709713371e-05,-0.000555872787612,1.41969911142e-05,1793193472728664576
+238,3.966666667,POSE1_TO_POSE2_PRESS,764,743,712,672.024514379,658.975485621,630,877.975485621,781.024514379,800,649.024514379,627,650.975485621,0.447854207795,-0.01566976496,0.0496325527689,0.999999845395,-1.63881563636e-05,-0.000555636383833,1.44857721987e-05,1793193472745330944
+239,3.983333333,POSE1_TO_POSE2_PRESS,764,743,712,672.596509132,658.403490868,630,877.403490868,781.596509132,800,649.596509132,627,650.403490868,0.447856634585,-0.0156709765025,0.0496348697964,0.999999847434,-1.99082537024e-05,-0.000551833057513,1.46698260601e-05,1793193472761997824
+240,4.000000000,POSE1_TO_POSE2_PRESS,764,742.834120769,712,673,658.165879231,630,877,781.834120769,800,650,627.165879231,650.165879231,0.447858062467,-0.0156718352589,0.0496360114947,0.999999848575,-2.21106003414e-05,-0.00054967247596,1.48554464374e-05,1793193472778664960
+241,4.016666667,POSE1_TO_POSE2_PRESS,764,742.271035566,712,673,658.728964434,630,877,781.271035566,800,650,627.728964434,650.728964434,0.447857098413,-0.0156718492519,0.0496343388093,0.999999847617,-2.11575279642e-05,-0.000551445527735,1.50448179037e-05,1793193472795331840
+242,4.033333333,POSE1_TO_POSE2_PRESS,764,742.314998915,712,673,659,630,877,781.314998915,800,649.685001085,628,651,0.447856545847,-0.015670952207,0.0496331375181,0.999999846812,-2.08275045258e-05,-0.000552928944162,1.45338740731e-05,1793193472811998720
+243,4.050000000,POSE1_TO_POSE2_PRESS,764,742.922331353,712,673,659,630,877,781.922331353,800,649.077668647,628,651,0.44785637516,-0.015669209677,0.0496323737026,0.999999846151,-2.1075699297e-05,-0.00055414356553,1.3373005331e-05,1793193472828665344
+244,4.066666667,POSE1_TO_POSE2_PRESS,764,743,712,672.494563724,658.494563724,629.494563724,877.505436276,781.494563724,800,649,627.494563724,650.494563724,0.447858173377,-0.0156688996641,0.0496342978547,0.99999984768,-2.08607311156e-05,-0.000551379217853,1.36106078212e-05,1793193472845331712
+245,4.083333333,POSE1_TO_POSE2_PRESS,764,743,712,672.084186469,658,629.084186469,877.915813531,781.084186469,800,649,627.084186469,650,0.447859808799,-0.0156690142523,0.0496360156133,0.999999849046,-2.09233794493e-05,-0.000548885127272,1.39783087755e-05,1793193472861997824
+246,4.100000000,POSE1_TO_POSE2_PRESS,764,743,712,672.658269078,658,629.658269078,877.341730922,781.658269078,800,649,627.658269078,650,0.447858816798,-0.0156703772886,0.0496342386577,0.99999984764,-2.29967500116e-05,-0.00055135900925,1.39097453925e-05,1793193472878664448
+247,4.116666667,HOLD_POSE2,764,742,712,673,660,630,878,782,800,649,628,650,0.44785927027,-0.015670176668,0.0496341547064,0.999999847584,-2.14060016054e-05,-0.000551537643855,1.34274936767e-05,1793193472916964864
+248,4.133333333,HOLD_POSE2,764,742.578906513,712,672.421093487,659.421093487,629.421093487,878,782,800,649,628,650.578906513,0.447858195415,-0.0156673321118,0.0496338999189,0.999999847051,-1.80716751803e-05,-0.000552626946978,1.32457497176e-05,1793193472933631488
+249,4.150000000,HOLD_POSE2,764,743,712,672.157252894,658.842747106,629.157252894,877.842747106,782,800,649,628,650.842747106,0.447857466321,-0.0156660731719,0.0496336366202,0.99999984664,-1.6742113585e-05,-0.000553411593986,1.32566697543e-05,1793193472950297856
+250,4.166666667,HOLD_POSE2,764,743,712,672.734104794,658.265895206,629.734104794,877.265895206,782,800,649,628,650.265895206,0.447857659821,-0.0156690451426,0.0496333506113,0.999999846573,-2.07618794058e-05,-0.000553383325184,1.3781676451e-05,1793193472966964224
+251,4.183333333,HOLD_POSE2,763.688859458,743,712,673,658,630,877.311140542,782,800,649.311140542,628,650.311140542,0.447858311571,-0.0156694019225,0.0496337304707,0.999999847168,-2.11232437372e-05,-0.000552290317035,1.39044349154e-05,1793193472983630592
+252,4.200000000,HOLD_POSE2,763.11166654,743,712,673,658,630,877.88833346,782,800,649.88833346,628,650.88833346,0.447859355166,-0.0156675224853,0.0496346797056,0.99999984833,-1.83563545808e-05,-0.000550286863622,1.3683235928e-05,1793193473000296960
+253,4.216666667,HOLD_POSE2,763.474085651,743,712.474085651,673,658,630,878,782,800,650,628,650.525914349,0.447858190412,-0.0156669190188,0.0496338379222,0.999999847251,-1.77324020635e-05,-0.000552269803486,1.34882331647e-05,1793193473016963840
+254,4.233333333,HOLD_POSE2,763.939013687,743,712.939013687,673,658,630,877.939013687,781.939013687,800.060986313,649.939013687,628,650,0.44785682539,-0.015666799359,0.0496327958589,0.999999845883,-1.7805081567e-05,-0.000554741547703,1.33740844391e-05,1793193473033630464
+255,4.250000000,HOLD_POSE2,763.359800238,743,712.359800238,673,658,630,877.359800238,781.359800238,800.640199762,649.359800238,628,650,0.447858259863,-0.0156681900137,0.0496337025495,0.999999846677,-1.9429413303e-05,-0.000553241438518,1.38935919353e-05,1793193473050297088
+256,4.266666667,HOLD_POSE2,763.218436921,743,712,673,658,630,877.218436921,781.218436921,801,649,628,650,0.447859099282,-0.0156690643743,0.0496341274325,0.999999847268,-2.02661629509e-05,-0.000552135737852,1.41319530778e-05,1793193473066963456
+257,4.283333333,HOLD_POSE2,763.795073075,743,712,673,658,630,877.795073075,781.795073075,801,649,628,650,0.447858962912,-0.0156690921007,0.0496337622331,0.999999847533,-1.98114123649e-05,-0.00055167679993,1.39092821798e-05,1793193473083630336
+258,4.300000000,HOLD_POSE2,764,742.629595698,712,673,658,629.629595698,878,781.629595698,801,649,628,650,0.447859058533,-0.0156678984174,0.0496337119188,0.999999847424,-1.85652560848e-05,-0.000551924798471,1.3660801718e-05,1793193473100296960
+259,4.316666667,HOLD_POSE2,764,742.054983838,712,673,658,629.054983838,878,781.054983838,801,649,628,650,0.447859282052,-0.0156660313589,0.0496338352038,0.999999847105,-1.68827899685e-05,-0.000552562538037,1.33980921671e-05,1793193473116963584
+260,4.333333333,HOLD_POSE2,763.466437436,742.533562564,712,673,658,629.533562564,878,781,800.466437436,649,628,650,0.447860005587,-0.0156677513253,0.0496342135864,0.99999984755,-1.87554868864e-05,-0.000551688921073,1.36701533411e-05,1793193473133630208
+261,4.350000000,HOLD_POSE2,763,743,712,673,658,629.878345896,877.878345896,781,800,649.121654104,628,650,0.447860501628,-0.0156693539908,0.0496344166336,0.999999847822,-2.07691535331e-05,-0.000551117112257,1.39577877322e-05,1793193473150297088
+262,4.366666667,HOLD_POSE2,763,743,712,673,658,629.297535999,877.297535999,781,800,649.702464001,628,650,0.447859939355,-0.0156690813797,0.0496338560391,0.99999984715,-2.18950524449e-05,-0.000552288000428,1.40906282322e-05,1793193473166963712
+263,4.383333333,POSE2_TO_POSE3_RETREAT,763,742,712,673,658,630,877,781,802,650,628,650,0.447860253437,-0.0156668621118,0.0496337843759,0.999999847391,-2.04963515429e-05,-0.000551919013431,1.35046375859e-05,1793193473204933632
+264,4.400000000,POSE2_TO_POSE3_RETREAT,763.594822581,742,712,673,658,629.405177419,877,781.594822581,800.810354838,649.405177419,628,650,0.447860769552,-0.0156677745045,0.0496345550604,0.999999847908,-2.18191767148e-05,-0.000550927892071,1.36320766549e-05,1793193473221600256
+265,4.416666667,POSE2_TO_POSE3_RETREAT,763.814465494,742.185534506,712,672.814465494,658,629,877.185534506,782,800,649,628,650.185534506,0.447861923006,-0.0156679960693,0.0496354083156,0.999999848585,-2.24934212274e-05,-0.000549671207366,1.35971786971e-05,1793193473238266880
+266,4.433333333,POSE2_TO_POSE3_RETREAT,763.232535888,742.767464112,712,672.232535888,658,629,877.767464112,782,800,649,628,650.767464112,0.447864438138,-0.0156667416781,0.0496364379835,0.999999849607,-2.17819712148e-05,-0.000547847145494,1.32154471559e-05,1793193473254933248
+267,4.450000000,POSE2_TO_POSE3_RETREAT,763.345611334,743,712,672.345611334,658.345611334,629.345611334,878,781.654388666,800,649.345611334,628,651,0.447864425108,-0.0156669858448,0.0496364055548,0.999999849483,-2.11575229986e-05,-0.000548094788662,1.33714537785e-05,1793193473271599616
+268,4.466666667,POSE2_TO_POSE3_RETREAT,763.921241192,743,712,672.921241192,658.921241192,629.921241192,878,781.078758808,800,649.921241192,628,651,0.447862729483,-0.0156682273634,0.0496356662572,0.999999848595,-2.05909780899e-05,-0.000549721236638,1.38853472342e-05,1793193473288266240
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,742.506462679,712,673,659,629.506462679,878,781,800,649.506462679,628,650.506462679,0.447862599613,-0.0156686616028,0.0496354693249,0.999999848547,-2.0978389394e-05,-0.000549790677251,1.39910342811e-05,1793193473304933120
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764,742.067976001,712,673,658.932023999,629.067976001,877.932023999,781,800.067976001,649,628,650,0.4478622483,-0.0156687726492,0.0496351742344,0.999999848462,-2.13962079988e-05,-0.000549929779197,1.39674670874e-05,1793193473321600000
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764,742.663129029,712,673,658.336870971,629.663129029,877.336870971,781,800.663129029,649,628,650,0.447858254844,-0.0156673696092,0.0496334511665,0.999999847051,-2.08771514499e-05,-0.00055252315074,1.34432955816e-05,1793193473338266624
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764,742.750285364,712,673,658,629.750285364,877,781,800.750285364,649.249714636,628,650.249714636,0.447849041113,-0.0156671426348,0.0496294629211,0.999999843317,-2.11108610285e-05,-0.000559240982629,1.30411684583e-05,1793193473354932992
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764,742.17487408,712,673,658,629.17487408,877,781,800.17487408,649.82512592,628,650.82512592,0.447833018703,-0.015668449574,0.0496225202607,0.999999836455,-2.23263849586e-05,-0.000571338246269,1.27982208559e-05,1793193473371599616
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764,742.400626673,712,673,658.400626673,629.400626673,877,781.400626673,800,649.599373327,628,650.599373327,0.447802794363,-0.0156668330414,0.049610934297,0.99999982442,-2.12346329678e-05,-0.000592094155466,1.15417881683e-05,1793193473388266496
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764,742.976166538,712,673,658.976166538,629.976166538,877,781.976166538,800,649.023833462,628,650.023833462,0.447766369473,-0.0156639401242,0.0495973210713,0.999999809652,-1.91355267884e-05,-0.000616630421128,9.84286891321e-06,1793193473404933120
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764,742.434210181,712,673,658.434210181,630,877.565789819,782,800,649,628,650,0.447707309562,-0.0156591123154,0.0495832165568,0.999999796551,-1.67631390996e-05,-0.000637615628267,7.94423940254e-06,1793193473421600000
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764,742.153035976,712,673,658.153035976,630,878,781.846964024,800,649,628,650,0.447642684249,-0.0156539045961,0.0495703947476,0.999999785089,-1.45550033941e-05,-0.000655418615371,6.10895990538e-06,1793193473438266880
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764,742.731973518,712,673,658.731973518,630,878,781.268026482,800,649,628,650,0.447565291617,-0.0156478722006,0.0495612017898,0.999999778933,-1.28368383267e-05,-0.000664792364674,4.47399424884e-06,1793193473454933248
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764.30889103,742.69110897,712.30889103,673,658.69110897,630,878,781,800,649.30889103,628,650,0.447476849521,-0.0156408334,0.0495568101476,0.999999776093,-9.35320089792e-06,-0.00066911680938,3.08101213833e-06,1793193473471599616
+280,4.666666667,POSE2_TO_POSE3_RETREAT,764.884067103,742.115932897,712.884067103,673,658.115932897,630,878,781,800,649.884067103,628,650,0.447378882043,-0.01563292701,0.049556557566,0.999999776149,-4.34760650426e-06,-0.000669088410093,1.89663637587e-06,1793193473488266496
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764.539088566,742.460911434,712.539088566,673,658,630,878,781.460911434,800,650,628,650,0.447262215414,-0.0156261900833,0.0495577675456,0.999999778158,-2.7742054707e-06,-0.000666089216374,1.12982923034e-06,1793193473504933120
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764,743,712,673,658,630,878,781.961059575,800,650,628,650.038940425,0.447138627652,-0.0156192757462,0.0495592709374,0.999999780376,-1.5100788701e-06,-0.000662755828566,4.01996799138e-07,1793193473521600000
+283,4.716666667,POSE2_TO_POSE3_RETREAT,764,743,712,673,658,630,878,781.372248981,800,650,628,650.627751019,0.446983964814,-0.0156056874412,0.0495597039489,0.999999778663,7.62159637481e-06,-0.000665293352656,-1.26398980095e-06,1793193473538266624
+284,4.733333333,POSE2_TO_POSE3_RETREAT,764,743,712,672.786932666,658.213067334,630,877.786932666,781.213067334,800,649.786932666,628,650.786932666,0.446813970725,-0.0155923558246,0.0495591974527,0.999999776196,1.59592953178e-05,-0.000668839185963,-2.73477332581e-06,1793193473554933248
+285,4.750000000,POSE2_TO_POSE3_RETREAT,764,743,712,672.207622747,658.792377253,630,877.207622747,781.792377253,800,649.207622747,628,650.207622747,0.446617623682,-0.0155794654323,0.0495570760315,0.999999772512,2.29322231863e-05,-0.000674118207187,-3.87002106367e-06,1793193473571599872
+286,4.766666667,POSE2_TO_POSE3_RETREAT,764,743,712,672.367810445,658.632189555,630,877.367810445,782,800,649,628,650,0.446398092847,-0.0155656739313,0.0495570192809,0.999999771,2.94182354234e-05,-0.000676093350747,-5.62842930897e-06,1793193473588266496
+287,4.783333333,POSE2_TO_POSE3_RETREAT,764,743,712,672.941078169,658.058921831,630,877.941078169,782,800,649,628,650,0.44616561163,-0.0155513790737,0.0495581158459,0.999999770696,3.56322594053e-05,-0.000676222963419,-7.73493234961e-06,1793193473604933120
+288,4.800000000,POSE2_TO_POSE3_RETREAT,764,743,712,673,658.527931742,630.527931742,877.472068258,782.527931742,800,649,628,650.527931742,0.44591918946,-0.0155377384746,0.0495696751408,0.999999784077,4.10739312363e-05,-0.000655803572847,-8.9363360834e-06,1793193473621600000
+289,4.816666667,POSE2_TO_POSE3_RETREAT,764.114503161,743,712,673,659,630.885496839,877,782.885496839,800.114503161,649,628,650.885496839,0.445662136503,-0.015524781711,0.0495840909504,0.999999799767,4.4846904801e-05,-0.000631152213816,-1.01011525433e-05,1793193473638266624
+290,4.833333333,POSE2_TO_POSE3_RETREAT,764.693614828,743,712,673,659,630.306385172,877,782.306385172,800.693614828,649,628,650.306385172,0.44536842807,-0.0155142955606,0.0496052340184,0.999999819713,4.22079725128e-05,-0.000598880911758,-1.15382265831e-05,1793193473654933248
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,743,712,673,659,630.271382789,877,782,800.728617211,649,628,650,0.445044089959,-0.0155078094968,0.0496239109423,0.999999833903,3.66261071308e-05,-0.000575064220465,-1.23892558069e-05,1793193473671599872
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,743,712,673,659,630.847641173,877,782,800.152358827,649,628,650,0.444685342015,-0.0155058171923,0.0496398173609,0.999999842318,2.77381056676e-05,-0.000560745571198,-1.25819131988e-05,1793193473688266496
+293,4.883333333,POSE2_TO_POSE3_RETREAT,764.574875005,743,712,672.574875005,658.574875005,631,877.425124995,782.425124995,800,649,628.425124995,650.425124995,0.444280061879,-0.0155042511164,0.0496481663605,0.999999847045,1.44333699777e-05,-0.000552716597154,-1.43735423184e-05,1793193473704933120
+294,4.900000000,POSE2_TO_POSE3_RETREAT,764,742.996900895,712,672.003099105,658.003099105,631,878,783,800,649,629,650.996900895,0.443857892906,-0.015502790346,0.0496537820599,0.999999850275,-4.11517165219e-07,-0.000546963118262,-1.67471255612e-05,1793193473721599744
+295,4.916666667,POSE2_TO_POSE3_RETREAT,764,742.409528785,712,672.590471215,658.590471215,631,878,783,800,649,629,650.409528785,0.443404776603,-0.0154923008252,0.049656193226,0.999999851797,-6.33524115818e-06,-0.000544008824688,-2.04872764126e-05,1793193473738266368
+296,4.933333333,POSE2_TO_POSE3_RETREAT,764,742.175866893,712,673,659,631,877.824133107,783,800,649,628.824133107,650,0.442941221707,-0.0154817784803,0.0496606466009,0.999999855781,-1.20136597463e-05,-0.000536386287386,-2.41487085497e-05,1793193473754932992
+297,4.950000000,POSE2_TO_POSE3_RETREAT,764,742.756711262,712,673,659,631,877.243288738,783,800,649,628.243288738,650,0.442453629403,-0.0154711805513,0.0496698026713,0.999999865302,-1.7127200509e-05,-0.000518013952479,-2.76288706527e-05,1793193473771599616
+298,4.966666667,POSE2_TO_POSE3_RETREAT,764,742.666582467,711.666582467,673,659,631.333417533,877,783,800,649,628.333417533,650,0.44195993855,-0.0154664638553,0.0496975923697,0.999999888867,-2.93250740032e-05,-0.000469647932466,-2.89274635351e-05,1793193473788266240
+299,4.983333333,POSE2_TO_POSE3_RETREAT,764,742.092858615,711.092858615,673,659,631.907141385,877,783,800,649,628.907141385,650,0.441461852198,-0.0154659859798,0.0497388120125,0.999999918637,-4.66288879267e-05,-0.000399664353078,-2.86537192278e-05,1793193473804932864
+300,5.000000000,POSE2_TO_POSE3_RETREAT,764,742,711.483910041,673,659.483910041,632,877,783,800,649,629,650,0.440900354777,-0.0154688534725,0.0497794450701,0.999999940698,-6.82800770168e-05,-0.000336392231554,-2.79766980856e-05,1793193473821599488
+301,5.016666667,POSE2_TO_POSE3_RETREAT,764,742.062771142,712,673,660,632,877,783,800.062771142,649.062771142,629,650.062771142,0.440319751281,-0.0154712671911,0.0498158406707,0.99999995621,-9.02771683304e-05,-0.000280459349848,-2.77875619629e-05,1793193473838266624
+302,5.033333333,POSE2_TO_POSE3_RETREAT,764,742.654305735,712,673,660,632,877,783,800.654305735,649.654305735,629,650.654305735,0.439681353241,-0.0154644166484,0.0498174955327,0.9999999557,-0.000108116283596,-0.000275432437881,-3.23642085724e-05,1793193473854932992
+303,5.050000000,POSE2_TO_POSE3_RETREAT,764,742.75964266,712,672.75964266,660,632,877,783.24035734,800.75964266,650,629,650.75964266,0.43900840485,-0.015456673864,0.0498071210769,0.999999949165,-0.000124962572928,-0.000290911812226,-3.77479766528e-05,1793193473871599616
+304,5.066666667,POSE2_TO_POSE3_RETREAT,764,742.181301126,712,672.181301126,660,632,877,783.818698874,800.181301126,650,629,650.181301126,0.438286872699,-0.0154476764331,0.0497798313093,0.999999932974,-0.000140412775226,-0.000335226589082,-4.42666974808e-05,1793193473888266496
+305,5.083333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,660,632,877.392843331,784,800,650,629,650,0.437558570753,-0.0154440301997,0.0497709533847,0.999999924395,-0.000162742619461,-0.000349725022256,-4.91635213935e-05,1793193473904932864
+306,5.100000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,660,632,877.965071254,784,800,650,629,650,0.436827177525,-0.0154428274911,0.0497704828861,0.999999919403,-0.000188213923673,-0.000350608376102,-5.33197361056e-05,1793193473921599488
+307,5.116666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,659.445379853,632,878,784,800,649.445379853,629,650,0.436074845434,-0.0154453080737,0.049804422694,0.999999929103,-0.00021213018244,-0.000306706095836,-5.2218267379e-05,1793193473938266112
+308,5.133333333,POSE2_TO_POSE3_RETREAT,763.857544755,742.142455245,712,672,659.142455245,632,878,784,800,649,629,650,0.435299702108,-0.0154454488234,0.0498259038657,0.999999932003,-0.000232101610566,-0.000281788314786,-5.21339539492e-05,1793193473954932736
+309,5.150000000,POSE2_TO_POSE3_RETREAT,763.278414736,742.721585264,712,672,659.721585264,632,878,784,800,649,629,650,0.434458807113,-0.0154376831957,0.0498023379722,0.999999917066,-0.000240290637182,-0.000323989151755,-5.62152847486e-05,1793193473971599616
+310,5.166666667,POSE2_TO_POSE3_RETREAT,763.299006952,742.700993048,712,672.299006952,660,632,877.700993048,784,800,649,629,650,0.433634654035,-0.0154309986525,0.0497891499767,0.999999930864,-0.000141135610279,-0.000340276675492,-5.06363757456e-05,1793193473988266496
+311,5.183333333,POSE2_TO_POSE3_RETREAT,763.874847063,742.125152937,712,672.874847063,660,632,877.125152937,784,800,649,629,650,0.43282600123,-0.0154253150218,0.049785570271,0.999999942398,5.74030410178e-05,-0.000332572563637,-3.61136111059e-05,1793193474004933120
+312,5.200000000,POSE2_TO_POSE3_RETREAT,764,742,712,673,660,632,877.450634127,784,799.549365873,649,629,650,0.431993837113,-0.0154230497327,0.0498043575621,0.999999948791,7.32227782402e-05,-0.000309663433659,-3.41460268511e-05,1793193474021599744
+313,5.216666667,POSE2_TO_POSE3_RETREAT,764,742.027029742,712,673,660,632,877.972970258,783.972970258,799.027029742,649,628.972970258,650,0.431151455858,-0.0154217167392,0.0498268225627,0.999999957818,3.87022310017e-05,-0.000285625295119,-3.58444743531e-05,1793193474038266368
+314,5.233333333,POSE2_TO_POSE3_RETREAT,764,742.616392992,712,673,660,632,877.383607008,783.383607008,799.616392992,649,628.383607008,650,0.430232343293,-0.0154200309867,0.0497965808178,0.999999945951,1.24947066227e-05,-0.000325941442646,-4.12780887519e-05,1793193474054932992
+315,5.250000000,POSE2_TO_POSE3_RETREAT,763.798646587,742.798646587,712,673,660,632,877,783.201353413,799.798646587,649.201353413,628.201353413,650,0.429320938756,-0.0154186772698,0.0497764151763,0.999999936965,-1.47520959495e-05,-0.000351768994899,-4.59480297399e-05,1793193474071599616
+316,5.266666667,POSE2_TO_POSE3_RETREAT,763.221894731,742.221894731,712,673,660,632,877,783.778105269,799.221894731,649.778105269,628.778105269,650,0.428423904938,-0.0154179425921,0.0497750351807,0.99999993637,-4.39365020866e-05,-0.000350584358371,-4.919419625e-05,1793193474088266240
+317,5.283333333,POSE2_TO_POSE3_RETREAT,763.353335921,742,712,673,660,632,877,784,799,649.646664079,629,650,0.427511956822,-0.0154182670416,0.0497766111265,0.999999931024,-7.03088684192e-05,-0.00036120913898,-5.03602943605e-05,1793193474104933120
+318,5.300000000,POSE2_TO_POSE3_RETREAT,763.927615332,742,712,673,660,632,877,784,799,649.072384668,629,650,0.426590682723,-0.0154192537709,0.0497800354438,0.99999992233,-9.49228449377e-05,-0.00037921843286,-5.02257106186e-05,1793193474121599744
+319,5.316666667,POSE2_TO_POSE3_RETREAT,764,742.515383328,712,672.484616672,660,632,877,784,799,649,629,650,0.425681367568,-0.0154150658096,0.0497751981756,0.999999925988,-0.000105866696837,-0.00036614086598,-5.25029974012e-05,1793193474138266368
+320,5.333333333,POSE2_TO_POSE3_RETREAT,763.896197771,743,712,672,660,632,877,784,799,649,629,650,0.424781533666,-0.0154123553853,0.0497778526209,0.99999993532,-0.000107069546293,-0.000339119915056,-5.3796345514e-05,1793193474154933248
+321,5.350000000,POSE2_TO_POSE3_RETREAT,763.313747994,743,712,672,660,632,877,784,799,649,629,650,0.423917466429,-0.0154198994458,0.0498205467009,0.999999960138,-7.24462602964e-05,-0.000268477730222,-4.89486316421e-05,1793193474171599872
+322,5.366666667,POSE2_TO_POSE3_RETREAT,763,742.734757353,712,672,660,632,877,784,799,649,629,650,0.42302849355,-0.0154226041142,0.0498419291708,0.999999969851,-6.19716468306e-05,-0.000232930643767,-4.69080939066e-05,1793193474188266496
+323,5.383333333,POSE2_TO_POSE3_RETREAT,763,742.159805676,712,672,660,632,877,784,799,649,629,650,0.422110439632,-0.0154196580959,0.0498384272689,0.999999967257,-7.96940858089e-05,-0.000238362136365,-4.81453386348e-05,1793193474204933120
+324,5.400000000,POSE2_TO_POSE3_RETREAT,763,742.416585369,712,672,660,632.416585369,876.583414631,784.416585369,799.416585369,649.416585369,629,650,0.421187597849,-0.015418389689,0.0498203240538,0.99999995709,-9.87200295572e-05,-0.000271009166127,-5.12713300886e-05,1793193474221600000
+325,5.416666667,POSE2_TO_POSE3_RETREAT,763,742.993530449,712,672,660,632.993530449,876.006469551,784.993530449,799.993530449,649.993530449,629,650,0.420262913089,-0.0154177670593,0.0497966002326,0.99999994215,-0.000118247741115,-0.000314132500713,-5.51243725377e-05,1793193474238266368
+326,5.433333333,POSE2_TO_POSE3_RETREAT,763,742.418214312,712,672,660,632.418214312,876.581785688,784.418214312,799.418214312,649.418214312,628.418214312,650.581785688,0.419364860774,-0.0154184679016,0.0498127094428,0.999999944224,-0.000125538315985,-0.000305042656279,-5.23499982378e-05,1793193474254932992
+327,5.450000000,POSE2_TO_POSE3_RETREAT,763.167498772,742,712,672,660,632.167498772,877,784.167498772,799,649,628,650.832501228,0.418464933058,-0.0154180748675,0.0498164049903,0.999999943024,-0.000117812661585,-0.000312172322019,-5.11838392967e-05,1793193474271599872
+328,5.466666667,POSE2_TO_POSE3_RETREAT,763.746648901,742,712,672,660,632.746648901,877,784.746648901,799,649,628,650.253351099,0.417559654061,-0.0154149565944,0.049788482054,0.999999930808,-7.35236131222e-05,-0.000360618914848,-5.41548054509e-05,1793193474288266496
+329,5.483333333,POSE2_TO_POSE3_RETREAT,763.676410117,742,712,672,660,632.676410117,876.676410117,784.676410117,799,649,628.323589883,650,0.416712081605,-0.0154138480363,0.0497854707337,0.999999931489,-6.64454719819e-05,-0.000359858399826,-5.57587022687e-05,1793193474304933120
+330,5.500000000,POSE2_TO_POSE3_RETREAT,763.10118706,742,712,672,660,632.10118706,876.10118706,784.10118706,799,649,628.89881294,650,0.415909383525,-0.0154143022929,0.0498018314326,0.99999994305,-8.83036476372e-05,-0.000320832963801,-5.62995249828e-05,1793193474321599744
+331,5.516666667,POSE2_TO_POSE3_RETREAT,763.484035613,742,712,672,660,632.484035613,876.484035613,784.484035613,799,649,629,650,0.415130090942,-0.0154156858799,0.0498181141795,0.999999952601,-0.000105038510708,-0.000284060839041,-5.54393780708e-05,1793193474338266368
+332,5.533333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,660,632.929625233,877,784.929625233,799.070374767,649,629,650.070374767,0.414346490116,-0.0154164755258,0.0498290232465,0.999999957797,-0.000118972754372,-0.00025935088314,-5.46766855788e-05,1793193474354933248
+333,5.550000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,660,632.350643767,877,784.350643767,799.649356233,649,629,650.649356233,0.413495646094,-0.015411539021,0.0498012163453,0.999999940449,-0.000120570270283,-0.000318339495813,-5.67795708591e-05,1793193474371599616
+334,5.566666667,POSE2_TO_POSE3_RETREAT,764,742,711.772821322,672,660,632.227178678,877,784,800,649,629,651,0.412690110043,-0.0154098027319,0.0497864712393,0.999999929731,-0.000127950544277,-0.000347504574051,-5.83724461194e-05,1793193474388266240
+335,5.583333333,POSE2_TO_POSE3_RETREAT,764,742,711.196778624,672,660,632.803221376,877,784,800,649,629,651,0.411954150465,-0.0154129808125,0.0497917843073,0.999999933112,-0.000144211037201,-0.000330871534733,-5.91821315828e-05,1793193474404933120
+336,5.600000000,POSE2_TO_POSE3_RETREAT,764,742,711,672,660,632.62140112,877,784,799.62140112,649.37859888,629,650.62140112,0.41124110711,-0.015413480333,0.0498066776749,0.999999938792,-0.000153137643091,-0.00030919482507,-5.79906962275e-05,1793193474421600000
+337,5.616666667,POSE2_TO_POSE3_RETREAT,764,742,711,672,660,632.046368781,877,784,799.046368781,649.953631219,629,650.046368781,0.410539953725,-0.0154125901006,0.0498265417156,0.999999945338,-0.000158259110466,-0.000284901242193,-5.57609928554e-05,1793193474438266624
+338,5.633333333,POSE2_TO_POSE3_RETREAT,763.457414511,742.542585489,711.542585489,671.457414511,660,632,877,784,799.542585489,649.457414511,628.457414511,650,0.409850437612,-0.0154092985532,0.0498078792381,0.999999933658,-0.000159959809544,-0.000322212145808,-5.72346939793e-05,1793193474454933248
+339,5.650000000,POSE2_TO_POSE3_RETREAT,763.130137947,742.869862053,712,671,659.869862053,632.130137947,877,784,800,649,628.130137947,650.130137947,0.409178348678,-0.0154072331234,0.0497928406213,0.999999923895,-0.000163460442986,-0.000349333033341,-5.87969618092e-05,1793193474471599616
+340,5.666666667,POSE2_TO_POSE3_RETREAT,763.708653449,742.291346551,712,671,659.291346551,632.708653449,877,784,800,649,628.708653449,650.708653449,0.408562786696,-0.0154101178258,0.0498019301555,0.999999930978,-0.00017419631134,-0.000322728695195,-5.95452301464e-05,1793193474488266496
+341,5.683333333,POSE2_TO_POSE3_RETREAT,764,742.285473528,712,671.285473528,659.285473528,633,877,784,800,649.285473528,629,651,0.407975804986,-0.0154137880148,0.0498161633591,0.999999942343,-0.000152791946172,-0.000297552941985,-5.85761059893e-05,1793193474504933120
+342,5.700000000,POSE2_TO_POSE3_RETREAT,764,742.860573483,712,671.860573483,659.860573483,633,877,784,800,649.860573483,629,651,0.407417819353,-0.0154182551171,0.0498356150586,0.99999995607,-9.87797893807e-05,-0.000273826556951,-5.5864605564e-05,1793193474521600000
+343,5.716666667,POSE2_TO_POSE3_RETREAT,764.437557149,743,712,672,659.562442851,633,877,784.437557149,800,649.562442851,629,651,0.406868757078,-0.0154190195431,0.0498351388828,0.999999955077,-8.86641466698e-05,-0.000281034436811,-5.48119019255e-05,1793193474538266624
+344,5.733333333,POSE2_TO_POSE3_RETREAT,764.969108965,742.984554483,712,671.984554483,659,633,877,784.984554483,800,649.015445517,629,651,0.406323318454,-0.0154185373606,0.0498276965699,0.999999949513,-9.28387413622e-05,-0.000298991763449,-5.44040193313e-05,1793193474554933248
+345,5.750000000,POSE2_TO_POSE3_RETREAT,763.790912628,742.395456314,712,671.395456314,659,633,877,784.395456314,800,649.604543686,629,651,0.405806403373,-0.0154157651615,0.0497983892383,0.999999931957,-0.000106010319636,-0.000348507222026,-5.8228810227e-05,1793193474571599872
+346,5.766666667,POSE2_TO_POSE3_RETREAT,763.190780174,742,711.809219826,671.190780174,659,633,877.190780174,784,800,650,629,651,0.405307854036,-0.0154138641875,0.049777900585,0.999999917468,-0.000118417835072,-0.000383800961709,-6.11420617088e-05,1793193474588266496
+347,5.783333333,POSE2_TO_POSE3_RETREAT,763.771172629,742,711.228827371,671.771172629,659,633,877.771172629,784,800,650,629,651,0.404846811224,-0.0154137424332,0.0497754214778,0.999999913641,-0.000129264980197,-0.000390051042204,-6.21937635193e-05,1793193474604933120
+348,5.800000000,POSE2_TO_POSE3_RETREAT,764,742,711.3472185,672,659,633,877.305563,784,800,650,629,650.6527815,0.404454317399,-0.0154166169609,0.049790630289,0.999999922797,-0.000140854358177,-0.000361671572112,-6.13221770913e-05,1793193474621600000
+349,5.816666667,POSE2_TO_POSE3_RETREAT,764,742,711.920435223,672,659,633,876.159129554,784,800,650,629,650.079564777,0.404106440893,-0.0154214417141,0.0498173518454,0.999999938271,-0.000152926841108,-0.000310752354623,-5.91987570466e-05,1793193474638266368
+350,5.833333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,633,876,784,799.49101872,649.49101872,629,650.50898128,0.403789227188,-0.0154275365682,0.0498451516168,0.999999947311,-0.000168188234576,-0.000271814047544,-5.66387837014e-05,1793193474654933248
+351,5.850000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,633,876.097881014,784,799,649.097881014,628.902118986,651,0.403477405406,-0.0154330923465,0.0498681244496,0.999999952447,-0.000183242231511,-0.000241984718451,-5.45183407276e-05,1793193474671599872
+352,5.866666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,633,876.676385473,784,799,649.676385473,628.323614527,651,0.403167792364,-0.0154349959285,0.0498665423293,0.999999948925,-0.000194754089102,-0.000247401127091,-5.49016130229e-05,1793193474688266752
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764,742.252891581,712,671.747108419,659,633,877,784,799.252891581,650,628,651,0.402867263183,-0.0154354621863,0.0498588951103,0.999999942666,-0.000204310506543,-0.000264102281505,-5.63546973122e-05,1793193474704933376
+354,5.900000000,POSE2_TO_POSE3_RETREAT,764,742.826860491,712,671.173139509,659,633,877,784,799.826860491,650,628,651,0.402578267118,-0.0154341035819,0.0498435474939,0.999999932357,-0.0002113842484,-0.000295130824304,-5.91660409855e-05,1793193474721599744
+355,5.916666667,POSE2_TO_POSE3_RETREAT,764,742.589042183,712,671,659,632.589042183,877,784,799.589042183,649.589042183,628,650.589042183,0.402332184008,-0.015431393085,0.0498308376551,0.99999992436,-0.000215277236688,-0.000318037312862,-6.15489409135e-05,1793193474738266368
+356,5.933333333,POSE2_TO_POSE3_RETREAT,764,742.000569806,712,671,659,632.000569806,877,784,799.000569806,649.000569806,628,650.000569806,0.402104637264,-0.0154280986336,0.0498192672115,0.999999917319,-0.000217796288766,-0.000337435456428,-6.37467734162e-05,1793193474754932736
+357,5.950000000,POSE2_TO_POSE3_RETREAT,764,742.578303305,712,671.578303305,659,632.578303305,877,784,799,649.578303305,628.578303305,650,0.401931498578,-0.015430949156,0.0498207285437,0.999999917065,-0.000224151562829,-0.000334033046063,-6.36206462077e-05,1793193474771599360
+358,5.966666667,POSE2_TO_POSE3_RETREAT,763.842900821,742.842900821,712,671.842900821,659,632.842900821,877,784,799.157099179,649.842900821,628.842900821,650,0.401768637148,-0.0154335646254,0.0498233652056,0.999999918026,-0.000228883568044,-0.000327996032089,-6.30778033939e-05,1793193474788266240
+359,5.983333333,POSE2_TO_POSE3_RETREAT,763.264287092,742.264287092,712,671.264287092,659,632.264287092,877,784,799.735712908,649.264287092,628.264287092,650,0.401633209208,-0.015435533442,0.0498291215184,0.999999922239,-0.000229250187839,-0.000314949376499,-6.14229097939e-05,1793193474804932864
+360,6.000000000,POSE2_TO_POSE3_RETREAT,763.312106195,742,711.687893805,671.312106195,659,632.312106195,876.687893805,784,800,649.312106195,628.312106195,650.312106195,0.401513900818,-0.0154343867217,0.0498348290655,0.999999933839,-0.000194939633012,-0.00030252594133,-5.28993686848e-05,1793193474821599744
+361,6.016666667,POSE2_TO_POSE3_RETREAT,763.88663249,742,711.11336751,671.88663249,659,632.88663249,876.11336751,784,800,649.88663249,628.88663249,650.88663249,0.401408145815,-0.0154306204458,0.0498404956098,0.999999948381,-0.000131472374295,-0.000290626512097,-3.8600641973e-05,1793193474838266368
+362,6.033333333,POSE2_TO_POSE3_RETREAT,763.528301452,742,711.471698548,672,659,632.528301452,876.471698548,784.471698548,800,649.528301452,629,650.528301452,0.401325422839,-0.0154271104799,0.0498428502504,0.999999951652,-0.000119798986923,-0.000284565349079,-3.69767960526e-05,1793193474854932992
+363,6.050000000,POSE2_TO_POSE3_RETREAT,763,742,712,671.941548817,659,632.058451183,877,784.941548817,800,649.058451183,629,650.058451183,0.401250103426,-0.0154248508048,0.0498444124112,0.999999952575,-0.00012213318354,-0.000280111827376,-3.83495454123e-05,1793193474871599616
+364,6.066666667,POSE2_TO_POSE3_RETREAT,763,742,712,671.362846141,659,632.637153859,877,784.362846141,800,649.637153859,629,650.637153859,0.401190284944,-0.0154331586665,0.0498461676407,0.999999951612,-0.000135815679011,-0.000277192855544,-3.86605056487e-05,1793193474888266240
+365,6.083333333,POSE2_TO_POSE3_RETREAT,763,742,712,671,659,633,877,784,799.784683336,650,629,651,0.401136254219,-0.0154405387455,0.0498472221373,0.999999950386,-0.000148267169266,-0.000275181972462,-3.89796350653e-05,1793193474904933120
+366,6.100000000,POSE2_TO_POSE3_RETREAT,763,742,712,671,659,633,877,784,799.20742809,650,629,651,0.401091952484,-0.0154463592587,0.0498470987302,0.999999948913,-0.000158649388313,-0.000274697550096,-3.93124965182e-05,1793193474921599744
+367,6.116666667,POSE2_TO_POSE3_RETREAT,763.368568368,742,712,671,659,633,877,784,799.368568368,650,629,651,0.401058971855,-0.0154487918919,0.049846900845,0.999999948114,-0.000164564293776,-0.000274066547978,-3.97160906363e-05,1793193474938266368
+368,6.133333333,POSE2_TO_POSE3_RETREAT,763.943858852,742,712,671,659,633,877,784,799.943858852,650,629,651,0.401032340988,-0.0154493243362,0.0498466611866,0.999999947725,-0.000167973579538,-0.000273353332374,-4.01593572262e-05,1793193474954932992
+369,6.150000000,POSE2_TO_POSE3_RETREAT,764,742.530895519,712,671,659,633,877,784,800,649.469104481,629,651,0.401017972449,-0.0154488459957,0.0498472843263,0.999999948187,-0.000169240806848,-0.00027078623232,-4.07338368685e-05,1793193474971599872
+370,6.166666667,POSE2_TO_POSE3_RETREAT,763.882371726,742.882371726,712,671,659,633,877,784,800,649,629,651,0.401005385388,-0.0154485334959,0.0498480732237,0.99999994862,-0.000170169266758,-0.000268533932182,-4.11352022932e-05,1793193474988266752
+371,6.183333333,POSE2_TO_POSE3_RETREAT,763.301833652,742.301833652,712,671,659,633,877,784,800,649,629,651,0.400994590567,-0.0154493038017,0.0498491472552,0.999999948608,-0.000170676156074,-0.000268309445125,-4.07994601601e-05,1793193475004934144
+372,6.200000000,POSE2_TO_POSE3_RETREAT,763.276718965,742,712,671,659,633,877,784,799.723281035,649,629,651,0.40098786034,-0.015450133719,0.0498499870653,0.999999948746,-0.000170892921365,-0.000267699439951,-4.04958221949e-05,1793193475021601024
+373,6.216666667,POSE2_TO_POSE3_RETREAT,763.853121319,742,712,671,659,633,877,784,799.146878681,649,629,651,0.400985532021,-0.0154510281948,0.0498505732162,0.999999949048,-0.000170795485714,-0.000266671923194,-4.02269526864e-05,1793193475038267136
+374,6.233333333,POSE2_TO_POSE3_RETREAT,764,742.428293439,712,671.428293439,659,633,877,784,799,649.428293439,629,651,0.400983870514,-0.0154520065064,0.0498507004908,0.999999948872,-0.000173920928658,-0.000265282990996,-4.04003386954e-05,1793193475054933504
+375,6.250000000,POSE2_TO_POSE3_RETREAT,764,742.996864474,712,671.996864474,659,633,877,784,799.003135526,649.996864474,629,650.996864474,0.400982438612,-0.0154530046881,0.0498506711676,0.999999948518,-0.000178115305807,-0.000263779740961,-4.07232452816e-05,1793193475071599872
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764,742.404999042,712,671.404999042,659,633,877,784,799.595000958,649.404999042,629,650.404999042,0.400981304099,-0.0154523508919,0.0498507015762,0.999999948815,-0.000176085023411,-0.000264017172598,-4.07247346495e-05,1793193475088266496
+377,6.283333333,POSE2_TO_POSE3_RETREAT,764,742,712,671,659,633,877,784,800,649,629,650,0.400980333689,-0.0154519198885,0.0498509231731,0.999999949085,-0.000174612389696,-0.00026396782405,-4.07621267274e-05,1793193475104933376
+378,6.300000000,POSE2_TO_POSE3_RETREAT,764,742,712,671,659,633,877,784,800,649,629,650,0.400979718945,-0.0154519717484,0.0498515591359,0.999999949303,-0.0001743483585,-0.000263296931498,-4.08773314099e-05,1793193475121600256
+379,6.316666667,POSE2_TO_POSE3_RETREAT,764,742,712,671,659,633,877,784,799.665388585,649,629,650,0.400979265875,-0.0154522004723,0.0498519093589,0.999999949618,-0.000173654795556,-0.000262577972995,-4.07465290127e-05,1793193475138267136
+380,6.333333333,POSE2_TO_POSE3_RETREAT,764,742,712,671,659,633,877,784,799.088891731,649,629,650,0.400978929677,-0.0154525570484,0.0498520530249,0.999999950002,-0.000172650730699,-0.000261824268285,-4.04378918987e-05,1793193475154934016
+381,6.350000000,POSE2_TO_POSE3_RETREAT,764,742,712,671,659,633,876.502547643,784,799.497452357,649.497452357,628.502547643,650,0.400979434042,-0.0154520699886,0.049852233399,0.999999949875,-0.000174388665295,-0.000261103796151,-4.07823986763e-05,1793193475171600128
+382,6.366666667,POSE2_TO_POSE3_RETREAT,763.915755011,742,711.915755011,671,659,633,876,784,800,649.915755011,628.084244989,650.084244989,0.400979926521,-0.0154516320434,0.0498524530019,0.999999949694,-0.000176223726059,-0.00026051184949,-4.11239274573e-05,1793193475188266496
+383,6.383333333,POSE2_TO_POSE3_RETREAT,763.336868846,742,711.336868846,671,659,633,876,784,800,649.336868846,628.663131154,650.663131154,0.400979449492,-0.015452385486,0.0498528636441,0.999999949769,-0.000175694070074,-0.00026063896327,-4.07488569772e-05,1793193475204933120
+384,6.400000000,POSE2_TO_POSE3_RETREAT,763.241065197,742,711.241065197,671,659.241065197,633,876.241065197,784,800,649.241065197,629,651,0.400978934931,-0.0154529252451,0.049853261307,0.999999949809,-0.000175513987228,-0.000260637415183,-4.0551744962e-05,1793193475221600000
+385,6.416666667,POSE2_TO_POSE3_RETREAT,763.817673925,742,711.817673925,671,659.817673925,633,876.817673925,784,800,649.817673925,629,651,0.400978368129,-0.0154531675738,0.0498536409039,0.9999999498,-0.000175820482352,-0.000260456780026,-4.06023369624e-05,1793193475238266880
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764,742,712,671,659.607513092,633,877,784,799.607513092,650,629,651,0.40097708842,-0.0154526383704,0.0498530153334,0.999999949448,-0.00017579235136,-0.000261792532359,-4.08042705072e-05,1793193475254933504
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764,742,712,671,659.033530523,633,877,784,799.033530523,650,629,651,0.400975479045,-0.0154517523914,0.0498519249486,0.999999948934,-0.000175609480961,-0.000263829499803,-4.10761881266e-05,1793193475271600128
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764,742,712,671,659,633,877,784.555731777,799.555731777,650,628.444268223,651,0.40097658983,-0.0154527548257,0.0498523919374,0.999999949255,-0.000176786493722,-0.000261832419751,-4.09952550497e-05,1793193475288267520
+389,6.483333333,POSE2_TO_POSE3_RETREAT,763.856709349,742,712,671,659,633.143290651,877,784.856709349,800,650,628.143290651,650.856709349,0.400977622003,-0.0154537734427,0.0498528375273,0.999999949544,-0.000177564161112,-0.000260209265748,-4.09120300957e-05,1793193475304934912
+390,6.500000000,POSE2_TO_POSE3_RETREAT,763.277221837,742,712,671,659,633.722778163,877,784.277221837,800,650,628.722778163,650.277221837,0.400977901132,-0.0154544846699,0.0498529238453,0.999999949596,-0.000176869332702,-0.000260486279575,-4.08884689537e-05,1793193475321600768
+391,6.516666667,POSE2_TO_POSE3_RETREAT,763.298859853,742,712,671,659,633.701140147,877.298859853,784,800,649.701140147,629,650.298859853,0.400978155067,-0.0154554160453,0.0498533289017,0.999999949643,-0.000177488280164,-0.000259915880305,-4.0678825998e-05,1793193475338266880
+392,6.533333333,POSE2_TO_POSE3_RETREAT,763.871817973,742,712,671,659,633.128182027,877.871817973,784,800,649.128182027,629,650.871817973,0.400978385897,-0.0154565493287,0.0498540262879,0.999999949683,-0.000179312152475,-0.000258568279118,-4.02985187575e-05,1793193475354933504
+393,6.550000000,POSE2_TO_POSE3_RETREAT,764,742,712,671,659,633,877.543746521,784,799.543746521,649,629,651,0.400979016705,-0.0154555274962,0.0498543466639,0.999999950037,-0.000178526397315,-0.000257697135896,-4.05833933962e-05,1793193475371600128
+394,6.566666667,POSE2_TO_POSE3_RETREAT,764,742,711.956340745,671,659,633,877,784,799,649,629,651,0.400979633149,-0.0154540719905,0.0498545074751,0.999999950412,-0.0001771784281,-0.000257100092886,-4.10252152145e-05,1793193475388267008
+395,6.583333333,POSE2_TO_POSE3_RETREAT,764,742,711.373104984,671,659,633,877,784,799,649,629,651,0.40097864746,-0.015454932764,0.0498540390688,0.999999949952,-0.000178176978891,-0.000258193581983,-4.10375120415e-05,1793193475404933888
+396,6.600000000,POSE2_TO_POSE3_RETREAT,764,742,711.206939446,671,659.206939446,633,876.793060554,784,799,649.206939446,629,651,0.400977081979,-0.0154556857901,0.049853226,0.999999949476,-0.000178352374953,-0.000259915888153,-4.10163351552e-05,1793193475421600512
+397,6.616666667,POSE2_TO_POSE3_RETREAT,764,742,711.781317363,671,659.781317363,633,876.218682637,784,799,649.781317363,629,651,0.400974487028,-0.0154562475014,0.0498518009538,0.999999948966,-0.000177066190186,-0.000262754712099,-4.09357228616e-05,1793193475438266880
+398,6.633333333,POSE2_TO_POSE3_RETREAT,764,742,712,671.355279475,659.644720525,633,876.71055895,784,799.355279475,650,629,651,0.400975759501,-0.0154568405478,0.0498523954253,0.999999949151,-0.000178059341068,-0.000261424209065,-4.06173737707e-05,1793193475454933248
+399,6.650000000,POSE2_TO_POSE3_RETREAT,764,742,712,671.928985928,659.071014072,633,877.857971856,784,799.928985928,650,629,651,0.40097940968,-0.0154574528591,0.0498542315029,0.999999949751,-0.000180453834975,-0.000257530390118,-4.01528633249e-05,1793193475471599616
+400,6.666666667,POSE2_TO_POSE3_RETREAT,764,742,712,671.479771476,659,633,877.479771476,784,800,650,628.479771476,651,0.400978354917,-0.0154565651548,0.0498539523591,0.999999949906,-0.000178471744293,-0.000258260459241,-4.04709368402e-05,1793193475488266240
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_06/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_06/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..64cb6b3534627003e73bfb8e66effff48ce52e41
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_06/depth_05/simulation_data.csv
@@ -0,0 +1,402 @@
+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,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+1,0.016666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+2,0.033333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+3,0.050000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+4,0.066666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+5,0.083333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+6,0.100000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+7,0.116666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+8,0.133333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+9,0.150000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+10,0.166666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+11,0.183333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+12,0.200000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+13,0.216666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+14,0.233333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+15,0.250000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+16,0.266666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+17,0.283333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+18,0.300000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+19,0.316666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+20,0.333333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+21,0.350000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+22,0.366666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+23,0.383333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+24,0.400000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+25,0.416666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+26,0.433333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+27,0.450000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+28,0.466666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+29,0.483333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+30,0.500000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+31,0.516666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+32,0.533333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+33,0.550000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+34,0.566666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+35,0.583333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+36,0.600000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+37,0.616666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+38,0.633333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+39,0.650000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+40,0.666666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+41,0.683333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+42,0.700000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+43,0.716666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+44,0.733333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+45,0.750000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+46,0.766666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+47,0.783333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+48,0.800000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+49,0.816666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+50,0.833333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+51,0.850000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+52,0.866666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+53,0.883333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+54,0.900000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+55,0.916666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+56,0.933333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+57,0.950000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+58,0.966666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+59,0.983333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+60,1.000000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+61,1.016666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+62,1.033333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+63,1.050000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+64,1.066666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+65,1.083333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+66,1.100000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+67,1.116666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+68,1.133333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+69,1.150000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+70,1.166666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+71,1.183333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+72,1.200000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+73,1.216666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+74,1.233333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+75,1.250000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+76,1.266666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+77,1.283333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+78,1.300000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+79,1.316666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+80,1.333333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+81,1.350000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+82,1.366666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+83,1.383333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+84,1.400000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+85,1.416666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+86,1.433333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+87,1.450000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+88,1.466666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+89,1.483333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+90,1.500000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+91,1.516666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+92,1.533333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+93,1.550000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+94,1.566666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+95,1.583333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+96,1.600000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+97,1.616666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+98,1.633333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+99,1.650000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+100,1.666666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+101,1.683333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+102,1.700000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+103,1.716666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+104,1.733333333,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+105,1.750000000,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+106,1.766666667,pose1_baseline,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471559,1.03969857335
+107,1.783333333,pose1_to_pose2_press,0.575709242258,-0.00994531867307,1.04002929125,0.546279971438,-0.00127259288748,1.03969857948
+108,1.800000000,pose1_to_pose2_press,0.575709271704,-0.00994527344369,1.04002922338,0.546279999659,-0.00127255168136,1.03969851506
+109,1.816666667,pose1_to_pose2_press,0.575709311806,-0.00994522335811,1.04002914719,0.546280038404,-0.00127250605975,1.0396984427
+110,1.833333333,pose1_to_pose2_press,0.5757094719,-0.00994524563895,1.04002915694,0.546280199046,-0.00127252656223,1.03969845029
+111,1.850000000,pose1_to_pose2_press,0.575709687952,-0.00994527570777,1.0400291701,0.546280415838,-0.00127255423108,1.03969846053
+112,1.866666667,pose1_to_pose2_press,0.575710148086,-0.00994532633647,1.04002914899,0.546280876885,-0.00127260181499,1.03969843798
+113,1.883333333,pose1_to_pose2_press,0.575712258729,-0.00994536794879,1.04002908164,0.546282988177,-0.00127264102857,1.03969837574
+114,1.900000000,pose1_to_pose2_press,0.575717484098,-0.00994539666019,1.04002913391,0.546288214274,-0.00127266712948,1.03969843162
+115,1.916666667,pose1_to_pose2_press,0.575727873569,-0.00994552988662,1.04002903541,0.546298605727,-0.00127279373568,1.03969833037
+116,1.933333333,pose1_to_pose2_press,0.575746124287,-0.00994547502913,1.04002922863,0.546316855412,-0.00127274260496,1.03969851774
+117,1.950000000,pose1_to_pose2_press,0.575773565021,-0.00994543137952,1.04002920602,0.546344294841,-0.00127270351619,1.03969849161
+118,1.966666667,pose1_to_pose2_press,0.575811989912,-0.00994548339836,1.04002920652,0.546382720959,-0.00127275116675,1.03969849734
+119,1.983333333,pose1_to_pose2_press,0.575860854661,-0.00994538891166,1.04002934233,0.54643158521,-0.0012726585403,1.0396986286
+120,2.000000000,pose1_to_pose2_press,0.57591977502,-0.0099453901482,1.0400291676,0.546490505069,-0.0012726612902,1.03969845866
+121,2.016666667,pose1_to_pose2_press,0.575988287189,-0.00994544501166,1.04002917337,0.546559017279,-0.00127271606782,1.0396984629
+122,2.033333333,pose1_to_pose2_press,0.576066871446,-0.00994545926968,1.04002901611,0.546637601877,-0.00127272897063,1.03969831083
+123,2.050000000,pose1_to_pose2_press,0.576155492777,-0.00994542554599,1.04002901279,0.54672622232,-0.00127269848117,1.03969830164
+124,2.066666667,pose1_to_pose2_press,0.57625490894,-0.00994548551978,1.0400291203,0.54682563998,-0.00127275337283,1.03969840916
+125,2.083333333,pose1_to_pose2_press,0.576370202772,-0.00994544876389,1.04002904985,0.546940932936,-0.00127271950316,1.03969834092
+126,2.100000000,pose1_to_pose2_press,0.576501663337,-0.00994544479538,1.04002903163,0.547072392793,-0.00127271790659,1.03969832351
+127,2.116666667,pose1_to_pose2_press,0.576652121729,-0.00994549661551,1.04002920606,0.547222853116,-0.00127276309717,1.0396984999
+128,2.133333333,pose1_to_pose2_press,0.576823377137,-0.0099454905835,1.04002923263,0.547394109063,-0.00127275533777,1.03969852382
+129,2.150000000,pose1_to_pose2_press,0.577017349112,-0.00994544116347,1.04002920814,0.547588080597,-0.0012727073606,1.03969850062
+130,2.166666667,pose1_to_pose2_press,0.577233018415,-0.00994541045801,1.0400291832,0.547803748656,-0.00127268098749,1.03969847272
+131,2.183333333,pose1_to_pose2_press,0.577470756687,-0.00994548318222,1.04002912645,0.548041487395,-0.00127275224152,1.03969841289
+132,2.200000000,pose1_to_pose2_press,0.577734863864,-0.00994537350788,1.04002917631,0.548305593483,-0.00127264614761,1.03969846568
+133,2.216666667,pose1_to_pose2_press,0.578022815295,-0.00994544209519,1.04002909719,0.548593544955,-0.00127271447895,1.03969838961
+134,2.233333333,pose1_to_pose2_press,0.578334651946,-0.00994543425181,1.04002919364,0.548905381392,-0.00127270757524,1.03969848034
+135,2.250000000,pose1_to_pose2_press,0.578667258904,-0.00994538343972,1.04002917243,0.549237988399,-0.00127265658027,1.03969845952
+136,2.266666667,pose1_to_pose2_press,0.579019250511,-0.00994544265072,1.04002924337,0.549589980901,-0.00127271258179,1.03969853497
+137,2.283333333,pose1_to_pose2_press,0.579385883993,-0.00994543747812,1.04002939972,0.549956613504,-0.00127271038031,1.03969869148
+138,2.300000000,pose1_to_pose2_press,0.579767976411,-0.00994547021309,1.04002916241,0.550338705454,-0.00127274464291,1.03969845571
+139,2.316666667,pose1_to_pose2_press,0.580171079176,-0.009945504789,1.04002899694,0.550741809234,-0.00127277563948,1.03969829377
+140,2.333333333,pose1_to_pose2_press,0.580599815979,-0.00994548890684,1.04002911117,0.55117054698,-0.00127275667708,1.03969840484
+141,2.350000000,pose1_to_pose2_press,0.581059712598,-0.00994546098598,1.04002903735,0.551630443445,-0.00127272929118,1.03969833063
+142,2.366666667,pose1_to_pose2_press,0.581553614796,-0.00994544586354,1.040029144,0.552124345289,-0.00127271524405,1.03969844057
+143,2.383333333,pose1_to_pose2_press,0.582080979887,-0.009945563664,1.04002926093,0.55265171205,-0.00127282778183,1.03969854686
+144,2.400000000,pose1_to_pose2_press,0.582637451782,-0.00994562480396,1.0400290674,0.5532081842,-0.00127288793092,1.03969835657
+145,2.416666667,pose1_to_pose2_press,0.583215750485,-0.00994547743159,1.04002919657,0.553786481881,-0.00127274395767,1.03969848746
+146,2.433333333,pose1_to_pose2_press,0.583809346181,-0.00994546226697,1.04002907234,0.554380077095,-0.00127273027515,1.03969836725
+147,2.450000000,pose1_to_pose2_press,0.584411958643,-0.00994555172408,1.04002906603,0.554982689279,-0.00127282070305,1.03969836016
+148,2.466666667,pose1_to_pose2_press,0.585021658548,-0.00994555406968,1.04002895547,0.555592389494,-0.00127282169325,1.03969825753
+149,2.483333333,pose1_to_pose2_press,0.585659035079,-0.00994545853055,1.0400291079,0.55622976581,-0.00127272708307,1.03969840475
+150,2.500000000,pose1_to_pose2_press,0.586325106785,-0.00994536028021,1.04002905068,0.556895834846,-0.00127263787767,1.0396983479
+151,2.516666667,pose1_to_pose2_press,0.587015824667,-0.00994529175243,1.04002915344,0.557586552393,-0.00127257062234,1.03969844709
+152,2.533333333,pose1_to_pose2_press,0.587730808182,-0.00994547527172,1.04002915447,0.55830153918,-0.0012727430619,1.03969844744
+153,2.550000000,pose1_to_pose2_press,0.588470358914,-0.0099455676911,1.04002917951,0.559041092545,-0.00127282646944,1.03969847451
+154,2.566666667,pose1_to_pose2_press,0.589215553998,-0.00994540605642,1.04002929937,0.559786284506,-0.00127267593945,1.03969858104
+155,2.583333333,pose1_to_pose2_press,0.589967283524,-0.00994552177051,1.04002914113,0.560538014338,-0.00127279025002,1.03969843241
+156,2.600000000,pose1_to_pose2_press,0.590737201244,-0.00994553667366,1.04002913505,0.561307932972,-0.00127280215262,1.03969842367
+157,2.616666667,pose1_to_pose2_press,0.591521526475,-0.00994549470274,1.04002938408,0.562092257338,-0.0012727632429,1.03969866941
+158,2.633333333,pose1_to_pose2_press,0.592312536776,-0.00994542624647,1.04002920952,0.562883266458,-0.00127269877391,1.03969849536
+159,2.650000000,pose1_to_pose2_press,0.593118133741,-0.00994539087132,1.04002933293,0.563688863871,-0.00127266189963,1.03969861828
+160,2.666666667,pose1_to_pose2_press,0.593946926454,-0.00994538966611,1.04002943147,0.564517656891,-0.00127265977016,1.03969871369
+161,2.683333333,pose1_to_pose2_press,0.594780673996,-0.00994534628886,1.04002929694,0.565351403653,-0.00127261907586,1.03969857832
+162,2.700000000,pose1_to_pose2_press,0.595619434848,-0.00994551536682,1.04002904546,0.566190165729,-0.0012727836323,1.03969833654
+163,2.716666667,pose1_to_pose2_press,0.596467480207,-0.00994551478414,1.04002906307,0.567038212131,-0.00127277959645,1.03969835187
+164,2.733333333,pose1_to_pose2_press,0.597314608948,-0.00994564109132,1.04002909179,0.567885344085,-0.00127289492044,1.03969838283
+165,2.750000000,pose1_to_pose2_press,0.598155844758,-0.00994560088391,1.04002924504,0.568726579174,-0.00127285713754,1.03969853661
+166,2.766666667,pose1_to_pose2_press,0.598994231334,-0.00994556417459,1.04002902215,0.569564964184,-0.00127282561232,1.03969831718
+167,2.783333333,pose1_to_pose2_press,0.599828560829,-0.00994550462029,1.04002907464,0.570399291455,-0.00127277392264,1.0396983614
+168,2.800000000,pose1_to_pose2_press,0.600660446185,-0.00994539656211,1.04002917915,0.571231176389,-0.00127266722195,1.03969846786
+169,2.816666667,pose1_to_pose2_press,0.601488201539,-0.00994546227516,1.04002922007,0.57205893283,-0.0012727295528,1.03969850084
+170,2.833333333,pose1_to_pose2_press,0.602312556059,-0.00994549548422,1.04002917859,0.572883287926,-0.00127276057014,1.03969846561
+171,2.850000000,pose1_to_pose2_press,0.603133855575,-0.00994536453995,1.04002903612,0.573704583714,-0.00127264206498,1.03969832876
+172,2.866666667,pose1_to_pose2_press,0.603948491279,-0.00994550607059,1.04002892065,0.574519223094,-0.0012727710348,1.03969821565
+173,2.883333333,pose1_to_pose2_press,0.6047586823,-0.00994555060558,1.04002915211,0.575329412908,-0.00127281981688,1.0396984433
+174,2.900000000,pose1_to_pose2_press,0.605562923877,-0.00994544726328,1.04002892665,0.576133653672,-0.00127271905761,1.03969822248
+175,2.916666667,pose1_to_pose2_press,0.606355576865,-0.00994541469048,1.04002929949,0.576926307203,-0.00127268493324,1.03969858779
+176,2.933333333,pose1_to_pose2_press,0.607136632659,-0.00994540884283,1.04002932307,0.577707365098,-0.00127267219773,1.03969860515
+177,2.950000000,pose1_to_pose2_press,0.607899338534,-0.00994533473005,1.04002921875,0.578470067927,-0.00127260844771,1.03969850011
+178,2.966666667,pose1_to_pose2_press,0.608642727994,-0.0099454188118,1.04002916993,0.579213458206,-0.00127268947015,1.03969845876
+179,2.983333333,pose1_to_pose2_press,0.609366321063,-0.00994550077241,1.04002918175,0.579937051119,-0.00127277205261,1.03969846823
+180,3.000000000,pose1_to_pose2_press,0.610076722484,-0.00994543964949,1.04002903673,0.58064745208,-0.00127271225646,1.03969832947
+181,3.016666667,pose1_to_pose2_press,0.610778190632,-0.00994553096307,1.04002904828,0.581348921984,-0.00127279767881,1.03969833938
+182,3.033333333,pose1_to_pose2_press,0.611465542588,-0.00994546874895,1.0400291535,0.582036274402,-0.00127273380435,1.03969844687
+183,3.050000000,pose1_to_pose2_press,0.612131716452,-0.0099454011913,1.0400290536,0.582702447487,-0.00127266895541,1.0396983445
+184,3.066666667,pose1_to_pose2_press,0.612768890564,-0.00994540460023,1.04002920403,0.583339620926,-0.00127267453627,1.0396984887
+185,3.083333333,pose1_to_pose2_press,0.613369377738,-0.00994538984632,1.04002926454,0.583940107484,-0.00127266070011,1.03969855735
+186,3.100000000,pose1_to_pose2_press,0.613936248856,-0.00994545860547,1.04002920738,0.584506976988,-0.00127273404932,1.03969849034
+187,3.116666667,pose1_to_pose2_press,0.614481935337,-0.00994552525898,1.04002931714,0.585052666938,-0.00127278783712,1.03969860152
+188,3.133333333,pose1_to_pose2_press,0.6150089107,-0.00994556301826,1.04002934112,0.585579642405,-0.00127282422194,1.03969861875
+189,3.150000000,pose1_to_pose2_press,0.615514614524,-0.00994544052761,1.04002928674,0.586085342067,-0.00127271369979,1.03969857546
+190,3.166666667,pose1_to_pose2_press,0.615989920058,-0.00994550739563,1.04002928646,0.586560647882,-0.00127277914144,1.03969857835
+191,3.183333333,pose1_to_pose2_press,0.616427416101,-0.00994545209025,1.04002908929,0.586998144451,-0.00127272133298,1.03969837511
+192,3.200000000,pose1_to_pose2_press,0.616837212924,-0.00994557197031,1.04002925615,0.587407942606,-0.00127283574745,1.03969854307
+193,3.216666667,pose1_to_pose2_press,0.617223413985,-0.00994546178441,1.04002927711,0.587794141738,-0.0012727308689,1.03969856942
+194,3.233333333,pose1_to_pose2_press,0.617593261164,-0.00994540059821,1.04002930303,0.588163986578,-0.00127267666249,1.03969858883
+195,3.250000000,pose1_to_pose2_press,0.617952242902,-0.00994536364789,1.04002914695,0.588522968347,-0.00127263880045,1.03969843649
+196,3.266666667,pose1_to_pose2_press,0.618301954861,-0.00994536966135,1.04002897884,0.588872680039,-0.00127264496192,1.03969827047
+197,3.283333333,pose1_to_pose2_press,0.618632080825,-0.00994542039663,1.04002908714,0.589202808146,-0.00127269234882,1.03969837637
+198,3.300000000,pose1_to_pose2_press,0.618938527561,-0.00994558506504,1.04002910775,0.589509255902,-0.00127285094145,1.03969839537
+199,3.316666667,pose1_to_pose2_press,0.619214781287,-0.00994543227687,1.04002912375,0.58978550653,-0.00127270505199,1.03969841459
+200,3.333333333,pose1_to_pose2_press,0.619462270533,-0.00994547212852,1.04002918028,0.590032995225,-0.00127274625871,1.03969846789
+201,3.350000000,pose1_to_pose2_press,0.619680817981,-0.00994554177512,1.04002917616,0.590251543231,-0.00127281344381,1.03969846426
+202,3.366666667,pose1_to_pose2_press,0.619875853649,-0.00994550860372,1.04002906567,0.590446579032,-0.00127277902182,1.03969835563
+203,3.383333333,pose1_to_pose2_press,0.620049599801,-0.00994550826136,1.04002892281,0.590620325266,-0.00127277767469,1.03969821442
+204,3.400000000,pose1_to_pose2_press,0.620209520257,-0.00994544311755,1.0400289048,0.590780244972,-0.00127271451884,1.03969820707
+205,3.416666667,pose1_to_pose2_press,0.620356717538,-0.00994541283723,1.04002903327,0.590927442358,-0.00127268362977,1.03969833443
+206,3.433333333,pose1_to_pose2_press,0.620493237761,-0.00994538208155,1.04002929201,0.59106396207,-0.00127265475912,1.03969857767
+207,3.450000000,pose1_to_pose2_press,0.620617941872,-0.00994559796943,1.04002896137,0.591188669085,-0.00127286058608,1.03969824373
+208,3.466666667,pose1_to_pose2_press,0.620728240242,-0.00994528047511,1.04002889972,0.591298962554,-0.00127255881328,1.0396981979
+209,3.483333333,pose1_to_pose2_press,0.620823295334,-0.0099453375438,1.04002906937,0.591394017606,-0.00127261622923,1.03969835513
+210,3.500000000,pose1_to_pose2_press,0.62090269236,-0.00994537710294,1.04002902567,0.591473416575,-0.00127264866285,1.03969832049
+211,3.516666667,pose1_to_pose2_press,0.620968590516,-0.00994546315385,1.04002915734,0.591539313135,-0.00127274097652,1.03969844468
+212,3.533333333,pose1_to_pose2_press,0.621022691275,-0.00994530880345,1.04002915915,0.591593412857,-0.00127258904065,1.03969845214
+213,3.550000000,pose1_to_pose2_press,0.62106809903,-0.00994537271379,1.04002906992,0.591638822394,-0.00127264699685,1.03969836447
+214,3.566666667,pose1_to_pose2_press,0.621105923705,-0.00994544452949,1.04002903209,0.591676648477,-0.00127271376885,1.03969832682
+215,3.583333333,pose1_to_pose2_press,0.621136019766,-0.00994545090081,1.04002898484,0.591706744496,-0.00127271985482,1.03969827859
+216,3.600000000,pose1_to_pose2_press,0.621159773652,-0.00994547654527,1.04002902382,0.591730499132,-0.00127274308715,1.03969831227
+217,3.616666667,pose1_to_pose2_press,0.621177510599,-0.00994553225393,1.04002918193,0.591748237783,-0.0012727933385,1.03969846369
+218,3.633333333,pose1_to_pose2_press,0.621189060947,-0.00994554082251,1.04002909917,0.591759786567,-0.00127280708925,1.03969838247
+219,3.650000000,pose1_to_pose2_press,0.621196398461,-0.0099455164753,1.04002911482,0.591767124036,-0.00127278278267,1.03969840265
+220,3.666666667,pose1_to_pose2_press,0.621201841977,-0.00994548901682,1.04002914793,0.591772567818,-0.00127275432885,1.03969844026
+221,3.683333333,pose1_to_pose2_press,0.621205967131,-0.00994545095317,1.04002915747,0.591776692271,-0.00127271866259,1.03969844985
+222,3.700000000,pose1_to_pose2_press,0.621209030667,-0.00994541756387,1.04002915994,0.591779755017,-0.00127268798911,1.03969845135
+223,3.716666667,pose1_to_pose2_press,0.621211475134,-0.00994539492947,1.04002919092,0.591782198935,-0.00127266727563,1.03969848069
+224,3.733333333,pose1_to_pose2_press,0.621213000486,-0.00994539065137,1.04002928155,0.591783724144,-0.00127266359156,1.03969856813
+225,3.750000000,pose1_to_pose2_press,0.621213833844,-0.00994538831409,1.04002933107,0.591784557423,-0.00127266157881,1.03969861591
+226,3.766666667,pose1_to_pose2_press,0.621214053176,-0.00994538769894,1.0400293441,0.591784776735,-0.00127266104907,1.03969862848
+227,3.783333333,pose1_to_pose2_press,0.621214362462,-0.00994538683149,1.04002936248,0.591785085992,-0.00127266030208,1.03969864621
+228,3.800000000,pose1_to_pose2_press,0.621214460458,-0.00994538655665,1.0400293683,0.591785183978,-0.0012726600654,1.03969865183
+229,3.816666667,pose1_to_pose2_press,0.621215133135,-0.00994538467002,1.04002940827,0.591785856592,-0.00127265844073,1.0396986904
+230,3.833333333,pose1_to_pose2_press,0.621215875366,-0.00994538258831,1.04002945237,0.591786598753,-0.00127265664807,1.03969873295
+231,3.850000000,pose1_to_pose2_press,0.621216570246,-0.00994536732536,1.04002939247,0.591787293617,-0.00127264138018,1.03969867416
+232,3.866666667,pose1_to_pose2_press,0.621217130524,-0.00994535411731,1.04002933732,0.591787853886,-0.00127262814948,1.03969862009
+233,3.883333333,pose1_to_pose2_press,0.621217498058,-0.00994534545303,1.04002930115,0.591788221414,-0.00127261947034,1.03969858462
+234,3.900000000,pose1_to_pose2_press,0.621217615565,-0.0099453426829,1.04002928958,0.59178833892,-0.00127261669546,1.03969857328
+235,3.916666667,pose1_to_pose2_press,0.621217619499,-0.00994534259017,1.04002928919,0.591788342853,-0.00127261660257,1.0396985729
+236,3.933333333,pose1_to_pose2_press,0.621217653058,-0.00994534179904,1.04002928589,0.591788376412,-0.00127261581008,1.03969856966
+237,3.950000000,pose1_to_pose2_press,0.621217994048,-0.00994533376051,1.04002925233,0.591788717396,-0.00127260775777,1.03969853675
+238,3.966666667,pose1_to_pose2_press,0.621218592629,-0.0099453196495,1.04002919341,0.591789315968,-0.00127259362256,1.03969847898
+239,3.983333333,pose1_to_pose2_press,0.621219105928,-0.00994535621297,1.04002918012,0.591789829924,-0.00127262791404,1.03969846776
+240,4.000000000,pose1_to_pose2_press,0.621219512444,-0.00994539203558,1.04002917485,0.591790237054,-0.00127266161968,1.03969846429
+241,4.016666667,pose1_to_pose2_press,0.62121982802,-0.00994541984445,1.04002917076,0.591790553106,-0.00127268778517,1.03969846159
+242,4.033333333,pose1_to_pose2_press,0.621220052073,-0.00994543958827,1.04002916786,0.591790777498,-0.00127270636221,1.03969845967
+243,4.050000000,pose1_to_pose2_press,0.621220247132,-0.00994545081926,1.04002918597,0.591790972249,-0.00127271878475,1.03969847306
+244,4.066666667,pose1_to_pose2_press,0.621220414614,-0.00994545725488,1.04002921263,0.591791139142,-0.00127272743183,1.03969849266
+245,4.083333333,pose1_to_pose2_press,0.621220620386,-0.00994545665816,1.0400292398,0.591791344216,-0.00127272941692,1.03969851297
+246,4.100000000,pose1_to_pose2_press,0.621220697158,-0.00994540700446,1.04002921752,0.591791420891,-0.00127267992472,1.03969849866
+247,4.116666667,pose2_hold,0.621220697158,-0.00994540700446,1.04002921752,0.591791420903,-0.00127267992294,1.03969849866
+248,4.133333333,pose2_hold,0.621220697158,-0.00994540700446,1.04002921752,0.591791420904,-0.00127267992232,1.03969849866
+249,4.150000000,pose2_hold,0.621220697158,-0.00994540700446,1.04002921752,0.591791420904,-0.00127267992303,1.03969849866
+250,4.166666667,pose2_hold,0.621220697158,-0.00994540700446,1.04002921752,0.591791420906,-0.00127267992281,1.03969849866
+251,4.183333333,pose2_hold,0.621220697158,-0.00994540700446,1.04002921752,0.591791420906,-0.00127267992303,1.03969849866
+252,4.200000000,pose2_hold,0.621220697158,-0.00994540700446,1.04002921752,0.591791420907,-0.00127267992298,1.03969849866
+253,4.216666667,pose2_hold,0.621220697158,-0.00994540700446,1.04002921752,0.591791420908,-0.00127267992289,1.03969849866
+254,4.233333333,pose2_hold,0.621220697158,-0.00994540700446,1.04002921752,0.591791420908,-0.00127267992309,1.03969849866
+255,4.250000000,pose2_hold,0.621220697158,-0.00994540700446,1.04002921752,0.591791420909,-0.00127267992289,1.03969849866
+256,4.266666667,pose2_hold,0.621220697158,-0.00994540700446,1.04002921752,0.591791420909,-0.00127267992304,1.03969849866
+257,4.283333333,pose2_hold,0.621220697158,-0.00994540700446,1.04002921752,0.59179142091,-0.0012726799228,1.03969849866
+258,4.300000000,pose2_hold,0.621220697158,-0.00994540700446,1.04002921752,0.59179142091,-0.00127267992245,1.03969849866
+259,4.316666667,pose2_hold,0.621220697158,-0.00994540700446,1.04002921752,0.591791420911,-0.00127267992245,1.03969849866
+260,4.333333333,pose2_hold,0.621220697158,-0.00994540700446,1.04002921752,0.591791420911,-0.00127267992234,1.03969849866
+261,4.350000000,pose2_hold,0.621220697158,-0.00994540700446,1.04002921752,0.591791420912,-0.00127267992214,1.03969849866
+262,4.366666667,pose2_hold,0.621220697158,-0.00994540700446,1.04002921752,0.591791420912,-0.00127267992257,1.03969849866
+263,4.383333333,pose2_to_pose3_retreat,0.621220697158,-0.00994540700446,1.04002921752,0.591791420914,-0.00127267992206,1.03969849866
+264,4.400000000,pose2_to_pose3_retreat,0.621220416583,-0.00994541883582,1.04002920712,0.591791141042,-0.00127268911737,1.03969849534
+265,4.416666667,pose2_to_pose3_retreat,0.621219939012,-0.00994544740307,1.04002922843,0.59179066448,-0.00127271431833,1.03969851582
+266,4.433333333,pose2_to_pose3_retreat,0.621219645857,-0.00994545328241,1.04002915341,0.591790371009,-0.00127272119296,1.03969844298
+267,4.450000000,pose2_to_pose3_retreat,0.621219429184,-0.00994545762787,1.04002909796,0.591790154103,-0.00127272627404,1.03969838913
+268,4.466666667,pose2_to_pose3_retreat,0.62121939067,-0.00994545840028,1.04002908811,0.591790115548,-0.0012727271772,1.03969837956
+269,4.483333333,pose2_to_pose3_retreat,0.621218553486,-0.00994543981977,1.04002904615,0.591789277914,-0.00127271013388,1.03969833692
+270,4.500000000,pose2_to_pose3_retreat,0.621216302094,-0.00994537106466,1.04002910486,0.591787025826,-0.00127264393782,1.03969838935
+271,4.516666667,pose2_to_pose3_retreat,0.621211383251,-0.00994536031067,1.04002928439,0.591782106449,-0.00127263489927,1.03969857346
+272,4.533333333,pose2_to_pose3_retreat,0.62120108368,-0.00994544960989,1.04002905465,0.591771808321,-0.00127271908767,1.03969835067
+273,4.550000000,pose2_to_pose3_retreat,0.621183878829,-0.00994549469189,1.0400291941,0.591754603951,-0.00127276306652,1.03969847957
+274,4.566666667,pose2_to_pose3_retreat,0.621156326337,-0.00994550812611,1.04002930178,0.591727051991,-0.00127277482093,1.03969858307
+275,4.583333333,pose2_to_pose3_retreat,0.621117845446,-0.0099454830516,1.04002919002,0.591688570612,-0.00127275149674,1.0396984759
+276,4.600000000,pose2_to_pose3_retreat,0.621067572261,-0.00994547064149,1.0400290403,0.591638296854,-0.00127274062974,1.03969832876
+277,4.616666667,pose2_to_pose3_retreat,0.621005760989,-0.00994533395104,1.04002899816,0.5915764847,-0.00127260749722,1.03969829087
+278,4.633333333,pose2_to_pose3_retreat,0.620932123717,-0.00994543690316,1.04002916347,0.591502848169,-0.00127270824033,1.03969845524
+279,4.650000000,pose2_to_pose3_retreat,0.620847059593,-0.00994542551406,1.04002911422,0.591417783667,-0.0012726978053,1.03969840585
+280,4.666666667,pose2_to_pose3_retreat,0.620750529322,-0.00994533026354,1.04002904697,0.591321252992,-0.00127260418344,1.03969834643
+281,4.683333333,pose2_to_pose3_retreat,0.620639050738,-0.00994534514082,1.04002926795,0.591209775162,-0.00127261692934,1.03969856373
+282,4.700000000,pose2_to_pose3_retreat,0.620511543581,-0.00994539917607,1.04002947986,0.591082269226,-0.00127266758374,1.0396987648
+283,4.716666667,pose2_to_pose3_retreat,0.620364995762,-0.00994532609827,1.04002927426,0.590935719897,-0.00127260002121,1.03969856006
+284,4.733333333,pose2_to_pose3_retreat,0.620198350442,-0.0099454335429,1.04002913628,0.590769076187,-0.00127270203634,1.03969843286
+285,4.750000000,pose2_to_pose3_retreat,0.620010526376,-0.00994544351535,1.04002916608,0.590581252238,-0.00127271236303,1.03969845591
+286,4.766666667,pose2_to_pose3_retreat,0.619804848136,-0.00994550118093,1.040029139,0.590375573346,-0.00127277284204,1.03969842843
+287,4.783333333,pose2_to_pose3_retreat,0.619581993969,-0.0099455369445,1.04002899185,0.590152719231,-0.00127280871065,1.03969829037
+288,4.800000000,pose2_to_pose3_retreat,0.619340284462,-0.0099455345106,1.04002895039,0.589911010471,-0.00127280470503,1.03969823995
+289,4.816666667,pose2_to_pose3_retreat,0.619078142857,-0.00994543779068,1.04002919869,0.589648868191,-0.00127271114157,1.03969848354
+290,4.833333333,pose2_to_pose3_retreat,0.618791454444,-0.00994540427665,1.04002932176,0.589362179465,-0.00127267954517,1.03969860414
+291,4.850000000,pose2_to_pose3_retreat,0.61847373445,-0.00994530501898,1.04002917961,0.589044458795,-0.00127258306907,1.03969846877
+292,4.866666667,pose2_to_pose3_retreat,0.61812390874,-0.00994544769302,1.04002927193,0.588694637616,-0.00127271120696,1.0396985623
+293,4.883333333,pose2_to_pose3_retreat,0.617743116512,-0.00994544317888,1.04002919239,0.588313843546,-0.00127271395528,1.03969848104
+294,4.900000000,pose2_to_pose3_retreat,0.617335178618,-0.0099454157411,1.04002952541,0.587905906054,-0.00127268643323,1.03969880601
+295,4.916666667,pose2_to_pose3_retreat,0.616901974824,-0.00994540181012,1.04002902609,0.58747270078,-0.00127267833191,1.03969831295
+296,4.933333333,pose2_to_pose3_retreat,0.616451644621,-0.00994539536786,1.04002923617,0.587022371407,-0.00127267004945,1.03969852349
+297,4.950000000,pose2_to_pose3_retreat,0.615986373088,-0.00994539095768,1.04002909673,0.586557100515,-0.00127266436951,1.03969838749
+298,4.966666667,pose2_to_pose3_retreat,0.615499980132,-0.00994546766518,1.04002895292,0.586070709148,-0.0012727368015,1.03969824453
+299,4.983333333,pose2_to_pose3_retreat,0.614990808674,-0.0099455472165,1.04002907716,0.585561538415,-0.00127281496594,1.03969836887
+300,5.000000000,pose2_to_pose3_retreat,0.614452336564,-0.00994549371575,1.04002939008,0.585023066302,-0.00127276273331,1.03969867829
+301,5.016666667,pose2_to_pose3_retreat,0.613878972461,-0.00994537991311,1.040029343,0.584449700861,-0.00127265469895,1.0396986294
+302,5.033333333,pose2_to_pose3_retreat,0.613262016451,-0.00994540169056,1.04002916946,0.583832744715,-0.00127267791397,1.03969845932
+303,5.050000000,pose2_to_pose3_retreat,0.612612587198,-0.00994545902926,1.04002917922,0.583183316398,-0.00127273308036,1.03969846734
+304,5.066666667,pose2_to_pose3_retreat,0.611933765339,-0.00994547433024,1.04002910347,0.582504495243,-0.00127274666606,1.03969839226
+305,5.083333333,pose2_to_pose3_retreat,0.611232788259,-0.00994543969423,1.04002910568,0.581803519189,-0.00127270876652,1.03969839889
+306,5.100000000,pose2_to_pose3_retreat,0.610511855956,-0.00994543006339,1.04002915858,0.58108258624,-0.00127270171379,1.0396984514
+307,5.116666667,pose2_to_pose3_retreat,0.609767654426,-0.0099454277434,1.04002925259,0.580338385007,-0.00127269909471,1.03969853924
+308,5.133333333,pose2_to_pose3_retreat,0.60900488839,-0.00994543381978,1.04002939992,0.579575620022,-0.00127270231387,1.03969868067
+309,5.150000000,pose2_to_pose3_retreat,0.608226940067,-0.00994541315339,1.0400292908,0.57879767161,-0.00127268229219,1.0396985759
+310,5.166666667,pose2_to_pose3_retreat,0.607433448363,-0.00994549115063,1.04002931517,0.578004180166,-0.00127276006413,1.03969860327
+311,5.183333333,pose2_to_pose3_retreat,0.606626735697,-0.00994548639893,1.04002911441,0.577197467312,-0.00127275658592,1.03969840817
+312,5.200000000,pose2_to_pose3_retreat,0.605804936448,-0.00994546593119,1.04002919152,0.576375667376,-0.00127273625978,1.03969848302
+313,5.216666667,pose2_to_pose3_retreat,0.604966168546,-0.00994557974582,1.040029292,0.575536900446,-0.00127284485914,1.03969857864
+314,5.233333333,pose2_to_pose3_retreat,0.604110076176,-0.00994556904158,1.04002916701,0.574680808832,-0.00127283144395,1.03969845667
+315,5.250000000,pose2_to_pose3_retreat,0.603238525052,-0.00994550358358,1.04002925757,0.573809257406,-0.00127276717819,1.03969854294
+316,5.266666667,pose2_to_pose3_retreat,0.602351602742,-0.00994554921733,1.04002924976,0.572922334869,-0.00127281362989,1.03969853382
+317,5.283333333,pose2_to_pose3_retreat,0.6014664967,-0.00994552673002,1.04002924361,0.572037227551,-0.00127279531235,1.03969853172
+318,5.300000000,pose2_to_pose3_retreat,0.600583593418,-0.00994554831675,1.04002913452,0.571154325119,-0.00127281381831,1.03969842809
+319,5.316666667,pose2_to_pose3_retreat,0.599707162636,-0.00994547669124,1.04002911651,0.570277893937,-0.00127274374172,1.03969840604
+320,5.333333333,pose2_to_pose3_retreat,0.598835256579,-0.00994540465947,1.04002911957,0.569405986984,-0.00127267480396,1.03969840746
+321,5.350000000,pose2_to_pose3_retreat,0.597963920694,-0.00994544381589,1.04002905077,0.56853465195,-0.00127271090347,1.03969834194
+322,5.366666667,pose2_to_pose3_retreat,0.59708994444,-0.00994546427641,1.04002897973,0.567660674959,-0.00127273373507,1.03969827413
+323,5.383333333,pose2_to_pose3_retreat,0.596211176013,-0.00994547818402,1.04002911999,0.566781905564,-0.00127275086639,1.03969841594
+324,5.400000000,pose2_to_pose3_retreat,0.595325786702,-0.00994548979565,1.04002930129,0.565896517172,-0.00127275952989,1.03969859272
+325,5.416666667,pose2_to_pose3_retreat,0.594438261674,-0.00994546386676,1.04002904244,0.565008992318,-0.00127273287284,1.03969833739
+326,5.433333333,pose2_to_pose3_retreat,0.593553251789,-0.00994544309921,1.04002910293,0.564123981737,-0.00127271471488,1.03969839133
+327,5.450000000,pose2_to_pose3_retreat,0.592682844023,-0.00994541746542,1.04002925143,0.563253574534,-0.00127268722208,1.03969853847
+328,5.466666667,pose2_to_pose3_retreat,0.591836230682,-0.00994539443386,1.04002920658,0.562406962078,-0.00127266088162,1.03969850148
+329,5.483333333,pose2_to_pose3_retreat,0.591012819766,-0.00994548627155,1.04002924983,0.561583551858,-0.00127275060642,1.03969853808
+330,5.500000000,pose2_to_pose3_retreat,0.590211942968,-0.00994549591258,1.04002922707,0.560782675312,-0.00127275937544,1.03969851591
+331,5.516666667,pose2_to_pose3_retreat,0.589421702896,-0.00994536755783,1.04002923821,0.559992433867,-0.00127263554929,1.03969853021
+332,5.533333333,pose2_to_pose3_retreat,0.588639712092,-0.00994533170362,1.04002915246,0.559210441553,-0.00127260468897,1.03969844642
+333,5.550000000,pose2_to_pose3_retreat,0.587870755566,-0.00994545501623,1.04002917831,0.558441485389,-0.0012727269921,1.03969846646
+334,5.566666667,pose2_to_pose3_retreat,0.587114657034,-0.00994553131726,1.04002917243,0.557685388049,-0.00127279918662,1.03969846225
+335,5.583333333,pose2_to_pose3_retreat,0.586374685985,-0.00994550656969,1.04002926672,0.556945417722,-0.00127277210141,1.0396985539
+336,5.600000000,pose2_to_pose3_retreat,0.585666166617,-0.0099454901379,1.04002937551,0.556236898297,-0.00127275622843,1.03969865405
+337,5.616666667,pose2_to_pose3_retreat,0.584983572221,-0.00994544090016,1.04002909826,0.555554301568,-0.00127271489361,1.03969837745
+338,5.633333333,pose2_to_pose3_retreat,0.584324369749,-0.00994550489342,1.04002887976,0.554895099812,-0.00127277605908,1.03969816868
+339,5.650000000,pose2_to_pose3_retreat,0.583689746207,-0.00994556875744,1.04002898943,0.554260478331,-0.00127283268382,1.03969828575
+340,5.666666667,pose2_to_pose3_retreat,0.583083149382,-0.00994553734941,1.04002898481,0.553653880813,-0.00127280382262,1.03969827579
+341,5.683333333,pose2_to_pose3_retreat,0.582503885444,-0.00994556795918,1.04002922154,0.553074617385,-0.00127283296083,1.03969850514
+342,5.700000000,pose2_to_pose3_retreat,0.581949286792,-0.00994540397895,1.04002928636,0.552520016405,-0.00127267674741,1.03969857297
+343,5.716666667,pose2_to_pose3_retreat,0.581413909581,-0.00994543671902,1.04002918666,0.551984641044,-0.00127270297245,1.03969847946
+344,5.733333333,pose2_to_pose3_retreat,0.58089585844,-0.00994545734618,1.04002925748,0.551466589541,-0.00127272483132,1.03969855013
+345,5.750000000,pose2_to_pose3_retreat,0.580396700137,-0.00994548311496,1.0400291204,0.550967431347,-0.0012727501322,1.0396984156
+346,5.766666667,pose2_to_pose3_retreat,0.579928021982,-0.00994531981052,1.04002908083,0.550498751024,-0.00127259431809,1.0396983726
+347,5.783333333,pose2_to_pose3_retreat,0.579497831402,-0.00994546996406,1.04002919768,0.550068562324,-0.00127273805342,1.03969849077
+348,5.800000000,pose2_to_pose3_retreat,0.579106497702,-0.00994535215265,1.04002920777,0.549677227429,-0.0012726244522,1.0396984972
+349,5.816666667,pose2_to_pose3_retreat,0.578751439336,-0.00994553679421,1.04002882353,0.549322171779,-0.00127279961284,1.03969811991
+350,5.833333333,pose2_to_pose3_retreat,0.578425968452,-0.00994546828657,1.04002917577,0.548996699306,-0.00127273684521,1.03969846294
+351,5.850000000,pose2_to_pose3_retreat,0.578118400088,-0.0099455313045,1.04002901031,0.548689132985,-0.0012727924934,1.03969830871
+352,5.866666667,pose2_to_pose3_retreat,0.577822417807,-0.00994563285512,1.04002891496,0.548393148287,-0.00127290240024,1.03969820946
+353,5.883333333,pose2_to_pose3_retreat,0.577540339958,-0.00994551014243,1.04002915485,0.548111070456,-0.00127277978877,1.03969844479
+354,5.900000000,pose2_to_pose3_retreat,0.577274654415,-0.00994537609942,1.04002938025,0.547845383337,-0.00127265086632,1.03969867629
+355,5.916666667,pose2_to_pose3_retreat,0.577035645512,-0.00994540104651,1.04002918373,0.547606375516,-0.00127267248866,1.03969847082
+356,5.933333333,pose2_to_pose3_retreat,0.576823535964,-0.00994535267474,1.04002915238,0.547394265943,-0.00127262400558,1.03969844451
+357,5.950000000,pose2_to_pose3_retreat,0.576641184497,-0.00994545948714,1.04002907768,0.547211915181,-0.0012727285456,1.03969836665
+358,5.966666667,pose2_to_pose3_retreat,0.576483395027,-0.00994542306953,1.0400292438,0.54705412702,-0.00127268736695,1.03969854124
+359,5.983333333,pose2_to_pose3_retreat,0.576349462018,-0.00994537839862,1.04002915405,0.546920192218,-0.00127264884805,1.03969844968
+360,6.000000000,pose2_to_pose3_retreat,0.576233135554,-0.00994538705124,1.0400293283,0.546803864755,-0.0012726613899,1.03969861087
+361,6.016666667,pose2_to_pose3_retreat,0.5761336496,-0.00994552242443,1.04002917575,0.546704380475,-0.00127279073783,1.03969846813
+362,6.033333333,pose2_to_pose3_retreat,0.576048783551,-0.00994555696353,1.04002870867,0.546619515471,-0.00127282138094,1.03969801017
+363,6.050000000,pose2_to_pose3_retreat,0.575976716237,-0.00994539965986,1.0400288389,0.546547445694,-0.00127267252795,1.03969813776
+364,6.066666667,pose2_to_pose3_retreat,0.57591672214,-0.00994539711493,1.04002908369,0.546487452249,-0.00127266794612,1.03969837782
+365,6.083333333,pose2_to_pose3_retreat,0.575866368836,-0.00994545071745,1.04002917372,0.546437100002,-0.00127271810186,1.03969846423
+366,6.100000000,pose2_to_pose3_retreat,0.575825387571,-0.00994535645784,1.04002918167,0.546396116763,-0.00127263062921,1.03969846987
+367,6.116666667,pose2_to_pose3_retreat,0.575793161398,-0.00994535167295,1.0400291852,0.546363889545,-0.00127262940621,1.03969847295
+368,6.133333333,pose2_to_pose3_retreat,0.575768875478,-0.00994548647381,1.04002914072,0.546339605224,-0.00127275869589,1.03969843066
+369,6.150000000,pose2_to_pose3_retreat,0.575750957441,-0.00994551726586,1.04002903864,0.546321688239,-0.00127278579054,1.039698332
+370,6.166666667,pose2_to_pose3_retreat,0.575738038237,-0.009945457732,1.04002904542,0.546308768304,-0.00127272883931,1.03969833624
+371,6.183333333,pose2_to_pose3_retreat,0.575729830718,-0.0099454475275,1.04002914613,0.546300560602,-0.00127271952754,1.03969842988
+372,6.200000000,pose2_to_pose3_retreat,0.575723923153,-0.00994543808224,1.0400292076,0.546294652861,-0.00127271082586,1.03969848757
+373,6.216666667,pose2_to_pose3_retreat,0.575719959543,-0.00994539341824,1.04002909893,0.546290688641,-0.00127266789149,1.03969838793
+374,6.233333333,pose2_to_pose3_retreat,0.575717664564,-0.00994536755723,1.04002903601,0.546288393308,-0.00127264303195,1.03969833024
+375,6.250000000,pose2_to_pose3_retreat,0.575716428856,-0.00994536722303,1.04002907581,0.546287157643,-0.00127264259381,1.03969836896
+376,6.266666667,pose2_to_pose3_retreat,0.575715502168,-0.00994537312264,1.040029139,0.546286231093,-0.00127264812442,1.03969842958
+377,6.283333333,pose2_to_pose3_retreat,0.575714768122,-0.00994537779582,1.04002918905,0.546285497156,-0.0012726525053,1.0396984776
+378,6.300000000,pose2_to_pose3_retreat,0.575714208748,-0.00994538135699,1.04002922719,0.546284937864,-0.00127265584373,1.03969851419
+379,6.316666667,pose2_to_pose3_retreat,0.575713910634,-0.00994538325489,1.04002924752,0.546284639794,-0.00127265762291,1.03969853369
+380,6.333333333,pose2_to_pose3_retreat,0.575713845726,-0.00994538366811,1.04002925195,0.546284574896,-0.00127265801029,1.03969853794
+381,6.350000000,pose2_to_pose3_retreat,0.575713802771,-0.00994538394158,1.04002925488,0.546284531947,-0.00127265826665,1.03969854075
+382,6.366666667,pose2_to_pose3_retreat,0.575713750014,-0.00994538427745,1.04002925847,0.546284479198,-0.00127265858151,1.0396985442
+383,6.383333333,pose2_to_pose3_retreat,0.575713660495,-0.00994538484736,1.04002926458,0.546284389692,-0.00127265911577,1.03969855005
+384,6.400000000,pose2_to_pose3_retreat,0.575713286569,-0.0099453872279,1.04002929007,0.546284015822,-0.00127266134742,1.03969857452
+385,6.416666667,pose2_to_pose3_retreat,0.575712607726,-0.00994539372342,1.04002930388,0.54628333708,-0.00127266751386,1.03969858797
+386,6.433333333,pose2_to_pose3_retreat,0.575712202514,-0.00994539995571,1.04002927693,0.546282931927,-0.00127267348604,1.03969856246
+387,6.450000000,pose2_to_pose3_retreat,0.575712016473,-0.00994540281708,1.04002926456,0.546282745914,-0.00127267622799,1.03969855075
+388,6.466666667,pose2_to_pose3_retreat,0.575711950299,-0.00994540383484,1.04002926016,0.54628267975,-0.00127267720328,1.03969854659
+389,6.483333333,pose2_to_pose3_retreat,0.575711799156,-0.00994540615947,1.04002925011,0.546282528629,-0.00127267943089,1.03969853708
+390,6.500000000,pose2_to_pose3_retreat,0.575711387257,-0.0099454124946,1.04002922271,0.546282116791,-0.00127268550162,1.03969851115
+391,6.516666667,pose2_to_pose3_retreat,0.57571104337,-0.00994541778368,1.04002919984,0.546281772955,-0.00127269056996,1.03969848951
+392,6.533333333,pose2_to_pose3_retreat,0.575710758392,-0.00994542216673,1.04002918089,0.546281488019,-0.00127269477009,1.03969847157
+393,6.550000000,pose2_to_pose3_retreat,0.575710652637,-0.00994542379326,1.04002917386,0.54628138228,-0.00127269632873,1.03969846491
+394,6.566666667,pose2_to_pose3_retreat,0.57571051215,-0.00994541880628,1.04002915481,0.546281241688,-0.00127269165451,1.03969844697
+395,6.583333333,pose2_to_pose3_retreat,0.575710016724,-0.00994539118347,1.04002907399,0.546280745717,-0.00127266570042,1.03969837092
+396,6.600000000,pose2_to_pose3_retreat,0.575709602834,-0.00994536810674,1.04002900648,0.546280331371,-0.00127264401778,1.03969830739
+397,6.616666667,pose2_to_pose3_retreat,0.575709574438,-0.0099453665235,1.04002900185,0.546280302944,-0.00127264253018,1.03969830303
+398,6.633333333,pose2_to_pose3_retreat,0.575709547203,-0.00994536394642,1.04002901775,0.546280275668,-0.00127264009293,1.03969831893
+399,6.650000000,pose2_to_pose3_retreat,0.575709434743,-0.00994535242577,1.04002910029,0.546280163028,-0.00127262918961,1.03969840126
+400,6.666666667,pose2_to_pose3_retreat,0.575709211277,-0.0099454631955,1.0400292809,0.546279941204,-0.00127273471563,1.03969857335
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_07/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_07/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0f891c3c1c3857c4caee393c92e3a90ba29d303a
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_07/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:09e0c71e5bbf733c60f74ff171a535e0a7cb54066d60178d46060ea733d65827
+size 24982143
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_07/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_07/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..88017093fb07a9cdbad97b89c26ee4533a2f84e1
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_07/depth_01/franka_data.csv
@@ -0,0 +1,394 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,763,742,712,671,659,633,877,784,800,649,628,651,0.401003425373,-0.0155103428528,0.0698384956438,0.999999982183,5.99290474773e-05,-0.000178048584652,1.84720693999e-05,1793193477138838784
+1,0.016666667,BASELINE,763,742,712,671,659,633,877.580067619,784,800,649,628,650.419932381,0.401005533794,-0.0155100606036,0.0698398145219,0.999999982634,5.85361434335e-05,-0.000175973290728,1.84300820781e-05,1793193477155505920
+2,0.033333333,BASELINE,763,742.158360713,712,671.158360713,659,633,877.841639287,784,800,649,628,650,0.401006563586,-0.0155094899292,0.069840527217,0.999999982834,5.82808344589e-05,-0.000174927199093,1.83337126093e-05,1793193477172173312
+3,0.050000000,BASELINE,763,742.732000484,712,671.732000484,659,633,877.267999516,784,800,649,628,650,0.401004764819,-0.0155081628994,0.0698396502816,0.999999982385,6.10087108474e-05,-0.000176580047601,1.8094733476e-05,1793193477188839680
+4,0.066666667,BASELINE,763,743,712,672,659,633,877,784,800,649,628.307897711,650,0.401004233493,-0.015507753172,0.069839606656,0.999999982294,6.08753961897e-05,-0.00017715691869,1.79572831691e-05,1793193477205506304
+5,0.083333333,BASELINE,763,743,712,672,659,633,877,784,800,649,628.885774346,650,0.401004813517,-0.0155081477777,0.0698402937149,0.999999982517,5.82332570005e-05,-0.000176790323018,1.79088580376e-05,1793193477222172672
+6,0.100000000,BASELINE,763.474955145,742.525044855,712,671.525044855,659,633,877,784,800,649,628.525044855,650.474955145,0.401004003349,-0.015509276803,0.0698392090258,0.999999982238,5.78088368522e-05,-0.000178478295034,1.80998264658e-05,1793193477238839040
+7,0.116666667,BASELINE,763.93472729,742,712,671,659.06527271,633,877,784,800,649,628.06527271,651,0.401003277586,-0.0155103326706,0.0698380948629,0.999999981955,5.79838780956e-05,-0.000179976358899,1.83152059148e-05,1793193477255505408
+8,0.133333333,BASELINE,763.357340633,742,712,671,659.642659367,633,877,784,800,649,628.642659367,651,0.401005901131,-0.0155093950074,0.0698401740523,0.999999982627,5.85755390658e-05,-0.000176013193279,1.82593866326e-05,1793193477272172032
+9,0.150000000,BASELINE,763.218274476,742.218274476,712,671.218274476,659.781725524,633,877,784,799.781725524,649,628.781725524,651,0.401007193745,-0.0155091350902,0.0698413998855,0.999999982951,5.90397356675e-05,-0.000174003042684,1.82924215632e-05,1793193477288839168
+10,0.166666667,BASELINE,763.791012646,742.791012646,712,671.791012646,659.208987354,633,877,784,799.208987354,649,628.208987354,651,0.401006325012,-0.0155099757891,0.0698412399231,0.99999998273,5.92969382856e-05,-0.000175164463132,1.846975002e-05,1793193477305506816
+11,0.183333333,BASELINE,763.624825201,743,712.375174799,671.624825201,659,633,877.375174799,784,799.375174799,649,628.375174799,651,0.401005402524,-0.0155093161958,0.0698403471587,0.999999982424,6.02644496654e-05,-0.000176602009071,1.82127726593e-05,1793193477322173440
+12,0.200000000,BASELINE,763.034099521,743,712.965900479,671.034099521,659,633,877.965900479,784,799.965900479,649,628.965900479,651,0.401004449152,-0.015507794633,0.0698390333744,0.999999982066,6.16400579892e-05,-0.000178198198754,1.77062716206e-05,1793193477338839552
+13,0.216666667,BASELINE,763,743,712.454187848,671.545812152,659,633,878,784,800,649,629,651,0.401004432536,-0.0155080050467,0.0698397517219,0.999999982156,6.04464380003e-05,-0.000178079985872,1.79633184805e-05,1793193477355505920
+14,0.233333333,BASELINE,763,742.875680654,712.124319346,672,659,633,878,784,800,649,629,650.875680654,0.401004527065,-0.0155084066277,0.0698404530417,0.999999982247,5.92411918059e-05,-0.000177949944451,1.81870231094e-05,1793193477372172544
+15,0.250000000,BASELINE,763,742.299868038,712.700131962,672,659,633,878,784,800,649,629,650.299868038,0.401004816827,-0.0155091171393,0.0698406404063,0.999999982251,5.85653322394e-05,-0.000178158370776,1.81197615362e-05,1793193477388838912
+16,0.266666667,BASELINE,763,742,712.719050877,671.719050877,659,633,877.719050877,784,799.719050877,649,628.719050877,650.280949123,0.401004783224,-0.015509835872,0.06984047393,0.999999982308,5.85303050454e-05,-0.000177841754538,1.81526296306e-05,1793193477405505536
+17,0.283333333,BASELINE,763,742,712.132795329,671.132795329,659,633,877.132795329,784,799.132795329,649,628.132795329,650.867204671,0.401004398219,-0.0155105635384,0.069839922936,0.999999982424,5.91916681777e-05,-0.000176954576379,1.82943082865e-05,1793193477422172160
+18,0.300000000,BASELINE,763.447988973,742,712,671.447988973,659,632.552011027,877,784,799,649,628,651,0.401004953419,-0.0155102215816,0.0698403636491,0.999999982421,6.02171788539e-05,-0.000176621513566,1.83440774678e-05,1793193477438838784
+19,0.316666667,BASELINE,763.972920137,742,712,672,659,632.027079863,877,784,799,649,628.027079863,651,0.401005716584,-0.0155095139722,0.069841055637,0.999999982375,6.13134245667e-05,-0.000176504843377,1.83505141174e-05,1793193477455505664
+20,0.333333333,BASELINE,763.39568116,742,712,672,659,632.60431884,877,784,799,649,628.60431884,651,0.401005111009,-0.015507741497,0.0698409523357,0.999999982184,6.1680215001e-05,-0.000177487695504,1.80234213682e-05,1793193477472172544
+21,0.350000000,BASELINE,763.180794432,742,712,672,659,633,877,784,799.180794432,649,629,651,0.401004197275,-0.0155063933603,0.0698405904291,0.999999981969,6.2406908242e-05,-0.000178470914943,1.77470524831e-05,1793193477488839424
+22,0.366666667,BASELINE,763.755606252,742,712,672,659,633,877,784,799.755606252,649,629,651,0.401002611953,-0.0155059700131,0.0698396649268,0.999999981701,6.39179616769e-05,-0.000179454934761,1.75812295479e-05,1793193477505505792
+23,0.383333333,BASELINE,764,742.338676524,712,672,659,632.661323476,877,784.338676524,799.661323476,649,629,651,0.401002603576,-0.0155055843336,0.0698394400103,0.999999981685,6.447060874e-05,-0.000179343953799,1.75788501399e-05,1793193477522172416
+24,0.400000000,BASELINE,764,742.927855223,712,672,659,632.072144777,877,784.927855223,799.072144777,649,629,651,0.401003761587,-0.015505226515,0.069839733282,0.999999981858,6.43143704513e-05,-0.000178423055345,1.76973617599e-05,1793193477538839040
+25,0.416666667,BASELINE,763.491894152,742.491894152,712,671.491894152,659,632.508105848,877,784.491894152,799,649,628.491894152,651,0.40100555278,-0.015506326081,0.0698407062644,0.999999982135,6.43464513168e-05,-0.000176808819956,1.81392720883e-05,1793193477555505664
+26,0.433333333,BASELINE,763,742,712,671,659.08683896,633,877,784,799.08683896,649,628.08683896,650.91316104,0.401007054241,-0.0155073378003,0.0698416378972,0.999999982377,6.45143413607e-05,-0.000175332197579,1.8509999214e-05,1793193477572172288
+27,0.450000000,BASELINE,763,742,712,671,659.664037929,633,877,784,799.664037929,649,628.664037929,650.335962071,0.401006420753,-0.015506705156,0.0698418004761,0.999999982358,6.53007333599e-05,-0.00017517894343,1.82239562967e-05,1793193477588839168
+28,0.466666667,BASELINE,763.239729757,742,712,671.239729757,659.760270243,633,876.760270243,784.239729757,800.239729757,649,629,650.239729757,0.401006216505,-0.0155065277805,0.0698419106821,0.999999982453,6.44122154726e-05,-0.000174997028987,1.78968606772e-05,1793193477605506048
+29,0.483333333,BASELINE,763.813322605,742,712,671.813322605,659.186677395,633,876.186677395,784.813322605,800.813322605,649,629,650.813322605,0.401006610044,-0.0155069844414,0.0698419479503,0.999999982701,6.11911102025e-05,-0.000174775200384,1.75125924389e-05,1793193477622172928
+30,0.500000000,BASELINE,764,742,712,672,659,633,876.79591031,784.602044845,800.20408969,649,628.602044845,651,0.401005683399,-0.015506904317,0.0698417185204,0.99999998254,6.17225992438e-05,-0.000175498627891,1.76038592301e-05,1793193477638839296
+31,0.516666667,BASELINE,764,742,712,672,659,633,877.975828156,784.012085922,799.024171844,649,628.012085922,651,0.401004119796,-0.0155065652065,0.069841360415,0.99999998218,6.40646246585e-05,-0.000176678118687,1.79245602189e-05,1793193477655505664
+32,0.533333333,BASELINE,763.43142254,742,712,671.43142254,659,632.43142254,877.43142254,784,799,649,628.56857746,650.43142254,0.401004190641,-0.0155080601892,0.0698407988169,0.999999982207,6.2651135804e-05,-0.000177026719944,1.79460781902e-05,1793193477672172288
+33,0.550000000,BASELINE,763,742,712,671,659,632.147519453,877,784,799.147519453,649.147519453,628.852480547,650,0.4010043794,-0.0155087358488,0.0698405788836,0.999999982222,6.21725852058e-05,-0.000177111530386,1.79361010678e-05,1793193477688838912
+34,0.566666667,BASELINE,763,742,712,671,659,632.722041426,877,784,799.722041426,649.722041426,628.277958574,650,0.401004810525,-0.0155069289034,0.0698413602354,0.999999982179,6.46276125287e-05,-0.000176483085356,1.78530717605e-05,1793193477705505536
+35,0.583333333,BASELINE,763,742,712,671.295118901,659,633,877,784,800,649.704881099,628.295118901,650,0.401005069889,-0.0155063398563,0.0698418205244,0.99999998228,6.42221614233e-05,-0.000176073098366,1.76878623307e-05,1793193477722172416
+36,0.600000000,BASELINE,763,742,712,671.866842565,659,633,877,784,800,649.133157435,628.866842565,650,0.401005168267,-0.0155068923032,0.0698419798924,0.999999982514,6.11356828755e-05,-0.000175867864485,1.74456282983e-05,1793193477738839296
+37,0.616666667,BASELINE,763,742,712,672,659,632.542162583,877,784,800,649,628.542162583,650.457837417,0.401004165051,-0.0155070300829,0.0698410731913,0.999999982259,6.14848789244e-05,-0.000177174596203,1.76458567022e-05,1793193477755505920
+38,0.633333333,BASELINE,763.05296215,742,712,672,659,632.05296215,877.05296215,784,800.05296215,649,628.05296215,650.94703785,0.401003135559,-0.0155070283174,0.0698400419296,0.999999981907,6.29741504124e-05,-0.000178597105135,1.79587391296e-05,1793193477772172800
+39,0.650000000,BASELINE,763.631021951,742,712,672,659,632.631021951,877.631021951,784,800.631021951,649,628.631021951,650.368978049,0.401005161645,-0.0155068912774,0.0698409848509,0.9999999821,6.54245054748e-05,-0.000176616081253,1.80566103847e-05,1793193477788839168
+40,0.666666667,BASELINE,764,742,712,672,659,633,877.584155022,784,800.792077511,649,629,650,0.401005875685,-0.0155067504583,0.0698413669325,0.999999982175,6.60061787951e-05,-0.000175980114708,1.80264266692e-05,1793193477805505536
+41,0.683333333,BASELINE,764,742,712,672,659,633,876.434445644,784,800.217222822,649,629,650,0.401004274286,-0.0155066029702,0.0698407592699,0.999999982047,6.32900869878e-05,-0.00017771784461,1.777025733e-05,1793193477822171904
+42,0.700000000,BASELINE,763.63405751,742.36594249,712,672,659,633,876.36594249,784,800,649,629,650.36594249,0.401004241924,-0.0155066947203,0.0698410919021,0.99999998217,6.22209247108e-05,-0.000177416378484,1.7659245591e-05,1793193477838838784
+43,0.716666667,BASELINE,763.04584441,742.95415559,712,672,659,633,876.95415559,784,800,649,629,650.95415559,0.401005162583,-0.0155069317819,0.0698419956621,0.999999982447,6.21520946578e-05,-0.000175876320569,1.7636401453e-05,1793193477855505408
+44,0.733333333,BASELINE,763.533026691,742.466973309,712,671.466973309,659,633,877,784,800,649,629,651,0.401005393509,-0.01550591653,0.0698415922751,0.999999982317,6.41675202006e-05,-0.000175888776493,1.7631659592e-05,1793193477872172288
+45,0.750000000,BASELINE,763.889576987,742,712,671.110423013,659,633,877,784,800,649,629,651,0.401005630442,-0.0155051764992,0.0698413558864,0.999999982221,6.58388742076e-05,-0.000175816701516,1.76309156502e-05,1793193477888839424
+46,0.766666667,BASELINE,763.315060361,742,712,671.684939639,659,633,877,784,800,649,629,651,0.40100613765,-0.0155060380757,0.0698422857372,0.999999982427,6.53237014328e-05,-0.000174837818843,1.76405435575e-05,1793193477905506304
+47,0.783333333,BASELINE,763.25855461,742.25855461,712,672,659,633,877,784,799.74144539,649,629,651,0.401005677866,-0.0155062788872,0.0698420249649,0.999999982384,6.45824670603e-05,-0.000175366353877,1.75258893967e-05,1793193477922172672
+48,0.800000000,BASELINE,763.83107477,742.83107477,712,672,659,633,877,784,799.16892523,649,629,651,0.401004043855,-0.0155057658973,0.0698403184067,0.999999982038,6.35667236728e-05,-0.000177725361758,1.7260318231e-05,1793193477938839040
+49,0.816666667,BASELINE,763.579306698,742.579306698,712,671.579306698,659.420693302,633,877,784,799.420693302,649,628.579306698,650.579306698,0.401004664386,-0.0155061923659,0.0698408030373,0.999999982143,6.26207328883e-05,-0.000177457383882,1.73492933914e-05,1793193477955505408
+50,0.833333333,BASELINE,763,742,712,671,659.983179393,632.983179393,877,784,799.983179393,649,628.016820607,650.016820607,0.401006103625,-0.0155069868198,0.069842116398,0.999999982416,6.17221197312e-05,-0.000176208264298,1.75794208588e-05,1793193477972172288
+51,0.850000000,BASELINE,763,742,712,671,659.408533179,632.408533179,877,784,799.408533179,649,628.591466821,650.591466821,0.401003399673,-0.0155069446915,0.0698404983007,0.999999981959,6.14264976189e-05,-0.000178885233693,1.75693289669e-05,1793193477988838912
+52,0.866666667,BASELINE,763,742,712,671,659,632.165968328,877,783.834031672,799.165968328,649,628.834031672,651,0.401002044252,-0.0155072217577,0.0698397061876,0.999999981763,6.12584683263e-05,-0.000180026296833,1.76864997629e-05,1793193478005505536
+53,0.883333333,BASELINE,763,742,712,671,659,632.74011391,877,783.25988609,799.74011391,649,628.25988609,651,0.401004005366,-0.0155082838404,0.0698409454741,0.999999982217,6.14042367967e-05,-0.000177390000553,1.8116656389e-05,1793193478022172160
+54,0.900000000,BASELINE,763.325073214,742.325073214,712,671,659,633,877,783.325073214,800,649,628,650.674926786,0.401004572481,-0.015508124735,0.0698415030922,0.99999998244,6.08192409296e-05,-0.00017633841458,1.80253957702e-05,1793193478038839040
+55,0.916666667,BASELINE,763.918975211,742.918975211,712,671,659,633,877,783.918975211,800,649,628,650.081024789,0.401003986788,-0.0155069557322,0.0698414969849,0.999999982476,5.96299181543e-05,-0.000176597351183,1.7502933919e-05,1793193478055505920
+56,0.933333333,BASELINE,763.503957195,742.503957195,712,671,659.496042805,633,876.503957195,784,799.503957195,649,628.496042805,650,0.40100385,-0.0155062983735,0.0698407195389,0.999999982174,6.16319715485e-05,-0.000177609646984,1.75671424591e-05,1793193478072172544
+57,0.950000000,BASELINE,763.070775659,742,712,671,659.929224341,633,876.070775659,784,799.070775659,649,629,650.070775659,0.401003871381,-0.0155057655201,0.0698400440033,0.999999981887,6.38359077561e-05,-0.00017843124805,1.76957999721e-05,1793193478088839168
+58,0.966666667,BASELINE,763.647831439,742,712,671,659.352168561,633,876.647831439,784,799.647831439,649,629,650.647831439,0.401004516888,-0.0155055450891,0.069840969143,0.999999982133,6.38774435172e-05,-0.000177037389676,1.76224928476e-05,1793193478105505536
+59,0.983333333,BASELINE,763.775881069,742.224118931,712,671,659,633,877,784,799.775881069,649,629,650.775881069,0.401004873651,-0.015505382121,0.0698417148454,0.999999982264,6.45565499366e-05,-0.000176051276678,1.75918913125e-05,1793193478122171904
+60,1.000000000,BASELINE,763.200796612,742.799203388,712,671,659,633,877,784,799.200796612,649,629,650.200796612,0.40100477825,-0.0155053091387,0.0698421795529,0.999999982215,6.62340785848e-05,-0.000175703684139,1.76281658194e-05,1793193478138838784
+61,1.016666667,BASELINE,763,742.613673622,712,671,659,633,876.613673622,784,799,649,628.613673622,650,0.401004403827,-0.0155068344417,0.0698420391373,0.999999982182,6.45847381213e-05,-0.000176492276942,1.7733495505e-05,1793193478155505408
+62,1.033333333,BASELINE,763,742.020092278,712,671,659,633,876.020092278,784,799,649,628.020092278,650,0.401003879716,-0.0155092171869,0.0698415740874,0.999999982148,6.11506109602e-05,-0.000177890406328,1.78758716581e-05,1793193478172172288
+63,1.050000000,BASELINE,763.554079377,742.554079377,712,670.445920623,659,633,876.554079377,784,799,649,628,650,0.401004260615,-0.0155093683639,0.0698411402597,0.999999982232,6.06764651765e-05,-0.000177564645145,1.80334068853e-05,1793193478188838912
+64,1.066666667,BASELINE,764,742.871616384,712,670.128383616,659,633,877,784,799.128383616,649,628,650.128383616,0.401004601778,-0.0155092995199,0.0698408842839,0.999999982321,6.04203838922e-05,-0.000177144056795,1.81201318206e-05,1793193478205505792
+65,1.083333333,BASELINE,764,742.294471735,712,670.705528265,659,633,877,784,799.705528265,649,628,650.705528265,0.401004693214,-0.0155087348865,0.06984124616,0.99999998241,6.05640483587e-05,-0.000176603118075,1.79574850763e-05,1793193478222172416
+66,1.100000000,BASELINE,763.710994742,742,712,671.289005258,658.710994742,633,877,784,800,649,628.289005258,650.710994742,0.401004459268,-0.0155077779138,0.0698412986118,0.999999982256,6.251213152e-05,-0.000176810800971,1.78267425659e-05,1793193478238838784
+67,1.116666667,BASELINE,763.120921128,742,712,671.879078872,658.120921128,633,877,784,800,649,628.879078872,650.120921128,0.401003886355,-0.0155064122255,0.0698410287239,0.999999981836,6.63399499237e-05,-0.000177798353031,1.7729235984e-05,1793193478255505408
+68,1.133333333,BASELINE,763,742,712,671.540194737,658.459805263,632.540194737,877,784,800,649,629,650,0.401002426265,-0.0155070565309,0.0698397216889,0.999999981615,6.54937002158e-05,-0.000179355131192,1.76685182686e-05,1793193478272172032
+69,1.150000000,BASELINE,763.037887767,742,712,671.037887767,659,632.037887767,877,784,799.962112233,649,628.962112233,650,0.401000980417,-0.0155081012827,0.0698383991295,0.999999981491,6.35494972824e-05,-0.000180742774953,1.76238676129e-05,1793193478288838912
+70,1.166666667,BASELINE,763.612643965,742,712,671.612643965,659,632.612643965,877,784,799.387356035,649,628.387356035,650,0.40100297654,-0.0155074794055,0.0698406444828,0.999999982071,6.31180636739e-05,-0.000177654848527,1.76725256646e-05,1793193478305505536
+71,1.183333333,BASELINE,763.812604538,742,712,671.812604538,659.187395462,633,877,784,799.187395462,649,628,650.187395462,0.401004532446,-0.0155070359794,0.0698419829321,0.999999982429,6.2565029486e-05,-0.000175826981204,1.76586058162e-05,1793193478322172160
+72,1.200000000,BASELINE,763.23786265,742,712,671.23786265,659.76213735,633,877,784,799.76213735,649,628,650.76213735,0.401005178422,-0.0155069614118,0.069841446811,0.999999982345,6.17606468191e-05,-0.000176603655514,1.75153374561e-05,1793193478338839040
+73,1.216666667,BASELINE,763,742.346471908,712,671.346471908,659.653528092,633,877,784,800,649,628,651,0.401005107712,-0.015506482342,0.0698412413077,0.999999982211,6.3278787899e-05,-0.000176826159886,1.74972172724e-05,1793193478355505664
+74,1.233333333,BASELINE,763,742.937579593,712,671.937579593,659.062420407,633,877,784,800,649,628,651,0.401004530966,-0.0155057176627,0.0698412692459,0.999999982035,6.64368091698e-05,-0.000176657377674,1.75674613214e-05,1793193478372172288
+75,1.250000000,BASELINE,763.517094146,743,712,672,659,633,877.517094146,784,800,649,628.517094146,650.482905854,0.401003845362,-0.0155070769541,0.0698410284219,0.999999982139,6.35532737486e-05,-0.000177120545098,1.76305987386e-05,1793193478388838912
+76,1.266666667,BASELINE,763.905059703,742.905059703,712,672,659,633,877.905059703,784,800,649,629,650.094940297,0.401003425463,-0.0155081659336,0.0698409252147,0.999999982251,6.09816457064e-05,-0.000177392584011,1.76534666414e-05,1793193478405505792
+77,1.283333333,BASELINE,763.32873285,742.32873285,712,672,659,633,877.32873285,784,800,649,629,650.67126715,0.401004417961,-0.0155066128112,0.0698416806757,0.99999998228,6.3608279327e-05,-0.00017631720736,1.7476405824e-05,1793193478422172160
+78,1.300000000,BASELINE,763.254392345,742,712,671.745607655,659,633,877,784,800,649,629,651,0.401004460008,-0.0155055465704,0.0698416058925,0.999999982094,6.52924315234e-05,-0.000176778247756,1.72493144571e-05,1793193478438839040
+79,1.316666667,BASELINE,763.846543715,742,712,671.153456285,659,633,877,784,800,649,629,651,0.401003240133,-0.0155051267669,0.0698404287864,0.999999981626,6.57252423694e-05,-0.000179279203095,1.69557970899e-05,1793193478455505920
+80,1.333333333,BASELINE,763.572118188,742.427881812,712,671,659,633,877,784,800,649,629,651,0.401003441662,-0.0155052350523,0.0698409555305,0.999999981816,6.53859868398e-05,-0.00017834427386,1.6903343446e-05,1793193478472172544
+81,1.350000000,BASELINE,763.005411853,743,712,671,658.994588147,633,877,784,799.994588147,649,629,651,0.401004127771,-0.0155055395282,0.0698420663119,0.99999998223,6.47743550634e-05,-0.000176231586607,1.69416643162e-05,1793193478488839168
+82,1.366666667,BASELINE,763.580248098,743,712,671,658.419751902,633,877,784,799.419751902,649,629,651,0.401003484931,-0.0155070502233,0.0698419173734,0.999999982197,6.39200832955e-05,-0.000176656800602,1.76586425676e-05,1793193478505505792
+83,1.383333333,BASELINE,763.841086044,742.841086044,712,671.158913956,658.158913956,633,877,784,799.158913956,649,629,650.841086044,0.401002744969,-0.0155079266718,0.0698416174958,0.999999982111,6.31970610673e-05,-0.000177364260816,1.80810286185e-05,1793193478522172416
+84,1.400000000,BASELINE,763.252054812,742.252054812,712,671.747945188,658.747945188,633,877,784,799.747945188,649,629,650.252054812,0.401001742139,-0.0155070864658,0.0698409090857,0.999999981878,6.28292792848e-05,-0.000178835650098,1.77060701612e-05,1793193478538839040
+85,1.416666667,BASELINE,763,742,712,672,659,633,877,784,799.668574856,649,629,650,0.401001669889,-0.0155065505984,0.0698405312335,0.999999981827,6.31923592485e-05,-0.000179021658306,1.74398977658e-05,1793193478555505664
+86,1.433333333,BASELINE,763,742,712,672,659,633,877,784,799.089247232,649,629,650,0.401002293701,-0.0155062423732,0.0698404006349,0.999999981911,6.41021160425e-05,-0.000178246215061,1.72550962095e-05,1793193478572172288
+87,1.450000000,BASELINE,763.487641945,742,712,672.487641945,659,633,877,784,799.487641945,649,629,650.487641945,0.401003249557,-0.0155064780621,0.0698412746212,0.99999998212,6.38648969402e-05,-0.000177124628268,1.75386295909e-05,1793193478588838912
+88,1.466666667,BASELINE,764,742,712,672.936262305,659,633,877,784,799.936262305,649,629,651,0.401004146486,-0.0155067630482,0.069842157266,0.999999982323,6.34279112558e-05,-0.000176099751621,1.78608417072e-05,1793193478605505536
+89,1.483333333,BASELINE,764,742,712,672.362959633,659,633,877,784,799.362959633,649,629,651,0.401004088896,-0.015506650269,0.0698416465621,0.999999982303,6.30637265555e-05,-0.000176351994756,1.78104320445e-05,1793193478622172416
+90,1.500000000,BASELINE,763.782772349,742.217227651,712,672,659,633,877,784,799.217227651,649,628.782772349,651,0.401003482632,-0.0155068516258,0.0698409594092,0.999999982116,6.29293219359e-05,-0.000177465218911,1.77420513104e-05,1793193478638839040
+91,1.516666667,BASELINE,763.19070531,742.80929469,712,672,659,633,877,784,799.80929469,649,628.19070531,651,0.401001929598,-0.0155075950431,0.0698399677831,0.999999981636,6.31914167125e-05,-0.000180064117615,1.76426604163e-05,1793193478655505664
+92,1.533333333,BASELINE,763.392753174,742.607246826,712,672,659,633,877.392753174,784,800,649,628.392753174,651,0.401002308581,-0.0155077529765,0.0698402121637,0.999999981674,6.32659247652e-05,-0.000179829925861,1.75967065316e-05,1793193478672172288
+93,1.550000000,BASELINE,763.972121393,742.027878607,712,672,659,633,877.972121393,784,800,649,628.972121393,651,0.401003605555,-0.0155076327195,0.0698410438275,0.999999981959,6.32513017863e-05,-0.00017824960314,1.75761430119e-05,1793193478688838656
+94,1.566666667,BASELINE,763.449477875,742,712,671.449477875,659,632.449477875,877.449477875,784,800,649,628.449477875,651,0.401003076515,-0.0155066763328,0.0698409643982,0.999999981935,6.43124756438e-05,-0.00017800436395,1.75673244707e-05,1793193478705505280
+95,1.583333333,BASELINE,763.127472626,742,712,671,659,632,877,784,800,649,628.127472626,651,0.401002698013,-0.0155056947777,0.069840965783,0.999999981915,6.50032990186e-05,-0.000177874730715,1.74736040048e-05,1793193478722172160
+96,1.600000000,BASELINE,763.699535839,742,712,671,659,632,877,784,800,649,628.699535839,651,0.401003166485,-0.0155047728598,0.0698414096608,0.999999981966,6.42127650002e-05,-0.00017791291159,1.70816974659e-05,1793193478738838784
+97,1.616666667,BASELINE,763.719312896,742.280687104,712,671.280687104,659,632.280687104,877.280687104,784,800,649,628.719312896,650.719312896,0.40100303174,-0.0155041637706,0.0698414110816,0.999999981901,6.45439211864e-05,-0.00017817146994,1.69359974495e-05,1793193478755505664
+98,1.633333333,BASELINE,763.128107751,742.871892249,712,671.871892249,659,632.871892249,877.871892249,784,800,649,628.128107751,650.128107751,0.401002229669,-0.015503900757,0.0698409230217,0.999999981707,6.61159789028e-05,-0.000178673827095,1.70626703789e-05,1793193478772172544
+99,1.650000000,BASELINE,763.453702799,742.546297201,712,672,659.453702799,632.546297201,877.546297201,784,800,649,628,650.453702799,0.401002803694,-0.015504333548,0.0698411466507,0.99999998178,6.49228900436e-05,-0.000178695255698,1.70990006611e-05,1793193478788838912
+100,1.666666667,BASELINE,763.967330233,742,712,671.967330233,659.967330233,632.032669767,877,784,799.967330233,649,628.032669767,651,0.401003607956,-0.0155049492911,0.0698414946228,0.999999981904,6.30877890188e-05,-0.000178660268065,1.71087848767e-05,1793193478805505536
+101,1.683333333,BASELINE,763.392425098,742,712,671.392425098,659.392425098,632.607574902,877,784,799.392425098,649,628.607574902,651,0.40100191538,-0.015505406858,0.0698406387315,0.999999981669,6.32927986076e-05,-0.000179897047905,1.70927706289e-05,1793193478822172160
+102,1.700000000,BASELINE,763.186181875,742,712,671,659,633,877,784,799.186181875,649.186181875,628.813818125,651,0.401001218842,-0.0155058608458,0.0698400931017,0.999999981566,6.35098210944e-05,-0.00018039459024,1.71109194175e-05,1793193478838839040
+103,1.716666667,BASELINE,763.77274961,742,712,671,659,633,877,784,799.77274961,649.77274961,628.22725039,651,0.401002664294,-0.0155063071364,0.0698402146922,0.999999981745,6.37526774046e-05,-0.000179302395261,1.72025361372e-05,1793193478855505664
+104,1.733333333,BASELINE,763.645120871,742.354879129,712,671,659,632.645120871,877,784,800,649.645120871,628,651,0.401003069902,-0.0155070734188,0.0698406421569,0.999999981861,6.29608731516e-05,-0.000178901587461,1.75333089097e-05,1793193478872172032
+105,1.750000000,BASELINE,763.065798246,742.934201754,712,671,659,632.065798246,877,784,800,649.065798246,628,651,0.401002817861,-0.0155080420803,0.0698412630718,0.999999981936,6.15146972938e-05,-0.000178938047746,1.80153360652e-05,1793193478888838656
+106,1.766666667,BASELINE,763,743,712,671,659,632.510825172,877,784.510825172,799.489174828,649,628.510825172,651,0.401002758013,-0.0155077420806,0.0698412644269,0.999999981713,6.45853154258e-05,-0.00017909323704,1.81175520336e-05,1793193478905505536
+107,1.783333333,POSE1_TO_POSE2_PRESS,763,742,712,671,659,632,877,784,800,649,628,650,0.401001871971,-0.0155036050616,0.0698406819359,0.99999998129,6.90477809643e-05,-0.000179893998438,1.70556445165e-05,1793193478948552448
+108,1.800000000,POSE1_TO_POSE2_PRESS,763.588083131,742,712,671,659,632.588083131,876.411916869,784.588083131,800,649,628,650.588083131,0.401001999755,-0.0155055304743,0.0698402522583,0.999999981308,6.80171757531e-05,-0.000180152996211,1.73702251664e-05,1793193478965218816
+109,1.816666667,POSE1_TO_POSE2_PRESS,763.82680789,742.17319211,712,671.17319211,659,633,876,784.82680789,800,649,628,651,0.401002078306,-0.0155062364255,0.0698401339761,0.999999981344,6.73451976609e-05,-0.000180194548435,1.75284451824e-05,1793193478981885696
+110,1.833333333,POSE1_TO_POSE2_PRESS,763.248653041,742.751346959,712,671.751346959,659,633,876,784.248653041,800,649,628,651,0.40100204174,-0.0155040909976,0.0698407438079,0.99999998142,6.75117715412e-05,-0.000179727663311,1.73210583585e-05,1793193478998552576
+111,1.850000000,POSE1_TO_POSE2_PRESS,763,742.67237267,712,672,659,632.67237267,876.32762733,784,799.67237267,649,628,651,0.401001602646,-0.0155042561778,0.0698405992285,0.99999998144,6.60648248881e-05,-0.000180166425602,1.72178036392e-05,1793193479015219200
+112,1.866666667,POSE1_TO_POSE2_PRESS,763,742.097506877,712,672,659,632.097506877,876.902493123,784,799.097506877,649,628,651,0.401000859791,-0.0155061650199,0.0698398853454,0.99999998141,6.34002620519e-05,-0.000181288619534,1.71931304762e-05,1793193479031885824
+113,1.883333333,POSE1_TO_POSE2_PRESS,763.478855392,742,712,672,659,632.478855392,877.478855392,784,799.478855392,649,628,651,0.401002397205,-0.0155061139003,0.0698407955686,0.999999981672,6.32719862177e-05,-0.000179874351324,1.72535101263e-05,1793193479048552192
+114,1.900000000,POSE1_TO_POSE2_PRESS,763.942911566,742,712,671.942911566,659,633,877.942911566,784,800,649,628,651,0.401004461473,-0.0155057461538,0.0698420764259,0.99999998194,6.3590713672e-05,-0.000178255036876,1.73472568758e-05,1793193479065218816
+115,1.916666667,POSE1_TO_POSE2_PRESS,763.349988415,742,712,671.349988415,659,633,877.349988415,784,800,649,628,651,0.401007099027,-0.0155061642188,0.0698437222967,0.999999981722,6.32424038629e-05,-0.000179574115597,1.75911234682e-05,1793193479081885696
+116,1.933333333,POSE1_TO_POSE2_PRESS,763,742.235941469,712,671.235941469,659,633,877.235941469,784,799.764058531,649,628.235941469,650.764058531,0.401013934996,-0.0155069245092,0.0698472919412,0.999999981764,6.27180117382e-05,-0.000179467676548,1.81470453224e-05,1793193479098552320
+117,1.950000000,POSE1_TO_POSE2_PRESS,763,742.811796322,712,671.811796322,659,633,877.811796322,784,799.188203678,649,628.811796322,650.188203678,0.401026819487,-0.0155081778328,0.0698536331055,0.999999982179,6.19399434408e-05,-0.000177307539181,1.91525352662e-05,1793193479115218944
+118,1.966666667,POSE1_TO_POSE2_PRESS,763,742.613532691,712,672,659,633,877.613532691,783.613532691,799,649,629,650.386467309,0.401050484354,-0.01551058877,0.0698615970272,0.999999982622,6.23008159012e-05,-0.000174584083438,1.98728609746e-05,1793193479131885568
+119,1.983333333,POSE1_TO_POSE2_PRESS,763,742.039436418,712,672,659,633,877.039436418,783.039436418,799,649,629,650.960563582,0.40107938307,-0.015513561726,0.0698703487943,0.999999983072,6.32146413381e-05,-0.00017158713776,2.04547402102e-05,1793193479148551936
+120,2.000000000,POSE1_TO_POSE2_PRESS,763.551336712,742.551336712,712,672,659,632.448663288,877,783.551336712,799.551336712,649,628.448663288,651,0.40113218851,-0.0155152039607,0.0698796417529,0.999999984765,6.35350971131e-05,-0.000161309911819,2.02982687229e-05,1793193479165218816
+121,2.016666667,POSE1_TO_POSE2_PRESS,763.859707362,743,712,672,659,632.140292638,877,784,800,649.140292638,628,651,0.401192193309,-0.0155166955844,0.0698876568192,0.999999986126,6.37083221685e-05,-0.000152638378714,1.97629007002e-05,1793193479181885696
+122,2.033333333,POSE1_TO_POSE2_PRESS,763.280289494,743,712,672,659,632.719710506,877,784,800,649.719710506,628,651,0.401269213165,-0.0155180230141,0.0698915470542,0.999999986463,6.35576985365e-05,-0.000150673588784,1.82120267703e-05,1793193479198552320
+123,2.050000000,POSE1_TO_POSE2_PRESS,763,742.702819271,712,672,659,633,877,784.297180729,800,649.702819271,628,651,0.401358935187,-0.0155206780835,0.0698955835078,0.999999987047,6.28836707032e-05,-0.000147248840575,1.63998617556e-05,1793193479215218944
+124,2.066666667,POSE1_TO_POSE2_PRESS,763,742.127174065,712,672,659,633,877,784.872825935,800,649.127174065,628,651,0.401460559394,-0.0155245771785,0.0698997569711,0.999999987846,6.17192023388e-05,-0.000142456081444,1.43428616944e-05,1793193479231885568
+125,2.083333333,POSE1_TO_POSE2_PRESS,763.456593096,742.456593096,712,672,659.456593096,633,877.456593096,784.086813809,799.543406904,649,628.456593096,651,0.401577549331,-0.0155269174817,0.0699019967332,0.999999988129,6.14139450138e-05,-0.000140867774742,1.12141117267e-05,1793193479248552192
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,743,712,672,659.957614887,633,877.957614887,783.042385113,799,649,629,651,0.401701643027,-0.015528661959,0.0699036520374,0.999999988263,6.14271463033e-05,-0.00014014816681,7.70314977156e-06,1793193479265218816
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,743,712,672,659.375367584,633,877.375367584,783.624632416,799,649,629,651,0.401860718622,-0.0155284475321,0.0699048473608,0.999999988399,6.23932081729e-05,-0.000138919130802,3.19496088554e-06,1793193479281885440
+128,2.133333333,POSE1_TO_POSE2_PRESS,763.795231731,743,712,672,659,633,877,784,799,649,629,650.795231731,0.402033680146,-0.0155286396901,0.069906365526,0.999999988551,6.28887872487e-05,-0.000137624915223,-1.48756295818e-06,1793193479298552064
+129,2.150000000,POSE1_TO_POSE2_PRESS,763.218927004,743,712,672,659,633,877,784,799,649,629,650.218927004,0.402231836612,-0.0155295695657,0.069908469463,0.999999988747,6.25307109574e-05,-0.000136212436397,-6.48640383866e-06,1793193479315218688
+130,2.166666667,POSE1_TO_POSE2_PRESS,763,743,712,671.6443681,659,633,877,784,799.3556319,649,629,650.3556319,0.402450738149,-0.0155282893115,0.0699114442184,0.99999999025,4.22385456486e-05,-0.0001325667894,-1.19281571717e-05,1793193479331885568
+131,2.183333333,POSE1_TO_POSE2_PRESS,763,743,712,671.070878619,659,633,877,784,799.929121381,649,629,650.929121381,0.402682347988,-0.0155256551475,0.0699149524312,0.999999991662,9.73489862572e-06,-0.000127553119154,-1.76412360074e-05,1793193479348552192
+132,2.200000000,POSE1_TO_POSE2_PRESS,763.518540624,743,712,671,659,633,877.518540624,784,800,649,629,651,0.402944559785,-0.0155213559423,0.0699199028034,0.999999992532,2.42299635608e-06,-0.000120029106924,-2.28683974147e-05,1793193479365218816
+133,2.216666667,POSE1_TO_POSE2_PRESS,763.892141563,742.892141563,712,671,659,633,877.892141563,784,800.107858437,649,629,650.892141563,0.403221292384,-0.015517981634,0.069925260583,0.999999993446,2.02603907264e-06,-0.00011128823572,-2.68201733652e-05,1793193479381885440
+134,2.233333333,POSE1_TO_POSE2_PRESS,763.313080679,742.313080679,712,671,659,633,877.313080679,784,800.686919321,649,629,650.313080679,0.403542609028,-0.0155196737296,0.0699315097248,0.999999994663,1.63183649063e-05,-9.87778259325e-05,-2.54995230564e-05,1793193479398552064
+135,2.250000000,POSE1_TO_POSE2_PRESS,763,742,712,671,659,632.735722135,877.264277865,784,800.47144427,648.735722135,629,650.264277865,0.403879811735,-0.0155215979688,0.0699363375571,0.999999995258,1.58226344755e-05,-9.26373109226e-05,-2.55190602462e-05,1793193479415218688
+136,2.266666667,POSE1_TO_POSE2_PRESS,763,742,712,671,659,632.160367418,877.839632582,784,799.320734837,648.160367418,629,650.839632582,0.404235713629,-0.01552379546,0.0699394923904,0.999999995213,-2.07985911895e-06,-9.39946883724e-05,-2.71161087753e-05,1793193479431885312
+137,2.283333333,POSE1_TO_POSE2_PRESS,763,742,712,671.422768008,659,632,877.577231992,784,799,648.422768008,629,651,0.40461796712,-0.0155260927156,0.0699460909479,0.999999996108,-8.47438178863e-06,-8.29822645805e-05,-2.87337057734e-05,1793193479448551936
+138,2.300000000,POSE1_TO_POSE2_PRESS,763.008806529,742,712,672,659,632.008806529,877.008806529,784,799,649,629,650.991193471,0.405010989698,-0.0155283527365,0.0699539105796,0.999999997214,-1.03922928255e-05,-6.73928692909e-05,-3.03595624428e-05,1793193479465218816
+139,2.316666667,POSE1_TO_POSE2_PRESS,763.588129321,742,712,672,659,632.588129321,877.588129321,784,799,649,629,650.411870679,0.405441962524,-0.0155257029983,0.0699546224396,0.999999997323,-1.04004639251e-05,-6.49678350287e-05,-3.20060833482e-05,1793193479481885440
+140,2.333333333,POSE1_TO_POSE2_PRESS,763.833033606,742.166966394,712,671.833033606,659,633,878,784,799,649,629,650,0.405878159673,-0.0155222925985,0.0699493520508,0.999999996659,-7.70897429968e-06,-7.39714714748e-05,-3.39266277366e-05,1793193479498551808
+141,2.350000000,POSE1_TO_POSE2_PRESS,763.255391309,742.744608691,712,671.255391309,659,633,878,784,799,649,629,650,0.406327206669,-0.0155170112514,0.0699293675308,0.999999993162,1.62268755421e-06,-0.000111085433717,-3.65211688103e-05,1793193479515218432
+142,2.366666667,POSE1_TO_POSE2_PRESS,763,743,712,671.320167094,659,632.679832906,877.679832906,784,799.320167094,649,629,650.320167094,0.406819265969,-0.0155136754645,0.0699140385412,0.999999990354,3.620229291e-06,-0.000133138897165,-3.94152957382e-05,1793193479531885312
+143,2.383333333,POSE1_TO_POSE2_PRESS,763,743,712,671.894074023,659,632.105925977,877.105925977,784,799.894074023,649,629,650.894074023,0.407345413563,-0.0155118815784,0.069902399165,0.999999988834,-1.94687991632e-07,-0.00014325657065,-4.25468516995e-05,1793193479548552448
+144,2.400000000,POSE1_TO_POSE2_PRESS,763.480126414,742.519873586,712,672,659.480126414,632.480126414,877.480126414,784,800,649,629,651,0.407920032048,-0.0155151179744,0.0699150142019,0.999999992323,-9.90506496469e-06,-0.000115899684458,-4.27094653124e-05,1793193479565219584
+145,2.416666667,POSE1_TO_POSE2_PRESS,763.932143904,742.067856096,712,671.932143904,659.932143904,633,877.932143904,784,800,649,629,650.932143904,0.408509452699,-0.0155190022194,0.0699322616649,0.999999995613,-1.97655952846e-05,-8.11376587156e-05,-4.24369574235e-05,1793193479581886720
+146,2.433333333,POSE1_TO_POSE2_PRESS,763.3524977,742.6475023,712,671.3524977,659.3524977,633,877.3524977,784,800,649,629,650.3524977,0.409127767664,-0.0155191851724,0.0699430417635,0.999999997335,-2.06940662609e-05,-5.44994573401e-05,-4.39511343711e-05,1793193479598553088
+147,2.450000000,POSE1_TO_POSE2_PRESS,763,742.774143567,712,671.225856433,659,633,877.225856433,784.225856433,800,649,629,650.225856433,0.409745623241,-0.0155188384281,0.0699454194616,0.999999997639,-2.11443460246e-05,-4.71284946399e-05,-4.5314967366e-05,1793193479615219200
+148,2.466666667,POSE1_TO_POSE2_PRESS,763,742.197794552,712,671.802205448,659,633,877.802205448,784.802205448,800,649,629,650.802205448,0.410362765885,-0.0155176696795,0.0699347579956,0.999999996278,-2.08525504792e-05,-6.96571654647e-05,-4.64454908442e-05,1793193479631885824
+149,2.483333333,POSE1_TO_POSE2_PRESS,763,742.377416492,712.377416492,671.622583508,659,633,877.622583508,784.622583508,799.622583508,649,628.622583508,651,0.411034053927,-0.0155187299617,0.0699357478634,0.999999996259,-2.0607584143e-05,-6.98278226085e-05,-4.67145532378e-05,1793193479648552192
+150,2.500000000,POSE1_TO_POSE2_PRESS,763,742.952032929,712.952032929,671.047967071,659,633,877.047967071,784.047967071,799.047967071,649,628.047967071,651,0.411733632896,-0.0155209549113,0.0699428255482,0.999999997009,-2.03870860577e-05,-5.8316427111e-05,-4.65335025757e-05,1793193479665218560
+151,2.516666667,POSE1_TO_POSE2_PRESS,763.541460923,743,712.458539077,671.541460923,659.541460923,633,877.541460923,784,799,649,628,651,0.41246341207,-0.0155384022221,0.0699723170631,0.999999998194,-4.15879237831e-05,-1.10293367647e-05,-4.19515630833e-05,1793193479681885440
+152,2.533333333,POSE1_TO_POSE2_PRESS,763.870820302,743,712,672.129179698,659.870820302,633,877.870820302,784,799.129179698,649,628.129179698,651,0.413196790785,-0.0155562161422,0.0699987175204,0.99999999675,-6.41999572775e-05,3.06408904645e-05,-3.79330671362e-05,1793193479698552320
+153,2.550000000,POSE1_TO_POSE2_PRESS,763.293706235,743,712,672.706293765,659.293706235,633,877.293706235,784,799.706293765,649,628.706293765,651,0.413933112973,-0.0155704937367,0.0700073208677,0.999999994836,-8.49400288793e-05,4.15357341464e-05,-3.72582251363e-05,1793193479715218944
+154,2.566666667,POSE1_TO_POSE2_PRESS,763,743,712,672.717061991,659.282938009,633,877.282938009,784,800,649,628.717061991,650.717061991,0.414646028013,-0.0155725700476,0.0699838257877,0.999999995023,-9.1265657414e-05,-2.45660506394e-06,-4.02332540668e-05,1793193479731885824
+155,2.583333333,POSE1_TO_POSE2_PRESS,763,743,712,672.140904572,659.859095428,633,877.859095428,784,800,649,628.140904572,650.140904572,0.415334685427,-0.0155620017064,0.0699270658885,0.999999990142,-8.26530526632e-05,-0.0001033306166,-4.69907825857e-05,1793193479748552960
+156,2.600000000,POSE1_TO_POSE2_PRESS,763,743,712,672,659.566288211,632.566288211,877.566288211,784,800,649,628.433711789,650,0.416111510227,-0.0155560718154,0.0699019923855,0.999999985234,-8.20867597963e-05,-0.000141820009662,-5.17741129676e-05,1793193479765219584
+157,2.616666667,POSE1_TO_POSE2_PRESS,763.008080089,743,712,672.008080089,659,632.008080089,877.008080089,784,800,649.008080089,629,650.008080089,0.416917161728,-0.0155517600338,0.0698879143534,0.999999982264,-8.4129284863e-05,-0.000158994113418,-5.58143381178e-05,1793193479781886208
+158,2.633333333,POSE1_TO_POSE2_PRESS,763.600593165,743,712,672.600593165,659,632.600593165,877.600593165,784,800,649.600593165,629,650.600593165,0.417743375718,-0.0155558748303,0.0699271884375,0.999999990362,-8.64598482388e-05,-9.51953416567e-05,-5.23324474618e-05,1793193479798552832
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,742.811600633,712,673,659.188399367,633,878,784,799.811600633,649.811600633,629,650.811600633,0.418571250233,-0.0155595489001,0.0699604306747,0.999999993907,-8.85135922335e-05,-4.36870579532e-05,-4.94237575724e-05,1793193479815219456
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,742.23352982,712,673,659.76647018,633,878,784,799.23352982,649.23352982,629,650.23352982,0.419402559208,-0.0155623114029,0.0699811970795,0.999999994658,-8.99947837356e-05,-1.75995236907e-05,-4.77006347062e-05,1793193479831886080
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,742.342767116,712,672.657232884,660,632.657232884,878,784.342767116,799.342767116,649,628.657232884,650,0.420243718219,-0.0155659093262,0.0699976539083,0.999999994452,-9.43260771454e-05,5.18352379242e-06,-4.66041476634e-05,1793193479848552448
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,742.917861693,712,672.082138307,660,632.082138307,878,784.917861693,799.917861693,649,628.082138307,650,0.421091553547,-0.0155700734971,0.0700111897067,0.999999993555,-0.000100589168823,2.57267899304e-05,-4.5932394287e-05,1793193479865218816
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,743,712,672,660,632.506854467,877.493145533,784.493145533,800,649,628,650,0.421901610287,-0.0155663877362,0.0699915187315,0.999999993952,-9.81752560676e-05,-7.64422982167e-06,-4.89749320214e-05,1793193479881885696
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,742.903978683,712,672.096021317,659.903978683,632.903978683,877.096021317,784,799.903978683,649,628.096021317,650,0.422694561001,-0.0155611562602,0.0699571984064,0.999999992164,-9.38995912347e-05,-6.32789484532e-05,-5.33990766068e-05,1793193479898552320
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,742.325571362,712,672.674428638,659.325571362,632.325571362,877.674428638,784,799.325571362,649,628.674428638,650,0.423433198743,-0.0155547305,0.0698770801446,0.999999977039,-8.75342755296e-05,-0.000185630354926,-6.16549112679e-05,1793193479915219200
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,742,712,673,659.251365857,632.251365857,877.748634143,784,799.502731713,649,629,650.251365857,0.424223501101,-0.015552620567,0.06983971174,0.99999996606,-8.68976406218e-05,-0.000236504472137,-6.62957142917e-05,1793193479931885824
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,742,712,673,659.826410134,632.826410134,877.173589866,784,800.652820268,649,629,650.826410134,0.425080330976,-0.015556068031,0.0698573913982,0.999999974341,-9.36377054021e-05,-0.000195338837095,-6.62815206423e-05,1793193479948552960
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.409770324,742.409770324,712,673,660,632.590229676,877.409770324,784,800.590229676,649,628.590229676,650.590229676,0.425953015585,-0.0155611768035,0.0699070453715,0.999999986262,-9.53632915247e-05,-0.000120918980029,-6.1322123459e-05,1793193479965219584
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.9967263,742.9967263,712,673,660,632.0032737,877.9967263,784,800.0032737,649,628.0032737,650.0032737,0.426832555768,-0.0155670039295,0.0699705251128,0.999999993509,-9.49206042823e-05,-3.21199208831e-05,-5.42244082562e-05,1793193479981885952
+170,2.833333333,POSE1_TO_POSE2_PRESS,764.423640347,743,712,673,660,632.576359653,878,784.576359653,800,649,628,650.576359653,0.427662084104,-0.0155686311977,0.0699923049756,0.999999993551,-0.000100279454358,-6.39041616261e-06,-5.29191772041e-05,1793193479998552576
+171,2.850000000,POSE1_TO_POSE2_PRESS,763.844092496,743,712,673,660,632.844092496,878.155907504,785,799.844092496,649,628,650.844092496,0.428484992521,-0.0155707593524,0.070008450233,0.999999993015,-0.000105084102264,1.54488049368e-05,-5.18583895028e-05,1793193480015219200
+172,2.866666667,POSE1_TO_POSE2_PRESS,763.264665376,743,712,673,660,632.264665376,878.735334624,785,799.264665376,649,628,650.264665376,0.429290679986,-0.0155743121441,0.0700099245327,0.999999992433,-0.000108294879089,2.76810700842e-05,-5.13733735538e-05,1793193480031885824
+173,2.883333333,POSE1_TO_POSE2_PRESS,763.310971924,742.689028076,712,673,660,632,878.689028076,784.689028076,799.310971924,649,628,650,0.430040385232,-0.0155752054199,0.0699904133578,0.999999992334,-0.000111664480931,-1.94868313572e-06,-5.347757135e-05,1793193480048552448
+174,2.900000000,POSE1_TO_POSE2_PRESS,763.88342255,742.11657745,712,673,660,632,878.11657745,784.11657745,799.88342255,649,628,650,0.430743018156,-0.0155738624591,0.0699532566843,0.999999989471,-0.000115167629234,-6.677784056e-05,-5.77588923979e-05,1793193480065219072
+175,2.916666667,POSE1_TO_POSE2_PRESS,763.532351376,742,712,673,660,632,878.467648624,784,800,649,628.467648624,650,0.431419277773,-0.0155692788263,0.0698995925845,0.999999979453,-0.000110954271249,-0.000157388479169,-6.33374395299e-05,1793193480081885696
+176,2.933333333,POSE1_TO_POSE2_PRESS,763.054554432,742.054554432,712,673,660,632,878.945445568,784,800,649,629,650,0.432098967385,-0.0155647352512,0.0698505734086,0.999999963531,-0.000106049984564,-0.000238761986325,-6.84417078605e-05,1793193480098552576
+177,2.950000000,POSE1_TO_POSE2_PRESS,763.638244298,742.638244298,712,673,660,632,878.361755702,784,800,649,629,650,0.432877338949,-0.0155686181061,0.0698875500755,0.999999977512,-0.000113583627993,-0.000166596199464,-6.57283090356e-05,1793193480115218944
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,743,712,673,660.218809172,632.218809172,878,784.218809172,800,649,628.781190828,650,0.433640773477,-0.015573632092,0.069932405903,0.999999987175,-0.000119350138065,-8.7377141686e-05,-6.14006247058e-05,1793193480131885824
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,743,712,673,660.794280357,632.794280357,878,784.794280357,800,649,628.205719643,650,0.43437986055,-0.015580489838,0.0699901048785,0.999999991042,-0.000122236197328,3.33885741818e-06,-5.44416320603e-05,1793193480148552448
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,742.631394411,712,673.368605589,660.631394411,633,878.368605589,784.631394411,800,649,628.368605589,650,0.43504332935,-0.0155841276871,0.0700061265339,0.999999990476,-0.000124793081401,2.62196837064e-05,-5.27876016308e-05,1793193480165219072
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,742.057706792,712,673.942293208,660.057706792,633,878.942293208,784.057706792,800,649,628.942293208,650,0.435664726174,-0.0155859740736,0.0699989600693,0.999999990387,-0.000127166821625,1.13588767607e-05,-5.40851071131e-05,1793193480181885440
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,742.53261346,712,674,660,633,877.93477308,784,800.53261346,649,629,650,0.436266296581,-0.0155868239487,0.0699770118169,0.999999988894,-0.000137004009166,-1.79113058363e-05,-5.5860026869e-05,1793193480198552320
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,743,712,673.878364097,660,632.878364097,877.121635903,784,800.878364097,649,629,650.121635903,0.436853467338,-0.0155874595696,0.0699528590546,0.99999998655,-0.000145593257949,-4.84475791983e-05,-5.79305462298e-05,1793193480215219200
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,743,712,673.30116918,660,632.30116918,877.69883082,784,800.30116918,649,629,650.69883082,0.437395012164,-0.015587710157,0.0699266414178,0.999999984413,-0.000146382449663,-7.76900871827e-05,-6.09081922004e-05,1793193480231886592
+185,3.083333333,POSE1_TO_POSE2_PRESS,764,743,712,673.275190107,660,632,877.724809893,784,799.724809893,649,628.724809893,650.724809893,0.437908266653,-0.015588841711,0.0698971333928,0.999999980365,-0.000146217407628,-0.000117345997848,-6.4193271191e-05,1793193480248553472
+186,3.100000000,POSE1_TO_POSE2_PRESS,764,743,712,673.850637609,660,632,877.149362391,784,799.149362391,649,628.149362391,650.149362391,0.43839065378,-0.0155909344797,0.0698640352574,0.999999973013,-0.000145011209701,-0.000168363874308,-6.78137872476e-05,1793193480265219840
+187,3.116666667,POSE1_TO_POSE2_PRESS,764,742.564338282,712,673.564338282,660,632,877.435661718,784,799.435661718,648.564338282,628.435661718,650,0.438820497384,-0.0155923700394,0.0698294910289,0.999999959595,-0.000151386570666,-0.000230403757459,-6.93310926342e-05,1793193480281885952
+188,3.133333333,POSE1_TO_POSE2_PRESS,764,742.023649909,712,673.023649909,660,632,878.023649909,784,800,648.023649909,628.976350091,650,0.439233018543,-0.0155935986719,0.0697953745946,0.999999941438,-0.000160077932913,-0.000294239859063,-7.01570197398e-05,1793193480298552064
+189,3.150000000,POSE1_TO_POSE2_PRESS,764,742.60241343,712,673.60241343,660,632,878.60241343,784,800,648.60241343,628.39758657,650,0.439671275448,-0.015595377837,0.0697831979978,0.999999936574,-0.00016074926005,-0.000309547215279,-7.2060171007e-05,1793193480315218944
+190,3.166666667,POSE1_TO_POSE2_PRESS,764,743,712,674,659.819509689,632,878.819509689,783.819509689,800,649,628,650,0.440099915493,-0.0155987736943,0.069778874891,0.999999934222,-0.000165259602907,-0.000314465382593,-7.31966130668e-05,1793193480331885568
+191,3.183333333,POSE1_TO_POSE2_PRESS,764,743,712,674,659.242939503,632,878.242939503,783.242939503,800,649,628,650,0.440507451746,-0.0156057173284,0.0697917859998,0.999999937503,-0.000178194535856,-0.000296584829777,-7.2650538117e-05,1793193480348552192
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,743,712,674,659,632,878,783,800,649,628.333450614,650,0.440886347802,-0.0156147484954,0.0698017762468,0.999999938359,-0.000192400409681,-0.00028488845366,-7.14373994946e-05,1793193480365218816
+193,3.216666667,POSE1_TO_POSE2_PRESS,764,743,712,674,659,632,878,783,800,649,628.909709575,650,0.441244388934,-0.0156252997384,0.0698096396125,0.999999937476,-0.000207531742284,-0.000277695203434,-6.97385259227e-05,1793193480381885952
+194,3.233333333,POSE1_TO_POSE2_PRESS,764,743,712,674,659,632,878,783,800,649,628.503624583,650,0.441545621071,-0.0156299287693,0.0698028913263,0.999999933225,-0.000210612657461,-0.000290456274369,-6.94858413451e-05,1793193480398552576
+195,3.250000000,POSE1_TO_POSE2_PRESS,764,743,712,674,659,631.916420701,878,783,800,649,628.083579299,650.083579299,0.441828438553,-0.0156335063738,0.069790933511,0.999999926433,-0.000212583679827,-0.00031155629791,-6.98143428101e-05,1793193480415219456
+196,3.266666667,POSE1_TO_POSE2_PRESS,764,743,712,674,659,631.337487618,878,783,800,649,628.662512382,650.662512382,0.44206467272,-0.0156373737358,0.0697641898702,0.999999908095,-0.000221246076494,-0.000360106332249,-7.19949048354e-05,1793193480431885824
+197,3.283333333,POSE1_TO_POSE2_PRESS,764,743,711.760209677,674,659,631,878.239790323,783,800,649,629,651,0.442287904971,-0.0156402885098,0.0697400974654,0.999999891314,-0.000226752555375,-0.000400679449526,-7.35661378137e-05,1793193480448552448
+198,3.300000000,POSE1_TO_POSE2_PRESS,764,743,711.185245306,674,659,631,878.814754694,783,800,649,629,651,0.442492963388,-0.0156418717755,0.0697197109067,0.999999878789,-0.000227847756159,-0.000430102590711,-7.42856629841e-05,1793193480465218816
+199,3.316666667,POSE1_TO_POSE2_PRESS,764,742.602230752,711.397769248,674,658.602230752,631,879,783,800,649,628.602230752,650.602230752,0.4426841552,-0.0156432954081,0.0697100244459,0.999999871479,-0.000230524719459,-0.000445326177715,-7.47263207041e-05,1793193480481885696
+200,3.333333333,POSE1_TO_POSE2_PRESS,764,742.015389649,711.984610351,674,658.015389649,631,879,783,800,649,628.015389649,650.015389649,0.442868755808,-0.0156446431625,0.069705424066,0.99999986685,-0.000233953542865,-0.000453800286257,-7.50344242988e-05,1793193480498552576
+201,3.350000000,POSE1_TO_POSE2_PRESS,764,742.566776809,712,674,658,631,879,783,800,649,628,650.566776809,0.44303542833,-0.0156473326763,0.0697074883607,0.999999867494,-0.000239499340282,-0.000449563435302,-7.44670301707e-05,1793193480515219456
+202,3.366666667,POSE1_TO_POSE2_PRESS,764,743,712,674,658,631,878.852590181,782.852590181,800,649,628,650.852590181,0.443191100993,-0.0156505274716,0.0697071133279,0.9999998661,-0.000245589637789,-0.000449434905256,-7.41225676053e-05,1793193480531886336
+203,3.383333333,POSE1_TO_POSE2_PRESS,764,743,712,674,658,631,878.27605458,782.27605458,800,649,628,650.27605458,0.443316157463,-0.0156550880038,0.0696991146516,0.999999858352,-0.000253099067214,-0.000462262656408,-7.4495720255e-05,1793193480548552704
+204,3.400000000,POSE1_TO_POSE2_PRESS,763.700547144,743,712,674,658.299452856,631,878,782.299452856,800.299452856,648.700547144,628.299452856,650,0.44342234726,-0.0156567503622,0.0696881779536,0.999999849414,-0.000257414964118,-0.000478777832722,-7.53781240906e-05,1793193480565219072
+205,3.416666667,POSE1_TO_POSE2_PRESS,763.125984325,743,712,674,658.874015675,631,878,782.874015675,800.874015675,648.125984325,628.874015675,650,0.44351120407,-0.0156557501426,0.0696745420698,0.999999839227,-0.000258796934238,-0.000498680677987,-7.67283814166e-05,1793193480581885440
+206,3.433333333,POSE1_TO_POSE2_PRESS,763.461085339,743,712,674,659,631,878,783,800.538914661,648.922170677,629,650,0.443586906758,-0.0156565657539,0.0696676578681,0.999999833732,-0.000259940856551,-0.000508898525876,-7.73879416819e-05,1793193480598552320
+207,3.450000000,POSE1_TO_POSE2_PRESS,764,743,712,674,658.949336699,631,878,782.949336699,800,649.949336699,628.949336699,650.050663301,0.443657981295,-0.0156579640978,0.0696633655362,0.999999830043,-0.000260951705956,-0.000515539433123,-7.77041051202e-05,1793193480615219200
+208,3.466666667,POSE1_TO_POSE2_PRESS,764,743,712,674,658.370233719,631,878,782.370233719,800,649.370233719,628.370233719,650.629766281,0.443719316084,-0.0156601212795,0.0696663290639,0.999999831236,-0.000261271888039,-0.000513242653836,-7.6461828459e-05,1793193480631885824
+209,3.483333333,POSE1_TO_POSE2_PRESS,764,743,712,674,658.207535179,631,878,782,800,649,628,650.792464821,0.443774447922,-0.0156613029292,0.0696685615552,0.999999832611,-0.00026134123676,-0.000510630620271,-7.57242088223e-05,1793193480648552192
+210,3.500000000,POSE1_TO_POSE2_PRESS,764,743,712,674,658.782939271,631,878,782,800,649,628,650.217060729,0.443818584641,-0.0156607553882,0.0696694982387,0.999999834312,-0.000260965967837,-0.000507459779287,-7.5881125042e-05,1793193480665218816
+211,3.516666667,POSE1_TO_POSE2_PRESS,764,743,711.634308578,674,658.634308578,631,878,782,800,648.634308578,628,650,0.443848916097,-0.0156617741641,0.0696686173307,0.999999833293,-0.000261890795152,-0.000509038666608,-7.55486140091e-05,1793193480681885440
+212,3.533333333,POSE1_TO_POSE2_PRESS,764,743,711.047105403,674,658.047105403,631,878,782,800,648.047105403,628,650,0.443870885241,-0.0156637417115,0.0696666354456,0.999999830612,-0.000263603135013,-0.000513494625875,-7.49196402285e-05,1793193480698552064
+213,3.550000000,POSE1_TO_POSE2_PRESS,764,743,711.532637561,674,658.532637561,631,878.532637561,782,800,648.532637561,628,650,0.443884419938,-0.0156616956454,0.0696626342929,0.999999828081,-0.000261468657317,-0.000519396684176,-7.54984829577e-05,1793193480715218688
+214,3.566666667,POSE1_TO_POSE2_PRESS,763.888656479,742.888656479,712,674,659,631,878.888656479,782,800.111343521,649,628,650,0.443896390593,-0.0156603046974,0.0696593292524,0.999999825802,-0.000260162827785,-0.00052436231936,-7.58656044314e-05,1793193480731885312
+215,3.583333333,POSE1_TO_POSE2_PRESS,763.311566432,742.311566432,712,674,659,631,878.311566432,782,800.688433568,649,628,650,0.443904895998,-0.0156631183493,0.0696596727028,0.999999824667,-0.00026372661744,-0.000524883356207,-7.49064625679e-05,1793193480748552192
+216,3.600000000,POSE1_TO_POSE2_PRESS,763.530554309,742.265277154,712,674,659,631,878,782,801,649,628,650.265277154,0.443912001365,-0.0156630125967,0.0696597606107,0.999999824794,-0.000263351748923,-0.000524895434443,-7.44544084174e-05,1793193480765218816
+217,3.616666667,POSE1_TO_POSE2_PRESS,764.683663017,742.841831508,712,674,659,631,878,782,801,649,628,650.841831508,0.443917463919,-0.015659481204,0.0696595486639,0.999999826393,-0.000258355244046,-0.000524310298719,-7.45973729323e-05,1793193480781885440
+218,3.633333333,POSE1_TO_POSE2_PRESS,764.573855802,742.573855802,712,674.426144198,658.573855802,631,878,782,800.573855802,649,628,650.573855802,0.443919915286,-0.0156577379387,0.0696589327203,0.999999826267,-0.000257261440692,-0.000525052740793,-7.48448043575e-05,1793193480798552320
+219,3.650000000,POSE1_TO_POSE2_PRESS,764,742.013201635,712,674.986798365,658.013201635,631,878.013201635,782.013201635,800,649,628,650.013201635,0.44392120825,-0.0156567178803,0.0696581750202,0.999999825505,-0.000257631384324,-0.000526282434272,-7.51144900337e-05,1793193480815218688
+220,3.666666667,POSE1_TO_POSE2_PRESS,764,742.592191735,712,674.407808265,658.592191735,631,878.592191735,782.592191735,800,649,628,650.592191735,0.443921642361,-0.0156577213419,0.0696578875643,0.999999825256,-0.000257502123692,-0.000526885032685,-7.4645360839e-05,1793193480831885568
+221,3.683333333,POSE1_TO_POSE2_PRESS,764,743,712,674.170355273,659,631,879,782.829644727,800,649,628,650.829644727,0.443921785743,-0.0156584805984,0.0696572904638,0.999999824785,-0.000257588502719,-0.000527777403604,-7.43567017219e-05,1793193480848552704
+222,3.700000000,POSE1_TO_POSE2_PRESS,764,743,712,674.746549601,659,631,879,782.253450399,800,649,628,650.253450399,0.443921236517,-0.0156586580824,0.069655955694,0.999999823783,-0.000258188602268,-0.000529360102355,-7.44979783285e-05,1793193480865220352
+223,3.716666667,POSE1_TO_POSE2_PRESS,764,743,712,675,659,631,878.679183051,782,800,649,628,650.320816949,0.443921961368,-0.0156587687469,0.0696558561853,0.999999823708,-0.000258219490423,-0.000529521895467,-7.4252172134e-05,1793193480881886720
+224,3.733333333,POSE1_TO_POSE2_PRESS,764,743,712,675,659,631,878.106428899,782,800,649,628,650.893571101,0.443923686751,-0.0156588269382,0.0696567267256,0.999999824361,-0.000257803377548,-0.000528567853082,-7.37023902487e-05,1793193480898552320
+225,3.750000000,POSE1_TO_POSE2_PRESS,764,743,712,674.518132689,659,631,878,782,800,649,628,650.518132689,0.443924239791,-0.0156585152857,0.0696575715483,0.999999824663,-0.00025782463587,-0.000528013963066,-7.34955612952e-05,1793193480915218688
+226,3.766666667,POSE1_TO_POSE2_PRESS,764,743,712,674.071839946,658.928160054,631,878,782,800,649,628,650,0.443924515244,-0.0156582165042,0.0696581699623,0.999999824824,-0.000257920661233,-0.000527675617808,-7.33948154171e-05,1793193480931885568
+227,3.783333333,POSE1_TO_POSE2_PRESS,764,743,712,674.648663038,658.351336962,631,878,782,800,649,628,650,0.443924720229,-0.0156586015307,0.0696570775588,0.999999824556,-0.000257840577114,-0.000528210438487,-7.34895629489e-05,1793193480948552704
+228,3.800000000,POSE1_TO_POSE2_PRESS,764,743,712,675,658.225423208,631,878,782,800,649,628,650,0.4439258066,-0.015658411978,0.0696570032636,0.999999825212,-0.000256964308403,-0.00052739149053,-7.35040530449e-05,1793193480965219328
+229,3.816666667,POSE1_TO_POSE2_PRESS,764,743,712,675,658.802085305,631,878,782,800,649,628,650,0.443928266286,-0.0156573271555,0.0696585153147,0.999999827302,-0.000254847479806,-0.00052446319366,-7.33934915358e-05,1793193480981886208
+230,3.833333333,POSE1_TO_POSE2_PRESS,764,743,712,675,659,631,878,782,800,649,628,650.385983263,0.443928392379,-0.0156570753402,0.0696579012544,0.999999826952,-0.000254598302982,-0.000525292441351,-7.30945795466e-05,1793193480998552576
+231,3.850000000,POSE1_TO_POSE2_PRESS,764,743,712,675,659,631,878,782,800,649,628,650.973662306,0.443927299052,-0.0156572588133,0.0696561761932,0.999999825325,-0.000255325068757,-0.000528085196251,-7.26972449068e-05,1793193481015218944
+232,3.866666667,POSE1_TO_POSE2_PRESS,764,743,711.443763054,674.443763054,659,631,878,782,800.556236946,649,628.556236946,651,0.443926707048,-0.0156567908449,0.0696562968709,0.999999825827,-0.00025287005936,-0.000528297076763,-7.28357721962e-05,1793193481031885568
+233,3.883333333,POSE1_TO_POSE2_PRESS,764,743,711,674,658.864321454,631,878,782,800.864321454,649,628.864321454,650.864321454,0.443926411623,-0.0156564756534,0.0696564767392,0.999999826317,-0.000251006536145,-0.000528251955677,-7.28804747218e-05,1793193481048551936
+234,3.900000000,POSE1_TO_POSE2_PRESS,764,743,711,674,658.294146253,631,878,782,800.294146253,649,628.294146253,650.294146253,0.443926990634,-0.015656747596,0.0696565688294,0.999999826467,-0.000251515261775,-0.000527771599908,-7.25441976292e-05,1793193481065218816
+235,3.916666667,POSE1_TO_POSE2_PRESS,764,743,711.280705009,674,658.280705009,631,878,782,800,649,628.280705009,650,0.443926999216,-0.015656567799,0.0696564711798,0.999999826301,-0.000251924211374,-0.000527895947227,-7.25089014868e-05,1793193481081885696
+236,3.933333333,POSE1_TO_POSE2_PRESS,764,743,711.860539321,674,658.860539321,631,878,782,800,649,628.860539321,650,0.443926399928,-0.015655906612,0.0696561713367,0.999999825798,-0.000252226836127,-0.000528664687734,-7.27943413728e-05,1793193481098552320
+237,3.950000000,POSE1_TO_POSE2_PRESS,764,743,712,674,659,631,878,782,800,649,628.550674863,650,0.443927332522,-0.0156558433343,0.0696566637472,0.999999825901,-0.000253225851759,-0.000528002366816,-7.27188595607e-05,1793193481115219200
+238,3.966666667,POSE1_TO_POSE2_PRESS,764,743,712,674,658.960071145,631,878,782,800,649,628.039928855,650,0.443928680673,-0.0156559600711,0.0696573262322,0.999999826173,-0.000254349413801,-0.000526967135697,-7.25664681191e-05,1793193481131885824
+239,3.983333333,POSE1_TO_POSE2_PRESS,764,743,712,674,658.383143425,631,878,782,800,649,628.616856575,650,0.443929093199,-0.0156559512518,0.0696569017499,0.999999826167,-0.000254181995657,-0.00052701169619,-7.29169257661e-05,1793193481148552192
+240,4.000000000,POSE1_TO_POSE2_PRESS,764,743,712,674,658.193205633,630.806794367,878.193205633,782,800,649,628.806794367,650,0.443929787617,-0.0156560747345,0.0696571674798,0.999999826627,-0.000253387504933,-0.000526536477477,-7.27993926604e-05,1793193481165218816
+241,4.016666667,POSE1_TO_POSE2_PRESS,764,743,712,674,658.76841055,630.23158945,878.76841055,782,800,649,628.23158945,650,0.443931039382,-0.0156564597996,0.0696587978726,0.999999828006,-0.00025135318869,-0.000525033569859,-7.1756564917e-05,1793193481181885440
+242,4.033333333,HOLD_POSE2,764,743,712,674,658,631,878,782,800,649,628,650,0.443932309407,-0.0156547526099,0.0696597547641,0.999999828693,-0.000253094466311,-0.000522778485092,-7.25298103892e-05,1793193481216897536
+243,4.050000000,HOLD_POSE2,764,743,712,674,658,631,878,782,799.4205777,649,628,650.5794223,0.443931745139,-0.0156559687141,0.0696591560619,0.999999827751,-0.00025469546829,-0.000523881308473,-7.19467755071e-05,1793193481233563904
+244,4.066666667,HOLD_POSE2,764,742.841774777,712,673.841774777,658.158225223,631,878,782.158225223,799.158225223,649,628,650.841774777,0.443931078575,-0.0156565817864,0.0696583780626,0.999999826859,-0.00025543064785,-0.000525242086346,-7.18188221801e-05,1793193481250230528
+245,4.083333333,HOLD_POSE2,764,742.264611666,712,673.264611666,658.735388334,631,878,782.735388334,799.735388334,649,628,650.264611666,0.443930141158,-0.0156555981923,0.0696571253327,0.999999826102,-0.000253873362585,-0.000527285858659,-7.28958024336e-05,1793193481266897408
+246,4.100000000,HOLD_POSE2,764.311711557,742,712,673.311711557,658.688288443,631,878,782.688288443,800.311711557,649,628,650.311711557,0.443930658004,-0.015653991988,0.0696574544618,0.999999826931,-0.000251562699566,-0.000526793023752,-7.31017166358e-05,1793193481283564032
+247,4.116666667,HOLD_POSE2,764.887323681,742,712,673.887323681,658.112676319,631,878,782.112676319,800.887323681,649,628,650.887323681,0.443932406057,-0.0156518586709,0.0696591228211,0.999999829094,-0.000248614213584,-0.000524152651773,-7.2570170708e-05,1793193481300230144
+248,4.133333333,HOLD_POSE2,764.526876994,742.473123006,712,673.526876994,658.473123006,630.526876994,878,782.473123006,800.526876994,649,628,650.526876994,0.443932654426,-0.0156522310028,0.0696590547856,0.999999828876,-0.000249903688839,-0.000523957236706,-7.25646369072e-05,1793193481316896512
+249,4.150000000,HOLD_POSE2,764.060627407,743,712,673.060627407,658.939372593,630.060627407,878,783,799.939372593,649,628,650,0.44393249118,-0.0156530770489,0.0696585499235,0.999999828143,-0.000251808314579,-0.000524431889815,-7.26470519802e-05,1793193481333563136
+250,4.166666667,HOLD_POSE2,764.641486538,743,712,673.641486538,658.358513462,630.641486538,878,783,799.358513462,649,628,650,0.443931928083,-0.0156527548301,0.0696579232433,0.999999827994,-0.000250140335608,-0.000525549910643,-7.2385549275e-05,1793193481350230272
+251,4.183333333,HOLD_POSE2,764.780654762,743,712,674,658.219345238,631,878,782.780654762,799.219345238,649,628,650.219345238,0.443931727776,-0.0156522426441,0.0696574704139,0.999999828168,-0.000247971612836,-0.0005262512562,-7.23491511373e-05,1793193481366897408
+252,4.200000000,HOLD_POSE2,764.207634059,743,712,674,658.792365941,631,878,782.207634059,799.792365941,649,628,650.792365941,0.443932112438,-0.0156514241525,0.0696572979044,0.999999828862,-0.000244995483611,-0.000526280748357,-7.26757149162e-05,1793193481383564032
+253,4.216666667,HOLD_POSE2,764,743,712,674,659,631,878.365622496,782,800,649,628.365622496,651,0.443932115068,-0.0156526204781,0.0696575681061,0.999999828698,-0.000246035549681,-0.00052614806487,-7.23744102411e-05,1793193481400230912
+254,4.233333333,HOLD_POSE2,764,743,712,674,659,631,878.93901313,782,800,649,628.93901313,651,0.443931900605,-0.0156549617408,0.0696580898823,0.999999828041,-0.000249357853097,-0.000525923223673,-7.17163139303e-05,1793193481416897792
+255,4.250000000,HOLD_POSE2,764,743,711.466541512,674,658.466541512,631,878.466541512,782,800,649,628.466541512,651,0.443931358185,-0.0156547758285,0.0696579882703,0.999999827425,-0.000250727364195,-0.000526417821165,-7.19047352635e-05,1793193481433563904
+256,4.266666667,HOLD_POSE2,764,743,711.125914063,674,658,631,878,782,799.874085937,649,628,651,0.443930958478,-0.0156543897302,0.0696577740975,0.999999827018,-0.000251325370252,-0.000526878232904,-7.21046406593e-05,1793193481450230016
+257,4.283333333,HOLD_POSE2,764,743,711.702286273,674,658,631,878,782,799.297713727,649,628,651,0.443931208973,-0.0156543635331,0.069657422676,0.999999827343,-0.000249994810005,-0.000526910009115,-7.19851843828e-05,1793193481466896384
+258,4.300000000,POSE2_TO_POSE3_RETREAT,764,743,712,675,660,631,878,782,800,649,628,650,0.443933657895,-0.0156520715321,0.0696590114214,0.999999829653,-0.000246744020409,-0.000524127429722,-7.14217758155e-05,1793193481505712896
+259,4.316666667,POSE2_TO_POSE3_RETREAT,764,742.384714916,712,674.384714916,659.384714916,631,878,782,800.615285084,649,628,650.615285084,0.443934616016,-0.0156519328753,0.0696591440592,0.999999830145,-0.000245524705518,-0.000523719526806,-7.17299515949e-05,1793193481522380800
+260,4.333333333,POSE2_TO_POSE3_RETREAT,764,742.217009928,712,674,659,631,878,782,801,649,628.217009928,650.782990072,0.443934673153,-0.015652145486,0.0696591244611,0.999999829921,-0.000246074910139,-0.000523857206187,-7.19656379415e-05,1793193481539047936
+261,4.350000000,POSE2_TO_POSE3_RETREAT,764,742.7961091,712,674,659,631,878,782,801,649,628.7961091,650.2038909,0.443933226965,-0.0156529441999,0.069658850852,0.999999828495,-0.000249577624556,-0.000524905210123,-7.20803729866e-05,1793193481555714048
+262,4.366666667,POSE2_TO_POSE3_RETREAT,764,743,712,674,658.626697224,631,878.373302776,782,800.626697224,649,628.626697224,650,0.443932201242,-0.0156535095218,0.0696581841697,0.999999827743,-0.000250423400591,-0.000525945685736,-7.20007848285e-05,1793193481572380416
+263,4.383333333,POSE2_TO_POSE3_RETREAT,764,743,712,674,658.050539042,631,878.949460958,782,800.050539042,649,628.050539042,650,0.443931404003,-0.0156539480166,0.0696573038885,0.99999982736,-0.000249825377047,-0.000526982070344,-7.18156000416e-05,1793193481589047040
+264,4.400000000,POSE2_TO_POSE3_RETREAT,764,743,712,674,658,631,878.465412369,782.534587631,800,649,628.534587631,650,0.443932548375,-0.0156533883161,0.0696578222489,0.999999827554,-0.000250964260637,-0.000526068254669,-7.18465164049e-05,1793193481605713152
+265,4.416666667,POSE2_TO_POSE3_RETREAT,764,743,712,674,658.119168729,631,878.119168729,782.880831271,800,649,628.880831271,650,0.443932846681,-0.0156527519726,0.0696580423708,0.999999827478,-0.000251778218598,-0.000525813209919,-7.19183150101e-05,1793193481622379264
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764,743,712,674,658.698315437,631,878.698315437,782.301684563,800,649,628.301684563,650,0.443929158668,-0.0156521902603,0.0696565922422,0.999999826152,-0.000250693374857,-0.000528824732704,-7.20677120474e-05,1793193481639045888
+267,4.450000000,POSE2_TO_POSE3_RETREAT,764,743,712,674,659,631,878.723696945,782,800,649,628.276303055,650,0.443918823956,-0.0156516172601,0.0696513759127,0.99999982173,-0.000250363127405,-0.000537212928737,-7.25355270376e-05,1793193481655712768
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764,743,712,674,659,631,878.146969642,782,800,649,628.853030358,650,0.443901262288,-0.0156510319866,0.0696420645936,0.999999813799,-0.000250853352358,-0.000551447180066,-7.33495577739e-05,1793193481672379904
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,742.571153024,712,674,658.571153024,631,878.428846976,782,800.428846976,649,629,650,0.443863018424,-0.0156489312962,0.0696281869801,0.999999799454,-0.000249470289248,-0.000577379875402,-7.40934437708e-05,1793193481689046784
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764,742.004450961,712,674,658,631,878.995549039,782,800.995549039,649,629,650.004450961,0.443817549074,-0.0156463030794,0.0696127548418,0.999999782187,-0.000247439216516,-0.000607291468113,-7.48117199088e-05,1793193481705713152
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764,742.593015565,712,674,658,631,878.406984435,782,800.406984435,649,629,650.593015565,0.44375206254,-0.0156424570113,0.0695982504811,0.999999766091,-0.000244439990019,-0.000634346260291,-7.53171906951e-05,1793193481722379520
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764.179458877,743,712,674.179458877,658,631,878,782,800,649,628.820541123,650.820541123,0.443682403275,-0.0156387554301,0.0695873920669,0.999999754535,-0.00024196537422,-0.000653241673548,-7.52260619098e-05,1793193481739046144
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764.761147747,743,712,674.761147747,658,631,878,782,800,649,628.238852253,650.238852253,0.443603391449,-0.0156353776934,0.0695847054887,0.999999754557,-0.000240666593898,-0.000653849076362,-7.37977454162e-05,1793193481755712768
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764.660726453,743,712,674.660726453,658,631,878,782.339273547,799.660726453,649,628,650,0.443510740598,-0.0156299297315,0.0695864771141,0.999999757966,-0.000236968387793,-0.000650209613614,-7.1702240746e-05,1793193481772379392
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764.085083056,743,712,674.085083056,658,631,878,782.914916944,799.085083056,649,628,650,0.443408587526,-0.0156230394565,0.0695913547433,0.999999763673,-0.000231598516178,-0.000643611384983,-6.91419101497e-05,1793193481789046272
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764,743,712,674,658.488516973,631,878.488516973,782.511483027,799.977033947,649,628,650,0.443279945148,-0.0156165709075,0.0695922045461,0.99999976624,-0.000227548552054,-0.000641362672483,-6.63045841023e-05,1793193481805712896
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764,743,711.936075977,674,658.936075977,631,879,782,801,649,628,650.063924023,0.443143037184,-0.0156099016987,0.0695926399157,0.999999768177,-0.000223283433506,-0.000640142893882,-6.33062764293e-05,1793193481822379520
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764,743,711.342769225,674,658.342769225,631,879,782,801,649,628,650.657230775,0.442975725845,-0.0156009649978,0.0695954284985,0.999999769485,-0.000215340695389,-0.000641196795417,-5.93726683839e-05,1793193481839046400
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764,743,711.24434251,674,658.24434251,631,878.75565749,782,800.75565749,649,628,650.75565749,0.442796978275,-0.0155922976838,0.0696023060482,0.999999775581,-0.000207713724444,-0.000634591417808,-5.46596013391e-05,1793193481855713024
+280,4.666666667,POSE2_TO_POSE3_RETREAT,764,743,711.822978577,674,658.822978577,631,878.177021423,782,800.177021423,649,628,650.177021423,0.442602584409,-0.015583998928,0.0696147778565,0.999999788044,-0.000200518766256,-0.000617507111614,-4.8880129417e-05,1793193481872379648
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764,743,712,674,659,631,878.398192682,782.398192682,800.398192682,649,628,650,0.442376939185,-0.0155726083284,0.0696256928849,0.999999800705,-0.000189078532173,-0.000600841006426,-4.27608507646e-05,1793193481889046272
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764,743,712,674,659,631,878.971898523,782.971898523,800.971898523,649,628,650,0.442137519143,-0.0155598549225,0.0696359217256,0.999999813149,-0.000175767088279,-0.000584359231896,-3.64917934765e-05,1793193481905712640
+283,4.716666667,POSE2_TO_POSE3_RETREAT,764,743,712,674,659,631,878.440965066,783,800.440965066,649,628.559034934,650,0.441865713916,-0.0155466692803,0.06964368476,0.99999982205,-0.00015831673238,-0.000574429951562,-2.94155908757e-05,1793193481922379264
+284,4.733333333,POSE2_TO_POSE3_RETREAT,764.144724424,743,712,674,659,631.144724424,878.144724424,783,800,649,628.855275576,650,0.441582547194,-0.0155333446962,0.0696524141397,0.999999834288,-0.00012538529235,-0.000561436571432,-2.21790594124e-05,1793193481939046144
+285,4.750000000,POSE2_TO_POSE3_RETREAT,764.723992583,743,712,674,659,631.723992583,878.723992583,783,800,649,628.276007417,650,0.441270275129,-0.0155196697719,0.0696644263615,0.999999853962,-4.66110392296e-05,-0.000538229717334,-1.45859521912e-05,1793193481955712768
+286,4.766666667,POSE2_TO_POSE3_RETREAT,764.698878727,742.698878727,712,674,659,631.698878727,878.698878727,783,800,649,628,650,0.440933202676,-0.0155067762328,0.0696804111033,0.999999870627,-9.44301516194e-07,-0.0005086342744,-6.07419672698e-06,1793193481972379648
+287,4.783333333,POSE2_TO_POSE3_RETREAT,764.123697274,742.123697274,712,674,659,631.123697274,878.123697274,783,800,649,628,650,0.440573558608,-0.0154945938582,0.069700011363,0.999999887918,1.4590213955e-05,-0.000473224373957,3.27364962331e-06,1793193481989046272
+288,4.800000000,POSE2_TO_POSE3_RETREAT,764,742.449602736,712,674,659,631,878,783,800,649,628,650.449602736,0.44016145864,-0.0154935253503,0.0697129084936,0.999999898791,2.57773427307e-05,-0.00044902332101,1.1508208916e-05,1793193482005712896
+289,4.816666667,POSE2_TO_POSE3_RETREAT,764,743,712,674,659,631.023172553,878,783,800,649,628,651,0.439732911716,-0.0154955223433,0.0697233936739,0.999999907205,3.46009376416e-05,-0.000428995093824,1.88911215774e-05,1793193482022379776
+290,4.833333333,POSE2_TO_POSE3_RETREAT,764,743,712,674,659,631.616049007,878,783,800,649,628,651,0.43925334695,-0.01549802414,0.0697197316851,0.999999904739,1.45997528476e-05,-0.00043605578527,1.28350023636e-05,1793193482039046144
+291,4.850000000,POSE2_TO_POSE3_RETREAT,764,743,712,674,659.20507327,632,878.20507327,783.20507327,800,649,628,650.79492673,0.438754248977,-0.0154959190549,0.0697143779292,0.999999901521,9.26040974613e-06,-0.000443586028931,1.01785240573e-05,1793193482055712512
+292,4.866666667,POSE2_TO_POSE3_RETREAT,764,743,712,674,659.787018135,632,878.787018135,783.787018135,800,649,628,650.212981865,0.438219254079,-0.015485347713,0.0697059151436,0.999999897286,3.08657393571e-05,-0.000451979187418,1.3769706574e-05,1793193482072379136
+293,4.883333333,POSE2_TO_POSE3_RETREAT,764,742.639509425,712,674,660,632,879,784,800,649,628.360490575,650,0.437689088677,-0.0154655157966,0.0697136660835,0.999999904599,6.11183019501e-05,-0.000432324439663,1.27714879493e-05,1793193482089046016
+294,4.900000000,POSE2_TO_POSE3_RETREAT,764,742.070927592,712,674,660,632,879,784,800,649,628.929072408,650,0.437161711026,-0.0154403382619,0.0697307763089,0.999999916718,9.63624355103e-05,-0.00039647918789,9.12406235492e-06,1793193482105712640
+295,4.916666667,POSE2_TO_POSE3_RETREAT,764,742.519833298,712,674,660,632,879,784,800,649,629,650,0.436578316219,-0.0154210409403,0.0697646936384,0.999999931537,0.000118591892658,-0.000350307277093,1.21154606541e-05,1793193482122379776
+296,4.933333333,POSE2_TO_POSE3_RETREAT,764,743,712,674,660,632,878.889082141,784,800,649,629,650,0.435975378048,-0.0154063927523,0.0697978977432,0.999999943842,0.000135355357861,-0.000306159537908,1.61711050525e-05,1793193482139046912
+297,4.950000000,POSE2_TO_POSE3_RETREAT,764,743,712,674,660,632,878.309974096,784,800,649,629,650,0.435323646075,-0.015407831259,0.0698179801344,0.999999952117,0.000136876225887,-0.00027676844807,2.07250691311e-05,1793193482155714048
+298,4.966666667,POSE2_TO_POSE3_RETREAT,764,743,712,673.732478501,660,632,878,784,799.732478501,649,629,650,0.434642242669,-0.0154124240584,0.069826515157,0.999999954571,0.000132753242861,-0.000269621085248,2.3211704e-05,1793193482172380416
+299,4.983333333,POSE2_TO_POSE3_RETREAT,764,743,712,673.156840075,660,632,878,784,799.156840075,649,629,650,0.433926665338,-0.0154206498032,0.069821750538,0.999999950772,0.000122129974598,-0.000288092857126,2.33172996022e-05,1793193482189046016
+300,5.000000000,POSE2_TO_POSE3_RETREAT,764,742.581078977,712,673.418921023,660,632.418921023,878,784,799.418921023,649,629,650,0.43319344199,-0.0154218327612,0.0698138873593,0.999999946648,0.000132808581532,-0.00029748923833,2.38044336074e-05,1793193482205712640
+301,5.016666667,POSE2_TO_POSE3_RETREAT,764,742.005271951,712,673.994728049,660,632.994728049,878,784,799.994728049,649,629,650,0.43245361022,-0.015420378194,0.0698048637694,0.999999942179,0.000151464744995,-0.000303486883515,2.44344538094e-05,1793193482222379264
+302,5.033333333,POSE2_TO_POSE3_RETREAT,764,742.583831445,712,673.416168555,660,632.416168555,878,784,800,649,629,650.583831445,0.431686641706,-0.0154152400718,0.0698189115671,0.999999948879,0.000149505468445,-0.000281397080706,2.65638151002e-05,1793193482239046400
+303,5.050000000,POSE2_TO_POSE3_RETREAT,764,743,712,673,660,632,878.170087807,784,800,648.829912193,629,650.829912193,0.430887200761,-0.015409354331,0.069813022515,0.999999945449,0.000151384170109,-0.000292329353371,2.69823401121e-05,1793193482255713280
+304,5.066666667,POSE2_TO_POSE3_RETREAT,764,743,712,673,660,632,878.749202091,784,800,648.250797909,629,650.250797909,0.430010273365,-0.0154017525738,0.0697586767312,0.999999912995,0.000162950525559,-0.000383297119031,2.32533353369e-05,1793193482272380160
+305,5.083333333,POSE2_TO_POSE3_RETREAT,764,743,712,673,660,632,878.673581013,784,800,648.326418987,629,650.326418987,0.429174406042,-0.0153999825155,0.069736405802,0.999999899825,0.000167474630174,-0.000414556244239,2.10817776591e-05,1793193482289046784
+306,5.100000000,POSE2_TO_POSE3_RETREAT,764,743,712,673,660,632,878.097813452,784,800,648.902186548,629,650.902186548,0.428369904051,-0.0154026672394,0.0697386365645,0.999999905835,0.000166619223696,-0.000400204479162,2.00999397322e-05,1793193482305713152
+307,5.116666667,POSE2_TO_POSE3_RETREAT,764,742.5133854,712,672.5133854,659.5133854,632,878,784,800,649,629,651,0.427573444946,-0.0154070002283,0.0697927146068,0.999999934106,0.000166187401295,-0.000321611084599,2.7115427122e-05,1793193482322379520
+308,5.133333333,POSE2_TO_POSE3_RETREAT,764,742.07190177,712,672.07190177,659.07190177,632,878,784,799.92809823,649,629,650.92809823,0.426772671663,-0.0154105241102,0.0698512336649,0.999999957034,0.00016704465105,-0.000238356235739,3.48406603981e-05,1793193482339045888
+309,5.150000000,POSE2_TO_POSE3_RETREAT,764,742.650750278,712,672.650750278,659.650750278,632,878,784,799.349249722,649,629,650.349249722,0.425929875629,-0.0154059650732,0.0698662540893,0.999999960699,0.000176379383647,-0.000214929574645,3.60306835998e-05,1793193482355712512
+310,5.166666667,POSE2_TO_POSE3_RETREAT,764,743,712,673,660,632.229200649,878,784.229200649,799,649,629,650,0.425066511361,-0.0154021305548,0.0698641531524,0.999999958529,0.000184514165561,-0.000218196747141,3.58607945631e-05,1793193482372379392
+311,5.183333333,POSE2_TO_POSE3_RETREAT,764,743,712,673,660,632.807045367,878,784.807045367,799,649,629,650,0.424171860179,-0.0153993981236,0.069836008392,0.999999946888,0.000190823665371,-0.000262068722055,3.36223016179e-05,1793193482389046272
+312,5.200000000,POSE2_TO_POSE3_RETREAT,764,743,712,672.619032381,660,632.619032381,878,784.619032381,799,649,629,650,0.423258573239,-0.0153960473557,0.0697997860752,0.999999927823,0.000194375187888,-0.000325023092004,3.05321007766e-05,1793193482405713152
+313,5.216666667,POSE2_TO_POSE3_RETREAT,764,743,712,672.047076572,660,632.047076572,878,784.047076572,799,649,629,650,0.422335943774,-0.0153923866008,0.0697595142869,0.9999999013,0.000196544069441,-0.000397543920928,2.70149183286e-05,1793193482422380032
+314,5.233333333,POSE2_TO_POSE3_RETREAT,764,742.457141907,712.542858093,672.542858093,659.457141907,632.542858093,878,784,799,649,629,650,0.421397451414,-0.0153886022332,0.0697161782993,0.999999870032,0.000194031781747,-0.000470932772731,2.25686855832e-05,1793193482439046400
+315,5.250000000,POSE2_TO_POSE3_RETREAT,764,742,712.867689869,672.867689869,659.132310131,633,877.867689869,784,799.132310131,649,629,650,0.420492604575,-0.0153867747359,0.0696977659728,0.999999855935,0.000191406496892,-0.000501072711725,2.05073198602e-05,1793193482455713024
+316,5.266666667,POSE2_TO_POSE3_RETREAT,764,742,712.285364047,672.285364047,659.714635953,633,877.285364047,784,799.714635953,649,629,650,0.419707032803,-0.0153916406917,0.0697650592309,0.999999907953,0.000189824906021,-0.000383848829876,2.68408222802e-05,1793193482472379648
+317,5.283333333,POSE2_TO_POSE3_RETREAT,764,742.292601738,712,672.292601738,659.707398262,633,877,784,800,649,629,650.292601738,0.418918255631,-0.015395299113,0.0698265408165,0.999999941209,0.00019195331733,-0.000282129739329,3.37336125991e-05,1793193482489046272
+318,5.300000000,POSE2_TO_POSE3_RETREAT,764,742.866377832,712,672.866377832,659.133622168,633,877,784,800,649,629,650.866377832,0.418126398153,-0.01539779716,0.0698824377087,0.999999960548,0.000197646839544,-0.00019530989794,4.11638490103e-05,1793193482505712896
+319,5.316666667,POSE2_TO_POSE3_RETREAT,764,742.548958438,712,672.548958438,659.451041562,632.548958438,877.451041562,784,800,649,628.548958438,650.548958438,0.417289322495,-0.0153945045844,0.0698750588051,0.999999956899,0.000196437801468,-0.000214645977815,3.92656789849e-05,1793193482522379776
+320,5.333333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,660,632,877.961557944,784,799.961557944,649,628.038442056,650.038442056,0.416437657759,-0.015389712593,0.0698480840426,0.9999999457,0.000193486860757,-0.000264511451869,3.45855686092e-05,1793193482539046144
+321,5.350000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,660,632,877.382157037,784,799.382157037,649,628.617842963,650.617842963,0.415573866088,-0.0153885582887,0.0698156695834,0.999999938227,0.000195511522714,-0.000290489967861,3.06088085914e-05,1793193482555712768
+322,5.366666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,659.80400346,632,877.19599654,784,799.39199308,649,629,651,0.414711119358,-0.0153865561132,0.0697833155508,0.999999924681,0.000197521324689,-0.000332988492672,2.7243998816e-05,1793193482572379136
+323,5.383333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,659.228266604,632,877.771733396,784,800.543466793,649,629,651,0.413850397235,-0.0153829112002,0.0697510785956,0.999999896759,0.000199502335039,-0.000407494281078,2.50648335004e-05,1793193482589045760
+324,5.400000000,POSE2_TO_POSE3_RETREAT,763.651080623,742,712,672,659,632.348919377,877.651080623,784,800.302161246,649,629,651,0.41307382064,-0.0153827970691,0.0697520868576,0.999999896506,0.000200404658396,-0.000407671401673,2.51125924924e-05,1793193482605712640
+325,5.416666667,POSE2_TO_POSE3_RETREAT,763.07294268,742,712,672,659,632.92705732,877.07294268,784,799.14588536,649,629,651,0.412352522514,-0.0153850024447,0.0697749351833,0.999999915078,0.000200598350806,-0.000359019157389,2.66233038608e-05,1793193482622379520
+326,5.433333333,POSE2_TO_POSE3_RETREAT,763.512712227,742,712,672,659.512712227,632.487287773,877.512712227,784.512712227,799,649,628.487287773,651,0.411711772066,-0.0153879115885,0.0698313277166,0.99999994489,0.000201203169611,-0.000262234472959,3.11582226705e-05,1793193482639046912
+327,5.450000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,660,632.09814733,878,785,799,649,628,650.90185267,0.411068179197,-0.0153901272664,0.069882176052,0.99999996331,0.000201802354018,-0.000177176847135,3.5552806895e-05,1793193482655714304
+328,5.466666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,660,632.677187431,878,785,799,649,628,650.322812569,0.410353676528,-0.0153884472895,0.0698821287876,0.999999962032,0.000202083091193,-0.000183629389251,3.71203349409e-05,1793193482672380416
+329,5.483333333,POSE2_TO_POSE3_RETREAT,764,742,712,672.254496991,660,632.745503009,877.745503009,785,799,649,628.254496991,650,0.409646633628,-0.0153855695943,0.0698620406537,0.999999953529,0.000205636285228,-0.000222276026688,3.53383392223e-05,1793193482689046784
+330,5.500000000,POSE2_TO_POSE3_RETREAT,764,742,712,672.829626377,660,632.170373623,877.170373623,785,799,649,628.829626377,650,0.408948988948,-0.0153811829331,0.0698167036871,0.999999931373,0.000213312339222,-0.000301482946675,2.93363886443e-05,1793193482705713408
+331,5.516666667,POSE2_TO_POSE3_RETREAT,763.600135749,742,712,672.600135749,659.600135749,632.399864251,877.399864251,784.600135749,799,649,629,650,0.408312025533,-0.0153782541584,0.0697887394711,0.999999917452,0.000214676752978,-0.000343983842095,2.61755033519e-05,1793193482722380032
+332,5.533333333,POSE2_TO_POSE3_RETREAT,763.031956892,742,712,672.031956892,659.031956892,632.968043108,877.968043108,784.031956892,799,649,629,650,0.407700604686,-0.0153759390513,0.0697680879588,0.999999908107,0.000213384411769,-0.000371034089347,2.42105062692e-05,1793193482739046400
+333,5.550000000,POSE2_TO_POSE3_RETREAT,763.56512645,742,712,672,659.56512645,632.43487355,878,784,799.56512645,648.43487355,629,650.56512645,0.407157632502,-0.0153772535294,0.0697859771197,0.999999918838,0.000211431782955,-0.000341984286925,2.58158283205e-05,1793193482755712768
+334,5.566666667,POSE2_TO_POSE3_RETREAT,763.8415795,742,712,672,660,632.1584205,877.8415795,784,800,648.1584205,629,650.8415795,0.406619643444,-0.0153779904236,0.0698020537628,0.999999926494,0.000210790835103,-0.000319110987523,2.7343468589e-05,1793193482772379136
+335,5.583333333,POSE2_TO_POSE3_RETREAT,763.262907225,742,712,672,660,632.737092775,877.262907225,784,800,648.737092775,629,650.262907225,0.406084052071,-0.0153766213063,0.0698072291401,0.999999925086,0.000213733852528,-0.000321491615715,2.81005880264e-05,1793193482789045760
+336,5.600000000,POSE2_TO_POSE3_RETREAT,763.315005711,742,712,672,659.684994289,633,877,784,800,649,629,650.315005711,0.405587552284,-0.0153755503427,0.0698075370627,0.999999922264,0.000220984848575,-0.000325293161813,2.86836284121e-05,1793193482805712640
+337,5.616666667,POSE2_TO_POSE3_RETREAT,763.89228639,742,712,672,659.10771361,633,877,784,800,649,629,650.89228639,0.405123600328,-0.0153747276229,0.0698037923237,0.999999918163,0.000231822684024,-0.000330277769475,2.91217298688e-05,1793193482822379264
+338,5.633333333,POSE2_TO_POSE3_RETREAT,764.475461832,742,712,672,659.475461832,633,877.475461832,784,800,649,629,650.524538168,0.404730452865,-0.0153759635276,0.0698157048872,0.999999924666,0.000232740061013,-0.000309260861802,2.9302357454e-05,1793193482839046400
+339,5.650000000,POSE2_TO_POSE3_RETREAT,764.940199263,742,712,672,659.940199263,633,877.940199263,784.059800737,799.940199263,649,629,650.059800737,0.404356269053,-0.0153773425254,0.0698313943652,0.99999993313,0.000231336133843,-0.000281700356815,2.94777739272e-05,1793193482855713280
+340,5.666666667,POSE2_TO_POSE3_RETREAT,764.357510992,742,712,672,659.357510992,633,877.357510992,784.642489008,799.357510992,649,629,650.642489008,0.40400588501,-0.0153758436375,0.0698487040516,0.999999942184,0.000229532981011,-0.000249076049587,3.0124051106e-05,1793193482872379904
+341,5.683333333,POSE2_TO_POSE3_RETREAT,764,742,712,672.222503997,659,633,877.222503997,784.777496003,799,649,629,651,0.403660360206,-0.015374932851,0.0698569344151,0.999999946364,0.000228871320929,-0.000232340405648,3.01141037953e-05,1793193482889046272
+342,5.700000000,POSE2_TO_POSE3_RETREAT,764,742,712,672.79827474,659,633,877.79827474,784.20172526,799,649,629,651,0.403322550297,-0.015374955785,0.0698507496565,0.999999944123,0.000230021994292,-0.000240830984213,2.90622774065e-05,1793193482905712896
+343,5.716666667,POSE2_TO_POSE3_RETREAT,764,742.372949454,712,672.627050546,659,632.627050546,877.627050546,784.372949454,799,649,629,650.627050546,0.403015541719,-0.0153729518464,0.0698423221726,0.999999939779,0.000233629801736,-0.000255100081827,2.8000858955e-05,1793193482922379264
+344,5.733333333,POSE2_TO_POSE3_RETREAT,764,742.947033037,712,672.052966963,659,632.052966963,877.052966963,784.947033037,799,649,629,650.052966963,0.402725144524,-0.0153698548019,0.0698326851722,0.999999934057,0.000238562757863,-0.000272485572764,2.69342674966e-05,1793193482939045888
+345,5.750000000,POSE2_TO_POSE3_RETREAT,764,742.463562629,712,672,659,632.536437371,877.536437371,784.463562629,799,649,629,650,0.40247546187,-0.0153680750068,0.0698229686675,0.999999927885,0.000244038854672,-0.000289818831158,2.60837120807e-05,1793193482955712512
+346,5.766666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,633,878,784,799,649,629,650,0.402238967049,-0.0153668367606,0.0698141359532,0.999999922299,0.000248315152289,-0.00030512667147,2.5303047511e-05,1793193482972379392
+347,5.783333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,633,878,784,799,649,629,650,0.402035400572,-0.0153670818619,0.0698085484645,0.999999919926,0.00024802490232,-0.000313084001623,2.46967941339e-05,1793193482989046784
+348,5.800000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,633,878,784,799,649,629,650,0.401853969058,-0.0153671143206,0.0698071297235,0.999999919753,0.000246402244887,-0.000314903571022,2.48107297697e-05,1793193483005713664
+349,5.816666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,633,878,784,799,649,629,650,0.401695681439,-0.0153669244442,0.0698100697439,0.999999921907,0.000243386448351,-0.000310305617594,2.56776809596e-05,1793193483022380032
+350,5.833333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,633,878,784,799.439749197,649,628.560250803,650,0.401563232221,-0.0153659383041,0.0698105654165,0.999999923165,0.000238558972903,-0.000310089626405,2.45888861856e-05,1793193483039046400
+351,5.850000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632.973321784,877.973321784,784,799.973321784,649,628.026678216,650.026678216,0.401440733403,-0.0153646535177,0.0698101744411,0.999999923824,0.000234290352346,-0.000311348398545,2.28304910186e-05,1793193483055712512
+352,5.866666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632.394436021,877.394436021,784,799.394436021,649,628.605563979,650.605563979,0.401344723188,-0.0153627179425,0.0698084093015,0.999999918592,0.000254173268602,-0.000312695989151,2.07967412214e-05,1793193483072379392
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632.183730177,877.367460354,784,799.183730177,649,628.816269823,650.816269823,0.401257453572,-0.0153620215755,0.0698073535443,0.999999915731,0.00026525421555,-0.000312754960145,1.90221389814e-05,1793193483089046016
+354,5.900000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632.760357733,878.520715466,784,799.760357733,649,628.239642267,650.239642267,0.401188875255,-0.0153639751898,0.0698078147642,0.999999918617,0.000257512615196,-0.000310058285933,1.78017098758e-05,1793193483105712640
+355,5.916666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,633,878.663631165,784.336368835,799.663631165,649,628.336368835,650,0.401130405507,-0.0153644192778,0.0698084532394,0.999999920291,0.000252529685717,-0.000308787294006,1.72391063821e-05,1793193483122379520
+356,5.933333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,633,878.08805848,784.91194152,799.08805848,649,628.91194152,650,0.401079124326,-0.0153637898877,0.0698092177672,0.99999992113,0.000249508545756,-0.000308530155664,1.71443061682e-05,1793193483139046656
+357,5.950000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,633,878,784.501401621,799,649,629,650,0.401045016004,-0.01536390792,0.0698086959651,0.999999921914,0.000246661427346,-0.000308288242933,1.69593568443e-05,1793193483155713280
+358,5.966666667,POSE2_TO_POSE3_RETREAT,764,742,712,672.086314189,659.086314189,633,877.913685811,784.086314189,799,649,629,650,0.401016344062,-0.0153640134978,0.0698083297441,0.999999922757,0.000244289017286,-0.000307455189845,1.67654477276e-05,1793193483172379648
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764,742,712,672.668610395,659.668610395,633,877.331389605,784.668610395,799,649,629,650,0.401001086652,-0.0153632717382,0.0698101926486,0.999999924013,0.000244463773145,-0.000303209499502,1.66136218682e-05,1793193483189046272
+360,6.000000000,POSE2_TO_POSE3_RETREAT,764.248107563,742,711.751892437,672.751892437,659.751892437,633,877,784.751892437,799,648.751892437,629,650,0.400986818679,-0.0153632593881,0.069811533497,0.999999924416,0.000245446104571,-0.000301073466306,1.66918468134e-05,1793193483205712896
+361,6.016666667,POSE2_TO_POSE3_RETREAT,764.823907806,742,711.176092194,672.176092194,659.176092194,633,877,784.176092194,799,648.176092194,629,650,0.400973857525,-0.0153642104194,0.0698121848301,0.999999923709,0.000247495056432,-0.000301723802363,1.70739156501e-05,1793193483222379264
+362,6.033333333,POSE2_TO_POSE3_RETREAT,764.59303038,742,711.40696962,672,659,633,877,784,799,648.40696962,629,650,0.40096702037,-0.0153650540262,0.0698127130074,0.999999924133,0.000246178673426,-0.000301383632613,1.72616767075e-05,1793193483239046144
+363,6.050000000,POSE2_TO_POSE3_RETREAT,764.006769415,742,711.993230585,672,659,633,877,784,799,648.993230585,629,650,0.400962881157,-0.0153658503071,0.0698131869283,0.99999992505,0.000243379685053,-0.000300607093442,1.73638350863e-05,1793193483255712512
+364,6.066666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,633,877.572356669,784,799,648.427643331,629,650.572356669,0.400961731948,-0.0153660859102,0.0698142303574,0.999999925449,0.000243942954539,-0.00029882567596,1.72123370362e-05,1793193483272379648
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,633,878,784,799.150740084,648.150740084,629,651,0.400960687277,-0.0153663656105,0.0698148681388,0.999999925746,0.000244276999535,-0.000297569069061,1.70408625794e-05,1793193483289046528
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,633,878,784,799.727261306,648.727261306,629,651,0.400959839226,-0.0153667883682,0.0698143413348,0.999999925776,0.00024385263496,-0.000297828001154,1.68213322912e-05,1793193483305713408
+367,6.116666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,633,877.696022777,784,799.696022777,648.696022777,629,650.696022777,0.400959191861,-0.0153668000072,0.0698144939047,0.999999926006,0.000243283348153,-0.00029752623492,1.67100719031e-05,1793193483322379776
+368,6.133333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,633,877.119132096,784,799.119132096,648.119132096,629,650.119132096,0.400958724673,-0.01536644254,0.0698152564227,0.999999926415,0.000242583948901,-0.000296721068718,1.66960172091e-05,1793193483339046144
+369,6.150000000,POSE2_TO_POSE3_RETREAT,764,742,712,672.466153577,659,632.533846423,877,784.466153577,799,648.466153577,629,650.466153577,0.400958641237,-0.015366615224,0.069815804313,0.999999926814,0.000241686585907,-0.000296116758143,1.65678667763e-05,1793193483355713024
+370,6.166666667,POSE2_TO_POSE3_RETREAT,764,742,712,672.947157229,659,632.052842771,877,784.947157229,799,648.947157229,629,650.947157229,0.400958556692,-0.0153669063002,0.0698162180055,0.99999992717,0.00024080006411,-0.000295643855706,1.64119005491e-05,1793193483372380160
+371,6.183333333,POSE2_TO_POSE3_RETREAT,764,742,712,672.368245924,659,632.631754076,877,784.368245924,799,648.368245924,629,650.368245924,0.400957466839,-0.015367002449,0.0698158517888,0.999999927143,0.000240534372528,-0.000295958772961,1.62746277491e-05,1793193483389046272
+372,6.200000000,POSE2_TO_POSE3_RETREAT,764,742,712,671.790024965,659,633,877.209975035,784,799,648.209975035,628.790024965,650.209975035,0.400956281385,-0.0153675048372,0.0698152342562,0.999999926874,0.00024060353858,-0.00029681096755,1.62879416043e-05,1793193483405712896
+373,6.216666667,POSE2_TO_POSE3_RETREAT,764,742,712,671.213010799,659,633,877.786989201,784,799,648.786989201,628.213010799,650.786989201,0.40095492882,-0.0153687173368,0.0698141774197,0.999999926178,0.000241258040214,-0.000298602329973,1.65644829332e-05,1793193483422379776
+374,6.233333333,POSE2_TO_POSE3_RETREAT,764.36192979,742.36192979,712,671.36192979,659,633,877.63807021,784.36192979,799,649,628.36192979,651,0.400954339331,-0.0153687258979,0.0698145202504,0.999999926096,0.000241276044905,-0.000298864051412,1.65568846175e-05,1793193483439046400
+375,6.250000000,POSE2_TO_POSE3_RETREAT,764.935657,742.935657,712,671.935657,659,633,877.064343,784.935657,799,649,628.935657,651,0.400954196385,-0.0153680299271,0.069815682151,0.999999926373,0.000240921578494,-0.000298230643574,1.63830108654e-05,1793193483455712768
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764.475782245,742.475782245,712,672,659,633,877.524217755,784.475782245,799,649,629,651,0.400954823911,-0.0153673804897,0.0698161450383,0.999999926602,0.000241720065927,-0.000296816437317,1.63805098808e-05,1793193483472379136
+377,6.283333333,POSE2_TO_POSE3_RETREAT,764.112571486,742.112571486,712,672,659,633,877.887428514,784,799,649,629,650.887428514,0.400955321105,-0.0153669162178,0.0698163382451,0.999999926781,0.000242299226221,-0.000295737714845,1.63833374606e-05,1793193483489045760
+378,6.300000000,POSE2_TO_POSE3_RETREAT,764.692290817,742.692290817,712,672,659,633,877.307709183,784,799,649,629,650.307709183,0.400954873581,-0.0153671959517,0.0698157787448,0.999999926794,0.000241363868383,-0.000296460458802,1.63184470073e-05,1793193483505712640
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,742.730320371,712,672,659,633,877,784,799,648.730320371,629,650,0.400954879114,-0.0153677868066,0.0698159745424,0.999999927132,0.000240547173474,-0.000295983767978,1.63184756734e-05,1793193483522379520
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,742.155567973,712,672,659,633,877,784,799,648.155567973,629,650,0.400955397162,-0.0153687296144,0.0698170247643,0.999999927836,0.000239864715041,-0.000294150226799,1.63919435406e-05,1793193483539046912
+381,6.350000000,POSE2_TO_POSE3_RETREAT,764.580892446,742,712,672,659,633,877,784,799,648,629,650.419107554,0.400955203311,-0.0153673984749,0.0698167201035,0.999999927306,0.000241294654972,-0.000294795008189,1.61268443186e-05,1793193483555713792
+382,6.366666667,POSE2_TO_POSE3_RETREAT,764.006245459,742,712,672,659,633,877,784,799,648,629,650.993754541,0.40095474526,-0.0153652234269,0.0698159126178,0.999999926313,0.000243508549391,-0.000296359546093,1.57360958854e-05,1793193483572380416
+383,6.383333333,POSE2_TO_POSE3_RETREAT,764,742,712,671.412484789,659,633,877.587515211,784.587515211,799.587515211,648.587515211,628.412484789,651,0.400955552217,-0.0153675355457,0.0698165942077,0.999999927191,0.000241091440123,-0.000295361342081,1.5958469945e-05,1793193483589047040
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764,742,712,671,659,632.824096934,877.824096934,784.824096934,800,649,628.175903066,651,0.400956103644,-0.0153689398514,0.0698170629519,0.999999927787,0.000239451185871,-0.000294672073433,1.6077602977e-05,1793193483605713920
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764,742,712,671,659,632.248397928,877.248397928,784.248397928,800,649,628.751602072,651,0.400956042709,-0.0153681688019,0.0698170107492,0.999999927708,0.000239692234238,-0.000294748959133,1.59467761178e-05,1793193483622380288
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764,742,712,671.326858542,659,632.326858542,877,784,799.673141458,649,628.673141458,650.673141458,0.400955951799,-0.0153688309914,0.0698173344993,0.999999928223,0.00023848080872,-0.000293979527285,1.6015149792e-05,1793193483639046400
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764,742,712,671.90177922,659,632.90177922,877,784,799.09822078,649,628.09822078,650.09822078,0.400955838139,-0.015370580906,0.0698179435704,0.999999929183,0.000236167059966,-0.000292567801267,1.62347023359e-05,1793193483655712768
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764.48941995,742,712,672,659,633,877,784,799,649,628,650.48941995,0.400955859253,-0.0153696082891,0.0698174978934,0.999999928596,0.000238303909711,-0.000292843057518,1.61871754911e-05,1793193483672379392
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764.921871133,742,712,672,659.078128867,633,877,784,799,649,628.078128867,651,0.400956028458,-0.0153683494198,0.0698171270434,0.999999927951,0.000240690572453,-0.00029309854928,1.61040671317e-05,1793193483689046272
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764.34311125,742,712,672,659.65688875,633,877,784,799,649,628.65688875,651,0.400956968662,-0.0153688508057,0.0698186282239,0.999999929016,0.000238801962305,-0.00029100011396,1.61455792873e-05,1793193483705713408
+391,6.516666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,659.766606138,633,877.233393862,784,799.233393862,649,628.766606138,651,0.400957053301,-0.0153694305992,0.0698191133938,0.999999929521,0.000237290386158,-0.000290498785275,1.61631016339e-05,1793193483722380544
+392,6.533333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,659.193384072,633,877.806615928,784,799.806615928,649,628.193384072,651,0.400955892211,-0.0153701245567,0.0698181192225,0.999999929218,0.000236327782519,-0.000292322890102,1.61456941234e-05,1793193483739046912
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_07/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_07/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5df6e751682b98dc7d691248d568e1960acb2e27
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_07/depth_01/simulation_data.csv
@@ -0,0 +1,394 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+1,0.016666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+2,0.033333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+3,0.050000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+4,0.066666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+5,0.083333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+6,0.100000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+7,0.116666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+8,0.133333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+9,0.150000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+10,0.166666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+11,0.183333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+12,0.200000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+13,0.216666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+14,0.233333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+15,0.250000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+16,0.266666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+17,0.283333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+18,0.300000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+19,0.316666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+20,0.333333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+21,0.350000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+22,0.366666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+23,0.383333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+24,0.400000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+25,0.416666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+26,0.433333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+27,0.450000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+28,0.466666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+29,0.483333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+30,0.500000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+31,0.516666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+32,0.533333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+33,0.550000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+34,0.566666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+35,0.583333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+36,0.600000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+37,0.616666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+38,0.633333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+39,0.650000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+40,0.666666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+41,0.683333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+42,0.700000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+43,0.716666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+44,0.733333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+45,0.750000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+46,0.766666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+47,0.783333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+48,0.800000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+49,0.816666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+50,0.833333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+51,0.850000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+52,0.866666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+53,0.883333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+54,0.900000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+55,0.916666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+56,0.933333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+57,0.950000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+58,0.966666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+59,0.983333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+60,1.000000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+61,1.016666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+62,1.033333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+63,1.050000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+64,1.066666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+65,1.083333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+66,1.100000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+67,1.116666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+68,1.133333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+69,1.150000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+70,1.166666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+71,1.183333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+72,1.200000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+73,1.216666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+74,1.233333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+75,1.250000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+76,1.266666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+77,1.283333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+78,1.300000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+79,1.316666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+80,1.333333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+81,1.350000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+82,1.366666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+83,1.383333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+84,1.400000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+85,1.416666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+86,1.433333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+87,1.450000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+88,1.466666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+89,1.483333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+90,1.500000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+91,1.516666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+92,1.533333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+93,1.550000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+94,1.566666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+95,1.583333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+96,1.600000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+97,1.616666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+98,1.633333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+99,1.650000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+100,1.666666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+101,1.683333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+102,1.700000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+103,1.716666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+104,1.733333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+105,1.750000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+106,1.766666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+107,1.783333333,pose1_to_pose2_press,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+108,1.800000000,pose1_to_pose2_press,0.575709219261,-0.00994533643011,1.06002916528,0.546279948825,-0.00127260933078,1.05969845376
+109,1.816666667,pose1_to_pose2_press,0.575709230225,-0.00994534668212,1.06002917997,0.546279960152,-0.00127261834203,1.05969846869
+110,1.833333333,pose1_to_pose2_press,0.575709271428,-0.00994538521137,1.06002923519,0.54628000272,-0.00127265220818,1.05969852477
+111,1.850000000,pose1_to_pose2_press,0.575709287608,-0.00994540034055,1.06002925687,0.546280019435,-0.00127266550631,1.05969854679
+112,1.866666667,pose1_to_pose2_press,0.575709538404,-0.00994535666746,1.06002921094,0.546280268593,-0.00127262730206,1.05969850326
+113,1.883333333,pose1_to_pose2_press,0.575710148926,-0.00994530435707,1.06002910362,0.546280877313,-0.00127258098508,1.05969839912
+114,1.900000000,pose1_to_pose2_press,0.575711872254,-0.00994538371658,1.06002909356,0.546282604098,-0.00127264865792,1.05969838788
+115,1.916666667,pose1_to_pose2_press,0.575716075219,-0.00994538647784,1.06002926812,0.546286806575,-0.00127265326087,1.05969855765
+116,1.933333333,pose1_to_pose2_press,0.575724424922,-0.0099453648286,1.0600291156,0.546295155002,-0.00127263601803,1.05969840309
+117,1.950000000,pose1_to_pose2_press,0.575737875447,-0.00994537339211,1.06002926404,0.546308604886,-0.0012726467308,1.05969855204
+118,1.966666667,pose1_to_pose2_press,0.575760913858,-0.00994542521468,1.06002913596,0.546331643507,-0.00127269773202,1.0596984267
+119,1.983333333,pose1_to_pose2_press,0.575794359465,-0.00994551658966,1.06002905039,0.546365091231,-0.00127278210939,1.05969833625
+120,2.000000000,pose1_to_pose2_press,0.575840274546,-0.00994542084916,1.06002913277,0.546411004791,-0.0012726915699,1.05969841749
+121,2.016666667,pose1_to_pose2_press,0.575899237398,-0.00994545680695,1.06002913842,0.546469967562,-0.00127272751123,1.05969843066
+122,2.033333333,pose1_to_pose2_press,0.575972430033,-0.00994559014542,1.06002907775,0.546543161899,-0.00127285520496,1.05969836656
+123,2.050000000,pose1_to_pose2_press,0.576058366472,-0.00994555424605,1.06002932286,0.546629098856,-0.00127281760583,1.05969861003
+124,2.066666667,pose1_to_pose2_press,0.576156837993,-0.00994557820987,1.06002905363,0.546727569662,-0.00127284375756,1.05969834704
+125,2.083333333,pose1_to_pose2_press,0.576271512505,-0.00994541018286,1.06002923319,0.546842243189,-0.00127267911023,1.05969852561
+126,2.100000000,pose1_to_pose2_press,0.576402567737,-0.00994537356863,1.06002920764,0.546973298817,-0.00127264092658,1.05969850586
+127,2.116666667,pose1_to_pose2_press,0.576552668084,-0.00994539862061,1.06002900977,0.547123399011,-0.00127266655522,1.05969830652
+128,2.133333333,pose1_to_pose2_press,0.576722834768,-0.00994545504051,1.06002908904,0.547293565085,-0.00127272525014,1.05969838028
+129,2.150000000,pose1_to_pose2_press,0.576914025485,-0.00994535882881,1.06002913499,0.547484754737,-0.00127263252476,1.0596984296
+130,2.166666667,pose1_to_pose2_press,0.577125561338,-0.00994526116492,1.06002902832,0.547696290144,-0.00127253658065,1.05969831742
+131,2.183333333,pose1_to_pose2_press,0.577357510015,-0.00994536332184,1.06002899039,0.547928239695,-0.00127263572015,1.05969828073
+132,2.200000000,pose1_to_pose2_press,0.577613692705,-0.00994542589597,1.06002911113,0.5481844241,-0.0012726924619,1.05969840178
+133,2.216666667,pose1_to_pose2_press,0.57789316601,-0.00994533858553,1.06002926573,0.54846389681,-0.00127260741997,1.05969854972
+134,2.233333333,pose1_to_pose2_press,0.578197135604,-0.00994540642632,1.06002938306,0.548767866291,-0.00127267561185,1.05969866789
+135,2.250000000,pose1_to_pose2_press,0.578524623462,-0.00994550457331,1.06002913121,0.54909535592,-0.00127276750569,1.05969842231
+136,2.266666667,pose1_to_pose2_press,0.578875085535,-0.00994540668825,1.06002910552,0.549445815216,-0.00127267897137,1.05969839857
+137,2.283333333,pose1_to_pose2_press,0.579247145749,-0.00994540948075,1.06002911254,0.549817875627,-0.00127268085355,1.05969841175
+138,2.300000000,pose1_to_pose2_press,0.579638656995,-0.00994543337869,1.06002929654,0.55020938676,-0.00127270522711,1.05969859336
+139,2.316666667,pose1_to_pose2_press,0.580048533473,-0.00994543972674,1.0600293843,0.550619263505,-0.00127271085836,1.05969867614
+140,2.333333333,pose1_to_pose2_press,0.580479970202,-0.00994543635421,1.06002923914,0.551050700556,-0.00127270645204,1.05969852941
+141,2.350000000,pose1_to_pose2_press,0.580937636661,-0.00994544029886,1.06002900939,0.551508365806,-0.00127271451458,1.05969829914
+142,2.366666667,pose1_to_pose2_press,0.581423576505,-0.00994540831267,1.06002900888,0.551994305492,-0.00127268325111,1.05969829369
+143,2.383333333,pose1_to_pose2_press,0.581939684757,-0.00994551498429,1.06002929116,0.552510416557,-0.00127278054964,1.05969857138
+144,2.400000000,pose1_to_pose2_press,0.582488970379,-0.00994554678786,1.0600292723,0.553059702737,-0.00127281030005,1.05969855668
+145,2.416666667,pose1_to_pose2_press,0.583062988669,-0.00994556309744,1.06002916521,0.553633721316,-0.00127282554859,1.05969845171
+146,2.433333333,pose1_to_pose2_press,0.583654942645,-0.00994546619598,1.06002898807,0.554225673408,-0.00127273482547,1.05969828012
+147,2.450000000,pose1_to_pose2_press,0.58426598334,-0.00994531491216,1.06002906343,0.554836711738,-0.00127259160399,1.05969835447
+148,2.466666667,pose1_to_pose2_press,0.584898659831,-0.00994543425774,1.06002921218,0.555469390582,-0.00127270289052,1.05969850515
+149,2.483333333,pose1_to_pose2_press,0.585553175644,-0.00994551363855,1.06002927759,0.556123906923,-0.00127278066849,1.05969856559
+150,2.500000000,pose1_to_pose2_press,0.586230540711,-0.00994546623066,1.0600291843,0.556801272294,-0.0012727320919,1.05969847597
+151,2.516666667,pose1_to_pose2_press,0.586931362698,-0.00994541172673,1.06002904962,0.557502093313,-0.00127268073593,1.05969834476
+152,2.533333333,pose1_to_pose2_press,0.587640340816,-0.00994551568372,1.0600292914,0.55821107273,-0.00127278070582,1.05969857555
+153,2.550000000,pose1_to_pose2_press,0.588347148714,-0.00994546720024,1.06002924958,0.55891788014,-0.00127273377925,1.05969853629
+154,2.566666667,pose1_to_pose2_press,0.589063268703,-0.00994535640431,1.0600292509,0.55963399883,-0.00127262753947,1.05969853374
+155,2.583333333,pose1_to_pose2_press,0.589793679025,-0.00994549816429,1.0600290825,0.560364409894,-0.00127276669807,1.05969836749
+156,2.600000000,pose1_to_pose2_press,0.590541733824,-0.00994549090175,1.06002903413,0.561112463737,-0.0012727624457,1.05969832534
+157,2.616666667,pose1_to_pose2_press,0.591312288334,-0.00994539180635,1.06002914558,0.561883017143,-0.00127266705999,1.05969843777
+158,2.633333333,pose1_to_pose2_press,0.592110896226,-0.0099454127241,1.06002914956,0.562681625588,-0.00127268610807,1.05969844152
+159,2.650000000,pose1_to_pose2_press,0.592922138038,-0.00994543020223,1.06002908506,0.563492867797,-0.00127270230512,1.0596983754
+160,2.666666667,pose1_to_pose2_press,0.593741741075,-0.00994537808089,1.06002903914,0.564312470462,-0.00127265156494,1.05969832642
+161,2.683333333,pose1_to_pose2_press,0.594558115692,-0.0099453804491,1.06002910601,0.565128845702,-0.00127265173703,1.05969839536
+162,2.700000000,pose1_to_pose2_press,0.595367639961,-0.00994538911757,1.06002897965,0.56593837099,-0.00127265659464,1.05969827831
+163,2.716666667,pose1_to_pose2_press,0.596159121095,-0.00994538227772,1.06002896911,0.566729851982,-0.00127265042874,1.0596982628
+164,2.733333333,pose1_to_pose2_press,0.59694056427,-0.00994546100711,1.06002912728,0.567511295597,-0.00127272802504,1.05969841161
+165,2.750000000,pose1_to_pose2_press,0.597723642783,-0.00994551177213,1.0600291724,0.56829437441,-0.00127277765187,1.05969845986
+166,2.766666667,pose1_to_pose2_press,0.598519054891,-0.00994548616824,1.06002913532,0.56908978588,-0.00127275395111,1.05969842977
+167,2.783333333,pose1_to_pose2_press,0.599331548617,-0.00994545274533,1.0600291446,0.569902278845,-0.00127272323853,1.05969843575
+168,2.800000000,pose1_to_pose2_press,0.600161871966,-0.0099454605719,1.06002917085,0.570732602133,-0.00127273146858,1.0596984569
+169,2.816666667,pose1_to_pose2_press,0.600998572408,-0.00994543371288,1.06002928901,0.571569302858,-0.00127270356396,1.05969857739
+170,2.833333333,pose1_to_pose2_press,0.601825116683,-0.00994534317856,1.06002923556,0.572395846453,-0.00127261502082,1.05969853229
+171,2.850000000,pose1_to_pose2_press,0.602627504398,-0.00994544619241,1.06002912315,0.57319823483,-0.00127271574216,1.05969842117
+172,2.866666667,pose1_to_pose2_press,0.603395208434,-0.00994553464927,1.06002907189,0.573965940318,-0.00127279944991,1.05969836532
+173,2.883333333,pose1_to_pose2_press,0.604132837365,-0.0099455064632,1.06002922562,0.574703569269,-0.00127277126745,1.05969851726
+174,2.900000000,pose1_to_pose2_press,0.60484226014,-0.0099454447462,1.06002931606,0.575412991042,-0.00127271286268,1.05969861004
+175,2.916666667,pose1_to_pose2_press,0.605546232182,-0.0099454926511,1.06002915008,0.576116963719,-0.00127275868944,1.05969844223
+176,2.933333333,pose1_to_pose2_press,0.606252958867,-0.00994552243066,1.06002920181,0.576823690611,-0.00127278793842,1.05969848944
+177,2.950000000,pose1_to_pose2_press,0.606966856167,-0.00994546831159,1.06002928036,0.577537587624,-0.00127273470101,1.05969857056
+178,2.966666667,pose1_to_pose2_press,0.60767810674,-0.00994542034842,1.06002914072,0.578248838125,-0.00127268689393,1.05969843334
+179,2.983333333,pose1_to_pose2_press,0.608377905631,-0.00994534563292,1.06002922862,0.578948634398,-0.00127262125437,1.05969851628
+180,3.000000000,pose1_to_pose2_press,0.609042923054,-0.00994534766815,1.06002928573,0.579613651296,-0.00127262514715,1.05969857144
+181,3.016666667,pose1_to_pose2_press,0.609673211958,-0.00994550816784,1.0600291839,0.580243942538,-0.00127277749987,1.05969847526
+182,3.033333333,pose1_to_pose2_press,0.610264819957,-0.00994552108691,1.06002923936,0.580835552043,-0.00127278546374,1.05969852679
+183,3.050000000,pose1_to_pose2_press,0.610826843036,-0.00994538267718,1.06002927066,0.581397573579,-0.00127265219601,1.05969856056
+184,3.066666667,pose1_to_pose2_press,0.611361497145,-0.00994534112009,1.06002929316,0.58193222673,-0.00127261406298,1.0596985787
+185,3.083333333,pose1_to_pose2_press,0.611862471025,-0.00994545648866,1.06002921194,0.582433201245,-0.00127272714817,1.0596985009
+186,3.100000000,pose1_to_pose2_press,0.612329148653,-0.00994550037501,1.06002911695,0.582899878941,-0.00127277048812,1.05969841404
+187,3.116666667,pose1_to_pose2_press,0.612775473369,-0.00994547358164,1.06002912826,0.583346203328,-0.00127274482198,1.05969842401
+188,3.133333333,pose1_to_pose2_press,0.613205124628,-0.0099454776565,1.06002920124,0.583775854364,-0.00127274974751,1.05969848979
+189,3.150000000,pose1_to_pose2_press,0.613620040689,-0.00994541494647,1.06002934346,0.584190769961,-0.00127268840225,1.05969862392
+190,3.166666667,pose1_to_pose2_press,0.614024822601,-0.00994541362856,1.06002938868,0.584595552453,-0.00127268409731,1.05969867046
+191,3.183333333,pose1_to_pose2_press,0.614418811409,-0.00994540157626,1.06002923244,0.584989540344,-0.00127267426429,1.05969851392
+192,3.200000000,pose1_to_pose2_press,0.614785841847,-0.00994547343394,1.06002900554,0.585356570949,-0.00127274526358,1.05969830081
+193,3.216666667,pose1_to_pose2_press,0.615124294852,-0.00994544164751,1.06002905592,0.585695024158,-0.00127271273417,1.05969835047
+194,3.233333333,pose1_to_pose2_press,0.615429071227,-0.00994552967194,1.06002913733,0.585999800167,-0.00127279991575,1.0596984322
+195,3.250000000,pose1_to_pose2_press,0.615703167211,-0.00994542902884,1.06002910602,0.586273896237,-0.0012726985139,1.05969839917
+196,3.266666667,pose1_to_pose2_press,0.615947320599,-0.00994533774837,1.06002907515,0.586518048662,-0.00127261016715,1.0596983613
+197,3.283333333,pose1_to_pose2_press,0.616169854462,-0.00994547078986,1.06002920364,0.586740583311,-0.00127274035682,1.05969848197
+198,3.300000000,pose1_to_pose2_press,0.616373038827,-0.00994546378771,1.06002918747,0.586943766013,-0.00127273846542,1.05969847068
+199,3.316666667,pose1_to_pose2_press,0.616562575676,-0.00994536282615,1.06002925118,0.587133302582,-0.0012726375973,1.05969854191
+200,3.333333333,pose1_to_pose2_press,0.616738686093,-0.00994539817836,1.06002921896,0.587309412325,-0.00127267537661,1.05969849694
+201,3.350000000,pose1_to_pose2_press,0.616899019372,-0.00994530730771,1.06002905189,0.587469743686,-0.00127258995988,1.05969834192
+202,3.366666667,pose1_to_pose2_press,0.617042666323,-0.00994527374232,1.06002931464,0.587613390989,-0.00127255484958,1.05969860783
+203,3.383333333,pose1_to_pose2_press,0.617167466406,-0.0099454232426,1.06002921448,0.587738194057,-0.00127269419147,1.05969850246
+204,3.400000000,pose1_to_pose2_press,0.617274542496,-0.00994548855108,1.06002918583,0.587845270253,-0.00127275903518,1.05969846996
+205,3.416666667,pose1_to_pose2_press,0.617364916387,-0.00994558441198,1.06002899866,0.587935646227,-0.00127284736314,1.0596982899
+206,3.433333333,pose1_to_pose2_press,0.617442876022,-0.00994560019252,1.06002896352,0.588013605381,-0.00127286435647,1.0596982555
+207,3.450000000,pose1_to_pose2_press,0.617510826508,-0.00994545725005,1.06002912171,0.588081553363,-0.00127272930801,1.05969841454
+208,3.466666667,pose1_to_pose2_press,0.617569870346,-0.00994524976217,1.06002923817,0.588140595605,-0.001272526606,1.05969853595
+209,3.483333333,pose1_to_pose2_press,0.617620001007,-0.0099452520591,1.06002920744,0.588190726578,-0.00127252796382,1.05969850297
+210,3.500000000,pose1_to_pose2_press,0.617660542504,-0.00994549378355,1.06002913631,0.588231270947,-0.00127276043875,1.05969842806
+211,3.516666667,pose1_to_pose2_press,0.617691797677,-0.00994551357878,1.06002919166,0.588262526237,-0.00127277998138,1.05969847749
+212,3.533333333,pose1_to_pose2_press,0.617714768703,-0.00994541868877,1.06002926953,0.588285495494,-0.0012726906048,1.05969855929
+213,3.550000000,pose1_to_pose2_press,0.617730874542,-0.00994534965268,1.06002939287,0.588301600044,-0.00127262665895,1.05969867648
+214,3.566666667,pose1_to_pose2_press,0.617742411678,-0.00994539336861,1.06002934014,0.588313138284,-0.00127266646486,1.05969862754
+215,3.583333333,pose1_to_pose2_press,0.617750838438,-0.0099454431766,1.06002924385,0.588321566231,-0.0012727118742,1.05969853704
+216,3.600000000,pose1_to_pose2_press,0.617757269353,-0.00994535805016,1.06002916633,0.588327995333,-0.00127263280222,1.05969846219
+217,3.616666667,pose1_to_pose2_press,0.617761673208,-0.00994533417464,1.06002917776,0.588332398752,-0.00127261041261,1.05969847365
+218,3.633333333,pose1_to_pose2_press,0.617764490732,-0.00994537743033,1.06002929479,0.588335217367,-0.00127265009524,1.05969858766
+219,3.650000000,pose1_to_pose2_press,0.617766136924,-0.00994540270328,1.06002936316,0.588336864197,-0.00127267328056,1.05969865426
+220,3.666666667,pose1_to_pose2_press,0.617766771652,-0.00994541244787,1.06002938952,0.588337499171,-0.00127268222021,1.05969867995
+221,3.683333333,pose1_to_pose2_press,0.617767113859,-0.00994541663412,1.06002939456,0.58833784151,-0.00127268596237,1.0596986849
+222,3.700000000,pose1_to_pose2_press,0.617767517338,-0.00994541575327,1.06002935048,0.588338245145,-0.00127268450285,1.05969864226
+223,3.716666667,pose1_to_pose2_press,0.617767940178,-0.00994541483016,1.06002930429,0.588338668148,-0.00127268297328,1.05969859757
+224,3.733333333,pose1_to_pose2_press,0.617768384519,-0.00994541386011,1.06002925574,0.588339112658,-0.00127268136595,1.05969855061
+225,3.750000000,pose1_to_pose2_press,0.617768951638,-0.00994541262202,1.06002919379,0.588339679996,-0.00127267931448,1.05969849068
+226,3.766666667,pose1_to_pose2_press,0.61776957761,-0.00994541125545,1.0600291254,0.588340306208,-0.00127267705012,1.05969842452
+227,3.783333333,pose1_to_pose2_press,0.61777032312,-0.00994540962791,1.06002904396,0.588341052005,-0.00127267435335,1.05969834574
+228,3.800000000,pose1_to_pose2_press,0.617770999127,-0.0099454081521,1.06002897011,0.588341728272,-0.00127267190799,1.05969827429
+229,3.816666667,pose1_to_pose2_press,0.617771416391,-0.0099454273204,1.06002901858,0.588342145516,-0.00127269129946,1.0596983193
+230,3.833333333,pose1_to_pose2_press,0.617771709274,-0.00994544376278,1.0600290666,0.588342438358,-0.00127270802075,1.05969836415
+231,3.850000000,pose1_to_pose2_press,0.617771798462,-0.00994544876978,1.06002908122,0.588342527534,-0.00127271311269,1.05969837781
+232,3.866666667,pose1_to_pose2_press,0.617771986509,-0.00994545932673,1.06002911205,0.588342715555,-0.00127272384872,1.0596984066
+233,3.883333333,pose1_to_pose2_press,0.617772191879,-0.00994547085618,1.06002914572,0.588342920896,-0.00127273557373,1.05969843805
+234,3.900000000,pose1_to_pose2_press,0.617772324422,-0.00994547829708,1.06002916745,0.58834305342,-0.00127274314086,1.05969845835
+235,3.916666667,pose1_to_pose2_press,0.617772416625,-0.00994548347334,1.06002918257,0.58834314561,-0.00127274840492,1.05969847246
+236,3.933333333,pose1_to_pose2_press,0.617772751112,-0.00994550225139,1.06002923741,0.588343480051,-0.0012727675015,1.05969852368
+237,3.950000000,pose1_to_pose2_press,0.617773061057,-0.00994551965165,1.06002928822,0.588343789952,-0.00127278519692,1.05969857115
+238,3.966666667,pose1_to_pose2_press,0.617773425576,-0.00994545882297,1.06002926814,0.588344153553,-0.00127272744204,1.05969855227
+239,3.983333333,pose1_to_pose2_press,0.617773996235,-0.00994529297411,1.06002916734,0.58834472202,-0.00127256877396,1.05969845784
+240,4.000000000,pose1_to_pose2_press,0.617774375779,-0.00994528916326,1.06002934631,0.588345101956,-0.00127256359389,1.05969863596
+241,4.016666667,pose1_to_pose2_press,0.617774415277,-0.00994532342616,1.06002925857,0.588345141587,-0.00127259727485,1.05969855046
+242,4.033333333,pose2_hold,0.617774415277,-0.00994532342616,1.06002925857,0.588345141591,-0.0012725972743,1.05969855046
+243,4.050000000,pose2_hold,0.617774415277,-0.00994532342616,1.06002925857,0.588345141592,-0.00127259727419,1.05969855046
+244,4.066666667,pose2_hold,0.617774415277,-0.00994532342616,1.06002925857,0.588345141592,-0.00127259727346,1.05969855046
+245,4.083333333,pose2_hold,0.617774415277,-0.00994532342616,1.06002925857,0.588345141592,-0.00127259727378,1.05969855046
+246,4.100000000,pose2_hold,0.617774415277,-0.00994532342616,1.06002925857,0.588345141592,-0.00127259727398,1.05969855046
+247,4.116666667,pose2_hold,0.617774415277,-0.00994532342616,1.06002925857,0.588345141592,-0.00127259727353,1.05969855046
+248,4.133333333,pose2_hold,0.617774415277,-0.00994532342616,1.06002925857,0.588345141592,-0.0012725972741,1.05969855046
+249,4.150000000,pose2_hold,0.617774415277,-0.00994532342616,1.06002925857,0.588345141593,-0.00127259727344,1.05969855046
+250,4.166666667,pose2_hold,0.617774415277,-0.00994532342616,1.06002925857,0.588345141593,-0.00127259727373,1.05969855046
+251,4.183333333,pose2_hold,0.617774415277,-0.00994532342616,1.06002925857,0.588345141593,-0.00127259727377,1.05969855046
+252,4.200000000,pose2_hold,0.617774415277,-0.00994532342616,1.06002925857,0.588345141593,-0.00127259727362,1.05969855046
+253,4.216666667,pose2_hold,0.617774415277,-0.00994532342616,1.06002925857,0.588345141593,-0.0012725972734,1.05969855046
+254,4.233333333,pose2_hold,0.617774415277,-0.00994532342616,1.06002925857,0.588345141593,-0.00127259727338,1.05969855046
+255,4.250000000,pose2_hold,0.617774415277,-0.00994532342616,1.06002925857,0.588345141594,-0.00127259727338,1.05969855046
+256,4.266666667,pose2_hold,0.617774415277,-0.00994532342616,1.06002925857,0.588345141594,-0.00127259727336,1.05969855046
+257,4.283333333,pose2_hold,0.617774415277,-0.00994532342616,1.06002925857,0.588345141594,-0.00127259727365,1.05969855046
+258,4.300000000,pose2_to_pose3_retreat,0.617774415277,-0.00994532342616,1.06002925857,0.588345141595,-0.00127259727345,1.05969855046
+259,4.316666667,pose2_to_pose3_retreat,0.61777442312,-0.00994532148235,1.06002930454,0.588345149544,-0.00127259508157,1.05969859355
+260,4.333333333,pose2_to_pose3_retreat,0.617774426141,-0.00994532051994,1.06002942399,0.588345152904,-0.00127259325897,1.05969870546
+261,4.350000000,pose2_to_pose3_retreat,0.61777419883,-0.00994537441496,1.06002925366,0.588344925933,-0.00127264560918,1.05969854562
+262,4.366666667,pose2_to_pose3_retreat,0.617773989103,-0.00994542237076,1.06002910229,0.588344716508,-0.0012726921933,1.05969840359
+263,4.383333333,pose2_to_pose3_retreat,0.617773764102,-0.00994541553212,1.06002913017,0.588344491433,-0.00127268564941,1.05969843032
+264,4.400000000,pose2_to_pose3_retreat,0.617773262933,-0.0099454002997,1.06002919228,0.588343990101,-0.00127267107351,1.05969848987
+265,4.416666667,pose2_to_pose3_retreat,0.617771370515,-0.00994539084193,1.06002918436,0.588342097861,-0.00127266106125,1.05969848003
+266,4.433333333,pose2_to_pose3_retreat,0.61776650768,-0.00994543172761,1.06002904575,0.58833723629,-0.00127269757379,1.05969834274
+267,4.450000000,pose2_to_pose3_retreat,0.617754631629,-0.00994544838946,1.06002920801,0.588325359382,-0.00127271752591,1.05969849595
+268,4.466666667,pose2_to_pose3_retreat,0.617733750817,-0.00994555247452,1.06002942065,0.58830447923,-0.00127281962329,1.05969870521
+269,4.483333333,pose2_to_pose3_retreat,0.617701026935,-0.00994548100634,1.06002907235,0.588271753266,-0.0012727552866,1.05969836093
+270,4.500000000,pose2_to_pose3_retreat,0.617656398305,-0.00994545729547,1.06002921546,0.588227126344,-0.00127272619271,1.05969850071
+271,4.516666667,pose2_to_pose3_retreat,0.617599907753,-0.00994546070368,1.06002934603,0.588170635862,-0.00127272974255,1.05969862708
+272,4.533333333,pose2_to_pose3_retreat,0.617532578168,-0.00994527944962,1.06002909672,0.588103303494,-0.001272557734,1.05969838896
+273,4.550000000,pose2_to_pose3_retreat,0.617453933541,-0.00994537713471,1.0600289847,0.588024659676,-0.0012726531464,1.05969827378
+274,4.566666667,pose2_to_pose3_retreat,0.617362967691,-0.00994545763278,1.06002892304,0.58793369454,-0.00127273114069,1.05969821294
+275,4.583333333,pose2_to_pose3_retreat,0.617258778839,-0.00994541871149,1.06002896051,0.587829505955,-0.00127269113748,1.0596982555
+276,4.600000000,pose2_to_pose3_retreat,0.617137163716,-0.00994543476987,1.06002915244,0.587707891897,-0.00127270394982,1.05969844177
+277,4.616666667,pose2_to_pose3_retreat,0.616998632854,-0.00994539486702,1.06002919665,0.587569360037,-0.0012726679622,1.05969847907
+278,4.633333333,pose2_to_pose3_retreat,0.616842036437,-0.00994533019856,1.06002910593,0.587412763477,-0.00127260423105,1.05969838951
+279,4.650000000,pose2_to_pose3_retreat,0.616666330954,-0.00994546157535,1.06002919317,0.587237060074,-0.00127272867941,1.05969848376
+280,4.666666667,pose2_to_pose3_retreat,0.61647052873,-0.00994547650117,1.06002920003,0.587041255895,-0.00127275084656,1.05969848727
+281,4.683333333,pose2_to_pose3_retreat,0.616254137692,-0.00994531803643,1.06002903452,0.586824863365,-0.00127259792751,1.05969832266
+282,4.700000000,pose2_to_pose3_retreat,0.616017179184,-0.00994539881315,1.06002898833,0.586587906775,-0.00127267250054,1.05969828269
+283,4.716666667,pose2_to_pose3_retreat,0.615757000505,-0.0099454304998,1.06002892929,0.586327729355,-0.00127270034497,1.05969822417
+284,4.733333333,pose2_to_pose3_retreat,0.615475152606,-0.00994541601437,1.06002911755,0.586045881474,-0.00127268655463,1.05969841208
+285,4.750000000,pose2_to_pose3_retreat,0.615169510451,-0.00994530665033,1.06002901707,0.585740239151,-0.00127257839159,1.05969831307
+286,4.766666667,pose2_to_pose3_retreat,0.614836306229,-0.00994546087399,1.06002912945,0.585407035253,-0.00127273225852,1.05969842517
+287,4.783333333,pose2_to_pose3_retreat,0.61447443575,-0.00994526693717,1.06002920978,0.58504516238,-0.00127254691281,1.0596985122
+288,4.800000000,pose2_to_pose3_retreat,0.614079933261,-0.00994545803501,1.06002929885,0.584650664137,-0.00127272497705,1.05969858243
+289,4.816666667,pose2_to_pose3_retreat,0.613653481187,-0.00994569520253,1.0600290332,0.584224214637,-0.00127295411316,1.05969832346
+290,4.833333333,pose2_to_pose3_retreat,0.613192581483,-0.00994558385918,1.06002903517,0.583763313547,-0.00127284800923,1.05969832516
+291,4.850000000,pose2_to_pose3_retreat,0.612708580604,-0.00994539063461,1.06002902076,0.583279310668,-0.00127266165705,1.05969831565
+292,4.866666667,pose2_to_pose3_retreat,0.612204911979,-0.00994558119081,1.06002929165,0.582775644606,-0.00127284398092,1.05969857409
+293,4.883333333,pose2_to_pose3_retreat,0.611680884796,-0.0099455087016,1.06002915395,0.582251616429,-0.00127277463482,1.05969844227
+294,4.900000000,pose2_to_pose3_retreat,0.611136464514,-0.00994541169926,1.06002914096,0.581707192886,-0.00127268857069,1.05969843279
+295,4.916666667,pose2_to_pose3_retreat,0.610569054705,-0.00994543375113,1.06002902765,0.581139784646,-0.00127270518982,1.05969832221
+296,4.933333333,pose2_to_pose3_retreat,0.609971945214,-0.00994548928367,1.06002935402,0.580542676962,-0.00127275499787,1.0596986389
+297,4.950000000,pose2_to_pose3_retreat,0.609337874535,-0.00994542759168,1.06002916372,0.579908605988,-0.00127269384151,1.05969846
+298,4.966666667,pose2_to_pose3_retreat,0.608674296126,-0.0099453865706,1.06002900361,0.579245026989,-0.00127265466762,1.05969830429
+299,4.983333333,pose2_to_pose3_retreat,0.607983911914,-0.00994525001811,1.06002923006,0.578554640229,-0.00127252709805,1.0596985221
+300,5.000000000,pose2_to_pose3_retreat,0.607270886334,-0.00994538808621,1.06002939777,0.577841616639,-0.00127265866694,1.05969868222
+301,5.016666667,pose2_to_pose3_retreat,0.606534597391,-0.00994540250294,1.06002931657,0.577105328133,-0.00127267165171,1.05969859987
+302,5.033333333,pose2_to_pose3_retreat,0.605766683354,-0.00994551574705,1.06002920102,0.576337416065,-0.00127277830802,1.05969848193
+303,5.050000000,pose2_to_pose3_retreat,0.604978498498,-0.00994535035061,1.06002904375,0.575549227748,-0.0012726242238,1.05969833582
+304,5.066666667,pose2_to_pose3_retreat,0.604177676648,-0.00994548370271,1.06002928927,0.574748408062,-0.00127275060799,1.05969857152
+305,5.083333333,pose2_to_pose3_retreat,0.603370983479,-0.00994553725112,1.06002907148,0.573941714427,-0.00127280560484,1.05969835683
+306,5.100000000,pose2_to_pose3_retreat,0.602564032148,-0.00994536575198,1.06002912832,0.573134760901,-0.00127264117439,1.05969842278
+307,5.116666667,pose2_to_pose3_retreat,0.601763775809,-0.00994543961097,1.06002907558,0.572334506228,-0.00127270976519,1.05969835963
+308,5.133333333,pose2_to_pose3_retreat,0.600958085921,-0.00994546616337,1.06002906753,0.571528815138,-0.00127274043387,1.05969835059
+309,5.150000000,pose2_to_pose3_retreat,0.600134681414,-0.00994545635156,1.06002916421,0.570705411037,-0.00127272924767,1.05969844714
+310,5.166666667,pose2_to_pose3_retreat,0.599288244469,-0.00994538372099,1.0600290199,0.569858974123,-0.00127265592809,1.05969831816
+311,5.183333333,pose2_to_pose3_retreat,0.598418056237,-0.00994542208386,1.06002889396,0.56898878596,-0.0012726940068,1.05969819346
+312,5.200000000,pose2_to_pose3_retreat,0.597529021477,-0.00994543577476,1.06002932416,0.568099752785,-0.00127270256631,1.05969861708
+313,5.216666667,pose2_to_pose3_retreat,0.596631832845,-0.00994546111222,1.06002915874,0.56720256319,-0.00127273112245,1.05969845291
+314,5.233333333,pose2_to_pose3_retreat,0.595755989463,-0.009945348088,1.06002901516,0.5663267182,-0.00127262348584,1.05969831106
+315,5.250000000,pose2_to_pose3_retreat,0.594904682913,-0.00994545715363,1.06002905816,0.565475411949,-0.00127273197115,1.05969834257
+316,5.266666667,pose2_to_pose3_retreat,0.594079053467,-0.00994538131483,1.06002916298,0.564649783141,-0.00127265390519,1.05969844903
+317,5.283333333,pose2_to_pose3_retreat,0.593273212704,-0.00994546172251,1.06002916018,0.56384394329,-0.00127273111208,1.05969844892
+318,5.300000000,pose2_to_pose3_retreat,0.592477924784,-0.00994537530905,1.06002916173,0.563048653865,-0.00127264985966,1.05969844905
+319,5.316666667,pose2_to_pose3_retreat,0.59166720306,-0.00994542337341,1.06002918156,0.562237933204,-0.001272694474,1.05969846471
+320,5.333333333,pose2_to_pose3_retreat,0.590842044648,-0.00994542245687,1.06002926818,0.561412774686,-0.00127269387106,1.0596985525
+321,5.350000000,pose2_to_pose3_retreat,0.590003504336,-0.00994540530317,1.06002910699,0.560574234131,-0.00127267751794,1.05969839183
+322,5.366666667,pose2_to_pose3_retreat,0.589176767936,-0.00994552046212,1.06002920892,0.559747498397,-0.00127279009445,1.05969850221
+323,5.383333333,pose2_to_pose3_retreat,0.588375503477,-0.00994545404003,1.06002917012,0.558946233732,-0.00127272444038,1.05969846151
+324,5.400000000,pose2_to_pose3_retreat,0.587618238394,-0.00994543332356,1.06002914356,0.558188967551,-0.00127270746737,1.05969843446
+325,5.416666667,pose2_to_pose3_retreat,0.586903935295,-0.009945297294,1.06002901834,0.557474663355,-0.00127257483526,1.05969831784
+326,5.433333333,pose2_to_pose3_retreat,0.586218381233,-0.00994552049868,1.06002900259,0.556789112,-0.00127278899398,1.05969829836
+327,5.450000000,pose2_to_pose3_retreat,0.585546420825,-0.00994560453975,1.06002902343,0.556117152233,-0.00127287101799,1.05969831504
+328,5.466666667,pose2_to_pose3_retreat,0.584879114658,-0.00994547116183,1.06002910312,0.555449844905,-0.00127274154841,1.05969839554
+329,5.483333333,pose2_to_pose3_retreat,0.58421265889,-0.00994545605733,1.06002904968,0.554783389518,-0.00127272499538,1.05969834614
+330,5.500000000,pose2_to_pose3_retreat,0.583552667503,-0.00994544517353,1.06002904566,0.554123397932,-0.00127271510477,1.05969833378
+331,5.516666667,pose2_to_pose3_retreat,0.582926317363,-0.00994546739803,1.06002911341,0.553497047594,-0.00127273792651,1.05969840431
+332,5.533333333,pose2_to_pose3_retreat,0.582333149877,-0.00994543773028,1.06002924025,0.55290388096,-0.00127270542376,1.05969852972
+333,5.550000000,pose2_to_pose3_retreat,0.58177182839,-0.00994538089736,1.06002926447,0.552342558679,-0.00127265120877,1.05969855563
+334,5.566666667,pose2_to_pose3_retreat,0.581238184041,-0.00994542907844,1.06002910998,0.551808913839,-0.00127270111353,1.0596984001
+335,5.583333333,pose2_to_pose3_retreat,0.580733459546,-0.00994546379011,1.06002902361,0.551304190142,-0.00127273301329,1.05969831635
+336,5.600000000,pose2_to_pose3_retreat,0.580258276273,-0.00994538401845,1.06002920978,0.550829005854,-0.00127265688787,1.05969849719
+337,5.616666667,pose2_to_pose3_retreat,0.579815129501,-0.00994530590265,1.06002927417,0.550385857636,-0.00127258354963,1.0596985647
+338,5.633333333,pose2_to_pose3_retreat,0.579408352407,-0.00994540644701,1.06002909877,0.54997908219,-0.00127267823377,1.05969839602
+339,5.650000000,pose2_to_pose3_retreat,0.579031322152,-0.00994550320846,1.0600290919,0.549602053141,-0.00127277114649,1.05969838277
+340,5.666666667,pose2_to_pose3_retreat,0.578679029274,-0.00994547134023,1.06002905055,0.54924975943,-0.00127274219045,1.05969833919
+341,5.683333333,pose2_to_pose3_retreat,0.578343695178,-0.00994540725387,1.06002909504,0.548914425126,-0.00127267860302,1.05969838934
+342,5.700000000,pose2_to_pose3_retreat,0.578025002451,-0.00994535252501,1.06002930188,0.548595732855,-0.00127262249271,1.05969859201
+343,5.716666667,pose2_to_pose3_retreat,0.577726093566,-0.00994534173087,1.06002926975,0.548296824264,-0.00127261083892,1.05969855619
+344,5.733333333,pose2_to_pose3_retreat,0.577448582695,-0.00994543582293,1.06002934599,0.548019313946,-0.00127270290461,1.05969863626
+345,5.750000000,pose2_to_pose3_retreat,0.577197532496,-0.00994546265515,1.0600293118,0.5477682634,-0.00127273081807,1.05969860463
+346,5.766666667,pose2_to_pose3_retreat,0.576971133232,-0.00994541708898,1.06002933021,0.547541864542,-0.00127268391281,1.05969862211
+347,5.783333333,pose2_to_pose3_retreat,0.576770661741,-0.00994544185066,1.06002927595,0.547341392627,-0.00127271015773,1.05969856658
+348,5.800000000,pose2_to_pose3_retreat,0.576593214952,-0.00994547908867,1.06002916552,0.547163945288,-0.00127274924153,1.05969845665
+349,5.816666667,pose2_to_pose3_retreat,0.576438175215,-0.00994545146425,1.06002906337,0.54700890676,-0.00127271731684,1.05969835977
+350,5.833333333,pose2_to_pose3_retreat,0.576304181856,-0.00994544819653,1.06002905459,0.546874913614,-0.00127271314315,1.05969835588
+351,5.850000000,pose2_to_pose3_retreat,0.576188727705,-0.00994540736894,1.06002898469,0.546759457788,-0.00127267802487,1.05969828579
+352,5.866666667,pose2_to_pose3_retreat,0.576090876953,-0.00994539799459,1.06002904156,0.546661607841,-0.00127266606962,1.05969833921
+353,5.883333333,pose2_to_pose3_retreat,0.576007543139,-0.00994543418878,1.06002909232,0.546578274152,-0.00127270193519,1.05969838709
+354,5.900000000,pose2_to_pose3_retreat,0.575938147713,-0.00994539422749,1.06002906978,0.546508877845,-0.00127266482346,1.05969836811
+355,5.916666667,pose2_to_pose3_retreat,0.575880891449,-0.00994535268807,1.06002923229,0.54645162274,-0.00127261933709,1.05969853095
+356,5.933333333,pose2_to_pose3_retreat,0.575835078707,-0.00994538217909,1.06002925838,0.546405809526,-0.00127265062795,1.05969855179
+357,5.950000000,pose2_to_pose3_retreat,0.575799652224,-0.00994535918313,1.06002930292,0.546370381551,-0.00127263302913,1.05969858755
+358,5.966666667,pose2_to_pose3_retreat,0.575772804628,-0.0099453279097,1.06002927933,0.546343534334,-0.00127260028303,1.05969856886
+359,5.983333333,pose2_to_pose3_retreat,0.57575327307,-0.0099454030432,1.06002917842,0.546324002743,-0.00127267564182,1.05969846492
+360,6.000000000,pose2_to_pose3_retreat,0.575739078387,-0.00994538231272,1.06002924774,0.546309807836,-0.00127265563015,1.05969853537
+361,6.016666667,pose2_to_pose3_retreat,0.575729496694,-0.0099453928617,1.06002912754,0.546300225698,-0.00127266762331,1.05969841692
+362,6.033333333,pose2_to_pose3_retreat,0.575722552186,-0.00994542999705,1.0600289432,0.546293280886,-0.00127270574674,1.05969823373
+363,6.050000000,pose2_to_pose3_retreat,0.575718186667,-0.00994544495212,1.0600292661,0.546288916901,-0.00127271557288,1.05969855439
+364,6.066666667,pose2_to_pose3_retreat,0.575715861791,-0.00994544121736,1.06002938786,0.546286592536,-0.00127271014797,1.05969867493
+365,6.083333333,pose2_to_pose3_retreat,0.575714609731,-0.00994540718064,1.06002931599,0.546285339914,-0.00127267805143,1.05969860238
+366,6.100000000,pose2_to_pose3_retreat,0.57571394496,-0.00994538910911,1.06002927784,0.546284674844,-0.00127266101002,1.05969856386
+367,6.116666667,pose2_to_pose3_retreat,0.575713450644,-0.00994537567135,1.06002924947,0.546284180306,-0.00127264833824,1.05969853522
+368,6.133333333,pose2_to_pose3_retreat,0.575713109887,-0.00994536640801,1.06002922991,0.546283839396,-0.00127263960294,1.05969851548
+369,6.150000000,pose2_to_pose3_retreat,0.575712730457,-0.00994535609336,1.06002920813,0.546283459796,-0.00127262987625,1.05969849349
+370,6.166666667,pose2_to_pose3_retreat,0.575712264967,-0.00994534343922,1.06002918142,0.546282994097,-0.00127261794343,1.05969846652
+371,6.183333333,pose2_to_pose3_retreat,0.575711724578,-0.00994534026551,1.06002910559,0.546282453573,-0.00127261511863,1.05969839358
+372,6.200000000,pose2_to_pose3_retreat,0.575711117715,-0.00994533778149,1.06002901624,0.546281846568,-0.00127261298061,1.05969830776
+373,6.216666667,pose2_to_pose3_retreat,0.575710502614,-0.00994533526374,1.06002892567,0.546281231322,-0.00127261081357,1.05969822078
+374,6.233333333,pose2_to_pose3_retreat,0.575710157211,-0.00994533942291,1.06002891092,0.546280886013,-0.0012726146205,1.05969820697
+375,6.250000000,pose2_to_pose3_retreat,0.57571006042,-0.00994534688365,1.06002894757,0.546280789444,-0.00127262136218,1.05969824266
+376,6.266666667,pose2_to_pose3_retreat,0.575710054852,-0.00994534731282,1.06002894968,0.546280783889,-0.00127262174999,1.05969824472
+377,6.283333333,pose2_to_pose3_retreat,0.575710000444,-0.00994535150658,1.06002897028,0.546280729607,-0.00127262553955,1.05969826478
+378,6.300000000,pose2_to_pose3_retreat,0.575709879412,-0.00994536083582,1.06002901611,0.546280608852,-0.00127263396964,1.05969830942
+379,6.316666667,pose2_to_pose3_retreat,0.57570984117,-0.00994536378351,1.06002903059,0.546280570699,-0.00127263663323,1.05969832352
+380,6.333333333,pose2_to_pose3_retreat,0.575709783127,-0.00994536825744,1.06002905257,0.54628051279,-0.00127264067597,1.05969834493
+381,6.350000000,pose2_to_pose3_retreat,0.575709714724,-0.00994537353,1.06002907847,0.546280444544,-0.00127264544036,1.05969837015
+382,6.366666667,pose2_to_pose3_retreat,0.575709591297,-0.00994538304378,1.06002912521,0.546280321401,-0.00127265403721,1.05969841567
+383,6.383333333,pose2_to_pose3_retreat,0.575709526229,-0.00994538805926,1.06002914985,0.546280256482,-0.00127265856929,1.05969843967
+384,6.400000000,pose2_to_pose3_retreat,0.575709452851,-0.00994537811156,1.06002915626,0.546280182962,-0.00127264912032,1.05969844567
+385,6.416666667,pose2_to_pose3_retreat,0.575709346595,-0.00994535684104,1.06002915615,0.546280076363,-0.00127262903126,1.05969844509
+386,6.433333333,pose2_to_pose3_retreat,0.575709316743,-0.00994535086525,1.06002915612,0.546280046415,-0.00127262338739,1.05969844493
+387,6.450000000,pose2_to_pose3_retreat,0.575709309433,-0.00994534940192,1.06002915611,0.546280039081,-0.00127262200534,1.05969844489
+388,6.466666667,pose2_to_pose3_retreat,0.575709219406,-0.00994533138025,1.06002915602,0.546279948764,-0.00127260498468,1.05969844439
+389,6.483333333,pose2_to_pose3_retreat,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365052,1.05969844436
+390,6.500000000,pose2_to_pose3_retreat,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365053,1.05969844436
+391,6.516666667,pose2_to_pose3_retreat,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365053,1.05969844436
+392,6.533333333,pose2_to_pose3_retreat,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_07/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_07/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..dc44b0cb08b41ffae561896e7f935a552f7a47d5
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_07/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bfabadc9d68c2acade0fcf14f6336d4e4e62ed831d909e784cacc036e106661e
+size 25234127
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_07/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_07/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ec7203d1d7d4589c6b5a51d5cd04fcf54112a605
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_07/depth_02/franka_data.csv
@@ -0,0 +1,398 @@
+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,764,743,712,671,659,633,878,784,799,649,629,651,0.400953404737,-0.0153706187545,0.0698166628606,0.999999928601,0.000235398569419,-0.000295183778258,1.58715821959e-05,1793193483859608064
+1,0.016666667,BASELINE,764,742.408828016,712,671,659,633,878,784,799,648.408828016,629,650.408828016,0.400954772564,-0.0153702440068,0.0698176159954,0.999999929153,0.000235603108858,-0.000293147795405,1.57730786359e-05,1793193483876274944
+2,0.033333333,BASELINE,763.821334708,742,712,671.178665292,659,633,877.821334708,784,799.178665292,648.178665292,629,650,0.400955776937,-0.0153704462435,0.0698183931527,0.999999929643,0.000235449784723,-0.000291597973431,1.57564286814e-05,1793193483892941568
+3,0.050000000,BASELINE,763.242089136,742,712,671.757910864,659,633,877.242089136,784,799.757910864,648.757910864,629,650,0.400955966419,-0.0153719421203,0.0698187757562,0.999999929999,0.000234494105072,-0.000291138158292,1.5923300307e-05,1793193483909607680
+4,0.066666667,BASELINE,763.334660819,742,712,672,659,633,877.334660819,784,799.665339181,649,629,650,0.400955393348,-0.0153709473145,0.0698185167287,0.99999992961,0.000235682470629,-0.000291525587492,1.5672235108e-05,1793193483926274304
+5,0.083333333,BASELINE,763.909618808,742,712,672,659,633,877.909618808,784,799.090381192,649,629,650,0.40095427274,-0.0153681641187,0.0698177969897,0.999999928682,0.00023841032926,-0.000292521365244,1.51210778946e-05,1793193483942940672
+6,0.100000000,BASELINE,764,742,712,672,659,633.494381237,877.505618763,784,799,649,629,650,0.400954787558,-0.0153679593405,0.0698181267557,0.9999999287,0.000239206437029,-0.000291806796902,1.51243954127e-05,1793193483959607296
+7,0.116666667,BASELINE,764,742,712,672,659,633.920019903,877,784,799,649,629,650,0.400955528755,-0.0153682885771,0.0698185978082,0.999999928937,0.000239399355089,-0.000290826549355,1.52832956513e-05,1793193483976274176
+8,0.133333333,BASELINE,764,742,712,672,659,633.340616996,877,784,799,649,629,650,0.400955778812,-0.0153689493837,0.0698187287767,0.999999929434,0.000238075599486,-0.000290179295113,1.57679284778e-05,1793193483992940800
+9,0.150000000,BASELINE,764,742,712.237817471,672,659,633,877,784,799.237817471,649,629,650.237817471,0.400955897244,-0.0153694081076,0.0698187037422,0.99999992956,0.000237467374694,-0.000290225481876,1.60848320404e-05,1793193484009607424
+10,0.166666667,BASELINE,764,742,712.814870454,672,659,633,877,784,799.814870454,649,629,650.814870454,0.400955827921,-0.0153695785699,0.0698184561766,0.99999992916,0.000237879821292,-0.000291260829892,1.61624776031e-05,1793193484026274304
+11,0.183333333,BASELINE,764,742,712.608815993,672,659,633,877.391184007,784,800,649,629,650.608815993,0.400955946418,-0.0153688372953,0.0698186365542,0.99999992856,0.000240280149974,-0.000291352108367,1.60820991914e-05,1793193484042941184
+12,0.200000000,BASELINE,764,742,712.032851668,672,659,633,877.967148332,784,800,649,629,650.032851668,0.400956153633,-0.0153676653511,0.0698190190758,0.999999927858,0.000243619477926,-0.000290997444693,1.59270763233e-05,1793193484059607808
+13,0.216666667,BASELINE,764,742,712,672,659,633,878,784,799.445720569,649,629,650,0.400954199365,-0.0153686811566,0.0698176909175,0.999999927555,0.000242720824657,-0.000292789142555,1.58691108902e-05,1793193484076274176
+14,0.233333333,BASELINE,763.860052532,742,712,672,659,633,878,784,799.139947468,649,629,650.139947468,0.400952818837,-0.0153700861215,0.0698167998871,0.999999927728,0.000240571353919,-0.000293964350466,1.59243001875e-05,1793193484092940544
+15,0.250000000,BASELINE,763.281092828,742,712,672,659,633,878,784,799.718907172,649,629,650.718907172,0.400953648258,-0.0153722967484,0.0698176047163,0.999999929318,0.000235302247004,-0.000292798373404,1.63160369228e-05,1793193484109607168
+16,0.266666667,BASELINE,763.594005855,742.297002927,712,672,659,633,878,784.297002927,800,649,629,651,0.400954560448,-0.0153727634099,0.069818097878,0.999999929933,0.000233661343952,-0.000292020404228,1.61691704749e-05,1793193484126273792
+17,0.283333333,BASELINE,764.748566702,742.874283351,712,672,659,633,878,784.874283351,800,649,629,651,0.400955550748,-0.0153715843157,0.0698182969231,0.999999929645,0.000235444326315,-0.000291608592725,1.55140317351e-05,1793193484142940672
+18,0.300000000,BASELINE,764.55000198,742.55000198,712,672,659,633,877.55000198,784.55000198,799.55000198,649,629,650.55000198,0.400955552325,-0.0153704145928,0.0698185416371,0.999999929125,0.000237908532279,-0.000291390060058,1.55594461997e-05,1793193484159607040
+19,0.316666667,BASELINE,764,742,712,672,659,633,877,784,799.025871485,649,629,650.025871485,0.400955248389,-0.0153693246526,0.0698187723341,0.999999928581,0.00024030227698,-0.000291280218502,1.57848827381e-05,1793193484176274176
+20,0.333333333,BASELINE,764,742,712,672,659,633,877,784,799.614685428,649,629,650.614685428,0.400954286231,-0.0153699139496,0.0698184213776,0.999999929045,0.000237036112966,-0.000292364558748,1.56836281078e-05,1793193484192940800
+21,0.350000000,BASELINE,764,742,712,672,659,633,877,784,800,648.79960259,629,651,0.400954022373,-0.0153701419428,0.0698184544642,0.999999929161,0.000236237240118,-0.000292613317559,1.57509471684e-05,1793193484209607168
+22,0.366666667,BASELINE,764,742,712,672,659,633,877,784,800,648.219764063,629,651,0.400955080707,-0.0153696858276,0.0698192147143,0.999999928621,0.000240110043389,-0.000291279950244,1.61374509537e-05,1793193484226273792
+23,0.383333333,BASELINE,764,742.357070104,712.357070104,672,659,632.642929896,877,784,799.642929896,648.357070104,629,650.642929896,0.400954872369,-0.0153694643552,0.0698188719994,0.999999928421,0.000240495470344,-0.000291656912339,1.59881022993e-05,1793193484242940672
+24,0.400000000,BASELINE,764,742.932070676,712.932070676,672,659,632.067929324,877,784,799.067929324,648.932070676,629,650.067929324,0.400953890942,-0.0153693860923,0.0698178561124,0.999999928431,0.000238752448545,-0.000293077739041,1.55117070559e-05,1793193484259607296
+25,0.416666667,BASELINE,764,742.493387903,712.493387903,672,659,632.506612097,877,784,799,648.493387903,629,650,0.400954583975,-0.0153702011428,0.0698186146448,0.999999928948,0.00023790563879,-0.00029198236125,1.58513289221e-05,1793193484276273664
+26,0.433333333,BASELINE,764,742,712,672,659.083906274,632.916093726,877.083906274,784,799.083906274,648.083906274,629,650.083906274,0.400955277127,-0.0153709560008,0.0698193838897,0.999999929451,0.000237192367465,-0.00029081879633,1.61763717266e-05,1793193484292940288
+27,0.450000000,BASELINE,764,742,712,672,659.678323534,632.321676466,877.678323534,784,799.678323534,648.678323534,629,650.678323534,0.400954606183,-0.0153706165107,0.0698187720234,0.99999992947,0.000236561101386,-0.000291291261773,1.57475940553e-05,1793193484309607424
+28,0.466666667,BASELINE,764,742,712,671.736000501,659.736000501,632.263999499,878,784,800,649,629,651,0.400954176509,-0.0153706572569,0.0698185321673,0.999999929495,0.000236358583519,-0.000291385544476,1.54573635886e-05,1793193484326274304
+29,0.483333333,BASELINE,764,742,712,671.160634245,659.160634245,632.839365755,878,784,800,649,629,651,0.400954031394,-0.0153711464621,0.0698187310683,0.999999929528,0.000236661740667,-0.00029103379019,1.53305387381e-05,1793193484342940928
+30,0.500000000,BASELINE,764,742,712,671.416130441,659,633,877.583869559,784,799.583869559,649,629,650.583869559,0.400953950941,-0.0153713549745,0.0698182422498,0.999999929395,0.000236853293736,-0.000291337781601,1.52899388822e-05,1793193484359607296
+31,0.516666667,BASELINE,764,742,712,671.993436755,659,633,877.006563245,784,799.006563245,649,629,650.006563245,0.400953895534,-0.0153714547686,0.0698174870634,0.999999929197,0.000237001620247,-0.000291895756805,1.52827357417e-05,1793193484376273920
+32,0.533333333,BASELINE,764,742,712,672,659,632.418277946,877,784,799,649,628.418277946,650,0.400954652921,-0.015370551931,0.0698180139818,0.9999999293,0.000237348821901,-0.00029125842347,1.53034138982e-05,1793193484392940544
+33,0.550000000,BASELINE,764.16740066,742,712,672,659.16740066,632.16740066,877.16740066,784,799,649,628,650.16740066,0.400955213472,-0.0153700127765,0.0698184836835,0.999999929484,0.000237321440289,-0.000290646039081,1.53541690286e-05,1793193484409606912
+34,0.566666667,BASELINE,764.746360163,742,712,672,659.746360163,632.746360163,877.746360163,784,799,649,628,650.746360163,0.400955267119,-0.015370396093,0.0698187764691,0.999999929858,0.000236367513449,-0.000290128785885,1.54780809192e-05,1793193484426273792
+35,0.583333333,BASELINE,764.67718711,742,712,672,659.67718711,633,877.67718711,784,799.32281289,648.67718711,628.32281289,651,0.400955205774,-0.0153705330853,0.0698188631027,0.999999929783,0.000236812811438,-0.000290018782482,1.55888265317e-05,1793193484442940416
+36,0.600000000,BASELINE,764.102688763,742,712,672,659.102688763,633,877.102688763,784,799.897311237,648.102688763,628.897311237,651,0.400955054773,-0.0153704780277,0.0698187890071,0.999999929356,0.000238349033984,-0.00029022629686,1.56893068894e-05,1793193484459607040
+37,0.616666667,BASELINE,764,742,712,672,659,633,877,784,799.517393816,648.482606184,629,651,0.400955526272,-0.0153698888616,0.0698190019889,0.999999929552,0.000238224689676,-0.000289659703493,1.5561049301e-05,1793193484476274176
+38,0.633333333,BASELINE,764,742.069241241,712,672,659,633,877,784,799.069241241,649,629,650.930758759,0.400955987179,-0.0153692988277,0.0698192181696,0.999999929805,0.000237848554007,-0.000289104074215,1.53938469344e-05,1793193484492941568
+39,0.650000000,BASELINE,764,742.648439809,712,672,659,633,877,784,799.648439809,649,629,650.351560191,0.40095537223,-0.0153695585624,0.0698189977342,0.999999929482,0.000238279828128,-0.000289870065178,1.53064785321e-05,1793193484509607424
+40,0.666666667,BASELINE,764,742.77267679,712,672,659.22732321,633,877,784.22732321,799.77267679,649,629,650,0.40095449247,-0.0153698636925,0.0698184751256,0.999999929308,0.0002378688232,-0.000290811457188,1.520493608e-05,1793193484526273536
+41,0.683333333,BASELINE,764,742.194280161,712,672,659.805719839,633,877,784.805719839,799.194280161,649,629,650,0.400953203738,-0.0153702389305,0.0698174858468,0.999999929362,0.000236157019337,-0.000292023735016,1.50815035141e-05,1793193484542940160
+42,0.700000000,BASELINE,764,742,712,672,659.618841754,633,877.381158246,784.618841754,799,649,628.618841754,650.381158246,0.400953951668,-0.0153701646909,0.069817952432,0.999999929322,0.00023713702152,-0.000291360194489,1.51917396722e-05,1793193484559607040
+43,0.716666667,BASELINE,764,742,712,672,659.044899587,633,877.955100413,784.044899587,799,649,628.044899587,650.955100413,0.40095572971,-0.0153698631125,0.0698191553705,0.999999929229,0.000239478497453,-0.000289747894132,1.54201618458e-05,1793193484576273664
+44,0.733333333,BASELINE,764,742.545330481,712,672,659,633,877.454669519,784.545330481,799,649,628,650.454669519,0.40095566272,-0.0153709228781,0.069819556549,0.999999929867,0.000237553954912,-0.000289115591896,1.56703207168e-05,1793193484592940544
+45,0.750000000,BASELINE,764.133534258,742.866465742,712,672,659,633,877,784.866465742,799,649,628.133534258,650,0.400955457918,-0.0153716803864,0.0698198524651,0.999999930392,0.000235922516394,-0.000288625681881,1.5850214639e-05,1793193484609607680
+46,0.766666667,BASELINE,764.710420761,742.289579239,712,672,659,633,877,784.289579239,799,649,628.710420761,650,0.400955315446,-0.0153710507612,0.0698200248139,0.999999930349,0.000236466296853,-0.000288332391449,1.57906942036e-05,1793193484626274560
+47,0.783333333,BASELINE,764.712788098,742,712,672,659,633,877,784,799,649,629,650,0.400954936246,-0.0153705270439,0.0698197632984,0.999999930015,0.000236763225605,-0.000289259151966,1.5593074913e-05,1793193484642940928
+48,0.800000000,BASELINE,764.136093004,742,712,672,659,633,877,784,799,649,629,650,0.400954318447,-0.0153701100719,0.0698190644877,0.999999929382,0.000236811350597,-0.000291415611638,1.52562646653e-05,1793193484659607040
+49,0.816666667,BASELINE,764,742,712,671.551337281,659,633,877,784,799,649,628.551337281,650.448662719,0.400954279013,-0.0153713865579,0.0698190637513,0.999999929547,0.000236391412739,-0.00029117640024,1.55222264399e-05,1793193484676273664
+50,0.833333333,BASELINE,764,742,712,671.035409962,659,633,877.035409962,784,799.035409962,649,628,650.964590038,0.400954397951,-0.0153729941899,0.0698192196965,0.999999929923,0.000235869087659,-0.000290286059143,1.59280005142e-05,1793193484692940288
+51,0.850000000,BASELINE,764,742,712,671.614507705,659,633,877.614507705,784,799.614507705,649,628,650.385492295,0.40095420561,-0.0153716549351,0.06981847068,0.999999929761,0.000235994518169,-0.000290759839941,1.5621779865e-05,1793193484709606912
+52,0.866666667,BASELINE,764,742.193579781,712,672,659,632.806420219,878,784,799.806420219,649,628.193579781,650.193579781,0.400954005851,-0.015370751905,0.069818048997,0.999999929569,0.00023636399412,-0.000291127389048,1.54287994033e-05,1793193484726273792
+53,0.883333333,BASELINE,764,742.772600717,712,672,659,632.227399283,878,784,799.227399283,649,628.772600717,650.772600717,0.400953791321,-0.015370717452,0.0698182790754,0.999999929321,0.000237219394561,-0.000291283417761,1.54612941022e-05,1793193484742940672
+54,0.900000000,BASELINE,764,742.651843534,712,671.651843534,659,632,878,784,799,648.651843534,629,650.651843534,0.400954532137,-0.0153710485364,0.0698189085893,0.999999929745,0.000236336144373,-0.000290540433342,1.55273103176e-05,1793193484759607552
+55,0.916666667,BASELINE,764,742.078528798,712,671.078528798,659,632,878,784,799,648.078528798,629,650.078528798,0.400955890791,-0.0153716160196,0.0698197964244,0.9999999306,0.000234328481404,-0.000289216042963,1.56150054244e-05,1793193484776274432
+56,0.933333333,BASELINE,764,742,712,671.508331298,659,632,877.491668702,784.508331298,799,648.508331298,629,650,0.400955211871,-0.0153708543021,0.0698191085442,0.999999929879,0.000236309956565,-0.000290105160437,1.544773926e-05,1793193484792940800
+57,0.950000000,BASELINE,763.904319378,742,712,671.904319378,659,632.095680622,877,784.904319378,799,649,629,650,0.400954505757,-0.0153701582237,0.0698184283064,0.99999992913,0.000238373697709,-0.00029100481329,1.53248123789e-05,1793193484809607168
+58,0.966666667,BASELINE,763.325357884,742,712,671.325357884,659,632.674642116,877,784.325357884,799,649,629,650,0.400955295717,-0.0153708592469,0.0698190498502,0.999999929535,0.000237655051316,-0.000290183211223,1.56302332308e-05,1793193484826273792
+59,0.983333333,BASELINE,763.252398292,742,712,671.504796584,659,633,877.252398292,784,799,648.747601708,629,650,0.400955815189,-0.0153709417678,0.0698196853716,0.999999929935,0.000236988892027,-0.000289351913618,1.55198237651e-05,1793193484842940416
+60,1.000000000,BASELINE,763.828608199,742,712,672.657216398,659,633,877.828608199,784,799,648.171391801,629,650,0.40095598764,-0.0153702307883,0.0698203388254,0.999999930331,0.000236390070392,-0.000288508177116,1.4875929406e-05,1793193484859606784
+61,1.016666667,BASELINE,764,742,712,672.596959475,659,633,877.596959475,784,798.596959475,648.403040525,629,650,0.400955182235,-0.0153705106659,0.0698199355644,0.99999992996,0.000237096114926,-0.00028921163553,1.49192172635e-05,1793193484876273664
+62,1.033333333,BASELINE,764,742,712,672.023279774,659,633,877.023279774,784,798.023279774,648.976720226,629,650,0.400953962826,-0.0153712100524,0.0698190849117,0.999999929262,0.000238354613336,-0.000290570144904,1.52534441574e-05,1793193484892940544
+63,1.050000000,BASELINE,764,742,711.433428493,672,659,633,877,784,798.566571507,649,628.433428493,650,0.400954496344,-0.0153725756513,0.069819390839,0.999999929855,0.000236698244424,-0.000289869464689,1.54948671868e-05,1793193484909607680
+64,1.066666667,BASELINE,764,742,711.154310921,672,659,633,877,784,799,649,628,650,0.400954879901,-0.0153733286868,0.0698196076955,0.999999930197,0.000235924197225,-0.00028931190538,1.56541954863e-05,1793193484926274560
+65,1.083333333,BASELINE,764,742,711.734337041,672,659,633,877,784,799,649,628,650,0.400954645201,-0.0153723140352,0.0698194438644,0.999999929701,0.000237924439459,-0.000289389471024,1.55978686604e-05,1793193484942940928
+66,1.100000000,BASELINE,764,742,712,672,659,633,877.310677664,784,799,648.689322336,628.310677664,650,0.400954848219,-0.0153721290914,0.0698195438638,0.999999929955,0.000237131234408,-0.000289175063114,1.53945620144e-05,1793193484959607296
+67,1.116666667,BASELINE,764,742,712,672,659,633,877.883903706,784,799,648.116096294,628.883903706,650,0.400955421146,-0.0153726453196,0.0698198668219,0.999999930836,0.000233977334738,-0.000288713913345,1.50670452394e-05,1793193484976273920
+68,1.133333333,BASELINE,764,742,712,672,659,633,877.541490983,784,799.458509017,648,628.541490983,650.458509017,0.400955540557,-0.015371909719,0.0698199160715,0.999999930426,0.000235689827642,-0.000288722898006,1.5383404737e-05,1793193484992940544
+69,1.150000000,BASELINE,764,742,712,672,659,633,877.034664115,784,799.965335885,648.034664115,628.034664115,651,0.400955533812,-0.0153709408432,0.0698198900519,0.999999929749,0.000238347526218,-0.000288862973062,1.58225166903e-05,1793193485009606912
+70,1.166666667,BASELINE,764,742,712,672,659,633,877.63022757,784,799.36977243,648.63022757,628.63022757,651,0.400955349424,-0.0153713416755,0.0698197708926,0.999999930143,0.000236301378914,-0.000289192225136,1.5601905821e-05,1793193485026274048
+71,1.183333333,BASELINE,764,742,712,672,659,633,877.781116101,784,799,649,629,650.781116101,0.400955136493,-0.0153717959116,0.0698196837194,0.999999930394,0.000235197918359,-0.000289225312284,1.5548307978e-05,1793193485042940928
+72,1.200000000,BASELINE,764,742,712,672,659,633,877.203771311,784,799,649,629,650.203771311,0.400954876818,-0.0153723376059,0.0698196489291,0.999999930418,0.00023563827287,-0.000288773377322,1.57682233119e-05,1793193485059607808
+73,1.216666667,BASELINE,764,742,712,671.629173736,659,633,877.370826264,784,799.370826264,649,629,650,0.400955055227,-0.0153720003858,0.0698198069947,0.999999930153,0.000236816792413,-0.000288722455853,1.5855729327e-05,1793193485076274176
+74,1.233333333,BASELINE,764,742,712,671.056074705,659,633,877.943925295,784,799.943925295,649,629,650,0.400955472596,-0.0153711837486,0.0698200702563,0.999999929728,0.000238397955154,-0.000288890273255,1.58710106733e-05,1793193485092940544
+75,1.250000000,BASELINE,764,742.532822625,712,671.532822625,659,633,877.467177375,784,799.467177375,649,629,650.532822625,0.400955834048,-0.0153713453315,0.0698201433597,0.999999929803,0.000238603361602,-0.000288461349003,1.5885636537e-05,1793193485109607168
+76,1.266666667,BASELINE,764,742.878950926,712,671.878950926,659,632.878950926,877,784,799,649,629,650.878950926,0.400955746146,-0.0153713238164,0.0698199968841,0.999999929893,0.000238225186652,-0.000288470941632,1.57253084445e-05,1793193485126273536
+77,1.283333333,BASELINE,764,742.29974877,712,671.29974877,659,632.29974877,877,784,799,649,629,650.29974877,0.400953980455,-0.0153702077506,0.0698190973924,0.999999929831,0.000236202978812,-0.000290385214623,1.49030742237e-05,1793193485142940160
+78,1.300000000,BASELINE,763.722884033,742,712,671.277115967,659,632.277115967,877,784,799,649,629,650,0.400954460114,-0.0153699632301,0.0698194437015,0.99999992996,0.000236228840524,-0.000289923226478,1.48281550219e-05,1793193485159607040
+79,1.316666667,BASELINE,763.148526509,742,712,671.851473491,659,632.851473491,877,784,799,649,629,650,0.400957348191,-0.015370653551,0.0698211262878,0.99999993029,0.000238451513288,-0.000286912400732,1.55548247628e-05,1793193485176273664
+80,1.333333333,BASELINE,763.435612514,742,712,671.564387486,659,633,877,784.435612514,799.435612514,649,629,650.435612514,0.400957099608,-0.0153702115322,0.0698208791703,0.999999930389,0.000237929220849,-0.000287013204512,1.53368905852e-05,1793193485192940544
+81,1.350000000,BASELINE,764.022825622,742,712,671.022825622,659,633,877.022825622,784.977174378,800,649,628.977174378,650.977174378,0.400955804462,-0.0153694585436,0.0698199935795,0.999999930406,0.000236500499101,-0.00028815890641,1.48266337105e-05,1793193485209607168
+82,1.366666667,BASELINE,764.601811111,742,712,671.601811111,659,633,877.601811111,784.398188889,800,649,628.398188889,650.398188889,0.400955666193,-0.0153707518116,0.0698199508528,0.999999930398,0.000236314254236,-0.000288319899879,1.52215042495e-05,1793193485226273536
+83,1.383333333,BASELINE,765,742.180612068,712,671.819387932,659,633,877.819387932,784,799.819387932,649,628,650.180612068,0.400955218227,-0.0153716181383,0.0698197647869,0.999999930204,0.000236251090948,-0.000289027307102,1.55172613989e-05,1793193485242940416
+84,1.400000000,BASELINE,765,742.759006724,712,671.240993276,659,633,877.240993276,784,799.240993276,649,628,650.759006724,0.400954088179,-0.0153715441633,0.0698192630288,0.999999929599,0.000236459004239,-0.000290938143779,1.55947298852e-05,1793193485259607040
+85,1.416666667,BASELINE,764.664236052,742.664236052,712,671.335763948,659.335763948,633,877,784,799,649,628.335763948,650.664236052,0.400954442378,-0.0153716437333,0.0698196581508,0.999999929887,0.000235923863527,-0.000290386848943,1.5519924001e-05,1793193485276273920
+86,1.433333333,BASELINE,764.088648419,742.088648419,712,671.911351581,659.911351581,633,877,784,799,649,628.911351581,650.088648419,0.40095585672,-0.0153718672601,0.069820693881,0.999999930809,0.000234857986997,-0.000288076945134,1.53363541996e-05,1793193485292940544
+87,1.450000000,BASELINE,764,742.499407254,712,672,659.500592746,633,877,784,799.499407254,648.500592746,629,650,0.400955288126,-0.0153716969166,0.069819877981,0.999999930237,0.000235750417346,-0.00028932853801,1.53809891497e-05,1793193485309607168
+88,1.466666667,BASELINE,764,742.912040584,712,672,659,633,877,784,800,648,629,650,0.400954620763,-0.0153715170827,0.0698189537779,0.999999929558,0.000237020365566,-0.000290630909602,1.54400990998e-05,1793193485326273536
+89,1.483333333,BASELINE,764,742.333381408,712,672,659,633,877,784,800,648,629,650,0.400955416297,-0.0153716843252,0.0698193059291,0.999999929818,0.00023840748637,-0.000288599445882,1.53481923106e-05,1793193485342940416
+90,1.500000000,BASELINE,764,742,712,672,659,633,877,784,799.756118565,648.243881435,629,650.243881435,0.400955573772,-0.0153715878643,0.0698197652585,0.999999930059,0.00023832824459,-0.000287833456428,1.52853003278e-05,1793193485359607040
+91,1.516666667,BASELINE,764,742,712,672,659,633,877,784,799.180753665,648.819246335,629,650.819246335,0.400954863998,-0.0153711329781,0.0698203702645,0.999999930276,0.000236255923753,-0.000288787498831,1.52618452559e-05,1793193485376273664
+92,1.533333333,BASELINE,764,742,712,671.597855978,659,633,877,784.402144022,799,649,629,651,0.40095396434,-0.0153714085673,0.0698198148735,0.999999930089,0.000235428818552,-0.000290094701167,1.54961439212e-05,1793193485392940288
+93,1.550000000,BASELINE,764,742,712,671.01150781,659,633,877,784.98849219,799,649,629,651,0.400952977705,-0.0153720187546,0.0698187279568,0.999999929717,0.000235172090626,-0.00029156367032,1.58485080152e-05,1793193485409606912
+94,1.566666667,BASELINE,764,742,712,671,659,633,877,784.432864769,799.567135231,649,628.432864769,650.432864769,0.400954292386,-0.0153717134107,0.069819671228,0.999999930047,0.000235785762734,-0.000289944638643,1.56196472245e-05,1793193485426273792
+95,1.583333333,BASELINE,764,742,712,671,659,633,877.145549279,784,799.854450721,649,628.145549279,650,0.400955513942,-0.0153715551177,0.0698202605629,0.99999993041,0.000236073573425,-0.000288465302131,1.53746581404e-05,1793193485442940416
+96,1.600000000,BASELINE,764,742,712,671,659,633,877.723741295,784,799.276258705,649,628.723741295,650,0.40095632174,-0.0153718884107,0.0698196770191,0.999999930841,0.000235340972294,-0.00028758496298,1.51163146107e-05,1793193485459607040
+97,1.616666667,BASELINE,764,742.300978309,712,671.300978309,659,633,877.699021691,784,799,648.699021691,629,650.300978309,0.400956950518,-0.0153717705267,0.0698199636312,0.999999931286,0.000234640257277,-0.000286612840158,1.4987813438e-05,1793193485476273664
+98,1.633333333,BASELINE,764,742.877341494,712,671.877341494,659,633,877.122658506,784,799,648.122658506,629,650.877341494,0.400957415499,-0.0153712398313,0.0698210464063,0.999999931746,0.00023396871701,-0.000285556738464,1.49781136047e-05,1793193485492940288
+99,1.650000000,BASELINE,764,742.538686009,712,672.461313991,659,633,877,784,799,648.461313991,629,650.538686009,0.400956723954,-0.0153702233668,0.0698207256389,0.999999930777,0.000236817117219,-0.000286596740629,1.50420856098e-05,1793193485509606656
+100,1.666666667,BASELINE,764,742,712,672.90603989,659,633,877,784,799,649,628.953019945,650.046980055,0.400955853259,-0.0153692419531,0.0698200897862,0.99999992958,0.00024010391388,-0.000288031697983,1.51182519244e-05,1793193485526273792
+101,1.683333333,BASELINE,764,742,712,671.742981884,659,633,877,784,799,649,628.371490942,650.628509058,0.400956501733,-0.0153701536229,0.0698201862427,0.999999930339,0.000237551241125,-0.000287512744631,1.51065468138e-05,1793193485542940416
+102,1.700000000,BASELINE,764,742,712,671.207649195,659,633,877.207649195,784.207649195,799.207649195,649,628.207649195,651,0.400956594524,-0.0153713287848,0.0698201664471,0.999999930949,0.000235312071384,-0.000287230049865,1.51675023261e-05,1793193485559606784
+103,1.716666667,BASELINE,764,742,712,671.782564121,659,633,877.782564121,784.782564121,799.782564121,649,628.782564121,651,0.40095570449,-0.0153729699807,0.0698199410382,0.999999931302,0.000233627389567,-0.000287365221855,1.53569714938e-05,1793193485576273408
+104,1.733333333,BASELINE,764,742,712,672,659,633,877.634703821,785,800.365296179,648.634703821,629,651,0.400956027071,-0.0153726147817,0.0698203332864,0.999999931053,0.000234726992987,-0.000287323694514,1.55759786211e-05,1793193485592940800
+105,1.750000000,BASELINE,764,742,712,672,659,633,877.047216953,785,800.952783047,648.047216953,629,651,0.400957087224,-0.0153710452796,0.0698211012234,0.999999930432,0.000237520132322,-0.000287174690161,1.5812952173e-05,1793193485609608704
+106,1.766666667,BASELINE,764,742.532307286,712,671.467692714,659,632.467692714,877.532307286,785,799.935385428,648.532307286,629,650.467692714,0.400956517448,-0.0153702555933,0.0698210972237,0.999999930353,0.000237461085577,-0.00028751615754,1.55225293835e-05,1793193485626275328
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,742,712,672,659,633,877,784,799,649,628,651,0.400954987303,-0.0153699485819,0.0698190833949,0.999999930115,0.000235651635362,-0.000289852845267,1.49852750979e-05,1793193485668551936
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632.426449832,877,784,799,649,628,650.426449832,0.400955259938,-0.0153711230478,0.0698196442923,0.999999930662,0.000233959138663,-0.00028933119782,1.50210420298e-05,1793193485685218304
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632.147944849,877,784.147944849,799.147944849,649,628,650.147944849,0.400955566655,-0.0153719522441,0.0698201517338,0.999999931047,0.000233085603129,-0.000288703077584,1.50715427889e-05,1793193485701884672
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632.724787945,877,784.724787945,799.724787945,649,628,650.724787945,0.400955972178,-0.0153717804897,0.0698205042045,0.999999930965,0.00023458626954,-0.000287766288204,1.51647575318e-05,1793193485718551040
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,742,712,672,659,633,877,784.689374007,800,649,628.310625993,650.689374007,0.400956618506,-0.0153719860375,0.0698211486094,0.999999931376,0.000234088335179,-0.00028673644179,1.5241807023e-05,1793193485735217152
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,742,712,672,659,633,877,784.095328884,800,649,628.904671116,650.095328884,0.400957484545,-0.0153725358406,0.069822059379,0.999999932235,0.000231766851821,-0.000285621689008,1.53041071263e-05,1793193485751883520
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,742,712,671.516524321,659,633,877,784.483475679,799.516524321,649,629,650.483475679,0.400958002748,-0.0153724605788,0.0698220692317,0.9999999318,0.000233453374655,-0.000285769892907,1.53573920172e-05,1793193485768550656
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,742.06043583,712.06043583,671.06043583,659.06043583,633,877,785,799,649,629.06043583,651,0.400959137077,-0.0153723036481,0.0698223054154,0.999999931381,0.000235594483047,-0.000285473557135,1.54177531097e-05,1793193485785217280
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,742.64669511,712.64669511,671.64669511,659.64669511,633,877,785,799,649,629.64669511,651,0.400966210506,-0.015372475696,0.069826009106,0.999999933282,0.000235025038688,-0.000279209078811,1.55546740054e-05,1793193485801884160
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,742.769916428,712.769916428,672,660,632.769916428,877.230083572,785,799.230083572,649,629.769916428,650.769916428,0.400978261575,-0.0153728355083,0.0698315010578,0.999999935718,0.000235481201035,-0.000269920964344,1.60010678473e-05,1793193485818550528
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,742.190881979,712.190881979,672,660,632.190881979,877.809118021,785,799.809118021,649,629.190881979,650.190881979,0.400997861865,-0.0153734800891,0.0698397051336,0.999999938875,0.000237492825873,-0.000256047123277,1.69168165926e-05,1793193485835216896
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,742,712,671.612858743,659.612858743,632.387141257,877.612858743,784.612858743,799.612858743,649,629,650.387141257,0.401033226603,-0.0153750377511,0.0698521239368,0.999999944291,0.000236625026069,-0.00023476177479,1.77068007554e-05,1793193485851883520
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,742,712,671.03533274,659.03533274,632.96466726,877.03533274,784.03533274,799.03533274,649,629,650.96466726,0.401076343837,-0.0153770444399,0.0698666154204,0.999999950358,0.000234341209517,-0.00020983166238,1.84349376491e-05,1793193485868550144
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,742,712,671.540895283,659,633,877.540895283,784.540895283,799,649,629,651,0.401134551625,-0.0153811744841,0.0698762277917,0.999999952238,0.000233204748956,-0.000201972200157,1.86099998726e-05,1793193485885217024
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,742.119254904,712,672,659,632.880745096,877.880745096,784.880745096,799,648.880745096,629,650.880745096,0.401197211637,-0.0153853051668,0.0698842248403,0.999999953902,0.000231610808296,-0.000195486305829,1.83778952606e-05,1793193485901883648
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,742.706308065,712,672,659,632.293691935,877.293691935,784.293691935,799,648.293691935,629,650.293691935,0.401273478749,-0.0153888955697,0.0698871327348,0.99999995583,0.000227929027117,-0.000190024762955,1.66899878751e-05,1793193485918550528
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,742.710585935,712,671.710585935,659,632.289414065,877,784,799,648.289414065,629,650.289414065,0.401360216314,-0.015392141962,0.0698882786102,0.999999956492,0.000226361320705,-0.000188605014009,1.43074412185e-05,1793193485935217408
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,742.13143158,712,671.13143158,659,632.86856842,877,784,799,648.86856842,629,650.86856842,0.401457436131,-0.0153950439556,0.0698876604802,0.999999955908,0.00022691007226,-0.000191231615211,1.12294723982e-05,1793193485951884032
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,742.445536664,712,671,659,633,877.445536664,784,799,648.554463336,629,650.554463336,0.401579525986,-0.0154002962948,0.069887834541,0.999999957093,0.000222766509092,-0.000190072114062,7.87624259716e-06,1793193485968550912
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,742.978347184,712,671,659,633,877.978347184,784,799,648.021652816,629,650,0.401710177994,-0.0154063069488,0.0698884021343,0.999999958843,0.000217068317139,-0.000187550735937,4.40746942674e-06,1793193485985217536
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,742.407565341,712,671,659,633,877.407565341,784,799,648.592434659,629,650,0.401872820232,-0.0154140511934,0.0698930522949,0.999999962638,0.000206876905237,-0.0001786779147,5.7693690888e-08,1793193486001883904
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,742,712,671.169851628,659,633,877,784,799,649,628.830148372,650.169851628,0.402046354,-0.0154214759733,0.0698976234264,0.999999965986,0.000197570869231,-0.000170216229182,-4.41516711838e-06,1793193486018550528
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,742,712,671.763836978,659,633,877,784,799,649,628.236163022,650.763836978,0.402247084803,-0.0154281030223,0.069901997215,0.999999968568,0.000190475692492,-0.000162781185334,-9.19538099923e-06,1793193486035216896
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632.651404011,877.348595989,784,799,649,628.348595989,650.651404011,0.402468144619,-0.0154382786114,0.0699053107206,0.999999972332,0.000175688034303,-0.000155733380375,-1.47445730492e-05,1793193486051883776
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632.072734333,877.927265667,784,799,649,628.927265667,650.072734333,0.402702621622,-0.0154507962409,0.0699079244387,0.999999976551,0.00015582333016,-0.000148941152664,-2.0801291905e-05,1793193486068550400
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,742.504018333,712,672,659,632.504018333,877.495981667,784,799.504018333,649,629,650.504018333,0.402978459172,-0.0154606567411,0.0699151954329,0.999999987134,8.33062883067e-05,-0.000134618525324,-2.5882062509e-05,1793193486085217024
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,742.918145365,712,672,659,633,877,784,800,649,629,651,0.40326459176,-0.0154705012294,0.0699232259376,0.999999992291,1.42843225381e-05,-0.000119510191933,-3.05197461191e-05,1793193486101883904
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,742.331933765,712,672,659,633,877,784,800,649,629,651,0.403577521093,-0.0154826007676,0.0699318108093,0.999999993713,1.3437465374e-05,-0.000106231118287,-3.32918020683e-05,1793193486118550528
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,742,712,672,659.252434842,633,877.252434842,784,800,649,628.747565158,650.747565158,0.403910404237,-0.0154914219964,0.0699369106372,0.999999994203,2.17917769974e-05,-0.00010054097515,-3.1788938448e-05,1793193486135217408
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,742,712,672,659.834397574,633,877.834397574,784,800,649,628.165602426,650.165602426,0.404269335025,-0.0154959637266,0.069937461096,0.999999993319,4.21572742764e-05,-0.00010475740608,-2.47056040012e-05,1793193486151883776
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,742,711.58814066,671.58814066,659.58814066,633,878,784,800,649,628.41185934,650.41185934,0.404661356267,-0.0154941578736,0.069942531996,0.999999994341,4.19329222109e-05,-9.44732515624e-05,-2.51876488719e-05,1793193486168550400
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,742,711.012469115,671.012469115,659.012469115,633,878,784,800,649,628.987530885,650.987530885,0.40506653884,-0.015489827344,0.0699494008482,0.999999995952,3.35191994118e-05,-7.84216597359e-05,-2.86787344887e-05,1793193486185217024
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,742,711.563782406,671.563782406,659,633,878,784.563782406,800,649,628.436217594,651,0.405496885583,-0.0154932534966,0.0699485854095,0.999999995944,3.34067941542e-05,-7.92715499062e-05,-2.66909220609e-05,1793193486201883904
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,742,712,672,659,633,878,784.856732802,799.856732802,649,628.143267198,651,0.405929790471,-0.0154995767284,0.0699430946154,0.999999995295,2.82767281645e-05,-8.91534159486e-05,-2.57451656092e-05,1793193486218550784
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,742,712,672,659,633,878,784.267217123,799.267217123,649,628.732782877,651,0.406368928049,-0.0155143888726,0.0699235709442,0.999999991634,6.94519517774e-06,-0.000126002531779,-2.84230322502e-05,1793193486235217408
+142,2.366666667,POSE1_TO_POSE2_PRESS,763.683478894,742,712,672,659,633,878,784,799.316521106,649,628.683478894,650.683478894,0.406863120268,-0.015522510732,0.0699101560609,0.999999989033,-4.71137307087e-06,-0.000144734903789,-3.10335115861e-05,1793193486251884032
+143,2.383333333,POSE1_TO_POSE2_PRESS,763.104530674,742,712,672,659,633,878,784,799.895469326,649,628.104530674,650.104530674,0.407402958246,-0.0155250856894,0.0699018059613,0.999999988383,-8.34644672202e-06,-0.000148446718262,-3.35881205464e-05,1793193486268550400
+144,2.400000000,POSE1_TO_POSE2_PRESS,763.470578213,742.470578213,712,672.470578213,659.470578213,632.529421787,877.529421787,784,799.529421787,649,628.470578213,650.470578213,0.407985147768,-0.0155210227672,0.069912154715,0.999999991499,-1.19664222255e-05,-0.00012516010295,-3.45438336104e-05,1793193486285217024
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,742.954124539,712,672.954124539,660,632.045875461,877,784.045875461,799,649,628.954124539,650.954124539,0.40857714257,-0.0155158589048,0.0699260787433,0.999999994578,-1.52698975974e-05,-9.6796923757e-05,-3.52212670772e-05,1793193486301883648
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,742.366615263,712,672.366615263,660,632.633384737,877,784.633384737,799,649,628.366615263,650.366615263,0.409174731349,-0.0155149644906,0.0699335713335,0.999999996114,-1.48758577196e-05,-7.87306072182e-05,-3.67725410615e-05,1793193486318550272
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,742,712,672,659.782360709,633,877.217639291,784.782360709,799.217639291,649,628,650,0.409784984755,-0.0155150835547,0.0699356714897,0.999999996575,-1.59417094001e-05,-7.16445981173e-05,-3.82494788074e-05,1793193486335217152
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,742,712,672,659.203508014,633,877.796491986,784.203508014,799.796491986,649,628,650,0.410416257461,-0.015516884677,0.0699288218851,0.999999995601,-1.94305261776e-05,-8.27824788876e-05,-3.96030414815e-05,1793193486351884544
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,742.3759272,712,672,659,633,878,784,799.6240728,649,628.3759272,650,0.411097154662,-0.0155195298777,0.0699312335072,0.999999995725,-2.08612089682e-05,-8.04696472701e-05,-4.0479766338e-05,1793193486368551680
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,742.955678232,712,672,659,633,878,784,799.044321768,649,628.955678232,650,0.41180495773,-0.0155226327289,0.0699386664707,0.99999999642,-2.11759927304e-05,-7.0863978452e-05,-4.10979546274e-05,1793193486385218304
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,742.469661257,712,672,659.530338743,633,878,784,799,649,629,650.530338743,0.412550443838,-0.0155263404477,0.0699699243907,0.999999998673,-2.60122208822e-05,-1.98815655523e-05,-3.97786042139e-05,1793193486401884416
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,742,712,672,660,633,878,784.106868014,799,649,628.893131986,650.893131986,0.413292629261,-0.0155294600114,0.0699975659272,0.999999998439,-3.17621208465e-05,2.47861852898e-05,-3.87067982879e-05,1793193486418550784
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,742,712,672,660,633,878,784.693682194,799,649,628.306317806,650.306317806,0.414005982077,-0.0155297132945,0.070000109104,0.999999998093,-3.99344551063e-05,2.57125438951e-05,-3.94670145643e-05,1793193486435217152
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,742,712,672,660,633,878,785,799,649,628,650,0.41471267805,-0.0155270557588,0.0699725540894,0.99999999788,-4.21053984462e-05,-2.44907021675e-05,-4.32225578854e-05,1793193486451883776
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,742,712,672,660,633,878,785,799,649,628,650,0.415412104463,-0.0155212194449,0.0699121301504,0.999999989507,-3.77224846947e-05,-0.000130530363498,-5.02491672235e-05,1793193486468550400
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,742,712,672.436554064,660,633,877.563445936,784.563445936,799,649,628,650,0.41620074137,-0.0155214953429,0.0698907028396,0.999999984307,-4.16771748266e-05,-0.000163423011495,-5.42312124052e-05,1793193486485217024
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,742.010318032,712,672.989681968,659.989681968,632.989681968,877.020636064,784,799,649,628,650,0.417017777906,-0.0155237820805,0.0698824035755,0.999999982405,-4.82906224043e-05,-0.000172025105876,-5.71363814173e-05,1793193486501883648
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,742.585141965,712,672.414858035,659.414858035,632.414858035,878.17028393,784,799,649,628,650,0.417854760704,-0.0155309943551,0.0699218692722,0.999999990971,-5.7015891132e-05,-0.000109310476202,-5.34709286751e-05,1793193486518550272
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,742.835046882,712,672.164953118,659.164953118,632,878.835046882,784,799,649,628.164953118,650,0.418690391584,-0.0155368198635,0.0699567540909,0.999999995175,-6.34222002188e-05,-5.56085573704e-05,-5.03471112372e-05,1793193486535217152
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,742.242301833,712,672.757698167,659.757698167,632,878.242301833,784,799,649,628.757698167,650,0.419522516332,-0.0155390489107,0.0699797587884,0.999999996462,-6.38144839539e-05,-2.52803450027e-05,-4.86279797284e-05,1793193486551883520
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,742,712,673,660,632.340942814,878.340942814,784.340942814,799,649,629,650,0.420370748577,-0.0155415437452,0.0699983252434,0.999999996536,-6.80921318602e-05,1.12812631995e-06,-4.78564357339e-05,1793193486568550144
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,742,712,673,660,632.917618712,878.917618712,784.917618712,799,649,629,650,0.421230117758,-0.015544222349,0.0700138230285,0.999999995736,-7.50561800573e-05,2.48264273695e-05,-4.77400683336e-05,1793193486585216768
+163,2.716666667,POSE1_TO_POSE2_PRESS,763.507239189,742,712,672.507239189,660,633,878.507239189,785,799,649,629,650.492760811,0.422050269416,-0.015543750613,0.0699876275124,0.999999995909,-7.31801849711e-05,-1.66614081714e-05,-5.04809821835e-05,1793193486601883392
+164,2.733333333,POSE1_TO_POSE2_PRESS,763.069352206,742.069352206,712,672.069352206,660,633,878,785,799,649,629,651,0.422854236497,-0.0155419292803,0.0699489463849,0.999999993102,-6.96761494014e-05,-7.73411794822e-05,-5.44084059563e-05,1793193486618550016
+165,2.750000000,POSE1_TO_POSE2_PRESS,763.658727336,742.658727336,712,672.658727336,660,633,878,785,799,649,629,651,0.423585856545,-0.0155339252524,0.0698687485599,0.999999975767,-6.50119774499e-05,-0.000200464661994,-6.36618861832e-05,1793193486635216640
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,743,712,672.756512787,660,633,878,785,799.243487213,649,629,650.756512787,0.424380815528,-0.0155326071535,0.0698345787929,0.999999964824,-6.65606140117e-05,-0.000247458981752,-6.8445803829e-05,1793193486651883264
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,743,712,672.178101249,660,633,878,785,799.821898751,649,629,650.178101249,0.425262899313,-0.0155404857591,0.0698637220564,0.999999976812,-7.66551644235e-05,-0.000189735263142,-6.70816997308e-05,1793193486668550144
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,743,712,672.399562166,660,633,878,785,799.600437834,649,629,650,0.426149926865,-0.0155452398239,0.0699167188284,0.999999988867,-7.80974173068e-05,-0.000110991328576,-6.20370696602e-05,1793193486685216768
+169,2.816666667,POSE1_TO_POSE2_PRESS,764,743,712,672.976892702,660,633,878,785,799.023107298,649,629,650,0.427039153886,-0.0155486037554,0.0699803282135,0.999999995341,-7.56901935114e-05,-2.28953364667e-05,-5.53549441964e-05,1793193486701883392
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,743,712,673,660,633,878,785,799,649,629,650,0.427896342072,-0.0155525710331,0.0700000472039,0.999999995065,-8.34049420815e-05,1.73116755154e-06,-5.39535641814e-05,1793193486718550016
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,742.871430214,712,673,660,633,878,785,799.257139573,649,629,650.128569786,0.428739064081,-0.0155565623504,0.0700136764598,0.999999994276,-9.06396949625e-05,2.03057892267e-05,-5.31015359267e-05,1793193486735216640
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,742.281543301,712,673,660,633,878,785,800.436913397,649,629,650.718456699,0.429534673357,-0.015560549664,0.0700120212379,0.999999993739,-9.46379660229e-05,2.66607379434e-05,-5.34306315446e-05,1793193486751883264
+173,2.883333333,POSE1_TO_POSE2_PRESS,764.303568074,742.303568074,712,673,660.303568074,633,878,785,800.696431926,649,629,650.696431926,0.430285792217,-0.015560490525,0.0699861103259,0.999999993771,-9.53557387632e-05,-1.53325143172e-05,-5.59392526308e-05,1793193486768550144
+174,2.900000000,POSE1_TO_POSE2_PRESS,764.884318956,742.884318956,712,673,660.884318956,633,878,785,800.115681044,649,629,650.115681044,0.430996287599,-0.0155567366392,0.0699380519588,0.999999988694,-9.30781439257e-05,-0.000101471681017,-6.04379607575e-05,1793193486785216768
+175,2.916666667,POSE1_TO_POSE2_PRESS,764.539273456,742.539273456,712,673,660.539273456,632.539273456,877.539273456,785,800,649,629,650.460726544,0.431698554468,-0.0155520323838,0.0698877269918,0.999999976359,-9.55213388016e-05,-0.000183851937123,-6.59951545807e-05,1793193486801883392
+176,2.933333333,POSE1_TO_POSE2_PRESS,764,742.035853396,712,673,660,632.035853396,877.035853396,785,800,649,629,650.964146604,0.432406554477,-0.0155479236319,0.0698437991558,0.999999960478,-9.89838105007e-05,-0.000253354867419,-7.1122800792e-05,1793193486818550016
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,742.607982317,712,673,660,632.607982317,877.607982317,785,800,649,629,650.392017683,0.433230921092,-0.0155562579566,0.0699039890612,0.999999982415,-0.000100128356604,-0.000144230749847,-6.58874065358e-05,1793193486835217408
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,743,712,673,660,633,878,785,800.186439128,649,629,650,0.434022302449,-0.0155636412289,0.0699578435324,0.999999991603,-0.000102462084739,-5.13297240015e-05,-6.05032088454e-05,1793193486851884544
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,743,712,673,660,633,878,785,800.778668898,649,629,650,0.434741890513,-0.0155689545075,0.0699979087424,0.999999992713,-0.000107384107265,6.26124891227e-06,-5.47951360849e-05,1793193486868550656
+180,3.000000000,POSE1_TO_POSE2_PRESS,763.637850663,742.637850663,712,673.362149337,660.362149337,633,878,784.637850663,800.637850663,649,629,650.362149337,0.435418136934,-0.0155703414012,0.0700052849266,0.999999991942,-0.00011352705121,1.76319636926e-05,-5.40029607131e-05,1793193486885217024
+181,3.016666667,POSE1_TO_POSE2_PRESS,763.059591358,742.059591358,712,673.940408642,660.940408642,633,878,784.059591358,800.059591358,649,629,650.940408642,0.436068519504,-0.0155693852531,0.0699931541715,0.999999991175,-0.000120398570905,1.42107419319e-06,-5.61443115411e-05,1793193486901883392
+182,3.033333333,POSE1_TO_POSE2_PRESS,763.517443264,742.517443264,712,674,660.482556736,633,878,784,800.517443264,649,629,650.482556736,0.436675286281,-0.0155718435656,0.0699650892187,0.999999989765,-0.000125766458639,-3.48477672231e-05,-5.86339291713e-05,1793193486918550784
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,743,712,674,660.096336028,632.903663972,878.096336028,784,800.903663972,649,628.903663972,650,0.437269733748,-0.0155741766141,0.0699347178035,0.999999986948,-0.000129821405695,-7.4042021854e-05,-6.13797527075e-05,1793193486935217920
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,743,712,674,660.68545336,632.31454664,878.68545336,784,800.31454664,649,628.31454664,650,0.437826798264,-0.0155738622129,0.069901912903,0.999999982899,-0.000128044046821,-0.000116412290151,-6.52314514774e-05,1793193486951884544
+185,3.083333333,POSE1_TO_POSE2_PRESS,764.268764294,742.731235706,712,673.731235706,660.731235706,632,879,784,800,649,628.268764294,650,0.438349992039,-0.0155744841454,0.0698661557195,0.999999974255,-0.00013111313439,-0.000172038883139,-6.8577052402e-05,1793193486968551168
+186,3.100000000,POSE1_TO_POSE2_PRESS,764.845423412,742.154576588,712,673.154576588,660.154576588,632,879,784,800,649,628.845423412,650,0.438834383648,-0.0155761787366,0.06982701642,0.999999958204,-0.000139734282879,-0.000242851841895,-7.13428701428e-05,1793193486985217536
+187,3.116666667,POSE1_TO_POSE2_PRESS,764.579311787,742.420688213,712,673.420688213,660,632,878.579311787,784.420688213,800,649,628.579311787,650.420688213,0.439296955065,-0.0155772049843,0.0697954323082,0.999999943825,-0.000137918901179,-0.000296645037976,-7.30102130032e-05,1793193487001883648
+188,3.133333333,POSE1_TO_POSE2_PRESS,764.004557571,742.995442429,712,673.995442429,660,632,878.004557571,784.995442429,800,649,628.004557571,650.995442429,0.439751535451,-0.0155779864689,0.069766615082,0.999999929254,-0.000132281415166,-0.00034420519879,-7.42752684737e-05,1793193487018550016
+189,3.150000000,POSE1_TO_POSE2_PRESS,764,742.414852026,712,674,659.414852026,632,878.585147974,783.829704051,799.414852026,649,628.585147974,650.414852026,0.440234061211,-0.0155869169244,0.0697752111379,0.99999993272,-0.000150897155199,-0.000325970202406,-7.43923842814e-05,1793193487035216896
+190,3.166666667,POSE1_TO_POSE2_PRESS,764,742,712,674,659,631.829509709,878.829509709,783,799,649,629,650,0.440700077908,-0.0155960564961,0.069785892178,0.999999935563,-0.000168449916484,-0.000308245593443,-7.40429575208e-05,1793193487051883776
+191,3.183333333,POSE1_TO_POSE2_PRESS,764,742,712,674,659,631.254795607,878.254795607,783,799,649,629,650,0.441126422962,-0.0156055374428,0.0698008075942,0.999999937697,-0.000183022791473,-0.0002929779645,-7.26091367082e-05,1793193487068550400
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,742,712,674,659.323929263,631.323929263,878,783.323929263,799.323929263,648.676070737,628.676070737,650,0.441520372371,-0.0156158738754,0.0698053734653,0.999999936347,-0.000194185001437,-0.000290745697591,-7.1173777767e-05,1793193487085217280
+193,3.216666667,POSE1_TO_POSE2_PRESS,764,742,712,674,659.905848431,631.905848431,878,783.905848431,799.905848431,648.094151569,628.094151569,650,0.441888520601,-0.0156268916498,0.0698016965539,0.99999993237,-0.000202630823845,-0.000298895302597,-6.97371938971e-05,1793193487101883904
+194,3.233333333,POSE1_TO_POSE2_PRESS,764,742.480595416,712,674,659.519404584,631.519404584,878,783.519404584,800,648.480595416,628.480595416,650,0.44217935287,-0.0156282877813,0.0697721900145,0.999999913968,-0.00021115006245,-0.000349562137488,-7.27031836478e-05,1793193487118550528
+195,3.250000000,POSE1_TO_POSE2_PRESS,763.944456335,742.944456335,711.944456335,674,659,631,878,783,800,649,629,650.055543665,0.44245447826,-0.0156274939591,0.0697387569819,0.999999890733,-0.000218051613597,-0.000406380916729,-7.64367240351e-05,1793193487135217152
+196,3.266666667,POSE1_TO_POSE2_PRESS,763.354244173,742.354244173,711.354244173,674,659,631,878,783,800,649,629,650.645755827,0.442722067107,-0.015623497232,0.0697155207031,0.999999876648,-0.000209244747658,-0.000443418435483,-7.93784416503e-05,1793193487151883520
+197,3.283333333,POSE1_TO_POSE2_PRESS,763.23149157,742.23149157,711.23149157,674,659,631,878,783,800,649,628.76850843,650.76850843,0.442981337794,-0.0156230102746,0.0697003068748,0.999999867746,-0.000199725562924,-0.000467301419694,-7.90328905531e-05,1793193487168550144
+198,3.300000000,POSE1_TO_POSE2_PRESS,763.810507089,742.810507089,711.810507089,674,659,631,878,783,800,649,628.189492911,650.189492911,0.44322812092,-0.0156277923172,0.0696971366563,0.999999868268,-0.000189137019253,-0.000471436313674,-7.37523664897e-05,1793193487185216768
+199,3.316666667,POSE1_TO_POSE2_PRESS,764.38577017,743,712,674,659,631,878,783,800,649,628,650,0.443448449227,-0.0156350229853,0.0696904360108,0.99999985912,-0.000211855981324,-0.000481257160641,-7.25859839272e-05,1793193487201883648
+200,3.333333333,POSE1_TO_POSE2_PRESS,764.959207836,743,712,674,659,631,878,783,800,649,628,650,0.443655907951,-0.0156434448487,0.0696820179011,0.999999843919,-0.000250778206944,-0.000493844080611,-7.34210272784e-05,1793193487218550528
+201,3.350000000,POSE1_TO_POSE2_PRESS,763.90040085,743,711.450200425,674,659,630.450200425,878,782.450200425,800,649,628,650.549799575,0.443827275145,-0.0156484692679,0.0696757007909,0.999999837176,-0.000252994975347,-0.000505895353855,-7.55783983852e-05,1793193487235217408
+202,3.366666667,POSE1_TO_POSE2_PRESS,763.138196616,743,711.138196616,674,659,630.138196616,878,782.138196616,800,649,628,650.861803384,0.443990826493,-0.0156522458456,0.0696697705929,0.999999831505,-0.000252965880271,-0.000516680105625,-7.77217780723e-05,1793193487251884032
+203,3.383333333,POSE1_TO_POSE2_PRESS,763.715447443,743,711.715447443,674,659,630.715447443,878,782.715447443,800,649,628,650.284552557,0.444138328157,-0.0156528846305,0.0696645584299,0.999999827332,-0.00025473240856,-0.000523571417093,-7.94989722161e-05,1793193487268550400
+204,3.400000000,POSE1_TO_POSE2_PRESS,764,742.707845624,711.707845624,673.707845624,658.707845624,631,878.292154376,782.707845624,800,649,628,650,0.444266661357,-0.0156539893427,0.069658194381,0.999999822792,-0.000256551830454,-0.000531131191663,-8.06000091937e-05,1793193487285216768
+205,3.416666667,POSE1_TO_POSE2_PRESS,764,742.131667485,711.131667485,673.131667485,658.131667485,631,878.868332515,782.131667485,800,649,628,650,0.444376359541,-0.0156555470156,0.0696507105031,0.999999817881,-0.000258422673824,-0.000539340825691,-8.10437062474e-05,1793193487301883392
+206,3.433333333,POSE1_TO_POSE2_PRESS,764,742.443004386,711.443004386,673.443004386,658,631,878.556995614,782,799.556995614,649,628,650,0.444464731362,-0.0156559198136,0.0696436677841,0.999999811388,-0.000259631649479,-0.000550651382876,-8.12309170013e-05,1793193487318550016
+207,3.450000000,POSE1_TO_POSE2_PRESS,764,743,712,674.017780805,658,631,878.017780805,782,799.017780805,649,628,650,0.444546360176,-0.0156560034683,0.0696369436076,0.999999804567,-0.000260604462807,-0.000562440086913,-8.13151078273e-05,1793193487335216896
+208,3.466666667,POSE1_TO_POSE2_PRESS,764,743,712,674.610360522,658,631,878.610360522,782,799.610360522,649,628,650,0.444614218604,-0.0156580857634,0.0696362926235,0.999999806089,-0.000260280579515,-0.000559992971412,-8.05249619135e-05,1793193487351883520
+209,3.483333333,POSE1_TO_POSE2_PRESS,764,743,712,674.802785641,658.197214359,631,879,782,800,649,628,650,0.44467803983,-0.0156598423624,0.0696369661885,0.999999807596,-0.000260757087621,-0.000557179939672,-7.97742172551e-05,1793193487368550400
+210,3.500000000,POSE1_TO_POSE2_PRESS,764,743,712,674.226925396,658.773074604,631,879,782,800,649,628,650,0.444734109737,-0.015660973634,0.0696401828497,0.999999809075,-0.000262770324182,-0.000553664359576,-7.90991219629e-05,1793193487385217280
+211,3.516666667,POSE1_TO_POSE2_PRESS,764,743,712,674,658.649188706,630.649188706,878.649188706,782,800,648.649188706,628,650.350811294,0.444778492673,-0.015662034541,0.0696429254795,0.999999810963,-0.000264584226301,-0.000549459157981,-7.85062580437e-05,1793193487401883904
+212,3.533333333,POSE1_TO_POSE2_PRESS,764,743,712,674,658.070231636,630.070231636,878.070231636,782,800,648.070231636,628,650.929768364,0.444815275139,-0.0156630496872,0.069645359829,0.999999813105,-0.000266268493933,-0.000544805469241,-7.79668722104e-05,1793193487418550528
+213,3.550000000,POSE1_TO_POSE2_PRESS,764,742.484500789,712,674,658,630,878.515499211,782,800,648.515499211,628,651,0.444837525772,-0.0156613841947,0.0696453110646,0.99999981378,-0.000264147058645,-0.000544658085989,-7.75492531004e-05,1793193487435216896
+214,3.566666667,POSE1_TO_POSE2_PRESS,764,742,712,674,658,630,878.899155398,782,800,649,628,650.899155398,0.444855906794,-0.0156597974012,0.0696445862149,0.9999998137,-0.000262086648986,-0.000545853911842,-7.71654632699e-05,1793193487451883520
+215,3.583333333,POSE1_TO_POSE2_PRESS,764,742,712,674,658,630,878.320072545,782,800,649,628,650.320072545,0.444865450818,-0.0156603388321,0.0696422808362,0.999999811004,-0.000262807227989,-0.000550469407947,-7.68623824397e-05,1793193487468550144
+216,3.600000000,POSE1_TO_POSE2_PRESS,764,742,711.741851843,674,658,630.258148157,878,782,799.741851843,649,628,650.258148157,0.444873717096,-0.0156601963284,0.0696407440703,0.999999809559,-0.000262605251109,-0.000553194692515,-7.67916386387e-05,1793193487485217024
+217,3.616666667,POSE1_TO_POSE2_PRESS,764,742,711.164696582,674,658,630.835303418,878,782,799.164696582,649,628,650.835303418,0.444880404395,-0.0156592086512,0.0696401571196,0.999999809678,-0.000261263223901,-0.000553584144108,-7.70080058081e-05,1793193487501883648
+218,3.633333333,POSE1_TO_POSE2_PRESS,764,742,711.410715695,674,658,631,878,782,799.410715695,649,628,651,0.444885523913,-0.015659517883,0.0696402877178,0.999999810239,-0.000260141831161,-0.000553125875959,-7.68087209618e-05,1793193487518550528
+219,3.650000000,POSE1_TO_POSE2_PRESS,764,742,711.985431977,674,658,631,878,782,799.985431977,649,628,651,0.444890017409,-0.0156603449764,0.0696407048365,0.999999810976,-0.000259108538768,-0.000552329109572,-7.64434644289e-05,1793193487535217152
+220,3.666666667,POSE1_TO_POSE2_PRESS,764,742,711.425848671,674,658,630.425848671,878,782,800,648.425848671,628,650.425848671,0.444891996639,-0.0156611208192,0.0696415017339,0.9999998109,-0.000261988988624,-0.00055113545719,-7.62344244211e-05,1793193487551883776
+221,3.683333333,POSE1_TO_POSE2_PRESS,764,742.160538583,711,674.160538583,658,630,878,782,800,648.160538583,628.160538583,650,0.444893323612,-0.0156616306807,0.0696417728366,0.999999810478,-0.000264388468347,-0.000550762319683,-7.61801365156e-05,1793193487568550400
+222,3.700000000,POSE1_TO_POSE2_PRESS,764,742.739891656,711,674.739891656,658,630,878,782,800,648.739891656,628.739891656,650,0.444893119558,-0.0156614501254,0.0696406464738,0.99999980923,-0.000265267647083,-0.000552556677021,-7.65189682645e-05,1793193487585217280
+223,3.716666667,POSE1_TO_POSE2_PRESS,764,743,711,674.683800611,658,630,878.316199389,782,800.316199389,649,628.683800611,650.316199389,0.444894433626,-0.0156607652507,0.0696405688101,0.999999809888,-0.000263117778739,-0.000552434050084,-7.62191286514e-05,1793193487601883648
+224,3.733333333,POSE1_TO_POSE2_PRESS,764,743,711,674.109974043,658,630,878.890025957,782,800.890025957,649,628.109974043,650.890025957,0.4448969846,-0.0156596694757,0.0696413455861,0.999999812084,-0.000258499958672,-0.0005507495378,-7.53989240531e-05,1793193487618550272
+225,3.750000000,POSE1_TO_POSE2_PRESS,764.46564345,743,711.46564345,674,658.46564345,630.46564345,879,782,800.53435655,649,628,651,0.444896856242,-0.0156590763119,0.0696409269246,0.999999811725,-0.00025892409932,-0.000551201518465,-7.54058497619e-05,1793193487635216896
+226,3.766666667,POSE1_TO_POSE2_PRESS,764.957016275,743,712,674,658.957016275,630.957016275,878.957016275,782,799.957016275,648.957016275,628,651,0.444896299421,-0.0156585601063,0.0696404442901,0.999999810968,-0.000260285128585,-0.000551912727485,-7.55504693649e-05,1793193487651883520
+227,3.783333333,POSE1_TO_POSE2_PRESS,764.363034546,743,712,674,658.363034546,630.363034546,878.363034546,782,799.363034546,648.363034546,628,651,0.444898393202,-0.0156575028833,0.0696427747497,0.999999812874,-0.000258332488523,-0.000549453739056,-7.49463570956e-05,1793193487668550400
+228,3.800000000,POSE1_TO_POSE2_PRESS,764,743,712,674,658,630,878,782,799.223278202,648.223278202,627.776721798,651,0.44489891321,-0.0156575067525,0.0696429829173,0.99999981305,-0.000257516188243,-0.000549585234894,-7.44461147448e-05,1793193487685217024
+229,3.816666667,POSE1_TO_POSE2_PRESS,764,743,712,674,658,630,878,782,799.797535753,648.797535753,627.202464247,651,0.444896959344,-0.015659178592,0.0696398549746,0.999999810505,-0.000258486143051,-0.000553788809916,-7.41091494372e-05,1793193487701883648
+230,3.833333333,POSE1_TO_POSE2_PRESS,764.372861164,743,712,674,658,630.372861164,878,782.372861164,800,649,627.372861164,651,0.444897642829,-0.0156581536613,0.069639610298,0.999999810461,-0.000258799938878,-0.000553679748185,-7.44310881646e-05,1793193487718550272
+231,3.850000000,POSE1_TO_POSE2_PRESS,764.948768071,743,712,674,658,630.948768071,878,782.948768071,800,649,627.948768071,651,0.444899762513,-0.0156556601741,0.0696409357366,0.999999811779,-0.000258756415916,-0.000551222191434,-7.51118405117e-05,1793193487735216896
+232,3.866666667,POSE1_TO_POSE2_PRESS,764.460878621,742.460878621,712,674,658,631,878,782.460878621,800,649,628,650.460878621,0.444898851895,-0.0156560240759,0.0696408667676,0.999999811515,-0.000258029322644,-0.000552036745412,-7.51450355337e-05,1793193487751883776
+233,3.883333333,POSE1_TO_POSE2_PRESS,764,742,712,674,658,630.872155092,878,782,800.127844908,649,628,650.127844908,0.444898044783,-0.0156567316559,0.0696407743715,0.999999811221,-0.000257614970199,-0.000552779946274,-7.50180629471e-05,1793193487768550656
+234,3.900000000,POSE1_TO_POSE2_PRESS,764,742,712,674,658,630.294137672,878,782,800.705862328,649,628,650.705862328,0.444898644054,-0.0156576669478,0.0696410789248,0.999999811367,-0.000258536886358,-0.000552146840149,-7.45497526156e-05,1793193487785217280
+235,3.916666667,POSE1_TO_POSE2_PRESS,764,742.283468503,712,674,658.283468503,630,878,782,800.716531497,649,628,650.716531497,0.444899325478,-0.0156576218822,0.069641310677,0.999999811677,-0.000258391847279,-0.000551663560809,-7.44728779754e-05,1793193487801883648
+236,3.933333333,POSE1_TO_POSE2_PRESS,764,742.860648643,712,674,658.860648643,630,878,782,800.139351357,649,628,650.139351357,0.444900092021,-0.0156565610339,0.0696414669975,0.999999812156,-0.000257141298643,-0.000551335522166,-7.48015834988e-05,1793193487818550528
+237,3.950000000,POSE1_TO_POSE2_PRESS,764.434885836,743,711.565114164,674,658.565114164,630,878,782,800,649,628,650.434885836,0.444899429222,-0.0156557405385,0.0696408483174,0.999999811472,-0.000257104964242,-0.000552568209172,-7.49783330597e-05,1793193487835217152
+238,3.966666667,POSE1_TO_POSE2_PRESS,764.991542006,743,711.008457994,674,658,630.008457994,878.016915987,782,800,649,628,650.991542006,0.44489833825,-0.0156550199814,0.0696399963139,0.999999810429,-0.000257452930791,-0.000554273044933,-7.51037048194e-05,1793193487851884032
+239,3.983333333,POSE1_TO_POSE2_PRESS,764.399215649,743,711.600784351,674,658,630.600784351,879.201568703,782,800,649,628,650.399215649,0.44489909424,-0.0156559174698,0.0696400653469,0.99999981038,-0.000257651999635,-0.000554279974775,-7.50210484484e-05,1793193487868550400
+240,4.000000000,POSE1_TO_POSE2_PRESS,764.188153857,743,712,674,658,631,879.623692286,782,800,649,628,650.188153857,0.444899759423,-0.01565668292,0.0696403975675,0.999999810561,-0.000258007502959,-0.000553814553369,-7.48349345988e-05,1793193487885216768
+241,4.016666667,POSE1_TO_POSE2_PRESS,764.765276083,743,712,674,658,631,878.469447835,782,800,649,628,650.765276083,0.444900236883,-0.0156571754091,0.0696412738728,0.999999811213,-0.000258686401525,-0.000552372645496,-7.44349442638e-05,1793193487901883392
+242,4.033333333,POSE1_TO_POSE2_PRESS,764.66008763,742.66008763,712,674,658,630.66008763,878,782,800,649,628,650.66008763,0.444900027135,-0.0156561851253,0.0696409359529,0.999999811359,-0.000257431328544,-0.000552674058493,-7.45869631513e-05,1793193487918550272
+243,4.050000000,POSE1_TO_POSE2_PRESS,764.087155549,742.087155549,712,674,658,630.087155549,878,782,800,649,628,650.087155549,0.444899346287,-0.0156541783581,0.0696397656469,0.999999811152,-0.000254850462383,-0.000554170568173,-7.5117400263e-05,1793193487935216896
+244,4.066666667,HOLD_POSE2,764,743,711,674,658,631,879,782,800,649,628,650,0.444899715932,-0.0156542538287,0.0696395470594,0.999999810717,-0.000255374102951,-0.000554735606362,-7.49501701594e-05,1793193487965948416
+245,4.083333333,HOLD_POSE2,764,743,711,674,658,631,879,782,800,649,628,650,0.444900534177,-0.0156548109076,0.0696406817169,0.999999811211,-0.000256467781807,-0.000553389499202,-7.45801354555e-05,1793193487982614784
+246,4.100000000,HOLD_POSE2,764.157225456,742.842774544,711.157225456,673.842774544,658,630.842774544,878.842774544,782,800,649,628,650,0.444901803115,-0.0156552674592,0.0696419800103,0.99999981205,-0.000257122233607,-0.000551613087107,-7.42387597275e-05,1793193487999281664
+247,4.116666667,HOLD_POSE2,764.729729883,742.270270117,711.729729883,673.270270117,658,630.270270117,878.270270117,782,800,649,628,650,0.444904262462,-0.015655458489,0.0696437105152,0.999999813802,-0.000256616556986,-0.000548700112017,-7.39730807582e-05,1793193488015948288
+248,4.133333333,HOLD_POSE2,764.69569357,742,712,673,658,630,878.30430643,782,800,649,628,650,0.444904314281,-0.0156554005205,0.0696433982153,0.999999813884,-0.000256065302149,-0.00054879870123,-7.40472266789e-05,1793193488032615168
+249,4.150000000,HOLD_POSE2,764.119264084,742,712,673,658,630,878.880735916,782,800,649,628,650,0.444902213192,-0.0156551198879,0.0696412591571,0.999999812471,-0.00025547328947,-0.000551590352616,-7.44252577082e-05,1793193488049281792
+250,4.166666667,HOLD_POSE2,764,742,712,673,658,630,878.53028216,782,800,649,628,650,0.444901727897,-0.0156548664708,0.0696402014974,0.999999811852,-0.000255143872986,-0.000552844164834,-7.45740352904e-05,1793193488065948160
+251,4.183333333,HOLD_POSE2,764,742,712,673.060314542,658,630,878.060314542,781.939685458,800,649,628,650.060314542,0.444901807202,-0.0156546818552,0.0696396166025,0.999999811539,-0.000255110312503,-0.000553418294252,-7.46305256091e-05,1793193488082614784
+252,4.200000000,HOLD_POSE2,764,742,712,673.636708684,658,630,878.636708684,781.363291316,800,649,628,650.636708684,0.444903110736,-0.0156550251875,0.0696406630183,0.999999812065,-0.000257022070775,-0.000551609485722,-7.44090997281e-05,1793193488099281408
+253,4.216666667,HOLD_POSE2,764,742.213469285,712,674,658,630,878.786530715,781,800,649,628,650.786530715,0.444903599259,-0.0156557656979,0.0696413131266,0.999999812221,-0.000257756284395,-0.00055101535176,-7.41721384155e-05,1793193488115948032
+254,4.233333333,HOLD_POSE2,764,742.790854557,712,674,658,630,878.209145443,781,800,649,628,650.209145443,0.444902698378,-0.0156571833053,0.0696412876218,0.999999811753,-0.000256483055278,-0.000552491958491,-7.39086927917e-05,1793193488132614912
+255,4.250000000,HOLD_POSE2,764,742.635310981,712,674,658,630,878,781.364689019,799.635310981,649,628,650,0.44490373616,-0.0156564851419,0.0696421214709,0.999999812612,-0.000256204419198,-0.000551080022103,-7.37921600909e-05,1793193488149281792
+256,4.266666667,HOLD_POSE2,764,742.063493183,712,674,658,630,878,781.936506817,799.063493183,649,628,650,0.444905875024,-0.0156545853055,0.0696434433986,0.999999814219,-0.000256490672069,-0.000548027508868,-7.37590680302e-05,1793193488165948672
+257,4.283333333,HOLD_POSE2,764,742,712,674,658.531482136,630,878,782,799.531482136,649,628,650,0.444904222445,-0.0156554936982,0.0696420326506,0.999999813214,-0.000255783099123,-0.000550218040682,-7.35311802178e-05,1793193488182615040
+258,4.300000000,HOLD_POSE2,764,742,712,674,658.8752136,630,878.1247864,782,800,649,628,650.1247864,0.444903140102,-0.0156559699033,0.0696409867143,0.999999812493,-0.000254937307287,-0.000551936058435,-7.34056590635e-05,1793193488199281408
+259,4.316666667,HOLD_POSE2,764,742,712,674,658.298438916,630,878.701561084,782,800,649,628,650.701561084,0.444905838545,-0.0156536101731,0.0696424984893,0.999999813999,-0.000254040504081,-0.000549570505074,-7.37390499977e-05,1793193488215948032
+260,4.333333333,HOLD_POSE2,764,742.276221051,712,674,658,630,879,781.723778949,800,649,628.276221051,651,0.444906627515,-0.015652321401,0.069642746012,0.999999814649,-0.000252950164606,-0.000548864675708,-7.39366470317e-05,1793193488232614912
+261,4.350000000,HOLD_POSE2,764,742.848613529,712,674,658,630,879,781.151386471,800,649,628.848613529,651,0.444905369096,-0.0156521809381,0.0696416379702,0.999999814382,-0.000251652310542,-0.000549938445903,-7.39886422796e-05,1793193488249281792
+262,4.366666667,POSE2_TO_POSE3_RETREAT,764,743,711,674,658,630,878,782,800,649,628,650,0.444904312484,-0.0156529765619,0.0696415227075,0.99999981389,-0.000251462588964,-0.000550938174417,-7.38483117533e-05,1793193488281802240
+263,4.383333333,POSE2_TO_POSE3_RETREAT,764,743,711,674,658.579190094,630,878,782,800,649,628,650,0.44490553544,-0.0156539295316,0.0696418405118,0.999999814073,-0.000251642514465,-0.000550537371803,-7.37481085258e-05,1793193488298468352
+264,4.400000000,POSE2_TO_POSE3_RETREAT,764,743,711.15767871,674,658.84232129,630,878,782,800,649,628,650,0.444906544369,-0.0156545637336,0.0696423346608,0.999999814265,-0.000252063322118,-0.000550008728518,-7.36540979308e-05,1793193488315134976
+265,4.416666667,POSE2_TO_POSE3_RETREAT,764,743,711.734303652,674,658.265696348,630,878,782,800,649,628,650,0.44490698464,-0.0156543509824,0.0696432973511,0.99999981448,-0.00025312414437,-0.000549140417436,-7.3576540899e-05,1793193488331801600
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764,743,712,674,658,630,878,782,800,649,628,650.309673672,0.444907012696,-0.0156550962696,0.0696438026983,0.999999814621,-0.0002541793335,-0.000548439064881,-7.32542447595e-05,1793193488348467968
+267,4.450000000,POSE2_TO_POSE3_RETREAT,764,743,712,674,658,630,878,782,800,649,628,650.883971293,0.444906688505,-0.0156566602248,0.0696439172343,0.999999814698,-0.00025522970892,-0.000547880382643,-7.27228128949e-05,1793193488365134592
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764,743,712,674,658,630,878,782,800,649,628,650.529007766,0.444905163719,-0.0156561926782,0.0696422688033,0.999999813611,-0.000255178288107,-0.00054986382454,-7.28839048285e-05,1793193488381801216
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,742.939953875,712,674,658,630,878,782,800,649,628,650,0.444902697176,-0.0156552398636,0.069639966877,0.999999812008,-0.000255061768071,-0.000552774652599,-7.32611273517e-05,1793193488398468352
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764,742.361167054,712,674,658,630,878,782,800,649,628,650,0.444894720825,-0.0156545383258,0.0696358755362,0.999999808533,-0.000256792823595,-0.000558136790048,-7.39907456597e-05,1793193488415134976
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764,742.216291655,712,674,658,630,878,782,800,649,628,650.216291655,0.444878448249,-0.0156533257009,0.0696285565826,0.999999801756,-0.000256991731267,-0.0005699548697,-7.47964014682e-05,1793193488431801600
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764,742.791546141,712,674,658,630,878,782,800,649,628,650.791546141,0.44484840706,-0.0156512648637,0.0696158810054,0.999999789189,-0.000254647849289,-0.000592487385494,-7.57282508444e-05,1793193488448468224
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764,742.624073639,712,674,658,630,878.375926361,782,800,649,628,650.624073639,0.44480099274,-0.0156493732056,0.0696003984091,0.999999772039,-0.000253044629912,-0.000621375745296,-7.6043796689e-05,1793193488465134592
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764,742.034507183,712,674,658,630,878.965492817,782,800,649,628,650.034507183,0.444743705214,-0.0156475776924,0.0695833205742,0.999999751617,-0.000251862330957,-0.000653876152312,-7.60090953959e-05,1793193488481801472
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764,742.545404945,712,674,658.545404945,630,879,782,800,649,628,650,0.444670101753,-0.0156435556427,0.0695729624367,0.999999743962,-0.000249532973495,-0.000666309340978,-7.64330415664e-05,1793193488498468096
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764,743,711.876664713,674,658.876664713,630.123335287,878.876664713,782,800,648.876664713,628,650.123335287,0.444590888351,-0.0156388181001,0.0695641561103,0.999999737345,-0.0002469561051,-0.000677109236113,-7.64533975356e-05,1793193488515134720
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764,743,711.303770129,674,658.303770129,630.696229871,878.303770129,782,800,648.303770129,628,650.696229871,0.444494923877,-0.0156319771171,0.0695594834423,0.999999731848,-0.000243736983743,-0.000686503085771,-7.48987283718e-05,1793193488531801344
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764,743,711.276876993,674.276876993,658.276876993,631,878.276876993,782,800,648.276876993,628,650.723123007,0.444390047611,-0.0156253350898,0.069557164074,0.999999729191,-0.000239673482895,-0.000691980774585,-7.30538161608e-05,1793193488548467968
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764,743,711.866274639,674.866274639,658.866274639,631,878.866274639,782,800,648.866274639,628,650.133725361,0.444275112303,-0.015618917631,0.0695575009569,0.999999729805,-0.000234656901879,-0.000693038156491,-7.0881296668e-05,1793193488565134592
+280,4.666666667,POSE2_TO_POSE3_RETREAT,764,743,712,674.552325919,658.552325919,630.552325919,878.552325919,782,800.447674081,649,627.552325919,650.447674081,0.444132412229,-0.0156122284656,0.0695590765119,0.999999730538,-0.000230248384148,-0.000693801427048,-6.74522481208e-05,1793193488581801216
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764,742.973381993,712,674,658.026618007,630.026618007,878.026618007,782.026618007,801,649,627.026618007,651,0.443979850835,-0.0156053606722,0.0695611846046,0.999999731613,-0.000225793278711,-0.000694078201594,-6.36106683091e-05,1793193488598468096
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764,742.396675938,712,674,658.603324062,630.603324062,878.603324062,782.603324062,801,649,627.603324062,651,0.443791883535,-0.0155964491983,0.0695667858046,0.999999739435,-0.000216687596346,-0.000686084776512,-5.88643325353e-05,1793193488615134720
+283,4.716666667,POSE2_TO_POSE3_RETREAT,764,742.17854659,712,674,658.82145341,631,878.82145341,783,800.82145341,649,628,651,0.44359370575,-0.0155868690459,0.0695725106472,0.999999747608,-0.000206922430396,-0.000677537355765,-5.39437253751e-05,1793193488631801344
+284,4.733333333,POSE2_TO_POSE3_RETREAT,764,742.750500259,712,674,658.249499741,631,878.249499741,783,800.249499741,649,628,651,0.44337303035,-0.0155758155377,0.0695785079214,0.999999756709,-0.000195704168698,-0.000667769269817,-4.86391316977e-05,1793193488648468224
+285,4.750000000,POSE2_TO_POSE3_RETREAT,764,743,712,674,658.334157976,631,878,782.665842024,800,649,628,650.665842024,0.443127714107,-0.0155629570049,0.0695823840944,0.999999762022,-0.000182533799595,-0.000663924471582,-4.29206453487e-05,1793193488665134848
+286,4.766666667,POSE2_TO_POSE3_RETREAT,764,743,712,674,658.9268718,631,878,782.0731282,800,649,628,650.0731282,0.442863331906,-0.0155487018273,0.069584619059,0.999999764344,-0.000167852979676,-0.000664662835876,-3.68819075991e-05,1793193488681801472
+287,4.783333333,POSE2_TO_POSE3_RETREAT,764,743,711.492491683,673.492491683,658.492491683,631,878.507508317,782.507508317,800,649,628,650,0.442571744589,-0.015534483883,0.0696009644388,0.999999786103,-0.000133855006136,-0.000639550275571,-2.92025046548e-05,1793193488698468352
+288,4.800000000,POSE2_TO_POSE3_RETREAT,764,743,711.086063031,673.086063031,658,631,878.913936969,782.913936969,800,648.913936969,628,650.086063031,0.44226889058,-0.0155206736654,0.0696193979357,0.999999808662,-9.59534631676e-05,-0.000610759889499,-2.10268020871e-05,1793193488715134720
+289,4.816666667,POSE2_TO_POSE3_RETREAT,764,743,711.662441639,673.662441639,658,631,878.337558361,782.337558361,800,648.337558361,628,650.662441639,0.44192366232,-0.0155091564748,0.0696384135237,0.999999829406,-5.13018486436e-05,-0.000581744567417,-1.13391423363e-05,1793193488731801088
+290,4.833333333,POSE2_TO_POSE3_RETREAT,764,742.762404052,711.762404052,674,658.237595948,631,878,782.237595948,800.237595948,648.237595948,628,651,0.441566009019,-0.0155018470744,0.0696573543915,0.999999848159,-1.02789397143e-05,-0.00055097515858,-1.90425786337e-06,1793193488748467968
+291,4.850000000,POSE2_TO_POSE3_RETREAT,764,742.188980251,711.188980251,674,658.811019749,631,878,782.811019749,800.811019749,648.811019749,628,651,0.441190793679,-0.0155004851377,0.0696761896456,0.999999865626,2.56150051854e-05,-0.000517726454272,7.1733430644e-06,1793193488765134336
+292,4.866666667,POSE2_TO_POSE3_RETREAT,764,742.395905724,711.395905724,674,659,631,878,783,800.604094276,649,628,651,0.440787508323,-0.0155017945853,0.0696959148245,0.999999883325,3.37829439159e-05,-0.000481691362686,1.35018650831e-05,1793193488781800960
+293,4.883333333,POSE2_TO_POSE3_RETREAT,764,742.986426121,711.986426121,674,659,631,878,783,800.013573879,649,628,651,0.440370424652,-0.0155044172006,0.0697160774617,0.999999900733,2.83216579499e-05,-0.000444286572456,1.84790269878e-05,1793193488798467584
+294,4.900000000,POSE2_TO_POSE3_RETREAT,764,742.433691578,712,673.433691578,659,631,878,783,800,649,628,650.433691578,0.439874710518,-0.0155035529435,0.0697240789635,0.999999907772,1.53135375861e-05,-0.000428881682487,1.6816290655e-05,1793193488815134464
+295,4.916666667,POSE2_TO_POSE3_RETREAT,764,742.144644762,712,673,659,631.144644762,878,783,800,649,628,650,0.439357191983,-0.0154996089863,0.0697277708881,0.999999911073,9.78112363213e-06,-0.000421331470913,1.54318282329e-05,1793193488831801344
+296,4.933333333,POSE2_TO_POSE3_RETREAT,764,742.719130634,712,673,659,631.719130634,878,783,800,649,628,650,0.438780374855,-0.0154867568654,0.0697195062849,0.999999904651,2.69919236794e-05,-0.000435584890111,1.53385452464e-05,1793193488848468224
+297,4.950000000,POSE2_TO_POSE3_RETREAT,764,743,712,673.293844273,659.293844273,632,878,783.293844273,799.706155727,649,628.293844273,650,0.438213569363,-0.0154747955349,0.0697115849727,0.999999901283,4.65683240223e-05,-0.00044164115205,1.47727686979e-05,1793193488865134848
+298,4.966666667,POSE2_TO_POSE3_RETREAT,764,743,712,673.868775858,659.868775858,632,878,783.868775858,799.131224142,649,628.868775858,650,0.437656340794,-0.0154636863204,0.069703992047,0.999999900829,6.84076264582e-05,-0.00043985612995,1.37550114217e-05,1793193488881801216
+299,4.983333333,POSE2_TO_POSE3_RETREAT,764,742.54081265,712,673.54081265,660,632,878,784,799.45918735,649,629,650,0.43705754982,-0.0154417461432,0.0697276582735,0.999999915575,8.93280757045e-05,-0.000400919525533,1.16146248386e-05,1793193488898468096
+300,5.000000000,POSE2_TO_POSE3_RETREAT,764,742.052379071,712,672.947620929,660,632,878,784,800,649,629,650,0.436442604916,-0.0154177776835,0.0697610402221,0.999999932319,0.000110905464652,-0.00035065947915,1.00034339306e-05,1793193488915134720
+301,5.016666667,POSE2_TO_POSE3_RETREAT,764,742.627624205,712,672.372375795,660,632,878,784,800,649,629,650,0.435789107098,-0.0154055376435,0.0697991238006,0.999999945691,0.000141753331986,-0.000297044771094,1.6989112595e-05,1793193488931801600
+302,5.033333333,POSE2_TO_POSE3_RETREAT,764,743,712,672.207001917,660,632,878,784,800,649,629,650,0.435109570326,-0.015400970555,0.0698261236795,0.999999953216,0.000154672877475,-0.000262994194552,2.18507112449e-05,1793193488948468224
+303,5.050000000,POSE2_TO_POSE3_RETREAT,764,743,712,672.793965128,660,632,878,784,800,649,629,650,0.434382237928,-0.0154104875137,0.0698327789288,0.999999955596,0.000134684183919,-0.000264854462798,2.28134655405e-05,1793193488965134592
+304,5.066666667,POSE2_TO_POSE3_RETREAT,764,743,712,673.375996583,660,632.375996583,878,784,800,649,629,650,0.433624727213,-0.0154148765501,0.0698268247259,0.999999952524,0.000129689918151,-0.000278559194508,2.31587244469e-05,1793193488981801472
+305,5.083333333,POSE2_TO_POSE3_RETREAT,764,743,712,673.955360552,660,632.955360552,878,784,800,649,629,650,0.432850893806,-0.0154164920181,0.0698140503773,0.999999946311,0.000132805773485,-0.000298670307665,2.31699951139e-05,1793193488998468352
+306,5.100000000,POSE2_TO_POSE3_RETREAT,764,742.46800302,712,673.46800302,660,632.46800302,878,784,800,649,629,650.53199698,0.432080312549,-0.0154163654918,0.0698218387107,0.999999951624,0.000138553392872,-0.000277288057074,2.58195364601e-05,1793193489015134976
+307,5.116666667,POSE2_TO_POSE3_RETREAT,763.891190045,742,712,673,660.108809955,632,878,784,800,649,629,650.891190045,0.431287027971,-0.0154142605555,0.0698210876061,0.999999951834,0.000146405555415,-0.000272290133613,2.75004467652e-05,1793193489031801344
+308,5.133333333,POSE2_TO_POSE3_RETREAT,763.312632054,742,712,673,660.687367946,632,878,784,800,649,629,650.312632054,0.430394558067,-0.0154042423572,0.069776059736,0.999999924227,0.00016239483955,-0.000352979903329,2.40488049905e-05,1793193489048467968
+309,5.150000000,POSE2_TO_POSE3_RETREAT,763.269365175,742.269365175,712,673,660.46126965,632,877.730634825,784,799.730634825,649,629,650,0.429522963489,-0.0153980072947,0.0697423299349,0.999999902216,0.000172831398024,-0.000406516972356,2.10172013915e-05,1793193489065134592
+310,5.166666667,POSE2_TO_POSE3_RETREAT,763.855405773,742.855405773,712,673,659.289188455,632,877.144594227,784,799.144594227,649,629,650,0.428675910582,-0.0153962198217,0.0697218825457,0.999999892562,0.000176739974817,-0.000428132358998,1.84794095186e-05,1793193489081801216
+311,5.183333333,POSE2_TO_POSE3_RETREAT,763.563893979,742.563893979,712,672.563893979,659.436106021,632,877,784,799.436106021,649,628.563893979,650,0.427863010656,-0.0154008169689,0.0697685693845,0.999999919916,0.000173652200492,-0.000359725901287,2.46961629716e-05,1793193489098467840
+312,5.200000000,POSE2_TO_POSE3_RETREAT,763.015021827,742.015021827,712,672.015021827,660,632,877.015021827,784,800,649,628.015021827,650.015021827,0.427060262943,-0.0154073919659,0.069836111921,0.999999950566,0.000168505262324,-0.000263331710189,3.36316833486e-05,1793193489115134720
+313,5.216666667,POSE2_TO_POSE3_RETREAT,763.592619583,742.592619583,712,672.592619583,660,632,877.592619583,784,800,649,628.592619583,650.592619583,0.426218771627,-0.0154097196927,0.0698611899436,0.999999959634,0.000172064374919,-0.00022306117809,3.69963096008e-05,1793193489131801600
+314,5.233333333,POSE2_TO_POSE3_RETREAT,764,743,712,673.169580143,660,632.169580143,878,784.169580143,800,649,629,651,0.425358899701,-0.0154097772027,0.069870883722,0.999999962203,0.000176711400203,-0.000207102695217,3.84050110761e-05,1793193489148468480
+315,5.250000000,POSE2_TO_POSE3_RETREAT,764,743,712,673.745015669,660,632.745015669,878,784.745015669,800,649,629,651,0.424455037595,-0.0154044014127,0.0698437584572,0.999999951379,0.000183962122134,-0.000249330131958,3.51326065663e-05,1793193489165134848
+316,5.266666667,POSE2_TO_POSE3_RETREAT,764,742.672606798,712,673.672606798,660,632.672606798,877.672606798,784.672606798,800,649,629,651,0.423529829625,-0.0153995855154,0.06981050343,0.99999993527,0.000188549303302,-0.000304810131207,3.16279728826e-05,1793193489181801216
+317,5.283333333,POSE2_TO_POSE3_RETREAT,764,742.08470551,712,673.08470551,660,632.08470551,877.08470551,784.08470551,800,649,629,651,0.422587636708,-0.0153952151272,0.0697723709276,0.999999912607,0.000191017093601,-0.000370835244912,2.79385535953e-05,1793193489198467840
+318,5.300000000,POSE2_TO_POSE3_RETREAT,764,742.496747637,711.503252363,673,660,632,877.496747637,784,799.503252363,649,629,650.503252363,0.421628056456,-0.015389505652,0.0697188236898,0.999999873292,0.00019457264615,-0.000463683060627,2.35598200221e-05,1793193489215134464
+319,5.316666667,POSE2_TO_POSE3_RETREAT,764,742.923652249,711.076347751,673,660,632,878,784,799,649,629,650,0.420689540399,-0.0153853263958,0.0696781929222,0.999999837917,0.000196963789403,-0.000533813621103,2.03557683666e-05,1793193489231801088
+320,5.333333333,POSE2_TO_POSE3_RETREAT,764,742.349061625,711.650938375,673,660,632,878,784,799,649,629,650,0.419907589859,-0.0153926043532,0.0697387884795,0.999999890682,0.000190561082927,-0.000426226049191,2.55749004912e-05,1793193489248467968
+321,5.350000000,POSE2_TO_POSE3_RETREAT,764,742.226311751,711.773688249,672.773688249,660,632,877.773688249,784.226311751,799.226311751,649,629,650.226311751,0.419121714505,-0.0153974182451,0.06980265731,0.999999930967,0.000188730805403,-0.000318501630649,3.16633280228e-05,1793193489265134848
+322,5.366666667,POSE2_TO_POSE3_RETREAT,764,742.802896717,711.197103283,672.197103283,660,632,877.197103283,784.802896717,799.802896717,649,629,650.802896717,0.418329764416,-0.0153984183896,0.0698715923469,0.999999958253,0.000193977488913,-0.000210565394831,3.90972053969e-05,1793193489281801472
+323,5.383333333,POSE2_TO_POSE3_RETREAT,764,742.610251874,711.389748126,672,659.610251874,632,877,784.610251874,799.610251874,649,629,651,0.417476841779,-0.0153961298987,0.0698785405671,0.999999958109,0.000197436560522,-0.000207890500721,3.9785385376e-05,1793193489298468096
+324,5.400000000,POSE2_TO_POSE3_RETREAT,764,742.018068096,711.981931904,672,659.018068096,632,877,784.018068096,799.018068096,649,629,651,0.416592249974,-0.0153921332866,0.069853292755,0.999999945552,0.000199967144371,-0.000259888482587,3.69698415361e-05,1793193489315134720
+325,5.416666667,POSE2_TO_POSE3_RETREAT,764,742.559994548,712,672.559994548,659,632,877,784,799.559994548,649,628.440005452,651,0.415747728456,-0.0153900743851,0.0698212324744,0.999999939151,0.000199398372459,-0.000284384708386,3.26060661047e-05,1793193489331801344
+326,5.433333333,POSE2_TO_POSE3_RETREAT,764,742.864316582,712,672.864316582,659.135683418,632.135683418,877,784,800,649,628.135683418,651,0.414902486373,-0.0153876964802,0.0697887434908,0.999999928557,0.000199466120026,-0.000319798717809,2.87867745082e-05,1793193489348467968
+327,5.450000000,POSE2_TO_POSE3_RETREAT,764,742.294796725,712,672.294796725,659.705203275,632.705203275,877,784,800,649,628.705203275,651,0.414050908256,-0.0153841036031,0.0697555692814,0.99999990208,0.000201880962555,-0.000392888834567,2.68642179253e-05,1793193489365134592
+328,5.466666667,POSE2_TO_POSE3_RETREAT,764,742.286474003,712,672,659.713525997,633,877.286474003,784,800,649,628.713525997,650.713525997,0.413246796427,-0.0153817517722,0.0697464647184,0.999999892434,0.000204936336332,-0.000415285602122,2.5917354514e-05,1793193489381801216
+329,5.483333333,POSE2_TO_POSE3_RETREAT,764,742.880354182,712,672,659.119645818,633,877.880354182,784,800,649,628.119645818,650.119645818,0.412493619222,-0.0153807316688,0.0697631885327,0.999999904434,0.000208679044467,-0.000383284939467,2.60174767521e-05,1793193489398467840
+330,5.500000000,POSE2_TO_POSE3_RETREAT,764,742.537546626,712,672,659.462453374,633,878,784.462453374,799.537546626,649,628.462453374,650.462453374,0.411827020093,-0.0153850724839,0.0698176684863,0.999999936422,0.000206820366514,-0.000288886893095,3.04376233167e-05,1793193489415134720
+331,5.516666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,659.958714102,632.958714102,877.958714102,785,799.041285898,649,629,650.958714102,0.411178932438,-0.015390378758,0.0698773459379,0.999999961222,0.000203600698039,-0.000186628351458,3.56871812652e-05,1793193489431801600
+332,5.533333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,659.383688296,632.383688296,877.383688296,785,799.616311704,649,629,650.383688296,0.410487775691,-0.0153906811418,0.069881070133,0.999999961735,0.000201055867289,-0.00018626639675,3.7569036149e-05,1793193489448468224
+333,5.550000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,659.195208083,632.195208083,877,784.804791917,799.804791917,648.804791917,629,650,0.40979924163,-0.0153892038388,0.0698699109147,0.999999956707,0.000203201357299,-0.000209561825808,3.71389002125e-05,1793193489465134848
+334,5.566666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,659.78186621,632.78186621,877,784.21813379,799.21813379,648.21813379,629,650,0.409115966707,-0.0153841577365,0.0698289060436,0.999999937143,0.000214752329009,-0.000280297318154,3.20725378587e-05,1793193489481801216
+335,5.583333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,659.636062989,632.636062989,877.363937011,784,799.363937011,648.363937011,629,650,0.408454944882,-0.0153795273373,0.0697969037232,0.999999921209,0.0002180004685,-0.000330551036631,2.81799459312e-05,1793193489498467840
+336,5.600000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,659.056707513,632.056707513,877.943292487,784,799.943292487,648.943292487,629,650,0.407807094961,-0.015375142998,0.0697702301177,0.999999908325,0.000216334066488,-0.000368681355746,2.49821224291e-05,1793193489515134464
+337,5.616666667,POSE2_TO_POSE3_RETREAT,763.477438286,742.522561714,712,672.522561714,659,632,877.477438286,784,800,648.477438286,628.477438286,650.522561714,0.407249935542,-0.0153749591386,0.0697841760211,0.999999916346,0.00021734408373,-0.000345522336453,2.61383001312e-05,1793193489531801344
+338,5.633333333,POSE2_TO_POSE3_RETREAT,763.201395343,742.899302328,712,672.899302328,659,632.100697672,877.100697672,784,800,648.100697672,628,650.899302328,0.406708586378,-0.0153754496689,0.0698005096862,0.999999924408,0.000218348335197,-0.000320533847224,2.7665886339e-05,1793193489548468224
+339,5.650000000,POSE2_TO_POSE3_RETREAT,764.347127259,742.326436371,712,672.326436371,659,632.673563629,877.673563629,784,800,648.673563629,628,650.326436371,0.40619523178,-0.0153769653766,0.0698073741116,0.999999925224,0.000217963909991,-0.000318148291562,2.87198755844e-05,1793193489565135360
+340,5.666666667,POSE2_TO_POSE3_RETREAT,764.746452929,742,712,672,659,633,877.746452929,784,799.746452929,648.746452929,628,650,0.405702200899,-0.0153775340325,0.0698085390183,0.999999923592,0.000219872365228,-0.000321943772805,2.87066052786e-05,1793193489581801984
+341,5.683333333,POSE2_TO_POSE3_RETREAT,764.157041262,742,712,672,659,633,877.157041262,784,799.157041262,648.157041262,628,650,0.405236092147,-0.0153768481633,0.0698021539789,0.999999918603,0.000224818115929,-0.000333927049336,2.72795749145e-05,1793193489598468352
+342,5.700000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,633,877.427333563,784,798.572666437,648.427333563,628.427333563,650.427333563,0.404811392361,-0.0153761080749,0.0698105362666,0.999999922877,0.000227539476654,-0.000318972769907,2.6999964187e-05,1793193489615134720
+343,5.716666667,POSE2_TO_POSE3_RETREAT,764,742,712,672.009758182,659,633,877.990241818,784,798.009758182,649,628.990241818,651,0.404402958779,-0.0153752996371,0.0698244023042,0.999999930074,0.00022951868924,-0.000293998640859,2.71650641612e-05,1793193489631801088
+344,5.733333333,POSE2_TO_POSE3_RETREAT,764,742,712,672.585179001,659,633,877.414820999,784,798.585179001,649,628.414820999,651,0.404065599008,-0.0153716706826,0.0698452307513,0.999999939293,0.000235310606496,-0.00025535232653,2.8950741705e-05,1793193489648467712
+345,5.750000000,POSE2_TO_POSE3_RETREAT,764,742,712,672.84063846,659,632.84063846,877,784,799.15936154,649,628,651,0.403730110462,-0.0153676990397,0.0698585846906,0.999999943985,0.000241137971674,-0.000230153749996,3.01869051574e-05,1793193489665134592
+346,5.766666667,POSE2_TO_POSE3_RETREAT,764,742,712,672.269654214,659,632.269654214,877,784,799.730345786,649,628,651,0.40339945512,-0.0153628422492,0.0698526323631,0.999999940306,0.000247056899048,-0.000239689984838,3.00037023014e-05,1793193489681801216
+347,5.783333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632,877,784.313831989,800,649,628.313831989,651,0.403086457825,-0.0153583598524,0.0698420565441,0.999999934361,0.000253646837511,-0.000257145013027,2.85895247671e-05,1793193489698467840
+348,5.800000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632,877,784.908505906,800,649,628.908505906,651,0.402789262379,-0.0153542124933,0.069827343256,0.999999925968,0.000260837249827,-0.000281686409278,2.60737727743e-05,1793193489715134720
+349,5.816666667,POSE2_TO_POSE3_RETREAT,763.510662666,742,712,672.489337334,659,632.489337334,877.489337334,785,800,649,629,651,0.402524671953,-0.0153588054557,0.0698188746783,0.999999924236,0.000250857383227,-0.000296625066879,2.4741098139e-05,1793193489731801088
+350,5.833333333,POSE2_TO_POSE3_RETREAT,763.066888393,742,712,672.933111607,659,633,877.933111607,784.933111607,800,648.933111607,629,651,0.402273118611,-0.0153654606564,0.0698118902448,0.999999923512,0.000238793819152,-0.000308845755355,2.38174189753e-05,1793193489748467968
+351,5.850000000,POSE2_TO_POSE3_RETREAT,763.638677279,742,712,672.361322721,659,633,877.361322721,784.361322721,800,648.361322721,629,651,0.402075222727,-0.0153756860232,0.0698075376172,0.999999922979,0.000234568556099,-0.000313730259357,2.43571816555e-05,1793193489765134592
+352,5.866666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,633,877,784.217636363,799.782363637,648,629,651,0.401891373564,-0.0153805333883,0.0698045708379,0.999999922044,0.000232640502215,-0.000318075696258,2.48457295828e-05,1793193489781801472
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,633,877,784.808904988,799.191095012,648,629,651,0.401731639454,-0.0153761479431,0.0698039832465,0.99999992047,0.000234656235783,-0.000321495676751,2.52463533432e-05,1793193489798467840
+354,5.900000000,POSE2_TO_POSE3_RETREAT,763.608097153,742,712,672,659,632.608097153,877,784.608097153,799,648.391902847,629,650.608097153,0.401591513912,-0.015370235833,0.0698050326703,0.999999919679,0.00023839919622,-0.000321198525421,2.52934118042e-05,1793193489815134464
+355,5.916666667,POSE2_TO_POSE3_RETREAT,763.029048783,742,712,672,659,632.029048783,877,784.029048783,799,648.970951217,629,650.029048783,0.401460752044,-0.0153635946936,0.0698068638186,0.999999919246,0.000242966960166,-0.000319126330952,2.51716321221e-05,1793193489831801088
+356,5.933333333,POSE2_TO_POSE3_RETREAT,763.54694944,742,712,671.45305056,659,632.54694944,877,784,799,648.45305056,629,650.54694944,0.401361371299,-0.0153640301279,0.069805161445,0.999999921862,0.000233173777567,-0.000318767186299,1.71175119976e-05,1793193489848467968
+357,5.950000000,POSE2_TO_POSE3_RETREAT,764,742,712,671.122966707,659,632.877033293,877.122966707,784,799,648,629,650.877033293,0.401269570412,-0.015364745748,0.0698036153975,0.999999923306,0.000228042632099,-0.000318230997056,1.06837077393e-05,1793193489865134592
+358,5.966666667,POSE2_TO_POSE3_RETREAT,764,742,712,671.699648811,659,632.300351189,877.699648811,784,799,648,629,650.300351189,0.401199621748,-0.0153651161172,0.0698033347559,0.999999920276,0.000242911821444,-0.000316707724304,1.17742824352e-05,1793193489881801216
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632.282002848,877.435994304,784.282002848,799,648.282002848,629,650,0.401138808146,-0.0153645229807,0.0698041338356,0.999999918625,0.000250431193317,-0.000316020528492,1.28578895985e-05,1793193489898468096
+360,6.000000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632.870521819,876.258956362,784.870521819,799,648.870521819,629,650,0.401087923683,-0.0153628825852,0.0698061064919,0.999999918658,0.000249961859346,-0.000316242086289,1.39339235086e-05,1793193489915134720
+361,6.016666667,POSE2_TO_POSE3_RETREAT,764,742,712,671.548359105,659,632.548359105,876.90328179,784.548359105,799,649,628.548359105,650,0.401049297306,-0.0153620984103,0.0698057142242,0.999999918713,0.00024945692393,-0.000316452813629,1.42512356571e-05,1793193489931801344
+362,6.033333333,POSE2_TO_POSE3_RETREAT,764,742,712,671.03042284,659,632,877.96957716,784,799,649,628.03042284,650.03042284,0.401015174731,-0.0153615008793,0.0698047922257,0.999999918848,0.000249016486958,-0.000316369272433,1.43517808446e-05,1793193489948467712
+363,6.050000000,POSE2_TO_POSE3_RETREAT,764,742,712,671.604737302,659,632,877.395262698,784,799,649,628.604737302,650.604737302,0.400999756835,-0.0153599225093,0.0698063252968,0.999999920284,0.000249908661498,-0.00031107948895,1.44029830619e-05,1793193489965134592
+364,6.066666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632.173260911,877,784,799,649,629.173260911,651,0.400985741175,-0.015359261253,0.0698074735673,0.999999921353,0.000250328312263,-0.000307272326582,1.45889500092e-05,1793193489981801216
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632.729000946,877,784,799,649,629.729000946,651,0.400974820997,-0.0153606245555,0.0698077723776,0.999999921666,0.000249704851248,-0.0003067380995,1.50724144968e-05,1793193489998468096
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764,742.314210696,712,672,659,633,877,784,799,649,629.685789304,651,0.400966256451,-0.0153617184931,0.0698082317186,0.999999921981,0.000248699597657,-0.000306532795511,1.5004274147e-05,1793193490015134464
+367,6.116666667,POSE2_TO_POSE3_RETREAT,764,742.927467989,712,672,659,633,877,784,799,649,629.072532011,651,0.400959933851,-0.0153625560657,0.0698088438431,0.999999922296,0.00024733097708,-0.00030664054042,1.44111499759e-05,1793193490031800832
+368,6.133333333,POSE2_TO_POSE3_RETREAT,764,743,712,672,659,633,877.509786017,784,799.509786017,648.490213983,629,651,0.400956606569,-0.0153622830585,0.069808052764,0.999999922101,0.000247136868426,-0.000307430804333,1.44397277017e-05,1793193490048468224
+369,6.150000000,POSE2_TO_POSE3_RETREAT,764,742.912158327,712,672,659,633,877.912158327,784,800,648.087841673,629,651,0.400954113899,-0.015361950699,0.0698072978859,0.999999921893,0.000247099194443,-0.000308132493267,1.44863546711e-05,1793193490065135104
+370,6.166666667,POSE2_TO_POSE3_RETREAT,764,742.334727966,712,672,659,633,877.334727966,784,800,648.665272034,629,651,0.400954033594,-0.0153621178338,0.0698077938452,0.999999922002,0.000247055320165,-0.00030783023847,1.41687798967e-05,1793193490081801216
+371,6.183333333,POSE2_TO_POSE3_RETREAT,764,742,712,671.752499684,659,632.752499684,877,784,799.752499684,649,629,651,0.40095432856,-0.0153622086901,0.0698090472413,0.999999922385,0.000247441924423,-0.000306273574496,1.41085083091e-05,1793193490098467584
+372,6.200000000,POSE2_TO_POSE3_RETREAT,764,742,712,671.163654287,659,632.163654287,877,784,799.163654287,649,629,651,0.40095514109,-0.0153621943452,0.0698113452718,0.999999923139,0.000248422231886,-0.000302986866674,1.44031016503e-05,1793193490115134464
+373,6.216666667,POSE2_TO_POSE3_RETREAT,764,742.418134674,712,671.418134674,659,632.418134674,877,784,799.418134674,649,629,650.581865326,0.40095476685,-0.0153629676591,0.0698120659385,0.99999992383,0.00024668556547,-0.000302122755648,1.44300635195e-05,1793193490131801600
+374,6.233333333,POSE2_TO_POSE3_RETREAT,764,742.997207629,712,671.997207629,659,632.997207629,877,784,799.997207629,649,629,650.002792371,0.400953935826,-0.0153640441396,0.0698121794845,0.999999924493,0.000243903147193,-0.00030219109203,1.43540151521e-05,1793193490148468992
+375,6.250000000,POSE2_TO_POSE3_RETREAT,764,743,712,672,659,633,877,784,799.427476744,649,629,650.572523256,0.400954002314,-0.0153639540843,0.0698121824548,0.999999924371,0.000244596144686,-0.000302023750643,1.45974298549e-05,1793193490165135360
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764,743,712,672,659,633,877,784,799,649,629,650.849237501,0.400954089815,-0.0153639321775,0.0698122212162,0.999999924234,0.000245397705623,-0.000301820958633,1.46974343457e-05,1793193490181801728
+377,6.283333333,POSE2_TO_POSE3_RETREAT,764,743,712,672,659,633,877,784,799,649,629,650.26249102,0.400954225506,-0.015364123693,0.0698123650301,0.999999924067,0.000246464517339,-0.000301518950867,1.4378240109e-05,1793193490198468096
+378,6.300000000,POSE2_TO_POSE3_RETREAT,764.319818069,742.680181931,712,672,659,633,877.319818069,784.319818069,799.319818069,649,628.680181931,650.319818069,0.40095365439,-0.0153649874697,0.0698120056721,0.999999924233,0.00024525974132,-0.000301958036323,1.42719207821e-05,1793193490215134720
+379,6.316666667,POSE2_TO_POSE3_RETREAT,764.898535067,742.101464933,712,672,659,633,877.898535067,784.898535067,799.898535067,649,628.101464933,650.898535067,0.4009525111,-0.015366395455,0.0698112389868,0.999999924659,0.000242216071101,-0.000302997051074,1.43379277873e-05,1793193490231801088
+380,6.333333333,POSE2_TO_POSE3_RETREAT,764.522688817,742,712,672,659,633,877.522688817,784.522688817,800,648.522688817,628,651,0.400951560904,-0.0153645389547,0.0698111898159,0.999999923538,0.000245539422701,-0.000304026010284,1.42060845515e-05,1793193490248467968
+381,6.350000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,659.055408077,633,877,784.055408077,799.944591923,648,628.055408077,651,0.400950847573,-0.0153623422138,0.0698113617947,0.999999922302,0.000249702297085,-0.000304708939334,1.40641939995e-05,1793193490265134592
+382,6.366666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,659.627059833,633,877,784.627059833,799.372940167,648,628.627059833,651,0.400951958657,-0.0153634418374,0.06981217297,0.999999923221,0.000249075044648,-0.000302187783111,1.42206013545e-05,1793193490281801728
+383,6.383333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,659.589038408,633,877,785,799.205480796,648.205480796,628.794519204,650.794519204,0.400952977654,-0.0153641088639,0.0698128572118,0.999999923922,0.000248488330888,-0.000300339609445,1.43291451896e-05,1793193490298468864
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,658.406787774,633,877,785,799.796606113,648.796606113,628.203393887,650.203393887,0.400953823824,-0.0153639639959,0.0698133032262,0.999999924224,0.000247977699794,-0.00029975448358,1.43478591896e-05,1793193490315135232
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,658.379988476,633,877.379988476,784.620011524,799.620011524,648.620011524,628,650.379988476,0.400953048307,-0.0153628418441,0.069813136884,0.999999924023,0.000248401344456,-0.000300080343506,1.42101108269e-05,1793193490331801600
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,658.959309067,633,877.959309067,784.040690933,799.040690933,648.040690933,628,650.959309067,0.400951422095,-0.0153612070346,0.0698126493155,0.999999923558,0.000249315086004,-0.000300884083005,1.39902863597e-05,1793193490348467968
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,633,878,784,799,648.537885429,628,650.462114571,0.400952294781,-0.0153629195051,0.0698131174361,0.999999924064,0.000248358653762,-0.000299972107467,1.43816563577e-05,1793193490365134592
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764,742.115001577,712,672,659,633,877.884998423,784,799.115001577,649,628.115001577,650.115001577,0.400953235921,-0.0153647421766,0.069813628071,0.999999924762,0.000246760161938,-0.00029894729258,1.46907637076e-05,1793193490381801472
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764,742.686543926,712,672,659,633,877.313456074,784,799.686543926,649,628.686543926,650.686543926,0.400953699385,-0.0153659984657,0.0698140208659,0.99999992593,0.000243173654086,-0.000297989071811,1.44899992679e-05,1793193490398468096
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764,742.73149329,712,672,659,633,877,784.26850671,799.73149329,649,629,650.73149329,0.400953362342,-0.0153664392952,0.0698141081284,0.999999926095,0.00024246886537,-0.000298011646357,1.43979743996e-05,1793193490415134720
+391,6.516666667,POSE2_TO_POSE3_RETREAT,764,742.136874393,712,672,659,633,877,784.863125607,799.136874393,649,629,650.136874393,0.400952053051,-0.0153658897164,0.0698138243095,0.999999925051,0.000245264039843,-0.000299225436088,1.44380180828e-05,1793193490431801344
+392,6.533333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,633,877.443428667,784.556571333,799,649,629,650.443428667,0.400951834697,-0.0153657474102,0.0698140590582,0.999999924945,0.000245613819699,-0.000299292274766,1.44101667386e-05,1793193490448468224
+393,6.550000000,POSE2_TO_POSE3_RETREAT,764.019424255,742,712,671.980575745,659,633,877.980575745,784,799,648.980575745,629,651,0.400951922641,-0.0153657123614,0.0698144167506,0.999999925113,0.000245228810679,-0.000299049664327,1.43474751245e-05,1793193490465135104
+394,6.566666667,POSE2_TO_POSE3_RETREAT,764.594655054,742,712,671.405344946,659,633,877.405344946,784,799,648.405344946,629,651,0.400951440813,-0.0153652616955,0.0698138554223,0.999999925025,0.00024474167905,-0.000299765946266,1.38687822968e-05,1793193490481801472
+395,6.583333333,POSE2_TO_POSE3_RETREAT,764.825826863,742,712,671.348346275,659,632.825826863,877.174173137,784.174173137,799.174173137,648.174173137,629,651,0.400951109504,-0.0153648511626,0.0698134566632,0.999999924858,0.000244989291368,-0.000300130254645,1.36748461459e-05,1793193490498468096
+396,6.600000000,POSE2_TO_POSE3_RETREAT,764.236079424,742,712,672.527841152,659,632.236079424,877.763920576,784.763920576,799.763920576,648.763920576,629,651,0.400951137328,-0.0153645363864,0.0698134457914,0.999999924501,0.00024698999094,-0.000299654759739,1.41603348684e-05,1793193490515134720
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_07/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_07/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..817a7c170a66d7c56f6ef4e164a5a60b7c78087a
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_07/depth_02/simulation_data.csv
@@ -0,0 +1,398 @@
+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,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+1,0.016666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+2,0.033333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+3,0.050000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+4,0.066666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+5,0.083333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+6,0.100000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+7,0.116666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+8,0.133333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+9,0.150000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+10,0.166666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+11,0.183333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+12,0.200000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+13,0.216666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+14,0.233333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+15,0.250000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+16,0.266666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+17,0.283333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+18,0.300000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+19,0.316666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+20,0.333333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+21,0.350000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+22,0.366666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+23,0.383333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+24,0.400000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+25,0.416666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+26,0.433333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+27,0.450000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+28,0.466666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+29,0.483333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+30,0.500000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+31,0.516666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+32,0.533333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+33,0.550000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+34,0.566666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+35,0.583333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+36,0.600000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+37,0.616666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+38,0.633333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+39,0.650000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+40,0.666666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+41,0.683333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+42,0.700000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+43,0.716666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+44,0.733333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+45,0.750000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+46,0.766666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+47,0.783333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+48,0.800000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+49,0.816666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+50,0.833333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+51,0.850000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+52,0.866666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+53,0.883333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+54,0.900000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+55,0.916666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+56,0.933333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+57,0.950000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+58,0.966666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+59,0.983333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+60,1.000000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+61,1.016666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+62,1.033333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+63,1.050000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+64,1.066666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+65,1.083333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+66,1.100000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+67,1.116666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+68,1.133333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+69,1.150000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+70,1.166666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+71,1.183333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+72,1.200000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+73,1.216666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+74,1.233333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+75,1.250000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+76,1.266666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+77,1.283333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+78,1.300000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+79,1.316666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+80,1.333333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+81,1.350000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+82,1.366666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+83,1.383333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+84,1.400000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+85,1.416666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+86,1.433333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+87,1.450000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+88,1.466666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+89,1.483333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+90,1.500000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+91,1.516666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+92,1.533333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+93,1.550000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+94,1.566666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+95,1.583333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+96,1.600000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+97,1.616666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+98,1.633333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+99,1.650000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+100,1.666666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+101,1.683333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+102,1.700000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+103,1.716666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+104,1.733333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+105,1.750000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+106,1.766666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+107,1.783333333,pose1_to_pose2_press,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+108,1.800000000,pose1_to_pose2_press,0.575709253359,-0.00994536831513,1.06002921097,0.546279984053,-0.00127263735685,1.05969850017
+109,1.816666667,pose1_to_pose2_press,0.575709369524,-0.00994540147963,1.06002926969,0.546280101266,-0.00127266692267,1.05969855999
+110,1.833333333,pose1_to_pose2_press,0.575709687105,-0.00994536434386,1.06002926601,0.546280416972,-0.00127263611939,1.05969855703
+111,1.850000000,pose1_to_pose2_press,0.575710037583,-0.00994534073127,1.06002925508,0.546280766201,-0.00127261673607,1.0596985463
+112,1.866666667,pose1_to_pose2_press,0.575710498699,-0.00994536029057,1.06002922063,0.546281228064,-0.00127263381796,1.05969851042
+113,1.883333333,pose1_to_pose2_press,0.575711948853,-0.00994540920232,1.0600291625,0.546282679992,-0.00127267678421,1.05969845041
+114,1.900000000,pose1_to_pose2_press,0.57571544288,-0.00994549078081,1.06002918481,0.546286175443,-0.00127275347039,1.05969847415
+115,1.916666667,pose1_to_pose2_press,0.57572237382,-0.00994553453812,1.06002927748,0.546293105229,-0.00127280115149,1.0596985666
+116,1.933333333,pose1_to_pose2_press,0.575735749334,-0.00994540889798,1.06002919662,0.546306479481,-0.00127267985963,1.05969848394
+117,1.950000000,pose1_to_pose2_press,0.575757323403,-0.00994555383704,1.06002927239,0.546328056698,-0.00127281410891,1.05969855992
+118,1.966666667,pose1_to_pose2_press,0.575788842867,-0.00994541487603,1.06002897211,0.546359574669,-0.00127268003675,1.05969826416
+119,1.983333333,pose1_to_pose2_press,0.575830314697,-0.00994547573911,1.06002913347,0.546401047043,-0.00127273898625,1.05969842723
+120,2.000000000,pose1_to_pose2_press,0.575882947991,-0.0099455556052,1.06002913752,0.546453680426,-0.00127281856567,1.05969843077
+121,2.016666667,pose1_to_pose2_press,0.575945711311,-0.00994545261349,1.06002936409,0.546516441292,-0.00127272424909,1.05969864823
+122,2.033333333,pose1_to_pose2_press,0.576019044236,-0.00994536528945,1.06002897041,0.54658977288,-0.00127264095589,1.05969826777
+123,2.050000000,pose1_to_pose2_press,0.576105044348,-0.00994537496226,1.06002910235,0.546675774966,-0.00127264408682,1.05969839551
+124,2.066666667,pose1_to_pose2_press,0.576204364523,-0.00994549188101,1.0600290557,0.546775095617,-0.00127275951531,1.05969834554
+125,2.083333333,pose1_to_pose2_press,0.576320704483,-0.00994531760401,1.06002911962,0.546891433163,-0.00127259329204,1.05969841306
+126,2.100000000,pose1_to_pose2_press,0.576454094195,-0.0099453821653,1.06002916709,0.547024825655,-0.0012726486687,1.0596984539
+127,2.116666667,pose1_to_pose2_press,0.576607853558,-0.00994551131998,1.06002915129,0.547178585584,-0.001272775748,1.05969844218
+128,2.133333333,pose1_to_pose2_press,0.576781009809,-0.00994554902448,1.06002902661,0.547351741304,-0.00127281521218,1.05969831857
+129,2.150000000,pose1_to_pose2_press,0.576974628244,-0.0099454177971,1.06002930646,0.54754535917,-0.00127268630064,1.05969858821
+130,2.166666667,pose1_to_pose2_press,0.577190411694,-0.00994545429985,1.060029301,0.547761144571,-0.00127271610107,1.05969858486
+131,2.183333333,pose1_to_pose2_press,0.577428442882,-0.00994534007613,1.06002927308,0.547999172759,-0.0012726118169,1.05969856309
+132,2.200000000,pose1_to_pose2_press,0.577688717089,-0.00994545514389,1.06002925381,0.548259447903,-0.00127272367651,1.05969854451
+133,2.216666667,pose1_to_pose2_press,0.577970701058,-0.00994560615109,1.06002919064,0.548541434033,-0.00127286775331,1.05969847083
+134,2.233333333,pose1_to_pose2_press,0.57827725029,-0.0099454921003,1.06002915258,0.548847981792,-0.00127275838416,1.05969844104
+135,2.250000000,pose1_to_pose2_press,0.578606724674,-0.00994546937491,1.06002916175,0.549177455582,-0.00127273771752,1.05969844897
+136,2.266666667,pose1_to_pose2_press,0.578959699737,-0.00994548224811,1.06002904485,0.54953042903,-0.00127275604024,1.0596983328
+137,2.283333333,pose1_to_pose2_press,0.579335636179,-0.00994542538359,1.06002897911,0.549906366085,-0.00127269649313,1.05969828279
+138,2.300000000,pose1_to_pose2_press,0.579731378177,-0.00994546068402,1.06002918782,0.550302107918,-0.0012727330817,1.05969847235
+139,2.316666667,pose1_to_pose2_press,0.580142818922,-0.00994540608261,1.06002929216,0.550713549382,-0.00127267598558,1.0596985781
+140,2.333333333,pose1_to_pose2_press,0.58057447995,-0.00994548175796,1.06002928509,0.551145211288,-0.00127274864673,1.05969857185
+141,2.350000000,pose1_to_pose2_press,0.581032631555,-0.00994537716004,1.06002919618,0.551603362135,-0.00127264680854,1.05969847804
+142,2.366666667,pose1_to_pose2_press,0.581520651117,-0.00994535660714,1.06002925018,0.552091380964,-0.00127262830073,1.05969854359
+143,2.383333333,pose1_to_pose2_press,0.582039812461,-0.00994555587228,1.06002925271,0.552610545334,-0.00127281723089,1.05969854778
+144,2.400000000,pose1_to_pose2_press,0.582590300076,-0.00994533031982,1.06002916604,0.553161028851,-0.00127260577857,1.05969845591
+145,2.416666667,pose1_to_pose2_press,0.583163427444,-0.00994556467869,1.06002903201,0.553734159465,-0.00127282908985,1.0596983228
+146,2.433333333,pose1_to_pose2_press,0.583754836603,-0.00994550319862,1.06002915637,0.554325568395,-0.00127276844443,1.0596984456
+147,2.450000000,pose1_to_pose2_press,0.584365404371,-0.00994542164059,1.06002915759,0.554936133491,-0.00127269591499,1.05969844783
+148,2.466666667,pose1_to_pose2_press,0.584998774154,-0.00994556520233,1.06002912665,0.555569506574,-0.00127282816938,1.05969841974
+149,2.483333333,pose1_to_pose2_press,0.58566145672,-0.0099456352812,1.06002900052,0.556232189686,-0.00127289630278,1.05969829592
+150,2.500000000,pose1_to_pose2_press,0.586349793176,-0.0099455627708,1.06002925541,0.556920525849,-0.00127282494184,1.05969854679
+151,2.516666667,pose1_to_pose2_press,0.587054504562,-0.0099453986111,1.06002928907,0.557625234477,-0.00127267035526,1.05969857483
+152,2.533333333,pose1_to_pose2_press,0.587764267156,-0.00994542266379,1.06002926379,0.558334996521,-0.00127269610928,1.05969855378
+153,2.550000000,pose1_to_pose2_press,0.588472263551,-0.00994530191328,1.06002927663,0.559042991866,-0.00127257899091,1.05969856487
+154,2.566666667,pose1_to_pose2_press,0.589188964293,-0.00994538012137,1.06002903418,0.559759692976,-0.00127265575021,1.05969832768
+155,2.583333333,pose1_to_pose2_press,0.589920251826,-0.00994559281916,1.06002904784,0.560490984131,-0.00127285642306,1.05969833435
+156,2.600000000,pose1_to_pose2_press,0.590675858503,-0.00994544568268,1.06002913471,0.561246590071,-0.00127271163759,1.05969842511
+157,2.616666667,pose1_to_pose2_press,0.591456865412,-0.00994561760303,1.06002907501,0.562027596188,-0.00127288645561,1.05969835997
+158,2.633333333,pose1_to_pose2_press,0.592263945324,-0.00994547299168,1.06002902684,0.562834676819,-0.00127273908147,1.05969832031
+159,2.650000000,pose1_to_pose2_press,0.593082777845,-0.00994538183929,1.06002933693,0.563653506891,-0.00127265636443,1.05969862711
+160,2.666666667,pose1_to_pose2_press,0.593909779168,-0.00994526081843,1.06002917309,0.564480507613,-0.00127253733082,1.05969846459
+161,2.683333333,pose1_to_pose2_press,0.594733583776,-0.00994534976478,1.06002916348,0.565304312672,-0.00127262484055,1.05969845262
+162,2.700000000,pose1_to_pose2_press,0.595551191025,-0.00994545146801,1.06002905807,0.566121921002,-0.00127272292803,1.05969834585
+163,2.716666667,pose1_to_pose2_press,0.596349043161,-0.00994531037836,1.06002916507,0.566919771541,-0.00127258745409,1.05969844779
+164,2.733333333,pose1_to_pose2_press,0.597136380636,-0.00994544734635,1.0600291413,0.567707112748,-0.00127271146758,1.05969843173
+165,2.750000000,pose1_to_pose2_press,0.597928216534,-0.00994539684957,1.06002877338,0.568498945918,-0.00127267012488,1.05969806647
+166,2.766666667,pose1_to_pose2_press,0.59873329739,-0.00994540088647,1.06002900207,0.569304027615,-0.00127267114536,1.05969829948
+167,2.783333333,pose1_to_pose2_press,0.599555076626,-0.00994538324884,1.0600292382,0.570125806855,-0.00127265368962,1.05969853049
+168,2.800000000,pose1_to_pose2_press,0.600401436154,-0.00994535506747,1.06002930489,0.570972165802,-0.00127262779254,1.05969858911
+169,2.816666667,pose1_to_pose2_press,0.601257180792,-0.0099453541041,1.06002915552,0.571827910924,-0.00127262479833,1.05969845002
+170,2.833333333,pose1_to_pose2_press,0.602096000064,-0.00994519990432,1.06002938348,0.572666727622,-0.00127247970658,1.05969866821
+171,2.850000000,pose1_to_pose2_press,0.602908027985,-0.0099453402202,1.06002917655,0.573478758133,-0.00127261102575,1.05969846687
+172,2.866666667,pose1_to_pose2_press,0.603684960184,-0.00994542498816,1.06002902251,0.574255689955,-0.00127269682275,1.0596983194
+173,2.883333333,pose1_to_pose2_press,0.604431483197,-0.00994550607464,1.06002935373,0.575002215158,-0.00127277092647,1.05969863897
+174,2.900000000,pose1_to_pose2_press,0.605151555176,-0.00994549786895,1.06002941952,0.575722287181,-0.00127276263544,1.05969870315
+175,2.916666667,pose1_to_pose2_press,0.605877184329,-0.00994535985062,1.06002922584,0.576447911782,-0.00127263996832,1.05969851203
+176,2.933333333,pose1_to_pose2_press,0.606610647167,-0.00994548849377,1.06002913781,0.577181378574,-0.00127275503341,1.05969842832
+177,2.950000000,pose1_to_pose2_press,0.607345885751,-0.00994536866579,1.06002923555,0.577916616669,-0.00127263680554,1.05969852773
+178,2.966666667,pose1_to_pose2_press,0.608076079459,-0.00994541537179,1.06002907374,0.57864680953,-0.00127268651439,1.05969836257
+179,2.983333333,pose1_to_pose2_press,0.608794834285,-0.00994545608074,1.06002905656,0.579365564977,-0.00127272530298,1.05969834062
+180,3.000000000,pose1_to_pose2_press,0.609470808384,-0.00994531988776,1.06002900814,0.580041538879,-0.00127258935712,1.05969830337
+181,3.016666667,pose1_to_pose2_press,0.610107972603,-0.00994539642017,1.06002887485,0.580678702165,-0.00127266881103,1.05969817656
+182,3.033333333,pose1_to_pose2_press,0.610713470616,-0.00994536224456,1.06002924345,0.581284199693,-0.00127263689206,1.05969852921
+183,3.050000000,pose1_to_pose2_press,0.611288585312,-0.00994547745527,1.06002917422,0.581859315425,-0.0012727484957,1.05969846249
+184,3.066666667,pose1_to_pose2_press,0.611831275534,-0.00994533172028,1.06002919671,0.582402003761,-0.00127260945131,1.05969847736
+185,3.083333333,pose1_to_pose2_press,0.61234561869,-0.00994537652326,1.06002936556,0.58291634781,-0.00127265119367,1.0596986479
+186,3.100000000,pose1_to_pose2_press,0.612832433601,-0.00994541930216,1.06002927098,0.583403162518,-0.00127269459932,1.05969855295
+187,3.116666667,pose1_to_pose2_press,0.613304487156,-0.00994546090377,1.06002917783,0.583875216501,-0.00127273433021,1.05969846292
+188,3.133333333,pose1_to_pose2_press,0.613765308071,-0.00994551432461,1.06002909579,0.58433603844,-0.00127278345301,1.05969838487
+189,3.150000000,pose1_to_pose2_press,0.614214698805,-0.00994545789511,1.06002925944,0.5847854275,-0.00127273206587,1.05969854349
+190,3.166666667,pose1_to_pose2_press,0.614650451506,-0.0099454698314,1.06002914139,0.58522118031,-0.001272742609,1.0596984282
+191,3.183333333,pose1_to_pose2_press,0.615069143521,-0.00994551226865,1.06002912009,0.585639874234,-0.00127277747658,1.05969841079
+192,3.200000000,pose1_to_pose2_press,0.61545032713,-0.00994548804486,1.06002926769,0.586021056999,-0.0012727554037,1.05969855821
+193,3.216666667,pose1_to_pose2_press,0.615793957529,-0.00994543892457,1.06002920579,0.586364686161,-0.00127270979953,1.0596984957
+194,3.233333333,pose1_to_pose2_press,0.616106324211,-0.00994543268674,1.06002909383,0.586677052105,-0.00127270485324,1.05969838423
+195,3.250000000,pose1_to_pose2_press,0.616392256255,-0.00994542281683,1.0600290609,0.586962983123,-0.0012726975184,1.05969835599
+196,3.266666667,pose1_to_pose2_press,0.616654344689,-0.00994535261075,1.06002912601,0.587225070538,-0.00127263066039,1.05969842202
+197,3.283333333,pose1_to_pose2_press,0.616902549135,-0.00994535525673,1.06002917509,0.587473275466,-0.00127263122529,1.05969846414
+198,3.300000000,pose1_to_pose2_press,0.617137414401,-0.00994541880294,1.06002924264,0.587708142828,-0.00127268716781,1.05969853006
+199,3.316666667,pose1_to_pose2_press,0.617353347114,-0.00994537490077,1.06002907126,0.587924073863,-0.00127264847732,1.05969835392
+200,3.333333333,pose1_to_pose2_press,0.617550363394,-0.00994551562229,1.06002903897,0.588121091112,-0.00127278489914,1.05969832891
+201,3.350000000,pose1_to_pose2_press,0.617727911179,-0.00994544617784,1.06002915703,0.588298639518,-0.00127271316366,1.05969844731
+202,3.366666667,pose1_to_pose2_press,0.617887291611,-0.00994541303643,1.06002916287,0.588458019927,-0.00127267998997,1.05969845131
+203,3.383333333,pose1_to_pose2_press,0.618027570375,-0.00994555035126,1.06002900501,0.588598299939,-0.00127281237676,1.05969829965
+204,3.400000000,pose1_to_pose2_press,0.618151586473,-0.00994547406583,1.06002902719,0.588722315328,-0.00127273829029,1.05969831915
+205,3.416666667,pose1_to_pose2_press,0.618259482056,-0.00994556020707,1.06002912043,0.588830210133,-0.00127282663465,1.05969841491
+206,3.433333333,pose1_to_pose2_press,0.618351620944,-0.00994546792772,1.06002907764,0.588922346778,-0.00127274202158,1.05969836553
+207,3.450000000,pose1_to_pose2_press,0.618431189318,-0.0099453717241,1.06002920019,0.589001914246,-0.001272648231,1.05969848659
+208,3.466666667,pose1_to_pose2_press,0.618500173981,-0.00994538121876,1.06002909935,0.589070899997,-0.00127265447198,1.05969838595
+209,3.483333333,pose1_to_pose2_press,0.618560443364,-0.00994542431546,1.06002903147,0.589131171344,-0.00127269108897,1.05969832027
+210,3.500000000,pose1_to_pose2_press,0.618612016184,-0.00994543677089,1.06002913906,0.589182744519,-0.00127270146356,1.0596984322
+211,3.516666667,pose1_to_pose2_press,0.618654703397,-0.00994546380411,1.06002908839,0.589225430785,-0.0012727314883,1.05969838248
+212,3.533333333,pose1_to_pose2_press,0.618688397915,-0.00994551870129,1.06002906958,0.589259125107,-0.0012727870849,1.05969836059
+213,3.550000000,pose1_to_pose2_press,0.618713067577,-0.00994553231919,1.06002919331,0.58928379444,-0.00127280172489,1.05969848115
+214,3.566666667,pose1_to_pose2_press,0.618730821947,-0.0099454624934,1.06002926882,0.589301548989,-0.00127273136037,1.05969855754
+215,3.583333333,pose1_to_pose2_press,0.618742771981,-0.00994548435279,1.06002906433,0.58931349973,-0.00127275060717,1.05969835884
+216,3.600000000,pose1_to_pose2_press,0.61875145784,-0.00994542267939,1.06002906023,0.589322186404,-0.00127268605146,1.05969835653
+217,3.616666667,pose1_to_pose2_press,0.618757577201,-0.00994534451606,1.06002912203,0.589328306473,-0.0012726054174,1.0596984185
+218,3.633333333,pose1_to_pose2_press,0.618762191489,-0.00994540878399,1.06002919943,0.589332920283,-0.00127267151396,1.05969849463
+219,3.650000000,pose1_to_pose2_press,0.618765588319,-0.00994544985901,1.06002923777,0.589336316702,-0.00127271410091,1.05969853237
+220,3.666666667,pose1_to_pose2_press,0.618767728965,-0.00994541774131,1.06002912745,0.589338456803,-0.00127268367504,1.0596984242
+221,3.683333333,pose1_to_pose2_press,0.618769228949,-0.00994539523594,1.06002905015,0.589339956404,-0.00127266235516,1.05969834841
+222,3.700000000,pose1_to_pose2_press,0.618770382038,-0.00994538822792,1.06002900742,0.589341109342,-0.00127265582533,1.05969830622
+223,3.716666667,pose1_to_pose2_press,0.618771149903,-0.00994540275385,1.06002901011,0.589341877372,-0.00127266986204,1.05969830808
+224,3.733333333,pose1_to_pose2_press,0.618771620109,-0.0099454116489,1.06002901175,0.58934234768,-0.0012726784575,1.05969830922
+225,3.750000000,pose1_to_pose2_press,0.618772453397,-0.00994542741244,1.06002901467,0.589343181146,-0.00127269369015,1.05969831124
+226,3.766666667,pose1_to_pose2_press,0.618773063324,-0.00994540515002,1.06002907083,0.589343790755,-0.00127267245328,1.05969836891
+227,3.783333333,pose1_to_pose2_press,0.618773066341,-0.00994540487067,1.06002907138,0.589343793768,-0.00127267218607,1.05969836948
+228,3.800000000,pose1_to_pose2_press,0.618773160285,-0.00994539617024,1.06002908846,0.589343887593,-0.00127266386415,1.05969838712
+229,3.816666667,pose1_to_pose2_press,0.618773573891,-0.00994535786501,1.06002916364,0.589344300673,-0.00127262722537,1.05969846481
+230,3.833333333,pose1_to_pose2_press,0.618773628674,-0.00994535279141,1.0600291736,0.589344355387,-0.0012726223725,1.0596984751
+231,3.850000000,pose1_to_pose2_press,0.618773732392,-0.00994534318575,1.06002919245,0.589344458973,-0.00127261318472,1.05969849458
+232,3.866666667,pose1_to_pose2_press,0.618773927117,-0.0099453158241,1.06002919079,0.589344653244,-0.00127258738479,1.05969849247
+233,3.883333333,pose1_to_pose2_press,0.618774109386,-0.00994527205454,1.06002911707,0.589344834686,-0.00127254658992,1.05969841519
+234,3.900000000,pose1_to_pose2_press,0.61877414508,-0.00994526348328,1.06002910264,0.589344870217,-0.00127253860119,1.05969840006
+235,3.916666667,pose1_to_pose2_press,0.618774207618,-0.00994524846568,1.06002907734,0.589344932471,-0.00127252460423,1.05969837354
+236,3.933333333,pose1_to_pose2_press,0.618774239407,-0.00994524083193,1.06002906449,0.589344964116,-0.00127251748929,1.05969836007
+237,3.950000000,pose1_to_pose2_press,0.618774288172,-0.00994522912155,1.06002904476,0.58934501266,-0.00127250657479,1.05969833939
+238,3.966666667,pose1_to_pose2_press,0.618774335179,-0.00994521783365,1.06002902575,0.589345059453,-0.00127249605404,1.05969831946
+239,3.983333333,pose1_to_pose2_press,0.618774349487,-0.00994521844984,1.06002902214,0.589345073711,-0.00127249684834,1.05969831558
+240,4.000000000,pose1_to_pose2_press,0.61877439949,-0.00994524968732,1.06002902516,0.589345123652,-0.00127252831061,1.0596983177
+241,4.016666667,pose1_to_pose2_press,0.618774483792,-0.00994530235141,1.06002903024,0.589345207847,-0.00127258135367,1.05969832127
+242,4.033333333,pose1_to_pose2_press,0.618774494219,-0.00994530886555,1.06002903087,0.58934521826,-0.0012725879143,1.05969832171
+243,4.050000000,pose1_to_pose2_press,0.618774494219,-0.00994530886555,1.06002903087,0.589345218255,-0.00127258791303,1.05969832171
+244,4.066666667,pose2_hold,0.618774494219,-0.00994530886555,1.06002903087,0.589345218259,-0.00127258791099,1.05969832171
+245,4.083333333,pose2_hold,0.618774494219,-0.00994530886555,1.06002903087,0.58934521826,-0.00127258791095,1.05969832171
+246,4.100000000,pose2_hold,0.618774494219,-0.00994530886555,1.06002903087,0.58934521826,-0.00127258791088,1.05969832171
+247,4.116666667,pose2_hold,0.618774494219,-0.00994530886555,1.06002903087,0.58934521826,-0.00127258791087,1.05969832171
+248,4.133333333,pose2_hold,0.618774494219,-0.00994530886555,1.06002903087,0.589345218261,-0.00127258791233,1.05969832171
+249,4.150000000,pose2_hold,0.618774494219,-0.00994530886555,1.06002903087,0.58934521826,-0.00127258791074,1.05969832171
+250,4.166666667,pose2_hold,0.618774494219,-0.00994530886555,1.06002903087,0.589345218261,-0.00127258791074,1.05969832171
+251,4.183333333,pose2_hold,0.618774494219,-0.00994530886555,1.06002903087,0.589345218261,-0.00127258791145,1.05969832171
+252,4.200000000,pose2_hold,0.618774494219,-0.00994530886555,1.06002903087,0.589345218261,-0.00127258791158,1.05969832171
+253,4.216666667,pose2_hold,0.618774494219,-0.00994530886555,1.06002903087,0.589345218262,-0.00127258791112,1.05969832171
+254,4.233333333,pose2_hold,0.618774494219,-0.00994530886555,1.06002903087,0.589345218262,-0.00127258791109,1.05969832171
+255,4.250000000,pose2_hold,0.618774494219,-0.00994530886555,1.06002903087,0.589345218262,-0.00127258791139,1.05969832171
+256,4.266666667,pose2_hold,0.618774494219,-0.00994530886555,1.06002903087,0.589345218262,-0.00127258791103,1.05969832171
+257,4.283333333,pose2_hold,0.618774494219,-0.00994530886555,1.06002903087,0.589345218262,-0.001272587911,1.05969832171
+258,4.300000000,pose2_hold,0.618774494219,-0.00994530886555,1.06002903087,0.589345218263,-0.00127258791082,1.05969832171
+259,4.316666667,pose2_hold,0.618774494219,-0.00994530886555,1.06002903087,0.589345218263,-0.00127258791078,1.05969832171
+260,4.333333333,pose2_hold,0.618774494219,-0.00994530886555,1.06002903087,0.589345218263,-0.00127258791083,1.05969832171
+261,4.350000000,pose2_hold,0.618774494219,-0.00994530886555,1.06002903087,0.589345218263,-0.00127258791069,1.05969832171
+262,4.366666667,pose2_to_pose3_retreat,0.618774494219,-0.00994530886555,1.06002903087,0.589345218264,-0.00127258791045,1.05969832171
+263,4.383333333,pose2_to_pose3_retreat,0.618774279933,-0.00994526345297,1.06002901146,0.589345005014,-0.00127253853683,1.05969831376
+264,4.400000000,pose2_to_pose3_retreat,0.61877411236,-0.00994538557809,1.06002909518,0.589344838772,-0.00127265625063,1.05969839582
+265,4.416666667,pose2_to_pose3_retreat,0.618773843096,-0.00994539328395,1.06002912083,0.589344569633,-0.00127266360894,1.05969841964
+266,4.433333333,pose2_to_pose3_retreat,0.61877379393,-0.00994538872355,1.06002912207,0.589344520426,-0.00127265919844,1.05969842057
+267,4.450000000,pose2_to_pose3_retreat,0.618773285074,-0.00994534152484,1.06002913489,0.58934401115,-0.00127261355115,1.05969843019
+268,4.466666667,pose2_to_pose3_retreat,0.6187715497,-0.00994527013376,1.06002900965,0.58934227506,-0.00127254454498,1.05969830635
+269,4.483333333,pose2_to_pose3_retreat,0.618766951306,-0.0099454525764,1.06002903372,0.589337678499,-0.0012727207694,1.0596983309
+270,4.500000000,pose2_to_pose3_retreat,0.618757007848,-0.00994531501122,1.06002937103,0.589327733358,-0.00127258913405,1.05969866242
+271,4.516666667,pose2_to_pose3_retreat,0.618738262168,-0.00994547231071,1.06002914563,0.589308989432,-0.00127274049303,1.05969843871
+272,4.533333333,pose2_to_pose3_retreat,0.618708901862,-0.00994535195312,1.06002916016,0.589279626102,-0.00127263067026,1.0596984479
+273,4.550000000,pose2_to_pose3_retreat,0.618666733901,-0.00994552268969,1.06002914122,0.58923746065,-0.00127279292502,1.05969843192
+274,4.566666667,pose2_to_pose3_retreat,0.618612049411,-0.00994545246064,1.06002929518,0.58918277532,-0.0012727250933,1.0596985855
+275,4.583333333,pose2_to_pose3_retreat,0.618544552428,-0.00994547504794,1.06002942279,0.589115278626,-0.00127274693755,1.05969870512
+276,4.600000000,pose2_to_pose3_retreat,0.618465532948,-0.00994551588803,1.06002928702,0.589036260105,-0.0012727843471,1.05969857584
+277,4.616666667,pose2_to_pose3_retreat,0.618375166563,-0.00994547232939,1.06002911515,0.588945893485,-0.0012727423754,1.0596984014
+278,4.633333333,pose2_to_pose3_retreat,0.618271225645,-0.00994538414621,1.06002910701,0.588841951544,-0.00127265843033,1.05969839383
+279,4.650000000,pose2_to_pose3_retreat,0.618152719493,-0.00994534543903,1.06002914897,0.588723446547,-0.00127261585396,1.05969844145
+280,4.666666667,pose2_to_pose3_retreat,0.618016149346,-0.0099453370829,1.06002904719,0.588586875778,-0.00127260993529,1.05969833978
+281,4.683333333,pose2_to_pose3_retreat,0.617861300063,-0.00994537079617,1.06002911142,0.588432025756,-0.00127264675724,1.05969839961
+282,4.700000000,pose2_to_pose3_retreat,0.617685639793,-0.00994538635666,1.06002927416,0.588256366219,-0.00127266020691,1.0596985615
+283,4.716666667,pose2_to_pose3_retreat,0.617489803511,-0.00994540176433,1.06002912804,0.588060529225,-0.00127267840856,1.05969841597
+284,4.733333333,pose2_to_pose3_retreat,0.617271942356,-0.00994546124151,1.0600292283,0.587842669205,-0.00127273467317,1.05969851912
+285,4.750000000,pose2_to_pose3_retreat,0.617033636055,-0.00994541636218,1.06002917476,0.587604363748,-0.00127268742352,1.05969846749
+286,4.766666667,pose2_to_pose3_retreat,0.616774773425,-0.00994535410515,1.06002925498,0.587345501018,-0.001272626297,1.05969854287
+287,4.783333333,pose2_to_pose3_retreat,0.616491436485,-0.00994551873449,1.06002918194,0.587062165995,-0.00127278523274,1.05969846554
+288,4.800000000,pose2_to_pose3_retreat,0.616185973611,-0.00994560169661,1.06002918079,0.586756704071,-0.00127286589916,1.05969845957
+289,4.816666667,pose2_to_pose3_retreat,0.615858586161,-0.00994541584348,1.06002902793,0.586429314498,-0.00127268746599,1.0596983217
+290,4.833333333,pose2_to_pose3_retreat,0.615509452751,-0.00994565551583,1.06002918918,0.586080184471,-0.00127291681721,1.05969847086
+291,4.850000000,pose2_to_pose3_retreat,0.615137601411,-0.0099454583626,1.06002914566,0.58570833186,-0.00127272435851,1.05969843849
+292,4.866666667,pose2_to_pose3_retreat,0.614736170568,-0.00994542252525,1.0600292443,0.585306899141,-0.0012726956609,1.05969853861
+293,4.883333333,pose2_to_pose3_retreat,0.614303555931,-0.00994541661923,1.06002905571,0.584874286464,-0.00127268398276,1.05969834845
+294,4.900000000,pose2_to_pose3_retreat,0.613831016664,-0.00994537408927,1.06002904282,0.584401745782,-0.00127264741906,1.05969833133
+295,4.916666667,pose2_to_pose3_retreat,0.613326472561,-0.0099453798567,1.06002928482,0.583897201869,-0.00127265356829,1.05969856575
+296,4.933333333,pose2_to_pose3_retreat,0.612794327925,-0.00994541785576,1.06002920382,0.583365059671,-0.00127268365236,1.05969848562
+297,4.950000000,pose2_to_pose3_retreat,0.612241884119,-0.00994543660572,1.06002915847,0.582812613416,-0.00127271047894,1.05969844675
+298,4.966666667,pose2_to_pose3_retreat,0.611670214191,-0.00994541737862,1.0600291556,0.58224094334,-0.00127269167213,1.05969844573
+299,4.983333333,pose2_to_pose3_retreat,0.61108349621,-0.00994546134146,1.06002934625,0.58165422783,-0.00127272727545,1.05969863591
+300,5.000000000,pose2_to_pose3_retreat,0.610474551816,-0.00994542057824,1.06002919535,0.581045281956,-0.00127269142108,1.05969848786
+301,5.016666667,pose2_to_pose3_retreat,0.609832094279,-0.00994561117336,1.06002913734,0.580402826121,-0.00127287631435,1.05969842876
+302,5.033333333,pose2_to_pose3_retreat,0.609158467725,-0.00994563782355,1.0600288793,0.579729199347,-0.00127290363474,1.05969817221
+303,5.050000000,pose2_to_pose3_retreat,0.608453690621,-0.00994546370484,1.06002905657,0.579024420155,-0.00127273670475,1.05969834578
+304,5.066666667,pose2_to_pose3_retreat,0.607725870824,-0.00994532961912,1.06002915573,0.578296599377,-0.00127260595043,1.05969844433
+305,5.083333333,pose2_to_pose3_retreat,0.606975655448,-0.00994552753099,1.06002914051,0.577546386793,-0.00127279437803,1.0596984308
+306,5.100000000,pose2_to_pose3_retreat,0.606192909278,-0.00994546042195,1.06002904666,0.576763638593,-0.00127273405415,1.05969833958
+307,5.116666667,pose2_to_pose3_retreat,0.60538772843,-0.00994549427762,1.06002910329,0.575958459767,-0.00127276091843,1.05969839937
+308,5.133333333,pose2_to_pose3_retreat,0.604568251253,-0.00994539437665,1.06002938051,0.575138981572,-0.0012726650322,1.0596986618
+309,5.150000000,pose2_to_pose3_retreat,0.60374036796,-0.00994537741318,1.06002939943,0.574311097887,-0.00127264913886,1.0596986875
+310,5.166666667,pose2_to_pose3_retreat,0.602910571202,-0.00994550284646,1.06002912817,0.573481302186,-0.00127277122189,1.05969840976
+311,5.183333333,pose2_to_pose3_retreat,0.602090719018,-0.00994541466919,1.06002923376,0.572661449346,-0.00127268498857,1.05969852188
+312,5.200000000,pose2_to_pose3_retreat,0.601273238366,-0.00994545103694,1.06002915911,0.571843968823,-0.00127272070953,1.05969845238
+313,5.216666667,pose2_to_pose3_retreat,0.600444481924,-0.00994550741933,1.0600290343,0.571015214222,-0.00127277070972,1.05969833101
+314,5.233333333,pose2_to_pose3_retreat,0.599593743388,-0.00994547021694,1.06002908681,0.570164474108,-0.00127273881496,1.05969838474
+315,5.250000000,pose2_to_pose3_retreat,0.598715649591,-0.0099453927867,1.06002932938,0.569286378753,-0.00127266697569,1.05969861932
+316,5.266666667,pose2_to_pose3_retreat,0.597814320931,-0.00994542366769,1.06002911115,0.56838505059,-0.00127269605966,1.05969840393
+317,5.283333333,pose2_to_pose3_retreat,0.596897518012,-0.00994536798681,1.0600290006,0.567468248316,-0.00127263798788,1.05969829862
+318,5.300000000,pose2_to_pose3_retreat,0.596004699049,-0.00994534980327,1.06002924694,0.566575429675,-0.00127261912051,1.05969853417
+319,5.316666667,pose2_to_pose3_retreat,0.595139295908,-0.00994542093943,1.06002895077,0.565710025533,-0.00127269333865,1.05969824623
+320,5.333333333,pose2_to_pose3_retreat,0.594303382022,-0.00994546178393,1.06002903923,0.564874112259,-0.00127273257141,1.05969832238
+321,5.350000000,pose2_to_pose3_retreat,0.593488325718,-0.00994528315229,1.06002933412,0.564059053306,-0.00127256289343,1.05969861815
+322,5.366666667,pose2_to_pose3_retreat,0.59268387494,-0.00994536294314,1.06002933068,0.563254603062,-0.00127264079676,1.05969861668
+323,5.383333333,pose2_to_pose3_retreat,0.591867196423,-0.00994548423625,1.06002910974,0.562437926362,-0.00127275574585,1.05969840034
+324,5.400000000,pose2_to_pose3_retreat,0.591038917227,-0.00994535723398,1.06002919532,0.561609647109,-0.00127262897921,1.05969848481
+325,5.416666667,pose2_to_pose3_retreat,0.590198879484,-0.00994524673634,1.06002922014,0.56076960855,-0.00127252138271,1.05969850609
+326,5.433333333,pose2_to_pose3_retreat,0.589368516698,-0.00994537155641,1.06002913012,0.559939246574,-0.001272643014,1.05969842754
+327,5.450000000,pose2_to_pose3_retreat,0.58856403564,-0.00994541224828,1.06002912611,0.559134766285,-0.00127268112911,1.05969842276
+328,5.466666667,pose2_to_pose3_retreat,0.587794496799,-0.00994536425477,1.06002934993,0.558365226012,-0.00127263842106,1.05969863531
+329,5.483333333,pose2_to_pose3_retreat,0.587063667659,-0.00994546211362,1.06002943849,0.557634398879,-0.00127272965459,1.05969871895
+330,5.500000000,pose2_to_pose3_retreat,0.586364430024,-0.00994551903206,1.06002935076,0.556935160803,-0.00127278801104,1.05969863274
+331,5.516666667,pose2_to_pose3_retreat,0.585687829489,-0.00994554753697,1.06002921983,0.556258561284,-0.00127281294294,1.05969850507
+332,5.533333333,pose2_to_pose3_retreat,0.585024963303,-0.00994552495269,1.06002916332,0.555595696117,-0.00127278685699,1.05969844974
+333,5.550000000,pose2_to_pose3_retreat,0.584363284663,-0.00994539988715,1.06002916877,0.554934015054,-0.00127267003846,1.05969845449
+334,5.566666667,pose2_to_pose3_retreat,0.583701701488,-0.00994533518365,1.06002909219,0.554272429484,-0.00127261342495,1.05969837893
+335,5.583333333,pose2_to_pose3_retreat,0.583066573061,-0.00994549404585,1.06002902636,0.553637304334,-0.00127276105152,1.05969831612
+336,5.600000000,pose2_to_pose3_retreat,0.582460383837,-0.0099454940974,1.06002925068,0.553031115438,-0.00127276002256,1.05969854026
+337,5.616666667,pose2_to_pose3_retreat,0.581887618558,-0.00994536288799,1.06002924582,0.5524583484,-0.00127263476163,1.05969853607
+338,5.633333333,pose2_to_pose3_retreat,0.581347907849,-0.00994535329779,1.06002915203,0.551918636964,-0.00127262763748,1.05969844187
+339,5.650000000,pose2_to_pose3_retreat,0.580843857848,-0.0099453902295,1.06002916607,0.551414587065,-0.00127266436351,1.05969845247
+340,5.666666667,pose2_to_pose3_retreat,0.580365825398,-0.00994537401748,1.06002900494,0.550936554636,-0.00127264784503,1.0596982978
+341,5.683333333,pose2_to_pose3_retreat,0.579913969608,-0.00994534731498,1.060029014,0.550484698222,-0.00127262309898,1.05969831111
+342,5.700000000,pose2_to_pose3_retreat,0.579496787474,-0.00994544388077,1.06002914249,0.550067517728,-0.00127271427562,1.05969843475
+343,5.716666667,pose2_to_pose3_retreat,0.57911056718,-0.00994543491643,1.06002915467,0.549681298071,-0.00127270323643,1.05969844431
+344,5.733333333,pose2_to_pose3_retreat,0.578750915545,-0.00994543273677,1.06002914889,0.549321646366,-0.00127270120726,1.05969844068
+345,5.750000000,pose2_to_pose3_retreat,0.578413334796,-0.00994552645295,1.06002914263,0.548984066509,-0.0012727918211,1.05969843662
+346,5.766666667,pose2_to_pose3_retreat,0.578097762404,-0.00994535279118,1.06002911205,0.548668491407,-0.00127262743219,1.05969840417
+347,5.783333333,pose2_to_pose3_retreat,0.577796442245,-0.00994537540088,1.06002916349,0.548367171128,-0.00127265070608,1.05969844884
+348,5.800000000,pose2_to_pose3_retreat,0.577511721347,-0.00994542739044,1.06002948874,0.548082452041,-0.00127269686212,1.05969876593
+349,5.816666667,pose2_to_pose3_retreat,0.577253104104,-0.00994539527875,1.06002937949,0.547823834164,-0.00127266667751,1.05969866271
+350,5.833333333,pose2_to_pose3_retreat,0.577019854885,-0.00994541924154,1.06002902697,0.547590584476,-0.00127269185739,1.05969832
+351,5.850000000,pose2_to_pose3_retreat,0.576813707699,-0.00994537828446,1.06002911228,0.547384437847,-0.00127264893657,1.05969840711
+352,5.866666667,pose2_to_pose3_retreat,0.576631930037,-0.00994539997,1.06002923058,0.547202661692,-0.00127266566644,1.05969852125
+353,5.883333333,pose2_to_pose3_retreat,0.576473969217,-0.00994548498246,1.06002923186,0.547044701648,-0.00127274830403,1.05969851583
+354,5.900000000,pose2_to_pose3_retreat,0.576335292262,-0.00994555049167,1.06002927349,0.546906023845,-0.00127281684173,1.05969855349
+355,5.916666667,pose2_to_pose3_retreat,0.576214673497,-0.00994552997593,1.06002912107,0.546785405068,-0.0012727961278,1.0596984078
+356,5.933333333,pose2_to_pose3_retreat,0.576111754588,-0.0099455061753,1.06002913219,0.546682486918,-0.0012727695498,1.05969842486
+357,5.950000000,pose2_to_pose3_retreat,0.576024521844,-0.00994539182534,1.06002931143,0.546595252659,-0.00127266036523,1.05969860301
+358,5.966666667,pose2_to_pose3_retreat,0.575952825832,-0.0099453866464,1.06002916217,0.546523556412,-0.00127265605367,1.05969845185
+359,5.983333333,pose2_to_pose3_retreat,0.575893042154,-0.00994542283103,1.06002917101,0.546463772426,-0.00127269307871,1.05969846601
+360,6.000000000,pose2_to_pose3_retreat,0.575844578402,-0.00994544178522,1.06002923533,0.546415309378,-0.00127270983323,1.05969852523
+361,6.016666667,pose2_to_pose3_retreat,0.575806698609,-0.00994535331222,1.06002903932,0.546377427693,-0.00127262769356,1.05969833149
+362,6.033333333,pose2_to_pose3_retreat,0.575777970778,-0.00994553317563,1.06002910225,0.546348703737,-0.00127279400924,1.0596984049
+363,6.050000000,pose2_to_pose3_retreat,0.575756996697,-0.00994546864335,1.06002925983,0.546327726934,-0.00127273920964,1.05969854946
+364,6.066666667,pose2_to_pose3_retreat,0.575741835157,-0.0099454046723,1.06002925691,0.546312564239,-0.00127267899482,1.05969855085
+365,6.083333333,pose2_to_pose3_retreat,0.575731890406,-0.00994538745678,1.06002926077,0.546302620111,-0.00127265967605,1.05969855442
+366,6.100000000,pose2_to_pose3_retreat,0.575724235931,-0.00994540942254,1.06002925668,0.546294967065,-0.00127267689759,1.05969854764
+367,6.116666667,pose2_to_pose3_retreat,0.575718808676,-0.00994550489968,1.06002915599,0.546289541237,-0.00127276745645,1.05969844891
+368,6.133333333,pose2_to_pose3_retreat,0.575715325954,-0.00994549521189,1.0600291291,0.546286058184,-0.00127275883079,1.05969842373
+369,6.150000000,pose2_to_pose3_retreat,0.575713353911,-0.00994546703212,1.06002912594,0.546284085554,-0.00127273260156,1.05969842168
+370,6.166666667,pose2_to_pose3_retreat,0.575712607579,-0.00994546546537,1.06002915796,0.546283338958,-0.00127273195181,1.05969845318
+371,6.183333333,pose2_to_pose3_retreat,0.575712344301,-0.00994546977939,1.06002918701,0.546283075564,-0.00127273668496,1.05969848155
+372,6.200000000,pose2_to_pose3_retreat,0.575712318817,-0.00994547019696,1.06002918983,0.546283050069,-0.0012727371431,1.05969848429
+373,6.216666667,pose2_to_pose3_retreat,0.575712314341,-0.00994547027031,1.06002919032,0.546283045591,-0.00127273722357,1.05969848478
+374,6.233333333,pose2_to_pose3_retreat,0.575712280175,-0.00994547083016,1.06002919409,0.546283011409,-0.00127273783781,1.05969848846
+375,6.250000000,pose2_to_pose3_retreat,0.575712149148,-0.00994547297714,1.06002920855,0.546282880325,-0.00127274019338,1.05969850258
+376,6.266666667,pose2_to_pose3_retreat,0.575711989946,-0.00994547558579,1.06002922612,0.546282721053,-0.00127274305547,1.05969851974
+377,6.283333333,pose2_to_pose3_retreat,0.575711786057,-0.00994547892668,1.06002924862,0.546282517074,-0.00127274672094,1.05969854171
+378,6.300000000,pose2_to_pose3_retreat,0.575711436672,-0.00994548465163,1.06002928718,0.546282167535,-0.0012727530021,1.05969857936
+379,6.316666667,pose2_to_pose3_retreat,0.575710972682,-0.00994549225448,1.06002933839,0.546281703341,-0.0012727613436,1.05969862936
+380,6.333333333,pose2_to_pose3_retreat,0.575710648278,-0.00994549757009,1.06002937419,0.546281378795,-0.00127276717565,1.05969866432
+381,6.350000000,pose2_to_pose3_retreat,0.575710557009,-0.00994549370309,1.06002937934,0.546281287455,-0.0012727635583,1.05969866922
+382,6.366666667,pose2_to_pose3_retreat,0.575710404207,-0.00994546249737,1.06002936525,0.546281134392,-0.00127273325186,1.05969865469
+383,6.383333333,pose2_to_pose3_retreat,0.575710231071,-0.00994542713922,1.06002934929,0.546280960962,-0.00127269891265,1.05969863822
+384,6.400000000,pose2_to_pose3_retreat,0.575710164196,-0.00994541348184,1.06002934312,0.546280893973,-0.00127268564884,1.05969863186
+385,6.416666667,pose2_to_pose3_retreat,0.575710125071,-0.00994540549159,1.06002933952,0.546280854782,-0.00127267788885,1.05969862814
+386,6.433333333,pose2_to_pose3_retreat,0.575710095008,-0.00994539935214,1.06002933675,0.546280824668,-0.00127267192632,1.05969862528
+387,6.450000000,pose2_to_pose3_retreat,0.575710080523,-0.00994539639401,1.06002933541,0.546280810158,-0.00127266905344,1.0596986239
+388,6.466666667,pose2_to_pose3_retreat,0.575710043969,-0.00994538892885,1.06002933204,0.546280773542,-0.00127266180341,1.05969862042
+389,6.483333333,pose2_to_pose3_retreat,0.575709970525,-0.00994537392994,1.06002932527,0.546280699973,-0.00127264723672,1.05969861344
+390,6.500000000,pose2_to_pose3_retreat,0.575709916971,-0.00994536299294,1.06002932033,0.546280646328,-0.00127263661491,1.05969860835
+391,6.516666667,pose2_to_pose3_retreat,0.575709764104,-0.00994533177401,1.06002930624,0.5462804932,-0.00127260629562,1.05969859381
+392,6.533333333,pose2_to_pose3_retreat,0.575709525786,-0.00994533792751,1.06002925182,0.546280255091,-0.00127261168672,1.05969854083
+393,6.550000000,pose2_to_pose3_retreat,0.575709328167,-0.00994544167303,1.06002914831,0.54628005875,-0.00127271090464,1.05969844235
+394,6.566666667,pose2_to_pose3_retreat,0.575709258968,-0.00994544810473,1.06002912392,0.546279989653,-0.00127271698222,1.05969841822
+395,6.583333333,pose2_to_pose3_retreat,0.575709230365,-0.00994537562074,1.06002914361,0.546279960222,-0.00127264744661,1.05969843426
+396,6.600000000,pose2_to_pose3_retreat,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365051,1.05969844436
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_07/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_07/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5ba2a40973dd9c635e826ebe82bc5fba30d88934
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_07/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d729421dcf768769cc861597106b2ef28cbf2105e8ce2de55e2c3b5126132c38
+size 25299084
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_07/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_07/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..09d65c9a9d5483baa064e1d9dcb368fcb763952e
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_07/depth_03/franka_data.csv
@@ -0,0 +1,399 @@
+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,764,742,712,672,659,632,877,784,799,649,629,651,0.400952521656,-0.01536514258,0.0698149993899,0.999999926144,0.00024228312043,-0.00029802175528,1.38922383101e-05,1793193490639297792
+1,0.016666667,BASELINE,764,742,712,672,659,632.633527731,877,784,799,648.366472269,628.366472269,651,0.400951730659,-0.0153653273137,0.0698142449561,0.999999925695,0.000242768856344,-0.000299139953493,1.37033035483e-05,1793193490655965184
+2,0.033333333,BASELINE,764,742,712,671.757176312,659,633,877,784,799,648.242823688,628,651,0.400950522472,-0.015365184349,0.0698134515643,0.999999925031,0.000244331719533,-0.000300091589606,1.35999787154e-05,1793193490672632064
+3,0.050000000,BASELINE,764,742,712,671.181132818,659,633,877,784,799,648.818867182,628,651,0.400948741787,-0.0153645916933,0.0698126047116,0.999999924066,0.000247372692879,-0.000300814657606,1.36141338437e-05,1793193490689298176
+4,0.066666667,BASELINE,764,742.402573075,712,671.402573075,659.402573075,633,877.402573075,784,799,648.597426925,628,651,0.400950205233,-0.015365476945,0.0698133146881,0.999999924642,0.000246812284532,-0.000299347939614,1.38250418762e-05,1793193490705964800
+5,0.083333333,BASELINE,764,742.989793429,712,671.989793429,659.989793429,633,877.989793429,784,799,648.010206571,628,651,0.400953156658,-0.0153670400653,0.0698147387321,0.999999925918,0.00024460003844,-0.000296876837409,1.41261941157e-05,1793193490722631936
+6,0.100000000,BASELINE,764,742.431144271,712,671.431144271,659.431144271,633,877.431144271,784,799,648,628.568855729,650.431144271,0.400951895991,-0.0153659731191,0.0698141338072,0.99999992562,0.000244282033783,-0.000298157333791,1.37443740287e-05,1793193490739298048
+7,0.116666667,BASELINE,764,742,712,671,659,633,877,784,799.147643729,648.147643729,629,650.147643729,0.400950661839,-0.0153650567843,0.0698136199995,0.999999925277,0.000244390955322,-0.000299229652935,1.34546172957e-05,1793193490755964160
+8,0.133333333,BASELINE,764,742,712,671,659,633,877,784,799.726052422,648.726052422,629,650.726052422,0.400949722424,-0.0153647156062,0.0698134767468,0.999999924887,0.000245647717164,-0.000299500981237,1.34687113883e-05,1793193490772630784
+9,0.150000000,BASELINE,764,742,712,671.302976301,659,633,877,784,799.697023699,649,629,651,0.400950019923,-0.0153654610916,0.0698137876058,0.999999925155,0.000244858542393,-0.000299243995095,1.37054847126e-05,1793193490789297152
+10,0.166666667,BASELINE,764,742,712,671.878564148,659,633,877,784,799.121435852,649,629,651,0.400951430368,-0.0153671843336,0.0698145070646,0.999999926008,0.00024222847789,-0.000298511642991,1.41426200085e-05,1793193490805963776
+11,0.183333333,BASELINE,764,742,712,672,659.462937945,633,877.462937945,784.462937945,799,649,628.537062055,651,0.400951186946,-0.0153673256135,0.069814600892,0.999999926219,0.00024158008128,-0.000298341261016,1.39005715209e-05,1793193490822630656
+12,0.200000000,BASELINE,763.950842477,742,712,672,659.950842477,633,877.950842477,785,799,648.950842477,628.049157523,651,0.400950637194,-0.0153670277282,0.069814597512,0.999999926257,0.000241553562699,-0.000298253311293,1.35273476118e-05,1793193490839297536
+13,0.216666667,BASELINE,763.370068484,742,712,672,659.370068484,633,877.370068484,785,799,648.370068484,628.629931516,651,0.400951557121,-0.0153665550375,0.0698153520201,0.999999926265,0.000242521974054,-0.000297431776845,1.36995207724e-05,1793193490855964160
+14,0.233333333,BASELINE,763.20844457,742,712,672,659,633,877.20844457,784.79155543,799,648.20844457,629,650.79155543,0.400951777522,-0.0153660013832,0.0698154677419,0.999999926224,0.000242932370906,-0.000297235868433,1.36558706126e-05,1793193490872631040
+15,0.250000000,BASELINE,763.782986765,742,712,672,659,633,877.782986765,784.217013235,799,648.782986765,629,650.217013235,0.400950769324,-0.0153653055302,0.0698144615437,0.999999926099,0.000242362709846,-0.000298138766177,1.32331633309e-05,1793193490889297920
+16,0.266666667,BASELINE,764,742.366918269,712,672,659,632.633081731,877.633081731,784,799.366918269,648.633081731,629,650.366918269,0.400951331643,-0.0153658033015,0.0698146662022,0.999999926303,0.000242399779392,-0.000297414917423,1.34339271003e-05,1793193490905964544
+17,0.283333333,BASELINE,764,742.956548869,712,672,659,632.043451131,877.043451131,784,799.956548869,648.043451131,629,650.956548869,0.400952847236,-0.0153670255798,0.0698156058273,0.999999926704,0.000242805122779,-0.000295703664783,1.40131258295e-05,1793193490922630912
+18,0.300000000,BASELINE,764,742.463819648,712,672,659,632.536180352,877,784,799.463819648,648.536180352,629,651,0.400952991981,-0.0153671741265,0.0698163557798,0.999999926816,0.000243299516553,-0.000294910810173,1.41513687643e-05,1793193490939297280
+19,0.316666667,BASELINE,764,742,712,672,659,633,877,784.114487125,799,649,629,651,0.400952836586,-0.0153669234294,0.0698167579005,0.999999926739,0.000243821031631,-0.00029474236392,1.41734489039e-05,1793193490955963904
+20,0.333333333,BASELINE,764,742,712,672,659,633,877,784.690659668,799,649,629,651,0.400951910617,-0.0153654071953,0.0698158181912,0.999999925988,0.000244423348422,-0.000296797295892,1.38685516597e-05,1793193490972630784
+21,0.350000000,BASELINE,764,742,712,672,659,633,877.265119603,784.734880397,799,649,628.734880397,651,0.400951415817,-0.0153648776653,0.0698151743221,0.999999925772,0.000244075468801,-0.000297819973896,1.36739218973e-05,1793193490989297408
+22,0.366666667,BASELINE,764,742,712,672,659,633,877.83759406,784.16240594,799,649,628.16240594,651,0.400951420876,-0.0153654920278,0.0698148734225,0.999999926177,0.000242626020349,-0.000297645953115,1.36071259551e-05,1793193491005964288
+23,0.383333333,BASELINE,764,742,712,672,659,632.575242433,877.575242433,784.424757567,799.424757567,649,628.424757567,651,0.400951676026,-0.0153660320026,0.0698151370601,0.99999992627,0.000242967625644,-0.000297050092881,1.37351573615e-05,1793193491022631168
+24,0.400000000,BASELINE,764,742,712,671.982691099,659,632,877.017308901,784.982691099,800,649,628.982691099,650.982691099,0.40095197733,-0.0153664982213,0.0698155799761,0.999999926225,0.00024398412963,-0.000296356919839,1.3916112761e-05,1793193491039298048
+25,0.416666667,BASELINE,764,742,712,671.404076366,659,632,877.595923634,784.404076366,800,649,628.404076366,650.404076366,0.400950563379,-0.0153655280057,0.0698145861587,0.999999925792,0.000243883761205,-0.000297925814321,1.33111061187e-05,1793193491055964416
+26,0.433333333,BASELINE,764,742,712,671.175528312,659,632.175528312,878,784.175528312,799.824471688,649,628,650.175528312,0.400949968819,-0.0153652636415,0.0698141896608,0.999999925652,0.000243581420134,-0.00029865234169,1.30725634975e-05,1793193491072630784
+27,0.450000000,BASELINE,764,742,712,671.757424943,659,632.757424943,878,784.757424943,799.242575057,649,628,650.757424943,0.400951271243,-0.0153666334049,0.0698151760262,0.999999926196,0.000242811489042,-0.000297428692198,1.36824272968e-05,1793193491089297152
+28,0.466666667,BASELINE,764,742,712,672,659,633,877.662063846,785,799.337936154,649,628,650.662063846,0.400951973929,-0.0153682626898,0.0698157501361,0.999999927035,0.000240453511056,-0.00029650658168,1.3991659287e-05,1793193491105964032
+29,0.483333333,BASELINE,764,742,712,672,659,633,877.082543081,785,799.917456919,649,628,650.082543081,0.400952247872,-0.015370077502,0.0698160295319,0.999999928077,0.000236960266333,-0.000295800036138,1.40859748498e-05,1793193491122630656
+30,0.500000000,BASELINE,764,742,712,672,659,633,877,784.50325382,799.50325382,649,628,650.49674618,0.400951496571,-0.0153691737658,0.069815400811,0.999999927664,0.000237596005389,-0.000296697202306,1.38351631834e-05,1793193491139297536
+31,0.516666667,BASELINE,764,742,712,672,659,633,877,784.075916096,799.075916096,649,628.075916096,650.924083904,0.400950986503,-0.0153678408845,0.0698149183714,0.999999927095,0.000239105421247,-0.00029741447896,1.35524177066e-05,1793193491155964416
+32,0.533333333,BASELINE,764,742,712,672,659,633,877,784.65455032,799.65455032,649,628.65455032,650.34544968,0.4009532015,-0.0153666561968,0.0698164034044,0.999999927097,0.000241859071551,-0.000295176676695,1.34377948708e-05,1793193491172631040
+33,0.550000000,BASELINE,764,742,712,671.768590122,659,633,877,784.768590122,799.768590122,649,628.768590122,650.231409878,0.400954645252,-0.0153661342003,0.0698173705101,0.999999927297,0.000242987012908,-0.000293572773347,1.33888947723e-05,1793193491189297664
+34,0.566666667,BASELINE,764,742,712,671.194359681,659,633,877,784.194359681,799.194359681,649,628.194359681,650.805640319,0.400954946449,-0.0153665939431,0.069817570336,0.999999927801,0.000241706558767,-0.000292907955362,1.34373591784e-05,1793193491205964288
+35,0.583333333,BASELINE,764,742,712,671.389072655,659,633,877.389072655,784,799.389072655,648.610927345,628.389072655,650.610927345,0.400954150925,-0.0153668933804,0.0698173927427,0.999999927784,0.000241232192721,-0.000293347757622,1.36761141588e-05,1793193491222630912
+36,0.600000000,BASELINE,764,742,712,671.977213167,659,633,877.977213167,784,799.977213167,648.022786833,628.977213167,650.022786833,0.400952794268,-0.0153671107978,0.0698170220441,0.999999927499,0.000241170259115,-0.000294352735452,1.40122307447e-05,1793193491239297536
+37,0.616666667,BASELINE,764.559733099,742,712,672,659,633,877.440266901,784,799.440266901,648.559733099,628.440266901,650,0.400952460982,-0.0153666256613,0.069816297808,0.999999927444,0.000240394332645,-0.000295189773029,1.36247843092e-05,1793193491255963904
+38,0.633333333,BASELINE,764.719207668,742,712,672,659,633,877,784,799,649,628.140396166,650,0.400952403728,-0.0153660560248,0.0698158809129,0.999999927296,0.000240702915234,-0.000295451494127,1.3369785561e-05,1793193491272630528
+39,0.650000000,BASELINE,763.567988917,742,712,672,659,633,877,784,799,649,628.716005541,650,0.400953074279,-0.0153653122264,0.0698164609135,0.999999926823,0.000244462568696,-0.000293950778323,1.361576433e-05,1793193491289297408
+40,0.666666667,BASELINE,763.291221215,742,712,671.708778785,659,633,877.291221215,784.291221215,799.291221215,649,629,650.291221215,0.400952611392,-0.0153658367328,0.0698159213661,0.999999926545,0.000244551655897,-0.000294818928249,1.36418537669e-05,1793193491305964032
+41,0.683333333,BASELINE,763.86605344,742,712,671.13394656,659,633,877.86605344,784.86605344,799.86605344,649,629,650.86605344,0.400951044686,-0.0153675964009,0.0698142915265,0.999999926453,0.000241066095989,-0.000297994040701,1.34538000132e-05,1793193491322630912
+42,0.700000000,BASELINE,764,742,712,671.453215685,659,633,877.546784315,785,799.546784315,649,629,651,0.400951065907,-0.0153686747669,0.0698143415204,0.999999926979,0.000238948509541,-0.00029792746986,1.36264023924e-05,1793193491339297536
+43,0.716666667,BASELINE,764,742,712,672,659,633,877,784.956812562,799,649,629,650.956812562,0.400951540843,-0.0153693176445,0.0698148871465,0.999999927573,0.000237648147374,-0.00029695840712,1.38874411592e-05,1793193491355964160
+44,0.733333333,BASELINE,764,742,712,672,659,633,877,784.3784459,799,649,629,650.3784459,0.400951659917,-0.0153671289439,0.069815250336,0.999999926677,0.000241324626027,-0.000297010097524,1.38865693591e-05,1793193491372630784
+45,0.750000000,BASELINE,764,742,712,672,659,633,877,784.199189478,799,649,629,650,0.400951855704,-0.0153663749631,0.0698156454324,0.999999926406,0.000242784391339,-0.000296734522112,1.38969123642e-05,1793193491389297408
+46,0.766666667,BASELINE,764,742,712,672,659,633,877,784.775440485,799,649,629,650,0.400952196706,-0.0153683368773,0.0698161009279,0.999999927331,0.000240047964089,-0.000295839439327,1.39284847621e-05,1793193491405964032
+47,0.783333333,BASELINE,764,742,712,671.642254337,659,633,877,784.642254337,798.642254337,648.642254337,629,650,0.400953152473,-0.0153670188897,0.0698167950744,0.999999927158,0.000242477013356,-0.000294445816853,1.37811292717e-05,1793193491422630656
+48,0.800000000,BASELINE,764,742,712,671.056083436,659,633,877,784.056083436,798.056083436,648.056083436,629,650,0.400954500775,-0.0153636066425,0.0698176416027,0.999999926259,0.000248204286007,-0.000292733870234,1.35195260101e-05,1793193491439297280
+49,0.816666667,BASELINE,764,742,712,671,659,632.476385308,877,784,798.523614692,648,629,650.523614692,0.400953313242,-0.0153650054932,0.0698170233856,0.999999926641,0.000245788736627,-0.000293487370941,1.31071529883e-05,1793193491455963904
+50,0.833333333,BASELINE,764,742.102316067,712,671.102316067,659,632,877.102316067,784.102316067,799.102316067,648,628.897683933,651,0.400951849999,-0.0153665446774,0.0698161594386,0.999999926938,0.000243035515463,-0.000294777912699,1.28157665439e-05,1793193491472630784
+51,0.850000000,BASELINE,764,742.679569693,712,671.679569693,659,632,877.679569693,784.679569693,799.679569693,648,628.320430307,651,0.400950352325,-0.0153663724881,0.0698148741987,0.99999992625,0.000242713896043,-0.000297350519298,1.31600282372e-05,1793193491489297408
+52,0.866666667,BASELINE,764,742.743716315,712,672,659.256283685,632.256283685,877.743716315,784.743716315,800,648.256283685,628.256283685,650.743716315,0.4009496783,-0.0153660794206,0.0698143140822,0.999999925883,0.000242808957307,-0.00029849325166,1.3413414257e-05,1793193491505964032
+53,0.883333333,BASELINE,764,742.167675642,712,672,659.832324358,632.832324358,877.167675642,784.167675642,800,648.832324358,628.832324358,650.167675642,0.400950031915,-0.0153656355373,0.0698146586792,0.999999925923,0.000243423897804,-0.000297851975349,1.35534175738e-05,1793193491522630656
+54,0.900000000,BASELINE,764,742,712,671.58363967,659.58363967,633,877.41636033,784,799.58363967,649,629,650.41636033,0.400951072147,-0.0153653272375,0.0698159257382,0.99999992642,0.000243332081748,-0.000296259119827,1.34080659286e-05,1793193491539297280
+55,0.916666667,BASELINE,764,742.003639074,712,671,659,632.996360926,877.996360926,784,799,649,629,651,0.400952388837,-0.0153650874017,0.0698175565857,0.999999927099,0.000242944869993,-0.000294291415339,1.31492305003e-05,1793193491555963904
+56,0.933333333,BASELINE,764,742.584556231,712,671,659,632.415443769,877.415443769,784,799,649,629,651,0.400952838127,-0.0153668769756,0.0698168116306,0.999999927226,0.000241732796328,-0.000294841481874,1.34747410561e-05,1793193491572630528
+57,0.950000000,BASELINE,764,742.836587426,711.836587426,671,659,632.163412574,877,784.163412574,799,649,629,650.836587426,0.400952928791,-0.0153679172739,0.0698163706079,0.999999927291,0.000240969731617,-0.000295235868752,1.3721816514e-05,1793193491589297408
+58,0.966666667,BASELINE,764,742.262905124,711.262905124,671,659,632.737094876,877,784.737094876,799,649,629,650.262905124,0.400952119078,-0.015367076412,0.0698166926489,0.999999927201,0.00024133396578,-0.000295239400373,1.37719698294e-05,1793193491605965312
+59,0.983333333,BASELINE,764,742,711.319639229,671.319639229,659,633,877,784.680360771,799,649,629,650.319639229,0.400952280991,-0.0153671078916,0.0698167431945,0.999999927157,0.000241756865314,-0.000295044074513,1.3697218098e-05,1793193491622631936
+60,1.000000000,BASELINE,764,742,711.909680589,671.909680589,659,633,877,784.090319411,799,649,629,650.909680589,0.40095326486,-0.0153678773376,0.0698165640657,0.999999927153,0.000242229393472,-0.0002946805231,1.35168016482e-05,1793193491639297792
+61,1.016666667,BASELINE,764,742,712,671.509762551,659,633,877,784.490237449,799,649,629,651,0.400952558123,-0.0153687851061,0.0698161487461,0.999999927406,0.000240393016674,-0.000295318744224,1.36130157228e-05,1793193491655964416
+62,1.033333333,BASELINE,763.931207765,742.068792235,712,671.068792235,659.068792235,632.931207765,877,784.931207765,799,648.931207765,629,651,0.400951773845,-0.0153693829432,0.0698157943039,0.999999927652,0.000238679425287,-0.00029587132044,1.36989172024e-05,1793193491672631296
+63,1.050000000,BASELINE,763.354776829,742.645223171,712,671.645223171,659.645223171,632.354776829,877,784.354776829,799,648.354776829,629,651,0.400952672174,-0.0153675092182,0.0698162041091,0.99999992753,0.00024095135966,-0.000294455803133,1.33397685228e-05,1793193491689297664
+64,1.066666667,BASELINE,763.219223505,742.780776495,712,672,659.780776495,632,877,784,799,648.219223505,629,650.780776495,0.40095323917,-0.0153663974291,0.069816701197,0.999999927506,0.000242053617428,-0.00029364184883,1.31533997938e-05,1793193491705964032
+65,1.083333333,BASELINE,763.789333412,742.210666588,712,672,659.210666588,632,877,784,799,648.789333412,629,650.210666588,0.400953275837,-0.0153665051853,0.0698173379887,0.999999927647,0.000241283705305,-0.000293790748846,1.32435805161e-05,1793193491722630656
+66,1.100000000,BASELINE,764,742.375138347,712,672,659.375138347,632.375138347,877.375138347,784.375138347,799.375138347,649,628.624861653,650,0.400952787648,-0.015366456437,0.0698169144031,0.999999927398,0.000241666548966,-0.000294323430173,1.32396534275e-05,1793193491739297280
+67,1.116666667,BASELINE,764,742.97014198,712,672,659.97014198,632.97014198,877.97014198,784.97014198,799.97014198,649,628.02985802,650,0.400951991846,-0.015366315963,0.0698158693395,0.999999926919,0.000242725012678,-0.000295081042347,1.31805705753e-05,1793193491755963904
+68,1.133333333,BASELINE,764,742.449999265,712,672,659.449999265,633,878,784.449999265,800,649,628.550000735,650,0.40095357704,-0.0153674416784,0.0698169588768,0.999999927816,0.00024051045477,-0.000293854581996,1.31253992185e-05,1793193491772630784
+69,1.150000000,BASELINE,764,742,712.128580967,672,659,632.871419033,877.871419033,784,800,649,629,650.128580967,0.40095466977,-0.0153681320381,0.0698178712995,0.999999928416,0.000239155096053,-0.000292915365352,1.31481084638e-05,1793193491789297408
+70,1.166666667,BASELINE,764,742,712.70549307,672,659,632.29450693,877.29450693,784,800,649,629,650.70549307,0.400953606784,-0.0153670711659,0.0698177729421,0.999999927748,0.00024139849704,-0.00029334319336,1.3441648236e-05,1793193491805964032
+71,1.183333333,BASELINE,764,742,712.718715805,672,659,632.281284195,877,784,800,649,629,650.718715805,0.400952864077,-0.0153664825081,0.0698172645149,0.999999927216,0.000242875891658,-0.000293929020953,1.35726842137e-05,1793193491822630656
+72,1.200000000,BASELINE,764,742,712.144093623,672,659,632.855906377,877,784,800,649,629,650.144093623,0.400952455373,-0.0153663863001,0.0698163284451,0.999999926831,0.000243554454731,-0.000294679618893,1.35342527038e-05,1793193491839297280
+73,1.216666667,BASELINE,764,742,712,672,659.441779709,633,877.441779709,784,800,649,629,650.441779709,0.400951309495,-0.015367424751,0.069815602806,0.999999926446,0.000243417418272,-0.0002960888984,1.3703005124e-05,1793193491855964160
+74,1.233333333,BASELINE,764,742.030893135,712,672,659.969106865,633,877.969106865,784,799.969106865,648.969106865,629,650.969106865,0.400950007139,-0.0153686514833,0.069815005183,0.999999926058,0.000243155945278,-0.000297599219101,1.39170530248e-05,1793193491872630784
+75,1.250000000,BASELINE,764,742.610669638,712,672,659.389330362,633,877.389330362,784,799.389330362,648.389330362,629,650.389330362,0.400950308221,-0.0153664762035,0.0698154307199,0.999999925662,0.000245533544211,-0.000296987911962,1.3703855675e-05,1793193491889297664
+76,1.266666667,BASELINE,764,742.811735145,712,672,659,633,877.188264855,784,799,648.188264855,629,650,0.40095075485,-0.0153650818802,0.0698157291336,0.999999925535,0.000246918457065,-0.000296272716794,1.35245444708e-05,1793193491905964288
+77,1.283333333,BASELINE,764,742.238599182,712,672,659,633,877.761400818,784,799,648.761400818,629,650,0.400951499021,-0.0153652840717,0.0698157676687,0.99999992597,0.000246274014961,-0.000295345142667,1.34145069548e-05,1793193491922631680
+78,1.300000000,BASELINE,764,742,712,672,659,633,877.656836158,784,799,648.656836158,628.656836158,650,0.40095180925,-0.015365506448,0.0698159654307,0.999999926544,0.000244761652236,-0.000294651865616,1.35301809665e-05,1793193491939298560
+79,1.316666667,BASELINE,764,742,712,672,659,633,877.068920146,784,799,648.068920146,628.068920146,650,0.400951809983,-0.0153657432204,0.0698162767568,0.999999927215,0.000242630269029,-0.00029412569455,1.38068375215e-05,1793193491955964928
+80,1.333333333,BASELINE,763.486902308,742,712,672,659,633,877,784.513097692,799,648,628,650,0.400951194152,-0.0153658819284,0.0698168425205,0.999999926986,0.000243135341782,-0.000294485420895,1.38090917479e-05,1793193491972631040
+81,1.350000000,BASELINE,763.093671236,741.906328764,712,672,659,633,877,784.906328764,799.093671236,648.093671236,628.093671236,650,0.400950744014,-0.0153660464882,0.0698173059133,0.999999926772,0.000243692813943,-0.000294758197092,1.36946197555e-05,1793193491989297152
+82,1.366666667,BASELINE,763.670832548,741.329167452,712,672,659,633,877,784.329167452,799.670832548,648.670832548,628.670832548,650,0.400951571722,-0.0153664117004,0.0698170665122,0.999999927248,0.000242713640624,-0.00029397495301,1.31657417341e-05,1793193492005963776
+83,1.383333333,BASELINE,764,741.246478226,712,672,659,632.753521774,877.246478226,784,800,649,628.753521774,650,0.400952785827,-0.0153667180356,0.0698171770291,0.999999927628,0.000242380852432,-0.000292957742072,1.30831429827e-05,1793193492022630656
+84,1.400000000,BASELINE,764,741.820112251,712,672,659,632.179887749,877.820112251,784,800,649,628.179887749,650,0.400954512804,-0.015366946222,0.0698177519995,0.999999927882,0.000242906024855,-0.000291629981834,1.359290014e-05,1793193492039297792
+85,1.416666667,BASELINE,764,742,712,671.593507144,659,632.406492856,877.593507144,784,799.593507144,648.593507144,628,650.406492856,0.400954228609,-0.0153680006034,0.069817566458,0.999999928501,0.000239832604477,-0.000292052376631,1.35880130795e-05,1793193492055964416
+86,1.433333333,BASELINE,764,742,712,671.001303145,659,632.998696855,877.001303145,784,799.001303145,648.001303145,628,650.998696855,0.400953025585,-0.0153694324418,0.0698170334675,0.999999929266,0.000235115123728,-0.000293274350848,1.33480045975e-05,1793193492072630784
+87,1.450000000,BASELINE,764,742,712,671.574678406,659,632.425321594,877,784,799,648.574678406,628,651,0.400953570219,-0.0153672521832,0.069817168129,0.999999927975,0.000240509111726,-0.000293294739641,1.35237272078e-05,1793193492089297408
+88,1.466666667,BASELINE,764,742,712,671.849295467,659,632.150704533,876.849295467,784,799,648.849295467,628.150704533,651,0.400953918948,-0.015366011694,0.0698172938746,0.999999927134,0.000244140367039,-0.000293155923102,1.36987488718e-05,1793193492105964032
+89,1.483333333,BASELINE,764,742,712,671.273042482,659,632.726957518,876.273042482,784,799,648.273042482,628.726957518,651,0.400953703612,-0.0153674473507,0.0698173902867,0.999999927645,0.000242731178971,-0.000292575036848,1.38692023573e-05,1793193492122630912
+90,1.500000000,BASELINE,764,742,712,671.309577755,659,633,876.61915551,784,799,648,629,651,0.400953872722,-0.0153679667842,0.069817728095,0.999999927836,0.000242380329538,-0.000292212749504,1.38564569353e-05,1793193492139297536
+91,1.516666667,BASELINE,764,742,712,671.897931701,659,633,877.795863401,784,799,648,629,651,0.400954388026,-0.0153676611544,0.0698182832818,0.99999992774,0.000242982518986,-0.000292047311515,1.36787400462e-05,1793193492155964160
+92,1.533333333,BASELINE,764,742,712,672,659.478716839,632.521283161,877.521283161,784,799,648.478716839,629,650.521283161,0.400952756858,-0.0153673964803,0.0698171716743,0.999999927178,0.000243442015706,-0.000293587874813,1.36737894046e-05,1793193492172630784
+93,1.550000000,BASELINE,764,742,712,672,659.942538512,632.057461488,877.057461488,784.057461488,799.057461488,649,629,650,0.400951083831,-0.0153671416571,0.0698159617051,0.999999926601,0.00024391522996,-0.000295155824832,1.36868083476e-05,1793193492189297664
+94,1.566666667,BASELINE,764,742,712,672,659.367861329,632.632138671,877.632138671,784.632138671,799.632138671,649,629,650,0.40095308931,-0.0153668981257,0.0698170154011,0.999999926806,0.000244781501864,-0.000293747185055,1.35351707556e-05,1793193492205964288
+95,1.583333333,BASELINE,764,742,712,672,659,633,877.794006674,784.794006674,800,649,629,650,0.400954416648,-0.0153669837145,0.0698178820141,0.999999927233,0.000244610581549,-0.000292431939871,1.3565955134e-05,1793193492222630912
+96,1.600000000,BASELINE,764,742,712,672,659,633,877.221614949,784.221614949,800,649,629,650,0.400954537782,-0.0153676547063,0.0698184158644,0.999999928054,0.000242594817296,-0.000291282814545,1.39212117367e-05,1793193492239297536
+97,1.616666667,BASELINE,764,742,712,672,659,633,877,784.364055409,799.635944591,649,628.635944591,650.364055409,0.40095458063,-0.0153678714017,0.0698184419615,0.999999928302,0.000242159766712,-0.000290796146503,1.38903285728e-05,1793193492255964160
+98,1.633333333,BASELINE,764,742,712,672,659,633,877,784.958114951,799.041885049,649,628.041885049,650.958114951,0.400954574019,-0.0153678010803,0.0698181472686,0.999999928189,0.000242723384772,-0.000290728007993,1.36154887257e-05,1793193492272630784
+99,1.650000000,BASELINE,764,742,712,672,659,633,877.536668228,784.463331772,799,649,628.536668228,651,0.400953113931,-0.0153666722736,0.0698174914572,0.99999992746,0.000243026852722,-0.000292981152264,1.34304245713e-05,1793193492289297408
+100,1.666666667,BASELINE,764,742,712,672,659,633,878,784.113323334,799,648.886676666,629,650.886676666,0.400951990466,-0.0153659030488,0.0698170661413,0.999999927013,0.000242878041327,-0.000294633246831,1.32443814936e-05,1793193492305964032
+101,1.683333333,BASELINE,764,742,712,672,659,633,878,784.687045354,799,648.312954646,629,650.312954646,0.400952682521,-0.0153669208958,0.0698176885465,0.999999927919,0.000240971926473,-0.000293128095429,1.30266947269e-05,1793193492322630912
+102,1.700000000,BASELINE,764,742,712,672,659,633,877.731481712,784.731481712,799,648.268518288,629,650.268518288,0.40095254713,-0.0153672999667,0.0698174330323,0.999999928179,0.000240201473744,-0.000292877727678,1.29530444503e-05,1793193492339297536
+103,1.716666667,BASELINE,764,742,712,672,659,633,877.14070672,784.14070672,799,648.85929328,629,650.85929328,0.400951418695,-0.0153669124236,0.0698161239012,0.999999927667,0.000240793962707,-0.000294133262846,1.30522566227e-05,1793193492355964160
+104,1.733333333,BASELINE,764,742,712,672,659,633,877,784.440971722,799,649,629,650.559028278,0.400953198242,-0.0153663866764,0.0698170899078,0.999999927568,0.000242983715827,-0.000292652105971,1.3347133683e-05,1793193492372631040
+105,1.750000000,BASELINE,764,742,712,672,659,633,877,785,799,649,629,650.019711777,0.400955743233,-0.0153658586727,0.069818686806,0.999999927586,0.000245537353045,-0.000290434690582,1.3689518194e-05,1793193492389297408
+106,1.766666667,BASELINE,764,742,712,672,659,633,877,785,799,649,629,650.595783405,0.400954232594,-0.0153664864927,0.0698180145973,0.999999927563,0.000244267229979,-0.000291585196049,1.36462367898e-05,1793193492405964032
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,742,712,672,659,633,877,784,801,649,629,650,0.400953072172,-0.0153689736023,0.0698170282579,0.999999927715,0.00024120931946,-0.000293603440051,1.36211874402e-05,1793193492446582528
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,742,712.588794383,672,659,633,877.588794383,784,799.822411233,648.411205617,629,650.588794383,0.400953884712,-0.0153688833239,0.0698176959776,0.999999928396,0.000240978140729,-0.000291461271709,1.37085554279e-05,1793193492463249664
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,742,712.824677249,672,659,633,878,784,799.175322751,648,629,651,0.40095384345,-0.0153686443193,0.0698179126108,0.999999928561,0.000241006003053,-0.000290872617319,1.37039414777e-05,1793193492479916800
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,742,712.243395712,672,659,633,878,784,799.756604288,648,629,651,0.400951825212,-0.0153680609402,0.0698170847563,0.999999927533,0.000241633673354,-0.000293881114819,1.34863439146e-05,1793193492496582912
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,742,712,672,659,633,877.666310266,784,799.666310266,648,629,651,0.400950822289,-0.0153677226176,0.0698161463756,0.999999926939,0.000242032617153,-0.000295570331833,1.34028067532e-05,1793193492513249280
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,742,712,672,659,633,877.092247504,784,799.092247504,648,629,651,0.400950550748,-0.0153675608212,0.0698151283777,0.999999926664,0.000242266798035,-0.000296309206444,1.34158398653e-05,1793193492529915904
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,742,712,672,659,633,877,784,799.480130584,648.480130584,629,651,0.400952308926,-0.0153674298125,0.0698164810713,0.999999927326,0.000242617014263,-0.000293774349101,1.34410101295e-05,1793193492546582272
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,742,712,671.94553487,659,632.94553487,877.05446513,784,799.94553487,649,628.94553487,650.94553487,0.400954531389,-0.0153674297041,0.0698182817106,0.999999928149,0.000242889103472,-0.000290729439693,1.35064516926e-05,1793193492563248896
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,742,712,671.348497242,659,632.348497242,877.651502758,784,799.348497242,649,628.348497242,650.348497242,0.400957507739,-0.0153686748817,0.0698200231479,0.999999928865,0.000242161593139,-0.000288847383895,1.39499203056e-05,1793193492579915520
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,742,712,671.239768147,659.239768147,632.239768147,877.760231853,784.239768147,799.239768147,649,628.239768147,650.239768147,0.400963767512,-0.0153693221586,0.0698229648503,0.999999930156,0.000242195701903,-0.000284293395389,1.43760346298e-05,1793193492596582144
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,742,712,671.815733268,659.815733268,632.815733268,877.184266732,784.815733268,799.815733268,649,628.815733268,650.815733268,0.400974631218,-0.0153691310739,0.0698275895345,0.999999932208,0.000243297734204,-0.000275992888971,1.47778151607e-05,1793193492613249024
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,742,712,672,659.608272635,633,877.391727365,784.608272635,799.608272635,648.608272635,628.608272635,651,0.401001327114,-0.0153701432251,0.0698392272297,0.999999937571,0.000242842585876,-0.000256214182808,1.54612632359e-05,1793193492629915904
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,742,712,672,659.032264856,633,877.967735144,784.032264856,799.032264856,648.032264856,628.032264856,651,0.401035470954,-0.0153717214149,0.069854164058,0.99999994398,0.000241654892599,-0.000231035783061,1.62772162802e-05,1793193492646582528
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,742,712,671.443969455,659,633,877.443969455,784,799,648,628.556030545,650.443969455,0.401089371962,-0.015374892069,0.0698694240574,0.999999949294,0.000240985092612,-0.00020746042011,1.72626864199e-05,1793193492663249152
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,742,712,671.14252094,659,632.85747906,877,784,799.14252094,648.14252094,628.85747906,650,0.401146387581,-0.0153781973231,0.0698820588242,0.999999952975,0.000240123738009,-0.000189931214043,1.78149912431e-05,1793193492679915520
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,742,712,671.721255259,659,632.278744741,877,784,799.721255259,648.721255259,628.278744741,650,0.401209347852,-0.0153816253293,0.0698865998607,0.999999953227,0.000238582034773,-0.000190616316736,1.70107214644e-05,1793193492696582144
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,742,712,671.701344827,659,632,877.298655173,784,800,649,628.298655173,650,0.401284269432,-0.0153848367397,0.0698886851661,0.999999953649,0.000237270431018,-0.000190192639784,1.52059561328e-05,1793193492713248768
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,742,712,671.125184852,659,632,877.874815148,784,800,649,628.874815148,650,0.401370305233,-0.0153878468932,0.069888488652,0.999999954222,0.000236172631487,-0.000188738705483,1.24715490959e-05,1793193492729915392
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,742,712,671,659,632.44827258,877.55172742,784.44827258,799.55172742,649,629,650.44827258,0.401479149337,-0.0153930763184,0.0698904692554,0.999999955772,0.000231879199208,-0.000185990861094,9.78357458816e-06,1793193492746582272
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,742,712,671.021718394,659,633,877.021718394,785,799,649,628.978281606,650.978281606,0.401595454747,-0.0153988857469,0.0698930507737,0.999999957571,0.00022670927234,-0.000182786109567,7.06195054602e-06,1793193492763249152
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,742,712,671.614587425,659,633,877.614587425,785,799,649,628.385412575,650.385412575,0.401741477384,-0.0154037474562,0.069895542231,0.999999959727,0.000221817357607,-0.000177011134856,3.11645266105e-06,1793193492779915776
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632.797567496,877.797567496,784.797567496,799.202432504,649,628.202432504,650,0.40189859939,-0.0154100973934,0.0698980589458,0.999999962166,0.00021486903524,-0.00017175042451,-9.64331839153e-07,1793193492796582144
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632.219055975,877.219055975,784.219055975,799.780944025,649,628.780944025,650,0.402076341784,-0.0154192121589,0.0699006225838,0.999999965139,0.000204100320239,-0.000167445114918,-5.29645131285e-06,1793193492813248768
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632.355099518,877,784.355099518,799.644900482,649,629,650,0.402271317542,-0.0154277107688,0.0699014462306,0.999999967552,0.000194317702897,-0.000164385770259,-1.06353073642e-05,1793193492829915648
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632.926600456,877,784.926600456,799.073399544,649,629,650,0.402476795512,-0.0154358338877,0.0699012095086,0.999999969589,0.000185136022902,-0.000162085729453,-1.65876798046e-05,1793193492846582272
+132,2.200000000,POSE1_TO_POSE2_PRESS,763.485393309,742,712,672,659,633,877.514606691,785,799,648.485393309,628.485393309,650,0.402731659274,-0.015447378194,0.0699078328558,0.999999979432,0.000137438853314,-0.000147531523756,-2.19359290722e-05,1793193492863248896
+133,2.216666667,POSE1_TO_POSE2_PRESS,763.103629336,742,712,672,659,632.896370664,878,785,799,648,628.103629336,650,0.403001427349,-0.015459219698,0.0699160918213,0.999999987585,8.3533810238e-05,-0.000130816549371,-2.71947939287e-05,1793193492879915520
+134,2.233333333,POSE1_TO_POSE2_PRESS,763.686110095,742,712,672,659,632.313889905,878,785,799,648,628.686110095,650,0.403306437921,-0.0154701049577,0.0699272375384,0.999999992781,2.71691708463e-05,-0.000112461129956,-3.24519896988e-05,1793193492896582400
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,742,712,671.735176651,659,632.264823349,877.735176651,785,799,648.264823349,629,650,0.403619176216,-0.0154804288338,0.069932522772,0.999999993789,3.47107576922e-06,-0.000105805879401,-3.48453986649e-05,1793193492913249024
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,742,712,671.160866345,659,632.839133655,877.160866345,785,799,648.839133655,629,650,0.403940945528,-0.0154900966459,0.0699309591257,0.9999999929,1.794888314e-05,-0.000112824083477,-3.3892030518e-05,1793193492929915648
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,742,712,671.414390773,659.414390773,633,877.414390773,784.585609227,799,649,628.585609227,650,0.404300114393,-0.0155033743563,0.0699330980759,0.99999999344,2.21824372175e-05,-0.000108944416932,-2.75506580812e-05,1793193492946582272
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,742,712,671.990016271,659.990016271,633,877.990016271,784.009983729,799,649,628.009983729,650,0.404673834989,-0.0155180566367,0.0699366776643,0.999999994483,2.24300688031e-05,-0.000100824513016,-1.91128746296e-05,1793193492963248896
+139,2.316666667,POSE1_TO_POSE2_PRESS,763.418579742,742.581420258,712,672,659.418579742,632.418579742,877.418579742,784.581420258,799,649,628.581420258,650,0.405095634546,-0.0155192111561,0.0699421556473,0.999999995443,8.42954538251e-06,-9.25583594243e-05,-2.18302369961e-05,1793193492979915776
+140,2.333333333,POSE1_TO_POSE2_PRESS,763.168729285,742.831270715,712,672,659.168729285,632,877,784.831270715,799,649,629,650,0.405524091949,-0.015516673185,0.0699441682416,0.999999995685,4.15178810112e-06,-8.95680710624e-05,-2.43083950052e-05,1793193492996582400
+141,2.350000000,POSE1_TO_POSE2_PRESS,763.745462774,742.254537226,712,672,659.745462774,632,877,784.254537226,799,649,629,650,0.405966596609,-0.0155057837706,0.0699377201567,0.999999994447,2.39927619623e-05,-9.9341593152e-05,-2.57320298409e-05,1793193493013249024
+142,2.366666667,POSE1_TO_POSE2_PRESS,763.678747783,742,712,672,660,632,877,784,799,649,628.678747783,650,0.406427673761,-0.015505517905,0.069923676543,0.999999992171,2.11829533474e-05,-0.00012002119557,-2.8350382161e-05,1793193493029915648
+143,2.383333333,POSE1_TO_POSE2_PRESS,763.103704081,742,712,672,660,632,877,784,799,649,628.103704081,650,0.406903423358,-0.0155136447158,0.0699036324081,0.999999988343,4.78871270113e-07,-0.000149316678204,-3.19125697288e-05,1793193493046582784
+144,2.400000000,POSE1_TO_POSE2_PRESS,763.482212455,742,712,672,660,632.482212455,877.482212455,784.482212455,799,649,628,650,0.407436349462,-0.0155167093433,0.0699011790167,0.999999988622,-1.03185016036e-05,-0.000146572862138,-3.41431493566e-05,1793193493063249664
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,742,712,672,659.930557435,633,878,784.930557435,799,649,628,650,0.407992657142,-0.0155180908786,0.0699047012247,0.999999990295,-1.72337907044e-05,-0.000133507887133,-3.59111755756e-05,1793193493079916544
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,742,712,672,659.351246912,633,878,784.351246912,799,649,628,650,0.408628273714,-0.0155152923623,0.0699236810719,0.99999999462,-1.16494769013e-05,-9.64198155651e-05,-3.64341458305e-05,1793193493096583168
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,742,712,672,659.227953025,632.772046975,877.772046975,784.227953025,799,648.772046975,628.227953025,650,0.409254027608,-0.0155136138211,0.0699339937483,0.999999996482,-8.69064686104e-06,-7.47444431769e-05,-3.7058220719e-05,1793193493113249792
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,742,712,672,659.806982611,632.193017389,877.193017389,784.806982611,799,648.193017389,628.806982611,650,0.40986459169,-0.0155136601838,0.0699309578817,0.999999996287,-9.77539505721e-06,-7.6806584102e-05,-3.78380095945e-05,1793193493129916672
+149,2.483333333,POSE1_TO_POSE2_PRESS,763.61819171,742,712,672,659.61819171,632.38180829,877.76361658,784.61819171,799,648.38180829,629,650.38180829,0.410497413241,-0.0155139174386,0.0699272229741,0.999999995551,-9.44466846123e-06,-8.51761597119e-05,-3.94099478671e-05,1793193493146583040
+150,2.500000000,POSE1_TO_POSE2_PRESS,763.045468124,742,712,672,659.045468124,632.954531876,878.909063753,784.045468124,799,648.954531876,629,650.954531876,0.411141364157,-0.0155142801455,0.0699231385257,0.999999994433,-8.40616309579e-06,-9.66996368049e-05,-4.13779839456e-05,1793193493163249152
+151,2.516666667,POSE1_TO_POSE2_PRESS,763,742,712,672,659,632.457342696,878.457342696,784,799,649,629,651,0.411845880538,-0.0155177412198,0.0699391338608,0.999999996661,-2.31570698015e-05,-6.59974127434e-05,-4.22507881602e-05,1793193493179916032
+152,2.533333333,POSE1_TO_POSE2_PRESS,763.129831797,742,712,672,659,632.129831797,878,784.129831797,799,649,629,651,0.412570882205,-0.0155214910294,0.0699592104299,0.999999998063,-3.40886583181e-05,-3.04638189295e-05,-4.22410084202e-05,1793193493196582656
+153,2.550000000,POSE1_TO_POSE2_PRESS,763.709116286,742,712,672,659,632.709116286,878,784.709116286,799,649,629,651,0.413348719188,-0.0155253154271,0.0699874210119,0.999999998811,-2.70848761431e-05,9.18937489963e-06,-3.95028531085e-05,1793193493213249280
+154,2.566666667,POSE1_TO_POSE2_PRESS,763.712362904,742,712,672.287637096,659.287637096,632.712362904,878,784.712362904,799.287637096,648.712362904,628.712362904,651,0.414089219392,-0.0155262565463,0.0699864093325,0.999999998822,-2.74691423113e-05,2.76518127662e-07,-4.00114810647e-05,1793193493229915904
+155,2.583333333,POSE1_TO_POSE2_PRESS,763.134612277,742,712,672.865387723,659.865387723,632.134612277,878,784.134612277,799.865387723,648.134612277,628.134612277,651,0.414792061455,-0.0155242895636,0.0699559238036,0.999999996758,-3.53050639629e-05,-5.76205179441e-05,-4.37948453579e-05,1793193493246582528
+156,2.600000000,POSE1_TO_POSE2_PRESS,763.437964428,742.437964428,712,672.562035572,660,632,878,784,799.562035572,648.437964428,628.437964428,651,0.415519494207,-0.0155202155279,0.0699137422739,0.999999990245,-3.68467458511e-05,-0.000125014766203,-5.02321191283e-05,1793193493263249152
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,742.990696137,712,672.009303863,660,632.009303863,877.990696137,784.009303863,799.009303863,649,629,650.990696137,0.416255870561,-0.0155156620752,0.0698691257807,0.999999978956,-3.65873026554e-05,-0.000193549584786,-5.7342146596e-05,1793193493279916032
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,742.398399734,712,672.601600266,660,632.601600266,877.398399734,784.601600266,799.601600266,649,629,650.398399734,0.417084592562,-0.0155211747131,0.0698945603929,0.99999998582,-4.32756383231e-05,-0.000152778203543,-5.60916098968e-05,1793193493296582656
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,742,712,673,660,632.81051618,877.18948382,785,799.81051618,648.81051618,628.81051618,650,0.417926341873,-0.015526203993,0.0699224122954,0.999999991393,-4.85808600939e-05,-0.00010919922925,-5.41182275761e-05,1793193493313249280
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,742,712,673,660,632.231699751,877.768300249,785,799.231699751,648.231699751,628.231699751,650,0.41879485836,-0.0155302401163,0.0699552310051,0.999999995623,-5.10441958888e-05,-5.98514931563e-05,-5.06596137221e-05,1793193493329915904
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,742.343166148,712,673,660,632.343166148,878,784.656833852,799,648,628.343166148,650,0.419652005661,-0.0155337437662,0.0699784517496,0.999999997063,-5.40705647319e-05,-2.39928774895e-05,-4.87293539025e-05,1793193493346582528
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,742.915395054,712,673,660,632.915395054,878,784.084604946,799,648,628.915395054,650,0.420501564018,-0.0155368919909,0.0699952658691,0.999999997201,-5.74727570021e-05,2.86177371564e-06,-4.78192676855e-05,1793193493363249152
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,742.497163166,712,672.497163166,660,632.497163166,878,784.502836834,799.502836834,648.502836834,628.497163166,650,0.421324061321,-0.0155377327616,0.0699920873857,0.999999997065,-5.86484527679e-05,-4.76309633572e-06,-4.90638953838e-05,1793193493379915776
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,742.091158876,712,672,660,632.091158876,878,784.908841124,799.908841124,649,628.091158876,650,0.422134879175,-0.0155375084259,0.0699766172705,0.999999996375,-5.95553659996e-05,-3.25585231654e-05,-5.1417001638e-05,1793193493396582144
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,742.670067803,712,672,660,632.670067803,878,784.329932197,799.329932197,649,628.670067803,650,0.422908327237,-0.0155337272976,0.0699139401962,0.999999987185,-6.10910997713e-05,-0.000136268633694,-5.77007596341e-05,1793193493413249024
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,742.75111018,712,672,660,632.75111018,878,784,799,648.75111018,628.75111018,650,0.423715814889,-0.0155313596582,0.0698632954578,0.999999973849,-6.31027538642e-05,-0.000210314481985,-6.39356999026e-05,1793193493429915904
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,742.172403249,712,672,660,632.172403249,878,784,799,648.172403249,628.172403249,650,0.424568410319,-0.0155308651077,0.0698285953976,0.999999965356,-6.57450760806e-05,-0.000245050658018,-7.01059506897e-05,1793193493446582528
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,742,712,672.403609405,660,632,878,784,799,648.403609405,628,650,0.425458981726,-0.0155347327373,0.0698648057587,0.99999997793,-6.8460180176e-05,-0.000187034542241,-6.68610084794e-05,1793193493463249152
+169,2.816666667,POSE1_TO_POSE2_PRESS,764,742,712,672.978478787,660,632,878,784,799,648.978478787,628,650,0.426365667089,-0.015540451332,0.0699311049081,0.999999991668,-7.1206166466e-05,-8.96616707299e-05,-5.96210005625e-05,1793193493479915520
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,742,712,673,660,632,877.431195236,784,799.568804764,649,628.568804764,650,0.427216374062,-0.0155440071688,0.0699663377134,0.999999994473,-7.44125907025e-05,-4.8640772185e-05,-5.61294737612e-05,1793193493496582144
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,742.156288352,712,672.843711648,660,632.156288352,877,784,799.843711648,649,629,650,0.428068722002,-0.0155482522106,0.0699959069925,0.999999995382,-7.91134166931e-05,-1.07708495909e-05,-5.34878174374e-05,1793193493513248768
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,742.734476101,712,672.265523899,660,632.734476101,877,784,799.265523899,649,629,650,0.428931376886,-0.0155545848255,0.0700134492926,0.999999994454,-8.78000288657e-05,2.45094611033e-05,-5.27468258539e-05,1793193493529915648
+173,2.883333333,POSE1_TO_POSE2_PRESS,764.310314262,743,712,672.310314262,660,632.689685738,877.310314262,784,799.310314262,649,629,650.310314262,0.429754220447,-0.0155558470045,0.0700053571616,0.999999994189,-9.2052297137e-05,1.40594897851e-05,-5.43214254242e-05,1793193493546582272
+174,2.900000000,POSE1_TO_POSE2_PRESS,764.88415705,743,712,672.88415705,660,632.11584295,877.88415705,784,799.88415705,649,629,650.88415705,0.43054325495,-0.0155528032113,0.069975495473,0.999999993424,-9.253878204e-05,-3.52260618432e-05,-5.78624970377e-05,1793193493563248896
+175,2.916666667,POSE1_TO_POSE2_PRESS,764.529844779,743,712,673,660,632.470155221,878,784.470155221,800,649,629,650.529844779,0.431240533456,-0.0155471450808,0.0699140319104,0.99999998463,-8.47734305002e-05,-0.00013974531686,-6.34450546379e-05,1793193493579915520
+176,2.933333333,POSE1_TO_POSE2_PRESS,764,743,712,673,660,632.941765837,878,785,799.941765837,649,629,650.058234163,0.431926837329,-0.0155418553664,0.069852967759,0.999999965282,-7.67874223295e-05,-0.000242475396105,-6.88869031473e-05,1793193493596582144
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,743,712,673,660,632.36257695,878,785,799.36257695,649,629,650.63742305,0.432722579247,-0.0155457769085,0.0698669821994,0.999999973149,-8.54988725454e-05,-0.000204222551252,-6.84507257133e-05,1793193493613248768
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,743,712,673,660,632,878.21584267,785,799.21584267,649,628.78415733,651,0.43352668384,-0.0155517099799,0.0699024667507,0.999999983921,-9.44236806465e-05,-0.000137747611496,-6.53254913908e-05,1793193493629915648
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,743,712,673,660,632,878.792974742,785,799.792974742,649,628.207025258,651,0.434344786468,-0.0155610100607,0.069973889164,0.999999992669,-0.000103705619741,-2.4032960537e-05,-5.76991643345e-05,1793193493646582528
+180,3.000000000,POSE1_TO_POSE2_PRESS,764.367824244,743,712,673,660,632,878.632175756,785,799.632175756,649,628.367824244,650.632175756,0.435093250522,-0.0155647986698,0.0699996939484,0.999999992949,-0.00010424542224,1.4016429134e-05,-5.5117314163e-05,1793193493663248896
+181,3.016666667,POSE1_TO_POSE2_PRESS,764.941396919,743,712,673,660,632,878.058603081,785,799.058603081,649,628.941396919,650.058603081,0.435802761066,-0.0155655043477,0.0699999817712,0.999999993431,-9.9895169444e-05,9.74122636159e-06,-5.53571743218e-05,1793193493679915520
+182,3.033333333,POSE1_TO_POSE2_PRESS,764.469792434,742.469792434,712,673,660,632,878,785,799.530207566,649,629,650,0.43644896789,-0.0155685534775,0.0699804789763,0.999999991729,-0.000113987463299,-1.77947212661e-05,-5.68454876938e-05,1793193493696582144
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,742.118702558,712,673,660,632,878,784.881297442,800,649,629,650.118702558,0.437079577728,-0.015570723448,0.0699556414981,0.999999989028,-0.000126225517654,-5.01504122875e-05,-5.91338162414e-05,1793193493713248768
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,742.699222985,712,673,660,632,878,784.300777015,800,649,629,650.699222985,0.43767753388,-0.0155684354663,0.0699188112987,0.999999986242,-0.000123084298641,-9.09590599448e-05,-6.39819003273e-05,1793193493729915392
+185,3.083333333,POSE1_TO_POSE2_PRESS,764,743,712,673.277932435,660,632,878.277932435,784,800,649,629,651,0.438242450592,-0.0155683940487,0.0698780136892,0.999999978876,-0.000123689160367,-0.000149435514999,-6.7958156026e-05,1793193493746582272
+186,3.100000000,POSE1_TO_POSE2_PRESS,764,743,712,673.854694704,660,632,878.854694704,784,800,649,629,651,0.438771843631,-0.0155707681117,0.0698329503671,0.999999963503,-0.000128321765894,-0.000226908195221,-7.09970311039e-05,1793193493763248896
+187,3.116666667,POSE1_TO_POSE2_PRESS,764,743,711.57154685,673.57154685,660,632,879,784,800,649,628.57154685,650.57154685,0.439279857731,-0.0155719541557,0.0697933143506,0.99999994584,-0.000127090771589,-0.000294665072069,-7.30761856608e-05,1793193493779915520
+188,3.133333333,POSE1_TO_POSE2_PRESS,764,742.998756656,711.001243344,673,659.998756656,632,878.998756656,784,800,649,628.001243344,650,0.439780698316,-0.0155727552437,0.0697556046016,0.999999925086,-0.00012393776466,-0.000358980910228,-7.48314653151e-05,1793193493796582144
+189,3.150000000,POSE1_TO_POSE2_PRESS,764,742.405331568,711.594668432,673,659.405331568,632,878.405331568,784,800,649,628.594668432,650,0.440294114747,-0.0155807686028,0.0697647953686,0.999999927687,-0.000145894520049,-0.000342818282579,-7.62714773258e-05,1793193493813248768
+190,3.166666667,POSE1_TO_POSE2_PRESS,764,742,711.817059242,673.182940758,659,632,878,783.817059242,800.182940758,648.817059242,629,650,0.440798569279,-0.0155903292998,0.0697780622897,0.999999931407,-0.000164705914334,-0.000322820838912,-7.64448561518e-05,1793193493829915392
+191,3.183333333,POSE1_TO_POSE2_PRESS,764,742,711.239890735,673.760109265,659,632,878,783.239890735,800.760109265,648.239890735,629,650,0.441283711486,-0.0156032244306,0.0698001131112,0.999999938269,-0.000176739224462,-0.000294559564809,-7.38887071463e-05,1793193493846582016
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,742.335307504,711,674,659.335307504,631.664692496,878.335307504,783,800.664692496,648.335307504,628.664692496,650,0.441719427289,-0.0156144756365,0.0698042315109,0.999999936497,-0.000188431111329,-0.000293748104532,-7.21985930522e-05,1793193493863248640
+193,3.216666667,POSE1_TO_POSE2_PRESS,764,742.909104345,711,674,659.909104345,631.090895655,878.909104345,783,800.090895655,648.909104345,628.090895655,650,0.442119988257,-0.0156245575909,0.069795595374,0.999999928679,-0.000199880158286,-0.000312460479479,-7.11244512898e-05,1793193493879915264
+194,3.233333333,POSE1_TO_POSE2_PRESS,764,743,711.496537896,674,659.503462104,631.496537896,878.503462104,783,800,649,628.496537896,650,0.442456380973,-0.0156267037075,0.0697594687526,0.999999907238,-0.00020443211646,-0.000371751880418,-7.43716879429e-05,1793193493896582144
+195,3.250000000,POSE1_TO_POSE2_PRESS,764,743,711.915052457,674,659,631.915052457,878,783,800,648.915052457,629,650,0.442779674986,-0.0156274178896,0.0697217492875,0.99999988209,-0.000205770476051,-0.000432936083071,-7.77478615238e-05,1793193493913248768
+196,3.266666667,POSE1_TO_POSE2_PRESS,764,743,711.335897277,674,659,631.335897277,878,783,800,648.335897277,629,650,0.443097032375,-0.0156284916953,0.0697048670954,0.999999871703,-0.000195965595784,-0.00046069519436,-7.71419364309e-05,1793193493929915392
+197,3.283333333,POSE1_TO_POSE2_PRESS,764,742.758178685,711,674.241821315,659,631,878.241821315,782.758178685,800,648.241821315,629,650,0.443400051377,-0.0156284347599,0.0696897470345,0.999999858962,-0.000202843921214,-0.000484650911455,-7.77368946214e-05,1793193493946582016
+198,3.300000000,POSE1_TO_POSE2_PRESS,764,742.182443822,711,674.817556178,659,631,878.817556178,782.182443822,800,648.817556178,629,650,0.443683271514,-0.0156268164656,0.0696770601744,0.999999843029,-0.000232758878437,-0.00050335479457,-7.99900656548e-05,1793193493963248896
+199,3.316666667,POSE1_TO_POSE2_PRESS,764,742.400031644,711.400031644,674.599968356,659,631,878.599968356,782.400031644,800,649,628.599968356,650,0.443949930294,-0.0156310097161,0.0696733652222,0.999999838816,-0.000238556434504,-0.000508936675817,-8.02602155677e-05,1793193493979915264
+200,3.333333333,POSE1_TO_POSE2_PRESS,764,742.98563406,711.98563406,674.01436594,659,631,878.01436594,782.98563406,800,649,628.01436594,650,0.444208906447,-0.0156378988852,0.0696738415272,0.999999840397,-0.000233166166398,-0.00050843139036,-7.96104615736e-05,1793193493996582144
+201,3.350000000,POSE1_TO_POSE2_PRESS,764,742.435281217,711.435281217,674,659,631,878.564718783,783,800.564718783,649,628,650.564718783,0.444416261264,-0.0156454808843,0.0696624312297,0.999999831197,-0.000236794228104,-0.000525077643,-7.63416522058e-05,1793193494013248768
+202,3.366666667,POSE1_TO_POSE2_PRESS,764,742.144114711,711.144114711,674.144114711,658.855885289,631,878.855885289,782.855885289,800.855885289,649,628,650.855885289,0.444615978792,-0.0156523522079,0.0696518847303,0.999999822214,-0.000242399262486,-0.00053967345631,-7.46126700352e-05,1793193494029915392
+203,3.383333333,POSE1_TO_POSE2_PRESS,764,742.724950557,711.724950557,674.724950557,658.275049443,631,878.275049443,782.275049443,800.275049443,649,628,650.275049443,0.444796486623,-0.0156570171218,0.069644861739,0.999999815428,-0.000253307969821,-0.000546748556005,-7.77495349781e-05,1793193494046582016
+204,3.400000000,POSE1_TO_POSE2_PRESS,764,743,712,674.698501289,658,631,878,782,800,649,628,650.301498711,0.444962515967,-0.0156619824568,0.0696424901265,0.999999813195,-0.000260113475329,-0.000547399277241,-7.94014935998e-05,1793193494063248896
+205,3.416666667,POSE1_TO_POSE2_PRESS,764,743,712,674.125809874,658,631,878,782,800,649,628,650.874190126,0.44511552216,-0.0156672180151,0.0696443023465,0.999999815149,-0.000263228223459,-0.000542271384443,-7.971780533e-05,1793193494079915520
+206,3.433333333,POSE1_TO_POSE2_PRESS,764,743,712,674,658,630.541835581,878,782,800,649,628,651,0.445248004204,-0.0156697181269,0.0696501303999,0.999999818404,-0.000268085646079,-0.000533838421058,-7.96112739972e-05,1793193494096582400
+207,3.450000000,POSE1_TO_POSE2_PRESS,764,743,712,674,658,630,878,782,800,649,628,651,0.445372177271,-0.0156715104933,0.0696566243798,0.999999821565,-0.000273271181148,-0.00052525766518,-7.93583860343e-05,1793193494113249024
+208,3.466666667,POSE1_TO_POSE2_PRESS,764,743,712,674,658,630,878,782,800,649,628,651,0.44546608891,-0.0156740485107,0.0696575625767,0.99999982031,-0.000276513696346,-0.000526035439732,-7.87789000237e-05,1793193494129915392
+209,3.483333333,POSE1_TO_POSE2_PRESS,764.207531517,743,712,674,658,630,878,782,800,649,628,651,0.44555012299,-0.0156752809208,0.0696564768375,0.999999817841,-0.000279093484927,-0.000529395209691,-7.85165018698e-05,1793193494146582016
+210,3.500000000,POSE1_TO_POSE2_PRESS,764.783166578,743,712,674,658,630,878,782,800,649,628,651,0.445616637,-0.0156741975442,0.0696518011951,0.99999981319,-0.000280497779328,-0.000537334725674,-7.88165299822e-05,1793193494163248640
+211,3.516666667,POSE1_TO_POSE2_PRESS,764.641339873,743,712,674.358660127,658,630,878,782,800.358660127,649,628,651,0.445671482921,-0.0156734702753,0.0696484277245,0.999999810302,-0.000280965180645,-0.000542432083148,-7.88734284544e-05,1793193494179915264
+212,3.533333333,POSE1_TO_POSE2_PRESS,764.065931788,743,712,674.934068212,658,630,878,782,800.934068212,649,628,651,0.445719277509,-0.0156729582117,0.0696458411909,0.999999808498,-0.000280866392422,-0.000545811848586,-7.87833971776e-05,1793193494196582144
+213,3.550000000,POSE1_TO_POSE2_PRESS,764.522266503,743,712,674.477733497,658,630,878.522266503,782,800.477733497,649,628,651,0.445753257307,-0.0156752638617,0.0696437974308,0.999999806515,-0.000283097117897,-0.000548374841005,-7.81773356984e-05,1793193494213248512
+214,3.566666667,POSE1_TO_POSE2_PRESS,764.889941522,743,712,674,658,630,878.889941522,781.889941522,800,649,628,651,0.445783830953,-0.0156773606135,0.0696421438801,0.999999804843,-0.000285095198878,-0.000550457740654,-7.76615858183e-05,1793193494229915392
+215,3.583333333,POSE1_TO_POSE2_PRESS,764.310933264,743,712,674,658,630,878.310933264,781.310933264,800,649,628,651,0.445807508883,-0.0156770135572,0.0696418536881,0.999999804641,-0.000284817487966,-0.000550945382632,-7.7815189344e-05,1793193494246582272
+216,3.600000000,POSE1_TO_POSE2_PRESS,764.265889808,742.734110192,711.734110192,674,658,630,878,781.265889808,800,649,628,650.734110192,0.445826529307,-0.0156763708351,0.069642004565,0.999999804876,-0.000283980550604,-0.000550961311751,-7.77529078369e-05,1793193494263248640
+217,3.616666667,POSE1_TO_POSE2_PRESS,764.840178307,742.159821693,711.159821693,674,658,630,878,781.840178307,800,649,628,650.159821693,0.445840147608,-0.0156753851777,0.0696426670262,0.999999805613,-0.000282494981008,-0.000550430113329,-7.74402268716e-05,1793193494279915264
+218,3.633333333,POSE1_TO_POSE2_PRESS,764.576214555,742,711.423785445,674,658,630,878,782,800.423785445,648.576214555,628,650.423785445,0.445848541999,-0.0156765884381,0.0696425675584,0.999999804734,-0.000283855538316,-0.000551422674934,-7.67520049537e-05,1793193494296582144
+219,3.650000000,POSE1_TO_POSE2_PRESS,764,742,712,673.989159827,658.010840173,630,878,782,800.989159827,648,627.989159827,651,0.445854863432,-0.0156785621217,0.0696421634994,0.999999803251,-0.000286230531067,-0.000552994890864,-7.59347509852e-05,1793193494313249536
+220,3.666666667,POSE1_TO_POSE2_PRESS,764,742,712,673.409749064,658.590250936,630,878,782,800.409749064,648,627.409749064,651,0.445858112511,-0.0156766733254,0.0696411937482,0.999999803175,-0.0002842493332,-0.000554151720762,-7.59451372349e-05,1793193494329916160
+221,3.683333333,POSE1_TO_POSE2_PRESS,764,742.168561848,711.831438152,673.168561848,658.831438152,630,877.831438152,782,800,648.168561848,627.168561848,651,0.445860825798,-0.0156748660114,0.0696402116765,0.999999803181,-0.000281985996291,-0.000555292840608,-7.59677135799e-05,1793193494346582784
+222,3.700000000,POSE1_TO_POSE2_PRESS,764,742.744216433,711.255783567,673.744216433,658.255783567,630,877.255783567,782,800,648.744216433,627.744216433,651,0.445862245096,-0.0156732554853,0.0696391998495,0.99999980339,-0.000279041267315,-0.000556396019036,-7.60197301522e-05,1793193494363249408
+223,3.716666667,POSE1_TO_POSE2_PRESS,764,742.6811285,711,674,658,630,877.3188715,781.6811285,800,649,628,651,0.445862576045,-0.0156729170902,0.0696380439798,0.999999802504,-0.000278838288429,-0.000558074382522,-7.61239276732e-05,1793193494379915776
+224,3.733333333,POSE1_TO_POSE2_PRESS,764,742.107272631,711,674,658,630,877.892727369,781.107272631,800,649,628,651,0.445862036701,-0.0156735959498,0.0696367729266,0.99999980074,-0.000280827739139,-0.000560212690645,-7.62698514948e-05,1793193494396582144
+225,3.750000000,POSE1_TO_POSE2_PRESS,764,742.483659802,711.483659802,674,658,630,878,781.483659802,800,649,628,650.516340198,0.445863840127,-0.0156752888231,0.0696378858515,0.999999801464,-0.000281057402804,-0.000558882279777,-7.56968993408e-05,1793193494413248768
+226,3.766666667,POSE1_TO_POSE2_PRESS,764,742.924071841,712,674,658,630,878.075928159,782,800,649,628,650.075928159,0.445865976618,-0.0156766697824,0.0696393057782,0.999999802667,-0.000280639500409,-0.000557021834193,-7.50602437169e-05,1793193494429915392
+227,3.783333333,POSE1_TO_POSE2_PRESS,764,742.348836277,712,674,658,630,878.651163723,782,800,649,628,650.651163723,0.445866761309,-0.015674466487,0.0696391402131,0.999999803285,-0.00027862380436,-0.000556920231451,-7.5091543796e-05,1793193494446582272
+228,3.800000000,POSE1_TO_POSE2_PRESS,764,742.226274965,711.773725035,673.773725035,658.226274965,630,879,781.773725035,800,649,628,650.773725035,0.445866626207,-0.015672790143,0.0696381554878,0.999999803127,-0.00027718845585,-0.000557904313701,-7.52039292367e-05,1793193494463248896
+229,3.816666667,POSE1_TO_POSE2_PRESS,764,742.801194616,711.198805384,673.198805384,658.801194616,630,879,781.198805384,800,649,628,650.198805384,0.445865073886,-0.0156719257264,0.0696359085996,0.999999801773,-0.000276647307511,-0.00056056122045,-7.54412510794e-05,1793193494479915520
+230,3.833333333,POSE1_TO_POSE2_PRESS,764,743,711.375692442,673.375692442,658.624307558,630,878.624307558,781,800,649,628,650.375692442,0.445864784715,-0.0156713707391,0.0696355448029,0.999999801498,-0.000275917351046,-0.00056141178201,-7.54384789399e-05,1793193494496582400
+231,3.850000000,POSE1_TO_POSE2_PRESS,764,743,711.949967282,673.949967282,658.050032718,630,878.050032718,781,800,649,628,650.949967282,0.445865163215,-0.0156709793092,0.0696361763651,0.999999801795,-0.000275087594957,-0.0005613075509,-7.53087986272e-05,1793193494513249280
+232,3.866666667,POSE1_TO_POSE2_PRESS,764,743,711.456965998,673.456965998,658,630,878,781,800,649,628,650.456965998,0.445866055088,-0.0156710082223,0.0696363274404,0.999999802896,-0.000273784550068,-0.000560060431283,-7.47134172948e-05,1793193494529915648
+233,3.883333333,POSE1_TO_POSE2_PRESS,764.133385818,743,711.133385818,673.133385818,658,630,878,781.133385818,800,649,628,650.133385818,0.445866921053,-0.0156713616424,0.0696365992466,0.999999803599,-0.000273305850644,-0.000559106287566,-7.4207145814e-05,1793193494546582272
+234,3.900000000,POSE1_TO_POSE2_PRESS,764.70879728,743,711.70879728,673.70879728,658,630,878,781.70879728,800,649,628,650.70879728,0.445867538793,-0.0156726574992,0.0696374231057,0.999999802732,-0.000275708627701,-0.000559484496433,-7.4143462469e-05,1793193494563248896
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,743,712,674.284039725,658,630,878,781.715960275,800,649,628,651,0.445868094241,-0.0156734251356,0.0696378923853,0.999999802522,-0.000276742856754,-0.000559364088452,-7.40349589362e-05,1793193494579915776
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,743,712,674.859109062,658,630,878,781.140890938,800,649,628,651,0.445868585863,-0.0156736515531,0.0696379983595,0.999999802988,-0.000276374859722,-0.000558732793292,-7.38805322354e-05,1793193494596582144
+237,3.950000000,POSE1_TO_POSE2_PRESS,764.553099959,743,712,674.106199919,658,630,878,781,800.446900041,649,628,650.553099959,0.445867947355,-0.0156738468315,0.0696372473895,0.999999801534,-0.000278583685981,-0.000560201982617,-7.41354726015e-05,1793193494613248768
+238,3.966666667,POSE1_TO_POSE2_PRESS,764,743,712,673.03795356,658.03795356,630,878,781.03795356,800.96204644,649,628,650.03795356,0.445867018483,-0.0156738665959,0.0696362895362,0.999999799651,-0.0002812093659,-0.000562198718879,-7.45154653568e-05,1793193494629915904
+239,3.983333333,POSE1_TO_POSE2_PRESS,764,743,712,673.616673974,658.616673974,630,878,781.616673974,800.383326026,649,628,650.616673974,0.445867177647,-0.015671529589,0.0696363460797,0.999999800678,-0.000277860444903,-0.000562000384685,-7.47845045421e-05,1793193494646582528
+240,4.000000000,POSE1_TO_POSE2_PRESS,764,743,712,674,658.806868707,630,878.193131293,782,800.193131293,649,628,651,0.445867538269,-0.0156702176525,0.069636339784,0.999999801496,-0.000275294184703,-0.000561804052716,-7.48114928185e-05,1793193494663248896
+241,4.016666667,POSE1_TO_POSE2_PRESS,764,743,712,674,658.234851176,630,878.765148824,782,800.765148824,649,628,651,0.445868294111,-0.015670916706,0.0696362102102,0.999999801921,-0.000274263353789,-0.000561611648747,-7.43636240199e-05,1793193494679915776
+242,4.033333333,POSE1_TO_POSE2_PRESS,764,743,712,674,658,630,878.659358987,781.659358987,800.659358987,649,628,650.659358987,0.445867604241,-0.0156714174965,0.0696357614561,0.999999801289,-0.000275095297178,-0.000562358646339,-7.41456538229e-05,1793193494696582656
+243,4.050000000,POSE1_TO_POSE2_PRESS,764,743,712,674,658,630,878.081446571,781.081446571,800.081446571,649,628,650.081446571,0.445865907368,-0.0156717801881,0.0696350903791,0.999999799916,-0.000277224744604,-0.000563759978321,-7.40878181024e-05,1793193494713249280
+244,4.066666667,POSE1_TO_POSE2_PRESS,764,742.492213713,712,674,658,630,878,781,800,649,628,650.507786287,0.445867199909,-0.0156705137295,0.0696357735033,0.999999801471,-0.000274232808843,-0.000562453444565,-7.41652803991e-05,1793193494729915648
+245,4.083333333,HOLD_POSE2,765,743,712,674,658,630,878,782,800,649,628,651,0.445870022466,-0.0156700663908,0.0696372361321,0.999999803181,-0.00027312577588,-0.000560026402692,-7.35642179154e-05,1793193494772663296
+246,4.100000000,HOLD_POSE2,764.423341879,743,712,674,658,630,878,782,800,649,627.423341879,651,0.445871041522,-0.0156687360265,0.0696380516353,0.999999804774,-0.000269933548852,-0.000558729031601,-7.35559947289e-05,1793193494789329920
+247,4.116666667,HOLD_POSE2,764,743,712,674,658,630,878.156246893,782,800,649,627.156246893,651,0.445871493274,-0.0156683115858,0.0696383911549,0.999999805274,-0.000269138978903,-0.000558210426988,-7.36046879722e-05,1793193494805996288
+248,4.133333333,HOLD_POSE2,764,743,712,674,658,630,878.743928008,782,800,649,627.743928008,651,0.445870378571,-0.0156703886119,0.0696374163727,0.999999802762,-0.000274964900337,-0.000559842178515,-7.38105407913e-05,1793193494822662912
+249,4.150000000,HOLD_POSE2,764,743,712,674,658,630,878.671529983,781.671529983,800,649,627.671529983,651,0.445870289724,-0.0156715167962,0.0696372670084,0.999999802112,-0.00027693618313,-0.000560050781342,-7.36542843454e-05,1793193494839329792
+250,4.166666667,HOLD_POSE2,764,743,712,674,658,630,878.089412059,781.089412059,800,649,627.089412059,651,0.445870993052,-0.015671912275,0.0696377550402,0.99999980292,-0.000275930874204,-0.0005591604141,-7.3218403411e-05,1793193494855996416
+251,4.183333333,HOLD_POSE2,764,742.51276909,712,674,658,630,878,781,800,649,627.48723091,650.51276909,0.445871366614,-0.0156701114584,0.0696380550195,0.999999803991,-0.000273102873248,-0.000558594814322,-7.35219960368e-05,1793193494872663296
+252,4.200000000,HOLD_POSE2,764,742,711.935895223,674,658,630,878,781,800,649,628,650.064104777,0.445871505417,-0.0156682665812,0.0696381474916,0.999999804775,-0.000270619295455,-0.000558351866283,-7.38775493378e-05,1793193494889329920
+253,4.216666667,HOLD_POSE2,764,742,711.349036385,674,658,630,878,781,800,649,628,650.650963615,0.445870217821,-0.015669312575,0.0696368260963,0.999999802909,-0.000273641675402,-0.000560259435995,-7.35625212991e-05,1793193494905996288
+254,4.233333333,HOLD_POSE2,764,742.234663848,711.234663848,674,658,630,878.234663848,781,800,649,628,650.765336152,0.445869261132,-0.0156701531783,0.0696359793948,0.999999801728,-0.000275298444191,-0.00056157209524,-7.34205793357e-05,1793193494922662912
+255,4.250000000,HOLD_POSE2,764,742.813728352,711.813728352,674,658,630,878.813728352,781,800,649,628,650.186271648,0.445868790095,-0.0156706923436,0.0696358293702,0.999999801569,-0.000274950995258,-0.000562011643459,-7.35326644227e-05,1793193494939329792
+256,4.266666667,HOLD_POSE2,764.387228061,743,712,674,658,630,879,781,800.387228061,649,628,650.387228061,0.445870387307,-0.0156709343478,0.0696367164072,0.999999802622,-0.000274537762633,-0.000560341568255,-7.35008246179e-05,1793193494955996928
+257,4.283333333,HOLD_POSE2,764.958088862,743,712,674,658,630,879,781,800.958088862,649,628,650.958088862,0.445872965331,-0.0156710354312,0.0696380952436,0.999999804244,-0.000274093333787,-0.000557671059567,-7.34007322215e-05,1793193494972664320
+258,4.300000000,HOLD_POSE2,764.464862238,743,712,673.464862238,658,630,879,781,800.464862238,648.464862238,628,651,0.445872801665,-0.0156697865306,0.0696381431482,0.999999804587,-0.000272210206329,-0.000558010474201,-7.31597871649e-05,1793193494989330688
+259,4.316666667,HOLD_POSE2,764,743,712,673.115664061,658,630,878.884335939,781,800.115664061,648.115664061,628,650.884335939,0.445872540152,-0.0156688062913,0.0696379858544,0.999999804609,-0.000271155859083,-0.000558499550179,-7.30418448337e-05,1793193495005997056
+260,4.333333333,HOLD_POSE2,764,743,712,673.708514126,658,630,878.291485874,781,800.708514126,648.708514126,628,650.291485874,0.445872771195,-0.0156693757456,0.0696374170608,0.999999803736,-0.000273991042878,-0.000558622152201,-7.34774085864e-05,1793193495022663424
+261,4.350000000,HOLD_POSE2,764,743,712,674,658,630,878,781.294643218,801,648.705356782,628,650.294643218,0.445872371605,-0.0156691073379,0.0696372255932,0.999999803232,-0.000274495202932,-0.000559238487961,-7.37615489105e-05,1793193495039330048
+262,4.366666667,HOLD_POSE2,764,743,712,674,658,630,878,781.874271607,801,648.125728393,628,650.874271607,0.445871362053,-0.0156680285322,0.0696373990835,0.999999803088,-0.000272744747203,-0.000560332373459,-7.38992292559e-05,1793193495055996672
+263,4.383333333,POSE2_TO_POSE3_RETREAT,764,743,712,674,658,630,878,781,800,649,628,650,0.445872135396,-0.0156698631155,0.0696373532478,0.999999803214,-0.000275160096917,-0.000559024381765,-7.3144083944e-05,1793193495088598272
+264,4.400000000,POSE2_TO_POSE3_RETREAT,764,743,712,674,658,630,878,781,800,649,628,650,0.445871751792,-0.0156693787964,0.0696374011314,0.999999803308,-0.000272756006488,-0.00056004611805,-7.30509939889e-05,1793193495105264896
+265,4.416666667,POSE2_TO_POSE3_RETREAT,764,743,712,674,657.828030344,630,878,781.171969656,800,649,628,650,0.445871478201,-0.0156694365958,0.0696373726186,0.999999803245,-0.000271817105053,-0.000560617480551,-7.30326125362e-05,1793193495121931520
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764,743,712,674,657.248869272,630,878,781.751130728,800,649,628,650,0.445871465099,-0.0156707780286,0.0696371632135,0.99999980282,-0.000274347491804,-0.000560122443865,-7.31911265796e-05,1793193495138597888
+267,4.450000000,POSE2_TO_POSE3_RETREAT,764,743,712,674,657.32887088,630,878,781.67112912,800,649,628,650.32887088,0.445871490765,-0.0156701363623,0.0696366943788,0.999999802921,-0.000273953383888,-0.000560114453298,-7.334098216e-05,1793193495155264512
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764,743,712,674,657.905540359,630,878,781.094459641,800,649,628,650.905540359,0.445871545642,-0.0156680004645,0.0696360300684,0.999999803418,-0.000271355718969,-0.000560473443705,-7.34843137265e-05,1793193495171930880
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,742.517697827,712,674,658,630,878,781,800,649,628,651,0.445870979977,-0.0156685186036,0.069635997903,0.999999802796,-0.000273193715981,-0.000560697433566,-7.34213495749e-05,1793193495188597504
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764,742.060181718,712,674,658,630,878,781.060181718,800,649,628,650.939818282,0.44586943104,-0.0156694422464,0.0696355942842,0.999999801667,-0.00027544402503,-0.000561611508422,-7.34052817574e-05,1793193495205264128
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764,742.647696757,712,674,658,630,878,781.647696757,800,649,628,650.352303243,0.445860331464,-0.0156693635359,0.0696308508159,0.999999798027,-0.000273693570212,-0.000568804071619,-7.41542321078e-05,1793193495221931008
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764,743,712,674,658,630,878,782,800,649,628,650,0.445843410151,-0.0156680986286,0.0696226334126,0.999999790806,-0.000272385487873,-0.000581882550316,-7.48820980587e-05,1793193495238597888
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764,743,712,674,658,630,878,782,800,649,628,650,0.445814773345,-0.0156650570205,0.0696092127061,0.999999777949,-0.000271739996685,-0.000603777026551,-7.55783834431e-05,1793193495255264512
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764,743.389669197,712,674.389669197,658,630,878,781.610330803,800,649,628,650,0.445766930044,-0.0156611225481,0.0695930129949,0.999999760012,-0.000270304898451,-0.000633284613271,-7.65646169788e-05,1793193495271930880
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764,743.967089536,712,674.967089536,658,630,878,781.032910464,800,649,628,650,0.445709832631,-0.0156567578739,0.0695754742973,0.999999738854,-0.000268489350007,-0.000666460364572,-7.76905538775e-05,1793193495288597248
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764,743.456565322,712,674.456565322,658,630,878.543434678,781.543434678,800,649,628,650.543434678,0.445645493793,-0.0156540761497,0.0695685305155,0.999999737159,-0.000267074175972,-0.000669612180318,-7.72795015553e-05,1793193495305264128
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764,743,712,674,658,630,878.877990372,781.877990372,800,648.877990372,628,650.877990372,0.445574823514,-0.0156509594991,0.0695629179365,0.999999736018,-0.000264773752153,-0.000672312522713,-7.65192808192e-05,1793193495321931008
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764,743,712,674,658,630,878.290663433,781.290663433,800,648.290663433,628,650.290663433,0.445481675717,-0.0156457962047,0.0695599400659,0.999999732318,-0.000259004895134,-0.000680211762585,-7.47816961856e-05,1793193495338597632
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764,743,711.707281066,674,658,630,878,781.292718934,800.292718934,648.585437869,628,650,0.445377751363,-0.0156405480223,0.0695599880187,0.99999973208,-0.000256243677385,-0.000681837466294,-7.26446933961e-05,1793193495355264256
+280,4.666666667,POSE2_TO_POSE3_RETREAT,764,743,711.127763525,674,658,630,878,781.872236475,800.872236475,649.74447295,628,650,0.445263268415,-0.015635216669,0.0695630005968,0.999999735285,-0.000256429268862,-0.000677316517551,-7.0116350911e-05,1793193495371930880
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764.448118098,742.551881902,711.448118098,674,658,630,878,782,800.551881902,649.551881902,628,650,0.445122512044,-0.0156270274496,0.0695647085124,0.9999997374,-0.000249381821509,-0.000677158173994,-6.68231922094e-05,1793193495388597504
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764.977115164,742.022884836,712,674,658,630,878.022884836,782,800,649,628,650,0.444972805262,-0.015618019206,0.0695659103282,0.999999739044,-0.000240316512369,-0.000678344578479,-6.33083941067e-05,1793193495405264384
+283,4.716666667,POSE2_TO_POSE3_RETREAT,764.404428472,742.595571528,712,674,658,630,878.595571528,782,800,649,628,650,0.444786584388,-0.0156087521615,0.0695638178838,0.999999738631,-0.000231918163092,-0.000682196070344,-5.96653822759e-05,1793193495421930752
+284,4.733333333,POSE2_TO_POSE3_RETREAT,764,743,712,674,658,630,879,782,800,649,628,650,0.444583369527,-0.0155982433389,0.0695597765508,0.999999735167,-0.000222509026659,-0.000690663227831,-5.6027000349e-05,1793193495438597376
+285,4.750000000,POSE2_TO_POSE3_RETREAT,764,743,712,674,658,630,879,782,800,649,628,650,0.444339307648,-0.0155847497578,0.0695510508356,0.999999724227,-0.000210670345797,-0.000710224678956,-5.23997474579e-05,1793193495455264256
+286,4.766666667,POSE2_TO_POSE3_RETREAT,764,743,712,674,658,630,878.6474857,782,800.3525143,649,628,650.3525143,0.444080367957,-0.0155710258308,0.0695478501155,0.999999720558,-0.000196555155796,-0.000719715264858,-4.7530301819e-05,1793193495471930880
+287,4.783333333,POSE2_TO_POSE3_RETREAT,764,743,712,674,658,630,878.070051138,782,800.929948862,649,628,650.929948862,0.443811935516,-0.0155571549312,0.0695481745945,0.99999972154,-0.000180987447585,-0.00072278017962,-4.18682799826e-05,1793193495488597504
+288,4.800000000,POSE2_TO_POSE3_RETREAT,764,743,712,674,658,630,878,782,801,649,628,651,0.443515812726,-0.0155434858088,0.0695594248496,0.99999973924,-0.000158152117861,-0.000703793573972,-3.43862611802e-05,1793193495505264128
+289,4.816666667,POSE2_TO_POSE3_RETREAT,764.081944213,743,712,674,658,630.081944213,878.081944213,782,800.918055787,649,628,650.918055787,0.443209669629,-0.0155301100967,0.0695719585199,0.999999758342,-0.000128957003252,-0.000682627755047,-2.65722108694e-05,1793193495521930752
+290,4.833333333,POSE2_TO_POSE3_RETREAT,764.675014944,743,712,674,658,630.675014944,878.675014944,782,800.324985056,649,628,650.324985056,0.442864870905,-0.0155183907597,0.0695830885355,0.999999775282,-6.63514202737e-05,-0.000666859214131,-1.82544401946e-05,1793193495538597376
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,743,712,674,658.26139675,631,878.73860325,782,800,649,628,650,0.442501545188,-0.0155102250798,0.0696013875227,0.999999795406,-2.68929551444e-05,-0.000639052506808,-8.79976453724e-06,1793193495555264000
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,743,712,674,658.839669918,631,878.160330082,782,800,649,628,650,0.44211576027,-0.0155063672972,0.0696283770457,0.999999821881,-1.54944289404e-05,-0.000596652617381,2.03311584441e-06,1793193495571930880
+293,4.883333333,POSE2_TO_POSE3_RETREAT,764.585346462,742.585346462,712,674,659,631,878,782.414653538,800,649,628,650.414653538,0.441703357966,-0.0155053803993,0.0696507379512,0.99999984132,-5.44095765504e-06,-0.00056324473927,9.2458264421e-06,1793193495588597760
+294,4.900000000,POSE2_TO_POSE3_RETREAT,764.011624783,742.011624783,712,674,659,631,878,782.988375217,800,649,628,650.988375217,0.441280744788,-0.0155054948216,0.0696713232399,0.999999857681,4.09652744827e-06,-0.000533286350245,1.506977815e-05,1793193495605264384
+295,4.916666667,POSE2_TO_POSE3_RETREAT,764,742.577164443,712,674,659,631,878,783.577164443,800,649,628,651,0.440831536479,-0.0155050478631,0.0696954210432,0.999999882742,6.22458777434e-06,-0.000484099074446,1.11982996985e-05,1793193495621931008
+296,4.933333333,POSE2_TO_POSE3_RETREAT,764,743,712,674,659,631.163402374,878,783.836597626,800,649,628,650.836597626,0.440357849746,-0.0155035255028,0.069717122019,0.999999902638,7.28175427285e-06,-0.000441103456427,9.95806541929e-06,1793193495638597632
+297,4.950000000,POSE2_TO_POSE3_RETREAT,764,743,712,674,659,631.742359443,878,783.257640557,800,649,628,650.257640557,0.439823309857,-0.0154992977738,0.0697325427888,0.999999913799,6.00518812671e-06,-0.000414865426322,1.59193774407e-05,1793193495655265024
+298,4.966666667,POSE2_TO_POSE3_RETREAT,764,743,712,674,659,631.680679473,878,783,800,649,628,650,0.439238505404,-0.01549034546,0.0697331701528,0.999999914075,1.86942674339e-05,-0.000413733208869,1.80213230463e-05,1793193495671932160
+299,4.983333333,POSE2_TO_POSE3_RETREAT,764,743,712,674,659,631.105318763,878,783,800,649,628,650,0.438613397352,-0.0154776048409,0.0697219357493,0.99999990532,4.258139404e-05,-0.000432731535385,1.70287207161e-05,1793193495688599040
+300,5.000000000,POSE2_TO_POSE3_RETREAT,764,742.530842231,712,673.530842231,659,631.469157769,878,783.469157769,800,649,628.469157769,650,0.437990196493,-0.0154657660518,0.0697129198563,0.99999990345,6.16398119708e-05,-0.00043480302419,1.5735381966e-05,1793193495705265664
+301,5.016666667,POSE2_TO_POSE3_RETREAT,764,742.044785426,712,673,659,632,878,784,800,649,629,650,0.437367435942,-0.0154533414489,0.069707874753,0.999999904605,7.97278817764e-05,-0.000429215303325,1.4420284604e-05,1793193495721932288
+302,5.033333333,POSE2_TO_POSE3_RETREAT,764,742.636902821,712,673,659,632,878,784,800,649,629,650,0.436744833477,-0.015431287993,0.0697452825105,0.99999992416,9.91796607663e-05,-0.000376373788945,1.36627804005e-05,1793193495738598656
+303,5.050000000,POSE2_TO_POSE3_RETREAT,764,742.775892665,712,673,659.224107335,632,878,784,800,649,628.775892665,650,0.436093480297,-0.0154140716012,0.0697823445279,0.999999940188,0.000121435748802,-0.000323460174648,1.58555314057e-05,1793193495755264768
+304,5.066666667,POSE2_TO_POSE3_RETREAT,764,742.196477249,712,673,659.803522751,632,878,784,800,649,628.196477249,650,0.435396544703,-0.0154045240716,0.0698188583939,0.999999952203,0.000148137891376,-0.000270432254302,2.2725726513e-05,1793193495771930880
+305,5.083333333,POSE2_TO_POSE3_RETREAT,763.619512348,742,711.619512348,673,660,632,878,783.619512348,799.619512348,649,628.380487652,650.380487652,0.434641381834,-0.0154047382066,0.0698343581311,0.999999955883,0.000148941425676,-0.000255804826305,2.47791849999e-05,1793193495788597504
+306,5.100000000,POSE2_TO_POSE3_RETREAT,763.043804771,742,711.043804771,673,660,632,878,783.043804771,799.043804771,649,628.956195229,650.956195229,0.433856343841,-0.0154099608392,0.0698390759754,0.999999956364,0.000136456947605,-0.000260879856302,2.43612806723e-05,1793193495805264384
+307,5.116666667,POSE2_TO_POSE3_RETREAT,763.531512076,742,711.531512076,673,660,632,877.468487924,783.531512076,799.531512076,649,629,651,0.433066512362,-0.0154145973899,0.0698312288963,0.999999952322,0.000147395811849,-0.000270146518317,2.55167170596e-05,1793193495821931264
+308,5.133333333,POSE2_TO_POSE3_RETREAT,764,742.109563981,712,673,660,632,877,784.109563981,800.109563981,649,629,651,0.432273872274,-0.0154179033069,0.069825159551,0.999999949238,0.00015672620693,-0.000276113021479,2.68898900395e-05,1793193495838597888
+309,5.150000000,POSE2_TO_POSE3_RETREAT,764,742.699754818,712,673,660,632,877,784.699754818,800.699754818,649,629,651,0.431470643548,-0.0154155838342,0.0698314279382,0.999999952857,0.000150538587979,-0.000266088336687,2.86498153529e-05,1793193495855264256
+310,5.166666667,POSE2_TO_POSE3_RETREAT,764,743,712,673,660,632,877,784.718227381,800.718227381,649,628.718227381,650.718227381,0.430610428439,-0.0154091405666,0.0698042540593,0.999999940031,0.000154509662978,-0.000308743330962,2.72372883883e-05,1793193495871930880
+311,5.183333333,POSE2_TO_POSE3_RETREAT,764,743,712,673,660,632,877,784.144672871,800.144672871,649,628.144672871,650.144672871,0.429691202549,-0.0153984270162,0.0697424499617,0.999999903068,0.000169000292444,-0.000405949315661,2.25396156805e-05,1793193495888597504
+312,5.200000000,POSE2_TO_POSE3_RETREAT,764,743,712,673,660,632,876.570124879,784,800,649,628.429875121,650,0.428817683146,-0.0153966910678,0.0697364166176,0.999999900527,0.00017129102006,-0.000411273701554,2.14141736858e-05,1793193495905264128
+313,5.216666667,POSE2_TO_POSE3_RETREAT,763.995089145,743,712,673,660,632.004910855,876.009821709,784,800,648.995089145,628.995089145,650,0.427959981892,-0.0153980100565,0.0697496250816,0.999999911268,0.000169558613196,-0.000385030652355,2.15631140628e-05,1793193495921930752
+314,5.233333333,POSE2_TO_POSE3_RETREAT,763.401762884,743,712,673,660,632.598237116,877.196474232,784,800,648.401762884,628.401762884,650,0.427150222301,-0.0154025114223,0.0698142230031,0.999999941477,0.000178874461136,-0.000290083492547,3.00247049505e-05,1793193495938597376
+315,5.250000000,POSE2_TO_POSE3_RETREAT,763.18700121,742.81299879,712,672.81299879,660,632.81299879,878,784.18700121,800,648.18700121,628.18700121,650,0.426318811203,-0.0154054299893,0.0698614955594,0.999999957671,0.000184488631917,-0.000222031790228,3.63922833725e-05,1793193495955264256
+316,5.266666667,POSE2_TO_POSE3_RETREAT,763.766197107,742.233802893,712,672.233802893,660,632.233802893,878,784.766197107,800,648.766197107,628.766197107,650,0.42544199079,-0.0154050289774,0.0698724318971,0.999999960509,0.000182339335938,-0.000210387516682,3.83681224802e-05,1793193495971930880
+317,5.283333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,660.342585342,632,877.657414658,784.657414658,800,649,629,650,0.424542236323,-0.0154038196292,0.0698596713629,0.999999955918,0.000183738285091,-0.000230276010613,3.71170391834e-05,1793193495988597504
+318,5.300000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,660.917072996,632,877.082927004,784.082927004,800,649,629,650,0.423626957409,-0.0154020631033,0.0698308699802,0.999999944989,0.000187539106413,-0.000271509614371,3.36815926937e-05,1793193496005264128
+319,5.316666667,POSE2_TO_POSE3_RETREAT,763.504668743,742,712,672,660.504668743,632,877.495331257,784,800,648.504668743,629,650,0.422618586758,-0.0153944247853,0.0697688163748,0.999999906321,0.000193964916169,-0.000385894377239,2.86578576887e-05,1793193496021930496
+320,5.333333333,POSE2_TO_POSE3_RETREAT,763.075468406,742,711.924531594,672,659.924531594,632,878,784,799.924531594,648.075468406,629,650,0.421614936461,-0.015387007731,0.0697086845454,0.999999856464,0.000199471200659,-0.000496701382977,2.39021739916e-05,1793193496038597376
+321,5.350000000,POSE2_TO_POSE3_RETREAT,763.664055084,742,711.335944916,672,659.335944916,632,878,784,799.335944916,648.664055084,629,650,0.420750159014,-0.0153878416132,0.0696997601022,0.999999855949,0.000195714627708,-0.000499276909826,2.27908062644e-05,1793193496055264000
+322,5.366666667,POSE2_TO_POSE3_RETREAT,764,742,711,672,659,632,878,784.248633143,799,648.751366857,628.751366857,650,0.419925385502,-0.0153907109605,0.0697323238168,0.99999988489,0.000192838564015,-0.000438605085214,2.56835307717e-05,1793193496071930624
+323,5.383333333,POSE2_TO_POSE3_RETREAT,764,742,711,672,659,632,878,784.827880909,799,648.172119091,628.172119091,650,0.419153806248,-0.0153962869244,0.0698200555238,0.999999937991,0.000191133335316,-0.000293831436313,3.39006110725e-05,1793193496088597504
+324,5.400000000,POSE2_TO_POSE3_RETREAT,763.595696913,742,711.404303087,672.404303087,659,632,877.595696913,785,799,648,628.404303087,650,0.418340337091,-0.0153961051875,0.0698674416284,0.999999956,0.000195072589926,-0.000220103968594,3.87467145931e-05,1793193496105264384
+325,5.416666667,POSE2_TO_POSE3_RETREAT,763.020469325,742,711.979530675,672.979530675,659,632,877.020469325,785,799,648,628.979530675,650,0.417509158467,-0.0153934893059,0.0698977710882,0.99999996327,0.000201398125721,-0.000176412227529,4.21676925519e-05,1793193496121931008
+326,5.433333333,POSE2_TO_POSE3_RETREAT,763.566332884,742,712,673,659,632.566332884,876.433667116,784.433667116,799.566332884,648.566332884,628.433667116,650,0.416634609058,-0.0153927258436,0.0698632069091,0.999999953234,0.000199997885643,-0.000228120785264,3.86475948491e-05,1793193496138597376
+327,5.450000000,POSE2_TO_POSE3_RETREAT,764,742,712,673,659.151491654,632.848508346,876.151491654,784,799.848508346,649,628,650.151491654,0.415763747215,-0.0153913142197,0.0698271194005,0.999999940676,0.000198411187348,-0.000279434640906,3.45917608195e-05,1793193496155264000
+328,5.466666667,POSE2_TO_POSE3_RETREAT,764,742,712,673,659.730803149,632.269196851,876.730803149,784,799.269196851,649,628,650.730803149,0.414907818566,-0.0153878791318,0.0697934919199,0.999999929031,0.000197102956965,-0.000319693028801,2.97462487808e-05,1793193496171930880
+329,5.483333333,POSE2_TO_POSE3_RETREAT,763.689988433,742,711.689988433,673,659.689988433,632.310011567,877,784.310011567,799.310011567,648.689988433,628.310011567,650.689988433,0.414060921287,-0.0153856446382,0.0697664019828,0.999999912033,0.000197918766356,-0.000368818848639,2.70905235063e-05,1793193496188597504
+330,5.500000000,POSE2_TO_POSE3_RETREAT,763.110869522,742,711.110869522,673,659.110869522,632.889130478,877,784.889130478,799.889130478,648.110869522,628.889130478,650.110869522,0.413221863786,-0.0153844523276,0.0697449870001,0.999999888952,0.000200578360619,-0.000425642091741,2.6335655592e-05,1793193496205264128
+331,5.516666667,POSE2_TO_POSE3_RETREAT,763,742,711.464056802,673,659.464056802,632.535943198,877.464056802,784.535943198,799.535943198,648.464056802,628.535943198,650.464056802,0.412510611175,-0.0153862051512,0.0697763745574,0.999999912691,0.000200735920885,-0.000365367060811,2.87995418688e-05,1793193496221931008
+332,5.533333333,POSE2_TO_POSE3_RETREAT,763.038946274,742,712,672.961053726,659.961053726,632,877.961053726,784,799,648.961053726,628.038946274,651,0.411831239268,-0.0153885891336,0.0698205988922,0.999999940709,0.000200533968364,-0.000278092664965,3.21255431639e-05,1793193496238598144
+333,5.550000000,POSE2_TO_POSE3_RETREAT,763.627319557,742,712,672.372680443,659.372680443,632,877.372680443,784,799,648.372680443,628.627319557,651,0.411174718556,-0.0153900395778,0.0698695418188,0.999999958376,0.000203617696995,-0.000201067661847,3.68622185277e-05,1793193496255265024
+334,5.566666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632,877.21215798,784,799.21215798,648.21215798,628.78784202,650.78784202,0.410498327777,-0.0153901127985,0.0698925946397,0.999999964112,0.000205381382563,-0.000167500988321,3.92181958676e-05,1793193496271931648
+335,5.583333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632,877.790888864,784,799.790888864,648.790888864,628.209111136,650.209111136,0.409787604792,-0.0153878064119,0.0698709137696,0.999999956468,0.000204864260229,-0.000209022905099,3.74607330107e-05,1793193496288598272
+336,5.600000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632,877.648142778,784.351857222,799.648142778,649,628.351857222,650,0.409098705613,-0.015383828142,0.0698342363021,0.999999940786,0.000205660926531,-0.000273984626853,3.26205000509e-05,1793193496305265152
+337,5.616666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632,877.097223542,784.902776458,799.097223542,649,628.902776458,650,0.40842215322,-0.01537890401,0.0697890745625,0.99999991617,0.000207200863367,-0.000352207334029,2.60362004636e-05,1793193496321932032
+338,5.633333333,POSE2_TO_POSE3_RETREAT,764,742.494353394,712,672,659.494353394,632.494353394,877.494353394,784.505646606,799,649,629,650.494353394,0.407824581702,-0.0153750038137,0.0697805194875,0.999999912848,0.000215465599792,-0.000356692569616,2.545812991e-05,1793193496338598400
+339,5.650000000,POSE2_TO_POSE3_RETREAT,764,742.906494679,712,672,659.906494679,632.906494679,877.906494679,784.093505321,799,648.906494679,629,651,0.407251228462,-0.0153723531885,0.0697831925938,0.999999915858,0.000223061074904,-0.00034326651487,2.63841014257e-05,1793193496355265024
+340,5.666666667,POSE2_TO_POSE3_RETREAT,764,742.313420818,712,672,659.313420818,632.313420818,877.313420818,784.686579182,799,648.313420818,629,651,0.406716840822,-0.0153752063166,0.0698039434472,0.999999924788,0.000219381716486,-0.000318567894853,2.84691811311e-05,1793193496371931392
+341,5.683333333,POSE2_TO_POSE3_RETREAT,764,742.273184805,712,672,659.273184805,632.273184805,877.273184805,784.726815195,799,648.273184805,629,651,0.406193669994,-0.0153763690216,0.0698119025307,0.999999926559,0.000220865083049,-0.00031186084132,2.90485066479e-05,1793193496388598016
+342,5.700000000,POSE2_TO_POSE3_RETREAT,764,742.852541121,712,672,659.852541121,632.852541121,877.852541121,784.147458879,799,648.852541121,629,651,0.405683070429,-0.015375637187,0.0698055252538,0.999999920671,0.000228134567169,-0.000325317814015,2.79402600105e-05,1793193496405264640
+343,5.716666667,POSE2_TO_POSE3_RETREAT,764,742.572820224,712,672,659.572820224,633,877.572820224,784,799.427179776,649,629,650.572820224,0.405232758644,-0.0153750663312,0.0698074265319,0.999999920832,0.000229014664199,-0.000324234917321,2.75554113571e-05,1793193496421931264
+344,5.733333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632.999786972,877.000213028,784,799.999786972,648.999786972,628.999786972,650.000213028,0.404803051726,-0.015374550441,0.069812159577,0.999999923079,0.000227714905012,-0.000318176983878,2.74180305861e-05,1793193496438597632
+345,5.750000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632.412253838,877.587746162,784,799.412253838,648.412253838,628.412253838,650.587746162,0.40443230001,-0.0153740455638,0.0698314867793,0.999999933096,0.000230868194745,-0.000282291746345,2.86166686348e-05,1793193496455264000
+346,5.766666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,659.17324556,632.17324556,878,784.17324556,799,648.17324556,628,651,0.404071038252,-0.0153720262221,0.0698477264613,0.99999994018,0.000235424277797,-0.000251665374364,2.96703347531e-05,1793193496471930624
+347,5.783333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,659.753961759,632.753961759,878,784.753961759,799,648.753961759,628,651,0.403732096643,-0.0153664448851,0.0698567043513,0.999999942706,0.000243279708291,-0.000233407759072,3.03830296397e-05,1793193496488597248
+348,5.800000000,POSE2_TO_POSE3_RETREAT,764.332624704,742,712,671.667375296,659.667375296,632.667375296,878,785,799,649,628.332624704,651,0.403401060573,-0.0153588027189,0.0698523776364,0.999999939565,0.000250242683835,-0.000239548875386,2.93989348878e-05,1793193496505264128
+349,5.816666667,POSE2_TO_POSE3_RETREAT,764.909778167,742,712,671.090221833,659.090221833,632.090221833,878,785,799,649,628.909778167,651,0.403075836275,-0.0153496455363,0.0698382700525,0.999999931973,0.000256549571363,-0.000263626698754,2.7167446678e-05,1793193496521931264
+350,5.833333333,POSE2_TO_POSE3_RETREAT,764.515845138,742,712,671.484154862,659,632.484154862,878,785,799,649,629,651,0.402792342818,-0.0153487289082,0.0698296524025,0.999999924468,0.000266857616947,-0.000281393155786,2.58618386965e-05,1793193496538597888
+351,5.850000000,POSE2_TO_POSE3_RETREAT,764.059692646,742.059692646,712,672,659.059692646,633,878,784.940307354,799,649,628.940307354,651,0.402521209383,-0.0153502351433,0.0698221360287,0.99999991768,0.000275146611044,-0.000297187669072,2.47841670665e-05,1793193496555264256
+352,5.866666667,POSE2_TO_POSE3_RETREAT,764.650128533,742.650128533,712,672,659.650128533,633,878,784.349871467,799,649,628.349871467,651,0.40229122349,-0.015359707954,0.0698153671056,0.999999919423,0.000258892047619,-0.000305846647891,2.42078143334e-05,1793193496571930880
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764.76497497,742.76497497,712,672,660,632.76497497,878,784,799,649,628.23502503,650.76497497,0.402078997936,-0.0153695749997,0.0698095987026,0.999999920866,0.000243044061111,-0.000314012666862,2.43642433163e-05,1793193496588597760
+354,5.900000000,POSE2_TO_POSE3_RETREAT,764.188134889,742.188134889,712,672,660,632.188134889,878,784,799,649,628.811865111,650.188134889,0.401892602635,-0.015380015411,0.0698052854337,0.99999992206,0.000227787392279,-0.000321461735556,2.55864133942e-05,1793193496605264384
+355,5.916666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,659.611489642,632.388510358,878,784,799.388510358,649,629,650.388510358,0.401733544162,-0.0153775890689,0.069805042542,0.999999921969,0.000227787193137,-0.000321670896761,2.65138209765e-05,1793193496621930752
+356,5.933333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,659.034938644,632.965061356,878,784,799.965061356,649,629,650.965061356,0.401587716813,-0.0153689351651,0.0698067697295,0.999999921293,0.000235171187844,-0.000318375913109,2.72985623867e-05,1793193496638597376
+357,5.950000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,633,877.44760123,784.55239877,800,649,629,651,0.401469563299,-0.0153662896086,0.0698049332768,0.999999918914,0.000240496230594,-0.000321848335038,2.73220663174e-05,1793193496655264000
+358,5.966666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,633,877,784.861548802,800,649,629,651,0.401359830213,-0.0153653028937,0.0698029974535,0.999999917237,0.000243716130758,-0.000324854589623,2.44693532932e-05,1793193496671930880
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,633,877,784.281809668,800,649,629,651,0.401271245675,-0.0153683680607,0.0698014776213,0.999999918157,0.00024064961405,-0.000324983580112,1.26057410023e-05,1793193496688597504
+360,6.000000000,POSE2_TO_POSE3_RETREAT,764.295361469,742,712,672,659,633,877,784,800,649,628.704638531,651,0.401197526204,-0.0153678264088,0.0698014176395,0.999999918611,0.000242013204936,-0.0003227149827,7.89410050902e-06,1793193496705264128
+361,6.016666667,POSE2_TO_POSE3_RETREAT,764.870103521,742,712,672,659,633,877,784,800,649,628.129896479,651,0.401137867513,-0.0153638730892,0.0698027385213,0.999999918687,0.00024756720732,-0.000318178521775,9.94746649577e-06,1793193496721931008
+362,6.033333333,POSE2_TO_POSE3_RETREAT,764.554166714,742,712,672,659,633,877,784.445833286,800,649,628.445833286,650.554166714,0.401088269524,-0.0153629771789,0.0698027713927,0.999999918115,0.000247564224588,-0.000319938664984,1.10511220743e-05,1793193496738597376
+363,6.050000000,POSE2_TO_POSE3_RETREAT,764,742.022372274,712,672,659,633,877.022372274,784.977627726,799.977627726,649,629,650.022372274,0.401042444318,-0.0153629393001,0.0698024782898,0.999999917432,0.000245989298808,-0.000323239539158,1.18658680818e-05,1793193496755264256
+364,6.066666667,POSE2_TO_POSE3_RETREAT,764,742.612119483,712,672,659,633,877.612119483,784.387880517,799.387880517,649,629,650.612119483,0.401017795837,-0.0153620203178,0.0698034564931,0.999999918863,0.000245700568272,-0.000318985491068,1.23866650418e-05,1793193496771930880
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764,742.800917076,712,672,659.199082924,632.800917076,878,784,799.199082924,649,628.800917076,651,0.400997015079,-0.0153615519715,0.0698046739818,0.999999920058,0.000245751402332,-0.000315159163009,1.28360529571e-05,1793193496788597504
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764,742.219302622,712,672,659.780697378,632.219302622,878,784,799.780697378,649,628.219302622,651,0.400983666031,-0.0153619495083,0.0698063512498,0.999999920823,0.000246454699043,-0.000312154685934,1.31482305965e-05,1793193496805264128
+367,6.116666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,659.644260758,632.355739242,877.644260758,784,799.644260758,648.644260758,628.355739242,651,0.40097372289,-0.0153624554892,0.0698084693498,0.999999921772,0.000246558770459,-0.000308997438981,1.36108499594e-05,1793193496821930752
+368,6.133333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,659.07319714,632.92680286,877.07319714,784,799.07319714,648.07319714,628.92680286,651,0.400965841299,-0.0153630271101,0.0698108542799,0.999999922827,0.000246300138599,-0.000305747722101,1.41645297873e-05,1793193496838597632
+369,6.150000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,633,877.516373656,784,799,648.516373656,629,651,0.400960462031,-0.0153631799689,0.069810600795,0.999999922765,0.000246285451624,-0.000305967802981,1.40360978062e-05,1793193496855264256
+370,6.166666667,POSE2_TO_POSE3_RETREAT,764.106192047,742,712,672,659,632.893807953,878,784,799.106192047,649,628.893807953,651,0.400956522729,-0.015362998625,0.0698103536898,0.999999922627,0.00024652287388,-0.000306237991442,1.38062923955e-05,1793193496871930880
+371,6.183333333,POSE2_TO_POSE3_RETREAT,764.685002681,742,712,672,659,632.314997319,878,784,799.685002681,649,628.314997319,651,0.40095735479,-0.015361603888,0.0698118613844,0.999999922876,0.000247722712487,-0.000304460779558,1.35716435818e-05,1793193496888597504
+372,6.200000000,POSE2_TO_POSE3_RETREAT,764.738654163,742.261345837,712,672.261345837,659,632.261345837,877.738654163,784.261345837,799.738654163,649,628.261345837,650.738654163,0.400957309374,-0.0153615057818,0.0698125883754,0.999999923155,0.000247946210739,-0.000303360895967,1.35905144861e-05,1793193496905264128
+373,6.216666667,POSE2_TO_POSE3_RETREAT,764.165257251,742.834742749,712,672.834742749,659,632.834742749,877.165257251,784.834742749,799.165257251,649,628.834742749,650.165257251,0.400956216239,-0.0153629558733,0.0698123831939,0.999999923472,0.000247003943045,-0.00030306975321,1.39120919696e-05,1793193496921930752
+374,6.233333333,POSE2_TO_POSE3_RETREAT,764,743,712,672.591388469,659,633,877,784.591388469,799.408611531,649,629,650.408611531,0.400953016811,-0.0153644582315,0.0698111200375,0.999999923181,0.000246356594333,-0.000304553647011,1.38879498943e-05,1793193496938597632
+375,6.250000000,POSE2_TO_POSE3_RETREAT,764,743,712,672.017328639,659,633,877,784.017328639,799.982671361,649,629,650.982671361,0.400948964538,-0.0153659817526,0.0698094285033,0.99999992264,0.000245828659416,-0.000306756259594,1.37238247008e-05,1793193496955264000
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764,742.423586079,712,672,659,633,877.576413921,784,800,649,629,651,0.40094963639,-0.0153657296101,0.0698103450077,0.999999923546,0.000243468067142,-0.000305688923114,1.36045153863e-05,1793193496971930880
+377,6.283333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,633,878,784,800,649,628.834175981,651,0.400951017734,-0.0153649968587,0.0698117702042,0.999999924308,0.00024298656209,-0.00030357341225,1.3579014424e-05,1793193496988597504
+378,6.300000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,633,878,784,800,649,628.257032097,651,0.400953794213,-0.0153632090679,0.069814255835,0.999999924591,0.000247307550465,-0.000299110406556,1.3782741299e-05,1793193497005264128
+379,6.316666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,633,878,784.319697034,800,649,628.319697034,650.680302966,0.400954081609,-0.0153631193718,0.0698146320382,0.999999924442,0.000248506295768,-0.000298611555856,1.38710133937e-05,1793193497021930752
+380,6.333333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,633,878,784.896093203,800,649,628.896093203,650.103906797,0.400952370407,-0.0153643931521,0.0698133144873,0.999999923961,0.000247198052072,-0.000301295703118,1.38665816716e-05,1793193497038597120
+381,6.350000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,633,878,784.51855781,799.51855781,649,629,650.48144219,0.400950471947,-0.0153646937641,0.0698124808973,0.999999923474,0.000246542069374,-0.000303461571487,1.33909418502e-05,1793193497055263744
+382,6.366666667,POSE2_TO_POSE3_RETREAT,764,742,712,671.932164995,659,633,877.932164995,784,799.067835005,649,629,651,0.400948974001,-0.0153646817591,0.0698119740561,0.99999992315,0.000246081324723,-0.000304922024079,1.28967305018e-05,1793193497071930624
+383,6.383333333,POSE2_TO_POSE3_RETREAT,764,742,712,671.352747952,659,633,877.352747952,784,799.647252048,649,629,651,0.400950807117,-0.0153639261254,0.0698131287663,0.999999924076,0.000246011210496,-0.000301922100793,1.30439552784e-05,1793193497088597248
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764,742.223817578,712,671.223817578,659.223817578,633,877.223817578,784.223817578,799.776182422,649,629,651,0.400951878898,-0.0153633031035,0.0698139836354,0.999999924637,0.000246173180861,-0.000299922006363,1.31105071851e-05,1793193497105264128
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764,742.795945483,712,671.795945483,659.795945483,633,877.795945483,784.795945483,799.204054517,649,629,651,0.400951765871,-0.0153628864556,0.0698143718843,0.999999924642,0.000246696326886,-0.000299477869961,1.30515140127e-05,1793193497121930752
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764,742.626062119,712,671.626062119,659.626062119,633,878,785,799,649,629,651,0.400951041201,-0.0153623416011,0.0698139232398,0.999999924323,0.000247005657567,-0.000300289534284,1.29501363463e-05,1793193497138597120
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764,742.044818551,712,671.044818551,659.044818551,633,878,785,799,649,629,651,0.400949977446,-0.0153617256707,0.0698130106338,0.999999923824,0.000247196452134,-0.00030179739616,1.28252613387e-05,1793193497155264000
+388,6.466666667,POSE2_TO_POSE3_RETREAT,763.457414758,742.542585242,712,671.542585242,659,633,877.457414758,784.457414758,799,649,629,651,0.400951402639,-0.0153626910953,0.0698140993842,0.999999924527,0.000246476589707,-0.00030004461609,1.29708456913e-05,1793193497171930624
+389,6.483333333,POSE2_TO_POSE3_RETREAT,763.12920736,742.87079264,712,672,659,633,877,784.12920736,799,649,629,650.87079264,0.400952876127,-0.0153640893134,0.0698151801258,0.999999925395,0.000245221274443,-0.000298163234496,1.32161273495e-05,1793193497188597504
+390,6.500000000,POSE2_TO_POSE3_RETREAT,763.711285593,742.288714407,712,672,659,633,877,784.711285593,799,649,629,650.288714407,0.400953790015,-0.0153665413792,0.0698156467115,0.999999926497,0.000242355881187,-0.000296785964489,1.37316449834e-05,1793193497205263872
+391,6.516666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,633,877,785,799,649,628.710047673,650,0.400953064658,-0.0153667787841,0.0698149063664,0.999999926501,0.000241609683539,-0.000297378028546,1.37234180796e-05,1793193497221930752
+392,6.533333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,633,877,785,799,649,628.134738303,650,0.400950726037,-0.0153648366271,0.0698129782184,0.999999925428,0.000242949095277,-0.000299908215692,1.31997472176e-05,1793193497238597376
+393,6.550000000,POSE2_TO_POSE3_RETREAT,764,742.438764147,712,672,659,633,877,785,799,649,628,650,0.400950241732,-0.0153649878149,0.069813160785,0.999999925025,0.000244485299125,-0.000300000389958,1.32876211118e-05,1793193497255264000
+394,6.566666667,POSE2_TO_POSE3_RETREAT,764,742.987861977,712,672,659,633,877,784.987861977,799.012138023,649,628.012138023,650,0.400950330224,-0.0153657325392,0.0698139754242,0.999999924824,0.000246064824414,-0.00029936673167,1.35505109049e-05,1793193497271930880
+395,6.583333333,POSE2_TO_POSE3_RETREAT,764,742.394170458,712,672,659,633,877,784.394170458,799.605829542,649,628.605829542,650,0.40095069173,-0.015364241521,0.0698141461479,0.999999924544,0.000246836428653,-0.000299680591219,1.32379488533e-05,1793193497288597504
+396,6.600000000,POSE2_TO_POSE3_RETREAT,764,742,712,672.194173071,659,633,877.194173071,784,799.805826929,649,629,650.194173071,0.400951020231,-0.0153637263328,0.0698144404842,0.99999992451,0.00024721164832,-0.000299485836308,1.31830041054e-05,1793193497305263872
+397,6.616666667,POSE2_TO_POSE3_RETREAT,764,742,712,672.771951163,659,633,877.771951163,784,799.228048837,649,629,650.771951163,0.400951283524,-0.0153651389776,0.069814979027,0.999999924964,0.000246803777311,-0.000298286271283,1.36370037468e-05,1793193497321930496
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_07/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_07/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e19474353e54b8f9c761092737a6b5dfd6982b7c
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_07/depth_03/simulation_data.csv
@@ -0,0 +1,399 @@
+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,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+1,0.016666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+2,0.033333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+3,0.050000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+4,0.066666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+5,0.083333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+6,0.100000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+7,0.116666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+8,0.133333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+9,0.150000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+10,0.166666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+11,0.183333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+12,0.200000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+13,0.216666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+14,0.233333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+15,0.250000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+16,0.266666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+17,0.283333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+18,0.300000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+19,0.316666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+20,0.333333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+21,0.350000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+22,0.366666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+23,0.383333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+24,0.400000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+25,0.416666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+26,0.433333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+27,0.450000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+28,0.466666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+29,0.483333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+30,0.500000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+31,0.516666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+32,0.533333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+33,0.550000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+34,0.566666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+35,0.583333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+36,0.600000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+37,0.616666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+38,0.633333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+39,0.650000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+40,0.666666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+41,0.683333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+42,0.700000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+43,0.716666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+44,0.733333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+45,0.750000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+46,0.766666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+47,0.783333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+48,0.800000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+49,0.816666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+50,0.833333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+51,0.850000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+52,0.866666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+53,0.883333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+54,0.900000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+55,0.916666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+56,0.933333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+57,0.950000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+58,0.966666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+59,0.983333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+60,1.000000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+61,1.016666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+62,1.033333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+63,1.050000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+64,1.066666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+65,1.083333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+66,1.100000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+67,1.116666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+68,1.133333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+69,1.150000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+70,1.166666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+71,1.183333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+72,1.200000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+73,1.216666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+74,1.233333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+75,1.250000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+76,1.266666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+77,1.283333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+78,1.300000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+79,1.316666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+80,1.333333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+81,1.350000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+82,1.366666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+83,1.383333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+84,1.400000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+85,1.416666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+86,1.433333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+87,1.450000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+88,1.466666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+89,1.483333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+90,1.500000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+91,1.516666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+92,1.533333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+93,1.550000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+94,1.566666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+95,1.583333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+96,1.600000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+97,1.616666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+98,1.633333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+99,1.650000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+100,1.666666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+101,1.683333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+102,1.700000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+103,1.716666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+104,1.733333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+105,1.750000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+106,1.766666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+107,1.783333333,pose1_to_pose2_press,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+108,1.800000000,pose1_to_pose2_press,0.575709265481,-0.00994537965,1.06002922722,0.546279996576,-0.00127264731989,1.05969851667
+109,1.816666667,pose1_to_pose2_press,0.575709464625,-0.00994536771996,1.06002926363,0.546280195356,-0.00127263653684,1.05969855533
+110,1.833333333,pose1_to_pose2_press,0.575709746659,-0.00994529646775,1.06002925198,0.546280474967,-0.00127257340623,1.05969854633
+111,1.850000000,pose1_to_pose2_press,0.575709942263,-0.00994527757121,1.06002924134,0.54628067,-0.0012725564301,1.05969853622
+112,1.866666667,pose1_to_pose2_press,0.575710037191,-0.00994528195303,1.06002923504,0.546280765142,-0.00127256009546,1.05969852959
+113,1.883333333,pose1_to_pose2_press,0.575710821312,-0.00994531814777,1.06002918301,0.546281551039,-0.00127259037216,1.05969847484
+114,1.900000000,pose1_to_pose2_press,0.575712774716,-0.0099454108789,1.06002913859,0.546283505614,-0.0012726790485,1.05969843241
+115,1.916666667,pose1_to_pose2_press,0.575716750059,-0.00994544316607,1.06002913616,0.546287481037,-0.00127271104037,1.05969843056
+116,1.933333333,pose1_to_pose2_press,0.575725235323,-0.00994545508124,1.06002923474,0.546295966625,-0.00127272184584,1.05969852939
+117,1.950000000,pose1_to_pose2_press,0.575739877096,-0.00994551672101,1.06002914626,0.546310606734,-0.00127278932894,1.05969843571
+118,1.966666667,pose1_to_pose2_press,0.575764248824,-0.00994542010915,1.06002910621,0.546334978257,-0.00127269339219,1.05969839617
+119,1.983333333,pose1_to_pose2_press,0.57579862827,-0.00994543774408,1.06002902138,0.546369358349,-0.0012727087076,1.0596983146
+120,2.000000000,pose1_to_pose2_press,0.57584324352,-0.00994542453118,1.06002903612,0.546413973262,-0.00127269680499,1.05969832485
+121,2.016666667,pose1_to_pose2_press,0.575897310768,-0.00994544046497,1.06002913765,0.546468041101,-0.0012727105515,1.05969843116
+122,2.033333333,pose1_to_pose2_press,0.575961693449,-0.00994541753119,1.06002914654,0.546532424285,-0.00127268578482,1.05969844325
+123,2.050000000,pose1_to_pose2_press,0.576036996294,-0.00994537137715,1.06002925081,0.546607725813,-0.00127264445306,1.05969853822
+124,2.066666667,pose1_to_pose2_press,0.57612397787,-0.00994529522172,1.06002907311,0.546694707028,-0.00127256957517,1.05969835908
+125,2.083333333,pose1_to_pose2_press,0.576227155224,-0.00994532349158,1.06002915682,0.54679788368,-0.00127260035063,1.05969843954
+126,2.100000000,pose1_to_pose2_press,0.57634649819,-0.00994524600721,1.06002907492,0.546917225484,-0.00127252633146,1.05969837019
+127,2.116666667,pose1_to_pose2_press,0.576484026492,-0.0099453067394,1.06002937106,0.5470547556,-0.00127258144756,1.059698652
+128,2.133333333,pose1_to_pose2_press,0.576638350838,-0.00994537619532,1.0600291146,0.547209079589,-0.00127265180943,1.05969840358
+129,2.150000000,pose1_to_pose2_press,0.576810337843,-0.009945486408,1.06002934243,0.547381069524,-0.00127275206858,1.05969863151
+130,2.166666667,pose1_to_pose2_press,0.577003753182,-0.00994545191873,1.06002913907,0.547574484268,-0.00127271941152,1.059698433
+131,2.183333333,pose1_to_pose2_press,0.577219311737,-0.00994544422954,1.06002910293,0.547790042298,-0.00127271347854,1.05969839757
+132,2.200000000,pose1_to_pose2_press,0.577459961819,-0.00994542664614,1.06002900958,0.548030691512,-0.00127269909199,1.05969829749
+133,2.216666667,pose1_to_pose2_press,0.577723771903,-0.00994549865201,1.06002901738,0.548294502364,-0.00127276872983,1.05969829903
+134,2.233333333,pose1_to_pose2_press,0.578010429606,-0.0099455587893,1.06002915846,0.548581161424,-0.00127282401645,1.05969844644
+135,2.250000000,pose1_to_pose2_press,0.578317570266,-0.00994542268568,1.06002912407,0.548888301846,-0.00127268837552,1.05969842114
+136,2.266666667,pose1_to_pose2_press,0.578645358752,-0.00994549772027,1.06002910409,0.549216090761,-0.00127276181644,1.05969840464
+137,2.283333333,pose1_to_pose2_press,0.578996163911,-0.00994548466048,1.06002910591,0.549566894984,-0.00127275194252,1.05969840625
+138,2.300000000,pose1_to_pose2_press,0.579369730906,-0.00994536445451,1.06002917701,0.549940461404,-0.00127263397432,1.05969846966
+139,2.316666667,pose1_to_pose2_press,0.579767027275,-0.00994537151166,1.06002922742,0.550337757922,-0.00127264051601,1.0596985203
+140,2.333333333,pose1_to_pose2_press,0.580184432917,-0.00994547398225,1.06002903142,0.550755164079,-0.00127274085333,1.05969833439
+141,2.350000000,pose1_to_pose2_press,0.580622033909,-0.00994541587116,1.06002892263,0.551192763631,-0.00127268796544,1.05969821666
+142,2.366666667,pose1_to_pose2_press,0.581081480895,-0.00994543819505,1.06002908118,0.551652210906,-0.00127270949854,1.05969837021
+143,2.383333333,pose1_to_pose2_press,0.581566066889,-0.00994552825099,1.06002925272,0.552136799148,-0.00127279192991,1.05969854167
+144,2.400000000,pose1_to_pose2_press,0.582088638551,-0.00994543815116,1.06002917895,0.552659368949,-0.00127270832661,1.05969846307
+145,2.416666667,pose1_to_pose2_press,0.582643602738,-0.00994534720037,1.06002918598,0.553214331978,-0.00127262115048,1.05969847407
+146,2.433333333,pose1_to_pose2_press,0.583225204013,-0.00994549523562,1.06002932684,0.553795934329,-0.00127276595932,1.05969860379
+147,2.450000000,pose1_to_pose2_press,0.583826358865,-0.0099453622391,1.06002927561,0.554397087967,-0.00127263700366,1.05969855462
+148,2.466666667,pose1_to_pose2_press,0.584444728197,-0.00994537072292,1.06002905951,0.555015456665,-0.00127264718094,1.05969835046
+149,2.483333333,pose1_to_pose2_press,0.585076766393,-0.00994532808795,1.06002912173,0.555647495945,-0.00127260064304,1.05969841851
+150,2.500000000,pose1_to_pose2_press,0.585728390771,-0.00994533567177,1.0600291107,0.556299120961,-0.00127260615581,1.05969840502
+151,2.516666667,pose1_to_pose2_press,0.58641289534,-0.00994538644316,1.06002902654,0.556983624443,-0.00127266057814,1.05969832186
+152,2.533333333,pose1_to_pose2_press,0.58711862293,-0.00994538974852,1.06002913846,0.557689351605,-0.00127266549522,1.05969842954
+153,2.550000000,pose1_to_pose2_press,0.587835975555,-0.00994546718715,1.06002919916,0.55840670592,-0.00127273744577,1.05969848381
+154,2.566666667,pose1_to_pose2_press,0.588557845641,-0.0099454987999,1.06002924392,0.559128576947,-0.00127276579436,1.05969853045
+155,2.583333333,pose1_to_pose2_press,0.589282066034,-0.00994558348173,1.06002904428,0.559852797307,-0.00127285045385,1.05969833431
+156,2.600000000,pose1_to_pose2_press,0.59001614904,-0.00994527106072,1.06002917749,0.560586878083,-0.00127254564473,1.05969846632
+157,2.616666667,pose1_to_pose2_press,0.590770201528,-0.00994551339549,1.06002924882,0.561340932813,-0.0012727801138,1.05969854441
+158,2.633333333,pose1_to_pose2_press,0.591556996914,-0.00994540109708,1.06002925865,0.562127727776,-0.00127266946743,1.05969854853
+159,2.650000000,pose1_to_pose2_press,0.592369196966,-0.00994543384952,1.06002913654,0.562939926395,-0.00127270702186,1.05969842812
+160,2.666666667,pose1_to_pose2_press,0.593203632504,-0.00994539401957,1.06002916507,0.563774363043,-0.00127266348975,1.05969845491
+161,2.683333333,pose1_to_pose2_press,0.594036823246,-0.00994538059689,1.06002921013,0.56460755332,-0.00127265154933,1.05969850251
+162,2.700000000,pose1_to_pose2_press,0.59486405236,-0.0099454734518,1.06002889893,0.565434782717,-0.00127274346259,1.05969819087
+163,2.716666667,pose1_to_pose2_press,0.595672559923,-0.00994534546576,1.06002887913,0.566243288615,-0.00127262061407,1.05969818453
+164,2.733333333,pose1_to_pose2_press,0.596471375117,-0.00994548627016,1.06002914633,0.567042105338,-0.00127275687265,1.05969843491
+165,2.750000000,pose1_to_pose2_press,0.597270700231,-0.00994543598687,1.06002916342,0.567841429936,-0.00127270839187,1.05969845062
+166,2.766666667,pose1_to_pose2_press,0.598083551179,-0.00994543126784,1.06002941377,0.568654281117,-0.00127270300126,1.05969869793
+167,2.783333333,pose1_to_pose2_press,0.598914981687,-0.00994544310909,1.06002940752,0.569485713148,-0.00127270954691,1.05969869517
+168,2.800000000,pose1_to_pose2_press,0.59976185988,-0.00994542481886,1.06002911181,0.570332588151,-0.00127270160243,1.05969841198
+169,2.816666667,pose1_to_pose2_press,0.60061732405,-0.00994533000219,1.06002915782,0.571188053415,-0.00127260345903,1.05969844792
+170,2.833333333,pose1_to_pose2_press,0.601474882363,-0.00994543128233,1.06002915464,0.572045613399,-0.00127269898644,1.05969844704
+171,2.850000000,pose1_to_pose2_press,0.60231902795,-0.00994537387816,1.06002928494,0.572889756745,-0.00127264935728,1.05969857299
+172,2.866666667,pose1_to_pose2_press,0.603140178123,-0.00994545912009,1.06002931619,0.573710909714,-0.00127272535204,1.05969859796
+173,2.883333333,pose1_to_pose2_press,0.603931086583,-0.00994538944208,1.06002935108,0.574501817727,-0.00127265680714,1.059698643
+174,2.900000000,pose1_to_pose2_press,0.604689300713,-0.00994542138432,1.06002900505,0.575260032522,-0.00127268631294,1.05969830178
+175,2.916666667,pose1_to_pose2_press,0.605434482937,-0.00994538839179,1.06002915979,0.576005213266,-0.00127265861388,1.05969844945
+176,2.933333333,pose1_to_pose2_press,0.606175645156,-0.00994533117069,1.06002915192,0.576746375412,-0.00127260161672,1.05969844228
+177,2.950000000,pose1_to_pose2_press,0.606922727002,-0.00994532394391,1.06002916359,0.577493454537,-0.00127260367453,1.05969845265
+178,2.966666667,pose1_to_pose2_press,0.607679808066,-0.00994555174504,1.06002888,0.578250539081,-0.00127281933781,1.05969817784
+179,2.983333333,pose1_to_pose2_press,0.608441431383,-0.00994559742675,1.0600291275,0.579012162731,-0.00127286412757,1.05969841923
+180,3.000000000,pose1_to_pose2_press,0.609173582307,-0.0099454938923,1.06002904103,0.579744312774,-0.00127276364626,1.05969833114
+181,3.016666667,pose1_to_pose2_press,0.609871524485,-0.00994555365871,1.06002915778,0.580442255643,-0.00127282115248,1.05969844571
+182,3.033333333,pose1_to_pose2_press,0.610526265315,-0.0099454840767,1.0600291446,0.581096995615,-0.00127275436263,1.05969843579
+183,3.050000000,pose1_to_pose2_press,0.611144946463,-0.00994546468931,1.06002913758,0.581715676175,-0.00127273686438,1.05969843157
+184,3.066666667,pose1_to_pose2_press,0.61172813381,-0.00994542944853,1.06002912286,0.582298864393,-0.00127269868149,1.05969841655
+185,3.083333333,pose1_to_pose2_press,0.612284089987,-0.00994537129501,1.06002900714,0.582854819481,-0.00127264400183,1.05969830654
+186,3.100000000,pose1_to_pose2_press,0.612814562554,-0.00994537666347,1.06002910434,0.583385292544,-0.00127264761476,1.05969840356
+187,3.116666667,pose1_to_pose2_press,0.61332838431,-0.0099453638162,1.06002902221,0.583899113776,-0.00127263633812,1.0596983206
+188,3.133333333,pose1_to_pose2_press,0.613830304122,-0.00994533043935,1.06002906825,0.584401033126,-0.00127260435157,1.05969835074
+189,3.150000000,pose1_to_pose2_press,0.614323354157,-0.0099455047333,1.06002914254,0.584894083383,-0.00127277710707,1.05969842993
+190,3.166666667,pose1_to_pose2_press,0.61480211136,-0.00994539316455,1.06002906813,0.585372840832,-0.00127266337931,1.05969835649
+191,3.183333333,pose1_to_pose2_press,0.61526124013,-0.00994555634283,1.06002913515,0.585831972846,-0.00127281440879,1.0596984229
+192,3.200000000,pose1_to_pose2_press,0.615685518655,-0.00994544359329,1.06002916199,0.586256248219,-0.00127271154365,1.05969844877
+193,3.216666667,pose1_to_pose2_press,0.616074050954,-0.00994545303023,1.06002903654,0.586644780068,-0.00127272307898,1.05969833062
+194,3.233333333,pose1_to_pose2_press,0.616429608506,-0.00994539097873,1.06002918972,0.587000336677,-0.00127266238073,1.05969848311
+195,3.250000000,pose1_to_pose2_press,0.616759223594,-0.00994546702225,1.06002918388,0.587329951159,-0.00127273907954,1.05969847665
+196,3.266666667,pose1_to_pose2_press,0.617065667858,-0.0099455524231,1.06002905446,0.58763639598,-0.00127282166979,1.05969835133
+197,3.283333333,pose1_to_pose2_press,0.617358226308,-0.00994544194561,1.06002915111,0.587928953838,-0.00127271276269,1.05969844053
+198,3.300000000,pose1_to_pose2_press,0.617638046652,-0.00994535188422,1.06002905639,0.588208773689,-0.00127262363079,1.05969834741
+199,3.316666667,pose1_to_pose2_press,0.617896305984,-0.00994536771348,1.06002900466,0.588467032888,-0.00127263906413,1.05969830087
+200,3.333333333,pose1_to_pose2_press,0.618134275397,-0.00994537591036,1.06002924169,0.588705001285,-0.00127265062652,1.05969852526
+201,3.350000000,pose1_to_pose2_press,0.618351907051,-0.00994553469091,1.06002905071,0.588922634963,-0.00127280192116,1.05969833713
+202,3.366666667,pose1_to_pose2_press,0.618549808902,-0.0099455624791,1.06002931768,0.589120537434,-0.00127282730813,1.0596985966
+203,3.383333333,pose1_to_pose2_press,0.618726859105,-0.00994549514783,1.06002925612,0.58929758401,-0.00127277174711,1.05969853639
+204,3.400000000,pose1_to_pose2_press,0.618889006254,-0.00994540803069,1.06002906692,0.589459731116,-0.00127268417166,1.05969835151
+205,3.416666667,pose1_to_pose2_press,0.61903638768,-0.00994533928147,1.06002901756,0.589607113733,-0.00127261062526,1.0596983126
+206,3.433333333,pose1_to_pose2_press,0.619166681946,-0.00994543349257,1.06002902195,0.589737408839,-0.00127270145314,1.05969832229
+207,3.450000000,pose1_to_pose2_press,0.619280966565,-0.00994536530741,1.06002910601,0.58985169324,-0.00127263392839,1.05969840019
+208,3.466666667,pose1_to_pose2_press,0.619377982318,-0.00994543090847,1.06002901298,0.58994870997,-0.00127269563833,1.05969831478
+209,3.483333333,pose1_to_pose2_press,0.619459995511,-0.00994543590276,1.06002916852,0.5900307214,-0.00127270681915,1.05969845683
+210,3.500000000,pose1_to_pose2_press,0.619527001802,-0.00994553897624,1.06002911784,0.59009772951,-0.00127280292667,1.05969841061
+211,3.516666667,pose1_to_pose2_press,0.61958224417,-0.00994556120378,1.06002900964,0.590152971046,-0.00127282807776,1.05969830305
+212,3.533333333,pose1_to_pose2_press,0.619626940782,-0.00994550259282,1.06002889798,0.590197666945,-0.00127277230551,1.05969819249
+213,3.550000000,pose1_to_pose2_press,0.619663237471,-0.00994526847369,1.06002924095,0.590233961895,-0.00127254419923,1.05969852887
+214,3.566666667,pose1_to_pose2_press,0.619692670288,-0.00994552395164,1.06002929839,0.590263396714,-0.00127279274635,1.05969858271
+215,3.583333333,pose1_to_pose2_press,0.619715418523,-0.00994549528975,1.0600291224,0.59028614623,-0.00127275912269,1.05969841231
+216,3.600000000,pose1_to_pose2_press,0.619733173893,-0.00994541785363,1.06002915478,0.59030390089,-0.0012726841918,1.05969844416
+217,3.616666667,pose1_to_pose2_press,0.619746246575,-0.00994539509943,1.06002925051,0.590316971747,-0.00127266799403,1.05969853763
+218,3.633333333,pose1_to_pose2_press,0.619755412668,-0.00994536120693,1.06002914994,0.590326136315,-0.00127263911228,1.05969844179
+219,3.650000000,pose1_to_pose2_press,0.619761474442,-0.00994532369615,1.06002914128,0.590332199818,-0.00127259576462,1.05969843268
+220,3.666666667,pose1_to_pose2_press,0.619765289729,-0.00994530096067,1.06002914479,0.590336014845,-0.00127257380109,1.0596984353
+221,3.683333333,pose1_to_pose2_press,0.619767642175,-0.00994528764154,1.06002915411,0.590338366053,-0.00127256451526,1.05969844361
+222,3.700000000,pose1_to_pose2_press,0.619768844588,-0.00994528083369,1.06002915887,0.590339567834,-0.00127255976896,1.05969844786
+223,3.716666667,pose1_to_pose2_press,0.619769769878,-0.00994531135929,1.06002918934,0.590340493848,-0.00127258784293,1.05969847841
+224,3.733333333,pose1_to_pose2_press,0.619770596036,-0.00994534496084,1.0600292213,0.590341320867,-0.00127261853896,1.05969851053
+225,3.750000000,pose1_to_pose2_press,0.619771320407,-0.00994537442251,1.06002924932,0.590342045993,-0.00127264545308,1.0596985387
+226,3.766666667,pose1_to_pose2_press,0.619771970027,-0.00994540084388,1.06002927445,0.59034269629,-0.0012726695898,1.05969856395
+227,3.783333333,pose1_to_pose2_press,0.619772424297,-0.00994540164728,1.0600292842,0.590343150432,-0.00127267093901,1.05969857295
+228,3.800000000,pose1_to_pose2_press,0.619772559445,-0.0099453983506,1.06002928554,0.590343285423,-0.00127266823355,1.05969857389
+229,3.816666667,pose1_to_pose2_press,0.619772675824,-0.00994539551178,1.06002928669,0.590343401665,-0.00127266590383,1.05969857471
+230,3.833333333,pose1_to_pose2_press,0.619772776867,-0.00994539304702,1.06002928769,0.59034350259,-0.00127266388109,1.05969857541
+231,3.850000000,pose1_to_pose2_press,0.619772819053,-0.00994539201799,1.0600292881,0.590343544726,-0.0012726630366,1.0596985757
+232,3.866666667,pose1_to_pose2_press,0.619773171722,-0.0099453834153,1.06002929159,0.590343896984,-0.00127265597668,1.05969857816
+233,3.883333333,pose1_to_pose2_press,0.619773645237,-0.00994537186484,1.06002929627,0.590344369944,-0.00127264649763,1.05969858147
+234,3.900000000,pose1_to_pose2_press,0.619773989792,-0.00994534199921,1.0600292277,0.590344714643,-0.0012726159646,1.05969851509
+235,3.916666667,pose1_to_pose2_press,0.619774162211,-0.00994532325604,1.06002918064,0.590344887231,-0.0012725965026,1.05969846971
+236,3.933333333,pose1_to_pose2_press,0.619774171088,-0.00994532229099,1.06002917822,0.590344896117,-0.00127259550053,1.05969846737
+237,3.950000000,pose1_to_pose2_press,0.619774203995,-0.00994531871379,1.06002916924,0.590344929056,-0.00127259178614,1.05969845871
+238,3.966666667,pose1_to_pose2_press,0.6197742559,-0.009945321019,1.06002915945,0.590344981105,-0.00127259357264,1.05969844914
+239,3.983333333,pose1_to_pose2_press,0.61977428486,-0.00994533302935,1.0600291599,0.590345010271,-0.00127260488564,1.05969844934
+240,4.000000000,pose1_to_pose2_press,0.619774318918,-0.00994534715408,1.06002916042,0.590345044572,-0.00127261819026,1.05969844957
+241,4.016666667,pose1_to_pose2_press,0.619774429209,-0.00994539289455,1.06002916212,0.590345155649,-0.00127266127495,1.0596984503
+242,4.033333333,pose1_to_pose2_press,0.619774431419,-0.009945393811,1.06002916216,0.590345157875,-0.00127266213818,1.05969845032
+243,4.050000000,pose1_to_pose2_press,0.619774465005,-0.00994540774002,1.06002916268,0.5903451917,-0.00127267525846,1.05969845054
+244,4.066666667,pose1_to_pose2_press,0.619774447622,-0.0099454184219,1.0600291161,0.590345173154,-0.00127268946069,1.05969841412
+245,4.083333333,pose2_hold,0.619774447622,-0.0099454184219,1.0600291161,0.590345173161,-0.0012726894602,1.05969841412
+246,4.100000000,pose2_hold,0.619774447622,-0.0099454184219,1.0600291161,0.590345173162,-0.00127268946058,1.05969841412
+247,4.116666667,pose2_hold,0.619774447622,-0.0099454184219,1.0600291161,0.590345173162,-0.00127268946073,1.05969841412
+248,4.133333333,pose2_hold,0.619774447622,-0.0099454184219,1.0600291161,0.590345173162,-0.00127268946029,1.05969841412
+249,4.150000000,pose2_hold,0.619774447622,-0.0099454184219,1.0600291161,0.590345173162,-0.00127268945988,1.05969841412
+250,4.166666667,pose2_hold,0.619774447622,-0.0099454184219,1.0600291161,0.590345173163,-0.00127268946057,1.05969841412
+251,4.183333333,pose2_hold,0.619774447622,-0.0099454184219,1.0600291161,0.590345173163,-0.00127268946011,1.05969841412
+252,4.200000000,pose2_hold,0.619774447622,-0.0099454184219,1.0600291161,0.590345173164,-0.00127268946011,1.05969841412
+253,4.216666667,pose2_hold,0.619774447622,-0.0099454184219,1.0600291161,0.590345173164,-0.00127268946038,1.05969841412
+254,4.233333333,pose2_hold,0.619774447622,-0.0099454184219,1.0600291161,0.590345173164,-0.00127268945993,1.05969841412
+255,4.250000000,pose2_hold,0.619774447622,-0.0099454184219,1.0600291161,0.590345173164,-0.00127268945993,1.05969841412
+256,4.266666667,pose2_hold,0.619774447622,-0.0099454184219,1.0600291161,0.590345173165,-0.00127268946023,1.05969841412
+257,4.283333333,pose2_hold,0.619774447622,-0.0099454184219,1.0600291161,0.590345173165,-0.00127268945979,1.05969841412
+258,4.300000000,pose2_hold,0.619774447622,-0.0099454184219,1.0600291161,0.590345173166,-0.00127268945866,1.05969841412
+259,4.316666667,pose2_hold,0.619774447622,-0.0099454184219,1.0600291161,0.590345173165,-0.00127268945967,1.05969841412
+260,4.333333333,pose2_hold,0.619774447622,-0.0099454184219,1.0600291161,0.590345173166,-0.00127268945964,1.05969841412
+261,4.350000000,pose2_hold,0.619774447622,-0.0099454184219,1.0600291161,0.590345173166,-0.00127268945999,1.05969841412
+262,4.366666667,pose2_hold,0.619774447622,-0.0099454184219,1.0600291161,0.590345173166,-0.00127268945954,1.05969841412
+263,4.383333333,pose2_to_pose3_retreat,0.619774476928,-0.0099453869427,1.06002915415,0.590345203486,-0.00127265487912,1.05969844371
+264,4.400000000,pose2_to_pose3_retreat,0.619774477937,-0.00994538809719,1.06002926383,0.590345203969,-0.00127265787237,1.05969855192
+265,4.416666667,pose2_to_pose3_retreat,0.619774478908,-0.00994538920747,1.06002936931,0.590345204434,-0.001272660751,1.05969865598
+266,4.433333333,pose2_to_pose3_retreat,0.619774450799,-0.00994539416215,1.06002940749,0.590345176057,-0.00127266661138,1.0596986939
+267,4.450000000,pose2_to_pose3_retreat,0.619774375209,-0.00994540591693,1.06002937939,0.59034510038,-0.00127267859858,1.05969866688
+268,4.466666667,pose2_to_pose3_retreat,0.619774174716,-0.00994543709529,1.06002930485,0.590344899655,-0.00127271039341,1.0596985952
+269,4.483333333,pose2_to_pose3_retreat,0.61977275791,-0.00994536584331,1.06002925313,0.590343484368,-0.00127263389766,1.05969854974
+270,4.500000000,pose2_to_pose3_retreat,0.619768444127,-0.00994535696561,1.06002934132,0.590339169498,-0.00127262930927,1.05969862221
+271,4.516666667,pose2_to_pose3_retreat,0.619758781262,-0.0099455143968,1.06002903609,0.590329508722,-0.00127277897523,1.05969833158
+272,4.533333333,pose2_to_pose3_retreat,0.619740080629,-0.00994537786032,1.06002918777,0.590310804185,-0.00127265595008,1.05969847602
+273,4.550000000,pose2_to_pose3_retreat,0.619710561214,-0.00994545739704,1.06002928253,0.590281287708,-0.00127272582655,1.0596985696
+274,4.566666667,pose2_to_pose3_retreat,0.619670167182,-0.00994543652083,1.06002915907,0.590240892013,-0.00127271064513,1.05969844877
+275,4.583333333,pose2_to_pose3_retreat,0.619619172126,-0.00994544260154,1.06002926287,0.590189897366,-0.00127271561586,1.05969854721
+276,4.600000000,pose2_to_pose3_retreat,0.619555434537,-0.00994536487705,1.06002911199,0.590126160141,-0.00127263673363,1.05969840581
+277,4.616666667,pose2_to_pose3_retreat,0.619480591623,-0.0099453873977,1.06002929535,0.590051317524,-0.00127265881366,1.05969858117
+278,4.633333333,pose2_to_pose3_retreat,0.619394373462,-0.00994544642636,1.06002906046,0.589965099076,-0.00127271862891,1.05969835303
+279,4.650000000,pose2_to_pose3_retreat,0.619293192351,-0.00994546378188,1.06002923209,0.589863918541,-0.00127273406857,1.05969852266
+280,4.666666667,pose2_to_pose3_retreat,0.619176399501,-0.00994541337669,1.06002928861,0.589747125983,-0.00127268342342,1.05969857298
+281,4.683333333,pose2_to_pose3_retreat,0.619041302904,-0.00994547763187,1.06002917273,0.589612029037,-0.00127274918216,1.05969845789
+282,4.700000000,pose2_to_pose3_retreat,0.61888672295,-0.00994542964836,1.06002926809,0.589457449404,-0.00127270029891,1.05969855873
+283,4.716666667,pose2_to_pose3_retreat,0.618706599054,-0.00994532040562,1.06002905265,0.589277325458,-0.00127259147751,1.05969834853
+284,4.733333333,pose2_to_pose3_retreat,0.618503170837,-0.00994539502101,1.06002910896,0.589073898701,-0.00127266195089,1.05969839959
+285,4.750000000,pose2_to_pose3_retreat,0.61827643319,-0.00994539884191,1.06002907653,0.588847160455,-0.00127266834367,1.05969836895
+286,4.766666667,pose2_to_pose3_retreat,0.618028010375,-0.00994539853336,1.06002927523,0.588598737907,-0.00127266802686,1.0596985599
+287,4.783333333,pose2_to_pose3_retreat,0.61775924807,-0.00994539408073,1.06002921262,0.588329975308,-0.0012726651406,1.05969850049
+288,4.800000000,pose2_to_pose3_retreat,0.6174706802,-0.00994544115568,1.06002891955,0.588041406969,-0.00127271427038,1.05969821807
+289,4.816666667,pose2_to_pose3_retreat,0.617161526492,-0.00994539818636,1.06002901367,0.587732252305,-0.00127267562971,1.05969830634
+290,4.833333333,pose2_to_pose3_retreat,0.616829166578,-0.009945356182,1.06002904579,0.58739989248,-0.00127263371025,1.05969834231
+291,4.850000000,pose2_to_pose3_retreat,0.616473962985,-0.00994543113146,1.06002910984,0.587044691662,-0.00127270016514,1.05969840404
+292,4.866666667,pose2_to_pose3_retreat,0.616095761127,-0.00994541733341,1.06002903052,0.586666488965,-0.00127269027923,1.05969832059
+293,4.883333333,pose2_to_pose3_retreat,0.615697066567,-0.00994537109383,1.06002904589,0.586267794499,-0.00127264472277,1.05969833285
+294,4.900000000,pose2_to_pose3_retreat,0.615276564036,-0.00994545317247,1.0600289752,0.585847293419,-0.00127272225882,1.05969827765
+295,4.916666667,pose2_to_pose3_retreat,0.614826717304,-0.00994544195282,1.06002905415,0.585397447455,-0.00127271005305,1.05969833904
+296,4.933333333,pose2_to_pose3_retreat,0.614342969148,-0.00994548875285,1.06002905962,0.584913699339,-0.00127275753504,1.05969834554
+297,4.950000000,pose2_to_pose3_retreat,0.613819429773,-0.00994555462984,1.0600291196,0.584390161734,-0.00127281808481,1.05969841492
+298,4.966666667,pose2_to_pose3_retreat,0.613261638268,-0.0099455175366,1.06002903191,0.583832371106,-0.00127277919458,1.05969832362
+299,4.983333333,pose2_to_pose3_retreat,0.612674516786,-0.00994533862762,1.06002913573,0.583245245259,-0.00127261625668,1.05969842663
+300,5.000000000,pose2_to_pose3_retreat,0.612069870914,-0.00994537639767,1.06002911238,0.582640601408,-0.00127264798179,1.05969841111
+301,5.016666667,pose2_to_pose3_retreat,0.611452349163,-0.00994546836595,1.06002901703,0.582023080872,-0.00127273703039,1.05969831293
+302,5.033333333,pose2_to_pose3_retreat,0.610820474716,-0.0099455785408,1.06002913845,0.58139120836,-0.00127284204402,1.05969842875
+303,5.050000000,pose2_to_pose3_retreat,0.610162620675,-0.00994553154763,1.06002928716,0.580733353997,-0.0012727977437,1.05969856924
+304,5.066666667,pose2_to_pose3_retreat,0.609472783227,-0.00994539513711,1.06002920321,0.580043515093,-0.00127266726462,1.05969848689
+305,5.083333333,pose2_to_pose3_retreat,0.608750151332,-0.00994549819246,1.06002914336,0.57932088427,-0.00127276732911,1.05969843626
+306,5.100000000,pose2_to_pose3_retreat,0.607999725349,-0.00994549254619,1.06002914404,0.578570459169,-0.00127276026325,1.05969843786
+307,5.116666667,pose2_to_pose3_retreat,0.607228339046,-0.00994543775234,1.06002925344,0.577799071646,-0.00127270791775,1.05969854373
+308,5.133333333,pose2_to_pose3_retreat,0.606436126528,-0.00994533945093,1.0600289285,0.57700685881,-0.00127261059648,1.05969822827
+309,5.150000000,pose2_to_pose3_retreat,0.605617686335,-0.00994540401687,1.06002911369,0.576188417784,-0.00127267630967,1.05969840605
+310,5.166666667,pose2_to_pose3_retreat,0.604782589691,-0.00994549284706,1.06002880822,0.575353320817,-0.00127276646645,1.05969810488
+311,5.183333333,pose2_to_pose3_retreat,0.60393472415,-0.00994544635909,1.06002910818,0.574505456281,-0.00127271749928,1.05969840225
+312,5.200000000,pose2_to_pose3_retreat,0.60308558786,-0.00994548305458,1.06002938187,0.573656319232,-0.00127275054135,1.05969867072
+313,5.216666667,pose2_to_pose3_retreat,0.602242133194,-0.00994557631962,1.06002915635,0.572812865851,-0.00127283863116,1.05969844924
+314,5.233333333,pose2_to_pose3_retreat,0.601406892374,-0.00994547337498,1.06002915834,0.571977621748,-0.00127274695814,1.05969844719
+315,5.250000000,pose2_to_pose3_retreat,0.600566669865,-0.00994546122667,1.06002925792,0.571137400141,-0.00127273172249,1.05969854627
+316,5.266666667,pose2_to_pose3_retreat,0.599714874876,-0.00994548212266,1.06002898803,0.570285605421,-0.00127275165477,1.05969827838
+317,5.283333333,pose2_to_pose3_retreat,0.598824151252,-0.00994548146987,1.06002934272,0.569394880557,-0.00127275554563,1.05969862428
+318,5.300000000,pose2_to_pose3_retreat,0.59789963677,-0.00994541499377,1.06002927277,0.568470366557,-0.00127268697299,1.05969856629
+319,5.316666667,pose2_to_pose3_retreat,0.59697737262,-0.00994544517155,1.06002925376,0.567548103702,-0.00127271274942,1.05969854689
+320,5.333333333,pose2_to_pose3_retreat,0.596069915408,-0.00994536585218,1.06002912663,0.566640646085,-0.00127263461643,1.05969842513
+321,5.350000000,pose2_to_pose3_retreat,0.595190735275,-0.0099453037802,1.06002935366,0.565761463597,-0.001272580653,1.05969864903
+322,5.366666667,pose2_to_pose3_retreat,0.594349827975,-0.00994563424624,1.06002916085,0.564920559961,-0.00127289882636,1.05969845245
+323,5.383333333,pose2_to_pose3_retreat,0.593542746359,-0.00994548110013,1.06002901337,0.564113478031,-0.0012727464861,1.05969831172
+324,5.400000000,pose2_to_pose3_retreat,0.592733868252,-0.00994555595089,1.0600292531,0.56330460078,-0.00127281905231,1.05969853517
+325,5.416666667,pose2_to_pose3_retreat,0.591916026249,-0.00994540476514,1.06002930276,0.562486756002,-0.00127267729094,1.05969858443
+326,5.433333333,pose2_to_pose3_retreat,0.591081520909,-0.00994538664111,1.0600291098,0.561652250053,-0.00127266102814,1.05969839583
+327,5.450000000,pose2_to_pose3_retreat,0.590240483337,-0.00994541807406,1.0600290423,0.560811212047,-0.0012726938881,1.05969832958
+328,5.466666667,pose2_to_pose3_retreat,0.589397856668,-0.00994531570515,1.0600290954,0.559968585642,-0.00127259027286,1.05969839261
+329,5.483333333,pose2_to_pose3_retreat,0.588587504492,-0.0099454561562,1.06002928755,0.559158236086,-0.00127272243027,1.05969856921
+330,5.500000000,pose2_to_pose3_retreat,0.587814769876,-0.00994546844622,1.06002928166,0.558385500539,-0.00127273769824,1.059698568
+331,5.516666667,pose2_to_pose3_retreat,0.587081283074,-0.00994529063474,1.06002918161,0.557652011759,-0.00127256644845,1.0596984716
+332,5.533333333,pose2_to_pose3_retreat,0.586381277487,-0.00994542517547,1.060029068,0.556952008036,-0.00127269471944,1.05969835714
+333,5.550000000,pose2_to_pose3_retreat,0.585706577389,-0.00994531866469,1.0600293043,0.556277307599,-0.00127258949658,1.05969858899
+334,5.566666667,pose2_to_pose3_retreat,0.585036341404,-0.00994528133957,1.06002924845,0.555607071159,-0.00127255360156,1.05969853553
+335,5.583333333,pose2_to_pose3_retreat,0.584366621617,-0.00994539539388,1.06002906882,0.55493735238,-0.0012726641159,1.05969835886
+336,5.600000000,pose2_to_pose3_retreat,0.583708625384,-0.00994548824919,1.06002901317,0.55427935562,-0.00127275861448,1.05969830703
+337,5.616666667,pose2_to_pose3_retreat,0.583071019533,-0.00994539177203,1.06002919222,0.553641748086,-0.00127266802729,1.05969848136
+338,5.633333333,pose2_to_pose3_retreat,0.582468012142,-0.00994540282009,1.06002917646,0.553038740904,-0.00127267827985,1.05969846835
+339,5.650000000,pose2_to_pose3_retreat,0.581897595977,-0.00994539428123,1.0600290388,0.552468326363,-0.00127266404634,1.05969833623
+340,5.666666667,pose2_to_pose3_retreat,0.581359931602,-0.00994544944727,1.06002911256,0.551930662259,-0.0012727184948,1.05969840413
+341,5.683333333,pose2_to_pose3_retreat,0.580851234023,-0.00994545384674,1.06002904051,0.551421965624,-0.00127271950375,1.05969833721
+342,5.700000000,pose2_to_pose3_retreat,0.580370894075,-0.00994535016972,1.06002917892,0.550941623154,-0.00127262448642,1.05969847326
+343,5.716666667,pose2_to_pose3_retreat,0.579922815831,-0.00994534731025,1.06002937664,0.550493544933,-0.00127262192488,1.0596986611
+344,5.733333333,pose2_to_pose3_retreat,0.579506514821,-0.00994543597096,1.06002917747,0.550077245464,-0.0012727051622,1.05969846654
+345,5.750000000,pose2_to_pose3_retreat,0.579123952134,-0.00994543801631,1.06002922648,0.549694683213,-0.00127270565896,1.05969851708
+346,5.766666667,pose2_to_pose3_retreat,0.578764900313,-0.00994539132148,1.0600294125,0.54933563061,-0.00127266179227,1.05969869845
+347,5.783333333,pose2_to_pose3_retreat,0.578426468471,-0.0099453966672,1.060029317,0.548997198596,-0.0012726678081,1.05969860093
+348,5.800000000,pose2_to_pose3_retreat,0.578105244175,-0.00994547881746,1.06002917781,0.548675976311,-0.00127274310932,1.05969846261
+349,5.816666667,pose2_to_pose3_retreat,0.577801827156,-0.00994549079714,1.06002911919,0.548372559137,-0.00127275551285,1.05969840659
+350,5.833333333,pose2_to_pose3_retreat,0.577519929814,-0.00994542421205,1.06002903253,0.54809065972,-0.00127269582724,1.05969832376
+351,5.850000000,pose2_to_pose3_retreat,0.577261451879,-0.0099455058745,1.06002915098,0.547832183918,-0.00127277037956,1.0596984388
+352,5.866666667,pose2_to_pose3_retreat,0.577030366155,-0.00994548669317,1.0600293131,0.547601098074,-0.00127275183881,1.05969859467
+353,5.883333333,pose2_to_pose3_retreat,0.576823645468,-0.00994541398021,1.06002917426,0.547394376132,-0.00127268315733,1.05969846184
+354,5.900000000,pose2_to_pose3_retreat,0.576641550358,-0.0099454471955,1.06002909425,0.547212281509,-0.001272714621,1.05969838439
+355,5.916666667,pose2_to_pose3_retreat,0.576481484835,-0.00994540283307,1.06002912858,0.547052215808,-0.00127267065298,1.05969842442
+356,5.933333333,pose2_to_pose3_retreat,0.576341674957,-0.00994537252069,1.06002914208,0.546912405355,-0.0012726423864,1.05969843536
+357,5.950000000,pose2_to_pose3_retreat,0.576221105785,-0.00994541033027,1.06002909768,0.546791835903,-0.00127268125496,1.05969838823
+358,5.966666667,pose2_to_pose3_retreat,0.576117273738,-0.00994538952416,1.06002917936,0.546688004275,-0.00127265895685,1.05969847204
+359,5.983333333,pose2_to_pose3_retreat,0.57603043274,-0.00994533020557,1.06002941575,0.546601162354,-0.00127260310498,1.05969869997
+360,6.000000000,pose2_to_pose3_retreat,0.575956991716,-0.00994532000172,1.06002928793,0.546527720945,-0.00127259394945,1.05969857879
+361,6.016666667,pose2_to_pose3_retreat,0.575896096095,-0.00994544984424,1.06002911923,0.546466826127,-0.00127272086712,1.05969841527
+362,6.033333333,pose2_to_pose3_retreat,0.575847811146,-0.00994541760241,1.06002917665,0.546418541467,-0.00127268809298,1.05969846086
+363,6.050000000,pose2_to_pose3_retreat,0.575809760188,-0.00994537847681,1.0600291568,0.546380491993,-0.00127264396288,1.05969844011
+364,6.066666667,pose2_to_pose3_retreat,0.57578060983,-0.00994539920243,1.06002902924,0.546351341549,-0.00127266465357,1.05969832112
+365,6.083333333,pose2_to_pose3_retreat,0.575759381085,-0.00994546183444,1.06002902064,0.546330112126,-0.00127272961839,1.05969831167
+366,6.100000000,pose2_to_pose3_retreat,0.575745302431,-0.00994540413316,1.06002921235,0.546316032332,-0.00127267584664,1.05969850185
+367,6.116666667,pose2_to_pose3_retreat,0.575734828855,-0.00994539182224,1.06002921376,0.546305558529,-0.00127266417681,1.05969850668
+368,6.133333333,pose2_to_pose3_retreat,0.575727471007,-0.00994540540955,1.06002911766,0.546298200944,-0.00127267666247,1.05969841601
+369,6.150000000,pose2_to_pose3_retreat,0.57572296031,-0.00994544672939,1.06002913424,0.546293690395,-0.00127271764588,1.05969842832
+370,6.166666667,pose2_to_pose3_retreat,0.575720157316,-0.0099454738127,1.06002914776,0.546290887491,-0.00127274453459,1.05969843886
+371,6.183333333,pose2_to_pose3_retreat,0.575718529543,-0.00994547886952,1.06002917209,0.54628925967,-0.00127274982772,1.0596984613
+372,6.200000000,pose2_to_pose3_retreat,0.575717315409,-0.00994545221677,1.06002923722,0.54628804521,-0.00127272434719,1.05969852457
+373,6.216666667,pose2_to_pose3_retreat,0.575716082851,-0.0099454251596,1.06002930334,0.546286812323,-0.00127269848003,1.05969858879
+374,6.233333333,pose2_to_pose3_retreat,0.575714824168,-0.00994539752891,1.06002937086,0.546285553302,-0.00127267206458,1.05969865438
+375,6.250000000,pose2_to_pose3_retreat,0.575713798516,-0.00994537545701,1.06002942535,0.546284527385,-0.00127265095243,1.0596987073
+376,6.266666667,pose2_to_pose3_retreat,0.575713431324,-0.00994540137334,1.06002940402,0.546284160768,-0.00127267488596,1.05969868682
+377,6.283333333,pose2_to_pose3_retreat,0.575713269895,-0.00994541276697,1.06002939464,0.546283999592,-0.00127268540788,1.05969867782
+378,6.300000000,pose2_to_pose3_retreat,0.575712753548,-0.00994544921069,1.06002936465,0.546283484053,-0.00127271906337,1.05969864902
+379,6.316666667,pose2_to_pose3_retreat,0.575712626873,-0.00994545815137,1.06002935729,0.546283357577,-0.00127272732002,1.05969864195
+380,6.333333333,pose2_to_pose3_retreat,0.575712317032,-0.00994548001987,1.06002933929,0.546283048222,-0.00127274751541,1.05969862467
+381,6.350000000,pose2_to_pose3_retreat,0.575711864172,-0.0099455119826,1.06002931298,0.546282596072,-0.00127277703274,1.05969859941
+382,6.366666667,pose2_to_pose3_retreat,0.57571153023,-0.00994553555221,1.06002929358,0.546282262652,-0.00127279879909,1.05969858078
+383,6.383333333,pose2_to_pose3_retreat,0.575711438579,-0.0099455420209,1.06002928826,0.546282171145,-0.00127280477288,1.05969857567
+384,6.400000000,pose2_to_pose3_retreat,0.575711352277,-0.00994554811208,1.06002928325,0.546282084978,-0.00127281039803,1.05969857086
+385,6.416666667,pose2_to_pose3_retreat,0.575711200149,-0.00994555884921,1.06002927441,0.546281933089,-0.00127282031368,1.05969856237
+386,6.433333333,pose2_to_pose3_retreat,0.575711109865,-0.00994556522146,1.06002926916,0.546281842946,-0.0012728261984,1.05969855734
+387,6.450000000,pose2_to_pose3_retreat,0.575710967915,-0.00994556187715,1.06002926613,0.546281700987,-0.00127282288613,1.05969855425
+388,6.466666667,pose2_to_pose3_retreat,0.57571070404,-0.00994551828821,1.06002927507,0.546281436449,-0.00127278159002,1.05969856201
+389,6.483333333,pose2_to_pose3_retreat,0.575710440254,-0.00994547471407,1.060029284,0.546281172001,-0.00127274030793,1.05969856977
+390,6.500000000,pose2_to_pose3_retreat,0.575710342664,-0.00994545859354,1.0600292873,0.546281074167,-0.00127272503535,1.05969857264
+391,6.516666667,pose2_to_pose3_retreat,0.575710191324,-0.00994543359399,1.06002929243,0.546280922447,-0.0012727013508,1.0596985771
+392,6.533333333,pose2_to_pose3_retreat,0.575709859429,-0.00994537876923,1.06002930367,0.546280589719,-0.00127264940989,1.05969858686
+393,6.550000000,pose2_to_pose3_retreat,0.575709543275,-0.00994537708223,1.06002928174,0.546280273198,-0.00127264879047,1.05969856958
+394,6.566666667,pose2_to_pose3_retreat,0.575709356532,-0.00994539217976,1.06002925839,0.546280086374,-0.00127266398376,1.0596985509
+395,6.583333333,pose2_to_pose3_retreat,0.575709312289,-0.00994538441042,1.0600292399,0.546280042044,-0.00127265651433,1.05969853233
+396,6.600000000,pose2_to_pose3_retreat,0.575709242744,-0.00994534652496,1.06002918153,0.546279972207,-0.0012726197276,1.05969847111
+397,6.616666667,pose2_to_pose3_retreat,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365051,1.05969844436
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_07/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_07/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a0c2b61bb1268e654a411ed08a221e2b3c52ce86
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_07/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:965118101dd5ae33fe0f2ce354c4aec860da8ef729521de9cb6cccb12dae4335
+size 25486935
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_07/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_07/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a6960ce6789360cae6907951573bf65c2ed681b3
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_07/depth_04/franka_data.csv
@@ -0,0 +1,402 @@
+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,764,742,712,672,659,633,878,784,799,648,629,651,0.400951061587,-0.0153657732868,0.0698152138638,0.999999925628,0.000243708348752,-0.000298626041531,1.31151863284e-05,1793193497472561152
+1,0.016666667,BASELINE,764,742.590072319,712,671.409927681,659,633,878,784.590072319,799.590072319,648.590072319,629,651,0.400950226361,-0.0153643049728,0.0698148370211,0.999999925121,0.000244955656194,-0.000299311931529,1.29543962179e-05,1793193497489227520
+2,0.033333333,BASELINE,764,742.823767254,712,671.176232746,659,633,878,785,799.823767254,649,629,651,0.400949623733,-0.0153642226618,0.0698145565721,0.99999992499,0.000245132951497,-0.000299601223012,1.29604834452e-05,1793193497505894144
+3,0.050000000,BASELINE,764,742.24650841,712,671.75349159,659,633,878,785,799.24650841,649,629,651,0.400949550391,-0.015367294267,0.0698144954715,0.99999992572,0.000242875382909,-0.00029898803562,1.33463080573e-05,1793193497522560512
+4,0.066666667,BASELINE,764,742,712,672,659,632.669821178,877.669821178,784.669821178,799.330178822,649,629,651,0.400949820694,-0.0153677317482,0.0698149654946,0.999999926129,0.000241829302041,-0.000298467050002,1.33190050598e-05,1793193497539226624
+5,0.083333333,BASELINE,764,742,712,672,659,632.093560005,877.093560005,784.093560005,799.906439995,649,629,651,0.400950347115,-0.0153662060159,0.0698158313643,0.999999926303,0.000241686143382,-0.000298014782427,1.2983797937e-05,1793193497555893248
+6,0.100000000,BASELINE,764,742.479778728,712,672,659,632.479778728,877,784.479778728,799.520221272,649,629,651,0.400951141905,-0.0153654222849,0.0698158137206,0.999999925914,0.000244079388849,-0.000297367727239,1.3032567651e-05,1793193497572559872
+7,0.116666667,BASELINE,764,742.945144165,712,672,659.054855835,633,877.054855835,784.945144165,799.054855835,649,628.945144165,651,0.400951900058,-0.0153649920998,0.0698156704916,0.999999925524,0.000246391954116,-0.000296766879423,1.31425633421e-05,1793193497589226240
+8,0.133333333,BASELINE,764,742.347250785,712,672,659.652749215,633,877.652749215,784.347250785,799.652749215,649,628.347250785,651,0.400951780616,-0.0153666380751,0.069815979292,0.999999926276,0.000243039106154,-0.000296997204081,1.31219004692e-05,1793193497605892864
+9,0.150000000,BASELINE,764,742.241586841,712,672,659.758413159,633,878,784,800.241586841,649,628.241586841,651,0.400951169773,-0.0153668789753,0.069815803137,0.999999926208,0.000242246257671,-0.00029787921418,1.29950931747e-05,1793193497622559744
+10,0.166666667,BASELINE,764,742.817878196,712,672,659.182121804,633,878,784,800.817878196,649,628.817878196,651,0.40094987812,-0.0153651732255,0.0698149551045,0.999999925007,0.000245000139834,-0.000299664096534,1.27212289604e-05,1793193497639226112
+11,0.183333333,BASELINE,764,742.609894115,712,672.390105885,659,633,877.609894115,784,800.21978823,649,629,651,0.400950034301,-0.0153639015998,0.0698149448163,0.999999925065,0.000244967474402,-0.000299501785081,1.26442345086e-05,1793193497655892736
+12,0.200000000,BASELINE,764,742.03954395,712,672.96045605,659,633,877.03954395,784,799.079087901,649,629,651,0.400950859437,-0.0153628305564,0.0698153215988,0.999999925705,0.000243647314497,-0.000298439793574,1.26582016153e-05,1793193497672559616
+13,0.216666667,BASELINE,764,742,712,672.44612482,659,633,877.55387518,784,799.55387518,648.44612482,628.44612482,651,0.400950585265,-0.0153639733442,0.0698144559551,0.999999926011,0.000242083444196,-0.000298694389917,1.24965468523e-05,1793193497689226496
+14,0.233333333,BASELINE,764,742,712,672,659,633,877.854946374,784,799.854946374,648.145053626,628.145053626,650.854946374,0.400950383406,-0.0153652953976,0.0698140192722,0.999999926206,0.000241040868829,-0.000298883821903,1.24899312644e-05,1793193497705893376
+15,0.250000000,BASELINE,764,742,712,672,659,633,877.275621333,784,799.275621333,648.724378667,628.724378667,650.275621333,0.400950643229,-0.0153666603828,0.0698151439479,0.999999926151,0.000241613337751,-0.000298584512823,1.2986652625e-05,1793193497722560256
+16,0.266666667,BASELINE,764,742.301442589,712,672.301442589,659,633,877,784.301442589,799.301442589,649,629,650.301442589,0.400950886192,-0.0153669737759,0.0698157811721,0.999999926196,0.000242104281306,-0.000298030106504,1.31048176136e-05,1793193497739226624
+17,0.283333333,BASELINE,764,742.876454434,712,672.876454434,659,633,877,784.876454434,799.876454434,649,629,650.876454434,0.400951113854,-0.0153663328137,0.0698159760178,0.999999926332,0.000242521237824,-0.000297244190906,1.28794299719e-05,1793193497755892992
+18,0.300000000,BASELINE,764,743,712,672.551537705,659,633,877.448462295,784.551537705,800,649,629,651,0.40095138411,-0.0153657525389,0.0698163453232,0.99999992628,0.000243992185109,-0.00029620881857,1.29994006159e-05,1793193497772559360
+19,0.316666667,BASELINE,764,742.979521219,712,671.979521219,659,633,878,784,800,648.979521219,628.979521219,651,0.400951611679,-0.0153652111363,0.0698167182444,0.999999926168,0.000245649201985,-0.000295206298575,1.31969628229e-05,1793193497789226240
+20,0.333333333,BASELINE,764,742.384186725,712,671.384186725,659,633,878,784,800,648.384186725,628.384186725,651,0.400950313769,-0.0153652947264,0.0698158525221,0.999999925926,0.000244432914412,-0.000297042218142,1.29196479715e-05,1793193497805892864
+21,0.350000000,BASELINE,764,742,712,671.204430002,659,633,878,784.204430002,799.795569998,648.204430002,628.204430002,651,0.400949729189,-0.0153654159365,0.0698156055405,0.999999925763,0.000244223443577,-0.000297765587877,1.28452126702e-05,1793193497822559488
+22,0.366666667,BASELINE,764,742,712,671.78082358,659,633,878,784.78082358,799.21917642,648.78082358,628.78082358,651,0.400950442522,-0.0153656055967,0.0698164843671,0.999999925748,0.00024584589163,-0.000296464655648,1.31399199038e-05,1793193497839226112
+23,0.383333333,BASELINE,764,742,712,672,658.643595686,632.643595686,877.643595686,785,799,649,629,650.643595686,0.400950840588,-0.0153654433784,0.0698167114202,0.999999925721,0.000246300275028,-0.000296174825573,1.31930235256e-05,1793193497855892736
+24,0.400000000,BASELINE,764,742,712,672,658.06851363,632.06851363,877.06851363,785,799,649,629,650.06851363,0.400951045217,-0.0153650652592,0.069816538567,0.999999925689,0.000246037973258,-0.000296505373768,1.30978872969e-05,1793193497872559104
+25,0.416666667,BASELINE,764,742,712,672,658.519384997,632.519384997,877,784.480615003,799,649,629,650.519384997,0.400951883228,-0.0153652261528,0.0698165986869,0.999999926378,0.000244285910449,-0.000295632034843,1.30680004717e-05,1793193497889225728
+26,0.433333333,BASELINE,764,742,712,671.892919359,659,633,877,784.107080641,799,649,629,651,0.400952397233,-0.0153656794191,0.0698165631371,0.999999927005,0.000242582660256,-0.000294909624171,1.31055214016e-05,1793193497905892352
+27,0.450000000,BASELINE,764,742,712,671.313760522,659,633,877,784.686239478,799,649,629,651,0.400951105147,-0.0153671002511,0.0698159669015,0.999999926951,0.000241982903395,-0.000295570438896,1.34013115559e-05,1793193497922558976
+28,0.466666667,BASELINE,764,742.263676983,711.736323017,671.263676983,659,633,877.263676983,785,799.263676983,649,628.736323017,651,0.400950470679,-0.0153675360551,0.0698157027888,0.999999926743,0.000242002197609,-0.000296256809707,1.34599817152e-05,1793193497939225856
+29,0.483333333,BASELINE,764,742.839079452,711.160920548,671.839079452,659,633,877.839079452,785,799.839079452,649,628.160920548,651,0.400950613664,-0.0153668073343,0.06981583132,0.999999926351,0.00024275334943,-0.000296973393516,1.32383227032e-05,1793193497955892480
+30,0.500000000,BASELINE,764,742.577465207,711.422534793,672,659,633,878,784.577465207,800,649,628.422534793,651,0.400950432806,-0.0153664653888,0.069815749232,0.999999926421,0.000242376168246,-0.000297052057693,1.31403740359e-05,1793193497972559104
+31,0.516666667,BASELINE,764,742,712,672,659,633,877.991001683,784.008998317,800,649,629,651,0.400950150485,-0.0153662452535,0.0698156012388,0.999999926656,0.000241626962936,-0.000296871819895,1.30940110259e-05,1793193497989225728
+32,0.533333333,BASELINE,764,742,712,672,659,633,877.412030952,784.587969048,800,649,629,651,0.400951405305,-0.0153642291599,0.0698164582786,0.999999926082,0.000245061221724,-0.000295980069648,1.32728754172e-05,1793193498005892352
+33,0.550000000,BASELINE,764,742,712,672,659,633,877.167046268,785,799.832953732,649,629,651,0.400951600709,-0.0153635085534,0.0698167486826,0.999999925733,0.000246580179536,-0.000295899560176,1.32665353579e-05,1793193498022559232
+34,0.566666667,BASELINE,764,742,712,672,659,633,877.746386231,785,799.253613769,649,629,651,0.40094918133,-0.0153659853915,0.06981564055,0.999999925954,0.00024337190451,-0.000297821307237,1.28030846259e-05,1793193498039225856
+35,0.583333333,BASELINE,763.675973516,742,712,672,659,633,877.675973516,784.675973516,799,649,629,651,0.400948959268,-0.0153666046743,0.0698153932977,0.999999926083,0.00024243359296,-0.000298164576643,1.25749320732e-05,1793193498055892480
+36,0.600000000,BASELINE,763.099656613,742,712,672,659,633,877.099656613,784.099656613,799,649,629,651,0.40095044806,-0.0153657776451,0.0698158163357,0.999999926146,0.000243262698439,-0.000297278826999,1.25299851011e-05,1793193498072559104
+37,0.616666667,BASELINE,763.484214697,742,712,671.515785303,659.484214697,633,877,784.484214697,799.484214697,649,629,651,0.400949296424,-0.0153661001824,0.0698152200936,0.999999926128,0.000242256580466,-0.000298156190848,1.26114368628e-05,1793193498089225728
+38,0.633333333,BASELINE,764,742,712,671.068921922,659.931078078,633,877,784.931078078,799.931078078,649,628.931078078,650.931078078,0.400948114247,-0.0153663448164,0.0698147425367,0.999999926155,0.000241244232471,-0.000298884272438,1.26578533558e-05,1793193498105892608
+39,0.650000000,BASELINE,764,742,712,671.648124717,659.351875283,633,877,784.351875283,799.351875283,649,628.351875283,650.351875283,0.400950793126,-0.0153642332343,0.0698167214609,0.999999926652,0.000243026540903,-0.000295777943659,1.22492220629e-05,1793193498122559232
+40,0.666666667,BASELINE,764,742,712,672,659,633,877,784.226598512,799.226598512,649,628.226598512,650.226598512,0.400952573393,-0.01536412545,0.0698177508359,0.999999927073,0.000243807217007,-0.000293699251572,1.23275701569e-05,1793193498139225600
+41,0.683333333,BASELINE,764,742,712,672,659,633,877,784.803943867,799.803943867,649,628.803943867,650.803943867,0.400952962717,-0.0153671193004,0.0698173104244,0.999999927393,0.000243037488399,-0.000293211215867,1.31597029388e-05,1793193498155892480
+42,0.700000000,BASELINE,764,742,712,672,659,633,877.379589139,784.620410861,800,649,629,651,0.400952000485,-0.0153678634719,0.0698171842952,0.999999927475,0.000241694112578,-0.000294038305762,1.32620036913e-05,1793193498172559104
+43,0.716666667,BASELINE,764,742,712,672,659,633,877.954360223,784.045639777,800,649,629,651,0.400950343292,-0.015367450875,0.0698172197676,0.99999992743,0.0002400557716,-0.000295541623587,1.29890301539e-05,1793193498189225728
+44,0.733333333,BASELINE,763.454831861,742.545168139,712,672,659,633,877.454831861,784.545168139,799.454831861,649,629,650.454831861,0.400950395259,-0.015365950318,0.0698167055199,0.999999926461,0.000243130784798,-0.000296308226622,1.29296751395e-05,1793193498205892608
+45,0.750000000,BASELINE,763.133978516,742.866021484,712,672,659,632.866021484,877.133978516,784.866021484,799,649,629,650.133978516,0.400950482792,-0.0153646126489,0.0698163511284,0.99999992552,0.00024645118818,-0.000296736072828,1.29817700183e-05,1793193498222559232
+46,0.766666667,BASELINE,763.711594128,742.288405872,712,672,659,632.288405872,877.711594128,784.288405872,799,649,629,650.711594128,0.40095019994,-0.0153641250755,0.0698166830672,0.999999924968,0.000249237961364,-0.000296252621275,1.33418924821e-05,1793193498239225856
+47,0.783333333,BASELINE,764,742,712,672,659,632.288187335,877.711812665,784,799,648.711812665,629,650.711812665,0.400950455016,-0.0153648482688,0.069816859365,0.999999925359,0.000248105984821,-0.000295884692911,1.33333272041e-05,1793193498255892224
+48,0.800000000,BASELINE,764,742,712,672,659,632.863761049,877.136238951,784,799,648.136238951,629,650.136238951,0.400951246525,-0.0153667788639,0.0698168804543,0.999999926676,0.000243066150233,-0.000295631966603,1.29570989183e-05,1793193498272558848
+49,0.816666667,BASELINE,764,742,712,672,659.449161219,633,877,784.449161219,799,648.449161219,629,650,0.400950679136,-0.0153671033239,0.0698167123098,0.999999926765,0.000242315407422,-0.000295948202979,1.29279735509e-05,1793193498289225728
+50,0.833333333,BASELINE,764,742,712,672,659.962985878,632.962985878,877,785,799.074028244,649,629,650,0.40094988781,-0.01536692538,0.0698165250192,0.999999926503,0.000242944035554,-0.000296317277465,1.30048429025e-05,1793193498305892608
+51,0.850000000,BASELINE,764,742,712,672,659.383839538,632.383839538,877,785,800.232320924,649,629,650,0.400951988602,-0.0153666839142,0.0698169167932,0.999999926599,0.000244294911031,-0.000294876045873,1.30576497128e-05,1793193498322559232
+52,0.866666667,BASELINE,764,742,712,672,659,632,877,784.804970629,800.609941259,649,628.804970629,650.195029371,0.400953012917,-0.0153665800466,0.0698172882024,0.999999926815,0.000244458820858,-0.000294005247042,1.30892545201e-05,1793193498339225856
+53,0.883333333,BASELINE,764,742,712,672,659,632,877,784.226646996,799.453293992,649,628.226646996,650.773353004,0.400951921615,-0.0153667466027,0.0698176195882,0.999999927269,0.00024228996851,-0.000294255528696,1.30791906976e-05,1793193498355892480
+54,0.900000000,BASELINE,763.651251688,742,712,672,659,632,877,784,799.348748312,649,628.348748312,651,0.400950828312,-0.0153662163978,0.0698169422383,0.999999926775,0.000242756325153,-0.000295552149979,1.29580834939e-05,1793193498372559104
+55,0.916666667,BASELINE,763.077743637,742,712,672,659,632,877,784,799.922256363,649,628.922256363,651,0.400949733719,-0.0153652371473,0.0698156147829,0.999999925665,0.000244921009486,-0.000297523111495,1.2765411553e-05,1793193498389225728
+56,0.933333333,BASELINE,763.50975,742,712,672,659,632.50975,877,784,800,648.49025,629,651,0.400950373645,-0.0153650303887,0.0698160415668,0.999999926191,0.000244216278752,-0.000296339088848,1.26316237887e-05,1793193498405892352
+57,0.950000000,BASELINE,764,742,712,672,659,633,877,784,799.902501904,648,629,651,0.400951100093,-0.0153650615302,0.0698165758876,0.999999926812,0.000243349903644,-0.00029495531116,1.2599400564e-05,1793193498422558976
+58,0.966666667,BASELINE,764,742,712,672,659,633,877,784,799.324312315,648,629,651,0.400950912089,-0.0153656683362,0.0698162841155,0.99999992665,0.000243905047321,-0.000295025942475,1.3022391634e-05,1793193498439225856
+59,0.983333333,BASELINE,764,742,712,672,659.252709321,632.747290679,877,784,799,648,629,651,0.400950647021,-0.0153663401651,0.0698162046572,0.999999926699,0.000243779652427,-0.000294962323701,1.30903007813e-05,1793193498455892480
+60,1.000000000,BASELINE,764,742,712,672,659.828239049,632.171760951,877,784,799,648,629,651,0.400950283508,-0.0153670950568,0.0698163964166,0.999999927015,0.000242784911996,-0.000294727208813,1.27046149587e-05,1793193498472559104
+61,1.016666667,BASELINE,764,742,712,672,659.587886381,632.412113619,877,784.412113619,799,648.412113619,628.587886381,650.587886381,0.400950757531,-0.0153665771373,0.0698167832009,0.999999926853,0.000243847127675,-0.000294398150314,1.27263998815e-05,1793193498489225728
+62,1.033333333,BASELINE,764,742,712,672,659.000461998,632.999538002,877,784.999538002,799,648.999538002,628.000461998,650.000461998,0.400951587837,-0.0153655177711,0.0698172529477,0.999999926485,0.000245784360711,-0.000294029128756,1.29215205393e-05,1793193498505892352
+63,1.050000000,BASELINE,764,742,712,672,659,633,877.578850661,785,799,649,628,650,0.400952131679,-0.0153675838249,0.0698173670842,0.999999927113,0.000243051363485,-0.00029416729936,1.28751361048e-05,1793193498522558976
+64,1.066666667,BASELINE,764,742,712,672,659,633,878,784.842187591,799.157812409,649,628.157812409,650.157812409,0.400952388149,-0.0153687662325,0.0698174080902,0.999999927664,0.000240481162277,-0.000294411239173,1.27733191413e-05,1793193498539225600
+65,1.083333333,BASELINE,764,742,712,672,659,633,878,784.264143302,799.735856698,649,628.735856698,650.735856698,0.400951879986,-0.0153675890662,0.0698172551051,0.999999928022,0.000238354252236,-0.000294935764216,1.25243994609e-05,1793193498555892480
+66,1.100000000,BASELINE,764,742,712,672,659.311380321,633,878,784,800,648.688619679,629,650.688619679,0.400950396083,-0.0153666949743,0.0698163393106,0.999999927353,0.000239590102748,-0.000296199122749,1.25251288761e-05,1793193498572559104
+67,1.116666667,BASELINE,764,742,712,672,659.884782811,633,878,784,800,648.115217189,629,650.115217189,0.400948091108,-0.0153660390857,0.0698147816228,0.999999925808,0.000243655669155,-0.000298084199259,1.27359345124e-05,1793193498589225728
+68,1.133333333,BASELINE,764,742,712,672,659.528633071,633,877.528633071,784,799.528633071,648,628.528633071,650.471366929,0.400947754247,-0.0153668396478,0.0698148288859,0.999999925938,0.000242848478793,-0.000298307269254,1.27274034248e-05,1793193498605892352
+69,1.150000000,BASELINE,764,742,712,672,659,633,877,784.060144224,799,648.060144224,628.060144224,651,0.400947984143,-0.0153678853593,0.0698152682242,0.999999926481,0.000240946260534,-0.000298030248043,1.26665648525e-05,1793193498622559232
+70,1.166666667,BASELINE,764,742,712,672,659,633,877,784.639244,799,648.639244,628.639244,651,0.400948833977,-0.0153678861917,0.0698156082265,0.999999926962,0.000240168303895,-0.00029704434148,1.26302989943e-05,1793193498639225856
+71,1.183333333,BASELINE,764,742,712,671.782859281,659.217140719,633,877.217140719,784.782859281,799,649,628.782859281,651,0.400949185145,-0.0153672675909,0.0698156674848,0.999999926896,0.00024070578041,-0.000296836776939,1.25478791355e-05,1793193498655892480
+72,1.200000000,BASELINE,764,742,712,671.206950204,659.793049796,633,877.793049796,784.206950204,799,649,628.206950204,651,0.400948712397,-0.0153656255386,0.0698152628871,0.999999925921,0.000243416666714,-0.000297915219256,1.23892018326e-05,1793193498672559104
+73,1.216666667,BASELINE,764.368487512,742,712,671.368487512,659.631512488,633,877.631512488,784.368487512,799.368487512,648.631512488,628,651,0.400949192664,-0.015366303966,0.0698153729523,0.999999925995,0.000243293336466,-0.000297757648156,1.26297323682e-05,1793193498689225728
+74,1.233333333,BASELINE,764.943660807,742,712,671.943660807,659.056339193,633,877.056339193,784.943660807,799.943660807,648.056339193,628,651,0.400950207481,-0.0153682839577,0.0698157716935,0.999999926657,0.000241580285248,-0.000296906793254,1.30941798212e-05,1793193498705892608
+75,1.250000000,BASELINE,764.467827413,742,712,672,659,633,877,784.467827413,799.467827413,648,628,651,0.400950223851,-0.0153669856974,0.0698167924314,0.999999926696,0.000242037285419,-0.000296402038106,1.31231979556e-05,1793193498722559232
+76,1.266666667,BASELINE,764,742,712,672,659,633,877,784,799,648.119971446,628.119971446,650.880028554,0.400950201755,-0.0153657917052,0.0698175398252,0.999999926668,0.000242666752097,-0.000295982565797,1.30887005151e-05,1793193498739226112
+77,1.283333333,BASELINE,764,742,712,672,659,633,877,784,799,648.699491384,628.699491384,650.300508616,0.400950447614,-0.015366360681,0.0698169814632,0.999999926645,0.000243054227346,-0.000295745809557,1.29920222964e-05,1793193498755892736
+78,1.300000000,BASELINE,764,742,712,672,659,633,877,784,799,649,629,650.277004853,0.400950499808,-0.0153676662565,0.0698168084936,0.999999926863,0.000242330781837,-0.000295604704647,1.29765749463e-05,1793193498772559104
+79,1.316666667,BASELINE,764,742,712,672,659,633,877,784,799,649,629,650.852357221,0.400950343416,-0.015369765185,0.0698170506105,0.999999927336,0.00024041082136,-0.000295566620823,1.30486171446e-05,1793193498789225728
+80,1.333333333,BASELINE,764,742,712,671.564365525,659.435634475,633,877,784,799,649,628.564365525,651,0.400950869383,-0.0153681155395,0.0698172594795,0.999999927133,0.000241716535116,-0.000295196558732,1.29244778819e-05,1793193498805892608
+81,1.350000000,BASELINE,764,742,712,671,659.978483916,633,877,784.021516084,799,649,628.021516084,651,0.400951541307,-0.0153653565369,0.0698174022359,0.999999926703,0.000243969675342,-0.000294806279818,1.27324129564e-05,1793193498822559232
+82,1.366666667,BASELINE,764,742,712,671,659.396025793,633,877,784.603974207,799,649,628.603974207,651,0.400949877564,-0.0153674109498,0.0698161205935,0.999999926597,0.000241893570683,-0.000296876568413,1.25350038706e-05,1793193498839225856
+83,1.383333333,BASELINE,764,742,712,671.184068638,659,633,877.184068638,784.815931362,799,649,629,651,0.4009490882,-0.0153686552919,0.0698155515985,0.999999926644,0.000240735363298,-0.000297658767739,1.25369846147e-05,1793193498855892992
+84,1.400000000,BASELINE,764,742,712,671.759142142,659,633,877.759142142,784.240857858,799,649,629,651,0.400950156222,-0.0153681788546,0.0698164964332,0.999999927028,0.000241526984167,-0.000295704764383,1.29625159861e-05,1793193498872560384
+85,1.416666667,BASELINE,764,742,712,672,659.334445381,633,878,784,799,649,628.665554619,650.665554619,0.400950936969,-0.01536852141,0.0698173037441,0.999999927616,0.000240975437758,-0.000294158916404,1.30441004751e-05,1793193498889227264
+86,1.433333333,BASELINE,764,742,712,672,659.909914148,633,878,784,799,649,628.090085852,650.090085852,0.400951510687,-0.0153694541857,0.0698180119462,0.99999992835,0.000239455916431,-0.000292907212212,1.28778141443e-05,1793193498905893376
+87,1.450000000,BASELINE,764,742,712,672,659.501866352,633,877.501866352,784.498133648,799,648.501866352,628.498133648,650.498133648,0.400951712953,-0.0153683237901,0.0698176456496,0.99999992787,0.000240220045016,-0.000293917243473,1.29341886467e-05,1793193498922559744
+88,1.466666667,BASELINE,764,742,711.91306196,671.91306196,659,632.91306196,877,784.91306196,799.08693804,648.08693804,629,650.91306196,0.400951704903,-0.0153671646796,0.0698171159747,0.999999927317,0.00024110560867,-0.000295067003162,1.29855172866e-05,1793193498939226368
+89,1.483333333,BASELINE,764,742,711.334335733,671.334335733,659,632.334335733,877,784.334335733,799.665664267,648.665664267,629,650.334335733,0.400950897119,-0.0153680092209,0.0698167902035,0.999999927647,0.00024028053995,-0.000294632619339,1.2774535132e-05,1793193498955892992
+90,1.500000000,BASELINE,764,742,711.241443768,671,659,632,877,784,800,648.758556232,629,650,0.400949838485,-0.0153683763594,0.0698164256869,0.999999927398,0.000240554907176,-0.000295252676141,1.2767766618e-05,1793193498972559616
+91,1.516666667,BASELINE,764,742,711.813191988,671,659,632,877,784,800,648.186808012,629,650,0.40094843668,-0.0153680903921,0.0698160081652,0.999999926354,0.00024233334554,-0.000297315248705,1.30403703123e-05,1793193498989226240
+92,1.533333333,BASELINE,763.602353367,742,711.602353367,671,659,632.397646633,877,784,799.602353367,648,628.602353367,650,0.400948527993,-0.0153674331769,0.0698159605366,0.999999926188,0.00024297482815,-0.000297350486449,1.30067291703e-05,1793193499005893120
+93,1.550000000,BASELINE,763.011732355,742,711.011732355,671,659,632.988267645,877,784,799.011732355,648,628.011732355,650,0.400949343902,-0.0153665957982,0.0698160924138,0.999999926451,0.000243064556388,-0.000296401876798,1.28244701535e-05,1793193499022560000
+94,1.566666667,BASELINE,763,742,711.567809574,671.567809574,659,633,877,784,799,648.567809574,628.567809574,650.567809574,0.400949486284,-0.0153677023632,0.0698164402696,0.999999926791,0.000242000542439,-0.000296115812147,1.29906068798e-05,1793193499039226624
+95,1.583333333,BASELINE,763,742,712,672,659,633,877,784,799,648.853347379,628.853347379,650.853347379,0.400949752604,-0.0153686657865,0.0698169154657,0.999999927177,0.000241079044546,-0.000295556383968,1.31667926683e-05,1793193499055892992
+96,1.600000000,BASELINE,763,742,712,672,659,633,877,784,799,648.275897592,628.275897592,650.275897592,0.400950423094,-0.0153690929938,0.0698177518698,0.999999927692,0.000240644880434,-0.000294154496185,1.33517561875e-05,1793193499072559616
+97,1.616666667,BASELINE,763.300535162,742,712,671.699464838,659,632.699464838,877,784,799.300535162,648,628.300535162,650.300535162,0.400950143354,-0.0153689958503,0.069817464498,0.999999927659,0.000240060431568,-0.000294749765085,1.3219006951e-05,1793193499089226240
+98,1.633333333,BASELINE,763.876037372,742,712,671.123962628,659,632.123962628,877,784,799.876037372,648,628.876037372,650.876037372,0.400948994226,-0.0153684189651,0.0698161489558,0.999999927121,0.000239338483492,-0.000297172282081,1.27955744503e-05,1793193499105892864
+99,1.650000000,BASELINE,764,742,712,671.461285181,659,632.461285181,877,784,799.538714819,648.461285181,629,651,0.400950832129,-0.015367714337,0.0698168205798,0.999999927195,0.000241757062445,-0.000294960507074,1.27289841733e-05,1793193499122559488
+100,1.666666667,BASELINE,764,742,712,672,659,633,876.951545209,784.048454791,799.048454791,648.951545209,629,651,0.400953051406,-0.0153671931815,0.0698178470388,0.999999927401,0.000244440198382,-0.000292032944286,1.27811417336e-05,1793193499139226112
+101,1.683333333,BASELINE,764,742,712,672,659,633,876.372626645,784.627373355,799.627373355,648.372626645,629,651,0.400950468347,-0.0153690645405,0.0698167856985,0.999999927404,0.000240580805721,-0.000295197496847,1.30608209314e-05,1793193499155892992
+102,1.700000000,BASELINE,763.794104007,742,712,671.794104007,659.205895993,633,876.411791986,784.794104007,800,648,628.794104007,651,0.40094903328,-0.0153702511269,0.0698161903984,0.999999927409,0.000238272317827,-0.000297039444652,1.32393441964e-05,1793193499172559872
+103,1.716666667,BASELINE,763.216296595,742,712,671.216296595,659.783703405,633,877.567406809,784.216296595,800,648,628.216296595,651,0.400949671843,-0.0153702008032,0.0698164369099,0.999999927454,0.00023876524084,-0.000296492361609,1.323514874e-05,1793193499189226240
+104,1.733333333,BASELINE,763.357418826,742,712,671.357418826,660,633,877.642581174,784.357418826,799.642581174,648.357418826,628.357418826,651,0.400950458154,-0.0153696244252,0.069816740034,0.999999927526,0.000239518738463,-0.000295643716443,1.31995315632e-05,1793193499205892864
+105,1.750000000,BASELINE,763.928686011,742,712,671.928686011,660,633,877.071313989,784.928686011,799.071313989,648.928686011,628.928686011,651,0.400951332866,-0.015368733302,0.0698170770301,0.999999927612,0.000240428141331,-0.000294614642662,1.31451143593e-05,1793193499222559232
+106,1.766666667,BASELINE,764,742,712,672.517888693,659.482111307,633,877.517888693,785,799,649,629,651,0.400949281781,-0.0153659896326,0.0698157891317,0.999999926254,0.000242955450085,-0.000297164410356,1.25640253931e-05,1793193499239226112
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,743,712,672,659,633,877,784,800,649,629,651,0.400949034754,-0.0153706610549,0.0698164631945,0.999999927417,0.000238989089738,-0.000296429978924,1.33652789282e-05,1793193499281572352
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,742.43021325,712,672,659,633,877,784.56978675,800,649,629,650.43021325,0.400949507181,-0.0153694923692,0.0698166972903,0.999999927033,0.000240272319359,-0.000296701415401,1.30700149411e-05,1793193499298238976
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,742,712,672,659,633,877,785,800,649,629,650.145066509,0.400949915004,-0.01536837986,0.0698169312207,0.999999926707,0.000241640464704,-0.000296698870338,1.28700674493e-05,1793193499314905600
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,742,712,672,659,633,877,785,800,649,629,650.73727774,0.400950123696,-0.0153674405058,0.0698171646414,0.999999926562,0.000243270349744,-0.00029585182029,1.29639180071e-05,1793193499331572480
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,742,712,671.675822053,659,633,877,784.675822053,799.675822053,648.675822053,628.675822053,650.675822053,0.400949824546,-0.0153675806467,0.0698166481906,0.99999992649,0.000243102054982,-0.000296237350189,1.28487395494e-05,1793193499348239360
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,742,712,671.093156693,659,633,877,784.093156693,799.093156693,648.093156693,628.093156693,650.093156693,0.400949120462,-0.0153685815369,0.0698155338204,0.999999926475,0.000241499958566,-0.000297605693448,1.25668891398e-05,1793193499364905728
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,742,712,671,659,632.51613742,877.48386258,784,799,648,628,650.48386258,0.400951719715,-0.0153683987641,0.0698168715308,0.999999927482,0.000240530490929,-0.000295000057409,1.2492269371e-05,1793193499381571840
+114,1.900000000,POSE1_TO_POSE2_PRESS,763.940526952,742,712,671.059473048,659,632.059473048,877.940526952,784.059473048,799,648.059473048,628.059473048,651,0.400955313767,-0.0153681568737,0.0698189073657,0.999999928736,0.000239792625233,-0.000291327122591,1.25170984902e-05,1793193499398237952
+115,1.916666667,POSE1_TO_POSE2_PRESS,763.367801628,742,712,671.632198372,659,632.632198372,877.367801628,784.632198372,799,648.632198372,628.632198372,651,0.400962067714,-0.0153693487818,0.0698229408513,0.999999930507,0.000240014489107,-0.000284970046126,1.30598271083e-05,1793193499414904576
+116,1.933333333,POSE1_TO_POSE2_PRESS,763.211846912,742,712,672,659,633,877,784.788153088,799,649,629,651,0.400974517271,-0.0153701592567,0.0698292400306,0.999999933272,0.00024018028683,-0.000274920965807,1.37047336622e-05,1793193499431571200
+117,1.950000000,POSE1_TO_POSE2_PRESS,763.803921332,742,712,672,659,633,877,784.196078668,799,649,629,651,0.400997189434,-0.0153702851267,0.0698396057266,0.99999993769,0.000240245455732,-0.000258245396187,1.45330313691e-05,1793193499448238336
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,742,712,671.612460712,659,632.612460712,877,784,799,648.612460712,629,651,0.401034522557,-0.015371891858,0.0698530215413,0.999999943399,0.00024048253499,-0.000234787546202,1.56474040861e-05,1793193499464904704
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,742,712,671.033029952,659,632.033029952,877,784,799,648.033029952,629,651,0.40107911511,-0.015374231843,0.0698679476343,0.999999949238,0.000240804736161,-0.000207971424103,1.6903427939e-05,1793193499481571328
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,742,712,671.540744322,659.540744322,632.540744322,877.540744322,784,799,648.540744322,629,651,0.401136017918,-0.0153767153211,0.0698781851824,0.999999950375,0.000241282627824,-0.000201841755477,1.71005606991e-05,1793193499498238464
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,742,712,672,659.8827232,633,877.8827232,784.1172768,799,649,629,651,0.401197503058,-0.0153791895335,0.0698870290173,0.999999951548,0.000241528248383,-0.0001956705187,1.67546570217e-05,1793193499514905088
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,742,712,672,659.293720777,633,877.293720777,784.706279223,799,649,629,651,0.401274426615,-0.0153815915864,0.0698914069036,0.999999953919,0.00024080174266,-0.000184302172214,1.44819525218e-05,1793193499531571200
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,742,712,671.709678563,659,633,877,785,799,648.709678563,628.709678563,651,0.401360849679,-0.0153855788134,0.0698936028361,0.999999955537,0.000237934080672,-0.00017934405393,1.21871343346e-05,1793193499548237312
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,742,712,671.130570371,659,633,877,785,799,648.130570371,628.130570371,651,0.401456722029,-0.0153911428348,0.0698936283486,0.999999956484,0.000232936580959,-0.000180762279106,9.87031949383e-06,1793193499564903936
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,742,712,671,659,632.55326845,877.44673155,784.55326845,799.44673155,648.44673155,628.44673155,651,0.401577010045,-0.0153981453418,0.0698942577943,0.999999958234,0.000226199522513,-0.000179780103138,6.66457935374e-06,1793193499581570816
+126,2.100000000,POSE1_TO_POSE2_PRESS,763.976607423,742,712,671,659,632.023392577,877.976607423,784,799.976607423,649,629,651,0.401705810271,-0.0154054819694,0.0698951318369,0.999999960164,0.000219034918236,-0.000178003910878,3.17010398625e-06,1793193499598237952
+127,2.116666667,POSE1_TO_POSE2_PRESS,763.402654795,742,712,671,659,632.597345205,877.402654795,784,799.402654795,649,629,651,0.401867672383,-0.0154108268748,0.0698976249098,0.999999962025,0.000213725949807,-0.000173985848707,-1.02966773143e-06,1793193499614904576
+128,2.133333333,POSE1_TO_POSE2_PRESS,763.176309392,742,712,671.176309392,659,632.823690608,877,784.176309392,799,648.823690608,629,651,0.402037567283,-0.0154166798218,0.0698998520095,0.999999964082,0.000207557500295,-0.000169487346532,-5.5309830731e-06,1793193499631570944
+129,2.150000000,POSE1_TO_POSE2_PRESS,763.767053728,742,712,671.767053728,659,632.232946272,877,784.767053728,799,648.232946272,629,651,0.402226344129,-0.0154237269768,0.0699014539093,0.999999966643,0.00019936874513,-0.000163859516968,-1.07411098336e-05,1793193499648237568
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632.351601404,877,785,799,648.351601404,629,651,0.402442448824,-0.0154337573857,0.0699056370849,0.999999969967,0.000188853032126,-0.000155431040462,-1.55783507533e-05,1793193499664904192
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632.932114768,877,785,799,648.932114768,629,651,0.402676345478,-0.0154457300587,0.069911500814,0.999999973625,0.00017682234002,-0.000145179187306,-2.01728228791e-05,1793193499681571072
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,742,712,672,659.507166237,633,877,785,799,649,628.492833763,651,0.402948721567,-0.0154575590046,0.0699192540269,0.999999988142,7.91176491037e-05,-0.000129614338565,-2.5616804618e-05,1793193499698237440
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,742,712,672,659.918385082,633,877,784.918385082,799,649,628.081614918,651,0.403232242725,-0.0154696717055,0.0699269771366,0.999999992874,-1.46322925357e-05,-0.000114329666807,-3.10828530984e-05,1793193499714903808
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,742,712,672,659.343207386,633,877,784.343207386,799,649,628.656792614,651,0.403552347465,-0.0154836155103,0.0699330050273,0.999999993714,-1.5854936624e-05,-0.000104994213951,-3.60020320399e-05,1793193499731570944
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632.76046865,877,784,799,649,629,651,0.403881172215,-0.0155019165218,0.0699364815581,0.999999994597,1.80797700844e-06,-9.93353261209e-05,-3.05762258191e-05,1793193499748237824
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632.166543154,877,784,799,649,629,651,0.404222898476,-0.0155266641563,0.0699361832715,0.999999993916,4.74126657919e-05,-9.91160319732e-05,-9.84468918926e-06,1793193499764904704
+137,2.283333333,POSE1_TO_POSE2_PRESS,763.585338456,742,712,672,659,632.414661544,877.414661544,784,799,649,628.585338456,651,0.404600776936,-0.0155382856527,0.069939835065,0.999999995249,2.54040260498e-05,-9.35590427366e-05,-1.01525614587e-05,1793193499781571328
+138,2.300000000,POSE1_TO_POSE2_PRESS,763.009090836,742,712,672,659,632.990909164,877.990909164,784,799,649,628.009090836,651,0.404992743245,-0.0155447921308,0.0699450261331,0.999999995871,-2.29523014448e-05,-8.59220504929e-05,-1.86591098905e-05,1793193499798237952
+139,2.316666667,POSE1_TO_POSE2_PRESS,763.563916236,742,712,672,659,633,878,784,799,649,628,650.436083764,0.405424232279,-0.0155182610626,0.0699476323064,0.999999996415,1.05562246642e-05,-8.09171845151e-05,-2.26268246914e-05,1793193499814904320
+140,2.333333333,POSE1_TO_POSE2_PRESS,763.859260784,742,712,672,659,633,877.859260784,784.140739216,799,649,628.140739216,650.140739216,0.405860001735,-0.0154971396725,0.0699453443495,0.999999995366,3.62398255626e-05,-8.5267999525e-05,-2.61503933009e-05,1793193499831570688
+141,2.350000000,POSE1_TO_POSE2_PRESS,763.270114616,742,712,672,659,633,877.270114616,784.729885384,799,649,628.729885384,650.729885384,0.4063073905,-0.0154949411722,0.0699275952908,0.99999999194,3.28117899318e-05,-0.000119292380067,-2.84906681735e-05,1793193499848237312
+142,2.366666667,POSE1_TO_POSE2_PRESS,763,742,712,672.314002563,659.314002563,633,877,784.685997437,799.314002563,648.685997437,629,650.685997437,0.406790847491,-0.0155010486434,0.0699114888349,0.999999989128,2.21796741161e-05,-0.000142345165812,-3.147186961e-05,1793193499864904192
+143,2.383333333,POSE1_TO_POSE2_PRESS,763,742,712,672.893861909,659.893861909,633,877,784.106138091,799.893861909,648.106138091,629,650.106138091,0.407304842443,-0.0155141885374,0.0698967731208,0.999999987188,5.44807398752e-06,-0.00015610862701,-3.49957250879e-05,1793193499881571328
+144,2.400000000,POSE1_TO_POSE2_PRESS,763.470716656,742,712,672.529283344,660,633,877,784.470716656,799.529283344,648,628.529283344,650.470716656,0.40788056167,-0.0155171156789,0.0699069865858,0.999999990624,-7.82710436321e-06,-0.000132078367582,-3.53055531671e-05,1793193499898238208
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,742,712,672,659.953429904,632.953429904,877.046570096,784.953429904,799.046570096,648.046570096,628,650.953429904,0.408472327305,-0.0155174209824,0.0699223873521,0.999999994191,-1.87029220994e-05,-0.000100193202139,-3.50626107172e-05,1793193499914905088
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,742,712,672,659.381279143,632.381279143,877.618720857,784.381279143,799.618720857,648.618720857,628,650.381279143,0.409089113692,-0.0155139607515,0.0699332949644,0.999999996434,-1.12399698448e-05,-7.52244513514e-05,-3.67082114406e-05,1793193499931571712
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,742,712,672.197743656,659,632,878,784,800.197743656,649,628,650.197743656,0.40970764129,-0.0155116934213,0.0699376624958,0.999999997089,-8.19972987725e-06,-6.54384140573e-05,-3.83711694176e-05,1793193499948238080
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,742,712,672.790493786,659,632,878,784,800.790493786,649,628,650.790493786,0.410329647039,-0.0155118089919,0.0699289657677,0.999999995403,-1.39941605529e-05,-8.59808866099e-05,-4.00687996274e-05,1793193499964904448
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,742,712,672.625655111,659.374344889,632,877.625655111,784,800.625655111,648.625655111,628.374344889,651,0.410994829992,-0.0155127834178,0.0699307936076,0.999999995456,-1.29027132763e-05,-8.51676174984e-05,-4.08341988145e-05,1793193499981571072
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,742,712,672.046668819,659.953331181,632,877.046668819,784,800.046668819,648.046668819,628.953331181,651,0.411683616409,-0.0155142273501,0.0699383748652,0.999999996482,-8.04699447707e-06,-7.26799023215e-05,-4.10899794874e-05,1793193499998237952
+151,2.516666667,POSE1_TO_POSE2_PRESS,763.470013596,742,711.470013596,672,659.470013596,632.529986404,877,784,800,648.529986404,629,651,0.412422736105,-0.015519730793,0.0699671171958,0.999999998714,-1.98584062077e-05,-2.45469619579e-05,-3.96885571819e-05,1793193500014904576
+152,2.533333333,POSE1_TO_POSE2_PRESS,763.105502231,742.105502231,711.105502231,672,659.105502231,632.894497769,877.105502231,784.105502231,800,649,629,651,0.413166458496,-0.0155250682155,0.069993701196,0.999999998596,-3.1006633314e-05,1.92784216724e-05,-3.84156620279e-05,1793193500031571456
+153,2.550000000,POSE1_TO_POSE2_PRESS,763.676888923,742.676888923,711.676888923,672,659.676888923,632.323111077,877.676888923,784.676888923,800,649,629,651,0.413911019359,-0.0155281008954,0.0700025618897,0.999999998269,-3.27737361021e-05,3.02823271325e-05,-3.83519037167e-05,1793193500048238336
+154,2.566666667,POSE1_TO_POSE2_PRESS,763.740508026,743,712,672,660,632.259491974,878,784.740508026,800,648.740508026,629,651,0.414636777125,-0.015525789924,0.0699807033074,0.999999998523,-3.31183998506e-05,-1.05568224774e-05,-4.17891320566e-05,1793193500064904960
+155,2.583333333,POSE1_TO_POSE2_PRESS,763.14330769,743,712,672,660,632.85669231,878,784.14330769,800,648.14330769,629,651,0.415338064244,-0.0155165246118,0.0699188660087,0.999999991197,-3.1611871201e-05,-0.000118865623131,-4.9782618405e-05,1793193500081570816
+156,2.600000000,POSE1_TO_POSE2_PRESS,763,742.562645868,712,672,660,633,878,784.437354132,800,648.437354132,628.562645868,650.562645868,0.416111053908,-0.0155158393569,0.0698914996789,0.999999984605,-3.60870449958e-05,-0.000162823540051,-5.45558795728e-05,1793193500098237440
+157,2.616666667,POSE1_TO_POSE2_PRESS,763.013047553,742.013047553,712,672.013047553,660,633,878,785,800,649,628,650.013047553,0.416907618287,-0.0155179543418,0.0698763519129,0.999999980415,-4.24619878215e-05,-0.000184353023315,-5.81530219683e-05,1793193500114904064
+158,2.633333333,POSE1_TO_POSE2_PRESS,763.599882229,742.599882229,712,672.599882229,660,633,878,785,800,649,628,650.599882229,0.417745348837,-0.0155240824276,0.0699199142999,0.999999990895,-4.9327898362e-05,-0.000113052075173,-5.47404785775e-05,1793193500131570688
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,742.815694245,712,672.815694245,660,632.815694245,878,784.815694245,799.815694245,649,628.184305755,650.815694245,0.418595868281,-0.0155289080173,0.0699563118073,0.99999999567,-5.31420154303e-05,-5.62953330564e-05,-5.16325444305e-05,1793193500148237312
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,742.236437636,712,672.236437636,660,632.236437636,878,784.236437636,799.236437636,649,628.763562364,650.236437636,0.419473793133,-0.0155309424729,0.069977355612,0.999999997048,-5.04164103267e-05,-3.07055371765e-05,-4.91773615102e-05,1793193500164904448
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.341369885,742.341369885,712,672.341369885,660,632.341369885,878,784,799,649,629,650.341369885,0.420344045122,-0.0155331135658,0.0699959754353,0.999999997519,-5.15584328508e-05,-5.13678468031e-06,-4.77146398995e-05,1793193500181571328
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.918177964,742.918177964,712,672.918177964,660,632.918177964,878,784,799,649,629,650.918177964,0.421209005205,-0.0155353788956,0.0700129234704,0.999999997157,-5.53679059681e-05,2.0417453417e-05,-4.69364055299e-05,1793193500198237696
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,743,712,673,660,633,878,784,799,649,628.50830697,650.50830697,0.422025600743,-0.0155368590517,0.0699878049112,0.999999996643,-6.16617154591e-05,-1.97512112854e-05,-5.02138057757e-05,1793193500214904320
+164,2.733333333,POSE1_TO_POSE2_PRESS,764.933229513,743,712,673,660,633,878,784,799,649,628.066770487,650.066770487,0.422827944459,-0.0155375790527,0.069950348005,0.99999999313,-6.74286145874e-05,-7.87472199208e-05,-5.47034407649e-05,1793193500231570688
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.341591838,743,712,673,660,633,878,784,799,649,628.658408162,650.658408162,0.423581102273,-0.015533343905,0.0698705635059,0.999999975752,-6.58254496188e-05,-0.000200340338801,-6.34522843087e-05,1793193500248237312
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,743,712,673,660,633,878,784.244893581,799,649,629,651,0.424410567614,-0.015531855843,0.0698368879481,0.999999965471,-6.43221785584e-05,-0.000245584860581,-6.78841024555e-05,1793193500264904192
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,743,712,673,660,633,878,784.824340497,799,649,629,651,0.425344278088,-0.0155341206214,0.0698662025973,0.999999978416,-6.29553749482e-05,-0.000186528269808,-6.64183600087e-05,1793193500281570560
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,742.598623589,712,673.401376411,660,633,878.401376411,784.598623589,799.401376411,648.598623589,629,650.598623589,0.42625253008,-0.015537251235,0.0699175834878,0.999999989525,-6.4596668376e-05,-0.000113757150357,-6.193901351e-05,1793193500298237440
+169,2.816666667,POSE1_TO_POSE2_PRESS,764,742.022636567,712,673.977363433,660,633,878.977363433,784.022636567,799.977363433,648.022636567,629,650.022636567,0.427149706824,-0.0155407585123,0.0699785638444,0.999999995529,-6.75465727925e-05,-3.50198083583e-05,-5.61486599346e-05,1793193500314904576
+170,2.833333333,POSE1_TO_POSE2_PRESS,763.449349078,742.550650922,712,673.449349078,660,632.449349078,878.449349078,784.550650922,799.449349078,648,629,650,0.428021922914,-0.0155466029856,0.0700016195134,0.999999995941,-7.24227371437e-05,3.084815602e-07,-5.36023684263e-05,1793193500331571200
+171,2.850000000,POSE1_TO_POSE2_PRESS,763.128039584,743,712,673,660.128039584,632,878.128039584,784.871960416,799.128039584,648.128039584,628.871960416,650.128039584,0.428883958829,-0.0155515669696,0.0700182109432,0.99999999521,-7.82235624821e-05,2.74297978879e-05,-5.20447716268e-05,1793193500348237568
+172,2.866666667,POSE1_TO_POSE2_PRESS,763.720711365,743,712,673,660.720711365,632,878.720711365,784.279288635,799.720711365,648.720711365,628.279288635,650.720711365,0.429712758078,-0.015552988866,0.0700169746888,0.999999994284,-8.70938630572e-05,3.12135103332e-05,-5.35933914886e-05,1793193500364903936
+173,2.883333333,POSE1_TO_POSE2_PRESS,764.305985855,743,712,673,660.694014145,632.305985855,878.694014145,784.305985855,800,649,628.305985855,651,0.430496046902,-0.0155510399744,0.0699810043772,0.999999994252,-8.60505111647e-05,-2.88928291192e-05,-5.7061923514e-05,1793193500381570560
+174,2.900000000,POSE1_TO_POSE2_PRESS,764.884667809,743,712,673,660.115332191,632.884667809,878.115332191,784.884667809,800,649,628.884667809,651,0.431238776567,-0.0155460870198,0.0699140789029,0.999999984513,-7.61720620048e-05,-0.000145938297395,-6.2241490037e-05,1793193500398237184
+175,2.916666667,POSE1_TO_POSE2_PRESS,764.533014357,743,712,673,660.466985643,633,878.466985643,784.533014357,800,649,629,650.533014357,0.431976763147,-0.0155440990208,0.0698753960851,0.999999972865,-8.36106384307e-05,-0.00020705597995,-6.63815767783e-05,1793193500414903808
+176,2.933333333,POSE1_TO_POSE2_PRESS,764,743,712,673.048533792,660.951466208,632.951466208,878.951466208,784.048533792,800,649,629,650.048533792,0.43272511721,-0.0155436759623,0.0698522363017,0.999999964373,-9.43335222543e-05,-0.000239845434739,-6.94942397849e-05,1793193500431570688
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,743,712,673.612302949,660.387697051,632.387697051,878.387697051,784.612302949,800,649,629,650.612302949,0.433596065258,-0.0155520316532,0.0699192401142,0.999999986327,-9.41636662049e-05,-0.000119687120287,-6.44465051479e-05,1793193500448237568
+178,2.966666667,POSE1_TO_POSE2_PRESS,763.814057823,743,712.185942177,673.814057823,660.185942177,632.185942177,878,785,800,649,629,650.814057823,0.434430985899,-0.0155587309468,0.0699747328702,0.99999999351,-9.41282716735e-05,-2.40223687871e-05,-5.9517397514e-05,1793193500464904192
+179,2.983333333,POSE1_TO_POSE2_PRESS,763.218685353,743,712.781314647,673.218685353,660.781314647,632.781314647,878,785,800,649,629,650.218685353,0.43518657714,-0.0155617829835,0.0700048791834,0.999999993884,-9.43889533923e-05,1.77094718081e-05,-5.48494980447e-05,1793193500481570816
+180,3.000000000,POSE1_TO_POSE2_PRESS,763,743,712.6348941,673,661,632.6348941,878.3651059,784.6348941,800.3651059,649,629,650.3651059,0.435917644254,-0.015564136241,0.070005478225,0.999999993074,-0.000102604620483,1.91196932356e-05,-5.43973016871e-05,1793193500498237440
+181,3.016666667,POSE1_TO_POSE2_PRESS,763,743,712.057826346,673,661,632.057826346,878.942173654,784.057826346,800.942173654,649,629,650.942173654,0.436634473868,-0.0155660838228,0.0699889236269,0.999999991743,-0.000115438546111,-2.87876218803e-06,-5.63925277048e-05,1793193500514904064
+182,3.033333333,POSE1_TO_POSE2_PRESS,763.515946983,743,712,673.515946983,661,632,879,784.515946983,800.484053017,649,628.484053017,651,0.437271621698,-0.0155657612992,0.0699528276584,0.999999990062,-0.00011771247288,-4.83540957503e-05,-6.06807515087e-05,1793193500531570944
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,743,712,673.907884867,660.907884867,632,879,784.907884867,800.092115133,649,628.092115133,651,0.437889898602,-0.0155655243847,0.0699135016032,0.999999985866,-0.000118613245313,-9.97261068431e-05,-6.52153047863e-05,1793193500548237568
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,743,712,673.316755755,660.316755755,632,879,784.316755755,800.683244245,649,628.683244245,651,0.438454018849,-0.0155671208089,0.069868466687,0.999999976296,-0.000118446167772,-0.000168878344835,-6.97009145688e-05,1793193500564904192
+185,3.083333333,POSE1_TO_POSE2_PRESS,763.73126049,743,712,673,660,632.26873951,878.73126049,784,800.73126049,649,629,650.73126049,0.438999678339,-0.0155682395152,0.0698216341621,0.999999960293,-0.000117693558493,-0.000245535249203,-7.26215069004e-05,1793193500581571072
+186,3.100000000,POSE1_TO_POSE2_PRESS,763.15226937,743,712,673,660,632.84773063,878.15226937,784,800.15226937,649,629,650.15226937,0.439524025407,-0.0155688067106,0.0697727263555,0.99999993579,-0.000116264970475,-0.00033085605795,-7.37353336799e-05,1793193500598237952
+187,3.116666667,POSE1_TO_POSE2_PRESS,763.424233735,743,711.575766265,673,660,632.575766265,878,784,800,649,629,650.424233735,0.440085052345,-0.015575305939,0.0697630076133,0.999999928413,-0.000132694830324,-0.000346207204244,-7.55389300525e-05,1793193500614904064
+188,3.133333333,POSE1_TO_POSE2_PRESS,763.999849074,743,711.000150926,673,660,632.000150926,878,784,800,649,629,650.999849074,0.440659168001,-0.0155839219266,0.0697672729116,0.999999928254,-0.00015549721615,-0.000336590707033,-7.75886607898e-05,1793193500631570432
+189,3.150000000,POSE1_TO_POSE2_PRESS,764,743,711.573337712,673.573337712,659.426662288,632,878.573337712,784,800,649,629,651,0.441193438626,-0.0155965032019,0.0697948555456,0.999999937945,-0.000168203077494,-0.000300342812544,-7.49184769253e-05,1793193500648237568
+190,3.166666667,POSE1_TO_POSE2_PRESS,764,743,712,674,659,631.848131081,878.848131081,783.848131081,800,649,629,651,0.441703629428,-0.0156082387717,0.0698130649047,0.999999941981,-0.000182256650871,-0.000278421970378,-7.28169155583e-05,1793193500664904960
+191,3.183333333,POSE1_TO_POSE2_PRESS,764,743,712,674,659,631.254944868,878.254944868,783.254944868,800,649,629,651,0.44214387694,-0.0156175137789,0.0698040186137,0.999999932886,-0.00020023425146,-0.000298154530833,-7.23713163607e-05,1793193500681571072
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,743,712,674,659,631,878,783,800,649,629,650.671420648,0.442544238981,-0.0156222273238,0.0697763407047,0.999999916355,-0.000202637860945,-0.000347458014346,-7.41638099921e-05,1793193500698237440
+193,3.216666667,POSE1_TO_POSE2_PRESS,764,743,712,674,659,631,878,783,800,649,629,650.09517906,0.442914537861,-0.0156235027278,0.0697346194665,0.999999890501,-0.000193302783691,-0.000419050178233,-7.76432355389e-05,1793193500714903808
+194,3.233333333,POSE1_TO_POSE2_PRESS,764,742.518268614,711.518268614,674,659,631,878,783,800,649,628.518268614,650,0.443277586183,-0.0156276116152,0.0697051605191,0.999999869293,-0.000200019689334,-0.000464002337954,-7.8152498061e-05,1793193500731570432
+195,3.250000000,POSE1_TO_POSE2_PRESS,764,742.059922179,711.059922179,674,659.059922179,631,878.059922179,782.940077821,800.059922179,649,628,650.059922179,0.443635845815,-0.0156322807384,0.0696800082937,0.999999849078,-0.000211436484063,-0.000501015908806,-7.82375733121e-05,1793193500748237056
+196,3.266666667,POSE1_TO_POSE2_PRESS,764,742.648236131,711.648236131,674,659.648236131,631,878.648236131,782.351763869,800.648236131,649,628,650.648236131,0.443964528651,-0.0156369465646,0.0696714391913,0.999999836544,-0.000236291652687,-0.000514504758181,-7.97640750462e-05,1793193500764903936
+197,3.283333333,POSE1_TO_POSE2_PRESS,764.23388154,743,712,674,659.76611846,631,879,782.23388154,801,649,628,651,0.444282322017,-0.0156402769876,0.0696646197147,0.999999829234,-0.000247581130414,-0.000523168414284,-8.08062926911e-05,1793193500781571072
+198,3.300000000,POSE1_TO_POSE2_PRESS,764.815558614,743,712,674,659.184441386,631,879,782.815558614,801,649,628,651,0.444583922075,-0.0156416215876,0.0696604020347,0.999999830588,-0.000238697629951,-0.000524656724889,-8.11283514919e-05,1793193500798238464
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,743,712,674,658.608414505,630.608414505,879,782.608414505,800.608414505,649,628,651,0.444856918684,-0.0156473333406,0.0696581441044,0.999999831205,-0.000237413539312,-0.000524263844057,-7.98270152436e-05,1793193500814904832
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,743,712,674,658.035011029,630.035011029,879,782.035011029,800.035011029,649,628,651,0.445116634386,-0.0156550728169,0.0696567961096,0.999999831495,-0.00023965794774,-0.000522997502944,-7.77719166528e-05,1793193500831570944
+201,3.350000000,POSE1_TO_POSE2_PRESS,764.461249711,743,712,674.538750289,658.538750289,630,879,782,800,649,628,651,0.445342465781,-0.0156652194217,0.0696565117426,0.999999827095,-0.000254965132738,-0.000524581379725,-7.4942940181e-05,1793193500848237056
+202,3.366666667,POSE1_TO_POSE2_PRESS,764,743,712,674.883173901,658.883173901,630.116826099,878.883173901,782,800,649,628,650.883173901,0.445557687157,-0.0156745979679,0.0696560546963,0.999999822138,-0.000270250667667,-0.000526669037927,-7.28552672193e-05,1793193500864903680
+203,3.383333333,POSE1_TO_POSE2_PRESS,764,743,712,674.287509362,658.287509362,630.712490638,878.287509362,782,800,649,628,650.287509362,0.445738452379,-0.015680186869,0.0696546063895,0.999999817026,-0.000281965776409,-0.000530061876067,-7.40122610474e-05,1793193500881570560
+204,3.400000000,POSE1_TO_POSE2_PRESS,764,743,712,674,658,630.701092717,878.298907283,782,800.298907283,649,628,650,0.445899779808,-0.0156861893974,0.0696507101386,0.999999810682,-0.000290175741161,-0.000537348961051,-7.54271588216e-05,1793193500898237696
+205,3.416666667,POSE1_TO_POSE2_PRESS,764,743,712,674,658,630.123304409,878.876695591,782,800.876695591,649,628,650,0.44604297173,-0.0156925778403,0.0696445299516,0.999999803183,-0.000295115399663,-0.000548269385023,-7.7082681364e-05,1793193500914904576
+206,3.433333333,POSE1_TO_POSE2_PRESS,764,743,712,674,658,630,878.549966489,781.549966489,800.549966489,649,628,650,0.446164181027,-0.0156960861197,0.0696411845455,0.999999797292,-0.000298839319155,-0.000556930395266,-7.70664825662e-05,1793193500931571200
+207,3.450000000,POSE1_TO_POSE2_PRESS,764.022931249,743,712,674,658,630,878,781.022931249,800,649,628,650.022931249,0.446278738225,-0.015698706255,0.0696386616473,0.999999791935,-0.000302268300218,-0.000564708045997,-7.66080922588e-05,1793193500948237568
+208,3.466666667,POSE1_TO_POSE2_PRESS,764.614867017,743,712,674,658,630,878,781.614867017,800,649,628,650.614867017,0.446376222044,-0.0156986778702,0.069637464129,0.999999790037,-0.000306563258898,-0.0005657769735,-7.64315152084e-05,1793193500964903936
+209,3.483333333,POSE1_TO_POSE2_PRESS,764.797768192,743,712,674,658,630,878.202231808,782,800,649,628,651,0.446465358867,-0.0156992306661,0.0696367809984,0.999999788285,-0.000309901636061,-0.000567097285435,-7.61055956486e-05,1793193500981570304
+210,3.500000000,POSE1_TO_POSE2_PRESS,764.218916085,743,712,674,658,630,878.781083915,782,800,649,628,651,0.446538950905,-0.0157008658064,0.0696370558224,0.999999786831,-0.000311458552068,-0.000568885755464,-7.55015526004e-05,1793193500998237184
+211,3.516666667,POSE1_TO_POSE2_PRESS,764,743,712,674,658,629.642134362,878.642134362,781.642134362,800,649,628,651,0.446596919843,-0.0157029159282,0.069635164435,0.999999783073,-0.000314563236822,-0.000573795694969,-7.52459203024e-05,1793193501014904064
+212,3.533333333,POSE1_TO_POSE2_PRESS,764,743,712,674,658,629.066611808,878.066611808,781.066611808,800,649,628,651,0.446645386687,-0.0157052184456,0.0696319555395,0.999999777866,-0.000318609287791,-0.000580604138833,-7.5202194316e-05,1793193501031570688
+213,3.550000000,POSE1_TO_POSE2_PRESS,764,743,712,674,658,629.504847794,878,781,800,649,627.495152206,651,0.446681438639,-0.0157059223853,0.0696287851634,0.999999775016,-0.00031951764589,-0.000584991312413,-7.52472028752e-05,1793193501048237568
+214,3.566666667,POSE1_TO_POSE2_PRESS,764.079059948,743,712,674,658,630,878,781,800,649,627,650.920940052,0.446715209777,-0.0157062335418,0.0696261932327,0.999999773151,-0.000319744917044,-0.000588049336189,-7.52279464652e-05,1793193501064904448
+215,3.583333333,POSE1_TO_POSE2_PRESS,764.674733854,743,712,674,658,630,878,781,800,649,627,650.325266146,0.446744695516,-0.0157053453386,0.0696273481828,0.999999775766,-0.000318205327263,-0.000584493003449,-7.47128585168e-05,1793193501081571072
+216,3.600000000,POSE1_TO_POSE2_PRESS,764.738191651,743,712,674.261808349,658,630,878.261808349,781,800,649,627.261808349,650.261808349,0.446767272001,-0.0157045565821,0.0696277651299,0.999999777136,-0.00031638002793,-0.000583176347809,-7.44125243056e-05,1793193501098237696
+217,3.616666667,POSE1_TO_POSE2_PRESS,764.16146119,743,712,674.83853881,658,630,878.83853881,781,800,649,627.83853881,650.83853881,0.446781537531,-0.0157038874474,0.0696272943531,0.999999777019,-0.000314211056478,-0.000584553738799,-7.43705115306e-05,1793193501114904064
+218,3.633333333,POSE1_TO_POSE2_PRESS,764.413956711,743,712,674.586043289,658,630,878.586043289,781,800,649,628,651,0.446789867647,-0.0157036781256,0.0696272460333,0.999999776127,-0.000314471047272,-0.000585964554588,-7.41630177924e-05,1793193501131570432
+219,3.650000000,POSE1_TO_POSE2_PRESS,764.988864259,743,712,674.011135741,658,630,878.011135741,781,800,649,628,651,0.446795890009,-0.0157036475841,0.0696273619693,0.999999774932,-0.000315675444863,-0.000587388366265,-7.38911832701e-05,1793193501148237056
+220,3.666666667,POSE1_TO_POSE2_PRESS,764.437400635,743,712,674.562599365,658,630,878.562599365,781,800,649,628,651,0.446800278265,-0.0157040338233,0.0696253965048,0.999999773748,-0.000316202435475,-0.000589143405014,-7.3692280717e-05,1793193501164903936
+221,3.683333333,POSE1_TO_POSE2_PRESS,764,743,712,674.858546979,658,630,879,781,800.141453021,649,628,651,0.446803890284,-0.0157043921762,0.0696236958289,0.999999772687,-0.000316592039147,-0.000590753886193,-7.35206008666e-05,1793193501181570816
+222,3.700000000,POSE1_TO_POSE2_PRESS,764,743,712,674.263194543,658,630,879,781,800.736805457,649,628,651,0.446805115057,-0.0157046346301,0.0696229767392,0.999999772031,-0.000316583725813,-0.000591879511927,-7.34316516739e-05,1793193501198237696
+223,3.716666667,POSE1_TO_POSE2_PRESS,764.322248851,743,712,674,658,630,878.677751149,781,801,649,628,651,0.446805806393,-0.0157039181539,0.0696219152756,0.999999771186,-0.000316258256925,-0.000593468086069,-7.35151234102e-05,1793193501214904576
+224,3.733333333,POSE1_TO_POSE2_PRESS,764.899840602,743,712,674,658,630,878.100159398,781,801,649,628,651,0.446806075044,-0.0157024418427,0.0696205825225,0.99999977019,-0.000315681480953,-0.000595423490461,-7.37352176875e-05,1793193501231571200
+225,3.750000000,POSE1_TO_POSE2_PRESS,764.526945388,743,712,674,658,629.526945388,878,781,800.526945388,649,628,651,0.446807696299,-0.0157023291276,0.069621795661,0.999999771652,-0.000314152526984,-0.0005938435157,-7.31756442043e-05,1793193501248237312
+226,3.766666667,POSE1_TO_POSE2_PRESS,764,743,712,674,658,629.046912373,878,780.953087627,800,649,628,651,0.446809261414,-0.0157024538393,0.0696231896446,0.999999773291,-0.000312527339782,-0.000592019979576,-7.25097240828e-05,1793193501264903680
+227,3.783333333,POSE1_TO_POSE2_PRESS,764,743,712,674,658,629.638921892,878,780.361078108,800,649,628,651,0.446806877059,-0.0157020133945,0.0696204790343,0.999999771068,-0.000312105021695,-0.000595984304737,-7.25086466283e-05,1793193501281570304
+228,3.800000000,POSE1_TO_POSE2_PRESS,764,743,712,674,658,630,878,780.225666732,800,649,628,651,0.446806498462,-0.0157014633888,0.0696195927635,0.99999977063,-0.000311111353446,-0.000597230954442,-7.25636726155e-05,1793193501298237184
+229,3.816666667,POSE1_TO_POSE2_PRESS,764,743,712,674,658,630,878,780.804179824,800,649,628,651,0.446809256012,-0.0157007420766,0.0696215589804,0.999999772993,-0.000309224337657,-0.000594228320525,-7.27064204186e-05,1793193501314903808
+230,3.833333333,POSE1_TO_POSE2_PRESS,764,743,711.618747852,674,658,630,878.381252148,781,800,649,627.618747852,650.618747852,0.446811400532,-0.0157010829286,0.0696230664004,0.999999774034,-0.000309874077256,-0.000592153659206,-7.25586034728e-05,1793193501331570688
+231,3.850000000,POSE1_TO_POSE2_PRESS,764,743,711.042412774,674,658,630,878.957587226,781,800,649,627.042412774,650.042412774,0.446813231371,-0.0157019672795,0.0696243390585,0.999999774396,-0.000311821849407,-0.000590553832324,-7.22621074316e-05,1793193501348237568
+232,3.866666667,POSE1_TO_POSE2_PRESS,764,743,711.543384267,673.456615733,658,630,879,781,800,649,627.543384267,650.543384267,0.446813003013,-0.0157009813781,0.0696231271845,0.999999773642,-0.000311957313024,-0.000591721385411,-7.25568811926e-05,1793193501364904192
+233,3.883333333,POSE1_TO_POSE2_PRESS,764,743,712,673.128270235,658,629.871729765,878.871729765,781,800,649,627.871729765,650.871729765,0.446812955868,-0.0157000039533,0.0696223078534,0.999999773275,-0.000311473738711,-0.000592571914786,-7.27492353421e-05,1793193501381570816
+234,3.900000000,POSE1_TO_POSE2_PRESS,764,743,712,673.707312952,658,629.292687048,878.292687048,781,800,649,627.292687048,650.292687048,0.446814120386,-0.0156995784135,0.06962356159,0.999999774581,-0.000309320636587,-0.000591535809879,-7.24166045332e-05,1793193501398237440
+235,3.916666667,POSE1_TO_POSE2_PRESS,764,743,712,674,658,629,878,781,800,649,627,650.283782232,0.446814331203,-0.0156993102802,0.0696236865828,0.999999774601,-0.00030882543711,-0.000591779215187,-7.22596301461e-05,1793193501414904064
+236,3.933333333,POSE1_TO_POSE2_PRESS,764,743,712,674,658,629,878,781,800,649,627,650.857621247,0.446813567234,-0.0156992030336,0.0696226578749,0.999999773309,-0.00031002479698,-0.000593330421126,-7.22821959816e-05,1793193501431570432
+237,3.950000000,POSE1_TO_POSE2_PRESS,764,743,712,674,657.566899769,629.433100231,878,781,799.566899769,648.566899769,627,651,0.446813128184,-0.015700346731,0.0696226314488,0.999999773123,-0.000311271463935,-0.000593031173598,-7.19528817862e-05,1793193501448237312
+238,3.966666667,POSE1_TO_POSE2_PRESS,764,743,712,674,657.009377168,629.990622832,878,781,799.009377168,648.009377168,627.009377168,651,0.446812814849,-0.0157018667783,0.0696229299714,0.999999773301,-0.000312492695678,-0.000592142493312,-7.15135955242e-05,1793193501464903936
+239,3.983333333,POSE1_TO_POSE2_PRESS,764,743,712,674,657.60161685,629.39838315,878,781,799.60161685,648.60161685,627.60161685,651,0.446813650999,-0.0157011210338,0.0696228681645,0.999999773465,-0.000311162597259,-0.00059257176563,-7.14563151945e-05,1793193501481570816
+240,4.000000000,POSE1_TO_POSE2_PRESS,764,743,712,674,658,629,878,781,800,649,628,650.810348073,0.446814770705,-0.0157005396912,0.0696228787,0.999999773794,-0.000310094997849,-0.000592577152945,-7.14516431655e-05,1793193501498237696
+241,4.016666667,POSE1_TO_POSE2_PRESS,764,743,712,674,658,629,878,781,800,649,628,650.230953665,0.446816473133,-0.0157002962012,0.0696230379019,0.999999774463,-0.00030956684474,-0.00059171143919,-7.15550833534e-05,1793193501514904832
+242,4.033333333,POSE1_TO_POSE2_PRESS,764,743,711.65389061,674,658,629,878.34610939,781,800.34610939,649,627.65389061,650,0.446816142492,-0.0157001953812,0.0696230141327,0.999999774259,-0.000309525417363,-0.000592081282765,-7.1526373874e-05,1793193501531571456
+243,4.050000000,POSE1_TO_POSE2_PRESS,764,743,711.078372845,674,658,629,878.921627155,781,800.921627155,649,627.078372845,650,0.446814464293,-0.0157001891259,0.0696228690865,0.999999773476,-0.000309806601769,-0.000593270079017,-7.14100728911e-05,1793193501548237568
+244,4.066666667,POSE1_TO_POSE2_PRESS,764,743,711.506335332,674.506335332,658,629.506335332,878.493664668,781,801,649,627.506335332,650,0.446815087851,-0.0156999929896,0.0696234029598,0.999999773467,-0.000310722898649,-0.00059279736642,-7.14709713597e-05,1793193501564904192
+245,4.083333333,POSE1_TO_POSE2_PRESS,764,743,712,674.908533752,658,630,878,781,800.908533752,649,627.908533752,650,0.44681591965,-0.0156999126142,0.0696237930717,0.999999773467,-0.000311597297595,-0.000592335118185,-7.15001567722e-05,1793193501581570816
+246,4.100000000,POSE1_TO_POSE2_PRESS,764,743,712,674.328879666,658,630,878,781,800.328879666,649,627.328879666,650,0.446815926187,-0.015700609864,0.0696228446273,0.999999772863,-0.000311713680761,-0.000593326735714,-7.12109805702e-05,1793193501598237696
+247,4.116666667,HOLD_POSE2,764,743,712,673,658,629,878,781,800,649,628,651,0.446814225899,-0.0157003266187,0.0696207832955,0.999999771117,-0.000311827491376,-0.00059626267016,-7.07086349932e-05,1793193501636509440
+248,4.133333333,HOLD_POSE2,764,743,712,673.57300116,657.42699884,629.57300116,878.57300116,781,800,649,627.42699884,651,0.446814621392,-0.0156995252556,0.0696212265625,0.999999772774,-0.000309455210557,-0.000594712571677,-7.07565706284e-05,1793193501653175552
+249,4.150000000,HOLD_POSE2,764,743,712,674,657,630,879,780.849630383,800,649,627.150369617,651,0.446814863731,-0.0156988980587,0.0696215073622,0.999999773807,-0.000307719570494,-0.000593867653551,-7.08263654609e-05,1793193501669841664
+250,4.166666667,HOLD_POSE2,764,743,712,674,657,630,879,780.259489178,800,649,627.740510822,651,0.446814658153,-0.0156987802286,0.0696213130093,0.999999773035,-0.000307845852001,-0.000595085108396,-7.09600898035e-05,1793193501686508288
+251,4.183333333,HOLD_POSE2,764,743,712,674,657.324370962,630,878.675629038,780.324370962,800,649,628,651,0.446813599533,-0.0156997549924,0.0696208984066,0.999999771886,-0.000309022146606,-0.000596422033697,-7.08106211928e-05,1793193501703174656
+252,4.200000000,HOLD_POSE2,764,743,712,674,657.903301813,630,878.096698187,780.903301813,800,649,628,651,0.446811871464,-0.0157015872023,0.0696203109562,0.999999770438,-0.000311022470624,-0.000597852716963,-7.04389083691e-05,1793193501719841024
+253,4.216666667,HOLD_POSE2,764,743,712,674,658,630,878,781,800.48028144,649,628,650.51971856,0.446815312799,-0.0157012329879,0.0696219565585,0.999999772617,-0.000309942846205,-0.000594757798442,-7.04562720774e-05,1793193501736507648
+254,4.233333333,HOLD_POSE2,764,743,712,674,658,630,878.057533852,781,800.942466148,649,628,650.057533852,0.446819175875,-0.0157003476987,0.0696237501911,0.999999775158,-0.000308288234228,-0.00059132714169,-7.0535190455e-05,1793193501753174272
+255,4.250000000,HOLD_POSE2,764,743,712,674,658,630,878.640854863,781,800.359145137,649,628,650.640854863,0.446817420101,-0.0156986157129,0.0696228045271,0.999999774489,-0.000307023018676,-0.000593121505389,-7.04636515068e-05,1793193501769841408
+256,4.266666667,HOLD_POSE2,764.223510119,743,712,674,658,630,878.776489881,781,800,649,628,651,0.446817022958,-0.0156978089344,0.0696226264008,0.999999774502,-0.000306244800075,-0.000593505102066,-7.04445122249e-05,1793193501786508288
+257,4.283333333,HOLD_POSE2,764.805098736,743,712,674,658,630,878.194901264,781,800,649,628,651,0.446818802434,-0.0156984844016,0.0696236779225,0.999999775608,-0.000306246784018,-0.000591628553314,-7.05093207994e-05,1793193501803175168
+258,4.300000000,HOLD_POSE2,764.61532248,743,712,674.38467752,657.61532248,630,878.38467752,781,800,649,628,651,0.446819263751,-0.0156987714719,0.0696238709737,0.9999997757,-0.000306818670969,-0.000591184498746,-7.04457674021e-05,1793193501819841536
+259,4.316666667,HOLD_POSE2,764.036756656,743,712,674.963243344,657.036756656,630,878.963243344,781,800,649,628,651,0.446819060679,-0.0156988627793,0.0696236313316,0.999999775281,-0.000307677805088,-0.000591462461423,-7.03175159615e-05,1793193501836507648
+260,4.333333333,HOLD_POSE2,764,743,712,674.461047107,657.538952893,629.461047107,879,781,800,649,628,651,0.446819247151,-0.0156988852683,0.0696239864084,0.999999775357,-0.000307857375821,-0.000591244685315,-7.02774313381e-05,1793193501853174784
+261,4.350000000,HOLD_POSE2,764,743,712,674,658,629,879,780.884078625,800.115921375,649,628,651,0.446819402459,-0.015698532704,0.0696242282468,0.999999775572,-0.000307466081615,-0.00059108368616,-7.0294481277e-05,1793193501869841408
+262,4.366666667,HOLD_POSE2,764,743,712,674,658,629,879,780.301258887,800.698741113,649,628,651,0.446819325803,-0.0156966883353,0.0696238514904,0.999999776203,-0.000304961191356,-0.000591286825342,-7.05175620558e-05,1793193501886508032
+263,4.383333333,POSE2_TO_POSE3_RETREAT,764,743,712,674,658,630,879,781,800,649,628,651,0.44681891259,-0.0156974733957,0.0696223557728,0.999999774933,-0.000305689399784,-0.000593108222041,-7.00803550795e-05,1793193501923966464
+264,4.400000000,POSE2_TO_POSE3_RETREAT,764.581863029,742.418136971,712,674,658,630,878.418136971,781,800.581863029,649,627.418136971,651,0.446817745972,-0.0156987487814,0.0696226350395,0.999999773994,-0.000306390831747,-0.000594303002932,-7.0285361035e-05,1793193501940633088
+265,4.416666667,POSE2_TO_POSE3_RETREAT,764.83884571,742.16115429,712,674,658,630,878,780.83884571,800.83884571,649,627.16115429,651,0.446817515262,-0.0156992569237,0.0696231918241,0.999999773857,-0.000306845079277,-0.000594279561507,-7.04482082711e-05,1793193501957299968
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764.266122321,742.733877679,712,674,658,630,878,780.266122321,800.266122321,649,627.733877679,651,0.446819674751,-0.0156978056174,0.0696244573571,0.999999775766,-0.000306668046991,-0.000591144923842,-7.05033871409e-05,1793193501973966336
+267,4.450000000,POSE2_TO_POSE3_RETREAT,764,743,712,674.317494016,658,629.682505984,878.317494016,780.317494016,800.317494016,649,628,650.682505984,0.446819566607,-0.0156975985064,0.0696239295176,0.999999775515,-0.000306669929484,-0.00059159510798,-7.02736236331e-05,1793193501990632704
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764,743,712,674.910565133,658,629.089434867,878.910565133,780.910565133,800.910565133,649,628,650.089434867,0.446817490214,-0.015698471327,0.0696218450743,0.999999773387,-0.000306827105674,-0.000595156830626,-6.97965370538e-05,1793193502007299072
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,743,712,674.509472382,658,629.490527618,878.509472382,781,801,649,628,650.490527618,0.446818301232,-0.0157005107908,0.0696224204727,0.999999773908,-0.000307874165118,-0.000593761885516,-6.96019294127e-05,1793193502023965952
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764,743,712,673.932288201,658,630,878,781,800.932288201,649,628,651,0.446818911951,-0.015702229362,0.0696230287191,0.999999774493,-0.000308872911568,-0.000592259640598,-6.95746590147e-05,1793193502040632320
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764,743,712,673.35847119,658,630,878,781,800.35847119,649,628,651,0.446814193122,-0.0157000009765,0.0696203520988,0.99999977206,-0.000308329412746,-0.00059653433719,-7.0423202543e-05,1793193502057299200
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764,743,712,673.221387041,658,630,878.221387041,781,800,649,628,651,0.44680602586,-0.015698337797,0.0696159589919,0.999999768069,-0.000307744521016,-0.000603388636598,-7.1251641598e-05,1793193502073965824
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764,743,712,673.811301611,658,630,878.811301611,781,800,649,628,651,0.446792118236,-0.015697615477,0.0696087085701,0.999999761424,-0.000307090725441,-0.000614537020008,-7.2046614053e-05,1793193502090632448
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764,743,712,674,658,629.605723261,879,781,800,649,628,651,0.446760968691,-0.0156951045203,0.0695949261783,0.999999747213,-0.000306537791229,-0.000637409228792,-7.29190962774e-05,1793193502107299328
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764,743,712,674,658,629.026011814,879,781,800,649,628,651,0.446721709991,-0.0156917523389,0.0695780716951,0.999999728805,-0.000306032293489,-0.00066579534229,-7.38280326199e-05,1793193502123965696
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764,743,712,673.450353612,658,629.549646388,879,781.549646388,800,649,627.450353612,651,0.446657209716,-0.0156882905487,0.0695606323507,0.999999707659,-0.000304153617407,-0.000697573768006,-7.45819348474e-05,1793193502140632320
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764.125071785,743,712,673.125071785,658,630,878.874928215,781.749856429,800,649,627.125071785,651,0.446589209642,-0.0156847408492,0.06954560023,0.999999689885,-0.000301917381167,-0.00072349823445,-7.50044308476e-05,1793193502157298944
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764.700344756,743,712,673.700344756,658,630,878.299655244,780.599310487,800,649,627.700344756,651,0.446512880227,-0.0156808932499,0.0695393319082,0.999999687824,-0.000298626296925,-0.000727777497585,-7.42602328179e-05,1793193502173965568
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764.716848554,743,711.716848554,674,657.716848554,630,878,780.283151446,800,649,628,651,0.446429562195,-0.0156759305382,0.0695382473254,0.999999690317,-0.000294774519816,-0.000726069278553,-7.27790996888e-05,1793193502190632192
+280,4.666666667,POSE2_TO_POSE3_RETREAT,764.125851143,743,711.125851143,674,657.125851143,630,878,780.874148857,800,649,628,651,0.446338646054,-0.0156697554617,0.0695427985723,0.999999697719,-0.000290313150253,-0.000717851390077,-7.04967610937e-05,1793193502207299072
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764,743,711,674,657.455520071,630,878,781,800,649,628,651,0.44622321852,-0.0156640647538,0.0695468213463,0.999999703417,-0.000287760812096,-0.000711205489155,-6.74229513446e-05,1793193502223965696
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764,743.033982206,711.033982206,673.966017794,657.966017794,629.966017794,878.033982206,781.033982206,800,649,628,651,0.446099190096,-0.0156583459642,0.0695504764148,0.999999708494,-0.000285341664034,-0.000705320683885,-6.41440820763e-05,1793193502240632576
+283,4.716666667,POSE2_TO_POSE3_RETREAT,764,743.60760749,711.60760749,673.39239251,657.39239251,629.39239251,878.60760749,781.60760749,800,649,628,651,0.445943893199,-0.0156501001048,0.0695505628823,0.999999711471,-0.000276835294844,-0.000704768036616,-6.10094502142e-05,1793193502257299200
+284,4.733333333,POSE2_TO_POSE3_RETREAT,764,743.818335141,712,673.181664859,657.181664859,629.181664859,878.818335141,781.818335141,800,649,628,651,0.445776333189,-0.0156406034202,0.0695502539019,0.999999714214,-0.000267689702937,-0.00070467729902,-5.78248098445e-05,1793193502273965824
+285,4.750000000,POSE2_TO_POSE3_RETREAT,764,743.243342325,712,673.756657675,657.756657675,629.756657675,878.243342325,781.243342325,800,649,628,651,0.445582221974,-0.0156283985379,0.0695490887256,0.999999716521,-0.000257160112162,-0.000705586655827,-5.45318949886e-05,1793193502290632448
+286,4.766666667,POSE2_TO_POSE3_RETREAT,763.656302001,743,711.656302001,674,658,630,878,781,800,649,628,651,0.445363304559,-0.0156159138002,0.0695500794767,0.999999719199,-0.000245708099166,-0.000706189468845,-5.02587977794e-05,1793193502307299072
+287,4.783333333,POSE2_TO_POSE3_RETREAT,763.060421982,743,711.060421982,674,658,630,878,781,800,649,628,651,0.445126186034,-0.0156032237226,0.0695526520992,0.999999722077,-0.000233579274891,-0.000706567361097,-4.52665096355e-05,1793193502323965696
+288,4.800000000,POSE2_TO_POSE3_RETREAT,763.517875389,743,711,674,658,630,878,781,800.517875389,649,628,651,0.444855279832,-0.0155878700967,0.0695548940891,0.999999727685,-0.000216051758101,-0.000704544375808,-3.959967512e-05,1793193502340632576
+289,4.816666667,POSE2_TO_POSE3_RETREAT,764,743,711.093344506,674,657.906655494,630,878,781.093344506,800.906655494,649,628,651,0.444572125814,-0.0155723037247,0.0695562977286,0.999999732984,-0.000193617912479,-0.000703847453252,-3.37973496388e-05,1793193502357299200
+290,4.833333333,POSE2_TO_POSE3_RETREAT,764,743,711.664492626,674,657.335507374,630,878,781.664492626,800.335507374,649,628,651,0.444245794558,-0.0155571868371,0.0695536010699,0.999999735496,-0.000149188283939,-0.000711325019432,-2.7691103564e-05,1793193502373965824
+291,4.850000000,POSE2_TO_POSE3_RETREAT,764,743,712,674,657.237915106,630.237915106,878.237915106,782,800.237915106,649,628,651,0.443898279803,-0.0155425052016,0.0695525680595,0.999999738396,-0.000105005416994,-0.000715354721606,-2.12014740459e-05,1793193502390632448
+292,4.866666667,POSE2_TO_POSE3_RETREAT,764,743,712,674,657.814575806,630.814575806,878.814575806,782,800.814575806,649,628,651,0.443520603817,-0.0155284432827,0.0695539037658,0.999999742791,-6.11738941802e-05,-0.000714475325284,-1.41659802472e-05,1793193502407299328
+293,4.883333333,POSE2_TO_POSE3_RETREAT,764,743,711.596818521,674,658,631,879,782.403181479,800.596818521,649,628,650.596818521,0.443119764846,-0.0155219264977,0.0695646416039,0.999999756732,-3.80698060415e-05,-0.000696450745817,-6.4919324608e-06,1793193502423965696
+294,4.900000000,POSE2_TO_POSE3_RETREAT,764,743,711.002551616,674,658,631,879,782.997448384,800.002551616,649,628,650.002551616,0.442707947929,-0.0155189856838,0.0695798355255,0.99999977504,-2.47893615799e-05,-0.000670300310311,1.48475392822e-06,1793193502440632320
+295,4.916666667,POSE2_TO_POSE3_RETREAT,764,743,711,674,658.574717798,631,878.425282202,782.425282202,800.574717798,648.425282202,628,650,0.442273371533,-0.0155202237249,0.069608175587,0.999999804708,-2.27486512053e-05,-0.000624527051021,5.60658407305e-06,1793193502457299200
+296,4.933333333,POSE2_TO_POSE3_RETREAT,764,743,711.150937434,673.849062566,659,631,878,782.150937434,800.849062566,648.150937434,628,650,0.441828740603,-0.0155194107312,0.0696359744892,0.999999831226,-2.17485494482e-05,-0.000580516449113,8.6483075247e-06,1793193502473965824
+297,4.950000000,POSE2_TO_POSE3_RETREAT,764,743,711.724423324,673.275576676,659,631,878,782.724423324,800.275576676,648.724423324,628,650,0.441356236896,-0.0155128054301,0.0696620997135,0.999999852978,-2.35259388558e-05,-0.000541677294759,8.71281412441e-06,1793193502490632448
+298,4.966666667,POSE2_TO_POSE3_RETREAT,764.308494601,742.691505399,711.691505399,673,659.308494601,631,878,783,800,649,628.308494601,650,0.44085485008,-0.0155052324795,0.0696899799211,0.999999878936,-9.90016978054e-06,-0.000491847632508,1.07621449775e-05,1793193502507299328
+299,4.983333333,POSE2_TO_POSE3_RETREAT,764.902357809,742.097642191,711.097642191,673,659.902357809,631,878,783,800,649,628.902357809,650,0.440326745296,-0.0154967644174,0.0697194835543,0.999999906483,1.79740749433e-05,-0.000431851349382,1.46475096653e-05,1793193502523965952
+300,5.000000000,POSE2_TO_POSE3_RETREAT,764.519246146,742,711.480753854,673,660,631,878,783.480753854,800,649,628.519246146,650,0.439741703366,-0.0154845765744,0.0697330329112,0.999999914929,3.16492465527e-05,-0.000410948197882,1.62073345003e-05,1793193502540632832
+301,5.016666667,POSE2_TO_POSE3_RETREAT,764,742.055842674,712,673,659.944157326,631.055842674,877.944157326,784,799.944157326,649,628,650,0.439137467814,-0.0154701872247,0.0697400331748,0.999999917776,4.48322253062e-05,-0.000402694743141,1.65969587119e-05,1793193502557299712
+302,5.033333333,POSE2_TO_POSE3_RETREAT,764,742.628491148,712,673,659.371508852,631.628491148,877.371508852,784,799.371508852,649,628,650,0.438459286939,-0.015442197571,0.0697154773594,0.99999989986,7.93174469607e-05,-0.000440319291507,1.03916976031e-05,1793193502573966336
+303,5.050000000,POSE2_TO_POSE3_RETREAT,764,743,712,673,659.201513306,632,877.201513306,784,799,649,628.201513306,650,0.437790410312,-0.0154189975416,0.0697025359018,0.999999890089,0.000110342028949,-0.000455632243236,6.73170828633e-06,1793193502590632704
+304,5.066666667,POSE2_TO_POSE3_RETREAT,764,743,712,673,659.77522563,632,877.77522563,784,799,649,628.77522563,650,0.437138718858,-0.0154046440439,0.0697110463915,0.999999898525,0.000134974739978,-0.000429735238806,7.7728861476e-06,1793193502607299584
+305,5.083333333,POSE2_TO_POSE3_RETREAT,764,743,712,673.364803047,660,632,878,784,799.364803047,649,629,650,0.436450944508,-0.0154041910756,0.0697434989439,0.999999918407,0.000140618283346,-0.000378495731066,1.24094914008e-05,1793193502623966208
+306,5.100000000,POSE2_TO_POSE3_RETREAT,764,743,712,673.964600212,660,632,878,784,799.964600212,649,629,650,0.43573992677,-0.0154126923714,0.0697913741849,0.999999942491,0.00013402962834,-0.00031093141639,1.93621525933e-05,1793193502640632576
+307,5.116666667,POSE2_TO_POSE3_RETREAT,764,743,712,673.459895546,660.540104454,632,878,784,800,649,629,650.540104454,0.434997040602,-0.0154169646009,0.0698215747915,0.999999953673,0.000132834331899,-0.000272810066384,2.41535007889e-05,1793193502657299200
+308,5.133333333,POSE2_TO_POSE3_RETREAT,764,743,712,673,660.886343937,632,878.113656063,784,800.113656063,649,629,651,0.434238881034,-0.0154195210129,0.0698428087955,0.999999960129,0.000132284850544,-0.000247940451801,2.77279639181e-05,1793193502673965312
+309,5.150000000,POSE2_TO_POSE3_RETREAT,764,743,712,673,660.314521626,632,878.685478374,784,800.685478374,649,629,651,0.433427209698,-0.0154162299598,0.0698323658039,0.999999954603,0.000132975098574,-0.000269046402564,2.69434293532e-05,1793193502690632192
+310,5.166666667,POSE2_TO_POSE3_RETREAT,764,743,712,673,660,632,878.731680713,784.268319287,800.731680713,648.731680713,628.731680713,650.731680713,0.432613087509,-0.015413583799,0.0698277144687,0.999999952155,0.000139407300444,-0.000274788039801,2.73237078018e-05,1793193502707299072
+311,5.183333333,POSE2_TO_POSE3_RETREAT,764,743,712,673,660,632,878.135370696,784.864629304,800.135370696,648.135370696,628.135370696,650.135370696,0.431795969314,-0.0154117259474,0.0698301427932,0.999999953637,0.000152858407587,-0.000261748501499,2.91278415645e-05,1793193502723965696
+312,5.200000000,POSE2_TO_POSE3_RETREAT,764,742.555378298,712,672.555378298,660,632,878,784.555378298,800,648.444621702,628,650,0.430881614859,-0.0154054554174,0.0697969989128,0.999999935133,0.000163542536245,-0.000319752763563,2.72994370947e-05,1793193502740632064
+313,5.216666667,POSE2_TO_POSE3_RETREAT,764,742.019834625,712,672.019834625,660,632.019834625,877.980165375,784,800,649,628.019834625,650.019834625,0.429940817452,-0.0153981207137,0.0697540329869,0.999999905981,0.000173183796645,-0.00039680070665,2.43891772473e-05,1793193502757298944
+314,5.233333333,POSE2_TO_POSE3_RETREAT,764,742.595405953,712,672.595405953,660,632.595405953,877.404594047,784,800,649,628.595405953,650.595405953,0.42905924456,-0.0153972796005,0.0697285773431,0.99999989483,0.000176373842136,-0.000422833398313,2.10576439768e-05,1793193502773965568
+315,5.250000000,POSE2_TO_POSE3_RETREAT,764,743,712,673,660,633,877.175672613,784,800,649,628.824327387,651,0.428199013985,-0.015398797629,0.0697312804909,0.999999899393,0.000175723852766,-0.000412174105922,2.11664964106e-05,1793193502790632448
+316,5.266666667,POSE2_TO_POSE3_RETREAT,764,743,712,673,660,633,877.767050087,784,800,649,628.232949913,651,0.427389287095,-0.0154058982391,0.0698006175136,0.999999936277,0.000165986952659,-0.000314688320732,2.94165443545e-05,1793193502807299072
+317,5.283333333,POSE2_TO_POSE3_RETREAT,764,743,712,672.299772931,660,632.649886466,877.649886466,784,800,649,628.350113534,651,0.426541777709,-0.0154071422946,0.0698468477803,0.999999954085,0.00017223729611,-0.000246792736208,3.54647693318e-05,1793193502823965696
+318,5.300000000,POSE2_TO_POSE3_RETREAT,764,743,712,671.144453019,660,632.07222651,877.07222651,784,800,649,628.92777349,651,0.425669712686,-0.0154045800472,0.0698780604597,0.999999961732,0.000188878098537,-0.000198128472929,4.00819812873e-05,1793193502840632320
+319,5.316666667,POSE2_TO_POSE3_RETREAT,764,743,711.496828954,671.503171046,660,632.503171046,877.503171046,784,800,649,629,651,0.424738086583,-0.0153992438975,0.0698598926998,0.999999954659,0.000196138520305,-0.000225357499539,3.77545674161e-05,1793193502857299200
+320,5.333333333,POSE2_TO_POSE3_RETREAT,764,743,711.078407893,672.078407893,659.921592107,632.921592107,878.078407893,784,800,649,629,651,0.423793926612,-0.0153942869009,0.0698315341455,0.999999942909,0.000200581908881,-0.000269758978111,3.43273994252e-05,1793193502873965568
+321,5.350000000,POSE2_TO_POSE3_RETREAT,764,743,711.654676872,672.654676872,659.345323128,632.345323128,878.654676872,784,800,649,629,651,0.422824225157,-0.0153942543242,0.0697832738132,0.999999917627,0.000195649587832,-0.000354336391091,3.02184978488e-05,1793193502890632192
+322,5.366666667,POSE2_TO_POSE3_RETREAT,763.762733077,743,712,673,659.237266923,632.237266923,878.525466155,784,800,649,629,650.762733077,0.421866422168,-0.0153923976593,0.0697355884035,0.999999885334,0.000192636841889,-0.000437656491083,2.60612485339e-05,1793193502907298816
+323,5.383333333,POSE2_TO_POSE3_RETREAT,763.170691319,743,712,673,659.829308681,632.829308681,877.341382638,784,800,649,629,650.170691319,0.420926410289,-0.0153878135154,0.0696887626429,0.999999846504,0.000192494352551,-0.000519096599923,2.18317064763e-05,1793193502923965440
+324,5.400000000,POSE2_TO_POSE3_RETREAT,763.410245333,742.589754667,712,672.589754667,660,632.589754667,877.410245333,784,800.410245333,649,629,650.410245333,0.420082974812,-0.0153892554035,0.0697219297222,0.999999875352,0.000191546104912,-0.00046043741261,2.45756826221e-05,1793193502940632576
+325,5.416666667,POSE2_TO_POSE3_RETREAT,763.986683212,742.013316788,712,672.013316788,660,632.013316788,877.986683212,784,800.986683212,649,629,650.986683212,0.419278663001,-0.0153931384692,0.0697875023255,0.999999921924,0.000190271438491,-0.000345023252833,3.01446677543e-05,1793193502957299456
+326,5.433333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,660,632,877.43772076,784.56227924,799.87544152,649,628.43772076,651,0.41845836487,-0.0153955069724,0.0698495010314,0.999999949996,0.000195729672029,-0.000245493003152,3.78406153997e-05,1793193502973965824
+327,5.450000000,POSE2_TO_POSE3_RETREAT,764,742,712,672.14123464,660,632.14123464,877,785,799.14123464,649,628.14123464,651,0.417627245642,-0.015396439977,0.0698899104058,0.999999962484,0.000199496144431,-0.000182787093173,4.26904462578e-05,1793193502990632448
+328,5.466666667,POSE2_TO_POSE3_RETREAT,764,742,712,672.730919961,660,632.730919961,877,785,799.730919961,649,628.730919961,651,0.416762967507,-0.015392928687,0.069862037314,0.99999995198,0.000197385351435,-0.000235813784449,3.83435286535e-05,1793193503007299072
+329,5.483333333,POSE2_TO_POSE3_RETREAT,764,742,712,672.685203201,659.685203201,632.685203201,877,785,800,649,629,650.685203201,0.415904966504,-0.0153895535432,0.0698306267894,0.999999941347,0.000196951567742,-0.000278184658652,3.36135918857e-05,1793193503023965696
+330,5.500000000,POSE2_TO_POSE3_RETREAT,764,742,712,672.10620138,659.10620138,632.10620138,877,785,800,649,629,650.10620138,0.415052233864,-0.0153862926654,0.0697962473429,0.999999931454,0.000197925277288,-0.000311612236181,2.85621921704e-05,1793193503040632576
+331,5.516666667,POSE2_TO_POSE3_RETREAT,764,742.469821947,712,672,659.469821947,632,877.469821947,784.530178053,800,649,629,650.469821947,0.414184425075,-0.0153805452741,0.0697609984033,0.999999906436,0.000204189337717,-0.000380472771021,2.59762851697e-05,1793193503057298944
+332,5.533333333,POSE2_TO_POSE3_RETREAT,764,742.954997746,712,672,659.954997746,632,878,784,800,649,629,651,0.413325224022,-0.0153751620061,0.0697311293312,0.999999878042,0.000210824500767,-0.000445955798468,2.43232000813e-05,1793193503073965824
+333,5.550000000,POSE2_TO_POSE3_RETREAT,764,742.381859778,712,672,659.381859778,632,878,784,800,649,629,651,0.41260678447,-0.0153806067299,0.0697666892119,0.999999906436,0.000207868892794,-0.000378395979247,2.71181831705e-05,1793193503090632448
+334,5.566666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632.198070793,877.801929207,784.198070793,799.801929207,648.801929207,629,650.801929207,0.411915039889,-0.015385742537,0.0698104787813,0.999999933457,0.00020565393014,-0.000299749556206,3.07036056611e-05,1793193503107299328
+335,5.583333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632.791561938,877.208438062,784.791561938,799.208438062,648.208438062,629,650.208438062,0.41127658792,-0.0153902616365,0.0698706977675,0.999999958567,0.000204917560869,-0.00019897028354,3.58670292463e-05,1793193503123965952
+336,5.600000000,POSE2_TO_POSE3_RETREAT,764,742.375085249,712,672,659.375085249,633,877.375085249,784.624914751,799,648.375085249,629,650,0.410598806431,-0.0153891445436,0.0698862975139,0.99999996247,0.000206731487331,-0.00017574294954,3.79046716886e-05,1793193503140632320
+337,5.616666667,POSE2_TO_POSE3_RETREAT,764,742.953212709,712,672,659.953212709,633,877.953212709,784.046787291,799,648.953212709,629,650,0.409899735013,-0.0153849764507,0.0698777438433,0.99999995832,0.000209925947854,-0.000194496257532,3.82502572366e-05,1793193503157298944
+338,5.633333333,POSE2_TO_POSE3_RETREAT,764,743,712,672.527869148,659.472130852,633,877.472130852,784,799.527869148,649,628.472130852,650,0.4092041435,-0.0153804492741,0.0698353549659,0.999999940695,0.000213043324751,-0.00026862531052,3.26012077896e-05,1793193503173965568
+339,5.650000000,POSE2_TO_POSE3_RETREAT,764,743,712,672.895142217,659,633,877,784,799.895142217,649,628.104857783,650.104857783,0.408523194535,-0.0153762508516,0.0697951802791,0.999999919528,0.000215882209746,-0.000337042498032,2.722940531e-05,1793193503190632192
+340,5.666666667,POSE2_TO_POSE3_RETREAT,764,743,712,672.305970031,659,633,877,784,799.305970031,649,628.694029969,650.694029969,0.407908460912,-0.0153737169126,0.0697789934649,0.999999912461,0.000217466159265,-0.000356556154018,2.55762067425e-05,1793193503207298816
+341,5.683333333,POSE2_TO_POSE3_RETREAT,764,742.721404227,711.721404227,671.721404227,659,632.721404227,877.278595773,784,799,649,629,650.721404227,0.407329520819,-0.0153729760232,0.0697805608743,0.999999913494,0.000219263935317,-0.000352537641695,2.55379469631e-05,1793193503223965696
+342,5.700000000,POSE2_TO_POSE3_RETREAT,764,742.141815169,711.141815169,671.141815169,659,632.141815169,877.858184831,784,799,649,629,650.141815169,0.406789251892,-0.0153741723346,0.0698013098467,0.999999922948,0.000221292728163,-0.000323095107529,2.72444579412e-05,1793193503240632320
+343,5.716666667,POSE2_TO_POSE3_RETREAT,764,742.420205397,711.420205397,671.420205397,659,632,877.579794603,784.420205397,799,649,629,650,0.406285586341,-0.015374608914,0.0698077375451,0.999999924593,0.0002192290175,-0.000319351341093,2.77160254622e-05,1793193503257298944
+344,5.733333333,POSE2_TO_POSE3_RETREAT,764,742.976534762,711.976534762,671.976534762,659,632,877.023465238,784.976534762,799,649,629,650,0.405793778275,-0.0153747993812,0.069809525922,0.999999923854,0.000215839555812,-0.000323932592137,2.77875378049e-05,1793193503273966080
+345,5.750000000,POSE2_TO_POSE3_RETREAT,764,742.427759934,712,672,659,632.572240066,877,784.427759934,799.572240066,648.427759934,628.427759934,650.572240066,0.405314777198,-0.0153749463471,0.0698047802759,0.999999920709,0.000221353716818,-0.00032992032258,2.71514858787e-05,1793193503290632704
+346,5.766666667,POSE2_TO_POSE3_RETREAT,763.832638817,742,712,672,659,632.832638817,877,784,799.832638817,648.167361183,628.167361183,651,0.404865391204,-0.0153749818226,0.0698075409313,0.999999921726,0.000226610123384,-0.000323211458445,2.70245018833e-05,1793193503307299328
+347,5.783333333,POSE2_TO_POSE3_RETREAT,763.243361607,742,712,672,659,632.243361607,877,784,799.243361607,648.756638393,628.756638393,651,0.404489242709,-0.0153747410615,0.0698299502751,0.999999932674,0.000230228303048,-0.000284338455646,2.82594232751e-05,1793193503323965696
+348,5.800000000,POSE2_TO_POSE3_RETREAT,763.340177521,742.340177521,712,672,659,632.340177521,877.340177521,784,799,649,628.659822479,651.340177521,0.404130435302,-0.0153713804897,0.0698463737233,0.999999939138,0.000235308018816,-0.00025591118687,2.93830233523e-05,1793193503340632320
+349,5.816666667,POSE2_TO_POSE3_RETREAT,763.919679707,742.919679707,712,672,659,632.919679707,877.919679707,784,799,649,628.080320293,651.919679707,0.403783827871,-0.0153658250416,0.0698585859205,0.999999942823,0.000241415967118,-0.000234832794709,3.04283056208e-05,1793193503357298944
+350,5.833333333,POSE2_TO_POSE3_RETREAT,764,742.503208036,712.496791964,672,659,633,877.503208036,784,799,649,628.496791964,651.006416072,0.403456743695,-0.0153582994536,0.0698518386513,0.999999938242,0.000252221598384,-0.000243016232862,2.90397327688e-05,1793193503373965824
+351,5.850000000,POSE2_TO_POSE3_RETREAT,764.073210922,742,713,672,659,633,877,784.073210922,799.073210922,649,629,650.073210922,0.403137251668,-0.0153510994712,0.0698421773707,0.999999932258,0.000262745158805,-0.000256334967984,2.72431631623e-05,1793193503390632704
+352,5.866666667,POSE2_TO_POSE3_RETREAT,764.647516637,742,713,672,659,633,877,784.647516637,799.647516637,649,629,650.647516637,0.402848223185,-0.0153482978482,0.0698334513266,0.999999927108,0.000266164459732,-0.000272576016269,2.53344795703e-05,1793193503407299584
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764.771939005,742,712.771939005,672,659,633,877,784.771939005,799.771939005,648.771939005,629,651,0.402575056083,-0.0153472927736,0.0698243440172,0.999999922234,0.000266778873669,-0.000289452970325,2.40540355341e-05,1793193503423966208
+354,5.900000000,POSE2_TO_POSE3_RETREAT,764.181481286,742,712.181481286,672,659,633,877,784.181481286,799.181481286,648.181481286,629,651,0.402327093287,-0.015349142476,0.0698146308652,0.999999917921,0.000262936225911,-0.000307340398895,2.37718858349e-05,1793193503440632320
+355,5.916666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,633,877,784,799,648.401305391,629,651,0.402116401251,-0.0153619826865,0.0698096763321,0.99999991923,0.000248604103089,-0.000314838917593,2.47431484555e-05,1793193503457298944
+356,5.933333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,633,877,784,799,648.980688131,629,651,0.401922247915,-0.0153796998827,0.0698068334126,0.999999922818,0.000229617325466,-0.000317727408681,2.62706067711e-05,1793193503473965568
+357,5.950000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,659.556508769,633,877.556508769,784.556508769,799,649,629,651,0.401766799932,-0.0153808510096,0.0698073612722,0.999999923237,0.000228599764634,-0.000316975995352,2.81993580886e-05,1793193503490632192
+358,5.966666667,POSE2_TO_POSE3_RETREAT,764,742,712,672.134545414,659.865454586,633,877.865454586,784.865454586,799.134545414,649,628.865454586,651,0.401618688957,-0.0153791910659,0.0698075439112,0.999999922613,0.000230995196677,-0.00031705958882,2.97973304046e-05,1793193503507299328
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764,742,712,672.720427899,659.279572101,633,877.279572101,784.279572101,799.720427899,649,628.279572101,651,0.401490713203,-0.0153700174575,0.0698061786052,0.999999918759,0.000242761162466,-0.000320365260793,3.02392772713e-05,1793193503523966464
+360,6.000000000,POSE2_TO_POSE3_RETREAT,764,742,712,672.696892926,659,633,877.303107074,784,799.696892926,649,628.303107074,650.696892926,0.401380546482,-0.0153663516432,0.0698043876166,0.999999913641,0.000260710157288,-0.000322345046754,2.90245261906e-05,1793193503540633600
+361,6.016666667,POSE2_TO_POSE3_RETREAT,764,742,712,672.117137472,659,633,877.882862528,784,799.117137472,649,628.882862528,650.117137472,0.401286634222,-0.0153677128394,0.0698022081042,0.999999907039,0.000284302453987,-0.000323114685082,2.62976929051e-05,1793193503557300224
+362,6.033333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,659.460214739,632.539785261,877.539785261,784,799.460214739,649,629,650.460214739,0.401216461684,-0.0153695603872,0.069803726555,0.999999913721,0.00026581331806,-0.00031873366422,1.76171304339e-05,1793193503573966336
+363,6.050000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,659.963045596,632.036954404,877,784.036954404,799.963045596,648.963045596,629,651,0.401153203697,-0.0153713023131,0.0698060707177,0.999999922392,0.000238506090589,-0.000313469700964,8.17275421304e-06,1793193503590632448
+364,6.066666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,659.386364724,632.613635276,877,784.613635276,799.386364724,648.386364724,629,651,0.401103141795,-0.015369703023,0.0698067990589,0.999999922214,0.000238031004221,-0.000314357939314,9.59032140726e-06,1793193503607299072
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764,742,712,671.806128316,659,633,877.193871684,784.806128316,799,648.193871684,629,651,0.401058697975,-0.0153681857806,0.0698070371415,0.999999921875,0.000238217533184,-0.000315253724234,1.08514468369e-05,1793193503623965696
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764,742,712,671.218673813,659,633,877.781326187,784.218673813,799,648.781326187,629,651,0.401025659541,-0.015366835105,0.0698062799397,0.999999921211,0.000239747220843,-0.00031616482949,1.17949765106e-05,1793193503640632320
+367,6.116666667,POSE2_TO_POSE3_RETREAT,764,742.363826174,712,671.363826174,659,633,878,784.363826174,799,649,629,651,0.401004561373,-0.0153665820332,0.0698074496634,0.999999922248,0.000240131594847,-0.000312550069183,1.23397364452e-05,1793193503657299200
+368,6.133333333,POSE2_TO_POSE3_RETREAT,764,742.943388366,712,671.943388366,659,633,878,784.943388366,799,649,629,651,0.400990543357,-0.0153669798012,0.0698097619854,0.999999924264,0.000239836838614,-0.000306251631195,1.26480401579e-05,1793193503673966080
+369,6.150000000,POSE2_TO_POSE3_RETREAT,764,742.481392979,712,672,659,633,878,785,799.518607021,649,629,651,0.400978444081,-0.015367226259,0.0698106371447,0.99999992443,0.000239965873858,-0.000305587828565,1.3106275123e-05,1793193503690632960
+370,6.166666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,633,877.908605978,785,800,648.908605978,629,651,0.400967371176,-0.0153673364501,0.0698109912542,0.99999992429,0.000239892929432,-0.000306089496264,1.34326362372e-05,1793193503707300096
+371,6.183333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,633,877.345933087,785,800,648.345933087,629,651,0.400960519727,-0.0153668284378,0.0698094607922,0.999999923583,0.000238541895738,-0.000309455618017,1.29952873468e-05,1793193503723966208
+372,6.200000000,POSE2_TO_POSE3_RETREAT,764,742,712,672.233202905,659,632.766797095,877,785,800,648.233202905,629,651,0.400955850264,-0.0153665444128,0.0698091287305,0.999999923419,0.000238051728628,-0.000310365631207,1.28698795808e-05,1793193503740632576
+373,6.216666667,POSE2_TO_POSE3_RETREAT,764,742,712,672.838615211,659,632.161384789,877,785,800,648.838615211,629,651,0.400954663417,-0.0153666178885,0.0698107094062,0.999999924134,0.000238935569514,-0.000307355509917,1.32423533731e-05,1793193503757299200
+374,6.233333333,POSE2_TO_POSE3_RETREAT,764,742.424389767,712,672.575610233,659,632.424389767,877,784.575610233,799.575610233,649,629,651,0.400953577014,-0.0153673966836,0.0698105150409,0.999999924415,0.000238562940847,-0.000306727492545,1.32869023346e-05,1793193503773966080
+375,6.250000000,POSE2_TO_POSE3_RETREAT,764,743,712,672,659,633,877.003013785,784,799.003013785,649.003013785,629,651,0.400952528589,-0.0153684338543,0.0698096836585,0.999999924542,0.000237728534729,-0.000306962081498,1.32140763193e-05,1793193503790632448
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764,743,712,672,659,633,877.579155396,784,799.579155396,649.579155396,629,651,0.400951759611,-0.0153698556487,0.0698103989927,0.99999992508,0.000235923287725,-0.000306590912469,1.34857425746e-05,1793193503807299072
+377,6.283333333,POSE2_TO_POSE3_RETREAT,764,743,712,672,659,633,878,784.158006796,800,649.841993204,629,651,0.40095072958,-0.0153707071312,0.0698109095993,0.999999925339,0.000234910120911,-0.000306521427432,1.35462881919e-05,1793193503823965952
+378,6.300000000,POSE2_TO_POSE3_RETREAT,764,743,712,672,659,633,878,784.744201448,800,649.255798552,629,651,0.400948992115,-0.0153700131068,0.0698108654075,0.99999992485,0.000236043438778,-0.000307269485915,1.30347109456e-05,1793193503840633088
+379,6.316666667,POSE2_TO_POSE3_RETREAT,764,743,712,672,659.32661708,633,877.67338292,785,799.67338292,649,629,651,0.40095011895,-0.0153691470616,0.0698121136966,0.999999925182,0.000237437056936,-0.000305105726088,1.30069317595e-05,1793193503857299968
+380,6.333333333,POSE2_TO_POSE3_RETREAT,764,743,712,672,659.90610699,633,877.09389301,785,799.09389301,649,629,651,0.400953463378,-0.0153681478348,0.0698143626477,0.999999926136,0.000239032204385,-0.000300687584121,1.33537176961e-05,1793193503873966336
+381,6.350000000,POSE2_TO_POSE3_RETREAT,764.483351941,742.516648059,712,672,659.516648059,633,877,784.516648059,799.483351941,649,629,651,0.400952440574,-0.0153696390746,0.069813613784,0.999999926285,0.00023707479471,-0.000301726022026,1.36631747587e-05,1793193503890632960
+382,6.366666667,POSE2_TO_POSE3_RETREAT,764.879778569,742,712,672,659,633,877,784.060110715,799.939889285,649,629,651,0.400950754516,-0.0153712810692,0.0698125056561,0.999999926237,0.00023497745766,-0.000303508626576,1.39147694781e-05,1793193503907299584
+383,6.383333333,POSE2_TO_POSE3_RETREAT,763.727155166,742,712,672,659,633,877,784.636422417,799.363577583,649,629,651,0.400950624301,-0.0153700823923,0.0698132900485,0.999999925894,0.000237577315167,-0.000302621419657,1.37314538035e-05,1793193503923966208
+384,6.400000000,POSE2_TO_POSE3_RETREAT,763.433827822,742,712,672,659,633,877.216913911,784.783086089,799,649,629,651,0.400951204506,-0.0153693174547,0.0698140168851,0.9999999258,0.000239334175431,-0.000301551125985,1.36484338393e-05,1793193503940632576
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764.60909786,742,712,672,659,633,877.80454893,784.19545107,799,649,629,651,0.400952998866,-0.0153692938082,0.0698146453548,0.999999926139,0.00023965029405,-0.000300167924256,1.3736826299e-05,1793193503957299712
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764.611641479,742,712,672,659,633,878,784,799.388358521,649,628.611641479,651,0.400952816461,-0.0153693056633,0.0698151126411,0.999999926564,0.000238580241816,-0.000299612290435,1.35758229652e-05,1793193503973966592
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764.029738367,742,712,672,659,633,878,784,799.970261633,649,628.029738367,651,0.400951648903,-0.0153693352111,0.069815499599,0.999999927029,0.000236819369477,-0.000299469088166,1.32905293042e-05,1793193503990633472
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764,742,712.542222245,671.457777755,659,633,878,784,799.457777755,649,628.542222245,651,0.400951917686,-0.0153698510281,0.0698150737075,0.999999926841,0.000236802323408,-0.000300096943482,1.35688630259e-05,1793193504007299840
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764,742,712.886345917,671.113654083,659,633,878,784,799,649,629,651,0.400952204039,-0.0153702533345,0.0698148201091,0.999999926693,0.000236933613817,-0.000300475067725,1.37979453297e-05,1793193504023965952
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764,742,712.314887207,671.685112793,659,633,878,784,799,649,629,651,0.400952249564,-0.0153700929217,0.0698154368574,0.99999992685,0.000237284102233,-0.000299679987137,1.37063658171e-05,1793193504040632320
+391,6.516666667,POSE2_TO_POSE3_RETREAT,764.269544239,742,712,672,659,632.730455761,877.730455761,784,799.269544239,649,629,651,0.400951651662,-0.0153695725346,0.0698155045754,0.999999926609,0.000238163470981,-0.000299793103166,1.36037964185e-05,1793193504057298944
+392,6.533333333,POSE2_TO_POSE3_RETREAT,764.869897052,742,712,672,659,632.130102948,877.130102948,784,799.869897052,649,629,651,0.400950264089,-0.0153686103553,0.0698148984747,0.999999925876,0.00023969192858,-0.000301020838447,1.34877392461e-05,1793193504073965568
+393,6.550000000,POSE2_TO_POSE3_RETREAT,764.549075229,742,712,672,659,632,877.450924771,784.450924771,799.549075229,648.549075229,628.549075229,651,0.400950897007,-0.0153698983821,0.0698152309488,0.999999926386,0.000238081721105,-0.000300595168519,1.36854659156e-05,1793193504090632448
+394,6.566666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632.026325441,877.973674559,785,799.026325441,648,628.026325441,651,0.40095196539,-0.0153716526592,0.0698157598874,0.999999927167,0.000235795571135,-0.000299784947803,1.39484433449e-05,1793193504107299328
+395,6.583333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632.595939714,877.404060286,785,799.595939714,648,628.595939714,651,0.400950484234,-0.0153701811239,0.0698149843594,0.999999926563,0.00023748056571,-0.000300479049026,1.37664148096e-05,1793193504123966208
+396,6.600000000,POSE2_TO_POSE3_RETREAT,764,742,712,672.173357638,659,633,877.173357638,785,799.826642362,648.173357638,629,651,0.400949887643,-0.0153693035028,0.069814666572,0.999999926342,0.000238366089254,-0.000300521936734,1.35664113939e-05,1793193504140632832
+397,6.616666667,POSE2_TO_POSE3_RETREAT,764,742,712,672.769821549,659,633,877.769821549,785,799.230178451,648.769821549,629,651,0.400951449972,-0.0153698754214,0.0698154659721,0.999999927062,0.00023730037932,-0.000298975436554,1.33225374977e-05,1793193504157299200
+398,6.633333333,POSE2_TO_POSE3_RETREAT,764,742,712,672.288807253,659,632.644403626,878,785,799.355596374,649,629,651,0.400952068043,-0.0153700614053,0.0698158187356,0.999999926952,0.00023790389716,-0.000298860458003,1.34214626749e-05,1793193504173965568
+399,6.650000000,POSE2_TO_POSE3_RETREAT,764,742,712,671.130691964,659,632.065345982,878,785,799.934654018,649,629,651,0.400952092729,-0.0153700048628,0.069815890827,0.999999926318,0.000239556378939,-0.000299645065853,1.37358071459e-05,1793193504190632192
+400,6.666666667,POSE2_TO_POSE3_RETREAT,764,742.508747773,712,671.508747773,659,632.508747773,877.491252227,784.491252227,800,649,629,651,0.400951730091,-0.0153699695568,0.069816304958,0.999999926786,0.000238481056574,-0.000298941637228,1.37668876461e-05,1793193504207299072
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_07/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_07/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..107a9e3c84f357d49f3d7154ba66d2cef1c6084f
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_07/depth_04/simulation_data.csv
@@ -0,0 +1,402 @@
+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,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+1,0.016666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+2,0.033333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+3,0.050000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+4,0.066666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+5,0.083333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+6,0.100000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+7,0.116666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+8,0.133333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+9,0.150000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+10,0.166666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+11,0.183333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+12,0.200000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+13,0.216666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+14,0.233333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+15,0.250000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+16,0.266666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+17,0.283333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+18,0.300000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+19,0.316666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+20,0.333333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+21,0.350000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+22,0.366666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+23,0.383333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+24,0.400000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+25,0.416666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+26,0.433333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+27,0.450000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+28,0.466666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+29,0.483333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+30,0.500000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+31,0.516666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+32,0.533333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+33,0.550000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+34,0.566666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+35,0.583333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+36,0.600000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+37,0.616666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+38,0.633333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+39,0.650000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+40,0.666666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+41,0.683333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+42,0.700000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+43,0.716666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+44,0.733333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+45,0.750000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+46,0.766666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+47,0.783333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+48,0.800000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+49,0.816666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+50,0.833333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+51,0.850000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+52,0.866666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+53,0.883333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+54,0.900000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+55,0.916666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+56,0.933333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+57,0.950000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+58,0.966666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+59,0.983333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+60,1.000000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+61,1.016666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+62,1.033333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+63,1.050000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+64,1.066666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+65,1.083333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+66,1.100000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+67,1.116666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+68,1.133333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+69,1.150000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+70,1.166666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+71,1.183333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+72,1.200000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+73,1.216666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+74,1.233333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+75,1.250000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+76,1.266666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+77,1.283333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+78,1.300000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+79,1.316666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+80,1.333333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+81,1.350000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+82,1.366666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+83,1.383333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+84,1.400000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+85,1.416666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+86,1.433333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+87,1.450000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+88,1.466666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+89,1.483333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+90,1.500000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+91,1.516666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+92,1.533333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+93,1.550000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+94,1.566666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+95,1.583333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+96,1.600000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+97,1.616666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+98,1.633333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+99,1.650000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+100,1.666666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+101,1.683333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+102,1.700000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+103,1.716666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+104,1.733333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+105,1.750000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+106,1.766666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+107,1.783333333,pose1_to_pose2_press,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+108,1.800000000,pose1_to_pose2_press,0.57570925983,-0.00994537436569,1.06002921964,0.546279990738,-0.00127264267512,1.05969850898
+109,1.816666667,pose1_to_pose2_press,0.575709294266,-0.00994540656679,1.06002926579,0.546280026314,-0.00127267097901,1.05969855585
+110,1.833333333,pose1_to_pose2_press,0.57570929837,-0.0099454096526,1.06002927054,0.546280030531,-0.00127267367803,1.05969856067
+111,1.850000000,pose1_to_pose2_press,0.575709565297,-0.00994531000256,1.06002927817,0.54628029574,-0.00127257989983,1.05969856724
+112,1.866666667,pose1_to_pose2_press,0.575710249332,-0.00994522436408,1.06002925337,0.546280978378,-0.00127249907209,1.05969854059
+113,1.883333333,pose1_to_pose2_press,0.575711951196,-0.00994528466535,1.06002917273,0.546282681353,-0.00127255563732,1.05969845905
+114,1.900000000,pose1_to_pose2_press,0.57571600072,-0.00994540180626,1.06002916428,0.546286731854,-0.00127266939437,1.05969845235
+115,1.916666667,pose1_to_pose2_press,0.575724373762,-0.00994542537272,1.06002936077,0.54629510412,-0.00127269586756,1.05969864168
+116,1.933333333,pose1_to_pose2_press,0.575739156033,-0.00994538044326,1.06002919017,0.546309887206,-0.00127264804973,1.05969847414
+117,1.950000000,pose1_to_pose2_press,0.575762202754,-0.00994539623069,1.06002938373,0.546332932997,-0.0012726670315,1.05969866666
+118,1.966666667,pose1_to_pose2_press,0.575794999258,-0.00994542456554,1.06002920226,0.546365730424,-0.00127269198035,1.05969849179
+119,1.983333333,pose1_to_pose2_press,0.57583736782,-0.00994536376601,1.06002927485,0.546408098058,-0.00127263447208,1.05969856068
+120,2.000000000,pose1_to_pose2_press,0.575890425826,-0.00994540170634,1.060029027,0.546461155434,-0.00127267427846,1.05969831979
+121,2.016666667,pose1_to_pose2_press,0.5759532731,-0.00994552493078,1.06002929059,0.546524004009,-0.00127279329228,1.05969857801
+122,2.033333333,pose1_to_pose2_press,0.576026291015,-0.00994550850467,1.06002927856,0.546597022287,-0.00127277569434,1.05969856434
+123,2.050000000,pose1_to_pose2_press,0.576111682491,-0.00994547679225,1.06002916772,0.546682412628,-0.00127274773618,1.05969845601
+124,2.066666667,pose1_to_pose2_press,0.576210491184,-0.00994538312144,1.06002927898,0.546781220016,-0.00127265863408,1.0596985635
+125,2.083333333,pose1_to_pose2_press,0.576325878982,-0.00994551598881,1.06002903301,0.546896611372,-0.001272779043,1.05969832758
+126,2.100000000,pose1_to_pose2_press,0.576457899955,-0.00994550258917,1.0600291586,0.54702862993,-0.00127277429689,1.05969844107
+127,2.116666667,pose1_to_pose2_press,0.576608049352,-0.00994545148796,1.06002892816,0.547178780125,-0.00127271998328,1.05969822387
+128,2.133333333,pose1_to_pose2_press,0.576777135136,-0.0099456140404,1.06002931947,0.547347868939,-0.00127287281109,1.05969860043
+129,2.150000000,pose1_to_pose2_press,0.576967010224,-0.0099455150279,1.06002939639,0.547537739533,-0.00127278905264,1.05969867727
+130,2.166666667,pose1_to_pose2_press,0.577178561498,-0.00994552447146,1.06002916105,0.547749292699,-0.00127279163627,1.05969845329
+131,2.183333333,pose1_to_pose2_press,0.577412535395,-0.00994540282615,1.060029182,0.547983265631,-0.00127267309891,1.05969847861
+132,2.200000000,pose1_to_pose2_press,0.577672414429,-0.00994555794857,1.06002895644,0.548243146034,-0.00127282376868,1.05969824795
+133,2.216666667,pose1_to_pose2_press,0.577954543048,-0.00994547771085,1.06002913829,0.548525274443,-0.00127274424794,1.05969842963
+134,2.233333333,pose1_to_pose2_press,0.578257962843,-0.00994524660547,1.06002910831,0.548828691341,-0.00127252286232,1.05969840243
+135,2.250000000,pose1_to_pose2_press,0.578582205372,-0.00994542017663,1.06002907212,0.549152935736,-0.00127269008905,1.05969836655
+136,2.266666667,pose1_to_pose2_press,0.578927837436,-0.00994559029693,1.06002921586,0.549498569963,-0.0012728530833,1.05969850466
+137,2.283333333,pose1_to_pose2_press,0.57929540327,-0.00994544799101,1.06002907155,0.549866134324,-0.00127271561473,1.05969836453
+138,2.300000000,pose1_to_pose2_press,0.57968416323,-0.00994544016845,1.06002925228,0.550254893649,-0.00127270989977,1.05969854642
+139,2.316666667,pose1_to_pose2_press,0.580093704037,-0.00994554251587,1.06002926812,0.550664435927,-0.00127280738868,1.05969855872
+140,2.333333333,pose1_to_pose2_press,0.580524123715,-0.00994546046784,1.0600293348,0.551094853784,-0.00127273192627,1.05969861475
+141,2.350000000,pose1_to_pose2_press,0.58097862222,-0.0099454188574,1.06002943172,0.551549351627,-0.00127269257184,1.05969871134
+142,2.366666667,pose1_to_pose2_press,0.581461434184,-0.00994546844773,1.06002924439,0.552032165582,-0.00127273485061,1.05969853855
+143,2.383333333,pose1_to_pose2_press,0.581975061461,-0.00994551189258,1.06002908628,0.552545792718,-0.00127277845422,1.05969838873
+144,2.400000000,pose1_to_pose2_press,0.582522119027,-0.00994543508006,1.06002915762,0.553092850454,-0.00127270129725,1.05969845393
+145,2.416666667,pose1_to_pose2_press,0.583095834959,-0.00994534879661,1.06002938673,0.55366656548,-0.00127261835543,1.05969867602
+146,2.433333333,pose1_to_pose2_press,0.583690737552,-0.00994539916621,1.06002930121,0.554261466938,-0.00127267282681,1.05969858391
+147,2.450000000,pose1_to_pose2_press,0.584303436943,-0.00994539665769,1.06002927287,0.554874165144,-0.00127267415992,1.05969856022
+148,2.466666667,pose1_to_pose2_press,0.584935198951,-0.00994531758258,1.06002915583,0.555505926778,-0.00127259634512,1.05969844335
+149,2.483333333,pose1_to_pose2_press,0.585590878705,-0.009945645846,1.06002919632,0.556161610654,-0.00127291095542,1.0596984751
+150,2.500000000,pose1_to_pose2_press,0.586271552599,-0.0099453656154,1.06002919652,0.556842282369,-0.00127263794377,1.05969847977
+151,2.516666667,pose1_to_pose2_press,0.586976185597,-0.00994530166058,1.06002926522,0.557546914442,-0.00127257711013,1.05969854902
+152,2.533333333,pose1_to_pose2_press,0.587692945444,-0.00994533133668,1.06002901176,0.558263673268,-0.00127261003445,1.05969830114
+153,2.550000000,pose1_to_pose2_press,0.588412173384,-0.00994541365262,1.06002894793,0.558982903224,-0.00127268541138,1.05969823984
+154,2.566666667,pose1_to_pose2_press,0.589137994296,-0.0099453366495,1.06002926336,0.559708724334,-0.00127260794263,1.05969854989
+155,2.583333333,pose1_to_pose2_press,0.589874389846,-0.00994534180862,1.06002900175,0.560445117607,-0.00127262043718,1.05969829859
+156,2.600000000,pose1_to_pose2_press,0.590629063906,-0.00994537732929,1.06002906166,0.561199792926,-0.00127265212021,1.05969834709
+157,2.616666667,pose1_to_pose2_press,0.591408232675,-0.00994545916628,1.06002916417,0.561978963922,-0.00127272631354,1.05969845184
+158,2.633333333,pose1_to_pose2_press,0.592222304503,-0.00994550837718,1.06002917933,0.562793036539,-0.00127277302412,1.05969846238
+159,2.650000000,pose1_to_pose2_press,0.593055514258,-0.00994536364155,1.06002906067,0.563626244556,-0.00127263409193,1.05969834624
+160,2.666666667,pose1_to_pose2_press,0.593902291876,-0.00994534384731,1.06002919765,0.564473020198,-0.00127262115539,1.05969847927
+161,2.683333333,pose1_to_pose2_press,0.594744822035,-0.00994535656894,1.06002930704,0.565315552331,-0.00127262724462,1.0596985869
+162,2.700000000,pose1_to_pose2_press,0.595577877388,-0.00994533025641,1.06002912494,0.566148606774,-0.00127260338311,1.0596984216
+163,2.716666667,pose1_to_pose2_press,0.596386334484,-0.00994559926224,1.06002918094,0.566957066806,-0.00127286297983,1.05969846305
+164,2.733333333,pose1_to_pose2_press,0.59718690678,-0.00994530222633,1.06002916233,0.567757634435,-0.00127258151165,1.05969845154
+165,2.750000000,pose1_to_pose2_press,0.598000832872,-0.00994545010811,1.06002913743,0.56857156252,-0.00127272251923,1.05969842964
+166,2.766666667,pose1_to_pose2_press,0.598832948408,-0.00994532399448,1.06002900352,0.569403675,-0.00127260646053,1.05969830398
+167,2.783333333,pose1_to_pose2_press,0.599683688668,-0.00994540026326,1.06002911601,0.570254418142,-0.00127267302157,1.05969841463
+168,2.800000000,pose1_to_pose2_press,0.600557881586,-0.00994546313757,1.06002915048,0.571128611533,-0.00127273460056,1.05969844107
+169,2.816666667,pose1_to_pose2_press,0.601438577893,-0.00994566387232,1.06002916022,0.572009311141,-0.00127292423361,1.05969844829
+170,2.833333333,pose1_to_pose2_press,0.602298348688,-0.0099453468534,1.06002900494,0.572869078696,-0.00127261791028,1.05969830091
+171,2.850000000,pose1_to_pose2_press,0.603133513603,-0.00994546363699,1.06002888992,0.573704245563,-0.00127272810236,1.05969818513
+172,2.866666667,pose1_to_pose2_press,0.603938500064,-0.0099456324438,1.06002892067,0.57450923183,-0.00127289784909,1.0596982085
+173,2.883333333,pose1_to_pose2_press,0.604716975967,-0.00994548622675,1.0600289171,0.575287707307,-0.00127275290461,1.05969820955
+174,2.900000000,pose1_to_pose2_press,0.605473010074,-0.00994534476094,1.0600291634,0.576043737307,-0.00127262565665,1.05969844859
+175,2.916666667,pose1_to_pose2_press,0.606237406082,-0.00994553412793,1.06002927327,0.576808136095,-0.00127280542597,1.05969856282
+176,2.933333333,pose1_to_pose2_press,0.607011876474,-0.00994531697242,1.06002914517,0.577582604478,-0.00127259499462,1.05969843728
+177,2.950000000,pose1_to_pose2_press,0.607788824343,-0.0099454898538,1.06002927916,0.57835955553,-0.00127275740242,1.05969856276
+178,2.966666667,pose1_to_pose2_press,0.608564290861,-0.00994538435297,1.06002904144,0.579135019837,-0.00127265915672,1.05969833154
+179,2.983333333,pose1_to_pose2_press,0.609333669784,-0.00994535397773,1.06002908988,0.579904399974,-0.00127262421694,1.05969839178
+180,3.000000000,pose1_to_pose2_press,0.610056998623,-0.00994528491218,1.06002905453,0.580627726665,-0.00127256277381,1.05969834775
+181,3.016666667,pose1_to_pose2_press,0.610737486772,-0.00994550729741,1.0600293335,0.581308217897,-0.0012727747101,1.05969862658
+182,3.033333333,pose1_to_pose2_press,0.611380322225,-0.00994544011736,1.06002900685,0.581951051873,-0.00127271234691,1.05969830509
+183,3.050000000,pose1_to_pose2_press,0.611986800853,-0.00994549593171,1.06002911566,0.582557532524,-0.00127276127086,1.05969841467
+184,3.066666667,pose1_to_pose2_press,0.61255527558,-0.00994536335788,1.06002929261,0.583126005545,-0.00127263501973,1.05969857763
+185,3.083333333,pose1_to_pose2_press,0.613108602762,-0.00994545009945,1.06002916565,0.583679334302,-0.00127271612862,1.05969845453
+186,3.100000000,pose1_to_pose2_press,0.613653276802,-0.00994556885629,1.06002902294,0.584224008766,-0.00127283251828,1.05969831797
+187,3.116666667,pose1_to_pose2_press,0.614191999792,-0.00994542548507,1.06002911423,0.584762728392,-0.0012726996388,1.05969840807
+188,3.133333333,pose1_to_pose2_press,0.614723751884,-0.00994547825398,1.06002906808,0.585294480926,-0.00127274999724,1.05969835676
+189,3.150000000,pose1_to_pose2_press,0.615238825485,-0.00994559156335,1.0600291353,0.585809555294,-0.00127285885914,1.05969842457
+190,3.166666667,pose1_to_pose2_press,0.61572225162,-0.00994546089116,1.06002924646,0.586292981565,-0.00127272716903,1.05969853631
+191,3.183333333,pose1_to_pose2_press,0.616165408534,-0.00994545478654,1.06002905891,0.58673613733,-0.00127272378682,1.05969835476
+192,3.200000000,pose1_to_pose2_press,0.616575009506,-0.00994542348753,1.06002912329,0.587145736625,-0.00127269757177,1.05969841178
+193,3.216666667,pose1_to_pose2_press,0.616954652005,-0.00994541057693,1.06002924522,0.587525379839,-0.00127268139653,1.05969853204
+194,3.233333333,pose1_to_pose2_press,0.617312239765,-0.00994551432546,1.06002908068,0.587882968306,-0.00127278184932,1.05969836807
+195,3.250000000,pose1_to_pose2_press,0.61765355463,-0.00994555460219,1.0600290912,0.588224283768,-0.00127281914218,1.0596983817
+196,3.266666667,pose1_to_pose2_press,0.617981254851,-0.00994548987427,1.0600291947,0.588551983967,-0.00127275342138,1.05969848977
+197,3.283333333,pose1_to_pose2_press,0.618291179801,-0.00994539845332,1.06002908664,0.588861906857,-0.00127266822681,1.05969837991
+198,3.300000000,pose1_to_pose2_press,0.618581689789,-0.00994535463917,1.06002907739,0.58915241558,-0.00127262809118,1.05969836905
+199,3.316666667,pose1_to_pose2_press,0.618851863502,-0.00994533663848,1.06002915448,0.589422589133,-0.00127261006395,1.05969844434
+200,3.333333333,pose1_to_pose2_press,0.619101831091,-0.00994535053952,1.0600291805,0.589672556545,-0.00127262409827,1.0596984653
+201,3.350000000,pose1_to_pose2_press,0.619327920898,-0.00994538651959,1.06002927347,0.589898646333,-0.0012726594082,1.05969855965
+202,3.366666667,pose1_to_pose2_press,0.619532027186,-0.00994534182116,1.06002935918,0.590102752032,-0.00127261594785,1.05969864602
+203,3.383333333,pose1_to_pose2_press,0.619713240285,-0.009945473904,1.06002917622,0.590283966345,-0.00127274307948,1.05969846812
+204,3.400000000,pose1_to_pose2_press,0.619873793055,-0.00994546509758,1.06002907277,0.590444518222,-0.00127273707351,1.05969836449
+205,3.416666667,pose1_to_pose2_press,0.620014528382,-0.00994548497794,1.06002912856,0.590585254002,-0.00127275517784,1.05969841733
+206,3.433333333,pose1_to_pose2_press,0.620138856857,-0.00994543817977,1.0600289919,0.590709581666,-0.00127271084162,1.05969828414
+207,3.450000000,pose1_to_pose2_press,0.620248858825,-0.00994538482325,1.06002894529,0.590819582795,-0.00127266010311,1.05969823524
+208,3.466666667,pose1_to_pose2_press,0.620345312218,-0.00994545000142,1.06002915674,0.590916037187,-0.0012727214495,1.05969844707
+209,3.483333333,pose1_to_pose2_press,0.620429264966,-0.00994535524799,1.06002915108,0.590999988358,-0.00127263082188,1.05969844156
+210,3.500000000,pose1_to_pose2_press,0.62050017353,-0.00994554021977,1.06002913117,0.591070901023,-0.00127280387939,1.05969842495
+211,3.516666667,pose1_to_pose2_press,0.62055915052,-0.00994541719999,1.06002938806,0.591129875238,-0.00127268908696,1.05969867395
+212,3.533333333,pose1_to_pose2_press,0.62060704496,-0.00994545912798,1.06002897572,0.591177771066,-0.00127272559144,1.05969827296
+213,3.550000000,pose1_to_pose2_press,0.620646463408,-0.00994550086363,1.06002924946,0.591217189653,-0.00127276710396,1.05969853703
+214,3.566666667,pose1_to_pose2_press,0.620678897775,-0.00994545687504,1.06002905124,0.591249622974,-0.00127272647159,1.05969833988
+215,3.583333333,pose1_to_pose2_press,0.620704651152,-0.00994540504985,1.06002900264,0.591275375627,-0.00127267703372,1.05969829316
+216,3.600000000,pose1_to_pose2_press,0.620725039055,-0.00994535895814,1.06002924994,0.591295763184,-0.00127263241357,1.05969853695
+217,3.616666667,pose1_to_pose2_press,0.620740034119,-0.0099453011346,1.06002919458,0.591310757662,-0.00127257663542,1.0596984826
+218,3.633333333,pose1_to_pose2_press,0.620750086868,-0.00994540085315,1.06002937434,0.591320810749,-0.0012726751378,1.05969866123
+219,3.650000000,pose1_to_pose2_press,0.620756702567,-0.00994550369446,1.06002928638,0.591327428817,-0.0012727698385,1.05969857425
+220,3.666666667,pose1_to_pose2_press,0.620760960299,-0.00994558002852,1.06002917354,0.591331688659,-0.00127283893204,1.0596984625
+221,3.683333333,pose1_to_pose2_press,0.620763696967,-0.00994551300956,1.06002913717,0.591334424094,-0.00127277597984,1.05969843094
+222,3.700000000,pose1_to_pose2_press,0.620765414172,-0.00994544375122,1.06002912283,0.591336139918,-0.00127271131709,1.05969842057
+223,3.716666667,pose1_to_pose2_press,0.620766664858,-0.00994539330852,1.06002911238,0.591337389598,-0.00127266422147,1.05969841301
+224,3.733333333,pose1_to_pose2_press,0.620767570435,-0.00994535678478,1.06002910482,0.591338294447,-0.00127263012124,1.05969840754
+225,3.750000000,pose1_to_pose2_press,0.620767866381,-0.00994535378998,1.06002910862,0.591338590375,-0.00127262718347,1.05969841147
+226,3.766666667,pose1_to_pose2_press,0.620767982104,-0.00994535672291,1.060029113,0.591338706193,-0.00127262980136,1.05969841562
+227,3.783333333,pose1_to_pose2_press,0.620768514006,-0.00994537020358,1.06002913309,0.591339238528,-0.00127264183401,1.05969843471
+228,3.800000000,pose1_to_pose2_press,0.620769133406,-0.00994538590181,1.06002915649,0.591339858432,-0.00127265584601,1.05969845695
+229,3.816666667,pose1_to_pose2_press,0.620769797238,-0.00994540272615,1.06002918157,0.591340522804,-0.00127267086317,1.05969848078
+230,3.833333333,pose1_to_pose2_press,0.620770821583,-0.00994542868743,1.06002922027,0.591341547983,-0.00127269403582,1.05969851755
+231,3.850000000,pose1_to_pose2_press,0.620771839416,-0.0099454365777,1.06002923056,0.591342566154,-0.00127270086692,1.05969852497
+232,3.866666667,pose1_to_pose2_press,0.620772532815,-0.00994541946047,1.06002920219,0.591343259165,-0.00127268517832,1.05969849344
+233,3.883333333,pose1_to_pose2_press,0.620772950571,-0.00994540914774,1.06002918509,0.591343676688,-0.00127267572631,1.05969847445
+234,3.900000000,pose1_to_pose2_press,0.620772998447,-0.00994540796587,1.06002918313,0.591343724537,-0.00127267464308,1.05969847227
+235,3.916666667,pose1_to_pose2_press,0.62077301629,-0.00994540752541,1.0600291824,0.59134374237,-0.00127267423938,1.05969847146
+236,3.933333333,pose1_to_pose2_press,0.620773036391,-0.00994540702918,1.06002918158,0.59134376246,-0.00127267378457,1.05969847054
+237,3.950000000,pose1_to_pose2_press,0.620773103301,-0.00994540537745,1.06002917884,0.591343829332,-0.0012726722707,1.0596984675
+238,3.966666667,pose1_to_pose2_press,0.62077316595,-0.00994540383089,1.06002917628,0.591343891946,-0.00127267085321,1.05969846465
+239,3.983333333,pose1_to_pose2_press,0.620773561848,-0.00994543390607,1.06002922745,0.59134428807,-0.00127270022152,1.05969851565
+240,4.000000000,pose1_to_pose2_press,0.620773959827,-0.00994549300195,1.06002932769,0.5913446866,-0.001272757504,1.0596986169
+241,4.016666667,pose1_to_pose2_press,0.620774177604,-0.0099455253395,1.06002938254,0.591344904677,-0.00127278884926,1.0596986723
+242,4.033333333,pose1_to_pose2_press,0.620774266221,-0.00994553978106,1.06002939506,0.591344993379,-0.00127280296227,1.05969868468
+243,4.050000000,pose1_to_pose2_press,0.620774311026,-0.00994554779044,1.06002939599,0.591345038206,-0.00127281084704,1.05969868532
+244,4.066666667,pose1_to_pose2_press,0.620774332355,-0.00994555160324,1.06002939643,0.591345059545,-0.00127281460053,1.05969868563
+245,4.083333333,pose1_to_pose2_press,0.62077434079,-0.00994555311112,1.0600293966,0.591345067984,-0.00127281608495,1.05969868575
+246,4.100000000,pose1_to_pose2_press,0.620774371257,-0.00994553401075,1.06002923934,0.591345098855,-0.00127279531787,1.05969853568
+247,4.116666667,pose2_hold,0.620774371257,-0.00994553401075,1.06002923934,0.591345098863,-0.00127279531915,1.05969853569
+248,4.133333333,pose2_hold,0.620774371257,-0.00994553401075,1.06002923934,0.591345098862,-0.00127279531973,1.05969853569
+249,4.150000000,pose2_hold,0.620774371257,-0.00994553401075,1.06002923934,0.591345098863,-0.001272795321,1.05969853569
+250,4.166666667,pose2_hold,0.620774371257,-0.00994553401075,1.06002923934,0.591345098863,-0.00127279531998,1.05969853569
+251,4.183333333,pose2_hold,0.620774371257,-0.00994553401075,1.06002923934,0.591345098864,-0.00127279532012,1.05969853569
+252,4.200000000,pose2_hold,0.620774371257,-0.00994553401075,1.06002923934,0.591345098864,-0.00127279531837,1.05969853569
+253,4.216666667,pose2_hold,0.620774371257,-0.00994553401075,1.06002923934,0.591345098865,-0.0012727953203,1.05969853569
+254,4.233333333,pose2_hold,0.620774371257,-0.00994553401075,1.06002923934,0.591345098864,-0.00127279531894,1.05969853569
+255,4.250000000,pose2_hold,0.620774371257,-0.00994553401075,1.06002923934,0.591345098865,-0.00127279532076,1.05969853569
+256,4.266666667,pose2_hold,0.620774371257,-0.00994553401075,1.06002923934,0.591345098866,-0.00127279531845,1.05969853569
+257,4.283333333,pose2_hold,0.620774371257,-0.00994553401075,1.06002923934,0.591345098867,-0.00127279531844,1.05969853569
+258,4.300000000,pose2_hold,0.620774371257,-0.00994553401075,1.06002923934,0.591345098866,-0.00127279531967,1.05969853569
+259,4.316666667,pose2_hold,0.620774371257,-0.00994553401075,1.06002923934,0.591345098867,-0.00127279531989,1.05969853569
+260,4.333333333,pose2_hold,0.620774371257,-0.00994553401075,1.06002923934,0.591345098868,-0.0012727953182,1.05969853569
+261,4.350000000,pose2_hold,0.620774371257,-0.00994553401075,1.06002923934,0.591345098868,-0.00127279531734,1.05969853569
+262,4.366666667,pose2_hold,0.620774371257,-0.00994553401075,1.06002923934,0.591345098869,-0.00127279531737,1.05969853569
+263,4.383333333,pose2_to_pose3_retreat,0.620774371257,-0.00994553401075,1.06002923934,0.59134509887,-0.00127279531904,1.05969853569
+264,4.400000000,pose2_to_pose3_retreat,0.620774357725,-0.00994555241172,1.06002931518,0.591345085023,-0.00127281492589,1.05969860796
+265,4.416666667,pose2_to_pose3_retreat,0.620774346114,-0.00994556820175,1.06002938025,0.59134507314,-0.0012728317507,1.05969866998
+266,4.433333333,pose2_to_pose3_retreat,0.620774252135,-0.00994558169295,1.060029391,0.591344979626,-0.00127284363064,1.05969868119
+267,4.450000000,pose2_to_pose3_retreat,0.620774212048,-0.00994558592805,1.06002938873,0.591344939773,-0.00127284704569,1.05969867944
+268,4.466666667,pose2_to_pose3_retreat,0.620774111214,-0.00994559658094,1.06002938302,0.591344839526,-0.00127285563582,1.05969867506
+269,4.483333333,pose2_to_pose3_retreat,0.620773445578,-0.00994554122154,1.06002932157,0.591344173565,-0.00127280128256,1.05969861498
+270,4.500000000,pose2_to_pose3_retreat,0.620771482295,-0.0099453772232,1.06002907914,0.591342207892,-0.00127264555936,1.05969837059
+271,4.516666667,pose2_to_pose3_retreat,0.620767463226,-0.00994528491128,1.06002912058,0.591338188221,-0.00127255529826,1.0596984125
+272,4.533333333,pose2_to_pose3_retreat,0.620757620884,-0.00994533284835,1.06002888823,0.591328345642,-0.00127260373439,1.05969818579
+273,4.550000000,pose2_to_pose3_retreat,0.620740192535,-0.00994541788997,1.06002900869,0.59131091727,-0.00127268926479,1.05969829656
+274,4.566666667,pose2_to_pose3_retreat,0.620711136081,-0.0099454952502,1.06002889821,0.591281860767,-0.00127276689926,1.05969819014
+275,4.583333333,pose2_to_pose3_retreat,0.620670158954,-0.00994542037389,1.06002889418,0.591240883317,-0.00127269329313,1.05969818831
+276,4.600000000,pose2_to_pose3_retreat,0.620617112021,-0.00994533789319,1.06002920222,0.591187836897,-0.0012726096475,1.05969848931
+277,4.616666667,pose2_to_pose3_retreat,0.620553635202,-0.00994545641973,1.0600293311,0.591124361098,-0.00127272516571,1.05969861892
+278,4.633333333,pose2_to_pose3_retreat,0.620479836232,-0.00994544678541,1.06002932867,0.591050561575,-0.00127271802219,1.0596986104
+279,4.650000000,pose2_to_pose3_retreat,0.620395848998,-0.0099454675993,1.06002921038,0.590966575586,-0.00127273425612,1.0596984988
+280,4.666666667,pose2_to_pose3_retreat,0.620300880299,-0.009945444744,1.06002924255,0.590871606249,-0.00127271335047,1.0596985316
+281,4.683333333,pose2_to_pose3_retreat,0.620190332569,-0.00994549061132,1.06002904432,0.590761058864,-0.0012727582445,1.05969833477
+282,4.700000000,pose2_to_pose3_retreat,0.620063138588,-0.00994549559576,1.06002884495,0.590633864925,-0.00127276317741,1.05969814011
+283,4.716666667,pose2_to_pose3_retreat,0.619915747244,-0.00994542198983,1.06002910687,0.590486472525,-0.0012726939875,1.05969839401
+284,4.733333333,pose2_to_pose3_retreat,0.619747842991,-0.00994551611197,1.06002921491,0.590318569606,-0.00127278416227,1.05969849856
+285,4.750000000,pose2_to_pose3_retreat,0.619557744092,-0.00994555251088,1.06002893238,0.590128471453,-0.00127281827264,1.05969822316
+286,4.766666667,pose2_to_pose3_retreat,0.619344885726,-0.00994554031676,1.06002908617,0.589915613304,-0.00127280599716,1.0596983752
+287,4.783333333,pose2_to_pose3_retreat,0.619109101086,-0.00994547734759,1.06002927989,0.589679829405,-0.00127274100441,1.05969857363
+288,4.800000000,pose2_to_pose3_retreat,0.618847345862,-0.00994547111876,1.06002931998,0.589418073945,-0.00127273637469,1.05969861132
+289,4.816666667,pose2_to_pose3_retreat,0.618560169361,-0.00994552868871,1.06002909323,0.589130899326,-0.00127278845564,1.05969838072
+290,4.833333333,pose2_to_pose3_retreat,0.618245314661,-0.00994548696794,1.06002924861,0.588816043398,-0.00127275157124,1.05969853906
+291,4.850000000,pose2_to_pose3_retreat,0.617904683905,-0.00994546108064,1.0600291481,0.588475412594,-0.00127272668849,1.05969843965
+292,4.866666667,pose2_to_pose3_retreat,0.617538914601,-0.00994552503812,1.06002914606,0.588109643437,-0.00127279128685,1.05969843247
+293,4.883333333,pose2_to_pose3_retreat,0.617151567471,-0.00994527529088,1.060029048,0.587722292691,-0.00127255454973,1.05969834274
+294,4.900000000,pose2_to_pose3_retreat,0.616745088106,-0.0099453148152,1.06002917734,0.587315814674,-0.00127259060432,1.0596984674
+295,4.916666667,pose2_to_pose3_retreat,0.616319912234,-0.0099453456427,1.06002930481,0.586890640483,-0.00127261674639,1.05969859098
+296,4.933333333,pose2_to_pose3_retreat,0.615874833506,-0.00994540286584,1.06002939995,0.586445562468,-0.00127267247634,1.05969868921
+297,4.950000000,pose2_to_pose3_retreat,0.615407016976,-0.00994538299534,1.06002942166,0.585977743628,-0.00127266163953,1.05969870568
+298,4.966666667,pose2_to_pose3_retreat,0.614909165852,-0.00994544550377,1.06002904265,0.585479894684,-0.00127271765051,1.05969833584
+299,4.983333333,pose2_to_pose3_retreat,0.614379905077,-0.0099453553212,1.06002880488,0.584950633516,-0.00127262975518,1.05969809883
+300,5.000000000,pose2_to_pose3_retreat,0.613810322959,-0.00994544559021,1.060029067,0.584381052914,-0.00127271587104,1.05969836495
+301,5.016666667,pose2_to_pose3_retreat,0.613207723862,-0.00994549166705,1.06002912752,0.583778454818,-0.00127275990943,1.05969842107
+302,5.033333333,pose2_to_pose3_retreat,0.612580617501,-0.00994539431167,1.06002929521,0.583151348099,-0.0012726654355,1.05969857581
+303,5.050000000,pose2_to_pose3_retreat,0.611933312866,-0.00994553496107,1.06002940285,0.582504045041,-0.00127280180132,1.05969868549
+304,5.066666667,pose2_to_pose3_retreat,0.611264843549,-0.00994555502345,1.06002920848,0.581835577151,-0.00127281816136,1.05969849513
+305,5.083333333,pose2_to_pose3_retreat,0.610583635596,-0.00994542341399,1.06002938257,0.581154368337,-0.00127269090805,1.059698665
+306,5.100000000,pose2_to_pose3_retreat,0.60988479358,-0.00994531809688,1.06002921498,0.580455523833,-0.0012725948731,1.05969850466
+307,5.116666667,pose2_to_pose3_retreat,0.609154449329,-0.00994552472725,1.06002900173,0.579725182356,-0.00127279363509,1.05969828584
+308,5.133333333,pose2_to_pose3_retreat,0.608399211168,-0.00994546752658,1.06002921035,0.578969942906,-0.00127273814231,1.0596984941
+309,5.150000000,pose2_to_pose3_retreat,0.607623017197,-0.00994537652257,1.06002918189,0.578193747658,-0.00127265072631,1.05969847313
+310,5.166666667,pose2_to_pose3_retreat,0.606813034693,-0.00994550294128,1.06002905471,0.577383765962,-0.00127277517967,1.05969834725
+311,5.183333333,pose2_to_pose3_retreat,0.605967007593,-0.00994540690467,1.06002910084,0.576537739295,-0.00127267828545,1.05969839664
+312,5.200000000,pose2_to_pose3_retreat,0.605107285366,-0.00994529146526,1.06002903881,0.575678015107,-0.00127257054944,1.05969833132
+313,5.216666667,pose2_to_pose3_retreat,0.604238317151,-0.00994534762339,1.06002899235,0.574809048932,-0.00127262035638,1.05969829109
+314,5.233333333,pose2_to_pose3_retreat,0.603370878375,-0.00994550283305,1.06002900285,0.573941611933,-0.00127277041677,1.05969830027
+315,5.250000000,pose2_to_pose3_retreat,0.602516622623,-0.00994540095316,1.06002912929,0.573087355651,-0.00127267140363,1.05969842049
+316,5.266666667,pose2_to_pose3_retreat,0.601675854784,-0.00994533153723,1.06002914914,0.572246586391,-0.00127260762659,1.05969843939
+317,5.283333333,pose2_to_pose3_retreat,0.600825116775,-0.00994542283024,1.06002912962,0.571395850026,-0.00127269431506,1.05969842677
+318,5.300000000,pose2_to_pose3_retreat,0.599957975114,-0.00994547274718,1.06002917923,0.570528709288,-0.00127274212135,1.05969846427
+319,5.316666667,pose2_to_pose3_retreat,0.599059310981,-0.00994556926464,1.06002907088,0.569630046229,-0.00127283539393,1.05969835853
+320,5.333333333,pose2_to_pose3_retreat,0.598138900095,-0.00994558934501,1.06002920989,0.568709635714,-0.00127285509118,1.05969850106
+321,5.350000000,pose2_to_pose3_retreat,0.597205058964,-0.00994556936573,1.06002916705,0.567775794738,-0.0012728355365,1.05969845847
+322,5.366666667,pose2_to_pose3_retreat,0.596288693225,-0.00994556956618,1.06002903284,0.566859430192,-0.00127283266801,1.0596983267
+323,5.383333333,pose2_to_pose3_retreat,0.595399850921,-0.00994547768655,1.06002911195,0.565970587837,-0.00127274166969,1.05969840696
+324,5.400000000,pose2_to_pose3_retreat,0.594540410032,-0.00994540220392,1.06002918527,0.565111145486,-0.00127267223222,1.05969846906
+325,5.416666667,pose2_to_pose3_retreat,0.593705892134,-0.00994546953458,1.06002924565,0.564276628169,-0.0012727382401,1.05969853635
+326,5.433333333,pose2_to_pose3_retreat,0.592886291193,-0.00994543699671,1.06002896526,0.563457027188,-0.00127270619202,1.05969826661
+327,5.450000000,pose2_to_pose3_retreat,0.592063818337,-0.0099454273493,1.0600290748,0.56263455408,-0.00127269850577,1.05969836661
+328,5.466666667,pose2_to_pose3_retreat,0.591231870704,-0.00994537991384,1.06002918719,0.561802606228,-0.00127265285797,1.05969847149
+329,5.483333333,pose2_to_pose3_retreat,0.590390686108,-0.00994532270092,1.06002917313,0.560961421,-0.00127259846389,1.05969845951
+330,5.500000000,pose2_to_pose3_retreat,0.589543937416,-0.00994532198192,1.0600291489,0.560114671323,-0.001272601663,1.05969844009
+331,5.516666667,pose2_to_pose3_retreat,0.588725956842,-0.00994543344748,1.0600291759,0.559296692194,-0.00127270916511,1.05969846132
+332,5.533333333,pose2_to_pose3_retreat,0.587940702989,-0.00994554747527,1.06002898077,0.558511440762,-0.00127281560866,1.05969826789
+333,5.550000000,pose2_to_pose3_retreat,0.587197672623,-0.00994555463948,1.06002902352,0.557768411683,-0.0012728191081,1.05969830899
+334,5.566666667,pose2_to_pose3_retreat,0.586492079466,-0.00994551760363,1.06002905144,0.557062819473,-0.00127277944046,1.0596983384
+335,5.583333333,pose2_to_pose3_retreat,0.58581799657,-0.0099455800071,1.0600292368,0.556388735796,-0.00127284538097,1.05969851548
+336,5.600000000,pose2_to_pose3_retreat,0.585148534001,-0.009945529321,1.060029234,0.555719271831,-0.00127279980647,1.05969851813
+337,5.616666667,pose2_to_pose3_retreat,0.584481261149,-0.00994551715872,1.06002907963,0.555051999518,-0.00127278613103,1.0596983725
+338,5.633333333,pose2_to_pose3_retreat,0.583818633244,-0.00994549123975,1.06002902939,0.554389372321,-0.00127275846771,1.05969832187
+339,5.650000000,pose2_to_pose3_retreat,0.583175616402,-0.00994549592613,1.06002918955,0.553746355619,-0.00127276319503,1.05969847841
+340,5.666666667,pose2_to_pose3_retreat,0.582563888499,-0.00994551103248,1.06002925324,0.55313462826,-0.0012727766567,1.05969854783
+341,5.683333333,pose2_to_pose3_retreat,0.581989984312,-0.0099454920184,1.06002917942,0.552560724356,-0.0012727571868,1.0596984739
+342,5.700000000,pose2_to_pose3_retreat,0.581453346291,-0.00994550700105,1.0600289307,0.552024085977,-0.00127277407338,1.05969822075
+343,5.716666667,pose2_to_pose3_retreat,0.580943507408,-0.00994546694573,1.06002892571,0.551514246312,-0.00127273702635,1.05969821911
+344,5.733333333,pose2_to_pose3_retreat,0.580459220238,-0.00994552484392,1.06002886394,0.551029959511,-0.00127279397692,1.05969816041
+345,5.750000000,pose2_to_pose3_retreat,0.580007371267,-0.00994551976468,1.06002903881,0.550578111028,-0.00127278758541,1.05969833538
+346,5.766666667,pose2_to_pose3_retreat,0.57958407762,-0.00994541054849,1.06002907521,0.550154815763,-0.00127268430907,1.05969836883
+347,5.783333333,pose2_to_pose3_retreat,0.579189330278,-0.00994541743875,1.06002904908,0.549760068127,-0.00127269272034,1.05969833739
+348,5.800000000,pose2_to_pose3_retreat,0.578824529028,-0.00994544367383,1.06002910104,0.549395268053,-0.00127271510749,1.0596983933
+349,5.816666667,pose2_to_pose3_retreat,0.578485330283,-0.0099454456933,1.06002895247,0.549056069748,-0.00127271564219,1.05969825219
+350,5.833333333,pose2_to_pose3_retreat,0.578163371212,-0.00994553866688,1.06002905838,0.548734111784,-0.00127280529283,1.05969835397
+351,5.850000000,pose2_to_pose3_retreat,0.577858409284,-0.00994554423327,1.06002930186,0.548429150266,-0.00127280984577,1.05969859459
+352,5.866666667,pose2_to_pose3_retreat,0.577572893191,-0.00994548430226,1.06002917375,0.548143633931,-0.00127275085667,1.05969846994
+353,5.883333333,pose2_to_pose3_retreat,0.577310414083,-0.00994544611083,1.06002921372,0.547881154641,-0.00127271356441,1.05969850887
+354,5.900000000,pose2_to_pose3_retreat,0.577072647737,-0.0099453650961,1.06002920172,0.547643386887,-0.00127263768052,1.05969849339
+355,5.916666667,pose2_to_pose3_retreat,0.576861175276,-0.00994545373549,1.06002929847,0.547431915708,-0.00127272241181,1.05969858345
+356,5.933333333,pose2_to_pose3_retreat,0.576674354257,-0.00994548772864,1.06002919475,0.547245095304,-0.00127275450471,1.05969847931
+357,5.950000000,pose2_to_pose3_retreat,0.576511196053,-0.00994542481284,1.06002908114,0.547081936551,-0.0012726933435,1.05969837265
+358,5.966666667,pose2_to_pose3_retreat,0.576367822102,-0.00994534871004,1.06002916472,0.546938561799,-0.00127262016479,1.05969845467
+359,5.983333333,pose2_to_pose3_retreat,0.576244152057,-0.00994539820971,1.06002911077,0.546814892575,-0.00127266694035,1.05969840183
+360,6.000000000,pose2_to_pose3_retreat,0.576137332334,-0.00994551044275,1.0600290394,0.546708074415,-0.00127277400737,1.05969832935
+361,6.016666667,pose2_to_pose3_retreat,0.576047291125,-0.00994543239969,1.06002913808,0.546618032056,-0.00127270004534,1.05969842564
+362,6.033333333,pose2_to_pose3_retreat,0.575972485975,-0.00994538910781,1.06002930654,0.546543226419,-0.00127265865294,1.0596985904
+363,6.050000000,pose2_to_pose3_retreat,0.575910593836,-0.00994545742188,1.06002921389,0.54648133447,-0.00127272622402,1.05969850296
+364,6.066666667,pose2_to_pose3_retreat,0.575860526603,-0.00994545677692,1.06002900382,0.546431265445,-0.00127273137956,1.05969829997
+365,6.083333333,pose2_to_pose3_retreat,0.575820133322,-0.00994544248753,1.0600289895,0.546390873393,-0.00127271271283,1.05969829163
+366,6.100000000,pose2_to_pose3_retreat,0.575789389312,-0.00994560681254,1.06002897616,0.546360131671,-0.00127286930122,1.05969827827
+367,6.116666667,pose2_to_pose3_retreat,0.57576601472,-0.00994536620392,1.06002885914,0.546336754811,-0.00127263617691,1.0596981654
+368,6.133333333,pose2_to_pose3_retreat,0.575749137119,-0.00994545056999,1.06002907563,0.546319877643,-0.00127271954191,1.05969836736
+369,6.150000000,pose2_to_pose3_retreat,0.575737271124,-0.0099454866037,1.06002927804,0.546308011662,-0.00127275579317,1.05969856317
+370,6.166666667,pose2_to_pose3_retreat,0.57572851468,-0.00994546532935,1.060029397,0.546299254884,-0.00127273567147,1.05969868296
+371,6.183333333,pose2_to_pose3_retreat,0.575722186895,-0.00994545209642,1.06002929466,0.546292927584,-0.00127272049972,1.05969858692
+372,6.200000000,pose2_to_pose3_retreat,0.57571792919,-0.00994548144806,1.06002926689,0.546288670848,-0.00127274679032,1.05969855902
+373,6.216666667,pose2_to_pose3_retreat,0.575715450675,-0.00994551789353,1.06002927151,0.546286193223,-0.00127278056503,1.05969856137
+374,6.233333333,pose2_to_pose3_retreat,0.575714029,-0.00994549748849,1.06002925147,0.546284771513,-0.00127276037658,1.0596985413
+375,6.250000000,pose2_to_pose3_retreat,0.575713237408,-0.00994544538476,1.06002921793,0.546283979363,-0.00127271011795,1.05969850902
+376,6.266666667,pose2_to_pose3_retreat,0.575712360697,-0.00994538767842,1.06002918078,0.546283102034,-0.00127265445511,1.05969847326
+377,6.283333333,pose2_to_pose3_retreat,0.575711826125,-0.0099453524921,1.06002915812,0.546282567085,-0.00127262051481,1.05969845146
+378,6.300000000,pose2_to_pose3_retreat,0.575711681618,-0.00994534298048,1.060029152,0.546282422476,-0.00127261134002,1.05969844557
+379,6.316666667,pose2_to_pose3_retreat,0.57571157635,-0.00994533605158,1.06002914754,0.546282317134,-0.00127260465648,1.05969844127
+380,6.333333333,pose2_to_pose3_retreat,0.575711572495,-0.00994533579785,1.06002914738,0.546282313277,-0.00127260441174,1.05969844111
+381,6.350000000,pose2_to_pose3_retreat,0.575711328256,-0.0099453219831,1.06002913906,0.54628206878,-0.00127259144011,1.05969843318
+382,6.366666667,pose2_to_pose3_retreat,0.57571118111,-0.00994531808539,1.06002913803,0.546281921313,-0.00127258858619,1.05969843237
+383,6.383333333,pose2_to_pose3_retreat,0.575711118146,-0.00994531641755,1.06002913758,0.546281858212,-0.00127258736499,1.05969843202
+384,6.400000000,pose2_to_pose3_retreat,0.575711067196,-0.00994531506792,1.06002913723,0.546281807149,-0.00127258637678,1.05969843174
+385,6.416666667,pose2_to_pose3_retreat,0.575710945963,-0.00994531185661,1.06002913638,0.546281685652,-0.00127258402544,1.05969843107
+386,6.433333333,pose2_to_pose3_retreat,0.575710770646,-0.00994530721269,1.06002913515,0.546281509953,-0.00127258062514,1.0596984301
+387,6.450000000,pose2_to_pose3_retreat,0.575710635161,-0.00994530362385,1.06002913419,0.546281374171,-0.00127257799737,1.05969842936
+388,6.466666667,pose2_to_pose3_retreat,0.575710533594,-0.00994530093347,1.06002913348,0.546281272383,-0.00127257602746,1.0596984288
+389,6.483333333,pose2_to_pose3_retreat,0.575710375708,-0.00994529675124,1.06002913237,0.546281114151,-0.00127257296521,1.05969842792
+390,6.500000000,pose2_to_pose3_retreat,0.575710187998,-0.00994529177904,1.06002913106,0.546280926032,-0.00127256932454,1.05969842689
+391,6.516666667,pose2_to_pose3_retreat,0.575710049647,-0.00994528811428,1.06002913008,0.546280787378,-0.00127256664118,1.05969842612
+392,6.533333333,pose2_to_pose3_retreat,0.575710017298,-0.0099452872574,1.06002912986,0.546280754959,-0.00127256601377,1.05969842595
+393,6.550000000,pose2_to_pose3_retreat,0.575709798267,-0.00994529921057,1.06002914658,0.546280536195,-0.00127257703975,1.05969844224
+394,6.566666667,pose2_to_pose3_retreat,0.575709611822,-0.00994534043439,1.06002919275,0.546280351283,-0.00127261313587,1.05969848673
+395,6.583333333,pose2_to_pose3_retreat,0.575709486482,-0.00994536814759,1.06002922379,0.546280226973,-0.00127263740193,1.05969851664
+396,6.600000000,pose2_to_pose3_retreat,0.575709362712,-0.00994539551384,1.06002925445,0.54628010422,-0.00127266136417,1.05969854617
+397,6.616666667,pose2_to_pose3_retreat,0.575709349253,-0.00994539848966,1.06002925778,0.546280090872,-0.00127266396984,1.05969854939
+398,6.633333333,pose2_to_pose3_retreat,0.575709268355,-0.00994538233719,1.06002923107,0.546280009405,-0.00127264972538,1.05969852158
+399,6.650000000,pose2_to_pose3_retreat,0.57570921235,-0.00994532996774,1.06002915601,0.546279951538,-0.00127260369088,1.05969844534
+400,6.666666667,pose2_to_pose3_retreat,0.57570921235,-0.00994532996774,1.06002915601,0.546279951554,-0.00127260370021,1.05969844533
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_07/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_07/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8c205c6f784758aad350cb7aee3c610090db9368
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_07/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9396101552b6d62313a2560d7be81829c1a7e560686b54cab408ceae25210d41
+size 25753059
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_07/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_07/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bac681df241b52c7b1c1f329c9d1c3ce44b43c64
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_07/depth_05/franka_data.csv
@@ -0,0 +1,406 @@
+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,764,742,712,672,659,633,877,784,799,649,629,651,0.400949059524,-0.015373992593,0.0698143189389,0.999999927025,0.000235133236034,-0.000300805279581,1.33418818399e-05,1793193504336452096
+1,0.016666667,BASELINE,764,742,711.412552558,671.412552558,660.174894884,633,877.587447442,784.587447442,799,649,629,651,0.400951136491,-0.0153731691705,0.069815830966,0.999999927592,0.000235884471152,-0.000298304294709,1.3754240505e-05,1793193504353118976
+2,0.033333333,BASELINE,764,742,711.17246277,671.17246277,660.65507446,633,877.82753723,785,799.17246277,649,629,651,0.400952654876,-0.0153723419721,0.0698169905296,0.99999992807,0.000236539298462,-0.000296168863463,1.39222454129e-05,1793193504369786112
+3,0.050000000,BASELINE,764,742,711.751741198,671.751741198,659.496517604,633,877.248258802,785,799.751741198,649,629,651,0.400952855645,-0.0153715058665,0.0698173186811,0.99999992835,0.000236966713338,-0.000294895721818,1.35138539192e-05,1793193504386452480
+4,0.066666667,BASELINE,764,742,712,672,659,633,877,784.67005189,800,649,629,651,0.400952865357,-0.0153702161053,0.0698173084999,0.999999928023,0.000238082193744,-0.00029512576419,1.30982814226e-05,1793193504403119104
+5,0.083333333,BASELINE,764,742,712,672,659,633,877,784.09264863,800,649,629,651,0.40095273178,-0.0153685861106,0.0698170445752,0.999999927237,0.000239713710901,-0.000296483167622,1.26773233273e-05,1793193504419785728
+6,0.100000000,BASELINE,764,742,712,672,659,633,877,784,800,649,629,650.519653246,0.400952886521,-0.0153697269261,0.0698175272431,0.999999928062,0.000237487884722,-0.000295480451642,1.28845557687e-05,1793193504436452352
+7,0.116666667,BASELINE,764.054352125,742,712,672,659,633,877.054352125,784,799.945647875,649,629,650.054352125,0.400953093682,-0.0153712023045,0.0698180744253,0.999999929035,0.000234941370282,-0.000294210698387,1.31745351023e-05,1793193504453118976
+8,0.133333333,BASELINE,764.646693415,742,712,672,659,633,877.646693415,784,799.353306585,649,629,650.646693415,0.400953274272,-0.015370747456,0.0698178477843,0.999999928501,0.000236517915642,-0.000294762613661,1.30951536012e-05,1793193504469785344
+9,0.150000000,BASELINE,764.766380517,742,712,671.766380517,659,632.766380517,877.766380517,784,799.233619483,648.766380517,629,650.766380517,0.400953200171,-0.0153706575348,0.0698176503698,0.999999928283,0.00023703517323,-0.000295084894411,1.31277609302e-05,1793193504486451968
+10,0.166666667,BASELINE,764.1874585,742,712,671.1874585,659,632.1874585,877.1874585,784,799.8125415,648.1874585,629,650.1874585,0.400952749623,-0.0153711069966,0.0698174961536,0.999999928534,0.000235986744687,-0.000295067762566,1.3325893959e-05,1793193504503118848
+11,0.183333333,BASELINE,764,742.388450091,712,671.388450091,659,632.388450091,877,784,800,648.388450091,629,650.388450091,0.400952819014,-0.0153715357974,0.0698176875744,0.999999928818,0.00023531904498,-0.000294632786127,1.34431806904e-05,1793193504519785472
+12,0.200000000,BASELINE,764,742.962915706,712,671.962915706,659,632.962915706,877,784,800,648.962915706,629,650.962915706,0.400953137387,-0.0153719547045,0.0698180445091,0.999999929118,0.000234833663257,-0.000293997718136,1.35217528999e-05,1793193504536451840
+13,0.216666667,BASELINE,764,742.450378624,712,672,659,633,877.549621376,784,799.450378624,649,629,651,0.400951862108,-0.0153725907451,0.0698172303529,0.999999928792,0.000233833302637,-0.000295901508142,1.34580295443e-05,1793193504553118720
+14,0.233333333,BASELINE,764,742,712,672,659,633,877.864645017,784,799.135354983,649,629,651,0.400950790812,-0.0153724582127,0.0698164816687,0.999999928282,0.000233798560163,-0.000297648613898,1.33721610271e-05,1793193504569785856
+15,0.250000000,BASELINE,764,742,712,672,659,633,877.284876198,784,799.715123802,649,629,651,0.400950750344,-0.0153697530103,0.0698162132949,0.999999927322,0.000237050935323,-0.000298306022145,1.32458240901e-05,1793193504586452736
+16,0.266666667,BASELINE,764,742,712,671.708625352,659,633,877,784.291374648,799.708625352,649,629,650.708625352,0.400951031378,-0.0153696417151,0.0698162751691,0.999999927378,0.000237340163577,-0.000297889292082,1.32359820705e-05,1793193504603119360
+17,0.283333333,BASELINE,764,742,712,671.13577302,659,633,877,784.86422698,799.13577302,649,629,650.13577302,0.400951622992,-0.0153720362214,0.0698166560741,0.999999928416,0.000234766892329,-0.000296434908341,1.33386780563e-05,1793193504619785472
+18,0.300000000,BASELINE,764,742.440589427,712,671.440589427,659,633,877.440589427,784.559410573,799,649,629,650.440589427,0.400951343375,-0.0153728349947,0.0698164435341,0.999999928385,0.000234242059167,-0.000296962463354,1.31957605951e-05,1793193504636452096
+19,0.316666667,BASELINE,764,742.981522634,712,672,659,633,878,784.018477366,799.018477366,649,629,651,0.400950823517,-0.0153730970676,0.0698160880364,0.99999992803,0.000234422489141,-0.00029802238449,1.29968272719e-05,1793193504653118720
+20,0.333333333,BASELINE,764,742.39014325,712,672,659,633,878,784.60985675,799.60985675,649,629,651,0.400951246042,-0.0153720877062,0.0698170158103,0.999999927931,0.000236740520718,-0.000296499617976,1.34267115037e-05,1793193504669785600
+21,0.350000000,BASELINE,764,742,712,672,659,633,878,785,799.803056057,649,629,651,0.400951942889,-0.0153715544274,0.06981768372,0.999999928041,0.000237962662266,-0.000295137328219,1.36063818141e-05,1793193504686452480
+22,0.366666667,BASELINE,764,742,712,672,659,633,878,785,799.224290345,649,629,651,0.400953171568,-0.0153719441459,0.0698178478221,0.999999928569,0.00023706016513,-0.000294086160262,1.33009540304e-05,1793193504703119616
+23,0.383333333,BASELINE,764,742,712,672,659,633,878,784.647438304,799,649,629,650.647438304,0.40095259485,-0.0153712646024,0.0698176858554,0.99999992851,0.000236799101668,-0.000294506043591,1.31373701785e-05,1793193504719786496
+24,0.400000000,BASELINE,764,742,712,672,659,633,878,784.07179706,799,649,629,650.07179706,0.400950875786,-0.0153699084952,0.0698173175722,0.999999928078,0.000236943898241,-0.000295856718392,1.30635364894e-05,1793193504736452864
+25,0.416666667,BASELINE,764,742,712,672,659,633,877.486494002,784.513505998,799,649,628.486494002,650.513505998,0.400950912453,-0.0153700859872,0.0698167620168,0.999999927555,0.000237875830837,-0.000296887544899,1.27782139052e-05,1793193504753119488
+26,0.433333333,BASELINE,764,742,711.900518678,672,659,633,877,785,799,648.900518678,628.099481322,651,0.40095108927,-0.0153704578869,0.0698163292786,0.999999927136,0.000238650504568,-0.000297684508431,1.25861552503e-05,1793193504769786112
+27,0.450000000,BASELINE,764,742,711.317964279,672,659,633,877,785,799,648.317964279,628.682035721,651,0.400950731742,-0.015370712623,0.0698166225153,0.999999927293,0.000238116875085,-0.000297567175618,1.29933205147e-05,1793193504786452736
+28,0.466666667,BASELINE,763.738523256,742,711.261476744,671.738523256,659.261476744,633,877,784.738523256,799.261476744,648.261476744,629,651,0.400950799524,-0.0153711829335,0.069816877845,0.99999992782,0.000236601588987,-0.000297000118475,1.30507629942e-05,1793193504803119360
+29,0.483333333,BASELINE,763.162823688,742,711.837176312,671.162823688,659.837176312,633,877,784.162823688,799.837176312,648.837176312,629,651,0.400951378411,-0.0153719123049,0.0698170876212,0.999999928787,0.000233906622813,-0.000295892616908,1.2687935258e-05,1793193504819785984
+30,0.500000000,BASELINE,763.411348442,742,712,671.411348442,659.588651558,633,877,784.411348442,800,649,628.588651558,651,0.400951539866,-0.0153735381179,0.0698173090806,0.999999928751,0.000233901225444,-0.000295997458577,1.32082223831e-05,1793193504836452608
+31,0.516666667,BASELINE,763.98491819,742,712,671.98491819,659.01508181,633,877,784.98491819,800,649,628.01508181,651,0.400951536699,-0.0153755174559,0.0698175351475,0.999999928319,0.000234956499141,-0.000296580405651,1.40767788467e-05,1793193504853119232
+32,0.533333333,BASELINE,764,742,712,672,659,633,877,785,800,649,628.576843732,651,0.400950574541,-0.0153728142076,0.0698172403367,0.999999927465,0.000237615375182,-0.000297356412827,1.37359466287e-05,1793193504869785856
+33,0.550000000,BASELINE,764,742,712,671.834993938,659,633,877,785,799.834993938,649,629,651,0.40095025526,-0.0153707873228,0.0698170039573,0.999999927012,0.000239416139336,-0.000297447587359,1.34377053859e-05,1793193504886452224
+34,0.566666667,BASELINE,764,742,712,671.257478801,659,633,877,785,799.257478801,649,629,651,0.400951607893,-0.0153707674474,0.0698169488193,0.999999927607,0.000238963394505,-0.000295813671762,1.33275868686e-05,1793193504903118848
+35,0.583333333,BASELINE,764,742,712,671.319340871,659,633,877.319340871,784.680659129,799,649,629,651,0.400951999432,-0.0153713627744,0.0698173400328,0.999999927969,0.000238233039509,-0.000295176069939,1.33740539541e-05,1793193504919785216
+36,0.600000000,BASELINE,764,742,712,671.895601083,659,633,877.895601083,784.104398917,799,649,629,651,0.400951617742,-0.0153724530503,0.0698180903496,0.999999928145,0.000237279338735,-0.000295340032351,1.35464988571e-05,1793193504936451584
+37,0.616666667,BASELINE,764,742,712,671.518957504,659,633,877.518957504,784.481042496,799.481042496,649,629,651,0.400952209066,-0.0153718683209,0.069818309261,0.9999999282,0.000237089900207,-0.00029531476528,1.33514598194e-05,1793193504953118464
+38,0.633333333,BASELINE,764,742,712,671.067533236,659,633,877,784.932466764,799.932466764,649,629,651,0.400952596033,-0.0153711470583,0.0698182138215,0.999999928178,0.000236876289353,-0.000295570796747,1.30877643417e-05,1793193504969785088
+39,0.650000000,BASELINE,764,742,712,671.646586233,659,633,877,784.353413767,799.353413767,649,629,651,0.400949804538,-0.015372198647,0.0698166279191,0.999999927773,0.000235198825652,-0.000298274593156,1.29198771246e-05,1793193504986452224
+40,0.666666667,BASELINE,764,742,712,672,659,633,877.224232412,784,799,648.775767588,629,650.775767588,0.400949057718,-0.0153727732518,0.0698162096167,0.99999992781,0.000234541327245,-0.000298670492387,1.29289355106e-05,1793193505003119104
+41,0.683333333,BASELINE,764,742,712,672,659,633,877.799675091,784,799,648.200324909,629,650.200324909,0.400951513426,-0.0153726007674,0.0698176201005,0.999999928541,0.000235481378013,-0.000295451583166,1.32151398901e-05,1793193505019785984
+42,0.700000000,BASELINE,764,742.375437552,712,672,659.375437552,633,878,784,799,648,628.624562448,650.375437552,0.400950974427,-0.0153733344639,0.0698172865774,0.999999928818,0.000233783456688,-0.000295863223837,1.32320007282e-05,1793193505036452352
+43,0.716666667,BASELINE,764,742.951370769,712,672,659.951370769,633,878,784,799,648,628.048629231,650.951370769,0.400948836158,-0.01537455209,0.0698160216987,0.999999928843,0.000230676773838,-0.000298213694404,1.31050234888e-05,1793193505053118976
+44,0.733333333,BASELINE,764,742.459468938,712,672,659.459468938,633,877.459468938,784.540531062,799,648.540531062,628.540531062,650.459468938,0.400949812665,-0.0153725305971,0.0698167067574,0.999999928066,0.000234663992073,-0.000297710938421,1.30249576318e-05,1793193505069785600
+45,0.750000000,BASELINE,764,742,712,672,659.128278838,633,877,784.871721162,799.128278838,649,629,650,0.400950597514,-0.0153711719894,0.0698173172344,0.999999927561,0.000237396911437,-0.000297240797366,1.30177080882e-05,1793193505086451968
+46,0.766666667,BASELINE,764,742,712,672,659.706787528,633,877,784.293212472,799.706787528,649,629,650,0.4009497015,-0.0153731883977,0.0698170347904,0.999999928322,0.000233431370413,-0.000297808659401,1.3250843167e-05,1793193505103118592
+47,0.783333333,BASELINE,764,742,712.284154641,672.284154641,659.715845359,633,877.284154641,784.284154641,800,649,628.715845359,650.284154641,0.400949848183,-0.0153741986234,0.0698169693677,0.999999928936,0.000231503822535,-0.00029725143389,1.32868247122e-05,1793193505119785216
+48,0.800000000,BASELINE,764,742,712.860348571,672.860348571,659.139651429,633,877.860348571,784.860348571,800,649,628.139651429,650.860348571,0.400951066496,-0.0153741747475,0.0698171269879,0.999999929407,0.000231670817026,-0.000295537902268,1.31201821875e-05,1793193505136452864
+49,0.816666667,BASELINE,763.556023942,742,712.556023942,672.556023942,659,633,877.556023942,784.556023942,800,649,628.443976058,651,0.400952144494,-0.015373498837,0.0698180203445,0.999999929415,0.000233119256379,-0.000294364630395,1.32301166067e-05,1793193505153119488
+50,0.833333333,BASELINE,763.029649052,742,712,672,659,633,877.029649052,784,800,649,629,651,0.400953051977,-0.0153726487755,0.0698190326886,0.999999929234,0.000234933536824,-0.000293526274985,1.34106605521e-05,1793193505169785856
+51,0.850000000,BASELINE,763.609156109,742,712,672,659,633,877.609156109,784,800,649,629,651,0.400951629628,-0.015372437366,0.0698178867559,0.999999928363,0.000235930007602,-0.000295693883928,1.32598258338e-05,1793193505186452480
+52,0.866666667,BASELINE,764,742,712,671.812342391,659.375315217,633,878,784.187657609,799.812342391,649,629,651,0.400950912834,-0.0153727887705,0.0698173029252,0.999999928246,0.000235353707835,-0.000296552070863,1.31627326424e-05,1793193505203118848
+53,0.883333333,BASELINE,764,742,712,671.235924089,660.528151821,633,878,784.764075911,799.235924089,649,629,651,0.400951657705,-0.0153743061279,0.0698178835729,0.999999929689,0.000231519179513,-0.000294697594901,1.31769730397e-05,1793193505219785216
+54,0.900000000,BASELINE,764,742,712,671.340255632,660.659744368,633,877.659744368,784.659744368,799.340255632,649,629,651,0.40095160018,-0.0153741345599,0.0698175335288,0.999999929852,0.000230638402564,-0.000294844263851,1.29625450469e-05,1793193505236452096
+55,0.916666667,BASELINE,764,742,712,671.91627002,660.08372998,633,877.08372998,784.08372998,799.91627002,649,629,651,0.400950986687,-0.015372792757,0.0698165386205,0.999999929134,0.000231804242153,-0.000296377500475,1.2589675664e-05,1793193505253118720
+56,0.933333333,BASELINE,764,742,712,672,659.497415785,633,877.502584215,784,800,649,629,650.497415785,0.400951361378,-0.0153726767554,0.0698170102877,0.99999992918,0.000232725973064,-0.000295495359432,1.27235918287e-05,1793193505269785600
+57,0.950000000,BASELINE,764.089339448,742,712,672,659,633,877.910660552,784,799.910660552,649,629,650.089339448,0.400951602284,-0.0153729631531,0.0698175935271,0.999999929249,0.000233409125782,-0.000294710690276,1.29867334526e-05,1793193505286452480
+58,0.966666667,BASELINE,764.668901842,742,712,672,659,633,877.331098158,784,799.331098158,649,629,650.668901842,0.40095018682,-0.0153743135698,0.0698174202485,0.999999928742,0.000233010976664,-0.000296715109708,1.34859838182e-05,1793193505303119360
+59,0.983333333,BASELINE,764.752824848,742,712,672,659,633,877,784,799.247175152,649,629,651,0.40094978854,-0.0153738771553,0.0698172779429,0.999999928413,0.000233870277801,-0.000297146232034,1.34950129493e-05,1793193505319785984
+60,1.000000000,BASELINE,764.176269263,742,712,672,659,633,877,784,799.823730737,649,629,651,0.400950745736,-0.0153710596468,0.0698171769111,0.999999928319,0.000236405230774,-0.000295480811845,1.28507835932e-05,1793193505336452352
+61,1.016666667,BASELINE,763.600442086,742,712,672,659,633,877.399557914,784,799.600442086,648.600442086,629,651,0.40095081746,-0.0153711070041,0.0698170023423,0.999999928271,0.000236717498301,-0.000295393047575,1.28446657885e-05,1793193505353118976
+62,1.033333333,BASELINE,763.024935703,742,712,672,659,633,877.975064297,784,799.024935703,648.024935703,629,651,0.40095049926,-0.0153724159276,0.0698167953909,0.999999928246,0.000236050988667,-0.000296000016592,1.31195454601e-05,1793193505369785600
+63,1.050000000,BASELINE,763.563949999,742,712,672,659,632.436050001,877.436050001,784.563949999,799.563949999,648.563949999,629,651,0.400950076204,-0.0153725607757,0.0698168361771,0.999999928715,0.000234051590804,-0.000296011547526,1.29063786975e-05,1793193505386451968
+64,1.066666667,BASELINE,764.150989101,742,712,672,659.150989101,632.150989101,877,784.849010899,800,649,629,650.849010899,0.400950037248,-0.015372767238,0.0698169422962,0.999999929042,0.000232904890032,-0.000295813988876,1.28497090109e-05,1793193505403118848
+65,1.083333333,BASELINE,764.731058503,742,712,672,659.731058503,632.731058503,877,784.268941497,800,649,629,650.268941497,0.400951103318,-0.0153732986194,0.0698172021927,0.999999928909,0.000234352932766,-0.000295098877111,1.33005870766e-05,1793193505419785728
+66,1.100000000,BASELINE,764.691887738,742,712,672,659.691887738,633,877,784,799.691887738,649,629,650.308112262,0.400952536638,-0.0153740506531,0.0698180460027,0.999999929282,0.000234553037942,-0.000293658918824,1.35764049617e-05,1793193505436452608
+67,1.116666667,BASELINE,764.117440755,742,712,672,659.117440755,633,877,784,799.117440755,649,629,650.882559245,0.400954287411,-0.0153749934206,0.0698193945521,0.999999930091,0.000233674415762,-0.000291592397399,1.37008993929e-05,1793193505453119232
+68,1.133333333,BASELINE,764,742,712,672,659.458549734,633,877,784,799.458549734,649,628.541450266,651,0.4009528346,-0.0153732265724,0.0698182066266,0.999999929571,0.00023402428234,-0.000293114813937,1.31949425066e-05,1793193505469785856
+69,1.150000000,BASELINE,764.035973929,742,712,672,659.964026071,633,877,784.035973929,800,648.964026071,628,651,0.400950722253,-0.0153709249773,0.0698165585819,0.999999928765,0.000234687738814,-0.000295353230898,1.25823542704e-05,1793193505486452224
+70,1.166666667,BASELINE,764.629469744,742,712,672,659.370530256,633,877,784.629469744,800,648.370530256,628,651,0.400951147189,-0.0153711273244,0.0698178814957,0.999999928896,0.000235318567522,-0.00029439474014,1.28280592353e-05,1793193505503118848
+71,1.183333333,BASELINE,764.569362576,742,712,672,659.215318712,633,877,784.784681288,799.784681288,648,628.215318712,651,0.400951347326,-0.0153715579274,0.0698183497071,0.999999928925,0.00023540547775,-0.000294222474215,1.29309871202e-05,1793193505519785472
+72,1.200000000,BASELINE,763.423079937,742,712,672,659.788460031,633,877,784.211539969,799.211539969,648,628.788460031,651,0.400951173888,-0.0153723678527,0.0698173975505,0.999999928784,0.000234588489269,-0.000295356778366,1.27966441339e-05,1793193505536452864
+73,1.216666667,BASELINE,763.362764199,742,712,672,659.637235801,633,877,784,799,648.362764199,629,651,0.400951356984,-0.0153723979441,0.0698173920273,0.999999928824,0.000234364048781,-0.000295395147249,1.28949161321e-05,1793193505553119744
+74,1.233333333,BASELINE,763.937748609,742,712,672,659.062251391,633,877,784,799,648.937748609,629,651,0.400951748655,-0.0153719718259,0.0698179402929,0.999999928971,0.00023448625407,-0.000294792384403,1.31292699271e-05,1793193505569786368
+75,1.250000000,BASELINE,763.471068835,742,712,672,659,633,877,784,799,649,629,651,0.400951917128,-0.015371821946,0.0698181313944,0.999999928829,0.000235493094907,-0.000294469934751,1.31343008212e-05,1793193505586453248
+76,1.266666667,BASELINE,763.118820971,742,712,672,659,633,877,784,799.118820971,648.881179029,629,651,0.400952209001,-0.0153718871608,0.0698183407382,0.999999928801,0.000236185668714,-0.000294009200372,1.31313467595e-05,1793193505603119616
+77,1.283333333,BASELINE,763.696133849,742,712,672,659,633,877,784,799.696133849,648.303866151,629,651,0.400953081597,-0.0153726529434,0.0698187877997,0.999999929351,0.000235251147988,-0.000292883546994,1.32050158254e-05,1793193505619785728
+78,1.300000000,BASELINE,764,742,712,672,659,633,877,784,799.727590681,648.272409319,629,650.727590681,0.400952466114,-0.0153744280951,0.0698185141669,0.999999929687,0.000233458569546,-0.000293163762248,1.33326742114e-05,1793193505636452096
+79,1.316666667,BASELINE,764,742,712,672,659,633,877,784,799.152468063,648.847531937,629,650.152468063,0.400950197013,-0.0153773249025,0.0698174396666,0.99999992978,0.000230712479428,-0.000295006241064,1.35203279156e-05,1793193505653118464
+80,1.333333333,BASELINE,764,742,712,672,659,633,877,784,799.422184528,649,629,650.422184528,0.400949950811,-0.0153767644584,0.069817114125,0.999999929692,0.000230189695432,-0.000295719027815,1.33433654511e-05,1793193505669785088
+81,1.350000000,BASELINE,764,742,712,672,659,633,877,784,799.996667608,649,629,650.996667608,0.400950434348,-0.0153749568479,0.0698170587623,0.999999929542,0.000230468945113,-0.00029602429039,1.30348716195e-05,1793193505686451712
+82,1.366666667,BASELINE,764,742.58998618,712,672.58998618,659,633,877.58998618,784,799.41001382,648.41001382,628.41001382,651,0.400950181941,-0.0153737452439,0.0698168588957,0.999999929209,0.000231501161257,-0.000296346517984,1.29873484317e-05,1793193505703119104
+83,1.383333333,BASELINE,763.821551821,743,712,672.643103643,659,633,877.821551821,784.178448179,799.178448179,648.178448179,628.178448179,651,0.400949780524,-0.0153729598454,0.0698165002318,0.999999928802,0.000232645819599,-0.000296826263143,1.29153545769e-05,1793193505719786240
+84,1.400000000,BASELINE,763.244191991,743,712,671.488383982,659,633,877.244191991,784.755808009,799.755808009,648.755808009,628.755808009,651,0.400949055603,-0.0153731194339,0.0698157884695,0.999999928233,0.000234032016076,-0.000297657909441,1.2785254024e-05,1793193505736452608
+85,1.416666667,BASELINE,763.331316374,742.668683626,712,671,659,633,877,785,800,649,629,650.668683626,0.400950421796,-0.0153734388529,0.0698168644652,0.999999928738,0.000234127866728,-0.0002958753576,1.29114425809e-05,1793193505753118976
+86,1.433333333,BASELINE,763.905467693,742.094532307,712,671,659,633,877,785,800,649,629,650.094532307,0.400953320649,-0.0153738754181,0.0698192507797,0.99999993002,0.000233277971533,-0.000292176755946,1.32254756246e-05,1793193505769785344
+87,1.450000000,BASELINE,764,742,712,671.493494772,659.493494772,633,877,784.506505228,799.506505228,649,629,650.493494772,0.400953070232,-0.0153734634389,0.0698189533899,0.999999930059,0.000233193251334,-0.000292113812271,1.31159657492e-05,1793193505786451712
+88,1.466666667,BASELINE,764,742,712,671.917393976,659.917393976,633,877,784.082606024,799.082606024,649,629,651,0.400952234761,-0.0153729651692,0.0698182615408,0.999999929819,0.000233385443403,-0.000292791124087,1.29454948638e-05,1793193505803118336
+89,1.483333333,BASELINE,764,742,712,671.33820595,659.33820595,633,877,784.66179405,799.66179405,649,629,651,0.400951613686,-0.0153729535656,0.0698183782035,0.999999929356,0.000234335662713,-0.000293610738054,1.29103944409e-05,1793193505819784960
+90,1.500000000,BASELINE,764,742,712,671.239138976,659,633,877,785,799.760861024,649,629,651,0.400951168386,-0.0153734236222,0.0698184154112,0.999999929279,0.000233908090866,-0.000294208310925,1.30470204307e-05,1793193505836451584
+91,1.516666667,BASELINE,764,742,712,671.813897156,659,633,877,785,799.186102844,649,629,651,0.400950969776,-0.0153745696641,0.0698183411079,0.999999929739,0.000231546860197,-0.000294494260513,1.34246555759e-05,1793193505853118208
+92,1.533333333,BASELINE,764,742.388478128,712,671.611521872,659.388478128,633,877.388478128,784.611521872,799.388478128,649,629,651,0.40095112233,-0.0153744389059,0.0698179201179,0.999999929643,0.000231595286049,-0.000294785697092,1.33914087849e-05,1793193505869785344
+93,1.550000000,BASELINE,764,742.962974297,712,671.037025703,659.962974297,633,877.962974297,784.037025703,799.962974297,649,629,651,0.400951443034,-0.0153736967677,0.0698173331213,0.99999992928,0.000232797546499,-0.000295079761077,1.31614161945e-05,1793193505886452480
+94,1.566666667,BASELINE,764,742.448449651,712,671.551550349,659.448449651,633,877.448449651,784,799.448449651,649,629,651,0.400951832634,-0.0153760171426,0.0698175997989,0.999999930263,0.000229540233867,-0.000294288166715,1.33702158788e-05,1793193505903118848
+95,1.583333333,BASELINE,763.861427524,742,712,672,659,633,877.138572476,784.138572476,799,649,629,651,0.400952279356,-0.01537733131,0.069818109534,0.999999931001,0.00022748513938,-0.000293370465883,1.34856600616e-05,1793193505919785216
+96,1.600000000,BASELINE,763.282426931,742,712,672,659,633,877.717573069,784.717573069,799,649,629,651,0.400952892542,-0.0153747768851,0.0698192048712,0.999999930694,0.000230227509473,-0.000292289663609,1.3208316375e-05,1793193505936451840
+97,1.616666667,BASELINE,763.291184055,742.291184055,712,672,659.291184055,633,878,784.708815945,799,649,629,651,0.400951946962,-0.0153735862219,0.0698189049919,0.999999930222,0.000231257612373,-0.00029309899615,1.29792871731e-05,1793193505953118464
+98,1.633333333,BASELINE,763.859662487,742.859662487,712,672,659.859662487,633,878,784.140337513,799,649,629,651,0.400949516968,-0.0153736942683,0.0698172764487,0.999999929595,0.000230657124237,-0.000295708302841,1.27962678384e-05,1793193505969785088
+99,1.650000000,BASELINE,764,742.552297403,712,672,659.552297403,633,878,784.447702597,799,648.552297403,629,651,0.400950121341,-0.015373831127,0.0698173111122,0.999999929444,0.000231348743671,-0.000295667831748,1.30264640718e-05,1793193505986451968
+100,1.666666667,BASELINE,764,742,712,672,659.041320431,633,877.958679569,784.958679569,799,648,629,651,0.400951604291,-0.0153739686169,0.0698178575714,0.999999929439,0.000232483203127,-0.000294777234577,1.33771328176e-05,1793193506003119104
+101,1.683333333,BASELINE,764,742,712,672,659.624008035,633,877.375991965,784.375991965,799,648,629,651,0.400951566943,-0.0153739906409,0.0698179667505,0.999999929305,0.000233870637002,-0.000294128065373,1.35316338358e-05,1793193506019785984
+102,1.700000000,BASELINE,764,742,712,672,659.796533719,633,877.203466281,784,799,648.203466281,629,651,0.400951470299,-0.0153743582861,0.0698183304044,0.999999929479,0.000233728316201,-0.000293641983951,1.36661494549e-05,1793193506036452608
+103,1.716666667,BASELINE,764,742,712,672,659.222949936,633,877.777050064,784,799,648.777050064,629,651,0.400951265795,-0.015375354637,0.0698191569633,0.999999930213,0.00023080327875,-0.000293452569164,1.37643104046e-05,1793193506053118720
+104,1.733333333,BASELINE,764,742,711.64932035,672,659,633,878,784,799.35067965,648.64932035,629,651,0.400951484365,-0.0153742825884,0.0698190327277,0.999999929994,0.000231569506285,-0.00029361026164,1.34342621886e-05,1793193506069785344
+105,1.750000000,BASELINE,764,742,711.075661585,672,659,633,878,784,799.924338415,648.075661585,629,651,0.400951971945,-0.0153718953511,0.0698183039311,0.999999929165,0.000234682818686,-0.000293988661714,1.28319378437e-05,1793193506086451968
+106,1.766666667,BASELINE,764.516377008,742.516377008,711.516377008,672,659.516377008,633,877.483622992,784,800,648,629,651,0.400952234045,-0.0153724118813,0.0698186237521,0.999999929367,0.000234217145986,-0.000293667476224,1.29662324499e-05,1793193506103118592
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,742,712,672,659,633,878,784,799,649,629,651,0.400949522335,-0.0153740308385,0.06981704349,0.999999929341,0.000231613438675,-0.000295814821497,1.29340651528e-05,1793193506145545216
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,742,711.42715354,672,659,633,877.42715354,784,799.57284646,649,629,650.42715354,0.400949350353,-0.0153732149942,0.0698170449116,0.999999928967,0.000232111536232,-0.00029669287124,1.28014304252e-05,1793193506162211840
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,742,711.150357861,672,659,633,877,784.150357861,800,649,628.849642139,650.150357861,0.400949525671,-0.0153726747826,0.0698171850271,0.99999992882,0.000232449080349,-0.000296927060457,1.27334234945e-05,1793193506178878208
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,742,711.741546432,672,659,633,877,784.741546432,800,649,628.258453568,650.741546432,0.400950719228,-0.0153729426923,0.069817731776,0.999999929339,0.000232315901691,-0.000295273530209,1.28548972642e-05,1793193506195544320
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,742,712,672.326055773,659,632.673944227,877,785,799.673944227,649,628.326055773,650.673944227,0.400951620556,-0.015373990753,0.0698180606393,0.999999929706,0.00023207927906,-0.000294206408111,1.30035210103e-05,1793193506212210432
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,742,712,672.905376954,659,632.094623046,877,785,799.094623046,649,628.905376954,650.094623046,0.400952294893,-0.0153756447999,0.0698182202591,0.999999929957,0.000231762305827,-0.000293594781496,1.31732336255e-05,1793193506228876800
+113,1.883333333,POSE1_TO_POSE2_PRESS,763.517632626,742,712,672.517632626,659,632.482367374,877.482367374,785,799,648.517632626,628.517632626,650.482367374,0.400953079915,-0.0153738984641,0.0698192743611,0.999999929638,0.000234970753951,-0.000292126106153,1.32450746058e-05,1793193506245543680
+114,1.900000000,POSE1_TO_POSE2_PRESS,763.058655724,742,712,672,659.058655724,632.941344276,877.941344276,784.941344276,799,648.058655724,628.058655724,651,0.400954109155,-0.0153717221279,0.0698203958217,0.999999929284,0.000238330462703,-0.000290611436507,1.32652132441e-05,1793193506262210560
+115,1.916666667,POSE1_TO_POSE2_PRESS,763.632772965,742,712,672,659.632772965,632.367227035,877.367227035,784.367227035,799,648.632772965,628.632772965,651,0.400957094664,-0.0153716006183,0.0698205746667,0.999999929741,0.000236971288506,-0.000290162910005,1.29989028925e-05,1793193506278877440
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,742,712,672,659.787239331,632.212760669,877,784,799,649,629,651,0.400966586797,-0.0153725755181,0.0698244264111,0.999999932137,0.000234782637917,-0.000283598356973,1.32396361277e-05,1793193506295544064
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,742,712,672,659.196831707,632.803168293,877,784,799,649,629,651,0.400987628089,-0.0153754965282,0.0698347974959,0.999999937763,0.000231121679427,-0.000266177949734,1.43803640533e-05,1793193506312210944
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,742,712,672,659.386201478,633,877,784,799,648.613798522,629,651,0.401023495034,-0.0153781193502,0.0698495285352,0.999999944122,0.000231282598766,-0.000240862419182,1.57852666055e-05,1793193506328877568
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,742,712,672,659.965546678,633,877,784,799,648.034453322,629,651,0.401066776459,-0.0153805930454,0.0698664400378,0.999999950236,0.000233354881899,-0.000211598446583,1.7322285965e-05,1793193506345544192
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,742,712,672,659.457953329,633,877,784.542046671,799,648.542046671,629,650.457953329,0.401121568705,-0.0153838068805,0.0698765866161,0.999999953355,0.000229488742693,-0.000200820529831,1.71920199557e-05,1793193506362210304
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632.879793821,877,784.879793821,799.120206179,648.879793821,629,650.120206179,0.401179625658,-0.0153870150623,0.0698850251955,0.999999955849,0.00022598595359,-0.000192231542237,1.6703726985e-05,1793193506378876928
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632.294517555,877,784.294517555,799.705482445,648.294517555,629,650.705482445,0.401247497659,-0.0153900203109,0.0698885105517,0.9999999569,0.000225341666999,-0.000187589108384,1.52381208618e-05,1793193506395543808
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632,877,784,799.7119447,648,628.7119447,651,0.401328065622,-0.015393398685,0.0698903810383,0.999999957569,0.000224458809259,-0.000185203975125,1.33716027294e-05,1793193506412210688
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632,877,784,799.132110242,648,628.132110242,651,0.401421493671,-0.0153971550081,0.0698906157786,0.999999957867,0.000223334296263,-0.000185105324187,1.10989898521e-05,1793193506428877312
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632,877,784,799,648.444067502,628,651,0.401535807834,-0.0154020477231,0.0698908443178,0.999999958423,0.000220699665044,-0.000185416003641,8.09989874906e-06,1793193506445543936
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632,877,784.019246851,799.019246851,649,628,650.980753149,0.401657426738,-0.0154073650219,0.0698911537469,0.999999959128,0.000217404133726,-0.000185624613935,4.86358122097e-06,1793193506462210816
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632,877,784.596764175,799.596764175,649,628,650.403235825,0.401812166392,-0.0154152716104,0.0698938625276,0.999999962309,0.00020786339988,-0.000179369265348,9.64071210831e-07,1793193506478877440
+128,2.133333333,POSE1_TO_POSE2_PRESS,763.822344622,742,712,672,659,632.177655378,877.177655378,785,800,649,628,650,0.401975526989,-0.0154242988258,0.0698973981888,0.999999965789,0.000197152296408,-0.000171885036805,-3.0269061863e-06,1793193506495544064
+129,2.150000000,POSE1_TO_POSE2_PRESS,763.233647341,742,712,672,659,632.766352659,877.766352659,785,800,649,628,650,0.402158833871,-0.0154359188388,0.0699028470061,0.999999970044,0.000183733305764,-0.000161557545073,-7.2295114717e-06,1793193506512210432
+130,2.166666667,POSE1_TO_POSE2_PRESS,763.349335596,741.650664404,712,672,659.349335596,632.650664404,877.650664404,785,800,649,628.349335596,650.349335596,0.402365882805,-0.0154497165058,0.0699063143235,0.999999973766,0.00016899778362,-0.000154200154984,-1.13996867503e-05,1793193506528877056
+131,2.183333333,POSE1_TO_POSE2_PRESS,763.928558158,741.071441842,712,672,659.928558158,632.071441842,877.071441842,785,800,649,628.928558158,650.928558158,0.402588555669,-0.0154649472208,0.0699084776775,0.999999977044,0.000153395891409,-0.000148797296013,-1.55485212599e-05,1793193506545543424
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,741.505858212,712,672,659.494141788,632,877.505858212,785,799.494141788,649,628.494141788,650.494141788,0.402853019589,-0.0154847870129,0.0699138116828,0.99999998919,4.6710982675e-05,-0.000138034316149,-1.96061322822e-05,1793193506562210304
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632.083794307,877.916205693,784.916205693,799,649,628,650.083794307,0.403128484766,-0.0155037828785,0.0699204916948,0.9999999903,-5.63661501833e-05,-0.000125120963454,-2.38365635915e-05,1793193506578877440
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632.667134973,877.332865027,784.332865027,799,649,628,650.667134973,0.403434482246,-0.0155138817095,0.0699325366184,0.999999992285,-6.15384960522e-05,-0.000103883854303,-2.9173794413e-05,1793193506595544576
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,742.249477382,712,672,659,633,877,784,799.249477382,648.750522618,628,650.750522618,0.40375052183,-0.0155224767203,0.0699382889465,0.999999992952,-6.20943799879e-05,-9.53764284902e-05,-3.38083679515e-05,1793193506612211200
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,742.830493142,712,672,659,633,877,784,799.830493142,648.169506858,628,650.169506858,0.404079906667,-0.0155290732565,0.0699356788448,0.999999992314,-5.6515301471e-05,-0.000103785882519,-3.75091577115e-05,1793193506628877312
+137,2.283333333,POSE1_TO_POSE2_PRESS,763.589774421,742.589774421,712,671.589774421,659,632.589774421,877,784,799.589774421,648.410225579,628.410225579,650.410225579,0.404452656005,-0.0155307665756,0.0699380546594,0.999999994331,-2.49895368151e-05,-9.946566668e-05,-2.86515110028e-05,1793193506645543936
+138,2.300000000,POSE1_TO_POSE2_PRESS,763.01057062,742.01057062,712,671.01057062,659,632.01057062,877,784,799.01057062,648.98942938,628.98942938,650.98942938,0.40484326784,-0.0155304401841,0.0699424842498,0.999999995704,1.72240666681e-05,-8.99019037378e-05,-1.46208510995e-05,1793193506662210304
+139,2.316666667,POSE1_TO_POSE2_PRESS,763,742,712,671.564887533,659,632,877.564887533,784,799,649,628.435112467,650.435112467,0.405272102405,-0.0155097230805,0.0699441113073,0.999999995548,2.87113714342e-05,-8.73855774575e-05,-2.10426682657e-05,1793193506678876928
+140,2.333333333,POSE1_TO_POSE2_PRESS,763.143050434,742,712,672,659.143050434,632.143050434,877.856949566,784,799,649,628.143050434,650.143050434,0.405703924816,-0.0154939912275,0.0699432529634,0.999999995008,3.65136118416e-05,-8.91724715929e-05,-2.64493068766e-05,1793193506695543552
+141,2.350000000,POSE1_TO_POSE2_PRESS,763.729818874,742,712,672,659.729818874,632.729818874,877.270181126,784,799,649,628.729818874,650.729818874,0.406142810956,-0.0154948985335,0.0699348469272,0.999999993623,3.46571354242e-05,-0.000103900854728,-2.75277127666e-05,1793193506712210432
+142,2.366666667,POSE1_TO_POSE2_PRESS,763.685990428,742,712,672,659.685990428,633,877.314009572,784,799.314009572,649,629,651,0.406607304018,-0.0155009290749,0.0699189826387,0.999999991142,2.39865066998e-05,-0.000127393830999,-3.01856116296e-05,1793193506728877568
+143,2.383333333,POSE1_TO_POSE2_PRESS,763.103999555,742,712,672,659.103999555,633,877.896000445,784,799.896000445,649,629,651,0.407093650528,-0.0155113318759,0.0698967533453,0.999999986859,5.79372490713e-06,-0.000158366666968,-3.41914777125e-05,1793193506745544960
+144,2.400000000,POSE1_TO_POSE2_PRESS,763.470010456,742,712,672,659.470010456,633,878,784.470010456,800,649,628.529989544,651,0.407653739449,-0.0155161691535,0.0699022051263,0.99999998914,-1.00927907748e-05,-0.000142706150898,-3.53997277155e-05,1793193506762211840
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,742,712,672,660,632.95740098,878,785,799.95740098,649,628,651,0.40823435483,-0.0155192019544,0.0699139597163,0.999999992312,-2.35166846654e-05,-0.000116304523107,-3.59950595395e-05,1793193506778878208
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,742,712,672,660,632.380863764,878,785,799.380863764,649,628,651,0.408871146578,-0.0155147951612,0.0699292246608,0.999999995857,-1.23634133642e-05,-8.24475959465e-05,-3.65374560314e-05,1793193506795545088
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,742,712,672,659.798692488,632,878,785,799,649,628.201307512,651,0.409494704418,-0.0155116884174,0.0699361300299,0.999999997073,-6.82410701583e-06,-6.63713309035e-05,-3.74414516427e-05,1793193506812211456
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,742,712,672,659.20555497,632,878,785,799,649,628.79444503,651,0.410092503408,-0.0155111121225,0.0699267641102,0.999999995559,-1.22119639311e-05,-8.49037959591e-05,-3.90492729077e-05,1793193506828877824
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,742,712,672.376674722,659,632.376674722,878,784.623325278,799,649,629,650.623325278,0.410731981666,-0.0155117011148,0.0699248939598,0.999999994822,-1.10398361528e-05,-9.29359317765e-05,-3.99547614096e-05,1793193506845544448
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,742,712,672.953119414,659,632.953119414,878,784.046880586,799,649,629,650.046880586,0.411393564564,-0.0155129081189,0.0699269992015,0.999999994609,-6.38861105307e-06,-9.53992025654e-05,-4.04877666914e-05,1793193506862211072
+151,2.516666667,POSE1_TO_POSE2_PRESS,763.472505614,742,712,672.472505614,659,633,879.054988773,784,799,649,629,650.527494386,0.412129041734,-0.01551891486,0.0699519550564,0.999999997625,-2.13095522428e-05,-5.15341935144e-05,-4.04968046771e-05,1793193506878877696
+152,2.533333333,POSE1_TO_POSE2_PRESS,763.104681142,742.104681142,712,672.104681142,659,632.895318858,879.685956573,784.104681142,799,649,628.895318858,650.895318858,0.412874466263,-0.0155248915436,0.0699775148847,0.999999998573,-3.44158353431e-05,-7.41031091484e-06,-4.01718540964e-05,1793193506895544576
+153,2.550000000,POSE1_TO_POSE2_PRESS,763.695784649,742.695784649,712,672.695784649,659,632.304215351,877.912646052,784.695784649,799,649,628.304215351,650.304215351,0.41363571604,-0.015528754148,0.0699964814168,0.999999998599,-3.10387730361e-05,1.8858973655e-05,-3.85104956169e-05,1793193506912211200
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,743,712,672.718840333,659.281159667,632,877.281159667,784.718840333,799.281159667,649,628.281159667,650,0.414368340535,-0.0155282760241,0.069983651876,0.999999998617,-3.2672998305e-05,-7.19372120624e-06,-4.05884907215e-05,1793193506928877568
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,743,712,672.139539717,659.860460283,632,877.860460283,784.139539717,799.860460283,649,628.860460283,650,0.415070610954,-0.0155231950043,0.0699371058682,0.999999994191,-3.96211787831e-05,-8.87284980607e-05,-4.66316858533e-05,1793193506945543680
+156,2.600000000,POSE1_TO_POSE2_PRESS,763.565953201,742.565953201,712,672,660,632.434046799,878,784,800,649,629,650.434046799,0.415820135295,-0.0155187715422,0.0699013226341,0.99999998742,-3.97946362675e-05,-0.000144353994486,-5.23269863585e-05,1793193506962210304
+157,2.616666667,POSE1_TO_POSE2_PRESS,763.00581857,742.00581857,712,672.00581857,660,633,878,784,799.99418143,649,628.99418143,651,0.416585519414,-0.0155146675726,0.0698696530993,0.999999979428,-3.78948422507e-05,-0.00019069590252,-5.7826476568e-05,1793193506978876928
+158,2.633333333,POSE1_TO_POSE2_PRESS,763.57743674,742.57743674,712,672.57743674,660,633,878,784,799.42256326,649,628.42256326,651,0.417435091416,-0.0155213420923,0.0699059138546,0.999999988601,-4.34264656568e-05,-0.000133733620959,-5.50196868837e-05,1793193506995543552
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,743,712,672.843825093,660,632.843825093,878,784,799,648.843825093,628.156174907,650.843825093,0.418290704117,-0.0155276378749,0.0699393210224,0.999999994101,-4.78192882844e-05,-8.24639877137e-05,-5.20611768865e-05,1793193507012210176
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,743,712,672.244902126,660,632.244902126,878,784,799,648.244902126,628.755097874,650.244902126,0.419163441851,-0.0155328599563,0.0699646384103,0.999999996496,-4.898366759e-05,-4.73327324226e-05,-4.86725479539e-05,1793193507028876800
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,743,712,672,660,632.341954655,877.658045345,784.341954655,799.341954655,648.341954655,629,650,0.420041008843,-0.0155379143386,0.0699878282338,0.999999997319,-5.50104859664e-05,-1.29956624996e-05,-4.6548331683e-05,1793193507045543424
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,743,712,672,660,632.920464348,877.079535652,784.920464348,799.920464348,648.920464348,629,650,0.420921916549,-0.015542852711,0.0700095462644,0.999999996684,-6.44010089218e-05,2.07920098691e-05,-4.52988022288e-05,1793193507062210048
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,743,712,672.495450506,660,633,877.495450506,784.504549494,800,649,628.504549494,650.495450506,0.421760323497,-0.0155448109369,0.0699998338403,0.99999999646,-6.96620247598e-05,1.27409571077e-06,-4.71864022234e-05,1793193507078876928
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,742.928409583,712,673,660,632.928409583,878,784.071590417,800,649,628.071590417,651,0.422584465384,-0.015545245328,0.069976298123,0.999999995271,-7.30538059061e-05,-3.9778804679e-05,-5.03829008051e-05,1793193507095543552
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,742.339883511,712,673,660,632.339883511,878,784.660116489,800,649,628.660116489,651,0.423354519852,-0.0155381065781,0.0698891236656,0.999999980634,-6.77012850241e-05,-0.000174976847829,-5.94198576889e-05,1793193507112210432
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,742.244734189,711.755265811,673,660,632,878,785,800,649,629,650.755265811,0.424178890269,-0.0155353687122,0.0698421769025,0.999999966604,-6.69411620508e-05,-0.000240946028305,-6.52423483554e-05,1793193507128876800
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,742.824009395,711.175990605,673,660,632,878,785,800,649,629,650.175990605,0.42507750834,-0.0155386466628,0.0698502196399,0.99999997262,-7.2458648303e-05,-0.000212282379906,-6.66708056091e-05,1793193507145543424
+168,2.800000000,POSE1_TO_POSE2_PRESS,763.599083975,742.599083975,711.400916025,673,660,632,878,784.599083975,800,648.599083975,629,650,0.425991050479,-0.0155441958804,0.0698978219159,0.999999985197,-7.49427026091e-05,-0.000141828413292,-6.2236253699e-05,1793193507162210304
+169,2.816666667,POSE1_TO_POSE2_PRESS,763.02321101,742.02321101,711.97678899,673,660,632,878,784.02321101,800,648.02321101,629,650,0.426911105322,-0.0155507362628,0.0699626876966,0.999999994166,-7.61029876849e-05,-5.31374458602e-05,-5.52431252434e-05,1793193507178877184
+170,2.833333333,POSE1_TO_POSE2_PRESS,763.551502164,742.551502164,712,672.448497836,660,632,878,784.551502164,800,648.551502164,629,650.551502164,0.427797289784,-0.0155573860336,0.0699933243915,0.999999995131,-8.30155857151e-05,-1.17750954408e-05,-5.20430206533e-05,1793193507195543808
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,743,712,672.1298227,660,632.1298227,878,784.8701773,800,649,629,651,0.428680271445,-0.0155633560252,0.0700166002822,0.999999994465,-9.01769472904e-05,2.14755868207e-05,-4.97770056041e-05,1793193507212210432
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,743,712,672.721139832,660,632.721139832,878,784.278860168,800,649,629,651,0.429556924465,-0.0155668932024,0.070018820236,0.999999993454,-9.73638133277e-05,3.29568731945e-05,-5.02652113951e-05,1793193507228876800
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,743,712,673.305969694,660.305969694,632.694030306,878,784.305969694,800,649,628.694030306,650.694030306,0.430366806007,-0.0155644171957,0.0699886016212,0.999999993719,-9.7215811399e-05,-1.63745466029e-05,-5.33193789277e-05,1793193507245543424
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,743,712,673.885009795,660.885009795,632.114990205,878,784.885009795,800,649,628.114990205,650.114990205,0.431117095605,-0.0155565745704,0.0699294323835,0.999999986985,-9.0521619472e-05,-0.000119979807909,-5.86636035966e-05,1793193507262210048
+175,2.916666667,POSE1_TO_POSE2_PRESS,764,742.539241307,712,673.539241307,660.539241307,632,878,785,799.539241307,649,628,650,0.431878154737,-0.0155522624939,0.0698843190181,0.99999997502,-9.34064855949e-05,-0.000192797234972,-6.37457267368e-05,1793193507278876672
+176,2.933333333,POSE1_TO_POSE2_PRESS,763.963532328,742.036467672,712,673,660,632.036467672,878,785,799.036467672,649,628.036467672,650,0.432648110662,-0.0155496642484,0.0698492094915,0.999999962397,-9.85476344803e-05,-0.000246677211984,-6.81493093094e-05,1793193507295543552
+177,2.950000000,POSE1_TO_POSE2_PRESS,763.376105632,742.623894368,712,673,660,632.623894368,878,785,799.623894368,649,628.623894368,650,0.433512161295,-0.0155597413108,0.0699126177589,0.999999984392,-0.000101915388965,-0.000129709411212,-6.32826396389e-05,1793193507312210176
+178,2.966666667,POSE1_TO_POSE2_PRESS,763.208436582,742.791563418,712,673,660,632.791563418,878,785,799.791563418,649,629,650.208436582,0.434359631967,-0.0155670932153,0.0699666348094,0.999999992297,-0.000103458092082,-3.57437609551e-05,-5.8529484081e-05,1793193507328876800
+179,2.983333333,POSE1_TO_POSE2_PRESS,763.787845144,742.212154856,712,673,660,632.212154856,878,785,799.212154856,649,629,650.787845144,0.435177594043,-0.0155695949302,0.0700039375381,0.999999993217,-0.000101752601385,1.72830597304e-05,-5.39783593949e-05,1793193507345543424
+180,3.000000000,POSE1_TO_POSE2_PRESS,764.366813071,742.366813071,712,673,660.366813071,632.366813071,877.633186929,784.633186929,799.366813071,649,628.633186929,650.633186929,0.435938179141,-0.0155715078805,0.0700079346822,0.999999992392,-0.00010878276896,2.37417943743e-05,-5.30835883734e-05,1793193507362210816
+181,3.016666667,POSE1_TO_POSE2_PRESS,764.945526417,742.945526417,712,673,660.945526417,632.945526417,877.054473583,784.054473583,799.945526417,649,628.054473583,650.054473583,0.436665618703,-0.0155730807137,0.0699926918812,0.999999991217,-0.000120859344637,3.29911195096e-06,-5.43010170579e-05,1793193507378878208
+182,3.033333333,POSE1_TO_POSE2_PRESS,764.480992499,743,712,673,661,632.480992499,877.519007501,784,800.519007501,649,628.519007501,650,0.437330349619,-0.0155751742937,0.0699568518142,0.999999989269,-0.000128074626302,-4.04244118146e-05,-5.85134670053e-05,1793193507395544832
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,742.905361216,712,673,660.905361216,632,878,784,800.905361216,649,629,650.094638784,0.437976377924,-0.0155767115776,0.0699164231541,0.999999984822,-0.000133246967988,-9.28386397372e-05,-6.31063419504e-05,1793193507412210944
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,742.31563742,712,673,660.31563742,632,878,784,800.31563742,649,629,650.68436258,0.438558654432,-0.0155750556326,0.0698631864761,0.999999973332,-0.000130374575002,-0.000178061560591,-6.80612935217e-05,1793193507428877312
+185,3.083333333,POSE1_TO_POSE2_PRESS,764,742.269319477,712,673,660,632,878,784,800,649,628.730680523,651,0.439135194491,-0.0155751325984,0.0698118863369,0.99999995469,-0.000127552384534,-0.000263200206133,-7.12455651572e-05,1793193507445543936
+186,3.100000000,POSE1_TO_POSE2_PRESS,764,742.848786781,712,673,660,632,878,784,800,649,628.151213219,651,0.439705128425,-0.015577205181,0.0697628163159,0.999999928958,-0.000124788007554,-0.000348241794449,-7.23907246786e-05,1793193507462211072
+187,3.116666667,POSE1_TO_POSE2_PRESS,764,743,712,673.423596792,659.576403208,632,878,784,800,649,628.423596792,650.576403208,0.440297179626,-0.0155841038169,0.0697602382988,0.999999925145,-0.000141391310789,-0.000352428467819,-7.42453710531e-05,1793193507478877440
+188,3.133333333,POSE1_TO_POSE2_PRESS,764,743,712,673.996762394,659.003237606,632,878,784,800,649,628.996762394,650.003237606,0.440897040313,-0.0155927064956,0.0697740762514,0.999999929687,-0.000164833194664,-0.00032806589191,-7.6350531984e-05,1793193507495543552
+189,3.150000000,POSE1_TO_POSE2_PRESS,764.585346242,742.414653758,712,674,659.585346242,631.414653758,878.585346242,783.414653758,800,649,629,650.585346242,0.441454383931,-0.0156086239173,0.0698022424692,0.999999938545,-0.000180047183933,-0.000291987004269,-7.23693806829e-05,1793193507512210432
+190,3.166666667,POSE1_TO_POSE2_PRESS,764.82874883,742.17125117,712,673.82874883,659.82874883,631,879,783,800,649,628.82874883,651,0.441984957559,-0.0156224649982,0.0698155870757,0.999999939626,-0.000195055076221,-0.000279022994813,-6.96302824214e-05,1793193507528877312
+191,3.183333333,POSE1_TO_POSE2_PRESS,764.249435891,742.750564109,712,673.249435891,659.249435891,631,879,783,800,649,628.249435891,651,0.442452318583,-0.0156312595094,0.0697934204144,0.999999923955,-0.000209683252952,-0.000321296309604,-6.99331654443e-05,1793193507545543936
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,742.671810231,712,673.328189769,659,631,878.671810231,783.328189769,800,649,628,651,0.442891680522,-0.0156368034321,0.069760195222,0.999999904745,-0.000207282891429,-0.000377512136001,-7.09064724106e-05,1793193507562210816
+193,3.216666667,POSE1_TO_POSE2_PRESS,764,742.095460439,712,673.904539561,659,631,878.095460439,783.904539561,800,649,628,651,0.443309870982,-0.0156398894286,0.0697186081451,0.999999880259,-0.000192006434055,-0.000444270560559,-7.23867188702e-05,1793193507578877184
+194,3.233333333,POSE1_TO_POSE2_PRESS,764,742.478360633,711.521639367,674,659,631,878.478360633,783.521639367,800,649,628.478360633,650.521639367,0.443698129797,-0.0156453003061,0.0696873934587,0.999999848888,-0.000230500733561,-0.000493420606249,-7.50341560122e-05,1793193507595544064
+195,3.250000000,POSE1_TO_POSE2_PRESS,764,742.946691629,711.053308371,673.946691629,658.946691629,631,878.946691629,783,800,649,628.946691629,650,0.444079223309,-0.0156513189879,0.0696606123466,0.999999816374,-0.00027445273292,-0.000534690998682,-7.76721976364e-05,1793193507612210944
+196,3.266666667,POSE1_TO_POSE2_PRESS,764,742.355304901,711.644695099,673.355304901,658.355304901,631,878.355304901,783,800,649,628.355304901,650,0.444447965903,-0.0156588143432,0.0696577994211,0.999999820298,-0.000265753697984,-0.000531708163634,-7.78767297927e-05,1793193507628877568
+197,3.283333333,POSE1_TO_POSE2_PRESS,764,742.231427117,711.768572883,673.231427117,658,630.768572883,878,782.768572883,800,649,628,650,0.444804185949,-0.015666588839,0.0696552822223,0.999999822868,-0.000261780177983,-0.000528858713888,-7.7740979275e-05,1793193507645543936
+198,3.300000000,POSE1_TO_POSE2_PRESS,764,742.811153707,711.188846293,673.811153707,658,630.188846293,878,782.188846293,800,649,628,650,0.445141559436,-0.0156747834427,0.0696532100945,0.999999823489,-0.000264918592711,-0.0005262100103,-7.70931008772e-05,1793193507662210560
+199,3.316666667,POSE1_TO_POSE2_PRESS,764.388971798,743,711.388971798,674,658.388971798,630,878.388971798,782,800,649,628,650,0.445451583527,-0.0156808803277,0.0696550312706,0.999999821681,-0.00027590634698,-0.00052410473302,-7.6336213469e-05,1793193507678877184
+200,3.333333333,POSE1_TO_POSE2_PRESS,764.965867886,743,711.965867886,674,658.965867886,630,878.965867886,782,800,649,628,650,0.445748394309,-0.0156859637408,0.069658733422,0.99999981852,-0.000290686359836,-0.000522262001443,-7.55266603699e-05,1793193507695543552
+201,3.350000000,POSE1_TO_POSE2_PRESS,764.462202597,743,712,674,658.462202597,630,878.462202597,782,800,649,628,650,0.445989424866,-0.0156891406375,0.0696577607112,0.999999817467,-0.000283636220854,-0.000528479639808,-7.29825902298e-05,1793193507712210176
+202,3.366666667,POSE1_TO_POSE2_PRESS,764,743,712,674,658,630,878,782,800,649,628,650.113591132,0.446218976435,-0.0156927014322,0.0696550142037,0.999999813873,-0.000280572696314,-0.000537156904986,-7.06800457564e-05,1793193507728876800
+203,3.383333333,POSE1_TO_POSE2_PRESS,764,743,712,674,658,630,878,782,800,649,628,650.707028094,0.446414855108,-0.0156983904031,0.0696460164791,0.999999799011,-0.000300149098498,-0.000554083199182,-6.98585573945e-05,1793193507745543424
+204,3.400000000,POSE1_TO_POSE2_PRESS,764,743,711.706866918,674,658,630,878.293133082,782,800,649,628,650.706866918,0.446599119645,-0.0157047497004,0.0696384558536,0.999999787347,-0.000312899386943,-0.000567850403911,-7.03238153707e-05,1793193507762210560
+205,3.416666667,POSE1_TO_POSE2_PRESS,764,743,711.12791109,674,658,630,878.87208891,782,800,649,628,650.12791109,0.446772059676,-0.0157117626069,0.0696322964885,0.999999779174,-0.000318993794488,-0.000578537301716,-7.20437300733e-05,1793193507778877440
+206,3.433333333,POSE1_TO_POSE2_PRESS,764,743,711.447978966,674,658,630,879,781.552021034,800,649,628,650.447978966,0.446922316148,-0.0157171842697,0.0696269410526,0.999999772456,-0.000322994871543,-0.000587692462036,-7.33456413682e-05,1793193507795544064
+207,3.450000000,POSE1_TO_POSE2_PRESS,764.023494781,743,712,674,658,630,878.976505219,781,800,649,628,650.976505219,0.447065130068,-0.0157219814977,0.06962204598,0.999999766378,-0.000326371983937,-0.000595964935059,-7.45029791895e-05,1793193507812210688
+208,3.466666667,POSE1_TO_POSE2_PRESS,764.610895707,743,712,674,658,630,878.389104293,781,800,649,628,650.389104293,0.447183708547,-0.0157226222617,0.0696227282951,0.999999766949,-0.000329021371189,-0.000593477511921,-7.50355021382e-05,1793193507828877056
+209,3.483333333,POSE1_TO_POSE2_PRESS,764.804657248,742.804657248,712,674,658,629.804657248,878.390685505,781,800,649,628,650.195342752,0.447295666084,-0.015723793149,0.0696247883699,0.999999768313,-0.000331793580073,-0.000589638246773,-7.49243784263e-05,1793193507845543424
+210,3.500000000,POSE1_TO_POSE2_PRESS,764.226006475,742.226006475,712,674,658,629.226006475,879.54798705,781,800,649,628,650.773993525,0.447394631775,-0.0157260042616,0.0696295519304,0.999999771218,-0.00033480679331,-0.000583146352735,-7.35502698509e-05,1793193507862210048
+211,3.516666667,POSE1_TO_POSE2_PRESS,764,742.352653079,712,674,658,629,879.647346921,781,800,649,628,651,0.447476949893,-0.0157279457141,0.069632673102,0.999999772003,-0.000338541613976,-0.000579738815822,-7.27025419594e-05,1793193507878876672
+212,3.533333333,POSE1_TO_POSE2_PRESS,764,742.931318317,712,674,658,629,879.068681683,781,800,649,628,651,0.447548598743,-0.015729714344,0.0696347416821,0.999999771439,-0.000342738906595,-0.000578308014779,-7.21921665387e-05,1793193507895543552
+213,3.550000000,POSE1_TO_POSE2_PRESS,764.505555082,743,712,674,657.494444918,629.505555082,878.494444918,781,800,649,628,651,0.447599647663,-0.0157304536302,0.0696322660158,0.999999768549,-0.000344253727877,-0.000582445320347,-7.17610988921e-05,1793193507912210432
+214,3.566666667,POSE1_TO_POSE2_PRESS,764.918614321,743,712,674,657.081385679,629.918614321,878.081385679,780.918614321,800,649,628,650.918614321,0.447645998136,-0.015730930254,0.0696293476224,0.999999765637,-0.000344984016319,-0.000587040517431,-7.13870198285e-05,1793193507928877568
+215,3.583333333,POSE1_TO_POSE2_PRESS,764.329109068,743,712,674,657.670890932,629.329109068,878.670890932,780.329109068,800,649,628,650.329109068,0.447680335376,-0.0157306324758,0.0696274860167,0.999999764669,-0.000343071663117,-0.00058981272365,-7.130205696e-05,1793193507945544192
+216,3.600000000,POSE1_TO_POSE2_PRESS,764,743,712,674,657.743288243,629,879,780.256711757,800,649,627.743288243,650,0.447708727791,-0.0157308930998,0.0696257464963,0.999999763325,-0.000342440048677,-0.000592495625807,-7.09499017292e-05,1793193507962210816
+217,3.616666667,POSE1_TO_POSE2_PRESS,764,743,712,674,657.162124119,629,879,780.837875881,800,649,627.162124119,650,0.447729606668,-0.0157318594761,0.069624161277,0.999999761509,-0.00034342713202,-0.000595065658359,-7.02600479302e-05,1793193507978877184
+218,3.633333333,POSE1_TO_POSE2_PRESS,764,743,712,674,657.41400398,629,878.58599602,781,800,649,627,650,0.447744035375,-0.0157313909855,0.0696227458317,0.999999759639,-0.000343673644527,-0.00059803747933,-7.04451535412e-05,1793193507995543808
+219,3.650000000,POSE1_TO_POSE2_PRESS,764,743,712,674,657.988183658,629,878.011816342,781,800,649,627,650,0.447755968547,-0.0157303673532,0.069621396071,0.99999975774,-0.000343633634521,-0.000601164749806,-7.09687758018e-05,1793193508012210432
+220,3.666666667,POSE1_TO_POSE2_PRESS,764,742.439082331,712,674,657.439082331,629,878,781,800,649,627,650.560917669,0.447765285159,-0.0157300649661,0.0696222218522,0.999999758613,-0.000343593767587,-0.000599790935219,-7.04784392261e-05,1793193508028877056
+221,3.683333333,POSE1_TO_POSE2_PRESS,764,742.139095338,712,673.860904662,657,629,878,780.860904662,800,648.860904662,627.139095338,650.860904662,0.447773224738,-0.0157300633885,0.0696227639625,0.999999759367,-0.000343367524527,-0.000598730421513,-6.99085042175e-05,1793193508045543936
+222,3.700000000,POSE1_TO_POSE2_PRESS,764,742.735260674,712,673.264739326,657,629,878,780.264739326,800,648.264739326,627.735260674,650.264739326,0.447776820019,-0.0157310004777,0.0696222237125,0.99999975954,-0.000342528836002,-0.000599010201172,-6.91470167322e-05,1793193508062210816
+223,3.716666667,POSE1_TO_POSE2_PRESS,764,743,712,673.320540222,657,629,878,780,800,648.320540222,627.679459778,650,0.447780381974,-0.0157315491541,0.0696227185696,0.999999759933,-0.000342563561038,-0.000598375120352,-6.87856710595e-05,1793193508078877440
+224,3.733333333,POSE1_TO_POSE2_PRESS,764,743,712,673.89712439,657,629,878,780,800,648.89712439,627.10287561,650,0.447783917309,-0.0157317875708,0.0696240402587,0.999999760501,-0.000343295958968,-0.000597009259242,-6.87439541104e-05,1793193508095544064
+225,3.750000000,POSE1_TO_POSE2_PRESS,763.528186458,743,712,674,657,629,878,780,800,649,627.471813542,650,0.447783839612,-0.0157303974577,0.069623384088,0.999999760548,-0.000341279850426,-0.000598097663655,-6.86339536376e-05,1793193508112210432
+226,3.766666667,POSE1_TO_POSE2_PRESS,763.047437759,743,711.952562241,674,657,629,878,780,800.047437759,649,627.952562241,650,0.447783150637,-0.0157289624654,0.0696223781015,0.999999760385,-0.000339150143288,-0.000599592084823,-6.85247053083e-05,1793193508128877056
+227,3.783333333,POSE1_TO_POSE2_PRESS,763.638493995,743,711.361506005,674,657,629,878,780,800.638493995,649,627.361506005,650,0.447784448386,-0.0157310660836,0.0696222856456,0.999999759195,-0.00034255882542,-0.000599631390949,-6.85940128599e-05,1793193508145543936
+228,3.800000000,POSE1_TO_POSE2_PRESS,764,743,711,674,657.225009749,629,878,780,801,649,627,650.225009749,0.447785009241,-0.015731649211,0.0696216395304,0.999999758401,-0.0003437340054,-0.000600280169531,-6.86171234351e-05,1793193508162210304
+229,3.816666667,POSE1_TO_POSE2_PRESS,764,743,711,674,657.804374912,629,878,780,801,649,627,650.804374912,0.447784409603,-0.0157298378014,0.0696201214875,0.99999975824,-0.000341391766122,-0.000601888772593,-6.85674809423e-05,1793193508178876928
+230,3.833333333,POSE1_TO_POSE2_PRESS,764,743,711.380225323,674,657.619774677,629.380225323,878.380225323,780.380225323,800.619774677,649,627.380225323,650.619774677,0.447784036612,-0.0157280534204,0.0696198430349,0.999999758196,-0.000339993910988,-0.000602727000271,-6.87907257144e-05,1793193508195543808
+231,3.850000000,POSE1_TO_POSE2_PRESS,764,743,711.954283947,674,657.045716053,629.954283947,878.954283947,780.954283947,800.045716053,649,627.954283947,650.045716053,0.447783779163,-0.0157262828183,0.0696201965074,0.999999758214,-0.000339077489131,-0.00060317250181,-6.91530844196e-05,1793193508212210944
+232,3.866666667,POSE1_TO_POSE2_PRESS,764,743,712,674,657.541205398,629.458794602,879,780.458794602,800,649,628,650,0.447785580505,-0.0157268907828,0.0696214431149,0.999999759858,-0.000338548433015,-0.000600822768069,-6.84103573353e-05,1793193508228877568
+233,3.883333333,POSE1_TO_POSE2_PRESS,764,743,712,674,657.87270512,629,878.87270512,780,800,649,628,650.12729488,0.44778695893,-0.0157273466824,0.0696221973923,0.999999761009,-0.000338037760174,-0.000599260678527,-6.78199246652e-05,1793193508245544192
+234,3.900000000,POSE1_TO_POSE2_PRESS,764,743,712,674,657.293520259,629,878.293520259,780,800,649,628,650.706479741,0.447786203627,-0.0157265321416,0.0696209295813,0.999999759923,-0.000337473361018,-0.000601353288888,-6.81095753333e-05,1793193508262210560
+235,3.916666667,POSE1_TO_POSE2_PRESS,764,743,712,674,657,629,878.285114018,780,800,649,628,650.714885982,0.447786110968,-0.0157274214769,0.0696203754441,0.999999758801,-0.000339556250374,-0.00060204123849,-6.81545377247e-05,1793193508278877184
+236,3.933333333,POSE1_TO_POSE2_PRESS,764,743,712,674,657,629,878.86318264,780,800,649,628,650.13681736,0.447786699175,-0.0157300615444,0.0696205546064,0.999999757627,-0.000344359228156,-0.000601285899644,-6.79480829872e-05,1793193508295543808
+237,3.950000000,POSE1_TO_POSE2_PRESS,764,743,712,674,657,629,878.561377342,780,800,649,627.561377342,650,0.447786945176,-0.0157290402403,0.0696203630827,0.999999758077,-0.00034229807856,-0.000601733607125,-6.77813402051e-05,1793193508312210432
+238,3.966666667,POSE1_TO_POSE2_PRESS,764,743,712,674,657,629,878,780,800,649,627,650.013565066,0.44778708978,-0.0157269351507,0.0696200652812,0.99999975899,-0.000338207638798,-0.000602545611927,-6.76336942288e-05,1793193508328877056
+239,3.983333333,POSE1_TO_POSE2_PRESS,764,743,712,674,657,629,878,780,800,649,627,650.601960409,0.447787433948,-0.0157270117465,0.0696201344373,0.999999758678,-0.000338314413288,-0.000602987789467,-6.77735017813e-05,1793193508345544448
+240,4.000000000,POSE1_TO_POSE2_PRESS,764,743,712,674,657,629,878,780,799.812511134,649,627,650.812511134,0.447787976789,-0.0157272471848,0.0696204653484,0.99999975865,-0.000338454392092,-0.000602959283128,-6.77377405773e-05,1793193508362211584
+241,4.016666667,POSE1_TO_POSE2_PRESS,764,743,712,674,657,629,878,780,799.232977452,649,627,650.232977452,0.447788935061,-0.0157278147677,0.0696213435971,0.999999759217,-0.000338663802106,-0.000601946562723,-6.7334859855e-05,1793193508378877952
+242,4.033333333,POSE1_TO_POSE2_PRESS,764,743,712,674,657,629,878,780,799.344316279,649,627,650,0.447789410581,-0.0157286506201,0.0696217269761,0.999999759163,-0.00033997436949,-0.000601298315021,-6.73134570785e-05,1793193508395544320
+243,4.050000000,POSE1_TO_POSE2_PRESS,764,743,712,674,657,629,878,780,799.920104149,649,627,650,0.447789561564,-0.0157296668205,0.0696217776718,0.99999975869,-0.000342025205808,-0.000600895089392,-6.75485083748e-05,1793193508412210944
+244,4.066666667,POSE1_TO_POSE2_PRESS,764,743,711.505000118,674,657.494999882,629,878.494999882,780,800,649,627,650.494999882,0.447789421836,-0.0157278517083,0.0696212121527,0.999999759186,-0.000339970352206,-0.000601196351261,-6.78973878758e-05,1793193508428877312
+245,4.083333333,POSE1_TO_POSE2_PRESS,764.071709625,743,711.071709625,674,657.928290375,629,879,780,800,649,627.071709625,651,0.447789114394,-0.0157260470786,0.0696205361647,0.999999759597,-0.000337677387354,-0.000601777966922,-6.81403054443e-05,1793193508445543936
+246,4.100000000,POSE1_TO_POSE2_PRESS,764.662593069,743,711.662593069,674,657.337406931,629,879,780,800,649,627.662593069,651,0.447787931815,-0.0157276209754,0.0696197791825,0.999999758302,-0.000338449662887,-0.000603567567348,-6.74832873131e-05,1793193508462210304
+247,4.116666667,POSE1_TO_POSE2_PRESS,764.751889662,743,712,674,657,629,878.751889662,780,800,649,627.751889662,650.751889662,0.447787612906,-0.0157282119693,0.0696195130521,0.999999758053,-0.000337969677055,-0.000604285570147,-6.71518485392e-05,1793193508478876928
+248,4.133333333,POSE1_TO_POSE2_PRESS,764.173515319,743,712,674,657,629,878.173515319,780,800,649,627.173515319,650.173515319,0.447788443641,-0.0157274946042,0.069619900303,0.999999759197,-0.000335822784358,-0.000603577150878,-6.72537940425e-05,1793193508495543552
+249,4.150000000,HOLD_POSE2,764,743,712,674,657,630,879,780,800,649,627,650,0.447789265332,-0.0157256516715,0.0696190190821,0.99999975761,-0.000339202655292,-0.000604226707799,-6.80581482609e-05,1793193508529516544
+250,4.166666667,HOLD_POSE2,764,743,712,674,657,629.412265313,878.412265313,780.587734687,800,649,627.587734687,650,0.447789768073,-0.0157259255161,0.069620195027,0.999999758757,-0.000338078234641,-0.000602982917472,-6.7826669359e-05,1793193508546183168
+251,4.183333333,HOLD_POSE2,764,743,712,674,657,629,878,780.827134626,799.827134626,649,627.827134626,650.172865374,0.447789978718,-0.0157260403904,0.0696207307151,0.999999759568,-0.000336868282449,-0.000602335020142,-6.76538175206e-05,1793193508562849792
+252,4.200000000,HOLD_POSE2,764,743,712,674,657,629,878,780.248121923,799.248121923,649,627.248121923,650.751878077,0.447789503081,-0.0157257817637,0.0696197621193,0.999999759591,-0.000335457373613,-0.000603087173618,-6.76187099661e-05,1793193508579516160
+253,4.216666667,HOLD_POSE2,764,743,711.669640236,674,657,629,878,780,799,649,627,650.669640236,0.447788865189,-0.0157260063013,0.0696193433506,0.999999759281,-0.000335284661651,-0.000603740735037,-6.72250369471e-05,1793193508596182784
+254,4.233333333,HOLD_POSE2,764,743,711.09155677,674,657,629,878,780,799,649,627,650.09155677,0.447788105628,-0.0157265931446,0.0696193368753,0.999999758722,-0.000336040424558,-0.000604320366136,-6.65624898918e-05,1793193508612849152
+255,4.250000000,HOLD_POSE2,764,743,711.477862408,674,657,629,878.477862408,780,799.477862408,648.522137592,627,650,0.447788826223,-0.0157265869932,0.0696191338403,0.999999758725,-0.000336130353165,-0.000604239477947,-6.67956568097e-05,1793193508629516288
+256,4.266666667,HOLD_POSE2,764,743,712,673.952052875,657.047947125,629,878.952052875,780,800,648.047947125,627,650,0.447789851988,-0.0157263833935,0.0696190300172,0.999999758933,-0.000336101778495,-0.000603869171685,-6.71665208603e-05,1793193508646182912
+257,4.283333333,HOLD_POSE2,764,743,712,673.355707198,657.644292802,629,878.355707198,780,800,648.644292802,627,650,0.447791182315,-0.0157251978106,0.0696204840074,0.999999760277,-0.000336150938138,-0.000601610310018,-6.71843948975e-05,1793193508662849536
+258,4.300000000,HOLD_POSE2,764,742.765331314,712,673.234668686,657.765331314,629,878,780,800,649,627,650.234668686,0.447791808626,-0.0157250260871,0.0696212857922,0.999999760656,-0.000336832674776,-0.000600604637878,-6.71258246748e-05,1793193508679516416
+259,4.316666667,HOLD_POSE2,764,742.183779915,712,673.816220085,657.183779915,629,878,780,800,649,627,650.816220085,0.447791394276,-0.0157263530312,0.0696211234995,0.999999759613,-0.000338449474493,-0.000601451406462,-6.69542560237e-05,1793193508696183040
+260,4.333333333,HOLD_POSE2,764,742.39333537,712,674,657,629,878,780.39333537,800,649,627.39333537,650.60666463,0.447791403044,-0.0157266311715,0.0696204507949,0.999999759144,-0.000338017561156,-0.000602481816158,-6.68694957168e-05,1793193508712849664
+261,4.350000000,HOLD_POSE2,764,742.968401116,712,674,657,629,878,780.968401116,800,649,627.968401116,650.031598884,0.447791607303,-0.0157264247394,0.0696195422676,0.99999975894,-0.000336639093387,-0.000603597072524,-6.68248429318e-05,1793193508729516288
+262,4.366666667,HOLD_POSE2,764,743,712,674,657.552461678,629,878.552461678,780.447538322,800,649,627.447538322,650.552461678,0.447790446362,-0.0157254931957,0.0696193503987,0.999999758858,-0.000336225636809,-0.000603966566392,-6.67838246145e-05,1793193508746182912
+263,4.383333333,HOLD_POSE2,764,743,712,674,657.863460915,629,879,780,800,649,627,651,0.447789696277,-0.0157246209434,0.0696191033152,0.99999975887,-0.000335511221801,-0.000604352319024,-6.67077457145e-05,1793193508762849536
+264,4.400000000,HOLD_POSE2,764,743,712,674,657.281036234,629,879,780,800,649,627,651,0.447790547109,-0.015724079994,0.0696185398469,0.999999759161,-0.000333630758617,-0.000604932767573,-6.65164819602e-05,1793193508779516160
+265,4.416666667,HOLD_POSE2,764,743,712,674,657,629,878.702061171,780,800,649,627.297938829,650.702061171,0.447791059497,-0.0157249534272,0.0696187527089,0.999999759052,-0.000333794273405,-0.000605036841123,-6.63883750935e-05,1793193508796183040
+266,4.433333333,HOLD_POSE2,764,743,712,674,657,629,878.126302815,780,800,649,627.873697185,650.126302815,0.447791256297,-0.0157271457321,0.0696196894771,0.99999975857,-0.000335863739931,-0.000604696708428,-6.63191602489e-05,1793193508812850176
+267,4.450000000,POSE2_TO_POSE3_RETREAT,764,743,712,674,657,629,878,780,800,649,627,651,0.447792182947,-0.0157259070504,0.0696199834028,0.999999760397,-0.000334227230853,-0.000602562829496,-6.64533907562e-05,1793193508845662208
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764,743,712,674.591735351,657.591735351,629,878,780,800.591735351,649,627.591735351,651,0.447791634159,-0.0157249890893,0.0696201123341,0.999999759817,-0.000334634925688,-0.000603219698637,-6.71654315824e-05,1793193508862328576
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764.18005035,743,712,674.81994965,657.81994965,629,878,780,800.81994965,649,628,651,0.447791351396,-0.0157247972661,0.0696204258687,0.999999759412,-0.000334893952441,-0.000603729015444,-6.73267217324e-05,1793193508878994944
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764.760754389,743,712,674.239245611,657.239245611,629,878,780,800.239245611,649,628,651,0.447791660605,-0.0157262212676,0.0696211501884,0.999999759398,-0.000334822158394,-0.000603909994294,-6.62624643303e-05,1793193508895661312
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764.662502007,743,712,674,657.337497993,629,878,780,800,648.662502007,628,651,0.447792067543,-0.015726182874,0.069621082822,0.999999759509,-0.000334676124708,-0.00060383023561,-6.60549879451e-05,1793193508912327680
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764.088533349,743,712,674,657.911466651,629,878,780,800,648.088533349,628,651,0.447792542958,-0.0157251198415,0.0696204607544,0.999999759707,-0.00033447807443,-0.000603567789076,-6.64478220901e-05,1793193508928994816
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764,743,711.501828489,674,657.501828489,629,878.498171511,780.498171511,800,648.498171511,627.501828489,651,0.447791457635,-0.0157252433118,0.0696196243128,0.999999759228,-0.000335554095553,-0.000603769480329,-6.64056778053e-05,1793193508945661952
+274,4.566666667,POSE2_TO_POSE3_RETREAT,763.914222818,743,711.085777182,674,657,629,878.914222818,780.914222818,800,649,627.085777182,651,0.447789116408,-0.0157255069568,0.0696183294293,0.99999975812,-0.000336627345378,-0.000605010903504,-6.63560056267e-05,1793193508962328576
+275,4.583333333,POSE2_TO_POSE3_RETREAT,763.334800755,743,711.665199245,674,657,629,878.334800755,780.334800755,800,649,627.665199245,651,0.447781185636,-0.0157253319653,0.0696146212324,0.999999754091,-0.000336347397847,-0.00061174879698,-6.67195583163e-05,1793193508978994944
+276,4.600000000,POSE2_TO_POSE3_RETREAT,763,743,712,674,657,629,878,780,800.243731728,649,628,651,0.447766090822,-0.0157248951605,0.0696071372072,0.999999746627,-0.000335784682047,-0.000624074060284,-6.72795428605e-05,1793193508995661056
+277,4.616666667,POSE2_TO_POSE3_RETREAT,763,743,712,674,657,629,878,780,800.821046641,649,628,651,0.447741190948,-0.0157241000254,0.069594485399,0.999999734225,-0.000334834955683,-0.00064404647095,-6.81083736182e-05,1793193509012327680
+278,4.633333333,POSE2_TO_POSE3_RETREAT,763.396430755,743,711.603569245,674,657.396430755,629,878,780,800.207138491,649,627.603569245,651,0.447693576939,-0.0157196963379,0.0695764651781,0.999999714536,-0.000330994177711,-0.000675679271217,-6.94791392088e-05,1793193509028994048
+279,4.650000000,POSE2_TO_POSE3_RETREAT,763.970947559,743,711.029052441,674,657.970947559,629,878,780,799.058104882,649,627.029052441,651,0.447635759203,-0.0157136716036,0.0695560333384,0.999999690518,-0.000325854670703,-0.000712550194669,-7.10933547134e-05,1793193509045660672
+280,4.666666667,POSE2_TO_POSE3_RETREAT,763.440598323,743,711.559401677,674,657.440598323,628.440598323,878,780,799.559401677,649,627,651,0.447567622068,-0.0157107066549,0.0695437442168,0.999999679893,-0.000327200283962,-0.000726678120309,-7.13587770593e-05,1793193509062327808
+281,4.683333333,POSE2_TO_POSE3_RETREAT,763.145334448,743,712,674,657.145334448,628.145334448,878,780.145334448,800,649,627,651,0.447494820848,-0.0157070401352,0.0695338956556,0.999999671752,-0.000327155763553,-0.000737826419682,-7.12601289564e-05,1793193509078994432
+282,4.700000000,POSE2_TO_POSE3_RETREAT,763.721590455,743,712,674,657.721590455,628.721590455,878,780.721590455,800,649,627,651,0.447409820109,-0.0157008102223,0.0695299975116,0.99999966913,-0.000321965299346,-0.000743731676241,-7.02950054222e-05,1793193509095661056
+283,4.716666667,POSE2_TO_POSE3_RETREAT,764.297720015,743,712,674,658,629,878.297720015,780.702279985,800,649,627.297720015,650.702279985,0.44731111453,-0.0156950671433,0.0695292237128,0.999999668878,-0.000317750899392,-0.000746053663402,-6.84301504905e-05,1793193509112327680
+284,4.733333333,POSE2_TO_POSE3_RETREAT,764.873731342,743,712,674,658,629,878.873731342,780.126268658,800,649,627.873731342,650.126268658,0.44719959847,-0.0156897791287,0.0695313703702,0.999999670869,-0.000314448867721,-0.000745026218898,-6.57242791613e-05,1793193509128994560
+285,4.750000000,POSE2_TO_POSE3_RETREAT,764.53985824,743,712,674,657.53985824,629,878.53985824,780.46014176,800.46014176,649,628,650.46014176,0.4470634764,-0.0156832683847,0.0695303418522,0.999999669933,-0.000311442779499,-0.000747760617995,-6.31747907927e-05,1793193509145660928
+286,4.766666667,POSE2_TO_POSE3_RETREAT,764,743,712,674,657.04862377,629.04862377,878,780.95137623,800.95137623,649,627.95137623,651,0.44691716897,-0.0156760853453,0.0695281202906,0.999999668157,-0.00030811158357,-0.000751713455595,-6.06631176498e-05,1793193509162327552
+287,4.783333333,POSE2_TO_POSE3_RETREAT,764,743,712,674,657.627851752,629.627851752,878,780.372148248,800.372148248,649,627.372148248,651,0.446735101051,-0.0156653120583,0.0695226076555,0.99999966636,-0.000300325970203,-0.000757437082926,-5.80849822483e-05,1793193509178994432
+288,4.800000000,POSE2_TO_POSE3_RETREAT,764,743,712,674,658,629.794613407,878.205386593,780.205386593,800,649,627.205386593,650.794613407,0.446542277783,-0.0156545995623,0.0695184482672,0.99999966599,-0.000291109619983,-0.000761755448565,-5.47975672741e-05,1793193509195661056
+289,4.816666667,POSE2_TO_POSE3_RETREAT,764,743,712,674,658,629.220121416,878.779878584,780.779878584,800,649,627.779878584,650.220121416,0.446330125827,-0.0156439963169,0.0695167208329,0.999999668225,-0.000279322057536,-0.000763548382581,-5.02354884707e-05,1793193509212327680
+290,4.833333333,POSE2_TO_POSE3_RETREAT,764,743,712,674,657.645578907,629,878.645578907,781,800,649,628,650,0.446101530304,-0.0156313449209,0.0695240177364,0.999999679609,-0.000266473137829,-0.000753505404772,-4.47650053976e-05,1793193509228994560
+291,4.850000000,POSE2_TO_POSE3_RETREAT,764,743,712,674,657.071004962,629,878.071004962,781,800,649,628,650,0.445862720644,-0.0156174212909,0.0695369202137,0.999999696325,-0.000252964942273,-0.000736110410314,-3.87302558133e-05,1793193509245661440
+292,4.866666667,POSE2_TO_POSE3_RETREAT,764,743,712,674,657,629.519742346,878,781,800,649,628,650,0.445580594573,-0.0156027348796,0.0695442808607,0.999999711353,-0.000231245604604,-0.000723043320984,-3.20527257403e-05,1793193509262328064
+293,4.883333333,POSE2_TO_POSE3_RETREAT,764,743,712,673.89018945,657.10981055,630,878,781,800,649,628,650,0.445283696945,-0.0155882106232,0.0695506736539,0.999999726745,-0.000200133175383,-0.000711209352702,-2.52512652667e-05,1793193509278994432
+294,4.900000000,POSE2_TO_POSE3_RETREAT,764,743,712,673.312725218,657.687274782,630,878,781,800,649,628,650,0.444949902452,-0.0155748349833,0.0695562724658,0.99999974444,-0.00013394883794,-0.00070202802303,-1.83080033403e-05,1793193509295661056
+295,4.916666667,POSE2_TO_POSE3_RETREAT,764,743,711.736764235,673.263235765,658,630,878,781.263235765,800,649,628,650,0.444587351098,-0.0155635703312,0.0695573000264,0.999999749291,-9.16270695187e-05,-0.000702060157649,-1.1598731757e-05,1793193509312327936
+296,4.933333333,POSE2_TO_POSE3_RETREAT,764,743,711.162579013,673.837420987,658,630,878,781.837420987,800,649,628,650,0.44419083048,-0.015554799302,0.0695529277576,0.999999742817,-7.74931654442e-05,-0.000712975777519,-5.16586371291e-06,1793193509328994560
+297,4.950000000,POSE2_TO_POSE3_RETREAT,764,743,711.422549176,674,658.422549176,630,878,782,800,648.577450824,628,650,0.443759206636,-0.0155466505179,0.0695555063719,0.999999746532,-5.91054768569e-05,-0.000709536605354,-2.01565798373e-07,1793193509345661184
+298,4.966666667,POSE2_TO_POSE3_RETREAT,764,743,711.98820883,674,658.98820883,630.01179117,878,782,799.98820883,648.01179117,628,650.01179117,0.443313136801,-0.015538563823,0.0695610655588,0.999999754162,-3.93836507955e-05,-0.000700078266216,3.98037361821e-06,1793193509362327552
+299,4.983333333,POSE2_TO_POSE3_RETREAT,764,743,711.409000816,674,658.409000816,630.590999184,878,782,799.409000816,648.590999184,628,650.590999184,0.442839122885,-0.01552163759,0.0695779366221,0.999999772326,-3.63145435235e-05,-0.000673814997056,-1.57244902059e-06,1793193509378994432
+300,5.000000000,POSE2_TO_POSE3_RETREAT,764,743,711.170362759,673.829637241,658.170362759,631,878.170362759,782,799.170362759,649,628,651,0.442358416872,-0.0155063826126,0.0696003458847,0.999999795449,-2.94457587083e-05,-0.000638924103523,-3.3199419444e-06,1793193509395661568
+301,5.016666667,POSE2_TO_POSE3_RETREAT,764,743,711.750100057,673.249899943,658.750100057,631,878.750100057,782,799.750100057,649,628,651,0.441861630102,-0.0154951435948,0.0696360632051,0.999999829781,-1.34465090676e-05,-0.000583301395013,4.07661311735e-06,1793193509412328704
+302,5.033333333,POSE2_TO_POSE3_RETREAT,764,743,712,673,658.672922851,631,878.672922851,782.327077149,800,648.672922851,628,650.672922851,0.441344818723,-0.0154871679998,0.0696671598092,0.999999859566,1.98321603614e-05,-0.000529519370125,9.14226865513e-06,1793193509428995328
+303,5.050000000,POSE2_TO_POSE3_RETREAT,764,743,712,673,658.098036957,631,878.098036957,782.901963043,800,648.098036957,628,650.098036957,0.440812835723,-0.0154816649234,0.069694755549,0.999999883904,6.62025173977e-05,-0.000477131925217,1.24419278869e-05,1793193509445661952
+304,5.066666667,POSE2_TO_POSE3_RETREAT,764,742.512948045,712,673,658.487051955,631,878,783,800,648.487051955,628,650,0.440225692721,-0.0154790232902,0.069722965885,0.999999907108,4.89989844825e-05,-0.000427959193397,1.53037382571e-05,1793193509462328576
+305,5.083333333,POSE2_TO_POSE3_RETREAT,764,742.073513988,712,673.073513988,659,631.073513988,878,783,800,649,628.073513988,650,0.439615517143,-0.0154760920921,0.0697464808451,0.999999924279,2.62501345481e-05,-0.000387856933837,1.78926562822e-05,1793193509478995456
+306,5.100000000,POSE2_TO_POSE3_RETREAT,764,742.65497005,712,673.65497005,659,631.65497005,878,783,800,649,628.65497005,650,0.438924555528,-0.0154670953639,0.0697366802415,0.999999915914,5.54953151671e-05,-0.000405860110555,1.92180181383e-05,1793193509495662336
+307,5.116666667,POSE2_TO_POSE3_RETREAT,764,743,712,674,659,632,878,783,800,649,629,650,0.438225528166,-0.0154546097523,0.0697235967697,0.999999907288,7.89645674474e-05,-0.000422924440445,1.79816555815e-05,1793193509512329216
+308,5.133333333,POSE2_TO_POSE3_RETREAT,764,743,712,674,659,632,878,783,800,649,629,650,0.437514730047,-0.0154370326177,0.0697057224243,0.999999899304,9.40046811365e-05,-0.000438618657723,1.30068245337e-05,1793193509528995840
+309,5.150000000,POSE2_TO_POSE3_RETREAT,764,743,712,673.617471531,659.382528469,632,878,783.765056938,800,649,629,650,0.436809892848,-0.0154224189798,0.0697227957097,0.999999909379,0.000109575319448,-0.00041117939376,1.29205039185e-05,1793193509545662464
+310,5.166666667,POSE2_TO_POSE3_RETREAT,764,743,712,673.042683559,659.957316441,632,878,784.914632883,800,649,629,650,0.436108051638,-0.0154092948012,0.0697574337383,0.999999926475,0.00012541259972,-0.000362061162512,1.52911576435e-05,1793193509562329088
+311,5.183333333,POSE2_TO_POSE3_RETREAT,764,743,712,673.546531923,660,632,878,784.453468077,800,649,629,650.546531923,0.435348588669,-0.0154047779746,0.0697999448449,0.999999944301,0.000143223363133,-0.000300610181707,2.27723490766e-05,1793193509578995712
+312,5.200000000,POSE2_TO_POSE3_RETREAT,764,743,712,673.865681823,660,632,878,784,800.134318177,649,629,651,0.434569660604,-0.0154030508764,0.0698337455345,0.999999955283,0.000154712709702,-0.000254319606896,2.86245725235e-05,1793193509595662336
+313,5.216666667,POSE2_TO_POSE3_RETREAT,764,743,712,673.286463106,660,632,878,784,800.713536894,649,629,651,0.433741568798,-0.0154082771892,0.0698366029235,0.999999954944,0.000144739343379,-0.000261521500328,2.77233117852e-05,1793193509612328448
+314,5.233333333,POSE2_TO_POSE3_RETREAT,764,743,712,673,659.709375115,632,878,784,800.709375115,649,629,650.709375115,0.432909821916,-0.0154114197085,0.0698379758526,0.999999954942,0.000145120033244,-0.000261295984034,2.79284562406e-05,1793193509628994560
+315,5.250000000,POSE2_TO_POSE3_RETREAT,764,743,712,673,659.134371984,632,878,784,800.134371984,649,629,650.134371984,0.432074498419,-0.0154125232237,0.0698378962291,0.999999955255,0.000155632229909,-0.000253802702257,2.92162249102e-05,1793193509645661184
+316,5.266666667,POSE2_TO_POSE3_RETREAT,764,742.549972165,712,673,659,632.450027835,878,784,800,649,629,650,0.43118953988,-0.015408728235,0.0698163865265,0.999999944076,0.000165648972403,-0.000289080417851,2.90028766564e-05,1793193509662328064
+317,5.283333333,POSE2_TO_POSE3_RETREAT,764,742,712,672.963208874,659,632.963208874,878,784,800,649,629,650,0.430285745899,-0.0154033566372,0.0697868984391,0.999999926799,0.000175221809774,-0.00033898867447,2.80215256567e-05,1793193509678994944
+318,5.300000000,POSE2_TO_POSE3_RETREAT,764,742,712,672.383849336,659,632.383849336,878,784,800,649,629,650,0.429327399989,-0.0153967640573,0.0697361269508,0.999999898463,0.000180476446003,-0.000412306468255,2.24651022762e-05,1793193509695661824
+319,5.316666667,POSE2_TO_POSE3_RETREAT,764,742,712,672.195682551,659.195682551,632,878,784,800,649,629,650,0.428408178872,-0.0153946616208,0.0697239356384,0.999999891432,0.000181240716385,-0.00042875122149,2.14656480544e-05,1793193509712328704
+320,5.333333333,POSE2_TO_POSE3_RETREAT,764,742,712,672.775552777,659.775552777,632,878,784,800,649,629,650,0.427565772342,-0.0154013747781,0.0697874896015,0.999999928947,0.000173188957008,-0.000333535931935,2.94129878456e-05,1793193509728995328
+321,5.350000000,POSE2_TO_POSE3_RETREAT,764,742,712,673,660,632,877.648563946,784,799.648563946,649,629,650.351436054,0.426708839839,-0.0154038555649,0.0698368293035,0.999999949813,0.000178480004181,-0.000259343637511,3.55021593996e-05,1793193509745661696
+322,5.366666667,POSE2_TO_POSE3_RETREAT,764,742,712,673,660,632,877.075198423,784,799.075198423,649,629,650.924801577,0.425842734316,-0.0154036636384,0.0698771927943,0.999999961027,0.000192196943064,-0.000198427225018,4.04179101107e-05,1793193509762328064
+323,5.383333333,POSE2_TO_POSE3_RETREAT,764,742,712,673,660,632,877.510855638,784,799,648.489144362,628.489144362,650.489144362,0.424940897562,-0.015400937431,0.0698644893485,0.999999956657,0.000193837974979,-0.000218166202246,3.89494515434e-05,1793193509778994688
+324,5.400000000,POSE2_TO_POSE3_RETREAT,764,742,712,673,660,632,877.902310657,784.097689343,799,648.097689343,628.097689343,650.097689343,0.424018187193,-0.015397406111,0.0698395513145,0.999999947227,0.000194789220547,-0.000257477515806,3.61803003836e-05,1793193509795661312
+325,5.416666667,POSE2_TO_POSE3_RETREAT,764,742,712,673,660,632,877.321098385,784.678901615,799,648.678901615,628.678901615,650.678901615,0.423018857479,-0.0153917832784,0.0697937055774,0.999999923647,0.000201348727412,-0.000333402917055,3.1743160787e-05,1793193509812327936
+326,5.433333333,POSE2_TO_POSE3_RETREAT,764,742,712,673,660,632,877,784.742336947,799,649,629,650.742336947,0.422026727146,-0.0153864584501,0.0697421269106,0.99999988938,0.000205588450238,-0.000422191833131,2.69737034191e-05,1793193509828994816
+327,5.450000000,POSE2_TO_POSE3_RETREAT,764,742,712,673,660,632,877,784.166600872,799,649,629,650.166600872,0.421043483981,-0.0153815014934,0.0696834712033,0.999999839555,0.000206964508226,-0.000526860167386,2.17940146115e-05,1793193509845661696
+328,5.466666667,POSE2_TO_POSE3_RETREAT,764,742.406460006,712,672.593539994,659.593539994,632.406460006,877.406460006,784,799.406460006,649,629,650,0.420191312897,-0.0153859467561,0.069713053576,0.999999866558,0.000200223934594,-0.00047559322496,2.45904482307e-05,1793193509862328064
+329,5.483333333,POSE2_TO_POSE3_RETREAT,764,742.978431503,712,672.021568497,659.021568497,632.978431503,877.978431503,784,799.978431503,649,629,650,0.419392514738,-0.0153942206254,0.0697785667101,0.999999916348,0.000190178247321,-0.00036082905355,3.06347781337e-05,1793193509878994432
+330,5.500000000,POSE2_TO_POSE3_RETREAT,764,742.427251463,712,672.572748537,659.572748537,632.427251463,878,784.572748537,800,649,629,650.572748537,0.418597199902,-0.0153952480821,0.0698435194787,0.999999946868,0.000197477011488,-0.000256587932164,3.77992809516e-05,1793193509895661056
+331,5.516666667,POSE2_TO_POSE3_RETREAT,764,742.162922732,712,672.837077268,659.837077268,632,878,785,800,649,629,650.837077268,0.417772875868,-0.0153947726531,0.0698852906127,0.999999959952,0.000203366919906,-0.000192248049213,4.21832202903e-05,1793193509912327936
+332,5.533333333,POSE2_TO_POSE3_RETREAT,764,742.740329592,712,672.259670408,659.259670408,632,878,785,800,649,629,650.259670408,0.416874403664,-0.0153911962208,0.0698681422917,0.999999952352,0.000203943504964,-0.000228369982852,3.93815845199e-05,1793193509928994560
+333,5.550000000,POSE2_TO_POSE3_RETREAT,763.683919588,742.683919588,711.683919588,672,659.316080412,632.316080412,878.316080412,784.683919588,800,649,628.683919588,650.316080412,0.416002339762,-0.0153881517663,0.0698412293075,0.99999994425,0.000203637796504,-0.000262274750674,3.52544328399e-05,1793193509945661184
+334,5.566666667,POSE2_TO_POSE3_RETREAT,763.109522198,742.109522198,711.109522198,672,659.890477802,632.890477802,878.890477802,784.109522198,800,649,628.109522198,650.890477802,0.41515185811,-0.0153855420714,0.0698063361452,0.999999935697,0.000202611032899,-0.000294367536102,3.00440023234e-05,1793193509962328064
+335,5.583333333,POSE2_TO_POSE3_RETREAT,763,742,711.477207697,672,660,633,878.522792303,784,799.522792303,649,628,651,0.414293086359,-0.0153800805109,0.0697679995914,0.999999910268,0.000209409344186,-0.000367243878809,2.72668582666e-05,1793193509978994944
+336,5.600000000,POSE2_TO_POSE3_RETREAT,763.065671615,742,712,672.065671615,659.934328385,633,877.934328385,784,799.065671615,649,628.065671615,650.934328385,0.413446634298,-0.0153749515346,0.0697358951252,0.999999881366,0.000216819554256,-0.000435440186064,2.54969065358e-05,1793193509995661824
+337,5.616666667,POSE2_TO_POSE3_RETREAT,763.644973056,742,712,672.644973056,659.355026944,633,877.355026944,784,799.644973056,649,628.644973056,650.355026944,0.412711812893,-0.0153776787003,0.0697588778876,0.99999989982,0.00021459681797,-0.00039188400171,2.71207459635e-05,1793193510012328192
+338,5.633333333,POSE2_TO_POSE3_RETREAT,764,742,712,672.776955872,659,632.776955872,877,784.223044128,800,649,628.776955872,650,0.412004815372,-0.0153809551855,0.0697979411065,0.999999924878,0.000212256890405,-0.000322935760776,3.00603014964e-05,1793193510028994560
+339,5.650000000,POSE2_TO_POSE3_RETREAT,764,742,712,672.20083239,659,632.20083239,877,784.79916761,800,649,628.20083239,650,0.411341863009,-0.0153851012449,0.0698624597277,0.999999954537,0.000209731447195,-0.000213791828497,3.50826386602e-05,1793193510045661184
+340,5.666666667,POSE2_TO_POSE3_RETREAT,763.625936765,742,712,672,659.374063235,632,877.374063235,784.625936765,799.625936765,648.625936765,628,650.374063235,0.410658462013,-0.0153843748969,0.0698832452023,0.999999960521,0.000210183530016,-0.000182762925897,3.71390088722e-05,1793193510062327808
+341,5.683333333,POSE2_TO_POSE3_RETREAT,763.051698248,742,712,672,659.948301752,632,877.948301752,784.051698248,799.051698248,648.051698248,628,650.948301752,0.409964118225,-0.0153810411404,0.069880627424,0.999999958044,0.000212228999852,-0.000193536316157,3.76081786512e-05,1793193510078994176
+342,5.700000000,POSE2_TO_POSE3_RETREAT,763.537776469,742,712,672,659.462223531,632,877.462223531,784.537776469,799.537776469,648.537776469,628.537776469,651,0.409282087613,-0.0153782050443,0.0698400972192,0.999999941223,0.000217589593406,-0.000262939512714,3.27322600813e-05,1793193510095661056
+343,5.716666667,POSE2_TO_POSE3_RETREAT,763.873873969,742,712,672,659,632.126126031,877,784.873873969,799.873873969,649,629,650.873873969,0.408613281433,-0.0153754115793,0.0698008194501,0.999999921269,0.000221849758322,-0.000327820522365,2.79101339597e-05,1793193510112327424
+344,5.733333333,POSE2_TO_POSE3_RETREAT,763.29497495,742,712,672,659,632.70502505,877,784.29497495,799.29497495,649,629,650.29497495,0.40798757572,-0.0153725944014,0.0697795029527,0.999999912025,0.000220982137229,-0.000355644244758,2.51795108275e-05,1793193510128994048
+345,5.750000000,POSE2_TO_POSE3_RETREAT,763,742,712,672,659.280985177,632.719014823,877.280985177,784.280985177,799,649,629,650,0.407398287171,-0.0153708820282,0.0697785987762,0.999999911947,0.000221655884342,-0.000355471683567,2.47801588319e-05,1793193510145661440
+346,5.766666667,POSE2_TO_POSE3_RETREAT,763,742,712,672,659.853891991,632.146108009,877.853891991,784.853891991,799,649,629,650,0.406846833246,-0.0153703174608,0.0697989014071,0.999999921361,0.000223930992585,-0.000326213170327,2.68028154918e-05,1793193510162329088
+347,5.783333333,POSE2_TO_POSE3_RETREAT,763.439053178,742,712,672.439053178,659.560946822,632,878,784.560946822,799,649,629,650.439053178,0.406330494935,-0.015371619081,0.069805947896,0.99999992377,0.000220046562189,-0.000321411253185,2.7104894754e-05,1793193510178995456
+348,5.800000000,POSE2_TO_POSE3_RETREAT,764,742,712,672.972160272,659,632.027839728,877.972160272,784,799.027839728,648.972160272,629,650.972160272,0.405828357675,-0.0153734112074,0.069808238133,0.999999923781,0.000214756083027,-0.000324961136233,2.68043850628e-05,1793193510195661568
+349,5.816666667,POSE2_TO_POSE3_RETREAT,764,742,712,672.394624062,659,632.605375938,877.394624062,784,799.605375938,648.394624062,629,650.394624062,0.40536926065,-0.0153722740661,0.0698062196935,0.999999920889,0.000223337974503,-0.000328105459572,2.62358223878e-05,1793193510212327936
+350,5.833333333,POSE2_TO_POSE3_RETREAT,763.816512919,742,712,672,659,633,877.183487081,784,799.816512919,648,629,650,0.404931903027,-0.0153712890402,0.0698105765101,0.99999992181,0.000229758270369,-0.000320787303967,2.62101094695e-05,1793193510228994560
+351,5.850000000,POSE2_TO_POSE3_RETREAT,763.237161275,742,712,672,659,633,877.762838725,784,799.237161275,648,629,650,0.404541447034,-0.0153706321959,0.0698286876354,0.999999930516,0.000231515029075,-0.000290896853121,2.73555687029e-05,1793193510245661696
+352,5.866666667,POSE2_TO_POSE3_RETREAT,763.33856778,742,712,672,659,632.66143222,878,784,799,648.33856778,629,650.33856778,0.404177227469,-0.0153671409579,0.0698448954054,0.999999936505,0.00024073110549,-0.00026120955059,2.84425848064e-05,1793193510262328576
+353,5.883333333,POSE2_TO_POSE3_RETREAT,763.911786099,742,712,672,659,632.088213901,878,784,799,648.911786099,629,650.911786099,0.403831191561,-0.0153616852919,0.0698597840194,0.999999940189,0.000255116997109,-0.000231663045371,2.9489095758e-05,1793193510278995200
+354,5.900000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632.499437461,878,784,799,649,629,650.500562539,0.4035042749,-0.0153541820779,0.0698557040794,0.999999937689,0.000260159686103,-0.000236890600702,2.86629767711e-05,1793193510295661568
+355,5.916666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,633,877.911853439,784,799.088146561,648.911853439,629,650.088146561,0.403185365617,-0.0153468667599,0.0698475232061,0.999999933498,0.000264139217157,-0.000249976241824,2.73248504493e-05,1793193510312327936
+356,5.933333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,633,877.331889606,784,799.668110394,648.331889606,629,650.668110394,0.402891731193,-0.0153426777108,0.0698357107104,0.999999925897,0.000271668500335,-0.000271616917445,2.50303441025e-05,1793193510328994560
+357,5.950000000,POSE2_TO_POSE3_RETREAT,764,742,712,672.246130674,659,633,877.246130674,784.246130674,799.753869326,648,629,651,0.402617229423,-0.0153423495273,0.0698259647013,0.999999920536,0.00027344033787,-0.000289133455883,2.36564824518e-05,1793193510345661184
+358,5.966666667,POSE2_TO_POSE3_RETREAT,764,742,712,672.821550699,659,633,877.821550699,784.821550699,799.178449301,648,629,651,0.402368324563,-0.0153471866568,0.0698189833712,0.999999918602,0.00026750949608,-0.000301132458339,2.35143183242e-05,1793193510362327808
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764,742,712,672.603567548,659,632.603567548,878,784.603567548,799,648,629,650.603567548,0.402150027728,-0.015359129832,0.0698124343735,0.999999919156,0.000253162742455,-0.000311463794308,2.4229067365e-05,1793193510378994432
+360,6.000000000,POSE2_TO_POSE3_RETREAT,764,742,712,672.028927713,659,632.028927713,878,784.028927713,799,648,629,650.028927713,0.401945490028,-0.0153742673721,0.0698060797207,0.999999920524,0.000235032802451,-0.000321045468889,2.53290226217e-05,1793193510395661056
+361,6.016666667,POSE2_TO_POSE3_RETREAT,763.435928331,742.564071669,712,672,659,632,877.435928331,784,799,648.564071669,628.435928331,650.564071669,0.401786175719,-0.015376426912,0.0698053227004,0.999999920177,0.000233535891396,-0.0003230256195,2.75926457049e-05,1793193510412327936
+362,6.033333333,POSE2_TO_POSE3_RETREAT,763,742.846893236,712,672,659.153106764,632.153106764,877.153106764,784,799,649,628.153106764,650.846893236,0.401637933344,-0.0153749675839,0.069805308977,0.999999919462,0.000235941521682,-0.000323337274208,2.93351756252e-05,1793193510428994560
+363,6.050000000,POSE2_TO_POSE3_RETREAT,763,742.271476985,712,672,659.728523015,632.728523015,877.728523015,784,799,649,628.728523015,650.271476985,0.401513618028,-0.0153654240051,0.0698065270174,0.99999991789,0.000246679436109,-0.00032015821454,2.94702477332e-05,1793193510445661440
+364,6.066666667,POSE2_TO_POSE3_RETREAT,763.304254344,742,712,672,659.695745656,632.695745656,877.695745656,784,799.304254344,648.695745656,629,650.304254344,0.401404598963,-0.0153624275626,0.0698071725625,0.999999914599,0.000261997301988,-0.000318232540951,2.97789014768e-05,1793193510462328064
+365,6.083333333,POSE2_TO_POSE3_RETREAT,763.880267065,742,712,672,659.119732935,632.119732935,877.119732935,784,799.880267065,648.119732935,629,650.880267065,0.401309242437,-0.0153652789885,0.0698073067577,0.999999909568,0.000281405955685,-0.000317426385333,3.02425974088e-05,1793193510478994688
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764,742,711.533119329,672,659,632.466880671,877,784,799.533119329,648,629,651,0.401231634069,-0.0153633858362,0.0698053998536,0.999999913764,0.000265990786169,-0.000318455954858,1.74958944492e-05,1793193510495661056
+367,6.116666667,POSE2_TO_POSE3_RETREAT,764,742,711.055249998,672,659,633,877,784,799.055249998,648,629,651,0.401160734311,-0.0153609394181,0.0698033977945,0.999999919369,0.000243091653801,-0.000319623271573,3.10438973068e-06,1793193510512327680
+368,6.133333333,POSE2_TO_POSE3_RETREAT,764,742,711.633899109,672,659,633,877,784,799.633899109,648,629,651,0.40110926704,-0.0153650462854,0.0698055682685,0.999999921753,0.000235863224226,-0.00031753208571,5.97089366709e-06,1793193510528994304
+369,6.150000000,POSE2_TO_POSE3_RETREAT,764,742,712,671.788992439,659,633,877,784,799.788992439,648.211007561,628.788992439,651,0.401064774788,-0.0153671117574,0.0698073014283,0.999999923226,0.000232102061651,-0.000315610689696,8.17385273277e-06,1793193510545661184
+370,6.166666667,POSE2_TO_POSE3_RETREAT,764,742,712,671.214537734,659,633,877,784,799.214537734,648.785462266,628.214537734,651,0.401032296571,-0.0153656610553,0.0698082813417,0.999999923214,0.000234313047408,-0.000313981746176,9.23389753429e-06,1793193510562328320
+371,6.183333333,POSE2_TO_POSE3_RETREAT,764,742,712,671,659,633,877,784.368731602,799.368731602,649,628.368731602,651,0.401009682814,-0.0153631876586,0.0698096096051,0.999999923016,0.000238771781913,-0.000311214091814,1.00901914786e-05,1793193510578994944
+372,6.200000000,POSE2_TO_POSE3_RETREAT,764,742,712,671,659,633,877,784.95725518,799.95725518,649,628.95725518,651,0.400992949019,-0.0153601046582,0.0698111455114,0.999999922674,0.000244570345211,-0.000307767679334,1.0825034573e-05,1793193510595661312
+373,6.216666667,POSE2_TO_POSE3_RETREAT,764,742,712,671,659,633,877,785,799.462738405,649,629,651,0.400981716698,-0.0153612778573,0.0698120675734,0.999999923887,0.000242403647839,-0.000305522600338,1.10465293234e-05,1793193510612327680
+374,6.233333333,POSE2_TO_POSE3_RETREAT,764,742,712,671,659,633,877,785,799.11578025,649,629,651,0.400971463695,-0.0153625029192,0.0698125394008,0.999999924753,0.000240298379211,-0.000304340873772,1.12416953113e-05,1793193510628994304
+375,6.250000000,POSE2_TO_POSE3_RETREAT,764,742,712,671,659,633,877,785,799.691042062,649,629,651,0.400963387245,-0.0153626109164,0.0698114152344,0.999999923788,0.000240912607701,-0.000307005739674,1.14919297362e-05,1793193510645661184
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764,742,712,671.532226604,659,633,877.266113302,784.733886698,799.733886698,649,628.733886698,651,0.400957424521,-0.0153628928019,0.0698107325063,0.999999923229,0.000241028150994,-0.000308732531895,1.15034616062e-05,1793193510662327808
+377,6.283333333,POSE2_TO_POSE3_RETREAT,764,742,712,672.681926822,659,633,877.840963411,784.159036589,799.159036589,649,628.159036589,651,0.400953914081,-0.0153633764276,0.069810561922,0.999999923146,0.000240565134391,-0.000309370998531,1.12380577953e-05,1793193510678994432
+378,6.300000000,POSE2_TO_POSE3_RETREAT,763.572354483,742,711.572354483,672.572354483,659,633,877.572354483,784,799,649,628.427645517,651,0.400954478685,-0.0153636774648,0.0698118538787,0.999999923869,0.000240844462355,-0.00030680295755,1.12700513623e-05,1793193510695661312
+379,6.316666667,POSE2_TO_POSE3_RETREAT,763.01847025,742,711.01847025,671.98152975,659,633,877.01847025,784,799.01847025,649,628.98152975,651,0.400956533183,-0.0153639074461,0.0698136768267,0.999999924862,0.000241414970635,-0.000303090705582,1.1418184177e-05,1793193510712328192
+380,6.333333333,POSE2_TO_POSE3_RETREAT,763.597675023,742,711.597675023,671.402324977,659,633,877.597675023,784,799.597675023,649,628.402324977,651,0.400956502266,-0.0153641003614,0.0698146379504,0.999999925037,0.000242205735232,-0.000301873488843,1.16389775949e-05,1793193510728995072
+381,6.350000000,POSE2_TO_POSE3_RETREAT,764,742,712,671,659,633,877.824227159,784.175772841,799.824227159,649,628.175772841,651,0.400955848641,-0.0153640831605,0.0698149364136,0.999999925076,0.000242505968692,-0.000301501336858,1.16723613762e-05,1793193510745661440
+382,6.366666667,POSE2_TO_POSE3_RETREAT,764,742,712,671,659,633,877.248647264,784.751352736,799.248647264,649,628.751352736,651,0.400953778621,-0.0153635880364,0.0698137276109,0.999999924809,0.000241690456251,-0.000303051341206,1.12794694063e-05,1793193510762327808
+383,6.383333333,POSE2_TO_POSE3_RETREAT,763.666982421,742,712,671,659,632.666982421,877,784.666982421,799,648.666982421,629,651,0.400952625606,-0.0153626163571,0.0698132969928,0.999999924656,0.00024155106371,-0.000303674569197,1.11075460668e-05,1793193510778994688
+384,6.400000000,POSE2_TO_POSE3_RETREAT,763.080689634,742,712,671,659,632.080689634,877,784.080689634,799,648.080689634,629,651,0.400952170015,-0.0153612822357,0.0698134582197,0.99999992459,0.000241925891406,-0.000303592941248,1.11036795067e-05,1793193510795661312
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764.004889094,742,712,672.004889094,659,632,877,784,799.502444547,648,628.497555453,651,0.400953459559,-0.0153630446822,0.0698148637331,0.999999925259,0.000241427816865,-0.0003017673164,1.14495217877e-05,1793193510812327680
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764.915956916,742,712,672.915956916,659,632.084043084,877,784,799.915956916,648.084043084,628.084043084,651,0.400954831988,-0.0153651593954,0.0698163022068,0.999999926043,0.000240578805008,-0.000299828517001,1.17862215976e-05,1793193510828994560
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764.340391174,742,712,672.340391174,659,632.659608826,877,784,799.340391174,648.659608826,628.659608826,651,0.400955060328,-0.0153664441131,0.0698167720802,0.999999926834,0.000238492082527,-0.000298855598113,1.17430476844e-05,1793193510845661440
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,633,877,784,799.469699261,648.765150369,629,651,0.400955168978,-0.0153666881747,0.0698170106174,0.999999927176,0.000237969306043,-0.000298132906574,1.16531178334e-05,1793193510862328064
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,633,877,784,800.61924017,648.190379915,629,651,0.400955104386,-0.0153654259931,0.0698169143192,0.999999926869,0.000239710181583,-0.000297772393593,1.14955135468e-05,1793193510878994688
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764,742,711.607012086,672,659,633,877,784.392987914,800.214024171,648.392987914,629,651,0.400956035022,-0.0153657755927,0.0698178133326,0.999999927276,0.000239758770911,-0.000296351850759,1.18359164728e-05,1793193510895661056
+391,6.516666667,POSE2_TO_POSE3_RETREAT,764,742,711.019386189,672,659,633,877,784.980613811,799.038772379,648.980613811,629,651,0.400957458572,-0.0153669234709,0.0698192053013,0.999999928032,0.00023896920929,-0.000294406299239,1.24229710567e-05,1793193510912327680
+392,6.533333333,POSE2_TO_POSE3_RETREAT,764,742.562214052,711.562214052,672,659,632.437785948,877,785,799.562214052,649,629,651,0.400956296896,-0.0153644432077,0.0698177975208,0.999999926955,0.000241810391183,-0.000295757865808,1.20248790213e-05,1793193510928994560
+393,6.550000000,POSE2_TO_POSE3_RETREAT,764,742.857701257,712,672,659,632.142298743,877,784.857701257,799.857701257,649,629,651,0.40095533646,-0.0153628002926,0.0698168842062,0.999999926302,0.0002433018301,-0.000296754246715,1.16804968912e-05,1793193510945660928
+394,6.566666667,POSE2_TO_POSE3_RETREAT,764,742.281610095,712,672,659,632.718389905,877,784.281610095,799.281610095,649,629,651,0.400955258361,-0.0153640873367,0.0698177694318,0.999999927156,0.000240301022592,-0.00029632495015,1.16023047263e-05,1793193510962327808
+395,6.583333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,633,877.291748056,784.291748056,799.291748056,649,629,651,0.400954846308,-0.0153644103615,0.0698179710506,0.999999927216,0.000239933708618,-0.000296422361393,1.15218870066e-05,1793193510978994688
+396,6.600000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,633,877.862492717,784.862492717,799.862492717,649,629,651,0.400954114898,-0.0153638115016,0.0698175189413,0.999999926521,0.000242084785552,-0.000297023459544,1.14393409956e-05,1793193510995661824
+397,6.616666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632.547399799,877.547399799,784.547399799,799.547399799,649,629,651,0.400953654164,-0.0153643211515,0.0698172977591,0.999999926438,0.000241792475905,-0.000297528195698,1.17255342645e-05,1793193511012328192
+398,6.633333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632.047357737,877,784.047357737,799.047357737,649,629,650.952642263,0.400953469582,-0.0153652113605,0.0698172407489,0.999999926643,0.000240619519133,-0.000297774753744,1.20774435305e-05,1793193511028994560
+399,6.650000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632.625357477,877,784.625357477,799.625357477,649,629,650.374642523,0.400955416642,-0.0153664234204,0.0698182020124,0.999999927892,0.000238268594574,-0.000295471136011,1.18543148872e-05,1793193511045661184
+400,6.666666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,633,877.202098734,784.797901266,800,649,629,650.202098734,0.400956035772,-0.0153665826576,0.0698185190104,0.999999928154,0.000238026869874,-0.000294787223395,1.16293594261e-05,1793193511062327808
+401,6.683333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,633,877.776521469,784.223478531,800,649,629,650.776521469,0.400954208471,-0.0153648022923,0.0698176490862,0.999999926602,0.000241670898162,-0.000297087273649,1.14010384548e-05,1793193511078994432
+402,6.700000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,659.350872516,633,878,784.350872516,799.649127484,649,628.649127484,651,0.400954327324,-0.0153645093971,0.0698179117958,0.999999926506,0.000242428556703,-0.000296794890189,1.13682779101e-05,1793193511095661056
+403,6.716666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,659.925177889,633,878,784.925177889,799.074822111,649,628.074822111,651,0.400955685472,-0.0153651637113,0.0698188957578,0.999999927341,0.000241348197557,-0.000294851665246,1.14600487152e-05,1793193511112327680
+404,6.733333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,659.483564897,633,878,784.483564897,799.516435103,649,628.516435103,650.483564897,0.400955060901,-0.0153643031211,0.0698189826998,0.999999927215,0.000241416568038,-0.000295230067047,1.13060272632e-05,1793193511128994560
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_07/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_07/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9ec56aa625ec44e4391131fd10c0a5ff369c3cda
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_07/depth_05/simulation_data.csv
@@ -0,0 +1,406 @@
+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,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+1,0.016666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+2,0.033333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+3,0.050000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+4,0.066666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+5,0.083333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+6,0.100000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+7,0.116666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+8,0.133333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+9,0.150000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+10,0.166666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+11,0.183333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+12,0.200000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+13,0.216666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+14,0.233333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+15,0.250000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+16,0.266666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+17,0.283333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+18,0.300000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+19,0.316666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+20,0.333333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+21,0.350000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+22,0.366666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+23,0.383333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+24,0.400000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+25,0.416666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+26,0.433333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+27,0.450000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+28,0.466666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+29,0.483333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+30,0.500000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+31,0.516666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+32,0.533333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+33,0.550000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+34,0.566666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+35,0.583333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+36,0.600000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+37,0.616666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+38,0.633333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+39,0.650000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+40,0.666666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+41,0.683333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+42,0.700000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+43,0.716666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+44,0.733333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+45,0.750000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+46,0.766666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+47,0.783333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+48,0.800000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+49,0.816666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+50,0.833333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+51,0.850000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+52,0.866666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+53,0.883333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+54,0.900000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+55,0.916666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+56,0.933333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+57,0.950000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+58,0.966666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+59,0.983333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+60,1.000000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+61,1.016666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+62,1.033333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+63,1.050000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+64,1.066666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+65,1.083333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+66,1.100000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+67,1.116666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+68,1.133333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+69,1.150000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+70,1.166666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+71,1.183333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+72,1.200000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+73,1.216666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+74,1.233333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+75,1.250000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+76,1.266666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+77,1.283333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+78,1.300000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+79,1.316666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+80,1.333333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+81,1.350000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+82,1.366666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+83,1.383333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+84,1.400000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+85,1.416666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+86,1.433333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+87,1.450000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+88,1.466666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+89,1.483333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+90,1.500000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+91,1.516666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+92,1.533333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+93,1.550000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+94,1.566666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+95,1.583333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+96,1.600000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+97,1.616666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+98,1.633333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+99,1.650000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+100,1.666666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+101,1.683333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+102,1.700000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+103,1.716666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+104,1.733333333,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+105,1.750000000,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+106,1.766666667,pose1_baseline,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+107,1.783333333,pose1_to_pose2_press,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+108,1.800000000,pose1_to_pose2_press,0.575709265696,-0.00994537985097,1.0600292275,0.546279996798,-0.00127264749653,1.05969851697
+109,1.816666667,pose1_to_pose2_press,0.575709440574,-0.00994537921415,1.06002925364,0.546280171672,-0.00127264669644,1.05969854774
+110,1.833333333,pose1_to_pose2_press,0.575709727844,-0.00994531754072,1.06002921967,0.546280456795,-0.00127259200361,1.05969852175
+111,1.850000000,pose1_to_pose2_press,0.575710266432,-0.00994534688871,1.06002919823,0.546280996213,-0.00127261868222,1.05969849642
+112,1.866666667,pose1_to_pose2_press,0.575710956399,-0.00994540367051,1.06002917634,0.546281687886,-0.00127266995921,1.05969846706
+113,1.883333333,pose1_to_pose2_press,0.575711927613,-0.00994540174494,1.06002918992,0.546282658742,-0.00127266926447,1.05969848025
+114,1.900000000,pose1_to_pose2_press,0.575714254866,-0.00994534801223,1.06002921722,0.546284983692,-0.001272623134,1.05969851314
+115,1.916666667,pose1_to_pose2_press,0.575720251482,-0.00994538286536,1.06002898876,0.546290982513,-0.0012726506704,1.05969828048
+116,1.933333333,pose1_to_pose2_press,0.575732833685,-0.00994536928869,1.06002933869,0.546303563458,-0.0012726413989,1.05969862919
+117,1.950000000,pose1_to_pose2_press,0.575753488748,-0.0099453848881,1.06002891171,0.546324219833,-0.0012726524826,1.05969820386
+118,1.966666667,pose1_to_pose2_press,0.575784390892,-0.00994535789671,1.06002913792,0.546355121485,-0.00127262706526,1.05969843247
+119,1.983333333,pose1_to_pose2_press,0.575824944119,-0.0099453738777,1.06002915505,0.546395672839,-0.0012726496054,1.05969844421
+120,2.000000000,pose1_to_pose2_press,0.575874698668,-0.00994530819887,1.06002923896,0.546445429068,-0.00127257819036,1.05969852907
+121,2.016666667,pose1_to_pose2_press,0.575933286463,-0.00994554599808,1.0600292739,0.546504019298,-0.00127280774789,1.05969856333
+122,2.033333333,pose1_to_pose2_press,0.576001791863,-0.00994547705254,1.06002904879,0.546572523064,-0.00127274408622,1.05969834499
+123,2.050000000,pose1_to_pose2_press,0.576082121007,-0.00994539809278,1.06002914491,0.546652850397,-0.00127267163013,1.0596984316
+124,2.066666667,pose1_to_pose2_press,0.576174998191,-0.00994535324843,1.0600292832,0.546745726941,-0.00127262910893,1.05969856588
+125,2.083333333,pose1_to_pose2_press,0.576284948018,-0.0099455164779,1.06002916049,0.546855680268,-0.00127278012174,1.05969845204
+126,2.100000000,pose1_to_pose2_press,0.57641119059,-0.00994536506517,1.06002925285,0.546981920213,-0.0012726376981,1.05969854249
+127,2.116666667,pose1_to_pose2_press,0.576555140549,-0.0099453972799,1.06002916485,0.547125869534,-0.00127267205081,1.05969845514
+128,2.133333333,pose1_to_pose2_press,0.576717454624,-0.00994554069406,1.0600292805,0.547288184583,-0.00127281230893,1.05969856677
+129,2.150000000,pose1_to_pose2_press,0.576899644235,-0.00994534976656,1.06002929297,0.547470373625,-0.00127262335072,1.05969857818
+130,2.166666667,pose1_to_pose2_press,0.577103581873,-0.00994537828827,1.06002916003,0.547674311069,-0.001272652335,1.05969845035
+131,2.183333333,pose1_to_pose2_press,0.577329511543,-0.00994534051479,1.0600289906,0.547900241661,-0.00127261100558,1.059698292
+132,2.200000000,pose1_to_pose2_press,0.5775796771,-0.00994542987405,1.06002913321,0.548150407945,-0.00127269820115,1.05969842658
+133,2.216666667,pose1_to_pose2_press,0.577851435139,-0.00994546980163,1.06002903931,0.548422166297,-0.00127273718418,1.05969832959
+134,2.233333333,pose1_to_pose2_press,0.578144144,-0.00994547434375,1.06002889242,0.548714873965,-0.00127274564348,1.05969818612
+135,2.250000000,pose1_to_pose2_press,0.578458379885,-0.00994546040981,1.06002891087,0.549029111022,-0.00127272779935,1.05969820277
+136,2.266666667,pose1_to_pose2_press,0.578795224178,-0.00994557756155,1.06002928101,0.549365956545,-0.0012728409144,1.0596985692
+137,2.283333333,pose1_to_pose2_press,0.579156422665,-0.00994554810364,1.06002888835,0.549727155222,-0.00127281055379,1.0596981833
+138,2.300000000,pose1_to_pose2_press,0.579540527786,-0.0099454127062,1.0600291633,0.550111258444,-0.00127268192592,1.05969844963
+139,2.316666667,pose1_to_pose2_press,0.579946141219,-0.00994556077134,1.06002901339,0.550516872059,-0.00127282903243,1.05969830857
+140,2.333333333,pose1_to_pose2_press,0.580369916315,-0.00994534982398,1.06002928241,0.550940645147,-0.00127262518508,1.05969857007
+141,2.350000000,pose1_to_pose2_press,0.580812671895,-0.00994542011834,1.06002941486,0.551383402812,-0.00127268858017,1.05969869784
+142,2.366666667,pose1_to_pose2_press,0.581281110121,-0.00994552276492,1.06002897815,0.551851842233,-0.00127278693773,1.05969826718
+143,2.383333333,pose1_to_pose2_press,0.581779142756,-0.00994540718846,1.06002898524,0.55234987318,-0.00127267673269,1.05969828358
+144,2.400000000,pose1_to_pose2_press,0.582316060959,-0.00994542196671,1.06002926031,0.55288679085,-0.00127269380266,1.05969854594
+145,2.416666667,pose1_to_pose2_press,0.582884297008,-0.00994539610273,1.06002903111,0.55345502704,-0.00127266704432,1.05969832762
+146,2.433333333,pose1_to_pose2_press,0.583474796983,-0.00994539355528,1.06002891263,0.554045527067,-0.00127266440963,1.05969820682
+147,2.450000000,pose1_to_pose2_press,0.584080782884,-0.00994540858497,1.06002899982,0.554651511306,-0.0012726850012,1.05969829593
+148,2.466666667,pose1_to_pose2_press,0.584702936344,-0.00994545675691,1.06002925029,0.555273667917,-0.00127272272165,1.05969854004
+149,2.483333333,pose1_to_pose2_press,0.585344588523,-0.00994532752153,1.06002929145,0.55591531778,-0.00127260155354,1.05969857583
+150,2.500000000,pose1_to_pose2_press,0.586009992929,-0.00994549727188,1.06002914634,0.556580725131,-0.0012727610417,1.05969843766
+151,2.516666667,pose1_to_pose2_press,0.586707817467,-0.00994544090221,1.06002902541,0.557278548223,-0.00127270946349,1.0596983197
+152,2.533333333,pose1_to_pose2_press,0.587424054715,-0.00994541852453,1.06002890976,0.557994784036,-0.00127269196614,1.05969820377
+153,2.550000000,pose1_to_pose2_press,0.588148275015,-0.00994544655659,1.06002913143,0.558719007587,-0.00127270910773,1.05969842179
+154,2.566666667,pose1_to_pose2_press,0.588875420699,-0.00994545024309,1.06002909297,0.559446149607,-0.00127272560813,1.05969837325
+155,2.583333333,pose1_to_pose2_press,0.589606353521,-0.00994550449032,1.06002914782,0.560177083925,-0.00127277453164,1.05969843462
+156,2.600000000,pose1_to_pose2_press,0.590354845695,-0.0099454183582,1.06002908892,0.56092557448,-0.00127269401017,1.0596983726
+157,2.616666667,pose1_to_pose2_press,0.5911275415,-0.00994536333965,1.06002913252,0.561698269942,-0.00127264002129,1.05969841976
+158,2.633333333,pose1_to_pose2_press,0.591933903432,-0.00994549034889,1.06002924868,0.562504634866,-0.00127275680379,1.05969853792
+159,2.650000000,pose1_to_pose2_press,0.592765368004,-0.0099455081952,1.0600292775,0.56333609994,-0.00127277292283,1.05969856738
+160,2.666666667,pose1_to_pose2_press,0.593619655771,-0.00994554771125,1.06002919633,0.564190387021,-0.00127281492421,1.05969848204
+161,2.683333333,pose1_to_pose2_press,0.594471886463,-0.00994545216292,1.06002912795,0.565042617045,-0.00127272127308,1.05969842338
+162,2.700000000,pose1_to_pose2_press,0.595317882333,-0.00994553643355,1.06002926858,0.565888613994,-0.00127280218692,1.05969855602
+163,2.716666667,pose1_to_pose2_press,0.59614370861,-0.00994556764177,1.0600291568,0.56671444068,-0.00127283185947,1.05969844814
+164,2.733333333,pose1_to_pose2_press,0.596958940487,-0.00994545660277,1.06002913726,0.567529671211,-0.00127272532837,1.05969843025
+165,2.750000000,pose1_to_pose2_press,0.597777651595,-0.00994548133231,1.06002912037,0.568348382556,-0.00127274910115,1.05969841737
+166,2.766666667,pose1_to_pose2_press,0.598611311319,-0.00994544141065,1.06002915166,0.569182041593,-0.00127271178464,1.05969844153
+167,2.783333333,pose1_to_pose2_press,0.599463747693,-0.00994540138054,1.06002895436,0.570034477402,-0.00127267345006,1.05969825012
+168,2.800000000,pose1_to_pose2_press,0.600339035335,-0.00994542251325,1.06002906346,0.570909765781,-0.00127269206203,1.05969835978
+169,2.816666667,pose1_to_pose2_press,0.601225916665,-0.00994543082326,1.0600289248,0.571796645986,-0.00127270406211,1.0596982245
+170,2.833333333,pose1_to_pose2_press,0.602108512235,-0.00994546824487,1.06002911744,0.572679242374,-0.00127273915246,1.05969840556
+171,2.850000000,pose1_to_pose2_press,0.602970691475,-0.00994549787666,1.06002919867,0.573541421935,-0.00127276799657,1.05969847888
+172,2.866666667,pose1_to_pose2_press,0.603799315896,-0.0099454216247,1.06002906988,0.574370045668,-0.00127269385309,1.05969835616
+173,2.883333333,pose1_to_pose2_press,0.604603212272,-0.00994556427611,1.06002932821,0.575173945522,-0.00127282461609,1.05969861686
+174,2.900000000,pose1_to_pose2_press,0.605384972905,-0.00994559183024,1.06002909568,0.575955704751,-0.00127285673611,1.05969838957
+175,2.916666667,pose1_to_pose2_press,0.606164186374,-0.00994542516076,1.06002914937,0.576734916291,-0.00127269693728,1.0596984348
+176,2.933333333,pose1_to_pose2_press,0.606950728724,-0.00994527784805,1.06002921219,0.577521455561,-0.00127255966147,1.05969850859
+177,2.950000000,pose1_to_pose2_press,0.607750758094,-0.00994537929399,1.0600291529,0.578321486189,-0.00127265685011,1.05969844911
+178,2.966666667,pose1_to_pose2_press,0.608550471723,-0.00994538624626,1.060029157,0.579121201003,-0.00127266007794,1.05969844555
+179,2.983333333,pose1_to_pose2_press,0.609341866335,-0.0099454116119,1.06002926242,0.579912596088,-0.00127268385732,1.05969855049
+180,3.000000000,pose1_to_pose2_press,0.610093889777,-0.00994564218735,1.06002925953,0.580664621227,-0.00127290857451,1.05969855039
+181,3.016666667,pose1_to_pose2_press,0.610806231882,-0.00994538042783,1.06002917418,0.581376961616,-0.00127265279789,1.05969846084
+182,3.033333333,pose1_to_pose2_press,0.611472033308,-0.00994542621405,1.06002889667,0.582042763274,-0.00127269718138,1.0596981996
+183,3.050000000,pose1_to_pose2_press,0.612101611863,-0.0099453796338,1.06002884202,0.58267234174,-0.00127265076808,1.05969814825
+184,3.066666667,pose1_to_pose2_press,0.612700151232,-0.00994556256743,1.06002918586,0.583270882403,-0.00127283000921,1.05969847245
+185,3.083333333,pose1_to_pose2_press,0.613284346784,-0.00994546241767,1.06002938509,0.583855076843,-0.00127273349279,1.05969866732
+186,3.100000000,pose1_to_pose2_press,0.613859415936,-0.00994548160432,1.0600291832,0.584430147145,-0.00127274773983,1.059698471
+187,3.116666667,pose1_to_pose2_press,0.614429438212,-0.00994539268758,1.06002916873,0.58500016793,-0.00127266277169,1.05969845779
+188,3.133333333,pose1_to_pose2_press,0.614990404658,-0.00994535254096,1.06002919002,0.585561132576,-0.00127262755085,1.05969848184
+189,3.150000000,pose1_to_pose2_press,0.61553117257,-0.00994547043036,1.06002907589,0.586101900925,-0.00127274272182,1.0596983668
+190,3.166666667,pose1_to_pose2_press,0.616041766575,-0.00994550258575,1.06002916742,0.586612495105,-0.00127277318751,1.05969845756
+191,3.183333333,pose1_to_pose2_press,0.61651650643,-0.0099454817427,1.06002918971,0.58708723448,-0.00127275277787,1.05969848397
+192,3.200000000,pose1_to_pose2_press,0.616957904232,-0.00994546981487,1.0600290861,0.587528632014,-0.00127274077464,1.05969837844
+193,3.216666667,pose1_to_pose2_press,0.617369823381,-0.00994550514022,1.06002908611,0.587940551299,-0.00127277472811,1.05969837489
+194,3.233333333,pose1_to_pose2_press,0.617762295666,-0.00994549991614,1.06002914328,0.588333023358,-0.00127276912364,1.05969843398
+195,3.250000000,pose1_to_pose2_press,0.618138391536,-0.0099453604982,1.06002911129,0.588709118583,-0.00127263093327,1.05969840336
+196,3.266666667,pose1_to_pose2_press,0.618498425077,-0.00994530900991,1.0600290298,0.589069150619,-0.00127258340066,1.05969832713
+197,3.283333333,pose1_to_pose2_press,0.61884287376,-0.00994525935632,1.06002910212,0.589413597737,-0.00127253762638,1.05969840446
+198,3.300000000,pose1_to_pose2_press,0.619170878685,-0.00994550920388,1.06002912657,0.589741605683,-0.00127277706787,1.05969842124
+199,3.316666667,pose1_to_pose2_press,0.619473484029,-0.00994550534318,1.06002912138,0.590044210784,-0.00127277311387,1.05969841742
+200,3.333333333,pose1_to_pose2_press,0.619751214255,-0.00994546333647,1.06002913054,0.590321940057,-0.00127273358159,1.05969842503
+201,3.350000000,pose1_to_pose2_press,0.620000982481,-0.00994530942833,1.0600291063,0.590571706811,-0.00127258384124,1.05969839999
+202,3.366666667,pose1_to_pose2_press,0.6202260918,-0.00994544443159,1.06002902489,0.590796818602,-0.00127270989298,1.05969831932
+203,3.383333333,pose1_to_pose2_press,0.620426736626,-0.00994540423357,1.06002913559,0.590997459927,-0.00127268120638,1.05969842939
+204,3.400000000,pose1_to_pose2_press,0.620609412883,-0.00994540055897,1.06002913179,0.591180137776,-0.00127267155479,1.05969842638
+205,3.416666667,pose1_to_pose2_press,0.620775038691,-0.00994553040189,1.06002915909,0.591345764992,-0.00127279646726,1.0596984461
+206,3.433333333,pose1_to_pose2_press,0.620925301592,-0.00994545224631,1.06002925949,0.591496027089,-0.00127272054105,1.05969854773
+207,3.450000000,pose1_to_pose2_press,0.621061348201,-0.00994552423847,1.06002921021,0.591632073831,-0.00127279197334,1.0596984927
+208,3.466666667,pose1_to_pose2_press,0.621182730334,-0.00994544818263,1.06002915997,0.591753455197,-0.00127271790276,1.05969844761
+209,3.483333333,pose1_to_pose2_press,0.621290761777,-0.00994540822674,1.06002925116,0.591861484276,-0.00127268572086,1.05969853939
+210,3.500000000,pose1_to_pose2_press,0.621384738505,-0.00994551139986,1.06002925458,0.591955463814,-0.00127277897223,1.05969854742
+211,3.516666667,pose1_to_pose2_press,0.62146535434,-0.00994543976662,1.06002918955,0.592036078648,-0.00127271132652,1.05969847796
+212,3.533333333,pose1_to_pose2_press,0.621533052499,-0.00994540639572,1.06002905133,0.592103777566,-0.00127267460838,1.0596983452
+213,3.550000000,pose1_to_pose2_press,0.621588173255,-0.00994530882722,1.06002918581,0.592158897195,-0.00127258061522,1.0596984775
+214,3.566666667,pose1_to_pose2_press,0.621632691501,-0.00994534005427,1.0600291121,0.592203415696,-0.00127261098212,1.05969840681
+215,3.583333333,pose1_to_pose2_press,0.621667263504,-0.00994541971264,1.06002893003,0.592237988354,-0.0012726882735,1.05969823001
+216,3.600000000,pose1_to_pose2_press,0.62169472277,-0.00994549348117,1.06002894655,0.592265447898,-0.001272760912,1.05969824462
+217,3.616666667,pose1_to_pose2_press,0.621715538994,-0.00994559334693,1.06002914017,0.592286265085,-0.00127285729919,1.05969843135
+218,3.633333333,pose1_to_pose2_press,0.621731347231,-0.00994547745432,1.06002915112,0.592302071714,-0.00127274711626,1.05969844255
+219,3.650000000,pose1_to_pose2_press,0.621743210157,-0.00994541812287,1.06002916762,0.592313934458,-0.00127268854484,1.05969845539
+220,3.666666667,pose1_to_pose2_press,0.621751798091,-0.00994538005747,1.06002908334,0.592322522116,-0.00127265123066,1.05969837544
+221,3.683333333,pose1_to_pose2_press,0.621758301848,-0.00994534900498,1.06002885554,0.592329025035,-0.00127262240871,1.05969816404
+222,3.700000000,pose1_to_pose2_press,0.621763254782,-0.00994541096846,1.06002891006,0.592333978694,-0.00127268198868,1.05969821451
+223,3.716666667,pose1_to_pose2_press,0.621766531337,-0.00994547114287,1.06002899486,0.592337256046,-0.00127273963149,1.05969829301
+224,3.733333333,pose1_to_pose2_press,0.621768227923,-0.00994553327382,1.06002901678,0.592338954054,-0.00127279719931,1.05969830958
+225,3.750000000,pose1_to_pose2_press,0.621769531803,-0.00994558102342,1.06002903363,0.592340259026,-0.001272841442,1.05969832232
+226,3.766666667,pose1_to_pose2_press,0.62177032272,-0.00994560998769,1.06002904385,0.592341050605,-0.00127286827903,1.05969833004
+227,3.783333333,pose1_to_pose2_press,0.621770406865,-0.0099456130692,1.06002904494,0.592341134821,-0.00127287113422,1.05969833087
+228,3.800000000,pose1_to_pose2_press,0.621770440537,-0.00994561430231,1.06002904537,0.592341168521,-0.00127287227677,1.0596983312
+229,3.816666667,pose1_to_pose2_press,0.621770547968,-0.00994561823656,1.06002904676,0.592341276042,-0.00127287592207,1.05969833225
+230,3.833333333,pose1_to_pose2_press,0.621770741476,-0.00994562532303,1.06002904926,0.592341469712,-0.00127288248808,1.05969833414
+231,3.850000000,pose1_to_pose2_press,0.62177103518,-0.00994560799831,1.06002904315,0.592341763231,-0.00127286573478,1.05969832938
+232,3.866666667,pose1_to_pose2_press,0.621771295821,-0.00994558487834,1.060029035,0.592342023588,-0.00127284349741,1.05969832305
+233,3.883333333,pose1_to_pose2_press,0.621771597189,-0.00994555814567,1.06002902558,0.592342324628,-0.00127281778526,1.05969831573
+234,3.900000000,pose1_to_pose2_press,0.621772021417,-0.00994552051486,1.06002901231,0.592342748394,-0.00127278159099,1.05969830543
+235,3.916666667,pose1_to_pose2_press,0.62177221968,-0.00994550292805,1.06002900611,0.592342946441,-0.00127276467556,1.05969830062
+236,3.933333333,pose1_to_pose2_press,0.621772238691,-0.00994550124176,1.06002900552,0.592342965431,-0.00127276305364,1.05969830016
+237,3.950000000,pose1_to_pose2_press,0.621772417435,-0.00994548538635,1.06002899993,0.592343143981,-0.00127274780351,1.05969829582
+238,3.966666667,pose1_to_pose2_press,0.621772688507,-0.00994546134112,1.06002899145,0.592343414757,-0.0012727246762,1.05969828924
+239,3.983333333,pose1_to_pose2_press,0.621773010739,-0.00994543384444,1.06002898557,0.592343736585,-0.00127269846092,1.0596982853
+240,4.000000000,pose1_to_pose2_press,0.621773331649,-0.0099454209334,1.0600290356,0.592344056381,-0.0012726893597,1.05969833316
+241,4.016666667,pose1_to_pose2_press,0.62177365339,-0.00994540798895,1.06002908576,0.592344377004,-0.00127268023493,1.05969838114
+242,4.033333333,pose1_to_pose2_press,0.621773912144,-0.00994539757861,1.0600291261,0.59234463486,-0.00127267289649,1.05969841973
+243,4.050000000,pose1_to_pose2_press,0.621774050965,-0.00994539716474,1.06002914528,0.592344773372,-0.00127267354079,1.0596984381
+244,4.066666667,pose1_to_pose2_press,0.621774128375,-0.00994542376135,1.06002914321,0.592344851511,-0.00127269766716,1.05969843628
+245,4.083333333,pose1_to_pose2_press,0.621774267081,-0.00994547141872,1.0600291395,0.592344991524,-0.00127274089822,1.05969843302
+246,4.100000000,pose1_to_pose2_press,0.621774331275,-0.00994549532479,1.06002916614,0.592345056598,-0.00127276186966,1.05969845859
+247,4.116666667,pose1_to_pose2_press,0.621774330448,-0.00994550143966,1.06002926425,0.592345056723,-0.0012727649465,1.05969855222
+248,4.133333333,pose1_to_pose2_press,0.621774330249,-0.00994550291507,1.06002928792,0.59234505676,-0.00127276568958,1.05969857479
+249,4.150000000,pose2_hold,0.621774330249,-0.00994550291507,1.06002928792,0.592345056769,-0.00127276568584,1.0596985748
+250,4.166666667,pose2_hold,0.621774330249,-0.00994550291507,1.06002928792,0.592345056772,-0.00127276568716,1.0596985748
+251,4.183333333,pose2_hold,0.621774330249,-0.00994550291507,1.06002928792,0.592345056773,-0.00127276568745,1.0596985748
+252,4.200000000,pose2_hold,0.621774330249,-0.00994550291507,1.06002928792,0.592345056773,-0.00127276568743,1.05969857479
+253,4.216666667,pose2_hold,0.621774330249,-0.00994550291507,1.06002928792,0.592345056774,-0.0012727656858,1.05969857479
+254,4.233333333,pose2_hold,0.621774330249,-0.00994550291507,1.06002928792,0.592345056775,-0.00127276568729,1.0596985748
+255,4.250000000,pose2_hold,0.621774330249,-0.00994550291507,1.06002928792,0.592345056775,-0.00127276568568,1.0596985748
+256,4.266666667,pose2_hold,0.621774330249,-0.00994550291507,1.06002928792,0.592345056774,-0.00127276568698,1.05969857479
+257,4.283333333,pose2_hold,0.621774330249,-0.00994550291507,1.06002928792,0.592345056776,-0.00127276568575,1.0596985748
+258,4.300000000,pose2_hold,0.621774330249,-0.00994550291507,1.06002928792,0.592345056776,-0.00127276568543,1.05969857479
+259,4.316666667,pose2_hold,0.621774330249,-0.00994550291507,1.06002928792,0.592345056777,-0.00127276568594,1.0596985748
+260,4.333333333,pose2_hold,0.621774330249,-0.00994550291507,1.06002928792,0.592345056778,-0.00127276568745,1.0596985748
+261,4.350000000,pose2_hold,0.621774330249,-0.00994550291507,1.06002928792,0.592345056777,-0.00127276568744,1.05969857479
+262,4.366666667,pose2_hold,0.621774330249,-0.00994550291507,1.06002928792,0.592345056778,-0.00127276568762,1.05969857479
+263,4.383333333,pose2_hold,0.621774330249,-0.00994550291507,1.06002928792,0.592345056779,-0.00127276568764,1.05969857479
+264,4.400000000,pose2_hold,0.621774330249,-0.00994550291507,1.06002928792,0.592345056779,-0.00127276568752,1.05969857479
+265,4.416666667,pose2_hold,0.621774330249,-0.00994550291507,1.06002928792,0.59234505678,-0.0012727656876,1.05969857479
+266,4.433333333,pose2_hold,0.621774330249,-0.00994550291507,1.06002928792,0.592345056783,-0.00127276568822,1.0596985748
+267,4.450000000,pose2_to_pose3_retreat,0.621774330249,-0.00994550291507,1.06002928792,0.592345056783,-0.0012727656864,1.05969857479
+268,4.466666667,pose2_to_pose3_retreat,0.621774330677,-0.00994549974439,1.06002923705,0.59234505672,-0.00127276409224,1.05969852624
+269,4.483333333,pose2_to_pose3_retreat,0.621774330772,-0.00994549904388,1.06002922581,0.592345056705,-0.00127276374003,1.05969851551
+270,4.500000000,pose2_to_pose3_retreat,0.621774331067,-0.00994549685857,1.06002919075,0.592345056661,-0.0012727626413,1.05969848204
+271,4.516666667,pose2_to_pose3_retreat,0.621774331212,-0.00994549578705,1.06002917356,0.59234505664,-0.00127276210256,1.05969846563
+272,4.533333333,pose2_to_pose3_retreat,0.621774182587,-0.0099454286631,1.06002914474,0.592344906875,-0.00127269892952,1.05969843607
+273,4.550000000,pose2_to_pose3_retreat,0.621772974367,-0.00994533277139,1.06002902062,0.592343697807,-0.00127260577747,1.05969831513
+274,4.566666667,pose2_to_pose3_retreat,0.621768972172,-0.00994551266992,1.06002899964,0.592339698007,-0.00127277743529,1.05969829721
+275,4.583333333,pose2_to_pose3_retreat,0.621760237737,-0.00994554318796,1.06002900389,0.592330963728,-0.00127280760754,1.05969829923
+276,4.600000000,pose2_to_pose3_retreat,0.621742801784,-0.00994527719896,1.06002913404,0.592313524,-0.00127255470748,1.05969842463
+277,4.616666667,pose2_to_pose3_retreat,0.621714379834,-0.00994537835152,1.06002906826,0.59228510365,-0.00127265017892,1.05969836685
+278,4.633333333,pose2_to_pose3_retreat,0.621674225703,-0.00994551087164,1.0600290369,0.59224495241,-0.00127277349015,1.05969832713
+279,4.650000000,pose2_to_pose3_retreat,0.62162251328,-0.00994538005717,1.06002922097,0.592193238658,-0.00127264723355,1.05969851244
+280,4.666666667,pose2_to_pose3_retreat,0.621558911162,-0.00994541780405,1.06002937667,0.592129635821,-0.00127268755259,1.05969866084
+281,4.683333333,pose2_to_pose3_retreat,0.621485179488,-0.00994543086848,1.06002914734,0.592055904452,-0.0012726995406,1.05969843399
+282,4.700000000,pose2_to_pose3_retreat,0.621400828723,-0.00994550534404,1.0600291265,0.59197155385,-0.00127277390413,1.05969841474
+283,4.716666667,pose2_to_pose3_retreat,0.621302923156,-0.00994554878079,1.06002899627,0.591873649191,-0.00127281438306,1.05969828834
+284,4.733333333,pose2_to_pose3_retreat,0.621190584627,-0.00994536788298,1.06002909241,0.591761308679,-0.0012726405403,1.05969838417
+285,4.750000000,pose2_to_pose3_retreat,0.621059158291,-0.0099453891144,1.0600290804,0.591629882011,-0.00127266334869,1.05969837002
+286,4.766666667,pose2_to_pose3_retreat,0.620909127805,-0.00994539729458,1.06002920409,0.591479852515,-0.00127266856979,1.05969849394
+287,4.783333333,pose2_to_pose3_retreat,0.620739228801,-0.00994542361675,1.06002922071,0.591309953897,-0.0012726939732,1.05969851293
+288,4.800000000,pose2_to_pose3_retreat,0.620551055471,-0.00994554868003,1.06002910697,0.59112178104,-0.00127281808245,1.05969839702
+289,4.816666667,pose2_to_pose3_retreat,0.620344539561,-0.00994549018738,1.06002901161,0.590915265622,-0.0012727583373,1.0596983066
+290,4.833333333,pose2_to_pose3_retreat,0.62011835913,-0.00994540803052,1.0600290349,0.590689084578,-0.00127267873522,1.05969833134
+291,4.850000000,pose2_to_pose3_retreat,0.619871622124,-0.00994551254385,1.06002918853,0.590442347882,-0.00127278320498,1.05969847654
+292,4.866666667,pose2_to_pose3_retreat,0.619600845864,-0.00994546100325,1.06002932611,0.590171572215,-0.00127273059588,1.05969860848
+293,4.883333333,pose2_to_pose3_retreat,0.619303665021,-0.00994544355109,1.06002939069,0.589874393196,-0.00127270769444,1.05969867418
+294,4.900000000,pose2_to_pose3_retreat,0.618975334502,-0.00994532974647,1.06002916738,0.589546060834,-0.00127260078873,1.05969845478
+295,4.916666667,pose2_to_pose3_retreat,0.618617556309,-0.00994537018496,1.06002915668,0.589188281922,-0.0012726446383,1.05969844688
+296,4.933333333,pose2_to_pose3_retreat,0.618230301185,-0.00994546094424,1.06002912504,0.588801028199,-0.00127273122978,1.05969842509
+297,4.950000000,pose2_to_pose3_retreat,0.617815438338,-0.00994533441873,1.06002931555,0.588386165014,-0.00127260764146,1.05969859932
+298,4.966666667,pose2_to_pose3_retreat,0.617377015793,-0.00994558292207,1.06002936039,0.587947744336,-0.00127285071645,1.05969864874
+299,4.983333333,pose2_to_pose3_retreat,0.616918912236,-0.00994540810688,1.06002901098,0.587489639199,-0.00127268212899,1.05969830714
+300,5.000000000,pose2_to_pose3_retreat,0.616443871222,-0.0099454585886,1.06002900942,0.587014600204,-0.00127272681108,1.05969830389
+301,5.016666667,pose2_to_pose3_retreat,0.61595198874,-0.00994539534754,1.0600289152,0.586522715695,-0.00127267157406,1.05969820578
+302,5.033333333,pose2_to_pose3_retreat,0.615437733811,-0.00994540850201,1.06002903379,0.586008461567,-0.00127268349512,1.05969832086
+303,5.050000000,pose2_to_pose3_retreat,0.61489780086,-0.00994555046942,1.06002906328,0.585468531385,-0.0012728175129,1.05969834564
+304,5.066666667,pose2_to_pose3_retreat,0.614319608937,-0.00994537695631,1.06002932635,0.584890338374,-0.00127264851927,1.05969861667
+305,5.083333333,pose2_to_pose3_retreat,0.613705450934,-0.00994546196316,1.06002906889,0.584276181546,-0.00127273018023,1.05969836763
+306,5.100000000,pose2_to_pose3_retreat,0.613056046237,-0.00994540959476,1.06002900721,0.583626776016,-0.00127268154271,1.05969830306
+307,5.116666667,pose2_to_pose3_retreat,0.612383443844,-0.00994537921168,1.06002889662,0.582954173265,-0.00127265362763,1.05969819508
+308,5.133333333,pose2_to_pose3_retreat,0.611692652121,-0.00994547758086,1.0600290647,0.582263383596,-0.00127274628138,1.05969836171
+309,5.150000000,pose2_to_pose3_retreat,0.610988433553,-0.00994553970623,1.06002903146,0.581559165848,-0.00127280659162,1.05969832629
+310,5.166666667,pose2_to_pose3_retreat,0.610268315669,-0.00994547038452,1.06002909926,0.580839047817,-0.00127273845745,1.05969839506
+311,5.183333333,pose2_to_pose3_retreat,0.609525057409,-0.00994541083217,1.06002922922,0.58009578715,-0.00127268440637,1.05969852023
+312,5.200000000,pose2_to_pose3_retreat,0.608756819372,-0.00994544495437,1.06002920391,0.579327548938,-0.00127271791871,1.0596984911
+313,5.216666667,pose2_to_pose3_retreat,0.607962177317,-0.00994544024968,1.06002900616,0.578532907055,-0.00127271260904,1.05969829354
+314,5.233333333,pose2_to_pose3_retreat,0.607142795936,-0.00994542016683,1.0600290863,0.577713524974,-0.00127269485159,1.05969837462
+315,5.250000000,pose2_to_pose3_retreat,0.606298789232,-0.0099454503225,1.06002915481,0.576869519098,-0.00127272218251,1.05969844409
+316,5.266666667,pose2_to_pose3_retreat,0.605429044988,-0.00994537246571,1.06002895761,0.575999774212,-0.00127264627069,1.05969825274
+317,5.283333333,pose2_to_pose3_retreat,0.604542124098,-0.0099455245083,1.06002909039,0.575112854911,-0.00127279310461,1.0596983814
+318,5.300000000,pose2_to_pose3_retreat,0.603653740644,-0.00994542556125,1.06002904366,0.574224470751,-0.00127269646301,1.05969833732
+319,5.316666667,pose2_to_pose3_retreat,0.602770850036,-0.00994547952197,1.0600292284,0.573341581363,-0.00127274650562,1.05969851619
+320,5.333333333,pose2_to_pose3_retreat,0.601895399386,-0.00994550967731,1.06002898134,0.572466130071,-0.00127277855824,1.05969827638
+321,5.350000000,pose2_to_pose3_retreat,0.601031063098,-0.00994543994684,1.06002925784,0.571601793327,-0.00127271051984,1.059698549
+322,5.366666667,pose2_to_pose3_retreat,0.600166000247,-0.00994541980369,1.06002940249,0.570736730649,-0.00127268994269,1.05969868967
+323,5.383333333,pose2_to_pose3_retreat,0.599269994564,-0.00994546819576,1.06002914312,0.56984072592,-0.00127273497885,1.05969843337
+324,5.400000000,pose2_to_pose3_retreat,0.59834733748,-0.00994535739159,1.06002910545,0.568918067696,-0.00127262795019,1.059698398
+325,5.416666667,pose2_to_pose3_retreat,0.597401669314,-0.0099452680129,1.0600290511,0.567972397177,-0.00127254655019,1.05969834384
+326,5.433333333,pose2_to_pose3_retreat,0.596465865941,-0.00994540586035,1.06002912741,0.567036595432,-0.00127267892977,1.05969841766
+327,5.450000000,pose2_to_pose3_retreat,0.595554315271,-0.00994553394836,1.06002902673,0.566125046116,-0.00127280219649,1.0596983232
+328,5.466666667,pose2_to_pose3_retreat,0.59468308357,-0.00994540526429,1.06002920038,0.565253814327,-0.00127267385859,1.059698496
+329,5.483333333,pose2_to_pose3_retreat,0.593844851212,-0.00994536494309,1.06002937479,0.564415581679,-0.00127263480241,1.05969866306
+330,5.500000000,pose2_to_pose3_retreat,0.593023401671,-0.00994540178696,1.06002923676,0.563594131662,-0.00127267324185,1.05969852549
+331,5.516666667,pose2_to_pose3_retreat,0.592198078504,-0.00994549112759,1.0600289227,0.562768809501,-0.00127275916198,1.05969821151
+332,5.533333333,pose2_to_pose3_retreat,0.591362503157,-0.00994545544873,1.06002903837,0.561933234404,-0.00127272276538,1.05969832343
+333,5.550000000,pose2_to_pose3_retreat,0.590514518334,-0.00994549560551,1.0600292547,0.561085249653,-0.00127276268303,1.05969853893
+334,5.566666667,pose2_to_pose3_retreat,0.589662185346,-0.00994545737912,1.06002919852,0.560232915127,-0.00127272947424,1.0596984876
+335,5.583333333,pose2_to_pose3_retreat,0.588842107755,-0.00994553127743,1.06002924758,0.559412839427,-0.00127279696147,1.05969853653
+336,5.600000000,pose2_to_pose3_retreat,0.588054706559,-0.00994544172677,1.06002927884,0.558625438218,-0.00127270742062,1.05969856877
+337,5.616666667,pose2_to_pose3_retreat,0.587304179836,-0.00994544741009,1.06002928822,0.557874910385,-0.00127271699883,1.05969857473
+338,5.633333333,pose2_to_pose3_retreat,0.586588198373,-0.00994550214338,1.06002927872,0.557158929123,-0.00127277094607,1.05969856797
+339,5.650000000,pose2_to_pose3_retreat,0.585902310599,-0.00994548138609,1.06002926786,0.556473041744,-0.00127274873474,1.05969856005
+340,5.666666667,pose2_to_pose3_retreat,0.5852268923,-0.00994540965931,1.06002935613,0.55579762253,-0.00127268033724,1.0596986424
+341,5.683333333,pose2_to_pose3_retreat,0.584558993561,-0.0099453784528,1.060029266,0.555129723209,-0.00127265100934,1.05969855474
+342,5.700000000,pose2_to_pose3_retreat,0.583898508272,-0.00994551372603,1.06002900976,0.55446923886,-0.00127278297723,1.05969830158
+343,5.716666667,pose2_to_pose3_retreat,0.583256663966,-0.00994556097244,1.06002897694,0.553827394133,-0.00127283171357,1.05969826717
+344,5.733333333,pose2_to_pose3_retreat,0.582643037977,-0.00994557100114,1.06002911631,0.553213769088,-0.00127283869701,1.05969840234
+345,5.750000000,pose2_to_pose3_retreat,0.582062076718,-0.0099455445719,1.06002900792,0.552632807524,-0.00127281313868,1.05969829902
+346,5.766666667,pose2_to_pose3_retreat,0.58151404386,-0.00994548105053,1.06002908708,0.55208477302,-0.00127275546045,1.05969837146
+347,5.783333333,pose2_to_pose3_retreat,0.580998816252,-0.00994533248854,1.06002918792,0.551569544649,-0.00127260953308,1.05969847127
+348,5.800000000,pose2_to_pose3_retreat,0.580513584504,-0.00994531834576,1.06002915896,0.551084313191,-0.00127259414196,1.05969844934
+349,5.816666667,pose2_to_pose3_retreat,0.580060157005,-0.00994544162236,1.06002927095,0.550630887119,-0.00127271244921,1.0596985641
+350,5.833333333,pose2_to_pose3_retreat,0.57963678205,-0.00994542249864,1.0600292561,0.550207512323,-0.00127269274087,1.05969855058
+351,5.850000000,pose2_to_pose3_retreat,0.579244228117,-0.00994539936784,1.0600291527,0.549814957735,-0.00127267192678,1.05969844477
+352,5.866666667,pose2_to_pose3_retreat,0.578877733403,-0.00994548545758,1.06002933708,0.549448463743,-0.00127275593114,1.05969861928
+353,5.883333333,pose2_to_pose3_retreat,0.578534588347,-0.00994556839181,1.06002943369,0.549105320794,-0.00127283179061,1.05969871383
+354,5.900000000,pose2_to_pose3_retreat,0.578210588277,-0.00994556423918,1.06002913297,0.548781321444,-0.0012728246846,1.05969842665
+355,5.916666667,pose2_to_pose3_retreat,0.577904424723,-0.00994536957493,1.06002915037,0.548475154775,-0.00127264073388,1.05969844055
+356,5.933333333,pose2_to_pose3_retreat,0.577617406673,-0.00994540841501,1.06002923188,0.54818813745,-0.00127267723304,1.0596985188
+357,5.950000000,pose2_to_pose3_retreat,0.577351925669,-0.00994550950617,1.06002933836,0.547922657798,-0.00127277384562,1.05969862256
+358,5.966666667,pose2_to_pose3_retreat,0.577108901242,-0.00994542206019,1.06002913736,0.547679632461,-0.00127268914173,1.05969843058
+359,5.983333333,pose2_to_pose3_retreat,0.576892538722,-0.00994542569641,1.0600291741,0.547463269191,-0.00127269562285,1.05969845948
+360,6.000000000,pose2_to_pose3_retreat,0.576701059316,-0.00994538356106,1.06002924158,0.547271789438,-0.00127265481223,1.05969852313
+361,6.016666667,pose2_to_pose3_retreat,0.576534034992,-0.00994537976314,1.06002914016,0.547104765359,-0.00127264994805,1.05969842779
+362,6.033333333,pose2_to_pose3_retreat,0.576388661689,-0.00994546840535,1.06002900767,0.546959393114,-0.00127273486818,1.05969829878
+363,6.050000000,pose2_to_pose3_retreat,0.576264746568,-0.00994542199059,1.06002915106,0.546835477026,-0.0012726917149,1.05969844276
+364,6.066666667,pose2_to_pose3_retreat,0.57615688588,-0.00994538033137,1.06002911508,0.546727615348,-0.00127265350003,1.05969840496
+365,6.083333333,pose2_to_pose3_retreat,0.576064362823,-0.00994540486826,1.06002907051,0.54663509207,-0.00127267880828,1.05969836036
+366,6.100000000,pose2_to_pose3_retreat,0.575986129391,-0.0099454314406,1.0600292283,0.546556858715,-0.0012727051251,1.05969851766
+367,6.116666667,pose2_to_pose3_retreat,0.575920638583,-0.00994546869783,1.06002934433,0.546491369902,-0.00127273543732,1.05969863816
+368,6.133333333,pose2_to_pose3_retreat,0.575867592368,-0.00994538456837,1.06002925782,0.546438323215,-0.0012726531195,1.05969854603
+369,6.150000000,pose2_to_pose3_retreat,0.575825245327,-0.00994546039182,1.06002916887,0.54639597665,-0.00127272742288,1.05969845467
+370,6.166666667,pose2_to_pose3_retreat,0.575793387709,-0.00994535399135,1.06002917095,0.546364117118,-0.00127262763298,1.05969845365
+371,6.183333333,pose2_to_pose3_retreat,0.575769372663,-0.00994546404768,1.06002892642,0.546340102519,-0.00127273584597,1.0596982177
+372,6.200000000,pose2_to_pose3_retreat,0.57575218991,-0.00994542822598,1.0600293005,0.546322920647,-0.00127269746694,1.05969858036
+373,6.216666667,pose2_to_pose3_retreat,0.575739565126,-0.00994540974359,1.06002944182,0.546310296483,-0.00127267691202,1.05969872093
+374,6.233333333,pose2_to_pose3_retreat,0.575730042387,-0.00994540810349,1.06002935916,0.546300773814,-0.00127267479713,1.05969864453
+375,6.250000000,pose2_to_pose3_retreat,0.575723081503,-0.00994539907402,1.06002907856,0.546293811728,-0.00127266960601,1.05969837029
+376,6.266666667,pose2_to_pose3_retreat,0.575718390573,-0.00994542496063,1.06002904333,0.546289121002,-0.00127269492048,1.05969833195
+377,6.283333333,pose2_to_pose3_retreat,0.575715858897,-0.00994544682706,1.06002906232,0.546286589687,-0.00127271569805,1.05969834743
+378,6.300000000,pose2_to_pose3_retreat,0.575714750882,-0.00994541239836,1.06002907809,0.546285481313,-0.00127268244491,1.05969836431
+379,6.316666667,pose2_to_pose3_retreat,0.575714506728,-0.00994539743547,1.06002908281,0.546285236994,-0.00127266801803,1.05969836973
+380,6.333333333,pose2_to_pose3_retreat,0.575714485741,-0.00994539614928,1.06002908322,0.546285215992,-0.00127266677792,1.05969837019
+381,6.350000000,pose2_to_pose3_retreat,0.575714198641,-0.0099453785544,1.06002908877,0.546284928697,-0.00127264981333,1.05969837656
+382,6.366666667,pose2_to_pose3_retreat,0.575713522648,-0.00994533712637,1.06002910185,0.546284252246,-0.00127260986936,1.05969839156
+383,6.383333333,pose2_to_pose3_retreat,0.575713051236,-0.00994530823603,1.06002911097,0.546283780514,-0.00127258201396,1.05969840202
+384,6.400000000,pose2_to_pose3_retreat,0.575712893725,-0.00994529858297,1.06002911402,0.546283622896,-0.0012725727067,1.05969840551
+385,6.416666667,pose2_to_pose3_retreat,0.575712695148,-0.00994528641323,1.06002911786,0.546283424184,-0.00127256097292,1.05969840991
+386,6.433333333,pose2_to_pose3_retreat,0.575712301099,-0.00994526226406,1.06002912548,0.546283029868,-0.00127253768883,1.05969841866
+387,6.450000000,pose2_to_pose3_retreat,0.57571184828,-0.00994524149285,1.06002913351,0.546282576816,-0.00127251766214,1.05969842785
+388,6.466666667,pose2_to_pose3_retreat,0.575711464052,-0.00994527506427,1.06002913492,0.54628219294,-0.00127255003452,1.0596984294
+389,6.483333333,pose2_to_pose3_retreat,0.575711072198,-0.00994530930206,1.06002913637,0.546281801445,-0.00127258304946,1.05969843098
+390,6.500000000,pose2_to_pose3_retreat,0.575710887717,-0.00994532542085,1.06002913705,0.546281617133,-0.00127259859254,1.05969843172
+391,6.516666667,pose2_to_pose3_retreat,0.575710862731,-0.009945327604,1.06002913714,0.546281592169,-0.00127260069771,1.05969843182
+392,6.533333333,pose2_to_pose3_retreat,0.57571083976,-0.00994532961108,1.06002913723,0.546281569219,-0.00127260263311,1.05969843191
+393,6.550000000,pose2_to_pose3_retreat,0.575710662419,-0.00994534510609,1.06002913788,0.54628139204,-0.00127261757469,1.05969843263
+394,6.566666667,pose2_to_pose3_retreat,0.575710163583,-0.00994538869122,1.06002913972,0.546280893661,-0.00127265960312,1.05969843464
+395,6.583333333,pose2_to_pose3_retreat,0.575709843389,-0.0099453846207,1.06002920602,0.546280573611,-0.00127265509087,1.05969849969
+396,6.600000000,pose2_to_pose3_retreat,0.575709648643,-0.00994536539214,1.06002928038,0.546280378874,-0.00127263588509,1.05969857259
+397,6.616666667,pose2_to_pose3_retreat,0.575709632132,-0.00994536376187,1.06002928668,0.546280362364,-0.00127263425676,1.05969857877
+398,6.633333333,pose2_to_pose3_retreat,0.575709508051,-0.00994535151057,1.06002933406,0.546280238289,-0.00127262201997,1.05969862521
+399,6.650000000,pose2_to_pose3_retreat,0.57570949829,-0.00994535054678,1.06002933779,0.546280228529,-0.00127262105733,1.05969862887
+400,6.666666667,pose2_to_pose3_retreat,0.575709428068,-0.00994534361333,1.0600293646,0.546280158311,-0.00127261413209,1.05969865515
+401,6.683333333,pose2_to_pose3_retreat,0.575709273611,-0.00994533284214,1.06002925329,0.546280003324,-0.001272605216,1.05969854234
+402,6.700000000,pose2_to_pose3_retreat,0.575709253947,-0.00994533191949,1.06002922207,0.546279983539,-0.00127260471351,1.05969851089
+403,6.716666667,pose2_to_pose3_retreat,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
+404,6.733333333,pose2_to_pose3_retreat,0.57570921235,-0.00994532996774,1.06002915601,0.546279941685,-0.00127260365055,1.05969844436
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_08/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_08/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a2ea3550d7460effe65c5f1a99ba4ec2b9c8d988
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_08/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f5603979b4c4e8caf95adbc07e9b5dd7427fcd1d90c6e69ad8fdcce3c543f248
+size 25003783
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_08/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_08/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1639cfb07d9916cfaa4ad2a62b53ceae5e828bee
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_08/depth_01/franka_data.csv
@@ -0,0 +1,394 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,764,742,712,672,659,633,878,784,800,648,628,651,0.40103359848,-0.015517596032,0.0798677526835,0.999999985032,8.98469009518e-05,-0.000143875639203,3.4097138949e-05,1793193512463729920
+1,0.016666667,BASELINE,763.42186326,742,712,671.42186326,659,632.42186326,878,784,799.42186326,648,628.57813674,651,0.40103387662,-0.0155172206026,0.0798680709428,0.999999985039,9.07004224215e-05,-0.000143310038666,3.40297431352e-05,1793193512480396544
+2,0.033333333,BASELINE,763,742,712,671.155550079,659,632,877.844449921,784,799,648.155550079,629,650.844449921,0.40103441258,-0.0155170862315,0.0798685029611,0.999999985074,9.15048663915e-05,-0.000142561663556,3.39989284639e-05,1793193512497062656
+3,0.050000000,BASELINE,763,742,712,671.731010714,659,632,877.268989286,784,799,648.731010714,629,650.268989286,0.401035644525,-0.0155176026019,0.0798692420745,0.999999985186,9.21768248576e-05,-0.000141319884697,3.40668653041e-05,1793193512513728768
+4,0.066666667,BASELINE,763.313107445,742.313107445,712,672,659,632.313107445,877,784,799,649,629,650.313107445,0.401035585144,-0.015517293328,0.0798692218798,0.99999998517,9.27883583495e-05,-0.000141041916359,3.40287725544e-05,1793193512530395136
+5,0.083333333,BASELINE,763.901028627,742.901028627,712,672,659,632.901028627,877,784,799,649,629,650.901028627,0.401034392368,-0.0155162593878,0.079868535242,0.999999985042,9.33468569298e-05,-0.000141609882541,3.3897617855e-05,1793193512547061760
+6,0.100000000,BASELINE,763.518132796,742.518132796,712,671.518132796,659,632.518132796,877,784,799.481867204,649,628.518132796,651,0.401034463794,-0.0155176802419,0.0798688165757,0.999999985232,9.09816115756e-05,-0.00014180103987,3.39353241819e-05,1793193512563728384
+7,0.116666667,BASELINE,763,742,712,671,659,632.061140217,877,784,799.938859783,649,628.061140217,651,0.401034816968,-0.0155193898225,0.079869288037,0.999999985466,8.8306485197e-05,-0.000141817960575,3.4012168739e-05,1793193512580395008
+8,0.133333333,BASELINE,763,742,712,671,659,632.639297619,877,784,799.360702381,649,628.639297619,651,0.401035388766,-0.0155193391184,0.0798697104049,0.999999985603,8.80154486966e-05,-0.000141006469466,3.4130939571e-05,1793193512597061888
+9,0.150000000,BASELINE,763,742,712,671.214221873,659,633,877,784,799.214221873,648.785778127,628.785778127,650.785778127,0.401035384135,-0.0155195165242,0.0798695806846,0.99999998558,8.80525185239e-05,-0.000141096730849,3.43150835541e-05,1793193512613729024
+10,0.166666667,BASELINE,763,742,712,671.783783102,659,633,877,784,799.783783102,648.216216898,628.216216898,650.216216898,0.401034423356,-0.0155200723062,0.0798685351907,0.999999985294,8.86338329508e-05,-0.000142682769305,3.46076648807e-05,1793193512630395648
+11,0.183333333,BASELINE,763.368320685,742,712.368320685,672.368320685,659,633,877,784.368320685,799.631679315,648.368320685,628.368320685,650.368320685,0.401033076103,-0.0155196784112,0.0798678447967,0.999999984992,8.90893828808e-05,-0.000144544209296,3.44453493363e-05,1793193512647062272
+12,0.200000000,BASELINE,763.962022588,742,712.962022588,672.962022588,659,633,877,784.962022588,799.037977412,648.962022588,628.962022588,650.962022588,0.401031492362,-0.015518703394,0.0798673716938,0.999999984678,8.94679755936e-05,-0.000146574171969,3.40046752713e-05,1793193512663728640
+13,0.216666667,BASELINE,764,742,712.455940354,672.455940354,659,632.455940354,877.544059646,785,799,649,629,651,0.401034662465,-0.0155176889156,0.0798692047192,0.999999985108,9.11031734326e-05,-0.000142573936571,3.40244143347e-05,1793193512680395008
+14,0.233333333,BASELINE,764,742,712,672,659,632.123774704,877.876225296,785,799,649,629,650.876225296,0.401037184852,-0.0155170224463,0.0798705901782,0.999999985451,9.22572733252e-05,-0.000139379043331,3.40561307208e-05,1793193512697061888
+15,0.250000000,BASELINE,764,742,712,672,659,632.697941327,877.302058673,785,799,649,629,650.302058673,0.40103616818,-0.0155176321258,0.0798697735649,0.999999985363,9.13482716434e-05,-0.000140614164586,3.40169390261e-05,1793193512713728256
+16,0.266666667,BASELINE,763.728706513,742.271293487,712,672,659,632.728706513,877,785,799.271293487,649,629,650.271293487,0.401035462434,-0.0155180480392,0.0798691373211,0.999999985241,9.11106764653e-05,-0.000141629805961,3.4034612853e-05,1793193512730395136
+17,0.283333333,BASELINE,763.156258497,742.843741503,712,672,659,632.156258497,877,785,799.843741503,649,629,650.843741503,0.401035101835,-0.0155182488587,0.0798687013001,0.999999985082,9.16183889853e-05,-0.000142401809422,3.41154113437e-05,1793193512747062272
+18,0.300000000,BASELINE,763.433660822,742.566339178,712,671.566339178,659,632,877,784.566339178,799.566339178,649,629,651,0.401034205957,-0.0155169138108,0.0798680725856,0.999999984834,9.29951369934e-05,-0.000143290765796,3.39384720343e-05,1793193512763728896
+19,0.316666667,BASELINE,763.970946209,742,712,671.029053791,659,632.029053791,877.029053791,784,799,648.970946209,628.970946209,651,0.401033157438,-0.0155151730783,0.0798674143436,0.999999984567,9.45686254832e-05,-0.000144185586724,3.36788452014e-05,1793193512780396032
+20,0.333333333,BASELINE,763.395958605,742,712,671.604041395,659,632.604041395,877.604041395,784,799,648.395958605,628.395958605,651,0.401033017081,-0.0155166447131,0.0798675606976,0.999999984621,9.37080149713e-05,-0.000144365516725,3.36837919593e-05,1793193512797062144
+21,0.350000000,BASELINE,763.179185165,742,712,672,659,632.820814835,878,784,799.179185165,648,628.179185165,651,0.401033300861,-0.0155176467307,0.0798678290952,0.999999984713,9.30211686556e-05,-0.000144147088426,3.379115553e-05,1793193512813728512
+22,0.366666667,BASELINE,763.754674255,742,712,672,659,632.245325745,878,784,799.754674255,648,628.754674255,651,0.401034522704,-0.0155176100958,0.0798683674168,0.999999984888,9.27186368174e-05,-0.000143047610846,3.41250344182e-05,1793193512830395136
+23,0.383333333,BASELINE,764,742.338816847,712,672,659,632.338816847,878,784,799.661183153,648,629,651,0.401034149772,-0.0155166785616,0.0798682971065,0.999999984844,9.29130696394e-05,-0.000143273793014,3.39446805355e-05,1793193512847061760
+24,0.400000000,BASELINE,764,742.929389431,712,672,659,632.929389431,878,784,799.070610569,648,629,651,0.401032591853,-0.0155150820781,0.0798677745559,0.999999984636,9.34767689089e-05,-0.000144484998242,3.33822292469e-05,1793193512863728384
+25,0.416666667,BASELINE,764,742.491168922,712,672,659,633,878,784.508831078,799,648,629,651,0.40103338496,-0.0155156794113,0.0798679616283,0.999999984803,9.27091739005e-05,-0.000143753184237,3.36685165264e-05,1793193512880395008
+26,0.433333333,BASELINE,763.914147308,742,712,672,658.914147308,633,877.914147308,784.914147308,799,648.085852692,629,651,0.401034179478,-0.0155165626353,0.0798682229914,0.999999984986,9.18151543526e-05,-0.000142985604907,3.39524608151e-05,1793193512897062144
+27,0.450000000,BASELINE,763.342268392,742,712,672,658.342268392,633,877.342268392,784.342268392,799,648.657731608,629,651,0.401033174561,-0.0155173777656,0.0798683593804,0.999999984978,9.12289009642e-05,-0.000143509312329,3.35706452553e-05,1793193512913729024
+28,0.466666667,BASELINE,763.232633457,742.232633457,711.767366543,672,658,632.767366543,877.232633457,784.232633457,799,649,629,651,0.401032512851,-0.0155176890123,0.0798684086574,0.999999984977,9.07161967768e-05,-0.000143844289989,3.35546513624e-05,1793193512930395648
+29,0.483333333,BASELINE,763.8120414,742.8120414,711.1879586,672,658,632.1879586,877.8120414,784.8120414,799,649,629,651,0.401032362744,-0.0155172491462,0.0798683280812,0.999999984988,9.03131285583e-05,-0.000143897938068,3.40839686522e-05,1793193512947062272
+30,0.500000000,BASELINE,763.600477757,742.600477757,711.399522243,672,658.399522243,632.399522243,878,784.600477757,799,649,629,651,0.401032473867,-0.0155175997272,0.0798679585113,0.999999984962,9.02243597081e-05,-0.000144179137203,3.38749948237e-05,1793193512963728896
+31,0.516666667,BASELINE,763.009120643,742.009120643,711.990879357,672,658.990879357,632.990879357,878,784.009120643,799,649,629,651,0.401032710424,-0.0155183298497,0.0798674501779,0.999999984919,9.02865050681e-05,-0.000144569597407,3.33115226133e-05,1793193512980395520
+32,0.533333333,BASELINE,763.56739692,742,712,672,659,633,878,784,799.56739692,648.43260308,629,651,0.401032743891,-0.0155188707335,0.0798677370103,0.999999984902,9.06396796231e-05,-0.000144384405209,3.36620865496e-05,1793193512997061888
+33,0.550000000,BASELINE,764,742.143686595,712,672.143686595,659,633,878,784.143686595,799.856313405,648.143686595,629,651,0.401032593363,-0.0155189615168,0.0798679203962,0.999999984843,9.09266226676e-05,-0.000144568904028,3.38416913914e-05,1793193513013728512
+34,0.566666667,BASELINE,764,742.719989927,712,672.719989927,659,633,878,784.719989927,799.280010073,648.719989927,629,651,0.401031898434,-0.015517706047,0.0798677548185,0.999999984657,9.10004272682e-05,-0.000145893632041,3.34634565672e-05,1793193513030395392
+35,0.583333333,BASELINE,763.697685311,742.697685311,712,672.697685311,659,633,877.697685311,784.697685311,799.302314689,648.697685311,629,651,0.401032578744,-0.0155161760955,0.0798685344616,0.999999984734,9.2234744277e-05,-0.000144613157752,3.33399810411e-05,1793193513047062016
+36,0.600000000,BASELINE,763.109669964,742.109669964,712,672.109669964,659,633,877.109669964,784.109669964,799.890330036,648.109669964,629,651,0.401034558717,-0.0155143867466,0.0798702073798,0.999999985047,9.45657964814e-05,-0.000140870653035,3.34572641947e-05,1793193513063728896
+37,0.616666667,BASELINE,763.471541094,742,712,672,659,633,877.471541094,784.471541094,799.528458906,648.471541094,629,651,0.401033903115,-0.0155163924927,0.0798697171662,0.999999985069,9.32106388828e-05,-0.000141577022037,3.36079828102e-05,1793193513080395520
+38,0.633333333,BASELINE,764,742,712,672,659,633,877.949144305,784.949144305,799,649,629,651,0.401032741953,-0.0155189032781,0.0798687336885,0.999999984998,9.13173813146e-05,-0.000143265991847,3.37516728044e-05,1793193513097062144
+39,0.650000000,BASELINE,764,742,712,672,659,633,877.373302404,784.373302404,799,649,629,651,0.401032599639,-0.0155176455314,0.0798677778332,0.999999984694,9.2593663692e-05,-0.00014456898532,3.37436723039e-05,1793193513113728512
+40,0.666666667,BASELINE,764,742.201857031,712,671.798142969,659,633,877,784,799,648.798142969,629,651,0.401032264839,-0.0155170833111,0.0798673492544,0.999999984518,9.31571519478e-05,-0.000145431238466,3.36870697679e-05,1793193513130395136
+41,0.683333333,BASELINE,764,742.77575857,712,671.22424143,659,633,877,784,799,648.22424143,629,651,0.401031575266,-0.0155178030221,0.0798678925036,0.999999984586,9.24068828708e-05,-0.000145481159078,3.35408883837e-05,1793193513147061760
+42,0.700000000,BASELINE,764,742.639458412,712,671.360541588,659,633,877,784,799,648.360541588,629,651,0.401032044178,-0.0155184239144,0.0798683683003,0.999999984767,9.18324343905e-05,-0.000144594952624,3.35522284459e-05,1793193513163728384
+43,0.716666667,BASELINE,764,742.047696988,712,671.952303012,659,633,877,784,799,648.952303012,629,651,0.401033256041,-0.015518981433,0.0798688008388,0.999999985019,9.13707418899e-05,-0.000143108396154,3.36645889901e-05,1793193513180395008
+44,0.733333333,BASELINE,764,742,712,672,659,633,877,784,799,649,629,651,0.401033260072,-0.0155198098923,0.0798692504488,0.999999985389,8.79120059626e-05,-0.000142711708674,3.3564733296e-05,1793193513197061632
+45,0.750000000,BASELINE,764,742,712,672,659,633,877,784,799,648.893815576,629,651,0.401033150345,-0.0155202910929,0.0798695995605,0.999999985641,8.54003294675e-05,-0.000142484645065,3.35167944894e-05,1793193513213728256
+46,0.766666667,BASELINE,764,742,712,672,659,633,877,784,799,648.320037131,629,651,0.401033005956,-0.0155191385057,0.0798694995271,0.999999985373,8.82161500147e-05,-0.000142583788739,3.37794041252e-05,1793193513230395136
+47,0.783333333,BASELINE,764,742,712,672.26140366,659,633,877.26140366,784,799.26140366,648,629,650.73859634,0.401033381908,-0.0155182187357,0.079869537519,0.999999985213,8.99389214379e-05,-0.000142617886722,3.38540356712e-05,1793193513247061760
+48,0.800000000,BASELINE,764,742,712,672.852508844,659,633,877.852508844,784,799.852508844,648,629,650.147491156,0.401034414153,-0.0155175926119,0.0798697495985,0.999999985194,9.02830592878e-05,-0.000142569944307,3.36915754597e-05,1793193513263728128
+49,0.816666667,BASELINE,764,742,712,672.568359723,659,633,877.568359723,784,799.568359723,648.431640277,629,650.431640277,0.40103376134,-0.0155181514654,0.0798691206196,0.999999985206,8.95424939903e-05,-0.000142940558606,3.37260148306e-05,1793193513280395008
+50,0.833333333,BASELINE,764,742,712,672,659,632.993136532,877,784,799,649,628.993136532,651,0.401032566635,-0.0155190888196,0.0798682297775,0.999999985227,8.84657867056e-05,-0.000143445322904,3.38251185549e-05,1793193513297061888
+51,0.850000000,BASELINE,764,742,712,672,659,632.411821684,877,784,799,649,628.411821684,651,0.401032907647,-0.0155187308658,0.0798688261173,0.999999985127,8.9439324017e-05,-0.000143530751835,3.38572573906e-05,1793193513313728512
+52,0.866666667,BASELINE,764,742,712,672,659,632.167192911,877.167192911,784,799,649,628.167192911,651,0.401032856824,-0.0155183935375,0.0798689107281,0.999999984958,9.04526290684e-05,-0.00014405116216,3.39296419834e-05,1793193513330395392
+53,0.883333333,BASELINE,764,742,712,672,659,632.740618488,877.740618488,784,799,649,628.740618488,651,0.401031853951,-0.0155181063237,0.0798677519787,0.999999984623,9.15625587026e-05,-0.000145628457311,3.40998126654e-05,1793193513347062272
+54,0.900000000,BASELINE,764,742,712,672,659,632.676521843,878,784,799,648.676521843,629,650.676521843,0.401032387205,-0.0155184668205,0.0798682594914,0.999999984837,9.09370932619e-05,-0.000144513922678,3.42425662288e-05,1793193513363728896
+55,0.916666667,BASELINE,764,742,712,672,659,632.085870209,878,784,799,648.085870209,629,650.085870209,0.401034189206,-0.0155193622874,0.0798701432363,0.999999985495,8.88782959481e-05,-0.000141176098679,3.43626748946e-05,1793193513380395520
+56,0.933333333,BASELINE,763.503254406,742,712,672,659,632.496745594,878,784,799,648.496745594,628.503254406,650.496745594,0.40103483743,-0.0155200030257,0.0798710373596,0.999999985712,8.80102585169e-05,-0.000140148099217,3.44744267129e-05,1793193513397062144
+57,0.950000000,BASELINE,763.076878108,742,712,672,659,632.923121892,877.923121892,784,799,648.923121892,628.076878108,651,0.401035018823,-0.0155202928353,0.0798714028331,0.999999985746,8.78509078579e-05,-0.000140004265403,3.44872294036e-05,1793193513413728768
+58,0.966666667,BASELINE,763.649807609,742,712,672,659,632.350192391,877.350192391,784,799,648.350192391,628.649807609,651,0.401033454462,-0.0155185978999,0.0798694434811,0.999999985061,9.09572811439e-05,-0.000143030083259,3.3870741596e-05,1793193513430395136
+59,0.983333333,BASELINE,763.771761628,742,712,672,659,632.228238372,877,784,799,648,629,650.771761628,0.401032615065,-0.0155180317179,0.0798685310202,0.999999984773,9.22584752497e-05,-0.000144252611334,3.36758470619e-05,1793193513447061760
+60,1.000000000,BASELINE,763.184681564,742,712,672,659,632.815318436,877,784,799,648,629,650.184681564,0.401032915473,-0.015519240188,0.0798692645058,0.999999985129,9.07215250288e-05,-0.000142639965632,3.41437912103e-05,1793193513463728640
+61,1.016666667,BASELINE,763,742,712,672,658.600619991,632.600619991,877,784,799.399380009,648,629,650.399380009,0.401033104324,-0.0155187832782,0.0798691188844,0.999999985156,9.07499744933e-05,-0.00014247195774,3.39748783864e-05,1793193513480395520
+62,1.033333333,BASELINE,763,742,712,672,658.017943794,632.017943794,877,784,799.982056206,648,629,650.982056206,0.401033241975,-0.0155175620391,0.0798685697953,0.999999985033,9.14968671069e-05,-0.000142966969117,3.3513678859e-05,1793193513497062400
+63,1.050000000,BASELINE,763,742,712,672,658.557619621,632,877,784,799.442380379,648.557619621,629,650.442380379,0.401032358019,-0.0155182739174,0.0798683859067,0.99999998472,9.26967660751e-05,-0.0001443112361,3.37963755919e-05,1793193513513729024
+64,1.066666667,BASELINE,763.133255311,742,712,672,659,632.133255311,877,784.133255311,799,648.866744689,629,650.133255311,0.401032060827,-0.0155185968275,0.079868462441,0.999999984555,9.34188199456e-05,-0.000144942832555,3.39762876315e-05,1793193513530395648
+65,1.083333333,BASELINE,763.709883411,742,712,672,659,632.709883411,877,784.709883411,799,648.290116589,629,650.709883411,0.401033823943,-0.0155174211775,0.0798693668564,0.999999984912,9.25030753245e-05,-0.000143113417901,3.37355654952e-05,1793193513547062016
+66,1.100000000,BASELINE,763.708552403,742,712,671.708552403,658.708552403,633,877.291447597,784.708552403,799,648.291447597,628.708552403,650.708552403,0.401033866575,-0.0155169642682,0.0798697594258,0.999999985029,9.23065490401e-05,-0.000142429507816,3.36967418948e-05,1793193513563728128
+67,1.116666667,BASELINE,763.121990055,742,712,671.121990055,658.121990055,633,877.878009945,784.121990055,799,648.878009945,628.121990055,650.121990055,0.401032167073,-0.0155172351432,0.0798696337088,0.999999984906,9.28382907453e-05,-0.000142905515773,3.38623572422e-05,1793193513580394752
+68,1.133333333,BASELINE,763,742,712,671.459553903,658,632.540446097,877.540446097,784.459553903,799,649,628.459553903,650.459553903,0.401033182879,-0.0155177234418,0.0798699510582,0.999999985092,9.23556209851e-05,-0.000141911924818,3.38811077143e-05,1793193513597061888
+69,1.150000000,BASELINE,763,742,712,672,658.03938984,632,877.03938984,784.96061016,799,648.96061016,629,651,0.401034655413,-0.0155182845866,0.079870249144,0.999999985319,9.15529652265e-05,-0.000140828254287,3.38666347442e-05,1793193513613729280
+70,1.166666667,BASELINE,763,742,712,672,658.613923122,632,877.613923122,784.386076878,799,648.386076878,629,651,0.401032646277,-0.0155190597591,0.0798687049022,0.999999985039,9.0021892409e-05,-0.00014376349109,3.39247261102e-05,1793193513630395904
+71,1.183333333,BASELINE,763,742.189040636,712,672,659,632.189040636,878,784,799.189040636,648.189040636,629,651,0.401031600408,-0.0155190314136,0.0798678067264,0.999999984835,8.96833293976e-05,-0.000145406162327,3.38317580758e-05,1793193513647062272
+72,1.200000000,BASELINE,763,742.765355127,712,672,659,632.765355127,878,784,799.765355127,648.765355127,629,651,0.401032527916,-0.0155173569591,0.079868232099,0.999999984803,9.17877745613e-05,-0.000144400848667,3.3429325602e-05,1793193513663728640
+73,1.216666667,BASELINE,763.349499081,742.650500919,712,672.349499081,659,633,878,784.349499081,799.650500919,648.650500919,629,651,0.401032849743,-0.0155176462197,0.0798690316464,0.999999984893,9.26905554789e-05,-0.000143142890968,3.36620295118e-05,1793193513680395264
+74,1.233333333,BASELINE,763.939019958,742.060980042,712,672.939019958,659,633,878,784.939019958,799.060980042,648.060980042,629,651,0.401032755614,-0.0155192840802,0.079870088162,0.999999985067,9.27680819967e-05,-0.000141711427646,3.43309193573e-05,1793193513697061888
+75,1.250000000,BASELINE,764,742,712,672.480298282,659,632.480298282,877.480298282,784.480298282,799,648.519701718,629,651,0.401032716929,-0.0155186188819,0.0798695897854,0.999999984968,9.28885141629e-05,-0.000142376377847,3.41200517287e-05,1793193513713728256
+76,1.266666667,BASELINE,764,742,712,672,659,632,877.098768918,784,799,649,628.901231082,651,0.401032622248,-0.0155179934127,0.0798690285984,0.999999984875,9.27266630767e-05,-0.00014317952462,3.39218644858e-05,1793193513730394880
+77,1.283333333,BASELINE,764,742,712,672,659,632,877.67496122,784,799,649,628.32503878,651,0.401032225975,-0.015518844375,0.0798690309484,0.999999984963,9.11763997736e-05,-0.000143481529761,3.42756025687e-05,1793193513747061760
+78,1.300000000,BASELINE,764,742,712,672,659,632,877.744756237,784,799.255243763,649,628.255243763,651,0.401032537099,-0.0155188083677,0.0798691367805,0.999999985053,9.06722934277e-05,-0.000143174734482,3.42515490591e-05,1793193513763728640
+79,1.316666667,BASELINE,764,742,712,672,659,632,877.159180218,784,799.840819782,649,628.840819782,651,0.401033763723,-0.015517624459,0.0798693765372,0.999999985149,9.15221062333e-05,-0.000142080039744,3.37385638916e-05,1793193513780395264
+80,1.333333333,BASELINE,764,742,712,672,659,632.423948922,877.423948922,784,799.576051078,648.576051078,628.576051078,650.576051078,0.401033144801,-0.015518580553,0.0798689637168,0.999999985054,9.09603097625e-05,-0.000143084627449,3.3849525722e-05,1793193513797061632
+81,1.350000000,BASELINE,764,742,712,672,659,632.993898908,877.993898908,784,799,648.006101092,628.006101092,650.006101092,0.401031852001,-0.0155203022199,0.079868317372,0.999999984884,8.98982501315e-05,-0.00014485114124,3.41870291e-05,1793193513813728000
+82,1.366666667,BASELINE,764,742,712,672,659,632.417686013,877.417686013,784,799,648.582313987,628.582313987,650.582313987,0.401031969443,-0.0155189099721,0.0798686141559,0.999999984801,9.13323416939e-05,-0.000144583466308,3.39276436273e-05,1793193513830394624
+83,1.383333333,BASELINE,764,742,712,672,659,632.158352369,877,784,799,649,628.841647631,650.841647631,0.401031986688,-0.0155180272367,0.0798687662037,0.999999984758,9.19356578803e-05,-0.000144536086954,3.37701142615e-05,1793193513847061248
+84,1.400000000,BASELINE,764,742,712,672,659,632.733931072,877,784,799,649,628.266068928,650.266068928,0.401031739936,-0.0155184869626,0.0798685369016,0.999999984822,9.03500499835e-05,-0.000145069141653,3.38809549953e-05,1793193513863728128
+85,1.416666667,BASELINE,764,742,712,672,659,632.684731764,877,784,799.315268236,649,628.315268236,650.315268236,0.401031485976,-0.0155189413544,0.0798687161491,0.999999984883,8.94243016182e-05,-0.000145195039907,3.39882681934e-05,1793193513880394752
+86,1.433333333,BASELINE,764,742,712,672,659,632.098444395,877,784,799.901555605,649,628.901555605,650.901555605,0.40103122582,-0.0155193911608,0.0798692466048,0.999999984944,8.90657990704e-05,-0.000144970927649,3.40925489523e-05,1793193513897061376
+87,1.450000000,BASELINE,763.517090934,742,712,672,659,632,877,784,799.517090934,648.517090934,628.517090934,651,0.401031694821,-0.0155191438491,0.079869397919,0.99999998488,9.05676171584e-05,-0.000144504827938,3.40053600957e-05,1793193513913728512
+88,1.466666667,BASELINE,763.062744849,742,712,672,659,632,877.062744849,784.062744849,799,648,628.062744849,651,0.401032346817,-0.0155189824814,0.0798695359269,0.999999984834,9.19854190436e-05,-0.000143943873791,3.39262396529e-05,1793193513930395648
+89,1.483333333,BASELINE,763.638313937,742,712,672,659,632,877.638313937,784.638313937,799,648,628.638313937,651,0.401033291861,-0.0155206733106,0.0798701905008,0.99999998517,8.96483032418e-05,-0.000143006769822,3.42288558184e-05,1793193513947062016
+90,1.500000000,BASELINE,764,742,712,672,659,632.218768179,878,785,799,648.218768179,629,650.781231821,0.401033588231,-0.015521161822,0.0798702281,0.999999985304,8.87998917425e-05,-0.000142569603091,3.43552966091e-05,1793193513963728640
+91,1.516666667,BASELINE,764,742,712,672,659,632.807483385,878,785,799,648.807483385,629,650.192516615,0.401032787662,-0.0155196171588,0.0798692223669,0.999999985102,9.04689477479e-05,-0.000142977853256,3.41838167286e-05,1793193513980395008
+92,1.533333333,BASELINE,764,742.38963197,712,671.61036803,659,633,877.61036803,785,799,649,628.61036803,650.38963197,0.401031711183,-0.015519250245,0.0798685910151,0.999999984932,9.03140381022e-05,-0.000144280630153,3.41060404272e-05,1793193513997061376
+93,1.550000000,BASELINE,764,742.968589823,712,671.031410177,659,633,877.031410177,785,799,649,628.031410177,650.968589823,0.401030500637,-0.0155194556107,0.0798681415787,0.999999984774,8.92728463285e-05,-0.000146018066144,3.40737955716e-05,1793193514013728256
+94,1.566666667,BASELINE,764,742.453473523,712,671.546526477,659,632.453473523,877,784.453473523,799,648.453473523,628,651,0.401031764478,-0.0155195953084,0.079869310607,0.999999984995,9.02998449611e-05,-0.000143833285507,3.41642287536e-05,1793193514030394880
+95,1.583333333,BASELINE,764,742,712,672,659,632.123386751,877.123386751,784,799,648.123386751,628.123386751,651,0.401032915003,-0.0155194430245,0.0798703201509,0.999999985184,9.13088589919e-05,-0.000141876168995,3.41495526361e-05,1793193514047061504
+96,1.600000000,BASELINE,764,742,712,672,659,632.696537156,877.696537156,784,799,648.696537156,628.696537156,651,0.401033135068,-0.0155182401547,0.0798704099209,0.999999985195,9.18198479028e-05,-0.000141569077336,3.37260844271e-05,1793193514063728128
+97,1.616666667,BASELINE,764,742,712,672,659,633,877.721872385,784,799,648.721872385,629,650.721872385,0.401033051821,-0.0155180975955,0.0798699623883,0.999999985131,9.16796143732e-05,-0.00014215438309,3.35501255374e-05,1793193514080395008
+98,1.633333333,BASELINE,764,742,712,672,659,633,877.130784888,784,799,648.130784888,629,650.130784888,0.401032627277,-0.0155191481386,0.0798689102621,0.99999998498,9.08066002923e-05,-0.000143743848732,3.36526736722e-05,1793193514097061632
+99,1.650000000,BASELINE,764,742,712,672,658.549436418,633,877.450563582,784,799.450563582,648,628.549436418,650.450563582,0.401032562033,-0.0155197176401,0.0798688464828,0.999999985049,9.02299461116e-05,-0.000143563087973,3.39288552794e-05,1793193514113728256
+100,1.666666667,BASELINE,763.970978798,742,712,672,658.029021202,632.970978798,877.970978798,784,800,648.029021202,628.029021202,650.970978798,0.401032603286,-0.0155201540298,0.0798690898108,0.999999985167,8.98310911026e-05,-0.000142907936603,3.42493110917e-05,1793193514130394624
+101,1.683333333,BASELINE,763.394853358,742,712,672,658.605146642,632.394853358,877.394853358,784,800,648.605146642,628.605146642,650.394853358,0.401032727672,-0.0155206576397,0.0798698287614,0.999999985053,9.11966778579e-05,-0.00014279157903,3.44743776713e-05,1793193514147061504
+102,1.700000000,BASELINE,763.184543809,742,712,672.184543809,659,632.184543809,877,784,799.815456191,649,629,650.184543809,0.401032813296,-0.0155206954491,0.079870142631,0.99999998497,9.19544097314e-05,-0.000142883725548,3.44715784687e-05,1793193514163727872
+103,1.716666667,BASELINE,763.771067493,742,712,672.771067493,659,632.771067493,877,784,799.228932507,649,629,650.771067493,0.401032814486,-0.0155197186352,0.0798695305741,0.999999984961,9.13880903402e-05,-0.000143430043099,3.39724338989e-05,1793193514180394752
+104,1.733333333,BASELINE,763.646766728,742,712,672.646766728,659,633,877,784.353233272,799.353233272,648.646766728,629,651,0.401032190721,-0.0155199187311,0.0798691641435,0.999999984955,9.02728594928e-05,-0.000144204460899,3.38393229663e-05,1793193514197061632
+105,1.750000000,BASELINE,763.067390856,742,712,672.067390856,659,633,877,784.932609144,799.932609144,648.067390856,629,651,0.401031166855,-0.0155208722934,0.0798689549645,0.99999998495,8.88062113431e-05,-0.000145124910252,3.39405494747e-05,1793193514213728256
+106,1.766666667,BASELINE,763.509967171,742,712,672,659,632.490032829,877.509967171,784.490032829,799.490032829,648,628.490032829,651,0.401030662703,-0.0155202609758,0.0798690232653,0.999999984836,8.9272303397e-05,-0.000145589231788,3.40994018417e-05,1793193514230394880
+107,1.783333333,POSE1_TO_POSE2_PRESS,763,742,712,672,659,633,877,784,800,649,629,650,0.401032587577,-0.0155202785776,0.0798696768471,0.999999985088,8.98375047343e-05,-0.000143467134989,3.41993810238e-05,1793193514273643520
+108,1.800000000,POSE1_TO_POSE2_PRESS,763.591815974,742,712,671.408184026,659,633,877.591815974,784.591815974,799.408184026,649,629,650.591815974,0.401032945577,-0.0155203198233,0.0798698669532,0.999999985185,8.88373904798e-05,-0.00014340885785,3.4234794453e-05,1793193514290310144
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,742,712,671.179778565,659,633,877.820221435,784.820221435,799,649,629,651,0.401032960725,-0.0155202013681,0.0798699728642,0.999999985274,8.78667677855e-05,-0.000143399992132,3.41830793519e-05,1793193514306977024
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,742,712,671.759175827,659,633,877.240824173,784.240824173,799,649,629,651,0.401032213773,-0.0155197279235,0.079869891623,0.999999985347,8.69616998696e-05,-0.000143500960008,3.39376916159e-05,1793193514323643648
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,742,712,672.336217343,659,633,877,784.336217343,799,648.663782657,629,651,0.401032068622,-0.0155205802799,0.0798694794425,0.999999985318,8.66241206651e-05,-0.000143889395769,3.39991216598e-05,1793193514340310272
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,742,712,672.911583203,659,633,877,784.911583203,799,648.088416797,629,651,0.40103235153,-0.0155223756673,0.0798688318675,0.999999985217,8.66901913737e-05,-0.000144482304968,3.42787885766e-05,1793193514356976896
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,742.485560207,712,672.028879586,659,633,877.485560207,784.514439793,799.971120414,648,629,651,0.401033700015,-0.0155209082882,0.0798697449405,0.999999984972,9.00102343584e-05,-0.000144144827532,3.42880528312e-05,1793193514373644544
+114,1.900000000,POSE1_TO_POSE2_PRESS,763.938731968,742.938731968,712,671,659,633,877.938731968,784,800.877463936,648.061268032,628.938731968,651,0.401035650465,-0.0155194040722,0.0798712010447,0.999999984768,9.30948024181e-05,-0.000143599769452,3.42962274325e-05,1793193514390311936
+115,1.916666667,POSE1_TO_POSE2_PRESS,763.345816853,742.345816853,712,671,659,633,877.345816853,784,799.691633707,648.654183147,628.345816853,651,0.401041145493,-0.0155227209599,0.0798749103202,0.999999985252,8.90091639632e-05,-0.000142719351114,3.47209879938e-05,1793193514406977792
+116,1.933333333,POSE1_TO_POSE2_PRESS,763,742,712,671.240774444,659,633,877,784,799,648.759225556,628.240774444,651,0.40105194256,-0.0155245421022,0.0798794829485,0.999999985615,8.67125855495e-05,-0.000141488905057,3.50907680022e-05,1793193514423643904
+117,1.950000000,POSE1_TO_POSE2_PRESS,763,742,712,671.818515438,659,633,877,784,799,648.181484562,628.818515438,651,0.401070159889,-0.0155242699317,0.0798852638481,0.999999985829,8.69198171838e-05,-0.000139768591333,3.53836020716e-05,1793193514440310272
+118,1.966666667,POSE1_TO_POSE2_PRESS,763.395303602,742,712,672,659.395303602,632.604696398,877,784,799,648,629,651,0.401103979507,-0.0155255128712,0.0798928887347,0.99999998659,8.7303458596e-05,-0.000134010244447,3.51998884503e-05,1793193514456976896
+119,1.983333333,POSE1_TO_POSE2_PRESS,763.971655422,742,712,672,659.971655422,632.028344578,877,784,799,648,629,651,0.401144944941,-0.0155274497278,0.0799013581639,0.999999987554,8.77678953291e-05,-0.000126402486714,3.47979170137e-05,1793193514473643520
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,742.558544373,712,672,659.441455627,632.558544373,877.558544373,784,799.558544373,648.558544373,629,651,0.401206950254,-0.015530265961,0.0799089750535,0.999999989008,8.47391199631e-05,-0.000116972039642,3.3467121946e-05,1793193514490310656
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,743,712,672,659,632.855932174,877.855932174,784,800,648.855932174,629,650.855932174,0.401276813394,-0.0155331123863,0.0799159616026,0.999999990294,8.21614291133e-05,-0.000107989721784,3.16220248669e-05,1793193514506977536
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,743,712,672,659,632.276186184,877.276186184,784,800,648.276186184,629,650.276186184,0.401367148563,-0.0155359125676,0.0799211752801,0.999999991212,8.14942664135e-05,-0.000100647696096,2.83669006088e-05,1793193514523644160
+123,2.050000000,POSE1_TO_POSE2_PRESS,763.700297556,742.700297556,712.299702444,672,659,632.299702444,877,784,800,648,629,650.299702444,0.40146823164,-0.0155390416865,0.0799258201018,0.999999992005,8.01861404085e-05,-9.45329949891e-05,2.49545196853e-05,1793193514540310528
+124,2.066666667,POSE1_TO_POSE2_PRESS,763.127918485,742.127918485,712.872081515,672,659,632.872081515,877,784,800,648,629,650.872081515,0.401579093422,-0.0155424700809,0.0799299473642,0.999999992698,7.8294850326e-05,-8.95349442993e-05,2.13990629903e-05,1793193514556976896
+125,2.083333333,POSE1_TO_POSE2_PRESS,763,742,712.550349477,672,659.449650523,632.550349477,877,784.449650523,800,648.449650523,629,651,0.401712694793,-0.0155465308659,0.0799337164673,0.99999999372,7.20385826983e-05,-8.4239407213e-05,1.65535263547e-05,1793193514573643776
+126,2.100000000,POSE1_TO_POSE2_PRESS,763,742,712,672,659.970740687,632.029259313,877,784.970740687,799.970740687,648.970740687,629,651,0.401854347291,-0.0155505894104,0.0799374779536,0.99999999476,6.44526389643e-05,-7.87281496269e-05,1.12855108623e-05,1793193514590310400
+127,2.116666667,POSE1_TO_POSE2_PRESS,763,742,712,672,659.380664852,632.619335148,877,784.380664852,799.380664852,648.380664852,629,651,0.402024875715,-0.0155511164862,0.079943069207,0.999999995949,5.54596591715e-05,-7.07232094259e-05,5.03640753398e-06,1793193514606977024
+128,2.133333333,POSE1_TO_POSE2_PRESS,763,742,712,672,659,633,877,784.204585247,799,648,629,651,0.402203820703,-0.01555345584,0.079945008123,0.999999997035,3.1537424745e-05,-7.02148003025e-05,-2.16724789777e-06,1793193514623643904
+129,2.150000000,POSE1_TO_POSE2_PRESS,763,742,712,672,659,633,877,784.781063117,799,648,629,651,0.402398065204,-0.0155590895311,0.0799403078632,0.999999996276,-1.95230298389e-05,-8.33334967489e-05,-1.11060760805e-05,1793193514640310528
+130,2.166666667,POSE1_TO_POSE2_PRESS,763.358345021,742,712,672,659,632.641654979,877,784.641654979,799,648,628.641654979,650.641654979,0.402612106294,-0.0155610632165,0.0799348907947,0.999999994413,-4.21588639608e-05,-9.50049972948e-05,-1.92284505485e-05,1793193514656977408
+131,2.183333333,POSE1_TO_POSE2_PRESS,763.936119322,742,712,672,659,632.063880678,877,784.063880678,799,648,628.063880678,650.063880678,0.402838269664,-0.0155607957317,0.0799290347945,0.999999992921,-4.73891479101e-05,-0.00010579032209,-2.68508779655e-05,1793193514673644288
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632.52245392,877,784,799,648,628,650.52245392,0.403108675292,-0.0155574859328,0.0799292937133,0.99999999349,-3.88146836461e-05,-0.000103852514743,-2.69776798871e-05,1793193514690310656
+133,2.216666667,POSE1_TO_POSE2_PRESS,763.891626932,742,712,672,659,633,877,784,799,648.108373068,628,650.891626932,0.403394148369,-0.0155526978183,0.0799305793932,0.999999994146,-2.89840056766e-05,-0.00010073048847,-2.68480082428e-05,1793193514706977280
+134,2.233333333,POSE1_TO_POSE2_PRESS,763.31213946,742,712,672,659,633,877,784,799,648.68786054,628,650.31213946,0.403721214308,-0.01554312725,0.0799330241659,0.999999994403,-2.11522149832e-05,-9.93358376208e-05,-2.96539114176e-05,1793193514723643904
+135,2.250000000,POSE1_TO_POSE2_PRESS,763,742,712,672,659,633,877,784.26552769,799.53105538,649,628.26552769,650.26552769,0.404070009403,-0.0155393110858,0.0799334026516,0.999999994376,-1.86198297779e-05,-9.93996753959e-05,-3.19597044951e-05,1793193514740310528
+136,2.266666667,POSE1_TO_POSE2_PRESS,763,742,712,672,659,633,877,784.841069508,800.682139016,649,628.841069508,650.841069508,0.404444174129,-0.0155422134175,0.0799313686649,0.999999994067,-2.22747114965e-05,-0.000101166356675,-3.36815989979e-05,1793193514756976896
+137,2.283333333,POSE1_TO_POSE2_PRESS,763.417666957,742,712,672,659,633,877,784.582333043,800.164666086,649,628.582333043,651,0.404849563091,-0.0155477184062,0.079930692986,0.999999994223,-2.86590450635e-05,-9.74434579381e-05,-3.51879167476e-05,1793193514773643520
+138,2.300000000,POSE1_TO_POSE2_PRESS,763.994667099,742,712,672,659,633,877,784.005332901,799.010665801,649,628.005332901,651,0.405266863586,-0.0155542162663,0.0799305354796,0.999999994481,-3.6084620257e-05,-9.16263732103e-05,-3.66119954124e-05,1793193514790310144
+139,2.316666667,POSE1_TO_POSE2_PRESS,763.416118721,742,712,672,659,633,877,784.583881279,799,649,628.583881279,650.416118721,0.405701379753,-0.0155530077731,0.0799233643471,0.999999992904,-3.69904942681e-05,-0.000106191560481,-3.93425809829e-05,1793193514806976768
+140,2.333333333,POSE1_TO_POSE2_PRESS,763.169955132,742.169955132,712,672,659,633,877,784.830044868,799,648.830044868,628.830044868,650,0.406150960531,-0.0155518121056,0.0799162272221,0.999999991146,-3.80793651187e-05,-0.000120450898855,-4.18330372779e-05,1793193514823643392
+141,2.350000000,POSE1_TO_POSE2_PRESS,763.748210839,742.748210839,712,672,659,633,877,784.251789161,799,648.251789161,628.251789161,650,0.406636346673,-0.01555081996,0.0799093289821,0.999999989341,-3.97539824534e-05,-0.000133518671067,-4.37173256555e-05,1793193514840310016
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,742.674409597,712,672,659,632.674409597,877.325590403,784.325590403,799,648.325590403,628.325590403,650.325590403,0.407150478812,-0.015548254957,0.0799057210549,0.999999988089,-4.01355193974e-05,-0.000141940343145,-4.54349188712e-05,1793193514856976896
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,742.097705702,712,672,659,632.097705702,877.902294298,784.902294298,799,648.902294298,628.902294298,650.902294298,0.407686781518,-0.0155444768785,0.0799046507999,0.999999987341,-3.95197607541e-05,-0.000146778684886,-4.70239476779e-05,1793193514873643520
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,742.487524735,712,672,659,632.487524735,878,784.512475265,799,649,629,651,0.408235845339,-0.0155442660082,0.0798981714716,0.999999985269,-4.29759348366e-05,-0.000158724603052,-4.92134057513e-05,1793193514890310144
+145,2.416666667,POSE1_TO_POSE2_PRESS,763.926478396,743,712,672.073521604,659,633,878,784.073521604,799.073521604,649,628.926478396,651,0.408800443084,-0.0155451803851,0.0798951599831,0.999999984033,-4.6913732353e-05,-0.000164673500875,-5.11371120993e-05,1793193514906976768
+146,2.433333333,POSE1_TO_POSE2_PRESS,763.347173551,743,712,672.652826449,659,633,878,784.652826449,799.652826449,649,628.347173551,651,0.409453997854,-0.0155488300788,0.0799235953769,0.999999990429,-4.84508582584e-05,-0.000119392890858,-5.03900585115e-05,1793193514923643392
+147,2.450000000,POSE1_TO_POSE2_PRESS,763.23165695,743,712,672.76834305,659.23165695,632.76834305,877.76834305,785,799.76834305,649,628,651,0.410123452879,-0.0155519446461,0.0799519764668,0.999999994638,-5.29494246358e-05,-7.37317129819e-05,-4.98459458061e-05,1793193514940310272
+148,2.466666667,POSE1_TO_POSE2_PRESS,763.809777993,743,712,672.190222007,659.809777993,632.190222007,877.190222007,785,799.190222007,649,628,651,0.410816688147,-0.0155542588829,0.0799802763384,0.999999996477,-6.18770952383e-05,-2.75013640295e-05,-4.96053497873e-05,1793193514956976896
+149,2.483333333,POSE1_TO_POSE2_PRESS,763.615495302,742.615495302,712,672,660,632,877.384504698,785,799,648.615495302,628.384504698,651,0.41148982155,-0.015553240565,0.079971397998,0.999999995356,-6.92836738679e-05,-4.26473565759e-05,-5.16706831674e-05,1793193514973643520
+150,2.500000000,POSE1_TO_POSE2_PRESS,763.042433164,742.042433164,712,672,660,632,877.957566836,785,799,648.042433164,628.957566836,651,0.41215309717,-0.0155505879939,0.0799442878159,0.999999991749,-7.5944323155e-05,-8.7891723324e-05,-5.48668222998e-05,1793193514990310144
+151,2.516666667,POSE1_TO_POSE2_PRESS,763,742.53438637,712,672.53438637,659.46561363,632,878,784.46561363,799,648.53438637,629,650.46561363,0.412845655622,-0.0155461608396,0.0799128742541,0.999999987634,-7.35730919328e-05,-0.000125071257082,-6.06291572317e-05,1793193515006976768
+152,2.533333333,POSE1_TO_POSE2_PRESS,763,743,712,672.88560883,659.11439117,632.11439117,878,784,799.11439117,648.88560883,628.88560883,650.11439117,0.413551714032,-0.0155433076863,0.079890573673,0.999999984192,-7.20408227434e-05,-0.000148852601686,-6.53365457864e-05,1793193515023643392
+153,2.550000000,POSE1_TO_POSE2_PRESS,763,743,712,672.293558239,659.706441761,632.706441761,878,784,799.706441761,648.293558239,628.293558239,650.706441761,0.414304365506,-0.0155476196045,0.0799077628496,0.999999987809,-7.70276914649e-05,-0.000119380557897,-6.47819284022e-05,1793193515040310016
+154,2.566666667,POSE1_TO_POSE2_PRESS,763,743,712,672.290665045,660,633,878,784,800,648.290665045,628.290665045,651,0.415071283115,-0.0155522664442,0.0799268102334,0.999999990715,-7.93814320821e-05,-9.14324345229e-05,-6.2519721194e-05,1793193515056976640
+155,2.583333333,POSE1_TO_POSE2_PRESS,763,743,712,672.867190475,660,633,878,784,800,648.867190475,628.867190475,651,0.415852231131,-0.0155572426699,0.0799476851107,0.999999993041,-7.91455704956e-05,-6.49830378531e-05,-5.85781503638e-05,1793193515073643264
+156,2.600000000,POSE1_TO_POSE2_PRESS,763.440643756,742.559356244,712,673,660,632.559356244,878,784,799.559356244,649,628.559356244,650.559356244,0.41663111281,-0.0155587594376,0.079939603129,0.999999991285,-8.80862875621e-05,-7.81386475883e-05,-5.97079722867e-05,1793193515090310912
+157,2.616666667,POSE1_TO_POSE2_PRESS,763.986408292,742.013591708,712,673,660,632.013591708,878,784.013591708,799,649,628.013591708,650.013591708,0.417411102997,-0.0155593387692,0.0799239667569,0.999999987997,-9.96350643046e-05,-0.000101027569887,-6.22323973485e-05,1793193515106978304
+158,2.633333333,POSE1_TO_POSE2_PRESS,763.395876805,742.604123195,712,673,660,632.604123195,878,784.604123195,799,649,628.604123195,650.604123195,0.418264402275,-0.0155640789101,0.0799555641346,0.99999999211,-0.000105300545899,-3.38868965477e-05,-5.95219013812e-05,1793193515123644416
+159,2.650000000,POSE1_TO_POSE2_PRESS,763.19185437,743,712,673,660,633,878,785.19185437,799,649,629,651,0.4191038032,-0.015566513981,0.079975162877,0.999999992554,-0.000107107846924,8.61437987678e-06,-5.7838453677e-05,1793193515140310784
+160,2.666666667,POSE1_TO_POSE2_PRESS,763.773890409,743,712,673,660,633,878,785.773890409,799,649,629,651,0.419914938456,-0.0155642611417,0.0799703595278,0.999999993196,-0.000101068617066,1.00555558976e-06,-5.82437544486e-05,1793193515156977152
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,743,712,673,660,633,878,785.649675181,799.350324819,649,628.649675181,651,0.420726099583,-0.0155614137539,0.0799595871209,0.999999993525,-9.58417314744e-05,-1.71428571172e-05,-5.89035527362e-05,1793193515173643520
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,743,712,673,660,633,878,785.076799344,799.923200656,649,628.076799344,651,0.421537277113,-0.0155581886671,0.0799450227479,0.999999993183,-9.11309044049e-05,-4.19867590037e-05,-5.97250257415e-05,1793193515190310144
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,743,712,673,660,632.503266824,878,785,800,649,628.496733176,651,0.422401473707,-0.015561264422,0.0799663775826,0.999999993582,-9.67686638468e-05,-1.26102211079e-05,-5.75559404534e-05,1793193515206977024
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,743,712,673,660.07252586,632.07252586,878,785,799.92747414,649,629,651,0.423263563441,-0.0155649797491,0.0799889306057,0.999999992955,-0.000103660187711,1.73048734719e-05,-5.51910167895e-05,1793193515223644160
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,743,712,673,660.663755829,632.663755829,878,785,799.336244171,649,629,651,0.42405188051,-0.015566292841,0.0799802824202,0.999999992623,-0.000108060409551,-8.96249569565e-06,-5.47366803497e-05,1793193515240310784
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,742.749188151,712,673,660.749188151,632.749188151,878,785,799.250811849,649,629,651,0.424835192878,-0.0155652678696,0.0799536334276,0.999999990814,-0.000107902319217,-5.86545111209e-05,-5.73435351244e-05,1793193515256977408
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,742.167636143,712,673,660.167636143,632.167636143,878,785,799.832363857,649,629,651,0.425611905763,-0.0155611597448,0.0799032471591,0.999999983085,-0.000101733281443,-0.000139236104129,-6.39871162222e-05,1793193515273643776
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,742,712,673,660,632.407948859,878.407948859,784.592051141,800,649,628.592051141,651,0.426434325473,-0.0155610520224,0.0798924130286,0.999999982447,-0.000102233321586,-0.000142187981777,-6.66084629239e-05,1793193515290310144
+169,2.816666667,POSE1_TO_POSE2_PRESS,764,742,712,673,660,632.981117187,878.981117187,784.018882813,800,649,628.018882813,651,0.42727525642,-0.0155625644652,0.0798975975345,0.999999985693,-0.0001054343417,-0.000113699785777,-6.76008025876e-05,1793193515306976768
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,742.569402409,712,673.569402409,660.569402409,633,878.430597591,784.569402409,800,649,628.569402409,651,0.42806900831,-0.0155648191913,0.0799077060875,0.999999985222,-0.000109354947862,-0.000115176556405,-6.58131152309e-05,1793193515323643648
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,743,712,674,660.84415534,633,878,785,800,649,629,651,0.428865973186,-0.0155664830052,0.0799205392743,0.999999985903,-0.000111381818806,-0.000108167470968,-6.39305219856e-05,1793193515340310528
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,743,712,674,660.264131037,633,878,785,800,649,629,651,0.429676057781,-0.0155664696409,0.0799403318215,0.999999989389,-0.000108187578182,-7.52830278919e-05,-6.20473875287e-05,1793193515356977152
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,743,712,674,660,632.686542855,878.313457145,785,800,649,629,651,0.430472044471,-0.0155679695304,0.0799661421006,0.999999991636,-0.000109266369618,-3.56667742473e-05,-5.93052061019e-05,1793193515373643776
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,743,712,674,660,632.110991642,878.889008358,785,800,649,629,651,0.431256243298,-0.015570734712,0.0799969840453,0.999999991906,-0.000113918014305,9.57821412327e-06,-5.58447411478e-05,1793193515390310656
+175,2.916666667,POSE1_TO_POSE2_PRESS,764,743,712,673.537167175,660,632.462832825,879,785,800,649,628.537167175,651,0.431969851842,-0.015570273174,0.0799883060216,0.999999992521,-0.000108240166478,-9.63488553886e-06,-5.61139413569e-05,1793193515406977280
+176,2.933333333,POSE1_TO_POSE2_PRESS,764,743,712,673.037639001,660.037639001,633,878.962360999,784.962360999,800,649,628.037639001,651,0.432663913754,-0.0155687995577,0.0799674009768,0.999999992149,-0.00010068613306,-4.74154303382e-05,-5.75874570358e-05,1793193515423643648
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,743,712,673.633108214,660.633108214,633,878.366891786,784.366891786,800,649,628.633108214,651,0.433318235948,-0.0155637518673,0.0799052209145,0.999999984049,-0.000101901659449,-0.000132136252535,-6.37032286613e-05,1793193515440310528
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,743,712,674,660.779149499,633,878.220850501,784.220850501,800,648.779149499,629,650.779149499,0.433988849831,-0.0155626732573,0.0798734576998,0.999999977786,-0.00010116169036,-0.000172336156966,-6.70394691117e-05,1793193515456977152
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,743,712,674,660.203809684,633,878.796190316,784.796190316,800,648.203809684,629,650.203809684,0.434685613768,-0.0155679654565,0.0798905168569,0.999999983145,-9.72829372897e-05,-0.000141075112168,-6.5914258204e-05,1793193515473643776
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,743,712,674,660,632.628400342,878.628400342,785,800,648.371599658,628.628400342,650.371599658,0.435342805087,-0.0155734318914,0.0799141799782,0.999999985803,-0.000112128236233,-0.000108948576443,-6.28652178675e-05,1793193515490310400
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,743,712,674,660,632.052952895,878.052952895,785,800,648.947047105,628.052952895,650.947047105,0.43597828808,-0.0155789939062,0.0799414658237,0.999999985941,-0.00013724495651,-7.6347261605e-05,-5.87608257112e-05,1793193515506977280
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,743,712.533809733,674,660,632,878,785,800,649,628,651,0.436546403944,-0.0155828303862,0.0799238239809,0.99999998153,-0.000140704352243,-0.000116234692483,-6.02560630022e-05,1793193515523644416
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,743,712.879535574,674,660,632,878.120464426,784.879535574,800,648.879535574,628.120464426,651,0.437098380851,-0.0155865753157,0.0798991813881,0.999999974395,-0.000142856638209,-0.000164065259649,-6.23204122458e-05,1793193515540311552
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,743,712.297686413,674,660,632,878.702313587,784.297686413,800,648.297686413,628.702313587,651,0.437614694049,-0.0155906393884,0.079865164771,0.999999963977,-0.000148409166989,-0.000214181099109,-6.43909287719e-05,1793193515556977920
+185,3.083333333,POSE1_TO_POSE2_PRESS,764.28033346,743,712,673.71966654,660,632,879,784,800,648.28033346,629,651,0.43811423061,-0.0155939259418,0.0798381565325,0.999999953221,-0.000155163908293,-0.000255005364209,-6.6745980773e-05,1793193515573644544
+186,3.100000000,POSE1_TO_POSE2_PRESS,764.854341767,743,712,673.145658233,660,632,879,784,800,648.854341767,629,651,0.438596192083,-0.0155963979724,0.0798184902114,0.999999943353,-0.000163178076618,-0.000286095855481,-6.93991095651e-05,1793193515590310656
+187,3.116666667,POSE1_TO_POSE2_PRESS,764.572160454,742.572160454,712,673.427839546,659.572160454,632,879,784,800.427839546,648.572160454,629,650.572160454,0.439044640083,-0.0156017647741,0.079796839081,0.999999932513,-0.000171669338807,-0.000316901045457,-7.12565004964e-05,1793193515606977792
+188,3.133333333,POSE1_TO_POSE2_PRESS,764,742,712,674,659,632,878.998797491,784,800.998797491,648.001202509,628.998797491,650.001202509,0.439481588075,-0.0156081089692,0.0797744888096,0.99999992065,-0.000180344643508,-0.000347661212692,-7.28468982267e-05,1793193515623645184
+189,3.150000000,POSE1_TO_POSE2_PRESS,764,742,712,674,659,632,878.406387612,784,800.406387612,648.593612388,628.406387612,650.593612388,0.439867424303,-0.0156110317852,0.079740233336,0.999999895547,-0.000199742045318,-0.000403982110566,-7.62039100067e-05,1793193515640311552
+190,3.166666667,POSE1_TO_POSE2_PRESS,763.818869658,742.181130342,712,674,659,632,878.181130342,783.818869658,800,649,628.181130342,651,0.440236001167,-0.0156135622251,0.0797045561227,0.999999868038,-0.000211406279892,-0.000461489599579,-7.91157409268e-05,1793193515656977664
+191,3.183333333,POSE1_TO_POSE2_PRESS,763.242038581,742.757961419,712,674,659,632,878.757961419,783.242038581,800,649,628.757961419,651,0.440566872979,-0.0156152354736,0.0796657729436,0.999999839433,-0.000206176497122,-0.000521589350167,-8.1055022364e-05,1793193515673644288
+192,3.200000000,POSE1_TO_POSE2_PRESS,763.334599323,743,711.665400677,674,658.665400677,631.665400677,879,783,800,648.665400677,628.665400677,650.665400677,0.440904534721,-0.0156209306353,0.0796507658925,0.999999827137,-0.000211194883098,-0.000542598032421,-8.19149866543e-05,1793193515690310656
+193,3.216666667,POSE1_TO_POSE2_PRESS,763.911097538,743,711.088902462,674,658.088902462,631.088902462,879,783,800,648.088902462,628.088902462,650.088902462,0.441247105229,-0.0156295334428,0.0796529478175,0.999999828337,-0.000223622192833,-0.000535345787898,-8.19946576353e-05,1793193515706977024
+194,3.233333333,POSE1_TO_POSE2_PRESS,764,743,711.498065504,673.501934496,658,631,879,783,800,648.498065504,628.498065504,650.498065504,0.441565949633,-0.0156372610359,0.0796736970592,0.999999842249,-0.000233544343417,-0.000504551520962,-7.99219693932e-05,1793193515723643648
+195,3.250000000,POSE1_TO_POSE2_PRESS,764,743,711.914494412,673.085505588,658,631,878.914494412,783,800,648.914494412,629,650.914494412,0.44187410306,-0.0156447453729,0.0796954986158,0.999999855616,-0.000242478635792,-0.000473225705173,-7.76540094989e-05,1793193515740310272
+196,3.266666667,POSE1_TO_POSE2_PRESS,764,743,711.335349314,673.664650686,658,631,878.335349314,783,800,648.335349314,629,650.335349314,0.442145509945,-0.0156517466105,0.0797038311553,0.999999858766,-0.00024834680875,-0.000463611833775,-7.65243151015e-05,1793193515756976896
+197,3.283333333,POSE1_TO_POSE2_PRESS,764,743,711,673.757140747,658,631,878.485718506,783,800,648,628.757140747,650.242859253,0.442390871722,-0.0156577140579,0.0797051412224,0.999999857343,-0.000254542837766,-0.000463472667936,-7.56040275967e-05,1793193515773643520
+198,3.300000000,POSE1_TO_POSE2_PRESS,764,743,711,673.180220457,658,631,879.639559087,783,800,648,628.180220457,650.819779543,0.442600407556,-0.0156622594916,0.0796967916426,0.999999849617,-0.000261189843284,-0.000476366277758,-7.49717863798e-05,1793193515790310400
+199,3.316666667,POSE1_TO_POSE2_PRESS,764,743,711,673,658,631,879.603919829,783,800.396080171,648.396080171,628,651,0.442784436063,-0.0156676138843,0.0796910852251,0.999999843586,-0.000267445425807,-0.000485449955227,-7.50974003535e-05,1793193515806977280
+200,3.333333333,POSE1_TO_POSE2_PRESS,764,743,711,673,658,631,879.027900663,783,800.972099337,648.972099337,628,651,0.442956876625,-0.015673335787,0.079686579594,0.99999983831,-0.000273523185665,-0.000492802783729,-7.55673074494e-05,1793193515823643904
+201,3.350000000,POSE1_TO_POSE2_PRESS,764,743,711.560039408,674.120078815,658,631,879,783,800.439960592,649,628.560039408,651,0.443095932748,-0.0156756211908,0.0796826614017,0.999999835293,-0.000274562968953,-0.000498351503706,-7.53329919209e-05,1793193515840310528
+202,3.366666667,POSE1_TO_POSE2_PRESS,764,743,712,675,658,631,879,782.853932882,800,648.853932882,628.853932882,651,0.443226833315,-0.0156777274018,0.0796778551953,0.999999831301,-0.000275777289833,-0.000505648473842,-7.52625261262e-05,1793193515856977152
+203,3.383333333,POSE1_TO_POSE2_PRESS,764,743,712,675,658,631,879,782.275364227,800,648.275364227,628.275364227,651,0.443338617247,-0.0156798209815,0.0796703310578,0.999999824046,-0.000278267744349,-0.000518393893672,-7.57833572408e-05,1793193515873643776
+204,3.400000000,POSE1_TO_POSE2_PRESS,764.302018089,743,712,675,658,631,879,782,800.302018089,648.302018089,628,651,0.443440126019,-0.0156815261304,0.0796665924476,0.999999820279,-0.000280727965103,-0.000524273930776,-7.59592531751e-05,1793193515890310144
+205,3.416666667,POSE1_TO_POSE2_PRESS,764.878322961,743,712,675,658,631,879,782,800.878322961,648.878322961,628,651,0.443532303091,-0.0156828785142,0.0796662917779,0.99999981979,-0.00028316072804,-0.000523918964034,-7.58218858618e-05,1793193515906976768
+206,3.433333333,POSE1_TO_POSE2_PRESS,764.547899094,743,711.547899094,675,658,631,878.547899094,782.452100906,801,649,628,651,0.443604329336,-0.0156867008913,0.0796659653097,0.999999817432,-0.00028983005578,-0.000524814972125,-7.55249127085e-05,1793193515923643648
+207,3.450000000,POSE1_TO_POSE2_PRESS,764,743,711,674.973923904,658,631,878.026076096,782.973923904,801,649,628.026076096,651,0.443670250292,-0.0156909462148,0.0796657368631,0.999999814714,-0.000297138726971,-0.000525957797926,-7.51630085546e-05,1793193515940310528
+208,3.466666667,POSE1_TO_POSE2_PRESS,764,743,711,674.380957635,658,631,878.619042365,782.380957635,801,649,628.619042365,651,0.44372069028,-0.0156900147397,0.0796677894967,0.999999816199,-0.000293696290651,-0.000525187640006,-7.43181769351e-05,1793193515956977408
+209,3.483333333,POSE1_TO_POSE2_PRESS,764,743,711,674,658,631,879,782,801,649,628.793095671,651,0.443766015592,-0.0156896136649,0.0796688003706,0.999999817175,-0.000292672719909,-0.000523976486528,-7.37639061193e-05,1793193515973644032
+210,3.500000000,POSE1_TO_POSE2_PRESS,764,743,711,674,658,631,879,782,801,649,628.214405679,651,0.443802150354,-0.0156901656649,0.07966793931,0.999999817247,-0.000295995600602,-0.000521972909771,-7.3731743082e-05,1793193515990310656
+211,3.516666667,POSE1_TO_POSE2_PRESS,764,743,711,674,658,630.639015208,879,782,800.639015208,649,628,651,0.443828706444,-0.015690291406,0.0796674728132,0.999999816597,-0.000298091829058,-0.00052199342272,-7.39588480172e-05,1793193516006977280
+212,3.533333333,POSE1_TO_POSE2_PRESS,764,743,711,674,658,630.065566671,879,782,800.065566671,649,628,651,0.443849624847,-0.0156901662653,0.0796672385436,0.999999815525,-0.000299466090774,-0.000523205247938,-7.43385495289e-05,1793193516023643648
+213,3.550000000,POSE1_TO_POSE2_PRESS,764,743,711,674.522586221,658,630,879,782,800,648.477413779,628,651,0.443862967111,-0.0156902965306,0.079667507854,0.999999815207,-0.000299362896957,-0.000523911977404,-7.40483256568e-05,1793193516040310528
+214,3.566666667,POSE1_TO_POSE2_PRESS,764,742.889231884,711,674.889231884,657.889231884,630.110768116,878.889231884,782,800,648.110768116,628,650.889231884,0.443874134897,-0.0156905215473,0.0796675949015,0.999999814866,-0.000299040311045,-0.00052480311633,-7.36516141446e-05,1793193516056977152
+215,3.583333333,POSE1_TO_POSE2_PRESS,764,742.308972853,711,674.308972853,657.308972853,630.691027147,878.308972853,782,800,648.691027147,628,650.308972853,0.443880231692,-0.0156910084141,0.0796666338762,0.999999814009,-0.000298596270162,-0.000526752255346,-7.31701264e-05,1793193516073643776
+216,3.600000000,POSE1_TO_POSE2_PRESS,764.268180583,742.268180583,711,674,657.268180583,631,878,782,800.536361165,649,628.268180583,650.268180583,0.443884649409,-0.0156911859457,0.0796651312454,0.999999813122,-0.000298233143118,-0.000528692588105,-7.27772402388e-05,1793193516090310144
+217,3.616666667,POSE1_TO_POSE2_PRESS,764.841796963,742.841796963,711,674,657.841796963,631,878,782,801.683593926,649,628.841796963,650.841796963,0.443887154793,-0.0156910111695,0.0796630117702,0.999999812202,-0.000297962170361,-0.000530622891143,-7.24852640798e-05,1793193516106977024
+218,3.633333333,POSE1_TO_POSE2_PRESS,764.574177716,743,711.425822284,674,658,631,878.425822284,782,801.148355431,649,628.574177716,651,0.443888497874,-0.0156906852672,0.0796632308545,0.999999812068,-0.000298333469846,-0.000530726340168,-7.20502077826e-05,1793193516123644160
+219,3.650000000,POSE1_TO_POSE2_PRESS,764,743,711.986340073,674,658,630.986340073,879,782,800.013659927,648.986340073,628.013659927,651,0.443889464099,-0.0156903207096,0.0796643398055,0.999999812262,-0.000298925094488,-0.000530092735223,-7.15675726158e-05,1793193516140310528
+220,3.666666667,POSE1_TO_POSE2_PRESS,764,743,711.404810259,674,658,630.404810259,879,782,800.595189741,648.404810259,628.595189741,651,0.443893165238,-0.0156907417986,0.0796654182645,0.999999813644,-0.000298507635427,-0.000527741044081,-7.13722301508e-05,1793193516156977152
+221,3.683333333,POSE1_TO_POSE2_PRESS,764,743,711,674,658,630.175141565,879,782,800.824858435,648,628.649716871,651,0.443895544495,-0.0156912092309,0.079665639025,0.999999814271,-0.000298732489398,-0.000526432350189,-7.13189087545e-05,1793193516173643520
+222,3.700000000,POSE1_TO_POSE2_PRESS,764,743,711,674,658,630.751478616,879,782,800.248521384,648,627.497042769,651,0.443894895725,-0.0156917828215,0.0796638950617,0.999999813174,-0.000300428685147,-0.000527512842711,-7.15909139977e-05,1793193516190310400
+223,3.716666667,POSE1_TO_POSE2_PRESS,764,743,711.326802529,674,658,630.673197471,878.673197471,782,800,648.326802529,627.326802529,651,0.443893883815,-0.0156910197129,0.0796625318899,0.99999981246,-0.000299546139907,-0.000529353802294,-7.16643338746e-05,1793193516206977024
+224,3.733333333,POSE1_TO_POSE2_PRESS,764,743,711.901358429,674,658,630.098641571,878.098641571,782,800,648.901358429,627.901358429,651,0.443892596603,-0.0156892432349,0.079661457401,0.999999812029,-0.000296708616784,-0.000531771282245,-7.15872035552e-05,1793193516223643648
+225,3.750000000,POSE1_TO_POSE2_PRESS,764,743,711.510086564,674,658,630,878.489913436,782,800,649,628,651,0.443894197676,-0.0156895181656,0.0796621438799,0.999999812713,-0.000295684341607,-0.00053110631528,-7.12081791686e-05,1793193516240310784
+226,3.766666667,POSE1_TO_POSE2_PRESS,764,743,711.079619887,674,658,630.079619887,878.920380113,782,800,649,628,650.920380113,0.443896276117,-0.0156900639967,0.0796632374533,0.999999813638,-0.000295119456997,-0.000529741486767,-7.07263889796e-05,1793193516256977664
+227,3.783333333,POSE1_TO_POSE2_PRESS,764,743,711.658355594,674,658,630.658355594,878.341644406,782,800,649,628,650.341644406,0.443897594286,-0.0156896426253,0.0796645949606,0.999999814626,-0.00029507840754,-0.000527994449902,-6.99926395633e-05,1793193516273644032
+228,3.800000000,POSE1_TO_POSE2_PRESS,764,743,712,674,658,631,878,782,800,649,628,650.235458161,0.443898220088,-0.0156895857237,0.0796649864901,0.999999814492,-0.000295957304356,-0.00052777622685,-6.98448724799e-05,1793193516290310400
+229,3.816666667,POSE1_TO_POSE2_PRESS,764,743,712,674,658,631,878,782,800,649,628,650.810207367,0.443897848202,-0.0156900540164,0.0796639860628,0.999999812738,-0.000298161827487,-0.000529760997574,-7.05414956205e-05,1793193516306977024
+230,3.833333333,POSE1_TO_POSE2_PRESS,764,743,712,674,658,631,878.768697086,782,800.384348543,649,628,651,0.443898809602,-0.0156901318752,0.079664370643,0.99999981289,-0.000298977546873,-0.000529018736752,-7.05053376198e-05,1793193516323643904
+231,3.850000000,POSE1_TO_POSE2_PRESS,764,743,712,674,658,631,879.916379858,782,800.958189929,649,628,651,0.443900428344,-0.0156900172409,0.0796654380645,0.999999813981,-0.000299108553386,-0.000526931985385,-7.01079013156e-05,1793193516340310528
+232,3.866666667,POSE1_TO_POSE2_PRESS,764,743,712,674,658,630.449694285,879.449694285,782,800.449694285,649,628,651,0.443899662753,-0.0156903839094,0.0796649107043,0.999999813646,-0.000299158997735,-0.000527576932477,-6.98175996467e-05,1793193516356976896
+233,3.883333333,POSE1_TO_POSE2_PRESS,764,743,712,674,658,630,878.860193583,782,800,648.860193583,628,651,0.443898868742,-0.015690218056,0.0796643442573,0.999999813447,-0.000298319266468,-0.000528444156199,-6.96953700995e-05,1793193516373643776
+234,3.900000000,POSE1_TO_POSE2_PRESS,764,743,712,674,658,630,878.283356896,782,800,648.283356896,628,651,0.44389857162,-0.0156882693214,0.0796640473943,0.999999814018,-0.000294716666044,-0.000529335149915,-7.00722102331e-05,1793193516390310656
+235,3.916666667,POSE1_TO_POSE2_PRESS,764,743,711.707622391,674,658,630,878.292377609,782,800,648.292377609,628,650.707622391,0.443898399928,-0.0156871622562,0.0796637102271,0.999999814505,-0.000292476193002,-0.000529628149613,-7.03011670055e-05,1793193516406977536
+236,3.933333333,POSE1_TO_POSE2_PRESS,764,743,711.132951984,674,658,630,878.867048016,782,800,648.867048016,628,650.132951984,0.443898349342,-0.0156868678291,0.0796633341457,0.999999814919,-0.000291550863855,-0.000529343781662,-7.03873413163e-05,1793193516423643904
+237,3.950000000,POSE1_TO_POSE2_PRESS,763.548750091,742.548750091,711,674,658,630,879,782,800.451249909,649,628,650.451249909,0.443899245945,-0.0156872686898,0.0796636879627,0.999999814977,-0.000292947643187,-0.000528482767154,-7.02400516635e-05,1793193516440310528
+238,3.966666667,POSE1_TO_POSE2_PRESS,763.037968284,742.037968284,711.037968284,674,658,630,879,782,800.962031716,649,628,650.962031716,0.443900392737,-0.0156879339221,0.0796642653494,0.9999998149,-0.000295087500456,-0.000527464517703,-7.00253927792e-05,1793193516456977152
+239,3.983333333,POSE1_TO_POSE2_PRESS,763.619641075,742.619641075,711.619641075,674,658,630,879,782,800.380358925,649,628,650.380358925,0.443901039703,-0.0156893881595,0.0796648982834,0.999999814504,-0.000297859599617,-0.000526680095236,-6.98522707811e-05,1793193516473643776
+240,4.000000000,POSE1_TO_POSE2_PRESS,764,743,711.800846745,674,658,630,879,782,800,648.800846745,628,650.199153255,0.443901030788,-0.0156902294199,0.07966490056,0.999999813895,-0.000299400227977,-0.000526976569378,-6.97436332758e-05,1793193516490310400
+241,4.016666667,POSE1_TO_POSE2_PRESS,764,743,711.225416821,674,658,630,879,782,800,648.225416821,628,650.774583179,0.443899782664,-0.0156899125324,0.0796637112836,0.999999812894,-0.000298614136821,-0.000529315270678,-6.97568316522e-05,1793193516506977024
+242,4.033333333,HOLD_POSE2,763,742,712,674,658,631,879,781,800,648,628,651,0.443902312825,-0.0156850665877,0.0796637469173,0.999999815535,-0.000293354459273,-0.000527122260714,-7.08207857233e-05,1793193516542611968
+243,4.050000000,HOLD_POSE2,763.591521556,742.591521556,711.408478444,674.591521556,657.408478444,631,879,781.591521556,800,648.591521556,628,651,0.443902056472,-0.0156859643728,0.0796640692664,0.999999815037,-0.000294262421046,-0.000527615484521,-7.04066210342e-05,1793193516559277824
+244,4.066666667,HOLD_POSE2,764,742.820792232,711,674.820792232,657.179207768,630.820792232,879,782,800,648.820792232,628.179207768,650.820792232,0.443901791812,-0.0156868219138,0.0796641326274,0.999999814686,-0.000294783091872,-0.000528040520934,-7.00242968808e-05,1793193516575943936
+245,4.083333333,HOLD_POSE2,764,742.241664848,711,674.241664848,657.758335152,630.241664848,879,782,800,648.241664848,628.758335152,650.241664848,0.443901508613,-0.0156875896462,0.0796636180313,0.999999814665,-0.000294439485351,-0.000528313390628,-6.97130279086e-05,1793193516592610816
+246,4.100000000,HOLD_POSE2,764,742,711,674,658,630,878.66385153,782,799.66385153,648.33614847,628.66385153,650.33614847,0.443901100721,-0.015686696723,0.0796633759524,0.99999981494,-0.000293270040374,-0.000528423935761,-6.98621684493e-05,1793193516609277184
+247,4.116666667,HOLD_POSE2,764,742,711,674,658,630,878.086979279,782,799.086979279,648.913020721,628.086979279,650.913020721,0.443900603533,-0.0156846145655,0.0796633290294,0.999999815424,-0.000291509193184,-0.00052841823646,-7.03410190287e-05,1793193516625943296
+248,4.133333333,HOLD_POSE2,764,742,711,674,658,630,878.496986139,782,799.496986139,648.503013861,628,651,0.443902350313,-0.015684642926,0.0796647148803,0.999999815921,-0.000292588790835,-0.000526893148719,-7.02448423042e-05,1793193516642609920
+249,4.150000000,HOLD_POSE2,764,742.081888619,711,674,658,630,879,782,800,648.081888619,628,651,0.443903916611,-0.0156850853026,0.079665968219,0.999999816214,-0.000293967780911,-0.000525588281059,-7.00840993414e-05,1793193516659276544
+250,4.166666667,HOLD_POSE2,764,742.66481901,711,674,658,630,879,782,800,648.66481901,628,651,0.44390194091,-0.0156857681315,0.0796648542954,0.999999815281,-0.000294092943199,-0.000527281416216,-7.01529769398e-05,1793193516675943680
+251,4.183333333,HOLD_POSE2,764,742.755542743,711,674,658,630.244457257,878.755542743,781.755542743,800.244457257,649,628,651,0.443901041018,-0.0156862423709,0.0796642343462,0.999999814684,-0.000294163419012,-0.000528391527922,-7.00187983287e-05,1793193516692610304
+252,4.200000000,HOLD_POSE2,764,742.180358496,711,674,658,630.819641504,878.180358496,781.180358496,800.819641504,649,628,651,0.443901596594,-0.0156864344087,0.0796642826966,0.999999814544,-0.000294159909311,-0.000528712865235,-6.96099043297e-05,1793193516709276928
+253,4.216666667,HOLD_POSE2,764,742.393439104,711,674.393439104,658,630.606560896,878,781.393439104,800.606560896,649,628,651,0.443901893146,-0.015687543055,0.0796646011821,0.999999814243,-0.000295070420662,-0.000528827147404,-6.92073930721e-05,1793193516725943552
+254,4.233333333,HOLD_POSE2,764,742.966603326,711,674.966603326,658,630.033396674,878,781.966603326,800.033396674,649,628,651,0.443902071374,-0.015689070413,0.0796650430669,0.999999813867,-0.000296398461791,-0.000528846845686,-6.88077974496e-05,1793193516742609920
+255,4.250000000,HOLD_POSE2,764,743,711,674.441078358,658,630.558921642,878.558921642,782,800,649,628,650.441078358,0.443903463029,-0.0156873052352,0.0796653245327,0.999999815455,-0.000295084082004,-0.000526499421894,-6.93843834451e-05,1793193516759276544
+256,4.266666667,HOLD_POSE2,764.147524435,742.852475565,711.147524435,674,658,630.852475565,879,782,800,649,628,650.147524435,0.443904525395,-0.0156855424855,0.0796657679206,0.999999816811,-0.000293795919446,-0.000524571698553,-6.98995495421e-05,1793193516775943168
+257,4.283333333,HOLD_POSE2,764.721946214,742.278053786,711.721946214,674,658,630.278053786,879,782,800,649,628,650.721946214,0.443904417631,-0.0156843762651,0.0796667085907,0.999999817169,-0.000293056727821,-0.000524282293853,-7.0062204659e-05,1793193516792609792
+258,4.300000000,POSE2_TO_POSE3_RETREAT,764,743,711,674,658,630,878,782,800,648,628,650,0.443904961053,-0.0156857972287,0.0796664479675,0.999999818049,-0.000290332456235,-0.000524215808373,-6.9328132794e-05,1793193516829690368
+259,4.316666667,POSE2_TO_POSE3_RETREAT,764,742.407175493,711,674,658,630,878,782,800,648,628,650.592824507,0.443904695402,-0.0156854362346,0.0796650842161,0.999999817025,-0.000290378545173,-0.000526151084754,-6.92436469077e-05,1793193516846356992
+260,4.333333333,POSE2_TO_POSE3_RETREAT,764,742,711,674.181367413,658,630,878.181367413,782,800,648.181367413,628,650.818632587,0.443904706239,-0.0156850510548,0.079664574096,0.999999816533,-0.000290551840523,-0.000527000472059,-6.9167344723e-05,1793193516863023616
+261,4.350000000,POSE2_TO_POSE3_RETREAT,764,742,711,674.76051979,658,630,878.76051979,782,800,648.76051979,628,650.23948021,0.443905323486,-0.0156846128294,0.0796659362067,0.999999817212,-0.000291004131973,-0.000525468228214,-6.91089914658e-05,1793193516879689984
+262,4.366666667,POSE2_TO_POSE3_RETREAT,764,742.338294535,711,674.661705465,658,630,879,782,800.338294535,649,628,650,0.443905182579,-0.0156844070618,0.0796662191096,0.999999817334,-0.000290949239194,-0.000525251046535,-6.9219169828e-05,1793193516896356864
+263,4.383333333,POSE2_TO_POSE3_RETREAT,764,742.915097969,711,674.084902031,658,630,879,782,800.915097969,649,628,650,0.443904507148,-0.0156843651846,0.0796657411351,0.999999817065,-0.000290536764637,-0.00052596102751,-6.94481685902e-05,1793193516913023488
+264,4.400000000,POSE2_TO_POSE3_RETREAT,764,742.510271057,711,674,658,630,878.510271057,782,800.510271057,649,628,650.489728943,0.443903662062,-0.0156854084745,0.0796652015565,0.999999816348,-0.000291461511188,-0.000526804170813,-6.95091495244e-05,1793193516929690112
+265,4.416666667,POSE2_TO_POSE3_RETREAT,764,742.065853874,711.065853874,674.065853874,658,630,878.065853874,782,800.065853874,649,628,651,0.443902572211,-0.0156863640869,0.0796645561802,0.999999815563,-0.00029235563382,-0.000527796007582,-6.95275327393e-05,1793193516946356736
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764,742.656883204,711.656883204,674.656883204,658,630,878.656883204,782,800.656883204,649,628,651,0.443899763914,-0.0156851267956,0.0796631518766,0.999999814862,-0.000291164905655,-0.000529790361609,-6.94374746488e-05,1793193516963023360
+267,4.450000000,POSE2_TO_POSE3_RETREAT,764,742.758170065,712,674.758170065,658,630,879,782,800.758170065,648.758170065,628,650.758170065,0.443889414821,-0.0156836594603,0.0796579415191,0.99999981048,-0.000291193348526,-0.000537915018742,-6.99526233412e-05,1793193516979690240
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764,742.181641843,712,674.181641843,658,630,879,782,800.181641843,648.181641843,628,650.181641843,0.443868629092,-0.0156818737389,0.079647463494,0.999999800811,-0.000292909152669,-0.000554524158501,-7.13053923716e-05,1793193516996356864
+269,4.483333333,POSE2_TO_POSE3_RETREAT,763.604579903,742,711.604579903,674,658,630,879,782,800,648.395420097,628,650.395420097,0.443834413804,-0.015681055141,0.0796355158936,0.999999788773,-0.000292381242432,-0.000576074208356,-7.14505654176e-05,1793193517013023488
+270,4.500000000,POSE2_TO_POSE3_RETREAT,763.02727241,742,711.02727241,674,658,630,879,782,800,648.97272759,628,650.97272759,0.443794021116,-0.0156806814056,0.0796228923093,0.99999977525,-0.000290821256804,-0.000599897004994,-7.10402622639e-05,1793193517029690112
+271,4.516666667,POSE2_TO_POSE3_RETREAT,763.548127001,742.548127001,711,674,658,630,879,782,800,649,628,650.451872999,0.443733770796,-0.0156774974439,0.0796115714775,0.999999766744,-0.000288514571122,-0.00061502052839,-7.08557387165e-05,1793193517046356736
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764,743,711,674,658,630,878.872961898,782,800,649.127038102,628,650.127038102,0.443668500914,-0.0156737918789,0.0796017755597,0.999999759397,-0.000285671013709,-0.000628221147802,-7.02554012751e-05,1793193517063023360
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764,743,711,674,658,630,878.280848289,782,800,649.719151711,628,650.719151711,0.443588459379,-0.0156686868785,0.079597325742,0.999999755979,-0.000280997555235,-0.000635961271697,-6.80918217887e-05,1793193517079689984
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764,742.697184919,711,674,658,630,878.302815081,782,800.302815081,649.394369837,628,650.697184919,0.443495828152,-0.015664197778,0.0795959801837,0.999999755351,-0.000277055061859,-0.000638982904585,-6.51099553194e-05,1793193517096356608
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764,742.121146058,711,674,658,630,878.878853942,782,800.878853942,648.242292116,628,650.121146058,0.443391837511,-0.0156602643915,0.0795974355346,0.999999757279,-0.000273772103448,-0.000637747140272,-6.13897655766e-05,1793193517113023232
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764,742,711,674,657.546317605,630.453682395,878.546317605,782,800.546317605,648,628,650.453682395,0.443268300453,-0.0156537647756,0.0795996206138,0.999999760608,-0.000268417148071,-0.000635182369184,-5.72642799856e-05,1793193517129690112
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764,742.028839816,711,674,657.028839816,630.971160184,878,782,800,648,628,651,0.443137778562,-0.0156465102227,0.0796017931601,0.999999764106,-0.000262273733663,-0.000632607378401,-5.30016481146e-05,1793193517146356480
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764,742.616620566,711,674,657.616620566,630.383379434,878,782,800,648,628,651,0.442972772757,-0.0156378698529,0.0795999563361,0.999999764513,-0.000251543846613,-0.000636693953199,-4.81729235631e-05,1793193517163023360
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764,742.797612096,711,674,658,630,878.202387904,782,800,648,628,651,0.442796735465,-0.0156291720187,0.0796012902266,0.99999976841,-0.000240475113253,-0.000635257085597,-4.24248461576e-05,1793193517179689984
+280,4.666666667,POSE2_TO_POSE3_RETREAT,764,742.215621224,711,674,658,630,878.784378776,782,800,648,628,651,0.442600007302,-0.015620366404,0.0796085711756,0.99999977887,-0.000228770833914,-0.000623460333911,-3.4952411932e-05,1793193517196356608
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764,742,711.361515401,674,658,630.361515401,878.638484599,782,800,648,628,650.638484599,0.442369896937,-0.0156088378998,0.0796128135178,0.999999786515,-0.000209670614383,-0.000618278721008,-2.71927346979e-05,1793193517213023488
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764,742,711.935795188,674,658,630.935795188,878.064204812,782,800,648,628,650.064204812,0.442120139966,-0.0155957068795,0.0796152675351,0.999999792137,-0.000186217625658,-0.000616990345973,-1.92640042425e-05,1793193517229690112
+283,4.716666667,POSE2_TO_POSE3_RETREAT,764,742.511581081,711.488418919,674,658,631,879.023162162,782,800,648,628,650.511581081,0.441829581203,-0.0155794758531,0.0796125348357,0.999999798883,-0.000123399244401,-0.000621972125267,-1.25029779757e-05,1793193517246356736
+284,4.733333333,POSE2_TO_POSE3_RETREAT,763.90992796,742.90992796,711.09007204,674,658,631,879.819855921,782,800,648,628,650.90992796,0.441528827284,-0.0155622346705,0.0796096192244,0.999999801446,-6.34277691485e-05,-0.0006269335452,-6.24749778239e-06,1793193517263023360
+285,4.750000000,POSE2_TO_POSE3_RETREAT,763.317404563,742.317404563,711.682595437,674,658,631,878.634809125,782,800,648,628,650.317404563,0.441199850812,-0.0155415352072,0.0796093251872,0.999999802092,-4.69781443829e-05,-0.000627378743231,-1.99219893657e-06,1793193517279689984
+286,4.766666667,POSE2_TO_POSE3_RETREAT,763,742,711.731829363,674,658,631,878.268170637,782.268170637,800,648.268170637,628.268170637,650.268170637,0.440843136238,-0.0155234537777,0.0796073089868,0.999999802585,-3.49605570116e-05,-0.000627377684074,-2.10079881511e-06,1793193517296356608
+287,4.783333333,POSE2_TO_POSE3_RETREAT,763,742,711.154270332,674,658,631,878.845729668,782.845729668,800,648.845729668,628.845729668,650.845729668,0.440454420242,-0.0155083927745,0.0796033059273,0.999999803102,-2.80562110059e-05,-0.000626861778217,-7.24402775285e-06,1793193517313023232
+288,4.800000000,POSE2_TO_POSE3_RETREAT,763.840698363,742,711,674.420349181,658,631,879,783,800,649,628.579650819,650.579650819,0.440018702378,-0.0154922197963,0.0795946532941,0.999999797254,-5.53973635792e-06,-0.000636725823427,-6.39168055658e-06,1793193517329690112
+289,4.816666667,POSE2_TO_POSE3_RETREAT,764.987794712,742,711,674.993897356,658,631,879,783,800,649,628.006102644,650.006102644,0.439565854386,-0.015475641552,0.0795843060936,0.999999788245,2.26666799638e-05,-0.000650372908788,-3.35420652708e-06,1793193517346356736
+290,4.833333333,POSE2_TO_POSE3_RETREAT,764.415576176,742,711,674.415576176,658.584423824,631,878.415576176,783,800,649,628.584423824,650.584423824,0.439129120528,-0.0154696111589,0.079607015093,0.999999813581,2.81320890456e-05,-0.000609946982549,-3.49490081287e-06,1793193517363023360
+291,4.850000000,POSE2_TO_POSE3_RETREAT,764,742.171761793,711.171761793,674,659,631.171761793,878,783,800.171761793,648.828238207,628.828238207,651,0.438681625955,-0.0154653655914,0.0796373234217,0.999999842714,3.36875154576e-05,-0.000559850564944,-2.00345070724e-06,1793193517379690240
+292,4.866666667,POSE2_TO_POSE3_RETREAT,764,742.751100346,711.751100346,674,659,631.751100346,878,783,800.751100346,648.248899654,628.248899654,651,0.438208185913,-0.0154650860921,0.0796848207509,0.999999880029,4.003689014e-05,-0.000488186794745,3.44205140662e-06,1793193517396356864
+293,4.883333333,POSE2_TO_POSE3_RETREAT,764,742.672003897,712,674,659,632,878.327996103,783,800.672003897,648,628.327996103,650.672003897,0.437695037791,-0.0154600983313,0.0797264773743,0.999999906558,4.91512033012e-05,-0.000429424021138,7.95145586582e-06,1793193517413023488
+294,4.900000000,POSE2_TO_POSE3_RETREAT,764,742.096948093,712,674,659,632,878.903051907,783,800.096948093,648,628.903051907,650.096948093,0.437151979915,-0.0154515641206,0.0797637345509,0.999999925766,6.03481787228e-05,-0.000380378783878,1.17557549338e-05,1793193517429690112
+295,4.916666667,POSE2_TO_POSE3_RETREAT,764,742,712,674,659,632,878.51174389,783.48825611,800,648.48825611,628.51174389,650.48825611,0.436554715928,-0.0154413153229,0.0797779338515,0.999999933436,8.15215128808e-05,-0.000355362780666,1.41596242989e-05,1793193517446356736
+296,4.933333333,POSE2_TO_POSE3_RETREAT,764,742.07449578,712,674,659.07449578,632,878,784,800.07449578,649,628.07449578,651,0.435939933279,-0.0154316188958,0.079786561317,0.999999937992,0.000101837197022,-0.000336726599114,1.6115592995e-05,1793193517463023360
+297,4.950000000,POSE2_TO_POSE3_RETREAT,764,742.653807692,712,674,659.653807692,632,878,784,800.653807692,649,628.653807692,651,0.435280920253,-0.0154280215663,0.0797891151744,0.999999940697,0.000102632667457,-0.000328304561563,1.69607070025e-05,1793193517479689984
+298,4.966666667,POSE2_TO_POSE3_RETREAT,764,742.767482667,712,673.767482667,660,632,878.232517333,784,800.767482667,649,629,650.767482667,0.434611856909,-0.0154258535768,0.0797927736554,0.999999943826,0.000103745179306,-0.00031824793857,1.74085852308e-05,1793193517496357120
+299,4.983333333,POSE2_TO_POSE3_RETREAT,764,742.189667457,712,673.189667457,660,632,878.810332543,784,800.189667457,649,629,650.189667457,0.433927868465,-0.0154258082167,0.0797980725481,0.999999947558,0.000105328510745,-0.000305763888957,1.72665518138e-05,1793193517513025024
+300,5.000000000,POSE2_TO_POSE3_RETREAT,764,742,712,673.384365797,659.615634203,632,878.615634203,784,800,649,629,650.384365797,0.433193866247,-0.015423800566,0.0797957490949,0.999999942032,0.000125781710957,-0.000315850621892,1.87833633414e-05,1793193517529691392
+301,5.016666667,POSE2_TO_POSE3_RETREAT,764,742,712,673.956550992,659.043449008,632,878.043449008,784,800,649,629,650.956550992,0.432435424941,-0.0154208340467,0.0797897010012,0.999999930921,0.000155455625748,-0.000336966511989,2.11107653374e-05,1793193517546357504
+302,5.033333333,POSE2_TO_POSE3_RETREAT,763.453814142,742,711.453814142,673.453814142,659,632,878,784,800,649,628.453814142,650.453814142,0.431593967828,-0.0154146909188,0.0797489413746,0.999999903194,0.000150151150191,-0.000413172391294,1.88202554757e-05,1793193517563024384
+303,5.050000000,POSE2_TO_POSE3_RETREAT,763.134501288,742,711.134501288,673,659.134501288,632,878,784,800,648.865498712,628,650,0.4307687714,-0.015410694275,0.0797245624937,0.999999884037,0.000143544337927,-0.000459356326077,1.77077585498e-05,1793193517579691008
+304,5.066666667,POSE2_TO_POSE3_RETREAT,763.71371296,742,711.71371296,673,659.71371296,632,878,784,800,648.28628704,628,650,0.430019894413,-0.0154146577815,0.0797637755173,0.999999913101,0.000142135201697,-0.000391308716353,2.17448959921e-05,1793193517596357632
+305,5.083333333,POSE2_TO_POSE3_RETREAT,764,742,712,673,659.708425736,632.291574264,878,784,800,648.291574264,628.291574264,650,0.429262783253,-0.0154178799194,0.0798108012037,0.999999940071,0.00014161770185,-0.00031483554312,2.60955384263e-05,1793193517613024256
+306,5.100000000,POSE2_TO_POSE3_RETREAT,764,742,712,673,659.131884131,632.868115869,878,784,800,648.868115869,628.868115869,650,0.428497624413,-0.015420377488,0.0798654625265,0.99999996297,0.000141971633903,-0.000230127716751,3.07525824091e-05,1793193517629690880
+307,5.116666667,POSE2_TO_POSE3_RETREAT,764,742,711.557749098,673,659.442250902,632.557749098,878,784,800,648.557749098,628.557749098,650.442250902,0.427650182264,-0.0154180029631,0.0798590133313,0.999999960838,0.000147232258333,-0.000235959339489,3.11501643213e-05,1793193517646357504
+308,5.133333333,POSE2_TO_POSE3_RETREAT,763.983830493,742.016169507,711.016169507,673,660,632,878,784,799.983830493,648.016169507,628,650.983830493,0.426777248316,-0.0154142321246,0.0798338535396,0.999999951369,0.000153697248375,-0.000269685060344,3.01600714026e-05,1793193517663023616
+309,5.150000000,POSE2_TO_POSE3_RETREAT,763.39221048,742.60778952,711.60778952,673,660,632,878,784,799.39221048,648.60778952,628,650.39221048,0.425865634533,-0.0154121956994,0.0797878603996,0.99999993031,0.000151231454202,-0.000340435729622,2.47452212931e-05,1793193517679690496
+310,5.166666667,POSE2_TO_POSE3_RETREAT,763.195048198,742.804951802,712,673,659.804951802,632,877.804951802,784,799.195048198,648.804951802,628,650.195048198,0.424954911525,-0.0154097803852,0.0797539031179,0.999999910689,0.00015240927843,-0.00039360615611,2.16239645869e-05,1793193517696357376
+311,5.183333333,POSE2_TO_POSE3_RETREAT,763.773728711,742.226271289,712,673,659.226271289,632,877.226271289,784,799.773728711,648.226271289,628,650.773728711,0.424045940598,-0.0154066198499,0.0797436186762,0.99999990186,0.000160753587858,-0.000412198721338,2.30138833581e-05,1793193517713024256
+312,5.200000000,POSE2_TO_POSE3_RETREAT,764,742,712,672.649317624,659,632,877.350682376,784,799.649317624,648,628.350682376,651,0.423165185684,-0.0154034784199,0.0797390024359,0.999999898463,0.000167945466801,-0.000417478215467,2.40726019038e-05,1793193517729691136
+313,5.216666667,POSE2_TO_POSE3_RETREAT,764,742,712,672.073472738,659,632,877.926527262,784,799.073472738,648,628.926527262,651,0.422302547449,-0.0154003492569,0.0797380255762,0.999999898697,0.000174397404809,-0.000414209790089,2.49186667878e-05,1793193517746357760
+314,5.233333333,POSE2_TO_POSE3_RETREAT,763.498244668,742,712,672.501755332,659.501755332,632,878,784,799.501755332,648,629,651,0.421506129923,-0.0154035352595,0.0797956884294,0.999999934188,0.000179543846683,-0.000313808002425,3.02014922854e-05,1793193517763023872
+315,5.250000000,POSE2_TO_POSE3_RETREAT,763,742,712,673,659.920979233,632,878,784.079020767,800,648.079020767,629,650.920979233,0.420709825151,-0.0154068588831,0.0798551676527,0.999999959873,0.000184941393121,-0.000211628288782,3.5552077248e-05,1793193517779690496
+316,5.266666667,POSE2_TO_POSE3_RETREAT,763,742,712,673,659.329928027,632,878,784.670071973,800,648.670071973,629,650.329928027,0.41985149624,-0.0154050895806,0.079870845519,0.999999962601,0.000193203205581,-0.000189978198982,3.71371560773e-05,1793193517796356864
+317,5.283333333,POSE2_TO_POSE3_RETREAT,763.256103929,742,712,673,659,632,878,784.743896071,800,649,629,650,0.418965970766,-0.0154033580339,0.0798570651425,0.999999957016,0.000196017842146,-0.00021506766281,3.59360429867e-05,1793193517813023488
+318,5.300000000,POSE2_TO_POSE3_RETREAT,763.835794165,742,712,673,659,632,878,784.164205835,800,649,629,650,0.418046082426,-0.0154016741912,0.0798060643946,0.999999936326,0.000191949993639,-0.000299212364719,3.12145874237e-05,1793193517829690624
+319,5.316666667,POSE2_TO_POSE3_RETREAT,764,742,711.589116437,672.589116437,659,632,878,784,800,649,629,650.410883563,0.417191444867,-0.015402545379,0.0797961269575,0.999999930526,0.000187505383494,-0.000320867088795,2.88858203788e-05,1793193517846356992
+320,5.333333333,POSE2_TO_POSE3_RETREAT,764,742,711.015845396,672.015845396,659,632,878,784,800,649,629,650.984154604,0.416362595471,-0.0154044263541,0.0798024183729,0.999999932387,0.000182911871959,-0.000317824811775,2.75026808295e-05,1793193517863023360
+321,5.350000000,POSE2_TO_POSE3_RETREAT,763.427186536,742,711.572813464,672.572813464,659,632,877.427186536,784.572813464,800,648.427186536,629,651,0.415506469127,-0.0154017232555,0.0797940272903,0.999999923867,0.000186717940664,-0.00034150332961,2.79018950707e-05,1793193517879689984
+322,5.366666667,POSE2_TO_POSE3_RETREAT,763.158937345,742,711.841062655,673,659.317874691,632,877,784.841062655,800,648.158937345,629,651,0.414674776099,-0.0153994332256,0.0797869144951,0.999999917504,0.000190694436302,-0.000357582477937,2.76272028869e-05,1793193517896356608
+323,5.383333333,POSE2_TO_POSE3_RETREAT,763.73721876,742,711.26278124,673,660.47443752,632,877,784.26278124,800,648.73721876,629,651,0.413909594326,-0.0153985768517,0.0797842755502,0.999999918949,0.000194490622747,-0.000351607211278,2.544078363e-05,1793193517913023488
+324,5.400000000,POSE2_TO_POSE3_RETREAT,764,742,711.314924362,672.685075638,660.370151276,632.314924362,877.314924362,784,800,649,629,651,0.413163406251,-0.0154003677854,0.0797944269285,0.999999927847,0.000190604065948,-0.000327714166874,2.40582945532e-05,1793193517929690112
+325,5.416666667,POSE2_TO_POSE3_RETREAT,764,742,711.892150339,672.107849661,659.215699323,632.892150339,877.892150339,784,800,649,629,651,0.412433038132,-0.0154043636711,0.0798152314124,0.999999941739,0.000180318524711,-0.000288897341925,2.33454018456e-05,1793193517946356736
+326,5.433333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,659.475498017,632.524501983,878,784,800,649,628.524501983,650.524501983,0.411699158391,-0.0154032555738,0.0798082292772,0.999999935153,0.00018723119534,-0.000306623777374,2.48941463339e-05,1793193517963023360
+327,5.450000000,POSE2_TO_POSE3_RETREAT,764,742,711.94018778,672.05981222,659.94018778,632,878,784,800,648.94018778,628,650.05981222,0.410966250965,-0.015400722119,0.0797957940261,0.999999924019,0.000197674115096,-0.000334918548534,2.67576446585e-05,1793193517979690240
+328,5.466666667,POSE2_TO_POSE3_RETREAT,764,742,711.359704824,672.640295176,659.359704824,632,878,784,800,648.359704824,628,650.640295176,0.410248832006,-0.0153959897279,0.0797916814942,0.999999920219,0.000204448503608,-0.000342114449008,2.68374021142e-05,1793193517996356864
+329,5.483333333,POSE2_TO_POSE3_RETREAT,763.780408217,742,711.219591783,672.780408217,659,632,877.780408217,784,799.780408217,648,628.219591783,651,0.409573056793,-0.0153937359616,0.0797997531336,0.99999992435,0.000208294261806,-0.000327332722061,2.77082236294e-05,1793193518013023232
+330,5.500000000,POSE2_TO_POSE3_RETREAT,763.203044386,742,711.796955614,672.203044386,659,632,877.203044386,784,799.203044386,648,628.796955614,651,0.408965129943,-0.0153955205178,0.0798276759519,0.99999993976,0.000207368521338,-0.000276743732666,2.98678939179e-05,1793193518029689856
+331,5.516666667,POSE2_TO_POSE3_RETREAT,763.372572331,742,712,672,659,632,877.372572331,784,799.372572331,648,629,651,0.408361445251,-0.0153947437424,0.0798393217077,0.999999943613,0.000212280374427,-0.000258330405278,3.12469071104e-05,1793193518046356736
+332,5.533333333,POSE2_TO_POSE3_RETREAT,763.947241316,742,712,672,659,632,877.947241316,784,799.947241316,648,629,651,0.407760061695,-0.0153925776084,0.0798421381968,0.999999942083,0.000220358748805,-0.000257370319389,3.22024636678e-05,1793193518063023616
+333,5.550000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632.535110283,877.464889717,784,799.464889717,648.535110283,628.464889717,651,0.407164698417,-0.0153895915876,0.0798101286891,0.99999992495,0.000219763539721,-0.00031768764007,2.96460722589e-05,1793193518079689984
+334,5.566666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632.877359241,877.122640759,784,799,649,628.122640759,650.877359241,0.406585950744,-0.0153873569872,0.0797805734447,0.999999907085,0.000219104067594,-0.000370254497909,2.71056654105e-05,1793193518096356608
+335,5.583333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632.296084652,877.703915348,784,799,649,628.703915348,650.296084652,0.406067063828,-0.0153882423824,0.0797733616583,0.999999906437,0.000221483175111,-0.000370672457463,2.59526668732e-05,1793193518113023232
+336,5.600000000,POSE2_TO_POSE3_RETREAT,764,742,712,672.281725624,659,632.281725624,877.718274376,784,799.281725624,649,628.718274376,650.281725624,0.405593029925,-0.0153884894509,0.0797808489921,0.999999913477,0.000224244629914,-0.000349392063443,2.61717868882e-05,1793193518129690368
+337,5.616666667,POSE2_TO_POSE3_RETREAT,764,742,712,672.855939209,659,632.855939209,877.144060791,784,799.855939209,649,628.144060791,650.855939209,0.405165562522,-0.0153880738078,0.0798035969747,0.999999927066,0.000227403037766,-0.000305584406095,2.78154424493e-05,1793193518146358016
+338,5.633333333,POSE2_TO_POSE3_RETREAT,764,742,712,672.569375598,659,632.569375598,877.861248804,784,800,649,628.430624402,651,0.404757352562,-0.0153888050074,0.0798206113126,0.999999934188,0.00022807853976,-0.000280653571354,2.89545159819e-05,1793193518163024640
+339,5.650000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,659.005615758,632,878.994384242,784,799.994384242,648.994384242,629,651,0.404355927584,-0.0153898681697,0.0798355963882,0.999999939184,0.000227983944104,-0.000262221329467,2.99334161497e-05,1793193518179691264
+340,5.666666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,659.596037207,632,878.403962793,784,799.403962793,648.403962793,629,651,0.4039894487,-0.0153855035159,0.0798392273545,0.999999937678,0.000234287773074,-0.00026218287364,3.18301915487e-05,1793193518196357120
+341,5.683333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,659.817426486,632,878,784.182573514,799,648.182573514,628.817426486,651,0.403630573112,-0.0153814136518,0.0798412589574,0.999999935441,0.000240217897771,-0.000265179953312,3.30629581178e-05,1793193518213023488
+342,5.700000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,659.239307234,632,878,784.760692766,799,648.760692766,628.239307234,651,0.403288170007,-0.0153779191188,0.0798398255384,0.99999993162,0.000245338392906,-0.000274753524331,3.28571491097e-05,1793193518229690112
+343,5.716666667,POSE2_TO_POSE3_RETREAT,764,742,712,672.337444525,659,632.337444525,877.662555475,784.662555475,799,649,628.337444525,651,0.402986635581,-0.0153767840412,0.0798399461127,0.999999930295,0.00024700645479,-0.000278043641352,3.29985609204e-05,1793193518246356992
+344,5.733333333,POSE2_TO_POSE3_RETREAT,764,742,712,672.913230371,659,632.913230371,877.086769629,784.086769629,799,649,628.913230371,651,0.402713967239,-0.0153773154768,0.0798411642923,0.999999930791,0.000246236019266,-0.000276895675067,3.33852191857e-05,1793193518263023872
+345,5.750000000,POSE2_TO_POSE3_RETREAT,764,742.498594534,712,672.501405466,659,633,877.498594534,784,799,649,629,651,0.402481635932,-0.0153765759497,0.0798418825076,0.999999930314,0.000248434389025,-0.000276622491136,3.36599165662e-05,1793193518279690752
+346,5.766666667,POSE2_TO_POSE3_RETREAT,764,742.914913686,712,672,659,633,878,784,799.085086314,648.914913686,628.914913686,651,0.402261140532,-0.0153755820151,0.0798423213722,0.999999929891,0.000250480771029,-0.000276288239485,3.37970262647e-05,1793193518296357376
+347,5.783333333,POSE2_TO_POSE3_RETREAT,764,742.331769749,712,672,659,633,878,784,799.668230251,648.331769749,628.331769749,651,0.402068031704,-0.0153744189626,0.0798416443231,0.999999930831,0.000248553968905,-0.000274687941909,3.32450454376e-05,1793193518313023744
+348,5.800000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,633,878,784.247368876,799.752631124,648.247368876,628.247368876,651,0.401892839268,-0.0153732583234,0.0798426687635,0.999999931848,0.000248662835891,-0.000270900850469,3.29037078458e-05,1793193518329690368
+349,5.816666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,633,878,784.821221148,799.178778852,648.821221148,628.821221148,651,0.401741293331,-0.0153721008695,0.0798459388706,0.999999932937,0.000251458428112,-0.000264227575968,3.28403823086e-05,1793193518346356992
+350,5.833333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632.603577971,878,784.603577971,799.396422029,648.603577971,629,651,0.401611115584,-0.0153714726472,0.0798481507372,0.999999933744,0.000251998806587,-0.00026060150163,3.30980266656e-05,1793193518363023616
+351,5.850000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632.027766767,878,784.027766767,799.972233233,648.027766767,629,651,0.401490607371,-0.0153710839132,0.0798498837284,0.999999934435,0.000251518654402,-0.000258354347867,3.35009165389e-05,1793193518379690240
+352,5.866666667,POSE2_TO_POSE3_RETREAT,764,742,712,672.560145753,659,632,878.560145753,784,799.439854247,648,629,651,0.401396827118,-0.0153726993537,0.0798495338755,0.999999935714,0.000246006594543,-0.00025875035207,3.31750776516e-05,1793193518396357120
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764,742,712,672.853754019,659,632.146245981,878.853754019,784,799,648.146245981,629,651,0.401307789064,-0.0153735880237,0.0798480354616,0.999999935947,0.000242162014847,-0.000261539881798,3.25588022087e-05,1793193518413023488
+354,5.900000000,POSE2_TO_POSE3_RETREAT,764,742,712,672.274829388,659,632.725170612,878.274829388,784,799,648.725170612,629,651,0.401228774684,-0.015372026076,0.0798434511628,0.99999993302,0.000244005051545,-0.000271014619475,3.11924842218e-05,1793193518429690368
+355,5.916666667,POSE2_TO_POSE3_RETREAT,764,742.302825656,712,672,659,633,878,784,799,649,629,651,0.401163857175,-0.0153716400025,0.0798401731991,0.999999930398,0.000248922558868,-0.00027624477723,3.05178322721e-05,1793193518446357248
+356,5.933333333,POSE2_TO_POSE3_RETREAT,764,742.879333263,712,672,659,633,878,784,799,649,629,651,0.40111167987,-0.0153723166381,0.0798380758501,0.999999928068,0.000256618652043,-0.000277638849575,3.04682810397e-05,1793193518463023872
+357,5.950000000,POSE2_TO_POSE3_RETREAT,764,742.547918928,712,672.452081072,659,633,878,784.452081072,799.452081072,649,629,650.547918928,0.401077908073,-0.015372075547,0.0798378052691,0.999999927486,0.000259310250085,-0.000277254917305,3.02759393136e-05,1793193518479690496
+358,5.966666667,POSE2_TO_POSE3_RETREAT,764,742,712,672.975142381,659,633,878,784.975142381,799.975142381,649,629,650.024857619,0.401049357253,-0.0153716442966,0.0798380427917,0.999999927366,0.000260652052981,-0.000276449167444,3.00694720137e-05,1793193518496357120
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764,742,712,672.378824506,659,633,878,784.378824506,799.378824506,649,629,650.621175494,0.401028825364,-0.0153724262948,0.0798388443654,0.999999927068,0.000261418130443,-0.00027676626952,3.04072276601e-05,1793193518513023744
+360,6.000000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632.789855092,878,784,799.210144908,648.789855092,628.789855092,651,0.401011440427,-0.015372584944,0.0798392649511,0.99999992665,0.000262806748577,-0.000276931424415,3.06715333454e-05,1793193518529690112
+361,6.016666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632.213685104,878,784,799.786314896,648.213685104,628.213685104,651,0.400999536773,-0.0153716578596,0.0798390219418,0.999999926021,0.000265279692211,-0.000276831921524,3.08079057129e-05,1793193518546356992
+362,6.033333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632,877.637882268,784,800,648.362117732,628.362117732,651,0.400992915994,-0.0153723514409,0.0798390695503,0.999999926422,0.000264655533691,-0.000275972988929,3.08608444326e-05,1793193518563023872
+363,6.050000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632,877.062295813,784,800,648.937704187,628.937704187,651,0.400989409473,-0.0153740004059,0.0798392884782,0.999999927427,0.00026220563095,-0.000274666371842,3.08645989562e-05,1793193518579690752
+364,6.066666667,POSE2_TO_POSE3_RETREAT,764.526984274,742,712,672,659,632,877.526984274,784,799.473015726,649,628.473015726,651,0.400987880527,-0.0153730512358,0.0798392200195,0.999999927122,0.000263394654352,-0.000274713411403,3.01973194961e-05,1793193518596357376
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764.88444607,742,712,672,659.11555393,632.11555393,878,784.11555393,799.11555393,648.88444607,628.11555393,650.88444607,0.400986096718,-0.01537214083,0.079838990909,0.999999926678,0.000264624963141,-0.000275215123224,2.95778147615e-05,1793193518613024000
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764.305392067,742,712,672,659.694607933,632.694607933,878,784.694607933,799.694607933,648.305392067,628.694607933,650.305392067,0.400982327919,-0.0153726507132,0.0798382573083,0.99999992632,0.000264249402696,-0.000276881602456,2.94766065934e-05,1793193518629690368
+367,6.116666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,659.729069968,632.729069968,878,785,799.729069968,648,629,650.270930032,0.400981255503,-0.0153736089921,0.0798384694122,0.999999926866,0.000262924034192,-0.000276166042034,2.95290578615e-05,1793193518646357248
+368,6.133333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,659.15579656,632.15579656,878,785,799.15579656,648,629,650.84420344,0.400983192107,-0.0153750676566,0.0798397368719,0.999999928409,0.00026053873089,-0.0002727922531,2.97529848195e-05,1793193518663023872
+369,6.150000000,POSE2_TO_POSE3_RETREAT,764.428936269,742,712,672,659,632.428936269,878,784.571063731,799,648.428936269,629,650.571063731,0.400982293797,-0.0153743885917,0.0798396954516,0.999999928185,0.000260876949678,-0.000273303900719,2.96322241274e-05,1793193518679690496
+370,6.166666667,POSE2_TO_POSE3_RETREAT,764.982343687,742,712,672.017656313,659,633,878,784,799,648.982343687,629,650,0.400980442071,-0.0153729916008,0.079839213247,0.999999927353,0.000262161266217,-0.000275139406238,2.93918119231e-05,1793193518696357376
+371,6.183333333,POSE2_TO_POSE3_RETREAT,764.402828786,742,712,672.597171214,659,633,878,784,799,648.402828786,629,650,0.400981916836,-0.0153741354289,0.07984024804,0.999999928198,0.000261209045046,-0.000272961111747,2.94371967755e-05,1793193518713023744
+372,6.200000000,POSE2_TO_POSE3_RETREAT,764,742.176161939,712,672.823838061,659,633,877.823838061,784.176161939,799,648,629,650.176161939,0.400982825497,-0.0153751280963,0.0798409634072,0.999999928837,0.000260318031076,-0.000271464696603,2.94404842945e-05,1793193518729690368
+373,6.216666667,POSE2_TO_POSE3_RETREAT,764,742.753957512,712,672.246042488,659,633,877.246042488,784.753957512,799,648,629,650.753957512,0.400982443491,-0.0153757761304,0.0798409505116,0.99999992902,0.000259566564242,-0.000271522906336,2.9347793612e-05,1793193518746356992
+374,6.233333333,POSE2_TO_POSE3_RETREAT,764,742.670672045,712,672,659,633,877,784.670672045,799,648.329327955,629,651,0.400981813585,-0.015375365222,0.0798410684345,0.999999928878,0.000260150441226,-0.00027149340716,2.92772593882e-05,1793193518763023872
+375,6.250000000,POSE2_TO_POSE3_RETREAT,764,742.097100126,712,672,659,633,877,784.097100126,799,648.902899874,629,651,0.400980999826,-0.0153741689558,0.0798412833781,0.999999928494,0.000261724667312,-0.000271398859239,2.92231573501e-05,1793193518779690496
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764,742,712,672.490298837,659,632.509701163,877,784,799,648.509701163,629,651,0.400979116845,-0.0153747165239,0.0798397510168,0.999999927732,0.000261934947725,-0.000273990639261,2.92329334913e-05,1793193518796357120
+377,6.283333333,POSE2_TO_POSE3_RETREAT,764,742,712,672.920987631,659,632,877,784,799.079012369,648.079012369,629,651,0.400977547004,-0.0153753177765,0.0798383695176,0.999999927085,0.000261981237198,-0.000276300522394,2.92332378749e-05,1793193518813023744
+378,6.300000000,POSE2_TO_POSE3_RETREAT,764,742,712,672.341790069,659,632,877,784,799.658209931,648.658209931,629,651,0.400979338876,-0.0153740091829,0.0798401972171,0.999999927695,0.000262748993367,-0.00027336027644,2.90911733382e-05,1793193518829690368
+379,6.316666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632.235347143,877.235347143,784,799.764652857,649,629,650.764652857,0.400980552183,-0.0153738953926,0.0798412809782,0.999999928183,0.000262797787566,-0.000271526387409,2.90523363563e-05,1793193518846357248
+380,6.333333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632.809518083,877.809518083,784,799.190481917,649,629,650.190481917,0.400980932546,-0.0153755017331,0.0798412937087,0.999999928504,0.000261811508926,-0.000271285294837,2.91621136885e-05,1793193518863024128
+381,6.350000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,633,878,784,799,649,629,650.383261239,0.400980793674,-0.0153759307303,0.0798411750056,0.999999928524,0.000261414446774,-0.000271604602752,2.90808684544e-05,1793193518879690752
+382,6.366666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,633,878,784,799,649,629,650.956792005,0.400980397028,-0.0153757752369,0.0798409910524,0.999999928394,0.000261309900385,-0.000272202120746,2.89047903204e-05,1793193518896357120
+383,6.383333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,658.450350551,633,878,784.549649449,799.549649449,649,629,651,0.400980192709,-0.0153748461257,0.0798413934139,0.999999928472,0.000262110113723,-0.000271146142571,2.88855877546e-05,1793193518913023744
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,658.140269572,633,878.140269572,784.859730428,799.859730428,649,628.859730428,651,0.400980218082,-0.0153746298739,0.079841850563,0.999999928847,0.000261910816604,-0.000269960789504,2.88188893107e-05,1793193518929690112
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,658.718974674,633,878.718974674,784.281025326,799.281025326,649,628.281025326,651,0.400980912416,-0.0153768387935,0.0798423296474,0.999999930093,0.000258356976657,-0.00026879213879,2.85637842933e-05,1793193518946356736
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764,742,712,672.295243698,659,633,878.704756302,784,799,649,628.295243698,651,0.400980837381,-0.0153779343146,0.0798423993693,0.999999930619,0.00025649806224,-0.000268622934742,2.85193462558e-05,1793193518963023360
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764,742,712,672.869213003,659,633,878.130786997,784,799,649,628.869213003,651,0.400980036021,-0.0153779787289,0.0798420826314,0.999999930472,0.000256239246423,-0.000269397260878,2.86737889185e-05,1793193518979690240
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764,742,712,673,659,633,878,784.452099078,799,649,629,651,0.400979738722,-0.0153776462477,0.0798418960529,0.999999930023,0.000257247471898,-0.000270094756531,2.87464818733e-05,1793193518996357120
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764,742,712,672.962632911,659,633,878,784.962632911,799.037367089,649,629,650.962632911,0.40097958469,-0.0153772449549,0.0798417753587,0.999999929556,0.000258424836294,-0.000270696445152,2.878212959e-05,1793193519013024000
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764,742,712,672.380998161,659,633,878,784.380998161,799.619001839,649,629,650.380998161,0.400979350736,-0.0153774614342,0.0798420548231,0.99999993015,0.000256619550241,-0.000270232911016,2.86295893846e-05,1793193519029690624
+391,6.516666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,659.19903062,632.80096938,878,784.19903062,799.80096938,649,629,650.19903062,0.400979746606,-0.0153771011523,0.0798423792654,0.999999930563,0.00025605186362,-0.000269254435582,2.85137697875e-05,1793193519046357248
+392,6.533333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,659.776009714,632.223990286,878,784.776009714,799.223990286,649,629,650.776009714,0.400981338474,-0.0153756456319,0.0798427891185,0.999999930631,0.000257834312068,-0.000267298114264,2.84676806655e-05,1793193519063023616
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_08/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_08/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5baa5a1f914fde2294f95a42de7a2f0914abbbe7
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_08/depth_01/simulation_data.csv
@@ -0,0 +1,394 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+1,0.016666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+2,0.033333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+3,0.050000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+4,0.066666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+5,0.083333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+6,0.100000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+7,0.116666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+8,0.133333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+9,0.150000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+10,0.166666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+11,0.183333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+12,0.200000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+13,0.216666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+14,0.233333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+15,0.250000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+16,0.266666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+17,0.283333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+18,0.300000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+19,0.316666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+20,0.333333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+21,0.350000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+22,0.366666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+23,0.383333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+24,0.400000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+25,0.416666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+26,0.433333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+27,0.450000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+28,0.466666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+29,0.483333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+30,0.500000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+31,0.516666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+32,0.533333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+33,0.550000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+34,0.566666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+35,0.583333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+36,0.600000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+37,0.616666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+38,0.633333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+39,0.650000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+40,0.666666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+41,0.683333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+42,0.700000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+43,0.716666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+44,0.733333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+45,0.750000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+46,0.766666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+47,0.783333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+48,0.800000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+49,0.816666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+50,0.833333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+51,0.850000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+52,0.866666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+53,0.883333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+54,0.900000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+55,0.916666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+56,0.933333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+57,0.950000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+58,0.966666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+59,0.983333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+60,1.000000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+61,1.016666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+62,1.033333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+63,1.050000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+64,1.066666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+65,1.083333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+66,1.100000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+67,1.116666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+68,1.133333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+69,1.150000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+70,1.166666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+71,1.183333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+72,1.200000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+73,1.216666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+74,1.233333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+75,1.250000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+76,1.266666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+77,1.283333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+78,1.300000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+79,1.316666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+80,1.333333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+81,1.350000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+82,1.366666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+83,1.383333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+84,1.400000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+85,1.416666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+86,1.433333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+87,1.450000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+88,1.466666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+89,1.483333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+90,1.500000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+91,1.516666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+92,1.533333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+93,1.550000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+94,1.566666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+95,1.583333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+96,1.600000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+97,1.616666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+98,1.633333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+99,1.650000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+100,1.666666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+101,1.683333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+102,1.700000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+103,1.716666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+104,1.733333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+105,1.750000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+106,1.766666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+107,1.783333333,pose1_to_pose2_press,0.575709274498,-0.00994536356016,1.07002930469,0.546280002705,-0.00127264133471,1.06969858615
+108,1.800000000,pose1_to_pose2_press,0.575709284954,-0.00994537888438,1.07002927495,0.546280013228,-0.00127265637396,1.06969855788
+109,1.816666667,pose1_to_pose2_press,0.57570929947,-0.00994540015911,1.07002923366,0.546280027838,-0.00127267725306,1.06969851863
+110,1.833333333,pose1_to_pose2_press,0.575709306073,-0.00994540983594,1.07002921487,0.546280034484,-0.00127268674994,1.06969850078
+111,1.850000000,pose1_to_pose2_press,0.575709327176,-0.00994544076437,1.07002915484,0.546280055723,-0.00127271710322,1.06969844372
+112,1.866666667,pose1_to_pose2_press,0.575709629104,-0.0099455105609,1.07002915502,0.546280358845,-0.00127278295139,1.06969844115
+113,1.883333333,pose1_to_pose2_press,0.575710805904,-0.00994552994143,1.07002923926,0.546281537209,-0.00127279704937,1.06969852476
+114,1.900000000,pose1_to_pose2_press,0.575713842747,-0.00994541379282,1.07002921031,0.546284571545,-0.00127268967486,1.06969848879
+115,1.916666667,pose1_to_pose2_press,0.575720148711,-0.00994549784956,1.0700290449,0.546290878754,-0.00127276922145,1.06969833084
+116,1.933333333,pose1_to_pose2_press,0.575732772067,-0.00994542953107,1.07002897805,0.546303500962,-0.0012727046524,1.06969826772
+117,1.950000000,pose1_to_pose2_press,0.57575299337,-0.00994551127894,1.07002897529,0.54632372356,-0.00127278189255,1.06969826785
+118,1.966666667,pose1_to_pose2_press,0.575784144625,-0.00994547337086,1.07002917965,0.546354876297,-0.00127273933978,1.06969846217
+119,1.983333333,pose1_to_pose2_press,0.575826944008,-0.0099453033662,1.07002906431,0.546397672247,-0.00127258037295,1.06969836272
+120,2.000000000,pose1_to_pose2_press,0.575884055632,-0.00994539573817,1.07002916184,0.54645478563,-0.00127266702431,1.06969845367
+121,2.016666667,pose1_to_pose2_press,0.575954459275,-0.00994540191435,1.07002914606,0.546525189136,-0.00127267361043,1.06969843927
+122,2.033333333,pose1_to_pose2_press,0.576038711662,-0.00994542363734,1.07002913684,0.546609440296,-0.00127269962728,1.06969842652
+123,2.050000000,pose1_to_pose2_press,0.57613729662,-0.00994539832853,1.07002908972,0.546708026152,-0.00127267098422,1.06969838688
+124,2.066666667,pose1_to_pose2_press,0.57625004563,-0.00994546332066,1.07002897492,0.546820775358,-0.0012727352322,1.06969827413
+125,2.083333333,pose1_to_pose2_press,0.576378715232,-0.00994549232233,1.07002899839,0.546949445172,-0.00127276372167,1.06969829218
+126,2.100000000,pose1_to_pose2_press,0.576522961268,-0.00994534686203,1.07002907685,0.547093689904,-0.00127262268776,1.06969837051
+127,2.116666667,pose1_to_pose2_press,0.576683606197,-0.00994535022749,1.07002929652,0.547254335658,-0.00127262335811,1.06969858738
+128,2.133333333,pose1_to_pose2_press,0.576860246139,-0.00994548525622,1.07002928741,0.547430977543,-0.00127275168445,1.06969858099
+129,2.150000000,pose1_to_pose2_press,0.577053726349,-0.00994549927226,1.07002914181,0.54762445709,-0.00127276807543,1.06969843216
+130,2.166666667,pose1_to_pose2_press,0.57726698097,-0.0099454523577,1.07002915074,0.547837711119,-0.00127272325568,1.06969843873
+131,2.183333333,pose1_to_pose2_press,0.577501365154,-0.00994532964947,1.07002924386,0.548072093482,-0.0012726070313,1.06969852382
+132,2.200000000,pose1_to_pose2_press,0.57776199291,-0.00994530118473,1.07002939588,0.548332720926,-0.00127257934258,1.06969868322
+133,2.216666667,pose1_to_pose2_press,0.578049319121,-0.00994533567403,1.07002932535,0.548620048159,-0.00127261021424,1.06969861651
+134,2.233333333,pose1_to_pose2_press,0.578365921103,-0.00994547686248,1.07002915706,0.548936652038,-0.0012727451018,1.0696984446
+135,2.250000000,pose1_to_pose2_press,0.578709312799,-0.00994540053079,1.07002917736,0.549280043161,-0.0012726708567,1.06969846118
+136,2.266666667,pose1_to_pose2_press,0.579078809445,-0.00994531488834,1.07002914888,0.549649537054,-0.00127259436022,1.06969843769
+137,2.283333333,pose1_to_pose2_press,0.579469664263,-0.00994542454117,1.07002913742,0.550040393912,-0.00127269700083,1.06969842858
+138,2.300000000,pose1_to_pose2_press,0.579880480908,-0.00994543592867,1.07002922888,0.550451210895,-0.00127270733371,1.06969851753
+139,2.316666667,pose1_to_pose2_press,0.580313391921,-0.0099452681802,1.07002935428,0.550884121243,-0.00127254188707,1.0696986417
+140,2.333333333,pose1_to_pose2_press,0.580767849533,-0.00994540364485,1.07002930135,0.551338579722,-0.00127267431498,1.0696985912
+141,2.350000000,pose1_to_pose2_press,0.581245916107,-0.00994545584375,1.07002930397,0.551816646567,-0.00127272547221,1.06969859704
+142,2.366666667,pose1_to_pose2_press,0.581746676829,-0.00994540832159,1.0700291931,0.552317407237,-0.00127267811542,1.06969848631
+143,2.383333333,pose1_to_pose2_press,0.582270266198,-0.00994552191959,1.07002932477,0.552840997622,-0.00127278866719,1.06969860748
+144,2.400000000,pose1_to_pose2_press,0.58282708368,-0.00994547162261,1.0700291547,0.553397813423,-0.00127274414917,1.06969843534
+145,2.416666667,pose1_to_pose2_press,0.583414707994,-0.00994538904639,1.0700293696,0.553985435964,-0.00127266772132,1.06969864678
+146,2.433333333,pose1_to_pose2_press,0.584033409559,-0.00994539397472,1.07002918026,0.554604139131,-0.00127266675269,1.0696984695
+147,2.450000000,pose1_to_pose2_press,0.584676712825,-0.00994527751163,1.07002928832,0.555247441113,-0.00127255453884,1.06969858033
+148,2.466666667,pose1_to_pose2_press,0.585339605553,-0.00994537623648,1.07002922486,0.555910334938,-0.00127264970435,1.06969851263
+149,2.483333333,pose1_to_pose2_press,0.586010242525,-0.00994543902666,1.07002907443,0.556580971855,-0.00127271289514,1.06969835658
+150,2.500000000,pose1_to_pose2_press,0.586688110049,-0.00994554285491,1.07002924956,0.557258841889,-0.00127280811882,1.06969853386
+151,2.516666667,pose1_to_pose2_press,0.587377776568,-0.009945634094,1.0700290543,0.557948510013,-0.00127289366728,1.06969834508
+152,2.533333333,pose1_to_pose2_press,0.588086057662,-0.00994548243849,1.07002895534,0.558656789711,-0.00127274663283,1.0696982491
+153,2.550000000,pose1_to_pose2_press,0.588817686033,-0.00994545364172,1.07002917017,0.559388417468,-0.00127272001335,1.06969846149
+154,2.566666667,pose1_to_pose2_press,0.589566337799,-0.00994535015489,1.07002920118,0.560137065545,-0.00127262918293,1.06969848895
+155,2.583333333,pose1_to_pose2_press,0.590329738129,-0.00994535117083,1.07002908167,0.560900466606,-0.00127262754175,1.06969837404
+156,2.600000000,pose1_to_pose2_press,0.591113089573,-0.00994538858549,1.07002925014,0.561683819214,-0.00127266128354,1.06969853524
+157,2.616666667,pose1_to_pose2_press,0.591910695466,-0.00994540846372,1.07002915501,0.562481425873,-0.00127267842062,1.06969844384
+158,2.633333333,pose1_to_pose2_press,0.592714305126,-0.00994544580763,1.0700292114,0.563285035259,-0.00127271689369,1.06969849507
+159,2.650000000,pose1_to_pose2_press,0.593524333197,-0.00994537501551,1.07002917656,0.564095062591,-0.00127264828003,1.06969846889
+160,2.666666667,pose1_to_pose2_press,0.59434056525,-0.00994536566763,1.07002904241,0.564911295605,-0.00127263555635,1.06969833776
+161,2.683333333,pose1_to_pose2_press,0.595158965831,-0.0099454938588,1.0700290517,0.565729696441,-0.00127276305927,1.06969834247
+162,2.700000000,pose1_to_pose2_press,0.595981826275,-0.00994553145461,1.07002901844,0.566552556278,-0.00127280268854,1.06969830996
+163,2.716666667,pose1_to_pose2_press,0.596800172532,-0.00994552084821,1.07002933228,0.567370904103,-0.00127278705961,1.06969861599
+164,2.733333333,pose1_to_pose2_press,0.597612954333,-0.00994544815053,1.07002931402,0.56818368619,-0.00127271325511,1.06969860132
+165,2.750000000,pose1_to_pose2_press,0.598418991957,-0.00994543570302,1.07002911897,0.568989722133,-0.00127270621425,1.06969841414
+166,2.766666667,pose1_to_pose2_press,0.599216786713,-0.00994542750236,1.07002910596,0.56978751683,-0.00127269843658,1.0696983954
+167,2.783333333,pose1_to_pose2_press,0.600010374666,-0.00994530665742,1.07002915372,0.570581103726,-0.00127258142458,1.06969843677
+168,2.800000000,pose1_to_pose2_press,0.600804976161,-0.00994546118054,1.07002940127,0.571375707719,-0.00127272761957,1.06969868046
+169,2.816666667,pose1_to_pose2_press,0.601602328753,-0.00994536309551,1.07002923586,0.572173058955,-0.00127263375333,1.06969852523
+170,2.833333333,pose1_to_pose2_press,0.602406235292,-0.00994542467127,1.0700291038,0.572976964904,-0.00127269725226,1.06969839528
+171,2.850000000,pose1_to_pose2_press,0.603204844535,-0.00994537754001,1.070029025,0.573775573038,-0.00127265365541,1.06969832254
+172,2.866666667,pose1_to_pose2_press,0.603992229992,-0.00994542033496,1.0700291278,0.574562960593,-0.00127268952498,1.06969842034
+173,2.883333333,pose1_to_pose2_press,0.604763792197,-0.0099454034704,1.07002914538,0.575334521568,-0.00127267700391,1.06969843357
+174,2.900000000,pose1_to_pose2_press,0.605514960382,-0.00994552408036,1.07002914402,0.57608569178,-0.00127279067602,1.06969843382
+175,2.916666667,pose1_to_pose2_press,0.606235285004,-0.00994551691933,1.07002924766,0.576806016204,-0.00127278436111,1.06969853308
+176,2.933333333,pose1_to_pose2_press,0.606930722916,-0.00994538739008,1.07002927188,0.577501452061,-0.00127266173588,1.06969855905
+177,2.950000000,pose1_to_pose2_press,0.607608808424,-0.00994546661882,1.07002908985,0.578179538171,-0.00127273870254,1.06969838293
+178,2.966666667,pose1_to_pose2_press,0.608275804306,-0.00994545671337,1.07002916032,0.578846534218,-0.00127272823906,1.06969845343
+179,2.983333333,pose1_to_pose2_press,0.608931104222,-0.00994533791019,1.07002902692,0.579501834247,-0.00127260924569,1.06969831497
+180,3.000000000,pose1_to_pose2_press,0.609569304292,-0.00994545973872,1.07002912116,0.580140035985,-0.00127272541383,1.06969840938
+181,3.016666667,pose1_to_pose2_press,0.610184040919,-0.0099454145192,1.07002919683,0.580754771633,-0.00127268356604,1.06969848383
+182,3.033333333,pose1_to_pose2_press,0.610763003947,-0.00994540978306,1.07002923012,0.581333734751,-0.00127267873928,1.06969851154
+183,3.050000000,pose1_to_pose2_press,0.611310779984,-0.00994540892096,1.07002944914,0.581881509143,-0.00127268338014,1.06969873275
+184,3.066666667,pose1_to_pose2_press,0.611828019249,-0.00994549883888,1.07002932138,0.582398749251,-0.00127277043656,1.06969860512
+185,3.083333333,pose1_to_pose2_press,0.612321699736,-0.009945493194,1.07002928842,0.582892431349,-0.0012727593009,1.06969857293
+186,3.100000000,pose1_to_pose2_press,0.612792633396,-0.00994551530027,1.07002895996,0.583363363305,-0.0012727871155,1.06969824672
+187,3.116666667,pose1_to_pose2_press,0.613237534807,-0.00994529208811,1.07002920099,0.58380826353,-0.0012725680032,1.06969848311
+188,3.133333333,pose1_to_pose2_press,0.613656605814,-0.00994540290562,1.07002927392,0.584227333922,-0.0012726804714,1.06969856182
+189,3.150000000,pose1_to_pose2_press,0.614045704509,-0.00994544649088,1.07002938946,0.58461643402,-0.00127271874038,1.06969867671
+190,3.166666667,pose1_to_pose2_press,0.614412880526,-0.00994541266955,1.07002944657,0.58498360993,-0.00127268511537,1.06969872309
+191,3.183333333,pose1_to_pose2_press,0.614761200144,-0.00994538002077,1.07002913564,0.585331929832,-0.00127264981519,1.0696984364
+192,3.200000000,pose1_to_pose2_press,0.615096252292,-0.00994536338573,1.0700290886,0.585666979833,-0.00127263969708,1.06969838961
+193,3.216666667,pose1_to_pose2_press,0.615419358032,-0.00994536282982,1.07002915309,0.585990086826,-0.00127263434834,1.06969844016
+194,3.233333333,pose1_to_pose2_press,0.615730700667,-0.00994544633044,1.07002938014,0.586301430134,-0.00127271544226,1.06969865706
+195,3.250000000,pose1_to_pose2_press,0.616023564369,-0.00994541604713,1.07002919182,0.586594293788,-0.00127268426835,1.06969848403
+196,3.266666667,pose1_to_pose2_press,0.616290212889,-0.00994530922756,1.0700291466,0.586860940136,-0.00127258427514,1.06969843793
+197,3.283333333,pose1_to_pose2_press,0.616529930629,-0.00994537503064,1.07002930377,0.587100658322,-0.00127264846984,1.06969858127
+198,3.300000000,pose1_to_pose2_press,0.616742951035,-0.00994535753958,1.07002904353,0.587313677528,-0.00127263390799,1.06969833625
+199,3.316666667,pose1_to_pose2_press,0.616929764632,-0.00994550532965,1.07002922613,0.58750049397,-0.00127277174021,1.06969851577
+200,3.333333333,pose1_to_pose2_press,0.617093867274,-0.00994529566503,1.07002915891,0.587664593336,-0.00127257268674,1.06969845139
+201,3.350000000,pose1_to_pose2_press,0.617238737837,-0.00994546853675,1.07002913395,0.587809465949,-0.00127273814479,1.06969842631
+202,3.366666667,pose1_to_pose2_press,0.617367251333,-0.00994541108884,1.07002914942,0.587937978739,-0.00127268302315,1.06969843626
+203,3.383333333,pose1_to_pose2_press,0.617479834122,-0.00994543932046,1.0700293068,0.588050561956,-0.00127270968364,1.06969858952
+204,3.400000000,pose1_to_pose2_press,0.617579171808,-0.00994547034537,1.07002935583,0.588149899444,-0.00127274113464,1.06969863824
+205,3.416666667,pose1_to_pose2_press,0.617665628411,-0.00994549914178,1.07002928526,0.588236356158,-0.0012727692594,1.06969856974
+206,3.433333333,pose1_to_pose2_press,0.617739924837,-0.00994547548996,1.07002916984,0.588310652489,-0.00127274524621,1.06969845988
+207,3.450000000,pose1_to_pose2_press,0.617803168019,-0.00994531866845,1.07002899649,0.588373893332,-0.0012725956623,1.06969829278
+208,3.466666667,pose1_to_pose2_press,0.617855323145,-0.0099454507283,1.07002903395,0.588426050948,-0.00127271962582,1.06969832832
+209,3.483333333,pose1_to_pose2_press,0.617898442515,-0.00994545576982,1.07002912473,0.5884691718,-0.00127271960737,1.06969841562
+210,3.500000000,pose1_to_pose2_press,0.617932737419,-0.00994542553681,1.07002901415,0.588503464796,-0.00127269515845,1.06969830741
+211,3.516666667,pose1_to_pose2_press,0.617959811637,-0.00994547739048,1.0700292874,0.588530539701,-0.00127274567794,1.06969856814
+212,3.533333333,pose1_to_pose2_press,0.617980139466,-0.00994548070598,1.07002926241,0.588550867987,-0.00127274720808,1.06969855402
+213,3.550000000,pose1_to_pose2_press,0.617994686555,-0.00994553786652,1.07002911594,0.588565415304,-0.00127280345032,1.06969841019
+214,3.566666667,pose1_to_pose2_press,0.618005015917,-0.00994552314966,1.07002904376,0.588575744003,-0.0012727910241,1.06969833583
+215,3.583333333,pose1_to_pose2_press,0.618011854631,-0.00994537080362,1.07002912907,0.588582580847,-0.00127264520308,1.06969841764
+216,3.600000000,pose1_to_pose2_press,0.618016414934,-0.00994538106615,1.07002923519,0.588587141239,-0.0012726552444,1.06969852105
+217,3.616666667,pose1_to_pose2_press,0.618019100784,-0.00994545197523,1.07002932625,0.588589827915,-0.00127272337165,1.06969861028
+218,3.633333333,pose1_to_pose2_press,0.618021366889,-0.00994551180261,1.07002940307,0.588592094716,-0.00127278085194,1.06969868557
+219,3.650000000,pose1_to_pose2_press,0.618023202509,-0.00994549094777,1.07002937859,0.588593930633,-0.00127275891987,1.06969866327
+220,3.666666667,pose1_to_pose2_press,0.618024485318,-0.00994545534039,1.07002933516,0.588595213569,-0.0012727228097,1.06969862241
+221,3.683333333,pose1_to_pose2_press,0.618025377864,-0.00994543056568,1.07002930495,0.588596106203,-0.00127269768518,1.06969859399
+222,3.700000000,pose1_to_pose2_press,0.618025896975,-0.00994541615653,1.07002928737,0.588596625366,-0.00127268307256,1.06969857745
+223,3.716666667,pose1_to_pose2_press,0.618026068069,-0.00994541140743,1.07002928158,0.588596796476,-0.00127267825641,1.069698572
+224,3.733333333,pose1_to_pose2_press,0.618026189311,-0.00994540804206,1.07002927748,0.58859691773,-0.00127267484351,1.06969856814
+225,3.750000000,pose1_to_pose2_press,0.618026636511,-0.00994539562899,1.07002926234,0.588597364974,-0.00127266225517,1.0696985539
+226,3.766666667,pose1_to_pose2_press,0.618027300285,-0.00994541129213,1.07002929296,0.588598028625,-0.00127267834176,1.06969858372
+227,3.783333333,pose1_to_pose2_press,0.618028098897,-0.00994543368823,1.07002933534,0.58859882707,-0.00127270131854,1.06969862491
+228,3.800000000,pose1_to_pose2_press,0.618028800234,-0.00994545335637,1.07002937255,0.58859952826,-0.00127272149663,1.06969866108
+229,3.816666667,pose1_to_pose2_press,0.618029426702,-0.00994546752569,1.07002939016,0.588600154606,-0.00127273609519,1.06969867771
+230,3.833333333,pose1_to_pose2_press,0.618029728076,-0.00994546695048,1.07002936467,0.588600455942,-0.00127273566936,1.0696986516
+231,3.850000000,pose1_to_pose2_press,0.618029822584,-0.0099454667701,1.07002935667,0.588600550438,-0.00127273553583,1.06969864341
+232,3.866666667,pose1_to_pose2_press,0.618029927985,-0.00994546656893,1.07002934775,0.588600655827,-0.0012727353869,1.06969863428
+233,3.883333333,pose1_to_pose2_press,0.618029987674,-0.009945466455,1.0700293427,0.588600715508,-0.00127273530256,1.06969862911
+234,3.900000000,pose1_to_pose2_press,0.618030290583,-0.00994546587687,1.07002931707,0.588601018379,-0.00127273487456,1.06969860286
+235,3.916666667,pose1_to_pose2_press,0.618030351311,-0.00994546576096,1.07002931193,0.5886010791,-0.00127273478876,1.0696985976
+236,3.933333333,pose1_to_pose2_press,0.618030573356,-0.00994546533716,1.07002929315,0.588601301117,-0.00127273447502,1.06969857837
+237,3.950000000,pose1_to_pose2_press,0.618030875075,-0.0099454891634,1.07002933019,0.588601602862,-0.00127275826272,1.06969861424
+238,3.966666667,pose1_to_pose2_press,0.618031169155,-0.00994552622419,1.07002940178,0.588601897004,-0.00127279517928,1.06969868437
+239,3.983333333,pose1_to_pose2_press,0.618031211906,-0.00994549419067,1.07002941231,0.588601939251,-0.00127276486915,1.06969869461
+240,4.000000000,pose1_to_pose2_press,0.618031221024,-0.00994547913196,1.07002941459,0.588601948149,-0.00127275056149,1.0696986968
+241,4.016666667,pose1_to_pose2_press,0.618031221935,-0.00994547762789,1.07002941481,0.588601949039,-0.00127274913119,1.06969869702
+242,4.033333333,pose2_hold,0.618031221935,-0.00994547762789,1.07002941481,0.588601949042,-0.00127274913084,1.06969869702
+243,4.050000000,pose2_hold,0.618031221935,-0.00994547762789,1.07002941481,0.588601949042,-0.00127274913069,1.06969869702
+244,4.066666667,pose2_hold,0.618031221935,-0.00994547762789,1.07002941481,0.588601949043,-0.00127274913072,1.06969869702
+245,4.083333333,pose2_hold,0.618031221935,-0.00994547762789,1.07002941481,0.588601949043,-0.00127274913074,1.06969869702
+246,4.100000000,pose2_hold,0.618031221935,-0.00994547762789,1.07002941481,0.588601949043,-0.00127274913075,1.06969869702
+247,4.116666667,pose2_hold,0.618031221935,-0.00994547762789,1.07002941481,0.588601949043,-0.00127274913075,1.06969869702
+248,4.133333333,pose2_hold,0.618031221935,-0.00994547762789,1.07002941481,0.588601949043,-0.00127274913075,1.06969869702
+249,4.150000000,pose2_hold,0.618031221935,-0.00994547762789,1.07002941481,0.588601949043,-0.00127274913075,1.06969869702
+250,4.166666667,pose2_hold,0.618031221935,-0.00994547762789,1.07002941481,0.588601949043,-0.00127274913075,1.06969869702
+251,4.183333333,pose2_hold,0.618031221935,-0.00994547762789,1.07002941481,0.588601949043,-0.00127274913075,1.06969869702
+252,4.200000000,pose2_hold,0.618031221935,-0.00994547762789,1.07002941481,0.588601949044,-0.00127274913075,1.06969869702
+253,4.216666667,pose2_hold,0.618031221935,-0.00994547762789,1.07002941481,0.588601949044,-0.00127274913075,1.06969869702
+254,4.233333333,pose2_hold,0.618031221935,-0.00994547762789,1.07002941481,0.588601949044,-0.00127274913089,1.06969869702
+255,4.250000000,pose2_hold,0.618031221935,-0.00994547762789,1.07002941481,0.588601949044,-0.00127274913098,1.06969869702
+256,4.266666667,pose2_hold,0.618031221935,-0.00994547762789,1.07002941481,0.588601949044,-0.00127274913098,1.06969869702
+257,4.283333333,pose2_hold,0.618031221935,-0.00994547762789,1.07002941481,0.588601949044,-0.00127274913098,1.06969869702
+258,4.300000000,pose2_to_pose3_retreat,0.618031221935,-0.00994547762789,1.07002941481,0.588601949044,-0.00127274913109,1.06969869702
+259,4.316666667,pose2_to_pose3_retreat,0.618031215005,-0.00994548735602,1.07002940786,0.588601942326,-0.0012727580852,1.06969869156
+260,4.333333333,pose2_to_pose3_retreat,0.61803121077,-0.00994549330205,1.07002940361,0.58860193822,-0.00127276355812,1.06969868822
+261,4.350000000,pose2_to_pose3_retreat,0.618031202091,-0.00994550548541,1.0700293949,0.588601929806,-0.00127277477209,1.06969868139
+262,4.366666667,pose2_to_pose3_retreat,0.618031149456,-0.00994551492932,1.07002936331,0.588601877364,-0.00127278347842,1.06969865189
+263,4.383333333,pose2_to_pose3_retreat,0.618030934544,-0.00994547534172,1.07002926012,0.588601661534,-0.00127274711384,1.06969854598
+264,4.400000000,pose2_to_pose3_retreat,0.618030272384,-0.00994546587395,1.07002926102,0.588600999574,-0.00127273705926,1.06969854469
+265,4.416666667,pose2_to_pose3_retreat,0.618028093771,-0.00994553253105,1.07002926365,0.588598823469,-0.00127279508462,1.06969855063
+266,4.433333333,pose2_to_pose3_retreat,0.618022248647,-0.00994544799863,1.07002922655,0.588592977,-0.00127271478809,1.06969852262
+267,4.450000000,pose2_to_pose3_retreat,0.618010106637,-0.00994537502197,1.07002901921,0.588580832916,-0.00127264877928,1.06969831788
+268,4.466666667,pose2_to_pose3_retreat,0.617990347362,-0.00994535894817,1.07002906214,0.588561072824,-0.00127263559554,1.06969835559
+269,4.483333333,pose2_to_pose3_retreat,0.617959465431,-0.00994557987933,1.07002914189,0.588530195322,-0.00127284199298,1.06969842722
+270,4.500000000,pose2_to_pose3_retreat,0.617917601613,-0.00994548485166,1.07002924019,0.588488329201,-0.00127275440442,1.06969852799
+271,4.516666667,pose2_to_pose3_retreat,0.617864054074,-0.00994539560881,1.07002912303,0.588434780423,-0.0012726695633,1.06969840366
+272,4.533333333,pose2_to_pose3_retreat,0.617798844053,-0.00994551446755,1.07002927872,0.588369572374,-0.00127278198483,1.06969856548
+273,4.550000000,pose2_to_pose3_retreat,0.617721167276,-0.00994552060908,1.0700292346,0.588291895612,-0.00127278921643,1.06969851992
+274,4.566666667,pose2_to_pose3_retreat,0.617630824219,-0.00994550919232,1.07002913754,0.588201552588,-0.00127277789061,1.06969842757
+275,4.583333333,pose2_to_pose3_retreat,0.617527495062,-0.00994542816977,1.07002918606,0.588098221872,-0.00127270176185,1.06969847694
+276,4.600000000,pose2_to_pose3_retreat,0.617407407219,-0.00994539996281,1.07002920542,0.587978133259,-0.00127267632772,1.06969849809
+277,4.616666667,pose2_to_pose3_retreat,0.617270762111,-0.00994552646514,1.07002907919,0.587841491001,-0.0012727934498,1.06969837268
+278,4.633333333,pose2_to_pose3_retreat,0.617115784099,-0.00994555626779,1.07002910687,0.587686515112,-0.00127281666959,1.06969839554
+279,4.650000000,pose2_to_pose3_retreat,0.61693972542,-0.00994538842428,1.07002919004,0.587510452608,-0.00127266217857,1.0696984793
+280,4.666666667,pose2_to_pose3_retreat,0.616740129093,-0.00994548984321,1.07002909294,0.587310856257,-0.00127276412028,1.0696983828
+281,4.683333333,pose2_to_pose3_retreat,0.616515655244,-0.00994550530555,1.07002928976,0.587086383407,-0.00127277713158,1.0696985718
+282,4.700000000,pose2_to_pose3_retreat,0.616266374564,-0.00994552969971,1.0700291513,0.58683710422,-0.00127279634863,1.06969845113
+283,4.716666667,pose2_to_pose3_retreat,0.615990999558,-0.00994552014718,1.07002901209,0.586561728545,-0.00127278961906,1.06969831387
+284,4.733333333,pose2_to_pose3_retreat,0.615690569767,-0.00994539160874,1.07002911904,0.586261298269,-0.00127266365978,1.06969841432
+285,4.750000000,pose2_to_pose3_retreat,0.615362749356,-0.00994530517376,1.07002917668,0.585933476927,-0.00127258125535,1.06969846732
+286,4.766666667,pose2_to_pose3_retreat,0.615006117762,-0.00994544741483,1.07002923739,0.585576846613,-0.00127272004663,1.06969852507
+287,4.783333333,pose2_to_pose3_retreat,0.614619355645,-0.00994546076455,1.0700291179,0.585190085276,-0.00127273161676,1.06969840476
+288,4.800000000,pose2_to_pose3_retreat,0.614211205791,-0.00994548262231,1.07002906833,0.584781936317,-0.00127275114734,1.06969835648
+289,4.816666667,pose2_to_pose3_retreat,0.613784987294,-0.00994537856819,1.07002907074,0.584355715917,-0.00127265387752,1.06969836813
+290,4.833333333,pose2_to_pose3_retreat,0.613341916258,-0.00994537431735,1.07002892582,0.583912645205,-0.00127264861575,1.06969823113
+291,4.850000000,pose2_to_pose3_retreat,0.612883662405,-0.00994548937855,1.07002889314,0.583454392408,-0.00127276030802,1.06969819573
+292,4.866666667,pose2_to_pose3_retreat,0.612407460921,-0.00994540568023,1.07002913765,0.582978191115,-0.00127267628626,1.06969843168
+293,4.883333333,pose2_to_pose3_retreat,0.611899562191,-0.00994539422642,1.07002930161,0.582470291812,-0.00127266727218,1.06969858274
+294,4.900000000,pose2_to_pose3_retreat,0.611358396011,-0.00994551820003,1.07002917224,0.58192912748,-0.00127278489749,1.06969845525
+295,4.916666667,pose2_to_pose3_retreat,0.610780607669,-0.0099453685948,1.07002942022,0.581351338121,-0.00127263880756,1.06969870133
+296,4.933333333,pose2_to_pose3_retreat,0.610171995063,-0.00994539686261,1.07002913971,0.580742726134,-0.00127266458052,1.06969843233
+297,4.950000000,pose2_to_pose3_retreat,0.609535374913,-0.00994520989101,1.07002913168,0.580106101113,-0.00127249409696,1.06969842446
+298,4.966666667,pose2_to_pose3_retreat,0.608871634657,-0.00994545779312,1.07002886592,0.579442364421,-0.0012727296241,1.0696981665
+299,4.983333333,pose2_to_pose3_retreat,0.608179672704,-0.00994544725754,1.07002913899,0.578750404005,-0.00127271427054,1.0696984294
+300,5.000000000,pose2_to_pose3_retreat,0.607451557849,-0.0099453783186,1.07002913661,0.578022287907,-0.00127264943027,1.06969842942
+301,5.016666667,pose2_to_pose3_retreat,0.60669246694,-0.00994562226487,1.07002930513,0.577263200285,-0.0012728827117,1.06969858501
+302,5.033333333,pose2_to_pose3_retreat,0.605920668373,-0.00994553981495,1.07002900751,0.576491400859,-0.00127280276042,1.06969829828
+303,5.050000000,pose2_to_pose3_retreat,0.605144165976,-0.00994555198877,1.07002902046,0.575714897147,-0.00127281937489,1.06969831172
+304,5.066666667,pose2_to_pose3_retreat,0.604366274662,-0.00994552525438,1.07002912296,0.574937006731,-0.00127278958304,1.06969841456
+305,5.083333333,pose2_to_pose3_retreat,0.603587134838,-0.00994551847355,1.07002901918,0.574157866087,-0.00127278554902,1.0696983113
+306,5.100000000,pose2_to_pose3_retreat,0.602798671373,-0.00994542029631,1.07002901679,0.57336939916,-0.00127269905918,1.06969830972
+307,5.116666667,pose2_to_pose3_retreat,0.601977790128,-0.00994528367937,1.07002911655,0.572548518923,-0.00127255890518,1.06969841214
+308,5.133333333,pose2_to_pose3_retreat,0.601126717574,-0.00994533457237,1.07002902677,0.571697445158,-0.00127261416018,1.06969831564
+309,5.150000000,pose2_to_pose3_retreat,0.600247181579,-0.00994544553833,1.07002922625,0.570817914495,-0.00127270677796,1.06969852185
+310,5.166666667,pose2_to_pose3_retreat,0.599361082635,-0.00994539078645,1.07002901914,0.569931813341,-0.00127265956194,1.0696983136
+311,5.183333333,pose2_to_pose3_retreat,0.598476987421,-0.00994525220333,1.07002925526,0.569047716107,-0.00127252801994,1.06969854483
+312,5.200000000,pose2_to_pose3_retreat,0.59761560277,-0.009945420605,1.07002916424,0.568186332793,-0.00127269197662,1.06969845131
+313,5.216666667,pose2_to_pose3_retreat,0.596776865018,-0.00994533417946,1.0700291434,0.56734759639,-0.00127260081992,1.06969843444
+314,5.233333333,pose2_to_pose3_retreat,0.595948057379,-0.00994550699213,1.07002913995,0.566518789325,-0.00127277169317,1.06969843077
+315,5.250000000,pose2_to_pose3_retreat,0.59511843232,-0.0099454301548,1.07002911863,0.565689162682,-0.00127270004666,1.06969841421
+316,5.266666667,pose2_to_pose3_retreat,0.594277463493,-0.00994552681363,1.07002887527,0.564848194889,-0.00127279309208,1.06969817352
+317,5.283333333,pose2_to_pose3_retreat,0.593424944046,-0.00994530639681,1.0700293671,0.563995671969,-0.0012725848468,1.06969865514
+318,5.300000000,pose2_to_pose3_retreat,0.592565983219,-0.00994535418637,1.07002902055,0.563136711528,-0.00127263114242,1.06969831345
+319,5.316666667,pose2_to_pose3_retreat,0.591707546042,-0.00994523915478,1.07002915604,0.56227827254,-0.00127252246226,1.06969844341
+320,5.333333333,pose2_to_pose3_retreat,0.590859681579,-0.00994547649363,1.07002913356,0.561430413224,-0.00127274212612,1.06969842645
+321,5.350000000,pose2_to_pose3_retreat,0.590042619194,-0.00994539252093,1.0700292904,0.560613347971,-0.00127266824509,1.06969857381
+322,5.366666667,pose2_to_pose3_retreat,0.589246834558,-0.00994548638237,1.07002928044,0.559817565013,-0.0012727563218,1.06969856616
+323,5.383333333,pose2_to_pose3_retreat,0.588470526197,-0.00994541265813,1.07002883879,0.559041254662,-0.00127268858521,1.06969814452
+324,5.400000000,pose2_to_pose3_retreat,0.587718430215,-0.00994546840972,1.07002915408,0.558289161024,-0.00127273704253,1.06969844253
+325,5.416666667,pose2_to_pose3_retreat,0.586986140458,-0.00994558812631,1.07002941198,0.557556873743,-0.00127284872847,1.06969869068
+326,5.433333333,pose2_to_pose3_retreat,0.586262983568,-0.00994550204255,1.07002916209,0.556833715119,-0.00127276817427,1.06969844999
+327,5.450000000,pose2_to_pose3_retreat,0.585553845592,-0.00994530253971,1.07002912263,0.556124575031,-0.00127257557218,1.06969841751
+328,5.466666667,pose2_to_pose3_retreat,0.5848690846,-0.00994544060068,1.07002926126,0.555439816809,-0.00127270444354,1.06969855058
+329,5.483333333,pose2_to_pose3_retreat,0.584209980877,-0.00994540333622,1.07002902936,0.554780711926,-0.00127267099455,1.06969832183
+330,5.500000000,pose2_to_pose3_retreat,0.583577079001,-0.00994545254617,1.07002911885,0.554147809381,-0.00127272249149,1.06969841213
+331,5.516666667,pose2_to_pose3_retreat,0.582968239556,-0.00994537434816,1.07002924944,0.553538969597,-0.0012726454979,1.06969854094
+332,5.533333333,pose2_to_pose3_retreat,0.582378660102,-0.00994545808598,1.07002905,0.552949391614,-0.00127272430573,1.06969833962
+333,5.550000000,pose2_to_pose3_retreat,0.581806590876,-0.00994535165945,1.07002922339,0.552377320269,-0.00127262487387,1.06969851875
+334,5.566666667,pose2_to_pose3_retreat,0.581260480001,-0.00994536489894,1.0700291798,0.551831209277,-0.00127263901487,1.0696984622
+335,5.583333333,pose2_to_pose3_retreat,0.580748585343,-0.00994546461193,1.07002929164,0.551319315536,-0.0012727356801,1.06969857232
+336,5.600000000,pose2_to_pose3_retreat,0.58027368289,-0.00994547432074,1.07002922163,0.550844413782,-0.00127274221232,1.06969852238
+337,5.616666667,pose2_to_pose3_retreat,0.579833993024,-0.00994538844985,1.07002913233,0.550404722397,-0.00127266168042,1.06969842817
+338,5.633333333,pose2_to_pose3_retreat,0.579424357051,-0.00994537338879,1.0700290418,0.549995086547,-0.0012726463681,1.06969833329
+339,5.650000000,pose2_to_pose3_retreat,0.579037657492,-0.00994543564081,1.07002912775,0.549608388619,-0.00127270316251,1.06969841725
+340,5.666666667,pose2_to_pose3_retreat,0.578667778027,-0.00994538003187,1.07002933961,0.549238506212,-0.00127265763679,1.06969862643
+341,5.683333333,pose2_to_pose3_retreat,0.578318995307,-0.0099455119988,1.07002900378,0.548889725585,-0.00127278241393,1.06969829304
+342,5.700000000,pose2_to_pose3_retreat,0.577995894146,-0.00994532989131,1.07002912655,0.548566623467,-0.00127260383019,1.06969840884
+343,5.716666667,pose2_to_pose3_retreat,0.577699267108,-0.00994533616986,1.07002914474,0.548269994302,-0.00127261702382,1.06969843479
+344,5.733333333,pose2_to_pose3_retreat,0.577429828824,-0.00994541344286,1.07002892822,0.548000558176,-0.00127268669299,1.06969822559
+345,5.750000000,pose2_to_pose3_retreat,0.577190150994,-0.00994532473706,1.07002909319,0.547760880779,-0.00127259680931,1.06969838312
+346,5.766666667,pose2_to_pose3_retreat,0.57697536097,-0.00994546216547,1.07002905457,0.547546091816,-0.00127273053413,1.06969834718
+347,5.783333333,pose2_to_pose3_retreat,0.576784588342,-0.00994549583232,1.07002917043,0.547355319272,-0.00127276389149,1.0696984637
+348,5.800000000,pose2_to_pose3_retreat,0.576614062514,-0.00994541897549,1.07002918147,0.547184792731,-0.00127268951605,1.06969847308
+349,5.816666667,pose2_to_pose3_retreat,0.576463203578,-0.00994537732147,1.0700292055,0.547033933552,-0.0012726486508,1.06969849807
+350,5.833333333,pose2_to_pose3_retreat,0.576332024424,-0.00994537646296,1.07002910324,0.546902753871,-0.00127264931921,1.06969840268
+351,5.850000000,pose2_to_pose3_retreat,0.576217894098,-0.00994536537483,1.07002902552,0.546788623746,-0.00127263743376,1.06969832808
+352,5.866666667,pose2_to_pose3_retreat,0.576118128673,-0.00994542233906,1.07002912051,0.546688859576,-0.00127269041411,1.06969841624
+353,5.883333333,pose2_to_pose3_retreat,0.576031361676,-0.00994554450385,1.07002915872,0.546602093204,-0.00127281078735,1.06969844614
+354,5.900000000,pose2_to_pose3_retreat,0.575957985926,-0.00994551926913,1.07002919512,0.546528717281,-0.00127278616468,1.06969848169
+355,5.916666667,pose2_to_pose3_retreat,0.575896478373,-0.00994543529277,1.07002927025,0.54646720897,-0.00127270466594,1.06969855921
+356,5.933333333,pose2_to_pose3_retreat,0.575846917538,-0.00994541405399,1.07002933584,0.546417647772,-0.00127268500729,1.06969861564
+357,5.950000000,pose2_to_pose3_retreat,0.575808782071,-0.00994539778135,1.0700293537,0.546379511583,-0.00127267097201,1.06969863907
+358,5.966666667,pose2_to_pose3_retreat,0.575780023318,-0.00994543001711,1.07002912795,0.546350754964,-0.00127269565954,1.06969842134
+359,5.983333333,pose2_to_pose3_retreat,0.575759110957,-0.00994544426487,1.07002914469,0.546329841774,-0.00127271286362,1.06969843432
+360,6.000000000,pose2_to_pose3_retreat,0.575743424142,-0.00994541595966,1.07002898041,0.54631415365,-0.00127268904384,1.06969826891
+361,6.016666667,pose2_to_pose3_retreat,0.575732500717,-0.00994541129077,1.07002902288,0.546303230331,-0.0012726839086,1.06969831422
+362,6.033333333,pose2_to_pose3_retreat,0.575725158092,-0.00994541399367,1.07002910912,0.546295888168,-0.00127268495137,1.06969840284
+363,6.050000000,pose2_to_pose3_retreat,0.575720840707,-0.00994539447088,1.0700289939,0.546291570191,-0.00127266761061,1.06969828314
+364,6.066666667,pose2_to_pose3_retreat,0.575717912434,-0.00994538194195,1.07002893109,0.546288641526,-0.00127265651452,1.06969821769
+365,6.083333333,pose2_to_pose3_retreat,0.575715956672,-0.0099453796869,1.07002902073,0.546286685581,-0.00127265481206,1.06969830892
+366,6.100000000,pose2_to_pose3_retreat,0.57571491386,-0.00994537848451,1.07002906853,0.546285642673,-0.00127265390431,1.06969835757
+367,6.116666667,pose2_to_pose3_retreat,0.575713976823,-0.00994537740408,1.07002911147,0.546284705548,-0.00127265308863,1.06969840128
+368,6.133333333,pose2_to_pose3_retreat,0.575713048645,-0.00994538250512,1.07002914856,0.546283777305,-0.00127265841021,1.06969843837
+369,6.150000000,pose2_to_pose3_retreat,0.575712987518,-0.00994538481835,1.07002914926,0.546283716181,-0.0012726607246,1.06969843882
+370,6.166666667,pose2_to_pose3_retreat,0.575712754064,-0.00994539365295,1.07002915191,0.546283482736,-0.00127266956364,1.06969844054
+371,6.183333333,pose2_to_pose3_retreat,0.575712642747,-0.00994539786553,1.07002915318,0.546283371424,-0.00127267377834,1.06969844136
+372,6.200000000,pose2_to_pose3_retreat,0.575712571341,-0.00994540056776,1.07002915399,0.546283300021,-0.00127267648192,1.06969844189
+373,6.216666667,pose2_to_pose3_retreat,0.575712488404,-0.00994540370634,1.07002915493,0.546283217087,-0.00127267962207,1.0696984425
+374,6.233333333,pose2_to_pose3_retreat,0.575712072053,-0.00994541946233,1.07002915966,0.546282800753,-0.00127269538597,1.06969844557
+375,6.250000000,pose2_to_pose3_retreat,0.575711287155,-0.00994544916525,1.07002916858,0.546282015888,-0.0012727251038,1.06969845135
+376,6.266666667,pose2_to_pose3_retreat,0.575710825507,-0.00994546663541,1.07002917383,0.546281554259,-0.00127274258272,1.06969845476
+377,6.283333333,pose2_to_pose3_retreat,0.575710643186,-0.00994547031413,1.07002917523,0.54628137194,-0.00127274627204,1.0696984557
+378,6.300000000,pose2_to_pose3_retreat,0.575710634635,-0.00994546974576,1.07002917514,0.546281363387,-0.00127274570581,1.06969845566
+379,6.316666667,pose2_to_pose3_retreat,0.575710421504,-0.00994545558028,1.07002917293,0.546281150229,-0.00127273159363,1.06969845448
+380,6.333333333,pose2_to_pose3_retreat,0.575710059255,-0.00994543150391,1.07002916917,0.546280787933,-0.00127270760785,1.06969845248
+381,6.350000000,pose2_to_pose3_retreat,0.57570995073,-0.00994542429092,1.07002916804,0.546280679394,-0.00127270042199,1.06969845189
+382,6.366666667,pose2_to_pose3_retreat,0.575709908264,-0.0099454214685,1.0700291676,0.546280636923,-0.0012726976102,1.06969845165
+383,6.383333333,pose2_to_pose3_retreat,0.575709905706,-0.00994542129845,1.07002916757,0.546280634364,-0.00127269744079,1.06969845164
+384,6.400000000,pose2_to_pose3_retreat,0.575709900151,-0.00994542092922,1.07002916752,0.546280628808,-0.00127269707295,1.06969845161
+385,6.416666667,pose2_to_pose3_retreat,0.575709854265,-0.00994541787952,1.07002916704,0.546280582917,-0.00127269403472,1.06969845135
+386,6.433333333,pose2_to_pose3_retreat,0.575709796562,-0.00994541404433,1.07002916644,0.546280525206,-0.00127269021397,1.06969845104
+387,6.450000000,pose2_to_pose3_retreat,0.575709716055,-0.00994540869358,1.0700291656,0.546280444689,-0.00127268488334,1.06969845059
+388,6.466666667,pose2_to_pose3_retreat,0.575709530497,-0.00994540263905,1.07002916445,0.546280259112,-0.00127267886838,1.0696984501
+389,6.483333333,pose2_to_pose3_retreat,0.575709466355,-0.00994543453053,1.07002916823,0.546280194988,-0.00127271073653,1.06969845284
+390,6.500000000,pose2_to_pose3_retreat,0.575709389764,-0.00994547261094,1.07002917274,0.54628011842,-0.00127274878908,1.0696984561
+391,6.516666667,pose2_to_pose3_retreat,0.575709300941,-0.00994550199061,1.07002918884,0.546280029527,-0.00127277846201,1.06969847066
+392,6.533333333,pose2_to_pose3_retreat,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.00127264096047,1.06969858376
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_08/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_08/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b0d855ce53ea2e8aaf8f1f2d422efef72743dde3
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_08/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e56324d0ff7ec7fe45905cc05f07e04d8671657ed8e76eb67d3209a8e3fe33f
+size 25132280
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_08/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_08/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..688c68c819eabd71e85377e44839ec375ff83802
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_08/depth_02/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,764,742,712,672,659,632,879,784,799,648,629,651,0.400981864039,-0.0153773086002,0.0798436494695,0.999999929575,0.000261704212368,-0.000267401244652,2.92804648036e-05,1793193519184552192
+1,0.016666667,BASELINE,764,741.4256877,712,672,659,632.5743123,878.4256877,784,799,648,629,650.4256877,0.400980758437,-0.0153776463518,0.0798426232997,0.999999929603,0.000260127469338,-0.000268854883443,2.90735716835e-05,1793193519201218816
+2,0.033333333,BASELINE,764,741.153774774,712,672,659,633,877.846225226,784,799,648.153774774,629,650.153774774,0.400979999353,-0.0153778270824,0.0798420421377,0.999999929714,0.000258911330744,-0.000269624572301,2.89800857493e-05,1793193519217885184
+3,0.050000000,BASELINE,764,741.747988415,712,672,659,633,877.252011585,784,799,648.747988415,629,650.747988415,0.40098023276,-0.0153775580768,0.0798427355591,0.999999930074,0.000258728028352,-0.000268435304738,2.92114185333e-05,1793193519234551040
+4,0.066666667,BASELINE,764.331926642,742,712,672,659,633,877.331926642,784.331926642,799.331926642,649,629,651,0.400979594216,-0.0153773457089,0.0798423289721,0.999999929889,0.000258816782578,-0.000269071129508,2.89172908985e-05,1793193519251217152
+5,0.083333333,BASELINE,764.908297602,742,712,672,659,633,877.908297602,784.908297602,799.908297602,649,629,651,0.400978313533,-0.0153771750514,0.0798411122942,0.999999929299,0.000259105890405,-0.000271051026774,2.82361927665e-05,1793193519267883776
+6,0.100000000,BASELINE,764.515929985,742,712,672,659,632.515929985,878,785,799.515929985,648.515929985,629,651,0.400979397142,-0.0153775405265,0.0798419401832,0.999999929419,0.00025989316296,-0.000269824844532,2.84915122098e-05,1793193519284550656
+7,0.116666667,BASELINE,764,742,712,672,659,632.061248791,878,784.938751209,799.061248791,648,628.938751209,651,0.400980715798,-0.0153778272384,0.0798430516161,0.999999929637,0.000260695908727,-0.000268199554338,2.88675277048e-05,1793193519301217792
+8,0.133333333,BASELINE,764,742,712,672,659,632.651553726,878,784.348446274,799.651553726,648,628.348446274,651,0.400980200699,-0.0153765573892,0.0798432707504,0.999999929563,0.000260818143179,-0.000268366636651,2.8755677691e-05,1793193519317884416
+9,0.150000000,BASELINE,764,742,712,672,659,632.762609977,877.762609977,784,799.762609977,648.237390023,628,651,0.400979448137,-0.0153765204229,0.0798428216548,0.999999929505,0.000260062422032,-0.000269326088418,2.86583021761e-05,1793193519334551040
+10,0.166666667,BASELINE,764,742,712,672,659,632.183211708,877.183211708,784,799.183211708,648.816788292,628,651,0.400978353462,-0.0153782596733,0.0798414098391,0.999999929462,0.000258041828615,-0.000271427108309,2.85817801081e-05,1793193519351217152
+11,0.183333333,BASELINE,763.606962152,742,712,672,659,632,877.393037848,784,799,649,628.393037848,651,0.400979617148,-0.0153782753756,0.0798423440269,0.999999929983,0.00025771998515,-0.000269791102393,2.87629947535e-05,1793193519367883776
+12,0.200000000,BASELINE,763.032168629,742,712,672,659,632,877.967831371,784,799,649,628.967831371,651,0.400981971431,-0.0153774940437,0.0798443630959,0.999999930757,0.000258183708202,-0.000266426953556,2.90633966673e-05,1793193519384550400
+13,0.216666667,BASELINE,763.543038635,742,712,672,659,632.543038635,877.456961365,784.543038635,799,648.456961365,628.456961365,651,0.400981339632,-0.015377837911,0.0798438301967,0.999999930819,0.000257378949407,-0.000266989274255,2.88759762262e-05,1793193519401217280
+14,0.233333333,BASELINE,764,742,712,672,659,632.878319087,877.121680913,784.878319087,799.121680913,648,628.121680913,651,0.400980699344,-0.0153783767712,0.0798433615793,0.999999930893,0.000256468192857,-0.000267612948129,2.86606002345e-05,1793193519417883904
+15,0.250000000,BASELINE,764,742,712,672,659,632.286499541,877.713500459,784.286499541,799.713500459,648,628.713500459,651,0.400980710225,-0.015379411295,0.0798437258639,0.999999931173,0.000255438442245,-0.000267574302222,2.84489495591e-05,1793193519434551040
+16,0.266666667,BASELINE,764,742,712,672,659,632.297508419,878,784,799.702491581,648.297508419,629,651,0.400980374711,-0.0153793960318,0.0798437189602,0.999999930981,0.000255945233763,-0.000267814297926,2.83964634277e-05,1793193519451217920
+17,0.283333333,BASELINE,764,742,712,672,659,632.874186279,878,784,799.125813721,648.874186279,629,651,0.400979714155,-0.0153783956924,0.0798433637489,0.999999930343,0.00025789385212,-0.000268315759249,2.84933306506e-05,1793193519467884288
+18,0.300000000,BASELINE,764,742,712,672,658.550912758,633,878,784.449087242,799.449087242,648.550912758,628.550912758,651,0.400980175954,-0.0153782551836,0.0798436177449,0.999999930726,0.000257020817536,-0.00026773446592,2.83990819004e-05,1793193519484550912
+19,0.316666667,BASELINE,764,742,712,672,658.024167685,633,878,784.975832315,799.975832315,648.024167685,628.024167685,650.975832315,0.400980903556,-0.0153783385332,0.0798440141184,0.999999931347,0.000255492933525,-0.00026689068969,2.82676205471e-05,1793193519501217536
+20,0.333333333,BASELINE,764,742,712,672,658.615085116,633,878,784.384914884,799.384914884,648.615085116,628.615085116,650.384914884,0.400980519798,-0.0153780448548,0.0798437627421,0.999999930912,0.000257073052217,-0.000266976968609,2.85141460193e-05,1793193519517884160
+21,0.350000000,BASELINE,764,742,712,672,659,632.798069515,878,784,799,649,629,650.201930485,0.400980504463,-0.0153777983622,0.079843884523,0.99999993074,0.000257830303746,-0.000266869182219,2.87044722584e-05,1793193519534550784
+22,0.366666667,BASELINE,764,742,712,672,659,632.218832842,878,784,799,649,629,650.781167158,0.400981177527,-0.015377640036,0.0798447035463,0.999999931064,0.000257050031558,-0.000266398785677,2.87897904594e-05,1793193519551217152
+23,0.383333333,BASELINE,764,742,712,672,659,632.357476942,878,784,799,649,628.642523058,651,0.400981402198,-0.0153777387352,0.0798445055532,0.999999930879,0.000257520561095,-0.000266637281811,2.88146364374e-05,1793193519567883776
+24,0.400000000,BASELINE,764,742,712,672,659,632.93200961,878,784,799,649,628.06799039,651,0.400981354609,-0.015377993497,0.0798436900398,0.999999930383,0.000258750562412,-0.000267306209056,2.88027644125e-05,1793193519584550656
+25,0.416666667,BASELINE,763.493946033,742,712,672.506053967,659,632.493946033,878,784.506053967,799,649,628.506053967,651,0.400981169579,-0.0153770055353,0.0798440788984,0.999999930083,0.000260207024549,-0.00026700572051,2.88766879908e-05,1793193519601217280
+26,0.433333333,BASELINE,763,742,712,672.917680711,659.082319289,632,878,784.917680711,799,648.917680711,629,651,0.400980626208,-0.0153762118371,0.0798442040082,0.999999929826,0.000261033881725,-0.000267161511977,2.88623800207e-05,1793193519617883648
+27,0.450000000,BASELINE,763,742,712,672.327303265,659.672696735,632,878,784.327303265,799,648.327303265,629,651,0.400977985086,-0.0153776465746,0.0798417036026,0.999999929671,0.000257787342203,-0.000270936442675,2.8232450993e-05,1793193519634550272
+28,0.466666667,BASELINE,763.258176517,742,712,672,660,632,877.741823483,784,799,648.258176517,629,651,0.400977205016,-0.0153786598408,0.0798410176299,0.999999930083,0.000255613336624,-0.000271509693048,2.79127465621e-05,1793193519651216896
+29,0.483333333,BASELINE,763.837562848,742,712,672,660,632,877.162437152,784,799,648.837562848,629,651,0.40097874037,-0.0153791487341,0.0798425890806,0.999999931215,0.000254773722266,-0.000268099578838,2.7979007499e-05,1793193519667883520
+30,0.500000000,BASELINE,764,742,712,672,659.585074263,632,877,784,799,648.585074263,629,651,0.400980126701,-0.015380054982,0.0798436554654,0.999999931764,0.00025381370901,-0.000266927236793,2.82781750816e-05,1793193519684550144
+31,0.516666667,BASELINE,764,742,712,672,659.008499689,632,877,784,799,648.008499689,629,651,0.400981454975,-0.015381123825,0.0798445250842,0.999999932089,0.000252806790173,-0.000266626697261,2.86680795944e-05,1793193519701216768
+32,0.533333333,BASELINE,764,742,712,672,659,632,877,784,799,648.566544985,628.433455015,651,0.400980254085,-0.0153785475574,0.079843422806,0.999999931032,0.00025577131446,-0.000267775720082,2.85221651896e-05,1793193519717883392
+33,0.550000000,BASELINE,764,742,712,672,659.14528616,632,877.14528616,784.14528616,799,648.85471384,628.14528616,650.85471384,0.400979465444,-0.0153770424163,0.0798428202114,0.999999930428,0.000257480223742,-0.000268398825616,2.84439029821e-05,1793193519734550272
+34,0.566666667,BASELINE,764,742,712,672,659.735415413,632,877.735415413,784.735415413,799,648.264584587,628.735415413,650.264584587,0.400980054908,-0.0153789838846,0.0798438379058,0.9999999313,0.000255162699127,-0.000267345248457,2.8597328044e-05,1793193519751216896
+35,0.583333333,BASELINE,764,742,712,672.31908699,659.68091301,632.31908699,877.68091301,785,799.31908699,648.31908699,628.68091301,650.31908699,0.400979743694,-0.0153798433257,0.0798436764185,0.999999931221,0.000254914639205,-0.000267870434344,2.86604812356e-05,1793193519767883520
+36,0.600000000,BASELINE,764,742,712,672.89751019,659.10248981,632.89751019,877.10248981,785,799.89751019,648.89751019,628.10248981,650.89751019,0.400978700459,-0.0153798233554,0.0798425565578,0.999999930369,0.00025634852517,-0.000269678751166,2.86502664735e-05,1793193519784550144
+37,0.616666667,BASELINE,764,742,712,673,659,633,877.473718285,784.526281715,799.526281715,648.526281715,628.473718285,650.526281715,0.400977966503,-0.0153786912124,0.0798424165257,0.999999930023,0.000257343427903,-0.00027001821858,2.86154030363e-05,1793193519801216768
+38,0.633333333,BASELINE,764,742,712,672.949571243,659,633,877.949571243,784,799,648,629,650.050428757,0.400977412394,-0.0153774796783,0.0798425064254,0.999999929795,0.000258261709821,-0.000269987559104,2.85815663243e-05,1793193519817883648
+39,0.650000000,BASELINE,764,742,712,672.36243689,659,633,877.36243689,784,799,648,629,650.63756311,0.400978063531,-0.0153779721642,0.0798427978017,0.99999992967,0.000259370626726,-0.000269384125843,2.86151487341e-05,1793193519834550272
+40,0.666666667,BASELINE,764,742,712,672,659,633,877.443296305,784,799,648,629,650.778351848,0.400978405936,-0.015378085755,0.0798427631247,0.99999992949,0.000260467196753,-0.000268997924478,2.85779295843e-05,1793193519851216896
+41,0.683333333,BASELINE,764,742,712,672,659,633,878.601629246,784,799,648,629,650.199185377,0.40097825036,-0.0153775881883,0.0798422025239,0.999999929223,0.000261543851206,-0.000268962118051,2.84265075648e-05,1793193519867883520
+42,0.700000000,BASELINE,764,742.379328847,712,672,659,633,878.241342307,784,798.620671153,648,629,650.379328847,0.400978366508,-0.0153780621134,0.0798423104168,0.999999929424,0.000261192953253,-0.000268542993954,2.85570265488e-05,1793193519884550144
+43,0.716666667,BASELINE,764,742.957501145,712,672,659,633,877.084997709,784,798.042498855,648,629,650.957501145,0.400978625094,-0.0153790452928,0.0798427687329,0.999999929869,0.000260093735041,-0.000267922935472,2.88353384694e-05,1793193519901216768
+44,0.733333333,BASELINE,764,742.468298242,712,672,659.531701758,632.468298242,877.531701758,784.531701758,798.531701758,648.531701758,629,650.468298242,0.400979633934,-0.0153775529327,0.0798436181504,0.999999930015,0.000260669573874,-0.000266860695262,2.84033350168e-05,1793193519917883648
+45,0.750000000,BASELINE,764.10856365,742,712,672,659.89143635,632,878,784.89143635,799.10856365,648.89143635,629,650,0.400980413837,-0.0153763455802,0.0798441912673,0.999999930243,0.000260609774587,-0.000266108314196,2.79731384684e-05,1793193519934550016
+46,0.766666667,BASELINE,764.69862615,742,712,672,659.30137385,632,878,784.30137385,799.69862615,648.30137385,629,650,0.400979914367,-0.0153772733659,0.0798434013234,0.999999930939,0.000257141398382,-0.000266885805677,2.78008979403e-05,1793193519951216640
+47,0.783333333,BASELINE,764.716967938,742,712,672.283032062,659.283032062,632.283032062,878,784,799.716967938,648,629,650.283032062,0.400979379316,-0.0153785011982,0.0798427521386,0.999999931101,0.000255455900169,-0.000267888459913,2.78744863955e-05,1793193519967883520
+48,0.800000000,BASELINE,764.1384671,742,712,672.8615329,659.8615329,632.8615329,878,784,799.1384671,648,629,650.8615329,0.400978807119,-0.0153800422617,0.0798422498977,0.999999930714,0.000255631620986,-0.000269126170881,2.82047057872e-05,1793193519984550400
+49,0.816666667,BASELINE,764.438252728,742,712,672.561747272,659.561747272,633,878,784.438252728,799.438252728,648.438252728,629,651,0.400978714136,-0.0153786582634,0.079842367051,0.999999930292,0.000256933113717,-0.000269486586818,2.79019781623e-05,1793193520001216768
+50,0.833333333,BASELINE,764.985317879,742,712,672,659,633,878,784.985317879,799.985317879,649,629,651,0.400978825785,-0.01537644436,0.0798427209329,0.999999929906,0.000258495837357,-0.000269473663968,2.74268315069e-05,1793193520017883648
+51,0.850000000,BASELINE,764.398363129,742,712,672,659,633,878,784.398363129,799.398363129,649,629,651,0.400981035829,-0.015377759285,0.0798447049117,0.999999931439,0.000256432874579,-0.000265669125162,2.79944425098e-05,1793193520034550272
+52,0.866666667,BASELINE,764,742,712,672.187010637,659.187010637,633,878,784,799,648.812989363,628.812989363,651,0.400981924764,-0.015378280541,0.079845536894,0.999999932044,0.00025590348056,-0.000263863798259,2.83227584059e-05,1793193520051216896
+53,0.883333333,BASELINE,764,742,712,672.769044847,659.769044847,633,878,784,799,648.230955153,628.230955153,651,0.400980023111,-0.0153771253257,0.0798439355076,0.999999930711,0.000258613452189,-0.000266281417618,2.81456099308e-05,1793193520067883520
+54,0.900000000,BASELINE,764,742,712,672.653893351,659.653893351,633,878,784,799.346106649,648,628.346106649,650.653893351,0.40097941043,-0.0153767870363,0.0798434070522,0.999999930222,0.000259572765107,-0.000267168782315,2.82561955322e-05,1793193520084550400
+55,0.916666667,BASELINE,764,742,712,672.080102639,659.080102639,633,878,784,799.919897361,648,628.919897361,650.080102639,0.400979645691,-0.0153769861564,0.0798435844177,0.999999930295,0.00025938041819,-0.000267049478595,2.85560651776e-05,1793193520101217280
+56,0.933333333,BASELINE,764,742,712,672,659,633,878,784,799.504689095,648,629,650,0.400979389751,-0.0153767305861,0.0798434468293,0.999999930459,0.000258766498373,-0.000267057405516,2.83261578226e-05,1793193520117883904
+57,0.950000000,BASELINE,764,742.073089801,712,672.073089801,659,633,878,784.073089801,799,648,629,650,0.400979106376,-0.0153766426689,0.0798432910747,0.999999930573,0.000258322720273,-0.000267084505139,2.80944595213e-05,1793193520134550528
+58,0.966666667,BASELINE,764,742.66581292,712,672.66581292,659,633,878,784.66581292,799,648,629,650,0.400979194569,-0.0153782711902,0.0798433694801,0.999999930234,0.000259574871409,-0.000267101147209,2.84611500248e-05,1793193520151217152
+59,0.983333333,BASELINE,764,742.748687421,712,672.748687421,659,633,877.748687421,784.748687421,799,648.251312579,628.748687421,650,0.400979576039,-0.015378967449,0.0798435602329,0.999999930277,0.000259802816974,-0.000266705582484,2.85784624874e-05,1793193520167883520
+60,1.000000000,BASELINE,764,742.172524823,712,672.172524823,659,633,877.172524823,784.172524823,799,648.827475177,628.172524823,650,0.4009803366,-0.0153784586531,0.0798438962074,0.999999930814,0.000258706860818,-0.000265777193717,2.83734255913e-05,1793193520184550400
+61,1.016666667,BASELINE,764,742,712,672.403460725,659,633,877,784.403460725,799,648.596539275,628.403460725,650.403460725,0.400980409437,-0.0153776304856,0.0798441452219,0.999999930719,0.000259416864537,-0.000265430642768,2.84973553041e-05,1793193520201217024
+62,1.033333333,BASELINE,764,742,712,672.979370563,659,633,877,784.979370563,799,648.020629437,628.979370563,650.979370563,0.400980188324,-0.0153766658109,0.0798443570674,0.999999930352,0.000260898780327,-0.000265332783776,2.87618935105e-05,1793193520217883648
+63,1.050000000,BASELINE,764,742,712,672.434589234,659,632.434589234,877.565410766,784.434589234,799.565410766,648.565410766,629,651,0.400980300014,-0.0153770722817,0.0798447184962,0.999999930414,0.000260783294974,-0.000265216376038,2.87087397925e-05,1793193520234550272
+64,1.066666667,BASELINE,764,742,712,672,659,632,878,784.150864156,799.849135844,649,629,650.849135844,0.40098042132,-0.0153774635807,0.0798450872317,0.999999930598,0.000260245886649,-0.000265056628058,2.86695784072e-05,1793193520251216896
+65,1.083333333,BASELINE,764,742,712,672,659,632,878,784.733560541,799.266439459,649,629,650.266439459,0.400980534761,-0.0153776656417,0.0798454609745,0.99999993108,0.000258670640258,-0.00026477479587,2.87042524863e-05,1793193520267883520
+66,1.100000000,BASELINE,764,742,712,672,659,632,877.688023902,785,799.311976098,649,629,650.311976098,0.400980363819,-0.015378269583,0.0798452180562,0.99999993132,0.000257507408117,-0.000265009967474,2.86192888012e-05,1793193520284550144
+67,1.116666667,BASELINE,764,742,712,672,659,632,877.113214878,785,799.886785122,649,629,650.886785122,0.400979953292,-0.0153792120996,0.0798444556148,0.999999931357,0.000256691288903,-0.000265680703297,2.84335329574e-05,1793193520301216768
+68,1.133333333,BASELINE,764,742.462223384,712,672,659.462223384,632,877.462223384,785,800,648.537776616,629,651,0.400979713297,-0.0153783103135,0.0798439397825,0.999999930838,0.000258194105805,-0.000266191862903,2.83073493363e-05,1793193520317883392
+69,1.150000000,BASELINE,764,742.961353199,712,672,659.961353199,632.038646801,877.961353199,784.961353199,799.961353199,648.038646801,629,651,0.400979578107,-0.0153770568075,0.0798435583983,0.999999930238,0.000260124783942,-0.000266574486429,2.82283149547e-05,1793193520334550016
+70,1.166666667,BASELINE,764,742.373115374,712,672,659.373115374,632.626884626,877.373115374,784.373115374,799.373115374,648.626884626,629,651,0.400980338518,-0.0153772343614,0.0798442288244,0.999999930483,0.000260051702364,-0.000265685807549,2.8611999295e-05,1793193520351216640
+71,1.183333333,BASELINE,764,742,712,672,659,632.787352438,877,784.212647562,799,648.787352438,628.787352438,651,0.400980651461,-0.0153770641931,0.0798445797214,0.999999930661,0.000259766771117,-0.00026529485697,2.86116753692e-05,1793193520367883520
+72,1.200000000,BASELINE,764,742,712,672,659,632.205881932,877,784.794118068,799,648.205881932,628.205881932,651,0.400980188301,-0.0153762909241,0.0798443764165,0.999999930723,0.000259114400811,-0.000265767182623,2.79453149092e-05,1793193520384550144
+73,1.216666667,BASELINE,764,742,712,672,659,632.370345037,877,784.629654963,799.370345037,648.370345037,628.370345037,651,0.400981022857,-0.015377056337,0.0798446027478,0.999999931089,0.000258449472209,-0.000265040280155,2.79259595119e-05,1793193520401216768
+74,1.233333333,BASELINE,764,742,712,672,659,632.943697685,877,784.056302315,799.943697685,648.943697685,628.943697685,651,0.400982568766,-0.0153786651909,0.0798450645876,0.999999931619,0.000257777659715,-0.000263656011119,2.82612651838e-05,1793193520417883392
+75,1.250000000,BASELINE,764,742,712,672,659,633,877,784,800,649,629,651,0.40098216913,-0.0153782736302,0.0798448309679,0.99999993146,0.000257932516246,-0.000264105247402,2.82577410225e-05,1793193520434550272
+76,1.266666667,BASELINE,764,742,712,672,659,633,877,784.111730425,799.888269575,648.888269575,629,651,0.400981704972,-0.0153778508425,0.0798446618656,0.999999931193,0.000258491690585,-0.000264575345423,2.82248775128e-05,1793193520451216896
+77,1.283333333,BASELINE,764,742,712,672,659,633,877,784.692787569,799.307212431,648.307212431,629,651,0.40098185968,-0.0153782118769,0.0798450818746,0.999999930779,0.00026037109361,-0.000264294426276,2.82237544228e-05,1793193520467883520
+78,1.300000000,BASELINE,764.27256851,742,712,672.27256851,659,633,877,785,799.27256851,648.27256851,629,651,0.400980826403,-0.015378817893,0.0798446093014,0.999999930745,0.000259580949082,-0.00026521068642,2.81098819154e-05,1793193520484550400
+79,1.316666667,BASELINE,764.850917705,742,712,672.850917705,659,633,877,785,799.850917705,648.850917705,629,651,0.400978460386,-0.0153796987414,0.0798431353857,0.999999931126,0.000255795975408,-0.000267470000866,2.78695215967e-05,1793193520501217024
+80,1.333333333,BASELINE,764.573591782,742,712,672.573591782,659,633,877.426408218,785,799.573591782,649,629,651,0.400978162698,-0.0153799196974,0.0798426934119,0.999999930999,0.000255730225972,-0.000267992145104,2.80063903539e-05,1793193520517883392
+81,1.350000000,BASELINE,764,742,712,672,659.000928877,633,877.999071123,785,799,648.999071123,629,651,0.400978584892,-0.0153799127287,0.0798426120221,0.999999930701,0.000256951054072,-0.000267907914952,2.8273988068e-05,1793193520534550272
+82,1.366666667,BASELINE,764,742,712,672,659.589951741,633,877.410048259,785,799,648.410048259,629,651,0.400979995237,-0.0153806989756,0.0798439207673,0.999999931751,0.000254948678202,-0.00026588400584,2.83637551232e-05,1793193520551216896
+83,1.383333333,BASELINE,764,742,712,672,659.823839361,633,877,784.823839361,799.176160639,648,629,651,0.400980795241,-0.0153808314254,0.0798448272169,0.999999932141,0.000254621591418,-0.00026471852478,2.84469580433e-05,1793193520567883520
+84,1.400000000,BASELINE,764,742,712,672,659.244077419,633,877,784.244077419,799.755922581,648,629,651,0.400980196894,-0.0153794659618,0.0798448119684,0.999999931027,0.000258132755845,-0.000265519786187,2.85151219036e-05,1793193520584550144
+85,1.416666667,BASELINE,764,742,712,672,659,633,877.333725663,784.333725663,799.666274337,648,628.666274337,650.666274337,0.400979363717,-0.0153791755593,0.0798443791656,0.99999993069,0.000258525332536,-0.000266412989969,2.84508503166e-05,1793193520601217024
+86,1.433333333,BASELINE,764,742,712,672,659,633,877.910104416,784.910104416,799.089895584,648,628.089895584,650.089895584,0.400978359796,-0.0153796668376,0.0798436427576,0.999999930921,0.000256650373032,-0.000267373045324,2.82902844513e-05,1793193520617883648
+87,1.450000000,BASELINE,764,742,712,672,659,633,877.505727226,785,799,648.494272774,628.494272774,650.494272774,0.400979900271,-0.0153797719757,0.0798444666867,0.999999931592,0.000255673193083,-0.000265821604219,2.80335859613e-05,1793193520634550272
+88,1.466666667,BASELINE,764,742,712,672,659.079472028,633,877.079472028,784.920527972,799.079472028,649,629,651,0.400981432467,-0.0153798241743,0.079845263746,0.999999932156,0.000255016131675,-0.000264349140304,2.78236738979e-05,1793193520651216896
+89,1.483333333,BASELINE,764,742,712,672,659.66208494,633,877.66208494,784.33791506,799.66208494,649,629,651,0.400979935584,-0.015379992954,0.0798440652658,0.999999931547,0.000255335449419,-0.00026631486459,2.80224335528e-05,1793193520667883520
+90,1.500000000,BASELINE,764,742,712,672,659.758716913,633,877.758716913,784,800.241283087,649,629,650.758716913,0.400979393753,-0.0153797469398,0.0798435176882,0.999999931116,0.000256224849233,-0.00026706104925,2.82046565466e-05,1793193520684550144
+91,1.516666667,BASELINE,764,742,712,672,659.184234427,633,877.184234427,784,800.815765573,649,629,650.184234427,0.400980170799,-0.0153789281167,0.0798438689737,0.99999993093,0.000257901502719,-0.00026612311293,2.83640432546e-05,1793193520701216768
+92,1.533333333,BASELINE,763.609671116,742,712,672,659.390328884,632.609671116,877,784,800.219342231,649,629,650.390328884,0.400980985141,-0.0153791163869,0.0798444629179,0.99999993143,0.000257395076614,-0.000264725655337,2.84353577492e-05,1793193520717883648
+93,1.550000000,BASELINE,763.035069596,742,712,672,659.964930404,632.035069596,877,784,799.070139193,649,629,650.964930404,0.40098181709,-0.0153797801016,0.0798451714204,0.999999932249,0.000255858027905,-0.000263111259588,2.84650937339e-05,1793193520734550272
+94,1.566666667,BASELINE,763.556580229,742.556580229,712,672,659.443419771,632.556580229,877.556580229,784.556580229,799.556580229,649,628.443419771,651,0.400980760634,-0.0153794429407,0.0798444500597,0.999999931725,0.000256067025569,-0.000264904942683,2.83739136855e-05,1793193520751216896
+95,1.583333333,BASELINE,764,742.854510924,712,672,659,633,878,785,799.854510924,648.854510924,628.145489076,651,0.400979487956,-0.0153792200747,0.0798436766463,0.999999931203,0.000256263874192,-0.000266682900637,2.83449060045e-05,1793193520767883520
+96,1.600000000,BASELINE,764,742.277030865,712,672,659,633,878,785,799.277030865,648.277030865,628.722969135,651,0.40097793773,-0.0153795297461,0.0798430246399,0.999999930956,0.000256087662131,-0.000267756407324,2.85238393795e-05,1793193520784550144
+97,1.616666667,BASELINE,764,742,712,672,659,633,878,784.700381527,799.599236945,648.299618473,629,651,0.400977103653,-0.0153795147525,0.0798425251737,0.999999930653,0.000256403827944,-0.000268599732029,2.839017051e-05,1793193520801216768
+98,1.633333333,BASELINE,764,742,712,672,659,633,878,784.124498195,800.751003609,648.875501805,629,651,0.400976929907,-0.0153792003995,0.0798421663578,0.999999930297,0.000257173993491,-0.000269230816109,2.79682650123e-05,1793193520817883392
+99,1.650000000,BASELINE,764,742,712,672,659.448007711,633,878,784.448007711,800.103984577,649,629,650.551992289,0.400979418912,-0.0153790437871,0.0798438774868,0.999999931011,0.000257265702149,-0.000266461953088,2.81201704101e-05,1793193520834550272
+100,1.666666667,BASELINE,764,742,712,672,659.979590303,633,877.979590303,785,799.020409697,649,629,650.020409697,0.40098248715,-0.0153789511307,0.0798460333466,0.99999993197,0.000257126461927,-0.000262942671294,2.84128518644e-05,1793193520851216640
+101,1.683333333,BASELINE,764,742,712,672,659.383858626,633,877.383858626,785,799.616141374,649,629,650.616141374,0.40098118075,-0.0153794349034,0.0798446321314,0.999999931863,0.000255751961254,-0.000264704058269,2.82125465645e-05,1793193520867883520
+102,1.700000000,BASELINE,764,742,712,671.794654213,659,633,877.205345787,784.794654213,799.794654213,648.794654213,629,651,0.400979948958,-0.0153795285204,0.0798435806364,0.9999999316,0.000255286436096,-0.000266152537314,2.81372984951e-05,1793193520884550400
+103,1.716666667,BASELINE,764,742,712,671.217275562,659,633,877.782724438,784.217275562,799.217275562,648.217275562,629,651,0.400978852339,-0.0153789152774,0.0798431627429,0.999999931058,0.000256467737011,-0.000267034108832,2.82886214446e-05,1793193520901217280
+104,1.733333333,BASELINE,764,742,712,671.718985065,659,633,877.640507467,784.359492533,799.359492533,648,628.640507467,651,0.400979408026,-0.0153787009763,0.0798437676689,0.999999931094,0.000257079946578,-0.000266306125638,2.83360744852e-05,1793193520917883904
+105,1.750000000,BASELINE,764,742,712,672.87178458,659,633,877.06410771,784.93589229,799.93589229,648,628.06410771,651,0.400980960666,-0.0153787273851,0.079844989734,0.999999931476,0.000257348783274,-0.000264606984537,2.83208554911e-05,1793193520934550528
+106,1.766666667,BASELINE,764.519692007,742,712,673,659.519692007,633,877.519692007,785,799.480307993,648.519692007,628.519692007,650.480307993,0.400980399431,-0.0153795357121,0.0798446992748,0.999999931513,0.000256633403671,-0.000265166516656,2.82819570723e-05,1793193520951217152
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,742,712,672,659,633,878,785,800,649,629,651,0.400982327386,-0.0153774500254,0.079846781492,0.999999931847,0.000258555482124,-0.00026204556137,2.80549531228e-05,1793193520993512192
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,742.57482312,712,672,659,633,878,785,799.42517688,649,629,651,0.400981935192,-0.0153791509966,0.0798458531001,0.999999931894,0.000257295818252,-0.000263096694592,2.81229304399e-05,1793193521010178816
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,742.85060427,712,672,659,632.85060427,878,784.85060427,799,649,629,651,0.40098167442,-0.0153801750789,0.0798452616247,0.999999931924,0.000256443762489,-0.000263810928496,2.81325404665e-05,1793193521026845440
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,742.276743284,712,672,659,632.276743284,878,784.276743284,799,649,629,651,0.400981787048,-0.0153792759755,0.0798456274009,0.999999931914,0.000256749808353,-0.000263567959541,2.79763165392e-05,1793193521043512064
+111,1.850000000,POSE1_TO_POSE2_PRESS,764.306930197,742,712,672,659,632.306930197,877.693069803,784,799,649,628.693069803,651,0.40098150758,-0.0153790135296,0.0798454610487,0.999999931956,0.00025629876836,-0.000263844480702,2.80065714587e-05,1793193521060178944
+112,1.866666667,POSE1_TO_POSE2_PRESS,764.899743261,742,712,672,659,632.899743261,877.100256739,784,799,649,628.100256739,651,0.400980862903,-0.0153793440832,0.0798447990581,0.999999932045,0.000255142558645,-0.000264604868651,2.82105176954e-05,1793193521076845312
+113,1.883333333,POSE1_TO_POSE2_PRESS,764.520843737,742.479156263,712.479156263,672,659,633,877.479156263,784,799,649,628.479156263,651,0.400982242897,-0.0153796697504,0.0798459668074,0.999999932552,0.000254725402182,-0.000263098575729,2.81212665293e-05,1793193521093511936
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,743,712.944416272,672.055583728,659.055583728,633,878,784.055583728,799.055583728,649,629,651,0.400984426852,-0.0153797511887,0.0798475848306,0.999999933129,0.000254599698612,-0.000261029720566,2.80032146752e-05,1793193521110178560
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,743,712.370395524,672.629604476,659.629604476,633,878,784.629604476,799.629604476,649,629,651,0.400990265669,-0.015377563948,0.0798499288961,0.999999933603,0.000255789338185,-0.000258017018597,2.81731642424e-05,1793193521126845440
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,742.790500188,712,672.790500188,659.790500188,633,878,784.790500188,799.790500188,649,629,651,0.401001611208,-0.0153779501349,0.0798545542355,0.99999993561,0.00025537745449,-0.000250495546765,2.85351204766e-05,1793193521143512064
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,742.199919003,712,672.199919003,659.199919003,633,878,784.199919003,799.199919003,649,629,651,0.401022973504,-0.0153830174017,0.0798633292255,0.999999940248,0.000252052390522,-0.00023477259672,2.92463379275e-05,1793193521160178688
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632.61723168,878,784.38276832,799.38276832,649,629,650.61723168,0.401061005284,-0.0153851450776,0.0798754917138,0.999999945269,0.000252809361419,-0.000211332066375,2.98125578491e-05,1793193521176845312
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632.038583941,878,784.961416059,799.961416059,649,629,650.038583941,0.401107567576,-0.0153857684358,0.0798893877351,0.999999949944,0.000255655289032,-0.000183942108502,3.03045761928e-05,1793193521193511936
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632.536373718,878,784.463626282,799.463626282,648.463626282,629,650.536373718,0.401172650236,-0.0153882041042,0.0799009483946,0.999999954291,0.000253087704868,-0.000162778297889,2.94451804414e-05,1793193521210178816
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,742.11167225,712,672,659,632.88832775,877.88832775,784,799.11167225,648.11167225,629,651,0.401242277231,-0.0153905666689,0.0799111113863,0.999999957616,0.000250972434794,-0.000144872214462,2.81749060722e-05,1793193521226845440
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,742.689494325,712,672,659,632.310505675,877.310505675,784,799.689494325,648.689494325,629,651,0.401325350312,-0.0153920836072,0.0799161366015,0.99999995821,0.000252359680238,-0.000138707965993,2.55925376132e-05,1793193521243512320
+123,2.050000000,POSE1_TO_POSE2_PRESS,764.27251864,742.72748136,712,672,659.27251864,632.27251864,877.27251864,784.27251864,800,648.72748136,629,650.72748136,0.401418936978,-0.0153952482748,0.0799201237582,0.999999959677,0.000250634209992,-0.000131647859195,2.22796676192e-05,1793193521260178944
+124,2.066666667,POSE1_TO_POSE2_PRESS,764.861585666,742.138414334,712,672,659.861585666,632.861585666,877.861585666,784.861585666,800,648.138414334,629,650.138414334,0.401524735863,-0.0154003268887,0.0799229051411,0.99999996212,0.00024529311495,-0.000123547154191,1.81182720352e-05,1793193521276845568
+125,2.083333333,POSE1_TO_POSE2_PRESS,764.556630819,742,712,672,659.556630819,632.556630819,878,785,799.556630819,648.443369181,629,650.443369181,0.401651781562,-0.0154056170045,0.0799259156251,0.999999964794,0.000237379022912,-0.000117856186614,1.31843246548e-05,1793193521293512192
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632.022766943,878,785,799.022766943,648.977233057,629,651,0.401786595618,-0.0154109233572,0.0799291350118,0.99999996749,0.000228605250484,-0.000112681000236,7.95217006943e-06,1793193521310178560
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632.598553406,878,785,799.598553406,648.401446594,629,651,0.401951592314,-0.0154150461804,0.0799357195056,0.999999970998,0.000218145592117,-0.000102056243034,1.24013757393e-06,1793193521326845440
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,742,712,672,658.82250272,633,878,785,799.82250272,648.17749728,629,651,0.402122839883,-0.0154204697199,0.0799392827152,0.999999975075,0.000201097447532,-9.68306320271e-05,-5.79505760362e-06,1793193521343512320
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,742,712,672,658.23628846,633,878,785,799.23628846,648.76371154,629,651,0.402308481099,-0.015428888374,0.0799358889149,0.999999980236,0.000168878220065,-0.00010403745373,-1.35743876245e-05,1793193521360178944
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,742,712,672,658.691599602,633,878,785,799,648.654200199,629,651,0.402515388303,-0.0154374471906,0.0799328867103,0.999999985767,0.000126601314538,-0.00010947532965,-2.13064425101e-05,1793193521376845568
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,742,712,672,659.850204056,633,878,785,799,648.074897972,629,651,0.402736655451,-0.0154461006532,0.0799301489316,0.999999990108,7.75329261971e-05,-0.00011371871982,-2.90065754594e-05,1793193521393512192
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,742,712,672.504245341,660,633,878,785,799,648.504245341,629,651,0.402997999835,-0.0154606615352,0.0799286987223,0.99999998963,8.5632969454e-05,-0.000113380510188,-2.34854213796e-05,1793193521410178816
+133,2.216666667,POSE1_TO_POSE2_PRESS,764.082669964,742,712,672.917330036,659.917330036,633,878,785,799,649,629,651,0.403272367254,-0.0154766041406,0.0799282843486,0.999999989291,9.338399738e-05,-0.000111257136091,-1.78700719863e-05,1793193521426845440
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.656961248,742,712,672.343038752,659.343038752,633,878,785,799,649,629,651,0.403588790805,-0.015495547164,0.0799328929166,0.999999993287,4.85782066955e-05,-0.000102563433579,-2.33693205786e-05,1793193521443512064
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.76327251,742,712,671.76327251,659,633,878,785,799,648.76327251,629,651,0.403923708899,-0.0155084726703,0.0799360239853,0.999999994726,2.16467841181e-05,-9.65731812549e-05,-2.74314621817e-05,1793193521460178688
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.175384778,742,712,671.175384778,659,633,878,785,799,648.175384778,629,651,0.404286061677,-0.015512471824,0.0799369633394,0.99999999487,2.12301025093e-05,-9.45932126681e-05,-2.93618070056e-05,1793193521476845312
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,742,712,671.815277689,659,633,878,784.592361155,799.407638845,648.407638845,629,651,0.40467871165,-0.0155180764642,0.0799355255689,0.999999995135,1.32151437826e-05,-9.26390703266e-05,-3.11867482238e-05,1793193521493511936
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,742,712,672.977188735,659,633,878,784.011405632,799.988594368,648.988594368,629,651,0.405084243137,-0.0155243637125,0.0799330771112,0.999999995342,1.96960934849e-06,-9.0695908625e-05,-3.29668747132e-05,1793193521510178560
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,742,712,672.436168748,659,633,878,784,800,649,629,651,0.405521912154,-0.0155353031298,0.0799308011795,0.999999994696,-9.35332086252e-06,-9.65972447846e-05,-3.4493381924e-05,1793193521526845184
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,742,712,672.138864931,659,633,878,784.138864931,799.861135069,648.861135069,629,651,0.405968568848,-0.0155440725393,0.0799273813354,0.999999993719,-1.99290654586e-05,-0.000104138535854,-3.63318494956e-05,1793193521543512064
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,742,712,672.713620118,659,633,878,784.713620118,799.286379882,648.286379882,629,651,0.406441417188,-0.0155457379646,0.0799203599613,0.99999999207,-2.81545635519e-05,-0.000116334461749,-3.91654875922e-05,1793193521560178688
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,742,712,672.704302472,659,632.704302472,878,785,799,648,629,651,0.406936496015,-0.0155350784648,0.0799157217661,0.999999991012,-2.06100754055e-05,-0.000125784398339,-4.15813940371e-05,1793193521576845312
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,742,712,672.114953435,659,632.114953435,878,785,799,648,629,651,0.407453651566,-0.0155121793198,0.0799134502591,0.999999990268,2.59528076212e-06,-0.000132507347368,-4.35824595673e-05,1793193521593511936
+144,2.400000000,POSE1_TO_POSE2_PRESS,763.534198629,742.465801371,712,672,659,632.465801371,878,784.534198629,799,648,629,651,0.407994055238,-0.0155034852284,0.0799035168744,0.999999987346,1.03559093767e-05,-0.000152015520972,-4.57296116175e-05,1793193521610178816
+145,2.416666667,POSE1_TO_POSE2_PRESS,763.044100113,742.955899887,712.044100113,672,659.044100113,633,877.955899887,784,799,648.044100113,629,651,0.408546575833,-0.0154997944727,0.0798939861371,0.999999984211,1.2445960733e-05,-0.000170693790526,-4.78109883361e-05,1793193521626845696
+146,2.433333333,POSE1_TO_POSE2_PRESS,763.617912397,742.382087603,712.617912397,672,659.617912397,633,877.382087603,784,799,648.617912397,629,651,0.409176974471,-0.0155148565618,0.0799115924343,0.999999988669,-8.62327184207e-06,-0.000142191025505,-4.86771025966e-05,1793193521643512320
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,742.196936816,712.803063184,672,659.803063184,632.803063184,877.196936816,784,799.196936816,649,629,651,0.409825521577,-0.0155264050744,0.0799366333645,0.999999993361,-2.4652847361e-05,-0.000101564847985,-4.85236050331e-05,1793193521660178944
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,742.786348448,712.213651552,672,659.213651552,632.213651552,877.786348448,784,799.786348448,649,629,651,0.410510236674,-0.0155309513899,0.0799764907527,0.999999997781,-3.06389034572e-05,-3.67779580551e-05,-4.63381258957e-05,1793193521676845568
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,742.629893215,712,672.370106785,659.740213571,632.370106785,878,784.370106785,799.629893215,649,628.629893215,651,0.411188412798,-0.0155299500526,0.0799797045982,0.999999997559,-3.71556289564e-05,-3.44180368791e-05,-4.81429369589e-05,1793193521693512704
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,742.049349276,712,672.950650724,660.901301448,632.950650724,878,784.950650724,799.049349276,649,628.049349276,651,0.411862870936,-0.0155257944032,0.0799620834751,0.999999995388,-4.39740849136e-05,-6.75531537193e-05,-5.22165671382e-05,1793193521710180096
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,742.528406793,712,673,660.471593207,632.471593207,878,784.471593207,799,648.471593207,628.528406793,651,0.412544764815,-0.015520102491,0.0799285380722,0.999999991516,-3.68034220685e-05,-0.000111185843598,-5.70277865833e-05,1793193521726846208
+152,2.533333333,POSE1_TO_POSE2_PRESS,763.894758403,743,712,672.894758403,660,632.105241597,878,784,799,648,629,651,0.413238697822,-0.0155153792795,0.0799001253744,0.99999998698,-3.07038901321e-05,-0.000146016638492,-6.14513798596e-05,1793193521743512320
+153,2.550000000,POSE1_TO_POSE2_PRESS,763.320872855,743,712,672.320872855,660,632.679127145,878,784,799,648,629,651,0.413983165073,-0.0155156052708,0.0799011566053,0.999999987917,-3.51613990135e-05,-0.000137309504712,-6.38437226666e-05,1793193521760179456
+154,2.566666667,POSE1_TO_POSE2_PRESS,763.259657843,742.740342157,712,672,659.740342157,633,878,784.259657843,799,648,628.740342157,651,0.414741567135,-0.0155187594818,0.0799148905752,0.999999990706,-4.27496975112e-05,-0.000112237406527,-6.45269912893e-05,1793193521776846080
+155,2.583333333,POSE1_TO_POSE2_PRESS,763.848616057,742.151383943,712,672,659.151383943,633,878,784.848616057,799,648,628.151383943,651,0.415517641549,-0.015525627287,0.0799447342712,0.999999994333,-5.43084916226e-05,-6.64111144439e-05,-6.30427971511e-05,1793193521793512448
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632.569938691,878,784.569938691,799.430061309,648,628,651,0.416294728556,-0.0155250647482,0.0799397051016,0.999999993189,-5.69360849789e-05,-8.00591356505e-05,-6.30180365428e-05,1793193521810179072
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,742,712,672.008886423,659.008886423,632,878,784,800,648.008886423,628,651,0.41707337513,-0.0155219549264,0.0799232274514,0.999999990019,-5.64004809674e-05,-0.00011292957298,-6.34695706838e-05,1793193521826845440
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,742,712,672.586373906,659.586373906,632,878,784,800,648.586373906,628,651,0.417929398947,-0.0155203379687,0.0799461772298,0.999999995011,-5.11719423618e-05,-5.92011318031e-05,-6.20902716276e-05,1793193521843512064
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,742,712,673,660,632,877.834029867,784,799.834029867,648.834029867,628.165970133,651,0.418772522344,-0.0155193426434,0.0799655347494,0.999999996856,-4.81972089433e-05,-1.56693966677e-05,-6.0987849571e-05,1793193521860178688
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,742,712,673,660,632,877.249110689,784,799.249110689,648.249110689,628.750889311,651,0.419583081884,-0.0155199164698,0.0799758245315,0.999999996867,-5.09116294479e-05,2.12336501519e-06,-6.05843329684e-05,1793193521876845312
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,742,712,673,660,632.334279943,877.334279943,784.334279943,799,648,629,651,0.420401595855,-0.0155213542562,0.0799699155995,0.999999996845,-5.04948722738e-05,-7.02152353474e-06,-6.09178105595e-05,1793193521893512192
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,742,712,673,660,632.916536637,877.916536637,784.916536637,799,648,629,651,0.421226010572,-0.0155234329487,0.0799519900788,0.999999996297,-4.77553334509e-05,-3.61493975847e-05,-6.17980078252e-05,1793193521910179328
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,742,712,673,660,632.506790411,878,785,799,648.493209589,629,651,0.422102147445,-0.0155260726682,0.0799712078071,0.999999996799,-5.25824656876e-05,-8.54648285116e-06,-5.97048561124e-05,1793193521926845952
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,742.068817966,712,673,660,632,878,785,799.068817966,649,628.931182034,650.931182034,0.422979555837,-0.015528533526,0.0799936387082,0.999999996418,-5.77983398276e-05,2.31296281726e-05,-5.73442307908e-05,1793193521943512832
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,742.643468717,712,673,660,632,878,785,799.643468717,649,628.356531283,650.356531283,0.423802695187,-0.0155289896713,0.0799940037887,0.999999996682,-5.65651059064e-05,1.4970042871e-05,-5.66746066999e-05,1793193521960179200
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,742.775635137,712,673.224364863,660,632,878.224364863,785,800,648.775635137,628.224364863,650.224364863,0.424604125106,-0.0155282951163,0.0799762995665,0.999999996392,-5.73907865369e-05,-2.24599321071e-05,-5.84545674363e-05,1793193521976845568
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,742.184530372,712,673.815469628,660,632,878.815469628,785,800,648.184530372,628.815469628,650.815469628,0.425370069589,-0.015525719662,0.0799290598181,0.999999990237,-6.15819050802e-05,-0.000107734386888,-6.42385437858e-05,1793193521993512448
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.397167045,742,712,673.602832955,660.397167045,632,878.602832955,784.602832955,799.602832955,648.397167045,629,650.602832955,0.426195214895,-0.0155291557704,0.0799092090636,0.999999987697,-6.63014358721e-05,-0.000125168740763,-6.74020209828e-05,1793193522010179072
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.974594751,742,712,673.025405249,660.974594751,632,878.025405249,784.025405249,799.025405249,648.974594751,629,650.025405249,0.427047229402,-0.0155353203235,0.079901789248,0.999999988803,-7.12607949494e-05,-0.000111812767251,-6.93761422149e-05,1793193522026845696
+170,2.833333333,POSE1_TO_POSE2_PRESS,764.449534752,742,712,673.550465248,660.449534752,632,878,784.550465248,799,649,628.449534752,650.550465248,0.427873974841,-0.0155336911999,0.0799105016395,0.999999988734,-7.00791158093e-05,-0.0001138065131,-6.83250837611e-05,1793193522043512320
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,742.12612783,712,674,660,632.12612783,878.12612783,785,799.12612783,649,628.12612783,650.87387217,0.428697662899,-0.0155319887323,0.0799221469826,0.999999989421,-6.89442122453e-05,-0.000109124063543,-6.70496403007e-05,1793193522060178944
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,742.701305293,712,674,660,632.701305293,878.701305293,785,799.701305293,649,628.701305293,650.298694707,0.429514606172,-0.0155313021443,0.0799415911523,0.999999992423,-6.89820602598e-05,-7.81574558552e-05,-6.5471004665e-05,1793193522076845568
+173,2.883333333,POSE1_TO_POSE2_PRESS,763.715246234,743,712,674,660,632.715246234,878.715246234,784.715246234,800,649,628.715246234,650.284753766,0.430327244084,-0.0155340995712,0.0799691931252,0.999999994765,-7.24733583035e-05,-3.57174023141e-05,-6.27895037105e-05,1793193522093512192
+174,2.900000000,POSE1_TO_POSE2_PRESS,763.122862318,743,712,674,660,632.122862318,878.122862318,784.122862318,800,649,628.122862318,650.877137682,0.431135230699,-0.0155406609096,0.080005608277,0.999999994906,-7.96955475639e-05,1.9117842266e-05,-5.89165360819e-05,1793193522110178560
+175,2.916666667,POSE1_TO_POSE2_PRESS,763.457761409,743,712,674,660,632.457761409,878,784.457761409,800,649,628,651,0.43188367366,-0.0155426335253,0.0800026164594,0.999999995395,-7.61045823485e-05,8.98054451618e-06,-5.77766670066e-05,1793193522126845184
+176,2.933333333,POSE1_TO_POSE2_PRESS,764,743,712,674,660,632.964763092,878,785,799.964763092,648.964763092,628.035236908,651,0.432613328218,-0.0155429864274,0.0799860136514,0.999999995618,-7.01616945307e-05,-2.22553572825e-05,-5.7852439895e-05,1793193522143512064
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,743,712,674,660,632.38837671,878,785,799.38837671,648.38837671,628.61162329,651,0.433293726181,-0.0155369052107,0.0799187442803,0.999999988512,-7.15537746615e-05,-0.000116408891439,-6.56139613816e-05,1793193522160178688
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,743,712,674,660.191745384,632,878,785,799.191745384,648.191745384,629,651,0.433984411101,-0.0155343502606,0.0798783868124,0.999999980489,-7.09527299402e-05,-0.000170411429827,-7.03432251198e-05,1793193522176845312
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,743,712,674,660.779584548,632,878,785,799.779584548,648.779584548,629,651,0.434696346199,-0.0155390796167,0.0798936219999,0.999999985432,-6.62344330133e-05,-0.000141472956953,-6.880867197e-05,1793193522193511936
+180,3.000000000,POSE1_TO_POSE2_PRESS,763.63802,743,712,674,660.63802,632,878,784.63802,799.63802,648.63802,629,650.63802,0.435384461324,-0.0155454940277,0.0799177771384,0.999999988596,-8.23591675549e-05,-0.00010806369341,-6.59372991613e-05,1793193522210178560
+181,3.016666667,POSE1_TO_POSE2_PRESS,763.058890237,743,712,674,660.058890237,632,878,784.058890237,799.058890237,648.058890237,629,650.058890237,0.436058286938,-0.0155529192933,0.0799472833044,0.999999989312,-0.000110987519467,-7.19724293121e-05,-6.22639757685e-05,1793193522226845440
+182,3.033333333,POSE1_TO_POSE2_PRESS,763.516867142,743,712,674,660,632,878.516867142,784.516867142,799.516867142,648,629,650.516867142,0.436647111283,-0.0155547671177,0.0799268906219,0.99999998478,-0.000110725382714,-0.000118677523559,-6.40009284248e-05,1793193522243512064
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,742.908182403,712,674,660,632,878.908182403,784.908182403,800,648.091817597,629,651,0.437223502285,-0.0155564375135,0.0799002170522,0.999999977039,-0.000108728098673,-0.000172283664413,-6.64739971536e-05,1793193522260178688
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,742.335458871,712,674,660,632,878.335458871,784.335458871,800,648.664541129,629,651,0.437785168519,-0.0155604854137,0.0798702310964,0.999999968319,-0.000114771652817,-0.000212945746101,-6.9594866026e-05,1793193522276845568
+185,3.083333333,POSE1_TO_POSE2_PRESS,764,742.245201321,711.754798679,674,660,632,878.245201321,784,799.754798679,649,629,651,0.438324276433,-0.0155657645452,0.0798424624821,0.999999957778,-0.000125200313925,-0.000252052615463,-7.23700829382e-05,1793193522293512192
+186,3.100000000,POSE1_TO_POSE2_PRESS,764,742.837082784,711.162917216,674,660,632,878.837082784,784,799.162917216,649,629,651,0.438831490013,-0.0155727844638,0.079817828879,0.999999945406,-0.000141828898386,-0.000288960630271,-7.4656596435e-05,1793193522310178816
+187,3.116666667,POSE1_TO_POSE2_PRESS,764,742.57911367,711,674,659.57911367,632,878.57911367,784,799.42088633,649,628.57911367,651,0.439309594166,-0.0155775309959,0.0797894752093,0.999999931261,-0.000147332143092,-0.000331413668848,-7.70490414662e-05,1793193522326845440
+188,3.133333333,POSE1_TO_POSE2_PRESS,764,742,711.00160104,674,659,632,878.00160104,784,800,648.99839896,628.00160104,651,0.43977643445,-0.0155814169102,0.079759654421,0.999999915078,-0.000148654117056,-0.000376069092558,-7.94838655757e-05,1793193522343512320
+189,3.150000000,POSE1_TO_POSE2_PRESS,764,742,711.574834181,674,659,632,878.574834181,784,800,648.425165819,628.574834181,651,0.440168875878,-0.0155863011685,0.0797104592019,0.999999879271,-0.000165701854991,-0.000455152213928,-8.26852581996e-05,1793193522360178944
+190,3.166666667,POSE1_TO_POSE2_PRESS,764,742.152039317,711.847960683,674,659,631.847960683,879,784,800,648,628.847960683,650.847960683,0.440561930589,-0.015591190893,0.0796683609751,0.999999843853,-0.000179648988896,-0.00052222812604,-8.54297887115e-05,1793193522376845568
+191,3.183333333,POSE1_TO_POSE2_PRESS,764,742.740649921,711.259350079,674,659,631.259350079,879,784,800,648,628.259350079,650.259350079,0.440956746397,-0.0155960963143,0.0796466413016,0.999999825256,-0.000184692940881,-0.00055482612125,-8.68624705887e-05,1793193522393512192
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,742.6760059,711,674,659,631.3239941,879,784,800,648.3239941,628,650.3239941,0.441351300739,-0.0156010517069,0.0796475805071,0.999999826126,-0.000191892999939,-0.000550762698257,-8.70958739656e-05,1793193522410178560
+193,3.216666667,POSE1_TO_POSE2_PRESS,764,742.096809983,711,674,659,631.903190017,879,784,800,648.903190017,628,650.903190017,0.441745649108,-0.0156060464603,0.0796663675298,0.99999984204,-0.000200791368706,-0.000517822017277,-8.6384636412e-05,1793193522426845184
+194,3.233333333,POSE1_TO_POSE2_PRESS,764,742,711,674.480125523,659,631.519874477,879,783.519874477,800,649,628.480125523,651,0.442108373179,-0.0156133053025,0.0796915227285,0.999999859259,-0.000209724123971,-0.000480119151644,-8.35654818312e-05,1793193522443511808
+195,3.250000000,POSE1_TO_POSE2_PRESS,764,742.056382351,711,675,659,631,879,783,800,649,629,651,0.442457492009,-0.0156213596255,0.0797152189152,0.999999873454,-0.000218738519252,-0.000445807004932,-8.06300575036e-05,1793193522460178688
+196,3.266666667,POSE1_TO_POSE2_PRESS,764,742.630572498,711,675,659,631,879,783,800,649,629,651,0.442739949196,-0.0156325465735,0.0797137784968,0.99999986878,-0.000228439310026,-0.000451411983425,-8.05119484056e-05,1793193522476845568
+197,3.283333333,POSE1_TO_POSE2_PRESS,764,742.789325611,711,675,658.789325611,631,879,783,800,649,628.789325611,651,0.443002131396,-0.0156429648359,0.0797078282479,0.999999861256,-0.00023786353457,-0.000463050880189,-8.05773398965e-05,1793193522493512192
+198,3.300000000,POSE1_TO_POSE2_PRESS,764,742.198557969,711,675,658.198557969,631,879,783,800,649,628.198557969,651,0.443227733959,-0.0156519962544,0.0796937414804,0.999999848377,-0.000246788784415,-0.000485576014653,-8.0973798373e-05,1793193522510178816
+199,3.316666667,POSE1_TO_POSE2_PRESS,764,742.38568392,711,674.61431608,658,631,878.61431608,782.61431608,800,648.61431608,628,651,0.443432016149,-0.0156613045993,0.0796799779521,0.999999834087,-0.000261055314093,-0.000507341732507,-7.92538983011e-05,1793193522526845440
+200,3.333333333,POSE1_TO_POSE2_PRESS,764,742.96662217,711,674.03337783,658,631,878.03337783,782.03337783,800,648.03337783,628,651,0.443625504819,-0.0156707531403,0.079666378064,0.999999818654,-0.00027802589293,-0.000528722993885,-7.64625815935e-05,1793193522543512064
+201,3.350000000,POSE1_TO_POSE2_PRESS,764,743,711,674,658.538671056,631,878.538671056,782,800,648,628,651,0.443798537652,-0.0156780262785,0.0796662688858,0.999999816238,-0.000287253680984,-0.000528270889853,-7.70662857087e-05,1793193522560178688
+202,3.366666667,POSE1_TO_POSE2_PRESS,764,743,711.111174634,674,658.888825366,631,878.888825366,782,800,648,628,651,0.443966005077,-0.0156850316214,0.0796675633005,0.999999815383,-0.00029517547141,-0.000525417240347,-7.77330541913e-05,1793193522576845312
+203,3.383333333,POSE1_TO_POSE2_PRESS,764,743,711.687851131,674,658.312148869,631,878.312148869,782,800,648,628,651,0.444115390572,-0.0156914709157,0.0796712914186,0.999999817888,-0.000299605130118,-0.000518080682845,-7.77973499989e-05,1793193522593511936
+204,3.400000000,POSE1_TO_POSE2_PRESS,764,743,711.726922133,674,658,630.726922133,878.273077867,782,799.726922133,648.273077867,628,651,0.444248326612,-0.0156963255685,0.07967194766,0.999999817214,-0.000305049623854,-0.000516270918767,-7.73320364047e-05,1793193522610178560
+205,3.416666667,POSE1_TO_POSE2_PRESS,764,743,711.131605947,674,658,630.131605947,878.868394053,782,799.131605947,648.868394053,628,651,0.444361851899,-0.0156993103067,0.0796689790144,0.999999812806,-0.000311691646576,-0.000520982901604,-7.62417712348e-05,1793193522626845184
+206,3.433333333,POSE1_TO_POSE2_PRESS,764,742.551734778,711,674,658,630,879,782,799.896530445,649,628,651,0.444453635232,-0.015699530754,0.0796656343206,0.999999809822,-0.000311910814587,-0.000526664355664,-7.54417180523e-05,1793193522643512064
+207,3.450000000,POSE1_TO_POSE2_PRESS,764,742,711,674,658,630.023723883,878.976276117,782,800.976276117,649,628,651,0.444538310713,-0.0156990385853,0.0796621851626,0.999999807231,-0.000310365470998,-0.000532561240315,-7.47707767442e-05,1793193522660178432
+208,3.466666667,POSE1_TO_POSE2_PRESS,764,742,711,674,658,630.598508035,878.401491965,782,800.401491965,649,628,651,0.444601215674,-0.0157002169649,0.079658788556,0.999999804846,-0.000310175800588,-0.000537071044819,-7.51856688883e-05,1793193522676845056
+209,3.483333333,POSE1_TO_POSE2_PRESS,764,742.178231344,711,674,658,630.821768656,878.178231344,782,800,648.821768656,628,651,0.444659763283,-0.0157021773178,0.0796563830664,0.999999802773,-0.000310796751168,-0.000540573404359,-7.50919177899e-05,1793193522693511680
+210,3.500000000,POSE1_TO_POSE2_PRESS,764,742.769397855,711,674,658,630.230602145,878.769397855,782,800,648.230602145,628,651,0.444708215557,-0.015705949385,0.079656273846,0.999999801456,-0.000313295788483,-0.000541741665107,-7.38197168847e-05,1793193522710178560
+211,3.516666667,POSE1_TO_POSE2_PRESS,764,742.647772425,711,674.352227575,658,630,878.647772425,782,800,648.352227575,628,650.647772425,0.44474870926,-0.0157077195756,0.0796570373692,0.999999801581,-0.000314649375632,-0.000540778900577,-7.34290382499e-05,1793193522726845184
+212,3.533333333,POSE1_TO_POSE2_PRESS,764,742.070274518,711,674.929725482,658,630,878.070274518,782,800,648.929725482,628,650.070274518,0.444784112991,-0.0157082094484,0.0796583590634,0.999999802628,-0.000315270380005,-0.000538453219657,-7.36021450357e-05,1793193522743511808
+213,3.550000000,POSE1_TO_POSE2_PRESS,763.493401114,742,711,674.493401114,658,630,878,782,800,648.493401114,628,650.506598886,0.44480765122,-0.0157063135003,0.0796597962064,0.99999980463,-0.000312977142432,-0.000536130487005,-7.31409064685e-05,1793193522760178688
+214,3.566666667,POSE1_TO_POSE2_PRESS,763.084907491,742,711,674,657.915092509,630,878,782,800,648,628,651,0.444827723199,-0.0157047405036,0.0796607839932,0.999999806052,-0.000311102041466,-0.000534641383237,-7.25980466342e-05,1793193522776845312
+215,3.583333333,POSE1_TO_POSE2_PRESS,763.672220522,742,711,674,657.327779478,630,878,782,800,648,628,651,0.444837012382,-0.015707034332,0.0796590182527,0.999999803309,-0.0003140901833,-0.000538082521391,-7.20922611723e-05,1793193522793512192
+216,3.600000000,POSE1_TO_POSE2_PRESS,764,742.255539829,711,674,657.255539829,630,878.511079658,781.744460171,799.744460171,648,628,651,0.444844826297,-0.0157074074939,0.0796575056505,0.999999801652,-0.000314633282131,-0.000540835638971,-7.20964691772e-05,1793193522810178816
+217,3.616666667,POSE1_TO_POSE2_PRESS,764,742.833815204,711,674,657.833815204,630,879.667630409,781.166184796,799.166184796,648,628,651,0.444850777015,-0.0157053549386,0.079656312751,0.999999801382,-0.000312088399193,-0.000542719816677,-7.27447764939e-05,1793193522826845440
+218,3.633333333,POSE1_TO_POSE2_PRESS,764,743,711,674,657.587311172,630,879.587311172,781,799.412688828,648.412688828,628,651,0.444854634727,-0.0157047628382,0.0796555572767,0.999999801829,-0.000309826636752,-0.000543248191882,-7.23209592883e-05,1793193522843512064
+219,3.650000000,POSE1_TO_POSE2_PRESS,764,743,711,674,657.008196305,630,879.008196305,781,799.991803695,648.991803695,628,651,0.444857648388,-0.0157047596992,0.0796549782041,0.999999802564,-0.000307679049073,-0.00054322980923,-7.14647837739e-05,1793193522860179200
+220,3.666666667,POSE1_TO_POSE2_PRESS,764,742.434998513,711,674.565001487,657.565001487,630,879,781,800,648.434998513,628,651,0.444859526205,-0.0157042323534,0.0796549280684,0.99999980264,-0.000307220358101,-0.000543379043231,-7.12355360721e-05,1793193522876846592
+221,3.683333333,POSE1_TO_POSE2_PRESS,764,742,711,674.857878077,658,630,879,781.142121923,800.142121923,648,628,651,0.44486102552,-0.0157038475682,0.07965505414,0.999999802615,-0.000307054173823,-0.000543541604811,-7.10629247601e-05,1793193522893513472
+222,3.700000000,POSE1_TO_POSE2_PRESS,764,742,711,674.268135633,658,630,879,781.731864367,800.731864367,648,628,651,0.444861384075,-0.0157039354878,0.0796557112693,0.999999802301,-0.000307732889671,-0.000543738563312,-7.1040345583e-05,1793193522910179840
+223,3.716666667,POSE1_TO_POSE2_PRESS,764,742,711.315773604,674,658,630,878.684226396,781.684226396,800.684226396,648.315773604,628,651,0.444862546615,-0.0157035423614,0.0796557161122,0.999999802213,-0.000308234037188,-0.000543664753571,-7.06752883385e-05,1793193522926846208
+224,3.733333333,POSE1_TO_POSE2_PRESS,764,742,711.894819539,674,658,630,878.105180461,781.105180461,800.105180461,648.894819539,628,651,0.444864379468,-0.0157027481691,0.0796551771195,0.999999802312,-0.000308587139382,-0.000543365194184,-7.00246942436e-05,1793193522943512832
+225,3.750000000,POSE1_TO_POSE2_PRESS,764,742.470411333,711.529588667,674,658,630,878.470411333,781,800,649,628,651,0.444864600139,-0.0157017634011,0.0796550725738,0.999999803042,-0.000306344049624,-0.000543291276712,-7.00338340763e-05,1793193522960179456
+226,3.766666667,POSE1_TO_POSE2_PRESS,764,743,711,674,658,630,879.046293387,781,800,648.953706613,628,651,0.444864467857,-0.0157008933073,0.0796549708058,0.999999803726,-0.000303843521087,-0.00054341726262,-7.01747133906e-05,1793193522976845824
+227,3.783333333,POSE1_TO_POSE2_PRESS,764,743,711,674,658,630,879.634549752,781,800,648.365450248,628,651,0.444864392841,-0.0157018609378,0.0796537726257,0.99999980233,-0.000305075447879,-0.000545297203388,-7.01435348822e-05,1793193522993512448
+228,3.800000000,POSE1_TO_POSE2_PRESS,764,743,711,674.219320043,658,630,879.780679957,781,800.219320043,648,628,650.780679957,0.4448649327,-0.0157026982176,0.0796535524818,0.999999801686,-0.000306579961052,-0.000545637264649,-7.01159005839e-05,1793193523010179072
+229,3.816666667,POSE1_TO_POSE2_PRESS,764,743,711,674.798372381,658,630,879.201627619,781,800.798372381,648,628,650.201627619,0.444866481086,-0.0157033216943,0.0796549365288,0.999999802278,-0.000308531574759,-0.000543451590421,-7.00940795584e-05,1793193523026845696
+230,3.833333333,POSE1_TO_POSE2_PRESS,764.376409862,742.623590138,711,674.623590138,657.623590138,630,878.623590138,781.376409862,800.623590138,648.376409862,628,650.376409862,0.444868002847,-0.015703063952,0.0796558028034,0.999999802803,-0.000309495465471,-0.000541940841624,-7.00494426271e-05,1793193523043512320
+231,3.850000000,POSE1_TO_POSE2_PRESS,764.953905169,742.046094831,711,674.046094831,657.046094831,630,878.046094831,781.953905169,800.046094831,648.953905169,628,650.953905169,0.444869510385,-0.0157023354454,0.0796563924739,0.999999803294,-0.000309931695355,-0.000540790651143,-6.99926169979e-05,1793193523060179200
+232,3.866666667,POSE1_TO_POSE2_PRESS,764.471866182,742,711,674,657.528133818,630,878.528133818,782,800.528133818,649,628,651,0.444869020156,-0.0157031661705,0.0796559749105,0.999999803238,-0.000308758897804,-0.000541606383905,-6.96725604914e-05,1793193523076846080
+233,3.883333333,POSE1_TO_POSE2_PRESS,764.104816101,742.104816101,711.104816101,674,658,630,879,782,801,649,628,651,0.444868182705,-0.0157033432034,0.0796553673154,0.999999803049,-0.000307398088283,-0.000542752534308,-6.94793991041e-05,1793193523093512960
+234,3.900000000,POSE1_TO_POSE2_PRESS,764.694150092,742.694150092,711.694150092,674,658,630,879,782,801,649,628,651,0.444866541251,-0.0156998733039,0.0796542851606,0.999999802475,-0.000305813356108,-0.00054463778053,-6.99783648635e-05,1793193523110179584
+235,3.916666667,POSE1_TO_POSE2_PRESS,764.721215942,742.721215942,712,674,657.721215942,630,879,782,801,648.721215942,628,651,0.444866450636,-0.0156992671746,0.0796539955696,0.999999802492,-0.000305004702235,-0.000545034657382,-7.01762556774e-05,1793193523126845952
+236,3.933333333,POSE1_TO_POSE2_PRESS,764.141652743,742.141652743,712,674,657.141652743,630,879,782,801,648.141652743,628,651,0.444868033217,-0.0157017507565,0.0796545610728,0.999999803151,-0.000305033356323,-0.000543825737984,-7.00493178516e-05,1793193523143512576
+237,3.950000000,POSE1_TO_POSE2_PRESS,764,742.435515366,712,674,657.435515366,630,879,781.564484634,800.564484634,648.435515366,628,651,0.44486967517,-0.0157018015221,0.0796558461314,0.999999804106,-0.000304815642511,-0.000542244210431,-6.96171410621e-05,1793193523160178944
+238,3.966666667,POSE1_TO_POSE2_PRESS,764,743,711.987929306,674,657.987929306,630,879,781.012070694,800,649,628,651,0.444871287198,-0.0157010904582,0.079657308886,0.999999805127,-0.000304515157543,-0.000540593238336,-6.9098813443e-05,1793193523176845568
+239,3.983333333,POSE1_TO_POSE2_PRESS,764,743,711.403694776,674,657.403694776,630,879,781.596305224,800,649,628,651,0.444870570382,-0.0157015702969,0.0796561616658,0.999999804841,-0.000304068795388,-0.000541363725648,-6.9177079191e-05,1793193523193512448
+240,4.000000000,POSE1_TO_POSE2_PRESS,764,743,711,673.820495529,657.179504471,630,878.820495529,781.820495529,800,648.820495529,628,651,0.444869900638,-0.0157018737293,0.0796553542368,0.999999804521,-0.000303891453386,-0.000542032045989,-6.93537272355e-05,1793193523210179328
+241,4.016666667,POSE1_TO_POSE2_PRESS,764,743,711,673.239611253,657.760388747,630,878.239611253,781.239611253,800,648.239611253,628,651,0.444869336151,-0.0157017827093,0.0796553065956,0.999999804126,-0.000304315652173,-0.000542471916492,-6.97503623696e-05,1793193523226846208
+242,4.033333333,POSE1_TO_POSE2_PRESS,764,742.660120747,711,673.679758506,657.660120747,630,878,781.339879253,800,648.339879253,628,651,0.444869652092,-0.0157013079549,0.0796552263586,0.999999804052,-0.000304164466142,-0.000542718134168,-6.95495386639e-05,1793193523243512832
+243,4.050000000,POSE1_TO_POSE2_PRESS,764,742.081608844,711,674.836782311,657.081608844,630,878,781.918391156,800,648.918391156,628,651,0.444870586191,-0.0157005637768,0.0796551232358,0.999999804204,-0.000303609296614,-0.000542828386224,-6.89292330685e-05,1793193523260179456
+244,4.066666667,HOLD_POSE2,763,742,711,674,657,630,879,782,800,648,628,651,0.444871560036,-0.0156991939149,0.0796560596561,0.999999805058,-0.000301350311693,-0.000542451035544,-6.94245841791e-05,1793193523291585024
+245,4.083333333,HOLD_POSE2,763.589482464,742,711,674,657,630,879,781.410517536,800,648.589482464,628,651,0.444871228281,-0.0156993724351,0.0796560179247,0.99999980469,-0.000301859888652,-0.000542870120282,-6.92347687061e-05,1793193523308251904
+246,4.100000000,HOLD_POSE2,764,742,711,674,657,630,879,781,799.824440036,649,628,651,0.444871255805,-0.0156998243994,0.0796560928699,0.999999804565,-0.000302258849518,-0.000542906619082,-6.90049400686e-05,1793193523324918528
+247,4.116666667,HOLD_POSE2,764,742,711,674,657,630,879,781,799.246172872,649,628,651,0.444872107454,-0.0157009036019,0.0796564354531,0.999999805,-0.000302404074407,-0.000542065525447,-6.86833274297e-05,1793193523341584640
+248,4.133333333,HOLD_POSE2,764,742,711,674,657.332737735,630,879,781.332737735,799.332737735,648.667262265,628,651,0.444871397669,-0.0157013782896,0.0796558399181,0.999999804046,-0.000303997286197,-0.000542915015657,-6.88227309113e-05,1793193523358251008
+249,4.150000000,HOLD_POSE2,764,742,711,674,657.912125273,630,879,781.912125273,799.912125273,648.087874727,628,651,0.444869530434,-0.015701404866,0.0796545489805,0.999999802055,-0.000306663852899,-0.000545017691624,-6.93038736381e-05,1793193523374917376
+250,4.166666667,HOLD_POSE2,764,742,711.483513909,674,658,630,878.516486091,781.516486091,800,648,628,651,0.444871580293,-0.0157002207977,0.0796558522434,0.999999803613,-0.000305110642629,-0.00054305730189,-6.90723120634e-05,1793193523391583744
+251,4.183333333,HOLD_POSE2,764,742.055715309,712,674,658,630,878.055715309,781.055715309,800,648.055715309,628,651,0.444873857095,-0.0156988490286,0.0796571904667,0.999999805448,-0.000302960028273,-0.000540913410006,-6.87897412835e-05,1793193523408250368
+252,4.200000000,HOLD_POSE2,764,742.649580153,712,674,658,630,878.649580153,781.649580153,800,648.649580153,628,651,0.444871561642,-0.0156977548887,0.0796543865449,0.999999803927,-0.000302326108913,-0.000544013438754,-6.92452186201e-05,1793193523424916992
+253,4.216666667,HOLD_POSE2,764,742.762186798,711.762186798,674,657.762186798,630,878.762186798,781.762186798,800.237813202,649,628,651,0.444871090207,-0.0156979143908,0.0796538950217,0.999999803721,-0.000302262062268,-0.000544428714136,-6.92287843217e-05,1793193523441583616
+254,4.233333333,HOLD_POSE2,764,742.182060322,711.182060322,674,657.182060322,630,878.182060322,781.182060322,800.817939678,649,628,651,0.444873244301,-0.0156998784112,0.0796567320132,0.999999805412,-0.000303018302325,-0.000540979499372,-6.85330705539e-05,1793193523458250496
+255,4.250000000,HOLD_POSE2,764,742.394517225,711,674,657,630,878.394517225,781,800.21096555,648.605482775,628,651,0.444874314474,-0.0156992904629,0.0796574968038,0.999999806114,-0.000302663845623,-0.000539856343097,-6.8713506793e-05,1793193523474917376
+256,4.266666667,HOLD_POSE2,764,742.969471679,711,674,657,630,878.969471679,781,799.061056643,648.030528321,628,651,0.444874888902,-0.0156975353409,0.0796573138484,0.999999806367,-0.000301801398381,-0.000539797037526,-6.92946607816e-05,1793193523491584000
+257,4.283333333,HOLD_POSE2,764,743,711,674,657.555353653,630,879,781,799.555353653,648.555353653,628,650.444646347,0.444873291656,-0.0156981232903,0.0796563202097,0.999999805496,-0.000301739910594,-0.000541509959019,-6.87651158988e-05,1793193523508250368
+258,4.300000000,HOLD_POSE2,764,742.859900927,711,674,658,630,879,781.140099073,800,649,628,650.140099073,0.444872264905,-0.0156987170518,0.0796556091298,0.999999804898,-0.00030177323246,-0.000542653651869,-6.82897928716e-05,1793193523524916992
+259,4.316666667,HOLD_POSE2,764,742.280638848,711,674,658,630,879,781.719361152,800,649,628,650.719361152,0.444873408191,-0.0156989171817,0.0796559262725,0.999999805365,-0.000301962962598,-0.000541701495405,-6.81796686999e-05,1793193523541583872
+260,4.333333333,HOLD_POSE2,764,742,711,674,657.701650933,629.701650933,878.701650933,781.701650933,800,649,628,651,0.444874024317,-0.0156986593057,0.079656320108,0.999999805961,-0.000301235905199,-0.00054101079654,-6.81353004912e-05,1793193523558250496
+261,4.350000000,HOLD_POSE2,764,742,711,674,657.122920708,629.122920708,878.122920708,781.122920708,800,649,628,651,0.444874145031,-0.015697971007,0.0796567860175,0.999999806678,-0.000299647273275,-0.000540565809191,-6.81527281354e-05,1793193523574917120
+262,4.366666667,POSE2_TO_POSE3_RETREAT,764,742,711,674,658,630,879,781,800,649,628,651,0.444878664053,-0.0156987757885,0.0796586932476,0.999999808816,-0.000298506887829,-0.000537179844741,-6.85487053987e-05,1793193523607459072
+263,4.383333333,POSE2_TO_POSE3_RETREAT,764,742,711,674,657.412102465,630,878.412102465,781,799.412102465,648.412102465,628,650.412102465,0.444876214055,-0.0156973739446,0.0796575034516,0.999999808022,-0.000297669728756,-0.000539145437096,-6.83431476344e-05,1793193523624125696
+264,4.400000000,POSE2_TO_POSE3_RETREAT,763.827184331,742.172815669,711,674,657,630,878,781,799.172815669,648.172815669,628,650,0.444874804983,-0.0156964139415,0.0796567990598,0.999999807396,-0.000297751786259,-0.00054026973997,-6.82677402237e-05,1793193523640792064
+265,4.416666667,POSE2_TO_POSE3_RETREAT,763.249250452,742.750749548,711,674,657,630,878,781,799.750749548,648.750749548,628,650,0.444875836076,-0.015696489711,0.0796572325626,0.999999807169,-0.000299988690868,-0.000539421874344,-6.84974340314e-05,1793193523657458688
+266,4.433333333,POSE2_TO_POSE3_RETREAT,763.328059658,742.671940342,711,674.328059658,657,630,878,781,800,649,628,650.328059658,0.444875862165,-0.0156972169866,0.0796575198844,0.999999806981,-0.000300933282843,-0.000539247847748,-6.84815243368e-05,1793193523674125312
+267,4.450000000,POSE2_TO_POSE3_RETREAT,763.90489671,742.09510329,711,674.90489671,657,630,878,781,800,649,628,650.90489671,0.44487512613,-0.0156984383187,0.0796576963529,0.999999806823,-0.000300897875585,-0.000539584813381,-6.82793661898e-05,1793193523690791936
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764,742,711,675,657,630,878.46235877,781.46235877,800,649,628,651,0.444872953331,-0.0156983597073,0.07965668608,0.999999806284,-0.000300652881309,-0.000540721300015,-6.82656670176e-05,1793193523707458560
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,742,711,674.982238555,657.017761445,630,879,781.982238555,800,648.982238555,628,651,0.444870176348,-0.0156980364147,0.0796552593052,0.999999805498,-0.000300390156928,-0.000542313410178,-6.83034754724e-05,1793193523724125440
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764,742,711,674.367491485,657.632508515,630,879,781.367491485,800,648.367491485,628,651,0.444856625602,-0.0156981148398,0.0796477079812,0.999999798944,-0.00030092221615,-0.000553914402959,-6.88220026797e-05,1793193523740792064
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764,742.233364734,711,674,658,630,879,781.233364734,800,648.233364734,627.766635266,651,0.44483360776,-0.0156969404386,0.0796371459636,0.999999789199,-0.000300924584589,-0.000571150478752,-6.95178984948e-05,1793193523757458688
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764,742.813575184,711,674,658,630,879,781.813575184,800,648.813575184,627.186424816,651,0.444796519147,-0.0156939039848,0.0796221092079,0.999999774412,-0.000300139683218,-0.000596761873636,-7.0477413944e-05,1793193523774125568
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764,743,711.388955918,674.388955918,657.611044082,630,878.611044082,781.611044082,800,649,627.388955918,651,0.444744379101,-0.015690973534,0.0796077465367,0.999999760992,-0.000298641792477,-0.000619540497963,-7.06960496583e-05,1793193523790792192
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764,743,711.962050234,674.962050234,657.037949766,630,878.037949766,781.037949766,800,649,627.962050234,651,0.444685113446,-0.0156880932666,0.0795937029873,0.999999748037,-0.000296806360226,-0.000640978042306,-7.05639402802e-05,1793193523807458816
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764,743,711.450526441,674.450526441,657.549473559,630,878.549473559,781,800,649,628,651,0.444608954312,-0.0156847089257,0.0795851922475,0.999999743145,-0.000294213189361,-0.000649875230837,-6.93620683079e-05,1793193523824125440
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764,742.863602572,711,674,658,630,878.863602572,781,800,649,628,651,0.444526918653,-0.0156805830929,0.0795788283469,0.999999739684,-0.000291326960156,-0.000656640052041,-6.77102870137e-05,1793193523840792320
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764,742.281629624,711,674,658,630,878.281629624,781,800,649,628,651,0.444429599427,-0.0156741517693,0.0795781958819,0.999999739157,-0.000287658922221,-0.000659344089357,-6.48365890798e-05,1793193523857458944
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764,742.298016476,711,674,657.701983524,630,878,781,800,648.701983524,628,651,0.444318792466,-0.0156693141089,0.0795794617049,0.999999740608,-0.000284714740309,-0.00065876712341,-6.12118213057e-05,1793193523874125568
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764,742.875480674,711,674,657.124519326,630,878,781,800,648.124519326,628,651,0.444195338168,-0.0156659708143,0.0795825075378,0.999999743906,-0.000282449312751,-0.00065511358617,-5.68827813823e-05,1793193523890792192
+280,4.666666667,POSE2_TO_POSE3_RETREAT,764,743,711.448526653,674,657,630,878,781,800,648,628,650.551473347,0.444044702899,-0.0156567360795,0.0795834795236,0.999999747279,-0.000271316970885,-0.000655089955821,-5.18202313187e-05,1793193523907458816
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764,742.978895367,711.978895367,674,657,630,878,781.021104633,800,648,628,650.021104633,0.443885116452,-0.0156460069914,0.0795838904652,0.999999750362,-0.000257917310456,-0.000656194680094,-4.65199491011e-05,1793193523924125440
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764,742.386092255,711.386092255,674,657,630,878,781.613907745,800,648,628,650.613907745,0.443685469927,-0.0156386711927,0.079584547325,0.999999749807,-0.000249130585788,-0.000660833270327,-4.02422353908e-05,1793193523940792064
+283,4.716666667,POSE2_TO_POSE3_RETREAT,764,742,711,674,657.20173174,630,878,782,800,648,628,651,0.443474508307,-0.0156288412644,0.0795854796669,0.99999975096,-0.000236923612287,-0.000663938250488,-3.36746119501e-05,1793193523957458944
+284,4.733333333,POSE2_TO_POSE3_RETREAT,764,742,711,674,657.780255731,630,878,782,800,648,628,651,0.443242412504,-0.0156143528297,0.0795869265509,0.999999755247,-0.000218328337852,-0.000664178770624,-2.65654991113e-05,1793193523974125568
+285,4.750000000,POSE2_TO_POSE3_RETREAT,764,742,711,674,658,630,878,782,800.342717134,648.342717134,628,650.657282866,0.442985701407,-0.0155995773372,0.0795885597214,0.999999763707,-0.000175305631239,-0.000664453278472,-1.88797817804e-05,1793193523990792448
+286,4.766666667,POSE2_TO_POSE3_RETREAT,764,742,711,674,658,630,878,782,800.895340628,648.895340628,628,650.104659372,0.442713913987,-0.0155846260269,0.0795903069882,0.999999772114,-0.000117321682162,-0.000664748601299,-1.08409067243e-05,1793193524007460096
+287,4.783333333,POSE2_TO_POSE3_RETREAT,764,742,711,674,658,630.496617635,878.496617635,782,800.503382365,648.503382365,628,650.496617635,0.442419271231,-0.0155702469779,0.0795996209745,0.999999786578,-8.44107730701e-05,-0.000647848124118,-3.51574174896e-06,1793193524024126464
+288,4.800000000,POSE2_TO_POSE3_RETREAT,764,742.103094702,711,674,658,631,878.896905298,782,800.103094702,648,628.103094702,650.896905298,0.442106478322,-0.0155553130933,0.0796100316933,0.999999800627,-6.158176802e-05,-0.000628452159193,1.27365811721e-06,1793193524040792320
+289,4.816666667,POSE2_TO_POSE3_RETREAT,764,742.681159716,711,674,658,631,878.318840284,782,800.681159716,648,628.681159716,650.318840284,0.441734666254,-0.0155372070371,0.0796173505467,0.999999808524,-5.82132783125e-05,-0.000616068350667,-4.85130750115e-06,1793193524057459200
+290,4.833333333,POSE2_TO_POSE3_RETREAT,763.741834756,743,711,674.258165244,658,631,878,782.258165244,800.741834756,648,629,650.258165244,0.441340780578,-0.0155212966237,0.0796192726756,0.999999811815,-4.62000514627e-05,-0.000611721316314,-5.75793509249e-06,1793193524074126336
+291,4.850000000,POSE2_TO_POSE3_RETREAT,763.166132403,743,711,674.833867597,658,631,878,782.833867597,800.166132403,648,629,650.833867597,0.440919744911,-0.0155080868001,0.0796145569615,0.999999809218,-2.3554003807e-05,-0.00061725932358,-2.46130703216e-07,1793193524090793728
+292,4.866666667,POSE2_TO_POSE3_RETREAT,763.409771089,742.590228911,711,674.590228911,658.409771089,631,878.409771089,783,800,648.409771089,628.590228911,650.590228911,0.440461150092,-0.0154954818859,0.0796054004553,0.999999804635,-4.65466725537e-06,-0.000625065716184,-3.8741433883e-07,1793193524107460096
+293,4.883333333,POSE2_TO_POSE3_RETREAT,763.985756155,742.014243845,711,674.014243845,658.985756155,631,878.985756155,783,800,648.985756155,628.014243845,650.014243845,0.4399873203,-0.0154831223393,0.0795944426466,0.999999799069,1.27249037584e-05,-0.000633792225547,-2.82173992709e-06,1793193524124126208
+294,4.900000000,POSE2_TO_POSE3_RETREAT,764,742,711,674,659,631,879,783,799.423737264,648.423737264,628,650.576262736,0.439481019784,-0.0154827161085,0.0795882359149,0.999999795834,8.21383452993e-06,-0.000638949800662,-2.80348557282e-06,1793193524140792576
+295,4.916666667,POSE2_TO_POSE3_RETREAT,764,742,711,674,659,631,879,783,799,648,628.163787434,650.836212566,0.438970512116,-0.0154813006552,0.0795973770556,0.999999806944,8.24768103273e-06,-0.000621322955343,-1.22649797763e-06,1793193524157459200
+296,4.933333333,POSE2_TO_POSE3_RETREAT,764,742,711,674,659,631,879,783,799,648,628.742818664,650.257181336,0.4384514257,-0.0154765581346,0.0796451236247,0.99999985062,2.12113256036e-05,-0.000546161098882,4.14461877222e-06,1793193524174125568
+297,4.950000000,POSE2_TO_POSE3_RETREAT,764,742,711.319750685,674,659.319750685,631.319750685,878.680249315,783,799.319750685,648.319750685,629,650.319750685,0.437917202575,-0.0154671743528,0.0796984882565,0.999999889593,3.85511543282e-05,-0.000468245932462,8.54131754971e-06,1793193524190792448
+298,4.966666667,POSE2_TO_POSE3_RETREAT,764,742,711.895005349,674,659.895005349,631.895005349,878.104994651,783,799.895005349,648.895005349,629,650.895005349,0.437370884064,-0.0154540818665,0.0797563421326,0.99999992284,5.93878727583e-05,-0.000388130662851,1.21593862798e-05,1793193524207459584
+299,4.983333333,POSE2_TO_POSE3_RETREAT,764,742,712,674,659.52040367,632,878,783.47959633,800,649,628.52040367,650.52040367,0.436769620455,-0.0154408537283,0.0797834069597,0.999999935905,8.59260567916e-05,-0.000347200325192,1.60950499995e-05,1793193524224126976
+300,5.000000000,POSE2_TO_POSE3_RETREAT,764,742.065444205,712,673.934555795,659.065444205,632,878.065444205,784,800.065444205,649,628.065444205,650,0.436147243929,-0.0154285772444,0.0798014177755,0.999999943168,0.000110916071122,-0.00031776157241,1.97450949693e-05,1793193524240794624
+301,5.016666667,POSE2_TO_POSE3_RETREAT,764,742.644793452,712,673.355206548,659.644793452,632,878.644793452,784,800.644793452,649,628.644793452,650,0.435455408278,-0.0154240115136,0.0798023118886,0.999999945311,0.00011375296905,-0.000309860750574,2.05954821153e-05,1793193524257460480
+302,5.033333333,POSE2_TO_POSE3_RETREAT,764,743,711.776196283,673.223803717,660,632,878.776196283,784.223803717,800.776196283,648.776196283,629,650,0.434743573201,-0.0154210460516,0.079801533811,0.999999946674,0.00011480707936,-0.000305032726455,2.06658653855e-05,1793193524274126592
+303,5.050000000,POSE2_TO_POSE3_RETREAT,764,743,711.197723248,673.802276752,660,632,878.197723248,784.802276752,800.197723248,648.197723248,629,650,0.434000044399,-0.0154206165898,0.0797981057563,0.999999946886,0.000113035945703,-0.000305074269261,1.95001500952e-05,1793193524290792960
+304,5.066666667,POSE2_TO_POSE3_RETREAT,764,743,711.378181861,674,659.621818139,632,878,785,800,648.378181861,629,650.378181861,0.433228903088,-0.0154198900952,0.0797903165819,0.999999939074,0.00013253139987,-0.000322302753788,2.02082403254e-05,1793193524307459328
+305,5.083333333,POSE2_TO_POSE3_RETREAT,764,743,711.952753429,674,659.047246571,632,878,785,800,648.952753429,629,650.952753429,0.432443422633,-0.0154190093516,0.0797802626797,0.999999925753,0.000163070585487,-0.000348456410665,2.1889397112e-05,1793193524324125952
+306,5.100000000,POSE2_TO_POSE3_RETREAT,764,742.459786777,712,673.459786777,659.540213223,632.540213223,878,784.459786777,800,649,629,651,0.431595957287,-0.0154128980807,0.0797380995252,0.999999896197,0.000154037320414,-0.000428408952922,1.8572610599e-05,1793193524340792576
+307,5.116666667,POSE2_TO_POSE3_RETREAT,764,742.126734695,712,673.126734695,659.873265305,633,878,784.126734695,800,649,629,651,0.430761762048,-0.0154082199568,0.0797123337919,0.999999874971,0.000144727852522,-0.000478369818367,1.65489983896e-05,1793193524357459200
+308,5.133333333,POSE2_TO_POSE3_RETREAT,764,742.705785882,712,673.705785882,659.294214118,633,878,784.705785882,800,649,629,651,0.429994749013,-0.0154103293102,0.0797553581142,0.999999907325,0.00014708673682,-0.000404086977671,2.07389266362e-05,1793193524374126080
+309,5.150000000,POSE2_TO_POSE3_RETREAT,764,742.715947551,712,674,659.284052449,632.715947551,878,784.715947551,800,648.715947551,629,651,0.429204619072,-0.015413118328,0.0798042072813,0.9999999361,0.000146782406952,-0.00032498416827,2.53012418886e-05,1793193524390792960
+310,5.166666667,POSE2_TO_POSE3_RETREAT,764,742.138491361,712,674,659.861508639,632.138491361,878,784.138491361,800,648.138491361,629,651,0.428390611098,-0.0154166093858,0.0798590730584,0.999999960197,0.000143727187388,-0.000240902702755,3.0248203976e-05,1793193524407459584
+311,5.183333333,POSE2_TO_POSE3_RETREAT,764,742,712,673.555346994,659.555346994,632,878.444653006,784,800,648.444653006,628.555346994,650.555346994,0.42753512084,-0.0154164500645,0.0798504386046,0.999999957929,0.000145129414934,-0.000249310441696,3.03973146502e-05,1793193524424125952
+312,5.200000000,POSE2_TO_POSE3_RETREAT,764,742,712,673,659,632,879,784.029296559,800,649,628.029296559,650.029296559,0.426663932384,-0.0154149921879,0.0798209248046,0.999999946974,0.00014797583615,-0.000288656294624,2.88648193665e-05,1793193524440792576
+313,5.216666667,POSE2_TO_POSE3_RETREAT,764,742,712,673,659,632,879,784.608396918,800,649,628.608396918,650.608396918,0.425743747782,-0.015410777881,0.0797755470111,0.999999923067,0.000151533332413,-0.000360998051719,2.41812544932e-05,1793193524457459200
+314,5.233333333,POSE2_TO_POSE3_RETREAT,764,742,712,673,659,632,878.812569925,785,799.812569925,649,629,651,0.424823177096,-0.015406500287,0.079742515934,0.999999901996,0.000156145112258,-0.000413741699594,2.10676241854e-05,1793193524474125824
+315,5.250000000,POSE2_TO_POSE3_RETREAT,764,742,712,673,659,632,878.23367716,785,799.23367716,649,629,651,0.423901800099,-0.0154020905127,0.0797352719635,0.999999895949,0.000162958848786,-0.000425553129061,2.12329281855e-05,1793193524490792448
+316,5.266666667,POSE2_TO_POSE3_RETREAT,764,742,712,673,659.343070167,632.343070167,878,784.656929833,799,649,629,650.656929833,0.42300418357,-0.0154007173128,0.0797372255236,0.999999897985,0.000169872178496,-0.000417917844828,2.27475736075e-05,1793193524507459584
+317,5.283333333,POSE2_TO_POSE3_RETREAT,764,742,712,673,659.91836522,632.91836522,878,784.08163478,799,649,629,650.08163478,0.422122650585,-0.0154013995763,0.0797454049109,0.999999905193,0.000176852922703,-0.000397119040463,2.51755909323e-05,1793193524524126208
+318,5.300000000,POSE2_TO_POSE3_RETREAT,764,742,712,672.496379741,660,632.496379741,878,784.503620259,799.503620259,648.496379741,629,650,0.421335552826,-0.0154050986755,0.0798036179876,0.999999939802,0.000177270816273,-0.000296711315156,3.05536551108e-05,1793193524540792832
+319,5.316666667,POSE2_TO_POSE3_RETREAT,764,742,712,672.089793346,660,632,878.089793346,784.910206654,800,648.089793346,629,650.089793346,0.420546614122,-0.0154083157421,0.0798597339189,0.999999963257,0.000177682433277,-0.000201635171142,3.54755708116e-05,1793193524557459712
+320,5.333333333,POSE2_TO_POSE3_RETREAT,764,742,712,672.671968748,660,632,878.671968748,784.328031252,800,648.671968748,629,650.671968748,0.419661948284,-0.0154061539543,0.0798589802415,0.999999960821,0.000184010748862,-0.000207983134175,3.52211316511e-05,1793193524574126336
+321,5.350000000,POSE2_TO_POSE3_RETREAT,764,742,712,673,660,632,878.74957143,784,800,649,629,651,0.41876682379,-0.0154043437295,0.0798394781598,0.999999952276,0.000187934169479,-0.000242922191342,3.34345115523e-05,1793193524590792960
+322,5.366666667,POSE2_TO_POSE3_RETREAT,764,742,712,673,660,632,878.175907334,784,800,649,629,651,0.417858199879,-0.0154029872769,0.0797957769605,0.999999932208,0.000188753521564,-0.000314764615264,2.9670260261e-05,1793193524607459584
+323,5.383333333,POSE2_TO_POSE3_RETREAT,763.599790226,742,711.599790226,672.599790226,659.599790226,632,878,784,800,649,628.599790226,651,0.416984054049,-0.0154021289959,0.0797917265366,0.999999927909,0.000185854449089,-0.00032993741741,2.79617991626e-05,1793193524624126208
+324,5.400000000,POSE2_TO_POSE3_RETREAT,763.022588313,742,711.022588313,672.022588313,659.022588313,632,878,784,800,649,628.022588313,651,0.416125156149,-0.0154014910304,0.079805211608,0.999999931979,0.000181310909445,-0.000320048165081,2.71625082924e-05,1793193524640792576
+325,5.416666667,POSE2_TO_POSE3_RETREAT,763.56740541,742,711.56740541,672,659,632,878,784.56740541,799.43259459,648.43259459,628.56740541,651,0.415290709173,-0.0153972194244,0.0797893986823,0.999999920127,0.000188668148812,-0.000351352037658,2.65001522278e-05,1793193524657459200
+326,5.433333333,POSE2_TO_POSE3_RETREAT,764,742,712,672.153907916,659,632,878,784.846092084,799.153907916,648.153907916,629,651,0.414478047087,-0.0153943749527,0.0797770040821,0.999999911567,0.000194794146798,-0.000371847457038,2.5505659387e-05,1793193524674125824
+327,5.450000000,POSE2_TO_POSE3_RETREAT,764,742,712,672.729419665,659,632,878,784.270580335,799.729419665,648.729419665,629,651,0.413722333015,-0.0153958452614,0.0797772420861,0.999999916339,0.000196219636676,-0.000358139202149,2.35860585629e-05,1793193524690792704
+328,5.466666667,POSE2_TO_POSE3_RETREAT,764,742.306507297,712,672.693492703,659,632,878,784.306507297,800,649,629,651,0.412979893218,-0.0153969774196,0.0797890853383,0.999999926167,0.000193135382595,-0.000331445920074,2.25616320565e-05,1793193524707459328
+329,5.483333333,POSE2_TO_POSE3_RETREAT,764,742.884993257,712,672.115006743,659,632,878,784.884993257,800,649,629,651,0.412249232363,-0.0153978095205,0.0798112264853,0.999999939451,0.000186049415581,-0.0002932303994,2.23315368438e-05,1793193524724125952
+330,5.500000000,POSE2_TO_POSE3_RETREAT,764,742.528765001,712,672,659,632.471234999,877.528765001,784.528765001,800,649,629,651,0.411502056395,-0.015396159577,0.0798051497412,0.999999933232,0.000191834596119,-0.000310162149989,2.31412726461e-05,1793193524740792576
+331,5.516666667,POSE2_TO_POSE3_RETREAT,764,742,712,672.058480594,659,632.941519406,877,784,800,648.941519406,628.941519406,651,0.410757392394,-0.0153939520695,0.0797932804959,0.999999922601,0.000200201568133,-0.000337840465813,2.40968601055e-05,1793193524757459200
+332,5.533333333,POSE2_TO_POSE3_RETREAT,764,742,712,672.637530553,659,632.362469447,877,784,800,648.362469447,628.362469447,651,0.410071568226,-0.0153922637508,0.0797921770543,0.999999921496,0.000203120525875,-0.000339369845123,2.40539592196e-05,1793193524774125824
+333,5.550000000,POSE2_TO_POSE3_RETREAT,764,742,712,672.784579084,659,632,877.215420916,784,799.784579084,648.215420916,628.215420916,651,0.409414559111,-0.015392410613,0.0797995793101,0.999999926153,0.000203685968158,-0.00032493313702,2.4986389951e-05,1793193524790792704
+334,5.566666667,POSE2_TO_POSE3_RETREAT,764,742,712,672.208629328,659,632,877.791370672,784,799.208629328,648.791370672,628.791370672,651,0.408805774809,-0.015395628837,0.0798212167164,0.999999939294,0.000200312562894,-0.000283775555664,2.75511374268e-05,1793193524807460096
+335,5.583333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,659.373830147,632,878.373830147,784,799.373830147,649,629,650.626169853,0.408197123972,-0.0153960976144,0.0798277901927,0.99999994104,0.000203320730217,-0.000275262110095,2.84993881367e-05,1793193524824126464
+336,5.600000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,659.959986954,632,878.959986954,784,799.959986954,649,629,650.040013046,0.407588548976,-0.0153950047711,0.0798258077128,0.999999936858,0.000209953479778,-0.000285289762298,2.85295068714e-05,1793193524840792320
+337,5.616666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,660,632,878.460257365,784,800,649,629,650.539742635,0.406993933767,-0.01539158713,0.0797921525361,0.999999918091,0.000211430058061,-0.000344162392268,2.5832094957e-05,1793193524857458944
+338,5.633333333,POSE2_TO_POSE3_RETREAT,764,742,712,672.119088347,659.880911653,632.119088347,878,784,800,649,629,650.880911653,0.406422155421,-0.0153880430661,0.0797640162583,0.999999900391,0.000213606151361,-0.000391204150121,2.3442763894e-05,1793193524874125312
+339,5.650000000,POSE2_TO_POSE3_RETREAT,764,742,712,672.698662193,659.301337807,632.698662193,878,784,800,649,629,650.301337807,0.405934726899,-0.0153846687634,0.0797661929807,0.999999903854,0.000219947826483,-0.000378661206522,2.30174066784e-05,1793193524890791936
+340,5.666666667,POSE2_TO_POSE3_RETREAT,764,742,712,672.724353512,658.724353512,633,877.724353512,784.275646488,799.724353512,648.724353512,629,650.275646488,0.40547854738,-0.0153799514304,0.0797777074549,0.999999911273,0.000229240366491,-0.000352624340777,2.36397342197e-05,1793193524907458816
+341,5.683333333,POSE2_TO_POSE3_RETREAT,764,742,712,672.150173815,658.150173815,633,877.150173815,784.849826185,799.150173815,648.150173815,629,650.849826185,0.405056211475,-0.0153737795567,0.0797993349873,0.999999921797,0.000241728778814,-0.000311973163006,2.53967350007e-05,1793193524924125440
+342,5.700000000,POSE2_TO_POSE3_RETREAT,764,742,711.565702236,672,658.434297764,632.565702236,877.434297764,784.565702236,799.434297764,648.434297764,629,651,0.404652697608,-0.0153695539077,0.0798168155152,0.999999927712,0.00024981968382,-0.000285325085098,2.7489514612e-05,1793193524940792064
+343,5.716666667,POSE2_TO_POSE3_RETREAT,764,742,711.022031878,672,659,632,877.977968122,784,799.977968122,649,629,651,0.4042566919,-0.015366069639,0.0798321698717,0.999999931655,0.00025618644162,-0.000264916946641,2.96371510373e-05,1793193524957458688
+344,5.733333333,POSE2_TO_POSE3_RETREAT,764,742,711.600107959,672,659,632,877.399892041,784,799.399892041,649,629,651,0.403881932375,-0.0153638995051,0.0798309328516,0.999999927858,0.000258347392837,-0.000276822312058,3.01678022631e-05,1793193524974125312
+345,5.750000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632,877.357464858,784,799.178732429,649,629,651,0.403525239153,-0.0153619585341,0.0798317105836,0.999999925015,0.0002617028997,-0.000283785008803,3.07905165471e-05,1793193524990791936
+346,5.766666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632,878.517175482,784,799.758587741,649,629,651,0.403209091425,-0.0153605318649,0.0798370099523,0.999999924554,0.000267739306127,-0.000279655051068,3.16198448144e-05,1793193525007458816
+347,5.783333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632,878.330941718,784,800,649,629,651,0.402922244109,-0.01537018611,0.0798398025468,0.999999927815,0.000256144740357,-0.000278785536912,3.22128648734e-05,1793193525024125440
+348,5.800000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632,877.184642592,784,800,649,629,651,0.402656296865,-0.0153877443975,0.0798408070531,0.999999933294,0.000231973960261,-0.000280241704941,3.2637325669e-05,1793193525040792320
+349,5.816666667,POSE2_TO_POSE3_RETREAT,764,742,712,672.494820855,659,632,877,784,799.505179145,649,628.505179145,651,0.402422609358,-0.0153944161173,0.0798399232775,0.999999935549,0.000220668814737,-0.000281392949422,3.20079769047e-05,1793193525057458688
+350,5.833333333,POSE2_TO_POSE3_RETREAT,764,742,711.916952412,672.916952412,659,632.083047588,877,784,799,649,628.083047588,651,0.40220135488,-0.0153968321388,0.0798387075347,0.99999993647,0.000215565686,-0.00028215735033,3.1290074677e-05,1793193525074125312
+351,5.850000000,POSE2_TO_POSE3_RETREAT,764,742,711.338286586,672.338286586,659,632.661713414,877,784,799,649,628.661713414,651,0.402017334051,-0.0153863251528,0.07983767436,0.999999932959,0.000232733227541,-0.000280962514438,3.12512156673e-05,1793193525090792192
+352,5.866666667,POSE2_TO_POSE3_RETREAT,764,742,711.239093055,672,659,632.760906945,877.239093055,784,799.239093055,648.760906945,629,651,0.401851259023,-0.0153806219057,0.0798394078764,0.999999932445,0.000240695950556,-0.000275992281501,3.16763658527e-05,1793193525107458816
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764,742,711.814662595,672,659,632.185337405,877.814662595,784,799.814662595,648.185337405,629,651,0.4017104392,-0.0153816789779,0.0798450349666,0.999999936385,0.000235704699215,-0.000265708919406,3.27545177947e-05,1793193525124125440
+354,5.900000000,POSE2_TO_POSE3_RETREAT,764.398272979,742,712,672,659,632.398272979,878,784,799.601727021,648,629,651,0.401589283159,-0.0153810043054,0.0798502323746,0.999999939003,0.00023348923936,-0.000257615523969,3.33311494175e-05,1793193525140792064
+355,5.916666667,POSE2_TO_POSE3_RETREAT,764.985702345,742,712,672,659,632.985702345,878,784,799.014297655,648,629,651,0.401477466253,-0.0153795071555,0.0798552257091,0.999999940993,0.000232592117789,-0.00025056223379,3.36695882955e-05,1793193525157458688
+356,5.933333333,POSE2_TO_POSE3_RETREAT,764.435172302,742,712,672,659,633,877.435172302,784,799,648,628.435172302,651,0.401380397269,-0.0153777398611,0.0798528523567,0.999999939979,0.000232314257995,-0.000255126594082,3.13473430586e-05,1793193525174125312
+357,5.950000000,POSE2_TO_POSE3_RETREAT,764,742,712,672.143526831,659,632.856473169,877.143526831,784,799.143526831,648,628.143526831,650.856473169,0.401288862293,-0.0153766556999,0.0798498143347,0.99999993795,0.000234990924519,-0.000260807710888,2.929265072e-05,1793193525190791936
+358,5.966666667,POSE2_TO_POSE3_RETREAT,764,742,712,672.721562914,659,632.278437086,877.721562914,784,799.721562914,648,628.721562914,650.278437086,0.401212967004,-0.0153776600394,0.0798453204597,0.999999933025,0.000246565276,-0.000268992273501,2.82488817118e-05,1793193525207458816
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764,742,712,673,659,632,878,784,799.7023963,648.2976037,628.7023963,650,0.401153507288,-0.0153770264126,0.0798427710951,0.999999930108,0.000254202593323,-0.000272731577463,2.79913621256e-05,1793193525224125696
+360,6.000000000,POSE2_TO_POSE3_RETREAT,764,742,712,673,659,632,878,784,799.128209912,648.871790088,628.128209912,650,0.401109322235,-0.0153748705159,0.0798420288921,0.999999929182,0.00025818096523,-0.000272339609773,2.84645558991e-05,1793193525240792320
+361,6.016666667,POSE2_TO_POSE3_RETREAT,763.542291622,742,712,672.542291622,659,632,878,784,799,649,628,650.457708378,0.401076090198,-0.01537406388,0.0798409194455,0.999999928617,0.000259318069232,-0.000273298345797,2.87732302384e-05,1793193525257458688
+362,6.033333333,POSE2_TO_POSE3_RETREAT,763.046199065,742,712,672,659,632,878,784,799.046199065,648.953800935,628,651,0.40104658549,-0.0153736802224,0.0798397646227,0.999999928162,0.000259548914195,-0.000274711484959,2.90362490112e-05,1793193525274125312
+363,6.050000000,POSE2_TO_POSE3_RETREAT,763.625455674,742,712,672,659,632,878,784,799.625455674,648.374544326,628,651,0.401023756146,-0.0153737014554,0.0798393043968,0.999999927762,0.000258747688638,-0.000276887316273,2.93181986634e-05,1793193525290792192
+364,6.066666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632.203932826,878,784,800,648,628.203932826,651,0.401005935852,-0.0153744052389,0.0798393475118,0.999999927686,0.000258136966532,-0.000277694169615,2.96481523556e-05,1793193525307458816
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632.780983811,878,784,800,648,628.780983811,651,0.400997280185,-0.0153763578255,0.079840311546,0.999999928211,0.000257874792115,-0.000275996322766,3.00659348346e-05,1793193525324125696
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632.638084087,877.638084087,784.361915913,800,648.361915913,629,651,0.400992128632,-0.0153773192908,0.0798406700732,0.999999928938,0.000256156061913,-0.000274977304574,2.99204623144e-05,1793193525340792064
+367,6.116666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632.054777781,877.054777781,784.945222219,800,648.945222219,629,651,0.400989120607,-0.0153776744697,0.0798406582012,0.999999929784,0.000253546330639,-0.000274373537764,2.94304367471e-05,1793193525357458688
+368,6.133333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,658.473578891,632.526421109,878.052842218,784.473578891,799.473578891,649,629,651,0.400986518881,-0.0153773634397,0.0798412968123,0.999999929624,0.000254833135177,-0.000273757259024,2.94659428784e-05,1793193525374125312
+369,6.150000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,658.10694836,632.89305164,878.89305164,784,799,648.89305164,629,651,0.400984498518,-0.0153774225284,0.0798420404813,0.99999992959,0.000255871052316,-0.000272903142089,2.95771092923e-05,1793193525390791936
+370,6.166666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,658.685477351,632.314522649,878.314522649,784,799,648.314522649,629,651,0.400984855949,-0.0153794180858,0.0798429501238,0.999999930569,0.000254030796459,-0.00027100601356,2.9781725089e-05,1793193525407458560
+371,6.183333333,POSE2_TO_POSE3_RETREAT,764,742,711.737618067,672,659,632,877.737618067,784,799,648,629,651,0.400984587846,-0.0153800789564,0.0798432151758,0.999999930955,0.000253162570402,-0.000270393112259,2.97712143868e-05,1793193525424125440
+372,6.200000000,POSE2_TO_POSE3_RETREAT,764,742,711.162648752,672,659,632,877.162648752,784,799,648,629,651,0.400983574517,-0.0153791497545,0.0798427122983,0.999999930641,0.000253452367216,-0.000271310168652,2.9504413812e-05,1793193525440792064
+373,6.216666667,POSE2_TO_POSE3_RETREAT,764,742,711,672,659,632.421820453,877.421820453,784,799,648,628.578179547,650.578179547,0.400982646239,-0.0153794946213,0.0798424223576,0.999999930826,0.000252264479651,-0.000271765385407,2.92192777551e-05,1793193525457458688
+374,6.233333333,POSE2_TO_POSE3_RETREAT,764,742,711,672,659,632.990135703,877.990135703,784,799,648,628,650,0.400981742634,-0.0153803173733,0.0798422204963,0.999999931195,0.000250540127775,-0.000272034102871,2.89339297105e-05,1793193525474125312
+375,6.250000000,POSE2_TO_POSE3_RETREAT,764,742,711,672,659,632.412045019,877.412045019,784,799,648,628,650,0.400980327715,-0.0153797173654,0.0798422537618,0.999999930947,0.000251490931675,-0.000272054161765,2.90530121533e-05,1793193525490791936
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764,742,711.16599909,672,659,632.16599909,877,784,799,648.16599909,628.16599909,650,0.400979880653,-0.0153792860562,0.0798427292695,0.999999930969,0.000252074148079,-0.000271424495499,2.91393852049e-05,1793193525507458816
+377,6.283333333,POSE2_TO_POSE3_RETREAT,764,742,711.743927538,672,659,632.743927538,877,784,799,648.743927538,628.743927538,650,0.400981835343,-0.0153792733757,0.0798443022084,0.999999931658,0.000251745190173,-0.000269182526005,2.91445893685e-05,1793193525524125440
+378,6.300000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632.680727016,877.319272984,784,799,648.680727016,629,650.319272984,0.400982537769,-0.0153791624727,0.0798447300627,0.999999931878,0.000251817576973,-0.000268308700144,2.90354902557e-05,1793193525540792064
+379,6.316666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632.107436576,877.892563424,784,799,648.107436576,629,650.892563424,0.400982243877,-0.0153789734225,0.079844246874,0.999999931727,0.000252209278451,-0.000268523385697,2.88354500715e-05,1793193525557458944
+380,6.333333333,POSE2_TO_POSE3_RETREAT,764,742,712,672.480773381,659,632,878,784,799,648.480773381,628.519226619,650.519226619,0.400982334063,-0.0153794694238,0.0798443605823,0.999999931709,0.000252735260618,-0.000268080692649,2.89706285995e-05,1793193525574125312
+381,6.350000000,POSE2_TO_POSE3_RETREAT,764,742,712,672.929137372,659,632,878,784.070862628,798.929137372,649,628.070862628,650,0.400982613163,-0.0153800662631,0.0798446234471,0.999999931826,0.000252890135658,-0.000267483294831,2.91049380879e-05,1793193525590791936
+382,6.366666667,POSE2_TO_POSE3_RETREAT,764,742,712,672.350242561,659,632,878,784.649757439,798.350242561,649,628.649757439,650,0.400983611611,-0.0153802533756,0.0798449687477,0.99999993269,0.000250162430777,-0.000266863684916,2.86787686226e-05,1793193525607458816
+383,6.383333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632,877.772946655,784.772946655,798.454106691,649,629,650,0.400983485222,-0.0153800381188,0.0798449939551,0.999999932855,0.000249497536614,-0.000266886421479,2.85161178549e-05,1793193525624125440
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632,877.198099936,784.198099936,799.603800128,649,629,650,0.400981635841,-0.0153792065252,0.0798445288535,0.999999931953,0.000251992393011,-0.000267893084775,2.8757116998e-05,1793193525640792064
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632,877.377092522,784,799.622907478,648.622907478,628.622907478,650,0.400981302339,-0.0153788038452,0.0798444567327,0.999999931818,0.000252426758357,-0.00026798509151,2.87856903998e-05,1793193525657458688
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632,877.952466759,784,799.047533241,648.047533241,628.047533241,650,0.400981765911,-0.0153786266953,0.0798445912481,0.999999932088,0.000251777682101,-0.00026759615611,2.8702566697e-05,1793193525674125312
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632,878,784,799,648,628.542949695,650.542949695,0.400982359207,-0.0153795257907,0.0798450123593,0.999999931986,0.000252526753682,-0.000267226108367,2.91191275757e-05,1793193525690792192
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632.131795481,877.868204519,784,799,648,628.868204519,651,0.40098287843,-0.0153801875516,0.0798455112766,0.999999931956,0.000253247294065,-0.000266619609085,2.94547205157e-05,1793193525707459072
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632.710476612,877.289523388,784,799,648,628.289523388,651,0.400983106878,-0.0153797159444,0.0798461865041,0.999999932285,0.000253444175226,-0.000265205594371,2.93631952682e-05,1793193525724125696
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764,742,712,672.286512446,659,632.713487554,877.573024891,784,799,648,628.286512446,651,0.400983256883,-0.0153798537442,0.0798462860639,0.999999932485,0.000252862815326,-0.000265022376768,2.92127305941e-05,1793193525740792320
+391,6.516666667,POSE2_TO_POSE3_RETREAT,764,742,712,672.859899706,659,632.140100294,878.719799413,784,799,648,628.859899706,651,0.400983328346,-0.0153806017219,0.0798458092279,0.999999932556,0.000251502230098,-0.00026607151277,2.90032519382e-05,1793193525757458944
+392,6.533333333,POSE2_TO_POSE3_RETREAT,764,742,712,672.554015682,659,632,878.108031365,784.445984318,799,648,629,651,0.400982800389,-0.0153802720911,0.0798459454967,0.999999932504,0.000252076587499,-0.000265714787376,2.90781148532e-05,1793193525774125568
+393,6.550000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632,877,784.964499899,799,648,628.964499899,651,0.400982087547,-0.0153796454039,0.0798462354817,0.999999932427,0.000253135891264,-0.000264981636859,2.92203010706e-05,1793193525790791936
+394,6.566666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632,877,784.385312441,799,648,628.385312441,651,0.400981511531,-0.0153798056173,0.0798458435336,0.999999932587,0.000252040305525,-0.000265445364231,2.89854827755e-05,1793193525807458816
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_08/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_08/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c022e8e5243446d085c1afceefd7c7913e58c894
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_08/depth_02/simulation_data.csv
@@ -0,0 +1,396 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+1,0.016666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+2,0.033333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+3,0.050000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+4,0.066666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+5,0.083333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+6,0.100000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+7,0.116666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+8,0.133333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+9,0.150000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+10,0.166666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+11,0.183333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+12,0.200000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+13,0.216666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+14,0.233333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+15,0.250000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+16,0.266666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+17,0.283333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+18,0.300000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+19,0.316666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+20,0.333333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+21,0.350000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+22,0.366666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+23,0.383333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+24,0.400000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+25,0.416666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+26,0.433333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+27,0.450000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+28,0.466666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+29,0.483333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+30,0.500000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+31,0.516666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+32,0.533333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+33,0.550000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+34,0.566666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+35,0.583333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+36,0.600000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+37,0.616666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+38,0.633333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+39,0.650000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+40,0.666666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+41,0.683333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+42,0.700000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+43,0.716666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+44,0.733333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+45,0.750000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+46,0.766666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+47,0.783333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+48,0.800000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+49,0.816666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+50,0.833333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+51,0.850000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+52,0.866666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+53,0.883333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+54,0.900000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+55,0.916666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+56,0.933333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+57,0.950000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+58,0.966666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+59,0.983333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+60,1.000000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+61,1.016666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+62,1.033333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+63,1.050000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+64,1.066666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+65,1.083333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+66,1.100000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+67,1.116666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+68,1.133333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+69,1.150000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+70,1.166666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+71,1.183333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+72,1.200000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+73,1.216666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+74,1.233333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+75,1.250000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+76,1.266666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+77,1.283333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+78,1.300000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+79,1.316666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+80,1.333333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+81,1.350000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+82,1.366666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+83,1.383333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+84,1.400000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+85,1.416666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+86,1.433333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+87,1.450000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+88,1.466666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+89,1.483333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+90,1.500000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+91,1.516666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+92,1.533333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+93,1.550000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+94,1.566666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+95,1.583333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+96,1.600000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+97,1.616666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+98,1.633333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+99,1.650000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+100,1.666666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+101,1.683333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+102,1.700000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+103,1.716666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+104,1.733333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+105,1.750000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+106,1.766666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+107,1.783333333,pose1_to_pose2_press,0.575709274498,-0.00994536356016,1.07002930469,0.546280002705,-0.00127264133471,1.06969858615
+108,1.800000000,pose1_to_pose2_press,0.575709289951,-0.00994538620785,1.07002926074,0.546280018258,-0.00127266356124,1.06969854437
+109,1.816666667,pose1_to_pose2_press,0.575709313396,-0.00994542056913,1.07002919404,0.546280041854,-0.00127269728354,1.06969848098
+110,1.833333333,pose1_to_pose2_press,0.575709420068,-0.00994544591709,1.07002914239,0.546280148607,-0.00127272226768,1.06969843168
+111,1.850000000,pose1_to_pose2_press,0.575709453825,-0.00994544493383,1.07002914335,0.546280182347,-0.00127272134414,1.06969843252
+112,1.866666667,pose1_to_pose2_press,0.575709755781,-0.00994543613856,1.07002915198,0.546280484158,-0.00127271308304,1.06969844001
+113,1.883333333,pose1_to_pose2_press,0.57571088774,-0.00994541944035,1.07002914414,0.546281616801,-0.00127269398887,1.06969843425
+114,1.900000000,pose1_to_pose2_press,0.575713921945,-0.00994554099763,1.07002890435,0.546284652283,-0.00127281109583,1.06969819749
+115,1.916666667,pose1_to_pose2_press,0.575721141356,-0.00994544792475,1.07002893993,0.546291871388,-0.00127271887159,1.06969823788
+116,1.933333333,pose1_to_pose2_press,0.575735281781,-0.00994549088409,1.07002913468,0.546306012422,-0.00127275999128,1.0696984267
+117,1.950000000,pose1_to_pose2_press,0.575758205627,-0.00994545524056,1.07002915025,0.546328936369,-0.0012727241409,1.06969843867
+118,1.966666667,pose1_to_pose2_press,0.575792672366,-0.00994550956577,1.07002923882,0.546363402303,-0.00127278151315,1.06969851888
+119,1.983333333,pose1_to_pose2_press,0.57583857159,-0.00994536688391,1.07002938802,0.546409300797,-0.001272641283,1.06969866868
+120,2.000000000,pose1_to_pose2_press,0.575896772395,-0.00994538038714,1.07002937496,0.546467502804,-0.00127265023933,1.06969866778
+121,2.016666667,pose1_to_pose2_press,0.575966059062,-0.00994541776444,1.07002906937,0.546536789232,-0.00127268863736,1.06969835668
+122,2.033333333,pose1_to_pose2_press,0.576046998568,-0.00994544022394,1.07002933553,0.546617729415,-0.00127270868499,1.06969862572
+123,2.050000000,pose1_to_pose2_press,0.576140437205,-0.0099455311311,1.07002914007,0.54671116846,-0.00127279821188,1.06969843008
+124,2.066666667,pose1_to_pose2_press,0.576246597236,-0.00994549247564,1.07002916543,0.546817328025,-0.00127276105299,1.06969845763
+125,2.083333333,pose1_to_pose2_press,0.576369088881,-0.00994539583078,1.07002913613,0.54693981848,-0.00127266831689,1.06969843173
+126,2.100000000,pose1_to_pose2_press,0.576507058943,-0.0099454426851,1.07002896489,0.547077788709,-0.00127271476215,1.06969825636
+127,2.116666667,pose1_to_pose2_press,0.576660831977,-0.00994555037762,1.07002911473,0.547231563572,-0.00127281640076,1.0696984021
+128,2.133333333,pose1_to_pose2_press,0.576830332528,-0.00994547915391,1.07002899716,0.547401063465,-0.00127274715343,1.0696982912
+129,2.150000000,pose1_to_pose2_press,0.577017071721,-0.00994533469351,1.07002910502,0.547587800628,-0.00127260982326,1.06969839263
+130,2.166666667,pose1_to_pose2_press,0.577222949831,-0.00994534475617,1.07002937394,0.547793680253,-0.00127261487817,1.06969865803
+131,2.183333333,pose1_to_pose2_press,0.5774491277,-0.009945508981,1.07002909506,0.548019859391,-0.00127277431254,1.06969839177
+132,2.200000000,pose1_to_pose2_press,0.577701225102,-0.00994528723129,1.07002902767,0.548271953795,-0.0012725630219,1.06969831682
+133,2.216666667,pose1_to_pose2_press,0.57797871521,-0.00994541322173,1.07002905338,0.548549445588,-0.00127268342072,1.06969833917
+134,2.233333333,pose1_to_pose2_press,0.578284130588,-0.00994546021678,1.0700291965,0.548854860832,-0.00127273085568,1.06969848262
+135,2.250000000,pose1_to_pose2_press,0.578615485745,-0.00994545374093,1.07002938761,0.549186215597,-0.00127272583649,1.06969867037
+136,2.266666667,pose1_to_pose2_press,0.578972861117,-0.00994538628188,1.07002912774,0.549543591664,-0.00127265569737,1.06969841888
+137,2.283333333,pose1_to_pose2_press,0.579354198992,-0.00994546719099,1.07002901537,0.549924930975,-0.00127273160192,1.06969830986
+138,2.300000000,pose1_to_pose2_press,0.579757854896,-0.00994542373337,1.07002907728,0.550328585533,-0.00127269248165,1.06969837777
+139,2.316666667,pose1_to_pose2_press,0.580183389253,-0.00994553738885,1.07002907678,0.55075412131,-0.00127280191434,1.06969836159
+140,2.333333333,pose1_to_pose2_press,0.580629217708,-0.00994543578093,1.07002925144,0.551199947935,-0.00127270655463,1.06969853524
+141,2.350000000,pose1_to_pose2_press,0.581097092411,-0.00994525518691,1.07002903963,0.551667820003,-0.00127253462488,1.06969833061
+142,2.366666667,pose1_to_pose2_press,0.581585358116,-0.00994550877147,1.07002911177,0.552156090888,-0.00127277052528,1.06969840554
+143,2.383333333,pose1_to_pose2_press,0.582094710002,-0.00994558224436,1.07002913564,0.552665442793,-0.00127284418243,1.06969842282
+144,2.400000000,pose1_to_pose2_press,0.582635096407,-0.00994543323937,1.07002891474,0.553205827017,-0.001272702459,1.069698205
+145,2.416666667,pose1_to_pose2_press,0.583206012607,-0.00994539537238,1.07002901299,0.553776742385,-0.0012726673118,1.06969830599
+146,2.433333333,pose1_to_pose2_press,0.583810093369,-0.0099455400511,1.07002912484,0.5543808242,-0.00127280843745,1.06969841718
+147,2.450000000,pose1_to_pose2_press,0.584441452917,-0.00994547289426,1.07002915194,0.555012182824,-0.00127274462578,1.06969843874
+148,2.466666667,pose1_to_pose2_press,0.585097023344,-0.0099456263654,1.07002902521,0.555667755319,-0.00127289115221,1.06969831008
+149,2.483333333,pose1_to_pose2_press,0.585762741205,-0.00994548675545,1.07002892142,0.556333471912,-0.00127275555682,1.06969821388
+150,2.500000000,pose1_to_pose2_press,0.586437489239,-0.00994542255077,1.0700291538,0.557008218176,-0.00127269749109,1.06969844279
+151,2.516666667,pose1_to_pose2_press,0.587124065259,-0.00994542780961,1.07002914004,0.557694794294,-0.00127270231902,1.06969843154
+152,2.533333333,pose1_to_pose2_press,0.587826442998,-0.00994554397118,1.07002918577,0.558397174055,-0.00127281195042,1.06969846853
+153,2.550000000,pose1_to_pose2_press,0.588549187025,-0.0099453766991,1.07002924182,0.559119916634,-0.00127264913381,1.06969853671
+154,2.566666667,pose1_to_pose2_press,0.589290663705,-0.00994533721439,1.07002923875,0.559861392626,-0.00127261202727,1.0696985324
+155,2.583333333,pose1_to_pose2_press,0.590048978461,-0.00994539600194,1.07002918438,0.560619706668,-0.00127267381517,1.06969846283
+156,2.600000000,pose1_to_pose2_press,0.590829242534,-0.00994539291683,1.0700290253,0.561399972992,-0.00127266252816,1.06969831863
+157,2.616666667,pose1_to_pose2_press,0.591626366699,-0.00994548709243,1.07002924239,0.562197097582,-0.00127275531777,1.06969853422
+158,2.633333333,pose1_to_pose2_press,0.592430377945,-0.00994542761259,1.0700290099,0.563001107529,-0.00127270025302,1.06969830161
+159,2.650000000,pose1_to_pose2_press,0.593242577743,-0.00994541086982,1.07002892188,0.563813308385,-0.00127267984381,1.06969821557
+160,2.666666667,pose1_to_pose2_press,0.594063699233,-0.0099454742425,1.07002924098,0.564634430822,-0.00127274012213,1.06969853159
+161,2.683333333,pose1_to_pose2_press,0.594888920867,-0.00994541406183,1.07002903644,0.565459652652,-0.001272679091,1.06969833193
+162,2.700000000,pose1_to_pose2_press,0.59572104749,-0.00994545514588,1.07002937756,0.566291779089,-0.0012727212401,1.06969866176
+163,2.716666667,pose1_to_pose2_press,0.596555718331,-0.00994527777773,1.07002913867,0.567126445792,-0.00127255775562,1.06969842708
+164,2.733333333,pose1_to_pose2_press,0.59738668489,-0.00994527644326,1.0700289982,0.567957412216,-0.00127255661751,1.06969829351
+165,2.750000000,pose1_to_pose2_press,0.598206306014,-0.00994543213334,1.07002902379,0.568777036237,-0.00127270236685,1.06969832206
+166,2.766666667,pose1_to_pose2_press,0.599015753735,-0.00994522284805,1.07002934078,0.569586483312,-0.00127249545869,1.06969863419
+167,2.783333333,pose1_to_pose2_press,0.599820236218,-0.00994547946262,1.07002901729,0.570390966517,-0.00127274973222,1.06969830788
+168,2.800000000,pose1_to_pose2_press,0.600625432,-0.0099455794597,1.07002909345,0.571196163966,-0.00127284450747,1.0696983727
+169,2.816666667,pose1_to_pose2_press,0.601435050542,-0.00994545663765,1.07002934966,0.572005782923,-0.00127271977769,1.06969864214
+170,2.833333333,pose1_to_pose2_press,0.602254468157,-0.0099454541798,1.07002886326,0.572825198544,-0.00127272372551,1.06969816533
+171,2.850000000,pose1_to_pose2_press,0.603071722587,-0.00994543678531,1.0700292931,0.573642453883,-0.00127270400942,1.06969857515
+172,2.866666667,pose1_to_pose2_press,0.603880133082,-0.00994557751215,1.07002910081,0.574450865012,-0.00127284209974,1.0696983957
+173,2.883333333,pose1_to_pose2_press,0.604673029694,-0.00994542402043,1.07002904438,0.575243757914,-0.00127270142496,1.06969833335
+174,2.900000000,pose1_to_pose2_press,0.605447307279,-0.00994563189041,1.0700290785,0.576018040322,-0.00127289264289,1.06969837502
+175,2.916666667,pose1_to_pose2_press,0.606194495983,-0.00994543951766,1.07002886591,0.576765226469,-0.0012727088346,1.06969816549
+176,2.933333333,pose1_to_pose2_press,0.606917685746,-0.0099455416797,1.07002892277,0.577488416269,-0.00127281126251,1.06969821218
+177,2.950000000,pose1_to_pose2_press,0.607621691871,-0.00994548425889,1.07002902815,0.578192422488,-0.00127275338608,1.06969832121
+178,2.966666667,pose1_to_pose2_press,0.608313910831,-0.00994540759968,1.07002928339,0.578884639786,-0.00127268259166,1.06969857067
+179,2.983333333,pose1_to_pose2_press,0.608994815527,-0.00994550779163,1.07002935614,0.57956554618,-0.00127277687747,1.0696986473
+180,3.000000000,pose1_to_pose2_press,0.609657821437,-0.00994540177781,1.07002919306,0.58022855153,-0.00127267303056,1.06969847727
+181,3.016666667,pose1_to_pose2_press,0.610298087759,-0.00994542217351,1.0700293937,0.58086881727,-0.00127269539275,1.06969867827
+182,3.033333333,pose1_to_pose2_press,0.610908547246,-0.00994534203218,1.07002930883,0.581479277975,-0.00127261119215,1.06969859146
+183,3.050000000,pose1_to_pose2_press,0.611489458809,-0.00994538931549,1.07002944107,0.582060188271,-0.00127266305635,1.06969871647
+184,3.066666667,pose1_to_pose2_press,0.612037392612,-0.00994538177743,1.07002911968,0.582608121751,-0.00127265589198,1.06969841403
+185,3.083333333,pose1_to_pose2_press,0.61256342733,-0.00994545725289,1.07002925686,0.583134157422,-0.00127272825416,1.06969854853
+186,3.100000000,pose1_to_pose2_press,0.613067909944,-0.00994531282211,1.07002939804,0.583638637959,-0.00127259106478,1.06969868314
+187,3.116666667,pose1_to_pose2_press,0.613538831973,-0.00994544822614,1.07002933568,0.584109561933,-0.00127271999997,1.06969861354
+188,3.133333333,pose1_to_pose2_press,0.613980729957,-0.00994553720115,1.07002921474,0.58455146079,-0.00127280534547,1.06969849485
+189,3.150000000,pose1_to_pose2_press,0.614400332451,-0.00994539540961,1.07002936064,0.584971062214,-0.00127266647606,1.06969863933
+190,3.166666667,pose1_to_pose2_press,0.614803374712,-0.00994532428985,1.07002939362,0.58537410328,-0.0012725982393,1.06969868002
+191,3.183333333,pose1_to_pose2_press,0.61519211842,-0.00994542670954,1.07002924327,0.585762847732,-0.00127269714081,1.06969853413
+192,3.200000000,pose1_to_pose2_press,0.61557485181,-0.0099454970834,1.07002899548,0.5861455817,-0.00127276466301,1.0696982907
+193,3.216666667,pose1_to_pose2_press,0.615948780947,-0.0099454303376,1.07002894228,0.58651950914,-0.0012727027965,1.06969823809
+194,3.233333333,pose1_to_pose2_press,0.616300491489,-0.0099454517908,1.07002910393,0.586871219661,-0.00127272377444,1.06969839108
+195,3.250000000,pose1_to_pose2_press,0.616625955419,-0.00994534957447,1.07002925282,0.587196681858,-0.00127262702358,1.0696985341
+196,3.266666667,pose1_to_pose2_press,0.616917994031,-0.00994544716937,1.07002909896,0.587488723116,-0.00127271450992,1.06969839055
+197,3.283333333,pose1_to_pose2_press,0.617178629657,-0.0099454780587,1.07002892963,0.587749358226,-0.001272746306,1.06969822308
+198,3.300000000,pose1_to_pose2_press,0.617408589794,-0.0099454664176,1.07002916683,0.587979317945,-0.00127273565314,1.06969845725
+199,3.316666667,pose1_to_pose2_press,0.617616896303,-0.0099454300223,1.07002926843,0.588187623584,-0.00127270178914,1.06969855764
+200,3.333333333,pose1_to_pose2_press,0.617806369456,-0.00994539226781,1.07002912903,0.588377095438,-0.00127266778487,1.06969842182
+201,3.350000000,pose1_to_pose2_press,0.617980765095,-0.00994543427648,1.07002911558,0.588551492318,-0.00127270487921,1.06969841357
+202,3.366666667,pose1_to_pose2_press,0.618141076899,-0.00994543338954,1.07002910173,0.588711803978,-0.00127270427512,1.06969839426
+203,3.383333333,pose1_to_pose2_press,0.618285476146,-0.00994546465133,1.07002910222,0.588856202854,-0.00127273657002,1.06969839092
+204,3.400000000,pose1_to_pose2_press,0.618413699914,-0.0099455106143,1.07002920322,0.588984427244,-0.00127278001936,1.06969849388
+205,3.416666667,pose1_to_pose2_press,0.618525628969,-0.00994547779004,1.07002899782,0.589096355884,-0.00127274835415,1.06969828752
+206,3.433333333,pose1_to_pose2_press,0.618620404672,-0.00994549556316,1.07002894189,0.589191132119,-0.00127276398235,1.06969823324
+207,3.450000000,pose1_to_pose2_press,0.618700479422,-0.00994547386764,1.07002915245,0.58927120786,-0.00127273878869,1.06969844077
+208,3.466666667,pose1_to_pose2_press,0.618767728687,-0.00994562568597,1.07002915999,0.58933845695,-0.00127289027456,1.0696984458
+209,3.483333333,pose1_to_pose2_press,0.618824961507,-0.00994553717367,1.07002923229,0.589395688379,-0.00127280587139,1.06969852552
+210,3.500000000,pose1_to_pose2_press,0.618872357916,-0.00994545171606,1.07002905025,0.589443084197,-0.00127272224453,1.06969834565
+211,3.516666667,pose1_to_pose2_press,0.6189119202,-0.00994540446947,1.07002900844,0.589482645278,-0.00127267949643,1.06969830203
+212,3.533333333,pose1_to_pose2_press,0.618944014969,-0.00994540159928,1.07002900815,0.589514739861,-0.00127267732984,1.06969830222
+213,3.550000000,pose1_to_pose2_press,0.61896843534,-0.00994540177043,1.07002923801,0.589539160863,-0.00127267564559,1.06969852309
+214,3.566666667,pose1_to_pose2_press,0.618986478417,-0.00994537419795,1.07002942064,0.589557204485,-0.00127264641723,1.06969870087
+215,3.583333333,pose1_to_pose2_press,0.618998890962,-0.00994533343254,1.07002937834,0.589569617134,-0.0012726051657,1.06969866421
+216,3.600000000,pose1_to_pose2_press,0.619007477892,-0.00994534894724,1.07002914783,0.58957820323,-0.00127262362959,1.06969843248
+217,3.616666667,pose1_to_pose2_press,0.619012885935,-0.00994537707377,1.07002904484,0.589583611445,-0.00127265122937,1.06969832968
+218,3.633333333,pose1_to_pose2_press,0.619016857818,-0.00994542707523,1.07002903664,0.589587584567,-0.00127269703251,1.06969832317
+219,3.650000000,pose1_to_pose2_press,0.619019715681,-0.00994546305245,1.07002903074,0.589590443322,-0.00127272998895,1.06969831848
+220,3.666666667,pose1_to_pose2_press,0.619021548252,-0.00994547528005,1.07002902559,0.589592275815,-0.00127274245827,1.06969831442
+221,3.683333333,pose1_to_pose2_press,0.61902291122,-0.00994548324212,1.07002902163,0.589593638658,-0.00127275082763,1.06969831128
+222,3.700000000,pose1_to_pose2_press,0.619024070773,-0.00994549001589,1.07002901825,0.589594798103,-0.00127275794791,1.06969830862
+223,3.716666667,pose1_to_pose2_press,0.619024944852,-0.00994549512201,1.07002901571,0.589595672101,-0.00127276331523,1.06969830661
+224,3.733333333,pose1_to_pose2_press,0.619025537858,-0.00994549858618,1.07002901398,0.589596265052,-0.00127276695661,1.06969830524
+225,3.750000000,pose1_to_pose2_press,0.619026013661,-0.00994548734408,1.0700290473,0.589596740675,-0.00127275631521,1.06969833868
+226,3.766666667,pose1_to_pose2_press,0.619026388447,-0.00994547757327,1.07002907581,0.589597115308,-0.00127274704749,1.06969836726
+227,3.783333333,pose1_to_pose2_press,0.61902671855,-0.00994546896733,1.07002910092,0.589597445278,-0.00127273888467,1.06969839244
+228,3.800000000,pose1_to_pose2_press,0.619027253018,-0.00994545503354,1.07002914158,0.589597979529,-0.00127272566832,1.06969843321
+229,3.816666667,pose1_to_pose2_press,0.619028045054,-0.00994543438482,1.07002920184,0.589598771244,-0.00127270608281,1.06969849363
+230,3.833333333,pose1_to_pose2_press,0.619028768255,-0.00994541920692,1.07002924636,0.589599494189,-0.00127269174332,1.06969853839
+231,3.850000000,pose1_to_pose2_press,0.619029228466,-0.00994545831326,1.07002913544,0.58959995473,-0.00127272962721,1.06969842896
+232,3.866666667,pose1_to_pose2_press,0.619029236986,-0.0099454590372,1.07002913338,0.589599963256,-0.00127273032853,1.06969842693
+233,3.883333333,pose1_to_pose2_press,0.619029456783,-0.00994547771449,1.07002908041,0.589600183211,-0.00127274842197,1.06969837467
+234,3.900000000,pose1_to_pose2_press,0.619029665955,-0.00994549548881,1.07002902999,0.589600392533,-0.00127276564068,1.06969832492
+235,3.916666667,pose1_to_pose2_press,0.619029758707,-0.0099455033704,1.07002900764,0.589600485352,-0.00127277327589,1.06969830287
+236,3.933333333,pose1_to_pose2_press,0.619030198313,-0.00994554072583,1.07002890169,0.589600925273,-0.00127280946361,1.06969819833
+237,3.950000000,pose1_to_pose2_press,0.619030672963,-0.00994552224677,1.07002921692,0.589601400196,-0.00127279032917,1.0696985067
+238,3.966666667,pose1_to_pose2_press,0.619031014854,-0.00994543752848,1.07002940964,0.58960174192,-0.00127270638124,1.06969869519
+239,3.983333333,pose1_to_pose2_press,0.61903109406,-0.0099453384246,1.07002920119,0.589601820571,-0.00127260903473,1.06969849077
+240,4.000000000,pose1_to_pose2_press,0.619031095463,-0.00994533666924,1.0700291975,0.589601821965,-0.0012726073105,1.06969848715
+241,4.016666667,pose1_to_pose2_press,0.619031129423,-0.00994535681081,1.07002917835,0.589601856207,-0.00127262640169,1.0696984706
+242,4.033333333,pose1_to_pose2_press,0.619031129955,-0.00994535925428,1.07002918044,0.58960185676,-0.00127262876743,1.06969847276
+243,4.050000000,pose1_to_pose2_press,0.619031146781,-0.00994543660278,1.07002924649,0.589601874285,-0.0012727036562,1.06969854104
+244,4.066666667,pose2_hold,0.619031146781,-0.00994543660278,1.07002924649,0.589601874289,-0.00127270365701,1.06969854104
+245,4.083333333,pose2_hold,0.619031146781,-0.00994543660278,1.07002924649,0.58960187429,-0.00127270365685,1.06969854104
+246,4.100000000,pose2_hold,0.619031146781,-0.00994543660278,1.07002924649,0.58960187429,-0.00127270365684,1.06969854104
+247,4.116666667,pose2_hold,0.619031146781,-0.00994543660278,1.07002924649,0.58960187429,-0.00127270365672,1.06969854104
+248,4.133333333,pose2_hold,0.619031146781,-0.00994543660278,1.07002924649,0.58960187429,-0.00127270365688,1.06969854104
+249,4.150000000,pose2_hold,0.619031146781,-0.00994543660278,1.07002924649,0.58960187429,-0.00127270365677,1.06969854104
+250,4.166666667,pose2_hold,0.619031146781,-0.00994543660278,1.07002924649,0.58960187429,-0.00127270365681,1.06969854104
+251,4.183333333,pose2_hold,0.619031146781,-0.00994543660278,1.07002924649,0.589601874291,-0.00127270365683,1.06969854104
+252,4.200000000,pose2_hold,0.619031146781,-0.00994543660278,1.07002924649,0.589601874291,-0.00127270365686,1.06969854104
+253,4.216666667,pose2_hold,0.619031146781,-0.00994543660278,1.07002924649,0.589601874291,-0.00127270365689,1.06969854104
+254,4.233333333,pose2_hold,0.619031146781,-0.00994543660278,1.07002924649,0.589601874291,-0.00127270365691,1.06969854104
+255,4.250000000,pose2_hold,0.619031146781,-0.00994543660278,1.07002924649,0.589601874291,-0.00127270365692,1.06969854104
+256,4.266666667,pose2_hold,0.619031146781,-0.00994543660278,1.07002924649,0.589601874292,-0.00127270365696,1.06969854104
+257,4.283333333,pose2_hold,0.619031146781,-0.00994543660278,1.07002924649,0.589601874292,-0.00127270365699,1.06969854104
+258,4.300000000,pose2_hold,0.619031146781,-0.00994543660278,1.07002924649,0.589601874292,-0.00127270365697,1.06969854104
+259,4.316666667,pose2_hold,0.619031146781,-0.00994543660278,1.07002924649,0.589601874292,-0.00127270365712,1.06969854104
+260,4.333333333,pose2_hold,0.619031146781,-0.00994543660278,1.07002924649,0.589601874292,-0.00127270365703,1.06969854104
+261,4.350000000,pose2_hold,0.619031146781,-0.00994543660278,1.07002924649,0.589601874292,-0.00127270365704,1.06969854104
+262,4.366666667,pose2_to_pose3_retreat,0.619031146781,-0.00994543660278,1.07002924649,0.589601874293,-0.00127270365725,1.06969854104
+263,4.383333333,pose2_to_pose3_retreat,0.619031013065,-0.00994525939631,1.07002916257,0.589601737758,-0.00127253605946,1.06969845599
+264,4.400000000,pose2_to_pose3_retreat,0.619030761155,-0.009945350334,1.07002924297,0.589601485814,-0.00127262709852,1.06969853673
+265,4.416666667,pose2_to_pose3_retreat,0.61903033983,-0.00994541301084,1.07002929871,0.589601065589,-0.00127268611182,1.06969859077
+266,4.433333333,pose2_to_pose3_retreat,0.619029942496,-0.00994546622089,1.07002934607,0.589600669368,-0.00127273561412,1.06969863639
+267,4.450000000,pose2_to_pose3_retreat,0.619029330658,-0.00994549636167,1.07002936657,0.589600058263,-0.00127276336038,1.06969865455
+268,4.466666667,pose2_to_pose3_retreat,0.619026417118,-0.00994536247532,1.07002918131,0.589597142788,-0.00127263629159,1.06969846263
+269,4.483333333,pose2_to_pose3_retreat,0.619019294714,-0.00994539498435,1.07002920249,0.589590021606,-0.0012726644758,1.06969848805
+270,4.500000000,pose2_to_pose3_retreat,0.619005348633,-0.00994541229108,1.0700291871,0.589576076021,-0.00127268010756,1.06969847648
+271,4.516666667,pose2_to_pose3_retreat,0.618981675407,-0.00994540253325,1.0700292594,0.589552400311,-0.00127267865694,1.06969855031
+272,4.533333333,pose2_to_pose3_retreat,0.618946901336,-0.00994553963821,1.07002911861,0.589517630056,-0.00127280315403,1.06969840622
+273,4.550000000,pose2_to_pose3_retreat,0.618899727152,-0.00994544572725,1.07002913774,0.58947045446,-0.00127271382707,1.06969843307
+274,4.566666667,pose2_to_pose3_retreat,0.618840892727,-0.00994543570215,1.07002905963,0.589411619684,-0.00127270529234,1.06969835448
+275,4.583333333,pose2_to_pose3_retreat,0.618770110271,-0.00994543197868,1.07002923629,0.589340837455,-0.00127270146801,1.06969852329
+276,4.600000000,pose2_to_pose3_retreat,0.618687605256,-0.00994536392083,1.0700291625,0.589258331896,-0.00127263542746,1.06969845052
+277,4.616666667,pose2_to_pose3_retreat,0.618592206829,-0.00994550544582,1.07002890676,0.589162934337,-0.00127277372609,1.06969820093
+278,4.633333333,pose2_to_pose3_retreat,0.618482235175,-0.00994539146964,1.07002887599,0.589052961831,-0.00127266278732,1.0696981732
+279,4.650000000,pose2_to_pose3_retreat,0.618356807741,-0.00994547241741,1.07002888027,0.588927535357,-0.00127274097139,1.06969817405
+280,4.666666667,pose2_to_pose3_retreat,0.618211218635,-0.00994537242627,1.07002911535,0.588781944668,-0.00127264709455,1.06969840186
+281,4.683333333,pose2_to_pose3_retreat,0.618045703236,-0.0099453963049,1.07002910972,0.588616430337,-0.00127266746279,1.06969840667
+282,4.700000000,pose2_to_pose3_retreat,0.617858666679,-0.00994556547153,1.07002938157,0.588429396366,-0.00127282884431,1.06969866151
+283,4.716666667,pose2_to_pose3_retreat,0.617650637723,-0.00994539931395,1.07002921609,0.58822136602,-0.00127266769556,1.06969850148
+284,4.733333333,pose2_to_pose3_retreat,0.617420421221,-0.00994538186654,1.0700292783,0.587991147518,-0.00127265776549,1.06969855954
+285,4.750000000,pose2_to_pose3_retreat,0.617171243675,-0.00994544842382,1.07002909792,0.587741971273,-0.00127272037117,1.06969838348
+286,4.766666667,pose2_to_pose3_retreat,0.616901890792,-0.00994544596222,1.07002912317,0.587472618673,-0.00127271756445,1.06969841019
+287,4.783333333,pose2_to_pose3_retreat,0.616604934306,-0.00994533145104,1.07002908775,0.587175661117,-0.00127260749581,1.06969837311
+288,4.800000000,pose2_to_pose3_retreat,0.616280781811,-0.0099453491421,1.07002912027,0.586851508735,-0.00127262555113,1.06969840741
+289,4.816666667,pose2_to_pose3_retreat,0.615927051314,-0.0099455445461,1.07002916848,0.586497780763,-0.00127281329494,1.06969845312
+290,4.833333333,pose2_to_pose3_retreat,0.615540815118,-0.00994547391472,1.07002911271,0.586111543561,-0.00127274712452,1.06969839402
+291,4.850000000,pose2_to_pose3_retreat,0.615122709096,-0.00994544564666,1.07002939367,0.585693437431,-0.00127272030396,1.0696986697
+292,4.866666667,pose2_to_pose3_retreat,0.614677919924,-0.00994545451994,1.07002919606,0.585248648854,-0.00127272762734,1.06969848238
+293,4.883333333,pose2_to_pose3_retreat,0.614210047795,-0.0099453872274,1.07002899339,0.584780776477,-0.00127266169844,1.06969828945
+294,4.900000000,pose2_to_pose3_retreat,0.613722723944,-0.00994534908428,1.07002906177,0.584293452145,-0.0012726259147,1.06969835991
+295,4.916666667,pose2_to_pose3_retreat,0.613220353626,-0.00994537702696,1.07002920378,0.58379108258,-0.00127265188654,1.06969849527
+296,4.933333333,pose2_to_pose3_retreat,0.612703496999,-0.00994539293902,1.07002918266,0.583274226686,-0.00127266524363,1.06969847705
+297,4.950000000,pose2_to_pose3_retreat,0.612167870428,-0.00994542717226,1.0700291028,0.582738601349,-0.00127269510418,1.06969840232
+298,4.966666667,pose2_to_pose3_retreat,0.611610166918,-0.00994544240908,1.07002910971,0.582180898226,-0.00127270913055,1.06969840636
+299,4.983333333,pose2_to_pose3_retreat,0.611018170496,-0.0099453378732,1.0700290755,0.581588899665,-0.00127261188998,1.06969837104
+300,5.000000000,pose2_to_pose3_retreat,0.610390958835,-0.00994526681193,1.07002906237,0.580961687345,-0.0012725430097,1.06969835983
+301,5.016666667,pose2_to_pose3_retreat,0.609724752252,-0.00994536874994,1.0700291471,0.58029548209,-0.00127264038687,1.0696984467
+302,5.033333333,pose2_to_pose3_retreat,0.609024912729,-0.00994542264079,1.07002904553,0.579595642839,-0.00127269355013,1.06969833901
+303,5.050000000,pose2_to_pose3_retreat,0.608292783181,-0.0099453855107,1.07002922647,0.578863512721,-0.00127265850623,1.0696985158
+304,5.066666667,pose2_to_pose3_retreat,0.607529773918,-0.00994541340458,1.07002933752,0.578100503963,-0.00127268467054,1.06969862706
+305,5.083333333,pose2_to_pose3_retreat,0.606742579493,-0.00994544595911,1.07002927601,0.577313309277,-0.00127271818306,1.06969856397
+306,5.100000000,pose2_to_pose3_retreat,0.605950647,-0.00994544162187,1.07002915243,0.576521377134,-0.00127271247714,1.06969844503
+307,5.116666667,pose2_to_pose3_retreat,0.605154885365,-0.00994547513629,1.07002916544,0.575725616886,-0.0012727413075,1.06969845745
+308,5.133333333,pose2_to_pose3_retreat,0.60435352284,-0.00994540136407,1.07002927159,0.574924253967,-0.00127266887969,1.06969856336
+309,5.150000000,pose2_to_pose3_retreat,0.603550534919,-0.00994538141595,1.07002905343,0.574121265782,-0.00127264951161,1.06969835329
+310,5.166666667,pose2_to_pose3_retreat,0.602740211798,-0.00994545594754,1.07002920075,0.573310942923,-0.00127272351172,1.06969849069
+311,5.183333333,pose2_to_pose3_retreat,0.60189958374,-0.00994550467514,1.07002955917,0.572470315778,-0.00127276960443,1.06969883632
+312,5.200000000,pose2_to_pose3_retreat,0.601033135203,-0.0099454542416,1.07002942107,0.571603866675,-0.00127272099217,1.06969870053
+313,5.216666667,pose2_to_pose3_retreat,0.60014541213,-0.00994547677194,1.07002904359,0.570716143184,-0.00127274445505,1.06969833575
+314,5.233333333,pose2_to_pose3_retreat,0.599249335252,-0.0099455086378,1.07002910089,0.569820065681,-0.00127277842443,1.06969839349
+315,5.250000000,pose2_to_pose3_retreat,0.598351228861,-0.00994550366536,1.07002934825,0.56892195937,-0.00127277343699,1.06969863403
+316,5.266666667,pose2_to_pose3_retreat,0.597479415913,-0.00994547972177,1.0700291424,0.568050147161,-0.00127274667581,1.06969843628
+317,5.283333333,pose2_to_pose3_retreat,0.596633626332,-0.0099454255619,1.07002899819,0.567204356523,-0.00127269598993,1.06969829496
+318,5.300000000,pose2_to_pose3_retreat,0.595795182895,-0.00994543459273,1.07002916945,0.566365912234,-0.00127270824747,1.06969845732
+319,5.316666667,pose2_to_pose3_retreat,0.594957165211,-0.00994535933397,1.07002930354,0.565527894906,-0.00127263171128,1.06969859325
+320,5.333333333,pose2_to_pose3_retreat,0.594113798893,-0.00994536674559,1.07002914711,0.564684529268,-0.00127263681852,1.06969843667
+321,5.350000000,pose2_to_pose3_retreat,0.593253312189,-0.00994540048909,1.07002921745,0.563824041105,-0.0012726758044,1.06969849933
+322,5.366666667,pose2_to_pose3_retreat,0.592378919779,-0.00994539424194,1.07002915711,0.562949650085,-0.00127266468152,1.06969844309
+323,5.383333333,pose2_to_pose3_retreat,0.591514544374,-0.00994541433873,1.07002904549,0.562085274919,-0.00127268385265,1.06969833446
+324,5.400000000,pose2_to_pose3_retreat,0.590666524876,-0.00994541732782,1.0700293392,0.561237255624,-0.00127268634552,1.06969862302
+325,5.416666667,pose2_to_pose3_retreat,0.589848664531,-0.00994547297509,1.07002935897,0.560419394838,-0.0012727434897,1.06969864276
+326,5.433333333,pose2_to_pose3_retreat,0.589056924606,-0.00994550762159,1.07002927252,0.559627655278,-0.00127277680389,1.06969855878
+327,5.450000000,pose2_to_pose3_retreat,0.58829062948,-0.00994545247751,1.07002921318,0.558861358518,-0.00127272709191,1.0696985023
+328,5.466666667,pose2_to_pose3_retreat,0.587541568635,-0.00994539760513,1.07002917034,0.558112296871,-0.00127267514125,1.06969845421
+329,5.483333333,pose2_to_pose3_retreat,0.586805977336,-0.00994546738533,1.07002908173,0.55737670729,-0.00127273906226,1.06969836631
+330,5.500000000,pose2_to_pose3_retreat,0.586084312602,-0.00994552936916,1.07002898369,0.55665504382,-0.0012727966447,1.06969827116
+331,5.516666667,pose2_to_pose3_retreat,0.585379581803,-0.00994545989636,1.07002913135,0.555950311237,-0.00127273340808,1.06969841404
+332,5.533333333,pose2_to_pose3_retreat,0.584698955066,-0.00994534575963,1.07002915154,0.555269684507,-0.00127261905066,1.06969843941
+333,5.550000000,pose2_to_pose3_retreat,0.584045830887,-0.00994536369292,1.07002937039,0.554616559515,-0.00127263993599,1.0696986536
+334,5.566666667,pose2_to_pose3_retreat,0.583419608514,-0.00994550445716,1.07002922455,0.553990339194,-0.00127277355035,1.06969851349
+335,5.583333333,pose2_to_pose3_retreat,0.582811415365,-0.00994551394901,1.07002915192,0.553382146574,-0.00127278127105,1.06969843969
+336,5.600000000,pose2_to_pose3_retreat,0.582220300043,-0.00994550207918,1.07002922366,0.552791030393,-0.0012727723307,1.06969851119
+337,5.616666667,pose2_to_pose3_retreat,0.581653216788,-0.00994549064688,1.07002923836,0.552223948057,-0.00127275781351,1.06969852552
+338,5.633333333,pose2_to_pose3_retreat,0.581116261852,-0.00994530114695,1.07002900781,0.551686990401,-0.0012725772862,1.06969830158
+339,5.650000000,pose2_to_pose3_retreat,0.580616343221,-0.00994531939546,1.07002934731,0.55118707072,-0.00127259960349,1.06969862726
+340,5.666666667,pose2_to_pose3_retreat,0.580154127244,-0.00994544350947,1.07002935955,0.550724857224,-0.00127271534537,1.06969863793
+341,5.683333333,pose2_to_pose3_retreat,0.579726782381,-0.00994551906093,1.07002915446,0.550297512901,-0.00127278905606,1.06969843306
+342,5.700000000,pose2_to_pose3_retreat,0.579321657743,-0.00994549792205,1.07002902176,0.549892387967,-0.00127276851678,1.06969831094
+343,5.716666667,pose2_to_pose3_retreat,0.578936400555,-0.00994552860256,1.07002904059,0.549507132115,-0.00127279469248,1.06969832916
+344,5.733333333,pose2_to_pose3_retreat,0.578572230499,-0.00994535996494,1.07002913891,0.549142958898,-0.0012726367604,1.06969842822
+345,5.750000000,pose2_to_pose3_retreat,0.578231121872,-0.00994531799487,1.07002914028,0.548801850289,-0.00127259471339,1.06969843001
+346,5.766666667,pose2_to_pose3_retreat,0.577915835015,-0.00994532309065,1.07002918024,0.548486563235,-0.00127260053849,1.06969846841
+347,5.783333333,pose2_to_pose3_retreat,0.577628572321,-0.00994553368685,1.0700292601,0.548199303459,-0.00127280127015,1.06969854738
+348,5.800000000,pose2_to_pose3_retreat,0.5773679257,-0.00994544471243,1.07002913507,0.547938656217,-0.00127271438477,1.06969842291
+349,5.816666667,pose2_to_pose3_retreat,0.577133611515,-0.00994542610825,1.07002897273,0.547704342066,-0.00127269526807,1.06969827086
+350,5.833333333,pose2_to_pose3_retreat,0.576923270302,-0.00994540834224,1.07002891472,0.547494000011,-0.00127268051282,1.0696982088
+351,5.850000000,pose2_to_pose3_retreat,0.576737496647,-0.00994524226825,1.07002913072,0.547308225498,-0.0012725174353,1.06969842261
+352,5.866666667,pose2_to_pose3_retreat,0.57657422861,-0.00994555554098,1.07002915959,0.547144962161,-0.00127281497799,1.06969844582
+353,5.883333333,pose2_to_pose3_retreat,0.576432442796,-0.00994556653946,1.07002903866,0.547003173258,-0.00127283644981,1.06969832513
+354,5.900000000,pose2_to_pose3_retreat,0.576307843764,-0.0099454904667,1.07002912949,0.546878574252,-0.00127276013984,1.06969841987
+355,5.916666667,pose2_to_pose3_retreat,0.576198072392,-0.00994552682581,1.07002915101,0.546768803798,-0.00127279343885,1.06969843995
+356,5.933333333,pose2_to_pose3_retreat,0.576101131843,-0.00994537929299,1.07002911013,0.546671861514,-0.00127265150974,1.06969840716
+357,5.950000000,pose2_to_pose3_retreat,0.57601646135,-0.0099453384512,1.07002929334,0.546587189977,-0.00127261436701,1.06969858624
+358,5.966666667,pose2_to_pose3_retreat,0.575945192608,-0.00994532547759,1.07002905074,0.546515920321,-0.00127260454666,1.06969834218
+359,5.983333333,pose2_to_pose3_retreat,0.575886532387,-0.00994547488877,1.07002898283,0.546457263157,-0.00127274360646,1.06969827364
+360,6.000000000,pose2_to_pose3_retreat,0.575840109505,-0.00994546714223,1.07002910781,0.546410838977,-0.0012727403384,1.06969839654
+361,6.016666667,pose2_to_pose3_retreat,0.575804082125,-0.00994547945111,1.07002920663,0.546374811465,-0.00127275301349,1.06969849749
+362,6.033333333,pose2_to_pose3_retreat,0.575776171054,-0.00994554996872,1.07002906891,0.546346902504,-0.00127281608368,1.06969836735
+363,6.050000000,pose2_to_pose3_retreat,0.575755192579,-0.00994548113852,1.07002892673,0.546325923872,-0.00127274768898,1.06969822767
+364,6.066666667,pose2_to_pose3_retreat,0.575739713357,-0.00994534558528,1.07002911015,0.546310443081,-0.00127261778905,1.06969840261
+365,6.083333333,pose2_to_pose3_retreat,0.575729320544,-0.00994555210794,1.07002901108,0.546300051056,-0.0012728215942,1.06969830458
+366,6.100000000,pose2_to_pose3_retreat,0.575722768025,-0.00994548672284,1.0700290958,0.546293498397,-0.00127275678389,1.06969838682
+367,6.116666667,pose2_to_pose3_retreat,0.575719033235,-0.00994543906142,1.07002912978,0.546289763417,-0.00127270981969,1.06969841945
+368,6.133333333,pose2_to_pose3_retreat,0.575716948973,-0.00994544606801,1.07002903547,0.546287678857,-0.00127271780798,1.0696983259
+369,6.150000000,pose2_to_pose3_retreat,0.575715683947,-0.00994545032061,1.07002897822,0.546286413651,-0.0012727226564,1.06969826912
+370,6.166666667,pose2_to_pose3_retreat,0.575714753547,-0.0099454534483,1.07002893612,0.546285483118,-0.00127272622232,1.06969822736
+371,6.183333333,pose2_to_pose3_retreat,0.575714103881,-0.00994545563226,1.07002890672,0.546284833359,-0.00127272871227,1.0696981982
+372,6.200000000,pose2_to_pose3_retreat,0.57571368116,-0.00994543896795,1.07002891508,0.54628441038,-0.00127271290485,1.06969820713
+373,6.216666667,pose2_to_pose3_retreat,0.575712996987,-0.00994540679998,1.07002893649,0.546283725729,-0.00127268231279,1.06969822961
+374,6.233333333,pose2_to_pose3_retreat,0.575712285774,-0.00994537336071,1.07002895875,0.546283014021,-0.0012726505117,1.06969825298
+375,6.250000000,pose2_to_pose3_retreat,0.575712023001,-0.00994536100585,1.07002896698,0.546282751066,-0.0012726387621,1.06969826162
+376,6.266666667,pose2_to_pose3_retreat,0.575712006613,-0.0099453602353,1.07002896749,0.546282734665,-0.0012726380293,1.06969826216
+377,6.283333333,pose2_to_pose3_retreat,0.575711930879,-0.00994535667453,1.07002896986,0.54628265888,-0.00127263464298,1.06969826465
+378,6.300000000,pose2_to_pose3_retreat,0.575711627739,-0.00994534242171,1.07002897935,0.546282355528,-0.00127262108839,1.06969827461
+379,6.316666667,pose2_to_pose3_retreat,0.575711214883,-0.00994532301032,1.07002899227,0.546281942384,-0.00127260262797,1.06969828817
+380,6.333333333,pose2_to_pose3_retreat,0.575710961985,-0.00994532138263,1.07002898133,0.546281689625,-0.00127260051941,1.06969827755
+381,6.350000000,pose2_to_pose3_retreat,0.575710831491,-0.00994532363845,1.07002897,0.546281559297,-0.00127260220634,1.06969826636
+382,6.366666667,pose2_to_pose3_retreat,0.575710747746,-0.00994532508614,1.07002896273,0.546281475658,-0.00127260328894,1.06969825917
+383,6.383333333,pose2_to_pose3_retreat,0.575710605645,-0.00994532754261,1.07002895039,0.546281333738,-0.00127260512591,1.06969824699
+384,6.400000000,pose2_to_pose3_retreat,0.575710488952,-0.00994532955986,1.07002894026,0.546281217193,-0.00127260663444,1.06969823698
+385,6.416666667,pose2_to_pose3_retreat,0.575710316456,-0.00994533254174,1.07002892528,0.546281044917,-0.00127260886433,1.06969822218
+386,6.433333333,pose2_to_pose3_retreat,0.575710232882,-0.00994533398647,1.07002891802,0.54628096145,-0.00127260994472,1.06969821501
+387,6.450000000,pose2_to_pose3_retreat,0.575710030274,-0.00994533748891,1.07002890043,0.546280759099,-0.00127261256389,1.06969819764
+388,6.466666667,pose2_to_pose3_retreat,0.575709761072,-0.00994534214254,1.07002887705,0.54628049024,-0.00127261604393,1.06969817455
+389,6.483333333,pose2_to_pose3_retreat,0.575709607555,-0.00994537915703,1.07002893473,0.546280336666,-0.00127265337263,1.06969822911
+390,6.500000000,pose2_to_pose3_retreat,0.575709573076,-0.00994539439625,1.07002896199,0.546280302122,-0.00127266888066,1.06969825502
+391,6.516666667,pose2_to_pose3_retreat,0.575709511267,-0.00994542171477,1.07002901087,0.546280240199,-0.00127269668105,1.06969830146
+392,6.533333333,pose2_to_pose3_retreat,0.575709386588,-0.00994547682092,1.07002910947,0.546280115288,-0.00127275275922,1.06969839514
+393,6.550000000,pose2_to_pose3_retreat,0.575709293557,-0.00994545981761,1.07002922029,0.546280021772,-0.00127273755241,1.06969850203
+394,6.566666667,pose2_to_pose3_retreat,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.00127264096047,1.06969858376
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_08/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_08/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2140c5af72c7a5ef72a22c2f5d39b93d17d0f290
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_08/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37c0634784c69c9bc7d6069adcd4b037434ca37f4369a628eb45818d980eecfb
+size 25324585
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_08/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_08/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..18aa3daff4ad1d8cfa576ded8fda1fcadcdb04d3
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_08/depth_03/franka_data.csv
@@ -0,0 +1,399 @@
+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,764,742,712,672,659,633,878,784,798,649,628,650,0.400983783308,-0.0153805032243,0.0798479181874,0.999999933833,0.000251513186646,-0.000261219844209,2.89632883604e-05,1793193525962503936
+1,0.016666667,BASELINE,764,742,711.411556586,671.411556586,659,633,877.411556586,784,799.176886828,649,628,650.588443414,0.400982140016,-0.0153808981048,0.0798467773543,0.999999933467,0.000250582746136,-0.000263538761208,2.86579688293e-05,1793193525979169792
+2,0.033333333,BASELINE,764,742,711.174283267,671.174283267,659,632.825716733,877.174283267,784,799.825716733,649,628,650.825716733,0.400981278668,-0.0153810065467,0.0798461688392,0.999999933342,0.000249678015732,-0.000264885712166,2.85033200046e-05,1793193525995836160
+3,0.050000000,BASELINE,764,742,711.754065619,671.754065619,659,632.245934381,877.754065619,784,799.245934381,649,628,650.245934381,0.400982236646,-0.0153804485415,0.0798467988503,0.999999933789,0.000248833103998,-0.000263971222511,2.86992316434e-05,1793193526012502784
+4,0.066666667,BASELINE,764,742,712,672,659,632,878.331325527,784,799.331325527,649,628,650.331325527,0.400981894243,-0.0153798845224,0.0798464502657,0.999999933473,0.000249448170695,-0.000264610848739,2.84718654354e-05,1793193526029169152
+5,0.083333333,BASELINE,764,742,712,672,659,632,878.906727201,784,799.906727201,649,628,650.906727201,0.400980593895,-0.0153793160731,0.0798453807832,0.999999932591,0.000251138753459,-0.000266395338866,2.79326849485e-05,1793193526045835520
+6,0.100000000,BASELINE,764,742,712,672.479578796,659,632,878.520421204,784,799.520421204,648.520421204,628.479578796,651,0.400980990014,-0.0153790132682,0.079846041718,0.999999932668,0.000251828616079,-0.000265427821274,2.8167738938e-05,1793193526062502144
+7,0.116666667,BASELINE,764,742,712,672.945839684,659,632.054160316,877.945839684,784.054160316,799.054160316,648,629,651,0.400981588213,-0.0153788470716,0.0798468838191,0.999999932873,0.000252336454656,-0.000264133965201,2.85385220544e-05,1793193526079168768
+8,0.133333333,BASELINE,764,742,712,672.348980522,659,632.651019478,877.348980522,784.651019478,799.651019478,648,629,651,0.400980922675,-0.0153795347667,0.079846186805,0.999999932504,0.000252960283271,-0.00026490493559,2.87684757503e-05,1793193526095835392
+9,0.150000000,BASELINE,764,742,712,672,659,632.761802265,877.238197735,784.761802265,800,648.238197735,629,651,0.400980970877,-0.0153801985534,0.0798461421653,0.999999932525,0.000253097653945,-0.000264678192571,2.89417193048e-05,1793193526112502272
+10,0.166666667,BASELINE,764,742,712,672,659,632.188253499,877.811746501,784.188253499,800,648.811746501,629,651,0.400982023933,-0.0153808286801,0.0798470159829,0.999999933091,0.000252550155867,-0.000263046800438,2.9035122431e-05,1793193526129169152
+11,0.183333333,BASELINE,764,742,712,672,659,632.385970469,878,784,799.614029531,649,629,651,0.400982400871,-0.0153805981633,0.0798470657388,0.999999933182,0.000252826983609,-0.000262446579488,2.8921642776e-05,1793193526145836288
+12,0.200000000,BASELINE,764,742,712,672,659,632.960524389,878,784,799.039475611,649,629,651,0.400982447463,-0.0153799471399,0.0798467128619,0.999999933041,0.000253506573224,-0.000262350184035,2.87070811242e-05,1793193526162503168
+13,0.216666667,BASELINE,764,742,712,672,659,633,877.462791693,784,799.537208307,648.462791693,629,651,0.400982752767,-0.0153811228804,0.0798473447956,0.999999933675,0.00025108892579,-0.000262246866664,2.88316573145e-05,1793193526179169792
+14,0.233333333,BASELINE,764,742,712,672,659,632.882471372,877.117528628,784.117528628,800,648,629,650.882471372,0.400982780281,-0.0153823273089,0.0798477594944,0.999999934143,0.000248961220152,-0.000262479838261,2.89329895531e-05,1793193526195835904
+15,0.250000000,BASELINE,764,742,712,672,659,632.288032658,877.711967342,784.711967342,800,648,629,650.288032658,0.400981603124,-0.0153831012744,0.0798469978728,0.99999993373,0.000248937256997,-0.000264079482332,2.88384752722e-05,1793193526212502528
+16,0.266666667,BASELINE,764,742,712,672.296438105,659,632,878,784.703561895,799.703561895,648.296438105,629,650.296438105,0.40098082692,-0.0153830609773,0.0798463730051,0.999999933658,0.000248441453429,-0.000264845419322,2.86084734734e-05,1793193526229169152
+17,0.283333333,BASELINE,764,742,712,672.871538601,659,632,878,784.128461399,799.128461399,648.871538601,629,650.871538601,0.400980427624,-0.0153822552441,0.079845876691,0.999999933905,0.000247502103047,-0.000264827641824,2.82511085809e-05,1793193526245836032
+18,0.300000000,BASELINE,764,742,712,672.55258765,659,632.44741235,878,784.44741235,799,649,629,651,0.400980576195,-0.0153829285172,0.0798459135072,0.999999934113,0.000246583715014,-0.000264905400113,2.8192922195e-05,1793193526262502656
+19,0.316666667,BASELINE,764,742,712,672,659,633,877.97588821,784.97588821,799.02411179,648.97588821,629,650.97588821,0.400980876182,-0.0153839348096,0.0798461118993,0.999999934294,0.000245746073902,-0.000264998996888,2.82230530815e-05,1793193526279169280
+20,0.333333333,BASELINE,764,742,712,672,659,633,877.385007714,784.385007714,799.614992286,648.385007714,629,650.385007714,0.400981031344,-0.0153827698771,0.0798465039337,0.999999934113,0.000246664739106,-0.000264819001413,2.83064994986e-05,1793193526295835904
+21,0.350000000,BASELINE,764,742,712,672,659,633,877,784,799.798354437,648,629,650.201645563,0.400981458941,-0.0153818135798,0.0798470347678,0.99999993412,0.00024750965061,-0.000263993222778,2.83889865792e-05,1793193526312502784
+22,0.366666667,BASELINE,764,742,712,672,659,633,877,784,799.219606653,648,629,650.780393347,0.400982396025,-0.0153812474568,0.0798478251746,0.999999934478,0.000248216633439,-0.000261959749526,2.84696795719e-05,1793193526329169664
+23,0.383333333,BASELINE,764,742.356369961,712,672,659,632.643630039,877.356369961,784,799.356369961,648.356369961,629,650.643630039,0.400981927742,-0.0153809600913,0.0798475046229,0.999999934083,0.000249199833197,-0.000262539817479,2.84027815092e-05,1793193526345836032
+24,0.400000000,BASELINE,764,742.930652123,712,672,659,632.069347877,877.930652123,784,799.930652123,648.930652123,629,650.069347877,0.400980600111,-0.0153808431799,0.0798465047452,0.999999933225,0.00025035193345,-0.000264718006785,2.82456348498e-05,1793193526362502400
+25,0.416666667,BASELINE,764,742.495662543,712,672,659,632,877.495662543,784,800.504337457,649,628.495662543,650,0.400981286477,-0.0153808455968,0.0798465084138,0.999999933331,0.000250565213442,-0.00026411498971,2.82407429362e-05,1793193526379169024
+26,0.433333333,BASELINE,764,742,712,672,659,632,877,784,800.919106687,649,628.080893313,650.080893313,0.400982015481,-0.0153808339783,0.0798466241956,0.999999933565,0.000250465080026,-0.000263327370797,2.81958824503e-05,1793193526395835392
+27,0.450000000,BASELINE,764,742,712,672,659,632,877,784,800.323774284,649,628.676225716,650.676225716,0.40098125659,-0.0153806288787,0.0798465764485,0.999999933772,0.00024919177939,-0.00026379492229,2.77638615173e-05,1793193526412502272
+28,0.466666667,BASELINE,764,742,712,672,659,632.262865699,877.262865699,784,799.737134301,649,629,650.737134301,0.40098134321,-0.015381032703,0.0798469742873,0.999999934187,0.000248090942812,-0.000263266830183,2.77041377072e-05,1793193526429169152
+29,0.483333333,BASELINE,764,742,712,672,659,632.839141816,877.839141816,784,799.160858184,649,629,650.160858184,0.40098243792,-0.015382162537,0.0798479033909,0.999999934848,0.000247195732348,-0.000261551648675,2.8088297615e-05,1793193526445836032
+30,0.500000000,BASELINE,764,742,712,672,659,633,877.585257005,784,799,648.585257005,628.585257005,650,0.400982954419,-0.0153818379635,0.079848059323,0.999999934707,0.000248265603291,-0.000261050619238,2.83202504839e-05,1793193526462502656
+31,0.516666667,BASELINE,764,742,712,672,659,633,877.00991719,784,799,648.00991719,628.00991719,650,0.400983247023,-0.015380950214,0.0798479158676,0.999999934254,0.000250096393256,-0.000261019733915,2.84932657204e-05,1793193526479169280
+32,0.533333333,BASELINE,764,742,711.420052961,672,659,633,877,784,799,648.579947039,628.579947039,650.579947039,0.400982094477,-0.0153810617133,0.0798469713527,0.999999934195,0.000248355022538,-0.000262934365844,2.82152471064e-05,1793193526495835904
+33,0.550000000,BASELINE,764,742,711.166929814,672,659,633,877,784,799,649,629,651,0.400981194019,-0.0153812455831,0.0798463668206,0.999999934174,0.000247193447444,-0.000264123094939,2.80306696465e-05,1793193526512502528
+34,0.566666667,BASELINE,764,742,711.746166266,672,659,633,877,784,799,649,629,651,0.400980978805,-0.0153815649151,0.0798466367285,0.999999934249,0.000247618683853,-0.000263434604828,2.80964256722e-05,1793193526529169152
+35,0.583333333,BASELINE,764,741.677471495,712,672,659,633,877,784,799,648.677471495,628.677471495,650.677471495,0.400981033491,-0.0153814456941,0.0798467815674,0.999999934089,0.00024868234645,-0.000263041512783,2.80856525504e-05,1793193526545836032
+36,0.600000000,BASELINE,764,741.103351252,712,672,659,633,877,784,799,648.103351252,628.103351252,650.103351252,0.400981298717,-0.0153809843752,0.0798468288451,0.999999933744,0.000250244020125,-0.000262878849015,2.80151820727e-05,1793193526562502912
+37,0.616666667,BASELINE,764,741.482191562,712,672,659,632.517808438,877.482191562,784,799.482191562,648,628,650.482191562,0.400980490629,-0.0153810033081,0.079846133402,0.999999933516,0.000249971112284,-0.000264012798336,2.79248162339e-05,1793193526579169792
+38,0.633333333,BASELINE,764,742,712,672,659,632,877.930776387,784.069223613,799.930776387,648,628.069223613,650.930776387,0.400979734891,-0.0153811023835,0.0798454555885,0.999999933367,0.00024943971637,-0.000265084154901,2.78663909129e-05,1793193526595836928
+39,0.650000000,BASELINE,764,742,712,672,659,632,877.351251759,784.648748241,799.351251759,648,628.648748241,650.351251759,0.400981102099,-0.015381015022,0.0798461097378,0.999999933622,0.000249971850829,-0.00026359568178,2.80756221322e-05,1793193526612503296
+40,0.666666667,BASELINE,764,742,712,672,659.227200462,632,877,785,799,648,629,650.227200462,0.400982101993,-0.0153813830591,0.0798468457124,0.999999934038,0.000249602541606,-0.000262340801271,2.8294772128e-05,1793193526629169664
+41,0.683333333,BASELINE,764,742,712,672,659.804002499,632,877,785,799,648,629,650.804002499,0.400982536689,-0.0153824518344,0.0798477075945,0.999999934702,0.000247846148334,-0.000261445358257,2.85291844919e-05,1793193526645835776
+42,0.700000000,BASELINE,764,742,712,672,659.623981627,632,877.376018373,785,799,648,629,650.623981627,0.400982441467,-0.0153835701808,0.0798479267401,0.999999935084,0.000246635970378,-0.000261118370407,2.86312518322e-05,1793193526662502144
+43,0.716666667,BASELINE,764,742,712,672,659.054429176,632,877.945570824,785,799,648,629,650.054429176,0.4009820735,-0.0153847140411,0.0798478150738,0.999999935321,0.000245706925755,-0.000261083962561,2.86652020891e-05,1793193526679168768
+44,0.733333333,BASELINE,764,742,712,672,659,632,877.461698215,784.461698215,799,648,628.461698215,650.538301785,0.400981996642,-0.0153840728122,0.0798476109815,0.999999934949,0.000246733912887,-0.000261559594974,2.84806770572e-05,1793193526695835648
+45,0.750000000,BASELINE,764,742,712,672,659,632.129730827,877.129730827,784.129730827,799,648,628.129730827,651,0.400982212891,-0.0153832087461,0.0798476291535,0.999999934685,0.000247871031268,-0.000261508955972,2.83260531671e-05,1793193526712502528
+46,0.766666667,BASELINE,764,742,712,672,659,632.708185405,877.708185405,784.708185405,799,648,628.708185405,651,0.400983336567,-0.0153822263163,0.0798484498907,0.999999935021,0.000248674201763,-0.000259451599159,2.83547009088e-05,1793193526729169664
+47,0.783333333,BASELINE,763.714461478,742,711.714461478,672.285538522,659,632.714461478,877.714461478,784.714461478,799,648.285538522,628.714461478,651,0.400983559821,-0.0153818608067,0.0798485348313,0.999999935012,0.000249008019957,-0.000259168773529,2.8334316215e-05,1793193526745836288
+48,0.800000000,BASELINE,763.138229637,742,711.138229637,672.861770363,659,632.138229637,877.138229637,784.138229637,799,648.861770363,628.138229637,651,0.4009828664,-0.0153821233542,0.0798478706919,0.999999934654,0.000248864012782,-0.000260692514258,2.82640139119e-05,1793193526762502656
+49,0.816666667,BASELINE,763.445911648,742,711.445911648,672.554088352,659,632,877.891823296,784,799.445911648,649,628.445911648,650.554088352,0.400982650142,-0.0153829449202,0.0798474866142,0.999999934773,0.000247601195177,-0.000261450432296,2.81368813e-05,1793193526779169280
+50,0.833333333,BASELINE,764,742,712,672.032127652,659,632,878.967872348,784,799.967872348,648.967872348,628.967872348,650.032127652,0.400982637809,-0.0153838888443,0.0798472674286,0.999999935037,0.000246114125074,-0.000261857538267,2.80172213265e-05,1793193526795835648
+51,0.850000000,BASELINE,764,742,712,672.611170168,659,632,878.388829832,784,799.388829832,648.388829832,628.388829832,650.611170168,0.400983533444,-0.0153839124408,0.0798483506368,0.999999935233,0.000246820221574,-0.000260406987209,2.83300825102e-05,1793193526812502272
+52,0.866666667,BASELINE,764,742,712,672.810242875,659,632.189757125,878,784,799,648,628.189757125,651,0.40098325693,-0.0153829431281,0.0798485222406,0.999999934863,0.000248345388524,-0.00026035991437,2.84952877305e-05,1793193526829168896
+53,0.883333333,BASELINE,764,742,712,672.232587199,659,632.767412801,878,784,799,648,628.767412801,651,0.40098058433,-0.0153799441261,0.0798468303566,0.999999933328,0.000251544886451,-0.000263181809881,2.83586569167e-05,1793193526845835776
+54,0.900000000,BASELINE,764,742.342932548,712,672,659,632.657067452,877.657067452,784,799,648,629,651,0.400981100109,-0.0153799434533,0.0798472842178,0.99999993362,0.000251519459712,-0.000262095946572,2.83484193476e-05,1793193526862502656
+55,0.916666667,BASELINE,764,742.917012587,712,672,659,632.082987413,877.082987413,784,799,648,629,651,0.400983764956,-0.0153819637504,0.07984918438,0.999999935137,0.000249320330614,-0.000258376128895,2.84233748678e-05,1793193526879169792
+56,0.933333333,BASELINE,764,742.49556868,712,672,659,632,877.50443132,784,799,648.50443132,628.49556868,651,0.400984298034,-0.0153819511622,0.079849001738,0.999999935136,0.00024878987219,-0.000258878080706,2.85146585053e-05,1793193526895836416
+57,0.950000000,BASELINE,764,742,712,672,659.092239247,632,878,784,799,649,628.092239247,651,0.400984058124,-0.0153817025122,0.0798484176288,0.999999934889,0.0002484773768,-0.000260122686724,2.85945721394e-05,1793193526912502784
+58,0.966666667,BASELINE,764,742,712,672,659.670226339,632,878,784,799,649,628.670226339,651,0.400981644605,-0.015382019796,0.0798475728233,0.999999934685,0.000247827753186,-0.000261521261573,2.86000788493e-05,1793193526929169152
+59,0.983333333,BASELINE,764.247849045,742,712,672,659.752150955,632.247849045,878,784,799.247849045,648.752150955,629,651,0.400980546663,-0.0153824747337,0.0798472485765,0.999999934675,0.000247072922129,-0.000262285399875,2.8490083927e-05,1793193526945835776
+60,1.000000000,BASELINE,764.824987712,742,712,672,659.175012288,632.824987712,878,784,799.824987712,648.175012288,629,651,0.400981196584,-0.0153831125572,0.0798476159383,0.999999934924,0.000246178313484,-0.000262206632676,2.82266347571e-05,1793193526962502400
+61,1.016666667,BASELINE,764.599918052,742,712,672,659,632.599918052,878,784,799.599918052,648,629,650.599918052,0.400982245423,-0.0153835446273,0.0798483066492,0.9999999354,0.000245487474357,-0.000261040823576,2.81796571654e-05,1793193526979169024
+62,1.033333333,BASELINE,764.025713622,742,712,672,659,632.025713622,878,784,799.025713622,648,629,650.025713622,0.400983467879,-0.0153838871502,0.0798491380873,0.999999935973,0.000244885319248,-0.00025940191532,2.82268917094e-05,1793193526995835648
+63,1.050000000,BASELINE,764,742,712,672,659,632,878,784,799,648,629,650.564523186,0.400982862643,-0.0153830286062,0.0798483043522,0.999999935179,0.000246659120827,-0.000260774906488,2.82567372333e-05,1793193527012502528
+64,1.066666667,BASELINE,764,742,711.847614848,672,659.304770305,632,877.847614848,784,799,648,629,650.847614848,0.400982424728,-0.0153827029513,0.0798477094727,0.999999934773,0.000247312376122,-0.000261705469049,2.8306262929e-05,1793193527029169408
+65,1.083333333,BASELINE,764,742,711.268507863,672,660.462984273,632,877.268507863,784,799,648,629,650.268507863,0.400982695298,-0.015384027213,0.0798480020597,0.999999935641,0.000244515868726,-0.000261001705494,2.84131815279e-05,1793193527045836032
+66,1.100000000,BASELINE,764,742,711,672,660.383304283,632.308347858,877,784.308347858,799,648.308347858,629,650.308347858,0.400982947451,-0.0153840047578,0.0798479698877,0.999999935854,0.000243791042018,-0.000260872028425,2.83363680797e-05,1793193527062502656
+67,1.116666667,BASELINE,764,742,711,672,659.233485259,632.883257371,877,784.883257371,799,648.883257371,629,650.883257371,0.400983183684,-0.015382818088,0.0798476569669,0.999999935505,0.00024485714935,-0.000261238639721,2.81007212921e-05,1793193527079169024
+68,1.133333333,BASELINE,764,742,711,672,659,632.531622548,877,784.531622548,799,649,628.531622548,651,0.400983001914,-0.0153823193321,0.0798481588591,0.999999935298,0.000246292461737,-0.000260661989572,2.82759682931e-05,1793193527095835904
+69,1.150000000,BASELINE,764.055284205,742,711.055284205,672,659,632.055284205,877.055284205,784.055284205,799.055284205,648.944715795,628.110568409,651,0.400982817839,-0.0153820915005,0.0798488153676,0.99999993514,0.000247709647922,-0.000259898941818,2.85098471898e-05,1793193527112502528
+70,1.166666667,BASELINE,764.634467033,742,711.634467033,672,659,632.634467033,877.634467033,784.634467033,799.634467033,648.365532967,629.268934065,651,0.400983621233,-0.0153827700097,0.0798489696124,0.999999935123,0.000248063564343,-0.00025964713958,2.83071891636e-05,1793193527129169152
+71,1.183333333,BASELINE,764.786462441,742,712,672,659,633,877.786462441,785,799.786462441,648,629.786462441,651,0.400983646091,-0.0153834973028,0.0798487648135,0.999999935096,0.000247944551574,-0.000259878092923,2.82038958593e-05,1793193527145836032
+72,1.200000000,BASELINE,764.207583956,742,712,672,659,633,877.207583956,785,799.207583956,648,629.207583956,651,0.400982338953,-0.0153843080603,0.0798479457277,0.999999935048,0.000247016405384,-0.000260934991653,2.82706053989e-05,1793193527162502912
+73,1.216666667,BASELINE,764,742,712,672,659,633,877.369044599,784.630955401,799.369044599,648,629,650.630955401,0.400981408889,-0.0153846807346,0.0798475464823,0.999999935019,0.000246142027615,-0.000261870952605,2.82896596788e-05,1793193527179169792
+74,1.233333333,BASELINE,764,742,712,672,659,633,877.944415225,784.055584775,799.944415225,648,629,650.055584775,0.40098068964,-0.0153848084846,0.079847381962,0.999999934999,0.000245297710833,-0.000262739299415,2.82820707783e-05,1793193527195836160
+75,1.250000000,BASELINE,764,742,712,671.469610456,659,632.469610456,877.469610456,784.530389544,799.469610456,648,629,650,0.400982709043,-0.0153833413719,0.079848081246,0.999999935259,0.00024592669339,-0.000261154577815,2.82903160082e-05,1793193527212502784
+76,1.266666667,BASELINE,764,742,712,671.115951083,659,632,877,784.884048917,799,648,628.884048917,650.115951083,0.400984424359,-0.0153823704755,0.0798486526207,0.999999935428,0.000246693376184,-0.000259777448294,2.83320746002e-05,1793193527229169408
+77,1.283333333,BASELINE,764,742,712,671.695330747,659,632,877,784.304669253,799,648,628.304669253,650.695330747,0.400983753802,-0.0153840644881,0.0798483435782,0.999999935123,0.000247380718448,-0.000260278467663,2.8501010454e-05,1793193527245835776
+78,1.300000000,BASELINE,764,742,712,672,659,632.273545094,877,784,799,648,628.273545094,650.726454906,0.400983267048,-0.0153845667185,0.0798482583646,0.999999935145,0.000246991159509,-0.000260553764497,2.86003202093e-05,1793193527262502400
+79,1.316666667,BASELINE,764,742,712,672,659,632.850467002,877,784,799,648,628.850467002,650.149532998,0.400982984142,-0.0153837471955,0.0798484213897,0.999999935527,0.000245407256835,-0.000260578722377,2.86224107147e-05,1793193527279169024
+80,1.333333333,BASELINE,764,742,712,672.423314925,659,632.576685075,877,784,799,648,629,650.423314925,0.400983157204,-0.0153833314137,0.0798487801591,0.999999935579,0.000245775699006,-0.000260049124263,2.84874287815e-05,1793193527295836160
+81,1.350000000,BASELINE,764,742,712,672.994737507,659,632.005262493,877,784,799,648,629,650.994737507,0.400983489798,-0.0153830568911,0.0798492074148,0.999999935513,0.000246827219299,-0.000259325500418,2.82974910023e-05,1793193527312503040
+82,1.366666667,BASELINE,764,742,712,672.412144043,659,632,877.587855957,784.587855957,799,648,629,651,0.400982701273,-0.0153840023952,0.0798482276329,0.999999935218,0.000246655785073,-0.000260625195196,2.82899221614e-05,1793193527329169664
+83,1.383333333,BASELINE,764,742,712,672,659.177592899,632.177592899,877.822407101,785,799,648.177592899,628.822407101,651,0.400981947765,-0.0153844125206,0.0798475332692,0.999999934958,0.000246627092642,-0.00026164681059,2.82966527811e-05,1793193527345836288
+84,1.400000000,BASELINE,764,742,712,672,659.759178857,632.759178857,877.240821143,785,799,648.759178857,628.240821143,651,0.400981297619,-0.0153835789555,0.0798475179335,0.999999934787,0.000246948971974,-0.000261993061476,2.83320560656e-05,1793193527362502400
+85,1.416666667,BASELINE,764,742,712,672,659.664466101,632.664466101,877.335533899,784.664466101,799,648.664466101,628,651,0.400981359339,-0.0153836033033,0.0798478405269,0.9999999348,0.000247274042142,-0.000261639473605,2.82875133026e-05,1793193527379169024
+86,1.433333333,BASELINE,764,742,712,672,659.091807823,632.091807823,877.908192177,784.091807823,799,648.091807823,628,651,0.40098192414,-0.0153842339447,0.0798484019372,0.999999934943,0.00024760136728,-0.000260791304298,2.81864720527e-05,1793193527395835648
+87,1.450000000,BASELINE,764,742,712,672,659.49320874,632,877.50679126,784,799,648.49320874,628.49320874,650.50679126,0.400981208896,-0.0153840373022,0.0798475729301,0.999999935005,0.000246363267033,-0.000261725037811,2.81912088563e-05,1793193527412502528
+88,1.466666667,BASELINE,764,742,712,672,659.920170855,632.079829145,877.079829145,784,799.079829145,648.920170855,629,650.079829145,0.400980411534,-0.0153836851703,0.0798466895783,0.999999935041,0.000245068009583,-0.000262799502514,2.82076474169e-05,1793193527429169152
+89,1.483333333,BASELINE,764,742,712,672,659.338302986,632.661697014,877.661697014,784,799.661697014,648.338302986,629,650.661697014,0.400980634728,-0.0153833485235,0.0798471339732,0.999999935034,0.000245292948702,-0.000262619429391,2.81706664433e-05,1793193527445836288
+90,1.500000000,BASELINE,764,742,712,672,659,632.759202412,878,784,800,648,629,651,0.400981280686,-0.0153833095798,0.0798477695259,0.99999993494,0.000246315056134,-0.000262011279323,2.82663296198e-05,1793193527462503168
+91,1.516666667,BASELINE,764,742,712,672,659,632.183945564,878,784,800,648,629,651,0.400982513847,-0.0153836841348,0.0798486705901,0.99999993472,0.000248444401901,-0.000260808545666,2.85462307927e-05,1793193527479170048
+92,1.533333333,BASELINE,764,742,712,672,659,632.392242815,878,784.392242815,800,648,629,650.607757185,0.40098193323,-0.0153834712518,0.0798482782567,0.999999934654,0.000248148483076,-0.000261362649658,2.83494495622e-05,1793193527495836416
+93,1.550000000,BASELINE,764,742,712,672,659,632.968869134,878,784.968869134,800,648,629,650.031130866,0.400980500003,-0.015382982229,0.0798472779296,0.99999993466,0.000246712508413,-0.000262742598834,2.79285919207e-05,1793193527512502528
+94,1.566666667,BASELINE,764,742,712,671.443993348,659,632.443993348,877.443993348,784.443993348,799.443993348,648,629,650.556006652,0.40098163021,-0.0153837359435,0.079848111268,0.999999935027,0.000246283637599,-0.000261718738083,2.81792816235e-05,1793193527529168896
+95,1.583333333,BASELINE,764,742,712,671.14147457,659,632.14147457,877.14147457,784.14147457,799,648.14147457,629,651,0.400982461024,-0.0153845489978,0.0798487223559,0.999999935365,0.000245724351037,-0.000260920754848,2.84512491769e-05,1793193527545835520
+96,1.600000000,BASELINE,764,742,712,671.719932762,659,632.719932762,877.719932762,784.719932762,799,648.719932762,629,651,0.400981915215,-0.0153853262784,0.0798483237349,0.999999935554,0.00024458471336,-0.000261244184777,2.86705634183e-05,1793193527562502144
+97,1.616666667,BASELINE,764,742,712,672,659,632.703116687,877.703116687,784.703116687,799,648.703116687,628.703116687,651,0.400981830704,-0.0153852174206,0.0798484006027,0.999999935538,0.000245332448014,-0.000260606899634,2.86220820706e-05,1793193527579169280
+98,1.633333333,BASELINE,764,742,712,672,659,632.127581229,877.127581229,784.127581229,799,648.127581229,628.127581229,651,0.400982179161,-0.0153842768407,0.0798489237603,0.999999935326,0.000247851654304,-0.000259067895499,2.83222500546e-05,1793193527595836416
+99,1.650000000,BASELINE,764,742,712,672,659,632.447279248,877,784,799,648,628.447279248,651,0.400981614256,-0.01538445548,0.0798480827651,0.999999935326,0.000246219661266,-0.000260618839033,2.83119645423e-05,1793193527612502784
+100,1.666666667,BASELINE,764.02261251,742,712,672,659,633,877,784,799,648.02261251,628.97738749,651,0.400980791905,-0.0153848932281,0.0798468741438,0.999999935348,0.000243590117795,-0.000262988733686,2.83611948636e-05,1793193527629168896
+101,1.683333333,BASELINE,764.614693837,742,712,672,659,633,877,784,799,648.614693837,628.385306163,651,0.400980037202,-0.0153838286483,0.079846191776,0.999999934649,0.000245613202622,-0.000263820084908,2.78324695078e-05,1793193527645835520
+102,1.700000000,BASELINE,764.797515172,742,712,672,659,632.797515172,877.202484828,784,799,648.797515172,628.202484828,651,0.400980692732,-0.0153836351953,0.0798465339737,0.999999934761,0.000246067380901,-0.000262984263884,2.77016971667e-05,1793193527662502144
+103,1.716666667,BASELINE,764.217718883,742,712,672,659,632.217718883,877.782281117,784,799,648.217718883,628.782281117,651,0.4009839761,-0.0153850650056,0.0798487853532,0.999999936378,0.000243598048945,-0.000259041823866,2.83124729528e-05,1793193527679168768
+104,1.733333333,BASELINE,764,742,712,672,659,632.358463078,877.641536922,784,799,648,628.641536922,651,0.400984141629,-0.0153851179249,0.0798488951216,0.99999993628,0.000244105032965,-0.000258927435868,2.84342008462e-05,1793193527695835904
+105,1.750000000,BASELINE,764,742,712,672,659,632.932471781,877.067528219,784,799,648,628.067528219,651,0.400982432388,-0.015384342913,0.0798477171289,0.999999935153,0.000246401690293,-0.000261114874138,2.82618618773e-05,1793193527712503296
+106,1.766666667,BASELINE,764,742,712,672,659,632.480949478,877,784.519050522,798.480949478,648.519050522,628,651,0.400981498046,-0.0153844528332,0.0798472370714,0.999999934859,0.000246345145451,-0.000262302646879,2.81510702974e-05,1793193527729169920
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632,878,785,799,648,628,651,0.400982135793,-0.0153824235019,0.0798469402415,0.999999934666,0.000247124329986,-0.000262393684735,2.73485117643e-05,1793193527771621888
+108,1.800000000,POSE1_TO_POSE2_PRESS,764.575278531,742,712,672,659,632,878,784.424721469,799,648,628.575278531,650.424721469,0.400983383433,-0.0153832588068,0.0798482015338,0.999999935181,0.000247178272958,-0.000260297302353,2.80461688235e-05,1793193527788288256
+109,1.816666667,POSE1_TO_POSE2_PRESS,764.845894215,742,712,672,659,632,878,784.154105785,799,648,629,650,0.400983943977,-0.0153838199338,0.0798490350626,0.999999935448,0.000247222463919,-0.000259173637946,2.85297875367e-05,1793193527804954880
+110,1.833333333,POSE1_TO_POSE2_PRESS,764.257055876,742,712,672,659,632,878,784.742944124,799,648,629,650,0.40098256622,-0.0153836076052,0.0798486618705,0.999999935026,0.00024723914446,-0.000260794011305,2.84096040517e-05,1793193527821621504
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632.326073657,878,784.673926343,799,648,628.673926343,650,0.400981117545,-0.0153835323233,0.0798477374566,0.999999934486,0.00024763872605,-0.0002624930813,2.82842755409e-05,1793193527838288128
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632.904780131,878,784.095219869,799,648,628.095219869,650,0.400979613924,-0.0153835632213,0.0798463859713,0.999999933854,0.00024833496874,-0.000264253123164,2.81549608143e-05,1793193527854954496
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,742,712,672,659,633,878,784,799,648,628.484085159,650.484085159,0.400983450297,-0.0153832204764,0.079848960129,0.999999934631,0.000249870891086,-0.00025978552049,2.85311635238e-05,1793193527871620864
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,742,712,672,659.062859978,633,877.937140022,784,799.062859978,648,629,651,0.40098855224,-0.0153828518618,0.0798521636513,0.999999935652,0.000251359421452,-0.000254315756463,2.89471130695e-05,1793193527888287488
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,742,712,672,659.636369968,633,877.363630032,784,799.636369968,648,629,651,0.400995391749,-0.0153828708827,0.0798541992583,0.999999936635,0.000251119556227,-0.000250668418405,2.88771742143e-05,1793193527904954112
+116,1.933333333,POSE1_TO_POSE2_PRESS,763.784499906,742,712,672,659.784499906,633,877.215500094,784.215500094,799.784499906,648.215500094,629,651,0.401007597855,-0.0153836744136,0.0798584318435,0.999999938737,0.000250135048353,-0.000243133899905,2.90576457728e-05,1793193527921620736
+117,1.950000000,POSE1_TO_POSE2_PRESS,763.195632607,742,712,672,659.195632607,633,877.804367393,784.804367393,799.195632607,648.804367393,629,651,0.401029101922,-0.0153858371563,0.0798664708286,0.999999942653,0.000247860401154,-0.000228864601875,2.96719688224e-05,1793193527938287360
+118,1.966666667,POSE1_TO_POSE2_PRESS,763.38703462,742,712,672,659,633,877.61296538,784.61296538,799,649,628.61296538,651,0.401069289951,-0.0153868084069,0.079878888034,0.999999947843,0.000247137361317,-0.000205796564615,2.97563972831e-05,1793193527954954240
+119,1.983333333,POSE1_TO_POSE2_PRESS,763.966617389,742,712,672,659,633,877.033382611,784.033382611,799,649,628.033382611,651,0.401118773177,-0.0153871868952,0.079893483387,0.999999953108,0.000247186239488,-0.000178351188982,2.957720538e-05,1793193527971620864
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632.457323557,877.542676443,784.542676443,799,648.457323557,628.542676443,651,0.401187185315,-0.0153921259993,0.0799035977779,0.999999956828,0.000243499195787,-0.000161953028497,2.87019119381e-05,1793193527988287232
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632,877.881541124,785,799,648,629,651,0.401259496927,-0.0153967722772,0.0799120705537,0.999999959655,0.000240665938766,-0.000148392146149,2.73805218518e-05,1793193528004953856
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632,877.3059949,785,799,648,629,651,0.401342391118,-0.0153992131201,0.0799152657169,0.999999960166,0.000242008160528,-0.000143173956175,2.4501977743e-05,1793193528021620480
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632.276313027,877.276313027,784.723686973,799,648,629,650.723686973,0.401437851485,-0.0154025619742,0.0799192131406,0.999999962045,0.000239213202623,-0.000135089145653,2.09194942109e-05,1793193528038287616
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632.866296808,877.866296808,784.133703192,799,648,629,650.133703192,0.40154757698,-0.0154069416033,0.0799240145307,0.999999965359,0.000231721715166,-0.000123750145643,1.65378982907e-05,1793193528054954752
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,742,712,672.449133627,659,633,878,784,799.449133627,648.449133627,629,650.449133627,0.401678005939,-0.0154137098164,0.0799281679936,0.999999968259,0.000223385611894,-0.000115895360422,1.21778769138e-05,1793193528071620864
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,742,712,672.941020194,659,633,877.970510097,784,799.970510097,648.970510097,629,651,0.401816245932,-0.0154212057318,0.0799320982786,0.999999971007,0.000214520132879,-0.000109124537617,7.71734289125e-06,1793193528088286976
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,742,712,671.79455201,659,633,877.397276005,784,799.397276005,648.397276005,629,651,0.401986648453,-0.0154292138522,0.0799354142591,0.99999997455,0.000200457272211,-0.000103515112764,1.28695746456e-06,1793193528104953856
+128,2.133333333,POSE1_TO_POSE2_PRESS,763.819688366,742,711.819688366,671.180311634,659,632.819688366,877.180311634,784.180311634,799,648.180311634,629,651,0.402160987425,-0.0154365987915,0.0799369972877,0.999999977698,0.000185154043818,-0.000101446214694,-5.6027383358e-06,1793193528121620480
+129,2.150000000,POSE1_TO_POSE2_PRESS,763.232271422,742,711.232271422,671.767728578,659,632.232271422,877.767728578,784.767728578,799,648.767728578,629,651,0.402344214039,-0.0154425767195,0.0799346676791,0.999999980191,0.000167050330921,-0.000107371073704,-1.35294583776e-05,1793193528138287104
+130,2.166666667,POSE1_TO_POSE2_PRESS,763.349594083,742,711.349594083,672,659.349594083,632.349594083,878,784.650405917,799.349594083,648.650405917,628.650405917,651,0.402552629534,-0.0154518579584,0.0799326499902,0.999999986958,0.000115363766162,-0.000111063797764,-2.09636736832e-05,1793193528154953728
+131,2.183333333,POSE1_TO_POSE2_PRESS,763.927828906,742,711.927828906,672,659.927828906,632.927828906,878,784.072171094,799.927828906,648.072171094,628.072171094,651,0.402777519022,-0.015463299622,0.0799308363021,0.999999992318,4.17134173872e-05,-0.000113296666038,-2.80757828436e-05,1793193528171620608
+132,2.200000000,POSE1_TO_POSE2_PRESS,764.507623318,742,712,672,659.492376682,633,878,784,800,648,628.507623318,651,0.403046568111,-0.0154730114445,0.0799299053629,0.99999999148,6.56961069235e-05,-0.000110624403537,-2.20598602036e-05,1793193528188287488
+133,2.216666667,POSE1_TO_POSE2_PRESS,764.913383135,742,712,672,659,633,877.913383135,784.086616865,799.913383135,648,629,651,0.403329437176,-0.015482258127,0.0799297516648,0.999999989771,9.31321430554e-05,-0.000107313554867,-1.63940365519e-05,1793193528204954112
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.340138322,742,712,672,659,633,877.340138322,784.659861678,799.340138322,648,629,651,0.403654567649,-0.0154902775656,0.0799332573586,0.99999999238,6.17439679286e-05,-0.000104345118931,-2.3213587176e-05,1793193528221620480
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632.760288788,877,785,799,648.239711212,629,651,0.40399409381,-0.0154999515681,0.0799364543342,0.999999993997,3.85771151509e-05,-9.87421877623e-05,-2.77046762674e-05,1793193528238287104
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632.170801982,877,785,799,648.829198018,629,651,0.404354625477,-0.0155120398341,0.0799392008422,0.999999995223,2.74064404365e-05,-8.92951223891e-05,-2.87981808101e-05,1793193528254953728
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632.41308537,877.41308537,784.58691463,799,648.58691463,629,651,0.404743445182,-0.0155200702963,0.0799359476507,0.999999995213,1.5075916863e-05,-9.16644965426e-05,-3.07308388114e-05,1793193528271620352
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632.994688417,877.994688417,784.005311583,799,648.005311583,629,651,0.405143804949,-0.0155264453821,0.0799302468889,0.999999994567,2.27223462405e-06,-9.88543731069e-05,-3.30058284191e-05,1793193528288286976
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,742.568379106,712,672,659.568379106,633,878,784,799.568379106,648,629,651,0.405581993003,-0.0155358898848,0.0799264757161,0.999999993544,-1.1579752268e-05,-0.000107290897846,-3.55811042547e-05,1793193528304953600
+140,2.333333333,POSE1_TO_POSE2_PRESS,764.142503022,742.857496978,712,672,659.857496978,633,878,784,799.857496978,648.142503022,628.857496978,651,0.4060345926,-0.0155449970464,0.079922507284,0.99999999233,-2.46176161741e-05,-0.000115328974053,-3.7852300115e-05,1793193528321620480
+141,2.350000000,POSE1_TO_POSE2_PRESS,764.718165361,742.281834639,712,672,659.281834639,633,878,784,799.281834639,648.718165361,628.281834639,651,0.406529938366,-0.0155529928145,0.0799178851941,0.999999991157,-3.51514593068e-05,-0.000122120978633,-3.91907860045e-05,1793193528338286848
+142,2.366666667,POSE1_TO_POSE2_PRESS,764.698776736,742,712,672,659,633,878,784.301223264,799.301223264,648.698776736,628.301223264,650.698776736,0.407024163237,-0.0155466054538,0.0799111144099,0.999999989494,-3.14002014644e-05,-0.000135492614565,-4.0845037758e-05,1793193528354953472
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.108625062,742,712,672,659,633,878,784.891374938,799.891374938,648.108625062,628.891374938,650.108625062,0.40751731302,-0.0155264220329,0.0799022826328,0.999999986947,-1.39469104852e-05,-0.000155175325624,-4.28021670855e-05,1793193528371620096
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,742,712,672,659,633,878,785,800,648.472840288,628.527159712,650.472840288,0.408069236924,-0.0155139350507,0.0798973564557,0.999999985388,-1.36298323626e-06,-0.000164997740728,-4.47025196972e-05,1793193528388286976
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632.948182241,878,785,800,649,628.051817759,651,0.408641624167,-0.0155055549162,0.0798958605395,0.999999984735,7.49631022686e-06,-0.000168295401772,-4.63722739385e-05,1793193528404953600
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632.37452549,878,785,800,649,628.62547451,651,0.409286568801,-0.0155210487673,0.0799200369176,0.99999999067,-1.00917480245e-05,-0.000128284987349,-4.58487364443e-05,1793193528421620224
+147,2.450000000,POSE1_TO_POSE2_PRESS,763.795719565,742,712,672,659,632.204280435,878,785,799.795719565,648.795719565,628.795719565,651,0.409947684885,-0.0155349628282,0.0799472829493,0.999999995038,-2.88615712371e-05,-8.39711941921e-05,-4.51683897023e-05,1793193528438286848
+148,2.466666667,POSE1_TO_POSE2_PRESS,763.207229125,742,712,672,659,632.792770875,878,785,799.207229125,648.207229125,628.207229125,651,0.410639216142,-0.0155459056236,0.0799803023744,0.999999997283,-4.98540532391e-05,-3.15636222724e-05,-4.41931166849e-05,1793193528454953472
+149,2.483333333,POSE1_TO_POSE2_PRESS,763,742,712,672.375447081,659.375447081,633,878,785,799.375447081,648,628.375447081,651,0.411309715955,-0.0155477190996,0.0799786623088,0.999999996536,-5.9512553489e-05,-3.57466282534e-05,-4.59233857334e-05,1793193528471620096
+150,2.500000000,POSE1_TO_POSE2_PRESS,763,742,712,672.954963024,659.954963024,633,878,785,799.954963024,648,628.954963024,651,0.411968784407,-0.0155445704648,0.0799581835742,0.99999999431,-6.30106302389e-05,-7.0688630884e-05,-4.9124213308e-05,1793193528488286720
+151,2.516666667,POSE1_TO_POSE2_PRESS,763.531893538,742,712,672.468106462,659.468106462,633,878,784.468106462,799.468106462,648,629,651,0.412647119582,-0.0155354538017,0.079922895861,0.999999990121,-5.35194960793e-05,-0.000117779973568,-5.4961553883e-05,1793193528504953344
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,742.108261759,712,672,659,633,878,784.108261759,799,648.108261759,628.891738241,651,0.41334188309,-0.0155282459236,0.0798946171999,0.999999985304,-4.62297402972e-05,-0.000153803150761,-5.99868399459e-05,1793193528521619968
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,742.683145253,712,672,659,633,878,784.683145253,799,648.683145253,628.316854747,651,0.414100457185,-0.0155314326514,0.0799019268482,0.999999987273,-5.31456973893e-05,-0.000137708672218,-6.05545248845e-05,1793193528538286848
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,742.735158863,712,672.264841137,659,633,878,785,799.264841137,649,628.264841137,651,0.414877204278,-0.0155355733322,0.0799192661053,0.99999999064,-5.86533337326e-05,-0.000108086748349,-5.99701110912e-05,1793193528554953472
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,742.145097407,712,672.854902593,659,633,878,785,799.854902593,649,628.854902593,651,0.415676267597,-0.015540885451,0.0799489215491,0.999999994458,-6.24315774933e-05,-6.18533541345e-05,-5.7970940053e-05,1793193528571620096
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,742,712,673,659.436784816,633,878,785,799.563215184,649,629,651,0.416447330448,-0.0155393130536,0.0799399413482,0.999999992826,-6.61540756832e-05,-8.05303641526e-05,-5.90404474084e-05,1793193528588286976
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,742,712,673,660,633,878,785,799,649,628.984150137,651,0.41721210016,-0.0155356366033,0.0799197576923,0.999999988802,-6.97847550563e-05,-0.000117486517658,-6.10113590029e-05,1793193528604953600
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,742,712,673,660,633,878,785,799,649,628.410364956,651,0.418076754244,-0.0155369201726,0.079948685486,0.999999994328,-7.08231927311e-05,-5.280415546e-05,-5.94883833279e-05,1793193528621620480
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,742.167653347,712,673,660,632.832346653,878,785,799.167653347,648.832346653,628.167653347,651,0.41893273228,-0.0155372763068,0.0799692612998,0.999999995814,-7.02010469618e-05,-7.29207717725e-06,-5.82253515943e-05,1793193528638287104
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,742.756301419,712,673,660,632.243698581,878,785,799.756301419,648.243698581,628.756301419,651,0.419766923817,-0.0155353035568,0.0799688644348,0.999999996152,-6.54090066585e-05,-9.91854961242e-06,-5.76150663481e-05,1793193528654953728
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,742.658343107,712,673,659.658343107,632,878,785,799.658343107,648,628.658343107,651,0.42060083507,-0.0155365984153,0.0799602254497,0.999999996067,-6.30166095711e-05,-2.39257031536e-05,-5.76353774106e-05,1793193528671620352
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,742.0753138,712,673,659.0753138,632,878,785,799.0753138,648,628.0753138,651,0.421434548276,-0.0155402017612,0.0799457636042,0.999999995314,-6.23195031385e-05,-4.59730352781e-05,-5.81011896708e-05,1793193528688286976
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,742,712,673,659.499106842,632.499106842,878,784.500893158,799,648,628,650.500893158,0.422299624448,-0.0155436782237,0.079966380066,0.999999995696,-7.18240680813e-05,-1.44167848462e-05,-5.6933814541e-05,1793193528704954368
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,742,712,673,660,633,878,784,799.145122797,648.072561399,628.072561399,650.072561399,0.423164044685,-0.01554636798,0.079988912299,0.999999995014,-8.09163005537e-05,1.83577738593e-05,-5.55713635423e-05,1793193528721622016
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,742,712,673,660,633,878,784,800.296342303,648.648171151,628.648171151,650.648171151,0.423991663703,-0.0155437342011,0.0799886518256,0.999999995565,-7.66586341266e-05,4.45307575472e-06,-5.45360611053e-05,1793193528738288128
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.230339271,742.230339271,712,673.230339271,660.230339271,633,878,784.230339271,800.769660729,649,628.769660729,651,0.424809358825,-0.0155405681444,0.0799666121132,0.999999994953,-7.26590846476e-05,-4.02852205908e-05,-5.64936784016e-05,1793193528754954240
+167,2.783333333,POSE1_TO_POSE2_PRESS,764.822818562,742.822818562,712,673.822818562,660.822818562,633,878,784.822818562,800.177181438,649,628.177181438,651,0.4256114517,-0.0155365652385,0.0799103310227,0.999999986709,-6.90653462421e-05,-0.000133500184779,-6.31567716458e-05,1793193528771621376
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.596358826,742.596358826,712,674,660.596358826,632.596358826,878,785,799.596358826,649,628.403641174,651,0.426456830152,-0.0155398744284,0.07989651311,0.999999984625,-7.57459357945e-05,-0.000143883786851,-6.56560011146e-05,1793193528788288512
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.020509419,742.020509419,712,674,660.020509419,632.020509419,878,785,799.020509419,649,628.979490581,651,0.427320675783,-0.0155463032288,0.0799008115607,0.999999986957,-8.68099334501e-05,-0.000118928465337,-6.63787722296e-05,1793193528804954880
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,742.55576541,712,673.44423459,660,632,878,785,799.55576541,649,629,651,0.428141088574,-0.0155486508823,0.0799111498659,0.999999987219,-8.40756578008e-05,-0.000120298290705,-6.34170240515e-05,1793193528821620992
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,743,712,673.134362007,660,632,878,785,800,649,628.865637993,650.865637993,0.428961664624,-0.0155503217918,0.0799249310442,0.999999988462,-8.21711508421e-05,-0.000112390991071,-6.07601831929e-05,1793193528838287104
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,743,712,673.720716123,660,632,878,785,800,649,628.279283877,650.279283877,0.429788185772,-0.0155502231694,0.0799495436343,0.999999992181,-8.47722229112e-05,-7.00050180967e-05,-5.95867981558e-05,1793193528854953728
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,743,712,674,660,632.302702171,878,785,799.697297829,649,628.302702171,650.302702171,0.430629088952,-0.0155525328922,0.079979355654,0.999999994227,-8.80380535265e-05,-2.22736089501e-05,-5.74409618386e-05,1793193528871620352
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,743,712,674,660,632.880715382,878,785,799.119284618,649,628.880715382,650.880715382,0.431483072708,-0.0155570330321,0.080013896612,0.999999993837,-9.19084893135e-05,3.03195323716e-05,-5.44106701263e-05,1793193528888287232
+175,2.916666667,POSE1_TO_POSE2_PRESS,764,743,712,674,660,632.540258859,878,785,799,649,629,651,0.432225854153,-0.0155555053326,0.0799906828146,0.999999994611,-8.64378838954e-05,-1.41920416096e-05,-5.57269286979e-05,1793193528904954112
+176,2.933333333,POSE1_TO_POSE2_PRESS,764,743,712,674,660,632.038662768,878.038662768,785,799.038662768,649,628.961337232,651,0.432938677098,-0.0155524633958,0.0799513267456,0.999999991618,-7.95681502309e-05,-8.37640801033e-05,-5.84428986429e-05,1793193528921621248
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,743,712,674,660,632.612497831,878.612497831,785,799.612497831,649,628.387502169,651,0.433637072848,-0.0155501578653,0.0798964105349,0.999999982758,-8.69536962771e-05,-0.000150706390747,-6.48888111634e-05,1793193528938287872
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,742.808290887,711.808290887,674.191709113,660.191709113,632.808290887,878.808290887,785,800,649,628.191709113,651,0.43434916114,-0.0155510980131,0.0798693150416,0.999999977422,-9.0568290369e-05,-0.000179748024758,-6.8143156595e-05,1793193528954954752
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,742.217898991,711.217898991,674.782101009,660.782101009,632.217898991,878.217898991,785,800,649,628.782101009,651,0.435089724894,-0.0155587879494,0.0799000761571,0.99999998573,-8.63407259107e-05,-0.000129970532668,-6.47602455698e-05,1793193528971620864
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,742.36471672,711.36471672,674.63528328,660.63528328,632,878,784.63528328,800,648.63528328,628.63528328,651,0.435795801788,-0.0155648694277,0.0799196840117,0.999999987323,-9.57814916675e-05,-0.000110983763033,-6.21520474766e-05,1793193528988287232
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,742.942783524,711.942783524,674.057216476,660.057216476,632,878,784.057216476,800,648.057216476,628.057216476,651,0.436481704696,-0.0155700099981,0.079932767488,0.99999998574,-0.000113217886211,-0.00011000879259,-5.99970371621e-05,1793193529004953600
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,742.479199421,712,674,660,632,878,784,800,648.520800579,628,651,0.437099366988,-0.0155732615015,0.0799115106125,0.999999979168,-0.00012626315282,-0.000148010379515,-6.17551625984e-05,1793193529021620480
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,742.097861741,712,674,659.902138259,632,878.097861741,784,800,649,628,651,0.43770107198,-0.0155763102536,0.0798853627772,0.999999970311,-0.000137113191838,-0.000190977279393,-6.4079690937e-05,1793193529038287616
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,742.670313689,712,674,659.329686311,632,878.670313689,784,800,649,628,651,0.438261744841,-0.0155793821223,0.0798537901727,0.999999959853,-0.000139656580134,-0.000237259647281,-6.70663689382e-05,1793193529054954752
+185,3.083333333,POSE1_TO_POSE2_PRESS,764,742.749059854,711.749059854,674,659,632,879,784,800,648.749059854,628,651,0.438804708354,-0.0155846302152,0.0798218704009,0.999999946072,-0.000148308068138,-0.000284510398713,-7.01039172001e-05,1793193529071621632
+186,3.100000000,POSE1_TO_POSE2_PRESS,764,742.157332108,711.157332108,674,659,632,879,784,800,648.157332108,628,651,0.439323621759,-0.0155928337147,0.0797894791633,0.999999928196,-0.000165254620261,-0.000333076253273,-7.32105492633e-05,1793193529088288000
+187,3.116666667,POSE1_TO_POSE2_PRESS,764.425154674,742,711,674,659,632,879,784,800,648.425154674,628.425154674,651,0.439810413788,-0.0155992687585,0.0797452076227,0.999999899164,-0.000184844847633,-0.000401735809207,-7.81775294865e-05,1793193529104954624
+188,3.133333333,POSE1_TO_POSE2_PRESS,764.995737271,742.004262729,711,674,659.004262729,631.995737271,879,783.995737271,800,649,628.995737271,650.995737271,0.4402852017,-0.0156050465617,0.0796966921979,0.999999861398,-0.000205185546229,-0.000477582404984,-8.37784987514e-05,1793193529121620992
+189,3.150000000,POSE1_TO_POSE2_PRESS,764.42088913,742.57911087,711,674,659.57911087,631.42088913,879,783.42088913,800,649,628.42088913,650.42088913,0.440710431953,-0.0156085848781,0.0796560744173,0.999999830401,-0.000197814043503,-0.000541298313265,-8.40515918513e-05,1793193529138287360
+190,3.166666667,POSE1_TO_POSE2_PRESS,764,742.842626539,711,674,659.685253078,631,878.842626539,783,800,648.842626539,628,650.157373461,0.441138694074,-0.0156124762318,0.079629254978,0.999999807416,-0.00019667162991,-0.000582527592174,-8.45551162218e-05,1793193529154953728
+191,3.183333333,POSE1_TO_POSE2_PRESS,764,742.255029481,711,674,658.510058962,631,878.255029481,783,800,648.255029481,628,650.744970519,0.441575244731,-0.015617332711,0.0796401570875,0.999999815657,-0.000212558143223,-0.000562283510342,-8.56885886305e-05,1793193529171620352
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,742.32950709,711,674,658.32950709,631,878.32950709,783,800,648.32950709,628,650.67049291,0.442012183065,-0.015624874035,0.0796649124956,0.99999983481,-0.000224662654443,-0.000522327538868,-8.41442560806e-05,1793193529188287488
+193,3.216666667,POSE1_TO_POSE2_PRESS,764,742.911696691,711,674,658.911696691,631,878.911696691,783,800,648.911696691,628,650.088303309,0.442449418662,-0.015634474232,0.0797002913053,0.999999860245,-0.000233866935941,-0.000467255504967,-8.05464485577e-05,1793193529204954368
+194,3.233333333,POSE1_TO_POSE2_PRESS,764,742.512769791,711,674,658.512769791,631,878.512769791,783,800,649,628,650.487230209,0.442819444263,-0.015643534467,0.0797114825431,0.999999864693,-0.000241010387519,-0.000454233838203,-7.87315252647e-05,1793193529221621248
+195,3.250000000,POSE1_TO_POSE2_PRESS,764,742,711,674.061502289,658,631,878,782.938497711,800.061502289,648.938497711,628,651,0.443167854775,-0.0156523548226,0.0797153172029,0.999999863598,-0.000248158538116,-0.000453030683377,-7.73543003109e-05,1793193529238287872
+196,3.266666667,POSE1_TO_POSE2_PRESS,764,742,711,674.635179975,658,631,878,782.364820025,800.635179975,648.364820025,628,651,0.443436332052,-0.0156599814952,0.0796939020186,0.999999844753,-0.000258414274235,-0.00048763857603,-7.69675062634e-05,1793193529254954240
+197,3.283333333,POSE1_TO_POSE2_PRESS,764,742,711,674.783556439,658.216443561,630.783556439,878,782,800.567112878,648,628,651,0.443696232872,-0.0156677391797,0.0796750210775,0.9999998273,-0.000269027061405,-0.000516730381514,-7.75566325692e-05,1793193529271620864
+198,3.300000000,POSE1_TO_POSE2_PRESS,764,742,711,674.189042323,658.810957677,630.189042323,878,782,799.378084645,648,628,651,0.443941152829,-0.0156757257073,0.079660566802,0.99999981379,-0.000280263523126,-0.000536187015796,-7.98504378329e-05,1793193529288287232
+199,3.316666667,POSE1_TO_POSE2_PRESS,764,742,711,674.393527386,658.606472614,630,878,782,799.393527386,648,628,651,0.444180315242,-0.0156836813619,0.0796591135056,0.999999810738,-0.000291109609586,-0.000536107348674,-7.98053744522e-05,1793193529304953600
+200,3.333333333,POSE1_TO_POSE2_PRESS,764,742,711,674.970528327,658.029471673,630,878,782,799.970528327,648,628,651,0.444416793347,-0.0156916226234,0.0796637216308,0.99999981255,-0.000301773693085,-0.000526919309081,-7.86698648096e-05,1793193529321620224
+201,3.350000000,POSE1_TO_POSE2_PRESS,764,742.544675965,711.544675965,675,658,630,878.544675965,782,799.455324035,648,628,651,0.44461769638,-0.0156964643073,0.0796672188757,0.999999813613,-0.0003040001873,-0.000524098285268,-7.53561029139e-05,1793193529338286848
+202,3.366666667,POSE1_TO_POSE2_PRESS,764,742.877823949,711.877823949,674.877823949,658,630,878.877823949,782,799.122176051,648.122176051,628,651,0.444806624298,-0.0157014390213,0.0796685835863,0.999999812951,-0.000306458518816,-0.000524253143622,-7.3079184847e-05,1793193529354953728
+203,3.383333333,POSE1_TO_POSE2_PRESS,764,742.28687143,711.28687143,674.28687143,658,630,878.28687143,782,799.71312857,648.71312857,628,651,0.444956952252,-0.0157075643064,0.0796619954183,0.999999805788,-0.000311548977138,-0.00053451118188,-7.52303931523e-05,1793193529371620352
+204,3.400000000,POSE1_TO_POSE2_PRESS,764,742.296307076,711.296307076,674,658,630,878,781.703692924,800,648.703692924,628,651,0.445098857939,-0.0157119545692,0.0796596486653,0.999999802742,-0.000316183435052,-0.000537348665097,-7.6156579763e-05,1793193529388287232
+205,3.416666667,POSE1_TO_POSE2_PRESS,764,742.872151509,711.872151509,674,658,630,878,781.127848491,800,648.127848491,628,651,0.445232818015,-0.0157147080041,0.0796613032818,0.99999980365,-0.000320387699956,-0.000533185564522,-7.59270755685e-05,1793193529404953856
+206,3.433333333,POSE1_TO_POSE2_PRESS,764.447860023,743,711.552139977,674.447860023,658,630,878.447860023,781,800,648,628,650.552139977,0.445343145855,-0.0157147963192,0.0796615048832,0.999999802776,-0.000323496241315,-0.000532969449838,-7.5770961614e-05,1793193529421620480
+207,3.450000000,POSE1_TO_POSE2_PRESS,764.97588962,743,711,674.97588962,658,630,879,781,800,648.02411038,628,650.02411038,0.445445575515,-0.0157141398728,0.0796612200072,0.999999801396,-0.000326108248977,-0.000533987402228,-7.56282699817e-05,1793193529438286848
+208,3.466666667,POSE1_TO_POSE2_PRESS,764.386014212,743,711,674.386014212,658,630,879,781,800,648.613985788,628,650.613985788,0.445520924828,-0.0157138543404,0.0796592498812,0.999999800074,-0.000324406395154,-0.000537532166934,-7.53090772384e-05,1793193529454953728
+209,3.483333333,POSE1_TO_POSE2_PRESS,764,743,711.199907293,674,658,630,878.800092707,781,800,649,628,650.800092707,0.445589110027,-0.01571408072,0.079656148673,0.999999798216,-0.000323430146274,-0.000541583151833,-7.51633317932e-05,1793193529471620608
+210,3.500000000,POSE1_TO_POSE2_PRESS,764,743,711.778341956,674,658,630,878.221658044,781,800,649,628,650.221658044,0.445643729861,-0.0157152764123,0.0796509057444,0.999999795347,-0.000323827841114,-0.000546592671642,-7.53460113692e-05,1793193529488286976
+211,3.516666667,POSE1_TO_POSE2_PRESS,764,743,711.644587651,674,658,630,878.355412349,781,800,648.644587651,628,650.355412349,0.445688476577,-0.0157157349613,0.0796473831754,0.999999792715,-0.000323995171873,-0.000551306156597,-7.52245237189e-05,1793193529504953856
+212,3.533333333,POSE1_TO_POSE2_PRESS,764,743,711.068364795,674,658,630,878.931635205,781,800,648.068364795,628,650.931635205,0.445727089328,-0.0157157355381,0.0796449294305,0.999999790223,-0.000324019382122,-0.000555835721567,-7.49140631376e-05,1793193529521620480
+213,3.550000000,POSE1_TO_POSE2_PRESS,764,742.491007917,711.508992083,674,657.491007917,630,879,781,800,648,628,651,0.445756428949,-0.015717012838,0.0796451248694,0.999999789909,-0.000325421025186,-0.000555658152461,-7.43420476917e-05,1793193529538287104
+214,3.566666667,POSE1_TO_POSE2_PRESS,764,742,711.912249696,674,657,630,879,781,800.087750304,648,628,651,0.445782717157,-0.0157182518079,0.0796454719437,0.999999789944,-0.000326772380539,-0.000554870868283,-7.38212394012e-05,1793193529554953728
+215,3.583333333,POSE1_TO_POSE2_PRESS,764,742,711.326403333,674,657,630,879,781,800.673596667,648,628,651,0.445798770352,-0.0157182976521,0.0796446554831,0.999999790303,-0.000326785781783,-0.000554219422966,-7.37909535801e-05,1793193529571620352
+216,3.600000000,POSE1_TO_POSE2_PRESS,764,742,711,674,657,629.742001088,878.742001088,781,800.742001088,648,628,651,0.445811834851,-0.0157176293905,0.0796441479039,0.99999979037,-0.000326117949061,-0.000554496179586,-7.37593789196e-05,1793193529588286976
+217,3.616666667,POSE1_TO_POSE2_PRESS,764,742,711,674,657,629.15941571,878.15941571,781,800.15941571,648,628,651,0.445821139293,-0.0157160627178,0.079644028926,0.999999790067,-0.000324593061072,-0.000555940700029,-7.37261827818e-05,1793193529604953600
+218,3.633333333,POSE1_TO_POSE2_PRESS,763.581909027,742,711,674,657,629,878,781,800.418090973,648.418090973,627.581909027,651,0.445826115477,-0.0157151316957,0.0796431036827,0.999999789997,-0.00032241765034,-0.000557372087947,-7.34080100242e-05,1793193529621620224
+219,3.650000000,POSE1_TO_POSE2_PRESS,763.006315595,742,711,674,657,629,878,781,800.993684405,648.993684405,627.006315595,651,0.445829461126,-0.0157144401348,0.0796418747045,0.99999979001,-0.000319997175912,-0.00055879852857,-7.29824814006e-05,1793193529638286848
+220,3.666666667,POSE1_TO_POSE2_PRESS,763.568209051,742.568209051,711,674.568209051,657,629.568209051,878,781,800.431790949,649,627.568209051,651,0.445830936294,-0.0157144862607,0.079641620833,0.999999788591,-0.000321840685186,-0.000560232713211,-7.33205980277e-05,1793193529654953472
+221,3.683333333,POSE1_TO_POSE2_PRESS,764,742.853828467,711,674.853828467,657,629.853828467,878.146171533,781,800,649,628,651,0.445832401211,-0.0157139616126,0.0796413596987,0.999999787898,-0.000322237662401,-0.000561239496205,-7.33317737274e-05,1793193529671620096
+222,3.700000000,POSE1_TO_POSE2_PRESS,764,742.265429386,711,674.265429386,657,629.265429386,878.734570614,781,800,649,628,651,0.445833897898,-0.0157116853845,0.0796410438632,0.999999789452,-0.000318115183142,-0.000560952957507,-7.23281909003e-05,1793193529688286976
+223,3.716666667,POSE1_TO_POSE2_PRESS,764,742.319590863,711,674,657,629,878.680409137,781,800,649,627.680409137,650.680409137,0.44583491339,-0.0157109187598,0.0796405854167,0.99999978942,-0.000317791850754,-0.000561210415373,-7.21834973376e-05,1793193529704953344
+224,3.733333333,POSE1_TO_POSE2_PRESS,764,742.901834315,711,674,657,629,878.098165685,781,800,649,627.098165685,650.098165685,0.445835533415,-0.0157113927872,0.0796400097666,0.999999788091,-0.000320590809197,-0.000561914951405,-7.27446733125e-05,1793193529721620224
+225,3.750000000,POSE1_TO_POSE2_PRESS,763.523322407,742.523322407,711,674,657.476677593,629.476677593,878.476677593,781,800,649,627.476677593,650.476677593,0.44583774442,-0.0157120790932,0.0796409004395,0.999999788965,-0.000321369301495,-0.000559940705791,-7.25105825331e-05,1793193529738287616
+226,3.766666667,POSE1_TO_POSE2_PRESS,763.05010554,742,711,674,657.94989446,629.94989446,879,780.94989446,800,649,628,651,0.445839938894,-0.0157125766319,0.0796418566288,0.999999790139,-0.000321514620539,-0.000557802887831,-7.21574967174e-05,1793193529754955520
+227,3.783333333,POSE1_TO_POSE2_PRESS,763.624426766,742,711,674,657.375573234,629.375573234,879,780.375573234,800,649,628,651,0.445838584951,-0.0157106488677,0.0796403872779,0.99999978981,-0.000319322209152,-0.000559637109425,-7.22467158192e-05,1793193529771621888
+228,3.800000000,POSE1_TO_POSE2_PRESS,764,742,711,674,657,629,878.794590567,780,800,648.794590567,628,651,0.445838419189,-0.0157099769138,0.0796399037792,0.999999789839,-0.000317766917041,-0.000560483312986,-7.21437382079e-05,1793193529788288256
+229,3.816666667,POSE1_TO_POSE2_PRESS,764,742,711,674,657,629,878.201019835,780,800,648.201019835,628,651,0.445840498729,-0.015711678059,0.0796412832414,0.999999790556,-0.000317415586541,-0.000559462463138,-7.16775673136e-05,1793193529804954624
+230,3.833333333,POSE1_TO_POSE2_PRESS,764,742,711,674.380628382,657,629.380628382,878,780.380628382,799.619371618,648.380628382,628,650.619371618,0.4458405558,-0.0157117004591,0.0796412522953,0.999999790463,-0.000317173386052,-0.000559807374691,-7.13423864026e-05,1793193529821620992
+231,3.850000000,POSE1_TO_POSE2_PRESS,764,742,711,674.956171228,657,629.956171228,878,780.956171228,799.043828772,648.956171228,628,650.043828772,0.445839577193,-0.0157108631973,0.0796404990988,0.999999789957,-0.000316987069523,-0.000560851673564,-7.10742836421e-05,1793193529838287104
+232,3.866666667,POSE1_TO_POSE2_PRESS,764,742,711,674.467036141,657,630,878.532963859,781,799,648.467036141,628,650.532963859,0.445838478869,-0.0157095914937,0.0796391127247,0.999999788623,-0.000317360079886,-0.000562930327718,-7.17363261611e-05,1793193529854953728
+233,3.883333333,POSE1_TO_POSE2_PRESS,764,742.112219214,711,674,657,630,878.887780786,780.887780786,799.112219214,648,628,651,0.445838050683,-0.0157087032672,0.0796383181943,0.999999787658,-0.000317985123284,-0.000564220706572,-7.22732059129e-05,1793193529871620352
+234,3.900000000,POSE1_TO_POSE2_PRESS,764,742.701506008,711,674,657,630,878.298493992,780.298493992,799.701506008,648,628,651,0.445840513351,-0.0157095975222,0.0796402615974,0.999999788568,-0.000319485610678,-0.000561797497129,-7.19520468786e-05,1793193529888286976
+235,3.916666667,POSE1_TO_POSE2_PRESS,764.285726827,742.714273173,711,674,657,629.714273173,878.285726827,780,800,648,627.714273173,651,0.44584220132,-0.0157102017341,0.0796413933571,0.999999789619,-0.000319908496976,-0.000559724505499,-7.16182677937e-05,1793193529904953600
+236,3.933333333,POSE1_TO_POSE2_PRESS,764.864747577,742.135252423,711,674,657,629.135252423,878.864747577,780,800,648,627.135252423,651,0.445843094072,-0.0157105082216,0.0796416919783,0.99999979082,-0.00031922524353,-0.000558011006441,-7.1271534394e-05,1793193529921620224
+237,3.950000000,POSE1_TO_POSE2_PRESS,764.559343723,742,711,674,657,629.440656277,879,780.440656277,800,648.440656277,627.440656277,651,0.445842625227,-0.015709725071,0.0796411957586,0.999999790381,-0.00031849836901,-0.000559200214577,-7.13611989745e-05,1793193529938286848
+238,3.966666667,POSE1_TO_POSE2_PRESS,764,742.015952615,711,674,657,630,879,781,800,648.984047385,628,651,0.445841741699,-0.0157086692866,0.0796404604918,0.999999789458,-0.000317743423958,-0.000561249038037,-7.15685829847e-05,1793193529954953472
+239,3.983333333,POSE1_TO_POSE2_PRESS,764,742.603289696,711,674,657,630,879,781,800,648.396710304,628,651,0.445840869201,-0.0157097434991,0.0796398400522,0.999999789243,-0.000316459249604,-0.000562399688232,-7.12284363806e-05,1793193529971620352
+240,4.000000000,POSE1_TO_POSE2_PRESS,764,742.812359882,711,674,657,629.812359882,879,780.812359882,800,648,628,651,0.445840329344,-0.0157100196366,0.0796393468162,0.999999789273,-0.000315026057908,-0.000563172306692,-7.1054120725e-05,1793193529988286976
+241,4.016666667,POSE1_TO_POSE2_PRESS,764,742.234224982,711,674,657,629.234224982,879,780.234224982,800,648,628,651,0.445840481741,-0.0157086349133,0.0796391183017,0.999999789817,-0.00031328274874,-0.000563158209424,-7.12249131652e-05,1793193530004953600
+242,4.033333333,POSE1_TO_POSE2_PRESS,764,742.344291885,711,674,657.344291885,629.344291885,879,780,800,648,628,651,0.445840841628,-0.0157080260145,0.079639082115,0.999999789796,-0.000313771304781,-0.000562896544262,-7.14365043098e-05,1793193530021620224
+243,4.050000000,POSE1_TO_POSE2_PRESS,764,742.923068872,711,674,657.923068872,629.923068872,879,780,800,648,628,651,0.445841342829,-0.0157079455024,0.0796391769162,0.999999789389,-0.000315779905843,-0.00056246626931,-7.1675882011e-05,1793193530038287104
+244,4.066666667,POSE1_TO_POSE2_PRESS,764,742.501821614,711,674,657.501821614,629.501821614,878.501821614,780.498178386,800,648,628,650.501821614,0.445842233167,-0.015708086543,0.0796385413549,0.999999788895,-0.000317052874628,-0.000562596854874,-7.19124637502e-05,1793193530054953728
+245,4.083333333,HOLD_POSE2,764,742,711,675,658,630,878,780,800,649,628,651,0.44584653759,-0.0157104758156,0.0796427566043,0.99999979188,-0.000317750844663,-0.000557005623562,-7.08514148021e-05,1793193530097799168
+246,4.100000000,HOLD_POSE2,764,742.57890951,711,674.42109049,657.42109049,629.42109049,878.57890951,780,800,648.42109049,628,651,0.445845289989,-0.015708078859,0.07964166613,0.999999791592,-0.000315713704269,-0.000558687838577,-7.07781898553e-05,1793193530114465792
+247,4.116666667,HOLD_POSE2,764.157693043,743,711,674,657,629,879,780.157693043,800,648.157693043,628,650.842306957,0.44584469001,-0.0157064022968,0.0796411623484,0.999999791377,-0.000314587605607,-0.000559702121721,-7.08111935898e-05,1793193530131132160
+248,4.133333333,HOLD_POSE2,764.736140574,743,711,674,657,629,879,780.736140574,800,648.736140574,628,650.263859426,0.445845818011,-0.0157066478811,0.0796422239722,0.999999791373,-0.000315892335993,-0.000558934238273,-7.11276352706e-05,1793193530147799040
+249,4.150000000,HOLD_POSE2,764.682319086,743,711.317680914,674,657,629.317680914,878.682319086,781,800,648.682319086,627.682319086,650.317680914,0.445846466453,-0.0157061858707,0.079642176077,0.999999791667,-0.000315348618689,-0.000558705731784,-7.12026052257e-05,1793193530164465664
+250,4.166666667,HOLD_POSE2,764.0981847,743,711.9018153,674,657,629.9018153,878.0981847,781,800,648.0981847,627.0981847,650.9018153,0.445846712668,-0.0157051303684,0.0796411975777,0.999999792209,-0.000313254523925,-0.000558929625395,-7.10750418126e-05,1793193530181132288
+251,4.183333333,HOLD_POSE2,764,742.518059512,711.518059512,674,657,630,878.481940488,780.518059512,800,648.481940488,627.481940488,651,0.445848225925,-0.0157066652067,0.0796426708002,0.999999792922,-0.000314837280784,-0.000556751095661,-7.11391059925e-05,1793193530197798656
+252,4.200000000,HOLD_POSE2,764.061143495,742.061143495,711,674,657,629.938856505,879,780.061143495,800.061143495,648.938856505,627.938856505,651,0.445849607933,-0.0157085112859,0.0796442367511,0.999999793473,-0.000316811237627,-0.000554632857458,-7.11775447232e-05,1793193530214465536
+253,4.216666667,HOLD_POSE2,764.639398165,742.639398165,711,674,657,629.360601835,879,780.639398165,800.639398165,648.360601835,627.360601835,651,0.445847714818,-0.0157085633123,0.0796423974844,0.999999792438,-0.000315810774075,-0.000557129738202,-7.06718109757e-05,1793193530231133184
+254,4.233333333,HOLD_POSE2,764.783456424,742.783456424,711,674.216543576,657,629.216543576,879,780.783456424,800.783456424,648,627.216543576,651,0.445846872389,-0.0157072568852,0.0796412908563,0.999999792315,-0.00031362833459,-0.000558608741757,-7.04552623566e-05,1793193530247800320
+255,4.250000000,HOLD_POSE2,764.208148861,742.208148861,711,674.791851139,657,629.791851139,879,780.208148861,800.208148861,648,627.791851139,651,0.445847770709,-0.0157036998061,0.0796413980458,0.999999793702,-0.00030948762701,-0.00055840135157,-7.07178284831e-05,1793193530264466688
+256,4.266666667,HOLD_POSE2,764,742,711.375135995,674.624864005,657.375135995,630,879,780.375135995,800,648.375135995,628,651,0.44584700467,-0.0157041133955,0.0796410950556,0.999999792943,-0.000310683293332,-0.000559114740249,-7.05748898475e-05,1793193530281133056
+257,4.283333333,HOLD_POSE2,764,742,711.962943377,674.037056623,657.962943377,630,879,780.962943377,800,648.962943377,628,651,0.445845295076,-0.0157067780285,0.0796405595273,0.999999790957,-0.000314904246236,-0.000560350135112,-7.02020632454e-05,1793193530297798912
+258,4.300000000,HOLD_POSE2,764,742,711.457263582,674.542736418,657.457263582,629.457263582,878.457263582,781,800,648.457263582,628,650.457263582,0.445845610394,-0.0157057691261,0.0796403105988,0.999999791059,-0.000313312766465,-0.000561022448829,-7.0502200392e-05,1793193530314465536
+259,4.316666667,HOLD_POSE2,764,742,711,674.878259152,657,629.121740848,878.121740848,781,800,648.121740848,628,650.121740848,0.445846405704,-0.0157049647943,0.0796403153347,0.999999791476,-0.000311872229345,-0.00056104629243,-7.07930407521e-05,1793193530331132160
+260,4.333333333,HOLD_POSE2,764,742,711,674.300189306,657,629.699810694,878.699810694,781,800,648.699810694,628,650.699810694,0.44584848951,-0.0157058537483,0.0796411986157,0.999999792553,-0.000312463400119,-0.000558781445737,-7.08793091262e-05,1793193530347799040
+261,4.350000000,POSE2_TO_POSE3_RETREAT,764,743,711,674,656,629,878,781,800,648,628,651,0.445849089861,-0.015706338278,0.0796439015493,0.999999794473,-0.00030930312877,-0.000557281602975,-6.94404090299e-05,1793193530385698304
+262,4.366666667,POSE2_TO_POSE3_RETREAT,764,742.406238768,711,674,656.593761232,629,878,780.406238768,800.593761232,648,628,650.406238768,0.445849004399,-0.0157066285528,0.0796434763701,0.999999793005,-0.000313747186977,-0.000557329101705,-7.02645753088e-05,1793193530402365696
+263,4.383333333,POSE2_TO_POSE3_RETREAT,764,742,711,674.183112703,657,629,878,780.183112703,800.816887297,648.183112703,627.816887297,650.183112703,0.445848733693,-0.0157065333089,0.0796430662836,0.999999792117,-0.000315983288051,-0.000557590565721,-7.08096438128e-05,1793193530419032320
+264,4.400000000,POSE2_TO_POSE3_RETREAT,764,742,711,674.762911211,657,629,878,780.762911211,800.237088789,648.762911211,627.237088789,650.762911211,0.445848061681,-0.0157056028977,0.0796426888927,0.999999792518,-0.000313436186874,-0.000558315552997,-7.07500896209e-05,1793193530435698176
+265,4.416666667,POSE2_TO_POSE3_RETREAT,764,742,711.340012635,674.659987365,657,629,878.340012635,780.659987365,800,649,627.340012635,651,0.445847751078,-0.015705042216,0.079641900671,0.999999792556,-0.000311886692034,-0.000559113010777,-7.07613936037e-05,1793193530452364544
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764,742,711.915248165,674.084751835,657,629,878.915248165,780.084751835,800,649,627.915248165,651,0.445847690501,-0.0157047373157,0.0796408282339,0.999999792345,-0.000311027347731,-0.000559960604072,-7.08217177247e-05,1793193530469030912
+267,4.450000000,POSE2_TO_POSE3_RETREAT,764,742,711.500064202,674,657,629,878.500064202,780.499935798,800,649,628,650.500064202,0.445849043648,-0.0157047054273,0.0796427606602,0.999999794287,-0.000309737848498,-0.000557234394285,-7.0554523719e-05,1793193530485697536
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764.08575822,742.08575822,711,674,657,629,878.08575822,781,800,648.91424178,627.91424178,650,0.445849892116,-0.0157048939445,0.0796443959288,0.999999795835,-0.000308964210805,-0.000554911326421,-7.03110287659e-05,1793193530502364160
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764.668690854,742.668690854,711,674,657,629,878.668690854,781,800,648.331309146,627.331309146,650,0.445846398561,-0.0157060867512,0.079641298346,0.999999792997,-0.000311612133021,-0.000558505474635,-7.05330165492e-05,1793193530519031296
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764.751924895,743,711,674,657,629.248075105,879,781,800,648,627.248075105,650,0.44583846723,-0.0157061773888,0.0796365208499,0.999999788536,-0.000313172036564,-0.000565517563131,-7.10018238759e-05,1793193530535698176
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764.177212794,743,711,674,657,629.822787206,879,781,800,648,627.822787206,650,0.445824692741,-0.0157048168157,0.0796295314357,0.999999781863,-0.000313299361022,-0.000577030005097,-7.17956149944e-05,1793193530552364800
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764,742.601207722,711,674,657,629.601207722,879,780.601207722,800,648,628,650,0.445793946507,-0.0157030718691,0.07961659835,0.999999769866,-0.00031182484969,-0.000598145110342,-7.24995716661e-05,1793193530569031424
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764,742.024626167,711,674,657,629.024626167,879,780.024626167,800,648,628,650,0.445755633941,-0.0157011555613,0.0796010154604,0.999999754984,-0.000309636208974,-0.000623541268467,-7.31634784435e-05,1793193530585697792
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764,742,711,674,657,629,879,780,800,648.565490979,628,650.565490979,0.445695567082,-0.0156969649608,0.0795865694222,0.999999741418,-0.00030662073524,-0.000646400081595,-7.2901661398e-05,1793193530602364416
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764,742,711,674,657.152577192,629,878.847422808,780,800,649,628,651,0.445630659067,-0.0156924155247,0.0795741726474,0.999999729993,-0.00030412275262,-0.000665035667228,-7.24592448505e-05,1793193530619031040
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764,742,711,674,657.729553105,629,878.270446895,780,800,649,628,651,0.445554984943,-0.0156871502174,0.0795673348809,0.999999725527,-0.000303166800327,-0.000672239094381,-7.16293683591e-05,1793193530635697664
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764,742.305684029,711,674,657.694315971,629,878.611368057,780.305684029,800,648.694315971,628,651,0.44546816231,-0.0156832178943,0.0795650198821,0.999999724466,-0.000301318416126,-0.000674897308667,-6.92070907069e-05,1793193530652364288
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764,742.881069394,711,674,657.118930606,629,879.762138788,780.881069394,800,648.118930606,628,651,0.445371503486,-0.0156804616473,0.0795666952669,0.999999726425,-0.000298682650062,-0.000673545335962,-6.53798567407e-05,1793193530669031168
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764,742.532558428,711,674,657.467441572,629.467441572,879.065116857,781,800,648.467441572,628,651,0.44525093151,-0.0156750277155,0.0795701145711,0.999999729975,-0.000293560596507,-0.000670948868423,-6.08223904154e-05,1793193530685697792
+280,4.666666667,POSE2_TO_POSE3_RETREAT,764,742.055724092,711,674,657.944275908,630,878.055724092,781,800,649,628,651,0.445120370666,-0.0156687428948,0.0795736218214,0.999999733633,-0.000287599597859,-0.000668489069533,-5.6060073746e-05,1793193530702364672
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764,742.635058361,711,674,657.364941639,630,878.635058361,781,800,649,628,651,0.444954495715,-0.0156610184361,0.0795736858544,0.999999734844,-0.000279842596476,-0.000670360345641,-5.11606978513e-05,1793193530719031040
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764.213098173,743,711.213098173,674,657,630,879,781,800,649,628,650.786901827,0.44477702225,-0.0156525998272,0.0795731955561,0.99999973614,-0.000271125985748,-0.00067238574407,-4.59092691068e-05,1793193530735697408
+283,4.716666667,POSE2_TO_POSE3_RETREAT,764.788934483,743,711.788934483,674,657,630,879,781,800,649,628,650.211065517,0.444579805678,-0.0156429996286,0.0795717616688,0.999999737603,-0.000260775917859,-0.000674673491094,-4.00585724923e-05,1793193530752364032
+284,4.733333333,POSE2_TO_POSE3_RETREAT,764.63571548,743,711.63571548,673.63571548,657,630,878.63571548,781,800,648.63571548,628,650.36428452,0.444355371668,-0.0156332774705,0.0795707283898,0.999999738926,-0.000245990112559,-0.000678657936107,-3.25684565955e-05,1793193530769030912
+285,4.750000000,POSE2_TO_POSE3_RETREAT,764.060646758,743,711.060646758,673.060646758,657,630,878.060646758,781,800,648.060646758,628,650.939353242,0.444115188944,-0.0156234847427,0.0795699269128,0.9999997399,-0.000228637676791,-0.000683624133359,-2.4129730835e-05,1793193530785697792
+286,4.766666667,POSE2_TO_POSE3_RETREAT,764,742.472625873,711,673.527374127,657.527374127,630,878,781,800,648,628,651,0.44384235666,-0.0156111708471,0.0795747720325,0.999999752679,-0.000176528560578,-0.000680619012733,-1.5427169046e-05,1793193530802364672
+287,4.783333333,POSE2_TO_POSE3_RETREAT,764,742,711,674,658,630,878,781.115071914,799.884928086,648,628,651,0.443557806641,-0.0155978989465,0.0795805033905,0.999999763766,-0.000126139123954,-0.000675654200323,-6.92701136109e-06,1793193530819031552
+288,4.800000000,POSE2_TO_POSE3_RETREAT,764,742,711,674,658,630,878,781.695291473,799.304708527,648,628,651,0.443241449899,-0.0155819560266,0.0795871262409,0.999999772918,-9.92643581274e-05,-0.000666566601579,6.29252599687e-07,1793193530835698176
+289,4.816666667,POSE2_TO_POSE3_RETREAT,764,742,711,674,658,630,878,782,799.270496156,648,628,651,0.442907080229,-0.015567992088,0.0795915367069,0.999999779144,-8.45716719682e-05,-0.000659208017011,2.0377228083e-06,1793193530852364800
+290,4.833333333,POSE2_TO_POSE3_RETREAT,764,742,711,674,658,630,878,782,799.840154474,648,628,651,0.442552788718,-0.0155562168556,0.0795935003294,0.999999782818,-8.33520709301e-05,-0.000653761681012,-3.35311760881e-06,1793193530869031168
+291,4.850000000,POSE2_TO_POSE3_RETREAT,763.583193903,742,711.416806097,674.416806097,658,630.416806097,878,782,800,648,628,650.583193903,0.442160197588,-0.0155475613354,0.0796014694226,0.999999793746,-6.8610059522e-05,-0.000638593397863,-2.07443746547e-08,1793193530885697536
+292,4.866666667,POSE2_TO_POSE3_RETREAT,763.003814587,742,711.996185413,674.996185413,658,630.996185413,878,782,800,648,628,650.003814587,0.441752667884,-0.0155401226443,0.0796117809207,0.999999806824,-4.85936968036e-05,-0.000619633115563,6.71407662156e-06,1793193530902363904
+293,4.883333333,POSE2_TO_POSE3_RETREAT,763.588228331,742.588228331,711.411771669,674.411771669,658,631,878.588228331,782.588228331,800.588228331,648.588228331,628,650,0.441287866523,-0.0155304210349,0.0796193577181,0.999999814198,-3.86513834004e-05,-0.000608342906567,5.37816441163e-06,1793193530919030784
+294,4.900000000,POSE2_TO_POSE3_RETREAT,764,742.824276362,711,674,658,631,878.824276362,783,800.824276362,648.824276362,628,650.175723638,0.440804677596,-0.0155178293687,0.0796212868589,0.999999817893,-2.56059831599e-05,-0.000602946176265,3.88642942355e-06,1793193530935697920
+295,4.916666667,POSE2_TO_POSE3_RETREAT,764,742.247355473,711,674,658,631,878.247355473,783,800.247355473,648.247355473,628,650.752644527,0.440280374412,-0.0154986736132,0.07961036313,0.999999813391,-5.32344539817e-06,-0.000610888876986,2.16105538078e-06,1793193530952365312
+296,4.933333333,POSE2_TO_POSE3_RETREAT,763.671102227,742,711,674,658,631,878,783,800,648,628,651,0.439729948247,-0.0154809339761,0.0795971041086,0.999999803467,1.40591707778e-05,-0.000626792540082,5.40915253076e-07,1793193530969032192
+297,4.950000000,POSE2_TO_POSE3_RETREAT,763.095350021,742,711,674,658,631,878,783,800,648,628,651,0.439159915407,-0.0154642572056,0.079582092331,0.999999789075,3.27663523589e-05,-0.000648671309133,-1.00024167411e-06,1793193530985698560
+298,4.966666667,POSE2_TO_POSE3_RETREAT,763.491328611,742.491328611,711.491328611,674,658,631,878,783,799.508671389,648,628,651,0.438603173131,-0.0154622446539,0.0796206648057,0.999999828257,4.01688409184e-05,-0.000584686462894,3.77056135184e-06,1793193531002365184
+299,4.983333333,POSE2_TO_POSE3_RETREAT,764,742.921117023,711.921117023,674.078882977,658.078882977,631.078882977,877.921117023,783,799.078882977,648.078882977,628.078882977,651,0.438044832565,-0.0154629705383,0.0796725314916,0.999999873108,4.53919741945e-05,-0.00050162656586,9.68601071056e-06,1793193531019031552
+300,5.000000000,POSE2_TO_POSE3_RETREAT,764,742.341765379,711.341765379,674.658234621,658.658234621,631.658234621,877.341765379,783,799.658234621,648.658234621,628.658234621,651,0.437459615448,-0.0154626044684,0.0797412670074,0.999999916303,5.10236638807e-05,-0.000405669176103,1.49153187839e-05,1793193531035697920
+301,5.016666667,POSE2_TO_POSE3_RETREAT,764,742,711.235953296,674.528093407,659,632,877.471906593,783.235953296,800,649,628.764046704,651,0.436843305611,-0.0154589179494,0.0797929557989,0.999999943408,6.35547382292e-05,-0.000329774365354,1.98550945462e-05,1793193531052364288
+302,5.033333333,POSE2_TO_POSE3_RETREAT,764,742,711.81132293,673.377354141,659,632,878.622645859,783.81132293,800,649,628.18867707,651,0.436182269259,-0.0154504549993,0.0798201230525,0.999999956033,8.60105050069e-05,-0.00028273937291,2.43783809383e-05,1793193531069031168
+303,5.050000000,POSE2_TO_POSE3_RETREAT,764,742,711.61416136,673.38583864,659,632,878.61416136,784,800,649,628.38583864,651,0.435475400935,-0.0154386896445,0.079824361922,0.999999957143,0.000103220638529,-0.000272818675185,2.5105595175e-05,1793193531085697792
+304,5.066666667,POSE2_TO_POSE3_RETREAT,764,742,711.040062318,673.959937682,659,632,878.040062318,784,800,649,628.959937682,651,0.434746170055,-0.0154253129635,0.0798174134539,0.999999953283,0.000117871294697,-0.000281006979395,2.39806099578e-05,1793193531102364416
+305,5.083333333,POSE2_TO_POSE3_RETREAT,764,742.549746282,711.549746282,674,659.549746282,632,878.549746282,784,800,648.450253718,629,651,0.433973541543,-0.0154163652564,0.079811815774,0.999999952785,0.000117933895988,-0.000282886261986,2.23088411028e-05,1793193531119030784
+306,5.100000000,POSE2_TO_POSE3_RETREAT,764,742.862254154,712,673.862254154,660,632,878.862254154,784,800,648,628.862254154,651,0.43317803213,-0.0154092177796,0.0798007588336,0.999999947316,0.000123436257285,-0.000299484582692,2.09957927101e-05,1793193531135697664
+307,5.116666667,POSE2_TO_POSE3_RETREAT,764,742.283812847,712,673.283812847,660,632,878.283812847,784,800,648,628.283812847,651,0.432319734911,-0.0154067668617,0.0797719116776,0.999999922055,0.00014984349143,-0.00036468828755,2.09616447046e-05,1793193531152364288
+308,5.133333333,POSE2_TO_POSE3_RETREAT,763.706744213,742,712,673,660,632,878,784,799.706744213,648,628,650.706744213,0.431457004578,-0.015405920887,0.079744856289,0.999999898749,0.000159494914125,-0.000420317300423,1.98990378223e-05,1793193531169031168
+309,5.150000000,POSE2_TO_POSE3_RETREAT,763.130997795,742,712,673,660,632,878,784,799.130997795,648,628,650.130997795,0.430590003765,-0.0154066209391,0.0797195268902,0.99999987922,0.000153005619558,-0.000466723108011,1.78457259017e-05,1793193531185697792
+310,5.166666667,POSE2_TO_POSE3_RETREAT,763.454369947,742,711.545630053,673,659.545630053,632,878,784,799.454369947,648.454369947,628,650.454369947,0.429810995932,-0.0154106452966,0.0797624623876,0.999999910882,0.000147684174492,-0.000394904888917,2.17946152796e-05,1793193531202364416
+311,5.183333333,POSE2_TO_POSE3_RETREAT,764,742,711.041899596,673,659.041899596,632,878,784.041899596,799.958100404,649,628,651,0.42904958343,-0.0154153830956,0.0798231063563,0.999999946469,0.000143515303737,-0.000292778234331,2.7334956649e-05,1793193531219031040
+312,5.200000000,POSE2_TO_POSE3_RETREAT,764,742,711.620816967,673,659.620816967,632,878,784.620816967,799.379183033,649,628,651,0.428181503641,-0.0154167153414,0.0798530092484,0.999999957448,0.000149709988338,-0.000248502336595,3.06136939924e-05,1793193531235697664
+313,5.216666667,POSE2_TO_POSE3_RETREAT,764,742,712,673,659.801403809,632,878,784.801403809,799.198596191,648.801403809,628.198596191,651,0.427294908298,-0.0154156339638,0.0798564470223,0.999999958144,0.000155670579861,-0.000241848227773,3.14456742219e-05,1793193531252364288
+314,5.233333333,POSE2_TO_POSE3_RETREAT,764,742,712,673,659.225785324,632,878,784.225785324,799.774214676,648.225785324,628.774214676,651,0.4263731624,-0.0154099704752,0.079809642443,0.999999939621,0.000161186760159,-0.000306616706091,2.76326407875e-05,1793193531269031680
+315,5.250000000,POSE2_TO_POSE3_RETREAT,764,742.348990911,712,673.348990911,659.348990911,632,878.348990911,784.348990911,799.651009089,648.348990911,629,651,0.425451253975,-0.0154069963555,0.079776013695,0.999999922264,0.000162854836001,-0.000358298609106,2.39352472865e-05,1793193531285698048
+316,5.266666667,POSE2_TO_POSE3_RETREAT,764,742.923223527,712,673.923223527,659.923223527,632,878.923223527,784.923223527,799.076776473,648.923223527,629,651,0.424529240689,-0.0154057579775,0.0797508887425,0.99999990605,0.000162039312308,-0.000401534322563,2.03124889441e-05,1793193531302364160
+317,5.283333333,POSE2_TO_POSE3_RETREAT,764,742.487267527,712,673.487267527,659.487267527,632,878.487267527,784.487267527,799,648.487267527,629,651,0.423603423201,-0.0154014127336,0.0797336885753,0.999999892339,0.000165827317682,-0.000432872581272,2.10732103303e-05,1793193531319031040
+318,5.300000000,POSE2_TO_POSE3_RETREAT,764,742,712,673,659,632,877.89770812,784,799.10229188,648.10229188,629,650.89770812,0.422692519799,-0.0153974843197,0.0797280082655,0.999999887279,0.000172011614442,-0.000441971294011,2.26917295478e-05,1793193531335697664
+319,5.316666667,POSE2_TO_POSE3_RETREAT,764,742,712,673,659,632,877.318897104,784,799.681102896,648.681102896,629,650.318897104,0.421853827976,-0.0153977314317,0.0797702946564,0.999999919,0.000186049042388,-0.000356022668419,2.51546325601e-05,1793193531352364288
+320,5.333333333,POSE2_TO_POSE3_RETREAT,764,742,712,673,659,632,877.257795924,784,800,648.742204076,629,650.257795924,0.421023355415,-0.0154006320903,0.0798166195544,0.999999944699,0.000190823146543,-0.000270799556156,2.92692778994e-05,1793193531369030912
+321,5.350000000,POSE2_TO_POSE3_RETREAT,764,742,712,673,659,632,877.831890399,784,800,648.168109601,629,650.831890399,0.420202967234,-0.0154067884752,0.079867899439,0.999999965017,0.00018423176727,-0.000186466590202,3.54105022065e-05,1793193531385697280
+322,5.366666667,POSE2_TO_POSE3_RETREAT,764,742,712,673,659,632,878,784.416245456,800,648.416245456,629,651,0.419334201024,-0.0154045879177,0.0798615923747,0.999999961254,0.000189094766712,-0.000201210193604,3.5342226616e-05,1793193531402364416
+323,5.383333333,POSE2_TO_POSE3_RETREAT,764,742,712,673,659,632.004759765,878,785,800,648.995240235,629,651,0.418445374202,-0.0153989698516,0.0798314776802,0.999999946761,0.000198560133064,-0.000256873561836,3.26886763348e-05,1793193531419031296
+324,5.400000000,POSE2_TO_POSE3_RETREAT,764,742,712,673,659,632.582511975,878,785,800,648.417488025,629,651,0.417553132998,-0.0153985187354,0.0798059236289,0.999999936396,0.000191094406559,-0.000299811612748,2.83432087802e-05,1793193531435697920
+325,5.416666667,POSE2_TO_POSE3_RETREAT,764,742,712,673,659,632.83923038,878,784.83923038,799.83923038,648.16076962,628.83923038,650.83923038,0.416665873625,-0.0153973330128,0.0797894328591,0.999999926844,0.000187468987367,-0.000332429644121,2.56640047778e-05,1793193531452364288
+326,5.433333333,POSE2_TO_POSE3_RETREAT,764,742,712,673,659,632.259656111,878,784.259656111,799.259656111,648.740343889,628.259656111,650.259656111,0.41579159197,-0.0153942336412,0.0797965519275,0.999999923661,0.000193847564965,-0.000338164036799,2.73254155301e-05,1793193531469030912
+327,5.450000000,POSE2_TO_POSE3_RETREAT,764,742,712,673,659,632.317410641,878,784,799.317410641,648.682589359,628,650.317410641,0.414953425327,-0.0153912375458,0.0797898984613,0.99999991753,0.000197515579971,-0.000353874812994,2.64514296375e-05,1793193531485697536
+328,5.466666667,POSE2_TO_POSE3_RETREAT,764,742,712,673,659,632.892442181,878,784,799.892442181,648.107557819,628,650.892442181,0.414144570856,-0.0153883252727,0.0797720667534,0.999999908604,0.000198983612984,-0.000377682749204,2.35196324868e-05,1793193531502364160
+329,5.483333333,POSE2_TO_POSE3_RETREAT,764,742,712,673,659,632.530811205,878.469188795,784.469188795,800.469188795,648,628.469188795,650.530811205,0.413399089094,-0.0153920320443,0.0797868551438,0.999999921813,0.000196715227156,-0.000342222839724,2.36904820572e-05,1793193531519030784
+330,5.500000000,POSE2_TO_POSE3_RETREAT,764,742.047636363,712,673,659.047636363,632,878.952363637,784.952363637,800.952363637,648,629,650.047636363,0.412667516319,-0.015396774452,0.0798073377282,0.999999936636,0.000193828393839,-0.000297588403992,2.44811187845e-05,1793193531535697408
+331,5.516666667,POSE2_TO_POSE3_RETREAT,764,742.641050464,712,673,659.641050464,632,878.358949536,784.358949536,800.358949536,648,629,650.641050464,0.411928244892,-0.0153959338398,0.0798070697565,0.999999934715,0.000193705488402,-0.000304075955764,2.41938705586e-05,1793193531552364544
+332,5.533333333,POSE2_TO_POSE3_RETREAT,764,742.773513797,712,673,659.773513797,632.226486203,878,784,800,648,628.773513797,650.773513797,0.411187720551,-0.0153928476764,0.0798010311553,0.99999992943,0.000196007423426,-0.000319639263644,2.35048941858e-05,1793193531569031424
+333,5.550000000,POSE2_TO_POSE3_RETREAT,764,742.200292309,712,673,659.200292309,632.799707691,878,784,800,648,628.200292309,650.200292309,0.41044527797,-0.0153863237237,0.0797861581048,0.999999918413,0.000202021627497,-0.00034909695022,2.22008987293e-05,1793193531585698048
+334,5.566666667,POSE2_TO_POSE3_RETREAT,764,742,711.626830622,673,659,633,877.626830622,784,800,648.373169378,628,650.373169378,0.409775162786,-0.015385801309,0.0797916112465,0.999999920675,0.000206655535427,-0.000339710943602,2.32488387595e-05,1793193531602364928
+335,5.583333333,POSE2_TO_POSE3_RETREAT,764,742,711.053239964,673,659,633,877.053239964,784,800,648.946760036,628,650.946760036,0.409143893144,-0.0153885021921,0.0798079811515,0.999999929624,0.000210548115415,-0.000309462819523,2.55599530268e-05,1793193531619031808
+336,5.600000000,POSE2_TO_POSE3_RETREAT,764.539266529,742,711.539266529,673,659,632.460733471,877.539266529,784,799.460733471,648.460733471,628.539266529,651,0.408548676353,-0.015394143899,0.0798258704672,0.999999939375,0.000203084859508,-0.000281528944282,2.73616954408e-05,1793193531635698432
+337,5.616666667,POSE2_TO_POSE3_RETREAT,764.870174211,742,712,672.870174211,659,632,878,784,799.129825789,648.129825789,629,651,0.407951551946,-0.0153967694351,0.0798338399184,0.999999942797,0.000199761642564,-0.000271450921928,2.85446495214e-05,1793193531652364800
+338,5.633333333,POSE2_TO_POSE3_RETREAT,764.292993726,742,712,672.292993726,659,632,878,784,799.707006274,648.707006274,629,651,0.407335143502,-0.0153879650108,0.0798070917409,0.999999924695,0.000214707813918,-0.000322084824454,2.77749619549e-05,1793193531669031424
+339,5.650000000,POSE2_TO_POSE3_RETREAT,764.282810108,742,712,672,659,632,878,784,800,648.717189892,629,651,0.406752582075,-0.0153827816782,0.0797825787446,0.999999909035,0.000224729169157,-0.00036159170052,2.60342561193e-05,1793193531685698304
+340,5.666666667,POSE2_TO_POSE3_RETREAT,764.857194591,742,712,672,659,632,878,784,800,648.142805409,629,651,0.406204916622,-0.0153813316553,0.0797603701994,0.999999897449,0.000229673087935,-0.00038962672161,2.32924403075e-05,1793193531702365184
+341,5.683333333,POSE2_TO_POSE3_RETREAT,764.55880456,742,712,672,659,632.44119544,878,784,800,648,628.55880456,650.55880456,0.40574135124,-0.0153773900679,0.0797693674169,0.999999904742,0.000234269715225,-0.000367563557443,2.30415900375e-05,1793193531719031552
+342,5.700000000,POSE2_TO_POSE3_RETREAT,764.02805296,742,712,672,659,633,877.97194704,784,799.97194704,648.02805296,628.02805296,650.02805296,0.405306771297,-0.0153725275164,0.0797886694813,0.999999916852,0.000239156692919,-0.000329454932072,2.36730749605e-05,1793193531735698176
+343,5.716666667,POSE2_TO_POSE3_RETREAT,764.608504115,742,712,672,659,633,877.391495885,784,799.391495885,648.608504115,628.608504115,650.608504115,0.40489498517,-0.0153657641918,0.0798075610913,0.999999922373,0.000252023864861,-0.000301813296509,2.54485903113e-05,1793193531752365312
+344,5.733333333,POSE2_TO_POSE3_RETREAT,764.811951309,742,712,672.188048691,659,632.811951309,877.188048691,784,799,648.811951309,629,651,0.404490437146,-0.0153597269498,0.0798211745762,0.999999925004,0.000262871770205,-0.000283149027181,2.67807849708e-05,1793193531769032448
+345,5.750000000,POSE2_TO_POSE3_RETREAT,764.234284966,742,712,672.765715034,659,632.234284966,877.765715034,784,799,648.234284966,629,651,0.404100885652,-0.0153551940752,0.0798238523294,0.999999923237,0.000269535964496,-0.000283084937722,2.71944648759e-05,1793193531785698304
+346,5.766666667,POSE2_TO_POSE3_RETREAT,764,742,712,672.658803064,659,632.341196936,877.658803064,784,799,648,629,651,0.403730245772,-0.0153514548664,0.0798258705555,0.999999920576,0.000274523888371,-0.00028756812392,2.81074708897e-05,1793193531802364416
+347,5.783333333,POSE2_TO_POSE3_RETREAT,764,742,712,672.084811614,659,632.915188386,877.084811614,784,799,648,629,651,0.403372509079,-0.0153482571665,0.0798274387942,0.999999917267,0.000278368112951,-0.000295153860908,2.93611609996e-05,1793193531819030784
+348,5.800000000,POSE2_TO_POSE3_RETREAT,764.504478513,742,711.495521487,672,659,633,877.504478513,784.504478513,799,648,628.495521487,651,0.403081530699,-0.0153498755505,0.0798318978312,0.99999991954,0.000276156910165,-0.00028947895601,2.93283326097e-05,1793193531835697920
+349,5.816666667,POSE2_TO_POSE3_RETREAT,764.905644727,742,711.094355273,672.094355273,659,632.905644727,878,784.905644727,799,648,628.094355273,651,0.40280671919,-0.0153555918492,0.0798356174181,0.999999923251,0.000268513511367,-0.000283806742249,2.91943978745e-05,1793193531852365312
+350,5.833333333,POSE2_TO_POSE3_RETREAT,764.326384293,742,711.673615707,672.673615707,659,632.326384293,878,784.326384293,799,648,628.673615707,651,0.402555509914,-0.0153780767868,0.0798329611657,0.999999929115,0.000238348666993,-0.000289963582653,2.96871504672e-05,1793193531869031680
+351,5.850000000,POSE2_TO_POSE3_RETREAT,764,742,712,673,659,632,878,784,799.250443949,648,629,650.749556051,0.402323807156,-0.015392853522,0.0798299689485,0.999999931879,0.000219570542648,-0.000295165729244,3.01404895726e-05,1793193531885698048
+352,5.866666667,POSE2_TO_POSE3_RETREAT,764,742,712,673,659,632,878,784,799.824132945,648,629,650.175867055,0.40211728125,-0.0153976813696,0.0798265431057,0.999999931575,0.0002154891259,-0.000299135663602,3.05429581452e-05,1793193531902364416
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764,742,712,672.592021888,659,632,878,784,799.592021888,648.407978112,629,650,0.401941894513,-0.0153981169842,0.079828900079,0.999999933402,0.000213651775945,-0.000294189141763,3.16333988476e-05,1793193531919031040
+354,5.900000000,POSE2_TO_POSE3_RETREAT,764,742,712,672.003686884,659,632,878,784,799.003686884,648.996313116,629,650,0.401780273605,-0.0153966109031,0.0798338134899,0.999999936113,0.000212806471282,-0.000285300878562,3.30279748091e-05,1793193531935697920
+355,5.916666667,POSE2_TO_POSE3_RETREAT,764,742,711.423617928,672,659,632.576382072,878,784,799.576382072,649,629,650.576382072,0.401651512621,-0.0153942390588,0.0798402670036,0.999999938569,0.000213344086492,-0.000276028924431,3.39886056088e-05,1793193531952364288
+356,5.933333333,POSE2_TO_POSE3_RETREAT,764,742.154998621,711.154998621,672,659,632.845001379,877.845001379,784,799.845001379,648.845001379,629,651,0.401530847462,-0.0153921016546,0.0798460466169,0.999999940967,0.00021292038867,-0.000267482266886,3.44000337497e-05,1793193531969031168
+357,5.950000000,POSE2_TO_POSE3_RETREAT,764,742.729822534,711.729822534,672,659,632.270177466,877.270177466,784,799.270177466,648.270177466,629,651,0.40143154915,-0.015390614036,0.0798499746161,0.999999943386,0.000209869281929,-0.00026090668078,3.33313179491e-05,1793193531985698048
+358,5.966666667,POSE2_TO_POSE3_RETREAT,763.695259832,742.695259832,712,672,659,632,877.304740168,784.304740168,799,648,629,651,0.401338126406,-0.0153899238094,0.0798493194863,0.999999941622,0.000215768826511,-0.00026311500971,3.11391014237e-05,1793193532002364672
+359,5.983333333,POSE2_TO_POSE3_RETREAT,763.120259116,742.120259116,712,672,659,632,877.879740884,784.879740884,799,648,629,651,0.40124991445,-0.0153899407543,0.0798445997824,0.999999935954,0.000229606307163,-0.000273113403892,2.79505019616e-05,1793193532019031296
+360,6.000000000,POSE2_TO_POSE3_RETREAT,763.467165141,742,712,672.467165141,659,632,878,784.532834859,799,648,629,651,0.401183332954,-0.0153884132953,0.0798409816479,0.999999932875,0.000236846997345,-0.000278169725974,2.78500978555e-05,1793193532035697920
+361,6.016666667,POSE2_TO_POSE3_RETREAT,764,742,712,672.943269712,659,632,878,784,799,648.056730288,629,651,0.401124723968,-0.0153866508869,0.0798378878177,0.999999930711,0.000241836003124,-0.000281563180185,2.85622761078e-05,1793193532052364544
+362,6.033333333,POSE2_TO_POSE3_RETREAT,764,742,712,672.364242359,659,632,878,784,799,648.635757641,629,651,0.401086850294,-0.0153864856274,0.0798369390297,0.999999930581,0.000242156085881,-0.0002816799111,2.92366220096e-05,1793193532069030912
+363,6.050000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632.213236319,878,784,799,649,629,651,0.401053615885,-0.0153863206837,0.0798363799616,0.999999930347,0.000242623123579,-0.00028204542741,2.98313640828e-05,1793193532085697536
+364,6.066666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632.788088624,878,784,799,649,629,651,0.401028248959,-0.0153861562754,0.0798364817989,0.999999929937,0.000243339374213,-0.000282832845453,3.02911102429e-05,1793193532102364160
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632.628808654,878,784,799,648.628808654,629,651,0.401007961541,-0.0153858394914,0.0798359436735,0.999999929557,0.000242915722387,-0.000284512685102,3.05032202584e-05,1793193532119031040
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632.040888681,878,784,799,648.040888681,629,651,0.400990639908,-0.0153854337392,0.0798350318912,0.99999992919,0.000241826512286,-0.000286713585759,3.05707422434e-05,1793193532135697920
+367,6.116666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,659.538972916,632,878,784,799,648,629,650.461027084,0.400983419507,-0.0153851231792,0.0798341570182,0.999999928728,0.000243017727105,-0.00028734511799,3.03256183137e-05,1793193532152364288
+368,6.133333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,660,632,877.882409285,784,799,648,628.882409285,650.117590715,0.400978253907,-0.015385232322,0.0798338382676,0.999999928751,0.000243440293499,-0.00028692952138,3.01117051266e-05,1793193532169030912
+369,6.150000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,660,632,877.306292594,784,799,648,628.306292594,650.693707406,0.400978156541,-0.0153869502825,0.0798356772686,0.999999930686,0.000240200982987,-0.000282888226484,3.01106174874e-05,1793193532185697792
+370,6.166666667,POSE2_TO_POSE3_RETREAT,764.266137324,742,712,672,659.733862676,632.266137324,877.266137324,784,799.266137324,648,628.266137324,651,0.400977505874,-0.0153883249045,0.0798370449342,0.999999931668,0.000239184782175,-0.000280248214572,3.02494681691e-05,1793193532202364416
+371,6.183333333,POSE2_TO_POSE3_RETREAT,764.834382143,742,712,672,659.165617857,632.834382143,877.834382143,784,799.834382143,648,628.834382143,651,0.400976227123,-0.0153893097836,0.0798378775604,0.999999931591,0.000240692158837,-0.000279198878301,3.05471707367e-05,1793193532219031040
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,742,712,672,659,632.576414231,878,784,799.576414231,648,629,651,0.400974300219,-0.0153884504294,0.0798376848931,0.999999931374,0.000241279019703,-0.000279520150222,3.00745710382e-05,1793193532235697408
+373,6.216666667,POSE2_TO_POSE3_RETREAT,764.979255498,741.979255498,712,671.979255498,659,632.020744502,877.979255498,784,799,648.020744502,628.979255498,651,0.400972267096,-0.015386869506,0.0798371473265,0.999999931129,0.000241494080811,-0.000280289394259,2.9319238408e-05,1793193532252364544
+374,6.233333333,POSE2_TO_POSE3_RETREAT,764.400030555,741.400030555,712,671.400030555,659,632.599969445,877.400030555,784,799,648.599969445,628.400030555,651,0.40097455213,-0.015386285863,0.0798386786563,0.999999931684,0.000241893506712,-0.00027794059756,2.94826312213e-05,1793193532269031424
+375,6.250000000,POSE2_TO_POSE3_RETREAT,764.178177155,741,712,671.178177155,659,632.821822845,877.178177155,784,799,648.821822845,628.178177155,651,0.400975640885,-0.0153865133889,0.0798397177046,0.999999932135,0.000241573621313,-0.000276571127001,2.96620353017e-05,1793193532285698048
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764.754113934,741,712,671.754113934,659,632.245886066,877.754113934,784,799,648.245886066,628.754113934,651,0.400974059089,-0.0153885517546,0.0798396577916,0.999999932366,0.000239647957645,-0.00027738788764,2.98771826384e-05,1793193532302364928
+377,6.283333333,POSE2_TO_POSE3_RETREAT,764.664184126,741.335815874,712,672,659,632.335815874,877.664184126,784,799.335815874,648.335815874,629,651,0.400973276245,-0.0153892985123,0.0798396754675,0.999999932297,0.000239331066856,-0.000277904106174,2.99459733492e-05,1793193532319031552
+378,6.300000000,POSE2_TO_POSE3_RETREAT,764.078187108,741.921812892,712,672,659,632.921812892,877.078187108,784,799.921812892,648.921812892,629,651,0.400973088614,-0.0153890830286,0.0798397509468,0.999999932005,0.000240212703598,-0.000278196422432,2.99057291302e-05,1793193532335697920
+379,6.316666667,POSE2_TO_POSE3_RETREAT,764.501261631,742,712,672,659,633,877,784.501261631,799.498738369,648.498738369,629,651,0.400972570263,-0.0153887523938,0.0798397904231,0.999999932105,0.000240184967622,-0.000277858841516,2.99232054331e-05,1793193532352364288
+380,6.333333333,POSE2_TO_POSE3_RETREAT,764.920089197,742,712,672.079910803,659,633,877.079910803,785,799.079910803,648.079910803,628.920089197,651,0.400972311621,-0.0153884777754,0.079839973204,0.999999932325,0.000240052354923,-0.000277184436043,2.99025359748e-05,1793193532369031168
+381,6.350000000,POSE2_TO_POSE3_RETREAT,764.340134027,742,712,672.659865973,659,633,877.659865973,785,799.659865973,648.659865973,628.340134027,651,0.400973996752,-0.0153886646259,0.079841087406,0.999999932914,0.000240139623714,-0.000275009225507,2.95875563857e-05,1793193532385697536
+382,6.366666667,POSE2_TO_POSE3_RETREAT,764,742,711.762577932,672.762577932,659,632.762577932,877.762577932,784.762577932,799.762577932,649,628.237422068,651,0.40097430692,-0.0153885226701,0.0798411852147,0.999999932986,0.000240644898658,-0.000274326628911,2.93787140408e-05,1793193532402364416
+383,6.383333333,POSE2_TO_POSE3_RETREAT,764,742,711.188424438,672.188424438,659,632.188424438,877.188424438,784.188424438,799.188424438,649,628.811575562,651,0.400972667001,-0.0153879143741,0.0798398414911,0.999999932328,0.000241743024165,-0.000275760979813,2.93204042496e-05,1793193532419031296
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764,742,711.394949217,671.605050783,659,632.394949217,877.394949217,784.394949217,799,649,629,650.605050783,0.400972491337,-0.0153881679404,0.0798398699283,0.999999932445,0.000240874642927,-0.00027608940889,2.9393111527e-05,1793193532435698176
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764,742,711.982826803,671.017173197,659,632.982826803,877.982826803,784.982826803,799,649,629,650.017173197,0.400973030945,-0.0153888425171,0.0798405686512,0.999999932938,0.000239045644638,-0.000275877607216,2.95298192097e-05,1793193532452365056
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764,742,712,672.124705717,659,632.437647142,878,785,799.562352858,649,629,650.562352858,0.400973852204,-0.0153878817776,0.0798409356947,0.999999932869,0.000241287464892,-0.000274179414358,2.94470400888e-05,1793193532469031424
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764,742,712,672.858836586,659,632,878.141163414,784.858836586,799.858836586,649,629,651,0.400973912969,-0.0153874604589,0.0798408232575,0.999999932808,0.000242373990845,-0.000273454708278,2.93440521526e-05,1793193532485697792
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764,742,712,672.281460555,659,632,878.718539445,784.281460555,799.281460555,649,629,651,0.400971597529,-0.0153888580791,0.0798392600067,0.999999932837,0.000239511984561,-0.00027587641161,2.91990255925e-05,1793193532502364416
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764,742,712,672.295332812,659,632,878.409334377,784,799,649,629,651,0.400970945729,-0.0153897814477,0.0798391266666,0.999999933127,0.000237710683306,-0.000276372382457,2.9302541537e-05,1793193532519030784
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764,742,712,672.871572044,659,632,877.256855913,784,799,649,629,651,0.400971876304,-0.015390253731,0.079840353389,0.999999933673,0.000236918273522,-0.000275036689112,2.96424591873e-05,1793193532535697664
+391,6.516666667,POSE2_TO_POSE3_RETREAT,764,742,712,672.540722496,659,632,877,784,799.459277504,649,629,651,0.40097310728,-0.0153899936069,0.0798408810686,0.999999933724,0.000237831250224,-0.000274071118257,2.9546982274e-05,1793193532552364544
+392,6.533333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632,877.049042124,784,799.950957876,649,629,651,0.400974195184,-0.0153895517137,0.0798411302416,0.999999933616,0.000239128543894,-0.000273357743505,2.93319108089e-05,1793193532569031424
+393,6.550000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632,877.625585324,784,799.374414676,649,629,651,0.400972817535,-0.0153894139835,0.0798405401397,0.999999933345,0.000239298908507,-0.000274215278141,2.91735496713e-05,1793193532585698304
+394,6.566666667,POSE2_TO_POSE3_RETREAT,764,742,712,672.202283455,659.202283455,632.202283455,878,784,799,648.797716545,629,651,0.400972283122,-0.0153893968861,0.0798404262477,0.999999933396,0.000239000362387,-0.000274290028858,2.91879417731e-05,1793193532602364928
+395,6.583333333,POSE2_TO_POSE3_RETREAT,764,742,712,672.779268542,659.779268542,632.779268542,878,784,799,648.220731458,629,651,0.400973310684,-0.0153896032441,0.0798411944676,0.999999934041,0.000237833225118,-0.000272914782484,2.95223349461e-05,1793193532619031552
+396,6.600000000,POSE2_TO_POSE3_RETREAT,764,742,712,672.637389432,659.637389432,632.637389432,878,784,799.362610568,648,629,651,0.400973407861,-0.0153888314322,0.079841688392,0.999999933847,0.000239154112997,-0.00027246274676,2.95998743053e-05,1793193532635698176
+397,6.616666667,POSE2_TO_POSE3_RETREAT,764,742,712,672.050108727,659.050108727,632.050108727,878,784,799.949891273,648,629,651,0.400972928579,-0.0153874535555,0.0798420123656,0.999999933128,0.000242016558173,-0.00027258272382,2.95182694163e-05,1793193532652364544
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_08/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_08/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f840f0d91fae45e1af141d78ab30d79f992afc81
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_08/depth_03/simulation_data.csv
@@ -0,0 +1,399 @@
+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,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+1,0.016666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+2,0.033333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+3,0.050000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+4,0.066666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+5,0.083333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+6,0.100000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+7,0.116666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+8,0.133333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+9,0.150000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+10,0.166666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+11,0.183333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+12,0.200000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+13,0.216666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+14,0.233333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+15,0.250000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+16,0.266666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+17,0.283333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+18,0.300000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+19,0.316666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+20,0.333333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+21,0.350000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+22,0.366666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+23,0.383333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+24,0.400000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+25,0.416666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+26,0.433333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+27,0.450000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+28,0.466666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+29,0.483333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+30,0.500000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+31,0.516666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+32,0.533333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+33,0.550000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+34,0.566666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+35,0.583333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+36,0.600000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+37,0.616666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+38,0.633333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+39,0.650000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+40,0.666666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+41,0.683333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+42,0.700000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+43,0.716666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+44,0.733333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+45,0.750000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+46,0.766666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+47,0.783333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+48,0.800000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+49,0.816666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+50,0.833333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+51,0.850000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+52,0.866666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+53,0.883333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+54,0.900000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+55,0.916666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+56,0.933333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+57,0.950000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+58,0.966666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+59,0.983333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+60,1.000000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+61,1.016666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+62,1.033333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+63,1.050000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+64,1.066666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+65,1.083333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+66,1.100000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+67,1.116666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+68,1.133333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+69,1.150000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+70,1.166666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+71,1.183333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+72,1.200000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+73,1.216666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+74,1.233333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+75,1.250000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+76,1.266666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+77,1.283333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+78,1.300000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+79,1.316666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+80,1.333333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+81,1.350000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+82,1.366666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+83,1.383333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+84,1.400000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+85,1.416666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+86,1.433333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+87,1.450000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+88,1.466666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+89,1.483333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+90,1.500000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+91,1.516666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+92,1.533333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+93,1.550000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+94,1.566666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+95,1.583333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+96,1.600000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+97,1.616666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+98,1.633333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+99,1.650000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+100,1.666666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+101,1.683333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+102,1.700000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+103,1.716666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+104,1.733333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+105,1.750000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+106,1.766666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+107,1.783333333,pose1_to_pose2_press,0.575709274498,-0.00994536356016,1.07002930469,0.546280002705,-0.00127264133471,1.06969858615
+108,1.800000000,pose1_to_pose2_press,0.575709287091,-0.00994538201617,1.07002926887,0.546280015379,-0.00127265944751,1.0696985521
+109,1.816666667,pose1_to_pose2_press,0.575709316882,-0.00994542567697,1.07002918413,0.546280045362,-0.00127270229639,1.06969847156
+110,1.833333333,pose1_to_pose2_press,0.575709555748,-0.00994544196505,1.07002914626,0.546280284221,-0.00127271855567,1.06969843505
+111,1.850000000,pose1_to_pose2_press,0.57570956325,-0.00994544174653,1.07002914648,0.54628029172,-0.00127271835042,1.06969843524
+112,1.866666667,pose1_to_pose2_press,0.575710137566,-0.00994544693719,1.07002912703,0.54628086636,-0.00127272245867,1.06969841534
+113,1.883333333,pose1_to_pose2_press,0.575712019371,-0.00994549438209,1.07002904831,0.546282750005,-0.00127276358111,1.06969833875
+114,1.900000000,pose1_to_pose2_press,0.575716253013,-0.00994549238905,1.07002909945,0.546286983297,-0.00127276287994,1.06969838698
+115,1.916666667,pose1_to_pose2_press,0.575724912234,-0.00994548312201,1.07002902973,0.546295642148,-0.0012727548447,1.06969831796
+116,1.933333333,pose1_to_pose2_press,0.575740536071,-0.00994555192376,1.07002914202,0.546311266694,-0.00127282110257,1.06969843373
+117,1.950000000,pose1_to_pose2_press,0.575764832025,-0.00994547439563,1.07002911919,0.54633556237,-0.00127274477617,1.06969840407
+118,1.966666667,pose1_to_pose2_press,0.575801254126,-0.00994550910282,1.07002933532,0.546371984474,-0.0012727796738,1.0696986149
+119,1.983333333,pose1_to_pose2_press,0.575849416215,-0.00994542131057,1.07002929061,0.546420146134,-0.00127269324451,1.06969857256
+120,2.000000000,pose1_to_pose2_press,0.5759098287,-0.00994544521279,1.07002920598,0.546480558937,-0.00127271575981,1.06969849591
+121,2.016666667,pose1_to_pose2_press,0.57598132372,-0.00994546265409,1.07002933139,0.54655205501,-0.00127272994713,1.06969861289
+122,2.033333333,pose1_to_pose2_press,0.576064718859,-0.00994543397515,1.07002921352,0.546635450283,-0.00127270058507,1.06969850092
+123,2.050000000,pose1_to_pose2_press,0.576160585066,-0.00994540998761,1.07002922643,0.54673131596,-0.00127267850846,1.06969851078
+124,2.066666667,pose1_to_pose2_press,0.576269442061,-0.00994546883412,1.07002924966,0.546840173033,-0.00127273722935,1.06969853045
+125,2.083333333,pose1_to_pose2_press,0.576395552391,-0.00994554798684,1.070029283,0.546966284291,-0.0012728130613,1.06969856823
+126,2.100000000,pose1_to_pose2_press,0.576537369286,-0.00994535747554,1.07002919925,0.547108099006,-0.00127262980457,1.0696984881
+127,2.116666667,pose1_to_pose2_press,0.576693871359,-0.00994538003771,1.07002923926,0.54726460132,-0.00127265174013,1.06969852305
+128,2.133333333,pose1_to_pose2_press,0.576865822664,-0.00994541263553,1.0700292852,0.547436553281,-0.00127268204537,1.06969857066
+129,2.150000000,pose1_to_pose2_press,0.577054879219,-0.00994544038966,1.0700291966,0.547625609898,-0.00127270934031,1.06969848861
+130,2.166666667,pose1_to_pose2_press,0.577263482362,-0.00994548257596,1.0700291996,0.547834212889,-0.00127275214526,1.06969848885
+131,2.183333333,pose1_to_pose2_press,0.577493670978,-0.00994543237342,1.07002912446,0.548064400817,-0.00127270439608,1.06969841049
+132,2.200000000,pose1_to_pose2_press,0.577751975385,-0.00994537507296,1.0700289948,0.548322705291,-0.00127264661579,1.06969828744
+133,2.216666667,pose1_to_pose2_press,0.578036246758,-0.00994542183715,1.07002932168,0.548606977299,-0.00127269148251,1.06969860748
+134,2.233333333,pose1_to_pose2_press,0.578347419972,-0.00994553009346,1.07002936563,0.548918150607,-0.0012727998753,1.06969863939
+135,2.250000000,pose1_to_pose2_press,0.578682283598,-0.00994544689061,1.07002910934,0.549253013557,-0.00127271861739,1.0696983922
+136,2.266666667,pose1_to_pose2_press,0.579040509448,-0.00994543068254,1.07002910627,0.549611239467,-0.00127270206386,1.06969839289
+137,2.283333333,pose1_to_pose2_press,0.579421111832,-0.00994540619405,1.070029214,0.54999184326,-0.00127267289094,1.06969849797
+138,2.300000000,pose1_to_pose2_press,0.579824145594,-0.00994544157246,1.07002922437,0.5503948776,-0.00127270612226,1.06969851313
+139,2.316666667,pose1_to_pose2_press,0.580254060641,-0.00994547440517,1.07002901238,0.550824791274,-0.0012727435184,1.06969830356
+140,2.333333333,pose1_to_pose2_press,0.580704780202,-0.0099455129281,1.07002912691,0.551275512455,-0.00127277661429,1.06969841627
+141,2.350000000,pose1_to_pose2_press,0.581173883165,-0.0099454841948,1.07002916771,0.551744614418,-0.00127275125516,1.06969845755
+142,2.366666667,pose1_to_pose2_press,0.581665609618,-0.00994545664742,1.07002910914,0.552236339289,-0.00127272891563,1.06969840302
+143,2.383333333,pose1_to_pose2_press,0.582181052816,-0.00994543068685,1.07002925562,0.552751783508,-0.00127269956783,1.0696985475
+144,2.400000000,pose1_to_pose2_press,0.582726229378,-0.00994541509504,1.07002922433,0.553296959729,-0.0012726852462,1.06969851321
+145,2.416666667,pose1_to_pose2_press,0.583304406142,-0.00994535591257,1.07002912925,0.553875136309,-0.00127262648419,1.06969842349
+146,2.433333333,pose1_to_pose2_press,0.583921855831,-0.00994533970133,1.07002918564,0.554492585814,-0.00127261099742,1.06969847716
+147,2.450000000,pose1_to_pose2_press,0.584562829039,-0.00994545140494,1.07002923456,0.555133560108,-0.00127271927933,1.0696985191
+148,2.466666667,pose1_to_pose2_press,0.585221047478,-0.00994545422605,1.0700291424,0.555791778032,-0.00127272364015,1.06969843234
+149,2.483333333,pose1_to_pose2_press,0.585885979979,-0.00994547932162,1.0700290319,0.556456710745,-0.0012727479858,1.06969832264
+150,2.500000000,pose1_to_pose2_press,0.586557600695,-0.00994545014258,1.07002902732,0.557128330145,-0.00127272346699,1.06969831297
+151,2.516666667,pose1_to_pose2_press,0.58724244934,-0.00994536811628,1.07002918008,0.557813177778,-0.00127264508191,1.06969846029
+152,2.533333333,pose1_to_pose2_press,0.587948327661,-0.00994527876405,1.07002917553,0.558519056197,-0.00127255533749,1.06969845729
+153,2.550000000,pose1_to_pose2_press,0.588682001162,-0.00994529151545,1.07002921068,0.559252730154,-0.00127256641821,1.06969849562
+154,2.566666667,pose1_to_pose2_press,0.589434103155,-0.00994533606135,1.07002907671,0.560004832543,-0.00127260940366,1.06969836736
+155,2.583333333,pose1_to_pose2_press,0.590200065374,-0.00994534413951,1.07002885905,0.560770794106,-0.00127261962736,1.06969815189
+156,2.600000000,pose1_to_pose2_press,0.590986983385,-0.00994546767178,1.07002904632,0.561557715225,-0.00127273252553,1.06969834143
+157,2.616666667,pose1_to_pose2_press,0.591789711167,-0.00994533935664,1.07002916516,0.562360441108,-0.0012726109744,1.06969845192
+158,2.633333333,pose1_to_pose2_press,0.592599439645,-0.00994542266044,1.07002916749,0.563170170221,-0.00127269217686,1.06969845282
+159,2.650000000,pose1_to_pose2_press,0.593421495849,-0.00994550554539,1.07002921225,0.563992227144,-0.00127277263102,1.06969849736
+160,2.666666667,pose1_to_pose2_press,0.594257222433,-0.00994547353969,1.07002934383,0.564827953364,-0.00127274192809,1.06969862716
+161,2.683333333,pose1_to_pose2_press,0.595093074025,-0.00994545723845,1.07002934398,0.565663804422,-0.00127272726729,1.06969863194
+162,2.700000000,pose1_to_pose2_press,0.59593061732,-0.00994552979116,1.0700291692,0.566501348339,-0.0012727977169,1.06969845696
+163,2.716666667,pose1_to_pose2_press,0.596766909221,-0.00994553458298,1.07002903948,0.567337640791,-0.00127280071867,1.06969832523
+164,2.733333333,pose1_to_pose2_press,0.597599947137,-0.00994539967022,1.07002895629,0.568170676237,-0.00127267390268,1.06969824952
+165,2.750000000,pose1_to_pose2_press,0.598426687731,-0.00994544206,1.07002886676,0.568997417569,-0.00127271363388,1.06969816402
+166,2.766666667,pose1_to_pose2_press,0.599249547884,-0.00994546848334,1.0700289714,0.56982027882,-0.00127273642145,1.06969826643
+167,2.783333333,pose1_to_pose2_press,0.60007238087,-0.00994544165837,1.07002915085,0.570643111135,-0.00127271217565,1.06969843792
+168,2.800000000,pose1_to_pose2_press,0.600893726658,-0.0099455136545,1.0700292364,0.571464457605,-0.0012727818715,1.06969852318
+169,2.816666667,pose1_to_pose2_press,0.601715561966,-0.00994537851638,1.07002936923,0.572286291135,-0.00127265294679,1.06969865142
+170,2.833333333,pose1_to_pose2_press,0.602542242448,-0.00994532446932,1.07002927448,0.573112971833,-0.00127259793081,1.06969856288
+171,2.850000000,pose1_to_pose2_press,0.603368023992,-0.00994532941613,1.07002922801,0.573938752349,-0.00127260637159,1.06969851633
+172,2.866666667,pose1_to_pose2_press,0.604191898613,-0.00994532718486,1.07002914626,0.574762627598,-0.00127260192194,1.06969843693
+173,2.883333333,pose1_to_pose2_press,0.605000389087,-0.00994541173877,1.07002923008,0.575571119091,-0.00127268288683,1.06969852435
+174,2.900000000,pose1_to_pose2_press,0.605787412295,-0.00994546440323,1.07002924728,0.576358142891,-0.00127273349217,1.06969854295
+175,2.916666667,pose1_to_pose2_press,0.606549158317,-0.00994550350731,1.07002919629,0.577119889785,-0.00127276987102,1.06969848588
+176,2.933333333,pose1_to_pose2_press,0.60728539911,-0.00994551620162,1.07002935967,0.577856130525,-0.00127278273902,1.06969864949
+177,2.950000000,pose1_to_pose2_press,0.607999195541,-0.0099455275884,1.07002937488,0.578569927766,-0.00127279153308,1.0696986607
+178,2.966666667,pose1_to_pose2_press,0.608705543058,-0.00994534481259,1.07002913399,0.579276272919,-0.00127261647089,1.06969842798
+179,2.983333333,pose1_to_pose2_press,0.609406475811,-0.00994525573029,1.07002906387,0.579977202997,-0.0012725363351,1.0696983613
+180,3.000000000,pose1_to_pose2_press,0.610091505195,-0.00994538617785,1.07002899703,0.580662234811,-0.00127265865995,1.06969829136
+181,3.016666667,pose1_to_pose2_press,0.610754707063,-0.00994539386914,1.07002915582,0.58132543819,-0.00127266128786,1.06969844864
+182,3.033333333,pose1_to_pose2_press,0.611382197343,-0.00994539963304,1.07002931932,0.581952927935,-0.00127266890702,1.06969861118
+183,3.050000000,pose1_to_pose2_press,0.611977379924,-0.00994551590757,1.07002924856,0.582548111562,-0.00127278165621,1.06969853998
+184,3.066666667,pose1_to_pose2_press,0.612539514753,-0.00994546568437,1.07002917907,0.583110245069,-0.00127273622819,1.06969846223
+185,3.083333333,pose1_to_pose2_press,0.613075666781,-0.00994539677095,1.07002891467,0.583646396619,-0.00127266848475,1.06969820854
+186,3.100000000,pose1_to_pose2_press,0.613586636156,-0.00994550109606,1.07002895778,0.584157367585,-0.00127276705404,1.06969825527
+187,3.116666667,pose1_to_pose2_press,0.614070866961,-0.00994555257038,1.07002891751,0.58464159829,-0.00127281845505,1.06969820808
+188,3.133333333,pose1_to_pose2_press,0.614532253436,-0.00994551519307,1.07002915319,0.585102985128,-0.00127277913424,1.06969844162
+189,3.150000000,pose1_to_pose2_press,0.614977320539,-0.00994552967695,1.07002916235,0.585548052216,-0.00127279275861,1.06969844822
+190,3.166666667,pose1_to_pose2_press,0.615412615576,-0.00994543835574,1.07002904883,0.585983344318,-0.00127271021264,1.06969833726
+191,3.183333333,pose1_to_pose2_press,0.61584005844,-0.00994535161876,1.07002898647,0.586410787101,-0.00127262242417,1.06969828465
+192,3.200000000,pose1_to_pose2_press,0.616256641966,-0.00994536927683,1.07002910221,0.586827368816,-0.00127264541271,1.06969839986
+193,3.216666667,pose1_to_pose2_press,0.616657462157,-0.00994542749827,1.0700291299,0.587228190689,-0.00127269686017,1.06969842527
+194,3.233333333,pose1_to_pose2_press,0.617024941565,-0.00994535253025,1.07002910605,0.587595668934,-0.00127262507087,1.06969840509
+195,3.250000000,pose1_to_pose2_press,0.617357326375,-0.00994528397253,1.07002885096,0.587928051432,-0.00127256322089,1.06969815714
+196,3.266666667,pose1_to_pose2_press,0.61765166256,-0.00994534107424,1.07002913406,0.588222389262,-0.00127261470014,1.06969842156
+197,3.283333333,pose1_to_pose2_press,0.617920113433,-0.00994540678934,1.07002929014,0.588490840304,-0.00127267960305,1.06969856976
+198,3.300000000,pose1_to_pose2_press,0.618166234103,-0.00994540646231,1.07002917057,0.588736960306,-0.00127268046912,1.06969846093
+199,3.316666667,pose1_to_pose2_press,0.618398996151,-0.00994530847497,1.07002913441,0.588969721675,-0.00127258386343,1.06969842866
+200,3.333333333,pose1_to_pose2_press,0.618617655048,-0.00994543020313,1.07002913827,0.589188382032,-0.00127270015142,1.06969843
+201,3.350000000,pose1_to_pose2_press,0.618817568259,-0.00994540233254,1.07002907114,0.58938829397,-0.00127267619093,1.06969836019
+202,3.366666667,pose1_to_pose2_press,0.618998162079,-0.00994537438115,1.07002902066,0.589568887646,-0.00127264819696,1.06969831115
+203,3.383333333,pose1_to_pose2_press,0.619158453969,-0.00994539304327,1.07002920949,0.589729181166,-0.00127266132467,1.06969849054
+204,3.400000000,pose1_to_pose2_press,0.619300842926,-0.00994544366479,1.07002924326,0.589871570949,-0.00127270892577,1.0696985208
+205,3.416666667,pose1_to_pose2_press,0.619426091282,-0.00994550253503,1.07002916056,0.589996818768,-0.00127276895302,1.06969844605
+206,3.433333333,pose1_to_pose2_press,0.619536445671,-0.00994547405135,1.07002900348,0.590107171791,-0.0012727445196,1.06969829632
+207,3.450000000,pose1_to_pose2_press,0.619632092343,-0.00994537855831,1.07002916646,0.590202817413,-0.00127265246064,1.06969845608
+208,3.466666667,pose1_to_pose2_press,0.619712132515,-0.00994531091876,1.07002934777,0.590282856741,-0.00127258706321,1.0696986344
+209,3.483333333,pose1_to_pose2_press,0.619779325731,-0.00994541995754,1.07002911778,0.590350051582,-0.00127269003483,1.06969840799
+210,3.500000000,pose1_to_pose2_press,0.619833880594,-0.00994558724728,1.07002897173,0.590404609049,-0.00127284882588,1.06969826287
+211,3.516666667,pose1_to_pose2_press,0.619879286574,-0.00994549615604,1.07002913726,0.590450012936,-0.00127276481736,1.06969842746
+212,3.533333333,pose1_to_pose2_press,0.619916417097,-0.00994525364759,1.07002913114,0.590487139826,-0.00127253416218,1.06969842752
+213,3.550000000,pose1_to_pose2_press,0.61994613314,-0.00994519999541,1.07002922188,0.590516855471,-0.001272481986,1.06969852161
+214,3.566666667,pose1_to_pose2_press,0.619969453685,-0.00994526350411,1.07002933806,0.590540179032,-0.00127253572456,1.06969863529
+215,3.583333333,pose1_to_pose2_press,0.61998709615,-0.00994536032668,1.07002921594,0.590557821595,-0.00127263204968,1.06969850922
+216,3.600000000,pose1_to_pose2_press,0.619999991977,-0.00994536393522,1.07002913078,0.59057071752,-0.00127263505031,1.06969842399
+217,3.616666667,pose1_to_pose2_press,0.620008535993,-0.00994531894539,1.07002912672,0.590579262058,-0.0012725881333,1.06969842156
+218,3.633333333,pose1_to_pose2_press,0.620014392686,-0.00994538310785,1.07002922847,0.590585119097,-0.00127265137851,1.06969851732
+219,3.650000000,pose1_to_pose2_press,0.620018126549,-0.00994542127324,1.07002928364,0.59058885311,-0.00127268918805,1.06969856896
+220,3.666666667,pose1_to_pose2_press,0.620020306058,-0.00994540874796,1.07002919257,0.590591031815,-0.00127267936217,1.06969847957
+221,3.683333333,pose1_to_pose2_press,0.620021808975,-0.00994540011093,1.07002912978,0.590592534178,-0.00127267258657,1.06969841792
+222,3.700000000,pose1_to_pose2_press,0.620022846284,-0.00994539414969,1.07002908644,0.590593571103,-0.00127266791008,1.06969837538
+223,3.716666667,pose1_to_pose2_press,0.620024009292,-0.00994538746606,1.07002903785,0.590594733683,-0.00127266266689,1.06969832768
+224,3.733333333,pose1_to_pose2_press,0.620025278313,-0.00994538211266,1.07002907055,0.590596003064,-0.00127265617213,1.06969835815
+225,3.750000000,pose1_to_pose2_press,0.620026065098,-0.00994537903792,1.07002910162,0.590596790179,-0.00127265204795,1.06969838743
+226,3.766666667,pose1_to_pose2_press,0.620026653594,-0.00994537673809,1.07002912487,0.59059737892,-0.00127264896317,1.06969840934
+227,3.783333333,pose1_to_pose2_press,0.62002748709,-0.0099453734808,1.07002915778,0.590598212764,-0.00127264459415,1.06969844037
+228,3.800000000,pose1_to_pose2_press,0.620027959018,-0.00994537163652,1.07002917642,0.59059868489,-0.00127264212039,1.06969845793
+229,3.816666667,pose1_to_pose2_press,0.620028019735,-0.00994537139924,1.07002917882,0.590598745631,-0.00127264180213,1.06969846019
+230,3.833333333,pose1_to_pose2_press,0.620028037542,-0.00994537132965,1.07002917953,0.590598763446,-0.00127264170878,1.06969846085
+231,3.850000000,pose1_to_pose2_press,0.62002809895,-0.0099453709634,1.07002918199,0.590598824876,-0.00127264127059,1.06969846319
+232,3.866666667,pose1_to_pose2_press,0.620028101034,-0.00994537085155,1.0700291821,0.590598826959,-0.00127264116415,1.06969846331
+233,3.883333333,pose1_to_pose2_press,0.62002833555,-0.00994535826456,1.07002919472,0.590599061289,-0.00127262918522,1.06969847662
+234,3.900000000,pose1_to_pose2_press,0.620028836769,-0.00994533136307,1.07002922169,0.590599562112,-0.00127260358332,1.06969850507
+235,3.916666667,pose1_to_pose2_press,0.6200294277,-0.00994529964654,1.07002925348,0.590600152575,-0.00127257339899,1.06969853861
+236,3.933333333,pose1_to_pose2_press,0.620029953736,-0.00994527141303,1.07002928178,0.590600678196,-0.00127254652942,1.06969856847
+237,3.950000000,pose1_to_pose2_press,0.620030004451,-0.00994526869104,1.07002928451,0.590600728871,-0.00127254393894,1.06969857135
+238,3.966666667,pose1_to_pose2_press,0.620030242114,-0.00994533006213,1.07002931081,0.590600967429,-0.00127260225046,1.06969859847
+239,3.983333333,pose1_to_pose2_press,0.620030573601,-0.00994541614599,1.07002934757,0.590601300171,-0.00127268404287,1.06969863638
+240,4.000000000,pose1_to_pose2_press,0.620030799927,-0.00994547492073,1.07002937268,0.590601527355,-0.00127273988757,1.06969866227
+241,4.016666667,pose1_to_pose2_press,0.620030850541,-0.00994548806465,1.07002937829,0.590601578161,-0.00127275237624,1.06969866806
+242,4.033333333,pose1_to_pose2_press,0.620030998795,-0.00994552497578,1.07002926352,0.590601726711,-0.00127278817341,1.06969855369
+243,4.050000000,pose1_to_pose2_press,0.620031193945,-0.00994557268218,1.07002903972,0.590601922104,-0.00127283485976,1.06969833038
+244,4.066666667,pose1_to_pose2_press,0.620031165098,-0.00994539711388,1.07002897411,0.590601890267,-0.00127266927656,1.06969827601
+245,4.083333333,pose2_hold,0.620031165098,-0.00994539711388,1.07002897411,0.590601890238,-0.00127266926385,1.06969827601
+246,4.100000000,pose2_hold,0.620031165098,-0.00994539711388,1.07002897411,0.590601890237,-0.0012726692638,1.06969827601
+247,4.116666667,pose2_hold,0.620031165098,-0.00994539711388,1.07002897411,0.590601890238,-0.00127266926365,1.06969827601
+248,4.133333333,pose2_hold,0.620031165098,-0.00994539711388,1.07002897411,0.590601890239,-0.00127266926361,1.06969827601
+249,4.150000000,pose2_hold,0.620031165098,-0.00994539711388,1.07002897411,0.590601890239,-0.00127266926372,1.06969827601
+250,4.166666667,pose2_hold,0.620031165098,-0.00994539711388,1.07002897411,0.590601890239,-0.0012726692645,1.06969827601
+251,4.183333333,pose2_hold,0.620031165098,-0.00994539711388,1.07002897411,0.590601890239,-0.0012726692639,1.06969827601
+252,4.200000000,pose2_hold,0.620031165098,-0.00994539711388,1.07002897411,0.590601890239,-0.00127266926451,1.06969827601
+253,4.216666667,pose2_hold,0.620031165098,-0.00994539711388,1.07002897411,0.59060189024,-0.00127266926359,1.06969827601
+254,4.233333333,pose2_hold,0.620031165098,-0.00994539711388,1.07002897411,0.59060189024,-0.00127266926416,1.06969827601
+255,4.250000000,pose2_hold,0.620031165098,-0.00994539711388,1.07002897411,0.590601890241,-0.00127266926338,1.06969827601
+256,4.266666667,pose2_hold,0.620031165098,-0.00994539711388,1.07002897411,0.590601890241,-0.00127266926333,1.06969827601
+257,4.283333333,pose2_hold,0.620031165098,-0.00994539711388,1.07002897411,0.590601890241,-0.00127266926302,1.06969827601
+258,4.300000000,pose2_hold,0.620031165098,-0.00994539711388,1.07002897411,0.590601890241,-0.00127266926307,1.06969827601
+259,4.316666667,pose2_hold,0.620031165098,-0.00994539711388,1.07002897411,0.590601890242,-0.00127266926309,1.06969827601
+260,4.333333333,pose2_hold,0.620031165098,-0.00994539711388,1.07002897411,0.590601890241,-0.00127266926272,1.06969827601
+261,4.350000000,pose2_to_pose3_retreat,0.620031284977,-0.00994541219036,1.07002902255,0.590602010352,-0.00127268402844,1.0696983109
+262,4.366666667,pose2_to_pose3_retreat,0.620031186767,-0.00994546117802,1.07002902155,0.590601913672,-0.00127272782403,1.06969831145
+263,4.383333333,pose2_to_pose3_retreat,0.62003107827,-0.00994548791622,1.07002909576,0.590601806003,-0.00127275182328,1.06969838458
+264,4.400000000,pose2_to_pose3_retreat,0.620030979653,-0.00994548759349,1.07002923094,0.590601707364,-0.00127275170649,1.06969851628
+265,4.416666667,pose2_to_pose3_retreat,0.620030976887,-0.00994548758444,1.07002923473,0.590601704597,-0.00127275170321,1.06969851997
+266,4.433333333,pose2_to_pose3_retreat,0.62003089525,-0.00994548731728,1.07002934663,0.590601622942,-0.00127275160653,1.069698629
+267,4.450000000,pose2_to_pose3_retreat,0.620030712413,-0.00994547823623,1.07002939951,0.590601439951,-0.00127274306864,1.06969868133
+268,4.466666667,pose2_to_pose3_retreat,0.620029331261,-0.00994539035593,1.07002913234,0.590600057448,-0.00127265922725,1.06969842871
+269,4.483333333,pose2_to_pose3_retreat,0.620025994655,-0.00994542389713,1.07002936057,0.590596721339,-0.00127269160191,1.06969864341
+270,4.500000000,pose2_to_pose3_retreat,0.620016572035,-0.0099453604553,1.07002913084,0.590587297884,-0.00127263059443,1.06969842399
+271,4.516666667,pose2_to_pose3_retreat,0.619999594361,-0.00994537678151,1.07002901267,0.590570320867,-0.00127264457007,1.06969831057
+272,4.533333333,pose2_to_pose3_retreat,0.619971559501,-0.0099453395215,1.07002920424,0.590542285287,-0.00127261010515,1.06969849503
+273,4.550000000,pose2_to_pose3_retreat,0.619932292189,-0.0099453923882,1.07002894848,0.590503018701,-0.00127266038008,1.06969824439
+274,4.566666667,pose2_to_pose3_retreat,0.619880899429,-0.00994528489053,1.07002940335,0.590451623304,-0.00127256228098,1.06969868638
+275,4.583333333,pose2_to_pose3_retreat,0.61981811832,-0.00994544739719,1.07002910349,0.590388845269,-0.00127271402718,1.06969840205
+276,4.600000000,pose2_to_pose3_retreat,0.619743722673,-0.00994531366041,1.07002909716,0.59031444759,-0.00127258741241,1.06969839056
+277,4.616666667,pose2_to_pose3_retreat,0.619657334119,-0.00994545534178,1.07002904245,0.590228060703,-0.00127272438358,1.06969833635
+278,4.633333333,pose2_to_pose3_retreat,0.619557850004,-0.00994547810929,1.07002902224,0.590128577225,-0.00127274460985,1.06969832297
+279,4.650000000,pose2_to_pose3_retreat,0.619440594742,-0.00994545657063,1.07002898558,0.590011321786,-0.00127272419379,1.06969828248
+280,4.666666667,pose2_to_pose3_retreat,0.619305331837,-0.00994555395361,1.07002927566,0.589876061077,-0.00127281490705,1.06969856317
+281,4.683333333,pose2_to_pose3_retreat,0.619150144238,-0.00994547394886,1.07002927448,0.589720872351,-0.00127273909067,1.06969856029
+282,4.700000000,pose2_to_pose3_retreat,0.618974325435,-0.00994537821472,1.07002918588,0.589545051647,-0.00127264986127,1.06969848351
+283,4.716666667,pose2_to_pose3_retreat,0.618776773247,-0.00994534643042,1.07002906342,0.589347499404,-0.00127261870375,1.06969836376
+284,4.733333333,pose2_to_pose3_retreat,0.618558143656,-0.00994538782794,1.0700290343,0.589128871044,-0.00127265662408,1.06969833077
+285,4.750000000,pose2_to_pose3_retreat,0.618318228067,-0.00994546155027,1.07002917804,0.588888956832,-0.00127272648004,1.06969846914
+286,4.766666667,pose2_to_pose3_retreat,0.618054668977,-0.00994549457983,1.07002919986,0.588625397107,-0.0012727626152,1.06969848873
+287,4.783333333,pose2_to_pose3_retreat,0.617769207731,-0.00994545780467,1.0700289919,0.588339933706,-0.00127273358437,1.06969828818
+288,4.800000000,pose2_to_pose3_retreat,0.617461060171,-0.00994544442728,1.07002897441,0.588031788582,-0.00127271243255,1.06969827609
+289,4.816666667,pose2_to_pose3_retreat,0.617129336199,-0.00994541402741,1.07002903411,0.587700063555,-0.00127268677454,1.06969832554
+290,4.833333333,pose2_to_pose3_retreat,0.616773148698,-0.00994542000112,1.07002913995,0.587343877326,-0.00127268935282,1.06969842978
+291,4.850000000,pose2_to_pose3_retreat,0.61638754972,-0.00994539645671,1.07002917833,0.586958278657,-0.00127266600675,1.0696984594
+292,4.866666667,pose2_to_pose3_retreat,0.615972448518,-0.0099454896996,1.07002915241,0.586543178911,-0.00127275508405,1.06969843995
+293,4.883333333,pose2_to_pose3_retreat,0.61552366167,-0.00994541501177,1.0700291328,0.586094391933,-0.00127268171308,1.06969842254
+294,4.900000000,pose2_to_pose3_retreat,0.615043472999,-0.00994542124742,1.0700290589,0.585614201689,-0.00127269460685,1.06969834112
+295,4.916666667,pose2_to_pose3_retreat,0.61453109081,-0.00994537902572,1.07002902736,0.585101821998,-0.001272644612,1.06969831778
+296,4.933333333,pose2_to_pose3_retreat,0.614000548026,-0.0099453694971,1.0700290867,0.584571277829,-0.00127264090266,1.06969837361
+297,4.950000000,pose2_to_pose3_retreat,0.613455087658,-0.0099453319612,1.07002938857,0.584025816176,-0.0012726084461,1.06969867738
+298,4.966666667,pose2_to_pose3_retreat,0.612897336521,-0.00994521764811,1.07002935948,0.58346806416,-0.00127249756995,1.06969865044
+299,4.983333333,pose2_to_pose3_retreat,0.612326514382,-0.00994544539723,1.07002914688,0.582897244264,-0.00127271808992,1.06969843796
+300,5.000000000,pose2_to_pose3_retreat,0.611737664388,-0.0099454317923,1.07002940228,0.58230839521,-0.00127270246237,1.06969868229
+301,5.016666667,pose2_to_pose3_retreat,0.611119135699,-0.00994543218101,1.07002916969,0.581689866927,-0.00127270113779,1.06969846037
+302,5.033333333,pose2_to_pose3_retreat,0.610466687236,-0.00994543204292,1.07002910143,0.581037417298,-0.0012727031512,1.06969840109
+303,5.050000000,pose2_to_pose3_retreat,0.609777193248,-0.00994536276487,1.07002925994,0.580347922605,-0.00127263651019,1.06969854564
+304,5.066666667,pose2_to_pose3_retreat,0.60905215833,-0.00994542680003,1.0700291808,0.579622889039,-0.00127269586876,1.06969846923
+305,5.083333333,pose2_to_pose3_retreat,0.608288019372,-0.00994535563497,1.07002915543,0.578858749426,-0.00127262697655,1.06969844234
+306,5.100000000,pose2_to_pose3_retreat,0.607493046079,-0.00994546250673,1.07002935683,0.578063776248,-0.00127273344575,1.06969864414
+307,5.116666667,pose2_to_pose3_retreat,0.60667057583,-0.00994538529306,1.07002912826,0.577241306165,-0.00127265519795,1.06969842799
+308,5.133333333,pose2_to_pose3_retreat,0.605846890852,-0.00994548338655,1.07002912906,0.576417621276,-0.00127275321458,1.06969842286
+309,5.150000000,pose2_to_pose3_retreat,0.605029999589,-0.00994547498235,1.0700291048,0.575600731806,-0.00127273855747,1.06969840295
+310,5.166666667,pose2_to_pose3_retreat,0.604211097901,-0.00994543566444,1.07002911999,0.574781829337,-0.0012727019764,1.06969841581
+311,5.183333333,pose2_to_pose3_retreat,0.603387381417,-0.00994537511991,1.07002915181,0.573958109811,-0.00127265194398,1.06969844123
+312,5.200000000,pose2_to_pose3_retreat,0.602552907135,-0.00994539949249,1.07002925949,0.573123636921,-0.00127267172888,1.06969854614
+313,5.216666667,pose2_to_pose3_retreat,0.601690222463,-0.0099453978911,1.07002927011,0.572260951243,-0.00127267348816,1.06969855849
+314,5.233333333,pose2_to_pose3_retreat,0.60079561679,-0.00994530152772,1.07002915705,0.571366345231,-0.00127257824702,1.06969844629
+315,5.250000000,pose2_to_pose3_retreat,0.59988952196,-0.00994534687689,1.07002901291,0.570460251187,-0.0012726206766,1.06969830868
+316,5.266666667,pose2_to_pose3_retreat,0.598978675626,-0.00994534216195,1.07002887792,0.569549403997,-0.00127261875699,1.06969817618
+317,5.283333333,pose2_to_pose3_retreat,0.598084275775,-0.00994537041112,1.07002913398,0.56865500498,-0.00127264450239,1.06969842508
+318,5.300000000,pose2_to_pose3_retreat,0.597207970841,-0.00994535656115,1.07002910859,0.56777869842,-0.00127263587158,1.06969840511
+319,5.316666667,pose2_to_pose3_retreat,0.596351710138,-0.00994539297977,1.07002912757,0.566922438409,-0.00127267013753,1.06969841884
+320,5.333333333,pose2_to_pose3_retreat,0.59550685283,-0.00994541418543,1.07002914287,0.566077582294,-0.00127268731852,1.06969843343
+321,5.350000000,pose2_to_pose3_retreat,0.594666370935,-0.00994540724484,1.07002928041,0.565237100582,-0.00127268010659,1.06969856179
+322,5.366666667,pose2_to_pose3_retreat,0.593815212133,-0.00994533143891,1.07002907177,0.564385940217,-0.00127260926803,1.06969836187
+323,5.383333333,pose2_to_pose3_retreat,0.592952830457,-0.00994547038789,1.07002893556,0.563523561094,-0.0012727396043,1.06969822429
+324,5.400000000,pose2_to_pose3_retreat,0.592079783572,-0.00994545550965,1.07002891589,0.562650513926,-0.00127272575104,1.06969820294
+325,5.416666667,pose2_to_pose3_retreat,0.591212991037,-0.00994549975814,1.07002897483,0.56178372179,-0.00127276830028,1.06969827086
+326,5.433333333,pose2_to_pose3_retreat,0.590361844947,-0.00994554773985,1.07002879607,0.560932575774,-0.0012728161312,1.06969808942
+327,5.450000000,pose2_to_pose3_retreat,0.589539916504,-0.00994535904441,1.07002933962,0.560110645152,-0.00127263505078,1.06969862723
+328,5.466666667,pose2_to_pose3_retreat,0.588748793502,-0.00994528830619,1.07002904279,0.55931952079,-0.00127256872058,1.06969833571
+329,5.483333333,pose2_to_pose3_retreat,0.587984386777,-0.00994524496224,1.07002906486,0.558555114227,-0.00127252536034,1.06969834377
+330,5.500000000,pose2_to_pose3_retreat,0.587239332133,-0.00994548995836,1.07002923627,0.557810063152,-0.00127275791814,1.06969852372
+331,5.516666667,pose2_to_pose3_retreat,0.586507543614,-0.0099454047923,1.07002917762,0.557078272685,-0.0012726794694,1.06969846229
+332,5.533333333,pose2_to_pose3_retreat,0.585790608085,-0.00994534317664,1.07002921849,0.55636133744,-0.00127261647456,1.06969851405
+333,5.550000000,pose2_to_pose3_retreat,0.585093651222,-0.00994532614641,1.07002915818,0.555664380179,-0.00127260094411,1.06969844975
+334,5.566666667,pose2_to_pose3_retreat,0.584425201235,-0.00994550009252,1.07002912068,0.55499593115,-0.00127277152495,1.06969841525
+335,5.583333333,pose2_to_pose3_retreat,0.583785274912,-0.00994534308223,1.07002910943,0.554356004832,-0.00127261439254,1.06969840677
+336,5.600000000,pose2_to_pose3_retreat,0.583170255496,-0.00994544911309,1.07002905987,0.553740986464,-0.00127271727786,1.0696983464
+337,5.616666667,pose2_to_pose3_retreat,0.582572702504,-0.0099454636308,1.070029037,0.553143433145,-0.00127273291758,1.06969832325
+338,5.633333333,pose2_to_pose3_retreat,0.581991702502,-0.00994547319709,1.07002912288,0.552562432996,-0.00127274281364,1.06969841351
+339,5.650000000,pose2_to_pose3_retreat,0.581436785521,-0.00994549593734,1.07002896283,0.552007516276,-0.0012727648206,1.0696982494
+340,5.666666667,pose2_to_pose3_retreat,0.580914095396,-0.00994545221632,1.07002910162,0.551484825493,-0.00127272319032,1.06969839275
+341,5.683333333,pose2_to_pose3_retreat,0.580432008216,-0.00994550439773,1.0700292682,0.551002740565,-0.00127276796573,1.06969855292
+342,5.700000000,pose2_to_pose3_retreat,0.579985190145,-0.00994530626524,1.07002914767,0.550555919922,-0.0012725781832,1.06969844246
+343,5.716666667,pose2_to_pose3_retreat,0.579569647204,-0.00994529335904,1.07002934336,0.550140375833,-0.0012725695587,1.06969862812
+344,5.733333333,pose2_to_pose3_retreat,0.579172535971,-0.00994537268978,1.07002899303,0.549743265046,-0.00127264677857,1.06969829313
+345,5.750000000,pose2_to_pose3_retreat,0.578790833511,-0.00994546316656,1.07002913481,0.549361563927,-0.00127273291971,1.06969842941
+346,5.766666667,pose2_to_pose3_retreat,0.578433004362,-0.00994538088248,1.07002930458,0.54900373381,-0.00127265442689,1.06969858581
+347,5.783333333,pose2_to_pose3_retreat,0.578100972348,-0.00994549386514,1.07002900566,0.548671703516,-0.00127276119318,1.06969829678
+348,5.800000000,pose2_to_pose3_retreat,0.577796399269,-0.00994545480541,1.07002910791,0.548367129749,-0.00127272475178,1.06969839177
+349,5.816666667,pose2_to_pose3_retreat,0.577519407447,-0.00994542013317,1.07002933914,0.548090137012,-0.00127269313834,1.06969862432
+350,5.833333333,pose2_to_pose3_retreat,0.577272208085,-0.00994546118577,1.07002901914,0.547842938646,-0.00127273037876,1.06969831565
+351,5.850000000,pose2_to_pose3_retreat,0.577047978514,-0.0099454605229,1.07002916041,0.547618708272,-0.00127273281384,1.06969844713
+352,5.866666667,pose2_to_pose3_retreat,0.576846261539,-0.00994550941924,1.07002910903,0.547416992748,-0.00127277666348,1.0696983989
+353,5.883333333,pose2_to_pose3_retreat,0.576668749415,-0.00994550249836,1.07002924404,0.547239481517,-0.00127276666202,1.06969853526
+354,5.900000000,pose2_to_pose3_retreat,0.576513220519,-0.00994538292362,1.07002932892,0.54708395154,-0.00127265090725,1.06969861612
+355,5.916666667,pose2_to_pose3_retreat,0.576378865492,-0.00994536360176,1.0700290756,0.546949595816,-0.00127263368801,1.06969836975
+356,5.933333333,pose2_to_pose3_retreat,0.576260770937,-0.00994537446249,1.07002904035,0.54683150043,-0.00127264739713,1.0696983337
+357,5.950000000,pose2_to_pose3_retreat,0.57615726365,-0.00994533208364,1.07002928377,0.54672799241,-0.00127260789845,1.06969856717
+358,5.966666667,pose2_to_pose3_retreat,0.576066084457,-0.0099454094768,1.07002930419,0.546636814593,-0.00127268046082,1.06969859247
+359,5.983333333,pose2_to_pose3_retreat,0.575987325983,-0.00994550181247,1.07002937762,0.546558056908,-0.00127277023826,1.06969866239
+360,6.000000000,pose2_to_pose3_retreat,0.575920588145,-0.00994550703321,1.07002922908,0.546491318546,-0.0012727770706,1.06969851818
+361,6.016666667,pose2_to_pose3_retreat,0.575865749933,-0.00994537814821,1.07002914074,0.546436479518,-0.00127265094193,1.06969843009
+362,6.033333333,pose2_to_pose3_retreat,0.575823339949,-0.00994534418907,1.07002915994,0.546394068633,-0.00127262009242,1.06969844784
+363,6.050000000,pose2_to_pose3_retreat,0.575789988677,-0.00994542222056,1.07002918366,0.54636071881,-0.0012726932879,1.06969846941
+364,6.066666667,pose2_to_pose3_retreat,0.575764773677,-0.00994537369961,1.07002928953,0.54633550293,-0.0012726477911,1.06969857435
+365,6.083333333,pose2_to_pose3_retreat,0.575745464986,-0.00994542894958,1.07002939395,0.546316196174,-0.00127269643022,1.06969868001
+366,6.100000000,pose2_to_pose3_retreat,0.575731726656,-0.00994541524969,1.07002881823,0.54630245649,-0.00127268706259,1.06969811125
+367,6.116666667,pose2_to_pose3_retreat,0.575722932901,-0.00994539714234,1.07002887718,0.546293661385,-0.00127267355533,1.06969816974
+368,6.133333333,pose2_to_pose3_retreat,0.57571766122,-0.0099453742953,1.0700289764,0.546288390548,-0.00127264792864,1.0696982668
+369,6.150000000,pose2_to_pose3_retreat,0.575715178424,-0.00994536071239,1.07002903015,0.546285908571,-0.00127263161773,1.06969831916
+370,6.166666667,pose2_to_pose3_retreat,0.575713802094,-0.00994541394192,1.07002912491,0.546284532334,-0.00127268460302,1.06969841201
+371,6.183333333,pose2_to_pose3_retreat,0.575712918808,-0.00994545532827,1.07002919344,0.546283649065,-0.00127272598341,1.0696984792
+372,6.200000000,pose2_to_pose3_retreat,0.575712387018,-0.00994548024527,1.0700292347,0.546283117285,-0.00127275089683,1.06969851964
+373,6.216666667,pose2_to_pose3_retreat,0.57571211186,-0.00994549313779,1.07002925605,0.546282842132,-0.00127276378749,1.06969854057
+374,6.233333333,pose2_to_pose3_retreat,0.575711791991,-0.00994550812523,1.07002928087,0.546282522269,-0.00127277877278,1.0696985649
+375,6.250000000,pose2_to_pose3_retreat,0.575711634575,-0.00994551237158,1.07002927477,0.546282364817,-0.00127278314956,1.06969855851
+376,6.266666667,pose2_to_pose3_retreat,0.575711507612,-0.00994551547909,1.07002926799,0.546282237822,-0.00127278637562,1.06969855149
+377,6.283333333,pose2_to_pose3_retreat,0.575711201322,-0.00994552297581,1.07002925164,0.546281931454,-0.00127279415832,1.06969853456
+378,6.300000000,pose2_to_pose3_retreat,0.575710686796,-0.00994553556927,1.07002922417,0.546281416798,-0.00127280723218,1.06969850612
+379,6.316666667,pose2_to_pose3_retreat,0.575710677162,-0.00994553580507,1.07002922366,0.546281407162,-0.00127280747698,1.06969850559
+380,6.333333333,pose2_to_pose3_retreat,0.575710517875,-0.00994553970375,1.07002921515,0.546281247834,-0.00127281152439,1.06969849679
+381,6.350000000,pose2_to_pose3_retreat,0.575710452716,-0.00994554129857,1.07002921167,0.546281182659,-0.00127281318004,1.06969849319
+382,6.366666667,pose2_to_pose3_retreat,0.575710440519,-0.00994554159712,1.07002921102,0.546281170458,-0.00127281348998,1.06969849251
+383,6.383333333,pose2_to_pose3_retreat,0.57571032935,-0.00994554431807,1.07002920509,0.546281059261,-0.00127281631473,1.06969848637
+384,6.400000000,pose2_to_pose3_retreat,0.57571030701,-0.00994554486485,1.0700292039,0.546281036916,-0.00127281688237,1.06969848513
+385,6.416666667,pose2_to_pose3_retreat,0.575710246127,-0.00994554635503,1.07002920064,0.546280976017,-0.00127281842939,1.06969848177
+386,6.433333333,pose2_to_pose3_retreat,0.575710080844,-0.00994555040047,1.07002919182,0.546280810692,-0.00127282262916,1.06969847263
+387,6.450000000,pose2_to_pose3_retreat,0.575709876873,-0.00994554963117,1.07002919222,0.546280606687,-0.00127282196219,1.06969847335
+388,6.466666667,pose2_to_pose3_retreat,0.575709770949,-0.00994554025014,1.07002921004,0.546280500774,-0.00127281249694,1.06969849243
+389,6.483333333,pose2_to_pose3_retreat,0.575709702611,-0.0099455341979,1.07002922153,0.546280432443,-0.00127280639037,1.06969850474
+390,6.500000000,pose2_to_pose3_retreat,0.575709676721,-0.00994553190501,1.07002922588,0.546280406556,-0.00127280407689,1.0696985094
+391,6.516666667,pose2_to_pose3_retreat,0.575709564801,-0.00994552199291,1.0700292447,0.546280294647,-0.00127279407581,1.06969852955
+392,6.533333333,pose2_to_pose3_retreat,0.575709442112,-0.00994551112708,1.07002926533,0.54628017197,-0.00127278311243,1.06969855165
+393,6.550000000,pose2_to_pose3_retreat,0.575709348839,-0.00994545508912,1.07002928504,0.546280078106,-0.00127272913229,1.06969857
+394,6.566666667,pose2_to_pose3_retreat,0.57570933445,-0.00994543737292,1.07002928884,0.546280063512,-0.00127271213833,1.06969857313
+395,6.583333333,pose2_to_pose3_retreat,0.575709274512,-0.0099453635149,1.07002930467,0.546280002707,-0.0012726413278,1.06969858611
+396,6.600000000,pose2_to_pose3_retreat,0.575709274617,-0.00994536316255,1.07002930446,0.546280002726,-0.00127264127388,1.06969858576
+397,6.616666667,pose2_to_pose3_retreat,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.00127264096046,1.06969858376
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_08/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_08/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..efd1ad0b0a1f147f140ce856f69bf988098e6a23
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_08/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5728c564f725b656adc302817b113368d789d948f96a0783b1acb3798f02614b
+size 25524459
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_08/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_08/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..81b5a48c75f9b15059e442160a8ad4887acdf2b7
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_08/depth_04/franka_data.csv
@@ -0,0 +1,402 @@
+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,764,742,712,673,659,632,877,784,799,648,629,650,0.400970989137,-0.0153890870821,0.0798403793411,0.999999932514,0.000241627122953,-0.000275186414851,2.93361276622e-05,1793193532797489408
+1,0.016666667,BASELINE,764,742,712,672.42527698,659,632.57472302,877,784.57472302,799,648,629,650.57472302,0.400970729051,-0.0153886236202,0.0798402372613,0.999999932959,0.000239562976572,-0.000275413061065,2.89530449751e-05,1793193532814155520
+2,0.033333333,BASELINE,764,742,712,672,659,632.847347831,877,784.847347831,799,648,629,651,0.400970511595,-0.0153884043045,0.0798401211955,0.999999933268,0.000238107524297,-0.000275580885351,2.86980894038e-05,1793193532830821632
+3,0.050000000,BASELINE,764,742,712,672,659,632.260294898,877,784.260294898,799,648,629,651,0.400970415451,-0.0153888797531,0.0798400791573,0.999999933199,0.000238384226321,-0.000275581320719,2.88077438059e-05,1793193532847488256
+4,0.066666667,BASELINE,764,742,712,672.322307899,659,632.322307899,877.322307899,784.322307899,799,648.322307899,628.677692101,651,0.400970917596,-0.0153888771663,0.0798403693106,0.999999933199,0.000238913325602,-0.000275112098568,2.89127024754e-05,1793193532864155136
+5,0.083333333,BASELINE,764,742,712,672.901365689,659,632.901365689,877.901365689,784.901365689,799,648.901365689,628.098634311,651,0.400971896339,-0.0153884937774,0.0798409240869,0.999999933253,0.000239643484067,-0.000274268748084,2.90139205262e-05,1793193532880821760
+6,0.100000000,BASELINE,764,742,712,672.520932577,659,633,877.520932577,784.520932577,799.479067423,649,628.479067423,651,0.400973618623,-0.0153900969227,0.0798426154864,0.999999934649,0.000237565775183,-0.000270939637312,2.92780538853e-05,1793193532897487872
+7,0.116666667,BASELINE,764,742,712,672,659,633,877.056290511,784,799.943709489,648.943709489,629,651,0.400975068646,-0.0153918671547,0.0798441603268,0.999999936016,0.000235271707565,-0.000267848373148,2.95338429348e-05,1793193532914154240
+8,0.133333333,BASELINE,764,742,712,672,659,633,877.631667116,784,799.368332884,648.368332884,629,651,0.400972600271,-0.0153914171791,0.0798422017537,0.999999934751,0.00023629847086,-0.000271656590559,2.94042450598e-05,1793193532930820864
+9,0.150000000,BASELINE,764,742.211838625,712,672,659,632.788161375,877.788161375,784,799,648.211838625,629,651,0.400970867066,-0.0153906581947,0.0798410113114,0.999999933919,0.000237298102169,-0.000273857322924,2.92243423816e-05,1793193532947487488
+10,0.166666667,BASELINE,764,742.800540251,712,672,659,632.199459749,877.199459749,784,799,648.800540251,629,651,0.400970441736,-0.0153893494805,0.0798411873814,0.999999933881,0.000238249465302,-0.000273198323141,2.89549469771e-05,1793193532964154112
+11,0.183333333,BASELINE,764,742.617697028,712,672,659,632.382302972,877,784,799,648.617697028,629,651,0.400971777626,-0.0153897006933,0.0798417017676,0.999999934319,0.000238048292675,-0.000271771557103,2.89161208832e-05,1793193532980820736
+12,0.200000000,BASELINE,764,742.039489969,712,672,659,632.960510031,877,784,799,648.039489969,629,651,0.400974016021,-0.0153909025048,0.0798423895177,0.999999934997,0.000237256524496,-0.000269951363387,2.89954457442e-05,1793193532997487616
+13,0.216666667,BASELINE,764.537478502,742,712,672,659,633,877.537478502,784.537478502,799,648.537478502,629,650.462521498,0.400972527104,-0.0153890630588,0.0798421546274,0.999999934223,0.000239272546321,-0.00027105714035,2.88166980565e-05,1793193533014154752
+14,0.233333333,BASELINE,765,742,712,672,659,632.886189173,878.113810827,784.886189173,799.113810827,648.886189173,629,650.113810827,0.400970864031,-0.0153874790074,0.0798415880231,0.999999933391,0.000241091266487,-0.00027253183054,2.86170979769e-05,1793193533030821632
+15,0.250000000,BASELINE,765,742,712,672,659,632.312062384,878.687937616,784.312062384,799.687937616,648.312062384,629,650.687937616,0.400969601658,-0.015387829596,0.079839953324,0.999999932777,0.000241279527284,-0.000274631118882,2.84096727531e-05,1793193533047488256
+16,0.266666667,BASELINE,764.730172839,742,712,672,659,632.269827161,878.460345678,784.269827161,800.269827161,648.269827161,628.730172839,651,0.400970006341,-0.0153883126689,0.0798398684558,0.999999933172,0.00023969043318,-0.00027459668489,2.83041378902e-05,1793193533064154368
+17,0.283333333,BASELINE,764.139039555,742,712,672,659,632.860960445,877.27807911,784.860960445,800.860960445,648.860960445,628.139039555,651,0.400972396129,-0.0153889535021,0.0798416291028,0.999999934757,0.000235984891589,-0.000272021446322,2.83199325482e-05,1793193533080820736
+18,0.300000000,BASELINE,764,742,712,672,659,633,877.445181276,785,800.554818724,648.554818724,628.445181276,651,0.400970948636,-0.0153896329945,0.0798407128554,0.99999993429,0.000236288674871,-0.000273438526323,2.86255252951e-05,1793193533097487360
+19,0.316666667,BASELINE,764,742,712,672,659,633,878,784.973178536,800,648,629,651,0.400968537622,-0.0153902363244,0.0798391173934,0.999999933255,0.000237804775322,-0.000275860243828,2.89981260271e-05,1793193533114153984
+20,0.333333333,BASELINE,764,742,712,672,659,633,878,784.400788044,800,648,629,651,0.400970532821,-0.0153890486117,0.0798404520847,0.999999933578,0.000238899128928,-0.000273742238714,2.89208254758e-05,1793193533130820864
+21,0.350000000,BASELINE,764.172082271,742,712,672,659,632.827917729,877.827917729,784,799.827917729,648,628.827917729,650.827917729,0.400971908995,-0.0153884748908,0.0798414158592,0.999999933925,0.000239084580944,-0.000272324860473,2.87669428282e-05,1793193533147487744
+22,0.366666667,BASELINE,764.746073162,742,712,672,659,632.253926838,877.253926838,784,799.253926838,648,628.253926838,650.253926838,0.400971839394,-0.0153893351851,0.0798415133348,0.999999934336,0.000237147237809,-0.000272543839254,2.84341980432e-05,1793193533164154624
+23,0.383333333,BASELINE,764.667660826,742,712,672,659,632.332339174,877.332339174,784,799,648,628,650.332339174,0.400972588215,-0.0153900089527,0.0798422748156,0.999999935038,0.000235926349367,-0.000271009693628,2.85631266007e-05,1793193533180821248
+24,0.400000000,BASELINE,764.071656129,742,712,672,659,632.928343871,877.928343871,784,799,648,628,650.928343871,0.400973986341,-0.0153905347369,0.0798435630935,0.999999935966,0.000235273869188,-0.000268084684411,2.90583295585e-05,1793193533197487872
+25,0.416666667,BASELINE,764,742,712,672.503694282,659,632.496305718,878.503694282,784,799,648,628.503694282,651,0.40097300122,-0.0153899137248,0.0798423534716,0.999999935291,0.000236058856024,-0.000269943833387,2.87318635475e-05,1793193533214154496
+26,0.433333333,BASELINE,764.07648763,742,712,672.92351237,659,632,878.92351237,784.07648763,799.07648763,648.07648763,629,651,0.400972063752,-0.0153892678337,0.0798411175117,0.999999934548,0.000236955371487,-0.000271937757455,2.83816441692e-05,1793193533230820608
+27,0.450000000,BASELINE,764.651009979,742,712,672.348990021,659,632,878.348990021,784.651009979,799.651009979,648.651009979,629,651,0.400973557221,-0.0153894803882,0.0798419327341,0.999999934836,0.000237298999478,-0.000270552210281,2.86078957047e-05,1793193533247487232
+28,0.466666667,BASELINE,764.766807794,742,712,672,659.233192206,632,878,784.766807794,799.766807794,648.766807794,628.766807794,651,0.40097371402,-0.0153895183515,0.0798423943671,0.9999999348,0.000238066253596,-0.000269991203074,2.87861846521e-05,1793193533264154112
+29,0.483333333,BASELINE,764.172772665,742,712,672,659.827227335,632,878,784.172772665,799.172772665,648.172772665,628.172772665,651,0.400971802449,-0.0153892861514,0.0798423088535,0.999999934264,0.000239489029126,-0.000270706093704,2.88902560088e-05,1793193533280820992
+30,0.500000000,BASELINE,764,742,712,672,659.592721806,632.407278194,878,784.407278194,799.407278194,648.407278194,628.407278194,651,0.400972088394,-0.0153892421069,0.0798425319083,0.999999934213,0.00023963551663,-0.00027076229287,2.89324806069e-05,1793193533297487616
+31,0.516666667,BASELINE,764,742,712,672,659.018406339,632.981593661,878,784.981593661,799.981593661,648.981593661,628.981593661,651,0.400973275607,-0.0153892752308,0.0798428815163,0.99999993436,0.000239258559254,-0.000270548342456,2.89493399507e-05,1793193533314154496
+32,0.533333333,BASELINE,764,742,712,672,659,633,878,784.4426464,800,648.4426464,629,651,0.400973296902,-0.0153906429681,0.0798428642348,0.999999935356,0.000236147454971,-0.000269620312282,2.87600040433e-05,1793193533330821120
+33,0.550000000,BASELINE,764,742,712.136793226,672,659,633,878,784.136793226,799.863206774,648,628.863206774,651,0.400973420469,-0.0153911407964,0.0798429743192,0.999999935871,0.000234807216793,-0.000268892069858,2.86508152897e-05,1793193533347487744
+34,0.566666667,BASELINE,764,742,712.728305524,672,659,633,878,784.728305524,799.271694476,648,628.271694476,651,0.40097401233,-0.0153886000381,0.0798435481656,0.999999934712,0.000239654505263,-0.000268906542884,2.88307410028e-05,1793193533364154112
+35,0.583333333,BASELINE,764,742,712.687241369,672,659,633,878,785,799,648,628.312758631,651,0.400973472464,-0.0153883935096,0.0798432712346,0.999999934316,0.000240421915721,-0.000269686863482,2.8886088461e-05,1793193533380820736
+36,0.600000000,BASELINE,764,742,712.108785185,672,659,633,878,785,799,648,628.891214815,651,0.400971971163,-0.015390169977,0.0798422715434,0.999999934576,0.00023772335168,-0.000271117793869,2.88356030882e-05,1793193533397487360
+37,0.616666667,BASELINE,764,742.466677153,712,672,659,633,877.533322847,785,799,648.466677153,629,651,0.400971547252,-0.0153901248095,0.0798422156921,0.999999934758,0.000236914149498,-0.000271161307712,2.87780991722e-05,1793193533414153984
+38,0.633333333,BASELINE,764,742.958756928,712,672.041243072,659,633,877,784.958756928,799.041243072,648.958756928,628.958756928,651,0.400971443662,-0.0153896100975,0.079842396194,0.999999934884,0.000236728552445,-0.000270864121326,2.87221332195e-05,1793193533430820864
+39,0.650000000,BASELINE,764,742.386802514,712,672.613197486,659,633,877,784.386802514,799.613197486,648.386802514,628.386802514,651,0.400972250811,-0.015388482649,0.0798428049848,0.999999934507,0.00023893626931,-0.000270317981612,2.87068760511e-05,1793193533447487744
+40,0.666666667,BASELINE,764,742,712,673,659.192749987,633,877.192749987,784,799.807250013,648.192749987,628.192749987,650.807250013,0.400972887715,-0.0153885205937,0.0798429370562,0.999999934443,0.000239504823348,-0.00027005160898,2.87102898904e-05,1793193533464154368
+41,0.683333333,BASELINE,764,742,712,673,659.788175681,633,877.788175681,784,799.211824319,648.788175681,628.788175681,650.211824319,0.400973168959,-0.015390993172,0.0798424910307,0.999999935035,0.000236648987657,-0.000270369700275,2.87527094986e-05,1793193533480820992
+42,0.700000000,BASELINE,764.373177116,742,712,672.626822884,659.626822884,633,878,784.373177116,799.373177116,648.626822884,629,650.373177116,0.400973431925,-0.0153914625801,0.0798428804277,0.999999935388,0.000235855937541,-0.000269744473117,2.8885568872e-05,1793193533497487616
+43,0.716666667,BASELINE,764.952422264,742,712,672.047577736,659.047577736,633,878,784.952422264,799.952422264,648.047577736,629,650.952422264,0.400973684799,-0.0153908258394,0.0798437311444,0.999999935609,0.00023620195567,-0.000268598346434,2.90683689927e-05,1793193533514154240
+44,0.733333333,BASELINE,764.474222599,742,711.474222599,672,659,633,878,784.474222599,799.474222599,648.525777401,629,651,0.40097230249,-0.0153905927352,0.0798425873684,0.99999993498,0.000236783029446,-0.000270465128188,2.86765902067e-05,1793193533530820608
+45,0.750000000,BASELINE,764,742.098098257,711.098098257,672.098098257,659.098098257,632.901901743,878,784.098098257,799,648.901901743,629,651,0.400971310586,-0.015390624918,0.0798417555936,0.999999934619,0.000236794826137,-0.000271815992237,2.83858808939e-05,1793193533547487232
+46,0.766666667,BASELINE,764,742.667979673,711.667979673,672.667979673,659.667979673,632.332020327,878,784.667979673,799,648.332020327,629,651,0.400972899996,-0.0153917592291,0.0798432826993,0.999999935929,0.000233967641335,-0.000269388982731,2.88285274933e-05,1793193533564153856
+47,0.783333333,BASELINE,764,742.7505546,712,672.7505546,659.7505546,632.2494454,878,784.7505546,799,648,629,651,0.400973616044,-0.0153915623188,0.079843869892,0.999999936137,0.000234162577585,-0.000268426299711,2.89870731047e-05,1793193533580820736
+48,0.800000000,BASELINE,764,742.152918735,712,672.152918735,659.152918735,632.847081265,878,784.152918735,799,648,629,651,0.400973113001,-0.015389507212,0.0798431450996,0.99999993481,0.000238575966583,-0.000269507608819,2.87490540196e-05,1793193533597487872
+49,0.816666667,BASELINE,764.431844995,742.431844995,712,672,659,633,878,784,799.431844995,648.431844995,629,651,0.400972618699,-0.0153892988034,0.0798424791308,0.9999999344,0.000239074781072,-0.000270606413627,2.8550819465e-05,1793193533614154752
+50,0.833333333,BASELINE,764.987966511,742.987966511,712,672.012033489,659.012033489,632.987966511,878,784,799.987966511,649,629,651,0.400972132326,-0.0153897500619,0.079841851213,0.999999934318,0.000238218909268,-0.000271682693258,2.83746003615e-05,1793193533630821376
+51,0.850000000,BASELINE,764.414728638,742.414728638,712,672.585271362,659.585271362,632.414728638,878,784,799.414728638,649,629,651,0.40097187557,-0.0153913517831,0.0798420545575,0.99999993468,0.000236960295673,-0.000271427904376,2.85871128395e-05,1793193533647487744
+52,0.866666667,BASELINE,764,742,712,672.837160044,659.837160044,632.162839956,878,784,799.162839956,648.837160044,629,651,0.40097160556,-0.0153919977777,0.0798420614299,0.999999934848,0.00023594125236,-0.000271688512817,2.86608945564e-05,1793193533664154368
+53,0.883333333,BASELINE,764,742,712,672.248260446,659.248260446,632.751739554,878,784,799.751739554,648.248260446,629,651,0.400971300875,-0.0153901431786,0.0798415542464,0.99999993451,0.00023554902843,-0.00027329762323,2.83716966826e-05,1793193533680820736
+54,0.900000000,BASELINE,764,742,712,672,659,633,878,784,799.664085711,648.335914289,629,650.664085711,0.400971206186,-0.0153904042442,0.0798419832873,0.999999934685,0.00023521062874,-0.000272934375542,2.8511783802e-05,1793193533697487616
+55,0.916666667,BASELINE,764,742,712,672,659,633,878,784,799.083354518,648.916645482,629,650.083354518,0.400971264544,-0.0153922072226,0.0798430946559,0.999999935232,0.000234911456582,-0.000271133658101,2.89647371227e-05,1793193533714154240
+56,0.933333333,BASELINE,764,742,712,672,659,632.509060251,878,784,799,648.509060251,628.509060251,650,0.400972326332,-0.0153905768561,0.0798433443972,0.999999935032,0.000237083849214,-0.00027001060005,2.86586518606e-05,1793193533730820864
+57,0.950000000,BASELINE,764,742,712,672.064795311,659,632.064795311,878.064795311,784.064795311,799,648.064795311,628.064795311,650.064795311,0.400973244261,-0.0153887180023,0.079843319113,0.999999934737,0.000239153725085,-0.000269317268441,2.82733053513e-05,1793193533747488000
+58,0.966666667,BASELINE,764,742,712,672.643729213,659,632.643729213,878.643729213,784.643729213,799,648.643729213,628.643729213,650.643729213,0.400971686356,-0.0153896117455,0.0798422573295,0.99999993473,0.000237123506719,-0.000271132596719,2.8268391637e-05,1793193533764154368
+59,0.983333333,BASELINE,764.227254951,742,712,672.772745049,659,633,878.772745049,785,799,649,629,651,0.400971787131,-0.015390030026,0.0798422569327,0.999999934908,0.000236306595893,-0.000271176451933,2.83820066836e-05,1793193533780820992
+60,1.000000000,BASELINE,764.818127921,742,712,672.181872079,659,633,878.181872079,785,799,649,629,651,0.400974541868,-0.0153896875451,0.0798439548016,0.999999935386,0.000237431030721,-0.000268385871823,2.86852730133e-05,1793193533797487360
+61,1.016666667,BASELINE,764.601059597,742,712,672.398940403,659.398940403,633,878,785,799,648.601059597,629,650.601059597,0.400974497933,-0.0153897665511,0.0798440745065,0.999999935445,0.000237193317932,-0.000268377316862,2.86835924908e-05,1793193533814153984
+62,1.033333333,BASELINE,764.024720786,742,712,672.975279214,659.975279214,633,878,785,799,648.024720786,629,650.024720786,0.400973209502,-0.0153900329813,0.0798434924429,0.999999935318,0.000236349893505,-0.000269605856195,2.85463100274e-05,1793193533830820352
+63,1.050000000,BASELINE,764.547956749,742,712,672.452043251,660,632.452043251,877.452043251,785,799,648.547956749,629,650.547956749,0.400973240762,-0.0153901096433,0.0798435499227,0.999999935171,0.000237188149504,-0.000269414240957,2.85761686785e-05,1793193533847487232
+64,1.066666667,BASELINE,765,742,712,672,659.875286992,632.124713008,877,784.875286992,799,648.875286992,629,651,0.400972842584,-0.0153898968892,0.0798434017878,0.99999993498,0.000237692037901,-0.000269682464472,2.85412728533e-05,1793193533864153856
+65,1.083333333,BASELINE,765,742,712,672,659.282610384,632.717389616,877,784.282610384,799,648.282610384,629,651,0.400970611098,-0.0153886300636,0.0798423745736,0.999999934629,0.000236658478389,-0.000271914965929,2.82352907154e-05,1793193533880820480
+66,1.100000000,BASELINE,764.697854963,742,712,672,659,632.697854963,877.302145037,784,799.302145037,648.302145037,628.697854963,651,0.400970176381,-0.0153887280216,0.0798418880806,0.999999934437,0.000236764613218,-0.000272524424304,2.82812280818e-05,1793193533897487360
+67,1.116666667,BASELINE,764.120319354,742,712,672,659,632.120319354,877.879680646,784,799.879680646,648.879680646,628.120319354,651,0.400971379331,-0.0153900699137,0.0798418944289,0.999999934391,0.000237909524321,-0.000271654557367,2.86479230557e-05,1793193533914154240
+68,1.133333333,BASELINE,764,742,712,672,659,632.455233673,878.455233673,784,799.544766327,649,628.455233673,650.544766327,0.400971764081,-0.015389639403,0.0798421652725,0.999999934414,0.000238453771743,-0.000271111037738,2.84882590694e-05,1793193533930820864
+69,1.150000000,BASELINE,764,742.030042882,712,672,659,633,878.969957118,784.030042882,799.030042882,648.969957118,629,650.030042882,0.400971999205,-0.0153888378953,0.0798425432409,0.999999934491,0.000238729211614,-0.000270610164243,2.82202779537e-05,1793193533947487488
+70,1.166666667,BASELINE,764,742.60085373,712,672,659,633,878.39914627,784.60085373,799.60085373,648.39914627,629,650.60085373,0.400973416715,-0.0153897539725,0.0798435965841,0.999999935237,0.000237011361564,-0.000269331080916,2.84958494964e-05,1793193533964154112
+71,1.183333333,BASELINE,764,742.820560441,712,672,659,633,877.820560441,784.820560441,799.820560441,648.179439559,629,651,0.400974246127,-0.0153908148091,0.0798443441079,0.999999935778,0.000235633058873,-0.000268508061299,2.87095052452e-05,1793193533980820736
+72,1.200000000,BASELINE,764,742.223896477,712,672,659,633,877.223896477,784.223896477,799.223896477,648.776103523,629,651,0.400973708123,-0.0153922122334,0.0798443805553,0.999999935851,0.000235044255351,-0.00026874545927,2.87791973638e-05,1793193533997487616
+73,1.216666667,BASELINE,764,742,712,672,659,633,877.36057125,784,799.36057125,649,628.63942875,651,0.400973264199,-0.0153915746367,0.079843884347,0.999999935617,0.000235365595429,-0.000269345098428,2.86745438161e-05,1793193534014154496
+74,1.233333333,BASELINE,764,742,712,672,659,633,877.937713481,784,799.937713481,649,628.062286519,651,0.400972876783,-0.0153897147392,0.0798430682081,0.999999935198,0.000236233597794,-0.000270162311569,2.84651725093e-05,1793193534030821632
+75,1.250000000,BASELINE,764,742,712,672,659,632.486860092,877.486860092,784,799.486860092,648.486860092,628.513139908,651,0.40097385248,-0.0153906167644,0.0798442827641,0.999999935976,0.000235272425505,-0.000268071173562,2.88510430884e-05,1793193534047488000
+76,1.266666667,BASELINE,764,742,712,672,659,632.090538419,877.090538419,784,799,648,629,651,0.400974536668,-0.0153915292113,0.0798452889819,0.999999936571,0.000234567321394,-0.000266430554182,2.91557910699e-05,1793193534064154368
+77,1.283333333,BASELINE,764,742,712,672,659,632.679946925,877.679946925,784,799,648,629,651,0.400972705985,-0.0153906579947,0.0798437935941,0.999999935389,0.000236492484152,-0.000269211006334,2.86167642805e-05,1793193534080820992
+78,1.300000000,BASELINE,764,742,712,672,659,633,878,784.266094105,799.266094105,648,629,650.733905895,0.400972069979,-0.0153901326387,0.0798434217564,0.99999993509,0.000236878343932,-0.000270013741438,2.82924936923e-05,1793193534097487360
+79,1.316666667,BASELINE,764,742,712,672,659,633,878,784.848366076,799.848366076,648,629,650.151633924,0.40097285351,-0.0153900182406,0.0798443849415,0.99999993585,0.000235435175716,-0.0002684665169,2.82234003757e-05,1793193534114154240
+80,1.333333333,BASELINE,764,742,712,672.424226412,659,632.575773588,877.575773588,784.575773588,799.575773588,648.424226412,629,650.424226412,0.400972425364,-0.0153916164873,0.0798441553481,0.999999936105,0.000233660122002,-0.000269039718392,2.84870668014e-05,1793193534130820864
+81,1.350000000,BASELINE,764,742,712,672.997829166,659,632.002170834,877.002170834,784.002170834,799.002170834,648.997829166,629,650.997829166,0.40097157057,-0.0153938177812,0.0798435057601,0.999999936178,0.000231768206421,-0.000270359552858,2.88679028067e-05,1793193534147487488
+82,1.366666667,BASELINE,764,742,712,672.429687209,659,632,877.570312791,784,799,649,629,651,0.400971752931,-0.0153918555151,0.0798435222503,0.999999935823,0.00023367829982,-0.000270075882415,2.84031707825e-05,1793193534164154368
+83,1.383333333,BASELINE,764,742,712,672,659.147711165,632.147711165,878,784,799,648.852288835,628.852288835,650.852288835,0.400972183568,-0.0153905495772,0.0798436087347,0.99999993567,0.000234942754187,-0.000269572258216,2.81619293647e-05,1793193534180821248
+84,1.400000000,BASELINE,764,742,712,672,659.739911832,632.739911832,878,784,799,648.260088168,628.260088168,650.260088168,0.400973349452,-0.0153912662453,0.0798438982299,0.999999936135,0.000234220901493,-0.000268425084244,2.86028775972e-05,1793193534197487872
+85,1.416666667,BASELINE,764,742,712,672,659.67518511,633,878,784,799,648,628.32481489,650.32481489,0.400973702583,-0.015391557131,0.0798441031442,0.999999936264,0.000234259628097,-0.0002678907765,2.8777612536e-05,1793193534214154240
+86,1.433333333,BASELINE,764,742,712,672,659.095997083,633,878,784,799,648,628.904002917,650.904002917,0.400973419223,-0.0153915145725,0.0798442418204,0.999999936131,0.000234893989203,-0.000267836424361,2.87438671342e-05,1793193534230820864
+87,1.450000000,BASELINE,763.520419833,742,712,672,659.479580167,633,878,784,799,648,629,651,0.400971747589,-0.0153902099853,0.0798432105846,0.999999935409,0.000235792295785,-0.000269750219039,2.85991244578e-05,1793193534247487488
+88,1.466666667,BASELINE,763.055471711,742,712,672,659.944528289,632.944528289,877.944528289,784.055471711,799.055471711,648,629,651,0.400970158326,-0.0153889764939,0.0798422160949,0.999999934719,0.000236558575283,-0.000271645733063,2.84685807067e-05,1793193534264154112
+89,1.483333333,BASELINE,763.641225425,742,712,672,659.358774575,632.358774575,877.358774575,784.641225425,799.641225425,648,629,651,0.400971993113,-0.0153908195085,0.079843794797,0.999999935494,0.000235561451752,-0.000269628555437,2.86845795274e-05,1793193534280820736
+90,1.500000000,BASELINE,764,742,712,672,659,632.225778398,877,785,799.774221602,648.225778398,629,651,0.400972667096,-0.0153914380643,0.0798441619805,0.999999935656,0.000235557957435,-0.000269026989786,2.87292956676e-05,1793193534297487360
+91,1.516666667,BASELINE,764,742,712,672,659,632.808433364,877,785,799.191566636,648.808433364,629,651,0.400971506255,-0.0153901211795,0.0798426141772,0.99999993485,0.000237125042973,-0.00027066301103,2.85032738627e-05,1793193534314154240
+92,1.533333333,BASELINE,764,742,712,672.387973339,659.387973339,632.612026661,877.387973339,785,799,648.612026661,629,651,0.400972091868,-0.015389938751,0.0798429695055,0.999999934959,0.000237760739049,-0.000269697930238,2.85451879858e-05,1793193534330821120
+93,1.550000000,BASELINE,764,742,712,672.965987552,659.965987552,632.034012448,877.965987552,785,799,648.034012448,629,651,0.400973532947,-0.0153903120127,0.0798442570442,0.999999935513,0.000237940213023,-0.000267458752504,2.87183450698e-05,1793193534347488000
+94,1.566666667,BASELINE,764,742,712,672.459201332,660,632.540798668,878,785,799,648,629,651,0.40097275412,-0.0153913716238,0.0798437204995,0.999999935412,0.000236526229306,-0.000269087359792,2.86945126502e-05,1793193534364154368
+95,1.583333333,BASELINE,764,742,712,672,659.8816204,632.8816204,877.8816204,784.8816204,799,648,629,651,0.400972113264,-0.0153923040172,0.0798431776811,0.999999935369,0.000235154746617,-0.000270447338639,2.86732517318e-05,1793193534380820736
+96,1.600000000,BASELINE,764,742,712,672,659.292221677,632.292221677,877.292221677,784.292221677,799,648,629,651,0.400972573628,-0.0153925594822,0.0798430636787,0.999999935739,0.000234348775907,-0.000269776284021,2.87112277364e-05,1793193534397487360
+97,1.616666667,BASELINE,764,742,712,672,659,632.29231967,877,784.29231967,799.29231967,648,629,651,0.400972284543,-0.0153922779199,0.079842861129,0.999999935548,0.000235074726905,-0.000269847796474,2.87283548378e-05,1793193534414154240
+98,1.633333333,BASELINE,764,742,712,672,659,632.872084603,877,784.872084603,799.872084603,648,629,651,0.400971258507,-0.015391468285,0.0798425715083,0.999999934805,0.000237307054982,-0.000270649493785,2.87249806871e-05,1793193534430820864
+99,1.650000000,BASELINE,764,742,712,672.448459999,659,632.551540001,877.896919998,784.551540001,800,648.448459999,629,651,0.400970824934,-0.0153919842805,0.0798422204638,0.999999935132,0.000235478811117,-0.000271042248255,2.86806406049e-05,1793193534447487232
+100,1.666666667,BASELINE,764,742,712,673,659,632,878.951366678,784,799.975683339,649,628.975683339,651,0.40097060918,-0.0153927941975,0.0798419009717,0.999999935717,0.000232714352843,-0.000271278310563,2.86175883945e-05,1793193534464154112
+101,1.683333333,BASELINE,764,742,712,673,659,632,877.779286831,784,799.389643415,649,628.389643415,651,0.400971550682,-0.0153917247842,0.0798427120353,0.99999993541,0.000234877305682,-0.000270569029593,2.8390178059e-05,1793193534480821504
+102,1.700000000,BASELINE,764,742,712,672.805941651,659.194058349,632,877.388116699,784.194058349,799,648.805941651,628.194058349,651,0.400972527323,-0.0153910497026,0.0798435323847,0.999999935423,0.000236170873539,-0.000269392435107,2.83801475532e-05,1793193534497488640
+103,1.716666667,BASELINE,764,742,712,672.226878776,659.773121224,632,878.546242449,784.773121224,799,648.226878776,628.773121224,651,0.400973573677,-0.0153911569608,0.0798443711569,0.999999936077,0.000235739613767,-0.000267288708123,2.88013905467e-05,1793193534514155008
+104,1.733333333,BASELINE,764,741.648612103,712,672,659.648612103,632.351387897,878.297224206,784.648612103,799.351387897,648.351387897,629,651,0.400973168484,-0.0153910332894,0.0798442192823,0.999999935911,0.000236046952257,-0.000267638683526,2.87935817787e-05,1793193534530821376
+105,1.750000000,BASELINE,764,741.070858291,712,672,659.070858291,632.929141709,877.141716583,784.070858291,799.929141709,648.929141709,629,651,0.400971828195,-0.015390760852,0.0798434292279,0.999999935216,0.000236830099555,-0.000269569346588,2.85093756712e-05,1793193534547487744
+106,1.766666667,POSE1_TO_POSE2_PRESS,765,742,712,673,659,632,877,784,799,648,629,651,0.400975437479,-0.0153900081393,0.0798447522697,0.999999935538,0.000239537266913,-0.00026594137544,2.86523810379e-05,1793193534578452480
+107,1.783333333,POSE1_TO_POSE2_PRESS,764.413105107,742,712,672.413105107,659,632.586894893,877.586894893,784.586894893,799.586894893,648,629,651,0.400973965362,-0.0153899556722,0.0798438808931,0.99999993517,0.000238743456249,-0.000268015721314,2.87912445185e-05,1793193534595120128
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632.828614459,877.828614459,785,799.828614459,648,629,651,0.400972898898,-0.0153904115649,0.0798432159865,0.999999935045,0.00023754509337,-0.000269537197642,2.88428313771e-05,1793193534611787776
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632.249838678,877.249838678,785,799.249838678,648,629,651,0.400972796687,-0.0153920758493,0.0798430418672,0.999999935504,0.000235385093648,-0.000269744481513,2.86869582664e-05,1793193534628453888
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,742,712,672,659.32794137,632.32794137,877.32794137,785,799,648.32794137,629,651,0.400972706401,-0.015392918826,0.0798431660387,0.999999935892,0.00023382158479,-0.000269671116856,2.86522324637e-05,1793193534645120256
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,742,712,672,659.90496509,632.90496509,877.90496509,785,799,648.90496509,629,651,0.400972625172,-0.0153931379923,0.0798435167719,0.999999936227,0.000232711130662,-0.000269384590316,2.87095220701e-05,1793193534661786368
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,742,712,672,659.521827484,633,878,784.521827484,799.478172516,648.521827484,629,650.521827484,0.400973122477,-0.0153919872279,0.079844054175,0.999999936142,0.000233950860283,-0.000268630727417,2.86532312324e-05,1793193534678452480
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,742,712,672,659,633,877.947572187,784,799.947572187,648,629,650.052427813,0.4009740292,-0.0153909142114,0.0798447102793,0.999999936115,0.000235214788231,-0.000267628746425,2.86227803093e-05,1793193534695118848
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,742,712,672,659,633,877.354760409,784,799.354760409,648,629,650.645239591,0.400977980118,-0.0153934266634,0.0798462104925,0.999999937558,0.000231951864678,-0.000265019128273,2.90894956149e-05,1793193534711785472
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,742,712,672,659,633,877.23300091,784.23300091,799.23300091,648.23300091,629,651,0.400985049155,-0.0153943473791,0.0798494533889,0.999999939093,0.000231228904829,-0.000259772350553,2.94188994438e-05,1793193534728452352
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,742,712,672,659,633,877.813235639,784.813235639,799.813235639,648.813235639,629,651,0.400996765024,-0.0153928959808,0.0798552933504,0.999999940718,0.000234291172097,-0.000250595498324,2.95436723184e-05,1793193534745119488
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,742,711.611065042,672.388934958,659,633,877.611065042,784.611065042,799.611065042,649,628.611065042,651,0.401024016761,-0.0153933823246,0.0798653953362,0.999999945007,0.000235220908418,-0.000231844673409,3.00998060194e-05,1793193534761786368
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,742,711.037518447,672.962481553,659,633,877.037518447,784.037518447,799.037518447,649,628.037518447,651,0.401058642743,-0.0153947884359,0.0798775203325,0.999999950132,0.000235138419029,-0.000208549471366,3.08606891934e-05,1793193534778452992
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,742,711.496297591,672.503702409,659,633,877,784.496297591,799,648.503702409,628.496297591,651,0.401099275948,-0.0153967730601,0.0798884453288,0.999999954525,0.00023516575894,-0.000186254151826,3.09356835189e-05,1793193534795119616
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.03335831,742,711.96664169,672.03335831,659,632.96664169,877.03335831,784.96664169,799,648,629,651,0.40114310208,-0.0153988943326,0.0798995197313,0.999999958425,0.000235065869387,-0.000164133513923,3.08950806192e-05,1793193534811786496
+121,2.016666667,POSE1_TO_POSE2_PRESS,764.681461979,742,711.318538021,672.681461979,659,632.318538021,877.681461979,784.318538021,799,648,629,651,0.401238020724,-0.0154027876279,0.0799148953368,0.999999962179,0.000232479660601,-0.000143942255326,2.96089010888e-05,1793193534828452608
+122,2.033333333,POSE1_TO_POSE2_PRESS,764.707200993,742,711.292799007,672.707200993,659,632,877.707200993,784.292799007,799,648,629,651,0.401330054187,-0.0154061216553,0.0799241335307,0.999999964506,0.000230687878334,-0.00013052439716,2.71189549557e-05,1793193534845119232
+123,2.050000000,POSE1_TO_POSE2_PRESS,764.131400387,742,711.868599613,672.131400387,659,632,877.131400387,784.868599613,799,648,629,651,0.401419299005,-0.0154089151282,0.0799274396774,0.999999965707,0.00022966394033,-0.0001236532945,2.34655217913e-05,1793193534861786112
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632.444809931,877.889619862,785,799,648.444809931,629,651,0.401528889357,-0.0154136070763,0.0799308958401,0.999999967776,0.00022526528384,-0.00011540468097,1.96099745991e-05,1793193534878452480
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,741.978365823,711.978365823,672,659,632.978365823,878.978365823,784.978365823,799.021634177,648.978365823,629,651,0.401645366741,-0.0154187718065,0.0799343883216,0.999999970006,0.000219842037168,-0.000106836126242,1.56197479338e-05,1793193534895119360
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,741.388600417,711.388600417,672,659,632.388600417,878.388600417,784.388600417,799.611399583,648.388600417,629,651,0.401784724116,-0.0154216108931,0.0799376697209,0.99999997206,0.000213716248004,-0.000100561756131,9.66210268478e-06,1793193534911785728
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,741.196801036,711.196801036,672,659.196801036,632.196801036,878,784,799.803198964,648.196801036,629,651,0.401937169166,-0.0154261670351,0.0799407448217,0.999999974333,0.00020571533827,-9.48853768509e-05,3.42986102118e-06,1793193534928452352
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,741.773772354,711.773772354,672,659.773772354,632.773772354,878,784,799.226227646,648.773772354,629,651,0.402114896305,-0.0154340400978,0.0799434214051,0.999999977076,0.000194092166218,-9.03641667357e-05,-3.3328314109e-06,1793193534945118976
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,742,712,672,659.651035308,633,878,784.348964692,799.348964692,649,628.651035308,651,0.402300885237,-0.0154417422665,0.0799411254295,0.999999981113,0.000169389967578,-9.46188447588e-05,-1.13058019262e-05,1793193534961785856
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,742,712,672,659.076990346,633,878,784.923009654,799.923009654,649,628.076990346,651,0.402492202997,-0.0154493342103,0.0799356221815,0.999999985053,0.000136251868824,-0.000104533920886,-2.00593956762e-05,1793193534978452480
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,742,712,672,659.499649828,633,878,784.500350172,799.500350172,648.500350172,628.499649828,651,0.40271785424,-0.0154569413082,0.0799309034946,0.999999990002,8.10960944465e-05,-0.000112611447199,-2.71494985807e-05,1793193534995118848
+132,2.200000000,POSE1_TO_POSE2_PRESS,764.079062241,742,712,672,659.920937759,633,878,784.079062241,799,648,628.920937759,650.920937759,0.402955869492,-0.0154643744639,0.0799273051675,0.999999991877,3.55838162586e-05,-0.000118127650199,-3.20403411538e-05,1793193535011785728
+133,2.216666667,POSE1_TO_POSE2_PRESS,764.673938855,742,712,672,659.326061145,633,878,784.673938855,799,648,628.326061145,650.326061145,0.403239853981,-0.0154706574822,0.0799302234053,0.999999990958,7.5237077844e-05,-0.000108790316955,-2.42639060079e-05,1793193535028452608
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.741398319,742,712,672.258601681,659.258601681,633,877.741398319,785,799,648.258601681,628.258601681,650.258601681,0.403547261618,-0.0154778381957,0.0799343366555,0.999999991251,8.37979936153e-05,-9.99006034691e-05,-2.22457308509e-05,1793193535045118976
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.169124394,742,712,672.830875606,659.830875606,633,877.169124394,785,799,648.830875606,628.830875606,650.830875606,0.403883080469,-0.015486107773,0.0799398994022,0.999999993946,5.46452857109e-05,-9.15538333432e-05,-2.72120673631e-05,1793193535061785600
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,742,712,673,659.593126971,633,877.406873029,784.593126971,799,648.593126971,629,651,0.404242692561,-0.015496424288,0.0799411769075,0.999999994918,3.96708911748e-05,-8.77586793749e-05,-2.98193349669e-05,1793193535078452480
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,742,712,673,659.015567525,633,877.984432475,784.015567525,799,648.015567525,629,651,0.404612286094,-0.0155075995091,0.0799406567205,0.999999995349,3.06444106927e-05,-8.58729641978e-05,-3.14369545993e-05,1793193535095119104
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,742,712,672.424823816,659,633,878,784,799,648,628.424823816,651,0.405015635728,-0.0155175746821,0.0799371716071,0.999999995461,1.8087239977e-05,-8.74717154668e-05,-3.31691787521e-05,1793193535111785728
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632.837045918,878,784,799.162954082,648,628,651,0.405432159075,-0.0155271919732,0.0799327817647,0.999999995033,4.19321733754e-06,-9.31590915731e-05,-3.51792065334e-05,1793193535128452096
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632.257778181,878,784,799.742221819,648,628,651,0.405879949553,-0.0155359798755,0.0799262903553,0.999999993254,-1.28663163525e-05,-0.00010904545692,-3.78908538254e-05,1793193535145118720
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632,878,784,799.682119792,648,628.317880208,651,0.406354427531,-0.0155449868916,0.0799206086663,0.999999991665,-2.81171416209e-05,-0.000119501840365,-3.99849181923e-05,1793193535161785344
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632,878,784,799.109355405,648,628.890644595,651,0.406850304252,-0.0155541695995,0.0799155762304,0.999999990369,-4.19177017767e-05,-0.000125604332323,-4.15837896583e-05,1793193535178452224
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,742,712,672.477908566,659.477908566,632.477908566,878,784,799.477908566,648,629,651,0.407356775367,-0.015541176678,0.0799097580125,0.99999998906,-2.8738922798e-05,-0.000138803107071,-4.2289359697e-05,1793193535195118848
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,742,712,672.93276607,659.93276607,633,878,784,800,648.06723393,629,651,0.407872615699,-0.0155241682383,0.0799038178513,0.999999987304,-1.05680871784e-05,-0.000153092855877,-4.29212236977e-05,1793193535211785472
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,742,712,672.353793494,659.353793494,633,878,784,800,648.646206506,629,651,0.408440739541,-0.0155164265211,0.0798983608975,0.999999985727,-2.859274164e-06,-0.000162940579914,-4.45965654073e-05,1793193535228452352
+146,2.433333333,POSE1_TO_POSE2_PRESS,764.223686825,742.223686825,711.776313175,672.223686825,659.223686825,633,878,784,800,648.776313175,629,651,0.4090464712,-0.0155181199424,0.0799072186836,0.999999987918,-6.56817374365e-06,-0.000148560123285,-4.52789286495e-05,1793193535245118976
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.798822527,742.798822527,711.201177473,672.798822527,659.798822527,633,878,784,800,648.201177473,629,651,0.409711290904,-0.0155346375226,0.0799385672863,0.999999993997,-2.82161825756e-05,-9.61131996896e-05,-4.44011588252e-05,1793193535261785344
+148,2.466666667,POSE1_TO_POSE2_PRESS,764.62875828,742.62875828,711.37124172,672.62875828,660,632.62875828,878,784,799.62875828,648,628.62875828,651,0.410393891035,-0.0155444340823,0.0799653987151,0.999999996608,-4.47028920328e-05,-5.32773953672e-05,-4.41167808528e-05,1793193535278451968
+149,2.483333333,POSE1_TO_POSE2_PRESS,764.057800499,742.057800499,711.942199501,672.057800499,660,632.057800499,878,784,799.057800499,648,628.057800499,651,0.411086056441,-0.0155506149496,0.0799898000491,0.999999997197,-5.84129883405e-05,-1.5612064634e-05,-4.41516285609e-05,1793193535295118592
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,742,712,672.535598896,660,632,877.464401104,784,799,648,628.535598896,650.464401104,0.411739734239,-0.0155457448869,0.0799650454559,0.999999995678,-5.79106296197e-05,-5.51516396009e-05,-4.74177201645e-05,1793193535311785216
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,742,712,673,660,632.127264771,877.254529541,784.127264771,799.127264771,648,628.872735229,650,0.412399570313,-0.0155390426328,0.0799344346525,0.999999992092,-5.46579345641e-05,-0.000100815024565,-5.16247193288e-05,1793193535328451840
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,742,712,673,660,632.703884506,878.407769012,784.703884506,799.703884506,648,628.296115494,650,0.41309645705,-0.0155302661802,0.0799026959778,0.999999987766,-4.73465512629e-05,-0.000137395881588,-5.78688513155e-05,1793193535345118720
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,742.281035892,712,672.718964108,659.718964108,633,878.718964108,785,799.718964108,648.281035892,628,650.281035892,0.413834705243,-0.015528791464,0.0798961393555,0.999999987136,-4.86231873782e-05,-0.000140220994597,-6.08408904728e-05,1793193535361785600
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,742.85874859,712,672.14125141,659.14125141,633,878.14125141,785,799.14125141,648.85874859,628,650.85874859,0.41461661693,-0.0155350248578,0.0799161662762,0.999999990671,-5.89658039557e-05,-0.000107411709049,-6.0358730891e-05,1793193535378452224
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,742.55671011,712,672.44328989,659.44328989,632.55671011,878.44328989,784.55671011,799.44328989,649,628.44328989,651,0.415397756642,-0.0155392733709,0.0799334987624,0.999999992808,-6.04425157014e-05,-8.58010156785e-05,-5.80436876625e-05,1793193535395118848
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,742,712,673,660,632,878.970398485,784,800,648.970398485,629,651,0.416178824993,-0.0155425095667,0.0799482930362,0.999999994267,-5.93834663474e-05,-6.97772490233e-05,-5.54179906186e-05,1793193535411785472
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,742,712,673,660,632,878.392232826,784,800,648.392232826,629,651,0.416963201646,-0.0155388899399,0.0799322096403,0.999999992175,-6.45047192089e-05,-9.01262325196e-05,-5.8027844378e-05,1793193535428452096
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,742,712,673.186602198,660,632,877.813397802,784.186602198,799.626795605,648,628.813397802,651,0.417778577354,-0.0155363576197,0.0799314776807,0.999999992574,-6.62437435049e-05,-8.3603351233e-05,-5.89469011795e-05,1793193535445118720
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,742,712,673.766849234,660,632,877.233150766,784.766849234,798.466301531,648,628.233150766,651,0.418659346764,-0.0155361190167,0.0799631301944,0.999999996356,-6.08478201943e-05,-2.03931891548e-05,-5.62991535362e-05,1793193535461785344
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,742,712,673.657262084,660,632,877.342737916,784.657262084,798.685475832,648,628.342737916,651,0.419504653562,-0.0155349894073,0.079970159407,0.999999996674,-5.8980581724e-05,-4.47965791107e-06,-5.61553353633e-05,1793193535478452224
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,742,712,673.08430101,660,632,877.91569899,784.08430101,799.83139798,648,628.91569899,651,0.420326139457,-0.0155332612931,0.0799606487087,0.99999999636,-5.94836239726e-05,-2.03361178048e-05,-5.76934513741e-05,1793193535495119104
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,742,712,673,660,632,878,784.502496333,800,648,629,651,0.421169888313,-0.0155372944089,0.0799531997571,0.999999995624,-6.53235789347e-05,-3.32544185302e-05,-5.81266102598e-05,1793193535511785472
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,742,712,673,660,632,878,785,799.909869848,648,628.909869848,651,0.422024110738,-0.0155418806084,0.079952045857,0.999999995096,-7.14492132669e-05,-3.67548630621e-05,-5.78945593921e-05,1793193535528452352
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,742,712,673,660,632,878,785,799.330649923,648,628.330649923,651,0.422914326073,-0.0155440747432,0.0799831218527,0.999999995702,-7.41289403694e-05,8.09998639564e-06,-5.50871618757e-05,1793193535545118720
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,742.246353479,712,673.246353479,660,632.246353479,878,785,799,648,628.246353479,651,0.423765662237,-0.0155437109969,0.0799903459902,0.9999999954,-7.86236579369e-05,8.11559168284e-06,-5.4337584835e-05,1793193535561785600
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,742.820408524,712,673.820408524,660,632.820408524,878,785,799,648,628.820408524,651,0.424565281108,-0.015539944735,0.0799658421803,0.999999993429,-8.55326921335e-05,-5.15143541119e-05,-5.63253382908e-05,1793193535578452480
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,742.604335163,712,673.604335163,660,632.604335163,878,785,799,648.395664837,629,650.604335163,0.425392119538,-0.0155387942776,0.079931091665,0.999999989831,-8.07959719248e-05,-0.000100790521318,-6.04241244894e-05,1793193535595119104
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,742.028531971,712,673.028531971,660,632.028531971,878,785,799,648.971468029,629,650.028531971,0.426231350446,-0.0155388347444,0.0798916760294,0.999999984789,-7.0757170207e-05,-0.000145352814779,-6.54840218694e-05,1793193535611785728
+169,2.816666667,POSE1_TO_POSE2_PRESS,764,742,712,673.561369935,660,632,878,785,799,648.438630065,628.438630065,650.561369935,0.427095162411,-0.0155431548328,0.0798921951893,0.999999984712,-8.25817659276e-05,-0.000138850285506,-6.69108647637e-05,1793193535628452352
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,742,712,674,660,632,878.14902401,784.85097599,799.14902401,648.14902401,628.14902401,651,0.427954198727,-0.0155464669504,0.0798979223121,0.999999985107,-9.10740092387e-05,-0.000130322284875,-6.71445664986e-05,1793193535645119232
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,742,712,674,660,632,878.728070716,784.271929284,799.728070716,648.728070716,628.728070716,651,0.428795756438,-0.0155462266463,0.0799126696942,0.999999986524,-8.66613011373e-05,-0.000123631807001,-6.44819059153e-05,1793193535661785856
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,742,712,674,660,632.303755799,879,784.303755799,800,649,629,651,0.429646636154,-0.0155476004683,0.0799383385314,0.999999990287,-8.60900721885e-05,-9.06983238644e-05,-6.15428382831e-05,1793193535678452480
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,742,712,674,660,632.876464389,879,784.876464389,800,649,629,651,0.430505769755,-0.0155504034771,0.0799736774903,0.999999993748,-8.89201825825e-05,-3.45286440745e-05,-5.83590331029e-05,1793193535695118848
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,742.452403047,712,674.452403047,660.452403047,633,879,785,800,649,629,651,0.431342245409,-0.0155532176392,0.0799979552509,0.999999994624,-8.71625735858e-05,1.78650412763e-06,-5.61412566378e-05,1793193535711785472
+175,2.916666667,POSE1_TO_POSE2_PRESS,764,742.969829829,712,674.969829829,660.969829829,633,878.969829829,785,800,649,629,651,0.432166280489,-0.015555785427,0.0800145607203,0.999999994628,-8.4406043805e-05,2.54001861676e-05,-5.45411447436e-05,1793193535728452096
+176,2.933333333,POSE1_TO_POSE2_PRESS,764,742.374451616,712,674.374451616,660.374451616,633,878.374451616,785,800,649,629,651,0.432873995343,-0.0155536801681,0.0799444250989,0.999999990727,-8.65734744814e-05,-8.66370882662e-05,-5.95350038206e-05,1793193535745118720
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,742.213033457,712,674,660,632.786966543,878,784.786966543,799.786966543,649,629,650.786966543,0.433597468154,-0.0155516163097,0.0798912573021,0.999999980262,-8.9543853239e-05,-0.000165256150656,-6.44063026913e-05,1793193535761785600
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,742.787140429,712,674,660,632.212859571,878,784.212859571,799.212859571,649,629,650.212859571,0.434347649469,-0.0155496226215,0.0798668485076,0.99999997568,-9.38751622464e-05,-0.000187234217235,-6.90698743021e-05,1793193535778452736
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,742.63677716,712,674,660,632.36322284,878,784.36322284,799.36322284,649,629,650,0.435100965629,-0.0155522694618,0.0798843677652,0.999999979556,-0.000107268005813,-0.000157507862433,-6.76298002128e-05,1793193535795119616
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,742.059530786,712,674,660,632.940469214,878,784.940469214,799.940469214,649,629,650,0.435856128902,-0.015557650663,0.0799265924913,0.999999985368,-0.00012600022021,-9.73154619395e-05,-6.25932452439e-05,1793193535811786240
+181,3.016666667,POSE1_TO_POSE2_PRESS,764.52909795,742.52909795,711.47090205,674,660,632.47090205,878,784.47090205,800,648.47090205,629,650.52909795,0.436540393617,-0.0155647615675,0.0799247580499,0.999999983717,-0.000121478022515,-0.000118074523864,-6.21925378813e-05,1793193535828452608
+182,3.033333333,POSE1_TO_POSE2_PRESS,764.883492802,743,711.116507198,674,660,632,878.116507198,784,800,648,629,651,0.437205473479,-0.0155718485769,0.0799132944881,0.999999979668,-0.000118432602548,-0.00015063231538,-6.28267635623e-05,1793193535845118976
+183,3.050000000,POSE1_TO_POSE2_PRESS,764.306085541,743,711.693914459,674,660,632,878.693914459,784,800,648,629,651,0.437826909334,-0.0155780542361,0.0798837803078,0.999999970539,-0.000131807435776,-0.00019304179533,-6.54463720194e-05,1793193535861785856
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,743,712,674,659.730071166,632,879,784,800,648.269928834,628.730071166,651,0.438425890283,-0.0155828913373,0.079851476025,0.999999958128,-0.000144207818226,-0.000241423278712,-6.8291686512e-05,1793193535878452224
+185,3.083333333,POSE1_TO_POSE2_PRESS,764,743,712,674,659.155628182,632,879,784,800,648.844371818,628.155628182,651,0.438999539195,-0.0155861845301,0.0798160241529,0.999999941392,-0.000155508894919,-0.00029654194054,-7.1391625976e-05,1793193535895119104
+186,3.100000000,POSE1_TO_POSE2_PRESS,764,742.570218413,711.570218413,674,659.429781587,631.570218413,879,784,800,648.570218413,628,650.570218413,0.439531648248,-0.0155915921026,0.0797749862069,0.999999919227,-0.00016848291926,-0.00035692048163,-7.59377369117e-05,1793193535911785984
+187,3.116666667,POSE1_TO_POSE2_PRESS,764,742.018914391,711.018914391,674,659.981085609,631,879,784,800,648.018914391,628,650.018914391,0.440046965956,-0.0155977053981,0.0797313180521,0.999999891886,-0.000181597555902,-0.000420363662951,-8.08960466051e-05,1793193535928452864
+188,3.133333333,POSE1_TO_POSE2_PRESS,764,742.597623914,711.597623914,674,659.402376086,631,879,784,800,648.597623914,628,650.597623914,0.440522165521,-0.0156014520627,0.079671239794,0.99999984687,-0.000180475146572,-0.000516661870814,-8.21492885815e-05,1793193535945120000
+189,3.150000000,POSE1_TO_POSE2_PRESS,764,743,711.823584356,674,659,631,878.823584356,783.823584356,799.823584356,649,628.176415644,651,0.441002768359,-0.0156050246518,0.0796286986655,0.999999809602,-0.000184220403629,-0.00058291357727,-8.40882377004e-05,1793193535961786880
+190,3.166666667,POSE1_TO_POSE2_PRESS,764,743,711.244604922,674,659,631,878.244604922,783.244604922,799.244604922,649,628.755395078,651,0.441495701048,-0.0156082000179,0.079626175594,0.999999807799,-0.000199073217337,-0.00058060204149,-8.75919072824e-05,1793193535978452736
+191,3.183333333,POSE1_TO_POSE2_PRESS,763.668875881,742.668875881,711,674,659,631,878.331124119,783,799,648.668875881,628.668875881,651,0.441988555325,-0.0156199751822,0.0796502128867,0.99999982536,-0.000217923462378,-0.000542544964029,-8.62225127024e-05,1793193535995119360
+192,3.200000000,POSE1_TO_POSE2_PRESS,763.095524633,742.095524633,711,674,659,631,878.904475367,783,799,648.095524633,628.095524633,651,0.442481352212,-0.0156380413543,0.0796936798748,0.999999853564,-0.000239697945525,-0.000478338959282,-8.12883264284e-05,1793193536011785728
+193,3.216666667,POSE1_TO_POSE2_PRESS,763.491035013,742,711.491035013,674,658.508964987,631,878.508964987,783,799.491035013,648.491035013,628.491035013,651,0.442909276594,-0.0156514169457,0.0797156173965,0.999999866221,-0.000252118506271,-0.000444705742399,-7.89326129134e-05,1793193536028452096
+194,3.233333333,POSE1_TO_POSE2_PRESS,764,742.078820993,711.921179007,674,658,631,878.078820993,783,800,648.921179007,629,651,0.443312297768,-0.0156629092673,0.0797270648288,0.999999871175,-0.000262339380764,-0.000427583854693,-7.74563719841e-05,1793193536045118976
+195,3.250000000,POSE1_TO_POSE2_PRESS,764,742.657635995,711.342364005,674,658,631,878.657635995,783,800,648.342364005,629,651,0.443639615212,-0.015668403556,0.079699271729,0.999999846866,-0.000270468843258,-0.00047642948418,-7.82891176976e-05,1793193536061785856
+196,3.266666667,POSE1_TO_POSE2_PRESS,764.235331626,742.764668374,711.235331626,674,658,631,879,782.764668374,800,648.235331626,628.764668374,650.764668374,0.443955859835,-0.0156734343178,0.0796757516129,0.999999825681,-0.000278101454092,-0.00051475812688,-7.95142575174e-05,1793193536078452736
+197,3.283333333,POSE1_TO_POSE2_PRESS,764.81140644,742.18859356,711.81140644,674,658,631,879,782.18859356,800,648.81140644,628.18859356,650.18859356,0.444256071786,-0.0156777939255,0.0796584184708,0.999999811432,-0.000285014659575,-0.000537858929674,-8.13075557621e-05,1793193536095119360
+198,3.300000000,POSE1_TO_POSE2_PRESS,764.616166268,742.383833732,712,674,658.383833732,630.616166268,878.616166268,782,800,649,628,650.383833732,0.444543007234,-0.0156805751323,0.0796538856043,0.999999807487,-0.000288410597639,-0.000543435399244,-8.0762406169e-05,1793193536111785728
+199,3.316666667,POSE1_TO_POSE2_PRESS,764.045514235,742.954485765,712,674,658.954485765,630.045514235,878.045514235,782,800,649,628,650.954485765,0.444823480812,-0.0156825881052,0.0796555828446,0.999999808735,-0.000290094623453,-0.0005404824847,-7.9079095051e-05,1793193536128452352
+200,3.333333333,POSE1_TO_POSE2_PRESS,764,743,711.450018111,674,658.450018111,630,878.549981889,782,800.549981889,649,628,651,0.445078058452,-0.0156896630579,0.0796631647744,0.999999813163,-0.000292535001915,-0.000530866117358,-7.9234841703e-05,1793193536145118976
+201,3.350000000,POSE1_TO_POSE2_PRESS,764,743,711,674,658,630,878.857620847,781.857620847,800.857620847,649,628,651,0.445320492389,-0.015697066185,0.0796691481539,0.999999815749,-0.000298818560928,-0.000522519591859,-7.86288776605e-05,1793193536161785600
+202,3.366666667,POSE1_TO_POSE2_PRESS,764,743,711,674,658,630,878.281233269,781.281233269,800.281233269,649,628,651,0.445532750835,-0.0157041323209,0.0796687040322,0.99999981195,-0.000316617302221,-0.000519804325277,-7.52151516712e-05,1793193536178452224
+203,3.383333333,POSE1_TO_POSE2_PRESS,764,742.705854773,711,674.294145227,657.705854773,630,878.294145227,781,800.294145227,649,628,650.705854773,0.445718699681,-0.0157086790099,0.0796626534683,0.999999806229,-0.000323122767374,-0.000526862382397,-7.4500179611e-05,1793193536195118848
+204,3.400000000,POSE1_TO_POSE2_PRESS,764,742.131437799,711,674.868562201,657.131437799,630,878.868562201,781,800.868562201,649,628,650.131437799,0.445879579817,-0.0157108250824,0.0796512608925,0.999999798696,-0.000318867607318,-0.000543232800576,-7.63566738515e-05,1793193536211785728
+205,3.416666667,POSE1_TO_POSE2_PRESS,764,742.45368841,711.45368841,674.54631159,657,629.54631159,878.54631159,781,800.54631159,648.54631159,628,650.45368841,0.44602084502,-0.0157142186791,0.079646331556,0.999999795196,-0.000322345459336,-0.000547365281679,-7.80606568426e-05,1793193536228452352
+206,3.433333333,POSE1_TO_POSE2_PRESS,764,743,711.958466329,674,657,629,878.041533671,781,799.958466329,648.041533671,627.958466329,651,0.446155625627,-0.0157179159799,0.0796440395863,0.999999793447,-0.000328092183381,-0.000546937313064,-7.95044949467e-05,1793193536245118976
+207,3.450000000,POSE1_TO_POSE2_PRESS,764,743,711.37658625,674,657,629,878.62341375,781,799.37658625,648.62341375,627.37658625,651,0.446281760111,-0.0157207487388,0.0796511099895,0.999999798531,-0.000333505657953,-0.000534419411655,-7.81526126844e-05,1793193536261785600
+208,3.466666667,POSE1_TO_POSE2_PRESS,764,743,711,674,657.202324476,629.202324476,879,780.797675524,799.202324476,648.797675524,627.202324476,651,0.446396031901,-0.0157234294729,0.0796566193534,0.999999801892,-0.00033866627364,-0.000525000884261,-7.67780217768e-05,1793193536278451968
+209,3.483333333,POSE1_TO_POSE2_PRESS,764,743,711,674,657.775788226,629.775788226,879,780.224211774,799.775788226,648.224211774,627.775788226,651,0.44648854303,-0.0157258313357,0.0796592651826,0.999999802351,-0.000343363050406,-0.000521267777408,-7.53617748318e-05,1793193536295118592
+210,3.500000000,POSE1_TO_POSE2_PRESS,764,742.649426652,711,674,657.649426652,629.649426652,878.649426652,780.350573348,799.649426652,648.350573348,628,651,0.446562528088,-0.0157254577384,0.0796570722477,0.999999801728,-0.000343194302506,-0.000522556769025,-7.54670334759e-05,1793193536311785472
+211,3.516666667,POSE1_TO_POSE2_PRESS,764,742.073793182,711,674,657.073793182,629.073793182,878.073793182,780.926206818,799.073793182,648.926206818,628,651,0.446624619838,-0.0157233023592,0.0796517729364,0.999999800402,-0.000339901998809,-0.00052706983335,-7.65490639888e-05,1793193536328452096
+212,3.533333333,POSE1_TO_POSE2_PRESS,764,742.515607446,711,674,657,629,878.515607446,780.484392554,800.031214892,649,628,651,0.446672386667,-0.0157244230569,0.0796489416339,0.999999799987,-0.000337731060908,-0.000529340483626,-7.59055747065e-05,1793193536345118976
+213,3.550000000,POSE1_TO_POSE2_PRESS,764.10468814,742.89531186,711,674,657,629,879,780.10468814,800.89531186,649,628,651,0.446714489101,-0.0157258081713,0.0796462579599,0.999999798714,-0.000336854015475,-0.00053238395335,-7.52948110932e-05,1793193536361785600
+214,3.566666667,POSE1_TO_POSE2_PRESS,764.683159403,742.316840597,711,674,657,629,879,780.683159403,800.316840597,649,628,651,0.446740489313,-0.015726209794,0.0796426000002,0.999999792918,-0.000341086446407,-0.000540417217329,-7.59804455947e-05,1793193536378452224
+215,3.583333333,POSE1_TO_POSE2_PRESS,764.483045529,742.258477235,711,674,657,629.258477235,879,780.741522765,800,649,628,650.741522765,0.446764406955,-0.0157266518638,0.0796404254126,0.999999790213,-0.000342283386357,-0.000544658567444,-7.59146676834e-05,1793193536395119104
+216,3.600000000,POSE1_TO_POSE2_PRESS,763.34004768,742.82997616,711,674,657,629.82997616,879,780.17002384,800,649,628,650.17002384,0.446785802557,-0.0157271429158,0.0796400472217,0.999999791323,-0.000339804278884,-0.000544307824967,-7.49389125677e-05,1793193536411785984
+217,3.616666667,POSE1_TO_POSE2_PRESS,763.416740444,743,711,674,657,630,879,780.416740444,800,648.583259556,627.583259556,650,0.446801681596,-0.0157266863979,0.0796395207897,0.999999792728,-0.000337714643951,-0.000543061942938,-7.46797013517e-05,1793193536428452352
+218,3.633333333,POSE1_TO_POSE2_PRESS,764,743,711,674,657.009646682,629.990353318,879,780.990353318,800,648,627,650.009646682,0.446815108378,-0.0157258043269,0.0796389480693,0.999999794241,-0.000335773869958,-0.000541470969466,-7.47205277646e-05,1793193536445118720
+219,3.650000000,POSE1_TO_POSE2_PRESS,764,743,711,674,657.583663278,629.416336722,879,780.416336722,800,648,627,650.583663278,0.446821748372,-0.0157235029941,0.0796393401689,0.999999795001,-0.00033289235717,-0.000541869028571,-7.45614353641e-05,1793193536461785344
+220,3.666666667,POSE1_TO_POSE2_PRESS,764,742.840572077,711.159427923,674,657.840572077,629,879,780.159427923,800.159427923,648,627,651,0.446826811838,-0.0157223074521,0.0796392191681,0.999999794862,-0.000331626149329,-0.000542924227564,-7.43851624046e-05,1793193536478452224
+221,3.683333333,POSE1_TO_POSE2_PRESS,764,742.260191991,711.739808009,674,657.260191991,629,879,780.739808009,800.739808009,648,627,651,0.446827712651,-0.0157240316312,0.0796377433812,0.999999792361,-0.000334624979724,-0.000545714533208,-7.41635260651e-05,1793193536495119104
+222,3.700000000,POSE1_TO_POSE2_PRESS,764,742.31626012,712,674,657,629,879,781,800.68373988,648,627,651,0.446828454897,-0.0157250135092,0.0796364356271,0.999999790696,-0.000336288153489,-0.000547789126335,-7.37875077179e-05,1793193536511785728
+223,3.716666667,POSE1_TO_POSE2_PRESS,764,742.889520331,712,674,657,629,879,781,800.110479669,648,627,651,0.446829068288,-0.0157253921768,0.07963526442,0.99999978972,-0.000336865942942,-0.000549282115672,-7.32860350527e-05,1793193536528452352
+224,3.733333333,POSE1_TO_POSE2_PRESS,764,743,712,674.478827243,657,629,878.521172757,780.521172757,800,648.478827243,627,651,0.446829675379,-0.0157251165092,0.0796346614338,0.999999789642,-0.000336204300402,-0.000549814881675,-7.33936369365e-05,1793193536545119232
+225,3.750000000,POSE1_TO_POSE2_PRESS,764,743,711.929793479,674.929793479,657,629,878.070206521,780,800,649,627.070206521,651,0.446830187757,-0.0157248371039,0.0796341822802,0.999999789664,-0.000335361958923,-0.000550266769586,-7.35591108021e-05,1793193536561785856
+226,3.766666667,POSE1_TO_POSE2_PRESS,764,743,711.351148773,674.351148773,657,629,878.648851227,780,800,649,627.648851227,651,0.446830025116,-0.0157256619049,0.0796336175336,0.99999978886,-0.000335353833299,-0.000551793058442,-7.30906714e-05,1793193536578452480
+227,3.783333333,POSE1_TO_POSE2_PRESS,764,742.774268069,711,674,657,629,879,780,799.774268069,648.774268069,628,651,0.446830967135,-0.0157254905508,0.0796338981888,0.999999788938,-0.000335471376421,-0.000551607294707,-7.28839960566e-05,1793193536595119104
+228,3.800000000,POSE1_TO_POSE2_PRESS,764,742.200110204,711,674,657,629,879,780,799.200110204,648.200110204,628,651,0.44683361424,-0.015723781593,0.0796354837543,0.999999790375,-0.000335782894095,-0.000548778911721,-7.30813636539e-05,1793193536611785728
+229,3.816666667,POSE1_TO_POSE2_PRESS,764,742.38361972,711,674,657,629,878.61638028,780,799.767239441,648,628,651,0.446833530264,-0.0157233765261,0.0796346354443,0.999999790049,-0.000335278000955,-0.000549654478904,-7.3286658642e-05,1793193536628452352
+230,3.833333333,POSE1_TO_POSE2_PRESS,764,742.972470542,711,674,657,629,878.027529458,780,800.944941083,648,628,651,0.446831985199,-0.0157236690225,0.0796324850456,0.999999788774,-0.000334336339614,-0.000552511606899,-7.34961946648e-05,1793193536645118976
+231,3.850000000,POSE1_TO_POSE2_PRESS,764,743,711,674,657,629,878,780,800.447599837,648.552400163,627.447599837,650.447599837,0.446832571218,-0.0157230251364,0.0796328567589,0.999999788887,-0.00033469124393,-0.000552148125016,-7.30707350652e-05,1793193536661785856
+232,3.866666667,POSE1_TO_POSE2_PRESS,764,742.869263032,711,674,657,629,878,780,800,649,627.130736968,650.130736968,0.446833182503,-0.0157225468259,0.0796330874376,0.999999788934,-0.000334874982888,-0.000551995384285,-7.27445334013e-05,1793193536678452736
+233,3.883333333,POSE1_TO_POSE2_PRESS,764,742.294847013,711,674,657,629,878,780,800,649,627.705152987,650.705152987,0.446833524837,-0.0157227862769,0.0796324197111,0.999999788524,-0.000334262041958,-0.000553093868022,-7.2860869618e-05,1793193536695119104
+234,3.900000000,POSE1_TO_POSE2_PRESS,764,742,711,674.27973965,657.27973965,629,878,780,800,648.72026035,627.72026035,651,0.446834686307,-0.0157228404,0.0796331457332,0.999999789205,-0.000334065392245,-0.000551982188186,-7.28411923412e-05,1793193536711785728
+235,3.916666667,POSE1_TO_POSE2_PRESS,764,742,711,674.854506353,657.854506353,629,878,780,800,648.145493647,627.145493647,651,0.446836711676,-0.0157226990674,0.0796353416704,0.99999979103,-0.000334307783436,-0.000548539562379,-7.26780686264e-05,1793193536728452352
+236,3.933333333,POSE1_TO_POSE2_PRESS,764,742.442076223,711,674.115847553,657.557923777,629,878.442076223,780,800,648,627.442076223,650.557923777,0.446836514722,-0.0157224586136,0.0796347984647,0.999999790522,-0.000334141485363,-0.000549552458056,-7.27883207072e-05,1793193536745118976
+237,3.950000000,POSE1_TO_POSE2_PRESS,764.032910625,742.967089375,711,673.032910625,657.032910625,629,879,780,800,648.032910625,628,650,0.446835654091,-0.015722118573,0.0796334108233,0.99999978936,-0.000333665480703,-0.000551927984465,-7.29548280641e-05,1793193536761785344
+238,3.966666667,POSE1_TO_POSE2_PRESS,764.606100316,742.393899684,711,673.606100316,657.606100316,629,879,780,800,648.606100316,628,650,0.446836263337,-0.0157206951771,0.079633401233,0.999999790508,-0.000330379135469,-0.000551882391674,-7.25237719928e-05,1793193536778452224
+239,3.983333333,POSE1_TO_POSE2_PRESS,764.818189151,742,711,674,657.818189151,629,878.818189151,780,800,648.818189151,628,650.181810849,0.44683650889,-0.0157200662761,0.0796336060794,0.999999791078,-0.000328878893569,-0.000551777556777,-7.22798799871e-05,1793193536795119104
+240,4.000000000,POSE1_TO_POSE2_PRESS,764.236940368,742,711,674,657.236940368,629,878.236940368,780,800,648.236940368,628,650.763059632,0.446835955412,-0.0157211828783,0.0796342820426,0.999999790395,-0.000331302715985,-0.000551542567148,-7.24471869465e-05,1793193536811785984
+241,4.016666667,POSE1_TO_POSE2_PRESS,764,742.337191696,711,674,657,629.337191696,878,780,800,648.337191696,627.662808304,651,0.446836401694,-0.0157219454842,0.0796343448839,0.99999978992,-0.000333209126639,-0.00055122446132,-7.2686553641e-05,1793193536828452608
+242,4.033333333,POSE1_TO_POSE2_PRESS,764,742.906426273,711,674,657,629.906426273,878,780,800,648.906426273,627.093573727,651,0.446837535975,-0.015722464483,0.0796339857973,0.999999789588,-0.000334759473513,-0.000550849158,-7.29755091787e-05,1793193536845118976
+243,4.050000000,POSE1_TO_POSE2_PRESS,764,743,711,674,657,630,878,780,800,649,627,651,0.446837719482,-0.0157213497929,0.0796334475803,0.999999790502,-0.000331656621207,-0.000551088962224,-7.28133860424e-05,1793193536861785600
+244,4.066666667,POSE1_TO_POSE2_PRESS,764,742.906666968,711,674,657,629.906666968,878.093333032,780,800,648.906666968,627.093333032,651,0.446837775278,-0.0157203075591,0.0796331058058,0.999999791435,-0.00032863134053,-0.000551245060451,-7.25345419182e-05,1793193536878452224
+245,4.083333333,POSE1_TO_POSE2_PRESS,764,742.328004944,711,674,657,629.328004944,878.671995056,780,800,648.328004944,627.671995056,651,0.446838139579,-0.0157213132901,0.0796339687696,0.999999791261,-0.000330769454178,-0.00055033666133,-7.21101863131e-05,1793193536895118848
+246,4.100000000,POSE1_TO_POSE2_PRESS,764,742.248425619,711,674,657,629,878.751574381,780,800,648.248425619,628,651,0.446838597292,-0.0157218185866,0.0796345945003,0.999999791244,-0.000332092666327,-0.000549590470397,-7.19536443645e-05,1793193536911785472
+247,4.116666667,POSE1_TO_POSE2_PRESS,764,742.821936216,711,674,657,629,878.178063784,780,800,648.821936216,628,651,0.446839177242,-0.0157216690244,0.0796349097924,0.999999791438,-0.000332349514375,-0.000549056541847,-7.2147558148e-05,1793193536928452352
+248,4.133333333,HOLD_POSE2,764,742,711,674,657,629,878,780,801,648,628,651,0.446838864765,-0.0157223311142,0.0796334231822,0.999999790072,-0.000332380017992,-0.000551560191385,-7.18324111271e-05,1793193536961912576
+249,4.150000000,HOLD_POSE2,764,742.581219386,711,674,657,629,878.581219386,780,800.418780614,648.581219386,628,651,0.446838915472,-0.0157209675372,0.0796335377023,0.999999790771,-0.000331353223957,-0.000550896263095,-7.19472761703e-05,1793193536978579456
+250,4.166666667,HOLD_POSE2,764,742.839607378,711,674.160392622,657,629,878.839607378,780,800.160392622,648.839607378,628,651,0.446838616484,-0.0157201144717,0.0796334317391,0.999999790955,-0.000331092009259,-0.000550711968714,-7.20034063718e-05,1793193536995246080
+251,4.183333333,HOLD_POSE2,764,742.265709163,711,674.734290837,657,629,878.265709163,780,800.734290837,648.265709163,628,651,0.446837415951,-0.0157205775469,0.0796327573513,0.999999789813,-0.000332804521893,-0.00055176421052,-7.19081132649e-05,1793193537011912192
+252,4.200000000,HOLD_POSE2,764,742.309102389,711,674.690897611,657,629,878,780,800.690897611,648.309102389,628,651,0.446836899176,-0.0157210452975,0.0796320312499,0.999999789044,-0.000333618521758,-0.000552649811136,-7.20388532737e-05,1793193537028578816
+253,4.216666667,HOLD_POSE2,764,742.884701353,711,674.115298647,657,629,878,780,800.115298647,648.884701353,628,651,0.446836971914,-0.0157215170791,0.0796312605631,0.999999788597,-0.000333657857256,-0.000553391739858,-7.23644706278e-05,1793193537045245440
+254,4.233333333,HOLD_POSE2,764,743,711,674,657,629,878,780,800,649,628,650.525438217,0.446838537731,-0.0157209363326,0.0796326228051,0.999999790523,-0.000331409094698,-0.000551326927862,-7.18340961494e-05,1793193537061912320
+255,4.250000000,HOLD_POSE2,764,743,711,674,657.066036437,629,878,780,800,649,628,650.066036437,0.446840156995,-0.0157202067902,0.0796342833546,0.999999792653,-0.000329051539607,-0.000548955836398,-7.1176234608e-05,1793193537078578944
+256,4.266666667,HOLD_POSE2,764,743,711,674,657.642379832,629,878,780,800,649,628,650.642379832,0.446839299188,-0.0157203647487,0.0796341204821,0.999999791865,-0.000330282270384,-0.000549650839301,-7.11901124043e-05,1793193537095245568
+257,4.283333333,HOLD_POSE2,764,743,711.217683327,674.217683327,657.782316673,629,878,780,800,649,627.782316673,651,0.446838807151,-0.0157207465288,0.0796338905283,0.999999791087,-0.000331527872718,-0.000550289171871,-7.13978406687e-05,1793193537111912448
+258,4.300000000,HOLD_POSE2,764,743,711.791286495,674.791286495,657.208713505,629,878,780,800,649,627.208713505,651,0.446838913161,-0.0157214942651,0.079633550894,0.999999790327,-0.000332797790445,-0.000550834846398,-7.19225212162e-05,1793193537128579072
+259,4.316666667,HOLD_POSE2,764,743,712,675,657,629,878.376677914,780,800,648.623322086,627.376677914,651,0.446839021021,-0.0157212265183,0.0796329722513,0.999999790413,-0.000331797021038,-0.000551287968635,-7.18736694498e-05,1793193537145245440
+260,4.333333333,HOLD_POSE2,764,743,712,675,657,629,878.96881216,780,800,648.03118784,627.96881216,651,0.446839129939,-0.0157203779247,0.0796322568978,0.99999979098,-0.000329497439423,-0.000551688151854,-7.14967624812e-05,1793193537161912064
+261,4.350000000,HOLD_POSE2,764,743,711.451533487,674.451533487,657,629,878.451533487,780,800,648.548466513,628,651,0.446840303246,-0.015721206277,0.0796330363874,0.999999791087,-0.000330439727115,-0.00055097891655,-7.1114744962e-05,1793193537178578688
+262,4.366666667,HOLD_POSE2,764.126549449,743,711.126549449,674.126549449,657,629.126549449,878,780,800,649,628,651,0.446841322664,-0.0157218537324,0.0796338517321,0.999999791278,-0.00033130589652,-0.000550140505313,-7.08990166411e-05,1793193537195245312
+263,4.383333333,HOLD_POSE2,764.701522963,743,711.701522963,674.701522963,657,629.701522963,878,780,800,649,628,651,0.446841587083,-0.0157215298067,0.0796344996259,0.999999791857,-0.000331263656406,-0.000549062931651,-7.12735356987e-05,1793193537211911936
+264,4.400000000,POSE2_TO_POSE3_RETREAT,764,743,711,674,656,629,879,780,800,649,628,651,0.446840883699,-0.0157171858394,0.0796344314255,0.999999792398,-0.000326568497252,-0.000550835917802,-7.16671831954e-05,1793193537249526784
+265,4.416666667,POSE2_TO_POSE3_RETREAT,764.591802693,743,711.591802693,674,656.591802693,629,878.408197307,780,800,648.408197307,627.408197307,651,0.44684218833,-0.015719681443,0.0796354899407,0.999999791856,-0.000330840238499,-0.000549309790383,-7.13512352536e-05,1793193537266193664
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764.820716415,743,711.820716415,674,657,629,878,780,800,648,627.179283585,651,0.446842799309,-0.0157208252119,0.0796358467237,0.999999791628,-0.000332603985083,-0.000548669628166,-7.12687461815e-05,1793193537282860288
+267,4.450000000,POSE2_TO_POSE3_RETREAT,764.242843773,743,711.242843773,674,657,629,878,780,800,648,627.757156227,651,0.446841868138,-0.0157189635384,0.0796346433932,0.999999792128,-0.000328791877765,-0.000549999172116,-7.17052903496e-05,1793193537299526400
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764,743,711,674,657,629,878.333090055,780,800,648.333090055,627.666909945,651,0.446841155576,-0.0157186062005,0.0796339161757,0.999999792183,-0.000327134515751,-0.000550890482831,-7.16738945976e-05,1793193537316192512
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,743,711,674,657,629,878.90761851,780,800,648.90761851,627.09238149,651,0.446840601471,-0.0157193392716,0.0796335340661,0.999999791924,-0.000327039008637,-0.000551464142646,-7.13033152757e-05,1793193537332858880
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764,743,711,674.49445063,656.50554937,628.50554937,878.50554937,780,800,648.50554937,627,651,0.446840864519,-0.0157197139077,0.0796338270325,0.999999791976,-0.000328441602482,-0.000550549754031,-7.1201070896e-05,1793193537349525504
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764,743,711,674.917766726,656.082233274,628.082233274,878.082233274,780,800,648.082233274,627,651,0.446840453656,-0.0157199304123,0.0796338146746,0.999999791815,-0.000329764090788,-0.000550055797757,-7.11669015871e-05,1793193537366192128
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764,743,711,674.33848793,656.66151207,628.66151207,878.66151207,780,800,648.66151207,627,651,0.44683502309,-0.0157196062277,0.0796311750141,0.999999790024,-0.000328867411468,-0.000553826416549,-7.12334364076e-05,1793193537382859264
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764,743,711,674,657,629,879,780,800,648.759487995,627,651,0.446821654689,-0.0157181905946,0.0796241392413,0.999999784387,-0.000328015687259,-0.000564318575793,-7.19397261263e-05,1793193537399525888
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764,743,711,674,657,629,879,780,800,648.180880111,627,651,0.446797127804,-0.0157152406752,0.0796109237048,0.999999773077,-0.000327227157961,-0.0005842594318,-7.35453409644e-05,1793193537416192768
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764,742.606259591,711,674,657,629,879,780,800.393740409,648.393740409,627.393740409,651,0.446754260748,-0.0157125687473,0.0795941142421,0.999999756388,-0.000325878771142,-0.000612779589576,-7.43538220454e-05,1793193537432859392
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764,742.033452408,711,674,657,629,879,780,800.966547592,648.966547592,627.966547592,651,0.446703052875,-0.0157100232452,0.0795756703186,0.999999736483,-0.000324275769853,-0.000645201476385,-7.47997796621e-05,1793193537449525760
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764,742,711,674.554891818,657,629,879,779.445108182,800.445108182,649,628,650.445108182,0.446639137959,-0.0157086943188,0.0795657340351,0.999999727859,-0.000326133925462,-0.00065759679355,-7.4058936688e-05,1793193537466192384
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764.142111479,742,711,674.857888521,657,629,879,779.142111479,800,649,628,650.142111479,0.446569612069,-0.0157062253943,0.0795577671973,0.99999972156,-0.000326223437258,-0.000667186033529,-7.2946309407e-05,1793193537482859008
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764.722885472,742,711,674.277114528,657,629,879,779.722885472,800,649,628,650.722885472,0.446485199255,-0.0157000046679,0.0795542507592,0.999999720468,-0.000320190952754,-0.000671947696135,-7.09132893502e-05,1793193537499525632
+280,4.666666667,POSE2_TO_POSE3_RETREAT,764.699861218,742,711.300138782,674,657,629,879,780,800,649,627.699861218,651,0.446385077388,-0.0156954701534,0.07955399524,0.99999971999,-0.000316244713055,-0.000674873886742,-6.74910679765e-05,1793193537516192256
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764.125820858,742,711.874179142,674,657,629,879,780,800,649,627.125820858,651,0.44627061971,-0.0156924744478,0.0795567155807,0.999999720094,-0.000314202345461,-0.000676125056367,-6.28010850945e-05,1793193537532859136
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764,742.448259601,712,674.448259601,657,629,878.551740399,780,800,648.551740399,627,651,0.446132926576,-0.0156854213059,0.0795582996855,0.999999721025,-0.000308099169596,-0.0006779291952,-5.86252077637e-05,1793193537549526272
+283,4.716666667,POSE2_TO_POSE3_RETREAT,764,743,711.976917718,674.976917718,657,629,878,780,799.976917718,648,627,651,0.44598729952,-0.0156772216621,0.0795593825127,0.999999721955,-0.000300787041535,-0.000680179326321,-5.45312969412e-05,1793193537566192896
+284,4.733333333,POSE2_TO_POSE3_RETREAT,764,743,711.384051007,674.384051007,657,629,878,780,799.384051007,648,627,651,0.445806831211,-0.0156688361727,0.0795559647358,0.99999971846,-0.000291770856916,-0.000689607017755,-4.88982946055e-05,1793193537582859008
+285,4.750000000,POSE2_TO_POSE3_RETREAT,764,742.796801524,711,674,657,629,877.796801524,780,799.203198476,648,627.203198476,651,0.445612997142,-0.0156600661244,0.0795524016898,0.999999715656,-0.000280940055447,-0.000698518574721,-4.28077744803e-05,1793193537599525632
+286,4.766666667,POSE2_TO_POSE3_RETREAT,764,742.21988323,711,674,657,629,877.21988323,780,799.78011677,648,627.78011677,651,0.445394580969,-0.0156505888019,0.079548571467,0.999999714215,-0.000266771836887,-0.000706480863362,-3.58757946151e-05,1793193537616192256
+287,4.783333333,POSE2_TO_POSE3_RETREAT,764,742,711,674,657,629,877.356807957,780.356807957,800,648,627.643192043,651,0.445147652947,-0.0156395107982,0.0795499002,0.999999716186,-0.000251913076593,-0.000709488458196,-2.81674213517e-05,1793193537632858880
+288,4.800000000,POSE2_TO_POSE3_RETREAT,764,742,711,674,657,629,877.933359333,780.933359333,800,648,627.066640667,651,0.444883165623,-0.0156274469995,0.0795544061223,0.999999720148,-0.000236629038502,-0.000709444660548,-1.99808984887e-05,1793193537649525504
+289,4.816666667,POSE2_TO_POSE3_RETREAT,764,742,711,674.517547002,657,629.517547002,878,781,800.517547002,648.517547002,627,651,0.444602696535,-0.0156149980717,0.0795618440181,0.999999742445,-0.000168289047005,-0.000697620923217,-1.06747325435e-05,1793193537666192128
+290,4.833333333,POSE2_TO_POSE3_RETREAT,764,742,711,674.89774191,657,630,878,781,800.89774191,648.89774191,627,650.89774191,0.444310386639,-0.0156024521373,0.0795692223097,0.99999975945,-0.000104973403447,-0.000685622613368,-1.72921205266e-06,1793193537682859008
+291,4.850000000,POSE2_TO_POSE3_RETREAT,764,742,711,674.315259318,657,630,878,781,800.315259318,648.315259318,627,650.315259318,0.443972278656,-0.0155896870098,0.079574521191,0.999999763981,-9.78161997232e-05,-0.000680034431337,4.8354665726e-06,1793193537699525888
+292,4.866666667,POSE2_TO_POSE3_RETREAT,764,742,711,674,657,630,878,781.264108904,800,648.264108904,627.264108904,650.264108904,0.443611021626,-0.0155763102478,0.0795792097973,0.999999766987,-9.10629819695e-05,-0.000676525308448,6.83799133351e-06,1793193537716192768
+293,4.883333333,POSE2_TO_POSE3_RETREAT,764,742,711,674,657,630,878,781.839802885,800,648.839802885,627.839802885,650.839802885,0.443222454301,-0.0155622119048,0.0795831784255,0.99999976827,-8.47863710729e-05,-0.000675468976408,3.45826983091e-06,1793193537732858880
+294,4.900000000,POSE2_TO_POSE3_RETREAT,764,742.414921252,711,674,657,630,878.414921252,782,800,649,628,651,0.44280372915,-0.0155533520937,0.0795881907363,0.999999776139,-7.26011205911e-05,-0.000665156854591,4.1478251186e-06,1793193537749525504
+295,4.916666667,POSE2_TO_POSE3_RETREAT,764,742.989817676,711,674,657,630,878.989817676,782,800,649,628,651,0.442373376493,-0.0155465120277,0.0795936054445,0.999999786209,-5.81377617343e-05,-0.00065127611191,6.40631253487e-06,1793193537766192384
+296,4.933333333,POSE2_TO_POSE3_RETREAT,764,742.419577523,711,674,657.580422477,630,878.419577523,782,800,648.419577523,628,650.419577523,0.441918769946,-0.0155457117313,0.0796105238562,0.99999980494,-5.53943027309e-05,-0.000622074647587,8.64931317285e-06,1793193537782859008
+297,4.950000000,POSE2_TO_POSE3_RETREAT,764,742,711,674.167367743,658,630.167367743,878,782.167367743,800,648,628,650.167367743,0.441443670931,-0.015541091998,0.0796239379415,0.99999981938,-4.96109021458e-05,-0.000598901846584,9.74748184079e-06,1793193537799525376
+298,4.966666667,POSE2_TO_POSE3_RETREAT,764,742,711,674.7446562,658,630.7446562,878,782.7446562,800,648,628,650.7446562,0.44091945248,-0.0155268508898,0.0796282611281,0.999999824583,-3.58644396389e-05,-0.000591171174272,8.04238677072e-06,1793193537816192000
+299,4.983333333,POSE2_TO_POSE3_RETREAT,764,742.321433756,711,674.678566244,658,631,878.321433756,782.678566244,800,648,628,651,0.440351499962,-0.015503386579,0.0796192365986,0.99999981875,-7.98972255587e-06,-0.000601996541216,6.01589911845e-06,1793193537832858624
+300,5.000000000,POSE2_TO_POSE3_RETREAT,764,742.897806165,711,674.102193835,658,631,878.897806165,782.102193835,800,648,628,651,0.439748860601,-0.0154726070707,0.0795996255997,0.999999802607,3.1090534074e-05,-0.000627539251893,3.73450527664e-06,1793193537849525248
+301,5.016666667,POSE2_TO_POSE3_RETREAT,764,742.516136796,711,674,658,631,878.516136796,782.483863204,800,648,628,650.516136796,0.439138590834,-0.0154544030189,0.0795985507618,0.99999980482,5.03454996943e-05,-0.000622753338956,2.03840469227e-06,1793193537866191872
+302,5.033333333,POSE2_TO_POSE3_RETREAT,764,742,711,674,658.070471652,631.070471652,878,783,800,648.070471652,628.070471652,650.070471652,0.438528990003,-0.0154413743923,0.079609741054,0.999999817962,6.54781534718e-05,-0.000599820300686,1.93167225947e-06,1793193537882858752
+303,5.050000000,POSE2_TO_POSE3_RETREAT,764,742,711,674,658.646072042,631.646072042,878,783,800,648.646072042,628.646072042,650.646072042,0.437935971093,-0.0154460158379,0.079680211162,0.999999874736,8.16887665441e-05,-0.00049366322147,1.23131007388e-05,1793193537899525632
+304,5.066666667,POSE2_TO_POSE3_RETREAT,764,742,711,674,659,632,878.224358698,783,800.224358698,648.775641302,629,651,0.437320314351,-0.0154500227187,0.0797463938866,0.999999917867,8.89194168928e-05,-0.000394893603998,2.04752422706e-05,1793193537916192256
+305,5.083333333,POSE2_TO_POSE3_RETREAT,764,742,711,674,659,632,878.806934281,783,800.806934281,648.193065719,629,651,0.436668513497,-0.0154530164366,0.0798057312601,0.999999948931,8.18124268838e-05,-0.000307919009875,2.50940124875e-05,1793193537932858880
+306,5.100000000,POSE2_TO_POSE3_RETREAT,764,742,711.382708706,673.617291294,659,632,878.234582589,783.382708706,800.617291294,648,628.617291294,651,0.435962244018,-0.0154503537192,0.0798319801371,0.999999960947,8.79316773567e-05,-0.000263765933958,2.83010216912e-05,1793193537949525504
+307,5.116666667,POSE2_TO_POSE3_RETREAT,764,742,711.955112029,673.044887971,659,632,877.089775942,783.955112029,800.044887971,648,628.044887971,651,0.435228976465,-0.0154448873149,0.0798418282626,0.999999965463,0.00010060668874,-0.000240837911483,3.08082728416e-05,1793193537966192128
+308,5.133333333,POSE2_TO_POSE3_RETREAT,764,742,712,673.543183506,659,632,877.543183506,784,800,648,628,651,0.434432148027,-0.0154346412675,0.0798252699902,0.999999958192,0.0001085127388,-0.000266560832585,2.80443667218e-05,1793193537982858752
+309,5.150000000,POSE2_TO_POSE3_RETREAT,763.869369849,742,712,673.869369849,659.130630151,632,878,784,800,648.130630151,628.130630151,651,0.433619017434,-0.015424615887,0.079806723051,0.999999948017,0.00012140208257,-0.000297625563315,2.54238953335e-05,1793193537999525632
+310,5.166666667,POSE2_TO_POSE3_RETREAT,763.288669675,742,712,673.288669675,659.711330325,632,878,784,800,648.711330325,628.711330325,651,0.432768354627,-0.0154167520762,0.0797890661883,0.99999993262,0.000152858901795,-0.000332831440594,2.48429992118e-05,1793193538016192768
+311,5.183333333,POSE2_TO_POSE3_RETREAT,763.289006723,742,711.710993277,673,659.710993277,632,878.289006723,784,800,649,629,651,0.431889310399,-0.0154096602256,0.0797573605101,0.999999908663,0.000165897780708,-0.000393247604369,2.25503908787e-05,1793193538032859648
+312,5.200000000,POSE2_TO_POSE3_RETREAT,763.863694211,742,711.136305789,673,659.136305789,632,878.863694211,784,800,649,629,651,0.430982211269,-0.0154033314504,0.0797117676914,0.999999872389,0.000160730680424,-0.000478583931406,1.85657689654e-05,1793193538049526016
+313,5.216666667,POSE2_TO_POSE3_RETREAT,764,742,711,673,659,632,878.552625102,784,800,649,629,651,0.430156450095,-0.0154058250413,0.0797390213639,0.999999895117,0.000153773839106,-0.000430932066667,2.04251740131e-05,1793193538066192640
+314,5.233333333,POSE2_TO_POSE3_RETREAT,764,742.033417411,711.033417411,673,659,632,878.033417411,784,800,648.966582589,628.966582589,651,0.429354172831,-0.015410957067,0.0797891457622,0.99999993023,0.000146817434932,-0.000342633977869,2.42085717479e-05,1793193538082859264
+315,5.250000000,POSE2_TO_POSE3_RETREAT,764,742.612368628,711.612368628,673,659,632,878.612368628,784,800,648.387631372,628.387631372,651,0.428522404613,-0.0154143799076,0.079842871549,0.999999953133,0.000148952670635,-0.000265824011096,2.97373039819e-05,1793193538099525888
+316,5.266666667,POSE2_TO_POSE3_RETREAT,764,742.808827122,712,673,659,632,878.808827122,784,800,648,628.191172878,651,0.427658822866,-0.0154152458037,0.0798679520888,0.99999996172,0.00015212202025,-0.000228804800712,3.26712837609e-05,1793193538116192768
+317,5.283333333,POSE2_TO_POSE3_RETREAT,764,742.230320676,712,673,659,632,878.230320676,784,800,648,628.769679324,651,0.426730784078,-0.0154109310984,0.0798349947598,0.999999950052,0.000157386579504,-0.000272405274417,3.03480599315e-05,1793193538132859648
+318,5.300000000,POSE2_TO_POSE3_RETREAT,764,742,712,673,659.345962552,632,878,784,800,648.345962552,628.654037448,651,0.42580011616,-0.0154093113747,0.0797981897669,0.99999993361,0.000161533726656,-0.00032546361738,2.75646000556e-05,1793193538149526272
+319,5.316666667,POSE2_TO_POSE3_RETREAT,764,742,712,673,659.920775125,632,878,784,800,648.920775125,628.079224875,651,0.424867709141,-0.0154094743488,0.0797588395923,0.99999991207,0.000164941718764,-0.0003847782235,2.44766996697e-05,1793193538166192640
+320,5.333333333,POSE2_TO_POSE3_RETREAT,764,742,712,673,659.492651224,632,878,784,800,648.492651224,628,650.492651224,0.423901817349,-0.0154015813592,0.0797349984235,0.999999893801,0.000170153528328,-0.000427712322375,2.25181036353e-05,1793193538182859008
+321,5.350000000,POSE2_TO_POSE3_RETREAT,764,742,711.905688071,672.905688071,659,632.094311929,877.905688071,784,800,648,628.094311929,650.094311929,0.422951425632,-0.0153940471318,0.0797222027343,0.999999882343,0.000177294959403,-0.000451016642903,2.15308046615e-05,1793193538199525376
+322,5.366666667,POSE2_TO_POSE3_RETREAT,764,742,711.326390475,672.326390475,659,632.673609525,877.326390475,784,800,648,628.673609525,650.673609525,0.422108267667,-0.0153949802735,0.0797534575323,0.999999906273,0.000192876347401,-0.000386843363747,2.46099077177e-05,1793193538216192000
+323,5.383333333,POSE2_TO_POSE3_RETREAT,764,742,711,672,659,632.747917124,877.252082876,784,799.747917124,648,628.747917124,651,0.421276572724,-0.0153979833074,0.0797984670237,0.99999993452,0.000195050308252,-0.000303475092889,2.85955019317e-05,1793193538232858624
+324,5.400000000,POSE2_TO_POSE3_RETREAT,764,742,711,672,659,632.170507428,877.829492572,784,799.170507428,648,628.170507428,651,0.420459671325,-0.0154036576513,0.079861227708,0.999999964167,0.000179921247976,-0.000195334619088,3.37509731614e-05,1793193538249525248
+325,5.416666667,POSE2_TO_POSE3_RETREAT,763.594885234,742,711,672.405114766,659,632,878,784,799,648.405114766,628,650.594885234,0.41958393662,-0.0154050470065,0.0798654447919,0.999999964673,0.000179790842227,-0.00019275567061,3.42705158079e-05,1793193538266192384
+326,5.433333333,POSE2_TO_POSE3_RETREAT,763.020012105,742,711,672.979987895,659,632,878,784,799,648.979987895,628,650.020012105,0.418683548592,-0.0154046407896,0.079845129896,0.999999954698,0.000185945439498,-0.000234410988486,3.28474293196e-05,1793193538282859776
+327,5.450000000,POSE2_TO_POSE3_RETREAT,763.567504239,742.567504239,711,672.432495761,659,632,878,784,799.567504239,649,628,650.567504239,0.417769729414,-0.0153997873925,0.0798099940935,0.999999938592,0.000189891053822,-0.000293157709983,2.85723125994e-05,1793193538299526144
+328,5.466666667,POSE2_TO_POSE3_RETREAT,764,742.846449654,711.153550346,672.153550346,659,632,877.846449654,784,800,648.846449654,628.153550346,651,0.416871558748,-0.0153955307347,0.079786478369,0.99999992422,0.000192955421866,-0.000337145850967,2.57157179397e-05,1793193538316192512
+329,5.483333333,POSE2_TO_POSE3_RETREAT,764,742.265761876,711.734238124,672.734238124,659,632,877.265761876,784,800,648.265761876,628.734238124,651,0.416018265782,-0.0153933802319,0.0797967736669,0.99999992361,0.000193790016064,-0.000338364670305,2.709122662e-05,1793193538332859136
+330,5.500000000,POSE2_TO_POSE3_RETREAT,764,742,712,673,659.311630631,632,877.311630631,784,800,648,629,650.688369369,0.415179059028,-0.0153923003846,0.0797898759457,0.999999918652,0.000191635458114,-0.000353959394985,2.61504249983e-05,1793193538349525504
+331,5.516666667,POSE2_TO_POSE3_RETREAT,764,742,712,673,659.886242274,632,877.886242274,784,800,648,629,650.113757726,0.414351739489,-0.0153921240496,0.07976846926,0.999999909411,0.000186958393627,-0.000381685757759,2.32549193421e-05,1793193538366191872
+332,5.533333333,POSE2_TO_POSE3_RETREAT,764,742,712,672.529622039,659.529622039,632,878,784,799.529622039,648,629,650.470377961,0.413610198516,-0.0153920579751,0.0797782509655,0.999999918779,0.000190540394967,-0.000354446922398,2.24555520895e-05,1793193538382858496
+333,5.550000000,POSE2_TO_POSE3_RETREAT,763.943467152,742,712,672,659,632,877.943467152,784,799,648,629,651,0.412884716379,-0.0153918542173,0.0797947206828,0.999999930376,0.000195648756981,-0.00031697579223,2.22631608299e-05,1793193538399525376
+334,5.566666667,POSE2_TO_POSE3_RETREAT,763.360402294,742,712,672,659,632,877.360402294,784,799,648,629,651,0.412111596418,-0.0153901146211,0.0798017782274,0.999999932306,0.000195985533057,-0.000310569540859,2.29049334425e-05,1793193538416192256
+335,5.583333333,POSE2_TO_POSE3_RETREAT,763.219019663,742,712,672,659,632,877,784,799,648,628.780980337,651,0.41135545478,-0.0153877367096,0.0798009405586,0.999999929885,0.000197948407931,-0.000317045898945,2.30033726065e-05,1793193538432859392
+336,5.600000000,POSE2_TO_POSE3_RETREAT,763.792545298,742,712,672,659,632,877,784,799,648,628.207454702,651,0.410626794195,-0.0153843256183,0.0797873236715,0.999999919944,0.000202543291814,-0.000344374091428,2.22223704892e-05,1793193538449526016
+337,5.616666667,POSE2_TO_POSE3_RETREAT,763.632371238,742,712,672,659,632.367628762,877,784.367628762,799,648,628,651,0.409949675224,-0.0153863031017,0.0797899232044,0.999999920447,0.000205772261224,-0.000340946075156,2.28146322571e-05,1793193538466192384
+338,5.633333333,POSE2_TO_POSE3_RETREAT,763.056404977,742,712,672,659,632.943595023,877,784.943595023,799,648,628,651,0.409301765247,-0.0153913343238,0.0798017126838,0.9999999268,0.000208227158142,-0.000320088323005,2.41851312294e-05,1793193538482859008
+339,5.650000000,POSE2_TO_POSE3_RETREAT,763.533468218,742,712,672.533468218,659,633,877,784.466531782,799,648,628,651,0.408704799575,-0.0153946264905,0.0798240758005,0.999999938745,0.000203158443857,-0.000283809184487,2.62373269177e-05,1793193538499525632
+340,5.666666667,POSE2_TO_POSE3_RETREAT,764,742,712,673,659,632.877757717,877.122242283,784.122242283,799,648.122242283,628.122242283,651,0.408104983171,-0.0153955507651,0.0798375111112,0.999999944697,0.000201138388725,-0.000263389938822,2.78382035001e-05,1793193538516192256
+341,5.683333333,POSE2_TO_POSE3_RETREAT,764,742,712,673,659,632.298732376,877.701267624,784.701267624,799,648.701267624,628.701267624,651,0.40747384805,-0.0153883324076,0.0798132964943,0.999999929235,0.000213562344358,-0.000308490338819,2.74760932657e-05,1793193538532858880
+342,5.700000000,POSE2_TO_POSE3_RETREAT,764,742,712,672.721777267,659,632.278222733,878,785,799,648.721777267,629,651,0.406882767215,-0.0153841193754,0.0797879460821,0.999999913834,0.000219787743937,-0.000351232337485,2.57243143947e-05,1793193538549525760
+343,5.716666667,POSE2_TO_POSE3_RETREAT,764,742,712,672.147028621,659,632.852971379,878,785,799,648.147028621,629,651,0.40633437572,-0.0153831093776,0.0797613851566,0.999999899057,0.000219406808134,-0.000391460782128,2.24914460857e-05,1793193538566192384
+344,5.733333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632.562770779,878,784.562770779,799,648.437229221,629,651,0.405862715361,-0.0153791689706,0.0797665604105,0.999999902878,0.000226126987612,-0.00037762840547,2.25312054646e-05,1793193538582858752
+345,5.750000000,POSE2_TO_POSE3_RETREAT,764,742,711.975585199,672,659,632,878,784,799.024414801,648.975585199,628.975585199,651,0.405418603812,-0.0153741397895,0.0797828040132,0.999999912423,0.000235449007404,-0.000345189948594,2.37171056565e-05,1793193538599525376
+346,5.766666667,POSE2_TO_POSE3_RETREAT,764,742,711.396153613,672,659,632,878,784,799.603846387,648.396153613,628.396153613,651,0.405001147407,-0.0153672591057,0.0798026631799,0.999999920074,0.000248427225692,-0.000312235741194,2.53843960823e-05,1793193538616192000
+347,5.783333333,POSE2_TO_POSE3_RETREAT,764,742,711.183070497,672,659,632,877.816929503,784,799.816929503,648.183070497,628.183070497,651,0.404589970419,-0.0153612490072,0.0798185971229,0.999999924557,0.000259983609792,-0.000287361177626,2.68145832905e-05,1793193538632858624
+348,5.800000000,POSE2_TO_POSE3_RETREAT,764,742,711.761846258,672,659,632,877.238153742,784,799.238153742,648.761846258,628.761846258,651,0.404192366259,-0.0153571206698,0.0798260467336,0.999999924392,0.000268466714845,-0.000279950687367,2.77322743576e-05,1793193538649525248
+349,5.816666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632.338235727,877,784,799,648.661764273,629,651,0.403819786029,-0.0153530698817,0.0798296112455,0.999999922697,0.000272894622188,-0.000281630398905,2.86011247996e-05,1793193538666192128
+350,5.833333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632.91295673,877,784,799,648.08704327,629,651,0.403464701878,-0.0153490733143,0.0798304594008,0.999999919942,0.000274487244406,-0.000289665734264,2.94358271421e-05,1793193538682859008
+351,5.850000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632.502016729,877.497983271,784,799,648,629,651,0.403165725717,-0.0153468900917,0.0798307711682,0.999999918072,0.000279840598921,-0.000290972617849,2.96561926895e-05,1793193538699525376
+352,5.866666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632,878,784,799,648,628.915734069,651,0.402880407281,-0.0153478471083,0.0798304337751,0.99999991726,0.000281259489972,-0.000292390275272,2.96834952261e-05,1793193538716192256
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632,878,784,799,648,628.332902341,651,0.402616644575,-0.0153654686586,0.0798268220114,0.999999921479,0.000255428414506,-0.000301568723626,2.92172785658e-05,1793193538732858624
+354,5.900000000,POSE2_TO_POSE3_RETREAT,764,742.245529833,712,672,659.245529833,632,877.754470167,784,799,648.245529833,628,651,0.4023738922,-0.0153829753502,0.0798240464072,0.999999925659,0.000231500014768,-0.000306989389354,2.91160365225e-05,1793193538749525504
+355,5.916666667,POSE2_TO_POSE3_RETREAT,764,742.818101819,712,672,659.818101819,632,877.181898181,784,799,648.818101819,628,651,0.402159125299,-0.0154003290503,0.0798223845555,0.999999930244,0.000210105953506,-0.000307404742895,2.9500935391e-05,1793193538766192128
+356,5.933333333,POSE2_TO_POSE3_RETREAT,764,742.606554988,712,672,659.606554988,632,877.393445012,784,799,648.606554988,628.393445012,651,0.401980690616,-0.0154008110102,0.0798266640227,0.99999993291,0.000208567052161,-0.000299569699682,3.06178334656e-05,1793193538782858752
+357,5.950000000,POSE2_TO_POSE3_RETREAT,764,742.029921467,712,672,659.029921467,632,877.970078533,784,799,648.029921467,628.970078533,651,0.401819172242,-0.0153934374674,0.0798337097754,0.999999934657,0.000216272737153,-0.000287893261064,3.20755513532e-05,1793193538799525376
+358,5.966666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632.558152961,878,784,799,648.558152961,628.441847039,650.441847039,0.401691053661,-0.0153926989612,0.0798424715567,0.999999938544,0.000216566377459,-0.000273531105893,3.45229811385e-05,1793193538816192000
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,633,878,784,799.144479474,648.855520526,628.144479474,650.144479474,0.401569152056,-0.0153921762129,0.0798494472335,0.999999941552,0.000215943836864,-0.000262600332639,3.61179635529e-05,1793193538832858624
+360,6.000000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,633,878,784,799.723663108,648.276336892,628.723663108,650.723663108,0.401460455899,-0.0153912100434,0.0798507663744,0.9999999421,0.000213785261347,-0.000262436017255,3.49851615917e-05,1793193538849525248
+361,6.016666667,POSE2_TO_POSE3_RETREAT,764.300782456,742,712,672,659,633,878,784.300782456,799.699217544,648.300782456,629,651,0.401359604911,-0.0153892369215,0.0798485167616,0.999999939827,0.000218989129429,-0.000267177591394,3.17218878862e-05,1793193538866191872
+362,6.033333333,POSE2_TO_POSE3_RETREAT,764.876018185,742,712,672,659,633,878,784.876018185,799.123981815,648.876018185,629,651,0.401265912369,-0.0153863449915,0.0798430107883,0.999999934791,0.00023091096499,-0.000276395614836,2.65146347043e-05,1793193538882858496
+363,6.050000000,POSE2_TO_POSE3_RETREAT,764.53959269,742,712,672,659,632.53959269,878,784.53959269,799.46040731,649,629,651,0.401197175941,-0.0153858964664,0.0798394090789,0.999999931567,0.000239427106767,-0.00028080596663,2.62372906785e-05,1793193538899525120
+364,6.066666667,POSE2_TO_POSE3_RETREAT,764.04696493,742,712,672,659,632.04696493,878,784.04696493,799.95303507,649,629,651,0.401136889957,-0.015386003507,0.079836428977,0.999999929038,0.000246162945264,-0.000283874404159,2.72544235597e-05,1793193538916191744
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764.629571915,742,712,672,659,632.629571915,878,784.629571915,799.370428085,649,629,651,0.401094781071,-0.0153847903028,0.0798345712769,0.999999928931,0.000243266104795,-0.000286703236127,2.75870938486e-05,1793193538932858368
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764.790751533,742,712,672,659,633,878,784.790751533,799.209248467,649,628.790751533,650.790751533,0.401057817634,-0.0153837412319,0.0798332183453,0.999999928449,0.000242500224922,-0.000288979240755,2.80313020888e-05,1793193538949524992
+367,6.116666667,POSE2_TO_POSE3_RETREAT,764.216191077,742,712,672,659,633,878,784.216191077,799.783808923,649,628.216191077,650.216191077,0.401029837276,-0.0153829787096,0.079832746653,0.999999927331,0.000245454637616,-0.000290290103231,2.86702364559e-05,1793193538966191872
+368,6.133333333,POSE2_TO_POSE3_RETREAT,764,742,712,672.358650774,659,632.641349226,878,784,800,648.641349226,628,650.358650774,0.401009149368,-0.015383101989,0.0798336519157,0.999999927447,0.000245835878697,-0.000289532646544,2.90085307277e-05,1793193538982858496
+369,6.150000000,POSE2_TO_POSE3_RETREAT,764,742,712,672.933662436,659,632.066337564,878,784,800,648.066337564,628,650.933662436,0.400992860725,-0.0153837596401,0.0798353878449,0.999999928308,0.000244664819794,-0.000287527448725,2.91654598937e-05,1793193538999525120
+370,6.166666667,POSE2_TO_POSE3_RETREAT,764,742,712,672.477515881,659.522484119,632,877.477515881,784.522484119,800,648,628.522484119,651,0.400982362195,-0.0153840585242,0.0798334392522,0.999999927589,0.000245681120262,-0.000289175452756,2.89973533918e-05,1793193539016191744
+371,6.183333333,POSE2_TO_POSE3_RETREAT,764,741.889533579,712,672,659.889533579,632.110466421,877.110466421,784.889533579,799.889533579,648,629,651,0.40097400607,-0.0153844048769,0.0798315746323,0.999999926977,0.000246239150257,-0.000290827881696,2.88192766338e-05,1793193539032858624
+372,6.200000000,POSE2_TO_POSE3_RETREAT,764,741.312698309,712,672,659.312698309,632.687301691,877.687301691,784.312698309,799.312698309,648,629,651,0.400971506871,-0.0153851491625,0.0798320931471,0.99999992771,0.000243658134501,-0.000290487618506,2.87780648398e-05,1793193539049525248
+373,6.216666667,POSE2_TO_POSE3_RETREAT,764,741.263853156,712,672,659,632.736146844,878,784,799.263853156,648,629,651,0.400971070831,-0.0153860602607,0.079833603485,0.999999929005,0.000242077009611,-0.000287321753838,2.89004634465e-05,1793193539066191872
+374,6.233333333,POSE2_TO_POSE3_RETREAT,764,741.840068607,712,672,659,632.159931393,878,784,799.840068607,648,629,651,0.400973077262,-0.0153871688399,0.0798362879917,0.999999930941,0.000241679604663,-0.000280810803716,2.92165520633e-05,1793193539082858496
+375,6.250000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632,878,784,800,648.425328727,629,651,0.400971941352,-0.0153877781531,0.0798365996058,0.999999931397,0.000239770951106,-0.000280838704398,2.90757458228e-05,1793193539099525120
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632.013847242,878,784,799.986152758,648.986152758,629,651,0.400969657479,-0.0153881268698,0.0798360237404,0.999999931263,0.000237468613183,-0.000283293410581,2.87665870418e-05,1793193539116192000
+377,6.283333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632.593521273,878,784,799.406478727,648.406478727,629,651,0.400969796138,-0.0153856649088,0.0798364350052,0.999999930274,0.000242804184661,-0.000282260813692,2.87508600556e-05,1793193539132858624
+378,6.300000000,POSE2_TO_POSE3_RETREAT,764,742,711.828798932,672.171201068,659,632.828798932,878,784.171201068,799,648.171201068,629,651,0.400970003231,-0.0153840079846,0.0798366918777,0.999999929728,0.00024568600013,-0.000281717624513,2.86056829896e-05,1793193539149525248
+379,6.316666667,POSE2_TO_POSE3_RETREAT,764,742,711.255799564,672.744200436,659,632.255799564,878,784.744200436,799,648.744200436,629,651,0.40097037093,-0.0153842404324,0.0798365864011,0.999999930272,0.000242809001554,-0.000282323045061,2.81566946113e-05,1793193539166191872
+380,6.333333333,POSE2_TO_POSE3_RETREAT,764,742,711.319879272,672.680120728,659,632.319879272,878,784.680120728,799.319879272,649,628.680120728,651,0.400969731884,-0.0153853713809,0.0798366505456,0.999999930734,0.000240934129235,-0.000282281387004,2.8288286782e-05,1793193539182858496
+381,6.350000000,POSE2_TO_POSE3_RETREAT,764,742,711.897718977,672.102281023,659,632.897718977,878,784.102281023,799.897718977,649,628.102281023,651,0.400968280966,-0.0153872269081,0.0798368514776,0.999999931132,0.000239867401882,-0.000281717905029,2.88880768227e-05,1793193539199525120
+382,6.366666667,POSE2_TO_POSE3_RETREAT,763.51429968,742,712,672,659,633,877.51429968,784,800,648.51429968,628.48570032,650.51429968,0.400968363213,-0.0153871533047,0.0798371655478,0.999999931543,0.000238652854162,-0.000281314279199,2.86673764422e-05,1793193539216191744
+383,6.383333333,POSE2_TO_POSE3_RETREAT,763.074640139,742,712,672,659,632.925359861,877,784,799.925359861,648.074640139,629,650,0.400968702262,-0.0153866691188,0.0798374488296,0.999999931821,0.000237941706577,-0.000280959943829,2.83337348636e-05,1793193539232858624
+384,6.400000000,POSE2_TO_POSE3_RETREAT,763.655290849,742,712,672,659,632.344709151,877,784,799.344709151,648.655290849,629,650,0.400968546791,-0.015386214261,0.0798373584234,0.999999931191,0.00024085880932,-0.000280706683571,2.84307585009e-05,1793193539249525248
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,659.232262499,632,877,784,799,648.767737501,628.767737501,650.232262499,0.400968508682,-0.0153862501455,0.0798374853076,0.999999930942,0.000242186055089,-0.000280439492531,2.85603177982e-05,1793193539266191872
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,659.803859031,632,877,784,799,648.196140969,628.196140969,650.803859031,0.400968642039,-0.0153870030013,0.0798379296518,0.999999931258,0.000241190529755,-0.000280151948728,2.87374114824e-05,1793193539282858496
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,659.612981673,632.387018327,877.387018327,784,799,648,628.387018327,651,0.400967995315,-0.0153869292405,0.079837513286,0.99999993122,0.000240625767301,-0.000280787522112,2.85828693411e-05,1793193539299525120
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,659.023781916,632.976218084,877.976218084,784,799,648,628.976218084,651,0.400966941072,-0.0153864236486,0.0798366472785,0.999999930997,0.000240286038807,-0.000281905339212,2.82550780209e-05,1793193539316191744
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,633,877.44138892,784,799.55861108,648,629,651,0.400968131686,-0.0153876079554,0.0798375633597,0.999999931758,0.000238525101233,-0.000280683463787,2.83932990836e-05,1793193539332858368
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,633,877.139489883,784,799.860510117,648,629,650.860510117,0.400969027936,-0.0153885018833,0.0798383268492,0.999999932415,0.000237225190572,-0.000279433167755,2.84855710355e-05,1793193539349524992
+391,6.516666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,633,877.716517034,784,799.283482966,648,629,650.283482966,0.400968704691,-0.0153882620291,0.0798383765908,0.999999932626,0.000237558884008,-0.000278402405181,2.83722327138e-05,1793193539366191616
+392,6.533333333,POSE2_TO_POSE3_RETREAT,764,742,711.708160057,672,659,633,877.708160057,784,799,648,628.708160057,650.291839943,0.40096949744,-0.0153878793047,0.0798389840205,0.999999932934,0.000237971680364,-0.000276949766362,2.82871986979e-05,1793193539382858496
+393,6.550000000,POSE2_TO_POSE3_RETREAT,764,742,711.134482909,672,659,633,877.134482909,784,799,648,628.134482909,650.865517091,0.400971367933,-0.0153873586066,0.0798401300237,0.999999933333,0.000238460868445,-0.000275089710872,2.82294988514e-05,1793193539399525120
+394,6.566666667,POSE2_TO_POSE3_RETREAT,764,742,711.45183433,672,659.45183433,633,877,784.45183433,799,648,628.45183433,650.54816567,0.400969906198,-0.0153863230375,0.0798393929518,0.999999932432,0.000239939971345,-0.000277071367145,2.82341808415e-05,1793193539416192000
+395,6.583333333,POSE2_TO_POSE3_RETREAT,764,742,711.95891444,671.95891444,659.95891444,633,877,784.95891444,799,648,629,650,0.400967555215,-0.0153853023803,0.0798381373796,0.999999931216,0.000241525456339,-0.000280061953633,2.82490969444e-05,1793193539432858624
+396,6.600000000,POSE2_TO_POSE3_RETREAT,764,742,711.381878479,671.381878479,659.381878479,633,877,784.381878479,799,648,629,650,0.400966914278,-0.0153865328188,0.0798376397632,0.999999931229,0.000240544605654,-0.000280868642075,2.81483396629e-05,1793193539449526016
+397,6.616666667,POSE2_TO_POSE3_RETREAT,764,742.195248301,711.195248301,671.195248301,659,632.804751699,877.195248301,784,799.195248301,648,629,650.195248301,0.400967336878,-0.0153874424706,0.0798379493155,0.999999931609,0.000239495925927,-0.000280424243687,2.80474579489e-05,1793193539466193920
+398,6.633333333,POSE2_TO_POSE3_RETREAT,764,742.77255276,711.77255276,671.77255276,659,632.22744724,877.77255276,784,799.77255276,648,629,650.77255276,0.400969840578,-0.0153877244164,0.0798398383117,0.999999932701,0.000238314520372,-0.000277531755187,2.79463327549e-05,1793193539482862336
+399,6.650000000,POSE2_TO_POSE3_RETREAT,764,743,712,671.654542814,659,632.345457186,877.654542814,784,799.654542814,648.345457186,629,651,0.400970505769,-0.0153875448651,0.0798402087634,0.999999932833,0.000238945443705,-0.000276517935173,2.78610080664e-05,1793193539499528192
+400,6.666666667,POSE2_TO_POSE3_RETREAT,764,743,712,671.084498936,659,632.915501064,877.084498936,784,799.084498936,648.915501064,629,651,0.400969975718,-0.0153870652878,0.0798395919875,0.999999932344,0.000240754588195,-0.000276725464712,2.77859555179e-05,1793193539516192256
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_08/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_08/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..46ed74aa810fc1fb8101c180383485627b1427ce
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_08/depth_04/simulation_data.csv
@@ -0,0 +1,402 @@
+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,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+1,0.016666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+2,0.033333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+3,0.050000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+4,0.066666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+5,0.083333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+6,0.100000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+7,0.116666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+8,0.133333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+9,0.150000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+10,0.166666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+11,0.183333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+12,0.200000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+13,0.216666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+14,0.233333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+15,0.250000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+16,0.266666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+17,0.283333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+18,0.300000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+19,0.316666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+20,0.333333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+21,0.350000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+22,0.366666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+23,0.383333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+24,0.400000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+25,0.416666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+26,0.433333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+27,0.450000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+28,0.466666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+29,0.483333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+30,0.500000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+31,0.516666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+32,0.533333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+33,0.550000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+34,0.566666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+35,0.583333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+36,0.600000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+37,0.616666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+38,0.633333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+39,0.650000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+40,0.666666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+41,0.683333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+42,0.700000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+43,0.716666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+44,0.733333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+45,0.750000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+46,0.766666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+47,0.783333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+48,0.800000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+49,0.816666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+50,0.833333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+51,0.850000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+52,0.866666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+53,0.883333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+54,0.900000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+55,0.916666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+56,0.933333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+57,0.950000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+58,0.966666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+59,0.983333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+60,1.000000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+61,1.016666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+62,1.033333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+63,1.050000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+64,1.066666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+65,1.083333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+66,1.100000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+67,1.116666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+68,1.133333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+69,1.150000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+70,1.166666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+71,1.183333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+72,1.200000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+73,1.216666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+74,1.233333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+75,1.250000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+76,1.266666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+77,1.283333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+78,1.300000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+79,1.316666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+80,1.333333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+81,1.350000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+82,1.366666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+83,1.383333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+84,1.400000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+85,1.416666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+86,1.433333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+87,1.450000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+88,1.466666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+89,1.483333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+90,1.500000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+91,1.516666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+92,1.533333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+93,1.550000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+94,1.566666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+95,1.583333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+96,1.600000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+97,1.616666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+98,1.633333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+99,1.650000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+100,1.666666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+101,1.683333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+102,1.700000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+103,1.716666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+104,1.733333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+105,1.750000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+106,1.766666667,pose1_to_pose2_press,0.575709274498,-0.00994536356016,1.07002930469,0.546280002705,-0.00127264133471,1.06969858615
+107,1.783333333,pose1_to_pose2_press,0.575709408533,-0.00994543710652,1.07002914773,0.546280137147,-0.00127271325156,1.06969843565
+108,1.800000000,pose1_to_pose2_press,0.575709704278,-0.00994542190097,1.0700291782,0.546280433025,-0.00127269784965,1.06969845953
+109,1.816666667,pose1_to_pose2_press,0.575710052823,-0.00994541288002,1.07002913727,0.546280781728,-0.00127268826533,1.06969841924
+110,1.833333333,pose1_to_pose2_press,0.575710167889,-0.00994541177542,1.07002910759,0.546280896847,-0.00127268690487,1.06969839154
+111,1.850000000,pose1_to_pose2_press,0.575710322191,-0.00994541029417,1.07002906778,0.54628105122,-0.00127268508051,1.0696983544
+112,1.866666667,pose1_to_pose2_press,0.575711029802,-0.00994540350133,1.07002888522,0.546281759158,-0.00127267671419,1.06969818404
+113,1.883333333,pose1_to_pose2_press,0.575712882018,-0.00994547913856,1.07002895131,0.546283612453,-0.00127274874516,1.06969824861
+114,1.900000000,pose1_to_pose2_press,0.575716908052,-0.00994543787198,1.07002901865,0.546287637096,-0.00127271239533,1.0696983108
+115,1.916666667,pose1_to_pose2_press,0.575725868344,-0.00994549660197,1.07002899665,0.546296599462,-0.00127276389528,1.06969829379
+116,1.933333333,pose1_to_pose2_press,0.57574140229,-0.00994538839503,1.07002918772,0.546312131002,-0.00127266430871,1.06969847282
+117,1.950000000,pose1_to_pose2_press,0.575764001784,-0.00994529894034,1.0700291433,0.546334729902,-0.0012725764825,1.06969843861
+118,1.966666667,pose1_to_pose2_press,0.575793916078,-0.009945425008,1.07002910403,0.546364645782,-0.00127269750672,1.06969839036
+119,1.983333333,pose1_to_pose2_press,0.575840050348,-0.0099455000643,1.07002914095,0.546410780632,-0.00127277043493,1.06969843139
+120,2.000000000,pose1_to_pose2_press,0.575898996841,-0.00994543724791,1.07002914859,0.546469726716,-0.00127270893297,1.06969844085
+121,2.016666667,pose1_to_pose2_press,0.575968883608,-0.00994534064958,1.07002930035,0.546539612599,-0.00127261551847,1.06969858775
+122,2.033333333,pose1_to_pose2_press,0.576052511024,-0.00994545149949,1.07002940209,0.546623240166,-0.00127272597318,1.0696986864
+123,2.050000000,pose1_to_pose2_press,0.576150456365,-0.00994539503628,1.07002927502,0.546721185928,-0.001272667959,1.06969856239
+124,2.066666667,pose1_to_pose2_press,0.576257355308,-0.00994539484811,1.07002900897,0.546828084552,-0.00127266865997,1.06969830141
+125,2.083333333,pose1_to_pose2_press,0.576376256131,-0.00994541736305,1.07002902253,0.546946984859,-0.00127269298395,1.06969831342
+126,2.100000000,pose1_to_pose2_press,0.57651268916,-0.00994541637641,1.0700292215,0.547083419056,-0.00127268819642,1.06969850809
+127,2.116666667,pose1_to_pose2_press,0.576664336587,-0.00994542529073,1.07002921322,0.54723506723,-0.00127269448523,1.0696985021
+128,2.133333333,pose1_to_pose2_press,0.576830811238,-0.00994539004023,1.07002909232,0.547401540131,-0.00127266513471,1.06969838218
+129,2.150000000,pose1_to_pose2_press,0.577014371782,-0.00994534095304,1.0700290619,0.547585099464,-0.00127262004621,1.06969835465
+130,2.166666667,pose1_to_pose2_press,0.577214908894,-0.00994541882133,1.07002907152,0.547785637279,-0.00127269540528,1.06969836748
+131,2.183333333,pose1_to_pose2_press,0.57743651105,-0.00994559849932,1.07002904323,0.548007241679,-0.00127286761692,1.06969833521
+132,2.200000000,pose1_to_pose2_press,0.577682173526,-0.00994558504761,1.07002905254,0.548252905335,-0.00127285007545,1.06969834667
+133,2.216666667,pose1_to_pose2_press,0.577956471271,-0.00994549338918,1.07002886728,0.548527201036,-0.00127276517928,1.06969816598
+134,2.233333333,pose1_to_pose2_press,0.578257362449,-0.00994549385446,1.07002894427,0.548828093212,-0.00127276263483,1.06969823297
+135,2.250000000,pose1_to_pose2_press,0.57858423969,-0.00994550153382,1.0700290894,0.549154972196,-0.00127276431971,1.06969838014
+136,2.266666667,pose1_to_pose2_press,0.578934901276,-0.00994540744547,1.0700292916,0.549505631192,-0.00127267926567,1.0696985758
+137,2.283333333,pose1_to_pose2_press,0.579307121845,-0.00994539872346,1.07002922373,0.549877852129,-0.00127266899231,1.06969851585
+138,2.300000000,pose1_to_pose2_press,0.579701494517,-0.00994559490537,1.07002907014,0.550272228164,-0.00127285376665,1.06969836209
+139,2.316666667,pose1_to_pose2_press,0.58011873848,-0.00994553900187,1.07002888489,0.550689470725,-0.00127280251403,1.06969817959
+140,2.333333333,pose1_to_pose2_press,0.580561137608,-0.00994540806126,1.07002895027,0.551131867802,-0.00127267850187,1.06969824569
+141,2.350000000,pose1_to_pose2_press,0.581023959331,-0.00994543657999,1.07002917042,0.55159469062,-0.00127270342605,1.06969846267
+142,2.366666667,pose1_to_pose2_press,0.581506564115,-0.00994549239386,1.07002929118,0.552077295455,-0.0012727593969,1.06969857467
+143,2.383333333,pose1_to_pose2_press,0.582012850312,-0.00994530343355,1.07002925334,0.552583578335,-0.00127258142705,1.06969854382
+144,2.400000000,pose1_to_pose2_press,0.582545183761,-0.00994519220198,1.07002924624,0.553115910042,-0.00127247610261,1.06969853674
+145,2.416666667,pose1_to_pose2_press,0.58311104251,-0.00994537791125,1.07002914922,0.553681770444,-0.00127265602319,1.06969844443
+146,2.433333333,pose1_to_pose2_press,0.583711748733,-0.00994532646568,1.07002923016,0.554282477194,-0.00127260295413,1.06969852091
+147,2.450000000,pose1_to_pose2_press,0.58434754674,-0.00994543838215,1.07002911091,0.554918277291,-0.00127270799856,1.06969839582
+148,2.466666667,pose1_to_pose2_press,0.585000177255,-0.00994538584831,1.07002891284,0.555570906517,-0.00127265941604,1.06969820891
+149,2.483333333,pose1_to_pose2_press,0.585663676384,-0.00994542913586,1.07002911768,0.556234406394,-0.00127270070145,1.06969839966
+150,2.500000000,pose1_to_pose2_press,0.5863334889,-0.00994536795893,1.07002928942,0.556904218088,-0.00127264253179,1.06969856566
+151,2.516666667,pose1_to_pose2_press,0.587014331199,-0.00994536925949,1.07002920471,0.557585060011,-0.00127264486765,1.06969848723
+152,2.533333333,pose1_to_pose2_press,0.587713100156,-0.00994540236118,1.07002923128,0.558283829762,-0.0012726749889,1.06969852125
+153,2.550000000,pose1_to_pose2_press,0.588437026507,-0.00994553436452,1.07002910948,0.559007757287,-0.00127280292615,1.06969840162
+154,2.566666667,pose1_to_pose2_press,0.589185091532,-0.0099453650213,1.07002898264,0.559755821516,-0.00127263620187,1.06969827689
+155,2.583333333,pose1_to_pose2_press,0.589950412485,-0.00994546376141,1.0700288699,0.560521142527,-0.00127273470027,1.06969816539
+156,2.600000000,pose1_to_pose2_press,0.590731020091,-0.00994545557835,1.07002893249,0.561301750123,-0.0012727264955,1.06969822944
+157,2.616666667,pose1_to_pose2_press,0.591531232749,-0.00994532975978,1.07002925706,0.562101961306,-0.00127260611158,1.06969854279
+158,2.633333333,pose1_to_pose2_press,0.59234411374,-0.00994546395034,1.07002913111,0.562914844263,-0.00127273338756,1.06969842319
+159,2.650000000,pose1_to_pose2_press,0.593165143723,-0.00994532425811,1.07002920688,0.563735872607,-0.00127259944703,1.069698494
+160,2.666666667,pose1_to_pose2_press,0.59399784138,-0.00994544177677,1.07002931269,0.564568571925,-0.00127271143569,1.06969859703
+161,2.683333333,pose1_to_pose2_press,0.594838313223,-0.00994538988871,1.07002892474,0.565409042428,-0.00127266357153,1.06969822281
+162,2.700000000,pose1_to_pose2_press,0.595680689489,-0.00994538680385,1.07002914728,0.566251419766,-0.00127265693629,1.06969844313
+163,2.716666667,pose1_to_pose2_press,0.59652422446,-0.00994536413637,1.07002926954,0.567094954855,-0.00127263415476,1.06969855793
+164,2.733333333,pose1_to_pose2_press,0.597363393155,-0.00994555212198,1.07002927898,0.567934124956,-0.00127281747737,1.06969856453
+165,2.750000000,pose1_to_pose2_press,0.598199208381,-0.00994540048492,1.0700292133,0.568769939218,-0.00127266879557,1.06969850722
+166,2.766666667,pose1_to_pose2_press,0.599032182779,-0.00994530427453,1.07002917231,0.569602911156,-0.00127258094777,1.06969846583
+167,2.783333333,pose1_to_pose2_press,0.599859776929,-0.00994537909613,1.07002931054,0.570430506937,-0.00127265018439,1.06969860549
+168,2.800000000,pose1_to_pose2_press,0.600688977604,-0.00994545058049,1.07002899175,0.57125970819,-0.0012727196536,1.06969828814
+169,2.816666667,pose1_to_pose2_press,0.601526387368,-0.00994543450873,1.07002904307,0.572097117233,-0.00127270610383,1.06969833751
+170,2.833333333,pose1_to_pose2_press,0.602368623535,-0.00994535631608,1.07002922336,0.57293935269,-0.00127263034617,1.06969851724
+171,2.850000000,pose1_to_pose2_press,0.603214742436,-0.00994543154808,1.07002908813,0.573785473372,-0.00127269958267,1.0696983808
+172,2.866666667,pose1_to_pose2_press,0.604055507771,-0.00994548261207,1.07002888113,0.574626238857,-0.00127274990493,1.06969817994
+173,2.883333333,pose1_to_pose2_press,0.604889360121,-0.00994545033421,1.07002903778,0.575460091091,-0.00127271828665,1.0696983298
+174,2.900000000,pose1_to_pose2_press,0.605696492303,-0.00994543572974,1.07002916279,0.576267222714,-0.00127270554373,1.06969845581
+175,2.916666667,pose1_to_pose2_press,0.606478534116,-0.00994534926363,1.07002926793,0.577049264533,-0.0012726191733,1.06969855795
+176,2.933333333,pose1_to_pose2_press,0.607239004377,-0.00994539975741,1.07002926533,0.577809734752,-0.00127266998698,1.06969855078
+177,2.950000000,pose1_to_pose2_press,0.607982931054,-0.00994552923226,1.07002908559,0.578553662039,-0.00127279692782,1.06969838332
+178,2.966666667,pose1_to_pose2_press,0.60871313104,-0.00994539466834,1.07002902704,0.579283861495,-0.00127266444102,1.06969831757
+179,2.983333333,pose1_to_pose2_press,0.609438753387,-0.00994543512799,1.07002905227,0.580009483629,-0.00127270570843,1.06969834058
+180,3.000000000,pose1_to_pose2_press,0.610152809565,-0.00994534949823,1.07002918126,0.580723538273,-0.00127262519548,1.06969847199
+181,3.016666667,pose1_to_pose2_press,0.610841380414,-0.00994532578419,1.07002938681,0.58141210923,-0.0012726013849,1.06969867054
+182,3.033333333,pose1_to_pose2_press,0.61149928809,-0.00994540430827,1.07002931159,0.582070018106,-0.00127267607942,1.06969858906
+183,3.050000000,pose1_to_pose2_press,0.61212118285,-0.00994548214488,1.07002924552,0.582691913473,-0.0012727512086,1.06969854014
+184,3.066666667,pose1_to_pose2_press,0.612712913198,-0.00994543729619,1.07002929375,0.583283643925,-0.00127270659428,1.06969857281
+185,3.083333333,pose1_to_pose2_press,0.613274981415,-0.009945445057,1.07002898107,0.583845713301,-0.00127270954008,1.0696982813
+186,3.100000000,pose1_to_pose2_press,0.613808091203,-0.00994533915713,1.07002925385,0.584378820831,-0.00127261139507,1.06969854126
+187,3.116666667,pose1_to_pose2_press,0.61431771913,-0.00994526219109,1.07002913803,0.584888446494,-0.0012725408212,1.06969843494
+188,3.133333333,pose1_to_pose2_press,0.614811403296,-0.00994548159926,1.07002925634,0.585382134153,-0.00127274781982,1.0696985425
+189,3.150000000,pose1_to_pose2_press,0.615297179229,-0.00994542581928,1.07002907883,0.585867908092,-0.00127269740218,1.0696983734
+190,3.166666667,pose1_to_pose2_press,0.615778510787,-0.00994542601992,1.07002926063,0.586349241464,-0.00127269048421,1.06969855298
+191,3.183333333,pose1_to_pose2_press,0.616250397164,-0.00994544462901,1.07002931307,0.586821127002,-0.00127271102539,1.06969860117
+192,3.200000000,pose1_to_pose2_press,0.616706742138,-0.00994540849221,1.0700290831,0.587277469632,-0.00127268163911,1.06969837624
+193,3.216666667,pose1_to_pose2_press,0.617130297132,-0.00994542979566,1.07002918334,0.58770102488,-0.00127270088013,1.06969847756
+194,3.233333333,pose1_to_pose2_press,0.617518956255,-0.00994544873831,1.070029226,0.588089684397,-0.00127271737929,1.06969852443
+195,3.250000000,pose1_to_pose2_press,0.617869422066,-0.00994545551903,1.07002926639,0.588440148759,-0.00127272847664,1.06969855529
+196,3.266666667,pose1_to_pose2_press,0.618191990224,-0.0099453861441,1.07002912423,0.588762715109,-0.00127266436796,1.06969841247
+197,3.283333333,pose1_to_pose2_press,0.618490243235,-0.00994545214556,1.07002908146,0.589060969561,-0.00127272463071,1.06969837293
+198,3.300000000,pose1_to_pose2_press,0.618774006865,-0.00994544750963,1.07002894811,0.589344734734,-0.00127271399526,1.06969824087
+199,3.316666667,pose1_to_pose2_press,0.619043183885,-0.00994541579669,1.07002895686,0.589613910844,-0.00127268481084,1.06969824548
+200,3.333333333,pose1_to_pose2_press,0.619294906093,-0.00994547050191,1.07002907885,0.589865632734,-0.00127273979468,1.06969837096
+201,3.350000000,pose1_to_pose2_press,0.619526530855,-0.0099454032458,1.07002901324,0.590097256384,-0.00127267566495,1.06969830582
+202,3.366666667,pose1_to_pose2_press,0.619734425009,-0.00994537197295,1.07002914949,0.590305150261,-0.00127264509827,1.06969843432
+203,3.383333333,pose1_to_pose2_press,0.619919860863,-0.00994543787215,1.07002921889,0.590490588637,-0.00127270177905,1.06969850824
+204,3.400000000,pose1_to_pose2_press,0.620084003799,-0.00994546163057,1.07002919853,0.590654731496,-0.00127272540271,1.06969848633
+205,3.416666667,pose1_to_pose2_press,0.620231012437,-0.00994539670452,1.07002931359,0.590801738641,-0.00127266513089,1.06969860114
+206,3.433333333,pose1_to_pose2_press,0.620363887716,-0.0099453791351,1.07002931678,0.59093461262,-0.00127265151927,1.06969860605
+207,3.450000000,pose1_to_pose2_press,0.62048315072,-0.00994547749965,1.07002911427,0.591053876378,-0.00127274674266,1.06969841109
+208,3.466666667,pose1_to_pose2_press,0.620589001391,-0.00994541638311,1.07002922478,0.591159727106,-0.0012726855853,1.06969851124
+209,3.483333333,pose1_to_pose2_press,0.620680563277,-0.00994543742413,1.07002929518,0.591251288596,-0.00127270761643,1.06969857947
+210,3.500000000,pose1_to_pose2_press,0.620756712779,-0.00994542950953,1.07002902863,0.591327438018,-0.00127269943954,1.06969831615
+211,3.516666667,pose1_to_pose2_press,0.620818437408,-0.00994538627736,1.07002901334,0.591389162624,-0.0012726557194,1.0696983125
+212,3.533333333,pose1_to_pose2_press,0.620867126123,-0.00994535053231,1.07002906309,0.591437851202,-0.00127262007274,1.06969836126
+213,3.550000000,pose1_to_pose2_press,0.620906017306,-0.00994548020647,1.07002892989,0.591476744299,-0.00127274418456,1.06969821975
+214,3.566666667,pose1_to_pose2_press,0.620936878383,-0.00994540470733,1.0700293423,0.591507604973,-0.00127267003544,1.06969863114
+215,3.583333333,pose1_to_pose2_press,0.620961440193,-0.00994540209234,1.07002918869,0.591532165447,-0.00127267177117,1.06969848074
+216,3.600000000,pose1_to_pose2_press,0.620980317267,-0.0099453121772,1.07002912317,0.591551040422,-0.001272588568,1.06969841718
+217,3.616666667,pose1_to_pose2_press,0.620995448488,-0.00994532426192,1.07002917073,0.591566171637,-0.00127260043777,1.06969846497
+218,3.633333333,pose1_to_pose2_press,0.621006979624,-0.00994543228991,1.07002921931,0.591577704585,-0.00127270240278,1.06969851367
+219,3.650000000,pose1_to_pose2_press,0.621014513035,-0.00994536257899,1.07002912331,0.591585237431,-0.00127263477471,1.06969842067
+220,3.666666667,pose1_to_pose2_press,0.621019232326,-0.00994538596242,1.07002910691,0.59158995735,-0.00127265587111,1.06969840566
+221,3.683333333,pose1_to_pose2_press,0.621021677884,-0.00994540917776,1.07002910566,0.591592403396,-0.00127267730683,1.06969840504
+222,3.700000000,pose1_to_pose2_press,0.621023058295,-0.00994542533648,1.07002910707,0.591593783987,-0.00127269282587,1.0696984061
+223,3.716666667,pose1_to_pose2_press,0.621023632854,-0.0099454370101,1.07002911108,0.591594358465,-0.00127270482422,1.06969840882
+224,3.733333333,pose1_to_pose2_press,0.621024026419,-0.0099454450064,1.07002911383,0.591594751975,-0.00127271304295,1.06969841068
+225,3.750000000,pose1_to_pose2_press,0.621024453985,-0.00994545369349,1.07002911681,0.591595179481,-0.00127272197169,1.0696984127
+226,3.766666667,pose1_to_pose2_press,0.621025227675,-0.00994546941298,1.07002912221,0.591595953062,-0.00127273812845,1.06969841636
+227,3.783333333,pose1_to_pose2_press,0.62102588375,-0.00994548274282,1.07002912679,0.591596609046,-0.0012727518291,1.06969841946
+228,3.800000000,pose1_to_pose2_press,0.621026189662,-0.00994548895821,1.07002912893,0.591596914915,-0.00127275821738,1.0696984209
+229,3.816666667,pose1_to_pose2_press,0.621026622992,-0.0099454977624,1.07002913196,0.591597348183,-0.00127276726648,1.06969842295
+230,3.833333333,pose1_to_pose2_press,0.621027000032,-0.00994550542294,1.07002913459,0.591597725171,-0.00127277514012,1.06969842474
+231,3.850000000,pose1_to_pose2_press,0.621027015248,-0.00994550573209,1.07002913469,0.591597740385,-0.00127277545786,1.06969842481
+232,3.866666667,pose1_to_pose2_press,0.621027211998,-0.00994550972958,1.07002913607,0.591597937108,-0.00127277956656,1.06969842574
+233,3.883333333,pose1_to_pose2_press,0.621027938175,-0.00994547001053,1.07002901242,0.591598662445,-0.00127274259431,1.0696983063
+234,3.900000000,pose1_to_pose2_press,0.621028543558,-0.00994543651439,1.07002890843,0.591599267123,-0.00127271140454,1.06969820586
+235,3.916666667,pose1_to_pose2_press,0.621028922981,-0.00994541552071,1.07002884326,0.591599646104,-0.00127269185638,1.06969814291
+236,3.933333333,pose1_to_pose2_press,0.621029343378,-0.00994539225988,1.07002877105,0.591600066012,-0.00127267019717,1.06969807316
+237,3.950000000,pose1_to_pose2_press,0.621029622571,-0.00994537878247,1.07002872974,0.591600344941,-0.00127265758014,1.06969803331
+238,3.966666667,pose1_to_pose2_press,0.621029734831,-0.00994538520093,1.07002875305,0.591600457458,-0.00127266312329,1.06969805612
+239,3.983333333,pose1_to_pose2_press,0.621029751609,-0.0099453861602,1.07002875653,0.591600474275,-0.00127266395175,1.06969805953
+240,4.000000000,pose1_to_pose2_press,0.621030030955,-0.00994540213185,1.07002881454,0.591600754263,-0.00127267774531,1.06969811631
+241,4.016666667,pose1_to_pose2_press,0.621030247104,-0.00994541449024,1.07002885942,0.591600970909,-0.00127268841836,1.06969816024
+242,4.033333333,pose1_to_pose2_press,0.621030435086,-0.00994542523814,1.07002889845,0.591601159323,-0.00127269770055,1.06969819845
+243,4.050000000,pose1_to_pose2_press,0.621030759303,-0.00994544377529,1.07002896578,0.591601484285,-0.00127271370974,1.06969826435
+244,4.066666667,pose1_to_pose2_press,0.621030957625,-0.00994548115279,1.0700290095,0.59160168346,-0.00127274850874,1.06969830218
+245,4.083333333,pose1_to_pose2_press,0.621031067292,-0.00994551476153,1.07002903493,0.591601793796,-0.00127278017869,1.06969832186
+246,4.100000000,pose1_to_pose2_press,0.621031169891,-0.00994553935546,1.07002904893,0.591601896873,-0.00127280323405,1.06969833321
+247,4.116666667,pose1_to_pose2_press,0.621031241737,-0.00994543995844,1.07002904824,0.591601967223,-0.00127270879082,1.06969833299
+248,4.133333333,pose2_hold,0.621031241737,-0.00994543995844,1.07002904824,0.591601967233,-0.00127270877366,1.06969833298
+249,4.150000000,pose2_hold,0.621031241737,-0.00994543995844,1.07002904824,0.591601967233,-0.0012727087736,1.06969833299
+250,4.166666667,pose2_hold,0.621031241737,-0.00994543995844,1.07002904824,0.591601967234,-0.0012727087735,1.06969833298
+251,4.183333333,pose2_hold,0.621031241737,-0.00994543995844,1.07002904824,0.591601967234,-0.00127270877398,1.06969833299
+252,4.200000000,pose2_hold,0.621031241737,-0.00994543995844,1.07002904824,0.591601967234,-0.00127270877367,1.06969833299
+253,4.216666667,pose2_hold,0.621031241737,-0.00994543995844,1.07002904824,0.591601967234,-0.00127270877366,1.06969833299
+254,4.233333333,pose2_hold,0.621031241737,-0.00994543995844,1.07002904824,0.591601967235,-0.00127270877275,1.06969833298
+255,4.250000000,pose2_hold,0.621031241737,-0.00994543995844,1.07002904824,0.591601967236,-0.00127270877313,1.06969833299
+256,4.266666667,pose2_hold,0.621031241737,-0.00994543995844,1.07002904824,0.591601967235,-0.00127270877293,1.06969833298
+257,4.283333333,pose2_hold,0.621031241737,-0.00994543995844,1.07002904824,0.591601967236,-0.00127270877323,1.06969833298
+258,4.300000000,pose2_hold,0.621031241737,-0.00994543995844,1.07002904824,0.591601967236,-0.00127270877332,1.06969833298
+259,4.316666667,pose2_hold,0.621031241737,-0.00994543995844,1.07002904824,0.591601967237,-0.00127270877351,1.06969833298
+260,4.333333333,pose2_hold,0.621031241737,-0.00994543995844,1.07002904824,0.591601967238,-0.00127270877234,1.06969833298
+261,4.350000000,pose2_hold,0.621031241737,-0.00994543995844,1.07002904824,0.591601967238,-0.00127270877223,1.06969833298
+262,4.366666667,pose2_hold,0.621031241737,-0.00994543995844,1.07002904824,0.591601967238,-0.00127270877109,1.06969833298
+263,4.383333333,pose2_hold,0.621031241737,-0.00994543995844,1.07002904824,0.591601967238,-0.00127270877089,1.06969833298
+264,4.400000000,pose2_to_pose3_retreat,0.621031241737,-0.00994543995844,1.07002904824,0.591601967239,-0.00127270877113,1.06969833298
+265,4.416666667,pose2_to_pose3_retreat,0.621031203984,-0.0099455051146,1.07002904468,0.591601929493,-0.0012727738788,1.06969832989
+266,4.433333333,pose2_to_pose3_retreat,0.621031193557,-0.00994552310908,1.0700290437,0.591601919069,-0.00127279185988,1.06969832904
+267,4.450000000,pose2_to_pose3_retreat,0.621031182734,-0.00994554178864,1.07002904268,0.591601908247,-0.00127281052554,1.06969832815
+268,4.466666667,pose2_to_pose3_retreat,0.621031031137,-0.00994549133341,1.0700290188,0.591601756257,-0.00127276119523,1.06969830954
+269,4.483333333,pose2_to_pose3_retreat,0.621030759733,-0.00994539811189,1.07002897597,0.591601484145,-0.00127266999989,1.06969827616
+270,4.500000000,pose2_to_pose3_retreat,0.621029940911,-0.00994543539047,1.07002908045,0.591600664702,-0.00127270958502,1.06969837669
+271,4.516666667,pose2_to_pose3_retreat,0.621027058284,-0.00994547677737,1.07002926619,0.59159778576,-0.00127273876255,1.06969855551
+272,4.533333333,pose2_to_pose3_retreat,0.621019763743,-0.0099453804659,1.07002926552,0.591590488541,-0.00127265161429,1.06969855363
+273,4.550000000,pose2_to_pose3_retreat,0.621004407747,-0.00994532380028,1.07002912741,0.591575132361,-0.00127259509831,1.06969842571
+274,4.566666667,pose2_to_pose3_retreat,0.620979031012,-0.00994543109508,1.07002909373,0.591549756292,-0.00127269995896,1.06969839485
+275,4.583333333,pose2_to_pose3_retreat,0.620942091279,-0.00994540324904,1.070029091,0.591512816328,-0.00127267279266,1.06969839369
+276,4.600000000,pose2_to_pose3_retreat,0.620894088876,-0.00994545858088,1.07002912096,0.591464814673,-0.00127272622695,1.06969841423
+277,4.616666667,pose2_to_pose3_retreat,0.620834109824,-0.0099454312358,1.07002925496,0.591404834863,-0.0012727017547,1.06969854797
+278,4.633333333,pose2_to_pose3_retreat,0.620762655865,-0.00994535595737,1.0700292682,0.591333380336,-0.00127262832319,1.069698556
+279,4.650000000,pose2_to_pose3_retreat,0.620678642674,-0.00994546916938,1.07002920014,0.591249368666,-0.00127273681279,1.06969848291
+280,4.666666667,pose2_to_pose3_retreat,0.620579968988,-0.00994542259528,1.07002926039,0.591150694118,-0.0012726937076,1.0696985518
+281,4.683333333,pose2_to_pose3_retreat,0.620466282179,-0.00994542909572,1.07002924732,0.591037006111,-0.00127270475061,1.06969853445
+282,4.700000000,pose2_to_pose3_retreat,0.620333523359,-0.00994545543101,1.07002910968,0.590904249567,-0.00127272359323,1.06969840053
+283,4.716666667,pose2_to_pose3_retreat,0.620182160396,-0.00994544527798,1.07002909055,0.590752886139,-0.00127271542026,1.06969838135
+284,4.733333333,pose2_to_pose3_retreat,0.62001034331,-0.00994535983391,1.07002941485,0.590581068651,-0.00127263184278,1.06969870351
+285,4.750000000,pose2_to_pose3_retreat,0.619816718746,-0.00994539296682,1.07002944394,0.590387444675,-0.00127266385382,1.06969872291
+286,4.766666667,pose2_to_pose3_retreat,0.619599559827,-0.00994539084483,1.07002907797,0.590170285257,-0.00127266520826,1.06969836939
+287,4.783333333,pose2_to_pose3_retreat,0.619362498202,-0.00994555484226,1.07002922543,0.589933228296,-0.00127281730958,1.06969851763
+288,4.800000000,pose2_to_pose3_retreat,0.619105922041,-0.00994539626302,1.07002912165,0.589676648951,-0.00127266529983,1.06969841662
+289,4.816666667,pose2_to_pose3_retreat,0.618825520837,-0.0099454555394,1.07002914106,0.589396247588,-0.0012727259439,1.0696984312
+290,4.833333333,pose2_to_pose3_retreat,0.618522484583,-0.00994542055456,1.07002911511,0.58909321133,-0.00127269176274,1.06969840596
+291,4.850000000,pose2_to_pose3_retreat,0.618194935662,-0.00994541303796,1.07002899529,0.588765661792,-0.00127268697635,1.06969829182
+292,4.866666667,pose2_to_pose3_retreat,0.617839793736,-0.00994527097999,1.07002902798,0.588410517886,-0.0012725525816,1.06969832297
+293,4.883333333,pose2_to_pose3_retreat,0.617457455456,-0.00994565606453,1.07002928291,0.588028186539,-0.00127291568987,1.06969856227
+294,4.900000000,pose2_to_pose3_retreat,0.617051870351,-0.00994550765147,1.07002900034,0.587622598957,-0.00127277573144,1.06969829709
+295,4.916666667,pose2_to_pose3_retreat,0.616623780304,-0.009945587029,1.07002914882,0.587194508629,-0.00127285787454,1.06969843656
+296,4.933333333,pose2_to_pose3_retreat,0.61616866478,-0.00994547987742,1.07002939332,0.586739392856,-0.00127275261382,1.06969867987
+297,4.950000000,pose2_to_pose3_retreat,0.615684099856,-0.00994552862995,1.07002915645,0.586254829264,-0.00127279785854,1.06969844566
+298,4.966666667,pose2_to_pose3_retreat,0.615165291285,-0.00994554194417,1.07002937309,0.585736021226,-0.00127281050298,1.06969866193
+299,4.983333333,pose2_to_pose3_retreat,0.6146155953,-0.00994544680354,1.07002937271,0.585186325953,-0.00127271389147,1.06969866578
+300,5.000000000,pose2_to_pose3_retreat,0.614039202459,-0.00994544152014,1.07002907708,0.584609931136,-0.00127271207836,1.06969835816
+301,5.016666667,pose2_to_pose3_retreat,0.613449196135,-0.0099453638949,1.07002936317,0.584019927118,-0.00127263188891,1.06969865116
+302,5.033333333,pose2_to_pose3_retreat,0.612849624342,-0.00994532655537,1.07002927848,0.583420355413,-0.00127259519348,1.06969856926
+303,5.050000000,pose2_to_pose3_retreat,0.612240277902,-0.00994553864261,1.07002916177,0.582811010507,-0.00127280252115,1.06969845265
+304,5.066666667,pose2_to_pose3_retreat,0.611611971459,-0.00994554629632,1.07002896067,0.582182703627,-0.0012728123387,1.06969825146
+305,5.083333333,pose2_to_pose3_retreat,0.610959054067,-0.00994550794893,1.07002908431,0.581529787379,-0.00127277113548,1.06969837
+306,5.100000000,pose2_to_pose3_retreat,0.610265790849,-0.00994534672045,1.07002908674,0.580836521967,-0.00127261819884,1.06969837279
+307,5.116666667,pose2_to_pose3_retreat,0.609533389931,-0.00994532620642,1.0700289993,0.580104120361,-0.00127260053031,1.06969829584
+308,5.133333333,pose2_to_pose3_retreat,0.608761498484,-0.00994548549149,1.07002899674,0.579332231028,-0.00127275361237,1.06969829299
+309,5.150000000,pose2_to_pose3_retreat,0.607955554325,-0.00994539381861,1.07002909359,0.578526286038,-0.0012726661672,1.06969838656
+310,5.166666667,pose2_to_pose3_retreat,0.607115078284,-0.00994542229796,1.07002916873,0.577685810633,-0.00127269367419,1.0696984531
+311,5.183333333,pose2_to_pose3_retreat,0.606268816061,-0.00994551307526,1.07002914193,0.576839550225,-0.00127277905202,1.06969843084
+312,5.200000000,pose2_to_pose3_retreat,0.605424664341,-0.00994551002346,1.07002917123,0.575995398271,-0.00127277829635,1.06969845447
+313,5.216666667,pose2_to_pose3_retreat,0.604584267615,-0.00994545069162,1.07002896842,0.575155000038,-0.00127272454904,1.06969825726
+314,5.233333333,pose2_to_pose3_retreat,0.603746804006,-0.00994542878026,1.07002897564,0.574317536563,-0.00127270123627,1.06969826932
+315,5.250000000,pose2_to_pose3_retreat,0.602905254578,-0.00994540665733,1.07002917731,0.573475984616,-0.00127268068019,1.06969846937
+316,5.266666667,pose2_to_pose3_retreat,0.60204283832,-0.00994540469654,1.07002910911,0.57261356854,-0.0012726753846,1.06969839625
+317,5.283333333,pose2_to_pose3_retreat,0.601154824932,-0.00994535658708,1.07002903599,0.57172555504,-0.00127262765834,1.06969832353
+318,5.300000000,pose2_to_pose3_retreat,0.600240114098,-0.00994534164273,1.07002909009,0.570810843797,-0.0012726138287,1.06969838539
+319,5.316666667,pose2_to_pose3_retreat,0.599308324194,-0.00994540406909,1.07002923233,0.569879053155,-0.00127267889319,1.06969852348
+320,5.333333333,pose2_to_pose3_retreat,0.598393238502,-0.00994545236613,1.07002905887,0.568963968336,-0.00127272413857,1.0696983534
+321,5.350000000,pose2_to_pose3_retreat,0.597497771544,-0.00994543436123,1.07002933997,0.568068502443,-0.00127270297903,1.06969862261
+322,5.366666667,pose2_to_pose3_retreat,0.596625177145,-0.00994553261562,1.07002903712,0.567195908498,-0.00127279957491,1.06969832378
+323,5.383333333,pose2_to_pose3_retreat,0.595770496991,-0.00994553550318,1.07002918072,0.5663412274,-0.00127280563621,1.06969846727
+324,5.400000000,pose2_to_pose3_retreat,0.594925678582,-0.0099456005291,1.07002904592,0.565496410714,-0.00127286493818,1.06969832868
+325,5.416666667,pose2_to_pose3_retreat,0.594066758017,-0.00994562245749,1.07002906722,0.564637489844,-0.00127288765727,1.06969835582
+326,5.433333333,pose2_to_pose3_retreat,0.593194787847,-0.00994551721809,1.07002911873,0.563765518387,-0.00127278652809,1.06969841448
+327,5.450000000,pose2_to_pose3_retreat,0.592315635554,-0.00994540454843,1.0700291308,0.562886366097,-0.00127267396454,1.06969842381
+328,5.466666667,pose2_to_pose3_retreat,0.591443693545,-0.00994543621793,1.07002914939,0.562014423346,-0.00127270828331,1.06969843781
+329,5.483333333,pose2_to_pose3_retreat,0.590586314059,-0.00994550036682,1.07002917691,0.561157044944,-0.00127276901216,1.06969845919
+330,5.500000000,pose2_to_pose3_retreat,0.589763144737,-0.00994543674607,1.07002928734,0.560333875627,-0.00127270558022,1.06969856461
+331,5.516666667,pose2_to_pose3_retreat,0.588974092253,-0.00994546964793,1.07002907867,0.559544822962,-0.00127273855511,1.06969836999
+332,5.533333333,pose2_to_pose3_retreat,0.5882009497,-0.00994530703976,1.07002900675,0.55877167801,-0.00127258396849,1.06969830116
+333,5.550000000,pose2_to_pose3_retreat,0.587444223173,-0.00994530621432,1.07002922951,0.558014951278,-0.00127258433986,1.06969851071
+334,5.566666667,pose2_to_pose3_retreat,0.586707152452,-0.00994540316347,1.07002920711,0.557277882714,-0.00127267387672,1.06969849064
+335,5.583333333,pose2_to_pose3_retreat,0.585982893816,-0.00994543008409,1.07002914614,0.556553625248,-0.001272696579,1.069698436
+336,5.600000000,pose2_to_pose3_retreat,0.58527398852,-0.00994543747254,1.07002932518,0.55584471992,-0.00127270420615,1.06969861089
+337,5.616666667,pose2_to_pose3_retreat,0.58459994021,-0.00994552488495,1.07002923385,0.555170670991,-0.00127279368257,1.06969852049
+338,5.633333333,pose2_to_pose3_retreat,0.583957016941,-0.00994547929608,1.07002935989,0.554527747179,-0.00127275034981,1.06969863628
+339,5.650000000,pose2_to_pose3_retreat,0.583333391808,-0.00994546258855,1.07002926382,0.553904123239,-0.00127272936754,1.06969854632
+340,5.666666667,pose2_to_pose3_retreat,0.582726761107,-0.00994542983609,1.07002899281,0.553297490975,-0.00127270166808,1.0696982818
+341,5.683333333,pose2_to_pose3_retreat,0.582140025637,-0.00994546959082,1.07002915886,0.552710755017,-0.00127274324493,1.06969844371
+342,5.700000000,pose2_to_pose3_retreat,0.581578122738,-0.00994553387263,1.07002920653,0.552148854158,-0.00127280064997,1.06969848971
+343,5.716666667,pose2_to_pose3_retreat,0.581047079225,-0.00994554752976,1.07002904146,0.551617810356,-0.00127281485061,1.06969833571
+344,5.733333333,pose2_to_pose3_retreat,0.580558428497,-0.0099454808273,1.07002900391,0.551129158868,-0.00127275074355,1.06969829804
+345,5.750000000,pose2_to_pose3_retreat,0.580105446339,-0.00994544635332,1.07002902633,0.550676175826,-0.00127271943861,1.06969831652
+346,5.766666667,pose2_to_pose3_retreat,0.579682296053,-0.00994549205476,1.0700291123,0.550253026125,-0.00127276330417,1.06969839855
+347,5.783333333,pose2_to_pose3_retreat,0.579278806031,-0.00994551056683,1.07002900117,0.549849536379,-0.00127278065382,1.06969829322
+348,5.800000000,pose2_to_pose3_retreat,0.57889305596,-0.0099453878235,1.07002909951,0.549463785465,-0.00127266087395,1.06969838876
+349,5.816666667,pose2_to_pose3_retreat,0.578530835021,-0.00994535391299,1.07002920717,0.549101564943,-0.00127262560237,1.06969849499
+350,5.833333333,pose2_to_pose3_retreat,0.578193618058,-0.00994543730166,1.07002921769,0.548764349154,-0.00127270499357,1.06969850578
+351,5.850000000,pose2_to_pose3_retreat,0.577882894478,-0.0099453609266,1.07002921977,0.548453625165,-0.00127263008145,1.06969850594
+352,5.866666667,pose2_to_pose3_retreat,0.577597888204,-0.00994538468648,1.07002901364,0.548168618106,-0.00127265631538,1.06969830482
+353,5.883333333,pose2_to_pose3_retreat,0.577340734882,-0.00994550957437,1.07002893882,0.547911464877,-0.0012727806801,1.06969823544
+354,5.900000000,pose2_to_pose3_retreat,0.577107451056,-0.00994547214003,1.07002907723,0.547678181159,-0.00127274307763,1.06969836866
+355,5.916666667,pose2_to_pose3_retreat,0.576898721712,-0.00994536871808,1.07002913839,0.547469451523,-0.00127264069794,1.06969842844
+356,5.933333333,pose2_to_pose3_retreat,0.576716957833,-0.00994541729315,1.07002912329,0.547287688078,-0.00127268761784,1.06969841803
+357,5.950000000,pose2_to_pose3_retreat,0.576559088075,-0.00994543208544,1.07002920689,0.547129817856,-0.00127270426121,1.0696984945
+358,5.966666667,pose2_to_pose3_retreat,0.576422099634,-0.00994532607565,1.07002926525,0.546992827682,-0.00127260441501,1.06969854548
+359,5.983333333,pose2_to_pose3_retreat,0.576300493592,-0.00994533669812,1.07002915806,0.54687122168,-0.00127261462054,1.06969844567
+360,6.000000000,pose2_to_pose3_retreat,0.576192346232,-0.00994530081258,1.07002911297,0.546763074991,-0.00127257618983,1.0696984078
+361,6.016666667,pose2_to_pose3_retreat,0.576096015486,-0.0099453340342,1.07002899931,0.546666744819,-0.00127260750154,1.06969829395
+362,6.033333333,pose2_to_pose3_retreat,0.576011953014,-0.0099453961118,1.07002902432,0.546582682384,-0.00127266961935,1.06969831431
+363,6.050000000,pose2_to_pose3_retreat,0.575941074419,-0.00994541116437,1.07002914433,0.546511805055,-0.00127268047807,1.06969843156
+364,6.066666667,pose2_to_pose3_retreat,0.575882792171,-0.00994543399891,1.07002900331,0.546453521864,-0.0012727061908,1.06969829898
+365,6.083333333,pose2_to_pose3_retreat,0.575837448657,-0.00994540853263,1.07002912367,0.546408177993,-0.0012726819905,1.06969841784
+366,6.100000000,pose2_to_pose3_retreat,0.575801625761,-0.00994539161698,1.07002911779,0.546372354699,-0.00127266636305,1.06969841361
+367,6.116666667,pose2_to_pose3_retreat,0.575774345024,-0.00994543284263,1.07002901183,0.546345074274,-0.00127270651246,1.06969830816
+368,6.133333333,pose2_to_pose3_retreat,0.575753400571,-0.00994546651945,1.07002929329,0.546324131831,-0.0012727335089,1.06969858604
+369,6.150000000,pose2_to_pose3_retreat,0.575738010286,-0.00994542612798,1.07002931074,0.546308740089,-0.00127269826207,1.06969859836
+370,6.166666667,pose2_to_pose3_retreat,0.57572747711,-0.00994540349782,1.07002922604,0.546298205852,-0.0012726793737,1.06969850993
+371,6.183333333,pose2_to_pose3_retreat,0.575720766599,-0.0099453880765,1.07002917652,0.546291495304,-0.00127266408343,1.06969846013
+372,6.200000000,pose2_to_pose3_retreat,0.575717403148,-0.00994536049835,1.07002916765,0.546288131965,-0.00127263602728,1.06969845364
+373,6.216666667,pose2_to_pose3_retreat,0.575715656434,-0.00994535673077,1.07002915162,0.546286385293,-0.00127263207614,1.06969843865
+374,6.233333333,pose2_to_pose3_retreat,0.575714962495,-0.00994537022288,1.07002912903,0.546285691346,-0.00127264558717,1.06969841621
+375,6.250000000,pose2_to_pose3_retreat,0.575714689499,-0.00994537553067,1.07002912014,0.546285418348,-0.0012726509024,1.06969840738
+376,6.266666667,pose2_to_pose3_retreat,0.575714519133,-0.00994537884304,1.07002911459,0.54628524798,-0.00127265421942,1.06969840187
+377,6.283333333,pose2_to_pose3_retreat,0.575714087262,-0.00994538723982,1.07002910053,0.546284816105,-0.00127266262796,1.0696983879
+378,6.300000000,pose2_to_pose3_retreat,0.575713734679,-0.009945394095,1.07002908905,0.546284463518,-0.00127266949276,1.0696983765
+379,6.316666667,pose2_to_pose3_retreat,0.575713515018,-0.00994539836583,1.0700290819,0.546284243854,-0.00127267376957,1.0696983694
+380,6.333333333,pose2_to_pose3_retreat,0.575713286355,-0.00994540281168,1.07002907445,0.546284015189,-0.00127267822165,1.069698362
+381,6.350000000,pose2_to_pose3_retreat,0.575713078748,-0.00994540684811,1.07002906769,0.54628380758,-0.00127268226375,1.06969835529
+382,6.366666667,pose2_to_pose3_retreat,0.575712787656,-0.00994541250776,1.07002905821,0.546283516485,-0.00127268793133,1.06969834587
+383,6.383333333,pose2_to_pose3_retreat,0.575712592459,-0.00994541630292,1.07002905186,0.546283321286,-0.00127269173181,1.06969833956
+384,6.400000000,pose2_to_pose3_retreat,0.57571253484,-0.00994541742319,1.07002904998,0.546283263666,-0.00127269285366,1.0696983377
+385,6.416666667,pose2_to_pose3_retreat,0.575712476132,-0.00994541856465,1.07002904807,0.546283204957,-0.00127269399672,1.0696983358
+386,6.433333333,pose2_to_pose3_retreat,0.575712195986,-0.00994542381392,1.07002903919,0.546282924827,-0.00127269918604,1.0696983271
+387,6.450000000,pose2_to_pose3_retreat,0.575712131846,-0.0099454246002,1.07002903765,0.54628286073,-0.00127269981642,1.06969832587
+388,6.466666667,pose2_to_pose3_retreat,0.575712051614,-0.00994542558375,1.07002903574,0.546282780551,-0.00127270060496,1.06969832432
+389,6.483333333,pose2_to_pose3_retreat,0.575712041934,-0.00994542570242,1.0700290355,0.546282770877,-0.00127270070011,1.06969832414
+390,6.500000000,pose2_to_pose3_retreat,0.575711809835,-0.00994542854768,1.07002902996,0.546282538932,-0.00127270298125,1.06969831968
+391,6.516666667,pose2_to_pose3_retreat,0.575711125824,-0.00994543693287,1.07002901361,0.546281855376,-0.00127270970391,1.06969830653
+392,6.533333333,pose2_to_pose3_retreat,0.575710851638,-0.00994544029408,1.07002900706,0.546281581371,-0.0012727123987,1.06969830127
+393,6.550000000,pose2_to_pose3_retreat,0.575710624082,-0.00994544308365,1.07002900162,0.546281353967,-0.00127271463518,1.06969829689
+394,6.566666667,pose2_to_pose3_retreat,0.575710347439,-0.00994544647498,1.07002899501,0.546281077507,-0.00127271735412,1.06969829158
+395,6.583333333,pose2_to_pose3_retreat,0.575710052845,-0.0099454415029,1.07002900797,0.546280782861,-0.00127271256017,1.06969830462
+396,6.600000000,pose2_to_pose3_retreat,0.575709893649,-0.00994542665618,1.07002904331,0.546280623283,-0.0012726990764,1.06969833818
+397,6.616666667,pose2_to_pose3_retreat,0.575709831156,-0.00994542082802,1.07002905718,0.546280560639,-0.00127269378328,1.06969835135
+398,6.633333333,pose2_to_pose3_retreat,0.575709578866,-0.00994539729941,1.07002911318,0.546280307745,-0.00127267241465,1.06969840453
+399,6.650000000,pose2_to_pose3_retreat,0.575709312886,-0.00994537236997,1.0700292281,0.546280041273,-0.00127264936695,1.0696985139
+400,6.666666667,pose2_to_pose3_retreat,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.00127264096051,1.06969858376
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_08/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_08/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..04c300da9993035e900cae915f82f407db70c30f
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_08/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9dd36fba1cab36d7bdafbd0e0e3fac6bb59c8a3d0f1b6fea2e1c0fdfcf50ba7e
+size 25713545
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_08/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_08/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..999130bfcbaf3b393f7ed6a1d4875fa679da1407
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_08/depth_05/franka_data.csv
@@ -0,0 +1,405 @@
+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,765,742,712,672,659,633,877,784,799,649,628,651,0.400968523626,-0.0153896134276,0.0798388068301,0.99999993364,0.00023467720111,-0.000277259056378,2.78338647293e-05,1793193539661486592
+1,0.016666667,BASELINE,764.424960306,742,712,672,659,632.424960306,877,784.575039694,799.575039694,648.424960306,628.575039694,651,0.400969375748,-0.0153895980992,0.0798392719884,0.9999999335,0.000236556321817,-0.000276125506467,2.82115628397e-05,1793193539678153216
+2,0.033333333,BASELINE,764,742,712,672,659,632.149678679,877,784.850321321,800,648,629,651,0.400969702399,-0.0153894859378,0.0798395274498,0.999999933289,0.000237964146528,-0.00027565481397,2.84439044504e-05,1793193539694820096
+3,0.050000000,BASELINE,764,742,712,672,659,632.723183158,877,784.276816842,800,648,629,651,0.400968541145,-0.0153890995874,0.07983918914,0.999999932888,0.000238037463613,-0.000277061049023,2.82646589042e-05,1793193539711486720
+4,0.066666667,BASELINE,764,742,712,672,659,632.693651294,877,784,799.693651294,648.306348706,629,651,0.400968251054,-0.0153888787639,0.079839259576,0.999999932949,0.000237406455203,-0.000277397114684,2.81176638434e-05,1793193539728153344
+5,0.083333333,BASELINE,764,742,712,672,659,632.101471766,877,784,799.101471766,648.898528234,629,651,0.400968773781,-0.0153888123812,0.079839711382,0.999999933441,0.000236118293906,-0.000276734686093,2.80007592836e-05,1793193539744819968
+6,0.100000000,BASELINE,764,742,712,672,659,632,877,784,799,649,629,651,0.40096884854,-0.0153902629187,0.0798393436809,0.999999933614,0.000235266725801,-0.000276813063793,2.82256577184e-05,1793193539761486592
+7,0.116666667,BASELINE,764,742,712,672,659,632,877,784,799.056732036,649,628.943267964,651,0.400968884007,-0.0153917390755,0.0798389543415,0.99999993369,0.000234842178374,-0.000276872544986,2.84869898498e-05,1793193539778153472
+8,0.133333333,BASELINE,764,742,712,672,659,632,877,784,799.631963178,649,628.368036822,651,0.400969407001,-0.0153905825309,0.0798399160378,0.999999933482,0.00023749523794,-0.000275359262815,2.84353275172e-05,1793193539794820096
+9,0.150000000,BASELINE,764,742,712,672,659,632.212064109,877,784,799.787935891,649,628.212064109,651,0.40096943606,-0.0153893685203,0.0798403291595,0.999999933102,0.00023949210152,-0.000275015707057,2.84050282599e-05,1793193539811486464
+10,0.166666667,BASELINE,764,742,712,672,659,632.800815126,877,784,799.199184874,649,628.800815126,651,0.400968587748,-0.0153880524337,0.0798397678544,0.999999932423,0.000240323371835,-0.000276749922324,2.84126759802e-05,1793193539828153088
+11,0.183333333,BASELINE,764,742,712,672,659.383400392,632.616599608,877.383400392,784,799,648.616599608,628.616599608,650.616599608,0.400968627945,-0.0153878404994,0.0798397399977,0.999999932916,0.000238214176298,-0.000276829485703,2.80466587526e-05,1793193539844819968
+12,0.200000000,BASELINE,764,742,712,672,659.962833166,632.037166834,877.962833166,784,799,648.037166834,628.037166834,650.037166834,0.400969122437,-0.0153881931174,0.0798399848927,0.999999933998,0.000234601522464,-0.000276063026748,2.74895868689e-05,1793193539861486592
+13,0.216666667,BASELINE,764,742,712,672,659.461672098,632.538327902,878,784.538327902,799.538327902,648,628,650.538327902,0.400968424005,-0.0153883341659,0.079839642727,0.999999933259,0.000236688619304,-0.000276934718238,2.77121427265e-05,1793193539878153216
+14,0.233333333,BASELINE,764,742,712,672,659,633,878,784.884198604,800,648,628.115801396,651,0.400967608728,-0.0153883310409,0.0798391755191,0.999999932548,0.000238489900138,-0.000277936426351,2.79012425663e-05,1793193539894820096
+15,0.250000000,BASELINE,764,742,712,672,659,633,878,784.297582496,800,648,628.702417504,651,0.400966650816,-0.0153878007052,0.0798383635185,0.999999932479,0.000237540826977,-0.000279010252373,2.7737066592e-05,1793193539911486720
+16,0.266666667,BASELINE,764,742,712,672,659,633,877.714644959,784,799.714644959,648,629,651,0.400966761889,-0.0153878705719,0.0798384051312,0.999999932518,0.00023772200826,-0.000278715292733,2.7752336679e-05,1793193539928153344
+17,0.283333333,BASELINE,764,742,712,672,659,633,877.135494831,784,799.135494831,648,629,651,0.400967973562,-0.0153885583933,0.0798393256049,0.999999932665,0.000239066873983,-0.000277011062303,2.79523603771e-05,1793193539944819968
+18,0.300000000,BASELINE,764,742,712,672,659,633,877,784,799.444087449,648.444087449,628.555912551,651,0.400967861784,-0.0153891369379,0.079839112356,0.999999932527,0.000239172928802,-0.00027740281399,2.80921529594e-05,1793193539961486592
+19,0.316666667,BASELINE,764,742,712,671.976415932,659,632.976415932,877.023584068,784,800,648.976415932,628.023584068,651,0.400967390549,-0.0153896591516,0.0798385925066,0.999999932332,0.000238864602793,-0.000278360691416,2.81871192495e-05,1793193539978153472
+20,0.333333333,BASELINE,764,742,712,671.402002323,659,632.402002323,877.597997677,784,800,648.402002323,628.597997677,651,0.400967964097,-0.0153896451759,0.0798389986024,0.999999932835,0.000237714503308,-0.000277590247924,2.76647544616e-05,1793193539994820096
+21,0.350000000,BASELINE,764,742,711.823772963,671.176227037,659,632.176227037,877.823772963,784,799.823772963,648,629,650.823772963,0.400968379838,-0.0153895343706,0.0798392544325,0.999999933143,0.000236954327587,-0.000277161411303,2.73434571106e-05,1793193540011486464
+22,0.366666667,BASELINE,764,742,711.236646697,671.763353303,659,632.763353303,877.236646697,784,799.236646697,648,629,650.236646697,0.400968427627,-0.015389197793,0.0798391598961,0.999999933002,0.00023710331657,-0.0002775290814,2.74909781027e-05,1793193540028153344
+23,0.383333333,BASELINE,764,742,711.34767954,672,659,632.65232046,877.34767954,784,799,648,629,650.34767954,0.400968109361,-0.0153901337494,0.0798389608446,0.999999933295,0.000235527922978,-0.000277783057728,2.78057411022e-05,1793193540044819968
+24,0.400000000,BASELINE,764,742,711.930115232,672,659,632.069884768,877.930115232,784,799,648,629,650.930115232,0.400967543932,-0.0153919289313,0.0798386912237,0.999999933875,0.000232788211767,-0.000277960267103,2.82334273279e-05,1793193540061486848
+25,0.416666667,BASELINE,764,741.494629704,712,672,659,632,877.494629704,784,799,648,629,651,0.400968272245,-0.0153901121554,0.0798393518782,0.999999933641,0.000235002918354,-0.00027698434559,2.77700120964e-05,1793193540078153216
+26,0.433333333,BASELINE,764,741.079862667,711.920137333,671.920137333,659,632,877.079862667,784,799,648,629,651,0.400968889538,-0.0153882480306,0.0798400299394,0.99999993331,0.000237469864594,-0.0002761180298,2.7325932541e-05,1793193540094820096
+27,0.450000000,BASELINE,764,741.655698978,711.344301022,671.344301022,659,632,877.655698978,784,799,648,629,651,0.400967721871,-0.0153891483131,0.0798400283822,0.999999933118,0.000237308101527,-0.000276908826433,2.77564826971e-05,1793193540111486720
+28,0.466666667,BASELINE,763.76258592,742,711.23741408,671.23741408,659,632,877.76258592,784,799,648,629,651,0.400966627904,-0.0153896687415,0.0798395967559,0.999999932931,0.000236934492985,-0.000277885045042,2.79442913797e-05,1793193540128153344
+29,0.483333333,BASELINE,763.172128885,742,711.827871115,671.827871115,659,632,877.172128885,784,799,648,629,651,0.400965643531,-0.0153896243136,0.0798385256021,0.99999993275,0.000236245862897,-0.000279136992503,2.77711350629e-05,1793193540144819968
+30,0.500000000,BASELINE,763,742,712,672,659.410491655,632,877.410491655,784.410491655,799,648,629,651,0.400965937687,-0.015389547768,0.0798382373854,0.999999932554,0.000237178049844,-0.000279052443306,2.77009737029e-05,1793193540161486592
+31,0.516666667,BASELINE,763,742,712,672,659.989887708,632,877.989887708,784.989887708,799,648,629,651,0.400966757919,-0.0153894580069,0.0798382713228,0.999999932352,0.000238777152014,-0.000278417967761,2.76731915308e-05,1793193540178153216
+32,0.533333333,BASELINE,763.564168131,742,712,672,659.435831869,632.564168131,878,785,799,648.564168131,629,650.435831869,0.400967479388,-0.0153887222675,0.079838361008,0.999999932804,0.000237130368181,-0.000278207739634,2.75815737223e-05,1793193540194820096
+33,0.550000000,BASELINE,764,742,712,672.138208785,659,632.861791215,878,784.861791215,799,648.861791215,629,650,0.400967761325,-0.0153884338392,0.0798384436971,0.999999933125,0.00023593795828,-0.000278071401759,2.75497956014e-05,1793193540211486720
+34,0.566666667,BASELINE,764,742,712,672.71178029,659,632.28821971,878,784.28821971,799,648.28821971,629,650,0.40096666425,-0.015389590603,0.0798385012291,0.999999933001,0.000236358465682,-0.000278144082298,2.77100866013e-05,1793193540228153344
+35,0.583333333,BASELINE,764,742,712,673,659,632.29562238,878,784.29562238,799,648,629,650.29562238,0.400966474733,-0.0153905188427,0.0798387624447,0.999999933078,0.000236599854733,-0.000277651228069,2.7819298879e-05,1793193540244819968
+36,0.600000000,BASELINE,764,742,712,673,659,632.889838351,878,784.889838351,799,648,629,650.889838351,0.400967201895,-0.0153912162614,0.0798392293909,0.999999933357,0.00023666032522,-0.000276587155064,2.78769190773e-05,1793193540261486592
+37,0.616666667,BASELINE,764,742,712,672.529417859,659,633,877.529417859,785,799,648.470582141,629,651,0.400967672774,-0.0153900167035,0.0798398584269,0.999999933452,0.000237214844114,-0.000275752678075,2.80281708896e-05,1793193540278153472
+38,0.633333333,BASELINE,764,742,712,672.048001827,659,633,877.048001827,785,799.048001827,649,629,651,0.400968054452,-0.0153884919844,0.0798404593749,0.999999933464,0.000237907630024,-0.000275096162612,2.81670568681e-05,1793193540294820096
+39,0.650000000,BASELINE,764,742,712,672.622590649,659,633,877.622590649,785,799.622590649,649,629,651,0.400968097401,-0.0153881361866,0.0798403475199,0.999999933039,0.000238883785151,-0.000275818701232,2.79365274468e-05,1793193540311486720
+40,0.666666667,BASELINE,764.20168477,742,712,672.79831523,659,633,878,785,800,649,629,651,0.400968281828,-0.0153888828585,0.0798402549265,0.999999933119,0.000238459113791,-0.000275904701303,2.78602253912e-05,1793193540328153088
+41,0.683333333,BASELINE,764.789402178,742,712,672.210597822,659,633,878,785,800,649,629,651,0.400968737048,-0.0153917397009,0.0798401992007,0.99999993416,0.000235353204978,-0.000274772341328,2.8079120637e-05,1793193540344819712
+42,0.700000000,BASELINE,764.627834194,742,712,672,659,633,878,785,800,648.627834194,629,651,0.400969603534,-0.0153921285031,0.0798411151471,0.999999934676,0.000234755694349,-0.00027339119392,2.81916450986e-05,1793193540361486592
+43,0.716666667,BASELINE,764.047836964,742,712,672,659,633,878,785,800,648.047836964,629,651,0.400970699686,-0.0153911390584,0.0798425737118,0.9999999349,0.000235558967988,-0.000271871114262,2.82447680949e-05,1793193540378153216
+44,0.733333333,BASELINE,764,742,712,672,659,632.470438119,877.470438119,784.470438119,799.470438119,648,629,651,0.400967923134,-0.0153905659408,0.079840464288,0.999999933542,0.000236762585404,-0.00027583454751,2.78452797343e-05,1793193540394819840
+45,0.750000000,BASELINE,764,742,712,672,659,632.108053183,877,784.108053183,799.108053183,648,629,651,0.400965913712,-0.0153901396353,0.0798388465457,0.999999932523,0.000237706107672,-0.000278731349325,2.75539566637e-05,1793193540411486720
+46,0.766666667,BASELINE,764,742,712,672,659,632.692389269,877,784.692389269,799.692389269,648,629,651,0.400968820173,-0.0153901954954,0.0798408098133,0.999999933699,0.000237344538896,-0.000274753853282,2.79187494857e-05,1793193540428153344
+47,0.783333333,BASELINE,764,742,712,672,659,632.725778605,877.274221395,784.725778605,800,648.274221395,629,651,0.400969736939,-0.015390590009,0.0798413044297,0.999999934304,0.000236218193847,-0.000273516550273,2.79706693491e-05,1793193540444819968
+48,0.800000000,BASELINE,764,742,712,672,659,632.146729833,877.853270167,784.146729833,800,648.853270167,629,651,0.400968441938,-0.0153913609737,0.0798401664783,0.99999993428,0.000234241715436,-0.000275325274052,2.76747963998e-05,1793193540461486592
+49,0.816666667,BASELINE,764,742,712,672,659,632.43249942,877.56750058,784,799.56750058,649,629,651,0.400968257347,-0.0153905355499,0.0798401430796,0.999999933856,0.000235687076527,-0.000275614577932,2.7844850963e-05,1793193540478153216
+50,0.833333333,BASELINE,764,742,712,672,659,632.988338434,877.011661566,784,799.011661566,649,629,651,0.400968440707,-0.0153891867653,0.0798404760163,0.999999933294,0.000238270288576,-0.000275402005675,2.81637920776e-05,1793193540494820096
+51,0.850000000,BASELINE,764,742,712,672,659,632.41535327,877.58464673,784,799.58464673,649,629,651,0.400968194516,-0.015388726372,0.0798397526019,0.999999932826,0.000239721020232,-0.00027585454254,2.80374856527e-05,1793193540511486720
+52,0.866666667,BASELINE,764,742,712,672,659,632,878,784,800,648.837060457,628.837060457,650.837060457,0.400967962094,-0.0153885141995,0.0798392750651,0.999999932661,0.000240175153567,-0.000276076841434,2.78492115336e-05,1793193540528153344
+53,0.883333333,BASELINE,764,742,712,672,659,632,878,784,800,648.244782254,628.244782254,650.244782254,0.400967765953,-0.015388956078,0.0798394454052,0.999999933296,0.00023800329326,-0.000275692473187,2.74976552235e-05,1793193540544819968
+54,0.900000000,BASELINE,764,742,712,672,659,632,877.660252287,784,799.660252287,648.339747713,628.339747713,650,0.400968982609,-0.0153894031083,0.0798407017129,0.999999933861,0.000237684324407,-0.000273893375256,2.77027531328e-05,1793193540561486592
+55,0.916666667,BASELINE,764,742,712,672,659,632,877.081180338,784,799.081180338,648.918819662,628.918819662,650,0.400971194464,-0.0153898537675,0.079842722995,0.999999934371,0.000238670564816,-0.000271097716987,2.82999680318e-05,1793193540578153472
+56,0.933333333,BASELINE,764,742,712,672,659,632,877,784,799,648.505773232,629,650.494226768,0.400969821347,-0.0153912119394,0.079841672846,0.999999934775,0.000235457542965,-0.000272442246455,2.80058031574e-05,1793193540594820096
+57,0.950000000,BASELINE,764,742,712,672,659,632,877,784.070487277,799.070487277,648.070487277,629,651,0.400968188795,-0.0153923706614,0.0798403739487,0.999999935001,0.00023252763325,-0.000274161407228,2.76506181836e-05,1793193540611486464
+58,0.966666667,BASELINE,764,742,712,672,659,632,877,784.657377417,799.657377417,648.657377417,629,651,0.400968937911,-0.0153909841328,0.0798409215673,0.99999993415,0.000236687966455,-0.000273679642339,2.79131611403e-05,1793193540628153344
+59,0.983333333,BASELINE,764,742,712,672.240859007,659,632,877.240859007,785,799.759140993,649,629,651,0.400969602263,-0.0153898954122,0.0798411525101,0.99999993364,0.00023900839994,-0.000273523858159,2.79311349242e-05,1793193540644820224
+60,1.000000000,BASELINE,764,742,712,672.819559668,659,632,877.819559668,785,799.180440332,649,629,651,0.400970147721,-0.0153892244128,0.0798409392666,0.999999933628,0.00023874809281,-0.000273825311801,2.76060630158e-05,1793193540661486848
+61,1.016666667,BASELINE,764,742,712,673,659,632.398213649,877.601786351,785,799,649,629,651,0.400970385471,-0.0153892781814,0.0798411117837,0.999999933708,0.000238997983325,-0.000273305384951,2.77200316751e-05,1793193540678153216
+62,1.033333333,BASELINE,764,742,712,673,659,632.976846447,877.023153553,785,799,649,629,651,0.400970483806,-0.0153896603217,0.0798414590779,0.999999933827,0.000239479029727,-0.000272413314215,2.80329170047e-05,1793193540694820096
+63,1.050000000,BASELINE,764,742,712,673,659,632.450065916,877,784.450065916,799,648.450065916,629,651,0.400968762553,-0.0153890026556,0.0798405851082,0.999999933521,0.000239446428537,-0.000273585132525,2.78178158052e-05,1793193540711486720
+64,1.066666667,BASELINE,764,742,712,672.873416504,659,632.126583496,877,784.126583496,799,648.126583496,629,651,0.400967442006,-0.0153887617811,0.0798399136794,0.999999933293,0.000239274010432,-0.000274577700823,2.7728156247e-05,1793193540728153344
+65,1.083333333,BASELINE,764,742,712,672.282864923,659,632.717135077,877,784.717135077,799,648.717135077,629,651,0.400967868168,-0.0153902074373,0.079840171208,0.99999993342,0.000238667593687,-0.000274597944888,2.81789442561e-05,1793193540744819968
+66,1.100000000,BASELINE,764,742,711.698017727,672,659,632.698017727,877.301982273,784.698017727,799,649,628.698017727,651,0.400968354913,-0.0153911663488,0.0798404406981,0.999999933596,0.000238095634037,-0.000274424277216,2.84478225777e-05,1793193540761486592
+67,1.116666667,BASELINE,764,742,711.118414761,672,659,632.118414761,877.881585239,784.118414761,799,649,628.118414761,651,0.400968897351,-0.0153916777824,0.0798407211846,0.999999933818,0.000237555351783,-0.000274072341097,2.8549466246e-05,1793193540778153216
+68,1.133333333,BASELINE,764,742,711.459823171,672,659,632.459823171,878,784,799.459823171,648.540176829,628.459823171,651,0.400968940486,-0.0153915331228,0.0798404697744,0.99999993373,0.000237122674907,-0.000274806749147,2.81934938368e-05,1793193540794819840
+69,1.150000000,BASELINE,763.962629456,742,711.962629456,672,659,632.962629456,878,784,799.962629456,648,628.962629456,651,0.400968850076,-0.0153912040934,0.0798401404742,0.999999933584,0.000236776242978,-0.000275677908805,2.77541978473e-05,1793193540811486464
+70,1.166666667,BASELINE,763.389953985,742,711.389953985,672,659,632.389953985,878,784,799.389953985,648,628.389953985,651,0.40096868313,-0.0153906471485,0.0798406517181,0.999999933787,0.000237269444062,-0.000274512470129,2.78044192248e-05,1793193540828153344
+71,1.183333333,BASELINE,763.18844218,742,711.18844218,672,659,632,877.81155782,784,799,648.18844218,628,651,0.400968568671,-0.0153903674371,0.0798410141569,0.999999934022,0.000237153516202,-0.000273751409297,2.78382097391e-05,1793193540844819968
+72,1.200000000,BASELINE,763.779047244,742,711.779047244,672,659,632,877.220952756,784,799,648.779047244,628,651,0.400968566227,-0.0153906793817,0.0798410590243,0.999999934329,0.000235737619115,-0.00027385334909,2.78369344236e-05,1793193540861486592
+73,1.216666667,BASELINE,764,742,712,672,659,632,877.362672093,784,799,649,628,651,0.400968415484,-0.0153909906441,0.0798408250244,0.999999934489,0.000234784026598,-0.000274103428619,2.76748521281e-05,1793193540878153216
+74,1.233333333,BASELINE,764,742,712,672,659,632,877.942124616,784,799,649,628,651,0.400968176099,-0.0153913014987,0.0798404243368,0.999999934562,0.000234106768033,-0.000274442055886,2.74166504821e-05,1793193540894819840
+75,1.250000000,BASELINE,763.482927396,742,712,672,659.517072604,632.517072604,878,784,799,649,628,650.482927396,0.400968675403,-0.0153924690971,0.079840738627,0.999999934709,0.000234049782063,-0.000273905407895,2.78987438033e-05,1793193540911486720
+76,1.266666667,BASELINE,763.093704533,742,712,672,659.906295467,633,878,784.093704533,799,649,628.093704533,650.093704533,0.400969086131,-0.0153930585014,0.079841051665,0.999999934748,0.000234336643734,-0.000273474385608,2.83352135057e-05,1793193540928153088
+77,1.283333333,BASELINE,763.681859559,742,712,672,659.318140441,633,878,784.681859559,799,649,628.681859559,650.681859559,0.400968596952,-0.0153900953139,0.0798409394657,0.999999934171,0.000236074706943,-0.000274113204479,2.80974878151e-05,1793193540944819712
+78,1.300000000,BASELINE,764,742,712,672,659,632.734131085,878,785,799,648.734131085,628.734131085,651,0.400969051507,-0.0153886500371,0.0798409686813,0.999999933996,0.000236901543571,-0.000274070049094,2.77676358371e-05,1793193540961486592
+79,1.316666667,BASELINE,764,742,712,672,659,632.155006338,878,785,799,648.155006338,628.155006338,651,0.400970618002,-0.0153889932147,0.0798411645169,0.999999934298,0.00023665474181,-0.000273223368315,2.73292375394e-05,1793193540978153216
+80,1.333333333,BASELINE,764,742,712,672,659,632,878,784.577276585,799,648.422723415,628.422723415,651,0.400970847153,-0.0153893066686,0.0798415583019,0.999999934458,0.000236638073698,-0.000272636000076,2.74881013396e-05,1793193540994820096
+81,1.350000000,BASELINE,764,742,712,672,659,632,878,784.000056625,799,648.999943375,628.999943375,651,0.400970587534,-0.0153896092591,0.0798420244331,0.999999934566,0.00023670551459,-0.000272143405067,2.78652518762e-05,1793193541011486720
+82,1.366666667,BASELINE,764.573929424,742,712,672,659,632,878,784,799,649,629,651,0.400969279688,-0.0153898902285,0.0798413734006,0.999999934183,0.000236827444643,-0.000273456066408,2.77308497144e-05,1793193541028153344
+83,1.383333333,BASELINE,764.848173499,742,712,672,659,632.151826501,877.848173499,784,799,649,629,651,0.400968358101,-0.0153903598124,0.0798409131494,0.999999934095,0.000236257189626,-0.000274276419545,2.76441227847e-05,1793193541044819968
+84,1.400000000,BASELINE,764.259009629,742,712,672,659,632.740990371,877.259009629,784,799,649,629,651,0.400968549436,-0.0153913727082,0.0798410027609,0.99999993486,0.000233693074976,-0.000273678165357,2.76948692536e-05,1793193541061486592
+85,1.416666667,BASELINE,763.674829141,742,712,672,659.325170859,632.674829141,877.325170859,784,799.325170859,649,629,651,0.400968419546,-0.0153917665229,0.0798407985895,0.999999935039,0.000232706190905,-0.000273874658429,2.7621187395e-05,1793193541078153472
+86,1.433333333,BASELINE,763.094558205,742,712,672,659.905441795,632.094558205,877.905441795,784,799.905441795,649,629,651,0.400968037651,-0.0153916746617,0.0798403639421,0.99999993476,0.000232956661538,-0.000274694639408,2.74498901563e-05,1793193541094820096
+87,1.450000000,BASELINE,763.482369424,742.482369424,712,672,660,632,877.517630576,784.482369424,799.517630576,648.517630576,629,651,0.400967906385,-0.0153909222825,0.0798400680365,0.999999934363,0.000234309364332,-0.000274994869151,2.74125070792e-05,1793193541111486720
+88,1.466666667,BASELINE,764.058338444,742.941661556,712,672.058338444,659.941661556,632.058338444,877.058338444,785,799,648.058338444,629,651,0.400967911869,-0.0153901180798,0.0798398893003,0.999999934009,0.000235716677484,-0.00027507926498,2.74030600444e-05,1793193541128153344
+89,1.483333333,BASELINE,764.631591306,742.368408694,712,672.631591306,659.368408694,632.631591306,877.631591306,785,799,648.631591306,629,651,0.400968693707,-0.015389991437,0.0798405063394,0.999999934265,0.000235712030124,-0.000274151729771,2.74100805568e-05,1793193541144820224
+90,1.500000000,BASELINE,764.57723534,741.78861767,712,672.78861767,659,633,877.78861767,784.78861767,799.21138233,648.78861767,629,651,0.400969314302,-0.0153897789605,0.0798409948934,0.999999934352,0.000236313086986,-0.000273304632002,2.7490368999e-05,1793193541161486848
+91,1.516666667,BASELINE,763.394135878,741.197067939,712,672.197067939,659,633,877.197067939,784.197067939,799.802932061,648.197067939,629,651,0.400969644902,-0.0153894121138,0.0798412523691,0.999999934137,0.000238003492236,-0.00027260219965,2.77024285232e-05,1793193541178153728
+92,1.533333333,BASELINE,763.386609758,741.386609758,712,672,659,633,877.386609758,784.386609758,799.613390242,648,629,651,0.400969312854,-0.0153896283075,0.0798412394842,0.999999933856,0.000238884466306,-0.000272841462214,2.79326331274e-05,1793193541194820096
+93,1.550000000,BASELINE,763.966354941,741.966354941,712,672,659,633,877.966354941,784.966354941,799.033645059,648,629,651,0.400968649772,-0.0153901357657,0.0798410915374,0.999999933541,0.00023936107972,-0.000273551159421,2.81719023377e-05,1793193541211486720
+94,1.566666667,BASELINE,764,742.541352954,712,672,659,632.458647046,878,784.458647046,799,648,628.458647046,651,0.400968964052,-0.0153908059953,0.0798407654478,0.999999933984,0.000237779290739,-0.000273337903256,2.79046613184e-05,1793193541228153344
+95,1.583333333,BASELINE,764,742.882255575,712,672,659,632,878,784,799,648,628.117744425,651,0.400969057867,-0.0153914428058,0.0798405060134,0.99999993436,0.000236300928574,-0.000273269848651,2.76785269023e-05,1793193541244819968
+96,1.600000000,BASELINE,764,742.299201364,712,672,659,632,878,784,799,648,628.700798636,651,0.400968042476,-0.0153919079182,0.0798405533642,0.999999934292,0.000235732459926,-0.000274000324828,2.77381616211e-05,1793193541261486592
+97,1.616666667,BASELINE,764,742,712,672,659,632.285483136,877.714516864,784,799.285483136,648.285483136,629,651,0.400967871081,-0.0153910703289,0.0798407418579,0.999999933975,0.000236992735417,-0.000274062100012,2.78145542696e-05,1793193541278152960
+98,1.633333333,BASELINE,764,742,712,672,659,632.871886042,877.128113958,784,799.871886042,648.871886042,629,651,0.40096858932,-0.0153888595982,0.0798410791263,0.999999933388,0.000240180638877,-0.000273419016182,2.79086109784e-05,1793193541294819840
+99,1.650000000,BASELINE,764,742,712,672,659,633,877,784,800.448484791,649,629,651,0.400969687644,-0.0153888650783,0.079841614763,0.999999933791,0.000239539538875,-0.000272520973377,2.77529838826e-05,1793193541311486720
+100,1.666666667,BASELINE,764,741.977566266,712,672,659,633,877,784.022433734,800.955132533,648.977566266,629,651,0.400970805887,-0.0153894810711,0.0798421665197,0.999999934449,0.000237847831162,-0.000271611546852,2.7536271327e-05,1793193541328153344
+101,1.683333333,BASELINE,764,741.401372569,712,672,659,633,877,784.598627431,799.802745139,648.401372569,629,651,0.400969793057,-0.0153898742778,0.0798417473523,0.99999993458,0.000236644481283,-0.000272180451611,2.75346389306e-05,1793193541344819968
+102,1.700000000,BASELINE,764,741.17954336,712,672,659,632.82045664,877.17954336,784.82045664,799,648,629,651,0.400968902061,-0.0153898881902,0.0798413701243,0.999999934445,0.000236518251973,-0.000272782412125,2.75431974842e-05,1793193541361486592
+103,1.716666667,BASELINE,764,741.771301002,712,672,659,632.228698998,877.771301002,784.228698998,799,648,629,651,0.400968290787,-0.0153890312796,0.0798410891854,0.999999933701,0.00023886498804,-0.000273460265393,2.75751534785e-05,1793193541378153216
+104,1.733333333,BASELINE,764,742,712,672,659.354599297,632.354599297,878,784,799,648,629,651,0.400967975157,-0.0153888704602,0.0798404709107,0.999999933543,0.000238956727568,-0.000273969787523,2.74653066347e-05,1793193541394819840
+105,1.750000000,BASELINE,764,742,712,672,659.932568911,632.932568911,878,784,799,648,629,651,0.40096784576,-0.0153891481248,0.0798396401404,0.999999933754,0.000237627992739,-0.000274373274033,2.72661348995e-05,1793193541411486464
+106,1.766666667,BASELINE,764,742,712,672.504192291,659.495807709,632.495807709,878,784,799,648.504192291,628.495807709,651,0.400969224172,-0.0153893636916,0.079840784837,0.999999934203,0.000236972482983,-0.00027326037242,2.76955597971e-05,1793193541428153344
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632,878,784,800,648,629,651,0.400967564743,-0.0153913521898,0.0798406140324,0.999999934076,0.000234613397214,-0.000275776554,2.74089898247e-05,1793193541470817024
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,742,711.419811425,672,659,632.580188575,878,784,799.419811425,648,629,650.419811425,0.400967133596,-0.015390745537,0.0798400741363,0.999999933719,0.000235831033058,-0.000276035472977,2.73886053184e-05,1793193541487483648
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,742,711,672,659,633,878,784.1590279,799,648,629,650.1590279,0.400967051206,-0.0153903985126,0.0798398744859,0.999999933551,0.000236648818171,-0.00027593965714,2.74225151194e-05,1793193541504150272
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,742,711,672,659,633,878,784.734335482,799,648,629,650.734335482,0.400967881743,-0.0153907311044,0.0798405654803,0.999999933883,0.000236419933522,-0.000274915269097,2.75985485128e-05,1793193541520816896
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,742,711.309359868,672,659,632.690640132,877.690640132,784.690640132,799.309359868,648,628.690640132,650.690640132,0.400968039152,-0.0153903049673,0.0798401870334,0.999999933949,0.000236061715073,-0.000274995871781,2.74608418115e-05,1793193541537483520
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,742,711.884141244,672,659,632.115858756,877.115858756,784.115858756,799.884141244,648,628.115858756,650.115858756,0.400967619038,-0.0153892278635,0.0798388910377,0.999999933787,0.00023559253211,-0.000276024523501,2.70539554877e-05,1793193541554150144
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632.472303758,877,784,799.527696242,648.472303758,628.472303758,650,0.400970791018,-0.0153894836335,0.0798413005739,0.999999934599,0.000236487772163,-0.000272268102505,2.73149486811e-05,1793193541570816768
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,742,711.937463857,672,659,633,877,784,799.062536143,648.937463857,629,650,0.400975470233,-0.0153901227227,0.0798447790222,0.999999935729,0.000237504656535,-0.000267140192783,2.77492931889e-05,1793193541587483392
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,742,711.358045037,672,659,633,877,784,799.641954963,648.358045037,629,650,0.40098511182,-0.0153911488317,0.0798493602357,0.999999937621,0.000236679895376,-0.000260661245295,2.82228128725e-05,1793193541604150016
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,742,711,672,659.218396845,633,877,784,800,648,629,650.218396845,0.401001953036,-0.0153925160586,0.0798562988305,0.999999940866,0.000235700493364,-0.000248771646896,2.87335190199e-05,1793193541620816896
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,742,711,672,659.790023838,633,877,784,800,648,629,650.790023838,0.401030438769,-0.0153944350019,0.0798670502002,0.99999994606,0.000234470978736,-0.000228130983899,2.93043696658e-05,1793193541637483520
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,742,711.365752528,672,659.634247472,633,877,784,799.634247472,648,629,651,0.401076805743,-0.0153969382688,0.0798819172405,0.999999952292,0.00023405787346,-0.000199330903227,3.00004316823e-05,1793193541654150144
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,742,711.943862736,672,659.056137264,633,877,784,799.056137264,648,629,651,0.401133554654,-0.0153997807971,0.0798991738602,0.999999958377,0.0002341187791,-0.0001657934232,3.07691920562e-05,1793193541670816768
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,742,712,672,659,633,877.534784234,784,799,648.534784234,629,651,0.401201939964,-0.0154020247299,0.0799111089046,0.999999961787,0.000231803129479,-0.000147733003786,2.94780667468e-05,1793193541687483392
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,742,712,671.876147512,659.123852488,633,878,784,799,648.876147512,629,651,0.401274995682,-0.0154043916217,0.0799209946285,0.999999964316,0.000229855507788,-0.000133277620831,2.77649472108e-05,1793193541704150272
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,742,712,671.298907121,659.701092879,633,878,784,799,648.298907121,629,651,0.40136056714,-0.0154074442998,0.0799254735082,0.999999965257,0.000230190784946,-0.000125925861178,2.53180118931e-05,1793193541720816896
+123,2.050000000,POSE1_TO_POSE2_PRESS,764.276173421,742,712,671.276173421,659.723826579,633,878,784,799,648,629,651,0.401456557287,-0.0154117847284,0.0799291077114,0.999999967099,0.000226349160858,-0.000118675991331,2.20156297464e-05,1793193541737483520
+124,2.066666667,POSE1_TO_POSE2_PRESS,764.848934427,742,712,671.848934427,659.151065573,633,878,784,799,648,629,651,0.401563736246,-0.0154175080953,0.0799318348014,0.999999969855,0.000218021887632,-0.000111535543205,1.77945680643e-05,1793193541754150400
+125,2.083333333,POSE1_TO_POSE2_PRESS,764.564149276,742,712,672,659,632.564149276,878,784,799,648,628.564149276,651,0.401695081807,-0.0154212497813,0.079937055063,0.999999971806,0.000214029608772,-0.000102023395953,1.30663181407e-05,1793193541770817024
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632,878,784,799,648.027182001,628.027182001,651,0.401836389322,-0.0154244139296,0.0799430581071,0.999999973451,0.000211203005267,-9.17993496774e-05,8.07055203645e-06,1793193541787483648
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632,878,784,799,648.605220856,628.605220856,651,0.402004136518,-0.0154302605677,0.0799468247331,0.999999976334,0.000200528255647,-8.43663424247e-05,1.33551389637e-06,1793193541804150272
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,742,712,672.18278777,659,632,878,784,799,649,628.81721223,650.81721223,0.402177323597,-0.0154363729353,0.0799479442972,0.999999978837,0.000188538425961,-8.21266620303e-05,-5.81493717553e-06,1793193541820816640
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,742,712,672.759337951,659,632,878,784,799,649,628.240662049,650.240662049,0.402362229278,-0.0154430577383,0.0799433615456,0.999999980668,0.00017371564505,-9.10744755916e-05,-1.38602721743e-05,1793193541837483264
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,742,711.657909644,672.657909644,659.342090356,632.342090356,877.657909644,784,799.342090356,648.657909644,628.342090356,650.342090356,0.402564511945,-0.0154507064291,0.0799383892208,0.999999988184,0.000115496166238,-9.91199679143e-05,-2.16130295416e-05,1793193541854150144
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,742,711.070713316,672.070713316,659.929286684,632.929286684,877.070713316,784,799.929286684,648.070713316,628.929286684,650.929286684,0.402779245152,-0.0154590457411,0.0799331377682,0.999999993559,2.61831755097e-05,-0.000106518952046,-2.91561572482e-05,1793193541870816768
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,742,711.509288954,672,660,632.490711046,877.509288954,784.509288954,799.490711046,648,629,651,0.403049059042,-0.015466298664,0.0799324107392,0.999999992233,6.55495432143e-05,-0.000103831133098,-2.13575948356e-05,1793193541887483648
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,742,712,672,659.912031709,632.087968291,877.912031709,784.912031709,799,648.087968291,629,651,0.403332562814,-0.0154735466978,0.0799329984957,0.999999989,0.000109086687826,-9.94913825468e-05,-1.41758057269e-05,1793193541904150528
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,742,712,672,659.335230237,632.664769763,877.335230237,784.335230237,799,648.664769763,629,651,0.403650234063,-0.0154815941078,0.0799374501621,0.999999992337,7.78992239352e-05,-9.36461738751e-05,-2.20935804849e-05,1793193541920817152
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,742,712,672,659,633,877.240772789,784.240772789,799,648.759227211,629,651,0.403984110549,-0.0154906856369,0.0799395933838,0.999999994103,5.33832833164e-05,-9.04504238573e-05,-2.763563509e-05,1793193541937483520
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,742,712,672,659,633,877.81566777,784.81566777,799,648.18433223,629,651,0.404340475146,-0.0155012260974,0.0799385331591,0.999999994693,3.81254671998e-05,-9.09313477993e-05,-2.98808846842e-05,1793193541954150400
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,742,712,672,659.399735828,632.600264172,878,784.600264172,799,648,629,651,0.404725426373,-0.0155118643263,0.079938335254,0.999999995397,2.28915204683e-05,-8.76865229276e-05,-3.15216425145e-05,1793193541970817024
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,742,712,672,659.988133248,632.011866752,878,784.011866752,799,648,629,651,0.4051238695,-0.0155225486983,0.0799385443342,0.999999996012,7.66883969672e-06,-8.26832724643e-05,-3.28771009114e-05,1793193541987483648
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,742,712,672,660,632,878,784,799,648,629,651,0.405568082964,-0.0155312685633,0.0799320687158,0.999999994656,-4.08396594831e-06,-9.69922932344e-05,-3.55389039657e-05,1793193542004150272
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,742,712,672,659.852296667,632,878,784,799,648,628.852296667,651,0.406021141424,-0.0155402824118,0.0799257006179,0.999999993058,-1.68810885237e-05,-0.000110220304903,-3.80860270413e-05,1793193542020816896
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,742,712,672,659.275280923,632,878,784,799,648,628.275280923,651,0.406497170273,-0.0155502682763,0.0799200449601,0.999999991551,-3.29211957881e-05,-0.000119150885384,-4.02216686163e-05,1793193542037483520
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,742,711.700056458,672,659.299943542,632,878,784,799,648,628.299943542,651,0.406991805372,-0.015549830247,0.0799164772031,0.999999990432,-3.80133817237e-05,-0.000126431944935,-4.13116112685e-05,1793193542054150400
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,742,711.126466161,672,659.873533839,632,878,784,799,648,628.873533839,651,0.40750341552,-0.0155398822132,0.0799148142946,0.999999989853,-3.31174792879e-05,-0.000132208102148,-4.14475342392e-05,1793193542070817024
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,742.460640307,711.460640307,672,659.539359693,632,878,784.460640307,799.460640307,648,629,650.539359693,0.408034593528,-0.0155257626508,0.0799043486065,0.9999999873,-1.81134525709e-05,-0.000152333525906,-4.32100274956e-05,1793193542087483904
+145,2.416666667,POSE1_TO_POSE2_PRESS,763.949484625,742.949484625,712,672,659,632.050515375,878,785,799.949484625,648,628.949484625,650.050515375,0.408582433912,-0.0155130465136,0.079894685727,0.999999984408,-3.21473947265e-06,-0.000170676939064,-4.51960426827e-05,1793193542104150528
+146,2.433333333,POSE1_TO_POSE2_PRESS,763.370636559,742.370636559,712,672,659,632.629363441,878,785,799.370636559,648,628.370636559,650.629363441,0.409246657967,-0.0155273488674,0.0799194598307,0.99999999063,-1.93195051776e-05,-0.000127934336092,-4.47080929272e-05,1793193542120816896
+147,2.450000000,POSE1_TO_POSE2_PRESS,763.206739227,742,712,672,659,632.793260773,878,784.793260773,799.206739227,648.206739227,628.206739227,651,0.409917936144,-0.0155392776394,0.0799470981094,0.999999995055,-3.47470640739e-05,-8.2080175586e-05,-4.40998207035e-05,1793193542137483776
+148,2.466666667,POSE1_TO_POSE2_PRESS,763.781494182,742,712,672,659,632.218505818,878,784.218505818,799.781494182,648.781494182,628.781494182,651,0.410601771299,-0.0155469812067,0.0799798348937,0.999999997394,-4.89691286981e-05,-3.0687145875e-05,-4.32773629829e-05,1793193542154150400
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632,877.635276419,784,799.635276419,648.635276419,628.635276419,651,0.411259226514,-0.0155501108809,0.0799822038969,0.99999999681,-5.95273456887e-05,-2.91681586887e-05,-4.4555455034e-05,1793193542170816768
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632,877.04684923,784,799.04684923,648.04684923,628.04684923,651,0.411900501537,-0.0155504351526,0.0799659467871,0.999999994893,-6.78383372262e-05,-5.82394718883e-05,-4.71219216328e-05,1793193542187483392
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,742,712,672.532961564,659.532961564,632,877.532961564,784,799.532961564,648.532961564,628,651,0.412585308602,-0.0155382111648,0.0799270381403,0.999999990877,-5.48760468742e-05,-0.000111083764665,-5.38093180994e-05,1793193542204150272
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,742.111630301,712,672.888369699,659.888369699,632.111630301,878,784.111630301,799.888369699,648.888369699,628,651,0.413292703005,-0.0155277379074,0.0798961926484,0.999999985923,-4.40795298306e-05,-0.000150548490882,-5.95504488998e-05,1793193542220816896
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,742.688645066,712,672.311354934,659.311354934,632.688645066,878,784.688645066,799.311354934,648.311354934,628,651,0.414078564075,-0.0155290887897,0.0799071312978,0.999999989064,-4.99840323439e-05,-0.000125660626186,-5.98604528642e-05,1793193542237483776
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,742.734905355,712,672,659,632.734905355,878,784.734905355,799.265094645,648.265094645,628,651,0.414865115336,-0.0155317850208,0.0799234092368,0.999999992161,-5.32701547934e-05,-9.66953987654e-05,-5.90857969744e-05,1793193542254150400
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,742.159118102,712,672,659,632.159118102,878,784.159118102,799.840881898,648.840881898,628,651,0.415652475608,-0.0155360580095,0.0799459448586,0.999999994961,-5.34875199402e-05,-6.29514730844e-05,-5.7039912875e-05,1793193542270817024
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,742.425830669,712,672.425830669,659.425830669,632.425830669,878,784,800,649,628.425830669,651,0.416408459495,-0.0155371713137,0.0799386712863,0.999999993346,-6.0196300709e-05,-7.96499860895e-05,-5.7791972263e-05,1793193542287483648
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,742.985950799,712,673,660,633,878,784,800,648.985950799,628.985950799,651,0.417155863783,-0.0155370897364,0.0799210848125,0.999999989417,-6.91165435179e-05,-0.00011333757692,-5.95245502521e-05,1793193542304150272
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,742.40693369,712,673,660,633,878,784,800,648.40693369,628.40693369,651,0.41804009453,-0.0155374803667,0.0799465536431,0.999999994526,-6.72802026764e-05,-5.55821361894e-05,-5.7719819459e-05,1793193542320816896
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,742,712,673,660,633,878,784.171072054,799.828927946,648.171072054,628,651,0.418917692361,-0.0155368779406,0.0799655762937,0.99999999619,-6.50953590782e-05,-1.32024428168e-05,-5.66373455627e-05,1793193542337483520
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,742,712,673,660,633,878,784.746686146,799.253313854,648.746686146,628,651,0.419779604971,-0.0155339271883,0.0799693553616,0.999999996407,-6.20863953763e-05,-7.18249760858e-06,-5.726282661e-05,1793193542354150144
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,742,712,673,660,633,878,785,799.322399795,649,628,651,0.420626181661,-0.015534214098,0.0799628240305,0.999999996335,-6.07949499189e-05,-1.79672070426e-05,-5.75361583076e-05,1793193542370817024
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,742,712,673,660,633,878,785,799.898191662,649,628,651,0.421460704951,-0.0155370456678,0.0799481891784,0.999999995613,-6.08533984558e-05,-4.19596369629e-05,-5.75327160346e-05,1793193542387483648
+163,2.716666667,POSE1_TO_POSE2_PRESS,764.485334744,742.485334744,712,673.485334744,660,632.514665256,878.485334744,785,800,648.514665256,628.485334744,651,0.422325429412,-0.0155417218105,0.0799684973765,0.999999996001,-6.87302891804e-05,-1.16397871007e-05,-5.60304631417e-05,1793193542404150272
+164,2.733333333,POSE1_TO_POSE2_PRESS,764.926150024,742.926150024,712,673.926150024,660,632,878.926150024,784.926150024,800,648,628.926150024,651,0.423194030379,-0.0155457688664,0.0799918471345,0.999999995362,-7.64839397541e-05,2.16339474848e-05,-5.43933340517e-05,1793193542420817152
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.344958466,742.344958466,712,673.344958466,660,632,878.344958466,784.344958466,800,648,628.344958466,651,0.424044697093,-0.0155427722986,0.079984529927,0.999999995946,-7.18540048177e-05,-4.94294733693e-06,-5.40412739624e-05,1793193542437483776
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,742,712,673,660,632,878.232550617,784,800,648.232550617,628.232550617,651,0.424889510506,-0.0155389738227,0.0799600730227,0.999999994756,-6.73274431687e-05,-5.25631888396e-05,-5.65059818188e-05,1793193542454150400
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,742,712,673,660,632,878.804682464,784,800,648.804682464,628.804682464,651,0.42572577678,-0.0155340043627,0.0799105879349,0.99999998746,-6.29518310801e-05,-0.000130911908037,-6.30838650382e-05,1793193542470817024
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,742,712,673,660,632.389389144,879,784,799.610610856,649,628.610610856,651,0.426582736026,-0.0155376376761,0.0798937823042,0.999999984618,-7.00294410653e-05,-0.000146907570027,-6.54030520898e-05,1793193542487483648
+169,2.816666667,POSE1_TO_POSE2_PRESS,764,742,712,673,660,632.980613813,879,784,799.019386187,649,628.019386187,651,0.427450421193,-0.0155457301417,0.079893915709,0.99999998588,-8.30437015145e-05,-0.000130583214906,-6.55147911397e-05,1793193542504150272
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,742.561139239,712,673,660,633,878.438860761,784.561139239,799.561139239,649,628.561139239,651,0.428297283505,-0.0155480438343,0.0799054055854,0.999999985946,-8.34117767931e-05,-0.000130722591068,-6.37350199921e-05,1793193542520816896
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,743,712,673,660,633,878,785,800,649,629,651,0.429153967109,-0.0155493998201,0.0799229607865,0.999999987851,-8.28695008261e-05,-0.000116729003868,-6.16807844633e-05,1793193542537483520
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,743,712,673,660,633,878,785,800,649,629,651,0.430043346484,-0.0155483897869,0.0799581581423,0.999999993364,-8.08313715176e-05,-5.71072350579e-05,-5.8973269318e-05,1793193542554151168
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,742.7056672,712,673.2943328,660,632.7056672,878.5886656,785,800,649,629,651,0.430916864637,-0.0155496337688,0.079990640343,0.999999995014,-8.21057140855e-05,-6.00906135008e-06,-5.65161284249e-05,1793193542570818048
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,742.11789141,712,673.88210859,660,632.11789141,879.764217179,785,800,649,629,651,0.431774569465,-0.0155531249516,0.080020415595,0.999999994099,-8.66825146762e-05,3.65912816443e-05,-5.43086051054e-05,1793193542587484160
+175,2.916666667,POSE1_TO_POSE2_PRESS,764,742,712,674,660,632,879.536635349,785,800.463364651,649,629,650.536635349,0.432532468686,-0.0155527747982,0.0799802166105,0.999999994211,-8.55703915689e-05,-3.13054499196e-05,-5.72360599885e-05,1793193542604150528
+176,2.933333333,POSE1_TO_POSE2_PRESS,763.957259402,742.042740598,712,674.042740598,660.042740598,632,878.957259402,784.957259402,800.957259402,649,628.957259402,650.042740598,0.433267008502,-0.0155514298594,0.0799237663481,0.999999987009,-8.38458168399e-05,-0.000123141339094,-6.15506239263e-05,1793193542620816896
+177,2.950000000,POSE1_TO_POSE2_PRESS,763.380934528,742.619065472,712,674.619065472,660.619065472,632,878.380934528,784.380934528,800.380934528,649,628.380934528,650.619065472,0.434022537089,-0.0155496977195,0.079883606509,0.999999979422,-9.22942689709e-05,-0.000167737346807,-6.70982738854e-05,1793193542637483776
+178,2.966666667,POSE1_TO_POSE2_PRESS,763.195340772,742.804659228,712,674.609318456,660.804659228,632,878,784.195340772,800,649,628,651,0.43479013534,-0.0155506278771,0.0798709312556,0.999999976707,-0.000102112622471,-0.000177081786303,-6.92883163613e-05,1793193542654150912
+179,2.983333333,POSE1_TO_POSE2_PRESS,763.771519524,742.228480476,712,673.456960952,660.228480476,632,878,784.771519524,800,649,628,651,0.435581264842,-0.0155567484717,0.0799118401697,0.999999984399,-0.000114601748545,-0.000117699485728,-6.49323406393e-05,1793193542670818048
+180,3.000000000,POSE1_TO_POSE2_PRESS,763.644485174,742.355514826,712,673.355514826,660,632,878.355514826,784.644485174,800,648.644485174,628.355514826,651,0.436318229422,-0.015563175517,0.079926356886,0.999999984872,-0.000119555383103,-0.000109360233727,-6.32673382178e-05,1793193542687484672
+181,3.016666667,POSE1_TO_POSE2_PRESS,763.055353474,742.944646526,712,673.944646526,660,632,878.944646526,784.055353474,800,648.055353474,628.944646526,651,0.437019600952,-0.0155698039377,0.0799235306868,0.999999981792,-0.000119557274271,-0.00013456253298,-6.33706358632e-05,1793193542704150784
+182,3.033333333,POSE1_TO_POSE2_PRESS,763.523974387,743,711.476025613,674,659.476025613,632,879,784.523974387,800,648,628.476025613,651,0.437681011875,-0.0155748492659,0.0798991171679,0.999999975124,-0.000125915772662,-0.000172181086402,-6.51985003531e-05,1793193542720817152
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,742.898109236,711,674,659,632,879,784.898109236,800,648,628.101890764,651,0.438328653584,-0.0155799354454,0.0798704243812,0.999999965697,-0.000134879138974,-0.000214158591637,-6.74568869982e-05,1793193542737483520
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,742.322030295,711,674,659,632,879,784.322030295,800,648,628.677969705,651,0.438931500437,-0.015585975765,0.0798322347055,0.999999949233,-0.000152897480765,-0.000270429910527,-7.08865755042e-05,1793193542754150144
+185,3.083333333,POSE1_TO_POSE2_PRESS,764,742,711.253422517,673.746577483,659,632,879,784,800,648.253422517,629,651,0.439510514315,-0.0155906282783,0.0797879320047,0.999999925943,-0.000170905093297,-0.000336370077733,-7.58929736206e-05,1793193542770817280
+186,3.100000000,POSE1_TO_POSE2_PRESS,764,742,711.82808161,673.17191839,659,632,879,784,800,648.82808161,629,651,0.440059317641,-0.0155935216177,0.0797358804796,0.99999989279,-0.000188899103892,-0.00041456640335,-8.2897997238e-05,1793193542787484416
+187,3.116666667,POSE1_TO_POSE2_PRESS,764,742,711.585217649,673.414782351,659,631.585217649,879,784,800,648.585217649,628.585217649,651,0.440571740614,-0.0155971588909,0.0796767623512,0.999999850014,-0.000187618984387,-0.000507460267448,-8.51774707503e-05,1793193542804151296
+188,3.133333333,POSE1_TO_POSE2_PRESS,764,742,711,673.993541842,658.993541842,631,878.993541842,783.993541842,799.993541842,648.006458158,628,651,0.441069134869,-0.0156011778932,0.079615474759,0.999999797267,-0.000178488557072,-0.000605231243768,-8.54606023969e-05,1793193542820818176
+189,3.150000000,POSE1_TO_POSE2_PRESS,764,742,711,673.416464043,658.416464043,631,878.416464043,783.416464043,799.416464043,648.583535957,628,651,0.441610792228,-0.0156108662659,0.0796290312806,0.999999807665,-0.000202691858073,-0.000579581747787,-8.75868229917e-05,1793193542837484800
+190,3.166666667,POSE1_TO_POSE2_PRESS,764,742.159523931,711,673.159523931,658,631,878.159523931,783,799.159523931,648.840476069,628,651,0.442148940288,-0.0156227204861,0.0796515301449,0.999999824379,-0.000224512654783,-0.000541450410749,-8.75669834135e-05,1793193542854151168
+191,3.183333333,POSE1_TO_POSE2_PRESS,764,742.732686162,711,673.732686162,658,631,878.732686162,783,799.732686162,648.267313838,628,651,0.442677989015,-0.0156401906526,0.0796972161,0.999999856903,-0.000240155731206,-0.000470954221353,-8.19825077519e-05,1793193542870817536
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,742.693304013,711,674,658,631,878.693304013,782.693304013,800,648,628,651,0.443153218119,-0.0156550448215,0.0797186039089,0.999999866953,-0.00025619034603,-0.000440703275221,-7.90021403739e-05,1793193542887484160
+193,3.216666667,POSE1_TO_POSE2_PRESS,764,742.118553419,711,674,658,631,878.118553419,782.118553419,800,648,628,651,0.443581408436,-0.0156676125876,0.0797187549519,0.999999860497,-0.000272567168197,-0.000445626980972,-7.82977838693e-05,1793193542904150784
+194,3.233333333,POSE1_TO_POSE2_PRESS,764,742,711,674,658,631,878,782,800,648,628,651,0.443960262375,-0.0156757116247,0.079698226587,0.999999843226,-0.000280622095633,-0.00047795357637,-7.97509439875e-05,1793193542920818176
+195,3.250000000,POSE1_TO_POSE2_PRESS,764,742.065225562,711,674,658,630.934774438,878,782,800,648,628,651,0.444323136932,-0.0156828933183,0.079673697932,0.999999822623,-0.000287138651106,-0.000515443617073,-8.13860838651e-05,1793193542937485312
+196,3.266666667,POSE1_TO_POSE2_PRESS,764,742.642169444,711,674,658,630.357830556,878,782,800,648,628,651,0.444661234445,-0.015691988963,0.0796599467184,0.999999807736,-0.000298552799659,-0.000537573764732,-8.00501773362e-05,1793193542954151680
+197,3.283333333,POSE1_TO_POSE2_PRESS,764,742.781373889,711,674,658,629.781373889,878,781.781373889,800,648,628,650.781373889,0.444995789548,-0.0156980475322,0.0796550564236,0.999999802501,-0.000304828977469,-0.00054395497736,-7.86742584492e-05,1793193542970817792
+198,3.300000000,POSE1_TO_POSE2_PRESS,764,742.205712942,711,674,658,629.205712942,878,781.205712942,800,648,628,650.205712942,0.445324559567,-0.0156991463006,0.0796646367563,0.999999813588,-0.000302714415722,-0.000524616851872,-7.72329961903e-05,1793193542987483904
+199,3.316666667,POSE1_TO_POSE2_PRESS,764.378893193,742.378893193,711,674,657.621106807,629.378893193,878.378893193,781,800,648,628,650,0.445622174333,-0.0157046039568,0.0796681622003,0.999999816577,-0.000307544134542,-0.000516245603645,-7.58529468496e-05,1793193543004150272
+200,3.333333333,POSE1_TO_POSE2_PRESS,764.968473435,742.968473435,711,674,657.031526565,629.968473435,878.968473435,781,800,648,628,650,0.445902464965,-0.0157124854131,0.0796683207685,0.999999815138,-0.000316235284356,-0.000513972586764,-7.45069353871e-05,1793193543020816640
+201,3.350000000,POSE1_TO_POSE2_PRESS,764.450975577,742.450975577,711,674.549024423,657.549024423,629.450975577,879,781,800,648,627.450975577,650.549024423,0.446134188978,-0.0157244985287,0.0796601184647,0.999999806489,-0.000329207008629,-0.000522528169916,-7.48985635318e-05,1793193543037483520
+202,3.366666667,POSE1_TO_POSE2_PRESS,764,742.127079605,711,674.872920395,657.872920395,629,878.872920395,781,799.872920395,648.127079605,627,651,0.446358281016,-0.0157354536883,0.0796541375778,0.999999799335,-0.000342640977447,-0.000527624768414,-7.44198744589e-05,1793193543054150144
+203,3.383333333,POSE1_TO_POSE2_PRESS,764,742.698196548,711,674.301803452,657.301803452,629,878.301803452,781,799.301803452,648.698196548,627,651,0.446565292714,-0.0157418965926,0.0796575691153,0.999999799422,-0.00035684512969,-0.000518497548691,-7.05571442229e-05,1793193543070817024
+204,3.400000000,POSE1_TO_POSE2_PRESS,764,743,711,674.278725587,657,629,878.278725587,781,799,648.721274413,627,651,0.446751372479,-0.015747010132,0.0796577406504,0.999999798854,-0.000363415458375,-0.000515170259024,-6.94322846079e-05,1793193543087483392
+205,3.416666667,POSE1_TO_POSE2_PRESS,764,743,711,674.869802163,657,629,878.869802163,781,799,648.130197837,627,651,0.446913995074,-0.0157506339319,0.0796542588968,0.999999797797,-0.000361431019706,-0.00051834260255,-7.13755920562e-05,1793193543104150016
+206,3.433333333,POSE1_TO_POSE2_PRESS,764.452133936,742.547866064,711,674.095732129,657,629,879,780.547866064,799.452133936,648,627,650.547866064,0.447052650937,-0.0157537346029,0.0796490040167,0.999999792203,-0.000365010462646,-0.000526406631631,-7.25100156788e-05,1793193543120816896
+207,3.450000000,POSE1_TO_POSE2_PRESS,764.968274345,742.031725655,711,673.06345131,657,629,879,780,800,648.031725655,627.031725655,650.031725655,0.447182576716,-0.0157565030911,0.0796432680921,0.999999785276,-0.000370059810882,-0.000535837546484,-7.33568990307e-05,1793193543137483264
+208,3.466666667,POSE1_TO_POSE2_PRESS,764.393299873,742.606700127,711,674.213400254,657,629,879,780,800,648.606700127,627.606700127,650.606700127,0.447278949311,-0.0157561140479,0.0796378722754,0.999999779102,-0.000373364527381,-0.000545011424615,-7.31929703217e-05,1793193543154149888
+209,3.483333333,POSE1_TO_POSE2_PRESS,764,743,711,675,657,629,878.814628076,780,800,649,628,650.814628076,0.447371103356,-0.0157570532048,0.0796342844491,0.999999774438,-0.000377152857866,-0.000550958149134,-7.29755805276e-05,1793193543170816768
+210,3.500000000,POSE1_TO_POSE2_PRESS,764,743,711,675,657,629,878.227952168,780,800,649,628,650.227952168,0.447454124823,-0.0157608677269,0.0796346106664,0.999999773199,-0.000381988143815,-0.00054991854166,-7.26424550822e-05,1793193543187483392
+211,3.516666667,POSE1_TO_POSE2_PRESS,764,743,711,674.645846232,657,629,878.354153768,780,800,649,627.645846232,650.354153768,0.447524488831,-0.0157622964769,0.0796346612975,0.999999772143,-0.000384630329154,-0.000550043963493,-7.22806438994e-05,1793193543204150016
+212,3.533333333,POSE1_TO_POSE2_PRESS,764,743,711,674.066644242,657,629,878.933355758,780,800,649,627.066644242,650.933355758,0.447586809622,-0.0157622091801,0.0796345368065,0.999999771213,-0.000385878901694,-0.000550909707082,-7.19006042348e-05,1793193543220816640
+213,3.550000000,POSE1_TO_POSE2_PRESS,764,742.487298394,711,674,657,629,879,780,799.487298394,648.487298394,627.512701606,651,0.447633265496,-0.015764462184,0.0796342096627,0.999999770511,-0.0003865566615,-0.000551799361453,-7.11931665906e-05,1793193543237483264
+214,3.566666667,POSE1_TO_POSE2_PRESS,764,742.09146553,711.09146553,674.09146553,656.90853447,629,879,780,799.09146553,648.09146553,627.90853447,651,0.447674933514,-0.015766424591,0.079633595638,0.999999769836,-0.000386642562784,-0.000553042515786,-7.0565335235e-05,1793193543254150144
+215,3.583333333,POSE1_TO_POSE2_PRESS,764,742.667050593,711.667050593,674.667050593,656.332949407,629,879,780,799.667050593,648.667050593,627.332949407,651,0.447702178065,-0.0157652382976,0.0796316026419,0.999999769139,-0.000383988639379,-0.000556140261286,-7.05841685926e-05,1793193543270816768
+216,3.600000000,POSE1_TO_POSE2_PRESS,764,742.752969127,711.752969127,674.752969127,656.247030873,628.752969127,879,780,800,649,627,651,0.447726210233,-0.0157644757444,0.079630214501,0.999999768752,-0.00038227185163,-0.000558027919657,-7.04973609504e-05,1793193543287483136
+217,3.616666667,POSE1_TO_POSE2_PRESS,764,742.16695768,711.16695768,674.16695768,656.83304232,628.16695768,879,780,800,649,627,651,0.447745834304,-0.0157642946559,0.0796296563545,0.999999768806,-0.000381841019836,-0.000558255072736,-7.02655906718e-05,1793193543304149760
+218,3.633333333,POSE1_TO_POSE2_PRESS,764,742,711,674,657,628.416586902,879,780,800,648.583413098,627,650.583413098,0.447758660377,-0.0157656827383,0.0796289617822,0.999999767265,-0.000383103079551,-0.000560221607419,-6.96727809815e-05,1793193543320816640
+219,3.650000000,POSE1_TO_POSE2_PRESS,764,742,711,674,657,628.999148633,879,780,800,648.000851367,627,650.000851367,0.44776877802,-0.0157676960033,0.0796282128558,0.999999765079,-0.000385039614095,-0.000562881139307,-6.89361274692e-05,1793193543337483264
+220,3.666666667,POSE1_TO_POSE2_PRESS,764,742.574361882,711,674,657,628.425638118,879,780,800,648,627.574361882,650.574361882,0.447776288184,-0.0157680077125,0.0796297820559,0.999999766172,-0.000385677915783,-0.000560513198855,-6.88055837763e-05,1793193543354150144
+221,3.683333333,POSE1_TO_POSE2_PRESS,764,743,711,674,657,628.149707649,878.850292351,779.850292351,800,648,628,650.850292351,0.447781536515,-0.0157682810934,0.0796299682139,0.999999766014,-0.000386469132079,-0.000560266910137,-6.86596464067e-05,1793193543370816768
+222,3.700000000,POSE1_TO_POSE2_PRESS,764,743,711,674,657,628.725461048,878.274538952,779.274538952,800,648,628,650.274538952,0.447780358865,-0.0157684524846,0.0796262087843,0.999999762277,-0.000387700927773,-0.000566079467541,-6.84673764486e-05,1793193543387483392
+223,3.716666667,POSE1_TO_POSE2_PRESS,764,743,711,674,657,629,878,779.306860946,800,648.306860946,628,650.306860946,0.447780850836,-0.0157681712367,0.0796243457935,0.999999761079,-0.000387460845598,-0.000568370420768,-6.83474498672e-05,1793193543404150016
+224,3.733333333,POSE1_TO_POSE2_PRESS,764,743,711,674,657,629,878,779.893407357,800,648.893407357,628,650.893407357,0.447782864569,-0.0157674774355,0.0796242112932,0.999999762216,-0.000385879234611,-0.000567451642332,-6.8293459942e-05,1793193543420816640
+225,3.750000000,POSE1_TO_POSE2_PRESS,764,742.523417091,711,674,657,629,878,780,800,648.523417091,627.523417091,651,0.447783900626,-0.0157665560314,0.079624624008,0.999999762142,-0.000384966649553,-0.000568215977487,-6.81641766242e-05,1793193543437483520
+226,3.766666667,POSE1_TO_POSE2_PRESS,764.058149923,742,711,674.058149923,657,628.941850077,878.058149923,780,800,648,627,651,0.44778482811,-0.015765681628,0.0796252010534,0.999999762005,-0.000384158444922,-0.000569026017811,-6.79789609421e-05,1793193543454150400
+227,3.783333333,POSE1_TO_POSE2_PRESS,764.632089916,742,711,674.632089916,657,628.367910084,878.632089916,780,800,648,627,651,0.447786718509,-0.0157656724836,0.0796261577332,0.999999763695,-0.000382958157799,-0.00056692584131,-6.74459478679e-05,1793193543470818048
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,742.206260398,711.206260398,674.793739602,657,628.206260398,878.793739602,779.793739602,800,648.206260398,627,651,0.447788077278,-0.0157658516482,0.079626862462,0.999999764387,-0.000382926060735,-0.000565756482726,-6.71869813841e-05,1793193543487484928
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,742.78084243,711.78084243,674.21915757,657,628.78084243,878.21915757,779.21915757,800,648.78084243,627,651,0.447788486708,-0.015766367078,0.0796271172788,0.999999763303,-0.000384980014559,-0.000566249296845,-6.74173831736e-05,1793193543504150784
+230,3.833333333,POSE1_TO_POSE2_PRESS,764.633467453,743,711.633467453,674.366532547,657,628.633467453,878.366532547,779.366532547,800,649,627,651,0.447788366519,-0.0157650133048,0.0796260352087,0.999999763267,-0.000383743573216,-0.00056711662775,-6.7722038703e-05,1793193543520817408
+231,3.850000000,POSE1_TO_POSE2_PRESS,764.040928025,743,711.040928025,674.959071975,657,628.040928025,878.959071975,779.959071975,800,649,627,651,0.447787919763,-0.0157625069659,0.0796241288035,0.999999763867,-0.000380478247976,-0.000568214888658,-6.80724796698e-05,1793193543537484288
+232,3.866666667,POSE1_TO_POSE2_PRESS,764,743,711,675,657,628.536977398,878.463022602,779.463022602,800,648.463022602,627.536977398,651,0.447788022928,-0.0157628846936,0.0796236683671,0.999999762804,-0.000381502813614,-0.000569413465642,-6.79456812769e-05,1793193543554151168
+233,3.883333333,POSE1_TO_POSE2_PRESS,764,743,711.113427083,674.886572917,657,628.886572917,878,779,800,648.113427083,627.886572917,650.886572917,0.447788044058,-0.0157633647074,0.0796233780705,0.999999761966,-0.000382402019679,-0.000570300595306,-6.77731204725e-05,1793193543570817536
+234,3.900000000,POSE1_TO_POSE2_PRESS,764,743,711.688371401,674.311628599,657,628.311628599,878,779,800,648.688371401,627.311628599,650.311628599,0.447787565381,-0.0157633902165,0.0796233435134,0.999999762561,-0.000381496051771,-0.000569890208626,-6.75584366478e-05,1793193543587483904
+235,3.916666667,POSE1_TO_POSE2_PRESS,764,742.73040601,712,674,657,628.26959399,878.26959399,779,800,648.73040601,627.26959399,650.26959399,0.447788315779,-0.0157633200717,0.0796236652761,0.99999976338,-0.00038050596377,-0.00056912398613,-6.74776955947e-05,1793193543604150528
+236,3.933333333,POSE1_TO_POSE2_PRESS,764,742.141753141,712,674,657,628.858246859,878.858246859,779,800,648.141753141,627.858246859,650.858246859,0.447790520764,-0.0157631367228,0.0796244087358,0.999999764464,-0.000379416321272,-0.000567936639297,-6.7555472997e-05,1793193543620817664
+237,3.950000000,POSE1_TO_POSE2_PRESS,764,742.440681996,711.559318004,674,657,629,878.559318004,779.440681996,800,648,628,651,0.447790053956,-0.0157632908754,0.0796233590699,0.999999763728,-0.000379078258435,-0.000569491472555,-6.72590371137e-05,1793193543637484032
+238,3.966666667,POSE1_TO_POSE2_PRESS,764,742.97902088,711,674,657,629,878,779.97902088,800,648,628,651,0.447788798336,-0.0157634486811,0.0796218460237,0.999999762509,-0.000378902023651,-0.00057178955546,-6.68661218349e-05,1793193543654150912
+239,3.983333333,POSE1_TO_POSE2_PRESS,764,742.403108421,711,674,657,629,878,779.403108421,800,648,628,651,0.447789094329,-0.0157608713848,0.0796231205925,0.999999763928,-0.000376700456122,-0.000570740214582,-6.70609141431e-05,1793193543670817792
+240,4.000000000,POSE1_TO_POSE2_PRESS,764,742,711,674.171443708,656.828556292,628.828556292,878,779,800,648,627.828556292,650.828556292,0.447790229454,-0.0157601307772,0.0796243207791,0.999999765024,-0.000376426042994,-0.000569004200296,-6.70101278107e-05,1793193543687484672
+241,4.016666667,POSE1_TO_POSE2_PRESS,764,742,711,674.742822491,656.257177509,628.257177509,878,779,800,648,627.257177509,650.257177509,0.447793322061,-0.0157636747028,0.0796253474505,0.999999765361,-0.000380647196791,-0.000565666349611,-6.63864682279e-05,1793193543704151040
+242,4.033333333,POSE1_TO_POSE2_PRESS,763.673396525,742,711,674.673396525,656,628,878.326603475,779,800,648,627.326603475,650.326603475,0.447793993556,-0.0157640723019,0.0796254249212,0.999999765532,-0.000381097325055,-0.000565057718567,-6.64103712301e-05,1793193543720817408
+243,4.050000000,POSE1_TO_POSE2_PRESS,763.079464221,742,711,674.079464221,656,628,878.920535779,779,800,648,627.920535779,650.920535779,0.447792683341,-0.0157618945951,0.0796247254598,0.999999765577,-0.000378460823849,-0.000566682986436,-6.69643119439e-05,1793193543737483520
+244,4.066666667,POSE1_TO_POSE2_PRESS,763.501107647,742,711,674,656.501107647,628,879,779,800,648,627.498892353,650.498892353,0.447792406154,-0.0157616746468,0.0796244223764,0.999999765223,-0.000378939915266,-0.000567003978527,-6.68193631658e-05,1793193543754150400
+245,4.083333333,POSE1_TO_POSE2_PRESS,764,742,711.079156017,674.079156017,656.920843983,628.079156017,878.920843983,779,800.079156017,648,627,650.079156017,0.447792427349,-0.0157617415806,0.0796242157634,0.999999764943,-0.000379573742244,-0.000567097624689,-6.66177546355e-05,1793193543770817024
+246,4.100000000,POSE1_TO_POSE2_PRESS,764,742,711.654322558,674.654322558,656.345677442,628.654322558,878.345677442,779,800.654322558,648,627,650.654322558,0.447793318435,-0.0157617113166,0.0796242300124,0.999999765509,-0.000378161668507,-0.000567029045336,-6.67375416976e-05,1793193543787483648
+247,4.116666667,POSE1_TO_POSE2_PRESS,764,742,711.765528272,674.765528272,656,628.765528272,878,779,800.765528272,648,627,651,0.447793147884,-0.0157617382869,0.0796237525837,0.99999976513,-0.000377828471467,-0.000567908277378,-6.68273748636e-05,1793193543804150784
+248,4.133333333,POSE1_TO_POSE2_PRESS,764,742,711.177873721,674.177873721,656,628.177873721,878,779,800.177873721,648,627,651,0.447791378197,-0.0157618514689,0.0796225345449,0.999999763325,-0.000379120377249,-0.000570215189863,-6.6872088742e-05,1793193543820818176
+249,4.150000000,HOLD_POSE2,764,742,711,674,656,628,879,779,800,649,628,651,0.447796190463,-0.0157599156136,0.0796265612546,0.999999768386,-0.000374291380883,-0.000564557379544,-6.63952193662e-05,1793193543854568960
+250,4.166666667,HOLD_POSE2,763.424073192,742.575926808,711,674.575926808,656,628.575926808,878.424073192,779,800,649,628,651,0.447795021671,-0.0157620869942,0.0796256614779,0.999999766109,-0.00037843457529,-0.000565796342084,-6.66580893686e-05,1793193543871235072
+251,4.183333333,HOLD_POSE2,763.151726146,743,711,674.848273854,656,629,878,779.151726146,799.848273854,648.848273854,628,650.848273854,0.447794424917,-0.0157632318387,0.0796251674279,0.99999976478,-0.000380910260066,-0.000566462343098,-6.68376949517e-05,1793193543887901440
+252,4.200000000,HOLD_POSE2,763.727169634,743,711,674.272830366,656,629,878,779.727169634,799.272830366,648.272830366,628,650.272830366,0.447795425665,-0.0157615099321,0.0796258064283,0.999999766141,-0.000378729182491,-0.000565528265978,-6.6784772589e-05,1793193543904567808
+253,4.216666667,HOLD_POSE2,764,742.688459752,711,674,656,629,878.311540248,779.688459752,799.311540248,648,627.688459752,650.311540248,0.447795388889,-0.01576111427,0.0796255939833,0.999999766341,-0.00037776708771,-0.000565827317668,-6.67061686621e-05,1793193543921234688
+254,4.233333333,HOLD_POSE2,764,742.096040644,711,674,656,629,878.903959356,779.096040644,799.903959356,648,627.096040644,650.903959356,0.447794416702,-0.0157619143252,0.079624613891,0.999999765497,-0.000377904005154,-0.000567238135287,-6.66044107204e-05,1793193543937901056
+255,4.250000000,HOLD_POSE2,764,742,711,674,656.483174598,628.516825402,878.516825402,779.483174598,799.516825402,648,627,651,0.447795586221,-0.0157601164773,0.0796252014357,0.999999767099,-0.000375225693509,-0.000566224943936,-6.63152551854e-05,1793193543954567936
+256,4.266666667,HOLD_POSE2,764,742,711,674,657,628.059560818,878,779.940439182,799.059560818,648,627,650.940439182,0.447796893269,-0.0157583215495,0.0796259686497,0.999999768738,-0.000372654011206,-0.000565063087426,-6.60044275501e-05,1793193543971234816
+257,4.283333333,HOLD_POSE2,764,742,711,674,657,628.63357779,878,779.36642221,799.63357779,648,627,650.36642221,0.447795808995,-0.0157608934744,0.0796256679135,0.999999766699,-0.000375708165161,-0.000566668153587,-6.58195871698e-05,1793193543987901184
+258,4.300000000,HOLD_POSE2,764,742,711,674,656.792117406,628.792117406,878,779,800,648,627,650,0.447795348481,-0.0157625303008,0.0796253332653,0.999999765498,-0.000377859175124,-0.00056736349746,-6.5766010658e-05,1793193544004567552
+259,4.316666667,HOLD_POSE2,764,742,711,674,656.217304615,628.217304615,878,779,800,648,627,650,0.447795988954,-0.0157625165996,0.0796249387594,0.999999765792,-0.000378416059944,-0.000566453105106,-6.5944125894e-05,1793193544021233920
+260,4.333333333,HOLD_POSE2,764,742,711,674.370376855,656.370376855,628.370376855,878.370376855,779,799.629623145,648,627,650.370376855,0.447795734803,-0.0157627996963,0.0796245434593,0.999999765691,-0.000377917612111,-0.000566969863229,-6.5884704256e-05,1793193544037900544
+261,4.350000000,HOLD_POSE2,764,742,711,674.965880365,656.965880365,628.965880365,878.965880365,779,799.034119635,648,627,650.965880365,0.447794936873,-0.015763263196,0.0796241476765,0.999999765349,-0.000376777700083,-0.000568354088034,-6.56809002817e-05,1793193544054566912
+262,4.366666667,HOLD_POSE2,763.458104502,742,710.458104502,674.458104502,656.458104502,629,878.458104502,779,799,648,627,651,0.447795639879,-0.0157619264881,0.0796248792602,0.999999766192,-0.000375656648104,-0.000567599837631,-6.57872778327e-05,1793193544071233792
+263,4.383333333,HOLD_POSE2,763.11651042,742.11651042,710.11651042,674,656,628.88348958,878,779,799,648,627,651,0.447796473877,-0.0157604405476,0.0796255148268,0.999999767091,-0.000374465899376,-0.000566788993176,-6.59125672968e-05,1793193544087900672
+264,4.400000000,HOLD_POSE2,763.690278772,742.690278772,710.690278772,674,656,628.309721228,878,779,799,648,627,651,0.447797463947,-0.0157587983283,0.0796255046542,0.999999767927,-0.00037299711912,-0.000566266126938,-6.60380914327e-05,1793193544104567808
+265,4.416666667,HOLD_POSE2,764,742.727635103,711,674,656.272364897,628.272364897,878,779,799,648,627,651,0.447797768184,-0.015757993255,0.0796254465211,0.999999768105,-0.000372851684138,-0.000566036126416,-6.61384915114e-05,1793193544121234688
+266,4.433333333,HOLD_POSE2,764,742.135792454,711,674,656.864207546,628.864207546,878,779,799,648,627,651,0.447797267953,-0.015758170135,0.0796253321316,0.999999767511,-0.000374258502772,-0.000566149650665,-6.62094216423e-05,1793193544137901312
+267,4.450000000,POSE2_TO_POSE3_RETREAT,764,743,711,674,656,628,879,780,800,648,627,651,0.447798153527,-0.0157590020444,0.0796256369742,0.999999768336,-0.000372584153486,-0.00056583248739,-6.58912230954e-05,1793193544170462976
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764,743,711,674,656.574657508,628.574657508,878.425342492,779.425342492,800,648.574657508,627,650.425342492,0.447797998826,-0.0157594252808,0.0796255314844,0.999999767351,-0.000374754726777,-0.000566144303678,-6.5855758243e-05,1793193544187129088
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,742.851100885,711,674,657,629,878.148899115,779,800,648.851100885,627,650.148899115,0.447797582553,-0.0157595433181,0.0796254282015,0.999999766625,-0.000376064063403,-0.000566556491628,-6.58700404996e-05,1793193544203794944
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764,742.27804389,711,674,657,629,878.72195611,779,800,648.27804389,627,650.72195611,0.447796421158,-0.0157587919574,0.0796253312054,0.999999766649,-0.000374920059442,-0.000567254600969,-6.60260336531e-05,1793193544220461568
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764,742.305559002,711,674,656.694440998,628.694440998,878.694440998,779,800,648,627.305559002,650.694440998,0.447796623584,-0.0157594565786,0.0796252730293,0.999999766838,-0.000374592160697,-0.000567155238546,-6.58756725818e-05,1793193544237128448
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764,742.899101154,711,674,656.100898846,628.100898846,878.100898846,779,800,648,627.899101154,650.100898846,0.447798111383,-0.015761455734,0.0796252514405,0.999999767184,-0.0003750334246,-0.000566304275146,-6.543657887e-05,1793193544253795584
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764,742.520729913,711,674,656,628,878,779,800.479270087,648,627.520729913,650.479270087,0.447795788094,-0.0157609347014,0.0796240872818,0.99999976598,-0.000376068051869,-0.000567717368846,-6.56541041884e-05,1793193544270461952
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764,742,711,674,656,628.056460012,878.056460012,779,800.887079976,648,627,650.943539988,0.447791687176,-0.0157599461414,0.0796220902578,0.999999764037,-0.000376925279696,-0.000570519795662,-6.60344906866e-05,1793193544287128320
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764,742,711,674,656,628.631445612,878.631445612,779,799.737108776,648,627,650.368554388,0.447778429169,-0.0157594042451,0.0796145933889,0.999999758192,-0.000375037179825,-0.000581823147128,-6.66755016983e-05,1793193544303794688
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764,742,711,674,656,628.788310473,878.788310473,779,799.211689527,648,627.211689527,650,0.447757230982,-0.0157579851517,0.0796038919176,0.999999748764,-0.000373774008044,-0.000598509357409,-6.74664321311e-05,1793193544320461312
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764,742,711,674,656,628.198678628,878.198678628,779,799.801321372,648,627.801321372,650,0.447721856705,-0.0157549999447,0.0795874690732,0.999999732663,-0.000373626558877,-0.000624805914904,-6.85250228304e-05,1793193544337127936
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764,742,711,674.384047996,656,628,878,779,800,648,627.615952004,650.384047996,0.447667728452,-0.0157524871448,0.0795706251346,0.999999714734,-0.000372625692215,-0.000653418994634,-6.87397878222e-05,1793193544353794560
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764,742,711,674.963265505,656,628,878,779,800,648,627.036734495,650.963265505,0.447604069606,-0.0157502144172,0.0795535671983,0.999999695373,-0.000371191126755,-0.000683209310829,-6.85257287311e-05,1793193544370461184
+280,4.666666667,POSE2_TO_POSE3_RETREAT,764,742,711,674.461267459,656.538732541,628,878,779,800,648.538732541,627.538732541,651,0.447530306005,-0.0157463575417,0.0795440778316,0.999999689115,-0.000369570488607,-0.00069322667766,-6.80020633178e-05,1793193544387128064
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764,742,711,674.113484386,657,628.113484386,878,779,799.886515614,649,627.886515614,650.886515614,0.447452381398,-0.0157423185276,0.0795371270961,0.99999968524,-0.000367445325423,-0.000700025538133,-6.68500396056e-05,1793193544403794944
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764,742,711,674.686369301,657,628.686369301,878,779,799.313630699,649,627.313630699,650.313630699,0.447360382373,-0.0157379764395,0.0795383783803,0.999999687545,-0.000363328781046,-0.000699215634481,-6.32392040142e-05,1793193544420461824
+283,4.716666667,POSE2_TO_POSE3_RETREAT,764,742,711,674.731923009,657,628.731923009,878,779,799,648.731923009,627,650.268076991,0.447257192769,-0.0157326976002,0.0795395212484,0.999999690124,-0.000359678121388,-0.000697714852533,-5.98115665857e-05,1793193544437128448
+284,4.733333333,POSE2_TO_POSE3_RETREAT,764,742,711,674.139542076,657,628.139542076,878,779,799,648.139542076,627,650.860457924,0.447140465459,-0.0157262855339,0.0795405329611,0.999999693044,-0.000356591062198,-0.000695378286281,-5.66055518506e-05,1793193544453794816
+285,4.750000000,POSE2_TO_POSE3_RETREAT,764,742,711,674.443365018,656.556634982,628.443365018,878,779,799,648.443365018,627.443365018,650.556634982,0.44699046487,-0.0157191570112,0.0795395939182,0.999999695035,-0.000349344513532,-0.00069655929085,-5.1902350818e-05,1793193544470461440
+286,4.766666667,POSE2_TO_POSE3_RETREAT,763.976814453,742,711,674.976814453,656.023185547,629,878,779,799.023185547,648.976814453,627.976814453,650.023185547,0.4468289909,-0.015711706076,0.0795381342055,0.9999996967,-0.000340661961081,-0.000698833185643,-4.67112709927e-05,1793193544487127552
+287,4.783333333,POSE2_TO_POSE3_RETREAT,763.400979192,742,711,674.400979192,656.599020808,629,878,779,799.599020808,648.400979192,627.400979192,650.599020808,0.446638431366,-0.0157018325265,0.0795385922085,0.999999699348,-0.000328302492502,-0.000701320473351,-4.08880226068e-05,1793193544503794432
+288,4.800000000,POSE2_TO_POSE3_RETREAT,763.177870976,742,711,674,656.822129024,629,878,779,800,648.177870976,627,650.822129024,0.446438602697,-0.0156918855115,0.0795401560318,0.999999702633,-0.000315488140044,-0.000702863656141,-3.44009653278e-05,1793193544520461056
+289,4.816666667,POSE2_TO_POSE3_RETREAT,763.763634834,742,711,674,656.236365166,629,878,779,800,648.763634834,627,650.236365166,0.446217518116,-0.0156817700272,0.0795442557168,0.999999707589,-0.000301630651794,-0.000702241821798,-2.63916654404e-05,1793193544537127936
+290,4.833333333,POSE2_TO_POSE3_RETREAT,763.653050825,742,711,674,656,629,878,779.346949175,800,648.653050825,627,650,0.445961514427,-0.0156691178202,0.0795478352716,0.999999712645,-0.000280184479851,-0.000704182822286,-1.82414791772e-05,1793193544553794560
+291,4.850000000,POSE2_TO_POSE3_RETREAT,763.071393502,742,711,674,656,629,878,779.928606498,800,648.071393502,627,650,0.445681888238,-0.0156547495411,0.0795510629632,0.999999717261,-0.000253604626792,-0.000707857558187,-9.99598367138e-06,1793193544570461696
+292,4.866666667,POSE2_TO_POSE3_RETREAT,763.503460197,742,711,674,656.503460197,629,878.503460197,780,799.496539803,648,627.503460197,650,0.445359614976,-0.0156361477313,0.0795492804956,0.999999727151,-0.000194176181229,-0.00071273069371,-2.8704494081e-06,1793193544587128064
+293,4.883333333,POSE2_TO_POSE3_RETREAT,764,742,711,674,657,629,878.922286851,780,799.077713149,648.077713149,627.922286851,650,0.44502685635,-0.0156175326485,0.0795481766771,0.999999734323,-0.000138085366078,-0.000715734719683,3.03284586234e-06,1793193544603794688
+294,4.900000000,POSE2_TO_POSE3_RETREAT,764,742,711,674,657,629,878.345779628,780,799.654220372,648.654220372,627.345779628,650,0.444665096662,-0.0156026342013,0.0795559279705,0.999999742182,-0.000132915784779,-0.000705665873068,2.0970838821e-06,1793193544620461568
+295,4.916666667,POSE2_TO_POSE3_RETREAT,764,742,711,674,657,629.237023805,878.237023805,780.237023805,799.762976195,648.762976195,627.237023805,650.237023805,0.444291756593,-0.0155867814664,0.0795648618353,0.999999751977,-0.00011968656863,-0.000694057068623,2.46191555716e-06,1793193544637128192
+296,4.933333333,POSE2_TO_POSE3_RETREAT,764,742,711,674,657,629.829263009,878.829263009,780.829263009,799.170736991,648.170736991,627.829263009,650.829263009,0.443901061625,-0.0155694985904,0.079575567959,0.999999764239,-9.43787920032e-05,-0.000680140408787,4.77588018836e-06,1793193544653794560
+297,4.950000000,POSE2_TO_POSE3_RETREAT,764,742,711,674,657,630,878.58811751,781,799,648,628,650.58811751,0.44346533594,-0.0155557327599,0.0795806413147,0.999999769682,-7.39783724937e-05,-0.000674635064791,5.60286249143e-06,1793193544670461440
+298,4.966666667,POSE2_TO_POSE3_RETREAT,764,742,711,674,657,630,878.009394685,781,799,648,628,650.009394685,0.443011369771,-0.0155433915716,0.0795834330172,0.999999772286,-5.55657659672e-05,-0.00067253687432,5.82751607152e-06,1793193544687128576
+299,4.983333333,POSE2_TO_POSE3_RETREAT,763.435118678,742,711,674,657,630,878,781,799.564881322,648,627.435118678,650.564881322,0.442513961203,-0.0155423122703,0.079591675838,0.999999783486,-5.37392075909e-05,-0.000655830262598,5.25535605983e-06,1793193544703795968
+300,5.000000000,POSE2_TO_POSE3_RETREAT,763.142219726,742,711,674,657.142219726,630,878.142219726,781.142219726,799.857780274,648,627.142219726,651,0.44201220738,-0.0155390419405,0.0796026461271,0.999999797053,-4.96561877396e-05,-0.000635135066997,5.5512698519e-06,1793193544720463104
+301,5.016666667,POSE2_TO_POSE3_RETREAT,763.729368165,742,711,674,657.729368165,630,878.729368165,781.729368165,799.270631835,648,627.729368165,651,0.441499102358,-0.0155283356843,0.0796218677821,0.999999817621,-3.76576836612e-05,-0.000602715892443,8.60405242256e-06,1793193544737129984
+302,5.033333333,POSE2_TO_POSE3_RETREAT,764,742,711,674,658,630.312139164,878.687860836,782,799,648,628,651,0.440940990168,-0.015512802722,0.0796291514617,0.999999828117,-1.90632388682e-05,-0.000585920698629,9.98746432762e-06,1793193544753796096
+303,5.050000000,POSE2_TO_POSE3_RETREAT,764,742,711,674,658,630.891167376,878.108832624,782,799,648,628,651,0.440344395342,-0.0154931427691,0.0796262277895,0.999999830293,5.17094919983e-06,-0.000582484508611,9.94351083761e-06,1793193544770462208
+304,5.066666667,POSE2_TO_POSE3_RETREAT,764,742,711.469865698,674,658.469865698,631,878,782.469865698,799.469865698,648,628,650.530134302,0.439679386716,-0.015472942254,0.079602139628,0.999999808609,2.91282359635e-05,-0.000617967674531,6.96588319542e-06,1793193544787128320
+305,5.083333333,POSE2_TO_POSE3_RETREAT,764,742,712,674,658.951978526,631,878.048021474,783,800,648,628.048021474,650.048021474,0.439002452669,-0.0154535981367,0.0795797272316,0.999999786258,5.22704416419e-05,-0.000651717764441,3.98720293279e-06,1793193544803794688
+306,5.100000000,POSE2_TO_POSE3_RETREAT,764,742,712,674,658.378919364,631,878.621080636,783,800,648,628.621080636,650.621080636,0.43836826556,-0.0154449853248,0.0796291969537,0.999999836379,6.72018083535e-05,-0.0005680274442,8.42117301706e-06,1793193544820461824
+307,5.116666667,POSE2_TO_POSE3_RETREAT,763.800182919,742,711.800182919,673.800182919,658.399634162,631,878.800182919,783,800,648,629,650.800182919,0.437734430242,-0.0154405507131,0.0796888673307,0.999999884255,7.68275848885e-05,-0.000474779622047,1.30708989129e-05,1793193544837128704
+308,5.133333333,POSE2_TO_POSE3_RETREAT,763.210365668,742,711.210365668,673.210365668,659.579268664,631,878.210365668,783,800,648,629,650.210365668,0.437101281582,-0.0154442710543,0.0797684471994,0.9999999311,7.60979843755e-05,-0.000362877609326,1.81417337109e-05,1793193544853795328
+309,5.150000000,POSE2_TO_POSE3_RETREAT,763.745343149,742,711.372671574,673.372671574,659.627328426,631.372671574,878,783.372671574,800,648.372671574,628.627328426,650.372671574,0.436409917368,-0.0154449967157,0.0798190073018,0.999999955047,8.78852219675e-05,-0.00028559881818,2.48111405858e-05,1793193544870461952
+310,5.166666667,POSE2_TO_POSE3_RETREAT,764.903900005,742,711.951950002,673.951950002,659.048049998,631.951950002,878,783.951950002,800,648.951950002,628.048049998,650.951950002,0.435686278827,-0.0154440621445,0.0798534790196,0.999999967912,0.000106611718561,-0.000227514934766,3.23667859438e-05,1793193544887128576
+311,5.183333333,POSE2_TO_POSE3_RETREAT,764.472471656,742.527528344,712,673.472471656,659.527528344,632,878,784,799.472471656,649,628,651,0.434875426758,-0.0154366391177,0.0798408545297,0.999999961254,0.000120247424888,-0.00024903825904,3.18141750238e-05,1793193544903794688
+312,5.200000000,POSE2_TO_POSE3_RETREAT,764,742.89510755,712,673.10489245,660,632,878,784,799.10489245,648.89510755,628,651,0.434050817885,-0.0154286004191,0.0798232086214,0.999999951887,0.000134324144387,-0.000277969168879,3.02687680051e-05,1793193544920461056
+313,5.216666667,POSE2_TO_POSE3_RETREAT,764,742.307995369,712,673.692004631,660,632,878,784,799.692004631,648.307995369,628,651,0.433199231161,-0.0154204293844,0.0798020617437,0.9999999406,0.000152545208903,-0.000307851963576,2.75308348331e-05,1793193544937127936
+314,5.233333333,POSE2_TO_POSE3_RETREAT,764,742,712,673.724670912,660,632,878,783.724670912,799.724670912,648,628,650.724670912,0.432301561049,-0.0154133818365,0.0797660148811,0.999999917825,0.000160364605491,-0.000371532060477,2.44193455596e-05,1793193544953794560
+315,5.250000000,POSE2_TO_POSE3_RETREAT,764,742,712,673.145526001,660,632,878,783.145526001,799.145526001,648,628,650.145526001,0.431353039457,-0.0154075740151,0.0797135264142,0.999999875872,0.000156706133925,-0.000472506275868,2.08956499492e-05,1793193544970461184
+316,5.266666667,POSE2_TO_POSE3_RETREAT,763.568069022,742,711.568069022,673,659.568069022,632,878,783.431930978,799,648,628.431930978,650,0.430492883567,-0.0154093092431,0.0797200100905,0.999999880912,0.000154490918312,-0.000462452779395,2.11382575686e-05,1793193544987128320
+317,5.283333333,POSE2_TO_POSE3_RETREAT,763.008802331,742.008802331,711,673,659,632,878,784,799,648.008802331,629,650,0.429662536441,-0.0154135588159,0.0797469664262,0.999999902302,0.000152777953342,-0.000414172632808,2.27292194133e-05,1793193545003795200
+318,5.300000000,POSE2_TO_POSE3_RETREAT,763.584443157,742.584443157,711,673,659,632,878,784,799,648.584443157,629,650,0.428842007933,-0.015416703141,0.0798177853702,0.999999941838,0.000152216535332,-0.00030375908434,2.97521852016e-05,1793193545020461568
+319,5.316666667,POSE2_TO_POSE3_RETREAT,763.836497993,742.836497993,711.163502007,673,659,632,878,784,799,649,628.836497993,650.163502007,0.427993420626,-0.0154177851182,0.0798647138475,0.999999961487,0.000153486380201,-0.00022861728437,3.4659164852e-05,1793193545037128192
+320,5.333333333,POSE2_TO_POSE3_RETREAT,763.248566441,742.248566441,711.751433559,673,659,632,878,784,799,649,628.248566441,650.751433559,0.427071996444,-0.0154135135133,0.079849625835,0.999999956676,0.000159509945003,-0.000245036284315,3.4073325277e-05,1793193545053794560
+321,5.350000000,POSE2_TO_POSE3_RETREAT,763.335646942,742,711.664353058,673,659,632,878,784,799.335646942,648.664353058,628,650.664353058,0.426124586425,-0.0154106924019,0.0798145432142,0.999999942638,0.000160923633689,-0.000296500819379,3.02455002023e-05,1793193545070461184
+322,5.366666667,POSE2_TO_POSE3_RETREAT,763.917136944,742,711.082863056,673,659,632,878,784,799.917136944,648.082863056,628,650.082863056,0.42515814324,-0.015408933698,0.0797648156352,0.999999917275,0.000158960838824,-0.000373634293389,2.40430976468e-05,1793193545087128064
+323,5.383333333,POSE2_TO_POSE3_RETREAT,764,742,711.493358073,673,659.493358073,632,878,783.506641927,799.506641927,648.493358073,628,650,0.424192538404,-0.0154049313145,0.0797395172996,0.999999898025,0.000163275304018,-0.000420446836299,2.26982557688e-05,1793193545103794688
+324,5.400000000,POSE2_TO_POSE3_RETREAT,764,742,711.932127694,673,659.932127694,632,877.932127694,783.067872306,799,648.932127694,628,650.067872306,0.423239191525,-0.0154009048513,0.0797226511702,0.999999882917,0.00016940612028,-0.000452728046426,2.2463164551e-05,1793193545120461056
+325,5.416666667,POSE2_TO_POSE3_RETREAT,764,742,711.36374403,673,659.36374403,632,877.36374403,783.63625597,799,648.36374403,628,650.63625597,0.422375211724,-0.0153994504053,0.0797380291759,0.999999897161,0.000181238606754,-0.000415008420469,2.44588703705e-05,1793193545137127936
+326,5.433333333,POSE2_TO_POSE3_RETREAT,764,742,711.215973392,673,659.215973392,632,877.215973392,784,799.215973392,648.215973392,628.215973392,650.784026608,0.421524264492,-0.0154002783383,0.0797738353131,0.999999922513,0.000185753806946,-0.000345966780447,2.78768446374e-05,1793193545153794816
+327,5.450000000,POSE2_TO_POSE3_RETREAT,764,742,711.815836508,673,659.815836508,632,877.815836508,784,799.815836508,648.815836508,628.815836508,650.184163492,0.420696482326,-0.0154051631686,0.0798459521744,0.999999959241,0.000177262632154,-0.000221250683313,3.382288155e-05,1793193545170461184
+328,5.466666667,POSE2_TO_POSE3_RETREAT,764,742,711.599934957,673,659.599934957,632,878,784,799.599934957,648.599934957,628.599934957,650,0.41981922904,-0.0154061425911,0.0798652093066,0.999999964489,0.000180219587129,-0.000193082168763,3.55287127884e-05,1793193545187128064
+329,5.483333333,POSE2_TO_POSE3_RETREAT,764,742,711.022632897,673,659.022632897,632,878,784,799.022632897,648.022632897,628.022632897,650,0.418920059084,-0.0154053918375,0.0798610484907,0.999999960089,0.000188248299542,-0.000207686220821,3.53560457842e-05,1793193545203794688
+330,5.500000000,POSE2_TO_POSE3_RETREAT,763.448376112,742,711,673,659,632,877.448376112,784,799,648,628,650.551623888,0.418009194328,-0.0154024722432,0.07981953977,0.999999943865,0.000187403341545,-0.000276025290939,3.09723072881e-05,1793193545220461312
+331,5.516666667,POSE2_TO_POSE3_RETREAT,763.129163844,742,711.129163844,673,659,632,877.129163844,784,799.129163844,648,628,650.870836156,0.417107906853,-0.0153997392977,0.0797883414241,0.999999927572,0.000186116461306,-0.000330862685715,2.73410943346e-05,1793193545237127936
+332,5.533333333,POSE2_TO_POSE3_RETREAT,763.718852732,742,711.718852732,673,659,632,877.718852732,784,799.718852732,648,628,650.281147268,0.416242468004,-0.0153979873701,0.0797993375951,0.999999928242,0.000184544926392,-0.000329743117988,2.7005609609e-05,1793193545253794560
+333,5.550000000,POSE2_TO_POSE3_RETREAT,764,742,711.696904679,673,659,632,878,784,800,648,628.303095321,650.303095321,0.415388231127,-0.0153961308316,0.079793584199,0.999999922867,0.000185559409726,-0.000345201833575,2.58700437556e-05,1793193545270461184
+334,5.566666667,POSE2_TO_POSE3_RETREAT,764,742,711.117624862,673,659,632,878,784,800,648,628.882375138,650.882375138,0.414544201683,-0.0153941789702,0.0797725683735,0.999999911264,0.000188930307302,-0.000375766901645,2.40054333166e-05,1793193545287127808
+335,5.583333333,POSE2_TO_POSE3_RETREAT,763.541761921,742,711.458238079,673,659,632.458238079,877.541761921,784,800,648,629,651,0.413778933895,-0.0153962131579,0.0797798926526,0.999999919721,0.000187302757055,-0.000353450154968,2.34407362549e-05,1793193545303794688
+336,5.600000000,POSE2_TO_POSE3_RETREAT,763.033925144,742,711.966074856,672.966074856,658.966074856,632.966074856,877,784,800,648,629,651,0.413034998573,-0.0153989629277,0.0797943005028,0.999999931884,0.000184692900047,-0.000318715394442,2.32389438911e-05,1793193545320461312
+337,5.616666667,POSE2_TO_POSE3_RETREAT,763.620937468,742,711.379062532,672.379062532,658.379062532,632.379062532,877,784,800,648,629,651,0.412311684704,-0.0153968213925,0.0798064716756,0.999999936911,0.000186831273374,-0.000301192264229,2.35539680955e-05,1793193545337127936
+338,5.633333333,POSE2_TO_POSE3_RETREAT,764,742,711.204706465,672,658.204706465,632,877,784,799.795293535,648,628.795293535,651,0.41157287375,-0.0153938203473,0.079808102375,0.999999936039,0.000189375436927,-0.000302517248729,2.32895896896e-05,1793193545353794304
+339,5.650000000,POSE2_TO_POSE3_RETREAT,764,742,711.782563439,672,658.782563439,632,877,784,799.217436561,648,628.217436561,651,0.410805813714,-0.0153892525381,0.0797905193057,0.99999992401,0.000192659298114,-0.000338199638554,2.19690435137e-05,1793193545370460928
+340,5.666666667,POSE2_TO_POSE3_RETREAT,764,742,711.639589971,672,659,632,877.360410029,784,799.720820058,648.360410029,628.360410029,651,0.410104541213,-0.015389491116,0.0797872755304,0.9999999207,0.000196973231053,-0.000345419601838,2.20782954038e-05,1793193545387127808
+341,5.683333333,POSE2_TO_POSE3_RETREAT,764,742,711.06174968,672,659,632,877.93825032,784,800.87650064,648.93825032,628.93825032,651,0.409442957447,-0.0153926293192,0.079792682449,0.999999923081,0.000201908591565,-0.000335468584645,2.30501242889e-05,1793193545403794432
+342,5.700000000,POSE2_TO_POSE3_RETREAT,763.48554447,742,711.51445553,672,659,632,878,784,799.97108894,648.48554447,628.48554447,650.48554447,0.408839455646,-0.0153973115679,0.0798198376391,0.999999938284,0.00019589575025,-0.000290493633393,2.58961020653e-05,1793193545420462080
+343,5.716666667,POSE2_TO_POSE3_RETREAT,763,742,711.907645417,672.092354583,659,632,878,784,799.092354583,648,628,650,0.408242546499,-0.0154006243526,0.0798422313508,0.999999948858,0.000191654555879,-0.000254441799807,2.84994358664e-05,1793193545437129728
+344,5.733333333,POSE2_TO_POSE3_RETREAT,763,742,711.319605169,672.680394831,659,632,878,784,799.680394831,648,628,650,0.407643722402,-0.0153955953935,0.079825102946,0.999999937098,0.000203952864585,-0.000288773806307,2.85969101132e-05,1793193545453795840
+345,5.750000000,POSE2_TO_POSE3_RETREAT,763,742,711,673,659,632,878,784,799.735251512,648,628.264748488,650,0.407049802438,-0.0153909855206,0.0797991143499,0.999999921546,0.000211915661927,-0.000333569763835,2.70205519068e-05,1793193545470462208
+346,5.766666667,POSE2_TO_POSE3_RETREAT,763,742,711,673,659,632,878,784,799.15528724,648,628.84471276,650,0.406461721493,-0.0153868746218,0.0797625766027,0.999999900302,0.000214716496231,-0.000390824344965,2.34512893332e-05,1793193545487128576
+347,5.783333333,POSE2_TO_POSE3_RETREAT,763.422298363,742,711.422298363,672.577701637,659,632,878,784,798.577701637,648,628.577701637,650,0.405967869136,-0.0153827443486,0.0797648572841,0.999999902798,0.000219749199162,-0.000381589257974,2.24296146912e-05,1793193545503794944
+348,5.800000000,POSE2_TO_POSE3_RETREAT,763.999014231,742,711.999014231,672.000985769,659,632,878,784,798.000985769,648,628.000985769,650,0.40550847233,-0.0153786069905,0.0797813322987,0.999999913737,0.000225598006742,-0.000348041581679,2.23394900598e-05,1793193545520461824
+349,5.816666667,POSE2_TO_POSE3_RETREAT,764,742,712,672.572818443,659,632.572818443,877.427181557,784,799.145636885,648,628,650.572818443,0.405094169215,-0.015371079226,0.0798005969959,0.999999921174,0.000240287392597,-0.000315154961992,2.43102651387e-05,1793193545537128448
+350,5.833333333,POSE2_TO_POSE3_RETREAT,763.849072208,742,712,672.849072208,659,632.849072208,877,784,799.849072208,648,628.150927792,651,0.404687467617,-0.0153646862888,0.0798171649472,0.999999926033,0.000253350560926,-0.00028819640712,2.62838179248e-05,1793193545553794816
+351,5.850000000,POSE2_TO_POSE3_RETREAT,763.258404854,742,712,672.258404854,659,632.258404854,877,784,799.258404854,648,628.741595146,651,0.40430268856,-0.0153616166686,0.0798258618125,0.999999926592,0.000261631522944,-0.000278506413962,2.82551832184e-05,1793193545570461696
+352,5.866666667,POSE2_TO_POSE3_RETREAT,763.326011867,742,712,672,659,632.326011867,877,784,799,648.326011867,629,651,0.403926967615,-0.0153580630346,0.0798318071253,0.999999925933,0.000266032856384,-0.000276583131054,2.93794836583e-05,1793193545587128064
+353,5.883333333,POSE2_TO_POSE3_RETREAT,763.905567353,742,712,672,659,632.905567353,877,784,799,648.905567353,629,651,0.403558291303,-0.0153541329771,0.0798356125197,0.999999924402,0.000267416952325,-0.000280700119157,2.98450107557e-05,1793193545603794688
+354,5.900000000,POSE2_TO_POSE3_RETREAT,764,742,712,671.520766658,659,632.520766658,877,784,799,649,628.520766658,650.520766658,0.403242934032,-0.0153517426175,0.0798330931818,0.999999921201,0.000272325974366,-0.000287290571177,3.00234718058e-05,1793193545620461312
+355,5.916666667,POSE2_TO_POSE3_RETREAT,764,742,712,671.052219534,659,632,877,784,799.052219534,649,628.052219534,650.052219534,0.402941480961,-0.0153513314524,0.0798293293401,0.999999918163,0.000275507072725,-0.000294726332921,3.01057611691e-05,1793193545637127936
+356,5.933333333,POSE2_TO_POSE3_RETREAT,764,742,712,671.629901299,659,632,877,784,799.629901299,649,628.629901299,650.629901299,0.40267550106,-0.0153678201685,0.0798254311708,0.999999920434,0.000254396386238,-0.000305823178765,2.97826076619e-05,1793193545653794560
+357,5.950000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632,877.212375691,784,799.787624309,649,629,651,0.402430474302,-0.0153839535115,0.0798240385765,0.999999924218,0.000232657012068,-0.000310747506348,2.95013518236e-05,1793193545670461184
+358,5.966666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632,877.803394766,784,799.196605234,649,629,651,0.402222804812,-0.0153994532602,0.0798271131575,0.999999931153,0.00020979675666,-0.000304666885971,2.92947951433e-05,1793193545687128064
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,659.385605353,632.385605353,878.385605353,784,799,648.614394647,628.614394647,650.614394647,0.402039588184,-0.0153988199363,0.0798327304129,0.999999934453,0.000209599649188,-0.000293654099805,3.04703358965e-05,1793193545703794432
+360,6.000000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,659.963425184,632.963425184,878.963425184,784,799,648.036574816,628.036574816,650.036574816,0.40186856067,-0.0153901446867,0.0798396151272,0.999999935872,0.000220699543536,-0.000280182753643,3.23348171117e-05,1793193545720461312
+361,6.016666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,659.459771815,632.459771815,877.919543631,784,799.540228185,648.540228185,628.540228185,650.540228185,0.401729444732,-0.0153872942044,0.0798452689541,0.999999937374,0.000224147341387,-0.000271731266407,3.42405307564e-05,1793193545737127936
+362,6.033333333,POSE2_TO_POSE3_RETREAT,763.881133696,742,712,672,659.118866304,632,877.118866304,784.118866304,799.881133696,649,629,650.881133696,0.401598327284,-0.015385115812,0.0798497989054,0.999999938767,0.000225923352352,-0.00026487394146,3.5591426874e-05,1793193545753794560
+363,6.050000000,POSE2_TO_POSE3_RETREAT,763.295011567,742,712,672,659.704988433,632,877.704988433,784.704988433,799.295011567,649,629,650.295011567,0.401490174537,-0.0153840321028,0.0798502379421,0.999999939925,0.000223160336632,-0.000262949717129,3.47504186612e-05,1793193545770461440
+364,6.066666667,POSE2_TO_POSE3_RETREAT,763.289115015,742,712,672,659.710884985,632,877.710884985,784.710884985,799,648.710884985,628.710884985,650.289115015,0.401389152457,-0.0153826787532,0.0798480353403,0.999999939437,0.000222169337885,-0.000266117377702,3.07822590351e-05,1793193545787128064
+365,6.083333333,POSE2_TO_POSE3_RETREAT,763.871219276,742,712,672,659.128780724,632,877.128780724,784.128780724,799,648.128780724,628.128780724,650.871219276,0.401295356602,-0.0153810521501,0.0798431557013,0.999999937202,0.000222974101829,-0.000274445156096,2.36450432541e-05,1793193545803794432
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764,742,712,671.553112694,659,632.446887306,877,784,799,648,628.446887306,651,0.401219745805,-0.0153816825556,0.0798395202846,0.999999932288,0.000235181174163,-0.000282062643413,2.35283782201e-05,1793193545820461312
+367,6.116666667,POSE2_TO_POSE3_RETREAT,764,742,711.979240625,671.020759375,658.979240625,632.979240625,877,784,799,648.020759375,629,651,0.401150274132,-0.0153828183355,0.0798363102491,0.999999926601,0.000250046621143,-0.000289192292225,2.53479274456e-05,1793193545837128192
+368,6.133333333,POSE2_TO_POSE3_RETREAT,764,742,711.404502339,671.595497661,658.404502339,632.404502339,877,784,799,648.595497661,629,651,0.401106770046,-0.0153803302053,0.0798350194731,0.999999926898,0.00024941280747,-0.00028868827845,2.56145640614e-05,1793193545853795584
+369,6.150000000,POSE2_TO_POSE3_RETREAT,764,742,711.175985716,672,658.175985716,632,877.175985716,784,798.824014284,649,628.824014284,651,0.401067767994,-0.0153790976682,0.079833804226,0.999999927137,0.000248630109288,-0.000288499063237,2.6041698144e-05,1793193545870462720
+370,6.166666667,POSE2_TO_POSE3_RETREAT,764,742,711.77013587,672,658.77013587,632,877.77013587,784,798.22986413,649,628.22986413,651,0.401039463354,-0.01538084858,0.0798327684451,0.999999927236,0.00024749364267,-0.000289057849514,2.68501945787e-05,1793193545887128832
+371,6.183333333,POSE2_TO_POSE3_RETREAT,764,742,711.646265612,672,659,632,878,784,798.353734388,648.646265612,628,651,0.401016907451,-0.0153811345045,0.0798323565574,0.999999927266,0.000246853788907,-0.000289473475699,2.71418269429e-05,1793193545903794944
+372,6.200000000,POSE2_TO_POSE3_RETREAT,764,742,711.069325112,672,659,632,878,784,798.930674888,648.069325112,628,651,0.400997978993,-0.0153804960235,0.0798323383455,0.999999927253,0.000246527297347,-0.000289798768035,2.71073185745e-05,1793193545920461312
+373,6.216666667,POSE2_TO_POSE3_RETREAT,764,742,711.505294444,672,659,632.505294444,878,784,799,648,628.505294444,651,0.400985862337,-0.0153801232847,0.079831263555,0.999999926552,0.000245510786177,-0.000293063203122,2.71124834282e-05,1793193545937127936
+374,6.233333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632.918237573,878,784,799.081762427,648,629,650.918237573,0.400976193138,-0.0153797997483,0.0798304117028,0.999999925975,0.000244840840452,-0.00029557978024,2.71366766041e-05,1793193545953794304
+375,6.250000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632.328311101,878,784,799.671688899,648,629,650.328311101,0.400975953324,-0.0153795564492,0.0798318422656,0.999999926819,0.000246910532705,-0.000290953577351,2.72454585887e-05,1793193545970461184
+376,6.266666667,POSE2_TO_POSE3_RETREAT,763.743102354,742,712,672,659,632,878,784,799.743102354,648,629,650,0.400975294045,-0.0153790760643,0.0798331070317,0.99999992733,0.00024825904495,-0.000288041617498,2.71932940065e-05,1793193545987127808
+377,6.283333333,POSE2_TO_POSE3_RETREAT,763.163814095,742,712,672,659,632,878,784,799.163814095,648,629,650,0.40097410836,-0.0153782981516,0.0798341637331,0.999999927446,0.000248702520894,-0.000287280926615,2.69391514595e-05,1793193546003794688
+378,6.300000000,POSE2_TO_POSE3_RETREAT,763.413715441,742,712,672,659,632.413715441,877.586284559,784,799,648,629,650.413715441,0.400970897104,-0.0153783549071,0.0798331786747,0.999999927243,0.000247848795046,-0.000288756936588,2.65236987063e-05,1793193546020461312
+379,6.316666667,POSE2_TO_POSE3_RETREAT,763.990551529,742,712,672,659,632.990551529,877.009448471,784,799,648,629,650.990551529,0.400966887201,-0.0153787407574,0.0798313885867,0.99999992691,0.000246483605568,-0.000291114837985,2.60446442107e-05,1793193546037127936
+380,6.333333333,POSE2_TO_POSE3_RETREAT,764.563299354,742,712,672,658.436700646,632.436700646,877.563299354,784,799.563299354,648,629,651,0.400968601409,-0.0153791905674,0.0798327034363,0.999999927615,0.000246737629578,-0.00028845158998,2.61955096528e-05,1793193546053794816
+381,6.350000000,POSE2_TO_POSE3_RETREAT,764.859512139,742,712,672,658.140487861,632,877.859512139,784,799.859512139,648,629,651,0.400969661844,-0.0153795415339,0.0798335953198,0.999999928073,0.000246968196865,-0.0002866487397,2.6321966297e-05,1793193546070461184
+382,6.366666667,POSE2_TO_POSE3_RETREAT,764.267843736,742,712,672,658.732156264,632,877.267843736,784,799.267843736,648,629,651,0.400968316547,-0.0153795716415,0.079832962783,0.999999927703,0.000247036836297,-0.000287877612596,2.63363451376e-05,1793193546087127808
+383,6.383333333,POSE2_TO_POSE3_RETREAT,763.685773539,742,711.685773539,672,659,632,877,784,799.314226461,648,629,651,0.400967661226,-0.0153815597373,0.0798332281927,0.999999928366,0.000244594555526,-0.000287637693441,2.65852625268e-05,1793193546103794432
+384,6.400000000,POSE2_TO_POSE3_RETREAT,763.111642202,742,711.111642202,672,659,632,877,784,799.888357798,648,629,651,0.400967576602,-0.015385167336,0.0798342363171,0.999999929866,0.00024007542737,-0.000286182898319,2.70281728491e-05,1793193546120461056
+385,6.416666667,POSE2_TO_POSE3_RETREAT,763.46775337,742,711.46775337,672,659,632,877.46775337,784,799.53224663,648.46775337,629,651,0.400968753256,-0.0153838364474,0.0798350411707,0.999999929643,0.000242537078158,-0.000284896210867,2.68932362641e-05,1793193546137127936
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764,742,711.952246322,672,659,632,877.952246322,784,799.047753678,648.952246322,629,651,0.400970123298,-0.0153815634013,0.0798358151286,0.999999929126,0.000246131165116,-0.000283650371859,2.66453563495e-05,1793193546153794816
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764,742,711.379566719,672,659,632,877.379566719,784,799.620433281,648.379566719,629,651,0.400970272341,-0.0153820380565,0.0798367888481,0.999999930084,0.00024364995576,-0.000282407480393,2.66892748821e-05,1793193546170461440
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764,742,711.200069987,672,659.200069987,632,877.200069987,784,799.799930013,648,629,651,0.400970156204,-0.0153823178071,0.0798371430605,0.999999930495,0.000242664054533,-0.000281798045129,2.67299483078e-05,1793193546187128064
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764,742,711.793380963,672,659.793380963,632,877.793380963,784,799.206619037,648,629,651,0.400969518852,-0.0153822144695,0.0798362796212,0.999999929839,0.000244617207218,-0.000282433678965,2.67642434178e-05,1793193546203794432
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,659.623319648,632.376680352,877.623319648,784,799.376680352,648.376680352,628.623319648,651,0.400969968488,-0.0153827877482,0.0798369521262,0.999999930299,0.000244086792059,-0.000281245812519,2.69231290106e-05,1793193546220461056
+391,6.516666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,659.045369716,632.954630284,877.045369716,784,799.954630284,648.954630284,628.045369716,651,0.40097099893,-0.0153837225595,0.079838445324,0.99999993135,0.000242229345429,-0.000279083604985,2.71485863625e-05,1793193546237127680
+392,6.533333333,POSE2_TO_POSE3_RETREAT,764,742,711.473582852,671.473582852,658.473582852,632.473582852,877.526417148,784,799.473582852,648.473582852,628.526417148,650.473582852,0.400971521761,-0.0153831734501,0.0798384676576,0.999999931465,0.000242277261162,-0.000278667779541,2.67709672259e-05,1793193546253794560
+393,6.550000000,POSE2_TO_POSE3_RETREAT,764,742,711.101299553,671.101299553,658.101299553,632,877.898700447,784,799,648,628.898700447,650,0.400971850266,-0.015382558544,0.0798383093506,0.999999931336,0.000242908292523,-0.000278607320028,2.64691578259e-05,1793193546270461184
+394,6.566666667,POSE2_TO_POSE3_RETREAT,764,742,711.693735565,671.693735565,658.693735565,632,877.306264435,784,799,648,628.306264435,650,0.400971446264,-0.0153822375286,0.0798378827369,0.999999930413,0.000245579515803,-0.000279548503352,2.67839865576e-05,1793193546287128064
+395,6.583333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632,877.55955732,784,799,648,628.27977866,650.27977866,0.400970716457,-0.0153824215284,0.0798375957519,0.999999930154,0.000245938086288,-0.000280149536747,2.68833192517e-05,1793193546303794688
+396,6.600000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632,878.717960092,784,799,648,628.858980046,650.858980046,0.400969637969,-0.0153831460021,0.0798374581994,0.999999930609,0.000243821626289,-0.000280386537428,2.67520253493e-05,1793193546320461568
+397,6.616666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632.435488074,878.129023853,784,799,648.435488074,629,650.564511926,0.400969497748,-0.0153835049448,0.0798377525573,0.999999930682,0.000243634208669,-0.000280281650806,2.68358392967e-05,1793193546337128192
+398,6.633333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632.98866839,877,784,799.01133161,648.98866839,628.98866839,650.01133161,0.400969665275,-0.015383706972,0.0798381764498,0.999999930616,0.000244136827134,-0.000280065880531,2.69854730919e-05,1793193546353794560
+399,6.650000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,659,632.402561122,877,784,799.597438878,648.402561122,628.402561122,650.597438878,0.400970126268,-0.0153819167638,0.0798381201397,0.999999929701,0.000248150115517,-0.000279806789679,2.69622262468e-05,1793193546370461184
+400,6.666666667,POSE2_TO_POSE3_RETREAT,764,742,711.81910495,672,659.18089505,632,877.18089505,784,799.81910495,648,628.18089505,651,0.400969980502,-0.0153809045598,0.0798378554682,0.999999929218,0.000249741285212,-0.000280131493112,2.6819129432e-05,1793193546387128064
+401,6.683333333,POSE2_TO_POSE3_RETREAT,764,742,711.241463308,672,659.758536692,632,877.758536692,784,799.241463308,648,628.758536692,651,0.400968503966,-0.0153815987072,0.07983713381,0.9999999297,0.000246020162601,-0.000281736598622,2.64131726499e-05,1793193546403794688
+402,6.700000000,POSE2_TO_POSE3_RETREAT,764,742,711,672,659.663970995,632.336029005,878,784,799.336029005,648,629,651,0.400968526999,-0.0153827738395,0.0798369577303,0.999999930179,0.00024399524716,-0.000281801771626,2.63911057034e-05,1793193546420461312
+403,6.716666667,POSE2_TO_POSE3_RETREAT,764,742,711,672,659.086585963,632.913414037,878,784,799.913414037,648,629,651,0.400969627113,-0.0153842944437,0.0798371735176,0.999999930661,0.000243188648801,-0.000280760873405,2.66447712973e-05,1793193546437128192
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_08/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_08/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..12bd4063f4e263000542607d6956a9afc68bb530
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_08/depth_05/simulation_data.csv
@@ -0,0 +1,405 @@
+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,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+1,0.016666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+2,0.033333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+3,0.050000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+4,0.066666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+5,0.083333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+6,0.100000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+7,0.116666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+8,0.133333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+9,0.150000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+10,0.166666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+11,0.183333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+12,0.200000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+13,0.216666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+14,0.233333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+15,0.250000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+16,0.266666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+17,0.283333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+18,0.300000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+19,0.316666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+20,0.333333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+21,0.350000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+22,0.366666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+23,0.383333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+24,0.400000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+25,0.416666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+26,0.433333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+27,0.450000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+28,0.466666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+29,0.483333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+30,0.500000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+31,0.516666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+32,0.533333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+33,0.550000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+34,0.566666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+35,0.583333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+36,0.600000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+37,0.616666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+38,0.633333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+39,0.650000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+40,0.666666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+41,0.683333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+42,0.700000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+43,0.716666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+44,0.733333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+45,0.750000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+46,0.766666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+47,0.783333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+48,0.800000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+49,0.816666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+50,0.833333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+51,0.850000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+52,0.866666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+53,0.883333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+54,0.900000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+55,0.916666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+56,0.933333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+57,0.950000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+58,0.966666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+59,0.983333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+60,1.000000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+61,1.016666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+62,1.033333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+63,1.050000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+64,1.066666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+65,1.083333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+66,1.100000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+67,1.116666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+68,1.133333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+69,1.150000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+70,1.166666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+71,1.183333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+72,1.200000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+73,1.216666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+74,1.233333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+75,1.250000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+76,1.266666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+77,1.283333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+78,1.300000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+79,1.316666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+80,1.333333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+81,1.350000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+82,1.366666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+83,1.383333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+84,1.400000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+85,1.416666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+86,1.433333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+87,1.450000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+88,1.466666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+89,1.483333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+90,1.500000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+91,1.516666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+92,1.533333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+93,1.550000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+94,1.566666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+95,1.583333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+96,1.600000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+97,1.616666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+98,1.633333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+99,1.650000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+100,1.666666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+101,1.683333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+102,1.700000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+103,1.716666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+104,1.733333333,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+105,1.750000000,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+106,1.766666667,pose1_baseline,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.0012726409605,1.06969858376
+107,1.783333333,pose1_to_pose2_press,0.575709274498,-0.00994536356016,1.07002930469,0.546280002705,-0.00127264133471,1.06969858615
+108,1.800000000,pose1_to_pose2_press,0.575709284186,-0.00994537651242,1.07002927714,0.546280012455,-0.00127265402294,1.06969855996
+109,1.816666667,pose1_to_pose2_press,0.575709298684,-0.00994539589623,1.07002923589,0.546280027047,-0.00127267301162,1.06969852076
+110,1.833333333,pose1_to_pose2_press,0.575709300343,-0.00994539811466,1.07002923117,0.546280028717,-0.00127267518483,1.06969851627
+111,1.850000000,pose1_to_pose2_press,0.575709517355,-0.00994542028563,1.07002900283,0.546280247006,-0.0012726928054,1.06969829364
+112,1.866666667,pose1_to_pose2_press,0.575710640576,-0.00994541934784,1.07002904189,0.546281370314,-0.00127269137478,1.06969833775
+113,1.883333333,pose1_to_pose2_press,0.575713346719,-0.00994551902195,1.07002917115,0.546284076882,-0.00127279010999,1.06969845384
+114,1.900000000,pose1_to_pose2_press,0.575719076207,-0.0099454309997,1.07002904308,0.546289805876,-0.0012727036055,1.06969832992
+115,1.916666667,pose1_to_pose2_press,0.575730380241,-0.0099454249255,1.07002909835,0.546301108874,-0.00127270090149,1.06969838891
+116,1.933333333,pose1_to_pose2_press,0.575749891124,-0.0099455233214,1.07002899756,0.546320623206,-0.00127278743872,1.06969829214
+117,1.950000000,pose1_to_pose2_press,0.575779652355,-0.00994537658252,1.07002904613,0.546350381097,-0.00127265216032,1.06969833729
+118,1.966666667,pose1_to_pose2_press,0.575821052792,-0.00994539899271,1.07002921776,0.546391782689,-0.00127267075832,1.06969850606
+119,1.983333333,pose1_to_pose2_press,0.57587359133,-0.00994542200662,1.07002912153,0.546444321216,-0.00127269356496,1.0696984162
+120,2.000000000,pose1_to_pose2_press,0.575937481891,-0.00994547119421,1.07002912672,0.546508212457,-0.00127274044886,1.06969842129
+121,2.016666667,pose1_to_pose2_press,0.576011401781,-0.00994543601542,1.0700289786,0.546582133658,-0.00127270062096,1.06969827825
+122,2.033333333,pose1_to_pose2_press,0.576095293356,-0.00994553329898,1.07002945551,0.546666023873,-0.00127280352623,1.06969872878
+123,2.050000000,pose1_to_pose2_press,0.576191698844,-0.00994542518564,1.07002927837,0.546762429412,-0.00127269475698,1.06969856421
+124,2.066666667,pose1_to_pose2_press,0.576301693967,-0.00994551948158,1.07002929034,0.546872424422,-0.00127278955491,1.06969857302
+125,2.083333333,pose1_to_pose2_press,0.576427961899,-0.0099454010124,1.07002900506,0.546998690155,-0.00127267813321,1.06969829856
+126,2.100000000,pose1_to_pose2_press,0.576569488523,-0.00994523197619,1.07002899692,0.547140216171,-0.00127251107672,1.06969829262
+127,2.116666667,pose1_to_pose2_press,0.576726649047,-0.00994528809887,1.07002927667,0.547297376327,-0.00127256881087,1.06969856278
+128,2.133333333,pose1_to_pose2_press,0.576897724429,-0.00994543076953,1.07002930587,0.547468455088,-0.00127270022955,1.0696985863
+129,2.150000000,pose1_to_pose2_press,0.577083395989,-0.00994543941,1.07002915185,0.54765412614,-0.00127271014088,1.06969844414
+130,2.166666667,pose1_to_pose2_press,0.577289426805,-0.00994547336155,1.07002915774,0.547860156662,-0.00127274530681,1.06969844426
+131,2.183333333,pose1_to_pose2_press,0.577517407665,-0.00994538664781,1.07002915342,0.548088135921,-0.00127266400578,1.06969844041
+132,2.200000000,pose1_to_pose2_press,0.577771564327,-0.00994548040626,1.07002902663,0.54834229367,-0.00127275371425,1.06969832301
+133,2.216666667,pose1_to_pose2_press,0.578051875356,-0.00994549318301,1.07002920626,0.548622606797,-0.00127275970712,1.06969849387
+134,2.233333333,pose1_to_pose2_press,0.578360258848,-0.00994551990066,1.07002915622,0.548930991053,-0.00127278359675,1.06969844993
+135,2.250000000,pose1_to_pose2_press,0.578691547341,-0.00994548357553,1.07002913235,0.549262278876,-0.00127274959054,1.06969842478
+136,2.266666667,pose1_to_pose2_press,0.579045565979,-0.00994541409836,1.07002895285,0.54961629741,-0.00127268039717,1.06969824707
+137,2.283333333,pose1_to_pose2_press,0.579424815467,-0.00994540621267,1.07002907732,0.549995545482,-0.00127267746365,1.0696983676
+138,2.300000000,pose1_to_pose2_press,0.57982778144,-0.00994542833026,1.07002907994,0.550398509548,-0.00127270622744,1.06969836564
+139,2.316666667,pose1_to_pose2_press,0.580254393564,-0.00994549307183,1.07002910767,0.550825124397,-0.00127276158018,1.0696983969
+140,2.333333333,pose1_to_pose2_press,0.580702812429,-0.00994544360032,1.07002914026,0.551273542888,-0.0012727133167,1.06969843111
+141,2.350000000,pose1_to_pose2_press,0.581173730163,-0.00994545681622,1.07002915707,0.551744461077,-0.00127272514873,1.06969844362
+142,2.366666667,pose1_to_pose2_press,0.581661989128,-0.00994547609374,1.07002914719,0.552232719767,-0.00127274523775,1.06969843686
+143,2.383333333,pose1_to_pose2_press,0.582168994092,-0.00994541289908,1.07002897367,0.552739724525,-0.00127268251797,1.06969826925
+144,2.400000000,pose1_to_pose2_press,0.582713329737,-0.00994542850018,1.07002892853,0.553284060038,-0.00127269895324,1.06969821389
+145,2.416666667,pose1_to_pose2_press,0.583292784112,-0.00994533314485,1.07002924456,0.553863513121,-0.00127260816153,1.06969852523
+146,2.433333333,pose1_to_pose2_press,0.583906331022,-0.00994534335893,1.07002915153,0.554477061206,-0.00127261403306,1.06969844149
+147,2.450000000,pose1_to_pose2_press,0.584544915376,-0.00994550585551,1.07002910683,0.555115646848,-0.00127277211827,1.06969839778
+148,2.466666667,pose1_to_pose2_press,0.585202111345,-0.00994549635401,1.07002905679,0.555772842995,-0.00127276200656,1.06969834789
+149,2.483333333,pose1_to_pose2_press,0.585863432488,-0.0099454314464,1.07002910648,0.556434163348,-0.00127269977288,1.06969839766
+150,2.500000000,pose1_to_pose2_press,0.586531900592,-0.00994542160321,1.07002905779,0.557102630035,-0.00127269471871,1.06969834956
+151,2.516666667,pose1_to_pose2_press,0.587220752736,-0.00994542650706,1.07002910682,0.557791482028,-0.00127270026342,1.06969839512
+152,2.533333333,pose1_to_pose2_press,0.587935172783,-0.00994544045713,1.0700292453,0.558505903055,-0.00127271101924,1.06969853024
+153,2.550000000,pose1_to_pose2_press,0.588678503173,-0.00994545630413,1.07002911481,0.559249233819,-0.0012727254351,1.06969840395
+154,2.566666667,pose1_to_pose2_press,0.589435985085,-0.00994542933618,1.07002909246,0.560006716313,-0.00127269638153,1.06969838456
+155,2.583333333,pose1_to_pose2_press,0.590201442389,-0.00994545449089,1.07002914291,0.560772173109,-0.00127272329315,1.06969843403
+156,2.600000000,pose1_to_pose2_press,0.590986455268,-0.00994543249077,1.07002906697,0.561557185722,-0.00127270221218,1.06969835767
+157,2.616666667,pose1_to_pose2_press,0.591789548348,-0.00994551558446,1.07002894941,0.562360280403,-0.00127277991355,1.06969823909
+158,2.633333333,pose1_to_pose2_press,0.592607465397,-0.00994547484087,1.07002900941,0.563178195694,-0.00127274536116,1.06969829313
+159,2.650000000,pose1_to_pose2_press,0.593443255497,-0.00994540710667,1.0700290435,0.564013985306,-0.00127267916578,1.06969833031
+160,2.666666667,pose1_to_pose2_press,0.594296385198,-0.00994540728914,1.07002920064,0.564867115678,-0.00127267706834,1.06969848762
+161,2.683333333,pose1_to_pose2_press,0.595145653925,-0.00994536275439,1.07002915909,0.565716383234,-0.00127263620082,1.06969845409
+162,2.700000000,pose1_to_pose2_press,0.595993136599,-0.00994547149459,1.0700291543,0.566563867116,-0.0012727411438,1.0696984414
+163,2.716666667,pose1_to_pose2_press,0.596838447938,-0.00994537626022,1.07002915683,0.567409177202,-0.0012726501989,1.06969844303
+164,2.733333333,pose1_to_pose2_press,0.597683308228,-0.00994545964091,1.07002905222,0.568254038416,-0.00127273023496,1.06969834386
+165,2.750000000,pose1_to_pose2_press,0.598528522155,-0.00994551531815,1.0700287721,0.56909925283,-0.00127278410967,1.06969806775
+166,2.766666667,pose1_to_pose2_press,0.599372308662,-0.00994540098388,1.07002886107,0.569943037633,-0.00127267553084,1.06969815748
+167,2.783333333,pose1_to_pose2_press,0.600215819508,-0.00994534161762,1.07002891829,0.570786547085,-0.00127262088304,1.06969821505
+168,2.800000000,pose1_to_pose2_press,0.601058613156,-0.009945258394,1.07002909621,0.57162934105,-0.00127253663439,1.0696983917
+169,2.816666667,pose1_to_pose2_press,0.601903769747,-0.00994525364489,1.07002918815,0.57247449785,-0.00127253137044,1.06969847868
+170,2.833333333,pose1_to_pose2_press,0.602759394162,-0.00994531012107,1.07002920265,0.573330122205,-0.00127258802564,1.06969849385
+171,2.850000000,pose1_to_pose2_press,0.603618261071,-0.00994541311716,1.07002927563,0.574188991831,-0.00127268197372,1.06969856241
+172,2.866666667,pose1_to_pose2_press,0.604475256618,-0.00994548723931,1.07002910552,0.575045988236,-0.001272753045,1.06969839598
+173,2.883333333,pose1_to_pose2_press,0.60531450532,-0.00994541069965,1.07002902892,0.575885235966,-0.00127267983692,1.06969831869
+174,2.900000000,pose1_to_pose2_press,0.606129537781,-0.00994539089366,1.07002909284,0.576700268193,-0.00127266070744,1.06969838563
+175,2.916666667,pose1_to_pose2_press,0.606918124529,-0.00994550598764,1.07002915556,0.577488855748,-0.00127277329055,1.06969844251
+176,2.933333333,pose1_to_pose2_press,0.607685569436,-0.00994541332951,1.07002916854,0.578256298575,-0.00127268777501,1.06969845338
+177,2.950000000,pose1_to_pose2_press,0.608439845884,-0.00994542031586,1.07002914996,0.579010575654,-0.00127269249477,1.06969843817
+178,2.966666667,pose1_to_pose2_press,0.609189970354,-0.00994537823564,1.07002921395,0.579760701247,-0.00127264650188,1.06969850487
+179,2.983333333,pose1_to_pose2_press,0.609933477401,-0.00994548302996,1.07002928301,0.5805042082,-0.00127275179851,1.06969856926
+180,3.000000000,pose1_to_pose2_press,0.61065828721,-0.00994550271104,1.07002936379,0.581229018772,-0.00127276894902,1.0696986486
+181,3.016666667,pose1_to_pose2_press,0.611359248189,-0.00994552710565,1.07002922815,0.581929980744,-0.00127278970852,1.06969851997
+182,3.033333333,pose1_to_pose2_press,0.61202285239,-0.00994552429087,1.07002923276,0.582593584338,-0.00127278916332,1.06969851928
+183,3.050000000,pose1_to_pose2_press,0.612655256407,-0.00994542084456,1.07002928068,0.583225985763,-0.00127269457495,1.06969856541
+184,3.066666667,pose1_to_pose2_press,0.61325733698,-0.00994537823934,1.07002920501,0.583828065393,-0.00127265491861,1.06969849417
+185,3.083333333,pose1_to_pose2_press,0.613829824798,-0.00994544487763,1.07002914863,0.584400554296,-0.00127271740345,1.06969843797
+186,3.100000000,pose1_to_pose2_press,0.614372549611,-0.00994545807396,1.07002918879,0.584943279431,-0.00127272848314,1.0696984768
+187,3.116666667,pose1_to_pose2_press,0.61490302725,-0.00994534686796,1.07002917797,0.5854737562,-0.00127261896609,1.06969846642
+188,3.133333333,pose1_to_pose2_press,0.615425426529,-0.00994540678145,1.07002900067,0.585996155198,-0.00127267911345,1.06969828797
+189,3.150000000,pose1_to_pose2_press,0.615943768808,-0.00994556750773,1.0700293518,0.586514498757,-0.00127283427747,1.06969863531
+190,3.166666667,pose1_to_pose2_press,0.616454813507,-0.00994533605506,1.07002906999,0.587025540627,-0.00127261129292,1.06969835831
+191,3.183333333,pose1_to_pose2_press,0.616951989612,-0.00994551325858,1.07002925864,0.587522718552,-0.00127278117063,1.06969854322
+192,3.200000000,pose1_to_pose2_press,0.617416855066,-0.00994557086062,1.07002923029,0.587987584555,-0.00127283563039,1.06969851096
+193,3.216666667,pose1_to_pose2_press,0.617846939637,-0.00994546349432,1.07002931066,0.588417668241,-0.00127273000722,1.0696986007
+194,3.233333333,pose1_to_pose2_press,0.618239120401,-0.00994547411679,1.07002904821,0.58880984794,-0.00127274329713,1.06969833727
+195,3.250000000,pose1_to_pose2_press,0.618603597281,-0.00994540731985,1.07002918686,0.589174323789,-0.00127267938996,1.06969846726
+196,3.266666667,pose1_to_pose2_press,0.618948287445,-0.00994551218333,1.07002915582,0.589519012728,-0.00127278701031,1.06969844746
+197,3.283333333,pose1_to_pose2_press,0.619276797664,-0.00994553348009,1.07002938448,0.589847524402,-0.00127280251347,1.06969867377
+198,3.300000000,pose1_to_pose2_press,0.619588746489,-0.00994552872653,1.07002902838,0.59015947335,-0.00127279675924,1.06969831916
+199,3.316666667,pose1_to_pose2_press,0.619879574605,-0.00994535803217,1.07002912893,0.59045030197,-0.00127262337568,1.06969842389
+200,3.333333333,pose1_to_pose2_press,0.620148567063,-0.009945394809,1.07002915577,0.590719293413,-0.00127266328282,1.06969844348
+201,3.350000000,pose1_to_pose2_press,0.620393290647,-0.00994533800901,1.07002915661,0.590964015222,-0.00127261169943,1.06969844344
+202,3.366666667,pose1_to_pose2_press,0.620616064223,-0.00994543511707,1.07002905017,0.591186789876,-0.00127270464677,1.06969833461
+203,3.383333333,pose1_to_pose2_press,0.620815229387,-0.00994549204656,1.07002921575,0.591385955203,-0.00127276082651,1.06969849165
+204,3.400000000,pose1_to_pose2_press,0.620995981438,-0.00994553487844,1.0700290988,0.59156670704,-0.0012728029748,1.06969839809
+205,3.416666667,pose1_to_pose2_press,0.62115828983,-0.00994560147577,1.07002924602,0.591729017415,-0.00127286263101,1.06969853876
+206,3.433333333,pose1_to_pose2_press,0.621298345102,-0.00994549972788,1.07002914861,0.591869070986,-0.00127276636222,1.06969843943
+207,3.450000000,pose1_to_pose2_press,0.62141999137,-0.00994545686383,1.07002909845,0.591990717184,-0.0012727230108,1.06969839875
+208,3.466666667,pose1_to_pose2_press,0.621525895533,-0.00994544190101,1.07002924645,0.592096619965,-0.00127271278631,1.0696985371
+209,3.483333333,pose1_to_pose2_press,0.62161818967,-0.00994530719649,1.07002910562,0.592188912695,-0.0012725829254,1.06969838896
+210,3.500000000,pose1_to_pose2_press,0.621697035871,-0.00994541287651,1.07002908365,0.592267759298,-0.00127268656606,1.06969837908
+211,3.516666667,pose1_to_pose2_press,0.621766067862,-0.00994557634473,1.07002913175,0.592336795683,-0.00127284057681,1.06969842378
+212,3.533333333,pose1_to_pose2_press,0.621825047395,-0.00994557018216,1.07002916081,0.592395775952,-0.00127283347504,1.06969844701
+213,3.550000000,pose1_to_pose2_press,0.621873040374,-0.00994537181783,1.07002908364,0.592443767101,-0.0012726414432,1.0696983733
+214,3.566666667,pose1_to_pose2_press,0.62191188472,-0.00994534775548,1.07002907399,0.592482610571,-0.00127261804906,1.06969836479
+215,3.583333333,pose1_to_pose2_press,0.621942312484,-0.00994547674609,1.07002923716,0.592513038446,-0.00127274229863,1.06969852344
+216,3.600000000,pose1_to_pose2_press,0.621966202933,-0.00994543107971,1.07002939987,0.592536929189,-0.00127269519135,1.06969868221
+217,3.616666667,pose1_to_pose2_press,0.621983919657,-0.00994535676986,1.07002932301,0.592554644566,-0.00127262544079,1.06969860068
+218,3.633333333,pose1_to_pose2_press,0.621997728716,-0.00994552778006,1.07002916009,0.592568455228,-0.00127279036875,1.06969845256
+219,3.650000000,pose1_to_pose2_press,0.622007883411,-0.00994552568333,1.07002903153,0.592578609322,-0.00127278997615,1.06969833217
+220,3.666666667,pose1_to_pose2_press,0.622014148402,-0.00994547364188,1.07002896422,0.592584873348,-0.00127274112269,1.06969826701
+221,3.683333333,pose1_to_pose2_press,0.622018094415,-0.00994548032187,1.07002899047,0.592588819828,-0.00127274641487,1.06969828768
+222,3.700000000,pose1_to_pose2_press,0.622020599352,-0.00994548456234,1.07002900714,0.592591325061,-0.00127274977436,1.0696983008
+223,3.716666667,pose1_to_pose2_press,0.622021926265,-0.00994548609212,1.07002903971,0.592592651934,-0.00127275150238,1.06969833156
+224,3.733333333,pose1_to_pose2_press,0.622022482107,-0.0099454862439,1.07002906956,0.592593207626,-0.00127275219106,1.06969836069
+225,3.750000000,pose1_to_pose2_press,0.622023556043,-0.00994548653715,1.07002912725,0.592594281271,-0.00127275352164,1.06969841699
+226,3.766666667,pose1_to_pose2_press,0.622024776353,-0.00994548687038,1.07002919279,0.59259550125,-0.00127275503358,1.06969848095
+227,3.783333333,pose1_to_pose2_press,0.622025725748,-0.00994548712962,1.07002924378,0.592596450388,-0.00127275620986,1.06969853071
+228,3.800000000,pose1_to_pose2_press,0.622026473634,-0.00994548090657,1.07002926985,0.592597198025,-0.00127275085178,1.06969855634
+229,3.816666667,pose1_to_pose2_press,0.622026972126,-0.0099454568118,1.07002924349,0.592597696202,-0.00127272777602,1.0696985313
+230,3.833333333,pose1_to_pose2_press,0.622027182448,-0.00994544664582,1.07002923237,0.592597906391,-0.00127271803998,1.06969852074
+231,3.850000000,pose1_to_pose2_press,0.622027187804,-0.00994544638692,1.07002923208,0.592597911744,-0.00127271779203,1.06969852047
+232,3.866666667,pose1_to_pose2_press,0.622027336357,-0.00994543920656,1.07002922423,0.592598060203,-0.00127271091535,1.06969851301
+233,3.883333333,pose1_to_pose2_press,0.622027344538,-0.00994543881112,1.07002922379,0.592598068379,-0.00127271053663,1.0696985126
+234,3.900000000,pose1_to_pose2_press,0.622027763918,-0.00994541854025,1.07002920161,0.592598487494,-0.00127269112305,1.06969849153
+235,3.916666667,pose1_to_pose2_press,0.622028091397,-0.00994540271145,1.07002918429,0.592598814766,-0.00127267596368,1.06969847508
+236,3.933333333,pose1_to_pose2_press,0.622028213015,-0.00994539683299,1.07002917786,0.592598936308,-0.00127267033383,1.06969846897
+237,3.950000000,pose1_to_pose2_press,0.62202845954,-0.00994538491715,1.07002916482,0.592599182677,-0.00127265892193,1.06969845659
+238,3.966666667,pose1_to_pose2_press,0.622028768097,-0.00994537000294,1.0700291485,0.592599491039,-0.00127264463847,1.06969844109
+239,3.983333333,pose1_to_pose2_press,0.6220292176,-0.00994534814555,1.07002912573,0.592599940263,-0.00127262368718,1.06969841942
+240,4.000000000,pose1_to_pose2_press,0.622029764263,-0.00994531640263,1.07002913741,0.592600486771,-0.0012725925414,1.06969842909
+241,4.016666667,pose1_to_pose2_press,0.622030303351,-0.0099452850996,1.07002914894,0.592601025706,-0.00127256182724,1.06969843862
+242,4.033333333,pose1_to_pose2_press,0.622030697788,-0.00994529289923,1.07002914165,0.592601420772,-0.00127256741599,1.06969843315
+243,4.050000000,pose1_to_pose2_press,0.622030896302,-0.00994533157433,1.0700291202,0.592601620438,-0.0012726019885,1.06969841632
+244,4.066666667,pose1_to_pose2_press,0.622030896629,-0.00994533163813,1.07002912016,0.592601620768,-0.00127260204554,1.06969841629
+245,4.083333333,pose1_to_pose2_press,0.62203097301,-0.00994534651894,1.07002911191,0.592601697593,-0.00127261534782,1.06969840981
+246,4.100000000,pose1_to_pose2_press,0.622031088055,-0.00994538499308,1.07002910717,0.592601812823,-0.00127265316432,1.06969840521
+247,4.116666667,pose1_to_pose2_press,0.62203117725,-0.00994542303761,1.07002910744,0.592601901916,-0.00127269157871,1.06969840428
+248,4.133333333,pose1_to_pose2_press,0.622031199027,-0.00994535127024,1.07002924973,0.592601923137,-0.00127262191797,1.06969854162
+249,4.150000000,pose2_hold,0.622031199027,-0.00994535127024,1.07002924973,0.592601923145,-0.0012726219172,1.06969854163
+250,4.166666667,pose2_hold,0.622031199027,-0.00994535127024,1.07002924973,0.592601923146,-0.00127262191691,1.06969854163
+251,4.183333333,pose2_hold,0.622031199027,-0.00994535127024,1.07002924973,0.592601923146,-0.00127262191722,1.06969854163
+252,4.200000000,pose2_hold,0.622031199027,-0.00994535127024,1.07002924973,0.592601923147,-0.00127262191731,1.06969854163
+253,4.216666667,pose2_hold,0.622031199027,-0.00994535127024,1.07002924973,0.592601923147,-0.0012726219172,1.06969854163
+254,4.233333333,pose2_hold,0.622031199027,-0.00994535127024,1.07002924973,0.592601923147,-0.00127262191682,1.06969854163
+255,4.250000000,pose2_hold,0.622031199027,-0.00994535127024,1.07002924973,0.592601923147,-0.00127262191729,1.06969854163
+256,4.266666667,pose2_hold,0.622031199027,-0.00994535127024,1.07002924973,0.592601923148,-0.00127262191687,1.06969854163
+257,4.283333333,pose2_hold,0.622031199027,-0.00994535127024,1.07002924973,0.592601923148,-0.00127262191725,1.06969854163
+258,4.300000000,pose2_hold,0.622031199027,-0.00994535127024,1.07002924973,0.592601923148,-0.00127262191719,1.06969854163
+259,4.316666667,pose2_hold,0.622031199027,-0.00994535127024,1.07002924973,0.592601923148,-0.00127262191728,1.06969854163
+260,4.333333333,pose2_hold,0.622031199027,-0.00994535127024,1.07002924973,0.592601923149,-0.00127262191703,1.06969854163
+261,4.350000000,pose2_hold,0.622031199027,-0.00994535127024,1.07002924973,0.592601923149,-0.00127262191714,1.06969854163
+262,4.366666667,pose2_hold,0.622031199027,-0.00994535127024,1.07002924973,0.592601923149,-0.00127262191728,1.06969854163
+263,4.383333333,pose2_hold,0.622031199027,-0.00994535127024,1.07002924973,0.592601923149,-0.00127262191738,1.06969854163
+264,4.400000000,pose2_hold,0.622031199027,-0.00994535127024,1.07002924973,0.59260192315,-0.00127262191734,1.06969854163
+265,4.416666667,pose2_hold,0.622031199027,-0.00994535127024,1.07002924973,0.59260192315,-0.00127262191752,1.06969854163
+266,4.433333333,pose2_hold,0.622031199027,-0.00994535127024,1.07002924973,0.592601923149,-0.00127262191778,1.06969854163
+267,4.450000000,pose2_to_pose3_retreat,0.622031199027,-0.00994535127024,1.07002924973,0.592601923148,-0.00127262192142,1.06969854163
+268,4.466666667,pose2_to_pose3_retreat,0.622031151766,-0.00994540103912,1.07002926242,0.592601875576,-0.00127267283193,1.06969855211
+269,4.483333333,pose2_to_pose3_retreat,0.622031016014,-0.00994541938827,1.07002921561,0.592601739811,-0.00127269122464,1.06969850492
+270,4.500000000,pose2_to_pose3_retreat,0.622031012274,-0.00994541989372,1.07002921432,0.592601736071,-0.00127269173128,1.06969850362
+271,4.516666667,pose2_to_pose3_retreat,0.622030816115,-0.00994544640781,1.07002914669,0.592601539894,-0.00127271830831,1.06969843542
+272,4.533333333,pose2_to_pose3_retreat,0.622030095057,-0.0099454102741,1.07002923336,0.592600818135,-0.001272684575,1.06969852156
+273,4.550000000,pose2_to_pose3_retreat,0.622027421806,-0.00994551821985,1.07002911105,0.592598147484,-0.00127278339495,1.06969840921
+274,4.566666667,pose2_to_pose3_retreat,0.622020884457,-0.00994538069192,1.07002928072,0.592591608087,-0.0012726532896,1.06969856739
+275,4.583333333,pose2_to_pose3_retreat,0.622007272133,-0.00994543746824,1.07002926516,0.592577997709,-0.00127270328158,1.0696985558
+276,4.600000000,pose2_to_pose3_retreat,0.621983756138,-0.00994547158881,1.0700293772,0.592554480648,-0.00127274130648,1.06969866395
+277,4.616666667,pose2_to_pose3_retreat,0.621948343042,-0.00994544969606,1.07002908224,0.592519067666,-0.00127271892207,1.06969837168
+278,4.633333333,pose2_to_pose3_retreat,0.621900998917,-0.00994539288418,1.07002904005,0.59247172378,-0.00127266136791,1.06969833417
+279,4.650000000,pose2_to_pose3_retreat,0.621842411779,-0.00994548813301,1.07002926015,0.59241313733,-0.00127275482761,1.06969854671
+280,4.666666667,pose2_to_pose3_retreat,0.621772495849,-0.00994557637219,1.07002939146,0.592343222211,-0.00127284037871,1.06969867588
+281,4.683333333,pose2_to_pose3_retreat,0.62169264882,-0.0099455289266,1.07002915557,0.592263373858,-0.00127279762345,1.0696984448
+282,4.700000000,pose2_to_pose3_retreat,0.62160226918,-0.00994525390957,1.07002924346,0.59217299214,-0.00127252989461,1.06969853244
+283,4.716666667,pose2_to_pose3_retreat,0.62149676454,-0.00994557296627,1.07002889183,0.59206749102,-0.00127283718079,1.06969818381
+284,4.733333333,pose2_to_pose3_retreat,0.621374643244,-0.00994548285935,1.07002912238,0.591945369101,-0.00127274942154,1.06969841711
+285,4.750000000,pose2_to_pose3_retreat,0.621233123674,-0.00994543035484,1.07002924672,0.591803848301,-0.00127270159943,1.06969853985
+286,4.766666667,pose2_to_pose3_retreat,0.621072262386,-0.00994537696014,1.0700290095,0.591642986742,-0.00127264941018,1.06969830526
+287,4.783333333,pose2_to_pose3_retreat,0.620890744329,-0.00994553994059,1.07002922681,0.591461472073,-0.00127280136505,1.06969852388
+288,4.800000000,pose2_to_pose3_retreat,0.620688367198,-0.00994548518935,1.07002939737,0.591259094373,-0.00127274952247,1.06969868272
+289,4.816666667,pose2_to_pose3_retreat,0.62046229227,-0.00994553057278,1.07002916344,0.591033019224,-0.00127279621998,1.06969845142
+290,4.833333333,pose2_to_pose3_retreat,0.620210207608,-0.00994534509593,1.07002926936,0.59078093117,-0.0012726229635,1.0696985567
+291,4.850000000,pose2_to_pose3_retreat,0.619931722579,-0.00994547763028,1.0700290392,0.590502449139,-0.00127274592908,1.06969832985
+292,4.866666667,pose2_to_pose3_retreat,0.619625239008,-0.0099453981436,1.07002916663,0.590195962954,-0.00127267641131,1.0696984518
+293,4.883333333,pose2_to_pose3_retreat,0.619295519307,-0.0099453622798,1.07002925214,0.589866245262,-0.00127263429457,1.06969854455
+294,4.900000000,pose2_to_pose3_retreat,0.61894364398,-0.00994538849032,1.07002903198,0.589514369688,-0.0012726623735,1.06969832256
+295,4.916666667,pose2_to_pose3_retreat,0.618569143115,-0.00994537659467,1.07002887851,0.58913986934,-0.00127264946422,1.06969817597
+296,4.933333333,pose2_to_pose3_retreat,0.618170805398,-0.00994554094473,1.07002913082,0.588741533502,-0.00127280885194,1.0696984185
+297,4.950000000,pose2_to_pose3_retreat,0.617745317178,-0.00994552476519,1.07002902853,0.588316045094,-0.00127279426481,1.06969832086
+298,4.966666667,pose2_to_pose3_retreat,0.617294414251,-0.0099454277257,1.07002903839,0.587865141792,-0.00127269980646,1.06969832651
+299,4.983333333,pose2_to_pose3_retreat,0.616819210724,-0.00994534058378,1.07002904732,0.587389937342,-0.00127261707484,1.06969833185
+300,5.000000000,pose2_to_pose3_retreat,0.61631961654,-0.00994560515864,1.0700291421,0.586890347426,-0.0012728683164,1.06969842639
+301,5.016666667,pose2_to_pose3_retreat,0.615791700246,-0.0099455109422,1.070028954,0.586362429909,-0.00127277917652,1.06969824539
+302,5.033333333,pose2_to_pose3_retreat,0.615230653796,-0.00994529638903,1.07002909566,0.585801381156,-0.00127257371155,1.06969838363
+303,5.050000000,pose2_to_pose3_retreat,0.614634803784,-0.00994539728451,1.07002912397,0.585205532879,-0.00127266971371,1.06969841901
+304,5.066666667,pose2_to_pose3_retreat,0.614014834941,-0.00994547856432,1.07002934238,0.584585564916,-0.0012727497126,1.06969862664
+305,5.083333333,pose2_to_pose3_retreat,0.613379763258,-0.00994539373959,1.07002903278,0.583950492408,-0.00127266840332,1.0696983229
+306,5.100000000,pose2_to_pose3_retreat,0.612737488408,-0.00994552894816,1.07002920467,0.5833082208,-0.00127279374966,1.06969849902
+307,5.116666667,pose2_to_pose3_retreat,0.612089927936,-0.00994544952117,1.07002916424,0.582660659719,-0.00127271737465,1.06969845273
+308,5.133333333,pose2_to_pose3_retreat,0.611433037268,-0.00994536256755,1.07002911902,0.582003767037,-0.00127263622375,1.06969840274
+309,5.150000000,pose2_to_pose3_retreat,0.610741061319,-0.00994538367425,1.07002910041,0.581311790038,-0.00127265952665,1.06969838809
+310,5.166666667,pose2_to_pose3_retreat,0.610011261723,-0.00994545885546,1.07002906835,0.580581990533,-0.00127273426844,1.06969835931
+311,5.183333333,pose2_to_pose3_retreat,0.609238265927,-0.009945470973,1.07002932397,0.579808995869,-0.00127274282779,1.06969860759
+312,5.200000000,pose2_to_pose3_retreat,0.608424292305,-0.00994548359615,1.07002936287,0.578995023026,-0.00127275275707,1.06969864797
+313,5.216666667,pose2_to_pose3_retreat,0.607565625333,-0.00994546268707,1.07002920305,0.57813635497,-0.00127273528148,1.0696984942
+314,5.233333333,pose2_to_pose3_retreat,0.606697204601,-0.00994537626456,1.07002917561,0.577267933362,-0.00127265169482,1.06969847032
+315,5.250000000,pose2_to_pose3_retreat,0.605827621507,-0.00994553850531,1.07002920711,0.576398353023,-0.00127280475677,1.06969849744
+316,5.266666667,pose2_to_pose3_retreat,0.604964151828,-0.00994556903775,1.07002912446,0.575534884597,-0.001272831099,1.06969841225
+317,5.283333333,pose2_to_pose3_retreat,0.604110476227,-0.00994548977004,1.07002926473,0.574681208584,-0.00127275346893,1.06969854622
+318,5.300000000,pose2_to_pose3_retreat,0.603262083707,-0.00994540221519,1.07002921094,0.573832813433,-0.00127267468841,1.06969849707
+319,5.316666667,pose2_to_pose3_retreat,0.602396319477,-0.00994534656141,1.07002912429,0.57296704758,-0.00127262424611,1.06969841828
+320,5.333333333,pose2_to_pose3_retreat,0.601503618715,-0.0099453243288,1.07002926079,0.572074347633,-0.00127259937773,1.06969855131
+321,5.350000000,pose2_to_pose3_retreat,0.600582109643,-0.00994525802897,1.07002920782,0.571152838204,-0.0012725343419,1.0696984969
+322,5.366666667,pose2_to_pose3_retreat,0.599639920622,-0.00994535767941,1.0700290969,0.570210649256,-0.00127263388553,1.06969838205
+323,5.383333333,pose2_to_pose3_retreat,0.598709082054,-0.00994548805088,1.07002909567,0.569279812501,-0.00127275788883,1.06969838563
+324,5.400000000,pose2_to_pose3_retreat,0.597797386136,-0.00994548214977,1.07002912723,0.568368117294,-0.00127274939316,1.06969842132
+325,5.416666667,pose2_to_pose3_retreat,0.596913116989,-0.00994539760208,1.07002915556,0.567483847743,-0.00127266645486,1.0696984433
+326,5.433333333,pose2_to_pose3_retreat,0.596046353835,-0.0099453324684,1.0700291716,0.56661708454,-0.00127260162311,1.06969845564
+327,5.450000000,pose2_to_pose3_retreat,0.595190387131,-0.00994542315865,1.07002916356,0.565761118399,-0.00127269031118,1.06969845006
+328,5.466666667,pose2_to_pose3_retreat,0.594325155601,-0.00994545154593,1.07002922478,0.564895886743,-0.00127271916871,1.06969851011
+329,5.483333333,pose2_to_pose3_retreat,0.59344991231,-0.00994537113571,1.07002926202,0.564020642263,-0.00127264262834,1.06969855168
+330,5.500000000,pose2_to_pose3_retreat,0.59256723244,-0.00994547597496,1.0700292396,0.563137963285,-0.00127274424695,1.06969853426
+331,5.516666667,pose2_to_pose3_retreat,0.591689204764,-0.00994545020317,1.07002926372,0.562259935787,-0.00127271803682,1.06969855401
+332,5.533333333,pose2_to_pose3_retreat,0.590822111279,-0.00994539376681,1.07002922755,0.561392841869,-0.00127266332139,1.06969851123
+333,5.550000000,pose2_to_pose3_retreat,0.589983884879,-0.00994550037691,1.07002909103,0.560554616487,-0.00127276636032,1.0696983777
+334,5.566666667,pose2_to_pose3_retreat,0.589176912887,-0.00994549796361,1.07002908343,0.559747642545,-0.00127277035584,1.06969837551
+335,5.583333333,pose2_to_pose3_retreat,0.588398090459,-0.00994552217883,1.07002922425,0.558968821376,-0.00127279053231,1.06969851023
+336,5.600000000,pose2_to_pose3_retreat,0.587642121531,-0.00994546833082,1.07002933138,0.558212851988,-0.00127273821112,1.06969861829
+337,5.616666667,pose2_to_pose3_retreat,0.58690146097,-0.00994538090249,1.07002925014,0.557472189397,-0.00127265753148,1.06969854064
+338,5.633333333,pose2_to_pose3_retreat,0.586173565072,-0.00994535231401,1.07002914497,0.556744293408,-0.00127262933613,1.06969843322
+339,5.650000000,pose2_to_pose3_retreat,0.585462052999,-0.00994532789658,1.07002927637,0.556032781463,-0.00127260456171,1.06969856259
+340,5.666666667,pose2_to_pose3_retreat,0.58477433639,-0.00994534298617,1.07002932174,0.555345065825,-0.00127261627087,1.06969861098
+341,5.683333333,pose2_to_pose3_retreat,0.584114787589,-0.00994537686695,1.07002926067,0.554685517498,-0.00127264855086,1.06969855017
+342,5.700000000,pose2_to_pose3_retreat,0.583488674546,-0.00994549368635,1.07002921036,0.554059405883,-0.00127276055516,1.06969849867
+343,5.716666667,pose2_to_pose3_retreat,0.582883822878,-0.00994551047823,1.07002916081,0.553454553672,-0.00127277928298,1.06969844677
+344,5.733333333,pose2_to_pose3_retreat,0.582293551511,-0.00994541421938,1.07002915844,0.552864280148,-0.00127269034512,1.06969844443
+345,5.750000000,pose2_to_pose3_retreat,0.581725200722,-0.00994543839623,1.07002933049,0.552295930733,-0.00127270987312,1.06969861636
+346,5.766666667,pose2_to_pose3_retreat,0.581184143682,-0.0099454588367,1.07002935192,0.551754874325,-0.0012727283347,1.06969863312
+347,5.783333333,pose2_to_pose3_retreat,0.580679632989,-0.00994548485614,1.07002920426,0.551250364082,-0.0012727525353,1.06969849261
+348,5.800000000,pose2_to_pose3_retreat,0.580212221025,-0.00994548155504,1.07002926907,0.550782952737,-0.00127274711444,1.06969855788
+349,5.816666667,pose2_to_pose3_retreat,0.579785216734,-0.00994545825376,1.07002929673,0.550355947227,-0.00127272820542,1.06969857881
+350,5.833333333,pose2_to_pose3_retreat,0.579381739622,-0.00994546900507,1.0700291975,0.549952470079,-0.0012727390384,1.0696984807
+351,5.850000000,pose2_to_pose3_retreat,0.578996256778,-0.00994541133032,1.07002906553,0.54956698702,-0.00127268179514,1.06969835673
+352,5.866666667,pose2_to_pose3_retreat,0.578630412762,-0.00994535549749,1.07002910639,0.549201141037,-0.00127263272994,1.06969839541
+353,5.883333333,pose2_to_pose3_retreat,0.578285472771,-0.0099454480668,1.07002916482,0.548856201787,-0.00127272285809,1.06969845187
+354,5.900000000,pose2_to_pose3_retreat,0.577964180437,-0.00994548429207,1.07002935331,0.548534911303,-0.00127275285794,1.0696986389
+355,5.916666667,pose2_to_pose3_retreat,0.577668897221,-0.00994540091579,1.0700291315,0.548239627021,-0.00127267300173,1.06969841981
+356,5.933333333,pose2_to_pose3_retreat,0.577405479674,-0.00994542453988,1.07002891341,0.547976209815,-0.00127269504212,1.06969821278
+357,5.950000000,pose2_to_pose3_retreat,0.577168263849,-0.00994540766725,1.07002909007,0.547738993527,-0.00127267986634,1.06969838605
+358,5.966666667,pose2_to_pose3_retreat,0.57695699493,-0.0099454311681,1.07002918777,0.547527724609,-0.00127270367058,1.06969847592
+359,5.983333333,pose2_to_pose3_retreat,0.57677084016,-0.00994542239185,1.07002909068,0.547341570055,-0.00127269432183,1.06969837461
+360,6.000000000,pose2_to_pose3_retreat,0.576607259229,-0.00994532525508,1.07002907717,0.547177990055,-0.00127259368472,1.06969837005
+361,6.016666667,pose2_to_pose3_retreat,0.576463478187,-0.00994542110491,1.07002891396,0.547034207413,-0.00127269497405,1.06969820654
+362,6.033333333,pose2_to_pose3_retreat,0.576335874829,-0.00994541793903,1.0700290288,0.546906604689,-0.0012726896816,1.06969832076
+363,6.050000000,pose2_to_pose3_retreat,0.576223741112,-0.00994546189339,1.07002917788,0.546794472187,-0.00127272989656,1.06969845979
+364,6.066666667,pose2_to_pose3_retreat,0.576124124885,-0.00994565390919,1.07002915905,0.546694857249,-0.00127291745576,1.06969844393
+365,6.083333333,pose2_to_pose3_retreat,0.576036790307,-0.00994542640607,1.07002910454,0.54660752012,-0.00127269809928,1.06969840262
+366,6.100000000,pose2_to_pose3_retreat,0.575962234105,-0.00994547756956,1.07002867256,0.54653296494,-0.00127274573485,1.06969797209
+367,6.116666667,pose2_to_pose3_retreat,0.575900084914,-0.0099454189981,1.07002918187,0.546470815119,-0.00127268960173,1.06969847348
+368,6.133333333,pose2_to_pose3_retreat,0.575850939464,-0.00994552697226,1.07002917107,0.546421670555,-0.00127279479756,1.06969845663
+369,6.150000000,pose2_to_pose3_retreat,0.575812026004,-0.0099453796956,1.07002926712,0.546382755587,-0.00127265275321,1.0696985497
+370,6.166666667,pose2_to_pose3_retreat,0.575783066687,-0.00994536728821,1.0700291978,0.546353795572,-0.00127264261058,1.06969848306
+371,6.183333333,pose2_to_pose3_retreat,0.575760308029,-0.0099453049202,1.07002913201,0.546331036295,-0.0012725820631,1.06969842466
+372,6.200000000,pose2_to_pose3_retreat,0.57574330155,-0.00994530721394,1.07002918085,0.546314029131,-0.00127258658263,1.06969847618
+373,6.216666667,pose2_to_pose3_retreat,0.575731664968,-0.00994538950262,1.07002919522,0.546302393071,-0.00127266705489,1.06969849171
+374,6.233333333,pose2_to_pose3_retreat,0.575724109137,-0.00994546805322,1.07002909779,0.546294839044,-0.00127273932241,1.06969839863
+375,6.250000000,pose2_to_pose3_retreat,0.575720012913,-0.00994540538299,1.07002912417,0.546290742089,-0.00127267937609,1.06969841875
+376,6.266666667,pose2_to_pose3_retreat,0.575717446857,-0.00994536519119,1.0700291414,0.546288175559,-0.00127264094498,1.06969843197
+377,6.283333333,pose2_to_pose3_retreat,0.575715937187,-0.00994538799039,1.07002905339,0.546286665927,-0.00127266361243,1.06969834402
+378,6.300000000,pose2_to_pose3_retreat,0.575714779702,-0.00994542555909,1.07002894345,0.546285508607,-0.0012727005751,1.06969823518
+379,6.316666667,pose2_to_pose3_retreat,0.575713892969,-0.00994545433995,1.07002885922,0.546284622001,-0.0012727288917,1.0696981518
+380,6.333333333,pose2_to_pose3_retreat,0.575712981107,-0.00994548393644,1.07002877261,0.546283710269,-0.00127275801076,1.06969806606
+381,6.350000000,pose2_to_pose3_retreat,0.575712494614,-0.00994546977817,1.07002877247,0.546283223586,-0.00127274450288,1.06969806576
+382,6.366666667,pose2_to_pose3_retreat,0.575712393955,-0.009945462767,1.07002877872,0.546283122852,-0.00127273774963,1.06969807189
+383,6.383333333,pose2_to_pose3_retreat,0.575712371784,-0.00994546122273,1.0700287801,0.546283100665,-0.00127273626217,1.06969807325
+384,6.400000000,pose2_to_pose3_retreat,0.575712304408,-0.00994545652976,1.07002878428,0.546283033239,-0.00127273174185,1.06969807735
+385,6.416666667,pose2_to_pose3_retreat,0.575712018846,-0.00994543663945,1.07002880201,0.546282747464,-0.00127271258325,1.06969809475
+386,6.433333333,pose2_to_pose3_retreat,0.575711654558,-0.00994541126566,1.07002882462,0.546282382906,-0.00127268814291,1.06969811694
+387,6.450000000,pose2_to_pose3_retreat,0.575711370972,-0.00994539151308,1.07002884223,0.546282099111,-0.00127266911698,1.06969813422
+388,6.466666667,pose2_to_pose3_retreat,0.575711193538,-0.00994537915424,1.07002885324,0.546281921545,-0.0012726572128,1.06969814503
+389,6.483333333,pose2_to_pose3_retreat,0.575711065688,-0.00994537024911,1.07002886118,0.5462817936,-0.00127264863527,1.06969815282
+390,6.500000000,pose2_to_pose3_retreat,0.575710883262,-0.00994535754258,1.0700288725,0.546281611039,-0.00127263639618,1.06969816394
+391,6.516666667,pose2_to_pose3_retreat,0.575710635915,-0.00994534031406,1.07002888786,0.546281363508,-0.00127261980146,1.06969817901
+392,6.533333333,pose2_to_pose3_retreat,0.575710374067,-0.00994538124483,1.07002894911,0.546281102208,-0.00127265895989,1.06969823803
+393,6.550000000,pose2_to_pose3_retreat,0.57571027412,-0.00994540228592,1.07002897661,0.546281002537,-0.00127267910076,1.06969826451
+394,6.566666667,pose2_to_pose3_retreat,0.575710092261,-0.00994544057105,1.07002902664,0.546280821182,-0.00127271574791,1.06969831268
+395,6.583333333,pose2_to_pose3_retreat,0.575709821802,-0.00994549750848,1.07002910105,0.546280551471,-0.00127277024934,1.06969838432
+396,6.600000000,pose2_to_pose3_retreat,0.575709533388,-0.00994555497117,1.07002918089,0.546280263789,-0.00127282533695,1.06969846135
+397,6.616666667,pose2_to_pose3_retreat,0.575709422845,-0.00994551799185,1.07002922026,0.546280152305,-0.00127279148367,1.06969850247
+398,6.633333333,pose2_to_pose3_retreat,0.575709361212,-0.00994549737427,1.07002924222,0.546280090148,-0.001272772609,1.06969852539
+399,6.650000000,pose2_to_pose3_retreat,0.575709266245,-0.00994546560549,1.07002927604,0.546279994373,-0.0012727435258,1.06969856071
+400,6.666666667,pose2_to_pose3_retreat,0.575709261596,-0.00994540427665,1.0700292946,0.546279989352,-0.00127268354048,1.06969857712
+401,6.683333333,pose2_to_pose3_retreat,0.575709262512,-0.0099454013763,1.07002929518,0.546279990258,-0.00127268067925,1.06969857756
+402,6.700000000,pose2_to_pose3_retreat,0.575709274496,-0.00994536344005,1.07002930277,0.54628000211,-0.00127264325466,1.0696985834
+403,6.716666667,pose2_to_pose3_retreat,0.57570927523,-0.00994536111451,1.07002930323,0.546280002837,-0.00127264096048,1.06969858376
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_09/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_09/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..cf5ca358ba9d9982475f037d992b81a21134abf2
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_09/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e3c2bb0fd6da53ef1b49182d60b4dd092a50f8c4021a4970c1c21dc44e6318d
+size 24789444
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_09/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_09/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ca7e8446e9098383f042b5c63cf29514c300811c
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_09/depth_01/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,765,742,711,673,664,633,877,784,800,650,629,651,0.400911405024,0.00440454385548,0.0599213330288,0.999999964046,-0.000145647427312,-0.000222566613349,-3.40529771068e-05,1793193548277533696
+1,0.016666667,BASELINE,765,742,711,673,664,632.423318714,877.576681286,784,800,650,629,651,0.400912742928,0.00440527108115,0.059921605053,0.999999964481,-0.000145172605364,-0.000220902989778,-3.41363265771e-05,1793193548294200064
+2,0.033333333,BASELINE,764.847812003,742,711,672.847812003,664,632.152187997,878,784,800,650,629,651,0.40091348618,0.00440547691464,0.059921821992,0.999999964757,-0.000145028502553,-0.000219734608625,-3.41865822644e-05,1793193548310866688
+3,0.050000000,BASELINE,764.275547279,742,711,672.275547279,664,632.724452721,878,784,800,650,629,651,0.400912588045,0.00440424357621,0.0599218868821,0.999999964603,-0.000145797266713,-0.00021993321935,-3.4145490898e-05,1793193548327533312
+4,0.066666667,BASELINE,764.307392399,742,711,672.307392399,664,632.692607601,878,784,799.692607601,650,629,651,0.400913317234,0.00440443122425,0.0599220975912,0.999999964855,-0.00014480840439,-0.000219434797865,-3.4199123236e-05,1793193548344199680
+5,0.083333333,BASELINE,764.900245359,742,711,672.900245359,664,632.099754641,878,784,799.099754641,650,629,651,0.400915557641,0.00440593847427,0.0599224437155,0.999999965477,-0.000142187318699,-0.000218289076023,-3.43407209322e-05,1793193548360866048
+6,0.100000000,BASELINE,765,742,711,673,664,632.480845576,878,784,799,650,629,651,0.400914236538,0.00440546394708,0.0599212115191,0.999999964958,-0.000143615750231,-0.000219736295127,-3.42742220308e-05,1793193548377532416
+7,0.116666667,BASELINE,765,742,711,673,664,632.941261022,877.941261022,784,799.058738978,650,629,651,0.400912566779,0.00440466788677,0.0599199575392,0.999999964315,-0.000145811996856,-0.000221225045051,-3.41852917567e-05,1793193548394199296
+8,0.133333333,BASELINE,765,742,711,673,664,632.365375501,877.365375501,784,799.634624499,650,629,651,0.400914170787,0.00440457073325,0.0599213229118,0.999999964664,-0.000147555629264,-0.000218461167087,-3.42695119876e-05,1793193548410865920
+9,0.150000000,BASELINE,765,742,711,672.785154733,664,632,877,784.214845267,800,650.214845267,629,651,0.400914909187,0.00440487992114,0.0599219496343,0.99999996495,-0.000147045533112,-0.000217492914964,-3.42758664924e-05,1793193548427532800
+10,0.166666667,BASELINE,765,742,711,672.197409475,664,632,877,784.802590525,800,650.802590525,629,651,0.400914145175,0.0044058943827,0.0599212943055,0.999999965125,-0.000142623712911,-0.000219641272901,-3.41470719622e-05,1793193548444199424
+11,0.183333333,BASELINE,764.615273077,742,711,672.384726923,664,632,877,784.615273077,800,650.615273077,629,651,0.400913679076,0.00440635538939,0.0599205322259,0.999999965038,-0.000141485013979,-0.000220783185949,-3.40847313199e-05,1793193548460866048
+12,0.200000000,BASELINE,764.035973266,742,711,672.964026734,664,632,877,784.035973266,800,650.035973266,629,651,0.400913363644,0.00440653649035,0.0599197161576,0.999999964825,-0.000142006729734,-0.000221416096892,-3.40559992445e-05,1793193548477532672
+13,0.216666667,BASELINE,764.537479729,742,711,673,664,632.537479729,877,784,799.462520271,650,628.462520271,651,0.400913310927,0.00440603320587,0.0599199694415,0.999999964755,-0.000143219036986,-0.000220921182317,-3.4223287896e-05,1793193548494199552
+14,0.233333333,BASELINE,765,742.111435219,711,672.888564781,664,632.888564781,877.111435219,784.111435219,799,650,628.111435219,651,0.400913427154,0.0044053596578,0.0599203319744,0.999999964721,-0.000144310184001,-0.000220353668187,-3.42943016293e-05,1793193548510866176
+15,0.250000000,BASELINE,765,742.689112995,711,672.310887005,664,632.310887005,877.689112995,784.689112995,799,650,628.689112995,651,0.400914177462,0.00440416331766,0.0599208553729,0.999999964801,-0.000144703093134,-0.000219794827156,-3.39082019162e-05,1793193548527532544
+16,0.266666667,BASELINE,764.727918064,742.727918064,711,672,664,632.272081936,877.727918064,784.727918064,799.272081936,650,629,651,0.400914778793,0.00440390364602,0.0599213021094,0.999999964964,-0.000144922236939,-0.000218933052603,-3.3741200681e-05,1793193548544199168
+17,0.283333333,BASELINE,764.138783449,742.138783449,711,672,664,632.861216551,877.138783449,784.138783449,799.861216551,650,629,651,0.400915206521,0.0044047354591,0.0599216595131,0.999999965224,-0.000144938894793,-0.000217718274549,-3.38295113824e-05,1793193548560865792
+18,0.300000000,BASELINE,764,742.443465716,711,672.443465716,664,633,877.443465716,784.443465716,800,650,629,651,0.400914963059,0.00440533393998,0.0599214384355,0.999999965195,-0.00014422488999,-0.000218289183176,-3.40539094754e-05,1793193548577532672
+19,0.316666667,BASELINE,764.046741616,742.976629192,711,673,664,633,878,784.976629192,800,650,628.976629192,651,0.400914523453,0.00440587013446,0.0599210352132,0.999999965082,-0.000143272670513,-0.000219390823617,-3.43016879213e-05,1793193548594199552
+20,0.333333333,BASELINE,765.196069244,742.401965378,711,673,664,633,878,784.401965378,800,650,628.401965378,651,0.400914336165,0.00440663322957,0.0599205405628,0.999999965128,-0.000142012651949,-0.000220031106594,-3.41117187593e-05,1793193548610866432
+21,0.350000000,BASELINE,765.654606751,742,711,672.827303375,664,632.827303375,878,784,800,650.172696625,628.172696625,651,0.400914548026,0.00440697726827,0.0599205072566,0.999999965308,-0.000141128683129,-0.000219808282552,-3.39196268488e-05,1793193548627533312
+22,0.366666667,BASELINE,764.505291339,742,711,672.252645669,664,632.252645669,878,784,800,650.747354331,628.747354331,651,0.400915688928,0.00440634592956,0.0599215477549,0.999999965804,-0.000141119991361,-0.000217576528416,-3.3722594149e-05,1793193548644199936
+23,0.383333333,BASELINE,764.333775377,742,711,672.333775377,664,632,878,784,800,650.666224623,629,651,0.400915151518,0.0044062954567,0.0599214407459,0.999999965686,-0.000141131279327,-0.000218120222658,-3.36548734402e-05,1793193548660866560
+24,0.400000000,BASELINE,764.929425824,742,711,672.929425824,664,632,878,784,800,650.070574176,629,651,0.400913297331,0.00440670072226,0.0599204334204,0.999999965084,-0.000141158243087,-0.000220841491111,-3.36886089254e-05,1793193548677532672
+25,0.416666667,BASELINE,765,742,711,673,664,632,877.492738793,784,799.492738793,650,629,651,0.400914257191,0.00440573971435,0.0599207294643,0.999999964947,-0.000143363384967,-0.000220007187621,-3.39006256949e-05,1793193548694199552
+26,0.433333333,BASELINE,764.917235653,742,711,673,664,632,877.082764347,784,799,650,629,651,0.400915294663,0.00440496213522,0.0599211743411,0.999999964861,-0.000145564068247,-0.000218916212116,-3.41312937532e-05,1793193548710866432
+27,0.450000000,BASELINE,764.34136148,742,711,673,664,632,877.65863852,784,799,650,629,651,0.400914541058,0.0044063715351,0.0599214622259,0.999999964742,-0.0001459939043,-0.000219143284904,-3.43303186922e-05,1793193548727532544
+28,0.466666667,BASELINE,764.240109687,742,711,673,664,632.240109687,877.759890313,784,799,650,629,651,0.400914479211,0.00440706345755,0.0599216482945,0.999999964857,-0.000145290785412,-0.000219079617907,-3.43556379936e-05,1793193548744199168
+29,0.483333333,BASELINE,764.829727918,742,711,673,664,632.829727918,877.170272082,784,799,650,629,651,0.4009154243,0.00440671100519,0.0599216861576,0.999999965311,-0.000142938514249,-0.00021859274415,-3.41281078251e-05,1793193548760866048
+30,0.500000000,BASELINE,764.588165863,742,711,673,664,633,877,784,799,650,629,651,0.400915456914,0.00440662048344,0.0599217631572,0.999999965346,-0.000143090691898,-0.000218348989543,-3.40185819575e-05,1793193548777532416
+31,0.516666667,BASELINE,764.009109848,742,711,673,664,633,877,784,799,650,629,651,0.400915119026,0.00440663631647,0.0599218560479,0.999999965212,-0.000144259780526,-0.000218203951486,-3.3956970775e-05,1793193548794199040
+32,0.533333333,BASELINE,764.56248322,742,711,673,664,633,877,784,799,650,629,651,0.40091545816,0.00440634392153,0.0599220898169,0.999999965478,-0.000143609160874,-0.000217409585761,-3.39499310444e-05,1793193548810865920
+33,0.550000000,BASELINE,765,742,711,673,664,632.865037652,877,784,799.134962348,650,629,651,0.400915649227,0.00440610480029,0.059922072205,0.999999965657,-0.000142822480168,-0.000217125611769,-3.38294373423e-05,1793193548827532800
+34,0.566666667,BASELINE,765,742,711,673,664,632.289275084,877,784,799.710724916,650,629,651,0.400915321349,0.00440605576705,0.0599212262035,0.999999965526,-0.000141686407535,-0.000218542524943,-3.33355430139e-05,1793193548844199424
+35,0.583333333,BASELINE,764.704057055,742,711,673,664.295942945,632.295942945,877.295942945,784,800.295942945,650,629,651,0.400915303615,0.00440622377658,0.0599209802151,0.999999965528,-0.000141643659783,-0.000218541054429,-3.34738244156e-05,1793193548860865792
+36,0.600000000,BASELINE,764.109291489,742,711,673,664.890708511,632.890708511,877.890708511,784,800.890708511,650,629,651,0.400915599043,0.0044066109408,0.059921340078,0.999999965663,-0.000142704875387,-0.000217107398797,-3.42504328816e-05,1793193548877532672
+37,0.616666667,BASELINE,764,742,711,673,664.527831974,633,877.527831974,784,800.055663948,650,629,651,0.400914797509,0.00440654255809,0.0599211283201,0.999999965316,-0.000143491620586,-0.000218209022783,-3.40878977831e-05,1793193548894199040
+38,0.633333333,BASELINE,764,742,711,673,664,633,877.050238831,784,799.050238831,650,629,651,0.400913803958,0.00440642090978,0.0599207661518,0.999999964918,-0.000144013410775,-0.000219740252539,-3.37535334779e-05,1793193548910865664
+39,0.650000000,BASELINE,764,742,711,673,664,633,877.624210885,784,799.624210885,650,629,651,0.400913383092,0.00440681308841,0.059920177501,0.99999996513,-0.000142417229401,-0.00021980007002,-3.38319292953e-05,1793193548927532544
+40,0.666666667,BASELINE,764,742,711,673,664,632.801832097,877.801832097,784,799.801832097,650,629,651,0.400913754655,0.00440676740317,0.0599200903618,0.999999965199,-0.000142184363015,-0.000219624059513,-3.39345367743e-05,1793193548944199424
+41,0.683333333,BASELINE,764,742,711,673,664,632.227903621,877.227903621,784,799.227903621,650,629,651,0.400915628799,0.00440589145239,0.0599209541753,0.999999964993,-0.000144536577417,-0.000219000878404,-3.40830537412e-05,1793193548960866304
+42,0.700000000,BASELINE,764.358548827,742,711,673,664,632.358548827,877,784,799.358548827,650,629,651,0.400916082293,0.00440592700631,0.0599213288517,0.999999965203,-0.000144101929183,-0.000218337741492,-3.40048938472e-05,1793193548977532672
+43,0.716666667,BASELINE,764.953249962,742,711,673,664,632.953249962,877,784,799.953249962,650,629,651,0.4009156001,0.0044065629079,0.059921381366,0.999999965686,-0.000141831759468,-0.000217648288367,-3.37774369491e-05,1793193548994199296
+44,0.733333333,BASELINE,764.470067503,742,711,673,664,632.470067503,877.529932497,784,800,650,629,651,0.400916024655,0.00440616575719,0.0599215807661,0.999999965661,-0.000143038258233,-0.000217005782452,-3.35761184181e-05,1793193549010866176
+45,0.750000000,BASELINE,764,742,711,673,664,632,877.894694069,784,799.894694069,650,629,651,0.400916350634,0.00440598617804,0.0599216721803,0.999999965598,-0.000143911862656,-0.000216733200513,-3.34699687965e-05,1793193549027532800
+46,0.766666667,BASELINE,764,742,711,673,664,632,877.318299913,784,799.318299913,650,629,651,0.400915889545,0.00440717419633,0.059921224455,0.999999965569,-0.000141969312181,-0.000218097562802,-3.37795830211e-05,1793193549044199680
+47,0.783333333,BASELINE,764.263783291,742,711,673,664,632.263783291,877.263783291,784,799.263783291,650,629,651,0.400914965129,0.0044079319376,0.0599206196354,0.999999965469,-0.000140620783291,-0.000219398403424,-3.39339308007e-05,1793193549060866048
+48,0.800000000,BASELINE,764.852882709,742,711,673,664,632.852882709,877.852882709,784,799.852882709,650,629,651,0.400913469303,0.00440815903111,0.0599198210762,0.999999965288,-0.00014000484338,-0.000220620904837,-3.38967931104e-05,1793193549077532672
+49,0.816666667,BASELINE,765,742,711,673,664,632.565180934,877.565180934,784,799.565180934,650,629,651,0.400913595226,0.00440692144481,0.0599200544384,0.99999996492,-0.000142560401372,-0.000220676794138,-3.37460229476e-05,1793193549094199296
+50,0.833333333,BASELINE,765,742,711,672.985764314,664,632.014235686,877.014235686,784,799.014235686,650,629,651,0.40091425009,0.00440525116635,0.0599206274584,0.999999964506,-0.000146021296453,-0.000220314461717,-3.35647213363e-05,1793193549110865920
+51,0.850000000,BASELINE,765,742,711,672.411673419,664,632.588326581,877.588326581,784,799.588326581,650,629,651,0.40091447744,0.00440573753941,0.0599210500295,0.999999965195,-0.00014357042237,-0.000218776015915,-3.36701972638e-05,1793193549127532800
+52,0.866666667,BASELINE,764.837760119,742,711,672,664,633,877.837760119,784.162239881,799.837760119,650,629,651,0.400914850741,0.0044060972616,0.0599213091553,0.999999965607,-0.000142244042943,-0.000217751172169,-3.37078169088e-05,1793193549144199424
+53,0.883333333,BASELINE,764.264296995,742,711,672,664,633,877.264296995,784.735703005,799.264296995,650,629,651,0.400915593976,0.00440613596664,0.0599211540027,0.999999965334,-0.000143767877406,-0.000218028136071,-3.35734438156e-05,1793193549160866048
+54,0.900000000,BASELINE,764,742,711,672.320052742,664.320052742,633,877,784.679947258,799,650,629,651,0.400915625821,0.00440670322145,0.059920966351,0.99999996535,-0.000143407557191,-0.000218178222015,-3.36586690288e-05,1793193549177532672
+55,0.916666667,BASELINE,764,742,711,672.913709095,664.913709095,633,877,784.086290905,799,650,629,651,0.400915049521,0.00440772231781,0.0599207509166,0.999999965612,-0.000141436528869,-0.000218219843736,-3.39316223369e-05,1793193549194199296
+56,0.933333333,BASELINE,764.494008243,742,711,672.505991757,664.505991757,632.505991757,877.494008243,784,799,650,629,651.494008243,0.400915320923,0.00440823055739,0.05992085976,0.999999965643,-0.000140842061826,-0.000218463874326,-3.39182012567e-05,1793193549210865920
+57,0.950000000,BASELINE,765,742,711,672.071530315,664,632,877.928469685,784,799,650,629,651.928469685,0.400915574487,0.00440850535321,0.0599209092781,0.999999965589,-0.000140761378232,-0.000218770649318,-3.38814971785e-05,1793193549227532800
+58,0.966666667,BASELINE,765,742,711,672.645502565,664,632,877.354497435,784,799,650,629,651.354497435,0.400914690038,0.00440775069133,0.0599201546877,0.999999965206,-0.000142645097304,-0.000219276344959,-3.40233656501e-05,1793193549244199424
+59,0.983333333,BASELINE,764.774790042,742,711,673,664,632,877,784.225209958,799,650,629,651,0.40091422321,0.00440738505543,0.0599199399656,0.999999965187,-0.000142944034576,-0.000219178146341,-3.39841552874e-05,1793193549260866048
+60,1.000000000,BASELINE,764.185819112,742,711,673,664,632,877,784.814180888,799,650,629,651,0.400914430926,0.00440764777741,0.0599205972429,0.999999965753,-0.000140683219571,-0.000218104532841,-3.36524649272e-05,1793193549277532672
+61,1.016666667,BASELINE,764.396641589,742,711,672.603358411,664,632.396641589,877,784.603358411,799,650,629,651,0.400914584127,0.00440747029614,0.0599208028254,0.999999965724,-0.000140716946968,-0.000218236678461,-3.35106265539e-05,1793193549294199296
+62,1.033333333,BASELINE,764.976101585,742,711,672.023898415,664,632.976101585,877,784.023898415,799,650,629,651,0.4009147122,0.00440708991821,0.0599208002146,0.999999965422,-0.000141808265537,-0.000218924577676,-3.34562939963e-05,1793193549310865920
+63,1.050000000,BASELINE,764.447659721,742,711,672,664,633,877,784,799,650,629,651,0.40091580005,0.00440856560557,0.0599211465851,0.999999965901,-0.00014068316276,-0.000217392790692,-3.38710693033e-05,1793193549327532544
+64,1.066666667,BASELINE,764.130626513,742,711,672.130626513,664,632.869373487,877,784,799,650,629,651,0.400916754571,0.00440977035164,0.05992131466,0.999999966207,-0.000140070209278,-0.000216325223427,-3.41998848552e-05,1793193549344199424
+65,1.083333333,BASELINE,764.716532071,742,711,672.716532071,664,632.283467929,877,784,799,650,629,651,0.400917100496,0.00440975249608,0.0599208089904,0.999999965805,-0.000141574579109,-0.000217208417655,-3.41587681205e-05,1793193549360866048
+66,1.100000000,BASELINE,764.70092447,742,711,673,664,632.29907553,877.29907553,784,799,650,629,651,0.400917254272,0.00440938093229,0.0599206472428,0.99999996577,-0.000141737591052,-0.00021728482392,-3.40376280198e-05,1793193549377532672
+67,1.116666667,BASELINE,764.121532264,742,711,673,664,632.878467736,877.878467736,784,799,650,629,651,0.400917227949,0.00440867784582,0.0599208078457,0.999999966078,-0.000140643378743,-0.000216605046166,-3.38414838448e-05,1793193549394199040
+68,1.133333333,BASELINE,764,742,711,673,664,633,877.544092083,784,799,650.455907917,629,651,0.400916168615,0.00440786286546,0.0599202695819,0.999999965645,-0.00014198321709,-0.000217738966418,-3.37776167138e-05,1793193549410866688
+69,1.150000000,BASELINE,764.032802487,742,711,673,664,633,877.065604973,784.032802487,799,650.967197513,629,651,0.400914895368,0.00440703996972,0.0599195757137,0.999999965048,-0.000143826455994,-0.00021926861489,-3.375540587e-05,1793193549427534080
+70,1.166666667,BASELINE,764.609240999,742,711,673,664,633,878.218481997,784.609240999,799,650.390759001,629,651,0.400914621215,0.00440657812193,0.0599193773743,0.999999965096,-0.000143305008647,-0.000219378094317,-3.38416698981e-05,1793193549444199936
+71,1.183333333,BASELINE,764.814282819,742,711,673,664,633,878.628565639,784.814282819,799,650,629,650.814282819,0.40091430377,0.00440642853977,0.0599192732387,0.99999996508,-0.000143160478227,-0.000219529968271,-3.39345477144e-05,1793193549460866048
+72,1.200000000,BASELINE,764.237727254,742,711,673,664,633,877.475454508,784.237727254,799,650,629,650.237727254,0.400913895219,0.00440693611476,0.0599193673531,0.99999996493,-0.000143809162436,-0.000219771060751,-3.4041344142e-05,1793193549477532672
+73,1.216666667,BASELINE,764.347254394,742,711,673,664,633,877,784,799,650,629,650.347254394,0.40091457136,0.0044075701128,0.0599198842844,0.999999965276,-0.000142541010575,-0.000219030079411,-3.39842208197e-05,1793193549494199296
+74,1.233333333,BASELINE,764.938147879,742,711,673,664,633,877,784,799,650,629,650.938147879,0.400916008536,0.00440829281118,0.0599206978707,0.999999965964,-0.000139927976638,-0.000217600059768,-3.38120888416e-05,1793193549510865920
+75,1.250000000,BASELINE,765,742.517568488,711,673,664,633,877.517568488,784.517568488,799.517568488,650,629,651,0.400915998864,0.00440809392016,0.0599204712058,0.999999965881,-0.00014054389537,-0.000217599644341,-3.3700752108e-05,1793193549527532544
+76,1.266666667,BASELINE,765,742.905384838,711,673,664,633,878.094615162,785,799.905384838,650,629,651,0.400915803831,0.00440793518214,0.0599202255058,0.99999996574,-0.000141330798862,-0.00021774002563,-3.36763898956e-05,1793193549544199168
+77,1.283333333,BASELINE,765,742.333546435,711,673,664,633,878.666453565,785,799.333546435,650,629,651,0.400915527065,0.0044085224239,0.0599204972245,0.999999965762,-0.000141076031103,-0.000217747534985,-3.40548622796e-05,1793193549560866816
+78,1.300000000,BASELINE,764.75351414,742,711,673,664,633,878.75351414,784.75351414,799,650,629,651,0.400915126991,0.00440867790119,0.0599203689678,0.999999965717,-0.000140893318575,-0.000218060612008,-3.41390520049e-05,1793193549577533184
+79,1.316666667,BASELINE,764.162012591,742,711,673,664,633,878.162012591,784.162012591,799,650,629,651,0.400914554318,0.00440822902117,0.0599196808502,0.999999965577,-0.000140811464532,-0.000218801403789,-3.3811323e-05,1793193549594199040
+80,1.333333333,BASELINE,764.421113471,742,711,673.421113471,664,633,878,784,799.421113471,650.421113471,629,651,0.400914918644,0.00440727756223,0.0599201926619,0.999999965506,-0.000142156725768,-0.000218303017416,-3.35287358524e-05,1793193549610865920
+81,1.350000000,BASELINE,765,742,711,673.998928603,664,633,877.998928603,784.001071397,799.998928603,650.998928603,629,651,0.400915635137,0.00440614136265,0.0599211541735,0.999999965456,-0.000144033287938,-0.000217339762873,-3.32642843308e-05,1793193549627533056
+82,1.366666667,BASELINE,765,742,711,673.423669372,664,633,877.423669372,784.576330628,799.423669372,650.423669372,629,651,0.40091566029,0.00440760074069,0.0599205402959,0.999999965625,-0.000142137913373,-0.000217757532312,-3.35931846156e-05,1793193549644199680
+83,1.383333333,BASELINE,765,742,711,673,664,633,877,785,799.151246148,650.151246148,629,651,0.400915476764,0.00440846848237,0.0599200692221,0.999999965656,-0.000140948344269,-0.000218351255517,-3.38144486059e-05,1793193549660866560
+84,1.400000000,BASELINE,765,742,711,673,664,633,877,785,799.725201183,650.725201183,629,651,0.400914710015,0.00440768269503,0.0599199972624,0.999999965311,-0.000141731388544,-0.000219436741562,-3.37348863781e-05,1793193549677532928
+85,1.416666667,BASELINE,765,742,711,673,664,633,877.308217959,784.691782041,800,650.691782041,629,651,0.400914845497,0.0044068939643,0.0599198643461,0.999999965244,-0.00014218499507,-0.000219460768961,-3.36391975555e-05,1793193549694199552
+86,1.433333333,BASELINE,765,742,711,673,664,633,877.89955863,784.10044137,800,650.10044137,629,651,0.400915809752,0.00440610252987,0.0599196754365,0.999999965435,-0.000142335986772,-0.000218509762094,-3.35286951775e-05,1793193549710866176
+87,1.450000000,BASELINE,765,742.480402746,711,673,664,633,877.519597254,784,799.519597254,650,629,651,0.4009146338,0.00440752131219,0.059919559864,0.999999965281,-0.000141515508363,-0.000219728187832,-3.36199223632e-05,1793193549727532800
+88,1.466666667,BASELINE,764.941319551,743,711,673,664,632.941319551,877.058680449,784,799.058680449,650,629,651,0.400913274108,0.00440909082517,0.0599194121373,0.999999965078,-0.000140702807679,-0.000221150341097,-3.3754124583e-05,1793193549744199168
+89,1.483333333,BASELINE,764.366723415,743,711,673,664,632.366723415,877.633276585,784,799.633276585,650,629,651,0.400914148984,0.00440800960977,0.059918849786,0.999999965083,-0.000141706059862,-0.000220461078313,-3.39032711897e-05,1793193549760866048
+90,1.500000000,BASELINE,764.212449507,742.787550493,711,673,664.212449507,632,877.787550493,784,800,650,629,651,0.400914470832,0.00440691300034,0.0599186276057,0.999999965019,-0.000142530998644,-0.000220232626076,-3.38297575041e-05,1793193549777532672
+91,1.516666667,BASELINE,764.799696607,742.200303393,711,673,664.799696607,632,877.200303393,784,800,650,629,651,0.400913817042,0.0044057892333,0.0599190055461,0.999999964833,-0.000143041361707,-0.000220817123243,-3.33634326213e-05,1793193549794199296
+92,1.533333333,BASELINE,765,742,711,673,664.615696755,632,877.384303245,784,800,650,629,651,0.400914014478,0.0044066209825,0.0599189412979,0.99999996494,-0.000142512681883,-0.000220672073739,-3.33891583489e-05,1793193549810866176
+93,1.550000000,BASELINE,765,742,711,673,664.032456912,632,877.967543088,784,800,650,629,651,0.400914652554,0.00440846501488,0.0599186481487,0.999999965197,-0.000141446136088,-0.000220149370616,-3.3669596622e-05,1793193549827532800
+94,1.566666667,BASELINE,765,742,711,673,664,632,877.456727838,784,799.456727838,650,629,651,0.400914455127,0.0044087919287,0.059919769817,0.999999965403,-0.000141245445971,-0.000219306998006,-3.38908877762e-05,1793193549844199424
+95,1.583333333,BASELINE,764.881537956,742,711,672.881537956,664,632,877,784,799.118462044,650,629,651,0.400914477128,0.0044090020275,0.059920562518,0.999999965525,-0.000141397287092,-0.000218618565765,-3.40944084529e-05,1793193549860866048
+96,1.600000000,BASELINE,764.30672001,742,711,672.30672001,664,632,877,784,799.69327999,650,629,651,0.400915534109,0.00440910652135,0.0599197667435,0.999999965339,-0.000142710637166,-0.000218595732891,-3.42428984748e-05,1793193549877532928
+97,1.616666667,BASELINE,764.275283545,742,711,672.275283545,664,632.275283545,877,784,799.724716455,650,629,651,0.400916447885,0.00440911048988,0.0599197561004,0.999999965516,-0.000142464448403,-0.000217958803673,-3.41416452351e-05,1793193549894199808
+98,1.633333333,BASELINE,764.86550783,742,711,672.86550783,664,632.86550783,877,784,799.13449217,650,629,651,0.400917197824,0.00440899945147,0.0599206436944,0.999999966107,-0.000140434054424,-0.000216619311729,-3.37546708493e-05,1793193549910867200
+99,1.650000000,BASELINE,764.552402678,742,711,673,664,633,877.447597322,784,799,650,629,651,0.400916813072,0.00440894066032,0.0599208047271,0.999999966303,-0.00013923811018,-0.00021649365566,-3.37215140785e-05,1793193549927534336
+100,1.666666667,BASELINE,764,742,711,673,664,633,877.973020841,784,799,650,629,651,0.400916222797,0.00440884785993,0.0599207838281,0.999999966383,-0.000138395209193,-0.000216657201323,-3.37774262321e-05,1793193549944201472
+101,1.683333333,BASELINE,764,742,711,673,664,633,877.399853519,784,799,650,629,651,0.400918250995,0.00440775439777,0.0599214205934,0.999999966474,-0.000139714188167,-0.000215423526355,-3.35226407879e-05,1793193549960866816
+102,1.700000000,BASELINE,764,742,711,673,664,633,877.17754287,784,799,650,629,651,0.400918717581,0.00440720543938,0.0599214775053,0.999999966313,-0.000140767984793,-0.000215509204902,-3.33847724331e-05,1793193549977532672
+103,1.716666667,BASELINE,764,742,711,673,664,633,877.764696087,784,799,650,629,651,0.400915581362,0.00440791270941,0.0599201966336,0.999999965567,-0.000141209977257,-0.000218638772978,-3.35166443168e-05,1793193549994199552
+104,1.733333333,BASELINE,764.348056671,742,711,673.348056671,664,633,877.651943329,784,799,650,629,651,0.400914233708,0.0044078039906,0.0599197622723,0.999999965416,-0.000140722357252,-0.00021965289254,-3.34194186779e-05,1793193550010865920
+105,1.750000000,BASELINE,764.928880939,742,711,673.928880939,664,633,877.071119061,784,799,650,629,651,0.40091408218,0.0044071495683,0.0599198940261,0.999999965668,-0.000139613046401,-0.000219252277659,-3.31689809911e-05,1793193550027532544
+106,1.766666667,BASELINE,764.493155621,742,711,673.493155621,664,633,877,784,799.506844379,650,629,651,0.400915209676,0.00440774148428,0.0599198689807,0.999999965635,-0.00014052795526,-0.000218733788529,-3.37336291926e-05,1793193550044199424
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,742,711,673,664,632,877,784,799,650,629,651,0.400916483298,0.00440599331574,0.0599198613414,0.999999965508,-0.000142734486286,-0.000217914946706,-3.3529720948e-05,1793193550087774464
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.190366148,742.595183074,711.595183074,673,664,632.595183074,877,784,799.595183074,650,629,651,0.400916154775,0.00440766717302,0.0599202618176,0.999999965825,-0.000141157973244,-0.000217525976129,-3.32815705045e-05,1793193550104439808
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.814530641,742.814530641,711.814530641,673,664,633,877,784.185469359,799.814530641,650,629,651,0.400916175489,0.0044085088861,0.0599206662208,0.999999966009,-0.00014061265968,-0.000217055602012,-3.31211017698e-05,1793193550121105920
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.234657353,742.234657353,711.234657353,673,664,633,877,784.765342647,799.234657353,650,629,651,0.400916938862,0.00440758102987,0.0599210789748,0.999999965915,-0.000142260210061,-0.000216412121731,-3.31470897195e-05,1793193550137772544
+111,1.850000000,POSE1_TO_POSE2_PRESS,764.660067943,742,711,673,664,633,877,784.660067943,799.339932057,650,629,651,0.400918439236,0.00440834236904,0.0599218921966,0.999999966354,-0.000140958054582,-0.000215192614417,-3.33907364167e-05,1793193550154438912
+112,1.866666667,POSE1_TO_POSE2_PRESS,764.089070233,742,711,673,664,633,877,784.089070233,799.910929767,650,629,651,0.400920440579,0.00441025192312,0.0599229776326,0.999999967147,-0.000137650863895,-0.000213581558124,-3.37823346204e-05,1793193550171105536
+113,1.883333333,POSE1_TO_POSE2_PRESS,764.48734012,742,711,673,664,633,877.48734012,784,800,650,629,651.48734012,0.400927834656,0.00440990063364,0.0599243686876,0.999999968184,-0.000137638311299,-0.000208646950749,-3.39623250359e-05,1793193550187772160
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,742.0664868,711,673,664,633,878,784,799.9335132,650,629,651.9335132,0.400937987267,0.00440909993448,0.0599262007829,0.999999969422,-0.000138368406488,-0.000202103971533,-3.41112948733e-05,1793193550204438528
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,742.659377807,711,673,664,633,878,784,799.340622193,650,629,651.340622193,0.40096208915,0.00440804937166,0.0599310775674,0.999999971975,-0.00014015729934,-0.000187690198404,-3.43243083474e-05,1793193550221105408
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,742.753654518,711,673,664,633,877.753654518,784,799.246345482,650,629,651,0.400991836013,0.00440749947876,0.059936314256,0.999999974606,-0.000142053445134,-0.000171448943796,-3.48341824298e-05,1793193550237772544
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,742.174684778,711,673,664,633,877.174684778,784,799.825315222,650,629,651,0.401029204921,0.00440762560794,0.0599420368993,0.999999977315,-0.000144094407439,-0.000152740161154,-3.57448880354e-05,1793193550254438912
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,742.400953533,711,673,664,632.599046467,877.400953533,784,800,650,629,651,0.401074402632,0.0044076996553,0.0599451168028,0.999999979338,-0.000144503408679,-0.000138183728581,-3.67102329797e-05,1793193550271105536
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,742.975152439,711,673,664,632.024847561,877.975152439,784,800,650,629,651,0.401122983041,0.00440775119899,0.0599470548227,0.999999981026,-0.000144207266773,-0.000125421456002,-3.76991867528e-05,1793193550287771904
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,742.453433428,711,673,664,632.546566572,877.453433428,784,800,650.546566572,629,651,0.401186245196,0.00440878885133,0.0599490342263,0.999999981236,-0.000144880486652,-0.000122687135563,-3.8549605795e-05,1793193550304438784
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,742,711,672.876902405,664.123097595,632.876902405,877.123097595,784.123097595,799.876902405,651,629,651,0.401254870129,0.00440944771916,0.0599505620002,0.999999981356,-0.000145759499212,-0.000120362793276,-3.94441582751e-05,1793193550321105664
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,742,711,672.280199926,664.719800074,632.280199926,877.719800074,784.719800074,799.280199926,651,629,651,0.401341572875,0.00440847765123,0.0599503449759,0.999999981389,-0.000147261588664,-0.000117870729255,-4.05326175726e-05,1793193550337772032
+123,2.050000000,POSE1_TO_POSE2_PRESS,764.69407231,742.30592769,711,672,664.69407231,632.30592769,878,785,799.30592769,651,629,651,0.401446845799,0.00440779381081,0.0599530817912,0.99999998205,-0.0001491625203,-0.000109161383835,-4.16542878917e-05,1793193550354438656
+124,2.066666667,POSE1_TO_POSE2_PRESS,764.117306663,742.882693337,711,672,664.117306663,632.882693337,878,785,799.882693337,651,629,651,0.401568558908,0.00440736336784,0.0599584336425,0.999999983113,-0.000151416547034,-9.49478757754e-05,-4.28053598753e-05,1793193550371105536
+125,2.083333333,POSE1_TO_POSE2_PRESS,764.456823141,742.543176859,711,672.456823141,664,632.543176859,877.543176859,784.543176859,799.543176859,650.543176859,629,651,0.401706710537,0.00440657033529,0.059962008454,0.999999983751,-0.000152673134136,-8.53059626853e-05,-4.37276000136e-05,1793193550387771904
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,742,711,673,664,632.031194439,877,784,799.031194439,650,629,651,0.401850535182,0.00440574391384,0.0599648027969,0.999999984228,-0.000153593871831,-7.72091185787e-05,-4.46237507931e-05,1793193550404438528
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,742,711,673,664,632.621969982,877,784,799.621969982,650,629,651,0.402020837392,0.00440597919165,0.0599617354845,0.999999984344,-0.000153058213583,-7.58907486823e-05,-4.60999390652e-05,1793193550421105152
+128,2.133333333,POSE1_TO_POSE2_PRESS,764.791319201,742,711,673,664.208680799,632.791319201,877.208680799,784,800,650,629,651,0.402205664674,0.00440640061603,0.0599597523738,0.999999984721,-0.000151705843142,-7.27629566853e-05,-4.74149820977e-05,1793193550437771776
+129,2.150000000,POSE1_TO_POSE2_PRESS,764.211831105,742,711,673,664.788168895,632.211831105,877.788168895,784,800,650,629,651,0.402416301705,0.00440715280635,0.059959695794,0.999999985535,-0.000148902247519,-6.64199820015e-05,-4.84436841524e-05,1793193550454438400
+130,2.166666667,POSE1_TO_POSE2_PRESS,764.364186444,742,711,673,664.635813556,632,877.635813556,784,800,650,629,651,0.402652979131,0.00440749840199,0.0599601549126,0.999999986228,-0.000146934264045,-5.91926000225e-05,-4.95089555002e-05,1793193550471105280
+131,2.183333333,POSE1_TO_POSE2_PRESS,764.938204438,742,711,673,664.061795562,632,877.061795562,784,800,650,629,651,0.402904660145,0.004407609732,0.0599609111587,0.999999986819,-0.000145447730932,-5.14556527474e-05,-5.05952968973e-05,1793193550487772160
+132,2.200000000,POSE1_TO_POSE2_PRESS,764.487326624,742.512673376,711,673,664,632.512673376,877,784.512673376,799.487326624,650,629,651,0.403186755794,0.00440813541636,0.0599637810615,0.999999987999,-0.00013975437777,-4.39565128355e-05,-5.03892665702e-05,1793193550504438784
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,742.90949353,711,673,664,633,877.09050647,784.90949353,799,650,629,651,0.403477409205,0.00440873605863,0.0599644477994,0.999999988972,-0.00013375163176,-4.06292292168e-05,-5.0156458623e-05,1793193550521105408
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,742.313162583,711,673,664,633,877.686837417,784.313162583,799,650,629,651,0.403795383554,0.00440947625049,0.059951376317,0.999999988588,-0.000128856177039,-6.04573606752e-05,-5.06453727315e-05,1793193550537771776
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.2731341,742,711,673,664,633,878,784,799,650,629,651,0.404126057573,0.00441028064009,0.0599391226806,0.999999987698,-0.000124736097344,-8.0075548678e-05,-5.13082520142e-05,1793193550554438400
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.848333617,742,711,673,664,633,878,784,799,650,629,651,0.404470776436,0.00441115602745,0.0599277735203,0.999999986315,-0.00012147352341,-9.94615540928e-05,-5.21635234437e-05,1793193550571105024
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,742.424715494,711.424715494,672.575284506,664.424715494,633,878.424715494,784,799.424715494,650,629,651,0.404853326569,0.0044123627598,0.0599168495672,0.999999984909,-0.00011636014868,-0.000117720803439,-5.27568070155e-05,1793193550587771648
+138,2.300000000,POSE1_TO_POSE2_PRESS,764.998446689,742.998446689,711.998446689,672.001553311,664.998446689,633,878.998446689,784,799.998446689,650,629,651,0.405249592306,0.00441368520488,0.0599061375224,0.999999983287,-0.000110609202476,-0.000135482925477,-5.32552426364e-05,1793193550604438528
+139,2.316666667,POSE1_TO_POSE2_PRESS,764.409294538,742.409294538,711.409294538,672.590705462,664.409294538,633,878.409294538,784,799.409294538,650,629,651,0.405709527252,0.00441389501521,0.0599179874624,0.999999985093,-0.00011438980721,-0.00011782301965,-5.33638179781e-05,1793193550621105664
+140,2.333333333,POSE1_TO_POSE2_PRESS,764.176563119,742,711,673,664,633,878,784.176563119,799,650,629,651,0.406200386977,0.004413882973,0.0599372881611,0.99999998681,-0.000127337809533,-8.56294088849e-05,-5.32206873198e-05,1793193550637772800
+141,2.350000000,POSE1_TO_POSE2_PRESS,764.754923553,742,711,673,664,633,878,784.754923553,799,650,629,651,0.406761620863,0.00441336607017,0.059973544239,0.99999998543,-0.000161147674786,-2.03620549479e-05,-5.25047596612e-05,1793193550654439680
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,742.331189251,711,673,664,633,878,785,799.331189251,650,629,651,0.40731211694,0.00441293713988,0.0599965280962,0.99999998425,-0.000169060169091,1.51567352568e-05,-5.18637610394e-05,1793193550671106560
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,742.905914669,711,673,664,633,878,785,799.905914669,650,629,651,0.407854717152,0.00441257289911,0.0600097523841,0.9999999858,-0.000157929336613,2.8800271651e-05,-5.12778606747e-05,1793193550687773184
+144,2.400000000,POSE1_TO_POSE2_PRESS,764.520487289,742.520487289,711,673,664.479512711,633,878,784.520487289,799.520487289,650.479512711,629,651,0.408400026848,0.00441336262677,0.0600005202878,0.999999987753,-0.000147998287023,1.22308544307e-06,-5.0873866885e-05,1793193550704439808
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.054764968,742,711,672.945235032,664.945235032,633,877.945235032,784,799.054764968,650.945235032,629,651,0.40895010627,0.00441431649342,0.0599868628782,0.999999988555,-0.00013855005992,-3.37750858013e-05,-5.05208992684e-05,1793193550721106432
+146,2.433333333,POSE1_TO_POSE2_PRESS,764.648468352,742,711,672.351531648,664.351531648,633,877.351531648,784,799.648468352,650.351531648,629,651,0.409541905143,0.00441466267915,0.0599729154015,0.999999988136,-0.000131542034257,-6.23966081975e-05,-5.03196589689e-05,1793193550737772544
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,742,711,672.236331238,664,632.763668762,877,784,799.763668762,650,629,651,0.410180399014,0.0044156646456,0.0599695337794,0.99999998892,-0.000124567423072,-6.38956261985e-05,-5.05957276102e-05,1793193550754438912
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,742,711,672.815716138,664,632.184283862,877,784,799.184283862,650,629,651,0.410886674368,0.00441761853009,0.0599814893397,0.999999991412,-0.000117641316087,-2.60241616172e-05,-5.15646483023e-05,1793193550771105792
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,742.391905991,711,673,664,632.391905991,877.391905991,784,799,650,629,651,0.411574352121,0.00441781208559,0.0599830405336,0.999999991803,-0.000115288430217,-2.06654922005e-05,-5.17281544686e-05,1793193550787772672
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,742.966605586,711,673,664,632.966605586,877.966605586,784,799,650,629,651,0.412253355522,0.00441718458474,0.0599797389011,0.999999991588,-0.000115068595857,-3.04715091776e-05,-5.15159975143e-05,1793193550804439296
+151,2.516666667,POSE1_TO_POSE2_PRESS,764.446875674,742.446875674,711,673.553124326,664,632.446875674,878,784,799.553124326,650,629,651,0.412898960996,0.00441860480029,0.0599512625149,0.999999988297,-0.00011485856698,-8.68990542035e-05,-5.16044202008e-05,1793193550821105920
+152,2.533333333,POSE1_TO_POSE2_PRESS,764.13843425,742.13843425,711,673.723131499,664,632,878,784,799.86156575,650,629,650.86156575,0.413566878504,0.00441997193597,0.0599262150821,0.999999982976,-0.000113665466694,-0.000135860140798,-5.16819383099e-05,1793193550837772288
+153,2.550000000,POSE1_TO_POSE2_PRESS,764.717574533,742.717574533,711,672.564850935,664,632,878,784,799.282425467,650,629,650.282425467,0.414312385624,0.00442076792388,0.0599170280148,0.999999981152,-0.000109340829675,-0.000151895338347,-5.16657088668e-05,1793193550854438912
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,742.704602496,711,672.590795009,664.295397504,632.295397504,878,784,799.295397504,650,629,650.295397504,0.41512369958,0.00442055028273,0.0599429295016,0.999999987299,-0.00010831158318,-0.00010486145144,-5.17168016759e-05,1793193550871105536
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,742.128033327,711,673.743933345,664.871966673,632.871966673,878,784,799.871966673,650,629,650.871966673,0.415997651314,0.00441936782727,0.0600022297366,0.999999992558,-0.000110419025394,2.20421944069e-06,-5.18319741718e-05,1793193550887772160
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,742,711,674,664.553478083,633,878,784,799.553478083,650,629,651,0.416801264138,0.00441761058945,0.0600215653342,0.99999999236,-0.000108588811492,3.01490413206e-05,-5.07799766521e-05,1793193550904438784
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,742.021063111,711,673.978936889,664.021063111,633,878.021063111,784,799,650,629,651,0.417584389138,0.00441576257629,0.0600283311166,0.999999992602,-0.000105754384141,3.40838044176e-05,-4.94949133708e-05,1793193550921105408
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,742.610745129,711,673.389254871,664.610745129,633,878.610745129,784,799,650,629,651,0.418356453226,0.00441589322119,0.060003727099,0.99999999307,-0.000106153514005,-4.56854618135e-07,-5.091213312e-05,1793193550937772032
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,743,711,673,665,632.802643332,878.802643332,784.197356668,799.197356668,650,629,651,0.41913876461,0.00441571200988,0.0599782055483,0.999999991997,-0.000108703115266,-3.81605535304e-05,-5.22846853678e-05,1793193550954438400
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,743,711,673,665,632.221995084,878.221995084,784.778004916,799.778004916,650,629,651,0.419940977492,0.0044149251344,0.059950902034,0.999999988541,-0.000115429203661,-8.20072733205e-05,-5.35704876309e-05,1793193550971105024
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,742.645428221,711,673.354571779,664.645428221,632.354571779,878.354571779,785,799.645428221,650,629,651,0.420734256245,0.0044151449343,0.0599216967514,0.999999982891,-0.000116490305225,-0.000133036998998,-5.431205999e-05,1793193550987772160
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,742.071387629,711,673.928612371,664.071387629,632.928612371,878.928612371,785,799.071387629,650,629,651,0.421522005021,0.00441598783474,0.0598913143348,0.999999974231,-0.000114044957122,-0.00018851277824,-5.47167709645e-05,1793193551004439552
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,742.502968458,711,674,664,632.497031542,878.497031542,785,799.502968458,650,629,651,0.422347054368,0.00441710316101,0.0598886426664,0.999999974166,-0.000108752703861,-0.00019207573373,-5.42953253364e-05,1793193551021105920
+164,2.733333333,POSE1_TO_POSE2_PRESS,764.920150027,743,711,673.920150027,664.079849973,632.079849973,877.920150027,784.920150027,799.920150027,650,629,651,0.423186602779,0.00441728459112,0.0598987461113,0.999999977876,-0.000104668107184,-0.000174423199944,-5.35598173238e-05,1793193551037772032
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.327332922,743,711,673.327332922,664.672667078,632.672667078,877.327332922,784.327332922,799.327332922,650,629,651,0.424085262989,0.00441121799196,0.0599656362614,0.999999990216,-0.000110939084857,-6.78430022799e-05,-5.15604873268e-05,1793193551054438656
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.257184707,743,711,673.257184707,665,632.742815293,877.257184707,784,799,650,629,651,0.424958160413,0.00440800880775,0.0600118910908,0.999999992291,-0.00011326989452,7.90071845508e-06,-5.02606366426e-05,1793193551071105280
+167,2.783333333,POSE1_TO_POSE2_PRESS,764.831469441,743,711,673.831469441,665,632.168530559,877.831469441,784,799,650,629,651,0.425799293316,0.00440832271852,0.0600327032779,0.999999991586,-0.000110742612503,4.56241219241e-05,-4.98232204842e-05,1793193551087772160
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,743,711,673.595621167,665,632.404378833,878,784.404378833,799.404378833,650,629,651,0.426618513733,0.00440915107041,0.0600163594411,0.999999992362,-0.000108373949695,2.99295621015e-05,-5.13425731128e-05,1793193551104438784
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,743,711,673.023283059,665,632.976716941,878,784.976716941,799.976716941,650,629,651,0.42742863272,0.00441019309607,0.0599845828,0.999999992902,-0.000106071169642,-7.95222064535e-06,-5.36746721886e-05,1793193551121105408
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,743,711,673.570598104,665,632.429401896,878,785,799.429401896,650,628.429401896,651,0.428195875721,0.0044091220206,0.0599654831332,0.999999992032,-0.000107301224814,-3.84358344787e-05,-5.4271980748e-05,1793193551137772032
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,743,711,674,665,632.161069379,878.322138757,784.838930621,799,650,628.161069379,651,0.428952057476,0.00440949837072,0.0599465499056,0.999999990372,-0.000106550288607,-7.02214274711e-05,-5.45164955582e-05,1793193551154438912
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,743,711,674,665,632.740315881,879.480631763,784.259684119,799,650,628.740315881,651,0.429684241852,0.00441386525027,0.059926653114,0.999999987874,-0.000100267243416,-0.000106201796935,-5.40360614305e-05,1793193551171105536
+173,2.883333333,POSE1_TO_POSE2_PRESS,764.682061318,742.682061318,711,674,664.682061318,632.682061318,879.682061318,784,799,650,629,651,0.430442912957,0.00441658213322,0.0599219458841,0.999999987385,-9.93445509267e-05,-0.000111264342581,-5.4604457799e-05,1793193551187772160
+174,2.900000000,POSE1_TO_POSE2_PRESS,764.105758006,742.105758006,711,674,664.105758006,632.105758006,879.105758006,784,799,650,629,651,0.431223107781,0.00441795818899,0.059929582059,0.99999998899,-0.000102777810501,-9.1202318224e-05,-5.60251591384e-05,1793193551204439040
+175,2.916666667,POSE1_TO_POSE2_PRESS,764.468983418,742,711,674,664.468983418,632,879,784,799.468983418,650,629,651,0.432030674436,0.00441544000407,0.0599724061826,0.999999992572,-0.000107142485381,-1.82589637914e-05,-5.5167169136e-05,1793193551221105920
+176,2.933333333,POSE1_TO_POSE2_PRESS,764.955470943,742,711,674,665,632.044529057,878.955470943,784.044529057,800.044529057,649.955470943,629,651,0.432833392412,0.00441234015861,0.0600188097211,0.999999990638,-0.000111076521477,5.90631546526e-05,-5.38210970375e-05,1793193551237772544
+177,2.950000000,POSE1_TO_POSE2_PRESS,764.365782228,742,711,674,665,632.634217772,878.365782228,784.634217772,800.634217772,649.365782228,629,651,0.433501430841,0.00441283472999,0.0600122105617,0.999999991875,-0.000107175421645,4.44829400636e-05,-5.27696905024e-05,1793193551254438912
+178,2.966666667,POSE1_TO_POSE2_PRESS,764.220128323,742.220128323,711,673.779871677,665,632.779871677,878.220128323,784.779871677,800.559743354,649.220128323,629,651,0.434156335046,0.00441433606689,0.0599947602908,0.999999993158,-0.000103736511872,1.25487905012e-05,-5.25856525e-05,1793193551271105536
+179,2.983333333,POSE1_TO_POSE2_PRESS,764.799866811,742.799866811,711,673.200133189,665,632.200133189,878.799866811,784.200133189,799.400266378,649.799866811,629,651,0.434789782777,0.00441748209505,0.0599595832225,0.999999992307,-0.000101052652859,-4.77354226416e-05,-5.38185810903e-05,1793193551287772416
+180,3.000000000,POSE1_TO_POSE2_PRESS,764.623282854,742.623282854,711,673.376717146,665,632,879,784.376717146,799.376717146,650,629,651,0.435411882137,0.00441737295423,0.0599379904866,0.999999989631,-0.000100501393122,-8.79663460348e-05,-5.38533141237e-05,1793193551304439040
+181,3.016666667,POSE1_TO_POSE2_PRESS,764.047955228,742.047955228,711,673.952044772,665,632,879,784.952044772,799.952044772,650,629,651,0.436027998441,0.00441554764319,0.0599235596003,0.999999986556,-0.000101074469384,-0.000117624894634,-5.32563418745e-05,1793193551321105408
+182,3.033333333,POSE1_TO_POSE2_PRESS,764.540111028,742.540111028,711,674,665,632,879,784.459888972,800,649.459888972,629,651,0.436629092542,0.00441546481101,0.0599309473604,0.999999988292,-9.98161802351e-05,-0.000103333345454,-5.26832695942e-05,1793193551337772032
+183,3.050000000,POSE1_TO_POSE2_PRESS,764.872721961,743,711,674,665,632,878.872721961,784,800,649.127278039,629,650.872721961,0.437213122516,0.00441560681179,0.059937385828,0.999999989443,-9.80057589384e-05,-9.3885496096e-05,-5.19158803416e-05,1793193551354438912
+184,3.066666667,POSE1_TO_POSE2_PRESS,764.292871344,743,711,674,665,632,878.292871344,784,800,649.707128656,629,650.292871344,0.437741333414,0.0044159848637,0.0599333940788,0.999999987519,-9.48242232175e-05,-0.00011587139839,-5.0449815224e-05,1793193551371105792
+185,3.083333333,POSE1_TO_POSE2_PRESS,764.284790438,742.715209562,711,674,664.715209562,632,878.284790438,784,800,650,629,650.284790438,0.438250766247,0.00441677711984,0.0599247944938,0.999999984972,-9.240500925e-05,-0.00013799376257,-4.97475510668e-05,1793193551387772416
+186,3.100000000,POSE1_TO_POSE2_PRESS,764.860218409,742.139781591,711,674,664.139781591,632,878.860218409,784,800,650,629,650.860218409,0.438741035445,0.00441799208431,0.0599114924688,0.999999981799,-9.07637686303e-05,-0.000160255389014,-4.98247697286e-05,1793193551404439040
+187,3.116666667,POSE1_TO_POSE2_PRESS,764.566004708,742.433995292,711,674,664,632,879,784.433995292,799.566004708,650,629,651,0.439220668255,0.004418376665,0.0599135532239,0.999999982791,-8.69485163399e-05,-0.000156340309118,-4.91585740693e-05,1793193551421106176
+188,3.133333333,POSE1_TO_POSE2_PRESS,764.007492991,743,711,674.007492991,663.992507009,632,878.992507009,784.992507009,799,650,629,651,0.439696258792,0.00441854763579,0.0599204657802,0.999999985042,-8.23930678676e-05,-0.000144217684267,-4.82524280257e-05,1793193551437773056
+189,3.150000000,POSE1_TO_POSE2_PRESS,764.600570685,743,711,674.600570685,663.399429315,632,878.399429315,784.399429315,799,650,629,651,0.440122651896,0.00442284710593,0.0599213212897,0.999999985295,-7.45051067466e-05,-0.000147062506621,-4.72354456642e-05,1793193551454439424
+190,3.166666667,POSE1_TO_POSE2_PRESS,764.811926079,743,711,675,662.811926079,632,878.188073921,784,799.188073921,650,629,651,0.440517452035,0.00442698143835,0.0599112661289,0.999999982866,-6.67292675974e-05,-0.000166241409775,-4.66881262853e-05,1793193551471105536
+191,3.183333333,POSE1_TO_POSE2_PRESS,764.235920907,743,711,675,662.235920907,632,878.764079093,784,799.764079093,650,629,651,0.440847086926,0.00443077514973,0.0598787060404,0.999999973134,-5.91846956037e-05,-0.000219111854938,-4.71095584257e-05,1793193551487772160
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,743,711,674.661329145,662,632,879.338670855,784,800,650,629,651,0.441149732052,0.00443381625496,0.0598414219455,0.999999958573,-5.54766451773e-05,-0.000278303125093,-4.82146018129e-05,1793193551504438784
+193,3.216666667,POSE1_TO_POSE2_PRESS,764,743,711,674.087717917,662,632,879.912282083,784,800,650,629,651,0.441433654007,0.00443633526731,0.0598008607481,0.999999938838,-5.44300399692e-05,-0.000341879229975,-4.97938750916e-05,1793193551521105408
+194,3.233333333,POSE1_TO_POSE2_PRESS,764.501120354,743,711,674,661.498879646,631.498879646,879.498879646,784,799.498879646,650,629,650.498879646,0.4417157097,0.00443999979885,0.0597799512214,0.999999929161,-4.69623446539e-05,-0.000370044159089,-5.03967271382e-05,1793193551537772032
+195,3.250000000,POSE1_TO_POSE2_PRESS,764.90927728,742.90927728,711,674,660.90927728,631.09072272,879,784,799.09072272,650,629,650,0.441992275204,0.0044438435052,0.0597642850173,0.99999992189,-3.90474716927e-05,-0.000390013103879,-5.0849822113e-05,1793193551554438400
+196,3.266666667,POSE1_TO_POSE2_PRESS,764.33035572,742.33035572,711,674,660.33035572,631.66964428,879,784,799.66964428,650,629,650,0.442241109807,0.00444753855629,0.0597577433309,0.999999917954,-3.49641152381e-05,-0.000400278451012,-5.14456025168e-05,1793193551571105024
+197,3.283333333,POSE1_TO_POSE2_PRESS,764,742.247821674,711,674,660,631.752178326,879,784,799.752178326,650,629,650.247821674,0.442479290828,0.00445076950192,0.0597547482305,0.999999916927,-3.13596302468e-05,-0.000403080843585,-5.18463796077e-05,1793193551587771648
+198,3.300000000,POSE1_TO_POSE2_PRESS,764,742.825009989,711,674,660,631.174990011,879,784,799.174990011,650,629,650.825009989,0.442703312722,0.00445338362932,0.0597564667102,0.999999919852,-2.83915882443e-05,-0.000395964618336,-5.1987988096e-05,1793193551604438528
+199,3.316666667,POSE1_TO_POSE2_PRESS,764,743,711,674,659.598465586,631,879,784,799.401534414,650,629,651,0.442891004527,0.00445904711955,0.059753659302,0.999999918135,-2.19758730503e-05,-0.000400629182123,-5.23858375715e-05,1793193551621105152
+200,3.333333333,POSE1_TO_POSE2_PRESS,764,743,711,674,659.02222996,631,879,784,799.97777004,650,629,651,0.44306288971,0.00446603733909,0.0597488827524,0.99999991428,-1.40601300431e-05,-0.00041041937845,-5.28951734151e-05,1793193551637771776
+201,3.350000000,POSE1_TO_POSE2_PRESS,764.564612076,742.435387924,711,674,658.435387924,631,879.564612076,783.435387924,800,650,629,651,0.44320325618,0.00447790822246,0.0597401429032,0.999999908531,-9.61705553621e-07,-0.000424091842179,-5.55340419366e-05,1793193551654438656
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,742.150147329,711,674,658,631,879.849852671,783.150147329,800,650,629,651,0.443337183336,0.00448958641266,0.0597326434176,0.999999903632,1.20240296195e-05,-0.000434996245756,-5.80408198324e-05,1793193551671105536
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,742.730716587,711,674,658,631,879.269283413,783.730716587,800,650,629,651,0.443456276688,0.00450015080907,0.0597291555234,0.999999902203,2.40905751806e-05,-0.000437518987701,-5.99239843997e-05,1793193551687772160
+204,3.400000000,POSE1_TO_POSE2_PRESS,764.691416761,742.691416761,711,674,658,631,879.308583239,784,800,650,629,651,0.443561800345,0.00450467068073,0.059727999304,0.999999901605,2.97674264814e-05,-0.000438482076368,-6.03095517202e-05,1793193551704438784
+205,3.416666667,POSE1_TO_POSE2_PRESS,764.11588808,742.11588808,711,674,658,631,879.88411192,784,800,650,629,651,0.443655585289,0.00450396162771,0.0597288601416,0.999999901824,2.99167579476e-05,-0.000438095959007,-5.93995956943e-05,1793193551721105152
+206,3.433333333,POSE1_TO_POSE2_PRESS,764.457345056,742.457345056,711,674,658,631,880,783.542654944,800,650,629,651,0.443729403293,0.00450461230913,0.0597292686274,0.99999990197,3.13123947389e-05,-0.000437693828245,-5.91962540474e-05,1793193551737771776
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,742.96900833,711,674,658,631,879.96900833,783,800,650,629,651,0.443797259676,0.00450556904632,0.0597295197404,0.999999902087,3.30155197927e-05,-0.000437305440107,-5.91608283584e-05,1793193551754438656
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,742.377412986,711,674,658,631,879.377412986,783,800,650,629,651,0.443848340404,0.00450586064218,0.0597289872013,0.999999902076,3.45967317249e-05,-0.000437238672499,-5.89401542604e-05,1793193551771105280
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,742.21019084,711,674,658,631,879,783.21019084,800,650,629,651,0.443892395694,0.0045059608993,0.0597283669879,0.999999901647,3.58527589272e-05,-0.000438180487159,-5.84694295397e-05,1793193551787771904
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,742.790761109,711,674,658,631,879,783.790761109,800,650,629,651,0.443924071385,0.00450572399646,0.0597275922829,0.99999990048,3.65357746255e-05,-0.00044089953495,-5.75580880835e-05,1793193551804438784
+211,3.516666667,POSE1_TO_POSE2_PRESS,764.632479641,743,711,674,658,631,879,783.632479641,799.632479641,650,629,651,0.443947824886,0.00450655296286,0.059725664399,0.999999899023,3.71773425347e-05,-0.000444182346765,-5.72226281318e-05,1793193551821105664
+212,3.533333333,POSE1_TO_POSE2_PRESS,764.05786778,743,711,674,658,631,879,783.05786778,799.05786778,650,629,651,0.443967114368,0.0045079825285,0.0597230867183,0.999999897394,3.77955553799e-05,-0.000447782830315,-5.7211667573e-05,1793193551837772288
+213,3.550000000,POSE1_TO_POSE2_PRESS,764,742.486783171,711,674,657.486783171,631,878.486783171,783.513216829,799.513216829,650,628.486783171,651,0.443982378672,0.004507575635,0.0597254355178,0.9999998984,3.70510733727e-05,-0.000445670804164,-5.66085812208e-05,1793193551854438656
+214,3.566666667,POSE1_TO_POSE2_PRESS,764,742.088084285,711,674,657.088084285,631,878.088084285,784,800,650,628.088084285,651,0.443995562499,0.00450722674336,0.0597275880964,0.999999899267,3.68065410664e-05,-0.000443813847301,-5.60436261766e-05,1793193551871105280
+215,3.583333333,POSE1_TO_POSE2_PRESS,764,742.687189767,711,674,657.687189767,631,878.687189767,784,800,650,628.687189767,651,0.443999291527,0.00450840746647,0.0597254016474,0.999999897643,4.03477881197e-05,-0.000447147997402,-5.60845840626e-05,1793193551887772160
+216,3.600000000,POSE1_TO_POSE2_PRESS,764,743,711,674,658,630.725605751,879,783.725605751,799.725605751,650,629,651,0.444003383626,0.00450882199228,0.0597239882365,0.999999897001,4.12512038272e-05,-0.000448504365256,-5.60349077189e-05,1793193551904439040
+217,3.616666667,POSE1_TO_POSE2_PRESS,764,743,711,674,658,630.151404506,879,783.151404506,799.151404506,650,629,651,0.44400787242,0.00450839936012,0.0597234194578,0.99999989745,3.92724878827e-05,-0.000447699780357,-5.58862031463e-05,1793193551921105920
+218,3.633333333,POSE1_TO_POSE2_PRESS,764.424734473,743,711,674,658,630.424734473,879,783.424734473,799.424734473,650,629,651,0.444010316786,0.00450911080995,0.0597236467845,0.999999897875,4.03336485545e-05,-0.000446652762912,-5.59041837868e-05,1793193551937772288
+219,3.650000000,POSE1_TO_POSE2_PRESS,764.998395488,742.998395488,711,674,658,631,879,783.998395488,800,650,628.998395488,650.998395488,0.444012022771,0.00451022528646,0.0597241545349,0.999999898284,4.24700208106e-05,-0.000445527393088,-5.59823331475e-05,1793193551954438400
+220,3.666666667,POSE1_TO_POSE2_PRESS,764.407884813,742.407884813,711,674,658,631,879,783.407884813,800,650,628.407884813,650.407884813,0.444011428529,0.00451020537005,0.0597229506807,0.999999897499,3.96972275476e-05,-0.000447508306073,-5.62360539009e-05,1793193551971105024
+221,3.683333333,POSE1_TO_POSE2_PRESS,764,742.178770384,711,674,658,631,879,783,799.821229616,650,628.178770384,650,0.444011470516,0.00451049649226,0.0597220988133,0.999999896942,3.86153131179e-05,-0.000448826034176,-5.63846406933e-05,1793193551987771648
+222,3.700000000,POSE1_TO_POSE2_PRESS,764,742.756814507,711,674,658,631,879,783,799.243185493,650,628.756814507,650,0.444012933485,0.00451148230196,0.0597220330889,0.999999896913,4.13098831549e-05,-0.000448662575371,-5.62984165824e-05,1793193552004438272
+223,3.716666667,POSE1_TO_POSE2_PRESS,764,742.666413109,711,674,658,630.666413109,879.333586891,783,799.333586891,650,629,650.333586891,0.444013248254,0.00451080596932,0.0597218221151,0.999999896734,4.15314243147e-05,-0.000449098691998,-5.58284794184e-05,1793193552021104896
+224,3.733333333,POSE1_TO_POSE2_PRESS,764,742.090564244,711,674,658,630.090564244,879.909435756,783,799.909435756,650,629,650.909435756,0.444012729161,0.00450892253333,0.0597215056562,0.999999896448,3.99569693514e-05,-0.000449970240371,-5.50798769742e-05,1793193552037771520
+225,3.750000000,POSE1_TO_POSE2_PRESS,764.494413062,742.494413062,711,674,658,630.494413062,879.505586938,783,799.505586938,650,628.505586938,651,0.444012932016,0.00450851143453,0.059720545492,0.999999896125,4.03762665193e-05,-0.000450668218275,-5.49387319805e-05,1793193552054438144
+226,3.766666667,POSE1_TO_POSE2_PRESS,765,743,711,674,658,631,879,783.080147552,799,650,628.080147552,651,0.444013499019,0.00450852444458,0.0597198441644,0.999999895989,4.10174444069e-05,-0.00045091662943,-5.49039409954e-05,1793193552071105024
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,743,711,674,658,631,879,783.659982045,799,650,628.659982045,651,0.444015496345,0.00450946852786,0.0597215055304,0.999999897063,4.07222183401e-05,-0.000448564127498,-5.48254440596e-05,1793193552087771648
+228,3.800000000,POSE1_TO_POSE2_PRESS,764.761570185,742.761570185,711,674,658,631,879,783.761570185,799,650,629,651,0.444016345488,0.00451019765881,0.0597224611552,0.999999897496,4.0638900628e-05,-0.000447601721782,-5.48484700247e-05,1793193552104438272
+229,3.816666667,POSE1_TO_POSE2_PRESS,764.185088581,742.185088581,711,674,658,631,879,783.185088581,799,650,629,651,0.444015566711,0.00451062202491,0.0597224161623,0.999999897026,4.08560319297e-05,-0.000448610229595,-5.50154377177e-05,1793193552121105152
+230,3.833333333,POSE1_TO_POSE2_PRESS,764.39753634,742,711,674,658,630.60246366,879,783.39753634,799,650,628.60246366,650.60246366,0.444015581723,0.00451070021319,0.059722310182,0.999999897042,4.13252271281e-05,-0.000448528382626,-5.50459943078e-05,1793193552137771776
+231,3.850000000,POSE1_TO_POSE2_PRESS,764.983066401,742,711,674,658,630.016933599,879,783.983066401,799,650,628.016933599,650.016933599,0.444015972115,0.00451061469504,0.0597221753608,0.999999897287,4.19136225666e-05,-0.000447930910185,-5.50120424993e-05,1793193552154438144
+232,3.866666667,POSE1_TO_POSE2_PRESS,765,742,711,674,657.437710765,630,879,783.437710765,799,650,628,650.562289235,0.444016404067,0.00451108227223,0.0597220842812,0.999999897417,4.16866051361e-05,-0.000447699206907,-5.47183638564e-05,1793193552171104768
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,742.141193642,711,674,657.141193642,630.141193642,879.141193642,783,799.141193642,650,628.141193642,651,0.444017022779,0.00451092722053,0.0597221454667,0.999999897639,4.09493990795e-05,-0.00044730514215,-5.44410781636e-05,1793193552187771648
+234,3.900000000,POSE1_TO_POSE2_PRESS,765,742.719693476,711,674,657.719693476,630.719693476,879.719693476,783,799.719693476,650,628.719693476,651,0.444018216093,0.00450879273996,0.0597226742144,0.999999898155,3.87072454046e-05,-0.000446374471771,-5.42385219174e-05,1793193552204438528
+235,3.916666667,POSE1_TO_POSE2_PRESS,764.703491176,742.703491176,711,674.296508824,658,631,879.703491176,783.296508824,800,650,629,651,0.44401852182,0.00450922307078,0.0597227092704,0.999999898166,3.87737481644e-05,-0.0004463035475,-5.45743548575e-05,1793193552221105408
+236,3.933333333,POSE1_TO_POSE2_PRESS,764.128259205,742.128259205,711,674.871740795,658,631,879.128259205,783.871740795,800,650,629,651,0.444017993199,0.00451206436602,0.0597222802482,0.999999897701,4.10104254896e-05,-0.000447040798529,-5.54162824189e-05,1793193552237772800
+237,3.950000000,POSE1_TO_POSE2_PRESS,764,742,711,674.54741658,658,631,879,783.54741658,799.54741658,650,629,650.54741658,0.444017035981,0.00451167994189,0.059721621663,0.99999989713,4.17119035639e-05,-0.000448269582037,-5.52647111258e-05,1793193552254439424
+238,3.966666667,POSE1_TO_POSE2_PRESS,764,742,711,674,658,631,879,783.035157451,799,650,629,650.035157451,0.444016080291,0.00451046323857,0.0597209645336,0.999999896574,4.19760431437e-05,-0.000449539640423,-5.48170564537e-05,1793193552271105280
+239,3.983333333,POSE1_TO_POSE2_PRESS,764,742,711,674,658,631,879,783.619629254,799,650,629,650.619629254,0.444017070081,0.00451070497313,0.0597213593801,0.999999896724,4.22899967591e-05,-0.000449250840929,-5.41975631802e-05,1793193552287771648
+240,4.000000000,HOLD_POSE2,765,743,711,674,658,631,879,784,800,650,629,651,0.444016767258,0.00451200937506,0.059721136272,0.999999896463,4.44675097341e-05,-0.000449612278233,-5.42788374204e-05,1793193552327485440
+241,4.016666667,HOLD_POSE2,764.42535541,743,711,674,658,631,879,783.42535541,800,650,629,651,0.444017989397,0.00451168989401,0.0597213778405,0.999999897034,4.32426744568e-05,-0.000448437850026,-5.44584582109e-05,1793193552344151552
+242,4.033333333,HOLD_POSE2,764,743,711,674,658,631,879,783.152927497,799.847072503,650,629,651,0.444019183824,0.00451112290721,0.0597218616801,0.999999897593,4.20758751322e-05,-0.000447296706674,-5.44929707743e-05,1793193552360817664
+243,4.050000000,HOLD_POSE2,764,743,711,674,658,631,879,783.741576852,799.258423148,650,629,651,0.444020299293,0.00450985072559,0.0597230357999,0.999999898123,4.10744318785e-05,-0.000446250398442,-5.41140402276e-05,1793193552377484800
+244,4.066666667,HOLD_POSE2,764,743,711,674,657.674466273,631,879,784,799.325533727,650,629,650.674466273,0.444020280398,0.00450995707957,0.0597231688214,0.999999898068,4.07789861036e-05,-0.000446416459781,-5.39783783995e-05,1793193552394151680
+245,4.083333333,HOLD_POSE2,764,743,711,674,657.094181599,631,879,784,799.905818401,650,629,650.094181599,0.44401937379,0.00451114222584,0.0597224871169,0.999999897556,4.10360285393e-05,-0.000447531277861,-5.40330899149e-05,1793193552410818304
+246,4.100000000,HOLD_POSE2,764,743,711,674.482526022,657,631,879,783.517473978,799.517473978,650,629,650.482526022,0.444020090391,0.00451062784178,0.0597230436706,0.999999897945,4.27011828356e-05,-0.000446552874331,-5.36383438176e-05,1793193552427484672
+247,4.116666667,HOLD_POSE2,764,742.941638277,711,674.941638277,657,630.941638277,879,783,799.058361723,650,629,651,0.444021134926,0.00450991690971,0.0597237413853,0.999999898461,4.43335339087e-05,-0.000445278074419,-5.3287484674e-05,1793193552444151296
+248,4.133333333,HOLD_POSE2,764,742.367383713,711,674.367383713,657,630.367383713,879,783,799.632616287,650,629,651,0.444022298269,0.00451037928048,0.0597235661989,0.999999898603,4.32643131448e-05,-0.000444968216219,-5.40943319429e-05,1793193552460817920
+249,4.150000000,HOLD_POSE2,764.212823432,742,711,674.212823432,657.212823432,630.212823432,879,783.212823432,800,650,629,651,0.444022635374,0.00451099658222,0.0597234690844,0.999999898591,4.2513492357e-05,-0.000445007006278,-5.45825518496e-05,1793193552477484288
+250,4.166666667,HOLD_POSE2,764.803601753,742,711,674.803601753,657.803601753,630.803601753,879,783.803601753,800,650,629,651,0.444021505155,0.00451188902711,0.0597235106187,0.99999989831,4.23281208305e-05,-0.000445664963693,-5.45049187063e-05,1793193552494150912
+251,4.183333333,HOLD_POSE2,765,742.385933902,711,674.614066098,658,630.614066098,879,784,800,650,628.614066098,651,0.444021536979,0.0045117419101,0.059723516622,0.999999898372,4.28207933062e-05,-0.000445503174169,-5.43030681535e-05,1793193552510817536
+252,4.200000000,HOLD_POSE2,765,742.964059973,711,674.035940027,658,630.035940027,879,784,800,650,628.035940027,651,0.444022147492,0.00451107709919,0.0597235049312,0.999999898604,4.36511265595e-05,-0.000444933156919,-5.40393582613e-05,1793193552527484416
+253,4.216666667,HOLD_POSE2,764.461583035,743,711,674.538416965,658,630.538416965,879,784,800,650,628.538416965,651,0.444020837811,0.00451147721472,0.0597227784319,0.999999898034,4.21067520756e-05,-0.000446343681987,-5.41843460763e-05,1793193552544151040
+254,4.233333333,HOLD_POSE2,764,743,711,674.884488579,658,631,879,783.884488579,799.884488579,650,629,651,0.444020159482,0.00451167122158,0.0597225293645,0.999999897768,4.07855142154e-05,-0.000447055671983,-5.42461293216e-05,1793193552560817664
+255,4.250000000,HOLD_POSE2,764,743,711,674.295139771,658,631,879,783.295139771,799.295139771,650,629,651,0.444022593136,0.00451073018342,0.0597244331299,0.999999898979,4.1025321279e-05,-0.000444363673136,-5.38554692351e-05,1793193552577484288
+256,4.266666667,POSE2_TO_POSE3_RETREAT,765,742,711,674,658,630,879,784,800,650,629,651,0.444022540433,0.00451035321145,0.0597225350608,0.999999898413,3.93033598497e-05,-0.000445755977997,-5.41462316524e-05,1793193552614610432
+257,4.283333333,POSE2_TO_POSE3_RETREAT,764.423004672,742,711,674,658,630,879.576995328,784,800,650,629,650.423004672,0.444021536216,0.00451062673787,0.0597226463494,0.999999898144,4.00920076348e-05,-0.000446298788461,-5.40552730001e-05,1793193552631277824
+258,4.300000000,POSE2_TO_POSE3_RETREAT,764,742,711,674,658,630.152588307,879.847411693,783.847411693,799.847411693,649.847411693,628.847411693,650.152588307,0.444020726103,0.00451084415895,0.0597226094745,0.999999897876,4.09726362784e-05,-0.000446828531214,-5.39796887278e-05,1793193552647945216
+259,4.316666667,POSE2_TO_POSE3_RETREAT,764,742,711,674,658,630.72432923,879.27567077,783.27567077,799.27567077,649.27567077,628.27567077,650.72432923,0.444020449183,0.00451090746148,0.0597221656021,0.99999989761,4.21059320185e-05,-0.000447322377725,-5.39463371047e-05,1793193552664611840
+260,4.333333333,POSE2_TO_POSE3_RETREAT,764,742.306581306,711,674,657.693418694,630.693418694,879,783,799.306581306,649.306581306,628,650.693418694,0.444021327549,0.00451003687431,0.0597224480511,0.999999897946,4.25670740158e-05,-0.000446573781667,-5.35572106696e-05,1793193552681278208
+261,4.350000000,POSE2_TO_POSE3_RETREAT,764,742.898620273,711,674,657.101379727,630.101379727,879,783,799.898620273,649.898620273,628,650.101379727,0.444023281598,0.004508296743,0.0597234067776,0.99999989884,4.24023740147e-05,-0.000444668348079,-5.2836822531e-05,1793193552697944320
+262,4.366666667,POSE2_TO_POSE3_RETREAT,764.481050183,742.518949817,711,674,657,630.481050183,879,783,800,650,628.481050183,650.481050183,0.44402264817,0.00451015402009,0.059723390217,0.999999898671,4.21985989159e-05,-0.000444974832107,-5.36180378885e-05,1793193552714610432
+263,4.383333333,POSE2_TO_POSE3_RETREAT,764.939088152,742,711,674,657,631,879,783,799.939088152,650,628.939088152,651,0.444020860591,0.0045124277193,0.0597227217786,0.999999898022,4.20915238005e-05,-0.000446329230384,-5.45380031959e-05,1793193552731276544
+264,4.400000000,POSE2_TO_POSE3_RETREAT,764.3641449,742,711,674,657,631,879,783,799.3641449,650,628.3641449,651,0.44401384487,0.00451194296297,0.0597182527403,0.999999895167,4.28686272403e-05,-0.000452670106262,-5.40106018835e-05,1793193552747943168
+265,4.416666667,POSE2_TO_POSE3_RETREAT,764.209936051,742.209936051,710.790063949,674,657.209936051,631,879,783.209936051,799.209936051,650,628.209936051,651,0.444002144657,0.00451117318348,0.0597121139285,0.999999891187,4.32469664008e-05,-0.000461381139114,-5.36896425687e-05,1793193552764610048
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764.782527354,742.782527354,710.217472646,674,657.782527354,631,879,783.782527354,799.782527354,650,628.782527354,651,0.443982352189,0.00450991103913,0.0597030906573,0.999999885209,4.2936457804e-05,-0.000474186512743,-5.37253027357e-05,1793193552781276672
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,743,710.369993306,674,658,631,879,784,800,650,629,651,0.443944200127,0.00451005832807,0.0596877600261,0.999999873556,4.177936751e-05,-0.000498187732265,-5.43342606265e-05,1793193552797943552
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,743,710.966568466,674,658,631,879,784,800,650,629,651,0.443894804749,0.00451106874605,0.0596685668018,0.999999857723,4.01038352073e-05,-0.000529045226783,-5.52943028378e-05,1793193552814610432
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,742.455017059,711,674,658,630.455017059,879,784,799.455017059,650,628.455017059,651,0.44382719056,0.0045114025238,0.0596495079633,0.999999846774,4.10869485116e-05,-0.00054920182984,-5.60394952446e-05,1793193552831276800
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,742.120486608,711,674.120486608,658,630,879,784,799.120486608,650,628.120486608,651,0.443754842363,0.00451208885946,0.0596327786039,0.999999836554,4.28673746756e-05,-0.000567328820714,-5.65084078101e-05,1793193552847943424
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,742.689173011,711,674.689173011,658,630,879,784,799.689173011,650,628.689173011,651,0.443668907414,0.00451423610679,0.0596246850233,0.99999982897,4.70266114672e-05,-0.000580268978135,-5.59970300304e-05,1793193552864610048
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,743,711,674.731027151,658,630,879,784,799.731027151,650,629,651,0.443574040446,0.00451603215066,0.059621238788,0.999999826133,5.10126921221e-05,-0.000584868898232,-5.53208150395e-05,1793193552881276416
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,743,711,674.137831072,658,630,879,784,799.137831072,650,629,651,0.443468406717,0.00451740484937,0.0596233945212,0.999999829156,5.47900479658e-05,-0.000579415391479,-5.44459032554e-05,1793193552897943296
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,743,711,674,658,630.44518997,879,784,799,650,629,651,0.443335240925,0.00451708308232,0.0596223428021,0.999999828031,5.68463645923e-05,-0.000581283704356,-5.30662995041e-05,1793193552914609920
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,743,711,674,658,631,879,783.974989947,799,650,629,651,0.443192060226,0.00451633918157,0.0596202776927,0.999999825528,5.85324540046e-05,-0.000585546268014,-5.1507235558e-05,1793193552931276544
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,743,711,674,658,631,879,783.397844319,799,650,629,651,0.44301175929,0.0045175987633,0.0596172732194,0.999999820499,6.3545511199e-05,-0.000593739854795,-4.93587558212e-05,1793193552947943680
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764.818204458,742.818204458,711,674.181795542,658,631,879,783.181795542,799.181795542,650,629,651,0.442824765503,0.00451854932941,0.0596159582664,0.999999817708,6.80579844637e-05,-0.000598102060189,-4.71769130474e-05,1793193552964610560
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764.233030322,742.233030322,711,674.766969678,658,631,879,783.766969678,799.766969678,650,629,651,0.442622921246,0.0045188142334,0.0596183921207,0.999999820042,7.14597321347e-05,-0.000593962971207,-4.49210427072e-05,1793193552981277184
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764,742.348900589,711,674.651099411,658,631,879,784,800.348900589,650,629,651,0.442388366794,0.00452044823846,0.0596215042919,0.999999821493,7.81303158753e-05,-0.000590861377465,-4.23353840644e-05,1793193552997943552
+280,4.666666667,POSE2_TO_POSE3_RETREAT,764,742.928685361,711,674.071314639,658,631,879,784,800.928685361,650,629,651,0.442132166424,0.00452298824312,0.0596250653381,0.999999822303,8.69640448989e-05,-0.000588446343428,-3.95314885236e-05,1793193553014609920
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764.503071404,743,711.503071404,674,658.503071404,631,879.503071404,784,800.496928596,650,629,651,0.441844790898,0.00452411127718,0.0596292984192,0.999999825214,9.30250790241e-05,-0.000582743632145,-3.64444991287e-05,1793193553031276544
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,743,711.922403187,674,659.077596813,631.077596813,879.922403187,784,799.922403187,650,629,651,0.441547281289,0.0045252533983,0.0596345311949,0.999999828952,9.92720032011e-05,-0.000575446817449,-3.32040357647e-05,1793193553047943168
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,743,711.342068873,674,659.657931127,631.657931127,879.342068873,784,799.342068873,650,629,651,0.441212442636,0.00452780675376,0.0596456301714,0.999999836352,0.000109242772709,-0.000560809500026,-2.92264789134e-05,1793193553064610048
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,743,711,674,660.241258094,632,879,784,799.241258094,650,629,651,0.440868776871,0.0045287973085,0.0596614949868,0.999999847071,0.000118513284825,-0.000539646748738,-2.43592955516e-05,1793193553081276928
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,743,711,674,660.828881469,632,879,784,799.828881469,650,629,651,0.440512438369,0.00452754420817,0.0596842019394,0.999999862198,0.000126778462781,-0.00050911567522,-1.82149086976e-05,1793193553097943552
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,743,711,674,661,632,878.590925399,784,799.590925399,650,629,651,0.44011743787,0.00452997906823,0.0597116195169,0.99999988275,0.00013774290265,-0.000464054589121,-1.34109157591e-05,1793193553114610176
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,743,711,674,661,632,878.013784953,784,799.013784953,650,629,651,0.43970655333,0.00453392910474,0.059740972426,0.999999903441,0.000149816317587,-0.000413023934313,-9.15761574297e-06,1793193553131276800
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,742.43475446,711,674,662.130491081,632,878.56524554,784.56524554,799.56524554,649.43475446,629,650.43475446,0.439265529544,0.00453394994767,0.0597786637822,0.999999924892,0.000159561785158,-0.000353197273897,-2.91418104197e-06,1793193553147943680
+289,4.816666667,POSE2_TO_POSE3_RETREAT,764.856458269,742.143541731,710.856458269,674.143541731,663,632,878.856458269,784.856458269,800,649.143541731,629,650.143541731,0.438801609516,0.00453498061288,0.0598092614067,0.999999938582,0.000170730127134,-0.000306065168899,3.26588360784e-06,1793193553164610304
+290,4.833333333,POSE2_TO_POSE3_RETREAT,764.28051351,742.71948649,710.28051351,674.71948649,663,632,878.28051351,784.28051351,800,649.71948649,629,650.71948649,0.43827093886,0.00453934287758,0.0598178753328,0.999999938245,0.000186356310781,-0.000297822337033,9.10835688288e-06,1793193553181276672
+291,4.850000000,POSE2_TO_POSE3_RETREAT,764.301910639,743,710.603821278,674.698089361,663,632,878.301910639,784,800,650,629,651,0.437699999683,0.00454491157424,0.0598070344023,0.999999929401,0.000201648259729,-0.000316783247175,1.35607356608e-05,1793193553197943296
+292,4.866666667,POSE2_TO_POSE3_RETREAT,764.89048707,743,711.78097414,674.10951293,663,632,878.89048707,784,800,650,629,651,0.437090825264,0.00455162578512,0.0597777209808,0.99999991103,0.00021662285255,-0.000361574256709,1.66932128266e-05,1793193553214609920
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,742.528522536,711.528522536,674,663,632,879,784,799.528522536,649.528522536,629,651,0.436446901122,0.00455597985729,0.0597577689208,0.999999898474,0.000226958618099,-0.0003887812176,1.97865001619e-05,1793193553231277312
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,742,711,674,663.050267513,632,878.949732487,784,799.050267513,649,629,651,0.435796810898,0.00455975436461,0.0597430297776,0.999999889499,0.000236007335631,-0.000405931634794,2.28484389497e-05,1793193553247944704
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,742,711,674,663.62420136,632,878.37579864,784,799.62420136,649,629,651,0.43516523888,0.00456311173352,0.0597603031333,0.999999905351,0.000242695208373,-0.000360192470156,2.5677131783e-05,1793193553264611584
+296,4.933333333,POSE2_TO_POSE3_RETREAT,764.796694667,742.203305333,711,674,663.796694667,632,878.203305333,784,799.796694667,649,629,651,0.4345163244,0.00456565394439,0.0597750206895,0.999999920265,0.000231461785808,-0.000324574231501,2.33760779154e-05,1793193553281277952
+297,4.950000000,POSE2_TO_POSE3_RETREAT,764.207784665,742.792215335,711,674,663.207784665,632,878.792215335,784,799.207784665,649,629,651,0.433834516899,0.00456665006306,0.0597848907169,0.999999935115,0.000186237444033,-0.000308152129764,1.13455483009e-05,1793193553297943808
+298,4.966666667,POSE2_TO_POSE3_RETREAT,764,742.625094489,711,674,663,632,879,784.374905511,799.374905511,649,629,651,0.433094780871,0.00456657700873,0.0597852882516,0.999999935109,0.000177216537116,-0.000313420812446,1.19720538783e-05,1793193553314610176
+299,4.983333333,POSE2_TO_POSE3_RETREAT,764,742.045795303,711,674,663,632,879,784.954204697,799.954204697,649,629,651,0.432323462974,0.00456592105494,0.0597805215045,0.99999992753,0.000187933280133,-0.000330515033293,1.94990131078e-05,1793193553331276800
+300,5.000000000,POSE2_TO_POSE3_RETREAT,764.529554717,742.529554717,711,673.470445283,663,632,878.470445283,784.470445283,799.470445283,649,629,651,0.431550778035,0.00457367331515,0.0597904946837,0.999999932706,0.000200635015732,-0.000306335234312,2.22101260394e-05,1793193553347943424
+301,5.016666667,POSE2_TO_POSE3_RETREAT,764.895811779,743,711,673.104188221,663.104188221,632,878.104188221,784.104188221,799.104188221,649.104188221,629,651,0.43077562746,0.00458083805388,0.059803445606,0.999999938743,0.000209578886932,-0.000279281238799,2.43420509107e-05,1793193553364610048
+302,5.033333333,POSE2_TO_POSE3_RETREAT,764.32287694,743,711,673.67712306,663.67712306,632,878.67712306,784.67712306,799.67712306,649.67712306,629,651,0.429989912069,0.00458211232755,0.0598241010641,0.999999946926,0.000200849398085,-0.0002552358187,2.57280265196e-05,1793193553381276928
+303,5.050000000,POSE2_TO_POSE3_RETREAT,764,742.741486162,711,673.741486162,664,632,878.741486162,784.741486162,799.741486162,649.741486162,629,651,0.429165205304,0.00458434354982,0.0598162959726,0.999999941944,0.000194795672484,-0.000278309416808,2.66674194949e-05,1793193553397943552
+304,5.066666667,POSE2_TO_POSE3_RETREAT,764,742.149176918,711,673.149176918,664,632,878.149176918,784.149176918,799.149176918,649.149176918,629,651,0.428290152417,0.00458781039295,0.0597717423647,0.999999915562,0.000192196914527,-0.000362223512901,2.70301810083e-05,1793193553414610432
+305,5.083333333,POSE2_TO_POSE3_RETREAT,764,742,711,673.434198502,663.565801498,632,878,784.434198502,799,649.434198502,629,651,0.427442834273,0.00458884873573,0.0597575579559,0.999999913375,0.000183716818255,-0.000372605398835,2.57631992145e-05,1793193553431277056
+306,5.100000000,POSE2_TO_POSE3_RETREAT,764.014419029,742.014419029,711,674,663.028838058,632,878,785,799.014419029,650,629,651,0.42660416208,0.00458871292734,0.0597543905703,0.999999920735,0.000172943532493,-0.000357830410791,2.40298356958e-05,1793193553447943680
+307,5.116666667,POSE2_TO_POSE3_RETREAT,764.588915773,742.588915773,711,674,664.177831545,632,878,785,799.588915773,650,629,651,0.425738658019,0.00457472509464,0.0597820441927,0.999999934827,0.000150001318494,-0.000327407509779,2.54916179978e-05,1793193553464610048
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,743,711,673.835684991,664.835684991,632,878.164315009,784.835684991,800.164315009,650,629,651,0.424872366217,0.00455931113116,0.0598060584685,0.999999945849,0.000125486000987,-0.000302965647004,2.77052835009e-05,1793193553481276672
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,743,711,673.25801546,664.25801546,632,878.74198454,784.25801546,800.74198454,650,629,651,0.42400409281,0.00454030956192,0.0598209175206,0.999999951697,9.70133507589e-05,-0.000293569820922,3.1810403236e-05,1793193553497943296
+310,5.166666667,POSE2_TO_POSE3_RETREAT,764.673947288,742.673947288,711.326052712,673,663.673947288,632,878.673947288,784,800.673947288,650,629,651,0.423160272509,0.00453521403496,0.0598345856461,0.99999995911,8.27570522284e-05,-0.000271730000499,3.30686307075e-05,1793193553514610432
+311,5.183333333,POSE2_TO_POSE3_RETREAT,764.084714348,742.084714348,711.915285652,673,663.084714348,632,878.084714348,784,800.084714348,650,629,651,0.422336190082,0.00454134306016,0.0598472924898,0.999999967526,7.99757789702e-05,-0.000239845751652,3.20289296775e-05,1793193553531277056
+312,5.200000000,POSE2_TO_POSE3_RETREAT,764,742,711.503734349,673.496265651,663.496265651,632,878,784.496265651,800,650,629,651,0.421417506625,0.00454790289122,0.0598263958246,0.999999956528,8.29254563997e-05,-0.000281163090938,3.18434790962e-05,1793193553547943680
+313,5.216666667,POSE2_TO_POSE3_RETREAT,764,742.074834105,711,673.925165895,663.925165895,632.074834105,878,784.925165895,799.925165895,650,629,651,0.420484190408,0.00455382991067,0.0597963020715,0.999999937642,9.48122298536e-05,-0.000338707955887,3.16726198673e-05,1793193553564610304
+314,5.233333333,POSE2_TO_POSE3_RETREAT,764,742.646590759,711,673.353409241,663.353409241,632.646590759,878,784.353409241,799.353409241,650,629,651,0.419559187099,0.00455507451227,0.0597426041067,0.999999897579,0.000159654274405,-0.000422390137591,3.06461760029e-05,1793193553581276928
+315,5.250000000,POSE2_TO_POSE3_RETREAT,764.225441565,743,711,673,663.225441565,632.774558435,878,784.225441565,799.225441565,650,629,651,0.418683096668,0.00455639738959,0.0597195343989,0.999999878989,0.00019281682737,-0.000451643505969,2.9364850386e-05,1793193553597943552
+316,5.266666667,POSE2_TO_POSE3_RETREAT,764.815774804,743,711,673,663.815774804,632.184225196,878,784.815774804,799.815774804,650,629,651,0.417886174732,0.00455784696138,0.059746038487,0.99999990721,0.000174704097655,-0.000392800357292,2.76709824668e-05,1793193553614610176
+317,5.283333333,POSE2_TO_POSE3_RETREAT,764.601532973,742.601532973,711,673,664.398467027,632,878.398467027,784.601532973,799.601532973,650,629,651,0.417086195938,0.00455846017789,0.0597831579989,0.999999929145,0.000165102966579,-0.000336974706455,2.99921411398e-05,1793193553631276800
+318,5.300000000,POSE2_TO_POSE3_RETREAT,764.022307023,742.022307023,711,673,664.977692977,632,878.977692977,784.022307023,799.022307023,650,629,651,0.416284830491,0.00455869399359,0.0598250930459,0.999999946811,0.000159363002495,-0.000282517903849,3.41346598003e-05,1793193553647943424
+319,5.316666667,POSE2_TO_POSE3_RETREAT,763.44577847,742,711,673,663.89155694,632,878.44577847,784.55422153,799.55422153,650,629,651,0.415469316223,0.00455825798449,0.0598314854053,0.999999946568,0.000151091020029,-0.000287719790708,3.5389287528e-05,1793193553664610048
+320,5.333333333,POSE2_TO_POSE3_RETREAT,763.130594755,742.130594755,711,673,663.130594755,632,878,784.869405245,800,650,629,651,0.414658045485,0.00455823620965,0.05983604571,0.999999946813,0.000143485596608,-0.000290663738548,3.6053168448e-05,1793193553681276928
+321,5.350000000,POSE2_TO_POSE3_RETREAT,763.706806599,742.706806599,711,673,663.706806599,632,878,784.293193401,800,650,629,651,0.41386318839,0.00455971943787,0.0598392124136,0.999999951221,0.000138500675855,-0.000277749328971,3.50959949763e-05,1793193553697943808
+322,5.366666667,POSE2_TO_POSE3_RETREAT,764,742.711536187,711,673,664,632.288463813,878,784.288463813,800,650,629,651,0.413062316125,0.00456079605086,0.0598204576939,0.999999942616,0.000137736113569,-0.000307542308365,3.48624029475e-05,1793193553714610176
+323,5.383333333,POSE2_TO_POSE3_RETREAT,764,742.12423787,711,673,664,632.87576213,878,784.87576213,800,650,629,651,0.412255212484,0.00456145143013,0.059778993444,0.999999916584,0.000141343637486,-0.000381578068535,3.53784060791e-05,1793193553731276800
+324,5.400000000,POSE2_TO_POSE3_RETREAT,764,742,711,673,663.545858379,632.545858379,878,785,799.545858379,650,629,651,0.411507892983,0.0045621789458,0.0597482715589,0.99999989752,0.000151622415321,-0.000425298746126,3.30458763859e-05,1793193553747943680
+325,5.416666667,POSE2_TO_POSE3_RETREAT,764.030361457,742,711.030361457,673.030361457,663.030361457,632,878,784.969638543,799.030361457,650,629,651,0.410781199424,0.00456288965322,0.0597240494851,0.999999882507,0.000162816305846,-0.000455591833891,3.02013105011e-05,1793193553764610048
+326,5.433333333,POSE2_TO_POSE3_RETREAT,764.610806325,742,711.610806325,673.610806325,663.610806325,632,878,784.389193675,799.610806325,650,629,651,0.410137595516,0.00456294517847,0.059765371632,0.999999910946,0.000158161313542,-0.000389966692006,3.19263801239e-05,1793193553781276672
+327,5.450000000,POSE2_TO_POSE3_RETREAT,764.811191983,742,711.811191983,673.622383966,664,632,877.811191983,784,800,650,629,651,0.409500761745,0.00456196648664,0.0598049516722,0.999999934157,0.000152822996141,-0.000327403908431,3.37350188598e-05,1793193553797943552
+328,5.466666667,POSE2_TO_POSE3_RETREAT,764.238162021,742,711.238162021,672.476324041,664,632,877.238162021,784,800,650,629,651,0.408877705001,0.00455888317606,0.0598409865547,0.99999995195,0.000146094120716,-0.000271072975745,3.5713720172e-05,1793193553814610432
+329,5.483333333,POSE2_TO_POSE3_RETREAT,764,742,711,672.346355633,663.653644367,632.346355633,877.346355633,784,800.346355633,650,629,651,0.408271041071,0.00455778428269,0.059852934249,0.999999958136,0.000140404681882,-0.000250420727952,3.60971136678e-05,1793193553831277568
+330,5.500000000,POSE2_TO_POSE3_RETREAT,764,742,711,672.939043432,663.060956568,632.939043432,877.939043432,784,800.939043432,650,629,651,0.407676035938,0.00455809673019,0.059847750852,0.999999957652,0.000135454503107,-0.000255143580799,3.53459055754e-05,1793193553847944704
+331,5.516666667,POSE2_TO_POSE3_RETREAT,764,742,711,673,663,633,878,784.518618305,800.481381695,650,629,651,0.407107226349,0.00455691833058,0.0598337166207,0.999999951805,0.000136675097938,-0.000276617169572,3.45414595235e-05,1793193553864611072
+332,5.533333333,POSE2_TO_POSE3_RETREAT,764,742.096009165,711,673,663,633,878,784.903990835,799.903990835,650,629,651,0.406553399037,0.00455553410604,0.0598219783675,0.999999946218,0.000141278238941,-0.000294043965922,3.38102733535e-05,1793193553881277184
+333,5.550000000,POSE2_TO_POSE3_RETREAT,764,742.670010696,711,673,663,633,878,784.329989304,799.329989304,650,629,651,0.406059211896,0.00455397604181,0.0598267224037,0.999999947072,0.000159199871224,-0.000281763075975,3.34742047071e-05,1793193553897943808
+334,5.566666667,POSE2_TO_POSE3_RETREAT,764,742.749695498,711,673,663.250304502,633,878,784,799.250304502,650,629,651,0.405575636272,0.00455278198813,0.0598276628505,0.999999947443,0.000165249444474,-0.000276981687413,3.2985285248e-05,1793193553914610432
+335,5.583333333,POSE2_TO_POSE3_RETREAT,764,742.160892398,711,673,663.839107602,633,878,784,799.839107602,650,629,651,0.405106411143,0.00455208020324,0.0598234595235,0.99999994757,0.00015524387037,-0.000282342229768,3.2289658459e-05,1793193553931277056
+336,5.600000000,POSE2_TO_POSE3_RETREAT,764,742,711,672.578595789,663.578595789,633,878,784,800,649.578595789,629,651,0.40465255526,0.00455035773871,0.0598046506219,0.999999939431,0.000146609861824,-0.000314083239546,3.15546004885e-05,1793193553947943936
+337,5.616666667,POSE2_TO_POSE3_RETREAT,764,742,711,672.001250151,662.998749849,633,878,784,800,649.001250151,629,651,0.404204635554,0.00454825357223,0.059780369515,0.999999926672,0.000138495811767,-0.000355705530155,3.08049017313e-05,1793193553964611328
+338,5.633333333,POSE2_TO_POSE3_RETREAT,764,742,711,672.579108748,662.420891252,633,878,784,800,649.579108748,629,651,0.403829336189,0.00454710365706,0.0597650471973,0.999999918603,0.000132345325646,-0.000379961067502,3.01406509829e-05,1793193553981277184
+339,5.650000000,POSE2_TO_POSE3_RETREAT,764,742.155518533,711,672.844481467,662.155518533,633,878,784,799.844481467,650,629,651,0.403480476574,0.00454627103945,0.0597596918052,0.999999917026,0.000126645412416,-0.000386063216503,2.94034967163e-05,1793193553997943552
+340,5.666666667,POSE2_TO_POSE3_RETREAT,764,742.728043609,711,672.271956391,662.728043609,633,878,784,799.271956391,650,629,651,0.403202512275,0.00454628922148,0.0597810616695,0.999999933142,0.000122153661553,-0.000343488974777,2.84708592171e-05,1793193554014610176
+341,5.683333333,POSE2_TO_POSE3_RETREAT,764,742.688252893,711,672,663,633,877.688252893,784,799,650,629,651,0.402941006587,0.00454589886483,0.0598044893536,0.999999946986,0.00011784805319,-0.000302221131367,2.83265932365e-05,1793193554031276800
+342,5.700000000,POSE2_TO_POSE3_RETREAT,764,742.094435128,711,672,663,633,877.094435128,784,799,650,629,651,0.402694392766,0.00454513885992,0.059829778964,0.99999995876,0.000113710867953,-0.000262135327597,2.88956506073e-05,1793193554047943168
+343,5.716666667,POSE2_TO_POSE3_RETREAT,764,742,711,672,663,632.515660077,877,784.484339923,799,650,629,651,0.402460509683,0.00454409894142,0.0598372063266,0.999999961119,0.000112027306996,-0.000253690496672,2.91965327476e-05,1793193554064610048
+344,5.733333333,POSE2_TO_POSE3_RETREAT,764,741.939782872,711,672.060217128,662.939782872,632,877.060217128,784.939782872,799.060217128,650,629,651,0.402232196697,0.00454303060973,0.0598402191961,0.999999961444,0.000110846361344,-0.000252906248103,2.93734654377e-05,1793193554081276672
+345,5.750000000,POSE2_TO_POSE3_RETREAT,764,741.364360915,711,672.635639085,662.364360915,632,877.635639085,784.364360915,799.635639085,650,629,651,0.402030942801,0.00454217206171,0.059834362495,0.999999958029,0.000109995889188,-0.000266471384595,2.89238022272e-05,1793193554097943296
+346,5.766666667,POSE2_TO_POSE3_RETREAT,764,741.215872524,711,673,662.215872524,632.215872524,877.784127476,784.215872524,799.784127476,650,629,651,0.401845318331,0.00454058832092,0.0598298694848,0.999999955164,0.000109456905976,-0.000277256045146,2.86423956335e-05,1793193554114610176
+347,5.783333333,POSE2_TO_POSE3_RETREAT,764,741.804412105,711,673,662.804412105,632.804412105,877.195587895,784.804412105,799.195587895,650,629,651,0.401686675417,0.00453775265875,0.0598277306547,0.999999953487,0.000109455655364,-0.000283240687341,2.86514554162e-05,1793193554131277056
+348,5.800000000,POSE2_TO_POSE3_RETREAT,764.386423076,742,711,672.613576924,663,633,877.386423076,784.613576924,799.386423076,650,629,651,0.401552984325,0.00453553168514,0.0598272918836,0.999999953036,0.000110003590177,-0.00028464439126,2.8379625559e-05,1793193554147943680
+349,5.816666667,POSE2_TO_POSE3_RETREAT,764.965184547,742,711,672.034815453,663,633,877.965184547,784.034815453,799.965184547,650,629,651,0.401431712751,0.00453361666664,0.0598276993005,0.999999953206,0.000110824876789,-0.000283767977446,2.79679855676e-05,1793193554164610304
+350,5.833333333,POSE2_TO_POSE3_RETREAT,764.457457574,742,711,672,663,632.457457574,878,784,799.457457574,650,628.457457574,651,0.401336311875,0.0045346947028,0.0598294183951,0.9999999528,0.000114295224986,-0.000283831953512,2.78470497426e-05,1793193554181276672
+351,5.850000000,POSE2_TO_POSE3_RETREAT,764,742,711,672,663,632.118401351,877.881598649,784,799,650,628.118401351,651,0.401247663533,0.00453529167508,0.0598303331412,0.999999952348,0.000116781739165,-0.00028443669225,2.75939221569e-05,1793193554197943296
+352,5.866666667,POSE2_TO_POSE3_RETREAT,764,742,711,672,663,632.688880188,877.311119812,784,799,650,628.688880188,651,0.401178475158,0.00453332040579,0.0598278561888,0.999999951896,0.000114864412755,-0.000286876343324,2.67650194143e-05,1793193554214610176
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764,742,711,672,663,633,877.27062924,784,799.27062924,650,628.72937076,651,0.401117919049,0.00453195167315,0.0598251335853,0.999999951167,0.000113661979981,-0.000289929105386,2.62365521856e-05,1793193554231277056
+354,5.900000000,POSE2_TO_POSE3_RETREAT,764,742,711,672,663,633,877.865897692,784,799.865897692,650,628.134102308,651,0.401067717966,0.00453130572662,0.0598221163056,0.999999950105,0.000113317113583,-0.000293717337965,2.60684789833e-05,1793193554247943680
+355,5.916666667,POSE2_TO_POSE3_RETREAT,764,742,711,672,663,632.551293826,878,784,799.551293826,650,628.448706174,651,0.401031735743,0.00453154598079,0.0598221544456,0.999999949917,0.000113163480824,-0.000294433561782,2.5858901446e-05,1793193554264610304
+356,5.933333333,POSE2_TO_POSE3_RETREAT,764,742,711,672,663,632,878,784.027677843,799,650,629,651,0.401000427853,0.0045319970208,0.0598229763531,0.999999949943,0.000113084950688,-0.000294394535767,2.56500663724e-05,1793193554281277184
+357,5.950000000,POSE2_TO_POSE3_RETREAT,764,742,711,672,663,632,878,784.602428021,799,650,629,651,0.400979786257,0.00453152081,0.0598217284624,0.999999949112,0.000113391730819,-0.000297084330596,2.56944595146e-05,1793193554297943808
+358,5.966666667,POSE2_TO_POSE3_RETREAT,764,742,711,672.181167643,663.181167643,632,878,784.818832357,799.181167643,650,629,651,0.400964686388,0.00453043096563,0.0598220121482,0.99999994938,0.000112129962174,-0.000296665449879,2.56220281356e-05,1793193554314610176
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764,742,711,672.76885914,663.76885914,632,878,784.23114086,799.76885914,650,629,651,0.400962021659,0.00452796418289,0.0598257325541,0.99999995208,0.000107348511451,-0.000289270981157,2.52874530573e-05,1793193554331276800
+360,6.000000000,POSE2_TO_POSE3_RETREAT,764,741.648817363,711,673,663.648817363,632.351182637,877.648817363,784.351182637,799.648817363,650,629,651,0.400958529581,0.00452754507829,0.059827625988,0.99999995323,0.000105948832104,-0.000285783260207,2.5360699013e-05,1793193554347943424
+361,6.016666667,POSE2_TO_POSE3_RETREAT,764,741.069973721,711,673,663.069973721,632.930026279,877.069973721,784.930026279,799.069973721,650,629,651,0.400954501159,0.00452845342078,0.059828335052,0.999999953409,0.000106741451659,-0.000284828164115,2.56983228902e-05,1793193554364610048
+362,6.033333333,POSE2_TO_POSE3_RETREAT,764.50856448,741.50856448,711,672.49143552,663,633,877,784.49143552,799,650,629,651,0.400950654501,0.00452731379061,0.0598288063696,0.999999953334,0.000105850686316,-0.000285402085127,2.5947968871e-05,1793193554381276672
+363,6.050000000,POSE2_TO_POSE3_RETREAT,764.914239245,742,711,672,663,633,877.17152151,784,799.085760755,650,629,651,0.400947325186,0.00452658639305,0.059829148733,0.999999953196,0.000105604691824,-0.000285968753952,2.60250595192e-05,1793193554397943296
+364,6.066666667,POSE2_TO_POSE3_RETREAT,764.34438049,742,711,672,663,633,878.311239021,784,799.65561951,650,629,651,0.400946775059,0.00452977557844,0.0598289477208,0.999999952899,0.000110304908074,-0.000285307665298,2.51964069143e-05,1793193554414610176
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764,742,711,672,663,633,878.765689131,784,799.765689131,650.234310869,629,651,0.400946529619,0.00453054628267,0.0598289819138,0.999999952949,0.00011177156604,-0.000284587737992,2.48722814235e-05,1793193554431277056
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764,742,711,672,663,633,878.173507478,784,799.173507478,650.826492522,629,651,0.40094674954,0.00452762315998,0.0598293753437,0.99999995355,0.000108299502604,-0.000283777944501,2.53187370256e-05,1793193554447943680
+367,6.116666667,POSE2_TO_POSE3_RETREAT,764,742,711,672,663,633,878,784,799,650.589693476,628.589693476,651,0.400946986957,0.00452754593206,0.0598301412753,0.999999953842,0.000107035964968,-0.00028322949398,2.5295420817e-05,1793193554464610304
+368,6.133333333,POSE2_TO_POSE3_RETREAT,764,742,711,672,663,633,878,784,799,650.009347219,628.009347219,651,0.400947231625,0.00452864810341,0.0598310615797,0.99999995401,0.000106687687381,-0.000282789349553,2.50774211889e-05,1793193554481276928
+369,6.150000000,POSE2_TO_POSE3_RETREAT,764,742,711,672,663,632.431208547,878.568791453,784,799,650,628.568791453,651,0.400948268467,0.00452767243464,0.059832465485,0.999999954738,0.000106116010755,-0.000280408519499,2.51904431397e-05,1793193554497943552
+370,6.166666667,POSE2_TO_POSE3_RETREAT,764,742,711,672,663,632.145480307,878.854519693,784,799.145480307,650,629,651,0.400948731594,0.0045267953786,0.0598331258949,0.999999955149,0.000105911110566,-0.000279010979515,2.52713579806e-05,1793193554514610176
+371,6.183333333,POSE2_TO_POSE3_RETREAT,764,742,711,672,663,632.71801919,878.28198081,784,799.71801919,650,629,651,0.400947472507,0.00452630764989,0.059831580529,0.999999954613,0.000106793620814,-0.000280593153513,2.52421151901e-05,1793193554531276800
+372,6.200000000,POSE2_TO_POSE3_RETREAT,764,742,711,672,663.299542787,633,878,784,799.700457213,650,629,651,0.400947234323,0.00452627300737,0.0598314281952,0.999999954617,0.000106983230276,-0.000280504751284,2.52512117623e-05,1793193554547943680
+373,6.216666667,POSE2_TO_POSE3_RETREAT,764,742,711,672,663.88978594,633,878,784,799.11021406,650,629,651,0.400947986902,0.00452667807601,0.0598326277712,0.999999955145,0.000106500393298,-0.000278795087965,2.52975159262e-05,1793193554564610560
+374,6.233333333,POSE2_TO_POSE3_RETREAT,764,742,711,672,663.528755967,632.528755967,878,784,799,650.471244033,629,651,0.400946368982,0.00452599273861,0.0598323712632,0.999999955197,0.000103805002077,-0.000279634381225,2.52083290079e-05,1793193554581276928
+375,6.250000000,POSE2_TO_POSE3_RETREAT,764,742,711,672.0502739,663,632,877.9497261,784,799.0502739,650.9497261,629,651,0.400944429916,0.00452519542633,0.0598318295106,0.999999955126,0.000101115907945,-0.000280880947274,2.510023521e-05,1793193554597943808
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764,742,711,672.625014578,663,632,877.374985422,784,799.625014578,650.374985422,629,651,0.400944818465,0.00452584172934,0.0598317996683,0.999999955022,0.000103792051392,-0.000280270956787,2.51194317387e-05,1793193554614610432
+377,6.283333333,POSE2_TO_POSE3_RETREAT,764,742,711,672.800324349,663,632.199675651,877.199675651,784,800,650,629,651,0.400944819797,0.00452613990616,0.059831519271,0.999999954852,0.00010519105447,-0.000280362791741,2.50367964045e-05,1793193554631277056
+378,6.300000000,POSE2_TO_POSE3_RETREAT,764,742,711,672.225812748,663,632.774187252,877.774187252,784,800,650,629,651,0.400944094237,0.00452578457202,0.0598307685261,0.999999954568,0.000104192578676,-0.000281772110382,2.47629998397e-05,1793193554647943680
+379,6.316666667,POSE2_TO_POSE3_RETREAT,764,742,711,672,663,633,878,784.359081629,799.640918371,650,629,651,0.400944837999,0.00452671311041,0.0598317331181,0.999999954822,0.000104133024398,-0.000280904008684,2.46210114517e-05,1793193554664610304
+380,6.333333333,POSE2_TO_POSE3_RETREAT,764,742,711,672,663,633,878,784.950699731,799.049300269,650,629,651,0.400946533275,0.00452847306752,0.0598338085395,0.999999955421,0.000104681503205,-0.000278561079907,2.45643802911e-05,1793193554681276928
+381,6.350000000,POSE2_TO_POSE3_RETREAT,764.530305595,742,711,672.530305595,663.530305595,633,878,784.469694405,799,650,629,651,0.400946085499,0.00452768035012,0.0598331310123,0.999999955509,0.000104133024023,-0.00027846186112,2.44443872606e-05,1793193554697943552
+382,6.366666667,POSE2_TO_POSE3_RETREAT,764.891876573,742,711,673,664,633,878,784,799,650,629,651,0.400945693124,0.00452682355605,0.0598325519169,0.999999955556,0.000103627710579,-0.000278484797589,2.43995064949e-05,1793193554714610432
+383,6.383333333,POSE2_TO_POSE3_RETREAT,764.317063207,742,711,673,664,633,878,784,799,650,629,651,0.400946380761,0.00452669180196,0.0598334778749,0.999999955629,0.000103739133904,-0.000278154607938,2.47036923738e-05,1793193554731277312
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764,742,711,673,663.734780544,632.734780544,877.734780544,784.265219456,799.265219456,650,629,651,0.400946522731,0.00452695753986,0.0598336242414,0.999999955433,0.000104822661413,-0.00027844796054,2.47449825433e-05,1793193554747943680
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764,742,711,673,663.143309684,632.143309684,877.143309684,784.856690316,799.856690316,650,629,651,0.400945993467,0.00452771224007,0.0598328116181,0.999999954903,0.000107101992443,-0.000279508344064,2.44628798328e-05,1793193554764610048
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764.438275339,742,711,672.561724661,663,632.438275339,877.438275339,785,800,650,629,651,0.400945067829,0.00452645512527,0.0598324597152,0.999999954872,0.000105027423409,-0.000280398985628,2.45350984595e-05,1793193554781276672
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764.983352683,742.016647317,711,672,663,632.983352683,878,785,799.983352683,650,629,651,0.400944082198,0.00452465258825,0.0598322878777,0.999999955001,0.00010170831376,-0.000281145174814,2.47014698151e-05,1793193554797943552
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764.406722773,742.593277227,711,672,663,632.406722773,878,785,799.406722773,650,629,651,0.400945342122,0.00452614324821,0.0598332173306,0.999999955484,0.000103358120201,-0.000278858107374,2.42236891033e-05,1793193554814610176
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764,742.831165763,711,672,663,632,877.831165763,784.831165763,799.168834237,650,629,651,0.400946278984,0.00452710134177,0.0598339912839,0.999999955836,0.000104271046681,-0.000277277403632,2.39309061552e-05,1793193554831276800
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764,742.258177087,711,672,663,632,877.258177087,784.258177087,799.741822913,650,629,651,0.400946442501,0.00452678458081,0.0598343930027,0.99999995589,0.000103420033996,-0.000277387589446,2.40809698331e-05,1793193554847943680
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_09/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_09/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ca6a0bce24a833d886d806022e94c732f3ff2348
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_09/depth_01/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
+0,0.000000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+1,0.016666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+2,0.033333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+3,0.050000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+4,0.066666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+5,0.083333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+6,0.100000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+7,0.116666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+8,0.133333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+9,0.150000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+10,0.166666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+11,0.183333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+12,0.200000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+13,0.216666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+14,0.233333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+15,0.250000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+16,0.266666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+17,0.283333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+18,0.300000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+19,0.316666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+20,0.333333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+21,0.350000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+22,0.366666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+23,0.383333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+24,0.400000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+25,0.416666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+26,0.433333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+27,0.450000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+28,0.466666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+29,0.483333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+30,0.500000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+31,0.516666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+32,0.533333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+33,0.550000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+34,0.566666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+35,0.583333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+36,0.600000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+37,0.616666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+38,0.633333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+39,0.650000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+40,0.666666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+41,0.683333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+42,0.700000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+43,0.716666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+44,0.733333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+45,0.750000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+46,0.766666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+47,0.783333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+48,0.800000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+49,0.816666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+50,0.833333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+51,0.850000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+52,0.866666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+53,0.883333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+54,0.900000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+55,0.916666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+56,0.933333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+57,0.950000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+58,0.966666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+59,0.983333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+60,1.000000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+61,1.016666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+62,1.033333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+63,1.050000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+64,1.066666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+65,1.083333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+66,1.100000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+67,1.116666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+68,1.133333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+69,1.150000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+70,1.166666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+71,1.183333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+72,1.200000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+73,1.216666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+74,1.233333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+75,1.250000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+76,1.266666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+77,1.283333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+78,1.300000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+79,1.316666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+80,1.333333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+81,1.350000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+82,1.366666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+83,1.383333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+84,1.400000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+85,1.416666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+86,1.433333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+87,1.450000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+88,1.466666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+89,1.483333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+90,1.500000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+91,1.516666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+92,1.533333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+93,1.550000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+94,1.566666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+95,1.583333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+96,1.600000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+97,1.616666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+98,1.633333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+99,1.650000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+100,1.666666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+101,1.683333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+102,1.700000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+103,1.716666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+104,1.733333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+105,1.750000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+106,1.766666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+107,1.783333333,pose1_to_pose2_press,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+108,1.800000000,pose1_to_pose2_press,0.575709253127,0.0100546653097,1.05002893337,0.54627998079,0.0187273861365,1.04969822664
+109,1.816666667,pose1_to_pose2_press,0.575709429393,0.0100546532969,1.05002902921,0.546280157776,0.0187273766008,1.04969832324
+110,1.833333333,pose1_to_pose2_press,0.575709894527,0.0100545600784,1.05002915135,0.546280624256,0.0187272877353,1.0496984398
+111,1.850000000,pose1_to_pose2_press,0.575711443421,0.0100546366252,1.05002916607,0.546282173398,0.018727365103,1.04969845402
+112,1.866666667,pose1_to_pose2_press,0.575714823258,0.0100546933829,1.05002903983,0.546285552703,0.0187274202868,1.04969833386
+113,1.883333333,pose1_to_pose2_press,0.575722498217,0.0100545306039,1.05002915713,0.546293228436,0.0187272600203,1.04969844807
+114,1.900000000,pose1_to_pose2_press,0.575735659952,0.0100545914362,1.05002923659,0.546306389273,0.0187273178383,1.04969852833
+115,1.916666667,pose1_to_pose2_press,0.575755513004,0.0100546033516,1.05002907621,0.54632624375,0.0187273345407,1.04969836661
+116,1.933333333,pose1_to_pose2_press,0.575782832925,0.0100544586762,1.05002904004,0.546353563665,0.0187271898308,1.04969832994
+117,1.950000000,pose1_to_pose2_press,0.575817786493,0.0100546002739,1.05002915736,0.546388516414,0.0187273285426,1.0496984445
+118,1.966666667,pose1_to_pose2_press,0.575860461236,0.010054645429,1.05002901635,0.546431189427,0.0187273682766,1.04969831518
+119,1.983333333,pose1_to_pose2_press,0.575910749933,0.0100546402271,1.05002912505,0.54648147972,0.0187273683806,1.04969842097
+120,2.000000000,pose1_to_pose2_press,0.57597079524,0.0100546717584,1.05002908257,0.546541523949,0.0187273957743,1.04969836583
+121,2.016666667,pose1_to_pose2_press,0.576042548112,0.0100546222713,1.05002916375,0.546613276485,0.0187273453918,1.04969845332
+122,2.033333333,pose1_to_pose2_press,0.576128616157,0.01005471991,1.05002923982,0.546699346149,0.0187274488918,1.04969853896
+123,2.050000000,pose1_to_pose2_press,0.576229476308,0.0100546627449,1.05002916707,0.546800205246,0.0187273877811,1.04969845655
+124,2.066666667,pose1_to_pose2_press,0.576344999915,0.0100544636978,1.05002903772,0.546915731083,0.0187271964198,1.04969833025
+125,2.083333333,pose1_to_pose2_press,0.576477089931,0.0100546864357,1.05002927618,0.547047818508,0.0187274102202,1.04969856486
+126,2.100000000,pose1_to_pose2_press,0.576624676936,0.0100546373352,1.05002894616,0.547195404487,0.0187273577156,1.04969823685
+127,2.116666667,pose1_to_pose2_press,0.576789728262,0.01005450916,1.05002911865,0.547360458456,0.0187272386797,1.04969841379
+128,2.133333333,pose1_to_pose2_press,0.576974247461,0.0100545525211,1.05002892474,0.547544977821,0.0187272826149,1.04969822003
+129,2.150000000,pose1_to_pose2_press,0.577179955544,0.0100545059086,1.05002912036,0.547750687593,0.0187272415665,1.0496984112
+130,2.166666667,pose1_to_pose2_press,0.577407554691,0.0100546525045,1.05002904879,0.54797828501,0.0187273823384,1.04969834086
+131,2.183333333,pose1_to_pose2_press,0.577655968125,0.0100546871326,1.05002914425,0.548226696686,0.0187274108714,1.0496984328
+132,2.200000000,pose1_to_pose2_press,0.57792556948,0.0100545349043,1.05002898446,0.548496300683,0.0187272675842,1.04969827234
+133,2.216666667,pose1_to_pose2_press,0.578213629258,0.0100544116568,1.05002921401,0.548784362497,0.0187271511004,1.04969849802
+134,2.233333333,pose1_to_pose2_press,0.578519992923,0.0100545910015,1.0500290847,0.549090721861,0.0187273163035,1.04969838054
+135,2.250000000,pose1_to_pose2_press,0.578846094255,0.0100545205296,1.05002917358,0.549416824141,0.018727248973,1.04969846737
+136,2.266666667,pose1_to_pose2_press,0.579193000263,0.0100546007572,1.05002922248,0.54976372968,0.0187273273483,1.04969850943
+137,2.283333333,pose1_to_pose2_press,0.579567830253,0.0100546791235,1.05002906005,0.550138559015,0.0187274033982,1.04969834446
+138,2.300000000,pose1_to_pose2_press,0.579974138884,0.01005463755,1.05002902479,0.550544868045,0.018727363113,1.04969830746
+139,2.316666667,pose1_to_pose2_press,0.580422857622,0.0100545831411,1.05002908389,0.550993586641,0.0187273081816,1.04969836548
+140,2.333333333,pose1_to_pose2_press,0.580904528018,0.0100545970425,1.05002894714,0.551475256682,0.0187273214357,1.04969824322
+141,2.350000000,pose1_to_pose2_press,0.581414998275,0.0100547083364,1.05002895825,0.551985725321,0.0187274273606,1.04969825749
+142,2.366666667,pose1_to_pose2_press,0.581942322121,0.0100545412329,1.05002895913,0.552513050865,0.0187272657414,1.049698251
+143,2.383333333,pose1_to_pose2_press,0.582481422276,0.0100545759926,1.05002891543,0.553052152939,0.0187273070075,1.04969820708
+144,2.400000000,pose1_to_pose2_press,0.583026562413,0.0100546234459,1.05002914106,0.553597293205,0.0187273547683,1.0496984293
+145,2.416666667,pose1_to_pose2_press,0.583588949032,0.010054634077,1.05002902745,0.554159678111,0.0187273595368,1.0496983144
+146,2.433333333,pose1_to_pose2_press,0.584183493972,0.0100545288041,1.05002900102,0.554754223736,0.0187272566149,1.0496982886
+147,2.450000000,pose1_to_pose2_press,0.584806002245,0.0100545526206,1.05002922256,0.555376733268,0.0187272848185,1.0496985131
+148,2.466666667,pose1_to_pose2_press,0.585453862413,0.0100546340929,1.05002923088,0.55602459305,0.0187273648994,1.04969851926
+149,2.483333333,pose1_to_pose2_press,0.586112307788,0.0100545698048,1.05002903254,0.556683038353,0.0187273005502,1.0496983258
+150,2.500000000,pose1_to_pose2_press,0.586776574508,0.0100545142155,1.05002894955,0.557347305091,0.0187272451472,1.04969824607
+151,2.516666667,pose1_to_pose2_press,0.587448579757,0.0100545450371,1.05002899395,0.558019310039,0.0187272747216,1.04969828451
+152,2.533333333,pose1_to_pose2_press,0.588144859667,0.0100546704193,1.0500289412,0.558715588673,0.0187273960069,1.04969823777
+153,2.550000000,pose1_to_pose2_press,0.588879462785,0.010054627091,1.05002891112,0.559450191814,0.0187273528845,1.04969821106
+154,2.566666667,pose1_to_pose2_press,0.589644964283,0.0100545357043,1.05002892317,0.560215695172,0.0187272676487,1.04969821898
+155,2.583333333,pose1_to_pose2_press,0.59043319509,0.0100545277639,1.05002905829,0.561003926055,0.0187272597783,1.04969834916
+156,2.600000000,pose1_to_pose2_press,0.591226747599,0.0100545789064,1.05002901736,0.561797477571,0.0187273075606,1.04969830848
+157,2.616666667,pose1_to_pose2_press,0.59201448842,0.0100545773438,1.05002911154,0.562585219099,0.018727308725,1.04969841129
+158,2.633333333,pose1_to_pose2_press,0.592788178229,0.0100545326611,1.0500291525,0.563358909245,0.0187272652693,1.04969845441
+159,2.650000000,pose1_to_pose2_press,0.593559939026,0.0100545364469,1.05002912892,0.564130668656,0.0187272640527,1.04969842311
+160,2.666666667,pose1_to_pose2_press,0.594332558953,0.0100546439342,1.05002896435,0.564903288076,0.0187273699644,1.0496982623
+161,2.683333333,pose1_to_pose2_press,0.59511569676,0.0100546625468,1.05002910002,0.56568642692,0.0187273920049,1.04969839558
+162,2.700000000,pose1_to_pose2_press,0.595910049227,0.0100546841619,1.05002903399,0.566480777307,0.0187274063787,1.04969832479
+163,2.716666667,pose1_to_pose2_press,0.596723225667,0.0100545291636,1.05002901252,0.567293956179,0.0187272596026,1.04969830261
+164,2.733333333,pose1_to_pose2_press,0.597552142201,0.0100545270824,1.05002890749,0.568122873058,0.0187272588384,1.04969820145
+165,2.750000000,pose1_to_pose2_press,0.598391319169,0.0100546139331,1.05002896184,0.568962049519,0.0187273441117,1.04969825965
+166,2.766666667,pose1_to_pose2_press,0.599229505873,0.0100545651307,1.05002907934,0.569800236323,0.0187272954328,1.04969837164
+167,2.783333333,pose1_to_pose2_press,0.600061941382,0.0100545303511,1.0500290299,0.570632671831,0.0187272607026,1.0496983236
+168,2.800000000,pose1_to_pose2_press,0.600868511072,0.0100545328639,1.05002932645,0.571439242542,0.0187272665662,1.04969861722
+169,2.816666667,pose1_to_pose2_press,0.60165216552,0.010054512971,1.05002936934,0.572222896158,0.0187272434981,1.04969865094
+170,2.833333333,pose1_to_pose2_press,0.602414445383,0.0100545436517,1.05002914925,0.572985175526,0.0187272726443,1.04969843477
+171,2.850000000,pose1_to_pose2_press,0.603164774783,0.0100543948413,1.0500291038,0.573735506681,0.0187271299946,1.04969839474
+172,2.866666667,pose1_to_pose2_press,0.603909323412,0.0100546685929,1.0500292326,0.574480053681,0.0187273981438,1.04969852167
+173,2.883333333,pose1_to_pose2_press,0.604661637992,0.0100546344139,1.05002907913,0.575232367512,0.0187273613576,1.04969836653
+174,2.900000000,pose1_to_pose2_press,0.60542308117,0.0100545262826,1.05002915268,0.575993811529,0.0187272559657,1.04969843738
+175,2.916666667,pose1_to_pose2_press,0.606171948573,0.0100546044699,1.05002905804,0.57674267768,0.0187273302752,1.04969835254
+176,2.933333333,pose1_to_pose2_press,0.606900380852,0.0100545333074,1.05002919285,0.577471111752,0.0187272650856,1.04969848453
+177,2.950000000,pose1_to_pose2_press,0.607600005272,0.0100545259234,1.0500293131,0.578170736153,0.0187272573012,1.04969859601
+178,2.966666667,pose1_to_pose2_press,0.608263158825,0.0100545007338,1.05002926809,0.578833890751,0.0187272356826,1.04969855181
+179,2.983333333,pose1_to_pose2_press,0.608889661664,0.0100543666267,1.05002915369,0.579460394314,0.0187271039659,1.04969843576
+180,3.000000000,pose1_to_pose2_press,0.609503089477,0.0100543001283,1.05002903006,0.580073822255,0.0187270379789,1.04969831414
+181,3.016666667,pose1_to_pose2_press,0.610102482419,0.0100545350345,1.05002896173,0.580673212604,0.0187272645192,1.04969825732
+182,3.033333333,pose1_to_pose2_press,0.610681171453,0.0100545678323,1.05002912032,0.581251903687,0.0187273040996,1.04969841155
+183,3.050000000,pose1_to_pose2_press,0.611237748585,0.0100545188662,1.05002912364,0.58180848032,0.0187272529718,1.04969840256
+184,3.066666667,pose1_to_pose2_press,0.611769601796,0.0100544458379,1.050029213,0.582340333854,0.0187271810462,1.04969849215
+185,3.083333333,pose1_to_pose2_press,0.61227750742,0.0100545356704,1.05002916714,0.58284823908,0.0187272699095,1.04969845632
+186,3.100000000,pose1_to_pose2_press,0.612764139764,0.0100544037915,1.05002919461,0.583334872808,0.0187271425004,1.04969847713
+187,3.116666667,pose1_to_pose2_press,0.613230664468,0.0100545405698,1.05002911043,0.583801395515,0.0187272728997,1.04969839952
+188,3.133333333,pose1_to_pose2_press,0.613674683707,0.010054546496,1.05002892463,0.584245413652,0.0187272756419,1.04969822131
+189,3.150000000,pose1_to_pose2_press,0.614087143384,0.010054505657,1.05002900683,0.584657874957,0.0187272404581,1.04969829871
+190,3.166666667,pose1_to_pose2_press,0.614464948639,0.0100544346915,1.05002899181,0.585035679526,0.0187271674634,1.04969828232
+191,3.183333333,pose1_to_pose2_press,0.614805007515,0.0100545848498,1.05002925649,0.585375736901,0.0187273129634,1.04969854911
+192,3.200000000,pose1_to_pose2_press,0.615116740965,0.0100546029349,1.05002916291,0.585687470019,0.0187273300896,1.04969845216
+193,3.216666667,pose1_to_pose2_press,0.615405309779,0.010054479501,1.05002939188,0.585976041591,0.0187272161712,1.04969867829
+194,3.233333333,pose1_to_pose2_press,0.615677851268,0.0100545368092,1.0500293173,0.586248581806,0.0187272696002,1.04969860385
+195,3.250000000,pose1_to_pose2_press,0.615937736765,0.0100545170396,1.05002920478,0.586508466506,0.018727247437,1.04969849175
+196,3.266666667,pose1_to_pose2_press,0.616185803827,0.0100544884617,1.05002915205,0.586756533445,0.0187272189275,1.04969844371
+197,3.283333333,pose1_to_pose2_press,0.616415298143,0.0100544325188,1.05002887406,0.586986028787,0.0187271669152,1.0496981688
+198,3.300000000,pose1_to_pose2_press,0.616624194662,0.0100544853771,1.05002913272,0.587194924557,0.0187272173954,1.04969842401
+199,3.316666667,pose1_to_pose2_press,0.616811760253,0.0100544408165,1.05002920513,0.587382490175,0.0187271730561,1.04969849333
+200,3.333333333,pose1_to_pose2_press,0.616978890349,0.0100544513305,1.05002917987,0.587549620187,0.0187271834551,1.04969846528
+201,3.350000000,pose1_to_pose2_press,0.617125433652,0.010054499284,1.05002907769,0.587696163233,0.0187272310554,1.0496983712
+202,3.366666667,pose1_to_pose2_press,0.617255781348,0.0100545057163,1.05002907646,0.587826510803,0.018727237354,1.04969837252
+203,3.383333333,pose1_to_pose2_press,0.617370812029,0.0100544898011,1.05002915843,0.587941541914,0.0187272228471,1.04969844859
+204,3.400000000,pose1_to_pose2_press,0.617472799584,0.0100545662534,1.05002920586,0.588043529433,0.0187272994059,1.04969849854
+205,3.416666667,pose1_to_pose2_press,0.617561758265,0.0100546366723,1.05002912631,0.588132487688,0.0187273685373,1.04969842196
+206,3.433333333,pose1_to_pose2_press,0.617637346343,0.0100545869158,1.05002901717,0.588208076165,0.0187273202091,1.0496983075
+207,3.450000000,pose1_to_pose2_press,0.617700894899,0.010054636835,1.05002921656,0.588271623225,0.0187273654567,1.04969850443
+208,3.466666667,pose1_to_pose2_press,0.61775231708,0.0100546533462,1.05002924188,0.588323043817,0.0187273762169,1.04969852778
+209,3.483333333,pose1_to_pose2_press,0.617793994628,0.0100545689694,1.05002905102,0.588364723421,0.0187272990218,1.04969834573
+210,3.500000000,pose1_to_pose2_press,0.617826157304,0.0100544951939,1.05002917026,0.588396885749,0.0187272242351,1.04969846055
+211,3.516666667,pose1_to_pose2_press,0.617851401842,0.0100545970406,1.0500293031,0.588422132039,0.0187273317814,1.04969858707
+212,3.533333333,pose1_to_pose2_press,0.617870691932,0.0100546938447,1.05002915605,0.588441419159,0.0187274176803,1.04969843315
+213,3.550000000,pose1_to_pose2_press,0.617884538896,0.0100545594598,1.05002907583,0.588455267389,0.0187272881351,1.04969835799
+214,3.566666667,pose1_to_pose2_press,0.617894619112,0.0100544369317,1.0500289941,0.588465349289,0.0187271721792,1.04969828666
+215,3.583333333,pose1_to_pose2_press,0.617901903492,0.0100544451743,1.05002886415,0.588472633636,0.0187271808891,1.04969816869
+216,3.600000000,pose1_to_pose2_press,0.61790680372,0.010054500052,1.05002909662,0.588477533088,0.0187272325835,1.04969839128
+217,3.616666667,pose1_to_pose2_press,0.617909679776,0.0100545382141,1.05002927167,0.588480408597,0.0187272684552,1.04969855836
+218,3.633333333,pose1_to_pose2_press,0.617911649211,0.0100546209128,1.05002924896,0.588482375951,0.0187273440636,1.04969853618
+219,3.650000000,pose1_to_pose2_press,0.617912933952,0.0100546859346,1.05002920624,0.588483659,0.018727403379,1.04969849497
+220,3.666666667,pose1_to_pose2_press,0.617913737989,0.0100547266275,1.0500291795,0.588484461978,0.0187274405007,1.04969846918
+221,3.683333333,pose1_to_pose2_press,0.617914203703,0.0100547501976,1.05002916401,0.588484927078,0.0187274620024,1.04969845425
+222,3.700000000,pose1_to_pose2_press,0.617914315925,0.0100547558773,1.05002916028,0.588485039153,0.0187274671836,1.04969845065
+223,3.716666667,pose1_to_pose2_press,0.617914552342,0.0100547485041,1.05002915211,0.588485275738,0.0187274603736,1.04969844237
+224,3.733333333,pose1_to_pose2_press,0.617914868145,0.0100547132463,1.05002914079,0.588485592397,0.0187274279877,1.0496984304
+225,3.750000000,pose1_to_pose2_press,0.617915267138,0.0100546687006,1.05002912649,0.588485992471,0.0187273870705,1.04969841528
+226,3.766666667,pose1_to_pose2_press,0.617915749325,0.0100546148669,1.05002910921,0.588486475964,0.0187273376218,1.049698397
+227,3.783333333,pose1_to_pose2_press,0.617916191083,0.0100545655468,1.05002909337,0.588486918918,0.018727292319,1.04969838026
+228,3.800000000,pose1_to_pose2_press,0.617916603597,0.0100545194917,1.05002907859,0.58848733255,0.0187272500153,1.04969836462
+229,3.816666667,pose1_to_pose2_press,0.617916974025,0.0100544906081,1.05002907166,0.588487703753,0.0187272237286,1.04969835707
+230,3.833333333,pose1_to_pose2_press,0.617917081297,0.0100545077365,1.05002908265,0.588487810781,0.0187272400315,1.04969836815
+231,3.850000000,pose1_to_pose2_press,0.617917161337,0.0100545205168,1.05002909084,0.588487890639,0.0187272521959,1.04969837642
+232,3.866666667,pose1_to_pose2_press,0.617917474432,0.0100545705099,1.0500291229,0.588488203022,0.0187272997796,1.04969840875
+233,3.883333333,pose1_to_pose2_press,0.617917821882,0.0100546259887,1.05002915847,0.588488549684,0.0187273525846,1.04969844463
+234,3.900000000,pose1_to_pose2_press,0.617918044841,0.010054623087,1.05002915915,0.588488772861,0.0187273505388,1.04969844822
+235,3.916666667,pose1_to_pose2_press,0.617918109352,0.0100546087461,1.05002915158,0.588488837689,0.0187273373474,1.04969844244
+236,3.933333333,pose1_to_pose2_press,0.617918205569,0.0100545873568,1.05002914029,0.588488934379,0.0187273176727,1.04969843383
+237,3.950000000,pose1_to_pose2_press,0.617918322563,0.0100545613488,1.05002912656,0.588489051949,0.0187272937493,1.04969842335
+238,3.966666667,pose1_to_pose2_press,0.617918441869,0.0100545777756,1.05002910072,0.588489170572,0.01872730813,1.04969840442
+239,3.983333333,pose1_to_pose2_press,0.617918477596,0.0100545879923,1.05002909153,0.588489205935,0.0187273172262,1.04969839773
+240,4.000000000,pose2_hold,0.617918477596,0.0100545879923,1.05002909153,0.58848920595,0.0187273172134,1.04969839772
+241,4.016666667,pose2_hold,0.617918477596,0.0100545879923,1.05002909153,0.58848920595,0.0187273172132,1.04969839772
+242,4.033333333,pose2_hold,0.617918477596,0.0100545879923,1.05002909153,0.58848920595,0.0187273172136,1.04969839772
+243,4.050000000,pose2_hold,0.617918477596,0.0100545879923,1.05002909153,0.58848920595,0.0187273172141,1.04969839772
+244,4.066666667,pose2_hold,0.617918477596,0.0100545879923,1.05002909153,0.588489205949,0.0187273172132,1.04969839772
+245,4.083333333,pose2_hold,0.617918477596,0.0100545879923,1.05002909153,0.588489205952,0.0187273172108,1.04969839772
+246,4.100000000,pose2_hold,0.617918477596,0.0100545879923,1.05002909153,0.588489205956,0.0187273172022,1.04969839772
+247,4.116666667,pose2_hold,0.617918477596,0.0100545879923,1.05002909153,0.588489205952,0.0187273172109,1.04969839772
+248,4.133333333,pose2_hold,0.617918477596,0.0100545879923,1.05002909153,0.588489205951,0.0187273172181,1.04969839773
+249,4.150000000,pose2_hold,0.617918477596,0.0100545879923,1.05002909153,0.588489205954,0.018727317206,1.04969839773
+250,4.166666667,pose2_hold,0.617918477596,0.0100545879923,1.05002909153,0.588489205954,0.0187273172112,1.04969839772
+251,4.183333333,pose2_hold,0.617918477596,0.0100545879923,1.05002909153,0.588489205956,0.0187273172123,1.04969839773
+252,4.200000000,pose2_hold,0.617918477596,0.0100545879923,1.05002909153,0.588489205958,0.0187273172151,1.04969839773
+253,4.216666667,pose2_hold,0.617918477596,0.0100545879923,1.05002909153,0.588489205961,0.0187273172123,1.04969839772
+254,4.233333333,pose2_hold,0.617918477596,0.0100545879923,1.05002909153,0.588489205956,0.0187273172184,1.04969839773
+255,4.250000000,pose2_hold,0.617918477596,0.0100545879923,1.05002909153,0.588489205961,0.0187273172104,1.04969839772
+256,4.266666667,pose2_to_pose3_retreat,0.617918477596,0.0100545879923,1.05002909153,0.588489205962,0.0187273171999,1.04969839774
+257,4.283333333,pose2_to_pose3_retreat,0.617918319416,0.0100545620482,1.05002912693,0.588489048804,0.0187272943787,1.04969842363
+258,4.300000000,pose2_to_pose3_retreat,0.617918206661,0.010054587114,1.05002914016,0.588488935496,0.0187273174354,1.04969843374
+259,4.316666667,pose2_to_pose3_retreat,0.617918137759,0.0100546024311,1.05002914825,0.588488866256,0.0187273315249,1.04969843992
+260,4.333333333,pose2_to_pose3_retreat,0.617918034387,0.0100546254111,1.05002916038,0.588488762377,0.018727352663,1.04969844919
+261,4.350000000,pose2_to_pose3_retreat,0.617918021884,0.0100546281904,1.05002916185,0.588488749813,0.0187273552196,1.04969845031
+262,4.366666667,pose2_to_pose3_retreat,0.617917317825,0.0100545625698,1.05002902541,0.588488046313,0.0187272915175,1.04969831349
+263,4.383333333,pose2_to_pose3_retreat,0.617914591843,0.0100545974288,1.05002904393,0.5884853194,0.0187273231285,1.04969832999
+264,4.400000000,pose2_to_pose3_retreat,0.617907826335,0.0100546484753,1.05002894161,0.588478553347,0.0187273725885,1.04969823284
+265,4.416666667,pose2_to_pose3_retreat,0.617894101278,0.0100545366072,1.05002914219,0.588464830037,0.0187272661846,1.04969842237
+266,4.433333333,pose2_to_pose3_retreat,0.617871105626,0.010054502929,1.05002893824,0.588441834245,0.0187272327236,1.04969823097
+267,4.450000000,pose2_to_pose3_retreat,0.617836391099,0.0100544503178,1.05002910434,0.588407122354,0.0187271884155,1.0496983943
+268,4.466666667,pose2_to_pose3_retreat,0.617789674017,0.0100544556743,1.05002903888,0.58836040454,0.0187271908001,1.04969832631
+269,4.483333333,pose2_to_pose3_retreat,0.617729967655,0.0100545724674,1.05002915694,0.588300696408,0.0187273016477,1.04969844769
+270,4.500000000,pose2_to_pose3_retreat,0.617659051074,0.0100544963843,1.05002898887,0.588229780933,0.0187272295097,1.04969827825
+271,4.516666667,pose2_to_pose3_retreat,0.617576966926,0.010054495561,1.05002924303,0.588147696799,0.0187272278322,1.04969852431
+272,4.533333333,pose2_to_pose3_retreat,0.61748195516,0.0100546503482,1.05002917616,0.588052684005,0.0187273797692,1.04969846875
+273,4.550000000,pose2_to_pose3_retreat,0.617372939626,0.0100546208145,1.05002894789,0.587943667075,0.0187273456283,1.04969824406
+274,4.566666667,pose2_to_pose3_retreat,0.617245551389,0.01005457135,1.05002928527,0.587816279974,0.0187272995493,1.04969857482
+275,4.583333333,pose2_to_pose3_retreat,0.617099960246,0.010054568639,1.05002922563,0.58767069024,0.0187273013662,1.0496985165
+276,4.600000000,pose2_to_pose3_retreat,0.616935476664,0.0100545324778,1.05002908124,0.587506204923,0.0187272590517,1.0496983703
+277,4.616666667,pose2_to_pose3_retreat,0.616751064975,0.0100544025287,1.05002916862,0.587321795115,0.0187271347893,1.0496984482
+278,4.633333333,pose2_to_pose3_retreat,0.616544210018,0.0100544696495,1.05002933998,0.587114941188,0.0187272053856,1.04969862654
+279,4.650000000,pose2_to_pose3_retreat,0.616316400279,0.0100545600196,1.05002917581,0.586887129367,0.0187272884187,1.04969846596
+280,4.666666667,pose2_to_pose3_retreat,0.616066936495,0.0100545238346,1.05002929694,0.586637665256,0.0187272504303,1.04969857892
+281,4.683333333,pose2_to_pose3_retreat,0.615791272973,0.0100545040261,1.05002938047,0.586362002647,0.0187272332476,1.04969865955
+282,4.700000000,pose2_to_pose3_retreat,0.615494086436,0.0100546072898,1.05002927798,0.586064815448,0.0187273342486,1.04969856831
+283,4.716666667,pose2_to_pose3_retreat,0.615177152583,0.010054611722,1.05002918902,0.585747882053,0.0187273401284,1.04969848531
+284,4.733333333,pose2_to_pose3_retreat,0.614838998519,0.0100545542373,1.05002910043,0.585409728956,0.0187272854173,1.04969839194
+285,4.750000000,pose2_to_pose3_retreat,0.614478567479,0.0100545753651,1.05002900926,0.585049297341,0.0187273041197,1.04969829764
+286,4.766666667,pose2_to_pose3_retreat,0.614097262306,0.0100545929148,1.05002899519,0.584667991846,0.0187273204027,1.0496982854
+287,4.783333333,pose2_to_pose3_retreat,0.613692205302,0.0100546411848,1.05002905719,0.584262934523,0.0187273674805,1.04969835225
+288,4.800000000,pose2_to_pose3_retreat,0.613252974121,0.0100546110325,1.05002884518,0.583823703122,0.0187273364139,1.0496981398
+289,4.816666667,pose2_to_pose3_retreat,0.612779115632,0.0100545265954,1.05002914115,0.583349845767,0.0187272556086,1.04969843037
+290,4.833333333,pose2_to_pose3_retreat,0.612266259767,0.0100546152236,1.05002907349,0.582836989909,0.0187273440648,1.04969835761
+291,4.850000000,pose2_to_pose3_retreat,0.611713548864,0.0100544044415,1.05002907343,0.582284279281,0.0187271340799,1.04969835353
+292,4.866666667,pose2_to_pose3_retreat,0.611124029566,0.0100544753441,1.05002906458,0.581694760195,0.0187272060328,1.04969835345
+293,4.883333333,pose2_to_pose3_retreat,0.610514962792,0.0100545129848,1.0500291696,0.581085691231,0.0187272359736,1.04969845177
+294,4.900000000,pose2_to_pose3_retreat,0.609890397575,0.0100544853372,1.0500290795,0.580461128445,0.0187272165319,1.04969836084
+295,4.916666667,pose2_to_pose3_retreat,0.609251393744,0.0100546034798,1.0500290701,0.579822122946,0.0187273293546,1.04969836087
+296,4.933333333,pose2_to_pose3_retreat,0.60859362269,0.0100545657278,1.05002918361,0.579164352446,0.0187272934347,1.049698473
+297,4.950000000,pose2_to_pose3_retreat,0.607911928614,0.0100544858996,1.05002926183,0.57848265993,0.0187272188092,1.04969854809
+298,4.966666667,pose2_to_pose3_retreat,0.607202538216,0.0100545216843,1.05002906624,0.577773267933,0.0187272491663,1.04969835246
+299,4.983333333,pose2_to_pose3_retreat,0.606468289067,0.0100545438317,1.05002904085,0.577039019781,0.0187272750232,1.04969833579
+300,5.000000000,pose2_to_pose3_retreat,0.605713698159,0.0100545598008,1.05002919649,0.576284428001,0.0187272879948,1.04969849012
+301,5.016666667,pose2_to_pose3_retreat,0.604942350178,0.0100546228666,1.05002943392,0.575513079681,0.0187273493272,1.04969871231
+302,5.033333333,pose2_to_pose3_retreat,0.604150548017,0.0100546291711,1.05002931631,0.574721277387,0.0187273553675,1.04969859928
+303,5.050000000,pose2_to_pose3_retreat,0.603344122685,0.0100546631082,1.05002929627,0.573914851806,0.0187273884894,1.04969857948
+304,5.066666667,pose2_to_pose3_retreat,0.60252516146,0.0100546357217,1.05002915804,0.573095889527,0.0187273576386,1.04969844572
+305,5.083333333,pose2_to_pose3_retreat,0.601690405897,0.0100546376274,1.05002904932,0.572261134163,0.018727360455,1.04969834258
+306,5.100000000,pose2_to_pose3_retreat,0.600847529321,0.0100545723732,1.05002908482,0.571418259722,0.0187273026421,1.04969838298
+307,5.116666667,pose2_to_pose3_retreat,0.600005998492,0.0100546021764,1.05002903191,0.570576726826,0.018727324846,1.04969831455
+308,5.133333333,pose2_to_pose3_retreat,0.599165199859,0.0100546099447,1.05002941193,0.569735928963,0.0187273352789,1.0496986959
+309,5.150000000,pose2_to_pose3_retreat,0.598327203642,0.010054547713,1.05002935089,0.568897933762,0.0187272762397,1.04969862879
+310,5.166666667,pose2_to_pose3_retreat,0.597478674827,0.0100546341766,1.05002945325,0.568049404203,0.0187273601518,1.04969872863
+311,5.183333333,pose2_to_pose3_retreat,0.596617039262,0.0100546419091,1.05002928175,0.56718776937,0.0187273708006,1.04969856826
+312,5.200000000,pose2_to_pose3_retreat,0.595744209717,0.0100546528786,1.05002915263,0.566314938615,0.0187273779304,1.04969844609
+313,5.216666667,pose2_to_pose3_retreat,0.594865090293,0.0100546283316,1.05002911716,0.56543582176,0.018727362391,1.04969841811
+314,5.233333333,pose2_to_pose3_retreat,0.59399144788,0.0100545806944,1.05002914367,0.564562176938,0.0187273061755,1.049698434
+315,5.250000000,pose2_to_pose3_retreat,0.593140939893,0.0100545717637,1.05002906755,0.563711669852,0.0187273002871,1.04969835743
+316,5.266666667,pose2_to_pose3_retreat,0.592316448298,0.0100545462779,1.05002914652,0.562887178898,0.0187272769848,1.04969843657
+317,5.283333333,pose2_to_pose3_retreat,0.5915134504,0.01005465337,1.05002901007,0.562084180369,0.0187273821536,1.04969830583
+318,5.300000000,pose2_to_pose3_retreat,0.590723272914,0.0100545603782,1.05002897512,0.561294002885,0.0187272887125,1.04969825888
+319,5.316666667,pose2_to_pose3_retreat,0.589933505147,0.010054634335,1.0500292929,0.560504235354,0.0187273636351,1.04969858092
+320,5.333333333,pose2_to_pose3_retreat,0.589143418351,0.010054584697,1.05002916018,0.559714149148,0.0187273160667,1.04969844992
+321,5.350000000,pose2_to_pose3_retreat,0.588352336055,0.0100545477186,1.0500290227,0.558923066254,0.0187272772281,1.04969831682
+322,5.366666667,pose2_to_pose3_retreat,0.587574704084,0.0100544297624,1.05002918384,0.558145435556,0.0187271632389,1.04969846866
+323,5.383333333,pose2_to_pose3_retreat,0.586813694878,0.0100545458075,1.05002913831,0.557384426569,0.0187272803746,1.04969843223
+324,5.400000000,pose2_to_pose3_retreat,0.58608253121,0.0100547139231,1.05002905491,0.556653261339,0.0187274430914,1.04969834626
+325,5.416666667,pose2_to_pose3_retreat,0.585383632519,0.0100547199178,1.05002917592,0.555954361045,0.0187274434805,1.04969846287
+326,5.433333333,pose2_to_pose3_retreat,0.584720737191,0.0100546193002,1.05002929593,0.555291466694,0.0187273461233,1.0496985815
+327,5.450000000,pose2_to_pose3_retreat,0.584085593551,0.0100544622212,1.05002913265,0.554656325596,0.0187271980942,1.04969842924
+328,5.466666667,pose2_to_pose3_retreat,0.583476347439,0.0100545103595,1.0500288857,0.554047077987,0.0187272413092,1.04969818638
+329,5.483333333,pose2_to_pose3_retreat,0.58288189985,0.0100544882937,1.0500291103,0.55345263122,0.0187272218981,1.04969840748
+330,5.500000000,pose2_to_pose3_retreat,0.582303771172,0.0100544412333,1.05002904768,0.552874503022,0.0187271762019,1.04969833793
+331,5.516666667,pose2_to_pose3_retreat,0.58175103995,0.0100547559654,1.05002914325,0.552321767691,0.0187274770422,1.04969843568
+332,5.533333333,pose2_to_pose3_retreat,0.581222456765,0.0100546419412,1.0500293706,0.551793187637,0.0187273735594,1.04969866061
+333,5.550000000,pose2_to_pose3_retreat,0.580718757107,0.0100545396681,1.0500293026,0.551289486768,0.0187272670649,1.04969858978
+334,5.566666667,pose2_to_pose3_retreat,0.580237524404,0.0100545231356,1.0500289757,0.55080825466,0.018727252637,1.04969826539
+335,5.583333333,pose2_to_pose3_retreat,0.579777176083,0.010054737952,1.05002904538,0.55034790447,0.0187274610514,1.04969833337
+336,5.600000000,pose2_to_pose3_retreat,0.579340475825,0.0100545424429,1.05002941629,0.549911206232,0.0187272720429,1.04969869468
+337,5.616666667,pose2_to_pose3_retreat,0.578930086314,0.010054480185,1.05002881405,0.549500818013,0.0187272148102,1.0496981091
+338,5.633333333,pose2_to_pose3_retreat,0.578557373991,0.0100545383037,1.05002914428,0.549128104206,0.0187272677663,1.04969843606
+339,5.650000000,pose2_to_pose3_retreat,0.578222440876,0.0100544414858,1.05002927275,0.548793173989,0.0187271807112,1.04969856252
+340,5.666666667,pose2_to_pose3_retreat,0.577927139453,0.0100545973586,1.05002923779,0.548497867695,0.0187273195449,1.0496985146
+341,5.683333333,pose2_to_pose3_retreat,0.577659446807,0.0100545456604,1.05002918443,0.548230175975,0.0187272713609,1.04969847093
+342,5.700000000,pose2_to_pose3_retreat,0.577415536714,0.0100545275015,1.05002916327,0.547986266729,0.0187272562951,1.04969845544
+343,5.716666667,pose2_to_pose3_retreat,0.577186782189,0.0100546227445,1.05002924462,0.547757511903,0.0187273504564,1.04969853518
+344,5.733333333,pose2_to_pose3_retreat,0.576972966073,0.0100546643222,1.05002903311,0.547543695517,0.0187273914262,1.0496983318
+345,5.750000000,pose2_to_pose3_retreat,0.576776581381,0.0100547356227,1.05002903997,0.54734730966,0.0187274586861,1.04969833631
+346,5.766666667,pose2_to_pose3_retreat,0.576599908223,0.0100547321197,1.05002923773,0.547170637014,0.0187274566121,1.04969852607
+347,5.783333333,pose2_to_pose3_retreat,0.57644425741,0.010054672424,1.05002928942,0.547014985507,0.0187273945018,1.04969857622
+348,5.800000000,pose2_to_pose3_retreat,0.576309429678,0.010054648212,1.05002913933,0.546880158151,0.0187273717993,1.04969843226
+349,5.816666667,pose2_to_pose3_retreat,0.576193597133,0.0100545258483,1.05002915486,0.546764328786,0.0187272602335,1.0496984486
+350,5.833333333,pose2_to_pose3_retreat,0.576095316457,0.0100543871309,1.05002920692,0.54666604927,0.0187271253914,1.04969849937
+351,5.850000000,pose2_to_pose3_retreat,0.576011458264,0.0100544852721,1.05002914429,0.546582189401,0.0187272178985,1.04969843787
+352,5.866666667,pose2_to_pose3_retreat,0.575941522333,0.0100546331895,1.05002916135,0.546512252338,0.018727361838,1.04969845118
+353,5.883333333,pose2_to_pose3_retreat,0.575883212106,0.0100545716035,1.05002913794,0.546453943591,0.0187273051142,1.04969842346
+354,5.900000000,pose2_to_pose3_retreat,0.575836114554,0.0100544901449,1.05002909649,0.546406847378,0.0187272283079,1.04969838491
+355,5.916666667,pose2_to_pose3_retreat,0.575798528779,0.0100545189374,1.05002914003,0.546369259972,0.018727251806,1.04969843472
+356,5.933333333,pose2_to_pose3_retreat,0.575769893074,0.0100545822541,1.05002906486,0.546340623826,0.0187273135955,1.04969835875
+357,5.950000000,pose2_to_pose3_retreat,0.575750399103,0.0100545293042,1.05002892973,0.546321130873,0.0187272642727,1.04969822811
+358,5.966666667,pose2_to_pose3_retreat,0.575737173705,0.0100547076091,1.05002914559,0.546307901896,0.0187274301512,1.04969843657
+359,5.983333333,pose2_to_pose3_retreat,0.575729004227,0.0100545509086,1.05002928458,0.546299733739,0.0187272775299,1.04969856501
+360,6.000000000,pose2_to_pose3_retreat,0.575723855123,0.0100544769634,1.05002935679,0.546294585422,0.0187272060151,1.049698631
+361,6.016666667,pose2_to_pose3_retreat,0.575720853333,0.010054527488,1.05002935973,0.546291583556,0.0187272562124,1.04969863213
+362,6.033333333,pose2_to_pose3_retreat,0.575718217163,0.0100545718585,1.05002936232,0.546288947319,0.0187273002957,1.04969863312
+363,6.050000000,pose2_to_pose3_retreat,0.575716211319,0.0100545372545,1.05002931043,0.546286942154,0.0187272681818,1.04969858615
+364,6.066666667,pose2_to_pose3_retreat,0.575714958447,0.0100544717156,1.05002924342,0.546285690175,0.0187272059389,1.04969852615
+365,6.083333333,pose2_to_pose3_retreat,0.575714365672,0.0100544407071,1.05002921172,0.546285097823,0.0187271764897,1.04969849777
+366,6.100000000,pose2_to_pose3_retreat,0.57571435055,0.0100544399161,1.05002921091,0.546285082712,0.0187271757384,1.04969849704
+367,6.116666667,pose2_to_pose3_retreat,0.575714109175,0.0100544272895,1.050029198,0.546284841508,0.0187271637469,1.04969848548
+368,6.133333333,pose2_to_pose3_retreat,0.575713753276,0.0100544086721,1.05002917896,0.546284485863,0.0187271460657,1.04969846844
+369,6.150000000,pose2_to_pose3_retreat,0.575713636425,0.0100544025595,1.05002917271,0.546284369095,0.0187271402605,1.04969846285
+370,6.166666667,pose2_to_pose3_retreat,0.575713596444,0.0100544004681,1.05002917057,0.546284329143,0.0187271382743,1.04969846093
+371,6.183333333,pose2_to_pose3_retreat,0.575713474371,0.0100543940823,1.05002916404,0.546284207156,0.0187271322097,1.04969845509
+372,6.200000000,pose2_to_pose3_retreat,0.575713167363,0.0100543780225,1.05002914762,0.546283900367,0.0187271169574,1.04969844038
+373,6.216666667,pose2_to_pose3_retreat,0.575712510208,0.0100543593976,1.05002910093,0.546283243375,0.0187270989638,1.04969839576
+374,6.233333333,pose2_to_pose3_retreat,0.57571213958,0.0100543641198,1.05002906344,0.546282872543,0.0187271029811,1.04969835787
+375,6.250000000,pose2_to_pose3_retreat,0.5757118024,0.0100543684159,1.05002902933,0.546282535178,0.0187271066359,1.04969832341
+376,6.266666667,pose2_to_pose3_retreat,0.575711258803,0.010054375342,1.05002897433,0.546281991283,0.0187271125281,1.04969826784
+377,6.283333333,pose2_to_pose3_retreat,0.575711045006,0.010054378066,1.05002895271,0.546281777369,0.0187271148455,1.04969824599
+378,6.300000000,pose2_to_pose3_retreat,0.575710751279,0.0100543818084,1.05002892299,0.546281483481,0.0187271180292,1.04969821596
+379,6.316666667,pose2_to_pose3_retreat,0.575710574342,0.0100543840628,1.05002890509,0.546281306447,0.0187271199471,1.04969819788
+380,6.333333333,pose2_to_pose3_retreat,0.575710462756,0.0100544008398,1.05002891364,0.546281194729,0.0187271362693,1.04969820628
+381,6.350000000,pose2_to_pose3_retreat,0.57571017771,0.010054455195,1.05002895034,0.546280909291,0.0187271892812,1.04969824257
+382,6.366666667,pose2_to_pose3_retreat,0.575709967685,0.0100544952445,1.05002897738,0.546280698977,0.0187272283408,1.04969826931
+383,6.383333333,pose2_to_pose3_retreat,0.57570990039,0.0100545080768,1.05002898605,0.54628063159,0.018727240856,1.04969827788
+384,6.400000000,pose2_to_pose3_retreat,0.575709773524,0.0100545322688,1.05002900238,0.54628050455,0.0187272644502,1.04969829403
+385,6.416666667,pose2_to_pose3_retreat,0.5757095727,0.0100545705638,1.05002902823,0.54628030345,0.0187273017986,1.04969831959
+386,6.433333333,pose2_to_pose3_retreat,0.575709494103,0.0100545622024,1.05002901005,0.546280224709,0.018727292917,1.04969830061
+387,6.450000000,pose2_to_pose3_retreat,0.575709480034,0.0100545573978,1.05002900278,0.546280210609,0.0187272879981,1.0496982931
+388,6.466666667,pose2_to_pose3_retreat,0.575709454115,0.0100545485466,1.05002898939,0.546280184633,0.0187272789363,1.04969827927
+389,6.483333333,pose2_to_pose3_retreat,0.575709374769,0.0100545214497,1.05002894841,0.546280105112,0.0187272511945,1.04969823694
+390,6.500000000,pose2_to_pose3_retreat,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_09/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_09/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..76e03e35248eb9a04cf375048fe509987b13da49
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_09/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b22d338f4f6dfe4376e5db401322e3aa092be76949ae881d1ed2dcbfba6a807d
+size 24919426
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_09/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_09/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a3be658147f00f006f989951997c5390964db7ba
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_09/depth_02/franka_data.csv
@@ -0,0 +1,394 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,764,742,711,672,663,633,879,784,800,650,629,651,0.400948373398,0.0045255914135,0.0598356249181,0.99999995698,0.000102242055666,-0.000273829799296,2.45635183641e-05,1793193554970491136
+1,0.016666667,BASELINE,764,742,711,672.596548426,663,633,877.806903148,784,800,650,629,650.403451574,0.40094711508,0.00452588833772,0.0598346941462,0.999999956159,0.000105168480797,-0.000275697647933,2.4743508877e-05,1793193554987158528
+2,0.033333333,BASELINE,764,742,711,673,663,632.814181182,877.185818818,784,800,650.185818818,629,650.185818818,0.400946430607,0.00452619979795,0.0598342409244,0.999999955704,0.000107008422593,-0.0002766360131,2.47865801307e-05,1793193555003825920
+3,0.050000000,BASELINE,764,742,711,673,663,632.240117219,877.759882781,784,800,650.759882781,629,650.759882781,0.400946945111,0.00452654162938,0.0598347854834,0.999999956033,0.000106578294088,-0.000275632339328,2.45435757761e-05,1793193555020492544
+4,0.066666667,BASELINE,764,742,711,672.666306256,663,632,878,784,799.666306256,650.666306256,629,651,0.400947313639,0.00452740134662,0.059835317336,0.999999956342,0.000105529199267,-0.000274933496706,2.43234047707e-05,1793193555037158656
+5,0.083333333,BASELINE,764,742,711,672.09267724,663,632,878,784,799.09267724,650.09267724,629,651,0.400947577205,0.00452863343843,0.0598358400522,0.999999956635,0.000104035050124,-0.000274453836387,2.41196516058e-05,1793193555053824768
+6,0.100000000,BASELINE,764,742,711,672,663,632,878,784,799,650,629,651,0.400946901533,0.00452727107897,0.0598352641571,0.99999995663,0.000102359491785,-0.000275089658072,2.42461055834e-05,1793193555070491136
+7,0.116666667,BASELINE,764,742,711,672.085203609,663,632.085203609,878,784,799,650,629,651,0.400946179599,0.00452565151839,0.059834595354,0.999999956527,0.000101228708345,-0.000275868096394,2.4422344871e-05,1793193555087157760
+8,0.133333333,BASELINE,764,742,711,672.665196142,663,632.665196142,878,784,799,650,629,651,0.400946240025,0.00452544157009,0.0598346163769,0.999999956196,0.000103464505177,-0.000276226494617,2.45181894862e-05,1793193555103824384
+9,0.150000000,BASELINE,764,742,711,672.757380118,663,632.757380118,878,784,799,650,629,651,0.400946248672,0.00452532592894,0.0598346263357,0.999999956086,0.000104254226131,-0.000276328343935,2.45490467644e-05,1793193555120491264
+10,0.166666667,BASELINE,764,742,711,672.183464098,663,632.183464098,878,784,799,650,629,651,0.400946186616,0.00452533906371,0.0598346211866,0.999999956278,0.000103069338107,-0.000276079877078,2.44911641772e-05,1793193555137158144
+11,0.183333333,BASELINE,764,742,711,672,663,632,878.398348908,784,799.398348908,650,629,651,0.400946419115,0.00452543688085,0.0598345702624,0.999999956325,0.00010302519035,-0.000275950069073,2.424778669e-05,1793193555153825280
+12,0.200000000,BASELINE,764,742,711,672,663,632,878.983872571,784,799.983872571,650,629,651,0.400946790019,0.00452557448822,0.0598344978295,0.999999956302,0.000103517049434,-0.000275876016039,2.39172495197e-05,1793193555170492160
+13,0.216666667,BASELINE,764,742,711,672.567850634,663,632,877.864298731,784,800,650,629,651,0.400945305835,0.00452622718342,0.0598338209212,0.99999995598,0.000103094957112,-0.000277188393871,2.40499859958e-05,1793193555187158272
+14,0.233333333,BASELINE,763.850357467,742,711,672.850357467,663,632,877,784,800,650,628.850357467,651,0.400944301916,0.00452660395453,0.0598334644348,0.999999955783,0.000102747418258,-0.000278015272665,2.41959329519e-05,1793193555203824640
+15,0.250000000,BASELINE,763.274665063,742,711,672.274665063,663,632,877,784,800,650,628.274665063,651,0.400944814965,0.00452615360033,0.0598340689726,0.999999955971,0.000102685843743,-0.000277348075797,2.43421328773e-05,1793193555220491264
+16,0.266666667,BASELINE,763.300620055,742,711,672.300620055,663,632.300620055,877.300620055,784,799.699379945,649.699379945,628.300620055,651,0.400945313064,0.00452666617753,0.0598344037203,0.999999956169,0.000103366909084,-0.000276389331451,2.42207754048e-05,1793193555237157888
+17,0.283333333,BASELINE,763.875533518,742,711,672.875533518,663,632.875533518,877.875533518,784,799.124466482,649.124466482,628.875533518,651,0.400945797522,0.00452805735793,0.0598344923047,0.999999956374,0.000104725577986,-0.000275164571785,2.38552917256e-05,1793193555253824512
+18,0.300000000,BASELINE,764,742.462400122,711,672.537599878,663.462400122,633,878,784,799.462400122,649.462400122,629,651,0.400947065044,0.00452664387562,0.059835152942,0.99999995669,0.000103664208886,-0.000274393026023,2.41089562373e-05,1793193555270491648
+19,0.316666667,BASELINE,764,742.948458732,711,672,663.948458732,633,878,784,799.948458732,650,629,651,0.400948281962,0.00452466041538,0.059835865846,0.999999956996,0.000101954916015,-0.000273885800219,2.44783177218e-05,1793193555287158272
+20,0.333333333,BASELINE,764,742.369833588,711,672,663.369833588,633,878,784,799.369833588,650,629,651,0.400946768626,0.00452477337656,0.0598354967757,0.999999956902,0.000100458083516,-0.000274800959419,2.42812913336e-05,1793193555303824640
+21,0.350000000,BASELINE,764.2072369,742.2072369,711,672,663,633,878,784,799,650,629,651,0.400946638212,0.00452552835663,0.0598356476823,0.999999956827,0.00010127076651,-0.00027478259973,2.41841576684e-05,1793193555320491264
+22,0.366666667,BASELINE,764.781553554,742.781553554,711,672,663,633,878,784,799,650,629,651,0.400948957376,0.00452742054793,0.0598367196269,0.999999956774,0.000106174305977,-0.000273110693274,2.42639645028e-05,1793193555337158144
+23,0.383333333,BASELINE,764.635591182,742.635591182,711,672,663,632.635591182,877.635591182,784,799,650,629,651,0.400948905892,0.00452667595597,0.0598369116258,0.999999956899,0.000105169416136,-0.000273028732636,2.44266025021e-05,1793193555353824768
+24,0.400000000,BASELINE,764.047494543,742.047494543,711,672,663,632.047494543,877.047494543,784,799,650,629,651,0.400947399216,0.00452431280756,0.0598365634809,0.999999957126,0.000100537710904,-0.000273922740303,2.46400853897e-05,1793193555370491648
+25,0.416666667,BASELINE,764,742,711,672,663,632,877.532132464,784,799.532132464,650.532132464,629,651,0.400945907595,0.00452507354259,0.0598353128203,0.999999956518,0.000101219773103,-0.000275889575634,2.45697836764e-05,1793193555387158016
+26,0.433333333,BASELINE,764,742,711,672,663,632.110695773,878,784,799.889304227,650.889304227,629,651,0.400944952014,0.00452635559921,0.0598344065925,0.999999955982,0.000102988992819,-0.000277188414618,2.44267947935e-05,1793193555403824384
+27,0.450000000,BASELINE,764,742,711,672,663,632.687912334,878,784,799.312087666,650.312087666,629,651,0.400946249964,0.00452867808833,0.059835286121,0.999999956057,0.000107372502272,-0.000275274798764,2.40825439841e-05,1793193555420491264
+28,0.466666667,BASELINE,764,742,711,672,663,633,878,784,799,650,629,651,0.400946387481,0.00452884785226,0.0598353145293,0.999999956049,0.00010812506794,-0.000275017243566,2.39915971087e-05,1793193555437158144
+29,0.483333333,BASELINE,764,742,711,672,663,633,878,784,799,650,629,651,0.400945159032,0.00452648360743,0.0598343410697,0.999999955952,0.000104603589029,-0.000276709065029,2.41988185274e-05,1793193555453825024
+30,0.500000000,BASELINE,764,742,711,672,663,632.573664462,878,784,799.426335538,650,629,650.573664462,0.400945845842,0.0045261490566,0.0598350686654,0.99999995634,0.00010340498591,-0.000275759303758,2.41683745618e-05,1793193555470491648
+31,0.516666667,BASELINE,764.013553635,742,711,672.013553635,663,632.013553635,877.986446365,784,800,650,629,650,0.400947204084,0.00452658774746,0.0598363919867,0.999999956884,0.000103164885761,-0.000273880094389,2.40518383746e-05,1793193555487158272
+32,0.533333333,BASELINE,764.593211698,742,711,672.593211698,663,632.593211698,877.406788302,784,800,650,629,650,0.40094638511,0.00452729591689,0.0598357560149,0.999999956285,0.000106306013603,-0.000274862169684,2.40896095892e-05,1793193555503824640
+33,0.550000000,BASELINE,764.828536756,742,711,672.828536756,663,632.828536756,877.171463244,784,799.828536756,650,629,650.171463244,0.400945887739,0.0045279024839,0.0598352481684,0.999999955956,0.000108008536548,-0.000275399301228,2.40324098635e-05,1793193555520491264
+34,0.566666667,BASELINE,764.253595036,742,711,672.253595036,663,632.253595036,877.746404964,784,799.253595036,650,629,650.746404964,0.400946147146,0.00452826996521,0.0598350418199,0.999999956283,0.000106325808103,-0.000274889413918,2.3751729408e-05,1793193555537157888
+35,0.583333333,BASELINE,764,742,711,672,663,632,878,784,799,650,629,651,0.400946241134,0.00452810594784,0.0598351181018,0.99999995631,0.000106191048165,-0.00027484422453,2.37667096255e-05,1793193555553824768
+36,0.600000000,BASELINE,764,742,711,672,663,632,878,784,799,650,629,651,0.400946204578,0.0045275224911,0.0598354174253,0.999999956099,0.000107277888407,-0.000275165757758,2.40150144461e-05,1793193555570491648
+37,0.616666667,BASELINE,764,742,711,672,663,632,878,784,799.480479168,650,628.519520832,651,0.400946213187,0.00452708223553,0.0598354872383,0.999999956268,0.000104944780441,-0.000275451165777,2.40352198959e-05,1793193555587158272
+38,0.633333333,BASELINE,764,742,711,672,663,632,877.925348942,784,799.925348942,650,628.074651058,651,0.40094626898,0.00452674217943,0.0598355179583,0.999999956506,0.000102210610385,-0.000275622473031,2.39601446348e-05,1793193555603824896
+39,0.650000000,BASELINE,764,742,711,672,663,632,877.342805375,784,799.342805375,650,628.657194625,651,0.400946571995,0.00452684983297,0.0598356577478,0.999999956651,0.000102336272836,-0.000275076521304,2.36095553495e-05,1793193555620491264
+40,0.666666667,BASELINE,764,742,711,672.235165213,663,632.235165213,877.235165213,784,799.235165213,650,629,651,0.400946854948,0.00452678202893,0.059835893277,0.999999956785,0.000102741621433,-0.000274442370738,2.35792860425e-05,1793193555637157888
+41,0.683333333,BASELINE,764,742,711,672.806596792,663,632.806596792,877.806596792,784,799.806596792,650,629,651,0.400947109211,0.00452646333539,0.0598362657058,0.9999999569,0.000103546897556,-0.000273682103325,2.40070472353e-05,1793193555653824768
+42,0.700000000,BASELINE,764,742,711,672.612232631,663,632.612232631,878,784,799.612232631,650,628.612232631,651,0.400945851216,0.00452681514644,0.05983562683,0.999999956559,0.00010461275486,-0.000274508206738,2.41352891388e-05,1793193555670491392
+43,0.716666667,BASELINE,764,742,711,672.0260795,663,632.0260795,878,784,799.0260795,650,628.0260795,651,0.400943819534,0.00452750999454,0.0598344705604,0.999999955983,0.000105811928142,-0.000276145913756,2.41102938892e-05,1793193555687158016
+44,0.733333333,BASELINE,764,742,711,672,663,632.55743629,877.44256371,784,799.55743629,650,628.55743629,651,0.400944551479,0.00452554877525,0.0598351040816,0.999999956322,0.00010411185568,-0.000275538424749,2.44183464755e-05,1793193555703824896
+45,0.750000000,BASELINE,764,742.138583476,711,672.138583476,663.138583476,633,877,784,800,650,629,651,0.400945215835,0.00452431892541,0.059835676435,0.999999956631,0.000102708297571,-0.000274928823473,2.45447336242e-05,1793193555720491776
+46,0.766666667,BASELINE,764,742.712673007,711,672.712673007,663.712673007,633,877,784,800,650,629,651,0.400945263386,0.00452577610938,0.0598357946626,0.999999956727,0.00010266080224,-0.000274641126604,2.40514919824e-05,1793193555737158400
+47,0.783333333,BASELINE,764,742.711939495,711,673,663.711939495,633,877.288060505,783.711939495,800,650,629,651,0.400945800008,0.00452640777465,0.0598361103001,0.999999956798,0.000103122703963,-0.000274229707796,2.38328287851e-05,1793193555753825024
+48,0.800000000,BASELINE,764,742.135251405,711,673,663.135251405,633,877.864748595,783.135251405,800,650,629,651,0.400946826664,0.00452621229627,0.0598366237361,0.999999956842,0.000104095005543,-0.000273694323456,2.38892845121e-05,1793193555770491392
+49,0.816666667,BASELINE,764,742,711,672.548232376,663,633,877.548232376,783.451767624,799.548232376,650,629,651,0.400945599067,0.00452595685479,0.0598356215038,0.999999956553,0.000102549799652,-0.000275325341549,2.39288567139e-05,1793193555787158272
+50,0.833333333,BASELINE,764,742,711,672,663,633,877,784,798.958911966,650,629,651,0.40094385619,0.00452571415274,0.0598342628771,0.999999956181,0.000100515545574,-0.000277415626567,2.39759080243e-05,1793193555803824896
+51,0.850000000,BASELINE,764,742,711,672,663,633,877,784,798.380880694,650,629,651,0.400944405437,0.00452587801887,0.0598343154722,0.99999995617,0.00010217027199,-0.000276833545781,2.41882976734e-05,1793193555820491264
+52,0.866666667,BASELINE,764,742,711,672,663.195665365,632.804334635,877,784,798.195665365,650,629,651,0.400944972987,0.00452579966465,0.059834468267,0.99999995623,0.000102879609997,-0.000276345494808,2.42549960847e-05,1793193555837157888
+53,0.883333333,BASELINE,764,742,711,672,663.769342064,632.230657936,877,784,798.769342064,650,629,651,0.400945575898,0.00452525335825,0.0598348146403,0.999999956434,0.000101762525876,-0.000276039102666,2.40402295491e-05,1793193555853824768
+54,0.900000000,BASELINE,764.352147076,742,711,672,663.647852924,632,877,784.352147076,799,650,628.647852924,651,0.40094548038,0.00452628285916,0.0598351546043,0.999999956254,0.000103987992742,-0.000275868347105,2.39645453174e-05,1793193555870491392
+55,0.916666667,BASELINE,764.941090264,742,711,672,663.058909736,632,877,784.941090264,799,650,628.058909736,651,0.400944915213,0.00452837198848,0.0598354902583,0.999999955801,0.000108461108805,-0.000275788798372,2.39823849398e-05,1793193555887158016
+56,0.933333333,BASELINE,764.478060123,742,710.478060123,672.521939877,663,632,877,784.478060123,799.521939877,650,628.521939877,651,0.400945811265,0.00452602891681,0.059836059519,0.999999956603,0.000103631877507,-0.000274750675292,2.38165856241e-05,1793193555903824640
+57,0.950000000,BASELINE,764,742,710.101239078,673,663,632,877,784,799.898760922,650,628.898760922,651,0.400946359724,0.00452398567422,0.0598363034656,0.999999957169,9.94134998169e-05,-0.000274257237883,2.36875287407e-05,1793193555920491520
+58,0.966666667,BASELINE,764,742,710.677484287,673,663,632,877,784,799.322515713,650,628.322515713,651,0.400944515314,0.00452566049718,0.0598348992418,0.999999956106,0.000102912159645,-0.000276819299115,2.38266280553e-05,1793193555937158144
+59,0.983333333,BASELINE,764.253135921,742,711,673,663,632.253135921,877.253135921,784,799.253135921,650,628.253135921,651,0.400944268554,0.0045262987815,0.0598348392565,0.999999955892,0.000104516220175,-0.000276975385236,2.40122200887e-05,1793193555953825024
+60,1.000000000,BASELINE,764.828033138,742,711,673,663,632.828033138,877.828033138,784,799.828033138,650,628.828033138,651,0.40094605257,0.00452561952084,0.0598364879335,0.99999995677,0.000103712054312,-0.00027407323458,2.42569090784e-05,1793193555970491904
+61,1.016666667,BASELINE,764.586547626,742.413452374,711,672.586547626,663,632.586547626,878,784,799.586547626,650,629,651.413452374,0.400946205258,0.00452553901323,0.0598366203162,0.999999956885,0.000102766748776,-0.000274006725749,2.42681509309e-05,1793193555987158272
+62,1.033333333,BASELINE,764,742.996698513,711,672,663,632.003301487,878,784,799,650,629,651.996698513,0.400945660653,0.00452572189966,0.0598361048976,0.999999956675,0.000101784761919,-0.00027514750086,2.41798207745e-05,1793193556003824640
+63,1.050000000,BASELINE,764,742.417453585,711,672,663,632.582546415,878,784,799,650,629,651.417453585,0.40094493126,0.0045272745513,0.0598354741009,0.99999995618,0.00010491205879,-0.000275775204604,2.41021345995e-05,1793193556020491264
+64,1.066666667,BASELINE,764,742,711,672,663,633,878,784,799,650,629,651,0.400944442879,0.00452810409006,0.0598349999168,0.999999955908,0.000106559238659,-0.000276135134191,2.40653924212e-05,1793193556037157888
+65,1.083333333,BASELINE,764,742,711,672,663,633,878,784,799,650,629,651,0.400944576358,0.00452706785499,0.0598349298241,0.999999956226,0.00010438742475,-0.000275804153641,2.41342938293e-05,1793193556053824512
+66,1.100000000,BASELINE,764,742,711,672,663,632.68801726,878,784,799,650,629,651,0.400945070925,0.00452617624215,0.0598353268333,0.999999956509,0.000102539169195,-0.000275474001143,2.41021610577e-05,1793193556070491136
+67,1.116666667,BASELINE,764,742,711,672,663,632.112909962,878,784,799,650,629,651,0.400945870031,0.00452540660295,0.0598361177937,0.999999956763,0.000100963801118,-0.000275144547039,2.39848166012e-05,1793193556087157760
+68,1.133333333,BASELINE,764,742,711,672,663,632,877.5254197,784,799,650,629,651,0.400946126825,0.0045252963739,0.059836440308,0.99999995689,0.000101335257285,-0.000274534056715,2.41119859518e-05,1793193556103824640
+69,1.150000000,BASELINE,764,742,711,672,663,632.063637587,877.063637587,784,799,650,629,650.936362413,0.400946193417,0.00452531987681,0.0598365868882,0.99999995699,0.000101948407785,-0.000273930417888,2.42489284087e-05,1793193556120491520
+70,1.166666667,BASELINE,764,742,711,672,663,632.640926243,877.640926243,784,799,650,629,650.359073757,0.400945794127,0.00452512258345,0.0598362370898,0.999999957124,0.000100673677963,-0.000273936224069,2.39826260349e-05,1793193556137157888
+71,1.183333333,BASELINE,764,742,711,672,663,633,878,784,799.217560367,650,629,650.217560367,0.400945543597,0.00452511164166,0.0598360366199,0.999999957076,0.000100611545852,-0.000274139522562,2.39366903239e-05,1793193556153824512
+72,1.200000000,BASELINE,764,742,711,672,663,633,878,784,799.793117543,650,629,650.793117543,0.400945537855,0.0045254073424,0.0598360818707,0.999999956727,0.000102544749905,-0.00027466779577,2.42533691567e-05,1793193556170491136
+73,1.216666667,BASELINE,764,742,711,672.369442553,663,633,877.630557447,784,799.630557447,650,629,651,0.400946120202,0.00452544178884,0.0598362901357,0.999999956867,0.000102734634569,-0.000274082619877,2.43048940203e-05,1793193556187158016
+74,1.233333333,BASELINE,764,742,711,672.946198401,663,633,877.053801599,784,799.053801599,650,629,651,0.400947032556,0.00452532963197,0.0598365898763,0.999999957281,0.000101946252582,-0.000272872630166,2.42076272804e-05,1793193556203824384
+75,1.250000000,BASELINE,764,742,711,672.463761934,663,633,877,784,799.536238066,650,629,651,0.400947332007,0.00452529097949,0.0598367792845,0.999999957362,0.000101827460477,-0.0002726379543,2.40108072707e-05,1793193556220491264
+76,1.266666667,BASELINE,764,742,711,672,663,632.875510114,877,784,799.875510114,650,629,651,0.400947371972,0.00452545171841,0.0598367888182,0.999999957271,0.000102250383211,-0.000272826260107,2.38501459506e-05,1793193556237157632
+77,1.283333333,BASELINE,764,742,711,672,663,632.298719296,877,784,799.298719296,650,629,651,0.400946698258,0.00452630941799,0.059836186067,0.999999956677,0.00010439119852,-0.00027418679724,2.38580694092e-05,1793193556253824256
+78,1.300000000,BASELINE,764.276154546,742.276154546,711,672,663.276154546,632,877.276154546,784.276154546,799.276154546,650,629,651,0.400946497936,0.00452665386775,0.0598361121374,0.999999956443,0.00010542542898,-0.000274645583562,2.385727545e-05,1793193556270490880
+79,1.316666667,BASELINE,764.848969032,742.848969032,711,672,663.848969032,632,877.848969032,784.848969032,799.848969032,650,629,651,0.400946806156,0.00452644695715,0.0598366062963,0.999999956599,0.000105270906841,-0.000274135660986,2.38471167753e-05,1793193556287157760
+80,1.333333333,BASELINE,764.564103795,742.564103795,711,672,663.564103795,632.435896205,877.564103795,785,799.564103795,650,629,651,0.400946402181,0.00452630699069,0.0598364844675,0.999999956644,0.000104172595803,-0.000274387066156,2.39133286687e-05,1793193556303824640
+81,1.350000000,BASELINE,764,742.027276321,711,672,663,632.972723679,877,784.972723679,799.027276321,650,629,651,0.400945807922,0.00452617337097,0.0598361732949,0.999999956655,0.000102806572011,-0.000274854249325,2.40051337937e-05,1793193556320491264
+82,1.366666667,BASELINE,764,742.606504318,711,672,663,632.393495682,877,784.393495682,799.606504318,650,629,651,0.400946523634,0.00452568311132,0.0598364940256,0.999999956835,0.000102861822071,-0.000274171324431,2.40614595389e-05,1793193556337157632
+83,1.383333333,BASELINE,763.815573368,742.815573368,711,672,663,632,877,784.184426632,799.815573368,650,629,650.815573368,0.400946843043,0.004524877011,0.0598368146409,0.999999957121,0.00010202313558,-0.000273433943545,2.41401751912e-05,1793193556353824256
+84,1.400000000,BASELINE,763.240417188,742.240417188,711,672,663,632,877,784.759582812,799.240417188,650,629,650.240417188,0.400946322837,0.00452340176493,0.0598371350119,0.999999957626,9.92905391958e-05,-0.000272581191093,2.42663265099e-05,1793193556370490880
+85,1.416666667,BASELINE,763.341649962,742,711,672,663.341649962,632,877,784.658350038,799,650,629,650.341649962,0.40094675397,0.00452334553319,0.0598373838523,0.999999957838,9.877484441e-05,-0.000271993523244,2.42317314973e-05,1793193556387157504
+86,1.433333333,BASELINE,763.928680694,742,711,672,663.928680694,632,877,784.071319306,799,650,629,650.928680694,0.400947868378,0.00452430846987,0.0598375813179,0.999999957843,9.98513789113e-05,-0.000271596245234,2.4081684808e-05,1793193556403824128
+87,1.450000000,BASELINE,764,742,711,672.508813958,663.491186042,632,877.508813958,784,799.508813958,650,629,651,0.40094638076,0.00452469368383,0.0598363965165,0.999999957123,0.000101750501081,-0.000273510625241,2.43386235747e-05,1793193556420491008
+88,1.466666667,BASELINE,764.087829228,742.087829228,711,672.912170772,663,632.087829228,878,784.087829228,799.912170772,650,629,651,0.400945057191,0.00452496278718,0.0598354032844,0.999999956532,0.000103070827272,-0.000275151046493,2.45624583749e-05,1793193556437157376
+89,1.483333333,BASELINE,764.665928353,742.665928353,711,672.334071647,663,632.665928353,878,784.665928353,799.334071647,650,629,651,0.400946658022,0.00452502973223,0.0598365464663,0.999999957257,0.000100525259896,-0.000273477693067,2.42873263997e-05,1793193556453824256
+90,1.500000000,BASELINE,764.757868596,743,711,672,663,633,877.757868596,784.757868596,799,650,629,651,0.400946827986,0.00452469939922,0.059836559664,0.999999957364,9.93155320796e-05,-0.000273544986467,2.41000527924e-05,1793193556470491136
+91,1.516666667,BASELINE,764.184261301,743,711,672,663,633,877.184261301,784.184261301,799,650,629,651,0.400945039106,0.00452382519584,0.0598350259225,0.999999956631,9.9934557779e-05,-0.000275995211111,2.40330565867e-05,1793193556487157760
+92,1.533333333,BASELINE,764,742.600460533,711,672,663,633,877,784.399539467,799,650,629,651,0.400945076074,0.0045236320781,0.0598352359915,0.999999956689,9.98337589978e-05,-0.000275806396787,2.41946213982e-05,1793193556503824384
+93,1.550000000,BASELINE,764,742.011835564,711,672,663,633,877,784.988164436,799,650,629,651,0.400945977141,0.00452376128995,0.0598362713335,0.999999957122,9.93922971219e-05,-0.000274368634706,2.44643546785e-05,1793193556520491008
+94,1.566666667,BASELINE,764.569367806,742,711,672,663,633,877,784.430632194,799,650,629,651,0.400946240921,0.00452404246586,0.0598367114165,0.999999956983,0.000101857228431,-0.000273951148513,2.46850010405e-05,1793193556537157632
+95,1.583333333,BASELINE,764.851094768,742,711,672,663,633,877,784.148905232,799.148905232,650,628.851094768,651,0.400946276946,0.00452459089088,0.0598369449911,0.999999956805,0.000104047478888,-0.000273774355607,2.47396483655e-05,1793193556553824256
+96,1.600000000,BASELINE,764.275890631,742,711,672,663,633,877,784.724109369,799.724109369,650,628.275890631,651,0.400945698374,0.00452589549281,0.0598366223247,0.999999956562,0.00010528061154,-0.000274226703577,2.43219428419e-05,1793193556570491136
+97,1.616666667,BASELINE,764,742,711,672,663.298681759,633,877,784.701318241,799.701318241,650,628.298681759,651,0.400945932173,0.00452600523301,0.0598366918289,0.999999956851,0.000104192498439,-0.000273616233431,2.39889371654e-05,1793193556587157760
+98,1.633333333,BASELINE,764,742,711,672,663.872671806,633,877,784.127328194,799.127328194,650,628.872671806,651,0.40094691477,0.00452501361583,0.0598371228145,0.999999957622,0.000100964789619,-0.000272026116436,2.37340031372e-05,1793193556603824384
+99,1.650000000,BASELINE,764,742,711,672.46009738,663.53990262,633,877.46009738,784,799.46009738,650,628.53990262,651,0.400947115369,0.00452452723989,0.059836534529,0.999999957542,0.0001010109864,-0.000272303095229,2.37563780951e-05,1793193556620491008
+100,1.666666667,BASELINE,764.050281212,742,711,672.949718788,663,632.949718788,878,784,800,650,628.050281212,651,0.400946999649,0.00452431648432,0.059835734657,0.999999957225,0.000101989065395,-0.000273092929338,2.38410847938e-05,1793193556637157632
+101,1.683333333,BASELINE,764.629197142,742,711,672.370802858,663,632.370802858,878,784,800,650,628.629197142,651,0.400945901999,0.00452548924185,0.0598357650757,0.999999956968,0.000102952450804,-0.000273678899502,2.37500081259e-05,1793193556653824256
+102,1.700000000,BASELINE,764.792938733,742,711,672,663.207061267,632.207061267,878,784,800,650,629,651,0.400945300748,0.00452598267594,0.0598358155143,0.999999956894,0.000102970877237,-0.000273950147949,2.3688346729e-05,1793193556670490880
+103,1.716666667,BASELINE,764.216948711,742,711,672,663.783051289,632.783051289,878,784,800,650,629,651,0.400945583954,0.0045252657341,0.0598359016233,0.999999957143,0.000101305635034,-0.000273660644951,2.36790956236e-05,1793193556687157504
+104,1.733333333,BASELINE,764,742,711,672,663.641137908,633,878,784,800,650,629,651,0.400946009273,0.00452571122412,0.0598361652238,0.999999957151,0.000102260957784,-0.000273289622623,2.35074038745e-05,1793193556703824128
+105,1.750000000,BASELINE,764,742,711,672,663.065435343,633,878,784,800,650,629,651,0.400946520464,0.00452685910723,0.0598365360728,0.99999995701,0.000104799742544,-0.000272869342651,2.32375582459e-05,1793193556720490752
+106,1.766666667,BASELINE,764.525707386,742,711,672,663,632.474292614,878,784,800,650,629,651,0.400946162091,0.00452750498054,0.0598363737084,0.999999957032,0.000104119856846,-0.00027304882273,2.32168389182e-05,1793193556737157632
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,742,711,672,663,632,877,784,799,650,629,651,0.40094622716,0.00452566540851,0.0598360749499,0.999999957098,0.000102472242317,-0.000273404099436,2.35305980161e-05,1793193556779372288
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,742,711,672,663,632.573404048,877,784,799,650,629,651,0.400946457306,0.00452551796515,0.0598364793829,0.999999957467,0.000101677155188,-0.000272349373636,2.35388670564e-05,1793193556796038912
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,742,711,672.151460345,663,632.848539655,877,784.151460345,799.151460345,650,629,651,0.40094654454,0.00452547126893,0.0598367343414,0.999999957598,0.000101732400795,-0.000271840133492,2.35981569019e-05,1793193556812705536
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,742,711,672.743035314,663,632.256964686,877,784.743035314,799.743035314,650,629,651,0.400946216502,0.00452571732451,0.0598365549557,0.99999995704,0.000104258549568,-0.00027291596947,2.38057033937e-05,1793193556829372160
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,742,710.673492064,672.673492064,663,632.326507936,877,784.673492064,799.673492064,650,629,651,0.400946625385,0.00452575948299,0.0598364654474,0.999999957001,0.000104083033779,-0.000273128946778,2.37593726807e-05,1793193556846038784
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,742,710.096241691,672.096241691,663,632.903758309,877,784.096241691,799.096241691,650,629,651,0.400947600188,0.00452564505827,0.0598364449607,0.999999957361,0.000101832769019,-0.000272679289942,2.35180764374e-05,1793193556862705408
+113,1.883333333,POSE1_TO_POSE2_PRESS,764.479677448,742,710.479677448,672.479677448,663,632.520322552,877,784,799.479677448,650,629,651,0.400949400674,0.00452539380347,0.0598377555079,0.999999957945,0.000101531488605,-0.000270632873331,2.36437600413e-05,1793193556879372288
+114,1.900000000,POSE1_TO_POSE2_PRESS,764.94510458,742,711.05489542,673,663,632,877.05489542,784,800,650,629,651,0.400951730928,0.00452520607941,0.0598393875005,0.999999958591,0.00010168543929,-0.000268158583267,2.3834330694e-05,1793193556896038912
+115,1.916666667,POSE1_TO_POSE2_PRESS,764.373975519,742,711.626024481,673,663,632,877.626024481,784,800,650,629,651,0.400957489516,0.00452587325064,0.0598415379156,0.999999959441,0.000102453207622,-0.000264665009923,2.39445972552e-05,1793193556912705536
+116,1.933333333,POSE1_TO_POSE2_PRESS,764.205945526,742,711.794054474,673,663,632,878,784,799.794054474,650,629,651,0.400971966893,0.00452600407241,0.0598476209831,0.999999962246,0.00010213098842,-0.000253963352304,2.40662108359e-05,1793193556929372160
+117,1.950000000,POSE1_TO_POSE2_PRESS,764.802543792,742,711.197456208,673,663,632,878,784,799.197456208,650,629,651,0.401002982716,0.00452511750668,0.0598611637973,0.999999968377,9.97411999466e-05,-0.00022958886645,2.42093482628e-05,1793193556946038784
+118,1.966666667,POSE1_TO_POSE2_PRESS,764.613767023,742,711,672.613767023,663,632.386232977,878,784,799.386232977,650,629,651,0.401049070995,0.00452487414026,0.0598785735748,0.999999975083,9.98875333041e-05,-0.000198145832912,2.4372371729e-05,1793193556962705408
+119,1.983333333,POSE1_TO_POSE2_PRESS,764.036463929,742,711,672.036463929,663,632.963536071,878,784,799.963536071,650,629,651,0.401102615645,0.00452494896556,0.059897896347,0.999999981251,0.000101288490187,-0.000163205974358,2.45452328456e-05,1793193556979372032
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,742,711,672,663,633,878,784.5334347,799.4665653,650,629,651,0.401169656127,0.00452386175334,0.0599127356587,0.999999984192,9.93356444485e-05,-0.000145300026915,2.52211760604e-05,1793193556996038912
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,742,711,672,663.214866491,633,877.892566755,784.892566755,799.107433245,650,628.892566755,651,0.401240353463,0.00452274713374,0.059925830241,0.999999986618,9.70876985576e-05,-0.000129149653636,2.5665749191e-05,1793193557012705536
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,742,711,672,664.404597126,633,877.297701437,784.297701437,799.702298563,650,628.297701437,651,0.401323513933,0.00452186362468,0.0599323803335,0.999999988523,9.45267697736e-05,-0.000115753867917,2.49066907703e-05,1793193557029372160
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,742,711,672,664.421174509,633,877.289412746,784,800,650,628.289412746,651.289412746,0.401417659882,0.00452054637672,0.0599363442559,0.99999998983,9.07441501997e-05,-0.00010740266857,2.38843403957e-05,1793193557046039040
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,742,711,672,663.262476527,633,877.868761736,784,800,650,628.868761736,651.868761736,0.401522811175,0.00451879460536,0.05993771733,0.99999999065,8.5737630164e-05,-0.000104105181235,2.25982218634e-05,1793193557062705664
+125,2.083333333,POSE1_TO_POSE2_PRESS,764.44471013,742.44471013,711,672,663.44471013,633,878,784,799.55528987,650,629,651.55528987,0.401649132247,0.00451923979773,0.059940245075,0.999999991429,8.47493129257e-05,-9.75616109051e-05,2.10154939193e-05,1793193557079372032
+126,2.100000000,POSE1_TO_POSE2_PRESS,764.980400257,743,711,672,663.980400257,633,878,784,799,650,629,651,0.40178259704,0.00452020808413,0.0599430437563,0.999999992167,8.4714177775e-05,-9.00851351048e-05,1.93368940644e-05,1793193557096038912
+127,2.116666667,POSE1_TO_POSE2_PRESS,764.407285264,743,711,672,663.407285264,633,878,784,799,650,629,651,0.401942713569,0.00451777810726,0.0599439437313,0.999999993324,7.83635305556e-05,-8.311065024e-05,1.74040159165e-05,1793193557112706304
+128,2.133333333,POSE1_TO_POSE2_PRESS,764.171490186,742.828509814,711,672,663,632.828509814,878,784,799.171490186,650,629,651,0.402112795987,0.00451559268662,0.0599450293718,0.9999999944,7.18651087648e-05,-7.61592947124e-05,1.53428697792e-05,1793193557129373440
+129,2.150000000,POSE1_TO_POSE2_PRESS,764.764167883,742.235832117,711,672,663,632.235832117,878,784,799.764167883,650,629,651,0.402307355044,0.00451400790732,0.059946571015,0.999999995404,6.5003747011e-05,-6.92647469024e-05,1.29666920517e-05,1793193557146039296
+130,2.166666667,POSE1_TO_POSE2_PRESS,764.651819398,742,711,672,663,632.348180602,877.651819398,784.348180602,800,650,629,651,0.402528143495,0.00451309821771,0.0599455373311,0.999999995921,6.08214557961e-05,-6.60068224069e-05,1.01310473184e-05,1793193557162705920
+131,2.183333333,POSE1_TO_POSE2_PRESS,764.073533134,742,711,672,663,632.926466866,877.073533134,784.926466866,800,650,629,651,0.402766266453,0.00451263468135,0.0599428016648,0.999999996147,5.84097085553e-05,-6.5152269546e-05,6.99174970511e-06,1793193557179373056
+132,2.200000000,POSE1_TO_POSE2_PRESS,764.503070405,742,711,672,663,632.496929595,877.503070405,784.496929595,799.496929595,650,629,651,0.403036172181,0.00451037858818,0.0599446348985,0.99999999706,4.89235002898e-05,-5.89227499945e-05,3.86133838351e-06,1793193557196039936
+133,2.216666667,POSE1_TO_POSE2_PRESS,764.919200938,742,711,672.080799062,663,632.080799062,878,784,799,650,629,651,0.403313496546,0.00450713941043,0.059946054187,0.999999997824,3.79861919571e-05,-5.39267890775e-05,8.98724884852e-07,1793193557212706816
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.332899283,742,711,672.667100717,663,632.667100717,878,784,799,650,629,651,0.403608266584,0.00449938354836,0.0599407195021,0.999999997807,2.44182154864e-05,-6.15472102864e-05,-1.02219684667e-06,1793193557229372928
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.251870811,742,711,672.748129189,663.251870811,633,878,784,799.503741621,650,629,651,0.403919501374,0.00448740709071,0.0599310144297,0.999999996991,5.52345993688e-06,-7.73433354265e-05,-2.44740384165e-06,1793193557246039040
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.834628828,742,711,672.165371172,663.834628828,633,878,784,800.669257656,650,629,651,0.404252366185,0.00446988596134,0.0599155679012,0.999999994392,-2.03691801272e-05,-0.00010388002911,-3.22138136928e-06,1793193557262705664
+137,2.283333333,POSE1_TO_POSE2_PRESS,764.588992668,742.411007332,711,672.411007332,663.588992668,632.588992668,878,784,800.588992668,650,629,651,0.40461801186,0.00446675600133,0.0599013578168,0.999999991058,-3.10470861091e-05,-0.000129854023135,-7.63777710265e-06,1793193557279372544
+138,2.300000000,POSE1_TO_POSE2_PRESS,764.015141778,742.984858222,711,672.984858222,663.015141778,632.015141778,878,784,800.015141778,650,629,651,0.4049966455,0.00446932790891,0.0598876376193,0.999999987165,-3.56968230418e-05,-0.000155605071526,-1.34973206407e-05,1793193557296039168
+139,2.316666667,POSE1_TO_POSE2_PRESS,764.561376448,742.438623552,711,673,663,632.561376448,878,784,799.438623552,650,629,650.438623552,0.405444707414,0.00446710059018,0.0598946823124,0.999999988002,-4.82264334943e-05,-0.000146103150497,-1.80258651916e-05,1793193557312706816
+140,2.333333333,POSE1_TO_POSE2_PRESS,764.859518505,742.140481495,711,672.859518505,663,633,878,784,799,650,629,650.140481495,0.405909293764,0.00446432618126,0.0599081677818,0.999999990151,-6.07295371969e-05,-0.000124554501048,-2.22946230674e-05,1793193557329374208
+141,2.350000000,POSE1_TO_POSE2_PRESS,764.272419395,742.727580605,711,672.272419395,663,633,878,784,799,650,629,650.727580605,0.406420432407,0.00446022597157,0.059940340601,0.999999994745,-7.24694349842e-05,-6.77444044161e-05,-2.58521478155e-05,1793193557346040832
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,743,711,672.311644708,663.311644708,633,878,784.311644708,799,650.311644708,629,651,0.406959020702,0.00445887839117,0.0599693684341,0.999999996173,-7.97705999009e-05,-2.08462405062e-05,-2.92625866916e-05,1793193557362707200
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,743,711,672.893081459,663.893081459,633,878,784.893081459,799,650.893081459,629,651,0.407521372325,0.00445991377226,0.0599956736441,0.999999995854,-8.32291377951e-05,1.74711307548e-05,-3.25456931751e-05,1793193557379373824
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,742.531704863,711,673,664,633,878,784.531704863,799.468295137,650.531704863,628.531704863,651,0.408073364407,0.00445583934481,0.059992837859,0.999999995675,-8.6629436998e-05,1.15918829886e-06,-3.38305797698e-05,1793193557396040192
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.042134196,742,711,673,663.957865804,632.957865804,878,784,800,650,628.042134196,651,0.408625329258,0.00445144354439,0.0599831427094,0.999999995396,-8.54905071462e-05,-2.74281267277e-05,-3.38721750858e-05,1793193557412706304
+146,2.433333333,POSE1_TO_POSE2_PRESS,764.616321806,742,711,673,663.383678194,632.383678194,878,784,800,650,628.616321806,651,0.4092064262,0.00445752826359,0.0599697437593,0.999999997799,-2.71977540494e-05,-5.55897167993e-05,-2.38994350733e-05,1793193557429372928
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.802678209,742.197321791,711,672.802678209,663.197321791,632.197321791,878.197321791,784,799.802678209,650,629,651,0.409811003664,0.00446018281018,0.0599624576071,0.999999997486,7.77734470577e-06,-6.78779522707e-05,-1.89933480945e-05,1793193557446039296
+148,2.466666667,POSE1_TO_POSE2_PRESS,764.207958415,742.792041585,711,672.207958415,663.792041585,632.792041585,878.792041585,784,799.207958415,650,629,651,0.410462869902,0.00445592912926,0.0599674823799,0.999999998535,-4.20836075501e-06,-4.81979005874e-05,-2.429129351e-05,1793193557462706176
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,743,711,672.374160683,664,633,878.625839317,784.374160683,799,650,629,651,0.411140386757,0.0044514010638,0.059970498928,0.999999998781,-1.39369582593e-05,-3.81601228153e-05,-2.80577079382e-05,1793193557479373056
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,743,711,672.94950447,664,633,878.05049553,784.94950447,799,650,629,651,0.411831695715,0.00444672546419,0.05997243567,0.999999998713,-2.24519270961e-05,-3.33069166216e-05,-3.10006306526e-05,1793193557496039936
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,743,711,673,664,632.474049991,878,784.474049991,799.525950009,650,629,651,0.412517967435,0.00445087099087,0.0599516673447,0.999999995811,-4.72247456086e-05,-7.21470129798e-05,-3.06928787624e-05,1793193557512706048
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,742.895766368,711,673,664,632.104233632,877.895766368,784,799.895766368,650,629,651,0.413202850854,0.00445440564935,0.05992810632,0.999999990027,-7.30858856706e-05,-0.000116985950995,-3.03197822871e-05,1793193557529372672
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,742.309472364,711,673,664,632.690527636,877.309472364,784,799.309472364,650,629,651,0.413883554763,0.00445119018525,0.0599017322627,0.999999980365,-9.67463390224e-05,-0.000170126954793,-3.10908729255e-05,1793193557546039296
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,742,711,673,664,632.725037283,877.549925433,784,799,650,629,651,0.414640313803,0.00444782360416,0.0599085734486,0.999999981452,-0.000105494201812,-0.000157969595988,-3.18188957973e-05,1793193557562705920
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,742,711,673,664,632.142680309,878.714639381,784,799,650,629,651,0.415482098677,0.00444428808161,0.0599525475744,0.999999992061,-9.75705536064e-05,-7.28120130353e-05,-3.24987711258e-05,1793193557579372544
+156,2.600000000,POSE1_TO_POSE2_PRESS,764.433293177,742.433293177,711,673,664,632,879,784,799.433293177,650,629,651,0.416305249066,0.00444215045254,0.0599866755139,0.999999995611,-8.65313983075e-05,-1.57693670578e-05,-3.22772011773e-05,1793193557596039424
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,743,711,673,664,632.007110002,878.992889998,784.007110002,800,650,629,651,0.41712214044,0.00444045877203,0.0600170098761,0.999999996223,-7.46207961526e-05,3.12242462134e-05,-3.17908810606e-05,1793193557612706304
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,743,711,673,664,632.574223338,878.425776662,784.574223338,800,650,629,651,0.417922345718,0.00443816182941,0.0600002149123,0.999999996709,-7.37032361614e-05,5.33094778593e-06,-3.34925539954e-05,1793193557629373184
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,743,711,673,664,632.849940311,878,784.849940311,800,650,629,651,0.418723301611,0.00443585804248,0.059981478729,0.999999996349,-7.37773707248e-05,-2.4789303324e-05,-3.52649257709e-05,1793193557646040064
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,743,711,673,664,632.247825921,878,784.247825921,800,650,629,651,0.41952651868,0.0044335336372,0.0599568946244,0.999999994066,-7.68389844983e-05,-6.76432446771e-05,-3.72502776689e-05,1793193557662706176
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.660582645,743,711,673,663.660582645,632,878,784,799.660582645,650.339417355,629,650.660582645,0.420320768047,0.00443334536193,0.0599310226861,0.999999990678,-7.69183877153e-05,-0.000105867749591,-3.89755137425e-05,1793193557679372544
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.083741786,743,711,673,663.083741786,632,878,784,799.083741786,650.916258214,629,650.083741786,0.421108744445,0.00443465131641,0.0599042499051,0.999999986453,-7.49117251504e-05,-0.000140853947354,-4.05187978934e-05,1793193557696039168
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,742.509671512,711,672.509671512,663.490328488,632,878,784.490328488,799,650.509671512,629,650.490328488,0.421903924769,0.00443250215201,0.0598833869779,0.999999978402,-7.67668509456e-05,-0.000188967859935,-3.99216457687e-05,1793193557712705792
+164,2.733333333,POSE1_TO_POSE2_PRESS,764.065787753,742.065787753,711,672.065787753,664,632,878.065787753,785,799.065787753,650,629,651,0.422715841548,0.00442956686042,0.0598724799614,0.999999971485,-8.01635421737e-05,-0.000221526485963,-3.91114626177e-05,1793193557729372672
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.656071754,742.656071754,711,672.656071754,664,632,878.656071754,785,799.656071754,650,629,651,0.423651436313,0.00442504221855,0.0599329452703,0.999999988809,-9.06217413162e-05,-0.000112295379913,-3.9500941547e-05,1793193557746039552
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.758075976,742.758075976,711,673.241924024,664.241924024,632.241924024,879,785,799.758075976,650,629,651,0.424561988127,0.00442091612546,0.0599843986641,0.999999993825,-0.000101296563563,-2.34191934846e-05,-3.92617312877e-05,1793193557762706432
+167,2.783333333,POSE1_TO_POSE2_PRESS,764.1784106,742.1784106,711,673.8215894,664.8215894,632.8215894,879,785,799.1784106,650,629,651,0.42543757852,0.00441734643119,0.060023270859,0.999999992284,-0.000112273807928,3.70402426672e-05,-3.81448313379e-05,1793193557779373056
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,742,711,673.60251015,664.60251015,632.60251015,879,784.60251015,799.39748985,650,629,650.60251015,0.426270240191,0.00441588599451,0.0600222767493,0.999999991483,-0.00011705930788,4.19110141975e-05,-3.96711484069e-05,1793193557796039424
+169,2.816666667,POSE1_TO_POSE2_PRESS,764,742,711,673.028283741,664.028283741,632.028283741,879,784.028283741,799.971716259,650,629,650.028283741,0.427083814343,0.00441536340069,0.0600035568174,0.999999991767,-0.000119091761851,2.20653035834e-05,-4.23727234625e-05,1793193557812706048
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,742,711,673,664,632,878.455016314,784,800,650,629,650.544983686,0.427878143124,0.00441170490302,0.0599773305119,0.999999991869,-0.000118646300921,-1.74918247456e-05,-4.33437356222e-05,1793193557829372672
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,742.1225638,711,673,664,632.1225638,878,784,799.8774362,650,629,651,0.428666256553,0.00440890316223,0.0599527320502,0.999999990703,-0.000116491265381,-5.54535242664e-05,-4.41444386384e-05,1793193557846039040
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,742.716936825,711,673,664,632.716936825,878,784,799.283063175,650,629,651,0.429434282087,0.00441002490473,0.0599358969807,0.999999989672,-0.000108249399306,-8.33425402731e-05,-4.46346659205e-05,1793193557862705664
+173,2.883333333,POSE1_TO_POSE2_PRESS,764.301654083,743,711,673,664,632.698345917,878,784,799,650,629,650.698345917,0.430204786862,0.00440870948205,0.0599235657354,0.999999987981,-0.000106051784915,-0.000103721515579,-4.50979470342e-05,1793193557879372544
+174,2.900000000,POSE1_TO_POSE2_PRESS,764.877591659,743,711,673,664,632.122408341,878,784,799,650,629,650.122408341,0.430977545883,0.00440517803037,0.0599153296606,0.999999986108,-0.000109349997353,-0.000117271872456,-4.55367269329e-05,1793193557896039424
+175,2.916666667,POSE1_TO_POSE2_PRESS,764.546892635,743,711.453107365,673.90621473,664,632.453107365,878,784.453107365,799.453107365,650,629,650.453107365,0.431793281067,0.00440040827993,0.0599529210425,0.999999990987,-0.000116099973708,-4.92074964228e-05,-4.61021720854e-05,1793193557912705792
+176,2.933333333,POSE1_TO_POSE2_PRESS,764.028386128,742.971613872,711.971613872,674.971613872,664.028386128,633,878,784.971613872,799.971613872,650,629,651,0.432615261084,0.00439549487621,0.060000606608,0.999999990675,-0.000123095145248,3.63917072736e-05,-4.66090010027e-05,1793193557929372160
+177,2.950000000,POSE1_TO_POSE2_PRESS,764.601302985,742.398697015,711.398697015,674.398697015,664.601302985,633,878,784.398697015,799.398697015,650,629,651,0.433334524426,0.00439423709994,0.0600046560227,0.999999991496,-0.000116922313162,3.57990598701e-05,-4.53355886279e-05,1793193557946038784
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,742.18149028,711.18149028,674,664.81850972,632.81850972,878.18149028,784.18149028,799.18149028,649.81850972,629,651,0.434041151774,0.00439327315574,0.0599965151029,0.999999992568,-0.000112043972295,1.71026807678e-05,-4.49231636769e-05,1793193557962705664
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,742.77831588,711.77831588,674,664.22168412,632.22168412,878.77831588,784.77831588,799.77831588,649.22168412,629,651,0.43471886215,0.00439298163757,0.0599604769518,0.99999999193,-0.000110128036106,-4.30235710439e-05,-4.64810834817e-05,1793193557979372544
+180,3.000000000,POSE1_TO_POSE2_PRESS,764.638009866,742.638009866,711.638009866,673.638009866,664.361990134,632,879,785,800,649,629,651,0.435375108164,0.00439029225757,0.0599356874065,0.999999989007,-0.000110291470177,-8.7214090944e-05,-4.7068424152e-05,1793193557996039168
+181,3.016666667,POSE1_TO_POSE2_PRESS,764.062107232,742.062107232,711.062107232,673.062107232,664.937892768,632,879,785,800,649,629,651,0.436018670105,0.00438618589803,0.0599175450536,0.999999985215,-0.000111683676276,-0.000121987631684,-4.70822159467e-05,1793193558012705536
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,742.514321789,711,673.514321789,664.485678211,632.514321789,879,784.485678211,799.485678211,649.514321789,629,651,0.436647882243,0.00438506606136,0.0599224551756,0.999999986805,-0.000109576675879,-0.000110330653449,-4.70162785437e-05,1793193558029372160
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,743,711,674,664.092758715,632.907241285,879,784.092758715,799,650,629,651,0.437265661277,0.00438556273921,0.0599280529609,0.999999988318,-0.000106004059126,-9.9849420143e-05,-4.64473315923e-05,1793193558046038784
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,743,711,674,664.681593669,632.318406331,879,784.681593669,799,650,629,651,0.437831572385,0.00439277389722,0.0599224257488,0.999999986478,-9.68554024876e-05,-0.000125671854433,-4.32398175373e-05,1793193558062705408
+185,3.083333333,POSE1_TO_POSE2_PRESS,764,743,711,674,664.734010318,632,879,784.734010318,799,650,629,650.734010318,0.438384807963,0.00441194663449,0.0599153012103,0.999999984006,-9.52649880211e-05,-0.000145165212688,-4.28935102828e-05,1793193558079372288
+186,3.100000000,POSE1_TO_POSE2_PRESS,764,743,711,674,664.154840813,632,879,784.154840813,799,650,629,650.154840813,0.438923119162,0.00444520309521,0.0599064137001,0.999999981328,-0.000102573750026,-0.000157206630121,-4.59160265652e-05,1793193558096038912
+187,3.116666667,POSE1_TO_POSE2_PRESS,764.422178712,742.577821288,711,674,664,632,878.577821288,784,799.422178712,650,629,650.422178712,0.439441679096,0.00445805121131,0.0599094285139,0.999999982863,-9.1202192601e-05,-0.000154432143665,-4.5893159125e-05,1793193558112705536
+188,3.133333333,POSE1_TO_POSE2_PRESS,764.99841374,742.00158626,711,674,664,632,878.00158626,784,799.99841374,650,629,650.99841374,0.439953031682,0.00446345216543,0.0599167865782,0.999999985638,-7.30140409704e-05,-0.000146251218852,-4.47590075609e-05,1793193558129372160
+189,3.150000000,POSE1_TO_POSE2_PRESS,764.428302502,742.571697498,711,674,663.428302502,632,878.571697498,784,800,650,629,650.428302502,0.440396389286,0.00445349076244,0.0599099419038,0.999999982495,-8.25479784319e-05,-0.000161816052879,-4.48541101093e-05,1793193558146039040
+190,3.166666667,POSE1_TO_POSE2_PRESS,764,742.850348135,711,674,662.850348135,632,879,784,800,650,629,650.149651865,0.440818569503,0.00444794744307,0.0598933585432,0.999999976864,-8.65647502846e-05,-0.000191554659288,-4.56753011771e-05,1793193558162705664
+191,3.183333333,POSE1_TO_POSE2_PRESS,764,742.258570911,711,674,662.258570911,632,879,784,800,650,629,650.741429089,0.441178738732,0.00445558201047,0.0598481194298,0.999999961498,-7.40557558632e-05,-0.000262974031972,-4.86315936204e-05,1793193558179372032
+192,3.200000000,POSE1_TO_POSE2_PRESS,764.326160212,742.326160212,711,674,661.673839788,631.673839788,879,783.673839788,800,650,629,651,0.441523515145,0.00445844795519,0.059806934385,0.999999943482,-6.95859322599e-05,-0.000324883099798,-5.14213003503e-05,1793193558196038912
+193,3.216666667,POSE1_TO_POSE2_PRESS,764.905423465,742.905423465,711,674,661.094576535,631.094576535,879,783.094576535,800,650,629,651,0.441856346584,0.00445761340854,0.0597688953338,0.999999924015,-7.13545729649e-05,-0.000379412087648,-5.40817350282e-05,1793193558212705792
+194,3.233333333,POSE1_TO_POSE2_PRESS,764.520163928,743,711,674,660.520163928,631,879,783.479836072,800,650,629,651,0.442177526668,0.00445943562128,0.0597532723377,0.999999915794,-6.39958544534e-05,-0.000401742538475,-5.40374368575e-05,1793193558229372160
+195,3.250000000,POSE1_TO_POSE2_PRESS,764.054644693,742.945355307,711,674,660,631,879,784,800,650,629,651,0.442493718807,0.00446208918091,0.0597433281962,0.999999910895,-5.22489289305e-05,-0.000415568171845,-5.27648979953e-05,1793193558246038784
+196,3.266666667,POSE1_TO_POSE2_PRESS,764.642554656,742.357445344,711,674,660,631,879,784,800,650,629,651,0.442783421496,0.00446779660821,0.0597461175719,0.999999915776,-1.50589961195e-05,-0.000407710368952,-4.46566462714e-05,1793193558262705408
+197,3.283333333,POSE1_TO_POSE2_PRESS,764.772875562,742.227124438,711,674,659.772875562,631,879,784,800,650,629,651,0.44305905757,0.00447221426997,0.0597474135028,0.999999917156,7.28273471525e-06,-0.000404967662302,-4.04589786649e-05,1793193558279372032
+198,3.300000000,POSE1_TO_POSE2_PRESS,764.193486377,742.806513623,711,674,659.193486377,631,879,784,800,650,629,651,0.443312876624,0.00447463153469,0.0597463931351,0.999999914968,6.59524441462e-06,-0.000410158353042,-4.23265373637e-05,1793193558296038912
+199,3.316666667,POSE1_TO_POSE2_PRESS,764,742.615496819,711,673.615496819,658.615496819,631,879.384503181,783.615496819,800,650,629,651,0.443536844109,0.00447752517009,0.0597422614574,0.999999911952,7.49536098293e-06,-0.000417264862583,-4.39345932241e-05,1793193558312705536
+200,3.333333333,POSE1_TO_POSE2_PRESS,764,742.038208962,711,673.038208962,658.038208962,631,879.961791038,783.038208962,800,650,629,651,0.443745844445,0.00448065765149,0.0597365698112,0.999999908473,9.19148202163e-06,-0.00042533193811,-4.541253805e-05,1793193558329372160
+201,3.350000000,POSE1_TO_POSE2_PRESS,764,742,711,673.53569699,658,631,880,783.53569699,800,650,629,651,0.443920913249,0.00448772123021,0.0597319414222,0.999999905669,1.47282929436e-05,-0.000431471209585,-4.77219355419e-05,1793193558346038784
+202,3.366666667,POSE1_TO_POSE2_PRESS,764,742.112649595,711,674,658,630.887350405,879.887350405,783.887350405,800,650,629,651,0.444087594219,0.00449640033598,0.0597284069986,0.999999903085,2.2327936768e-05,-0.000436807967922,-5.03085717572e-05,1793193558362705408
+203,3.383333333,POSE1_TO_POSE2_PRESS,764,742.703554659,711,674,658,630.296445341,879.296445341,783.296445341,800,650,629,651,0.444228875067,0.0045107552628,0.0597291970697,0.999999901347,3.75296494508e-05,-0.000439317751525,-5.38220334633e-05,1793193558379372032
+204,3.400000000,POSE1_TO_POSE2_PRESS,764,743,711,674,658,630.289182019,879,783.289182019,799.710817981,650,629,651,0.444354504403,0.00452635279261,0.0597262726889,0.999999897485,5.37841480495e-05,-0.000445977001167,-5.69442152089e-05,1793193558396038912
+205,3.416666667,POSE1_TO_POSE2_PRESS,764,743,711,674,658,630.869496051,879,783.869496051,799.130503949,650,629,651,0.44446437668,0.00454320130358,0.0597196088092,0.999999891353,7.10985307256e-05,-0.00045681369706,-5.96724783204e-05,1793193558412705536
+206,3.433333333,POSE1_TO_POSE2_PRESS,764,742.555172893,711,674,657.555172893,630.555172893,879,783.555172893,799.444827107,650,629,651,0.444551476198,0.00454546667236,0.0597127907456,0.999999886068,7.43032892851e-05,-0.000467736628575,-5.97094807874e-05,1793193558429372160
+207,3.450000000,POSE1_TO_POSE2_PRESS,764,742.018800554,711,673.981199446,657.018800554,630,879,783.018800554,800,650.018800554,629,651,0.444631371659,0.0045434830817,0.0597060006058,0.99999988105,7.33971151418e-05,-0.000478577367147,-5.89636044376e-05,1793193558446039040
+208,3.466666667,POSE1_TO_POSE2_PRESS,764,742.595388278,711,673.404611722,657.595388278,630,879,783.595388278,800,650.595388278,629,651,0.444693555868,0.00454096739647,0.0597013661077,0.999999877505,7.19779637677e-05,-0.00048623725783,-5.81566081814e-05,1793193558462705664
+209,3.483333333,POSE1_TO_POSE2_PRESS,764,743,711,673.177022903,657.822977097,630,879,784,800.177022903,650.822977097,629,651,0.444750115539,0.00453978972932,0.059697425389,0.999999874237,7.16361500925e-05,-0.000493029559689,-5.75824507248e-05,1793193558479372288
+210,3.500000000,POSE1_TO_POSE2_PRESS,764,743,711,673.770531399,657.229468601,630,879,784,800.770531399,650.229468601,629,651,0.444793442232,0.00454176004647,0.0596951169407,0.999999871725,7.38290122119e-05,-0.000497780665626,-5.75560982424e-05,1793193558496039168
+211,3.516666667,POSE1_TO_POSE2_PRESS,764,743,711,674,657,630,879,783.648050061,800.296100121,650,629,651,0.444830873909,0.00454199121259,0.0596951637229,0.999999871068,7.54360062467e-05,-0.000498964794466,-5.6638075708e-05,1793193558512705792
+212,3.533333333,POSE1_TO_POSE2_PRESS,764,743,711,674,657,630,879,783.074252237,799.148504474,650,629,651,0.44486458973,0.00454112612362,0.0596966950994,0.999999871587,7.66737048087e-05,-0.000497900517871,-5.51579984807e-05,1793193558529372416
+213,3.550000000,POSE1_TO_POSE2_PRESS,764,742.497570649,711,674,657,630,879,783,799.502429351,650,629,651,0.444888948838,0.00454373790684,0.0596981553278,0.999999872302,7.88355772915e-05,-0.000496107803881,-5.53001185819e-05,1793193558546039296
+214,3.566666667,POSE1_TO_POSE2_PRESS,764,742,711,674,657.081367854,630.081367854,879,783.081367854,800,650,629,651,0.444910241859,0.00454622192376,0.0596994076647,0.999999872947,8.0492665635e-05,-0.000494513651863,-5.55323247516e-05,1793193558562705664
+215,3.583333333,POSE1_TO_POSE2_PRESS,764,742,711,674,657.671743627,630.671743627,879,783.671743627,800,650,629,651,0.444921054758,0.00454467376327,0.0596994256645,0.999999873012,7.81326780103e-05,-0.00049483895794,-5.48197004591e-05,1793193558579372288
+216,3.600000000,POSE1_TO_POSE2_PRESS,764.256869403,742.256869403,711,674,657.743130597,630.743130597,879,784,800,650,629,651,0.444928907878,0.00454405540607,0.0596984438138,0.999999872366,7.53892170189e-05,-0.000496605863081,-5.44684248716e-05,1793193558596039168
+217,3.616666667,POSE1_TO_POSE2_PRESS,764.835420491,742.835420491,711,674,657.164579509,630.164579509,879,784,800,650,629,651,0.444933054419,0.00454460145657,0.059696209834,0.999999870818,7.21655263048e-05,-0.000500178105881,-5.45696721194e-05,1793193558612705792
+218,3.633333333,POSE1_TO_POSE2_PRESS,764.588874182,743,711,674,657,630,879,784,800,650,629,651,0.444936454437,0.00454598450748,0.0596955169689,0.999999870348,7.13690712965e-05,-0.000501213593331,-5.47227121561e-05,1793193558629372416
+219,3.650000000,POSE1_TO_POSE2_PRESS,764.014300237,743,711,674,657,630,879,784,800,650,629,651,0.444939557666,0.00454770031818,0.0596954367929,0.999999870313,7.15375937872e-05,-0.000501240562394,-5.48963430512e-05,1793193558646039040
+220,3.666666667,POSE1_TO_POSE2_PRESS,764,743,711,674.559490826,657.559490826,630,879,784,800.559490826,650,629,651,0.444939441982,0.00454573270408,0.0596940195628,0.99999986958,6.84640001929e-05,-0.000503194155357,-5.42941476035e-05,1793193558662705664
+221,3.683333333,POSE1_TO_POSE2_PRESS,764,743,711,674.862113246,658,630.137886754,879,784,800.862113246,650.137886754,629,651,0.444939607466,0.00454383367024,0.0596929481172,0.999999869025,6.54681475151e-05,-0.000504757004291,-5.37121956072e-05,1793193558679372288
+222,3.700000000,POSE1_TO_POSE2_PRESS,764,743,711,674.268429594,658,630.731570406,879,784,800.268429594,650.731570406,629,651,0.444940973958,0.0045424721082,0.0596931325011,0.999999869152,6.30028146892e-05,-0.000504865663113,-5.32626173007e-05,1793193558696038912
+223,3.716666667,POSE1_TO_POSE2_PRESS,764,743,711,674,657.684129935,631,879,784,800,651,629,651,0.444941664526,0.00454328428221,0.0596928666872,0.999999869172,6.28506038267e-05,-0.000504831608211,-5.33961210194e-05,1793193558712705792
+224,3.733333333,POSE1_TO_POSE2_PRESS,764,743,711,674,657.107574748,631,879,784,800,651,629,651,0.44494179726,0.00454589042361,0.0596922293286,0.999999869104,6.46073943563e-05,-0.000504679772789,-5.40108377737e-05,1793193558729372416
+225,3.750000000,POSE1_TO_POSE2_PRESS,764,743,711,674,657.467647156,630.532352844,879,783.532352844,800,650.532352844,629,651,0.444942911281,0.00454737764747,0.0596923977812,0.999999869154,6.64931051598e-05,-0.000504330392703,-5.40599830774e-05,1793193558746039040
+226,3.766666667,POSE1_TO_POSE2_PRESS,764,743,711,674,657.956324829,630,879,783.043675171,800,650,629,651,0.444944106635,0.0045483738542,0.059692663359,0.999999869178,6.80312341223e-05,-0.000504085064544,-5.39809414181e-05,1793193558762705664
+227,3.783333333,POSE1_TO_POSE2_PRESS,764,743,711,674,657.366388939,630,879,783.633611061,800,650,629,651,0.444943504001,0.00454643884167,0.0596918318954,0.999999868573,6.48521722696e-05,-0.000505707893225,-5.39212089853e-05,1793193558779372288
+228,3.800000000,POSE1_TO_POSE2_PRESS,764,743,711,674,657,630,879,783.780575891,800.219424109,650,629,651,0.444942893728,0.00454484826965,0.0596911865324,0.999999868148,6.19665519098e-05,-0.000506929891727,-5.37151905613e-05,1793193558796038912
+229,3.816666667,POSE1_TO_POSE2_PRESS,764,743,711,674,657,630,879,783.201520133,800.798479867,650,629,651,0.444942270936,0.0045438222287,0.0596908461847,0.999999868032,5.95618763779e-05,-0.000507494937632,-5.32694123789e-05,1793193558812705792
+230,3.833333333,POSE1_TO_POSE2_PRESS,764,743,711,674,657.374794791,630,879,783,800.250410418,650,628.625205209,650.625205209,0.444942204344,0.00454432885572,0.0596908092861,0.999999868074,6.07610677802e-05,-0.00050727359558,-5.32296829279e-05,1793193558829372416
+231,3.850000000,POSE1_TO_POSE2_PRESS,764,743,711,674,657.949646699,630,879,783,799.100706602,650,628.050353301,650.050353301,0.444942434639,0.00454565358682,0.0596909343617,0.999999868195,6.38839232152e-05,-0.000506632497119,-5.34066932661e-05,1793193558846039040
+232,3.866666667,POSE1_TO_POSE2_PRESS,764,742.477323846,711,674.522676154,658,630,879,783.522676154,799.522676154,650,628.522676154,650.522676154,0.444943922939,0.00454549879943,0.0596912422474,0.99999986867,6.36318387055e-05,-0.000505740377106,-5.32776330666e-05,1793193558862705920
+233,3.883333333,POSE1_TO_POSE2_PRESS,764,742.098989405,711,674.901010595,657.901010595,630,879.098989405,783.901010595,800.098989405,650,629,651,0.444944985723,0.00454505788897,0.0596913843239,0.999999868953,6.29876696933e-05,-0.000505277840137,-5.31160718774e-05,1793193558879372544
+234,3.900000000,POSE1_TO_POSE2_PRESS,764,742.692584314,711,674.307415686,657.307415686,630,879.692584314,783.307415686,800.692584314,650,629,651,0.444943318958,0.00454389704956,0.0596906102356,0.99999986811,6.20033305776e-05,-0.000507082147232,-5.29389345924e-05,1793193558896039168
+235,3.916666667,POSE1_TO_POSE2_PRESS,764,743,711,674,657,630,879.720977238,783,800.720977238,650,629,650.720977238,0.44494288935,0.00454487344531,0.0596900424557,0.999999867544,6.22499502114e-05,-0.000508144759527,-5.31492043858e-05,1793193558912705792
+236,3.933333333,POSE1_TO_POSE2_PRESS,764,743,711,674,657,630,879.142226238,783,800.142226238,650,629,650.142226238,0.444943788704,0.00454814567415,0.0596896962936,0.999999867277,6.38188743792e-05,-0.000508410638205,-5.37756296e-05,1793193558929372416
+237,3.950000000,POSE1_TO_POSE2_PRESS,764,742.566216178,711,674.433783822,657,630,879,783,800,650,628.566216178,650.433783822,0.444943888918,0.00454684218716,0.0596897965029,0.999999867458,6.27588892974e-05,-0.000508207954777,-5.35649442429e-05,1793193558946039040
+238,3.966666667,POSE1_TO_POSE2_PRESS,764,742.009082344,711,674.981835313,657,630,879,783,800,650,628.009082344,651,0.444943761912,0.00454410464096,0.0596900499516,0.999999867788,6.08968943486e-05,-0.000507835281809,-5.30864288752e-05,1793193558962705920
+239,3.983333333,POSE1_TO_POSE2_PRESS,764,742.595928984,711,673.808142032,657,630,879,783,800,650,628.595928984,651,0.444945743892,0.00454497888602,0.0596907999043,0.999999868446,6.25036199005e-05,-0.000506360491126,-5.2920448699e-05,1793193558979372544
+240,4.000000000,POSE1_TO_POSE2_PRESS,764,743,711,673.180549749,657,630,879.180549749,783,800,650,629,651,0.444947223752,0.00454595115075,0.0596915411014,0.99999986902,6.39685462358e-05,-0.000505051267685,-5.28412653996e-05,1793193558996039168
+241,4.016666667,POSE1_TO_POSE2_PRESS,764,743,711,673.760249628,657,630,879.760249628,783,800,650,629,651,0.444947593551,0.00454714011232,0.0596922629417,0.999999869415,6.51199900354e-05,-0.000504108071909,-5.29539681966e-05,1793193559012705792
+242,4.033333333,HOLD_POSE2,764,742,711,674,657,630,879,784,801,650,628,651,0.444944758662,0.00454550000573,0.0596899404656,0.999999867686,6.34568422176e-05,-0.000507764420957,-5.26844553402e-05,1793193559048402944
+243,4.050000000,HOLD_POSE2,764,742.573678708,711,674,657,630,879,783.426321292,800.426321292,650,628.573678708,651,0.444946342761,0.00454566510009,0.0596917406342,0.999999868895,6.3073091159e-05,-0.000505448620429,-5.24736963767e-05,1793193559065069568
+244,4.066666667,HOLD_POSE2,764,742.847917104,711,674,657,630,878.847917104,783,799.695834208,650,629,651,0.444947556256,0.00454588082134,0.0596928858271,0.999999869695,6.27935315723e-05,-0.000503909983901,-5.23622459984e-05,1793193559081736192
+245,4.083333333,HOLD_POSE2,764,742.255841442,711,674,657,630,878.255841442,783,798.511682884,650,629,651,0.444947697555,0.00454624301189,0.0596921361031,0.999999869326,6.28154094354e-05,-0.000504619768895,-5.25381063746e-05,1793193559098402816
+246,4.100000000,HOLD_POSE2,764,742,711,674,657.32783432,630,878.32783432,783,798.65566864,650,629,651,0.44494794177,0.00454704260032,0.059692051701,0.999999869313,6.36945911227e-05,-0.000504503761177,-5.2840149075e-05,1793193559115069440
+247,4.116666667,HOLD_POSE2,764,742,711,674,657.905118543,630,878.905118543,783,799.810237085,650,629,651,0.444948264293,0.00454817500582,0.0596924735438,0.999999869569,6.52260972991e-05,-0.000503759405804,-5.32382041914e-05,1793193559131736320
+248,4.133333333,HOLD_POSE2,764,742,711,674,657.519294723,630,879,783,800,650,629,651,0.444947989303,0.00454782895542,0.0596924084208,0.999999869282,6.44903641612e-05,-0.000504429294229,-5.31836971556e-05,1793193559148402944
+249,4.150000000,HOLD_POSE2,763.944123423,742.055876577,711,674,657,630,878.944123423,783.055876577,800,650,629,651,0.444947737086,0.00454709923288,0.059692330195,0.999999869005,6.32689514456e-05,-0.000505149142637,-5.30242818215e-05,1793193559165069568
+250,4.166666667,HOLD_POSE2,763.369709023,742.630290977,711,674,657,630,878.369709023,783.630290977,800,650,629,651,0.444948786822,0.00454550756171,0.0596930192098,0.999999869826,6.16786815748e-05,-0.000503751274994,-5.27173502635e-05,1793193559181737216
+251,4.183333333,HOLD_POSE2,763.211525178,743,711,674,657,630,878.423050356,783.788474822,799.788474822,650,629,651,0.44494917101,0.00454458311911,0.0596932512449,0.999999870159,6.08925973088e-05,-0.000503213313325,-5.24420497752e-05,1793193559198404096
+252,4.200000000,HOLD_POSE2,763.805076243,743,711,674,657,630,879.610152487,783.194923757,799.194923757,650,629,651,0.444948353185,0.00454486372747,0.0596926579498,0.999999869618,6.15589158206e-05,-0.000504228388411,-5.22238767393e-05,1793193559215070464
+253,4.216666667,HOLD_POSE2,764,743,711,674,657,630,879.613262024,783.386737976,799.386737976,650,629,651,0.444948259793,0.00454531287156,0.059692347064,0.999999869393,6.21059479952e-05,-0.000504578797695,-5.25131985235e-05,1793193559231737088
+254,4.233333333,HOLD_POSE2,764,743,711,674,657,630,879.037413976,783.962586024,799.962586024,650,629,651,0.44494852064,0.00454584442755,0.0596921742728,0.999999869321,6.25946506898e-05,-0.000504604193737,-5.30506789605e-05,1793193559248403968
+255,4.250000000,HOLD_POSE2,764,742.46244775,711,674,657,630,879.53755225,784,800,650,628.46244775,651,0.444949467086,0.00454505737123,0.0596928954606,0.999999869867,6.28628007468e-05,-0.000503551696316,-5.24474369411e-05,1793193559265070336
+256,4.266666667,HOLD_POSE2,764,742.11557693,711,674,657,630,879.88442307,783.88442307,800,650,628.11557693,650.88442307,0.444949917803,0.00454483294952,0.0596931610848,0.999999870097,6.3308508208e-05,-0.000503082233333,-5.20279675425e-05,1793193559281736448
+257,4.283333333,HOLD_POSE2,764,742.706430775,711,674,657,630,879.293569225,783.293569225,800,650,628.706430775,650.293569225,0.444948134076,0.0045472989861,0.0596912978857,0.999999868855,6.45473911112e-05,-0.000505318333027,-5.26901644566e-05,1793193559298402816
+258,4.300000000,HOLD_POSE2,764.290570912,742.709429088,711,674,657,630,879,783,800,650,629,650,0.444947764403,0.00454792316898,0.0596909018847,0.99999986854,6.49037264561e-05,-0.000505883803197,-5.28093384595e-05,1793193559315069696
+259,4.316666667,HOLD_POSE2,764.868081211,742.131918789,711,674,657,630,879,783,800,650,629,650,0.444948791112,0.00454672851731,0.0596919547449,0.999999869143,6.43885441515e-05,-0.000504799523054,-5.23922761525e-05,1793193559331736320
+260,4.333333333,POSE2_TO_POSE3_RETREAT,763,743,711,673,657,630,879,783,800,650,629,651,0.444949993376,0.00454537722408,0.0596925300083,0.999999869779,6.37328921154e-05,-0.000503659270571,-5.20412805723e-05,1793193559364511744
+261,4.350000000,POSE2_TO_POSE3_RETREAT,763.575551591,743,711,673.575551591,657,630,879,783,800.575551591,650,629,651,0.44495161719,0.00454648664883,0.0596935300976,0.999999870707,6.40897133e-05,-0.000501717928292,-5.25072909185e-05,1793193559381177856
+262,4.366666667,POSE2_TO_POSE3_RETREAT,764,742.844576994,711,674.155423006,657.155423006,630,879,783,800.844576994,650,628.844576994,651,0.444952838798,0.00454713544065,0.0596943847233,0.999999871441,6.44974719454e-05,-0.000500175028458,-5.27571614521e-05,1793193559397843968
+263,4.383333333,POSE2_TO_POSE3_RETREAT,764,742.25257107,711,674.74742893,657.74742893,630,879,783,800.25257107,650,628.25257107,651,0.444952930616,0.00454649031575,0.0596948307425,0.999999871636,6.50483138994e-05,-0.00049975135223,-5.23998957854e-05,1793193559414510336
+264,4.400000000,POSE2_TO_POSE3_RETREAT,764,742,711,674.337533156,657.668766578,630,879,783,800.331233422,650,628.331233422,651,0.444952435697,0.00454680117436,0.0596944826874,0.999999871312,6.5792279272e-05,-0.000500284984819,-5.25544576081e-05,1793193559431176960
+265,4.416666667,POSE2_TO_POSE3_RETREAT,764,742,711,673.182129498,657.091064749,630,879,783,800.908935251,650,628.908935251,651,0.44495150419,0.00454782337348,0.0596935437674,0.999999870601,6.66799463588e-05,-0.000501530944039,-5.30898666069e-05,1793193559447843840
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764,742,711,673.483899463,657,630,879,783.483899463,800.032201074,650,629,651,0.444949095545,0.00454501765191,0.0596918086444,0.999999869856,6.24352068993e-05,-0.00050362762518,-5.24384826493e-05,1793193559464510464
+267,4.450000000,POSE2_TO_POSE3_RETREAT,764,742.058448601,711,674,656.941551399,630,878.941551399,784,799.058448601,650,629,651,0.44494538007,0.00454215580003,0.0596895718342,0.999999868723,5.82942964853e-05,-0.000506440334046,-5.1713685504e-05,1793193559481177088
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764,742.633857625,711,674,656.366142375,630,878.366142375,784,799.633857625,650,629,651,0.444932550908,0.00454513314262,0.0596842155577,0.999999864422,6.35664477676e-05,-0.000514178051593,-5.23038498784e-05,1793193559497843712
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,742.784269766,711,673.784269766,656.215730234,630,878.215730234,784,800,650,628.784269766,651,0.444907992307,0.00454727007017,0.0596732682928,0.999999855395,6.64628220429e-05,-0.000531031053498,-5.2908969469e-05,1793193559514510336
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764,742.19108824,711,673.19108824,656.80891176,630,878.80891176,784,800,650,628.19108824,651,0.444862911354,0.00454793656959,0.0596525387845,0.999999837487,6.52024297373e-05,-0.000563832564534,-5.35402552825e-05,1793193559531176960
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764,742.389149149,711,673,657,630,879,783.610850851,800,650,628.389149149,650.610850851,0.444806097407,0.00454756464515,0.0596324042152,0.99999982261,6.34332710684e-05,-0.00058976692793,-5.41414181517e-05,1793193559547844352
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764,742.9632351,711,673,657,630,879,783.0367649,800,650,628.9632351,650.0367649,0.44474370754,0.00454669922672,0.0596125523792,0.999999809076,6.14223293444e-05,-0.000612437793965,-5.47282656321e-05,1793193559564512000
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764,742.460977439,711,674.078045122,657,630,879,783,800,650,629,650.539022561,0.44466652363,0.00454820323927,0.0596006722721,0.99999980031,6.50206155269e-05,-0.000626185689269,-5.51771322039e-05,1793193559581177856
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764,742.117846342,711,674.882153658,657,630,879,783,800,650,629,651,0.444585923998,0.00454988760627,0.0595917208259,0.99999979403,6.84767106674e-05,-0.000635751164307,-5.54121519177e-05,1793193559597843968
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764,742.708382202,711,674.291617798,657,630,879,783,800,650,629,651,0.44449568384,0.00455164510292,0.0595923286086,0.999999796985,6.98230303135e-05,-0.000630989565354,-5.48272863445e-05,1793193559614510592
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764,742.706698735,711,674,657,630.293301265,879,783,800,650,629,651,0.444387848943,0.00455252480457,0.0595935514626,0.999999799313,7.25584846543e-05,-0.000627075952186,-5.37150574716e-05,1793193559631177216
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764,742.127259327,711,674,657,630.872740673,879,783,800,650,629,651,0.444262849016,0.00455254814897,0.0595953743663,0.999999801024,7.66491475957e-05,-0.000623989615234,-5.20883448151e-05,1793193559647844096
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764,742.44964816,711,674,657,631,879,783.44964816,800.44964816,650,629,650.55035184,0.444114736669,0.00455216260968,0.0595982451888,0.999999802829,8.01241283927e-05,-0.000620788389252,-5.04359663576e-05,1793193559664511232
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764,743,711,674,657,630.974195044,879,783.974195044,801,650,629,650.025804956,0.443958585186,0.00455173758546,0.0596015219478,0.99999980481,8.35162271375e-05,-0.000617273787202,-4.87566637943e-05,1793193559681178368
+280,4.666666667,POSE2_TO_POSE3_RETREAT,764,743,711,674,657,630.398849901,879,783.398849901,801,650,629,650.601150099,0.443769755241,0.0045529223039,0.0596071628834,0.999999810271,8.88333177917e-05,-0.000607774131634,-4.66578130995e-05,1793193559697844736
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764,743,711,674,657.181832227,630,879,783,800.636335547,650,628.818167773,650.818167773,0.443567452579,0.0045542875247,0.0596119593272,0.999999814255,9.39275597188e-05,-0.000600587697705,-4.42985141177e-05,1793193559714510848
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764,743,711,674,657.774574971,630,879,783,799.450850057,650,628.225425029,650.225425029,0.443334703847,0.00455606065058,0.0596148473593,0.999999815114,9.85181999722e-05,-0.000598628760449,-4.13506457216e-05,1793193559731177472
+283,4.716666667,POSE2_TO_POSE3_RETREAT,764,743,711,674,657.643211965,630,879,783,799,650,628.356788035,650,0.443065679149,0.00455757060838,0.0596151868372,0.999999813236,0.000104358491074,-0.000600951982563,-3.86475371184e-05,1793193559747844096
+284,4.733333333,POSE2_TO_POSE3_RETREAT,764,743,711,674,657.067460973,630,879,783,799,650,628.932539027,650,0.442774391649,0.00455891905854,0.0596139622524,0.999999809633,0.000110965700838,-0.00060590319135,-3.60946387814e-05,1793193559764510720
+285,4.750000000,POSE2_TO_POSE3_RETREAT,764.506738925,743,711,673.493261075,658.01347785,630.506738925,879,783.506738925,799,650,629,650,0.442456145126,0.00455958895694,0.0596149474608,0.999999809156,0.000119939056101,-0.000605200944505,-3.21673572102e-05,1793193559781177600
+286,4.766666667,POSE2_TO_POSE3_RETREAT,764.916767834,743,711,673.083232166,659,631,878.916767834,784,799.083232166,650,629,650,0.442129243571,0.0045605200431,0.0596169043681,0.99999980981,0.000129534466286,-0.000602337573663,-2.81111234318e-05,1793193559797844224
+287,4.783333333,POSE2_TO_POSE3_RETREAT,764.325004729,743,711,673.674995271,659,631,878.325004729,784,799.674995271,650,629,650,0.441771322528,0.004563597169,0.0596230062304,0.999999815206,0.000141011797621,-0.000590854577726,-2.43815042971e-05,1793193559814511360
+288,4.800000000,POSE2_TO_POSE3_RETREAT,764,742.739573272,711,674,659.260426728,631.260426728,878.260426728,784,800,650,629,650.260426728,0.44139184575,0.00456492751744,0.0596338812875,0.999999823202,0.000150539093121,-0.000574926102159,-1.98471619716e-05,1793193559831177984
+289,4.816666667,POSE2_TO_POSE3_RETREAT,764,742.161856003,711,674,659.838143997,631.838143997,878.838143997,784,800,650,629,650.838143997,0.440986106595,0.00456412968181,0.0596505717597,0.999999834238,0.000157690564481,-0.000553581483322,-1.4332386494e-05,1793193559847844608
+290,4.833333333,POSE2_TO_POSE3_RETREAT,764,742.415239632,711,674,660,631.584760368,879,784,800,649.584760368,629,650.584760368,0.440550806332,0.00456669657076,0.059677462445,0.999999851478,0.000169255777452,-0.000517997689305,-8.65481546227e-06,1793193559864511488
+291,4.850000000,POSE2_TO_POSE3_RETREAT,764,742.992093309,711,674,660,631.007906691,879,784,800,649.007906691,629,650.007906691,0.440104000696,0.00457057303307,0.059708323121,0.999999869632,0.000182538847796,-0.000476871912663,-2.9138834266e-06,1793193559881178112
+292,4.866666667,POSE2_TO_POSE3_RETREAT,764,742.434900282,711,674,660.565099718,631.565099718,878.434900282,784,799.434900282,649,629,650,0.439644165657,0.00457190739656,0.0597475935929,0.999999896962,0.000193644196987,-0.000410571826839,2.81631546903e-06,1793193559897844992
+293,4.883333333,POSE2_TO_POSE3_RETREAT,764.142746108,742.142746108,711,674,661.285492215,632,878.142746108,784,799,649.142746108,629,650.142746108,0.439170335065,0.00457301788173,0.0597847743619,0.999999918434,0.000203654953129,-0.000348690588851,8.39879646116e-06,1793193559914511872
+294,4.900000000,POSE2_TO_POSE3_RETREAT,764.735177908,742.735177908,711,674,662.470355815,632,878.735177908,784,799,649.735177908,629,650.735177908,0.438652985512,0.00457353438542,0.0598150038659,0.999999932242,0.000210312808218,-0.000301831947414,1.3516398186e-05,1793193559931179008
+295,4.916666667,POSE2_TO_POSE3_RETREAT,764.680711503,743,711,674,663,632,879,784,799.319288497,650,629,650.680711503,0.438072342853,0.00457537624753,0.0598233376299,0.999999934237,0.000219399689724,-0.000288201259114,1.81593740754e-05,1793193559947845632
+296,4.933333333,POSE2_TO_POSE3_RETREAT,764.103327271,743,711,674,663,632,879,784,799.896672729,650,629,650.103327271,0.437440537379,0.00457828945852,0.0598139720528,0.999999927765,0.000230450067156,-0.000301430265271,2.24186884081e-05,1793193559964512256
+297,4.950000000,POSE2_TO_POSE3_RETREAT,763.528596071,742.528596071,711,674,662.528596071,632,878.528596071,784,799.528596071,649.528596071,629,650.471403929,0.436749243329,0.00458373662604,0.0597810441677,0.999999908114,0.000242478889725,-0.000352597229587,2.55156333236e-05,1793193559981179136
+298,4.966666667,POSE2_TO_POSE3_RETREAT,763.046838795,742.046838795,711,674,662.046838795,632,878,784,799,649.046838795,629,651,0.436048449686,0.0045891767884,0.0597465668567,0.999999885254,0.000253846057426,-0.000405281726614,2.82998452145e-05,1793193559997845760
+299,4.983333333,POSE2_TO_POSE3_RETREAT,763.637148344,742.637148344,711,674,662.637148344,632,878,784,799,649.637148344,629,651,0.435387880389,0.0045881272088,0.0597537014318,0.999999894951,0.000255061536413,-0.000379627783737,3.03950907907e-05,1793193560014511360
+300,5.000000000,POSE2_TO_POSE3_RETREAT,764,743,711,673.776898042,663,632,878,784,799.223101958,650,629,650.776898042,0.434707658939,0.00458847379745,0.0597640084567,0.999999911565,0.000230323223992,-0.000351051282783,2.41847957488e-05,1793193560031177472
+301,5.016666667,POSE2_TO_POSE3_RETREAT,764,743,711,673.197893259,663,632,878,784,799.802106741,650,629,650.197893259,0.433996087482,0.00459104761997,0.0597793763234,0.999999936009,0.00016418219173,-0.000317812578967,4.72510818132e-06,1793193560047844352
+302,5.033333333,POSE2_TO_POSE3_RETREAT,764,742.621276718,711,673,663,632,878,784,799.621276718,650,629,650.378723282,0.433236831871,0.00459042355899,0.0597847719309,0.999999939671,0.000151511504103,-0.000312542523492,4.3954732981e-06,1793193560064511232
+303,5.050000000,POSE2_TO_POSE3_RETREAT,764,742.045900296,711,673,663,632,878,784,799.045900296,650,629,650.954099704,0.43245281615,0.00458813898784,0.0597849894139,0.999999934247,0.000166605446946,-0.000321795269585,1.3999173153e-05,1793193560081177856
+304,5.066666667,POSE2_TO_POSE3_RETREAT,764,742,711,673,663,632,878.529074224,784,799.529074224,649.470925776,629,651,0.431652102904,0.00459067083168,0.0597926207615,0.999999937296,0.000177806802159,-0.000305665316976,1.89942705092e-05,1793193560097844480
+305,5.083333333,POSE2_TO_POSE3_RETREAT,764,742,711,673.106980823,663,632,879,784,800,649.106980823,629,650.893019177,0.43085145033,0.00459184582251,0.0598034826864,0.99999994191,0.000185528342012,-0.000284995075402,2.31751793541e-05,1793193560114511104
+306,5.100000000,POSE2_TO_POSE3_RETREAT,764,742,711,673.698320062,663,632,879,784,800,649.698320062,629,650.301679938,0.43005762632,0.00458498722484,0.059826061253,0.999999951461,0.000179022732526,-0.000253731053255,2.54786638771e-05,1793193560131177984
+307,5.116666667,POSE2_TO_POSE3_RETREAT,764,742,711,674,663,632,878.716263781,784,799.716263781,650,629,650,0.429207772007,0.00457384454878,0.0598166055847,0.999999947624,0.000159665110558,-0.000280295042022,2.63317238761e-05,1793193560147844608
+308,5.133333333,POSE2_TO_POSE3_RETREAT,764,742,711,674,663,632,878.137016438,784,799.137016438,650,629,650,0.428299562066,0.00455824000647,0.0597737862803,0.999999924239,0.00012692212257,-0.000367086868682,2.56741676237e-05,1793193560164510976
+309,5.150000000,POSE2_TO_POSE3_RETREAT,763.560161648,742,711,674,662.560161648,632,878,784,799,649.560161648,628.560161648,650,0.427438592243,0.00455302855524,0.0597597629163,0.999999922684,0.000114772087969,-0.000375271835181,2.51159062543e-05,1793193560181177600
+310,5.166666667,POSE2_TO_POSE3_RETREAT,763,742.016203782,711,673.983796218,662.032407563,632,878,784,799,649,628.016203782,650,0.426591811378,0.0045512840757,0.0597554993216,0.999999929373,0.000109160168775,-0.000358790639642,2.46423154806e-05,1793193560197843968
+311,5.183333333,POSE2_TO_POSE3_RETREAT,763,742.601417019,711,673.398582981,663.202834038,632,878,784,799,649,628.601417019,650,0.425729316005,0.00455820897018,0.0597806600101,0.999999938806,0.0001090894746,-0.000331374595964,2.60616788365e-05,1793193560214510592
+312,5.200000000,POSE2_TO_POSE3_RETREAT,763.184864017,743,711,673,663.815135983,632,878.184864017,784,799,649.184864017,629,650.184864017,0.424861222235,0.00456325351313,0.0598038116409,0.999999946386,0.000107932903893,-0.000307874710757,2.81263271509e-05,1793193560231177472
+313,5.216666667,POSE2_TO_POSE3_RETREAT,763.764538854,743,711,673,663.235461146,632,878.764538854,784,799,649.764538854,629,650.764538854,0.423981172118,0.00456428222208,0.0598226725612,0.999999951198,0.000104457245965,-0.000292738498155,3.15690991145e-05,1793193560247844352
+314,5.233333333,POSE2_TO_POSE3_RETREAT,764,742.656267554,711,673,663,632,878.656267554,784,799.343732446,650,629,651,0.423115475923,0.00456356992284,0.0598374675088,0.999999958853,9.55027412087e-05,-0.0002685654117,3.23271289111e-05,1793193560264511488
+315,5.250000000,POSE2_TO_POSE3_RETREAT,764,742.077403183,711,673,663,632,878.077403183,784,799.922596817,650,629,651,0.422259598635,0.00456166667805,0.0598494811065,0.999999967712,8.28004035511e-05,-0.000238210606255,3.12486470409e-05,1793193560281178368
+316,5.266666667,POSE2_TO_POSE3_RETREAT,764,742.496617135,711,673,663.496617135,632,878,784,799.503382865,650,629,651,0.421332357504,0.00456168602314,0.0598236361288,0.999999954508,8.38858150069e-05,-0.000287986333926,3.17955345818e-05,1793193560297844736
+317,5.283333333,POSE2_TO_POSE3_RETREAT,764,742.928129176,711,672.928129176,663.856258352,632,878,784,799,650,629,650.928129176,0.42039675867,0.00456204195617,0.0597894216735,0.99999993288,9.6589409319e-05,-0.00035194936866,3.22973014757e-05,1793193560314511104
+318,5.300000000,POSE2_TO_POSE3_RETREAT,764,742.338607033,711,672.338607033,662.677214066,632,878,784,799,650,629,650.338607033,0.419480302334,0.00456268473699,0.0597370150528,0.999999891725,0.00017764474476,-0.000429011865881,3.06670854286e-05,1793193560331177472
+319,5.316666667,POSE2_TO_POSE3_RETREAT,764,742,711,672.24639628,662.24639628,632,878,784,799,649.75360372,629,650.24639628,0.41860488965,0.00456262743706,0.0597200052279,0.999999876673,0.00021561434938,-0.000446431828322,2.93880134416e-05,1793193560347844096
+320,5.333333333,POSE2_TO_POSE3_RETREAT,764,742,711,672.825301567,662.825301567,632,878,784,799,649.174698433,629,650.825301567,0.417784864782,0.00456162538613,0.0597507629735,0.999999907009,0.000195440258343,-0.000383364876494,2.85828064945e-05,1793193560364510720
+321,5.350000000,POSE2_TO_POSE3_RETREAT,763.598128109,742.401871891,711,673,663.401871891,632,877.598128109,784,799,649.401871891,629,651,0.416977814295,0.00456141383609,0.0597878789165,0.999999928179,0.000183483649985,-0.000330160322998,3.11364559567e-05,1793193560381177600
+322,5.366666667,POSE2_TO_POSE3_RETREAT,763.022566993,742.977433007,711,673,663.977433007,632,877.022566993,784,799,649.977433007,629,651,0.416176371391,0.00456154394098,0.0598277428737,0.999999944514,0.000175078642687,-0.000281218306375,3.51418048081e-05,1793193560397844480
+323,5.383333333,POSE2_TO_POSE3_RETREAT,763.551810835,742.448189165,711,672.448189165,663.448189165,632,877,784,799,650,629,650.448189165,0.415362272959,0.00456199965801,0.0598308331342,0.999999944474,0.000164874831456,-0.000287307929335,3.63760670235e-05,1793193560414511360
+324,5.400000000,POSE2_TO_POSE3_RETREAT,764,742,711,672,663,632,877,784,799.129956284,649.870043716,628.870043716,650.129956284,0.414553459544,0.00456222149011,0.0598325707845,0.999999944913,0.000154065513709,-0.000291657693809,3.70695542527e-05,1793193560431177984
+325,5.416666667,POSE2_TO_POSE3_RETREAT,764,742,711,672,663,632,877,784,799.721660003,649.278339997,628.278339997,650.721660003,0.413765259375,0.00456156509312,0.05983483457,0.999999949632,0.000141365594401,-0.000281846122232,3.62434153158e-05,1793193560447844352
+326,5.433333333,POSE2_TO_POSE3_RETREAT,764,742,711,672.306164993,663,632,877,784,799.693835007,649.306164993,628.306164993,651,0.412956743089,0.0045632939426,0.0598138537313,0.999999939567,0.000135815973188,-0.000318031314681,3.57247113221e-05,1793193560464511232
+327,5.450000000,POSE2_TO_POSE3_RETREAT,764,742,711,672.884275804,663,632,877,784,799.115724196,649.884275804,628.884275804,651,0.412130181402,0.00456714144649,0.0597722262528,0.999999911997,0.000136617482012,-0.000395072345042,3.54790810447e-05,1793193560481178112
+328,5.466666667,POSE2_TO_POSE3_RETREAT,764,742,711,672.539704931,662.539704931,632,877,784,799,649.539704931,629,651,0.411389111049,0.0045663962161,0.059745276008,0.999999894474,0.000160599430138,-0.000429116216338,3.34638862601e-05,1793193560497844480
+329,5.483333333,POSE2_TO_POSE3_RETREAT,763.963533112,742,711,672,662.072933776,632,877,784.036466888,799.036466888,649,629,651,0.410674423111,0.00456459646786,0.0597261262102,0.99999988203,0.000187715444725,-0.000446907736921,3.12371520764e-05,1793193560514511104
+330,5.500000000,POSE2_TO_POSE3_RETREAT,763.377168028,742,711,672,663.245663945,632,877,784.622831972,799.622831972,649,629,651,0.410034921788,0.00456422824646,0.0597692104112,0.999999911306,0.000174608115172,-0.00038189530913,3.24988828992e-05,1793193560531177984
+331,5.516666667,POSE2_TO_POSE3_RETREAT,763.207609418,742,711,672,663.792390582,632,877,784.792390582,800,649,629,651,0.40940424198,0.00456333987312,0.0598093064861,0.999999934647,0.000163773761661,-0.000320512678283,3.39910894938e-05,1793193560547844608
+332,5.533333333,POSE2_TO_POSE3_RETREAT,763.789524557,742,711,672,663.210475443,632,877,784.210475443,800,649,629,651,0.408789466659,0.004561513701,0.0598440151792,0.999999951734,0.000157037428622,-0.000265674316347,3.58988286528e-05,1793193560564511488
+333,5.550000000,POSE2_TO_POSE3_RETREAT,764,742,711,672.366814192,663,632.366814192,877.366814192,784,800,649.366814192,629,651,0.408184063898,0.00456028147211,0.0598515543099,0.999999956116,0.000152489102337,-0.000251390319724,3.62984732472e-05,1793193560581178112
+334,5.566666667,POSE2_TO_POSE3_RETREAT,764,742,711,672.941482762,663,632.941482762,877.941482762,784,800,649.941482762,629,651,0.407583972112,0.00455938579981,0.0598436978715,0.999999954408,0.000149180605378,-0.000260086359954,3.584355962e-05,1793193560597844224
+335,5.583333333,POSE2_TO_POSE3_RETREAT,764,742,711,672.482558752,663,632.482558752,878,784,799.482558752,650,628.482558752,651,0.407021818596,0.00455934763012,0.0598301488419,0.999999949267,0.000146779456777,-0.000280549182748,3.48513843442e-05,1793193560614511104
+336,5.600000000,POSE2_TO_POSE3_RETREAT,764,742,711,672,663,632,878,784,799.096123984,650,628.096123984,651,0.40647361266,0.00455920395146,0.0598193272073,0.999999944965,0.000144626599682,-0.000296647409956,3.39762282247e-05,1793193560631177472
+337,5.616666667,POSE2_TO_POSE3_RETREAT,764,742,711,672,663,632,878,784,799.688105417,650,628.688105417,651,0.405975168051,0.00455801450688,0.0598259041083,0.999999949021,0.000143223912295,-0.000283349183001,3.40189261384e-05,1793193560647844352
+338,5.633333333,POSE2_TO_POSE3_RETREAT,764,742.272925617,711,672,663,632.272925617,877.727074383,783.727074383,800,650,629,651,0.405493692668,0.00455654047951,0.0598265472116,0.999999950894,0.000137941875725,-0.000279461632143,3.29397842634e-05,1793193560664510976
+339,5.650000000,POSE2_TO_POSE3_RETREAT,764,742.849771289,711,672,663,632.849771289,877.150228711,783.150228711,800,650,629,651,0.405031113631,0.00455474955118,0.059820582653,0.999999950383,0.000128339936922,-0.000286053469257,3.06114023481e-05,1793193560681177856
+340,5.666666667,POSE2_TO_POSE3_RETREAT,764,742.575211212,710.575211212,672,663,632.575211212,877,783.424788788,799.575211212,650,629,651,0.404583564513,0.0045539529646,0.0598004392014,0.999999940368,0.000122908278049,-0.000321338365093,2.99859895981e-05,1793193560697844480
+341,5.683333333,POSE2_TO_POSE3_RETREAT,764,742.000837437,710.000837437,672,663,632.000837437,877,783.999162563,799.000837437,650,629,651,0.404141307987,0.00455350652506,0.0597753027986,0.999999925233,0.000118945139204,-0.000366727225288,2.99602596158e-05,1793193560714511104
+342,5.700000000,POSE2_TO_POSE3_RETREAT,764,742,710.589317338,672,662.410682662,632,877,784,799,650,628.410682662,651,0.403779334569,0.00455537343309,0.0597615459302,0.999999918057,0.000120578528222,-0.000385329714939,2.94544752079e-05,1793193560731177728
+343,5.716666667,POSE2_TO_POSE3_RETREAT,764,742,711,672,662.176142667,632.176142667,877,784,799,650,628.176142667,651,0.403440200364,0.00455590657047,0.0597584352994,0.999999917909,0.000119902206623,-0.000385928620034,2.94200216712e-05,1793193560747844096
+344,5.733333333,POSE2_TO_POSE3_RETREAT,764,742,711,672,662.755297661,632.755297661,877,784,799,650,628.755297661,651,0.403153053729,0.00455338032851,0.0597796451145,0.999999933388,0.000113922598249,-0.000345425028181,3.04655711918e-05,1793193560764510464
+345,5.750000000,POSE2_TO_POSE3_RETREAT,764,742,711,672,662.666045546,632.666045546,877.333954454,784,799,650,629,651,0.402896589788,0.00455182226239,0.0598043454115,0.999999947661,0.000110637657554,-0.00030238736248,3.1623319474e-05,1793193560781177344
+346,5.766666667,POSE2_TO_POSE3_RETREAT,764,742,711,672,662.087753296,632.087753296,877.912246704,784,799,650,629,651,0.40266257486,0.00455097256232,0.0598315995184,0.999999960332,0.000109324270905,-0.000257495643726,3.28631579008e-05,1793193560797843968
+347,5.783333333,POSE2_TO_POSE3_RETREAT,764,742,711,672,662.971923035,632,878,784.485961517,799.485961517,650,629,651,0.402435653595,0.00454948389061,0.059840284243,0.999999962866,0.000109879255131,-0.000247020702406,3.42965926697e-05,1793193560814511104
+348,5.800000000,POSE2_TO_POSE3_RETREAT,764,742,711,672,663.939408672,632.060591328,878,784.939408672,799.939408672,650,629,651,0.402212187633,0.0045477931422,0.0598439698154,0.999999963192,0.000110002506175,-0.000245523460899,3.51274414917e-05,1793193560831178240
+349,5.816666667,POSE2_TO_POSE3_RETREAT,764,742,711,672,663.349635961,632.650364039,878,784.349635961,799.349635961,650,629,651,0.402007816023,0.0045453358439,0.059833006969,0.999999958099,0.000103436077764,-0.000268662243078,3.03930669125e-05,1793193560847844608
+350,5.833333333,POSE2_TO_POSE3_RETREAT,764,742,711,671.765274194,663,633,877.765274194,784,799,650,629,651,0.401822277489,0.00454166990722,0.0598252159751,0.999999952931,0.000109136690556,-0.000285594322419,2.57644155677e-05,1793193560864510976
+351,5.850000000,POSE2_TO_POSE3_RETREAT,764,742,711,671.188790741,663,633,877.188790741,784,799,650,629,651,0.401664159681,0.00453624420938,0.0598220431573,0.999999947901,0.000132697952552,-0.000293489523133,2.12896962662e-05,1793193560881177600
+352,5.866666667,POSE2_TO_POSE3_RETREAT,764,742,711,671,663,632.611405882,877,784,799,650,629,651,0.401532645175,0.00453617502638,0.0598216136147,0.999999946205,0.000142951972667,-0.000294513806229,2.03801271259e-05,1793193560897844224
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764,742,711,671,663,632.033582024,877,784,799,650,629,651,0.401414085395,0.00453871425065,0.0598225199368,0.999999946323,0.000146725902163,-0.000292192228953,2.12066426412e-05,1793193560914510848
+354,5.900000000,POSE2_TO_POSE3_RETREAT,763.459065825,742,711,672.081868349,663,632,877,784,799.540934175,650,629,651,0.401324258527,0.0045386482959,0.0598261812972,0.999999947688,0.000147454430455,-0.000287020639708,2.23694556829e-05,1793193560931177472
+355,5.916666667,POSE2_TO_POSE3_RETREAT,763.237330738,742,711,672.881334631,663,632.118665369,877.118665369,784,800,650,629,650.881334631,0.401240152518,0.00453821170153,0.0598288239606,0.999999948656,0.000147599477923,-0.00028347066843,2.33917434845e-05,1793193560947844096
+356,5.933333333,POSE2_TO_POSE3_RETREAT,764.420032337,742,711,672.289983832,663,632.710016168,877.710016168,784,800,650,629,650.289983832,0.401171772406,0.00453693904608,0.0598267316418,0.999999947827,0.000146168845907,-0.000287080666617,2.37716123728e-05,1793193560964511232
+357,5.950000000,POSE2_TO_POSE3_RETREAT,764.704625894,742,711,672,663,633,877.704625894,784,800,650,629,650.295374106,0.401111824869,0.00453680694845,0.0598236493624,0.99999994671,0.000144443586489,-0.000291819590693,2.36014383707e-05,1793193560981178112
+358,5.966666667,POSE2_TO_POSE3_RETREAT,764.125034493,742,711,672,663,633,877.125034493,784,800,650,629,650.874965507,0.401059991396,0.0045377723278,0.059819614515,0.999999945298,0.000142434828356,-0.000297644798879,2.29019975622e-05,1793193560997844736
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764,742,711,672.450161635,663,633,877.450161635,784,800,650,629,651,0.401023817216,0.00453767170931,0.0598185293907,0.999999944802,0.000140877916063,-0.000300039633152,2.29345187473e-05,1793193561014511104
+360,6.000000000,POSE2_TO_POSE3_RETREAT,764.024695021,742.024695021,711,672.975304979,663,633,877.975304979,784,800,650,629,651,0.400992642756,0.00453732614055,0.0598183387937,0.999999944605,0.000139604573199,-0.000301270747322,2.3168947707e-05,1793193561031177472
+361,6.016666667,POSE2_TO_POSE3_RETREAT,764.611666294,742.611666294,711,672.388333706,663,633,877.388333706,784,800,650,629,651,0.400977231937,0.00453807968256,0.0598200414254,0.9999999454,0.000141957861205,-0.00029748974683,2.34163038582e-05,1793193561047844096
+362,6.033333333,POSE2_TO_POSE3_RETREAT,764.803546476,742.803546476,711,672.196453524,663.196453524,633,877.196453524,784.196453524,799.803546476,650,629,651,0.400964719653,0.00453809080723,0.0598217609779,0.999999946435,0.000142022264712,-0.00029394749013,2.35568923618e-05,1793193561064510464
+363,6.050000000,POSE2_TO_POSE3_RETREAT,764.223029087,742.223029087,711,672.776970913,663.776970913,633,877.776970913,784.776970913,799.223029087,650,629,651,0.400957873962,0.0045366505164,0.0598235136103,0.999999947952,0.000137611931084,-0.000290871974618,2.34887515939e-05,1793193561081177088
+364,6.066666667,POSE2_TO_POSE3_RETREAT,764,742,711,672.645052456,663.645052456,632.645052456,877.645052456,784.645052456,799,650,628.645052456,651,0.400953598071,0.00453546454739,0.0598253601854,0.999999948902,0.000136156164517,-0.000288279198292,2.34975871136e-05,1793193561097843968
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764,742,711,672.068660892,663.068660892,632.068660892,877.068660892,784.068660892,799,650,628.068660892,651,0.400950925421,0.00453443724405,0.0598272653695,0.999999949506,0.000136543687383,-0.000285987592105,2.35544464514e-05,1793193561114510848
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764,742,711,672,663,632.507906641,877.507906641,784,799,650,628,651,0.400949649372,0.00453477205334,0.0598280666785,0.999999950128,0.000134420017401,-0.00028484491032,2.32288836021e-05,1793193561131177472
+367,6.116666667,POSE2_TO_POSE3_RETREAT,764,742.08657362,711,672,663,633,877.91342638,784,799,650,628,651,0.400948402501,0.00453500135416,0.059828610964,0.999999950632,0.000132280121834,-0.00028409872439,2.29404532451e-05,1793193561147844352
+368,6.133333333,POSE2_TO_POSE3_RETREAT,764,742.677328865,711,672,663,633,877.322671135,784,799,650,628,651,0.400946225666,0.00453354347184,0.0598285277694,0.999999950473,0.00013202341872,-0.000284756789925,2.31694485815e-05,1793193561164510720
+369,6.150000000,POSE2_TO_POSE3_RETREAT,764,742.738311529,711,671.738311529,663,632.738311529,877.261688471,784,799,650.261688471,628.261688471,651,0.400945724475,0.00453223719757,0.0598285794643,0.99999995074,0.000130812711146,-0.00028436365791,2.33597380415e-05,1793193561181177344
+370,6.166666667,POSE2_TO_POSE3_RETREAT,764,742.161649872,711,671.161649872,663,632.161649872,877.838350128,784,799,650.838350128,628.838350128,651,0.400947240122,0.00453111340171,0.0598287935147,0.999999951512,0.000128453745799,-0.000282705284626,2.35034403637e-05,1793193561197843968
+371,6.183333333,POSE2_TO_POSE3_RETREAT,764.414116774,742,711,671.414116774,663,632,878,784.414116774,799.414116774,650.585883226,629,651,0.40094714037,0.00453223161595,0.0598296157798,0.999999951734,0.00012838302527,-0.000281960593854,2.33918480036e-05,1793193561214510592
+372,6.200000000,POSE2_TO_POSE3_RETREAT,764.989534792,742,711,671.989534792,663,632,878,784.989534792,799.989534792,650.010465208,629,651,0.400946411409,0.0045342231081,0.0598306749487,0.999999951743,0.000129203591413,-0.000281571788555,2.31808166592e-05,1793193561231177216
+373,6.216666667,POSE2_TO_POSE3_RETREAT,764.438609182,742,711,672.561390818,663,632.561390818,878,784.438609182,799.438609182,650.561390818,629,651,0.400945182762,0.00453360746158,0.0598313636974,0.999999951939,0.000128410667541,-0.000281229946932,2.32824540577e-05,1793193561247844096
+374,6.233333333,POSE2_TO_POSE3_RETREAT,764,742.139212972,711,672.860787028,663,632.860787028,878,784,799.139212972,650.860787028,629,651,0.400944330531,0.00453302161413,0.0598316652422,0.999999952099,0.000127683609661,-0.000280990411643,2.33079494464e-05,1793193561264510976
+375,6.250000000,POSE2_TO_POSE3_RETREAT,764,742.736900767,711,672.263099233,663,632.263099233,878,784,799.736900767,650.263099233,629,651,0.400944748445,0.00453269295583,0.059830714193,0.999999952131,0.000127271902992,-0.000281084940299,2.30636091171e-05,1793193561281177856
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764,742.677497461,711,672,663,632,878,784,799.677497461,650,629,651,0.400944860708,0.00453301056142,0.0598304636202,0.999999952026,0.000127595741019,-0.000281315009771,2.2985177115e-05,1793193561297844480
+377,6.283333333,POSE2_TO_POSE3_RETREAT,764,742.10139931,711,672,663,632,878,784,799.10139931,650,629,651,0.400944732627,0.00453383634806,0.0598307638578,0.999999951815,0.000128497964862,-0.000281651659985,2.30372049092e-05,1793193561314510848
+378,6.300000000,POSE2_TO_POSE3_RETREAT,764.47449571,742,711,672,663,632,877.52550429,784,799.47449571,650,629,651,0.400943459667,0.00453333037778,0.0598303221222,0.999999951827,0.000127023149496,-0.000282288972846,2.2882007049e-05,1793193561331177216
+379,6.316666667,POSE2_TO_POSE3_RETREAT,764.948452442,742,711,672,663,632.051547558,877.051547558,784,799.896904884,650,629,651,0.400942087366,0.00453263238267,0.0598297832323,0.999999951849,0.000125358307846,-0.000282967947038,2.27079334414e-05,1793193561347843840
+380,6.333333333,POSE2_TO_POSE3_RETREAT,764.358872825,742,711,672,663,632.641127175,877.641127175,784,798.71774565,650,629,651,0.400942230742,0.00453289932784,0.059829884551,0.999999951513,0.000127009772947,-0.000283411423525,2.27988620701e-05,1793193561364510464
+381,6.350000000,POSE2_TO_POSE3_RETREAT,764,742,711,672,663,633,877.773543995,784,798.452912009,650,629,651,0.400943139211,0.00453289902219,0.0598304927504,0.999999951587,0.000128031548399,-0.000282688171762,2.28478519486e-05,1793193561381177344
+382,6.366666667,POSE2_TO_POSE3_RETREAT,764,742,711,672,663,633,877.194827454,784,799.610345091,650,629,651,0.40094523781,0.00453248299814,0.0598318894212,0.999999952296,0.000128073818644,-0.000280150031824,2.28316045732e-05,1793193561397844224
+383,6.383333333,POSE2_TO_POSE3_RETREAT,764,742,711,672,663,633,877.76125048,784.38062524,800,650.38062524,629,651,0.400945307331,0.00453213048665,0.0598318363954,0.99999995238,0.000128100656273,-0.000279820307486,2.30394937198e-05,1793193561414510848
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764,742,711,672,663,633,878.908842967,784.954421483,800,650.954421483,629,651,0.400944347074,0.00453181020841,0.0598310476344,0.999999952148,0.000128119661698,-0.000280611375574,2.33611343268e-05,1793193561431177728
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764,742.540784893,711,672.540784893,663,633,878.459215107,784.459215107,800,650.459215107,629,651,0.400944116945,0.00453263485468,0.0598311691963,0.999999952314,0.000127640540064,-0.00028026945075,2.30181533374e-05,1793193561447844352
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764,743,711,672.873463179,663,633,878,784,799.873463179,650,629,651,0.400944036979,0.00453328025571,0.0598314020437,0.999999952484,0.000127243442685,-0.000279868390598,2.26700684719e-05,1793193561464510976
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764,743,711,672.293784476,663,633,878,784,799.293784476,650,629,651,0.400944269152,0.00453292997359,0.0598317521233,0.999999952555,0.000127294006452,-0.000279605660278,2.25090770956e-05,1793193561481177344
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764,742.714890971,711,672,663,633,878,784,799,650,629,651,0.400944623207,0.00453303807894,0.0598320338108,0.999999952533,0.000128278566729,-0.000279234411692,2.25008220184e-05,1793193561497843968
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764,742.136804263,711,672,663,633,878,784,799,650,629,651,0.400945102508,0.00453361722264,0.0598322452185,0.999999952413,0.00013022290065,-0.000278751649837,2.26495185502e-05,1793193561514511104
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764,742,711,672,663,632.562118032,877.562118032,784,799,650,629,651,0.400944538846,0.00453435187189,0.0598322125971,0.999999952224,0.000131323261714,-0.000278923475204,2.25170011307e-05,1793193561531177472
+391,6.516666667,POSE2_TO_POSE3_RETREAT,764,742.011831926,711,672,663,632,877.011831926,784,799.011831926,650.011831926,629,651,0.40094366563,0.00453509648681,0.0598320931004,0.999999952022,0.000132073202511,-0.000279310723279,2.23082716581e-05,1793193561547844352
+392,6.533333333,POSE2_TO_POSE3_RETREAT,764,742.601304966,711,672,663,632,877.601304966,784,799.601304966,650.601304966,629,651,0.400943465159,0.0045339740396,0.0598314257172,0.999999952203,0.000128489059841,-0.000280307776365,2.26350318764e-05,1793193561564511232
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_09/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_09/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c7b76117b558c04ab7826bf23061baf5382a6124
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_09/depth_02/simulation_data.csv
@@ -0,0 +1,394 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+1,0.016666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+2,0.033333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+3,0.050000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+4,0.066666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+5,0.083333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+6,0.100000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+7,0.116666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+8,0.133333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+9,0.150000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+10,0.166666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+11,0.183333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+12,0.200000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+13,0.216666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+14,0.233333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+15,0.250000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+16,0.266666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+17,0.283333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+18,0.300000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+19,0.316666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+20,0.333333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+21,0.350000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+22,0.366666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+23,0.383333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+24,0.400000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+25,0.416666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+26,0.433333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+27,0.450000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+28,0.466666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+29,0.483333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+30,0.500000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+31,0.516666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+32,0.533333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+33,0.550000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+34,0.566666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+35,0.583333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+36,0.600000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+37,0.616666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+38,0.633333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+39,0.650000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+40,0.666666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+41,0.683333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+42,0.700000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+43,0.716666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+44,0.733333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+45,0.750000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+46,0.766666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+47,0.783333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+48,0.800000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+49,0.816666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+50,0.833333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+51,0.850000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+52,0.866666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+53,0.883333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+54,0.900000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+55,0.916666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+56,0.933333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+57,0.950000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+58,0.966666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+59,0.983333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+60,1.000000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+61,1.016666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+62,1.033333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+63,1.050000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+64,1.066666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+65,1.083333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+66,1.100000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+67,1.116666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+68,1.133333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+69,1.150000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+70,1.166666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+71,1.183333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+72,1.200000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+73,1.216666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+74,1.233333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+75,1.250000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+76,1.266666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+77,1.283333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+78,1.300000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+79,1.316666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+80,1.333333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+81,1.350000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+82,1.366666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+83,1.383333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+84,1.400000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+85,1.416666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+86,1.433333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+87,1.450000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+88,1.466666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+89,1.483333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+90,1.500000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+91,1.516666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+92,1.533333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+93,1.550000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+94,1.566666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+95,1.583333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+96,1.600000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+97,1.616666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+98,1.633333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+99,1.650000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+100,1.666666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+101,1.683333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+102,1.700000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+103,1.716666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+104,1.733333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+105,1.750000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+106,1.766666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+107,1.783333333,pose1_to_pose2_press,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+108,1.800000000,pose1_to_pose2_press,0.575709215426,0.0100546665364,1.05002891002,0.546279942922,0.0187273867856,1.04969820296
+109,1.816666667,pose1_to_pose2_press,0.575709250053,0.0100546654098,1.05002893147,0.546279977701,0.0187273861894,1.04969822471
+110,1.833333333,pose1_to_pose2_press,0.57570936944,0.0100546615254,1.05002900542,0.546280097615,0.0187273841338,1.0496982997
+111,1.850000000,pose1_to_pose2_press,0.57570968325,0.0100545960083,1.05002903081,0.546280412149,0.0187273210285,1.04969832396
+112,1.866666667,pose1_to_pose2_press,0.575710335204,0.0100545577632,1.05002907679,0.546281064727,0.0187272848284,1.049698368
+113,1.883333333,pose1_to_pose2_press,0.575711961721,0.0100546303587,1.05002913627,0.546282691191,0.0187273571887,1.04969842605
+114,1.900000000,pose1_to_pose2_press,0.575715996058,0.0100546563866,1.05002904935,0.546286725637,0.0187273835213,1.04969833746
+115,1.916666667,pose1_to_pose2_press,0.575725599965,0.0100546083847,1.050029243,0.546296331165,0.0187273410098,1.04969853078
+116,1.933333333,pose1_to_pose2_press,0.575743547009,0.0100546255947,1.05002913288,0.546314277715,0.0187273569025,1.04969842993
+117,1.950000000,pose1_to_pose2_press,0.575771692411,0.0100544575056,1.05002907816,0.546342423017,0.0187271882473,1.04969836926
+118,1.966666667,pose1_to_pose2_press,0.575811727679,0.0100546426268,1.05002915229,0.546382456774,0.0187273682586,1.04969844371
+119,1.983333333,pose1_to_pose2_press,0.575862897125,0.010054609799,1.05002908577,0.546433626592,0.0187273368111,1.04969838027
+120,2.000000000,pose1_to_pose2_press,0.575924378689,0.0100546540461,1.0500289327,0.546495107413,0.0187273787524,1.04969823278
+121,2.016666667,pose1_to_pose2_press,0.575995451773,0.0100545116752,1.05002908983,0.546566182322,0.0187272422846,1.04969838228
+122,2.033333333,pose1_to_pose2_press,0.576076744573,0.0100545813482,1.05002894144,0.546647474201,0.0187273089953,1.04969823799
+123,2.050000000,pose1_to_pose2_press,0.576169749412,0.0100546613398,1.05002901615,0.546740477929,0.0187273853497,1.04969831625
+124,2.066666667,pose1_to_pose2_press,0.576275177444,0.0100545933614,1.05002918856,0.546845907296,0.018727321817,1.04969848641
+125,2.083333333,pose1_to_pose2_press,0.57639576645,0.0100545241366,1.05002914366,0.546966497336,0.0187272559621,1.04969843785
+126,2.100000000,pose1_to_pose2_press,0.576531299122,0.0100545961571,1.05002906308,0.547102028841,0.0187273237987,1.04969835122
+127,2.116666667,pose1_to_pose2_press,0.576684401063,0.0100546410563,1.05002916329,0.547255130524,0.0187273678509,1.04969845219
+128,2.133333333,pose1_to_pose2_press,0.576856130591,0.010054609626,1.05002952684,0.547426861003,0.018727339648,1.0496988157
+129,2.150000000,pose1_to_pose2_press,0.577048520456,0.0100546241887,1.05002935283,0.547619251168,0.0187273552892,1.0496986432
+130,2.166666667,pose1_to_pose2_press,0.577262461458,0.0100546005714,1.05002919901,0.547833191388,0.0187273290064,1.04969848905
+131,2.183333333,pose1_to_pose2_press,0.577497554639,0.0100545744839,1.05002936067,0.548068285096,0.0187273047452,1.04969865161
+132,2.200000000,pose1_to_pose2_press,0.577752431819,0.0100545534051,1.05002894438,0.54832316214,0.0187272836607,1.04969824723
+133,2.216666667,pose1_to_pose2_press,0.578025254534,0.0100545439021,1.05002895797,0.548595985772,0.01872727703,1.04969825446
+134,2.233333333,pose1_to_pose2_press,0.578316678245,0.0100544884524,1.05002915393,0.548887408686,0.0187272186141,1.04969844356
+135,2.250000000,pose1_to_pose2_press,0.578626987895,0.0100545306507,1.05002911864,0.549197718786,0.0187272622786,1.04969840661
+136,2.266666667,pose1_to_pose2_press,0.578957235217,0.0100544444457,1.05002880656,0.549527967123,0.0187271796082,1.04969809681
+137,2.283333333,pose1_to_pose2_press,0.579317813022,0.0100545073977,1.05002893291,0.549888544118,0.0187272398094,1.04969822303
+138,2.300000000,pose1_to_pose2_press,0.57970844117,0.0100545627949,1.05002918049,0.550279172624,0.0187272961707,1.04969846404
+139,2.316666667,pose1_to_pose2_press,0.580134255964,0.0100545397022,1.05002892341,0.55070498615,0.018727269019,1.04969821325
+140,2.333333333,pose1_to_pose2_press,0.580594076425,0.0100546306838,1.05002902325,0.551164805521,0.0187273565643,1.04969831988
+141,2.350000000,pose1_to_pose2_press,0.581090177306,0.0100545275723,1.05002914134,0.55166090854,0.0187272605337,1.0496984334
+142,2.366666667,pose1_to_pose2_press,0.581606665383,0.0100545616384,1.05002895945,0.552177394752,0.0187272887544,1.04969826412
+143,2.383333333,pose1_to_pose2_press,0.582140481329,0.0100543735409,1.05002895502,0.55271121391,0.0187271109438,1.04969824367
+144,2.400000000,pose1_to_pose2_press,0.582688181947,0.0100545868864,1.05002921846,0.553258910996,0.0187273118382,1.04969849482
+145,2.416666667,pose1_to_pose2_press,0.583248890298,0.0100546569368,1.05002920484,0.553819618064,0.0187273776852,1.04969848513
+146,2.433333333,pose1_to_pose2_press,0.583827259798,0.0100546812885,1.05002915194,0.554397987314,0.018727401589,1.04969844265
+147,2.450000000,pose1_to_pose2_press,0.584430249082,0.0100545388783,1.05002908633,0.555000977857,0.0187272631678,1.04969836965
+148,2.466666667,pose1_to_pose2_press,0.585060768159,0.0100544455979,1.05002932043,0.555631500123,0.0187271805133,1.0496985985
+149,2.483333333,pose1_to_pose2_press,0.58571203089,0.0100545836011,1.05002903063,0.556282760536,0.0187273111044,1.04969832062
+150,2.500000000,pose1_to_pose2_press,0.586379130739,0.010054588885,1.05002878263,0.556949860399,0.0187273166856,1.04969807911
+151,2.516666667,pose1_to_pose2_press,0.587051849101,0.0100546203271,1.05002903918,0.557622578352,0.0187273465606,1.04969833096
+152,2.533333333,pose1_to_pose2_press,0.58774028427,0.0100544891322,1.05002914749,0.558311016092,0.0187272241047,1.04969843966
+153,2.550000000,pose1_to_pose2_press,0.58845834484,0.0100545748579,1.0500293781,0.559029076112,0.0187273079933,1.04969867106
+154,2.566666667,pose1_to_pose2_press,0.589203497499,0.010054620822,1.05002930159,0.559774226629,0.0187273465314,1.04969859037
+155,2.583333333,pose1_to_pose2_press,0.589974397203,0.0100545826415,1.05002914628,0.560545127612,0.0187273129206,1.04969844109
+156,2.600000000,pose1_to_pose2_press,0.590769022591,0.0100547280789,1.05002913966,0.561339750028,0.0187274482935,1.049698435
+157,2.616666667,pose1_to_pose2_press,0.591572355419,0.0100544236664,1.0500291514,0.562143086853,0.0187271572453,1.04969844151
+158,2.633333333,pose1_to_pose2_press,0.592368057599,0.0100545829229,1.05002917716,0.562938788373,0.0187273140682,1.04969846225
+159,2.650000000,pose1_to_pose2_press,0.593158059396,0.0100545614266,1.0500288815,0.56372879144,0.0187272974319,1.04969818106
+160,2.666666667,pose1_to_pose2_press,0.593942494578,0.0100545626454,1.05002977391,0.564513225942,0.0187272954092,1.04969904899
+161,2.683333333,pose1_to_pose2_press,0.594725843368,0.0100544663148,1.05002921364,0.565296575466,0.01872720215,1.049698504
+162,2.700000000,pose1_to_pose2_press,0.595511363508,0.0100545133524,1.05002891544,0.566082093459,0.0187272422329,1.0496982145
+163,2.716666667,pose1_to_pose2_press,0.596322888383,0.0100545712177,1.05002911571,0.56689361835,0.0187272998511,1.0496984069
+164,2.733333333,pose1_to_pose2_press,0.597157421787,0.0100544647526,1.05002918409,0.567728151926,0.0187271937236,1.04969846886
+165,2.750000000,pose1_to_pose2_press,0.598009164595,0.0100546123571,1.05002904157,0.568579893849,0.0187273386292,1.0496983344
+166,2.766666667,pose1_to_pose2_press,0.598868243269,0.0100546194984,1.05002926212,0.569438974161,0.0187273512239,1.04969855225
+167,2.783333333,pose1_to_pose2_press,0.599727649494,0.0100544856087,1.05002895419,0.570298380672,0.0187272182379,1.0496982426
+168,2.800000000,pose1_to_pose2_press,0.600559374524,0.0100544875222,1.05002930667,0.571130104911,0.0187272171715,1.04969858746
+169,2.816666667,pose1_to_pose2_press,0.601366872763,0.0100545190017,1.0500290598,0.571937602171,0.0187272455918,1.04969834749
+170,2.833333333,pose1_to_pose2_press,0.602153128905,0.0100545574782,1.05002891599,0.572723860257,0.0187272909022,1.04969821002
+171,2.850000000,pose1_to_pose2_press,0.602927287139,0.0100545733095,1.05002924206,0.573498019156,0.0187273088696,1.04969853299
+172,2.866666667,pose1_to_pose2_press,0.60369333545,0.0100546293804,1.05002915605,0.574264065661,0.0187273589562,1.04969845081
+173,2.883333333,pose1_to_pose2_press,0.604463616741,0.0100544553935,1.05002895901,0.575034347987,0.0187271883005,1.04969824909
+174,2.900000000,pose1_to_pose2_press,0.605240442841,0.0100545929697,1.05002913894,0.575811172043,0.0187273188106,1.04969842565
+175,2.916666667,pose1_to_pose2_press,0.606007755543,0.0100544621752,1.0500291586,0.576578486466,0.0187271939998,1.04969844923
+176,2.933333333,pose1_to_pose2_press,0.606762359493,0.0100544126607,1.05002902831,0.577333091114,0.0187271469759,1.04969832226
+177,2.950000000,pose1_to_pose2_press,0.607498260043,0.0100544977424,1.05002915055,0.578068992568,0.0187272349914,1.04969844099
+178,2.966666667,pose1_to_pose2_press,0.608202665815,0.0100545969861,1.05002926928,0.578773396052,0.0187273264638,1.04969855968
+179,2.983333333,pose1_to_pose2_press,0.608872203852,0.010054585884,1.05002892081,0.579442934799,0.0187273179199,1.04969821513
+180,3.000000000,pose1_to_pose2_press,0.60952370443,0.0100545831608,1.05002911678,0.580094436488,0.0187273189879,1.04969841181
+181,3.016666667,pose1_to_pose2_press,0.610157874491,0.0100547622392,1.05002901022,0.580728601771,0.0187274819828,1.04969830868
+182,3.033333333,pose1_to_pose2_press,0.61076992544,0.0100545703843,1.05002887452,0.581340655985,0.0187273013384,1.04969817651
+183,3.050000000,pose1_to_pose2_press,0.611361676715,0.0100545533776,1.05002912525,0.581932407025,0.0187272831972,1.04969841848
+184,3.066666667,pose1_to_pose2_press,0.611932654809,0.0100546697128,1.05002910485,0.582503384498,0.0187273978006,1.04969840804
+185,3.083333333,pose1_to_pose2_press,0.612481816427,0.0100544428304,1.05002915216,0.583052547668,0.018727175773,1.04969844574
+186,3.100000000,pose1_to_pose2_press,0.613010047102,0.0100545629851,1.05002928623,0.583580776495,0.0187272894567,1.04969857121
+187,3.116666667,pose1_to_pose2_press,0.613514006639,0.010054616756,1.05002893333,0.584084735487,0.0187273420672,1.04969822881
+188,3.133333333,pose1_to_pose2_press,0.613992209024,0.0100544224422,1.05002916455,0.584562941759,0.0187271608235,1.04969844795
+189,3.150000000,pose1_to_pose2_press,0.614435286448,0.0100544078337,1.05002939634,0.585006018986,0.0187271459417,1.0496986799
+190,3.166666667,pose1_to_pose2_press,0.614844194425,0.0100546583162,1.05002908718,0.585414923627,0.0187273859407,1.04969838109
+191,3.183333333,pose1_to_pose2_press,0.615217918997,0.0100545932127,1.05002913517,0.585788648181,0.0187273210202,1.04969842662
+192,3.200000000,pose1_to_pose2_press,0.615567536917,0.0100544640699,1.05002908664,0.586138267924,0.0187271984085,1.04969837613
+193,3.216666667,pose1_to_pose2_press,0.615896249352,0.0100546072551,1.05002902415,0.586466979051,0.0187273377746,1.04969831853
+194,3.233333333,pose1_to_pose2_press,0.616211126808,0.0100546110173,1.05002901843,0.586781855478,0.0187273385163,1.04969831348
+195,3.250000000,pose1_to_pose2_press,0.616512319615,0.0100544695467,1.05002906354,0.587083049846,0.0187272028472,1.04969836105
+196,3.266666667,pose1_to_pose2_press,0.616797868958,0.0100545104805,1.05002901331,0.587368599763,0.0187272461406,1.04969831163
+197,3.283333333,pose1_to_pose2_press,0.617064212018,0.0100544954797,1.05002905049,0.587634943079,0.0187272319693,1.04969833724
+198,3.300000000,pose1_to_pose2_press,0.617309388954,0.01005447049,1.05002923481,0.587880119015,0.0187272039332,1.04969851961
+199,3.316666667,pose1_to_pose2_press,0.617532088475,0.0100545635,1.05002924885,0.588102816491,0.0187272902956,1.04969853226
+200,3.333333333,pose1_to_pose2_press,0.617733273729,0.0100545331265,1.05002911262,0.588304002612,0.0187272632444,1.04969839937
+201,3.350000000,pose1_to_pose2_press,0.617912281227,0.0100545811428,1.05002894648,0.588483008301,0.0187273058383,1.04969824535
+202,3.366666667,pose1_to_pose2_press,0.618071901822,0.0100546512612,1.05002894851,0.58864262815,0.018727373569,1.04969824522
+203,3.383333333,pose1_to_pose2_press,0.618211946184,0.0100545678486,1.05002909043,0.588782675116,0.018727298976,1.04969838112
+204,3.400000000,pose1_to_pose2_press,0.618334728897,0.0100544704538,1.05002911611,0.588905457942,0.0187272021006,1.04969840539
+205,3.416666667,pose1_to_pose2_press,0.618440411369,0.0100544958442,1.05002902965,0.589011139821,0.0187272257541,1.04969832187
+206,3.433333333,pose1_to_pose2_press,0.61853061292,0.0100546522783,1.05002909899,0.589101339688,0.0187273765324,1.04969838467
+207,3.450000000,pose1_to_pose2_press,0.618607300519,0.0100546960106,1.05002914304,0.589178026385,0.0187274179096,1.04969843471
+208,3.466666667,pose1_to_pose2_press,0.618670797335,0.0100545270451,1.05002905188,0.589241526238,0.0187272589968,1.04969834372
+209,3.483333333,pose1_to_pose2_press,0.618724550747,0.0100545247156,1.05002914588,0.589295280825,0.018727260163,1.04969843733
+210,3.500000000,pose1_to_pose2_press,0.618769269566,0.0100544777354,1.05002905614,0.589339999901,0.0187272145109,1.04969834649
+211,3.516666667,pose1_to_pose2_press,0.618806508641,0.0100546935393,1.05002911821,0.589377234647,0.0187274160186,1.04969841094
+212,3.533333333,pose1_to_pose2_press,0.618836855226,0.0100546650175,1.05002917116,0.589407581972,0.0187273899685,1.04969845831
+213,3.550000000,pose1_to_pose2_press,0.618860924978,0.01005457738,1.05002917106,0.589431653069,0.0187273064779,1.04969845721
+214,3.566666667,pose1_to_pose2_press,0.618879136662,0.0100546003318,1.05002923738,0.589449863901,0.0187273264632,1.04969852246
+215,3.583333333,pose1_to_pose2_press,0.618891660002,0.0100546510005,1.05002921043,0.589462386293,0.0187273742469,1.04969849769
+216,3.600000000,pose1_to_pose2_press,0.618900302918,0.0100546502962,1.05002902373,0.589471029562,0.0187273751069,1.04969831906
+217,3.616666667,pose1_to_pose2_press,0.618905486796,0.0100546090678,1.05002912131,0.589476214696,0.0187273378068,1.04969841253
+218,3.633333333,pose1_to_pose2_press,0.618908715275,0.0100545964076,1.05002915389,0.589479443628,0.0187273265271,1.04969844303
+219,3.650000000,pose1_to_pose2_press,0.618910507604,0.0100546387761,1.05002906497,0.589481234961,0.0187273656169,1.04969835485
+220,3.666666667,pose1_to_pose2_press,0.618911834236,0.010054670136,1.05002899915,0.589482560857,0.0187273945501,1.04969828958
+221,3.683333333,pose1_to_pose2_press,0.618912706999,0.0100546907671,1.05002895585,0.589483433134,0.0187274135845,1.04969824664
+222,3.700000000,pose1_to_pose2_press,0.618913082162,0.0100546996354,1.05002893724,0.589483808088,0.0187274217667,1.04969822818
+223,3.716666667,pose1_to_pose2_press,0.618913647165,0.0100547038994,1.05002893288,0.589484373083,0.0187274260413,1.04969822423
+224,3.733333333,pose1_to_pose2_press,0.618914340244,0.0100546861753,1.05002898731,0.589485066924,0.018727410967,1.04969827959
+225,3.750000000,pose1_to_pose2_press,0.618914729987,0.0100546762085,1.05002901791,0.589485457096,0.0187274024902,1.04969831072
+226,3.766666667,pose1_to_pose2_press,0.618914919341,0.0100546713661,1.05002903278,0.589485646657,0.0187273983718,1.04969832585
+227,3.783333333,pose1_to_pose2_press,0.618914992309,0.0100546695001,1.05002903851,0.589485719705,0.0187273967847,1.04969833167
+228,3.800000000,pose1_to_pose2_press,0.61891510121,0.0100546667152,1.05002904706,0.589485828726,0.0187273944162,1.04969834037
+229,3.816666667,pose1_to_pose2_press,0.618915358774,0.0100546601285,1.05002906729,0.589486086573,0.0187273888142,1.04969836095
+230,3.833333333,pose1_to_pose2_press,0.61891542331,0.0100546584782,1.05002907235,0.58948615118,0.0187273874106,1.0496983661
+231,3.850000000,pose1_to_pose2_press,0.618915745574,0.010054650237,1.05002909766,0.589486473798,0.0187273804014,1.04969839184
+232,3.866666667,pose1_to_pose2_press,0.618915907017,0.0100546461084,1.05002911034,0.589486635419,0.01872737689,1.04969840474
+233,3.883333333,pose1_to_pose2_press,0.61891601254,0.0100546434099,1.05002911862,0.589486741057,0.0187273745949,1.04969841317
+234,3.900000000,pose1_to_pose2_press,0.618916221128,0.0100546380757,1.050029135,0.589486949875,0.0187273700582,1.04969842983
+235,3.916666667,pose1_to_pose2_press,0.618916226369,0.0100546379416,1.05002913541,0.589486955121,0.0187273699442,1.04969843025
+236,3.933333333,pose1_to_pose2_press,0.618916405225,0.0100546290789,1.05002913991,0.589487134156,0.0187273616806,1.04969843491
+237,3.950000000,pose1_to_pose2_press,0.618916724289,0.0100545967461,1.05002911115,0.589487453469,0.0187273300906,1.04969840615
+238,3.966666667,pose1_to_pose2_press,0.618917294593,0.0100545389535,1.05002905975,0.58948802422,0.0187272736255,1.04969835474
+239,3.983333333,pose1_to_pose2_press,0.618917782603,0.0100544862451,1.05002900928,0.589488512661,0.0187272222481,1.04969830389
+240,4.000000000,pose1_to_pose2_press,0.618918190306,0.0100544243589,1.05002893159,0.589488920996,0.0187271625427,1.04969822379
+241,4.016666667,pose1_to_pose2_press,0.618918464444,0.0100543713407,1.05002893406,0.589489193959,0.018727105413,1.04969822233
+242,4.033333333,pose2_hold,0.618918464444,0.0100543713407,1.05002893406,0.589489193962,0.0187271054161,1.04969822233
+243,4.050000000,pose2_hold,0.618918464444,0.0100543713407,1.05002893406,0.589489193962,0.018727105415,1.04969822233
+244,4.066666667,pose2_hold,0.618918464444,0.0100543713407,1.05002893406,0.58948919396,0.0187271054126,1.04969822233
+245,4.083333333,pose2_hold,0.618918464444,0.0100543713407,1.05002893406,0.589489193961,0.0187271054181,1.04969822233
+246,4.100000000,pose2_hold,0.618918464444,0.0100543713407,1.05002893406,0.589489193969,0.0187271054117,1.04969822233
+247,4.116666667,pose2_hold,0.618918464444,0.0100543713407,1.05002893406,0.589489193968,0.0187271054127,1.04969822233
+248,4.133333333,pose2_hold,0.618918464444,0.0100543713407,1.05002893406,0.589489193971,0.0187271054066,1.04969822233
+249,4.150000000,pose2_hold,0.618918464444,0.0100543713407,1.05002893406,0.589489193964,0.0187271054111,1.04969822233
+250,4.166666667,pose2_hold,0.618918464444,0.0100543713407,1.05002893406,0.58948919397,0.0187271054105,1.04969822233
+251,4.183333333,pose2_hold,0.618918464444,0.0100543713407,1.05002893406,0.589489193967,0.018727105409,1.04969822233
+252,4.200000000,pose2_hold,0.618918464444,0.0100543713407,1.05002893406,0.589489193969,0.0187271054048,1.04969822232
+253,4.216666667,pose2_hold,0.618918464444,0.0100543713407,1.05002893406,0.589489193968,0.0187271054065,1.04969822232
+254,4.233333333,pose2_hold,0.618918464444,0.0100543713407,1.05002893406,0.589489193968,0.018727105407,1.04969822232
+255,4.250000000,pose2_hold,0.618918464444,0.0100543713407,1.05002893406,0.589489193968,0.0187271054128,1.04969822232
+256,4.266666667,pose2_hold,0.618918464444,0.0100543713407,1.05002893406,0.589489193968,0.0187271054088,1.04969822232
+257,4.283333333,pose2_hold,0.618918464444,0.0100543713407,1.05002893406,0.589489193969,0.0187271054103,1.04969822232
+258,4.300000000,pose2_hold,0.618918464444,0.0100543713407,1.05002893406,0.589489193969,0.0187271054081,1.04969822232
+259,4.316666667,pose2_hold,0.618918464444,0.0100543713407,1.05002893406,0.589489193968,0.0187271054083,1.04969822232
+260,4.333333333,pose2_to_pose3_retreat,0.618918464444,0.0100543713407,1.05002893406,0.589489193965,0.018727105408,1.04969822233
+261,4.350000000,pose2_to_pose3_retreat,0.618918319293,0.0100544539646,1.0500290256,0.589489048732,0.0187271876733,1.0496983116
+262,4.366666667,pose2_to_pose3_retreat,0.618918102203,0.0100545477817,1.05002894672,0.589488830747,0.0187272785473,1.04969823536
+263,4.383333333,pose2_to_pose3_retreat,0.618917933712,0.0100545794433,1.05002894847,0.589488661797,0.0187273086817,1.04969823819
+264,4.400000000,pose2_to_pose3_retreat,0.618917614662,0.0100546031169,1.05002900729,0.589488342086,0.0187273301307,1.04969829823
+265,4.416666667,pose2_to_pose3_retreat,0.618916637128,0.0100546717227,1.05002914551,0.589487362887,0.0187273931369,1.0496984396
+266,4.433333333,pose2_to_pose3_retreat,0.618913534473,0.0100547811788,1.05002909971,0.589484259355,0.0187274996902,1.04969839717
+267,4.450000000,pose2_to_pose3_retreat,0.618906101525,0.0100545803769,1.05002903136,0.589476829018,0.0187273076763,1.04969832842
+268,4.466666667,pose2_to_pose3_retreat,0.618890524578,0.0100544079417,1.05002908339,0.58946125414,0.0187271416327,1.04969837202
+269,4.483333333,pose2_to_pose3_retreat,0.618864174501,0.0100544716801,1.05002914423,0.589434904687,0.0187272080154,1.04969843085
+270,4.500000000,pose2_to_pose3_retreat,0.618826287323,0.0100545492203,1.05002911023,0.589397016256,0.0187272812802,1.04969839895
+271,4.516666667,pose2_to_pose3_retreat,0.618775905447,0.0100544415837,1.05002927688,0.589346636383,0.0187271798839,1.0496985623
+272,4.533333333,pose2_to_pose3_retreat,0.618714361986,0.0100544821174,1.05002928358,0.589285091578,0.0187272165826,1.04969857315
+273,4.550000000,pose2_to_pose3_retreat,0.618643778522,0.0100547150997,1.05002918563,0.589214507539,0.0187274373574,1.04969846877
+274,4.566666667,pose2_to_pose3_retreat,0.618562982665,0.0100545438536,1.05002928798,0.589133712566,0.0187272786686,1.04969857728
+275,4.583333333,pose2_to_pose3_retreat,0.618470038513,0.0100543904451,1.05002917841,0.58904076739,0.0187271214387,1.04969846355
+276,4.600000000,pose2_to_pose3_retreat,0.618362968654,0.0100545839437,1.0500291403,0.588933697721,0.0187273157723,1.0496984352
+277,4.616666667,pose2_to_pose3_retreat,0.618240932626,0.0100546690368,1.05002914677,0.588811661515,0.0187274000721,1.04969844129
+278,4.633333333,pose2_to_pose3_retreat,0.618099580584,0.0100545976902,1.05002918259,0.588670308444,0.0187273247327,1.04969846992
+279,4.650000000,pose2_to_pose3_retreat,0.617939529231,0.0100545032845,1.05002917506,0.588510258468,0.0187272347636,1.04969846315
+280,4.666666667,pose2_to_pose3_retreat,0.617758317459,0.0100545914662,1.05002917587,0.588329046439,0.0187273217516,1.04969846335
+281,4.683333333,pose2_to_pose3_retreat,0.617553298174,0.0100545834318,1.05002909676,0.588124026737,0.018727311916,1.04969838199
+282,4.700000000,pose2_to_pose3_retreat,0.617321696337,0.0100544039886,1.05002934623,0.587892427679,0.0187271413043,1.04969862567
+283,4.716666667,pose2_to_pose3_retreat,0.617064633669,0.0100544876703,1.05002926772,0.5876353632,0.0187272184911,1.04969854915
+284,4.733333333,pose2_to_pose3_retreat,0.616782901916,0.0100545155008,1.05002915152,0.58735363223,0.0187272489309,1.0496984428
+285,4.750000000,pose2_to_pose3_retreat,0.616476397015,0.0100543908534,1.05002889402,0.587047128066,0.0187271262761,1.04969818495
+286,4.766666667,pose2_to_pose3_retreat,0.616148295089,0.0100545412399,1.05002906717,0.58671902531,0.0187272732016,1.04969835427
+287,4.783333333,pose2_to_pose3_retreat,0.615797528199,0.0100545437481,1.05002917097,0.586368258466,0.0187272754677,1.04969846021
+288,4.800000000,pose2_to_pose3_retreat,0.615423722819,0.0100545265565,1.05002909491,0.585994452966,0.0187272574122,1.04969838507
+289,4.816666667,pose2_to_pose3_retreat,0.615026263248,0.0100544967165,1.05002920204,0.585596994444,0.0187272305511,1.04969848936
+290,4.833333333,pose2_to_pose3_retreat,0.614608602933,0.0100544318655,1.05002924071,0.585179334861,0.0187271676806,1.04969852633
+291,4.850000000,pose2_to_pose3_retreat,0.614172297514,0.0100545222887,1.05002911669,0.58474302807,0.0187272531552,1.04969840441
+292,4.866666667,pose2_to_pose3_retreat,0.613714064066,0.010054658337,1.0500290933,0.584284793054,0.0187273836522,1.04969838213
+293,4.883333333,pose2_to_pose3_retreat,0.613227207424,0.010054627074,1.05002912995,0.583797937018,0.0187273542172,1.04969841721
+294,4.900000000,pose2_to_pose3_retreat,0.612703791627,0.0100545558079,1.05002909062,0.583274522742,0.018727288097,1.04969837821
+295,4.916666667,pose2_to_pose3_retreat,0.612134852248,0.010054589204,1.05002917481,0.582705582686,0.0187273192428,1.04969846308
+296,4.933333333,pose2_to_pose3_retreat,0.61152127184,0.0100546509951,1.05002912594,0.582092001049,0.0187273768914,1.04969841533
+297,4.950000000,pose2_to_pose3_retreat,0.610879388162,0.0100545928467,1.05002918933,0.581450118038,0.0187273209078,1.04969847625
+298,4.966666667,pose2_to_pose3_retreat,0.610217811853,0.010054590317,1.05002927192,0.580788542435,0.0187273207723,1.04969855929
+299,4.983333333,pose2_to_pose3_retreat,0.609540602817,0.0100546241775,1.05002902282,0.580111333493,0.0187273552251,1.04969831734
+300,5.000000000,pose2_to_pose3_retreat,0.608849966304,0.0100545850515,1.05002914668,0.579420697488,0.0187273175728,1.04969843415
+301,5.016666667,pose2_to_pose3_retreat,0.608142854352,0.0100546349704,1.05002932034,0.578713583796,0.018727361363,1.04969860171
+302,5.033333333,pose2_to_pose3_retreat,0.607408084454,0.0100545542998,1.05002919184,0.57797881416,0.0187272819074,1.04969848228
+303,5.050000000,pose2_to_pose3_retreat,0.606649556763,0.0100545347837,1.05002898706,0.577220287875,0.0187272672471,1.04969827974
+304,5.066666667,pose2_to_pose3_retreat,0.605874852917,0.0100545467046,1.05002894001,0.576445583856,0.0187272783581,1.04969822683
+305,5.083333333,pose2_to_pose3_retreat,0.605082314987,0.0100545964109,1.05002899516,0.57565304509,0.01872732547,1.04969828833
+306,5.100000000,pose2_to_pose3_retreat,0.604265308921,0.0100547066822,1.05002910007,0.574836038057,0.0187274324502,1.04969839283
+307,5.116666667,pose2_to_pose3_retreat,0.60343641989,0.0100546830362,1.0500291345,0.574007148945,0.0187274083994,1.04969842344
+308,5.133333333,pose2_to_pose3_retreat,0.602598467154,0.010054592119,1.05002933953,0.57316919743,0.0187273215365,1.04969862649
+309,5.150000000,pose2_to_pose3_retreat,0.601746956319,0.0100545336012,1.05002929848,0.572317687836,0.0187272673724,1.04969859051
+310,5.166666667,pose2_to_pose3_retreat,0.600891801709,0.0100544786063,1.05002919648,0.57146253274,0.0187272107968,1.04969848896
+311,5.183333333,pose2_to_pose3_retreat,0.60004215707,0.0100545307858,1.05002925242,0.570612886962,0.0187272588993,1.04969853923
+312,5.200000000,pose2_to_pose3_retreat,0.599191616618,0.0100546120332,1.05002915673,0.569762346448,0.0187273401313,1.0496984484
+313,5.216666667,pose2_to_pose3_retreat,0.598339257807,0.0100546063413,1.05002910965,0.568909987797,0.0187273350111,1.04969840219
+314,5.233333333,pose2_to_pose3_retreat,0.597474118497,0.0100545596073,1.05002902782,0.568044848926,0.018727289809,1.04969832168
+315,5.250000000,pose2_to_pose3_retreat,0.596595695475,0.0100546446423,1.05002908664,0.567166424035,0.0187273683599,1.04969837524
+316,5.266666667,pose2_to_pose3_retreat,0.595710293848,0.0100546644337,1.05002919401,0.566281022869,0.0187273894896,1.04969847653
+317,5.283333333,pose2_to_pose3_retreat,0.59482287438,0.010054615551,1.0500291739,0.565393604527,0.0187273446106,1.04969846113
+318,5.300000000,pose2_to_pose3_retreat,0.593942421148,0.0100545152374,1.05002916441,0.564513152458,0.0187272483563,1.04969845467
+319,5.316666667,pose2_to_pose3_retreat,0.593085702673,0.0100545501246,1.05002916134,0.563656433581,0.0187272819014,1.04969845201
+320,5.333333333,pose2_to_pose3_retreat,0.592255448392,0.0100545803258,1.05002917022,0.562826178415,0.0187273090023,1.04969845834
+321,5.350000000,pose2_to_pose3_retreat,0.591445302724,0.0100545322341,1.05002925042,0.562016032265,0.0187272592784,1.04969853864
+322,5.366666667,pose2_to_pose3_retreat,0.590648291058,0.0100546197497,1.05002939481,0.561219020499,0.018727346306,1.04969867911
+323,5.383333333,pose2_to_pose3_retreat,0.589857480373,0.0100546201095,1.05002918377,0.560428211151,0.0187273517316,1.04969848189
+324,5.400000000,pose2_to_pose3_retreat,0.5890664677,0.0100545640943,1.05002906524,0.559637198974,0.0187272971664,1.04969835712
+325,5.416666667,pose2_to_pose3_retreat,0.588270669187,0.0100545578013,1.05002915343,0.558841400161,0.0187272898503,1.04969844523
+326,5.433333333,pose2_to_pose3_retreat,0.587489135119,0.0100546148772,1.05002910279,0.558059864673,0.0187273422306,1.04969839778
+327,5.450000000,pose2_to_pose3_retreat,0.586726231705,0.0100545994771,1.05002908773,0.557296961401,0.0187273270954,1.04969837701
+328,5.466666667,pose2_to_pose3_retreat,0.585992605747,0.010054420597,1.05002922187,0.556563337144,0.0187271538452,1.04969850737
+329,5.483333333,pose2_to_pose3_retreat,0.585294055254,0.0100544329152,1.05002929985,0.555864786614,0.0187271660229,1.04969858498
+330,5.500000000,pose2_to_pose3_retreat,0.584637195364,0.010054624043,1.05002927022,0.555207924863,0.0187273508054,1.04969855447
+331,5.516666667,pose2_to_pose3_retreat,0.584007017226,0.010054557739,1.0500291687,0.554577747526,0.0187272873087,1.04969845527
+332,5.533333333,pose2_to_pose3_retreat,0.583399335872,0.0100545793813,1.05002914764,0.553970066121,0.0187273090414,1.04969844114
+333,5.550000000,pose2_to_pose3_retreat,0.582807115189,0.0100546495697,1.05002908462,0.553377843463,0.0187273728667,1.04969838695
+334,5.566666667,pose2_to_pose3_retreat,0.582231206781,0.0100545963473,1.05002903063,0.552801935046,0.0187273191227,1.0496983201
+335,5.583333333,pose2_to_pose3_retreat,0.581678128653,0.0100545962828,1.05002896448,0.552248856164,0.0187273164372,1.04969825247
+336,5.600000000,pose2_to_pose3_retreat,0.581149477742,0.0100544413384,1.05002915269,0.551720209224,0.0187271752189,1.04969844806
+337,5.616666667,pose2_to_pose3_retreat,0.580648125708,0.0100544836401,1.05002927406,0.551218856399,0.0187272143676,1.04969855671
+338,5.633333333,pose2_to_pose3_retreat,0.580169151322,0.0100546926536,1.05002903341,0.55073987979,0.0187274161657,1.04969832486
+339,5.650000000,pose2_to_pose3_retreat,0.579711206597,0.010054633528,1.05002910071,0.550281936535,0.0187273619702,1.0496983906
+340,5.666666667,pose2_to_pose3_retreat,0.579280203969,0.0100544798676,1.05002934254,0.54985093583,0.0187272145615,1.04969862536
+341,5.683333333,pose2_to_pose3_retreat,0.578877277186,0.0100543896461,1.05002896274,0.549448009982,0.0187271276314,1.04969824863
+342,5.700000000,pose2_to_pose3_retreat,0.578508814173,0.0100545437817,1.05002908878,0.549079545589,0.0187272773345,1.04969838082
+343,5.716666667,pose2_to_pose3_retreat,0.57817810583,0.0100546447975,1.05002928663,0.548748834735,0.0187273697272,1.04969857606
+344,5.733333333,pose2_to_pose3_retreat,0.577888324928,0.0100545351674,1.0500292929,0.548459055296,0.0187272648291,1.04969857639
+345,5.750000000,pose2_to_pose3_retreat,0.577625113182,0.0100545870581,1.05002915065,0.548195843044,0.0187273153387,1.04969844287
+346,5.766666667,pose2_to_pose3_retreat,0.577384631785,0.0100546530505,1.05002900346,0.547955361528,0.0187273812058,1.04969830298
+347,5.783333333,pose2_to_pose3_retreat,0.577160599004,0.0100546348411,1.05002923963,0.547731330074,0.018727367287,1.04969853372
+348,5.800000000,pose2_to_pose3_retreat,0.576950735104,0.0100546276329,1.05002944749,0.547521464389,0.0187273533294,1.04969872331
+349,5.816666667,pose2_to_pose3_retreat,0.576755657127,0.0100545798098,1.05002944091,0.547326387336,0.0187273087984,1.04969872092
+350,5.833333333,pose2_to_pose3_retreat,0.576579442469,0.0100544942136,1.05002899156,0.547150174654,0.0187272302386,1.04969828023
+351,5.850000000,pose2_to_pose3_retreat,0.576424007561,0.0100545246939,1.05002913383,0.546994737983,0.018727254733,1.04969842246
+352,5.866666667,pose2_to_pose3_retreat,0.576290961443,0.0100546569985,1.05002917571,0.546861691021,0.0187273841171,1.04969846295
+353,5.883333333,pose2_to_pose3_retreat,0.57617793493,0.010054409074,1.05002906314,0.546748667536,0.0187271464592,1.04969835013
+354,5.900000000,pose2_to_pose3_retreat,0.576082636818,0.0100545601552,1.05002924424,0.546653367646,0.0187272915628,1.04969853347
+355,5.916666667,pose2_to_pose3_retreat,0.576001365638,0.0100545111663,1.05002937634,0.546572097066,0.0187272445747,1.04969866458
+356,5.933333333,pose2_to_pose3_retreat,0.575933209021,0.0100545923992,1.0500292155,0.546503938831,0.0187273205262,1.04969850901
+357,5.950000000,pose2_to_pose3_retreat,0.575875659315,0.0100546691675,1.05002915662,0.546446388665,0.0187273957182,1.04969844959
+358,5.966666667,pose2_to_pose3_retreat,0.575828543096,0.0100545503299,1.05002926093,0.546399273488,0.0187272802683,1.04969854995
+359,5.983333333,pose2_to_pose3_retreat,0.575791766979,0.0100545637265,1.05002920497,0.546362497529,0.018727294172,1.0496984933
+360,6.000000000,pose2_to_pose3_retreat,0.575764191852,0.0100546013113,1.0500291619,0.546334920928,0.0187273268122,1.04969845175
+361,6.016666667,pose2_to_pose3_retreat,0.575745402122,0.0100545313075,1.05002907441,0.546316132986,0.0187272629136,1.04969836527
+362,6.033333333,pose2_to_pose3_retreat,0.575732678129,0.0100545135048,1.05002917623,0.546303409089,0.0187272453935,1.049698466
+363,6.050000000,pose2_to_pose3_retreat,0.575725220521,0.0100545196132,1.05002924077,0.546295950773,0.0187272490497,1.04969852922
+364,6.066666667,pose2_to_pose3_retreat,0.57572040769,0.0100545015113,1.0500291091,0.546291137963,0.0187272309939,1.04969839687
+365,6.083333333,pose2_to_pose3_retreat,0.575717636822,0.0100544819514,1.05002907766,0.546288367599,0.0187272131275,1.049698365
+366,6.100000000,pose2_to_pose3_retreat,0.575715762701,0.0100544559307,1.05002911853,0.546286494508,0.0187271905853,1.0496984055
+367,6.116666667,pose2_to_pose3_retreat,0.5757144959,0.0100544383421,1.05002914615,0.546285228404,0.0187271753481,1.04969843287
+368,6.133333333,pose2_to_pose3_retreat,0.575713902964,0.0100544301096,1.05002915908,0.546284635793,0.0187271682162,1.04969844569
+369,6.150000000,pose2_to_pose3_retreat,0.57571350785,0.0100544255608,1.05002916089,0.546284240794,0.0187271640509,1.04969844737
+370,6.166666667,pose2_to_pose3_retreat,0.575713210613,0.0100544239626,1.05002914903,0.546283943444,0.0187271620604,1.04969843528
+371,6.183333333,pose2_to_pose3_retreat,0.575713054925,0.0100544231256,1.05002914282,0.546283787697,0.0187271610178,1.04969842895
+372,6.200000000,pose2_to_pose3_retreat,0.575712846833,0.0100544220067,1.05002913451,0.546283579525,0.0187271596242,1.04969842049
+373,6.216666667,pose2_to_pose3_retreat,0.575712474867,0.0100544200068,1.05002911967,0.546283207418,0.0187271571333,1.04969840537
+374,6.233333333,pose2_to_pose3_retreat,0.575712134551,0.010054418177,1.05002910609,0.546282866973,0.0187271548543,1.04969839154
+375,6.250000000,pose2_to_pose3_retreat,0.575711883937,0.0100544168295,1.05002909609,0.546282616263,0.018727153176,1.04969838135
+376,6.266666667,pose2_to_pose3_retreat,0.575711626708,0.0100544154465,1.05002908582,0.546282358936,0.0187271514534,1.04969837089
+377,6.283333333,pose2_to_pose3_retreat,0.57571129184,0.010054413646,1.05002907246,0.546282023942,0.0187271492109,1.04969835728
+378,6.300000000,pose2_to_pose3_retreat,0.575710919485,0.0100544144697,1.0500290579,0.546281651422,0.0187271494687,1.04969834255
+379,6.316666667,pose2_to_pose3_retreat,0.575710704262,0.0100544470715,1.05002905286,0.54628143584,0.018727180898,1.04969833867
+380,6.333333333,pose2_to_pose3_retreat,0.575710641103,0.0100544566387,1.05002905139,0.546281372576,0.0187271901211,1.04969833753
+381,6.350000000,pose2_to_pose3_retreat,0.575710410106,0.0100544916298,1.05002904599,0.546281141194,0.0187272238538,1.04969833337
+382,6.366666667,pose2_to_pose3_retreat,0.575710127595,0.0100545344243,1.05002903938,0.546280858211,0.0187272651092,1.04969832828
+383,6.383333333,pose2_to_pose3_retreat,0.57570989178,0.0100545701453,1.05002903387,0.546280622003,0.0187272995455,1.04969832404
+384,6.400000000,pose2_to_pose3_retreat,0.57570977954,0.0100545871472,1.05002903124,0.546280509576,0.018727315936,1.04969832201
+385,6.416666667,pose2_to_pose3_retreat,0.575709675206,0.010054580223,1.05002901222,0.546280405248,0.0187273090316,1.04969830293
+386,6.433333333,pose2_to_pose3_retreat,0.575709605781,0.0100545689098,1.05002899468,0.546280335881,0.0187272979052,1.04969828516
+387,6.450000000,pose2_to_pose3_retreat,0.57570952912,0.0100545564174,1.0500289753,0.546280259284,0.0187272856189,1.04969826553
+388,6.466666667,pose2_to_pose3_retreat,0.575709486306,0.0100545494405,1.05002896448,0.546280216505,0.0187272787572,1.04969825457
+389,6.483333333,pose2_to_pose3_retreat,0.575709448621,0.0100545432996,1.05002895496,0.546280178852,0.0187272727177,1.04969824492
+390,6.500000000,pose2_to_pose3_retreat,0.575709367032,0.0100545300041,1.05002893433,0.546280097331,0.0187272596417,1.04969822404
+391,6.516666667,pose2_to_pose3_retreat,0.575709274646,0.0100545629266,1.05002891505,0.546280004149,0.0187272898961,1.04969820555
+392,6.533333333,pose2_to_pose3_retreat,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_09/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_09/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1c09f5a2e6c46c89bbba4b10b7db991f1deb9deb
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_09/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:14f1142744b2e2d2ba7fb76a873e5d7dae73884676da2319dd03e0f1f108df89
+size 25241375
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_09/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_09/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4e479a7ccc2ccc0854032716aeb306b4eda8ec5a
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_09/depth_03/franka_data.csv
@@ -0,0 +1,399 @@
+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,764,742,711,673,663,632,877,784,800,650,629,651,0.400943279356,0.0045343270444,0.0598325523719,0.999999952671,0.000127581349957,-0.000279036800705,2.28023542392e-05,1793193561719561984
+1,0.016666667,BASELINE,764,742,711,673,663,632,877.576659098,784.576659098,800,650,628.423340902,651,0.40094411079,0.00453355134149,0.0598327597229,0.999999953211,0.00012642792523,-0.000277614508512,2.28946686545e-05,1793193561736228096
+2,0.033333333,BASELINE,764,742,711,673,663,632.155891253,878,784.844108747,800,650,628.155891253,651,0.400944665662,0.00453292899006,0.0598328929584,0.999999953469,0.000126067100144,-0.000276847482108,2.28873470631e-05,1793193561752894464
+3,0.050000000,BASELINE,764,742,711,673,663,632.742228241,878,784.257771759,800,650,628.742228241,651,0.400944456895,0.00453273007137,0.0598328215466,0.999999952955,0.000127894794865,-0.000277889770267,2.26049113133e-05,1793193561769560832
+4,0.066666667,BASELINE,764,742,711,672.347533159,663,632.67376658,878,784,800,650,629,651,0.40094484703,0.00453215706863,0.0598331571574,0.999999953125,0.00012661182714,-0.000277861922617,2.26179700804e-05,1793193561786227200
+5,0.083333333,BASELINE,764,742,711,671.183181654,663,632.091590827,878,784,800,650,629,651,0.400945707025,0.00453129058299,0.0598338120926,0.999999953825,0.000122888428156,-0.000276994513295,2.28628553758e-05,1793193561802893568
+6,0.100000000,BASELINE,764,742.485182025,711,671.485182025,663,632,877.514817975,784,800,650,629,651,0.400945460268,0.00453231565117,0.0598335148381,0.999999953686,0.00012452537349,-0.000276787018138,2.25801492197e-05,1793193561819560192
+7,0.116666667,BASELINE,764,743,711,672,663,632.061866939,877.061866939,784.061866939,800,650,629,651,0.400945111827,0.00453358379532,0.0598331452492,0.999999953458,0.000126828299279,-0.000276591648195,2.22513135492e-05,1793193561836227072
+8,0.133333333,BASELINE,764,743,711,672,663,632.646329688,877.646329688,784.646329688,800,650,629,651,0.400945649842,0.00453392215249,0.059833666294,0.999999953835,0.00012630330075,-0.000275457984376,2.23648549087e-05,1793193561852893952
+9,0.150000000,BASELINE,764,742.770676255,711,672,663,632.770676255,878,785,800,650,629,651,0.400945748647,0.00453411067414,0.0598339098638,0.999999953735,0.000127354640957,-0.000275324158029,2.25287468354e-05,1793193561869560576
+10,0.166666667,BASELINE,764,742.1899329,711,672,663,632.1899329,878,785,800,650,629,651,0.4009451744,0.00453406958523,0.0598337282261,0.999999952896,0.000130821589507,-0.000276722499739,2.27697968169e-05,1793193561886227200
+11,0.183333333,BASELINE,764,742,711,672,663,632,877.610315312,784.610315312,799.610315312,650,629,651,0.400944425558,0.00453292496836,0.0598335720067,0.999999953198,0.000127987840069,-0.000276959523906,2.27477610201e-05,1793193561902893824
+12,0.200000000,BASELINE,764,742,711,672,663,632,877.031244792,784.031244792,799.031244792,650,629,651,0.400943591862,0.00453124403951,0.0598334281405,0.999999954029,0.000122091966692,-0.000276632150626,2.25978661814e-05,1793193561919560448
+13,0.216666667,BASELINE,764,742,711,672,662.456088025,632.543911975,877.543911975,784,799,650,629,651,0.400943862879,0.00453047336139,0.0598330894592,0.999999953646,0.000124316341615,-0.000276996109055,2.29476473404e-05,1793193561936226816
+14,0.233333333,BASELINE,764,742,711,672,662.118936913,633,877.881063087,784,799,650,629,651,0.400944202929,0.004530320265,0.0598329843553,0.999999953306,0.000126545530587,-0.000277199245334,2.31339943803e-05,1793193561952893440
+15,0.250000000,BASELINE,764,742,711,672,662.694312738,633,877.305687262,784,799,650,629,651,0.400944566113,0.00453233800102,0.059833818281,0.999999953415,0.000127015854988,-0.00027663388472,2.25837698064e-05,1793193561969560576
+16,0.266666667,BASELINE,764,742,711,672,663,632.723121916,877.276878084,784,799,650,629,651.276878084,0.400944547838,0.0045327705939,0.0598341400886,0.999999953613,0.00012593467496,-0.00027642686375,2.2417830508e-05,1793193561986227968
+17,0.283333333,BASELINE,764,742,711,672,663,632.13240741,877.86759259,784,799,650,629,651.86759259,0.400944097187,0.0045314064549,0.0598338814195,0.999999953905,0.000123094892016,-0.000276626014479,2.26874718207e-05,1793193562002895104
+18,0.300000000,BASELINE,764,742,711,672,663,632.448948335,878,784,799,650,629,651.551051665,0.400944602937,0.0045319886024,0.0598341220863,0.999999953942,0.000124421038522,-0.000275892074862,2.27922782425e-05,1793193562019561472
+19,0.316666667,BASELINE,764,742.027313781,711,672.027313781,663,633,877.972686219,784,799,650,629,651,0.400945353138,0.00453297970213,0.0598344850671,0.999999953909,0.000126684267378,-0.000274975177203,2.28475936901e-05,1793193562036227328
+20,0.333333333,BASELINE,764,742.599959251,711,672.599959251,663,633,877.400040749,784,799,650,629,651,0.400945467281,0.00453090929108,0.0598344098669,0.999999954067,0.000123627160256,-0.000275787622413,2.28655881767e-05,1793193562052893696
+21,0.350000000,BASELINE,764,742.822049476,711,672.822049476,663,632.822049476,877.177950524,784,799.177950524,650,629,651,0.400945815498,0.00453035644459,0.0598345719866,0.999999954251,0.000122319575439,-0.000275715953816,2.27430513124e-05,1793193562069560064
+22,0.366666667,BASELINE,764,742.231668475,711,672.231668475,663,632.231668475,877.768331525,784,799.768331525,650,629,651,0.400946706223,0.00453332081128,0.0598352841357,0.999999954503,0.000125066805276,-0.000273595201635,2.22948092401e-05,1793193562086226688
+23,0.383333333,BASELINE,764,742.351748958,711,672.351748958,663,632,878.351748958,784.351748958,800,650,629,651,0.400947006763,0.00453329695989,0.0598356393884,0.999999954686,0.000124957783616,-0.000272979541662,2.22859537106e-05,1793193562102893568
+24,0.400000000,BASELINE,764,742.930669145,711,672.930669145,663,632,878.930669145,784.930669145,800,650,629,651,0.400946926141,0.00453134321773,0.0598357641456,0.999999954824,0.000123004099575,-0.000273335920316,2.2560868647e-05,1793193562119560448
+25,0.416666667,BASELINE,764,742.491626453,711,672.491626453,663,632.508373547,879,784.491626453,800,650,629,651,0.400945914402,0.0045310500454,0.059835335244,0.999999954281,0.00012423010151,-0.000274738877355,2.28978098686e-05,1793193562136227328
+26,0.433333333,BASELINE,764,742,711,672,662.912996592,632.912996592,878.912996592,784,800,650,629,651,0.400944862122,0.00453112397779,0.0598348239549,0.999999953717,0.00012567303772,-0.000276113192915,2.31240375373e-05,1793193562152893952
+27,0.450000000,BASELINE,764,742,711,672,662.328124096,632.328124096,878.328124096,784,800,650,629,651,0.400944302768,0.00453200580103,0.0598342722595,0.999999953591,0.000125881824639,-0.00027650879984,2.26684267022e-05,1793193562169560576
+28,0.466666667,BASELINE,764,742,711,672.254177284,662.254177284,632.254177284,878,784,800,650,629,651,0.400944513561,0.00453159115988,0.0598343176419,0.999999953691,0.000125341621623,-0.000276399134542,2.26270990382e-05,1793193562186227200
+29,0.483333333,BASELINE,764,742,711,672.833192748,662.833192748,632.833192748,878,784,800,650,629,651,0.400945708601,0.00452951963917,0.0598351260888,0.999999954074,0.000123844210608,-0.000275643732092,2.31152246608e-05,1793193562202893824
+30,0.500000000,BASELINE,764,742,711,672.587596242,663,632.587596242,878,784,799.587596242,650,629,651,0.40094514932,0.00453034089702,0.0598345706017,0.99999995389,0.000123410140208,-0.000276529444417,2.28436285873e-05,1793193562219560192
+31,0.516666667,BASELINE,764,742,711,672.008306117,663,632.008306117,878,784,799.008306117,650,629,651,0.400943880122,0.00453233276817,0.0598334631747,0.999999953474,0.000123406369156,-0.000278079262458,2.22645978765e-05,1793193562236226816
+32,0.533333333,BASELINE,764,742.565707808,711,672,663,632,877.434292192,784,799.565707808,650,628.434292192,651,0.400944798695,0.00453148134581,0.0598338127194,0.999999953699,0.000124006069028,-0.000276973564818,2.25881577067e-05,1793193562252893440
+33,0.550000000,BASELINE,764,742.860572515,711,672,663,632,877,784,800,650,628.139427485,651,0.400945348254,0.00453107669775,0.0598340867525,0.999999953899,0.000124449172217,-0.000276036753265,2.27730170014e-05,1793193562269560320
+34,0.566666667,BASELINE,764,742.287529352,711,672,663,632,877,784,800,650,628.712470648,651,0.400944651212,0.00453219013871,0.0598340600325,0.999999953995,0.00012437796235,-0.000275745310813,2.24856873914e-05,1793193562286226944
+35,0.583333333,BASELINE,764,742,711,672.29666612,663,632.29666612,877.29666612,784,800,650,629,651,0.400944318369,0.00453185109413,0.0598340510219,0.999999954005,0.000124390858012,-0.000275683048872,2.26971322415e-05,1793193562302893568
+36,0.600000000,BASELINE,764,742,711,672.892092701,663,632.892092701,877.892092701,784,800,650,629,651,0.400944352297,0.0045300493102,0.0598340598457,0.99999995393,0.000124488452945,-0.00027585158533,2.34108726609e-05,1793193562319560192
+37,0.616666667,BASELINE,763.525936496,742,711,672.525936496,663,633,877.525936496,784,799.525936496,650,629,651,0.400944565573,0.00453134856803,0.0598341857192,0.999999953945,0.000124855529662,-0.000275679478314,2.28290027266e-05,1793193562336226816
+38,0.633333333,BASELINE,763.052591683,742,711,672,663,633,877,784,799,650,629,651,0.400944770551,0.00453311557108,0.0598343119404,0.999999953963,0.000125290069686,-0.000275480839498,2.20550953574e-05,1793193562352893440
+39,0.650000000,BASELINE,763.626517406,742,711,672,663,633,877,784,799,650,629,651,0.400944499767,0.00453271524749,0.0598341847889,0.999999953816,0.000125802092157,-0.000275766603125,2.22202563388e-05,1793193562369560064
+40,0.666666667,BASELINE,764,742,711,672,663,633,877,784,799,650,629,651,0.400944829479,0.004532693817,0.0598343314714,0.999999953825,0.000126437923271,-0.000275435737179,2.23516211953e-05,1793193562386226944
+41,0.683333333,BASELINE,764,742,711,672,663,633,877,784,799,650,629,651,0.400946278086,0.00453337837213,0.0598349883842,0.99999995412,0.000127304445067,-0.000273955914946,2.24200142494e-05,1793193562402893568
+42,0.700000000,BASELINE,764,742,711,672,663.375792003,633,877.375792003,784,799,650,629,651,0.400945391416,0.00453299328845,0.0598344018136,0.99999995409,0.000125187015187,-0.000275040564707,2.23794145635e-05,1793193562419560192
+43,0.716666667,BASELINE,764,742,711,672,663.955056298,633,877.955056298,784,799,650,629,651,0.40094324031,0.00453202904963,0.0598331419597,0.999999953869,0.000121453926941,-0.000277513745897,2.227980084e-05,1793193562436226816
+44,0.733333333,BASELINE,764,742,711,672,663.46914724,633,878,784,799.53085276,650,629,651,0.400943951528,0.0045314801953,0.0598342314374,0.999999954076,0.000122584708675,-0.000276226136953,2.28272895829e-05,1793193562452893440
+45,0.750000000,BASELINE,764,742.105863619,711,672,663,633,878,784,799.894136381,650,629,651,0.400944554176,0.00453109618732,0.0598350646633,0.9999999542,0.000123872061261,-0.000275166656581,2.32355484421e-05,1793193562469560320
+46,0.766666667,BASELINE,764,742.678695646,711,672,663,633,878,784,799.321304354,650,629,651,0.400943615912,0.00453128520325,0.0598338958825,0.999999953818,0.00012404541716,-0.000276508822094,2.27895651716e-05,1793193562486226944
+47,0.783333333,BASELINE,764,743,711,672.260376466,663,632.739623534,878,784,799,650,629,651,0.400943525731,0.00453148399786,0.0598333901222,0.99999995373,0.000123758298087,-0.000276986435829,2.24286466612e-05,1793193562502893568
+48,0.800000000,BASELINE,764,743,711,672.853360914,663,632.146639086,878,784,799,650,629,651,0.400944518901,0.00453169528391,0.0598337313122,0.999999954017,0.000122882962852,-0.000276359661062,2.21763908223e-05,1793193562519560192
+49,0.816666667,BASELINE,764,743,711,672.564167995,663,632,878,784,799.435832005,650,629,651,0.400944611514,0.00453248511478,0.0598339863236,0.999999953848,0.000125030659679,-0.000275992477379,2.23420176345e-05,1793193562536226816
+50,0.833333333,BASELINE,764,742.9852619,711,672.0147381,663,632.0147381,877.9852619,784,799.9852619,650,628.9852619,651,0.400944407204,0.00453344442388,0.0598342120469,0.99999995353,0.000128063618754,-0.000275731249276,2.2635298019e-05,1793193562552893440
+51,0.850000000,BASELINE,764,742.410572232,711,672.589427768,663,632.589427768,877.410572232,784,799.410572232,650,628.410572232,651,0.400944162539,0.00453362134653,0.0598344007052,0.999999953523,0.00012699697953,-0.000276255398765,2.25625280075e-05,1793193562569560064
+52,0.866666667,BASELINE,764,742,711,673,663,632.836500439,877,784.163499561,799.326999123,650,628.163499561,651,0.400944487966,0.00453338608243,0.0598348384874,0.999999953795,0.000125878930791,-0.000275784058559,2.2550638289e-05,1793193562586226688
+53,0.883333333,BASELINE,764,742,711,673,663,632.263974413,877,784.736025587,800.472051173,650,628.736025587,651,0.40094623959,0.00453211965173,0.0598358995025,0.99999995476,0.000124632271052,-0.000272822304116,2.26910526593e-05,1793193562602893568
+54,0.900000000,BASELINE,764,742,711,672.677896491,663,632.322103509,877,784.677896491,800.355792983,650,629,651,0.400947329845,0.00453179003947,0.0598363435468,0.999999955301,0.000123650507774,-0.000271299579667,2.24794205713e-05,1793193562619559936
+55,0.916666667,BASELINE,764,742,711,672.080224579,663,632.919775421,877,784.080224579,799.160449158,650,629,651,0.400947854281,0.00453226190118,0.0598362597558,0.999999955484,0.000122895370765,-0.000271007985078,2.19666030562e-05,1793193562636226560
+56,0.933333333,BASELINE,764.497469322,742,711,672,663,632.502530678,877,784,799,650,629,651,0.400947665237,0.00453141565045,0.0598362820362,0.999999955422,0.000121863092022,-0.000271685172075,2.22099240676e-05,1793193562652893440
+57,0.950000000,BASELINE,765,742.072060512,711,672.072060512,663.072060512,632,877.072060512,784,799.072060512,650,629,651,0.400947251478,0.00453067993629,0.0598362622123,0.999999955255,0.000121278584332,-0.000272535208542,2.25008907113e-05,1793193562669560064
+58,0.966666667,BASELINE,765,742.646614214,711,672.646614214,663.646614214,632,877.646614214,784,799.646614214,650,629,651,0.400946042096,0.00453214005593,0.0598358341102,0.999999954636,0.000124116103035,-0.000273543190839,2.23066233428e-05,1793193562686226688
+59,0.983333333,BASELINE,764.772064608,742.772064608,711,673,663.772064608,632,878,784,800,650,629,651,0.400945449188,0.00453282382512,0.0598355487313,0.999999954302,0.000125562680778,-0.000274108019428,2.22647817412e-05,1793193562702893312
+60,1.000000000,BASELINE,764.179930153,742.179930153,711,673,663.179930153,632,878,784,800,650,629,651,0.400945841292,0.0045322671285,0.0598354913977,0.999999954433,0.000124786789734,-0.00027396476961,2.24664886039e-05,1793193562719559936
+61,1.016666667,BASELINE,764,742,711,673,663,632.402391357,877.597608643,784,799.597608643,650,629,651,0.400946839672,0.00453136098045,0.059836060623,0.999999954858,0.000123600213207,-0.000272932906192,2.2696655932e-05,1793193562736226560
+62,1.033333333,BASELINE,764,742,711,673,663,632.980429411,877.019570589,784,799.019570589,650,629,651,0.400948102696,0.00453030229439,0.0598369033456,0.999999955407,0.000122234369586,-0.00027151315661,2.29392464441e-05,1793193562752893440
+63,1.050000000,BASELINE,764.554666021,742.554666021,711,672.445333979,663,633,877.554666021,784,799.554666021,650,629,651,0.400945984934,0.00453073422553,0.0598360965028,0.999999954838,0.000123608484471,-0.000272985321658,2.28800372782e-05,1793193562769560064
+64,1.066666667,BASELINE,764.867889444,743,711,672,663.132110556,632.867889444,877.867889444,784,800,650,629,651,0.400944533107,0.00453114131378,0.0598353493179,0.999999954361,0.000124774612,-0.000274207258737,2.2791084645e-05,1793193562786226944
+65,1.083333333,BASELINE,764.278889991,743,711,672,663.721110009,632.278889991,877.278889991,784,800,650,629,651,0.400945794071,0.00453128183275,0.0598350083692,0.999999954349,0.000124889374532,-0.00027421333052,2.26358438554e-05,1793193562802893568
+66,1.100000000,BASELINE,764,742.695138612,711,672,663.695138612,632.304861388,877.304861388,784,800,650,629,651,0.400946433021,0.00453172268713,0.0598350116392,0.999999954425,0.00012460733413,-0.00027407002845,2.25567910433e-05,1793193562819560192
+67,1.116666667,BASELINE,764,742.116107,711,672,663.116107,632.883893,877.883893,784,800,650,629,651,0.400946512578,0.0045324336414,0.0598353244744,0.999999954581,0.000123968437937,-0.000273792390367,2.25462561814e-05,1793193562836226816
+68,1.133333333,BASELINE,764,742.462721653,711,672,663.462721653,633,878,784,800,650,629,651,0.400946069743,0.00453233288961,0.0598353037395,0.999999954669,0.000123041109822,-0.000273872725437,2.27158961249e-05,1793193562852893184
+69,1.150000000,BASELINE,764,743,711,672,663.95894821,633,878,784,800,650,629,651,0.400945618794,0.00453198554871,0.0598352533529,0.99999995477,0.000122010410666,-0.000273951025773,2.28896660451e-05,1793193562869560064
+70,1.166666667,BASELINE,764,743,711,672,663.386413673,633,878,784,800,650,629,651,0.400946759083,0.00453108145636,0.0598359022359,0.999999955256,0.000120577992713,-0.000272840582854,2.25318466221e-05,1793193562886227712
+71,1.183333333,BASELINE,764,743,711,672,663,633,877.808261541,784.191738459,800,650,629,651,0.400947201927,0.00453059041189,0.0598362977029,0.999999955386,0.000120920378146,-0.000272217717491,2.24427436772e-05,1793193562902894592
+72,1.200000000,BASELINE,764,743,711,672,663,633,877.218446363,784.781553637,800,650,629,651,0.400946196774,0.00453095691428,0.0598361670416,0.999999954774,0.000124947511342,-0.000272607133313,2.29115348648e-05,1793193562919560704
+73,1.216666667,BASELINE,764,742.635397548,711,672,663,633,877,784.635397548,800,650,629,651,0.400945341864,0.00453162199599,0.05983534081,0.999999954271,0.000126536057374,-0.000273718034682,2.29204062449e-05,1793193562936227072
+74,1.233333333,BASELINE,764,742.056328873,711,672,663,633,877,784.056328873,800,650,629,651,0.40094457533,0.00453246270781,0.0598341054305,0.999999953836,0.000126690178974,-0.000275253327798,2.26587438605e-05,1793193562952893696
+75,1.250000000,BASELINE,764,742,711,672.518583954,663.518583954,632.481416046,877.518583954,784.518583954,800,650,629,651,0.400946462582,0.00453155046649,0.0598357045317,0.999999954558,0.000126033776498,-0.000272915616772,2.27218324695e-05,1793193562969560320
+76,1.266666667,BASELINE,764,742,711,672.904900471,663.904900471,632,878,784.904900471,800,650,629,651,0.400947907032,0.00453094626547,0.059837115094,0.999999955156,0.000125473178493,-0.000270975071272,2.27230126238e-05,1793193562986226944
+77,1.283333333,BASELINE,764,742,711,672.317775688,663.317775688,632,878,784.317775688,800,650,629,651,0.400945581001,0.00453291309423,0.0598359699375,0.9999999545,0.000125860130203,-0.000273248625766,2.22228385597e-05,1793193563002893824
+78,1.300000000,BASELINE,764,742,711,672,663,632,878,784,800.265604025,650,628.734395975,651,0.400944898192,0.00453355479656,0.0598355108249,0.999999954254,0.00012621464815,-0.000273995206621,2.20828808903e-05,1793193563019560704
+79,1.316666667,BASELINE,764,742,711,672,663,632,878,784,800.844565298,650,628.155434702,651,0.400946154043,0.00453263312647,0.0598358611008,0.999999954497,0.000126530901009,-0.000272940277502,2.23679033296e-05,1793193563036227584
+80,1.333333333,BASELINE,763.575572984,742,711,672,663,632,877.575572984,784,800.151145968,650,628.424427016,651,0.400945842511,0.0045313369296,0.0598360702546,0.99999995475,0.000124432925936,-0.000272969364812,2.24342006563e-05,1793193563052894208
+81,1.350000000,BASELINE,763.004567576,742,711,672,663,632,877.004567576,784,799,650,629,651,0.400944963457,0.00452992220692,0.0598362221608,0.999999954996,0.000121488959764,-0.000273396441732,2.24206645136e-05,1793193563069560576
+82,1.366666667,BASELINE,763.578269843,742,711,672,663,632,877.578269843,784,799,650,629,651,0.400945044856,0.00453086572995,0.0598356942903,0.999999954623,0.000123533280227,-0.000273842756473,2.24618143973e-05,1793193563086227200
+83,1.383333333,BASELINE,764,742,711,672,663,632.152604934,877.847395066,784,799.152604934,650,629,651,0.40094570136,0.00453130601561,0.059835658346,0.999999954529,0.000124808049938,-0.000273597799884,2.25500932641e-05,1793193563102893824
+84,1.400000000,BASELINE,764,742,711,672,663,632.728696275,877.271303725,784,799.728696275,650,629,651,0.400947953807,0.00453034979234,0.0598369875216,0.999999955221,0.000123947277876,-0.00027143453051,2.27691574505e-05,1793193563119560448
+85,1.416666667,BASELINE,764,742,711,672,663,633,877.626473002,784.313236501,799.686763499,650,629,651,0.400947866979,0.00453087974053,0.0598365982292,0.999999955087,0.000124186615288,-0.000271825910867,2.26580007932e-05,1793193563136227328
+86,1.433333333,BASELINE,764,742,711,672,663,633,878.810594767,784.905297383,799.094702617,650,629,651,0.400945697869,0.00453273258965,0.0598346792592,0.999999954216,0.000125405204348,-0.000274491287613,2.22529012959e-05,1793193563152894208
+87,1.450000000,BASELINE,764,742,711,672,663,632.515974226,878.515974226,784.515974226,799.484025774,650.484025774,629,651,0.40094439729,0.00453143748372,0.0598344484386,0.999999954138,0.000123990565829,-0.000275412427156,2.23423610018e-05,1793193563169560832
+88,1.466666667,BASELINE,764,742,711,672,663,632,878,784.060121147,799.939878853,650.939878853,629,651,0.400943556662,0.00453005813337,0.0598346113289,0.999999954208,0.000122604103351,-0.000275765976372,2.24877697469e-05,1793193563186227456
+89,1.483333333,BASELINE,764,742,711,672,663,632,878,784.635407983,799.364592017,650.364592017,629,651,0.400945240176,0.00453309309702,0.0598353934707,0.999999954278,0.000125755435892,-0.000274101849711,2.23056740353e-05,1793193563202893824
+90,1.500000000,BASELINE,764,742,711,672,663,632.216666887,877.783333113,784.783333113,799,650,628.783333113,651,0.400946290223,0.00453416453891,0.0598358691041,0.999999954539,0.000126569415048,-0.000272781954667,2.21691555518e-05,1793193563219560704
+91,1.516666667,BASELINE,764,742,711,672,663,632.808259957,877.191740043,784.191740043,799,650,628.191740043,651,0.400946244104,0.00453183824986,0.059835814347,0.999999955142,0.000123338775007,-0.000272057727405,2.2111505143e-05,1793193563236227072
+92,1.533333333,BASELINE,764,742,711,672,663,632.609364909,877,784.390635091,799,650,628,651,0.400946898571,0.00453099480623,0.0598363365426,0.999999955595,0.000122155091014,-0.000270919017187,2.21651068129e-05,1793193563252893696
+93,1.550000000,BASELINE,764,742,711,672,663,632.031409966,877,784.968590034,799,650,628,651,0.400947888989,0.00453086242597,0.0598371354021,0.999999955979,0.000121952976264,-0.000269581551373,2.22720567903e-05,1793193563269560320
+94,1.566666667,BASELINE,764,742,711,672,663,632,877.543597232,784.456402768,799.543597232,650,628.543597232,651,0.400947109408,0.00452994621233,0.0598368760166,0.999999955613,0.000122597334926,-0.000270627870186,2.24574574274e-05,1793193563286226944
+95,1.583333333,BASELINE,764,742,711,672.121336775,663,632,877.878663225,784.121336775,800,650,629,651,0.400946253101,0.00452927598331,0.0598365317974,0.999999955227,0.000123080734947,-0.000271817141197,2.26257386564e-05,1793193563302893568
+96,1.600000000,BASELINE,764,742,711,672.710258715,663,632,877.289741285,784.710258715,800,650,629,651,0.400945493123,0.00452972727747,0.0598360950283,0.999999954935,0.000122756396314,-0.000273029364599,2.27106740749e-05,1793193563319560448
+97,1.616666667,BASELINE,764,742,711,672.705742583,663,632,877,784.705742583,799.705742583,650,629,651,0.400944906002,0.00453092933276,0.0598356328903,0.999999954384,0.000124868055622,-0.000274086824535,2.27242315891e-05,1793193563336227072
+98,1.633333333,BASELINE,764,742,711,672.126511823,663,632,877,784.126511823,799.126511823,650,629,651,0.400944486287,0.004532858462,0.059835146184,0.999999953568,0.000129338855069,-0.000274994403847,2.26686632276e-05,1793193563352893696
+99,1.650000000,BASELINE,764,742,711,672,663,632,877,784,799.450006061,650,629,651,0.400944407164,0.00453249433634,0.0598352697141,0.999999953896,0.000127510053033,-0.000274660979676,2.2601217911e-05,1793193563369560064
+100,1.666666667,BASELINE,764,742,711,672,663,632.025805472,877.025805472,784,800.025805472,650,629,651,0.40094445868,0.00453159560529,0.0598355540887,0.999999954509,0.000124087629909,-0.000274003229905,2.25188385138e-05,1793193563386226688
+101,1.683333333,BASELINE,764,742,711,672,663,632.602451148,877.602451148,784,800.602451148,650,629,651,0.400945267115,0.00453296470675,0.0598356317203,0.999999954548,0.000124225607047,-0.00027382515361,2.21885251664e-05,1793193563402893568
+102,1.700000000,BASELINE,764,742,711,672,663,633,877.817139611,784,800.817139611,650,629,651,0.400945898959,0.00453350645486,0.0598359007756,0.999999954623,0.000124421683591,-0.000273465432936,2.21408828642e-05,1793193563419560192
+103,1.716666667,BASELINE,764,742,711,672,663,633,877.228376302,784,800.228376302,650,629,651,0.400946138816,0.00453221169164,0.0598365947424,0.999999954778,0.000124746725819,-0.0002727025086,2.27206974489e-05,1793193563436227072
+104,1.733333333,BASELINE,763.645672621,742,711,671.645672621,663,633,877.354327379,784,800,650.354327379,629,651,0.400946391727,0.00453202144687,0.0598370344382,0.999999955112,0.000124854492036,-0.000271433618655,2.26105255004e-05,1793193563452893696
+105,1.750000000,BASELINE,763.066808854,742,711,671.066808854,663,633,877.933191146,784,800,650.933191146,629,651,0.40094665291,0.00453253113258,0.0598373130031,0.999999955558,0.000124824571011,-0.000269844099472,2.20631108397e-05,1793193563469560576
+106,1.766666667,BASELINE,763.507380977,742,711,671.507380977,663.507380977,633,878,784.507380977,799.492619023,650.492619023,629,651,0.400944742856,0.00453157814076,0.05983549819,0.999999954972,0.000121820397204,-0.000273363384169,2.21113418163e-05,1793193563486226944
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,742,711,672,663,632,878,784,799,650,629,651,0.400947876681,0.00453116291924,0.0598375622463,0.999999955931,0.000123200181912,-0.00026918350011,2.23389711005e-05,1793193563529469440
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,742,711,672.592329073,663,632.592329073,877.407670927,784,799,650,629,651,0.4009470224,0.0045315011058,0.0598369135522,0.999999955227,0.000124630806596,-0.000271110219151,2.26522300801e-05,1793193563546135552
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,742,711,672.819887151,663,633,877.180112849,784.180112849,799,650,629,651,0.400946197367,0.00453162804665,0.0598364753489,0.999999954825,0.000125195713143,-0.000272317228625,2.27997660416e-05,1793193563562801920
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,742,711,672.242137946,663,633,877.757862054,784.757862054,799,650,629,651,0.400945436904,0.00453128861896,0.0598365018474,0.999999955101,0.000123849368168,-0.000271935330791,2.25814342343e-05,1793193563579468544
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,742,711,672,663,632.666360697,878,784.666360697,799.333639303,650,629,651,0.400945726538,0.00453188845632,0.0598363838983,0.999999955128,0.000123467127487,-0.00027203977515,2.22378514097e-05,1793193563596135424
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,742,711,672,663,632.092006216,878,784.092006216,799.907993784,650,629,651,0.400946773798,0.00453316595775,0.0598361617327,0.999999954975,0.000123780472014,-0.000272495107292,2.18039020838e-05,1793193563612802048
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,742,711,672,663,632,878,784,800,650,629,651,0.40094753997,0.00453154941583,0.0598367398834,0.999999955325,0.000122863127728,-0.000271600638058,2.20937927455e-05,1793193563629468160
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,742,711,672,663,632.082053447,878,784,799.917946553,650.082053447,628.917946553,651,0.400949251155,0.00452976611294,0.0598378872058,0.999999955881,0.000122064074903,-0.000269875838314,2.24982529238e-05,1793193563646134528
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,742,711,672,663,632.66148395,878,784,799.33851605,650.66148395,628.33851605,651,0.400957015654,0.00453031815634,0.0598415592806,0.999999957099,0.000123405023334,-0.000264678572975,2.27602626282e-05,1793193563662801152
+116,1.933333333,POSE1_TO_POSE2_PRESS,764.240236788,742,711,672,663,633,877.759763212,784,799.240236788,650.759763212,628.240236788,651,0.400974357585,0.00453053294702,0.0598491660096,0.999999960332,0.00012386417135,-0.000251922386315,2.30106801511e-05,1793193563679468032
+117,1.950000000,POSE1_TO_POSE2_PRESS,764.818037369,742,711,672,663,633,877.181962631,784,799.818037369,650.181962631,628.818037369,651,0.401005157045,0.00453027385392,0.0598623014368,0.999999966039,0.000123084275454,-0.000228544936841,2.32448091278e-05,1793193563696134656
+118,1.966666667,POSE1_TO_POSE2_PRESS,764.607205184,742.392794816,711,672,663,632.607205184,877.392794816,784,799.607205184,650,629,651,0.401055089438,0.00452916722197,0.0598812609783,0.999999973543,0.000120686460215,-0.000194420177421,2.34624693712e-05,1793193563712801024
+119,1.983333333,POSE1_TO_POSE2_PRESS,764.033846584,742.966153416,711,672,663,632.033846584,877.966153416,784,799.033846584,650,629,651,0.40111381705,0.004527670985,0.0599028978072,0.999999980744,0.000117544903697,-0.000155354986613,2.36725590992e-05,1793193563729467904
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,742.444470079,711,672,663,632,878,784,799,650,629,651,0.401181719587,0.00452699467162,0.0599181265496,0.999999983618,0.0001172057677,-0.000135815982944,2.41106916567e-05,1793193563746134528
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,742.143067374,711,672,663,632.143067374,877.856932626,784,799,650,629,651,0.401253850087,0.00452613137808,0.0599307395662,0.999999985815,0.000116407779432,-0.000119275089999,2.4347279091e-05,1793193563762801152
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,742.721941837,711,672,663,632.721941837,877.278058163,784,799,650,629,651,0.401337106331,0.00452454182181,0.0599366092528,0.999999987406,0.000113676499762,-0.000108135426003,2.39263469183e-05,1793193563779467776
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,743,711,672,663,632.701077683,877,784,799,650,629,651,0.40143156356,0.00452420377142,0.0599396183939,0.999999988343,0.000111818477118,-0.000101396028838,2.30184466412e-05,1793193563796134144
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,743,711,672,663,632.12584793,877,784,799,650,629,651,0.401536374362,0.0045250225447,0.0599399834029,0.999999988757,0.000110767645663,-9.87239982533e-05,2.16604197195e-05,1793193563812801024
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,742.572884768,711,672,663,632,877.427115232,784,799.427115232,650,629,651,0.401663622972,0.00452528226755,0.0599419145598,0.999999989522,0.000109324418188,-9.27268578926e-05,2.0146632576e-05,1793193563829467904
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,742.0261573,711,672,663,632,877.9738427,784,799.9738427,650,629,651,0.401797155216,0.00452538543013,0.0599442843115,0.999999990339,0.000107771301495,-8.57985313718e-05,1.858922531e-05,1793193563846134784
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,742,711,672.587484767,663,632.587484767,877.412515233,784,800,650,629,651,0.401950891397,0.00452300377626,0.0599440709838,0.99999999131,0.000100632525281,-8.35006244292e-05,1.67627866643e-05,1793193563862801408
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,742,711,672.80818961,663,633,877.19181039,784,799.80818961,650,629,651,0.402120280626,0.00452105979052,0.0599446957884,0.999999992317,9.40338862049e-05,-7.94435768517e-05,1.46018456322e-05,1793193563879468288
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,742,711,672.229440821,663,633,877.770559179,784,799.229440821,650,629,651,0.402319198722,0.00452025058214,0.0599472731856,0.999999993415,8.9091049032e-05,-7.13684641348e-05,1.17933844641e-05,1793193563896134912
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,742,711,672,663,632.651544795,878,784,799,650.348455205,629,651,0.402544512329,0.0045193913095,0.0599479664433,0.99999999436,8.38713856442e-05,-6.45608415024e-05,8.79179995551e-06,1793193563912801536
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,742,711,672,663,632.074208845,878,784,799,650.925791155,629,651,0.402787163692,0.00451849915237,0.0599474221153,0.999999995189,7.84698900977e-05,-5.85857614498e-05,5.66336324105e-06,1793193563929468160
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,742,711,672,663,632,878,784.515407226,799,650.484592774,629,651,0.403055393062,0.00451224321212,0.0599497744212,0.999999996502,6.59012123837e-05,-5.137137134e-05,3.6394929083e-06,1793193563946134784
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,742,711,672,663.104863765,632.104863765,878,784.895136235,799.104863765,650,629,651,0.403332424063,0.00450327663385,0.059950847935,0.999999997629,5.00420139193e-05,-4.72504821277e-05,2.13420743758e-06,1793193563962801664
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,742,711,672,663.685381154,632.685381154,878,784.314618846,799.685381154,650,629,651,0.403632266288,0.00448560332972,0.0599441830271,0.999999998027,2.40523076558e-05,-5.79905936e-05,2.24219649529e-06,1793193563979468288
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,742.262170456,711,672,663.737829544,633,878,784,800,650,629,651,0.403945596183,0.00447499661296,0.0599333713832,0.999999997137,6.10105186225e-06,-7.54222873303e-05,1.37978024484e-07,1793193563996134656
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,742.834548544,711,672,663.165451456,633,878,784,800,650,629,651,0.40427488506,0.0044727512869,0.0599176532024,0.999999994909,-2.33887630889e-06,-0.000100771653227,-4.58378809754e-06,1793193564012801280
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,743,711,672,663,633,878,784,800,650,629,651,0.404639759109,0.00447446699688,0.0599029154421,0.999999991733,-8.41907726897e-06,-0.00012792522626,-9.88486587676e-06,1793193564029467904
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,743,711,672,663,633,878,784,800,650,629,651,0.405019101649,0.00447779321621,0.0598885763093,0.999999987651,-1.35398414991e-05,-0.000155812367388,-1.54214846423e-05,1793193564046134528
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,742.418275611,711,672.581724389,663,633,878,784.581724389,800,650,629,651,0.405463042982,0.0044711251735,0.0598952139402,0.999999988749,-2.92087213174e-05,-0.000145911207642,-1.89351160258e-05,1793193564062801408
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,742.169373843,711,672.830626157,663,632.830626157,877.830626157,784.830626157,800,650,628.830626157,651,0.405929662829,0.00446678453307,0.0599089264593,0.999999991263,-4.2220235979e-05,-0.000123165125085,-2.28476242769e-05,1793193564079468032
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,742.746322532,711,672.253677468,663,632.253677468,877.253677468,784.253677468,800,650,628.253677468,651,0.40644808376,0.00446847326474,0.0599387637272,0.999999995913,-4.83846041544e-05,-7.11307887282e-05,-2.78067693385e-05,1793193564096134656
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,742.678348373,711,672.321651627,663.321651627,632.321651627,877.321651627,784.321651627,800,650,628.321651627,651,0.406987999806,0.00446602332835,0.0599668369163,0.999999997467,-5.81584354655e-05,-2.64110708058e-05,-3.14075606287e-05,1793193564112801536
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,742.104290144,711,672.895709856,663.895709856,632.895709856,877.895709856,784.895709856,800,650,628.895709856,651,0.407544783565,0.00446032569477,0.0599935258001,0.999999996841,-7.07646868816e-05,1.25687221704e-05,-3.39424245083e-05,1793193564129468160
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,742,711,673,664,633,878,784.517001223,799.517001223,650,629,651,0.408088841313,0.00445843298836,0.0599913098459,0.999999995874,-8.22751716587e-05,-2.00338121553e-06,-3.84545356414e-05,1793193564146134784
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,742,711,673,663.928494333,633,878,784,799.071505667,650,628.928494333,651,0.408635466627,0.00445732216151,0.0599820548998,0.999999994371,-9.24411182947e-05,-2.90889336956e-05,-4.31995850805e-05,1793193564162801152
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,742,711,673,663.352126129,633,878,784,799.647873871,650,628.352126129,651,0.409220167706,0.00445576774375,0.0599684082227,0.999999992588,-9.48315742171e-05,-6.0585464691e-05,-4.64900601964e-05,1793193564179467776
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,742.223803726,711,672.552392548,663.223803726,633,878,784,799.776196274,650,628.223803726,651,0.40983203764,0.0044566714216,0.0599618230775,0.999999994746,-6.02796675253e-05,-7.22323720459e-05,-4.07030318592e-05,1793193564196134400
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,742.799045212,711,671.401909576,663.799045212,633,878,784,799.200954788,650,628.799045212,651,0.410486570641,0.00446143503356,0.0599663266179,0.999999997876,3.22826285721e-05,-5.27095222762e-05,-2.06616493402e-05,1793193564212801024
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,743,711,671.748803662,664,632.625598169,878,784.374401831,799,650,629,650.625598169,0.411167375757,0.00446266946168,0.059969674581,0.999999997434,5.62298704514e-05,-4.04106064609e-05,-1.83366852503e-05,1793193564229467904
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,743,711,672.899640494,664,632.050179753,878,784.949820247,799,650,629,650.050179753,0.411862286368,0.00446200906857,0.0599724021137,0.999999998224,4.3337642656e-05,-3.19902262219e-05,-2.55236783384e-05,1793193564246134784
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,742.457969802,711,673,664,632,878.542030198,784.457969802,799.542030198,650,629,650.542030198,0.412544668462,0.00445819845446,0.0599520954912,0.999999996294,4.20917252364e-05,-6.96484620598e-05,-2.81046266987e-05,1793193564262801152
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,742,711,673,663.868796568,632.131203432,878.868796568,784,800,650,628.868796568,650.868796568,0.413229010437,0.00445545955607,0.059928507376,0.999999991927,4.54063483106e-05,-0.000114862966511,-2.98392651343e-05,1793193564279468032
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,742,711,673,663.295269354,632.704730646,878.295269354,784,800,650,628.295269354,650.295269354,0.413923994785,0.00445734834519,0.0599012753228,0.999999983152,6.03447690194e-05,-0.000170710665866,-3.02042793973e-05,1793193564296134656
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,742,711,672.72034773,663.27965227,632.72034773,878.27965227,784.27965227,800,650,628,650.27965227,0.414689657401,0.00445495458751,0.059910060429,0.999999987375,-3.94898134688e-06,-0.000155849072455,-3.07332141254e-05,1793193564312801024
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,742,711,672.143946378,663.856053622,632.143946378,878.856053622,784.856053622,800,650,628,650.856053622,0.415530319356,0.00444801646561,0.0599570646352,0.99999998573,-0.000152318837235,-6.59553084101e-05,-3.14360901992e-05,1793193564329467648
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,742,711,672.414639192,664,632,878.585360808,784.585360808,800,650,628.414639192,651,0.416350718264,0.00444509356518,0.0599892081512,0.999999983249,-0.000179939515138,-1.10926698064e-05,-3.16230799891e-05,1793193564346134528
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,742,711,672.967294593,664,632,878.032705407,784.032705407,800,650,628.967294593,651,0.417164372393,0.00444350716604,0.0600164051562,0.999999984978,-0.000167367786619,3.21095529999e-05,-3.16383527091e-05,1793193564362801664
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,742,711,673,664,632.585274893,878,784.585274893,799.414725107,650,628.414725107,651,0.417979872769,0.00444524791401,0.0599990582685,0.999999987984,-0.000151419828692,4.20187799545e-06,-3.2945738198e-05,1793193564379468288
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,742,711,672.809845443,663.809845443,632.809845443,878,784.809845443,799.190154557,650,628.190154557,651,0.418790791811,0.00444426448237,0.0599782970487,0.999999989334,-0.000138759708626,-3.00303305585e-05,-3.42840407805e-05,1793193564396134656
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,742,711,672.23938482,663.23938482,632.23938482,878,784.23938482,799.76061518,650,628.76061518,651,0.419592315959,0.00443741417623,0.059956310892,0.999999988202,-0.000133099946052,-6.79657984905e-05,-3.55216277822e-05,1793193564412801280
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,742,711,672.336278142,663.336278142,632,878.336278142,784.336278142,799.663721858,649.663721858,629,651,0.420391281016,0.00443662499744,0.0599312335984,0.999999986771,-0.000118691807474,-0.000104943985148,-3.68480557641e-05,1793193564429468160
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,742,711,672.915702638,663.915702638,632,878.915702638,784.915702638,799.084297362,649.084297362,629,651,0.421188395685,0.00444021832505,0.0599039212551,0.999999984498,-9.79581443035e-05,-0.0001412300066,-3.82387202563e-05,1793193564446135040
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,742,711,672.493897832,664,632.506102168,878.493897832,784.493897832,799.506102168,649.506102168,629,651,0.422008163913,0.00444044404641,0.0598829283024,0.999999978128,-8.35422729438e-05,-0.000187820381762,-3.85846912518e-05,1793193564462801408
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,742,711.096129361,672.096129361,664,632.903870639,878.096129361,784,799.903870639,650,629,650.903870639,0.422850820616,0.00443900751843,0.059876443742,0.999999974538,-7.27353451464e-05,-0.000210086665009,-3.87046734672e-05,1793193564479467776
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,742,711.674905322,672.674905322,664,632.325094678,878.674905322,784,799.325094678,650,629,650.325094678,0.423789031032,0.004432103833,0.0599374010822,0.999999991327,-7.46476953912e-05,-0.000101418170578,-3.858302677e-05,1793193564496134656
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,742,711.748291196,673,664,632.251708804,879,784,799,650,629,650.251708804,0.424699930123,0.00442797150089,0.0599879208188,0.99999999641,-7.40737192707e-05,-1.566428579e-05,-3.80443157361e-05,1793193564512801280
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,742,711.174015387,673,664,632.825984613,879,784,799,650,629,650.825984613,0.425575829641,0.00442739068104,0.0600250646847,0.999999996015,-7.0313495412e-05,4.07243427813e-05,-3.6971133503e-05,1793193564529467648
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,742.400400166,711,673,664,633,879,784,799.400400166,650,629,651,0.42641532345,0.00442696850556,0.060020749408,0.999999994219,-9.10199013712e-05,4.19667653e-05,-3.89273912004e-05,1793193564546134272
+169,2.816666667,POSE1_TO_POSE2_PRESS,764,742.97487644,711,673,664,633,879,784,799.97487644,650,629,651,0.42723898963,0.00442661530159,0.0599984095459,0.999999991438,-0.000122363305245,1.92340773806e-05,-4.22007141051e-05,1793193564562801152
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,743,711,673,664.567251478,632.432748522,879,784,799.432748522,650,629,651,0.428062674669,0.00442642955943,0.0599730885957,0.999999992724,-0.000111110666054,-1.93232669241e-05,-4.28096920112e-05,1793193564579467776
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,743,711,673,664.844069012,632,879,784.155930988,799,650,629,651,0.428868825815,0.0044262180361,0.0599483486363,0.999999992276,-0.000100327853317,-5.91605895263e-05,-4.33788052305e-05,1793193564596134400
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,743,711,673,664.267564835,632,879,784.732435165,799,650,629,651,0.429627682612,0.00442591632003,0.0599255434293,0.99999998936,-9.60664666497e-05,-0.000100498264809,-4.41690433846e-05,1793193564612801280
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,743,711,673.304692539,664,632,879,784.695307461,799,650,629,651,0.430408058269,0.00442532792311,0.0599165607895,0.999999988078,-9.37128533332e-05,-0.000114135297696,-4.51123780251e-05,1793193564629467904
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,743,711,673.873271832,664,632,879,784.126728168,799,650,629,651,0.431207070845,0.00442449123892,0.0599195495381,0.999999989222,-9.30115161522e-05,-0.000103781479969,-4.61883057903e-05,1793193564646135040
+175,2.916666667,POSE1_TO_POSE2_PRESS,764.463432072,742.536567928,711,673.536567928,664,632,878.536567928,784.463432072,799,650,628.536567928,650.536567928,0.432039929401,0.00441876855635,0.0599603361631,0.999999993777,-9.63105358501e-05,-3.28835360504e-05,-4.57082777485e-05,1793193564662802176
+176,2.933333333,POSE1_TO_POSE2_PRESS,764.941904227,742,711,673,664,632,878,784.941904227,799,650,628.058095773,650.058095773,0.432873519503,0.00441222807255,0.0600062828694,0.999999993007,-9.99104790048e-05,4.47163216003e-05,-4.47691933235e-05,1793193564679468544
+177,2.950000000,POSE1_TO_POSE2_PRESS,764.362375367,742,711,673,664,632,878,784.362375367,799,650,628.637624633,650.637624633,0.433626546826,0.00441092529288,0.0600012420586,0.999999994091,-9.59134035501e-05,2.66126020179e-05,-4.37153193481e-05,1793193564696135168
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,742.215709348,711.215709348,673.431418695,664,632,878.215709348,784.215709348,799.215709348,650,629,651,0.434352699049,0.00440996523728,0.0599835652152,0.999999994675,-9.30703931086e-05,-6.91315323632e-06,-4.40466336945e-05,1793193564712802048
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,742.791384233,711.791384233,674.582768467,664,632,878.791384233,784.791384233,799.791384233,650,629,651,0.435034003498,0.00440957710315,0.0599448019583,0.999999992474,-9.21532308571e-05,-6.61744738009e-05,-4.6689484425e-05,1793193564729468416
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,743,711.638469865,674.638469865,664.361530135,632,879,784.638469865,800,650,629,650.638469865,0.435700507535,0.00440727532001,0.0599232664966,0.999999989359,-9.1182192068e-05,-0.000103727762787,-4.69903632307e-05,1793193564746134528
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,743,711.071466361,674.071466361,664.928533639,632,879,784.071466361,800,650,629,650.071466361,0.436358599812,0.00440388592657,0.0599115223457,0.999999986564,-9.01805330217e-05,-0.000128943425642,-4.59601969664e-05,1793193564762800896
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,742.476002861,711,674,664.476002861,632,879,784,800.523997139,650,629,650,0.43700716175,0.00441101677458,0.0599182980337,0.999999988868,-7.89214632764e-05,-0.000118046643345,-4.58215816063e-05,1793193564779467776
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,742,711,673.880775154,664,632.119224846,879,784,800.880775154,650,629,650.119224846,0.43764361746,0.00442282093634,0.0599230480996,0.999999990669,-6.21108374908e-05,-0.000112743441728,-4.57486342006e-05,1793193564796134656
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,742,711,673.302267323,664,632.697732677,879,784,800.302267323,650,629,650.697732677,0.438238731796,0.00444678310053,0.059909705905,0.999999987421,-2.96129863994e-05,-0.000149051071179,-4.54333364223e-05,1793193564812801536
+185,3.083333333,POSE1_TO_POSE2_PRESS,764,742.273859231,711,673.273859231,663.726140769,632.726140769,879,784.273859231,800,650,629,651,0.438822893512,0.00446085118116,0.0599048014792,0.999999985027,-3.39540350083e-05,-0.000163808877742,-4.42614189463e-05,1793193564829468160
+186,3.100000000,POSE1_TO_POSE2_PRESS,764,742.84738011,711,673.84738011,663.15261989,632.15261989,879,784.84738011,800,650,629,651,0.439395070636,0.00446409297776,0.0599091298111,0.999999984012,-7.86048659255e-05,-0.000154986481963,-4.21521729823e-05,1793193564846134784
+187,3.116666667,POSE1_TO_POSE2_PRESS,764,743,711,674,662.582418616,632,878.582418616,784.582418616,799.582418616,650,629,651,0.439935673528,0.00446022863081,0.059915393537,0.99999998379,-9.57596848704e-05,-0.000146455393694,-4.24403136293e-05,1793193564862801408
+188,3.133333333,POSE1_TO_POSE2_PRESS,764,743,711,674,662.013420992,632,878.013420992,784.013420992,799.013420992,650,629,651,0.440464827558,0.00445378757555,0.0599223590429,0.999999984225,-0.000102944372634,-0.000138029933721,-4.35977535606e-05,1793193564879467776
+189,3.150000000,POSE1_TO_POSE2_PRESS,764,743,711,674,662,632,878,784,799.586481983,650,629,651,0.440895818428,0.00445846007868,0.0598870594755,0.99999997511,-9.53539629971e-05,-0.000196413800073,-4.59362466421e-05,1793193564896134656
+190,3.166666667,POSE1_TO_POSE2_PRESS,764,743,711,674,661.641766253,632,878.179116873,784,800,650,629,651,0.441313538061,0.00446271979905,0.0598474453033,0.999999961072,-8.88565978995e-05,-0.000259980125479,-4.86992280319e-05,1793193564912801280
+191,3.183333333,POSE1_TO_POSE2_PRESS,764,743,711,674,660.491917402,632,878.754041299,784,800,650,629,651,0.441707171425,0.0044654741094,0.0598005529883,0.999999940046,-8.55633236868e-05,-0.000331432157646,-5.23371866266e-05,1793193564929467904
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,742.671667466,711,673.671667466,659.671667466,631.671667466,879,784,800,650,629,651,0.442086210645,0.00446773411658,0.0597657228417,0.999999922154,-8.15600232241e-05,-0.000382099832204,-5.51387436252e-05,1793193564946134784
+193,3.216666667,POSE1_TO_POSE2_PRESS,764,742.097849684,711,673.097849684,659.097849684,631.097849684,879,784,800,650,629,651,0.442454338198,0.00446962454665,0.059739911251,0.999999908352,-7.70258559192e-05,-0.000417227607874,-5.73149459213e-05,1793193564962801408
+194,3.233333333,POSE1_TO_POSE2_PRESS,764,742.49163613,711,673.49163613,659,631,879.49163613,784,800.49163613,650,629,651,0.442805446639,0.00447495116616,0.0597341794926,0.999999906333,-6.44258258384e-05,-0.000424109756069,-5.75611214192e-05,1793193564979467776
+195,3.250000000,POSE1_TO_POSE2_PRESS,764,743,711,674,658.917695989,631,879.917695989,783.917695989,801,649.917695989,629,651,0.443148866008,0.00448095969866,0.0597334468811,0.999999907497,-4.46861693086e-05,-0.000424192424934,-5.54121893883e-05,1793193564996134656
+196,3.266666667,POSE1_TO_POSE2_PRESS,764,743,711,674,658.339317687,631,879.339317687,783.339317687,801,649.339317687,629,651,0.443467029152,0.00448682056142,0.0597379648551,0.999999911634,8.0920143022e-06,-0.000418291549965,-4.12186302415e-05,1793193565012801280
+197,3.283333333,POSE1_TO_POSE2_PRESS,764,743,711,674,658,630.762574145,879,783,800.762574145,649.237425855,629,650.762574145,0.443768605306,0.0044919804564,0.0597399212733,0.999999912035,3.88759474123e-05,-0.000416234418277,-3.41738037179e-05,1793193565029468160
+198,3.300000000,POSE1_TO_POSE2_PRESS,764,743,711,674,658,630.188150999,879,783,800.188150999,649.811849001,629,650.188150999,0.444046638207,0.00449614541189,0.0597382418722,0.99999991052,3.84416970196e-05,-0.00041963301731,-3.72757400762e-05,1793193565046134784
+199,3.316666667,POSE1_TO_POSE2_PRESS,764,743,711,674.386087735,658,630,879,783,800.386087735,650,629,650.386087735,0.444285522621,0.00449935496966,0.0597328346949,0.999999906006,3.82941557788e-05,-0.000430073068587,-3.94915582228e-05,1793193565062801408
+200,3.333333333,POSE1_TO_POSE2_PRESS,764,743,711,674.960236695,658,630,879,783,800.960236695,650,629,650.960236695,0.444505338044,0.0045020991588,0.0597256117381,0.999999899873,3.82862689536e-05,-0.000443942972992,-4.12757533039e-05,1793193565079468032
+201,3.350000000,POSE1_TO_POSE2_PRESS,764,742.446603045,711,674.446603045,657.446603045,630,879.553396955,783.553396955,800.446603045,650,629,651,0.444686278474,0.00450623509514,0.0597136095435,0.999999890334,3.95405230156e-05,-0.000464596393561,-4.38096801749e-05,1793193565096134656
+202,3.366666667,POSE1_TO_POSE2_PRESS,764,742,711,674,657,630,879.85700243,783.85700243,800,650,629,651,0.444856022229,0.00451487896353,0.0597018403334,0.999999879941,4.62259959563e-05,-0.000485552555899,-4.71249450017e-05,1793193565112801280
+203,3.383333333,POSE1_TO_POSE2_PRESS,764,742,711,674,657,630,879.282414817,783.282414817,800,650,629,651,0.445000703163,0.00453681595064,0.0596918476255,0.999999868266,6.90203244454e-05,-0.000505899007882,-5.26300416263e-05,1793193565129467904
+204,3.400000000,POSE1_TO_POSE2_PRESS,764,742.29288267,711,674,657,630,879,783.29288267,800,650,629,651,0.445139964959,0.00455351028848,0.0596872141135,0.999999861499,8.63530256036e-05,-0.000516152830951,-5.59534446578e-05,1793193565146134528
+205,3.416666667,POSE1_TO_POSE2_PRESS,764,742.868866288,711,674,657,630,879,783.868866288,800,650,629,651,0.445273988599,0.0045651370702,0.0596877608111,0.99999986006,9.84065060463e-05,-0.000516651098748,-5.71680182035e-05,1793193565162800896
+206,3.433333333,POSE1_TO_POSE2_PRESS,764,743,711,674,657,630,879,783.543564024,800,650,629,651,0.445384230425,0.00456216714708,0.0596880947655,0.999999860289,9.54278475831e-05,-0.000516886722803,-5.6062487051e-05,1793193565179467776
+207,3.450000000,POSE1_TO_POSE2_PRESS,763.95389125,742.95389125,711,674.04610875,657,630,879,783,800,650,629,650.95389125,0.445485731584,0.00455569665742,0.0596883614442,0.999999860964,8.89165382647e-05,-0.000516912915806,-5.44703484098e-05,1793193565196134400
+208,3.466666667,POSE1_TO_POSE2_PRESS,763.379260385,742.379260385,711,674.620739615,657,630,879,783,800,650,629,650.379260385,0.445567400115,0.00455842229063,0.05968857582,0.999999861351,9.27048911055e-05,-0.00051542596077,-5.51399631095e-05,1793193565212801280
+209,3.483333333,POSE1_TO_POSE2_PRESS,763.196442722,742.196442722,711,674.803557278,657,630,879,783,800,650,628.803557278,650.196442722,0.445640201607,0.00456070480459,0.059688284665,0.99999986096,9.59765410434e-05,-0.000515545790977,-5.54997095791e-05,1793193565229467904
+210,3.500000000,POSE1_TO_POSE2_PRESS,763.774227238,742.774227238,711,674.225772762,657,630,879,783,800,650,628.225772762,650.774227238,0.44569579007,0.00456212711896,0.0596870121553,0.999999859078,9.82451479728e-05,-0.000518784771629,-5.5257928433e-05,1793193565246134272
+211,3.516666667,POSE1_TO_POSE2_PRESS,763.642572261,743,711,674,657,630,879,783,800,650,628,651,0.445742731326,0.00456376518706,0.0596846542386,0.999999857015,9.90743770783e-05,-0.000522548233071,-5.56618438379e-05,1793193565262800896
+212,3.533333333,POSE1_TO_POSE2_PRESS,763.055898005,743,711,674,657,630,879,783,800,650,628,651,0.445784126452,0.00456554163514,0.0596816001649,0.999999854827,9.89804202211e-05,-0.000526648085602,-5.64798951915e-05,1793193565279467520
+213,3.550000000,POSE1_TO_POSE2_PRESS,763.526222967,743,711,674,657,630,879,783,800,650,628,650.473777033,0.445813920802,0.00456574944727,0.0596803727024,0.999999853949,0.000101523294087,-0.000527866591853,-5.61453653067e-05,1793193565296134400
+214,3.566666667,POSE1_TO_POSE2_PRESS,764,742.893244988,711,674.106755012,656.893244988,629.893244988,879,783,800.106755012,650,628,650.106755012,0.445840554391,0.00456532726955,0.059679660791,0.999999853565,0.00010331589877,-0.000528308486808,-5.55568274739e-05,1793193565312800768
+215,3.583333333,POSE1_TO_POSE2_PRESS,764,742.317585631,711,674.682414369,656.317585631,629.317585631,879,783,800.682414369,650,628,650.682414369,0.445858671063,0.00456286357158,0.0596803684127,0.99999985477,0.000100593338614,-0.000526672075575,-5.43857537559e-05,1793193565329467648
+216,3.600000000,POSE1_TO_POSE2_PRESS,764,742,711,675,656.258371271,629,879,783,800.483257458,650,628.258371271,650.741628729,0.445872528053,0.00456268628579,0.0596807044876,0.99999985494,0.000100211752668,-0.000526470609426,-5.39147188264e-05,1793193565346134528
+217,3.616666667,POSE1_TO_POSE2_PRESS,764,742,711,675,656.834694297,629,879,783,799.330611406,650,628.834694297,650.165305703,0.445881143074,0.00456532265959,0.0596805833366,0.99999985384,0.000102710970377,-0.000528034987179,-5.43051518882e-05,1793193565362801152
+218,3.633333333,POSE1_TO_POSE2_PRESS,764,742,711,674.579376685,657,629,879,783,799.420623315,649.579376685,628.579376685,650.420623315,0.445884537005,0.00456627705183,0.0596779470653,0.999999851824,0.000104080426172,-0.000531569514813,-5.43508657535e-05,1793193565379468032
+219,3.650000000,POSE1_TO_POSE2_PRESS,764,742,711,674,656.989769492,629,879,783,800,649.010230508,628,651,0.445885844823,0.00456654498711,0.0596743651365,0.999999849468,0.000104937261276,-0.000535824441041,-5.42597005401e-05,1793193565396134656
+220,3.666666667,POSE1_TO_POSE2_PRESS,764,742,711,674,656.410464904,629,879,783,800,649.589535096,628,651,0.445887917058,0.00456625743117,0.0596744483718,0.99999984958,0.000102554181595,-0.000536076055474,-5.42665690431e-05,1793193565412801280
+221,3.683333333,POSE1_TO_POSE2_PRESS,763.832953603,742,711,674,656,629,878.832953603,783,800,650,628.167046397,650.832953603,0.445889595575,0.00456581535265,0.0596743837559,0.999999849532,0.000101011921427,-0.000536472889582,-5.41159741832e-05,1793193565429467904
+222,3.700000000,POSE1_TO_POSE2_PRESS,763.259802035,742,711,674,656,629,878.259802035,783,800,650,628.740197965,650.259802035,0.445890316928,0.00456499761557,0.0596739596998,0.999999849108,0.00010151377126,-0.000537222766066,-5.35825713894e-05,1793193565446135040
+223,3.716666667,POSE1_TO_POSE2_PRESS,763.316052878,742.316052878,711,674,656,629,878.316052878,783,800,650,629,650.316052878,0.445891264126,0.00456520786515,0.05967388006,0.999999848819,0.000104031835242,-0.00053730433775,-5.33216007368e-05,1793193565462801408
+224,3.733333333,POSE1_TO_POSE2_PRESS,763.89414923,742.89414923,711,674,656,629,878.89414923,783,800,650,629,650.89414923,0.445892398574,0.00456627043151,0.0596740859801,0.99999984863,0.000108221568163,-0.000536831809469,-5.32865069914e-05,1793193565479468032
+225,3.750000000,POSE1_TO_POSE2_PRESS,764,743,711,674,656.482076085,629,879,783,800,650,629,651,0.445892467968,0.00456651196265,0.0596730816022,0.999999848086,0.000107877357742,-0.000537906789647,-5.33581782214e-05,1793193565496134656
+226,3.766666667,POSE1_TO_POSE2_PRESS,764,742.929205517,711,674.070794483,656.929205517,629.070794483,879,783,800,649.929205517,628.929205517,651,0.445892465452,0.00456639504677,0.0596720140356,0.999999847631,0.000106230908024,-0.000539072921113,-5.34108049053e-05,1793193565512801024
+227,3.783333333,POSE1_TO_POSE2_PRESS,764,742.350614145,711,674.649385855,656.350614145,629.649385855,879,783,800,649.350614145,628.350614145,651,0.445893659464,0.00456502706479,0.0596724390755,0.999999848391,0.00010253313227,-0.000538404869572,-5.31551776345e-05,1793193565529467648
+228,3.800000000,POSE1_TO_POSE2_PRESS,764,742,711,674.772342506,656.227657494,629.772342506,879,783,799.772342506,649.227657494,628,650.772342506,0.445894978175,0.00456483846302,0.0596733184857,0.999999849191,0.000100300163646,-0.000537327976283,-5.32500528971e-05,1793193565546134528
+229,3.816666667,POSE1_TO_POSE2_PRESS,764,742,711,674.194562631,656.805437369,629.194562631,879,783,799.194562631,649.805437369,628,650.194562631,0.445896488666,0.00456646367117,0.059674896688,0.999999850071,0.000100319973095,-0.000535622311096,-5.38839782166e-05,1793193565562801408
+230,3.833333333,POSE1_TO_POSE2_PRESS,764,742,711,674,656.619679814,629,879,783,799.380320186,650,628.380320186,650.380320186,0.44589672776,0.00456672583052,0.0596744951596,0.999999849713,0.000102111436621,-0.000535947408562,-5.39158042564e-05,1793193565579468032
+231,3.850000000,POSE1_TO_POSE2_PRESS,764,742,711,674,656.046267874,629,879,783,799.953732126,650,628.953732126,650.953732126,0.445896321354,0.0045662959585,0.0596730885052,0.999999848722,0.000104802383804,-0.000537303541333,-5.36419394143e-05,1793193565596134656
+232,3.866666667,POSE1_TO_POSE2_PRESS,764,742,711,674,656,629,879.543243607,783,800.543243607,650,629,650.456756393,0.445896234164,0.00456608272507,0.0596728691402,0.999999848604,0.000104441667927,-0.000537658803858,-5.29874533393e-05,1793193565612801280
+233,3.883333333,POSE1_TO_POSE2_PRESS,763.868903289,742,711,674,656,629,879.868903289,783,801,650,629,650.131096711,0.445896173582,0.0045660610806,0.0596727746393,0.99999984858,0.000103704615011,-0.000537883186023,-5.25987668395e-05,1793193565629467904
+234,3.900000000,POSE1_TO_POSE2_PRESS,763.291506615,742,711,674,656,629,879.291506615,783,801,650,629,650.708493385,0.445896108201,0.00456662694099,0.0596727504547,0.999999848619,0.000102598223499,-0.000537961067957,-5.32286878999e-05,1793193565646134528
+235,3.916666667,POSE1_TO_POSE2_PRESS,763,742.284653719,711,674,656,629.284653719,879,783.284653719,800.715346281,650,629,651,0.445896499471,0.00456778541361,0.0596728737923,0.999999848694,0.000103068613507,-0.000537677670793,-5.37650972296e-05,1793193565662801664
+236,3.933333333,POSE1_TO_POSE2_PRESS,763,742.859553494,711,674,656,629.859553494,879,783.859553494,800.140446506,650,629,651,0.445897356362,0.00456954814106,0.0596731475504,0.999999848805,0.00010514676252,-0.000537025896812,-5.42061577635e-05,1793193565679469056
+237,3.950000000,POSE1_TO_POSE2_PRESS,763.445276048,742.554723952,711,674,656.445276048,629.554723952,879.445276048,783.554723952,800,650,628.554723952,651,0.44589790177,0.00456822576455,0.0596732423847,0.999999848929,0.00010398568994,-0.000537079806158,-5.36025847652e-05,1793193565696135424
+238,3.966666667,POSE1_TO_POSE2_PRESS,764,742.033908528,711,674,656.966091472,629.033908528,879.966091472,783,800,650,628.033908528,651,0.445898349571,0.00456603332139,0.0596732844264,0.999999849065,0.000101821084739,-0.000537329642162,-5.27245874425e-05,1793193565712801792
+239,3.983333333,POSE1_TO_POSE2_PRESS,764,742.613074007,711,674,656.386925993,629.613074007,879.386925993,783,800,650,628.613074007,651,0.445898847001,0.00456588725513,0.0596734076479,0.999999849349,0.000100357840511,-0.000537061680805,-5.28640862615e-05,1793193565729468160
+240,4.000000000,POSE1_TO_POSE2_PRESS,764,742.808534631,711,674.191465369,656.191465369,629.808534631,878.808534631,783,800,650,629,651,0.445899181653,0.00456632262385,0.0596735783829,0.999999849584,0.000100364700514,-0.000536607856112,-5.30163176267e-05,1793193565746134528
+241,4.016666667,POSE1_TO_POSE2_PRESS,764,742.231701392,711,674.768298608,656.768298608,629.231701392,878.231701392,783,800,650,629,651,0.445899188677,0.00456792826356,0.0596738447498,0.999999849717,0.000103330481782,-0.000535779938938,-5.31941761459e-05,1793193565762801408
+242,4.033333333,POSE1_TO_POSE2_PRESS,764,742,711,674.656012965,656.656012965,629,878.68797407,783,800,650,628.656012965,651,0.445899611668,0.00456822835607,0.0596741650026,0.999999850068,0.000103407654629,-0.000535077334413,-5.35100749199e-05,1793193565779468032
+243,4.050000000,POSE1_TO_POSE2_PRESS,764,742,711,674.081093121,656.081093121,629,879.837813758,783,800,650,628.081093121,651,0.445900313915,0.00456765198036,0.0596745214311,0.999999850567,0.000101545584328,-0.000534458857519,-5.3918645854e-05,1793193565796134656
+244,4.066666667,POSE1_TO_POSE2_PRESS,763.493978563,742,711,674.506021437,656.506021437,629,879.493978563,783,800,650,628.506021437,651,0.445899798621,0.00456638316352,0.059673988427,0.999999850186,0.000101469131616,-0.000535236668252,-5.34228391672e-05,1793193565812801280
+245,4.083333333,HOLD_POSE2,764,742,711,674,656,629,879,783,800,650,628,651,0.445896625661,0.00456127562272,0.0596712982425,0.999999847737,9.90846638836e-05,-0.0005403881299,-5.18587279153e-05,1793193565855534848
+246,4.100000000,HOLD_POSE2,764,742,711,674,656,629.575915644,878.424084356,783.575915644,799.424084356,650,628,651,0.445899352634,0.00456332073276,0.0596730306746,0.999999849353,0.000100623442679,-0.000537069498155,-5.22115770025e-05,1793193565872201472
+247,4.116666667,HOLD_POSE2,764,742.15075905,711,674,656,629.84924095,878.15075905,783.84924095,799.15075905,650,628.15075905,651,0.445901246955,0.00456520821592,0.0596742333148,0.99999985036,0.000101960088071,-0.000534903883115,-5.25538107506e-05,1793193565888868096
+248,4.133333333,HOLD_POSE2,764,742.72260769,711,674,656,629.27739231,878.72260769,783.27739231,799.72260769,650,628.72260769,651,0.445900815568,0.00456665542717,0.059673956178,0.9999998497,0.000102732148987,-0.000535958792614,-5.28663945608e-05,1793193565905534464
+249,4.150000000,HOLD_POSE2,764,742.692472801,711,674,656,629,879,783,800,650,629,651,0.445901175578,0.00456697386071,0.0596739362586,0.999999849643,0.000102389438468,-0.000536137667951,-5.27868896149e-05,1793193565922201088
+250,4.166666667,HOLD_POSE2,764,742.09523993,711,674,656,629,879,783,800,650,629,651,0.445902281123,0.00456622893033,0.0596741586506,0.999999850155,0.000100996558648,-0.000535491276166,-5.23380178504e-05,1793193565938867712
+251,4.183333333,HOLD_POSE2,764,742,711,674,656,629.48077338,878.51922662,783,800,650,629,651,0.445901278134,0.00456593577044,0.0596738398966,0.999999849968,9.99533994665e-05,-0.000536007564789,-5.26149721018e-05,1793193565955534336
+252,4.200000000,HOLD_POSE2,764,742.053313762,711,674,656,629.946686238,878.053313762,783,800,650,629,651,0.445900078846,0.00456575876522,0.0596734676689,0.999999849686,9.91447870413e-05,-0.000536651670137,-5.29512085158e-05,1793193565972200960
+253,4.216666667,HOLD_POSE2,764,742.631295588,711,674,656,629.368704412,878.631295588,783,800,650,629,651,0.445900884591,0.00456588135505,0.0596735795706,0.999999849769,9.99914192733e-05,-0.000536382801038,-5.25156616923e-05,1793193565988867840
+254,4.233333333,HOLD_POSE2,763.785854935,743,711,674,656,629,879,783,799.785854935,650,628.785854935,651,0.445901376507,0.0045661080285,0.0596736464149,0.999999849752,0.000100784653832,-0.00053628114442,-5.23503691374e-05,1793193566005534464
+255,4.250000000,HOLD_POSE2,763.194429704,743,711,674,656,629,879,783,799.194429704,650,628.194429704,651,0.445901315516,0.00456651807618,0.0596736338772,0.999999849562,0.000101483812434,-0.000536474082304,-5.26612098299e-05,1793193566022201088
+256,4.266666667,HOLD_POSE2,763,742.611811947,711,674,656,629,879.388188053,783,799.388188053,650,628.388188053,651,0.445901942813,0.00456500554411,0.0596736597882,0.999999850276,9.93342013546e-05,-0.000535572736232,-5.23645883149e-05,1793193566038867712
+257,4.283333333,HOLD_POSE2,763,742.033507623,711,674,656,629,879.966492377,783,799.966492377,650,628.966492377,651,0.445902907202,0.00456255142284,0.0596737045295,0.999999851422,9.57893967889e-05,-0.000534135461299,-5.17704603783e-05,1793193566055534592
+258,4.300000000,HOLD_POSE2,763.540707813,742.540707813,711,674.540707813,656,629,879.459292187,783,800,650,629,651,0.445903365876,0.00456587634752,0.0596748296758,0.999999851292,9.85814080829e-05,-0.000533797864834,-5.25121897e-05,1793193566072200960
+259,4.316666667,HOLD_POSE2,764,742.882856357,711,674.882856357,656,629.117143643,879,783,800.117143643,650,629,651,0.445903776872,0.00456830223805,0.0596755706454,0.999999851055,0.00010071061361,-0.000533784108921,-5.3130361674e-05,1793193566088867584
+260,4.333333333,HOLD_POSE2,764,742.296519782,711,674.296519782,656,629.703480218,879,783,800.703480218,650,629,651,0.445904121482,0.00456570361441,0.0596745067291,0.999999850732,9.86240621033e-05,-0.000534796525466,-5.29245719463e-05,1793193566105534464
+261,4.350000000,POSE2_TO_POSE3_RETREAT,764,743,711,674,657,629,878,783,800,650,628,651,0.445903235264,0.0045634700729,0.0596744430249,0.999999850837,0.00010069729314,-0.000534364956208,-5.13798916402e-05,1793193566142621696
+262,4.366666667,POSE2_TO_POSE3_RETREAT,764,743,711,674,656.421615039,629,878.578384961,783,800,650,628.578384961,651,0.445903151752,0.00456424755666,0.0596746043851,0.999999850723,9.99340826284e-05,-0.000534655164866,-5.20746140254e-05,1793193566159288320
+263,4.383333333,POSE2_TO_POSE3_RETREAT,764,742.844621468,711,674.155378532,656,629,879,783,800,650,629,650.844621468,0.445903285619,0.00456533733625,0.0596747325527,0.999999850661,9.9972799694e-05,-0.000534706431545,-5.26456445242e-05,1793193566175954944
+264,4.400000000,POSE2_TO_POSE3_RETREAT,764,742.271369754,711,674.728630246,656,629,879,783,800,650,629,650.271369754,0.445904004105,0.00456726700073,0.0596747714524,0.999999850743,0.000102168211099,-0.00053411509057,-5.2884019685e-05,1793193566192621568
+265,4.416666667,POSE2_TO_POSE3_RETREAT,764,742.310580275,710.689419725,674.689419725,656,629.310580275,879.310580275,783,800,650,629,650.310580275,0.445904568085,0.00456685068164,0.0596748389719,0.999999851011,0.000100912793944,-0.000533848656904,-5.29166565726e-05,1793193566209287936
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764,742.900349417,710.099650583,674.099650583,656,629.900349417,879.900349417,783,800,650,629,650.900349417,0.445904993175,0.00456432549543,0.0596749322185,0.999999851436,9.6555335105e-05,-0.000533874291088,-5.2764349841e-05,1793193566225954560
+267,4.450000000,POSE2_TO_POSE3_RETREAT,764,743,710.481563911,674,656,629.518436089,880,783,800,650,629,651,0.445903091439,0.00456390153333,0.0596734199643,0.999999850288,9.62777131581e-05,-0.000536084170786,-5.26224423689e-05,1793193566242621184
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764,743,711,674,656,629.060514024,879.939485976,783,799.939485976,650,629,651,0.445900112657,0.00456417731902,0.0596713328984,0.999999848664,9.71790613336e-05,-0.000538953661999,-5.25058106975e-05,1793193566259288320
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,743,711,674,656,629.635004594,879.364995406,783,799.364995406,650,629,651,0.44589200417,0.00456676782684,0.0596671361946,0.999999845732,0.000101048555128,-0.00054365360824,-5.25859008887e-05,1793193566275955200
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764,742.790244972,711,674,656,629.790244972,879,783,799.209755028,650,629,651,0.445875573382,0.00456816688588,0.059659202811,0.999999839158,0.000102928820994,-0.000555245557564,-5.28455042434e-05,1793193566292621824
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764,742.215041847,711,674,656,629.215041847,879,783,799.784958153,650,629,651,0.445844642972,0.00456749012939,0.0596447591548,0.999999825907,0.00010134333132,-0.000578845177393,-5.3417866434e-05,1793193566309288192
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764,742,711,674,656,629,879,783,800,650,629,651,0.445799099854,0.0045674751224,0.0596261084564,0.999999810121,0.000100881498833,-0.000605519200488,-5.40983284451e-05,1793193566325954816
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764,742,711,674,656,629,879,783,800,650,629,651,0.445744831905,0.00456785522687,0.0596049458531,0.99999979239,0.000101090569419,-0.000634028863013,-5.48433337698e-05,1793193566342621440
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764,742,711,674,656,629.542128656,879,783,800.542128656,650.542128656,628.457871344,651,0.445672067586,0.00456857649044,0.0595883095049,0.99999977988,0.000102479512676,-0.000653200362921,-5.53835933247e-05,1793193566359288064
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764,742,711,674,656,629.880344656,879,783,800.880344656,650.880344656,628,651,0.445594382728,0.00456936348873,0.0595740880673,0.999999768722,0.00010392182779,-0.000669821058112,-5.56466492251e-05,1793193566375954688
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764,742,711,674,656,629.306317528,879,783,800.306317528,650.306317528,628,651,0.445502718396,0.00457031331301,0.0595678853732,0.999999762342,0.000105266653735,-0.000679131128587,-5.490915687e-05,1793193566392621568
+277,4.616666667,POSE2_TO_POSE3_RETREAT,763.725414962,742.274585038,711,674,656.274585038,629,879,783,800,650,628.274585038,651,0.445403501008,0.00457081325202,0.0595649872178,0.999999759402,0.000107710154014,-0.00068313745506,-5.40129467105e-05,1793193566409288704
+278,4.633333333,POSE2_TO_POSE3_RETREAT,763.136645449,742.863354551,711,674,656.863354551,629,879,783,800,650,628.863354551,651,0.445295641303,0.00457079842524,0.0595658701673,0.999999760461,0.000111410774499,-0.000681075154545,-5.29351292158e-05,1793193566425955328
+279,4.650000000,POSE2_TO_POSE3_RETREAT,763.444964954,742.555035046,711,674.444964954,657,629,879,783,800,650,629,651,0.445167590365,0.00457190024624,0.059570165454,0.999999764473,0.000115128139117,-0.000674657132489,-5.13571033447e-05,1793193566442621952
+280,4.666666667,POSE2_TO_POSE3_RETREAT,764,742,711,674.951500149,656.975750074,629.024249926,879,783,800,650,628.975750074,651,0.445031829149,0.00457326077752,0.0595753628286,0.999999769271,0.000118821430708,-0.000666990607756,-4.96200357258e-05,1793193566459288576
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764,742,711,673.80028429,656.400142145,629.599857855,879,783,800,650,628.400142145,651,0.444859510334,0.00457283026234,0.0595776221333,0.999999773065,0.000121852328021,-0.000660868501897,-4.77041729346e-05,1793193566475955200
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764,742,711,673.175268292,656.175268292,630,879,783,800,650,628.175268292,651,0.444674048102,0.00457343880115,0.0595798955456,0.999999776182,0.000126343491331,-0.000655424102967,-4.57361128645e-05,1793193566492621568
+283,4.716666667,POSE2_TO_POSE3_RETREAT,764,742,711,673.750228279,656.750228279,630,879,783,800,650,628.750228279,651,0.444458612902,0.00457641685734,0.0595822011296,0.999999777805,0.000134164727137,-0.000651525185992,-4.36490194409e-05,1793193566509288192
+284,4.733333333,POSE2_TO_POSE3_RETREAT,764,742,711,674,656.665927943,630,879,783,800,649.665927943,628.665927943,651,0.444227257288,0.00457790329705,0.0595854594021,0.999999780322,0.000140673332605,-0.000646421588783,-4.13010419092e-05,1793193566525955072
+285,4.750000000,POSE2_TO_POSE3_RETREAT,764,742,711,674,656.075260609,630,879,783,800,649.075260609,628.075260609,651,0.443983673442,0.0045782440509,0.0595894494193,0.999999783514,0.000146173729036,-0.000640392695995,-3.87526833448e-05,1793193566542621696
+286,4.766666667,POSE2_TO_POSE3_RETREAT,763.498303232,742.501696768,711,674,656.501696768,630,878.498303232,783,800,649,628.501696768,650.498303232,0.443706745713,0.00457767629468,0.0596023548261,0.999999796468,0.000151110703355,-0.000618868302913,-3.50997335811e-05,1793193566559288320
+287,4.783333333,POSE2_TO_POSE3_RETREAT,763.07694197,742.92305803,711,674,657.07694197,630,878.07694197,783,799.92305803,649.07694197,629,650.07694197,0.443416122452,0.00457752591273,0.0596153658568,0.99999980879,0.000156745326435,-0.000597387762773,-3.12951943685e-05,1793193566575955200
+288,4.800000000,POSE2_TO_POSE3_RETREAT,763.654071225,742.345928775,711,674,657.654071225,630,878.654071225,783,799.345928775,649.654071225,629,650.654071225,0.443068118775,0.00458095122875,0.0596206004792,0.999999811018,0.000167450090077,-0.000590901614789,-2.75537437208e-05,1793193566592621824
+289,4.816666667,POSE2_TO_POSE3_RETREAT,764,742,711,674,658,630,879,783,799.230665027,650,629,651,0.442696288638,0.00458340363228,0.0596232940818,0.999999810571,0.000177954204497,-0.000588756135946,-2.35924271728e-05,1793193566609288448
+290,4.833333333,POSE2_TO_POSE3_RETREAT,764,742,711,674,658,630,879,783,799.806457636,650,629,651,0.442288808692,0.00458440033624,0.059622185738,0.999999806225,0.000188158101213,-0.000593105290315,-1.93021412322e-05,1793193566625955072
+291,4.850000000,POSE2_TO_POSE3_RETREAT,764,742,711,674,658,630.393658452,879,783,800.393658452,650,629,650.606341548,0.441860155347,0.00458642315724,0.0596224172196,0.999999804265,0.00019869743675,-0.000593105787461,-1.46761524392e-05,1793193566642621696
+292,4.866666667,POSE2_TO_POSE3_RETREAT,764,742,711,674,658,630.986635496,879,783,800.986635496,650,629,650.013364504,0.441420781421,0.00458896552557,0.0596233270865,0.999999803442,0.000209406612577,-0.000590904456363,-9.88018947641e-06,1793193566659288320
+293,4.883333333,POSE2_TO_POSE3_RETREAT,764,742.564235625,711,674,659.128471249,631,878.435764375,783,799.871528751,650,629,650.564235625,0.440962100269,0.00458864649957,0.0596499029726,0.999999822476,0.000218142773416,-0.000554478628134,-3.83012616717e-06,1793193566675954944
+294,4.900000000,POSE2_TO_POSE3_RETREAT,764,743,711,674,660.140379126,631.140379126,878,783.140379126,799.280758253,650,629,651,0.440494070725,0.00458882055883,0.0596790854699,0.999999842555,0.0002268819584,-0.000513235453514,2.06128212988e-06,1793193566692621568
+295,4.916666667,POSE2_TO_POSE3_RETREAT,764,743,711,674,660.713128121,631.713128121,878,783.713128121,800.426256243,650,629,651,0.439998619235,0.00459071653865,0.0597144736172,0.99999986657,0.000235770576036,-0.000459585338889,7.37496578193e-06,1793193566709288192
+296,4.933333333,POSE2_TO_POSE3_RETREAT,764,742.704612826,711,674,661.295387174,632,878.295387174,784,800.409225653,649.704612826,629,651,0.439486112715,0.00459124723744,0.0597565687046,0.999999893317,0.000243512431308,-0.000392300817159,1.29150596956e-05,1793193566725955072
+297,4.950000000,POSE2_TO_POSE3_RETREAT,764,742.112810554,711,674,661.887189446,632,878.887189446,784,799.225621108,649.112810554,629,651,0.438956491756,0.00459040790433,0.059805394076,0.999999920085,0.000250103533969,-0.000311334434144,1.8682352361e-05,1793193566742621696
+298,4.966666667,POSE2_TO_POSE3_RETREAT,764,742,711,674,662.468719864,632,878.531280136,784,799.468719864,649.468719864,629,650.531280136,0.43835140905,0.00459058057452,0.059827191723,0.999999927254,0.000258971081327,-0.000278995208021,2.42383021193e-05,1793193566759288064
+299,4.983333333,POSE2_TO_POSE3_RETREAT,764,742,711,673.952337144,662.952337144,632,878,784,800,650,629,650.047662856,0.437719447515,0.00459160162631,0.0598375101314,0.999999928007,0.00026873168755,-0.000266271044216,2.94748091632e-05,1793193566775954688
+300,5.000000000,POSE2_TO_POSE3_RETREAT,764,742,711,673.375262363,662.375262363,632,878,784,800,650,629,650.624737637,0.436986337614,0.00459939863313,0.0597910278342,0.999999900365,0.00028245674195,-0.000344211878699,3.17160018714e-05,1793193566792621312
+301,5.016666667,POSE2_TO_POSE3_RETREAT,764,742.200692033,711,673.200692033,662.200692033,632,878.401384067,784,799.799307967,650,629,651,0.436261837716,0.0046053314033,0.0597566881437,0.999999878734,0.000290760397681,-0.000396104797077,3.30241772272e-05,1793193566809287936
+302,5.033333333,POSE2_TO_POSE3_RETREAT,764,742.774563082,711,673.774563082,662.774563082,632,879.549126164,784,799.225436918,650,629,651,0.435553347827,0.00460779769761,0.0597449271599,0.999999877888,0.000288983175761,-0.000399562629223,3.25974433473e-05,1793193566825954560
+303,5.050000000,POSE2_TO_POSE3_RETREAT,764,742.641723298,711,674,663.358276702,632,879.283446597,784,799,650,629,651,0.434834159079,0.0046072038127,0.0597538876199,0.999999900248,0.00024768238369,-0.00037104641941,2.19752050843e-05,1793193566842621440
+304,5.066666667,POSE2_TO_POSE3_RETREAT,764,742.051641557,711,674,663.948358443,632,878.103283114,784,799,650,629,651,0.434108048196,0.00460462999163,0.0597762548552,0.999999931851,0.000180809838865,-0.000321843000961,4.75647498669e-06,1793193566859288320
+305,5.083333333,POSE2_TO_POSE3_RETREAT,764,742.530884788,711,673.469115212,664,632,878,784,799,650,629,650.469115212,0.433317592379,0.00458927326015,0.0597851425554,0.999999936799,0.000171414067522,-0.000311330788378,9.62501807091e-06,1793193566875955200
+306,5.100000000,POSE2_TO_POSE3_RETREAT,764,742.889066503,711,673.110933497,663.889066503,632,878,784,799,649.889066503,629,650.110933497,0.432519300382,0.0045722872717,0.0597918183261,0.999999939617,0.000164969660233,-0.000305418970401,1.64433593505e-05,1793193566892621824
+307,5.116666667,POSE2_TO_POSE3_RETREAT,764,742.316315716,711,673.683684284,663.316315716,632,878,784,799,649.316315716,629,650.683684284,0.431714077666,0.0045536225383,0.0597946678166,0.999999942846,0.000147862920335,-0.000303210311208,2.25598888938e-05,1793193566909288192
+308,5.133333333,POSE2_TO_POSE3_RETREAT,764,742,711,673.742148967,663,632,878,784.257851033,799,649,628.742148967,651,0.430901238648,0.00454806353173,0.0598060363951,0.999999948242,0.000143029405386,-0.000286978715019,2.64767228998e-05,1793193566925955072
+309,5.150000000,POSE2_TO_POSE3_RETREAT,764,742,711,673.166235532,663,632,878,784.833764468,799,649,628.166235532,651,0.430079004719,0.00455867059688,0.0598279133734,0.999999955743,0.000153335061071,-0.000253449654165,2.7680206375e-05,1793193566942621696
+310,5.166666667,POSE2_TO_POSE3_RETREAT,764,742,711,673,663.421915275,632,878,784.578084725,799.421915275,649,628.421915275,650.578084725,0.429179818265,0.0045667685704,0.059810302225,0.999999944239,0.000151817374519,-0.000296224586909,2.6906543387e-05,1793193566959288576
+311,5.183333333,POSE2_TO_POSE3_RETREAT,764,742,711,673,663.970740792,632,878,784,800,649.014629604,629,650,0.42825102882,0.00457363326386,0.0597771263931,0.999999921342,0.000145427846806,-0.00036813543288,2.53641494741e-05,1793193566975954688
+312,5.200000000,POSE2_TO_POSE3_RETREAT,764,742,711,673,662.81623354,632,878,784,800,649.59188323,629,650,0.427384621074,0.00457222326559,0.0597615820793,0.999999922028,0.000136182125449,-0.000369820167273,2.51115712292e-05,1793193566992621568
+313,5.216666667,POSE2_TO_POSE3_RETREAT,764,742,711,673,662.167505042,632,878,784,800,649.832494958,629,650.167505042,0.42652131973,0.00457340439867,0.0597589408312,0.999999926248,0.000130046323772,-0.000360490910222,2.52591767202e-05,1793193567009288448
+314,5.233333333,POSE2_TO_POSE3_RETREAT,764,742,711,673,662.739189352,632,878,784,800,649.260810648,629,650.739189352,0.425665513996,0.00458083777097,0.0597874338804,0.999999938339,0.00013141456572,-0.000324585575108,2.63724007255e-05,1793193567025955328
+315,5.250000000,POSE2_TO_POSE3_RETREAT,763.677833131,742,711,673,663,632,878,784,799.677833131,649.322166869,629,651,0.424784246941,0.00458509946808,0.0598114903094,0.99999994675,0.000128284240371,-0.000298712136686,2.85200054839e-05,1793193567042621952
+316,5.266666667,POSE2_TO_POSE3_RETREAT,763.085381093,742,711,673,663,632,878,784,799.085381093,649.914618907,629,651,0.423881618897,0.00458670025569,0.0598318245895,0.999999952584,0.000121379796258,-0.000281255061938,3.15354144469e-05,1793193567059288576
+317,5.283333333,POSE2_TO_POSE3_RETREAT,763.495302359,742,711,673,663,632,878,784,799,649.504697641,629,650.504697641,0.423005823959,0.00458728540447,0.059841710545,0.999999960052,0.000110426891139,-0.000258286934272,3.14580518152e-05,1793193567075954944
+318,5.300000000,POSE2_TO_POSE3_RETREAT,764,742,711,673,663.073718941,632,878,784,799,649.073718941,629,650.073718941,0.422125454122,0.00458803542772,0.0598452543514,0.999999964659,9.98770536147e-05,-0.000244418341781,3.10891913949e-05,1793193567092621568
+319,5.316666667,POSE2_TO_POSE3_RETREAT,764,742,711,673,663.650189793,632,878,784,799,649.650189793,629,650.650189793,0.421183071266,0.00459107616047,0.0598175438162,0.99999995012,9.67250603441e-05,-0.000298935721119,3.22838908698e-05,1793193567109288192
+320,5.333333333,POSE2_TO_POSE3_RETREAT,764,742,711,673,663.539384317,632,878,784,799,650,629,651,0.420255338798,0.00459212724859,0.0597799072109,0.999999928563,9.07642361623e-05,-0.000365499161579,3.23476645558e-05,1793193567125955072
+321,5.350000000,POSE2_TO_POSE3_RETREAT,764,742,711,673,662.367890445,632,878,784,799,650,629,651,0.41935021645,0.00459010767541,0.0597269514819,0.999999894748,8.04684816197e-05,-0.000450653557525,3.06660560415e-05,1793193567142621696
+322,5.366666667,POSE2_TO_POSE3_RETREAT,764,742,711,673,662.397255937,632,878,784,799,650,629,650.602744063,0.418484388626,0.00457683943806,0.0597260062096,0.999999892672,0.000151222047477,-0.000436968935234,2.90965027342e-05,1793193567159288320
+323,5.383333333,POSE2_TO_POSE3_RETREAT,764,742,711,673,662.976376001,632,878,784,799,650,629,650.023623999,0.417636549924,0.0045584215522,0.0597488713746,0.999999894603,0.000259080064425,-0.00037803571138,2.7578248198e-05,1793193567175955200
+324,5.400000000,POSE2_TO_POSE3_RETREAT,764,742,711,673,663.554114553,632,878,784,799.554114553,650,629,650.554114553,0.41682970777,0.00455024308623,0.0597946566705,0.999999920032,0.000241089175319,-0.000317524777749,3.14608628186e-05,1793193567192621824
+325,5.416666667,POSE2_TO_POSE3_RETREAT,763.868644833,742,711,673,663.868644833,632,877.868644833,784,799.868644833,650,629,651,0.416021990283,0.00454607587809,0.0598318506964,0.999999937483,0.000222408744946,-0.000272673364549,3.49047649271e-05,1793193567209288448
+326,5.433333333,POSE2_TO_POSE3_RETREAT,763.292890097,742,711,673,663.292890097,632,877.292890097,784,799.292890097,650,629,651,0.415205412857,0.00455400627771,0.0598366810793,0.99999993577,0.000219502545935,-0.000281028101016,3.60873447883e-05,1793193567225955328
+327,5.450000000,POSE2_TO_POSE3_RETREAT,763.288785934,742,711,673,663,632,877.288785934,784,799,650,629,651,0.414412962142,0.00455664827805,0.0598401572739,0.999999938549,0.000207190878973,-0.000280455180991,3.631604549e-05,1793193567242621952
+328,5.466666667,POSE2_TO_POSE3_RETREAT,763.876593088,742,711,673,663,632,877.876593088,784,799,650,629,651,0.413645493298,0.0045538144447,0.0598422312839,0.999999945607,0.000185140391177,-0.000270638185678,3.55570591145e-05,1793193567259288320
+329,5.483333333,POSE2_TO_POSE3_RETREAT,764,742,711,672.542859156,663,632,878.457140844,784,799,650,629,650.542859156,0.412812838358,0.00455593785149,0.0598086215134,0.999999930052,0.00017348567045,-0.000329485884757,3.51952816139e-05,1793193567275954944
+330,5.500000000,POSE2_TO_POSE3_RETREAT,763.964462243,742.035537757,710.964462243,672,662.964462243,632,878.964462243,784,799,650,629,650,0.411970437579,0.00455918075556,0.0597666678536,0.999999904479,0.000164537088016,-0.000403434094849,3.4796446754e-05,1793193567292621824
+331,5.516666667,POSE2_TO_POSE3_RETREAT,763.389432687,742.610567313,710.389432687,672,662.389432687,632,878.389432687,784,799,650,629,650,0.411243052426,0.00455942074438,0.0597419976342,0.999999895221,0.000154732787484,-0.000429622976413,3.22326916498e-05,1793193567309288192
+332,5.533333333,POSE2_TO_POSE3_RETREAT,763,742.814047646,710.185952354,672.185952354,662.185952354,632,877.814047646,784,799.185952354,650,629,650.185952354,0.410545570827,0.00455828376449,0.0597390887722,0.999999897789,0.000146098123627,-0.000426734625044,3.12209143201e-05,1793193567325954816
+333,5.550000000,POSE2_TO_POSE3_RETREAT,763,742.237916596,710.762083404,672.762083404,662.762083404,632,877.237916596,784,799.762083404,650,629,650.762083404,0.409910834897,0.00455425752919,0.059781841162,0.999999923827,0.000139917674139,-0.000362834321756,3.34656086495e-05,1793193567342621696
+334,5.566666667,POSE2_TO_POSE3_RETREAT,763.346738545,742.346738545,711,673,663,632,877.346738545,784,799.653261455,650,629,651,0.409295250563,0.00455391035858,0.0598190352451,0.999999942574,0.000141957235642,-0.000305736348185,3.50059093422e-05,1793193567359288320
+335,5.583333333,POSE2_TO_POSE3_RETREAT,763.937389913,742.937389913,711,673,663,632,877.937389913,784,799.062610087,650,629,651,0.408693138433,0.00455615122197,0.0598523193414,0.999999956022,0.000149779154598,-0.000253423469338,3.60507050134e-05,1793193567375954688
+336,5.600000000,POSE2_TO_POSE3_RETREAT,764,742.482741767,711,673,662.482741767,632,878,784,799.517258233,650,628.482741767,651,0.408078095922,0.00455393940374,0.0598517107184,0.99999995778,0.000144092103033,-0.000249835059434,3.54994236725e-05,1793193567392621568
+337,5.616666667,POSE2_TO_POSE3_RETREAT,764,742,711,672.904313647,662,632,877.904313647,784,799.904313647,650,628.095686353,651,0.407469698621,0.00455180137668,0.0598450713705,0.99999995709,0.000137983857067,-0.000256073847012,3.47250619922e-05,1793193567409287936
+338,5.633333333,POSE2_TO_POSE3_RETREAT,764,742,711,672.326699691,662,632,877.326699691,784,799.326699691,650,628.673300309,651,0.406902491986,0.00455269407204,0.0598282982626,0.99999994997,0.000137821593337,-0.000282710173985,3.37803003047e-05,1793193567425954560
+339,5.650000000,POSE2_TO_POSE3_RETREAT,764,742.248719261,711,672,662.248719261,632,877,784,799,650,629,651,0.406370416538,0.00455222208772,0.0598212652428,0.999999947416,0.000135846434296,-0.000292600256953,3.31346109562e-05,1793193567442621696
+340,5.666666667,POSE2_TO_POSE3_RETREAT,764,742.821280193,711,672,662.821280193,632,877,784,799,650,629,651,0.405884083239,0.00454997323995,0.0598269141787,0.99999995142,0.000131510818659,-0.000280686109424,3.287832494e-05,1793193567459288576
+341,5.683333333,POSE2_TO_POSE3_RETREAT,764,742.590460916,711,672,663,632,877,784.409539084,799,650,629,651,0.405415475282,0.00454837512001,0.0598252479692,0.999999952217,0.000125513937813,-0.000280694131559,3.19887896113e-05,1793193567475954944
+342,5.700000000,POSE2_TO_POSE3_RETREAT,763.995254232,742,711,672,662.995254232,632,877,784.995254232,799,650,629,651,0.404954994768,0.00454709205754,0.0598201067241,0.999999951456,0.000118787693528,-0.00028640649207,3.08158851646e-05,1793193567492621568
+343,5.716666667,POSE2_TO_POSE3_RETREAT,763.421136976,742,711,672,662.421136976,632,877,784.421136976,799,650,629,651,0.404504587526,0.00454818041975,0.0597963069576,0.999999939333,0.000115000462031,-0.000327417485588,3.01218002553e-05,1793193567509288192
+344,5.733333333,POSE2_TO_POSE3_RETREAT,763.153370083,742,711,672,662,632,877.153370083,784,799,649.846629917,629,651,0.404075949339,0.00454901471078,0.0597751957268,0.999999927398,0.000112124230947,-0.000362980261957,2.96107739601e-05,1793193567525955072
+345,5.750000000,POSE2_TO_POSE3_RETREAT,763.728950356,742,711,672,662,632,877.728950356,784,799,649.271049644,629,651,0.403707238753,0.00454914957332,0.0597614857202,0.999999919764,0.000111755878737,-0.000383544733974,2.96036869209e-05,1793193567542621440
+346,5.766666667,POSE2_TO_POSE3_RETREAT,764,742.311251207,711,672,662.311251207,632,878,784,799,649.311251207,629,651,0.403389646052,0.00454943539055,0.0597659984421,0.999999923855,0.00011252015598,-0.000372440173151,3.02842539957e-05,1793193567559288064
+347,5.783333333,POSE2_TO_POSE3_RETREAT,764,742.89953372,711,672,662.89953372,632,878,784,799,649.89953372,629,651,0.403117551204,0.00454985556604,0.0597867304312,0.999999937476,0.000114292537881,-0.000333148367359,3.15768723803e-05,1793193567575954688
+348,5.800000000,POSE2_TO_POSE3_RETREAT,764,742.518993062,711,672,662.518993062,632.481006938,877.518993062,784,799.481006938,650,629,651,0.402868214203,0.00454746495727,0.0598095754813,0.999999949662,0.000112490690243,-0.000294780862764,3.35667161527e-05,1793193567592621568
+349,5.816666667,POSE2_TO_POSE3_RETREAT,764,742,711,672,662,632.93944149,877.06055851,784,799.93944149,650,629,651,0.402625189751,0.00454462409477,0.0598312300642,0.999999959606,0.000110022278493,-0.000259639855073,3.56515215187e-05,1793193567609288448
+350,5.833333333,POSE2_TO_POSE3_RETREAT,764,742,711,672,662,632.364302215,877.635697785,784,799.364302215,650,629,651,0.402395977961,0.00454287623605,0.059839071058,0.999999962131,0.000108144871071,-0.000250297653782,3.73230828737e-05,1793193567625955072
+351,5.850000000,POSE2_TO_POSE3_RETREAT,764.210657772,742,711,672,662.210657772,632,877.789342228,784,799,650,629,651,0.402176154972,0.00454196791836,0.0598407921749,0.999999961937,0.000107176042539,-0.000251305953297,3.85355355638e-05,1793193567642621696
+352,5.866666667,POSE2_TO_POSE3_RETREAT,764.785307909,742,711,672,662.785307909,632,877.214692091,784,799,650,629,651,0.401972554773,0.00454251023104,0.0598319388485,0.99999995693,0.00010777713386,-0.000270198726973,3.89547011832e-05,1793193567659288320
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764.628016586,742,711,671.628016586,662.628016586,632,877,784,799,650,629,651,0.401798022848,0.00454266490192,0.0598255782003,0.999999953305,0.000107098181978,-0.000283524510951,3.91681491368e-05,1793193567675954944
+354,5.900000000,POSE2_TO_POSE3_RETREAT,764.034168655,742,711,671.034168655,662.034168655,632,877,784,799,650,629,651,0.401640828286,0.00454258836911,0.0598207042757,0.999999950568,0.000105655765568,-0.000293529940451,3.92588995916e-05,1793193567692621568
+355,5.916666667,POSE2_TO_POSE3_RETREAT,764,742.524656128,711,671.524656128,662.524656128,632,877,784,799,650,629,651,0.401519911658,0.00453545647255,0.0598235689858,0.999999956465,4.10811874962e-05,-0.000291061793759,2.58041451002e-05,1793193567709288192
+356,5.933333333,POSE2_TO_POSE3_RETREAT,764,742.912987795,711,672.087012205,662.912987795,632,877.087012205,784,799,650,629,651,0.401405364916,0.00452839240409,0.0598270047726,0.99999995842,-1.72486896595e-05,-0.000287521858672,1.39303519641e-05,1793193567725954560
+357,5.950000000,POSE2_TO_POSE3_RETREAT,764,742.317500689,711,672.682499311,662.317500689,632,877.682499311,784,799,650,629,651,0.401315099375,0.00452424178322,0.0598310169259,0.999999959923,-1.6563188569e-05,-0.000282168791229,1.61277629578e-05,1793193567742621440
+358,5.966666667,POSE2_TO_POSE3_RETREAT,764,742,711,672.724819222,662.275180778,632,878,784,799,650,629,651,0.401234732017,0.00452526991959,0.0598322145306,0.999999960488,-1.10099652235e-05,-0.00028037263386,1.71212367016e-05,1793193567759288320
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764,742,711,672.135342236,662.864657764,632,878,784,799,650,629,651,0.401165669821,0.00453221294526,0.059830197514,0.999999959917,1.02900224805e-07,-0.000282638982028,1.67396400185e-05,1793193567775954944
+360,6.000000000,POSE2_TO_POSE3_RETREAT,764,742,711,672,663,632.446258326,877.553741674,784,799,650,628.553741674,651,0.40111310378,0.0045304120181,0.059829074609,0.999999959602,1.52183583422e-06,-0.000283677411458,1.79319394612e-05,1793193567792621568
+361,6.016666667,POSE2_TO_POSE3_RETREAT,764,742,711,672.025383911,663,632.974616089,877.025383911,784,799,650,628.025383911,651,0.401065987485,0.00452625688384,0.0598281665883,0.999999959352,3.45825645478e-07,-0.000284454249106,1.95132580346e-05,1793193567809287936
+362,6.033333333,POSE2_TO_POSE3_RETREAT,764,742,711,672.601739483,663,632.398260517,877.601739483,784,799,650,628.601739483,651,0.401030451638,0.00452756470697,0.0598261389757,0.99999995847,5.55255797624e-06,-0.00028749617478,1.93573335908e-05,1793193567825954560
+363,6.050000000,POSE2_TO_POSE3_RETREAT,764,742,711,672.82333547,663,632,878,784,799,650,629,651,0.400999434204,0.00452792779572,0.0598248418504,0.999999957697,8.5948494806e-06,-0.00029009366403,1.94284497274e-05,1793193567842621440
+364,6.066666667,POSE2_TO_POSE3_RETREAT,764,742,711,672.251609472,663,632,878,784,799,650,629,651,0.400978520958,0.00452617824654,0.0598251782586,0.999999957233,6.79696570856e-06,-0.000291697293482,2.00072794871e-05,1793193567859288064
+365,6.083333333,POSE2_TO_POSE3_RETREAT,763.668036952,742,711,672,663,632.331963048,877.668036952,784,799.331963048,650,629,651,0.400964863354,0.00452572081133,0.0598249872689,0.999999957108,6.70705802514e-06,-0.000292108029412,2.02714627643e-05,1793193567875954688
+366,6.100000000,POSE2_TO_POSE3_RETREAT,763.075153081,742,711,672,663,632.924846919,877.075153081,784,799.924846919,650,629,651,0.400956908634,0.0045262789692,0.0598243817481,0.999999957253,7.95960837972e-06,-0.000291581158869,2.02883359899e-05,1793193567892621568
+367,6.116666667,POSE2_TO_POSE3_RETREAT,763.502289669,741.497710331,711,672.502289669,663,632.497710331,877,784,799.497710331,650,629,651,0.400952173258,0.00452723546244,0.059825572406,0.99999995767,1.13217336929e-05,-0.000290029786807,2.03464253493e-05,1793193567909288448
+368,6.133333333,POSE2_TO_POSE3_RETREAT,763.921900451,741.078099549,711,672.921900451,663,632,877.078099549,784,799.156199098,650,628.921900451,651,0.400948673791,0.00452784702488,0.0598271584146,0.999999958236,1.40406921356e-05,-0.000287944303299,2.04531734237e-05,1793193567925955072
+369,6.150000000,POSE2_TO_POSE3_RETREAT,763.342181765,741.657818235,711,672.342181765,663,632,877.657818235,784,800.31563647,650,628.342181765,651,0.400950110856,0.00452587178137,0.0598296090627,0.999999959573,1.06618947419e-05,-0.000283383489465,2.08340206419e-05,1793193567942621696
+370,6.166666667,POSE2_TO_POSE3_RETREAT,763.233600496,742,711,672,663,632.233600496,877.766399504,784,800.532799009,650,628,651,0.400950441526,0.00452473860454,0.0598313537274,0.999999960358,9.27892784153e-06,-0.000280634697611,2.10412495953e-05,1793193567959288320
+371,6.183333333,POSE2_TO_POSE3_RETREAT,763.803712138,742,711,672,663,632.803712138,877.196287862,784,799.392575723,650,628,651,0.400949178385,0.00452481845961,0.0598320813935,0.999999960382,1.07710372734e-05,-0.000280496198422,2.0998374257e-05,1793193567975954944
+372,6.200000000,POSE2_TO_POSE3_RETREAT,764,742,711,672.390607405,663,633,877,784,799.390607405,650,628.390607405,651,0.400948023358,0.00452412076276,0.0598319271774,0.999999960199,1.15065718329e-05,-0.000281111650097,2.11309824256e-05,1793193567992621568
+373,6.216666667,POSE2_TO_POSE3_RETREAT,764,742,711,672.98631542,663,633,877,784,799.98631542,650,628.98631542,651,0.400946925099,0.00452301478801,0.0598313099016,0.999999959905,1.18448430955e-05,-0.000282122987208,2.13557336882e-05,1793193568009287936
+374,6.233333333,POSE2_TO_POSE3_RETREAT,763.434633583,742,711,673,663,632.434633583,877,784,800,650,629,651,0.400947108338,0.0045237917665,0.0598324773587,0.999999960255,1.42955738858e-05,-0.000280765769817,2.13463215565e-05,1793193568025954560
+375,6.250000000,POSE2_TO_POSE3_RETREAT,763.14289756,742,711,673,663,632,877,784,800,650,629,651,0.400946663345,0.0045242042069,0.0598329700021,0.99999995978,3.82959338528e-05,-0.000280213192804,2.12946910471e-05,1793193568042621440
+376,6.266666667,POSE2_TO_POSE3_RETREAT,763.717023933,742,711,673,663,632,877,784,800,650,629,651,0.400944231577,0.00452338296089,0.0598312995945,0.999999951855,0.000127177755537,-0.000282256873802,2.11322707318e-05,1793193568059288320
+377,6.283333333,POSE2_TO_POSE3_RETREAT,764,742,711,672.699960663,662.699960663,632.300039337,877.300039337,784,799.699960663,650,628.699960663,651,0.400944317714,0.00452301404666,0.0598312991038,0.999999945383,0.0001714986043,-0.000281742020503,2.10632204887e-05,1793193568075955200
+378,6.300000000,POSE2_TO_POSE3_RETREAT,764,742,711,672.108305724,662.108305724,632.891694276,877.891694276,784,799.108305724,650,628.108305724,651,0.400946851065,0.00452308476471,0.0598329216462,0.99999994605,0.000172509560133,-0.000278740466729,2.1084919014e-05,1793193568092621824
+379,6.316666667,POSE2_TO_POSE3_RETREAT,764,742,711,672,662.472207104,632.527792896,878,784,799.472207104,650,628.472207104,651,0.400946231087,0.00452459458424,0.059832750625,0.999999945672,0.000173696885362,-0.000279370860808,2.08976631558e-05,1793193568109288192
+380,6.333333333,POSE2_TO_POSE3_RETREAT,764,742,711,672,662.950045961,632,878,783.950045961,799.950045961,650,629,651,0.400945077886,0.00452605300273,0.0598322873581,0.999999945204,0.000174501935924,-0.000280557041412,2.07233309026e-05,1793193568125955072
+381,6.350000000,POSE2_TO_POSE3_RETREAT,764,742,711,672,662.37512808,632,878,783.37512808,799.37512808,650,629,651,0.40094574646,0.00452358249373,0.0598329763344,0.999999946247,0.000170874376944,-0.000279031533253,2.11768521257e-05,1793193568142621696
+382,6.366666667,POSE2_TO_POSE3_RETREAT,764,742.204420565,711,672,662.204420565,632,878,783.204420565,799,650,628.795579435,651,0.400946714894,0.00452256761192,0.059834007923,0.999999947133,0.000168488035915,-0.000277290282383,2.13378590782e-05,1793193568159288320
+383,6.383333333,POSE2_TO_POSE3_RETREAT,764,742.79266396,711,672,662.79266396,632,878,783.79266396,799,650,628.20733604,651,0.400948246349,0.00452428583565,0.0598356828051,0.999999947744,0.000168432222806,-0.00027514395016,2.09496372335e-05,1793193568175955200
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764,742.625170553,711,672,663,632,878,784,799,650,628.374829447,651,0.400948105785,0.0045242626393,0.0598355610114,0.999999947856,0.000168251381229,-0.000274842862701,2.10029453887e-05,1793193568192621568
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764,742.04631342,711,672,663,632,878,784,799,650,628.95368658,651,0.400947055104,0.00452329155069,0.0598344612487,0.999999947698,0.000168002483985,-0.000275546181508,2.12965877798e-05,1793193568209288192
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764,742,711,672,662.468879402,632,877.468879402,784,799,650,629,651,0.400945937428,0.0045239814657,0.0598339331462,0.999999947098,0.000169009704443,-0.000277127292132,2.10022577302e-05,1793193568225955072
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764,742,711,672,662.108126423,632,877,784,799,650,629,651,0.400945123335,0.00452443604893,0.0598334839672,0.999999946672,0.00016949416714,-0.000278380518385,2.07665922983e-05,1793193568242621696
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764,742,711,672,662.683815666,632,877,784,799,650,629,651,0.400945647206,0.00452324836395,0.0598331610915,0.999999947184,0.000167245729702,-0.000277885794523,2.10057201133e-05,1793193568259288064
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764,742,711,672,662.734721694,632.265278306,877,784,799,650,629,651,0.400946487701,0.00452268114041,0.0598338360128,0.999999947745,0.000165964812136,-0.00027662418349,2.10960367751e-05,1793193568275954688
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764,742,711,672,662.14622459,632.85377541,877,784,799,650,629,651,0.400947713973,0.00452286989562,0.0598357266639,0.999999948369,0.00016586273402,-0.000274428186338,2.10050398778e-05,1793193568292621568
+391,6.516666667,POSE2_TO_POSE3_RETREAT,764,742,711,672,662,632.564771839,877.435228161,784,799,650,629,651,0.400947383301,0.00452341772602,0.05983586267,0.999999948195,0.000166654974265,-0.00027459735238,2.07761196967e-05,1793193568309288192
+392,6.533333333,POSE2_TO_POSE3_RETREAT,764,742,711,672,662.014238602,632.014238602,877.985761398,784,799,650,629,651,0.400946586265,0.00452407539093,0.0598354422289,0.999999947769,0.000167757969371,-0.000275496320188,2.05214005455e-05,1793193568325954816
+393,6.550000000,POSE2_TO_POSE3_RETREAT,764,742,711,672,662.588791888,632.588791888,877.411208112,784,799,650,629,651,0.400947693695,0.0045243834839,0.0598359534529,0.999999947789,0.000169454172331,-0.000274342270978,2.1045900242e-05,1793193568342621696
+394,6.566666667,POSE2_TO_POSE3_RETREAT,764,742,711,672,662.835878696,632.835878696,877.164121304,784,799.164121304,650,629,651,0.400947693055,0.00452413950477,0.0598358959655,0.999999947773,0.000169663684312,-0.00027424488924,2.13898828326e-05,1793193568359288064
+395,6.583333333,POSE2_TO_POSE3_RETREAT,764,742,711,672,662.258595473,632.258595473,877.741404527,784,799.741404527,650,629,651,0.400944902942,0.0045225057294,0.059834406794,0.999999947663,0.000166130573596,-0.000276807581255,2.12794283852e-05,1793193568375954432
+396,6.600000000,POSE2_TO_POSE3_RETREAT,764,742,710.674460358,672,662.325539642,632,877.674460358,784,799.674460358,650,629,651,0.400944687624,0.00452259291461,0.0598345495841,0.99999994772,0.0001659502074,-0.000276716385862,2.11637118408e-05,1793193568392621312
+397,6.616666667,POSE2_TO_POSE3_RETREAT,764,742,710.084765384,672,662.915234616,632,877.084765384,784,799.084765384,650,629,651,0.400946561594,0.00452407655322,0.0598360166105,0.999999947917,0.000168490386684,-0.000274471724464,2.10437254349e-05,1793193568409287936
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_09/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_09/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b1d3fd6936ca3827db13fcceb35b778948c3ea64
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_09/depth_03/simulation_data.csv
@@ -0,0 +1,399 @@
+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,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+1,0.016666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+2,0.033333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+3,0.050000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+4,0.066666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+5,0.083333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+6,0.100000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+7,0.116666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+8,0.133333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+9,0.150000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+10,0.166666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+11,0.183333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+12,0.200000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+13,0.216666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+14,0.233333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+15,0.250000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+16,0.266666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+17,0.283333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+18,0.300000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+19,0.316666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+20,0.333333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+21,0.350000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+22,0.366666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+23,0.383333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+24,0.400000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+25,0.416666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+26,0.433333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+27,0.450000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+28,0.466666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+29,0.483333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+30,0.500000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+31,0.516666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+32,0.533333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+33,0.550000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+34,0.566666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+35,0.583333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+36,0.600000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+37,0.616666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+38,0.633333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+39,0.650000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+40,0.666666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+41,0.683333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+42,0.700000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+43,0.716666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+44,0.733333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+45,0.750000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+46,0.766666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+47,0.783333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+48,0.800000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+49,0.816666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+50,0.833333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+51,0.850000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+52,0.866666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+53,0.883333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+54,0.900000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+55,0.916666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+56,0.933333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+57,0.950000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+58,0.966666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+59,0.983333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+60,1.000000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+61,1.016666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+62,1.033333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+63,1.050000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+64,1.066666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+65,1.083333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+66,1.100000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+67,1.116666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+68,1.133333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+69,1.150000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+70,1.166666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+71,1.183333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+72,1.200000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+73,1.216666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+74,1.233333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+75,1.250000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+76,1.266666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+77,1.283333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+78,1.300000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+79,1.316666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+80,1.333333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+81,1.350000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+82,1.366666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+83,1.383333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+84,1.400000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+85,1.416666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+86,1.433333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+87,1.450000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+88,1.466666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+89,1.483333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+90,1.500000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+91,1.516666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+92,1.533333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+93,1.550000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+94,1.566666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+95,1.583333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+96,1.600000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+97,1.616666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+98,1.633333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+99,1.650000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+100,1.666666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+101,1.683333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+102,1.700000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+103,1.716666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+104,1.733333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+105,1.750000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+106,1.766666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+107,1.783333333,pose1_to_pose2_press,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+108,1.800000000,pose1_to_pose2_press,0.575709446805,0.0100546490842,1.05002900787,0.546280175274,0.0187273727026,1.04969830254
+109,1.816666667,pose1_to_pose2_press,0.575709711283,0.0100545925902,1.05002895227,0.546280440687,0.0187273194159,1.04969824787
+110,1.833333333,pose1_to_pose2_press,0.575709846943,0.0100545636125,1.05002892375,0.546280576826,0.0187272920833,1.04969821983
+111,1.850000000,pose1_to_pose2_press,0.575709910606,0.0100545500137,1.05002891037,0.546280640714,0.0187272792564,1.04969820667
+112,1.866666667,pose1_to_pose2_press,0.575710266041,0.0100545245609,1.05002889426,0.546280996676,0.0187272555924,1.04969819058
+113,1.883333333,pose1_to_pose2_press,0.575711806731,0.0100545130468,1.05002895913,0.546282537929,0.0187272458869,1.04969825274
+114,1.900000000,pose1_to_pose2_press,0.57571653856,0.0100545303629,1.0500292143,0.546287269446,0.0187272615536,1.0496984924
+115,1.916666667,pose1_to_pose2_press,0.575726732833,0.0100544650742,1.05002930406,0.546297463676,0.0187271963024,1.04969858687
+116,1.933333333,pose1_to_pose2_press,0.575746268168,0.0100544077104,1.05002908812,0.54631700094,0.0187271458097,1.04969837944
+117,1.950000000,pose1_to_pose2_press,0.575776977893,0.0100546828092,1.05002891461,0.546347707211,0.01872740941,1.04969821171
+118,1.966666667,pose1_to_pose2_press,0.575819621298,0.0100545008635,1.05002917039,0.546390351932,0.0187272318241,1.04969846469
+119,1.983333333,pose1_to_pose2_press,0.575873144762,0.0100545905871,1.05002929175,0.546443874098,0.0187273168548,1.0496985784
+120,2.000000000,pose1_to_pose2_press,0.575936954207,0.0100546121923,1.05002919537,0.54650768372,0.0187273392194,1.04969848604
+121,2.016666667,pose1_to_pose2_press,0.576009687854,0.0100545238325,1.0500292474,0.546580417734,0.018727252085,1.04969853753
+122,2.033333333,pose1_to_pose2_press,0.576091643318,0.0100545452984,1.05002932258,0.546662374047,0.0187272760318,1.04969860209
+123,2.050000000,pose1_to_pose2_press,0.576185310386,0.0100545182347,1.05002904085,0.546756041648,0.0187272508386,1.049698322
+124,2.066666667,pose1_to_pose2_press,0.576291112957,0.01005447756,1.05002901951,0.546861843381,0.0187272075839,1.04969830752
+125,2.083333333,pose1_to_pose2_press,0.576410784093,0.0100544686542,1.05002932273,0.546981515471,0.0187272016858,1.04969860474
+126,2.100000000,pose1_to_pose2_press,0.576545323759,0.010054499023,1.05002943966,0.547116054988,0.0187272315464,1.04969872146
+127,2.116666667,pose1_to_pose2_press,0.576698320909,0.0100546087173,1.05002926854,0.54726905111,0.0187273379966,1.04969855675
+128,2.133333333,pose1_to_pose2_press,0.576870629936,0.0100546016736,1.0500292215,0.547441359756,0.0187273297726,1.04969851265
+129,2.150000000,pose1_to_pose2_press,0.577064502767,0.0100545685307,1.05002922479,0.547635233168,0.0187272985215,1.04969851371
+130,2.166666667,pose1_to_pose2_press,0.577280995776,0.0100545628491,1.05002909594,0.547851727256,0.0187272965972,1.04969838734
+131,2.183333333,pose1_to_pose2_press,0.577518704084,0.0100545516169,1.05002908125,0.548089436167,0.0187272875622,1.04969837652
+132,2.200000000,pose1_to_pose2_press,0.577776360946,0.0100544388455,1.05002916617,0.548347094408,0.0187271792051,1.04969845446
+133,2.216666667,pose1_to_pose2_press,0.578051434111,0.0100543643302,1.05002916494,0.548622167984,0.0187271060694,1.0496984528
+134,2.233333333,pose1_to_pose2_press,0.57834359869,0.0100544609699,1.05002904626,0.548914330158,0.0187271947215,1.04969833867
+135,2.250000000,pose1_to_pose2_press,0.578654816236,0.0100545626678,1.05002896125,0.549225545566,0.0187272890764,1.04969825123
+136,2.266666667,pose1_to_pose2_press,0.578986213481,0.0100546494871,1.05002914378,0.549556942606,0.0187273752607,1.04969843533
+137,2.283333333,pose1_to_pose2_press,0.579346178078,0.0100546031102,1.05002938922,0.549916908358,0.0187273326448,1.04969867651
+138,2.300000000,pose1_to_pose2_press,0.579736240648,0.0100545692832,1.05002926309,0.550306971968,0.0187273023846,1.04969855141
+139,2.316666667,pose1_to_pose2_press,0.580163692036,0.0100546827561,1.05002916688,0.550734421486,0.0187274095443,1.04969845598
+140,2.333333333,pose1_to_pose2_press,0.580625629182,0.0100546366431,1.05002909237,0.551196359932,0.0187273681874,1.04969839047
+141,2.350000000,pose1_to_pose2_press,0.581122561961,0.0100545989219,1.05002908663,0.551693293472,0.0187273329442,1.04969838193
+142,2.366666667,pose1_to_pose2_press,0.581639273267,0.010054556908,1.05002927869,0.552210003498,0.0187272861123,1.04969856144
+143,2.383333333,pose1_to_pose2_press,0.582171854735,0.01005461921,1.05002918702,0.552742583663,0.0187273441007,1.04969847254
+144,2.400000000,pose1_to_pose2_press,0.582717523767,0.010054591562,1.05002906336,0.553288253112,0.0187273182103,1.04969835785
+145,2.416666667,pose1_to_pose2_press,0.583277394745,0.0100545598789,1.05002886707,0.553848124599,0.0187272882614,1.04969816165
+146,2.433333333,pose1_to_pose2_press,0.583856587819,0.0100544500016,1.05002885759,0.554427319295,0.0187271838071,1.04969815013
+147,2.450000000,pose1_to_pose2_press,0.584462773536,0.0100546217226,1.05002905516,0.555033502225,0.0187273461121,1.04969834863
+148,2.466666667,pose1_to_pose2_press,0.585098270664,0.0100546522983,1.05002922103,0.555668999132,0.0187273755775,1.04969850508
+149,2.483333333,pose1_to_pose2_press,0.585753035734,0.0100546444619,1.05002927737,0.556323765692,0.0187273728113,1.04969856179
+150,2.500000000,pose1_to_pose2_press,0.586422004535,0.010054713904,1.05002916127,0.556992732431,0.0187274355185,1.04969845251
+151,2.516666667,pose1_to_pose2_press,0.587099036962,0.0100546284526,1.05002910379,0.55766976599,0.01872735415,1.04969840127
+152,2.533333333,pose1_to_pose2_press,0.587792974936,0.0100546178032,1.05002901628,0.558363703099,0.01872734032,1.04969830731
+153,2.550000000,pose1_to_pose2_press,0.588515416506,0.0100546781456,1.05002894266,0.559086145414,0.0187274033087,1.04969823689
+154,2.566666667,pose1_to_pose2_press,0.589265215846,0.0100545174154,1.05002917455,0.559835945879,0.0187272461177,1.04969846144
+155,2.583333333,pose1_to_pose2_press,0.590040558895,0.0100544933186,1.05002916123,0.560611288981,0.0187272222909,1.04969845054
+156,2.600000000,pose1_to_pose2_press,0.590839514231,0.0100545410283,1.05002912885,0.561410243616,0.0187272676978,1.04969842008
+157,2.616666667,pose1_to_pose2_press,0.591647488878,0.0100546394753,1.05002907545,0.562218217251,0.0187273625083,1.04969836141
+158,2.633333333,pose1_to_pose2_press,0.592447814656,0.0100545532871,1.05002908802,0.563018545168,0.0187272838117,1.04969838003
+159,2.650000000,pose1_to_pose2_press,0.593243894122,0.0100545170703,1.05002887348,0.56381462506,0.0187272492031,1.04969816984
+160,2.666666667,pose1_to_pose2_press,0.594036708408,0.0100544960176,1.05002928288,0.564607439271,0.0187272277119,1.04969857447
+161,2.683333333,pose1_to_pose2_press,0.594830413873,0.0100545317924,1.05002928892,0.565401143667,0.0187272594675,1.04969857024
+162,2.700000000,pose1_to_pose2_press,0.595630425124,0.0100546069102,1.05002903516,0.566201154241,0.0187273326507,1.04969832601
+163,2.716666667,pose1_to_pose2_press,0.596457179102,0.0100544149578,1.05002893202,0.567027909843,0.0187271461268,1.04969822079
+164,2.733333333,pose1_to_pose2_press,0.597306203301,0.0100546424169,1.05002903488,0.567876932765,0.0187273694736,1.04969832952
+165,2.750000000,pose1_to_pose2_press,0.59817066184,0.0100546982265,1.05002924962,0.568741391114,0.0187274246324,1.0496985441
+166,2.766666667,pose1_to_pose2_press,0.599039091968,0.010054606636,1.05002916801,0.569609821433,0.0187273333121,1.04969845262
+167,2.783333333,pose1_to_pose2_press,0.599903733783,0.0100545564643,1.05002900332,0.570474464484,0.0187272876911,1.04969829739
+168,2.800000000,pose1_to_pose2_press,0.600745765645,0.0100545063136,1.05002893728,0.571316496109,0.0187272364906,1.04969822503
+169,2.816666667,pose1_to_pose2_press,0.601567209539,0.0100545027205,1.05002893638,0.5721379401,0.0187272333593,1.04969822757
+170,2.833333333,pose1_to_pose2_press,0.602365490681,0.0100545659699,1.05002906759,0.572936219335,0.0187272901991,1.04969836049
+171,2.850000000,pose1_to_pose2_press,0.603152210644,0.0100545204397,1.05002930744,0.57372294185,0.0187272528583,1.04969858807
+172,2.866666667,pose1_to_pose2_press,0.603933981563,0.01005448592,1.05002916262,0.574504712708,0.0187272184754,1.04969845235
+173,2.883333333,pose1_to_pose2_press,0.60471761663,0.0100545459873,1.0500291687,0.575288347703,0.0187272782572,1.04969845741
+174,2.900000000,pose1_to_pose2_press,0.605506535877,0.0100545585456,1.05002927535,0.576077265977,0.0187272874962,1.0496985637
+175,2.916666667,pose1_to_pose2_press,0.606294258071,0.0100545694707,1.050029135,0.576864988279,0.0187272990295,1.0496984298
+176,2.933333333,pose1_to_pose2_press,0.607071437044,0.0100546010378,1.05002905065,0.577642166866,0.0187273291669,1.04969834235
+177,2.950000000,pose1_to_pose2_press,0.607825229259,0.0100545722881,1.05002914675,0.578395958184,0.0187272973757,1.04969843864
+178,2.966666667,pose1_to_pose2_press,0.608546275859,0.0100546120186,1.05002922187,0.579117003796,0.0187273334794,1.04969850662
+179,2.983333333,pose1_to_pose2_press,0.609232646479,0.0100546326749,1.05002936799,0.579803375757,0.0187273588142,1.04969865613
+180,3.000000000,pose1_to_pose2_press,0.609898552912,0.0100547372201,1.05002915128,0.580469280948,0.0187274592735,1.04969844286
+181,3.016666667,pose1_to_pose2_press,0.61054665255,0.0100546698151,1.05002917038,0.5811173812,0.0187273938404,1.04969845916
+182,3.033333333,pose1_to_pose2_press,0.611177660059,0.0100546058874,1.05002916843,0.58174838989,0.0187273339571,1.04969845826
+183,3.050000000,pose1_to_pose2_press,0.611792480036,0.0100545136724,1.05002915965,0.582363210756,0.0187272447599,1.04969844966
+184,3.066666667,pose1_to_pose2_press,0.612390406643,0.0100545345928,1.05002914988,0.58296113802,0.0187272678851,1.04969843922
+185,3.083333333,pose1_to_pose2_press,0.612966911916,0.0100544901475,1.05002907736,0.583537642552,0.018727220686,1.04969835859
+186,3.100000000,pose1_to_pose2_press,0.613522260962,0.0100545215576,1.05002908687,0.584092991291,0.0187272512843,1.04969836693
+187,3.116666667,pose1_to_pose2_press,0.614045247862,0.0100544965196,1.05002903836,0.584615978752,0.0187272289518,1.04969832973
+188,3.133333333,pose1_to_pose2_press,0.614535299175,0.010054435494,1.05002903499,0.585106030795,0.0187271712107,1.04969833693
+189,3.150000000,pose1_to_pose2_press,0.614990314001,0.0100545063976,1.05002943386,0.585561044028,0.0187272362351,1.04969871403
+190,3.166666667,pose1_to_pose2_press,0.615413288041,0.0100545928137,1.05002930702,0.585984017877,0.0187273223541,1.04969859076
+191,3.183333333,pose1_to_pose2_press,0.615804512805,0.010054593268,1.05002892332,0.58637524206,0.0187273218233,1.04969821987
+192,3.200000000,pose1_to_pose2_press,0.616180176643,0.0100545870097,1.05002900807,0.586750906124,0.0187273168837,1.04969830454
+193,3.216666667,pose1_to_pose2_press,0.616540951013,0.01005444912,1.0500293421,0.587111682438,0.0187271857496,1.04969862791
+194,3.233333333,pose1_to_pose2_press,0.616886831593,0.0100546083392,1.05002892923,0.587457560459,0.0187273370988,1.04969822381
+195,3.250000000,pose1_to_pose2_press,0.61721737821,0.0100545531739,1.05002898522,0.58778810723,0.0187272827578,1.04969827394
+196,3.266666667,pose1_to_pose2_press,0.617530081807,0.0100544380652,1.05002924172,0.588100812615,0.0187271740776,1.04969852581
+197,3.283333333,pose1_to_pose2_press,0.617820679868,0.0100544976212,1.05002923894,0.588391409181,0.0187272288209,1.04969851813
+198,3.300000000,pose1_to_pose2_press,0.61808681467,0.0100545815343,1.05002909901,0.588657543089,0.0187273103887,1.0496983842
+199,3.316666667,pose1_to_pose2_press,0.618325967825,0.0100544989968,1.05002924345,0.588896696889,0.018727230339,1.04969852823
+200,3.333333333,pose1_to_pose2_press,0.618539097924,0.0100545434479,1.05002911038,0.589109827469,0.0187272770665,1.04969840293
+201,3.350000000,pose1_to_pose2_press,0.618725922671,0.0100545598688,1.05002903154,0.589296651218,0.0187272904425,1.04969832455
+202,3.366666667,pose1_to_pose2_press,0.618893098632,0.0100545448198,1.05002901985,0.589463826972,0.0187272750298,1.04969831449
+203,3.383333333,pose1_to_pose2_press,0.61904339293,0.0100545675161,1.05002919621,0.589614120486,0.0187272953059,1.04969849034
+204,3.400000000,pose1_to_pose2_press,0.619179823997,0.0100546335536,1.05002931483,0.589750551206,0.0187273601618,1.04969860246
+205,3.416666667,pose1_to_pose2_press,0.619302715429,0.0100546859149,1.05002910317,0.589873443653,0.0187274160477,1.04969838798
+206,3.433333333,pose1_to_pose2_press,0.619412970099,0.0100546806301,1.05002900121,0.589983697218,0.0187274073521,1.04969829037
+207,3.450000000,pose1_to_pose2_press,0.619510288203,0.0100545773253,1.05002923948,0.590081014788,0.0187273035017,1.04969852607
+208,3.466666667,pose1_to_pose2_press,0.619592195628,0.0100543309672,1.05002936064,0.59016292397,0.0187270696293,1.04969863993
+209,3.483333333,pose1_to_pose2_press,0.619661480177,0.0100543180105,1.0500290735,0.590232206849,0.0187270594023,1.0496983665
+210,3.500000000,pose1_to_pose2_press,0.619719190277,0.01005447527,1.05002931045,0.590289918032,0.0187272043766,1.04969859185
+211,3.516666667,pose1_to_pose2_press,0.619766372102,0.0100546173776,1.05002916865,0.590337098765,0.0187273431947,1.04969846021
+212,3.533333333,pose1_to_pose2_press,0.619804792746,0.0100546844174,1.05002928159,0.590375519443,0.0187274104247,1.04969857225
+213,3.550000000,pose1_to_pose2_press,0.619835557696,0.0100545517727,1.05002903201,0.590406287339,0.0187272881604,1.04969833012
+214,3.566666667,pose1_to_pose2_press,0.619860099833,0.0100546310927,1.05002913986,0.590430826897,0.0187273585096,1.04969843142
+215,3.583333333,pose1_to_pose2_press,0.619878231694,0.0100546717886,1.05002917397,0.590448958342,0.0187273979058,1.04969845979
+216,3.600000000,pose1_to_pose2_press,0.619891228959,0.0100545877226,1.0500293201,0.590461956586,0.0187273172323,1.0496986038
+217,3.616666667,pose1_to_pose2_press,0.619899415457,0.0100544833345,1.05002935947,0.59047014382,0.0187272154471,1.04969864439
+218,3.633333333,pose1_to_pose2_press,0.619904568788,0.0100544066987,1.05002920539,0.59047529726,0.018727139416,1.04969849385
+219,3.650000000,pose1_to_pose2_press,0.619907553191,0.0100544558981,1.05002909876,0.590478280896,0.0187271860403,1.04969838967
+220,3.666666667,pose1_to_pose2_press,0.619909141379,0.0100545474255,1.05002902986,0.590479868094,0.0187272741547,1.04969832237
+221,3.683333333,pose1_to_pose2_press,0.619910305986,0.010054614542,1.05002897934,0.590481031976,0.0187273387683,1.04969827301
+222,3.700000000,pose1_to_pose2_press,0.619911440579,0.0100546799287,1.05002893013,0.590482165862,0.0187274017167,1.04969822492
+223,3.716666667,pose1_to_pose2_press,0.619912228437,0.0100547253331,1.05002889595,0.59048295323,0.0187274454279,1.04969819153
+224,3.733333333,pose1_to_pose2_press,0.619912701873,0.0100547109227,1.05002894835,0.590483426752,0.0187274311994,1.04969824211
+225,3.750000000,pose1_to_pose2_press,0.619913251584,0.0100546910168,1.05002901475,0.590483976594,0.0187274115958,1.04969830621
+226,3.766666667,pose1_to_pose2_press,0.619913862395,0.0100546688983,1.05002908853,0.590484587548,0.0187273898133,1.04969837744
+227,3.783333333,pose1_to_pose2_press,0.619914535049,0.0100546445404,1.05002916978,0.590485260361,0.0187273658254,1.04969845588
+228,3.800000000,pose1_to_pose2_press,0.619915235612,0.0100546191718,1.0500292544,0.59048596109,0.0187273408422,1.04969853758
+229,3.816666667,pose1_to_pose2_press,0.619915859956,0.0100545950618,1.05002931968,0.590486585639,0.0187273172915,1.04969860039
+230,3.833333333,pose1_to_pose2_press,0.619916219613,0.0100545722618,1.05002929708,0.59048694575,0.0187272960948,1.04969857729
+231,3.850000000,pose1_to_pose2_press,0.619916386598,0.010054561676,1.05002928659,0.590487112946,0.0187272862534,1.04969856656
+232,3.866666667,pose1_to_pose2_press,0.619916439745,0.0100545583069,1.05002928325,0.590487166159,0.0187272831211,1.04969856315
+233,3.883333333,pose1_to_pose2_press,0.619916471635,0.0100545562853,1.05002928125,0.590487198089,0.0187272812417,1.0496985611
+234,3.900000000,pose1_to_pose2_press,0.619916616214,0.0100545471199,1.05002927217,0.590487342851,0.0187272727208,1.04969855181
+235,3.916666667,pose1_to_pose2_press,0.61991684916,0.0100545323526,1.05002925753,0.590487576091,0.0187272589919,1.04969853685
+236,3.933333333,pose1_to_pose2_press,0.619917153121,0.0100545130833,1.05002923844,0.590487880436,0.0187272410776,1.04969851732
+237,3.950000000,pose1_to_pose2_press,0.619917534664,0.0100544891569,1.0500292144,0.590488262454,0.0187272188323,1.04969849286
+238,3.966666667,pose1_to_pose2_press,0.619917836632,0.0100544883032,1.05002919112,0.590488564339,0.0187272179378,1.04969847628
+239,3.983333333,pose1_to_pose2_press,0.619918042919,0.01005448772,1.05002917522,0.590488770569,0.0187272173268,1.04969846496
+240,4.000000000,pose1_to_pose2_press,0.619918235425,0.0100544871757,1.05002916038,0.590488963022,0.0187272167566,1.04969845439
+241,4.016666667,pose1_to_pose2_press,0.619918382757,0.0100544658587,1.05002913797,0.590489110974,0.0187271975153,1.04969843477
+242,4.033333333,pose1_to_pose2_press,0.619918451278,0.0100544552859,1.05002912721,0.590489179804,0.0187271879741,1.04969842528
+243,4.050000000,pose1_to_pose2_press,0.619918451278,0.0100544552859,1.05002912721,0.590489179799,0.0187271879764,1.04969842528
+244,4.066666667,pose1_to_pose2_press,0.619918451278,0.0100544552859,1.05002912721,0.590489179797,0.0187271879773,1.04969842528
+245,4.083333333,pose2_hold,0.619918451278,0.0100544552859,1.05002912721,0.590489179806,0.0187271879685,1.04969842527
+246,4.100000000,pose2_hold,0.619918451278,0.0100544552859,1.05002912721,0.590489179804,0.0187271879691,1.04969842527
+247,4.116666667,pose2_hold,0.619918451278,0.0100544552859,1.05002912721,0.590489179801,0.0187271879719,1.04969842527
+248,4.133333333,pose2_hold,0.619918451278,0.0100544552859,1.05002912721,0.5904891798,0.0187271879731,1.04969842527
+249,4.150000000,pose2_hold,0.619918451278,0.0100544552859,1.05002912721,0.590489179801,0.0187271879704,1.04969842527
+250,4.166666667,pose2_hold,0.619918451278,0.0100544552859,1.05002912721,0.590489179802,0.0187271879706,1.04969842527
+251,4.183333333,pose2_hold,0.619918451278,0.0100544552859,1.05002912721,0.590489179801,0.018727187971,1.04969842527
+252,4.200000000,pose2_hold,0.619918451278,0.0100544552859,1.05002912721,0.590489179801,0.0187271879706,1.04969842527
+253,4.216666667,pose2_hold,0.619918451278,0.0100544552859,1.05002912721,0.590489179801,0.0187271879707,1.04969842527
+254,4.233333333,pose2_hold,0.619918451278,0.0100544552859,1.05002912721,0.590489179801,0.0187271879722,1.04969842527
+255,4.250000000,pose2_hold,0.619918451278,0.0100544552859,1.05002912721,0.590489179802,0.0187271879712,1.04969842527
+256,4.266666667,pose2_hold,0.619918451278,0.0100544552859,1.05002912721,0.590489179802,0.0187271879711,1.04969842527
+257,4.283333333,pose2_hold,0.619918451278,0.0100544552859,1.05002912721,0.590489179802,0.0187271879713,1.04969842527
+258,4.300000000,pose2_hold,0.619918451278,0.0100544552859,1.05002912721,0.590489179802,0.0187271879715,1.04969842527
+259,4.316666667,pose2_hold,0.619918451278,0.0100544552859,1.05002912721,0.590489179799,0.0187271879743,1.04969842528
+260,4.333333333,pose2_hold,0.619918451278,0.0100544552859,1.05002912721,0.590489179801,0.0187271879719,1.04969842527
+261,4.350000000,pose2_to_pose3_retreat,0.619918451278,0.0100544552859,1.05002912721,0.590489179801,0.0187271879701,1.04969842527
+262,4.366666667,pose2_to_pose3_retreat,0.619918365719,0.0100544994426,1.05002898514,0.590489093633,0.0187272302651,1.04969828849
+263,4.383333333,pose2_to_pose3_retreat,0.619918244493,0.0100545426182,1.05002886598,0.590488972086,0.018727272516,1.04969817353
+264,4.400000000,pose2_to_pose3_retreat,0.619918144601,0.0100545256619,1.05002899031,0.590488873398,0.0187272594392,1.04969829244
+265,4.416666667,pose2_to_pose3_retreat,0.619918141173,0.0100545250801,1.05002899458,0.590488870012,0.0187272589905,1.04969829652
+266,4.433333333,pose2_to_pose3_retreat,0.619917874317,0.0100545107637,1.05002912159,0.590488604247,0.0187272480851,1.04969841612
+267,4.450000000,pose2_to_pose3_retreat,0.619916273802,0.010054532688,1.05002906615,0.590487002137,0.0187272641916,1.04969835074
+268,4.466666667,pose2_to_pose3_retreat,0.619911820831,0.0100545315693,1.0500290986,0.590482547993,0.0187272589451,1.04969837577
+269,4.483333333,pose2_to_pose3_retreat,0.619901504486,0.0100547549501,1.050029229,0.590472229529,0.0187274751829,1.04969850506
+270,4.500000000,pose2_to_pose3_retreat,0.619882568496,0.0100545585513,1.05002903897,0.590453297299,0.0187272920542,1.04969833033
+271,4.516666667,pose2_to_pose3_retreat,0.619853838468,0.0100545265498,1.05002911758,0.590424565413,0.0187272531226,1.04969840799
+272,4.533333333,pose2_to_pose3_retreat,0.619812408851,0.0100545876935,1.05002918247,0.590383137403,0.0187273198436,1.04969846986
+273,4.550000000,pose2_to_pose3_retreat,0.619758846175,0.0100545840498,1.05002930712,0.590329573157,0.0187273108102,1.04969859199
+274,4.566666667,pose2_to_pose3_retreat,0.61969318503,0.0100545472453,1.05002923589,0.590263913455,0.0187272789281,1.04969852623
+275,4.583333333,pose2_to_pose3_retreat,0.61961691168,0.0100544742993,1.0500292573,0.590187639779,0.0187272053417,1.04969854929
+276,4.600000000,pose2_to_pose3_retreat,0.61952996725,0.0100545228098,1.05002933396,0.590100695764,0.0187272545481,1.04969862684
+277,4.616666667,pose2_to_pose3_retreat,0.619432059507,0.0100546318265,1.0500292221,0.590002787339,0.0187273610384,1.0496985145
+278,4.633333333,pose2_to_pose3_retreat,0.619322680477,0.0100546666921,1.05002923903,0.589893408746,0.0187273971926,1.04969853095
+279,4.650000000,pose2_to_pose3_retreat,0.619197394847,0.0100546610282,1.05002942308,0.589768122489,0.0187273889577,1.04969870924
+280,4.666666667,pose2_to_pose3_retreat,0.619055113438,0.0100545764727,1.05002940243,0.589625841879,0.0187273070652,1.04969869415
+281,4.683333333,pose2_to_pose3_retreat,0.618891473901,0.0100546095819,1.05002937532,0.589462202953,0.0187273418164,1.04969866324
+282,4.700000000,pose2_to_pose3_retreat,0.618707659513,0.010054518888,1.05002914232,0.589278389716,0.0187272547729,1.04969843106
+283,4.716666667,pose2_to_pose3_retreat,0.618502491607,0.0100544995351,1.05002897539,0.589073220813,0.0187272313845,1.04969825574
+284,4.733333333,pose2_to_pose3_retreat,0.618276611672,0.0100545857193,1.05002904783,0.588847339764,0.0187273137397,1.0496983372
+285,4.750000000,pose2_to_pose3_retreat,0.618029952107,0.0100544949002,1.05002903345,0.588600681013,0.018727225419,1.04969832675
+286,4.766666667,pose2_to_pose3_retreat,0.617757154126,0.0100544875578,1.05002890794,0.588327883282,0.0187272185555,1.04969820355
+287,4.783333333,pose2_to_pose3_retreat,0.617456855739,0.0100546081804,1.05002922987,0.588027583782,0.0187273347861,1.04969852323
+288,4.800000000,pose2_to_pose3_retreat,0.617124029536,0.0100544606366,1.0500294026,0.587694759418,0.0187271927186,1.04969868948
+289,4.816666667,pose2_to_pose3_retreat,0.616761357785,0.0100544997143,1.05002919492,0.587332087414,0.0187272303044,1.04969848202
+290,4.833333333,pose2_to_pose3_retreat,0.616369171365,0.010054473042,1.05002905242,0.586939902001,0.0187272066088,1.04969834405
+291,4.850000000,pose2_to_pose3_retreat,0.615955172879,0.0100545485364,1.05002915914,0.586525903594,0.0187272816347,1.04969844739
+292,4.866666667,pose2_to_pose3_retreat,0.615522277084,0.0100544119958,1.05002929279,0.586093009122,0.018727148759,1.04969857564
+293,4.883333333,pose2_to_pose3_retreat,0.615071934258,0.0100545959426,1.05002919206,0.58564266275,0.0187273202932,1.04969847924
+294,4.900000000,pose2_to_pose3_retreat,0.614604835197,0.0100545747593,1.05002917428,0.585175564318,0.0187273006846,1.04969846014
+295,4.916666667,pose2_to_pose3_retreat,0.614119986738,0.0100546410849,1.05002914784,0.584690716363,0.0187273686599,1.04969844052
+296,4.933333333,pose2_to_pose3_retreat,0.613606248897,0.0100546557866,1.05002907868,0.584176977802,0.0187273807218,1.0496983697
+297,4.950000000,pose2_to_pose3_retreat,0.613060139734,0.0100546567677,1.05002912434,0.583630867711,0.0187273783493,1.04969841044
+298,4.966666667,pose2_to_pose3_retreat,0.612467235908,0.0100545559785,1.05002933435,0.583037965717,0.0187272836007,1.04969861477
+299,4.983333333,pose2_to_pose3_retreat,0.611832564286,0.0100545272193,1.05002928777,0.582403295052,0.0187272581892,1.04969857192
+300,5.000000000,pose2_to_pose3_retreat,0.611162528627,0.0100544114651,1.05002923865,0.581733260629,0.0187271467697,1.04969852725
+301,5.016666667,pose2_to_pose3_retreat,0.610469868201,0.0100545086129,1.05002912276,0.581040598856,0.0187272394742,1.04969841435
+302,5.033333333,pose2_to_pose3_retreat,0.609758674081,0.0100545244184,1.05002902261,0.580329404215,0.0187272536369,1.04969831744
+303,5.050000000,pose2_to_pose3_retreat,0.609036257305,0.0100545107416,1.05002919477,0.579606986787,0.0187272375866,1.04969848507
+304,5.066666667,pose2_to_pose3_retreat,0.608299048212,0.0100545647286,1.05002910942,0.57886977701,0.0187272893879,1.04969840331
+305,5.083333333,pose2_to_pose3_retreat,0.607542790901,0.0100545980433,1.05002910622,0.578113520594,0.0187273256385,1.04969839767
+306,5.100000000,pose2_to_pose3_retreat,0.606768170779,0.010054693321,1.05002933011,0.577338899644,0.0187274178528,1.04969861512
+307,5.116666667,pose2_to_pose3_retreat,0.605974556095,0.0100546947732,1.05002910844,0.576545286107,0.018727423414,1.0496983992
+308,5.133333333,pose2_to_pose3_retreat,0.60515942982,0.0100546263179,1.05002898458,0.57573016038,0.0187273569393,1.04969827822
+309,5.150000000,pose2_to_pose3_retreat,0.604318519412,0.01005454692,1.0500290336,0.574889249806,0.0187272769642,1.04969832654
+310,5.166666667,pose2_to_pose3_retreat,0.603465615693,0.0100545418889,1.05002903779,0.574036346673,0.018727273941,1.04969833009
+311,5.183333333,pose2_to_pose3_retreat,0.602602685858,0.0100546160107,1.0500292075,0.573173415763,0.0187273442715,1.04969849582
+312,5.200000000,pose2_to_pose3_retreat,0.601733121046,0.0100546314514,1.05002922075,0.572303849868,0.018727355913,1.04969850668
+313,5.216666667,pose2_to_pose3_retreat,0.600867003682,0.010054681893,1.05002915048,0.571437732766,0.0187274074811,1.049698443
+314,5.233333333,pose2_to_pose3_retreat,0.60000614011,0.0100545913481,1.05002915092,0.570576870335,0.0187273208068,1.0496984434
+315,5.250000000,pose2_to_pose3_retreat,0.59914343432,0.0100544396358,1.05002918081,0.569714166622,0.0187271758627,1.04969846578
+316,5.266666667,pose2_to_pose3_retreat,0.59827725821,0.0100544839952,1.05002908772,0.568847990392,0.0187272200182,1.04969837772
+317,5.283333333,pose2_to_pose3_retreat,0.597394120873,0.0100545474486,1.05002918246,0.56796485231,0.0187272810197,1.04969847377
+318,5.300000000,pose2_to_pose3_retreat,0.596501836824,0.0100545149323,1.05002912221,0.56707256719,0.0187272449541,1.04969841504
+319,5.316666667,pose2_to_pose3_retreat,0.595609012728,0.01005460385,1.05002895338,0.566179740867,0.0187273263743,1.04969824764
+320,5.333333333,pose2_to_pose3_retreat,0.594718159526,0.0100546399474,1.05002915089,0.565288888594,0.0187273654981,1.0496984418
+321,5.350000000,pose2_to_pose3_retreat,0.593833708298,0.010054593616,1.05002918883,0.564404438676,0.0187273237599,1.04969848362
+322,5.366666667,pose2_to_pose3_retreat,0.592975985442,0.0100546474485,1.05002915859,0.563546714144,0.0187273717187,1.04969844848
+323,5.383333333,pose2_to_pose3_retreat,0.59214194364,0.0100546015396,1.05002919198,0.562712672173,0.0187273249512,1.04969847431
+324,5.400000000,pose2_to_pose3_retreat,0.591325386263,0.0100545347863,1.05002933741,0.561896116515,0.0187272640566,1.04969862038
+325,5.416666667,pose2_to_pose3_retreat,0.590523281394,0.0100545275916,1.05002919921,0.561094011647,0.0187272571151,1.04969848872
+326,5.433333333,pose2_to_pose3_retreat,0.589737052591,0.0100545979233,1.05002911033,0.560307781058,0.0187273213887,1.04969839984
+327,5.450000000,pose2_to_pose3_retreat,0.58894581689,0.0100545709389,1.05002932271,0.559516546071,0.018727296523,1.04969860416
+328,5.466666667,pose2_to_pose3_retreat,0.588147805752,0.0100546157519,1.05002931913,0.558718534794,0.0187273407483,1.04969859763
+329,5.483333333,pose2_to_pose3_retreat,0.587367328366,0.0100546469292,1.05002917466,0.557938057224,0.0187273716456,1.04969846211
+330,5.500000000,pose2_to_pose3_retreat,0.586605565296,0.010054586017,1.05002922662,0.55717629557,0.0187273157032,1.04969851831
+331,5.516666667,pose2_to_pose3_retreat,0.585870093667,0.0100546198482,1.05002921883,0.556440823647,0.0187273484181,1.04969850742
+332,5.533333333,pose2_to_pose3_retreat,0.5851774004,0.0100546381931,1.05002917731,0.555748129593,0.0187273640157,1.04969846483
+333,5.550000000,pose2_to_pose3_retreat,0.584532061589,0.0100546099233,1.05002916873,0.555102790951,0.0187273363895,1.04969845833
+334,5.566666667,pose2_to_pose3_retreat,0.5839089328,0.010054578031,1.05002907666,0.554479662924,0.0187273073773,1.04969837385
+335,5.583333333,pose2_to_pose3_retreat,0.583303365727,0.0100545211925,1.05002905574,0.553874096692,0.0187272535308,1.04969835631
+336,5.600000000,pose2_to_pose3_retreat,0.582711126686,0.0100544827066,1.05002913834,0.553281857336,0.0187272137907,1.04969843419
+337,5.616666667,pose2_to_pose3_retreat,0.582135474976,0.0100545125314,1.05002904744,0.552706204458,0.018727239549,1.04969834083
+338,5.633333333,pose2_to_pose3_retreat,0.581582720012,0.0100545383224,1.05002901345,0.552153449702,0.0187272660937,1.04969830752
+339,5.650000000,pose2_to_pose3_retreat,0.581058840618,0.0100545846193,1.05002920798,0.551629571247,0.0187273155013,1.04969849979
+340,5.666666667,pose2_to_pose3_retreat,0.580564185681,0.0100546519836,1.05002930149,0.551134915681,0.0187273805264,1.04969858796
+341,5.683333333,pose2_to_pose3_retreat,0.580092625144,0.010054643537,1.05002923738,0.550663354049,0.0187273684498,1.04969852606
+342,5.700000000,pose2_to_pose3_retreat,0.579641518169,0.0100545997627,1.05002920522,0.550212247069,0.0187273248096,1.04969849786
+343,5.716666667,pose2_to_pose3_retreat,0.579213627017,0.0100545691765,1.05002927214,0.549784356476,0.0187272960847,1.04969856437
+344,5.733333333,pose2_to_pose3_retreat,0.578815532429,0.0100544992834,1.05002916284,0.549386263118,0.0187272301899,1.04969845075
+345,5.750000000,pose2_to_pose3_retreat,0.578454617728,0.0100545392091,1.05002919228,0.549025347915,0.0187272682621,1.04969847604
+346,5.766666667,pose2_to_pose3_retreat,0.578133297214,0.0100545052631,1.05002924619,0.548704028019,0.0187272364345,1.04969853049
+347,5.783333333,pose2_to_pose3_retreat,0.577848566182,0.0100544482722,1.05002916645,0.548419297347,0.018727180792,1.04969845407
+348,5.800000000,pose2_to_pose3_retreat,0.577591397958,0.0100545029343,1.0500291417,0.548162128498,0.0187272335634,1.04969843537
+349,5.816666667,pose2_to_pose3_retreat,0.577353509118,0.010054483206,1.05002914449,0.547924240127,0.0187272154387,1.04969843846
+350,5.833333333,pose2_to_pose3_retreat,0.577129247624,0.010054560222,1.05002918562,0.547699977825,0.0187272895501,1.04969847515
+351,5.850000000,pose2_to_pose3_retreat,0.576919750625,0.010054514336,1.05002926729,0.547490481354,0.0187272455245,1.04969855881
+352,5.866666667,pose2_to_pose3_retreat,0.576727204762,0.010054539072,1.05002926525,0.547297936328,0.0187272730733,1.04969855602
+353,5.883333333,pose2_to_pose3_retreat,0.57655608154,0.0100545676745,1.05002910782,0.547126812839,0.0187273008732,1.04969840133
+354,5.900000000,pose2_to_pose3_retreat,0.576405678531,0.0100544548664,1.05002896801,0.54697641131,0.0187271928347,1.04969825488
+355,5.916666667,pose2_to_pose3_retreat,0.576277600735,0.0100544766683,1.05002912557,0.546848332766,0.0187272122628,1.04969841673
+356,5.933333333,pose2_to_pose3_retreat,0.576168105168,0.0100545571869,1.05002893759,0.546738835114,0.0187272859315,1.04969823485
+357,5.950000000,pose2_to_pose3_retreat,0.576076108545,0.0100546287375,1.05002943465,0.546646839165,0.018727359112,1.04969871516
+358,5.966666667,pose2_to_pose3_retreat,0.575997355373,0.0100545015925,1.05002916849,0.546568086365,0.0187272335653,1.04969845778
+359,5.983333333,pose2_to_pose3_retreat,0.57593187775,0.0100544888815,1.05002922871,0.546502608427,0.0187272201767,1.04969852815
+360,6.000000000,pose2_to_pose3_retreat,0.57587737368,0.0100545843766,1.05002930611,0.546448104317,0.0187273149903,1.04969859122
+361,6.016666667,pose2_to_pose3_retreat,0.575832408093,0.0100545847184,1.05002931236,0.546403138114,0.018727313222,1.04969859687
+362,6.033333333,pose2_to_pose3_retreat,0.575796906479,0.0100545110175,1.0500291863,0.546367637592,0.0187272434882,1.04969847768
+363,6.050000000,pose2_to_pose3_retreat,0.575769122443,0.0100545607568,1.05002905751,0.546339852645,0.0187272902254,1.04969835128
+364,6.066666667,pose2_to_pose3_retreat,0.57574888677,0.0100545282502,1.05002896016,0.546319617338,0.0187272588321,1.04969825055
+365,6.083333333,pose2_to_pose3_retreat,0.575734603388,0.0100544555473,1.05002897591,0.546305335142,0.018727190288,1.04969826991
+366,6.100000000,pose2_to_pose3_retreat,0.575725550012,0.0100545116586,1.05002907332,0.546296281303,0.0187272448116,1.04969836698
+367,6.116666667,pose2_to_pose3_retreat,0.575720581334,0.0100546322825,1.05002916699,0.546291311229,0.0187273605021,1.04969845557
+368,6.133333333,pose2_to_pose3_retreat,0.575718153975,0.010054641656,1.05002908313,0.54628888368,0.0187273692853,1.04969837318
+369,6.150000000,pose2_to_pose3_retreat,0.575716866131,0.0100546394413,1.05002901983,0.546287595807,0.0187273670213,1.04969831125
+370,6.166666667,pose2_to_pose3_retreat,0.575716174766,0.0100546382524,1.05002898585,0.546286904426,0.018727365806,1.049698278
+371,6.183333333,pose2_to_pose3_retreat,0.575715883438,0.0100546377514,1.05002897153,0.546286613091,0.0187273652938,1.04969826399
+372,6.200000000,pose2_to_pose3_retreat,0.575715383225,0.0100546368912,1.05002894695,0.546286112866,0.0187273644145,1.04969823993
+373,6.216666667,pose2_to_pose3_retreat,0.575714753787,0.0100546358087,1.05002891601,0.546285483415,0.018727363308,1.04969820966
+374,6.233333333,pose2_to_pose3_retreat,0.575713965414,0.010054623574,1.05002892263,0.546284695224,0.0187273516884,1.0496982161
+375,6.250000000,pose2_to_pose3_retreat,0.575713389953,0.010054609838,1.0500289475,0.546284119985,0.0187273386864,1.04969824039
+376,6.266666667,pose2_to_pose3_retreat,0.575713378456,0.0100546095635,1.050028948,0.546284108493,0.0187273384267,1.04969824087
+377,6.283333333,pose2_to_pose3_retreat,0.575713242225,0.0100546063118,1.05002895389,0.546283972315,0.0187273353486,1.04969824662
+378,6.300000000,pose2_to_pose3_retreat,0.575712996015,0.0100546004348,1.05002896453,0.546283726199,0.0187273297858,1.04969825701
+379,6.316666667,pose2_to_pose3_retreat,0.575712760764,0.0100545948194,1.05002897469,0.546283491039,0.0187273244705,1.04969826694
+380,6.333333333,pose2_to_pose3_retreat,0.575712388499,0.0100545859336,1.05002899078,0.546283118917,0.0187273160595,1.04969828266
+381,6.350000000,pose2_to_pose3_retreat,0.575712171821,0.0100545807616,1.05002900015,0.546282902323,0.0187273111639,1.0496982918
+382,6.366666667,pose2_to_pose3_retreat,0.575711880694,0.0100545738125,1.05002901273,0.546282611308,0.0187273045862,1.04969830409
+383,6.383333333,pose2_to_pose3_retreat,0.575711573645,0.0100545664834,1.050029026,0.546282304379,0.0187272976487,1.04969831705
+384,6.400000000,pose2_to_pose3_retreat,0.575711543989,0.0100545657755,1.05002902728,0.546282274734,0.0187272969787,1.0496983183
+385,6.416666667,pose2_to_pose3_retreat,0.575711303072,0.0100545601198,1.05002903427,0.546282033893,0.0187272915782,1.04969832517
+386,6.433333333,pose2_to_pose3_retreat,0.575710985639,0.0100545538546,1.05002900066,0.546281716352,0.0187272849968,1.04969829292
+387,6.450000000,pose2_to_pose3_retreat,0.575710788023,0.0100545499542,1.05002897973,0.546281518668,0.0187272808996,1.04969827285
+388,6.466666667,pose2_to_pose3_retreat,0.575710707556,0.0100545483659,1.05002897121,0.546281438173,0.0187272792313,1.04969826467
+389,6.483333333,pose2_to_pose3_retreat,0.575710530972,0.0100545448807,1.05002895252,0.546281261529,0.0187272755702,1.04969824673
+390,6.500000000,pose2_to_pose3_retreat,0.575710352304,0.0100545413542,1.0500289336,0.5462810828,0.0187272718659,1.04969822858
+391,6.516666667,pose2_to_pose3_retreat,0.575710102367,0.0100545364212,1.05002890713,0.546280832778,0.0187272666839,1.04969820319
+392,6.533333333,pose2_to_pose3_retreat,0.575709954716,0.0100545408302,1.0500289049,0.546280685012,0.0187272707341,1.0496982017
+393,6.550000000,pose2_to_pose3_retreat,0.575709606331,0.0100546179839,1.05002902171,0.546280335779,0.0187273451099,1.04969832123
+394,6.566666667,pose2_to_pose3_retreat,0.575709305048,0.0100546761461,1.05002906812,0.546280033537,0.0187274000255,1.04969836783
+395,6.583333333,pose2_to_pose3_retreat,0.575709303692,0.0100546760026,1.05002906574,0.546280032166,0.0187273998274,1.04969836536
+396,6.600000000,pose2_to_pose3_retreat,0.575709241445,0.0100546694172,1.05002895667,0.546279969234,0.0187273907368,1.04969825161
+397,6.616666667,pose2_to_pose3_retreat,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_09/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_09/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e0a91e83b3e1e2ccbb936e640227b5ae077970d7
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_09/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cbb604ce93e7c719321366f8ae72f2257762f38214cdb1b55b25fca8baa0aa6b
+size 25365614
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_09/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_09/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d5851e10193a25d21b6306ad6a3ef37c1841c9b0
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_09/depth_04/franka_data.csv
@@ -0,0 +1,401 @@
+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,763,743,711,672,663,632,877,784,799,650,628,651,0.400946600832,0.00452424714542,0.0598357202008,0.999999947724,0.000169622055482,-0.000274491852214,2.08495473603e-05,1793193568526736640
+1,0.016666667,BASELINE,763.563918191,742.436081809,711,672,663,632,877,784,799.563918191,650,628.563918191,651,0.400947177969,0.00452331805568,0.0598363448317,0.99999994841,0.000167398180139,-0.000273346309518,2.09578322023e-05,1793193568543403264
+2,0.033333333,BASELINE,764,742,711,672,663,632,877,784,799.865558809,650,629,651,0.400947471464,0.00452279885998,0.0598367418907,0.999999948837,0.000166037008679,-0.00027261103721,2.10103809469e-05,1793193568560069888
+3,0.050000000,BASELINE,764,742,711,672,663,632,877,784,799.272505004,650,629,651,0.400946797383,0.00452367791542,0.0598363626452,0.999999948394,0.000167618735908,-0.000273275299771,2.08727999155e-05,1793193568576736512
+4,0.066666667,BASELINE,764,742,711,672,663,632.31763304,877,784,799.31763304,650,629,651,0.400945809416,0.00452317027621,0.0598357576306,0.999999948181,0.000167282921554,-0.000274258551321,2.08855946839e-05,1793193568593402880
+5,0.083333333,BASELINE,764,742,711,672,663,632.905292301,877,784,799.905292301,650,629,651,0.40094455461,0.00452148378001,0.0598349606852,0.99999994816,0.000165316966528,-0.000275512981768,2.10262269452e-05,1793193568610069504
+6,0.100000000,BASELINE,764,742,711,672,663,632.515434074,877.484565926,784,800,650,629,651,0.400945116196,0.00452171160447,0.0598349523564,0.999999948182,0.000164811979086,-0.000275748961874,2.08545919992e-05,1793193568626736128
+7,0.116666667,BASELINE,764,742,711,672,662.937957744,632,877.937957744,784,800,650,628.937957744,651,0.400945807803,0.00452236181165,0.059835059585,0.999999948133,0.000164938972103,-0.000275865485481,2.06774188967e-05,1793193568643402752
+8,0.133333333,BASELINE,764,742,711,672,662.362023806,632,877.362023806,784,800,650,628.362023806,651,0.400944685858,0.00452346423602,0.0598348690047,0.999999947415,0.000167975708002,-0.000276613267711,2.09512992868e-05,1793193568660069632
+9,0.150000000,BASELINE,764,742,711,672,662.212340337,632,877,784,799.787659663,650,628.212340337,651,0.400944267065,0.00452387899205,0.059835004633,0.999999947148,0.000169367838463,-0.00027672039963,2.10957069827e-05,1793193568676736256
+10,0.166666667,BASELINE,764,742,711,672,662.784047685,632,877,784,799.215952315,650,628.784047685,651,0.400945038296,0.00452312993087,0.05983569234,0.999999947654,0.000167976621151,-0.000275743288179,2.10209937076e-05,1793193568693402880
+11,0.183333333,BASELINE,764,742,711,672,663,632,877.370298268,784,799,650,629,651,0.400945682297,0.00452237154937,0.0598358957466,0.999999948229,0.000166160800185,-0.000274758700637,2.09672546639e-05,1793193568710069504
+12,0.200000000,BASELINE,764,742,711,672,663,632,877.965377022,784,799,650,629,651,0.400946249067,0.00452160751013,0.0598358051704,0.999999948844,0.000164087233847,-0.000273769574823,2.09262475061e-05,1793193568726736128
+13,0.216666667,BASELINE,764,742,711,672,663,632,878,784,799,650,629,651,0.400944476355,0.00452206132241,0.059834676711,0.999999947983,0.00016548901743,-0.000276057902924,2.09765445438e-05,1793193568743402752
+14,0.233333333,BASELINE,764,742,710.878023318,672,663,632.121976682,877.878023318,784,799,650,629,651,0.400943033938,0.00452246256804,0.0598338916479,0.99999994734,0.000166272613519,-0.000277907842898,2.10039852217e-05,1793193568760069632
+15,0.250000000,BASELINE,764,742,710.303387862,672,663,632.696612138,877.303387862,784,799,650,629,651,0.400943353585,0.00452238954008,0.0598346188763,0.999999947869,0.000163965361134,-0.000277379543457,2.0925673479e-05,1793193568776736512
+16,0.266666667,BASELINE,763.722331613,742,710.277668387,672,663,632.722331613,877,784,799.277668387,650,628.722331613,651,0.400944497636,0.00452322841106,0.0598356271689,0.999999948182,0.000164319422046,-0.000276050412089,2.07753741929e-05,1793193568793403136
+17,0.283333333,BASELINE,763.134093802,742,710.865906198,672,663,632.134093802,877,784,799.865906198,650,628.134093802,651,0.400946563774,0.00452508723224,0.0598369498292,0.999999948245,0.000167650136447,-0.000273825557933,2.05445575355e-05,1793193568810070016
+18,0.300000000,BASELINE,763,742,711,672,663,632,877,784,799.550082809,650,628,651,0.400946892482,0.00452430929443,0.0598373040013,0.999999948495,0.000167081386026,-0.000273240968342,2.08219850021e-05,1793193568826736640
+19,0.316666667,BASELINE,763,742,711,672,663,632,877,783.967780303,799,650,628.032219697,651,0.400946657821,0.00452282579143,0.0598373308542,0.999999948775,0.000165398062314,-0.000273208620844,2.12186727246e-05,1793193568843403008
+20,0.333333333,BASELINE,763,742,711,672,663,632,877,783.393228042,799,650,628.606771958,651,0.400945575466,0.00452257076336,0.0598366615837,0.999999948649,0.000164334345264,-0.00027431962386,2.10967979897e-05,1793193568860069632
+21,0.350000000,BASELINE,763.181407403,742,711,672,663,632,877.181407403,783.181407403,799,650,628.818592597,651,0.400945195285,0.00452182296161,0.0598364283504,0.999999948781,0.000162835074553,-0.000274724298417,2.11793110032e-05,1793193568876736000
+22,0.366666667,BASELINE,763.756223168,742,711,672,663,632,877.756223168,783.756223168,799,650,628.243776832,651,0.400946337874,0.00452000650839,0.0598371407275,0.999999949474,0.000160391242457,-0.000273597196739,2.17050686202e-05,1793193568893402880
+23,0.383333333,BASELINE,764,742,711,672,663,632,877.659247368,784.340752632,799,650,628.340752632,651,0.400946909649,0.00452056230936,0.0598373681933,0.99999994954,0.000161371221188,-0.000272786959761,2.16125412361e-05,1793193568910069504
+24,0.400000000,BASELINE,764,742,711,672,663,632,877.067564682,784.932435318,799,650,628.932435318,651,0.400947061077,0.00452286503684,0.0598372385709,0.999999949138,0.00016487249211,-0.000272210061658,2.10647091651e-05,1793193568926736128
+25,0.416666667,BASELINE,764,742,711,672.51021236,663,632,877,784.48978764,799.51021236,650,629,651,0.400946134327,0.0045220201664,0.05983697198,0.999999949183,0.000163984600956,-0.000272564852534,2.12348551447e-05,1793193568943403008
+26,0.433333333,BASELINE,764,742,711,673,663,632,877,784,800,649.913640087,629,651,0.400945034431,0.00452107564218,0.0598365519512,0.999999949112,0.000163084152843,-0.000273351158004,2.14328986783e-05,1793193568960069632
+27,0.450000000,BASELINE,764,742,711,673,663,632,877,784,800,649.336565505,629,651,0.400943740449,0.00452187047905,0.0598353603863,0.999999948045,0.000165327413222,-0.000275906955749,2.12635431488e-05,1793193568976736256
+28,0.466666667,BASELINE,764,742,711,672.756149478,663,632,877.243850522,784,799.756149478,649.243850522,629,651,0.400943826832,0.00452180682026,0.0598351738012,0.999999947872,0.000165368456409,-0.000276512365036,2.12396410405e-05,1793193568993402880
+29,0.483333333,BASELINE,764,742,711,672.171057507,663,632,877.828942493,784,799.171057507,649.828942493,629,651,0.400945844881,0.00452054179307,0.0598363935728,0.999999948951,0.000162327743566,-0.000274388424335,2.14192846871e-05,1793193569010069504
+30,0.500000000,BASELINE,764,742,711,672,663,632,878,784,799,650,628.588362778,651,0.400946689179,0.00452075926137,0.0598366521047,0.999999949179,0.00016315164371,-0.000273062956057,2.1434639516e-05,1793193569026736128
+31,0.516666667,BASELINE,764,742,711,672,663,632,878,784,799,650,628.006658478,651,0.400947048544,0.0045215892197,0.0598365135024,0.999999949054,0.000165572200887,-0.000272067375082,2.1382118751e-05,1793193569043402752
+32,0.533333333,BASELINE,764,742,711,672.569894183,663,632,878,784,799,650,628,651,0.400947212504,0.00452254080717,0.0598374568416,0.999999949429,0.000164664689773,-0.00027124879275,2.12301014039e-05,1793193569060069632
+33,0.550000000,BASELINE,763.85377509,742,711,673,663,632,878,784.14622491,799,650,628.14622491,651,0.400947038633,0.00452320336019,0.0598377348071,0.999999949541,0.000163987563526,-0.000271263623133,2.10354009314e-05,1793193569076736768
+34,0.566666667,BASELINE,763.277921271,742,711,673,663,632,878,784.722078729,799,650,628.722078729,651,0.40094587882,0.0045230125521,0.0598360210044,0.999999948859,0.000164100563476,-0.000273721113269,2.07186765451e-05,1793193569093403392
+35,0.583333333,BASELINE,763.297823756,742,711,672.702176244,663,632.297823756,878,784.702176244,799.297823756,650,629,651,0.400946035774,0.00452342794054,0.0598360023012,0.999999948788,0.000164625357689,-0.000273677235953,2.05903377726e-05,1793193569110070016
+36,0.600000000,BASELINE,763.873467366,742,711,672.126532634,663,632.873467366,878,784.126532634,799.873467366,650,629,651,0.400947421054,0.00452440880913,0.0598375648427,0.999999949284,0.000165534287226,-0.000271300000604,2.06377312968e-05,1793193569126736384
+37,0.616666667,BASELINE,764,742,711,672,663,632.536879489,878,784,799.536879489,650.463120511,629,651,0.400946433879,0.00452395089327,0.0598363394837,0.99999994873,0.000166808703601,-0.000272543487448,2.08456325747e-05,1793193569143403008
+38,0.633333333,BASELINE,764,742,711,672,663,632,878,784,799,651,629,651,0.40094497693,0.00452305245728,0.059834576204,0.999999948002,0.000167808779427,-0.000274575445042,2.10973494223e-05,1793193569160069632
+39,0.650000000,BASELINE,764,742,711,672,663,632,878,784,799,651,629,651,0.400945400195,0.00452182125161,0.059835155999,0.999999948469,0.000165237467264,-0.000274414928475,2.13357589086e-05,1793193569176736256
+40,0.666666667,BASELINE,763.795565367,742,711,672,663.204434633,632,877.795565367,784,799.204434633,650.795565367,629.204434633,651.204434633,0.400945477803,0.00452134235421,0.0598356626653,0.999999948774,0.000163688494372,-0.000274231093457,2.13404880945e-05,1793193569193402880
+41,0.683333333,BASELINE,763.220296421,742,711,672,663.779703579,632,877.220296421,784,799.779703579,650.220296421,629.779703579,651.779703579,0.400944928406,0.00452222810688,0.0598360366796,0.999999948795,0.000163993994501,-0.000274004959935,2.09213327609e-05,1793193569210069760
+42,0.700000000,BASELINE,763,742,711,672.364746165,663.635253835,632,877.364746165,784,799.635253835,650,629.635253835,651.635253835,0.400945086243,0.00452359381773,0.059836359977,0.999999948565,0.000166061682716,-0.000273609942046,2.0759616462e-05,1793193569226736640
+43,0.716666667,BASELINE,763,742,711,672.955854263,663.044145737,632,877.955854263,784,799.044145737,650,629.044145737,651.044145737,0.400945682992,0.0045252573912,0.0598366517995,0.999999948172,0.000169222987085,-0.000273110114309,2.07576671706e-05,1793193569243403520
+44,0.733333333,BASELINE,763.532665854,742,711,672.467334146,663,632,877.467334146,784,799.532665854,650.532665854,629,651,0.400946986154,0.00452366626661,0.0598371292776,0.999999948711,0.00016686521876,-0.000272580624391,2.08500520836e-05,1793193569260069888
+45,0.750000000,BASELINE,763.891517868,742,711,672,663,632,877,784,799.891517868,650.891517868,629,651,0.400947857892,0.00452203653338,0.0598374778,0.999999949193,0.000164620332643,-0.000272163102271,2.0995542478e-05,1793193569276736512
+46,0.766666667,BASELINE,763.315017645,742,711,672,663,632,877,784,799.315017645,650.315017645,629,651,0.400946622384,0.00452137353781,0.0598372053297,0.999999949138,0.00016478422046,-0.000272238964948,2.13372950071e-05,1793193569293403648
+47,0.783333333,BASELINE,763,742,711,672,663,632,877.267299184,784,799.267299184,650,629,651,0.400946118151,0.00452077606106,0.0598368624496,0.999999949198,0.0001644230784,-0.000272230102539,2.14386863772e-05,1793193569310070272
+48,0.800000000,BASELINE,763,742,711,672,663,632,877.856623568,784,799.856623568,650,629,651,0.400946494911,0.00452025751714,0.0598364347442,0.999999949395,0.000163429413475,-0.000272119168699,2.12505058255e-05,1793193569326736384
+49,0.816666667,BASELINE,763.438276761,742,711,672,663.438276761,632.438276761,877.561723239,784,800,650,629,651,0.400946538545,0.0045209205253,0.0598367721291,0.999999949203,0.000164025356242,-0.000272463758608,2.12801995813e-05,1793193569343403008
+50,0.833333333,BASELINE,764,742,711,672,663.982605902,632.982605902,877,784,799.982605902,650,629,651,0.400946484168,0.00452191326908,0.0598373485966,0.999999948915,0.000165047268877,-0.000272897816561,2.13724926759e-05,1793193569360069888
+51,0.850000000,BASELINE,764,742,711,672,663.405722814,632.405722814,877,784,799.405722814,650,629,651,0.40094672222,0.00452129309733,0.0598377030886,0.99999994958,0.000163331780026,-0.0002714988599,2.12251763282e-05,1793193569376736256
+52,0.866666667,BASELINE,764,742,711,672.170286881,663,632.170286881,877.170286881,784.170286881,799,650,629,651,0.400947132796,0.00452068076522,0.0598379815484,0.999999950087,0.000161952645011,-0.000270461211405,2.11683579011e-05,1793193569393403136
+53,0.883333333,BASELINE,764,742,711,672.744226227,663,632.744226227,877.744226227,784.744226227,799,650,629,651,0.400947952331,0.00452008701639,0.0598380797798,0.999999950227,0.000161370812008,-0.000270280017297,2.13260581142e-05,1793193569410070272
+54,0.900000000,BASELINE,764,742,711,672.672203981,663,633,878,785,799.327796019,650,628.672203981,651,0.40094722043,0.0045213150888,0.0598374689243,0.999999949597,0.000163392895734,-0.000271405045056,2.11768801534e-05,1793193569426737152
+55,0.916666667,BASELINE,764,742,711,672.080892289,663,633,878,785,799.919107711,650,628.080892289,651,0.400945241328,0.00452400772586,0.059836288033,0.999999948332,0.000167508271746,-0.000273580146386,2.07810023957e-05,1793193569443403264
+56,0.933333333,BASELINE,764,742,711,672,663,632.499918105,877.499918105,785,800,650,628.500081895,651,0.400946734676,0.00452346371426,0.0598371756455,0.9999999489,0.000166754606423,-0.000271947198052,2.09208862969e-05,1793193569460069888
+57,0.950000000,BASELINE,764,742,711,672,662.921912308,632,877.078087692,784.921912308,800,650,629,651,0.400948399917,0.00452245575937,0.059838216463,0.999999949665,0.000165210877778,-0.000270053695451,2.1125711454e-05,1793193569476736512
+58,0.966666667,BASELINE,764,742,711,672,662.352279326,632,877.647720674,784.352279326,800,650,629,651,0.400947683032,0.00452175629514,0.0598381581112,0.999999949864,0.000163551276022,-0.000270319009948,2.120484648e-05,1793193569493403392
+59,0.983333333,BASELINE,764,742,711,672.226195577,662.226195577,632,878,784,799.773804423,650,629,651,0.400947484899,0.00452174658353,0.0598381335787,0.999999949835,0.000163553898523,-0.000270430338624,2.11600839244e-05,1793193569510070528
+60,1.000000000,BASELINE,764,742,711,672.819001255,662.819001255,632,878,784,799.180998745,650,629,651,0.400948127543,0.00452285479943,0.0598381638592,0.999999949433,0.000166250597315,-0.000270292092361,2.09145123938e-05,1793193569526737664
+61,1.016666667,BASELINE,764,742,711,672.597293805,663,632.402706195,877.597293805,784,799,650,629,651,0.400946523355,0.00452332535274,0.0598372090026,0.999999949015,0.000166247312198,-0.000271840436024,2.08447923144e-05,1793193569543404032
+62,1.033333333,BASELINE,764,742,711,672.017588886,663,632.982411114,877.017588886,784,799,650,629,651,0.400943931633,0.00452351563847,0.0598358211554,0.999999948587,0.00016505732129,-0.000274130075134,2.08523630463e-05,1793193569560070656
+63,1.050000000,BASELINE,763.440760207,742,711,672,663,632.440760207,877,784,800.118479586,650,629,651,0.400945605819,0.0045236995134,0.0598371577714,0.999999949094,0.000164903525731,-0.000272382982598,2.06526100363e-05,1793193569576737024
+64,1.066666667,BASELINE,763.135462658,742,711,672,663,632,877,784,800.864537342,650,629,651,0.400946670661,0.00452374007187,0.0598379335981,0.999999949389,0.000164878996597,-0.000271326844663,2.04751045158e-05,1793193569593403648
+65,1.083333333,BASELINE,763.710013533,742,711,672,663,632,877,784,800.289986467,650,629,651,0.400945327714,0.00452331673502,0.0598366153561,0.999999948909,0.000165168375242,-0.000272919789878,2.03907397342e-05,1793193569610070016
+66,1.100000000,BASELINE,764,742,711,672,663,632.292461565,877.292461565,784,800,650,629,651,0.400944984221,0.00452385966776,0.0598364652733,0.999999948709,0.000166178393095,-0.000273034841493,2.04524143785e-05,1793193569626736640
+67,1.116666667,BASELINE,764,742,711,672,663,632.882957191,877.882957191,784,800,650,629,651,0.400945659224,0.00452538728121,0.0598375056077,0.999999948792,0.000167922781033,-0.000271643839965,2.06629110554e-05,1793193569643403520
+68,1.133333333,BASELINE,764,742,711,672,663,632.536129018,878,784,800,650,629,651,0.400946672519,0.00452410300113,0.0598378840231,0.999999949219,0.000166689761541,-0.000270813407376,2.09046868207e-05,1793193569660070400
+69,1.150000000,BASELINE,764,742.042206043,711,672,663.042206043,632.042206043,878,784,800,650,629,651,0.400947689658,0.00452233927457,0.0598381227737,0.999999949701,0.000164886553444,-0.000270116954794,2.11257694792e-05,1793193569676737280
+70,1.166666667,BASELINE,764,742.617886298,711,672,663.617886298,632.617886298,878,784,800,650,629,651,0.400947698324,0.00452330175509,0.0598386644859,0.99999994986,0.000165179773434,-0.000269362374175,2.09875585927e-05,1793193569693403648
+71,1.183333333,BASELINE,764,742.806497893,711,672,663.806497893,633,877.806497893,784,800,650,629,651,0.400947475742,0.0045240472422,0.0598387969012,0.999999949794,0.000165871992049,-0.000269197700543,2.07756244095e-05,1793193569710070016
+72,1.200000000,BASELINE,764,742.231009202,711,672,663.231009202,633,877.231009202,784,800,650,629,651,0.400946796659,0.00452436436946,0.0598381213365,0.999999949285,0.000167351861687,-0.000270197544093,2.04181552985e-05,1793193569726736640
+73,1.216666667,BASELINE,764,742,711,672,663,633,877.353476984,784,799.646523016,650,629,651,0.400946774421,0.00452392706626,0.0598380225373,0.999999949164,0.00016734393025,-0.000270640542288,2.05333872621e-05,1793193569743403264
+74,1.233333333,BASELINE,764,742,711,672,663,633,877.943996885,784,799.056003115,650,629,651,0.400947192667,0.00452298383929,0.059838310519,0.999999949304,0.00016633827405,-0.000270710117955,2.09656142632e-05,1793193569760069888
+75,1.250000000,BASELINE,764,742,711,672,663,632.477207289,878,784.522792711,799.522792711,650,628.477207289,651,0.400947728549,0.00452232923537,0.0598385086773,0.999999949882,0.000164098652247,-0.000269953774165,2.0793667059e-05,1793193569776736768
+76,1.266666667,BASELINE,763.899892826,742,711,672,663,632,877.899892826,784.899892826,799.899892826,650,628.100107174,651,0.400948052776,0.00452192042788,0.0598386565069,0.999999950299,0.000162465357126,-0.000269407701848,2.0638881615e-05,1793193569793403392
+77,1.283333333,BASELINE,763.323781347,742,711,672,663,632,877.323781347,784.323781347,799.323781347,650,628.676218653,651,0.400947311982,0.0045225365797,0.0598386097751,0.999999949756,0.000164329864768,-0.000270272925502,2.08666940282e-05,1793193569810070272
+78,1.300000000,BASELINE,763.257333965,742,711,672,663,632,877.257333965,784.257333965,799,649.742666035,629,651,0.400946490225,0.00452335476726,0.0598380067171,0.999999949292,0.0001653038136,-0.000271402656839,2.07750112917e-05,1793193569826736896
+79,1.316666667,BASELINE,763.844869979,742,711,672,663,632,877.844869979,784.844869979,799,649.155130021,629,651,0.400945564579,0.00452443220004,0.0598366898006,0.99999994893,0.000165135028011,-0.000272871795227,2.0273363406e-05,1793193569843403264
+80,1.333333333,BASELINE,763.573507686,742,711,672,663,632,877.573507686,784.573507686,799.426492314,649.426492314,629,651,0.400945802739,0.00452313202933,0.0598369881223,0.999999949362,0.000164187743813,-0.000271850875409,2.03629712373e-05,1793193569860069888
+81,1.350000000,BASELINE,763.005962383,742,711,672,663,632.005962383,877.005962383,784,799.994037617,650.005962383,628.994037617,651,0.400946454518,0.00452101097573,0.0598378598206,0.999999950067,0.000162977440905,-0.000269959001829,2.06639937346e-05,1793193569876736512
+82,1.366666667,BASELINE,763.582492579,742,711,672,663,632.582492579,877.582492579,784,799.417507421,650.582492579,628.417507421,651,0.400946732262,0.00452196234662,0.0598381471571,0.999999949938,0.000163324628572,-0.00027020876847,2.08976161851e-05,1793193569893403136
+83,1.383333333,BASELINE,764,742,711,672,663,632.840974673,878,783.840974673,799.159025327,650.681949347,628.159025327,651,0.400946941203,0.00452243207727,0.0598382326757,0.999999949824,0.000163395957466,-0.000270578411095,2.10121848244e-05,1793193569910069760
+84,1.400000000,BASELINE,764,742,711,672,663,632.264435103,878,783.264435103,799.735564897,649.528870207,628.735564897,651,0.400946969505,0.00452163728211,0.0598377883299,0.999999949749,0.000162743030939,-0.00027126278308,2.08141827878e-05,1793193569926736384
+85,1.416666667,BASELINE,764,742,711,672.318039443,663,632,878,783.318039443,799.681960557,649.318039443,629,651,0.400947615047,0.00452148518311,0.0598381361226,0.999999949938,0.000162410321115,-0.000270776355326,2.0668175453e-05,1793193569943403264
+86,1.433333333,BASELINE,764,742,711,672.90554245,663,632,878,783.90554245,799.09445755,649.90554245,629,651,0.400948783554,0.00452187761788,0.0598391550665,0.999999950349,0.000162348919611,-0.000269297950346,2.05662214009e-05,1793193569960069888
+87,1.450000000,BASELINE,764,742,711,672.513933654,663,632,877.513933654,784,799,650,628.513933654,651,0.400947862631,0.00452251781617,0.0598385400858,0.999999949843,0.000164293923247,-0.000270003329344,2.05075644614e-05,1793193569976736768
+88,1.466666667,BASELINE,764,742,711,672,663,632,877.064753471,784,799,650,628.064753471,651,0.400946670885,0.00452306385623,0.0598377092004,0.999999949255,0.0001661576305,-0.000271038052563,2.05012983777e-05,1793193569993403392
+89,1.483333333,BASELINE,764,742,711,672,663,632,877.639504858,784,799,650,628.639504858,651,0.400946498851,0.00452249446093,0.059837643249,0.999999949455,0.000164353620921,-0.000271371618028,2.08423321301e-05,1793193570010069760
+90,1.500000000,BASELINE,764,742.21440183,711,672,663,632,877.78559817,784,799,650,629,651,0.400946366738,0.00452226451256,0.0598377865076,0.999999949677,0.000162899147128,-0.000271422172509,2.09794238054e-05,1793193570026736640
+91,1.516666667,BASELINE,764,742.7895437,711,672,663,632,877.2104563,784,799,650,629,651,0.400946301795,0.00452260569788,0.0598382817705,0.999999949937,0.000162032782084,-0.000270996549146,2.07733743792e-05,1793193570043403264
+92,1.533333333,BASELINE,764,742.625254393,711,672,663,632.374745607,877.374745607,784,799,650,629,651.374745607,0.400945925636,0.00452258287239,0.0598379496891,0.999999949825,0.000161912349184,-0.000271484670497,2.07589467104e-05,1793193570060070400
+93,1.550000000,BASELINE,764,742.034246887,711,672,663,632.965753113,877.965753113,784,799,650,629,651.965753113,0.400945369876,0.00452234997997,0.0598371401558,0.999999949496,0.000162222386099,-0.000272500104639,2.08551020005e-05,1793193570076737792
+94,1.566666667,BASELINE,764,742,711,672,663.545747488,633,878,784.545747488,799.545747488,650,629,651.454252512,0.400946810136,0.00452262058225,0.0598381048408,0.999999949903,0.000162353952777,-0.000270929811159,2.07766729227e-05,1793193570093404416
+95,1.583333333,BASELINE,764,742,711,672,664,633,877.875976497,784.875976497,799.875976497,650,629,651,0.400947833837,0.00452308659819,0.0598387594503,0.999999950121,0.00016290731038,-0.000269795629607,2.07189080463e-05,1793193570110071040
+96,1.600000000,BASELINE,764,742,711,672,664,633,877.30148114,784.30148114,799.30148114,650,629,651,0.40094689859,0.00452414989654,0.0598378914293,0.999999949494,0.000165032548837,-0.000270823166685,2.07752037244e-05,1793193570126737408
+97,1.616666667,BASELINE,764,742,711,672,663.720474403,632.720474403,877.559051195,784,799,650.279525597,629,651,0.400946775505,0.004523642015,0.0598376464155,0.999999949433,0.000165031117659,-0.000271040500655,2.0866583502e-05,1793193570143404032
+98,1.633333333,BASELINE,764,742,711,672,663.132277386,632.132277386,878.735445229,784,799,650.867722614,629,651,0.400947549263,0.00452139912834,0.0598380893692,0.999999949999,0.000162681271247,-0.000270363152481,2.09967055557e-05,1793193570160070400
+99,1.650000000,BASELINE,764,742,711,672,663,632,878.551228794,784,799.448771206,650.551228794,629,651,0.400946015689,0.00452257116634,0.0598374291371,0.999999949325,0.000164452148125,-0.000271782730961,2.09879951e-05,1793193570176736768
+100,1.666666667,BASELINE,764.027691215,742,711,672,663,632,877.972308785,784,799.972308785,650,629,651,0.400943981053,0.00452455069949,0.0598365410539,0.999999948366,0.000167190089502,-0.000273636843231,2.09388561884e-05,1793193570193403392
+101,1.683333333,BASELINE,764.605526878,742,711,672,663,632,877.394473122,784,799.394473122,650,629,651,0.400945291486,0.00452288883807,0.0598374851061,0.999999949103,0.000165388519854,-0.000272036977707,2.08867660695e-05,1793193570210070016
+102,1.700000000,BASELINE,764.817655215,742,711,672,663.182344785,632,877.182344785,784,799,650,629,651,0.400946453995,0.00452153406277,0.0598381145428,0.999999949853,0.00016333941034,-0.000270518512606,2.08500727654e-05,1793193570226736896
+103,1.716666667,BASELINE,764.243026912,742,711,672,663.756973088,632,877.756973088,784,799,650,629,651,0.400947298267,0.0045208399308,0.0598380671384,0.999999950634,0.000160757761512,-0.000269175166757,2.08465030732e-05,1793193570243403776
+104,1.733333333,BASELINE,764,742,711,672,663.660177156,632,877.660177156,784.339822844,799,650,629,651,0.400947370902,0.00452201595568,0.0598382368394,0.999999950419,0.000161737718887,-0.000269398306716,2.06986116419e-05,1793193570260070656
+105,1.750000000,BASELINE,764,742,711,672,663.07130193,632,877.07130193,784.92869807,799,650,629,651,0.400946878012,0.00452456259764,0.0598385656546,0.999999949466,0.000165327937555,-0.000270769506554,2.04449484129e-05,1793193570276737280
+106,1.766666667,BASELINE,764,742,711,672,663,632.509481425,877.509481425,784.490518575,799,650,629,651,0.400947258621,0.00452351938038,0.0598386706173,0.999999949793,0.000163876189999,-0.000270427333507,2.06927900676e-05,1793193570293403648
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,742,711,672,663,633,878,784,799,650,630,651,0.400945928262,0.00452176652883,0.0598379335885,0.999999949561,0.000163471983201,-0.000271497251513,2.10552060946e-05,1793193570336697856
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,742,711,672.576161981,663.576161981,632.423838019,878,784,799,650,629.423838019,651,0.400945770637,0.00452142605713,0.0598378642873,0.999999949676,0.000162302074209,-0.000271772675467,2.11215346378e-05,1793193570353364480
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,742,711,672.842133352,663.842133352,632,877.842133352,784,799.157866648,650,628.842133352,651,0.400945831425,0.00452173387101,0.0598380638556,0.999999949669,0.000162542412575,-0.000271655077093,2.11202000255e-05,1793193570370031104
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,742,711,672.245006148,663.245006148,632,877.245006148,784,799.754993852,650,628.245006148,651,0.400946499943,0.00452384552554,0.0598390115476,0.999999949315,0.000166706733649,-0.000270443902596,2.09305941519e-05,1793193570386698240
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,742,711,672.339116859,663.339116859,632.339116859,877.339116859,784,800,650,628.339116859,651,0.400946931068,0.00452399791948,0.059839263746,0.999999949536,0.000166231324256,-0.000269930821479,2.08147841814e-05,1793193570403364864
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,742,711,672.914191499,663.914191499,632.914191499,877.914191499,784,800,650,628.914191499,651,0.400947197016,0.00452278705822,0.0598390320193,0.999999950153,0.000162527586459,-0.000269903474365,2.07503214703e-05,1793193570420031232
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,742,711,672.510293844,663.510293844,633,877.510293844,784,799.510293844,650,629,651,0.400947891798,0.00452177904999,0.0598388792902,0.999999950237,0.000161486493537,-0.000270205381429,2.08940977044e-05,1793193570436697600
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,742,711,672.066694493,663.066694493,633,877.066694493,784,799.066694493,650,629,651,0.400949281511,0.00452079554039,0.0598390241454,0.999999950395,0.000160886197506,-0.000269965423541,2.10671124591e-05,1793193570453364224
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,742,711,672.654596347,663.654596347,633,877.654596347,784,799.654596347,650,629,651,0.40095551425,0.00451972545663,0.0598413863047,0.99999995184,0.000160081283404,-0.000265039602576,2.11832128227e-05,1793193570470030848
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,742,711,672.759958259,663.759958259,632.759958259,877.759958259,784.240041741,800,650,629,651,0.400967689802,0.00451964125883,0.0598466599309,0.999999954104,0.000160716164475,-0.000255943220778,2.13395046935e-05,1793193570486697472
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,742,711,672.178011789,663.178011789,632.178011789,877.178011789,784.821988211,800,650,629,651,0.400988330032,0.00452096131302,0.0598560805203,0.9999999574,0.000163401825497,-0.000240906478874,2.15530435387e-05,1793193570503364096
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,742,711,672,663.398638155,632.398638155,877.398638155,784.601361845,800,650,629,651,0.401030043548,0.00452152144109,0.0598721691887,0.999999964174,0.000163208498273,-0.000211073413838,2.15011764934e-05,1793193570520030720
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,742,711,672,663.972953997,632.972953997,877.972953997,784.027046003,800,650,629,651,0.40108104395,0.00452174667391,0.0598911964446,0.999999971428,0.000161746416493,-0.000174719687365,2.13323464975e-05,1793193570536697600
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,742.547939148,711,672,663.452060852,633,877.452060852,784,799.452060852,650,628.452060852,651,0.401149980534,0.00452076464956,0.0599080643807,0.999999975046,0.000162336105906,-0.000151878496756,2.20818207022e-05,1793193570553364224
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,742.873245863,711,672,663,632.873245863,877,784,799,650,628.126754137,651,0.401221587896,0.00451961365258,0.0599227358231,0.99999997796,0.000162076859066,-0.000131532108003,2.25866105191e-05,1793193570570030848
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,742.280471664,711,672,663,632.280471664,877,784,799,650,628.719528336,651,0.401299755646,0.00451806076926,0.0599297240531,0.999999980274,0.000158323644252,-0.000117902852844,2.2024950385e-05,1793193570586697472
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,742,711,672,663,632.302126764,877,784.302126764,799,650,629,651,0.401387094216,0.00451756800735,0.059934163731,0.999999981697,0.000155041962498,-0.000110073078696,2.12440080248e-05,1793193570603364096
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,742,711,672,663,632.875586533,877,784.875586533,799,650,629,651,0.401482668879,0.00451802731589,0.0599363146131,0.999999982442,0.000152183753839,-0.000107451684111,2.02661334441e-05,1793193570620030976
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,742,711,672,663,632.54600884,877,784.54600884,799,650,628.54600884,651,0.4016039486,0.00451773230426,0.0599394532576,0.999999983621,0.000149999710361,-9.94802868286e-05,1.90073760525e-05,1793193570636697856
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,742,711,672.033324787,663,632,877,784,799.033324787,650,628.033324787,651,0.401733761857,0.00451715007791,0.0599425824693,0.999999984842,0.000147744399002,-9.04254673093e-05,1.76154409686e-05,1793193570653364480
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,742,711,672.605526861,663,632,877,784,799.605526861,650,628.605526861,651,0.401886402197,0.0045153029717,0.0599411337612,0.999999986041,0.000141316248348,-8.78203623514e-05,1.5328375592e-05,1793193570670031104
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,742,711,673,663,632,877,784,799.815149162,650,629,651,0.402048664448,0.00451374403662,0.0599403953299,0.999999987261,0.000134913664556,-8.43332127418e-05,1.28458062334e-05,1793193570686697728
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,742,711,673,663,632,877,784,799.220018051,650,629,651,0.40223228271,0.00451282470361,0.0599412333726,0.999999988574,0.000128567827804,-7.88883470631e-05,9.92931203255e-06,1793193570703364352
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,742.362965772,711,672.637034228,663,632.362965772,877.362965772,784,799,650,628.637034228,651,0.402442745082,0.00451269763369,0.0599430976789,0.999999989876,0.000122844313696,-7.14725709274e-05,6.98476801907e-06,1793193570720031232
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,742.938824803,711,672.061175197,663,632.938824803,877.938824803,784,799,650,628.061175197,651,0.402668952567,0.00451303525618,0.0599455639279,0.999999991112,0.000117485814927,-6.29007801619e-05,4.02377144333e-06,1793193570736698112
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,742.486832709,711,672,663,632.486832709,877.486832709,784,799,650.513167291,628.513167291,651,0.402931034321,0.00451020997231,0.0599497047475,0.999999992567,0.000109762869043,-5.30718038814e-05,1.57122246746e-06,1793193570753364224
+133,2.216666667,POSE1_TO_POSE2_PRESS,763.909989148,742,711,672,663.090010852,632,877.090010852,784,799,650.909989148,629,650.909989148,0.403201669578,0.00450691282948,0.0599525465173,0.999999993829,0.000101248704879,-4.57235570884e-05,-9.43124807386e-07,1793193570770030848
+134,2.233333333,POSE1_TO_POSE2_PRESS,763.318197845,742,711,672,663.681802155,632,877.681802155,784,799,650.318197845,629,650.318197845,0.403496217451,0.00450308098199,0.0599470369436,0.999999994545,8.98904507243e-05,-5.30375606724e-05,-4.13887706148e-06,1793193570786697728
+135,2.250000000,POSE1_TO_POSE2_PRESS,763.267559902,742,711,672,664,632,878,784,799.267559902,650,629,650.267559902,0.403804602159,0.00449219920179,0.0599380200812,0.999999995427,6.89183226121e-05,-6.60148703817e-05,-6.14077785253e-06,1793193570803364608
+136,2.266666667,POSE1_TO_POSE2_PRESS,763.846300397,742,711,672,664,632,878,784,799.846300397,650,629,650.846300397,0.404129079524,0.004473118128,0.0599249241318,0.999999995639,3.67649568903e-05,-8.55787830018e-05,-6.75419159165e-06,1793193570820031232
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,742,711,672.42184305,663.57815695,632.42184305,878,784,799.57815695,650,629,651,0.404471096317,0.00446479340251,0.0599100731578,0.999999993362,1.8919736766e-05,-0.000113246859776,-9.642988775e-06,1793193570836697856
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,742,711,672.996229315,663.003770685,632.996229315,878,784,799.003770685,650,629,651,0.404819455559,0.00446035829456,0.0598945875474,0.999999989546,6.24850450913e-06,-0.00014384549341,-1.33545903114e-05,1793193570853364480
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,742,711,672.41601021,663,632.41601021,878,784,799,650,629,651,0.405244880247,0.0044650263971,0.0598910035932,0.999999988046,5.27194595343e-06,-0.000153386449142,-1.8808799212e-05,1793193570870031104
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,742,711,672,663,632,878,784,799,650,629,651,0.405694832317,0.00446602114154,0.0598962518709,0.999999989054,-8.76508228475e-07,-0.000146060363014,-2.36069091236e-05,1793193570886697472
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,742,711,672,663,632,878,784,799,650,629,651,0.406202930639,0.00445797729429,0.0599226920055,0.999999994621,-1.97328723766e-05,-9.82371453909e-05,-2.6788767585e-05,1793193570903364096
+142,2.366666667,POSE1_TO_POSE2_PRESS,763.675773422,742,711,672.324226578,663,632,877.675773422,784,799,650,629,651,0.406736614027,0.00445526267224,0.0599528479748,0.999999997942,-3.13575417283e-05,-4.68279895651e-05,-3.06664158975e-05,1793193570920030976
+143,2.383333333,POSE1_TO_POSE2_PRESS,763.102541268,742,711,672.897458732,663,632,877.102541268,784,799,650,629,651,0.407289946765,0.00445664088714,0.0599858577031,0.999999998657,-3.74282811392e-05,7.33516707431e-06,-3.50784301909e-05,1793193570936697600
+144,2.400000000,POSE1_TO_POSE2_PRESS,763,742,711,672.524670832,663.475329168,632,877.475329168,784,799.475329168,650,629,651,0.407826813911,0.00445231407701,0.0599890980237,0.999999997985,-4.99571782212e-05,4.508497214e-06,-3.8900581794e-05,1793193570953364480
+145,2.416666667,POSE1_TO_POSE2_PRESS,763.055173635,742,711,672,663.944826365,632,878,784,800,650,628.944826365,651,0.408363835607,0.00444718333144,0.0599845913354,0.99999999697,-6.37583734139e-05,-1.28493049749e-05,-4.27800231197e-05,1793193570970031360
+146,2.433333333,POSE1_TO_POSE2_PRESS,763.644344378,742,711,672,663.355655622,632,878,784,800,650,628.355655622,651,0.408937070885,0.00444630065749,0.0599678736531,0.999999994634,-7.6256574958e-05,-5.068433243e-05,-4.84576601186e-05,1793193570986697728
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,742,711,672,663,632,878,784,800,650,628.229582913,651,0.409538905043,0.0044478119926,0.0599587283002,0.999999995562,-4.92539168121e-05,-6.92486734045e-05,-4.06781820062e-05,1793193571003364608
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,742,711,672,663,632,878,784,800,650,628.808832455,651,0.410184296738,0.00445296952717,0.059961115997,0.999999997496,3.79105913339e-05,-5.84627612291e-05,-1.24028221785e-05,1793193571020030976
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,742,711,672,663.386756867,632,878,784,799.613243133,650,629,651,0.410861651502,0.00445645960981,0.0599688486324,0.999999999068,1.17685949843e-05,-4.07165473917e-05,-8.19282633393e-06,1793193571036697600
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,742,711,672,663.964028508,632,878,784,799.035971492,650,629,651,0.411554751119,0.00445912831265,0.0599792141615,0.99999999722,-7.01877019228e-05,-1.95417190283e-05,-1.58373263506e-05,1793193571053364224
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,742,711,672,663.463044987,632,878,784,799.536955013,650,628.463044987,651,0.412224368045,0.00445171417494,0.0599609765623,0.99999999422,-9.24228676334e-05,-5.02317997307e-05,-2.22543524161e-05,1793193571070030848
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,742,711,672,663,632,878,784,799.886899067,650,628,650.886899067,0.412895228166,0.00444563584399,0.0599377092101,0.999999989866,-0.000104667622652,-9.24363830425e-05,-2.77305700533e-05,1793193571086697728
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,742,711,672,663,632,878,784,799.295930811,650,628,650.295930811,0.413577934183,0.00444803251566,0.0599012215494,0.999999981145,-9.14698019151e-05,-0.000168728876517,-2.95763846577e-05,1793193571103364352
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,742,711,672,663,632.288826679,878,784.288826679,799,650,628.288826679,650.288826679,0.414327220808,0.00444815755467,0.0598970050712,0.999999980461,-8.02672518785e-05,-0.000177976259424,-3.09859043596e-05,1793193571120030976
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,742,711,672,663,632.867354666,878,784.867354666,799,650,628.867354666,650.867354666,0.415143289745,0.00444600408231,0.0599251574953,0.999999989767,-7.10660132597e-05,-0.000119975514049,-3.19578082403e-05,1793193571136697856
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,742.443077288,711,672.443077288,663.886154576,632.556922712,878,784.556922712,799,649.556922712,629,651,0.415977752707,0.00444030770775,0.0599649829166,0.999999995889,-6.88960739762e-05,-4.96664707227e-05,-3.17478805824e-05,1793193571153364736
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,742.982049021,711,673,664.964098042,632,878.017950979,784,799,649.017950979,628.982049021,650.982049021,0.416816023319,0.00443379803543,0.0600065365279,0.999999996943,-6.84585988635e-05,2.12447814718e-05,-3.12297131255e-05,1793193571170031104
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,742.40761952,711,673,663.81523904,632,878.59238048,784,799,649.59238048,628.40761952,650.40761952,0.417602700074,0.0044347493394,0.0599940139387,0.999999997865,-5.68837248606e-05,-2.68425217009e-06,-3.20551610811e-05,1793193571186697728
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,742,711,673,663,632,878.827774302,784,799.172225698,650,628,650,0.418403909595,0.00443417068974,0.0599796351752,0.999999997648,-5.29891482418e-05,-2.8086943016e-05,-3.3287122381e-05,1793193571203364352
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,742,711,673,663,632,878.234695187,784,799.765304813,650,628,650,0.419240631565,0.00442985342136,0.0599607206359,0.999999995437,-6.78622674903e-05,-5.70906842718e-05,-3.55124460397e-05,1793193571220030720
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,742,711,673,663.350054253,632,878,783.649945747,799.649945747,650,628.350054253,650,0.420063657985,0.0044274088432,0.0599389383609,0.99999999146,-9.00426655988e-05,-8.71171939346e-05,-3.72000640149e-05,1793193571236697344
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,742,711,673,663.929348809,632,878,783.070651191,799.070651191,650,628.929348809,650,0.420877715556,0.00442619063532,0.0599152780903,0.999999985472,-0.000117008386457,-0.000117813483523,-3.85355541294e-05,1793193571253364224
+163,2.716666667,POSE1_TO_POSE2_PRESS,763.496542121,742,711,673,663.496542121,632,878,783.503457879,799,650,628.496542121,650.503457879,0.421668780521,0.00442589511418,0.0598878482309,0.999999977201,-0.000106810514171,-0.000181040987966,-3.7596066823e-05,1793193571270031104
+164,2.733333333,POSE1_TO_POSE2_PRESS,763.078870858,742,711,673,663,632,878,784,799.078870858,650,628,651,0.422472785532,0.00442518097077,0.0598689391803,0.999999968723,-9.38186699395e-05,-0.000228914677376,-3.67545876835e-05,1793193571286697728
+165,2.750000000,POSE1_TO_POSE2_PRESS,763.667362747,742,711,673,663,632,878,784,799.667362747,650,628,651,0.423381037784,0.00442093379966,0.0599084702461,0.999999983626,-9.61282031503e-05,-0.000148383324661,-3.85881896007e-05,1793193571303364608
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,742.252406254,711,673,663.252406254,632,878,784,799.747593746,649.747593746,628.252406254,651,0.424303697915,0.0044171758636,0.0599551468453,0.999999992347,-9.68560795176e-05,-6.63143567739e-05,-3.90815867862e-05,1793193571320031488
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,742.832966593,711,673,663.832966593,632,878,784,799.167033407,649.167033407,628.832966593,651,0.425245089893,0.0044140539828,0.0600111133779,0.999999994564,-9.55276398122e-05,1.77536796104e-05,-3.7832580319e-05,1793193571336697856
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,742.589538443,711,673,664,632,878,784.410461557,799,649.410461557,629,651,0.426121598574,0.00441218698101,0.0600178832101,0.999999993028,-0.000105319934477,3.66156058881e-05,-3.88832391242e-05,1793193571353364224
+169,2.816666667,POSE1_TO_POSE2_PRESS,764,742.013281693,711,673,664,632,878,784.986718307,799,649.986718307,629,651,0.426971899292,0.00441082685491,0.0600047813205,0.999999991588,-0.000119604158705,2.91392271532e-05,-4.08627876097e-05,1793193571370030592
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,742,711,673,664,632,878,784.445263379,799.554736621,650,629,650.445263379,0.427786483788,0.0044173113182,0.0599775210944,0.999999992872,-0.000111744602281,-1.19217534347e-05,-4.034141309e-05,1793193571386697728
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,742,711,673.12847659,664,632.12847659,878,784,800,650,628.87152341,650.12847659,0.428593091967,0.00442803563251,0.0599518359854,0.999999993081,-9.79270684867e-05,-5.09286053718e-05,-4.06663673516e-05,1793193571403364864
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,742,711,673.723709453,664,632.723709453,878,784,800,650,628.276290547,650.723709453,0.429373783318,0.0044534909942,0.0599330867969,0.999999993781,-6.43621046416e-05,-7.95942632765e-05,-4.42803932955e-05,1793193571420032000
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,742.307941311,711,674,664,633,878,784,799.692058689,650,628.307941311,650.692058689,0.430174161166,0.00446358115286,0.0599169411959,0.9999999922,-4.73022932676e-05,-0.00010616516529,-4.57402333155e-05,1793193571436698624
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,742.882643285,711,674,664,633,878,784,799.117356715,650,628.882643285,650.117356715,0.430991592819,0.00446036087865,0.0599030510083,0.99999998941,-4.45404205086e-05,-0.000130921439354,-4.53339641413e-05,1793193571453364992
+175,2.916666667,POSE1_TO_POSE2_PRESS,764,743,711,673.537594931,664,632.537594931,878.462405069,784,799.462405069,650,629,650.462405069,0.43186345737,0.00445013712445,0.0599437059461,0.99999999581,-5.55927235902e-05,-5.68081572804e-05,-4.54126502905e-05,1793193571470031616
+176,2.933333333,POSE1_TO_POSE2_PRESS,764,743,711,673.044108347,664,632.044108347,878.955891653,784,800,649.955891653,629,650.955891653,0.432738893646,0.00443914278083,0.0599943987623,0.999999996018,-6.83749764851e-05,3.48684167641e-05,-4.55384524912e-05,1793193571486697984
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,743,711,673.633765497,664,632.633765497,878.366234503,784,800,649.366234503,629,650.366234503,0.433485747597,0.00444084499863,0.0599961296853,0.999999996828,-5.87107667525e-05,2.99843095184e-05,-4.4707867873e-05,1793193571503364352
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,742.780489436,711,673.780489436,664,632.780489436,878,784,800,649.219510564,629,650.219510564,0.434223728373,0.00444001811901,0.0599843888393,0.999999997556,-5.36406265135e-05,5.99497592965e-06,-4.44392577299e-05,1793193571520030976
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,742.201156964,711,673.201156964,664,632.201156964,878,784,800,649.798843036,629,650.798843036,0.434947164355,0.00443504554094,0.059950565058,0.999999996194,-5.61010873674e-05,-4.93116621854e-05,-4.50918364191e-05,1793193571536697600
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,742,711,673.375272867,664,632,878.375272867,784.375272867,800,650,629,650.624727133,0.435661047608,0.00443081272444,0.059927412733,0.999999993064,-5.80214886296e-05,-9.18068917011e-05,-4.55840376905e-05,1793193571553364480
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,742,711,673.950158706,664,632,878.950158706,784.950158706,800,650,629,650.049841294,0.436369849586,0.00442697339792,0.0599099367093,0.999999989037,-5.96546243709e-05,-0.000127487547508,-4.59909318958e-05,1793193571570031360
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,742.524645694,711,674,664,632,878.475354306,784.475354306,799.475354306,649.475354306,629,650.524645694,0.437044071285,0.0044230535192,0.0599150765683,0.999999989736,-6.25132668486e-05,-0.000120479858333,-4.58729035323e-05,1793193571586697728
+183,3.050000000,POSE1_TO_POSE2_PRESS,763.897948617,742.897948617,711,673.897948617,664,632,878.102051383,784.102051383,799.102051383,649.102051383,629,650.897948617,0.437701717271,0.00441960775359,0.059917828187,0.999999989781,-6.50188523984e-05,-0.000118875462068,-4.56011065197e-05,1793193571603364352
+184,3.066666667,POSE1_TO_POSE2_PRESS,763.306360412,742.306360412,711,673.306360412,664,632,878.693639588,784.693639588,799.693639588,649.693639588,629,650.306360412,0.43829559679,0.0044184729723,0.059898825021,0.999999983641,-6.5272783539e-05,-0.00016262924534,-4.48307181333e-05,1793193571620031232
+185,3.083333333,POSE1_TO_POSE2_PRESS,763.279230741,742,711,673,663.720769259,631.720769259,878.720769259,784.720769259,800,650,628.720769259,650,0.43890393877,0.00441923642721,0.0598941664122,0.999999981835,-5.73413477138e-05,-0.000176590856625,-4.30898294815e-05,1793193571636698112
+186,3.100000000,POSE1_TO_POSE2_PRESS,763.858380482,742,711,673,663.141619518,631.141619518,878.141619518,784.141619518,800,650,628.141619518,650,0.439527814699,0.00442203875907,0.059904915153,0.999999985793,-4.06180895698e-05,-0.000158552985543,-4.03065361129e-05,1793193571653364480
+187,3.116666667,POSE1_TO_POSE2_PRESS,763.566135894,742.433864106,711,673.433864106,663,631.433864106,878.867728211,783.566135894,799.566135894,649.566135894,628.433864106,650,0.44011754378,0.00442366883582,0.0599126220808,0.999999987127,-4.27838000297e-05,-0.000149074381189,-4.11335411683e-05,1793193571670031104
+188,3.133333333,POSE1_TO_POSE2_PRESS,763,742.991651307,711,674,662.983302613,631.991651307,879.983302613,783.008348693,799.008348693,649.008348693,629,650.008348693,0.440694333767,0.00442495278832,0.0599186343903,0.999999987438,-5.18016162683e-05,-0.000143455649014,-4.31387344486e-05,1793193571686697984
+189,3.150000000,POSE1_TO_POSE2_PRESS,763,742.404155347,711,674,661.808310694,631.404155347,878.808310694,783.595844653,799.595844653,649.595844653,629,650.595844653,0.441140257053,0.00442854748239,0.0598753908944,0.999999969904,-0.000112023728881,-0.000213409386951,-4.58104919338e-05,1793193571703364608
+190,3.166666667,POSE1_TO_POSE2_PRESS,763,742,711,674,660.819149945,631,878,784,799.819149945,650,629,650.819149945,0.44157677752,0.00443352596474,0.0598292954075,0.999999946995,-0.000148786010911,-0.000285520523879,-4.84808711767e-05,1793193571720031232
+191,3.183333333,POSE1_TO_POSE2_PRESS,763,742,711,674,660.239634606,631,878,784,799.239634606,650,629,650.239634606,0.441992570529,0.00444155486624,0.0597769129921,0.999999924074,-0.000133833530128,-0.000362387440078,-5.11482132768e-05,1793193571736697856
+192,3.200000000,POSE1_TO_POSE2_PRESS,763,742,711,674,659.323039035,631,878,783.661519518,799,650,629,650,0.442410308271,0.00446094216414,0.0597438519275,0.999999909683,-0.000107767811227,-0.000407574236374,-5.38796858137e-05,1793193571753364480
+193,3.216666667,POSE1_TO_POSE2_PRESS,763,742,711,674,658.168783433,631,878,783.084391717,799,650,629,650,0.442829417132,0.00448833775447,0.0597244134787,0.999999903034,-7.38666506113e-05,-0.000430424805319,-5.66563737561e-05,1793193571770031104
+194,3.233333333,POSE1_TO_POSE2_PRESS,763.487551454,742,710.512448546,674,658,630.512448546,878,783,799,650,628.512448546,650.487551454,0.443229578301,0.00450448966329,0.0597258734132,0.999999904943,-3.56605299898e-05,-0.000431197608651,-5.39510630449e-05,1793193571786697728
+195,3.250000000,POSE1_TO_POSE2_PRESS,763.939080814,742,710.060919186,674,658,630,878.060919186,783,799.060919186,650,628.060919186,651,0.443622230554,0.00451749194435,0.0597310143613,0.999999907477,2.5611395781e-06,-0.000427252923336,-4.9936489363e-05,1793193571803364352
+196,3.266666667,POSE1_TO_POSE2_PRESS,763.345492515,742,710.654507485,674,658,630,878.654507485,783,799.654507485,650,628.654507485,651,0.44397760147,0.00451979257485,0.0597370446766,0.999999912332,3.44717630166e-05,-0.000415122292386,-4.2683607657e-05,1793193571820030976
+197,3.283333333,POSE1_TO_POSE2_PRESS,763,742,711,674,658,630,878.757599675,783,800,650,629,651,0.444304712253,0.00452598491074,0.0597368835132,0.999999910848,5.71129718065e-05,-0.000416447253164,-4.01646558231e-05,1793193571836697344
+198,3.300000000,POSE1_TO_POSE2_PRESS,763,742,711,674,658,630,878.177638249,783,800,650,629,651,0.444592468595,0.0045375967456,0.059728100239,0.999999901517,6.68458049251e-05,-0.000436510162041,-4.42380661867e-05,1793193571853363968
+199,3.316666667,POSE1_TO_POSE2_PRESS,763.399621006,742.399621006,711,674,657.600378994,630,878.399621006,783.399621006,800,650,629,650.600378994,0.44484727838,0.00454308212758,0.0597127629169,0.999999888283,7.15455702879e-05,-0.000464884344328,-4.68714278296e-05,1793193571870030848
+200,3.333333333,POSE1_TO_POSE2_PRESS,763.975687218,742.975687218,711,674,657.024312782,630,878.975687218,783.975687218,800,650,629,650.024312782,0.445087541254,0.00454586248948,0.0596945317764,0.999999872597,7.40230791916e-05,-0.000496928215856,-4.8868963121e-05,1793193571886697728
+201,3.350000000,POSE1_TO_POSE2_PRESS,763.449557995,742.449557995,711,674,657,630,879,783.449557995,800,650,628.449557995,650.550442005,0.445303228048,0.00454814817039,0.0596842765596,0.999999862334,7.66941349023e-05,-0.000516645178442,-5.02834692116e-05,1793193571903364096
+202,3.366666667,POSE1_TO_POSE2_PRESS,763.128464443,742,711,674,657,630,879,783,800,650,628,651,0.445511998784,0.00455038442404,0.0596765280838,0.999999854351,7.92136844085e-05,-0.000531375590854,-5.16031750456e-05,1793193571920030720
+203,3.383333333,POSE1_TO_POSE2_PRESS,763.718433578,742,711,674,657,630,879,783,800,650,628,651,0.445699814252,0.00455252142075,0.0596765224042,0.999999854793,8.11583146111e-05,-0.000530143334032,-5.26746081358e-05,1793193571936697344
+204,3.400000000,POSE1_TO_POSE2_PRESS,763.698276594,742,710.698276594,674.301723406,657,629.698276594,879,783,799.698276594,650,628,651,0.44587409474,0.00455610852291,0.0596778192668,0.9999998559,8.35376148783e-05,-0.000527551582617,-5.39575810278e-05,1793193571953363968
+205,3.416666667,POSE1_TO_POSE2_PRESS,763.121084896,742,710.121084896,674.878915104,657,629.121084896,879,783,799.121084896,650,628,651,0.446036018013,0.00456101954633,0.0596803053282,0.999999857598,8.63137613397e-05,-0.000523718636029,-5.54336860649e-05,1793193571970030592
+206,3.433333333,POSE1_TO_POSE2_PRESS,763.454876084,742,710.454876084,675,656.545123916,629,879,783,799.454876084,650,628.454876084,651,0.44617658544,0.00456299719854,0.0596834797931,0.999999860291,9.04831716194e-05,-0.000517812025787,-5.56910630098e-05,1793193571986697472
+207,3.450000000,POSE1_TO_POSE2_PRESS,763.969538452,742.030461548,711,675,656,629,879,783,800,650,629,651,0.446309677072,0.00456424510644,0.0596865679676,0.999999862931,9.48501150114e-05,-0.000511903462717,-5.56465417895e-05,1793193572003364608
+208,3.466666667,POSE1_TO_POSE2_PRESS,763.394824603,742.605175397,711,675,656,629,879,783,800,650,629,651,0.446410494846,0.00456636834892,0.0596848491634,0.999999860789,9.61378231923e-05,-0.000515795815791,-5.59887224124e-05,1793193572020031744
+209,3.483333333,POSE1_TO_POSE2_PRESS,763,742.813520787,711,674.813520787,656,629,879,783,799.813520787,650,629,651,0.446503135304,0.00456824127387,0.0596829271424,0.999999858659,9.82909830211e-05,-0.000519476263751,-5.62522746804e-05,1793193572036698368
+210,3.500000000,POSE1_TO_POSE2_PRESS,763,742.217753255,711,674.217753255,656,629,879,783,799.217753255,650,629,651,0.446577828011,0.0045695647966,0.0596805590971,0.999999856572,0.000102343653319,-0.000522691617612,-5.63432518137e-05,1793193572053364480
+211,3.516666667,POSE1_TO_POSE2_PRESS,763,742,711,674,656,629,879,783,799.36563506,650,628.63436494,651,0.446640179168,0.0045713392948,0.0596783547112,0.99999985462,0.000106113628528,-0.000525675738266,-5.62515238047e-05,1793193572070031104
+212,3.533333333,POSE1_TO_POSE2_PRESS,763,742,711,674,656,629,879,783,799.941892443,650,628.058107557,651,0.44669542104,0.00457337357538,0.0596762446003,0.999999852739,0.00010972075897,-0.00052852665844,-5.6054549383e-05,1793193572086697728
+213,3.550000000,POSE1_TO_POSE2_PRESS,763,742,711,674,656,629,879,783,799.484547268,650,628,650.484547268,0.446738015546,0.00457254936875,0.059675550642,0.999999852785,0.000109566598964,-0.000528477259084,-5.60015975732e-05,1793193572103364352
+214,3.566666667,POSE1_TO_POSE2_PRESS,763,742,711,674,656,629,878.908447285,783,799.091552715,650,628,650.091552715,0.44677687372,0.00457195944265,0.0596749077676,0.999999852812,0.000109392810681,-0.000528466572762,-5.59673967688e-05,1793193572120030976
+215,3.583333333,POSE1_TO_POSE2_PRESS,763,742,711,674,656,629,878.316822883,783,799.683177117,650,628,650.683177117,0.446803070715,0.00457440013713,0.0596736764616,0.999999851543,0.000111415771485,-0.0005304439189,-5.59473957526e-05,1793193572136698112
+216,3.600000000,POSE1_TO_POSE2_PRESS,763,742,711,674,656,629,878,783,800,650,628,651,0.446824454427,0.00457581651179,0.0596733398959,0.999999850663,0.000112531096188,-0.000531867282278,-5.59197490206e-05,1793193572153364992
+217,3.616666667,POSE1_TO_POSE2_PRESS,763,742,711,674,656,629,878,783,800,650,628,651,0.44684028883,0.0045760519324,0.0596740348902,0.99999985024,0.000112599993315,-0.000532651950396,-5.58832874282e-05,1793193572170031616
+218,3.633333333,POSE1_TO_POSE2_PRESS,763,742,711,674.422263782,656,629,878.422263782,783,800,650,628,651,0.446849010708,0.00457643401671,0.0596717243486,0.999999848345,0.000115053133868,-0.000535693463224,-5.57304544765e-05,1793193572186697984
+219,3.650000000,POSE1_TO_POSE2_PRESS,763,742,711,674.995667613,656,629,878.995667613,783,800,650,628,651,0.446855186814,0.00457686859605,0.0596683380414,0.9999998459,0.000118359662005,-0.000539542764035,-5.55359689513e-05,1793193572203364608
+220,3.666666667,POSE1_TO_POSE2_PRESS,763,742,711,675,656,629,879,783,800.584634933,650,628,651,0.446859744233,0.00457791409426,0.0596668833557,0.999999844749,0.000116425557826,-0.000542065146664,-5.57938187127e-05,1793193572220031232
+221,3.683333333,POSE1_TO_POSE2_PRESS,763.170919102,742.170919102,710.829080898,674.829080898,656,629,879,783,800.829080898,650,628.170919102,650.829080898,0.446863709515,0.0045788321205,0.0596659067683,0.999999844065,0.000115571524239,-0.000543484545428,-5.6016514352e-05,1793193572236697856
+222,3.700000000,POSE1_TO_POSE2_PRESS,763.750504491,742.750504491,710.249495509,674.249495509,656,629,879,783,800.249495509,650,628.750504491,650.249495509,0.446866288467,0.00457943424162,0.0596660381493,0.999999844493,0.000117395325889,-0.000542290871359,-5.61469229358e-05,1793193572253364736
+223,3.716666667,POSE1_TO_POSE2_PRESS,764,742.671631849,710.328368151,674.328368151,656,629,879,783,800,650,629,650.328368151,0.446867126273,0.00458006400594,0.0596652147485,0.999999843829,0.000119465895419,-0.000543072922013,-5.60430844862e-05,1793193572270031360
+224,3.733333333,POSE1_TO_POSE2_PRESS,764,742.095069482,710.904930518,674.904930518,656,629,879,783,800,650,629,650.904930518,0.446866648051,0.00458071466419,0.0596636696843,0.999999842335,0.000121722982497,-0.00054534830691,-5.5762192464e-05,1793193572286697984
+225,3.750000000,POSE1_TO_POSE2_PRESS,764,742.480389501,710.519610499,674.519610499,656,629,878.519610499,783,799.519610499,650,629,651,0.446865372762,0.00458182091478,0.0596621611534,0.999999840722,0.000124301601637,-0.000547698279404,-5.59638845433e-05,1793193572303364864
+226,3.766666667,POSE1_TO_POSE2_PRESS,764,742.943014246,710.056985754,674,656,629,878.056985754,782.943014246,799.056985754,650,628.943014246,651,0.446864436378,0.00458285534272,0.0596610579491,0.999999839481,0.000126454545419,-0.000549441164795,-5.62352306845e-05,1793193572320031488
+227,3.783333333,POSE1_TO_POSE2_PRESS,764,742.353760224,710.646239776,674,656,629,878.646239776,782.353760224,799.646239776,650,628.353760224,651,0.446868135471,0.0045823787029,0.0596636732689,0.999999842007,0.000124038543982,-0.000545376074094,-5.62671750219e-05,1793193572336697856
+228,3.800000000,POSE1_TO_POSE2_PRESS,763.768478582,742,711,674,655.768478582,629,879,782.231521418,800,650,628.231521418,650.768478582,0.446870047124,0.00458202491746,0.0596646101328,0.99999984301,0.000123457485203,-0.000543679542003,-5.61250984007e-05,1793193572353364480
+229,3.816666667,POSE1_TO_POSE2_PRESS,763.189164308,742,711,674,655.189164308,629,879,782.810835692,800,650,628.810835692,650.189164308,0.446869273675,0.00458185568466,0.0596630256101,0.999999841748,0.000125632888392,-0.000545541073051,-5.57216064559e-05,1793193572370031360
+230,3.833333333,POSE1_TO_POSE2_PRESS,763.386833117,742,711,674,655,629,879,783,799.613166883,650,629,650.386833117,0.446869768586,0.00458144620395,0.0596631290784,0.999999841944,0.000124810164918,-0.000545377417736,-5.56506936589e-05,1793193572386697728
+231,3.850000000,POSE1_TO_POSE2_PRESS,763.961222352,742,711,674,655,629,879,783,799.038777648,650,629,650.961222352,0.446870878461,0.00458092023899,0.0596640509696,0.999999842845,0.000122533799048,-0.00054423185034,-5.57410319424e-05,1793193572403364352
+232,3.866666667,POSE1_TO_POSE2_PRESS,764,742,711,673.452461834,655,629,879,783,799.547538166,650,629,651,0.446869838635,0.00458166240544,0.0596624482917,0.999999841519,0.000122299889624,-0.000546722575796,-5.56671656416e-05,1793193572420031232
+233,3.883333333,POSE1_TO_POSE2_PRESS,763.867066113,742,711,673.132933887,655.132933887,628.867066113,879,783,799.867066113,650,628.867066113,651,0.446869361307,0.00458247422337,0.0596616053913,0.999999840667,0.000122778974594,-0.000548178514095,-5.55992172795e-05,1793193572436698368
+234,3.900000000,POSE1_TO_POSE2_PRESS,763.287660795,742,711,673.712339205,655.712339205,628.287660795,879,783,799.287660795,650,628.287660795,651,0.4468712959,0.0045832116155,0.0596639281485,0.99999984196,0.00012515608017,-0.000545274822591,-5.55910726537e-05,1793193572453365248
+235,3.916666667,POSE1_TO_POSE2_PRESS,763,742,711,674,656,628.291547487,879,783,799.291547487,650,628.291547487,651,0.446872041198,0.00458376413642,0.0596647771378,0.999999842435,0.00012607675312,-0.000544187216656,-5.56368824785e-05,1793193572470031872
+236,3.933333333,POSE1_TO_POSE2_PRESS,763,742,711,674,656,628.870561558,879,783,799.870561558,650,628.870561558,651,0.446871613847,0.00458413437393,0.0596641729884,0.999999842111,0.000125561379978,-0.000544890275498,-5.57358915322e-05,1793193572486698496
+237,3.950000000,POSE1_TO_POSE2_PRESS,763,742,711,674,656,629,879,783,800,650,629,651,0.446869924715,0.00458321132038,0.0596627306922,0.99999984096,0.00012467961629,-0.000547224731244,-5.55018207263e-05,1793193572503364864
+238,3.966666667,POSE1_TO_POSE2_PRESS,763.022379751,742.022379751,710.977620249,674,656,629,879.022379751,783,800,650,628.977620249,651,0.446868092816,0.00458195743286,0.0596612191637,0.999999839715,0.000123700927665,-0.000549747887116,-5.51807779459e-05,1793193572520031488
+239,3.983333333,POSE1_TO_POSE2_PRESS,763.609739641,742.609739641,710.390260359,674,656,629,879.609739641,783,800,650,628.390260359,651,0.446871827865,0.00458175173926,0.0596640518301,0.999999842317,0.000122938423901,-0.00054517717492,-5.50850698277e-05,1793193572536697600
+240,4.000000000,POSE1_TO_POSE2_PRESS,763.80567786,743,710,674,656,629,879.61135572,782.80567786,800,650,628,651,0.446873914973,0.00458212441816,0.0596651297432,0.999999843487,0.000123174571941,-0.000542948530714,-5.53253008268e-05,1793193572553364224
+241,4.016666667,POSE1_TO_POSE2_PRESS,763.226594679,743,710,674,656,629,878.453189357,782.226594679,800,650,628,651,0.44687273913,0.00458364228415,0.0596627332159,0.999999841851,0.000125388067068,-0.000545357220031,-5.62306968236e-05,1793193572570031104
+242,4.033333333,POSE1_TO_POSE2_PRESS,763.350424547,743,710.350424547,674,655.649575453,629,878.350424547,782.350424547,800,650,628.350424547,651,0.446870464275,0.0045836481127,0.0596606574938,0.999999840324,0.000125004439628,-0.000548243654434,-5.61673225913e-05,1793193572586697984
+243,4.050000000,POSE1_TO_POSE2_PRESS,763.926116951,743,710.926116951,674,655.073883049,629,878.926116951,782.926116951,800,650,628.926116951,651,0.446867482926,0.00458268193896,0.059658787999,0.999999838861,0.00012295127085,-0.000551437203674,-5.54811814656e-05,1793193572603365120
+244,4.066666667,POSE1_TO_POSE2_PRESS,764,742.49679648,711,674,655.50320352,629,879,783,799.49679648,650,628.49679648,651,0.446869224567,0.00458327830141,0.0596605269008,0.999999839811,0.000123399727304,-0.000549641859657,-5.51777661361e-05,1793193572620032000
+245,4.083333333,POSE1_TO_POSE2_PRESS,763.917962041,742,711,674,656,629,879,783,799.082037959,650,628.082037959,650.917962041,0.446871159788,0.00458390453774,0.0596623437354,0.999999840846,0.000124274095491,-0.000547573843387,-5.50164945614e-05,1793193572636698368
+246,4.100000000,POSE1_TO_POSE2_PRESS,763.329607306,742,711,674,656,629,879,783,799.670392694,650,628.670392694,650.329607306,0.446869998025,0.00458329529375,0.0596613626531,0.999999840243,0.000125503888693,-0.000548356300781,-5.53847197614e-05,1793193572653364480
+247,4.116666667,HOLD_POSE2,763,743,711,674,655,629,879,783,800,650,628,650,0.446873188412,0.00458051088693,0.0596627535158,0.999999841979,0.000122804441642,-0.000545783961102,-5.55000002355e-05,1793193572691441664
+248,4.133333333,HOLD_POSE2,763,742.424545564,710.424545564,674,655,628.424545564,879,783,800,650,628,650,0.446872707137,0.00458256492546,0.059662528527,0.999999841224,0.000124654532751,-0.000546743049659,-5.55480157058e-05,1793193572708108032
+249,4.150000000,HOLD_POSE2,763.153577854,742,710.153577854,674,655.153577854,628.153577854,879,783,799.846422146,650,628.153577854,650.153577854,0.446872542032,0.00458403744513,0.0596624598217,0.999999840742,0.000126285392975,-0.000547257957869,-5.5473613736e-05,1793193572724774656
+250,4.166666667,HOLD_POSE2,763.739209943,742,710.739209943,674,655.739209943,628.739209943,879,783,799.260790057,650,628.739209943,650.739209943,0.446873266398,0.0045838740023,0.0596628307822,0.999999841038,0.000127299500432,-0.000546523272077,-5.50548198493e-05,1793193572741441792
+251,4.183333333,HOLD_POSE2,764,742.323126149,711,674,655.676873851,628.676873851,879,783,799,650,628.676873851,650.676873851,0.446873642466,0.00458318863118,0.0596629012968,0.999999841416,0.00012650092152,-0.000546035384038,-5.48645231891e-05,1793193572758108672
+252,4.200000000,HOLD_POSE2,764,742.905664775,711,674,655.094335225,628.094335225,879,783,799,650,628.094335225,650.094335225,0.446873738916,0.00458208424503,0.0596627306071,0.999999841857,0.000124247079766,-0.000545745630475,-5.48576689385e-05,1793193572774775296
+253,4.216666667,HOLD_POSE2,763.518192922,742.518192922,711,674,655,628.481807078,879,782.518192922,799.481807078,650,628,650.481807078,0.446874053228,0.00458155238335,0.0596630044245,0.999999841804,0.000124208737072,-0.000545857186742,-5.48162584846e-05,1793193572791441664
+254,4.233333333,HOLD_POSE2,763,742.056890327,711,674,655,629,879,782.056890327,800,650,628,651,0.446874398646,0.00458111416078,0.0596632872577,0.999999841711,0.000124480262909,-0.000545969260918,-5.47694180987e-05,1793193572808107776
+255,4.250000000,HOLD_POSE2,763,742.633589976,711,674,655,629,879,782.633589976,800,650,628,651,0.446874643628,0.00458052070523,0.0596628676719,0.999999842136,0.000123671507933,-0.000545377536818,-5.47339747124e-05,1793193572824774656
+256,4.266666667,HOLD_POSE2,763.214961246,742.785038754,711,674,655.214961246,629,879,783,800,650,628.214961246,650.785038754,0.446875029553,0.00458100714831,0.0596630067622,0.999999842505,0.000123613236307,-0.000544708702088,-5.47990294717e-05,1793193572841441536
+257,4.283333333,HOLD_POSE2,763.804472316,742.195527684,711,674,655.804472316,629,879,783,800,650,628.804472316,650.195527684,0.446875661057,0.00458337521359,0.0596641192933,0.999999842773,0.000124862611663,-0.000543905509369,-5.50391928345e-05,1793193572858108160
+258,4.300000000,HOLD_POSE2,764,742.386822299,711,674,656.386822299,629,879.386822299,783,800,650,629,650.386822299,0.446875768264,0.00458300930293,0.0596643670915,0.999999842879,0.000124133385425,-0.000543885626152,-5.4975166902e-05,1793193572874775040
+259,4.316666667,HOLD_POSE2,764,742.965618401,711,674,656.965618401,629,879.965618401,783,800,650,629,650.965618401,0.446875615271,0.00458128656336,0.0596641857366,0.999999842901,0.000122422210554,-0.000544254487005,-5.47601766444e-05,1793193572891442176
+260,4.333333333,HOLD_POSE2,764,742.460055359,711,674,655.920110718,629,878.920110718,783,799.460055359,650,629,651,0.446874858076,0.00458117548852,0.0596628597417,0.999999841615,0.000123421054676,-0.000546405206111,-5.45790441169e-05,1793193572908108800
+261,4.350000000,HOLD_POSE2,763.885776717,742,711,674.114223283,655.114223283,628.885776717,878.114223283,783,799.114223283,650,628.885776717,651,0.446874530757,0.00458154573473,0.0596620393214,0.999999840704,0.00012496764201,-0.000547728366113,-5.44932107937e-05,1793193572924775168
+262,4.366666667,HOLD_POSE2,763.310550702,742,711,674.689449298,655.689449298,628.310550702,878.689449298,783,799.689449298,650,628.310550702,651,0.446876092403,0.00458344779235,0.059663551141,0.99999984165,0.000128034164868,-0.000545257345982,-5.47833731229e-05,1793193572941441536
+263,4.383333333,POSE2_TO_POSE3_RETREAT,763,743,711,674,656,629,879,783,799,650,628,651,0.446875268078,0.00458491361841,0.0596640912873,0.999999841909,0.000127136161619,-0.000544969985561,-5.50088870913e-05,1793193572978598656
+264,4.400000000,POSE2_TO_POSE3_RETREAT,763,742.421857244,711,674,655.421857244,628.421857244,879,782.421857244,799.578142756,650,628.578142756,651,0.446875120129,0.00458156325649,0.0596630289382,0.999999841598,0.000122485708341,-0.000546628722144,-5.47616547767e-05,1793193572995265536
+265,4.416666667,POSE2_TO_POSE3_RETREAT,763,742,711,674,655,628.155512767,879,782.155512767,800,650,629,651,0.446875044529,0.00457984900044,0.0596623523989,0.999999841356,0.000120347433836,-0.000547555530667,-5.46525622931e-05,1793193573011932160
+266,4.433333333,POSE2_TO_POSE3_RETREAT,763,742,711,674,655,628.730797057,879,782.730797057,800,650,629,651,0.446875164222,0.00458255104121,0.0596627172656,0.999999841346,0.000124990216376,-0.000546506665425,-5.49163469686e-05,1793193573028598784
+267,4.450000000,POSE2_TO_POSE3_RETREAT,763.312706039,742,711,674,655.312706039,629,879,783,799.687293961,650,629,651,0.446875747123,0.00458373424226,0.0596633507792,0.999999841583,0.000127663857703,-0.000545449350407,-5.49590404712e-05,1793193573045265408
+268,4.466666667,POSE2_TO_POSE3_RETREAT,763.9004415,742,711,674,655.9004415,629,879,783,799.0995585,650,629,651,0.446876737422,0.00458358160197,0.0596642205717,0.999999842051,0.000128605610978,-0.000544384603762,-5.48072811192e-05,1793193573061932288
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,742,711,674,655.517569753,628.517569753,879.482430247,783,799.482430247,650,629,650.517569753,0.446875131504,0.00458398590978,0.0596633706331,0.999999841578,0.000128118389451,-0.000545359550277,-5.48872128914e-05,1793193573078598656
+270,4.500000000,POSE2_TO_POSE3_RETREAT,763.937451828,742,711,674,655,628.062548172,879.937451828,783,800,650,628.937451828,650.062548172,0.446872622749,0.00458439307225,0.0596619316945,0.999999840757,0.000127306321736,-0.000547039360982,-5.50157207544e-05,1793193573095265280
+271,4.516666667,POSE2_TO_POSE3_RETREAT,763.36305271,742,711,674,655,628.63694729,879.36305271,783,800,650,628.36305271,650.63694729,0.446867058626,0.00458389410544,0.059658542844,0.999999838667,0.000126220751705,-0.000551083251302,-5.515507273e-05,1793193573111932160
+272,4.533333333,POSE2_TO_POSE3_RETREAT,763,742.211106254,711,673.788893746,655.211106254,629,879,783,800,650,628,651,0.446852839646,0.00458306355976,0.0596517057024,0.999999833162,0.000125237553217,-0.000561202139446,-5.51714312887e-05,1793193573128598784
+273,4.550000000,POSE2_TO_POSE3_RETREAT,763,742.784852621,711,673.215147379,655.784852621,629,879,783,800,650,628,651,0.44682375328,0.00458166342513,0.0596389450572,0.999999821527,0.000124430209516,-0.000581756709823,-5.49765106833e-05,1793193573145265408
+274,4.566666667,POSE2_TO_POSE3_RETREAT,763,742.628202754,710.628202754,673.371797246,656,629,879,783,800,650,628.371797246,651,0.446776605136,0.00458229366328,0.059618384108,0.99999980348,0.000125042320684,-0.000611813062851,-5.5571963196e-05,1793193573161932032
+275,4.583333333,POSE2_TO_POSE3_RETREAT,763,742.033339559,710.033339559,673.966660441,656,629,879,783,800,650,628.966660441,651,0.446718620524,0.00458414205726,0.0595931432352,0.99999978072,0.000126506057249,-0.000647570170031,-5.66416131538e-05,1793193573178598656
+276,4.600000000,POSE2_TO_POSE3_RETREAT,763.543223324,742,710.543223324,674,655.456776676,628.456776676,879,783,800,650,628.456776676,651,0.446651114798,0.00458565016507,0.0595790081981,0.999999770876,0.000128623097692,-0.000662150951881,-5.70935329527e-05,1793193573195265536
+277,4.616666667,POSE2_TO_POSE3_RETREAT,763.881104515,742.118895485,711,674.118895485,655,628.118895485,879,783,800,650,628.118895485,650.881104515,0.446579046483,0.00458677482691,0.0595673791913,0.999999762436,0.000130556177523,-0.000674390034757,-5.72739374335e-05,1793193573211932160
+278,4.633333333,POSE2_TO_POSE3_RETREAT,763.304678602,742.695321398,711,674.695321398,655,628.695321398,879,783,800,650,628.695321398,650.304678602,0.44649159589,0.00458650167091,0.0595628563683,0.999999756864,0.000131632079462,-0.000682456205614,-5.65506424881e-05,1793193573228598528
+279,4.650000000,POSE2_TO_POSE3_RETREAT,763,743,711,674.723861355,655.276138645,629,879,783,800,650,628.723861355,650,0.446395549216,0.00458670889756,0.0595617952505,0.999999754966,0.000133504067274,-0.000684947819666,-5.55921631071e-05,1793193573245265152
+280,4.666666667,POSE2_TO_POSE3_RETREAT,763,743,711,674.138120651,655.861879349,629,879,783,800,650,628.138120651,650,0.446289864764,0.00458745472128,0.0595646153392,0.999999757228,0.000136268613278,-0.000681189332817,-5.43699988913e-05,1793193573261932032
+281,4.683333333,POSE2_TO_POSE3_RETREAT,763.445188683,742.554811317,710.554811317,674,655.554811317,629,879.445188683,783,800,650,628.445188683,650.445188683,0.44615820548,0.00458861766472,0.0595665117325,0.999999757399,0.000140988151369,-0.000680090736841,-5.29322791693e-05,1793193573278598400
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764,742,710.02723892,673.97276108,655.02723892,629,879.97276108,783,800,650,629,651,0.44601687185,0.00458990441561,0.059567893128,0.999999756696,0.000146179408473,-0.000680144889988,-5.14103937643e-05,1793193573295265280
+283,4.716666667,POSE2_TO_POSE3_RETREAT,764,742,710.599114839,673.400885161,655.599114839,629,879.400885161,783,800,650,629,651,0.445842359213,0.00459109315563,0.0595646761976,0.999999751838,0.000148740820438,-0.000686837226362,-4.9535550989e-05,1793193573311931904
+284,4.733333333,POSE2_TO_POSE3_RETREAT,763.827112004,742.172887996,711,673.172887996,656,629,878.827112004,783,800,649.827112004,628.827112004,651,0.445654207595,0.00459220316227,0.0595614895839,0.999999746235,0.000152457014382,-0.000694284880806,-4.74947703051e-05,1793193573328598528
+285,4.750000000,POSE2_TO_POSE3_RETREAT,763.248890882,742.751109118,711,673.751109118,656,629,878.248890882,783,800,649.248890882,628.248890882,651,0.44543407963,0.0045931285796,0.0595583740478,0.999999738905,0.00015888057573,-0.000703503365384,-4.50649511292e-05,1793193573345265152
+286,4.766666667,POSE2_TO_POSE3_RETREAT,763.33515737,743,711,674,656,629,878.33515737,783,800,649.33515737,628.33515737,650.66484263,0.445196413572,0.00459402772516,0.0595567158803,0.99999973567,0.000164545165952,-0.000706930505401,-4.28314430574e-05,1793193573361931520
+287,4.783333333,POSE2_TO_POSE3_RETREAT,763.923609531,743,711,674,656,629,878.923609531,783,800,649.923609531,628.923609531,650.076390469,0.444945493099,0.00459490701595,0.0595561591172,0.999999735577,0.000169636165317,-0.00070598084454,-4.07462966193e-05,1793193573378598144
+288,4.800000000,POSE2_TO_POSE3_RETREAT,763.49454547,743,711,674,656,629,878.49454547,782.49454547,800,650,628.49454547,650.50545453,0.444670351252,0.00459796460766,0.0595648207261,0.999999747501,0.000178676153578,-0.00068674561798,-3.81133409676e-05,1793193573395264768
+289,4.816666667,POSE2_TO_POSE3_RETREAT,763,742.914256875,711,674,656.085743125,629,878,782.085743125,800,650,628.085743125,651,0.444385248569,0.0046006270761,0.0595750043424,0.999999760217,0.000187873825065,-0.000665609718978,-3.51213375699e-05,1793193573411931392
+290,4.833333333,POSE2_TO_POSE3_RETREAT,763,742.337238134,711,674,656.662761866,629,878,782.662761866,800,650,628.662761866,651,0.444063777362,0.00459916372085,0.0595860290177,0.99999976986,0.000194599539199,-0.000649213399769,-3.05403695434e-05,1793193573428598016
+291,4.850000000,POSE2_TO_POSE3_RETREAT,763.237482695,742,710.762517305,674,657,629.237482695,878,783,800,650,629,651,0.443724541251,0.00459759248654,0.0596004783894,0.999999783987,0.000200563282862,-0.000625397520732,-2.6025854964e-05,1793193573445264640
+292,4.866666667,POSE2_TO_POSE3_RETREAT,763.808971606,742,710.191028394,674,657,629.808971606,878,783,800,650,629,651,0.443360319811,0.00459586952641,0.0596197444058,0.999999803934,0.000205455356894,-0.000591146443715,-2.16048037284e-05,1793193573461931520
+293,4.883333333,POSE2_TO_POSE3_RETREAT,764,742.393674188,710.393674188,674,657.787348376,630,878.393674188,783,800,650,629,651,0.442949143094,0.00459854650879,0.059630738672,0.999999811464,0.000216832689692,-0.000574251108727,-1.709186022e-05,1793193573478598144
+294,4.900000000,POSE2_TO_POSE3_RETREAT,764,742.985011307,710.985011307,674,658.970022615,630,878.985011307,783,800,650,629,651,0.442514390249,0.00460343269254,0.0596375797102,0.999999812915,0.000231466256335,-0.000566070054225,-1.25327779435e-05,1793193573495264768
+295,4.916666667,POSE2_TO_POSE3_RETREAT,763.438186413,742.438186413,711,674,657.876372827,630.561813587,878.438186413,783,799.438186413,650,629,650.438186413,0.442021818688,0.00460465681593,0.0596319072592,0.999999805409,0.000240902253109,-0.00057540406183,-7.60840814794e-06,1793193573511931392
+296,4.933333333,POSE2_TO_POSE3_RETREAT,763.138473301,742.138473301,711,674,657.276946602,631,878.138473301,783,799.138473301,649.861526699,629,650,0.441523595394,0.00460462580833,0.0596326740642,0.999999802542,0.000249420152654,-0.000576801272246,-2.33769871862e-06,1793193573528598016
+297,4.950000000,POSE2_TO_POSE3_RETREAT,763.715879176,742.715879176,711,674,658.431758353,631,878.715879176,783,799.715879176,649.284120824,629,650,0.441012223612,0.00460091816821,0.0596548835659,0.999999815234,0.000255456326899,-0.000551596576506,4.00072448765e-06,1793193573545264896
+298,4.966666667,POSE2_TO_POSE3_RETREAT,763.699900472,742.699900472,711,674,659.300099528,631,878.699900472,783,799.699900472,649.300099528,629,650,0.440479946411,0.00459885946202,0.0596811299445,0.999999832459,0.00026148274669,-0.000516340229296,1.00830879503e-05,1793193573561931776
+299,4.983333333,POSE2_TO_POSE3_RETREAT,763.109078506,742.109078506,711,674,659.890921494,631,878.109078506,783,799.109078506,649.890921494,629,650,0.439927416953,0.00459839816574,0.0597112870639,0.999999853012,0.000267499717252,-0.000471346306988,1.59173934022e-05,1793193573578598656
+300,5.000000000,POSE2_TO_POSE3_RETREAT,763.472028808,742,711,674,660.472028808,631,878,783.472028808,799.472028808,649.527971192,629,650,0.439372236126,0.00460093094143,0.059761145656,0.999999887035,0.000274693894522,-0.00038735747845,2.06740350646e-05,1793193573595265280
+301,5.016666667,POSE2_TO_POSE3_RETREAT,764,742.05041255,711,674,661.100825101,631.05041255,878,784,799.94958745,649.05041255,629,650,0.438808289523,0.00460391201619,0.0598126706286,0.999999914765,0.000282450068149,-0.00030008314459,2.53550856139e-05,1793193573611931904
+302,5.033333333,POSE2_TO_POSE3_RETREAT,764,742.623365923,711,674,662.246731845,631.623365923,878,784,799.376634077,649.623365923,629,650,0.438159705367,0.0046045128895,0.0598352296726,0.999999919968,0.000293268671709,-0.000270272874039,3.17818460704e-05,1793193573628598272
+303,5.050000000,POSE2_TO_POSE3_RETREAT,764,742.798073275,711,674,662.798073275,631.798073275,878,784,799,649.798073275,629,650.201926725,0.437473436511,0.00460709511919,0.0598332277931,0.999999914551,0.000303414326449,-0.000278376114216,3.66786224923e-05,1793193573645264896
+304,5.066666667,POSE2_TO_POSE3_RETREAT,764,742.208754782,711,674,662.208754782,631.208754782,878,784,799,649.208754782,629,650.791245218,0.436714870462,0.00461347853539,0.0597841063464,0.99999988598,0.000312268942893,-0.000359215552104,3.86401593124e-05,1793193573661931520
+305,5.083333333,POSE2_TO_POSE3_RETREAT,764,742,711,673.625986411,662,631.374013589,878,784,799,649.374013589,629,651,0.435951583278,0.00461810472598,0.0597584596685,0.99999988655,0.000269759283512,-0.000391807009559,2.48439763873e-05,1793193573678598144
+306,5.100000000,POSE2_TO_POSE3_RETREAT,764,742,711,673.04681107,662,631.95318893,878,784,799,649.95318893,629,651,0.435185706382,0.00462176700622,0.0597456898631,0.999999901007,0.000199074217127,-0.000397932472771,2.40403955697e-06,1793193573695264768
+307,5.116666667,POSE2_TO_POSE3_RETREAT,764,742,711,673,662.529030814,632,878.529030814,784,799,650,629,651,0.434434681637,0.0046188732602,0.0597640057024,0.999999918124,0.000199467973202,-0.000352034353863,6.10905393585e-06,1793193573711931648
+308,5.133333333,POSE2_TO_POSE3_RETREAT,764,742,711,673.104214051,663,632,878.895785949,784,799,650,629,651,0.433672461468,0.00461534474644,0.059782657634,0.999999930684,0.000205300987853,-0.000310405693829,1.14630526872e-05,1793193573728598528
+309,5.150000000,POSE2_TO_POSE3_RETREAT,764,742,711,673.677750955,663,632,878.322249045,784,799,650,629,651,0.432853942167,0.00461155371442,0.0597905135051,0.99999993076,0.000207482876466,-0.000308605209578,1.38900097439e-05,1793193573745265152
+310,5.166666667,POSE2_TO_POSE3_RETREAT,764,742,711,674,663,631.740481957,878,784,799,649.740481957,629,650.740481957,0.432035531151,0.00459622608335,0.0597990385957,0.999999935739,0.000194308592375,-0.000300736400318,1.80064729343e-05,1793193573761931520
+311,5.183333333,POSE2_TO_POSE3_RETREAT,764,742,711,674,663,631.148160483,878,784,799,649.148160483,629,650.148160483,0.431217258887,0.00456610402862,0.0598084218876,0.999999946036,0.000161441700908,-0.00028508562917,2.428954278e-05,1793193573778598144
+312,5.200000000,POSE2_TO_POSE3_RETREAT,764,742,711,674,662.566367309,631,878,784.433632691,799,649.433632691,629,650.433632691,0.430356149743,0.00456168960576,0.059824780836,0.999999954526,0.000146863530685,-0.000262145085056,2.56530113347e-05,1793193573795265024
+313,5.216666667,POSE2_TO_POSE3_RETREAT,764,742.011865068,711,673.988134932,662.023730135,631,878,784.988134932,799.011865068,650,629,651,0.429479373475,0.00456602053015,0.0598421274985,0.999999961459,0.000138734299043,-0.000239148187206,2.53665173022e-05,1793193573811931392
+314,5.233333333,POSE2_TO_POSE3_RETREAT,764,742.587777726,711,673.412222274,663.175555452,631,878,784.412222274,799.587777726,650,629,651,0.428537093099,0.00457843082749,0.0597958114857,0.999999934724,0.000147162696297,-0.000329070562463,2.46563432984e-05,1793193573828598016
+315,5.250000000,POSE2_TO_POSE3_RETREAT,763.836453944,742.836453944,711,673,663.836453944,631.163546056,877.836453944,784,800,650,629,650.836453944,0.427616260894,0.00458670016996,0.0597629629714,0.999999913939,0.000149528848155,-0.000386241967681,2.41023942065e-05,1793193573845264640
+316,5.266666667,POSE2_TO_POSE3_RETREAT,763.261049111,742.261049111,711,673,663.261049111,631.738950889,877.261049111,784,800,650,629,650.261049111,0.426749441771,0.00458454132624,0.0597640297227,0.999999925242,0.000136628421899,-0.000360936456487,2.39418674846e-05,1793193573861931520
+317,5.283333333,POSE2_TO_POSE3_RETREAT,763.32239599,742.32239599,711,673,663.32239599,632,877.32239599,784,800,649.67760401,629,650.32239599,0.425878127725,0.0045863273076,0.0597800542085,0.99999993551,0.000129912541111,-0.000333848433888,2.54477211914e-05,1793193573878598144
+318,5.300000000,POSE2_TO_POSE3_RETREAT,763.912517909,742.912517909,711,673,663.912517909,632,877.912517909,784,800,649.087482091,629,650.912517909,0.425003081023,0.00459138917337,0.0598084999821,0.999999944766,0.000128332466685,-0.000305280169157,2.83373801003e-05,1793193573895265024
+319,5.316666667,POSE2_TO_POSE3_RETREAT,763.507291264,742.507291264,711,673,663.507291264,632,878,784,800,649.492708736,629,650.507291264,0.424086624421,0.00459372756415,0.0598238093538,0.999999949594,0.000122223003199,-0.000291481381274,3.02162782759e-05,1793193573911931648
+320,5.333333333,POSE2_TO_POSE3_RETREAT,763,742.070702201,711,673,663,632,877.929297799,784,799.929297799,649.929297799,629,650,0.423169477725,0.00459539633191,0.0598365754662,0.99999995419,0.000114698875307,-0.000278321328587,3.16544306923e-05,1793193573928598272
+321,5.350000000,POSE2_TO_POSE3_RETREAT,763,742.645353151,711,673,663,632,877.354646849,784,799.354646849,649.354646849,629,650,0.422298783879,0.00459567080049,0.0598475102316,0.99999996264,0.000102710305947,-0.000251391702162,3.12049529271e-05,1793193573945264896
+322,5.366666667,POSE2_TO_POSE3_RETREAT,763,742.775629353,711,673,663,632,877.224370647,784,799,649.224370647,628.775629353,650.224370647,0.421398947894,0.0045976912554,0.059835521507,0.999999958707,9.42896342097e-05,-0.000269700240957,3.0943589542e-05,1793193573961931264
+323,5.383333333,POSE2_TO_POSE3_RETREAT,763,742.189572888,711,673,663,632,877.810427112,784,799,649.810427112,628.189572888,650.810427112,0.420452134603,0.00460252624296,0.0597865800841,0.999999930187,9.16204164727e-05,-0.00036093276457,3.09854666062e-05,1793193573978598144
+324,5.400000000,POSE2_TO_POSE3_RETREAT,763,742,711,673,662.211778279,632,877.60588914,784,799,649.60588914,628.39411086,650.60588914,0.419531653824,0.00460501279667,0.0597468661902,0.999999909169,8.46317973966e-05,-0.000416696680568,2.93700837572e-05,1793193573995264768
+325,5.416666667,POSE2_TO_POSE3_RETREAT,763,742,711,673,661.046679812,632,877.023339906,784,799,649.023339906,628.976660094,650.023339906,0.41862376361,0.00460637648063,0.0597115643079,0.99999989304,7.55779197065e-05,-0.000455501792948,2.69623062353e-05,1793193574011931392
+326,5.433333333,POSE2_TO_POSE3_RETREAT,763.551636259,742,711,673,662.103272518,632,877.551636259,784,799,649,629,650,0.417789246488,0.00460285057378,0.0597513322365,0.999999901339,0.000215504234488,-0.000387443368665,2.76954248959e-05,1793193574028598016
+327,5.450000000,POSE2_TO_POSE3_RETREAT,763.87337682,742,711,673,663,632,878,784,799.12662318,649.12662318,629,650.12662318,0.416962121734,0.00459766328445,0.0597927694691,0.999999895361,0.000323658071147,-0.000321997777876,2.8991443361e-05,1793193574045264640
+328,5.466666667,POSE2_TO_POSE3_RETREAT,763.297229633,742,711,673,663,632,878,784,799.702770367,649.702770367,629,650.702770367,0.41615036882,0.00458730243121,0.0598290096845,0.99999991574,0.000296942076312,-0.000281662142174,3.18204194567e-05,1793193574061931520
+329,5.483333333,POSE2_TO_POSE3_RETREAT,763,742.285411002,711,673,662.714588998,632,877.714588998,784,799.714588998,649.714588998,628.714588998,650.714588998,0.415351785765,0.00457248410782,0.0598487436227,0.999999930618,0.000263208170016,-0.000261364378254,3.42609603563e-05,1793193574078598144
+330,5.500000000,POSE2_TO_POSE3_RETREAT,763,742.874971369,711,673,662.125028631,632,877.125028631,784,799.125028631,649.125028631,628.125028631,650.125028631,0.414567237272,0.00455291566436,0.0598508875789,0.999999940268,0.000221995600504,-0.000262420054494,3.62875635891e-05,1793193574095264768
+331,5.516666667,POSE2_TO_POSE3_RETREAT,763,742.545166413,711,673,662.454833587,632,877.454833587,784,799.454833587,649,628,650.454833587,0.413768165188,0.00455362858315,0.0598451628136,0.999999941297,0.00020815279623,-0.000269819776015,3.57062988043e-05,1793193574111931648
+332,5.533333333,POSE2_TO_POSE3_RETREAT,763.032141573,742,711,672.967858427,663,632,877.967858427,784.032141573,799.967858427,649.032141573,628.032141573,651,0.412962900458,0.00455962439418,0.0598346447364,0.999999938862,0.000201365053327,-0.000283802170551,3.44200426247e-05,1793193574128598784
+333,5.550000000,POSE2_TO_POSE3_RETREAT,763.610400691,742,711,672.389599309,663,632,877.389599309,784.610400691,799.389599309,649.610400691,628.610400691,651,0.412118835702,0.00456263262445,0.0597786681436,0.999999909103,0.000189284520351,-0.000380618652992,3.30813841172e-05,1793193574145265408
+334,5.566666667,POSE2_TO_POSE3_RETREAT,763.812841512,742,711,672,662.812841512,632,877,784.812841512,799,650,629,651,0.411328761658,0.00456330960683,0.0597420443149,0.999999888456,0.000173922302575,-0.000437997555353,3.15893534885e-05,1793193574161932032
+335,5.583333333,POSE2_TO_POSE3_RETREAT,763.239183971,742,711,672,662.239183971,632,877,784.239183971,799,650,629,651,0.410650183116,0.00455917235391,0.0597453856683,0.999999902367,0.000151783112302,-0.000413934343934,2.97805959569e-05,1793193574178598400
+336,5.600000000,POSE2_TO_POSE3_RETREAT,763.334088773,742,711,672,662.334088773,632,877.334088773,784,799,650,629,651,0.41000536281,0.00455874564754,0.0597748900004,0.999999922487,0.000139892296807,-0.000366769869084,3.06031752671e-05,1793193574195265280
+337,5.616666667,POSE2_TO_POSE3_RETREAT,763.907086314,742,711,672,662.907086314,632,877.907086314,784,799,650,629,651,0.409384683249,0.0045609723742,0.0598231036262,0.999999944358,0.000135330152897,-0.000303085550849,3.33074384271e-05,1793193574211931904
+338,5.633333333,POSE2_TO_POSE3_RETREAT,764,742,711,672,662.499091635,632,878,784,799,650,629,651,0.408776206311,0.0045572510937,0.0598497628316,0.999999956676,0.000127773349772,-0.000262830333424,3.52337699313e-05,1793193574228598528
+339,5.650000000,POSE2_TO_POSE3_RETREAT,764,742,711,672,662,632,878,784,799,650,629,651,0.408170017333,0.00455345235574,0.059865628164,0.99999996325,0.000127408190555,-0.000236522055802,3.63966461713e-05,1793193574245265152
+340,5.666666667,POSE2_TO_POSE3_RETREAT,764,742,711,672,662,632,878,784,799,650,629,651,0.407563455953,0.00455507959922,0.0598480273674,0.99999995235,0.000166315231388,-0.000257780548955,3.44622194897e-05,1793193574261931776
+341,5.683333333,POSE2_TO_POSE3_RETREAT,764,742.25083466,711,672,662.25083466,632,878,784,799.25083466,650,629,651,0.406990370633,0.00455576191363,0.0598350388203,0.999999945721,0.000181228127946,-0.000273201297315,3.27982246622e-05,1793193574278598656
+342,5.700000000,POSE2_TO_POSE3_RETREAT,764,742.841278301,711,672,662.841278301,632,878,784,799.841278301,650,629,651,0.406462609124,0.00455516487358,0.0598282948717,0.999999946711,0.000163654973275,-0.000280718230161,3.15003719847e-05,1793193574295265024
+343,5.716666667,POSE2_TO_POSE3_RETREAT,764,742.576567391,711,672,662.576567391,632,878,784,799.576567391,650,629,651,0.405970724222,0.00455247558045,0.0598309556238,0.999999950321,0.000149996244115,-0.000275427431312,3.15923610274e-05,1793193574311931648
+344,5.733333333,POSE2_TO_POSE3_RETREAT,763.997486389,742.002513611,710.997486389,672,662.002513611,632,878,784,799,650,629,651,0.405492130473,0.00454903844445,0.0598369875594,0.999999954728,0.000137808900688,-0.000265551447565,3.21832964064e-05,1793193574328598016
+345,5.750000000,POSE2_TO_POSE3_RETREAT,763.42426214,742.57573786,710.42426214,672,662.57573786,632,878,784,799,650,629,651,0.40503652071,0.00455045333006,0.0598233943379,0.999999950461,0.000132945251787,-0.000283727844111,3.00437050088e-05,1793193574345265152
+346,5.766666667,POSE2_TO_POSE3_RETREAT,763.150092139,742.849907861,710.150092139,672.150092139,662.849907861,632,877.849907861,784,799,650,629,650.849907861,0.404584560268,0.00455119698482,0.0598057123529,0.999999942953,0.000128916613446,-0.000310895245787,2.86097569435e-05,1793193574361931776
+347,5.783333333,POSE2_TO_POSE3_RETREAT,763.727665015,742.272334985,710.727665015,672.727665015,662.272334985,632,877.272334985,784,799,650,629,650.272334985,0.404142993433,0.00455002889247,0.0597763850671,0.999999925348,0.000127266185902,-0.000363670131733,2.91855667224e-05,1793193574378598400
+348,5.800000000,POSE2_TO_POSE3_RETREAT,763.688216627,742,711,672.688216627,662,632,877,784,799,650,629,650.311783373,0.403761138077,0.00454940429389,0.0597625090331,0.999999916966,0.000127794339853,-0.000385831624907,2.95187097169e-05,1793193574395265280
+349,5.816666667,POSE2_TO_POSE3_RETREAT,763.098258387,742,711,672.098258387,662,632,877,784,799,650,629,650.901741613,0.403432557663,0.00454926460356,0.059762418694,0.999999918618,0.000130266236709,-0.000380679675594,2.96353440692e-05,1793193574411931904
+350,5.833333333,POSE2_TO_POSE3_RETREAT,763.4845939,742,711,672.4845939,662.4845939,632,877.4845939,784,799,650,629,651,0.4031599461,0.00454622832449,0.0597839839217,0.999999933072,0.000129687261365,-0.000340668771627,3.13498427204e-05,1793193574428598784
+351,5.850000000,POSE2_TO_POSE3_RETREAT,763.934934326,742,711,672.934934326,663,632,878,784,799.065065674,650,629,651,0.402901891487,0.00454265709082,0.0598093667835,0.999999947583,0.000128792993616,-0.000295174036035,3.34547783145e-05,1793193574445265152
+352,5.866666667,POSE2_TO_POSE3_RETREAT,763.361960286,742,711,672.361960286,663,632,878,784,799.638039714,650,629,651,0.402670162638,0.00453942840796,0.0598307694303,0.999999956747,0.000130196651216,-0.00026124929518,3.61149552433e-05,1793193574461931776
+353,5.883333333,POSE2_TO_POSE3_RETREAT,763,742,711,672,662.782820188,632,878,784,800,650,629,651,0.402440318484,0.00453846835945,0.0598427927878,0.999999960639,0.000133334363729,-0.000243920701418,3.80421163044e-05,1793193574478598400
+354,5.900000000,POSE2_TO_POSE3_RETREAT,763,742,711,672,662.193103263,632,878,784,800,650,629,651,0.402213707248,0.00454139978941,0.0598387274774,0.999999957,0.000139446569191,-0.000255060138304,3.87119060701e-05,1793193574495265024
+355,5.916666667,POSE2_TO_POSE3_RETREAT,763.389205999,742,711,672,662,632,877.610794001,784,799.610794001,650,629,651,0.402011317501,0.00454099519373,0.0598328250659,0.99999995291,0.000141110368931,-0.000269622348787,3.96360243274e-05,1793193574511932160
+356,5.933333333,POSE2_TO_POSE3_RETREAT,763.967908669,742,711,672,662,632,877.032091331,784,799.032091331,650,629,651,0.401820720696,0.00453896635367,0.059826028206,0.999999948432,0.000140608328784,-0.000285851040711,4.06839701299e-05,1793193574528599552
+357,5.950000000,POSE2_TO_POSE3_RETREAT,763.455711163,742,711,672,662.544288837,632,877,784,799,650,629,651,0.401676535523,0.00453739840519,0.0598251979432,0.99999994832,0.000136811971083,-0.000288084960034,4.06122459143e-05,1793193574545265920
+358,5.966666667,POSE2_TO_POSE3_RETREAT,763.120276054,742,711,672,662.879723946,632,877,784,799,650,629,651,0.401540865507,0.00453537009498,0.0598247161289,0.999999950255,0.000119542081694,-0.000289545770676,3.69235665936e-05,1793193574561932544
+359,5.983333333,POSE2_TO_POSE3_RETREAT,763.69529329,742,711,672,662.30470671,632,877,784,799,650,629,651,0.401427087674,0.00453149893895,0.0598242273271,0.999999956053,5.20625360938e-05,-0.000291190021226,1.9808391909e-05,1793193574578598912
+360,6.000000000,POSE2_TO_POSE3_RETREAT,764,742,711,672,662,632,877.277228577,784,799,650,628.722771423,651,0.401328673815,0.00452626991855,0.0598270489784,0.999999958311,1.44462052102e-05,-0.000288133942157,1.21578792322e-05,1793193574595265280
+361,6.016666667,POSE2_TO_POSE3_RETREAT,764,742,711,672,662,632,877.86696218,784,799,650,628.13303782,651,0.401247578953,0.00451951025013,0.0598336023273,0.999999960692,1.04930918637e-05,-0.000279779432647,1.51763776437e-05,1793193574611932160
+362,6.033333333,POSE2_TO_POSE3_RETREAT,764,742,710.55174719,672,662,632,877.55174719,784,799,650,628.44825281,651,0.401178582862,0.00451713119145,0.0598322293595,0.999999959817,1.26584528951e-05,-0.000282710764477,1.67298684578e-05,1793193574628598528
+363,6.050000000,POSE2_TO_POSE3_RETREAT,763.973217367,742,710.026782633,672,662.026782633,632,877.026782633,784,799,650,629,651,0.401114202387,0.00451592866721,0.0598286674878,0.999999958043,1.62875323229e-05,-0.00028867073004,1.78567582487e-05,1793193574645265152
+364,6.066666667,POSE2_TO_POSE3_RETREAT,763.400825892,742,710.599174108,672,662.599174108,632,877.599174108,784,799,650,629,651,0.401072051189,0.00451269793998,0.059827551706,0.999999957867,1.34256770251e-05,-0.000289354628018,1.89869728776e-05,1793193574661932032
+365,6.083333333,POSE2_TO_POSE3_RETREAT,763.173361707,742,710.826638293,672,663,632.173361707,877.826638293,784,799.173361707,650,628.826638293,651,0.401034380336,0.0045098850401,0.0598269454295,0.999999957813,1.19856705566e-05,-0.000289528736145,2.00711015485e-05,1793193574678598656
+366,6.100000000,POSE2_TO_POSE3_RETREAT,763.751745484,742,710.248254516,672,663,632.751745484,877.248254516,784,799.751745484,650,628.248254516,651,0.401007176846,0.00450804830374,0.0598275295016,0.999999958063,1.38675062238e-05,-0.000288511830645,2.10475602055e-05,1793193574695265536
+367,6.116666667,POSE2_TO_POSE3_RETREAT,763.662955318,742,710.337044682,672.337044682,662.662955318,632.662955318,877,784,799.662955318,650,628,651,0.40098432127,0.00450582819091,0.059826496123,0.999999957431,1.30314740439e-05,-0.000290682426154,2.17195300722e-05,1793193574711932416
+368,6.133333333,POSE2_TO_POSE3_RETREAT,763.072455717,742,710.927544283,672.927544283,662.072455717,632.072455717,877,784,799.072455717,650,628,651,0.400964735287,0.00450331978184,0.0598242464343,0.999999956117,1.01516270716e-05,-0.00029524999694,2.21625268942e-05,1793193574728598784
+369,6.150000000,POSE2_TO_POSE3_RETREAT,763.507293686,742,711,673,662,632.507293686,877,784,799,650,628.507293686,651,0.400958506743,0.00450323081394,0.0598259010058,0.99999995704,1.11548168604e-05,-0.000292047562585,2.2452933796e-05,1793193574745265408
+370,6.166666667,POSE2_TO_POSE3_RETREAT,764,742,711,672.91488666,662,632.91488666,877,784,799.08511334,650,629,651,0.40095470843,0.00450342336267,0.0598280747655,0.999999958221,1.25280550084e-05,-0.000287900048368,2.26839894534e-05,1793193574761932032
+371,6.183333333,POSE2_TO_POSE3_RETREAT,764,742,711,672.33952158,662,632.33952158,877,784,799.66047842,650,629,651,0.400954147248,0.00450328830532,0.0598300937132,0.99999995917,1.29045343779e-05,-0.00028456851837,2.26961115713e-05,1793193574778598656
+372,6.200000000,POSE2_TO_POSE3_RETREAT,763.759341599,742,711,672,662.240658401,632,877,784,799.759341599,650,629,651,0.400952712095,0.00450300217864,0.0598312831936,0.999999959739,1.33121883694e-05,-0.000282536216032,2.27640291865e-05,1793193574795265280
+373,6.216666667,POSE2_TO_POSE3_RETREAT,763.172230094,742,711,672,662.827769906,632,877,784,799.172230094,650,629,651,0.400950018766,0.00450249857177,0.0598312785686,0.999999959775,1.37647214888e-05,-0.000282374288894,2.29122702935e-05,1793193574811932416
+374,6.233333333,POSE2_TO_POSE3_RETREAT,763.409073246,742,711,672,663,632,877.409073246,784,799.409073246,650,629,651,0.400948420417,0.00450320657559,0.0598312641139,0.999999959817,1.53441712096e-05,-0.00028214355976,2.29330341503e-05,1793193574828599296
+375,6.250000000,POSE2_TO_POSE3_RETREAT,763.987965422,742,711,672,663,632,877.987965422,784,799.987965422,650,629,651,0.400947276629,0.00450441755641,0.0598312455786,0.999999959857,1.73914387854e-05,-0.000281884268796,2.2900878262e-05,1793193574845265920
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764,742,711.566484999,672,663,632,877.433515001,784,799.433515001,650,629,651,0.400946784316,0.00450202388987,0.0598309026043,0.99999995964,1.41498268664e-05,-0.000282798207043,2.33629749445e-05,1793193574861932544
+377,6.283333333,POSE2_TO_POSE3_RETREAT,764,742,711.85595896,672.14404104,662.85595896,632,877,783.85595896,799,650,629,651,0.400946537956,0.00450022471332,0.0598309647178,0.999999959607,1.17031289884e-05,-0.00028300442357,2.36225002165e-05,1793193574878599168
+378,6.300000000,POSE2_TO_POSE3_RETREAT,764,742,711.281260176,672.718739824,662.281260176,632,877,783.281260176,799,650,629,651,0.400946985603,0.0045004317643,0.0598322585675,0.999999960172,1.19687986833e-05,-0.000281020203913,2.32449993041e-05,1793193574895266048
+379,6.316666667,POSE2_TO_POSE3_RETREAT,764,742,711,672.697915306,662,632,877,783.302084694,799,650,629,651,0.400946308238,0.00450152897348,0.0598327442156,0.999999960297,1.4219728469e-05,-0.000280490243725,2.30023023939e-05,1793193574911932928
+380,6.333333333,POSE2_TO_POSE3_RETREAT,764,742,711,672.106283112,662,632,877,783.893716888,799,650,629,651,0.400944552552,0.00450347939731,0.0598324552043,0.999999959989,1.83735256144e-05,-0.000281354187729,2.2888814772e-05,1793193574928599296
+381,6.350000000,POSE2_TO_POSE3_RETREAT,764,742,711,672,662,632,877,784,799,650,629,651,0.400944905628,0.00450235371831,0.0598330694035,0.999999960106,1.72584026989e-05,-0.000280965245612,2.34253923135e-05,1793193574945266176
+382,6.366666667,POSE2_TO_POSE3_RETREAT,763.948767987,742,711,672,662.051232013,632,877,784,799.051232013,650,629,651,0.400945711011,0.00450076420119,0.0598338099359,0.999999960316,1.52180494461e-05,-0.000280284814356,2.40169941353e-05,1793193574961933056
+383,6.383333333,POSE2_TO_POSE3_RETREAT,763.374998253,742,711,672,662.625001747,632,877,784,799.625001747,650,629,651,0.400946419753,0.00450131427568,0.0598338216752,0.999999960558,1.55090072255e-05,-0.000279429680598,2.37178915138e-05,1793193574978599168
+384,6.400000000,POSE2_TO_POSE3_RETREAT,763.204307009,742,711,672.204307009,662.795692991,632,877,784,799.795692991,650,629,651,0.400947102259,0.00450133970483,0.0598342833316,0.999999960911,1.53110331131e-05,-0.000278180076246,2.36360741796e-05,1793193574995265792
+385,6.416666667,POSE2_TO_POSE3_RETREAT,763.794055449,742,711,672.794055449,662.205944551,632,877,784,799.205944551,650,629,651,0.400947735266,0.00450037534873,0.0598355937927,0.999999961473,1.41906500573e-05,-0.000276186271783,2.39641828508e-05,1793193575011932416
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764,742,711,673,662.377094489,632,877,784,799,650,629,651,0.400947372831,0.00450000587447,0.0598355653131,0.999999961377,1.39746620756e-05,-0.000276546355164,2.39334468928e-05,1793193575028598784
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764,742,711,673,662.956533327,632,877,784,799,650,629,651,0.400946476254,0.00449995560664,0.0598348183742,0.999999960928,1.42439616061e-05,-0.000278169506401,2.37101592295e-05,1793193575045265152
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764,742,711,672.467773784,662.467773784,632,877.532226216,784,799.532226216,650,628.467773784,651,0.400947299185,0.00449982655395,0.0598357548913,0.999999961421,1.32512336128e-05,-0.000276438455513,2.37514598937e-05,1793193575061932032
+389,6.483333333,POSE2_TO_POSE3_RETREAT,763.892640019,742,711,672,662.107359981,632,877.892640019,784,799.892640019,650,628.107359981,651,0.400947882945,0.00449972891534,0.0598365588978,0.999999961839,1.23660708871e-05,-0.000274960552999,2.37832802658e-05,1793193575078598656
+390,6.500000000,POSE2_TO_POSE3_RETREAT,763.318616272,742,711,672,662.681383728,632,877.318616272,784,799.318616272,650,628.681383728,651,0.400946820941,0.00449979559771,0.0598361934767,0.99999996162,1.23933463713e-05,-0.000275765417853,2.36806214741e-05,1793193575095265536
+391,6.516666667,POSE2_TO_POSE3_RETREAT,763.263241716,742,711,672.263241716,663,632.263241716,877,784,799.263241716,650,628.736758284,651,0.400946463567,0.00450023924977,0.0598362345505,0.999999961547,1.24020584101e-05,-0.00027603305136,2.36060518196e-05,1793193575111932416
+392,6.533333333,POSE2_TO_POSE3_RETREAT,763.85487286,742,711,672.85487286,663,632.85487286,877,784,799.85487286,650,628.14512714,651,0.400946985206,0.00450115316492,0.0598367827196,0.999999961659,1.23876128797e-05,-0.000275630498286,2.35665228575e-05,1793193575128599808
+393,6.550000000,POSE2_TO_POSE3_RETREAT,763.562840972,742,711,672.562840972,663,632.562840972,877,784,799.562840972,650,628.437159028,651,0.40094693728,0.00450191035838,0.0598362229576,0.999999961473,1.60176956467e-05,-0.000276111915811,2.36401264082e-05,1793193575145265920
+394,6.566666667,POSE2_TO_POSE3_RETREAT,763.016314707,742,711,672,662.983685293,632.016314707,877.016314707,784,799,650,629,651,0.400946702641,0.00450260237384,0.0598353252836,0.99999996118,2.06330990305e-05,-0.000276860244701,2.37380198244e-05,1793193575161932032
+395,6.583333333,POSE2_TO_POSE3_RETREAT,763.592278196,742,711,672,662.407721804,632.592278196,877.592278196,784,799,650,629,651,0.400946413524,0.0045028059539,0.059835189098,0.999999961217,1.84132323882e-05,-0.000276908599213,2.34077536958e-05,1793193575178598656
+396,6.600000000,POSE2_TO_POSE3_RETREAT,764,742,711,672,662.171168603,633,878,784,799.171168603,650,629,651,0.400946017751,0.00450274404117,0.0598350890483,0.999999961206,1.72050443881e-05,-0.000277040020108,2.32342724476e-05,1793193575195265280
+397,6.616666667,POSE2_TO_POSE3_RETREAT,764,742,711,672,662.757152152,633,878,784,799.757152152,650,629,651,0.400945363505,0.00450203872552,0.0598350765712,0.999999961087,1.84485878302e-05,-0.000277372746478,2.34407482375e-05,1793193575211931904
+398,6.633333333,POSE2_TO_POSE3_RETREAT,764,742,711,672,663,632.660780466,878,784,799.660780466,650,629,651,0.400944058047,0.00450220230178,0.0598344637853,0.999999960706,1.89257596937e-05,-0.000278710385435,2.3460932184e-05,1793193575228598528
+399,6.650000000,POSE2_TO_POSE3_RETREAT,764,742,711,672,663,632.081484702,878,784,799.081484702,650,629,651,0.400942291706,0.00450298081992,0.059833426142,0.999999960137,1.88605464696e-05,-0.000280759232312,2.33492715823e-05,1793193575245264896
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_09/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_09/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..70ea63659fd658f27f216a569a8b30be8326c7d0
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_09/depth_04/simulation_data.csv
@@ -0,0 +1,401 @@
+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,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+1,0.016666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+2,0.033333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+3,0.050000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+4,0.066666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+5,0.083333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+6,0.100000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+7,0.116666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+8,0.133333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+9,0.150000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+10,0.166666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+11,0.183333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+12,0.200000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+13,0.216666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+14,0.233333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+15,0.250000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+16,0.266666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+17,0.283333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+18,0.300000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+19,0.316666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+20,0.333333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+21,0.350000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+22,0.366666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+23,0.383333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+24,0.400000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+25,0.416666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+26,0.433333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+27,0.450000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+28,0.466666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+29,0.483333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+30,0.500000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+31,0.516666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+32,0.533333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+33,0.550000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+34,0.566666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+35,0.583333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+36,0.600000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+37,0.616666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+38,0.633333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+39,0.650000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+40,0.666666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+41,0.683333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+42,0.700000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+43,0.716666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+44,0.733333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+45,0.750000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+46,0.766666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+47,0.783333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+48,0.800000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+49,0.816666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+50,0.833333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+51,0.850000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+52,0.866666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+53,0.883333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+54,0.900000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+55,0.916666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+56,0.933333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+57,0.950000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+58,0.966666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+59,0.983333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+60,1.000000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+61,1.016666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+62,1.033333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+63,1.050000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+64,1.066666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+65,1.083333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+66,1.100000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+67,1.116666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+68,1.133333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+69,1.150000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+70,1.166666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+71,1.183333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+72,1.200000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+73,1.216666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+74,1.233333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+75,1.250000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+76,1.266666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+77,1.283333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+78,1.300000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+79,1.316666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+80,1.333333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+81,1.350000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+82,1.366666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+83,1.383333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+84,1.400000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+85,1.416666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+86,1.433333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+87,1.450000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+88,1.466666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+89,1.483333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+90,1.500000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+91,1.516666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+92,1.533333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+93,1.550000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+94,1.566666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+95,1.583333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+96,1.600000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+97,1.616666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+98,1.633333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+99,1.650000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+100,1.666666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+101,1.683333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+102,1.700000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+103,1.716666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+104,1.733333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+105,1.750000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+106,1.766666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+107,1.783333333,pose1_to_pose2_press,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+108,1.800000000,pose1_to_pose2_press,0.575709266534,0.0100546648735,1.05002894168,0.546279994255,0.0187273859056,1.04969823506
+109,1.816666667,pose1_to_pose2_press,0.57570935781,0.0100546619038,1.05002899821,0.546280085934,0.018727384334,1.04969829239
+110,1.833333333,pose1_to_pose2_press,0.575709481494,0.0100546243116,1.05002899023,0.546280210249,0.0187273489532,1.04969828627
+111,1.850000000,pose1_to_pose2_press,0.57570969404,0.0100545376747,1.05002892098,0.546280423935,0.0187272663248,1.04969822072
+112,1.866666667,pose1_to_pose2_press,0.575710091514,0.0100544829978,1.05002891084,0.546280822369,0.0187272149996,1.049698213
+113,1.883333333,pose1_to_pose2_press,0.575711292323,0.0100545513887,1.05002911686,0.546282023346,0.0187272838577,1.0496984164
+114,1.900000000,pose1_to_pose2_press,0.575714609411,0.0100545445088,1.05002912484,0.546285340205,0.0187272759951,1.04969841887
+115,1.916666667,pose1_to_pose2_press,0.575721683592,0.0100544395206,1.05002905578,0.546292415391,0.0187271740975,1.04969834141
+116,1.933333333,pose1_to_pose2_press,0.575736372032,0.0100545551445,1.05002911685,0.546307101905,0.0187272835869,1.049698413
+117,1.950000000,pose1_to_pose2_press,0.575760812999,0.0100545429061,1.05002918072,0.546331544529,0.0187272765724,1.04969846629
+118,1.966666667,pose1_to_pose2_press,0.575797524417,0.0100544759351,1.0500292123,0.546368256749,0.0187272127569,1.04969850918
+119,1.983333333,pose1_to_pose2_press,0.575846019784,0.0100544585323,1.05002918961,0.546416750331,0.0187271887383,1.04969847179
+120,2.000000000,pose1_to_pose2_press,0.575905796671,0.0100546250081,1.05002894176,0.546476525654,0.0187273505465,1.04969824064
+121,2.016666667,pose1_to_pose2_press,0.575974795991,0.0100545876213,1.050029105,0.54654552668,0.0187273187719,1.04969839919
+122,2.033333333,pose1_to_pose2_press,0.57605260316,0.0100546333717,1.05002908125,0.546623333023,0.0187273616796,1.04969837433
+123,2.050000000,pose1_to_pose2_press,0.576140855936,0.0100547005939,1.05002918378,0.546711585194,0.0187274266292,1.04969847105
+124,2.066666667,pose1_to_pose2_press,0.576240585625,0.010054701848,1.05002927192,0.546811314615,0.0187274269555,1.0496985586
+125,2.083333333,pose1_to_pose2_press,0.576354904463,0.0100546811087,1.0500292886,0.546925634496,0.0187274098104,1.04969857671
+126,2.100000000,pose1_to_pose2_press,0.576484167474,0.0100544046986,1.05002901395,0.547054901339,0.0187271463856,1.04969830155
+127,2.116666667,pose1_to_pose2_press,0.576630862444,0.0100544091836,1.05002898131,0.547201593605,0.0187271418456,1.0496982728
+128,2.133333333,pose1_to_pose2_press,0.576795109627,0.010054590373,1.05002920903,0.54736583881,0.018727316099,1.04969849461
+129,2.150000000,pose1_to_pose2_press,0.576978351482,0.0100546261093,1.0500292858,0.54754908166,0.0187273551265,1.04969856913
+130,2.166666667,pose1_to_pose2_press,0.577183158225,0.0100546211925,1.05002921175,0.547753888568,0.0187273505665,1.04969848968
+131,2.183333333,pose1_to_pose2_press,0.577409440708,0.010054500481,1.05002917228,0.547980171327,0.0187272309908,1.0496984553
+132,2.200000000,pose1_to_pose2_press,0.577657542094,0.0100546031361,1.05002907274,0.548228271977,0.0187273314624,1.04969836397
+133,2.216666667,pose1_to_pose2_press,0.577925120534,0.0100545999557,1.05002930533,0.548495851105,0.018727330194,1.04969858541
+134,2.233333333,pose1_to_pose2_press,0.578212072962,0.0100545956396,1.05002917013,0.54878280195,0.0187273207914,1.04969845771
+135,2.250000000,pose1_to_pose2_press,0.578514796961,0.0100544728846,1.05002915297,0.549085529356,0.0187272097145,1.04969844355
+136,2.266666667,pose1_to_pose2_press,0.578833049257,0.0100545587212,1.05002903064,0.549403779663,0.0187272888096,1.04969832131
+137,2.283333333,pose1_to_pose2_press,0.579177058593,0.0100545851679,1.05002916731,0.549747787669,0.018727310587,1.04969845381
+138,2.300000000,pose1_to_pose2_press,0.579548910137,0.0100545566625,1.05002902042,0.55011964095,0.0187272884269,1.04969831873
+139,2.316666667,pose1_to_pose2_press,0.579957138273,0.0100544363087,1.05002913131,0.550527870619,0.0187271730058,1.04969842253
+140,2.333333333,pose1_to_pose2_press,0.580403194922,0.0100544171906,1.05002912449,0.550973928675,0.0187271588961,1.04969842179
+141,2.350000000,pose1_to_pose2_press,0.580889715874,0.0100545463787,1.05002903349,0.551460446779,0.0187272782663,1.04969832672
+142,2.366666667,pose1_to_pose2_press,0.581398184907,0.0100546306836,1.0500291551,0.551968913745,0.018727355417,1.04969844455
+143,2.383333333,pose1_to_pose2_press,0.581923882165,0.0100546435874,1.05002908482,0.552494611249,0.0187273688271,1.04969836562
+144,2.400000000,pose1_to_pose2_press,0.582462532951,0.010054424718,1.0500289135,0.553033265593,0.0187271625313,1.04969820742
+145,2.416666667,pose1_to_pose2_press,0.583014733807,0.0100545124671,1.05002928254,0.553585466623,0.0187272507499,1.04969857326
+146,2.433333333,pose1_to_pose2_press,0.583585068184,0.0100544779175,1.05002920224,0.55415580021,0.0187272132408,1.0496984856
+147,2.450000000,pose1_to_pose2_press,0.584183209216,0.010054486259,1.05002918824,0.554753940148,0.0187272179334,1.04969847321
+148,2.466666667,pose1_to_pose2_press,0.584811992272,0.0100545981426,1.0500291607,0.555382722675,0.0187273281511,1.04969844899
+149,2.483333333,pose1_to_pose2_press,0.585460070814,0.010054439987,1.05002918733,0.556030801678,0.0187271713936,1.04969847121
+150,2.500000000,pose1_to_pose2_press,0.586121624628,0.0100546194637,1.05002920153,0.556692352789,0.0187273415849,1.04969848248
+151,2.516666667,pose1_to_pose2_press,0.586790541538,0.0100545474939,1.05002914393,0.55736127086,0.018727274053,1.0496984379
+152,2.533333333,pose1_to_pose2_press,0.587473807426,0.0100544066593,1.05002919173,0.558044539375,0.0187271417223,1.04969847488
+153,2.550000000,pose1_to_pose2_press,0.588181330834,0.0100545202003,1.05002897335,0.55875206047,0.0187272476407,1.04969826248
+154,2.566666667,pose1_to_pose2_press,0.588921317466,0.0100546301671,1.05002912269,0.559492046343,0.018727354994,1.04969841079
+155,2.583333333,pose1_to_pose2_press,0.589694468681,0.010054432554,1.0500290865,0.560265199584,0.018727164102,1.04969837058
+156,2.600000000,pose1_to_pose2_press,0.590488107489,0.0100545910808,1.05002928581,0.561058836674,0.0187273167223,1.04969856785
+157,2.616666667,pose1_to_pose2_press,0.591291984262,0.0100544829649,1.05002931059,0.561862715444,0.0187272154305,1.04969859386
+158,2.633333333,pose1_to_pose2_press,0.592099858719,0.0100545476048,1.05002927345,0.562670590389,0.0187272821117,1.04969856693
+159,2.650000000,pose1_to_pose2_press,0.592905545441,0.0100546415378,1.05002916555,0.563476275382,0.0187273701535,1.04969845837
+160,2.666666667,pose1_to_pose2_press,0.593706591435,0.0100546236073,1.05002916551,0.564277320094,0.0187273477723,1.04969845578
+161,2.683333333,pose1_to_pose2_press,0.594508418913,0.0100544833936,1.05002916837,0.565079150273,0.0187272166928,1.04969845775
+162,2.700000000,pose1_to_pose2_press,0.595310904372,0.0100545533463,1.05002915337,0.565881634885,0.0187272838019,1.04969844365
+163,2.716666667,pose1_to_pose2_press,0.596127437909,0.0100546107413,1.0500291544,0.566698168222,0.018727340575,1.0496984462
+164,2.733333333,pose1_to_pose2_press,0.596963651525,0.01005470822,1.05002917381,0.567534379895,0.0187274313143,1.04969846181
+165,2.750000000,pose1_to_pose2_press,0.597824952392,0.0100545316199,1.050028842,0.568395684127,0.0187272666713,1.0496981441
+166,2.766666667,pose1_to_pose2_press,0.598703043943,0.0100547166001,1.05002907691,0.569273772874,0.018727441764,1.04969836932
+167,2.783333333,pose1_to_pose2_press,0.599590430583,0.0100544520113,1.05002906221,0.570161161283,0.0187271830744,1.04969835197
+168,2.800000000,pose1_to_pose2_press,0.600459184663,0.0100545623636,1.05002905205,0.571029912996,0.0187272853296,1.04969834014
+169,2.816666667,pose1_to_pose2_press,0.601305119602,0.0100544288562,1.05002905404,0.571875852823,0.0187271683224,1.04969834
+170,2.833333333,pose1_to_pose2_press,0.602119334168,0.0100545351189,1.05002921871,0.572690064701,0.0187272657763,1.04969851292
+171,2.850000000,pose1_to_pose2_press,0.602918492171,0.0100547150414,1.05002928922,0.573489218845,0.0187274323597,1.04969857705
+172,2.866666667,pose1_to_pose2_press,0.603711248751,0.0100546406683,1.05002919544,0.5742819778,0.0187273661209,1.0496984853
+173,2.883333333,pose1_to_pose2_press,0.604515218291,0.0100544959571,1.05002897185,0.575085948426,0.0187272252593,1.04969826611
+174,2.900000000,pose1_to_pose2_press,0.605332699604,0.0100545545494,1.05002890276,0.575903428369,0.0187272792337,1.04969819787
+175,2.916666667,pose1_to_pose2_press,0.606143595324,0.0100545657917,1.05002924687,0.576714324771,0.0187272922904,1.04969852898
+176,2.933333333,pose1_to_pose2_press,0.606941983766,0.010054498258,1.05002908035,0.57751271595,0.0187272343309,1.04969837007
+177,2.950000000,pose1_to_pose2_press,0.607721901314,0.0100546350687,1.05002914543,0.578292629954,0.0187273591365,1.04969843578
+178,2.966666667,pose1_to_pose2_press,0.608470798387,0.0100544671172,1.05002915182,0.579041529531,0.0187271997195,1.04969844322
+179,2.983333333,pose1_to_pose2_press,0.609186582724,0.0100545476464,1.05002927815,0.57975731445,0.018727282027,1.0496985645
+180,3.000000000,pose1_to_pose2_press,0.609888139646,0.0100545235844,1.05002905405,0.580458870049,0.0187272538505,1.04969835025
+181,3.016666667,pose1_to_pose2_press,0.610573723821,0.010054540102,1.05002911453,0.581144455557,0.0187272749458,1.0496984123
+182,3.033333333,pose1_to_pose2_press,0.611233779757,0.0100545604931,1.0500292186,0.581804510633,0.018727291693,1.04969849743
+183,3.050000000,pose1_to_pose2_press,0.611873009485,0.0100545426734,1.05002919483,0.582443740545,0.018727274636,1.0496984774
+184,3.066666667,pose1_to_pose2_press,0.612495324192,0.0100545573931,1.05002926673,0.583066055747,0.0187272912434,1.04969855426
+185,3.083333333,pose1_to_pose2_press,0.613100990632,0.0100545348537,1.05002908501,0.583671720952,0.0187272647862,1.0496983768
+186,3.100000000,pose1_to_pose2_press,0.613690671383,0.0100545435095,1.05002935128,0.584261402839,0.0187272773611,1.0496986366
+187,3.116666667,pose1_to_pose2_press,0.61425127807,0.0100544662384,1.05002931505,0.584822009082,0.0187271992185,1.04969860395
+188,3.133333333,pose1_to_pose2_press,0.614777788099,0.0100544912481,1.05002921407,0.585348520171,0.018727228132,1.04969849893
+189,3.150000000,pose1_to_pose2_press,0.615263343007,0.0100546250885,1.05002934685,0.585834072618,0.0187273542111,1.04969863572
+190,3.166666667,pose1_to_pose2_press,0.61571493257,0.0100546547925,1.05002943957,0.586285660591,0.0187273787657,1.04969872011
+191,3.183333333,pose1_to_pose2_press,0.616135329892,0.0100545792426,1.05002937133,0.586706059882,0.0187273104295,1.04969865248
+192,3.200000000,pose1_to_pose2_press,0.616546624255,0.0100545674655,1.0500291822,0.587117355342,0.0187273032179,1.04969847075
+193,3.216666667,pose1_to_pose2_press,0.616949207675,0.0100545703929,1.05002899438,0.587519937607,0.0187273030388,1.04969828587
+194,3.233333333,pose1_to_pose2_press,0.617339863616,0.0100545220236,1.05002902905,0.587910593279,0.0187272543253,1.04969831842
+195,3.250000000,pose1_to_pose2_press,0.617712599209,0.010054502405,1.05002903912,0.58828332924,0.0187272366116,1.04969833302
+196,3.266666667,pose1_to_pose2_press,0.618059365593,0.0100545438607,1.0500290539,0.588630094914,0.0187272761811,1.0496983489
+197,3.283333333,pose1_to_pose2_press,0.618377440258,0.0100546141312,1.05002918235,0.588948168408,0.0187273427536,1.04969847152
+198,3.300000000,pose1_to_pose2_press,0.618665431249,0.0100545386045,1.05002913696,0.589236159577,0.0187272682491,1.04969842565
+199,3.316666667,pose1_to_pose2_press,0.618925937953,0.0100545467225,1.05002929719,0.589496665984,0.0187272753332,1.04969857482
+200,3.333333333,pose1_to_pose2_press,0.619162969996,0.0100546751614,1.05002914471,0.589733696321,0.0187273987234,1.049698431
+201,3.350000000,pose1_to_pose2_press,0.619380259648,0.010054624426,1.05002910781,0.589950987018,0.0187273519904,1.04969839714
+202,3.366666667,pose1_to_pose2_press,0.619581757847,0.0100545390844,1.05002940201,0.590152485866,0.0187272688224,1.04969868352
+203,3.383333333,pose1_to_pose2_press,0.619767619124,0.0100545286658,1.05002901557,0.590338347699,0.0187272609728,1.04969830853
+204,3.400000000,pose1_to_pose2_press,0.619938665854,0.010054535661,1.05002892194,0.590509392844,0.0187272627522,1.04969821302
+205,3.416666667,pose1_to_pose2_press,0.620094699297,0.0100546337635,1.05002902353,0.590665428512,0.0187273688487,1.04969831809
+206,3.433333333,pose1_to_pose2_press,0.620233648163,0.0100546933045,1.05002915565,0.590804372871,0.0187274131167,1.0496984443
+207,3.450000000,pose1_to_pose2_press,0.620356416851,0.0100546210437,1.05002928815,0.590927142896,0.0187273456234,1.04969857708
+208,3.466666667,pose1_to_pose2_press,0.620461900101,0.0100546005408,1.05002929684,0.591032627902,0.018727331358,1.0496985869
+209,3.483333333,pose1_to_pose2_press,0.620552067224,0.0100546314179,1.05002902907,0.59112279398,0.0187273590235,1.04969832373
+210,3.500000000,pose1_to_pose2_press,0.620626965522,0.0100545187302,1.05002917586,0.591197693473,0.0187272509349,1.04969846133
+211,3.516666667,pose1_to_pose2_press,0.620690216735,0.0100545215042,1.05002927628,0.591260945577,0.0187272563212,1.04969856549
+212,3.533333333,pose1_to_pose2_press,0.620743037706,0.0100545078518,1.05002906689,0.591313766586,0.0187272429441,1.0496983623
+213,3.550000000,pose1_to_pose2_press,0.620786219639,0.0100544995826,1.05002913245,0.591356947481,0.0187272309931,1.04969842387
+214,3.566666667,pose1_to_pose2_press,0.620821395105,0.0100545352517,1.05002918644,0.591392122719,0.0187272656734,1.04969847147
+215,3.583333333,pose1_to_pose2_press,0.620848818299,0.0100545355782,1.05002923964,0.591419546842,0.0187272694396,1.04969852903
+216,3.600000000,pose1_to_pose2_press,0.620869642718,0.0100545660332,1.05002920697,0.59144037066,0.0187272982116,1.04969850027
+217,3.616666667,pose1_to_pose2_press,0.62088420676,0.0100545478267,1.05002916531,0.591454935023,0.0187272809525,1.04969845502
+218,3.633333333,pose1_to_pose2_press,0.620894634107,0.0100544511727,1.05002917164,0.591465364841,0.0187271921666,1.04969845481
+219,3.650000000,pose1_to_pose2_press,0.620901658288,0.0100545529922,1.05002897465,0.591472387491,0.0187272890817,1.04969826664
+220,3.666666667,pose1_to_pose2_press,0.620906263872,0.0100545756193,1.05002897998,0.591476992699,0.0187273105709,1.04969827395
+221,3.683333333,pose1_to_pose2_press,0.620909432905,0.010054553046,1.05002909988,0.591480162018,0.0187272890106,1.04969839193
+222,3.700000000,pose1_to_pose2_press,0.620911412442,0.0100545357481,1.05002914893,0.591482141539,0.0187272716109,1.04969843899
+223,3.716666667,pose1_to_pose2_press,0.620912344984,0.0100545225559,1.05002913129,0.591483073766,0.0187272572124,1.04969841915
+224,3.733333333,pose1_to_pose2_press,0.620912465412,0.0100545208523,1.05002912901,0.591483194153,0.018727255353,1.04969841659
+225,3.750000000,pose1_to_pose2_press,0.620912771426,0.0100545165233,1.05002912322,0.591483500063,0.0187272506282,1.04969841008
+226,3.766666667,pose1_to_pose2_press,0.620913255356,0.0100545096774,1.05002911406,0.59148398383,0.0187272431563,1.04969839978
+227,3.783333333,pose1_to_pose2_press,0.620913690373,0.0100545035234,1.05002910583,0.5914844187,0.0187272364396,1.04969839053
+228,3.800000000,pose1_to_pose2_press,0.620914418678,0.0100544932205,1.05002909205,0.59148514676,0.0187272251946,1.04969837503
+229,3.816666667,pose1_to_pose2_press,0.620915438049,0.0100544853754,1.05002912637,0.591486166124,0.0187272172938,1.04969840868
+230,3.833333333,pose1_to_pose2_press,0.620915691604,0.0100544857132,1.05002915358,0.591486419794,0.0187272180576,1.04969843632
+231,3.850000000,pose1_to_pose2_press,0.620915793704,0.0100544858492,1.05002916453,0.59148652194,0.0187272183651,1.04969844745
+232,3.866666667,pose1_to_pose2_press,0.620916094758,0.0100544862503,1.05002919683,0.591486823131,0.0187272192718,1.04969848026
+233,3.883333333,pose1_to_pose2_press,0.620916433088,0.0100544867011,1.05002923313,0.591487161615,0.0187272202909,1.04969851714
+234,3.900000000,pose1_to_pose2_press,0.620916542567,0.010054486847,1.05002924488,0.591487271144,0.0187272206206,1.04969852907
+235,3.916666667,pose1_to_pose2_press,0.620916555382,0.010054486864,1.05002924625,0.591487283965,0.0187272206592,1.04969853047
+236,3.933333333,pose1_to_pose2_press,0.620916744226,0.0100544871157,1.05002926651,0.591487472895,0.018727221228,1.04969855105
+237,3.950000000,pose1_to_pose2_press,0.620916823421,0.0100544872212,1.05002927501,0.591487552126,0.0187272214666,1.04969855969
+238,3.966666667,pose1_to_pose2_press,0.620917102375,0.0100544875928,1.05002930494,0.591487831207,0.0187272223068,1.04969859009
+239,3.983333333,pose1_to_pose2_press,0.620917248643,0.0100544958152,1.05002928138,0.5914879773,0.0187272299786,1.04969856757
+240,4.000000000,pose1_to_pose2_press,0.620917313777,0.010054501639,1.05002926032,0.591488042292,0.0187272353428,1.04969854718
+241,4.016666667,pose1_to_pose2_press,0.620917387402,0.0100545082219,1.05002923652,0.591488115755,0.0187272414063,1.04969852413
+242,4.033333333,pose1_to_pose2_press,0.620917701666,0.010054536321,1.05002913491,0.591488429329,0.0187272672879,1.04969842574
+243,4.050000000,pose1_to_pose2_press,0.620918034265,0.0100545660595,1.05002902737,0.5914887612,0.0187272946795,1.04969832161
+244,4.066666667,pose1_to_pose2_press,0.620918336645,0.0100545083511,1.05002911827,0.591489064028,0.0187272384413,1.04969840925
+245,4.083333333,pose1_to_pose2_press,0.620918387249,0.0100544959975,1.05002913948,0.591489114743,0.0187272264484,1.04969842972
+246,4.100000000,pose1_to_pose2_press,0.62091834721,0.0100545056072,1.05002914027,0.591489076829,0.0187272435721,1.04969843558
+247,4.116666667,pose2_hold,0.62091834721,0.0100545056072,1.05002914027,0.591489076837,0.0187272435629,1.04969843558
+248,4.133333333,pose2_hold,0.62091834721,0.0100545056072,1.05002914027,0.591489076837,0.0187272435618,1.04969843558
+249,4.150000000,pose2_hold,0.62091834721,0.0100545056072,1.05002914027,0.591489076836,0.0187272435618,1.04969843558
+250,4.166666667,pose2_hold,0.62091834721,0.0100545056072,1.05002914027,0.591489076834,0.0187272435619,1.04969843558
+251,4.183333333,pose2_hold,0.62091834721,0.0100545056072,1.05002914027,0.591489076831,0.0187272435617,1.04969843557
+252,4.200000000,pose2_hold,0.62091834721,0.0100545056072,1.05002914027,0.59148907683,0.0187272435617,1.04969843557
+253,4.216666667,pose2_hold,0.62091834721,0.0100545056072,1.05002914027,0.59148907683,0.0187272435623,1.04969843557
+254,4.233333333,pose2_hold,0.62091834721,0.0100545056072,1.05002914027,0.591489076831,0.0187272435609,1.04969843558
+255,4.250000000,pose2_hold,0.62091834721,0.0100545056072,1.05002914027,0.59148907683,0.018727243562,1.04969843558
+256,4.266666667,pose2_hold,0.62091834721,0.0100545056072,1.05002914027,0.591489076829,0.0187272435668,1.04969843557
+257,4.283333333,pose2_hold,0.62091834721,0.0100545056072,1.05002914027,0.591489076828,0.018727243566,1.04969843557
+258,4.300000000,pose2_hold,0.62091834721,0.0100545056072,1.05002914027,0.591489076826,0.0187272435659,1.04969843557
+259,4.316666667,pose2_hold,0.62091834721,0.0100545056072,1.05002914027,0.591489076824,0.018727243566,1.04969843557
+260,4.333333333,pose2_hold,0.62091834721,0.0100545056072,1.05002914027,0.591489076827,0.0187272435611,1.04969843557
+261,4.350000000,pose2_hold,0.62091834721,0.0100545056072,1.05002914027,0.591489076827,0.0187272435607,1.04969843557
+262,4.366666667,pose2_hold,0.62091834721,0.0100545056072,1.05002914027,0.591489076827,0.0187272435627,1.04969843558
+263,4.383333333,pose2_to_pose3_retreat,0.62091834721,0.0100545056072,1.05002914027,0.591489076823,0.0187272435618,1.04969843557
+264,4.400000000,pose2_to_pose3_retreat,0.620918355338,0.0100545036338,1.05002914252,0.591489084821,0.0187272411304,1.0496984374
+265,4.416666667,pose2_to_pose3_retreat,0.620918392832,0.0100544945312,1.05002915287,0.591489121713,0.0187272299152,1.04969844583
+266,4.433333333,pose2_to_pose3_retreat,0.620918403675,0.0100544793631,1.05002915182,0.591489131337,0.0187272105125,1.04969844226
+267,4.450000000,pose2_to_pose3_retreat,0.620918402116,0.0100544794468,1.0500291513,0.591489129778,0.0187272105988,1.04969844176
+268,4.466666667,pose2_to_pose3_retreat,0.620918070225,0.010054497267,1.05002903948,0.59148879797,0.0187272289788,1.04969833708
+269,4.483333333,pose2_to_pose3_retreat,0.620917150401,0.0100545031394,1.05002914772,0.591487878561,0.018727235918,1.04969843414
+270,4.500000000,pose2_to_pose3_retreat,0.620913817298,0.0100545749711,1.05002894599,0.591484544853,0.0187273058473,1.04969823949
+271,4.516666667,pose2_to_pose3_retreat,0.620904799103,0.0100544339363,1.05002920735,0.591475529872,0.018727175853,1.04969849714
+272,4.533333333,pose2_to_pose3_retreat,0.620887197394,0.0100546207151,1.05002910373,0.591457925595,0.0187273532151,1.04969838412
+273,4.550000000,pose2_to_pose3_retreat,0.620858795882,0.0100545490531,1.05002917284,0.591429523417,0.0187272794634,1.04969846189
+274,4.566666667,pose2_to_pose3_retreat,0.620818011032,0.0100546173774,1.05002914733,0.591388739292,0.0187273502126,1.04969844096
+275,4.583333333,pose2_to_pose3_retreat,0.620765802306,0.0100546107783,1.05002891675,0.591336528865,0.0187273375372,1.049698208
+276,4.600000000,pose2_to_pose3_retreat,0.620702056121,0.0100545845694,1.05002904481,0.59127278459,0.0187273173523,1.04969833079
+277,4.616666667,pose2_to_pose3_retreat,0.62062857927,0.0100545989463,1.05002924487,0.591199305584,0.01872732427,1.04969852456
+278,4.633333333,pose2_to_pose3_retreat,0.620545543158,0.0100544404155,1.0500290895,0.591116271896,0.0187271744175,1.04969837742
+279,4.650000000,pose2_to_pose3_retreat,0.620449793075,0.0100545059493,1.05002914188,0.591020521394,0.0187272385913,1.04969843545
+280,4.666666667,pose2_to_pose3_retreat,0.620340431088,0.0100545641646,1.05002914167,0.590911159378,0.0187272965566,1.04969843719
+281,4.683333333,pose2_to_pose3_retreat,0.620213796394,0.0100545541423,1.05002914429,0.590784523999,0.0187272839079,1.04969843824
+282,4.700000000,pose2_to_pose3_retreat,0.620069015983,0.0100545579117,1.0500291776,0.59063974369,0.0187272872778,1.04969845845
+283,4.716666667,pose2_to_pose3_retreat,0.61990171365,0.0100544813844,1.05002909675,0.590472442651,0.0187272149197,1.04969837958
+284,4.733333333,pose2_to_pose3_retreat,0.619713398581,0.0100544579053,1.05002917985,0.590284127836,0.0187271921087,1.04969846544
+285,4.750000000,pose2_to_pose3_retreat,0.619503594764,0.0100545589191,1.05002913324,0.590074322847,0.0187272889702,1.04969842456
+286,4.766666667,pose2_to_pose3_retreat,0.619273724264,0.0100546503423,1.05002904897,0.589844452329,0.018727379924,1.04969833725
+287,4.783333333,pose2_to_pose3_retreat,0.619024666537,0.0100544852518,1.05002906017,0.589595394967,0.0187272157029,1.0496983499
+288,4.800000000,pose2_to_pose3_retreat,0.618755587618,0.0100543102911,1.05002916999,0.589326319202,0.018727050805,1.04969845456
+289,4.816666667,pose2_to_pose3_retreat,0.618466499569,0.0100544879137,1.05002912958,0.589037228594,0.0187272197282,1.0496984249
+290,4.833333333,pose2_to_pose3_retreat,0.61815493321,0.0100545225247,1.0500291271,0.588725661238,0.0187272505031,1.04969842394
+291,4.850000000,pose2_to_pose3_retreat,0.617816555944,0.0100546159883,1.0500291704,0.58838728311,0.0187273401989,1.04969845915
+292,4.866666667,pose2_to_pose3_retreat,0.617448593741,0.0100546504774,1.05002921529,0.588019322062,0.0187273777204,1.0496984956
+293,4.883333333,pose2_to_pose3_retreat,0.617046845343,0.0100545549873,1.05002895761,0.587617574573,0.0187272852231,1.04969825227
+294,4.900000000,pose2_to_pose3_retreat,0.616613645113,0.0100545680667,1.05002933014,0.58718437581,0.0187273021383,1.04969861336
+295,4.916666667,pose2_to_pose3_retreat,0.616151489068,0.0100545389927,1.05002929104,0.586722220089,0.018727273832,1.04969858494
+296,4.933333333,pose2_to_pose3_retreat,0.615665422915,0.0100545320161,1.05002920296,0.586236153379,0.0187272639515,1.04969849006
+297,4.950000000,pose2_to_pose3_retreat,0.615155826298,0.0100545418734,1.05002897809,0.585726556139,0.0187272710613,1.04969826884
+298,4.966666667,pose2_to_pose3_retreat,0.61463394422,0.0100545670115,1.05002907757,0.585204675646,0.0187273008284,1.04969837049
+299,4.983333333,pose2_to_pose3_retreat,0.614099050752,0.0100545822008,1.05002914046,0.584669781345,0.0187273123846,1.04969843466
+300,5.000000000,pose2_to_pose3_retreat,0.613537088282,0.0100544801264,1.05002906309,0.584107819867,0.0187272129117,1.04969835956
+301,5.016666667,pose2_to_pose3_retreat,0.612944752324,0.0100545445919,1.05002915397,0.583515484189,0.0187272773582,1.04969844804
+302,5.033333333,pose2_to_pose3_retreat,0.612311662282,0.0100546273237,1.05002925481,0.582882393871,0.0187273582807,1.04969855196
+303,5.050000000,pose2_to_pose3_retreat,0.611637481307,0.0100545221413,1.05002921374,0.582208214041,0.0187272557504,1.04969850588
+304,5.066666667,pose2_to_pose3_retreat,0.610923449709,0.0100545398723,1.0500291632,0.581494181898,0.0187272704907,1.04969845309
+305,5.083333333,pose2_to_pose3_retreat,0.610189120186,0.0100546861011,1.0500291398,0.580759851088,0.0187274114357,1.04969843431
+306,5.100000000,pose2_to_pose3_retreat,0.609439856708,0.0100546578759,1.05002909136,0.580010587633,0.0187273820367,1.04969838219
+307,5.116666667,pose2_to_pose3_retreat,0.608678611247,0.0100545470761,1.05002902368,0.579249344031,0.0187272766036,1.04969831831
+308,5.133333333,pose2_to_pose3_retreat,0.60790649353,0.0100545738911,1.05002907402,0.578477226333,0.01872730252,1.04969837137
+309,5.150000000,pose2_to_pose3_retreat,0.607124072052,0.0100546277443,1.05002898863,0.577694804431,0.0187273538245,1.04969828732
+310,5.166666667,pose2_to_pose3_retreat,0.60631992629,0.0100545891063,1.05002918793,0.576890660428,0.018727319604,1.04969847657
+311,5.183333333,pose2_to_pose3_retreat,0.605493091004,0.0100545653946,1.05002915887,0.576063825212,0.0187272948756,1.04969844567
+312,5.200000000,pose2_to_pose3_retreat,0.604641757025,0.0100545974166,1.05002905134,0.575212490077,0.0187273216832,1.0496983418
+313,5.216666667,pose2_to_pose3_retreat,0.603770269581,0.0100545062088,1.05002915517,0.574341001612,0.0187272350372,1.0496984456
+314,5.233333333,pose2_to_pose3_retreat,0.602889152818,0.0100546044762,1.05002908446,0.573459882412,0.0187273317709,1.04969837635
+315,5.250000000,pose2_to_pose3_retreat,0.602006067522,0.0100546370437,1.05002905967,0.57257679629,0.0187273613866,1.04969834748
+316,5.266666667,pose2_to_pose3_retreat,0.601123357993,0.0100545679897,1.05002919678,0.57169408714,0.0187272936533,1.04969848511
+317,5.283333333,pose2_to_pose3_retreat,0.600245623889,0.0100545666042,1.05002939304,0.570816353472,0.0187272934188,1.04969867282
+318,5.300000000,pose2_to_pose3_retreat,0.599368571581,0.0100544854816,1.05002922543,0.569939303185,0.0187272192754,1.04969850857
+319,5.316666667,pose2_to_pose3_retreat,0.598490772188,0.0100545045753,1.0500291028,0.569061503596,0.0187272379679,1.04969839364
+320,5.333333333,pose2_to_pose3_retreat,0.597607430335,0.0100546756092,1.0500291128,0.568178159349,0.018727400669,1.04969839851
+321,5.350000000,pose2_to_pose3_retreat,0.596709943177,0.0100546583913,1.05002914333,0.567280672232,0.0187273834593,1.04969842493
+322,5.366666667,pose2_to_pose3_retreat,0.595811575159,0.0100545460373,1.05002910005,0.566382306301,0.0187272785011,1.04969838945
+323,5.383333333,pose2_to_pose3_retreat,0.594915094872,0.0100545938442,1.05002915375,0.565485825289,0.0187273240822,1.04969844915
+324,5.400000000,pose2_to_pose3_retreat,0.594025732696,0.0100546388366,1.05002906138,0.564596461624,0.0187273639407,1.04969835454
+325,5.416666667,pose2_to_pose3_retreat,0.593150691002,0.0100545416355,1.05002905186,0.563721421024,0.0187272704174,1.04969834413
+326,5.433333333,pose2_to_pose3_retreat,0.592302438674,0.0100546150326,1.05002920185,0.56287316852,0.0187273433844,1.04969849843
+327,5.450000000,pose2_to_pose3_retreat,0.591478232751,0.010054551146,1.05002915811,0.562048962437,0.0187272786655,1.04969844698
+328,5.466666667,pose2_to_pose3_retreat,0.590678279721,0.0100544199535,1.05002908438,0.561249010332,0.0187271503177,1.04969836547
+329,5.483333333,pose2_to_pose3_retreat,0.58988536834,0.0100544754313,1.05002917863,0.560456098965,0.0187272060163,1.0496984643
+330,5.500000000,pose2_to_pose3_retreat,0.589096824404,0.010054605313,1.05002916705,0.559667553937,0.0187273324384,1.04969845896
+331,5.516666667,pose2_to_pose3_retreat,0.588301906161,0.0100546711445,1.0500291443,0.558872634545,0.0187273943514,1.0496984358
+332,5.533333333,pose2_to_pose3_retreat,0.587508746543,0.0100546509676,1.05002922499,0.558079475002,0.0187273743709,1.04969851487
+333,5.550000000,pose2_to_pose3_retreat,0.586736535591,0.0100545658317,1.05002910815,0.557307266028,0.0187272958818,1.04969839627
+334,5.566666667,pose2_to_pose3_retreat,0.585994782374,0.010054494572,1.05002912577,0.556565513186,0.0187272258095,1.04969841155
+335,5.583333333,pose2_to_pose3_retreat,0.585289402915,0.0100544774527,1.05002908212,0.555860133499,0.0187272081725,1.04969837484
+336,5.600000000,pose2_to_pose3_retreat,0.584630468942,0.0100546917379,1.05002900957,0.555201198153,0.0187274179891,1.04969830759
+337,5.616666667,pose2_to_pose3_retreat,0.584007941609,0.0100548140693,1.05002893752,0.554578669397,0.0187275356235,1.04969823918
+338,5.633333333,pose2_to_pose3_retreat,0.583399793531,0.0100546370062,1.05002898058,0.553970522482,0.0187273623882,1.04969827878
+339,5.650000000,pose2_to_pose3_retreat,0.582805820598,0.0100546152866,1.05002911992,0.553376550772,0.0187273444835,1.04969840901
+340,5.666666667,pose2_to_pose3_retreat,0.58223013132,0.0100546891895,1.05002908873,0.552800861178,0.0187274172822,1.04969837713
+341,5.683333333,pose2_to_pose3_retreat,0.581677571927,0.0100546976993,1.05002916491,0.552248300837,0.0187274225721,1.0496984532
+342,5.700000000,pose2_to_pose3_retreat,0.581150179579,0.0100545874899,1.05002914938,0.551720909814,0.0187273170476,1.04969844273
+343,5.716666667,pose2_to_pose3_retreat,0.580652592649,0.010054525513,1.05002917393,0.551223323727,0.0187272577494,1.04969846245
+344,5.733333333,pose2_to_pose3_retreat,0.580179035694,0.0100545616138,1.05002916326,0.55074976595,0.0187272911059,1.04969845281
+345,5.750000000,pose2_to_pose3_retreat,0.579722454396,0.0100546132116,1.05002919229,0.550293184377,0.0187273419002,1.04969848491
+346,5.766666667,pose2_to_pose3_retreat,0.57928768552,0.0100546391386,1.05002929118,0.549858414209,0.0187273632816,1.04969857953
+347,5.783333333,pose2_to_pose3_retreat,0.578882548789,0.0100546322051,1.05002919695,0.549453277669,0.0187273568652,1.04969848161
+348,5.800000000,pose2_to_pose3_retreat,0.578513567757,0.0100544723247,1.05002905727,0.549084299344,0.018727206208,1.04969834274
+349,5.816666667,pose2_to_pose3_retreat,0.578182856191,0.0100544851302,1.05002903638,0.548753588182,0.0187272205962,1.04969832745
+350,5.833333333,pose2_to_pose3_retreat,0.577893457849,0.0100546659887,1.05002910993,0.548464187759,0.0187273945669,1.04969840562
+351,5.850000000,pose2_to_pose3_retreat,0.577634097519,0.0100547558128,1.05002919892,0.548204825417,0.0187274774997,1.04969849293
+352,5.866666667,pose2_to_pose3_retreat,0.577394973435,0.0100545630362,1.05002906664,0.547965704488,0.0187272953113,1.04969835759
+353,5.883333333,pose2_to_pose3_retreat,0.577169610473,0.0100545404762,1.05002922729,0.547740341573,0.0187272725619,1.04969850921
+354,5.900000000,pose2_to_pose3_retreat,0.576957868332,0.010054673837,1.05002942319,0.547528597387,0.0187273989302,1.04969870376
+355,5.916666667,pose2_to_pose3_retreat,0.576763389422,0.0100544124836,1.05002920232,0.547334121143,0.0187271467662,1.04969848666
+356,5.933333333,pose2_to_pose3_retreat,0.576587353766,0.0100546300785,1.05002941412,0.547158084323,0.0187273604027,1.04969869824
+357,5.950000000,pose2_to_pose3_retreat,0.576433773283,0.0100545526865,1.05002927521,0.547004503622,0.0187272824845,1.04969856492
+358,5.966666667,pose2_to_pose3_retreat,0.576300622254,0.0100546428241,1.05002919612,0.546871353059,0.0187273740205,1.04969848109
+359,5.983333333,pose2_to_pose3_retreat,0.57618897953,0.0100545025464,1.05002932431,0.54675970959,0.018727230991,1.04969860342
+360,6.000000000,pose2_to_pose3_retreat,0.576092303323,0.0100546503602,1.0500292992,0.546663032771,0.0187273769257,1.0496985843
+361,6.016666667,pose2_to_pose3_retreat,0.57600965859,0.0100545944451,1.05002917195,0.54658038858,0.018727322966,1.04969845998
+362,6.033333333,pose2_to_pose3_retreat,0.575941053584,0.0100546243553,1.05002893131,0.546511783005,0.0187273511727,1.04969822518
+363,6.050000000,pose2_to_pose3_retreat,0.575884553654,0.0100546557724,1.05002915438,0.546455282036,0.0187273787975,1.04969844113
+364,6.066666667,pose2_to_pose3_retreat,0.575838520574,0.0100545633313,1.05002925542,0.546409250524,0.0187272918153,1.04969854578
+365,6.083333333,pose2_to_pose3_retreat,0.57580163084,0.010054685515,1.0500291917,0.546372359031,0.0187274079713,1.04969848054
+366,6.100000000,pose2_to_pose3_retreat,0.575773475105,0.0100545084795,1.05002926191,0.546344206045,0.0187272402294,1.04969854987
+367,6.116666667,pose2_to_pose3_retreat,0.575752274305,0.0100546192069,1.05002918775,0.546323004217,0.0187273476319,1.04969848
+368,6.133333333,pose2_to_pose3_retreat,0.575737736438,0.0100545852475,1.05002923633,0.546308466279,0.0187273132583,1.04969852406
+369,6.150000000,pose2_to_pose3_retreat,0.575728256402,0.0100545235919,1.05002931761,0.546298986343,0.018727251666,1.04969859827
+370,6.166666667,pose2_to_pose3_retreat,0.575722668231,0.0100545573908,1.05002933923,0.546293397326,0.018727282443,1.04969861601
+371,6.183333333,pose2_to_pose3_retreat,0.57572010245,0.0100545476554,1.05002928954,0.546290832143,0.0187272748961,1.04969857046
+372,6.200000000,pose2_to_pose3_retreat,0.575718360764,0.0100545290535,1.05002922749,0.546289091332,0.0187272594781,1.04969851404
+373,6.216666667,pose2_to_pose3_retreat,0.575717077457,0.0100545153472,1.05002918177,0.546287808669,0.0187272481177,1.04969847247
+374,6.233333333,pose2_to_pose3_retreat,0.575715806041,0.010054501768,1.05002913647,0.546286537892,0.0187272368627,1.04969843128
+375,6.250000000,pose2_to_pose3_retreat,0.575714793425,0.0100544953951,1.05002910922,0.546285525339,0.0187272307136,1.04969840428
+376,6.266666667,pose2_to_pose3_retreat,0.575714320904,0.0100544946012,1.05002910083,0.546285052628,0.0187272292256,1.04969839453
+377,6.283333333,pose2_to_pose3_retreat,0.575713991859,0.0100544940484,1.05002909499,0.546284723451,0.0187272281894,1.04969838774
+378,6.300000000,pose2_to_pose3_retreat,0.575713567489,0.0100544933355,1.05002908746,0.546284298911,0.018727226853,1.04969837899
+379,6.316666667,pose2_to_pose3_retreat,0.575713274818,0.0100544928438,1.05002908227,0.546284006122,0.0187272259314,1.04969837295
+380,6.333333333,pose2_to_pose3_retreat,0.575713145992,0.0100544926274,1.05002907998,0.546283877245,0.0187272255257,1.04969837029
+381,6.350000000,pose2_to_pose3_retreat,0.575713057841,0.0100544924793,1.05002907842,0.546283789059,0.0187272252481,1.04969836847
+382,6.366666667,pose2_to_pose3_retreat,0.575712934145,0.0100544922715,1.05002907622,0.546283665313,0.0187272248586,1.04969836592
+383,6.383333333,pose2_to_pose3_retreat,0.575712438326,0.0100544914385,1.05002906742,0.546283169295,0.0187272232972,1.04969835569
+384,6.400000000,pose2_to_pose3_retreat,0.575712053973,0.0100544907928,1.0500290606,0.546282784788,0.0187272220868,1.04969834776
+385,6.416666667,pose2_to_pose3_retreat,0.57571193476,0.0100544905925,1.05002905848,0.546282665527,0.0187272217114,1.0496983453
+386,6.433333333,pose2_to_pose3_retreat,0.575711798479,0.0100544905528,1.05002905611,0.546282529194,0.0187272214818,1.04969834256
+387,6.450000000,pose2_to_pose3_retreat,0.575711692127,0.010054494383,1.0500290551,0.546282422858,0.0187272253732,1.04969834182
+388,6.466666667,pose2_to_pose3_retreat,0.575711567571,0.0100544988689,1.05002905391,0.546282298318,0.0187272299308,1.04969834095
+389,6.483333333,pose2_to_pose3_retreat,0.575711443703,0.01005450333,1.05002905274,0.546282174469,0.0187272344631,1.04969834009
+390,6.500000000,pose2_to_pose3_retreat,0.57571137437,0.0100545058271,1.05002905208,0.546282105145,0.018727237,1.04969833961
+391,6.516666667,pose2_to_pose3_retreat,0.575711325068,0.0100545076027,1.05002905161,0.54628205585,0.018727238804,1.04969833926
+392,6.533333333,pose2_to_pose3_retreat,0.575711164278,0.0100545133935,1.05002905009,0.546281895082,0.0187272446873,1.04969833814
+393,6.550000000,pose2_to_pose3_retreat,0.575711108776,0.0100545153924,1.05002904956,0.546281839588,0.0187272467181,1.04969833776
+394,6.566666667,pose2_to_pose3_retreat,0.575711048043,0.0100545175797,1.05002904898,0.546281778864,0.0187272489404,1.04969833733
+395,6.583333333,pose2_to_pose3_retreat,0.575710827122,0.0100545255362,1.05002904688,0.546281557974,0.0187272570239,1.0496983358
+396,6.600000000,pose2_to_pose3_retreat,0.57571043489,0.0100545396624,1.05002904316,0.546281165797,0.0187272713758,1.04969833307
+397,6.616666667,pose2_to_pose3_retreat,0.575709855896,0.0100545631885,1.05002902198,0.546280586496,0.0187272940368,1.04969831655
+398,6.633333333,pose2_to_pose3_retreat,0.575709339915,0.0100545873296,1.05002898448,0.54628006978,0.0187273159839,1.049698287
+399,6.650000000,pose2_to_pose3_retreat,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_09/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_09/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8298d78726e6fd3adacaef71042cf13eea55f350
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_09/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b52ee5c5234b3bb0dd07cf0dce61512d30cacc2f816cd860f9af32561ebe91b
+size 25432798
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_09/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_09/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..01e222daed51d8f337658ca54a2371223de1cb2b
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_09/depth_05/franka_data.csv
@@ -0,0 +1,402 @@
+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,764,742,711,672,663,632,877,785,799,650,629,651,0.400945034057,0.00450066143383,0.0598360432947,0.999999961431,1.57370520219e-05,-0.000276289166103,2.35672036064e-05,1793193575391511296
+1,0.016666667,BASELINE,764,742,711,672,663,632,877,784.423925604,799,650,629,651,0.40094549995,0.00450025243251,0.0598361627911,0.999999961513,1.43834090567e-05,-0.000276067790659,2.35327292888e-05,1793193575408177664
+2,0.033333333,BASELINE,763.844309502,742,711,672,663,632,877.155690498,784,799.155690498,650,629,651,0.400945661337,0.00450004717432,0.0598361695396,0.999999961519,1.36332148744e-05,-0.000276088803724,2.34593230021e-05,1793193575424844032
+3,0.050000000,BASELINE,763.254825162,742,711,672,663,632,877.745174838,784,799.745174838,650,629,651,0.400944974292,0.00450040959689,0.0598358621432,0.999999961318,1.45643841764e-05,-0.000276785173576,2.32774422108e-05,1793193575441510656
+4,0.066666667,BASELINE,763.328889853,742,711,672,663,632,877.671110147,784,799.671110147,650,629,651,0.400945886688,0.00449992061852,0.0598364470987,0.999999961694,1.49602764781e-05,-0.00027539321997,2.33751649432e-05,1793193575458177280
+5,0.083333333,BASELINE,763.908211799,742,711,672,663,632,877.091788201,784,799.091788201,650,629,651,0.400948016974,0.00449878334369,0.0598377115325,0.999999962504,1.49485838184e-05,-0.000272411119312,2.36857908666e-05,1793193575474844160
+6,0.100000000,BASELINE,764,742,711,672,662.51557017,632.48442983,877.48442983,784,799,650,629,651,0.400948166974,0.00450058953895,0.0598373495361,0.99999996238,1.65594064654e-05,-0.000272791167045,2.34537606438e-05,1793193575491510784
+7,0.116666667,BASELINE,764,742,711,672.060869893,662.060869893,632.939130107,877.939130107,784,799.060869893,650,629,651,0.400947827452,0.00450257108581,0.059836714474,0.999999962093,1.82645326006e-05,-0.000273759401613,2.31710603255e-05,1793193575508177408
+8,0.133333333,BASELINE,764,742,711,672.644231983,662.644231983,632.355768017,877.355768017,784,799.644231983,650,629,651,0.400946486273,0.00450130096196,0.0598363639041,0.999999961931,1.8157042789e-05,-0.000274343029263,2.33303892213e-05,1793193575524844032
+9,0.150000000,BASELINE,764,742,711,672.771595949,663,632,877,784,799.771595949,650,629,651,0.400944947633,0.00450034737471,0.0598358197272,0.999999961535,1.77980522188e-05,-0.000275789124281,2.35343172562e-05,1793193575541510656
+10,0.166666667,BASELINE,764,742,711,672.186157805,663,632,877,784,799.186157805,650,629,651,0.40094310033,0.00449988858773,0.0598349729097,0.999999960767,1.70459235115e-05,-0.000278583401353,2.380796126e-05,1793193575558177280
+11,0.183333333,BASELINE,763.608545201,742,711,672,663,632,877,784,799,650,629,651,0.400944008426,0.00450006838256,0.0598354160598,0.999999961061,1.59430083987e-05,-0.000277583835915,2.38884581472e-05,1793193575574843904
+12,0.200000000,BASELINE,763.034581074,742,711,672,663,632,877,784,799,650,629,651,0.40094620118,0.00450054590557,0.0598364606357,0.999999961845,1.46765448583e-05,-0.000274815454381,2.38789034089e-05,1793193575591510528
+13,0.216666667,BASELINE,763.540461824,742,711,672,663,632,877.540461824,784,799.540461824,650,629,651,0.400946908479,0.00450142063121,0.0598364884967,0.999999962018,1.72524472177e-05,-0.000274069279983,2.34988705512e-05,1793193575608177408
+14,0.233333333,BASELINE,764,742,711,671.88094513,663,632,877.88094513,784,799.88094513,650,629,651,0.400947284949,0.00450181634208,0.0598366088518,0.999999962138,1.9202195766e-05,-0.000273522026163,2.32500230539e-05,1793193575624844288
+15,0.250000000,BASELINE,764,742,711,671.288511013,663,632,877.288511013,784,799.288511013,650,629,651,0.400946724669,0.00450020616707,0.059837356157,0.999999962232,1.7682773395e-05,-0.000273250208696,2.36172293845e-05,1793193575641510912
+16,0.266666667,BASELINE,763.703055429,742,711,671.296944571,662.703055429,632,877,784,799.296944571,650,629,651,0.400947073172,0.00449959624123,0.0598381894391,0.999999962459,1.68019744473e-05,-0.000272464739787,2.37362517478e-05,1793193575658177280
+17,0.283333333,BASELINE,763.124224526,742,711,671.875775474,662.124224526,632,877,784,799.875775474,650,629,651,0.400948284375,0.0044999358414,0.0598391043382,0.999999962812,1.6527414031e-05,-0.000271191667029,2.3619675682e-05,1793193575674843904
+18,0.300000000,BASELINE,763.450679582,742,711,672,662,632,877.450679582,784,799.549320418,650,629,651,0.40094738318,0.00450002277604,0.0598387635107,0.999999962704,1.62490343964e-05,-0.000271604378147,2.36545279337e-05,1793193575691510528
+19,0.316666667,BASELINE,764,742.025143469,711,672.025143469,662.025143469,632,878,784,799,650,629,651,0.400945998839,0.00450001461699,0.0598381118817,0.99999996248,1.59293956773e-05,-0.000272439385046,2.37280892947e-05,1793193575708177408
+20,0.333333333,BASELINE,764,742.61378965,711,672.61378965,662.61378965,632,878,784,799,650,629,651,0.400946722989,0.00449942261627,0.0598381849284,0.999999962505,1.47084684373e-05,-0.000272414754015,2.37418167253e-05,1793193575724844032
+21,0.350000000,BASELINE,763.800900956,742.800900956,711,672.800900956,663,632,878,784,799,650,629,651,0.400947256653,0.00449941502055,0.059838269122,0.999999962536,1.44578706688e-05,-0.000272315333395,2.37241287191e-05,1793193575741510656
+22,0.366666667,BASELINE,763.221957603,742.221957603,711,672.221957603,663,632,878,784,799,650,629,651,0.400947426906,0.00450052236202,0.0598383745821,0.99999996258,1.60584829776e-05,-0.000272073228015,2.36465058431e-05,1793193575758177536
+23,0.383333333,BASELINE,763.355246558,742,711,672,663,632.355246558,877.644753442,784,799,649.644753442,629,651,0.400946437046,0.00450115143916,0.0598377330455,0.999999962282,1.72301494103e-05,-0.000273107206115,2.34897529553e-05,1793193575774844160
+24,0.400000000,BASELINE,763.931369423,742,711,672,663,632.931369423,877.068630577,784,799,649.068630577,629,651,0.400944725881,0.00450148315319,0.05983662706,0.99999996177,1.81351167754e-05,-0.000274934595414,2.3283800583e-05,1793193575791511040
+25,0.416666667,BASELINE,763.493076509,742,711,672,662.493076509,632.493076509,877.506923491,784,799,649.506923491,629,651,0.40094695252,0.00450003211356,0.0598376233647,0.999999962265,1.80927392431e-05,-0.000273103174969,2.36187135074e-05,1793193575808177664
+26,0.433333333,BASELINE,763,742,711,672,662.084414948,632.084414948,878,784,799.084414948,650,629,651,0.400949124805,0.00449883056608,0.0598386793731,0.99999996276,1.81185792164e-05,-0.00027125646198,2.39260012415e-05,1793193575824844288
+27,0.450000000,BASELINE,763,742,711,672,662.673960071,632.673960071,878,784,799.673960071,650,629,651,0.400947785259,0.00450056461098,0.0598383914058,0.999999962466,1.93192457389e-05,-0.000272279058921,2.36302983018e-05,1793193575841510912
+28,0.466666667,BASELINE,763.258765681,742,711,672.258765681,663,632.741234319,877.741234319,784.258765681,799.741234319,650,629,651,0.400946273301,0.00450128593182,0.0598378874855,0.999999962169,1.90799896042e-05,-0.000273399339945,2.34845059915e-05,1793193575858177536
+29,0.483333333,BASELINE,763.837706969,742,711,672.837706969,663,632.162293031,877.162293031,784.837706969,799.162293031,650,629,651,0.400944548015,0.00450075419016,0.0598371163627,0.999999961864,1.70590902182e-05,-0.000274640487244,2.35242009185e-05,1793193575874844416
+30,0.500000000,BASELINE,763.585664191,742,711,672.585664191,663,632,877,784.585664191,799,650,629,651,0.400944066656,0.00450043859546,0.0598368748282,0.99999996189,1.60004379717e-05,-0.000274606166528,2.35879195772e-05,1793193575891511040
+31,0.516666667,BASELINE,763.009936111,742,711,672.009936111,663,632,877,784.009936111,799,650,629,651,0.400944069832,0.00450020719442,0.0598368395792,0.999999962044,1.53166007148e-05,-0.000274075024904,2.366099597e-05,1793193575908177408
+32,0.533333333,BASELINE,763,742,711,672,663,632,877,784,799.564504074,650,629,651,0.400945456706,0.00450046399496,0.0598369032722,0.999999962169,1.54004205833e-05,-0.000273621743293,2.35601307885e-05,1793193575924844288
+33,0.550000000,BASELINE,763,742,711,672,663,632,877,784,799.856969952,650,629,651,0.400946553687,0.00450049315269,0.0598370290141,0.999999962277,1.53584072069e-05,-0.000273235377448,2.35273918849e-05,1793193575941510656
+34,0.566666667,BASELINE,763,742,711,672,663,632,877,784,799.265564931,650,629,651,0.400946665725,0.00449978181215,0.0598373438214,0.999999962329,1.48796667819e-05,-0.000273054494924,2.37177931884e-05,1793193575958177280
+35,0.583333333,BASELINE,763,742,711,672,663,632,877.318860111,784,799,650,629,651,0.400947298209,0.00449969008067,0.0598379243525,0.999999962593,1.55062626185e-05,-0.000272045328577,2.37696702526e-05,1793193575974844160
+36,0.600000000,BASELINE,763,742,711,672,663,632,877.89759642,784,799,650,629,651,0.400948354866,0.00450010334064,0.059838721453,0.999999963026,1.70337255108e-05,-0.000270361097367,2.37086478199e-05,1793193575991510784
+37,0.616666667,BASELINE,763,742,711,672,663,632,877.057456425,784,799,650,629,651,0.400946826507,0.00450081298775,0.0598376115878,0.999999962504,1.79969983626e-05,-0.00027223634529,2.3587545056e-05,1793193576008177152
+38,0.633333333,BASELINE,763.045164709,742.045164709,711,672,663,632,876.045164709,784,799,650,629,651,0.400945011075,0.00450143101336,0.0598363635755,0.999999961875,1.8601980522e-05,-0.000274504978896,2.34832712729e-05,1793193576024844032
+39,0.650000000,BASELINE,763.63479695,742.63479695,711,672,663,632,876.63479695,784,799,650,629,651,0.400946434424,0.00450017639436,0.0598383923767,0.999999962513,1.63499006977e-05,-0.00027229099139,2.37375809471e-05,1793193576041510656
+40,0.666666667,BASELINE,764,742.779491617,711,672,663,632,877,784,799.220508383,650,628.779491617,651,0.400947463322,0.0045000185844,0.0598394313014,0.999999962917,1.59860288541e-05,-0.000270827813052,2.37326111888e-05,1793193576058177280
+41,0.683333333,BASELINE,764,742.200160368,711,672,663,632,877,784,799.799839632,650,628.200160368,651,0.400947850345,0.00450164555998,0.0598388594469,0.999999962945,1.86947487273e-05,-0.000270586391114,2.33057282527e-05,1793193576074843904
+42,0.700000000,BASELINE,763.620861056,742,711,672,663,632,877,784,799.620861056,650,628.379138944,651,0.400946838773,0.00450155619059,0.0598377828316,0.999999962481,1.81167661252e-05,-0.000272336599766,2.32924408857e-05,1793193576091510528
+43,0.716666667,BASELINE,763.041578622,742,711,672,663,632,877,784,799.041578622,650,628.958421378,651,0.400945088895,0.00450056078055,0.0598364397584,0.999999961749,1.58037675112e-05,-0.000275138169421,2.34974863154e-05,1793193576108177152
+44,0.733333333,BASELINE,763.531423752,742,711,672,662.468576248,632,877,784,799,649.468576248,629,651,0.400945385389,0.004499875436,0.0598374922154,0.999999962034,1.60501630882e-05,-0.000274077894344,2.3558833196e-05,1793193576124843776
+45,0.750000000,BASELINE,764,742,711,672,662.107049232,632.107049232,877,784,799,649.107049232,629,651,0.400946180114,0.00449952633938,0.0598387813549,0.999999962491,1.68846490585e-05,-0.000272346912389,2.36459295353e-05,1793193576141510656
+46,0.766666667,BASELINE,764,742,711,672,662.696689025,632.696689025,877,784,799,649.696689025,629,651,0.400948507564,0.00450058500072,0.0598403024148,0.999999963361,1.94781214937e-05,-0.000268938528257,2.38992001771e-05,1793193576158177536
+47,0.783333333,BASELINE,764,742,711,672,663,632.718676349,877.281323651,784,799,650.281323651,629,651,0.400948272639,0.00450113167262,0.0598398358567,0.999999963302,1.88753300588e-05,-0.000269217061313,2.37073953849e-05,1793193576174844160
+48,0.800000000,BASELINE,764,742,711,672,663,632.139343676,877.860656324,784,799,650.860656324,629,651,0.400945323363,0.00450113598899,0.0598372637947,0.99999996225,1.48867039154e-05,-0.000273401183052,2.30441176616e-05,1793193576191510784
+49,0.816666667,BASELINE,763.561543594,742,711,672,662.561543594,632,877.561543594,784,799,650.561543594,629,651,0.400945455723,0.00450041352527,0.0598373697748,0.999999962225,1.46672193962e-05,-0.000273478711365,2.33304620436e-05,1793193576208177408
+50,0.833333333,BASELINE,763,742,711,672,662.0159784,632,877,784,799,650,629,651,0.400946509341,0.00449949010087,0.0598382829697,0.999999962514,1.56219231391e-05,-0.000272318246041,2.38991123065e-05,1793193576224844288
+51,0.850000000,BASELINE,763,742,711,672,662.600882157,632,877,784,799,650,629,651,0.400945615681,0.00449960669397,0.0598377393138,0.999999962221,1.58826096525e-05,-0.000273385164318,2.38112755265e-05,1793193576241510656
+52,0.866666667,BASELINE,763.18393986,742,711,672,663,632,877.18393986,784,799,650,629,651,0.400945150624,0.00450013845462,0.059837586054,0.999999962092,1.64190932463e-05,-0.000273836767984,2.36504637863e-05,1793193576258177024
+53,0.883333333,BASELINE,763.763031713,742,711,672,663,632,877.763031713,784,799,650,629,651,0.400945606323,0.00450156210617,0.0598382714696,0.999999962318,1.75480626857e-05,-0.0002729665113,2.33328823277e-05,1793193576274843904
+54,0.900000000,BASELINE,764,742.341109293,711,672,662.658890707,632,877.658890707,784,799,650,629,651,0.400945823937,0.004500920383,0.0598381975267,0.99999996232,1.76801448675e-05,-0.00027294062245,2.34840934391e-05,1793193576291510528
+55,0.916666667,BASELINE,764,742.918484324,711,672,662.081515676,632,877.081515676,784,799,650,629,651,0.400945876643,0.00449884809986,0.0598375976222,0.999999962165,1.71217436053e-05,-0.000273499576071,2.39600087706e-05,1793193576308177152
+56,0.933333333,BASELINE,764,742.50462865,711,672,662.49537135,632,877,784.49537135,799.49537135,650,628.50462865,651,0.400945526739,0.00449951295078,0.0598378735546,0.99999996223,1.81813148113e-05,-0.000273212033001,2.37480499657e-05,1793193576324844544
+57,0.950000000,BASELINE,764,742,711,672,663,632,877.073388976,784.926611024,799.926611024,650,628.073388976,651,0.400945288423,0.00450023413842,0.0598382947415,0.999999962338,1.92783052305e-05,-0.000272756807308,2.3579717848e-05,1793193576341511936
+58,0.966666667,BASELINE,764,742,711,672,663,632,877.659871713,784.340128287,799.340128287,650,628.659871713,651,0.40094629301,0.00449820330187,0.0598387248303,0.999999962504,1.87773082456e-05,-0.000272102153313,2.45070000114e-05,1793193576358178048
+59,0.983333333,BASELINE,763.755261088,742,711,672,663,632,877.755261088,784,799,650,629,651,0.400947123846,0.00449849857398,0.0598390848119,0.99999996266,1.96729780471e-05,-0.00027145049956,2.46399699649e-05,1793193576374844416
+60,1.000000000,BASELINE,763.172624291,742,711,672,663,632,877.172624291,784,799,650,629,651,0.400947714792,0.00450200537921,0.0598393480004,0.9999999628,2.24969506713e-05,-0.000270802987982,2.36762758011e-05,1793193576391511040
+61,1.016666667,BASELINE,763,742,711,672,662.596964452,632,877,784,799.403035548,650,629,651,0.40094750419,0.00450137787592,0.0598392554297,0.999999962906,1.96073116176e-05,-0.000270639965157,2.35947764176e-05,1793193576408177664
+62,1.033333333,BASELINE,763,742,711,672,662.024242101,632,877,784,799.975757899,650,629,651,0.40094695612,0.00449900973788,0.0598390130766,0.999999962978,1.43121165864e-05,-0.000270680922751,2.38847004391e-05,1793193576424844544
+63,1.050000000,BASELINE,763,742,711,672,662.553093781,632.553093781,877,784,800,650,628.446906219,651,0.400945662738,0.00449864990989,0.0598378642001,0.999999962399,1.41330669372e-05,-0.000272812356226,2.39800017585e-05,1793193576441511168
+64,1.066666667,BASELINE,763.133529495,742.133529495,711,672,663,632.866470505,877,784,800,650,628.133529495,651,0.40094499213,0.00449854564666,0.0598373083073,0.999999962049,1.45188725475e-05,-0.000274065709555,2.40597443804e-05,1793193576458177536
+65,1.083333333,BASELINE,763.723872317,742.723872317,711,672,663,632.276127683,877,784,800,650,628.723872317,651,0.400946564765,0.00449901201782,0.059838918124,0.999999962588,1.60634906748e-05,-0.000271998998096,2.41156878953e-05,1793193576474844160
+66,1.100000000,BASELINE,763.691486293,742.691486293,711,672,663.308513707,632,877.617027415,784,800,650,629,651,0.400946741828,0.00450004293873,0.0598392941492,0.999999962679,1.73806955979e-05,-0.000271599257687,2.39494835405e-05,1793193576491510784
+67,1.116666667,BASELINE,763.111855268,742.111855268,711,672,663.888144732,632,878.776289463,784,800,650,629,651,0.400945692483,0.00450156997763,0.0598385859363,0.999999962378,1.84980530543e-05,-0.000272664427076,2.35880588958e-05,1793193576508177664
+68,1.133333333,BASELINE,763.462957371,742,710.537042629,672,663.537042629,632,878.537042629,784,799.537042629,650,629,651,0.400946453654,0.00450156303928,0.0598388650909,0.999999962524,1.82109123513e-05,-0.000272150999623,2.35602109003e-05,1793193576524844032
+69,1.150000000,BASELINE,764,742,710.037552754,672.037552754,663,632,877.962447246,784,799.037552754,650,629,651,0.40094766387,0.00450104713319,0.059839404261,0.999999962797,1.74881996565e-05,-0.000271186904152,2.3630105504e-05,1793193576541510656
+70,1.166666667,BASELINE,764,742,710.625859225,672.625859225,663,632,877.374140775,784,799.625859225,650,629,651,0.400949110407,0.0044984462796,0.0598402941662,0.999999963375,1.53028898426e-05,-0.000269149373627,2.3963656516e-05,1793193576558177536
+71,1.183333333,BASELINE,764,742,711,672.789237142,663,632,877,784,799.789237142,650,629,651,0.400948592205,0.00449743918397,0.0598399033363,0.999999963249,1.4806028791e-05,-0.000269636018196,2.40640630362e-05,1793193576574844416
+72,1.200000000,BASELINE,764,742,711,672.210278061,663,632,877,784,799.210278061,650,629,651,0.400944641665,0.00449921633402,0.0598372751017,0.999999961885,1.72588353626e-05,-0.000274532318576,2.37571733647e-05,1793193576591510784
+73,1.216666667,BASELINE,763.631347346,742,711,672,663,632,877,784,799.368652654,650,629,651,0.40094403675,0.00450075330936,0.0598369827096,0.999999961657,1.91886532466e-05,-0.000275254365314,2.34924754304e-05,1793193576608177664
+74,1.233333333,BASELINE,763.052432844,742,711,672,663,632,877,784,799.947567156,650,629,651,0.40094534002,0.00450215330044,0.0598380225706,0.999999962086,2.08201832408e-05,-0.000273595617058,2.32518416644e-05,1793193576624844288
+75,1.250000000,BASELINE,763.512279893,742,711,672,663,632,877,784,799.487720107,650,628.487720107,651,0.400946417864,0.00450132599313,0.0598389255379,0.999999962528,1.84615811231e-05,-0.000272123527151,2.35133103067e-05,1793193576641510656
+76,1.266666667,BASELINE,763.919486843,742,711,672,663,632,877,784,799,650,628.080513157,651,0.40094725544,0.00450026984748,0.0598395774639,0.999999962861,1.62884466346e-05,-0.000271011113864,2.3782926164e-05,1793193576658177536
+77,1.283333333,BASELINE,763.319407827,742,711,672,663,632,877,784,799,650,628.680592173,651,0.400946687395,0.00449916840425,0.0598386973537,0.999999962538,1.78765411351e-05,-0.000272099797071,2.37824269213e-05,1793193576674844160
+78,1.300000000,BASELINE,763.270979171,742,711,672,663,632,877,784,799,650,629,650.729020829,0.400946747529,0.00449871837451,0.0598383885009,0.999999962493,1.74538494018e-05,-0.000272304878558,2.36463869666e-05,1793193576691511040
+79,1.316666667,BASELINE,763.850336473,742,711,672,663,632,877,784,799,650,629,650.149663527,0.40094752254,0.00449900966264,0.0598387297474,0.999999962761,1.47428543612e-05,-0.000271504408699,2.33560997631e-05,1793193576708177664
+80,1.333333333,BASELINE,763.573731902,742,711,672.426268098,663,632,877.426268098,784,799.426268098,650,629,650.426268098,0.400947529994,0.00449854992477,0.0598390446299,0.999999962866,1.33067714456e-05,-0.000271179536944,2.35231395208e-05,1793193576724844288
+81,1.350000000,BASELINE,763,742,711,672.998989009,663,632.001010991,877.998989009,784,800,650,629,651,0.400947270608,0.00449783333971,0.0598393501464,0.999999962914,1.23241575673e-05,-0.000271020707193,2.38484812757e-05,1793193576741510912
+82,1.366666667,BASELINE,763,742,711,672.421741621,663,632.578258379,877.421741621,784,800,650,629,651,0.400947296909,0.00449981687684,0.0598395512221,0.999999962838,1.67070929531e-05,-0.000271084100991,2.36116765631e-05,1793193576758177536
+83,1.383333333,BASELINE,763.158673789,742,711,672,663,632.841326211,877,784,800,650,629,651,0.400946893641,0.00450096612382,0.0598393395357,0.99999996267,1.92782404448e-05,-0.000271550399234,2.34087477279e-05,1793193576774843904
+84,1.400000000,BASELINE,763.747681207,742,711,672,663,632.252318793,877,784,800,650,629,651,0.400945325356,0.00449985272214,0.0598380084115,0.999999962291,1.6935702382e-05,-0.00027310940054,2.32976924226e-05,1793193576791510528
+85,1.416666667,BASELINE,764,742,711,672,663,632,877,784,799.668237041,650,629,651,0.400945617381,0.00450053611572,0.0598378927494,0.999999962288,1.8245874398e-05,-0.000273026317267,2.33915623298e-05,1793193576808177408
+86,1.433333333,BASELINE,764,742,711,672,663,632,877,784,799.087846681,650,629,651,0.400947303547,0.0045025660507,0.0598386879701,0.999999962558,2.22934341492e-05,-0.000271712634737,2.36390058156e-05,1793193576824844032
+87,1.450000000,BASELINE,764,742,711,672,663,632,877.485980591,784,799,650,629,651,0.400947066206,0.00450122735439,0.0598392075456,0.999999962681,2.01927876971e-05,-0.000271398326693,2.39284924575e-05,1793193576841510656
+88,1.466666667,BASELINE,764,742,711,672,663,632,877.939783293,784,799,650,629,650.939783293,0.400946556113,0.00449952101074,0.0598396344405,0.999999962765,1.73644300863e-05,-0.00027126161552,2.41788607145e-05,1793193576858177536
+89,1.483333333,BASELINE,764,742,711,672,663,632,877.351702086,784,799,650,629,650.351702086,0.400946662361,0.00449985855253,0.0598396798494,0.999999962801,1.77693564962e-05,-0.000271119253355,2.40205813886e-05,1793193576874844160
+90,1.500000000,BASELINE,764,742,711,672,663,632,877,784,799,650,628.767240356,650.232759644,0.400946236688,0.00450012344629,0.0598391802059,0.999999962655,1.80079058244e-05,-0.00027165608885,2.38381270931e-05,1793193576891510784
+91,1.516666667,BASELINE,764,742,711,672,663,632,877,784,799,650,628.188164002,650.811835998,0.400945019582,0.00450028024901,0.0598378695939,0.999999962239,1.79989072042e-05,-0.000273203483992,2.36197035356e-05,1793193576908177408
+92,1.533333333,BASELINE,763.61035263,742,711,672,663,632,877,784,799,650,628.38964737,651,0.400944816709,0.00449957059649,0.059837337235,0.999999962096,1.67712209816e-05,-0.000273815510713,2.35036797429e-05,1793193576924844544
+93,1.550000000,BASELINE,763.033150103,742,711,672,663,632,877,784,799,650,628.966849897,651,0.400945102034,0.00449844387932,0.0598371794847,0.999999962082,1.49569244948e-05,-0.000273977301829,2.34369456363e-05,1793193576941512192
+94,1.566666667,BASELINE,763.541810775,742,711,672,663,632.541810775,877.541810775,784,799,650,629,651,0.400946031158,0.00449833398438,0.0598387107426,0.999999962738,1.52981715171e-05,-0.000271517270811,2.38261023555e-05,1793193576958178304
+95,1.583333333,BASELINE,763.884482196,742,711,672.115517804,663,632.884482196,877.884482196,784,799,650,629,651,0.400946489474,0.00449855981837,0.0598398063158,0.99999996315,1.58515386838e-05,-0.000269938143483,2.41428020797e-05,1793193576974844672
+96,1.600000000,BASELINE,763.315164046,742,711,672.684835954,663,632.315164046,877.315164046,784,799,650,629,651,0.400944944162,0.00449986113916,0.0598387860566,0.999999962457,1.67222382082e-05,-0.000272447130542,2.40657375904e-05,1793193576991511552
+97,1.616666667,BASELINE,763.268199418,742,711,672.731800582,663,632.268199418,877,784.268199418,799.268199418,650,629,651,0.400944894335,0.00450124668974,0.0598384628635,0.9999999623,1.840752902e-05,-0.000272937351508,2.37943669285e-05,1793193577008178176
+98,1.633333333,BASELINE,763.868979753,742,711,672.131020247,663,632.868979753,877,784.868979753,799.868979753,650,629,651,0.400946698986,0.00450273668946,0.0598390040679,0.999999962806,2.1102954396e-05,-0.000270924199719,2.32820467369e-05,1793193577024844544
+99,1.650000000,BASELINE,764,742,711,672,663,632.549756386,877.450243614,784.549756386,799.549756386,650,629,651,0.4009483116,0.00450158677711,0.0598405179587,0.999999963325,1.97327055752e-05,-0.000269075921095,2.36569351328e-05,1793193577041511168
+100,1.666666667,BASELINE,764,742,711,672,663,632,877.974120709,784,799,650,629,651,0.400949801047,0.00449976886068,0.0598422002593,0.999999963819,1.73785417193e-05,-0.000267343313151,2.42402806525e-05,1793193577058178048
+101,1.683333333,BASELINE,764,742,711,672,663,632,877.402384135,784,799,650,629,651,0.400949822363,0.00449939136264,0.0598417125465,0.999999963881,1.81890333032e-05,-0.000267080554146,2.40011646662e-05,1793193577074844928
+102,1.700000000,BASELINE,764,742,711,672,663,632,877,784,799.353334758,650,629,651,0.400949315678,0.00449937543893,0.0598411424465,0.999999963767,1.82094029714e-05,-0.00026753081365,2.36999155169e-05,1793193577091511552
+103,1.716666667,BASELINE,764,742,711,672,663,632,877,784,800.546198447,650,629,651,0.400947554451,0.00450021862159,0.0598403765928,0.999999963234,1.63524304541e-05,-0.000269675216361,2.32510370316e-05,1793193577108177664
+104,1.733333333,BASELINE,764,742,711.356524577,672,663,632,877,784,800.643475423,649.643475423,628.643475423,651,0.400947618984,0.00450005567161,0.0598400394934,0.999999963118,1.61044982075e-05,-0.000270105475663,2.34126572903e-05,1793193577124844288
+105,1.750000000,BASELINE,764,742,711.931963694,672,663,632,877,784,800.068036306,649.068036306,628.068036306,651,0.400948804576,0.00449927493242,0.0598399656592,0.999999963261,1.68445546464e-05,-0.000269483210489,2.39491382049e-05,1793193577141510912
+106,1.766666667,BASELINE,763.495119084,742,711.495119084,672,663,632,877,784,799.495119084,649.504880916,628.504880916,651,0.400947540341,0.00450002971865,0.0598395721205,0.999999963109,1.79692661664e-05,-0.000269956650166,2.41371338487e-05,1793193577158177792
+107,1.783333333,POSE1_TO_POSE2_PRESS,763,742,711,672,663,633,878,784,799,650,628,651,0.400945957893,0.00449972634153,0.0598391856819,0.999999962943,1.86092547694e-05,-0.000270575475876,2.35906170383e-05,1793193577200718592
+108,1.800000000,POSE1_TO_POSE2_PRESS,763.579309677,742.579309677,711,672,663,632.420690323,877.420690323,784,799,650,628.579309677,651,0.400946404636,0.0045001413834,0.0598390309678,0.999999962971,1.89740889484e-05,-0.000270445530994,2.35922444413e-05,1793193577217385216
+109,1.816666667,POSE1_TO_POSE2_PRESS,763.842220409,742.842220409,711,672,663,632.157779591,877,784,799.157779591,650,629,651,0.400946699657,0.00450013616453,0.0598389795782,0.999999962956,1.87517790915e-05,-0.000270509494362,2.36969197074e-05,1793193577234051584
+110,1.833333333,POSE1_TO_POSE2_PRESS,763.265977591,742.265977591,711,672,663,632.734022409,877,784,799.734022409,650,629,651,0.400946592279,0.00449901632968,0.0598392022256,0.999999962822,1.69722451702e-05,-0.0002710877414,2.40748986452e-05,1793193577250718208
+111,1.850000000,POSE1_TO_POSE2_PRESS,763,742,711,672,663,632.690494801,877.309505199,784,799.690494801,650,629,651,0.400946557065,0.0044995228556,0.0598394935884,0.999999962775,1.71817190034e-05,-0.000271250895345,2.40415090983e-05,1793193577267384832
+112,1.866666667,POSE1_TO_POSE2_PRESS,763,742,711,672,663,632.115663587,877.884336413,784,799.115663587,650,629,651,0.400946583714,0.00450142359348,0.059839843858,0.999999962802,1.90962870867e-05,-0.0002710582071,2.36554703284e-05,1793193577284051456
+113,1.883333333,POSE1_TO_POSE2_PRESS,763.471649848,742,711,672.471649848,663,632,878,784,799.471649848,650,628.528350152,651,0.400948792128,0.00450220922455,0.0598402708334,0.999999963137,2.08124128654e-05,-0.000269700651115,2.35419643687e-05,1793193577300718080
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,742,711,672.939108721,663,632.060891279,878,784,799.939108721,650,628.060891279,651,0.400952187705,0.00450239066074,0.0598411243535,0.999999963697,2.1942871559e-05,-0.000267525059518,2.3534845932e-05,1793193577317384704
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,742,711,672.360213965,663,632.639786035,878,784,799.360213965,650,628.639786035,651,0.400961007202,0.00449982176578,0.059845442126,0.999999965513,1.8516290383e-05,-0.000260886621694,2.38487565465e-05,1793193577334051584
+116,1.933333333,POSE1_TO_POSE2_PRESS,763.784366719,742,711,672,663,632.784366719,877.784366719,784,799,650,629,651,0.400978483571,0.00449867822226,0.0598529184616,0.999999968865,1.72290118418e-05,-0.000247783902985,2.40118498062e-05,1793193577350718208
+117,1.950000000,POSE1_TO_POSE2_PRESS,763.213539429,742,711,672,663,632.213539429,877.213539429,784,799,650,629,651,0.401010219656,0.00449988253682,0.0598655976242,0.999999974429,1.94656213922e-05,-0.000224033135382,2.39265146744e-05,1793193577367384832
+118,1.966666667,POSE1_TO_POSE2_PRESS,763.370404199,742,711,672,663.370404199,632.370404199,877.370404199,784,799,650,629,651,0.401059323285,0.00449921979671,0.0598830828983,0.999999981389,1.86010135302e-05,-0.000190509525037,2.41349293288e-05,1793193577384051456
+119,1.983333333,POSE1_TO_POSE2_PRESS,763.962187097,742,711,672,663.962187097,632.962187097,877.962187097,784,799,650,629,651,0.401118806942,0.00449744117808,0.0599034406321,0.999999988151,1.58829077745e-05,-0.000151144997851,2.45189087671e-05,1793193577400717824
+120,2.000000000,POSE1_TO_POSE2_PRESS,763.456047422,742,711,672,663.456047422,633,877.456047422,784,799.543952578,650,629,651,0.401186463738,0.00449674775826,0.0599160032742,0.999999990285,1.42135698558e-05,-0.000136390533225,2.5017074623e-05,1793193577417384448
+121,2.016666667,POSE1_TO_POSE2_PRESS,763.123976123,742,711,672,663,632.876023877,877,784,800,650,629,651,0.401257632306,0.00449630045815,0.0599264385856,0.999999991896,1.29295449213e-05,-0.000124113454614,2.5234353029e-05,1793193577434051072
+122,2.033333333,POSE1_TO_POSE2_PRESS,763.700140295,742,711,672,663,632.299859705,877,784,800,650,629,651,0.401339574845,0.00449648067568,0.0599310554064,0.999999993037,1.27897980864e-05,-0.000114745346032,2.43987000861e-05,1793193577450717696
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,742,711,672,663,632,877.274632176,784,800,650,629,651,0.40143181576,0.00449596875707,0.0599344643794,0.999999993886,9.61266096064e-06,-0.000107655756486,2.33549118662e-05,1793193577467384576
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,742,711,672,663,632,877.847309167,784,800,650,629,651,0.401535232989,0.00449470569709,0.059936562534,0.999999994443,3.13919330044e-06,-0.000103038932335,2.20852447006e-05,1793193577484051712
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,742.43260166,711,672,663,632,878,784,799.56739834,650,629,651,0.401663392922,0.00449442681857,0.0599394922571,0.999999995316,5.75757983743e-07,-9.46676916434e-05,2.01179894746e-05,1793193577500718336
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,742.97785549,711,672,663,632.02214451,877.97785549,784,799,650,629,651,0.401801397184,0.00449443442442,0.0599425907893,0.99999999621,-7.2986213684e-07,-8.52005231325e-05,1.79196136597e-05,1793193577517384704
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,742.396796746,711,672,663,632.603203254,877.396796746,784,799,650,629,651,0.401960825585,0.00449264179937,0.0599423194295,0.999999996443,-6.16773771909e-06,-8.25236031611e-05,1.6289013154e-05,1793193577534051328
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,742,711,672,663,632.817610836,877,784.182389164,799,650,629,651,0.402131884421,0.00449065844083,0.0599426820865,0.999999996734,-1.20563300912e-05,-7.85917567028e-05,1.44943370257e-05,1793193577550717952
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,742,711,672,663,632.24245803,877,784.75754197,799,650,629,651,0.402327988651,0.00448826434993,0.0599444100591,0.999999997156,-1.89155121376e-05,-7.1957505002e-05,1.23463345318e-05,1793193577567384576
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,742,711,672,663,632.332779424,877,784.667220576,799.332779424,650,629,651,0.402544027863,0.00448776293741,0.0599445092499,0.999999997412,-2.37496391506e-05,-6.72511933193e-05,9.45338746425e-06,1793193577584051456
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,742,711,672,663,632.908078626,877,784.091921374,799.908078626,650,629,651,0.402774595119,0.00448864085254,0.059943421433,0.99999999757,-2.71079668005e-05,-6.39499064811e-05,6.01754665324e-06,1793193577600718336
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,742.49458946,711,672,663,632.50541054,877.49458946,784,799.50541054,650,629,651,0.403043587803,0.00448713516536,0.0599455545441,0.999999997794,-3.41342286448e-05,-5.68999141531e-05,2.93243677083e-06,1793193577617384960
+133,2.216666667,POSE1_TO_POSE2_PRESS,763.917973141,742.917973141,711,672,663,632.082026859,877.917973141,784,799.082026859,650,629,651,0.403323892966,0.00448496978839,0.0599471480275,0.999999997793,-4.19757274895e-05,-5.15056292658e-05,-1.34018993078e-07,1793193577634051840
+134,2.233333333,POSE1_TO_POSE2_PRESS,763.33785557,742.33785557,711,672,663,632.66214443,877.33785557,784,799.66214443,650,629,651,0.403628519709,0.00448155101196,0.0599417454214,0.999999996887,-5.05320933266e-05,-6.04940330384e-05,-3.49220395819e-06,1793193577650718208
+135,2.250000000,POSE1_TO_POSE2_PRESS,763.239576714,742,711,672,663.239576714,632.760423286,877,784,799.760423286,650,629,651,0.403943051514,0.00447748104286,0.0599330546572,0.999999995379,-6.04635028473e-05,-7.44101543324e-05,-6.98000525489e-06,1793193577667384832
+136,2.266666667,POSE1_TO_POSE2_PRESS,763.813264096,742,711,672,663.813264096,632.186735904,877,784,799.186735904,650,629,651,0.404271396777,0.00447250292883,0.0599197782696,0.999999992797,-7.23125304479e-05,-9.5198407878e-05,-1.06485676524e-05,1793193577684051200
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,742.387276577,711,672,663.612723423,632,877,784.387276577,799.387276577,650,629,651,0.404624376997,0.0044697729917,0.059905349231,0.999999989188,-8.36658409565e-05,-0.000119990981143,-1.50188406307e-05,1793193577700718080
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,742.96144593,711,672,663.03855407,632,877,784.96144593,799.96144593,650,629,651,0.4049892456,0.00446812798483,0.0598903639441,0.999999984551,-9.47799268416e-05,-0.000146715967079,-1.97277465163e-05,1793193577717384704
+139,2.316666667,POSE1_TO_POSE2_PRESS,763.444502226,742.444502226,711,672,663,632,877,784.444502226,799.444502226,650,629,651,0.405436183607,0.00446339999678,0.0598947971951,0.999999983551,-0.000107173128136,-0.000144511104692,-2.30099355545e-05,1793193577734051328
+140,2.333333333,POSE1_TO_POSE2_PRESS,763.145641825,742.145641825,711,672,663,632,877.145641825,784,799,650,629,651,0.405905923817,0.00445824760105,0.0599070240915,0.999999984383,-0.000119891988454,-0.000127164561625,-2.62526596927e-05,1793193577750718208
+141,2.350000000,POSE1_TO_POSE2_PRESS,763.720067366,742.720067366,711,672,663,632,877.720067366,784,799,650,629,651,0.406425403799,0.00445249905031,0.0599380810845,0.999999988128,-0.000133298549511,-7.13702147212e-05,-2.96815427719e-05,1793193577767385088
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,743,711,672,663,632,878,784.295084059,799,650,628.704915941,651,0.406961770334,0.00444861051167,0.059965976641,0.999999988469,-0.000145832045718,-2.61033144037e-05,-3.33720407827e-05,1793193577784051968
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,743,711,672,663,632,878,784.870662741,799,650,628.129337259,651,0.407514188586,0.00444649002244,0.0599908670709,0.999999986853,-0.000157535644556,9.15663978797e-06,-3.73112194972e-05,1793193577800718336
+144,2.400000000,POSE1_TO_POSE2_PRESS,764.45916277,742.54083723,711,672.45916277,663.45916277,632,878,784.54083723,799,650,628,651,0.408048625465,0.00444476508005,0.0599904039462,0.999999985208,-0.000166795833172,-2.60912905667e-06,-4.19044538657e-05,1793193577817384960
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.949853713,742,711,673,663.949853713,632,878,784,799,650,628.050146287,651,0.408583709389,0.00444296612072,0.0599819829482,0.999999983043,-0.000175822093626,-2.86524161111e-05,-4.6689993388e-05,1793193577834051840
+146,2.433333333,POSE1_TO_POSE2_PRESS,764.372142418,742,711,673,663.372142418,632,878,784,799,650,628.627857582,651,0.409180430383,0.00443918234814,0.0599671499398,0.999999978763,-0.000189837847901,-6.15101298887e-05,-5.15043168192e-05,1793193577850718720
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,742,711,673,663,632,877.795666635,784,799.204333365,650,629,651,0.409801081345,0.00443674967811,0.0599605255068,0.999999984252,-0.000156095113557,-7.23504041152e-05,-4.35288582159e-05,1793193577867385088
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,742,711,673,663,632,877.221427544,784,799.778572456,650,629,651,0.410465052814,0.00443676291611,0.0599687611006,0.99999999834,-3.58949422246e-05,-4.33323930304e-05,-1.23999914949e-05,1793193577884051200
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,742,711,672.638203194,663.361796806,632,877.361796806,784,800,650,628.638203194,651,0.411133931154,0.00444229505573,0.0599730417984,0.999999999468,9.46915105274e-06,-3.06590787426e-05,-5.83164419798e-06,1793193577900718080
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,742,711,672.04933964,663.95066036,632,877.95066036,784,800,650,628.04933964,651,0.411805889064,0.00445129090486,0.0599748403696,0.999999999462,7.86548184846e-06,-2.82438362674e-05,-1.46776886104e-05,1793193577917384960
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,742,711,672,663.469380846,632,878,784,799.469380846,650,628,651,0.412487871263,0.00444640546447,0.0599549021852,0.999999997591,-9.72309192425e-06,-6.52972311423e-05,-2.14314019587e-05,1793193577934051584
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,742,711,672,663,632,878,784.109635549,799,650,628.109635549,650.890364451,0.413177657242,0.00444101392157,0.0599317474043,0.999999993383,-2.42963873235e-05,-0.000109181224113,-2.69089851499e-05,1793193577950718208
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,742,711,672,663,632,878,784.688104182,799,650,628.688104182,650.311895818,0.413896894056,0.00443888666694,0.059903338086,0.999999985503,-1.97242990679e-05,-0.000166839888795,-2.77477111567e-05,1793193577967384832
+154,2.566666667,POSE1_TO_POSE2_PRESS,763.737265346,742.262734654,711,672,663.262734654,632,878,784.737265346,799,650,629,650.262734654,0.414672849364,0.00443659784219,0.0599100669204,0.999999985935,-5.57866901882e-05,-0.000155560397317,-2.86064303679e-05,1793193577984051456
+155,2.583333333,POSE1_TO_POSE2_PRESS,763.167125527,742.832874473,711,672,663.832874473,632,878,784.167125527,799,650,629,650.832874473,0.415515166614,0.00443411997668,0.0599579081415,0.999999987826,-0.000139392290437,-6.36217945678e-05,-2.94885419294e-05,1793193578000718080
+156,2.600000000,POSE1_TO_POSE2_PRESS,763.419027282,743,711,672,664,632,878.419027282,784,799,650,629,651,0.416332560316,0.00443092035927,0.0599906161026,0.999999986842,-0.000159340464608,-6.00186012718e-06,-2.98447467095e-05,1793193578017384448
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,742.988434996,711,672.011565004,664,632,878.988434996,784,799,650,629,650.988434996,0.417139798151,0.00442749127948,0.0600162130385,0.999999987238,-0.000152740108679,3.59845862045e-05,-3.00003422327e-05,1793193578034051072
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,742.408452964,711,672.591547036,664,632,878.408452964,784,799,650,629,650.408452964,0.417955868211,0.00442749481122,0.060000748814,0.999999989853,-0.000138742358748,9.06717123158e-06,-3.10149940242e-05,1793193578050717952
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,742,711,673,663.829915394,632.170084606,878,784,799,649.829915394,629,650,0.418777402802,0.00442615617071,0.0599817934596,0.99999999111,-0.000127270577038,-2.31874512303e-05,-3.23159971357e-05,1793193578067385088
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,742,711,673,663.254817478,632.745182522,878,784,799,649.254817478,629,650,0.419611949738,0.0044216214877,0.0599545248668,0.99999998967,-0.000121813748313,-6.81512767562e-05,-3.42988731766e-05,1793193578084051712
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,742,711,673,663.326388492,632.673611508,878.326388492,784,799,649.326388492,629,650.326388492,0.420419719027,0.0044197219579,0.0599266371156,0.999999986779,-0.000114807975516,-0.000109397978421,-3.59551287054e-05,1793193578100718336
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,742,711,673,663.912454045,632.087545955,878.912454045,784,799,649.912454045,629,650.912454045,0.421206183785,0.00441991897538,0.0598982567587,0.999999982718,-0.000106569851797,-0.000147687307093,-3.73515224796e-05,1793193578117384704
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,742,711,673,664,632,878.507433997,784.492566003,799.492566003,650,629,651,0.422023003733,0.00441748593507,0.0598781039961,0.9999999752,-0.000104407396614,-0.00019313267579,-3.74114159688e-05,1793193578134051584
+164,2.733333333,POSE1_TO_POSE2_PRESS,763.928458989,742,711,673,664,632,878,784.928458989,800,649.928458989,629,650.928458989,0.42286287992,0.0044141824805,0.0598697613551,0.999999969742,-0.000103787114836,-0.000219913894656,-3.71808225138e-05,1793193578150718208
+165,2.750000000,POSE1_TO_POSE2_PRESS,763.35013193,742,711,673,664,632,878,784.35013193,800,649.35013193,629,650.35013193,0.4238283206,0.00440798495498,0.0599348446979,0.999999988084,-0.00010653318016,-0.000105578808269,-3.6555080348e-05,1793193578167384576
+166,2.766666667,POSE1_TO_POSE2_PRESS,763.227205919,742,711,673,664.227205919,632,878,784,800,649.227205919,628.772794081,650,0.424775077589,0.00440342374079,0.0599880629622,0.999999993288,-0.000109136625707,-1.49992764496e-05,-3.58916728756e-05,1793193578184051456
+167,2.783333333,POSE1_TO_POSE2_PRESS,763.803026055,742,711,673,664.803026055,632,878,784,800,649.803026055,628.196973945,650,0.425693167337,0.00440137320582,0.0600230760108,0.999999992397,-0.000111521244006,3.9130850845e-05,-3.51704739229e-05,1793193578200718336
+168,2.800000000,POSE1_TO_POSE2_PRESS,763.613622905,742,711,673,664.22724581,632,878.386377095,784,800,650,628.386377095,650.386377095,0.426562014901,0.00440010904221,0.0600218781024,0.999999990264,-0.000126269602164,4.63944997785e-05,-3.7083081983e-05,1793193578217384960
+169,2.816666667,POSE1_TO_POSE2_PRESS,763.026356348,742,711,673,663.052712696,632,878.973643652,784,800,650,628.973643652,650.973643652,0.427405259869,0.00439925373763,0.0600018529897,0.999999987886,-0.000147446252896,2.92908065472e-05,-4.03650882372e-05,1793193578234051584
+170,2.833333333,POSE1_TO_POSE2_PRESS,763.5534652,742,711,673.5534652,664.1069304,632,878.4465348,784,800,649.4465348,628.4465348,651,0.428227974251,0.00439699785281,0.0599756513422,0.999999988736,-0.000143831502782,-1.25260406363e-05,-4.10344484654e-05,1793193578250718208
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,742.132050166,711,673.867949834,664.735899667,632.132050166,878,784,799.867949834,649.132050166,628.132050166,650.867949834,0.429041596732,0.00440048076052,0.059948323266,0.99999998871,-0.000132290333178,-5.80375878698e-05,-4.13610546666e-05,1793193578267384576
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,742.707656505,711,673.292343495,663.58468699,632.707656505,878,784,799.292343495,649.707656505,628.707656505,650.292343495,0.429827919931,0.00442346131751,0.0599181863892,0.999999988077,-9.8037276276e-05,-0.00011205903607,-4.09487163731e-05,1793193578284051200
+173,2.883333333,POSE1_TO_POSE2_PRESS,763.716368915,743,711,673,663,632.716368915,878,784,799.283631085,650,629,650.283631085,0.430662029083,0.00444468223496,0.0599100207861,0.999999989471,-6.60643378561e-05,-0.000122050763635,-4.23944823118e-05,1793193578300717824
+174,2.900000000,POSE1_TO_POSE2_PRESS,763.140014325,743,711,673,663,632.140014325,878,784,799.859985675,650,629,650.859985675,0.431545456024,0.00446408710233,0.059924530796,0.999999994539,-3.6444614436e-05,-8.66012976078e-05,-4.57579182009e-05,1793193578317384704
+175,2.916666667,POSE1_TO_POSE2_PRESS,763.446234193,742.553765807,711,673.446234193,663.892468386,632,878,784,799.553765807,650,629,650.553765807,0.432403525325,0.00445694527877,0.05996428485,0.999999997798,-4.32304578499e-05,-2.27615860317e-05,-4.49115657913e-05,1793193578334051584
+176,2.933333333,POSE1_TO_POSE2_PRESS,763.964974552,742.035025448,711,674,664.964974552,632,878.035025448,784,799,650,629,650,0.433247942181,0.00444207082229,0.0600082771371,0.999999996295,-6.04772989677e-05,4.38041099039e-05,-4.28165818563e-05,1793193578350718464
+177,2.950000000,POSE1_TO_POSE2_PRESS,763.385999985,742.614000015,711,674,664.385999985,632,878.614000015,784,799,650,629,650,0.43400670009,0.00443939929655,0.0599922895874,0.999999997315,-5.87627476763e-05,1.12259058056e-05,-4.23090829125e-05,1793193578367384832
+178,2.966666667,POSE1_TO_POSE2_PRESS,763,742.808137596,711,673.808137596,664,632,879,784,799.191862404,650,629,650,0.434756393095,0.00443751397151,0.059969874426,0.999999997002,-5.78632846189e-05,-2.89054024634e-05,-4.25659575399e-05,1793193578384051456
+179,2.983333333,POSE1_TO_POSE2_PRESS,763,742.232499752,711,673.232499752,664,632,879,784,799.767500248,650,629,650,0.435487954032,0.0044372012549,0.0599346023421,0.99999999376,-5.85942128123e-05,-8.41449181968e-05,-4.43517809288e-05,1793193578400718080
+180,3.000000000,POSE1_TO_POSE2_PRESS,763,742.343695621,711,673.343695621,664,632.343695621,878.656304379,784,799.656304379,650,629,650.343695621,0.436219873791,0.0044330486574,0.059917933256,0.999999990728,-6.40643473146e-05,-0.000111395406977,-4.50570602085e-05,1793193578417384704
+181,3.016666667,POSE1_TO_POSE2_PRESS,763,742.920268724,711,673.920268724,664,632.920268724,878.079731276,784,799.079731276,650,629,650.920268724,0.436952036632,0.00442629427584,0.0599138689857,0.999999989178,-7.27456209075e-05,-0.000119681396895,-4.50301963009e-05,1793193578434051328
+182,3.033333333,POSE1_TO_POSE2_PRESS,763.507422822,743,711,674,663.492577178,632.492577178,878.507422822,784,799,650,629,650.492577178,0.437608081876,0.00442323162262,0.0599067527847,0.999999986029,-7.41159932428e-05,-0.00014307380963,-4.44757577216e-05,1793193578450717952
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,743,711,674,663,632,879,784,799.094339424,650,629,650,0.43825278581,0.00442104859046,0.0598998956549,0.999999982819,-7.23604572999e-05,-0.00016499595277,-4.36065750474e-05,1793193578467384576
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,743,711,674,663,632,879,784,799.671353335,650,629,650,0.438901960166,0.00442033490853,0.0598968698262,0.999999983356,-6.0614292723e-05,-0.000166992479006,-4.15602155624e-05,1793193578484051456
+185,3.083333333,POSE1_TO_POSE2_PRESS,764,743,711,674,663,632,879,784,800,650,629,650.247557706,0.439545198728,0.00441987885976,0.0599016542896,0.999999985098,-5.16792669437e-05,-0.000159748940929,-4.01690790125e-05,1793193578500718080
+186,3.100000000,POSE1_TO_POSE2_PRESS,764,743,711,674,663,632,879,784,800,650,629,650.822690823,0.440180582826,0.00441976371859,0.0599167735543,0.999999988296,-4.64640210586e-05,-0.000140278686251,-3.96449522796e-05,1793193578517384960
+187,3.116666667,POSE1_TO_POSE2_PRESS,764,742.590218054,711,674,662.590218054,631.590218054,878.590218054,783.590218054,800,650,629,651,0.440749208671,0.00442486015851,0.0599029575247,0.999999984594,-3.93709342789e-05,-0.000165925662034,-4.15972625281e-05,1793193578534051584
+188,3.133333333,POSE1_TO_POSE2_PRESS,763.997846964,742.002153036,711,674,661.995693929,631,878.002153036,783.002153036,800,650,629,651,0.441287796103,0.00443226706295,0.0598761235728,0.99999997607,-3.14545850163e-05,-0.000211841344341,-4.46564977196e-05,1793193578550717952
+189,3.150000000,POSE1_TO_POSE2_PRESS,763.418803061,742.581196939,711,674,660.837606121,631,878.581196939,783.581196939,800,650,629,651,0.441750162865,0.0044363714787,0.059816726853,0.999999953257,-2.72056945304e-05,-0.000300644338912,-4.85685202994e-05,1793193578567384576
+190,3.166666667,POSE1_TO_POSE2_PRESS,763,743,711,674,659.68210217,631,879,784,800,650,629,650.841051085,0.442210481532,0.00444180723502,0.0597656661548,0.999999927873,-2.06537941612e-05,-0.000375743810542,-5.14212740696e-05,1793193578584050944
+191,3.183333333,POSE1_TO_POSE2_PRESS,763,743,711,674,658.533351098,631,879,784,800,650,629,650.266675549,0.442665447423,0.00445072256495,0.0597363923514,0.999999912517,-8.08277947472e-06,-0.000415027973883,-5.15055396144e-05,1793193578600717824
+192,3.200000000,POSE1_TO_POSE2_PRESS,763.314894359,742.685105641,711,674,658,631,878.685105641,784,800,650,628.685105641,650.314894359,0.443117427483,0.0044727082654,0.0597232978106,0.999999904332,2.32194310218e-05,-0.000433692017642,-5.20341577559e-05,1793193578617384448
+193,3.216666667,POSE1_TO_POSE2_PRESS,763.902699404,742.097300596,711,674,658,631,878.097300596,784,800,650,628.097300596,650.902699404,0.443566819771,0.00450602171288,0.0597242254144,0.999999901706,7.07554771944e-05,-0.000434485141564,-5.29478846069e-05,1793193578634051328
+194,3.233333333,POSE1_TO_POSE2_PRESS,763.516997267,742,711,674,658,630.516997267,878.483002733,783.516997267,800,650,628.483002733,651,0.443990005403,0.00453060538817,0.0597330436655,0.999999904935,9.75782902547e-05,-0.000421139794058,-5.70120975511e-05,1793193578650718208
+195,3.250000000,POSE1_TO_POSE2_PRESS,763.061726674,742,711,674,658,630,879,783,800.061726674,650,629,651,0.444399386734,0.00455096367056,0.0597410016593,0.999999908429,0.000108670878196,-0.000409392781815,-6.10721141816e-05,1793193578667384832
+196,3.266666667,POSE1_TO_POSE2_PRESS,763.639687213,742,711,674,658,630,879,783,800.639687213,650,629,651,0.44473679647,0.00455046674029,0.0597286745533,0.999999903571,2.25713403481e-05,-0.000434468713275,-5.98703824555e-05,1793193578684051456
+197,3.283333333,POSE1_TO_POSE2_PRESS,764,742.214952097,711,674.214952097,657.785047903,630,879,783,800.785047903,650,629,651,0.445050312098,0.00455040858276,0.0597117070664,0.999999889498,-1.73694436634e-05,-0.000466538444661,-5.51726792126e-05,1793193578700718336
+198,3.300000000,POSE1_TO_POSE2_PRESS,764,742.785754305,711,674.785754305,657.214245695,630,879,783,800.214245695,650,629,651,0.445324271341,0.00455107680725,0.0596870574967,0.999999868674,1.9104935156e-05,-0.000510186312581,-4.46874459599e-05,1793193578717384960
+199,3.316666667,POSE1_TO_POSE2_PRESS,764,742.629716673,711,675,657,630,879,783,800,650,628.629716673,651,0.445592778148,0.00455523159846,0.0596688016737,0.999999853195,3.48424667469e-05,-0.000539044318162,-4.27563491992e-05,1793193578734051328
+200,3.333333333,POSE1_TO_POSE2_PRESS,764,742.036939501,711,675,657,630,879,783,800,650,628.036939501,651,0.44585800875,0.00456148137911,0.0596543876885,0.999999841968,3.81197571702e-05,-0.000559015475921,-4.59652147835e-05,1793193578750717952
+201,3.350000000,POSE1_TO_POSE2_PRESS,763.455633635,742.544366365,711,674.455633635,656.455633635,629.455633635,879,783,800,650,628,651,0.446111164429,0.00456021255711,0.0596611070853,0.99999984874,3.68302047072e-05,-0.000546757762683,-4.71178906364e-05,1793193578767384576
+202,3.366666667,POSE1_TO_POSE2_PRESS,763.123706951,743,711,674,656.123706951,629,879,783,800,650,628.123706951,650.876293049,0.446355387759,0.00455922639277,0.0596698355828,0.999999856632,3.58069392985e-05,-0.000532104532176,-4.81596908869e-05,1793193578784051456
+203,3.383333333,POSE1_TO_POSE2_PRESS,763.698659778,743,711,674,656.698659778,629,879,783,800,650,628.698659778,650.301340222,0.44656995579,0.00456109391176,0.0596807695987,0.999999864706,3.68620869307e-05,-0.000516525979434,-4.929550482e-05,1793193578800718336
+204,3.400000000,POSE1_TO_POSE2_PRESS,763.727317312,742.727317312,711,674,656.727317312,629,879.272682688,783,800,650,628.727317312,650.272682688,0.446761944558,0.00456391108239,0.0596858888209,0.999999868442,3.99207917028e-05,-0.000508891735314,-5.05195806332e-05,1793193578817385216
+205,3.416666667,POSE1_TO_POSE2_PRESS,763.15431859,742.15431859,711,674,656.15431859,629,879.84568141,783,800,650,628.15431859,650.84568141,0.446929065893,0.00456777414113,0.0596846039841,0.999999867582,4.51860917037e-05,-0.000510006867822,-5.18408626237e-05,1793193578834051584
+206,3.433333333,POSE1_TO_POSE2_PRESS,763.432615025,742,711,674,656,629,879.567384975,783,800.432615025,650,628,651,0.447070180884,0.00457314477633,0.0596759673096,0.999999861501,5.1136377832e-05,-0.000521106978021,-5.31978612827e-05,1793193578850718464
+207,3.450000000,POSE1_TO_POSE2_PRESS,764,742,711,674,656,628.975825776,879,783,800.975825776,650,628.024174224,650.975825776,0.447200642822,0.00457890159936,0.0596649235367,0.99999985344,5.716267264e-05,-0.000535608452337,-5.45463994199e-05,1793193578867385088
+208,3.466666667,POSE1_TO_POSE2_PRESS,764,742,711,674,656,628.396002251,879,783,800.396002251,650,628.603997749,650.396002251,0.447306567115,0.0045807628941,0.0596608366361,0.999999848913,5.91328668088e-05,-0.000543698584459,-5.53978813149e-05,1793193578884051712
+209,3.483333333,POSE1_TO_POSE2_PRESS,763.818185982,742.181814018,711,674,656,628,879.181814018,783,800,650,629,650.181814018,0.447407288537,0.00458312291392,0.0596588121232,0.999999846373,6.27558130299e-05,-0.000547889110933,-5.598133165e-05,1793193578900718080
+210,3.500000000,POSE1_TO_POSE2_PRESS,763.244693975,742.755306025,711,674,656,628,879.755306025,783,800,650,629,650.755306025,0.447496801514,0.00458655732611,0.0596612305678,0.999999848194,6.9939246834e-05,-0.000543678800693,-5.5987367314e-05,1793193578917384704
+211,3.516666667,POSE1_TO_POSE2_PRESS,763,743,711,674,655.673195034,628.326804966,879.673195034,783,800,650,629,651,0.447574054999,0.00458990996409,0.0596634012075,0.999999850146,7.55614957079e-05,-0.000539235469292,-5.67708222474e-05,1793193578934051584
+212,3.533333333,POSE1_TO_POSE2_PRESS,763,743,711,674,655.103179289,628.896820711,879.103179289,783,800,650,629,651,0.447642184886,0.00459320174541,0.059665387429,0.9999998522,8.00218994534e-05,-0.000534618721304,-5.8132838605e-05,1793193578950718208
+213,3.550000000,POSE1_TO_POSE2_PRESS,763.49144503,742.50855497,711,674.49144503,655.49144503,629,879,783,800,650,629,651,0.447694942961,0.00459878982073,0.0596672880838,0.999999852637,8.64193306251e-05,-0.000532696939838,-5.90849610477e-05,1793193578967384832
+214,3.566666667,POSE1_TO_POSE2_PRESS,763.912228171,742,711,674.912228171,656,629,879,783,800.087771829,650,629,651,0.44774111271,0.00460428317123,0.0596686385165,0.999999852329,9.24833373466e-05,-0.000532173235899,-5.98451896523e-05,1793193578984051456
+215,3.583333333,POSE1_TO_POSE2_PRESS,763.336666423,742,711,674.336666423,656,629,879,783,800.663333577,650,629,651,0.447769549241,0.00460642954885,0.0596670362052,0.999999850043,9.43150918937e-05,-0.00053610908027,-6.00424468642e-05,1793193579000718080
+216,3.600000000,POSE1_TO_POSE2_PRESS,763.238603247,742,711,674,656,628.761396753,879,783,800.761396753,650,628.761396753,651,0.44779383821,0.00460794162959,0.0596653783702,0.999999848219,9.71460456663e-05,-0.000538991091271,-6.01162049657e-05,1793193579017384704
+217,3.616666667,POSE1_TO_POSE2_PRESS,763.813461267,742,711,674,656,628.186538733,879,783,800.186538733,650,628.186538733,651,0.447812282169,0.00460855981895,0.0596636422875,0.99999984705,0.000101385134021,-0.000540387973459,-6.00159203054e-05,1793193579034051584
+218,3.633333333,POSE1_TO_POSE2_PRESS,764,742,711,674.398054434,655.601945566,628,879,783,800,650,628,651,0.447825885124,0.00460941222378,0.059662627982,0.999999846594,0.000102199003505,-0.000541080699015,-5.99921597656e-05,1793193579050717952
+219,3.650000000,POSE1_TO_POSE2_PRESS,764,742,711,674.987324103,655.012675897,628,879,783,800,650,628,651,0.447837162585,0.00461037713976,0.0596619604001,0.999999846486,0.000101367484773,-0.000541435165582,-6.00051594716e-05,1793193579067384832
+220,3.666666667,POSE1_TO_POSE2_PRESS,764,742,711,674.433103826,655.566896174,628,879,783,800.566896174,650,628.566896174,651,0.447843799543,0.00461166394086,0.0596623115024,0.999999846533,0.00010427229744,-0.000540780104286,-6.0147713919e-05,1793193579084051712
+221,3.683333333,POSE1_TO_POSE2_PRESS,763.854856592,742,711,674,655.854856592,628,878.854856592,783,800.854856592,650,628.854856592,651,0.447849369404,0.00461262989835,0.0596624648752,0.999999846618,0.000106521701961,-0.000540171485242,-6.02616657153e-05,1793193579100718592
+222,3.700000000,POSE1_TO_POSE2_PRESS,763.279901365,742,711,674,655.279901365,628,878.279901365,783,800.279901365,650,628.279901365,651,0.447852081382,0.00461262478928,0.059661966396,0.999999846829,0.0001065870118,-0.000539766116945,-6.02824825387e-05,1793193579117384960
+223,3.716666667,POSE1_TO_POSE2_PRESS,763.29498001,742.29498001,711,674,655,628,878.29498001,783,800,650,628,651,0.447855069995,0.0046124841353,0.0596624199096,0.999999847392,0.000107491650672,-0.000538527517537,-6.04193137144e-05,1793193579134051584
+224,3.733333333,POSE1_TO_POSE2_PRESS,763.869791394,742.869791394,711,674,655,628,878.869791394,783,800,650,628,651,0.447858321038,0.0046122148973,0.0596637765268,0.999999848283,0.000109192515016,-0.00053649847738,-6.0666201352e-05,1793193579150717952
+225,3.750000000,POSE1_TO_POSE2_PRESS,764,742.539674649,711,674.460325351,655,628,879.460325351,783,800,650.460325351,628.460325351,651,0.4478593947,0.00461195425804,0.059663557914,0.999999847978,0.000108370033576,-0.000537274704205,-6.02907049016e-05,1793193579167384576
+226,3.766666667,POSE1_TO_POSE2_PRESS,764,742,711,675,655,628,879.946316033,783,800.053683967,650.946316033,628.946316033,651,0.447859777856,0.00461178115654,0.0596629548281,0.999999847315,0.000107250204373,-0.000538792792051,-5.9742007166e-05,1793193579184051200
+227,3.783333333,POSE1_TO_POSE2_PRESS,764,742,711,675,655,628,879.370276142,783,800.629723858,650.370276142,628.370276142,651,0.447859646979,0.0046124353118,0.0596630995728,0.999999846596,0.000110427737739,-0.00053953534892,-5.92815936311e-05,1793193579200718080
+228,3.800000000,POSE1_TO_POSE2_PRESS,764,742.205741584,711,674.794258416,655,628,879,783,801,650,628.205741584,651,0.447859369038,0.0046131103812,0.0596625448281,0.99999984587,0.000111944789849,-0.000540588119329,-5.90931261015e-05,1793193579217384960
+229,3.816666667,POSE1_TO_POSE2_PRESS,764,742.78171939,711,674.21828061,655,628,879,783,801,650,628.78171939,651,0.447858826451,0.00461382308597,0.0596607313378,0.999999845144,0.00011047377153,-0.000542199125363,-5.93940310415e-05,1793193579234051584
+230,3.833333333,POSE1_TO_POSE2_PRESS,764,743,711,674,655,628,878.633596912,783,800.633596912,650,629,651,0.447859256272,0.00461264876031,0.0596598892958,0.999999844927,0.000110449205849,-0.000542623268072,-5.92142833431e-05,1793193579250718464
+231,3.850000000,POSE1_TO_POSE2_PRESS,764,743,711,674,655,628,878.043600564,783,800.043600564,650,629,651,0.447860279495,0.00461032289607,0.0596596400689,0.999999845023,0.000111307321266,-0.000542323141066,-5.87412229032e-05,1793193579267385088
+232,3.866666667,POSE1_TO_POSE2_PRESS,764,742.463704011,711,674,655,628,878,783,800,650.536295989,628.463704011,651,0.447859979401,0.00461082911468,0.0596597405892,0.99999984495,0.000109992595217,-0.000542673801649,-5.9216308194e-05,1793193579284051456
+233,3.883333333,POSE1_TO_POSE2_PRESS,763.885663081,742.114336919,711,674.114336919,655,628,878.114336919,783,800,650.885663081,628.114336919,650.885663081,0.447859645985,0.00461145655768,0.0596597484345,0.999999844837,0.000109062490057,-0.000543023610959,-5.96366676566e-05,1793193579300717824
+234,3.900000000,POSE1_TO_POSE2_PRESS,763.311840702,742.688159298,711,674.688159298,655,628,878.688159298,783,800,650.311840702,628.688159298,650.311840702,0.447859603023,0.00461166297615,0.0596592716906,0.999999844624,0.000110374844081,-0.000543161305457,-5.95330503397e-05,1793193579317384704
+235,3.916666667,POSE1_TO_POSE2_PRESS,763.268587027,742.731412973,711,674.731412973,655,628,879,783,800,650,628.731412973,650.268587027,0.447859452903,0.0046125134878,0.0596589114102,0.999999844282,0.000111610743825,-0.00054353891856,-5.95345436536e-05,1793193579334051328
+236,3.933333333,POSE1_TO_POSE2_PRESS,763.856877279,742.143122721,711,674.143122721,655,628,879,783,800,650,628.143122721,650.856877279,0.447859175231,0.0046141306734,0.0596586897579,0.999999843785,0.000112755639049,-0.000544202110444,-5.96611517369e-05,1793193579350717952
+237,3.950000000,POSE1_TO_POSE2_PRESS,764,742.438248341,711,674,655,628,879,783,800,650,628.438248341,651,0.447859981747,0.00461426077004,0.0596593587354,0.999999844075,0.000112079691888,-0.000543830899596,-5.94681603646e-05,1793193579367384832
+238,3.966666667,POSE1_TO_POSE2_PRESS,764,742.982627889,711,674,655,628,879,782.982627889,800,650,628.982627889,651,0.447861120658,0.00461390788662,0.0596602841488,0.9999998446,0.00011086992367,-0.000543145054096,-5.91786760921e-05,1793193579384051456
+239,3.983333333,POSE1_TO_POSE2_PRESS,764,742.40423771,711,674,655,628,879,782.40423771,800,650,628.40423771,651,0.447861737271,0.00461339752256,0.0596602438311,0.999999844612,0.000111326058834,-0.000543038209061,-5.90913302072e-05,1793193579400718336
+240,4.000000000,POSE1_TO_POSE2_PRESS,764,742.172417413,711,674,655,628,879,782.172417413,800,650,628.172417413,651,0.447862201748,0.00461313067551,0.0596604309496,0.999999844726,0.000111884698523,-0.000542724372869,-5.89873457715e-05,1793193579417384960
+241,4.016666667,POSE1_TO_POSE2_PRESS,764,742.745045135,711,674,655,628,879,782.745045135,800,650,628.745045135,651,0.447862313092,0.00461342907314,0.0596611459865,0.999999845076,0.000112681268717,-0.000541930074799,-5.88447404182e-05,1793193579434051584
+242,4.033333333,POSE1_TO_POSE2_PRESS,763.672197895,743,711,674,655,628,879,783,800,650,629,650.672197895,0.447862569465,0.00461439106587,0.0596612108604,0.999999845026,0.000113484400518,-0.00054184328311,-5.89520089918e-05,1793193579450718208
+243,4.050000000,POSE1_TO_POSE2_PRESS,763.081311518,743,711,674,655,628,879,783,800,650,629,650.081311518,0.447862942235,0.00461588564038,0.0596607539327,0.999999844655,0.000114292798429,-0.000542324315151,-5.92598189934e-05,1793193579467384576
+244,4.066666667,POSE1_TO_POSE2_PRESS,763,743,711,674,655,628,879,783,799.500800124,650,628.500800124,650.499199876,0.447863144617,0.00461380335516,0.0596607272568,0.999999844807,0.000112378904143,-0.000542449814636,-5.91961430736e-05,1793193579484051200
+245,4.083333333,POSE1_TO_POSE2_PRESS,763,743,711,674.077582313,655,628,878.922417687,783,799.077582313,650,628,651,0.447863383765,0.00461155792424,0.059660787744,0.999999845041,0.000110551386638,-0.000542411073098,-5.90545865794e-05,1793193579500717824
+246,4.100000000,POSE1_TO_POSE2_PRESS,763,743,711,674.652926875,655,628,878.347073125,783,799.652926875,650,628,651,0.447864033237,0.00461192765344,0.0596609669828,0.999999845282,0.00011206506401,-0.000541682557883,-5.87936712081e-05,1793193579517384704
+247,4.116666667,HOLD_POSE2,763,743,711,674,655,628,878,783,799,650,628,651,0.447863546797,0.0046131059964,0.059661783459,0.999999845005,0.000111167429213,-0.000542336793893,-5.91764299042e-05,1793193579555840768
+248,4.133333333,HOLD_POSE2,763,743,711,674,655,628,878.579389386,783,799.579389386,650,628,651,0.447864318723,0.00461251189726,0.0596617480027,0.999999845583,0.000111663801026,-0.00054121149743,-5.87788627955e-05,1793193579572507136
+249,4.150000000,HOLD_POSE2,763,743,711,673.841409343,655,628,879,783,800,650,628,651,0.447864624949,0.00461198693971,0.05966130982,0.999999845777,0.000111779066451,-0.000540859514308,-5.850456612e-05,1793193579589173248
+250,4.166666667,HOLD_POSE2,763,743,711,673.262706271,655,628,879,783,800,650,628,651,0.447863697518,0.00461164514062,0.0596598048003,0.999999844954,0.000110884767315,-0.000542556066092,-5.85568172157e-05,1793193579605839616
+251,4.183333333,HOLD_POSE2,763,742.686517532,711,673.313482468,655,628,878.686517532,782.686517532,800,650,628,651,0.447863781478,0.00461199697366,0.0596594238151,0.999999844649,0.000111970812395,-0.000542908295168,-5.84337769332e-05,1793193579622506240
+252,4.200000000,HOLD_POSE2,763,742.112419137,711,673.887580863,655,628,878.112419137,782.112419137,800,650,628,651,0.447864706265,0.00461292546283,0.0596599773042,0.999999844771,0.000114703231078,-0.000542142911695,-5.81650068869e-05,1793193579639172864
+253,4.216666667,HOLD_POSE2,763.473287751,742.473287751,711,674,654.526712249,628,878.473287751,782.473287751,800,650,628.473287751,651,0.447864932015,0.00461285267123,0.0596605378551,0.999999845088,0.000115049903772,-0.00054148252167,-5.81791637642e-05,1793193579655839744
+254,4.233333333,HOLD_POSE2,764,742.939135433,711,674.060864567,654.060864567,628,879,782.939135433,800.060864567,650,629,650.939135433,0.447865069925,0.00461266853839,0.0596610249896,0.999999845428,0.000114833057344,-0.000540889450577,-5.82816448788e-05,1793193579672506624
+255,4.250000000,HOLD_POSE2,764,742.359709986,711,674.640290014,654.640290014,628,879,782.359709986,800.640290014,650,629,650.359709986,0.447865909658,0.00461361304814,0.0596608719732,0.999999845548,0.000114764553275,-0.000540652111198,-5.85496797355e-05,1793193579689173248
+256,4.266666667,HOLD_POSE2,764,742,711,674.782029172,655,628,879,782.217970828,800.782029172,650,629,650.217970828,0.447866360462,0.00461383703883,0.0596608725349,0.999999845662,0.000114524712168,-0.000540483805323,-5.86247644754e-05,1793193579705839872
+257,4.283333333,HOLD_POSE2,764,742,711,674.207204664,655,628,879,782.792795336,800.207204664,650,629,650.792795336,0.447866174525,0.0046128814226,0.0596611245288,0.999999845766,0.000114004364484,-0.00054042851854,-5.83839584803e-05,1793193579722506496
+258,4.300000000,HOLD_POSE2,764,742.367045499,711,674.367045499,655,628,879,783,800.367045499,650,628.632954501,651,0.447866982695,0.00461380782359,0.0596616609609,0.999999846168,0.000114413336762,-0.000539550494072,-5.88154165168e-05,1793193579739173120
+259,4.316666667,HOLD_POSE2,764,742.940971994,711,674.940971994,655,628,879,783,800.940971994,650,628.059028006,651,0.447868351183,0.00461579500195,0.0596623577133,0.999999846736,0.000115346109553,-0.000538208742918,-5.96257884583e-05,1793193579755839488
+260,4.333333333,HOLD_POSE2,764,742.4682459,711,674.4682459,655,628,879,783,799.936491799,650,628.5317541,651,0.447865726101,0.00461637671305,0.0596609543036,0.999999845332,0.000115352174659,-0.000540815452557,-5.95630514653e-05,1793193579772506112
+261,4.350000000,HOLD_POSE2,763.879060294,742,711,673.879060294,655,628,879,782.879060294,799.120939706,650,628.879060294,651,0.44786333307,0.00461656831685,0.0596596746621,0.99999984401,0.000115200372444,-0.000543304669633,-5.93965711347e-05,1793193579789172992
+262,4.366666667,HOLD_POSE2,763.303149844,742,711,673.303149844,655,628,879,782.303149844,799.696850156,650,628.303149844,651,0.447863535319,0.00461589848979,0.0596597663725,0.999999843874,0.000114854342009,-0.000543649025109,-5.92163593825e-05,1793193579805839616
+263,4.383333333,POSE2_TO_POSE3_RETREAT,764,743,711,675,655,628,879,783,800,651,628,651,0.447864319876,0.0046128499379,0.0596589334168,0.999999843228,0.000114732930726,-0.000544941413235,-5.84712948852e-05,1793193579843639296
+264,4.400000000,POSE2_TO_POSE3_RETREAT,763.421277999,743,711,674.421277999,655,628,879,782.421277999,800,650.421277999,628.578722001,651,0.447864394111,0.00461342518193,0.059659612539,0.999999843613,0.000115495290881,-0.000544067667671,-5.85264276031e-05,1793193579860306176
+265,4.416666667,POSE2_TO_POSE3_RETREAT,763.16105391,742.83894609,711,674,655,628,879.16105391,782.16105391,800.16105391,650.16105391,628.83894609,651,0.447864881717,0.00461361955058,0.0596603273226,0.999999844161,0.000115409150514,-0.000543073245196,-5.85604150953e-05,1793193579876973056
+266,4.433333333,POSE2_TO_POSE3_RETREAT,763.753045093,742.246954907,711,674,655,628,879.753045093,782.753045093,800.753045093,650.753045093,628.246954907,651,0.447866475396,0.00461279479851,0.0596611375266,0.999999845146,0.000113052649394,-0.00054175592332,-5.85378236194e-05,1793193579893639680
+267,4.450000000,POSE2_TO_POSE3_RETREAT,763.663487408,742.336512592,711,674.336512592,655,628,879.663487408,783,800.663487408,650.663487408,628,651,0.447867126176,0.00461245493804,0.059661264894,0.999999845379,0.000112930270974,-0.000541349300386,-5.85562374576e-05,1793193579910306304
+268,4.466666667,POSE2_TO_POSE3_RETREAT,763.086120652,742.913879348,711,674.913879348,655,628,879.086120652,783,800.086120652,650.086120652,628,651,0.447867102087,0.00461246213199,0.0596609035306,0.999999845076,0.000114406934659,-0.000541594497515,-5.86040002752e-05,1793193579926973184
+269,4.483333333,POSE2_TO_POSE3_RETREAT,763,743,711,674.510882133,654.510882133,628,879.489117867,783,800.489117867,650,628.489117867,651,0.447867144597,0.0046117979734,0.0596613124084,0.999999845737,0.000112490426313,-0.000540798643798,-5.83862096823e-05,1793193579943639808
+270,4.500000000,POSE2_TO_POSE3_RETREAT,763,742.934404516,711,674,654,628,879.934404516,783,800.934404516,650,628.934404516,651,0.447866603171,0.00461135392672,0.0596614627305,0.999999846136,0.000110601823067,-0.000540472199887,-5.81745891017e-05,1793193579960306176
+271,4.516666667,POSE2_TO_POSE3_RETREAT,763,742.345054076,711,674,654,628,879.345054076,783,800.345054076,650,628.345054076,651,0.447861306017,0.00461360714112,0.0596584704098,0.99999984313,0.000113685754218,-0.000545351065344,-5.83839522972e-05,1793193579976972800
+272,4.533333333,POSE2_TO_POSE3_RETREAT,763,742.240193609,711,674,654.240193609,628,878.759806391,782.759806391,800,650,628.240193609,651,0.447850485921,0.00461478163533,0.0596528533226,0.999999838211,0.000115656797433,-0.000553859470537,-5.86599718956e-05,1793193579993639424
+273,4.550000000,POSE2_TO_POSE3_RETREAT,763,742.819646347,711,674,654.819646347,628,878.180353653,782.180353653,800,650,628.819646347,651,0.447831865002,0.0046144325015,0.0596435289098,0.999999830498,0.00011605595262,-0.000567494383416,-5.90301396597e-05,1793193580010306304
+274,4.566666667,POSE2_TO_POSE3_RETREAT,763,742.603561942,710.603561942,674,654.603561942,627.603561942,878,782,799.603561942,650,628.603561942,651,0.447795796694,0.00461527317731,0.0596271734273,0.999999815776,0.000116174879605,-0.000592812911362,-5.9370540091e-05,1793193580026972928
+275,4.583333333,POSE2_TO_POSE3_RETREAT,763,742.027972704,710.027972704,674,654.027972704,627.027972704,878,782,799.027972704,650,628.027972704,651,0.447751843872,0.00461665153055,0.0596076405891,0.99999979715,0.000116167170835,-0.000623411289912,-5.96974885916e-05,1793193580043639552
+276,4.600000000,POSE2_TO_POSE3_RETREAT,763.543059727,742,710.543059727,674,654.543059727,627.543059727,878.543059727,782.543059727,799.543059727,650,628,651,0.447686505968,0.00461757849431,0.0595857412182,0.999999780799,0.000117950776196,-0.000648656429199,-6.11127185056e-05,1793193580060306176
+277,4.616666667,POSE2_TO_POSE3_RETREAT,763.88127353,742,711,674,655,628,879,783,800,650,628,651,0.447617305858,0.00461834733817,0.0595664269898,0.999999765746,0.000119762283362,-0.000671043321569,-6.2171948211e-05,1793193580076973056
+278,4.633333333,POSE2_TO_POSE3_RETREAT,763.286074068,742,711,674,655,628,879,783,800,650,628,651,0.447536989814,0.00461857414937,0.05955797258,0.999999757461,0.000121318551866,-0.000683056908918,-6.15793836724e-05,1793193580093639424
+279,4.650000000,POSE2_TO_POSE3_RETREAT,763,742,711,674.300588086,655,628,879,783,800,650,628,651,0.447448514614,0.00461916558481,0.0595537669194,0.99999975326,0.000123829405619,-0.000688805777658,-6.07700985122e-05,1793193580110306304
+280,4.666666667,POSE2_TO_POSE3_RETREAT,763,742,711,674.879349523,655,628,879,783,800,650,628,651,0.447352488688,0.00462009445458,0.0595534931809,0.999999752928,0.000127223661488,-0.00068875708476,-5.97602535439e-05,1793193580126972928
+281,4.683333333,POSE2_TO_POSE3_RETREAT,763.455076327,742,711,674.089847346,654.544923673,627.544923673,879,783,800,650,628,651,0.447231210585,0.00461969316245,0.0595534612425,0.999999752358,0.000128812460266,-0.000689397986836,-5.84912050822e-05,1793193580143639552
+282,4.700000000,POSE2_TO_POSE3_RETREAT,763.969332169,742.030667831,711,673.030667831,654.030667831,627.030667831,879,783,800,650.030667831,628.030667831,651,0.447101912182,0.00461911015291,0.0595534946054,0.999999751642,0.000130148588208,-0.000690297245698,-5.71515650951e-05,1793193580160306176
+283,4.716666667,POSE2_TO_POSE3_RETREAT,763.381682646,742.618317354,711,673.618317354,654.618317354,627.618317354,879,783,800,650.618317354,628.618317354,651,0.44694773658,0.00462158923211,0.0595535573815,0.99999974942,0.000135531586275,-0.000692590264795,-5.57696742166e-05,1793193580176972800
+284,4.733333333,POSE2_TO_POSE3_RETREAT,763,743,710.796980975,674,655,628,879,782.796980975,800,650.796980975,628.796980975,651,0.446775353307,0.00462251623935,0.059552888298,0.999999745853,0.000139586699396,-0.000697072267606,-5.38421332929e-05,1793193580193639680
+285,4.750000000,POSE2_TO_POSE3_RETREAT,763,743,710.217742107,674,655,628,879,782.217742107,800,650.217742107,628.217742107,651,0.446569228945,0.00462056706133,0.0595508629867,0.999999739795,0.00014118107375,-0.000705610732881,-5.09034342164e-05,1793193580210306304
+286,4.766666667,POSE2_TO_POSE3_RETREAT,763,742.639225465,710.360774535,674,655,628.360774535,879,782.360774535,800,650,628.360774535,651,0.446347922083,0.00462091354149,0.0595524518612,0.999999737904,0.000146285768668,-0.000707467873821,-4.77647842936e-05,1793193580226972928
+287,4.783333333,POSE2_TO_POSE3_RETREAT,763,742.06114379,710.93885621,674,655,628.93885621,879,782.93885621,800,650,628.93885621,651,0.44611747025,0.00462264277681,0.0595562176864,0.999999738503,0.000153504852786,-0.000705300619863,-4.4505696688e-05,1793193580243639552
+288,4.800000000,POSE2_TO_POSE3_RETREAT,763.514430324,742,711,674,655,629,879,783,800,650,628.485569676,651,0.44584782805,0.00462429545178,0.0595576484189,0.99999973705,0.000161979776561,-0.000705655609396,-4.13729293218e-05,1793193580260306176
+289,4.816666667,POSE2_TO_POSE3_RETREAT,763.908302376,742.091697624,711,674,655.091697624,629,878.908302376,782.908302376,800,650,628.091697624,651,0.445566626151,0.00462587173877,0.0595578616505,0.99999973468,0.00017003044631,-0.000707289318279,-3.83545378147e-05,1793193580276972800
+290,4.833333333,POSE2_TO_POSE3_RETREAT,763.320264582,742.679735418,711,674,655.679735418,629,878.320264582,782.320264582,800,650,628.679735418,651,0.445247944704,0.00462708357031,0.0595529797971,0.999999728985,0.000174980695643,-0.000714229656186,-3.5874363983e-05,1793193580293639680
+291,4.850000000,POSE2_TO_POSE3_RETREAT,763.264312319,742.735687681,711,674,656,629.264312319,878,782.264312319,800,650,628.735687681,651,0.444908518072,0.00462907045335,0.0595518816858,0.999999729048,0.000183284433006,-0.000712198648655,-3.29252234485e-05,1793193580310306304
+292,4.866666667,POSE2_TO_POSE3_RETREAT,763.844749855,742.155250145,711,674,656,629.844749855,878,782.844749855,800,650,628.155250145,651,0.444544279614,0.00463198432046,0.0595553090402,0.999999735831,0.000195599039213,-0.00069943765065,-2.94151852482e-05,1793193580326973184
+293,4.883333333,POSE2_TO_POSE3_RETREAT,763.579608662,742.420391338,711,674,656,629.579608662,878,783,800,650,628.420391338,651,0.44416789676,0.00463252099613,0.0595696359582,0.999999751905,0.000205100129823,-0.000673436176908,-2.46479549172e-05,1793193580343639808
+294,4.900000000,POSE2_TO_POSE3_RETREAT,763.005718392,742.994281608,711,674,656,629.005718392,878,783,800,650,628.994281608,651,0.443787079589,0.00463218967966,0.0595879426712,0.999999770537,0.000213573911382,-0.000642600162519,-1.94216817637e-05,1793193580360306176
+295,4.916666667,POSE2_TO_POSE3_RETREAT,763,742.431272697,711,674,656,629.568727303,878.568727303,783,800,650,628.431272697,651,0.443363183608,0.00463310015667,0.0596167768594,0.999999797116,0.000223030478873,-0.000596503950056,-1.44633862325e-05,1793193580376973056
+296,4.933333333,POSE2_TO_POSE3_RETREAT,763,742.147476172,711,674,656.147476172,630,878.852523828,783,799.852523828,650,628,650.852523828,0.442920073929,0.00463362796946,0.0596391882446,0.999999815326,0.000231985283904,-0.000561640729327,-9.49738598807e-06,1793193580393639680
+297,4.950000000,POSE2_TO_POSE3_RETREAT,763,742.739169823,711,674,656.739169823,630,878.260830177,783,799.260830177,650,628,650.260830177,0.442420396126,0.00463296550165,0.0596419341557,0.999999813931,0.000239398920625,-0.000561075381675,-4.50005519512e-06,1793193580410306304
+298,4.966666667,POSE2_TO_POSE3_RETREAT,763.323019969,742.676980031,711,674,657.323019969,630.323019969,878.323019969,783.323019969,799.323019969,650,628,650.323019969,0.441877367042,0.00463188860678,0.0596433558157,0.999999811182,0.000246066107386,-0.000563104796719,5.04027674744e-07,1793193580426972928
+299,4.983333333,POSE2_TO_POSE3_RETREAT,763.900686892,742.099313108,711,674,657.900686892,630.900686892,878.900686892,783.900686892,799.900686892,650,628,650.900686892,0.441300162707,0.00463048500577,0.0596437335266,0.99999980735,0.000252144844603,-0.000567179745975,5.51343395848e-06,1793193580443639552
+300,5.000000000,POSE2_TO_POSE3_RETREAT,763.52199192,742,711,674,658.47800808,631,878.52199192,784,800,650,628.47800808,650.52199192,0.440722089466,0.00462794626742,0.0596623738311,0.999999819518,0.00025587148214,-0.000543480055457,1.10948683803e-05,1793193580460306176
+301,5.016666667,POSE2_TO_POSE3_RETREAT,763.05613227,742,711,674,659.112264541,631,878.05613227,784,800,650,629,650.05613227,0.440144804181,0.00462543376138,0.0596871561459,0.999999836543,0.000259387338533,-0.000509266815868,1.6731530822e-05,1793193580476972800
+302,5.033333333,POSE2_TO_POSE3_RETREAT,763.642520502,742,711,674,660.285041003,631,878.642520502,784,800,650,629,650.642520502,0.43957666612,0.00462539533276,0.0597341419546,0.999999871971,0.000265525071683,-0.000430209532796,2.17680275165e-05,1793193580493639424
+303,5.050000000,POSE2_TO_POSE3_RETREAT,764,742,711,674,661.452012809,631,878.773993595,784,799.773993595,650,629,650.773993595,0.438978379283,0.00462458027303,0.0597813801977,0.999999900098,0.000271425084378,-0.000354099163983,2.73270828497e-05,1793193580510306304
+304,5.066666667,POSE2_TO_POSE3_RETREAT,764,742,711,674,662.609919598,631,878.195040201,784,799.195040201,650,629,650.195040201,0.438333010097,0.00462255237329,0.0598290126567,0.999999921152,0.000276953857393,-0.000282590903862,3.37022011169e-05,1793193580526973184
+305,5.083333333,POSE2_TO_POSE3_RETREAT,764,742,711,673.616952633,663,631,878,784,799,650,629,650.383047367,0.437583854181,0.00462056130865,0.0598231038064,0.999999921348,0.000263161681183,-0.000295100042881,3.10747949326e-05,1793193580543639552
+306,5.100000000,POSE2_TO_POSE3_RETREAT,764,742,711,673.03930495,663,631,878,784,799,650,629,650.96069505,0.436781971306,0.00461858895747,0.0597899942567,0.99999990967,0.000239553844218,-0.000350292710066,2.38738181155e-05,1793193580560306176
+307,5.116666667,POSE2_TO_POSE3_RETREAT,763.462925463,742,711,673,662.462925463,631,878,784,799,650,628.462925463,650.462925463,0.435997240492,0.00459194868704,0.0597588059555,0.999999908342,0.000170040366586,-0.000392667837714,1.466902685e-05,1793193580576972800
+308,5.133333333,POSE2_TO_POSE3_RETREAT,763,742.116233822,711,673,662.116233822,631.116233822,878,783.883766178,799.116233822,649.883766178,628.232467644,650,0.435219129222,0.00456698517197,0.059737079728,0.999999907241,0.000109615049967,-0.000416460482958,7.91848623349e-06,1793193580593639424
+309,5.150000000,POSE2_TO_POSE3_RETREAT,763,742.707122713,711,673,662.707122713,631.707122713,878,783.292877287,799.707122713,649.292877287,629.414245426,650,0.434462936009,0.00455622362673,0.0597534202276,0.999999927149,9.99891175255e-05,-0.000368190822646,1.17876180961e-05,1793193580610306048
+310,5.166666667,POSE2_TO_POSE3_RETREAT,763,742.709010514,711,673,663,632,878,783.290989486,799.709010514,649.290989486,629.709010514,650,0.433667756727,0.00455696843066,0.0597691359636,0.999999938139,0.000103328629301,-0.0003358808144,1.51247117502e-05,1793193580626972672
+311,5.183333333,POSE2_TO_POSE3_RETREAT,763,742.132044807,711,673,663,632,878,783.867955193,799.132044807,649.867955193,629.132044807,650,0.432834262953,0.00456902134716,0.0597842377017,0.999999941748,0.000119410211171,-0.000319255494632,1.79389338089e-05,1793193580643639296
+312,5.200000000,POSE2_TO_POSE3_RETREAT,763,742,711,673.44321489,662.55678511,631.55678511,878,784,799,650,629,650,0.431970719518,0.00457580566477,0.0597933216179,0.999999944259,0.000128262039821,-0.000307541743483,2.11954287395e-05,1793193580660305920
+313,5.216666667,POSE2_TO_POSE3_RETREAT,763,742,711,673.981582127,662.036835745,631,878,784,799,650,629,650,0.431099390967,0.00458098853206,0.0598011684139,0.999999946692,0.000134663025744,-0.000296448908129,2.45079916157e-05,1793193580676972544
+314,5.233333333,POSE2_TO_POSE3_RETREAT,763,742,711,673.392446227,663.215107546,631,878,784,799,650,629,650,0.430263172398,0.00458499942664,0.0598260230031,0.999999957364,0.00013160743776,-0.000259427445395,2.54906043952e-05,1793193580693639680
+315,5.250000000,POSE2_TO_POSE3_RETREAT,763,742.193338993,711,673.193338993,663.613322014,631,878.193338993,784,799.193338993,649.806661007,629,650.193338993,0.429385319754,0.00458964105342,0.0598277256091,0.999999956654,0.000126867312302,-0.000264457217756,2.56537926238e-05,1793193580710306560
+316,5.266666667,POSE2_TO_POSE3_RETREAT,763,742.772438714,711,673.772438714,662.455122573,631,878.772438714,784,799.772438714,649.227561286,629,650.772438714,0.428424396533,0.00459554115197,0.0597832340873,0.999999930213,0.000118766103651,-0.000353389957993,2.41820192107e-05,1793193580726973184
+317,5.283333333,POSE2_TO_POSE3_RETREAT,763,742.65052691,711,673.65052691,661.65052691,631.34947309,878.65052691,784,799.65052691,649,629,651,0.427507834867,0.00459665170172,0.0597607362768,0.999999921466,0.000110607989296,-0.000379857632998,2.3295361947e-05,1793193580743639808
+318,5.300000000,POSE2_TO_POSE3_RETREAT,763,742.074829514,711,673.074829514,661.074829514,631.925170486,878.074829514,784,799.074829514,649,629,651,0.426619989789,0.00459466183412,0.0597524756503,0.999999927558,0.000102413038896,-0.000365889814835,2.27874678732e-05,1793193580760306176
+319,5.316666667,POSE2_TO_POSE3_RETREAT,763,742,711,673,662.004260602,632,877.497869699,784,799,649.502130301,629,651,0.425700915739,0.00459874971556,0.0597783571485,0.999999937423,0.000103527396417,-0.000337361612962,2.49545598737e-05,1793193580776972800
+320,5.333333333,POSE2_TO_POSE3_RETREAT,763,741.919175624,711,673.080824376,662.919175624,632,877,784,799,650,629,651,0.424782382124,0.00460340459256,0.0598074470963,0.999999944646,0.000120744378029,-0.000308819008251,2.75587693824e-05,1793193580793639424
+321,5.350000000,POSE2_TO_POSE3_RETREAT,763,741.330775109,711,673.669224891,662.330775109,632,877,784,799,650,629,651,0.423896542753,0.00460591787605,0.0598246529448,0.999999929834,0.000230351393082,-0.000293846932412,3.03983226371e-05,1793193580810306304
+322,5.366666667,POSE2_TO_POSE3_RETREAT,763,741.253345776,711,673.746654224,662,632,877.253345776,784,799,649.746654224,629,651,0.423015216748,0.0046068029866,0.0598399024049,0.999999922577,0.000284028233945,-0.000270506539623,3.16377898242e-05,1793193580826972928
+323,5.383333333,POSE2_TO_POSE3_RETREAT,763,741.831971959,711,673.168028041,662,632,877.831971959,784,799,649.168028041,629,651,0.422139685507,0.00460559762349,0.0598526399848,0.999999936227,0.000265894185799,-0.000236421743341,3.08228455596e-05,1793193580843639808
+324,5.400000000,POSE2_TO_POSE3_RETREAT,763,742.407870267,711,673,662.815740533,632,878,784,799,649.407870267,628.592129733,651,0.421186205708,0.00460882018868,0.0598206434331,0.999999923307,0.000256159157299,-0.000294651110315,3.08025281549e-05,1793193580860306432
+325,5.416666667,POSE2_TO_POSE3_RETREAT,763,742.982652218,711,673,663.965304436,632,878,784,799,649.982652218,628.017347782,651,0.420200827278,0.00461385478349,0.0597703404488,0.999999891994,0.000249861236848,-0.00039065796122,3.11073936437e-05,1793193580876973056
+326,5.433333333,POSE2_TO_POSE3_RETREAT,763,742.429681032,711,672.429681032,662.289043095,632,878,784,799,649.429681032,628.570318968,651,0.419291140446,0.00461728151114,0.0597312355613,0.999999875574,0.000239233757988,-0.000436820013713,2.84005125936e-05,1793193580893639680
+327,5.450000000,POSE2_TO_POSE3_RETREAT,763,742,711,672.155912753,661.311825506,632,877.844087247,784,799,649,629,651,0.418406176292,0.00461821886604,0.0597135954593,0.999999872243,0.000225959536517,-0.000451389015029,2.65346684838e-05,1793193580910306304
+328,5.466666667,POSE2_TO_POSE3_RETREAT,763,742,711,672.734795023,662.469590045,632,877.265204977,784,799,649,629,651,0.417581890994,0.00461253864659,0.0597532409098,0.999999904534,0.000205870601677,-0.000384458692592,2.72047109372e-05,1793193580926972928
+329,5.483333333,POSE2_TO_POSE3_RETREAT,763,742,711,673,663.313499829,632,877,784,799,649.313499829,629,651,0.416763462984,0.00461074452524,0.0597919665052,0.99999992704,0.000193835354622,-0.000327873799222,2.91085216551e-05,1793193580943639808
+330,5.500000000,POSE2_TO_POSE3_RETREAT,763,742,711,673,663.892054567,632,877,784,799,649.892054567,629,651,0.415949987181,0.00461223598612,0.0598299143881,0.99999994249,0.000188609265579,-0.000280035666504,3.20554472408e-05,1793193580960306688
+331,5.516666667,POSE2_TO_POSE3_RETREAT,763,742,711,673,663.533214373,631.533214373,877.466785627,784,799,650,629,651,0.415140990248,0.00460931461096,0.0598397042353,0.9999999456,0.000182857998626,-0.000272423803075,3.38770075396e-05,1793193580976973056
+332,5.533333333,POSE2_TO_POSE3_RETREAT,763.041736952,742.041736952,711,673,663.041736952,631.041736952,878,784,799,650,629,651,0.414333634562,0.0046047553924,0.0598424918894,0.999999945692,0.000179331784231,-0.000274248110485,3.52664876291e-05,1793193580993639936
+333,5.550000000,POSE2_TO_POSE3_RETREAT,763.631085114,742.631085114,711,673,663.631085114,631.631085114,878,784,799,650,629,651,0.413534334517,0.00459198725455,0.0598381488168,0.999999939202,0.000206579984824,-0.000278818800104,3.4373636606e-05,1793193581010306560
+334,5.566666667,POSE2_TO_POSE3_RETREAT,763.783444821,743,711,673,663.566889641,632,877.783444821,784,799.216555179,649.783444821,629,651,0.412723674029,0.00457717778923,0.0598146123633,0.999999926977,0.000209222589821,-0.000318019414684,3.37028629509e-05,1793193581026973184
+335,5.583333333,POSE2_TO_POSE3_RETREAT,763.204465004,743,711,673,662.408930008,632,877.204465004,784,799.795534996,649.204465004,629,651,0.411894000684,0.00455895197611,0.059758954054,0.99999989869,0.000170685512868,-0.000415176332904,3.34037554522e-05,1793193581043639552
+336,5.600000000,POSE2_TO_POSE3_RETREAT,763,742.627469458,711,672.627469458,662,632,877,784,799.627469458,649.372530542,629,651,0.411158828436,0.00455624332716,0.0597395942695,0.999999892344,0.000154820651092,-0.000436273345755,3.1760408341e-05,1793193581060306176
+337,5.616666667,POSE2_TO_POSE3_RETREAT,763,742.051557252,711,672.051557252,662,632,877,784,799.051557252,649.948442748,629,651,0.410475248762,0.0045620062174,0.059740051533,0.999999901654,0.000151333603803,-0.000415845731833,2.93831787506e-05,1793193581076973056
+338,5.633333333,POSE2_TO_POSE3_RETREAT,763,742,711,672,662.524615088,632,877,784,799,650,629,651,0.409845116576,0.00456035836008,0.0597857954549,0.999999926844,0.000143950265692,-0.000352947078282,3.19183147477e-05,1793193581093639424
+339,5.650000000,POSE2_TO_POSE3_RETREAT,763,742,711,672,662.896994835,632,877.103005165,784,799,649.896994835,628.896994835,651,0.409222070131,0.0045578315527,0.0598309513452,0.999999947709,0.000136017301443,-0.000291356834453,3.45346576138e-05,1793193581110306048
+340,5.666666667,POSE2_TO_POSE3_RETREAT,763,742,711,672,662.308267624,632,877.691732376,784,799,649.308267624,628.308267624,651,0.408607655499,0.00455459606264,0.0598523370628,0.999999958603,0.00012729909907,-0.000255628250916,3.52562991719e-05,1793193581126972672
+341,5.683333333,POSE2_TO_POSE3_RETREAT,763,742,710.724283403,672,662,632,877.724283403,784,799.551433194,649.275716597,628.275716597,651,0.408001214534,0.00455346162009,0.0598561795814,0.999999960881,0.000127277130858,-0.000246578331449,3.51698416171e-05,1793193581143639552
+342,5.700000000,POSE2_TO_POSE3_RETREAT,763,742,710.145512486,672,662,632,877.145512486,784,800.708975028,649.854487514,628.854487514,651,0.407403537879,0.00455463654735,0.0598407394645,0.999999954451,0.000136813642414,-0.000266852308998,3.41951606642e-05,1793193581160306688
+343,5.716666667,POSE2_TO_POSE3_RETREAT,763,742,710.430606673,672.430606673,662,632,877,784,800.138786654,649.569393327,629,651,0.406854555137,0.00455370564126,0.0598312056774,0.999999951714,0.000135350575552,-0.000277790989561,3.29378689114e-05,1793193581176973312
+344,5.733333333,POSE2_TO_POSE3_RETREAT,763.005954885,742,711,673,662,632,877.005954885,784,799,649.005954885,629,651,0.406322382778,0.00455209335745,0.0598237748717,0.999999950282,0.000130186874632,-0.000285464248214,3.15962596681e-05,1793193581193640192
+345,5.750000000,POSE2_TO_POSE3_RETREAT,763.592975066,742,711,673,662,632,877.592975066,784,799,649.592975066,629,651,0.405834733099,0.00455300633057,0.0598279856136,0.999999952449,0.00012440275707,-0.000280442022107,3.12888960722e-05,1793193581210306816
+346,5.766666667,POSE2_TO_POSE3_RETREAT,763.821400884,742,711,672.821400884,662,632,877.821400884,784,799,650,629,651,0.405356739896,0.00455314644843,0.0598272166188,0.999999953169,0.000116957510571,-0.000281138314748,3.07273292215e-05,1793193581226973184
+347,5.783333333,POSE2_TO_POSE3_RETREAT,763.238933804,742,711,672.238933804,662,632,877.238933804,784,799,650,629,651,0.404900582885,0.00455153890118,0.0598151868965,0.999999950527,0.000105755935488,-0.000294765949892,2.95909299512e-05,1793193581243639808
+348,5.800000000,POSE2_TO_POSE3_RETREAT,763,742,711,672,662.339588172,632,877,784,799,650,628.660411828,651,0.404460397515,0.0045497796121,0.0597943585313,0.999999940738,9.68194285821e-05,-0.000329084191043,2.91997609792e-05,1793193581260306176
+349,5.816666667,POSE2_TO_POSE3_RETREAT,763,742,711,672,662.91536622,632,877,784,799,650,628.08463378,651,0.404031320744,0.00454791478387,0.0597674105471,0.999999924205,8.94583191327e-05,-0.00037779313132,2.93269135286e-05,1793193581276972800
+350,5.833333333,POSE2_TO_POSE3_RETREAT,763,742,711,672,662.512405999,632,877,784.487594001,799.487594001,650,628.487594001,651,0.403682458136,0.00454977696718,0.0597620701908,0.99999992139,9.3145326787e-05,-0.000384264245765,2.97636754494e-05,1793193581293639680
+351,5.850000000,POSE2_TO_POSE3_RETREAT,763,742,711,672,662.061481164,632,877,784.938518836,799.938518836,650,628.938518836,651,0.403354326436,0.00455167360337,0.0597630436766,0.999999922186,0.000104927950498,-0.000379070766084,3.04004088732e-05,1793193581310306560
+352,5.866666667,POSE2_TO_POSE3_RETREAT,763,742,711,672,662.655023083,632,877,784.344976917,799.344976917,650,628.344976917,651,0.403085980649,0.00454831044757,0.0597864348117,0.999999928557,0.000170294767725,-0.000335919005582,3.2305996001e-05,1793193581326972928
+353,5.883333333,POSE2_TO_POSE3_RETREAT,763,742,711,672,662.758151843,632,877,784,799.241848157,649.758151843,628,651,0.402834071558,0.00454501317456,0.0598097744667,0.999999934772,0.000205038021456,-0.000295367399256,3.42611496716e-05,1793193581343639552
+354,5.900000000,POSE2_TO_POSE3_RETREAT,763,742,711,672,662.180648953,632,877,784,799.819351047,649.180648953,628,651,0.402604974548,0.00454180733881,0.0598330426718,0.99999994649,0.000197279627713,-0.000258424484435,3.62850954767e-05,1793193581360306688
+355,5.916666667,POSE2_TO_POSE3_RETREAT,763,742,711,672,662,632,877,784,800,649.395488503,628.395488503,651,0.402380302839,0.00453970619311,0.0598381719894,0.999999949034,0.000191771669811,-0.000252427500313,3.78894701914e-05,1793193581376973312
+356,5.933333333,POSE2_TO_POSE3_RETREAT,763,742,711,672,662,632,877,784,800,649.971004459,628.971004459,651,0.402157645518,0.00453810790508,0.0598350444376,0.999999947755,0.000187288115882,-0.000260517185759,3.93028551822e-05,1793193581393639680
+357,5.950000000,POSE2_TO_POSE3_RETREAT,763,742,711,672,662,632,877.558529815,784,799.441470185,650,628.441470185,651,0.401966842184,0.00453474436061,0.0598278523806,0.999999943879,0.000182286104622,-0.000278087699279,4.0995046588e-05,1793193581410306304
+358,5.966666667,POSE2_TO_POSE3_RETREAT,763.144300962,742.144300962,711,672,662.144300962,632,877.855699038,784,799.144300962,650,628.144300962,651,0.401788398714,0.00453136152631,0.0598225022708,0.999999941034,0.000176488295367,-0.000291530773417,4.23528947276e-05,1793193581426973184
+359,5.983333333,POSE2_TO_POSE3_RETREAT,763.722875442,742.722875442,711,672,662.722875442,632,877.277124558,784,799.722875442,650,628.722875442,651,0.401642066109,0.0045282024941,0.0598233444694,0.999999942563,0.000168378313497,-0.000291038541292,4.26600212101e-05,1793193581443640064
+360,6.000000000,POSE2_TO_POSE3_RETREAT,763.698543589,742.698543589,711,672,662.698543589,632,877,784,799.698543589,650,629,651,0.401514963656,0.00452443053074,0.0598251442424,0.999999946709,0.000148691451712,-0.000287917880278,3.96881367392e-05,1793193581460306688
+361,6.016666667,POSE2_TO_POSE3_RETREAT,763.119956691,742.119956691,711,672,662.119956691,632,877,784,799.119956691,650,629,651,0.401405539593,0.00452009509671,0.0598278243186,0.999999952558,0.00011836190281,-0.000282380890384,3.37018399504e-05,1793193581476973056
+362,6.033333333,POSE2_TO_POSE3_RETREAT,763.456778127,742,710.543221873,672,662.456778127,632,877,784,799,650,629,651,0.401317145043,0.00451347306988,0.0598318323146,0.999999957965,7.28942935242e-05,-0.000279494330352,2.53020189653e-05,1793193581493639680
+363,6.050000000,POSE2_TO_POSE3_RETREAT,764,742,710.033641325,672.033641325,663,632,877,784,799,650,629,651,0.401235298336,0.00450668660095,0.0598357341415,0.999999960976,2.62707189124e-05,-0.000277626269998,1.68056164806e-05,1793193581510306048
+364,6.066666667,POSE2_TO_POSE3_RETREAT,764,742,710.62058339,672.62058339,663,632,877,784,799,650,629,651,0.401170679623,0.00450703200174,0.0598321773554,0.999999960011,2.57557831249e-05,-0.000281107926322,1.71032243859e-05,1793193581526972672
+365,6.083333333,POSE2_TO_POSE3_RETREAT,763.795365661,742,711,672.795365661,663,632,877,784.204634339,799,650,629,651,0.401112137772,0.00450770544823,0.0598290945932,0.999999958978,2.70607380863e-05,-0.000284620535738,1.73902571387e-05,1793193581543639552
+366,6.100000000,POSE2_TO_POSE3_RETREAT,763.216600573,742,711,672.216600573,663,632,877,784.783399427,799,650,629,651,0.401064706192,0.00450897865708,0.0598268784842,0.999999957815,3.16929796925e-05,-0.000288189735976,1.76579554216e-05,1793193581560306176
+367,6.116666667,POSE2_TO_POSE3_RETREAT,763.360621384,742,711,672,663,632,877.360621384,784.639378616,799,649.639378616,629,651,0.401027725782,0.00450745069853,0.0598249305245,0.999999956713,3.16112847004e-05,-0.000291944407015,1.85186337721e-05,1793193581576973312
+368,6.133333333,POSE2_TO_POSE3_RETREAT,763.936920491,742,711,672,663,632,877.936920491,784.063079509,799,649.063079509,629,651,0.400996995925,0.00450424743898,0.0598231429374,0.999999955641,2.87103144225e-05,-0.000295810003373,1.97339572049e-05,1793193581593640448
+369,6.150000000,POSE2_TO_POSE3_RETREAT,763.487123506,742,711,672,662.487123506,632,877.487123506,784,799,649.512876494,629,651,0.400980370846,0.00450580790107,0.0598237118192,0.999999955728,3.21132991939e-05,-0.000295181894566,1.95222089504e-05,1793193581610307072
+370,6.166666667,POSE2_TO_POSE3_RETREAT,763.090802184,742,711,672,662.090802184,632.090802184,877,784,799,650,629,651,0.400966588999,0.00450718817192,0.0598245746826,0.999999955984,3.49763927607e-05,-0.000293999765882,1.93049517485e-05,1793193581626973952
+371,6.183333333,POSE2_TO_POSE3_RETREAT,763.679765602,742,711,672,662.679765602,632.679765602,877,784,799,650,629,651,0.400958894783,0.00450436765533,0.0598254614078,0.999999956462,3.06267120705e-05,-0.000292808303021,2.00197577939e-05,1793193581643639808
+372,6.200000000,POSE2_TO_POSE3_RETREAT,764,742,711,672,663,632.73531912,877.26468088,784,799.26468088,650,629,651,0.400953707842,0.0045036675304,0.0598263593646,0.999999956986,2.98615419868e-05,-0.000291070718747,2.03476749978e-05,1793193581660305920
+373,6.216666667,POSE2_TO_POSE3_RETREAT,764,742,711,672,663,632.155227894,877.844772106,784,799.844772106,650,629,651,0.400951508725,0.00450549419742,0.0598272707056,0.99999995757,3.33678999551e-05,-0.000288682341998,2.02145511357e-05,1793193581676972544
+374,6.233333333,POSE2_TO_POSE3_RETREAT,764,742,711,672,663,632,877.579094703,784,799.579094703,650,629,651,0.400950480565,0.00450542436229,0.0598290544576,0.999999958293,3.44583096528e-05,-0.000286025971719,2.0385651163e-05,1793193581693639424
+375,6.250000000,POSE2_TO_POSE3_RETREAT,764,742,711,672,663,632,877.004407631,784,799.004407631,650,629,651,0.400949880224,0.00450466162192,0.0598311569532,0.999999959064,3.46660294726e-05,-0.000283271687492,2.06679023001e-05,1793193581710306048
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764,742,711,672.569770388,662.430229612,632,877,784,799.569770388,650,629,651,0.40094871251,0.00450362516592,0.0598310045127,0.999999959029,3.2943768837e-05,-0.000283588000201,2.08664971122e-05,1793193581726973440
+377,6.283333333,POSE2_TO_POSE3_RETREAT,764,742,711,672.850915638,662.149084362,632,877,784,800,650,629,650.850915638,0.400947941322,0.00450345354743,0.0598312167772,0.999999959127,3.23221474377e-05,-0.00028330411599,2.09848979114e-05,1793193581743640064
+378,6.300000000,POSE2_TO_POSE3_RETREAT,764,742,711,672.256239373,662.743760627,632,877,784,800,650,629,650.256239373,0.400948368399,0.00450587312814,0.0598325711833,0.999999959644,3.50347637834e-05,-0.000281155396133,2.08655427121e-05,1793193581760306688
+379,6.316666667,POSE2_TO_POSE3_RETREAT,764,742,711,672,663,632,877,784,800,650,629,650.327685891,0.400948820159,0.00450656389676,0.0598333250116,0.999999959876,3.61951586186e-05,-0.000280183086154,2.0867432383e-05,1793193581776973312
+380,6.333333333,POSE2_TO_POSE3_RETREAT,764,742,711,672,663,632,877,784,800,650,629,650.903471354,0.400949290608,0.00450594573673,0.059833624127,0.999999959897,3.61803261783e-05,-0.00028010146668,2.09611197083e-05,1793193581793639680
+381,6.350000000,POSE2_TO_POSE3_RETREAT,764,742,711,672,663,632,877.477799844,784,799.522200156,650,629,651,0.400949649941,0.00450604495887,0.0598341183308,0.999999960324,3.70586881543e-05,-0.000278462219737,2.09021532584e-05,1793193581810306304
+382,6.366666667,POSE2_TO_POSE3_RETREAT,763.946642318,742,711,672,663,632,878,784,799.053357682,650,629,651,0.400949922418,0.00450615047747,0.0598345648071,0.999999960769,3.78761919408e-05,-0.000276752242776,2.08557986859e-05,1793193581826972928
+383,6.383333333,POSE2_TO_POSE3_RETREAT,763.355742932,742,711,672,663,632,878,784,799.644257068,650,629,651,0.400949545346,0.00450486378968,0.0598341346084,0.999999960616,3.62682128643e-05,-0.000277490288109,2.12462495326e-05,1793193581843639552
+384,6.400000000,POSE2_TO_POSE3_RETREAT,763,742.230400149,711,672.230400149,663,632,877.769599851,784,800,650,629,651,0.400949658208,0.00450410657378,0.0598338125072,0.999999960501,3.49273304439e-05,-0.000278062472458,2.14527016697e-05,1793193581860306176
+385,6.416666667,POSE2_TO_POSE3_RETREAT,763,742.809347892,711,672.809347892,663,632,877.190652108,784,800,650,629,651,0.400950512236,0.00450415033902,0.059833653935,0.999999960445,3.3990509912e-05,-0.000278383743525,2.13808019335e-05,1793193581876973056
+386,6.433333333,POSE2_TO_POSE3_RETREAT,763.385565785,743,711,672.614434215,662.614434215,632,877,784,799.614434215,650,629,651,0.400949158524,0.00450424356018,0.0598335845704,0.999999960249,3.38460023996e-05,-0.000279108229222,2.13110381631e-05,1793193581893639936
+387,6.450000000,POSE2_TO_POSE3_RETREAT,763.960443311,743,711,672.039556689,662.039556689,632,877,784,799.039556689,650,629,651,0.400946720817,0.00450436106406,0.0598335590064,0.999999959985,3.4090518432e-05,-0.000280030692186,2.12423231482e-05,1793193581910306304
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764,743,711,672.546721134,662.546721134,632.546721134,877,784,799.546721134,650,629,651,0.400945623174,0.00450363856908,0.0598334760126,0.999999959959,3.35337355063e-05,-0.000280175125959,2.14142577158e-05,1793193581926972928
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764,742.867997547,711,672.867997547,662.867997547,632.867997547,877,784,800,650,629,651,0.400945275857,0.0045032822181,0.0598337281501,0.999999960053,3.37142847421e-05,-0.000279808370386,2.15733687634e-05,1793193581943639552
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764,742.288944168,711,672.288944168,662.288944168,632.288944168,877,784,800,650,629,651,0.400947134305,0.00450437609514,0.0598351296436,0.999999960481,3.65924751426e-05,-0.000277905081548,2.16288270409e-05,1793193581960306176
+391,6.516666667,POSE2_TO_POSE3_RETREAT,764,742,711,672,662,632,877,784,799.710060178,650,629,651,0.4009476538,0.00450403972833,0.0598352697547,0.999999960663,3.60175098879e-05,-0.000277326178839,2.16250548599e-05,1793193581976972800
+392,6.533333333,POSE2_TO_POSE3_RETREAT,764,742,711,672,662,632,877,784,799.131344828,650,629,651,0.400946839717,0.00450227886114,0.0598341535489,0.999999960595,3.2003255956e-05,-0.000278066343768,2.15622900754e-05,1793193581993639680
+393,6.550000000,POSE2_TO_POSE3_RETREAT,764,742,711,672.443810336,662.443810336,632,877,784,799.443810336,650,629,651,0.400946781316,0.00450292538952,0.0598346584213,0.999999960546,3.30081494356e-05,-0.000278137422117,2.14187635787e-05,1793193582010306560
+394,6.566666667,POSE2_TO_POSE3_RETREAT,764,742.018356444,711,672.981643556,663,632.018356444,877,784,799.981643556,650,629,651,0.400946969816,0.00450425646269,0.0598355999996,0.9999999605,3.54712197204e-05,-0.000278009821435,2.12550574642e-05,1793193582026973184
+395,6.583333333,POSE2_TO_POSE3_RETREAT,764,742.606441629,711,672.393558371,663,632.606441629,877,784,799.393558371,650,629,651,0.400947935433,0.00450489697912,0.0598353239575,0.999999960484,3.74560316962e-05,-0.000277812699792,2.12009566396e-05,1793193582043639808
+396,6.600000000,POSE2_TO_POSE3_RETREAT,764,742.807816778,711,672.192183222,663,633,877,784,799.192183222,650,629,651,0.400948018199,0.00450494968615,0.0598349180859,0.999999960439,3.77146529178e-05,-0.000277946312394,2.11035158404e-05,1793193582060306432
+397,6.616666667,POSE2_TO_POSE3_RETREAT,764,742.226816674,711,672.773183326,663,633,877,784,799.773183326,650,629,651,0.400946314819,0.00450381316226,0.0598342495486,0.999999960336,3.44809186555e-05,-0.000278749052399,2.09183914601e-05,1793193582076972800
+398,6.633333333,POSE2_TO_POSE3_RETREAT,764,742,711,672.649924101,663,633,877,784,800,650,629,651,0.400945140627,0.0045037674546,0.0598337526203,0.999999960175,3.34735671358e-05,-0.000279445269255,2.09513987824e-05,1793193582093639424
+399,6.650000000,POSE2_TO_POSE3_RETREAT,764,742,711,672.075661984,663,633,877,784,800,650,629,651,0.400944305322,0.00450442029824,0.0598333655893,0.999999959982,3.38919760617e-05,-0.000280073269381,2.11240961666e-05,1793193582110305792
+400,6.666666667,POSE2_TO_POSE3_RETREAT,763.49928471,741.49928471,711,672,663,632.49928471,877.50071529,784,800,650,629,651,0.400946799148,0.00450339738981,0.0598348080511,0.999999960712,3.40328529844e-05,-0.000277406567164,2.15395586274e-05,1793193582126972672
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_09/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_09/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..559804df9b170cd9d58c81b1cdaa3a515fe9410f
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_09/depth_05/simulation_data.csv
@@ -0,0 +1,402 @@
+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,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+1,0.016666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+2,0.033333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+3,0.050000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+4,0.066666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+5,0.083333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+6,0.100000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+7,0.116666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+8,0.133333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+9,0.150000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+10,0.166666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+11,0.183333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+12,0.200000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+13,0.216666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+14,0.233333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+15,0.250000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+16,0.266666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+17,0.283333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+18,0.300000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+19,0.316666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+20,0.333333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+21,0.350000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+22,0.366666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+23,0.383333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+24,0.400000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+25,0.416666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+26,0.433333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+27,0.450000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+28,0.466666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+29,0.483333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+30,0.500000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+31,0.516666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+32,0.533333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+33,0.550000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+34,0.566666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+35,0.583333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+36,0.600000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+37,0.616666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+38,0.633333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+39,0.650000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+40,0.666666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+41,0.683333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+42,0.700000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+43,0.716666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+44,0.733333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+45,0.750000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+46,0.766666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+47,0.783333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+48,0.800000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+49,0.816666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+50,0.833333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+51,0.850000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+52,0.866666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+53,0.883333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+54,0.900000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+55,0.916666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+56,0.933333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+57,0.950000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+58,0.966666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+59,0.983333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+60,1.000000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+61,1.016666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+62,1.033333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+63,1.050000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+64,1.066666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+65,1.083333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+66,1.100000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+67,1.116666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+68,1.133333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+69,1.150000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+70,1.166666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+71,1.183333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+72,1.200000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+73,1.216666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+74,1.233333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+75,1.250000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+76,1.266666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+77,1.283333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+78,1.300000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+79,1.316666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+80,1.333333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+81,1.350000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+82,1.366666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+83,1.383333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+84,1.400000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+85,1.416666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+86,1.433333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+87,1.450000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+88,1.466666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+89,1.483333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+90,1.500000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+91,1.516666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+92,1.533333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+93,1.550000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+94,1.566666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+95,1.583333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+96,1.600000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+97,1.616666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+98,1.633333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+99,1.650000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+100,1.666666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+101,1.683333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+102,1.700000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+103,1.716666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+104,1.733333333,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+105,1.750000000,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+106,1.766666667,pose1_baseline,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+107,1.783333333,pose1_to_pose2_press,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
+108,1.800000000,pose1_to_pose2_press,0.575709273498,0.0100546646469,1.05002894599,0.54628000125,0.0187273857857,1.04969823943
+109,1.816666667,pose1_to_pose2_press,0.575709329222,0.0100546628339,1.05002898051,0.54628005722,0.0187273848262,1.04969827444
+110,1.833333333,pose1_to_pose2_press,0.575709387425,0.0100546609403,1.05002901656,0.54628011568,0.0187273838241,1.049698311
+111,1.850000000,pose1_to_pose2_press,0.575709602417,0.010054638314,1.05002895339,0.546280331246,0.0187273631862,1.04969824886
+112,1.866666667,pose1_to_pose2_press,0.575710251111,0.0100545289693,1.05002888473,0.546280981953,0.0187272607313,1.04969818177
+113,1.883333333,pose1_to_pose2_press,0.575712428066,0.0100544518222,1.05002913241,0.546283160053,0.018727187335,1.04969842583
+114,1.900000000,pose1_to_pose2_press,0.575717626869,0.0100545463485,1.05002910817,0.546288356099,0.0187272723493,1.04969839775
+115,1.916666667,pose1_to_pose2_press,0.575728951234,0.0100544892757,1.05002911052,0.546299681961,0.0187272203268,1.04969839907
+116,1.933333333,pose1_to_pose2_press,0.575749194818,0.0100545655061,1.05002907663,0.546319926284,0.0187272992403,1.04969836971
+117,1.950000000,pose1_to_pose2_press,0.575780417672,0.0100545033334,1.05002901897,0.5463511459,0.018727225769,1.04969830376
+118,1.966666667,pose1_to_pose2_press,0.575823316509,0.0100544442336,1.05002927426,0.546394048993,0.018727181391,1.04969856638
+119,1.983333333,pose1_to_pose2_press,0.575876890589,0.0100546774108,1.0500291586,0.546447619693,0.0187274030994,1.04969845066
+120,2.000000000,pose1_to_pose2_press,0.575940280014,0.0100546354133,1.05002904681,0.546511009748,0.0187273632595,1.04969833934
+121,2.016666667,pose1_to_pose2_press,0.576012430169,0.0100546908462,1.05002914418,0.54658315939,0.0187274170727,1.0496984398
+122,2.033333333,pose1_to_pose2_press,0.576093301599,0.0100545164352,1.05002904035,0.546664032177,0.0187272471275,1.0496983322
+123,2.050000000,pose1_to_pose2_press,0.576186125769,0.010054570611,1.05002915804,0.546756857434,0.0187273049394,1.04969844852
+124,2.066666667,pose1_to_pose2_press,0.57629222553,0.0100544857874,1.05002915182,0.546862957755,0.0187272220238,1.04969844244
+125,2.083333333,pose1_to_pose2_press,0.576413507783,0.0100545119257,1.05002919893,0.5469842395,0.0187272461206,1.04969848121
+126,2.100000000,pose1_to_pose2_press,0.57655037158,0.0100545041711,1.05002908541,0.547121101711,0.0187272330524,1.04969836942
+127,2.116666667,pose1_to_pose2_press,0.576705624788,0.0100546203404,1.05002906375,0.547276354452,0.0187273476679,1.04969834855
+128,2.133333333,pose1_to_pose2_press,0.576878246374,0.0100545868532,1.0500291738,0.547448977202,0.0187273180553,1.04969845653
+129,2.150000000,pose1_to_pose2_press,0.577069141405,0.0100545637984,1.05002910089,0.547639871879,0.0187272938092,1.04969838391
+130,2.166666667,pose1_to_pose2_press,0.57728164434,0.0100544927497,1.05002902116,0.547852376929,0.0187272303537,1.049698315
+131,2.183333333,pose1_to_pose2_press,0.577515764232,0.0100546791701,1.05002913971,0.548086493951,0.0187274068469,1.04969842855
+132,2.200000000,pose1_to_pose2_press,0.577771360623,0.0100545114919,1.05002917971,0.5483420916,0.0187272433404,1.04969846596
+133,2.216666667,pose1_to_pose2_press,0.578046416895,0.0100544829968,1.05002919782,0.548617148285,0.0187272160472,1.04969847877
+134,2.233333333,pose1_to_pose2_press,0.57834069619,0.0100545155288,1.05002917011,0.548911426619,0.0187272455785,1.04969845784
+135,2.250000000,pose1_to_pose2_press,0.578651736294,0.0100544925962,1.0500291994,0.549222467159,0.0187272238919,1.04969848095
+136,2.266666667,pose1_to_pose2_press,0.578979446931,0.0100544084172,1.05002919313,0.549550179734,0.0187271463493,1.04969847619
+137,2.283333333,pose1_to_pose2_press,0.579335253908,0.0100544357042,1.05002915266,0.549905986172,0.0187271721377,1.04969844433
+138,2.300000000,pose1_to_pose2_press,0.579721803668,0.0100545120757,1.05002916494,0.550292534142,0.0187272423521,1.0496984544
+139,2.316666667,pose1_to_pose2_press,0.58014603023,0.0100545406952,1.05002918914,0.550716760257,0.0187272692682,1.04969847368
+140,2.333333333,pose1_to_pose2_press,0.580606448545,0.0100545667418,1.0500291963,0.551177178267,0.0187272941813,1.04969847818
+141,2.350000000,pose1_to_pose2_press,0.581103966386,0.0100545143963,1.05002919518,0.551674697603,0.0187272469678,1.04969847854
+142,2.366666667,pose1_to_pose2_press,0.581618760067,0.0100545378096,1.05002908798,0.552189490787,0.0187272690202,1.04969837979
+143,2.383333333,pose1_to_pose2_press,0.582146526253,0.0100545253462,1.05002923193,0.552717256746,0.0187272558262,1.04969852476
+144,2.400000000,pose1_to_pose2_press,0.582689576565,0.0100545377277,1.05002940789,0.553260306826,0.0187272672574,1.04969869643
+145,2.416666667,pose1_to_pose2_press,0.583249373561,0.0100545994887,1.05002936928,0.55382010182,0.0187273219625,1.04969865083
+146,2.433333333,pose1_to_pose2_press,0.583831258711,0.0100546448362,1.05002924895,0.554401986585,0.0187273660272,1.04969853109
+147,2.450000000,pose1_to_pose2_press,0.584439624148,0.0100546169011,1.0500291023,0.555010352985,0.0187273416305,1.04969839149
+148,2.466666667,pose1_to_pose2_press,0.585074962375,0.0100545662611,1.05002896131,0.555645691415,0.0187272918761,1.04969825565
+149,2.483333333,pose1_to_pose2_press,0.585727193456,0.0100545207108,1.05002887904,0.556297923877,0.0187272511876,1.04969817798
+150,2.500000000,pose1_to_pose2_press,0.58639319418,0.0100545252544,1.05002891058,0.556963924846,0.0187272563007,1.04969820254
+151,2.516666667,pose1_to_pose2_press,0.587070132721,0.0100544972479,1.05002898818,0.557640863692,0.0187272291274,1.04969827493
+152,2.533333333,pose1_to_pose2_press,0.587768180043,0.0100543442359,1.05002904424,0.558338914136,0.0187270867885,1.04969833305
+153,2.550000000,pose1_to_pose2_press,0.588499778725,0.0100543673549,1.05002905925,0.559070512583,0.0187271089765,1.04969834456
+154,2.566666667,pose1_to_pose2_press,0.589258234383,0.0100545075102,1.05002906431,0.559828966399,0.0187272428878,1.04969834972
+155,2.583333333,pose1_to_pose2_press,0.590039968513,0.0100545914382,1.05002912592,0.560610699897,0.0187273245538,1.04969840826
+156,2.600000000,pose1_to_pose2_press,0.590840738763,0.0100545807094,1.05002923801,0.561411469614,0.0187273120796,1.0496985221
+157,2.616666667,pose1_to_pose2_press,0.591650527323,0.0100544458565,1.0500291257,0.562221258891,0.0187271798231,1.049698414
+158,2.633333333,pose1_to_pose2_press,0.592458712156,0.0100545103153,1.05002899928,0.563029443256,0.0187272429858,1.04969829525
+159,2.650000000,pose1_to_pose2_press,0.593265143902,0.0100546842428,1.05002914083,0.563835872833,0.0187274095213,1.04969843593
+160,2.666666667,pose1_to_pose2_press,0.5940675308,0.0100546077684,1.05002915647,0.564638260429,0.0187273352892,1.04969844832
+161,2.683333333,pose1_to_pose2_press,0.594870037812,0.0100544463145,1.05002916108,0.565440768454,0.0187271771909,1.04969845088
+162,2.700000000,pose1_to_pose2_press,0.595676106651,0.0100544819137,1.05002908401,0.566246835639,0.0187272074832,1.04969838187
+163,2.716666667,pose1_to_pose2_press,0.596508013307,0.0100545325889,1.05002899711,0.567078743489,0.0187272622913,1.04969829702
+164,2.733333333,pose1_to_pose2_press,0.597367507517,0.0100546562736,1.05002901915,0.567938237674,0.0187273857445,1.04969831528
+165,2.750000000,pose1_to_pose2_press,0.598252947937,0.0100546096998,1.05002898563,0.568823677902,0.0187273385055,1.04969828144
+166,2.766666667,pose1_to_pose2_press,0.599148526624,0.0100545346206,1.05002903156,0.56971925812,0.0187272685425,1.0496983254
+167,2.783333333,pose1_to_pose2_press,0.60004476319,0.0100544506988,1.05002929397,0.570615495147,0.0187271859068,1.04969858054
+168,2.800000000,pose1_to_pose2_press,0.600912867935,0.0100545110263,1.05002925979,0.571483598428,0.0187272411152,1.04969854241
+169,2.816666667,pose1_to_pose2_press,0.601754689617,0.010054614861,1.05002917989,0.572325419281,0.0187273422657,1.04969846596
+170,2.833333333,pose1_to_pose2_press,0.602570624507,0.0100545984036,1.05002922393,0.573141354995,0.0187273286402,1.04969851103
+171,2.850000000,pose1_to_pose2_press,0.603379659774,0.010054587273,1.0500292611,0.573950390701,0.0187273189721,1.04969854754
+172,2.866666667,pose1_to_pose2_press,0.604196503062,0.0100544658183,1.05002921182,0.574767234655,0.018727199801,1.049698499
+173,2.883333333,pose1_to_pose2_press,0.605020303311,0.0100544525134,1.05002932989,0.575591034942,0.0187271867009,1.04969861906
+174,2.900000000,pose1_to_pose2_press,0.605850231954,0.0100545465765,1.05002921817,0.576420963328,0.0187272801217,1.04969851343
+175,2.916666667,pose1_to_pose2_press,0.606674631919,0.0100545249418,1.05002897649,0.577245362505,0.0187272559329,1.04969827505
+176,2.933333333,pose1_to_pose2_press,0.607482403201,0.0100545085135,1.05002915401,0.578053133332,0.0187272377299,1.04969844656
+177,2.950000000,pose1_to_pose2_press,0.608260227465,0.0100544130389,1.05002907917,0.578830959726,0.0187271492116,1.04969836477
+178,2.966666667,pose1_to_pose2_press,0.609013060085,0.010054474296,1.05002898165,0.579583791503,0.0187272080268,1.04969827832
+179,2.983333333,pose1_to_pose2_press,0.6097437506,0.0100545590604,1.05002906331,0.580314479892,0.0187272857444,1.04969836439
+180,3.000000000,pose1_to_pose2_press,0.610454134028,0.0100544525833,1.05002914799,0.581024866063,0.0187271883529,1.04969844332
+181,3.016666667,pose1_to_pose2_press,0.611143787389,0.0100544627829,1.05002928064,0.581714519722,0.018727199267,1.04969856824
+182,3.033333333,pose1_to_pose2_press,0.611817062077,0.0100544882792,1.0500289833,0.582387793103,0.0187272205762,1.04969827754
+183,3.050000000,pose1_to_pose2_press,0.612472909227,0.0100544778521,1.05002888387,0.58304363944,0.0187272075572,1.04969818213
+184,3.066666667,pose1_to_pose2_press,0.613109570623,0.0100544632587,1.05002889828,0.583680301206,0.018727194212,1.04969819326
+185,3.083333333,pose1_to_pose2_press,0.613728993799,0.0100545314739,1.05002899758,0.584299724168,0.0187272618732,1.04969828823
+186,3.100000000,pose1_to_pose2_press,0.614327413075,0.0100545553967,1.05002910658,0.584898142416,0.0187272826271,1.04969839308
+187,3.116666667,pose1_to_pose2_press,0.614888884984,0.0100545400317,1.05002897607,0.58545961404,0.0187272668432,1.04969826381
+188,3.133333333,pose1_to_pose2_press,0.615414245949,0.010054596068,1.05002908362,0.585984975571,0.0187273252788,1.04969837188
+189,3.150000000,pose1_to_pose2_press,0.615904001329,0.0100545282422,1.05002917626,0.586474732027,0.0187272614053,1.04969846174
+190,3.166666667,pose1_to_pose2_press,0.616370733458,0.0100545965509,1.05002911164,0.586941461282,0.0187273209789,1.04969840712
+191,3.183333333,pose1_to_pose2_press,0.616819824516,0.0100544349892,1.0500289296,0.587390556289,0.0187271733369,1.04969821964
+192,3.200000000,pose1_to_pose2_press,0.61726101403,0.0100545676886,1.05002910811,0.587831743219,0.0187272984635,1.04969840819
+193,3.216666667,pose1_to_pose2_press,0.617692212108,0.0100545900586,1.05002920059,0.588262940485,0.018727318127,1.04969848188
+194,3.233333333,pose1_to_pose2_press,0.618100191225,0.0100544676287,1.05002920904,0.588670920206,0.0187271981078,1.04969848849
+195,3.250000000,pose1_to_pose2_press,0.618480650266,0.0100546006075,1.05002917434,0.589051378583,0.0187273297873,1.04969846098
+196,3.266666667,pose1_to_pose2_press,0.618826573012,0.010054479232,1.05002895595,0.58939730227,0.0187272122075,1.04969824431
+197,3.283333333,pose1_to_pose2_press,0.619141922072,0.0100545893478,1.05002891509,0.58971264961,0.0187273171781,1.04969820734
+198,3.300000000,pose1_to_pose2_press,0.619428893072,0.0100545813669,1.05002918845,0.589999620614,0.0187273096027,1.0496984795
+199,3.316666667,pose1_to_pose2_press,0.619699144735,0.0100546137904,1.05002911519,0.590269872008,0.0187273416065,1.04969840804
+200,3.333333333,pose1_to_pose2_press,0.619955646613,0.0100546750921,1.05002903699,0.590526373664,0.0187274026627,1.0496983296
+201,3.350000000,pose1_to_pose2_press,0.620200473267,0.0100545730061,1.05002898101,0.590771200539,0.0187273016747,1.04969826954
+202,3.366666667,pose1_to_pose2_press,0.620430018873,0.0100545433516,1.05002912417,0.59100074631,0.0187272730794,1.04969841449
+203,3.383333333,pose1_to_pose2_press,0.620640151938,0.0100546578541,1.05002918476,0.591210878772,0.0187273862319,1.0496984811
+204,3.400000000,pose1_to_pose2_press,0.620828176675,0.0100546194301,1.05002905775,0.591398903836,0.0187273493328,1.04969835582
+205,3.416666667,pose1_to_pose2_press,0.620993700062,0.0100545679241,1.05002909984,0.591564428107,0.0187273008868,1.04969839159
+206,3.433333333,pose1_to_pose2_press,0.621137871384,0.010054563694,1.05002916747,0.591708598867,0.0187272949568,1.04969845692
+207,3.450000000,pose1_to_pose2_press,0.621264042732,0.0100545668053,1.05002916672,0.59183476921,0.0187272949399,1.04969845687
+208,3.466666667,pose1_to_pose2_press,0.621374829181,0.0100545449641,1.05002921634,0.591945556291,0.0187272754087,1.04969850462
+209,3.483333333,pose1_to_pose2_press,0.621472992873,0.0100544414593,1.05002921485,0.59204372086,0.0187271751099,1.04969850334
+210,3.500000000,pose1_to_pose2_press,0.621558916842,0.0100544275109,1.05002909019,0.592129643128,0.0187271555563,1.04969837701
+211,3.516666667,pose1_to_pose2_press,0.621634389621,0.0100545500045,1.05002916869,0.592205115525,0.0187272767953,1.04969845778
+212,3.533333333,pose1_to_pose2_press,0.621698912065,0.0100545553941,1.05002910887,0.592269639409,0.0187272873385,1.04969840508
+213,3.550000000,pose1_to_pose2_press,0.621751465009,0.0100546286298,1.0500290884,0.592322192362,0.0187273611927,1.04969837984
+214,3.566666667,pose1_to_pose2_press,0.621793640882,0.0100545727601,1.05002929059,0.592364369757,0.0187273104837,1.04969857907
+215,3.583333333,pose1_to_pose2_press,0.621826156181,0.0100545704576,1.05002928442,0.592396883549,0.0187273028588,1.04969857272
+216,3.600000000,pose1_to_pose2_press,0.621850988337,0.0100546470243,1.05002904869,0.592421714574,0.0187273754406,1.04969834224
+217,3.616666667,pose1_to_pose2_press,0.62186903906,0.0100545565152,1.05002929788,0.592439766594,0.0187272894432,1.04969858812
+218,3.633333333,pose1_to_pose2_press,0.621882762107,0.0100544845156,1.05002925925,0.592453490319,0.0187272200536,1.04969855387
+219,3.650000000,pose1_to_pose2_press,0.621892894979,0.0100544690096,1.0500291289,0.592463623195,0.0187272046423,1.04969842509
+220,3.666666667,pose1_to_pose2_press,0.621900132647,0.0100545405859,1.05002920133,0.592470860378,0.0187272739032,1.04969848145
+221,3.683333333,pose1_to_pose2_press,0.621905303422,0.0100545619921,1.05002937135,0.592476030218,0.0187272919046,1.0496986479
+222,3.700000000,pose1_to_pose2_press,0.621908995376,0.0100545645996,1.05002954318,0.592479721252,0.0187272913346,1.04969882055
+223,3.716666667,pose1_to_pose2_press,0.621911677242,0.010054537317,1.0500293914,0.592482404199,0.0187272678954,1.04969867058
+224,3.733333333,pose1_to_pose2_press,0.621913461766,0.0100545151033,1.05002925192,0.592484189686,0.0187272490951,1.04969853247
+225,3.750000000,pose1_to_pose2_press,0.621914702328,0.010054517509,1.05002919334,0.59248543026,0.0187272516171,1.04969847497
+226,3.766666667,pose1_to_pose2_press,0.6219153693,0.010054531328,1.05002918878,0.592486096777,0.0187272639149,1.04969847108
+227,3.783333333,pose1_to_pose2_press,0.621915447712,0.0100545329526,1.05002918825,0.592486175136,0.0187272653607,1.04969847062
+228,3.800000000,pose1_to_pose2_press,0.621915469188,0.0100545333976,1.0500291881,0.592486196597,0.0187272657567,1.0496984705
+229,3.816666667,pose1_to_pose2_press,0.621915547015,0.0100545350101,1.05002918757,0.592486274371,0.0187272671917,1.04969847004
+230,3.833333333,pose1_to_pose2_press,0.621915598588,0.0100545360786,1.05002918722,0.592486325909,0.0187272681426,1.04969846974
+231,3.850000000,pose1_to_pose2_press,0.621915641555,0.0100545369689,1.05002918692,0.592486368846,0.0187272689349,1.04969846949
+232,3.866666667,pose1_to_pose2_press,0.621915762036,0.0100545394651,1.0500291861,0.592486489245,0.0187272711563,1.04969846879
+233,3.883333333,pose1_to_pose2_press,0.621915792542,0.0100545400972,1.05002918589,0.59248651973,0.0187272717188,1.04969846861
+234,3.900000000,pose1_to_pose2_press,0.621915963862,0.0100545436468,1.05002918472,0.592486690934,0.0187272748777,1.04969846761
+235,3.916666667,pose1_to_pose2_press,0.621915964226,0.0100545436543,1.05002918472,0.592486691298,0.0187272748844,1.04969846761
+236,3.933333333,pose1_to_pose2_press,0.621916193013,0.0100545483946,1.05002918316,0.592486919929,0.0187272791029,1.04969846628
+237,3.950000000,pose1_to_pose2_press,0.62191652413,0.010054555255,1.0500291809,0.592487250819,0.0187272852081,1.04969846435
+238,3.966666667,pose1_to_pose2_press,0.62191693574,0.010054574228,1.05002917987,0.59248766213,0.018727303136,1.0496984638
+239,3.983333333,pose1_to_pose2_press,0.621917389901,0.0100546065981,1.0500291807,0.592488115941,0.0187273342363,1.04969846522
+240,4.000000000,pose1_to_pose2_press,0.621917764436,0.0100546332929,1.05002918139,0.592488490187,0.0187273598839,1.04969846639
+241,4.016666667,pose1_to_pose2_press,0.621918028083,0.0100546520842,1.05002918187,0.592488753631,0.0187273779381,1.04969846721
+242,4.033333333,pose1_to_pose2_press,0.621918166245,0.0100546576457,1.0500292173,0.592488891768,0.0187273834269,1.04969850264
+243,4.050000000,pose1_to_pose2_press,0.621918278215,0.0100546617604,1.05002924924,0.592489003725,0.0187273875114,1.04969853455
+244,4.066666667,pose1_to_pose2_press,0.621918441161,0.0100546677483,1.05002929571,0.592489166652,0.0187273934554,1.04969858099
+245,4.083333333,pose1_to_pose2_press,0.621918499472,0.0100546066409,1.05002928693,0.592489226148,0.0187273365856,1.0496985759
+246,4.100000000,pose1_to_pose2_press,0.621918517106,0.0100546702172,1.05002926411,0.592489243305,0.0187273987825,1.04969855794
+247,4.116666667,pose2_hold,0.621918517106,0.0100546702172,1.05002926411,0.592489243307,0.0187273987889,1.04969855794
+248,4.133333333,pose2_hold,0.621918517106,0.0100546702172,1.05002926411,0.592489243307,0.0187273987886,1.04969855794
+249,4.150000000,pose2_hold,0.621918517106,0.0100546702172,1.05002926411,0.592489243309,0.0187273987846,1.04969855794
+250,4.166666667,pose2_hold,0.621918517106,0.0100546702172,1.05002926411,0.592489243309,0.0187273987859,1.04969855794
+251,4.183333333,pose2_hold,0.621918517106,0.0100546702172,1.05002926411,0.592489243308,0.0187273987856,1.04969855794
+252,4.200000000,pose2_hold,0.621918517106,0.0100546702172,1.05002926411,0.592489243309,0.0187273987852,1.04969855795
+253,4.216666667,pose2_hold,0.621918517106,0.0100546702172,1.05002926411,0.592489243306,0.0187273987874,1.04969855795
+254,4.233333333,pose2_hold,0.621918517106,0.0100546702172,1.05002926411,0.592489243309,0.018727398783,1.04969855794
+255,4.250000000,pose2_hold,0.621918517106,0.0100546702172,1.05002926411,0.592489243307,0.0187273987859,1.04969855795
+256,4.266666667,pose2_hold,0.621918517106,0.0100546702172,1.05002926411,0.592489243307,0.0187273987862,1.04969855795
+257,4.283333333,pose2_hold,0.621918517106,0.0100546702172,1.05002926411,0.592489243307,0.0187273987853,1.04969855795
+258,4.300000000,pose2_hold,0.621918517106,0.0100546702172,1.05002926411,0.592489243308,0.0187273987839,1.04969855794
+259,4.316666667,pose2_hold,0.621918517106,0.0100546702172,1.05002926411,0.592489243307,0.0187273987837,1.04969855794
+260,4.333333333,pose2_hold,0.621918517106,0.0100546702172,1.05002926411,0.592489243307,0.0187273987838,1.04969855794
+261,4.350000000,pose2_hold,0.621918517106,0.0100546702172,1.05002926411,0.592489243307,0.0187273987842,1.04969855794
+262,4.366666667,pose2_hold,0.621918517106,0.0100546702172,1.05002926411,0.592489243308,0.0187273987817,1.04969855794
+263,4.383333333,pose2_to_pose3_retreat,0.621918517106,0.0100546702172,1.05002926411,0.592489243304,0.0187273987835,1.04969855794
+264,4.400000000,pose2_to_pose3_retreat,0.621918374201,0.0100546413416,1.05002922278,0.59248909973,0.0187273675112,1.0496985125
+265,4.416666667,pose2_to_pose3_retreat,0.621918125478,0.0100546728662,1.0500289429,0.592488851566,0.0187274012798,1.04969824083
+266,4.433333333,pose2_to_pose3_retreat,0.621917799757,0.0100546492479,1.05002892162,0.59248852637,0.0187273794103,1.0496982184
+267,4.450000000,pose2_to_pose3_retreat,0.621917454722,0.0100546099304,1.05002897514,0.592488181846,0.0187273416831,1.04969826809
+268,4.466666667,pose2_to_pose3_retreat,0.621917238774,0.0100545853226,1.05002900864,0.592487966218,0.0187273180707,1.04969829919
+269,4.483333333,pose2_to_pose3_retreat,0.621916515837,0.0100545536045,1.05002905012,0.592487243553,0.0187272871756,1.04969833784
+270,4.500000000,pose2_to_pose3_retreat,0.621913975115,0.0100545514697,1.05002906275,0.592484702112,0.0187272826159,1.04969835035
+271,4.516666667,pose2_to_pose3_retreat,0.621908124443,0.0100545480452,1.0500291751,0.592478850717,0.0187272762183,1.04969845517
+272,4.533333333,pose2_to_pose3_retreat,0.621895517067,0.0100545512904,1.05002917082,0.592466244493,0.018727283889,1.04969846176
+273,4.550000000,pose2_to_pose3_retreat,0.621874541244,0.0100545200034,1.05002926978,0.592445270367,0.0187272583257,1.04969856236
+274,4.566666667,pose2_to_pose3_retreat,0.621841800234,0.0100544959284,1.05002922282,0.592412528713,0.0187272320649,1.04969851106
+275,4.583333333,pose2_to_pose3_retreat,0.621797671552,0.0100545154831,1.05002917925,0.592368398522,0.0187272459379,1.0496984658
+276,4.600000000,pose2_to_pose3_retreat,0.621741240991,0.010054469088,1.05002900018,0.592311969194,0.0187272035847,1.04969828949
+277,4.616666667,pose2_to_pose3_retreat,0.621674317393,0.0100545629558,1.05002933343,0.592245046908,0.0187273021307,1.04969862327
+278,4.633333333,pose2_to_pose3_retreat,0.621597090304,0.0100545691424,1.05002899685,0.592167818724,0.0187273045786,1.04969828947
+279,4.650000000,pose2_to_pose3_retreat,0.621508815039,0.0100546600281,1.05002902648,0.592079539871,0.0187273829143,1.0496983154
+280,4.666666667,pose2_to_pose3_retreat,0.621408576363,0.010054483913,1.05002903942,0.5919793029,0.0187272124079,1.04969832885
+281,4.683333333,pose2_to_pose3_retreat,0.621293734125,0.0100546446409,1.05002922262,0.591864460914,0.0187273737722,1.04969851257
+282,4.700000000,pose2_to_pose3_retreat,0.62116239414,0.0100546123672,1.05002920655,0.591733121912,0.0187273445406,1.04969849614
+283,4.716666667,pose2_to_pose3_retreat,0.621009229144,0.0100545899656,1.05002905524,0.591579955385,0.0187273168878,1.04969835101
+284,4.733333333,pose2_to_pose3_retreat,0.620836343689,0.0100547012194,1.05002895679,0.591407068758,0.0187274237158,1.04969824909
+285,4.750000000,pose2_to_pose3_retreat,0.620643521862,0.0100546092644,1.0500289197,0.591214248366,0.0187273361392,1.04969820978
+286,4.766666667,pose2_to_pose3_retreat,0.6204277989,0.0100545444462,1.05002906472,0.590998526884,0.0187272758343,1.04969835396
+287,4.783333333,pose2_to_pose3_retreat,0.620190608197,0.0100544707406,1.05002910465,0.590761337057,0.018727204506,1.04969839119
+288,4.800000000,pose2_to_pose3_retreat,0.619931147569,0.0100544789896,1.05002902671,0.590501877009,0.0187272144244,1.04969831801
+289,4.816666667,pose2_to_pose3_retreat,0.619648287399,0.0100545722216,1.05002909647,0.590219015534,0.0187273026711,1.04969838662
+290,4.833333333,pose2_to_pose3_retreat,0.6193390547,0.0100545882673,1.05002916763,0.58990978145,0.0187273134591,1.04969845575
+291,4.850000000,pose2_to_pose3_retreat,0.619008692839,0.0100545351494,1.05002917455,0.589579420204,0.0187272618298,1.04969846088
+292,4.866666667,pose2_to_pose3_retreat,0.618658555756,0.010054484105,1.050029246,0.589229285091,0.0187272166229,1.04969852748
+293,4.883333333,pose2_to_pose3_retreat,0.618287631138,0.0100544823779,1.05002927144,0.588858361867,0.0187272190883,1.04969855512
+294,4.900000000,pose2_to_pose3_retreat,0.617896217139,0.0100545166106,1.05002912154,0.588466946645,0.0187272485581,1.04969840659
+295,4.916666667,pose2_to_pose3_retreat,0.617477948802,0.0100546556669,1.05002890771,0.588048677784,0.0187273856533,1.04969820788
+296,4.933333333,pose2_to_pose3_retreat,0.617026821343,0.0100545703802,1.05002907832,0.587597549904,0.0187272979442,1.04969837113
+297,4.950000000,pose2_to_pose3_retreat,0.616537027748,0.0100545029859,1.05002930953,0.587107757664,0.018727233863,1.04969858925
+298,4.966666667,pose2_to_pose3_retreat,0.616016717978,0.0100544700651,1.05002917606,0.586587448053,0.0187272010738,1.04969846618
+299,4.983333333,pose2_to_pose3_retreat,0.615469668568,0.0100545826672,1.05002924466,0.586040397052,0.0187273079046,1.0496985438
+300,5.000000000,pose2_to_pose3_retreat,0.614909202347,0.0100546788284,1.05002932534,0.5854799317,0.0187274057442,1.04969861177
+301,5.016666667,pose2_to_pose3_retreat,0.614337787728,0.0100545591447,1.05002955856,0.584908518084,0.0187272884313,1.04969883765
+302,5.033333333,pose2_to_pose3_retreat,0.613752783913,0.0100544989155,1.05002929801,0.584323517405,0.0187272385199,1.04969858422
+303,5.050000000,pose2_to_pose3_retreat,0.613134068037,0.0100544574169,1.05002917126,0.583704800679,0.0187271937449,1.04969846153
+304,5.066666667,pose2_to_pose3_retreat,0.612470909713,0.0100545484029,1.05002940414,0.583041641916,0.0187272824466,1.04969868702
+305,5.083333333,pose2_to_pose3_retreat,0.611765080053,0.0100543104287,1.05002931488,0.582335814915,0.0187270529315,1.04969859951
+306,5.100000000,pose2_to_pose3_retreat,0.611023761543,0.0100545509347,1.05002914863,0.581594490772,0.0187272768369,1.04969844151
+307,5.116666667,pose2_to_pose3_retreat,0.610260336107,0.0100546341777,1.05002932162,0.580831066811,0.0187273647488,1.04969860088
+308,5.133333333,pose2_to_pose3_retreat,0.60948795584,0.0100544594913,1.05002921601,0.580058685755,0.018727187416,1.04969849506
+309,5.150000000,pose2_to_pose3_retreat,0.608709101515,0.0100545554689,1.05002915987,0.579279831742,0.0187272848711,1.04969845052
+310,5.166666667,pose2_to_pose3_retreat,0.607914787092,0.0100545376397,1.0500291518,0.578485517127,0.0187272663549,1.04969844249
+311,5.183333333,pose2_to_pose3_retreat,0.607102171657,0.0100545530212,1.05002925483,0.577672903865,0.0187272893091,1.04969854956
+312,5.200000000,pose2_to_pose3_retreat,0.606273578582,0.0100545366403,1.05002928806,0.576844309688,0.0187272689376,1.04969857679
+313,5.216666667,pose2_to_pose3_retreat,0.605428739106,0.0100545734324,1.05002903917,0.57599946938,0.0187273031399,1.04969833401
+314,5.233333333,pose2_to_pose3_retreat,0.604558652669,0.0100545991689,1.05002925337,0.575129382214,0.0187273262621,1.04969854456
+315,5.250000000,pose2_to_pose3_retreat,0.603678061738,0.0100546275423,1.05002930311,0.574248790714,0.0187273524568,1.04969858796
+316,5.266666667,pose2_to_pose3_retreat,0.602794276928,0.0100545316831,1.05002928486,0.573365005669,0.0187272559087,1.04969857245
+317,5.283333333,pose2_to_pose3_retreat,0.601894149765,0.0100544661827,1.05002921055,0.572464879996,0.0187271951894,1.04969849073
+318,5.300000000,pose2_to_pose3_retreat,0.600985872058,0.010054624302,1.05002892292,0.571556601189,0.0187273501558,1.04969821806
+319,5.316666667,pose2_to_pose3_retreat,0.600092494748,0.0100545838393,1.05002926101,0.570663224571,0.0187273118437,1.04969855103
+320,5.333333333,pose2_to_pose3_retreat,0.599206009761,0.0100544749391,1.0500292139,0.569776740536,0.0187272059291,1.04969849583
+321,5.350000000,pose2_to_pose3_retreat,0.598321994466,0.010054575142,1.05002929359,0.568892723797,0.0187273013432,1.04969857936
+322,5.366666667,pose2_to_pose3_retreat,0.597431126246,0.0100545933182,1.05002893692,0.568001854431,0.0187273160379,1.0496982339
+323,5.383333333,pose2_to_pose3_retreat,0.596527177567,0.0100546710596,1.05002912485,0.567097906767,0.0187273970998,1.04969841857
+324,5.400000000,pose2_to_pose3_retreat,0.595618459091,0.010054660716,1.05002894402,0.566189186838,0.0187273817263,1.04969823511
+325,5.416666667,pose2_to_pose3_retreat,0.594709086741,0.0100546200952,1.05002914559,0.56527981649,0.018727347864,1.0496984356
+326,5.433333333,pose2_to_pose3_retreat,0.593809800426,0.0100546258229,1.05002913413,0.564380528816,0.0187273491949,1.04969842921
+327,5.450000000,pose2_to_pose3_retreat,0.592937057224,0.0100545765563,1.05002920388,0.563507787565,0.0187273060167,1.04969848416
+328,5.466666667,pose2_to_pose3_retreat,0.592098437635,0.0100545518259,1.05002904288,0.562669166482,0.0187272766786,1.04969833496
+329,5.483333333,pose2_to_pose3_retreat,0.591279614052,0.0100545090845,1.05002925628,0.561850346139,0.0187272448281,1.04969854575
+330,5.500000000,pose2_to_pose3_retreat,0.590476182833,0.010054538604,1.05002938788,0.561046914062,0.0187272713833,1.04969867601
+331,5.516666667,pose2_to_pose3_retreat,0.589677746395,0.0100544362739,1.05002941467,0.56024847877,0.0187271728935,1.04969870148
+332,5.533333333,pose2_to_pose3_retreat,0.588880770309,0.0100545384625,1.05002909678,0.559451501037,0.0187272697676,1.0496983908
+333,5.550000000,pose2_to_pose3_retreat,0.58808076718,0.0100544836904,1.05002924734,0.558651498151,0.0187272155722,1.04969853481
+334,5.566666667,pose2_to_pose3_retreat,0.587295309293,0.0100545442271,1.05002910687,0.557866039,0.0187272716386,1.04969838959
+335,5.583333333,pose2_to_pose3_retreat,0.586534140376,0.0100546179727,1.05002935828,0.557104870582,0.0187273473166,1.04969864719
+336,5.600000000,pose2_to_pose3_retreat,0.585806715619,0.010054434016,1.05002908711,0.556377446929,0.0187271670987,1.04969837582
+337,5.616666667,pose2_to_pose3_retreat,0.585116237677,0.0100545282015,1.05002929598,0.555686969566,0.0187272629889,1.04969857789
+338,5.633333333,pose2_to_pose3_retreat,0.584468145943,0.0100545465775,1.05002920872,0.555038875977,0.0187272751585,1.04969849294
+339,5.650000000,pose2_to_pose3_retreat,0.583845527548,0.0100546149837,1.05002894204,0.554416256533,0.0187273405172,1.04969823962
+340,5.666666667,pose2_to_pose3_retreat,0.583239994146,0.0100545061871,1.05002919141,0.553810724465,0.0187272359937,1.0496984823
+341,5.683333333,pose2_to_pose3_retreat,0.582650556146,0.0100546116217,1.05002921482,0.553221285869,0.0187273392017,1.04969850137
+342,5.700000000,pose2_to_pose3_retreat,0.582079031881,0.0100546442092,1.0500292046,0.552649760487,0.0187273677861,1.04969848544
+343,5.716666667,pose2_to_pose3_retreat,0.581532525177,0.0100545273511,1.05002911635,0.552103254599,0.0187272537053,1.04969839744
+344,5.733333333,pose2_to_pose3_retreat,0.581011597563,0.0100546189616,1.05002925132,0.551582327407,0.0187273467957,1.04969853358
+345,5.750000000,pose2_to_pose3_retreat,0.580518476708,0.0100546115273,1.05002907524,0.551089207841,0.0187273443671,1.0496983744
+346,5.766666667,pose2_to_pose3_retreat,0.580046983553,0.0100545057925,1.05002904629,0.550617713998,0.0187272359314,1.04969833587
+347,5.783333333,pose2_to_pose3_retreat,0.579595935529,0.0100544373262,1.05002927239,0.550166667506,0.0187271722549,1.04969855063
+348,5.800000000,pose2_to_pose3_retreat,0.579172211799,0.0100544964593,1.05002909165,0.54974294325,0.018727230036,1.0496983811
+349,5.816666667,pose2_to_pose3_retreat,0.578778166429,0.0100544732263,1.05002908158,0.549348896544,0.0187272019438,1.04969836258
+350,5.833333333,pose2_to_pose3_retreat,0.578421299651,0.0100544756411,1.05002926957,0.548992031062,0.0187272088203,1.04969855257
+351,5.850000000,pose2_to_pose3_retreat,0.578101546298,0.0100545249859,1.05002905905,0.548672277627,0.0187272584094,1.04969835565
+352,5.866666667,pose2_to_pose3_retreat,0.577821227336,0.0100545143797,1.05002912702,0.548391958485,0.0187272469699,1.04969841787
+353,5.883333333,pose2_to_pose3_retreat,0.577565424503,0.0100546234802,1.05002907663,0.548136155017,0.0187273539263,1.04969836779
+354,5.900000000,pose2_to_pose3_retreat,0.577330541379,0.0100545972838,1.05002888326,0.547901271975,0.0187273282161,1.0496981799
+355,5.916666667,pose2_to_pose3_retreat,0.577111015585,0.0100544952465,1.05002897916,0.547681746601,0.0187272274688,1.0496982722
+356,5.933333333,pose2_to_pose3_retreat,0.576906024477,0.0100544779362,1.05002915737,0.547476755232,0.01872720915,1.04969844711
+357,5.950000000,pose2_to_pose3_retreat,0.576717419064,0.0100545328415,1.05002909324,0.547288149753,0.0187272638828,1.04969838437
+358,5.966666667,pose2_to_pose3_retreat,0.576548156722,0.0100545758585,1.05002912394,0.5471188878,0.0187273079472,1.04969840795
+359,5.983333333,pose2_to_pose3_retreat,0.576401254723,0.0100545518849,1.05002933519,0.54697198562,0.0187272831078,1.04969861265
+360,6.000000000,pose2_to_pose3_retreat,0.576274453176,0.0100545019809,1.05002928396,0.546845184925,0.0187272362446,1.04969856545
+361,6.016666667,pose2_to_pose3_retreat,0.576166740321,0.0100545006395,1.05002906002,0.546737472792,0.0187272375381,1.04969834669
+362,6.033333333,pose2_to_pose3_retreat,0.576075210374,0.0100545392779,1.05002909432,0.546645941406,0.0187272713303,1.04969838233
+363,6.050000000,pose2_to_pose3_retreat,0.575997173734,0.0100545230392,1.05002923368,0.546567904323,0.0187272536682,1.04969852358
+364,6.066666667,pose2_to_pose3_retreat,0.575931407217,0.0100544693361,1.05002929414,0.546502138813,0.0187272032957,1.04969858169
+365,6.083333333,pose2_to_pose3_retreat,0.575875707563,0.0100545511465,1.05002894133,0.546446437201,0.0187272788596,1.04969823921
+366,6.100000000,pose2_to_pose3_retreat,0.575830091533,0.0100547591742,1.05002918862,0.546400819738,0.0187274819113,1.04969848343
+367,6.116666667,pose2_to_pose3_retreat,0.575794075094,0.010054671746,1.05002932885,0.54636480444,0.0187273979449,1.04969861291
+368,6.133333333,pose2_to_pose3_retreat,0.575766668946,0.0100545596148,1.05002897271,0.546337398835,0.0187272880147,1.04969826623
+369,6.150000000,pose2_to_pose3_retreat,0.575747042618,0.010054520709,1.05002925956,0.54631777422,0.0187272548391,1.04969855088
+370,6.166666667,pose2_to_pose3_retreat,0.575733455673,0.0100545408785,1.05002913684,0.546304186732,0.0187272732842,1.04969843134
+371,6.183333333,pose2_to_pose3_retreat,0.575725321067,0.0100546246003,1.05002904848,0.546296050543,0.0187273515991,1.04969834209
+372,6.200000000,pose2_to_pose3_retreat,0.575720117978,0.0100545941722,1.05002902851,0.546290847793,0.0187273222758,1.04969832085
+373,6.216666667,pose2_to_pose3_retreat,0.575717271364,0.0100545399697,1.05002903392,0.546288001971,0.0187272707183,1.04969832525
+374,6.233333333,pose2_to_pose3_retreat,0.575715583829,0.0100545210368,1.05002901592,0.546286314421,0.0187272517106,1.04969830662
+375,6.250000000,pose2_to_pose3_retreat,0.575714667,0.0100545219293,1.05002898819,0.546285397174,0.0187272511713,1.04969827851
+376,6.266666667,pose2_to_pose3_retreat,0.575714167713,0.0100545224154,1.05002897308,0.54628489766,0.0187272508776,1.0496982632
+377,6.283333333,pose2_to_pose3_retreat,0.575713903722,0.0100545226723,1.0500289651,0.546284633549,0.0187272507223,1.0496982551
+378,6.300000000,pose2_to_pose3_retreat,0.575713809978,0.0100545227636,1.05002896226,0.546284539762,0.0187272506672,1.04969825223
+379,6.316666667,pose2_to_pose3_retreat,0.575713660934,0.0100545229087,1.05002895775,0.54628439065,0.0187272505795,1.04969824766
+380,6.333333333,pose2_to_pose3_retreat,0.575713345956,0.0100545232153,1.05002894823,0.546284075529,0.0187272503942,1.049698238
+381,6.350000000,pose2_to_pose3_retreat,0.575713158831,0.0100545233975,1.05002894257,0.546283888319,0.0187272502841,1.04969823226
+382,6.366666667,pose2_to_pose3_retreat,0.575713025589,0.0100545235272,1.05002893854,0.546283755015,0.0187272502058,1.04969822818
+383,6.383333333,pose2_to_pose3_retreat,0.57571283136,0.0100545237163,1.05002893266,0.546283560698,0.0187272500915,1.04969822222
+384,6.400000000,pose2_to_pose3_retreat,0.575712753228,0.0100545237923,1.0500289303,0.546283482531,0.0187272500456,1.04969821983
+385,6.416666667,pose2_to_pose3_retreat,0.575712255362,0.0100545218583,1.05002892229,0.54628298452,0.0187272476258,1.04969821187
+386,6.433333333,pose2_to_pose3_retreat,0.575711703208,0.0100545069154,1.05002895071,0.546282432646,0.0187272336884,1.04969824175
+387,6.450000000,pose2_to_pose3_retreat,0.575711086271,0.0100544902194,1.05002898246,0.546281816022,0.0187272181157,1.04969827513
+388,6.466666667,pose2_to_pose3_retreat,0.575710610734,0.01005447735,1.05002900694,0.546281340726,0.0187272061123,1.04969830086
+389,6.483333333,pose2_to_pose3_retreat,0.575710398903,0.0100544716172,1.05002901784,0.546281129002,0.0187272007652,1.04969831232
+390,6.500000000,pose2_to_pose3_retreat,0.575710382165,0.0100544711642,1.0500290187,0.546281112272,0.0187272003427,1.04969831322
+391,6.516666667,pose2_to_pose3_retreat,0.575710236062,0.0100544914182,1.0500290147,0.546280966066,0.0187272202881,1.04969831036
+392,6.533333333,pose2_to_pose3_retreat,0.57571002385,0.0100545232051,1.05002900776,0.546280753686,0.0187272515707,1.04969830515
+393,6.550000000,pose2_to_pose3_retreat,0.575709923488,0.0100545382382,1.05002900448,0.546280653245,0.0187272663652,1.04969830269
+394,6.566666667,pose2_to_pose3_retreat,0.575709877838,0.0100545450761,1.05002900298,0.546280607559,0.0187272730946,1.04969830157
+395,6.583333333,pose2_to_pose3_retreat,0.575709812081,0.0100545549258,1.05002900083,0.54628054175,0.0187272827879,1.04969829995
+396,6.600000000,pose2_to_pose3_retreat,0.575709606543,0.0100545857131,1.05002899411,0.546280336049,0.0187273130868,1.04969829491
+397,6.616666667,pose2_to_pose3_retreat,0.575709400857,0.0100545451256,1.05002895601,0.546280130704,0.0187272734122,1.04969825044
+398,6.633333333,pose2_to_pose3_retreat,0.575709346839,0.0100545039891,1.0500289326,0.546280076991,0.018727233114,1.04969822194
+399,6.650000000,pose2_to_pose3_retreat,0.575709238424,0.0100546303399,1.05002891275,0.546279966485,0.0187273524661,1.04969820461
+400,6.666666667,pose2_to_pose3_retreat,0.5757092145,0.0100546665665,1.05002890945,0.546279941991,0.0187273868016,1.04969820237
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_10/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_10/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..263a350694d1a2ffbeea406672eac4d84a095640
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_10/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab3e6f3465b67669f40116ed3cb37fd9e0bedad01a7f735d1993f6ba65afc857
+size 24607107
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_10/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_10/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..09adc0970a10a320013f7cd5bc5536d25ee39093
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_10/depth_01/franka_data.csv
@@ -0,0 +1,390 @@
+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,764,742,710,673,664,632,877,785,800,651,629,651,0.400939223401,0.00454150455179,0.0499275812741,0.999999976117,2.59554890651e-05,-0.00021494737561,-2.98401790424e-05,1793193583462663936
+1,0.016666667,BASELINE,764,742,710.592639257,672.407360743,664.592639257,632.592639257,877,784.407360743,800,651,629,651.592639257,0.400937404409,0.0045411698922,0.0499261015637,0.999999975716,2.69337149595e-05,-0.000216699609923,-2.97310510915e-05,1793193583479331072
+2,0.033333333,BASELINE,764,742,711,672,665,632.818778597,877,784.181221403,800,651,629,651.818778597,0.400936767855,0.00454041241266,0.0499256415603,0.999999975603,2.64588864009e-05,-0.00021729074954,-2.96507174441e-05,1793193583495997952
+3,0.050000000,BASELINE,764,742,711,672,665,632.239116467,877,784.760883533,800,651,629,651.239116467,0.400938731056,0.00453872530397,0.0499274235259,0.999999976118,2.27893135662e-05,-0.000215329059586,-2.96336920989e-05,1793193583512664576
+4,0.066666667,BASELINE,764,742,711,672.338534616,664.661465384,632,877,785,800,650.661465384,629,651,0.400938185521,0.00453898125034,0.0499272373029,0.999999976069,2.22695500917e-05,-0.000215582378258,-2.98513039052e-05,1793193583529330944
+5,0.083333333,BASELINE,764,742,711,672.914773595,664.085226405,632,877,785,800,650.085226405,629,651,0.400935878461,0.00454060152603,0.0499256691029,0.999999975626,2.39614467037e-05,-0.000217390980278,-3.02336677693e-05,1793193583545997568
+6,0.100000000,BASELINE,763.512836102,742,710.512836102,673,664,632,877,784.512836102,800,650,629,651,0.400935416973,0.00454002534938,0.0499256453282,0.999999975478,2.36142024411e-05,-0.000218155283788,-2.98952913563e-05,1793193583562664192
+7,0.116666667,BASELINE,763.061147772,742,710.061147772,673,664,632.061147772,877.061147772,784,800,650.061147772,629,651,0.400935402175,0.004539228737,0.0499258801123,0.999999975408,2.29195384145e-05,-0.000218600968283,-2.9521994492e-05,1793193583579330816
+8,0.133333333,BASELINE,763.654827773,742,710.654827773,673,664,632.654827773,877.654827773,784,800,650.654827773,629,651,0.400936487732,0.00453983259644,0.0499260320626,0.999999975574,2.2281652611e-05,-0.000217850416919,-2.99340734477e-05,1793193583595997184
+9,0.150000000,BASELINE,764,742,710.757602593,672.757602593,664,632.757602593,877.757602593,784.242397407,800,650.757602593,629,651,0.400937256292,0.00454009874433,0.0499260593125,0.999999975665,2.21968367239e-05,-0.000217422445678,-3.00844308193e-05,1793193583612663808
+10,0.166666667,BASELINE,764,742,710.178520182,672.178520182,664,632.178520182,877.178520182,784.821479818,800,650.178520182,629,651,0.400937584548,0.00453989581779,0.0499259133561,0.999999975651,2.28802236106e-05,-0.000217442531647,-2.98712622679e-05,1793193583629330944
+11,0.183333333,BASELINE,764,742,710.397459114,672.397459114,664,632,877,785,800,650,629,651,0.400936965604,0.00453953406876,0.0499252193185,0.999999975459,2.33161771653e-05,-0.000218282805183,-2.9860947269e-05,1793193583645997568
+12,0.200000000,BASELINE,764,742,710.972055483,672.972055483,664,632,877,785,800,650,629,651,0.400935924518,0.00453910153662,0.0499242810151,0.999999975185,2.36418561384e-05,-0.000219488615121,-2.9941038837e-05,1793193583662663936
+13,0.216666667,BASELINE,764,742,710.440899184,673,664.559100816,632,877,785,799.440899184,650,629,651,0.400936489328,0.00453881453573,0.0499255058209,0.999999975468,2.35783161792e-05,-0.000218225486903,-2.97711682556e-05,1793193583679330816
+14,0.233333333,BASELINE,764,742,710.144746192,673,664.855253808,632,877,784.855253808,799,650,629,651,0.400936760313,0.00453864156116,0.0499260765818,0.999999975641,2.31571821453e-05,-0.000217488446162,-2.96741890453e-05,1793193583695997696
+15,0.250000000,BASELINE,764,742,710.724275031,673,664.275724969,632,877,784.275724969,799,650,629,651,0.400935902126,0.00453878874772,0.0499243506033,0.999999975402,2.1721686447e-05,-0.000218710751326,-2.98345396671e-05,1793193583712664064
+16,0.266666667,BASELINE,764,742,711,672.697380249,664,632.302619751,877,784,799,650,629,651,0.400935663333,0.00453901160444,0.0499236754524,0.999999975265,2.10389427425e-05,-0.000219383774162,-2.99680832104e-05,1793193583729330944
+17,0.283333333,BASELINE,764,742,711,672.120110243,664,632.879889757,877,784,799,650,629,651,0.400935986686,0.00453930313754,0.0499239540069,0.999999975223,2.10393783523e-05,-0.000219558281768,-3.0077297298e-05,1793193583745998336
+18,0.300000000,BASELINE,764,742,710.546630995,672,664,633,877,784,799.453369005,650,629,651,0.400935794168,0.00453934256432,0.0499247639034,0.999999975262,2.22175907742e-05,-0.000219284062587,-2.99474360088e-05,1793193583762664704
+19,0.316666667,BASELINE,764,742,710.02672664,672,664,632.97327336,877,784.02672664,799.97327336,650,629,651,0.400935565623,0.00453930118267,0.0499256909856,0.999999975335,2.35798672355e-05,-0.00021883398219,-2.977104222e-05,1793193583779331072
+20,0.333333333,BASELINE,764,742,710.618571811,672,664,632.381428189,877,784.618571811,799.381428189,650,629,651,0.400937441134,0.00453895168135,0.0499261441272,0.999999975725,2.22911669487e-05,-0.000217158233639,-2.9938881563e-05,1793193583795997696
+21,0.350000000,BASELINE,764,742,711,672.206022863,664.206022863,632.206022863,877,784.793977137,799,650,629,651,0.400938514313,0.00453824463815,0.0499261566638,0.999999975951,2.07820416971e-05,-0.000216280810588,-2.98250827972e-05,1793193583812664064
+22,0.366666667,BASELINE,764,742,711,672.785508522,664.785508522,632.785508522,877,784.214491478,799,650,629,651,0.400938133083,0.00453688946986,0.0499253705048,0.999999975883,1.88733467409e-05,-0.000216850532318,-2.92007515719e-05,1793193583829330688
+23,0.383333333,BASELINE,764,742,711,672.639187885,664.639187885,633,877.360812115,784,799.360812115,650,628.639187885,651,0.400937442733,0.00453768390708,0.0499252038233,0.999999975755,1.94160648409e-05,-0.00021737802713,-2.93368855295e-05,1793193583845997312
+24,0.400000000,BASELINE,764,742,711,672.066341858,664.066341858,633,877.933658142,784,799.933658142,650,628.066341858,651,0.400936570728,0.00453974157578,0.0499254011822,0.999999975587,2.13993737956e-05,-0.000217880707033,-2.99199124239e-05,1793193583862663936
+25,0.416666667,BASELINE,764,742,710.489876779,672,664,632.489876779,877.489876779,784,800,650,628.510123221,651,0.400937721511,0.00454003909832,0.0499254867806,0.999999975901,2.23023387902e-05,-0.000216337219547,-2.99645118227e-05,1793193583879330816
+26,0.433333333,BASELINE,764,742,710,672,664,632.089308087,877,784.089308087,800,650.089308087,629,651.089308087,0.400938686537,0.00453982556521,0.0499254388948,0.999999976138,2.28686145449e-05,-0.000215196759118,-2.98499596531e-05,1793193583895997440
+27,0.450000000,BASELINE,764,742,710,672,664,632.681129503,877,784.681129503,800,650.681129503,629,651.681129503,0.400937115579,0.00453803366466,0.0499247222945,0.999999975598,2.2336630354e-05,-0.000217832030435,-2.92367185882e-05,1793193583912664064
+28,0.466666667,BASELINE,763.733181843,742,710.266818157,672,664,633,877,784.733181843,800.266818157,651,629,651.733181843,0.400936769108,0.00453832387938,0.0499245440179,0.999999975423,2.28988251398e-05,-0.000218546335736,-2.94379401336e-05,1793193583929330688
+29,0.483333333,BASELINE,763.154657726,742,710.845342274,672,664,633,877,784.154657726,800.845342274,651,629,651.154657726,0.400937853122,0.00454104649141,0.0499249946291,0.999999975678,2.47392767036e-05,-0.000217016503658,-3.05906443789e-05,1793193583945997568
+30,0.500000000,BASELINE,763.420610914,742,710.579389086,672,664,632.579389086,877,784,800.579389086,650.579389086,629,651,0.400937974492,0.00454071248107,0.0499250280925,0.999999975851,2.35724732944e-05,-0.000216352717958,-3.05630754593e-05,1793193583962663936
+31,0.516666667,BASELINE,763.994691705,742,710.005308295,672,664,632.005308295,877,784,800.005308295,650.005308295,629,651,0.400937744617,0.00453926318945,0.0499249093496,0.999999975991,2.13084014884e-05,-0.000216004929869,-3.01048558355e-05,1793193583979330560
+32,0.533333333,BASELINE,764,742,710,672.50285531,664,632.50285531,877,784,799.49714469,650.50285531,629,651,0.400936913805,0.00453855448407,0.049924837543,0.999999975727,2.16585729551e-05,-0.000217237775884,-2.97599152559e-05,1793193583995997440
+33,0.550000000,BASELINE,763.985921881,742,710.014078119,672.985921881,664,632.985921881,877,784,799.014078119,650.985921881,629,651,0.40093616398,0.00453787482388,0.0499248116839,0.999999975484,2.20515351054e-05,-0.000218357223856,-2.94193919301e-05,1793193584012664576
+34,0.566666667,BASELINE,763.299118709,742,710.700881291,672.299118709,664,632.299118709,877,784,799.700881291,650.299118709,629,651,0.400939552142,0.00453825281268,0.0499269605033,0.999999976541,2.33233711909e-05,-0.000213353003858,-2.92394292587e-05,1793193584029330944
+35,0.583333333,BASELINE,763.322155829,742,710.677844171,672.322155829,664,632,876.677844171,784,800.322155829,650,629,651,0.400940848353,0.00453806173693,0.0499276073774,0.999999976886,2.20594468592e-05,-0.000211859493871,-2.92738253644e-05,1793193584045998080
+36,0.600000000,BASELINE,763.892871683,742,710.107128317,672.892871683,664,632,876.107128317,784,800.892871683,650,629,651,0.400940530515,0.00453743159825,0.0499270954226,0.999999976688,1.88390512511e-05,-0.000213074679225,-2.94736104274e-05,1793193584062665984
+37,0.616666667,BASELINE,763.527723463,742,710,672.527723463,664,632,876.472276537,784,800.055446926,650,628.527723463,651,0.400940209284,0.00453774248404,0.0499264542331,0.999999976469,1.9241290912e-05,-0.000214038309103,-2.96688542711e-05,1793193584079332864
+38,0.633333333,BASELINE,763.054447516,742,710,672,664.054447516,632.054447516,877,784,799.054447516,650,628.054447516,651,0.400939795006,0.00453814850224,0.049925805704,0.99999997625,2.03117628667e-05,-0.00021493519464,-2.98215137043e-05,1793193584095998976
+39,0.650000000,BASELINE,763.644071623,742,710,672,664.644071623,632.644071623,877,784,799.644071623,650,628.644071623,651,0.400938473856,0.00453735216517,0.0499253785751,0.999999976095,1.97220227064e-05,-0.000215747416399,-2.95659166206e-05,1793193584112664576
+40,0.666666667,BASELINE,764,742,710,672,664.770549614,632.770549614,877,784,800,650.229450386,629,651,0.400937379063,0.00453739063072,0.0499248661704,0.999999975928,1.974822855e-05,-0.000216518819533,-2.95453229434e-05,1793193584129330432
+41,0.683333333,BASELINE,764,742,710,672,664.191636721,632.191636721,877,784,800,650.808363279,629,651,0.40093662902,0.00453870053555,0.0499242238869,0.999999975745,2.07125458807e-05,-0.000217228054145,-2.98826492701e-05,1793193584145997056
+42,0.700000000,BASELINE,764,742,710,672,664,632,877,784.385732759,799.614267241,650.614267241,629,651,0.400936517292,0.0045390231126,0.0499242289772,0.999999975677,2.15686311598e-05,-0.000217452117349,-2.99179968258e-05,1793193584162663680
+43,0.716666667,BASELINE,764,742,710,672,664,632,877,784.96233849,799.03766151,650.03766151,629,651,0.400936721423,0.00453885712807,0.0499245544087,0.999999975666,2.23711597107e-05,-0.000217436102116,-2.98039155651e-05,1793193584179330304
+44,0.733333333,BASELINE,764,742,710,672,664,632.528482551,876.471517449,784.471517449,799,650,629,651,0.400937129261,0.00453889397504,0.0499249371935,0.999999975725,2.08037426278e-05,-0.000217315584663,-2.98475333084e-05,1793193584195997440
+45,0.750000000,BASELINE,764,742,710,672,664,633,876.099784263,784,799.099784263,650,629,651,0.400937407483,0.0045389907519,0.0499251533876,0.999999975749,2.00905470926e-05,-0.000217271711858,-2.9844579143e-05,1793193584212664320
+46,0.766666667,BASELINE,764,742,710,672,664,633,876.700657271,784,799.700657271,650,629,651,0.400936963326,0.00453931730256,0.049924512883,0.999999975578,2.44986727927e-05,-0.00021764939893,-2.95524142909e-05,1793193584229330944
+47,0.783333333,BASELINE,764,742,710,672,664,632.709953478,877,784,799.709953478,650,628.709953478,651,0.400937122681,0.00453960705018,0.0499244151445,0.999999975584,2.48981495249e-05,-0.000217570648786,-2.95938671022e-05,1793193584245997568
+48,0.800000000,BASELINE,764,742,710,672,664,632.131964603,877,784,799.131964603,650,628.131964603,651,0.400937881168,0.00453986026181,0.0499248562346,0.999999975771,2.13180589192e-05,-0.000217038772736,-2.9966517283e-05,1793193584262664192
+49,0.816666667,BASELINE,764,742,710,672,664.442962452,632.442962452,877,784,799,650,628.442962452,651,0.400937678462,0.00453978195382,0.0499245798084,0.999999975754,2.06617439409e-05,-0.000217171439527,-3.00319504464e-05,1793193584279331584
+50,0.833333333,BASELINE,763.982568305,742,710,672.017431695,664.982568305,632.982568305,877,784,799.017431695,650,629,651,0.400937199568,0.00453956981485,0.0499241072833,0.999999975681,2.08333708662e-05,-0.000217493325226,-3.00016712283e-05,1793193584295998720
+51,0.850000000,BASELINE,763.393401311,742,710,672.606598689,664.393401311,632.393401311,877,784,799.606598689,650,629,651,0.400936989596,0.00453818529913,0.0499241658222,0.999999975691,1.97877873844e-05,-0.00021757255148,-2.98134176289e-05,1793193584312664832
+52,0.866666667,BASELINE,763,742,710,673,664,632,876.807679975,784,799.807679975,650,628.807679975,651,0.400937430741,0.00453753383665,0.0499244555292,0.999999975798,1.97313342065e-05,-0.000217104831848,-2.9662809929e-05,1793193584329330944
+53,0.883333333,BASELINE,763,742,710,673,664,632,876.228882903,784,799.228882903,650,628.228882903,651,0.400939180337,0.0045383554827,0.0499252097804,0.999999976099,2.16625896501e-05,-0.000215537996138,-2.95878536244e-05,1793193584345997568
+54,0.900000000,BASELINE,763.348755011,742,710.348755011,672.651244989,664.348755011,632,876.348755011,784.348755011,799.348755011,650,628,651,0.400938579633,0.00453837865942,0.0499247864603,0.999999975984,2.08686069508e-05,-0.000216128884339,-2.97598818586e-05,1793193584362664192
+55,0.916666667,BASELINE,763.925634685,742,710.925634685,672.074365315,664.925634685,632,876.925634685,784.925634685,799.925634685,650,628,651,0.400936441569,0.00453787954814,0.0499235928774,0.999999975589,1.82920145729e-05,-0.000218131164618,-3.00934655219e-05,1793193584379331072
+56,0.933333333,BASELINE,764,742,710.500174892,672,664.500174892,632,876.500174892,784.500174892,799.500174892,650,628.499825108,651,0.400938350984,0.00453884862796,0.049924904572,0.999999976152,2.01734761677e-05,-0.000215391956276,-2.99095722336e-05,1793193584395997696
+57,0.950000000,BASELINE,763.924181366,742,710.075818634,672,664,632,876,784,799,650,628.924181366,651,0.400940183977,0.00453985465668,0.0499261776474,0.999999976656,2.24105147332e-05,-0.000212844022327,-2.97044795189e-05,1793193584412664320
+58,0.966666667,BASELINE,763.333233499,742,710.666766501,672,664,632,876,784,799,650,628.333233499,651,0.400937428184,0.00453963552552,0.0499246693938,0.999999975892,2.25810557975e-05,-0.000216363000756,-2.98756524029e-05,1793193584429330688
+59,0.983333333,BASELINE,763,742,711,672,664.252854084,632,876.252854084,784,799.252854084,650.252854084,628.252854084,651,0.400936322968,0.00453921208981,0.0499238808258,0.999999975613,2.24422765635e-05,-0.000217667860352,-2.98556386572e-05,1793193584445997312
+60,1.000000000,BASELINE,763,742,711,672,664.832657231,632,876.832657231,784,799.832657231,650.832657231,628.832657231,651,0.400937352004,0.00453852448124,0.049924022836,0.999999975971,2.19035355249e-05,-0.000216109788315,-2.95884140203e-05,1793193584462663936
+61,1.016666667,BASELINE,763.408480261,742,710.591519739,672,664.591519739,632.408480261,877,784,799.591519739,651,629,651,0.400936144865,0.00453760943641,0.0499236121844,0.999999975729,2.0629346056e-05,-0.000217374840406,-2.94203500392e-05,1793193584479330560
+62,1.033333333,BASELINE,763.982688449,742,710.017311551,672,664.017311551,632.982688449,877,784,799.017311551,651,629,651,0.400934030469,0.00453660211657,0.0499229773078,0.999999975237,1.90567717122e-05,-0.000219785285788,-2.92925173693e-05,1793193584495997440
+63,1.050000000,BASELINE,764,742,710,672,664,632.445003154,877,784.554996846,799.554996846,650.445003154,629,651,0.400935117093,0.00453796946315,0.0499237792968,0.999999975493,1.9694843226e-05,-0.000218525454583,-2.95466911167e-05,1793193584512664320
+64,1.066666667,BASELINE,763.867746792,742,710.132253208,672,664,632,877.132253208,784.867746792,799.867746792,650,629,651,0.400935946727,0.00453871383546,0.0499243945204,0.999999975689,2.00218511843e-05,-0.000217577485857,-2.96853839579e-05,1793193584529330944
+65,1.083333333,BASELINE,763.272979988,742,710.727020012,672,664,632,877.727020012,784.272979988,799.272979988,650,629,651,0.400935529634,0.00453702139706,0.0499242003856,0.9999999756,1.90206881681e-05,-0.000218119162293,-2.93786900999e-05,1793193584545997312
+66,1.100000000,BASELINE,763.312783367,742,711,672.312783367,664,632,877.687216633,784,799.312783367,650,629,651,0.400936689605,0.00453698713564,0.0499248403157,0.999999975939,1.89015513077e-05,-0.000216557321692,-2.94630764105e-05,1793193584562664192
+67,1.116666667,BASELINE,763.890908836,742,711,672.890908836,664,632,877.109091164,784,799.890908836,650,629,651,0.40093918744,0.00453835954811,0.0499261878043,0.999999976633,1.95306597681e-05,-0.000213211013944,-2.98792260117e-05,1793193584579331072
+68,1.133333333,BASELINE,763.53330727,742,711,672.53330727,664,632,877,784,799.53330727,650,629,651,0.400938707005,0.00453745416262,0.0499253144063,0.999999976298,1.92342144618e-05,-0.000214812408384,-2.9823617877e-05,1793193584595997440
+69,1.150000000,BASELINE,763,742,711,672,664,632,877,784,799,650,628.957182898,651,0.400937595185,0.00453616918278,0.049924016687,0.999999975757,1.87498812023e-05,-0.000217383415403,-2.96574168216e-05,1793193584612663808
+70,1.166666667,BASELINE,763,742,711,672,664,632,877,784,799,650,628.369802059,651,0.400937263281,0.00453679439233,0.0499238919508,0.999999975706,1.8613823019e-05,-0.000217650393233,-2.94801722687e-05,1793193584629330432
+71,1.183333333,BASELINE,763,742,711,672,664.215767645,632.215767645,877,784,799.215767645,650.215767645,628.215767645,651,0.400937749403,0.00453720290991,0.049924157835,0.999999975815,1.9172410773e-05,-0.000217116805202,-2.93791186469e-05,1793193584645997312
+72,1.200000000,BASELINE,763,742,711,672,664.798259194,632.798259194,877,784,799.798259194,650.798259194,628.798259194,651,0.400939625861,0.00453724313269,0.0499250876268,0.999999976189,2.09116355251e-05,-0.00021522255613,-2.94075609436e-05,1793193584662663936
+73,1.216666667,BASELINE,763,741.625017993,710.625017993,672,665,633,877.374982007,784.374982007,799.625017993,651,629,651,0.400940172233,0.00453812177446,0.0499254754585,0.999999976442,2.13316163296e-05,-0.000213950754584,-2.97630532589e-05,1793193584679330560
+74,1.233333333,BASELINE,763,741.051351779,710.051351779,672,665,633,877.948648221,784.948648221,799.051351779,651,629,651,0.40094001386,0.00453944465249,0.0499255761326,0.999999976633,2.10525956571e-05,-0.000213008756956,-3.02918330166e-05,1793193584695997184
+75,1.250000000,BASELINE,763,741.523828968,710,672,664.476171032,632.476171032,876.952342063,784.476171032,799,650.476171032,629,651,0.400938868724,0.00453929500025,0.0499245459554,0.999999976225,2.0856972275e-05,-0.00021497651971,-2.9996360619e-05,1793193584712664576
+76,1.266666667,BASELINE,763.102277232,742,710,672.102277232,664,632,876.102277232,784,799.102277232,650,628.897722768,651,0.400937978688,0.00453885985701,0.0499237647472,0.999999975893,2.04012002592e-05,-0.000216603398792,-2.96614605147e-05,1793193584729331712
+77,1.283333333,BASELINE,763.695701418,742,710,672.695701418,664,632,876.695701418,784,799.695701418,650,628.304298582,651,0.400938779541,0.00453774896998,0.0499247130187,0.99999997623,1.86567909391e-05,-0.000215219548154,-2.95263731842e-05,1793193584745997824
+78,1.300000000,BASELINE,764,742,710.280943574,672.719056426,664,632,877.280943574,784,799.719056426,650.280943574,628.280943574,651,0.400939086214,0.0045375448314,0.0499251511091,0.999999976352,1.93142364319e-05,-0.000214602025733,-2.9488363548e-05,1793193584762664192
+79,1.316666667,BASELINE,764,742,710.857574282,672.142425718,664,632,877.857574282,784,799.142425718,650.857574282,628.857574282,651,0.40093887277,0.00453829502632,0.0499250522448,0.999999976243,2.24995831117e-05,-0.000214791047535,-2.95525261275e-05,1793193584779331072
+80,1.333333333,BASELINE,764,742,711,672,664.431087278,632,877.568912722,784,799,650.568912722,628.568912722,651,0.400938335018,0.00453925580494,0.0499244056548,0.999999975954,2.28575669758e-05,-0.000216067294194,-2.97546684864e-05,1793193584795997440
+81,1.350000000,BASELINE,764,742.00360302,711,672.00360302,664.99639698,632.00360302,877,784.00360302,799,650,628.00360302,651,0.400937696558,0.00454026978037,0.0499235870746,0.999999975609,2.22806571397e-05,-0.00021768214364,-2.99991280002e-05,1793193584812664320
+82,1.366666667,BASELINE,764,742.580150807,711,672.580150807,664.419849193,632.580150807,877,784.580150807,799,650,628.580150807,651,0.400937959992,0.00453875889069,0.0499239884839,0.999999975925,2.0514857648e-05,-0.000216430962064,-2.97757103517e-05,1793193584829330944
+83,1.383333333,BASELINE,764,743,710.838277454,672.838277454,664,632.838277454,877,784.838277454,799,650,629,651,0.40093868152,0.00453786879865,0.0499242804365,0.999999976198,1.95071886031e-05,-0.000215274623859,-2.96753361087e-05,1793193584845997312
+84,1.400000000,BASELINE,764,743,710.243244697,672.243244697,664,632.243244697,877,784.243244697,799,650,629,651,0.400940630436,0.00453864203627,0.0499242791173,0.999999976364,2.05308108677e-05,-0.000214372403329,-2.99046373352e-05,1793193584862663936
+85,1.416666667,BASELINE,763.659015379,742.659015379,710.340984621,672,664,632,877.340984621,784,799.340984621,650,629,651,0.400940267709,0.00453870405499,0.0499240719259,0.999999976227,2.02738969192e-05,-0.000215020703799,-3.00073643344e-05,1793193584879330560
+86,1.433333333,BASELINE,763.082256158,742.082256158,710.917743842,672,664,632,877.917743842,784,799.917743842,650,629,651,0.400938306591,0.00453827429974,0.0499237223836,0.999999975878,1.91315532043e-05,-0.000216741115629,-3.00225712797e-05,1793193584895997184
+87,1.450000000,BASELINE,763.502231073,742,711,672.502231073,664.502231073,632,876.995537853,784,800,650,629,651,0.400938494583,0.00453756730549,0.0499240517823,0.999999975914,1.92121271064e-05,-0.000216651992147,-2.94007621722e-05,1793193584912663808
+88,1.466666667,BASELINE,764,742,710.913028523,672.913028523,664.913028523,632.086971477,876,784,799.913028523,650,629,651,0.400938792661,0.00453714946466,0.049924375239,0.999999975995,1.97173768262e-05,-0.000216305929826,-2.88614518333e-05,1793193584929330432
+89,1.483333333,BASELINE,764,742,710.334127111,672.334127111,664.334127111,632.665872889,876,784,799.334127111,650,629,651,0.400937691391,0.00453862798318,0.0499240262971,0.999999975964,2.14740905441e-05,-0.000216209087195,-2.93881168733e-05,1793193584945997312
+90,1.500000000,BASELINE,764,742,710.244387036,672,664.244387036,632.755612964,876.244387036,784,799,650,629,651,0.400937810152,0.00453916213408,0.0499240040083,0.999999976038,2.28143204151e-05,-0.000215693262802,-2.965351371e-05,1793193584962664192
+91,1.516666667,BASELINE,764,742,710.822372504,672,664.822372504,632.177627496,876.822372504,784,799,650,629,651,0.400939594306,0.00453840718389,0.0499244276148,0.999999976257,2.35860324311e-05,-0.000214605510945,-2.95622685785e-05,1793193584979331328
+92,1.533333333,BASELINE,764,742,711,672,664.602087348,632,876.602087348,784.397912652,799,650,629,651,0.400939156332,0.00453759764383,0.0499247733449,0.99999997627,2.14930290569e-05,-0.000214781907292,-2.94532718754e-05,1793193584995997696
+93,1.550000000,BASELINE,764,742,711,672,664.027632068,632,876.027632068,784.972367932,799,650,629,651,0.400937732464,0.00453676388372,0.0499250845234,0.999999976181,1.81290322856e-05,-0.000215519170464,-2.93363992924e-05,1793193585012664064
+94,1.566666667,BASELINE,763.456593919,742,710.456593919,672,664,632,876.543406081,784.456593919,799.543406081,650,629,651,0.400937879271,0.00453801093343,0.0499249121535,0.999999976072,1.97785717565e-05,-0.000215836443672,-2.96577086672e-05,1793193585029330688
+95,1.583333333,BASELINE,763.119660907,742,710,672,664,632,877,784.119660907,799.880339093,650,629,651,0.400938081809,0.00453910130266,0.0499246114601,0.999999975968,2.15639257442e-05,-0.000216111381206,-2.99271629121e-05,1793193585045997312
+96,1.600000000,BASELINE,763.717450101,742,710,672,664,632,877,784.717450101,799.282549899,650,629,651,0.400938189896,0.00453914548809,0.0499238956582,0.999999975898,2.28796685654e-05,-0.00021630195878,-2.99009465888e-05,1793193585062664192
+97,1.616666667,BASELINE,764,742,710.303797108,672,664,632,877.303797108,784.696202892,799.303797108,650,629,651.303797108,0.400938079062,0.00453923203535,0.0499233204278,0.999999975824,2.40087195614e-05,-0.000216538526561,-2.97875609857e-05,1793193585079330816
+98,1.633333333,BASELINE,764,742,710.879888414,672,664,632,877.879888414,784.120111586,799.879888414,650,629,651.879888414,0.400937772011,0.00453935655164,0.0499228711919,0.999999975746,2.49704380727e-05,-0.000216816315484,-2.95960453142e-05,1793193585095997440
+99,1.650000000,BASELINE,764,742,711,672,664,632,877.08812701,784,800.455936495,650.455936495,629,651.544063505,0.400939119191,0.00453858954674,0.0499242070613,0.999999976121,2.2395916942e-05,-0.000215384939707,-2.94146179662e-05,1793193585112664064
+100,1.666666667,BASELINE,764.032788625,742,710.967211375,672,664,632.032788625,876.032788625,784,800.967211375,650.967211375,629,651,0.400940731682,0.00453767837964,0.049925860257,0.999999976558,1.92344221961e-05,-0.000213678892841,-2.92433164671e-05,1793193585129330688
+101,1.683333333,BASELINE,764.623516532,742,710.376483468,672,664,632.623516532,876.623516532,784,800.376483468,650.376483468,629,651,0.400939443993,0.00453831019836,0.0499249117377,0.999999976229,2.19354064074e-05,-0.000214960002519,-2.91990997449e-05,1793193585145997312
+102,1.700000000,BASELINE,764.790748463,742,710,672,664.209251537,633,877,784,799.790748463,650.209251537,629,651.209251537,0.40093874952,0.00453870208865,0.049924391475,0.999999976075,2.36819565835e-05,-0.000215492289633,-2.92016675428e-05,1793193585162663936
+103,1.716666667,BASELINE,764.213787351,742,710,672,664.786212649,633,877,784,799.213787351,650.786212649,629,651.786212649,0.400939097481,0.00453867236198,0.049924623771,0.999999976239,2.37513167168e-05,-0.000214708699887,-2.92864479611e-05,1793193585179330560
+104,1.733333333,BASELINE,764,742,710,672.361830431,664.638169569,632.638169569,877,784.361830431,799,651,629,651.638169569,0.400938746823,0.00453834654331,0.0499244477093,0.999999976197,2.28584335567e-05,-0.000214980217101,-2.94432433999e-05,1793193585195997184
+105,1.750000000,BASELINE,764,742,710,672.936657496,664.063342504,632.063342504,877,784.936657496,799,651,629,651.063342504,0.400937984912,0.00453784642587,0.0499240312621,0.999999976031,2.13991121871e-05,-0.000215872837977,-2.9642431514e-05,1793193585212663808
+106,1.766666667,BASELINE,764,742,710.514350508,673,664,632,877,785,799.514350508,650.485649492,629,651,0.400938327662,0.00453796842317,0.0499245187374,0.999999976122,2.1199629565e-05,-0.000215497283629,-2.9468417271e-05,1793193585229330432
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,742,711,672,664,633,877,784,799,650,629,651,0.400937503596,0.00453948715868,0.0499223094976,0.999999975642,2.03624884015e-05,-0.000217682936819,-3.02572663221e-05,1793193585271695616
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,742,710.42063303,672.57936697,664,632.42063303,877,784.57936697,799.57936697,650.57936697,629,651,0.400938280745,0.00453893991489,0.049923550826,0.999999975958,2.01346326076e-05,-0.000216288926903,-2.99682257583e-05,1793193585288362240
+109,1.816666667,POSE1_TO_POSE2_PRESS,763.841828972,742,710.158171028,672.841828972,664,632.158171028,877,784.841828972,799.841828972,650.841828972,629,651,0.400938922636,0.00453835629628,0.0499244737822,0.999999976217,2.01953959737e-05,-0.000215122510442,-2.96740678243e-05,1793193585305028864
+110,1.833333333,POSE1_TO_POSE2_PRESS,763.264516459,742,710.735483541,672.264516459,664,632.735483541,877,784.264516459,799.264516459,650.264516459,629,651,0.4009392061,0.00453767628697,0.0499245530759,0.99999997633,2.10209786401e-05,-0.000214559199447,-2.93663491761e-05,1793193585321696000
+111,1.850000000,POSE1_TO_POSE2_PRESS,763.3169627,742,710.6830373,672.3169627,664.3169627,633,876.6830373,784,799.3169627,650,629,651,0.400940085189,0.00453719394862,0.0499246916588,0.999999976468,2.04147459366e-05,-0.000213979102776,-2.93123865727e-05,1793193585338362368
+112,1.866666667,POSE1_TO_POSE2_PRESS,763.901965356,742,710.098034644,672.901965356,664.901965356,633,876.098034644,784,799.901965356,650,629,651,0.400941467969,0.00453687877106,0.0499248803796,0.999999976626,1.85976964906e-05,-0.000213384811309,-2.9473013146e-05,1793193585355028736
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,742,710,673,664.515022428,632.515022428,876.484977572,784,800,650,629,651,0.400944782761,0.00453820399937,0.049926173771,0.999999977189,2.05090620996e-05,-0.000210553739548,-2.94737961411e-05,1793193585371695616
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,742,710,672.933663499,664.066336501,632,877,784,800,650.066336501,629,651,0.400949956614,0.00453966708511,0.0499280303058,0.999999978015,2.28989683121e-05,-0.0002063379409,-2.95040388161e-05,1793193585388362240
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,742,710,672.36184909,664.63815091,632,877,784,800,650.63815091,629,651,0.400966332603,0.00453966422936,0.049932483363,0.999999980268,2.32158756025e-05,-0.000195001901142,-3.00039634537e-05,1793193585405028864
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,742,710.211422747,672.211422747,664.788577253,632,877,784,800,650.788577253,629,651,0.400988498652,0.00453908643048,0.0499376734095,0.999999983034,2.23058312441e-05,-0.000180316990464,-3.03247755105e-05,1793193585421695744
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,742,710.78720622,672.78720622,664.21279378,632,877,784,800,650.21279378,629,651,0.401020643148,0.00453751778884,0.0499441335646,0.999999986576,1.92812887639e-05,-0.000159860719724,-3.03369093261e-05,1793193585438362112
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,742,711,672.625016573,664.374983427,632.374983427,877,784,799.625016573,650,629,651,0.401061564175,0.00453646350311,0.0499502756221,0.999999990013,1.65297112908e-05,-0.000136886092153,-3.10276047719e-05,1793193585455028736
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,742,711,672.030208278,664.969791722,632.969791722,877,784,799.030208278,650,629,651,0.401107630232,0.0045357107458,0.0499562312034,0.999999993066,1.39381525876e-05,-0.000112435137466,-3.21160903762e-05,1793193585471695360
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,742,711,672.547219856,664.452780144,632.452780144,877,784.547219856,799,650,629,651,0.401167690436,0.00453750377558,0.0499603871523,0.999999995096,1.58516802373e-05,-9.18959283603e-05,-3.335401876e-05,1793193585488362240
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,742,711,672.876934473,664,632,877,784.876934473,799,650,629,651.123065527,0.401229700958,0.00453889298756,0.0499633750742,0.99999999627,1.75351843084e-05,-7.74279181454e-05,-3.40218217833e-05,1793193585505028864
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,742,711,672.30347686,664,632,877,784.30347686,799,650,629,651.69652314,0.401296108997,0.00453830582213,0.0499624406716,0.999999995754,1.74947043375e-05,-8.44131547909e-05,-3.25738321964e-05,1793193585521695488
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,742,711,672,664,632,877,784,799,650.276894546,629,651.723105454,0.401374851287,0.00453676759567,0.0499623604528,0.999999995656,1.55690619871e-05,-8.6351044069e-05,-3.14501272459e-05,1793193585538362368
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,742,711,672,664,632,877,784,799,650.865037492,629,651.134962508,0.401467458115,0.00453416031161,0.0499632403952,0.99999999605,1.15243682403e-05,-8.26153694133e-05,-3.06909404847e-05,1793193585555028736
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,742,710.551002424,672,664.448997576,632,877,784,799.448997576,650.551002424,629.448997576,651,0.401580462298,0.00453098016846,0.0499615481711,0.999999995876,8.75398635278e-06,-8.54448543201e-05,-2.94895787708e-05,1793193585571695616
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,742,710.031276895,672,665,632.031276895,877,784.031276895,800,650,629.968723105,651,0.401701689126,0.00452774326783,0.0499593847591,0.999999995559,6.21746381822e-06,-8.97236404642e-05,-2.81659645137e-05,1793193585588362240
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,742,710.605997086,672,665,632.605997086,877,784.605997086,800,650,629.394002914,651,0.401860239219,0.00452648448027,0.0499623441541,0.999999996004,1.15031063865e-06,-8.52126259374e-05,-2.70062400871e-05,1793193585605028864
+128,2.133333333,POSE1_TO_POSE2_PRESS,763.819208862,742,710.819208862,672,664.819208862,632.819208862,877,785,799.819208862,650,629,651,0.402025048437,0.00452502097127,0.0499631465041,0.999999996088,-2.58929635483e-06,-8.45806732576e-05,-2.57617671552e-05,1793193585621695232
+129,2.150000000,POSE1_TO_POSE2_PRESS,763.244253854,742,710.244253854,672,664.244253854,632.244253854,877,785,799.244253854,650,629,651,0.402203503887,0.00452311112531,0.0499592460279,0.999999995429,-3.43456422072e-06,-9.24059168826e-05,-2.43325242629e-05,1793193585638361856
+130,2.166666667,POSE1_TO_POSE2_PRESS,763.34047861,742,710.34047861,672.34047861,664.34047861,632,877,784.65952139,799.34047861,650,629,651,0.402404649881,0.00451958620792,0.0499572558299,0.999999995336,-7.47405282408e-06,-9.35927158461e-05,-2.26453229871e-05,1793193585655028480
+131,2.183333333,POSE1_TO_POSE2_PRESS,763.932432704,742,710.932432704,672.932432704,664.932432704,632,877,784.067567296,799.932432704,650,629,651,0.402622554995,0.00451486840814,0.0499566765517,0.999999995649,-1.38727740279e-05,-8.98763997273e-05,-2.07675950282e-05,1793193585671695360
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,742,711,672.487588261,665,632,877,784,799.487588261,650,629,651,0.402885857324,0.00451244763523,0.0499603404045,0.999999996227,-1.89807339108e-05,-8.26387890835e-05,-1.88684047822e-05,1793193585688361984
+133,2.216666667,POSE1_TO_POSE2_PRESS,763.909728266,742,711,672,664.909728266,632,877,784,799,650,629,651,0.403164136732,0.00450994746402,0.0499655873504,0.999999996952,-2.400192323e-05,-7.23582942342e-05,-1.68350216414e-05,1793193585705028864
+134,2.233333333,POSE1_TO_POSE2_PRESS,763.334959779,742,711,672,664.334959779,632,877,784,799,650,629,651,0.403491405147,0.00450543264401,0.0499763965655,0.999999998306,-2.94500353818e-05,-4.81815081636e-05,-1.40962543431e-05,1793193585721695488
+135,2.250000000,POSE1_TO_POSE2_PRESS,763,742,711,672,664,632,877,784.239419498,799,650.239419498,629,651,0.403830862706,0.00450071796506,0.0499862699627,0.999999998947,-3.48960091426e-05,-2.76244307389e-05,-1.11767959911e-05,1793193585738362112
+136,2.266666667,POSE1_TO_POSE2_PRESS,763,742,711,672,664,632,877,784.8132551,799,650.8132551,629,651,0.404187345787,0.00449572412761,0.0499948362285,0.999999999081,-4.03389957317e-05,-1.21232874557e-05,-8.00495235917e-06,1793193585755028736
+137,2.283333333,POSE1_TO_POSE2_PRESS,763,742,710.599253285,672.400746715,664,632,877.400746715,784.599253285,799.400746715,651,629,651,0.404568396027,0.0044906474687,0.050000340896,0.999999998997,-4.44381325075e-05,2.21911191074e-06,-5.08810381386e-06,1793193585771695360
+138,2.300000000,POSE1_TO_POSE2_PRESS,763,742,710.00517359,672.99482641,664,632,877.99482641,784.00517359,799.99482641,651,629,651,0.404961298237,0.00448553085422,0.0500043685508,0.999999998723,-4.78889531718e-05,1.60024958577e-05,-2.29427311111e-06,1793193585788362240
+139,2.316666667,POSE1_TO_POSE2_PRESS,763.570548797,742,710.570548797,673,664.570548797,632.570548797,877.429451203,784,800,650.429451203,629,651,0.405376849857,0.00447766458814,0.0499930082951,0.999999998437,-5.55634908494e-05,-6.08434889987e-06,1.53085646645e-06,1793193585805029120
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,742,711,672.853698053,665,633,877,784,800,650.146301947,629,651,0.405799850021,0.00447061271906,0.0499777890876,0.999999997502,-6.10127490201e-05,-3.52811047527e-05,5.28792982385e-06,1793193585821695744
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,742,711,672.277380572,665,633,877,784,800,650.722619428,629,651,0.406244158277,0.00446602555396,0.0499516248608,0.999999994607,-5.9812328156e-05,-8.44493229861e-05,8.81833980172e-06,1793193585838362368
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,742,711,672.304429721,664.695570279,633,877,784,799.695570279,651,629,651,0.406714969116,0.0044612800161,0.0499349300479,0.999999992644,-4.01980330619e-05,-0.000113760737278,1.24156806358e-05,1793193585855028992
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,742,711,672.891336808,664.108663192,633,877,784,799.108663192,651,629,651,0.407210371492,0.00445638752519,0.0499270218088,0.999999992096,-3.4976837688e-06,-0.000124647222796,1.60751263691e-05,1793193585871695872
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,742,711,672.526238144,664.473761856,632.526238144,877,784.473761856,799,651,629,651,0.407779949647,0.00445297429193,0.0499397397536,0.99999999532,4.59268135743e-06,-9.48482127034e-05,1.85118338251e-05,1793193585888362496
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,742.054494623,711,672.054494623,665,632,877,785,799,650.945505377,628.945505377,651,0.408370603978,0.00444981799987,0.0499579927844,0.999999998247,3.49915368194e-06,-5.55355965322e-05,2.02618491351e-05,1793193585905029376
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,742.628799561,711,672.628799561,665,632,877,785,799,650.371200439,628.371200439,651,0.409001535845,0.00444590656879,0.0499843399335,0.999999999474,-2.3190018966e-05,-1.36538310808e-05,1.81117572763e-05,1793193585921696000
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,742.796920315,711,673,665,632,877,784.796920315,799,650.203079685,628.203079685,651,0.409636291018,0.00444449739576,0.0500018654691,0.999999999004,-3.88152857209e-05,1.27975365244e-05,1.79156735922e-05,1793193585938362624
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,742.222685576,711,673,665,632,877,784.222685576,799,650.777314424,628.777314424,651,0.410278033749,0.00444766143137,0.050003268335,0.999999999127,-3.42197958805e-05,1.10478034517e-05,2.12907991432e-05,1793193585955028992
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,742,711,672.63797499,665,632.36202501,877,784,799,650.63797499,628.63797499,651,0.410891238615,0.00445852247408,0.0499812567626,0.999999998938,-1.16911428462e-05,-3.81905209465e-05,2.29840153603e-05,1793193585971695616
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,742,711,672.046628596,665,632.953371404,877,784,799,650.046628596,628.046628596,651,0.411486366411,0.00447425911438,0.0499444135315,0.999999992571,2.21971058863e-05,-0.000117510052519,2.36118414543e-05,1793193585988362240
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,742,711,672.532490289,665,632.467509711,877,784,799.532490289,650,628.532490289,651,0.412188330535,0.00447562850655,0.0499394031161,0.999999993044,2.9697997709e-05,-0.000111784317913,2.31229810772e-05,1793193586005029120
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,742,711,673,665,632,877,784,800,650,629,651,0.412911738934,0.00447406824954,0.0499425411222,0.999999994929,3.08164319352e-05,-9.30952622362e-05,2.29260265994e-05,1793193586021696000
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,742,711,673,665,632,877,784,800,650,629,651,0.41368715276,0.00446532047841,0.0499686121581,0.999999998329,1.44980998248e-05,-5.03744552462e-05,2.43675845543e-05,1793193586038362368
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,742.264724136,711,672.735275864,665,632.264724136,877,784,800,650.264724136,629,651,0.414444145264,0.00446011860149,0.0499740287804,0.999999998851,4.28419104633e-06,-4.09559473921e-05,2.45609420303e-05,1793193586055028992
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,742.855100724,711,672.144899276,665,632.855100724,877,784,800,650.855100724,629,651,0.415178476738,0.00445927873267,0.0499540372191,0.999999997101,1.57968385203e-06,-7.25045156794e-05,2.32188162214e-05,1793193586071695616
+156,2.600000000,POSE1_TO_POSE2_PRESS,764.437014449,742.562985551,711,672.437014449,665,632.562985551,877.437014449,784.437014449,800,650.562985551,629,651,0.415935079835,0.00445899465859,0.049934032769,0.999999994286,-4.16357281946e-06,-0.000104592051488,2.17262387321e-05,1793193586088362752
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.983909875,742.016090125,711,672.983909875,665,632.016090125,878.016090125,785,799.983909875,650,629,651,0.416700681176,0.00445889631233,0.0499153710949,0.999999990687,-1.06352406367e-05,-0.000134539218862,2.0301830612e-05,1793193586105029376
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.407803758,742.592196242,711,672.407803758,665,632.592196242,878.592196242,785,799.407803758,650,629,651,0.417527332332,0.00445897010661,0.0499435905358,0.999999996185,-8.05780350178e-06,-8.38894354943e-05,2.29533022647e-05,1793193586121696000
+159,2.650000000,POSE1_TO_POSE2_PRESS,764.168602301,742.831397699,711,672.168602301,665,632.831397699,878.662795398,784.831397699,799,650.168602301,629,651,0.418348634439,0.0044596842769,0.0499655974863,0.999999998561,-3.4029918533e-06,-4.7178350772e-05,2.53227607841e-05,1793193586138362368
+160,2.666666667,POSE1_TO_POSE2_PRESS,764.745735098,742.254264902,711,672.745735098,665,632.254264902,877.508529804,784.254264902,799,650.745735098,629,651,0.419156975521,0.00446195010531,0.0499725513084,0.999999998637,6.28538578732e-06,-4.42413250733e-05,2.70088895324e-05,1793193586155028992
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.670420054,742,711,673.329579946,665,632.329579946,877.659159893,784,799,650.670420054,629,651,0.419965990908,0.00446175224283,0.0499648843102,0.999999998169,8.81517796015e-06,-5.33744680653e-05,2.71364278952e-05,1793193586171695616
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.081289359,742,711,673.918710641,665,632.918710641,878.837421282,784,799,650.081289359,629,651,0.420775537286,0.00445961417479,0.0499457031256,0.999999997052,5.70744156124e-06,-7.20131085507e-05,2.6036545315e-05,1793193586188362240
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,742,711,673.500825896,665,632.500825896,878.500825896,784,799.499174104,650.499174104,629,651,0.421647959387,0.0044566552906,0.0499651077782,0.999999999163,1.26496060972e-06,-3.13455519448e-05,2.62590585863e-05,1793193586205029120
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,742,711,673,665,632,878,784,800,651,629,651,0.422520228567,0.00445384855094,0.0499864709079,0.999999999586,-2.87584023975e-06,1.02060604856e-05,2.67592841913e-05,1793193586221695744
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,742,711,673,665,632,878,784,800,651,629,651,0.423327103218,0.00445285650056,0.0499808381808,0.999999999604,-3.71836380286e-06,-3.34257450919e-06,2.76821769636e-05,1793193586238362368
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.230803232,742,711,673,665,632.230803232,878.230803232,784.230803232,799.769196768,651,629.230803232,651,0.424144286755,0.00445168453652,0.0499738015237,0.999999999472,-3.69617534962e-06,-1.5683430932e-05,2.82078971671e-05,1793193586255028992
+167,2.783333333,POSE1_TO_POSE2_PRESS,764.819834423,742,711,673,665,632.819834423,878.819834423,784.819834423,799.180165577,651,629.819834423,651,0.42497747076,0.00445023332968,0.0499645858367,0.99999999926,-2.33187401822e-06,-2.61497054047e-05,2.81171689634e-05,1793193586271695616
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.597784918,742.402215082,711,672.597784918,665,632.597784918,878.597784918,784.597784918,799,650.597784918,629.597784918,651,0.425815673467,0.0044481569007,0.049975968212,0.999999999447,-2.72133753207e-06,-1.5267566272e-05,2.94348639755e-05,1793193586288362496
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.018334833,742.981665167,711,672.018334833,665,632.018334833,878.018334833,784.018334833,799,650.018334833,629.018334833,651,0.426656087603,0.00444580496934,0.049996427069,0.999999999488,-3.88359292361e-06,5.02169495085e-06,3.13731769135e-05,1793193586305029120
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,743,711,672.55777913,665,632,878,784,799.55777913,650,629,651,0.427416710692,0.00444497439307,0.0499807028736,0.999999998613,-4.51282280359e-06,-4.06688710796e-05,3.31489590345e-05,1793193586321695744
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,743,711,673,665,632,878,784,800,650,629,651,0.42817751098,0.00444523742325,0.0499622285517,0.999999995962,-4.09470657925e-06,-8.30256436838e-05,3.4153109326e-05,1793193586338362112
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,743,711,673,665,632,878,784,800,650,629,651,0.428947515103,0.00444895102958,0.0499385718308,0.999999993718,-2.72178492433e-07,-0.000107236210748,3.26241996241e-05,1793193586355028736
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,742.707146069,711,673,665.292853931,632,878,784.292853931,800,650,629,651,0.429745091226,0.00444915939797,0.0499391811807,0.999999995131,-8.74959397734e-07,-9.33794115138e-05,3.18998565665e-05,1793193586371695360
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,742.118322543,711,673,665.881677457,632,878,784.881677457,800,650,629,651,0.43057053264,0.00444582523606,0.049964314769,0.999999998628,-5.95013027523e-06,-4.10502466224e-05,3.19886399587e-05,1793193586388362240
+175,2.916666667,POSE1_TO_POSE2_PRESS,764.462958036,742.462958036,711,673,665.537041964,632,878,784.537041964,799.537041964,650,629,651,0.431309788235,0.00444297255393,0.0499589600558,0.999999997748,-6.86075606052e-06,-5.827493425e-05,3.25830529037e-05,1793193586405029120
+176,2.933333333,POSE1_TO_POSE2_PRESS,764.958101119,743,710.958101119,673,665,632,878.041898881,784,799.041898881,650,629,651,0.432026431465,0.00444044632169,0.0499460018571,0.999999995268,-6.85103299823e-06,-9.11835611143e-05,3.32092471586e-05,1793193586421696000
+177,2.950000000,POSE1_TO_POSE2_PRESS,764.384777311,743,710.384777311,673,665,632,878.615222689,784,799.615222689,650,629,651,0.432731174606,0.00444052485881,0.0499338525549,0.999999994315,-8.45160114632e-06,-0.000101165380231,3.26257455778e-05,1793193586438362624
+178,2.966666667,POSE1_TO_POSE2_PRESS,764.193786184,742.806213816,710.193786184,673,665,632,878.806213816,783.806213816,800,650,629,651,0.433436407718,0.00444115174424,0.0499352812688,0.999999995226,-7.53511535748e-06,-9.17991586323e-05,3.26137868638e-05,1793193586455028992
+179,2.983333333,POSE1_TO_POSE2_PRESS,764.783042706,742.216957294,710.783042706,673,665,632,878.216957294,783.216957294,800,650,629,651,0.43414264087,0.00444289767484,0.0499644193997,0.999999998506,-1.48193665889e-06,-4.29483064939e-05,3.3768207592e-05,1793193586471695616
+180,3.000000000,POSE1_TO_POSE2_PRESS,764.633912126,742.366087874,711,673,665,632,878,783.366087874,800,650,629,651,0.434824071307,0.00444421073837,0.049980228813,0.999999999138,-6.18589340918e-07,-2.26094660787e-05,3.48139963787e-05,1793193586488362240
+181,3.016666667,POSE1_TO_POSE2_PRESS,764.054486658,742.945513342,711,673,665,632,878,783.945513342,800,650,629,651,0.435491047929,0.00444527154864,0.0499882709185,0.999999999177,-2.77961499542e-06,-1.88859945118e-05,3.57964798986e-05,1793193586505028864
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,743,711,673,665,632,878,784,800,650,629.523295865,650.476704135,0.436065751164,0.00444587557408,0.0499644880962,0.999999996722,2.15799670766e-06,-7.22083112513e-05,3.65638326505e-05,1793193586521695744
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,743,711,673.100173181,665,632,878,784,800,650,629.899826819,650.100173181,0.436635128856,0.00444586975211,0.049942738613,0.999999992393,5.7219496299e-06,-0.000117515911559,3.70379900788e-05,1793193586538362624
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,743,711,673.67357976,665,632,878,784,800,650,629.32642024,650.67357976,0.437224594031,0.00444320690187,0.0499462002606,0.99999999464,-6.84281991523e-07,-9.69884146158e-05,3.62325377345e-05,1793193586555029248
+185,3.083333333,POSE1_TO_POSE2_PRESS,764,742.745433938,711,674,665,632,878,784,800,650,629,650.745433938,0.437806501819,0.00444163982413,0.0499598369963,0.999999997343,-4.32126642591e-06,-6.31495772669e-05,3.61461760383e-05,1793193586571696128
+186,3.100000000,POSE1_TO_POSE2_PRESS,764,742.154430225,711,674,665,632,878,784,800,650,629,650.154430225,0.438378421625,0.00444152093307,0.0499869212538,0.999999999237,-4.29837906624e-06,-1.17183095887e-05,3.70101734358e-05,1793193586588362496
+187,3.116666667,POSE1_TO_POSE2_PRESS,764,742.427958487,711,673.572041513,665,632.427958487,878,784.427958487,800,650,629,650.427958487,0.438881520125,0.00444129739645,0.049983666894,0.999999999084,-3.45895878657e-06,-2.12386824534e-05,3.70005308694e-05,1793193586605029120
+188,3.133333333,POSE1_TO_POSE2_PRESS,764,743,711,673,665,632.992765426,878.007234574,784.992765426,800,650,629,651,0.439359203952,0.00444108682449,0.0499693758292,0.999999997938,-2.29199923623e-06,-5.26644622549e-05,3.6672893224e-05,1793193586621695744
+189,3.150000000,POSE1_TO_POSE2_PRESS,764,743,711,673,665,632.418603788,878.581396212,784.418603788,800,650,629,651,0.439753008969,0.00444479295857,0.0499311878276,0.99999999319,1.90801918183e-06,-0.000111112290482,3.56431014788e-05,1793193586638362368
+190,3.166666667,POSE1_TO_POSE2_PRESS,764,743,711,673.155993389,665,632,879,784,799.844006611,650,629,650.844006611,0.440141781458,0.00444917016145,0.0498976448776,0.999999986124,7.4338620422e-06,-0.000162769016726,3.46954405194e-05,1793193586655029248
+191,3.183333333,POSE1_TO_POSE2_PRESS,764,743,711,673.73176272,665,632,879,784,799.26823728,650,629,650.26823728,0.440517011575,0.00445535320153,0.0498766016852,0.999999980049,1.65274801455e-05,-0.000196150999989,3.3968792341e-05,1793193586671696128
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,743,711,674,665,632,879,784,799.316346803,650,629,650.316346803,0.440883598999,0.00446098906562,0.0498693377792,0.9999999775,2.53308027546e-05,-0.00020791453047,3.36094054385e-05,1793193586688362752
+193,3.216666667,POSE1_TO_POSE2_PRESS,764,743,711,674,665,632,879,784,799.908619303,650,629,650.908619303,0.441242648025,0.00446614766857,0.0498740925172,0.999999978698,3.38809217462e-05,-0.00020082189689,3.35703531911e-05,1793193586705029376
+194,3.233333333,POSE1_TO_POSE2_PRESS,764,743,711,673.511786123,665,632,879,784,800,650.488213877,629,650.511786123,0.441576328526,0.00446909131057,0.0498766949702,0.999999979702,3.80071263044e-05,-0.000194982960379,3.36697695439e-05,1793193586721696000
+195,3.250000000,POSE1_TO_POSE2_PRESS,764.065197246,742.934802754,711,673.065197246,664.934802754,632,878.934802754,784,800,650.934802754,629,650,0.441897937563,0.00447192327242,0.0498773764257,0.99999998018,4.17365152097e-05,-0.000191736631473,3.36917595447e-05,1793193586738362624
+196,3.266666667,POSE1_TO_POSE2_PRESS,764.639849726,742.360150274,711,673.639849726,664.360150274,632,878.360150274,784,800,650.360150274,629,650,0.442161383952,0.00447704013179,0.0498661153135,0.999999976857,4.86717445145e-05,-0.000206961867691,3.29113392116e-05,1793193586755029504
+197,3.283333333,POSE1_TO_POSE2_PRESS,764.784561532,742.215438468,711,674,664,632,878.215438468,784,800,650.215438468,629,650.215438468,0.442407142464,0.00448131266155,0.0498544996282,0.999999972505,5.50992686356e-05,-0.000225589749063,3.26139255327e-05,1793193586771695872
+198,3.300000000,POSE1_TO_POSE2_PRESS,764.20740086,742.79259914,711,674,664,632,878.79259914,784,800,650.79259914,629,650.79259914,0.442623202917,0.00448416755739,0.0498422886139,0.999999966378,6.0674352657e-05,-0.000249930686148,3.31274823809e-05,1793193586788362496
+199,3.316666667,POSE1_TO_POSE2_PRESS,764,743,711.379663073,674,664,632,878.620336927,784,799.620336927,650.620336927,629,650.620336927,0.442817829253,0.00448487439012,0.0498312646763,0.999999961842,6.14793265307e-05,-0.000267307469239,3.29036457817e-05,1793193586805029376
+200,3.333333333,POSE1_TO_POSE2_PRESS,764,743,711.972281868,674,664,632,878.027718132,784,799.027718132,650.027718132,629,650.027718132,0.443000433061,0.00448437635921,0.0498209065774,0.999999958285,5.96087121606e-05,-0.000280778011033,3.22661999947e-05,1793193586821696256
+201,3.350000000,POSE1_TO_POSE2_PRESS,764,742.451424646,711.451424646,674,664,631.451424646,878.548575354,784,799,650,629,650,0.443156230631,0.0044892304782,0.0498099003519,0.999999953151,6.38241818163e-05,-0.000297721217762,3.14214937807e-05,1793193586838363136
+202,3.366666667,POSE1_TO_POSE2_PRESS,764,742,711,674,663.876237205,631,879,783.876237205,799.123762795,650,629,650,0.44330312621,0.00449363074243,0.0497994609128,0.999999947712,6.7900603655e-05,-0.000314673689584,3.07681260169e-05,1793193586855029504
+203,3.383333333,POSE1_TO_POSE2_PRESS,764,742,711,674,663.302159381,631,879,783.302159381,799.697840619,650,629,650,0.443422417441,0.00449542410778,0.0497911994534,0.999999942254,7.03845306251e-05,-0.000331039892899,3.08479521308e-05,1793193586871696128
+204,3.400000000,POSE1_TO_POSE2_PRESS,764.27899663,742,711,673.72100337,663,631,878.72100337,783.55799326,799.72100337,650.27899663,629,650.27899663,0.443534220742,0.0044979244137,0.0497868290976,0.99999993918,7.29830565435e-05,-0.000339676332517,3.05630957029e-05,1793193586888362496
+205,3.416666667,POSE1_TO_POSE2_PRESS,764.868017981,742,711,673.131982019,663,631,878.131982019,784.736035961,799.131982019,650.868017981,629,650.868017981,0.443637703348,0.00450121028115,0.0497867825877,0.999999938982,7.57089261862e-05,-0.000339723356246,2.98729992456e-05,1793193586905029120
+206,3.433333333,POSE1_TO_POSE2_PRESS,764.547973048,742,711,673,663,631,878,784.095946096,799.452026952,650.547973048,629,650.547973048,0.44372512855,0.00450062153438,0.0497864095687,0.999999938997,7.42094686794e-05,-0.000340025338925,2.97025506269e-05,1793193586921695744
+207,3.450000000,POSE1_TO_POSE2_PRESS,764,742,711,673,663,631,878.034074985,783.034074985,800,650,629,650.034074985,0.443806438273,0.00449913907775,0.0497858316571,0.999999938953,7.17422821074e-05,-0.000340684715641,2.96672269732e-05,1793193586938362368
+208,3.466666667,POSE1_TO_POSE2_PRESS,764,742,711,673,663,631,878.607988204,783.607988204,800,650,629,650.607988204,0.443864324868,0.00450122416443,0.0497835014741,0.999999937081,7.32744825553e-05,-0.000345839730901,2.939526328e-05,1793193586955029248
+209,3.483333333,POSE1_TO_POSE2_PRESS,764,742,711,673.181009319,663,631,879,783.818990681,800,650,629,650.818990681,0.443915932569,0.00450263326681,0.0497806445424,0.999999935412,7.45359404515e-05,-0.000350389800538,2.91017398968e-05,1793193586971696128
+210,3.500000000,POSE1_TO_POSE2_PRESS,764,742,711,673.752107807,663,631,879,783.247892193,800,650,629,650.247892193,0.443954008758,0.00450258557017,0.0497766524265,0.999999934229,7.52139268866e-05,-0.000353636164631,2.87617537406e-05,1793193586988362752
+211,3.516666667,POSE1_TO_POSE2_PRESS,764,742,711,674,663,631,879,783.336302761,800,650,629,650.336302761,0.443984865163,0.00450329308062,0.0497737679467,0.999999932968,7.59528697135e-05,-0.000357044576047,2.85374169345e-05,1793193587005029376
+212,3.533333333,POSE1_TO_POSE2_PRESS,764,742,711,674,663,631,879,783.930542482,800,650,629,650.930542482,0.444010184154,0.00450457981859,0.0497717329995,0.999999931644,7.67385648488e-05,-0.000360577274606,2.84017806478e-05,1793193587021695744
+213,3.550000000,POSE1_TO_POSE2_PRESS,764,742.510373734,711,674,663,631,879,783.489626266,800,650.510373734,629,651,0.444027643122,0.00450554802238,0.0497708661331,0.999999930943,7.79323823644e-05,-0.000362272782352,2.82706815298e-05,1793193587038362368
+214,3.566666667,POSE1_TO_POSE2_PRESS,764.0878348,743,711,673.9121652,663,631,879,783.0878348,800.0878348,650.9121652,629,651,0.444042893221,0.00450641811388,0.0497700822528,0.999999930307,7.91205792232e-05,-0.000363780298066,2.8096722274e-05,1793193587055028992
+215,3.583333333,POSE1_TO_POSE2_PRESS,764.662727833,743,711,673.337272167,663,631,879,783.662727833,800.662727833,650.337272167,629,651,0.444051663488,0.00450697793883,0.0497689012544,0.999999929589,7.99780760006e-05,-0.000365593736803,2.76817665794e-05,1793193587071695616
+216,3.600000000,POSE1_TO_POSE2_PRESS,764.756565238,743,711,673.243434762,663,631,879,784,800.756565238,650,629,651,0.444058121794,0.00450812870714,0.0497676296611,0.999999928731,8.18852251081e-05,-0.000367531227242,2.74464511244e-05,1793193587088362496
+217,3.616666667,POSE1_TO_POSE2_PRESS,764.167606268,743,711,673.832393732,663,631,879,784,800.167606268,650,629,651,0.444061298568,0.00451011824319,0.0497662294798,0.999999927668,8.52822200916e-05,-0.000369644792941,2.74661118149e-05,1793193587105029888
+218,3.633333333,POSE1_TO_POSE2_PRESS,764,742.585511163,711,674,662.585511163,631,879,784,799.585511163,650,629,650.585511163,0.444064853968,0.00451070485097,0.0497664901184,0.99999992771,8.53595354076e-05,-0.000369533509904,2.7182816936e-05,1793193587121696512
+219,3.650000000,POSE1_TO_POSE2_PRESS,764,742.006146388,711,674,662.006146388,631,879,784,799.006146388,650,629,650.006146388,0.444068559978,0.00451073339998,0.0497674114002,0.999999928194,8.41163439205e-05,-0.000368537223439,2.67790119756e-05,1793193587138362880
+220,3.666666667,POSE1_TO_POSE2_PRESS,764,742.570273312,711,674,662.570273312,631,879,783.429726688,799.570273312,650.570273312,629,650.570273312,0.44407007601,0.00451027721547,0.0497680007524,0.99999992875,8.43740905583e-05,-0.000366958725829,2.68883443268e-05,1793193587155029760
+221,3.683333333,POSE1_TO_POSE2_PRESS,764,743,711,674,663,631,879,783,800,650.853217033,629,650.853217033,0.444070573326,0.00450990565075,0.0497677862895,0.99999992879,8.44755497716e-05,-0.000366816212215,2.6999116937e-05,1793193587171696128
+222,3.700000000,POSE1_TO_POSE2_PRESS,764,743,711,674,663,631,879,783,800,650.276351376,629,650.276351376,0.444068154553,0.00450979725632,0.04976522703,0.999999927316,8.4071921414e-05,-0.000370899507889,2.70979879099e-05,1793193587188362240
+223,3.716666667,POSE1_TO_POSE2_PRESS,764,743,711,674,662.69353647,631,878.69353647,783.30646353,800,650,629,650.30646353,0.444067280079,0.00451024158377,0.0497640550807,0.999999926618,8.39070980624e-05,-0.000372825677165,2.690607989e-05,1793193587205028864
+224,3.733333333,POSE1_TO_POSE2_PRESS,764,743,711,674,662.1052506,631,878.1052506,783.8947494,800,650,629,650.8947494,0.444067825734,0.00451119419151,0.0497641588945,0.999999926647,8.39618785636e-05,-0.000372768164185,2.64467729631e-05,1793193587221695488
+225,3.750000000,POSE1_TO_POSE2_PRESS,764,742.524357685,711,674,662.475642315,631,878,784,800,650,629,651,0.444067906767,0.00451101906662,0.0497643212612,0.999999926569,8.37265699935e-05,-0.000373027578078,2.6488219411e-05,1793193587238362624
+226,3.766666667,POSE1_TO_POSE2_PRESS,764,742,711,674,662.945520484,631,878,784,800,650,629,650.945520484,0.444067906342,0.00451057280544,0.0497643470418,0.999999926438,8.34314849441e-05,-0.000373437268746,2.66062077388e-05,1793193587255030016
+227,3.783333333,POSE1_TO_POSE2_PRESS,764,742,711,674,662.370929682,631,878,784,800,650,629,650.370929682,0.444068094761,0.00450988395826,0.0497629470435,0.999999926022,8.31691671632e-05,-0.000374622362296,2.64132589536e-05,1793193587271696384
+228,3.800000000,POSE1_TO_POSE2_PRESS,764,742.20841725,711,673.79158275,662.20841725,631,878,784,800,650,629,650,0.444068337274,0.00450910878705,0.049762323065,0.999999925786,8.2411765986e-05,-0.000375421592462,2.63556156326e-05,1793193587288362752
+229,3.816666667,POSE1_TO_POSE2_PRESS,764,742.796426524,711,673.203573476,662.796426524,631,878,784,800,650,629,650,0.444068678308,0.00450817639323,0.0497631124578,0.99999992588,8.0752665425e-05,-0.000375518046454,2.65444052611e-05,1793193587305029120
+230,3.833333333,POSE1_TO_POSE2_PRESS,764,743,711,673,663,631,878,783.621348838,800,650,628.621348838,650,0.444068268792,0.00450846288996,0.0497626780305,0.999999925656,8.08697454529e-05,-0.00037608887307,2.65545382074e-05,1793193587321695744
+231,3.850000000,POSE1_TO_POSE2_PRESS,764,743,711,673,663,631,878,783.042187404,800,650,628.042187404,650,0.44406746183,0.00450939483588,0.0497615955435,0.999999925263,8.19273810822e-05,-0.00037691089813,2.6470065602e-05,1793193587338362368
+232,3.866666667,POSE1_TO_POSE2_PRESS,764,743,711,673,662.464287173,631,878,783.535712827,800,650,628,650.535712827,0.444066751651,0.00450983360121,0.0497604324446,0.999999924574,8.40320679416e-05,-0.000378288646007,2.62432994688e-05,1793193587355028992
+233,3.883333333,POSE1_TO_POSE2_PRESS,764.112835206,742.887164794,711,673.112835206,662.112835206,631,878.112835206,784,800,650,628.112835206,651,0.444066417719,0.00451044664116,0.0497597915853,0.999999924127,8.62014396319e-05,-0.000378994696651,2.60527350967e-05,1793193587371695616
+234,3.900000000,POSE1_TO_POSE2_PRESS,764.687181191,742.312818809,711,673.687181191,662.687181191,631,878.687181191,784,800,650,628.687181191,651,0.444067591582,0.00451193096639,0.0497613126594,0.999999924783,8.82989192264e-05,-0.000376774840434,2.60559655427e-05,1793193587388362240
+235,3.916666667,POSE1_TO_POSE2_PRESS,764.731665032,742.268334968,711,674,662.731665032,631,878.731665032,784,800,650,629,651,0.444068974345,0.00451241098037,0.0497621735703,0.999999925455,8.81594003178e-05,-0.000375034158166,2.58165203376e-05,1793193587405029120
+236,3.933333333,POSE1_TO_POSE2_PRESS,764.142368215,742.857631785,711,674,662.142368215,631,878.142368215,784,800,650,629,651,0.444070606979,0.00451168971394,0.0497622448445,0.99999992615,8.53441544824e-05,-0.000373866626979,2.52868050051e-05,1793193587421696256
+237,3.950000000,POSE1_TO_POSE2_PRESS,764,743,711,673.560583628,662,631,878,783.560583628,800,650,629,651,0.444068937187,0.00451131564043,0.0497613263169,0.999999925564,8.4273775262e-05,-0.000375653381511,2.5601529109e-05,1793193587438362624
+238,3.966666667,POSE1_TO_POSE2_PRESS,764,743,711,673.018715385,662.018715385,631,878.018715385,783.018715385,800,650,629,651,0.44406633315,0.00451105091263,0.0497601511039,0.999999924605,8.37895990579e-05,-0.000378264725075,2.61683749955e-05,1793193587455028992
+239,3.983333333,POSE1_TO_POSE2_PRESS,764,743,711,673.595256371,662.595256371,631,878.595256371,783.595256371,800,650,629,651,0.444067238302,0.00451074886992,0.0497607229229,0.999999924893,8.42108969954e-05,-0.000377403921654,2.62323184266e-05,1793193587471695616
+240,4.000000000,HOLD_POSE2,764,743,711,674,662,631,879,783,800,650,629,650,0.444071504479,0.00451219866714,0.0497637082539,0.999999926272,8.33956731922e-05,-0.000373950724823,2.57351546948e-05,1793193587512450304
+241,4.016666667,HOLD_POSE2,764,742.408544924,711,673.408544924,662,631,879.591455076,783,800,650,629,650.591455076,0.444070329002,0.00451117961201,0.0497626953488,0.999999925712,8.38097690891e-05,-0.000375335766082,2.5975744191e-05,1793193587529116928
+242,4.033333333,HOLD_POSE2,764.178748616,742,711,673.178748616,662,631,879.642502769,783.178748616,800,650,629,650.821251384,0.444070095537,0.00451111580848,0.049762268528,0.999999925465,8.45403508795e-05,-0.00037583303421,2.5926211842e-05,1793193587545783040
+243,4.050000000,HOLD_POSE2,764.756747133,742,711,673.756747133,662,631,878.486505735,783.756747133,800,650,629,650.243252867,0.444071966136,0.00451318563865,0.0497631507747,0.999999925918,8.59778303181e-05,-0.000374347387474,2.52286682666e-05,1793193587562449664
+244,4.066666667,HOLD_POSE2,764.665928168,742.334071832,711,674,662,631,878.334071832,783.665928168,800.334071832,650,629,650.334071832,0.444072730984,0.00451263668585,0.0497636858223,0.999999926223,8.53071015964e-05,-0.000373686041945,2.52254997064e-05,1793193587579116288
+245,4.083333333,HOLD_POSE2,764.089093152,742.910906848,711,674,662,631,878.910906848,783.089093152,800.910906848,650,629,650.910906848,0.444072692304,0.00451018471676,0.0497639685672,0.999999926419,8.31043809382e-05,-0.000373623699368,2.57269193421e-05,1793193587595782656
+246,4.100000000,HOLD_POSE2,764,743,711,674,662,630.50318062,878.50318062,783,800.00636124,650,629,651,0.444071774961,0.00450979549284,0.0497634563882,0.999999926172,8.20171730343e-05,-0.000374522665353,2.57149076372e-05,1793193587612449536
+247,4.116666667,HOLD_POSE2,764,742.916782762,711,673.916782762,662,630.083217238,878,783.083217238,799.166434476,650.083217238,629,651,0.444070950916,0.00450987928546,0.0497629557896,0.999999925912,8.16451021037e-05,-0.00037530096362,2.56632329535e-05,1793193587629116160
+248,4.133333333,HOLD_POSE2,764,742.337377881,711,673.337377881,662,630.662622119,878,783.662622119,800.325244238,650.662622119,629,651,0.444071640151,0.00451053683184,0.0497633900299,0.999999926054,8.43221185507e-05,-0.000374312766181,2.59342682115e-05,1793193587645782528
+249,4.150000000,HOLD_POSE2,764,742.240457785,711,673.240457785,662,631,878.240457785,783.759542215,800.759542215,650.759542215,629,651,0.444071674137,0.00451067244377,0.0497633145639,0.999999925948,8.55593115209e-05,-0.000374301336789,2.61103278136e-05,1793193587662449152
+250,4.166666667,HOLD_POSE2,764,742.816105968,711,673.816105968,662,631,878.816105968,783.183894032,800.183894032,650.183894032,629,651,0.444070794726,0.00451008049584,0.0497625285836,0.999999925506,8.47894367797e-05,-0.00037565149064,2.61539943921e-05,1793193587679115776
+251,4.183333333,HOLD_POSE2,764,743,711,674,662,630.600906264,879,783,800,650,629,651,0.444070616215,0.00450896636797,0.0497619631687,0.999999925447,8.28011798782e-05,-0.000376244507846,2.62529869975e-05,1793193587695782144
+252,4.200000000,HOLD_POSE2,764,743,711,674,662,630.014473157,879,783,800,650,629,651,0.444070766715,0.00450760712253,0.0497615012898,0.999999925563,8.02409997539e-05,-0.000376482116177,2.63779503053e-05,1793193587712449024
+253,4.216666667,HOLD_POSE2,764,743,711,674,662,630.565237892,879,783,800,650,629,651,0.444071466995,0.00450980000934,0.0497620550428,0.999999925514,8.37273890564e-05,-0.00037586743575,2.6194448604e-05,1793193587729115904
+254,4.233333333,HOLD_POSE2,764,743,711,674,662,631,878.855484902,783,800,650,629,651,0.444072075991,0.00451195599452,0.0497625957052,0.999999925543,8.71966526472e-05,-0.000375016342226,2.59536244384e-05,1793193587745782528
+255,4.250000000,HOLD_POSE2,764,743,711,674,662,631,878.276999565,783,800,650,629,651,0.444072369087,0.00451373124785,0.0497630198818,0.999999925851,9.01550235753e-05,-0.00037352007773,2.55641038842e-05,1793193587762449152
+256,4.266666667,HOLD_POSE2,764,743,711,674,662,631,878,783,800,650,628.701260443,650.701260443,0.444072088398,0.00451408876777,0.0497630360611,0.999999925858,8.99931530542e-05,-0.000373553393605,2.53737718776e-05,1793193587779115776
+257,4.283333333,HOLD_POSE2,764,743,711,674,662,631,878,783,800,650,628.128044529,650.128044529,0.444071280526,0.00451314370047,0.04976267738,0.999999925587,8.69644624467e-05,-0.000374992059613,2.53664506336e-05,1793193587795782400
+258,4.300000000,POSE2_TO_POSE3_RETREAT,763,742,711,674,662,631,879,783,800,650,629,650,0.444072517231,0.00451053142477,0.0497632250642,0.99999992638,8.14604321073e-05,-0.000374124585463,2.52085988606e-05,1793193587827730432
+259,4.316666667,POSE2_TO_POSE3_RETREAT,763.579654852,742,711,674,662,631,879,783.579654852,800,650.579654852,629,650.579654852,0.444071721145,0.00451094946984,0.049762664063,0.999999925933,8.43004595037e-05,-0.000374665246742,2.55550707643e-05,1793193587844396800
+260,4.333333333,POSE2_TO_POSE3_RETREAT,764,742.158173247,711,674,662,631,878.841826753,784,800,650.841826753,629,651,0.444071442091,0.00451166034233,0.0497624549709,0.999999925702,8.6437073116e-05,-0.000374790521514,2.56453120403e-05,1793193587861063424
+261,4.350000000,POSE2_TO_POSE3_RETREAT,764,742.733693178,711,674,662,631,878.266306822,784,800,650.266306822,629,651,0.444072527245,0.00451314385224,0.0497631744053,0.999999926055,8.67177008598e-05,-0.000373819781855,2.5059478237e-05,1793193587877730048
+262,4.366666667,POSE2_TO_POSE3_RETREAT,764,743,711,673.691091369,662,631,878,783.691091369,800.308908631,650,629,650.691091369,0.444072152654,0.00451276773416,0.0497630164269,0.999999925986,8.54890848917e-05,-0.000374293561555,2.49863442999e-05,1793193587894396928
+263,4.383333333,POSE2_TO_POSE3_RETREAT,764,743,711,673.11613818,662,631,878,783.11613818,800.88386182,650,629,650.11613818,0.444070520873,0.00451079002946,0.0497621027853,0.999999925545,8.29606474184e-05,-0.000376011419579,2.53547681778e-05,1793193587911063296
+264,4.400000000,POSE2_TO_POSE3_RETREAT,764,742.53056752,711,673.46943248,662,631,878,783,800.061135039,650,629,650,0.444068784884,0.00451158915043,0.0497611387641,0.99999992477,8.49505583099e-05,-0.000377617633476,2.54663621172e-05,1793193587927730176
+265,4.416666667,POSE2_TO_POSE3_RETREAT,764.056830542,742.056830542,711,674,662.056830542,631,878.056830542,783.056830542,799.056830542,650,629,650.056830542,0.44406554167,0.00451286725721,0.0497595344143,0.999999923565,8.75935620428e-05,-0.000380194495998,2.54698999257e-05,1793193587944397056
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764.636317959,742.636317959,711,674,662.636317959,631,878.636317959,783.636317959,799.636317959,650,629,650.636317959,0.444048679466,0.00451208619118,0.0497521583972,0.999999919196,8.57244486832e-05,-0.000391958082555,2.50775567548e-05,1793193587961063680
+267,4.450000000,POSE2_TO_POSE3_RETREAT,764.785547699,742.785547699,711,673.785547699,663,631,878.785547699,783.785547699,800,650,628.785547699,650.785547699,0.444020263481,0.00451133762685,0.0497402742009,0.999999911243,8.36097303477e-05,-0.000412209327862,2.46490858964e-05,1793193587977730048
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764.209693662,742.209693662,711,673.209693662,663,631,878.209693662,783.209693662,800,650,628.209693662,650.209693662,0.443972376703,0.00451064383548,0.0497207926808,0.999999896622,8.1081110947e-05,-0.000446764240215,2.41597315505e-05,1793193587994396672
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,742.37307556,711,673.37307556,662.62692444,631,878,783.37307556,800,650,628.37307556,650.37307556,0.443912833073,0.00451245604604,0.0497016336528,0.999999883423,8.30086346132e-05,-0.000475116185139,2.2993452146e-05,1793193588011063552
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764,742.959805042,711,673.959805042,662.040194958,631,878,783.959805042,800,650,628.959805042,650.959805042,0.443846613762,0.00451570340051,0.0496826593088,0.999999870985,8.74881141209e-05,-0.0004999158011,2.1439509418e-05,1793193588027730432
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764,742.460261559,710.460261559,673.460261559,662.539738441,631,878.539738441,783.460261559,800,650,629,651,0.44376619282,0.00451784596313,0.0496734113895,0.999999864234,8.78619453604e-05,-0.000513227374433,2.02377537592e-05,1793193588044397056
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764.118865728,742,710.118865728,673.118865728,663,631,878.881134272,783.118865728,800,650,629,650.881134272,0.44368190567,0.00451991490286,0.0496675024282,0.999999859898,8.91118329105e-05,-0.000521434369341,1.9239741909e-05,1793193588061063936
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764.696810228,742,710.696810228,673.696810228,663,631,878.303189772,783.696810228,800,650,629,650.303189772,0.443586720449,0.00452201330837,0.0496717263378,0.999999863635,9.49113743422e-05,-0.000513189757418,1.89285850754e-05,1793193588077731328
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764.726670633,742.273329367,711,673.726670633,663,631,878,783.726670633,800,650,629,650.273329367,0.44347952045,0.00452326278402,0.0496773789197,0.999999868211,9.90813033959e-05,-0.000503400761619,1.86704976836e-05,1793193588094397952
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764.151724406,742.848275594,711,673.151724406,663,631,878,783.151724406,800,650,629,650.848275594,0.443359062241,0.00452357547194,0.0496846080302,0.999999873697,0.000101452967338,-0.000491907550539,1.84709720322e-05,1793193588111063808
+276,4.600000000,POSE2_TO_POSE3_RETREAT,763.566775987,742.566775987,711,673.433224013,663,631,878.433224013,783.433224013,800.433224013,650,629,650.566775987,0.44321215357,0.00452565419534,0.0496868574722,0.99999987495,0.000105512047264,-0.000488515496243,1.78702488737e-05,1793193588127730432
+277,4.616666667,POSE2_TO_POSE3_RETREAT,763.021454464,742.021454464,711,674,663,631,878.978545536,784,800.978545536,650,629,650.021454464,0.443054284272,0.00452841159749,0.0496873761846,0.999999874747,0.000110190025656,-0.000487926724672,1.70832294385e-05,1793193588144397568
+278,4.633333333,POSE2_TO_POSE3_RETREAT,763.601773143,742.601773143,711,674,663,631,878.398226857,784,800.398226857,650,629,650.601773143,0.442857910093,0.00453235572485,0.0496893138902,0.999999875775,0.000115231708157,-0.000484707795438,1.51899784293e-05,1793193588161064192
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764,743,711,673.819571138,663,631,878,784,800,650,629,650.819571138,0.442649740719,0.00453579423315,0.0496932641056,0.99999987812,0.00012107284937,-0.000478444012276,1.38484506975e-05,1793193588177730816
+280,4.666666667,POSE2_TO_POSE3_RETREAT,764,743,711,673.244552315,663,631,878,784,800,650,629,650.244552315,0.4424157758,0.00453812697437,0.0497016155909,0.999999883274,0.000128662370844,-0.000465521268309,1.37135176784e-05,1793193588194397184
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764,743,711,673.33072002,663,631,877.66927998,784,800,650,629,650.33072002,0.442164096281,0.00454073859355,0.0497132179565,0.999999891008,0.000134507911648,-0.000446901782165,1.30342004381e-05,1793193588211064064
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764,743,711,673.906180019,663,631,877.093819981,784,800,650,629,650.906180019,0.441899307549,0.0045435565887,0.049727226045,0.999999900343,0.000139062869729,-0.000424066581913,1.19520270629e-05,1793193588227730688
+283,4.716666667,POSE2_TO_POSE3_RETREAT,764,743,711,674,663,631,877.989445372,784,800,650,629,650.505277314,0.441596704212,0.00454885584031,0.0497399410026,0.999999907687,0.00014577528438,-0.00040406924981,1.01447347909e-05,1793193588244397312
+284,4.733333333,POSE2_TO_POSE3_RETREAT,764,742.915891994,711,674,663.084108006,631,878.915891994,784,800,650,629,650,0.441277325758,0.00455438268933,0.0497517101455,0.999999913757,0.000152936660247,-0.000386042226357,8.26642954943e-06,1793193588261063936
+285,4.750000000,POSE2_TO_POSE3_RETREAT,764,742.336550037,711,674,663.663449963,631,878.336550037,784,800,650,629,650,0.440902545697,0.0045584037645,0.0497593934296,0.99999991631,0.000160267052454,-0.000376361610604,6.80167180891e-06,1793193588277730560
+286,4.766666667,POSE2_TO_POSE3_RETREAT,764,742,711,673.759100523,664,631,878,784,800,650,629,650,0.440505001798,0.00456302401042,0.0497655272689,0.99999991924,0.000168330558072,-0.00036491492143,4.63127061054e-06,1793193588294397184
+287,4.783333333,POSE2_TO_POSE3_RETREAT,764,742,711,673.184274285,664,631,878,784,800,650,629,650,0.440075903457,0.00456847480647,0.0497695133196,0.999999922654,0.000177410280425,-0.000351020161187,1.48273024823e-06,1793193588311063552
+288,4.800000000,POSE2_TO_POSE3_RETREAT,763.600593753,742.399406247,711,673.399406247,664,631.399406247,878,784,800,650,629,650,0.439621147333,0.0045737772444,0.0497701385296,0.999999922177,0.000183535521689,-0.000349226740308,-1.42056336325e-06,1793193588327730176
+289,4.816666667,POSE2_TO_POSE3_RETREAT,763.012735513,742.987264487,711,673.987264487,664,631.987264487,878,784,800,650,629,650,0.4391542851,0.0045790096823,0.0497691779929,0.999999919914,0.000188266748832,-0.000353143099145,-4.20814202288e-06,1793193588344397056
+290,4.833333333,POSE2_TO_POSE3_RETREAT,763.566853094,743,711,673.433146906,664,632,878,784,800,650,629,650.566853094,0.438638434903,0.00458599598647,0.0497701700668,0.999999919363,0.000196433059214,-0.000350178817506,-7.97191891791e-06,1793193588361063680
+291,4.850000000,POSE2_TO_POSE3_RETREAT,764,742.854880768,711,673.145119232,664,632,878,784,800.145119232,650,629,650.854880768,0.438111255221,0.00459300301025,0.0497741903328,0.999999919978,0.00020505509125,-0.000343310909243,-1.16035011529e-05,1793193588377730304
+292,4.866666667,POSE2_TO_POSE3_RETREAT,764,742.279988925,711,673.720011075,664,632,878,784,800.720011075,650,629,650.279988925,0.437553735822,0.00459995637609,0.0497870505796,0.9999999239,0.000214801475885,-0.000325333587978,-1.47795675605e-05,1793193588394396928
+293,4.883333333,POSE2_TO_POSE3_RETREAT,764,742.293886025,711,673.706113975,664.293886025,632,878,784,800.706113975,650,629,650.293886025,0.436967886658,0.00460506090457,0.0498064703974,0.99999992947,0.000222151399775,-0.000302335452328,-1.73955465906e-05,1793193588411063808
+294,4.900000000,POSE2_TO_POSE3_RETREAT,764,742.866795576,711,673.133204424,664.866795576,632,878,784,800.133204424,650,629,650.866795576,0.436355140365,0.00460841009649,0.0498321180551,0.9999999363,0.000227226058583,-0.000274570414354,-1.94797635298e-05,1793193588427730432
+295,4.916666667,POSE2_TO_POSE3_RETREAT,764,742.544016113,711,673.455983887,664.544016113,632,878,784,800,650,629,650.544016113,0.43568967692,0.00460245231429,0.049826480568,0.999999934808,0.000218727289473,-0.000286189986145,-2.52688091581e-05,1793193588444397312
+296,4.933333333,POSE2_TO_POSE3_RETREAT,764,742.048554985,711,674,664.048554985,632,878,784,800,649.951445015,629,650.048554985,0.435005998024,0.00459259006086,0.0498102522426,0.999999931948,0.000196089839531,-0.000310876466197,-3.17575874366e-05,1793193588461063936
+297,4.950000000,POSE2_TO_POSE3_RETREAT,764,742.62431095,711,674,664.62431095,632,878,784,800,649.37568905,629,650.62431095,0.43429793961,0.00457094692942,0.04978193584,0.999999936833,6.45838841171e-05,-0.000347894407288,-3.36577558862e-05,1793193588477730560
+298,4.966666667,POSE2_TO_POSE3_RETREAT,764,742.800213336,711,673.800213336,665,632,877.800213336,784.199786664,800,649.199786664,629,651,0.433588967861,0.00455865240637,0.0497699409834,0.999999933334,-1.84214488516e-05,-0.00036286553488,-3.63484910397e-05,1793193588494397184
+299,4.983333333,POSE2_TO_POSE3_RETREAT,764,742.225263916,711,673.225263916,665,632,877.225263916,784.774736084,800,649.774736084,629,651,0.432878281081,0.00456391285867,0.0497885950019,0.99999994253,-1.03514880332e-05,-0.000336436793133,-4.05237664897e-05,1793193588511063552
+300,5.000000000,POSE2_TO_POSE3_RETREAT,764,742,711,673,665,632,877.359617797,784.640382203,799.640382203,650,629,650.640382203,0.43213758482,0.00457072869242,0.0498061140052,0.999999950006,3.66635374377e-06,-0.000313062246514,-4.43568426413e-05,1793193588527730432
+301,5.016666667,POSE2_TO_POSE3_RETREAT,764,742,711,673,665,632,877.950897771,784.049102229,799.049102229,650,629,650.049102229,0.431377556779,0.00457854648708,0.0498229018423,0.999999956087,2.15157604342e-05,-0.000291655182684,-4.79694772641e-05,1793193588544397056
+302,5.033333333,POSE2_TO_POSE3_RETREAT,764,742,711,673,665,632,877.468965885,784,799.531034115,650,629,650.531034115,0.430541894297,0.00458089404183,0.0497927201658,0.999999941648,3.61134690539e-05,-0.000335819225524,-5.12301018131e-05,1793193588561063936
+303,5.050000000,POSE2_TO_POSE3_RETREAT,764,742,711,673,664.890111564,632,877.109888436,784,800,650,629,651,0.429704235004,0.00458282185567,0.049764428757,0.99999992641,5.88017161585e-05,-0.000375561687946,-5.17192812081e-05,1793193588577730816
+304,5.066666667,POSE2_TO_POSE3_RETREAT,764,742,711,673,664.312418751,632,877.687581249,784,800,650,629,651,0.428887235607,0.00458507180418,0.0497622931123,0.999999923417,0.000117185733567,-0.000371200674129,-4.05458980743e-05,1793193588594397696
+305,5.083333333,POSE2_TO_POSE3_RETREAT,764,742,711,673,664.263619225,632,877.736380775,784,800,650,629,651,0.428053404722,0.00458347816059,0.0497684928126,0.999999923015,0.000130597190524,-0.000368345300517,-3.51691708046e-05,1793193588611064064
+306,5.100000000,POSE2_TO_POSE3_RETREAT,764,742,711,673,664.83770834,632,877.16229166,784,800,650,629,651,0.427199750931,0.00457735783825,0.0497845092232,0.999999927744,9.10435276594e-05,-0.000367263151159,-3.66192853496e-05,1793193588627730688
+307,5.116666667,POSE2_TO_POSE3_RETREAT,764,742,711,673,664.587611651,632,877,784,799.587611651,650,629,651,0.42632891571,0.00457849005198,0.0497799258327,0.999999928104,8.19404858342e-05,-0.000367923162368,-4.13466590894e-05,1793193588644397056
+308,5.133333333,POSE2_TO_POSE3_RETREAT,764,742,711,673,664.012698802,632,877,784,799.012698802,650,629,651,0.425451309246,0.00458248053013,0.049767223947,0.999999927099,8.48382024136e-05,-0.000369269768764,-4.7365618497e-05,1793193588661063680
+309,5.150000000,POSE2_TO_POSE3_RETREAT,764,742,711,673,665.16403018,632,877.58201509,784,799.58201509,650,629,651,0.42464484088,0.0045841013558,0.0498047939798,0.999999950039,9.10167844435e-05,-0.000298994273136,-4.73361399389e-05,1793193588677730304
+310,5.166666667,POSE2_TO_POSE3_RETREAT,763.828932267,742,711,673,665.828932267,632,878,784,800,650,629,651,0.423822731512,0.00458521657321,0.0498338878771,0.999999964233,9.5418120687e-05,-0.000245410572576,-4.69297242786e-05,1793193588694396672
+311,5.183333333,POSE2_TO_POSE3_RETREAT,763.254290505,742,711,673,665.254290505,632,878,784,800,650,629,651,0.422959932068,0.00458526525622,0.0498403065092,0.999999966771,9.54518469926e-05,-0.000235021769176,-4.59563581888e-05,1793193588711063808
+312,5.200000000,POSE2_TO_POSE3_RETREAT,763.31987804,742.31987804,711,673,665,632,878,784,799.68012196,650,629,651,0.422065824646,0.00458571251127,0.0498247538305,0.999999959044,9.645993249e-05,-0.00026544908142,-4.63100896508e-05,1793193588727730432
+313,5.216666667,POSE2_TO_POSE3_RETREAT,763.893670925,742.893670925,711,673,665,632,878,784,799.106329075,650,629,651,0.421146865417,0.0045864761474,0.0497917606233,0.999999940153,9.82414507947e-05,-0.000328275671887,-4.77172530409e-05,1793193588744396800
+314,5.233333333,POSE2_TO_POSE3_RETREAT,763.519283749,743,711,673,665,632,877.519283749,784,799,650,629,651,0.420271897931,0.00458776598308,0.0497986580238,0.999999940305,9.73459445382e-05,-0.000328126137241,-4.73931250588e-05,1793193588761063680
+315,5.250000000,POSE2_TO_POSE3_RETREAT,763.069391746,743,711,673,665.069391746,632,877,784,799.069391746,650,629,650.930608254,0.419402694863,0.00458972574619,0.0498108204461,0.999999943037,9.68694365055e-05,-0.000319945090399,-4.66563292466e-05,1793193588777730048
+316,5.266666667,POSE2_TO_POSE3_RETREAT,763.647910858,743,711,673,665.647910858,632,877,784,799.647910858,650,629,650.352089142,0.418502369283,0.00459572260822,0.0497950400718,0.999999929492,0.00010393472729,-0.000357935835538,-4.57810903505e-05,1793193588794397696
+317,5.283333333,POSE2_TO_POSE3_RETREAT,763.773903052,742.773903052,711,673,665.773903052,632.226096948,877,784.226096948,800,650,629,650.226096948,0.417636656361,0.00459817347535,0.0497841784751,0.999999922401,0.000104697822702,-0.00037693474674,-4.6428384267e-05,1793193588811064576
+318,5.300000000,POSE2_TO_POSE3_RETREAT,763.196234707,742.196234707,711,673,665.196234707,632.803765293,877,784.803765293,800,650,629,650.803765293,0.416824764552,0.0045951104681,0.0497809653715,0.999999927077,9.56612663929e-05,-0.00036640214859,-4.94431536421e-05,1793193588827730432
+319,5.316666667,POSE2_TO_POSE3_RETREAT,763.379539193,742,711,673,665,632.620460807,877,784.620460807,799.620460807,650,629,651,0.416032687009,0.00459299545759,0.0497993740633,0.99999994064,9.22336733227e-05,-0.000328134427901,-5.04145782113e-05,1793193588844397056
+320,5.333333333,POSE2_TO_POSE3_RETREAT,763.95433843,742,711,673,665,632.04566157,877,784.04566157,799.04566157,650,629,651,0.415250803282,0.00459136815944,0.0498289064359,0.999999956552,9.1691701975e-05,-0.000275597927064,-5.03347708752e-05,1793193588861063680
+321,5.350000000,POSE2_TO_POSE3_RETREAT,763.457000158,742,711,672.457000158,664.457000158,632.542999842,877.542999842,784,799.542999842,650,629,651,0.41442923612,0.00459403940555,0.0498151812449,0.999999948915,9.39408379072e-05,-0.000301278038747,-5.07700859274e-05,1793193588877730560
+322,5.366666667,POSE2_TO_POSE3_RETREAT,763,742,710.869421996,672,664,632.869421996,877.869421996,784,800,650,629,651,0.413611086483,0.00459698067136,0.049796790166,0.999999938406,9.6259713817e-05,-0.000333597550143,-5.13365326621e-05,1793193588894397184
+323,5.383333333,POSE2_TO_POSE3_RETREAT,763,742,710.289684752,672,664,632.289684752,877.289684752,784,800,650,629,651,0.412816471771,0.00459957479399,0.0497751897549,0.999999927028,9.79899864851e-05,-0.000365537828885,-5.220113782e-05,1793193588911064064
+324,5.400000000,POSE2_TO_POSE3_RETREAT,763.287323732,742,710.287323732,672.574647465,664.287323732,632.287323732,877.287323732,784,799.712676268,650,629,651,0.412069005663,0.00460102783329,0.0497776119562,0.999999926735,9.79018708155e-05,-0.000366357059566,-5.22274228409e-05,1793193588927730688
+325,5.416666667,POSE2_TO_POSE3_RETREAT,763.861606883,742,710.861606883,673.723213766,664.861606883,632.861606883,877.861606883,784,799.138393117,650,629,651,0.411368628424,0.00460134123592,0.0498040263116,0.999999937591,9.59976723479e-05,-0.000336094700407,-5.14164506296e-05,1793193588944397056
+326,5.433333333,POSE2_TO_POSE3_RETREAT,764,742,710.55392027,673.55392027,664.55392027,633,878,784,799,650,629,651,0.410649955904,0.00460128062676,0.0498036624726,0.999999935995,9.79262499853e-05,-0.00034026686619,-5.13759172424e-05,1793193588961063680
+327,5.450000000,POSE2_TO_POSE3_RETREAT,763.966575156,742,710.033424844,672.966575156,664,632.966575156,878,784,799,650,629,651,0.409929789741,0.00460116064254,0.0497948089082,0.999999930613,0.000100559945062,-0.000354954704962,-5.16627148098e-05,1793193588977730304
+328,5.466666667,POSE2_TO_POSE3_RETREAT,763.385180492,742,710.614819508,672.385180492,664,632.385180492,878,784,799,650,629,651,0.409280365444,0.00460201400847,0.0497861558587,0.999999928272,9.48036065426e-05,-0.000362804006875,-5.33056328367e-05,1793193588994396928
+329,5.483333333,POSE2_TO_POSE3_RETREAT,763,742.193838507,711,672.193838507,664.193838507,632,877.806161493,784,799.193838507,650,629,651,0.408656797155,0.0046011640182,0.0497889841743,0.999999931916,8.95487170576e-05,-0.000353868897749,-5.40948260685e-05,1793193589011063808
+330,5.500000000,POSE2_TO_POSE3_RETREAT,763,742.768194032,711,672.768194032,664.768194032,632,877.231805968,784,799.768194032,650,629,651,0.408083985702,0.00459697023417,0.0498143511202,0.999999946281,8.52782020261e-05,-0.000311984949225,-5.32081047859e-05,1793193589027730432
+331,5.516666667,POSE2_TO_POSE3_RETREAT,763.341668459,742.658331541,710.658331541,673,664.658331541,632,877,784,800,650,629,651,0.407522030282,0.00459439259686,0.0498269980941,0.999999951271,8.53555770198e-05,-0.000295824149677,-5.15838062809e-05,1793193589044397312
+332,5.533333333,POSE2_TO_POSE3_RETREAT,763.914546605,742.085453395,710.085453395,673,664.085453395,632,877,784,800,650,629,651,0.406967421257,0.0045929086188,0.049831037363,0.999999950746,8.83752031369e-05,-0.000297070406691,-4.94603836636e-05,1793193589061063936
+333,5.550000000,POSE2_TO_POSE3_RETREAT,764,742.507326288,710.507326288,672.492673712,664,632,877,784.507326288,799.492673712,650,629,651.507326288,0.4063941519,0.00459461350191,0.0498056609274,0.999999935892,8.9159249003e-05,-0.00034325097583,-4.94590439964e-05,1793193589077730560
+334,5.566666667,POSE2_TO_POSE3_RETREAT,763.900023271,742.900023271,711,672.099976729,664,632.099976729,876.900023271,784.900023271,799.099976729,650,629,651.900023271,0.405832882882,0.00459622569628,0.0497780229905,0.999999918086,8.8347932821e-05,-0.000391833011795,-4.98951989349e-05,1793193589094397184
+335,5.583333333,POSE2_TO_POSE3_RETREAT,763.324580632,742.324580632,711,672.675419368,664,632.675419368,876.324580632,784.324580632,799.675419368,650,629,651.324580632,0.405344242959,0.00459473833279,0.0497641555867,0.999999909519,8.18133916753e-05,-0.000414371333843,-5.0642663762e-05,1793193589111063808
+336,5.600000000,POSE2_TO_POSE3_RETREAT,763.251313932,742,711,672.748686068,664,632.748686068,876.251313932,784.251313932,799.748686068,650,629,651,0.40489758197,0.00459392106092,0.0497649921247,0.999999911287,7.95311344463e-05,-0.000410463628366,-5.11884305396e-05,1793193589127730176
+337,5.616666667,POSE2_TO_POSE3_RETREAT,763.827793178,742,711,672.172206822,664,632.172206822,876.827793178,784.827793178,799.172206822,650,629,651,0.404505235927,0.00459397079461,0.0497848535221,0.999999925933,8.27507423367e-05,-0.000372338435266,-5.14732279781e-05,1793193589144396544
+338,5.633333333,POSE2_TO_POSE3_RETREAT,763.589278426,742,711,672.410721574,664.410721574,632.410721574,877,784.589278426,799,650,629,651,0.404153400893,0.00459252711812,0.0498122082375,0.999999940392,8.50597866735e-05,-0.0003308368948,-5.02831030685e-05,1793193589161063936
+339,5.650000000,POSE2_TO_POSE3_RETREAT,763.003602853,742,711,672.996397147,664.996397147,632.996397147,877,784.003602853,799,650,629,651,0.403818822195,0.0045904472976,0.0498427548638,0.9999999536,8.69809607997e-05,-0.000287897136798,-4.84647092925e-05,1793193589177731072
+340,5.666666667,POSE2_TO_POSE3_RETREAT,763.579162798,742,711,673,664.420837202,633,877,784.579162798,799.579162798,650,629,651,0.403480549881,0.0045926046025,0.0498493335365,0.9999999556,8.89503707705e-05,-0.000280159893236,-4.8971965611e-05,1793193589194397696
+341,5.683333333,POSE2_TO_POSE3_RETREAT,764,742,710.840381418,673,664,632.840381418,877,785,799.840381418,650,629,651,0.403150161207,0.00459386958816,0.0498498317637,0.999999954424,8.94999140078e-05,-0.00028409714142,-4.93032089787e-05,1793193589211064320
+342,5.700000000,POSE2_TO_POSE3_RETREAT,764,742,710.265882496,673,664,632.265882496,877,785,799.265882496,650,629,651,0.402840323025,0.0045927470918,0.0498349113114,0.999999944561,8.6358166445e-05,-0.000317812359615,-4.91395442372e-05,1793193589227730688
+343,5.716666667,POSE2_TO_POSE3_RETREAT,764,742,710.309610064,672.690389936,664,632,876.690389936,785,799.309610064,650,629,651,0.402556272483,0.00459185669662,0.0498202701307,0.999999935493,7.93175120808e-05,-0.000346847705204,-4.91936503512e-05,1793193589244397056
+344,5.733333333,POSE2_TO_POSE3_RETREAT,764,742,710.88595864,672.11404136,664,632,876.11404136,785,799.88595864,650,629,651,0.402294438799,0.00459116626378,0.0498058695517,0.999999927267,6.89178308131e-05,-0.000371851195849,-4.94353727156e-05,1793193589261063680
+345,5.750000000,POSE2_TO_POSE3_RETREAT,763.529224111,742,711,672.470775889,664.470775889,632,876,784.529224111,799.529224111,650.470775889,629,651,0.40208694946,0.00459013307328,0.0498012551257,0.999999926308,5.56899298224e-05,-0.000376671988821,-4.90002966781e-05,1793193589277730304
+346,5.766666667,POSE2_TO_POSE3_RETREAT,763.057084616,742,711,672.942915384,664.942915384,632,876.057084616,784.057084616,799,650.942915384,629,651,0.401896950642,0.00458844555481,0.0498002105545,0.999999927763,4.36518267876e-05,-0.000374481138659,-4.82988049015e-05,1793193589294396928
+347,5.783333333,POSE2_TO_POSE3_RETREAT,763.637910853,742,711,672.362089147,664.362089147,632,876.637910853,784.637910853,799,650.362089147,629,651,0.401744430307,0.00458153042988,0.0498097704254,0.999999935183,4.89308431602e-05,-0.00035363785265,-4.66847481587e-05,1793193589311063552
+348,5.800000000,POSE2_TO_POSE3_RETREAT,763.783835648,742,711,672,664,632,876.783835648,784.783835648,799,650,629,651,0.401607189844,0.00457542013769,0.049819409909,0.999999941906,5.10830569731e-05,-0.000333928653666,-4.54937307375e-05,1793193589327730432
+349,5.816666667,POSE2_TO_POSE3_RETREAT,763.209841021,742,711,672,664,632,876.209841021,784.209841021,799,650,629,651,0.401495243115,0.00457064213583,0.0498291811794,0.999999947874,4.80592798292e-05,-0.000316096781573,-4.5002996755e-05,1793193589344397312
+350,5.833333333,POSE2_TO_POSE3_RETREAT,763.362701718,742,711,672,664,632,876.362701718,784.362701718,799,650,629,651.362701718,0.401393477096,0.00457107178429,0.0498332802979,0.999999950132,4.94807547503e-05,-0.000308577703015,-4.54774137859e-05,1793193589361063680
+351,5.850000000,POSE2_TO_POSE3_RETREAT,763.934407869,742,711,672,664,632,876.934407869,784.934407869,799,650,629,651.934407869,0.401297577633,0.00457450230589,0.049834110878,0.999999950364,5.34637760944e-05,-0.000307001300948,-4.6507992577e-05,1793193589377730048
+352,5.866666667,POSE2_TO_POSE3_RETREAT,763.473345642,742,711,672,664,632,877,784.473345642,799.526654358,650.526654358,629,651.473345642,0.401223037922,0.00457438463132,0.0498336297466,0.999999950547,5.342452824e-05,-0.000306401767713,-4.65710214991e-05,1793193589394396928
+353,5.883333333,POSE2_TO_POSE3_RETREAT,763.118284925,742,711,672,664,632.118284925,877,784,800,650.881715075,629.118284925,651,0.401154951361,0.00457382361408,0.0498327348249,0.999999950506,5.30245306344e-05,-0.000306615011136,-4.65090086414e-05,1793193589411063296
+354,5.900000000,POSE2_TO_POSE3_RETREAT,763.697151909,742,711,672,664,632.697151909,877,784,800,650.302848091,629.697151909,651,0.401101213315,0.00457332685212,0.049830890612,0.999999949608,5.32496273763e-05,-0.000309500106848,-4.64483672262e-05,1793193589427730176
+355,5.916666667,POSE2_TO_POSE3_RETREAT,764,742,711,672,664.273799643,632.726200357,877.273799643,784,799.726200357,650.273799643,629.726200357,651.273799643,0.401059382152,0.00457345189094,0.0498309348456,0.999999950099,5.34611767455e-05,-0.000307851060105,-4.65926221923e-05,1793193589444396800
+356,5.933333333,POSE2_TO_POSE3_RETREAT,764,742,711,672,664.848012382,632.151987618,877.848012382,784,799.151987618,650.848012382,629.151987618,651.848012382,0.401030615228,0.00457425916989,0.0498330510837,0.999999952089,5.36578619163e-05,-0.000301227149978,-4.69616895656e-05,1793193589461063680
+357,5.950000000,POSE2_TO_POSE3_RETREAT,763.56754174,742,711,672,664.56754174,632.43245826,877.56754174,784.43245826,799.43245826,650.56754174,629,651.56754174,0.401011921318,0.00457409848498,0.0498359334828,0.999999953972,5.34300220196e-05,-0.000294955663625,-4.69348603824e-05,1793193589477730560
+358,5.966666667,POSE2_TO_POSE3_RETREAT,763.020292642,742,711,672.020292642,664,632.979707358,877.020292642,784.979707358,799.979707358,650,628.979707358,651,0.400996956376,0.00457359249271,0.0498389954054,0.999999955731,5.31199369992e-05,-0.000289016398591,-4.67604528609e-05,1793193589494397184
+359,5.983333333,POSE2_TO_POSE3_RETREAT,763.599992299,742,711,672.599992299,664,632.400007701,877.599992299,784.400007701,799.400007701,650,628.400007701,651,0.400984830908,0.00457317275317,0.0498394034569,0.999999955737,5.47552651786e-05,-0.000288738285999,-4.6446331194e-05,1793193589511063552
+360,6.000000000,POSE2_TO_POSE3_RETREAT,764,742,711,673,664.178946498,632,877.821053502,784,799.178946498,650,628.178946498,651,0.400975289683,0.00457312893904,0.049840172019,0.999999956043,5.53163974028e-05,-0.000287595313524,-4.62999733314e-05,1793193589527730176
+361,6.016666667,POSE2_TO_POSE3_RETREAT,764,742,711,673,664.756241173,632,877.243758827,784,799.756241173,650,628.756241173,651,0.400971501178,0.00457392196282,0.0498417431045,0.999999957009,5.34862895325e-05,-0.000284527098832,-4.65270701831e-05,1793193589544396800
+362,6.033333333,POSE2_TO_POSE3_RETREAT,763.668049301,742,711,673,665,632.331950699,876.668049301,784,799.668049301,650,629,651,0.400968868679,0.00457454454696,0.049842556248,0.999999957515,5.40320107188e-05,-0.000282624091083,-4.66382556078e-05,1793193589561063680
+363,6.050000000,POSE2_TO_POSE3_RETREAT,763.093498194,742,711,673,665,632.906501806,876.093498194,784,799.093498194,650,629,651,0.400967081026,0.00457504256833,0.0498428154631,0.999999957684,5.63140651536e-05,-0.000281572654288,-4.66647292011e-05,1793193589577730304
+364,6.066666667,POSE2_TO_POSE3_RETREAT,763.493671298,742,711,673,665,632.506328702,876.493671298,784,799,650,629,651,0.400967370621,0.00457365225,0.0498436733788,0.999999958337,5.44445505904e-05,-0.000279649044056,-4.64542867841e-05,1793193589594396928
+365,6.083333333,POSE2_TO_POSE3_RETREAT,763.918057314,742,710.918057314,672.918057314,665,632,876.918057314,784.081942686,799.081942686,650,629,651,0.400967866451,0.00457215489895,0.0498445959188,0.999999958993,5.2021801112e-05,-0.000277794447102,-4.62417881696e-05,1793193589611063552
+366,6.100000000,POSE2_TO_POSE3_RETREAT,763.337995994,742,710.337995994,672.337995994,665,632,876.337995994,784.662004006,799.662004006,650,629,651,0.400967161692,0.0045722379791,0.0498452039386,0.999999959148,5.11410795826e-05,-0.000277389842891,-4.62967058755e-05,1793193589627730176
+367,6.116666667,POSE2_TO_POSE3_RETREAT,763.240695689,742,710,672.240695689,664.759304311,632.240695689,876.240695689,784.759304311,800,650,629,651,0.400966595272,0.0045723607338,0.0498454716875,0.999999959184,5.13559545488e-05,-0.000277216755813,-4.63099881178e-05,1793193589644396800
+368,6.133333333,POSE2_TO_POSE3_RETREAT,763.817474909,742,710,672.817474909,664.182525091,632.817474909,876.817474909,784.182525091,800,650,629,651,0.400966222013,0.00457253888609,0.0498452643161,0.999999959054,5.31006116021e-05,-0.00027736693627,-4.62651347344e-05,1793193589661063424
+369,6.150000000,POSE2_TO_POSE3_RETREAT,764,742,710.399857956,672.600142044,664,632.600142044,877,784,799.600142044,650,629,651.399857956,0.400966790647,0.00457223246263,0.049845709101,0.999999959468,5.32009825465e-05,-0.000275883387599,-4.60552771287e-05,1793193589677730304
+370,6.166666667,POSE2_TO_POSE3_RETREAT,764,742,710.984835351,672.015164649,664,632.015164649,877,784,799.015164649,650,629,651.984835351,0.400967795341,0.00457170169853,0.0498464558101,0.999999960132,5.25401098119e-05,-0.000273643482783,-4.57690286744e-05,1793193589694396928
+371,6.183333333,POSE2_TO_POSE3_RETREAT,763.433474973,742,711,672,664,632.566525027,876.433474973,784,799.566525027,650.566525027,629,652,0.400966135075,0.00457245976247,0.0498462138438,0.999999959795,5.31988056154e-05,-0.000274740159562,-4.58005130913e-05,1793193589711063552
+372,6.200000000,POSE2_TO_POSE3_RETREAT,763.146553055,742,711,672,664,633,876.146553055,784,800,651,629,651.853446945,0.40096477383,0.00457318852307,0.0498459867607,0.999999959503,5.39301836099e-05,-0.000275642658956,-4.58975684217e-05,1793193589727730176
+373,6.216666667,POSE2_TO_POSE3_RETREAT,763.72197443,742,711,672,664,633,876.72197443,784,800,651,629,651.27802557,0.400964495181,0.00457373115641,0.0498458802298,0.999999959425,5.47714875972e-05,-0.000275717068461,-4.6161763208e-05,1793193589744397056
+374,6.233333333,POSE2_TO_POSE3_RETREAT,764,742,711,672,664,633,877,784.29685085,800,651,629,651.29685085,0.400964706591,0.00457344607545,0.0498458292707,0.999999959479,5.37229698178e-05,-0.000275734614595,-4.61184729925e-05,1793193589761063680
+375,6.250000000,POSE2_TO_POSE3_RETREAT,764,742,711,672,664,633,877,784.871217875,800,651,629,651.871217875,0.400965376141,0.00457238719144,0.0498458302638,0.999999959651,5.09077194241e-05,-0.000275699001027,-4.57877251114e-05,1793193589777730304
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764,742,711,672.460069156,664,633,877,785.460069156,800,651,629,651.539930844,0.40096488521,0.00457207698001,0.0498457723066,0.999999959644,5.19649623718e-05,-0.000275548898008,-4.56641504801e-05,1793193589794396928
+377,6.283333333,POSE2_TO_POSE3_RETREAT,764,742,711,672.948271977,664.051728023,632.948271977,877.051728023,785.948271977,800,650.948271977,629,651,0.400964173157,0.0045720500596,0.0498457368627,0.99999995962,5.38118318317e-05,-0.000275286150283,-4.56320881679e-05,1793193589811063552
+378,6.300000000,POSE2_TO_POSE3_RETREAT,764,742,711,672.370629099,664.629370901,632.370629099,877.629370901,785.370629099,800,650.370629099,629,651,0.400964622947,0.00457270341884,0.0498461035303,0.999999959981,5.23077420454e-05,-0.000274214571063,-4.59216614151e-05,1793193589827730176
+379,6.316666667,POSE2_TO_POSE3_RETREAT,764,742,711,672,664.793963806,632.206036194,877.793963806,785,800,650,629,651,0.400964638307,0.00457287786834,0.0498461298109,0.999999960076,5.09210550078e-05,-0.000274107209192,-4.604243469e-05,1793193589844396800
+380,6.333333333,POSE2_TO_POSE3_RETREAT,764,742,711,672,664.219048775,632.780951225,877.219048775,785,800,650,629,651,0.400963875882,0.00457219489725,0.0498455466764,0.999999959699,4.97445611755e-05,-0.00027572614298,-4.5860995331e-05,1793193589861063424
+381,6.350000000,POSE2_TO_POSE3_RETREAT,764,742,711,672,664.352564383,633,877,785,799.647435617,650,629,651,0.40096470349,0.0045712334661,0.0498463268687,0.999999960053,4.93873882247e-05,-0.00027455497321,-4.5538648137e-05,1793193589877730048
+382,6.366666667,POSE2_TO_POSE3_RETREAT,764,742,711,672,664.922145096,633,877,785,799.077854904,650,629,651,0.400966509824,0.00457010063258,0.0498479462386,0.999999960854,4.95345374209e-05,-0.000271666392136,-4.5129567e-05,1793193589894396672
+383,6.383333333,POSE2_TO_POSE3_RETREAT,764,742,711,672,664.482439956,632.482439956,877,785,799,650,629,651,0.400963601862,0.00457058570044,0.0498460370055,0.999999960022,4.94827241262e-05,-0.000274703329285,-4.52246683095e-05,1793193589911063296
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764,742,711,672.112411493,664.112411493,632.112411493,877,785,799.112411493,650.112411493,629,651,0.400960858377,0.00457133031966,0.049844296868,0.999999959215,4.98104884079e-05,-0.000277551530149,-4.53153413362e-05,1793193589927730176
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764,742,711,672.688083794,664.688083794,632.688083794,877,785,799.688083794,650.688083794,629,651,0.400961868778,0.00457208890582,0.0498455559933,0.999999959621,5.18323581675e-05,-0.00027575554919,-4.505878785e-05,1793193589944397824
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764,742,711,673,664.737286358,633,877,785,800,651,629.262713642,651,0.40096249271,0.00457276492662,0.0498461865903,0.999999959716,5.33030026704e-05,-0.000275137434927,-4.50114959856e-05,1793193589961064704
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764,742,711,673,664.163889234,633,877,785,800,651,629.836110766,651,0.400962659603,0.00457334330623,0.0498460738939,0.99999995945,5.41217719547e-05,-0.000275912258098,-4.52116755512e-05,1793193589977730816
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764,742,711,672.57943666,664,632.57943666,877,785,799.57943666,651,629.57943666,651.42056334,0.400963583513,0.00457242211865,0.0498465556357,0.999999959831,5.38353722759e-05,-0.000274587779198,-4.51784478703e-05,1793193589994397440
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_10/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_10/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a0430db36522d4721a25d08d2ca9017f46092232
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_10/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
+0,0.000000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+1,0.016666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+2,0.033333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+3,0.050000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+4,0.066666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+5,0.083333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+6,0.100000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+7,0.116666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+8,0.133333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+9,0.150000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+10,0.166666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+11,0.183333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+12,0.200000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+13,0.216666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+14,0.233333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+15,0.250000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+16,0.266666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+17,0.283333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+18,0.300000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+19,0.316666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+20,0.333333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+21,0.350000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+22,0.366666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+23,0.383333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+24,0.400000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+25,0.416666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+26,0.433333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+27,0.450000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+28,0.466666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+29,0.483333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+30,0.500000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+31,0.516666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+32,0.533333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+33,0.550000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+34,0.566666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+35,0.583333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+36,0.600000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+37,0.616666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+38,0.633333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+39,0.650000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+40,0.666666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+41,0.683333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+42,0.700000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+43,0.716666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+44,0.733333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+45,0.750000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+46,0.766666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+47,0.783333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+48,0.800000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+49,0.816666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+50,0.833333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+51,0.850000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+52,0.866666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+53,0.883333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+54,0.900000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+55,0.916666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+56,0.933333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+57,0.950000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+58,0.966666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+59,0.983333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+60,1.000000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+61,1.016666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+62,1.033333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+63,1.050000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+64,1.066666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+65,1.083333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+66,1.100000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+67,1.116666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+68,1.133333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+69,1.150000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+70,1.166666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+71,1.183333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+72,1.200000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+73,1.216666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+74,1.233333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+75,1.250000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+76,1.266666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+77,1.283333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+78,1.300000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+79,1.316666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+80,1.333333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+81,1.350000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+82,1.366666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+83,1.383333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+84,1.400000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+85,1.416666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+86,1.433333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+87,1.450000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+88,1.466666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+89,1.483333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+90,1.500000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+91,1.516666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+92,1.533333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+93,1.550000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+94,1.566666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+95,1.583333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+96,1.600000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+97,1.616666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+98,1.633333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+99,1.650000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+100,1.666666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+101,1.683333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+102,1.700000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+103,1.716666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+104,1.733333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+105,1.750000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+106,1.766666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+107,1.783333333,pose1_to_pose2_press,0.575709329052,0.010054459948,1.04002904989,0.546280060114,0.0187271921781,1.03969833964
+108,1.800000000,pose1_to_pose2_press,0.575709376349,0.0100545076151,1.04002906143,0.546280107901,0.018727241416,1.03969834876
+109,1.816666667,pose1_to_pose2_press,0.575709575287,0.0100545191381,1.04002899104,0.546280306849,0.0187272531501,1.03969828309
+110,1.833333333,pose1_to_pose2_press,0.575709973288,0.0100545107211,1.04002889245,0.546280704746,0.0187272446415,1.03969819127
+111,1.850000000,pose1_to_pose2_press,0.575710895828,0.0100544583509,1.0400289111,0.546281627642,0.0187271933271,1.03969820592
+112,1.866666667,pose1_to_pose2_press,0.575712558605,0.010054514964,1.04002898384,0.546283289354,0.0187272461475,1.03969827396
+113,1.883333333,pose1_to_pose2_press,0.575716922082,0.0100545900364,1.04002899507,0.546287650729,0.0187273140759,1.03969828494
+114,1.900000000,pose1_to_pose2_press,0.575725193695,0.0100545183058,1.04002881489,0.546295923425,0.0187272463384,1.03969811299
+115,1.916666667,pose1_to_pose2_press,0.575739287236,0.0100544466619,1.04002903008,0.546310017551,0.018727176333,1.03969831912
+116,1.933333333,pose1_to_pose2_press,0.575760556421,0.0100544428918,1.04002900517,0.546331290496,0.0187271858867,1.03969830893
+117,1.950000000,pose1_to_pose2_press,0.575789936235,0.0100544629678,1.04002912582,0.546360668388,0.0187271988357,1.03969841364
+118,1.966666667,pose1_to_pose2_press,0.57582766839,0.0100545274673,1.04002893964,0.546398398447,0.0187272563014,1.03969822948
+119,1.983333333,pose1_to_pose2_press,0.575873252205,0.0100545074158,1.04002898629,0.54644398175,0.0187272344722,1.03969827491
+120,2.000000000,pose1_to_pose2_press,0.575925549593,0.0100545281762,1.04002913727,0.546496280653,0.0187272603486,1.03969842523
+121,2.016666667,pose1_to_pose2_press,0.575985294274,0.0100544407449,1.04002929344,0.546556027007,0.0187271783686,1.03969857539
+122,2.033333333,pose1_to_pose2_press,0.576053983294,0.0100544536558,1.04002917857,0.546624714936,0.0187271878041,1.03969846648
+123,2.050000000,pose1_to_pose2_press,0.576133073843,0.0100545616525,1.04002918424,0.546703804619,0.0187272928423,1.03969847152
+124,2.066666667,pose1_to_pose2_press,0.576223743847,0.0100544519622,1.04002921749,0.546794475459,0.0187271857039,1.03969849727
+125,2.083333333,pose1_to_pose2_press,0.576332135679,0.0100544972929,1.04002908605,0.546902867451,0.0187272318622,1.03969837327
+126,2.100000000,pose1_to_pose2_press,0.576457323134,0.0100544370959,1.04002913434,0.54702805506,0.0187271724935,1.03969842959
+127,2.116666667,pose1_to_pose2_press,0.576599309483,0.010054468427,1.04002901063,0.547170040371,0.0187271999598,1.03969829685
+128,2.133333333,pose1_to_pose2_press,0.576758463581,0.0100544086965,1.04002893478,0.547329195266,0.0187271430118,1.03969822301
+129,2.150000000,pose1_to_pose2_press,0.576936376796,0.0100544870839,1.04002917087,0.547507107094,0.0187272166982,1.03969845912
+130,2.166666667,pose1_to_pose2_press,0.577134749412,0.0100544734138,1.04002913574,0.547705480372,0.0187272053838,1.03969842676
+131,2.183333333,pose1_to_pose2_press,0.577355182344,0.0100544538485,1.04002911516,0.547925913534,0.0187271865906,1.03969840592
+132,2.200000000,pose1_to_pose2_press,0.577604546948,0.0100545067839,1.04002916952,0.548175277968,0.018727238975,1.03969846093
+133,2.216666667,pose1_to_pose2_press,0.577880906455,0.0100544875363,1.04002915727,0.548451637065,0.0187272184787,1.03969845233
+134,2.233333333,pose1_to_pose2_press,0.578184275531,0.010054616986,1.04002915311,0.548755004248,0.0187273415049,1.03969844818
+135,2.250000000,pose1_to_pose2_press,0.578510572235,0.0100546125592,1.04002910192,0.549081301738,0.0187273394932,1.03969839027
+136,2.266666667,pose1_to_pose2_press,0.578859227951,0.0100546130795,1.0400291714,0.549429957804,0.0187273408972,1.03969845167
+137,2.283333333,pose1_to_pose2_press,0.57922516381,0.0100546354342,1.04002919868,0.549795893152,0.018727361689,1.03969848346
+138,2.300000000,pose1_to_pose2_press,0.579607328465,0.0100545394961,1.04002919339,0.550178058377,0.018727267706,1.03969847871
+139,2.316666667,pose1_to_pose2_press,0.580006631235,0.0100544197369,1.04002913822,0.550577362571,0.0187271526633,1.03969842036
+140,2.333333333,pose1_to_pose2_press,0.580423491463,0.0100544202599,1.0400292064,0.550994223103,0.0187271541713,1.03969848735
+141,2.350000000,pose1_to_pose2_press,0.58086034832,0.0100544949462,1.0400292582,0.551431079351,0.01872722697,1.03969854381
+142,2.366666667,pose1_to_pose2_press,0.581327233313,0.0100545191484,1.04002907663,0.551897964492,0.0187272519033,1.03969836809
+143,2.383333333,pose1_to_pose2_press,0.58182674765,0.010054568212,1.04002906425,0.552397478876,0.0187273010623,1.0396983541
+144,2.400000000,pose1_to_pose2_press,0.58236255247,0.0100546698315,1.0400292047,0.552933282666,0.0187273992199,1.0396984953
+145,2.416666667,pose1_to_pose2_press,0.58293036784,0.0100546609062,1.04002912308,0.553501097488,0.0187273886079,1.03969841825
+146,2.433333333,pose1_to_pose2_press,0.583526672761,0.0100546069225,1.0400291638,0.554097402934,0.0187273365066,1.03969846157
+147,2.450000000,pose1_to_pose2_press,0.584131473567,0.0100545252977,1.04002898547,0.554702204315,0.0187272567047,1.03969827985
+148,2.466666667,pose1_to_pose2_press,0.584737254306,0.0100545602016,1.04002894522,0.555307984483,0.0187272897708,1.03969824216
+149,2.483333333,pose1_to_pose2_press,0.585356925303,0.0100545779886,1.0400291134,0.555927655416,0.0187273072012,1.03969840663
+150,2.500000000,pose1_to_pose2_press,0.585993796378,0.010054531564,1.04002930727,0.556564526379,0.0187272601229,1.03969859336
+151,2.516666667,pose1_to_pose2_press,0.58665673411,0.0100545348807,1.04002929756,0.557227463216,0.0187272604857,1.03969858578
+152,2.533333333,pose1_to_pose2_press,0.587347598968,0.0100545201505,1.04002927649,0.557918328892,0.0187272486631,1.03969856815
+153,2.550000000,pose1_to_pose2_press,0.588065682906,0.0100545593262,1.040029342,0.558636414277,0.0187272924959,1.03969862703
+154,2.566666667,pose1_to_pose2_press,0.588794353415,0.0100545412065,1.04002938636,0.559365085687,0.0187272776031,1.03969867585
+155,2.583333333,pose1_to_pose2_press,0.589531324187,0.0100545174076,1.04002929518,0.560102055272,0.018727249536,1.03969857835
+156,2.600000000,pose1_to_pose2_press,0.590278301504,0.0100544751618,1.04002924437,0.560849033528,0.018727210436,1.03969852655
+157,2.616666667,pose1_to_pose2_press,0.59103781353,0.0100544293234,1.04002940553,0.561608544843,0.0187271620297,1.03969868364
+158,2.633333333,pose1_to_pose2_press,0.5918116558,0.0100545242234,1.04002913696,0.56238238675,0.0187272557563,1.03969841664
+159,2.650000000,pose1_to_pose2_press,0.592595664284,0.0100545730898,1.04002931439,0.563166393888,0.0187273002389,1.03969859884
+160,2.666666667,pose1_to_pose2_press,0.593388389534,0.0100545610124,1.04002926965,0.563959120299,0.0187272922847,1.03969855888
+161,2.683333333,pose1_to_pose2_press,0.594189899789,0.0100544936482,1.04002906217,0.564760630124,0.0187272234067,1.03969835012
+162,2.700000000,pose1_to_pose2_press,0.595001449025,0.0100546327832,1.04002908576,0.565572176873,0.0187273539866,1.03969837068
+163,2.716666667,pose1_to_pose2_press,0.595812604621,0.0100544978653,1.0400292158,0.566383334553,0.018727225903,1.03969849459
+164,2.733333333,pose1_to_pose2_press,0.596625571912,0.0100545619747,1.04002913406,0.567196302232,0.0187272918197,1.03969842564
+165,2.750000000,pose1_to_pose2_press,0.59744290502,0.0100544269058,1.0400289257,0.568013637119,0.0187271629681,1.03969822209
+166,2.766666667,pose1_to_pose2_press,0.598253674816,0.0100544815333,1.04002912743,0.568824405615,0.0187272130226,1.03969841971
+167,2.783333333,pose1_to_pose2_press,0.599058144533,0.0100544899855,1.04002891783,0.569628877377,0.0187272287301,1.0396982184
+168,2.800000000,pose1_to_pose2_press,0.599853738743,0.0100546328445,1.04002930642,0.570424469829,0.018727365059,1.03969859223
+169,2.816666667,pose1_to_pose2_press,0.600638333118,0.0100546660889,1.04002920831,0.571209063461,0.0187273964364,1.03969851139
+170,2.833333333,pose1_to_pose2_press,0.601410492951,0.0100544276009,1.04002880455,0.571981225941,0.0187271666106,1.03969809934
+171,2.850000000,pose1_to_pose2_press,0.602174863944,0.0100545515322,1.04002929284,0.572745595177,0.0187272843329,1.03969858123
+172,2.866666667,pose1_to_pose2_press,0.602936201438,0.0100544087085,1.0400287796,0.573506934098,0.0187271466407,1.03969807563
+173,2.883333333,pose1_to_pose2_press,0.603693558747,0.0100544375698,1.04002904318,0.57426429031,0.0187271716295,1.03969833537
+174,2.900000000,pose1_to_pose2_press,0.60444209541,0.0100543567802,1.0400289962,0.57501282651,0.0187270896348,1.03969829811
+175,2.916666667,pose1_to_pose2_press,0.605178075142,0.0100545362267,1.04002917923,0.575748806223,0.0187272685371,1.03969846859
+176,2.933333333,pose1_to_pose2_press,0.605895906456,0.0100545516179,1.04002915188,0.576466635068,0.018727275709,1.03969844547
+177,2.950000000,pose1_to_pose2_press,0.606590636613,0.0100545329856,1.04002895442,0.577161367045,0.0187272629333,1.03969823973
+178,2.966666667,pose1_to_pose2_press,0.607273942876,0.0100544854793,1.04002918661,0.577844673596,0.0187272163933,1.03969847176
+179,2.983333333,pose1_to_pose2_press,0.607947604976,0.0100544731966,1.04002904189,0.578518335858,0.0187272048871,1.03969833303
+180,3.000000000,pose1_to_pose2_press,0.608595971239,0.0100546624529,1.04002917657,0.579166700184,0.0187273874713,1.03969846521
+181,3.016666667,pose1_to_pose2_press,0.609217928532,0.0100543819138,1.04002892395,0.579788661149,0.0187271195434,1.03969821662
+182,3.033333333,pose1_to_pose2_press,0.609817018338,0.0100545759794,1.04002893975,0.580387748329,0.0187273045534,1.03969822876
+183,3.050000000,pose1_to_pose2_press,0.610396674151,0.010054580795,1.04002917072,0.580967404209,0.0187273095141,1.03969845762
+184,3.066666667,pose1_to_pose2_press,0.610957897595,0.0100544739221,1.04002902925,0.581528629582,0.0187272095445,1.03969832551
+185,3.083333333,pose1_to_pose2_press,0.611505016427,0.0100545320311,1.04002893482,0.582075746867,0.0187272620855,1.03969822284
+186,3.100000000,pose1_to_pose2_press,0.612034319818,0.0100543856565,1.04002917079,0.582605051041,0.0187271183824,1.03969845953
+187,3.116666667,pose1_to_pose2_press,0.612525571066,0.0100546008126,1.04002930422,0.583096300102,0.018727326064,1.03969859018
+188,3.133333333,pose1_to_pose2_press,0.612979281326,0.0100547487116,1.0400294244,0.583550009134,0.018727469889,1.03969871074
+189,3.150000000,pose1_to_pose2_press,0.613394500159,0.010054491376,1.04002893137,0.583965230784,0.0187272223999,1.03969822422
+190,3.166666667,pose1_to_pose2_press,0.613783085857,0.0100544884523,1.04002924978,0.584353817868,0.0187272241288,1.03969853971
+191,3.183333333,pose1_to_pose2_press,0.614148720518,0.0100545670065,1.04002898408,0.584719450561,0.0187272960695,1.03969827234
+192,3.200000000,pose1_to_pose2_press,0.614502492468,0.0100546013563,1.04002913799,0.585073221415,0.0187273269074,1.03969842705
+193,3.216666667,pose1_to_pose2_press,0.614843262652,0.0100546710775,1.0400289419,0.585413992147,0.0187273991572,1.03969824085
+194,3.233333333,pose1_to_pose2_press,0.615162023063,0.0100545949839,1.04002900472,0.585732751828,0.0187273208732,1.03969830071
+195,3.250000000,pose1_to_pose2_press,0.615457295058,0.0100547038587,1.04002901846,0.586028023506,0.0187274291703,1.03969831616
+196,3.266666667,pose1_to_pose2_press,0.615724862781,0.0100545397417,1.0400292605,0.586295593212,0.0187272718635,1.03969854936
+197,3.283333333,pose1_to_pose2_press,0.615965251621,0.0100545419465,1.04002916628,0.586535980645,0.0187272700332,1.03969846393
+198,3.300000000,pose1_to_pose2_press,0.616178574139,0.0100545332384,1.04002927698,0.586749303955,0.0187272638465,1.0396985627
+199,3.316666667,pose1_to_pose2_press,0.616370941427,0.0100544530793,1.04002911555,0.586941673163,0.0187271907687,1.03969840762
+200,3.333333333,pose1_to_pose2_press,0.616544096047,0.0100544944848,1.04002910451,0.587114827437,0.0187272312999,1.03969839942
+201,3.350000000,pose1_to_pose2_press,0.616698380725,0.010054516678,1.04002910681,0.587269109978,0.018727246288,1.03969839664
+202,3.366666667,pose1_to_pose2_press,0.616836541742,0.010054511429,1.040028995,0.587407271146,0.0187272418597,1.03969828442
+203,3.383333333,pose1_to_pose2_press,0.6169593052,0.0100545323291,1.04002895623,0.587530036006,0.0187272679142,1.03969824956
+204,3.400000000,pose1_to_pose2_press,0.617068707873,0.0100545479544,1.0400289983,0.587639437464,0.018727279549,1.0396982907
+205,3.416666667,pose1_to_pose2_press,0.617165337972,0.0100545543143,1.04002897605,0.587736065828,0.0187272801411,1.03969826416
+206,3.433333333,pose1_to_pose2_press,0.617249976905,0.0100545217608,1.04002908823,0.587820705349,0.0187272499209,1.03969837653
+207,3.450000000,pose1_to_pose2_press,0.617322913229,0.0100544704208,1.04002924531,0.58789364153,0.0187271978524,1.03969852891
+208,3.466666667,pose1_to_pose2_press,0.617383196215,0.0100544967664,1.04002939764,0.587953924473,0.0187272245369,1.03969867801
+209,3.483333333,pose1_to_pose2_press,0.617432352941,0.0100546407572,1.04002906717,0.588003080401,0.0187273656147,1.03969835575
+210,3.500000000,pose1_to_pose2_press,0.617470848751,0.0100545316194,1.04002914418,0.588041577657,0.0187272618521,1.03969843889
+211,3.516666667,pose1_to_pose2_press,0.617501492033,0.0100545405615,1.04002929024,0.588072221662,0.0187272727092,1.03969857767
+212,3.533333333,pose1_to_pose2_press,0.617525095323,0.0100544185518,1.04002900431,0.588095825137,0.0187271517011,1.03969829557
+213,3.550000000,pose1_to_pose2_press,0.617543096279,0.0100544973987,1.04002892018,0.58811382556,0.0187272288006,1.03969821319
+214,3.566666667,pose1_to_pose2_press,0.617556412838,0.0100545026985,1.04002907504,0.588127142797,0.0187272362922,1.03969836761
+215,3.583333333,pose1_to_pose2_press,0.617565551826,0.0100544165746,1.04002924585,0.588136283135,0.0187271547111,1.03969853814
+216,3.600000000,pose1_to_pose2_press,0.61757206055,0.0100544484177,1.04002906588,0.588142791564,0.0187271858447,1.03969836131
+217,3.616666667,pose1_to_pose2_press,0.61757645002,0.0100545110802,1.04002906891,0.588147179655,0.0187272439966,1.03969836634
+218,3.633333333,pose1_to_pose2_press,0.617579555532,0.010054573673,1.0400291262,0.588150283668,0.0187273016108,1.039698425
+219,3.650000000,pose1_to_pose2_press,0.617581506978,0.0100545318072,1.04002914528,0.588152236481,0.0187272642128,1.0396984409
+220,3.666666667,pose1_to_pose2_press,0.617582573329,0.0100545041442,1.04002915471,0.588153303715,0.0187272394389,1.03969844836
+221,3.683333333,pose1_to_pose2_press,0.617582950676,0.0100544943552,1.04002915804,0.588153681375,0.0187272306722,1.03969845099
+222,3.700000000,pose1_to_pose2_press,0.617583064877,0.0100544913926,1.04002915905,0.58815379567,0.018727228019,1.03969845179
+223,3.716666667,pose1_to_pose2_press,0.617583394238,0.0100544979102,1.04002916248,0.588154124973,0.0187272343125,1.03969845469
+224,3.733333333,pose1_to_pose2_press,0.617583794722,0.010054514381,1.04002916694,0.5881545252,0.0187272498773,1.03969845856
+225,3.750000000,pose1_to_pose2_press,0.617583803701,0.0100545147503,1.04002916704,0.588154534172,0.0187272502263,1.03969845865
+226,3.766666667,pose1_to_pose2_press,0.617583962453,0.0100545212794,1.04002916881,0.588154692822,0.0187272563962,1.03969846018
+227,3.783333333,pose1_to_pose2_press,0.617584090479,0.0100545265447,1.04002917023,0.588154820766,0.0187272613719,1.03969846142
+228,3.800000000,pose1_to_pose2_press,0.617584144842,0.0100545287805,1.04002917084,0.588154875094,0.0187272634847,1.03969846194
+229,3.816666667,pose1_to_pose2_press,0.617584211591,0.0100545315257,1.04002917158,0.5881549418,0.0187272660789,1.03969846259
+230,3.833333333,pose1_to_pose2_press,0.617584413277,0.0100545398205,1.04002917383,0.588155143357,0.0187272739174,1.03969846454
+231,3.850000000,pose1_to_pose2_press,0.617584701525,0.0100545516754,1.04002917704,0.588155431418,0.0187272851202,1.03969846732
+232,3.866666667,pose1_to_pose2_press,0.617584864712,0.0100545583868,1.04002917885,0.5881555945,0.0187272914624,1.0396984689
+233,3.883333333,pose1_to_pose2_press,0.61758497066,0.0100545627442,1.04002918003,0.58815570038,0.0187272955801,1.03969846992
+234,3.900000000,pose1_to_pose2_press,0.617585321836,0.0100546454428,1.04002929851,0.588156049933,0.0187273726036,1.0396985837
+235,3.916666667,pose1_to_pose2_press,0.61758554901,0.0100547117156,1.04002939659,0.588156275795,0.0187274342917,1.03969867796
+236,3.933333333,pose1_to_pose2_press,0.6175855578,0.01005471428,1.04002940039,0.588156284535,0.0187274366787,1.03969868161
+237,3.950000000,pose1_to_pose2_press,0.617585594522,0.0100547249926,1.04002941624,0.588156321044,0.0187274466502,1.03969869685
+238,3.966666667,pose1_to_pose2_press,0.617585769478,0.0100547316698,1.04002940123,0.588156495686,0.0187274523201,1.03969868298
+239,3.983333333,pose1_to_pose2_press,0.617585975313,0.0100546755237,1.04002916292,0.588156703238,0.0187274024853,1.03969845712
+240,4.000000000,pose2_hold,0.617585975313,0.0100546755237,1.04002916292,0.588156703241,0.0187274024835,1.03969845711
+241,4.016666667,pose2_hold,0.617585975313,0.0100546755237,1.04002916292,0.58815670324,0.018727402482,1.03969845711
+242,4.033333333,pose2_hold,0.617585975313,0.0100546755237,1.04002916292,0.588156703241,0.0187274024823,1.03969845711
+243,4.050000000,pose2_hold,0.617585975313,0.0100546755237,1.04002916292,0.588156703241,0.0187274024827,1.03969845711
+244,4.066666667,pose2_hold,0.617585975313,0.0100546755237,1.04002916292,0.588156703241,0.0187274024841,1.03969845712
+245,4.083333333,pose2_hold,0.617585975313,0.0100546755237,1.04002916292,0.588156703241,0.0187274024842,1.03969845711
+246,4.100000000,pose2_hold,0.617585975313,0.0100546755237,1.04002916292,0.58815670324,0.0187274024843,1.03969845712
+247,4.116666667,pose2_hold,0.617585975313,0.0100546755237,1.04002916292,0.58815670324,0.0187274024817,1.03969845711
+248,4.133333333,pose2_hold,0.617585975313,0.0100546755237,1.04002916292,0.588156703241,0.0187274024838,1.03969845711
+249,4.150000000,pose2_hold,0.617585975313,0.0100546755237,1.04002916292,0.58815670324,0.0187274024838,1.03969845712
+250,4.166666667,pose2_hold,0.617585975313,0.0100546755237,1.04002916292,0.588156703241,0.0187274024836,1.03969845711
+251,4.183333333,pose2_hold,0.617585975313,0.0100546755237,1.04002916292,0.588156703241,0.0187274024836,1.03969845711
+252,4.200000000,pose2_hold,0.617585975313,0.0100546755237,1.04002916292,0.588156703241,0.0187274024835,1.03969845712
+253,4.216666667,pose2_hold,0.617585975313,0.0100546755237,1.04002916292,0.588156703241,0.0187274024836,1.03969845712
+254,4.233333333,pose2_hold,0.617585975313,0.0100546755237,1.04002916292,0.588156703241,0.0187274024833,1.03969845711
+255,4.250000000,pose2_hold,0.617585975313,0.0100546755237,1.04002916292,0.588156703242,0.0187274024819,1.03969845711
+256,4.266666667,pose2_hold,0.617585975313,0.0100546755237,1.04002916292,0.588156703241,0.0187274024832,1.03969845712
+257,4.283333333,pose2_hold,0.617585975313,0.0100546755237,1.04002916292,0.588156703242,0.018727402483,1.03969845712
+258,4.300000000,pose2_to_pose3_retreat,0.617585975313,0.0100546755237,1.04002916292,0.588156703242,0.018727402481,1.03969845712
+259,4.316666667,pose2_to_pose3_retreat,0.617585975495,0.0100546753437,1.04002916304,0.58815670342,0.0187274022862,1.0396984572
+260,4.333333333,pose2_to_pose3_retreat,0.617585982127,0.0100546687891,1.04002916761,0.588156709911,0.0187273951942,1.03969846029
+261,4.350000000,pose2_to_pose3_retreat,0.617585931957,0.0100546209535,1.0400291977,0.588156659442,0.018727346168,1.03969848586
+262,4.366666667,pose2_to_pose3_retreat,0.617585600931,0.0100545150709,1.04002925705,0.588156329391,0.0187272437474,1.03969854924
+263,4.383333333,pose2_to_pose3_retreat,0.617584889342,0.0100544568075,1.04002927745,0.588155618744,0.0187271886809,1.03969856947
+264,4.400000000,pose2_to_pose3_retreat,0.617581441974,0.0100545186108,1.04002865562,0.588152171565,0.0187272514228,1.03969795503
+265,4.416666667,pose2_to_pose3_retreat,0.617572924435,0.0100545408368,1.0400292646,0.588143653549,0.0187272713604,1.03969854899
+266,4.433333333,pose2_to_pose3_retreat,0.617555552915,0.0100545068306,1.04002919479,0.588126283062,0.0187272408775,1.03969847906
+267,4.450000000,pose2_to_pose3_retreat,0.617527109745,0.0100544347512,1.04002921814,0.588097840677,0.0187271716167,1.03969850574
+268,4.466666667,pose2_to_pose3_retreat,0.617486465145,0.0100544634219,1.0400292074,0.58805719382,0.0187271927061,1.03969849729
+269,4.483333333,pose2_to_pose3_retreat,0.617433535401,0.0100547291173,1.04002915515,0.58800426262,0.0187274535042,1.03969844906
+270,4.500000000,pose2_to_pose3_retreat,0.617369416935,0.0100545332136,1.04002931163,0.58794014617,0.0187272642007,1.03969859844
+271,4.516666667,pose2_to_pose3_retreat,0.617295984018,0.010054495741,1.04002934996,0.587866713283,0.0187272259752,1.03969862477
+272,4.533333333,pose2_to_pose3_retreat,0.617213228757,0.0100544529667,1.04002934361,0.587783958182,0.0187271836334,1.03969861993
+273,4.550000000,pose2_to_pose3_retreat,0.617119666973,0.0100545064881,1.04002933075,0.587690397226,0.0187272399537,1.03969861149
+274,4.566666667,pose2_to_pose3_retreat,0.617013480775,0.0100546106295,1.04002933644,0.587584209608,0.0187273390038,1.03969861526
+275,4.583333333,pose2_to_pose3_retreat,0.616892626355,0.0100546815656,1.0400290235,0.587463354643,0.0187274088284,1.03969832813
+276,4.600000000,pose2_to_pose3_retreat,0.616752069848,0.0100545321874,1.04002903242,0.58732280003,0.0187272653559,1.03969832933
+277,4.616666667,pose2_to_pose3_retreat,0.616592056341,0.0100545883139,1.04002893033,0.58716278561,0.0187273181046,1.03969823004
+278,4.633333333,pose2_to_pose3_retreat,0.616409797665,0.0100545901283,1.04002901437,0.586980526971,0.0187273193967,1.0396983048
+279,4.650000000,pose2_to_pose3_retreat,0.61620706764,0.0100545688946,1.04002913939,0.586777796367,0.0187272958167,1.03969842701
+280,4.666666667,pose2_to_pose3_retreat,0.615983598682,0.010054500997,1.04002910041,0.586554328394,0.0187272310481,1.03969839175
+281,4.683333333,pose2_to_pose3_retreat,0.615739355951,0.010054478322,1.04002897213,0.586310086648,0.0187272114046,1.03969826646
+282,4.700000000,pose2_to_pose3_retreat,0.615473380776,0.0100544867017,1.04002903243,0.586044112095,0.0187272213364,1.03969832474
+283,4.716666667,pose2_to_pose3_retreat,0.615179964514,0.010054502398,1.04002898438,0.585750696367,0.018727238519,1.03969827841
+284,4.733333333,pose2_to_pose3_retreat,0.61485806302,0.0100545915044,1.04002882305,0.585428793756,0.0187273237289,1.03969812129
+285,4.750000000,pose2_to_pose3_retreat,0.6145042145,0.0100546429609,1.04002896037,0.585074943523,0.0187273688664,1.03969825502
+286,4.766666667,pose2_to_pose3_retreat,0.614120728955,0.0100546347353,1.04002909265,0.584691457571,0.0187273587899,1.03969838423
+287,4.783333333,pose2_to_pose3_retreat,0.61370838987,0.010054646317,1.04002918596,0.584279119361,0.0187273731047,1.03969847315
+288,4.800000000,pose2_to_pose3_retreat,0.613268550119,0.0100545479724,1.04002922462,0.583839280497,0.0187272778142,1.03969851321
+289,4.816666667,pose2_to_pose3_retreat,0.612803366525,0.010054525479,1.0400292504,0.58337409656,0.018727254132,1.03969853862
+290,4.833333333,pose2_to_pose3_retreat,0.612313234279,0.0100544894422,1.04002921125,0.582883965576,0.0187272220881,1.03969849103
+291,4.850000000,pose2_to_pose3_retreat,0.611797414374,0.0100544744766,1.04002914009,0.582368145784,0.0187272077309,1.03969842699
+292,4.866666667,pose2_to_pose3_retreat,0.611253108196,0.0100545504702,1.04002905008,0.581823838655,0.0187272806087,1.03969834081
+293,4.883333333,pose2_to_pose3_retreat,0.610679684848,0.0100545255573,1.04002913797,0.581250414609,0.0187272533018,1.03969842686
+294,4.900000000,pose2_to_pose3_retreat,0.610075655167,0.0100546008854,1.04002914362,0.580646383268,0.0187273231875,1.03969843799
+295,4.916666667,pose2_to_pose3_retreat,0.609442347083,0.0100545218718,1.04002896237,0.580013077088,0.0187272505291,1.03969825409
+296,4.933333333,pose2_to_pose3_retreat,0.608785020174,0.0100544456242,1.04002915777,0.579355751167,0.0187271774173,1.03969844346
+297,4.950000000,pose2_to_pose3_retreat,0.608108571134,0.010054601952,1.04002922707,0.578679301462,0.018727331551,1.03969851391
+298,4.966666667,pose2_to_pose3_retreat,0.607417349973,0.0100545068755,1.04002922101,0.577988081413,0.0187272404049,1.03969851187
+299,4.983333333,pose2_to_pose3_retreat,0.606711207707,0.0100545058917,1.04002946674,0.577281939003,0.018727238731,1.03969875305
+300,5.000000000,pose2_to_pose3_retreat,0.605980252422,0.010054491151,1.04002929645,0.576550982459,0.018727219799,1.03969858478
+301,5.016666667,pose2_to_pose3_retreat,0.605224214662,0.0100545116766,1.04002922991,0.575794946168,0.0187272455848,1.03969852532
+302,5.033333333,pose2_to_pose3_retreat,0.604447348891,0.0100545104387,1.04002917804,0.575018080442,0.0187272442993,1.03969846822
+303,5.050000000,pose2_to_pose3_retreat,0.603652434978,0.010054535831,1.04002912735,0.574223165737,0.0187272670791,1.03969841949
+304,5.066666667,pose2_to_pose3_retreat,0.602839303704,0.010054556868,1.04002910367,0.573410033594,0.0187272852985,1.0396983992
+305,5.083333333,pose2_to_pose3_retreat,0.602019175216,0.0100546402966,1.0400292399,0.572589905303,0.0187273692245,1.03969853086
+306,5.100000000,pose2_to_pose3_retreat,0.60119119344,0.0100545893131,1.04002916952,0.571761923055,0.0187273166265,1.03969846021
+307,5.116666667,pose2_to_pose3_retreat,0.600365321643,0.0100545258497,1.04002908842,0.570936051446,0.0187272538364,1.03969837987
+308,5.133333333,pose2_to_pose3_retreat,0.599541679135,0.0100545401044,1.04002891825,0.570112409637,0.0187272705001,1.03969821051
+309,5.150000000,pose2_to_pose3_retreat,0.598716311234,0.0100544766246,1.04002894509,0.569287043373,0.0187272123783,1.03969823195
+310,5.166666667,pose2_to_pose3_retreat,0.597886338482,0.0100545099396,1.04002899764,0.568457070178,0.018727244273,1.03969828734
+311,5.183333333,pose2_to_pose3_retreat,0.597048315657,0.0100545924099,1.04002916302,0.567619047682,0.0187273280122,1.03969845617
+312,5.200000000,pose2_to_pose3_retreat,0.596197098412,0.0100544606839,1.04002911183,0.56676783115,0.0187271986444,1.03969840335
+313,5.216666667,pose2_to_pose3_retreat,0.595336505075,0.0100545209791,1.04002893499,0.56590723616,0.0187272536479,1.03969823466
+314,5.233333333,pose2_to_pose3_retreat,0.594468827074,0.0100545389619,1.04002915037,0.565039558492,0.0187272723655,1.03969844003
+315,5.250000000,pose2_to_pose3_retreat,0.593606566671,0.0100545143787,1.04002906502,0.564177297969,0.0187272473922,1.03969835316
+316,5.266666667,pose2_to_pose3_retreat,0.592765050681,0.0100545701647,1.04002907065,0.56333578185,0.018727302919,1.03969836386
+317,5.283333333,pose2_to_pose3_retreat,0.591939847785,0.0100544625679,1.0400291628,0.562510578888,0.018727195016,1.03969845382
+318,5.300000000,pose2_to_pose3_retreat,0.591131542083,0.010054512842,1.04002914792,0.561702271285,0.01872723876,1.03969843688
+319,5.316666667,pose2_to_pose3_retreat,0.590338719446,0.0100544922602,1.04002907295,0.560909449342,0.01872722038,1.03969835778
+320,5.333333333,pose2_to_pose3_retreat,0.589555159861,0.0100544984011,1.04002907326,0.560125890809,0.0187272303275,1.03969836429
+321,5.350000000,pose2_to_pose3_retreat,0.588774947907,0.0100546597355,1.04002924459,0.559345675823,0.0187273813288,1.03969853448
+322,5.366666667,pose2_to_pose3_retreat,0.588003437722,0.0100547083006,1.04002892237,0.558574165174,0.0187274284931,1.03969821673
+323,5.383333333,pose2_to_pose3_retreat,0.587247969501,0.0100545683957,1.04002904532,0.557818699058,0.0187272956657,1.03969833794
+324,5.400000000,pose2_to_pose3_retreat,0.586512451295,0.0100545438532,1.04002904237,0.557083181068,0.0187272717418,1.03969833196
+325,5.416666667,pose2_to_pose3_retreat,0.585796066634,0.0100546778526,1.04002889462,0.556366795148,0.0187274017413,1.03969819135
+326,5.433333333,pose2_to_pose3_retreat,0.585107969898,0.0100545286326,1.04002881768,0.555678701674,0.018727263498,1.03969811199
+327,5.450000000,pose2_to_pose3_retreat,0.584444009424,0.0100546185187,1.04002919577,0.555014739064,0.0187273459316,1.03969848465
+328,5.466666667,pose2_to_pose3_retreat,0.583805121751,0.0100545851501,1.04002939895,0.554375851535,0.0187273129807,1.03969868598
+329,5.483333333,pose2_to_pose3_retreat,0.583196686003,0.010054654815,1.04002905308,0.55376741503,0.0187273802439,1.03969834447
+330,5.500000000,pose2_to_pose3_retreat,0.582620434685,0.0100544699771,1.04002908465,0.553191165376,0.0187272007626,1.03969836844
+331,5.516666667,pose2_to_pose3_retreat,0.582059213194,0.0100544363741,1.04002892866,0.55262994617,0.0187271752454,1.03969822115
+332,5.533333333,pose2_to_pose3_retreat,0.581510061343,0.0100546697046,1.04002891664,0.552080791439,0.0187273989595,1.0396982132
+333,5.550000000,pose2_to_pose3_retreat,0.580977530795,0.010054442274,1.04002924131,0.551548262574,0.0187271763936,1.03969851563
+334,5.566666667,pose2_to_pose3_retreat,0.580467219696,0.0100544627768,1.04002917776,0.551037953511,0.0187272043757,1.03969846703
+335,5.583333333,pose2_to_pose3_retreat,0.579988885706,0.0100545087609,1.04002916175,0.550559616695,0.0187272408699,1.03969845446
+336,5.600000000,pose2_to_pose3_retreat,0.579553538026,0.0100545811205,1.04002894617,0.550124267597,0.0187273082755,1.03969823481
+337,5.616666667,pose2_to_pose3_retreat,0.579162394953,0.0100545893837,1.04002938424,0.549733123979,0.0187273147963,1.0396986759
+338,5.633333333,pose2_to_pose3_retreat,0.578800546655,0.0100545587913,1.04002908843,0.549371277002,0.018727288605,1.03969837788
+339,5.650000000,pose2_to_pose3_retreat,0.578461456838,0.0100545410519,1.04002917418,0.549032186661,0.0187272689295,1.03969845921
+340,5.666666667,pose2_to_pose3_retreat,0.578138509828,0.0100544866624,1.04002909337,0.548709242713,0.0187272248965,1.03969837775
+341,5.683333333,pose2_to_pose3_retreat,0.577828800863,0.0100544621669,1.04002908928,0.548399531282,0.0187271918493,1.03969836865
+342,5.700000000,pose2_to_pose3_retreat,0.577533432701,0.0100545382772,1.0400292692,0.548104163473,0.0187272695837,1.03969855975
+343,5.716666667,pose2_to_pose3_retreat,0.577263508818,0.0100542847276,1.04002905743,0.54783424294,0.0187270273924,1.03969834793
+344,5.733333333,pose2_to_pose3_retreat,0.577020993352,0.0100545191428,1.04002905263,0.547591723784,0.0187272492792,1.03969834294
+345,5.750000000,pose2_to_pose3_retreat,0.576809088094,0.0100543130922,1.04002890889,0.547379820726,0.0187270508371,1.03969820286
+346,5.766666667,pose2_to_pose3_retreat,0.576625920736,0.0100545000658,1.04002903657,0.547196652796,0.0187272358047,1.03969832886
+347,5.783333333,pose2_to_pose3_retreat,0.576471755415,0.0100545124785,1.04002915985,0.54704248616,0.0187272437922,1.0396984531
+348,5.800000000,pose2_to_pose3_retreat,0.576338208666,0.0100543415585,1.04002892791,0.546908942203,0.0187270822901,1.03969821983
+349,5.816666667,pose2_to_pose3_retreat,0.576223007162,0.0100546205458,1.04002900855,0.546793736128,0.018727345916,1.03969830436
+350,5.833333333,pose2_to_pose3_retreat,0.576122972009,0.0100545815967,1.04002903802,0.54669370139,0.0187273082573,1.03969833147
+351,5.850000000,pose2_to_pose3_retreat,0.576036530005,0.0100545112961,1.04002922609,0.546607260512,0.0187272417069,1.03969851764
+352,5.866666667,pose2_to_pose3_retreat,0.575961383639,0.0100545966991,1.04002910253,0.546532112734,0.0187273224313,1.03969839697
+353,5.883333333,pose2_to_pose3_retreat,0.575897950505,0.0100546024799,1.04002910866,0.54646868052,0.0187273314655,1.03969840645
+354,5.900000000,pose2_to_pose3_retreat,0.575847518269,0.0100545399535,1.04002899759,0.546418248417,0.0187272691371,1.03969828871
+355,5.916666667,pose2_to_pose3_retreat,0.575807862152,0.0100545498787,1.04002911485,0.546378593258,0.0187272821375,1.03969840135
+356,5.933333333,pose2_to_pose3_retreat,0.575778508043,0.0100544964028,1.0400290986,0.546349240853,0.018727234561,1.03969838821
+357,5.950000000,pose2_to_pose3_retreat,0.575757072542,0.0100544509741,1.04002913115,0.546327805033,0.018727187798,1.03969841419
+358,5.966666667,pose2_to_pose3_retreat,0.575741748025,0.0100544871699,1.04002921682,0.546312479,0.0187272186994,1.03969849605
+359,5.983333333,pose2_to_pose3_retreat,0.575731188612,0.0100545799927,1.04002916217,0.546301918772,0.0187273093431,1.03969845694
+360,6.000000000,pose2_to_pose3_retreat,0.575723681307,0.0100545636912,1.04002900702,0.546294411808,0.0187272939357,1.03969829495
+361,6.016666667,pose2_to_pose3_retreat,0.575718605312,0.0100545059108,1.04002893532,0.546289336683,0.018727239151,1.03969822427
+362,6.033333333,pose2_to_pose3_retreat,0.575715711163,0.0100544469986,1.04002891353,0.546286443385,0.0187271832813,1.03969820629
+363,6.050000000,pose2_to_pose3_retreat,0.575714517288,0.0100544444699,1.04002891065,0.546285249614,0.0187271811296,1.03969820406
+364,6.066666667,pose2_to_pose3_retreat,0.575713846875,0.0100544599266,1.04002891378,0.546284579066,0.0187271961174,1.03969820683
+365,6.083333333,pose2_to_pose3_retreat,0.575713495652,0.0100544680242,1.04002891542,0.546284227773,0.0187272039694,1.03969820828
+366,6.100000000,pose2_to_pose3_retreat,0.575713362942,0.0100544710839,1.04002891604,0.546284095037,0.0187272069363,1.03969820883
+367,6.116666667,pose2_to_pose3_retreat,0.575713273341,0.0100544731497,1.04002891646,0.546284005418,0.0187272089394,1.0396982092
+368,6.133333333,pose2_to_pose3_retreat,0.575713262355,0.010054473403,1.04002891651,0.54628399443,0.018727209185,1.03969820924
+369,6.150000000,pose2_to_pose3_retreat,0.575713103752,0.0100544770597,1.04002891725,0.546283835794,0.0187272127308,1.0396982099
+370,6.166666667,pose2_to_pose3_retreat,0.575712822354,0.0100544835474,1.04002891856,0.546283554341,0.0187272190218,1.03969821106
+371,6.183333333,pose2_to_pose3_retreat,0.575712555573,0.0100544896982,1.0400289198,0.546283287506,0.0187272249859,1.03969821216
+372,6.200000000,pose2_to_pose3_retreat,0.575712233604,0.0100544971214,1.04002892131,0.546282965473,0.0187272321839,1.03969821349
+373,6.216666667,pose2_to_pose3_retreat,0.575711859858,0.0100545057383,1.04002892305,0.546282591653,0.0187272405394,1.03969821503
+374,6.233333333,pose2_to_pose3_retreat,0.575711666765,0.0100545101901,1.04002892395,0.54628239852,0.0187272448563,1.03969821583
+375,6.250000000,pose2_to_pose3_retreat,0.575711573966,0.0100545123297,1.04002892438,0.546282305703,0.0187272469309,1.03969821621
+376,6.266666667,pose2_to_pose3_retreat,0.575711555879,0.010054512784,1.04002892508,0.546282287613,0.0187272473715,1.03969821689
+377,6.283333333,pose2_to_pose3_retreat,0.575711547275,0.0100545130265,1.04002892584,0.546282279007,0.0187272476066,1.03969821763
+378,6.300000000,pose2_to_pose3_retreat,0.575711358238,0.0100545183524,1.04002894259,0.546282089927,0.0187272527721,1.03969823394
+379,6.316666667,pose2_to_pose3_retreat,0.575711335341,0.0100545189975,1.04002894462,0.546282067025,0.0187272533977,1.03969823592
+380,6.333333333,pose2_to_pose3_retreat,0.575711040914,0.0100545272926,1.04002897071,0.546281772532,0.018727261443,1.03969826132
+381,6.350000000,pose2_to_pose3_retreat,0.575710912254,0.0100545309175,1.04002898211,0.546281643843,0.0187272649586,1.03969827242
+382,6.366666667,pose2_to_pose3_retreat,0.575710435972,0.0100545443362,1.04002902431,0.546281167454,0.018727277973,1.03969831351
+383,6.383333333,pose2_to_pose3_retreat,0.575710183071,0.0100545514615,1.04002904672,0.546280914497,0.0187272848835,1.03969833532
+384,6.400000000,pose2_to_pose3_retreat,0.57570992298,0.0100545479636,1.04002906116,0.546280654407,0.0187272813768,1.03969834948
+385,6.416666667,pose2_to_pose3_retreat,0.57570951941,0.0100545115344,1.04002905893,0.546280251006,0.0187272455412,1.03969834772
+386,6.433333333,pose2_to_pose3_retreat,0.575709517487,0.0100545113608,1.04002905892,0.546280249084,0.0187272453704,1.03969834771
+387,6.450000000,pose2_to_pose3_retreat,0.575709352098,0.0100544754584,1.04002905313,0.54628008339,0.0187272084575,1.03969834257
+388,6.466666667,pose2_to_pose3_retreat,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_10/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_10/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..78feda16d3f98583718b999329bf77cb4ca15b02
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_10/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c80ea821d01187479d8a1a90511b14783de1714eda054479e4a038fa392f95bf
+size 24867138
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_10/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_10/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b2654598db03cfd138af27c0998a8bf0f197e5b4
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_10/depth_02/franka_data.csv
@@ -0,0 +1,394 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,763,742,711,672,665,632,876,784,799,651,629,652,0.400962672774,0.0045711215298,0.049847059678,0.999999960187,5.03620475161e-05,-0.000273915370397,-4.53942998689e-05,1793193590154493440
+1,0.016666667,BASELINE,763.574547522,742,710.425452478,672,665,632.574547522,876.574547522,784,799,651,629,651.425452478,0.400963940157,0.00457166118426,0.0498477246461,0.999999960441,5.21950497076e-05,-0.000272678694175,-4.51773819233e-05,1793193590171161088
+2,0.033333333,BASELINE,764,742,710,672.146714139,664.853285861,632.853285861,877,784,799.146714139,650.853285861,629,651,0.400964281574,0.00457181669798,0.0498476863394,0.999999960434,5.32010410856e-05,-0.000272535036215,-4.50229797981e-05,1793193590187828480
+3,0.050000000,BASELINE,764,742,710,672.712086818,664.287913182,632.287913182,877,784,799.712086818,650.287913182,629,651,0.400961980685,0.00457087604072,0.0498456411914,0.999999959688,5.18471026123e-05,-0.000275510378163,-4.50469706687e-05,1793193590204494336
+4,0.066666667,BASELINE,764,742,710.295491336,672.704508664,664,632,877,784.295491336,800,650,629,651,0.40096176755,0.00457077339326,0.0498459321018,0.999999959766,5.11624100123e-05,-0.000275345527515,-4.51207697574e-05,1793193590221160448
+5,0.083333333,BASELINE,764,742,710.897607031,672.102392969,664,632,877,784.897607031,800,650,629,651,0.400963720831,0.00457154032879,0.0498486470848,0.999999960696,5.11721780819e-05,-0.000271922173222,-4.52462536529e-05,1793193590237826816
+6,0.100000000,BASELINE,764,742,710.524228195,672.475771805,664.475771805,632.475771805,876.524228195,785,800,650,629,651,0.400964267019,0.00457177167493,0.0498488305813,0.999999960881,5.11440609563e-05,-0.000271261358399,-4.51532702506e-05,1793193590254493696
+7,0.116666667,BASELINE,764,742,710.048357801,672.951642199,665,633,876.048357801,784.951642199,800,650,629,651,0.400964496554,0.00457175347048,0.0498484915602,0.999999960917,5.10684336891e-05,-0.000271169613365,-4.49993791201e-05,1793193590271160320
+8,0.133333333,BASELINE,764,742,710.613766754,672.386233246,665,633,876.613766754,784.386233246,800,650,629,651,0.400964423066,0.00457024040548,0.0498481117256,0.999999960973,5.05678185035e-05,-0.000271110229882,-4.46728744922e-05,1793193590287826944
+9,0.150000000,BASELINE,763.806766986,742,711,672.193233014,664.806766986,632.806766986,876.806766986,784,800,650,629,651,0.400964884274,0.00456970773136,0.0498483919825,0.99999996117,5.0651942266e-05,-0.000270395411936,-4.44981227228e-05,1793193590304493568
+10,0.166666667,BASELINE,763.196998711,742,711,672.803001289,664.196998711,632.196998711,876.196998711,784,800,650,629,651,0.400966498074,0.00457128839906,0.04985009514,0.999999961668,5.19965359575e-05,-0.000268267732081,-4.46504911662e-05,1793193590321160448
+11,0.183333333,BASELINE,763,742,710.610334886,673,664.389665114,632,876,784,800,650,629,651,0.400964554097,0.00457085286047,0.0498487664968,0.999999961147,5.09029883857e-05,-0.000270395699614,-4.47325472801e-05,1793193590337827072
+12,0.200000000,BASELINE,763,742,710.034697857,673,664.965302143,632,876,784,800,650,629,651,0.400960912132,0.00456945506563,0.0498459908938,0.999999960124,4.86458114914e-05,-0.000274554720964,-4.47810460825e-05,1793193590354493696
+13,0.216666667,BASELINE,763.539136825,742,710.539136825,672.460863175,664.460863175,632,876.539136825,784,799.460863175,650,629,651,0.400961604162,0.00457066452786,0.0498470567239,0.99999996023,5.06752784098e-05,-0.000273781851909,-4.48998110744e-05,1793193590371160576
+14,0.233333333,BASELINE,763.883444202,742,710.883444202,672,664.116555798,632.116555798,876.883444202,784,799,650,629,651,0.400962701726,0.00457158929834,0.0498481897144,0.999999960491,5.2123256836e-05,-0.00027253810042,-4.49851868014e-05,1793193590387826944
+15,0.250000000,BASELINE,763.290915981,742,710.290915981,672,664.709084019,632.709084019,876.290915981,784,799,650,629,651,0.400964320098,0.00457066854398,0.0498485907389,0.999999961108,5.00737994987e-05,-0.000270663292498,-4.49158071447e-05,1793193590404493568
+16,0.266666667,BASELINE,763,742,710.293851446,672,664.706148554,632.706148554,876.293851446,784.293851446,799,650,629,651.293851446,0.400964716902,0.00457072421111,0.0498486236071,0.999999961253,5.04363404525e-05,-0.000270050263901,-4.49686700738e-05,1793193590421160192
+17,0.283333333,BASELINE,763,742,710.871133269,672,664.128866731,632.128866731,876.871133269,784.871133269,799,650,629,651.871133269,0.400963935461,0.00457172167225,0.0498483013752,0.999999960943,5.31253413609e-05,-0.000270654267341,-4.51394404148e-05,1793193590437826816
+18,0.300000000,BASELINE,763.446945071,742.446945071,711,672.446945071,664.446945071,632,876.553054929,784.553054929,799.446945071,650,629,651.553054929,0.40096429301,0.00457225092252,0.0498486620528,0.99999996118,5.24418316764e-05,-0.000269918605935,-4.50963277736e-05,1793193590454493440
+19,0.316666667,BASELINE,763.977717472,742.977717472,711,672.977717472,664.977717472,632,876,784,799.977717472,650,629,651,0.400964918867,0.00457255003428,0.0498491723178,0.999999961542,5.07914340294e-05,-0.000268908037755,-4.49931592141e-05,1793193590471160064
+20,0.333333333,BASELINE,763.403664636,742.403664636,711,672.403664636,664.403664636,632,876,784,799.403664636,650,629,651,0.400964083307,0.00457048227976,0.0498485269464,0.999999961162,4.91983154482e-05,-0.000270623561428,-4.49249142595e-05,1793193590487826688
+21,0.350000000,BASELINE,763,742,711,672,664,632.176256106,876,784,799,650,629,651,0.400963792086,0.00456965825547,0.0498482044228,0.999999960957,4.91659572392e-05,-0.000271388452292,-4.49098100273e-05,1793193590504493568
+22,0.366666667,BASELINE,763,742,711,672,664,632.77007835,876,784,799,650,629,651,0.400964790451,0.00457178073723,0.0498486467539,0.999999961168,5.2831177152e-05,-0.000269901210604,-4.50206008264e-05,1793193590521160448
+23,0.383333333,BASELINE,763.352598224,742,711,672,664.352598224,633,876.352598224,784.352598224,799,650,629,651,0.400964574574,0.00457255879917,0.0498483937684,0.999999961051,5.35713114175e-05,-0.00027017836931,-4.50728056701e-05,1793193590537826816
+24,0.400000000,BASELINE,763.927977029,742,711,672,664.927977029,633,876.927977029,784.927977029,799,650,629,651,0.400963591509,0.00457248742248,0.0498477014641,0.999999960732,5.24633020722e-05,-0.000271570321197,-4.50879944187e-05,1793193590554493440
+25,0.416666667,BASELINE,764,742,711,672.501457142,665,633,877,784.498542858,799,650.501457142,629,651,0.400963902087,0.00457190675692,0.0498483341065,0.999999961001,5.08470891811e-05,-0.000270892314258,-4.50540312218e-05,1793193590571160320
+26,0.433333333,BASELINE,764,742,710.925150356,672.925150356,664.925150356,633,877,784,799.074849644,650.925150356,629,651,0.400964302835,0.00457119004069,0.0498490404293,0.999999961302,4.9458792616e-05,-0.000270047211305,-4.49950391015e-05,1793193590587826944
+27,0.450000000,BASELINE,764,742,710.350528591,672.350528591,664.350528591,633,877,784,799.649471409,650.350528591,629,651,0.400964069728,0.00457005147858,0.0498489728838,0.999999961275,5.00778256071e-05,-0.000270064012172,-4.48158874992e-05,1793193590604493824
+28,0.466666667,BASELINE,764,742,710,672,664,633,877,784.233227576,799.766772424,650,629,651,0.400963899738,0.00456914017451,0.0498485205456,0.999999961243,4.99027112159e-05,-0.000270213558124,-4.4813889612e-05,1793193590621160448
+29,0.483333333,BASELINE,764,742,710,672,664,633,877,784.831271821,799.168728179,650,629,651,0.400963828473,0.00456858434955,0.049847466311,0.999999961204,4.84853843251e-05,-0.000270570745127,-4.50889971662e-05,1793193590637827328
+30,0.500000000,BASELINE,764,742,710.411935237,672,664,633,876.588064763,784.588064763,799.411935237,650,629,651,0.400963380407,0.00456950005126,0.0498473308227,0.999999961021,4.87984838618e-05,-0.000271172080388,-4.51951857632e-05,1793193590654493952
+31,0.516666667,BASELINE,764,742,710.985767693,672,664,633,876.014232307,784.014232307,799.985767693,650,629,651,0.400962784251,0.0045709940868,0.0498475564166,0.999999960781,4.97916690361e-05,-0.000271869369861,-4.52349864685e-05,1793193590671160576
+32,0.533333333,BASELINE,764,742,711,672,664,632.437509589,876,784,800.562490411,650,629,651,0.40096491401,0.00457019308875,0.0498487444659,0.999999961398,4.91360520928e-05,-0.000269762270439,-4.49194396297e-05,1793193590687827200
+33,0.550000000,BASELINE,764,742,710.857315564,672.142684436,664.142684436,632,876.142684436,784,800.714631128,650,629,651,0.400966358174,0.0045696567192,0.0498495684243,0.999999961845,4.91945877567e-05,-0.000268127687294,-4.47008487927e-05,1793193590704493824
+34,0.566666667,BASELINE,764,742,710.26644892,672.73355108,664.73355108,632,876.73355108,784,799.532897841,650,629,651,0.400965431074,0.00457013491027,0.0498491718591,0.999999961697,5.1628046587e-05,-0.000268201346523,-4.48151914922e-05,1793193590721160192
+35,0.583333333,BASELINE,764,742,710,672.682066886,664.682066886,632.317933114,876.682066886,784,799.317933114,650,629,651,0.400964792192,0.00457024942041,0.0498484906828,0.999999961437,5.19404355373e-05,-0.00026911177279,-4.47914957228e-05,1793193590737826816
+36,0.600000000,BASELINE,764,742,710,672.10301069,664.10301069,632.89698931,876.10301069,784,799.89698931,650,629,651,0.400964390029,0.00457006523417,0.0498475757512,0.999999961086,5.05107592726e-05,-0.000270709447981,-4.46544269677e-05,1793193590754493696
+37,0.616666667,BASELINE,764,742,710,672,664,633,876,784,800,650,629,651,0.400964077332,0.00457028004482,0.0498483411395,0.999999961195,4.94762771855e-05,-0.000270482738651,-4.47339356411e-05,1793193590771160320
+38,0.633333333,BASELINE,764,742,710.043962273,672,664,632.956037727,876,784,799.956037727,650,629,651,0.400963811869,0.00457055800642,0.0498493365461,0.999999961375,4.87640101267e-05,-0.000269928437915,-4.48385511863e-05,1793193590787827456
+39,0.650000000,BASELINE,764,742,710.619040718,672,664,632.380959282,876,784,799.380959282,650,629,651,0.400963883151,0.00457055583809,0.0498487181099,0.999999961206,5.09113532343e-05,-0.000270185800019,-4.46803050379e-05,1793193590804493824
+40,0.666666667,BASELINE,763.799649154,742,710.799649154,672.200350846,664,632,876.200350846,784,799,650.200350846,629,651,0.400964608921,0.00457072054543,0.0498488669696,0.999999961313,5.24045811999e-05,-0.000269522681575,-4.45547279053e-05,1793193590821160448
+41,0.683333333,BASELINE,763.206109369,742,710.206109369,672.793890631,664,632,876.793890631,784,799,650.793890631,629,651,0.400966619126,0.0045712127466,0.0498505216492,0.999999961967,5.26141067552e-05,-0.000267053118189,-4.44932637919e-05,1793193590837827072
+42,0.700000000,BASELINE,763.375862838,742,710.375862838,673,664,632.375862838,877,784,799,650.624137162,629,651,0.400967260414,0.00457074134167,0.0498512402017,0.999999962334,5.02611770245e-05,-0.000266110050152,-4.46291048449e-05,1793193590854493696
+43,0.716666667,BASELINE,763.951681183,742,710.951681183,673,664,632.951681183,877,784,799,650.048318817,629,651,0.40096717345,0.00456975730732,0.0498514607433,0.999999962538,4.65450450863e-05,-0.00026597906341,-4.4869910399e-05,1793193590871160064
+44,0.733333333,BASELINE,763.473111289,742,710.473111289,673,664,632.473111289,877,784.526888711,799.526888711,650.526888711,629,651,0.400966692558,0.00457017998789,0.0498510387331,0.999999962401,4.83703656847e-05,-0.000266145125681,-4.49946234506e-05,1793193590887826688
+45,0.750000000,BASELINE,763,742,710,672.897856479,664,632,877,784.897856479,799.897856479,650.897856479,629,651,0.400966350581,0.00457067601194,0.0498506119608,0.999999962247,5.00472226169e-05,-0.000266401675645,-4.50721640613e-05,1793193590904493824
+46,0.766666667,BASELINE,763,742,710,672.322123208,664,632,877,784.322123208,799.322123208,650.322123208,629,651,0.40096681998,0.00457091465722,0.049850436003,0.999999962172,4.86822516859e-05,-0.000266951615196,-4.49802938818e-05,1793193590921160448
+47,0.783333333,BASELINE,763.261365951,742,710,672,664,632,877,784,799,650,629,651,0.400966216058,0.00457061039332,0.0498500108342,0.999999961888,4.89823129225e-05,-0.000267979699744,-4.48400071224e-05,1793193590937827072
+48,0.800000000,BASELINE,763.854706344,742,710,672,664,632,877,784,799,650,629,651,0.400964248853,0.00456961655236,0.0498492691297,0.999999961337,5.13972176291e-05,-0.000269615101108,-4.4638223943e-05,1793193590954493696
+49,0.816666667,BASELINE,764,742,710.434965495,672,664,632,876.565034505,784,799.434965495,650.434965495,629,651,0.400964593829,0.0045694781135,0.0498496152094,0.999999961585,5.00707605078e-05,-0.000268930920085,-4.47009704236e-05,1793193590971160320
+50,0.833333333,BASELINE,763.989075638,742,711,672,664,632,876,784,799.989075638,650.989075638,629,651,0.400965674184,0.00456963905455,0.0498502990629,0.999999962077,4.76333803329e-05,-0.000267518248083,-4.48432389596e-05,1793193590987826688
+51,0.850000000,BASELINE,763.416112792,742,711,672,664,632,876,784,799.416112792,650.416112792,629,651,0.400966012555,0.00457093124407,0.0498502124569,0.999999961998,5.04609215597e-05,-0.000267325340283,-4.4663429585e-05,1793193591004493312
+52,0.866666667,BASELINE,763.162607331,742,711,671.837392669,664.162607331,632,876,784,799,650,629,651,0.400966639382,0.00457174707174,0.0498503148575,0.999999962029,5.23864680508e-05,-0.000266866383854,-4.44926319909e-05,1793193591021159936
+53,0.883333333,BASELINE,763.756601092,742,711,671.243398908,664.756601092,632,876,784,799,650,629,651,0.400968031465,0.00457129914308,0.04985091868,0.99999996237,5.19190823559e-05,-0.00026570161813,-4.43457420622e-05,1793193591037826816
+54,0.900000000,BASELINE,764,742,710.659833556,671.340166444,665,632,876.340166444,784,799.340166444,650,629,651,0.400967796677,0.0045703391089,0.0498507276027,0.999999962425,5.06007675239e-05,-0.000265758018214,-4.42862660163e-05,1793193591054493696
+55,0.916666667,BASELINE,764,742,710.083508104,671.916491896,665,632,876.916491896,784,799.916491896,650,629,651,0.400966432442,0.00456902354782,0.0498499846699,0.99999996228,4.86916990228e-05,-0.000266662207161,-4.42874766676e-05,1793193591071160576
+56,0.933333333,BASELINE,764,742,710,672,665,632,877,784,800.492959753,650,629,651,0.40096519806,0.00456900083359,0.0498497999927,0.999999961749,4.99228290722e-05,-0.000268419612611,-4.42798266769e-05,1793193591087827200
+57,0.950000000,BASELINE,763.929110156,742,710.070889844,672,664.929110156,632,877,784,800.858220312,650,629,651,0.400964176518,0.0045694184066,0.0498497282071,0.999999961235,5.15322053759e-05,-0.000270022020575,-4.43075760821e-05,1793193591104493568
+58,0.966666667,BASELINE,763.340681326,742,710.659318674,672,664.340681326,632,877,784,799.681362653,650,629,651,0.4009645482,0.00457145097488,0.0498497899869,0.999999961354,5.20182968211e-05,-0.000269437345078,-4.46047240418e-05,1793193591121160192
+59,0.983333333,BASELINE,763.244064911,742,710.755935089,672,664,632.244064911,877,784,799.244064911,650,629,651,0.400964161289,0.00457199302564,0.0498494846922,0.999999961423,5.1128761931e-05,-0.000269315759241,-4.48254241157e-05,1793193591137826816
+60,1.000000000,BASELINE,763.823747243,742,710.176252757,672,664,632.823747243,877,784,799.823747243,650,629,651,0.400962731225,0.00457048544308,0.0498486746276,0.999999961417,4.8347582134e-05,-0.000269830975049,-4.49409995658e-05,1793193591154493440
+61,1.016666667,BASELINE,764,742,710,672,664,633,876.598303074,784,799.598303074,650,629,651,0.400963321535,0.00456976981942,0.0498488761379,0.999999961392,4.81578911112e-05,-0.000270014438139,-4.46064788837e-05,1793193591171159808
+62,1.033333333,BASELINE,764,742,710,672,664,633,876.021110396,784,799.021110396,650,629,651,0.400964794517,0.0045694001916,0.0498495195911,0.999999961359,4.91003853516e-05,-0.00027005296309,-4.40753175078e-05,1793193591187826688
+63,1.050000000,BASELINE,764,742,710,672,664,632.448570046,876.551429954,784.551429954,799,650.551429954,629,651,0.400964897424,0.00456979132689,0.0498495621184,0.999999961484,4.99920673632e-05,-0.00026942579869,-4.40777109043e-05,1793193591204493568
+64,1.066666667,BASELINE,764,742,710,672.128052751,664,632,876.871947249,784.871947249,799.128052751,650.871947249,629,651,0.400964748062,0.00457009899936,0.0498494979013,0.999999961557,5.04934607613e-05,-0.000269037915206,-4.42133115712e-05,1793193591221160448
+65,1.083333333,BASELINE,764,742,710,672.720108355,664,632,876.279891645,784.279891645,799.720108355,650.279891645,629,651,0.400963873058,0.00456999959199,0.0498491295552,0.999999961424,4.9587621702e-05,-0.000269608644651,-4.47581973692e-05,1793193591237827072
+66,1.100000000,BASELINE,764,742,710.304349088,673,664,632,876.304349088,784,800,650,629,651,0.400964256885,0.00456976759155,0.0498494352224,0.999999961675,4.93709165132e-05,-0.000268715169069,-4.47812382909e-05,1793193591254493696
+67,1.116666667,BASELINE,764,742,710.881582841,673,664,632,876.881582841,784,800,650,629,651,0.400965769401,0.00456941670589,0.0498503452217,0.999999962265,4.97721007412e-05,-0.00026650886186,-4.43363840253e-05,1793193591271160320
+68,1.133333333,BASELINE,764,742,711,672.542729665,664,632.457270335,877,784.457270335,799.542729665,650,629,651,0.400965285457,0.00456950983498,0.0498498827035,0.999999961954,5.00809325698e-05,-0.000267625405231,-4.42730345135e-05,1793193591287826944
+69,1.150000000,BASELINE,763.967607845,742,710.967607845,672,664.032392155,632.967607845,877,784.967607845,799,650,629,651,0.400964500182,0.00456984655766,0.0498492037912,0.999999961489,5.04492367602e-05,-0.000269277246154,-4.43362937515e-05,1793193591304493568
+70,1.166666667,BASELINE,763.395263787,742,710.395263787,672,664.604736213,632.395263787,877,784.395263787,799,650,629,651,0.400967281104,0.00457233355383,0.0498508226067,0.999999962371,5.22062170268e-05,-0.000265556503348,-4.48687115006e-05,1793193591321160192
+71,1.183333333,BASELINE,763.184496948,741.815503052,710.184496948,672,665,632,877,784,799,650,629,651,0.400967998261,0.00457358784105,0.0498511413603,0.999999962574,5.3580589941e-05,-0.000264462498655,-4.51767983017e-05,1793193591337826816
+72,1.200000000,BASELINE,763.780812683,741.219187317,710.780812683,672,665,632,877,784,799,650,629,651,0.400964108855,0.00457209057809,0.0498485582234,0.999999961282,5.41009387949e-05,-0.000269231680224,-4.49841522687e-05,1793193591354493184
+73,1.216666667,BASELINE,764,741.362927719,711,672,664.637072281,632.362927719,877,784,799,650,629,651,0.400963616139,0.00457074251459,0.0498483773706,0.999999961118,5.25193446458e-05,-0.000270204929385,-4.46652961252e-05,1793193591371160064
+74,1.233333333,BASELINE,764,741.936789263,711,672,664.063210737,632.936789263,877,784,799,650,629,651,0.40096509758,0.004569481166,0.0498495927269,0.999999961611,4.97160998273e-05,-0.00026897197988,-4.42730865949e-05,1793193591387826944
+75,1.250000000,BASELINE,764,742,710.486276582,672,664,633,877,784.513723418,799.513723418,650,628.486276582,651,0.400966340347,0.00456878989843,0.0498501724662,0.999999962197,4.83286528702e-05,-0.000267057571504,-4.41762714637e-05,1793193591404493824
+76,1.266666667,BASELINE,764,742,710.090230052,672.090230052,664,633,876.909769948,784.909769948,799.909769948,650,628.090230052,651,0.400967164169,0.00456843598017,0.049850510661,0.999999962637,4.75753863837e-05,-0.00026554430115,-4.41365348586e-05,1793193591421160192
+77,1.283333333,BASELINE,764,742,710.662421498,672.662421498,664,633,876.337578502,784.337578502,799.337578502,650,628.662421498,651,0.400965908019,0.00456950707093,0.0498499789181,0.999999962265,4.92734630225e-05,-0.000266624274254,-4.4206369125e-05,1793193591437826816
+78,1.300000000,BASELINE,764,742,710.754881095,672.754881095,664,632.754881095,876,784,799,650,629,651,0.400965253297,0.00457039986779,0.0498498402877,0.999999962135,5.0709277835e-05,-0.000266813917527,-4.43785924223e-05,1793193591454493440
+79,1.316666667,BASELINE,764,742,710.157066986,672.157066986,664,632.157066986,876,784,799,650,629,651,0.400965463954,0.00457103612211,0.0498502672969,0.999999962357,5.17677307931e-05,-0.000265722488313,-4.46981406221e-05,1793193591471160064
+80,1.333333333,BASELINE,764,742,710.423298871,672,664.423298871,632.423298871,876.423298871,784,799.423298871,650,629,651,0.400966631915,0.00457065151175,0.0498509135586,0.999999962566,5.15882315162e-05,-0.000264961369347,-4.47444224308e-05,1793193591487826688
+81,1.350000000,BASELINE,764,742,710.997446822,672,664.997446822,632.997446822,876.997446822,784,799.997446822,650,629,651,0.400968141027,0.00456990310057,0.0498516379545,0.99999996277,5.09675689554e-05,-0.000264317961443,-4.46933215728e-05,1793193591504493568
+82,1.366666667,BASELINE,764,742,710.428471302,672,664.428471302,632.428471302,877,784,799.428471302,650,628.428471302,651,0.400965879983,0.00457092908156,0.0498505647571,0.999999962111,5.18701121293e-05,-0.000266632403419,-4.46508731951e-05,1793193591521160448
+83,1.383333333,BASELINE,764,742,710,672.149773402,664,632,876.850226598,784,799.149773402,650,628.149773402,651,0.40096428885,0.00457125833414,0.0498497300634,0.999999961664,5.18968163765e-05,-0.000268312797175,-4.45802309182e-05,1793193591537826816
+84,1.400000000,BASELINE,764,742,710,672.74026861,664,632,876.25973139,784,799.74026861,650,628.74026861,651,0.400964718542,0.00456951407816,0.0498496208156,0.999999961861,4.93262646514e-05,-0.000268088569601,-4.44265118018e-05,1793193591554493440
+85,1.416666667,BASELINE,763.675664135,742,710,672.675664135,664,632,876.324335865,784,800,650,629,651,0.400965229,0.0045696421378,0.0498498917682,0.999999962072,4.91194939328e-05,-0.000267305179634,-4.46154311196e-05,1793193591571160320
+86,1.433333333,BASELINE,763.096644446,742,710,672.096644446,664,632,876.903355554,784,800,650,629,651,0.40096580288,0.00457124042811,0.0498504612721,0.999999962295,5.07688757402e-05,-0.000266082708989,-4.5073406311e-05,1793193591587826944
+87,1.450000000,BASELINE,763,742,710,672,664,632,876.519702228,784,800,650,629,651,0.400966162866,0.00457237828456,0.0498506511977,0.999999962322,5.19888301305e-05,-0.000265760652273,-4.49950929159e-05,1793193591604493568
+88,1.466666667,BASELINE,763.056974459,742,710.056974459,672,664,632,876,784,800,650,629,651,0.400966258421,0.00457318671231,0.0498506438493,0.999999962275,5.27695386616e-05,-0.000265812909841,-4.4821162608e-05,1793193591621160448
+89,1.483333333,BASELINE,763.635029373,742,710.635029373,672,664,632,876,784,800,650,629,651,0.400964327465,0.0045718259229,0.0498495277944,0.999999961917,5.03198417629e-05,-0.000267638689652,-4.47554199144e-05,1793193591637827328
+90,1.500000000,BASELINE,763.782483951,742,710.782483951,672.217516049,664,632.217516049,876.217516049,784,799.782483951,650,629,651.217516049,0.400963732513,0.00457071509517,0.0498490888367,0.999999961758,4.93416844314e-05,-0.000268430391082,-4.46608588587e-05,1793193591654493952
+91,1.516666667,BASELINE,763.192406618,742,710.192406618,672.807593382,664,632.807593382,876.807593382,784,799.192406618,650,629,651.807593382,0.40096542587,0.00457003240174,0.0498498096106,0.99999996195,5.08839789424e-05,-0.000267450923849,-4.45169377469e-05,1793193591671160576
+92,1.533333333,BASELINE,763,742,710.390659594,672.609340406,664,633,877,784.390659594,799.390659594,650,629,651.609340406,0.400965724812,0.0045696535532,0.0498501414736,0.99999996202,5.11201172755e-05,-0.000267164668899,-4.43721426829e-05,1793193591687826944
+93,1.550000000,BASELINE,763,742,710.970333639,672.029666361,664,633,877,784.970333639,799.970333639,650,629,651.029666361,0.400965349089,0.00456942171513,0.0498502851683,0.999999962034,5.07242927866e-05,-0.000267213813637,-4.42269247583e-05,1793193591704493568
+94,1.566666667,BASELINE,763.543289642,742,711,672,664,633,876.456710358,784.456710358,799.456710358,650,629,651,0.400965496244,0.00456954392473,0.0498506329762,0.999999962335,4.9311649822e-05,-0.000266319606769,-4.44129718833e-05,1793193591721160448
+95,1.583333333,BASELINE,764,742,710.880666897,672,664.119333103,632.880666897,876,784,799,650,629,651,0.400965333004,0.00456971612325,0.0498506740598,0.999999962472,4.82149039769e-05,-0.000265975691397,-4.45927315418e-05,1793193591737827072
+96,1.600000000,BASELINE,764,742,710.291027104,672,664.708972896,632.291027104,876,784,799,650,629,651,0.400963835302,0.00457001007207,0.0498494629149,0.99999996191,4.85792997206e-05,-0.000268001077989,-4.46772923264e-05,1793193591754493696
+97,1.616666667,BASELINE,763.706996961,742,710,672,664.706996961,632.293003039,876.293003039,784,799,650.293003039,629,651.293003039,0.400963430746,0.00457037660546,0.0498491329174,0.99999996173,4.89918531551e-05,-0.000268591205886,-4.47118153757e-05,1793193591771160576
+98,1.633333333,BASELINE,763.128434004,742,710,672,664.128434004,632.871565996,876.871565996,784,799,650.871565996,629,651.871565996,0.400964091565,0.00457081387954,0.0498496616836,0.999999961925,4.9451340915e-05,-0.000267782534669,-4.46975717869e-05,1793193591787827456
+99,1.650000000,BASELINE,763.449474148,742,710,672,664,632.550525852,876.550525852,784,799,650.550525852,629,651.550525852,0.400964080971,0.00457201386288,0.0498495555962,0.999999961906,5.18904092723e-05,-0.00026734428442,-4.49690165751e-05,1793193591804494336
+100,1.666666667,BASELINE,763.972952003,742,710.027047997,672,664.027047997,632.027047997,876.027047997,784,799,650,629,651,0.400963890279,0.00457323684442,0.0498493087759,0.999999961827,5.46182878621e-05,-0.000267042745267,-4.52852143333e-05,1793193591821160960
+101,1.683333333,BASELINE,763.398363236,742,710.601636764,672,664.601636764,632.601636764,876.601636764,784,799,650,629,651,0.400963931847,0.00457052000552,0.0498498799496,0.999999961911,5.17586552025e-05,-0.000267369152134,-4.48572345076e-05,1793193591837827072
+102,1.700000000,BASELINE,763.18098859,742,711,672,665,633,877,784.18098859,799.18098859,650,629,651,0.400963996785,0.00456886148093,0.0498502814289,0.99999996193,4.92593424019e-05,-0.000267814848451,-4.45875768556e-05,1793193591854493440
+103,1.716666667,BASELINE,763.771107374,742,711,672,665,633,877,784.771107374,799.771107374,650,629,651,0.400964114547,0.00456959530829,0.049850299309,0.999999961816,4.75745439568e-05,-0.000268530202146,-4.46758113365e-05,1793193591871160064
+104,1.733333333,BASELINE,764,742,710.645605016,672.354394984,664.645605016,633,877,785,799.645605016,650,629,651.354394984,0.400964330371,0.00457059111445,0.0498502592544,0.999999961905,4.81408756308e-05,-0.000268092016464,-4.47092778653e-05,1793193591887826944
+105,1.750000000,BASELINE,764,742,710.066645956,672.933354044,664.066645956,633,877,785,799.066645956,650,629,651.933354044,0.400964608331,0.0045717529248,0.0498501824893,0.99999996212,5.01336465097e-05,-0.000266922885108,-4.47080404279e-05,1793193591904493568
+106,1.766666667,BASELINE,764,742,710,672.491355189,664.508644811,632.491355189,877,784.491355189,799.508644811,650.508644811,629,651.491355189,0.400965377391,0.00456985210398,0.0498506595806,0.999999962311,5.00057932287e-05,-0.000266273545204,-4.44405286407e-05,1793193591921160448
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,742,711,672,664,632,876,785,799,651,629,651,0.400964409221,0.00456974490242,0.0498500960451,0.999999962182,4.68088823856e-05,-0.000267266867771,-4.48695129812e-05,1793193591963910656
+108,1.800000000,POSE1_TO_POSE2_PRESS,763.418119886,742,710.418119886,672,664,632,876.581880114,784.418119886,799.581880114,650.418119886,629,651,0.400963826964,0.00457021553453,0.0498497007826,0.999999961917,4.85896399847e-05,-0.000267957100272,-4.47600743847e-05,1793193591980577792
+109,1.816666667,POSE1_TO_POSE2_PRESS,763,742,710.162264783,672.162264783,664.162264783,632.162264783,877,784.162264783,800,650.162264783,629,651,0.400963563096,0.0045703652751,0.0498493253181,0.999999961769,4.99183852016e-05,-0.000268278604037,-4.46882087778e-05,1793193591997244928
+110,1.833333333,POSE1_TO_POSE2_PRESS,763,742,710.738831338,672.738831338,664.738831338,632.738831338,877,784.738831338,800,650.738831338,629,651,0.400964112152,0.00456969570099,0.0498490004028,0.999999961925,5.00930323696e-05,-0.000267658653087,-4.47122762019e-05,1793193592013911552
+111,1.850000000,POSE1_TO_POSE2_PRESS,763.314504268,742.314504268,711,672.685495732,664.685495732,633,876.685495732,784.685495732,800,651,629,651,0.400964364365,0.00456885116708,0.0498491498066,0.999999962065,4.8629332143e-05,-0.000267427261381,-4.45771108528e-05,1793193592030577920
+112,1.866666667,POSE1_TO_POSE2_PRESS,763.889437187,742.889437187,711,672.110562813,664.110562813,633,876.110562813,784.110562813,800,651,629,651,0.400964370775,0.00456786175584,0.0498496919755,0.999999962186,4.58089806755e-05,-0.000267517620383,-4.43100910865e-05,1793193592047244544
+113,1.883333333,POSE1_TO_POSE2_PRESS,763.526025465,742.526025465,711,672,664,633,876,784.473974535,799.526025465,650.526025465,628.526025465,651,0.400966239639,0.00456754746814,0.0498506555607,0.999999962397,4.64687086773e-05,-0.000266664406692,-4.399896984e-05,1793193592063910912
+114,1.900000000,POSE1_TO_POSE2_PRESS,763.060383353,742,711,672,664.060383353,632.939616647,876,784.939616647,799,650,628.060383353,651,0.400969482128,0.00456757496715,0.0498521347035,0.999999962849,4.80782086318e-05,-0.000264720276721,-4.37522102395e-05,1793193592080577536
+115,1.916666667,POSE1_TO_POSE2_PRESS,763.643199347,742,711,672,664.643199347,632.356800653,876,784.356800653,799,650,628.643199347,651,0.400980772557,0.00456916885666,0.0498572063155,0.999999965154,5.07362607598e-05,-0.000255281331639,-4.41531502782e-05,1793193592097244160
+116,1.933333333,POSE1_TO_POSE2_PRESS,763.77652024,742,710.77652024,672,665,632,876,784,799,650.22347976,629,651,0.40100147869,0.00457003013492,0.0498654933904,0.999999969215,5.17861689673e-05,-0.00023859948694,-4.42555091108e-05,1793193592113910272
+117,1.950000000,POSE1_TO_POSE2_PRESS,763.200242694,742,710.200242694,672,665,632,876,784,799,650.799757306,629,651,0.401037048984,0.00456973487148,0.0498788565763,0.99999997562,5.02973699622e-05,-0.000210483592085,-4.38865107086e-05,1793193592130576384
+118,1.966666667,POSE1_TO_POSE2_PRESS,763.37525068,742,710,672,664.62474932,632.37525068,876.37525068,784,799,650.62474932,629,651,0.40108894983,0.00456829192787,0.0498965828625,0.999999982865,4.92198514934e-05,-0.000173125603099,-4.32979102118e-05,1793193592147243008
+119,1.983333333,POSE1_TO_POSE2_PRESS,763.950326525,742,710,672,664.049673475,632.950326525,876.950326525,784,799,650.049673475,629,651,0.401149546879,0.00456623783175,0.0499166325495,0.999999989363,4.83613442941e-05,-0.000130846093289,-4.25923690688e-05,1793193592163909376
+120,2.000000000,POSE1_TO_POSE2_PRESS,763.463639201,742,710.536360799,672,664,632.463639201,877,784,799,650,629,651,0.401217120557,0.00456592710467,0.0499283364625,0.999999991874,4.74113872615e-05,-0.000110601020014,-4.20824845339e-05,1793193592180576256
+121,2.016666667,POSE1_TO_POSE2_PRESS,763.121818928,742,711,672,664,632.121818928,877,784,799,650.121818928,629,651,0.401287152388,0.00456571917609,0.049937329238,0.999999993458,4.58937831613e-05,-9.61714146949e-05,-4.15685937727e-05,1793193592197242880
+122,2.033333333,POSE1_TO_POSE2_PRESS,763.701221407,742,711,672,664,632.701221407,877,784,799,650.701221407,629,651,0.401363940087,0.0045652782616,0.0499391021193,0.999999993682,4.22764255668e-05,-9.57611095732e-05,-4.09701708177e-05,1793193592213910016
+123,2.050000000,POSE1_TO_POSE2_PRESS,763.721958373,742,711,672,664.278041627,632.721958373,877,784.278041627,799,651,629,651,0.40145309457,0.00456389075492,0.0499389512185,0.999999993563,3.99560429594e-05,-9.8408912157e-05,-3.9913564874e-05,1793193592230576896
+124,2.066666667,POSE1_TO_POSE2_PRESS,763.147887505,742,711,672,664.852112495,632.147887505,877,784.852112495,799,651,629,651,0.401555415888,0.00456149541727,0.0499367520782,0.999999993062,3.90165420131e-05,-0.000104312663588,-3.8369134302e-05,1793193592247243776
+125,2.083333333,POSE1_TO_POSE2_PRESS,763,742,710.572682619,672,664.572682619,632,876.572682619,784.572682619,799.427317381,650.572682619,629,651,0.401680482286,0.00455897785004,0.0499384875464,0.999999993396,3.58782228514e-05,-0.000102755306728,-3.69003860581e-05,1793193592263910400
+126,2.100000000,POSE1_TO_POSE2_PRESS,763,742,710.002997315,672,664.002997315,632,876.002997315,784,799.997002685,650,629,651,0.401813580987,0.00455642230785,0.049941575457,0.999999993995,3.19892406366e-05,-9.86357552641e-05,-3.54576144906e-05,1793193592280577024
+127,2.116666667,POSE1_TO_POSE2_PRESS,763,742,710.594694922,672,664.594694922,632,876.594694922,784,799.405305078,650,629,651,0.401974110754,0.00455473866183,0.0499421328124,0.999999993979,3.05232553099e-05,-9.97883677053e-05,-3.39587771817e-05,1793193592297243392
+128,2.133333333,POSE1_TO_POSE2_PRESS,763.182036042,742,711,672,665,632,876.817963958,784,799.182036042,650.182036042,629,651,0.402145403614,0.00455252510261,0.0499419939035,0.999999993942,2.75628682072e-05,-0.000101516956244,-3.24026412746e-05,1793193592313910016
+129,2.150000000,POSE1_TO_POSE2_PRESS,763.759904036,742,711,672,665,632,876.240095964,784,799.759904036,650.759904036,629,651,0.402340100479,0.00454915926315,0.0499403409887,0.99999999384,2.13529491478e-05,-0.000104497987499,-3.07219114676e-05,1793193592330576640
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,742,710.663589073,672,665,632.336410927,876,784,799.663589073,650.663589073,629,651,0.402559926302,0.00454664556496,0.0499394084666,0.999999993808,1.80437800484e-05,-0.000105954542351,-2.88374111838e-05,1793193592347243264
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,742,710.088049626,672,665,632.911950374,876,784,799.088049626,650.088049626,629,651,0.402797614377,0.00454473758777,0.0499389880156,0.999999993847,1.67965292061e-05,-0.000106327465093,-2.68080660494e-05,1793193592363909888
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,742,710.498203057,672.498203057,665,633,876.498203057,784,799.498203057,650,629,651,0.403071261109,0.00453965134809,0.0499443398814,0.999999995116,9.26083222384e-06,-9.53952482125e-05,-2.41304212149e-05,1793193592380576512
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,742,711,673,665,632.914720845,877,784,800.085279155,650,629,651.085279155,0.403359145081,0.00453412155177,0.0499512651259,0.999999996485,1.12375755839e-06,-8.10702666551e-05,-2.13851060703e-05,1793193592397243392
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,742,711,673,665,632.334101145,877,784,800.665898855,650,629,651.665898855,0.403692000851,0.00452934973396,0.0499612734567,0.999999998079,-3.90909779808e-06,-5.889893023e-05,-1.89268702408e-05,1793193592413909760
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,742,710.757118362,672.757118362,665,632.242881638,876.757118362,784.242881638,800.757118362,650,629,651.757118362,0.404040072602,0.00452471510142,0.0499701535441,0.999999998986,-7.61348965312e-06,-4.14176057424e-05,-1.59778984609e-05,1793193592430576384
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,742,710.185064647,672.185064647,665,632.814935353,876.185064647,784.814935353,800.185064647,650,629,651.185064647,0.404408766213,0.00452026639331,0.0499775045476,0.999999999419,-9.5174441968e-06,-3.02925513885e-05,-1.23638433275e-05,1793193592447243008
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,742,710.393076386,672,664.606923614,632.606923614,876.393076386,784.606923614,800,650,629,651,0.404817587751,0.00451511437403,0.0499820641824,0.999999999624,-1.4171681319e-05,-2.18170297333e-05,-8.66741416213e-06,1793193592463909376
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,742,710.974128459,672,664.025871541,632.025871541,876.974128459,784.025871541,800,650,629,651,0.405245599124,0.00450962601974,0.0499852889377,0.999999999678,-2.01411494142e-05,-1.4608559151e-05,-4.93159246347e-06,1793193592480576000
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,742,711,672.564575124,664.564575124,632,877,784,799.435424876,650.564575124,629,651,0.405651493646,0.00450029469881,0.0499663347533,0.999999998266,-2.90805115322e-05,-5.12041208661e-05,-9.85833336653e-07,1793193592497242880
+140,2.333333333,POSE1_TO_POSE2_PRESS,763.848017348,742,711,673,665,632,877,784,799,650.848017348,629,651,0.406070872739,0.00449224284334,0.0499461130916,0.999999995433,-3.65369397744e-05,-8.82661639671e-05,2.67385732161e-06,1793193592513909760
+141,2.350000000,POSE1_TO_POSE2_PRESS,763.270348403,742,711,673,665,632,877,784,799,650.270348403,629,651,0.406530907262,0.00448827621994,0.0499252362119,0.999999991896,-3.94521991955e-05,-0.000120917372457,5.5049002577e-06,1793193592530576640
+142,2.366666667,POSE1_TO_POSE2_PRESS,763.305582228,742,711,673,665,632.305582228,877.305582228,784,799.305582228,650.305582228,629,651,0.407025481082,0.0044823066258,0.0499142252735,0.999999989519,-4.5162922075e-05,-0.000137266360813,8.90967369065e-06,1793193592547243264
+143,2.383333333,POSE1_TO_POSE2_PRESS,763.879983736,742,711,673,665,632.879983736,877.879983736,784,799.879983736,650.879983736,629,651,0.407550439015,0.00447457502706,0.0499118933559,0.999999988797,-5.33328016512e-05,-0.000139274364885,1.28191555251e-05,1793193592563909632
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,742,711,672.533568152,665,632.533568152,878,784,799.533568152,650.533568152,629,651,0.408151073224,0.00446693209111,0.0499339434409,0.99999999506,2.15629698742e-05,-9.5431566391e-05,1.75209734766e-05,1793193592580576256
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,742.055086536,711,672.055086536,665,632.055086536,877.944913464,784,799.055086536,650,629,651,0.408773624091,0.00445928486178,0.0499616811304,0.999999993109,0.000107338217956,-4.18919552572e-05,2.24855520068e-05,1793193592597242880
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,742.634459366,711,672.634459366,665,632.634459366,877.365540634,784,799.634459366,650,629,651,0.409414528584,0.00445137388065,0.0499822579965,0.999999995687,8.7844605485e-05,-1.1324796127e-05,2.79591479386e-05,1793193592613910016
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,742.788429081,711,673,664.788429081,633,877.211570919,784,800,650,629,651,0.410043480339,0.00444863746608,0.0499910634905,0.999999998614,4.56819975211e-05,-3.57987570731e-06,2.59426641778e-05,1793193592630576640
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,742.215183159,711,673,664.215183159,633,877.784816841,784,800,650,629,651,0.41065199916,0.0044547468394,0.0499797461277,0.99999999871,-3.5232669797e-05,-3.48489827708e-05,1.1122082861e-05,1793193592647243264
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,742,711,673,664.358324951,632.641675049,878,784,799.641675049,650,629,651,0.411275434995,0.00446474868949,0.049953546178,0.999999995094,-4.58857345911e-05,-8.74327208168e-05,7.92805141011e-06,1793193592663909888
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,742,711,673,664.931990607,632.068009393,878,784,799.068009393,650,629,651,0.41190783541,0.00447708978113,0.049918402317,0.999999988151,-1.4314042122e-05,-0.000152825801832,1.17211684278e-05,1793193592680576768
+151,2.516666667,POSE1_TO_POSE2_PRESS,763.478210665,742.521789335,711,673,665,632,877.478210665,784.521789335,799,650.521789335,629,651,0.412660034236,0.00447578487113,0.049930782532,0.999999993181,1.58928132761e-06,-0.000115770039656,1.52260071986e-05,1793193592697243392
+152,2.533333333,POSE1_TO_POSE2_PRESS,763.222495018,743,711,673,665,632,877,784.888752491,799,650.888752491,629,651,0.413427133147,0.00447171595125,0.0499482910323,0.999999997174,1.20453327848e-05,-7.18229197373e-05,1.86792445058e-05,1793193592713909760
+153,2.550000000,POSE1_TO_POSE2_PRESS,764.380304747,743,711,673,665,632,877,784.309847627,799,650.309847627,629,651,0.414189134883,0.00446374317345,0.0499604877716,0.999999998106,8.46117680567e-06,-5.68301633738e-05,2.20785517077e-05,1793193592730576384
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,742.732128633,711,672.732128633,665,632,877.267871367,784.267871367,799,650,629,651,0.41493370199,0.00445885906344,0.0499528831295,0.999999996996,8.49808081788e-08,-7.42742948766e-05,2.21525573582e-05,1793193592747242752
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,742.155775218,711,672.155775218,665,632,877.844224782,784.844224782,799,650,629,651,0.41565819139,0.00445753187812,0.049922475116,0.999999991406,-1.38097536293e-05,-0.000129072911471,1.83971290022e-05,1793193592763909632
+156,2.600000000,POSE1_TO_POSE2_PRESS,764.572034303,742.427965697,711,672.427965697,665,632.427965697,878,785,799.427965697,650,629,651,0.416445214168,0.00445827045363,0.049917762917,0.999999991034,-1.48373569393e-05,-0.00013177791608,1.8636421187e-05,1793193592780576256
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,742.98573719,711,672.98573719,665,632.98573719,878,784.98573719,800,650.01426281,629,651,0.41725626932,0.00445985716628,0.0499232371758,0.999999993204,-1.08645009748e-05,-0.000114273071094,2.03642527949e-05,1793193592797242880
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,742.40656829,711,672.40656829,665,632.40656829,878,784.40656829,800,650.59343171,629,651,0.418101825752,0.00446473178991,0.049955214517,0.999999997914,2.40357145725e-06,-6.05184970723e-05,2.24470020462e-05,1793193592813909760
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,742,711,672.172168784,665,632,877.827831216,784,800,650.827831216,629,651,0.418928604548,0.00446726501808,0.0499722341666,0.999999998993,1.16471296304e-05,-3.57883539233e-05,2.44316581019e-05,1793193592830576640
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,742,711,672.749888636,665,632,877.250111364,784,800,650.250111364,629,651,0.419711151754,0.00446428298699,0.0499540203201,0.999999996438,1.14107684345e-05,-7.94265250668e-05,2.61852513482e-05,1793193592847243264
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,742.326534849,711,672.673465151,665,632,877.326534849,784,799.673465151,650,628.673465151,651,0.420533199744,0.00446208549766,0.0499489345372,0.999999996234,9.3865810492e-06,-8.21373835127e-05,2.64247909346e-05,1793193592863909888
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,742.902361371,711,672.097638629,665,632,877.902361371,784,799.097638629,650,628.097638629,651,0.421385404408,0.00446048696361,0.0499538713205,0.99999999822,5.99748520895e-06,-5.36024532872e-05,2.55084324798e-05,1793193592880576512
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,742.511802938,711,672,665,632,878,784,799,650,628.488197062,651,0.422257676981,0.00445882075963,0.0499696344815,0.99999999943,2.11803262924e-06,-2.16368604322e-05,2.58141814374e-05,1793193592897243392
+164,2.733333333,POSE1_TO_POSE2_PRESS,764.07500468,742,711,672.07500468,665,632,877.92499532,784.07500468,799,650,629,651,0.42312641564,0.00445702800093,0.0499830640549,0.999999999649,-1.40155104736e-06,2.56373451956e-06,2.63380729834e-05,1793193592913910272
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.654601558,742,711,672.654601558,665,632,877.345398442,784.654601558,799,650,629,651,0.423943813315,0.00445447680385,0.0499659228386,0.999999999188,-1.82654604988e-06,-3.01870457522e-05,2.66507688033e-05,1793193592930577408
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.767457182,742.232542818,711,673,665,632,877.232542818,784.767457182,799.232542818,650,629,650.767457182,0.424776072796,0.00445190865897,0.0499596546808,0.99999999874,-1.82738437491e-06,-4.22617043161e-05,2.70339319365e-05,1793193592947244032
+167,2.783333333,POSE1_TO_POSE2_PRESS,764.191957561,742.808042439,711,673,665,632,877.808042439,784.191957561,799.808042439,650,629,650.191957561,0.425630250759,0.00444931551889,0.0499694222312,0.999999999336,-1.20267165332e-06,-2.38429873722e-05,2.75210211418e-05,1793193592963910144
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,742.616625982,711,673,665,632,878,784,800,650.383374018,629,650.383374018,0.426464369302,0.00444772298276,0.049982412058,0.999999999477,-3.53332994351e-07,-1.26903869426e-05,2.97420818724e-05,1793193592980576768
+169,2.816666667,POSE1_TO_POSE2_PRESS,764,742.04137854,711,673,665,632,878,784,800,650.95862146,629,650.95862146,0.427288448329,0.00444663123531,0.0499970145892,0.999999999447,6.08427819559e-07,-5.17437900791e-06,3.28309714773e-05,1793193592997243648
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,742.548533134,711,673,665,632,878,784,800,650.451466866,629,651,0.428054830411,0.00444893166392,0.0499599413606,0.999999996855,-1.13055433459e-06,-7.24245472381e-05,3.23041532088e-05,1793193593013910272
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,743,711,673,665,632,878.136466709,784,800,650,629,651,0.42883252272,0.00445065916521,0.0499293410982,0.999999991861,-1.32454981617e-06,-0.000123624780485,3.1529394586e-05,1793193593030576640
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,743,711,673,665,632,878.714326032,784,800,650,629,651,0.429661261291,0.00444968318227,0.0499326318743,0.99999999409,4.15566496657e-06,-0.000104169336438,3.0859115364e-05,1793193593047243776
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,743,711,673.290972203,665.290972203,632,878.709027797,784.290972203,800,650,629,651,0.430466834268,0.0044469755746,0.0499396744193,0.999999995725,3.09665090888e-06,-8.7122936898e-05,3.08279773095e-05,1793193593063910400
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,743,711,673.866432222,665.866432222,632,878.133567778,784.866432222,800,650,629,651,0.431249757854,0.00444257493192,0.049950385124,0.999999996874,-4.35586399065e-06,-7.24318968711e-05,3.14217370468e-05,1793193593080576768
+175,2.916666667,POSE1_TO_POSE2_PRESS,764,743,711,673.548415731,665.548415731,632,878,784.548415731,800,650,629,651,0.431977256083,0.00443900177638,0.0499361124031,0.999999994839,-1.16643924207e-05,-9.57234015748e-05,3.19975726123e-05,1793193593097243392
+176,2.933333333,POSE1_TO_POSE2_PRESS,764,742.960906891,711,673,665,632,878,784.039093109,800.039093109,650,629,650.960906891,0.432692110925,0.00443608307719,0.0499170728663,0.999999991414,-1.76460065069e-05,-0.000125708281621,3.25284975149e-05,1793193593113909760
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,742.381317471,711,673,665,632,878,784.618682529,800.618682529,650,629,650.381317471,0.433463784655,0.00443875469892,0.0499365350189,0.999999995449,-5.88359218234e-06,-8.95038169531e-05,3.2513399217e-05,1793193593130576640
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,742,711,673,665.197165317,632,878,784.802834683,800.802834683,650,629,650.197165317,0.434214577632,0.00444046906598,0.0499561660476,0.99999999788,6.34558848049e-07,-5.64464300929e-05,3.24411711205e-05,1793193593147243264
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,742,711,673,665.773519927,632,878,784.226480073,800.226480073,650,629,650.773519927,0.434925212775,0.00444034243666,0.0499761218629,0.999999999042,-2.93308061049e-06,-2.94415123155e-05,3.22590707759e-05,1793193593163909888
+180,3.000000000,POSE1_TO_POSE2_PRESS,764.348906861,742.348906861,711,673,665.651093139,632,878,784,800,650,629,650.651093139,0.435571965242,0.00443870643144,0.0499709001494,0.999999998085,-6.23100972502e-06,-5.11987978223e-05,3.42136566964e-05,1793193593180576256
+181,3.016666667,POSE1_TO_POSE2_PRESS,764.923667365,742.923667365,711,673,665.076332635,632,878,784,800,650,629,650.076332635,0.436177365268,0.00443609338023,0.0499493805707,0.999999993789,-9.35435028989e-06,-0.000104520730094,3.75513577485e-05,1793193593197242880
+182,3.033333333,POSE1_TO_POSE2_PRESS,764.487916754,743,711.512083246,673,665,632,878,784,800.512083246,650,629,650.512083246,0.436785535863,0.00443621654102,0.0499363316672,0.999999992084,-9.51828298581e-06,-0.000119609256834,3.78731087163e-05,1793193593213909504
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,743,711.899806675,673.100193325,665,632,878,784,800.899806675,650,629,651,0.437401261301,0.00443747856365,0.0499317677643,0.999999992464,-7.97231878147e-06,-0.000116521310953,3.78436601714e-05,1793193593230576640
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,743,711.323097048,673.676902952,665,632,878,784,800.323097048,650,629,651,0.438050899347,0.00444216402621,0.0499613885446,0.999999997761,-4.49657052627e-07,-5.48343682799e-05,3.83406192498e-05,1793193593247244032
+185,3.083333333,POSE1_TO_POSE2_PRESS,764,743,711,673.746663773,665,632,878,784,800,650,629,650.746663773,0.438646843422,0.00444588278395,0.0499760125531,0.999999998837,7.23540012849e-06,-2.65619340869e-05,3.95899002901e-05,1793193593263910656
+186,3.100000000,POSE1_TO_POSE2_PRESS,764,743,711,673.170582607,665,632,878,784,800,650,629,650.170582607,0.439174382474,0.00444836998005,0.0499715309925,0.999999998177,1.51273450722e-05,-4.08588743975e-05,4.17976235318e-05,1793193593280576768
+187,3.116666667,POSE1_TO_POSE2_PRESS,764.414858949,742.585141051,711,673.414858949,665,632,878.414858949,784,800,650,629,650.414858949,0.439638539094,0.00444971882709,0.0499444667932,0.999999995392,1.52377463513e-05,-8.48247182267e-05,4.22952172565e-05,1793193593297243136
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,742.004165121,711,674,665,632,878.995834879,784,800,650,629,650.995834879,0.440075971099,0.00445063523018,0.0499079969792,0.99999998908,1.21188428356e-05,-0.000141147453062,4.2071540732e-05,1793193593313909504
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,742.583378182,711,674,665,632,878.416621818,784,800,650,629,650.416621818,0.440504936193,0.00445796182512,0.0498845481687,0.999999982759,1.5100491732e-05,-0.000180344466494,4.15905858419e-05,1793193593330576128
+190,3.166666667,POSE1_TO_POSE2_PRESS,764.838743073,742.838743073,711,674,665,632,878,784,800,650,629,650.161256927,0.440929814739,0.00446253105342,0.0498679098041,0.99999997749,3.3257437186e-06,-0.000208765864018,3.77653038237e-05,1793193593347243008
+191,3.183333333,POSE1_TO_POSE2_PRESS,764.26428324,742.26428324,711,674,665,632,878,784,800,650,629,650.73571676,0.44134422205,0.00446003483849,0.0498687224436,0.999999976647,-4.62606264691e-05,-0.000209575955117,2.53705561539e-05,1793193593363910144
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,742,711,673.688373639,664.688373639,631.688373639,878.311626361,784,800,650,629,650.688373639,0.441734539592,0.00445828558961,0.0498678983474,0.999999977069,-4.68301558043e-05,-0.000207966754349,2.04591471877e-05,1793193593380577024
+193,3.216666667,POSE1_TO_POSE2_PRESS,764,742,711,673.11122881,664.11122881,631.11122881,878.88877119,784,800,650,629,650.11122881,0.442104331636,0.00445717278664,0.0498656796852,0.999999978875,-5.63531931208e-06,-0.000204296217502,2.19238510964e-05,1793193593397244160
+194,3.233333333,POSE1_TO_POSE2_PRESS,764,742.476891711,711,673,664,631.476891711,878.523108289,784,799.523108289,650,629,650.476891711,0.442419812423,0.00445997437251,0.0498578330309,0.999999975371,3.45462077922e-05,-0.000217967780297,2.35592809547e-05,1793193593413911040
+195,3.250000000,POSE1_TO_POSE2_PRESS,764,743,711,673,663.933681655,631.933681655,878.066318345,784,799,650,629,650.933681655,0.442717713716,0.00446452219883,0.0498479417467,0.99999996922,7.06800877609e-05,-0.000236492544731,2.52011052935e-05,1793193593430577664
+196,3.266666667,POSE1_TO_POSE2_PRESS,764,743,711,673,663.354419228,631.354419228,878.645580772,784,799,650,629,650.354419228,0.442979930112,0.0044753485859,0.0498326281313,0.999999962714,7.73782090517e-05,-0.00026053281254,2.65771454785e-05,1793193593447243776
+197,3.283333333,POSE1_TO_POSE2_PRESS,764,742.776607201,711,673,663,631,878.776607201,784,799.223392799,650,629,650.223392799,0.443225554721,0.00448983521974,0.0498147700115,0.999999953779,8.82687564316e-05,-0.000289712482123,2.67876147448e-05,1793193593463909888
+198,3.300000000,POSE1_TO_POSE2_PRESS,764,742.201081486,711,673,663,631,878.201081486,784,799.798918514,650,629,650.798918514,0.443445025758,0.00451009148063,0.0497929010043,0.999999940628,0.000105767802719,-0.000326993361766,2.51608004551e-05,1793193593480576512
+199,3.316666667,POSE1_TO_POSE2_PRESS,764,742,711,673.373570749,663,631,878,784,800,650.373570749,628.626429251,651,0.443645916122,0.0045162434081,0.0497783593971,0.999999932363,0.000107524097489,-0.000350841821048,2.49572249659e-05,1793193593497242880
+200,3.333333333,POSE1_TO_POSE2_PRESS,764,742,711,673.947753968,663,631,878,784,800,650.947753968,628.052246032,651,0.443836828437,0.00451482112246,0.0497677526994,0.999999927072,0.000100826326588,-0.000367476895173,2.55179475347e-05,1793193593513909504
+201,3.350000000,POSE1_TO_POSE2_PRESS,764,742,711,674,663,631,878,783.461764538,800,650.461764538,628.538235462,651,0.444008474934,0.00451120691545,0.0497660452842,0.999999926852,9.54058382211e-05,-0.000369485693806,2.59638785191e-05,1793193593530576640
+202,3.366666667,POSE1_TO_POSE2_PRESS,764,742.127194987,711,674,663,631,878,783,800,650,629,650.872805013,0.444172569577,0.00450842377821,0.0497651497097,0.999999926942,9.15095971881e-05,-0.000370197304441,2.63822802804e-05,1793193593547243520
+203,3.383333333,POSE1_TO_POSE2_PRESS,764,742.704983509,711,674,663,631,878,783,800,650,629,650.295016491,0.444316743351,0.00450936201473,0.0497639743465,0.999999926352,9.25601281658e-05,-0.000371500185075,2.67438648984e-05,1793193593563910656
+204,3.400000000,POSE1_TO_POSE2_PRESS,764,742.718961465,711,674,663,631,878.281038535,783,800,650,629,650,0.444445403887,0.00451007751692,0.049762520955,0.999999925508,9.38375643911e-05,-0.000373436889602,2.68852171275e-05,1793193593580577280
+205,3.416666667,POSE1_TO_POSE2_PRESS,764,742.144715034,711,674,663,631,878.855284966,783,800,650,629,650,0.444557879433,0.00451056064002,0.0497607774963,0.999999924394,9.53517311155e-05,-0.000376034863404,2.67968005754e-05,1793193593597243136
+206,3.433333333,POSE1_TO_POSE2_PRESS,764,742,711,673.568550128,662.568550128,631,879,783,800,650,629,650,0.444647722963,0.00451299458348,0.0497578515588,0.999999922836,9.92819251262e-05,-0.000379189682399,2.61965044812e-05,1793193593613909504
+207,3.450000000,POSE1_TO_POSE2_PRESS,764,742,711,673.008484674,662.008484674,631,878.991515326,783,800,650,629,650,0.444729613204,0.00451611445153,0.0497545362575,0.999999921083,0.000104085281469,-0.000382560616849,2.5437474929e-05,1793193593630575872
+208,3.466666667,POSE1_TO_POSE2_PRESS,764,742,711,673.600904625,662.600904625,631,878.399095375,783,800,650,629,650,0.444788912514,0.00452120721182,0.0497518423769,0.999999918061,0.000112960830055,-0.000387893451635,2.56230861135e-05,1793193593647243520
+209,3.483333333,POSE1_TO_POSE2_PRESS,764,742,711,673.812348147,662.812348147,630.812348147,878.187651853,783.187651853,799.812348147,650,629,650,0.444844258489,0.00452460730723,0.0497494921504,0.999999916076,0.000119193270336,-0.000391123724848,2.57616668672e-05,1793193593663910656
+210,3.500000000,POSE1_TO_POSE2_PRESS,764,742,711,673.237311647,662.237311647,630.237311647,878.762688353,783.762688353,799.237311647,650,629,650,0.444891443271,0.00452451309926,0.0497478513568,0.999999916416,0.000119969330803,-0.000390013512361,2.58031589434e-05,1793193593680577280
+211,3.516666667,POSE1_TO_POSE2_PRESS,764,742.336659874,711,673.336659874,662,630,878.663340126,784,799.336659874,650,629,650,0.444930253635,0.00452586135032,0.0497477687882,0.999999916572,0.000120835193532,-0.000389367803553,2.5464751022e-05,1793193593697243904
+212,3.533333333,POSE1_TO_POSE2_PRESS,764,742.909883117,711,673.909883117,662,630,878.090116883,784,799.909883117,650,629,650,0.444963179488,0.00452822318509,0.0497487811494,0.999999916598,0.000121764158383,-0.000389048490986,2.48593958667e-05,1793193593713910528
+213,3.550000000,POSE1_TO_POSE2_PRESS,764,743,711,673.502224991,662,630.497775009,878,783.502224991,800,650,629,650.497775009,0.444980731474,0.00452926307214,0.0497470350339,0.999999914938,0.000123402695598,-0.000392785151142,2.48050107286e-05,1793193593730576896
+214,3.566666667,POSE1_TO_POSE2_PRESS,764,743,711,673.086176227,662,630.913823773,878.086176227,783,800,650,629,650.913823773,0.444994375299,0.00452982789914,0.0497446209184,0.99999991298,0.000124817786202,-0.000397297289258,2.48189270778e-05,1793193593747243520
+215,3.583333333,POSE1_TO_POSE2_PRESS,764,743,711,673.661926423,662,630.338073577,878.661926423,783,800,650,629,650.338073577,0.445002108673,0.00452909477722,0.0497413350754,0.999999911214,0.000124211506201,-0.000401916754643,2.46369914669e-05,1793193593763910144
+216,3.600000000,POSE1_TO_POSE2_PRESS,764,743,711,674,662,630.239736177,879,783,800,650,629,650.239736177,0.445009931071,0.00453003004073,0.0497394362368,0.999999910251,0.000125418280059,-0.000403959924108,2.41771024394e-05,1793193593780576768
+217,3.616666667,POSE1_TO_POSE2_PRESS,764,743,711,674,662,630.820475429,879,783,800,650,629,650.820475429,0.445017880097,0.004533338432,0.0497395102869,0.999999910443,0.000129203959445,-0.000402338544862,2.33218497727e-05,1793193593797243392
+218,3.633333333,POSE1_TO_POSE2_PRESS,764,743,711,674,662,630.605158985,878.605158985,783.394841015,800,650,629,651,0.44502126209,0.00453400084619,0.0497394671576,0.999999910219,0.000130474080463,-0.000402487941699,2.32661353029e-05,1793193593813909760
+219,3.650000000,POSE1_TO_POSE2_PRESS,764,743,711,674,662,630.033645328,878.033645328,783.966354672,800,650,629,651,0.445022600552,0.00453347931095,0.0497393715959,0.999999909814,0.000130618608226,-0.000403429676958,2.35681763074e-05,1793193593830576640
+220,3.666666667,POSE1_TO_POSE2_PRESS,764,743,711,674,662,630.56163307,878,783.43836693,800,650,629,650.43836693,0.445021939883,0.00453379853347,0.049737711845,0.999999908711,0.000129535387567,-0.000406520856098,2.32266312066e-05,1793193593847243008
+221,3.683333333,POSE1_TO_POSE2_PRESS,764.152346551,743,711,674,662,630.847653449,878.152346551,783.152346551,800.152346551,650,629,650,0.445021518122,0.0045338638327,0.0497363747526,0.999999907871,0.000128729050292,-0.000408845482035,2.30618651464e-05,1793193593863909888
+222,3.700000000,POSE1_TO_POSE2_PRESS,764.726312456,743,711,674,662,630.273687544,878.726312456,783.726312456,800.726312456,650,629,650,0.445022103619,0.00453308085028,0.0497362014049,0.999999907908,0.000128901531148,-0.000408676567334,2.34977503949e-05,1793193593880577280
+223,3.716666667,POSE1_TO_POSE2_PRESS,764.698136171,743,711,674,662,630,878.698136171,783.698136171,800.698136171,650,629,650.301863829,0.445023201421,0.00453365076431,0.0497361969776,0.999999907836,0.00013004609201,-0.000408502145272,2.3261546556e-05,1793193593897243904
+224,3.733333333,POSE1_TO_POSE2_PRESS,764.121139664,743,711,674,662,630,878.121139664,783.121139664,800.121139664,650,629,650.878860336,0.445024766164,0.00453545377073,0.0497363465123,0.999999907663,0.00013207665164,-0.000408322703526,2.24127696376e-05,1793193593913910016
+225,3.750000000,POSE1_TO_POSE2_PRESS,764,742.533251838,711,674,661.533251838,630,878,783,800,650,629,651,0.445024732406,0.00453469508128,0.0497362627825,0.999999907717,0.000130961198739,-0.000408535582563,2.26502136544e-05,1793193593930576640
+226,3.766666667,POSE1_TO_POSE2_PRESS,764,742,711,674,661.056232036,630,878.056232036,783,800,650.056232036,629,651,0.445024332269,0.00453343945473,0.0497360894565,0.999999907821,0.000129068425915,-0.000408860232674,2.30650014258e-05,1793193593947243264
+227,3.783333333,POSE1_TO_POSE2_PRESS,764,742,711,674,661.633683003,630,878.633683003,783,800,650.633683003,629,651,0.445024473518,0.00453388757079,0.0497356602275,0.999999907847,0.000127719777064,-0.000409254544916,2.24480559455e-05,1793193593963909888
+228,3.800000000,POSE1_TO_POSE2_PRESS,764,742,711,674,662,630.21052968,878.78947032,783,800,650.78947032,629,651,0.445025267908,0.00453399974924,0.0497355874392,0.999999908045,0.000127305853211,-0.000408916021025,2.21734139928e-05,1793193593980576768
+229,3.816666667,POSE1_TO_POSE2_PRESS,764,742,711,674,662,630.786327879,878.213672121,783,800,650.213672121,629,651,0.445027195499,0.00453352907667,0.0497361330748,0.99999990854,0.000128513675203,-0.00040730602807,2.24926679251e-05,1793193593997243648
+230,3.833333333,POSE1_TO_POSE2_PRESS,764,742.360974362,711,673.639025638,662,630.639025638,878,783.360974362,800,650,629,650.639025638,0.445027668955,0.00453371398535,0.049736416421,0.99999990861,0.000129105976402,-0.000406943450218,2.25741409214e-05,1793193594013910272
+231,3.850000000,POSE1_TO_POSE2_PRESS,764,742.934941256,711,673.065058744,662,630.065058744,878,783.934941256,800,650,629,650.065058744,0.4450272844,0.00453428571907,0.0497365450035,0.999999908429,0.00012933509018,-0.00040731690836,2.25153115219e-05,1793193594030576640
+232,3.866666667,POSE1_TO_POSE2_PRESS,764.526610816,743,711,673.526610816,662.526610816,630,878.526610816,783.473389184,800,650,629,650.526610816,0.445026575876,0.00453614091922,0.0497362152054,0.999999907861,0.000130628944753,-0.00040830573357,2.23898489364e-05,1793193594047243008
+233,3.883333333,POSE1_TO_POSE2_PRESS,764.883037549,742.883037549,711,674,662.766075099,630,878.883037549,783,800,650,629,650.883037549,0.445026207476,0.00453731079489,0.0497358571158,0.999999907464,0.000131054719845,-0.000409145761982,2.22769846491e-05,1793193594063909632
+234,3.900000000,POSE1_TO_POSE2_PRESS,764.306749223,742.306749223,711,674,661.613498445,630,878.306749223,783,800,650,629,650.306749223,0.445027337428,0.00453514496172,0.0497356180485,0.999999907941,0.000127536894633,-0.000409092506262,2.2247048168e-05,1793193594080576512
+235,3.916666667,POSE1_TO_POSE2_PRESS,764,742.26827595,711,673.73172405,661.536551899,630.26827595,878,783.26827595,800,650,628.73172405,650.26827595,0.445027496688,0.00453495751378,0.049735121739,0.999999907731,0.000127561857405,-0.000409610408171,2.20259348341e-05,1793193594097242880
+236,3.933333333,POSE1_TO_POSE2_PRESS,764,742.841863661,711,673.158136339,662.683727322,630.841863661,878,783.841863661,800,650,628.158136339,650.841863661,0.445026551251,0.00453702156922,0.0497343326744,0.999999906736,0.000131618693781,-0.000410778316689,2.15872524526e-05,1793193594113909760
+237,3.950000000,POSE1_TO_POSE2_PRESS,764.414490965,743,711,673.414490965,662.585509035,630.585509035,878.414490965,783.585509035,800.414490965,650,628.414490965,651,0.445027463487,0.00453742200047,0.0497357551235,0.999999907204,0.000132670850329,-0.000409309466541,2.13801736188e-05,1793193594130576384
+238,3.966666667,POSE1_TO_POSE2_PRESS,764.986752668,743,711,673.986752668,662.013247332,630.013247332,878.986752668,783.013247332,800.986752668,650,628.986752668,651,0.445029082822,0.00453718919413,0.0497380193573,0.999999908227,0.0001325793133,-0.000406836967521,2.12612517693e-05,1793193594147243008
+239,3.983333333,POSE1_TO_POSE2_PRESS,764.417693164,743,711,674,662.582306836,630,878.417693164,783,800.417693164,650,629,651,0.44502757965,0.00453610996501,0.0497365119735,0.999999907666,0.000130277919342,-0.000408940091216,2.151716691e-05,1793193594163909632
+240,4.000000000,POSE1_TO_POSE2_PRESS,764.172206536,742.827793464,711,674,662.827793464,630.172206536,878.172206536,783,800,650,629,650.827793464,0.445026516643,0.00453537527949,0.0497352963655,0.999999907176,0.000128656372227,-0.000410640478318,2.16829873917e-05,1793193594180576256
+241,4.016666667,POSE1_TO_POSE2_PRESS,764.747575931,742.252424069,711,674,662.252424069,630.747575931,878.747575931,783,800,650,629,650.252424069,0.445026657369,0.00453549418485,0.0497349731002,0.999999906958,0.000128749057541,-0.00041114413947,2.16170859981e-05,1793193594197242880
+242,4.033333333,HOLD_POSE2,764,743,711,674,662,630,878,784,800,650,629,650,0.445031442543,0.00453410631464,0.0497380120005,0.999999908905,0.000130258625902,-0.000405862891876,2.2301988227e-05,1793193594234818560
+243,4.050000000,HOLD_POSE2,764,743,711,674,662,630,878.619770021,783.380229979,800,650,629,650,0.445030280255,0.00453534174052,0.0497367954499,0.999999908209,0.000130575970077,-0.000407489564429,2.20187888313e-05,1793193594251485184
+244,4.066666667,HOLD_POSE2,764.222394258,743,711,674,662,630,879,783,800,650.222394258,629,650,0.445029261097,0.00453629885153,0.049735901388,0.99999990766,0.000130988098443,-0.000408715564522,2.17703411856e-05,1793193594268152064
+245,4.083333333,HOLD_POSE2,764.797802502,743,711,674,662,630,879,783,800,650.797802502,629,650,0.445028469133,0.00453681418405,0.0497355192233,0.999999907349,0.00013155068104,-0.000409305563816,2.1577056133e-05,1793193594284818944
+246,4.100000000,HOLD_POSE2,764.625176532,743,711,674,662,630,879,783.374823468,800,650.625176532,629,650,0.445029994822,0.00453613051305,0.0497366990799,0.999999908219,0.000130260410521,-0.000407595198662,2.14750733089e-05,1793193594301485824
+247,4.116666667,HOLD_POSE2,764.047281864,743,711,674,662,630,879,783.952718136,800,650.047281864,629,650,0.445032776166,0.004534797248,0.0497387252058,0.999999909717,0.000127966304457,-0.000404638546053,2.14225560572e-05,1793193594318152960
+248,4.133333333,HOLD_POSE2,764.526991675,743,711,674,662,630.526991675,878.473008325,783.473008325,800,650,629,650,0.445030658258,0.00453446137138,0.0497374651171,0.999999908585,0.000128386056616,-0.000407268195161,2.1888037683e-05,1793193594334819328
+249,4.150000000,HOLD_POSE2,764.895551879,743,711,673.895551879,662,630.895551879,878.104448121,783.104448121,800,650,628.895551879,650.104448121,0.445028637159,0.00453445823353,0.0497361053613,0.999999907452,0.000129299906959,-0.000409734446759,2.22397484445e-05,1793193594351485440
+250,4.166666667,HOLD_POSE2,764.301668604,743,711,673.301668604,662,630.301668604,878.698331396,783.698331396,800,650,628.301668604,650.698331396,0.445029115394,0.00453559781938,0.0497356507422,0.999999907447,0.000131395880951,-0.000409102455292,2.18420465568e-05,1793193594368151808
+251,4.183333333,HOLD_POSE2,764,743,711,673.284846286,662,630,879,784,800,650,628.284846286,651,0.445030168361,0.00453608205622,0.0497362027523,0.99999990783,0.000131836753714,-0.000408037286365,2.15497935143e-05,1793193594384818432
+252,4.200000000,HOLD_POSE2,764,743,711,673.863754368,662,630,879,784,800,650,628.863754368,651,0.445031814655,0.00453588974175,0.0497377939586,0.999999908616,0.000130568978334,-0.000406524925613,2.13664008833e-05,1793193594401485312
+253,4.216666667,HOLD_POSE2,764,742.563334363,711,674,662,630,879,783.563334363,800,650,629,651,0.445030335309,0.00453516314076,0.0497365811445,0.999999907792,0.000130724718762,-0.000408480017229,2.17231933123e-05,1793193594418152192
+254,4.233333333,HOLD_POSE2,764,742.008011176,711,674,662.008011176,630,878.991988824,783,800,650.008011176,629,650.991988824,0.445027969997,0.00453429390493,0.0497345649643,0.999999906506,0.000131306042533,-0.00041140333892,2.22338920691e-05,1793193594434819328
+255,4.250000000,HOLD_POSE2,764,742.59975636,711,674,662.59975636,630,878.40024364,783,800,650.59975636,629,650.40024364,0.445031147048,0.00453501396527,0.0497368969541,0.999999908314,0.000130972474405,-0.000407112591236,2.18443070217e-05,1793193594451485952
+256,4.266666667,HOLD_POSE2,764,743,711,673.812071383,662.812071383,630,878.187928617,783.187928617,800,650.812071383,629,650.187928617,0.445033156977,0.00453507208303,0.0497380228232,0.999999909482,0.000129620854437,-0.000404683595713,2.15701613536e-05,1793193594468152576
+257,4.283333333,HOLD_POSE2,764,743,711,673.231366535,662.231366535,630,878.768633465,783.768633465,800,650.231366535,629,650.768633465,0.44503272759,0.00453374672182,0.0497366278654,0.999999909335,0.000126141476689,-0.000406145715139,2.15372872475e-05,1793193594484818688
+258,4.300000000,POSE2_TO_POSE3_RETREAT,764,742,711,673,662,630,880,783,801,650,629,650,0.445031173183,0.00453456057808,0.0497366687099,0.999999908425,0.000129101837958,-0.000407472462392,2.11986343872e-05,1793193594520410624
+259,4.316666667,POSE2_TO_POSE3_RETREAT,764,742,711,673.571709681,662,630,878.856580638,783,801,650,629,650.571709681,0.44503174223,0.00453536074628,0.0497369206977,0.999999908682,0.000128885482453,-0.000406921605366,2.09671286234e-05,1793193594537077504
+260,4.333333333,POSE2_TO_POSE3_RETREAT,764,742.148751234,711,674,662,630,878,783,800.851248766,650,629,651,0.445032003302,0.00453562648606,0.0497369615996,0.999999908692,0.000128987911032,-0.000406868811495,2.09011479012e-05,1793193594553744128
+261,4.350000000,POSE2_TO_POSE3_RETREAT,764,742.741715387,711,674,662,630,878,783,800.258284613,650,629,651,0.44503134467,0.00453429627286,0.0497363721396,0.999999907961,0.000130042318275,-0.000408303373817,2.13294713413e-05,1793193594570410752
+262,4.366666667,POSE2_TO_POSE3_RETREAT,764,743,711,674,662,630,878,783,800,650,629,651,0.445032126009,0.00453349280291,0.0497372608876,0.999999908467,0.000128589018482,-0.000407505747113,2.16975632304e-05,1793193594587077120
+263,4.383333333,POSE2_TO_POSE3_RETREAT,764,743,711,674,662,630,878,783,800,650,629,651,0.445034018628,0.00453309584028,0.0497392904233,0.999999909913,0.000125200428367,-0.000404985457495,2.20191721785e-05,1793193594603743232
+264,4.400000000,POSE2_TO_POSE3_RETREAT,764,743,711,674,662,630.479960466,878.479960466,783,800,650,629.479960466,650.520039534,0.445032934775,0.00453396752329,0.0497387663741,0.999999909691,0.00012650788533,-0.000405144245866,2.17430060001e-05,1793193594620409856
+265,4.416666667,POSE2_TO_POSE3_RETREAT,764,743,711,674,662,630.943119472,878.943119472,783,800,650,629.943119472,650,0.445030559982,0.00453495053277,0.049737333971,0.999999908879,0.000128548018187,-0.000406523021509,2.1375514613e-05,1793193594637076480
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764,743,711,674,662,630.354817419,878.354817419,783,800,650,629.354817419,650,0.4450216714,0.00453460930003,0.0497321740746,0.999999905669,0.000128681479162,-0.000414306931106,2.12688499152e-05,1793193594653742848
+267,4.450000000,POSE2_TO_POSE3_RETREAT,764,742.768854436,711,673.768854436,662,630,878,783.231145564,800,650,629,650.231145564,0.445004789945,0.00453444501243,0.0497241109579,0.99999989995,0.000128565427958,-0.000427931193765,2.10965010337e-05,1793193594670409728
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764,742.186446098,711,673.186446098,662,630,878,783.813553902,800,650,629,650.813553902,0.444975762038,0.00453454962141,0.0497116359323,0.999999890138,0.000128070202912,-0.000450430809197,2.08243344991e-05,1793193594687076864
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,742.390589957,711,673,662,630,878,784,800.390589957,650,629,650.609410043,0.444925828986,0.00453577876351,0.049692548524,0.999999874291,0.000129304460935,-0.000484031555953,2.02907377006e-05,1793193594703743744
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764,742.965096423,711,673,662,630,878,784,800.965096423,650,629,650.034903577,0.444866052358,0.00453753741283,0.0496703475518,0.999999854489,0.000131353077884,-0.000522859477304,1.96340415769e-05,1793193594720410368
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764,743,711,673.541064677,662,630.541064677,878,784,799.917870647,650,629,650.541064677,0.444796382486,0.00453928961293,0.0496559336373,0.999999846166,0.00013347541041,-0.000538069175726,1.82487545727e-05,1793193594737077248
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764,743,711,674,662,630.880387687,878.119612313,783.880387687,799.119612313,650,629,651,0.444722797068,0.00454052329608,0.0496442755916,0.999999839145,0.000135144248722,-0.000550589592424,1.72132315541e-05,1793193594753743872
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764,743,711,674,662,630.292103685,878.707896315,783.292103685,799.707896315,650,629,651,0.444636376931,0.00453972693204,0.0496414421294,0.999999834734,0.000135017498142,-0.000558558704789,1.77328327771e-05,1793193594770409728
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764,742.707939042,711,673.707939042,662,630.292060958,878.707939042,783,800,650,629,650.707939042,0.444539842565,0.00454169689583,0.0496420814384,0.999999833827,0.000136609305936,-0.000559812190291,1.71643711677e-05,1793193594787078144
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764,742.127837095,711,673.127837095,662,630.872162905,878.127837095,783,800,650,629,650.127837095,0.444433333188,0.00454639511137,0.0496461457193,0.999999836391,0.000139896017639,-0.000554442483278,1.55228229421e-05,1793193594803748352
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764,742.446666988,711,673.446666988,662,630.553333012,878,783,800.446666988,650,629,650,0.444301672341,0.00454677484188,0.0496504599881,0.999999840101,0.000142322142327,-0.000547096012404,1.51345077875e-05,1793193594820413184
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764,742.979875428,711,674,662,630.020124572,878,783,800.979875428,650,629,650,0.444161781401,0.00454607525942,0.0496547556383,0.999999843939,0.000144681332429,-0.000539409315234,1.50828432895e-05,1793193594837076480
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764,742.391282778,711,674,662,630.608717222,878,783,800.391282778,650,629,650,0.443990231155,0.00454936843195,0.0496565293505,0.999999843673,0.000152021081346,-0.000537895403097,1.45343636557e-05,1793193594853743360
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764,742.194078269,711,673.805921731,662,631,878.194078269,783.194078269,800,650,629,650.194078269,0.443803982683,0.00455220424702,0.049658943096,0.999999843357,0.000159015129644,-0.000536473519423,1.40273440068e-05,1793193594870409984
+280,4.666666667,POSE2_TO_POSE3_RETREAT,764,742.773030692,711,673.226969308,662,631,878.773030692,783.773030692,800,650,629,650.773030692,0.443588586364,0.0045541330819,0.049662626083,0.999999843004,0.000165323622561,-0.000535234136446,1.36025431955e-05,1793193594887076864
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764,742.648736732,711,673.351263268,662.351263268,631,878.648736732,784,800,650,629,651,0.443352327341,0.0045576299357,0.0496665858455,0.999999844398,0.000171734171793,-0.000530618531044,1.2473566898e-05,1793193594903743488
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764,742.07096828,711,673.92903172,662.92903172,631,878.07096828,784,800,650,629,651,0.443102615393,0.00456213789574,0.0496707240815,0.999999846864,0.000178210530638,-0.000523825835099,1.08905168945e-05,1793193594920409856
+283,4.716666667,POSE2_TO_POSE3_RETREAT,764,742.504448781,711,674,663,631,878,783.495551219,800.504448781,650.504448781,629,651,0.442818664429,0.00456560438524,0.0496796278337,0.999999855307,0.00018483415726,-0.00050510683099,9.44013459636e-06,1793193594937076480
+284,4.733333333,POSE2_TO_POSE3_RETREAT,764,742.918469889,711,674,663,631,878,783.081530111,800.918469889,650.918469889,629,650.918469889,0.442526108296,0.0045688398107,0.0496903774068,0.999999864826,0.000191142375673,-0.000483474722788,7.9966435932e-06,1793193594953743360
+285,4.750000000,POSE2_TO_POSE3_RETREAT,764,742.328967597,711,674,663,631,878,783.671032403,800.328967597,650.328967597,629,650.328967597,0.442209810093,0.00457154424596,0.0497084695851,0.999999877794,0.000195356964629,-0.000454097873783,6.48033979678e-06,1793193594970409472
+286,4.766666667,POSE2_TO_POSE3_RETREAT,764,742.25600138,710.74399862,674,663,631,878,783.74399862,799.74399862,650,629,650,0.441871464165,0.00457527413771,0.0497273241655,0.999999890586,0.000199975933796,-0.00042286571012,4.78800793145e-06,1793193594987076096
+287,4.783333333,POSE2_TO_POSE3_RETREAT,764,742.835246272,710.164753728,674,663,631,878,783.164753728,799.164753728,650,629,650,0.441505279404,0.00458029883542,0.0497471414019,0.999999903188,0.000205105498711,-0.000389290910775,2.87341199956e-06,1793193595003743232
+288,4.800000000,POSE2_TO_POSE3_RETREAT,764.411921313,742.588078687,710,673.588078687,663.411921313,631,878,783,799.411921313,650,629,650,0.441088777839,0.00458513603002,0.0497598974632,0.999999908785,0.000211365592049,-0.000371152363259,1.16091687206e-06,1793193595020410112
+289,4.816666667,POSE2_TO_POSE3_RETREAT,764.987574864,742.012425136,710,673.012425136,663.987574864,631,878,783,799.987574864,650,629,650,0.440652276145,0.00458989869497,0.0497698468182,0.999999911727,0.000218075052546,-0.00035914948373,-4.71246320676e-07,1793193595037076736
+290,4.833333333,POSE2_TO_POSE3_RETREAT,764.426171552,742,710.573828448,673,664,631.573828448,878,783.573828448,800,650,629,650,0.440168170179,0.00459291166332,0.0497738176733,0.999999915239,0.000222739605698,-0.000346255644689,-3.92457165599e-06,1793193595053743104
+291,4.850000000,POSE2_TO_POSE3_RETREAT,764,742,711,673.158371296,664.158371296,631.841628704,877.841628704,783.841628704,799.841628704,650,629,650,0.439665912901,0.00459635008965,0.0497753306238,0.999999916411,0.00022719637917,-0.000339860671422,-7.40807835274e-06,1793193595070409728
+292,4.866666667,POSE2_TO_POSE3_RETREAT,764,742,711,673.737744731,664.737744731,631.262255269,877.262255269,783.262255269,799.262255269,650,629,650,0.439118195357,0.00460102212983,0.0497706602714,0.999999911681,0.000231220728138,-0.000350794037487,-1.08650158623e-05,1793193595087076352
+293,4.883333333,POSE2_TO_POSE3_RETREAT,764,742,711,673.687259315,664.687259315,631.312740685,877.62548137,783,799,649.687259315,629,650.312740685,0.438553807786,0.00460638499253,0.0497675245845,0.999999908318,0.000236499357491,-0.000356649665417,-1.52637668177e-05,1793193595103742720
+294,4.900000000,POSE2_TO_POSE3_RETREAT,764,742,711,673.115883456,664.115883456,631.884116544,878.768233089,783,799,649.115883456,629,650.884116544,0.437975634117,0.00461231916294,0.0497656580585,0.99999990612,0.000242815271672,-0.000358306027394,-2.04413937411e-05,1793193595120409344
+295,4.916666667,POSE2_TO_POSE3_RETREAT,764,742,711,673.460344673,664,632,878.079310654,783.460344673,799,649,629,650.539655327,0.437372781285,0.00460061991214,0.0497863887488,0.999999918459,0.000231175628382,-0.000330298227957,-2.33071947101e-05,1793193595137076224
+296,4.933333333,POSE2_TO_POSE3_RETREAT,764,742,711,674,664.038825714,632,877.038825714,783.961174286,799.038825714,649.038825714,629,650,0.436759325229,0.00458428160842,0.04981243124,0.999999933926,0.000210405957921,-0.000295341197872,-2.5509282367e-05,1793193595153742848
+297,4.950000000,POSE2_TO_POSE3_RETREAT,764,742,711,674,664.631844195,632,877.631844195,783.368155805,799.631844195,649.631844195,629,650,0.436084141172,0.00456576123064,0.0498322326849,0.999999955735,0.000124520509111,-0.00026891612533,-2.6632934102e-05,1793193595170409728
+298,4.966666667,POSE2_TO_POSE3_RETREAT,764,742,711,673.78091836,664.78091836,632,877.78091836,783.21908164,800,649.78091836,629,650,0.435374175592,0.00455787516556,0.0498296756921,0.999999959185,5.58246838372e-05,-0.000278646866783,-2.94994114734e-05,1793193595187076352
+299,4.983333333,POSE2_TO_POSE3_RETREAT,764,742,711,673.203145936,664.203145936,632,877.203145936,783.796854064,800,649.203145936,629,650,0.434607264106,0.00456740009943,0.0497905124103,0.999999938859,1.52725262897e-05,-0.000347573613856,-3.52193251939e-05,1793193595203742976
+300,5.000000000,POSE2_TO_POSE3_RETREAT,764,742,711,673,664.373018091,632.373018091,877,784,799.626981909,649.373018091,629,650.373018091,0.433868991924,0.00457724291229,0.0497764783867,0.999999932831,1.35507003252e-05,-0.00036398343448,-4.08679358445e-05,1793193595220409600
+301,5.016666667,POSE2_TO_POSE3_RETREAT,764,742,711,673,664.948309926,632.948309926,877,784,799.051690074,649.948309926,629,650.948309926,0.433146249789,0.00458725809871,0.0497760710201,0.999999936457,3.28851106204e-05,-0.000351915290685,-4.64778813935e-05,1793193595237076480
+302,5.033333333,POSE2_TO_POSE3_RETREAT,764,742.523237313,711,673,665,632.476762687,877.523237313,784,799.523237313,650,629,651,0.43239552013,0.00459006856212,0.0498045175344,0.999999947994,4.53134956655e-05,-0.000315543877586,-4.89017002391e-05,1793193595253743104
+303,5.050000000,POSE2_TO_POSE3_RETREAT,764.100724569,742.899275431,711,673,664.899275431,632,877.899275431,784,799.899275431,650,629,651,0.43162664826,0.00459067412978,0.0498267178056,0.999999955615,5.3570333062e-05,-0.000288515039011,-5.15591855513e-05,1793193595270409728
+304,5.066666667,POSE2_TO_POSE3_RETREAT,764.690823671,742.309176329,711,673,664.309176329,632,877.309176329,784,799.309176329,650,629,651,0.430783055774,0.00458402276482,0.0498047310662,0.999999946644,4.48719081273e-05,-0.000318534233509,-5.68801306905e-05,1793193595287076352
+305,5.083333333,POSE2_TO_POSE3_RETREAT,764.723044646,742,711,673,664.553910707,632,877,784,799.276955354,650,629,651,0.429927030738,0.00457663619721,0.0497818795312,0.999999935602,3.0259989659e-05,-0.00035238754547,-6.08585959716e-05,1793193595303742976
+306,5.100000000,POSE2_TO_POSE3_RETREAT,764.141279331,742,711,673,665.717441339,632,877,784,799.858720669,650,629,651,0.429057322648,0.0045684404836,0.0497580762214,0.999999921721,9.13983069516e-06,-0.000390460592396,-6.33595629713e-05,1793193595320409600
+307,5.116666667,POSE2_TO_POSE3_RETREAT,763.566097097,742,710.566097097,673,665.132194195,632,877.433902903,784,800,650,629,651,0.42821418963,0.00457300243767,0.0497698054716,0.999999925892,6.04880704476e-05,-0.000377114013814,-4.8391503004e-05,1793193595337076224
+308,5.133333333,POSE2_TO_POSE3_RETREAT,763.007185684,742,710.007185684,673,664.007185684,632,878,784,800,650,629,651,0.427378667019,0.0045816777015,0.0497924133652,0.999999930059,0.000134132329816,-0.000347989532262,-2.81644415251e-05,1793193595353742848
+309,5.150000000,POSE2_TO_POSE3_RETREAT,763.597678569,742,710.597678569,673,664.597678569,632,878,784,800,650,629,651,0.426469013967,0.00459209647453,0.0497729804224,0.999999919787,0.00013089152696,-0.000376839347458,-3.5856193873e-05,1793193595370409472
+310,5.166666667,POSE2_TO_POSE3_RETREAT,764,742,711,673,665,632,877.815492064,784,800,650,629,651,0.425587839988,0.00459883379349,0.0497693575865,0.999999921271,0.000126797637656,-0.000373584013837,-4.26125224405e-05,1793193595387076096
+311,5.183333333,POSE2_TO_POSE3_RETREAT,764,742,711,673,665,632,877.236495548,784,800,650,629,651,0.424767555961,0.00459769995119,0.04979953767,0.999999946065,0.000120879800414,-0.000301686022575,-4.73688606088e-05,1793193595403742720
+312,5.200000000,POSE2_TO_POSE3_RETREAT,763.660222313,742,711,673,665,632,877,784,800,650,629,651,0.423919123151,0.00459373078561,0.0498244884553,0.999999959899,0.000109240399393,-0.000256866184187,-4.78324301808e-05,1793193595420409600
+313,5.216666667,POSE2_TO_POSE3_RETREAT,763.085829515,742,711,673,665,632,877,784,800,650,629,651,0.423051253755,0.00458780384089,0.0498458284303,0.999999967966,9.36502823308e-05,-0.00023074370366,-4.53318603973e-05,1793193595437076480
+314,5.233333333,POSE2_TO_POSE3_RETREAT,763.489052433,742,711,673,664.510947567,632,877,784,800,649.510947567,629,651.489052433,0.422146679983,0.00458834754338,0.0498240386613,0.999999957295,9.47587327974e-05,-0.000272489963788,-4.66926282963e-05,1793193595453743104
+315,5.250000000,POSE2_TO_POSE3_RETREAT,764,742,710.934057424,673,664.065942576,632,877,784,800,649.065942576,629,651.934057424,0.421237568926,0.00459046519723,0.0497983117001,0.999999942713,9.96860303651e-05,-0.000319816874845,-4.85173287061e-05,1793193595470409728
+316,5.266666667,POSE2_TO_POSE3_RETREAT,764,742,710.341825991,673,664.658174009,632,877,784,800,649.658174009,629,651.341825991,0.420343708861,0.00459607219125,0.049801633488,0.999999942487,0.000111678815266,-0.000316525344019,-4.86307617677e-05,1793193595487076352
+317,5.283333333,POSE2_TO_POSE3_RETREAT,763.755935687,742,710.244064313,673,665,632,877,784,799.755935687,649.755935687,629,651,0.41944691146,0.00460108572407,0.0498011669126,0.999999938449,0.000117864509848,-0.000326962803781,-4.8023664459e-05,1793193595503742976
+318,5.300000000,POSE2_TO_POSE3_RETREAT,763.178701514,742,710.821298486,673,665,632,877,784,799.178701514,649.178701514,629,651,0.418546104204,0.00460528912947,0.0497955288792,0.999999928761,0.000116123002585,-0.000356141576775,-4.64329780227e-05,1793193595520409600
+319,5.316666667,POSE2_TO_POSE3_RETREAT,763,742,711,673,664.606150393,632,877,784.393849607,799.393849607,649.393849607,629.393849607,651,0.41769688033,0.00460391976871,0.0497866612081,0.9999999249,0.000112151242955,-0.000367941348118,-4.7332671174e-05,1793193595537076224
+320,5.333333333,POSE2_TO_POSE3_RETREAT,763,742,711,673,664.035699181,632,877,784.964300819,799.964300819,649.964300819,629.964300819,651,0.416870786424,0.00460005158726,0.0497763453723,0.999999923866,0.000107179441455,-0.000371948398087,-4.93490471071e-05,1793193595553742592
+321,5.350000000,POSE2_TO_POSE3_RETREAT,763.541554942,742,711,673,664.541554942,632.541554942,877,784.458445058,800,650,629.458445058,651,0.416087383271,0.00459707228848,0.0498029747834,0.99999994192,0.000102032621731,-0.000321261495725,-5.03975400558e-05,1793193595570409472
+322,5.366666667,POSE2_TO_POSE3_RETREAT,763.876949195,742,711,672.876949195,665,632.876949195,877,784,800,650.123050805,629,651,0.415295454649,0.00459537233275,0.0498248198422,0.999999954453,9.85192515661e-05,-0.000280673857287,-5.1090913985e-05,1793193595587076352
+323,5.383333333,POSE2_TO_POSE3_RETREAT,763.280893953,742,711,672.280893953,665,632.280893953,877,784,800,650.719106047,629,651,0.414459799161,0.0045983620391,0.0498187931575,0.999999950675,0.000101329737544,-0.000292942994893,-5.06675949829e-05,1793193595603742720
+324,5.400000000,POSE2_TO_POSE3_RETREAT,763,742,711,672.303924412,664.696075588,632,877,784,800,650.696075588,629,651,0.413637066394,0.00460219443411,0.0497991601207,0.999999939721,0.000105217126654,-0.000326909260465,-5.1157313205e-05,1793193595620409344
+325,5.416666667,POSE2_TO_POSE3_RETREAT,763,742,711,672.878727648,664.121272352,632,877,784,800,650.121272352,629,651,0.41282585131,0.00460677789239,0.0497674001458,0.999999920286,0.000110064327255,-0.00038021353213,-5.24607943742e-05,1793193595637075968
+326,5.433333333,POSE2_TO_POSE3_RETREAT,763.455313037,742,710.544686963,673,664.455313037,632,877,784,800,650,629,651,0.412093225028,0.00460719498685,0.0497782406191,0.999999926079,0.000107732540086,-0.000365356177455,-5.24433128676e-05,1793193595653742592
+327,5.450000000,POSE2_TO_POSE3_RETREAT,764,742,710.033072261,672.966927739,665,632,877,784.033072261,799.966927739,650,629,651,0.411382118093,0.0046066390383,0.0497994111389,0.999999937372,0.000104125512988,-0.000334217533727,-5.20882648879e-05,1793193595670409216
+328,5.466666667,POSE2_TO_POSE3_RETREAT,764,742,710.622562231,672.377437769,665,632,877,784.622562231,799.377437769,650,629,651,0.410679508551,0.0046084557562,0.0498027286292,0.999999936067,0.000111359951444,-0.000335799819724,-5.19965801515e-05,1793193595687075840
+329,5.483333333,POSE2_TO_POSE3_RETREAT,764,742.208365131,711,672.208365131,664.791634869,632,876.791634869,784.791634869,799.208365131,650.208365131,629,651,0.409982147541,0.00460892689997,0.0497998752549,0.99999993304,0.000112676755715,-0.000344236551804,-5.22000714266e-05,1793193595703742464
+330,5.500000000,POSE2_TO_POSE3_RETREAT,764,742.787605408,711,672.787605408,664.212394592,632,876.212394592,784.212394592,799.787605408,650.787605408,629,651,0.409294128426,0.00460700301757,0.04978603818,0.999999926681,0.000103460592258,-0.00036487371166,-5.29289550258e-05,1793193595720409088
+331,5.516666667,POSE2_TO_POSE3_RETREAT,764,742.635076191,711,672.635076191,664,632,876.364923809,784.364923809,800,651,629,651,0.408676386104,0.00460551160388,0.0497941697248,0.999999934506,9.38205536637e-05,-0.000345339426604,-5.40969076191e-05,1793193595737075712
+332,5.533333333,POSE2_TO_POSE3_RETREAT,764,742.058870542,711,672.058870542,664,632,876.941129458,784.941129458,800,651,629,651,0.408099332344,0.00460427057898,0.0498150205566,0.999999949169,8.39351022952e-05,-0.00030254686902,-5.55190701582e-05,1793193595753742592
+333,5.550000000,POSE2_TO_POSE3_RETREAT,764,742,711,672.513562882,664.513562882,632.513562882,877,785,800,651,629,651,0.407541112295,0.00460306300852,0.0498285706194,0.999999953229,9.02567419925e-05,-0.000287305900138,-5.33972455414e-05,1793193595770409216
+334,5.566666667,POSE2_TO_POSE3_RETREAT,763.911231452,742,711,672.911231452,664.911231452,632.911231452,877.088768548,785,800,650.911231452,629,651.088768548,0.406983446321,0.00460207387852,0.0498351514488,0.999999953191,9.77631627136e-05,-0.000285411814793,-5.10012318775e-05,1793193595787075840
+335,5.583333333,POSE2_TO_POSE3_RETREAT,763.31782567,742,711,672.31782567,664.31782567,632.31782567,877.68217433,785,800,650.31782567,629,651.68217433,0.406416746419,0.00460230491101,0.0498068360913,0.999999935295,0.000101520316583,-0.000341569467686,-4.93391437632e-05,1793193595803742464
+336,5.600000000,POSE2_TO_POSE3_RETREAT,763.268896935,742,711,672,664,632.268896935,877.731103065,784.731103065,800,650,629.268896935,652,0.405871370337,0.00460189774088,0.0497820014734,0.9999999189,0.000100889702099,-0.000386753391953,-4.94225302573e-05,1793193595820409600
+337,5.616666667,POSE2_TO_POSE3_RETREAT,763.84791181,742,711,672,664,632.84791181,877.15208819,784.15208819,800,650,629.84791181,652,0.405350586988,0.00460075453378,0.0497611811827,0.999999906243,9.51986889038e-05,-0.000419281348273,-5.15189670283e-05,1793193595837076992
+338,5.633333333,POSE2_TO_POSE3_RETREAT,764,742.424759273,711,672,664.424759273,633,877,784.424759273,799.575240727,650,629.575240727,651.575240727,0.404911611965,0.00459921189802,0.0497662441272,0.999999911073,9.06882979399e-05,-0.000408488531735,-5.259165723e-05,1793193595853744128
+339,5.650000000,POSE2_TO_POSE3_RETREAT,763.999151217,742.999151217,711,672.000848783,664.999151217,632.999151217,877,784.999151217,799.000848783,650,629,651,0.404501891681,0.00459752690915,0.0497805552023,0.99999992178,8.66053714108e-05,-0.000382227766429,-5.32968665173e-05,1793193595870410496
+340,5.666666667,POSE2_TO_POSE3_RETREAT,763.413331275,742.413331275,711,672.586668725,664.413331275,632.413331275,877,784.413331275,799.586668725,650,629,651,0.404168950927,0.00459580010619,0.0498138162765,0.99999993986,8.72643454315e-05,-0.00033158911663,-5.20848307092e-05,1793193595887077120
+341,5.683333333,POSE2_TO_POSE3_RETREAT,763.170660542,742,711,672.829339458,664,632,877,784.170660542,800,650,629,651,0.403836193098,0.00459549694164,0.0498410840281,0.999999952362,8.94694706091e-05,-0.000290903380925,-5.14515676521e-05,1793193595903743744
+342,5.700000000,POSE2_TO_POSE3_RETREAT,763.750271771,742,711,672.249728229,664,632,877,784.750271771,800,650,629,651,0.403503873541,0.00459860521505,0.0498539900989,0.999999956532,9.53796096795e-05,-0.000274067619881,-5.22052070111e-05,1793193595920410368
+343,5.716666667,POSE2_TO_POSE3_RETREAT,764,742,711,672.328099301,664.328099301,632.328099301,877,784.671900699,800,650,629,651,0.403175397988,0.00460167485978,0.0498513498418,0.999999953134,0.000100162504453,-0.000284393752531,-5.31097009943e-05,1793193595937077248
+344,5.733333333,POSE2_TO_POSE3_RETREAT,764,742,711,672.904576498,664.904576498,632.904576498,877,784.095423502,800,650,629,651,0.402849832444,0.0046047152616,0.0498369406948,0.999999943416,0.00010409205177,-0.000315281996391,-5.41283949443e-05,1793193595953744128
+345,5.750000000,POSE2_TO_POSE3_RETREAT,764,742,711,673,665,633,877,784.480143605,799.519856395,650.480143605,629,651.480143605,0.402572142321,0.00460489632163,0.0498219055165,0.999999934417,0.000104586202549,-0.000342299870051,-5.53097668682e-05,1793193595970410496
+346,5.766666667,POSE2_TO_POSE3_RETREAT,763.943046817,742.056953183,711,672.943046817,665,633,877,785,799.056953183,650.943046817,629,651.943046817,0.402309841041,0.00460435514648,0.0498077400747,0.999999925789,0.000103819390872,-0.000366698704239,-5.63555446149e-05,1793193595987076864
+347,5.783333333,POSE2_TO_POSE3_RETREAT,763.352915531,742.647084469,711,672.352915531,665,633,877,785,799.647084469,650.352915531,629,651.352915531,0.40210269983,0.00460236247769,0.0498028793884,0.999999923825,9.76274317568e-05,-0.000373766249931,-5.58298359706e-05,1793193596003743744
+348,5.800000000,POSE2_TO_POSE3_RETREAT,763,743,711,672.23311462,664.76688538,632.76688538,877,785,800,650.23311462,629,651.23311462,0.40191417965,0.00460014718023,0.0498024742819,0.999999925596,8.88103096705e-05,-0.000371827326082,-5.16286070815e-05,1793193596020410368
+349,5.816666667,POSE2_TO_POSE3_RETREAT,763,743,711,672.813043294,664.186956706,632.186956706,877,785,800,650.813043294,629,651.813043294,0.401753362748,0.00459760066927,0.0498086979221,0.999999932683,7.60876269361e-05,-0.00035648911233,-4.19591580284e-05,1793193596037076992
+350,5.833333333,POSE2_TO_POSE3_RETREAT,763.390277204,742.609722796,711,672.609722796,664.390277204,632,877.390277204,785,800,650.609722796,629,651.609722796,0.401619203487,0.00458847959195,0.0498187398806,0.999999940904,6.14367607529e-05,-0.000335987285219,-3.91157250241e-05,1793193596053743360
+351,5.850000000,POSE2_TO_POSE3_RETREAT,763.966229129,742.033770871,711,672.033770871,664.966229129,632,877.966229129,785,800,650.033770871,629,651.033770871,0.401497726607,0.00457623065872,0.0498305984079,0.999999949174,4.58685584505e-05,-0.000313028863011,-3.95197742544e-05,1793193596070409984
+352,5.866666667,POSE2_TO_POSE3_RETREAT,764,742.551418615,711,672.551418615,664.448581385,632.551418615,877.448581385,785,800,650,629,651,0.401399973524,0.00457380447874,0.049832101849,0.99999995039,4.43705173129e-05,-0.000309238522733,-4.02953183486e-05,1793193596087077120
+353,5.883333333,POSE2_TO_POSE3_RETREAT,763.864301298,742.864301298,711,672.864301298,664,632.864301298,877,784.864301298,799.864301298,650,629,651,0.40130784235,0.00457348475742,0.0498326066628,0.999999950961,4.54460358159e-05,-0.000307102495579,-4.12517826605e-05,1793193596103744000
+354,5.900000000,POSE2_TO_POSE3_RETREAT,763.284876199,742.284876199,711,672.284876199,664,632.284876199,877,784.284876199,799.284876199,650,629,651,0.401229262504,0.00457805237745,0.0498319550983,0.999999950769,5.20711970796e-05,-0.000306471912688,-4.2724180965e-05,1793193596120410112
+355,5.916666667,POSE2_TO_POSE3_RETREAT,763.294379913,742,710.705620087,672,664,632.294379913,877,784.294379913,799.588759825,650,629,651,0.401161206494,0.00457937970343,0.0498311755584,0.999999950397,5.38705004493e-05,-0.000307275211963,-4.34262222284e-05,1793193596137076736
+356,5.933333333,POSE2_TO_POSE3_RETREAT,763.87347255,742,710.12652745,672,664,632.87347255,877,784.87347255,800.746945101,650,629,651,0.401103328731,0.0045775731436,0.0498302722456,0.999999949874,5.1002422624e-05,-0.000309465305972,-4.33832042376e-05,1793193596153743360
+357,5.950000000,POSE2_TO_POSE3_RETREAT,763.552119935,742,710.447880065,672.447880065,664,633,877,785,800.552119935,650,629,651,0.401064733828,0.00457751740731,0.0498312793284,0.999999951101,5.12951509714e-05,-0.000305316464207,-4.41499819983e-05,1793193596170410240
+358,5.966666667,POSE2_TO_POSE3_RETREAT,763.021578487,742,711,673,664,633,876.978421513,785,800,650,629,651,0.401032132881,0.00457794806089,0.0498328529132,0.999999952795,5.24741965421e-05,-0.000299366632354,-4.5111998634e-05,1793193596187077376
+359,5.983333333,POSE2_TO_POSE3_RETREAT,763.611088896,742,711,673,664,633,876.388911104,785,800,650,629,651,0.401015399438,0.00457829705716,0.0498352791576,0.999999954708,5.37223072962e-05,-0.000292659838258,-4.52538381018e-05,1793193596203744000
+360,6.000000000,POSE2_TO_POSE3_RETREAT,763.802924562,742,711,672.802924562,664,632.802924562,876.197075438,784.802924562,799.802924562,650,629,651.197075438,0.401000191911,0.00457842010488,0.049837438753,0.999999956172,5.43760329442e-05,-0.000287479039055,-4.53330295303e-05,1793193596220410368
+361,6.016666667,POSE2_TO_POSE3_RETREAT,763.22376997,742,711,672.22376997,664,632.22376997,876.77623003,784.22376997,799.22376997,650,629,651.77623003,0.400987942748,0.00457810509576,0.0498390813833,0.999999956837,5.38773969012e-05,-0.000285256756645,-4.52907623303e-05,1793193596237076992
+362,6.033333333,POSE2_TO_POSE3_RETREAT,763.353827271,742,711,672.353827271,664,632,877,784,799.353827271,650,629,651.646172729,0.400977728034,0.00457971935579,0.0498394065148,0.999999956614,5.54913309736e-05,-0.000285710336525,-4.54162061447e-05,1793193596253743616
+363,6.050000000,POSE2_TO_POSE3_RETREAT,763.930443974,742,711,672.930443974,664,632,877,784,799.930443974,650,629,651.069556026,0.400968794323,0.00458254839153,0.0498389020756,0.999999955822,5.84354572565e-05,-0.000287848788691,-4.56472501861e-05,1793193596270409728
+364,6.066666667,POSE2_TO_POSE3_RETREAT,763.487166552,742,710.487166552,672.487166552,664.512833448,632,877,784.512833448,800,650,629,651,0.400967403777,0.00458190639481,0.0498395905161,0.999999956596,5.84957310514e-05,-0.000285145545835,-4.55845444614e-05,1793193596287076352
+365,6.083333333,POSE2_TO_POSE3_RETREAT,763.095728437,742,710.095728437,672.095728437,664.904271563,632.095728437,877,784.904271563,799.904271563,650,629,651,0.400967110523,0.00458051488742,0.049840559506,0.999999957532,5.79324542007e-05,-0.00028199147223,-4.53913308896e-05,1793193596303743232
+366,6.100000000,POSE2_TO_POSE3_RETREAT,763.677170665,742,710.677170665,672.677170665,664.322829335,632.677170665,877,784.322829335,799.322829335,650,629,651,0.400967134691,0.00457773632554,0.0498421217143,0.999999958242,5.62125460646e-05,-0.000279919799072,-4.47403894517e-05,1793193596320409856
+367,6.116666667,POSE2_TO_POSE3_RETREAT,764,742,710.742525536,672.742525536,664,632.742525536,877,784,799.257474464,650,629,651,0.400966372867,0.00457689094751,0.0498429148146,0.999999958513,5.53969009175e-05,-0.000279148379557,-4.45229929141e-05,1793193596337076736
+368,6.133333333,POSE2_TO_POSE3_RETREAT,764,742,710.163642885,672.163642885,664,632.163642885,877,784,799.836357115,650,629,651,0.40096462988,0.00457845878418,0.0498427478292,0.999999958243,5.57100572503e-05,-0.000280000081008,-4.48467952553e-05,1793193596353743360
+369,6.150000000,POSE2_TO_POSE3_RETREAT,763.587763212,742,710.412236788,672,664.412236788,632.412236788,877,784,799.587763212,650,629,651,0.400964652102,0.0045781414259,0.0498432791067,0.999999958413,5.57596998871e-05,-0.000279442894242,-4.44525277463e-05,1793193596370409984
+370,6.166666667,POSE2_TO_POSE3_RETREAT,763.013067005,742,710.986932995,672,664.986932995,632.986932995,877,784,799.013067005,650,629,651,0.400965369979,0.00457708112642,0.0498440855644,0.999999958756,5.57054937498e-05,-0.0002783304752,-4.37752742994e-05,1793193596387076608
+371,6.183333333,POSE2_TO_POSE3_RETREAT,763.57446717,742.57446717,711,672.57446717,665,633,877,784.57446717,799.57446717,650,629,651,0.400966079057,0.00457843379829,0.0498444230696,0.999999959119,5.69805164479e-05,-0.000276685274286,-4.42778063921e-05,1793193596403742976
+372,6.200000000,POSE2_TO_POSE3_RETREAT,764,742.840062481,711,673,665,633,877.159937519,784.840062481,800,650.159937519,629,651.159937519,0.400966252519,0.00457892955996,0.0498446287722,0.999999959343,5.74146147108e-05,-0.000275724041059,-4.46471397378e-05,1793193596420409600
+373,6.216666667,POSE2_TO_POSE3_RETREAT,764,742.260786489,711,673,665,633,877.739213511,784.260786489,800,650.739213511,629,651.739213511,0.400965022192,0.00457703140277,0.0498445175098,0.999999959211,5.55628169713e-05,-0.000276588596186,-4.45952719002e-05,1793193596437076480
+374,6.233333333,POSE2_TO_POSE3_RETREAT,763.684465985,742.315534015,711,673,664.684465985,633,877.684465985,784,800,650.684465985,629,652,0.400965378728,0.00457629470297,0.049844722379,0.999999959541,5.43579825255e-05,-0.000275649994906,-4.44979678862e-05,1793193596453743360
+375,6.250000000,POSE2_TO_POSE3_RETREAT,763.110565439,742.889434561,711,673,664.110565439,633,877.110565439,784,800,650.110565439,629,652,0.400967034625,0.00457650903108,0.0498451861041,0.999999960246,5.36828963492e-05,-0.000273234927653,-4.43634596766e-05,1793193596470409984
+376,6.266666667,POSE2_TO_POSE3_RETREAT,763.466777226,743,711,672.533222774,664.466777226,632.533222774,877,784,800.466777226,650,629,651.533222774,0.400967074058,0.0045773828328,0.0498460160732,0.999999960431,5.44019818924e-05,-0.00027243156265,-4.42580666498e-05,1793193596487076864
+377,6.283333333,POSE2_TO_POSE3_RETREAT,763.954170894,742.954170894,711,672.045829106,665,632,876.954170894,784,800.908341788,650,629,651,0.400966621772,0.0045783067872,0.0498467875627,0.999999960447,5.53805009659e-05,-0.000272190147356,-4.41738245537e-05,1793193596503743744
+378,6.300000000,POSE2_TO_POSE3_RETREAT,763.364584624,742.364584624,711,672.635415376,665,632,876.364584624,784,799.729169248,650,629,651,0.400964911998,0.00457795862236,0.0498458282469,0.999999959929,5.54898346858e-05,-0.000274052968981,-4.42581016088e-05,1793193596520410112
+379,6.316666667,POSE2_TO_POSE3_RETREAT,763.221163012,742,711,672.778836988,665,632,876.221163012,784.221163012,799,650,629,651,0.400963865435,0.00457794030186,0.0498453032596,0.999999959596,5.54384363191e-05,-0.000275261827332,-4.43295012409e-05,1793193596537076480
+380,6.333333333,POSE2_TO_POSE3_RETREAT,763.800690628,742,711,672.199309372,665,632,876.800690628,784.800690628,799,650,629,651,0.400963893516,0.00457845644929,0.0498454820426,0.99999995957,5.51265934439e-05,-0.00027541102696,-4.43800347542e-05,1793193596553742848
+381,6.350000000,POSE2_TO_POSE3_RETREAT,764,742,711,672.378683205,664.621316795,632,877.378683205,785,799.378683205,650,629,651,0.400965039815,0.00457850524436,0.0498462850181,0.999999959951,5.59302205632e-05,-0.000273856118358,-4.4407445245e-05,1793193596570409472
+382,6.366666667,POSE2_TO_POSE3_RETREAT,764,742,711,672.9558711,664.0441289,632,877.9558711,785,799.9558711,650,629,651,0.400966772282,0.0045783090546,0.0498474151936,0.999999960539,5.73185739846e-05,-0.000271407920916,-4.44227347095e-05,1793193596587076096
+383,6.383333333,POSE2_TO_POSE3_RETREAT,764,742,710.460372151,672.460372151,664,632,876.920744302,785,800,650,629,651.539627849,0.400967345253,0.00457943498437,0.0498473855032,0.99999996058,5.95046456121e-05,-0.000270762532294,-4.45738859972e-05,1793193596603743232
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764,742.123472716,710.123472716,672,664,632.123472716,876.123472716,785,800,650,629,651.876527284,0.400967876053,0.0045800976122,0.0498475643751,0.999999960692,6.06228404695e-05,-0.000270100198485,-4.45636237907e-05,1793193596620410368
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764,742.705624671,710.705624671,672,664,632.705624671,876.705624671,785,800,650,629,651.294375329,0.400968606779,0.00457863256529,0.0498488747116,0.999999961249,5.75287405971e-05,-0.000268820500665,-4.39119576078e-05,1793193596637076992
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764,742.715235146,711,672.284764854,664.284764854,633,877,784.715235146,800,650.284764854,629,651,0.400966858244,0.00457794646902,0.0498482209405,0.999999960855,5.62813199575e-05,-0.000270590236872,-4.36259503205e-05,1793193596653743616
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764,742.139175723,711,672.860824277,664.860824277,633,877,784.139175723,800,650.860824277,629,651,0.4009625736,0.00457805718473,0.0498455580247,0.99999995948,5.69229228922e-05,-0.000275479331072,-4.37139864794e-05,1793193596670409984
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764,742,711,672.563889528,664.563889528,632.563889528,876.563889528,784,800,651,629,651,0.400963193761,0.00457862864209,0.0498461316539,0.999999959794,5.80287453218e-05,-0.000274083312187,-4.38509820416e-05,1793193596687076608
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764,742,711,672,664,632,876,784.011464533,799.988535467,651,629,651.011464533,0.400965340749,0.00457928851849,0.0498476900848,0.999999960624,5.91813724803e-05,-0.000270765909191,-4.39956377282e-05,1793193596703742976
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764,742,711,672,664,632,876,784.602709394,799.397290606,651,629,651.602709394,0.400965683809,0.00457699718898,0.049846909719,0.999999960653,5.52222612172e-05,-0.000271536254158,-4.37389263023e-05,1793193596720409600
+391,6.516666667,POSE2_TO_POSE3_RETREAT,763.809983578,742,711,672,664.190016422,632.190016422,876.190016422,784.809983578,799.190016422,650.809983578,629,651.809983578,0.400966005718,0.00457556253592,0.0498466261943,0.999999960759,5.29016222041e-05,-0.000271628723848,-4.36083619368e-05,1793193596737076480
+392,6.533333333,POSE2_TO_POSE3_RETREAT,763.230742732,742,711,672,664.769257268,632.769257268,876.769257268,784.230742732,799.769257268,650.230742732,629,651.230742732,0.400966284301,0.00457588267555,0.0498473603854,0.999999961049,5.39371850161e-05,-0.000270332652387,-4.3736193764e-05,1793193596753743616
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_10/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_10/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c8e96b092bba2d6a79b045a982d9d5d9948f7727
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_10/depth_02/simulation_data.csv
@@ -0,0 +1,394 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+1,0.016666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+2,0.033333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+3,0.050000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+4,0.066666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+5,0.083333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+6,0.100000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+7,0.116666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+8,0.133333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+9,0.150000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+10,0.166666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+11,0.183333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+12,0.200000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+13,0.216666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+14,0.233333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+15,0.250000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+16,0.266666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+17,0.283333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+18,0.300000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+19,0.316666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+20,0.333333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+21,0.350000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+22,0.366666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+23,0.383333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+24,0.400000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+25,0.416666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+26,0.433333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+27,0.450000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+28,0.466666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+29,0.483333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+30,0.500000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+31,0.516666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+32,0.533333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+33,0.550000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+34,0.566666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+35,0.583333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+36,0.600000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+37,0.616666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+38,0.633333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+39,0.650000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+40,0.666666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+41,0.683333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+42,0.700000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+43,0.716666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+44,0.733333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+45,0.750000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+46,0.766666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+47,0.783333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+48,0.800000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+49,0.816666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+50,0.833333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+51,0.850000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+52,0.866666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+53,0.883333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+54,0.900000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+55,0.916666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+56,0.933333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+57,0.950000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+58,0.966666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+59,0.983333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+60,1.000000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+61,1.016666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+62,1.033333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+63,1.050000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+64,1.066666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+65,1.083333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+66,1.100000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+67,1.116666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+68,1.133333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+69,1.150000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+70,1.166666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+71,1.183333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+72,1.200000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+73,1.216666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+74,1.233333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+75,1.250000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+76,1.266666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+77,1.283333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+78,1.300000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+79,1.316666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+80,1.333333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+81,1.350000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+82,1.366666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+83,1.383333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+84,1.400000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+85,1.416666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+86,1.433333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+87,1.450000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+88,1.466666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+89,1.483333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+90,1.500000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+91,1.516666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+92,1.533333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+93,1.550000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+94,1.566666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+95,1.583333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+96,1.600000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+97,1.616666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+98,1.633333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+99,1.650000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+100,1.666666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+101,1.683333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+102,1.700000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+103,1.716666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+104,1.733333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+105,1.750000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+106,1.766666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+107,1.783333333,pose1_to_pose2_press,0.575709329052,0.010054459948,1.04002904989,0.546280060114,0.0187271921781,1.03969833964
+108,1.800000000,pose1_to_pose2_press,0.575709337513,0.0100544684748,1.04002905195,0.546280068662,0.018727200986,1.03969834127
+109,1.816666667,pose1_to_pose2_press,0.57570933879,0.0100544697623,1.04002905226,0.546280069953,0.0187272023159,1.03969834152
+110,1.833333333,pose1_to_pose2_press,0.575709339885,0.0100544708659,1.04002905253,0.546280071059,0.0187272034558,1.03969834173
+111,1.850000000,pose1_to_pose2_press,0.575709456366,0.0100545204253,1.04002905883,0.546280187961,0.018727254396,1.03969834686
+112,1.866666667,pose1_to_pose2_press,0.575710076907,0.0100545199075,1.04002902464,0.54628080802,0.018727252553,1.03969832076
+113,1.883333333,pose1_to_pose2_press,0.575712497809,0.0100545188182,1.0400290986,0.5462832286,0.0187272501948,1.03969839008
+114,1.900000000,pose1_to_pose2_press,0.575718615132,0.0100543426383,1.04002907488,0.546289348194,0.0187270816275,1.03969836381
+115,1.916666667,pose1_to_pose2_press,0.575731326546,0.0100545189542,1.04002908508,0.546302056591,0.0187272477781,1.03969837591
+116,1.933333333,pose1_to_pose2_press,0.575753555921,0.0100546263048,1.04002926639,0.546324285738,0.0187273538694,1.03969854441
+117,1.950000000,pose1_to_pose2_press,0.575787045004,0.0100543828367,1.04002930854,0.546357777647,0.0187271200259,1.03969858741
+118,1.966666667,pose1_to_pose2_press,0.575831503908,0.0100544800986,1.04002925044,0.546402235378,0.0187272135977,1.03969853689
+119,1.983333333,pose1_to_pose2_press,0.575885627477,0.0100547150615,1.04002933405,0.546456355723,0.018727437395,1.03969861447
+120,2.000000000,pose1_to_pose2_press,0.575947869956,0.0100546061283,1.04002941584,0.546518599647,0.0187273334534,1.03969869849
+121,2.016666667,pose1_to_pose2_press,0.576017496809,0.0100546616318,1.04002911903,0.546588226321,0.018727388717,1.03969841129
+122,2.033333333,pose1_to_pose2_press,0.576095391713,0.0100545332554,1.04002916044,0.546666123479,0.0187272677307,1.0396984458
+123,2.050000000,pose1_to_pose2_press,0.576184422819,0.0100545305407,1.04002919371,0.546755154452,0.0187272645894,1.03969847973
+124,2.066666667,pose1_to_pose2_press,0.576285861522,0.0100546109463,1.04002924508,0.546856592411,0.0187273426225,1.03969853505
+125,2.083333333,pose1_to_pose2_press,0.576403642709,0.010054587697,1.04002911977,0.546974373005,0.0187273173256,1.03969840874
+126,2.100000000,pose1_to_pose2_press,0.576537421473,0.0100545810951,1.04002910784,0.547108150896,0.0187273076734,1.03969839443
+127,2.116666667,pose1_to_pose2_press,0.576689175724,0.0100545628721,1.04002916125,0.54725990545,0.0187272905259,1.03969844903
+128,2.133333333,pose1_to_pose2_press,0.576859387005,0.0100544260207,1.04002897263,0.547430117703,0.0187271570986,1.03969826373
+129,2.150000000,pose1_to_pose2_press,0.577050058126,0.0100544548174,1.0400290344,0.547620788817,0.0187271859695,1.03969832798
+130,2.166666667,pose1_to_pose2_press,0.577262752766,0.0100545148771,1.04002909102,0.547833484608,0.0187272498078,1.0396983812
+131,2.183333333,pose1_to_pose2_press,0.577498356345,0.0100544787966,1.04002919189,0.548069087945,0.018727212679,1.03969847607
+132,2.200000000,pose1_to_pose2_press,0.577760792327,0.0100545702039,1.04002916511,0.548331522219,0.0187272986042,1.0396984575
+133,2.216666667,pose1_to_pose2_press,0.578048196207,0.0100545245913,1.04002916624,0.548618927037,0.0187272560947,1.03969845649
+134,2.233333333,pose1_to_pose2_press,0.578361398266,0.0100545079561,1.04002925472,0.54893212848,0.0187272368863,1.03969853217
+135,2.250000000,pose1_to_pose2_press,0.578700903151,0.0100546338331,1.04002930564,0.549271632395,0.0187273594773,1.03969858322
+136,2.266666667,pose1_to_pose2_press,0.579067673216,0.010054544318,1.04002919073,0.549638403656,0.018727274328,1.03969847636
+137,2.283333333,pose1_to_pose2_press,0.579448868626,0.0100545406663,1.04002925516,0.550019599911,0.0187272736587,1.03969854363
+138,2.300000000,pose1_to_pose2_press,0.57984412486,0.0100544941857,1.04002937417,0.550414857145,0.0187272303323,1.0396986564
+139,2.316666667,pose1_to_pose2_press,0.580257115878,0.0100544883023,1.04002919912,0.550827846634,0.0187272193203,1.03969848284
+140,2.333333333,pose1_to_pose2_press,0.580686794729,0.0100545925209,1.04002916941,0.551257525182,0.0187273229884,1.0396984656
+141,2.350000000,pose1_to_pose2_press,0.581135557693,0.0100545472013,1.04002925533,0.551706288882,0.0187272799501,1.03969854585
+142,2.366666667,pose1_to_pose2_press,0.581622288121,0.0100544352431,1.04002907953,0.552193019445,0.0187271684228,1.03969836926
+143,2.383333333,pose1_to_pose2_press,0.582148768951,0.0100545577761,1.0400292615,0.552719500376,0.0187272913837,1.03969855338
+144,2.400000000,pose1_to_pose2_press,0.582710354367,0.0100546163493,1.04002902261,0.553281085091,0.0187273479313,1.03969832375
+145,2.416666667,pose1_to_pose2_press,0.583298259064,0.010054527295,1.04002916039,0.553868989962,0.0187272591478,1.03969845306
+146,2.433333333,pose1_to_pose2_press,0.58390254628,0.0100545338431,1.04002917008,0.554473276503,0.0187272631344,1.03969845559
+147,2.450000000,pose1_to_pose2_press,0.584511308474,0.0100546925106,1.04002901893,0.555082037626,0.0187274185991,1.03969831582
+148,2.466666667,pose1_to_pose2_press,0.585122056586,0.0100546682491,1.04002902653,0.555692787466,0.0187274002932,1.03969832576
+149,2.483333333,pose1_to_pose2_press,0.58575451595,0.0100545908011,1.04002914381,0.556325247522,0.0187273251151,1.03969844097
+150,2.500000000,pose1_to_pose2_press,0.586414051048,0.0100544240752,1.04002927113,0.556984784461,0.0187271644301,1.03969856284
+151,2.516666667,pose1_to_pose2_press,0.587103437917,0.0100544226146,1.04002908261,0.557674169796,0.0187271573859,1.03969836443
+152,2.533333333,pose1_to_pose2_press,0.587816402071,0.0100545253106,1.04002904408,0.558387132307,0.0187272548521,1.039698335
+153,2.550000000,pose1_to_pose2_press,0.588547441987,0.0100544153907,1.04002902021,0.559118173381,0.0187271490544,1.03969831614
+154,2.566666667,pose1_to_pose2_press,0.589285333891,0.0100545657748,1.0400293098,0.559856063982,0.0187272946176,1.0396985953
+155,2.583333333,pose1_to_pose2_press,0.59003169077,0.0100545576722,1.04002916146,0.560602421042,0.0187272873588,1.03969845297
+156,2.600000000,pose1_to_pose2_press,0.590794539721,0.0100545571871,1.04002908623,0.561365269018,0.0187272832462,1.03969836934
+157,2.616666667,pose1_to_pose2_press,0.591573378521,0.010054322989,1.04002891512,0.562144113514,0.0187270687833,1.03969820897
+158,2.633333333,pose1_to_pose2_press,0.59236347994,0.0100546027124,1.04002933715,0.562934209549,0.01872732956,1.03969861321
+159,2.650000000,pose1_to_pose2_press,0.593160397069,0.0100545138583,1.0400292817,0.563731128534,0.0187272476526,1.03969857477
+160,2.666666667,pose1_to_pose2_press,0.593965450173,0.0100543818638,1.0400291938,0.564536183042,0.0187271201104,1.03969847878
+161,2.683333333,pose1_to_pose2_press,0.594775628464,0.0100543856791,1.04002891775,0.565346361032,0.01872712324,1.0396982115
+162,2.700000000,pose1_to_pose2_press,0.595594158036,0.0100546205932,1.04002915916,0.566164886621,0.0187273444445,1.03969844788
+163,2.716666667,pose1_to_pose2_press,0.596419383445,0.0100545836983,1.04002917269,0.566990112973,0.0187273108304,1.03969846362
+164,2.733333333,pose1_to_pose2_press,0.597246523256,0.0100546659018,1.04002912899,0.56781725292,0.0187273938125,1.0396984282
+165,2.750000000,pose1_to_pose2_press,0.598074261316,0.0100543531408,1.04002881383,0.568644994492,0.0187270928471,1.03969810994
+166,2.766666667,pose1_to_pose2_press,0.598894465425,0.01005467479,1.04002912721,0.569465194,0.018727398795,1.03969842102
+167,2.783333333,pose1_to_pose2_press,0.599705831374,0.0100546595578,1.04002927389,0.570276559807,0.0187273830043,1.03969856579
+168,2.800000000,pose1_to_pose2_press,0.600507355307,0.010054410877,1.0400290838,0.571078089736,0.0187271545456,1.03969837253
+169,2.816666667,pose1_to_pose2_press,0.60129830987,0.0100545394232,1.0400291621,0.571869042159,0.018727275832,1.03969845093
+170,2.833333333,pose1_to_pose2_press,0.602084089293,0.01005455262,1.04002899768,0.572654819159,0.018727280666,1.03969828293
+171,2.850000000,pose1_to_pose2_press,0.602864276973,0.0100545775994,1.04002922715,0.57343500854,0.0187273116418,1.03969851836
+172,2.866666667,pose1_to_pose2_press,0.603636664171,0.0100545270079,1.04002932518,0.57420739556,0.0187272601102,1.03969860757
+173,2.883333333,pose1_to_pose2_press,0.604401266532,0.0100544198978,1.0400291908,0.574971999202,0.0187271575909,1.03969847975
+174,2.900000000,pose1_to_pose2_press,0.605153669611,0.010054546105,1.04002887854,0.575724399164,0.0187272732495,1.03969816823
+175,2.916666667,pose1_to_pose2_press,0.605894824074,0.0100547053027,1.04002896474,0.576465552044,0.0187274273669,1.03969826218
+176,2.933333333,pose1_to_pose2_press,0.606625397153,0.0100546856726,1.04002932188,0.577196125364,0.0187274084347,1.03969861633
+177,2.950000000,pose1_to_pose2_press,0.60734180936,0.0100547808012,1.0400292307,0.57791253593,0.0187274977402,1.03969851849
+178,2.966666667,pose1_to_pose2_press,0.608042382038,0.0100547595459,1.04002915011,0.578613109626,0.0187274802111,1.03969844511
+179,2.983333333,pose1_to_pose2_press,0.608721570757,0.01005458736,1.0400292159,0.579292299461,0.0187273111833,1.03969849447
+180,3.000000000,pose1_to_pose2_press,0.609368963722,0.0100544184727,1.04002909137,0.579939695979,0.0187271546128,1.03969837684
+181,3.016666667,pose1_to_pose2_press,0.609989886054,0.010054490039,1.04002925537,0.580560618128,0.0187272255673,1.03969854127
+182,3.033333333,pose1_to_pose2_press,0.610598842795,0.0100544886617,1.04002922161,0.5811695736,0.0187272198105,1.03969850563
+183,3.050000000,pose1_to_pose2_press,0.611197939771,0.0100545666004,1.04002919679,0.581768668405,0.0187272903782,1.03969848079
+184,3.066666667,pose1_to_pose2_press,0.61178172661,0.0100544933599,1.04002927442,0.582352458413,0.0187272279926,1.03969856111
+185,3.083333333,pose1_to_pose2_press,0.61233737538,0.0100544513011,1.04002916034,0.582908108018,0.018727189058,1.03969845451
+186,3.100000000,pose1_to_pose2_press,0.612858264048,0.0100545585803,1.04002904243,0.583428993045,0.0187272841572,1.03969833831
+187,3.116666667,pose1_to_pose2_press,0.613336104321,0.0100544184279,1.0400290454,0.583906835034,0.0187271496631,1.03969833564
+188,3.133333333,pose1_to_pose2_press,0.613780583538,0.0100546163995,1.04002914156,0.58435131337,0.0187273447549,1.03969843256
+189,3.150000000,pose1_to_pose2_press,0.614202969728,0.0100547031058,1.04002926529,0.584773699718,0.018727432025,1.03969855331
+190,3.166666667,pose1_to_pose2_press,0.614610830956,0.0100546250227,1.0400293112,0.585181561214,0.0187273549656,1.0396985963
+191,3.183333333,pose1_to_pose2_press,0.615005416382,0.0100545335118,1.04002913261,0.585576145984,0.0187272618199,1.03969842247
+192,3.200000000,pose1_to_pose2_press,0.615377909602,0.0100545299165,1.04002911785,0.585948639671,0.0187272604221,1.03969841098
+193,3.216666667,pose1_to_pose2_press,0.615725513678,0.0100545213062,1.04002907201,0.586296244168,0.0187272537811,1.03969836515
+194,3.233333333,pose1_to_pose2_press,0.616043437767,0.010054573795,1.0400290319,0.586614166965,0.0187273024206,1.039698326
+195,3.250000000,pose1_to_pose2_press,0.616333204683,0.0100546286717,1.04002925058,0.586903933207,0.0187273555116,1.03969854664
+196,3.266666667,pose1_to_pose2_press,0.616593613344,0.0100546146416,1.0400292803,0.587164342238,0.0187273430438,1.03969857216
+197,3.283333333,pose1_to_pose2_press,0.616831648654,0.0100545859701,1.04002905591,0.587402376424,0.0187273109715,1.03969834728
+198,3.300000000,pose1_to_pose2_press,0.617048794054,0.0100545914591,1.04002900479,0.587619521534,0.0187273159499,1.03969829889
+199,3.316666667,pose1_to_pose2_press,0.617248187642,0.0100546220283,1.0400291283,0.587818916397,0.0187273511712,1.0396984211
+200,3.333333333,pose1_to_pose2_press,0.617431655553,0.010054593793,1.04002907957,0.588002383377,0.0187273201363,1.03969837277
+201,3.350000000,pose1_to_pose2_press,0.617600455789,0.0100544426753,1.04002916674,0.588171186243,0.0187271780615,1.03969845454
+202,3.366666667,pose1_to_pose2_press,0.617755115969,0.0100545968737,1.04002907188,0.588325844499,0.0187273260546,1.03969836238
+203,3.383333333,pose1_to_pose2_press,0.617894417476,0.0100545643476,1.04002923119,0.588465145115,0.0187272903731,1.03969851103
+204,3.400000000,pose1_to_pose2_press,0.618017746815,0.0100545710694,1.04002930748,0.588588475226,0.0187273000459,1.03969859049
+205,3.416666667,pose1_to_pose2_press,0.61812504171,0.0100546249896,1.04002914312,0.58869577099,0.0187273574431,1.03969843611
+206,3.433333333,pose1_to_pose2_press,0.618215701035,0.0100547292814,1.04002903546,0.588786427042,0.0187274509418,1.03969832948
+207,3.450000000,pose1_to_pose2_press,0.618292091274,0.0100547255134,1.04002915658,0.5888628178,0.0187274498875,1.03969844896
+208,3.466666667,pose1_to_pose2_press,0.618356014303,0.0100544951628,1.04002904431,0.58892674245,0.0187272251113,1.03969833635
+209,3.483333333,pose1_to_pose2_press,0.618409801408,0.0100546259361,1.04002937254,0.588980529645,0.0187273559643,1.03969866332
+210,3.500000000,pose1_to_pose2_press,0.618454172075,0.0100546479776,1.04002922918,0.589024898748,0.0187273717989,1.03969851369
+211,3.516666667,pose1_to_pose2_press,0.618490220504,0.0100545708382,1.04002918341,0.58906094736,0.0187272955229,1.03969847185
+212,3.533333333,pose1_to_pose2_press,0.618518314367,0.0100545125161,1.04002915894,0.589089043047,0.0187272436109,1.03969845103
+213,3.550000000,pose1_to_pose2_press,0.61853880555,0.0100545767194,1.0400289816,0.589109533609,0.0187273058522,1.03969827725
+214,3.566666667,pose1_to_pose2_press,0.618553407341,0.0100545730804,1.0400291828,0.589124135182,0.0187273011574,1.0396984712
+215,3.583333333,pose1_to_pose2_press,0.618563309357,0.010054550619,1.040029387,0.589134037516,0.0187272795622,1.03969866949
+216,3.600000000,pose1_to_pose2_press,0.618570488208,0.0100545965874,1.04002919456,0.589141216415,0.0187273260951,1.03969848383
+217,3.616666667,pose1_to_pose2_press,0.618575383012,0.0100546000524,1.04002917539,0.589146111219,0.0187273295903,1.03969846395
+218,3.633333333,pose1_to_pose2_press,0.618578774944,0.0100546013253,1.04002918002,0.589149502976,0.0187273302536,1.03969846749
+219,3.650000000,pose1_to_pose2_press,0.61858065158,0.0100546130474,1.040029184,0.589151378931,0.0187273396727,1.03969847167
+220,3.666666667,pose1_to_pose2_press,0.61858133562,0.0100546173201,1.04002918546,0.589152062723,0.018727343106,1.03969847319
+221,3.683333333,pose1_to_pose2_press,0.618581649714,0.010054619282,1.04002918612,0.589152376702,0.0187273446825,1.03969847389
+222,3.700000000,pose1_to_pose2_press,0.618582000456,0.0100546214729,1.04002918687,0.589152727317,0.0187273464429,1.03969847467
+223,3.716666667,pose1_to_pose2_press,0.618582449665,0.0100546250026,1.04002918555,0.589153176395,0.0187273495332,1.03969847348
+224,3.733333333,pose1_to_pose2_press,0.618582865783,0.0100546369625,1.04002915705,0.589153592778,0.0187273624275,1.03969844605
+225,3.750000000,pose1_to_pose2_press,0.618583216211,0.0100546470343,1.04002913305,0.589153943429,0.0187273732863,1.03969842296
+226,3.766666667,pose1_to_pose2_press,0.618583521775,0.0100546558167,1.04002911212,0.589154249187,0.0187273827549,1.03969840282
+227,3.783333333,pose1_to_pose2_press,0.618583880992,0.0100546661412,1.04002908752,0.589154608633,0.0187273938861,1.03969837914
+228,3.800000000,pose1_to_pose2_press,0.618584315208,0.0100546786212,1.04002905778,0.589155043126,0.0187274073413,1.03969835053
+229,3.816666667,pose1_to_pose2_press,0.618584724627,0.0100546774524,1.04002904048,0.589155452621,0.0187274064284,1.03969833327
+230,3.833333333,pose1_to_pose2_press,0.618584971466,0.0100546539862,1.04002904897,0.589155699184,0.0187273819489,1.03969833999
+231,3.850000000,pose1_to_pose2_press,0.618585081781,0.0100546434988,1.04002905276,0.589155809376,0.0187273710087,1.039698343
+232,3.866666667,pose1_to_pose2_press,0.618585098445,0.0100546419146,1.04002905333,0.589155826021,0.0187273693562,1.03969834345
+233,3.883333333,pose1_to_pose2_press,0.618585118671,0.0100546399918,1.04002905403,0.589155846224,0.0187273673503,1.039698344
+234,3.900000000,pose1_to_pose2_press,0.61858520475,0.0100546318084,1.04002905699,0.589155932208,0.0187273588136,1.03969834635
+235,3.916666667,pose1_to_pose2_press,0.618585308965,0.010054621901,1.04002906057,0.589156036306,0.0187273484784,1.03969834918
+236,3.933333333,pose1_to_pose2_press,0.618585623177,0.0100546158053,1.04002906023,0.589156349962,0.0187273405128,1.0396983489
+237,3.950000000,pose1_to_pose2_press,0.618585644989,0.0100546204699,1.04002905782,0.589156371692,0.0187273449235,1.03969834699
+238,3.966666667,pose1_to_pose2_press,0.618585733243,0.0100546393434,1.04002904808,0.589156459611,0.0187273627694,1.03969833926
+239,3.983333333,pose1_to_pose2_press,0.618585742799,0.010054641387,1.04002904702,0.589156469131,0.0187273647017,1.03969833843
+240,4.000000000,pose1_to_pose2_press,0.61858581539,0.010054656911,1.04002903901,0.589156541448,0.0187273793806,1.03969833207
+241,4.016666667,pose1_to_pose2_press,0.618585844624,0.0100546941746,1.04002891525,0.589156570768,0.0187274169272,1.03969820841
+242,4.033333333,pose2_hold,0.618585844624,0.0100546941746,1.04002891525,0.589156570768,0.0187274169259,1.03969820841
+243,4.050000000,pose2_hold,0.618585844624,0.0100546941746,1.04002891525,0.589156570768,0.0187274169265,1.0396982084
+244,4.066666667,pose2_hold,0.618585844624,0.0100546941746,1.04002891525,0.589156570768,0.0187274169263,1.0396982084
+245,4.083333333,pose2_hold,0.618585844624,0.0100546941746,1.04002891525,0.589156570768,0.0187274169262,1.03969820841
+246,4.100000000,pose2_hold,0.618585844624,0.0100546941746,1.04002891525,0.589156570768,0.0187274169263,1.03969820841
+247,4.116666667,pose2_hold,0.618585844624,0.0100546941746,1.04002891525,0.589156570768,0.0187274169261,1.0396982084
+248,4.133333333,pose2_hold,0.618585844624,0.0100546941746,1.04002891525,0.589156570768,0.0187274169254,1.0396982084
+249,4.150000000,pose2_hold,0.618585844624,0.0100546941746,1.04002891525,0.589156570768,0.0187274169252,1.03969820841
+250,4.166666667,pose2_hold,0.618585844624,0.0100546941746,1.04002891525,0.589156570768,0.0187274169242,1.0396982084
+251,4.183333333,pose2_hold,0.618585844624,0.0100546941746,1.04002891525,0.589156570768,0.0187274169257,1.03969820841
+252,4.200000000,pose2_hold,0.618585844624,0.0100546941746,1.04002891525,0.589156570768,0.0187274169255,1.03969820841
+253,4.216666667,pose2_hold,0.618585844624,0.0100546941746,1.04002891525,0.589156570767,0.0187274169257,1.0396982084
+254,4.233333333,pose2_hold,0.618585844624,0.0100546941746,1.04002891525,0.589156570767,0.0187274169263,1.03969820841
+255,4.250000000,pose2_hold,0.618585844624,0.0100546941746,1.04002891525,0.589156570767,0.0187274169254,1.0396982084
+256,4.266666667,pose2_hold,0.618585844624,0.0100546941746,1.04002891525,0.589156570767,0.0187274169258,1.03969820841
+257,4.283333333,pose2_hold,0.618585844624,0.0100546941746,1.04002891525,0.589156570767,0.018727416925,1.0396982084
+258,4.300000000,pose2_to_pose3_retreat,0.618585844624,0.0100546941746,1.04002891525,0.589156570767,0.0187274169248,1.03969820841
+259,4.316666667,pose2_to_pose3_retreat,0.618585847427,0.0100546886124,1.04002891546,0.589156573768,0.0187274120382,1.03969820876
+260,4.333333333,pose2_to_pose3_retreat,0.618585863005,0.0100546577078,1.04002891657,0.589156590442,0.0187273848871,1.03969821072
+261,4.350000000,pose2_to_pose3_retreat,0.618585671616,0.0100546117776,1.04002913749,0.589156399003,0.018727338484,1.03969842375
+262,4.366666667,pose2_to_pose3_retreat,0.618585567761,0.010054597135,1.04002925169,0.589156294797,0.0187273224823,1.03969853362
+263,4.383333333,pose2_to_pose3_retreat,0.618585425601,0.0100545947019,1.04002933097,0.589156152315,0.0187273188499,1.03969861009
+264,4.400000000,pose2_to_pose3_retreat,0.618584259985,0.0100547443461,1.04002918466,0.589154985833,0.0187274658972,1.03969847305
+265,4.416666667,pose2_to_pose3_retreat,0.618580080413,0.0100546649715,1.04002927011,0.589150806425,0.0187273869184,1.0396985555
+266,4.433333333,pose2_to_pose3_retreat,0.618570235714,0.0100545942401,1.04002907519,0.589140962969,0.0187273206633,1.03969836708
+267,4.450000000,pose2_to_pose3_retreat,0.618551194437,0.0100544568003,1.04002917802,0.589121924065,0.0187271912172,1.03969846624
+268,4.466666667,pose2_to_pose3_retreat,0.618521082962,0.0100545088508,1.04002917747,0.589091812073,0.0187272415106,1.03969846615
+269,4.483333333,pose2_to_pose3_retreat,0.61847908735,0.0100545360879,1.04002904023,0.58904981688,0.0187272697776,1.03969833275
+270,4.500000000,pose2_to_pose3_retreat,0.618425874817,0.0100546262768,1.04002903215,0.588996603275,0.0187273565439,1.03969832706
+271,4.516666667,pose2_to_pose3_retreat,0.618361505187,0.0100545557968,1.04002903728,0.588932234272,0.0187272882633,1.03969833181
+272,4.533333333,pose2_to_pose3_retreat,0.618287920805,0.0100545993574,1.04002899459,0.588858648078,0.0187273259498,1.03969828859
+273,4.550000000,pose2_to_pose3_retreat,0.618205019263,0.0100545466356,1.04002894982,0.588775746361,0.018727272463,1.03969824182
+274,4.566666667,pose2_to_pose3_retreat,0.618110099145,0.0100543785235,1.0400290901,0.588680829743,0.0187271149281,1.03969837026
+275,4.583333333,pose2_to_pose3_retreat,0.618002183286,0.0100544897916,1.04002911446,0.588572912996,0.0187272229314,1.03969839424
+276,4.600000000,pose2_to_pose3_retreat,0.617877667199,0.0100545297273,1.04002921696,0.588448396133,0.0187272600334,1.03969849683
+277,4.616666667,pose2_to_pose3_retreat,0.617735645599,0.010054563363,1.04002919046,0.588306374289,0.0187272927559,1.03969847574
+278,4.633333333,pose2_to_pose3_retreat,0.617572378489,0.010054366888,1.04002918432,0.588143109769,0.0187271046578,1.03969846993
+279,4.650000000,pose2_to_pose3_retreat,0.617388617973,0.0100544640309,1.04002929424,0.587959348977,0.0187272006527,1.0396985793
+280,4.666666667,pose2_to_pose3_retreat,0.617183637307,0.0100544870358,1.04002899491,0.587754367438,0.0187272202988,1.03969828122
+281,4.683333333,pose2_to_pose3_retreat,0.616956488936,0.010054691308,1.0400290463,0.587527216089,0.0187274140855,1.03969833225
+282,4.700000000,pose2_to_pose3_retreat,0.616708526512,0.0100544872406,1.04002914358,0.587279256916,0.018727220762,1.03969843393
+283,4.716666667,pose2_to_pose3_retreat,0.616441018293,0.0100545067898,1.0400291672,0.587011748892,0.0187272405193,1.03969845814
+284,4.733333333,pose2_to_pose3_retreat,0.616153466297,0.0100546101638,1.04002909667,0.586724193307,0.0187273312309,1.03969838504
+285,4.750000000,pose2_to_pose3_retreat,0.615843091826,0.0100545455926,1.04002904009,0.586413820385,0.0187272715374,1.03969833208
+286,4.766666667,pose2_to_pose3_retreat,0.615506865193,0.010054527833,1.04002915611,0.586077595595,0.0187272595344,1.03969844974
+287,4.783333333,pose2_to_pose3_retreat,0.615142586225,0.0100545466681,1.04002915731,0.58571331701,0.0187272792104,1.03969845229
+288,4.800000000,pose2_to_pose3_retreat,0.614745567787,0.0100545361622,1.04002902959,0.585316298626,0.0187272684687,1.03969832623
+289,4.816666667,pose2_to_pose3_retreat,0.614316514699,0.0100545689124,1.0400292115,0.584887243935,0.0187272950808,1.03969850009
+290,4.833333333,pose2_to_pose3_retreat,0.613852031042,0.0100545894969,1.04002940199,0.58442276038,0.0187273154988,1.03969868267
+291,4.850000000,pose2_to_pose3_retreat,0.61335862945,0.0100546752984,1.04002918863,0.583929359501,0.018727404077,1.03969847922
+292,4.866666667,pose2_to_pose3_retreat,0.612837538737,0.0100546921605,1.04002895378,0.583408268494,0.0187274203465,1.03969825444
+293,4.883333333,pose2_to_pose3_retreat,0.612293289947,0.0100545586342,1.04002901182,0.582864020179,0.0187272882353,1.03969830679
+294,4.900000000,pose2_to_pose3_retreat,0.611727234732,0.0100544375254,1.04002921103,0.582297966633,0.018727172729,1.03969850438
+295,4.916666667,pose2_to_pose3_retreat,0.611136282438,0.0100544333948,1.04002914976,0.581707014454,0.0187271688946,1.03969844139
+296,4.933333333,pose2_to_pose3_retreat,0.610516886083,0.0100545285916,1.04002896744,0.581087616927,0.01872726008,1.03969825903
+297,4.950000000,pose2_to_pose3_retreat,0.609860788501,0.0100545261628,1.04002907083,0.580431519158,0.0187272567691,1.03969835561
+298,4.966666667,pose2_to_pose3_retreat,0.609178203676,0.0100545031932,1.04002909934,0.57974893449,0.0187272345055,1.03969838864
+299,4.983333333,pose2_to_pose3_retreat,0.608474124766,0.0100547261828,1.04002915614,0.579044852189,0.0187274461313,1.03969844946
+300,5.000000000,pose2_to_pose3_retreat,0.607755321768,0.0100547063647,1.04002911969,0.578326049901,0.0187274287045,1.03969841194
+301,5.016666667,pose2_to_pose3_retreat,0.607025034947,0.0100545931095,1.04002910869,0.577595764226,0.0187273192369,1.03969839789
+302,5.033333333,pose2_to_pose3_retreat,0.606279666763,0.0100545498742,1.04002921652,0.576850396873,0.018727278464,1.03969849734
+303,5.050000000,pose2_to_pose3_retreat,0.605511341271,0.0100545314171,1.04002906162,0.576082071893,0.0187272619294,1.03969834721
+304,5.066666667,pose2_to_pose3_retreat,0.604714293428,0.0100545837484,1.0400288885,0.575285023202,0.0187273116702,1.03969818103
+305,5.083333333,pose2_to_pose3_retreat,0.603899308549,0.0100545620017,1.04002910904,0.574470038779,0.0187272912408,1.03969839563
+306,5.100000000,pose2_to_pose3_retreat,0.603071291236,0.0100544997736,1.04002908673,0.573642022494,0.0187272325373,1.03969837408
+307,5.116666667,pose2_to_pose3_retreat,0.60223023219,0.0100544370268,1.040028894,0.572800964745,0.0187271745398,1.03969819041
+308,5.133333333,pose2_to_pose3_retreat,0.601384373181,0.0100545042596,1.0400290531,0.571955104582,0.0187272377509,1.03969834673
+309,5.150000000,pose2_to_pose3_retreat,0.600548224344,0.010054636879,1.04002924898,0.571118954891,0.0187273673481,1.03969853927
+310,5.166666667,pose2_to_pose3_retreat,0.599710882614,0.0100546192344,1.04002908758,0.570281612858,0.0187273487005,1.03969837855
+311,5.183333333,pose2_to_pose3_retreat,0.598867173818,0.0100544661775,1.0400290395,0.569437904572,0.0187271973837,1.0396983305
+312,5.200000000,pose2_to_pose3_retreat,0.598024492832,0.0100545581235,1.04002927633,0.568595223526,0.0187272889156,1.0396985616
+313,5.216666667,pose2_to_pose3_retreat,0.597176443246,0.0100546474291,1.04002922074,0.567747173104,0.0187273753797,1.03969850653
+314,5.233333333,pose2_to_pose3_retreat,0.596314041304,0.0100546728782,1.04002926133,0.566884771348,0.0187274016971,1.03969855278
+315,5.250000000,pose2_to_pose3_retreat,0.595442133327,0.0100545976626,1.04002917366,0.566012863204,0.0187273255704,1.03969845606
+316,5.266666667,pose2_to_pose3_retreat,0.59456382845,0.0100544703164,1.04002906345,0.565134560328,0.0187272051894,1.0396983503
+317,5.283333333,pose2_to_pose3_retreat,0.593696301954,0.0100544092343,1.04002905726,0.564267033691,0.0187271439798,1.03969835343
+318,5.300000000,pose2_to_pose3_retreat,0.592845005364,0.0100545489862,1.04002912778,0.563415736459,0.018727281417,1.03969842049
+319,5.316666667,pose2_to_pose3_retreat,0.592015306191,0.0100545288274,1.04002900672,0.562586036875,0.0187272598786,1.03969829824
+320,5.333333333,pose2_to_pose3_retreat,0.591206077288,0.0100545596653,1.04002895356,0.561776807144,0.0187272878908,1.03969824454
+321,5.350000000,pose2_to_pose3_retreat,0.590409557662,0.0100545057908,1.04002908546,0.560980289044,0.018727238891,1.03969836847
+322,5.366666667,pose2_to_pose3_retreat,0.589618150151,0.0100546349716,1.04002906035,0.560188880217,0.0187273640302,1.03969835451
+323,5.383333333,pose2_to_pose3_retreat,0.588829704546,0.0100545516395,1.04002920989,0.55940043542,0.0187272833299,1.03969850114
+324,5.400000000,pose2_to_pose3_retreat,0.58805127748,0.0100545485072,1.04002935124,0.558622008147,0.0187272793937,1.03969863983
+325,5.416666667,pose2_to_pose3_retreat,0.587288489848,0.0100545401355,1.04002912379,0.557859218707,0.0187272646512,1.03969840611
+326,5.433333333,pose2_to_pose3_retreat,0.586551816027,0.0100547384988,1.04002922103,0.557122544253,0.0187274612362,1.03969851305
+327,5.450000000,pose2_to_pose3_retreat,0.585839620996,0.0100545697262,1.04002894716,0.556410351946,0.0187273017772,1.03969824098
+328,5.466666667,pose2_to_pose3_retreat,0.585151557458,0.0100545106959,1.04002915225,0.555722289607,0.01872724669,1.03969844268
+329,5.483333333,pose2_to_pose3_retreat,0.584485824617,0.0100545924923,1.04002905149,0.555056554471,0.0187273207018,1.03969834207
+330,5.500000000,pose2_to_pose3_retreat,0.583846218544,0.0100547195772,1.0400290497,0.554416947185,0.018727443791,1.03969834342
+331,5.516666667,pose2_to_pose3_retreat,0.583235033764,0.0100546290467,1.04002917901,0.553805763126,0.0187273555945,1.0396984697
+332,5.533333333,pose2_to_pose3_retreat,0.582650818281,0.0100545506731,1.04002925868,0.553221548181,0.0187272791471,1.03969855213
+333,5.550000000,pose2_to_pose3_retreat,0.582090416368,0.0100545074786,1.04002894368,0.55266114799,0.0187272416286,1.03969823384
+334,5.566666667,pose2_to_pose3_retreat,0.581544432994,0.0100546458006,1.04002928639,0.552115163105,0.0187273748584,1.03969857685
+335,5.583333333,pose2_to_pose3_retreat,0.581009242049,0.010054443483,1.04002942384,0.551579973563,0.0187271770194,1.03969870738
+336,5.600000000,pose2_to_pose3_retreat,0.580497371959,0.0100545418713,1.04002903765,0.551068103218,0.0187272748527,1.03969832928
+337,5.616666667,pose2_to_pose3_retreat,0.580014555916,0.0100545026787,1.04002898012,0.550585287452,0.0187272364655,1.03969826823
+338,5.633333333,pose2_to_pose3_retreat,0.57957730262,0.0100545009608,1.0400293316,0.55014803436,0.0187272350676,1.03969860993
+339,5.650000000,pose2_to_pose3_retreat,0.579181323948,0.0100544015022,1.04002913986,0.549752056753,0.0187271398791,1.03969843478
+340,5.666666667,pose2_to_pose3_retreat,0.578822265177,0.0100545458492,1.04002892378,0.549392995404,0.0187272753658,1.03969821572
+341,5.683333333,pose2_to_pose3_retreat,0.578484948105,0.0100545416482,1.04002940093,0.549055679567,0.0187272750825,1.03969868564
+342,5.700000000,pose2_to_pose3_retreat,0.578163944497,0.0100544857091,1.04002896837,0.548734676996,0.0187272230035,1.03969826223
+343,5.716666667,pose2_to_pose3_retreat,0.577853954393,0.0100543475407,1.04002897897,0.54842468787,0.0187270875076,1.03969825592
+344,5.733333333,pose2_to_pose3_retreat,0.57755769531,0.0100545060408,1.04002902273,0.548128425683,0.0187272361607,1.0396983178
+345,5.750000000,pose2_to_pose3_retreat,0.57728596436,0.0100544482339,1.04002904864,0.547856696243,0.0187271833628,1.03969834061
+346,5.766666667,pose2_to_pose3_retreat,0.577041459607,0.0100545941474,1.04002915413,0.54761219096,0.0187273275402,1.03969844786
+347,5.783333333,pose2_to_pose3_retreat,0.576829161019,0.0100545581065,1.04002914599,0.547399891157,0.0187272872962,1.03969843758
+348,5.800000000,pose2_to_pose3_retreat,0.57664496064,0.0100545051614,1.04002909076,0.547215690291,0.0187272324473,1.03969837566
+349,5.816666667,pose2_to_pose3_retreat,0.576488159737,0.0100544503391,1.04002944948,0.547058891738,0.0187271852904,1.03969872636
+350,5.833333333,pose2_to_pose3_retreat,0.57635244552,0.0100546319882,1.04002906411,0.546923174888,0.0187273583873,1.03969835109
+351,5.850000000,pose2_to_pose3_retreat,0.576235774659,0.0100546351206,1.04002905889,0.546806503897,0.0187273611267,1.03969834711
+352,5.866666667,pose2_to_pose3_retreat,0.57613515518,0.0100545151948,1.04002917508,0.546705885499,0.0187272447076,1.03969846008
+353,5.883333333,pose2_to_pose3_retreat,0.576047410215,0.0100546085208,1.04002915664,0.546618138545,0.0187273316079,1.03969844989
+354,5.900000000,pose2_to_pose3_retreat,0.575972000444,0.010054561896,1.04002917883,0.546542732691,0.0187272981117,1.03969846771
+355,5.916666667,pose2_to_pose3_retreat,0.575908099803,0.0100545467832,1.04002897608,0.546478831101,0.0187272799284,1.0396982687
+356,5.933333333,pose2_to_pose3_retreat,0.575855891509,0.0100545585483,1.04002902274,0.546426621237,0.0187272862392,1.03969831202
+357,5.950000000,pose2_to_pose3_retreat,0.575815690415,0.0100545367863,1.0400292366,0.546386421849,0.0187272700679,1.03969852065
+358,5.966666667,pose2_to_pose3_retreat,0.575785589481,0.0100545446702,1.04002925169,0.546356320658,0.018727277029,1.0396985344
+359,5.983333333,pose2_to_pose3_retreat,0.575764205876,0.0100545588641,1.04002919125,0.54633493614,0.0187272881831,1.03969847549
+360,6.000000000,pose2_to_pose3_retreat,0.575748273767,0.0100545710368,1.04002917025,0.546319003931,0.0187273001497,1.03969845796
+361,6.016666667,pose2_to_pose3_retreat,0.57573684216,0.0100546606802,1.04002914601,0.546307571556,0.0187273874665,1.03969844113
+362,6.033333333,pose2_to_pose3_retreat,0.575728304756,0.0100546604706,1.04002906658,0.546299033757,0.0187273861226,1.03969836707
+363,6.050000000,pose2_to_pose3_retreat,0.575722488894,0.0100546271734,1.04002899055,0.546293217975,0.0187273532017,1.03969829378
+364,6.066666667,pose2_to_pose3_retreat,0.575718980017,0.010054549166,1.0400289399,0.546289710802,0.0187272808467,1.03969823989
+365,6.083333333,pose2_to_pose3_retreat,0.575717065188,0.0100545065966,1.04002891226,0.546287796901,0.0187272413618,1.03969821047
+366,6.100000000,pose2_to_pose3_retreat,0.575716362935,0.0100544909845,1.04002890212,0.546287094989,0.0187272268809,1.03969819969
+367,6.116666667,pose2_to_pose3_retreat,0.575715920831,0.0100544818424,1.04002889933,0.546286653067,0.0187272183406,1.03969819651
+368,6.133333333,pose2_to_pose3_retreat,0.575715652779,0.0100544766809,1.04002889964,0.546286385107,0.0187272134825,1.0396981966
+369,6.150000000,pose2_to_pose3_retreat,0.575715490206,0.0100544735504,1.04002889982,0.54628622259,0.018727210536,1.03969819665
+370,6.166666667,pose2_to_pose3_retreat,0.575715471672,0.0100544731935,1.04002889984,0.546286204062,0.0187272102001,1.03969819666
+371,6.183333333,pose2_to_pose3_retreat,0.575715411254,0.0100544720301,1.04002889991,0.546286143665,0.0187272091051,1.03969819668
+372,6.200000000,pose2_to_pose3_retreat,0.57571529935,0.0100544698753,1.04002890003,0.546286031799,0.018727207077,1.03969819671
+373,6.216666667,pose2_to_pose3_retreat,0.575715042987,0.0100544649388,1.04002890032,0.546285775524,0.0187272024307,1.0396981968
+374,6.233333333,pose2_to_pose3_retreat,0.575714889752,0.0100544619882,1.0400289005,0.546285622341,0.0187271996535,1.03969819685
+375,6.250000000,pose2_to_pose3_retreat,0.575714832885,0.0100544608931,1.04002890056,0.546285565494,0.0187271986229,1.03969819686
+376,6.266666667,pose2_to_pose3_retreat,0.575714815915,0.0100544605664,1.04002890058,0.546285548529,0.0187271983153,1.03969819687
+377,6.283333333,pose2_to_pose3_retreat,0.57571458286,0.0100544560787,1.04002890084,0.546285315555,0.0187271940915,1.03969819694
+378,6.300000000,pose2_to_pose3_retreat,0.575714099114,0.0100544467638,1.04002890139,0.546284831975,0.0187271853242,1.0396981971
+379,6.316666667,pose2_to_pose3_retreat,0.575713785831,0.0100544407313,1.04002890174,0.546284518799,0.0187271796463,1.0396981972
+380,6.333333333,pose2_to_pose3_retreat,0.575713762651,0.0100544402849,1.04002890177,0.546284495627,0.0187271792262,1.03969819721
+381,6.350000000,pose2_to_pose3_retreat,0.575713387918,0.0100544330691,1.04002890219,0.546284121023,0.0187271724346,1.03969819733
+382,6.366666667,pose2_to_pose3_retreat,0.575712770264,0.0100544211757,1.04002890288,0.54628350358,0.0187271612404,1.03969819752
+383,6.383333333,pose2_to_pose3_retreat,0.575712071227,0.0100544219803,1.0400289164,0.546282804473,0.0187271617959,1.03969821082
+384,6.400000000,pose2_to_pose3_retreat,0.575711823699,0.0100544345044,1.04002893211,0.546282556653,0.0187271733391,1.03969822675
+385,6.416666667,pose2_to_pose3_retreat,0.575711252167,0.0100544634221,1.04002896839,0.546281984447,0.018727199992,1.03969826353
+386,6.433333333,pose2_to_pose3_retreat,0.575710687058,0.0100544920148,1.04002900426,0.546281418673,0.0187272263453,1.03969829989
+387,6.450000000,pose2_to_pose3_retreat,0.575710341948,0.0100545094762,1.04002902616,0.546281073156,0.0187272424391,1.0396983221
+388,6.466666667,pose2_to_pose3_retreat,0.575710002435,0.0100545077079,1.04002909447,0.546280732933,0.0187272380839,1.03969838573
+389,6.483333333,pose2_to_pose3_retreat,0.575709903425,0.0100545071868,1.04002911441,0.546280633716,0.0187272368081,1.0396984043
+390,6.500000000,pose2_to_pose3_retreat,0.57570949464,0.0100545042903,1.04002916574,0.546280224152,0.018727231079,1.03969845062
+391,6.516666667,pose2_to_pose3_retreat,0.575709321959,0.0100544931493,1.04002892364,0.546280052008,0.0187272219733,1.03969821426
+392,6.533333333,pose2_to_pose3_retreat,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_10/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_10/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..110ccbaabde96da7c0a5fa72560aa89874bbf289
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_10/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f801f2a08f20039b6c32716d92b351aae8d6e5dc73b099b3861e0d9520276409
+size 24989432
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_10/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_10/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..876111b238e6fd3c5594e6f9e19b7bc9033040f4
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_10/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,764,742,711,673,665,633,877,785,800,650,629,651,0.400963237066,0.00457632221511,0.0498468941175,0.999999960556,5.35444677004e-05,-0.000272251203759,-4.35843698465e-05,1793193596875567360
+1,0.016666667,BASELINE,763.425001471,742,711,673,664.425001471,633,876.425001471,785,800.574998529,650.574998529,629,651,0.400964003577,0.00457739741782,0.0498470184528,0.9999999607,5.42763669783e-05,-0.000271497899598,-4.40758582124e-05,1793193596892234752
+2,0.033333333,BASELINE,763,742,710.84547363,673,664.15452637,632.84547363,876.15452637,784.84547363,800.84547363,650.84547363,629,651,0.400964546794,0.00457784672037,0.0498469074396,0.999999960789,5.42700257607e-05,-0.000271129023294,-4.43340497355e-05,1793193596908901632
+3,0.050000000,BASELINE,763,742,710.253112305,673,664.746887695,632.253112305,876.746887695,784.253112305,800.253112305,650.253112305,629,651,0.400964457324,0.00457652259792,0.0498461295903,0.999999960723,5.21719543778e-05,-0.000271849384558,-4.39312181874e-05,1793193596925568000
+4,0.066666667,BASELINE,763.331721925,742,710.331721925,673,664.668278075,632,877,784.331721925,799.668278075,650,629,651.331721925,0.400964151688,0.00457618027819,0.0498461797787,0.999999960704,5.20608553485e-05,-0.000271958117652,-4.38189527666e-05,1793193596942234624
+5,0.083333333,BASELINE,763.910940185,742,710.910940185,673,664.089059815,632,877,784.910940185,799.089059815,650,629,651.910940185,0.400963684769,0.00457657047743,0.0498468477627,0.999999960722,5.34322281721e-05,-0.000271610517496,-4.39234775369e-05,1793193596958901248
+6,0.100000000,BASELINE,764,742,711,672.5133741,664.4866259,632.4866259,877,784.5133741,799,650,629,651.5133741,0.400963821668,0.0045755402633,0.0498471189836,0.999999960799,5.31897932111e-05,-0.000271397156382,-4.37753057173e-05,1793193596975567616
+7,0.116666667,BASELINE,764,742,710.938244893,672,664.938244893,632.938244893,877,784,799.061755107,650.061755107,629,651,0.400964276375,0.00457460410538,0.0498474080117,0.999999960943,5.28747829191e-05,-0.000270954611742,-4.36156752206e-05,1793193596992233984
+8,0.133333333,BASELINE,764,742,710.362405255,672,664.362405255,632.362405255,877,784,799.637594745,650.637594745,629,651,0.400966463403,0.0045765993571,0.0498484453959,0.999999961544,5.43965637436e-05,-0.000268401171478,-4.37428699727e-05,1793193597008900608
+9,0.150000000,BASELINE,764,742,710.219016907,672,664.219016907,632.219016907,877,784,800,650.780983093,629,651,0.400966866995,0.00457735395351,0.0498484036475,0.999999961619,5.48820301062e-05,-0.000268007407393,-4.38342296942e-05,1793193597025567744
+10,0.166666667,BASELINE,764,742,710.809917969,672,664.809917969,632.809917969,877,784,800,650.190082031,629,651,0.400964242364,0.00457600195413,0.049846529564,0.999999960804,5.36078653642e-05,-0.000271280709099,-4.3864742593e-05,1793193597042234880
+11,0.183333333,BASELINE,763.608595062,742,711,672,665,632.608595062,876.608595062,784,800,650,629.391404938,651,0.400963999015,0.00457577659444,0.0498466807762,0.999999960724,5.44006073591e-05,-0.000271448896275,-4.36791451237e-05,1793193597058901760
+12,0.200000000,BASELINE,763.031572526,742,711,672,665,632.031572526,876.031572526,784,800,650,629.968427474,651,0.400964884949,0.00457608552568,0.0498477924527,0.999999960992,5.61735470546e-05,-0.00027014453231,-4.33910607348e-05,1793193597075568640
+13,0.216666667,BASELINE,763.543414101,742,711,672.543414101,664.456585899,632,876.543414101,784,800,650,629.456585899,651,0.400964974859,0.00457645685634,0.0498478534309,0.99999996105,5.48942209881e-05,-0.000270167792252,-4.35452799673e-05,1793193597092234752
+14,0.233333333,BASELINE,763.881965316,742,711,673,664,632.118034684,877,784.118034684,799.881965316,650,629,651,0.400965239252,0.00457648501566,0.0498479613597,0.999999961207,5.32438057885e-05,-0.000269896410991,-4.36706726702e-05,1793193597108900864
+15,0.250000000,BASELINE,763.308302642,742,711,673,664,632.691697358,877,784.691697358,799.308302642,650,629,651,0.400966355035,0.0045751745503,0.0498484852882,0.999999961794,5.08429309145e-05,-0.000268191039161,-4.3585964572e-05,1793193597125567232
+16,0.266666667,BASELINE,763,742,710.725851675,672.725851675,664,632.725851675,876.725851675,785,799,650,629,651,0.400966931175,0.00457513667626,0.0498486486056,0.999999961911,5.11929016848e-05,-0.000267688334418,-4.35895024976e-05,1793193597142233856
+17,0.283333333,BASELINE,763,742,710.133190262,672.133190262,664,632.133190262,876.133190262,785,799,650,629,651,0.400966880342,0.00457657733398,0.0498483929549,0.999999961479,5.473888096e-05,-0.000268582921581,-4.36955670929e-05,1793193597158900480
+18,0.300000000,BASELINE,763.44889941,742,710,672,664.89779882,632,876.44889941,784.55110059,799.89779882,650,629,651,0.400965630963,0.00457626678964,0.0498477741963,0.999999961348,5.43999749651e-05,-0.000269127935095,-4.37575994733e-05,1793193597175566848
+19,0.316666667,BASELINE,763.972268323,742.027731677,710,672,665.972268323,632,877,784,800.944536646,650,629,651,0.400964254951,0.00457550266068,0.0498471600012,0.999999961341,5.30496699948e-05,-0.000269419453873,-4.37887117273e-05,1793193597192233984
+20,0.333333333,BASELINE,763.397242789,742.602757211,710,672,665.397242789,632,877,784,799.794485579,650,629,651,0.40096723647,0.00457580520926,0.0498487131412,0.999999962033,5.39638189024e-05,-0.000266708019636,-4.34615056241e-05,1793193597208901120
+21,0.350000000,BASELINE,763,742.818465055,710.181534945,672,665,632,877,784,799.181534945,650,629,651,0.400968616159,0.00457632208482,0.049849499972,0.999999962277,5.50238843887e-05,-0.000265589955191,-4.3351552486e-05,1793193597225567744
+22,0.366666667,BASELINE,763,742.231303378,710.768696622,672,665,632,877,784,799.768696622,650,629,651,0.400966416674,0.00457731785853,0.0498485745401,0.999999961532,5.6409989818e-05,-0.00026803216092,-4.37270354639e-05,1793193597242234368
+23,0.383333333,BASELINE,763.351074985,742.351074985,711,672,665,632.351074985,877,784,800.351074985,650.351074985,629,651.351074985,0.400964734968,0.00457739604113,0.0498476844502,0.999999961077,5.69343156367e-05,-0.000269585001947,-4.39136108129e-05,1793193597258900992
+24,0.400000000,BASELINE,763.930344313,742.930344313,711,672,665,632.930344313,877,784,800.930344313,650.930344313,629,651.930344313,0.400963389811,0.00457687780111,0.0498468173321,0.999999960813,5.68984956428e-05,-0.000270559767299,-4.3977398607e-05,1793193597275567360
+25,0.416666667,BASELINE,764,742.49210877,711,672.50789123,665,632.49210877,877,784.50789123,800.49210877,650.49210877,629,651.49210877,0.400964527625,0.00457678390252,0.0498477589037,0.999999961121,5.68388844613e-05,-0.000269486789286,-4.36452349661e-05,1793193597292234496
+26,0.433333333,BASELINE,764,742,711,672.91560149,665,632,876.91560149,784.91560149,800,650.08439851,629,651,0.400965978185,0.00457662223088,0.0498488532685,0.999999961512,5.63069288763e-05,-0.000268194870234,-4.33143385579e-05,1793193597308901632
+27,0.450000000,BASELINE,764,742,711,672.343738899,665,632,876.343738899,784.343738899,800,650.656261101,629,651,0.400967274909,0.00457573412408,0.0498494022611,0.999999961942,5.30656154226e-05,-0.000267254989855,-4.330334416e-05,1793193597325568512
+28,0.466666667,BASELINE,763.762201052,742,710.762201052,672.237798948,664.762201052,632,876.237798948,784,800,650.762201052,629,651,0.400968072212,0.00457536973421,0.0498498734522,0.999999962266,5.16648169444e-05,-0.000266301340414,-4.33885070036e-05,1793193597342235136
+29,0.483333333,BASELINE,763.166084475,742,710.166084475,672.833915525,664.166084475,632,876.833915525,784,800,650.166084475,629,651,0.400968116986,0.00457579448584,0.0498502274114,0.999999962443,5.30373234595e-05,-0.000265326943688,-4.36185604593e-05,1793193597358901504
+30,0.500000000,BASELINE,763.416163603,742,710.416163603,673,664,632,877,784,799.583836397,650,629,651,0.400967027653,0.00457676346027,0.049849243477,0.999999962005,5.51278768358e-05,-0.000266540383322,-4.3679750954e-05,1793193597375567872
+31,0.516666667,BASELINE,763.993055457,742,710.993055457,673,664,632,877,784,799.006944543,650,629,651,0.400965500312,0.00457794262121,0.0498477428292,0.999999961321,5.74957500027e-05,-0.000268598796228,-4.36757241863e-05,1793193597392234752
+32,0.533333333,BASELINE,764,742,711,673,664.567460272,632.567460272,877,784,799,650,629,651,0.400966309056,0.00457595668923,0.0498480365279,0.999999961737,5.46736704548e-05,-0.000267685321849,-4.33785981689e-05,1793193597408901120
+33,0.550000000,BASELINE,763.854836725,742,711,672.854836725,664.854836725,633,877,784,799,650.145163275,629,651,0.400966705791,0.00457483545057,0.0498483363526,0.999999962002,5.27579347629e-05,-0.000267095828638,-4.32607713059e-05,1793193597425567488
+34,0.566666667,BASELINE,763.266983254,742,711,672.266983254,664.266983254,633,877,784,799,650.733016746,629,651,0.400965759256,0.00457646879111,0.0498485881851,0.999999961792,5.37990356973e-05,-0.000267604778522,-4.37006265123e-05,1793193597442234368
+35,0.583333333,BASELINE,763,742,711,672,664.317739524,632.682260476,876.682260476,784.317739524,799,650.682260476,629.317739524,651,0.400966660819,0.00457633382851,0.0498494047942,0.999999962115,5.34352589644e-05,-0.000266471884526,-4.36803025373e-05,1793193597458900992
+36,0.600000000,BASELINE,763,742,711,672,664.899857442,632.100142558,876.100142558,784.899857442,799,650.100142558,629.899857442,651,0.40096910011,0.00457472753151,0.0498506913314,0.999999962876,5.19025396325e-05,-0.00026397287773,-4.3277081855e-05,1793193597475567616
+37,0.616666667,BASELINE,763,742,710.522951187,672.477048813,664.522951187,632,876.477048813,785,799,650,629.522951187,651,0.400968541364,0.00457618358927,0.0498502814608,0.999999962505,5.45556927209e-05,-0.000264823550297,-4.33765124405e-05,1793193597492234752
+38,0.633333333,BASELINE,763.052811437,742,710.052811437,673,664,632.052811437,877,784.947188563,799.052811437,650,629,651.052811437,0.400967397424,0.00457793650405,0.0498495019421,0.999999961938,5.75928522799e-05,-0.000266286478528,-4.35688791871e-05,1793193597508901888
+39,0.650000000,BASELINE,763.624593257,742,710.624593257,673,664,632.624593257,877,784.375406743,799.624593257,650,629,651.624593257,0.400966624186,0.00457635394413,0.0498485536316,0.999999961862,5.5856969887e-05,-0.000266926655725,-4.36482142362e-05,1793193597525568512
+40,0.666666667,BASELINE,764,742,711,672.797030345,664.202969655,632.797030345,877,784,799.797030345,650,629,651.797030345,0.400965770194,0.00457525744452,0.0498478040703,0.999999961704,5.48129831884e-05,-0.000267740129521,-4.36309116677e-05,1793193597542234880
+41,0.683333333,BASELINE,764,742,711,672.206047247,664.793952753,632.206047247,877,784,799.206047247,650,629,651.206047247,0.400964761823,0.00457509013778,0.0498474344539,0.99999996139,5.50916811672e-05,-0.000268884891273,-4.34288686963e-05,1793193597558900992
+42,0.700000000,BASELINE,763.622341173,742,710.622341173,672.377658827,664.622341173,632,876.622341173,784,799.377658827,650,629,651,0.400965458136,0.0045756938159,0.0498484217974,0.999999961635,5.55785994799e-05,-0.000267863143575,-4.34693308717e-05,1793193597575567360
+43,0.716666667,BASELINE,763.042530341,742,710.042530341,672.957469659,664.042530341,632,876.042530341,784,799.957469659,650,629,651,0.400967066928,0.00457671018433,0.0498501354902,0.999999962176,5.61769732955e-05,-0.000265681713611,-4.36396004299e-05,1793193597592233984
+44,0.733333333,BASELINE,763.53216301,742,710.53216301,673,664.53216301,632.53216301,876.53216301,784,800,650,628.46783699,651,0.40096775135,0.00457611838935,0.0498500156106,0.999999962582,5.47449585379e-05,-0.000264485020118,-4.34307320634e-05,1793193597608900864
+45,0.750000000,BASELINE,763.893657513,742,711,672.893657513,664.893657513,632.893657513,876.893657513,784,799.893657513,650,628.106342487,651,0.400968168193,0.00457542008004,0.0498496947519,0.999999962825,5.32100162399e-05,-0.000263908299308,-4.32652504837e-05,1793193597625568000
+46,0.766666667,BASELINE,763.319956273,742,711,672.319956273,664.319956273,632.319956273,876.319956273,784,799.319956273,650,628.680043727,651,0.400967730647,0.00457481312017,0.0498491285017,0.999999962407,5.19290747383e-05,-0.000265713683176,-4.34223452926e-05,1793193597642234368
+47,0.783333333,BASELINE,763.263413982,742.263413982,710.736586018,672.263413982,664,632,876.263413982,784.263413982,799.263413982,650,629,651,0.400967537652,0.0045745136337,0.049849223491,0.999999962236,5.08174198599e-05,-0.000266549724993,-4.35521041213e-05,1793193597658901248
+48,0.800000000,BASELINE,763.85897633,742.85897633,710.14102367,672.85897633,664,632,876.85897633,784.85897633,799.85897633,650,629,651,0.40096765302,0.00457460185164,0.0498501522612,0.99999996238,4.99192245305e-05,-0.000266163488048,-4.36473940295e-05,1793193597675568128
+49,0.816666667,BASELINE,763.561128353,742.561128353,710.438871647,672.561128353,664.438871647,632,877,785,800,650,629,651,0.400966360627,0.00457494222274,0.0498497149658,0.999999962118,5.11371162462e-05,-0.000266921279737,-4.3614364401e-05,1793193597692234240
+50,0.833333333,BASELINE,763.01389811,742,711,672,664.98610189,632,877,784.98610189,799.98610189,650,629,651,0.400964700233,0.00457537529186,0.049848865137,0.999999961737,5.2984255927e-05,-0.000267998355466,-4.35460363533e-05,1793193597708900864
+51,0.850000000,BASELINE,763.588601055,742,711,672,664.411398945,632,877,784.411398945,799.411398945,650,629,651,0.400965814592,0.00457639207413,0.0498484711817,0.999999961789,5.37305311745e-05,-0.000267636571775,-4.36598361807e-05,1793193597725567744
+52,0.866666667,BASELINE,764,742,711,672.167354268,664,632,876.832645732,784,799.167354268,650,628.832645732,651,0.400966275402,0.00457653917518,0.0498481528442,0.999999961793,5.38712560365e-05,-0.000267585709374,-4.37050661411e-05,1793193597742234368
+53,0.883333333,BASELINE,764,742,711,672.756310969,664,632,876.243689031,784,799.756310969,650,628.243689031,651,0.400965089776,0.00457449535673,0.0498480250048,0.999999961676,5.24864654345e-05,-0.000268318126527,-4.35775534266e-05,1793193597758900992
+54,0.900000000,BASELINE,764,742,711,672.658774291,664.341225709,632,876.341225709,784,799.658774291,650,628.341225709,651,0.400964792849,0.00457460069224,0.0498481878478,0.999999961699,5.26542120667e-05,-0.000268206528694,-4.3536969206e-05,1793193597775567360
+55,0.916666667,BASELINE,764,742,711,672.076712382,664.923287618,632,876.923287618,784,799.076712382,650,628.923287618,651,0.400965123163,0.00457622289501,0.0498485558535,0.99999996182,5.39177354233e-05,-0.00026749922729,-4.35577388916e-05,1793193597792233984
+56,0.933333333,BASELINE,763.50378622,742,711,672,665,632,877,784,799.49621378,650.49621378,629,651.49621378,0.400966578682,0.00457615028486,0.0498492216157,0.999999962281,5.43141739201e-05,-0.000265706571549,-4.34421433608e-05,1793193597808900352
+57,0.950000000,BASELINE,763.068508036,742,711,672,664.931491964,632.068508036,877,784.068508036,799.931491964,650.931491964,629,651.931491964,0.400967939972,0.00457594217075,0.0498498698421,0.999999962703,5.45663080081e-05,-0.00026408093001,-4.33400818517e-05,1793193597825566976
+58,0.966666667,BASELINE,763.646415183,742,711,672,664.353584817,632.646415183,877,784.646415183,799.353584817,650.353584817,629,651.353584817,0.400967330561,0.00457663948922,0.0498500515934,0.999999962465,5.47241556533e-05,-0.000264922214689,-4.34925737165e-05,1793193597842234624
+59,0.983333333,BASELINE,763.769926535,742,710.769926535,672,664,632.769926535,877,784.769926535,799.230073465,650,629,651,0.400966937491,0.00457666994644,0.0498500371363,0.999999962362,5.40277577795e-05,-0.000265449438676,-4.35085072247e-05,1793193597858901504
+60,1.000000000,BASELINE,763.177203015,742,710.177203015,672,664,632.177203015,877,784.177203015,799.822796985,650,629,651,0.400966885429,0.00457564927311,0.0498497134085,0.999999962471,5.19848674811e-05,-0.000265481629058,-4.33091925732e-05,1793193597875567616
+61,1.016666667,BASELINE,763,742.404891207,710.404891207,672,664,632.404891207,876.595108793,784,799.595108793,650,629,651,0.400966021255,0.00457450125108,0.0498488162474,0.999999962186,5.09893507589e-05,-0.000266747780505,-4.32814721535e-05,1793193597892233984
+62,1.033333333,BASELINE,763,742.982452419,710.982452419,672,664,632.982452419,876.017547581,784,799.017547581,650,629,651,0.400964810747,0.00457329891997,0.0498476745399,0.999999961732,5.04404973575e-05,-0.000268540167295,-4.33269298649e-05,1793193597908900352
+63,1.050000000,BASELINE,763.558736048,742.441263952,710.441263952,672.558736048,664,632.441263952,876.558736048,784,799.558736048,650,629,651,0.400965384168,0.00457559467812,0.0498487896004,0.99999996192,5.33875664397e-05,-0.000267259763497,-4.33877378341e-05,1793193597925566976
+64,1.066666667,BASELINE,764,742,710.137666357,673,664.137666357,632.137666357,876.862333643,784.137666357,799.862333643,650.137666357,629,651,0.400965914319,0.00457712136537,0.049849648915,0.99999996208,5.52741578992e-05,-0.000266270722502,-4.34195017483e-05,1793193597942233856
+65,1.083333333,BASELINE,764,742,710.725379807,673,664.725379807,632.725379807,876.274620193,784.725379807,799.274620193,650.725379807,629,651,0.400966120279,0.00457577554444,0.0498494409949,0.999999962114,5.33358211686e-05,-0.000266548941585,-4.33547449115e-05,1793193597958900992
+66,1.100000000,BASELINE,764,742,711,672.382865579,665,632.69143279,876.617134421,784.69143279,799.30856721,650.69143279,629.30856721,651,0.400966392821,0.00457463916701,0.0498495667213,0.999999962254,5.16224702955e-05,-0.000266363170388,-4.33266340261e-05,1793193597975567616
+67,1.116666667,BASELINE,764,742,711,671.224430601,665,632.1122153,877.775569399,784.1122153,799.8877847,650.1122153,629.8877847,651,0.400966723762,0.00457368649658,0.0498499850956,0.999999962489,5.01064589794e-05,-0.000265770424311,-4.33306660179e-05,1793193597992234240
+68,1.133333333,BASELINE,764,742,710.536116908,671.927766183,664.536116908,632.463883092,877.536116908,784,800,650,629.536116908,651,0.400967174438,0.00457445746441,0.0498500176953,0.999999962502,5.18515559763e-05,-0.000265388356287,-4.33080946606e-05,1793193598008900864
+69,1.150000000,BASELINE,764,742,710,672.96076124,664.03923876,633,876.96076124,784,799.96076124,650,629,651,0.40096757224,0.00457554507069,0.0498499406721,0.99999996245,5.4101440653e-05,-0.00026514171367,-4.32853566974e-05,1793193598025567232
+70,1.166666667,BASELINE,764,742,710,672.385313778,664.614686222,633,876.385313778,784,799.385313778,650,629,651,0.400966854343,0.00457529987116,0.0498496323547,0.999999962288,5.25411763993e-05,-0.000266053912862,-4.33476971072e-05,1793193598042233856
+71,1.183333333,BASELINE,764,742,710,672,664.804686231,633,876,784,799,650,629,651,0.400966337821,0.00457563785272,0.0498495802335,0.999999962171,5.24285742018e-05,-0.000266494926536,-4.34772172248e-05,1793193598058900480
+72,1.200000000,BASELINE,764,742,710,672,664.21356092,633,876,784,799,650,629,651,0.400966229391,0.00457715767519,0.0498500473045,0.999999962144,5.52497195709e-05,-0.000265981063173,-4.37428798484e-05,1793193598075567360
+73,1.216666667,BASELINE,763.630178526,742,710.369821474,672,664.369821474,632.630178526,876.369821474,784,799.369821474,650,629,651,0.400966793838,0.00457804522623,0.0498501637051,0.999999962253,5.57200582943e-05,-0.000265432886488,-4.39877844579e-05,1793193598092234240
+74,1.233333333,BASELINE,763.051175774,742,710.948824226,672,664.948824226,632.051175774,876.948824226,784,799.948824226,650,629,651,0.400967738884,0.00457857514694,0.0498500817567,0.999999962441,5.48607154474e-05,-0.000264865301268,-4.42209477437e-05,1793193598108901120
+75,1.250000000,BASELINE,763,742,710.477829439,672,664.477829439,632.522170561,876.477829439,784,800,650,629,651,0.400968504709,0.00457601987115,0.0498505929589,0.999999962743,5.38796541468e-05,-0.000264044362729,-4.34964371397e-05,1793193598125567488
+76,1.266666667,BASELINE,763.097810525,742,710,672,664,633,876.097810525,784,800,650.097810525,629,651,0.400968938008,0.00457384820937,0.0498509399832,0.99999996297,5.3090806505e-05,-0.000263440757382,-4.2896910289e-05,1793193598142234112
+77,1.283333333,BASELINE,763.687750117,742,710,672,664,633,876.687750117,784,800,650.687750117,629,651,0.400967785642,0.00457511172722,0.0498501715994,0.999999962774,5.33284505042e-05,-0.000264054246536,-4.33934129939e-05,1793193598158900736
+78,1.300000000,BASELINE,763.727244999,742,710.272755001,672,664.272755001,632.727244999,877,784,800,650.727244999,629,651,0.400966815185,0.00457547401191,0.0498498405072,0.999999962526,5.3356587383e-05,-0.000264962758883,-4.35356835891e-05,1793193598175567360
+79,1.316666667,BASELINE,763.147789017,742,710.852210983,672,664.852210983,632.147789017,877,784,800,650.147789017,629,651,0.400966049277,0.00457482289953,0.0498500011301,0.999999962219,5.31491427203e-05,-0.00026620301177,-4.32796357517e-05,1793193598192233984
+80,1.333333333,BASELINE,763,742,711,672.427867172,664.572132828,632,877,784,800,650,629,651,0.400964955526,0.00457561763149,0.0498493003494,0.999999961935,5.43437978687e-05,-0.000267001884208,-4.34287102623e-05,1793193598208901120
+81,1.350000000,BASELINE,763.002233742,742,711,672.997766258,664.002233742,632,877,784,799.997766258,650,629,651,0.400963759416,0.00457689854139,0.0498483085839,0.999999961659,5.60050102118e-05,-0.000267644293682,-4.3714902848e-05,1793193598225568256
+82,1.366666667,BASELINE,763.579499765,742,711,672.420500235,664.579499765,632,877,784,799.420500235,650,629,651,0.400965107584,0.00457590552036,0.0498483291589,0.999999961961,5.41967749462e-05,-0.000266909862186,-4.35936008273e-05,1793193598242235136
+83,1.383333333,BASELINE,764,742,710.844288562,672,665,632,877,784.155711438,799,650,629,651,0.400966124891,0.00457520838397,0.0498485103772,0.999999962163,5.31382944936e-05,-0.000266380932583,-4.34894426472e-05,1793193598258901760
+84,1.400000000,BASELINE,764,742,710.270904892,672,665,632,877,784.729095108,799,650,629,651,0.400966254712,0.00457530491286,0.0498491224966,0.999999962109,5.40909168123e-05,-0.000266403230372,-4.34312701839e-05,1793193598275567872
+85,1.416666667,BASELINE,763.686843713,742,710.313156287,672,665,632,877,784.686843713,799,650,629,651,0.400966705587,0.00457552944891,0.0498499109398,0.999999962429,5.39907673778e-05,-0.000265214251959,-4.34465466356e-05,1793193598292234496
+86,1.433333333,BASELINE,763.093219621,742,710.906780379,672,665,632,877,784.093219621,799,650,629,651,0.400967444003,0.00457586863022,0.0498508573014,0.999999963082,5.29477385786e-05,-0.000262940435104,-4.35276051195e-05,1793193598308900864
+87,1.450000000,BASELINE,763.486242794,742,711,672,664.513757206,632,877,784.486242794,799.486242794,650,629.486242794,651,0.400968290903,0.0045764342216,0.0498508687249,0.999999963075,5.31222331425e-05,-0.000262904445818,-4.37016987394e-05,1793193598325567488
+88,1.466666667,BASELINE,764,742,710.937308718,672,664.062691282,632.062691282,877,784.937308718,800,650,629.937308718,651,0.400968902773,0.00457686579624,0.0498506448797,0.999999962938,5.33438794342e-05,-0.000263357538802,-4.38268156238e-05,1793193598342234368
+89,1.483333333,BASELINE,764,742,710.363921294,672,664.636078706,632.636078706,877,784.363921294,800,650,629.363921294,651,0.400967435405,0.00457586205536,0.0498499232978,0.999999962747,5.21019869825e-05,-0.000264398793057,-4.34117728995e-05,1793193598358900736
+90,1.500000000,BASELINE,764,742,710.21558935,672.21558935,664.78441065,632.78441065,877.21558935,784,800,650,629,651.21558935,0.400966461772,0.00457539586048,0.0498494531442,0.999999962581,5.19334686579e-05,-0.000265074589068,-4.33223278095e-05,1793193598375567360
+91,1.516666667,BASELINE,764,742,710.805738266,672.805738266,664.194261734,632.194261734,877.805738266,784,800,650,629,651.805738266,0.400966345942,0.00457586358474,0.0498494198162,0.99999996246,5.36298039326e-05,-0.000265115446926,-4.3798567982e-05,1793193598392234496
+92,1.533333333,BASELINE,764,742,711,672.609858618,664.390141382,632.390141382,877.219717237,784,800,650,629,652,0.400966400271,0.0045762965712,0.0498494581992,0.999999962373,5.37625335875e-05,-0.000265414133802,-4.38161772655e-05,1793193598408901376
+93,1.550000000,BASELINE,764,742,711,672.028274913,664.971725087,632.971725087,876.056549825,784,800,650,629,652,0.400966538096,0.00457671251186,0.0498495317707,0.999999962303,5.31280023252e-05,-0.000265839337345,-4.36087364754e-05,1793193598425568000
+94,1.566666667,BASELINE,763.454459098,742,711,672.545540902,665,632.454459098,876,784,800,650.545540902,629,651.454459098,0.400966426218,0.00457715816633,0.049849478578,0.999999962092,5.39527831097e-05,-0.00026645589359,-4.36721354953e-05,1793193598442234880
+95,1.583333333,BASELINE,763.118372043,742,710.881627957,673,665,632.118372043,876.118372043,784.118372043,799.881627957,650.881627957,629.118372043,651,0.400966598702,0.00457723904117,0.0498496006894,0.999999962037,5.48392300525e-05,-0.000266482029914,-4.36502524163e-05,1793193598458901504
+96,1.600000000,BASELINE,763.688958082,742,710.311041918,673,665,632.688958082,876.688958082,784.688958082,799.311041918,650.311041918,629.688958082,651,0.400967906276,0.00457592055618,0.0498504172584,0.99999996261,5.56763693784e-05,-0.000264215242517,-4.3249694251e-05,1793193598475567872
+97,1.616666667,BASELINE,764,742,710,673,665,632.728679865,877,785,799.271320135,650.271320135,629.728679865,651,0.400967892681,0.00457517271415,0.0498505513719,0.999999962753,5.50075743083e-05,-0.000263827700067,-4.31600863434e-05,1793193598492234240
+98,1.633333333,BASELINE,764,742,710,673,665,632.132205281,877,785,799.867794719,650.867794719,629.132205281,651,0.400966295776,0.00457510874,0.0498498676194,0.99999996238,5.25340429861e-05,-0.000265692275373,-4.34431262911e-05,1793193598508900864
+99,1.650000000,BASELINE,763.550515042,742,710.449484958,672.550515042,664.550515042,632,876.550515042,784.550515042,799.550515042,651,629,651,0.400966937713,0.0045753011401,0.0498503997321,0.999999962465,5.26645601277e-05,-0.000265350740859,-4.34150638361e-05,1793193598525567488
+100,1.666666667,BASELINE,763,742,711,672.026848267,664.026848267,632,876.026848267,784,799.026848267,650.973151733,629,651,0.400968081874,0.00457554906577,0.0498511744642,0.999999962656,5.34267295119e-05,-0.000264496865739,-4.3301292657e-05,1793193598542234112
+101,1.683333333,BASELINE,763,742,711,672.601824326,664.601824326,632,876.601824326,784,799.601824326,650.398175674,629,651,0.400966463623,0.00457544013371,0.0498498339139,0.999999962335,5.19456901142e-05,-0.000266008585105,-4.32463344526e-05,1793193598558900480
+102,1.700000000,BASELINE,763.181282648,742,710.818717352,673,664.818717352,632,876.818717352,784,800,650,629,651,0.400965208065,0.00457485947912,0.0498488543108,0.999999962099,5.10256026764e-05,-0.000267089575677,-4.31549119794e-05,1793193598575566848
+103,1.716666667,BASELINE,763.770835487,742,710.229164513,673,664.229164513,632,876.229164513,784,800,650,629,651,0.400964769337,0.004573216449,0.0498486876044,0.999999962059,5.13688462977e-05,-0.000267200513322,-4.29813676225e-05,1793193598592233472
+104,1.733333333,BASELINE,764,742.3542538,710.3542538,673,664,632.3542538,876.3542538,784,799.6457462,650,629,651,0.400965588284,0.0045742701799,0.0498494619305,0.999999962264,5.2018538631e-05,-0.000266272786294,-4.3174448673e-05,1793193598608900352
+105,1.750000000,BASELINE,764,742.933771335,710.933771335,673,664,632.933771335,876.933771335,784,799.066228665,650,629,651,0.400967206964,0.00457703873333,0.0498508346428,0.999999962623,5.28630963217e-05,-0.000264684590755,-4.3600660328e-05,1793193598625566976
+106,1.766666667,BASELINE,764,742.489951196,710.489951196,673,664,633,877,784.510048804,799,650,629,651,0.400966251285,0.00457537991011,0.0498499216622,0.999999962355,5.08513611266e-05,-0.000266123028219,-4.33865620205e-05,1793193598642233600
+107,1.783333333,POSE1_TO_POSE2_PRESS,763,743,710,672,664,632,876,784,799,650,629,651,0.40096575225,0.00457506601109,0.0498496523332,0.999999962103,5.35832592515e-05,-0.000266509214932,-4.35440691376e-05,1793193598684854272
+108,1.800000000,POSE1_TO_POSE2_PRESS,763,742.420635648,710,672,664,632,876.579364352,784,799.579364352,650,629,651,0.400966535,0.00457605012853,0.0498497079282,0.999999962374,5.42214973904e-05,-0.000265350826565,-4.36006208664e-05,1793193598701520896
+109,1.816666667,POSE1_TO_POSE2_PRESS,763.158446625,742,710,672,664.158446625,632.158446625,876.841553375,784,799.841553375,650,629,651,0.400967428912,0.0045768494522,0.049849891107,0.999999962581,5.49107777788e-05,-0.000264420132299,-4.3654983935e-05,1793193598718187776
+110,1.833333333,POSE1_TO_POSE2_PRESS,763.736781512,742,710,672,664.736781512,632.736781512,876.263218488,784,799.263218488,650,629,651,0.400968617408,0.00457715906716,0.0498504123867,0.999999962619,5.5735321783e-05,-0.000264092833906,-4.37035470019e-05,1793193598734854400
+111,1.850000000,POSE1_TO_POSE2_PRESS,763.68650404,742,710.31349596,672.31349596,665,633,876.31349596,784,799,650,629,651.31349596,0.400968499026,0.00457566867377,0.0498503270927,0.999999962597,5.42437136747e-05,-0.000264552941172,-4.33132158603e-05,1793193598751521024
+112,1.866666667,POSE1_TO_POSE2_PRESS,763.111143186,742,710.888856814,672.888856814,665,633,876.888856814,784,799,650,629,651.888856814,0.400967289003,0.00457267472355,0.0498497351242,0.999999962513,5.08174109658e-05,-0.000265670772716,-4.25562739783e-05,1793193598768187648
+113,1.883333333,POSE1_TO_POSE2_PRESS,763.474629834,742,711,672.525370166,665,633,877,784.474629834,799,650,629,651.525370166,0.400967841726,0.00457404721251,0.0498501253441,0.99999996257,5.20624087504e-05,-0.000265168291717,-4.28452641003e-05,1793193598784854272
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,742,711,672.061896749,664.938103251,633,877,784.938103251,799.061896749,650,629,651,0.400969309925,0.00457631126736,0.0498509591733,0.999999962787,5.42079093284e-05,-0.000263833050566,-4.3354326672e-05,1793193598801520896
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,742,711,672.640819114,664.359180886,633,877,784.359180886,799.640819114,650,629,651,0.400974899832,0.00457729021828,0.0498535342207,0.999999964078,5.45332682193e-05,-0.000258782177499,-4.36099162928e-05,1793193598818187520
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,742,711,672.78080787,664.21919213,633,877,784,800,650.21919213,628.78080787,651,0.400986581459,0.00457731468492,0.049858582744,0.999999966565,5.38331783322e-05,-0.000249135684287,-4.36318057874e-05,1793193598834854400
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,742,711,672.203332853,664.796667147,633,877,784,800,650.796667147,628.203332853,651,0.401008220373,0.00457577898878,0.0498676743137,0.999999970833,5.1456929919e-05,-0.000231977370496,-4.32716981592e-05,1793193598851521024
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,742,710.627947704,672,665,632.627947704,877,784,799.627947704,650.627947704,628.372052296,651,0.401048464762,0.00457394399665,0.0498822469587,0.999999977503,4.92244875202e-05,-0.000201866763384,-4.26705175847e-05,1793193598868187648
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,742,710.05369827,672,665,632.05369827,877,784,799.05369827,650.05369827,628.94630173,651,0.401098820565,0.0045719463477,0.0498997983731,0.999999984447,4.70701982843e-05,-0.000164717045539,-4.19383223947e-05,1793193598884854272
+120,2.000000000,POSE1_TO_POSE2_PRESS,763.46614423,742,710,672,664.46614423,632,876.46614423,784,799,650,629,651,0.401166523117,0.00457304049839,0.0499163875421,0.999999989781,4.99690904614e-05,-0.000127131603397,-4.21702103388e-05,1793193598901521152
+121,2.016666667,POSE1_TO_POSE2_PRESS,763.120888075,742,710,672,664,632.120888075,876,784,799.120888075,650,629,651,0.401236293106,0.00457331749094,0.0499306581273,0.999999993031,5.17240215764e-05,-9.74882581322e-05,-4.19476014474e-05,1793193598918187776
+122,2.033333333,POSE1_TO_POSE2_PRESS,763.700729226,742,710,672,664,632.700729226,876,784,799.700729226,650,629,651,0.401307118567,0.0045692812754,0.0499365030346,0.999999993285,4.71568879563e-05,-9.81678166576e-05,-3.96219211005e-05,1793193598934854656
+123,2.050000000,POSE1_TO_POSE2_PRESS,763.721321652,742,710,672,664,633,876.278678348,784,799.721321652,650,629,651,0.401386183989,0.00456657063036,0.0499389830878,0.999999993417,4.35663265968e-05,-9.90591592963e-05,-3.8137488068e-05,1793193598951521024
+124,2.066666667,POSE1_TO_POSE2_PRESS,763.145390699,742,710,672,664,633,876.854609301,784,799.145390699,650,629,651,0.401474038574,0.00456527390698,0.049937874015,0.999999993436,4.10174275257e-05,-0.000100176401683,-3.75503726675e-05,1793193598968187648
+125,2.083333333,POSE1_TO_POSE2_PRESS,763.430213941,742,710.430213941,672,664,632.569786059,877,784.430213941,799,650,629,651,0.401584855879,0.00456445590921,0.0499369560776,0.999999993148,3.90858290342e-05,-0.000104130016351,-3.65140500976e-05,1793193598984854272
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,742,711,672,664.005862084,632,877.005862084,784.994137916,799,650,629,651,0.401703763717,0.00456375493108,0.0499361572632,0.999999992748,3.73202594669e-05,-0.000108918360084,-3.53208619986e-05,1793193599001521408
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,742,711,672,664.596852748,632,877.596852748,784.403147252,799,650,629,651,0.401856226664,0.00455859787945,0.0499408061744,0.999999993802,3.13195475182e-05,-0.000101419810733,-3.36115110769e-05,1793193599018188032
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,742,711,672,664.816493399,632.183506601,877.816493399,784,799,650.183506601,629,651.183506601,0.402015845924,0.00455541326808,0.0499432271804,0.999999994287,2.70409550463e-05,-9.83611170573e-05,-3.19369333252e-05,1793193599034854656
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,742,711,672,664.239147229,632.760852771,877.239147229,784,799,650.760852771,629,651.760852771,0.402190823953,0.00455646188392,0.0499408666836,0.999999993695,2.64583545979e-05,-0.000104831186987,-3.03369855402e-05,1793193599051521280
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,742,711,672.336246299,664,632.663753701,877.336246299,784,799,650.663753701,629,651.663753701,0.402388455652,0.00455313506797,0.0499391475271,0.99999999356,2.16870720229e-05,-0.000107725506155,-2.83779916883e-05,1793193599068187904
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,742,711,672.910259134,664,632.089740866,877.910259134,784,799,650.089740866,629,651.089740866,0.402602106237,0.00454671429613,0.049937881875,0.999999993718,1.39538878303e-05,-0.000108091340549,-2.61651089612e-05,1793193599084854528
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,742,711,672.502047867,664,632,877.502047867,784,799,650.497952133,629,651,0.402857599566,0.00454439093021,0.0499407685515,0.999999994464,1.04916553776e-05,-0.000101828265792,-2.4345794699e-05,1793193599101520896
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,742,710.913443285,672,664,632,877,784.086556715,799,651,629,651,0.403128596085,0.00454227031322,0.0499453355897,0.999999995458,7.9116832714e-06,-9.23047856899e-05,-2.23982514657e-05,1793193599118187776
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,742,710.334081753,672,664,632,877,784.665918247,799,651,629,651,0.403443712673,0.00453698104429,0.0499550887196,0.999999997261,5.84871080805e-06,-7.12122686111e-05,-1.93054081608e-05,1793193599134854144
+135,2.250000000,POSE1_TO_POSE2_PRESS,763.757677406,742,710.242322594,672.242322594,664.242322594,632.242322594,877,784.757677406,799.242322594,650.757677406,629,651,0.403771362762,0.00453139883664,0.0499636914695,0.999999998397,2.33987987991e-06,-5.42368769578e-05,-1.60749474746e-05,1793193599151521024
+136,2.266666667,POSE1_TO_POSE2_PRESS,763.185300911,742,710.814699089,672.814699089,664.814699089,632.814699089,877,784.185300911,799.814699089,650.185300911,629,651,0.404116084007,0.00452541763404,0.0499707273514,0.999999998996,-3.13827297815e-06,-4.28691903277e-05,-1.2657046128e-05,1793193599168187648
+137,2.283333333,POSE1_TO_POSE2_PRESS,763.399093675,742,711,673,665,633,877.399093675,784.399093675,799.600906325,650,629,651,0.4044991844,0.00452026965844,0.0499784899638,0.999999999519,-9.20564850329e-06,-2.80775657732e-05,-9.48123135244e-06,1793193599184854272
+138,2.300000000,POSE1_TO_POSE2_PRESS,763.989241546,742,711,673,665,633,877.989241546,784.989241546,799.010758454,650,629,651,0.404900657657,0.00451552056559,0.0499866004767,0.999999999791,-1.55550966513e-05,-1.16468333538e-05,-6.42130840055e-06,1793193599201520896
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,742,711,673,664.431143668,632.431143668,877.431143668,785,799.568856332,650,629,651,0.405317098491,0.00450827434254,0.0499788005,0.99999999945,-2.12074239481e-05,-2.53610930936e-05,-2.47808724394e-06,1793193599218187520
+140,2.333333333,POSE1_TO_POSE2_PRESS,763.851762586,742,711,673,664.148237414,632.148237414,877,784.851762586,799.851762586,650,629,651,0.405736651885,0.00450149829058,0.0499654142234,0.999999998418,-2.65152470169e-05,-4.9599182807e-05,1.34906189929e-06,1793193599234854144
+141,2.350000000,POSE1_TO_POSE2_PRESS,763.272492453,742,711,673,664.727507547,632.727507547,877,784.272492453,799.272492453,650,629,651,0.406164447522,0.00449622419102,0.0499366436025,0.999999994227,-3.08589867723e-05,-0.000102810011421,4.79101426708e-06,1793193599251520768
+142,2.366666667,POSE1_TO_POSE2_PRESS,763,742,711,672.695905844,665,633,877,784,799,650,629,651,0.406624785333,0.00449030491647,0.0499169193413,0.999999989857,-3.64397294654e-05,-0.000137441899254,8.20852645613e-06,1793193599268187392
+143,2.383333333,POSE1_TO_POSE2_PRESS,763,742,711,672.121702784,665,633,877,784,799,650,629,651,0.407114028485,0.00448381257045,0.0499052304246,0.999999986902,-4.31192294521e-05,-0.00015557121597,1.16043302742e-05,1793193599284854016
+144,2.400000000,POSE1_TO_POSE2_PRESS,763.46366233,742,711,672.46366233,665,632.53633767,877.46366233,784,799,650,629,651,0.407684071687,0.00447566417866,0.0499182164231,0.999999990774,-5.08771408709e-05,-0.000125001964159,1.54091427266e-05,1793193599301520640
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,742,711,672.948803826,665.051196174,632,878,784,799,650,629,651,0.408279290701,0.00446709742098,0.0499386307773,0.999999995388,-4.74988008426e-05,-8.11565793423e-05,1.95105035787e-05,1793193599318187520
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,742,711,672.369860271,665.630139729,632,878,784,799,650,629,651,0.40891001338,0.00445880937425,0.0499672081375,0.999999996332,7.36656452203e-05,-3.54726956557e-05,2.55348148146e-05,1793193599334854144
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,742,711,672,665.791698352,632.208301648,877.791698352,784,799.208301648,650.208301648,629,651,0.409539863524,0.00445248965284,0.0499864303838,0.999999988675,0.000147007762974,-7.17848651608e-06,3.14259734075e-05,1793193599351521280
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,742,711,672,665.214919151,632.785080849,877.214919151,784,799.785080849,650.785080849,629,651,0.410168170147,0.00444965182323,0.049989103794,0.999999990051,0.000135754027734,-9.64594206969e-06,3.70815903986e-05,1793193599368189184
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,742,711,672.367143407,665,632.632856593,877.367143407,784,799.632856593,650.632856593,629,651,0.410772712663,0.00446276689747,0.0499704337464,0.999999987847,0.00014069023415,-5.33059079683e-05,4.08827628998e-05,1793193599384856064
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,742,711,672.952343884,665,632.047656116,877.952343884,784,799.047656116,650.047656116,629,651,0.411363140966,0.004485356862,0.049939087203,0.999999979627,0.000155242114204,-0.000121431294782,4.35825269177e-05,1793193599401522432
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,742,711,673,665,632.532575766,878,784.532575766,800.065151533,650,629,651,0.412077627193,0.0044924596562,0.0499267407848,0.999999989521,6.45332514828e-05,-0.000127865703244,2.10714948849e-05,1793193599418188800
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,742.111888315,711,672.888111685,665,632.888111685,878,785,800.888111685,650.111888315,629,651,0.412814812635,0.00449367274829,0.0499242121002,0.999999992772,-1.74531379068e-05,-0.000118923419789,2.84172974586e-06,1793193599434855424
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,742.689208827,711,672.310791173,665,632.310791173,878,785,800.310791173,650.689208827,629,651,0.413600670917,0.00447609737166,0.0499555161491,0.999999997271,-2.43369862253e-05,-6.87681426134e-05,1.17185775727e-05,1793193599451522048
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,743,711,672,665,632,878,784.733832335,799.733832335,650.733832335,629,651,0.414363059359,0.00446623088217,0.0499646051565,0.999999998303,-1.53134524656e-05,-5.35934293701e-05,1.69316878129e-05,1793193599468188672
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,743,711,672,665,632,878,784.157295159,799.157295159,650.157295159,629,651,0.415098080481,0.0044653534746,0.0499477899257,0.999999996628,1.22591645403e-05,-7.92084148689e-05,1.78726332189e-05,1793193599484855040
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,743,711,672.427658607,665,632,878,784,799.427658607,650,629,651,0.415842570223,0.00446379821771,0.0499285633996,0.999999993598,5.66847965541e-06,-0.000111621512877,1.76830734385e-05,1793193599501521920
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,743,711,673,665,632,878,784,800,650,629,651,0.416593754972,0.00446212516825,0.0499097386992,0.999999989368,-1.31074099814e-05,-0.000144216828032,1.7153852669e-05,1793193599518188800
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,743,711,673,665,632,878,784,800,650,629,651,0.417458990543,0.00446540713146,0.0499383310194,0.999999995639,-8.9280724431e-06,-9.08579534475e-05,1.96910945539e-05,1793193599534855168
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,742.826940754,711,672.826940754,665,632.173059246,878,784.173059246,800,650,629,651,0.418308018924,0.00446927008604,0.0499610478992,0.999999998428,1.27791936619e-06,-5.15615218809e-05,2.19736060693e-05,1793193599551522048
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,742.251916014,711,672.251916014,665,632.748083986,878,784.748083986,800,650,629,651,0.419119402738,0.00447448251175,0.049970117865,0.999999998386,2.5482048071e-05,-4.49279941407e-05,2.36644541515e-05,1793193599568188928
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,742,711,672.32315299,665,632.67684701,878,784.67684701,799.67684701,650,629,651,0.419929625933,0.00447451090021,0.0499609143371,0.99999999761,2.95317796756e-05,-5.78460214059e-05,2.36950391634e-05,1793193599584855552
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,742,711,672.898256477,665,632.101743523,878,784.101743523,799.101743523,650,629,651,0.420738944199,0.0044704974853,0.0499374636379,0.99999999589,1.78678681522e-05,-8.60076771383e-05,2.24311780487e-05,1793193599601522432
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,742,711,673,665,632,878.487706346,784,799.487706346,650.487706346,629,651,0.421615477018,0.00446375857326,0.0499589043624,0.999999998836,5.69059245887e-06,-4.19971947906e-05,2.30589704453e-05,1793193599618188544
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,742.078224043,711,673,665.078224043,632.078224043,878.921775957,784,800,650.921775957,628.921775957,651,0.422501476166,0.00445727448345,0.0499845390222,0.999999999674,-4.90739603027e-06,6.91408847691e-06,2.4076797859e-05,1793193599634854912
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,742.655871726,711,673,665.655871726,632.655871726,878.344128274,784,800,650.344128274,628.344128274,651,0.42335567547,0.00445615747377,0.0499753461716,0.999999999606,-4.71789272352e-06,-1.19260430024e-05,2.49889286024e-05,1793193599651521280
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,742.766973168,711,673,665.766973168,632.766973168,878,784.233026832,799.766973168,650,628.233026832,651,0.4242052633,0.00445543225552,0.0499665061968,0.99999999932,-3.75081262267e-06,-2.64236727085e-05,2.5456794877e-05,1793193599668187904
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,742.190543867,711,673,665.190543867,632.190543867,878,784.809456133,799.190543867,650,628.809456133,651,0.425048055507,0.00445528440475,0.0499581862398,0.999999999083,-1.63784818305e-06,-3.45219312939e-05,2.52699662369e-05,1793193599684854528
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,742.391553759,711,673,665.391553759,632,878,785,799.391553759,650.391553759,629,651,0.425886051955,0.00445478649334,0.0499693165646,0.999999999336,4.3721217544e-06,-2.42656594672e-05,2.68285881134e-05,1793193599701521408
+169,2.816666667,POSE1_TO_POSE2_PRESS,764,742.976450276,711,673,665.976450276,632,878,785,799.976450276,650.976450276,629,651,0.426721680287,0.0044541157278,0.0499900511166,0.999999999484,1.23063682887e-05,-4.94622424006e-06,2.92490845276e-05,1793193599718188544
+170,2.833333333,POSE1_TO_POSE2_PRESS,764.556427469,742.443572531,711,673,665.443572531,632.556427469,878.556427469,784.443572531,800,650.443572531,629,651,0.427517814406,0.0044527764101,0.049971452784,0.999999998131,5.20126598792e-06,-5.24649510643e-05,3.09733505016e-05,1793193599734855168
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.728445555,742.135777223,711,673,665,633,878.864222777,784,800,650,629,651,0.428322533005,0.00445218434575,0.0499510469883,0.999999994927,-6.29059646112e-07,-9.5565818297e-05,3.18302912806e-05,1793193599751522048
+172,2.866666667,POSE1_TO_POSE2_PRESS,763.572488759,742.713755621,711,673,665,633,878.286244379,784,800,650,629,651,0.429160605731,0.00445411729132,0.049930128693,0.999999992922,-2.5284092175e-07,-0.000115146406413,2.99576415405e-05,1793193599768188160
+173,2.883333333,POSE1_TO_POSE2_PRESS,763.290558665,742.709441335,711,673,665,633,878,784,800,650,629,651,0.42999643386,0.00445425102907,0.049930251582,0.999999994143,3.21810474962e-06,-0.000104361217965,2.85060911852e-05,1793193599784854784
+174,2.900000000,POSE1_TO_POSE2_PRESS,763.866208438,742.133791562,711,673,665,633,878,784,800,650,629,651,0.430830059582,0.0044526194153,0.0499510197162,0.999999997541,9.7255426569e-06,-6.37816563787e-05,2.74677163049e-05,1793193599801521152
+175,2.916666667,POSE1_TO_POSE2_PRESS,764,742.451351833,711,673,665,632.548648167,878.451351833,784.451351833,800,650,629,650.548648167,0.431585286046,0.00444814121218,0.0499431881709,0.999999996201,1.17049397811e-06,-8.22442193267e-05,2.88520259499e-05,1793193599818187776
+176,2.933333333,POSE1_TO_POSE2_PRESS,764,743,711,673,665,632.038764061,878.961235939,784.961235939,800,650,629,650,0.432319476136,0.004443145703,0.0499277972577,0.999999992805,-1.14500741191e-05,-0.000115380164218,3.07549524548e-05,1793193599834854400
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,743,711,673,665,632.617733801,878.382266199,784.382266199,800,650,629,650,0.433091324926,0.0044429527491,0.049927741443,0.999999994019,-1.71683184715e-05,-0.000103863766744,2.96623212537e-05,1793193599851521280
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,742.804327347,711,673,665,632.804327347,878,784,800,650,629,650.195672653,0.433864461831,0.00444380359454,0.0499375194944,0.999999996126,-1.36758327943e-05,-8.19005942361e-05,2.9200704467e-05,1793193599868188416
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,742.228391782,711,673,665,632.228391782,878,784,800,650,629,650.771608218,0.434640102145,0.00444668292052,0.0499664083132,0.999999998736,7.71643999462e-06,-3.96355478654e-05,2.99653772532e-05,1793193599884855296
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,742.346507162,711,673,665.346507162,632,878,784,800,650,629,651,0.435341503997,0.00444627618443,0.0499708861073,0.999999998426,1.36687741894e-05,-4.38518927513e-05,3.2224022325e-05,1793193599901521664
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,742.920724847,711,673,665.920724847,632,878,784,800,650,629,651,0.43599411928,0.00444370998081,0.0499593219595,0.999999996236,9.47460260059e-06,-7.86139345451e-05,3.54644456415e-05,1793193599918188032
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,743,711,673,665.489571733,632,878,784,799.489571733,650,629,650.489571733,0.436627620495,0.00444369213886,0.0499411553709,0.99999999324,4.67075192683e-06,-0.000110471372092,3.59640132393e-05,1793193599934854400
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,742.899917892,711,673,665.100082108,632,878,784,799.100082108,650,629.100082108,650,0.437265936534,0.00444379185019,0.0499296511172,0.99999999135,8.26993285911e-07,-0.000126427006261,3.62704345686e-05,1793193599951521024
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,742.322334623,711,673,665.677665377,632,878,784,799.677665377,650,629.677665377,650,0.437941831288,0.00444250499149,0.0499549789986,0.999999996923,2.02983375277e-06,-6.87333030288e-05,3.77498663925e-05,1793193599968187904
+185,3.083333333,POSE1_TO_POSE2_PRESS,764,742.254447217,711,673.254447217,665.745552783,632,878,784,800,650,629.745552783,650.254447217,0.43858272987,0.00444276957448,0.0499700543199,0.999999998507,5.4615905095e-06,-3.75621262852e-05,3.9302233837e-05,1793193599984854528
+186,3.100000000,POSE1_TO_POSE2_PRESS,764,742.830216945,711,673.830216945,665.169783055,632,878,784,800,650,629.169783055,650.830216945,0.43917943433,0.00444499335817,0.0499721824417,0.999999998298,1.17080802005e-05,-3.9884285089e-05,4.09467062769e-05,1793193600001521920
+187,3.116666667,POSE1_TO_POSE2_PRESS,764,742.58515483,711,673.58515483,665,632,878,784,800,650,629,651,0.43969443276,0.0044491024135,0.0499455852815,0.999999995619,1.86477516052e-05,-8.17225555227e-05,4.16503713341e-05,1793193600018189056
+188,3.133333333,POSE1_TO_POSE2_PRESS,764,742.003128973,711.003128973,673,665,632,878,784,800,650,628.996871027,651,0.440175159652,0.00445403626688,0.0499070500603,0.999999988982,2.5923695221e-05,-0.000140011256336,4.19596756448e-05,1793193600034855936
+189,3.150000000,POSE1_TO_POSE2_PRESS,764,742.582375289,711.582375289,673,665,632,878,784,800,650,628.417624711,651,0.440637063328,0.00446566847739,0.0498822899666,0.99999998123,4.17400287908e-05,-0.00018446187408,4.21002621039e-05,1793193600051522048
+190,3.166666667,POSE1_TO_POSE2_PRESS,764,743,711.839354418,673.160645582,664.839354418,632,878.160645582,784,800,650.160645582,628.160645582,650.839354418,0.441096858458,0.00447413522404,0.0498647045994,0.999999974318,5.53429327386e-05,-0.000215607831422,4.25920723336e-05,1793193600068188416
+191,3.183333333,POSE1_TO_POSE2_PRESS,764,743,711.263606011,673.736393989,664.263606011,632,878.736393989,784,800,650.736393989,628.736393989,650.263606011,0.441551205275,0.00447442252017,0.0498656584809,0.999999974482,6.32264119925e-05,-0.000212375000618,4.39914333058e-05,1793193600084855040
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,743,711,674,664,631.688447758,879,784,800.311552242,650.688447758,629,650,0.441990321275,0.00447629126773,0.0498654744089,0.999999977125,3.76801840736e-05,-0.000207696340706,3.45175315416e-05,1793193600101521664
+193,3.216666667,POSE1_TO_POSE2_PRESS,764,743,711,674,664,631.113787927,879,784,800.886212073,650.113787927,629,650,0.44241657474,0.00447949555976,0.0498643293288,0.999999979384,-1.60976167495e-05,-0.000201796669804,1.58610991741e-05,1793193600118188288
+194,3.233333333,POSE1_TO_POSE2_PRESS,764,743,711,674,664,631,878.525578671,784,800.051157342,650,629,650,0.442768727901,0.00447811441758,0.0498519444472,0.999999974632,1.69935387904e-05,-0.000224183381082,1.37760649472e-05,1793193600134854912
+195,3.250000000,POSE1_TO_POSE2_PRESS,764,742.935325952,711,673.935325952,663.935325952,631,878,784,799,650,629,650.064674048,0.443097334458,0.00447675493026,0.049835703417,0.999999965192,6.58739203948e-05,-0.000255011089536,1.5693289272e-05,1793193600151522304
+196,3.266666667,POSE1_TO_POSE2_PRESS,764,742.355444023,711,673.355444023,663.355444023,631,878,784,799,650,629,650.644555977,0.443384106768,0.00448458675254,0.049810850306,0.999999953192,6.96777095145e-05,-0.000297446961902,1.69001561922e-05,1793193600168188928
+197,3.283333333,POSE1_TO_POSE2_PRESS,764,742.222336213,711,673.222336213,663,631,878,784,799.222336213,650,629,651,0.443659718976,0.00449312978216,0.0497868718186,0.999999940307,7.56036926221e-05,-0.000336670596151,1.79743656463e-05,1793193600184855040
+198,3.300000000,POSE1_TO_POSE2_PRESS,764,742.796787928,711,673.796787928,663,631,878,784,799.796787928,650,629,651,0.443917656822,0.00450279915535,0.0497642784814,0.99999992747,8.48906097683e-05,-0.000370806981544,1.88384844007e-05,1793193600201521408
+199,3.316666667,POSE1_TO_POSE2_PRESS,764,743,711,674,662.61996078,631,878,784,800,650,629,650.61996078,0.444168277997,0.0045132715043,0.0497537209832,0.99999992101,9.49104692015e-05,-0.000385480281086,1.94037883957e-05,1793193600218187776
+200,3.333333333,POSE1_TO_POSE2_PRESS,764,743,711,674,662.031892651,631,878,784,800,650,629,650.031892651,0.444414894137,0.00452418339343,0.0497497517568,0.999999918401,0.000105331533339,-0.000389499724332,1.98055248651e-05,1793193600234854400
+201,3.350000000,POSE1_TO_POSE2_PRESS,764,742.452185247,711,673.452185247,662.547814753,631,878.547814753,783.452185247,800,650,629,650.547814753,0.444632970546,0.00452785823803,0.0497539233682,0.999999920791,0.000108525116678,-0.000382371940786,2.07961829884e-05,1793193600251521280
+202,3.366666667,POSE1_TO_POSE2_PRESS,764,742,711,673,663,631,879,783.126184787,800.126184787,650,629,650.873815213,0.444840611901,0.00453033586105,0.0497578389727,0.999999923252,0.000110472282283,-0.000375265324876,2.16285529481e-05,1793193600268188160
+203,3.383333333,POSE1_TO_POSE2_PRESS,764,742,711,673,663,631,879,783.701501286,800.701501286,650,629,650.298498714,0.445016936643,0.0045300292826,0.0497591818136,0.999999925134,0.000109458189616,-0.000370509211359,2.17773257661e-05,1793193600284855552
+204,3.400000000,POSE1_TO_POSE2_PRESS,764,742.276188235,711,673.276188235,662.723811765,630.723811765,878.723811765,784,800.723811765,650,629,650.276188235,0.445173335378,0.00453048696117,0.0497556108235,0.999999924036,0.00011032461156,-0.000373198447958,2.18905915047e-05,1793193600301522432
+205,3.416666667,POSE1_TO_POSE2_PRESS,764,742.85019629,711,673.85019629,662.14980371,630.14980371,878.14980371,784,800.14980371,650,629,650.85019629,0.445308247453,0.00453176875481,0.0497467411418,0.999999919654,0.000113218833638,-0.000383916168871,2.19655691716e-05,1793193600318189056
+206,3.433333333,POSE1_TO_POSE2_PRESS,764,743,711,673.562087778,662,630,878,784,800,650,629,651,0.445422901169,0.00453446921907,0.049738026329,0.999999915348,0.000116178125679,-0.00039414162882,2.14100946619e-05,1793193600334855424
+207,3.450000000,POSE1_TO_POSE2_PRESS,764,743,711,673.029795126,662,630,878.029795126,783.970204874,800,650,629,651,0.445529206632,0.00453743717338,0.0497295520597,0.999999911088,0.000118913189334,-0.000404051276169,2.06689758996e-05,1793193600351521792
+208,3.466666667,POSE1_TO_POSE2_PRESS,764,743,711,673.609247426,662,630,878.609247426,783.390752574,800,650,629,651,0.44561348153,0.00453609754806,0.0497245063813,0.999999908332,0.000117087802704,-0.000411341781884,2.06103164077e-05,1793193600368188160
+209,3.483333333,POSE1_TO_POSE2_PRESS,764,743,711,674,662,630,878.813049492,783,800,650,629,651,0.445692519669,0.00453592271655,0.0497210501011,0.999999906509,0.000116929505642,-0.000415795566637,2.05706614198e-05,1793193600384855040
+210,3.500000000,POSE1_TO_POSE2_PRESS,764,743,711,674,662,630,878.238968702,783,800,650,629,651,0.445760713708,0.00453815989768,0.0497208850896,0.999999906708,0.000120223356994,-0.000414375172376,2.05703602737e-05,1793193600401521408
+211,3.516666667,POSE1_TO_POSE2_PRESS,764,743,711,674,661.665518304,630,878.334481696,783,800,650.334481696,629,651,0.445818162473,0.00453993270861,0.0497212309984,0.999999907122,0.000123038799485,-0.000412570408165,2.00843399426e-05,1793193600418188032
+212,3.533333333,POSE1_TO_POSE2_PRESS,764,743,711,674,661.09251738,630,878.90748262,783,800,650.90748262,629,651,0.44586794878,0.00454137437691,0.0497219412448,0.999999907686,0.000125513088482,-0.000410491549215,1.92519527812e-05,1793193600434854912
+213,3.550000000,POSE1_TO_POSE2_PRESS,764,742.501260263,710.501260263,674,661.498739737,630,879,783.498739737,800,650.501260263,629,650.501260263,0.445902242693,0.0045425713119,0.0497211879359,0.999999906881,0.000128860502963,-0.000411412231204,1.92949817553e-05,1793193600451521536
+214,3.566666667,POSE1_TO_POSE2_PRESS,764,742.09103411,710.09103411,674,661.90896589,630,878.90896589,783.90896589,800,650,629,650,0.445931322721,0.00454398479856,0.0497198491586,0.999999905507,0.000132302289256,-0.000413649487404,1.93816826952e-05,1793193600468188416
+215,3.583333333,POSE1_TO_POSE2_PRESS,764,742.670045767,710.670045767,674,661.329954233,630,878.329954233,783.329954233,800,650,629,650,0.445948444744,0.00454681168537,0.049716882648,0.999999902527,0.000135348754138,-0.000419848124394,1.8798926166e-05,1793193600484855040
+216,3.600000000,POSE1_TO_POSE2_PRESS,764,742.754530495,711,674,661.245469505,630,878,783,800,650,629,650.245469505,0.445962979457,0.00454778884634,0.0497151106647,0.999999900855,0.000136635923794,-0.000423402069146,1.87406155042e-05,1793193600501521664
+217,3.616666667,POSE1_TO_POSE2_PRESS,764,742.18386011,711,674,661.81613989,630,878,783,800,650,629,650.81613989,0.445974086471,0.00454631546864,0.0497149212053,0.999999900964,0.00013559235831,-0.000423452294233,1.93770969182e-05,1793193600518188032
+218,3.633333333,POSE1_TO_POSE2_PRESS,764,742.392271489,711,674,662,629.607728511,878,783,800.392271489,650.392271489,629,650.607728511,0.445980518596,0.0045476967832,0.0497131016219,0.999999899797,0.000138022674838,-0.000425435821327,1.89812278927e-05,1793193600534854656
+219,3.650000000,POSE1_TO_POSE2_PRESS,764,742.970998916,711,674,662,629.029001084,878,783,800.970998916,650.970998916,629,650.029001084,0.445984728637,0.0045504350007,0.0497105072018,0.999999898003,0.000142104209866,-0.000428338292688,1.80946582111e-05,1793193600551521024
+220,3.666666667,POSE1_TO_POSE2_PRESS,764,743,711,673.436410485,661.436410485,629.563589515,878.563589515,783,800.436410485,650.436410485,629,650,0.4459896451,0.00455068440674,0.0497128268451,0.999999898845,0.000141922684812,-0.000426416460938,1.8348438911e-05,1793193600568187904
+221,3.683333333,POSE1_TO_POSE2_PRESS,764,742.848251852,710.848251852,673.151748148,661,630,878.848251852,783,800,650,629,650.151748148,0.445993023908,0.0045502082585,0.0497140825706,0.999999899318,0.000141154832651,-0.000425550035019,1.860269592e-05,1793193600584854528
+222,3.700000000,POSE1_TO_POSE2_PRESS,764,742.274453831,710.274453831,673.725546169,661,630,878.274453831,783,800,650,629,650.725546169,0.44599202246,0.00454807933499,0.0497116582494,0.99999989838,0.000139381760162,-0.000428326811593,1.86909581817e-05,1793193600601521664
+223,3.716666667,POSE1_TO_POSE2_PRESS,764,742.300289213,710.300289213,674.300289213,661,630,878.300289213,783,800,650,629,651,0.445992733079,0.00454686940972,0.0497110725832,0.99999989831,0.000137621036254,-0.000429054210961,1.88120566006e-05,1793193600618188544
+224,3.733333333,POSE1_TO_POSE2_PRESS,764,742.875898767,710.875898767,674.875898767,661,630,878.875898767,783,800,650,629,651,0.445995013409,0.00454650206829,0.0497121726888,0.999999899039,0.000135871633948,-0.000427902637953,1.89632608797e-05,1793193600634854912
+225,3.750000000,POSE1_TO_POSE2_PRESS,764,742.537795196,711.462204804,674.075590393,661,629.537795196,878.537795196,783,800,650,629,650.537795196,0.445994997606,0.00454815683438,0.0497114922613,0.999999898183,0.000138889080165,-0.000428939799355,1.88088878583e-05,1793193600651521536
+226,3.766666667,POSE1_TO_POSE2_PRESS,764,742.050594641,711.949405359,673.050594641,661,629.050594641,878.050594641,783.050594641,800,650,629,650.050594641,0.445994648768,0.00455006952707,0.0497105938805,0.999999897128,0.000142619503054,-0.000430184096539,1.8583829572e-05,1793193600668188160
+227,3.783333333,POSE1_TO_POSE2_PRESS,764,742.630035091,711.369964909,673.630035091,661,629.630035091,878.630035091,783.630035091,800,650,629,650.630035091,0.445997415625,0.00454886872139,0.0497125327826,0.999999898719,0.000140107260187,-0.000427305280281,1.84978480461e-05,1793193600684854528
+228,3.800000000,POSE1_TO_POSE2_PRESS,764,743,711,674,661,630,878.793402379,783.793402379,800,650,628.793402379,650.793402379,0.445998930239,0.00454854969467,0.0497133963528,0.999999899367,0.000139227607955,-0.000426079395688,1.83677675834e-05,1793193600701521152
+229,3.816666667,POSE1_TO_POSE2_PRESS,764,743,711,674,661,630,878.221922717,783.221922717,800,650,628.221922717,650.221922717,0.445998233204,0.00454978802047,0.0497123607275,0.999999898367,0.000141231353078,-0.000427772833757,1.81598018632e-05,1793193600718188032
+230,3.833333333,POSE1_TO_POSE2_PRESS,764,743,711,674,661,630,878.354975048,783,800,650,628.354975048,650.354975048,0.445997756402,0.00454997846204,0.049711465891,0.99999989788,0.000141551733252,-0.000428807122178,1.81063043388e-05,1793193600734854912
+231,3.850000000,POSE1_TO_POSE2_PRESS,764,743,711,674,661,630,878.935312574,783,800,650,628.935312574,650.935312574,0.445997419419,0.00454950363487,0.0497106604371,0.99999989772,0.000140803397955,-0.000429422937181,1.81508738151e-05,1793193600751522048
+232,3.866666667,POSE1_TO_POSE2_PRESS,764,743,711,674,661,630,878.475815703,783,800,650,629,650.475815703,0.445996382615,0.00454849154885,0.0497102203449,0.999999897105,0.000141211768295,-0.000430705859517,1.8502283144e-05,1793193600768188672
+233,3.883333333,POSE1_TO_POSE2_PRESS,764,743,711,674,661,630,878.112360215,783,800,650.112360215,629,650.112360215,0.445995494508,0.00454796508258,0.0497099106535,0.999999896599,0.000141530548366,-0.000431765919998,1.87097704866e-05,1793193600784855040
+234,3.900000000,POSE1_TO_POSE2_PRESS,764,743,711,674,661,630,878.693171489,783,800,650.693171489,629,650.693171489,0.445995592365,0.00454974425343,0.0497099535364,0.999999896796,0.00014087083188,-0.000431547917767,1.8156736963e-05,1793193600801521152
+235,3.916666667,POSE1_TO_POSE2_PRESS,764,742.729927844,711,673.729927844,661,629.729927844,878.729927844,783,800,650.729927844,629,650.729927844,0.44599686149,0.00455135309724,0.0497105439888,0.999999897127,0.000142066768567,-0.000430400604763,1.78399185781e-05,1793193600818187520
+236,3.933333333,POSE1_TO_POSE2_PRESS,764,742.157406524,711,673.157406524,661,629.157406524,878.157406524,783,800,650.157406524,629,650.157406524,0.445999442297,0.00455277119495,0.0497117476549,0.999999897597,0.000145340819251,-0.000428212572575,1.77876333948e-05,1793193600834854400
+237,3.950000000,POSE1_TO_POSE2_PRESS,764,742.426821322,711,673.426821322,661,629.426821322,878.426821322,783,800,650,629,650,0.445999615369,0.00455026087413,0.04971164215,0.999999898015,0.000140934329605,-0.000428710216926,1.77656946655e-05,1793193600851521280
+238,3.966666667,POSE1_TO_POSE2_PRESS,764,742.984690916,711,674,661,629.984690916,878.984690916,783.015309084,800,650.015309084,629,650.015309084,0.445998915147,0.00454641344289,0.0497110621427,0.999999898357,0.000133904110179,-0.000430163560345,1.77620978357e-05,1793193600868187904
+239,3.983333333,POSE1_TO_POSE2_PRESS,764,742.402828313,711,674,661,629.402828313,878.402828313,783.597171687,800,650.597171687,629,650.597171687,0.445999683812,0.00454820961642,0.0497112933271,0.999999898229,0.000137555711549,-0.00042929737515,1.80114443621e-05,1793193600884854784
+240,4.000000000,POSE1_TO_POSE2_PRESS,764,742.176294084,711,674,661,629,878,783.823705916,800,650.823705916,629,650.823705916,0.445999614363,0.00454920541333,0.0497109254246,0.999999897888,0.000140040035532,-0.000429281633776,1.81459227558e-05,1793193600901521408
+241,4.016666667,POSE1_TO_POSE2_PRESS,764,742.749250968,711,674,661,629,878,783.250749032,800,650.250749032,629,650.250749032,0.445997659152,0.00454840035769,0.0497092095727,0.999999897094,0.00013989797784,-0.000431179396409,1.8021947114e-05,1793193600918188032
+242,4.033333333,POSE1_TO_POSE2_PRESS,763.676639968,743,711,673.676639968,661,629,878,783,800,650,628.676639968,650,0.445996984904,0.00454895054406,0.0497082131945,0.999999896436,0.0001408516673,-0.000432401638325,1.78191183835e-05,1793193600934854656
+243,4.050000000,POSE1_TO_POSE2_PRESS,763.101634278,743,711,673.101634278,661,629,878,783,800,650,628.101634278,650,0.445997307527,0.00455055540865,0.049707776726,0.999999895883,0.000142658090516,-0.000433098175555,1.75549245069e-05,1793193600951521280
+244,4.066666667,HOLD_POSE2,764,743,711,674,661,629,878,784,801,650,629,650,0.445998169756,0.0045545085903,0.0497089158985,0.999999895709,0.000146407297009,-0.000432286053221,1.66324809396e-05,1793193600982641664
+245,4.083333333,HOLD_POSE2,764,743,711,674,661,629.577621017,878,783.422378983,800.422378983,650,628.422378983,650.577621017,0.445999588095,0.00455199675198,0.0497100738093,0.999999896753,0.000144830099663,-0.000430373068191,1.72123684984e-05,1793193600999308032
+246,4.100000000,HOLD_POSE2,764,743,711,674,661,629.845063257,878,783,800,650.154936743,628.154936743,651,0.446000317516,0.0045501520835,0.0497107680165,0.999999897366,0.000143405280943,-0.000429409452258,1.75952724038e-05,1793193601015974400
+247,4.116666667,HOLD_POSE2,764,743,711,674,661,629.268578029,878,783,800,650.731421971,628.731421971,651,0.445999172547,0.00455012263547,0.0497102005896,0.999999896817,0.000142395050285,-0.000431028858461,1.74422276455e-05,1793193601032641280
+248,4.133333333,HOLD_POSE2,764,743,711,674,661,629.314177163,878,783,799.685822837,650.685822837,629,650.685822837,0.445999723431,0.00455066011664,0.049710317922,0.99999989691,0.000142596192964,-0.000430751982666,1.73125259138e-05,1793193601049307904
+249,4.150000000,HOLD_POSE2,764,743,711,674,661,629.902401416,878,783,799.097598584,650.097598584,629,650.097598584,0.446001753556,0.00455169211272,0.0497110325491,0.999999897561,0.000143853979465,-0.000428821038219,1.72031855965e-05,1793193601065974528
+250,4.166666667,HOLD_POSE2,764,743,711,673.516613341,661,629.516613341,878.483386659,783,799.483386659,650,629,650,0.446000762217,0.00455075584881,0.0497107397295,0.999999897511,0.000142465105786,-0.00042939642525,1.73161299252e-05,1793193601082640896
+251,4.183333333,HOLD_POSE2,764,743,711,673.062525393,661,629,879,783,800.062525393,650,628.937474607,650,0.44599951761,0.00454983541224,0.049710441873,0.999999897401,0.000140850428995,-0.000430180743974,1.7420703814e-05,1793193601099307520
+252,4.200000000,HOLD_POSE2,764,743,711,673.638327351,661,629,879,783,800.638327351,650,628.361672649,650,0.446001127972,0.00455225908753,0.0497117478354,0.99999989797,0.000141704130796,-0.000428587342967,1.70935714587e-05,1793193601115974144
+253,4.216666667,HOLD_POSE2,764,743,711,674,661,629.21149867,878.78850133,783,800.78850133,650,628.21149867,650,0.446001658253,0.00455321458677,0.0497119747401,0.999999898036,0.000141928838805,-0.000428370068826,1.68220291821e-05,1793193601132641024
+254,4.233333333,HOLD_POSE2,764,743,711,674,661,629.780226679,878.219773321,783,800.219773321,650,628.780226679,650,0.446000364234,0.0045516902803,0.049710379075,0.999999897253,0.00014109115217,-0.000430477125731,1.66443807066e-05,1793193601149307648
+255,4.250000000,HOLD_POSE2,764,742.633555598,711,674,661,630,878,783,800,650,629,650,0.446000976773,0.00455100228627,0.0497105486702,0.999999897543,0.000140492942847,-0.00042999463635,1.674637153e-05,1793193601165974528
+256,4.266666667,HOLD_POSE2,764,742.036322712,711,674,661,630,878,783,800,650,629,650,0.446002790071,0.00455084100578,0.0497118300349,0.999999898508,0.000140045557431,-0.000427881238202,1.70244805403e-05,1793193601182641408
+257,4.283333333,HOLD_POSE2,764,742.544793402,711,674,661,629.455206598,878,783,799.455206598,650,629,650.544793402,0.446001519744,0.00455180104598,0.0497115987445,0.999999897368,0.000143311357162,-0.000429453241437,1.71960912358e-05,1793193601199308032
+258,4.300000000,HOLD_POSE2,763.876882343,743,711,674,661,629.123117657,878,783,799.123117657,650,629,650.876882343,0.446000476245,0.00455248996811,0.0497113487246,0.999999896543,0.000145652314599,-0.000430582451167,1.72950512143e-05,1793193601215974656
+259,4.316666667,HOLD_POSE2,763.304931069,743,711,674,661,629.695068931,878,783,799.695068931,650,629,650.304931069,0.446000987624,0.00455192579576,0.049711387525,0.999999897403,0.000143745108691,-0.0004292273971,1.71542998019e-05,1793193601232641536
+260,4.333333333,POSE2_TO_POSE3_RETREAT,763,743,711,674,662,630,879,783,799,650,629,651,0.446003030783,0.00455307786547,0.0497116790804,0.999999897848,0.000146620583608,-0.00042722713806,1.68349623923e-05,1793193601270371840
+261,4.350000000,POSE2_TO_POSE3_RETREAT,763.592057742,742.407942258,711,674,661.407942258,630,879,783.592057742,799.592057742,650,629,651,0.44600325327,0.00455226131382,0.0497119002661,0.999999897939,0.000144291249305,-0.000427809772874,1.67354859307e-05,1793193601287038976
+262,4.366666667,POSE2_TO_POSE3_RETREAT,764,742.179030255,711,674,661.179030255,630,878.820969745,783.820969745,800,650,629,651,0.44600349769,0.0045517918533,0.0497120618322,0.999999898037,0.000143139044284,-0.000427970113928,1.67259483145e-05,1793193601303706112
+263,4.383333333,POSE2_TO_POSE3_RETREAT,764,742.754735605,711,674,661.754735605,630,878.245264395,783.245264395,800,650,629,651,0.446003790703,0.00455209143814,0.0497120913,0.999999898155,0.000144594989421,-0.000427194784101,1.69156870522e-05,1793193601320372480
+264,4.400000000,POSE2_TO_POSE3_RETREAT,764,743,711,673.669583732,661.669583732,629.669583732,878,783,800.330416268,650,629,650.669583732,0.446003733895,0.00455210954423,0.0497123162145,0.999999898291,0.000144643697431,-0.000426852860551,1.71158315521e-05,1793193601337039104
+265,4.416666667,POSE2_TO_POSE3_RETREAT,764,743,711,673.093921427,661.093921427,629.093921427,878,783,800.906078573,650,629,650.093921427,0.446003417438,0.00455191872734,0.0497126861961,0.99999989844,0.000143647906757,-0.000426832625724,1.73236995464e-05,1793193601353705728
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764,743,711,673,661.491246891,629.491246891,878.491246891,783.491246891,800.508753109,650,629,650.491246891,0.446003455127,0.00455157404903,0.0497123139467,0.999999898595,0.000142179114268,-0.000426963699384,1.72384412754e-05,1793193601370372096
+267,4.450000000,POSE2_TO_POSE3_RETREAT,764,743,711,673,661.922321857,629.922321857,878.922321857,783.922321857,799.922321857,650,629,650.922321857,0.446002744479,0.00455138762422,0.0497115381381,0.999999898505,0.000140908978785,-0.000427605048114,1.70116881287e-05,1793193601387037952
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764,743,711,673,661.33972815,629.33972815,878.33972815,783.33972815,799.33972815,650,629,650.33972815,0.445996720768,0.00455242484755,0.0497090797668,0.999999896812,0.000141529557072,-0.000431371485413,1.62366761711e-05,1793193601403704576
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,742.760232162,711,673.239767838,661,629.239767838,878,783,799.239767838,650,629,650.239767838,0.445981495559,0.00455255435206,0.0497023673035,0.999999891813,0.00014139072723,-0.000442863875648,1.59745133616e-05,1793193601420371200
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764,742.185069413,711,673.814930587,661,629.814930587,878,783,799.814930587,650,629,650.814930587,0.445953399004,0.00455141411043,0.0496897040808,0.99999988185,0.000140189612936,-0.000465163575245,1.64297403864e-05,1793193601437038080
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764,742.389190252,711,673.610809748,661,630,878.389190252,783,800,650,629,651,0.445904787565,0.00455211442556,0.0496710047201,0.99999986546,0.00014189864587,-0.000498681975274,1.61708665379e-05,1793193601453704704
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764,742.963021522,711,673.036978478,661,630,878.963021522,783,800,650,629,651,0.445846443379,0.00455368794405,0.0496494416723,0.999999844903,0.0001449883209,-0.000537522792335,1.55732064444e-05,1793193601470371328
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764,743,711,673.554890188,661,629.445109812,879,783.554890188,800,650,629,651,0.445780470489,0.00455549409261,0.0496348224791,0.999999837537,0.000145927261866,-0.000550857207165,1.36588092502e-05,1793193601487037952
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764,743,711,673.856846073,661,629.143153927,878.856846073,783.856846073,800.143153927,650.143153927,629,650.856846073,0.445709007839,0.00455704592398,0.0496230820948,0.999999831035,0.000146850061341,-0.000562333226818,1.21192965339e-05,1793193601503704576
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764,743,711,673.283160454,661,629.716839546,878.283160454,783.283160454,800.716839546,650.716839546,629,650.283160454,0.445622615188,0.00455778471297,0.0496185611946,0.999999824498,0.000148169851485,-0.000573503956304,1.19800074415e-05,1793193601520371968
+276,4.600000000,POSE2_TO_POSE3_RETREAT,763.707725437,742.707725437,711,673.292274563,661,629.707725437,878.292274563,783,800.707725437,650.707725437,629,650.292274563,0.445527209246,0.00455857105826,0.0496176276847,0.999999822024,0.000150607618466,-0.000577174468201,1.17593281089e-05,1793193601537038848
+277,4.616666667,POSE2_TO_POSE3_RETREAT,763.130585406,742.130585406,711,673.869414594,661,629.130585406,878.869414594,783,800.130585406,650.130585406,629,650.869414594,0.445423018503,0.00455940375427,0.0496201906259,0.999999823584,0.000154135021757,-0.000573534890678,1.14593217693e-05,1793193601553704960
+278,4.633333333,POSE2_TO_POSE3_RETREAT,763.457160641,742.457160641,711,674,661,629.457160641,878.542839359,783,799.542839359,650,629,651,0.445290323947,0.00456126794753,0.0496222306339,0.999999823095,0.000157765747541,-0.000573411293703,1.09011986674e-05,1793193601570371072
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764,742.952976778,711,673.952976778,661,630,878,783,799.094046443,650,629,651,0.445146908332,0.00456348769859,0.0496244902678,0.999999822213,0.000161591282586,-0.000573895321517,1.03346807637e-05,1793193601587037952
+280,4.666666667,POSE2_TO_POSE3_RETREAT,764,742.374251396,711,673.374251396,661,630,878,783,800.251497209,650,629,651,0.444976516756,0.00456631711705,0.04963096237,0.999999823718,0.000167277928565,-0.000569624107613,1.0526718803e-05,1793193601603704832
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764,742,711,673,661.20318084,630,878,783,800.79681916,650,629,650.79681916,0.444792901007,0.00456878076099,0.0496356325067,0.999999823831,0.000172551164078,-0.000567849349647,1.05185550801e-05,1793193601620371456
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764,742,711,673,661.778246149,630,878,783,800.221753851,650,629,650.221753851,0.444585080907,0.00457057492287,0.0496370044823,0.999999821455,0.000177067728562,-0.000570643887149,1.0143959512e-05,1793193601637038080
+283,4.716666667,POSE2_TO_POSE3_RETREAT,763.645832027,742.354167973,711,673,661.645832027,630,878,783,800,650,629,650.354167973,0.444350552161,0.00457364917108,0.0496392799074,0.999999820676,0.000183508811745,-0.0005699893625,9.15472090452e-06,1793193601653704704
+284,4.733333333,POSE2_TO_POSE3_RETREAT,763.06937256,742.93062744,711,673,661.06937256,630,878,783,800,650,629,650.93062744,0.444099259866,0.00457752685829,0.0496421223775,0.999999820858,0.000191157808464,-0.000567170054056,7.77970508788e-06,1793193601670371328
+285,4.750000000,POSE2_TO_POSE3_RETREAT,763.520737623,742.479262377,711,673.520737623,661.520737623,630.520737623,878,783.520737623,800,650,629,651,0.44381268682,0.00458056454233,0.0496483208996,0.9999998258,0.000196265489805,-0.000556628120468,6.6909389486e-06,1793193601687037952
+286,4.766666667,POSE2_TO_POSE3_RETREAT,764,742,711,673.8902335,662,631,878,783.8902335,800,650,629,650.8902335,0.443512966919,0.00458393336672,0.0496544900166,0.999999830467,0.000201906851177,-0.000546139318338,5.58852716159e-06,1793193601703704576
+287,4.783333333,POSE2_TO_POSE3_RETREAT,764,742,711,673.313742689,662,631,878,783.313742689,800,650,629,650.313742689,0.443177869507,0.00458919881855,0.0496585819044,0.999999831669,0.000211295680299,-0.000540368645061,4.26158386971e-06,1793193601720371456
+288,4.800000000,POSE2_TO_POSE3_RETREAT,764,742.262290561,710.737709439,673,662.262290561,631,878,783.262290561,800,650,629,650.262290561,0.442833344431,0.00459313457315,0.0496680746075,0.99999983904,0.000217763365104,-0.00052391903605,2.68955453717e-06,1793193601737038336
+289,4.816666667,POSE2_TO_POSE3_RETREAT,764,742.83777741,710.16222259,673,662.83777741,631,878,783.83777741,800,650,629,650.83777741,0.442477561978,0.00459548256068,0.0496840163238,0.999999853263,0.000220742965051,-0.00049471790826,8.24872592816e-07,1793193601753704704
+290,4.833333333,POSE2_TO_POSE3_RETREAT,764,743,710.410547612,673.410547612,663,631,878,784,799.589452388,650,629,650.589452388,0.442093858818,0.00459800686885,0.0497078877159,0.999999872114,0.000224464530533,-0.000453195504456,-9.54936280799e-07,1793193601770371328
+291,4.850000000,POSE2_TO_POSE3_RETREAT,764,743,710.98225141,673.98225141,663,631,878,784,799.01774859,650,629,650.01774859,0.441699195684,0.0046006003898,0.0497348718192,0.999999891137,0.000228477346412,-0.000406836512143,-2.70142906968e-06,1793193601787037952
+292,4.866666667,POSE2_TO_POSE3_RETREAT,763.42426716,742.42426716,710.42426716,673.42426716,663.57573284,631,878,784,799,650,629,650,0.44123476008,0.00460409998346,0.0497575252105,0.999999903568,0.000232025801365,-0.000372829891202,-5.10633871951e-06,1793193601803704576
+293,4.883333333,POSE2_TO_POSE3_RETREAT,763.165038204,742,710.165038204,673,664,631.165038204,877.834961796,784,799,650,629,650,0.440752557492,0.00460786332214,0.0497763735965,0.99999991298,0.000236572392541,-0.00034353054724,-7.72502411238e-06,1793193601820371456
+294,4.900000000,POSE2_TO_POSE3_RETREAT,763.742173654,742,710.742173654,673,664,631.742173654,877.257826346,784,799,650,629,650,0.440231573136,0.00461221273836,0.049786067422,0.999999917448,0.000243648460861,-0.000324996967467,-1.08248279913e-05,1793193601837038080
+295,4.916666667,POSE2_TO_POSE3_RETREAT,764,742,711,673.318282019,664,632,877.636564037,784,799,650,629,650.318282019,0.439675346654,0.00461602602494,0.0497857784393,0.99999991593,0.000249274406757,-0.000325259789246,-1.44491670897e-05,1793193601853704704
+296,4.933333333,POSE2_TO_POSE3_RETREAT,764,742,711,673.893561125,664,632,878.787122251,784,799,650,629,650.893561125,0.439090663831,0.00461940641366,0.0497774288306,0.999999909601,0.000253729450834,-0.000340699779517,-1.84970429355e-05,1793193601870371072
+297,4.950000000,POSE2_TO_POSE3_RETREAT,764,742,711,674,664.48047438,632,878.51952562,784,799,650,629,650.51952562,0.438456638556,0.00461355716748,0.049767765463,0.999999905922,0.000247066015936,-0.000355707918584,-2.41942235566e-05,1793193601887037696
+298,4.966666667,POSE2_TO_POSE3_RETREAT,764,742,711,674,664.931182713,632,878,784,799,650,629,650.068817287,0.437811911265,0.00460353356548,0.0497622879873,0.999999905378,0.000235922187744,-0.000364306076702,-2.94411289206e-05,1793193601903704576
+299,4.983333333,POSE2_TO_POSE3_RETREAT,764,742,711,674,664.351828049,632,878,784,799,650,629,650.648171951,0.437170893008,0.00457808648103,0.0497900772319,0.999999924323,0.000210265742186,-0.000326077620738,-2.8569729314e-05,1793193601920371200
+300,5.000000000,POSE2_TO_POSE3_RETREAT,764,742,711,674,664,632,878,784,799.226606723,650,629,650.773393277,0.436504647855,0.00456339751523,0.0498148582577,0.999999946009,0.000146967198423,-0.000292410226362,-2.96359025024e-05,1793193601937037824
+301,5.016666667,POSE2_TO_POSE3_RETREAT,764,742,711,674,664,632,878,784,799.803619017,650,629,650.196380983,0.435799393989,0.00456534400042,0.0498349876252,0.999999963784,2.54620813423e-05,-0.000265795673737,-3.36981750515e-05,1793193601953704448
+302,5.033333333,POSE2_TO_POSE3_RETREAT,764,742.379092357,711,674,664,632,877.620907643,784,799.620907643,650,629,650.379092357,0.435042999257,0.00457287460557,0.0498177190175,0.999999954915,-1.67352114716e-05,-0.000297332585223,-3.85171460535e-05,1793193601970371328
+303,5.050000000,POSE2_TO_POSE3_RETREAT,764,742.953771681,711,674,664,632,877.046228319,784,799.046228319,650,629,650.953771681,0.434260219191,0.00458328625287,0.0497811554896,0.999999934487,-1.80148285601e-05,-0.000358871866069,-4.37265241162e-05,1793193601987037952
+304,5.066666667,POSE2_TO_POSE3_RETREAT,764,742.457504735,711,673.457504735,664.542495265,632,877.542495265,783.457504735,799,650,629,650.457504735,0.433484615023,0.0045899946449,0.049779786247,0.999999936606,-2.01880985912e-06,-0.00035267807156,-4.90161718495e-05,1793193602003704576
+305,5.083333333,POSE2_TO_POSE3_RETREAT,764,742.129995642,711,673.129995642,665,632,878,783.129995642,799.129995642,650,629,650,0.432707309002,0.00459543389554,0.0497870441695,0.999999942003,1.4489360304e-05,-0.000335991690519,-5.37914521014e-05,1793193602020371200
+306,5.100000000,POSE2_TO_POSE3_RETREAT,764,742.709026852,711,673.709026852,665,632,878,783.709026852,799.709026852,650,629,650,0.431921956196,0.00459760825428,0.0498134675972,0.999999951945,2.75463916676e-05,-0.000303528537594,-5.67657294177e-05,1793193602037037824
+307,5.116666667,POSE2_TO_POSE3_RETREAT,764,742.713724638,711,673.713724638,665,632,877.713724638,784.286275362,799.713724638,650,629,650.286275362,0.431094590638,0.00459288690642,0.0498134345912,0.99999995064,3.30896065302e-05,-0.000306777301192,-5.9263397141e-05,1793193602053704448
+308,5.133333333,POSE2_TO_POSE3_RETREAT,764,742.138276798,711,673.138276798,665,632,877.138276798,784.861723202,799.138276798,650,629,650.861723202,0.430224787064,0.00458120006747,0.0497866774148,0.999999937748,3.10429664113e-05,-0.000346099382979,-6.12796323121e-05,1793193602070371328
+309,5.150000000,POSE2_TO_POSE3_RETREAT,764,742,711,673.44614194,664.55385806,632,877.89228388,784.55385806,799.44614194,650,628.55385806,650.55385806,0.429368816891,0.00457835137262,0.0497699214442,0.999999927283,9.12151672204e-05,-0.00036736491849,-4.64387982197e-05,1793193602087037952
+310,5.166666667,POSE2_TO_POSE3_RETREAT,764,742,711,674,664,632,878.934102006,784,800,650,628.032948997,650.032948997,0.42851391348,0.00457869876188,0.049758053167,0.999999913177,0.000164625103066,-0.00038181158077,-2.76521908984e-05,1793193602103704576
+311,5.183333333,POSE2_TO_POSE3_RETREAT,764,742,711,674,664,632,877.775384218,784,800,650,628.612307891,650.612307891,0.427604138819,0.00458568929239,0.0497747801646,0.999999919485,0.000131203734626,-0.000377890332061,-3.18520024031e-05,1793193602120371200
+312,5.200000000,POSE2_TO_POSE3_RETREAT,763.808997687,742,711,673.808997687,664,632,877,784,799.808997687,650,629,650.808997687,0.426702075612,0.00459251581981,0.0497817788787,0.999999922537,0.000110496437244,-0.000375970079797,-3.69144079315e-05,1793193602137037824
+313,5.216666667,POSE2_TO_POSE3_RETREAT,763.231647351,742,711,673.231647351,664,632,877,784,799.231647351,650,629,650.231647351,0.425815610725,0.00459901061119,0.0497690998033,0.999999920895,0.000115506402381,-0.000378097324056,-4.37216167153e-05,1793193602153704448
+314,5.233333333,POSE2_TO_POSE3_RETREAT,763.341139625,742,711,673,664.341139625,632,877,784,799,650,629,650,0.424968771085,0.00459897576431,0.049787990165,0.999999936273,0.000120361293856,-0.000332821701274,-4.68729109761e-05,1793193602170371584
+315,5.250000000,POSE2_TO_POSE3_RETREAT,763.910868781,742,711,673,664.910868781,632,877,784,799,650,629,650,0.424148483416,0.00459456556225,0.0498280344544,0.999999958329,0.000125112273401,-0.000255782545632,-4.75744635752e-05,1793193602187039488
+316,5.266666667,POSE2_TO_POSE3_RETREAT,763.499203385,742,711,672.499203385,665,632,877,784,799.500796615,650,629,650.500796615,0.423274611056,0.00458814375424,0.0498402943135,0.999999965697,0.000104019174917,-0.000235992729024,-4.57564826787e-05,1793193602203706112
+317,5.283333333,POSE2_TO_POSE3_RETREAT,763.092353767,742,711,672.092353767,664.907646233,632,877.092353767,784,799.907646233,650,629,651,0.422377866063,0.00458326379196,0.0498404442133,0.999999966907,8.45404995867e-05,-0.000238919646115,-4.42351984598e-05,1793193602220372480
+318,5.300000000,POSE2_TO_POSE3_RETREAT,763.672725527,742,711,672.672725527,664.327274473,632,877.672725527,784,799.327274473,650,629,651,0.421412770651,0.00458850267831,0.049803831308,0.999999947263,9.89201838728e-05,-0.000305782124563,-4.67508870688e-05,1793193602237038848
+319,5.316666667,POSE2_TO_POSE3_RETREAT,764,742,711,672.749082411,664.250917589,632,877.749082411,784,799.250917589,650,629,651,0.420490656657,0.00459352978769,0.0497918723646,0.999999936615,0.000109577661281,-0.00033538413605,-4.77571027329e-05,1793193602253705216
+320,5.333333333,POSE2_TO_POSE3_RETREAT,764,742,711,672.173708791,664.826291209,632,877.173708791,784,799.826291209,650,629,651,0.419624120858,0.00459828305361,0.0498117929135,0.99999994206,0.000115422037018,-0.000316805465309,-4.68114525859e-05,1793193602270371840
+321,5.350000000,POSE2_TO_POSE3_RETREAT,764,742,711,672.409742879,665,632,877,784,799.590257121,650,629,651,0.418743999348,0.00460122394668,0.049803378047,0.999999934005,0.00011450927729,-0.000341721547074,-4.58693150927e-05,1793193602287038464
+322,5.366666667,POSE2_TO_POSE3_RETREAT,764,742,711,672.996688044,665,632,877,784,799.003311956,650,629,651,0.41785800245,0.00460338103911,0.0497827089081,0.999999918581,0.000110674245753,-0.000385447888147,-4.49286967104e-05,1793193602303705088
+323,5.383333333,POSE2_TO_POSE3_RETREAT,764,742.575486481,711,673,664.424513519,632,877,784,799.575486481,650,629,651,0.417032515634,0.00460087781876,0.0497833065266,0.999999926368,0.000104246027712,-0.000366150291469,-4.82809309981e-05,1793193602320371712
+324,5.400000000,POSE2_TO_POSE3_RETREAT,764,742.845849219,711,673,664.154150781,632,877.154150781,784,799.845849219,650,629,651,0.416211842418,0.00459876091038,0.0497913807863,0.999999936634,0.000100172805852,-0.000337836064089,-5.06285014416e-05,1793193602337038336
+325,5.416666667,POSE2_TO_POSE3_RETREAT,764,742.267426896,711,673,664.732573104,632,877.732573104,784,799.267426896,650,629,651,0.415403472711,0.00459778004213,0.0498197009619,0.999999952668,0.000102621778129,-0.000285689574731,-5.01438716236e-05,1793193602353705472
+326,5.433333333,POSE2_TO_POSE3_RETREAT,763.691826337,742,711,673,664.691826337,632,877.691826337,784,799.308173663,650,629,651,0.414586178042,0.00459834896,0.0498195923657,0.999999951896,0.00010554001151,-0.000287334508415,-5.00790716164e-05,1793193602370372352
+327,5.450000000,POSE2_TO_POSE3_RETREAT,763.118652259,742,711,673,664.118652259,632,877.118652259,784,799.881347741,650,629,651,0.413761208784,0.00460025054846,0.0497950376933,0.999999936614,0.000108861765246,-0.000335235018046,-5.03752858502e-05,1793193602387038720
+328,5.466666667,POSE2_TO_POSE3_RETREAT,763.468076004,742,711,673,664,632,877,784,799.531923996,650,629,651,0.412986470128,0.00460228590411,0.0497795258195,0.999999929791,0.000102333647435,-0.000356798445819,-5.13853523918e-05,1793193602403705088
+329,5.483333333,POSE2_TO_POSE3_RETREAT,763.942734761,742,711,673,664,632,877,784,799,650,629,651,0.412229259004,0.00460406461285,0.0497701913095,0.999999926764,9.45127264881e-05,-0.000367152561245,-5.23354685806e-05,1793193602420371712
+330,5.500000000,POSE2_TO_POSE3_RETREAT,763.363368194,742,711,673,664,632,877,784,799,650,629,651,0.411512300203,0.00460318503503,0.049795655102,0.999999936742,9.83481343162e-05,-0.000337992011956,-5.10400017657e-05,1793193602437038336
+331,5.516666667,POSE2_TO_POSE3_RETREAT,763.214921068,742,711,673,664.214921068,632,877,784,799,650,629,651,0.410789308495,0.00460233173694,0.0498075117483,0.999999939338,0.000103540499411,-0.000328785453945,-5.00254374391e-05,1793193602453704960
+332,5.533333333,POSE2_TO_POSE3_RETREAT,763.7913981,742,711,673,664.7913981,632,877,784,799,650,629,651,0.410056167674,0.0046015226484,0.0497964774606,0.999999930257,0.000111015638119,-0.000353146957428,-4.94834276859e-05,1793193602470371840
+333,5.550000000,POSE2_TO_POSE3_RETREAT,763.63532115,742,710.63532115,673,664.63532115,632,877,784,799.36467885,650,629,651,0.409394453279,0.00460091181573,0.0497910172868,0.999999929968,9.99034634768e-05,-0.000357128291495,-5.0420495423e-05,1793193602487038464
+334,5.566666667,POSE2_TO_POSE3_RETREAT,763.063852873,742,710.063852873,673,664.063852873,632,877,784,799.936147127,650,629,651,0.408773240947,0.00460041340315,0.0497887178889,0.999999934482,7.82514397086e-05,-0.000349553144771,-5.21962671214e-05,1793193602503705088
+335,5.583333333,POSE2_TO_POSE3_RETREAT,763.527387704,742,710.527387704,672.472612296,664.527387704,632,876.472612296,784,800,650,629,651,0.408203273919,0.0046004216974,0.0498099465996,0.99999994544,7.64022562581e-05,-0.000317143687195,-5.19922538479e-05,1793193602520371456
+336,5.600000000,POSE2_TO_POSE3_RETREAT,763.88194438,742.11805562,710.88194438,672,664.88194438,632,876.236111239,784,800,650,629.11805562,651,0.407639163447,0.00460015453087,0.0498292124386,0.999999953486,8.02175362104e-05,-0.0002897943543,-5.1104177884e-05,1793193602537038080
+337,5.616666667,POSE2_TO_POSE3_RETREAT,763.303216385,742.696783615,710.303216385,672,664.303216385,632,877.39356723,784,800,650,629.696783615,651,0.407072752345,0.00459856375287,0.0498292699947,0.999999950845,9.64162039079e-05,-0.000294380447266,-4.85185601468e-05,1793193602553704704
+338,5.633333333,POSE2_TO_POSE3_RETREAT,763.273493124,742.726506876,710.273493124,672,664,632,877.726506876,784,799.726506876,650,629.726506876,651,0.406504506113,0.00459647545703,0.0498133001408,0.999999940575,0.000100965665932,-0.000326168063814,-4.76444799079e-05,1793193602570371584
+339,5.650000000,POSE2_TO_POSE3_RETREAT,763.847981134,742.152018866,710.847981134,672,664,632,877.152018866,784,799.152018866,650,629.152018866,651,0.405934240252,0.00459383961437,0.0497796912017,0.99999991929,9.26945068666e-05,-0.000387892517879,-4.86540450102e-05,1793193602587038208
+340,5.666666667,POSE2_TO_POSE3_RETREAT,763.567090386,742,710.567090386,672,664,632,877.432909614,784,799,650,629,651,0.405441739253,0.00459286551337,0.0497659972217,0.999999909981,8.95174007288e-05,-0.000411746526523,-4.98946646238e-05,1793193602603704576
+341,5.683333333,POSE2_TO_POSE3_RETREAT,763,742,710,672,664,632,877.957489125,784,799.021255437,650,629,651,0.404980314572,0.00459254053873,0.0497605866744,0.99999990663,8.82138667948e-05,-0.00041992571748,-5.11925037373e-05,1793193602620371200
+342,5.700000000,POSE2_TO_POSE3_RETREAT,763,742,710,672,664,632,876.798630465,784,799.600684767,650,629,651,0.404600136485,0.00459355942966,0.0497845180335,0.999999924726,8.79753857952e-05,-0.000374330779805,-5.18096243587e-05,1793193602637037824
+343,5.716666667,POSE2_TO_POSE3_RETREAT,763,742,710,672,664,632,876.178885036,784,799.821114964,650,629,651,0.40423211752,0.0045932485542,0.0498098142995,0.999999940029,8.77796466349e-05,-0.000330987507487,-5.17997303465e-05,1793193602653704448
+344,5.733333333,POSE2_TO_POSE3_RETREAT,763,742,710,672,664,632,876.754360574,784,799.245639426,650,629,651,0.403891055414,0.00458998956922,0.0498381365866,0.999999952068,8.76786669109e-05,-0.000292636199478,-5.03997368373e-05,1793193602670371072
+345,5.750000000,POSE2_TO_POSE3_RETREAT,763.331069129,742,710,672,664.331069129,632,877,784.331069129,799.331069129,650.331069129,629,651,0.403554719159,0.00459141614388,0.0498515624927,0.999999956446,9.02508973784e-05,-0.000276394375796,-5.06927948269e-05,1793193602687037952
+346,5.766666667,POSE2_TO_POSE3_RETREAT,763.908695916,742,710,672,664.908695916,632,877,784.908695916,799.908695916,650.908695916,629,651,0.403221902417,0.00459633220331,0.0498538945906,0.999999955881,9.48139521597e-05,-0.00027661818741,-5.22467219778e-05,1793193602703704576
+347,5.783333333,POSE2_TO_POSE3_RETREAT,763.504377779,741.504377779,710,672,665,632,877,784.504377779,799.504377779,650.504377779,629,651,0.402915573774,0.00459865594976,0.0498418053094,0.999999947256,9.72120724071e-05,-0.000305317405297,-5.31016388974e-05,1793193602720371200
+348,5.800000000,POSE2_TO_POSE3_RETREAT,763.08296771,741.08296771,710,672,664.91703229,632,876.91703229,784,799.08296771,650,629,651,0.402621409333,0.00460025161497,0.0498274259362,0.999999936763,9.90752806815e-05,-0.000337277888464,-5.38739209331e-05,1793193602737037824
+349,5.816666667,POSE2_TO_POSE3_RETREAT,763.662374606,741.662374606,710,672,664.337625394,632,876.337625394,784,799.662374606,650,629,651,0.402370273742,0.00460040291477,0.0498155442819,0.999999929834,0.000100169852845,-0.000356763827432,-5.49370023005e-05,1793193602753704448
+350,5.833333333,POSE2_TO_POSE3_RETREAT,764,742.23994054,710,672,664,632,876.23994054,784.23994054,799.76005946,650.23994054,629,651,0.402142920629,0.00459913947713,0.0498074231206,0.999999926025,9.46667041424e-05,-0.000368538937794,-5.62797356024e-05,1793193602770371328
+351,5.850000000,POSE2_TO_POSE3_RETREAT,764,742.814935697,710,672,664,632,876.814935697,784.814935697,799.185064303,650.814935697,629,651,0.401948777553,0.00459590049042,0.0498045531386,0.999999926839,7.9950452719e-05,-0.000369546592688,-5.80129767087e-05,1793193602787037952
+352,5.866666667,POSE2_TO_POSE3_RETREAT,764,742.609169749,710,672,664.390830251,632,877,784.609169749,799.390830251,651,629,651,0.401784958796,0.00458903487459,0.0498085690227,0.999999933737,2.69757266571e-05,-0.000358347686912,-5.81896865965e-05,1793193602803704576
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764,742.032848283,710,672,664.967151717,632,877,784.032848283,799.967151717,651,629,651,0.401635532189,0.00458044803081,0.0498158529944,0.999999939103,-4.41567840688e-05,-0.000341355446667,-5.76276540044e-05,1793193602820371200
+354,5.900000000,POSE2_TO_POSE3_RETREAT,764,742,710.556940673,672.556940673,664.443059327,632,877,784,800,650.443059327,629,651,0.401523380802,0.00457336959063,0.0498245987382,0.999999947255,6.76297726254e-06,-0.0003217599133,-4.3762287322e-05,1793193602837037824
+355,5.916666667,POSE2_TO_POSE3_RETREAT,763.855651374,742,710.855651374,672.855651374,664,632,877,784,799.855651374,650.144348626,629,651,0.401417852088,0.00456871158827,0.0498312845674,0.99999995107,5.1365372996e-05,-0.000306797763573,-3.31169113908e-05,1793193602853704448
+356,5.933333333,POSE2_TO_POSE3_RETREAT,763.277837553,742,710.277837553,672.277837553,664,632,877,784,799.277837553,650.722162447,629,651,0.401325445164,0.00457104815393,0.0498315193604,0.999999951013,5.48448727628e-05,-0.000306221719835,-3.45554107455e-05,1793193602870371072
+357,5.950000000,POSE2_TO_POSE3_RETREAT,763,742,710.297301475,672,664,632,877,784,799.297301475,650.702698525,629,651,0.401245140202,0.00457327335649,0.049831543695,0.999999951065,5.84257385188e-05,-0.000305250275804,-3.57490806676e-05,1793193602887037952
+358,5.966666667,POSE2_TO_POSE3_RETREAT,763,742,710.869963079,672,664,632,877,784,799.869963079,650.130036921,629,651,0.401176044062,0.00457539541458,0.0498313731032,0.999999951216,6.21004890752e-05,-0.00030391261272,-3.67159898931e-05,1793193602903704832
+359,5.983333333,POSE2_TO_POSE3_RETREAT,763.457179407,742,711,672.457179407,664,632,877,784,800,650,629,651,0.40112076823,0.00457569584709,0.0498297739374,0.999999950766,6.10185578667e-05,-0.000305500858823,-3.76086133961e-05,1793193602920371200
+360,6.000000000,POSE2_TO_POSE3_RETREAT,763.952409518,742,711,672.952409518,664,632,877,784,800,650.047590482,629,651,0.401071347033,0.0045755400133,0.049828136041,0.999999950319,5.87482824137e-05,-0.000307294927137,-3.84670449034e-05,1793193602937037824
+361,6.016666667,POSE2_TO_POSE3_RETREAT,763.374056966,742,711,672.374056966,664,632,877,784,800,650.625943034,629,651,0.401041938472,0.00457626414635,0.0498307469242,0.999999951962,5.88100584978e-05,-0.000301797711974,-3.91875412143e-05,1793193602953704448
+362,6.033333333,POSE2_TO_POSE3_RETREAT,763.203248195,742,710.796751805,672,664,632,876.796751805,784,799.796751805,650.796751805,629,651,0.401017768011,0.0045763030135,0.0498333339414,0.999999953779,5.84490739617e-05,-0.000295729140966,-3.96285020856e-05,1793193602970371328
+363,6.050000000,POSE2_TO_POSE3_RETREAT,763.778635561,742,710.221364439,672,664,632,876.221364439,784,799.221364439,650.221364439,629,651,0.401003188301,0.00457508718658,0.0498358772603,0.999999955926,5.73140319338e-05,-0.000288614441268,-3.95576448682e-05,1793193602987038720
+364,6.066666667,POSE2_TO_POSE3_RETREAT,764,742,710,672,664,632,876.353778634,784,799.353778634,650,629,651,0.400990401213,0.00457436759499,0.049837268508,0.99999995671,5.70354308626e-05,-0.00028595048649,-3.94999914342e-05,1793193603003705344
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764,742,710,672,664,632,876.928769009,784,799.928769009,650,629,651,0.40097873502,0.00457395829074,0.0498379393854,0.999999956663,5.72923475956e-05,-0.000286069505864,-3.94505940948e-05,1793193603020371712
+366,6.100000000,POSE2_TO_POSE3_RETREAT,763.480022686,742,710.519977314,672,664,632,876.480022686,784,799.480022686,650,629,651,0.400972367045,0.0045755178591,0.0498381282918,0.99999995662,5.77086265425e-05,-0.000286093056377,-3.97443347616e-05,1793193603037038080
+367,6.116666667,POSE2_TO_POSE3_RETREAT,763,742,710.88961778,672.11038222,664,632,876,784,799.11038222,650,629,651,0.400967987081,0.00457675915462,0.04983847145,0.999999956768,5.79248310291e-05,-0.000285492799777,-4.00364861772e-05,1793193603053704448
+368,6.133333333,POSE2_TO_POSE3_RETREAT,763,742,710.312311487,672.687688513,664,632,876,784,799.687688513,650,629,651,0.400968847528,0.0045754765009,0.0498397553837,0.99999995771,5.71993887341e-05,-0.000282310900364,-4.01166751588e-05,1793193603070371584
+369,6.150000000,POSE2_TO_POSE3_RETREAT,763.263090783,742,710,673,664,632.263090783,876,784.263090783,799.736909217,650,629,651,0.400969323253,0.00457531792371,0.0498412885668,0.999999958487,5.7583282939e-05,-0.000279449801645,-4.02251920271e-05,1793193603087038720
+370,6.166666667,POSE2_TO_POSE3_RETREAT,763.836249018,742,710,673,664,632.836249018,876,784.836249018,799.163750982,650,629,651,0.400969345564,0.00457648413475,0.0498431155043,0.999999959073,5.92745933538e-05,-0.000276966784984,-4.03670949167e-05,1793193603103705344
+371,6.183333333,POSE2_TO_POSE3_RETREAT,764,742,710.420345674,672.579654326,664,632.579654326,876,785,799.420345674,650,629,651,0.400969127413,0.00457651764668,0.0498434771159,0.999999959433,5.97328230618e-05,-0.000275562855383,-4.03872423994e-05,1793193603120371712
+372,6.200000000,POSE2_TO_POSE3_RETREAT,763.991312856,742,710.991312856,672,664,632,876.008687144,784.991312856,800.008687144,650,629,651,0.400968802971,0.00457609720768,0.0498432627145,0.999999959701,5.96600286191e-05,-0.000274608695088,-4.03626760006e-05,1793193603137038080
+373,6.216666667,POSE2_TO_POSE3_RETREAT,763.411532172,742,710.411532172,672,664,632,876.588467828,784.411532172,800.588467828,650,629,651,0.400967813562,0.00457561732319,0.0498437106222,0.999999959775,5.71004337298e-05,-0.000274848760822,-4.06000664457e-05,1793193603153704704
+374,6.233333333,POSE2_TO_POSE3_RETREAT,763,742,710.167533798,672,664,632.167533798,876.832466202,784,800.664932404,650,629.167533798,651,0.400967211914,0.00457536177482,0.0498442052786,0.999999959889,5.55748125266e-05,-0.000274737616603,-4.06626295231e-05,1793193603170371328
+375,6.250000000,POSE2_TO_POSE3_RETREAT,763,742,710.74485151,672,664,632.74485151,876.25514849,784,799.510296981,650,629.74485151,651,0.400967558719,0.00457565494767,0.0498448142811,0.999999960113,5.65782681572e-05,-0.000273767420686,-4.0297568744e-05,1793193603187037952
+376,6.266666667,POSE2_TO_POSE3_RETREAT,763,742,711,672,664.318129788,632.681870212,876.318129788,784,799.318129788,650,629.681870212,651,0.400966990388,0.00457488990476,0.0498446377275,0.99999996013,5.57613216157e-05,-0.000273904597551,-4.00821757744e-05,1793193603203704832
+377,6.283333333,POSE2_TO_POSE3_RETREAT,763,742,711,672,664.888209016,632.111790984,876.888209016,784,799.888209016,650,629.111790984,651,0.400965697296,0.0045732867861,0.0498438390365,0.999999959979,5.35026701761e-05,-0.000274918781004,-3.99853152705e-05,1793193603220371712
+378,6.300000000,POSE2_TO_POSE3_RETREAT,763.478073128,742,711,672,664.521926872,632,877,784,800,650,629,651,0.400965725791,0.00457336361985,0.0498439127368,0.999999959947,5.41283382929e-05,-0.000274890652923,-4.01369224063e-05,1793193603237039104
+379,6.316666667,POSE2_TO_POSE3_RETREAT,764,742,710.929091987,672.070908013,664,632,877,784.070908013,800,650,629,651,0.400966156509,0.00457372695323,0.0498441903947,0.999999959967,5.53874707475e-05,-0.000274541825126,-4.03008552863e-05,1793193603253706240
+380,6.333333333,POSE2_TO_POSE3_RETREAT,764,742,710.349565364,672.650434636,664,632,877,784.650434636,800,650,629,651,0.400967159965,0.00457320590804,0.049844404599,0.999999960159,5.61436925526e-05,-0.000273716377158,-4.01184548119e-05,1793193603270372352
+381,6.350000000,POSE2_TO_POSE3_RETREAT,763.77203094,742.22796906,710.22796906,672.77203094,664,632,876.77203094,785,799.77203094,650,629,651,0.40096795638,0.00457291119097,0.0498448532032,0.999999960369,5.61947641074e-05,-0.000272953077555,-4.00085515015e-05,1793193603287038464
+382,6.366666667,POSE2_TO_POSE3_RETREAT,763.197524904,742.802475096,710.802475096,672.197524904,664,632,876.197524904,785,799.197524904,650,629,651,0.400968438071,0.00457296051651,0.0498456581198,0.999999960608,5.51739329839e-05,-0.00027228425006,-4.00088515255e-05,1793193603303704832
+383,6.383333333,POSE2_TO_POSE3_RETREAT,763,742.613507965,711,672,664.386492035,632,876.386492035,784.613507965,799.386492035,650,629,651,0.400967744609,0.00457331184753,0.0498460899666,0.999999960849,5.43245049729e-05,-0.000271588063981,-3.98883360747e-05,1793193603320371456
+384,6.400000000,POSE2_TO_POSE3_RETREAT,763,742.024507666,711,672,664.975492334,632,876.975492334,784.024507666,799.975492334,650,629,651,0.400966435409,0.00457382141881,0.0498463263379,0.99999996109,5.35648862108e-05,-0.000270877542984,-3.97045175544e-05,1793193603337038336
+385,6.416666667,POSE2_TO_POSE3_RETREAT,763,742,711,672,664.445034444,632,876.445034444,784,800,650,629,651,0.400966821879,0.00457430922956,0.0498464124471,0.999999961152,5.40684689927e-05,-0.000270517773009,-3.99063617914e-05,1793193603353705216
+386,6.433333333,POSE2_TO_POSE3_RETREAT,763.133395174,742,710.866604826,672.133395174,664,632,876,784,800,650.133395174,629.133395174,651,0.400967186728,0.00457449033155,0.0498462974725,0.999999961188,5.40254261406e-05,-0.000270358610729,-4.01433129244e-05,1793193603370371840
+387,6.450000000,POSE2_TO_POSE3_RETREAT,763.709732804,742,710.290267196,672.709732804,664,632,876,784,800,650.709732804,629.709732804,651,0.400967235336,0.00457365613534,0.0498455364558,0.999999961161,5.19851915853e-05,-0.00027081500708,-4.04412395323e-05,1793193603387039232
+388,6.466666667,POSE2_TO_POSE3_RETREAT,763.715120789,742,710.284879211,672.715120789,664.284879211,632,876,784,799.715120789,651,629.715120789,651,0.400966918007,0.00457333122857,0.0498454868278,0.999999961148,5.14754160059e-05,-0.00027096329203,-4.04126046145e-05,1793193603403705856
+389,6.483333333,POSE2_TO_POSE3_RETREAT,763.141183009,742,710.858816991,672.141183009,664.858816991,632,876,784,799.141183009,651,629.141183009,651,0.400966229372,0.00457352308276,0.0498461590249,0.999999961153,5.25185519526e-05,-0.000270798945447,-4.00526173439e-05,1793193603420371968
+390,6.500000000,POSE2_TO_POSE3_RETREAT,763,742,711,672.443813508,664.556186492,632,876,784,799,650.556186492,629,651,0.400966844911,0.00457304063224,0.0498464016868,0.99999996125,5.22567512436e-05,-0.000270496544875,-4.00074484644e-05,1793193603437038336
+391,6.516666667,POSE2_TO_POSE3_RETREAT,763,742,710.967987751,673,664,632,876.032012249,784.032012249,799,650,629,651.032012249,0.400967844864,0.00457244893699,0.0498465084278,0.999999961379,5.16656078855e-05,-0.000270124119929,-4.00789958029e-05,1793193603453704704
+392,6.533333333,POSE2_TO_POSE3_RETREAT,763,742,710.386747264,673,664,632,876.613252736,784.613252736,799,650,629,651.613252736,0.400968140287,0.00457375722358,0.0498466874272,0.999999961527,5.27280921674e-05,-0.000269323026579,-4.03908942482e-05,1793193603470372096
+393,6.550000000,POSE2_TO_POSE3_RETREAT,763,742,710,672.807408519,664.192591481,632,877,784.807408519,799,650,629,651.807408519,0.400967657056,0.00457431296823,0.0498464975363,0.999999961449,5.40222997477e-05,-0.000269346922594,-4.04408060564e-05,1793193603487039232
+394,6.566666667,POSE2_TO_POSE3_RETREAT,763,742,710,672.231851397,664.768148603,632,877,784.231851397,799,650,629,651.231851397,0.400965625484,0.00457337229298,0.0498455741123,0.999999960922,5.57772860107e-05,-0.000271011299213,-3.99697608466e-05,1793193603503705600
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_10/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_10/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b0e7959168624ceb8e075733621a324bb5ddd4da
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_10/depth_03/simulation_data.csv
@@ -0,0 +1,396 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+1,0.016666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+2,0.033333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+3,0.050000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+4,0.066666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+5,0.083333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+6,0.100000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+7,0.116666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+8,0.133333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+9,0.150000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+10,0.166666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+11,0.183333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+12,0.200000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+13,0.216666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+14,0.233333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+15,0.250000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+16,0.266666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+17,0.283333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+18,0.300000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+19,0.316666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+20,0.333333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+21,0.350000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+22,0.366666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+23,0.383333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+24,0.400000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+25,0.416666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+26,0.433333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+27,0.450000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+28,0.466666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+29,0.483333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+30,0.500000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+31,0.516666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+32,0.533333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+33,0.550000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+34,0.566666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+35,0.583333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+36,0.600000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+37,0.616666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+38,0.633333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+39,0.650000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+40,0.666666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+41,0.683333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+42,0.700000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+43,0.716666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+44,0.733333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+45,0.750000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+46,0.766666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+47,0.783333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+48,0.800000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+49,0.816666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+50,0.833333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+51,0.850000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+52,0.866666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+53,0.883333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+54,0.900000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+55,0.916666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+56,0.933333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+57,0.950000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+58,0.966666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+59,0.983333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+60,1.000000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+61,1.016666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+62,1.033333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+63,1.050000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+64,1.066666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+65,1.083333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+66,1.100000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+67,1.116666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+68,1.133333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+69,1.150000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+70,1.166666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+71,1.183333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+72,1.200000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+73,1.216666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+74,1.233333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+75,1.250000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+76,1.266666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+77,1.283333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+78,1.300000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+79,1.316666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+80,1.333333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+81,1.350000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+82,1.366666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+83,1.383333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+84,1.400000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+85,1.416666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+86,1.433333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+87,1.450000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+88,1.466666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+89,1.483333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+90,1.500000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+91,1.516666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+92,1.533333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+93,1.550000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+94,1.566666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+95,1.583333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+96,1.600000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+97,1.616666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+98,1.633333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+99,1.650000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+100,1.666666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+101,1.683333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+102,1.700000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+103,1.716666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+104,1.733333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+105,1.750000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+106,1.766666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+107,1.783333333,pose1_to_pose2_press,0.575709329052,0.010054459948,1.04002904989,0.546280060114,0.0187271921781,1.03969833964
+108,1.800000000,pose1_to_pose2_press,0.575709469545,0.0100545265563,1.04002905897,0.546280201191,0.0187272607013,1.03969834698
+109,1.816666667,pose1_to_pose2_press,0.575709736467,0.0100545496385,1.04002904144,0.546280468019,0.0187272836256,1.03969833371
+110,1.833333333,pose1_to_pose2_press,0.575709893793,0.0100545577353,1.04002903354,0.546280625337,0.0187272917715,1.03969832771
+111,1.850000000,pose1_to_pose2_press,0.575710068462,0.0100545399658,1.04002903659,0.546280800235,0.0187272747464,1.03969832994
+112,1.866666667,pose1_to_pose2_press,0.575710319895,0.0100545143867,1.04002904098,0.546281051998,0.018727250239,1.03969833313
+113,1.883333333,pose1_to_pose2_press,0.575711159662,0.0100544289548,1.04002905564,0.546281892864,0.0187271683866,1.03969834381
+114,1.900000000,pose1_to_pose2_press,0.575714065762,0.0100544891323,1.04002931344,0.546284797859,0.0187272247016,1.03969859867
+115,1.916666667,pose1_to_pose2_press,0.575720867161,0.0100544335964,1.04002903573,0.546291598355,0.0187271661962,1.03969832354
+116,1.933333333,pose1_to_pose2_press,0.575735163373,0.0100544332585,1.04002918175,0.54630589434,0.0187271651112,1.03969846986
+117,1.950000000,pose1_to_pose2_press,0.575758874431,0.0100545178728,1.0400293306,0.54632960375,0.0187272437086,1.0396986076
+118,1.966666667,pose1_to_pose2_press,0.575794497438,0.0100544891619,1.0400291484,0.546365229361,0.0187272245003,1.0396984428
+119,1.983333333,pose1_to_pose2_press,0.575841637197,0.0100545770561,1.04002929165,0.546412367282,0.0187273058062,1.03969857674
+120,2.000000000,pose1_to_pose2_press,0.575898442351,0.0100545172974,1.04002906198,0.546469173156,0.0187272486467,1.03969835114
+121,2.016666667,pose1_to_pose2_press,0.575963015785,0.0100544481077,1.04002919374,0.54653374804,0.0187271842054,1.03969847829
+122,2.033333333,pose1_to_pose2_press,0.576034899109,0.010054553466,1.04002920827,0.54660563036,0.0187272861146,1.03969849166
+123,2.050000000,pose1_to_pose2_press,0.576115190314,0.0100545081904,1.04002916235,0.546685920498,0.0187272376474,1.039698457
+124,2.066666667,pose1_to_pose2_press,0.576205219377,0.0100545936915,1.04002917321,0.546775948549,0.0187273195847,1.0396984643
+125,2.083333333,pose1_to_pose2_press,0.576311310927,0.0100546731678,1.0400295103,0.546882041694,0.0187274043159,1.03969879733
+126,2.100000000,pose1_to_pose2_press,0.576432856968,0.0100546565402,1.04002924017,0.547003586443,0.018727383347,1.03969852832
+127,2.116666667,pose1_to_pose2_press,0.576571590741,0.010054619251,1.04002939097,0.547142320158,0.0187273456268,1.03969867276
+128,2.133333333,pose1_to_pose2_press,0.576727309883,0.0100545019177,1.04002909994,0.547298039697,0.0187272296529,1.03969838202
+129,2.150000000,pose1_to_pose2_press,0.576901405286,0.010054719261,1.04002911284,0.547472132292,0.0187274376662,1.0396984002
+130,2.166666667,pose1_to_pose2_press,0.577095722361,0.0100546611428,1.04002926182,0.547666450182,0.0187273823724,1.0396985505
+131,2.183333333,pose1_to_pose2_press,0.577311806558,0.0100545532031,1.0400293194,0.547882536273,0.0187272806775,1.03969860336
+132,2.200000000,pose1_to_pose2_press,0.577555203202,0.0100544982878,1.04002915211,0.548125933763,0.0187272288192,1.03969844087
+133,2.216666667,pose1_to_pose2_press,0.577824046928,0.0100545405896,1.0400290535,0.548394777065,0.0187272697572,1.03969834422
+134,2.233333333,pose1_to_pose2_press,0.578118478757,0.010054500087,1.04002923246,0.54868920932,0.0187272304809,1.03969851727
+135,2.250000000,pose1_to_pose2_press,0.578437920818,0.0100545658234,1.04002915607,0.549008650414,0.0187272929768,1.03969844191
+136,2.266666667,pose1_to_pose2_press,0.578782861585,0.0100545411303,1.04002904583,0.549353592895,0.0187272743895,1.03969833928
+137,2.283333333,pose1_to_pose2_press,0.579147590414,0.0100545267832,1.04002903471,0.549718321841,0.0187272604704,1.03969832884
+138,2.300000000,pose1_to_pose2_press,0.579530323988,0.0100546135328,1.04002895715,0.550101053132,0.0187273394363,1.03969825023
+139,2.316666667,pose1_to_pose2_press,0.579929363059,0.0100545848704,1.04002905449,0.550500092883,0.0187273132248,1.03969835135
+140,2.333333333,pose1_to_pose2_press,0.580343577556,0.0100545085164,1.04002912993,0.550914308196,0.0187272397165,1.03969842875
+141,2.350000000,pose1_to_pose2_press,0.580774987544,0.0100543716013,1.04002916233,0.551345719512,0.0187271069964,1.03969845299
+142,2.366666667,pose1_to_pose2_press,0.581236415614,0.0100544625397,1.04002918937,0.551807146416,0.0187271937728,1.03969847452
+143,2.383333333,pose1_to_pose2_press,0.581732025044,0.0100545942164,1.04002916486,0.55230275431,0.0187273205105,1.03969845711
+144,2.400000000,pose1_to_pose2_press,0.582267308073,0.0100545652122,1.04002909638,0.552838038237,0.0187272946931,1.03969839229
+145,2.416666667,pose1_to_pose2_press,0.582835872588,0.010054709509,1.04002912309,0.553406600817,0.0187274321718,1.03969841229
+146,2.433333333,pose1_to_pose2_press,0.583431467439,0.0100547126055,1.0400291716,0.554002196632,0.0187274385976,1.03969846235
+147,2.450000000,pose1_to_pose2_press,0.584033865989,0.0100545572928,1.04002909111,0.554604597595,0.0187272915687,1.03969838432
+148,2.466666667,pose1_to_pose2_press,0.584635471587,0.0100545739872,1.04002909145,0.555206202362,0.0187273054486,1.03969838477
+149,2.483333333,pose1_to_pose2_press,0.585253462232,0.0100546480092,1.04002910261,0.555824191425,0.0187273741448,1.03969839704
+150,2.500000000,pose1_to_pose2_press,0.585892356277,0.010054634227,1.04002892805,0.55646308402,0.0187273555618,1.03969822555
+151,2.516666667,pose1_to_pose2_press,0.586562070979,0.0100547044928,1.04002890273,0.557132798183,0.0187274241815,1.03969820507
+152,2.533333333,pose1_to_pose2_press,0.587262720851,0.010054666821,1.04002909874,0.55783344982,0.0187273923414,1.03969839695
+153,2.550000000,pose1_to_pose2_press,0.587991540012,0.0100544670034,1.04002907524,0.558562271541,0.0187272011021,1.0396983705
+154,2.566666667,pose1_to_pose2_press,0.588726289998,0.0100544480037,1.04002911757,0.559297021772,0.0187271827968,1.03969840926
+155,2.583333333,pose1_to_pose2_press,0.589463716022,0.0100544134543,1.04002912217,0.560034447247,0.0187271464133,1.03969841463
+156,2.600000000,pose1_to_pose2_press,0.59021672375,0.0100544862163,1.04002924319,0.56078745448,0.0187272174101,1.03969853346
+157,2.616666667,pose1_to_pose2_press,0.590986632428,0.0100545180945,1.04002912073,0.561557363333,0.0187272499612,1.03969841308
+158,2.633333333,pose1_to_pose2_press,0.591771487477,0.0100545153058,1.04002901769,0.562342219356,0.0187272506497,1.03969831456
+159,2.650000000,pose1_to_pose2_press,0.592569280353,0.0100545422571,1.04002907733,0.563140011055,0.0187272734334,1.03969836968
+160,2.666666667,pose1_to_pose2_press,0.593378398676,0.010054566199,1.04002914621,0.563949128959,0.0187272957621,1.03969843348
+161,2.683333333,pose1_to_pose2_press,0.594189645864,0.0100545043113,1.0400290164,0.56476037693,0.0187272366898,1.0396983078
+162,2.700000000,pose1_to_pose2_press,0.595008070652,0.0100546406252,1.04002890881,0.565578799515,0.0187273656957,1.03969820474
+163,2.716666667,pose1_to_pose2_press,0.595835075446,0.0100546777434,1.04002902862,0.566405804348,0.0187274027807,1.0396983202
+164,2.733333333,pose1_to_pose2_press,0.596669651945,0.0100545350894,1.04002927327,0.567240383501,0.018727268918,1.03969855927
+165,2.750000000,pose1_to_pose2_press,0.597510723843,0.0100544557606,1.0400292338,0.568081455937,0.0187271913093,1.03969851715
+166,2.766666667,pose1_to_pose2_press,0.598344282623,0.0100544740914,1.04002934772,0.568915014555,0.0187272091861,1.03969863356
+167,2.783333333,pose1_to_pose2_press,0.59916811883,0.0100545170066,1.04002939398,0.569738851175,0.0187272535323,1.03969868065
+168,2.800000000,pose1_to_pose2_press,0.599980478984,0.0100545886537,1.04002925927,0.570551209865,0.0187273203656,1.03969855011
+169,2.816666667,pose1_to_pose2_press,0.600784200297,0.0100546172706,1.04002910904,0.571354930804,0.0187273480235,1.03969840796
+170,2.833333333,pose1_to_pose2_press,0.601586877776,0.0100546161238,1.04002911573,0.572157608561,0.0187273476388,1.03969841004
+171,2.850000000,pose1_to_pose2_press,0.602389182438,0.0100545462339,1.04002942977,0.572959913046,0.0187272768368,1.03969871591
+172,2.866666667,pose1_to_pose2_press,0.603191084331,0.01005459241,1.04002936356,0.57376181312,0.0187273168475,1.03969864999
+173,2.883333333,pose1_to_pose2_press,0.603984942001,0.0100545526966,1.04002904858,0.574555670632,0.0187272767117,1.03969833811
+174,2.900000000,pose1_to_pose2_press,0.604764973382,0.0100544421957,1.04002901024,0.575335703969,0.0187271729625,1.03969830283
+175,2.916666667,pose1_to_pose2_press,0.605532161851,0.0100545221633,1.04002899403,0.576102892341,0.018727252594,1.03969828654
+176,2.933333333,pose1_to_pose2_press,0.606287029473,0.0100545906972,1.04002927285,0.576857759046,0.0187273179392,1.03969856341
+177,2.950000000,pose1_to_pose2_press,0.607030499601,0.0100545073542,1.04002917346,0.577601230211,0.0187272381469,1.03969846497
+178,2.966666667,pose1_to_pose2_press,0.607763546306,0.0100545184051,1.04002921943,0.578334277856,0.0187272525175,1.03969851441
+179,2.983333333,pose1_to_pose2_press,0.608480569434,0.0100545553173,1.04002898452,0.579051300444,0.0187272877736,1.03969828417
+180,3.000000000,pose1_to_pose2_press,0.609170568163,0.0100545886137,1.0400289086,0.579741299246,0.018727321323,1.03969820849
+181,3.016666667,pose1_to_pose2_press,0.609834261594,0.010054605867,1.04002905985,0.580404992099,0.018727336345,1.03969835278
+182,3.033333333,pose1_to_pose2_press,0.610478428672,0.0100544657723,1.04002917851,0.581049160409,0.0187272002953,1.03969846793
+183,3.050000000,pose1_to_pose2_press,0.611110675742,0.010054341311,1.04002919558,0.581681407541,0.0187270760006,1.03969848392
+184,3.066666667,pose1_to_pose2_press,0.611732022821,0.0100546447255,1.0400292579,0.582302753176,0.0187273745269,1.03969854698
+185,3.083333333,pose1_to_pose2_press,0.6123300609,0.0100545718101,1.04002899538,0.582900790577,0.0187272998227,1.03969829837
+186,3.100000000,pose1_to_pose2_press,0.61289739845,0.0100544030304,1.04002904359,0.583468131344,0.0187271418409,1.03969833972
+187,3.116666667,pose1_to_pose2_press,0.613423015235,0.0100544568789,1.04002914807,0.583993747699,0.0187271941981,1.03969844106
+188,3.133333333,pose1_to_pose2_press,0.613913250663,0.010054514572,1.04002912606,0.58448398137,0.0187272460496,1.03969842006
+189,3.150000000,pose1_to_pose2_press,0.614375579276,0.0100544230172,1.04002905146,0.584946309962,0.0187271544657,1.03969834226
+190,3.166666667,pose1_to_pose2_press,0.61482294606,0.010054368513,1.0400291572,0.58539367887,0.018727107544,1.03969844935
+191,3.183333333,pose1_to_pose2_press,0.615259691949,0.0100546788653,1.04002903448,0.585830419893,0.0187274020689,1.03969832988
+192,3.200000000,pose1_to_pose2_press,0.615675054766,0.0100546586711,1.04002930325,0.586245783284,0.0187273841514,1.03969858908
+193,3.216666667,pose1_to_pose2_press,0.616064659268,0.0100545616099,1.04002915529,0.586635389249,0.0187272928776,1.03969844881
+194,3.233333333,pose1_to_pose2_press,0.61642161934,0.0100544455471,1.0400292202,0.586992350126,0.0187271795728,1.0396985017
+195,3.250000000,pose1_to_pose2_press,0.616746631773,0.0100546605049,1.04002942325,0.587317361293,0.0187273909301,1.03969870509
+196,3.266666667,pose1_to_pose2_press,0.617038759011,0.0100546391414,1.04002942709,0.587609486886,0.0187273646271,1.03969871269
+197,3.283333333,pose1_to_pose2_press,0.617310967132,0.0100544596973,1.04002923204,0.587881697467,0.0187271942372,1.03969852284
+198,3.300000000,pose1_to_pose2_press,0.617567148319,0.0100544527463,1.04002919177,0.588137877899,0.0187271850422,1.0396984778
+199,3.316666667,pose1_to_pose2_press,0.617809895673,0.0100545757307,1.04002919495,0.588380622965,0.018727300655,1.03969847981
+200,3.333333333,pose1_to_pose2_press,0.618039265947,0.0100546041429,1.04002897604,0.588609992748,0.0187273280276,1.03969826564
+201,3.350000000,pose1_to_pose2_press,0.61825264806,0.0100546015485,1.0400288471,0.588823374971,0.0187273265781,1.03969814365
+202,3.366666667,pose1_to_pose2_press,0.618447614344,0.0100544939636,1.04002896243,0.58901834307,0.0187272254906,1.03969825924
+203,3.383333333,pose1_to_pose2_press,0.61862081535,0.0100543914536,1.04002917468,0.589191544793,0.0187271253496,1.0396984642
+204,3.400000000,pose1_to_pose2_press,0.618773757345,0.0100544695888,1.0400292876,0.589344486324,0.0187272022026,1.03969857703
+205,3.416666667,pose1_to_pose2_press,0.618906940161,0.0100545767361,1.04002922678,0.589477668761,0.0187273084244,1.03969851868
+206,3.433333333,pose1_to_pose2_press,0.619022185444,0.0100545781565,1.04002908796,0.589592913676,0.0187273086842,1.03969837743
+207,3.450000000,pose1_to_pose2_press,0.619122196617,0.0100544938073,1.04002897327,0.589692925758,0.0187272276081,1.03969826296
+208,3.466666667,pose1_to_pose2_press,0.619209285152,0.0100544807606,1.04002904286,0.589780013644,0.0187272128056,1.03969833616
+209,3.483333333,pose1_to_pose2_press,0.619285215573,0.0100545042835,1.04002904773,0.589855944664,0.018727238949,1.03969834277
+210,3.500000000,pose1_to_pose2_press,0.619350175781,0.0100545798197,1.04002918079,0.589920903679,0.0187273100883,1.03969847251
+211,3.516666667,pose1_to_pose2_press,0.619405317579,0.0100545672498,1.04002942304,0.589976045734,0.0187272982371,1.03969871011
+212,3.533333333,pose1_to_pose2_press,0.619450503004,0.0100544224938,1.04002930416,0.590021232251,0.0187271576331,1.0396985932
+213,3.550000000,pose1_to_pose2_press,0.619485976751,0.0100545340462,1.04002942925,0.590056704724,0.0187272644114,1.03969871334
+214,3.566666667,pose1_to_pose2_press,0.619513189119,0.0100545985596,1.04002921656,0.590083916682,0.0187273277887,1.03969850536
+215,3.583333333,pose1_to_pose2_press,0.619532921679,0.0100546382482,1.04002927625,0.590103648882,0.0187273662313,1.0396985612
+216,3.600000000,pose1_to_pose2_press,0.619547349228,0.010054631039,1.04002937724,0.590118076642,0.0187273596763,1.03969865936
+217,3.616666667,pose1_to_pose2_press,0.619557133325,0.0100545993125,1.04002944752,0.590127861264,0.0187273297036,1.0396987291
+218,3.633333333,pose1_to_pose2_press,0.619564506493,0.0100545472908,1.04002925443,0.590135234144,0.0187272771385,1.03969854581
+219,3.650000000,pose1_to_pose2_press,0.619569844198,0.0100545341944,1.0400291282,0.590140571526,0.0187272631605,1.03969842441
+220,3.666666667,pose1_to_pose2_press,0.619572933899,0.0100545910306,1.04002909585,0.59014366076,0.0187273182597,1.03969838868
+221,3.683333333,pose1_to_pose2_press,0.619575037998,0.0100546297362,1.04002907382,0.590145764541,0.0187273557825,1.03969836436
+222,3.700000000,pose1_to_pose2_press,0.619576803583,0.0100546569372,1.04002907032,0.590147529903,0.0187273821429,1.03969835902
+223,3.716666667,pose1_to_pose2_press,0.619577702841,0.0100546537663,1.04002911689,0.590148429195,0.0187273790339,1.03969840491
+224,3.733333333,pose1_to_pose2_press,0.619577975829,0.0100546528037,1.04002913102,0.590148702193,0.0187273780902,1.03969841884
+225,3.750000000,pose1_to_pose2_press,0.619578881918,0.0100546496087,1.04002917794,0.590149608316,0.0187273749576,1.03969846509
+226,3.766666667,pose1_to_pose2_press,0.619579923085,0.0100546459374,1.04002923185,0.590150649521,0.0187273713581,1.03969851822
+227,3.783333333,pose1_to_pose2_press,0.619580464033,0.01005464403,1.04002925987,0.59015119049,0.018727369488,1.03969854583
+228,3.800000000,pose1_to_pose2_press,0.61958092753,0.0100546423956,1.04002928387,0.590151654004,0.0187273678856,1.03969856949
+229,3.816666667,pose1_to_pose2_press,0.619581393019,0.0100546407542,1.04002930797,0.59015211951,0.0187273662763,1.03969859324
+230,3.833333333,pose1_to_pose2_press,0.619581551209,0.0100546387151,1.04002930171,0.590152277867,0.0187273648249,1.03969858747
+231,3.850000000,pose1_to_pose2_press,0.619582067649,0.0100546310324,1.04002927128,0.59015279496,0.0187273594604,1.03969855906
+232,3.866666667,pose1_to_pose2_press,0.619582464605,0.0100546251272,1.04002924789,0.590153192418,0.018727355337,1.03969853722
+233,3.883333333,pose1_to_pose2_press,0.619582599123,0.0100546231261,1.04002923997,0.590153327107,0.0187273539398,1.03969852982
+234,3.900000000,pose1_to_pose2_press,0.619582903191,0.0100546186028,1.04002922205,0.590153631559,0.0187273507813,1.03969851309
+235,3.916666667,pose1_to_pose2_press,0.61958338912,0.010054611374,1.04002919342,0.590154118103,0.0187273457337,1.03969848636
+236,3.933333333,pose1_to_pose2_press,0.619583903292,0.0100546037251,1.04002916312,0.590154632925,0.0187273403928,1.03969845807
+237,3.950000000,pose1_to_pose2_press,0.619584507588,0.0100546136521,1.04002907696,0.590155236856,0.0187273490532,1.03969837198
+238,3.966666667,pose1_to_pose2_press,0.61958491216,0.0100546239311,1.04002900956,0.590155640966,0.01872735772,1.03969830419
+239,3.983333333,pose1_to_pose2_press,0.619585174217,0.0100546305893,1.04002896591,0.590155902724,0.0187273633339,1.03969826028
+240,4.000000000,pose1_to_pose2_press,0.619585503442,0.0100546202084,1.04002889223,0.590156231887,0.0187273527953,1.03969818798
+241,4.016666667,pose1_to_pose2_press,0.619585626546,0.0100545863544,1.04002883456,0.590156355472,0.0187273207277,1.03969813355
+242,4.033333333,pose1_to_pose2_press,0.619585809195,0.0100545480291,1.04002878295,0.590156538671,0.0187272844251,1.03969808501
+243,4.050000000,pose1_to_pose2_press,0.619585978465,0.0100546490603,1.04002891316,0.590156705759,0.0187273776847,1.03969820764
+244,4.066666667,pose2_hold,0.619585978465,0.0100546490603,1.04002891316,0.590156705758,0.0187273776831,1.03969820764
+245,4.083333333,pose2_hold,0.619585978465,0.0100546490603,1.04002891316,0.590156705758,0.0187273776838,1.03969820764
+246,4.100000000,pose2_hold,0.619585978465,0.0100546490603,1.04002891316,0.590156705758,0.018727377683,1.03969820764
+247,4.116666667,pose2_hold,0.619585978465,0.0100546490603,1.04002891316,0.590156705758,0.0187273776833,1.03969820764
+248,4.133333333,pose2_hold,0.619585978465,0.0100546490603,1.04002891316,0.590156705757,0.0187273776833,1.03969820764
+249,4.150000000,pose2_hold,0.619585978465,0.0100546490603,1.04002891316,0.590156705758,0.0187273776829,1.03969820764
+250,4.166666667,pose2_hold,0.619585978465,0.0100546490603,1.04002891316,0.590156705758,0.0187273776828,1.03969820764
+251,4.183333333,pose2_hold,0.619585978465,0.0100546490603,1.04002891316,0.590156705757,0.018727377683,1.03969820764
+252,4.200000000,pose2_hold,0.619585978465,0.0100546490603,1.04002891316,0.590156705757,0.0187273776827,1.03969820764
+253,4.216666667,pose2_hold,0.619585978465,0.0100546490603,1.04002891316,0.590156705757,0.0187273776829,1.03969820764
+254,4.233333333,pose2_hold,0.619585978465,0.0100546490603,1.04002891316,0.590156705758,0.0187273776824,1.03969820764
+255,4.250000000,pose2_hold,0.619585978465,0.0100546490603,1.04002891316,0.590156705757,0.0187273776827,1.03969820764
+256,4.266666667,pose2_hold,0.619585978465,0.0100546490603,1.04002891316,0.590156705757,0.0187273776826,1.03969820764
+257,4.283333333,pose2_hold,0.619585978465,0.0100546490603,1.04002891316,0.590156705757,0.018727377683,1.03969820764
+258,4.300000000,pose2_hold,0.619585978465,0.0100546490603,1.04002891316,0.590156705757,0.0187273776824,1.03969820764
+259,4.316666667,pose2_hold,0.619585978465,0.0100546490603,1.04002891316,0.590156705756,0.0187273776829,1.03969820764
+260,4.333333333,pose2_to_pose3_retreat,0.619585978465,0.0100546490603,1.04002891316,0.590156705756,0.0187273776825,1.03969820764
+261,4.350000000,pose2_to_pose3_retreat,0.61958592059,0.0100545692356,1.04002884493,0.590156649353,0.018727302948,1.03969814199
+262,4.366666667,pose2_to_pose3_retreat,0.619585867041,0.0100544953783,1.04002878179,0.590156597167,0.0187272338003,1.03969808124
+263,4.383333333,pose2_to_pose3_retreat,0.619585836223,0.0100544775125,1.04002876773,0.590156566604,0.0187272168117,1.03969806754
+264,4.400000000,pose2_to_pose3_retreat,0.619585819586,0.0100544772898,1.04002876865,0.590156549902,0.0187272163615,1.03969806827
+265,4.416666667,pose2_to_pose3_retreat,0.619585757506,0.0100544764589,1.04002877208,0.590156487579,0.0187272146816,1.03969807101
+266,4.433333333,pose2_to_pose3_retreat,0.619585034747,0.010054468994,1.04002884623,0.590155763778,0.0187272035171,1.0396981412
+267,4.450000000,pose2_to_pose3_retreat,0.619581901148,0.0100547623262,1.04002918746,0.590152626862,0.0187274852961,1.03969847404
+268,4.466666667,pose2_to_pose3_retreat,0.619573610594,0.010054549056,1.04002912851,0.590144338239,0.0187272786905,1.039698417
+269,4.483333333,pose2_to_pose3_retreat,0.619556210227,0.0100545426996,1.04002916618,0.590126938031,0.0187272729005,1.03969845534
+270,4.500000000,pose2_to_pose3_retreat,0.619527570996,0.0100546119563,1.04002905022,0.590098297469,0.0187273375911,1.03969834069
+271,4.516666667,pose2_to_pose3_retreat,0.619487378588,0.0100544807086,1.04002916486,0.590058107235,0.0187272134639,1.03969844996
+272,4.533333333,pose2_to_pose3_retreat,0.619435937315,0.0100544939943,1.0400291781,0.590006666841,0.0187272300204,1.03969846805
+273,4.550000000,pose2_to_pose3_retreat,0.619373119346,0.0100546286584,1.04002923233,0.589943846757,0.0187273572343,1.03969852407
+274,4.566666667,pose2_to_pose3_retreat,0.61930109653,0.0100545816909,1.04002902144,0.589871823153,0.0187273074609,1.03969830873
+275,4.583333333,pose2_to_pose3_retreat,0.619219961779,0.0100544754482,1.04002921037,0.589790691978,0.0187272131668,1.03969850351
+276,4.600000000,pose2_to_pose3_retreat,0.619125820374,0.0100543797598,1.04002894704,0.589696550675,0.018727117652,1.0396982412
+277,4.616666667,pose2_to_pose3_retreat,0.619017467261,0.0100545200501,1.04002918111,0.589588195358,0.0187272502411,1.03969847398
+278,4.633333333,pose2_to_pose3_retreat,0.61889288836,0.0100545383391,1.04002931645,0.58946361575,0.0187272655027,1.03969860044
+279,4.650000000,pose2_to_pose3_retreat,0.618750941579,0.010054527957,1.04002929623,0.589321672641,0.0187272675112,1.03969858597
+280,4.666666667,pose2_to_pose3_retreat,0.618588678903,0.010054521757,1.04002892046,0.589159407773,0.0187272537812,1.03969821601
+281,4.683333333,pose2_to_pose3_retreat,0.618406663182,0.0100546055875,1.04002886757,0.588977390597,0.0187273326626,1.03969817161
+282,4.700000000,pose2_to_pose3_retreat,0.618203494392,0.0100545108669,1.04002891724,0.588774223857,0.0187272439716,1.03969820815
+283,4.716666667,pose2_to_pose3_retreat,0.617977644402,0.0100545414911,1.04002912325,0.588548373769,0.0187272739426,1.03969841624
+284,4.733333333,pose2_to_pose3_retreat,0.617729021983,0.0100545246721,1.04002929791,0.588299752809,0.0187272612695,1.03969858201
+285,4.750000000,pose2_to_pose3_retreat,0.617455589445,0.0100546157266,1.04002910325,0.588026317872,0.0187273438721,1.039698393
+286,4.766666667,pose2_to_pose3_retreat,0.617160589977,0.0100546234943,1.04002932841,0.587731318994,0.0187273529714,1.03969861522
+287,4.783333333,pose2_to_pose3_retreat,0.616845092788,0.0100545780576,1.04002913691,0.587415823607,0.0187273133437,1.03969843206
+288,4.800000000,pose2_to_pose3_retreat,0.616510562338,0.0100545415167,1.04002920795,0.587081293602,0.0187272775183,1.03969849754
+289,4.816666667,pose2_to_pose3_retreat,0.616157497114,0.0100545491078,1.04002919608,0.586728226792,0.0187272789538,1.03969847925
+290,4.833333333,pose2_to_pose3_retreat,0.615779075916,0.0100545254221,1.04002912997,0.586349805545,0.0187272546511,1.03969841626
+291,4.850000000,pose2_to_pose3_retreat,0.615373720524,0.0100545154352,1.04002928225,0.585944452126,0.0187272508174,1.03969857032
+292,4.866666667,pose2_to_pose3_retreat,0.614936152303,0.0100545537523,1.0400292001,0.585506883473,0.0187272870971,1.03969848834
+293,4.883333333,pose2_to_pose3_retreat,0.614464797717,0.0100545806319,1.04002891124,0.585035526449,0.0187273054019,1.03969820437
+294,4.900000000,pose2_to_pose3_retreat,0.6139562981,0.0100546731023,1.04002918845,0.584527027112,0.0187273985773,1.03969848296
+295,4.916666667,pose2_to_pose3_retreat,0.613414648364,0.0100546168838,1.04002906747,0.583985378055,0.0187273447002,1.03969836456
+296,4.933333333,pose2_to_pose3_retreat,0.612841235593,0.0100544427099,1.04002877652,0.583411966248,0.0187271735184,1.0396980654
+297,4.950000000,pose2_to_pose3_retreat,0.612244281385,0.0100544842411,1.04002901422,0.582815012538,0.0187272168061,1.03969830405
+298,4.966666667,pose2_to_pose3_retreat,0.611625769507,0.0100546077456,1.04002896873,0.582196499296,0.018727336026,1.03969826784
+299,4.983333333,pose2_to_pose3_retreat,0.6109838058,0.0100544414323,1.04002884665,0.581554535876,0.018727170305,1.03969813585
+300,5.000000000,pose2_to_pose3_retreat,0.610317794817,0.0100545130675,1.04002923605,0.580888526051,0.0187272456724,1.03969852083
+301,5.016666667,pose2_to_pose3_retreat,0.60962478473,0.0100546279617,1.0400292369,0.5801955152,0.0187273580058,1.0396985232
+302,5.033333333,pose2_to_pose3_retreat,0.608905578675,0.0100545766435,1.04002914273,0.579476308804,0.0187273056059,1.03969843131
+303,5.050000000,pose2_to_pose3_retreat,0.608164552628,0.0100545137467,1.0400293234,0.578735284359,0.0187272478736,1.03969860495
+304,5.066666667,pose2_to_pose3_retreat,0.607407839406,0.010054611078,1.04002928866,0.577978568261,0.0187273357327,1.03969857769
+305,5.083333333,pose2_to_pose3_retreat,0.60663721168,0.0100545552171,1.04002920144,0.577207941591,0.0187272835882,1.03969849395
+306,5.100000000,pose2_to_pose3_retreat,0.605849522041,0.0100545006251,1.04002901187,0.57642025321,0.0187272332111,1.03969830344
+307,5.116666667,pose2_to_pose3_retreat,0.605046211801,0.0100545595081,1.04002902317,0.575616942165,0.0187272891677,1.0396983101
+308,5.133333333,pose2_to_pose3_retreat,0.60422772829,0.0100545863313,1.04002921073,0.574798459489,0.0187273186756,1.0396984923
+309,5.150000000,pose2_to_pose3_retreat,0.603384855052,0.0100545839347,1.04002919656,0.573955585908,0.0187273152371,1.03969848141
+310,5.166666667,pose2_to_pose3_retreat,0.602527404376,0.0100545455289,1.0400291277,0.573098133473,0.0187272707644,1.03969840983
+311,5.183333333,pose2_to_pose3_retreat,0.601666594777,0.0100545622615,1.04002900035,0.572237323275,0.0187272858547,1.03969829278
+312,5.200000000,pose2_to_pose3_retreat,0.600807685303,0.010054590556,1.04002912652,0.571378414637,0.018727316987,1.03969841887
+313,5.216666667,pose2_to_pose3_retreat,0.599955435587,0.0100545927164,1.0400291261,0.570526164843,0.0187273190539,1.03969842292
+314,5.233333333,pose2_to_pose3_retreat,0.5991103108,0.0100546010026,1.04002942441,0.569681040324,0.0187273276028,1.03969870425
+315,5.250000000,pose2_to_pose3_retreat,0.598266121091,0.0100545879139,1.04002927108,0.568836851883,0.0187273192373,1.03969856168
+316,5.266666667,pose2_to_pose3_retreat,0.597406566048,0.0100544987679,1.04002918486,0.567977297421,0.0187272321304,1.03969847709
+317,5.283333333,pose2_to_pose3_retreat,0.596532316805,0.0100544714201,1.04002927829,0.567103048487,0.0187272057721,1.03969856976
+318,5.300000000,pose2_to_pose3_retreat,0.595649006805,0.0100545700565,1.0400293039,0.566219737265,0.0187273001697,1.03969859205
+319,5.316666667,pose2_to_pose3_retreat,0.59476455031,0.010054680989,1.04002932278,0.565335279015,0.0187274051746,1.03969861186
+320,5.333333333,pose2_to_pose3_retreat,0.593882216775,0.0100546223137,1.04002939137,0.564452945257,0.0187273456985,1.03969867974
+321,5.350000000,pose2_to_pose3_retreat,0.593027097167,0.0100545853077,1.04002928565,0.56359782709,0.0187273135969,1.03969857595
+322,5.366666667,pose2_to_pose3_retreat,0.59219184394,0.0100545489753,1.04002923598,0.562762574859,0.0187272805576,1.03969852153
+323,5.383333333,pose2_to_pose3_retreat,0.591367959336,0.010054475039,1.04002894658,0.561938691418,0.0187272109853,1.03969824185
+324,5.400000000,pose2_to_pose3_retreat,0.590556363737,0.0100545126005,1.04002914608,0.561127094968,0.0187272455465,1.03969843857
+325,5.416666667,pose2_to_pose3_retreat,0.589756752329,0.0100545132434,1.04002905188,0.560327482356,0.018727242015,1.03969834199
+326,5.433333333,pose2_to_pose3_retreat,0.588966998273,0.010054397204,1.04002911123,0.559537731433,0.0187271365904,1.03969840093
+327,5.450000000,pose2_to_pose3_retreat,0.588189769561,0.0100545006973,1.04002959572,0.558760501488,0.0187272353029,1.03969886974
+328,5.466666667,pose2_to_pose3_retreat,0.587430297392,0.010054654446,1.04002940431,0.558001028629,0.0187273871893,1.03969869086
+329,5.483333333,pose2_to_pose3_retreat,0.586689380362,0.0100546616139,1.04002919519,0.557260108309,0.0187273829223,1.03969847458
+330,5.500000000,pose2_to_pose3_retreat,0.585966297423,0.0100546026677,1.04002897076,0.556537027709,0.0187273323539,1.03969826177
+331,5.516666667,pose2_to_pose3_retreat,0.5852655487,0.0100547232956,1.04002933769,0.555836275789,0.0187274417992,1.03969861987
+332,5.533333333,pose2_to_pose3_retreat,0.584591107557,0.0100546325227,1.04002935287,0.555161838904,0.018727365944,1.03969864735
+333,5.550000000,pose2_to_pose3_retreat,0.583945615081,0.01005455951,1.04002892913,0.554516345175,0.0187272886508,1.03969822281
+334,5.566666667,pose2_to_pose3_retreat,0.583331210486,0.0100545893578,1.04002906902,0.553901940006,0.0187273163488,1.03969835745
+335,5.583333333,pose2_to_pose3_retreat,0.582749304023,0.0100545974751,1.04002933119,0.553320033379,0.0187273236131,1.03969861187
+336,5.600000000,pose2_to_pose3_retreat,0.582185712836,0.0100546059552,1.04002916004,0.552756444048,0.018727338904,1.03969845409
+337,5.616666667,pose2_to_pose3_retreat,0.581632148217,0.0100546419746,1.0400291949,0.552202877953,0.0187273695456,1.03969847928
+338,5.633333333,pose2_to_pose3_retreat,0.581093697453,0.0100545514823,1.04002915389,0.551664428406,0.0187272835691,1.03969844835
+339,5.650000000,pose2_to_pose3_retreat,0.580575595427,0.010054450341,1.04002917063,0.551146327022,0.0187271844395,1.03969846172
+340,5.666666667,pose2_to_pose3_retreat,0.580093743351,0.0100545188451,1.04002906019,0.550664473584,0.0187272482958,1.0396983501
+341,5.683333333,pose2_to_pose3_retreat,0.579651060966,0.0100546720127,1.04002916275,0.550221789951,0.0187273972445,1.03969845341
+342,5.700000000,pose2_to_pose3_retreat,0.579253141555,0.0100545276944,1.04002888669,0.549823870872,0.018727254428,1.0396981872
+343,5.716666667,pose2_to_pose3_retreat,0.578885642129,0.0100543811305,1.04002916127,0.549456374519,0.0187271178626,1.0396984504
+344,5.733333333,pose2_to_pose3_retreat,0.578543508288,0.010054606506,1.04002915693,0.549114239132,0.0187273381411,1.03969845017
+345,5.750000000,pose2_to_pose3_retreat,0.578215666648,0.0100546245305,1.0400291601,0.548786396286,0.0187273520072,1.0396984511
+346,5.766666667,pose2_to_pose3_retreat,0.577902544379,0.0100546267069,1.04002940701,0.548473273552,0.0187273523196,1.03969869049
+347,5.783333333,pose2_to_pose3_retreat,0.577606859598,0.0100546348314,1.04002929568,0.548177589777,0.0187273641694,1.03969858755
+348,5.800000000,pose2_to_pose3_retreat,0.57733262874,0.0100544160404,1.04002920054,0.547903361873,0.0187271551004,1.0396984845
+349,5.816666667,pose2_to_pose3_retreat,0.57708554663,0.0100545969949,1.04002906541,0.547656276761,0.0187273259769,1.03969835229
+350,5.833333333,pose2_to_pose3_retreat,0.576866303598,0.0100547063621,1.04002915432,0.54743703099,0.0187274263285,1.03969844842
+351,5.850000000,pose2_to_pose3_retreat,0.576675312553,0.0100545662543,1.0400291408,0.547246044285,0.0187273010337,1.03969843718
+352,5.866666667,pose2_to_pose3_retreat,0.576511552544,0.0100546851618,1.04002919459,0.547082281814,0.018727411089,1.03969847792
+353,5.883333333,pose2_to_pose3_retreat,0.576371475369,0.0100543280164,1.04002905394,0.54694220816,0.0187270661416,1.03969834383
+354,5.900000000,pose2_to_pose3_retreat,0.576251175706,0.0100545892368,1.04002903057,0.546821904651,0.0187273144175,1.03969832324
+355,5.916666667,pose2_to_pose3_retreat,0.576147260803,0.0100544736454,1.04002916459,0.546717992894,0.0187272093221,1.03969845348
+356,5.933333333,pose2_to_pose3_retreat,0.576059019648,0.0100545097803,1.04002928239,0.546629750829,0.0187272423465,1.03969857055
+357,5.950000000,pose2_to_pose3_retreat,0.575981918217,0.0100544604534,1.04002917925,0.54655264973,0.0187271943475,1.03969847256
+358,5.966666667,pose2_to_pose3_retreat,0.575915860267,0.0100546116053,1.0400290868,0.5464865889,0.0187273354988,1.03969837402
+359,5.983333333,pose2_to_pose3_retreat,0.575862059436,0.0100546325761,1.04002936226,0.546432788106,0.0187273564409,1.03969864535
+360,6.000000000,pose2_to_pose3_retreat,0.575819135785,0.0100544588997,1.04002930453,0.546389867326,0.0187271928602,1.03969859688
+361,6.016666667,pose2_to_pose3_retreat,0.575786709085,0.0100545142883,1.04002901454,0.546357440469,0.0187272477556,1.03969830793
+362,6.033333333,pose2_to_pose3_retreat,0.575762551619,0.0100545984151,1.04002909971,0.546333282608,0.0187273302679,1.03969838593
+363,6.050000000,pose2_to_pose3_retreat,0.575745609157,0.0100546164538,1.04002917741,0.546316339633,0.0187273466438,1.03969846576
+364,6.066666667,pose2_to_pose3_retreat,0.575733074899,0.0100546145436,1.04002916309,0.546303804706,0.0187273425954,1.03969845505
+365,6.083333333,pose2_to_pose3_retreat,0.575724305136,0.0100546198166,1.04002917421,0.546295034681,0.0187273467937,1.03969846133
+366,6.100000000,pose2_to_pose3_retreat,0.575718447968,0.0100545834438,1.04002907,0.546289177962,0.0187273120414,1.03969835978
+367,6.116666667,pose2_to_pose3_retreat,0.575715078301,0.0100545183674,1.040029055,0.546285809187,0.0187272499732,1.03969834406
+368,6.133333333,pose2_to_pose3_retreat,0.575713616532,0.010054481925,1.04002905686,0.546284347924,0.0187272152219,1.03969834519
+369,6.150000000,pose2_to_pose3_retreat,0.57571311218,0.0100544693514,1.0400290575,0.546283843746,0.0187272032317,1.03969834558
+370,6.166666667,pose2_to_pose3_retreat,0.575712985669,0.0100544694927,1.04002906349,0.546283717254,0.0187272034277,1.0396983513
+371,6.183333333,pose2_to_pose3_retreat,0.575712825529,0.010054470888,1.04002907324,0.54628355713,0.0187272048585,1.03969836062
+372,6.200000000,pose2_to_pose3_retreat,0.575712498527,0.0100544737371,1.04002909314,0.546283230159,0.0187272077801,1.03969837965
+373,6.216666667,pose2_to_pose3_retreat,0.575712221782,0.0100544761484,1.04002910998,0.54628295344,0.0187272102527,1.03969839576
+374,6.233333333,pose2_to_pose3_retreat,0.575711890801,0.0100544790322,1.04002913012,0.546282622491,0.0187272132099,1.03969841502
+375,6.250000000,pose2_to_pose3_retreat,0.575711409797,0.0100544832232,1.04002915939,0.546282141533,0.0187272175075,1.03969844302
+376,6.266666667,pose2_to_pose3_retreat,0.575711086445,0.0100544860406,1.04002917906,0.546281818212,0.0187272203965,1.03969846184
+377,6.283333333,pose2_to_pose3_retreat,0.575710922985,0.0100544874648,1.04002918901,0.546281654767,0.0187272218569,1.03969847135
+378,6.300000000,pose2_to_pose3_retreat,0.575710861227,0.0100544880029,1.04002919277,0.546281593014,0.0187272224087,1.03969847495
+379,6.316666667,pose2_to_pose3_retreat,0.575710711615,0.0100544893064,1.04002920187,0.546281443417,0.0187272237454,1.03969848365
+380,6.333333333,pose2_to_pose3_retreat,0.575710352077,0.0100544982144,1.04002920041,0.54628108362,0.0187272318344,1.03969848375
+381,6.350000000,pose2_to_pose3_retreat,0.575710108581,0.0100545064869,1.04002919037,0.546280839835,0.0187272392038,1.03969847574
+382,6.366666667,pose2_to_pose3_retreat,0.575710074942,0.0100545076298,1.04002918898,0.546280806156,0.0187272402219,1.03969847463
+383,6.383333333,pose2_to_pose3_retreat,0.575710034164,0.0100545090151,1.0400291873,0.54628076533,0.018727241456,1.03969847329
+384,6.400000000,pose2_to_pose3_retreat,0.575709941334,0.0100545121689,1.04002918347,0.546280672389,0.0187272442655,1.03969847024
+385,6.416666667,pose2_to_pose3_retreat,0.575709796268,0.0100545170974,1.04002917749,0.546280527151,0.0187272486559,1.03969846546
+386,6.433333333,pose2_to_pose3_retreat,0.575709696569,0.0100545204846,1.04002917337,0.546280427334,0.0187272516733,1.03969846218
+387,6.450000000,pose2_to_pose3_retreat,0.575709671718,0.0100545213289,1.04002917235,0.546280402454,0.0187272524254,1.03969846137
+388,6.466666667,pose2_to_pose3_retreat,0.57570966894,0.0100545214233,1.04002917223,0.546280399672,0.0187272525095,1.03969846127
+389,6.483333333,pose2_to_pose3_retreat,0.57570958956,0.0100545241201,1.04002916896,0.546280320198,0.0187272549119,1.03969845866
+390,6.500000000,pose2_to_pose3_retreat,0.575709528014,0.0100545162213,1.04002909976,0.546280258601,0.0187272468364,1.03969838936
+391,6.516666667,pose2_to_pose3_retreat,0.575709487289,0.0100545074451,1.04002903028,0.54628021785,0.0187272379616,1.0396983196
+392,6.533333333,pose2_to_pose3_retreat,0.575709454011,0.010054500274,1.04002897351,0.546280184552,0.01872723071,1.03969826259
+393,6.550000000,pose2_to_pose3_retreat,0.575709386814,0.0100544857934,1.04002885888,0.546280117312,0.0187272160667,1.03969814749
+394,6.566666667,pose2_to_pose3_retreat,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_10/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_10/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..15517a7a4e8f572ea52b3e5c36bd15a4e8213545
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_10/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f609540cc5be29eb45b145d364e0887d8b20f38fe25d25d181cd34633f37bc66
+size 25189356
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_10/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_10/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e3164f0ea1c43c5925e3845fa9f184787e9ace35
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_10/depth_04/franka_data.csv
@@ -0,0 +1,399 @@
+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,765,742,711,672,664,632,877,784,800,651,629,651,0.400965577879,0.00457364039713,0.0498464114535,0.999999961177,5.53585202352e-05,-0.000270157340452,-3.99615708209e-05,1793193603654422016
+1,0.016666667,BASELINE,764.405291438,742,711,672.594708562,664,632,876.405291438,784,799.405291438,650.405291438,629,651,0.400966184833,0.00457392087399,0.0498466682321,0.999999961477,5.39888167186e-05,-0.00026928815492,-4.01919072653e-05,1793193603671088128
+2,0.033333333,BASELINE,764,742,711,672.817193127,664,632,876.182806873,784,799,650.182806873,629,651,0.40096643499,0.00457401221502,0.0498467751496,0.999999961619,5.31225226219e-05,-0.000268904982377,-4.03674157216e-05,1793193603687753984
+3,0.050000000,BASELINE,764,742,711,672.243238508,664,632,876.756761492,784,799,650.756761492,629,651,0.400965921715,0.00457369886644,0.0498465614127,0.999999961429,5.33333620598e-05,-0.000269561720715,-4.04256100107e-05,1793193603704420352
+4,0.066666667,BASELINE,764,742,710.667557076,672,664,632,877,784,799.332442924,650.667557076,629,651,0.400965556305,0.00457357937645,0.0498464078515,0.999999961303,5.3824089225e-05,-0.000269931049602,-4.04371991065e-05,1793193603721086720
+5,0.083333333,BASELINE,764,742,710.090605625,672,664,632,877,784,799.909394375,650.090605625,629,651,0.400965299649,0.00457360246757,0.049846298549,0.999999961223,5.452067107e-05,-0.000270088991603,-4.0414510534e-05,1793193603737753088
+6,0.100000000,BASELINE,764,742,710,672,664,632,877,784,799.503789471,650,629,651,0.400967368129,0.00457360721475,0.0498471893678,0.999999961815,5.43399399522e-05,-0.000267907100566,-4.05316995974e-05,1793193603754419456
+7,0.116666667,BASELINE,763.916353547,742,710.083646453,672,664,632,877,784,799.167292906,650,628.916353547,651,0.40096922599,0.00457362334958,0.049847988028,0.999999962363,5.39661213143e-05,-0.000265913301433,-4.06325106705e-05,1793193603771086336
+8,0.133333333,BASELINE,763.336148223,742,710.663851777,672,664,632,877,784,800.327703554,650,628.336148223,651,0.400967262059,0.00457372737346,0.0498471335196,0.999999961943,5.34163168753e-05,-0.000267623815809,-4.04813985809e-05,1793193603787752960
+9,0.150000000,BASELINE,763.241712041,742,711,672,664,632,877,784,800.516575917,650,628.241712041,651,0.400966042195,0.00457392354392,0.0498467691675,0.999999961651,5.34273951377e-05,-0.000268747776093,-4.02299932032e-05,1793193603804419840
+10,0.166666667,BASELINE,763.816342326,742,711,672,664,632,877,784,799.367315347,650,628.816342326,651,0.40096584716,0.00457424663101,0.0498470799244,0.999999961539,5.42109963309e-05,-0.000269063855266,-3.98404504696e-05,1793193603821086720
+11,0.183333333,BASELINE,764,742,711,672,664,632,877,784.389536722,799.389536722,650.389536722,629,651,0.400966178776,0.00457384432632,0.0498469014059,0.999999961603,5.40210316094e-05,-0.000268839615744,-4.00215458606e-05,1793193603837753856
+12,0.200000000,BASELINE,764,742,711,672,664,632,877,784.962056665,799.962056665,650.962056665,629,651,0.400966757785,0.00457310127194,0.0498464930524,0.999999961748,5.33737385017e-05,-0.000268361563836,-4.04706960537e-05,1793193603854420992
+13,0.216666667,BASELINE,763.4458213,742,711,672.5541787,664,632.5541787,876.4458213,785,800,650.4458213,629,651,0.400967502221,0.00457463826599,0.0498471886153,0.999999961885,5.5108586239e-05,-0.000267492232908,-4.05173854159e-05,1793193603871086848
+14,0.233333333,BASELINE,763,742,710.855774116,672.855774116,664,632.855774116,876.144225884,785,799.855774116,650,629,651,0.400967749905,0.00457545616118,0.049847525466,0.999999961894,5.60060718438e-05,-0.000267277008755,-4.04701587749e-05,1793193603887752960
+15,0.250000000,BASELINE,763,742,710.276189734,672.276189734,664,632.276189734,876.723810266,785,799.276189734,650,629,651,0.400966462655,0.00457361488378,0.0498465429939,0.999999961527,5.38655230742e-05,-0.000269120096303,-4.02256673622e-05,1793193603904419584
+16,0.266666667,BASELINE,763.300489415,742,710,672,664,632.300489415,876.699510585,784.699510585,799,650,629,651,0.400965958258,0.00457233902306,0.049846367995,0.999999961507,5.23973649669e-05,-0.000269520231801,-3.99958130725e-05,1793193603921086208
+17,0.283333333,BASELINE,763.874523804,742,710,672,664,632.874523804,876.125476196,784.125476196,799,650,629,651,0.400966166518,0.00457157787907,0.0498469280645,0.999999961806,5.15413053762e-05,-0.000268606802511,-3.97792834315e-05,1793193603937752576
+18,0.300000000,BASELINE,764,742,710.459890317,672.459890317,664,633,876,784.459890317,799.459890317,650.459890317,629,651,0.400965595657,0.00457407772006,0.0498465741892,0.99999996142,5.43725517911e-05,-0.000269407746247,-4.028687577e-05,1793193603954419712
+19,0.316666667,BASELINE,763.952283827,742,711,672.952283827,664,633,876.095432345,784.952283827,800,650.952283827,629,651,0.400965000523,0.00457697677161,0.049846087162,0.999999960933,5.77579152947e-05,-0.000270415645025,-4.08998557969e-05,1793193603971086336
+20,0.333333333,BASELINE,763.372383498,742,711,672.372383498,664,633,877.255233003,784.372383498,800,650.372383498,629,651,0.40096656542,0.00457415436113,0.0498469664784,0.99999996161,5.58194344341e-05,-0.000268383087816,-4.04290584778e-05,1793193603987753216
+21,0.350000000,BASELINE,763,742,711,672,664.20633323,632.79366677,878,784,800.20633323,650,629,651,0.400967172619,0.00457240246614,0.0498475312242,0.999999962003,5.40542455693e-05,-0.000267327169543,-4.01119838964e-05,1793193604004419840
+22,0.366666667,BASELINE,763,742,711,672,664.782925955,632.217074045,878,784,800.782925955,650,629,651,0.400966061255,0.00457257158302,0.0498475314811,0.999999961895,5.26000247936e-05,-0.000268023804097,-4.00707607322e-05,1793193604021086208
+23,0.383333333,BASELINE,763,742,711,672.36428411,664.63571589,632,877.63571589,784,800.63571589,650.36428411,629,651,0.400966005264,0.00457229935586,0.0498475509151,0.999999962016,5.11172898805e-05,-0.000267847007135,-4.0169791942e-05,1793193604037753856
+24,0.400000000,BASELINE,763,742,711,672.948519643,664.051480357,632,877.051480357,784,800.051480357,650.948519643,629,651,0.400966586498,0.0045717606492,0.0498475819282,0.999999962272,4.96173382513e-05,-0.000267142840256,-4.035350746e-05,1793193604054421760
+25,0.416666667,BASELINE,763.529269903,742,710.470730097,672.470730097,664,632.529269903,877,784,799.470730097,650.470730097,629,651,0.40096624212,0.00457124698575,0.0498472351108,0.999999962036,5.07601250521e-05,-0.000267880801806,-3.98926576797e-05,1793193604071087872
+26,0.433333333,BASELINE,763.891066696,742,710.108933304,672,664,632.891066696,876.891066696,784.108933304,799.108933304,650,629,651,0.400966154352,0.00457126760567,0.0498471463282,0.999999961878,5.23737474557e-05,-0.000268214112745,-3.95355486234e-05,1793193604087753728
+27,0.450000000,BASELINE,763.314622223,742,710.685377777,672,664,632.314622223,876.314622223,784.685377777,799.685377777,650,629,651,0.400967551748,0.00457357083406,0.0498483216492,0.999999962262,5.49120928054e-05,-0.000266212711088,-3.98909735672e-05,1793193604104420864
+28,0.466666667,BASELINE,763.261204411,742,711,672,664,632,876.261204411,785,799.738795589,650,629,651,0.400967836635,0.0045744456947,0.0498487540148,0.999999962365,5.51937899037e-05,-0.000265747798096,-4.00169580963e-05,1793193604121087744
+29,0.483333333,BASELINE,763.836288576,742,711,672,664,632,876.836288576,785,799.163711424,650,629,651,0.400966784659,0.0045736041381,0.0498482935982,0.999999962134,5.27637554762e-05,-0.000267129227257,-3.98672324798e-05,1793193604137754112
+30,0.500000000,BASELINE,764,742,711,672,664.422429509,632.422429509,877,784.577570491,799,650.422429509,629,651.422429509,0.40096601598,0.00457433835182,0.0498477463547,0.999999961872,5.36095476184e-05,-0.00026791429739,-4.00370924993e-05,1793193604154420224
+31,0.516666667,BASELINE,764,742,710.98727992,672,665,632.98727992,876.98727992,784.01272008,799,650.98727992,629,651.98727992,0.400965363,0.00457564053346,0.0498471707307,0.999999961603,5.56739261809e-05,-0.000268453215418,-4.03339604471e-05,1793193604171086592
+32,0.533333333,BASELINE,764,742,710.408145749,672,665,632.408145749,876.408145749,784.591854251,799,650.408145749,629,651.408145749,0.40096484174,0.00457430964277,0.0498468700044,0.999999961647,5.39500496067e-05,-0.000268599260241,-4.06230112261e-05,1793193604187753472
+33,0.550000000,BASELINE,764,742,710.1699688,672,664.8300312,632,876.1699688,784.8300312,799.1699688,650,629,651,0.400964555165,0.00457309854214,0.0498467179261,0.999999961633,5.29652624539e-05,-0.000268851027213,-4.05950345557e-05,1793193604204420096
+34,0.566666667,BASELINE,764,742,710.745649452,672,664.254350548,632,876.745649452,784.254350548,799.745649452,650,629,651,0.40096482878,0.00457217337799,0.0498469206675,0.999999961487,5.374466603e-05,-0.000269355150656,-3.98103201721e-05,1793193604221086464
+35,0.583333333,BASELINE,763.672461399,742,711,672,664,632,877,784,799.672461399,650,629,651,0.400965375782,0.00457244670519,0.0498472361069,0.99999996156,5.37970549077e-05,-0.000269079900054,-3.97722027526e-05,1793193604237752832
+36,0.600000000,BASELINE,763.085657818,742,711,672,664,632,877,784,799.085657818,650,629,651,0.400966139186,0.00457366870469,0.0498476407528,0.999999961806,5.32739713888e-05,-0.0002681877317,-4.0325058179e-05,1793193604254419456
+37,0.616666667,BASELINE,763.494685814,742,711,672,664.494685814,632,877,784,799,650,629,651.494685814,0.400965905203,0.00457410647506,0.0498475053223,0.999999961795,5.38968252579e-05,-0.000268088901115,-4.04213754439e-05,1793193604271086080
+38,0.633333333,BASELINE,764,742,710.926034802,672,665,632,876.926034802,784,798.926034802,650,629,651.926034802,0.400965808535,0.00457421175084,0.0498474586153,0.999999961844,5.45868076398e-05,-0.00026776552725,-4.0424884369e-05,1793193604287752704
+39,0.650000000,BASELINE,764,742,710.346482324,672,665,632,876.346482324,784,798.346482324,650,629,651.346482324,0.400967815771,0.00457296051953,0.0498486493729,0.9999999626,5.4396793772e-05,-0.000264980399988,-4.0327398952e-05,1793193604304419328
+40,0.666666667,BASELINE,763.768398677,742,710.231601323,672.231601323,665,632,876.231601323,784,798.231601323,650,629,651,0.400968111324,0.00457232397904,0.0498487247068,0.999999962735,5.38291119768e-05,-0.000264608173698,-4.01936861151e-05,1793193604321085952
+41,0.683333333,BASELINE,763.19249863,742,710.80750137,672.80750137,665,632,876.80750137,784,798.80750137,650,629,651,0.400965862287,0.00457260123853,0.0498471418509,0.999999961947,5.26999887308e-05,-0.000267822968214,-4.00061175707e-05,1793193604337752576
+42,0.700000000,BASELINE,763,742,710.609486888,672.609486888,664.609486888,632.390513112,876.609486888,784,799,650,629,651,0.400966059916,0.00457305177373,0.0498472159385,0.999999961926,5.22310134466e-05,-0.000267968778526,-4.01545563434e-05,1793193604354419456
+43,0.716666667,BASELINE,763,742,710.022904516,672.022904516,664.022904516,632.977095484,876.022904516,784,799,650,629,651,0.400967485971,0.00457358930738,0.0498481219462,0.999999962293,5.20934860235e-05,-0.00026657370972,-4.04716980516e-05,1793193604371086080
+44,0.733333333,BASELINE,763,742,710,672,665.113122777,632.443438611,876.556561389,784.556561389,799,650,629,651,0.400966400765,0.00457298528896,0.0498477040432,0.999999962152,5.20877717342e-05,-0.000267139067148,-4.02409664487e-05,1793193604387752704
+45,0.750000000,BASELINE,763,742,710.135057513,672,665.729884974,632,877,784.864942487,799,650,629,651,0.40096536229,0.00457204932115,0.0498471258913,0.999999961979,5.16855460605e-05,-0.000267900534754,-3.9998290126e-05,1793193604404419328
+46,0.766666667,BASELINE,763,742,710.711330059,672,664.577339883,632,877,784.288669941,799,650,629,651,0.400964809841,0.00457018045528,0.0498461999711,0.999999961768,4.99704724611e-05,-0.000269042429346,-3.97893200682e-05,1793193604421085952
+47,0.783333333,BASELINE,763,742,710.713385743,672,664,632,876.713385743,784,799.286614257,650,629,651,0.40096535843,0.00457098705638,0.0498464915381,0.999999961854,5.15593658157e-05,-0.000268397897567,-3.99436844596e-05,1793193604437752832
+48,0.800000000,BASELINE,763,742,710.139093489,672,664,632,876.139093489,784,799.860906511,650,629,651,0.400967012141,0.00457447905393,0.0498480051106,0.99999996222,5.64644882417e-05,-0.000265960309414,-4.04627317517e-05,1793193604454419712
+49,0.816666667,BASELINE,763,742,710,672,664,632,876.447828823,784,799.552171177,650,629,651,0.400966567913,0.00457444866802,0.0498481752479,0.999999962342,5.42439291321e-05,-0.000265968851394,-4.04265395479e-05,1793193604471086336
+50,0.833333333,BASELINE,763,742,710.038029321,672.038029321,664.038029321,632.038029321,876.961970679,784.038029321,799,650.038029321,629,651,0.400965577854,0.00457334155606,0.0498479482529,0.999999962364,5.02432059641e-05,-0.000266705250482,-4.02047719102e-05,1793193604487752960
+51,0.850000000,BASELINE,763,742,710.617432625,672.617432625,664.617432625,632.617432625,876.382567375,784.617432625,799,650.617432625,629,651,0.400966362825,0.00457293284352,0.0498481802415,0.999999962226,5.33214460405e-05,-0.000266673657672,-3.98674695187e-05,1793193604504419584
+52,0.866666667,BASELINE,763.195042562,742,711,673,664.804957438,633,876.195042562,785,799,650.804957438,629,651,0.400966650462,0.00457258392573,0.0498482536601,0.999999962147,5.4791666746e-05,-0.000266696048892,-3.97057243175e-05,1793193604521086208
+53,0.883333333,BASELINE,763.769166904,742,711,673,664.230833096,633,876.769166904,785,799,650.230833096,629,651,0.400965971489,0.00457235122415,0.0498480188842,0.999999962195,5.31365651025e-05,-0.000266823362663,-3.98851894406e-05,1793193604537752832
+54,0.900000000,BASELINE,763.658254396,742,710.658254396,672.658254396,664,632.658254396,877,784.658254396,799,650,628.658254396,651,0.400966049407,0.00457226003317,0.0498480854226,0.999999962367,5.15486071033e-05,-0.000266470821186,-4.00363514876e-05,1793193604554419456
+55,0.916666667,BASELINE,763.086715026,742,710.086715026,672.086715026,664,632.086715026,877,784.086715026,799,650,628.086715026,651,0.400966636268,0.00457226399559,0.0498483545682,0.999999962619,5.00057973475e-05,-0.000265795619388,-4.0168482206e-05,1793193604571086336
+56,0.933333333,BASELINE,763,741.49389809,710,672.50610191,664,632,876.49389809,784,799,650,628.50610191,651.50610191,0.400966741168,0.00457312543865,0.0498481412807,0.999999962515,5.17299991322e-05,-0.000265794678127,-4.05783806627e-05,1793193604587752960
+57,0.950000000,BASELINE,763,741.099430653,710,672.801138693,664,632,876,784,799,650,629,651.900569347,0.400966570336,0.00457363532257,0.049847820752,0.999999962344,5.33053615975e-05,-0.000266085347765,-4.08439679822e-05,1793193604604419584
+58,0.966666667,BASELINE,763,741.676922318,710,671.646155364,664,632,876,784,799,650,629,651.323077682,0.400965488247,0.00457171752526,0.0498473994774,0.999999962177,5.13556410802e-05,-0.000267198247924,-4.01768432347e-05,1793193604621086464
+59,0.983333333,BASELINE,763.253449108,742,710.253449108,671.253449108,664,632.253449108,876.253449108,784,799.253449108,650,629,651,0.400965411664,0.00457076365554,0.0498473442991,0.999999962165,5.07697833416e-05,-0.000267406404634,-3.98306896907e-05,1793193604637753088
+60,1.000000000,BASELINE,763.828750694,742,710.828750694,671.828750694,664,632.828750694,876.828750694,784,799.828750694,650,629,651,0.400966611965,0.00457103386752,0.0498477540228,0.999999962355,5.19158809814e-05,-0.000266465636878,-3.98921341636e-05,1793193604654419712
+61,1.016666667,BASELINE,764,742,710.596530412,672,664,632.596530412,877,784,799.596530412,650,629,651,0.400966211703,0.0045723404315,0.049847370867,0.999999962119,5.37191932437e-05,-0.00026694988351,-4.01783179734e-05,1793193604671086336
+62,1.033333333,BASELINE,764,742,710.022058515,672,664,632.022058515,877,784,799.022058515,650,629,651,0.400965133075,0.00457408623201,0.0498466516654,0.999999961698,5.58010523754e-05,-0.000268038093317,-4.05597529381e-05,1793193604687752960
+63,1.050000000,BASELINE,764,742,710.571138377,672,664.571138377,632,876.428861623,784,799,650,629,651,0.40096472852,0.00457271453437,0.0498467221001,0.999999961791,5.34097407088e-05,-0.00026823243595,-4.0219204935e-05,1793193604704419584
+64,1.066666667,BASELINE,763.840064767,742,711,672.159935233,665,632.159935233,876.159935233,784,799.159935233,650.159935233,629,651,0.40096476712,0.00457173630005,0.0498470311898,0.999999961954,5.15816272963e-05,-0.000268018892976,-3.99718630662e-05,1793193604721086208
+65,1.083333333,BASELINE,763.264641042,742,711,672.735358958,665,632.735358958,876.735358958,784,799.735358958,650.735358958,629,651,0.400965887046,0.00457210362121,0.0498478783573,0.999999962262,5.1680647351e-05,-0.000266838448125,-4.00415523938e-05,1793193604737752832
+66,1.100000000,BASELINE,763,742,710.689635207,672.689635207,665,632.689635207,877,784.310364793,799.689635207,651,629,651,0.400966630505,0.00457202311807,0.0498485006569,0.99999996261,5.12144565936e-05,-0.000265608212919,-4.01076211762e-05,1793193604754419456
+67,1.116666667,BASELINE,763,742,710.114985248,672.114985248,665,632.114985248,877,784.885014752,799.114985248,651,629,651,0.40096705339,0.00457156127875,0.0498489314745,0.999999962993,5.02669714434e-05,-0.000264335579752,-4.01706069494e-05,1793193604771086336
+68,1.133333333,BASELINE,763,742,710.470367815,672,665,632.470367815,877,784.529632185,799,650.529632185,629,651,0.400969266883,0.00457150439149,0.0498498309455,0.999999963514,4.97244214961e-05,-0.000262489807078,-3.9981388387e-05,1793193604787752960
+69,1.150000000,BASELINE,763,742,710.942172834,672,665,632.942172834,876.942172834,784.057827166,799,650,629,651,0.400971426918,0.00457156685411,0.0498506151602,0.999999963935,4.95565335468e-05,-0.000260942821851,-3.97873840096e-05,1793193604804419840
+70,1.166666667,BASELINE,763,742,710.359893337,672,665,632.359893337,876.359893337,784.640106663,799,650,629,651,0.400969039787,0.00457179302697,0.0498492908504,0.999999963159,5.18678983942e-05,-0.000263405908767,-4.01221491257e-05,1793193604821086464
+71,1.183333333,BASELINE,763,742,710.21965919,672,664.78034081,632,876.21965919,784.78034081,799,650,629,651,0.400967404995,0.00457234790721,0.0498484850762,0.999999962619,5.40087029793e-05,-0.000264995929692,-4.02665638509e-05,1793193604837753088
+72,1.200000000,BASELINE,763,742,710.794798678,672,664.205201322,632,876.794798678,784.205201322,799,650,629,651,0.400966987736,0.00457343474336,0.0498485184617,0.999999962477,5.5873485728e-05,-0.000265173045137,-4.01029295382e-05,1793193604854419712
+73,1.216666667,BASELINE,763,742.37448131,711,672.37448131,664.37448131,632.37448131,876.62551869,784.37448131,799,650,629,651,0.400966964296,0.00457445067106,0.0498485567019,0.999999962416,5.64565984654e-05,-0.000265250997041,-4.02723379184e-05,1793193604871086336
+74,1.233333333,BASELINE,763,742.956683947,711,672.956683947,664.956683947,632.956683947,876.043316053,784.956683947,799,650,629,651,0.400967159303,0.00457542726644,0.0498485976348,0.999999962403,5.63287805602e-05,-0.000265273943834,-4.06264820176e-05,1793193604887752960
+75,1.250000000,BASELINE,763.538014446,742.461985554,711,672.461985554,665,633,876.538014446,785,799,650,629,651,0.400968721144,0.00457392531702,0.0498502254221,0.999999963118,5.47916639598e-05,-0.000262928449002,-4.03743357413e-05,1793193604904419584
+76,1.266666667,BASELINE,763.880918393,742,711,672,664.880918393,632.880918393,877,784.880918393,799.119081607,650,629,651,0.400969740529,0.00457265561258,0.049851339841,0.999999963636,5.3330573883e-05,-0.000261288566207,-4.01409337722e-05,1793193604921086208
+77,1.283333333,BASELINE,763.300599714,742,711,672,664.300599714,632.300599714,877,784.300599714,799.699400286,650,629,651,0.400968233276,0.00457305712251,0.0498499717908,0.999999963194,5.26027234309e-05,-0.000263119104472,-4.01688946225e-05,1793193604937752832
+78,1.300000000,BASELINE,763.277762457,742,711,672,664.277762457,632.277762457,877,784,800,650,629,651,0.400967362878,0.00457321665813,0.0498491275161,0.999999962923,5.20924736641e-05,-0.000264227446776,-4.02926779403e-05,1793193604954419712
+79,1.316666667,BASELINE,763.854022031,742,711,672,664.854022031,632.854022031,877,784,800,650,629,651,0.400967176877,0.00457311615629,0.0498488461163,0.999999962841,5.18160682801e-05,-0.000264559681875,-4.05194367653e-05,1793193604971086336
+80,1.333333333,BASELINE,764,742,710.572647966,672.427352034,665,633,877.427352034,784.427352034,800,650,629,651,0.400966575834,0.00457255993199,0.0498487672654,0.999999962695,5.19124348744e-05,-0.00026513304992,-4.02477874521e-05,1793193604987752960
+81,1.350000000,BASELINE,764,742,710.000311809,672.999688191,665,633,877.999688191,784.999688191,800,650,629,651,0.400965833983,0.00457184909856,0.0498487571316,0.999999962527,5.21352686548e-05,-0.000265788225137,-3.98070474275e-05,1793193605004419584
+82,1.366666667,BASELINE,763.407409599,742,710.592590401,672.407409599,665,633,877.407409599,784.407409599,799.407409599,650.592590401,629,651,0.400966819169,0.00457112247479,0.0498491770824,0.999999962823,5.17315817318e-05,-0.000264774944683,-3.96447938292e-05,1793193605021086464
+83,1.383333333,BASELINE,763.18069907,742,710.81930093,672,665,632.81930093,877,784,799,650.81930093,629,651,0.400966955104,0.00457068264158,0.0498489607248,0.999999962851,5.12433331763e-05,-0.000264761368922,-3.96723899322e-05,1793193605037752832
+84,1.400000000,BASELINE,763.758255493,742,710.241744507,672,665,632.241744507,877,784,799,650.241744507,629,651,0.400965223822,0.00457087268618,0.0498473463706,0.999999962287,5.05701174969e-05,-0.00026694537533,-4.01166068889e-05,1793193605054419456
+85,1.416666667,BASELINE,764,742,710.334018725,672,665.334018725,632.334018725,876.665981275,784.334018725,799,650.334018725,629,651,0.400965318993,0.00457147992866,0.0498473723836,0.999999962252,5.13382803242e-05,-0.000266902957315,-4.02825015798e-05,1793193605071086336
+86,1.433333333,BASELINE,764,742,710.908491038,672,665.908491038,632.908491038,876.091508962,784.908491038,799,650.908491038,629,651,0.400966728994,0.00457238750378,0.0498485792654,0.999999962597,5.31440635651e-05,-0.000265257779496,-4.02480374543e-05,1793193605087752960
+87,1.450000000,BASELINE,764,742.496097038,710.503902962,672.496097038,665.503902962,632.503902962,876,784.503902962,799.496097038,650.503902962,629,651,0.400968301694,0.00457268721842,0.0498493495674,0.999999963018,5.38432992723e-05,-0.000263555045244,-4.00363887913e-05,1793193605104419584
+88,1.466666667,BASELINE,764,742.915434578,710.084565422,673,665,632.084565422,876.169130843,784,800,650,629,651,0.40096936317,0.00457265829289,0.0498498482577,0.999999963349,5.37559190828e-05,-0.000262345882948,-3.98326450136e-05,1793193605121086208
+89,1.483333333,BASELINE,764,742.336472938,710.663527062,673,665,632.663527062,877.327054124,784,800,650,629,651,0.400967255644,0.00457138137488,0.04984924263,0.99999996307,5.02954832685e-05,-0.000264086055172,-3.98713873548e-05,1793193605137753088
+90,1.500000000,BASELINE,764,742,710.759409085,672.759409085,664.759409085,633,877.51881817,784,800.240590915,650.240590915,629.240590915,651.240590915,0.400966000995,0.00457123397519,0.0498487553959,0.999999962804,4.94162128725e-05,-0.000265233775347,-4.00022523862e-05,1793193605154419712
+91,1.516666667,BASELINE,764,742,710.184978614,672.184978614,664.184978614,633,876.369957227,784,800.815021386,650.815021386,629.815021386,651.815021386,0.400965929782,0.00457265387456,0.0498484324426,0.99999996257,5.21185207154e-05,-0.000265559419748,-4.02609451759e-05,1793193605171086336
+92,1.533333333,BASELINE,764,742,710,672,664.399296658,633,876.399296658,784,800.201406684,651,629.600703342,651.600703342,0.400966927824,0.00457262045388,0.0498491725028,0.999999962975,5.22269318674e-05,-0.00026400333935,-4.03023120445e-05,1793193605187752960
+93,1.550000000,BASELINE,764,742,710,672,664.988247983,633,876.988247983,784,799.023504034,651,629.011752017,651.011752017,0.40096843373,0.00457189674722,0.0498504174645,0.999999963679,5.11033153806e-05,-0.000261553492694,-4.02404552438e-05,1793193605204419584
+94,1.566666667,BASELINE,764,742,710.567767043,672.567767043,664.432232957,633,877,784,799,650.432232957,629.567767043,651,0.400968416426,0.00457150972212,0.0498500974998,0.999999963341,5.23789491227e-05,-0.000262671995074,-3.97202827213e-05,1793193605221086208
+95,1.583333333,BASELINE,763.853922144,742,710.853922144,672.853922144,664.146077856,632.853922144,876.853922144,784,799.146077856,650,629.853922144,651,0.400967995662,0.00457128920854,0.0498495312834,0.999999963005,5.33250483565e-05,-0.000263791077431,-3.94945806744e-05,1793193605237752832
+96,1.600000000,BASELINE,763.278597284,742,710.278597284,672.278597284,664.721402716,632.278597284,876.278597284,784,799.721402716,650,629.278597284,651,0.400966480469,0.00457153784258,0.0498483350886,0.999999962748,5.31592730117e-05,-0.000264698374673,-4.01615948315e-05,1793193605254420736
+97,1.616666667,BASELINE,763,742,710.296114651,672,665,632,876.296114651,784,799.703885349,650,629,651,0.400965717623,0.00457245994428,0.0498480451234,0.999999962511,5.40400047036e-05,-0.000265356157395,-4.0540281667e-05,1793193605271087872
+98,1.633333333,BASELINE,763,742,710.870251076,672,665,632,876.870251076,784,799.129748924,650,629,651,0.400965661156,0.00457401436413,0.0498486060164,0.999999962292,5.59033009026e-05,-0.000265779671109,-4.06482582043e-05,1793193605287754240
+99,1.650000000,BASELINE,763.458578849,742,711,672.458578849,664.541421151,632,876.541421151,784,799.458578849,650,629,651,0.400965719821,0.00457280952175,0.0498487320748,0.999999962415,5.37970660867e-05,-0.000265844052525,-4.0032708657e-05,1793193605304420096
+100,1.666666667,BASELINE,763.950093162,742,710.950093162,672.950093162,664.049906838,632,876.049906838,784.049906838,800,650.049906838,629,651,0.400965876377,0.00457096926527,0.0498487675587,0.999999962634,5.08697798372e-05,-0.000265704548774,-3.93088845135e-05,1793193605321086464
+101,1.683333333,BASELINE,763.37089022,742,710.37089022,672.37089022,664.62910978,632,876.62910978,784.62910978,800,650.62910978,629,651,0.400966714607,0.00457093425004,0.0498491889321,0.999999962901,5.15266032058e-05,-0.00026451478104,-3.96771816782e-05,1793193605337753088
+102,1.700000000,BASELINE,763.206559925,742,710.206559925,672,665,632,877,785,799.793440075,650.793440075,629,651,0.400967546758,0.00457135474661,0.0498495703762,0.999999963085,5.23982885002e-05,-0.000263602229935,-3.99833478967e-05,1793193605354419456
+103,1.716666667,BASELINE,763.780889245,742,710.780889245,672,665,632,877,785,799.219110755,650.219110755,629,651,0.400968368088,0.00457258625868,0.0498498807285,0.999999963121,5.3652524408e-05,-0.000263183249005,-4.01788931e-05,1793193605371086080
+104,1.733333333,BASELINE,764,742,710.645123281,672,665,632,877,784.645123281,799,650,629,651,0.400968296238,0.00457313282821,0.0498496576292,0.999999963054,5.37314361276e-05,-0.000263435645805,-4.00899327873e-05,1793193605387752960
+105,1.750000000,BASELINE,764,742,710.071346614,672,665,632,877,784.071346614,799,650,629,651,0.400967673445,0.00457325690216,0.0498491054789,0.999999962923,5.30853683061e-05,-0.000264102171028,-3.98254798804e-05,1793193605404419584
+106,1.766666667,BASELINE,763.480178563,742,710.519821437,672.519821437,665,632.519821437,877.519821437,784.519821437,799.519821437,650,629,651.519821437,0.400967322343,0.00457266022456,0.0498491683055,0.999999962985,5.1579318304e-05,-0.000264136074109,-4.00224116406e-05,1793193605421086208
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,742,711,672,665,633,877,784,800,650,629,651,0.400967585392,0.00457192324953,0.0498494983006,0.999999963369,5.0905164e-05,-0.000262790023277,-4.01601219791e-05,1793193605463470592
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,742,711,672.574089728,665,632.425910272,877,784,800,650,629,651.574089728,0.400965999011,0.00457228099476,0.049848279836,0.999999962651,5.15718746147e-05,-0.000265373530142,-4.01854146402e-05,1793193605480136704
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,742,711,673,664.851208462,632.148791538,877,784.148791538,800,650.148791538,629,651.851208462,0.400964608892,0.0045726517561,0.0498474289228,0.999999962062,5.23692687986e-05,-0.000267426166962,-4.02010631422e-05,1793193605496803072
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,742,711,673,664.274747221,632.725252779,877,784.725252779,800,650.725252779,629,651.274747221,0.400963782882,0.00457305992957,0.0498476344577,0.99999996186,5.35422853284e-05,-0.000267952931089,-4.01889915621e-05,1793193605513469440
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,742,711,673,664.311010537,632.688989463,876.688989463,784.688989463,800,650.688989463,629,651,0.400964167852,0.00457248756898,0.0498480253086,0.999999962077,5.31512130054e-05,-0.000267244545256,-4.00205339719e-05,1793193605530135808
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,742,711,673,664.905233866,632.094766134,876.094766134,784.094766134,800,650.094766134,629,651,0.400965655565,0.00457102231325,0.0498485849122,0.999999962672,5.1335848124e-05,-0.000265411405634,-3.97096679644e-05,1793193605546802432
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,742.48344057,711,673,664.51655943,632.48344057,876.48344057,784.48344057,800,650,629,651,0.40096899422,0.00457121775689,0.0498503946757,0.999999963479,5.17163615176e-05,-0.00026228444666,-3.96851538657e-05,1793193605563469568
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,743,711,673,664.058431405,633,877,784.941568595,800,650.058431405,629,651,0.400973375101,0.00457176637303,0.0498525998965,0.999999964423,5.25921432314e-05,-0.000258476527388,-3.97358514794e-05,1793193605580136448
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,743,711,673,664.631863079,633,877,784.368136921,800,650.631863079,629,651,0.400983846557,0.00457265056681,0.0498561999315,0.999999966277,5.41609174452e-05,-0.000250830451895,-3.99705786228e-05,1793193605596802560
+116,1.933333333,POSE1_TO_POSE2_PRESS,763.788612061,742.788612061,711,672.788612061,665,633,876.788612061,784.211387939,800,650.788612061,629,651,0.401001629063,0.00457273901491,0.0498629125481,0.999999969546,5.47013787466e-05,-0.000237322157022,-3.99317962358e-05,1793193605613468928
+117,1.950000000,POSE1_TO_POSE2_PRESS,763.198160889,742.198160889,711,672.198160889,665,633,876.198160889,784.801839111,800,650.198160889,629,651,0.401032521823,0.0045714005228,0.0498752066808,0.999999975049,5.33978575728e-05,-0.00021330166512,-3.94025534428e-05,1793193605630135552
+118,1.966666667,POSE1_TO_POSE2_PRESS,763.384306445,742,711,672.384306445,664.615693555,633,876.384306445,785,800,650.384306445,629,651,0.401080644222,0.00457061356157,0.0498919223228,0.999999981935,5.14619734647e-05,-0.000178760887561,-3.90705761863e-05,1793193605646802432
+119,1.983333333,POSE1_TO_POSE2_PRESS,763.962740887,742,711,672.962740887,664.037259113,633,876.962740887,785,800,650.962740887,629,651,0.40113746998,0.00457010519972,0.0499108714407,0.999999988388,4.92066582894e-05,-0.000138905905865,-3.88382452633e-05,1793193605663469056
+120,2.000000000,POSE1_TO_POSE2_PRESS,763.462719893,742.537280107,711,673,664.537280107,632.462719893,877,785,799.462719893,651,629,651,0.401206877078,0.00456936534292,0.049924827949,0.999999991474,4.82057934504e-05,-0.000115220146457,-3.81126187507e-05,1793193605680135936
+121,2.016666667,POSE1_TO_POSE2_PRESS,763.111300791,742.888699209,711,672.888699209,665,632.111300791,876.888699209,785,799,650.888699209,629,651,0.401278236873,0.00456828751614,0.049936049152,0.9999999935,4.68489723291e-05,-9.70579989598e-05,-3.7204317327e-05,1793193605696802304
+122,2.033333333,POSE1_TO_POSE2_PRESS,763.684283158,742.315716842,711,672.315716842,665,632.684283158,876.315716842,785,799,650.315716842,629,651,0.401354103504,0.00456587388369,0.0499373499934,0.999999993688,4.36573704679e-05,-9.71903556054e-05,-3.56791494569e-05,1793193605713468928
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,742,711,672,665,633,876.267720482,785,799.267720482,650.267720482,629,651,0.401440322989,0.00456430056057,0.0499379308213,0.99999999367,4.24438580352e-05,-9.83402801208e-05,-3.44745994283e-05,1793193605730135552
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,742,711,672,665,633,876.863988115,785,799.863988115,650.863988115,629,651,0.401539247514,0.00456375846701,0.049937628047,0.999999993406,4.36578614085e-05,-0.000100738966114,-3.36635123983e-05,1793193605746802432
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,742,711,672,665,633,876.554798186,784.554798186,800,651,629,651,0.401660539745,0.00456267071857,0.0499382897001,0.999999993429,4.17472847518e-05,-0.000101688710765,-3.25507480062e-05,1793193605763469056
+126,2.100000000,POSE1_TO_POSE2_PRESS,763.978054979,742,711,672.021945021,665,632.978054979,876.021945021,784.021945021,800,650.978054979,629,651,0.401789614811,0.00456136962023,0.0499392275018,0.999999993536,3.88910354956e-05,-0.000102143342707,-3.13308074337e-05,1793193605780135680
+127,2.116666667,POSE1_TO_POSE2_PRESS,763.401863314,742,711,672.598136686,665,632.401863314,876.598136686,784.598136686,800,650.401863314,629,651,0.401948312123,0.00455875264129,0.0499399417134,0.99999999384,3.54711599227e-05,-0.000100907563925,-2.96555894353e-05,1793193605796802304
+128,2.133333333,POSE1_TO_POSE2_PRESS,763,742,711,672.821885947,665,632,877,785,799.821885947,650,629,651,0.402115966016,0.00455607415503,0.049939817201,0.999999993901,3.16436721837e-05,-0.000102061198332,-2.79432096767e-05,1793193605813468928
+129,2.150000000,POSE1_TO_POSE2_PRESS,763,742,711,672.233181824,665,632,877,785,799.233181824,650,629,651,0.402304266675,0.00455325388191,0.0499377592544,0.999999993387,2.68765537981e-05,-0.00010872292902,-2.61451645355e-05,1793193605830135552
+130,2.166666667,POSE1_TO_POSE2_PRESS,763,742,711,672,664.649258117,632,877,785,799,650,628.649258117,651,0.402517485828,0.00455021327778,0.0499378365687,0.999999993333,2.21403232465e-05,-0.000110707270642,-2.42427807219e-05,1793193605846802176
+131,2.183333333,POSE1_TO_POSE2_PRESS,763,742,711,672,664.068469754,632,877,785,799,650,628.068469754,651,0.402747048675,0.00454702816149,0.0499393143692,0.999999993591,1.74243511008e-05,-0.000109623781748,-2.22719625182e-05,1793193605863469056
+132,2.200000000,POSE1_TO_POSE2_PRESS,763.50715385,742.50715385,711,672.50715385,665.014307699,632,877,785,799.50715385,650,628.50715385,651,0.403021147578,0.004544041725,0.0499453274471,0.999999995118,1.40900646499e-05,-9.57256605702e-05,-2.00763469306e-05,1793193605880135936
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,743,710.918220233,673,665.918220233,632,877,785,799.918220233,650.081779767,629,651,0.40330686191,0.00454056899493,0.0499520867756,0.999999996595,1.06884595643e-05,-7.98852758498e-05,-1.7739611292e-05,1793193605896802560
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,743,710.345439882,673,665.345439882,632,877,785,799.345439882,650.654560118,629,651,0.403626578615,0.00453401716543,0.0499596874102,0.999999997911,5.77400186294e-06,-6.26662086825e-05,-1.47359778428e-05,1793193605913469184
+135,2.250000000,POSE1_TO_POSE2_PRESS,763.764332335,742.764332335,710.235667665,673,665,632.235667665,876.764332335,784.764332335,799,650.764332335,629.235667665,651,0.403967174336,0.00452835556848,0.0499675165289,0.999999998838,1.84059007928e-06,-4.67625454549e-05,-1.15585997518e-05,1793193605930135808
+136,2.266666667,POSE1_TO_POSE2_PRESS,763.170571794,742.170571794,710.829428206,673,665,632.829428206,876.170571794,784.170571794,799,650.170571794,629.829428206,651,0.404339495337,0.00452404666465,0.0499756928245,0.999999999427,-6.0213937499e-07,-3.28576164487e-05,-8.11721991466e-06,1793193605946802432
+137,2.283333333,POSE1_TO_POSE2_PRESS,763.412272883,742.412272883,711,673,665,632.587727117,876.412272883,784.412272883,799,650,629.587727117,651,0.404735118475,0.00451762652754,0.0499803312004,0.999999999676,-6.63139126473e-06,-2.41520378475e-05,-4.49331077136e-06,1793193605963469056
+138,2.300000000,POSE1_TO_POSE2_PRESS,763.990717765,742.990717765,711,673,665,632.009282235,876.990717765,784.990717765,799,650,629.009282235,651,0.405140133837,0.00451035543025,0.0499835435712,0.999999999746,-1.41062380466e-05,-1.75421260201e-05,-7.9583087813e-07,1793193605980135936
+139,2.316666667,POSE1_TO_POSE2_PRESS,763.433256596,742.433256596,711,672.433256596,665,632,877,785,799,650.566743404,629,651,0.405550100582,0.00450372212888,0.0499670532151,0.999999998545,-2.13553425687e-05,-4.94654760127e-05,2.78350248072e-06,1793193605996802816
+140,2.333333333,POSE1_TO_POSE2_PRESS,763.145470623,742,711,672,665,632,877,784.854529377,799.145470623,650.854529377,629,651.145470623,0.40596834594,0.00449728070784,0.0499493555077,0.999999996187,-2.87711530583e-05,-8.22235909527e-05,6.13012511447e-06,1793193606013469440
+141,2.350000000,POSE1_TO_POSE2_PRESS,763.732518159,742,711,672,665,632,877,784.267481841,799.732518159,650.267481841,629,651.732518159,0.406411475881,0.00449139016788,0.0499289682611,0.999999992605,-3.67041744991e-05,-0.000115608052613,8.77620116605e-06,1793193606030136832
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,742.315573586,711,672.315573586,665,632.315573586,877,784.315573586,799.684426414,650,629,651.684426414,0.406901291911,0.00448496893883,0.0499154179851,0.999999989518,-4.56427235137e-05,-0.000136888820718,1.19227021292e-05,1793193606046803456
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,742.895287614,711,672.895287614,665,632.895287614,877,784.895287614,799.104712386,650,629,651.104712386,0.407430185036,0.00447810351335,0.0499075903674,0.999999987386,-5.54229170523e-05,-0.000148038595829,1.54880675251e-05,1793193606063469824
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,742.527574859,711,673,665,632.527574859,877,785,799,650.472425141,629,651,0.408021052321,0.00447146484013,0.0499266778411,0.999999992213,-6.1279636423e-05,-0.000106863016872,1.99854959867e-05,1793193606080136192
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,742.048506199,711,672.951493801,665,632,877.048506199,784.951493801,799.048506199,651,628.951493801,651,0.408627654547,0.00446479303636,0.0499515285296,0.999999996709,-5.33589671317e-05,-5.58742370237e-05,2.47604687857e-05,1793193606096802048
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,742.619327604,711,672.380672396,665,632,877.619327604,784.380672396,799.619327604,651,628.380672396,651,0.409256578878,0.00445722622047,0.0499745473895,0.999999994885,9.36033307944e-05,-2.34250624066e-05,3.03115432143e-05,1793193606113468672
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,743,711,672,665,632,877.801987694,784.198012306,800,650.801987694,628.198012306,651,0.409881511537,0.0044525669726,0.0499876369444,0.999999981103,0.000190926514696,-7.00448984525e-06,3.59437897873e-05,1793193606130135552
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,743,711,672,665,632,877.207560952,784.792439048,800,650.207560952,628.792439048,651,0.410498452956,0.00445372858531,0.0499808483401,0.999999981035,0.000188873741627,-2.26726794909e-05,4.17385412773e-05,1793193606146803200
+149,2.483333333,POSE1_TO_POSE2_PRESS,763.623156836,742.623156836,711,672.376843164,665,632.376843164,877,784.623156836,800,650,629,651,0.411128614526,0.00446683905612,0.0499557265001,0.999999989154,0.000119627282392,-8.177528623e-05,2.6352975093e-05,1793193606163469824
+150,2.500000000,POSE1_TO_POSE2_PRESS,763.044130072,742.044130072,711,672.955869928,665,632.955869928,877,784.044130072,800,650,629,651,0.411765868942,0.00448636031891,0.049920768527,0.999999986419,1.43301172038e-05,-0.000164181290882,-3.96239223691e-07,1793193606180136192
+151,2.516666667,POSE1_TO_POSE2_PRESS,763.529852043,742,711,673,665.529852043,633,877,784,800,650,629,651,0.412507840367,0.00448930674318,0.0499290571411,0.999999992214,2.61540912045e-06,-0.00012475726035,4.96795707227e-07,1793193606196802560
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,742,711,673,665.89614464,632.89614464,877,784,800,650,629,651,0.413261046457,0.0044877082113,0.0499419238513,0.999999996759,-3.05644519402e-06,-8.03170394999e-05,4.66803674762e-06,1793193606213468928
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,742,711,673,665.320153045,632.320153045,877,784,800,650,629,651,0.414026050792,0.0044716644741,0.0499593828592,0.99999999805,-1.63561463481e-05,-5.87665854503e-05,1.33747510391e-05,1793193606230135552
+154,2.566666667,POSE1_TO_POSE2_PRESS,764.263576967,742,711,672.736423033,665,632,877.263576967,784,799.736423033,650,629,651,0.414773984429,0.00446206114854,0.0499570134668,0.999999997426,-1.49249596496e-05,-6.77860610898e-05,1.8169105255e-05,1793193606246801920
+155,2.583333333,POSE1_TO_POSE2_PRESS,764.856990814,742,711,672.143009186,665,632,877.856990814,784,799.143009186,650,629,651,0.415500556117,0.00446051727039,0.0499298310679,0.999999993205,4.94027182223e-06,-0.000115060356705,1.80675827602e-05,1793193606263468544
+156,2.600000000,POSE1_TO_POSE2_PRESS,764.562866897,742.437133103,711,672.437133103,665,632.437133103,878,784,799.437133103,650.437133103,629,651,0.41629766547,0.00446082747367,0.0499217904271,0.999999992203,6.99080763475e-07,-0.000123578168645,1.79399364582e-05,1793193606280140032
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,743,711,673,665.013034573,632.986965427,878,784.013034573,800,650.986965427,629,651,0.417117718595,0.00446190766747,0.0499205424135,0.999999992735,-1.06792123191e-05,-0.000118727846893,1.78541359534e-05,1793193606296812800
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,743,711,673,665.587777035,632.412222965,878,784.587777035,800,650.412222965,629,651,0.417961353427,0.00447080058539,0.0499501010596,0.999999997483,2.21580099558e-07,-6.8092221808e-05,1.99290714462e-05,1793193606313473536
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,742.837792488,711,672.837792488,665.837792488,632,878,784.837792488,800.162207512,650,629,651,0.418791511277,0.00447680800312,0.0499687067831,0.999999998887,1.15315553289e-05,-4.01730877263e-05,2.18818704652e-05,1793193606330135808
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,742.264153384,711,672.264153384,665.264153384,632,878,784.264153384,800.735846616,650,629,651,0.419587485356,0.00447549648714,0.0499595309404,0.999999996997,2.38794025264e-05,-6.98732497045e-05,2.35248761401e-05,1793193606346802432
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,742.320096114,711,672.320096114,665,632,878,784,800.679903886,650,629,651,0.42041196155,0.00447292643817,0.0499525211691,0.999999996503,2.29133931928e-05,-7.69313707546e-05,2.34434301315e-05,1793193606363469056
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,742.913401803,711,672.913401803,665,632,878,784,800.086598197,650,629,651,0.421260764929,0.0044692822017,0.0499473601911,0.999999997614,1.05836929989e-05,-6.46639749104e-05,2.18901239067e-05,1793193606380135680
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,743,711,673,665.492891246,632,878.492891246,784.492891246,800,650,629,650.507108754,0.422162954162,0.00446400779505,0.0499652555735,0.999999999363,2.64832336403e-06,-2.77222091654e-05,2.231888239e-05,1793193606396802304
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,743,711,673,665.93036887,632,878.93036887,784.93036887,800,650,629,650.06963113,0.423064085778,0.0044592672881,0.0499822546799,0.999999999721,-3.2635755942e-06,4.34612900498e-06,2.29936099846e-05,1793193606413468672
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,743,711,673,665.356441585,632,878.356441585,784.356441585,800,650,629,650.643558415,0.423891478798,0.0044604112435,0.0499642245273,0.999999999303,4.02106483303e-08,-2.94216001629e-05,2.29964377824e-05,1793193606430135808
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.225355508,743,711,673,665,632.225355508,878,784.225355508,800,650,629,651,0.424733355468,0.00446027654359,0.049957062992,0.999999998808,3.1548789196e-06,-4.27128522229e-05,2.34607131577e-05,1793193606446802944
+167,2.783333333,POSE1_TO_POSE2_PRESS,764.82005068,743,711,673,665,632.82005068,878,784.82005068,800,650,629,651,0.425598969814,0.00445804623004,0.0499677142489,0.999999999426,5.95959847737e-06,-2.24448005983e-05,2.46812642528e-05,1793193606463469312
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.598656157,743,711,673.401343843,665,632.598656157,877.598656157,784.598656157,799.598656157,650,629,651,0.426459245327,0.0044543068206,0.0499807689527,0.999999999511,6.18812728977e-06,-1.35412247712e-05,2.74935090686e-05,1793193606480135936
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.023177872,743,711,673.976822128,665,632.023177872,877.023177872,784.023177872,799.023177872,650,629,651,0.427317204382,0.00444991264713,0.0499948664596,0.99999999946,5.29890230685e-06,-9.56845121825e-06,3.09963554058e-05,1793193606496802560
+170,2.833333333,POSE1_TO_POSE2_PRESS,764.55405094,742.44594906,711,673.44594906,665,632,877.55405094,784.55405094,799.55405094,650,629,651,0.428122317386,0.00445393721471,0.0499571485726,0.999999996715,-1.38377476196e-07,-7.54875424167e-05,2.95197398413e-05,1793193606513469184
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.866024558,742.133975442,711,673.133975442,665,632,878,785,800,650.133975442,629.133975442,651,0.42893516624,0.00445721352223,0.0499277241321,0.999999991976,-1.14180901041e-06,-0.000123480171624,2.82646981143e-05,1793193606530135808
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.27719753,742.72280247,711,673.72280247,665,632,878,785,800,650.72280247,629.72280247,651,0.429781807862,0.00445674998765,0.0499338387184,0.999999994437,1.35558288298e-05,-0.00010065386002,2.84713637001e-05,1793193606546802432
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,743,711,674,665.306680463,632.306680463,878,785,799.693319537,650.693319537,629.693319537,651,0.430608681739,0.00445402317005,0.04993879483,0.999999995497,1.44946391358e-05,-8.92491998168e-05,2.88026399297e-05,1793193606563469312
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,743,711,674,665.886156209,632.886156209,878,785,799.113843791,650.113843791,629.113843791,651,0.431417971968,0.00444928313998,0.0499427204668,0.999999995695,3.19483646608e-06,-8.80042119438e-05,2.92447585508e-05,1793193606580136192
+175,2.916666667,POSE1_TO_POSE2_PRESS,764.460525595,743,711,673.539474405,665.078948809,633,878,784.539474405,799.460525595,650.460525595,629,651,0.432201849828,0.00444580249498,0.0499318875453,0.999999994322,-9.1249196139e-06,-0.000102122064033,2.90358997927e-05,1793193606596803072
+176,2.933333333,POSE1_TO_POSE2_PRESS,764.966143735,743,711,673,664.067712529,632.966143735,878,784,800,650.966143735,629,650.966143735,0.432981767999,0.00444285968912,0.0499197665658,0.999999992612,-2.05086906339e-05,-0.000116340069342,2.86403690256e-05,1793193606613470208
+177,2.950000000,POSE1_TO_POSE2_PRESS,764.389450676,743,711,673,665.221098647,632.389450676,878,784,800,650.389450676,629,650.389450676,0.433797816223,0.00444360345714,0.0499448484143,0.999999996943,-1.28869483116e-05,-7.19400453291e-05,2.78037145516e-05,1793193606630136320
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,742.807639334,711,673,665.807639334,632,878,784,800.192360666,650,629,650.192360666,0.434585841392,0.00444556689988,0.0499659855241,0.999999998885,-2.05507353173e-06,-3.80379620451e-05,2.7910070651e-05,1793193606646802432
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,742.21518222,711,673,665.21518222,632,878,784,800.78481778,650,629,650.78481778,0.435315580757,0.00445006717911,0.0499789178637,0.999999999094,1.54536488597e-05,-2.59708377449e-05,2.99778213289e-05,1793193606663468800
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,742.367263268,711,673.367263268,665,632,878,784,801,650,629,651,0.435992892116,0.00445070805983,0.0499647306272,0.999999997272,1.7943251989e-05,-6.36574264243e-05,3.29023801097e-05,1793193606680135424
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,742.943998499,711,673.943998499,665,632,878,784,801,650,629,651,0.436640300638,0.00444914769704,0.0499350754917,0.999999990856,1.18665620085e-05,-0.000129721500739,3.63156269897e-05,1793193606696802304
+182,3.033333333,POSE1_TO_POSE2_PRESS,764.517833636,743,711,674,665,632.517833636,878,784,800.482166364,650,629,650.482166364,0.437332984358,0.0044473016572,0.049937772447,0.999999993364,4.30136151549e-06,-0.000109411150581,3.5814119186e-05,1793193606713469440
+183,3.050000000,POSE1_TO_POSE2_PRESS,764.90810554,743,711,674,665.18378892,632.90810554,878,784,800,650,629.09189446,650.09189446,0.438028184142,0.00444502140144,0.0499466515402,0.999999996271,-2.03136777268e-06,-7.8710863302e-05,3.54778824939e-05,1793193606730136576
+184,3.066666667,POSE1_TO_POSE2_PRESS,764.33120751,743,711,674,666.33758498,632.33120751,878,784,800,650,629.66879249,650.66879249,0.438710965229,0.00444061157608,0.0499697959949,0.999999998378,-1.01444717734e-06,-4.22000331627e-05,3.8235919445e-05,1793193606746802944
+185,3.083333333,POSE1_TO_POSE2_PRESS,764,743,711,673.748442954,666.496885907,632,878,784,800,650,629.748442954,651,0.43933317997,0.00444125662317,0.0499704166618,0.999999998336,4.65118539262e-06,-4.12669955095e-05,4.00313297346e-05,1793193606763469568
+186,3.100000000,POSE1_TO_POSE2_PRESS,764,743,711,673.157769968,665.315539936,632,878,784,800,650,629.157769968,651,0.43987374712,0.00444871598108,0.0499406737353,0.999999995143,1.65835965216e-05,-8.82952351195e-05,4.05290538413e-05,1793193606780136192
+187,3.116666667,POSE1_TO_POSE2_PRESS,764,743,711,673,664.577363233,632,878,784,800,650,629.422636767,651,0.440383281271,0.00445969719345,0.049906488849,0.999999988203,3.08142473922e-05,-0.000144988998992,4.02905794087e-05,1793193606796802560
+188,3.133333333,POSE1_TO_POSE2_PRESS,764,743,711,673,664.00069795,632,878,784,800,650,629.99930205,651,0.440881505597,0.00447196193417,0.0498706851034,0.999999977101,4.58824847212e-05,-0.000205205333379,3.97837998779e-05,1793193606813469184
+189,3.150000000,POSE1_TO_POSE2_PRESS,764,742.424018875,711,673.575981125,664.575981125,632,878,784,800,650,629.424018875,651,0.441382702429,0.00447671000444,0.0498668021133,0.999999975646,5.76830323208e-05,-0.000209246167961,3.99634102231e-05,1793193606830135808
+190,3.166666667,POSE1_TO_POSE2_PRESS,764,742.155790111,711,674,664.844209889,631.844209889,878,783.844209889,800,650.155790111,629,651,0.441876221454,0.00447990598333,0.04986388864,0.999999975631,5.44460831469e-05,-0.000210759504563,3.67927151167e-05,1793193606846802432
+191,3.183333333,POSE1_TO_POSE2_PRESS,764,742.744292617,711,674,664.255707383,631.255707383,878,783.255707383,800,650.744292617,629,651,0.442348405214,0.00447881627549,0.0498635605939,0.999999978557,9.45296987189e-06,-0.000205441703504,2.43141210309e-05,1793193606863469568
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,742.672363788,711,673.672363788,664,631,878,783.327636212,800,650.672363788,629,650.672363788,0.442777562381,0.00448024323468,0.0498544602553,0.999999975729,-1.61817204692e-05,-0.000219016631519,1.76315447947e-05,1793193606880136192
+193,3.216666667,POSE1_TO_POSE2_PRESS,764,742.092984144,711,673.092984144,664,631,878,783.907015856,800,650.092984144,629,650.092984144,0.443173659493,0.00448360390692,0.0498386196148,0.999999968987,-2.69421187467e-05,-0.00024710802753,1.54024130178e-05,1793193606896802560
+194,3.233333333,POSE1_TO_POSE2_PRESS,764,742.483258396,711,673,663.516741604,631,878,784,800,650,629,650,0.443508787316,0.00449107446533,0.0498081144224,0.99999995416,-1.66176383875e-05,-0.000301921428118,1.5716695719e-05,1793193606913468928
+195,3.250000000,POSE1_TO_POSE2_PRESS,764,742.939940818,711,673.060059182,663,631,878,784,800,650.060059182,629,650,0.443831077466,0.00449870190615,0.0497756658155,0.999999935307,4.07306580593e-06,-0.000359301199223,1.64841272716e-05,1793193606930135552
+196,3.266666667,POSE1_TO_POSE2_PRESS,764,742.352981163,711,673.647018837,663,631,878,784,800,650.647018837,629,650,0.44414299631,0.00450081283796,0.0497507620536,0.999999918861,8.03446423125e-05,-0.000394379341338,1.69613892815e-05,1793193606946801920
+197,3.283333333,POSE1_TO_POSE2_PRESS,764,742.231028698,711,674,663,631,878,783.768971302,800,650.768971302,629,650.231028698,0.444452036139,0.00450444889179,0.0497366528796,0.999999907291,0.000127337040611,-0.000410962504732,1.76729921097e-05,1793193606963468544
+198,3.300000000,POSE1_TO_POSE2_PRESS,764,742.810588431,711,674,663,631,878,783.189411569,800,650.189411569,629,650.810588431,0.444756732644,0.00451038575204,0.0497388284764,0.999999911496,0.000130158719825,-0.000399644052016,1.87381227543e-05,1793193606980135424
+199,3.316666667,POSE1_TO_POSE2_PRESS,764,743,711,674,663,630.610946647,878.389053353,783,800,650,629,651,0.445034914472,0.00452227097908,0.0497437061897,0.999999914545,0.000139557769633,-0.000388661896635,1.93601262536e-05,1793193606996802304
+200,3.333333333,POSE1_TO_POSE2_PRESS,764,743,711,674,663,630.033013188,878.966986812,783,800,650,629,651,0.445300223812,0.00453704405771,0.0497498957438,0.999999916847,0.000152150043521,-0.000377843007951,1.97669976497e-05,1793193607013469184
+201,3.350000000,POSE1_TO_POSE2_PRESS,764,743,711,674,662.456580079,630,878.456580079,783,800,650,629,650.456580079,0.445518185114,0.0045472939461,0.0497463104236,0.999999915259,0.000159196895501,-0.000379189059536,1.88199964874e-05,1793193607030136320
+202,3.366666667,POSE1_TO_POSE2_PRESS,764,742.878024134,711,674,662,630,878.121975866,783,800,650.121975866,629,650,0.445725259147,0.00455442114906,0.0497408413005,0.999999912869,0.000162978637325,-0.000383884329659,1.82419239668e-05,1793193607046802688
+203,3.383333333,POSE1_TO_POSE2_PRESS,764,742.291028412,711,674,662,630,878.708971588,783,800,650.708971588,629,650,0.445901762586,0.00455068816571,0.0497304480646,0.999999908291,0.000155593315931,-0.000398538421773,1.9383053321e-05,1793193607063469312
+204,3.400000000,POSE1_TO_POSE2_PRESS,764,742.292253878,711,674,661.707746122,630,878.707746122,783,799.707746122,650.707746122,629,650,0.446059896285,0.00454877487974,0.0497220451889,0.99999990466,0.00015053301995,-0.000409422793335,1.97948481963e-05,1793193607080135936
+205,3.416666667,POSE1_TO_POSE2_PRESS,764,742.871884666,711,674,661.128115334,630,878.128115334,783,799.128115334,650.128115334,629,650,0.446199966778,0.00454865092529,0.04971559946,0.999999902116,0.000147758951139,-0.000416600350493,1.94894792484e-05,1793193607096802304
+206,3.433333333,POSE1_TO_POSE2_PRESS,763.553204851,743,711,674,661,629.553204851,878,783.446795149,799,650,629,650.446795149,0.446323421009,0.00455138158411,0.0497096136947,0.99999989868,0.000148870866277,-0.000424400463481,1.90136999123e-05,1793193607113468928
+207,3.450000000,POSE1_TO_POSE2_PRESS,763.020390929,743,711,673.979609071,661,629.020390929,878.020390929,783.979609071,799.020390929,650,629,650.979609071,0.446440858704,0.00455482180127,0.0497037095367,0.999999894866,0.000151006840828,-0.000432576622311,1.84894623738e-05,1793193607130135552
+208,3.466666667,POSE1_TO_POSE2_PRESS,763.594656771,743,711,673.405343229,661,629.594656771,878.594656771,783.405343229,799.594656771,650,629,650.405343229,0.446522937254,0.00455553421018,0.0496964769763,0.999999888903,0.000151008639739,-0.000446169011713,1.79623704896e-05,1793193607146802176
+209,3.483333333,POSE1_TO_POSE2_PRESS,764,743,711,673.17473125,661,629.82526875,879,783.17473125,800,650,629,650.17473125,0.446600098355,0.00455719041891,0.0496894320768,0.999999882946,0.000152339014538,-0.000458906402672,1.75055162345e-05,1793193607163469056
+210,3.500000000,POSE1_TO_POSE2_PRESS,764,743,711,673.76874393,661,629.23125607,879,783.76874393,800,650,629,650.76874393,0.446665459638,0.00456111134974,0.0496828374857,0.999999877291,0.000156857412117,-0.000469592155538,1.72172027969e-05,1793193607180135680
+211,3.516666667,POSE1_TO_POSE2_PRESS,763.64927557,743,711,674,661,629,879,784,800,650,629,651,0.446717481,0.00456192545286,0.0496760608055,0.999999872665,0.000157189933658,-0.000479245975333,1.68767640722e-05,1793193607196802560
+212,3.533333333,POSE1_TO_POSE2_PRESS,763.074965486,743,711,674,661,629,879,784,800,650,629,651,0.446760998214,0.00456075896407,0.0496691680436,0.999999868684,0.00015485397364,-0.000488241942286,1.65030956225e-05,1793193607213469184
+213,3.550000000,POSE1_TO_POSE2_PRESS,763.502152902,743,711,673.497847098,661,629,878.497847098,783.497847098,800,650.502152902,629,651,0.446795526659,0.00456347301832,0.0496663314908,0.999999866517,0.000157240028467,-0.000491917012378,1.60898246451e-05,1793193607230135552
+214,3.566666667,POSE1_TO_POSE2_PRESS,764,743,711,673.081415395,661,629,877.918584605,783.081415395,800,650.918584605,629,651,0.446827086572,0.00456648093178,0.0496642837806,0.999999864695,0.000159932936307,-0.0004947587184,1.56796252128e-05,1793193607246802432
+215,3.583333333,POSE1_TO_POSE2_PRESS,764,743,711,673.671438728,661,629,877.328561272,783.671438728,800,650.328561272,629,651,0.446848532068,0.00456768520393,0.0496633598743,0.999999863369,0.00016011419405,-0.000497384590946,1.53257553565e-05,1793193607263469056
+216,3.600000000,POSE1_TO_POSE2_PRESS,764,743,711,674,661,629,877.25610039,783.74389961,800,650,629,650.74389961,0.446867445164,0.00456758757617,0.0496631157845,0.999999862963,0.000159743394703,-0.000498321706846,1.52440241868e-05,1793193607280135680
+217,3.616666667,POSE1_TO_POSE2_PRESS,764,743,711,674,661,629,877.834024374,783.165975626,800,650,629,650.165975626,0.44688317597,0.00456585394103,0.049663725973,0.999999863718,0.000158678863493,-0.000497136679251,1.55042708491e-05,1793193607296802560
+218,3.633333333,POSE1_TO_POSE2_PRESS,764,743,711,674,661,629,878,783.409571591,800,650,629,650,0.446891760444,0.00456629764646,0.0496631014205,0.999999863146,0.000159301867054,-0.000498098366677,1.51370675375e-05,1793193607313469184
+219,3.650000000,POSE1_TO_POSE2_PRESS,764,743,711,674,661,629,878,783.984161185,800,650,629,650,0.446897465632,0.00456761861098,0.0496619793861,0.999999862035,0.000160604785025,-0.000499924974041,1.45170621609e-05,1793193607330136064
+220,3.666666667,POSE1_TO_POSE2_PRESS,764,743,711,674,661,629,878.558808463,783.441191537,800,650,628.441191537,650.558808463,0.446902059371,0.00456891786047,0.0496608103643,0.999999861677,0.00016025703721,-0.000500768424624,1.39511211716e-05,1793193607346802688
+221,3.683333333,POSE1_TO_POSE2_PRESS,764.138134607,743,711,674,661,629,879,783.138134607,800,650,628.138134607,651,0.446905462121,0.00456973993994,0.0496597059987,0.999999861249,0.000160066740878,-0.000501694552552,1.35669906199e-05,1793193607363469056
+222,3.700000000,POSE1_TO_POSE2_PRESS,764.732922906,743,711,674,661,629,879,783.732922906,800,650,628.732922906,651,0.446905031782,0.00456898659676,0.0496588197804,0.999999860519,0.000160551642191,-0.000502986132329,1.37788336531e-05,1793193607380135680
+223,3.716666667,POSE1_TO_POSE2_PRESS,764.681828159,743,711,674,661,629,878.681828159,783.681828159,800,650,628.681828159,651,0.446905194912,0.00456876689527,0.0496583291225,0.999999859886,0.000160690656907,-0.000504197709953,1.38206467781e-05,1793193607396802560
+224,3.733333333,POSE1_TO_POSE2_PRESS,764.104353522,743,711,674,661,629,878.104353522,783.104353522,800,650,628.104353522,651,0.446905841707,0.00456898209953,0.0496581608372,0.999999859332,0.000160547781982,-0.000505344087785,1.37238894282e-05,1793193607413469184
+225,3.750000000,POSE1_TO_POSE2_PRESS,764,742.529780657,711,674,661,629,878.470219343,783,800,650,628.470219343,650.529780657,0.446906447648,0.0045697055292,0.0496584206417,0.999999859247,0.00016226923733,-0.000504966824163,1.354360945e-05,1793193607430135808
+226,3.766666667,POSE1_TO_POSE2_PRESS,764,742.044371335,711,673.955628665,660.955628665,629,878.955628665,783,800,650,629,650.044371335,0.446906916043,0.00457066993648,0.0496586337811,0.999999859145,0.00016437805199,-0.000504492535209,1.33166696863e-05,1793193607446802432
+227,3.783333333,POSE1_TO_POSE2_PRESS,764,742.621153384,711,673.378846616,660.378846616,629,878.378846616,783,800,650,629,650.621153384,0.446905842144,0.00457318078902,0.0496571540292,0.99999985764,0.000166200753002,-0.000506886424566,1.27509062694e-05,1793193607463469312
+228,3.800000000,POSE1_TO_POSE2_PRESS,764,743,711,673.203799663,660.203799663,629,878.203799663,783,800,650.203799663,629,651,0.446905325341,0.0045740340819,0.0496560800477,0.9999998568,0.00016650902431,-0.000508443899122,1.26228745785e-05,1793193607480135936
+229,3.816666667,POSE1_TO_POSE2_PRESS,764,743,711,673.797669988,660.797669988,629,878.797669988,783,800,650.797669988,629,651,0.446905874814,0.00457171482083,0.0496557827071,0.999999857241,0.000163918691135,-0.000508400483382,1.33326573766e-05,1793193607496802304
+230,3.833333333,POSE1_TO_POSE2_PRESS,764,743,711,673.622045782,660.622045782,629,878.622045782,783,800,651,629,651,0.446907015807,0.00457166850272,0.0496564462634,0.999999857939,0.000163321485538,-0.000507219047375,1.3278466359e-05,1793193607513468928
+231,3.850000000,POSE1_TO_POSE2_PRESS,764,743,711,673.048782239,660.048782239,629,878.048782239,783,800,651,629,651,0.446908462472,0.00457279673688,0.049657606367,0.99999985877,0.000163754236524,-0.000505449534927,1.28294888503e-05,1793193607530135808
+232,3.866666667,POSE1_TO_POSE2_PRESS,763.473447969,743,711,673.526552031,660.526552031,629,878,783,800,650.473447969,628.473447969,650.473447969,0.446907657635,0.00457143896747,0.0496571319428,0.999999858333,0.000161609940738,-0.00050700671751,1.263132765e-05,1793193607546802432
+233,3.883333333,POSE1_TO_POSE2_PRESS,763.104586566,742.895413434,711,674,660.895413434,629,878,783,800,650.104586566,628,650,0.446906826171,0.00457038447451,0.0496564839858,0.999999857795,0.000160031304332,-0.000508571350315,1.24465084349e-05,1793193607563469056
+234,3.900000000,POSE1_TO_POSE2_PRESS,763.694251622,742.305748378,711,674,660.305748378,629,878,783,800,650.694251622,628,650,0.446906842474,0.00457180902711,0.04965573629,0.999999857367,0.000162187935768,-0.000508735441579,1.22153710777e-05,1793193607580135680
+235,3.916666667,POSE1_TO_POSE2_PRESS,764,742.278484253,711,674,660,629,878,783,800,650.721515747,628.278484253,650,0.446907716949,0.00457191479381,0.0496562520254,0.999999857893,0.000162589385186,-0.000507574232757,1.21463175324e-05,1793193607596802304
+236,3.933333333,POSE1_TO_POSE2_PRESS,764,742.856866805,711,674,660,629,878,783,800,650.143133195,628.856866805,650,0.446909515586,0.00457060036675,0.0496581283436,0.999999859443,0.000161100688133,-0.000504985814915,1.22518112051e-05,1793193607613469440
+237,3.950000000,POSE1_TO_POSE2_PRESS,764,743,711,674,660.432575393,629,878,783,800,650,628.567424607,650,0.446910421222,0.00457035010282,0.049658477041,0.999999859459,0.00016225431052,-0.000504578982511,1.24508634521e-05,1793193607630135808
+238,3.966666667,POSE1_TO_POSE2_PRESS,764,743,711,674,661,629,878,783,800,650,628,650,0.446911020893,0.00457047269907,0.0496583192489,0.999999858969,0.000164252562661,-0.000504898638968,1.26713052345e-05,1793193607646802688
+239,3.983333333,POSE1_TO_POSE2_PRESS,764,743,711,674,661,629,878,783,800,650,628,650,0.446910678057,0.00457235065877,0.0496578452505,0.99999985844,0.000164388241903,-0.000505913132625,1.21731370032e-05,1793193607663469312
+240,4.000000000,POSE1_TO_POSE2_PRESS,764.162053471,742.837946529,711,674,661,629,878,783,800,650.162053471,628.162053471,650,0.446909957832,0.00457356521952,0.0496571192722,0.999999857827,0.000164315243272,-0.000507156377413,1.18263517374e-05,1793193607680135680
+241,4.016666667,POSE1_TO_POSE2_PRESS,764.755908328,742.244091672,711,674,661,629,878,783,800,650.755908328,628.755908328,650,0.446908232032,0.00457301211312,0.0496557218779,0.999999856988,0.000163686209678,-0.00050900914352,1.1882935671e-05,1793193607696802304
+242,4.033333333,POSE1_TO_POSE2_PRESS,764.660844876,742.339155124,711,674,661,629,878.339155124,783,800,650.660844876,629,650,0.446908234592,0.00457197329074,0.0496559600051,0.999999857284,0.000162107402976,-0.000508930223623,1.19651132357e-05,1793193607713469184
+243,4.050000000,POSE1_TO_POSE2_PRESS,764.085001224,742.914998776,711,674,661,629,878.914998776,783,800,650.085001224,629,650,0.446909443336,0.00457059549842,0.0496573395252,0.999999858369,0.000159865771584,-0.000507503224599,1.20651520021e-05,1793193607730136064
+244,4.066666667,POSE1_TO_POSE2_PRESS,764,742.508699612,711,673.508699612,661,629,878.508699612,783,800,650,629,650,0.446910799455,0.0045716561093,0.0496581251084,0.999999858802,0.000161591465188,-0.000506108620741,1.1788153819e-05,1793193607746802688
+245,4.083333333,HOLD_POSE2,764,742,711,674,661,629,878,783,800,650,629,650,0.44691076629,0.00456871739929,0.0496563558496,0.999999858503,0.000160028409197,-0.000507179383851,1.24479956778e-05,1793193607789758464
+246,4.100000000,HOLD_POSE2,764,742.580608353,711,673.419391647,660.419391647,629,878,783,800,650,629,650.580608353,0.44691007497,0.00456937237144,0.0496563494372,0.999999857975,0.000159754773299,-0.000508296503728,1.27628613554e-05,1793193607806425088
+247,4.116666667,HOLD_POSE2,764,743,711,673,660,629,878.159545511,783,800,650,629,651,0.446909649483,0.00457020975583,0.0496563370054,0.99999985765,0.000159862250969,-0.000508901209278,1.2797830973e-05,1793193607823091456
+248,4.133333333,HOLD_POSE2,764,743,711,673,660,629,878.734135323,783,800,650,629,651,0.446909915542,0.00457152167057,0.0496563089146,0.999999857853,0.00016096116365,-0.000508172912059,1.21046744714e-05,1793193607839758080
+249,4.150000000,HOLD_POSE2,763.691923451,742.691923451,711,673,660.308076549,629,878.691923451,783,800,650,629,650.691923451,0.446910709168,0.00457137779672,0.0496562454721,0.999999858275,0.000160179119307,-0.000507596391568,1.17500922404e-05,1793193607856424960
+250,4.166666667,HOLD_POSE2,763.118540801,742.118540801,711,673,660.881459199,629,878.118540801,783,800,650,629,650.118540801,0.446911957117,0.00456998024221,0.0496561515858,0.999999858884,0.000157777252242,-0.000507150576595,1.16870798564e-05,1793193607873091840
+251,4.183333333,HOLD_POSE2,763.944901682,742,711,673.472450841,660.527549159,629,878,783,800,650,629,650.472450841,0.446911904828,0.00457078566341,0.049656098544,0.999999858386,0.000160567179258,-0.000507257262285,1.1661101044e-05,1793193607889758464
+252,4.200000000,HOLD_POSE2,764.86876715,742.065616425,711,673.934383575,660.065616425,629,878.065616425,783,800,650.065616425,629,651,0.446911549305,0.00457192707855,0.0496560956914,0.999999857733,0.000163963424524,-0.000507459306457,1.16286410674e-05,1793193607906425088
+253,4.216666667,HOLD_POSE2,763.719894754,742.640052623,711,673.359947377,660.640052623,629,878.640052623,783,800,650.640052623,629,651,0.446911470107,0.00457122180703,0.0496563994823,0.999999858213,0.000161568903403,-0.000507284219298,1.1471079617e-05,1793193607923091456
+254,4.233333333,HOLD_POSE2,763.214709722,743,711,673,660.785290278,629,878.785290278,783,800,650.785290278,629,651,0.446911637823,0.00457110311225,0.049656627029,0.999999858568,0.000160334578338,-0.000506978025176,1.14303361571e-05,1793193607939758080
+255,4.250000000,HOLD_POSE2,763.789737473,743,711,673,660.210262527,629,878.210262527,783,800,650.210262527,629,651,0.446912219904,0.00457196878922,0.0496567266254,0.999999858718,0.000161047252239,-0.000506451812148,1.15856324058e-05,1793193607956424704
+256,4.266666667,HOLD_POSE2,764,742.625817344,711,673,660.374182656,629,878,783,800.374182656,650,629,651,0.446913413022,0.00457257245719,0.0496574807154,0.999999859202,0.000161823586185,-0.000505249319897,1.1497739404e-05,1793193607973091072
+257,4.283333333,HOLD_POSE2,764,742.035943591,711,673,660.964056409,629,878,783,800.964056409,650,629,651,0.446914958362,0.0045730250947,0.0496586120767,0.999999859876,0.000162636615925,-0.000503656998176,1.1269664195e-05,1793193607989757952
+258,4.300000000,HOLD_POSE2,764,742,711,673.543076281,660.456923719,629,878.543076281,783,800.456923719,650,629,650.456923719,0.446914345692,0.00457269787266,0.0496587103979,0.999999859133,0.00016458626452,-0.000504485827732,1.17750602056e-05,1793193608006424576
+259,4.316666667,HOLD_POSE2,764,742.120864799,711,673.879135201,660.120864799,629,879,783,800,650,629,650,0.446913149946,0.00457245611538,0.0496582290145,0.999999858141,0.000165900706503,-0.000506009285825,1.22054309695e-05,1793193608023091200
+260,4.333333333,HOLD_POSE2,764,742.696669597,711,673.303330403,660.696669597,629,879,783,800,650,629,650,0.446910286557,0.00457272652542,0.0496558179111,0.999999856564,0.000164546595334,-0.000509556006794,1.21742591866e-05,1793193608039758080
+261,4.350000000,POSE2_TO_POSE3_RETREAT,764,743,711,674,661,629,878,783,801,650,629,651,0.446909613531,0.00457211524366,0.0496552569771,0.999999856359,0.000160930004296,-0.000511137729735,1.10338661507e-05,1793193608077412608
+262,4.366666667,POSE2_TO_POSE3_RETREAT,764,742.41047327,711,674,660.41047327,629,878,783,800.41047327,650,629,650.41047327,0.446912833208,0.00457111437033,0.0496572657051,0.999999858282,0.000162056556194,-0.000506989638281,1.16561182074e-05,1793193608094079232
+263,4.383333333,POSE2_TO_POSE3_RETREAT,764,742.176058962,711,674,660.176058962,629,878.176058962,783.176058962,800,650.176058962,629,650.176058962,0.44691477474,0.00457092173279,0.049658410856,0.999999859291,0.000163109421064,-0.00050464998434,1.18848169984e-05,1793193608110745600
+264,4.400000000,POSE2_TO_POSE3_RETREAT,764,742.755726536,711,674,660.755726536,629,878.755726536,783.755726536,800,650.755726536,629,650.755726536,0.446913786173,0.00457258194549,0.0496575762886,0.999999858241,0.000163993361393,-0.000506456105212,1.12113097134e-05,1793193608127411968
+265,4.416666667,POSE2_TO_POSE3_RETREAT,764,742.667431876,711,673.667431876,660.667431876,629,879,783.667431876,800,650.667431876,628.667431876,650.667431876,0.446913171405,0.00457331612963,0.0496574698836,0.999999857958,0.000164154677094,-0.000506970005372,1.08763942665e-05,1793193608144078592
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764,742.092648537,711,673.092648537,660.092648537,629,879,783.092648537,800,650.092648537,628.092648537,650.092648537,0.44691282888,0.00457337587077,0.049657893812,0.999999858235,0.000163789692518,-0.000506542758349,1.07880812516e-05,1793193608160745472
+267,4.450000000,POSE2_TO_POSE3_RETREAT,764,742.492866889,711,673.492866889,660,629,878.507133111,783,800,650,628.492866889,650.492866889,0.446912388688,0.00457261619245,0.0496570074312,0.999999858103,0.000163471625067,-0.000506907141957,1.07956716768e-05,1793193608177412608
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764,743,711,674,660,629,878.07932878,783,800.07932878,650,629,651,0.446910868915,0.00457171299388,0.0496556530149,0.999999857607,0.000162935006794,-0.000508056086008,1.08455656095e-05,1793193608194079488
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,743,711,674,660,629,878.658756242,783,800.658756242,650,629,651,0.446902661642,0.00457089768725,0.0496529353786,0.999999855301,0.000160963780026,-0.000513192000749,1.10459667952e-05,1793193608210745856
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764,742.762713584,711,674,660,629,878.762713584,783,800.762713584,650,629,651,0.446883860216,0.00457141761658,0.0496448256116,0.999999847794,0.0001612857613,-0.00052752082313,1.1020581141e-05,1793193608227412224
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764,742.185468995,711,674,660,629,878.185468995,783,800.185468995,650,629,651,0.446849880644,0.00457385052685,0.0496289905862,0.999999832324,0.000164893201761,-0.00055502024318,1.0671712633e-05,1793193608244078592
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764,742,711,674,660,629,878.390628951,783,800,650,629,650.609371049,0.44680166908,0.00457383528347,0.0496120540514,0.999999814369,0.000165493215751,-0.000586311683938,1.06472569671e-05,1793193608260745472
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764,742,711,674,660,629,878.96618412,783,800,650,629,650.03381588,0.446746719997,0.00457266106886,0.0495945960537,0.999999794557,0.000164669495226,-0.000619398293322,1.07763803551e-05,1793193608277411840
+274,4.566666667,POSE2_TO_POSE3_RETREAT,763.448480739,742,711,673.448480739,660.551519261,629,879,783,800,650,629,650.551519261,0.446678742737,0.0045745938594,0.0495821853148,0.999999786948,0.000166642091096,-0.00063107546587,8.86282185015e-06,1793193608294078464
+275,4.583333333,POSE2_TO_POSE3_RETREAT,763,742,711,673.136775145,660.863224855,629,878.863224855,783,800,650,628.863224855,650.863224855,0.446606767856,0.00457650985807,0.0495730224791,0.999999781134,0.00016874944328,-0.000639689324531,7.28546106983e-06,1793193608310745344
+276,4.600000000,POSE2_TO_POSE3_RETREAT,763,742,711,673.719780917,660.280219083,629,878.280219083,783,800,650,628.280219083,650.280219083,0.44652440385,0.00457773833475,0.049573428095,0.999999778888,0.000170726972827,-0.00064266909906,7.22093944311e-06,1793193608327412224
+277,4.616666667,POSE2_TO_POSE3_RETREAT,763,742.298222984,711,674,660,629,878,783,800,650,628.298222984,650,0.446433667435,0.00457896621956,0.049577872529,0.999999782472,0.000173153070172,-0.000636415442913,7.00058777303e-06,1793193608344079104
+278,4.633333333,POSE2_TO_POSE3_RETREAT,763,742.87244146,711,674,660,629,878,783,800,650,628.87244146,650,0.446335182639,0.00458019355654,0.0495860547553,0.999999791287,0.000175994302008,-0.000621616552305,6.63602056331e-06,1793193608360745472
+279,4.650000000,POSE2_TO_POSE3_RETREAT,763.447840853,743,710.552159147,674,660.447840853,629,878,783,800,650,629,650.447840853,0.446212925976,0.00458131902464,0.0495950453839,0.999999798821,0.000178720097297,-0.00060858442126,6.54721748283e-06,1793193608377411840
+280,4.666666667,POSE2_TO_POSE3_RETREAT,764,743,710.024256631,674,661,629.024256631,878,783,800,650,629,651,0.446082003286,0.00458248370482,0.0496040640566,0.999999805618,0.000181489556879,-0.000596476150706,6.52066854273e-06,1793193608394078720
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764,743,710.616577227,674,661,629.616577227,878,783,800,650,629,651,0.445907118984,0.00458524799368,0.0496083328623,0.999999806144,0.000186053633186,-0.000594187516494,6.1077206218e-06,1793193608410745600
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764,743,711,673.797118261,661,630,878,783,799.797118261,650,629,651,0.445719120513,0.00458762640281,0.049612192261,0.999999806786,0.000190219831431,-0.000591788806163,5.58880159881e-06,1793193608427411968
+283,4.716666667,POSE2_TO_POSE3_RETREAT,764,743,711,673.221856072,661,630,878,783,799.221856072,650,629,651,0.445507051587,0.00458929654646,0.0496153002111,0.999999807666,0.00019365574161,-0.000589188056255,4.87537735506e-06,1793193608444078592
+284,4.733333333,POSE2_TO_POSE3_RETREAT,764,742.645792594,711,673.354207406,661,630,878,783,799.354207406,650,629,650.645792594,0.44526739282,0.00459218062486,0.0496185433115,0.999999805575,0.000200819355515,-0.000590338132721,4.65180918209e-06,1793193608460745728
+285,4.750000000,POSE2_TO_POSE3_RETREAT,764,742.069226039,711,673.930773961,661,630,878,783,799.930773961,650,629,650.069226039,0.445010414084,0.00459582676963,0.0496218712548,0.999999801546,0.000210323093112,-0.000593842847858,4.73575562449e-06,1793193608477412864
+286,4.766666667,POSE2_TO_POSE3_RETREAT,764,742.515895474,711,674,661,630,878.515895474,783,800,650,629,650,0.444726206693,0.00459766665953,0.0496265085122,0.999999803395,0.000213786427999,-0.000589482586811,3.89891493531e-06,1793193608494078720
+287,4.783333333,POSE2_TO_POSE3_RETREAT,764,743,711,674,661,630,878.898342478,783.101657522,800,650,629,650.101657522,0.444427497327,0.00459976322544,0.0496317854349,0.999999806513,0.000217445333217,-0.000582823173635,2.82320931779e-06,1793193608510744832
+288,4.800000000,POSE2_TO_POSE3_RETREAT,764,743,711,674,661,630,878.315075876,783.684924124,800,650,629,650.684924124,0.444077685378,0.00460424343805,0.0496392464288,0.999999811823,0.00022593549609,-0.000570355575237,1.21109466531e-06,1793193608527411456
+289,4.816666667,POSE2_TO_POSE3_RETREAT,764,742.734710343,711,673.734710343,661.265289657,630.265289657,878,783.734710343,800,650,629,651,0.443710029766,0.0046085194327,0.0496462507051,0.999999815867,0.000233133865495,-0.000560279993505,-4.00002481578e-07,1793193608544078336
+290,4.833333333,POSE2_TO_POSE3_RETREAT,764,742.15775308,711,673.15775308,661.84224692,630.84224692,878,783.15775308,800,650,629,651,0.44332141108,0.00461255550776,0.0496527184201,0.999999818569,0.000238814609562,-0.00055301460173,-2.0099041456e-06,1793193608560744960
+291,4.850000000,POSE2_TO_POSE3_RETREAT,764,742,711,673.416777639,662.416777639,631,878,783.416777639,800,650,629,650.583222361,0.442916067468,0.00461591733309,0.0496630002611,0.999999828366,0.000242880842165,-0.000533158607754,-4.37010652329e-06,1793193608577411584
+292,4.866666667,POSE2_TO_POSE3_RETREAT,764,742,711,673.990395199,662.990395199,631,878,783.990395199,800,650,629,650.009604801,0.442504430015,0.00461902542764,0.0496747174171,0.999999840315,0.000246339508689,-0.000508564573825,-7.01265871483e-06,1793193608594077952
+293,4.883333333,POSE2_TO_POSE3_RETREAT,764,742.577545343,711,673.422454657,663,631,878,783.422454657,799.422454657,650,629,650,0.442073575786,0.00461996247595,0.0497055169226,0.999999865229,0.000249698519715,-0.000455101120545,-8.73174546218e-06,1793193608610744576
+294,4.900000000,POSE2_TO_POSE3_RETREAT,764,742.836953538,711,673.163046462,663.163046462,631,877.836953538,783,799,650,629,650,0.441618593769,0.00462153779305,0.0497363219901,0.999999886407,0.00025318736803,-0.000403692688596,-1.07339819883e-05,1793193608627411456
+295,4.916666667,POSE2_TO_POSE3_RETREAT,764,742.256266757,711,673.743733243,663.743733243,631,877.256266757,783,799,650,629,650,0.441102647206,0.00462484272508,0.0497663089182,0.99999990251,0.000257013139773,-0.000358807462401,-1.35017829145e-05,1793193608644078080
+296,4.933333333,POSE2_TO_POSE3_RETREAT,764,742,711,673.67825237,664,631,877.32174763,783.32174763,799.32174763,650,629,650,0.440557872014,0.00462644944037,0.0497871772114,0.999999913024,0.000260241860348,-0.000325490187755,-1.67922763324e-05,1793193608660744448
+297,4.950000000,POSE2_TO_POSE3_RETREAT,764,742,711,673.102348905,664,631,877.897651095,783.897651095,799.897651095,650,629,650,0.439990324371,0.00462671469565,0.049800842489,0.999999919812,0.000262998957097,-0.00030131069885,-2.0495656847e-05,1793193608677411072
+298,4.966666667,POSE2_TO_POSE3_RETREAT,764,742,711,673,664.472534106,631.472534106,878,784,800,650,629,650.472534106,0.439358122471,0.00460971593387,0.0497911310878,0.999999918795,0.000244467027524,-0.00031946981969,-2.4188007929e-05,1793193608694077696
+299,4.983333333,POSE2_TO_POSE3_RETREAT,764,742,711,673.048508001,665,632,878,784,800,650,629,651,0.43870968098,0.00458975541653,0.0497766550708,0.999999915058,0.000222336484691,-0.000345942722637,-2.781711753e-05,1793193608710744320
+300,5.000000000,POSE2_TO_POSE3_RETREAT,764,742,711,673.639138829,665,632,878,784,800,650,629,651,0.438035915156,0.00457839477885,0.0497653950779,0.999999911272,0.000211410530991,-0.000363063369931,-3.07660877022e-05,1793193608727410944
+301,5.016666667,POSE2_TO_POSE3_RETREAT,764,742.225099013,711,674,664.774900987,632,878,784,799.774900987,650,629,650.774900987,0.437350818827,0.00457414541949,0.0497720226753,0.999999916631,0.000197697847863,-0.000355693158673,-3.36910826962e-05,1793193608744077824
+302,5.033333333,POSE2_TO_POSE3_RETREAT,764,742.803723756,711,674,664.196276244,632,878,784,799.196276244,650,629,650.196276244,0.436647927593,0.00458106456755,0.0498067433484,0.999999935195,0.000179608510913,-0.000309859211729,-3.6578423634e-05,1793193608760744448
+303,5.050000000,POSE2_TO_POSE3_RETREAT,764,743,711,673.620297802,664,632,877.620297802,784,799,649.620297802,629,650.379702198,0.435904487135,0.00458673914496,0.0498198276475,0.999999951165,9.86213817609e-05,-0.000293843477156,-4.00094959975e-05,1793193608777411072
+304,5.066666667,POSE2_TO_POSE3_RETREAT,764,743,711,673.045677839,664,632,877.045677839,784,799,649.045677839,629,650.954322161,0.435140231008,0.00459177482956,0.0498218050473,0.999999955973,-1.46539387141e-05,-0.000293134735178,-4.37196890295e-05,1793193608794077952
+305,5.083333333,POSE2_TO_POSE3_RETREAT,764,743,711,673,664,632,877,784,799,649.541437593,629,651,0.434355308778,0.00459430597808,0.0497938415948,0.999999943348,-1.28890741777e-05,-0.00033276223966,-4.90665319986e-05,1793193608810744576
+306,5.100000000,POSE2_TO_POSE3_RETREAT,764,743,711,673,664.127669153,632,877,784,799.127669153,650,629,650.872330847,0.433566708885,0.00459507212726,0.0497745214271,0.999999933759,-2.47809427758e-06,-0.000359939724542,-5.40307547377e-05,1793193608827410944
+307,5.116666667,POSE2_TO_POSE3_RETREAT,764,743,711,673,664.706956843,632,877,784,799.706956843,650,629,650.293043157,0.432771412841,0.0045903598305,0.0497949224754,0.999999943662,3.37525765793e-06,-0.000330754410632,-5.71415262994e-05,1793193608844077568
+308,5.133333333,POSE2_TO_POSE3_RETREAT,764,742.715017338,711,673,665,632,877,783.715017338,800,650,629,650,0.431944769653,0.00458625723791,0.0498083092953,0.999999949418,1.04173649847e-05,-0.00031221809356,-5.97871014492e-05,1793193608860744448
+309,5.150000000,POSE2_TO_POSE3_RETREAT,764,742.138283289,711,673,665,632,877,783.138283289,800,650,629,650,0.431086034688,0.00458277883022,0.049814515292,0.999999951521,1.86764629642e-05,-0.000304583698058,-6.1956431555e-05,1793193608877411328
+310,5.166666667,POSE2_TO_POSE3_RETREAT,764,742,711,673,664.563911406,631.563911406,877,783.436088594,799.563911406,650,629,650.436088594,0.430192698011,0.0045856819891,0.0497886282851,0.999999934571,9.64729484025e-05,-0.000345469914622,-4.6930339533e-05,1793193608894078464
+311,5.183333333,POSE2_TO_POSE3_RETREAT,764,742.010008108,711,673,664,631.010008108,877.010008108,784,799,650,629,650.989991892,0.429289356527,0.0045906420092,0.0497534574668,0.999999900703,0.000194049151731,-0.00040026694804,-2.69387917006e-05,1793193608910746112
+312,5.200000000,POSE2_TO_POSE3_RETREAT,764,742.600915057,711,673,664,631.600915057,877.600915057,784,799,650,629,650.399084943,0.428438729322,0.00459816606016,0.0497669277537,0.999999915502,0.00016673346446,-0.000374261106387,-3.35203866455e-05,1793193608927412480
+313,5.216666667,POSE2_TO_POSE3_RETREAT,764,742.811912937,711,673,664.188087063,632,877.811912937,784,799.188087063,650,629,650.188087063,0.427560139168,0.00460358215366,0.049773946091,0.999999922304,0.000142544301072,-0.000365453369057,-3.89468974569e-05,1793193608944079104
+314,5.233333333,POSE2_TO_POSE3_RETREAT,764,742.2325115,711,673,664.7674885,632,877.2325115,784,799.7674885,650,629,650.7674885,0.426623372265,0.00460461264977,0.0497675411724,0.999999914325,0.000124859859917,-0.000392426220388,-4.19702600714e-05,1793193608960745216
+315,5.250000000,POSE2_TO_POSE3_RETREAT,763.655542246,742,711,673,664.655542246,632,877,784.344457754,799.655542246,650,629,650.655542246,0.425727432371,0.00460245183318,0.0497748904567,0.999999923494,0.000118819574066,-0.000369841547927,-4.59433781349e-05,1793193608977411840
+316,5.266666667,POSE2_TO_POSE3_RETREAT,763.080203245,742,711,673,664.080203245,632,877,784.919796755,799.080203245,650,629,650.080203245,0.424858857819,0.00459815196103,0.0497914588325,0.999999942141,0.000120584068978,-0.000314039729501,-5.05530928363e-05,1793193608994078208
+317,5.283333333,POSE2_TO_POSE3_RETREAT,763,742,711,673,664.505206514,632,877,784.494793486,799,650,629,650,0.424012257903,0.0045944790958,0.0498264449496,0.999999958251,0.000122421108366,-0.000257248935364,-4.83018536918e-05,1793193609010744832
+318,5.300000000,POSE2_TO_POSE3_RETREAT,763.090829363,742,711,673,664.909170637,632,877,784,799.090829363,650,629,650,0.423154992274,0.00459197062267,0.0498543710238,0.999999968007,0.000122398002606,-0.000216624225291,-4.55976311229e-05,1793193609027411456
+319,5.316666667,POSE2_TO_POSE3_RETREAT,763.668845139,742,711,673,664.331154861,632,877,784,799.668845139,650,629,650,0.422221426395,0.00459516289974,0.0498284267954,0.999999957878,0.000112334506394,-0.000263569703039,-4.64247448927e-05,1793193609044078848
+320,5.333333333,POSE2_TO_POSE3_RETREAT,764,742,711,673,664.246675751,632,877,784,799.753324249,650,629,650.246675751,0.421296190341,0.0045992875786,0.0498087121911,0.999999948273,0.000112945635987,-0.000297357798978,-4.77094791823e-05,1793193609060745728
+321,5.350000000,POSE2_TO_POSE3_RETREAT,764,742,711,673,664.824258054,632,877,784,799.175741946,650,629,650.824258054,0.420382128311,0.00460466304101,0.0497973543973,0.999999941454,0.000127876386832,-0.000313495752723,-4.96080949753e-05,1793193609077412864
+322,5.366666667,POSE2_TO_POSE3_RETREAT,764,742,711,673,665,632,877,784.401031926,799,650,629,651,0.419460261459,0.00460740641916,0.04979754424,0.999999936587,0.000126452076468,-0.000329319024957,-4.88428556714e-05,1793193609094079488
+323,5.383333333,POSE2_TO_POSE3_RETREAT,764,742,711,673,665,632,877,784.977452202,799,650,629,651,0.418534981279,0.00460899867439,0.0498027843569,0.999999932438,0.00011787500002,-0.000345004672544,-4.69125989037e-05,1793193609110745856
+324,5.400000000,POSE2_TO_POSE3_RETREAT,763.433954212,742,711,673,664.433954212,632,877,784.433954212,799.566045788,650,629,651,0.417681500001,0.00460949585044,0.0497849137725,0.999999923546,0.000117290339439,-0.00036988181976,-4.83520575958e-05,1793193609127411968
+325,5.416666667,POSE2_TO_POSE3_RETREAT,763,742,711,673,664.152529107,632,877,784,799.847470893,650,629,651,0.416846755946,0.00460942653331,0.0497781132549,0.999999921947,0.000116520460978,-0.000374227343729,-4.98242434438e-05,1793193609144078336
+326,5.433333333,POSE2_TO_POSE3_RETREAT,763,742,711,673,664.731723171,632,877,784,799.268276829,650,629,651,0.416056248892,0.00460789728444,0.0498049104267,0.999999940934,0.000114322341424,-0.000320093708134,-5.10042493133e-05,1793193609160744704
+327,5.450000000,POSE2_TO_POSE3_RETREAT,763.308813638,742,711,673,665,632,877,784.308813638,799.617627276,650,629,651,0.415252902411,0.00460565226317,0.0498179680445,0.999999949538,0.00011200042473,-0.000292823506348,-5.13286713655e-05,1793193609177411584
+328,5.466666667,POSE2_TO_POSE3_RETREAT,763.884088972,742,711,673,665,632,877,784.884088972,800.768177944,650,629,651,0.414438477395,0.00460278963346,0.0498191704044,0.999999951018,0.000109571689256,-0.000288732582597,-5.09148478323e-05,1793193609194078208
+329,5.483333333,POSE2_TO_POSE3_RETREAT,764,742.460660679,711,673,664.539339321,632,877,784.539339321,800.539339321,650,629,651,0.413599742806,0.0046034188807,0.0497943833537,0.999999937111,0.000108428211081,-0.000333756603306,-5.12715945567e-05,1793193609210744576
+330,5.500000000,POSE2_TO_POSE3_RETREAT,764,742.961603409,711,673,664,632,877,784,800,650,629,651,0.412763680259,0.00460494436829,0.0497661468991,0.999999918553,0.000107298542322,-0.000385611090728,-5.1813983951e-05,1793193609227411200
+331,5.516666667,POSE2_TO_POSE3_RETREAT,764,742.371847817,711,673,664,632,877,784,800,650,629,651,0.412054069908,0.00460668722721,0.0497825469976,0.999999929529,0.000101710249722,-0.000357587943226,-5.22300865107e-05,1793193609244077824
+332,5.533333333,POSE2_TO_POSE3_RETREAT,764,742,711,673,664.214037659,632,877,784,799.785962341,650,629,651,0.411344312775,0.00460763648524,0.0497973796724,0.999999936949,0.00010345976186,-0.000335705385615,-5.19520972868e-05,1793193609260744704
+333,5.550000000,POSE2_TO_POSE3_RETREAT,764,742,711,673,664.793319087,632,877,784,799.206680913,650,629,651,0.410634305052,0.00460723150626,0.0498095376256,0.999999939209,0.000117730842812,-0.000324301410576,-5.0489677833e-05,1793193609277411072
+334,5.566666667,POSE2_TO_POSE3_RETREAT,763.630317215,742,711,673,664.630317215,632,877,784,799,650,629,651,0.409939638974,0.00460780178037,0.0498005254943,0.999999933228,0.000115937177789,-0.000342822118559,-5.07412761292e-05,1793193609294077696
+335,5.583333333,POSE2_TO_POSE3_RETREAT,763.055572012,742,711,673,664.055572012,632,877,784,799,650,629,651,0.409253482922,0.00460891302575,0.0497797703521,0.999999921694,0.000105232424262,-0.000377941998155,-5.19436372223e-05,1793193609310744320
+336,5.600000000,POSE2_TO_POSE3_RETREAT,763,742,711,672.469656729,664,632,877,784,799.530343271,650,629,651,0.408653339895,0.00460901712407,0.0497938138995,0.99999993433,9.44523570449e-05,-0.000345771862269,-5.34899722042e-05,1793193609327410944
+337,5.616666667,POSE2_TO_POSE3_RETREAT,763.116037696,742,711,672,664,632,877,784,799.883962304,650,629,651,0.408068153322,0.00460842943267,0.0498117804394,0.999999946605,8.87714203644e-05,-0.000309816295916,-5.40601537138e-05,1793193609344077568
+338,5.633333333,POSE2_TO_POSE3_RETREAT,763.696068034,742,711,672,664,632,877,784,799.303931966,650,629,651,0.407505957605,0.00460550659612,0.0498305393485,0.999999952028,0.000103512292585,-0.000287525098438,-5.05798269472e-05,1793193609360744448
+339,5.650000000,POSE2_TO_POSE3_RETREAT,763.725375644,742.274624356,711,672.274624356,664,632,877,784,799.274624356,650,629,651,0.406942098131,0.00460207213692,0.0498280679331,0.999999948254,0.000108820483506,-0.000298784485393,-4.87636634709e-05,1793193609377411072
+340,5.666666667,POSE2_TO_POSE3_RETREAT,763.148441973,742.851558027,711,672.851558027,664,632,877,784,799.851558027,650,629,651,0.406376407217,0.00459807447846,0.0498022259572,0.999999933232,0.000103745080803,-0.000346976701687,-4.87794282252e-05,1793193609394077696
+341,5.683333333,POSE2_TO_POSE3_RETREAT,763.425992938,742.574007062,711,672.574007062,664.425992938,632,877,784,799.574007062,650,629,651,0.405849688247,0.00459531562011,0.0497806981748,0.999999919919,9.85123347388e-05,-0.000384733170001,-4.93759184004e-05,1793193609410744576
+342,5.700000000,POSE2_TO_POSE3_RETREAT,763.999562252,742.000437748,711,672.000437748,664.999562252,632,877,784,799.000437748,650,629,651,0.405336470249,0.00459298591791,0.0497606649528,0.999999906668,9.32250798857e-05,-0.000418874394581,-5.01735887707e-05,1793193609427411456
+343,5.716666667,POSE2_TO_POSE3_RETREAT,764,742,711,672,664.409922782,632,877,784,799.590077218,650,628.409922782,651,0.404908902092,0.00459248452968,0.0497725329595,0.999999914361,9.22012926781e-05,-0.000400276323723,-5.05544049044e-05,1793193609444078080
+344,5.733333333,POSE2_TO_POSE3_RETREAT,763.823260267,742,711,672,664.176739733,632,877,784,800,650,628.176739733,651,0.404505165097,0.0045918865512,0.0497900564776,0.999999925423,9.08664020299e-05,-0.000371913225294,-5.07803620955e-05,1793193609460744704
+345,5.750000000,POSE2_TO_POSE3_RETREAT,763.245370994,742,711,672,664.754629006,632,877,784,800,650,628.754629006,651,0.404155369579,0.00459106617037,0.0498203611169,0.999999943099,8.8818002653e-05,-0.000321477681082,-5.06555556649e-05,1793193609477412608
+346,5.766666667,POSE2_TO_POSE3_RETREAT,763.332104802,742,711,672.332104802,664.667895198,632,877,784.332104802,800,650,629,651.332104802,0.403817605302,0.00459205633931,0.0498413143923,0.999999952877,9.13765404025e-05,-0.000288687393134,-5.05652282146e-05,1793193609494079232
+347,5.783333333,POSE2_TO_POSE3_RETREAT,763.909275454,742,711,672.909275454,664.090724546,632,877,784.909275454,800,650,629,651.909275454,0.403488719106,0.00459438254414,0.0498553671335,0.999999957829,9.73346165457e-05,-0.000268917846766,-5.05003434555e-05,1793193609510745088
+348,5.800000000,POSE2_TO_POSE3_RETREAT,763.505820571,742.494179429,711,672.505820571,664,632,877,785,799.505820571,650,629,651.505820571,0.403168638993,0.00459805306085,0.0498499943139,0.999999952764,0.000102702582771,-0.000285096249297,-5.14233535287e-05,1793193609527411712
+349,5.816666667,POSE2_TO_POSE3_RETREAT,763.079564732,743,710.920435268,672,664,632,877,785,799.079564732,650,629,651,0.402855832802,0.00460150945437,0.0498403374438,0.999999945344,0.000107338077257,-0.000308277057978,-5.24861362392e-05,1793193609544078080
+350,5.833333333,POSE2_TO_POSE3_RETREAT,763.658913703,743,710.341086297,672,664,632,877,785,799.658913703,650,629,651,0.402578401036,0.00460204594086,0.0498265279533,0.999999937188,0.000108063895014,-0.00033332937271,-5.32695533085e-05,1793193609560744704
+351,5.850000000,POSE2_TO_POSE3_RETREAT,763.7622642,742.7622642,710.2377358,672,664,632,877,784.7622642,800.2377358,650.2377358,629,651,0.402323635682,0.00460220609486,0.0498149421252,0.999999930279,0.000106426711848,-0.000353809879179,-5.41664844189e-05,1793193609577411328
+352,5.866666667,POSE2_TO_POSE3_RETREAT,763.184196399,742.184196399,710.815803601,672,664,632,877,784.184196399,800.815803601,650.815803601,629,651,0.402101318579,0.00460182750797,0.0498065395942,0.999999925715,0.00010140676164,-0.000367745586276,-5.5225917145e-05,1793193609594077952
+353,5.883333333,POSE2_TO_POSE3_RETREAT,763.391670573,742,711,672,664,632,877,784,800.216658854,651,629,651,0.401920166233,0.00460015826939,0.0498072789248,0.999999931301,4.45024853344e-05,-0.000363651728957,-5.63421212937e-05,1793193609610744576
+354,5.900000000,POSE2_TO_POSE3_RETREAT,763.966508364,742,711,672,664,632,877,784,799.066983271,651,629,651,0.401758264828,0.00459788544936,0.049812293504,0.999999936031,-3.66658246451e-05,-0.000351126231092,-5.74848747348e-05,1793193609627411200
+355,5.916666667,POSE2_TO_POSE3_RETREAT,763.445791339,742,711,672,664,632,877,784,799.554208661,650.445791339,629,651,0.401626755968,0.00458648762143,0.0498208252604,0.99999994379,1.52573780751e-05,-0.000332250961974,-4.2394172984e-05,1793193609644078080
+356,5.933333333,POSE2_TO_POSE3_RETREAT,763.140458883,742.140458883,711,672.140458883,664,632,877,784.140458883,800,650.140458883,629,651,0.401503345005,0.00457629042871,0.0498278692026,0.999999947727,5.89084689825e-05,-0.000316456780427,-3.05155814152e-05,1793193609660744448
+357,5.950000000,POSE2_TO_POSE3_RETREAT,763.719693523,742.719693523,711,672.719693523,664,632,877,784.719693523,800,650.719693523,629,651,0.401399356981,0.00457160741611,0.0498295856544,0.999999949673,5.0996525439e-05,-0.000311514717646,-3.18085811618e-05,1793193609677411328
+358,5.966666667,POSE2_TO_POSE3_RETREAT,763.702915625,743,711,673,664.297084375,632.297084375,877,784.702915625,800,650.702915625,629,651,0.401308607868,0.00457081224849,0.0498304483328,0.999999950775,4.95504549968e-05,-0.000308060553076,-3.30777518302e-05,1793193609694077952
+359,5.983333333,POSE2_TO_POSE3_RETREAT,763.127253738,743,711,673,664.872746262,632.872746262,877,784.127253738,800,650.127253738,629,651,0.401230272954,0.00457366273293,0.0498305104236,0.999999951125,5.41674667525e-05,-0.00030600159845,-3.43245777756e-05,1793193609710744576
+360,6.000000000,POSE2_TO_POSE3_RETREAT,763.44705994,742.55294006,710.55294006,672.55294006,664.55294006,633,877,784,800,650,629,651,0.401167488105,0.00457621695011,0.0498302545671,0.999999950969,5.73882359255e-05,-0.00030579011797,-3.55040676859e-05,1793193609727411456
+361,6.016666667,POSE2_TO_POSE3_RETREAT,764,742,710.021652872,672,664,632.978347128,877,784.021652872,800,650,629,651,0.401109879793,0.00457858804867,0.0498300083244,0.999999950742,6.01202300498e-05,-0.000305871373472,-3.66505115985e-05,1793193609744078080
+362,6.033333333,POSE2_TO_POSE3_RETREAT,764,742,710.613680652,672,664,632.386319348,877,784.613680652,800,650,629,651,0.401072385595,0.00457835023519,0.0498323921495,0.999999952519,6.04146793783e-05,-0.000299852964848,-3.74298385083e-05,1793193609760744704
+363,6.050000000,POSE2_TO_POSE3_RETREAT,763.798969728,742,711,672.201030272,664,632,877,784.798969728,800,650.201030272,629,651.201030272,0.401040758713,0.00457823221541,0.0498347086252,0.999999954358,6.01515628593e-05,-0.000293623501149,-3.80872200357e-05,1793193609777411328
+364,6.066666667,POSE2_TO_POSE3_RETREAT,763.220405732,742,711,672.779594268,664,632,877,784.220405732,800,650.779594268,629,651.779594268,0.401020150624,0.00457833916759,0.0498368986189,0.999999956343,5.88413407725e-05,-0.000286997677894,-3.85155887316e-05,1793193609794077952
+365,6.083333333,POSE2_TO_POSE3_RETREAT,763.35660926,742,711,672.64339074,664.35660926,632.35660926,877,784.35660926,800.35660926,650.64339074,629,652,0.401001921374,0.00457807344392,0.0498374005431,0.999999956771,5.98400154538e-05,-0.000285307239703,-3.84256766504e-05,1793193609810745344
+366,6.100000000,POSE2_TO_POSE3_RETREAT,763.932671072,742,711,672.067328928,664.932671072,632.932671072,877,784.932671072,800.932671072,650.067328928,629,652,0.400985156026,0.00457757838053,0.0498368636524,0.999999956254,6.22595540858e-05,-0.000286653970592,-3.80168215784e-05,1793193609827412992
+367,6.116666667,POSE2_TO_POSE3_RETREAT,763.481454697,742,711,672,665,633,876.481454697,784.481454697,800.481454697,650,629,651.481454697,0.400975461213,0.00457815569017,0.0498372670075,0.999999956166,6.09556331514e-05,-0.000287162397571,-3.86145647097e-05,1793193609844079360
+368,6.133333333,POSE2_TO_POSE3_RETREAT,763.104604529,742,711,672,665,633,876,784,800,650,629,651,0.400968102408,0.00457895330512,0.0498380205734,0.999999956286,5.95723910883e-05,-0.000286951097704,-3.92225357913e-05,1793193609860745472
+369,6.150000000,POSE2_TO_POSE3_RETREAT,763.685592272,742,711,672,665,633,876,784,800,650,629,651,0.400967120518,0.00458010787647,0.0498398023391,0.999999957106,6.00721244221e-05,-0.000283967329427,-3.92703865778e-05,1793193609877411840
+370,6.166666667,POSE2_TO_POSE3_RETREAT,764,742,711,672.263535703,664.736464297,632.736464297,876.263535703,784,799.736464297,650,629,651,0.40096674324,0.004580674653,0.0498411300363,0.999999957901,6.07197108419e-05,-0.000281000842553,-3.93567333399e-05,1793193609894078208
+371,6.183333333,POSE2_TO_POSE3_RETREAT,764,742,711,672.837888601,664.162111399,632.162111399,876.837888601,784,799.162111399,650,629,651,0.400967079049,0.00458054817715,0.0498419221996,0.999999958669,6.15416769483e-05,-0.000278054737757,-3.94884827183e-05,1793193609910744832
+372,6.200000000,POSE2_TO_POSE3_RETREAT,764,742.411352462,711,672.588647538,664.411352462,632,877,784.411352462,799.411352462,650.411352462,629,651,0.40096652586,0.0045795813748,0.0498420003065,0.999999958821,6.07159064136e-05,-0.00027769608297,-3.94403758174e-05,1793193609927411712
+373,6.216666667,POSE2_TO_POSE3_RETREAT,764,742.984466702,711,672.015533298,664.984466702,632,877,784.984466702,799.984466702,650.984466702,629,651,0.400965623078,0.00457828411932,0.0498417976153,0.999999958731,5.92421737532e-05,-0.000278354926753,-3.93215415587e-05,1793193609944078592
+374,6.233333333,POSE2_TO_POSE3_RETREAT,764,742.420402406,711,672.579597594,665,632.579597594,877,784.420402406,800,650.420402406,629,651.579597594,0.400965694526,0.00457937661663,0.049841925902,0.999999958945,6.02117716212e-05,-0.000277350250524,-3.95060487883e-05,1793193609960744960
+375,6.250000000,POSE2_TO_POSE3_RETREAT,764,742,711,673,665,632.829755022,877,784.170244978,799.829755022,650.170244978,629,652,0.400965527655,0.00457973386765,0.0498421609567,0.999999959206,6.02556436318e-05,-0.000276385935547,-3.95870556938e-05,1793193609977411840
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764,742,711,673,665,632.251328028,877,784.748671972,799.251328028,650.748671972,629,652,0.400964724312,0.00457816866014,0.0498426298928,0.999999959561,5.79167817066e-05,-0.000275629504105,-3.93996472865e-05,1793193609994078464
+377,6.283333333,POSE2_TO_POSE3_RETREAT,764,742.32413958,711,672.67586042,664.67586042,632,877,784.67586042,799.32413958,650.67586042,629,651.67586042,0.400965175216,0.00457714964717,0.0498434172814,0.999999959861,5.69708008757e-05,-0.000274762149787,-3.92083958372e-05,1793193610010745344
+378,6.300000000,POSE2_TO_POSE3_RETREAT,764,742.89733339,711,672.10266661,664.10266661,632,877,784.10266661,799.89733339,650.10266661,629,651.10266661,0.400966589829,0.00457655030529,0.0498444493546,0.999999960123,5.70950467925e-05,-0.000273809567257,-3.90141915481e-05,1793193610027411968
+379,6.316666667,POSE2_TO_POSE3_RETREAT,763.518385317,742.518385317,711,672,664.481614683,632,877,784,800,650,629,651,0.400966645725,0.00457760039581,0.0498443643958,0.999999960093,5.81645561278e-05,-0.000273663904666,-3.92400406302e-05,1793193610044078336
+380,6.333333333,POSE2_TO_POSE3_RETREAT,763.067761752,742,710.932238248,672.067761752,664.932238248,632,877,784,800,650,629,651,0.400966247394,0.00457878472478,0.0498440458504,0.999999959985,5.9386129339e-05,-0.000273759255469,-3.9491005134e-05,1793193610060744960
+381,6.350000000,POSE2_TO_POSE3_RETREAT,763.649709422,742,710.350290578,672.649709422,664.350290578,632,877,784,800,650,629,651,0.400964651936,0.00457825671996,0.0498438042787,0.999999959785,6.01965189241e-05,-0.000274347438174,-3.92370694477e-05,1793193610077411584
+382,6.366666667,POSE2_TO_POSE3_RETREAT,764,742,710.229668091,673,664,632,877,784,799.770331909,650.229668091,629,651.229668091,0.400964473558,0.00457827707345,0.0498439483576,0.999999959878,6.00395845984e-05,-0.000274040959973,-3.92511693887e-05,1793193610094078464
+383,6.383333333,POSE2_TO_POSE3_RETREAT,764,742,710.806619143,673,664,632,877,784,799.193380857,650.806619143,629,651.806619143,0.400966437959,0.00457912660396,0.0498446755822,0.999999960411,5.84199519909e-05,-0.000272381657814,-3.96705681638e-05,1793193610110745600
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764,742,711,672.617508282,664.382491718,632,877,784,799,650.617508282,629,651.617508282,0.400967447201,0.00457907002045,0.0498453545749,0.999999960823,5.73580569557e-05,-0.000271072320719,-3.98054075835e-05,1793193610127412480
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764,742,711,672.04217945,664.95782055,632,877,784,799,650.04217945,629,651.04217945,0.40096797489,0.00457855661024,0.049846009251,0.999999961174,5.65773510758e-05,-0.000269939422142,-3.97967834785e-05,1793193610144078592
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764,742.543278266,711,672,665,632,877,784.543278266,799.543278266,650,629,651,0.400965818492,0.0045751415891,0.0498448420685,0.9999999608,5.47590660172e-05,-0.000271771133,-3.92783402791e-05,1793193610160745216
+387,6.450000000,POSE2_TO_POSE3_RETREAT,763.87179873,742.87179873,711,672.12820127,665,632,877,784.87179873,800,650.12820127,629,651,0.400964180907,0.00457263310446,0.0498439875034,0.999999960466,5.37602768744e-05,-0.00027325194974,-3.8868704708e-05,1793193610177412096
+388,6.466666667,POSE2_TO_POSE3_RETREAT,763.291586483,742.291586483,711,672.708413517,665,632,877,784.291586483,800,650.708413517,629,651,0.400965121245,0.00457413025091,0.0498447433494,0.999999960501,5.59402809882e-05,-0.000272668642364,-3.8984910538e-05,1793193610194078464
+389,6.483333333,POSE2_TO_POSE3_RETREAT,763.286177979,742.286177979,710.713822021,673,665,632,877,784,800,650.713822021,629,651.286177979,0.400966152281,0.00457553861422,0.0498453602822,0.999999960765,5.71985184667e-05,-0.000271415352147,-3.91318220489e-05,1793193610210744832
+390,6.500000000,POSE2_TO_POSE3_RETREAT,763.861469616,742.861469616,710.138530384,673,665,632,877,784,800,650.138530384,629,651.861469616,0.400967274946,0.00457685728383,0.0498458368768,0.999999961262,5.75255338815e-05,-0.000269485206185,-3.93097542405e-05,1793193610227411200
+391,6.516666667,POSE2_TO_POSE3_RETREAT,763.564449625,743,710.435550375,673,665,632,877,784,799.564449625,650,629,652,0.400965747827,0.0045760733997,0.0498454989305,0.999999961081,5.62410363119e-05,-0.00027043395495,-3.92514935716e-05,1793193610244077824
+392,6.533333333,POSE2_TO_POSE3_RETREAT,763.009541969,742.990458031,711,673,664.990458031,632,877,784,799,650,629,651.990458031,0.400963433014,0.00457463871055,0.0498449198131,0.999999960689,5.44639710236e-05,-0.000272261812029,-3.91146970402e-05,1793193610260744704
+393,6.550000000,POSE2_TO_POSE3_RETREAT,763.601536496,742.398463504,711,673,664.398463504,632,877,784,799,650,629,651.398463504,0.400964338353,0.00457418528423,0.0498453895014,0.999999960805,5.38202040855e-05,-0.000272013709974,-3.87568670926e-05,1793193610277411328
+394,6.566666667,POSE2_TO_POSE3_RETREAT,763.810197302,742.189802698,711,672.810197302,664.189802698,632,877,784,799.189802698,650.189802698,629,651,0.400964793137,0.00457441583274,0.049845724898,0.999999960803,5.41800578934e-05,-0.000271963390346,-3.86689511754e-05,1793193610294077952
+395,6.583333333,POSE2_TO_POSE3_RETREAT,763.22960743,742.77039257,711,672.22960743,664.77039257,632,877,784,799.77039257,650.77039257,629,651,0.400964320268,0.00457605462571,0.0498457837996,0.999999960553,5.66062791804e-05,-0.000272320287471,-3.91367646886e-05,1793193610310744576
+396,6.600000000,POSE2_TO_POSE3_RETREAT,763.34708204,742.65291796,711,672.34708204,665,632,876.65291796,784,800,650.65291796,629,651,0.400963352226,0.0045763003059,0.0498451261627,0.999999960254,5.66855592242e-05,-0.000273363486532,-3.93750721557e-05,1793193610327411200
+397,6.616666667,POSE2_TO_POSE3_RETREAT,763.921219904,742.078780096,711,672.921219904,665,632,876.078780096,784,800,650.078780096,629,651,0.400962060249,0.00457563463271,0.049843999777,0.999999959923,5.52295056914e-05,-0.000274855653928,-3.94632402187e-05,1793193610344078080
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_10/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_10/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d6d9043d30319e3d26860d80eb644513e686041e
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_10/depth_04/simulation_data.csv
@@ -0,0 +1,399 @@
+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,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+1,0.016666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+2,0.033333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+3,0.050000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+4,0.066666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+5,0.083333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+6,0.100000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+7,0.116666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+8,0.133333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+9,0.150000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+10,0.166666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+11,0.183333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+12,0.200000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+13,0.216666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+14,0.233333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+15,0.250000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+16,0.266666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+17,0.283333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+18,0.300000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+19,0.316666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+20,0.333333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+21,0.350000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+22,0.366666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+23,0.383333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+24,0.400000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+25,0.416666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+26,0.433333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+27,0.450000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+28,0.466666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+29,0.483333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+30,0.500000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+31,0.516666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+32,0.533333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+33,0.550000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+34,0.566666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+35,0.583333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+36,0.600000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+37,0.616666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+38,0.633333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+39,0.650000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+40,0.666666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+41,0.683333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+42,0.700000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+43,0.716666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+44,0.733333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+45,0.750000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+46,0.766666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+47,0.783333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+48,0.800000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+49,0.816666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+50,0.833333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+51,0.850000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+52,0.866666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+53,0.883333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+54,0.900000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+55,0.916666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+56,0.933333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+57,0.950000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+58,0.966666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+59,0.983333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+60,1.000000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+61,1.016666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+62,1.033333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+63,1.050000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+64,1.066666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+65,1.083333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+66,1.100000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+67,1.116666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+68,1.133333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+69,1.150000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+70,1.166666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+71,1.183333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+72,1.200000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+73,1.216666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+74,1.233333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+75,1.250000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+76,1.266666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+77,1.283333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+78,1.300000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+79,1.316666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+80,1.333333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+81,1.350000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+82,1.366666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+83,1.383333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+84,1.400000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+85,1.416666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+86,1.433333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+87,1.450000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+88,1.466666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+89,1.483333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+90,1.500000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+91,1.516666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+92,1.533333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+93,1.550000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+94,1.566666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+95,1.583333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+96,1.600000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+97,1.616666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+98,1.633333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+99,1.650000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+100,1.666666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+101,1.683333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+102,1.700000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+103,1.716666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+104,1.733333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+105,1.750000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+106,1.766666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+107,1.783333333,pose1_to_pose2_press,0.575709329052,0.010054459948,1.04002904989,0.546280060114,0.0187271921781,1.03969833964
+108,1.800000000,pose1_to_pose2_press,0.575709614963,0.0100544631712,1.04002907795,0.546280347032,0.0187271985809,1.03969836155
+109,1.816666667,pose1_to_pose2_press,0.575710041848,0.0100543817314,1.04002910468,0.54628077444,0.0187271187355,1.03969838344
+110,1.833333333,pose1_to_pose2_press,0.575710289296,0.0100544248507,1.04002912409,0.546281021397,0.0187271602268,1.03969840386
+111,1.850000000,pose1_to_pose2_press,0.575710673351,0.0100544917743,1.04002915421,0.54628140469,0.0187272246237,1.03969843554
+112,1.866666667,pose1_to_pose2_press,0.575711927522,0.0100545812036,1.04002922229,0.54628265794,0.0187273110587,1.03969850699
+113,1.883333333,pose1_to_pose2_press,0.575715118094,0.0100545272353,1.04002927512,0.54628584972,0.0187272612552,1.03969856158
+114,1.900000000,pose1_to_pose2_press,0.575721357499,0.0100544650045,1.04002918852,0.546292090028,0.0187272020664,1.0396984744
+115,1.916666667,pose1_to_pose2_press,0.575733215913,0.0100544920921,1.04002917385,0.546303946835,0.0187272238864,1.03969846447
+116,1.933333333,pose1_to_pose2_press,0.575753655048,0.0100545267296,1.04002918672,0.546324385446,0.0187272565434,1.03969847204
+117,1.950000000,pose1_to_pose2_press,0.575784350084,0.010054397506,1.04002907577,0.546355082586,0.0187271346208,1.03969836523
+118,1.966666667,pose1_to_pose2_press,0.575826342209,0.0100544781564,1.04002910313,0.546397073459,0.0187272111372,1.03969839551
+119,1.983333333,pose1_to_pose2_press,0.57587894526,0.0100545629497,1.04002906668,0.546449675397,0.0187272919704,1.03969835427
+120,2.000000000,pose1_to_pose2_press,0.575940445097,0.0100545315286,1.04002920228,0.546511174517,0.0187272577703,1.03969848072
+121,2.016666667,pose1_to_pose2_press,0.576009415942,0.0100545838671,1.0400291682,0.546580147641,0.0187273183212,1.03969845912
+122,2.033333333,pose1_to_pose2_press,0.576086732062,0.0100546617277,1.04002904308,0.546657461541,0.0187273889002,1.03969834051
+123,2.050000000,pose1_to_pose2_press,0.576174364088,0.0100545687261,1.04002921613,0.546745094172,0.0187272977372,1.03969850785
+124,2.066666667,pose1_to_pose2_press,0.576273254914,0.0100545532021,1.04002921722,0.546843985345,0.018727283311,1.03969850683
+125,2.083333333,pose1_to_pose2_press,0.576388308451,0.0100545003061,1.04002917089,0.546959039091,0.0187272311616,1.03969846145
+126,2.100000000,pose1_to_pose2_press,0.576519250031,0.0100544552992,1.04002923611,0.547089982294,0.0187271916395,1.03969852607
+127,2.116666667,pose1_to_pose2_press,0.576667697251,0.0100545775951,1.04002930962,0.54723842842,0.0187273101118,1.03969859661
+128,2.133333333,pose1_to_pose2_press,0.576834245227,0.0100545980829,1.04002927089,0.547404974596,0.0187273243798,1.03969855487
+129,2.150000000,pose1_to_pose2_press,0.577020468143,0.0100545341623,1.04002919491,0.547591198302,0.0187272631683,1.03969847956
+130,2.166666667,pose1_to_pose2_press,0.577229229167,0.0100546679841,1.04002922691,0.547799958201,0.0187273933018,1.0396985149
+131,2.183333333,pose1_to_pose2_press,0.577461143495,0.0100546155755,1.04002921493,0.548031872405,0.0187273404746,1.03969850291
+132,2.200000000,pose1_to_pose2_press,0.577718812212,0.010054536863,1.04002920015,0.548289542339,0.0187272657879,1.03969848543
+133,2.216666667,pose1_to_pose2_press,0.578001391774,0.0100545120812,1.04002932292,0.548572122886,0.0187272445148,1.03969861242
+134,2.233333333,pose1_to_pose2_press,0.57831190642,0.0100544851443,1.04002912897,0.548882638141,0.0187272200338,1.03969842863
+135,2.250000000,pose1_to_pose2_press,0.578646363087,0.0100545694481,1.04002915439,0.549217093539,0.01872729985,1.03969844927
+136,2.266666667,pose1_to_pose2_press,0.579004163679,0.0100544943985,1.04002912485,0.549574894699,0.0187272265302,1.03969841446
+137,2.283333333,pose1_to_pose2_press,0.579379630833,0.0100544811535,1.04002906014,0.549950362194,0.0187272143617,1.03969834758
+138,2.300000000,pose1_to_pose2_press,0.579770467754,0.0100546159195,1.04002917591,0.550341198061,0.0187273454124,1.03969845968
+139,2.316666667,pose1_to_pose2_press,0.580175220744,0.0100545791877,1.04002934269,0.550745951879,0.0187273117049,1.03969863196
+140,2.333333333,pose1_to_pose2_press,0.580598333753,0.0100545904803,1.04002937155,0.551169064236,0.0187273208951,1.03969866366
+141,2.350000000,pose1_to_pose2_press,0.581045799013,0.0100545989277,1.04002929125,0.551616530318,0.0187273321027,1.03969858259
+142,2.366666667,pose1_to_pose2_press,0.581528707056,0.0100545340052,1.04002929794,0.552099438492,0.0187272675662,1.03969858771
+143,2.383333333,pose1_to_pose2_press,0.582048470172,0.0100545175291,1.04002930483,0.552619201449,0.018727250453,1.03969859198
+144,2.400000000,pose1_to_pose2_press,0.582604531563,0.0100545107986,1.04002931419,0.553175263639,0.01872724636,1.0396985994
+145,2.416666667,pose1_to_pose2_press,0.583187239676,0.0100546082307,1.04002921837,0.553757970518,0.0187273399729,1.03969851313
+146,2.433333333,pose1_to_pose2_press,0.583787220972,0.0100544872724,1.04002905719,0.554357951759,0.0187272188356,1.03969835216
+147,2.450000000,pose1_to_pose2_press,0.584394907539,0.0100544607903,1.04002917197,0.554965638551,0.0187271926286,1.0396984541
+148,2.466666667,pose1_to_pose2_press,0.585008591327,0.0100545015715,1.04002909166,0.555579322276,0.0187272333551,1.03969837795
+149,2.483333333,pose1_to_pose2_press,0.585644468832,0.0100544943985,1.04002912601,0.556215198818,0.0187272231123,1.03969841749
+150,2.500000000,pose1_to_pose2_press,0.586305450876,0.0100544925943,1.04002893122,0.556876182106,0.0187272257701,1.03969822888
+151,2.516666667,pose1_to_pose2_press,0.586995509952,0.0100546749472,1.0400292182,0.557566239065,0.0187274002499,1.03969849779
+152,2.533333333,pose1_to_pose2_press,0.587708548601,0.0100544794337,1.04002914703,0.558279280401,0.0187272142334,1.0396984366
+153,2.550000000,pose1_to_pose2_press,0.5884391292,0.0100544573152,1.04002898466,0.559009861314,0.0187271931744,1.03969827407
+154,2.566666667,pose1_to_pose2_press,0.589180690119,0.0100546869917,1.04002931624,0.559751419725,0.0187274140339,1.03969859751
+155,2.583333333,pose1_to_pose2_press,0.589935208794,0.0100546429817,1.04002916792,0.560505939399,0.0187273738125,1.03969845973
+156,2.600000000,pose1_to_pose2_press,0.59070512125,0.0100546041054,1.04002914564,0.561275851237,0.0187273327269,1.03969843449
+157,2.616666667,pose1_to_pose2_press,0.591491153079,0.0100546252181,1.04002895081,0.56206188248,0.0187273517981,1.03969823825
+158,2.633333333,pose1_to_pose2_press,0.592290721497,0.0100546204006,1.04002908183,0.562861451558,0.0187273490623,1.03969836521
+159,2.650000000,pose1_to_pose2_press,0.59309574923,0.0100546115131,1.04002907038,0.563666478098,0.0187273363837,1.03969836049
+160,2.666666667,pose1_to_pose2_press,0.593906519274,0.0100545275236,1.04002922527,0.564477249898,0.0187272578101,1.03969850118
+161,2.683333333,pose1_to_pose2_press,0.594728544343,0.0100546452544,1.04002916318,0.565299274711,0.0187273751628,1.03969845196
+162,2.700000000,pose1_to_pose2_press,0.595564602882,0.0100545043997,1.04002904423,0.566135332976,0.0187272335038,1.03969833629
+163,2.716666667,pose1_to_pose2_press,0.59640693945,0.0100545350079,1.04002916626,0.566977671766,0.0187272716228,1.03969845759
+164,2.733333333,pose1_to_pose2_press,0.597252485538,0.010054521625,1.04002915962,0.56782321618,0.0187272525746,1.03969845142
+165,2.750000000,pose1_to_pose2_press,0.598101373801,0.0100543845274,1.04002923071,0.568672105177,0.0187271173848,1.03969850724
+166,2.766666667,pose1_to_pose2_press,0.598942038777,0.0100545292628,1.0400290761,0.569512769258,0.0187272595507,1.03969836505
+167,2.783333333,pose1_to_pose2_press,0.599774241227,0.0100543838533,1.04002928374,0.570344975543,0.018727127114,1.03969857164
+168,2.800000000,pose1_to_pose2_press,0.600602116049,0.0100544616582,1.04002893113,0.571172848938,0.0187272001729,1.03969822164
+169,2.816666667,pose1_to_pose2_press,0.601424387164,0.0100545465029,1.04002904409,0.57199511867,0.0187272804376,1.03969833759
+170,2.833333333,pose1_to_pose2_press,0.60224294637,0.0100545397158,1.0400291638,0.572813676277,0.0187272682278,1.03969845742
+171,2.850000000,pose1_to_pose2_press,0.603054782724,0.0100545284598,1.04002890616,0.573625511754,0.0187272541526,1.03969820407
+172,2.866666667,pose1_to_pose2_press,0.603857133983,0.0100546187833,1.04002916765,0.574427864194,0.018727348127,1.03969845617
+173,2.883333333,pose1_to_pose2_press,0.604655335777,0.010054625327,1.04002906735,0.575226066211,0.0187273554144,1.03969835563
+174,2.900000000,pose1_to_pose2_press,0.605447088431,0.0100546592208,1.04002943965,0.576017817192,0.0187273833155,1.03969871975
+175,2.916666667,pose1_to_pose2_press,0.606232786823,0.0100545355563,1.04002934853,0.576803517609,0.0187272664365,1.03969862644
+176,2.933333333,pose1_to_pose2_press,0.607010925971,0.0100545866451,1.04002931268,0.577581655621,0.0187273139189,1.03969859713
+177,2.950000000,pose1_to_pose2_press,0.60777341969,0.0100543628605,1.04002917409,0.578344152806,0.0187271021034,1.03969846414
+178,2.966666667,pose1_to_pose2_press,0.608515177843,0.0100547144082,1.04002932861,0.579085905893,0.0187274361996,1.03969861188
+179,2.983333333,pose1_to_pose2_press,0.609230754351,0.0100545696747,1.04002905846,0.579801482623,0.0187272923987,1.03969834658
+180,3.000000000,pose1_to_pose2_press,0.609922299116,0.0100546196936,1.0400295777,0.580493029766,0.0187273500553,1.03969885452
+181,3.016666667,pose1_to_pose2_press,0.610595553246,0.0100547207783,1.04002921661,0.581166281775,0.0187274441904,1.03969849998
+182,3.033333333,pose1_to_pose2_press,0.611259657106,0.0100545581526,1.04002915798,0.581830387436,0.018727287998,1.03969844989
+183,3.050000000,pose1_to_pose2_press,0.611912942508,0.0100545836339,1.04002917273,0.582483672324,0.0187273116851,1.03969846361
+184,3.066666667,pose1_to_pose2_press,0.612545161936,0.0100544608919,1.04002904007,0.583115893018,0.0187271932523,1.03969833026
+185,3.083333333,pose1_to_pose2_press,0.613141547451,0.0100545028097,1.04002888126,0.583712276975,0.0187272305183,1.03969818515
+186,3.100000000,pose1_to_pose2_press,0.613699495272,0.0100546441212,1.04002906978,0.584270223234,0.0187273659592,1.03969835498
+187,3.116666667,pose1_to_pose2_press,0.614221643162,0.0100546005133,1.04002928773,0.584792372141,0.0187273261574,1.03969857923
+188,3.133333333,pose1_to_pose2_press,0.614718675408,0.0100545708691,1.04002917114,0.585289404791,0.0187272981535,1.03969846229
+189,3.150000000,pose1_to_pose2_press,0.615202270613,0.0100545104428,1.04002913818,0.58577300167,0.0187272442826,1.03969843721
+190,3.166666667,pose1_to_pose2_press,0.615670242121,0.0100545627517,1.04002931857,0.586240971438,0.0187272907262,1.03969859923
+191,3.183333333,pose1_to_pose2_press,0.61611800231,0.0100545087909,1.04002931463,0.586688732721,0.0187272411938,1.03969859946
+192,3.200000000,pose1_to_pose2_press,0.616533149462,0.0100545030388,1.04002902983,0.58710387824,0.0187272313088,1.03969833239
+193,3.216666667,pose1_to_pose2_press,0.616914932275,0.0100545144741,1.04002910698,0.58748566193,0.0187272462401,1.03969840392
+194,3.233333333,pose1_to_pose2_press,0.617265257227,0.0100546578115,1.04002914707,0.587835984647,0.0187273825005,1.03969844205
+195,3.250000000,pose1_to_pose2_press,0.617592054101,0.0100546164932,1.04002897603,0.588162783208,0.0187273476807,1.0396982744
+196,3.266666667,pose1_to_pose2_press,0.617901009056,0.0100546152646,1.04002903866,0.588471737422,0.0187273443898,1.03969833506
+197,3.283333333,pose1_to_pose2_press,0.618198734855,0.0100545659351,1.04002917823,0.588769464204,0.0187272986553,1.03969846693
+198,3.300000000,pose1_to_pose2_press,0.618485135928,0.0100545916638,1.04002904154,0.589055864789,0.0187273233208,1.03969833288
+199,3.316666667,pose1_to_pose2_press,0.618753152741,0.0100545533247,1.04002889929,0.589323880477,0.018727281857,1.03969819651
+200,3.333333333,pose1_to_pose2_press,0.619001110058,0.010054529212,1.04002922592,0.589571837892,0.0187272581714,1.03969851027
+201,3.350000000,pose1_to_pose2_press,0.619223960279,0.0100544632002,1.04002930598,0.5897946896,0.0187271974589,1.03969858496
+202,3.366666667,pose1_to_pose2_press,0.619423395571,0.0100544006659,1.04002917478,0.589994125155,0.018727136475,1.03969846202
+203,3.383333333,pose1_to_pose2_press,0.619598196354,0.0100544850035,1.04002900883,0.590168924333,0.018727215968,1.03969830304
+204,3.400000000,pose1_to_pose2_press,0.61975450803,0.0100545246656,1.04002905332,0.590325237142,0.0187272597867,1.03969834693
+205,3.416666667,pose1_to_pose2_press,0.61989331654,0.0100545145109,1.04002926045,0.590464046309,0.0187272518192,1.0396985458
+206,3.433333333,pose1_to_pose2_press,0.620013553212,0.0100545129336,1.04002933079,0.590584282614,0.0187272490796,1.03969861225
+207,3.450000000,pose1_to_pose2_press,0.620117919801,0.0100545843877,1.04002926277,0.590688647387,0.018727314641,1.03969854659
+208,3.466666667,pose1_to_pose2_press,0.620207788727,0.0100545504144,1.04002910365,0.59077851538,0.0187272775723,1.03969838443
+209,3.483333333,pose1_to_pose2_press,0.620283703221,0.0100544270144,1.04002905999,0.590854431604,0.0187271602371,1.03969833966
+210,3.500000000,pose1_to_pose2_press,0.620345147357,0.0100545021141,1.04002912197,0.590915875619,0.0187272353925,1.03969841474
+211,3.516666667,pose1_to_pose2_press,0.620397397322,0.0100546168505,1.04002903071,0.590968124159,0.0187273453879,1.03969833373
+212,3.533333333,pose1_to_pose2_press,0.620440664437,0.0100544927323,1.04002932614,0.591011392441,0.0187272249917,1.03969860766
+213,3.550000000,pose1_to_pose2_press,0.620475359153,0.0100545031455,1.04002919033,0.591046087887,0.018727238584,1.03969848024
+214,3.566666667,pose1_to_pose2_press,0.620503621316,0.0100545731358,1.04002918674,0.591074349212,0.0187273053873,1.03969847432
+215,3.583333333,pose1_to_pose2_press,0.62052654032,0.0100546665087,1.04002909571,0.591097266839,0.0187273941578,1.03969838629
+216,3.600000000,pose1_to_pose2_press,0.620544386256,0.0100546917725,1.04002912384,0.59111511242,0.0187274182677,1.03969841153
+217,3.616666667,pose1_to_pose2_press,0.620557295106,0.0100545936976,1.04002924806,0.591128022526,0.0187273243386,1.03969852924
+218,3.633333333,pose1_to_pose2_press,0.620567051679,0.0100543955384,1.04002931506,0.591137781428,0.0187271340069,1.03969859416
+219,3.650000000,pose1_to_pose2_press,0.620573663927,0.0100543216239,1.04002911058,0.591144394186,0.0187270619027,1.03969839322
+220,3.666666667,pose1_to_pose2_press,0.620577342676,0.0100543871181,1.04002898849,0.591148071681,0.0187271234344,1.03969827885
+221,3.683333333,pose1_to_pose2_press,0.620579566113,0.0100544607039,1.04002891204,0.591150293869,0.0187271930403,1.03969820891
+222,3.700000000,pose1_to_pose2_press,0.620580928601,0.0100544742687,1.04002889434,0.591151656202,0.0187272061178,1.03969819246
+223,3.716666667,pose1_to_pose2_press,0.620581628339,0.0100544622395,1.04002890281,0.591152356228,0.0187271950142,1.03969819992
+224,3.733333333,pose1_to_pose2_press,0.620581860176,0.010054458254,1.04002890562,0.59115258816,0.0187271913353,1.03969820239
+225,3.750000000,pose1_to_pose2_press,0.620581989393,0.0100544560326,1.04002890719,0.59115271743,0.0187271892849,1.03969820377
+226,3.766666667,pose1_to_pose2_press,0.620582010191,0.0100544556751,1.04002890744,0.591152738236,0.0187271889549,1.03969820399
+227,3.783333333,pose1_to_pose2_press,0.62058201547,0.0100544555843,1.0400289075,0.591152743518,0.0187271888711,1.03969820405
+228,3.800000000,pose1_to_pose2_press,0.620582106067,0.0100544540269,1.0400289086,0.591152834151,0.0187271874335,1.03969820501
+229,3.816666667,pose1_to_pose2_press,0.620582352655,0.0100544497878,1.04002891158,0.59115308084,0.0187271835206,1.03969820764
+230,3.833333333,pose1_to_pose2_press,0.620582642146,0.0100544448111,1.04002891509,0.591153370451,0.0187271789268,1.03969821073
+231,3.850000000,pose1_to_pose2_press,0.620582881463,0.010054440697,1.04002891799,0.591153609866,0.0187271751293,1.03969821328
+232,3.866666667,pose1_to_pose2_press,0.620583035762,0.0100544380444,1.04002891986,0.591153764228,0.0187271726808,1.03969821492
+233,3.883333333,pose1_to_pose2_press,0.620583147564,0.0100544361225,1.04002892121,0.591153876076,0.0187271709067,1.03969821612
+234,3.900000000,pose1_to_pose2_press,0.620583315489,0.0100544332356,1.04002892324,0.59115404407,0.0187271682421,1.03969821791
+235,3.916666667,pose1_to_pose2_press,0.62058371881,0.0100544336475,1.0400289064,0.591154447438,0.0187271688137,1.03969820076
+236,3.933333333,pose1_to_pose2_press,0.620584293891,0.0100544422066,1.04002885879,0.59115502246,0.0187271771948,1.03969815305
+237,3.950000000,pose1_to_pose2_press,0.620584819735,0.0100544500329,1.04002881526,0.59115554825,0.0187271848584,1.03969810943
+238,3.966666667,pose1_to_pose2_press,0.620585112725,0.0100544567169,1.04002881049,0.591155841242,0.01872719154,1.03969810457
+239,3.983333333,pose1_to_pose2_press,0.620585260105,0.0100544635796,1.04002883744,0.591155988672,0.0187271985345,1.03969813142
+240,4.000000000,pose1_to_pose2_press,0.620585511177,0.0100544752709,1.04002888336,0.59115623983,0.0187272104502,1.03969817716
+241,4.016666667,pose1_to_pose2_press,0.620585692314,0.0100544837056,1.04002891648,0.591156421029,0.0187272190469,1.03969821016
+242,4.033333333,pose1_to_pose2_press,0.620585701987,0.0100544815241,1.04002891825,0.591156430746,0.0187272170031,1.03969821166
+243,4.050000000,pose1_to_pose2_press,0.620585762627,0.0100544621405,1.04002892937,0.591156491749,0.0187271987623,1.03969822046
+244,4.066666667,pose1_to_pose2_press,0.620586023675,0.0100544566976,1.0400288298,0.591156752136,0.0187271909453,1.03969811585
+245,4.083333333,pose2_hold,0.620586023675,0.0100544566976,1.0400288298,0.591156752139,0.0187271909431,1.03969811585
+246,4.100000000,pose2_hold,0.620586023675,0.0100544566976,1.0400288298,0.591156752139,0.018727190943,1.03969811585
+247,4.116666667,pose2_hold,0.620586023675,0.0100544566976,1.0400288298,0.591156752139,0.0187271909428,1.03969811585
+248,4.133333333,pose2_hold,0.620586023675,0.0100544566976,1.0400288298,0.591156752139,0.0187271909425,1.03969811585
+249,4.150000000,pose2_hold,0.620586023675,0.0100544566976,1.0400288298,0.591156752139,0.0187271909426,1.03969811585
+250,4.166666667,pose2_hold,0.620586023675,0.0100544566976,1.0400288298,0.591156752139,0.0187271909426,1.03969811585
+251,4.183333333,pose2_hold,0.620586023675,0.0100544566976,1.0400288298,0.59115675214,0.0187271909422,1.03969811585
+252,4.200000000,pose2_hold,0.620586023675,0.0100544566976,1.0400288298,0.59115675214,0.0187271909423,1.03969811585
+253,4.216666667,pose2_hold,0.620586023675,0.0100544566976,1.0400288298,0.59115675214,0.0187271909423,1.03969811585
+254,4.233333333,pose2_hold,0.620586023675,0.0100544566976,1.0400288298,0.59115675214,0.0187271909422,1.03969811585
+255,4.250000000,pose2_hold,0.620586023675,0.0100544566976,1.0400288298,0.59115675214,0.0187271909422,1.03969811585
+256,4.266666667,pose2_hold,0.620586023675,0.0100544566976,1.0400288298,0.59115675214,0.0187271909421,1.03969811585
+257,4.283333333,pose2_hold,0.620586023675,0.0100544566976,1.0400288298,0.59115675214,0.018727190942,1.03969811585
+258,4.300000000,pose2_hold,0.620586023675,0.0100544566976,1.0400288298,0.59115675214,0.018727190942,1.03969811585
+259,4.316666667,pose2_hold,0.620586023675,0.0100544566976,1.0400288298,0.59115675214,0.0187271909419,1.03969811585
+260,4.333333333,pose2_hold,0.620586023675,0.0100544566976,1.0400288298,0.59115675214,0.0187271909416,1.03969811585
+261,4.350000000,pose2_to_pose3_retreat,0.620586023675,0.0100544566976,1.0400288298,0.59115675214,0.0187271909416,1.03969811585
+262,4.366666667,pose2_to_pose3_retreat,0.620585610032,0.0100543912433,1.04002886571,0.591156339322,0.0187271285716,1.03969815892
+263,4.383333333,pose2_to_pose3_retreat,0.620585204197,0.0100543758672,1.04002897022,0.591155934108,0.018727115245,1.03969826216
+264,4.400000000,pose2_to_pose3_retreat,0.620584837373,0.0100543728332,1.04002907278,0.591155566906,0.0187271107797,1.03969836084
+265,4.416666667,pose2_to_pose3_retreat,0.620584786659,0.0100543724138,1.04002908696,0.591155516141,0.0187271101623,1.03969837448
+266,4.433333333,pose2_to_pose3_retreat,0.620584328014,0.010054373841,1.04002919527,0.591155057093,0.0187271100723,1.03969847891
+267,4.450000000,pose2_to_pose3_retreat,0.620582673198,0.0100545144607,1.04002906915,0.591153402632,0.0187272522882,1.03969836374
+268,4.466666667,pose2_to_pose3_retreat,0.620578007329,0.0100546170869,1.04002901807,0.59114873342,0.0187273436866,1.03969831667
+269,4.483333333,pose2_to_pose3_retreat,0.620567120911,0.0100544715223,1.04002916722,0.591137849109,0.0187272049675,1.03969845769
+270,4.500000000,pose2_to_pose3_retreat,0.620547230645,0.0100545176251,1.04002902853,0.591117960261,0.0187272559186,1.0396983224
+271,4.516666667,pose2_to_pose3_retreat,0.620516919061,0.0100545328034,1.04002925133,0.591087646997,0.0187272651505,1.03969854394
+272,4.533333333,pose2_to_pose3_retreat,0.620474958704,0.0100545464492,1.0400292922,0.591045686311,0.0187272774069,1.03969857157
+273,4.550000000,pose2_to_pose3_retreat,0.620422399739,0.0100545701585,1.04002915662,0.590993128413,0.018727304346,1.03969844105
+274,4.566666667,pose2_to_pose3_retreat,0.620360376435,0.0100544978742,1.04002918737,0.590931106119,0.0187272353496,1.03969847839
+275,4.583333333,pose2_to_pose3_retreat,0.620289933246,0.010054585167,1.04002915798,0.590860660698,0.0187273150226,1.03969844651
+276,4.600000000,pose2_to_pose3_retreat,0.620210918327,0.0100545476683,1.04002923551,0.59078164604,0.0187272784621,1.03969851858
+277,4.616666667,pose2_to_pose3_retreat,0.620121064239,0.0100544925768,1.04002910809,0.590691793125,0.018727227769,1.03969840688
+278,4.633333333,pose2_to_pose3_retreat,0.620019726586,0.0100546345951,1.04002934098,0.590590453635,0.0187273633402,1.03969863925
+279,4.650000000,pose2_to_pose3_retreat,0.619900387945,0.0100546143196,1.04002914533,0.590471114943,0.0187273425352,1.03969844028
+280,4.666666667,pose2_to_pose3_retreat,0.619762005707,0.0100546087511,1.0400291372,0.590332733551,0.0187273396258,1.03969843484
+281,4.683333333,pose2_to_pose3_retreat,0.619601355371,0.0100544686621,1.0400292241,0.590172084113,0.0187272014709,1.03969850124
+282,4.700000000,pose2_to_pose3_retreat,0.619417619819,0.0100544965722,1.0400294201,0.589988349322,0.0187272319899,1.03969870737
+283,4.716666667,pose2_to_pose3_retreat,0.61920939169,0.0100544639626,1.04002894169,0.58978012034,0.0187271963435,1.03969823501
+284,4.733333333,pose2_to_pose3_retreat,0.618979608205,0.0100545813465,1.0400288875,0.589550335196,0.0187273079313,1.03969818845
+285,4.750000000,pose2_to_pose3_retreat,0.618728209995,0.0100544884653,1.04002893353,0.589298938776,0.0187272201884,1.03969822375
+286,4.766666667,pose2_to_pose3_retreat,0.618449754699,0.0100546963897,1.04002913863,0.589020481207,0.018727420108,1.0396984317
+287,4.783333333,pose2_to_pose3_retreat,0.618146238076,0.0100546147361,1.04002908547,0.588716966222,0.0187273430303,1.03969837145
+288,4.800000000,pose2_to_pose3_retreat,0.617816804711,0.0100546212292,1.04002928611,0.588387534471,0.0187273544176,1.0396985719
+289,4.816666667,pose2_to_pose3_retreat,0.617463718478,0.0100546035121,1.04002898168,0.588034446474,0.0187273301445,1.03969827192
+290,4.833333333,pose2_to_pose3_retreat,0.617088416069,0.0100545159831,1.04002928362,0.587659145547,0.0187272466708,1.03969856455
+291,4.850000000,pose2_to_pose3_retreat,0.61669711099,0.0100544496381,1.04002919374,0.587267842422,0.0187271865749,1.03969848227
+292,4.866666667,pose2_to_pose3_retreat,0.61628868878,0.0100543963563,1.04002905876,0.586859420851,0.018727135027,1.03969835296
+293,4.883333333,pose2_to_pose3_retreat,0.615855447245,0.0100543816146,1.04002912076,0.58642617969,0.0187271206898,1.03969841139
+294,4.900000000,pose2_to_pose3_retreat,0.61539472513,0.0100545338345,1.04002914902,0.585965456453,0.0187272685319,1.03969844335
+295,4.916666667,pose2_to_pose3_retreat,0.614903404641,0.0100546438543,1.04002906698,0.58547413343,0.0187273695138,1.03969836662
+296,4.933333333,pose2_to_pose3_retreat,0.614372734493,0.0100545408004,1.04002910303,0.584943463963,0.0187272680046,1.03969839732
+297,4.950000000,pose2_to_pose3_retreat,0.613804163786,0.0100545698031,1.04002902893,0.584374893278,0.0187272968056,1.03969832254
+298,4.966666667,pose2_to_pose3_retreat,0.61320461959,0.0100546359324,1.04002904213,0.583775348152,0.0187273597451,1.03969833456
+299,4.983333333,pose2_to_pose3_retreat,0.612577528633,0.0100546111101,1.04002924388,0.583148258059,0.0187273376966,1.03969853104
+300,5.000000000,pose2_to_pose3_retreat,0.611923981194,0.010054664774,1.04002916122,0.582494708911,0.0187273856039,1.03969844956
+301,5.016666667,pose2_to_pose3_retreat,0.611248612457,0.0100547777552,1.04002910254,0.58181933989,0.0187274977981,1.03969839648
+302,5.033333333,pose2_to_pose3_retreat,0.610550410868,0.0100546415763,1.04002898967,0.581121142351,0.0187273756353,1.03969829099
+303,5.050000000,pose2_to_pose3_retreat,0.609830474689,0.0100545366059,1.04002889887,0.58040120597,0.0187272698564,1.03969819697
+304,5.066666667,pose2_to_pose3_retreat,0.609090394383,0.0100546506413,1.04002920053,0.579661122458,0.018727372754,1.03969849202
+305,5.083333333,pose2_to_pose3_retreat,0.608332079823,0.0100545963876,1.04002921136,0.578902808815,0.018727321578,1.03969850248
+306,5.100000000,pose2_to_pose3_retreat,0.607557424865,0.010054564581,1.04002925586,0.578128155185,0.0187272942395,1.03969854604
+307,5.116666667,pose2_to_pose3_retreat,0.606764207221,0.0100545566698,1.04002937911,0.577334937402,0.0187272856024,1.03969866233
+308,5.133333333,pose2_to_pose3_retreat,0.605949678707,0.0100545871188,1.04002916991,0.576520408195,0.0187273139501,1.03969845955
+309,5.150000000,pose2_to_pose3_retreat,0.605112797794,0.0100546334893,1.0400291046,0.575683526841,0.0187273589395,1.03969839821
+310,5.166666667,pose2_to_pose3_retreat,0.604265056474,0.0100545163309,1.04002911354,0.574835787122,0.0187272470192,1.03969840169
+311,5.183333333,pose2_to_pose3_retreat,0.603407043776,0.0100546076861,1.04002913225,0.573977773931,0.018727336761,1.03969842104
+312,5.200000000,pose2_to_pose3_retreat,0.602533792263,0.0100546674862,1.04002903962,0.57310452166,0.018727393995,1.0396983285
+313,5.216666667,pose2_to_pose3_retreat,0.601660076002,0.0100546140455,1.0400291648,0.572230806115,0.0187273428209,1.03969844929
+314,5.233333333,pose2_to_pose3_retreat,0.600793084992,0.01005458707,1.04002931376,0.571363815028,0.0187273155955,1.03969859852
+315,5.250000000,pose2_to_pose3_retreat,0.599926842911,0.0100545640994,1.0400293097,0.570497572964,0.0187272927129,1.03969859533
+316,5.266666667,pose2_to_pose3_retreat,0.599064755256,0.0100544607262,1.04002925351,0.56963548709,0.0187271953294,1.03969853765
+317,5.283333333,pose2_to_pose3_retreat,0.598203352764,0.0100545201712,1.04002917688,0.568774083825,0.0187272522843,1.03969846441
+318,5.300000000,pose2_to_pose3_retreat,0.597336253368,0.0100547270969,1.0400291649,0.567906981955,0.0187274509585,1.03969845581
+319,5.316666667,pose2_to_pose3_retreat,0.596460186454,0.0100545997968,1.04002911507,0.567030916994,0.0187273302434,1.03969840516
+320,5.333333333,pose2_to_pose3_retreat,0.595569386936,0.0100543796361,1.04002908149,0.566140119494,0.01872711705,1.03969837488
+321,5.350000000,pose2_to_pose3_retreat,0.594665357412,0.0100545460106,1.04002911817,0.565236087704,0.0187272755526,1.03969840636
+322,5.366666667,pose2_to_pose3_retreat,0.593776936173,0.0100546152691,1.04002907964,0.5643476666,0.0187273451136,1.0396983637
+323,5.383333333,pose2_to_pose3_retreat,0.592906239724,0.0100545360754,1.040029233,0.563476971608,0.0187272710277,1.03969852259
+324,5.400000000,pose2_to_pose3_retreat,0.592059815959,0.0100544859742,1.0400292322,0.562630547971,0.0187272214018,1.03969852298
+325,5.416666667,pose2_to_pose3_retreat,0.591236560504,0.0100544502297,1.04002907475,0.561807291763,0.0187271829667,1.03969835984
+326,5.433333333,pose2_to_pose3_retreat,0.590435080293,0.0100545151778,1.04002914432,0.561005810868,0.0187272454697,1.03969842538
+327,5.450000000,pose2_to_pose3_retreat,0.589636426455,0.0100545180629,1.04002917443,0.560207157707,0.0187272509935,1.03969846459
+328,5.466666667,pose2_to_pose3_retreat,0.58883752122,0.010054582224,1.0400290625,0.559408251452,0.0187273118373,1.03969835637
+329,5.483333333,pose2_to_pose3_retreat,0.588054542324,0.0100546136792,1.04002901707,0.558625272868,0.0187273443432,1.03969831076
+330,5.500000000,pose2_to_pose3_retreat,0.587289908289,0.0100545671641,1.04002918094,0.557860638898,0.0187272978143,1.03969846852
+331,5.516666667,pose2_to_pose3_retreat,0.586545817285,0.0100544962701,1.04002914169,0.55711654894,0.0187272303786,1.03969842683
+332,5.533333333,pose2_to_pose3_retreat,0.585829931169,0.0100545036142,1.04002905863,0.55640066316,0.0187272389806,1.03969834678
+333,5.550000000,pose2_to_pose3_retreat,0.585143402114,0.0100545892073,1.04002904756,0.555714132499,0.018727319198,1.03969833764
+334,5.566666667,pose2_to_pose3_retreat,0.584478292411,0.0100544991186,1.04002912529,0.555049023665,0.0187272321586,1.0396984181
+335,5.583333333,pose2_to_pose3_retreat,0.5838376697,0.01005459708,1.04002929953,0.554408400599,0.0187273287878,1.0396985889
+336,5.600000000,pose2_to_pose3_retreat,0.583226006188,0.010054604146,1.04002925643,0.553796737254,0.0187273364531,1.0396985467
+337,5.616666667,pose2_to_pose3_retreat,0.582640020082,0.0100545410564,1.04002915817,0.553210751177,0.0187272736148,1.03969845242
+338,5.633333333,pose2_to_pose3_retreat,0.58207763147,0.0100545165005,1.04002916317,0.552648362171,0.0187272473418,1.03969844746
+339,5.650000000,pose2_to_pose3_retreat,0.581529685163,0.0100545490797,1.04002908309,0.552100416781,0.0187272832696,1.03969837357
+340,5.666666667,pose2_to_pose3_retreat,0.580995897371,0.0100546081428,1.0400291718,0.55156662789,0.0187273385532,1.03969846125
+341,5.683333333,pose2_to_pose3_retreat,0.580488489332,0.0100545232613,1.04002920222,0.551059218868,0.0187272500377,1.03969848434
+342,5.700000000,pose2_to_pose3_retreat,0.580012460132,0.0100545479832,1.04002912464,0.550583190133,0.0187272766585,1.03969841502
+343,5.716666667,pose2_to_pose3_retreat,0.57957885079,0.0100545191306,1.04002911747,0.550149581664,0.0187272508024,1.03969840897
+344,5.733333333,pose2_to_pose3_retreat,0.579182177653,0.010054580941,1.04002927266,0.549752906833,0.0187273066359,1.03969855804
+345,5.750000000,pose2_to_pose3_retreat,0.578821510907,0.0100546355796,1.0400291422,0.549392241398,0.0187273661815,1.03969843962
+346,5.766666667,pose2_to_pose3_retreat,0.578482077991,0.0100546297838,1.04002922105,0.54905280838,0.0187273595584,1.03969850582
+347,5.783333333,pose2_to_pose3_retreat,0.578160362064,0.0100546070236,1.04002930599,0.548731091878,0.0187273349982,1.03969859435
+348,5.800000000,pose2_to_pose3_retreat,0.577853051766,0.0100543889607,1.04002939212,0.548423784652,0.018727127228,1.03969867723
+349,5.816666667,pose2_to_pose3_retreat,0.577561922483,0.0100545515497,1.04002922147,0.548132653001,0.0187272817197,1.03969850493
+350,5.833333333,pose2_to_pose3_retreat,0.577291852273,0.0100545550757,1.04002927828,0.547862583974,0.0187272893727,1.03969856464
+351,5.850000000,pose2_to_pose3_retreat,0.577048944375,0.0100546921591,1.04002919158,0.54761967326,0.0187274168975,1.039698478
+352,5.866666667,pose2_to_pose3_retreat,0.576835584191,0.0100545794921,1.04002916019,0.547406315334,0.0187273121263,1.03969845272
+353,5.883333333,pose2_to_pose3_retreat,0.576650837152,0.0100545416404,1.04002913736,0.547221568506,0.0187272751998,1.0396984353
+354,5.900000000,pose2_to_pose3_retreat,0.57649185019,0.0100544456895,1.04002912614,0.547062581296,0.0187271781205,1.03969841656
+355,5.916666667,pose2_to_pose3_retreat,0.57635591816,0.0100544518174,1.04002916256,0.546926651164,0.0187271906152,1.0396984511
+356,5.933333333,pose2_to_pose3_retreat,0.576237726908,0.010054443406,1.04002929359,0.546808459506,0.018727180892,1.03969858413
+357,5.950000000,pose2_to_pose3_retreat,0.576135828701,0.0100544405604,1.04002899243,0.546706560356,0.0187271748429,1.03969828372
+358,5.966666667,pose2_to_pose3_retreat,0.576047422702,0.0100544725532,1.04002927151,0.546618154988,0.0187272089042,1.03969856058
+359,5.983333333,pose2_to_pose3_retreat,0.575971904751,0.0100546051468,1.04002915483,0.546542636747,0.0187273406921,1.03969844842
+360,6.000000000,pose2_to_pose3_retreat,0.575909413905,0.0100545467193,1.04002915352,0.546480145595,0.0187272812582,1.0396984478
+361,6.016666667,pose2_to_pose3_retreat,0.575858500305,0.0100545668553,1.04002914135,0.546429230718,0.0187272971334,1.0396984375
+362,6.033333333,pose2_to_pose3_retreat,0.575818749226,0.010054563665,1.0400290446,0.546389480402,0.018727296538,1.03969834088
+363,6.050000000,pose2_to_pose3_retreat,0.575787622236,0.0100544940646,1.04002917715,0.546358354143,0.0187272289939,1.03969846239
+364,6.066666667,pose2_to_pose3_retreat,0.575764482169,0.0100544518838,1.04002922586,0.546335214069,0.0187271864538,1.03969850228
+365,6.083333333,pose2_to_pose3_retreat,0.575746668796,0.0100545383042,1.04002919538,0.546317399326,0.0187272685192,1.03969847948
+366,6.100000000,pose2_to_pose3_retreat,0.575733486447,0.0100545643288,1.04002904417,0.546304215933,0.0187272912965,1.03969833609
+367,6.116666667,pose2_to_pose3_retreat,0.575724064812,0.0100544937519,1.04002899993,0.54629479532,0.0187272242103,1.03969829255
+368,6.133333333,pose2_to_pose3_retreat,0.575718019632,0.0100544554928,1.04002915519,0.546288752203,0.0187271928434,1.03969844499
+369,6.150000000,pose2_to_pose3_retreat,0.575715160323,0.0100545905764,1.04002910964,0.546285891476,0.0187273229464,1.03969839502
+370,6.166666667,pose2_to_pose3_retreat,0.575713748023,0.0100546557584,1.04002908643,0.546284478487,0.0187273857117,1.03969836968
+371,6.183333333,pose2_to_pose3_retreat,0.575713372592,0.0100546487467,1.04002906906,0.546284103066,0.0187273787426,1.03969835263
+372,6.200000000,pose2_to_pose3_retreat,0.575713156663,0.0100546447139,1.04002905907,0.546283887141,0.0187273747342,1.03969834283
+373,6.216666667,pose2_to_pose3_retreat,0.575712972594,0.0100546412762,1.04002905056,0.546283703077,0.0187273713174,1.03969833447
+374,6.233333333,pose2_to_pose3_retreat,0.57571261603,0.0100546346169,1.04002903406,0.546283346521,0.0187273646984,1.03969831829
+375,6.250000000,pose2_to_pose3_retreat,0.57571241151,0.0100546307972,1.0400290246,0.546283142006,0.0187273609019,1.039698309
+376,6.266666667,pose2_to_pose3_retreat,0.575712265121,0.0100546280631,1.04002901782,0.54628299562,0.0187273581845,1.03969830235
+377,6.283333333,pose2_to_pose3_retreat,0.575712121087,0.0100546253731,1.04002901116,0.546282851589,0.0187273555107,1.03969829582
+378,6.300000000,pose2_to_pose3_retreat,0.575712012101,0.0100546233376,1.04002900612,0.546282742606,0.0187273534876,1.03969829087
+379,6.316666667,pose2_to_pose3_retreat,0.575712001141,0.0100546231329,1.04002900561,0.546282731647,0.0187273532842,1.03969829037
+380,6.333333333,pose2_to_pose3_retreat,0.575711894894,0.0100546211486,1.04002900069,0.546282625401,0.0187273513119,1.03969828555
+381,6.350000000,pose2_to_pose3_retreat,0.575711871897,0.0100546207191,1.04002899963,0.546282602405,0.018727350885,1.0396982845
+382,6.366666667,pose2_to_pose3_retreat,0.575711750534,0.0100546184525,1.04002899401,0.546282481045,0.0187273486321,1.03969827899
+383,6.383333333,pose2_to_pose3_retreat,0.57571148895,0.010054613567,1.04002898191,0.546282219467,0.0187273437763,1.03969826712
+384,6.400000000,pose2_to_pose3_retreat,0.575711312305,0.0100546102679,1.04002897374,0.546282042826,0.0187273404972,1.0396982591
+385,6.416666667,pose2_to_pose3_retreat,0.575711267991,0.0100546094403,1.04002897169,0.546281998513,0.0187273396746,1.03969825708
+386,6.433333333,pose2_to_pose3_retreat,0.575711068608,0.0100546057166,1.04002896246,0.546281799135,0.0187273359735,1.03969824803
+387,6.450000000,pose2_to_pose3_retreat,0.575710888752,0.0100545969067,1.04002896911,0.546281619301,0.0187273272749,1.03969825564
+388,6.466666667,pose2_to_pose3_retreat,0.575710793731,0.0100545914478,1.04002897484,0.546281524295,0.0187273218882,1.03969826199
+389,6.483333333,pose2_to_pose3_retreat,0.575710784138,0.0100545908967,1.04002897541,0.546281514703,0.0187273213444,1.03969826263
+390,6.500000000,pose2_to_pose3_retreat,0.575710682608,0.0100545850638,1.04002898153,0.546281413188,0.0187273155887,1.03969826941
+391,6.516666667,pose2_to_pose3_retreat,0.575710576326,0.010054578958,1.04002898793,0.546281306922,0.0187273095636,1.03969827651
+392,6.533333333,pose2_to_pose3_retreat,0.575710391816,0.0100545683579,1.04002899905,0.546281122439,0.0187272991038,1.03969828883
+393,6.550000000,pose2_to_pose3_retreat,0.575709990703,0.0100545453142,1.04002902321,0.546280721387,0.0187272763649,1.03969831562
+394,6.566666667,pose2_to_pose3_retreat,0.575709686953,0.0100545254295,1.04002902072,0.546280417658,0.0187272566006,1.03969831444
+395,6.583333333,pose2_to_pose3_retreat,0.575709578543,0.0100545103616,1.04002895175,0.546280309173,0.0187272412134,1.03969824372
+396,6.600000000,pose2_to_pose3_retreat,0.575709398635,0.0100544853562,1.04002883731,0.546280129142,0.0187272156785,1.03969812636
+397,6.616666667,pose2_to_pose3_retreat,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_10/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_10/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..206d5e3a697dcc13764636992b417fd1befb6a0f
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_10/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:94c0ffac5cbd5c9136acbec9b5eb512b2d42af4ce3f92b8f063339bb79f5ac2f
+size 25498844
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_10/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_10/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3784fcfb6a27b828e900321a7439b548ec13f9f3
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_10/depth_05/franka_data.csv
@@ -0,0 +1,404 @@
+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,764,742,711,672,665,633,877,784,800,650,628,651,0.400965015788,0.00457764140641,0.0498463854344,0.99999996101,5.83095062232e-05,-0.000270189617039,-3.97295433608e-05,1793193610463710464
+1,0.016666667,BASELINE,764,742,710.358074366,672,664.358074366,632.358074366,876.358074366,784,800,650,628.641925634,651,0.400963882746,0.00457620229855,0.0498461114622,0.999999960974,5.58217055119e-05,-0.000270867112109,-3.95794710367e-05,1793193610480377088
+2,0.033333333,BASELINE,763.743856281,742,710.256143719,672,664,632,876.256143719,784,799.743856281,650.256143719,629,651,0.400963790269,0.00457586167322,0.0498460181552,0.999999961094,5.42757855184e-05,-0.000270736653914,-3.95863890296e-05,1793193610497043456
+3,0.050000000,BASELINE,763.164590799,742,710.835409201,672,664,632,876.835409201,784,799.164590799,650.835409201,629,651,0.400965010449,0.00457690676822,0.0498461527548,0.999999961416,5.3918034705e-05,-0.000269586973922,-3.97913481191e-05,1793193610513709312
+4,0.066666667,BASELINE,763.411712924,742,711,672.411712924,664,632.411712924,877,784.411712924,799,651,629.411712924,651,0.400965355593,0.00457721771483,0.0498460783006,0.999999961472,5.52784167383e-05,-0.000269114614202,-3.97114804915e-05,1793193610530375936
+5,0.083333333,BASELINE,763.986841045,742,711,672.986841045,664,632.986841045,877,784.986841045,799,651,629.986841045,651,0.400965353421,0.00457723726658,0.0498459208698,0.99999996142,5.73207521665e-05,-0.000268911093391,-3.95185607431e-05,1793193610547043072
+6,0.100000000,BASELINE,764,742,711,672.440497326,664.559502674,632.440497326,877,784.440497326,799,650.440497326,629.440497326,651.559502674,0.400965477574,0.00457745257196,0.0498461334667,0.999999961369,5.64291926485e-05,-0.000269256122484,-3.97375883801e-05,1793193610563709696
+7,0.116666667,BASELINE,763.863105181,742,711,672.136894819,665,632,876.863105181,784.136894819,799.136894819,650,629,651.863105181,0.400965291858,0.00457758406036,0.0498461842027,0.999999961256,5.59346084738e-05,-0.00026975470967,-3.99049386229e-05,1793193610580376320
+8,0.133333333,BASELINE,763.269747017,742,711,672.730252983,665,632,876.269747017,784.730252983,799.730252983,650,629,651.269747017,0.400964063048,0.00457742078455,0.0498456663373,0.999999960936,5.69927747883e-05,-0.000270722492761,-3.986781131e-05,1793193610597042944
+9,0.150000000,BASELINE,763.316394291,742,711,673,665,632,876,784.683605709,800,650.316394291,629,651,0.400964211915,0.00457648804693,0.0498457903238,0.999999961061,5.61102183499e-05,-0.000270469415143,-3.97017070365e-05,1793193610613709312
+10,0.166666667,BASELINE,763.896519939,742,711,673,665,632,876,784.103480061,800,650.896519939,629,651,0.400965509149,0.00457491392226,0.0498464493278,0.999999961552,5.36099669193e-05,-0.000269198685579,-3.94280936546e-05,1793193610630376192
+11,0.183333333,BASELINE,763.527319828,742,711,672.527319828,665,632,876,784.472680172,800,650.527319828,629,651,0.400965832161,0.00457483908645,0.0498472403945,0.999999961624,5.40392352781e-05,-0.000268887271485,-3.91244195892e-05,1793193610647042816
+12,0.200000000,BASELINE,763,742.048904011,711,672,665,632.048904011,876.048904011,784.951095989,800,650,629,651,0.400965853127,0.00457512173331,0.0498479333226,0.999999961593,5.51186851031e-05,-0.00026882560265,-3.88511922147e-05,1793193610663709696
+13,0.216666667,BASELINE,763,742.635288116,711,672,665,632.635288116,876.635288116,784.364711884,800,650,629,651,0.400964879014,0.00457575592368,0.0498472325487,0.999999961413,5.6353988864e-05,-0.000269219790199,-3.89843159973e-05,1793193610680376320
+14,0.233333333,BASELINE,763.219811212,742.780188788,711,672,665,632.780188788,877,784.219811212,800,650.219811212,629,651,0.400964493972,0.00457615736595,0.0498469980122,0.999999961403,5.66984571396e-05,-0.000269173692309,-3.90581499466e-05,1793193610697043200
+15,0.250000000,BASELINE,763.801272528,742.198727472,711,672,665,632.198727472,877,784.801272528,800,650.801272528,629,651,0.400965078118,0.00457617587346,0.0498475305646,0.999999961674,5.55772554028e-05,-0.000268403203432,-3.90344357794e-05,1793193610713709824
+16,0.266666667,BASELINE,763.622029911,742,710.622029911,672,664.622029911,632.377970089,877,784.622029911,800,650.622029911,629,651,0.400965777429,0.00457685144686,0.049847936465,0.999999961927,5.56544441495e-05,-0.000267406791259,-3.9262153808e-05,1793193610730376960
+17,0.283333333,BASELINE,763.047805876,742,710.047805876,672,664.047805876,632.952194124,877,784.047805876,800,650.047805876,629,651,0.400966536538,0.00457786818951,0.0498482766035,0.999999962171,5.63538749551e-05,-0.000266293072658,-3.96204233339e-05,1793193610747044608
+18,0.300000000,BASELINE,763.528460889,742,710.528460889,672,664,633,876.471539111,784,800,650,629,651.528460889,0.400964365981,0.00457872704255,0.0498466956658,0.999999961297,5.74025126217e-05,-0.000269279229727,-3.99871442053e-05,1793193610763710464
+19,0.316666667,BASELINE,764,742.107257105,710.892742895,672,664.107257105,633,876,784,800,650.107257105,629,652,0.400962679057,0.00457874649599,0.0498454216561,0.999999960626,5.76074464148e-05,-0.000271693860921,-4.01362051878e-05,1793193610780376576
+20,0.333333333,BASELINE,764,742.69658831,710.30341169,672,664.69658831,633,876,784,800,650.69658831,629,652,0.400964361645,0.00457505765811,0.0498463112752,0.999999961362,5.38777629201e-05,-0.000269866296509,-3.93035299367e-05,1793193610797042944
+21,0.350000000,BASELINE,764,742.718627488,710.281372512,672.281372512,665,632.718627488,876.281372512,784,800,650.718627488,629,651.718627488,0.400965632808,0.00457360964772,0.0498473529173,0.999999961893,5.26618238803e-05,-0.000268202472966,-3.8831038935e-05,1793193610813709568
+22,0.366666667,BASELINE,764,742.138668504,710.861331496,672.861331496,665,632.138668504,876.861331496,784,800,650.138668504,629,651.138668504,0.400966467375,0.0045745395556,0.0498485558829,0.999999962218,5.41134167486e-05,-0.000266712407835,-3.87407677826e-05,1793193610830376192
+23,0.383333333,BASELINE,764,742.435747212,711,672.564252788,664.564252788,632.435747212,876.564252788,784,800,650.435747212,629,651.435747212,0.400966721419,0.00457517984955,0.0498484289817,0.999999962199,5.44877157632e-05,-0.000266660866514,-3.9046480006e-05,1793193610847042816
+24,0.400000000,BASELINE,763.991335465,743,711,672,664.008664535,633,876.008664535,784,800,651,628.991335465,651.991335465,0.400966767432,0.0045757228539,0.0498478822557,0.999999962068,5.45407294768e-05,-0.000267079782079,-3.94680676394e-05,1793193610863709696
+25,0.416666667,BASELINE,763.402106087,743,711,672,664.597893913,633,876.597893913,784,800,651,628.402106087,651.402106087,0.400965097344,0.00457584486219,0.0498472058463,0.999999961564,5.57487122539e-05,-0.000268733170325,-3.93163566604e-05,1793193610880376064
+26,0.433333333,BASELINE,763.184688739,742.815311261,711,672,664.815311261,633,877,784,800,650.815311261,628.184688739,651,0.400963848115,0.00457627715588,0.0498467273411,0.999999961167,5.69721049026e-05,-0.000269968500774,-3.92191750651e-05,1793193610897042688
+27,0.450000000,BASELINE,763.766252111,742.233747889,711,672,664.233747889,633,877,784,800,650.233747889,628.766252111,651,0.400963503265,0.00457737621685,0.0498466741087,0.999999961002,5.82286118025e-05,-0.000270305473927,-3.92391707485e-05,1793193610913710080
+28,0.466666667,BASELINE,764,742,711,672.344229421,664.344229421,633,876.655770579,784.344229421,800,650.344229421,629,651.344229421,0.400963490074,0.00457721335002,0.049846701181,0.999999961039,5.84892660247e-05,-0.00027010837235,-3.92628706387e-05,1793193610930376704
+29,0.483333333,BASELINE,764,742,711,672.919796699,664.919796699,633,876.080203301,784.919796699,800,650.919796699,629,651.919796699,0.400963699774,0.00457620241013,0.0498467822217,0.999999961212,5.80806617905e-05,-0.000269552348198,-3.92890599234e-05,1793193610947042560
+30,0.500000000,BASELINE,764,742,711,673,665,632.508301128,876.491698872,784.508301128,800,650.508301128,629,652,0.400964275862,0.00457576823929,0.049847219104,0.999999961419,5.68165853717e-05,-0.000269060439962,-3.92353247941e-05,1793193610963709440
+31,0.516666667,BASELINE,764,742.065354507,711,672.934645493,665,632,877,784.065354507,800,650,629,651.934645493,0.400964728955,0.00457541446108,0.0498475438507,0.999999961588,5.54747778159e-05,-0.000268718968501,-3.91979328963e-05,1793193610980376320
+32,0.533333333,BASELINE,764,742.657943052,711,672.342056948,665,632,877,784.657943052,800,650,629,651.342056948,0.40096371126,0.0045749558825,0.0498464991814,0.999999961415,5.46232721181e-05,-0.000269507369224,-3.93967805674e-05,1793193610997043712
+33,0.550000000,BASELINE,763.755790355,742.755790355,711,672.244209645,664.755790355,632,877.244209645,785,800,650.244209645,629,651,0.400963725542,0.00457448127083,0.0498464689016,0.999999961513,5.40456450205e-05,-0.000269258090992,-3.94026136971e-05,1793193611013710848
+34,0.566666667,BASELINE,763.178155325,742.178155325,711,672.821844675,664.178155325,632,877.821844675,785,800,650.821844675,629,651,0.400965148809,0.0045739847688,0.0498478235924,0.999999961982,5.38419511256e-05,-0.000267592044308,-3.9144919349e-05,1793193611030377472
+35,0.583333333,BASELINE,763.398069245,742,711,673,664,632,877.601930755,784.601930755,799.601930755,650.601930755,629,651,0.400964683676,0.00457535830863,0.049847644306,0.999999961711,5.52386753383e-05,-0.00026829961017,-3.92771100364e-05,1793193611047043840
+36,0.600000000,BASELINE,763.973664844,742,711,673,664,632,877.026335156,784.026335156,799.026335156,650.026335156,629,651,0.400963376376,0.00457756582823,0.0498467809141,0.999999961104,5.73491356345e-05,-0.00027006573237,-3.95831771549e-05,1793193611063710208
+37,0.616666667,BASELINE,763.437990127,742,711,673,664.562009873,632.562009873,877,784.562009873,799.562009873,650.562009873,629,651,0.400963933641,0.00457627578903,0.0498473049352,0.999999961391,5.7058462057e-05,-0.000269105411943,-3.92939413799e-05,1793193611080376320
+38,0.633333333,BASELINE,763,742,710.851688097,672.851688097,664.851688097,633,876.851688097,785,800,650.851688097,629,651,0.400964566079,0.00457506077832,0.0498478810608,0.999999961693,5.61338617249e-05,-0.00026821095034,-3.90646365409e-05,1793193611097042688
+39,0.650000000,BASELINE,763,742,710.273086682,672.273086682,664.273086682,633,876.273086682,785,800,650.273086682,629,651,0.400965157242,0.00457454997098,0.0498484153584,0.999999961912,5.37040923968e-05,-0.000267886822659,-3.90920156258e-05,1793193611113709312
+40,0.666666667,BASELINE,763,742.303531223,710.303531223,672,664.303531223,632.696468777,876.303531223,784.696468777,800,650,629,651.303531223,0.40096559708,0.00457517687628,0.0498486497689,0.999999961934,5.49486334834e-05,-0.000267568622459,-3.89728085762e-05,1793193611130375936
+41,0.683333333,BASELINE,763,742.878376117,710.878376117,672,664.878376117,632.121623883,876.878376117,784.121623883,800,650,629,651.878376117,0.400965901654,0.00457682073463,0.0498486161232,0.999999961769,5.94774847763e-05,-0.000267255720598,-3.87225744033e-05,1793193611147043072
+42,0.700000000,BASELINE,763,742.545423943,711,672,664.545423943,632.454576057,876.545423943,784,799.090847885,650,629,651.545423943,0.400965735654,0.00457675168786,0.0498482799621,0.999999961819,5.8911978042e-05,-0.000267162201776,-3.89262491237e-05,1793193611163709696
+43,0.716666667,BASELINE,763.031905939,742.031905939,711,672,664,632.968094061,876,784,798.031905939,650,629,651,0.400965348568,0.00457629540618,0.0498478325761,0.999999961885,5.71253631267e-05,-0.00026725565087,-3.92486697783e-05,1793193611180376320
+44,0.733333333,BASELINE,763.622658175,742.622658175,711,672,664,632.377341825,876,784,798.622658175,650,629,651,0.400963300933,0.0045771077817,0.0498468589613,0.999999961203,5.78957476872e-05,-0.000269592747931,-3.95174487137e-05,1793193611197042688
+45,0.750000000,BASELINE,763.790616534,742.790616534,711,672,664,632.209383466,876.209383466,784.209383466,799.209383466,650,629,651,0.400962941714,0.00457745713026,0.0498467481498,0.999999961071,5.75266861277e-05,-0.000270133484171,-3.97084374771e-05,1793193611213709056
+46,0.766666667,BASELINE,763.211011553,742.211011553,711,672,664,632.788988447,876.788988447,784.788988447,799.788988447,650,629,651,0.400965567871,0.0045769877773,0.0498481629047,0.999999961912,5.51429120702e-05,-0.000267497983577,-3.97618814677e-05,1793193611230375680
+47,0.783333333,BASELINE,763.365570842,742,711,672,664,632.634429158,877,784.634429158,799.634429158,650,629,651,0.40096610147,0.00457681175298,0.049848493258,0.9999999621,5.46607463145e-05,-0.000266907488613,-3.96563394643e-05,1793193611247042048
+48,0.800000000,BASELINE,763.940422929,742,711,672,664,632.059577071,877,784.059577071,799.059577071,650,629,651,0.400965437128,0.00457680365278,0.0498482028153,0.999999961919,5.52672091458e-05,-0.000267487714021,-3.9459781491e-05,1793193611263708672
+49,0.816666667,BASELINE,764,742,711,672,664,632,877,784,799,650,629,651,0.400965103265,0.0045753871985,0.0498474910474,0.999999961907,5.40548786066e-05,-0.00026781370507,-3.92466836848e-05,1793193611280375552
+50,0.833333333,BASELINE,763.887951498,742,711,672,664.112048502,632.112048502,877,784,799,650,629,651,0.400965031596,0.00457436965652,0.0498470700141,0.99999996196,5.35432954163e-05,-0.000267735759522,-3.91343209536e-05,1793193611297042432
+51,0.850000000,BASELINE,763.308499565,742,711,672,664.691500435,632.691500435,877,784,799,650,629,651,0.400965894255,0.00457569541491,0.0498480649711,0.999999962204,5.68320577248e-05,-0.000266095437087,-3.94501456424e-05,1793193611313709056
+52,0.866666667,BASELINE,763.269800378,742,711,672,664.730199622,633,876.730199622,784,799.269800378,650.269800378,629,651.269800378,0.400966230992,0.00457622460251,0.049848540709,0.9999999623,5.77234573771e-05,-0.00026552066487,-3.95802340295e-05,1793193611330375680
+53,0.883333333,BASELINE,763.84678866,742,711,672,664.15321134,633,876.15321134,784,799.84678866,650.84678866,629,651.84678866,0.400965968929,0.0045758468346,0.0498484252773,0.999999962238,5.58852801856e-05,-0.000266159101357,-3.94988477299e-05,1793193611347042304
+54,0.900000000,BASELINE,764,742,711,672.42320977,664,633,876.42320977,784,799.57679023,650.57679023,629,651.57679023,0.400966573988,0.00457572365925,0.0498489051961,0.999999962379,5.62866122042e-05,-0.000265585203473,-3.92293602108e-05,1793193611363708928
+55,0.916666667,BASELINE,764,742,711,672.999425812,664,633,876.999425812,784,799.000574188,650.000574188,629,651.000574188,0.400967492545,0.0045756925287,0.0498496003566,0.999999962591,5.7497611198e-05,-0.000264573001035,-3.88918670173e-05,1793193611380375552
+56,0.933333333,BASELINE,764,742,711,673,664.587907114,633,876.412092886,784,799,650,629,651,0.400966080693,0.00457633413969,0.0498487076529,0.99999996206,5.69249723816e-05,-0.000266666143149,-3.90977434236e-05,1793193611397042176
+57,0.950000000,BASELINE,764,742.173769686,711,672.826230314,665,633,876.173769686,784,799.173769686,650.173769686,629,651,0.400964947901,0.00457641965793,0.0498480076503,0.999999961691,5.60102963053e-05,-0.000268224588067,-3.92069861661e-05,1793193611413708800
+58,0.966666667,BASELINE,764,742.753485932,711,672.246514068,665,633,876.753485932,784,799.753485932,650.753485932,629,651,0.400964472458,0.00457520450996,0.0498477615207,0.999999961708,5.43007370399e-05,-0.000268526680609,-3.9089215031e-05,1793193611430375424
+59,0.983333333,BASELINE,764,742.668647812,711,672,665,633,877,784,800,651,629,651.331352188,0.400964987918,0.00457609406281,0.049847990978,0.999999961829,5.50110610438e-05,-0.000267893740727,-3.9352471998e-05,1793193611447042304
+60,1.000000000,BASELINE,764,742.092150181,711,672,665,633,877,784,800,651,629,651.907849819,0.400966236482,0.00457854074367,0.0498485722905,0.999999962021,5.75116955373e-05,-0.000266569032578,-3.98976263007e-05,1793193611463708928
+61,1.016666667,BASELINE,764,742,710.507688434,672.492311566,665,633,877,784.492311566,800,650.507688434,629,652,0.400965627897,0.0045763532847,0.0498487516934,0.99999996212,5.53018903723e-05,-0.000266731098116,-3.94530510971e-05,1793193611480375552
+62,1.033333333,BASELINE,763.922569482,742,710.077430518,672.922569482,665,632.922569482,877,785,800,650.077430518,629,651.922569482,0.40096491997,0.0045737901988,0.0498488246378,0.99999996219,5.27094150718e-05,-0.000267070573361,-3.89317415119e-05,1793193611497042176
+63,1.050000000,BASELINE,763.343014384,742,710.656985616,672.343014384,665,632.343014384,877,785,800,650.656985616,629,651.343014384,0.400965859142,0.00457450874976,0.0498487030854,0.999999962235,5.34470399725e-05,-0.000266726167636,-3.91339320204e-05,1793193611513708800
+64,1.066666667,BASELINE,763,742,710.764179809,672.235820191,665,632,877,784.764179809,800,650.764179809,629,651,0.40096661873,0.00457538208627,0.0498488302999,0.999999962294,5.4711135007e-05,-0.000266228528216,-3.92602206504e-05,1793193611530375424
+65,1.083333333,BASELINE,763,742,710.186390119,672.813609881,665,632,877,784.186390119,800,650.186390119,629,651,0.400967117897,0.0045764798816,0.0498493182583,0.999999962372,5.67386791601e-05,-0.000265508680319,-3.92764418171e-05,1793193611547042048
+66,1.100000000,BASELINE,763,742,710.389113129,673,664.610886871,632.389113129,877,784,799.610886871,650,629,651.389113129,0.400967185328,0.00457682730728,0.0498491724236,0.999999962432,5.68359484547e-05,-0.000265234437739,-3.94429918124e-05,1793193611563708672
+67,1.116666667,BASELINE,763,742,710.963527524,673,664.036472476,632.963527524,877,784,799.036472476,650,629,651.963527524,0.400967047158,0.00457681739609,0.0498487247675,0.999999962486,5.60139930498e-05,-0.00026517239884,-3.9681130557e-05,1793193611580375552
+68,1.133333333,BASELINE,763.552235575,742,711,672.447764425,664.552235575,633,877,784,799.552235575,650,629,651.447764425,0.400966297617,0.00457606863411,0.0498487478638,0.999999962481,5.52137025038e-05,-0.000265376936789,-3.95482911203e-05,1793193611597042432
+69,1.150000000,BASELINE,763.860577248,742,710.860577248,672,665,632.860577248,876.860577248,784,799.860577248,650,629,651.139422752,0.400965457244,0.00457572823569,0.0498486219052,0.999999962373,5.51963947373e-05,-0.0002658007582,-3.94628715778e-05,1793193611613709056
+70,1.166666667,BASELINE,763.281246609,742,710.281246609,672,665,632.281246609,876.281246609,784,799.281246609,650,629,651.718753391,0.400964461064,0.00457683436709,0.0498479249427,0.999999961947,5.7644926642e-05,-0.000266859437683,-3.96064325851e-05,1793193611630375680
+71,1.183333333,BASELINE,763.295578128,742,710.295578128,672.295578128,665,632.295578128,876.295578128,784.295578128,799,650,629,651.704421872,0.40096538916,0.00457602245511,0.0498481836543,0.999999962117,5.62849856669e-05,-0.000266549891712,-3.93487546781e-05,1793193611647042304
+72,1.200000000,BASELINE,763.870038575,742,710.870038575,672.870038575,665,632.870038575,876.870038575,784.870038575,799,650,629,651.129961425,0.400968132838,0.00457340084106,0.0498493440584,0.999999962834,5.13316946842e-05,-0.000264949404978,-3.8712501958e-05,1793193611663708928
+73,1.216666667,BASELINE,764,742,711,672.553669009,664.553669009,632.553669009,877,784.553669009,799.446330991,650,629,651,0.400968110829,0.00457310950501,0.0498493211096,0.999999962884,5.18070427562e-05,-0.000264663532933,-3.87358769343e-05,1793193611680375552
+74,1.233333333,BASELINE,763.976298833,742,711,672,664.023701167,632,876.976298833,784,800,650,629,651,0.400967277143,0.00457351045239,0.0498489762101,0.999999962747,5.37942139251e-05,-0.000264756042849,-3.89478511535e-05,1793193611697042176
+75,1.250000000,BASELINE,763.38596687,742,711,672,664.61403313,632,876.38596687,784,800,650,629,651,0.400966370446,0.00457417349657,0.0498492059181,0.999999962746,5.39790709945e-05,-0.000264705550544,-3.90579585343e-05,1793193611713708800
+76,1.266666667,BASELINE,763,742,711,672,664.799616339,632,876.200383661,784.200383661,799.799616339,650.200383661,629,651,0.400965700997,0.00457486100831,0.0498491190117,0.999999962641,5.42634269055e-05,-0.000265026566797,-3.91761586143e-05,1793193611730375424
+77,1.283333333,BASELINE,763,742,711,672,664.220785235,632,876.779214765,784.779214765,799.220785235,650.779214765,629,651,0.400965479616,0.00457559472977,0.0498484341431,0.999999962338,5.47356977387e-05,-0.00026604921942,-3.93096426752e-05,1793193611747042304
+78,1.300000000,BASELINE,763.356099945,742,711,672,664,632.356099945,877.356099945,785,799.356099945,651,629,651,0.400965480421,0.00457650882867,0.0498485870911,0.999999962307,5.58047230212e-05,-0.000265922242887,-3.9473747716e-05,1793193611763708928
+79,1.316666667,BASELINE,763.931785171,742,711,672,664,632.931785171,877.931785171,785,799.931785171,651,629,651,0.400965618233,0.00457753415539,0.0498492566701,0.99999996244,5.72417306325e-05,-0.000265086359606,-3.96567348566e-05,1793193611780375552
+80,1.333333333,BASELINE,763.493550549,742,711,672.506449451,664.506449451,633,876.987101097,784.493550549,800,650.493550549,629,651,0.400965886898,0.00457589826177,0.0498491372117,0.999999962506,5.65638586212e-05,-0.000265043706417,-3.92582114324e-05,1793193611797042176
+81,1.350000000,BASELINE,763.083442013,742,710.916557987,672.916557987,664.916557987,633,876.083442013,784.083442013,800,650,629,651,0.400966213675,0.00457424417996,0.0498489868515,0.999999962569,5.5769851394e-05,-0.000265028576614,-3.88834927331e-05,1793193611813708800
+82,1.366666667,BASELINE,763.675461627,742,710.324538373,672.324538373,664.324538373,633,876.675461627,784.675461627,800,650,629,651,0.400966787434,0.00457465956793,0.0498492946003,0.999999962678,5.60007137037e-05,-0.000264531311543,-3.91302925643e-05,1793193611830375424
+83,1.383333333,BASELINE,763.738919728,742.261080272,710.261080272,672,664.261080272,633,876.738919728,785,799.738919728,650,629,651,0.40096668317,0.00457455688031,0.0498492538307,0.99999996266,5.58374969962e-05,-0.000264630457193,-3.91522822102e-05,1793193611847042304
+84,1.400000000,BASELINE,763.161067382,742.838932618,710.838932618,672,664.838932618,633,876.161067382,785,799.161067382,650,629,651,0.400965756249,0.00457382560492,0.0498487901994,0.999999962487,5.51961391466e-05,-0.000265453235628,-3.89015067809e-05,1793193611863708928
+85,1.416666667,BASELINE,763.413940668,742.586059332,711,672.413940668,665,633,876.413940668,785,799,650,629,651,0.400965748088,0.00457375754006,0.0498487734868,0.999999962529,5.44538875682e-05,-0.00026545332621,-3.88672457739e-05,1793193611880375552
+86,1.433333333,BASELINE,763.9878495,742.0121505,711,672.9878495,665,633,876.9878495,785,799,650,629,651,0.400966094985,0.00457394577424,0.0498489294869,0.999999962654,5.36726454536e-05,-0.000265135487449,-3.89166571944e-05,1793193611897042432
+87,1.450000000,BASELINE,764,742,711,673,664.421878208,632.421878208,877,784.421878208,799.578121792,650,629,651,0.400965035072,0.00457402120722,0.0498487934717,0.999999962477,5.30242346282e-05,-0.000265923030976,-3.89778580945e-05,1793193611913709056
+88,1.466666667,BASELINE,764,742,711,673,664,632,876.834757709,784,800,650,629,651,0.40096444116,0.00457415882147,0.049848679983,0.999999962356,5.31627567436e-05,-0.000266352899345,-3.89688607519e-05,1793193611930375680
+89,1.483333333,BASELINE,764,742,711,673,664,632,876.256401724,784,800,650,629,651,0.400965088345,0.00457445799157,0.0498486386025,0.999999962389,5.52614663807e-05,-0.000265828789474,-3.87837269047e-05,1793193611947042048
+90,1.500000000,BASELINE,764,742,711,673,664,632,876.320752696,784,800,650,629,651,0.400965210325,0.00457512120746,0.0498485614221,0.999999962298,5.70710104267e-05,-0.000265774706144,-3.88629974616e-05,1793193611963708928
+91,1.516666667,BASELINE,764,742,711,673,664,632,876.896950172,784,800,650,629,651,0.400964914035,0.00457607434637,0.049848455731,0.99999996211,5.86502652993e-05,-0.000266094948072,-3.91528374972e-05,1793193611980375552
+92,1.533333333,BASELINE,763.529032429,742,710.529032429,672.529032429,664,632,877,784,800,650,629,651,0.400965038653,0.00457472613203,0.0498482604806,0.999999962261,5.58932541707e-05,-0.000266145828131,-3.89949988079e-05,1793193611997044992
+93,1.550000000,BASELINE,763.046033435,742,710,672,664.046033435,632,877,784,799.953966565,650,629,651,0.400965255469,0.00457294172709,0.049848069051,0.999999962463,5.24110239756e-05,-0.000266131405983,-3.87459334935e-05,1793193612013714432
+94,1.566666667,BASELINE,763.639203941,742,710,672,664.639203941,632,877,784,799.360796059,650,629,651,0.400965478552,0.00457193031525,0.0498481548704,0.99999996254,5.15341757662e-05,-0.000266038108637,-3.85714646717e-05,1793193612030377728
+95,1.583333333,BASELINE,764,742,710.225861206,672,665,632,876.774138794,784,799.225861206,650,629,651,0.400965931779,0.00457207122661,0.0498483736682,0.999999962646,5.15241050967e-05,-0.000265632066105,-3.86321491615e-05,1793193612047042304
+96,1.600000000,BASELINE,764,742,710.802405782,672,665,632,876.197594218,784,799.802405782,650,629,651,0.40096674234,0.00457400129226,0.0498487989349,0.999999962796,5.28598363164e-05,-0.000264740439787,-3.90579443802e-05,1793193612063708928
+97,1.616666667,BASELINE,763.621480082,742,710.621480082,672,665,632,876.378519918,784,800,650,629,651,0.400966784128,0.00457434777447,0.049848732654,0.999999962734,5.35062854632e-05,-0.000264832333695,-3.91561866086e-05,1793193612080375808
+98,1.633333333,BASELINE,763.045590422,742,710.045590422,672,665,632,876.954409578,784,800,650,629,651,0.400966425059,0.0045738685366,0.0498484100678,0.999999962561,5.37933256382e-05,-0.000265437059673,-3.90836344997e-05,1793193612097042432
+99,1.650000000,BASELINE,763,742,710,672,665,632,876.457558861,784.542441139,800,650,629,651,0.400965285687,0.00457371015793,0.0498480669107,0.999999962177,5.33033001261e-05,-0.000266989559579,-3.89941749147e-05,1793193612113709056
+100,1.666666667,BASELINE,763.129215527,742,710.129215527,672,664.870784473,632,876.258431054,785,799.870784473,650,629,651,0.400964420029,0.0045740129601,0.049847882927,0.999999961913,5.32624178119e-05,-0.000267980937066,-3.9017977821e-05,1793193612130375680
+101,1.683333333,BASELINE,763.707984399,742,710.707984399,672,664.292015601,632,877.415968799,785,799.292015601,650,629,651,0.400964740041,0.00457582428554,0.0498482588757,0.999999962135,5.50165700571e-05,-0.000266736634233,-3.9440888977e-05,1793193612147042304
+102,1.700000000,BASELINE,763.71404142,742,711,672,664.28595858,632.28595858,877.42808284,784.71404142,799,650,629,651,0.400964351578,0.00457659745322,0.0498482455309,0.99999996212,5.59657828212e-05,-0.000266573332907,-3.95905537635e-05,1793193612163708928
+103,1.716666667,BASELINE,763.136876551,742,711,672,664.863123449,632.863123449,876.273753101,784.136876551,799,650,629,651,0.40096324164,0.00457631341148,0.0498478357486,0.999999961867,5.60952843161e-05,-0.000267510870941,-3.94619577305e-05,1793193612180375808
+104,1.733333333,BASELINE,763,742,711,672,665,632.564533923,876.435466077,784,799,650.435466077,629,651,0.400964228819,0.00457595919016,0.0498482221659,0.999999962025,5.69753754973e-05,-0.000266774561904,-3.91894118332e-05,1793193612197042432
+105,1.750000000,BASELINE,763,742,711,672,665,632.006573244,876.993426756,784,799.006573244,650.993426756,629,651.006573244,0.400965836906,0.00457559135831,0.0498488435941,0.999999962302,5.80594990172e-05,-0.000265541845174,-3.88809554857e-05,1793193612213709056
+106,1.766666667,BASELINE,763,742,711,672,665,632.601267991,876.398732009,784,799.601267991,650.398732009,629,651.601267991,0.4009646676,0.00457595781415,0.0498483456266,0.999999962129,5.65211445362e-05,-0.000266452601962,-3.93634870243e-05,1793193612230375424
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,742,710,672,664,632,876,784,800,650,629,651,0.400964514319,0.00457564945385,0.0498484004279,0.99999996183,5.77137561769e-05,-0.000267368586089,-3.90160524288e-05,1793193612270760704
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,742,710.581493227,672.581493227,664,632,876,784,800,650,629,651,0.400964927184,0.00457468386599,0.0498482097173,0.999999962276,5.58645115825e-05,-0.000266051940962,-3.92980769349e-05,1793193612287427328
+109,1.816666667,POSE1_TO_POSE2_PRESS,763.838792464,742,710.838792464,672.838792464,664.161207536,632.161207536,876.161207536,784.161207536,800,650,629,651,0.400965262548,0.00457424808368,0.0498482649366,0.999999962563,5.51628588261e-05,-0.000265104609079,-3.93669596757e-05,1793193612304093952
+110,1.833333333,POSE1_TO_POSE2_PRESS,763.263645831,742,710.263645831,672.263645831,664.736354169,632.736354169,876.736354169,784.736354169,800,650,629,651,0.40096539891,0.00457517270431,0.0498489516399,0.999999962456,5.74079235582e-05,-0.000265105577444,-3.88885497633e-05,1793193612320760320
+111,1.850000000,POSE1_TO_POSE2_PRESS,763.321768092,742,710.321768092,672.321768092,664.678231908,633,877,784.678231908,800,650,629,651,0.400964589672,0.00457528325105,0.0498486976607,0.999999962247,5.66253395584e-05,-0.00026605724474,-3.89058357133e-05,1793193612337426944
+112,1.866666667,POSE1_TO_POSE2_PRESS,763.915871934,742,710.915871934,672.915871934,664.084128066,633,877,784.084128066,800,650,629,651,0.400962980105,0.00457470478776,0.0498476475134,0.999999961945,5.32802359824e-05,-0.000267813557723,-3.93426651715e-05,1793193612354093568
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,742,711,672.506163812,664.493836188,632.506163812,877,784,800,650,629,651,0.400963663299,0.00457466215637,0.0498478737815,0.999999962049,5.32633758045e-05,-0.000267425568844,-3.93441927494e-05,1793193612370760192
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,742,711,672.068858616,664.931141384,632.068858616,876.931141384,784,799.931141384,650,629,651,0.40096522787,0.0045746269011,0.0498485572203,0.999999962341,5.37467887319e-05,-0.000266251287857,-3.92478184558e-05,1793193612387427072
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,742,711,672.641835827,664.358164173,632.641835827,876.358164173,784,799.358164173,650,629,651,0.400970476057,0.00457399851272,0.049851046087,0.999999963491,5.3873153237e-05,-0.000261910222467,-3.89604201407e-05,1793193612404093696
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,742,711,672.778472837,664.221527163,632.778472837,876.221527163,784,799,650,629,651,0.400980059692,0.00457400774291,0.0498551314393,0.999999965484,5.53768010695e-05,-0.000253898628254,-3.87326736348e-05,1793193612420760320
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,742,711,672.1875869,664.8124131,632.1875869,876.8124131,784,799,650,629,651,0.400996871946,0.00457508009344,0.049861878659,0.99999996876,5.91768340015e-05,-0.000239767053461,-3.86043863741e-05,1793193612437427200
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,742,711,672,664.604529734,632.395470266,877,784,799,650,629,651.395470266,0.40103416141,0.00457420273631,0.0498759073179,0.999999975279,5.74511452948e-05,-0.000211320571863,-3.85286828516e-05,1793193612454093824
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,742,711,672,664.02511392,632.97488608,877,784,799,650,629,651.97488608,0.401080975465,0.00457241850948,0.0498933228018,0.999999982321,5.31552715045e-05,-0.00017621577949,-3.84774376154e-05,1793193612470760448
+120,2.000000000,POSE1_TO_POSE2_PRESS,763.448878675,742,710.448878675,672,664.551121325,632.448878675,876.448878675,784,799.551121325,650.551121325,629,651.448878675,0.401146682592,0.00457243012131,0.0499125518029,0.99999998877,5.30131910389e-05,-0.000134864354569,-3.82193985957e-05,1793193612487427072
+121,2.016666667,POSE1_TO_POSE2_PRESS,763.127249977,742,710.127249977,672,665,632,876,784,799.872750023,650.872750023,629,651,0.401213509902,0.00457232741001,0.049929140848,0.99999999271,5.27872431655e-05,-0.000101858416534,-3.76697169756e-05,1793193612504093952
+122,2.033333333,POSE1_TO_POSE2_PRESS,763.703511145,742,710.703511145,672,665,632,876,784,799.296488855,650.296488855,629,651,0.401281269445,0.00457153419975,0.0499361246861,0.999999993086,5.16012951727e-05,-9.92988016341e-05,-3.61240126258e-05,1793193612520761088
+123,2.050000000,POSE1_TO_POSE2_PRESS,763.714080956,742,711,672,664.714080956,632.285919044,876,784,799,650,629,651,0.401356145569,0.00457026538499,0.0499397063934,0.999999993503,4.93732152329e-05,-9.659921183e-05,-3.50102184071e-05,1793193612537427968
+124,2.066666667,POSE1_TO_POSE2_PRESS,763.125159093,742,711,672,664.125159093,632.874840907,876,784,799,650,629,651,0.40143856349,0.00456849254822,0.0499396826908,0.999999993955,4.60407356212e-05,-9.37512837186e-05,-3.4354141213e-05,1793193612554094080
+125,2.083333333,POSE1_TO_POSE2_PRESS,763.45575899,742,710.54424101,672,664.45575899,633,876.45575899,784,799,650.45575899,629,651,0.401541392977,0.00456637718264,0.049937982504,0.999999993662,4.27680816384e-05,-9.87176749214e-05,-3.31981330485e-05,1793193612570760704
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,742,710.034295262,672.034295262,665,632.965704738,877,784,799,650.965704738,629,651,0.401651623724,0.00456417571577,0.0499360943697,0.999999993171,3.96021621656e-05,-0.000105225707776,-3.18906032171e-05,1793193612587427328
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,742,710.609334902,672.609334902,665,632.390665098,877,784,799,650.390665098,629,651,0.401791696335,0.00456207420549,0.0499383766532,0.999999993541,3.78645866752e-05,-0.00010278946855,-3.03213105083e-05,1793193612604094720
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,742,711,672.811496035,664.811496035,632.188503965,877,784,799,650,628.811496035,651,0.401938833859,0.00456043375736,0.0499392183743,0.999999993584,3.6335767772e-05,-0.000103356274603,-2.87983808236e-05,1793193612620761856
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,742,711,672.223577347,664.223577347,632.776422653,877,784,799,650,628.223577347,651,0.402100940969,0.0045597702386,0.049937007736,0.999999992923,3.52492764123e-05,-0.000110286132768,-2.73736883934e-05,1793193612637427968
+130,2.166666667,POSE1_TO_POSE2_PRESS,763.639730678,742,711,672.360269322,664,633,877,784.360269322,799.360269322,650,628.360269322,651,0.402291562833,0.00455695702407,0.0499365448638,0.999999992961,3.18779335814e-05,-0.000111403965209,-2.5531575225e-05,1793193612654094336
+131,2.183333333,POSE1_TO_POSE2_PRESS,763.058382738,742,711,672.941617262,664,633,877,784.941617262,799.941617262,650,628.941617262,651,0.40249968274,0.00455282465255,0.049937154505,0.999999993422,2.71044956735e-05,-0.000108955259248,-2.34333124379e-05,1793193612670760960
+132,2.200000000,POSE1_TO_POSE2_PRESS,763.517948426,742,711,672.482051574,664.517948426,633,876.482051574,785,799.482051574,650.517948426,629.517948426,651,0.402744609738,0.00454821613758,0.0499404736934,0.999999993999,2.16554882646e-05,-0.000105361164619,-2.07651208598e-05,1793193612687427328
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,742,711,672.092758177,665,632.907241823,876.092758177,785,799,650.907241823,629.907241823,651,0.403000578325,0.00454354354321,0.0499443859418,0.999999994699,1.62375589606e-05,-0.000100044685096,-1.81341494194e-05,1793193612704093696
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,742,711,672.662623382,665,632.337376618,876.662623382,785,799,650.337376618,629.337376618,651,0.403292204837,0.00453881476026,0.0499497927643,0.999999996064,1.13674024483e-05,-8.65267187548e-05,-1.60218831157e-05,1793193612720760832
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,742.242515929,711,673,664.757484071,632.242515929,877.242515929,784.757484071,799.485031859,650,629,651,0.403603040566,0.00453451885737,0.0499575534805,0.99999999751,7.40805054529e-06,-6.88435297371e-05,-1.36003440463e-05,1793193612737427712
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,742.836959654,711,673,664.163040346,632.836959654,877.836959654,784.163040346,800.673919308,650,629,651,0.403941751796,0.00453085113009,0.0499687300572,0.999999998913,4.77041606346e-06,-4.51159648184e-05,-1.07300029019e-05,1793193612754094080
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,742.579325757,711,672.579325757,664.420674243,632.579325757,877.579325757,784,800.158651515,650,629,651,0.404307965214,0.00452472084295,0.0499752219844,0.999999999394,4.62165978494e-07,-3.40915527821e-05,-7.07184714504e-06,1793193612770760704
+138,2.300000000,POSE1_TO_POSE2_PRESS,763.999669584,742,711,672.000330416,665,632,877.000330416,784,799.000330416,650,629,651.000330416,0.404684598648,0.00451766036742,0.0499799395758,0.999999999597,-4.47868123269e-06,-2.7872024482e-05,-3.11631635453e-06,1793193612787427328
+139,2.316666667,POSE1_TO_POSE2_PRESS,763.426149548,742,711,672.573850452,665,632,877.573850452,784,799.573850452,650,629,651.573850452,0.405106542688,0.00451144486025,0.0499779516764,0.999999999526,-1.15380478292e-05,-2.85551627939e-05,2.08157042176e-07,1793193612804094464
+140,2.333333333,POSE1_TO_POSE2_PRESS,763,742,711,672.848627055,665,632.151372945,877.848627055,784,799.848627055,650.151372945,629,651.848627055,0.405525226717,0.00450541917444,0.0499711745071,0.999999999032,-1.84333474916e-05,-3.98009262448e-05,3.56004133331e-06,1793193612820761600
+141,2.350000000,POSE1_TO_POSE2_PRESS,763,742,711,672.259530803,665,632.740469197,877.259530803,784,799.259530803,650.740469197,629,651.259530803,0.405934483744,0.00449994239386,0.0499505482649,0.999999996338,-2.48542155504e-05,-8.15905045318e-05,6.9911887962e-06,1793193612837428224
+142,2.366666667,POSE1_TO_POSE2_PRESS,763.32396076,742,711,672,665,633,877.32396076,784.32396076,799,650.67603924,629,651,0.40637919083,0.00449423452236,0.0499310125323,0.999999992755,-3.32201512894e-05,-0.000115270425071,1.00041364583e-05,1793193612854094592
+143,2.383333333,POSE1_TO_POSE2_PRESS,763.903038724,742,711,672,665,633,877.903038724,784.903038724,799,650.096961276,629,651,0.406851814676,0.00448834466752,0.0499123355675,0.999999988828,-4.3117817152e-05,-0.00014256404204,1.26877545913e-05,1793193612870761216
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,742.478908374,711,672.478908374,665,632.521091626,878,784.521091626,799.478908374,650,629,651,0.40738784581,0.00448190179232,0.049914598196,0.999999989296,-5.40727237198e-05,-0.000134968288894,1.63471644421e-05,1793193612887427584
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,743,711,673,665,632,878,784.054030492,800,650,629,651,0.407944911346,0.00447505137935,0.0499234297957,0.999999990932,-6.49092946406e-05,-0.000116224129391,2.03706927806e-05,1793193612904094464
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,743,711,673,665,632,878,784.628168337,800,650,629,651,0.408581703153,0.00446534856411,0.0499549569377,0.999999995364,-7.25599583749e-05,-5.77083948672e-05,2.60101839521e-05,1793193612920761600
+147,2.450000000,POSE1_TO_POSE2_PRESS,763.791176281,743,711,673,665,632,878,784.791176281,800,650.208823719,629,651,0.409213764559,0.00445690618945,0.0499790349108,0.999999999295,-1.36692739668e-05,-1.54138147761e-05,3.13871551144e-05,1793193612937428736
+148,2.466666667,POSE1_TO_POSE2_PRESS,763.198541927,743,711,673,665,632,878,784.198541927,800,650.801458073,629,651,0.409837131617,0.00445078046072,0.0499894215724,0.999999985306,0.00016752206448,-2.93314809009e-06,3.62816228926e-05,1793193612954094592
+149,2.483333333,POSE1_TO_POSE2_PRESS,763.384931072,742.615068928,711,673,665,632,877.615068928,784,800,651,629,651,0.410450072305,0.00445471854583,0.0499781200047,0.999999973835,0.000222607911744,-3.25837439959e-05,4.13897832326e-05,1793193612970760960
+150,2.500000000,POSE1_TO_POSE2_PRESS,763.963788607,742.036211393,711,673,665,632,877.036211393,784,800,651,629,651,0.411057760218,0.00446372673316,0.0499558920089,0.999999972498,0.000214162402656,-8.3459872001e-05,4.66056010616e-05,1793193612987427328
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,742,710.460713511,673,664.460713511,632,877,784,800,650.460713511,629,651,0.411721034463,0.00448564381371,0.0499308321843,0.999999984926,0.000119246264212,-0.000124727132389,1.92743776368e-05,1793193613004093952
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,742.117052605,710.117052605,673,664.117052605,632,877,784,800,650,629,651,0.412411892622,0.00450128587146,0.0499166431147,0.999999988913,3.49062425472e-05,-0.000144732129116,-2.75229736638e-06,1793193613020760576
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,742.704842076,710.704842076,673,664.704842076,632,877,784,800,650,629,651,0.413198764216,0.00448822809955,0.0499469316674,0.999999996507,1.63046707854e-05,-8.18078261798e-05,5.28820458575e-06,1793193613037427968
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,742.71149954,711,673,665,632.28850046,877.57700092,784.28850046,800,650,629,651,0.41396705879,0.00447627468221,0.0499605931784,0.999999998371,7.69136734637e-07,-5.58126902551e-05,1.1938427927e-05,1793193613054094848
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,742.132007836,711,673,665,632.867992164,878.735984327,784.867992164,800,650,629,651,0.414716616053,0.00446543515237,0.049957484101,0.999999997535,-1.16738910204e-05,-6.70655437374e-05,1.71863706085e-05,1793193613070761216
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,742.445984188,711,673,665,632.554015812,878.554015812,784.554015812,800,650,629,651,0.415468130098,0.00446265342696,0.0499370420992,0.999999994672,-7.6715273029e-06,-0.000101538373263,1.69152546756e-05,1793193613087429888
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,743,711,673,665,632,878,784,800,650,629,651,0.416223482903,0.00446243177218,0.0499132142882,0.999999990112,7.17938961447e-07,-0.00013980550592,1.51953445362e-05,1793193613104099328
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,743,711,673,665,632,878,784,800,650,629,651,0.417055617,0.00446651856744,0.0499300518668,0.999999994209,-1.82261165565e-06,-0.000106139995739,1.76970782385e-05,1793193613120762624
+159,2.650000000,POSE1_TO_POSE2_PRESS,764.178399699,742.821600301,711,673,665.178399699,632,877.821600301,784.178399699,800,650,629,651,0.417891571212,0.00447104270064,0.0499483587277,0.999999997237,-9.23650122835e-08,-7.16532321443e-05,1.97930541235e-05,1793193613137427200
+160,2.666666667,POSE1_TO_POSE2_PRESS,764.763168939,742.236831061,711,673,665.763168939,632,877.236831061,784.763168939,800,650,629,651,0.418736227061,0.00447656302822,0.0499700124067,0.999999999093,1.13661600672e-05,-3.52957704131e-05,2.09647703745e-05,1793193613154094080
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.653849132,742,711,673,665.653849132,632,877,785,800,650,629,651,0.419557183271,0.00447759963294,0.0499632507266,0.99999999828,1.89474421315e-05,-5.10995007394e-05,2.16874474959e-05,1793193613170760960
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.072083795,742,711,673,665.072083795,632,877,785,800,650,629,651,0.420362007815,0.00447558430237,0.0499371475666,0.999999994227,2.38896011875e-05,-0.000102407784463,2.21044771308e-05,1793193613187427840
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,742,711,673,665,632,877.506326156,784.493673844,799.493673844,650,629,651,0.421256497001,0.00447015505535,0.049953110878,0.999999997875,1.31388026613e-05,-6.00871369668e-05,2.16207860151e-05,1793193613204094464
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,742.083652083,711,673.083652083,665,632,878,784,799.083652083,650.083652083,629.083652083,651,0.422157897487,0.00446487678787,0.0499727949864,0.99999999971,2.23152276819e-06,-1.11283360892e-05,2.1250921054e-05,1793193613220760832
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,742.657406963,711,673.657406963,665,632,878,784,799.657406963,650.657406963,629.657406963,651,0.423025492842,0.00446331188397,0.0499794219619,0.999999999745,3.41076296208e-06,-8.59477390908e-07,2.22942885167e-05,1793193613237427456
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.237003586,742.762996414,711,673.762996414,665,632.237003586,878,784,799.762996414,650.762996414,629.762996414,651,0.423888070869,0.00446240228059,0.049976645765,0.999999999719,3.34752073273e-06,-5.40531603088e-06,2.2837465188e-05,1793193613254094080
+167,2.783333333,POSE1_TO_POSE2_PRESS,764.825258041,742.174741959,711,673.174741959,665,632.825258041,878,784,799.174741959,650.174741959,629.174741959,651,0.424743213103,0.00446246386427,0.0499599336095,0.999999999234,1.44285914724e-06,-3.19072569104e-05,2.2639334866e-05,1793193613270760960
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.591189706,742.408810294,711,673,665,633,878,784,799.408810294,650,629,651,0.425627109355,0.00446255089906,0.0499681036478,0.999999999354,1.04309888844e-05,-2.47527130108e-05,2.38959813943e-05,1793193613287427584
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.009624543,742.990375457,711,673,665,633,878,784,799.990375457,650,629,651,0.426523156417,0.00446264868896,0.0499867883935,0.999999999374,2.40221895604e-05,-3.3756254016e-06,2.57673868693e-05,1793193613304094208
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,743,711,673,665.564439077,632.435560923,877.435560923,784,800,650,629,651,0.427334919882,0.00445881960649,0.0499767268553,0.999999998698,8.18738224905e-06,-4.17794626637e-05,2.8145512887e-05,1793193613320760576
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,742.861277836,711,673,665.722555673,632,877.138722164,784,800,650,629,651,0.428150686251,0.00445617786921,0.049961480727,0.999999996328,-4.85483130432e-06,-8.02799485047e-05,2.95802561961e-05,1793193613337427456
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,742.285906634,711,673,664.571813268,632,877.714093366,784,800,650,629,651,0.428983516678,0.0044574814808,0.0499314379569,0.99999999286,-7.54828677186e-06,-0.000115918155759,2.80187192878e-05,1793193613354094080
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,742.297092854,711,673,664.594185709,632,878,784,799.702907146,650.297092854,629,651,0.429842580359,0.00445780987257,0.0499263689875,0.999999993371,2.26547772852e-06,-0.00011193877394,2.68830861542e-05,1793193613370760704
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,742.887626831,711,673,665.775253662,632,878,784,799.112373169,650.887626831,629,651,0.430727554797,0.00445717503141,0.0499459668539,0.99999999699,2.44327292137e-05,-6.88287624776e-05,2.61681218481e-05,1793193613387427328
+175,2.916666667,POSE1_TO_POSE2_PRESS,764.469844294,743,711,673,666,632,878,784,799,650.530155706,629,651,0.431541671421,0.00445347074749,0.0499383977108,0.999999995606,1.41070286489e-05,-8.84815531097e-05,2.75805283538e-05,1793193613404093952
+176,2.933333333,POSE1_TO_POSE2_PRESS,764.950599499,742.950599499,711,673,665.901198998,632.049400501,878,784,799.049400501,650,629,651,0.43233933899,0.00444923658224,0.0499259537352,0.999999992557,-3.65553163312e-06,-0.000118422047363,2.91504401214e-05,1793193613420760576
+177,2.950000000,POSE1_TO_POSE2_PRESS,764.378521775,742.378521775,711,673,664.75704355,632.621478225,878,784,799.621478225,650,629,651,0.433139157232,0.00444702827388,0.0499294832203,0.999999994331,-1.93088792846e-05,-0.00010114999559,2.70970829822e-05,1793193613437427200
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,742.199426305,711,673,664.199426305,632.800573695,878,784,800,650,629,651,0.433943454222,0.00444713519252,0.0499410950475,0.999999996613,-1.61218351672e-05,-7.64373169516e-05,2.59156730208e-05,1793193613454093824
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,742.788854669,711,673,664.788854669,632.211145331,878,784,800,650,629,651,0.434756510084,0.00445176981489,0.0499685128644,0.999999998674,2.3909852204e-05,-3.71735968207e-05,2.64394599603e-05,1793193613470760448
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,742.627184643,711,673.372815357,665,632,878,784,800,650,629,650.627184643,0.435500633774,0.00445351707488,0.0499686888695,0.999999997766,3.22047720576e-05,-5.07870708304e-05,2.91935973052e-05,1793193613487427328
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,742.046275869,711,673.953724131,665,632,878,784,800,650,629,650.046275869,0.436206281717,0.00445365270275,0.0499536593789,0.99999999478,2.27852572712e-05,-9.39148784854e-05,3.3192643717e-05,1793193613504093952
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,742.529795792,711,673.470204208,665,632.529795792,878.529795792,784,800,650,629.529795792,650,0.436913077384,0.00445176577384,0.0499391115045,0.999999993306,1.21137008614e-05,-0.0001099337569,3.39897568113e-05,1793193613520760576
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,743,711,673.105266412,665,632.894733588,878.894733588,784,800,650,629.894733588,650.105266412,0.437622307906,0.0044494825547,0.049932316708,0.999999993182,2.5580533242e-06,-0.000111496779585,3.46148130585e-05,1793193613537427200
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,743,711,673.679923865,665,632.320076135,878.320076135,784,800,650,629.320076135,650.679923865,0.438341952631,0.00444621287581,0.0499599075985,0.999999997617,-1.5384304191e-06,-5.90630271584e-05,3.57084771802e-05,1793193613554093824
+185,3.083333333,POSE1_TO_POSE2_PRESS,764,743,711,673.737336814,665,632,877.737336814,784,800,650,629,650.737336814,0.439019966134,0.00444645745873,0.0499685259985,0.999999998416,2.01107940567e-06,-4.2380152641e-05,3.69733140816e-05,1793193613570760448
+186,3.100000000,POSE1_TO_POSE2_PRESS,764,743,711,673.144436492,665,632,877.144436492,784,800,650,629,650.144436492,0.439645638121,0.00445112039903,0.049953290955,0.99999999665,1.51736269227e-05,-7.0645597009e-05,3.84533604558e-05,1793193613587427072
+187,3.116666667,POSE1_TO_POSE2_PRESS,764,742.563087109,711,673.436912891,665,632,877.436912891,783.563087109,800,650,629,650.436912891,0.440213323572,0.0044585965715,0.0499202527147,0.999999991315,2.52286575363e-05,-0.000123623842385,3.80764180801e-05,1793193613604093696
+188,3.133333333,POSE1_TO_POSE2_PRESS,764,742,711,673.985569141,665,631.985569141,878,783,800,650,629,651,0.440762080891,0.00446686678184,0.0498822531352,0.999999981905,3.44338668795e-05,-0.000183371089531,3.71441569418e-05,1793193613620760320
+189,3.150000000,POSE1_TO_POSE2_PRESS,764,742,711,673.412359146,665,631.412359146,878,783,800,650,629,651,0.441301061732,0.00447079949449,0.0498741667619,0.999999978648,4.94865201118e-05,-0.000197030882991,3.78676401363e-05,1793193613637426944
+190,3.166666667,POSE1_TO_POSE2_PRESS,764,742,711,673,664.83880208,631,878,783,800,650,629,651,0.441833403677,0.00447550996272,0.0498683808129,0.999999976532,5.99732061956e-05,-0.000204707754231,3.78584549199e-05,1793193613654093568
+191,3.183333333,POSE1_TO_POSE2_PRESS,764,742,711,673,664.264355136,631,878,783,800,650,629,651,0.442348726178,0.00448221429581,0.0498684922589,0.999999978213,5.87545245265e-05,-0.000197046733643,3.59709919049e-05,1793193613670760448
+192,3.200000000,POSE1_TO_POSE2_PRESS,764.321643826,742.321643826,711,673,664,631,878,783.321643826,800,650,629,650.678356174,0.442830652078,0.0044895519262,0.0498594879602,0.999999977144,3.67949364312e-05,-0.000208821623161,2.74288734301e-05,1793193613687427328
+193,3.216666667,POSE1_TO_POSE2_PRESS,764.917490917,742.917490917,711,673,664,631,878,783.917490917,800,650,629,650.082509083,0.443284107147,0.00449742944588,0.049842712435,0.999999971785,-2.84639714985e-06,-0.000237165741129,1.32136218485e-05,1793193613704093952
+194,3.233333333,POSE1_TO_POSE2_PRESS,764.50449444,742.50449444,711,673.49550556,663.50449444,631,878,784,800,650,629,650.49550556,0.443661037958,0.00450223252975,0.0498041227314,0.999999953331,-6.36090843772e-06,-0.00030523033832,1.15181697488e-05,1793193613720760576
+195,3.250000000,POSE1_TO_POSE2_PRESS,764,742,711,674,662.92954049,631,878,784,800,650,629,650.92954049,0.444025075359,0.00450667837961,0.0497644460302,0.999999929838,-3.36196861366e-06,-0.000374395483973,1.18892155143e-05,1793193613737427200
+196,3.266666667,POSE1_TO_POSE2_PRESS,764,742,711,674,662.355975158,631,878,784,800,650,629,650.355975158,0.444384874052,0.00451210189841,0.0497420433187,0.999999917559,4.68354675503e-06,-0.000405832834285,1.26471547914e-05,1793193613754093824
+197,3.283333333,POSE1_TO_POSE2_PRESS,764,742,711,673.776154475,662.223845525,630.776154475,878.223845525,783.776154475,800.223845525,650,629,650,0.44474083117,0.00451548357101,0.0497299543667,0.999999911921,1.72189677818e-05,-0.000419141354906,1.35045997854e-05,1793193613770760448
+198,3.300000000,POSE1_TO_POSE2_PRESS,764,742,711,673.186100164,662.813899836,630.186100164,878.813899836,783.186100164,800.813899836,650,629,650,0.445090503481,0.00451552480543,0.049734738613,0.999999918086,3.70998237087e-05,-0.000402791309207,1.45248349624e-05,1793193613787427328
+199,3.316666667,POSE1_TO_POSE2_PRESS,764,742.396470011,711,673,662.603529989,630,878.603529989,783,800.603529989,650,629,650,0.445424731593,0.00451680901757,0.0497411729853,0.999999922144,8.46080839789e-05,-0.000385113108361,1.55657831646e-05,1793193613804093696
+200,3.333333333,POSE1_TO_POSE2_PRESS,764,742.975592323,711,673,662.024407677,630,878.024407677,783,800.024407677,650,629,650,0.44575184465,0.00451866586506,0.0497483675652,0.999999922092,0.000144844191057,-0.000366823028599,1.66162738233e-05,1793193613820760320
+201,3.350000000,POSE1_TO_POSE2_PRESS,764,743,711,673.55232766,661.44767234,630,878,783,800,650,629,650.55232766,0.446009826659,0.00453166604173,0.0497407317536,0.999999916094,0.000157360650469,-0.00037783734375,1.69988450377e-05,1793193613837427200
+202,3.366666667,POSE1_TO_POSE2_PRESS,764,743,711,674,661,630,878,783,800,650,629,651,0.44625263998,0.00454685509533,0.0497302726643,0.999999908179,0.000169386313637,-0.000393280899811,1.67280925533e-05,1793193613854093824
+203,3.383333333,POSE1_TO_POSE2_PRESS,764,743,711,674,661,630,878,783,800,650,629,651,0.44645335534,0.00456794065648,0.0497122779548,0.999999894372,0.000186997171719,-0.000419624273092,1.42913745821e-05,1793193613870760448
+204,3.400000000,POSE1_TO_POSE2_PRESS,763.714871223,743,711,674,661,629.714871223,878,783,800,650,629,650.714871223,0.446634370566,0.00457874608224,0.0496937648163,0.999999880689,0.000194311493813,-0.000447991542483,1.29701362747e-05,1793193613887427072
+205,3.416666667,POSE1_TO_POSE2_PRESS,763.124587905,743,711,674,661,629.124587905,878,783,800,650,629,650.124587905,0.446794302025,0.00457854935526,0.0496746968385,0.999999867259,0.000190606110919,-0.000478524852966,1.28427224923e-05,1793193613904093696
+206,3.433333333,POSE1_TO_POSE2_PRESS,763.455994792,743,711,674,661,629,878.455994792,783,800,650.455994792,628.544005208,650.455994792,0.446943243452,0.00457639734918,0.0496608774678,0.999999858876,0.000184590122646,-0.000498007323859,1.27848887074e-05,1793193613920760576
+207,3.450000000,POSE1_TO_POSE2_PRESS,764,743,711,674,661,629,878.966126015,783,800,650.966126015,628,650.966126015,0.447087958449,0.0045739927465,0.0496492187257,0.999999852141,0.000178287503778,-0.000513584793187,1.2759940988e-05,1793193613937427200
+208,3.466666667,POSE1_TO_POSE2_PRESS,764,743,711,674,661,629,878.389980242,783,800,650.389980242,628,650.389980242,0.4472120824,0.00457591845869,0.0496496698393,0.999999852113,0.000177292146166,-0.000513977230437,1.29634549107e-05,1793193613954093824
+209,3.483333333,POSE1_TO_POSE2_PRESS,764,743,711,674,661,628.810258617,878.189741383,783,800,650,628.189741383,650,0.447328824966,0.00457764288387,0.0496508272744,0.99999985282,0.000176729127393,-0.000512794397963,1.29519230403e-05,1793193613970760448
+210,3.500000000,POSE1_TO_POSE2_PRESS,764,743,711,674,661,628.223046359,878.776953641,783,800,650,628.776953641,650,0.447430104968,0.00457894565211,0.049653464314,0.999999855054,0.000177071773567,-0.000508311685231,1.24899125087e-05,1793193613987427072
+211,3.516666667,POSE1_TO_POSE2_PRESS,764,742.639304579,711,673.639304579,660.639304579,628.360695421,879,783,800,650,629,650,0.447519184672,0.00457938389323,0.0496555861071,0.999999856758,0.000176484026369,-0.000505156116768,1.2440288922e-05,1793193614004093696
+212,3.533333333,POSE1_TO_POSE2_PRESS,764,742.05768836,711,673.05768836,660.05768836,628.94231164,879,783,800,650,629,650,0.447600791879,0.00457929262394,0.0496573923195,0.99999985814,0.000175326426541,-0.000502813404794,1.26432464089e-05,1793193614020760320
+213,3.550000000,POSE1_TO_POSE2_PRESS,763.483295421,742.516704579,711,673.516704579,660.516704579,629,878.483295421,783,800,650,629,650.516704579,0.44765705469,0.00458216037085,0.0496570215931,0.999999855809,0.000178889317227,-0.000506185222507,1.25201888541e-05,1793193614037426944
+214,3.566666667,POSE1_TO_POSE2_PRESS,763.090963349,743,711,674,661,628.909036651,878,783,800,650,629,651,0.447708179637,0.0045847970647,0.0496563580195,0.999999853537,0.000181743350772,-0.000509649978326,1.23010164592e-05,1793193614054093568
+215,3.583333333,POSE1_TO_POSE2_PRESS,763.668760905,743,711,674,661,628.331239095,878,783,800,650,629,651,0.44774674213,0.00458445344013,0.0496554099883,0.99999985391,0.000178021842856,-0.000510244606011,1.17595575195e-05,1793193614070760448
+216,3.600000000,POSE1_TO_POSE2_PRESS,764,743,711,674,661,628.252281461,878,783,800,650,629,651,0.447779463796,0.0045851730291,0.049653887059,0.999999853095,0.000177831718902,-0.000511914501535,1.13563275175e-05,1793193614087427072
+217,3.616666667,POSE1_TO_POSE2_PRESS,764,743,711,674,661,628.843490548,878,783,800,650,629,651,0.447804338598,0.00458732099273,0.0496515917829,0.999999850678,0.000182385834309,-0.000515028966005,1.11388012674e-05,1793193614104093952
+218,3.633333333,POSE1_TO_POSE2_PRESS,764,743,711,674,661,628.576953534,878,783,800,650,629,651,0.447823201395,0.00458804667771,0.0496510091811,0.999999850357,0.000182657165058,-0.000515560633624,1.09615288794e-05,1793193614120760576
+219,3.650000000,POSE1_TO_POSE2_PRESS,764,743,711,674,661,628.001593242,878,783,800,650,629,651,0.447839899627,0.00458826028483,0.0496510432111,0.999999850795,0.000181386520124,-0.00051516238992,1.07987495136e-05,1793193614137426944
+220,3.666666667,POSE1_TO_POSE2_PRESS,764,742.425511922,711,674,660.425511922,628,878.574488078,783.574488078,800,650,629,651,0.447848135781,0.00458857440245,0.0496506511147,0.999999849827,0.000182566676893,-0.000516627664923,1.05239012738e-05,1793193614154093568
+221,3.683333333,POSE1_TO_POSE2_PRESS,764,742.154185354,711,674,660.154185354,628,878.845814646,783.845814646,800,650,628.845814646,651,0.44785514686,0.00458909291686,0.0496498216008,0.999999848679,0.000183760179806,-0.000518431620381,1.01583262176e-05,1793193614170760192
+222,3.700000000,POSE1_TO_POSE2_PRESS,764,742.744095498,711,674,660.744095498,628,878.255904502,783.255904502,800,650,628.255904502,651,0.447858762306,0.00459018826381,0.0496477592973,0.999999847034,0.000184972166505,-0.000521178056501,9.5372384301e-06,1793193614187427072
+223,3.716666667,POSE1_TO_POSE2_PRESS,764,743,711,674,660.673056133,628,878,783,800,650,628.326943867,650.673056133,0.447859672756,0.00459049028436,0.0496459091183,0.999999845531,0.000185059743662,-0.000524023470075,9.45676938124e-06,1793193614204093952
+224,3.733333333,POSE1_TO_POSE2_PRESS,764,743,711,674,660.095618209,628,878,783,800,650,628.904381791,650.095618209,0.447858510723,0.00459018448342,0.049644221462,0.999999844136,0.000184285833901,-0.000526944717336,9.79050525412e-06,1793193614220760576
+225,3.750000000,POSE1_TO_POSE2_PRESS,764,743,711,674,660,628,878.481440208,783,799.518559792,650,628.518559792,650,0.447860772334,0.00459103392283,0.0496447725177,0.999999844381,0.000185259432101,-0.000526141995295,9.58084034206e-06,1793193614237427200
+226,3.766666667,POSE1_TO_POSE2_PRESS,764,742.94053388,711,673.94053388,660,628,878.94053388,783,799.05946612,650,628.05946612,650.05946612,0.447863307615,0.00459204668198,0.0496455840744,0.9999998448,0.000186318598871,-0.000524975015712,9.26722798194e-06,1793193614254093824
+227,3.783333333,POSE1_TO_POSE2_PRESS,764,742.353251746,711,673.353251746,660,628,878.353251746,783,799.646748254,650,628.646748254,650.646748254,0.447862241411,0.00459247416135,0.0496447644485,0.999999843901,0.000185059126926,-0.000527134483316,8.98815749723e-06,1793193614270760704
+228,3.800000000,POSE1_TO_POSE2_PRESS,764,742.230894387,711,673.230894387,660,628.230894387,878,783,800,650.230894387,629,651,0.447862162566,0.00459226769838,0.0496441793106,0.999999843545,0.000183927454972,-0.000528205751754,8.85528906366e-06,1793193614287427328
+229,3.816666667,POSE1_TO_POSE2_PRESS,764,742.810306922,711,673.810306922,660,628.810306922,878,783,800,650.810306922,629,651,0.44786357407,0.00459110434591,0.0496439481151,0.999999844019,0.000182988687814,-0.000527634463205,8.94310192456e-06,1793193614304093696
+230,3.833333333,POSE1_TO_POSE2_PRESS,764,742.610999957,711,674,660,628.610999957,878.389000043,783,800.389000043,650.610999957,629,650.610999957,0.447864452185,0.00459096807333,0.0496443185375,0.999999844331,0.000182579378896,-0.000527183580687,8.97400617387e-06,1793193614320760576
+231,3.850000000,POSE1_TO_POSE2_PRESS,764,742.032657024,711,674,660,628.032657024,878.967342976,783,800.967342976,650.032657024,629,650.032657024,0.447865070677,0.00459133172434,0.0496449817929,0.999999844565,0.000182427779885,-0.000526791304928,8.97721057516e-06,1793193614337427200
+232,3.866666667,POSE1_TO_POSE2_PRESS,764,742.542806687,711,674,660,628,878.457193313,783,801,650.542806687,629,650.542806687,0.447864717908,0.00459020584073,0.0496436898688,0.999999843753,0.000183267850188,-0.000528037089012,9.12358245127e-06,1793193614354093824
+233,3.883333333,POSE1_TO_POSE2_PRESS,764,742.879328424,711,674,660,628,878,783,800.879328424,651,629,651,0.447864496521,0.00458950897237,0.0496428224324,0.999999843268,0.000183752853225,-0.000528787584661,9.11982455512e-06,1793193614370760448
+234,3.900000000,POSE1_TO_POSE2_PRESS,764,742.291500932,711,674,660,628,878,783,800.291500932,651,629,651,0.447865008775,0.00459081804833,0.0496440512933,0.999999844295,0.000182633532916,-0.000527241162083,8.50169997437e-06,1793193614387427840
+235,3.916666667,POSE1_TO_POSE2_PRESS,764,742,711,674,660,628,878,783,800,650.708072467,629,650.708072467,0.447865395928,0.00459167901451,0.0496444435977,0.999999844539,0.000182112805924,-0.000526960653603,8.27424077925e-06,1793193614404094464
+236,3.933333333,POSE1_TO_POSE2_PRESS,764,742,711,674,660,628,878,783,800,650.128971324,629,650.128971324,0.44786566002,0.00459209916836,0.0496440129685,0.999999844017,0.00018218092427,-0.000527925444133,8.43108506777e-06,1793193614420760576
+237,3.950000000,POSE1_TO_POSE2_PRESS,764,742.448425009,711,673.551574991,660,628,878.448425009,783,800.448425009,650,628.551574991,650.448425009,0.447865795912,0.00459101181263,0.0496441359124,0.999999844383,0.000180834936432,-0.000527693304967,8.47209663466e-06,1793193614437427200
+238,3.966666667,POSE1_TO_POSE2_PRESS,764,742.974798038,711,673.025201962,660,628,878.974798038,783,800.974798038,650,628.025201962,651,0.447865884723,0.0045895804868,0.0496443789705,0.999999844932,0.00017924440321,-0.000527195155355,8.47350813884e-06,1793193614454093824
+239,3.983333333,POSE1_TO_POSE2_PRESS,764,742.400870753,711,673.599129247,660,628,878.400870753,783,800.400870753,650,628.599129247,651,0.447865748191,0.0045900643651,0.049643783858,0.999999843969,0.000181151168836,-0.000528372102274,8.3353182824e-06,1793193614470760960
+240,4.000000000,POSE1_TO_POSE2_PRESS,764,742.178073816,711,673.821926184,660,628,878.178073816,783,800,650.178073816,629,651,0.447865651039,0.00459040691988,0.049643367295,0.999999843269,0.00018261587597,-0.000529193064486,8.27901473816e-06,1793193614487428096
+241,4.016666667,POSE1_TO_POSE2_PRESS,764,742.768640463,711,673.231359537,660,628,878.768640463,783,800,650.768640463,629,651,0.447865645106,0.00459042211069,0.0496433643265,0.999999843189,0.000183056592137,-0.000529189418377,8.41239387125e-06,1793193614504094976
+242,4.033333333,POSE1_TO_POSE2_PRESS,764,742.647438857,711,673.352561143,660,628,879,783,800,651,629,650.647438857,0.447866170685,0.00459174342038,0.0496435959237,0.999999843479,0.000182957087396,-0.000528681455906,8.02554233893e-06,1793193614520761344
+243,4.050000000,POSE1_TO_POSE2_PRESS,764,742.067798762,711,673.932201238,660,628,879,783,800,651,629,650.067798762,0.447867038602,0.00459390598021,0.0496439786009,0.999999844006,0.000182509635051,-0.000527848671387,7.30361860952e-06,1793193614537427712
+244,4.066666667,POSE1_TO_POSE2_PRESS,764,742.506494404,711,674,660,628,879,783,800,650.493505596,629,650.506494404,0.447867255231,0.00459248609864,0.0496438047296,0.999999843987,0.000182334784707,-0.000527937321377,7.84139560417e-06,1793193614554094080
+245,4.083333333,POSE1_TO_POSE2_PRESS,764,743,711,673.917794705,660,628,878.917794705,783,800,650.082205295,628.917794705,651,0.447867396495,0.00459089174388,0.0496436615102,0.999999843965,0.000182220754507,-0.000528010858992,8.3919101364e-06,1793193614570760448
+246,4.100000000,POSE1_TO_POSE2_PRESS,764,743,711,673.328982245,660,628,878.328982245,783,800,650.671017755,628.328982245,651,0.447867604967,0.00459114656445,0.0496441615092,0.999999844368,0.000182259011915,-0.000527239082294,7.99260910257e-06,1793193614587427072
+247,4.116666667,HOLD_POSE2,764,743,711,674,660,629,878,783,800,650,629,650,0.447870099954,0.00459246252442,0.0496449000692,0.999999844809,0.000182400107141,-0.000526360222983,7.57267273599e-06,1793193614625800704
+248,4.133333333,HOLD_POSE2,764,743,711,674,660,628.418299578,878.581700422,783,800,650,629,650.581700422,0.447869746246,0.00459117530533,0.0496444195622,0.999999845031,0.000181222777218,-0.00052633858428,7.94722428064e-06,1793193614642467840
+249,4.150000000,HOLD_POSE2,764,742.838536012,711,673.838536012,660,628,878.838536012,783,800,650,629,650.838536012,0.447869149223,0.00459040839521,0.049643941023,0.999999844951,0.000180594417109,-0.000526703194766,8.2411523741e-06,1793193614659134720
+250,4.166666667,HOLD_POSE2,764,742.263730595,711,673.263730595,660,628,878.263730595,783,800,650,629,650.263730595,0.447867929325,0.00459097345525,0.0496434675212,0.999999844096,0.000181371397783,-0.00052805658791,8.32868769844e-06,1793193614675801088
+251,4.183333333,HOLD_POSE2,764,742.319886741,711,673,660,628,878,783,800.319886741,650,629,650,0.447868923599,0.00459128050614,0.0496444918015,0.999999844458,0.000182238884661,-0.000527069573743,8.42449105426e-06,1793193614692467456
+252,4.200000000,HOLD_POSE2,764,742.910974825,711,673,660,628,878,783,800.910974825,650,629,650,0.447871795058,0.00459136881573,0.0496467859078,0.999999845846,0.000183183103037,-0.00052409835219,8.52730407715e-06,1793193614709133824
+253,4.216666667,HOLD_POSE2,764,742.509328316,711,673.490671684,660.490671684,628,878,783,800.018656632,650,629,650.490671684,0.447872541726,0.00459084841322,0.0496465817062,0.999999846194,0.000182502298334,-0.000523673595765,8.3920406103e-06,1793193614725800448
+254,4.233333333,HOLD_POSE2,764,742.068204914,711,674,660.931795086,628,878,783,799.068204914,650.068204914,629,650.931795086,0.447872564974,0.00459048538744,0.0496458580807,0.99999984613,0.000181772555793,-0.000524053482054,8.21502403636e-06,1793193614742467072
+255,4.250000000,HOLD_POSE2,764,742.644666938,711,674,660.355333062,628,878,783,799.644666938,650.644666938,629,650.355333062,0.447870004994,0.00459209944967,0.0496445649283,0.999999844357,0.000182825379804,-0.0005270646886,8.04145264217e-06,1793193614759133696
+256,4.266666667,HOLD_POSE2,764,742.774779462,711,674,660.225220538,628,878.225220538,783,800,651,629,650,0.447868229341,0.00459242243507,0.0496436818458,0.999999843236,0.000182797257017,-0.000529196381126,7.98135862993e-06,1793193614775800064
+257,4.283333333,HOLD_POSE2,764,742.187651149,711,674,660.812348851,628,878.812348851,783,800,651,629,650,0.447867714028,0.00459067078382,0.0496434577064,0.999999843176,0.000181032156433,-0.0005299147788,8.10361188987e-06,1793193614792467200
+258,4.300000000,HOLD_POSE2,764,742.394270661,711,673.605729339,660.605729339,628,878.605729339,783,799.605729339,651,629,650.394270661,0.447868962339,0.00459060506889,0.0496443808175,0.999999843843,0.000181278514613,-0.000528572280896,8.01810516887e-06,1793193614809133824
+259,4.316666667,HOLD_POSE2,764,742.97374681,711,673.02625319,660.02625319,628,878.02625319,783,799.02625319,651,629,650.97374681,0.447871039098,0.0045913313089,0.0496458428404,0.999999844846,0.000182469739291,-0.000526261693852,7.83500487052e-06,1793193614825800704
+260,4.333333333,HOLD_POSE2,764,743,711,673.550855658,660,628.550855658,878.550855658,783,799.550855658,650.449144342,629,651,0.447870619637,0.00459038906175,0.0496452028913,0.99999984469,0.00018215900276,-0.000526658928627,8.31940625711e-06,1793193614842467328
+261,4.350000000,HOLD_POSE2,764,743,711,673.87248489,660,628.87248489,878.87248489,783,800,650,629,651,0.447870142897,0.00458982181394,0.0496445231123,0.999999844511,0.000181668892502,-0.00052716356717,8.58189063735e-06,1793193614859133952
+262,4.366666667,HOLD_POSE2,764,743,711,673.297009353,660,628.297009353,878.297009353,783,800,650,629,651,0.447869881079,0.00459085009046,0.0496440538288,0.999999844446,0.000180799033387,-0.000527594096024,7.95350223067e-06,1793193614875800320
+263,4.383333333,HOLD_POSE2,764,743,711,673.284702817,660,628,878,783,800,650,629,651,0.447869657799,0.00459125223737,0.0496437569667,0.999999844285,0.000180388260715,-0.000528045142192,7.59834020864e-06,1793193614892466944
+264,4.400000000,HOLD_POSE2,764,743,711,673.873066884,660,628,878,783,800,650,629,651,0.447869475622,0.0045909865605,0.0496436440075,0.999999844022,0.000180467145224,-0.000528518071905,7.5345988229e-06,1793193614909133568
+265,4.416666667,POSE2_TO_POSE3_RETREAT,764,743,711,674,660,628,879,783,801,650,629,651,0.447872186188,0.00459146152343,0.0496462726917,0.999999845794,0.000181289427976,-0.000524864692013,8.01017076584e-06,1793193614941525760
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764,743,711,674,660,628,878.4282579,783,800.4282579,650.5717421,629,651,0.447871697486,0.00458995074651,0.0496454246591,0.999999845406,0.000179920182385,-0.000526070755804,8.12152993611e-06,1793193614958192640
+267,4.450000000,POSE2_TO_POSE3_RETREAT,764,743,711,674,660,628,878.144891866,783,800,651,629,651,0.44787131508,0.00458950712807,0.0496448198873,0.999999845001,0.000179559411884,-0.000526964046398,8.02785530028e-06,1793193614974859008
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764,743,711,674,660,628,878.722243236,783,800,651,629,651,0.447871249935,0.00459224866269,0.0496449411775,0.999999844549,0.000182208641884,-0.000526923801495,7.32221522642e-06,1793193614991524608
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,743,711,674,660,628,878.692338497,783,800.307661503,651,629,651,0.447871898883,0.0045923002325,0.0496452854691,0.999999844946,0.000181868392275,-0.000526287589332,7.30422924682e-06,1793193615008190976
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764,743,711,674,660,628,878.099441373,783,800.900558627,651,629,651,0.447873209872,0.00458985791268,0.049645836507,0.999999846127,0.000178756570312,-0.000525098850809,7.92377332017e-06,1793193615024857600
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764,743,711,674,660,628.482306086,878.482306086,783,801,651,628.517693914,650.517693914,0.447873595029,0.00459123615834,0.0496457983738,0.999999846239,0.000180960042766,-0.000524133041381,7.69978592134e-06,1793193615041524224
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764,743,711,674,660,628.938736824,879,783,801,651,628.061263176,650.061263176,0.447872623741,0.00459319414688,0.0496451527984,0.999999845637,0.00018383446158,-0.000524287638355,7.33698914598e-06,1793193615058190848
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764,743,711,674,660,628.364331966,879,783,801,651,628.635668034,650.635668034,0.447861853583,0.00459355919383,0.0496404137585,0.999999840879,0.000183356850194,-0.000533450492864,7.23535149697e-06,1793193615074857728
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764,743,711,673.785693612,660,628,879,783,800.785693612,650.785693612,629,650.785693612,0.447843669018,0.00459307902775,0.0496324673943,0.999999833174,0.000182787513061,-0.000547893210819,7.26142178064e-06,1793193615091524352
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764,743,711,673.199713118,660,628,879,783,800.199713118,650.199713118,629,650.199713118,0.447812625561,0.00459113299865,0.04961895853,0.999999820097,0.00018205909488,-0.00057149285739,7.50897745338e-06,1793193615108191232
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764,743,711,673,660,628,878.617007071,783,800,650,629,650.382992929,0.447763754773,0.00459063329692,0.0496018046686,0.999999801757,0.000181358386968,-0.000602943214978,7.34876554221e-06,1793193615124857856
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764,743,711,673,660,628,878.03599397,783,800,650,629,650.96400603,0.447705666655,0.00459088139471,0.0495827662205,0.999999779844,0.000180672005974,-0.000638452654747,6.9777241485e-06,1793193615141524224
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764,743,711,673.542146272,660.542146272,628,878.542146272,783,800,650.542146272,629,650.457853728,0.447634636168,0.00459413799651,0.0495696863762,0.999999770164,0.000184079742581,-0.000652501902045,5.18327010635e-06,1793193615158190848
+279,4.650000000,POSE2_TO_POSE3_RETREAT,763.880684761,743,711,674.119315239,660.880684761,628,878.880684761,783,800,650.880684761,629,650,0.447559895468,0.00459729931869,0.0495594305758,0.999999762385,0.000187496021162,-0.000663371697234,3.56666122984e-06,1793193615174857216
+280,4.666666667,POSE2_TO_POSE3_RETREAT,763.306495173,743,711,674.693504827,660.306495173,628,878.306495173,783,800,650.306495173,629,650,0.447474268598,0.00459933993254,0.0495584408536,0.999999759168,0.000189914067413,-0.000667523386404,2.98644463488e-06,1793193615191523840
+281,4.683333333,POSE2_TO_POSE3_RETREAT,763.274502938,743,711,674.725497062,660,628,878.274502938,783,799.725497062,650,629,650,0.447379964825,0.00460042059318,0.0495584040061,0.999999757986,0.000192309737289,-0.000668608700189,2.76172021027e-06,1793193615208190720
+282,4.700000000,POSE2_TO_POSE3_RETREAT,763.863296392,743,711,674.136703608,660,628,878.863296392,783,799.136703608,650,629,650,0.447275726488,0.00460040216096,0.0495594581471,0.999999759146,0.000194679787325,-0.000666183185365,2.94401447917e-06,1793193615224857600
+283,4.716666667,POSE2_TO_POSE3_RETREAT,764,743,711,674,660,628.446843668,878.553156332,783,799,650,628.553156332,650.446843668,0.447144798733,0.00460217836779,0.0495610511623,0.999999760152,0.000198919313956,-0.000663417460756,2.23686576028e-06,1793193615241524480
+284,4.733333333,POSE2_TO_POSE3_RETREAT,764,743,711,674,660,629,878,783,799.028440758,650.028440758,628,651,0.44700370614,0.00460446805296,0.0495626256223,0.999999760806,0.000203680206776,-0.000660984601973,1.26697813605e-06,1793193615258191104
+285,4.750000000,POSE2_TO_POSE3_RETREAT,764,743,711,674,660,629,878,783,799.60305096,650.60305096,628,651,0.446822392171,0.00460619723236,0.0495607145865,0.999999756061,0.000207597499964,-0.000666919568506,4.16387914427e-07,1793193615274857728
+286,4.766666667,POSE2_TO_POSE3_RETREAT,764,743,711,674,660.176780607,629,878.176780607,783,800,650.823219393,628.176780607,650.823219393,0.446633892795,0.00460837796375,0.0495601177059,0.999999753296,0.000211947703211,-0.000669691442516,-3.81620241299e-07,1793193615291524096
+287,4.783333333,POSE2_TO_POSE3_RETREAT,764,743,711,674,660.748542753,629,878.748542753,783,800,650.251457247,628.748542753,650.251457247,0.446429339064,0.0046115675991,0.0495624570469,0.999999755021,0.000217265158429,-0.000665396006914,-1.06214398629e-06,1793193615308190976
+288,4.800000000,POSE2_TO_POSE3_RETREAT,764,743,711,674,660.667967352,629,879,783,800.332032648,650,629,650.332032648,0.446211110671,0.0046141620146,0.0495708838094,0.999999762742,0.000221990369244,-0.000652099856571,-1.72618935663e-06,1793193615324857344
+289,4.816666667,POSE2_TO_POSE3_RETREAT,764,743,711,674,660.075270454,629,879,783,800.924729546,650,629,650.924729546,0.445982146881,0.00461628914948,0.0495840895396,0.999999774856,0.000226250635491,-0.000631737639715,-2.3772983511e-06,1793193615341523968
+290,4.833333333,POSE2_TO_POSE3_RETREAT,764,743,711,674,660.50640171,629,878.49359829,783,800.49359829,650,629,651,0.445703562061,0.00461909994633,0.0495975531061,0.999999785411,0.000233177097395,-0.000612205737292,-3.32092795942e-06,1793193615358190848
+291,4.850000000,POSE2_TO_POSE3_RETREAT,764,742.914420049,711,674,661,629.085579951,878,783,800,650,629,650.914420049,0.44540953819,0.00462198196983,0.0496109706931,0.999999794682,0.000240332621934,-0.000594019400608,-4.17117618239e-06,1793193615374857728
+292,4.866666667,POSE2_TO_POSE3_RETREAT,764,742.340322806,711,674,661,629.659677194,878,783,800,650,629,650.340322806,0.445068588213,0.0046247028703,0.0496239117145,0.999999799748,0.000246581720512,-0.000582824482392,-4.24546732401e-06,1793193615391524608
+293,4.883333333,POSE2_TO_POSE3_RETREAT,764,742.239378217,711,673.760621783,661,630,878,783.239378217,800,650,629,650,0.444709290754,0.00462829076235,0.0496323301942,0.999999801197,0.000253237298136,-0.000577455049845,-4.83119605613e-06,1793193615408190976
+294,4.900000000,POSE2_TO_POSE3_RETREAT,764,742.827237043,711,673.172762957,661,630,878,783.827237043,800,650,629,650,0.444323283526,0.00463314079814,0.0496341648741,0.999999797526,0.000260484617092,-0.000580566209264,-6.16146238734e-06,1793193615424857600
+295,4.916666667,POSE2_TO_POSE3_RETREAT,764,742.588878311,711,673.411121689,661,630,878.411121689,783.588878311,799.588878311,650,629,650.411121689,0.443903114808,0.00463423715045,0.0496379005392,0.999999800331,0.000262919109885,-0.000574584625369,-8.01319957196e-06,1793193615441524224
+296,4.933333333,POSE2_TO_POSE3_RETREAT,764,742.006647734,711,673.993352266,661,630,878.993352266,783.006647734,799.006647734,650,629,650.993352266,0.443468728084,0.0046337712192,0.0496424273946,0.999999805762,0.000263350503751,-0.000564818640683,-1.00819729438e-05,1793193615458191104
+297,4.950000000,POSE2_TO_POSE3_RETREAT,764,742.566648831,711,674,662.133297662,630.566648831,878.433351169,783,800.133297662,650.566648831,629,651,0.442997366766,0.00463641203965,0.0496499000893,0.999999810729,0.00026723805836,-0.000554057858865,-1.20548791787e-05,1793193615474857472
+298,4.966666667,POSE2_TO_POSE3_RETREAT,764,742.859725063,711,674,663,631,878,783,800.859725063,650.859725063,629,650.859725063,0.442522008131,0.00463855244513,0.0496645126987,0.999999823048,0.000270240926268,-0.000529786353588,-1.41697314383e-05,1793193615491524352
+299,4.983333333,POSE2_TO_POSE3_RETREAT,764,742.284758114,711,674,663,631,878,783,800.284758114,650.284758114,629,650.284758114,0.44203558581,0.00463903094341,0.0497011454505,0.999999855807,0.000270378577345,-0.00046368264919,-1.67278849019e-05,1793193615508191744
+300,5.000000000,POSE2_TO_POSE3_RETREAT,764,742,711,673.7006961,663.2993039,631,878,783,799.7006961,650,629,650.2993039,0.441529520165,0.00464046259311,0.049738621798,0.999999881593,0.00027393988543,-0.000401727057443,-1.96456193427e-05,1793193615524858624
+301,5.016666667,POSE2_TO_POSE3_RETREAT,764,742,711,673.107709773,663.892290227,631,878,783,799.107709773,650,629,650.892290227,0.441004180078,0.00464282949237,0.0497769259015,0.999999901183,0.000280860548168,-0.000343841661729,-2.29161814833e-05,1793193615541525760
+302,5.033333333,POSE2_TO_POSE3_RETREAT,764,742,711,673,664,631.469276749,878,783.938553498,799,650,629,650.530723251,0.440414904292,0.00462063786691,0.0497960029765,0.999999917771,0.000257861870415,-0.000311963959122,-2.53769173663e-05,1793193615558192640
+303,5.050000000,POSE2_TO_POSE3_RETREAT,764,742,711,673.043092248,664,631.956907752,878,784.956907752,799,650,629,650.043092248,0.439804642973,0.00459381767151,0.0498084758484,0.999999931332,0.000229177594339,-0.000289911700047,-2.76592265147e-05,1793193615574859264
+304,5.066666667,POSE2_TO_POSE3_RETREAT,764,742,711,673.621632686,664,631.378367314,878,784.378367314,799,650,629,650.621632686,0.439109953316,0.00457721539866,0.0497919142722,0.999999926371,0.000212361786068,-0.000318219176764,-2.99579223683e-05,1793193615591525120
+305,5.083333333,POSE2_TO_POSE3_RETREAT,764,742,711,674,664,631.198263641,878,784,799.198263641,650,629.198263641,650.801736359,0.438398726241,0.00456894353847,0.0497775617579,0.999999922276,0.000192254785079,-0.000342647593166,-3.28481317494e-05,1793193615608191232
+306,5.100000000,POSE2_TO_POSE3_RETREAT,764,742,711,674,664,631.771285255,878,784,799.771285255,650,629.771285255,650.228714745,0.437656240178,0.00457641782689,0.0497673848139,0.999999920847,0.000165926772214,-0.000359743807637,-3.68564200066e-05,1793193615624857600
+307,5.116666667,POSE2_TO_POSE3_RETREAT,764,742,711,673.642093639,664.357906361,632,878,784.357906361,799.642093639,650,629.642093639,650,0.436929853745,0.00458072123899,0.0497843062811,0.999999938043,8.6537474222e-05,-0.00033894959336,-3.92286729626e-05,1793193615641524480
+308,5.133333333,POSE2_TO_POSE3_RETREAT,764,742,711,673.046438744,664.953561256,632,878,784.953561256,799.046438744,650,629.046438744,650,0.436214161935,0.00458291831439,0.0498192285675,0.999999955864,-2.80991515157e-05,-0.000292985679468,-4.0514146638e-05,1793193615658191616
+309,5.150000000,POSE2_TO_POSE3_RETREAT,764,742.531434148,711,673.531434148,664.468565852,632,877.468565852,784.468565852,799,650,629,650.531434148,0.435408337747,0.00458707101728,0.0498105427329,0.999999949734,-1.78130119509e-05,-0.000313486120974,-4.40657852508e-05,1793193615674858496
+310,5.166666667,POSE2_TO_POSE3_RETREAT,763.892400359,742.892400359,711,673.892400359,664,632,877.107599641,784,799.107599641,650,629,651,0.434594175158,0.0045895717825,0.0497974446377,0.999999941938,-1.94080262117e-07,-0.000337365763691,-4.80405110131e-05,1793193615691525120
+311,5.183333333,POSE2_TO_POSE3_RETREAT,763.317121054,742.317121054,711,673.317121054,664,632,877.682878946,784,799.682878946,650,629,651,0.433776895092,0.00458417371072,0.0497811953734,0.99999993681,3.38571396412e-06,-0.00035150639529,-5.30213263754e-05,1793193615708191488
+312,5.200000000,POSE2_TO_POSE3_RETREAT,763.263974684,742,711,673,664.263974684,632,877.736025316,784,800,650,629,650.736025316,0.432957970146,0.00457633462603,0.0497836708627,0.999999939002,4.16824566711e-06,-0.000344740408232,-5.59705643526e-05,1793193615724857856
+313,5.216666667,POSE2_TO_POSE3_RETREAT,763.852215395,742,711,673,664.852215395,632,877.147784605,784,800,650,629,650.147784605,0.432137024521,0.00456549700476,0.0498091478034,0.999999949644,1.5146256031e-06,-0.000312292770185,-5.64242169664e-05,1793193615741524224
+314,5.233333333,POSE2_TO_POSE3_RETREAT,764,742,711,673.434974123,665,632,877.434974123,784,799.565025877,650,629,650.434974123,0.431269256891,0.00456750921054,0.0498110309442,0.999999949058,7.65008372242e-05,-0.000307304562242,-3.99553481779e-05,1793193615758190848
+315,5.250000000,POSE2_TO_POSE3_RETREAT,764,742,711,673.984267528,664.984267528,632,877.984267528,784,799,650,629,651,0.430384981218,0.00457391267518,0.0498044088634,0.999999935698,0.000174620602426,-0.000312673985968,-1.86246468473e-05,1793193615774857472
+316,5.266666667,POSE2_TO_POSE3_RETREAT,764,742,711,673.409232615,664.409232615,632,877.409232615,784,799,650,629,651,0.429472333038,0.00458315325257,0.0497768515505,0.999999921024,0.000169051233612,-0.000358723296026,-2.63075948025e-05,1793193615791524352
+317,5.283333333,POSE2_TO_POSE3_RETREAT,763.835232308,742,711,673,664.164767692,632,877.164767692,784,799.164767692,650,629.164767692,651,0.428564930491,0.00458897704558,0.0497625584184,0.999999913793,0.000150990276563,-0.000385424283449,-3.26191575119e-05,1793193615808191232
+318,5.300000000,POSE2_TO_POSE3_RETREAT,763.263785643,742,711,673,664.736214357,632,877.736214357,784,799.736214357,650,629.736214357,651,0.427670475251,0.00458636754416,0.049781003887,0.999999927774,0.000102097631133,-0.000364369814876,-3.55458721311e-05,1793193615824857856
+319,5.316666667,POSE2_TO_POSE3_RETREAT,763.319665156,742.319665156,711,673,664.680334844,632,877.680334844,784,799.680334844,650,629.680334844,651,0.42675043691,0.00458497455753,0.049779615492,0.999999928355,8.67365766884e-05,-0.00036639984669,-3.89690076493e-05,1793193615841524480
+320,5.333333333,POSE2_TO_POSE3_RETREAT,763.913408155,742.913408155,711,673,664.086591845,632,877.086591845,784,799.086591845,650,629.086591845,651,0.425808463909,0.00458462459917,0.0497612217313,0.999999918713,0.000100125189775,-0.000388222309536,-4.28177695851e-05,1793193615858191360
+321,5.350000000,POSE2_TO_POSE3_RETREAT,764,743,711,672.506867079,664,632,877.493132921,784,799.493132921,650,629,651,0.424945822059,0.00458287703821,0.0497894072808,0.999999940318,0.000108908288713,-0.000324797232951,-4.48356459518e-05,1793193615874857728
+322,5.366666667,POSE2_TO_POSE3_RETREAT,764,742.929504277,711,672.070495723,664.070495723,632,877.929504277,784,799.929504277,650,629,651,0.424090698615,0.00458131015526,0.0498232877814,0.999999960367,0.000113256179986,-0.000253615350714,-4.60208073391e-05,1793193615891524352
+323,5.383333333,POSE2_TO_POSE3_RETREAT,764,742.351914948,711,672.648085052,664.648085052,632,877.351914948,784,799.351914948,650,629,651,0.423192223819,0.0045827594552,0.0498409253292,0.999999968124,9.13569368386e-05,-0.000231336877616,-4.346471179e-05,1793193615908191488
+324,5.400000000,POSE2_TO_POSE3_RETREAT,764,742,711,673,664.770752336,632.229247664,877,784,799,650,629,651,0.422268654417,0.00458509254619,0.0498371518605,0.999999965659,8.39726424884e-05,-0.00024457360827,-4.26064383847e-05,1793193615924858112
+325,5.416666667,POSE2_TO_POSE3_RETREAT,764,742,711,673,664.184017484,632.815982516,877,784,799,650,629,651,0.421305952527,0.00458880381492,0.0497999902065,0.999999945047,9.92228532707e-05,-0.000313192492959,-4.43957363571e-05,1793193615941524480
+326,5.433333333,POSE2_TO_POSE3_RETREAT,764,742,711,673,664.397501477,632.602498523,877,784,799.397501477,650,629,651,0.420393584527,0.00459119295879,0.0497970772047,0.999999939197,0.000110751943187,-0.000327610580316,-4.48522303542e-05,1793193615958191104
+327,5.450000000,POSE2_TO_POSE3_RETREAT,764,742,711,673,664.976637056,632.023362944,877,784,799.976637056,650,629,651,0.419504216122,0.00459297797146,0.049809813765,0.999999941403,0.000120580705444,-0.000317262182063,-4.4699713602e-05,1793193615974857984
+328,5.466666667,POSE2_TO_POSE3_RETREAT,764,742,711,673,665,632,877,784,800,650,629,651,0.418583833277,0.00459690684814,0.0497928905729,0.999999929204,0.000112035442904,-0.000356521210281,-4.39657542462e-05,1793193615991524352
+329,5.483333333,POSE2_TO_POSE3_RETREAT,763.869473688,742,711,673,664.869473688,632,876.869473688,784.130526312,799.869473688,650,629,651,0.417686057322,0.00459934979742,0.0497793242999,0.99999991989,0.00010423650082,-0.000383961704529,-4.3909220626e-05,1793193616008190976
+330,5.500000000,POSE2_TO_POSE3_RETREAT,763.296280484,742,711,673,664.296280484,632,876.296280484,784.703719516,799.296280484,650,629,651,0.416869371957,0.00459644773527,0.0497813710906,0.999999927433,0.000101588102255,-0.000364248601006,-4.62330013733e-05,1793193616024857856
+331,5.516666667,POSE2_TO_POSE3_RETREAT,763,742,711,673,664.285571673,632,876.285571673,784.714428327,799,650,629,651,0.416059346469,0.00459489349414,0.0497964902058,0.999999939944,0.000100906260608,-0.000328110957701,-4.76790365921e-05,1793193616041524480
+332,5.533333333,POSE2_TO_POSE3_RETREAT,763,742,711,673,664.876688367,632,876.876688367,784.123311633,799,650,629,651,0.415256446713,0.00459478134299,0.0498255959451,0.999999955956,0.000102328520062,-0.000274400016204,-4.81859350946e-05,1793193616058190848
+333,5.550000000,POSE2_TO_POSE3_RETREAT,763,742,711,673,664.542094046,632,877,784,799.457905954,650.457905954,629,651,0.414430439851,0.00459520108487,0.0498151745806,0.9999999496,0.000105396801229,-0.00029563678115,-4.78648193046e-05,1793193616074857472
+334,5.566666667,POSE2_TO_POSE3_RETREAT,763,742,711,672.963698586,664,632.036301414,877,784.036301414,800,650.963698586,629,651,0.413601299495,0.0045957523012,0.0497946557871,0.999999936829,0.000107918318872,-0.000335326889483,-4.74528765951e-05,1793193616091524608
+335,5.583333333,POSE2_TO_POSE3_RETREAT,763,742,711,672.388462466,664,632.611537534,877,784.611537534,800,650.388462466,629,651,0.412816066733,0.00459617390258,0.0497789139771,0.999999930953,9.58810193682e-05,-0.000355678612669,-4.89328414821e-05,1793193616108191232
+336,5.600000000,POSE2_TO_POSE3_RETREAT,763,742,711,672,664,632.809147117,877,784.809147117,800,650,629,651,0.412059396772,0.00459695016105,0.0497761691253,0.999999929585,9.11877217088e-05,-0.000360633736561,-4.95807217295e-05,1793193616124857856
+337,5.616666667,POSE2_TO_POSE3_RETREAT,763,742,711,672,664,632.221347447,877,784.221347447,800,650,629,651,0.411362133218,0.00459846405578,0.049800456091,0.999999938012,0.000101768898722,-0.000333566132804,-4.84979848445e-05,1793193616141524480
+338,5.633333333,POSE2_TO_POSE3_RETREAT,763,742,711,672.361284604,664,632,877.361284604,784,799.638715396,650.361284604,629,651,0.410641769612,0.00459947976903,0.0498043258382,0.999999937072,0.000109478394503,-0.000334031675259,-4.78846212416e-05,1793193616158191104
+339,5.650000000,POSE2_TO_POSE3_RETREAT,763,742,711,672.940795233,664,632,877.940795233,784,799.059204767,650.940795233,629,651,0.409907452969,0.00460019456661,0.0497958630119,0.999999930559,0.000115453313721,-0.000351128011222,-4.75547723233e-05,1793193616174857728
+340,5.666666667,POSE2_TO_POSE3_RETREAT,763.518446369,742.518446369,711,673,664,632,877.481553631,784,799,650.481553631,629,651,0.409263425064,0.00459733922007,0.0497910046588,0.999999932681,9.34022046267e-05,-0.000351444381805,-4.89961716732e-05,1793193616191524608
+341,5.683333333,POSE2_TO_POSE3_RETREAT,764,742.904557991,711,672.904557991,664.095442009,632,877.095442009,784,799,650,629,651,0.408640568491,0.00459458050308,0.0497916958763,0.999999936972,7.43339145525e-05,-0.000343542198842,-5.00918990475e-05,1793193616208191232
+342,5.700000000,POSE2_TO_POSE3_RETREAT,764,742.329791738,711,672.329791738,664.670208262,632,877.670208262,784,799,650,629,651,0.408072440938,0.00459434727815,0.0498181980576,0.999999948912,8.62616205196e-05,-0.000303954316207,-4.84394073178e-05,1793193616224858880
+343,5.716666667,POSE2_TO_POSE3_RETREAT,764,742,711,672.250826753,664.749173247,632,877.749173247,784,799.250826753,650,629,651,0.407510921617,0.00459367071275,0.0498323576947,0.99999995367,9.55175369084e-05,-0.000285172437193,-4.7034281111e-05,1793193616241526016
+344,5.733333333,POSE2_TO_POSE3_RETREAT,764,742,711,672.839323649,664.160676351,632,877.160676351,784,799.839323649,650,629,651,0.406958298531,0.00459239730976,0.0498299014441,0.99999995049,0.000101176612994,-0.00029440019862,-4.59621656579e-05,1793193616258192896
+345,5.750000000,POSE2_TO_POSE3_RETREAT,763.578886792,742,710.578886792,673,664.421113208,632,877,784.421113208,800,650,629,651,0.406393557181,0.00458937124652,0.0498064144156,0.999999937288,9.55354253401e-05,-0.00033781217597,-4.66848346138e-05,1793193616274859776
+346,5.766666667,POSE2_TO_POSE3_RETREAT,763.000381786,742,710.000381786,673,664.999618214,632,877,784.999618214,800,650,629,651,0.405824325559,0.00458568975575,0.0497750446786,0.999999917544,8.56571493913e-05,-0.000394034414298,-4.80810865701e-05,1793193616291526656
+347,5.783333333,POSE2_TO_POSE3_RETREAT,763.576696855,742,710.576696855,673,664.423303145,632,877,784.423303145,800,650,629,651,0.405347151382,0.0045862600656,0.049767529336,0.999999912032,8.62589924659e-05,-0.000407577729195,-4.87482995293e-05,1793193616308192256
+348,5.800000000,POSE2_TO_POSE3_RETREAT,763.847845115,742,711,673,664.152154885,632,876.847845115,784,799.847845115,650,628.847845115,651,0.404897022031,0.00458708932596,0.0497681778322,0.999999912722,8.72551167635e-05,-0.000405574852449,-4.95208066368e-05,1793193616324858112
+349,5.816666667,POSE2_TO_POSE3_RETREAT,763.274757933,742,711,673,664.725242067,632,876.274757933,784,799.274757933,650,628.274757933,651,0.404521711339,0.00458863496586,0.0497914113621,0.999999929726,8.93420092695e-05,-0.000360563867363,-5.05846072154e-05,1793193616341524480
+350,5.833333333,POSE2_TO_POSE3_RETREAT,763.308491331,742,711,672.691508669,664.691508669,632,876.308491331,784,799.308491331,650,628.308491331,651,0.40416753026,0.00458874335762,0.0498173096647,0.999999943966,9.03395710223e-05,-0.000318373279431,-5.04480807469e-05,1793193616358191104
+351,5.850000000,POSE2_TO_POSE3_RETREAT,763.901099724,742,711,672.098900276,664.098900276,632,876.901099724,784,799.901099724,650,628.901099724,651,0.403832809339,0.00458752805985,0.0498456621917,0.99999995585,9.03338712377e-05,-0.000278780248499,-4.92060664516e-05,1793193616374857728
+352,5.866666667,POSE2_TO_POSE3_RETREAT,764,742,711,672,664.480761901,632,877,784,799.519238099,650,629,651,0.40349997551,0.00458884880329,0.0498543849428,0.999999957898,9.2508872467e-05,-0.000270616526596,-4.91167505842e-05,1793193616391524864
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764,742,711,672,665,632,877,784.057651179,799.115302358,650,629,651,0.403170542682,0.00459077283832,0.0498572215725,0.999999957286,9.49927522433e-05,-0.000271975300038,-4.93262305619e-05,1793193616408191488
+354,5.900000000,POSE2_TO_POSE3_RETREAT,764,742,711,672,665,632,877,784.632928861,800.265857723,650,629,651,0.40286825191,0.00459355224961,0.0498425153037,0.999999948409,9.63277093626e-05,-0.000302303807704,-5.01452289084e-05,1793193616424858112
+355,5.916666667,POSE2_TO_POSE3_RETREAT,763.786671674,742,711,672,664.786671674,632,877,785,800.786671674,650,629,651,0.402585213168,0.00459652426936,0.0498281606367,0.9999999395,9.70914585284e-05,-0.000330067067301,-5.1265287687e-05,1793193616441524736
+356,5.933333333,POSE2_TO_POSE3_RETREAT,763.197242497,742,711,672,664.197242497,632,877,785,800.197242497,650,629,651,0.40233611606,0.00459983586028,0.0498144258503,0.999999931497,9.68481599537e-05,-0.000353307755388,-5.29161202221e-05,1793193616458191104
+357,5.950000000,POSE2_TO_POSE3_RETREAT,763,742,711,672,664,632,876.61239156,785,800,650,629,651,0.402119715622,0.00460063826213,0.0498066792847,0.999999927766,9.49079667105e-05,-0.000364111323636,-5.37005138777e-05,1793193616474857984
+358,5.966666667,POSE2_TO_POSE3_RETREAT,763,742,711,672,664,632,876.029843106,785,800,650,629,651,0.401919759306,0.00460017871716,0.0498019443753,0.999999926342,9.21143537786e-05,-0.000368659890083,-5.40491493569e-05,1793193616491525120
+359,5.983333333,POSE2_TO_POSE3_RETREAT,763.545080977,742,711,672,664,632,876,784.454919023,800,650,628.454919023,651,0.401769493018,0.00459603380985,0.0498111041611,0.999999937375,2.1463681796e-05,-0.000349068032424,-5.42291647766e-05,1793193616508191488
+360,6.000000000,POSE2_TO_POSE3_RETREAT,763.880355951,742,711,672.119644049,664.119644049,632,876,784,799.880355951,650,628.119644049,651.119644049,0.401629107094,0.00459026536848,0.0498206125931,0.999999944163,-2.62162192955e-05,-0.000329168511837,-5.13330274478e-05,1793193616524857600
+361,6.016666667,POSE2_TO_POSE3_RETREAT,763.305599991,742,711,672.694400009,664.694400009,632,876,784,799.305599991,650,628.694400009,651.694400009,0.401516099076,0.00457907812636,0.0498285934175,0.999999949946,2.74190757855e-05,-0.000313056858508,-3.67702000678e-05,1793193616541524480
+362,6.033333333,POSE2_TO_POSE3_RETREAT,763.275797044,742,711,673,664.724202956,632,876.275797044,784,799.275797044,650,629,651.724202956,0.401412150987,0.00456900129148,0.0498324711503,0.999999951863,5.06191343547e-05,-0.000304743932985,-2.90262917859e-05,1793193616558190848
+363,6.050000000,POSE2_TO_POSE3_RETREAT,763.864734328,742,711,673,664.135265672,632,876.864734328,784,799.864734328,650,629,651.135265672,0.401318489556,0.00456018521476,0.0498316902282,0.999999952208,3.92629918574e-05,-0.000305285692651,-2.90245920327e-05,1793193616574857472
+364,6.066666667,POSE2_TO_POSE3_RETREAT,763.553181316,742,711,673,664.446818684,632,877,784,799.553181316,650.446818684,629,651.446818684,0.401239137439,0.00456223217475,0.0498293572801,0.999999951409,4.21625896412e-05,-0.000307345871636,-3.06918509872e-05,1793193616591524096
+365,6.083333333,POSE2_TO_POSE3_RETREAT,763,742,710.973375135,673,664.973375135,632,876.973375135,784.026624865,799,650.973375135,629,652,0.40116529796,0.00456730098291,0.0498268004156,0.999999950355,4.89795138896e-05,-0.000309541670626,-3.27880513677e-05,1793193616608191232
+366,6.100000000,POSE2_TO_POSE3_RETREAT,763,742,710.39840703,673,664.39840703,632,876.39840703,784.60159297,799,650.39840703,629,652,0.401117124266,0.00456789962286,0.0498291623316,0.999999951667,4.89355374575e-05,-0.000305206574417,-3.34699538944e-05,1793193616624857600
+367,6.116666667,POSE2_TO_POSE3_RETREAT,763,742,710.176320015,672.823679985,664,632,876.176320015,784.823679985,799,650,629,651.823679985,0.401074687444,0.00456850379683,0.0498315708613,0.999999953163,4.93020807567e-05,-0.000300129090402,-3.41453915675e-05,1793193616641523968
+368,6.133333333,POSE2_TO_POSE3_RETREAT,763,742,710.750503036,672.249496964,664,632,876.750503036,784.249496964,799,650,629,651.249496964,0.401045195777,0.00456912045811,0.0498340845739,0.999999955079,5.05949545981e-05,-0.000293376421977,-3.48062413209e-05,1793193616658190848
+369,6.150000000,POSE2_TO_POSE3_RETREAT,763.336608228,742,711,672,664,632,877,784,799.336608228,650,629.336608228,651.336608228,0.401023329219,0.00457040179877,0.0498364651316,0.999999956852,5.16744770205e-05,-0.000287001008843,-3.54519434145e-05,1793193616674857728
+370,6.166666667,POSE2_TO_POSE3_RETREAT,763.93187478,742,711,672,664,632,877,784,799.93187478,650,629.93187478,651.93187478,0.401007321986,0.00457219389605,0.04983874337,0.999999958509,5.25900549227e-05,-0.000280915487556,-3.60860057312e-05,1793193616691524352
+371,6.183333333,POSE2_TO_POSE3_RETREAT,763.490768574,742,711,672.509231426,664,632,877,784,800,650,629.490768574,651.490768574,0.400994297229,0.00457035047811,0.0498401039938,0.999999959053,5.17412544931e-05,-0.000279178073813,-3.57263323449e-05,1793193616708194816
+372,6.200000000,POSE2_TO_POSE3_RETREAT,763.084211182,742,711,672.915788818,664,632.084211182,877,784,800,650,629,651,0.400982603432,0.00456840340647,0.0498411369223,0.99999995938,5.06626867739e-05,-0.000278249862719,-3.5353434259e-05,1793193616724865024
+373,6.216666667,POSE2_TO_POSE3_RETREAT,763.658828371,742,711,672.341171629,664,632.658828371,877,784,800,650,629,651,0.400976415891,0.0045685888092,0.0498409521098,0.999999959282,4.95739420657e-05,-0.000278761658099,-3.56514116466e-05,1793193616741527808
+374,6.233333333,POSE2_TO_POSE3_RETREAT,763.760676035,742,710.760676035,672.239323965,664,632.760676035,876.760676035,784.239323965,799.760676035,650,629,651,0.400973201296,0.00456854764572,0.0498421310407,0.999999959858,4.8438360907e-05,-0.000276869855244,-3.57806734159e-05,1793193616758191872
+375,6.250000000,POSE2_TO_POSE3_RETREAT,763.171589416,742,710.171589416,672.828410584,664,632.171589416,876.171589416,784.828410584,799.171589416,650,629,651,0.400974331549,0.00456817536451,0.0498453030296,0.999999961402,4.72343301647e-05,-0.000271465287151,-3.56633638614e-05,1793193616774857984
+376,6.266666667,POSE2_TO_POSE3_RETREAT,763.411639788,742,710.411639788,672.588360212,664,632,876.411639788,784.588360212,799.411639788,650,629,651,0.400974277128,0.00456746306523,0.0498461943314,0.999999961845,4.68214596443e-05,-0.000269902076461,-3.56382131893e-05,1793193616791524352
+377,6.283333333,POSE2_TO_POSE3_RETREAT,763.992461607,742,710.992461607,672.007538393,664,632,876.992461607,784.007538393,799.992461607,650,629,651,0.400973735811,0.00456661102011,0.0498461482814,0.999999961845,4.67337523133e-05,-0.000269917645872,-3.56509393908e-05,1793193616808190976
+378,6.300000000,POSE2_TO_POSE3_RETREAT,764,742.567938314,711,672,664,632.567938314,877,784.567938314,800,650,629,651,0.400972000355,0.00456904303766,0.049846217122,0.99999996143,4.99873416853e-05,-0.000270823448364,-3.60098177708e-05,1793193616824857856
+379,6.316666667,POSE2_TO_POSE3_RETREAT,764,742.857577589,711,672,664,632.857577589,876.857577589,785,799.857577589,650,629,651.142422411,0.400970806695,0.00457060979664,0.0498465190951,0.999999961295,5.18550829386e-05,-0.000270946506017,-3.61862607607e-05,1793193616841524480
+380,6.333333333,POSE2_TO_POSE3_RETREAT,764,742.285873615,711,672,664,632.285873615,876.285873615,785,799.285873615,650,629,651.714126385,0.400971293417,0.00456943837966,0.0498475192095,0.999999962045,4.9413248093e-05,-0.000268674974415,-3.57990977002e-05,1793193616858191360
+381,6.350000000,POSE2_TO_POSE3_RETREAT,763.702058995,742,711,672.297941005,664.297941005,632.297941005,876.59588201,784.702058995,799.297941005,650,629,651.702058995,0.40097184312,0.00456908465312,0.0498480115694,0.999999962461,4.88072302346e-05,-0.000267250003533,-3.56887219747e-05,1793193616874857984
+382,6.366666667,POSE2_TO_POSE3_RETREAT,763.106131826,742,711,672.893868174,664.893868174,632.893868174,877.787736348,784.106131826,799.893868174,650,629,651.106131826,0.400972455811,0.00456954874084,0.0498479960979,0.999999962548,5.00373073283e-05,-0.000266671721414,-3.58551754911e-05,1793193616891524352
+383,6.383333333,POSE2_TO_POSE3_RETREAT,763.471294689,742,711,673,664.528705311,632.528705311,877.057410623,784,800.471294689,650,629,651,0.400972639429,0.00456874584893,0.0498481522039,0.999999962565,4.87621344264e-05,-0.000266846853096,-3.58548371413e-05,1793193616908191232
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764,742,711,673,664.045086694,632,876.090173389,784,800.909826611,650,629,651,0.400972694562,0.0045677837309,0.0498483459974,0.999999962581,4.70571374707e-05,-0.000267092398741,-3.58508760872e-05,1793193616924857600
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764,742,711,673,664.623305388,632,877.246610777,784,799.753389223,650,629,651,0.400972329789,0.00456818511477,0.0498485458086,0.999999962812,4.66886580966e-05,-0.000266240145398,-3.62314363488e-05,1793193616941524224
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764,742,710.795193944,673,664.795193944,632,877.590387888,784,799,650.204806056,629,651.204806056,0.400971566436,0.00456787845779,0.049848541434,0.99999996287,4.62413321635e-05,-0.00026609179423,-3.62876115647e-05,1793193616958191104
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764,742,710.207558552,673,664.207558552,632,876.415117104,784,799,650.792441448,629,651.792441448,0.400970058046,0.00456624831058,0.0498481553894,0.999999962606,4.56466240097e-05,-0.00026725919718,-3.57374369559e-05,1793193616974857728
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764,742,710.376337524,673,664,632.376337524,876.376337524,784,799.376337524,650.623662476,629,652,0.400969065422,0.00456665359599,0.0498476854059,0.999999962374,4.64282590355e-05,-0.000268001805318,-3.56611958118e-05,1793193616991524352
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764,742,710.958191554,673,664,632.958191554,876.958191554,784,799.958191554,650.041808446,629,652,0.400968354456,0.00456817042355,0.0498471695838,0.999999962158,4.79615099161e-05,-0.000268512434568,-3.58437679686e-05,1793193617008190976
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764,742,711,672.467010974,664,632.467010974,877,784,800,650,629,651.467010974,0.400970153199,0.00456913735915,0.0498484768403,0.999999962656,5.02260835828e-05,-0.000266219138976,-3.59502828539e-05,1793193617024857856
+391,6.516666667,POSE2_TO_POSE3_RETREAT,764,742,710.892745912,672.107254088,664,632.107254088,876.892745912,784,800,650,629,651,0.400971886244,0.00456968312782,0.0498497808543,0.999999963179,5.17667842511e-05,-0.000263942557626,-3.59999764324e-05,1793193617041524480
+392,6.533333333,POSE2_TO_POSE3_RETREAT,764,742,710.318420551,672.681579449,664,632.681579449,876.318420551,784,800,650,629,651,0.400972487078,0.00456858018131,0.0498504561242,0.999999963611,4.99086002349e-05,-0.000262684063516,-3.58278654485e-05,1793193617058190848
+393,6.550000000,POSE2_TO_POSE3_RETREAT,763.736728591,742,710.263271409,673,664.263271409,633,876.263271409,784,800,650,629,651,0.400972480928,0.00456814354958,0.0498505583114,0.999999963756,4.90730267029e-05,-0.000262294573055,-3.57917439883e-05,1793193617074857472
+394,6.566666667,POSE2_TO_POSE3_RETREAT,763.145870348,742,710.854129652,673,664.854129652,633,876.854129652,784,800,650,629,651,0.400971719512,0.00456853600866,0.0498499474154,0.999999963548,4.95098802383e-05,-0.000262986377796,-3.59248333507e-05,1793193617091524608
+395,6.583333333,POSE2_TO_POSE3_RETREAT,763.435832519,742,710.564167481,672.564167481,664.564167481,632.564167481,877,784,799.564167481,650,629,651,0.400971466733,0.00456904010104,0.0498493315644,0.99999996334,4.88629589425e-05,-0.000263836083779,-3.63820372378e-05,1793193617108192256
+396,6.600000000,POSE2_TO_POSE3_RETREAT,764,742,710.014416907,672,664,632.014416907,876.985583093,784,799,650,629,651,0.400971406824,0.00456957873837,0.0498487520889,0.99999996314,4.7942381762e-05,-0.00026468540012,-3.69165371763e-05,1793193617124859648
+397,6.616666667,POSE2_TO_POSE3_RETREAT,764,742,710.588450342,672,664,632.588450342,876.411549658,784,799,650,629,651,0.400972361376,0.00457003783051,0.0498496476437,0.999999963362,5.01897707699e-05,-0.000263510395675,-3.63272525689e-05,1793193617141526016
+398,6.633333333,POSE2_TO_POSE3_RETREAT,764,742,710.833329088,672,664,632.833329088,876,784,799.166670912,650,629,651,0.40097268508,0.00456999968216,0.0498501274459,0.999999963486,5.12837450906e-05,-0.000262893742644,-3.58521901037e-05,1793193617158192640
+399,6.650000000,POSE2_TO_POSE3_RETREAT,764,742,710.2445031,672,664,632.2445031,876,784,799.7554969,650,629,651,0.40097141093,0.0045687020903,0.0498495542025,0.999999963374,4.94562745063e-05,-0.000263691318958,-3.56664370471e-05,1793193617174859008
+400,6.666666667,POSE2_TO_POSE3_RETREAT,763.661038966,742,710.338961034,672,664.338961034,632,876.338961034,784,800,650,629,651,0.400971327852,0.00456805021317,0.0498497612685,0.999999963494,4.87308461846e-05,-0.000263364438406,-3.57405236129e-05,1793193617191525632
+401,6.683333333,POSE2_TO_POSE3_RETREAT,763.081382299,742,710.918617701,672,664.918617701,632,876.918617701,784,800,650,629,651,0.400972090553,0.004567856857,0.0498505224309,0.999999963777,4.87879762073e-05,-0.000262239082982,-3.59991218441e-05,1793193617208192768
+402,6.700000000,POSE2_TO_POSE3_RETREAT,763.495612905,742,710.504387095,672,665,632,877,784,799.504387095,650.495612905,629,651.495612905,0.40097169694,0.00456726503304,0.0498500458012,0.999999963624,4.8135454565e-05,-0.000262965059544,-3.58344062722e-05,1793193617224858880
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_10/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_10/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..eb69840139ecf24cb46065b0cfe5464bb279f6cd
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_10/depth_05/simulation_data.csv
@@ -0,0 +1,404 @@
+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,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+1,0.016666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+2,0.033333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+3,0.050000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+4,0.066666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+5,0.083333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+6,0.100000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+7,0.116666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+8,0.133333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+9,0.150000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+10,0.166666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+11,0.183333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+12,0.200000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+13,0.216666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+14,0.233333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+15,0.250000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+16,0.266666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+17,0.283333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+18,0.300000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+19,0.316666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+20,0.333333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+21,0.350000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+22,0.366666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+23,0.383333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+24,0.400000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+25,0.416666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+26,0.433333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+27,0.450000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+28,0.466666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+29,0.483333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+30,0.500000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+31,0.516666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+32,0.533333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+33,0.550000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+34,0.566666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+35,0.583333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+36,0.600000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+37,0.616666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+38,0.633333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+39,0.650000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+40,0.666666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+41,0.683333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+42,0.700000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+43,0.716666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+44,0.733333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+45,0.750000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+46,0.766666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+47,0.783333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+48,0.800000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+49,0.816666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+50,0.833333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+51,0.850000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+52,0.866666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+53,0.883333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+54,0.900000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+55,0.916666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+56,0.933333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+57,0.950000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+58,0.966666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+59,0.983333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+60,1.000000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+61,1.016666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+62,1.033333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+63,1.050000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+64,1.066666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+65,1.083333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+66,1.100000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+67,1.116666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+68,1.133333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+69,1.150000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+70,1.166666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+71,1.183333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+72,1.200000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+73,1.216666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+74,1.233333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+75,1.250000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+76,1.266666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+77,1.283333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+78,1.300000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+79,1.316666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+80,1.333333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+81,1.350000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+82,1.366666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+83,1.383333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+84,1.400000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+85,1.416666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+86,1.433333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+87,1.450000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+88,1.466666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+89,1.483333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+90,1.500000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+91,1.516666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+92,1.533333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+93,1.550000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+94,1.566666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+95,1.583333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+96,1.600000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+97,1.616666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+98,1.633333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+99,1.650000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+100,1.666666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+101,1.683333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+102,1.700000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+103,1.716666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+104,1.733333333,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+105,1.750000000,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+106,1.766666667,pose1_baseline,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
+107,1.783333333,pose1_to_pose2_press,0.575709329052,0.010054459948,1.04002904989,0.546280060114,0.0187271921781,1.03969833964
+108,1.800000000,pose1_to_pose2_press,0.575709356071,0.0100544871787,1.04002905648,0.546280087413,0.0187272203061,1.03969834485
+109,1.816666667,pose1_to_pose2_press,0.575709358373,0.0100544894983,1.04002905704,0.546280089739,0.0187272227022,1.03969834529
+110,1.833333333,pose1_to_pose2_press,0.575709438166,0.0100545214097,1.04002906603,0.546280169746,0.0187272552714,1.03969835251
+111,1.850000000,pose1_to_pose2_press,0.575709551228,0.0100545256859,1.04002906991,0.546280282593,0.0187272587981,1.03969835586
+112,1.866666667,pose1_to_pose2_press,0.57570955433,0.0100545258032,1.04002907002,0.546280285689,0.0187272588949,1.03969835596
+113,1.883333333,pose1_to_pose2_press,0.575710143974,0.0100545482743,1.0400291069,0.546280874697,0.018727279154,1.03969839139
+114,1.900000000,pose1_to_pose2_press,0.575712500202,0.010054616125,1.04002908152,0.546283230322,0.0187273449629,1.03969836613
+115,1.916666667,pose1_to_pose2_press,0.575717907777,0.01005451624,1.0400291294,0.546288638799,0.0187272484554,1.0396984223
+116,1.933333333,pose1_to_pose2_press,0.575730376487,0.0100544978966,1.04002911727,0.546301107291,0.0187272290792,1.03969840245
+117,1.950000000,pose1_to_pose2_press,0.575751591386,0.0100546666264,1.04002909021,0.546322320345,0.0187273915843,1.03969837626
+118,1.966666667,pose1_to_pose2_press,0.575784439758,0.0100544514657,1.04002906898,0.546355171323,0.0187271852595,1.03969835475
+119,1.983333333,pose1_to_pose2_press,0.575828500179,0.0100545363643,1.04002904997,0.546399231529,0.0187272696671,1.03969834195
+120,2.000000000,pose1_to_pose2_press,0.575882576628,0.010054503464,1.04002903701,0.546453308768,0.0187272394376,1.03969832865
+121,2.016666667,pose1_to_pose2_press,0.575944363267,0.0100545873685,1.04002904331,0.546515092295,0.0187273128736,1.03969833723
+122,2.033333333,pose1_to_pose2_press,0.576013173323,0.0100545811977,1.04002917171,0.546583903141,0.018727309212,1.03969846111
+123,2.050000000,pose1_to_pose2_press,0.57608923881,0.0100545312763,1.04002928587,0.546659969562,0.0187272624522,1.03969857499
+124,2.066666667,pose1_to_pose2_press,0.576173940781,0.0100545441145,1.04002919356,0.546744670877,0.0187272730658,1.03969848268
+125,2.083333333,pose1_to_pose2_press,0.576272761353,0.0100544640494,1.0400291815,0.546843492875,0.01872719772,1.03969846738
+126,2.100000000,pose1_to_pose2_press,0.576385774861,0.0100545719249,1.04002917784,0.546956505593,0.0187273030045,1.03969846609
+127,2.116666667,pose1_to_pose2_press,0.576514413801,0.0100545685826,1.04002935335,0.54708514435,0.0187272987452,1.03969863382
+128,2.133333333,pose1_to_pose2_press,0.576660179463,0.0100544572484,1.04002933104,0.547230910631,0.0187271894885,1.03969861091
+129,2.150000000,pose1_to_pose2_press,0.576825142035,0.0100544252491,1.04002911723,0.54739587367,0.0187271594024,1.03969840557
+130,2.166666667,pose1_to_pose2_press,0.577010748622,0.010054487345,1.04002912237,0.547581480208,0.0187272212171,1.03969840767
+131,2.183333333,pose1_to_pose2_press,0.577217688014,0.0100545109288,1.04002921683,0.547788419371,0.0187272438522,1.03969849758
+132,2.200000000,pose1_to_pose2_press,0.577449960415,0.0100545496321,1.04002917877,0.548020690523,0.0187272786501,1.03969846821
+133,2.216666667,pose1_to_pose2_press,0.577705830206,0.0100546723551,1.04002909174,0.548276558832,0.0187273966308,1.03969838861
+134,2.233333333,pose1_to_pose2_press,0.577987329215,0.010054626983,1.04002910644,0.548558058873,0.0187273545045,1.03969839655
+135,2.250000000,pose1_to_pose2_press,0.578292635747,0.0100546270212,1.04002925455,0.54886336525,0.0187273538142,1.03969853928
+136,2.266666667,pose1_to_pose2_press,0.578621725504,0.0100546446202,1.04002925296,0.549192454999,0.018727371492,1.03969854037
+137,2.283333333,pose1_to_pose2_press,0.578976354453,0.010054432668,1.04002927133,0.54954708605,0.0187271663463,1.03969855012
+138,2.300000000,pose1_to_pose2_press,0.579352106734,0.0100543965235,1.04002919785,0.549922839055,0.0187271328196,1.03969848079
+139,2.316666667,pose1_to_pose2_press,0.579741793957,0.0100545478134,1.04002919816,0.550312524422,0.0187272782249,1.03969849199
+140,2.333333333,pose1_to_pose2_press,0.580146957899,0.0100545204166,1.04002928031,0.550717688519,0.018727251076,1.03969856677
+141,2.350000000,pose1_to_pose2_press,0.580570925729,0.0100544644211,1.04002913401,0.551141656703,0.0187271960719,1.03969841496
+142,2.366666667,pose1_to_pose2_press,0.581017210815,0.0100545243236,1.04002919483,0.55158794029,0.018727251052,1.03969847998
+143,2.383333333,pose1_to_pose2_press,0.581490738453,0.0100545114125,1.04002918959,0.552061468345,0.0187272395773,1.0396984753
+144,2.400000000,pose1_to_pose2_press,0.582008976126,0.010054604578,1.04002920705,0.552579706892,0.0187273355915,1.03969848964
+145,2.416666667,pose1_to_pose2_press,0.582563911336,0.0100545791975,1.04002929288,0.553134642028,0.0187273097795,1.03969857067
+146,2.433333333,pose1_to_pose2_press,0.583148332998,0.0100545753798,1.04002932333,0.553719062605,0.0187273024936,1.03969860665
+147,2.450000000,pose1_to_pose2_press,0.583747945373,0.010054598616,1.04002897596,0.554318675228,0.0187273271245,1.03969827376
+148,2.466666667,pose1_to_pose2_press,0.584357496024,0.010054506073,1.04002898669,0.554928227279,0.018727239174,1.0396982803
+149,2.483333333,pose1_to_pose2_press,0.584972295001,0.0100545726836,1.04002915414,0.555543026285,0.018727305839,1.03969844657
+150,2.500000000,pose1_to_pose2_press,0.585598690657,0.010054586658,1.04002914296,0.556169420969,0.0187273164552,1.03969843381
+151,2.516666667,pose1_to_pose2_press,0.586257094583,0.0100544732795,1.0400290518,0.556827826956,0.0187272100412,1.0396983418
+152,2.533333333,pose1_to_pose2_press,0.586946003224,0.010054599886,1.04002906065,0.55751673217,0.0187273249086,1.03969834782
+153,2.550000000,pose1_to_pose2_press,0.587662797484,0.0100545715247,1.04002906609,0.558233526891,0.018727298511,1.03969836368
+154,2.566666667,pose1_to_pose2_press,0.588396737531,0.0100544903016,1.04002929136,0.558967469434,0.0187272254337,1.03969858049
+155,2.583333333,pose1_to_pose2_press,0.589143466941,0.0100546197091,1.04002922982,0.559714197864,0.0187273516739,1.03969852299
+156,2.600000000,pose1_to_pose2_press,0.58989921155,0.0100545686261,1.04002902798,0.560469942056,0.018727299104,1.03969831924
+157,2.616666667,pose1_to_pose2_press,0.590668031182,0.010054432061,1.0400289121,0.561238763186,0.0187271676726,1.03969820475
+158,2.633333333,pose1_to_pose2_press,0.591455700479,0.0100544917951,1.04002891821,0.562026430847,0.018727221987,1.03969821427
+159,2.650000000,pose1_to_pose2_press,0.592256885808,0.0100545987657,1.04002903014,0.56282761495,0.0187273245394,1.03969831948
+160,2.666666667,pose1_to_pose2_press,0.59306780588,0.0100546503844,1.04002897255,0.563638533905,0.0187273723598,1.03969826164
+161,2.683333333,pose1_to_pose2_press,0.593890919344,0.010054567104,1.04002915297,0.564461648789,0.0187272940788,1.03969844692
+162,2.700000000,pose1_to_pose2_press,0.594726988632,0.0100546265208,1.04002910869,0.565297718125,0.0187273537401,1.03969840473
+163,2.716666667,pose1_to_pose2_press,0.595567457843,0.010054625326,1.04002893891,0.566138185608,0.0187273466784,1.03969823489
+164,2.733333333,pose1_to_pose2_press,0.596416089306,0.0100545610731,1.04002912009,0.56698682112,0.0187272962,1.03969841706
+165,2.750000000,pose1_to_pose2_press,0.597274627552,0.0100545422118,1.04002905356,0.567845358647,0.0187272748209,1.03969834853
+166,2.766666667,pose1_to_pose2_press,0.598131121825,0.0100545247869,1.04002915644,0.568701853176,0.018727258251,1.03969845106
+167,2.783333333,pose1_to_pose2_press,0.598986526195,0.0100545707984,1.04002916964,0.569557256743,0.0187273014557,1.03969846219
+168,2.800000000,pose1_to_pose2_press,0.599831004046,0.0100545804658,1.04002914135,0.5704017344,0.0187273102339,1.03969842789
+169,2.816666667,pose1_to_pose2_press,0.600666367943,0.0100546269373,1.0400288831,0.571237097134,0.0187273528507,1.03969817215
+170,2.833333333,pose1_to_pose2_press,0.601497258054,0.010054662992,1.04002925814,0.572067988104,0.0187273918397,1.03969854771
+171,2.850000000,pose1_to_pose2_press,0.602323233195,0.0100545431384,1.04002891066,0.572893964199,0.0187272754379,1.03969820591
+172,2.866666667,pose1_to_pose2_press,0.603147194304,0.010054514297,1.04002894823,0.57371792485,0.0187272447317,1.03969823547
+173,2.883333333,pose1_to_pose2_press,0.603971428431,0.0100544838673,1.04002898356,0.574542159676,0.018727216498,1.03969826621
+174,2.900000000,pose1_to_pose2_press,0.604792199351,0.0100545770354,1.04002916089,0.575362929454,0.0187273060177,1.03969844957
+175,2.916666667,pose1_to_pose2_press,0.605606472801,0.0100546889771,1.04002893498,0.576177200198,0.0187274090043,1.03969822969
+176,2.933333333,pose1_to_pose2_press,0.606409994723,0.0100545649169,1.04002931249,0.57698072541,0.018727295643,1.03969859514
+177,2.950000000,pose1_to_pose2_press,0.607199384085,0.01005457289,1.04002920119,0.577770115463,0.0187273060446,1.0396984861
+178,2.966666667,pose1_to_pose2_press,0.607974936049,0.01005463335,1.04002914637,0.578545666023,0.0187273621421,1.0396984418
+179,2.983333333,pose1_to_pose2_press,0.608732690339,0.0100545226269,1.04002917103,0.579303420876,0.0187272531707,1.03969846238
+180,3.000000000,pose1_to_pose2_press,0.609471876769,0.0100545487269,1.0400291756,0.580042606811,0.0187272776305,1.03969846816
+181,3.016666667,pose1_to_pose2_press,0.610192578083,0.0100546350106,1.0400292667,0.580763307047,0.0187273600236,1.03969855326
+182,3.033333333,pose1_to_pose2_press,0.610894944891,0.0100544849048,1.0400288793,0.581465675541,0.0187272162074,1.03969818083
+183,3.050000000,pose1_to_pose2_press,0.611584267843,0.010054652017,1.04002891825,0.582154995344,0.0187273725204,1.03969821697
+184,3.066666667,pose1_to_pose2_press,0.612257918025,0.0100545488602,1.04002920928,0.582828648965,0.018727280536,1.03969849578
+185,3.083333333,pose1_to_pose2_press,0.612904194858,0.0100545348813,1.04002928749,0.583474926844,0.0187272704785,1.03969857945
+186,3.100000000,pose1_to_pose2_press,0.613519076567,0.0100544593011,1.04002935863,0.584089808246,0.0187271935214,1.03969863895
+187,3.116666667,pose1_to_pose2_press,0.6140983951,0.0100545023021,1.0400293705,0.584669127696,0.0187272401247,1.03969865997
+188,3.133333333,pose1_to_pose2_press,0.614649312456,0.0100544600033,1.04002903477,0.585220043519,0.0187271930432,1.03969832864
+189,3.150000000,pose1_to_pose2_press,0.615178430438,0.0100546168104,1.04002905114,0.585749159651,0.0187273440035,1.03969834209
+190,3.166666667,pose1_to_pose2_press,0.615690809746,0.0100546999571,1.04002931628,0.586261537161,0.0187274215137,1.03969859866
+191,3.183333333,pose1_to_pose2_press,0.616184337303,0.0100545160484,1.04002920599,0.586755067663,0.0187272486272,1.03969848925
+192,3.200000000,pose1_to_pose2_press,0.616646208528,0.0100545517286,1.04002932546,0.587216938187,0.018727282414,1.03969860685
+193,3.216666667,pose1_to_pose2_press,0.617074902386,0.0100545490908,1.04002919007,0.587645631251,0.0187272779797,1.0396984772
+194,3.233333333,pose1_to_pose2_press,0.617473261669,0.0100546173268,1.04002908914,0.588043988611,0.0187273405302,1.03969837431
+195,3.250000000,pose1_to_pose2_press,0.617846794964,0.0100544574677,1.04002918799,0.588417524869,0.0187271911406,1.03969846834
+196,3.266666667,pose1_to_pose2_press,0.618199904006,0.0100546228147,1.04002917495,0.588770632938,0.018727354314,1.03969846541
+197,3.283333333,pose1_to_pose2_press,0.618544684696,0.0100546628097,1.0400290749,0.589115411424,0.0187273875678,1.03969836937
+198,3.300000000,pose1_to_pose2_press,0.61888210799,0.0100546744775,1.04002911665,0.589452834254,0.0187273982351,1.03969840974
+199,3.316666667,pose1_to_pose2_press,0.619199456092,0.0100546333672,1.04002896616,0.589770182925,0.018727359814,1.03969826301
+200,3.333333333,pose1_to_pose2_press,0.619494632989,0.010054540978,1.04002907149,0.590065360369,0.0187272699187,1.03969836912
+201,3.350000000,pose1_to_pose2_press,0.619760617535,0.0100545972679,1.04002913936,0.590331344812,0.01872732646,1.03969843621
+202,3.366666667,pose1_to_pose2_press,0.619996524689,0.0100545165568,1.04002905544,0.590567253633,0.0187272517354,1.03969835103
+203,3.383333333,pose1_to_pose2_press,0.620199782478,0.0100545408616,1.04002903818,0.590770510831,0.0187272742864,1.03969833048
+204,3.400000000,pose1_to_pose2_press,0.620381648221,0.0100545215145,1.04002919099,0.590952376792,0.0187272559564,1.03969847998
+205,3.416666667,pose1_to_pose2_press,0.620544195754,0.0100544652373,1.04002924042,0.591114924348,0.0187272001052,1.03969852991
+206,3.433333333,pose1_to_pose2_press,0.620691714737,0.0100544307041,1.04002909126,0.59126244299,0.0187271646741,1.03969838044
+207,3.450000000,pose1_to_pose2_press,0.620826672639,0.010054431991,1.04002904911,0.59139740126,0.0187271672873,1.03969833269
+208,3.466666667,pose1_to_pose2_press,0.620950054852,0.0100545421411,1.04002927695,0.591520782182,0.0187272733029,1.03969856003
+209,3.483333333,pose1_to_pose2_press,0.621061723422,0.0100545931052,1.04002908854,0.591632451057,0.0187273257207,1.03969837826
+210,3.500000000,pose1_to_pose2_press,0.621161022482,0.0100544747373,1.04002929064,0.59173175137,0.0187272117452,1.03969857782
+211,3.516666667,pose1_to_pose2_press,0.621246868327,0.0100543524752,1.04002914848,0.591817598905,0.0187270957053,1.03969844232
+212,3.533333333,pose1_to_pose2_press,0.621319893449,0.0100544433814,1.04002913618,0.591890620197,0.0187271741922,1.03969843349
+213,3.550000000,pose1_to_pose2_press,0.621380727815,0.0100544250843,1.0400292012,0.591951456863,0.0187271625609,1.03969848301
+214,3.566666667,pose1_to_pose2_press,0.621430483778,0.0100544991186,1.04002903215,0.592001211268,0.0187272323113,1.03969832638
+215,3.583333333,pose1_to_pose2_press,0.621469163773,0.0100545388531,1.04002905706,0.592039890784,0.0187272702519,1.03969834617
+216,3.600000000,pose1_to_pose2_press,0.62150064016,0.010054609712,1.04002927601,0.5920713665,0.0187273386532,1.03969855889
+217,3.616666667,pose1_to_pose2_press,0.621525399094,0.0100547031266,1.0400294186,0.592096124671,0.0187274293838,1.03969870026
+218,3.633333333,pose1_to_pose2_press,0.621544187245,0.0100544715312,1.04002916494,0.592114914135,0.0187272024141,1.03969845168
+219,3.650000000,pose1_to_pose2_press,0.621558119457,0.0100544449396,1.04002913117,0.592128846399,0.018727176014,1.03969841928
+220,3.666666667,pose1_to_pose2_press,0.621567905332,0.0100545568516,1.04002924295,0.59213863156,0.0187272855248,1.03969852873
+221,3.683333333,pose1_to_pose2_press,0.621574288988,0.0100545997372,1.04002934312,0.592145014868,0.0187273272787,1.03969862633
+222,3.700000000,pose1_to_pose2_press,0.621577556291,0.0100545134402,1.04002940935,0.592148282406,0.0187272417334,1.03969869178
+223,3.716666667,pose1_to_pose2_press,0.621579738403,0.0100544815743,1.04002943049,0.592150464485,0.0187272097385,1.03969871266
+224,3.733333333,pose1_to_pose2_press,0.621581059593,0.0100545257773,1.0400293864,0.592151785187,0.0187272523086,1.03969866905
+225,3.750000000,pose1_to_pose2_press,0.621581622845,0.0100545446219,1.04002936761,0.59215234823,0.0187272704571,1.03969865046
+226,3.766666667,pose1_to_pose2_press,0.621582025934,0.0100545581081,1.04002935416,0.59215275117,0.0187272834451,1.03969863716
+227,3.783333333,pose1_to_pose2_press,0.621582845668,0.0100545855339,1.0400293268,0.592153570601,0.0187273098577,1.0396986101
+228,3.800000000,pose1_to_pose2_press,0.621583371851,0.0100545596121,1.04002928325,0.59215409748,0.0187272863746,1.03969856941
+229,3.816666667,pose1_to_pose2_press,0.621583614665,0.0100545410715,1.04002925923,0.592154340751,0.0187272694262,1.03969854711
+230,3.833333333,pose1_to_pose2_press,0.621583955735,0.0100545150283,1.04002922548,0.592154682462,0.0187272456195,1.03969851578
+231,3.850000000,pose1_to_pose2_press,0.621584277174,0.0100544904842,1.04002919368,0.592155004504,0.0187272231831,1.03969848626
+232,3.866666667,pose1_to_pose2_press,0.621584474766,0.0100544753966,1.04002917412,0.592155202467,0.0187272093913,1.03969846811
+233,3.883333333,pose1_to_pose2_press,0.621584604741,0.0100544654721,1.04002916126,0.592155332686,0.018727200319,1.03969845617
+234,3.900000000,pose1_to_pose2_press,0.621584685907,0.0100544592745,1.04002915323,0.592155414005,0.0187271946536,1.03969844872
+235,3.916666667,pose1_to_pose2_press,0.621584831969,0.0100544592417,1.04002915254,0.592155560118,0.0187271947919,1.03969844791
+236,3.933333333,pose1_to_pose2_press,0.621585013372,0.0100544906443,1.04002919059,0.592155740954,0.018727224182,1.03969848256
+237,3.950000000,pose1_to_pose2_press,0.621585109996,0.0100545073707,1.04002921085,0.592155837275,0.0187272398364,1.03969850101
+238,3.966666667,pose1_to_pose2_press,0.621585143333,0.0100545131415,1.04002921785,0.592155870508,0.0187272452374,1.03969850738
+239,3.983333333,pose1_to_pose2_press,0.621585145281,0.0100545134789,1.04002921825,0.59215587245,0.0187272455532,1.03969850775
+240,4.000000000,pose1_to_pose2_press,0.621585194255,0.0100545219567,1.04002922853,0.592155921271,0.0187272534876,1.03969851711
+241,4.016666667,pose1_to_pose2_press,0.621585345039,0.0100545480586,1.04002926015,0.592156071583,0.0187272779168,1.03969854591
+242,4.033333333,pose1_to_pose2_press,0.621585541972,0.0100545821494,1.04002930146,0.5921562679,0.0187273098229,1.03969858352
+243,4.050000000,pose1_to_pose2_press,0.621585734666,0.0100545830165,1.04002930412,0.592156460531,0.0187273104315,1.03969858419
+244,4.066666667,pose1_to_pose2_press,0.621585881912,0.0100545085764,1.0400292189,0.592156608977,0.0187272401381,1.03969850119
+245,4.083333333,pose1_to_pose2_press,0.621585877312,0.0100545582909,1.04002928536,0.592156603816,0.0187272879691,1.03969857009
+246,4.100000000,pose1_to_pose2_press,0.621585864195,0.0100545787753,1.0400293116,0.592156590448,0.0187273075551,1.03969859685
+247,4.116666667,pose2_hold,0.621585864195,0.0100545787753,1.0400293116,0.592156590454,0.0187273075512,1.03969859685
+248,4.133333333,pose2_hold,0.621585864195,0.0100545787753,1.0400293116,0.592156590454,0.0187273075513,1.03969859685
+249,4.150000000,pose2_hold,0.621585864195,0.0100545787753,1.0400293116,0.592156590454,0.0187273075514,1.03969859685
+250,4.166666667,pose2_hold,0.621585864195,0.0100545787753,1.0400293116,0.592156590453,0.0187273075537,1.03969859685
+251,4.183333333,pose2_hold,0.621585864195,0.0100545787753,1.0400293116,0.592156590453,0.0187273075534,1.03969859685
+252,4.200000000,pose2_hold,0.621585864195,0.0100545787753,1.0400293116,0.592156590453,0.0187273075532,1.03969859685
+253,4.216666667,pose2_hold,0.621585864195,0.0100545787753,1.0400293116,0.592156590453,0.018727307553,1.03969859685
+254,4.233333333,pose2_hold,0.621585864195,0.0100545787753,1.0400293116,0.592156590454,0.0187273075528,1.03969859685
+255,4.250000000,pose2_hold,0.621585864195,0.0100545787753,1.0400293116,0.592156590454,0.0187273075529,1.03969859685
+256,4.266666667,pose2_hold,0.621585864195,0.0100545787753,1.0400293116,0.592156590455,0.0187273075528,1.03969859685
+257,4.283333333,pose2_hold,0.621585864195,0.0100545787753,1.0400293116,0.592156590455,0.0187273075527,1.03969859685
+258,4.300000000,pose2_hold,0.621585864195,0.0100545787753,1.0400293116,0.592156590455,0.018727307553,1.03969859685
+259,4.316666667,pose2_hold,0.621585864195,0.0100545787753,1.0400293116,0.592156590455,0.0187273075528,1.03969859685
+260,4.333333333,pose2_hold,0.621585864195,0.0100545787753,1.0400293116,0.592156590456,0.0187273075526,1.03969859685
+261,4.350000000,pose2_hold,0.621585864195,0.0100545787753,1.0400293116,0.592156590456,0.0187273075524,1.03969859685
+262,4.366666667,pose2_hold,0.621585864195,0.0100545787753,1.0400293116,0.592156590456,0.018727307551,1.03969859685
+263,4.383333333,pose2_hold,0.621585864195,0.0100545787753,1.0400293116,0.592156590457,0.0187273075509,1.03969859685
+264,4.400000000,pose2_hold,0.621585864195,0.0100545787753,1.0400293116,0.592156590457,0.0187273075508,1.03969859685
+265,4.416666667,pose2_to_pose3_retreat,0.621585864195,0.0100545787753,1.0400293116,0.592156590458,0.01872730755,1.03969859685
+266,4.433333333,pose2_to_pose3_retreat,0.621585899373,0.0100545774645,1.04002916835,0.59215662612,0.018727307859,1.03969845311
+267,4.450000000,pose2_to_pose3_retreat,0.621585910168,0.0100545770622,1.04002912439,0.592156637064,0.0187273079538,1.039698409
+268,4.466666667,pose2_to_pose3_retreat,0.6215858632,0.0100545766106,1.04002907028,0.592156589802,0.0187273065399,1.03969835566
+269,4.483333333,pose2_to_pose3_retreat,0.621585699876,0.0100545766499,1.04002906149,0.592156425201,0.0187273023555,1.03969834948
+270,4.500000000,pose2_to_pose3_retreat,0.621585587239,0.010054576677,1.04002905543,0.592156311681,0.0187272994696,1.03969834522
+271,4.516666667,pose2_to_pose3_retreat,0.621584395133,0.0100545461447,1.04002929086,0.592155121208,0.0187272744719,1.03969858182
+272,4.533333333,pose2_to_pose3_retreat,0.621580055677,0.0100544848388,1.04002916344,0.592150782466,0.0187272152076,1.0396984444
+273,4.550000000,pose2_to_pose3_retreat,0.621569742517,0.010054454595,1.04002930331,0.592140469777,0.0187271866172,1.03969858658
+274,4.566666667,pose2_to_pose3_retreat,0.621549980398,0.0100545020188,1.04002914497,0.592120706837,0.0187272313002,1.03969842972
+275,4.583333333,pose2_to_pose3_retreat,0.621519151388,0.0100545606634,1.04002918438,0.592089879827,0.0187272962992,1.03969846718
+276,4.600000000,pose2_to_pose3_retreat,0.62147646775,0.0100546059259,1.04002914661,0.592047193961,0.0187273344776,1.03969844133
+277,4.616666667,pose2_to_pose3_retreat,0.621422672114,0.0100546490514,1.04002911202,0.591993397784,0.0187273754262,1.03969840473
+278,4.633333333,pose2_to_pose3_retreat,0.621358006019,0.0100545007035,1.04002911945,0.591928732153,0.0187272288023,1.03969840839
+279,4.650000000,pose2_to_pose3_retreat,0.621284439329,0.0100545452149,1.04002918039,0.591855166508,0.0187272767568,1.03969846827
+280,4.666666667,pose2_to_pose3_retreat,0.621201685044,0.0100545705023,1.04002931471,0.591772412416,0.0187273022471,1.03969860136
+281,4.683333333,pose2_to_pose3_retreat,0.621107103561,0.010054522602,1.04002930332,0.591677830703,0.0187272534182,1.0396985917
+282,4.700000000,pose2_to_pose3_retreat,0.620999534796,0.0100544981567,1.04002921776,0.591570261758,0.0187272281848,1.0396985075
+283,4.716666667,pose2_to_pose3_retreat,0.620873233417,0.0100545282056,1.0400291691,0.591443959787,0.0187272559753,1.03969845852
+284,4.733333333,pose2_to_pose3_retreat,0.620728371739,0.010054605548,1.04002900826,0.591299097462,0.0187273308451,1.03969829832
+285,4.750000000,pose2_to_pose3_retreat,0.620563936654,0.0100545656396,1.04002920583,0.591134664019,0.0187272962011,1.03969849641
+286,4.766666667,pose2_to_pose3_retreat,0.620382262058,0.0100545984193,1.04002921856,0.590952988849,0.0187273267504,1.03969851087
+287,4.783333333,pose2_to_pose3_retreat,0.620183315745,0.0100545267433,1.04002906872,0.590754043465,0.0187272576852,1.03969835801
+288,4.800000000,pose2_to_pose3_retreat,0.619965448765,0.0100545815128,1.04002913837,0.590536176234,0.0187273115006,1.0396984356
+289,4.816666667,pose2_to_pose3_retreat,0.61972666574,0.010054458831,1.04002919653,0.590297395376,0.0187271951125,1.03969847926
+290,4.833333333,pose2_to_pose3_retreat,0.619461249622,0.0100544579199,1.04002904569,0.590031979185,0.0187271937689,1.03969833741
+291,4.850000000,pose2_to_pose3_retreat,0.619167893795,0.0100545105282,1.04002863691,0.589738621825,0.0187272410973,1.03969794198
+292,4.866666667,pose2_to_pose3_retreat,0.618844052896,0.010054377846,1.04002910487,0.589414781882,0.0187271107544,1.03969840216
+293,4.883333333,pose2_to_pose3_retreat,0.618492278366,0.0100545988275,1.04002902476,0.589063006314,0.0187273275391,1.03969832205
+294,4.900000000,pose2_to_pose3_retreat,0.618112989415,0.010054609913,1.04002926127,0.58868371619,0.0187273336969,1.03969855231
+295,4.916666667,pose2_to_pose3_retreat,0.617708041089,0.0100546473377,1.04002923361,0.58827876883,0.0187273731639,1.03969851331
+296,4.933333333,pose2_to_pose3_retreat,0.617280270364,0.0100545609067,1.04002907808,0.587850999784,0.0187272919001,1.03969836506
+297,4.950000000,pose2_to_pose3_retreat,0.616832746583,0.0100546244517,1.04002893797,0.587403475372,0.01872735277,1.03969823035
+298,4.966666667,pose2_to_pose3_retreat,0.616368453019,0.0100546209065,1.04002891425,0.586939180812,0.0187273450684,1.03969820753
+299,4.983333333,pose2_to_pose3_retreat,0.615886143469,0.0100544701744,1.04002891685,0.586456874939,0.0187272059801,1.03969820944
+300,5.000000000,pose2_to_pose3_retreat,0.615380723518,0.0100545512968,1.04002909119,0.585951453886,0.0187272824943,1.03969838088
+301,5.016666667,pose2_to_pose3_retreat,0.614848813463,0.0100545488201,1.04002919105,0.585419543307,0.0187272774262,1.0396984784
+302,5.033333333,pose2_to_pose3_retreat,0.614276004416,0.0100545560253,1.04002924409,0.584846734676,0.0187272854321,1.03969853343
+303,5.050000000,pose2_to_pose3_retreat,0.613662988527,0.0100545924558,1.04002909966,0.584233717922,0.0187273188044,1.03969838904
+304,5.066666667,pose2_to_pose3_retreat,0.613007398874,0.0100545523111,1.04002907603,0.583578128717,0.0187272802421,1.03969836371
+305,5.083333333,pose2_to_pose3_retreat,0.612324873551,0.0100545860127,1.0400291738,0.582895603665,0.0187273149337,1.03969846237
+306,5.100000000,pose2_to_pose3_retreat,0.611621673714,0.0100546136774,1.0400291182,0.582192403885,0.0187273427421,1.03969840359
+307,5.116666667,pose2_to_pose3_retreat,0.610896552875,0.0100546862991,1.04002906258,0.581467282045,0.0187274120932,1.03969835114
+308,5.133333333,pose2_to_pose3_retreat,0.610151234426,0.0100545860218,1.04002905283,0.580721964994,0.0187273166576,1.03969834398
+309,5.150000000,pose2_to_pose3_retreat,0.609391234647,0.0100543808583,1.04002912213,0.579961967176,0.0187271180677,1.03969841148
+310,5.166666667,pose2_to_pose3_retreat,0.608613111226,0.0100544277634,1.04002920469,0.57918384306,0.01872716225,1.03969848554
+311,5.183333333,pose2_to_pose3_retreat,0.607814258177,0.0100544873821,1.04002893803,0.578384989204,0.018727219571,1.03969823111
+312,5.200000000,pose2_to_pose3_retreat,0.607003185749,0.0100545139415,1.04002890085,0.577573915965,0.0187272437168,1.03969820318
+313,5.216666667,pose2_to_pose3_retreat,0.606178370936,0.0100545036627,1.04002905214,0.576749100661,0.0187272313017,1.03969834208
+314,5.233333333,pose2_to_pose3_retreat,0.605334902283,0.0100545454684,1.04002898805,0.575905630842,0.0187272690726,1.03969827575
+315,5.250000000,pose2_to_pose3_retreat,0.604474045077,0.0100546812335,1.04002904969,0.575044772732,0.0187274020429,1.03969834456
+316,5.266666667,pose2_to_pose3_retreat,0.603598836728,0.0100545473978,1.0400291815,0.574169566261,0.018727274306,1.03969846914
+317,5.283333333,pose2_to_pose3_retreat,0.602713323056,0.0100545553652,1.04002935152,0.573284054183,0.0187272874947,1.03969863403
+318,5.300000000,pose2_to_pose3_retreat,0.601816404657,0.0100545421502,1.04002936,0.572387136241,0.018727275967,1.03969864506
+319,5.316666667,pose2_to_pose3_retreat,0.600929222444,0.0100544743739,1.0400291389,0.571499953797,0.018727207658,1.03969843084
+320,5.333333333,pose2_to_pose3_retreat,0.600052396137,0.0100544348418,1.04002904603,0.570623127121,0.0187271668008,1.03969833647
+321,5.350000000,pose2_to_pose3_retreat,0.59917477557,0.0100544194425,1.04002887891,0.569745507233,0.0187271539235,1.03969817496
+322,5.366666667,pose2_to_pose3_retreat,0.598296424782,0.0100544549452,1.04002898902,0.568867156727,0.0187271902584,1.03969828173
+323,5.383333333,pose2_to_pose3_retreat,0.597414048617,0.0100545846182,1.04002911595,0.567984778537,0.0187273128658,1.03969840357
+324,5.400000000,pose2_to_pose3_retreat,0.596521878555,0.0100546235374,1.04002910798,0.567092607628,0.0187273490168,1.03969839817
+325,5.416666667,pose2_to_pose3_retreat,0.595623018284,0.0100545417518,1.04002917096,0.566193748235,0.018727270211,1.03969846011
+326,5.433333333,pose2_to_pose3_retreat,0.594719881744,0.0100545393629,1.04002926375,0.565290612137,0.0187272691645,1.03969854832
+327,5.450000000,pose2_to_pose3_retreat,0.593821794231,0.0100545590853,1.04002917582,0.564392524815,0.0187272895882,1.03969846324
+328,5.466666667,pose2_to_pose3_retreat,0.592952312998,0.0100546365049,1.04002919503,0.563523043119,0.0187273654504,1.03969848315
+329,5.483333333,pose2_to_pose3_retreat,0.59210297525,0.0100545713091,1.0400292874,0.562673706705,0.018727304843,1.03969857656
+330,5.500000000,pose2_to_pose3_retreat,0.591270702085,0.0100544597974,1.04002924757,0.561841434542,0.0187271965871,1.03969853274
+331,5.516666667,pose2_to_pose3_retreat,0.590456861074,0.0100545599348,1.04002926505,0.561027592472,0.0187272930297,1.03969854808
+332,5.533333333,pose2_to_pose3_retreat,0.589656422135,0.0100546375772,1.04002922071,0.56022715232,0.0187273669506,1.03969851364
+333,5.550000000,pose2_to_pose3_retreat,0.588862224476,0.0100545988382,1.04002923991,0.559432954229,0.0187273266463,1.03969852908
+334,5.566666667,pose2_to_pose3_retreat,0.588078593167,0.0100546108545,1.04002927509,0.558649322694,0.0187273376476,1.03969855774
+335,5.583333333,pose2_to_pose3_retreat,0.587315644027,0.0100546054436,1.04002906061,0.557886373626,0.0187273327487,1.0396983502
+336,5.600000000,pose2_to_pose3_retreat,0.586573379215,0.0100546111893,1.04002898151,0.557144108207,0.0187273364581,1.03969827184
+337,5.616666667,pose2_to_pose3_retreat,0.585849857445,0.0100546514898,1.04002908604,0.556420585826,0.0187273748579,1.03969838077
+338,5.633333333,pose2_to_pose3_retreat,0.585154026709,0.010054592371,1.04002914011,0.555724756784,0.0187273216101,1.03969843815
+339,5.650000000,pose2_to_pose3_retreat,0.584484425709,0.0100545761983,1.04002909863,0.555055155654,0.0187273048909,1.03969839384
+340,5.666666667,pose2_to_pose3_retreat,0.583840210766,0.0100545602447,1.0400290711,0.554410939881,0.0187272862252,1.03969836905
+341,5.683333333,pose2_to_pose3_retreat,0.583227148861,0.0100545184535,1.04002913381,0.553797878814,0.0187272472606,1.03969843131
+342,5.700000000,pose2_to_pose3_retreat,0.582649738939,0.0100545944059,1.04002910231,0.553220468246,0.0187273209312,1.0396983974
+343,5.716666667,pose2_to_pose3_retreat,0.58208791406,0.0100545755246,1.04002894831,0.552658642988,0.0187273007159,1.03969824213
+344,5.733333333,pose2_to_pose3_retreat,0.581536754599,0.0100545562611,1.04002891192,0.552107484697,0.0187272854647,1.03969820693
+345,5.750000000,pose2_to_pose3_retreat,0.581003390527,0.0100546562864,1.04002919558,0.551574120861,0.0187273862392,1.0396984895
+346,5.766666667,pose2_to_pose3_retreat,0.580491877386,0.010054546133,1.04002922048,0.551062610226,0.0187272845875,1.03969851473
+347,5.783333333,pose2_to_pose3_retreat,0.58001536858,0.0100544332152,1.04002905447,0.550586101315,0.0187271712299,1.03969834648
+348,5.800000000,pose2_to_pose3_retreat,0.579580093014,0.0100544930028,1.0400290374,0.550150823539,0.0187272233796,1.03969832598
+349,5.816666667,pose2_to_pose3_retreat,0.579190713245,0.0100544473832,1.04002914759,0.549761444781,0.0187271810097,1.0396984314
+350,5.833333333,pose2_to_pose3_retreat,0.578829656518,0.0100544565525,1.04002901201,0.549400387715,0.018727189245,1.03969830147
+351,5.850000000,pose2_to_pose3_retreat,0.578492456938,0.0100545553481,1.04002906598,0.549063187772,0.0187272867597,1.03969835406
+352,5.866666667,pose2_to_pose3_retreat,0.578169557464,0.0100545047873,1.04002939646,0.548740289469,0.0187272399147,1.03969867741
+353,5.883333333,pose2_to_pose3_retreat,0.577860607197,0.0100545672676,1.04002923685,0.548431337231,0.0187272956619,1.03969851683
+354,5.900000000,pose2_to_pose3_retreat,0.577568598691,0.0100545900338,1.04002927566,0.548139329828,0.0187273226657,1.03969856869
+355,5.916666667,pose2_to_pose3_retreat,0.577299410783,0.0100545680803,1.04002921704,0.54787014233,0.0187273019035,1.03969850486
+356,5.933333333,pose2_to_pose3_retreat,0.577055742305,0.0100544698905,1.04002907422,0.547626474491,0.0187272057247,1.03969835793
+357,5.950000000,pose2_to_pose3_retreat,0.576841954585,0.0100544644315,1.04002911832,0.547412686153,0.0187271982624,1.0396984044
+358,5.966666667,pose2_to_pose3_retreat,0.576656057151,0.0100544709252,1.04002916744,0.547226788888,0.0187272054745,1.03969845734
+359,5.983333333,pose2_to_pose3_retreat,0.576496729629,0.0100545036943,1.04002921979,0.547067461243,0.0187272378521,1.03969851036
+360,6.000000000,pose2_to_pose3_retreat,0.576359497728,0.0100545125148,1.04002923707,0.546930229788,0.0187272482113,1.03969852827
+361,6.016666667,pose2_to_pose3_retreat,0.576243116093,0.0100545137073,1.04002919327,0.54681384803,0.0187272490703,1.03969848675
+362,6.033333333,pose2_to_pose3_retreat,0.576140632323,0.0100545102799,1.04002921709,0.546711362961,0.0187272408445,1.03969850073
+363,6.050000000,pose2_to_pose3_retreat,0.576051222764,0.0100544410225,1.04002903326,0.546621954118,0.0187271741527,1.03969832098
+364,6.066666667,pose2_to_pose3_retreat,0.575974524198,0.0100546069703,1.04002926003,0.546545255178,0.0187273388142,1.039698547
+365,6.083333333,pose2_to_pose3_retreat,0.575909800327,0.0100546046341,1.04002911929,0.546480530737,0.0187273345408,1.03969840612
+366,6.100000000,pose2_to_pose3_retreat,0.575857745482,0.0100545070807,1.04002924666,0.546428477122,0.0187272412918,1.03969853672
+367,6.116666667,pose2_to_pose3_retreat,0.57581684949,0.0100544294189,1.04002906243,0.546387581893,0.0187271660996,1.03969834945
+368,6.133333333,pose2_to_pose3_retreat,0.575787200733,0.0100546008833,1.040029103,0.546357929954,0.018727326531,1.03969838383
+369,6.150000000,pose2_to_pose3_retreat,0.57576429775,0.010054536716,1.04002942363,0.546335028124,0.0187272661704,1.03969870172
+370,6.166666667,pose2_to_pose3_retreat,0.575747363815,0.0100544754705,1.04002945707,0.546318095828,0.0187272105487,1.03969873681
+371,6.183333333,pose2_to_pose3_retreat,0.57573483737,0.0100545219457,1.04002928535,0.546305568825,0.0187272554458,1.03969857338
+372,6.200000000,pose2_to_pose3_retreat,0.57572586882,0.0100545820647,1.04002907816,0.546296599437,0.0187273129171,1.03969837142
+373,6.216666667,pose2_to_pose3_retreat,0.575720112266,0.01005460288,1.04002893428,0.54629084282,0.0187273334746,1.03969822646
+374,6.233333333,pose2_to_pose3_retreat,0.575716759389,0.0100545698424,1.04002897954,0.546287490631,0.0187273028734,1.03969827448
+375,6.250000000,pose2_to_pose3_retreat,0.575715277518,0.0100545541561,1.04002900265,0.546286009081,0.0187272883261,1.03969829888
+376,6.266666667,pose2_to_pose3_retreat,0.575714539635,0.0100545463453,1.04002901416,0.546285271359,0.0187272810824,1.03969831104
+377,6.283333333,pose2_to_pose3_retreat,0.575714172363,0.0100545323391,1.0400290134,0.546284904188,0.0187272673899,1.03969830939
+378,6.300000000,pose2_to_pose3_retreat,0.575713739059,0.0100545048637,1.04002900548,0.546284471029,0.0187272403188,1.03969829912
+379,6.316666667,pose2_to_pose3_retreat,0.575713391916,0.0100544828518,1.04002899913,0.546284124003,0.0187272186307,1.03969829089
+380,6.333333333,pose2_to_pose3_retreat,0.57571320936,0.0100544712761,1.04002899579,0.546283941508,0.0187272072254,1.03969828656
+381,6.350000000,pose2_to_pose3_retreat,0.575713118214,0.0100544654966,1.04002899413,0.546283850392,0.0187272015309,1.0396982844
+382,6.366666667,pose2_to_pose3_retreat,0.575712848963,0.0100544484237,1.04002898921,0.546283581231,0.0187271847092,1.03969827802
+383,6.383333333,pose2_to_pose3_retreat,0.575712701153,0.0100544390513,1.0400289865,0.546283433471,0.0187271754746,1.03969827452
+384,6.400000000,pose2_to_pose3_retreat,0.575712661692,0.0100544365491,1.04002898578,0.546283394023,0.0187271730093,1.03969827358
+385,6.416666667,pose2_to_pose3_retreat,0.575712319719,0.0100544148649,1.04002897953,0.546283052164,0.0187271516441,1.03969826548
+386,6.433333333,pose2_to_pose3_retreat,0.575711809987,0.0100543825434,1.04002897021,0.546282542603,0.0187271197981,1.03969825339
+387,6.450000000,pose2_to_pose3_retreat,0.575711176348,0.0100543955511,1.04002897685,0.546281908746,0.0187271321144,1.03969826123
+388,6.466666667,pose2_to_pose3_retreat,0.575710851353,0.010054427843,1.04002898903,0.546281583433,0.0187271634337,1.03969827626
+389,6.483333333,pose2_to_pose3_retreat,0.575710803601,0.0100544325876,1.04002899082,0.546281535634,0.0187271680354,1.03969827847
+390,6.500000000,pose2_to_pose3_retreat,0.575710440912,0.0100544686247,1.04002900441,0.54628117259,0.0187272029871,1.03969829524
+391,6.516666667,pose2_to_pose3_retreat,0.575709930929,0.010054519297,1.04002902352,0.546280662107,0.0187272521334,1.03969831882
+392,6.533333333,pose2_to_pose3_retreat,0.575709602185,0.0100545236437,1.04002904543,0.546280333523,0.0187272568651,1.03969833658
+393,6.550000000,pose2_to_pose3_retreat,0.575709484119,0.0100545226488,1.04002905416,0.546280215558,0.018727256132,1.03969834318
+394,6.566666667,pose2_to_pose3_retreat,0.575709441027,0.0100545222856,1.04002905734,0.546280172503,0.0187272558644,1.0396983456
+395,6.583333333,pose2_to_pose3_retreat,0.575709429728,0.0100545221904,1.04002905818,0.546280161214,0.0187272557943,1.03969834623
+396,6.600000000,pose2_to_pose3_retreat,0.575709411378,0.0100545220358,1.04002905954,0.54628014288,0.0187272556803,1.03969834725
+397,6.616666667,pose2_to_pose3_retreat,0.575709386869,0.010054520353,1.04002906097,0.54628011838,0.0187272540135,1.03969834833
+398,6.633333333,pose2_to_pose3_retreat,0.575709383047,0.0100545163594,1.04002906024,0.546280114527,0.0187272499253,1.03969834776
+399,6.650000000,pose2_to_pose3_retreat,0.575709364228,0.0100544966983,1.04002905663,0.546280095563,0.0187272297987,1.03969834493
+400,6.666666667,pose2_to_pose3_retreat,0.57570934594,0.0100544775921,1.04002905312,0.546280077133,0.01872721024,1.03969834218
+401,6.683333333,pose2_to_pose3_retreat,0.575709278496,0.0100544737236,1.04002896713,0.546280009194,0.0187272048412,1.03969826011
+402,6.700000000,pose2_to_pose3_retreat,0.575709239891,0.0100544842428,1.04002890393,0.546279970311,0.0187272145109,1.03969819938
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_11/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_11/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..cb4693392d439a7b97a535d7bb22505b03f3f0d2
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_11/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37525f7ec2c86a09056dff24503c0bc024d9e2e94d5ebdeee1de635f0705b74d
+size 24950979
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_11/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_11/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..846a9e924d1c022deb4ef721165a9e3f9ae20267
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_11/depth_01/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,764,742,711,673,662,632,877,784,800,650,629,651,0.401003634946,0.00447879430913,0.0698398770065,0.999999983383,3.94878105835e-05,-0.000176019117309,2.6292860838e-05,1793193618876423168
+1,0.016666667,BASELINE,763.42622515,742,711,672.42622515,661.42622515,632,877.57377485,784,800,650,629,651,0.401003222808,0.00447831750599,0.0698399712097,0.999999983295,3.82777130228e-05,-0.000176777234446,2.63737911301e-05,1793193618893089792
+2,0.033333333,BASELINE,763,742.151633192,711,672,661,632,877.848366808,784,799.848366808,650,629,651,0.401002776692,0.0044780715576,0.0698400606217,0.999999983202,3.75689840144e-05,-0.00017744304985,2.6440573638e-05,1793193618909755904
+3,0.050000000,BASELINE,763,742.741287609,711,672,661,632,877.258712391,784,799.258712391,650,629,651,0.401002232422,0.00447849247685,0.0698401361937,0.999999983102,3.83085528507e-05,-0.000177842234379,2.64664876084e-05,1793193618926422016
+4,0.066666667,BASELINE,763.324988031,742.675011969,711,672,661,632,877,784,799.324988031,650,629,651,0.401002251837,0.00447878644997,0.0698402525505,0.999999983134,3.97593723774e-05,-0.000177332413301,2.65414407446e-05,1793193618943088384
+5,0.083333333,BASELINE,763.904033912,742.095966088,711,672,661,632,877,784,799.904033912,650,629,651,0.40100271191,0.00447898118353,0.0698404007908,0.999999983265,4.17662087081e-05,-0.000176111981385,2.66547300143e-05,1793193618959755008
+6,0.100000000,BASELINE,764,742.483062004,711.483062004,672.483062004,661,632.483062004,877,784,799.516937996,650,629,651,0.401001932626,0.00447900849334,0.0698400777015,0.999999983071,4.17605943755e-05,-0.000177225577574,2.65401726671e-05,1793193618976421632
+7,0.116666667,BASELINE,763.938586372,743,711.938586372,672.938586372,661,632.938586372,877,784,799,650,629,651,0.401001261134,0.0044788881642,0.0698398198573,0.999999982894,4.12570061227e-05,-0.000178359720202,2.64131078724e-05,1793193618993088256
+8,0.133333333,BASELINE,763.365837628,743,711.365837628,672.365837628,661,632.365837628,877,784,799,650,629,651,0.401003537035,0.0044778155021,0.0698408848362,0.999999983396,3.99358706451e-05,-0.000175804413759,2.65587670161e-05,1793193619009754880
+9,0.150000000,BASELINE,763,742.786960756,711,672,661,632,877,784,799.213039244,650,629,651,0.401005219631,0.00447790903296,0.0698419596707,0.999999983754,4.01132768683e-05,-0.000173724893026,2.65064199233e-05,1793193619026421760
+10,0.166666667,BASELINE,763,742.19724886,711,672,661,632,877,784,799.80275114,650,629,651,0.401005853211,0.00448006449855,0.0698430519308,0.999999983862,4.29402404863e-05,-0.000172486604731,2.61039798815e-05,1793193619043088640
+11,0.183333333,BASELINE,763,742,711.385830365,672,661.385830365,632,877,784,799.614169635,649.614169635,629,651,0.401005110492,0.00447976388899,0.0698422748365,0.999999983624,4.20755844655e-05,-0.000174069762669,2.61098585653e-05,1793193619059755264
+12,0.200000000,BASELINE,763,742,711.965576113,672,661.965576113,632,877,784,799.034423887,649.034423887,629,651,0.401003676055,0.0044782288751,0.069840558219,0.999999983202,3.93555489746e-05,-0.000177070957735,2.63209550729e-05,1793193619076421632
+13,0.216666667,BASELINE,763.541651462,742,711.458348538,672.541651462,661.458348538,632,877,784,799.541651462,649.541651462,629,651,0.401001763171,0.00447831663625,0.0698395640736,0.999999982936,3.847500885e-05,-0.000178779763608,2.6189825727e-05,1793193619093088256
+14,0.233333333,BASELINE,763.880357708,742,711.119642292,672.880357708,661,632.119642292,877,784,800,649.880357708,629,651,0.401000742862,0.00447857633716,0.0698392185777,0.999999982869,3.8152129864e-05,-0.000179238854728,2.60744003206e-05,1793193619109754880
+15,0.250000000,BASELINE,763.293990561,742,711.706009439,672.293990561,661,632.706009439,877,784,800,649.293990561,629,651,0.401003322313,0.00447910716075,0.0698412255528,0.99999998354,3.9551705036e-05,-0.000175141062139,2.61045104429e-05,1793193619126421504
+16,0.266666667,BASELINE,763.288816224,742,711.711183776,672.288816224,661,632.711183776,877,784,799.711183776,649.288816224,629,651,0.401003412261,0.00448022487567,0.0698416844005,0.999999983583,4.11672699028e-05,-0.000174508962813,2.6177297852e-05,1793193619143088384
+17,0.283333333,BASELINE,763.868042958,742,711.131957042,672.868042958,661,632.131957042,877,784,799.131957042,649.868042958,629,651,0.401000998962,0.00448193272155,0.069840586575,0.999999983001,4.30000166597e-05,-0.000177361687882,2.62929981279e-05,1793193619159755520
+18,0.300000000,BASELINE,763.554823026,742.445176974,711,672.554823026,661,632,877,784,799.445176974,649.554823026,629,651,0.401000848919,0.00448199389121,0.0698405552847,0.999999982884,4.42465264158e-05,-0.000177724902804,2.62322473356e-05,1793193619176422144
+19,0.316666667,BASELINE,763.021715033,743,711.021715033,672.021715033,661,632,877,784,800,649.021715033,629,651,0.401001358585,0.00448154627188,0.0698408489127,0.999999982909,4.52333151764e-05,-0.000177348903127,2.6134414708e-05,1793193619193089280
+20,0.333333333,BASELINE,763.598801988,743,711.598801988,672.598801988,661,632,877,784,800,649.598801988,629,651,0.401001663291,0.00448051109337,0.0698414049613,0.999999983045,4.4001056868e-05,-0.000176851685141,2.64196040479e-05,1793193619209755904
+21,0.350000000,BASELINE,764,743,711.820942801,672.820942801,661,632,877,784,799.820942801,650,629,651,0.401002310968,0.00448017956563,0.0698418685954,0.999999983188,4.27982303143e-05,-0.000176333153699,2.64539726668e-05,1793193619226422528
+22,0.366666667,BASELINE,764,743,711.233460965,672.233460965,661,632,877,784,799.233460965,650,629,651,0.401003740952,0.00448145304644,0.0698421214343,0.999999983349,4.16625369681e-05,-0.000175766006908,2.59162259526e-05,1793193619243089152
+23,0.383333333,BASELINE,764,743,711,672,661,632,877.34861354,784,799.34861354,650,629,651,0.401003767924,0.00448087917366,0.0698421653211,0.999999983381,3.98230538225e-05,-0.000176022497781,2.58336725774e-05,1793193619259755520
+24,0.400000000,BASELINE,764,743,711,672,661,632,877.92712221,784,799.92712221,650,629,651,0.401002869671,0.00447908705344,0.0698420714132,0.999999983324,3.75194524842e-05,-0.000176822141014,2.60512989157e-05,1793193619276421888
+25,0.416666667,BASELINE,764,743,711,672,661,632,877.496288489,784,799.496288489,650,629,651,0.401001995347,0.00447772956151,0.0698415153717,0.999999983214,3.74224772189e-05,-0.000177368771256,2.66705945569e-05,1793193619293088768
+26,0.433333333,BASELINE,763.920265383,742.920265383,711.079734617,672.079734617,661,632,877.079734617,784,799.079734617,650,629,651,0.401001278273,0.00447690033948,0.0698409778984,0.999999983099,3.78517456977e-05,-0.000177852286033,2.71690739881e-05,1793193619309755648
+27,0.450000000,BASELINE,763.346037752,742.346037752,711.653962248,672.653962248,661,632,877.653962248,784,799.653962248,650,629,651,0.401001515028,0.00447895880544,0.0698409686687,0.999999982992,3.95721997509e-05,-0.000178170536591,2.65592429756e-05,1793193619326422272
+28,0.466666667,BASELINE,763,742.235540208,712,672.764459792,661.235540208,632,877.764459792,784,800,650,629,651,0.40100201707,0.00448067042796,0.0698410591888,0.999999982975,4.17600746638e-05,-0.000177816943648,2.62149759677e-05,1793193619343088896
+29,0.483333333,BASELINE,763,742.828264515,712,672.171735485,661.828264515,632,877.171735485,784,800,650,629,651,0.401002921405,0.00448185608087,0.0698413009744,0.999999983091,4.46567681474e-05,-0.000176444536037,2.62734225719e-05,1793193619359755776
+30,0.500000000,BASELINE,763,742.589237396,711.589237396,672,661.589237396,632.410762604,877,784.410762604,800,650,629,651,0.401002648458,0.00448171498591,0.0698413491095,0.999999983065,4.38032254713e-05,-0.000176830152004,2.6133863004e-05,1793193619376422144
+31,0.516666667,BASELINE,763,742.010910938,711.010910938,672,661.010910938,632.989089062,877,784.989089062,800,650,629,651,0.401001895257,0.00448103266593,0.0698413182482,0.999999982976,4.14198355192e-05,-0.000177932924828,2.59135300711e-05,1793193619393088768
+32,0.533333333,BASELINE,763.563866362,742,711.563866362,672,661.563866362,633,877,784.436133638,799.436133638,650,629,651,0.40100157376,0.0044791283082,0.0698413092926,0.999999983011,4.08732884183e-05,-0.00017782906254,2.61423219001e-05,1793193619409755136
+33,0.550000000,BASELINE,764,742.13831818,711.86168182,672.13831818,661.86168182,633,877,784,799.13831818,650,629,651,0.401001372459,0.00447823586221,0.0698414040264,0.999999983053,4.083790709e-05,-0.000177583108843,2.62629381722e-05,1793193619426421760
+34,0.566666667,BASELINE,764,742.7119603,711.2880397,672.7119603,661.2880397,633,877,784,799.7119603,650,629,651,0.401001523318,0.0044806021277,0.0698418237723,0.999999983109,4.23001353947e-05,-0.000176962980639,2.60159165412e-05,1793193619443088640
+35,0.583333333,BASELINE,764,742.704502643,711.295497357,672.704502643,661,633,877.295497357,784,799.704502643,650,629,651,0.401001202873,0.00448128730657,0.0698416032845,0.999999983062,4.23027238514e-05,-0.000177241235647,2.59211435957e-05,1793193619459755520
+36,0.600000000,BASELINE,764,742.110986136,711.889013864,672.110986136,661,633,877.889013864,784,799.110986136,650,629,651,0.401000407102,0.00448027705259,0.0698407370993,0.999999982911,4.08332159816e-05,-0.000178425540645,2.59799186052e-05,1793193619476422400
+37,0.616666667,BASELINE,763.531293193,742.468706807,712,672.468706807,661.468706807,632.531293193,877.531293193,784,799.468706807,650,629,651,0.401000368181,0.00448061922098,0.0698409070372,0.999999982894,4.08982087884e-05,-0.000178486323467,2.612823437e-05,1793193619493089024
+38,0.633333333,BASELINE,763,743,711.954867071,673,661.954867071,632.045132929,877.045132929,784,800,649.954867071,629,651,0.401000621464,0.00448125235506,0.069841307175,0.999999982923,4.13645619705e-05,-0.000178193511766,2.62724226062e-05,1793193619509755648
+39,0.650000000,BASELINE,763,743,711.379465998,673,661.379465998,632.620534002,877.620534002,784,800,649.379465998,629,651,0.401002262573,0.00448164929776,0.0698416119414,0.999999983134,4.23997097436e-05,-0.000176782488834,2.61261435412e-05,1793193619526422272
+40,0.666666667,BASELINE,763.201081478,742.798918522,711,672.798918522,661,633,877.798918522,784,800,649,629,651,0.40100292589,0.00448163306865,0.0698418659793,0.999999983271,4.23825383629e-05,-0.000176027037011,2.60064815521e-05,1793193619543088640
+41,0.683333333,BASELINE,763.791595919,742.208404081,711,672.208404081,661,633,877.208404081,784,800,649,629,651,0.401001695525,0.00448081665283,0.0698420217716,0.999999983267,4.03273484454e-05,-0.000176541224842,2.59383686592e-05,1793193619559755008
+42,0.700000000,BASELINE,763.626744654,742,711.373255346,672,661,632.626744654,877,784,800,649.373255346,629,651,0.401001950016,0.00448052066652,0.0698422246276,0.999999983312,4.06806183397e-05,-0.000176204737384,2.59275730271e-05,1793193619576421632
+43,0.716666667,BASELINE,763.049914794,742,711.950085206,672,661,632.049914794,877,784,800,649.950085206,629,651,0.401003014352,0.00448050852397,0.0698424531522,0.999999983383,4.23474690392e-05,-0.000175404289221,2.59480383921e-05,1793193619593088256
+44,0.733333333,BASELINE,763,742,711.506665426,672.493334574,661,632,877,784,800,650,628.506665426,651,0.401004105569,0.0044813664999,0.0698435973596,0.999999983558,4.40909932149e-05,-0.000173960209475,2.60255707793e-05,1793193619609755904
+45,0.750000000,BASELINE,763,742,711,673,661,632,877,784.039059591,799.960940409,649.960940409,628.039059591,651,0.401005019995,0.00448216238839,0.0698446273593,0.999999983702,4.56135365567e-05,-0.000172725799916,2.60974089595e-05,1793193619626423552
+46,0.766666667,BASELINE,763,742,711,673,661,632,877,784.670587215,799.329412785,649.329412785,628.670587215,651,0.401003214198,0.00448076624297,0.0698426092777,0.999999983291,4.36740001573e-05,-0.000175596567357,2.60008760732e-05,1793193619643089664
+47,0.783333333,BASELINE,763.27715959,742.27715959,711,672.72284041,661,632,877,785,799,649.27715959,629,651,0.401002468758,0.00448003773151,0.0698419253011,0.999999983184,4.21511763553e-05,-0.0001765814006,2.59559241983e-05,1793193619659756032
+48,0.800000000,BASELINE,763.856521928,742.856521928,711,672.143478072,661,632,877,785,799,649.856521928,629,651,0.401002879487,0.00448003717886,0.0698426959745,0.999999983417,4.10827175788e-05,-0.000175509893688,2.5967214e-05,1793193619676422400
+49,0.816666667,BASELINE,763.566489,742.566489,711,672,661,632,877,784.566489,799.433511,649.566489,629,651,0.401003342252,0.00448126375613,0.0698432723583,0.999999983545,4.15206719369e-05,-0.000174721636533,2.56692729006e-05,1793193619693088768
+50,0.833333333,BASELINE,763,742.009733161,711,672,661,632,877,784,799.990266839,649.009733161,629,651,0.401003789656,0.00448285652644,0.0698437579802,0.999999983629,4.2463982353e-05,-0.000174068290207,2.5281196095e-05,1793193619709755392
+51,0.850000000,BASELINE,763,742.586790101,711,672,661,632,877,784,799.413209899,649.586790101,629,651,0.401002343373,0.00448224976776,0.0698426809919,0.999999983246,4.39608424165e-05,-0.000175844068957,2.55723122853e-05,1793193619726422016
+52,0.866666667,BASELINE,763,743,711.166860551,672,661,632,877.166860551,784.166860551,799.333721102,650,629,651,0.401001416258,0.00448161162603,0.0698419235627,0.99999998297,4.47566748408e-05,-0.000177173446485,2.5828437531e-05,1793193619743088896
+53,0.883333333,BASELINE,763,743,711.754530815,672,661,632,877.754530815,784.754530815,800.509061629,650,629,651,0.401001798442,0.00448089433864,0.0698419720379,0.999999982972,4.37845683915e-05,-0.000177377033731,2.59963182386e-05,1793193619759756032
+54,0.900000000,BASELINE,763.337375833,743,712,672.337375833,661,632.337375833,877.325248335,784.662624167,800.325248335,650,629,651,0.4010017583,0.00448019507977,0.0698418841097,0.999999983045,4.2145489097e-05,-0.000177366586541,2.59886575031e-05,1793193619776422656
+55,0.916666667,BASELINE,763.916759559,743,712,672.916759559,661,632.916759559,876.166480881,784.083240441,799.166480881,650,629,651,0.401001415212,0.00447950875322,0.0698416983361,0.999999983164,4.00279739929e-05,-0.000177202607233,2.58550766118e-05,1793193619793088768
+56,0.933333333,BASELINE,764,742.508811425,711.508811425,672.508811425,661,632.508811425,876.491188575,784,799,650,628.508811425,651,0.401001841693,0.00448096352965,0.0698419096132,0.999999983059,4.33852042717e-05,-0.000176995241889,2.59169564233e-05,1793193619809755648
+57,0.950000000,BASELINE,763.933743051,742,711,672,661,632,877,784,799,650,628.066256949,651,0.401002285387,0.00448252383437,0.0698421353798,0.999999982904,4.70509106335e-05,-0.000176924475472,2.60090292732e-05,1793193619826422016
+58,0.966666667,BASELINE,763.347125085,742,711,672,661,632,877,784,799,650,628.652874915,651,0.401001850249,0.00448209169602,0.0698419517666,0.999999982766,4.59254811101e-05,-0.000177983681403,2.60806795063e-05,1793193619843088384
+59,0.983333333,BASELINE,763,742.237673867,711,672.237673867,661,632,877.237673867,784,799,649.762326133,629,651,0.401001870782,0.00448184112767,0.0698421056221,0.999999982776,4.5364729827e-05,-0.00017806456378,2.61169460577e-05,1793193619859755264
+60,1.000000000,BASELINE,763,742.819836396,711,672.819836396,661,632,877.819836396,784,799,649.180163604,629,651,0.401002551772,0.00448185373001,0.0698427486107,0.999999983002,4.56224329001e-05,-0.000176727447035,2.61019268922e-05,1793193619876421888
+61,1.016666667,BASELINE,763,742.60253407,711.39746593,673,661.39746593,632.39746593,877.60253407,784,799.39746593,649.39746593,629,651,0.401002565766,0.00448163892107,0.0698424110953,0.999999983096,4.43984111296e-05,-0.000176551003726,2.58114161708e-05,1793193619893088512
+62,1.033333333,BASELINE,763,742.02693612,711.97306388,673,661.97306388,632.97306388,877.02693612,784,799.97306388,649.97306388,629,651,0.401002280832,0.00448132219339,0.0698416341481,0.999999983128,4.25103257862e-05,-0.000176894738674,2.53974385976e-05,1793193619909755136
+63,1.050000000,BASELINE,763,742,711.44944496,672.44944496,661.44944496,632.44944496,877,784,800,649.44944496,629,651,0.401001854222,0.00448232122921,0.0698417399884,0.999999982931,4.57604360408e-05,-0.000177152491937,2.57026050656e-05,1793193619926422272
+64,1.066666667,BASELINE,763.130571363,742,711,672.130571363,661,632,877.130571363,784,799.869428637,649.130571363,629,651,0.40100153309,0.00448254545718,0.0698419160307,0.999999982827,4.74074390397e-05,-0.000177255852808,2.60404896856e-05,1793193619943088896
+65,1.083333333,BASELINE,763.719118599,742,711,672.719118599,661,632,877.719118599,784,799.280881401,649.719118599,629,651,0.401001606317,0.0044798254953,0.069842186292,0.999999983112,4.25468016887e-05,-0.000176832491893,2.63692981419e-05,1793193619959755008
+66,1.100000000,BASELINE,763.697629391,742.302370609,711,672.697629391,661,632,877.697629391,784,799,650,628.697629391,651,0.401002249325,0.00447949777094,0.0698427772209,0.999999983296,4.1711169486e-05,-0.00017598322845,2.64170785585e-05,1793193619976421632
+67,1.116666667,BASELINE,763.119211651,742.880788349,711,672.119211651,661,632,877.119211651,784,799,650,628.119211651,651,0.401003412512,0.00448135402322,0.0698436609009,0.999999983396,4.45501378204e-05,-0.000174745140304,2.6208296376e-05,1793193619993088512
+68,1.133333333,BASELINE,763.457216306,742.542783694,711.457216306,672,661,632.457216306,877,784,799,650,628.457216306,651,0.401003417602,0.00448096301978,0.0698435956524,0.999999983444,4.35374788e-05,-0.000174735321564,2.61378310067e-05,1793193620009755136
+69,1.150000000,BASELINE,764,742.03301913,712,672.03301913,661.03301913,633,876.96698087,784,799,650,629,651,0.401003031135,0.00448011692087,0.069843244598,0.999999983448,4.17455909082e-05,-0.000175160115837,2.60840211543e-05,1793193620026421760
+70,1.166666667,BASELINE,764,742.607042265,712,672.607042265,661.607042265,633,876.392957735,784,799,650,629,651,0.401001155137,0.00448137297386,0.0698422470014,0.99999998297,4.35692585698e-05,-0.000177481416189,2.57147748477e-05,1793193620043088896
+71,1.183333333,BASELINE,764,743,711.813080423,672.813080423,661.813080423,632.813080423,876.186919577,784,799.186919577,650,628.813080423,651,0.401000423195,0.00448173180745,0.0698417224144,0.999999982746,4.36946512531e-05,-0.000178734692274,2.55390947866e-05,1793193620059756288
+72,1.200000000,BASELINE,764,743,711.220497953,672.220497953,661.220497953,632.220497953,876.779502047,784,799.779502047,650,628.220497953,651,0.401002174146,0.00448014344759,0.0698422243778,0.999999983079,4.01343568127e-05,-0.000177670085241,2.57835025064e-05,1793193620076422656
+73,1.216666667,BASELINE,764,742.636513192,711.363486808,672,661.363486808,632.363486808,877,784,800,650,628.363486808,651,0.401002575471,0.00447966289527,0.0698423650812,0.999999983238,3.98715620315e-05,-0.000176803605877,2.59777927335e-05,1793193620093089024
+74,1.233333333,BASELINE,764,742.057623483,711.942376517,672,661.942376517,632.942376517,877,784,800,650,628.942376517,651,0.401002177006,0.00447983883167,0.0698422917012,0.999999983297,4.15628713754e-05,-0.000176054537371,2.61423832343e-05,1793193620109755392
+75,1.250000000,BASELINE,763.482185899,742,712,672.517814101,661.482185899,632.482185899,877,784,800,650,629,651,0.401003112143,0.00448118649932,0.0698428845509,0.999999983356,4.30330095736e-05,-0.000175390979649,2.59550868486e-05,1793193620126421760
+76,1.266666667,BASELINE,763,742.094827284,711.905172716,672.905172716,661,632.094827284,877,784,800,650,629,651,0.401003824695,0.00448223112162,0.0698434293576,0.999999983392,4.40678182875e-05,-0.000174952509092,2.57956275233e-05,1793193620143088128
+77,1.283333333,BASELINE,763,742.682002413,711.317997587,672.317997587,661,632.682002413,877,784,800,650,629,651,0.401002616141,0.00448102979552,0.0698433423359,0.999999983316,4.29693177444e-05,-0.000175633622564,2.59826671795e-05,1793193620159754752
+78,1.300000000,BASELINE,763.265629071,743,711,672,661,633,877,784,800,650,629,651,0.401002090096,0.00448005403355,0.0698431386323,0.999999983302,4.22868924031e-05,-0.000175854465679,2.61403734048e-05,1793193620176421376
+79,1.316666667,BASELINE,763.845063638,743,711,672,661,633,877,784,800,650,629,651,0.401002370346,0.00447934474573,0.0698427970842,0.999999983363,4.20960047745e-05,-0.000175531560396,2.62634260612e-05,1793193620193088000
+80,1.333333333,BASELINE,763.576622444,742.576622444,711.423377556,672.423377556,661.423377556,633,877,784,800,650,629,651,0.401001655973,0.00447995478812,0.0698421551479,0.999999983228,4.22090186946e-05,-0.000176327989988,2.59020196102e-05,1793193620209754624
+81,1.350000000,BASELINE,763.001273144,742.001273144,711.998726856,673,661.998726856,632.998726856,877,784,800,650,629,651,0.401000582632,0.0044810443846,0.0698414063056,0.99999998302,4.24313662394e-05,-0.000177528983513,2.53656496749e-05,1793193620226421248
+82,1.366666667,BASELINE,763.574963108,742.574963108,711.425036892,673,661.425036892,632.425036892,877,784,800,650,629,651,0.401001333298,0.00448124173881,0.0698418857846,0.999999983137,4.19403944869e-05,-0.000176941012526,2.56645971661e-05,1793193620243089152
+83,1.383333333,BASELINE,763.847188411,743,711,672.847188411,661.152811589,632,877.152811589,784,800,650,629,651,0.401002328071,0.0044816885017,0.0698425652795,0.999999983292,4.20543787845e-05,-0.000176022995112,2.57543717094e-05,1793193620259756544
+84,1.400000000,BASELINE,763.257449534,743,711,672.257449534,661.742550466,632,877.742550466,784,800,650,629,651,0.401004020811,0.00448284838764,0.0698438166711,0.999999983552,4.38980865225e-05,-0.000174161290695,2.52460675444e-05,1793193620276422144
+85,1.416666667,BASELINE,763,742.674444567,711,672,661.674444567,632,877.674444567,784,799.674444567,649.674444567,629,651,0.401002551154,0.0044834597201,0.0698426417701,0.999999983161,4.56766134057e-05,-0.000175946969905,2.51713489221e-05,1793193620293088512
+86,1.433333333,BASELINE,763,742.096656901,711,672,661.096656901,632,877.096656901,784,799.096656901,649.096656901,629,651,0.400998631349,0.00448364604694,0.0698395870378,0.999999982252,4.7404639676e-05,-0.000180558551135,2.54325615996e-05,1793193620309754880
+87,1.450000000,BASELINE,763,742.481576906,711.481576906,672,661,632,877,784,799.481576906,649.481576906,629,651,0.401000171536,0.00448265299109,0.0698410011174,0.999999982686,4.64185323885e-05,-0.000178333864229,2.5889970532e-05,1793193620326421504
+88,1.466666667,BASELINE,763.060626598,742.939373402,711.939373402,672,661,632,877,784,799.939373402,650,629,650.939373402,0.401002531297,0.00448143888086,0.0698430367812,0.999999983301,4.4884942981e-05,-0.000175183898589,2.63427642537e-05,1793193620343088384
+89,1.483333333,BASELINE,763.645961904,742.354038096,711.354038096,672,661,632,877,784,799.354038096,650,629,650.354038096,0.401002490994,0.00448036219116,0.0698426821818,0.99999998324,4.33320923935e-05,-0.000175912090272,2.64144879063e-05,1793193620359755008
+90,1.500000000,BASELINE,763.770998487,742,711.229001513,672,661.229001513,632,877,784,799,650,629,650.229001513,0.401002466462,0.00448039363594,0.0698424876723,0.999999983159,4.29957530778e-05,-0.000176469518944,2.6297167746e-05,1793193620376421376
+91,1.516666667,BASELINE,763.191472872,742,711.808527128,672,661.808527128,632,877,784,799,650,629,650.808527128,0.401002466072,0.00448212126111,0.0698425382067,0.999999983051,4.45214824862e-05,-0.000176765566957,2.58904852423e-05,1793193620393088000
+92,1.533333333,BASELINE,763,742,711.613043261,672.386956739,661.613043261,632.386956739,877,784,799.386956739,650,629,651,0.401002871627,0.00448277511625,0.0698429512769,0.999999983094,4.64480000059e-05,-0.000176018416393,2.59417259174e-05,1793193620409754624
+93,1.550000000,BASELINE,763,742,711.035154389,672.964845611,661.035154389,632.964845611,877,784,799.964845611,650,629,651,0.401003477483,0.00448289915211,0.0698435432296,0.999999983207,4.8572274469e-05,-0.000174756530979,2.62189149392e-05,1793193620426421504
+94,1.566666667,BASELINE,763.54142823,742.54142823,711,672.45857177,661,632.45857177,877,784,800,649.45857177,629,651,0.401003802943,0.0044820845013,0.0698439220466,0.999999983411,4.66613383761e-05,-0.000174110989196,2.62048179401e-05,1793193620443087872
+95,1.583333333,BASELINE,763.879911886,742.879911886,711.120088114,672,661,632.120088114,877.120088114,784,800,649.120088114,629,651,0.401003825751,0.00448123592802,0.0698439759967,0.99999998354,4.44540511164e-05,-0.000173950171301,2.61707295308e-05,1793193620459754496
+96,1.600000000,BASELINE,763.292845099,742.292845099,711.707154901,672,661,632.707154901,877.707154901,784,800,649.707154901,629,651,0.40100274228,0.00448049187629,0.0698428203429,0.999999983368,4.2110740381e-05,-0.000175519023803,2.61322702034e-05,1793193620476421376
+97,1.616666667,BASELINE,763.29008098,742,712,672,661,632.70991902,878,784,800,649.70991902,629,651,0.401002217651,0.00448058753177,0.0698422959098,0.999999983266,4.14926684851e-05,-0.000176279126947,2.59359274364e-05,1793193620493088000
+98,1.633333333,BASELINE,763.868885691,742,712,672,661,632.131114309,878,784,800,649.131114309,629,651,0.40100224925,0.00448151896562,0.0698423997441,0.999999983236,4.25917634038e-05,-0.000176234264671,2.55824399482e-05,1793193620509754880
+99,1.650000000,BASELINE,764,742,712,672.446532644,661.446532644,632.446532644,878,784,800,649.446532644,629,651,0.401002369854,0.00448145607143,0.0698422576097,0.999999983228,4.24379049133e-05,-0.000176305708271,2.56703079588e-05,1793193620526421504
+100,1.666666667,BASELINE,764,742.023726141,711.976273859,673,661.976273859,633,877.976273859,784,800,649.976273859,629,651,0.401002534,0.0044811225225,0.0698420866733,0.99999998323,4.20109963422e-05,-0.00017636509254,2.58885878038e-05,1793193620543088128
+101,1.683333333,BASELINE,764,742.59826432,711.40173568,673,661.40173568,633,877.40173568,784,800,649.40173568,629,651,0.401003103862,0.00448126610554,0.0698429194399,0.999999983326,4.37640191659e-05,-0.000175353744382,2.61336308329e-05,1793193620559754752
+102,1.700000000,BASELINE,764,743,711,672.822447474,661.177552526,632.822447474,877,784,799.822447474,649.177552526,629,651,0.401003204928,0.00448137174533,0.0698435456108,0.999999983345,4.47558597519e-05,-0.000174987735059,2.61789348356e-05,1793193620576421376
+103,1.716666667,BASELINE,764,743,711,672.232116368,661.767883632,632.232116368,877,784,799.232116368,649.767883632,629,651,0.401002216128,0.00448138917364,0.0698436914829,0.999999983192,4.39780844663e-05,-0.000176122025849,2.57598804878e-05,1793193620593088000
+104,1.733333333,BASELINE,764,742.648487331,711.351512669,672,661.648487331,632,877,784,799.703025338,650,628.648487331,651,0.401001671329,0.00448196309334,0.0698431600739,0.999999983023,4.37888016181e-05,-0.000177158746332,2.55379220135e-05,1793193620609754624
+105,1.750000000,BASELINE,764,742.069201051,711.930798949,672,661.069201051,632,877,784,800.861597898,650,628.069201051,651,0.401001414235,0.00448289760902,0.0698421897995,0.999999982844,4.39808507462e-05,-0.000178132243201,2.54436779241e-05,1793193620626421504
+106,1.766666667,POSE1_TO_POSE2_PRESS,763,742,712,673,661,632,877,784,799,650,629,651,0.400998824364,0.00448181337098,0.0698407333507,0.999999982814,4.53900527171e-05,-0.000177931437373,2.55478328992e-05,1793193620657421312
+107,1.783333333,POSE1_TO_POSE2_PRESS,763.583740831,742,711.416259169,672.416259169,661,632.583740831,877.583740831,784,799,650,629,651.583740831,0.400999439876,0.00448063786526,0.0698415853538,0.999999982869,4.27864784867e-05,-0.00017821851136,2.58646428645e-05,1793193620674088192
+108,1.800000000,POSE1_TO_POSE2_PRESS,763.832657128,742.167342872,711,672,661.167342872,633,878,784,799.167342872,650,629,651.832657128,0.401000140361,0.00448031291678,0.0698422666202,0.999999982889,4.17725294685e-05,-0.000178316960506,2.60706916266e-05,1793193620690754816
+109,1.816666667,POSE1_TO_POSE2_PRESS,763.249399916,742.750600084,711,672,661.750600084,633,878,784,799.750600084,650,629,651.249399916,0.401001052038,0.00448210194489,0.0698425235376,0.99999998283,4.47094378981e-05,-0.000177946601123,2.60014543176e-05,1793193620707421440
+110,1.833333333,POSE1_TO_POSE2_PRESS,763.331736343,743,711,672.331736343,661.668263657,632.668263657,877.668263657,784,799.668263657,650,629,651,0.401001305327,0.00448196455968,0.0698426563717,0.999999982988,4.44945749193e-05,-0.0001771373529,2.58340109385e-05,1793193620724088064
+111,1.850000000,POSE1_TO_POSE2_PRESS,763.911288162,743,711,672.911288162,661.088711838,632.088711838,877.088711838,784,799.088711838,650,629,651,0.401001066782,0.00448038809467,0.0698426965125,0.999999983306,4.19252584643e-05,-0.00017600024359,2.55932051346e-05,1793193620740754432
+112,1.866666667,POSE1_TO_POSE2_PRESS,763.513898108,743,711.486101892,672.513898108,661,632.486101892,877,784,799.486101892,650,629,651,0.400999809206,0.00448169566255,0.0698418296231,0.999999982881,4.24142558592e-05,-0.00017830922845,2.5396694532e-05,1793193620757421312
+113,1.883333333,POSE1_TO_POSE2_PRESS,763.061548214,742.938451786,711.938451786,672.061548214,661,633,877,784,800,650,629,651,0.400998974917,0.00448328787267,0.0698412239642,0.999999982439,4.33388130084e-05,-0.000180570042964,2.52648739617e-05,1793193620774088192
+114,1.900000000,POSE1_TO_POSE2_PRESS,763.649734603,742.350265397,711.350265397,672.649734603,661,633,877,784,800,650,629,651,0.401003338397,0.0044828555883,0.0698442562133,0.999999983056,4.3260685201e-05,-0.000177089442574,2.56180738401e-05,1793193620790754816
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,742,711,672.765732677,661,632.765732677,877,784,799.765732677,650,629,651,0.401010058983,0.00448221848874,0.0698479379762,0.999999983376,4.3895559054e-05,-0.000175031584529,2.61642596565e-05,1793193620807421440
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,742,711,672.186578911,661,632.186578911,877,784,799.186578911,650,629,651,0.401020249679,0.00448127986197,0.0698525759478,0.999999983272,4.55801081462e-05,-0.000175068276472,2.69945577665e-05,1793193620824088064
+117,1.950000000,POSE1_TO_POSE2_PRESS,763.60955916,742,711,672,661.39044084,632.39044084,877,784,799.39044084,650,629,651,0.401046292204,0.00447992765944,0.069863414803,0.999999984905,4.43517367139e-05,-0.000165684590116,2.778932664e-05,1793193620840754432
+118,1.966666667,POSE1_TO_POSE2_PRESS,763.033553591,742,711,672,661.966446409,632.966446409,877,784,799.966446409,650,629,651,0.401079868624,0.00447837889676,0.069877200751,0.999999987196,4.1738942347e-05,-0.000151823682679,2.85672096101e-05,1793193620857421056
+119,1.983333333,POSE1_TO_POSE2_PRESS,763.540556857,742,711.540556857,672,661.459443143,633,877.540556857,784,800,650,629,651,0.401135497934,0.00447803995385,0.0698936967311,0.999999990113,3.91635818589e-05,-0.000132038928915,2.84003341409e-05,1793193620874088960
+120,2.000000000,POSE1_TO_POSE2_PRESS,763.881900735,742.118099265,711.881900735,672,661,633,877.881900735,784,800,649.881900735,629,651,0.401195443847,0.00447795014824,0.0699081369164,0.999999992381,3.71314959666e-05,-0.00011438114021,2.78753637355e-05,1793193620890756864
+121,2.016666667,POSE1_TO_POSE2_PRESS,763.2901229,742.7098771,711.2901229,672,661,633,877.2901229,784,800,649.2901229,629,651,0.401267231864,0.00447855944754,0.0699136592799,0.999999993269,3.72691157856e-05,-0.00010672394969,2.6148515646e-05,1793193620907423232
+122,2.033333333,POSE1_TO_POSE2_PRESS,763,743,711,672,661,632.705499458,877,784,799.705499458,649.294500542,629,651,0.401346492882,0.00447886461828,0.0699153098784,0.99999999351,3.53684581933e-05,-0.000105583967538,2.41236421229e-05,1793193620924089856
+123,2.050000000,POSE1_TO_POSE2_PRESS,763,743,711,672,661,632.127756937,877,784,799.127756937,649.872243063,629,651,0.401432941209,0.00447887728707,0.0699132367265,0.999999993137,3.15074451825e-05,-0.000110712045643,2.18121365859e-05,1793193620940756224
+124,2.066666667,POSE1_TO_POSE2_PRESS,763.445772754,742.554227246,711,672,661,632,877,784,799,650,629,651,0.401535564848,0.00447853300202,0.0699111156571,0.999999992372,2.81238657657e-05,-0.00011870608958,1.93456205125e-05,1793193620957422848
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,742,711,672,661,632,877.01871768,784,799.01871768,650,629,651,0.401644080536,0.00447810581814,0.0699090657739,0.999999991458,2.48506414828e-05,-0.000127215757619,1.67904612927e-05,1793193620974088960
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,742,711,672,661,632,877.610374873,784,799.610374873,650,629,651,0.401792378265,0.00447824323139,0.0699096112953,0.999999991687,2.08062188598e-05,-0.000126601890017,1.28690877738e-05,1793193620990755328
+127,2.116666667,POSE1_TO_POSE2_PRESS,763.802421578,742.197578422,711,672.197578422,661.197578422,632.197578422,877.802421578,784,800,650,629,651,0.401951431925,0.00447650747046,0.0699104992612,0.999999991926,1.41517097448e-05,-0.000125973254714,8.86028194637e-06,1793193621007421952
+128,2.133333333,POSE1_TO_POSE2_PRESS,763.223807086,742.776192914,711,672.776192914,661.776192914,632.776192914,877.223807086,784,800,650,629,651,0.402131228712,0.00447115923546,0.0699120476417,0.999999992134,2.46356893528e-06,-0.000125316139506,4.68286067311e-06,1793193621024088832
+129,2.150000000,POSE1_TO_POSE2_PRESS,763,742.646467909,711,672.646467909,661.646467909,632.646467909,877,784,799.646467909,650,629,651,0.402332807431,0.00446632157566,0.0699135414835,0.999999992201,-9.32912765409e-06,-0.000124544936062,3.60439122692e-07,1793193621040755456
+130,2.166666667,POSE1_TO_POSE2_PRESS,763,742.069933126,711,672.069933126,661.069933126,632.069933126,877,784,799.069933126,650,629,651,0.402548125883,0.00446180597845,0.0699150009233,0.999999992116,-2.11877775899e-05,-0.000123701767412,-4.05344681688e-06,1793193621057422336
+131,2.183333333,POSE1_TO_POSE2_PRESS,763,742,711,672.500070239,661,632,877,784,799.500070239,649.499929761,629,651,0.402792771643,0.00445930460852,0.0699169445407,0.99999999196,-2.96901403491e-05,-0.000122942762063,-9.09002806264e-06,1793193621074089216
+132,2.200000000,POSE1_TO_POSE2_PRESS,763.072551371,742.072551371,711.072551371,672.927448629,661.072551371,632,877,784,799.927448629,649.072551371,629,651,0.403049878346,0.00445731954059,0.0699199317001,0.999999992024,-3.67630721094e-05,-0.000120014762508,-1.40547961937e-05,1793193621090756096
+133,2.216666667,POSE1_TO_POSE2_PRESS,763.669456806,742.669456806,711.669456806,672.330543194,661.669456806,632,877,784,799.330543194,649.669456806,629,651,0.40336778521,0.00445705639306,0.0699299778445,0.999999994028,-3.68535435097e-05,-0.000101326716124,-1.7879291935e-05,1793193621107422720
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,743,712,672,661.741505237,632,877,784,799,650,629,651,0.403698596597,0.0044581151103,0.0699395852622,0.999999995918,-2.45031398786e-05,-8.48799381525e-05,-1.89218993731e-05,1793193621124089088
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,743,712,672,661.162230488,632,877,784,799,650,629,651,0.404045421876,0.00446081420032,0.0699486482398,0.999999997323,3.28581139011e-06,-7.12144711952e-05,-1.65123125013e-05,1793193621140755456
+136,2.266666667,POSE1_TO_POSE2_PRESS,763.585469832,743,711.585469832,672.414530168,661.414530168,632,877,784,799,650,629,651,0.40441706335,0.00446253365097,0.0699546838121,0.999999997714,1.01932933776e-05,-6.45970187065e-05,-1.71567516649e-05,1793193621157421824
+137,2.283333333,POSE1_TO_POSE2_PRESS,763.009687175,743,711.009687175,672.990312825,661.990312825,632,877,784,799,650,629,651,0.404798358331,0.00446387202124,0.0699595417217,0.999999997936,8.97787031784e-06,-6.07212485174e-05,-1.89892088958e-05,1793193621174088704
+138,2.300000000,POSE1_TO_POSE2_PRESS,763,743,711,673,661.435473755,632,877.564526245,784,799,650,629,651,0.405220293994,0.0044678307558,0.0699641292796,0.9999999985,-9.69895271177e-06,-4.96378821957e-05,-2.10458009196e-05,1793193621190755072
+139,2.316666667,POSE1_TO_POSE2_PRESS,763,742.857008346,711,673,661.142991654,632.142991654,877.857008346,784,799,650,629,651,0.405650895578,0.00447242514204,0.0699658061322,0.999999998569,-1.91530314233e-05,-4.42969644292e-05,-2.30661053649e-05,1793193621207421696
+140,2.333333333,POSE1_TO_POSE2_PRESS,763,742.265110088,711,673,661.734889912,632.734889912,877.265110088,784,799,650,629,651,0.40610651949,0.00447887431482,0.0699583596675,0.999999998042,1.28474952771e-06,-5.73710427822e-05,-2.49604475804e-05,1793193621224088064
+141,2.350000000,POSE1_TO_POSE2_PRESS,763,742.319206341,711.319206341,673,661.680793659,633,877.319206341,784,799.319206341,650,629,651,0.406574125425,0.00448538244994,0.0699431288605,0.999999996106,1.726875187e-05,-8.24014928529e-05,-2.64677143051e-05,1793193621240754688
+142,2.366666667,POSE1_TO_POSE2_PRESS,763,742.897372001,711.897372001,673,661.102627999,633,877.897372001,784,799.897372001,650,629,651,0.407051451944,0.00449193841955,0.0699215829276,0.999999992318,2.9639584237e-05,-0.00011713166973,-2.76609623761e-05,1793193621257421568
+143,2.383333333,POSE1_TO_POSE2_PRESS,763,742.528894005,711.528894005,673,661,633,878,784,799.528894005,649.528894005,629,651,0.40759290794,0.0044974014362,0.069916322646,0.999999992137,2.51940908453e-05,-0.000119150624674,-2.9904419979e-05,1793193621274088448
+144,2.400000000,POSE1_TO_POSE2_PRESS,763,742,711,673,661.045251048,632.954748952,877.954748952,784.045251048,799,649,629,651,0.408152951781,0.00450269284125,0.0699161413846,0.999999993079,1.88212566605e-05,-0.000111552537107,-3.23198606264e-05,1793193621290755072
+145,2.416666667,POSE1_TO_POSE2_PRESS,763,742,711,673,661.63587769,632.36412231,877.36412231,784.63587769,799,649,629,651,0.40877021717,0.00450875877013,0.0699348138654,0.999999996202,3.29597139038e-05,-7.31311181861e-05,-3.40764375806e-05,1793193621307421696
+146,2.433333333,POSE1_TO_POSE2_PRESS,763,742,711.22227684,672.77772316,661.77772316,632,877,784.77772316,799,649.22227684,628.77772316,651,0.409394880476,0.00451501545775,0.0699462664329,0.999999997297,4.25717558068e-05,-4.82051214125e-05,-3.56386296099e-05,1793193621324088320
+147,2.450000000,POSE1_TO_POSE2_PRESS,763,742,711.801879952,672.198120048,661.198120048,632,877,784.198120048,799,649.801879952,628.198120048,651,0.410031436435,0.00452157880361,0.0699461124608,0.9999999973,4.49072533393e-05,-4.49740048795e-05,-3.68883336297e-05,1793193621340755200
+148,2.466666667,POSE1_TO_POSE2_PRESS,763,742,711.619963496,672.760073008,661.380036504,632,877.380036504,784,799,650,628.380036504,651,0.410675221415,0.00452904030432,0.0699431196623,0.999999996503,5.2890946185e-05,-5.24455450524e-05,-3.80263585888e-05,1793193621357421824
+149,2.483333333,POSE1_TO_POSE2_PRESS,763,742,711.042558221,673.914883558,661.957441779,632,877.957441779,784,799,650,628.957441779,651,0.411322760705,0.00453696825402,0.0699386525432,0.999999995056,6.38079818124e-05,-6.54754203147e-05,-3.91063839167e-05,1793193621374088192
+150,2.500000000,POSE1_TO_POSE2_PRESS,763,742,711,673.4693294,662,632,877.4693294,784,799,650,629,651,0.412041196624,0.00454290273935,0.0699581497794,0.999999996255,7.01817035164e-05,-3.04585028342e-05,-4.0453784084e-05,1793193621390755328
+151,2.516666667,POSE1_TO_POSE2_PRESS,763,742,711,673,662,632.106873546,877.106873546,784,799,650,629,651,0.412769315128,0.00454879373549,0.0699808122856,0.999999996184,7.63672473261e-05,8.58482352869e-06,-4.15551921116e-05,1793193621407422464
+152,2.533333333,POSE1_TO_POSE2_PRESS,763,742,711,673,662,632.698059978,877.698059978,784,799,650,629,651,0.413515747069,0.004555206469,0.0700091774367,0.99999999449,8.33382928695e-05,4.85493581217e-05,-4.14454392836e-05,1793193621424088576
+153,2.550000000,POSE1_TO_POSE2_PRESS,763,742,711,673.282965652,662,632.717034348,877.717034348,784,799,649.717034348,629,651,0.414254364367,0.00456192961851,0.070011499737,0.999999993836,9.21068047389e-05,4.59193704246e-05,-4.16635526422e-05,1793193621440755200
+154,2.566666667,POSE1_TO_POSE2_PRESS,763,742,711,673.861315008,662,632.138684992,877.138684992,784,799,649.138684992,629,651,0.414984824166,0.00456897680754,0.0699866362901,0.999999993829,0.00010275166621,-1.17441086797e-06,-4.22239206831e-05,1793193621457421568
+155,2.583333333,POSE1_TO_POSE2_PRESS,763.436805269,742,711.436805269,673.563194731,662,632,877,784,799,649,629,651,0.41570798796,0.004576836743,0.0699401337375,0.999999990028,0.000109557185294,-7.66719045741e-05,-4.54056106188e-05,1793193621474088448
+156,2.600000000,POSE1_TO_POSE2_PRESS,763.988339006,742,712,673,662.011660994,632,877.011660994,784.011660994,799,649,629,650.988339006,0.416430700335,0.00458483052331,0.069888329868,0.999999979576,0.000114973673223,-0.000158727952917,-4.93498705188e-05,1793193621490754816
+157,2.616666667,POSE1_TO_POSE2_PRESS,763.400267744,742,712,673,662.599732256,632,877.599732256,784.599732256,799,649,629,650.400267744,0.417244860907,0.0045867679481,0.0699118772926,0.999999985063,0.00011159289827,-0.000122104519645,-5.01165814508e-05,1793193621507421952
+158,2.633333333,POSE1_TO_POSE2_PRESS,763,742,712,673.184943884,662.815056116,632,877.815056116,784.815056116,799,649.184943884,629,650.184943884,0.418067506411,0.00458946945709,0.0699377531034,0.999999989101,0.00011224903176,-8.16586445613e-05,-5.0297179055e-05,1793193621524088832
+159,2.650000000,POSE1_TO_POSE2_PRESS,763,742,712,673.764060708,662.235939292,632,877.235939292,784.235939292,799,649.764060708,629,650.764060708,0.418908235901,0.00459379946705,0.0699685914279,0.999999990859,0.00012150907305,-3.3065959403e-05,-4.92285868507e-05,1793193621540755712
+160,2.666666667,POSE1_TO_POSE2_PRESS,763,742,711.657721342,673.657721342,662,632,877.342278658,784,799,649.657721342,629,651,0.41976676862,0.00459671008512,0.0699922440726,0.999999991164,0.000123444558033,3.36486116649e-06,-4.92126662606e-05,1793193621557422080
+161,2.683333333,POSE1_TO_POSE2_PRESS,763,742,711.080121404,673.080121404,662,632,877.919878596,784,799,649.080121404,629,651,0.420637541271,0.00459864485159,0.0700109564624,0.999999991019,0.000120344309616,3.1434230721e-05,-4.99204719382e-05,1793193621574088704
+162,2.700000000,POSE1_TO_POSE2_PRESS,763.49483754,742,711.49483754,673,662.49483754,632,878,784,799.49483754,649,628.50516246,651,0.421472935107,0.00459342627685,0.0700178532587,0.999999991391,0.00011396856811,4.08442485342e-05,-5.05974929683e-05,1793193621590755328
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,742.071188609,712,673.071188609,662.928811391,632.071188609,878,784,799.928811391,649,628.071188609,650.928811391,0.422291736993,0.0045866916894,0.0700154703566,0.999999992342,0.000106890535974,3.55464885487e-05,-5.12504035473e-05,1793193621607422208
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,742.660774254,712,673.660774254,662.339225746,632.660774254,878,784,799.339225746,649,628.660774254,650.339225746,0.423031207995,0.00457730694902,0.0699593698829,0.999999992294,9.85399290172e-05,-5.49698389435e-05,-5.17638451315e-05,1793193621624088832
+165,2.750000000,POSE1_TO_POSE2_PRESS,763.752804631,742.752804631,711.752804631,674,662,632.752804631,878,784,799,649,629,650.247195369,0.423788367648,0.00457306376013,0.0699019001656,0.999999984112,9.0514572989e-05,-0.000143839508472,-5.37851537903e-05,1793193621640755456
+166,2.766666667,POSE1_TO_POSE2_PRESS,763.170671221,742.170671221,711.170671221,674,662,632.170671221,878,784,799,649,629,650.829328779,0.424569494692,0.00457578712921,0.0698425751798,0.999999968328,8.29299157771e-05,-0.000230478047008,-5.78495513206e-05,1793193621657422080
+167,2.783333333,POSE1_TO_POSE2_PRESS,763.404748279,742.404748279,711.404748279,674,662.404748279,632,878,784,799.404748279,649.404748279,628.595251721,651,0.425437848841,0.00457935850773,0.0698677457237,0.999999977535,8.4974926334e-05,-0.000185179300364,-5.84588530934e-05,1793193621674088960
+168,2.800000000,POSE1_TO_POSE2_PRESS,763.977382868,742.977382868,711.977382868,674,662.977382868,632,878,784,799.977382868,649.977382868,628.022617132,651,0.426342384042,0.00458328163352,0.0699279643327,0.999999990572,9.10142450163e-05,-8.5154029633e-05,-5.76350084922e-05,1793193621690755584
+169,2.816666667,POSE1_TO_POSE2_PRESS,763.464095131,743,711.464095131,674,663,632,878,784,800,649.464095131,628,651,0.427161877874,0.00458165721877,0.0699727960039,0.999999993599,9.45864588535e-05,-2.95437632254e-05,-5.46090588036e-05,1793193621707422208
+170,2.833333333,POSE1_TO_POSE2_PRESS,763,743,711.103289152,674,663,632,878,784,800,649.103289152,628.103289152,651,0.427980568723,0.00458027754788,0.0700116326799,0.999999993755,9.6867204046e-05,1.94153709976e-05,-5.22520353331e-05,1793193621724088576
+171,2.850000000,POSE1_TO_POSE2_PRESS,763,743,711.717369489,674,663,632,878,784,800,649.717369489,628.717369489,651,0.428812581962,0.00458123630464,0.0700239515481,0.999999993221,9.32630007026e-05,4.45148649515e-05,-5.36508270954e-05,1793193621740755200
+172,2.866666667,POSE1_TO_POSE2_PRESS,763.310612357,742.689387643,711.689387643,674,663,632,878,784,800,649.689387643,629,651,0.429608561125,0.00458178089793,0.0700225057068,0.999999993401,9.01212348447e-05,4.59685011344e-05,-5.44330783779e-05,1793193621757421824
+173,2.883333333,POSE1_TO_POSE2_PRESS,763.88608688,742.11391312,711.11391312,674,663,632,878,784,800,649.11391312,629,651,0.430373813638,0.00458197232995,0.0700093225637,0.999999994316,8.737379411e-05,2.72590839073e-05,-5.46895995523e-05,1793193621774088448
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,742.459238885,711.459238885,674.459238885,663,632,878,784,800,649.459238885,629,651,0.431062542348,0.00458456045126,0.0699547081545,0.999999992092,9.0550998238e-05,-6.73942288994e-05,-5.54402814398e-05,1793193621790754816
+175,2.916666667,POSE1_TO_POSE2_PRESS,763.967207502,743,711.967207502,675,663,632,878.032792498,784,800,650,629.032792498,651,0.431733974403,0.00458759548398,0.0698925225396,0.999999978491,9.48624878029e-05,-0.000175608756017,-5.63934562977e-05,1793193621807421440
+176,2.933333333,POSE1_TO_POSE2_PRESS,763.377087255,743,711.377087255,675,663,632,878.622912745,784,800,650,629.622912745,651,0.432432418034,0.0045881731157,0.0698754434595,0.999999974735,9.36008994654e-05,-0.000195757110549,-5.87153692836e-05,1793193621824088064
+177,2.950000000,POSE1_TO_POSE2_PRESS,763.209999717,742.790000283,711,674.790000283,663,632,878.790000283,784,800,650,629.790000283,651,0.433159880528,0.00458631971585,0.0698885877803,0.999999980212,8.96447714015e-05,-0.000167281145702,-5.96348575134e-05,1793193621840754944
+178,2.966666667,POSE1_TO_POSE2_PRESS,763.791717619,742.208282381,711,674.208282381,663,632,878.208282381,784,800,650,629.208282381,651,0.433938709108,0.00458016317388,0.0699552302073,0.999999993649,8.09190672494e-05,-5.27358100927e-05,-5.8071929004e-05,1793193621857421568
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,742.368046275,711,674,663,632,878,784,800,649.631953725,629,650.631953725,0.43464961526,0.00457622296642,0.0699965293745,0.999999995433,7.68979288294e-05,1.11878544721e-05,-5.56310265942e-05,1793193621874088704
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,742.941369063,711,674,663,632,878,784,800,649.058630937,629,650.058630937,0.43532263787,0.00457351891209,0.0700236934239,0.999999994662,7.55007461899e-05,4.68774535592e-05,-5.27004376592e-05,1793193621890756608
+181,3.016666667,POSE1_TO_POSE2_PRESS,763.48165287,742.48165287,711,674.51834713,663,632,878.51834713,784,799.48165287,649.51834713,629,650.51834713,0.435943245209,0.00457274016158,0.0700053817133,0.999999995703,7.16795307073e-05,2.2500469574e-05,-5.43102489986e-05,1793193621907423232
+182,3.033333333,POSE1_TO_POSE2_PRESS,763,742,711,675,663,632,879,784,799.097497083,650,629,651,0.436544436726,0.00457267149289,0.0699807784663,0.999999996019,6.85441376701e-05,-1.03166253775e-05,-5.6189722151e-05,1793193621924089856
+183,3.050000000,POSE1_TO_POSE2_PRESS,763,742,711,675,663,632,879,784,799.685478498,650,629,651,0.437077989902,0.00457507172717,0.0699505851335,0.999999994609,7.02481101626e-05,-5.11711000942e-05,-5.68237995378e-05,1793193621940756224
+184,3.066666667,POSE1_TO_POSE2_PRESS,763,742.268906651,711,675,662.462186698,632,878.731093349,783.731093349,800,649.731093349,629,651,0.437603253023,0.00457737929633,0.0699219335193,0.999999991971,7.15139443094e-05,-8.71922539693e-05,-5.78115165788e-05,1793193621957422848
+185,3.083333333,POSE1_TO_POSE2_PRESS,763,742.847097804,711,675,661.305804393,632,878.152902196,783.152902196,800,649.152902196,629,651,0.438118981254,0.00457958028602,0.0698950551235,0.999999988714,7.22758511035e-05,-0.000117654333815,-5.92059742647e-05,1793193621974089728
+186,3.100000000,POSE1_TO_POSE2_PRESS,763,742.575258465,711,674.575258465,660.575258465,632,878.424741535,783.424741535,800,649.424741535,629,651,0.438587100777,0.00458513046563,0.0698654444691,0.999999981153,8.11031334254e-05,-0.000165975214706,-5.97406569241e-05,1793193621990755840
+187,3.116666667,POSE1_TO_POSE2_PRESS,763,742,711,674.002170305,660,631.997829695,879,784,800,649.997829695,629,651,0.439037938633,0.00459188151063,0.069834834499,0.99999996953,9.28376098512e-05,-0.000220738821773,-5.99601681552e-05,1793193622007421952
+188,3.133333333,POSE1_TO_POSE2_PRESS,763,742,711,674.574816182,660,631.425183818,879,784,800,649.425183818,629,651,0.439445362968,0.00459777719121,0.0697997568918,0.999999953046,0.00010653974566,-0.000281292849584,-5.85866966769e-05,1793193622024088576
+189,3.150000000,POSE1_TO_POSE2_PRESS,763,742.152572685,711,674.847427315,659.847427315,631,878.847427315,783.847427315,800,649.152572685,629,650.847427315,0.439853998283,0.00460286014968,0.0697750113532,0.999999939297,0.000115650406286,-0.000323536801525,-5.79212809524e-05,1793193622040755456
+190,3.166666667,POSE1_TO_POSE2_PRESS,763,742.745065013,711,674.254934987,659.254934987,631,878.254934987,783.254934987,800,649.745065013,629,650.254934987,0.440266125364,0.00460559975153,0.0697800567216,0.999999943043,0.000111522265421,-0.000312986509778,-5.92974342866e-05,1793193622057422336
+191,3.183333333,POSE1_TO_POSE2_PRESS,763,742.669620988,711,674.330379012,659,631,878.330379012,783,800,650,629,650.330379012,0.440660641089,0.00460951452151,0.0697900969842,0.999999947562,0.000111347565606,-0.000298198150389,-5.96305029787e-05,1793193622074089216
+192,3.200000000,POSE1_TO_POSE2_PRESS,763,742.089728346,711,674.910271654,659,631,878.910271654,783,800,650,629,650.910271654,0.441041856085,0.00461431681885,0.0698039095629,0.999999952474,0.000114158641107,-0.000280209056662,-5.91757980639e-05,1793193622090756352
+193,3.216666667,POSE1_TO_POSE2_PRESS,763,742.484940292,711,675,659,631,879,783,800.484940292,649.515059708,629,650.515059708,0.441373686702,0.00461618041156,0.0698073412914,0.999999952004,0.000121124901182,-0.000279149927639,-5.82754875589e-05,1793193622107422208
+194,3.233333333,POSE1_TO_POSE2_PRESS,763.060164724,743,711,675,659,631,879,783,800.939835276,649,628.939835276,650,0.441690117964,0.00461777791778,0.0698072665396,0.999999949842,0.00012879168717,-0.000283619595375,-5.73447030986e-05,1793193622124088320
+195,3.250000000,POSE1_TO_POSE2_PRESS,763.648667611,743,711,675,659,631,879,783,800.351332389,649,628.351332389,650,0.441950706057,0.00462176282293,0.0697930870239,0.999999941273,0.000135930592997,-0.000309425181727,-5.68626333563e-05,1793193622140754944
+196,3.266666667,POSE1_TO_POSE2_PRESS,763.76618494,742.76618494,711,675,659,631,879,783,800,649,628.23381506,650.23381506,0.442191029031,0.00462642646559,0.0697752715874,0.999999929763,0.000144782067746,-0.00034108934294,-5.63095559538e-05,1793193622157421568
+197,3.283333333,POSE1_TO_POSE2_PRESS,763.18600812,742.18600812,711,675,659,631,879,783,800,649,628.81399188,650.81399188,0.442401332261,0.00463209555516,0.069752070084,0.999999913512,0.000156170454471,-0.000381432097119,-5.56512914294e-05,1793193622174088192
+198,3.300000000,POSE1_TO_POSE2_PRESS,763.390169651,742,711,675,659,631,879,783,800,649.390169651,629,650.609830349,0.442599158776,0.00464084099134,0.0697357176767,0.99999990231,0.000165757884674,-0.00040577675571,-5.69986059775e-05,1793193622190755328
+199,3.316666667,POSE1_TO_POSE2_PRESS,763.964460321,742,711,675,659,631,879,783,800,649.964460321,629,650.035539679,0.442791097547,0.00465103815567,0.0697225973552,0.999999893734,0.000174495444717,-0.000422571918241,-5.92923530457e-05,1793193622207422976
+200,3.333333333,POSE1_TO_POSE2_PRESS,764,742,711,675,658.465094606,630.465094606,879.534905394,783,800,650,629,650,0.442954541098,0.0046691314249,0.06971594821,0.999999884808,0.000194280738253,-0.00043428227279,-6.35518844675e-05,1793193622224089856
+201,3.350000000,POSE1_TO_POSE2_PRESS,764,742.11033888,711.11033888,675,658.11033888,630,879.77932224,782.88966112,800,650,629,650.11033888,0.443111854635,0.00468639890123,0.069710421559,0.999999876307,0.000213074797014,-0.000444345078587,-6.73935829554e-05,1793193622240756224
+202,3.366666667,POSE1_TO_POSE2_PRESS,764,742.708970888,711.708970888,675,658.708970888,630,878.582058223,782.291029112,800,650,629,650.708970888,0.443250359083,0.00469770682065,0.0697079732616,0.999999871865,0.000224257102009,-0.000448601238607,-6.88123374723e-05,1793193622257423872
+203,3.383333333,POSE1_TO_POSE2_PRESS,763.704245969,743,711.704245969,675.295754031,658.704245969,630,878,782.295754031,800,650,629,651,0.443373314361,0.00470011478431,0.0697043304663,0.999999868931,0.000225596148007,-0.000454389575392,-6.90963381567e-05,1793193622274090496
+204,3.400000000,POSE1_TO_POSE2_PRESS,763.128673303,743,711.128673303,675.871326697,658.128673303,630,878,782.871326697,800,650,629,651,0.44348155826,0.00469410232629,0.0696995575334,0.999999867437,0.000217622294807,-0.000461627534124,-6.83067261144e-05,1793193622290756864
+205,3.416666667,POSE1_TO_POSE2_PRESS,763.444743081,742.555256919,711,675.555256919,658,630,878,783,800,649.555256919,629,651,0.443565602955,0.00469576576371,0.0696923596811,0.999999862284,0.000218719943288,-0.00047211504459,-6.85691178907e-05,1793193622307422976
+206,3.433333333,POSE1_TO_POSE2_PRESS,764,742.018192551,711,675,658,630,878.018192551,783,800,649,629,651,0.44364207382,0.00469943729918,0.069684518111,0.999999856015,0.000222282609314,-0.000483516285813,-6.90813908754e-05,1793193622324088832
+207,3.450000000,POSE1_TO_POSE2_PRESS,764,742.61234519,711,675,658,630,878.61234519,783,800,649,629,651,0.443699350254,0.00469671430339,0.0696784011996,0.999999851101,0.000221194850752,-0.000494224357597,-6.79152077807e-05,1793193622340755456
+208,3.466666667,POSE1_TO_POSE2_PRESS,764,743,711,675,658,630,878.799119797,783,800,649.200880203,629,650.799119797,0.443752948241,0.00469524590634,0.0696741076756,0.999999847767,0.000220839176335,-0.000501173509435,-6.72438797058e-05,1793193622357422336
+209,3.483333333,POSE1_TO_POSE2_PRESS,764,743,711,675,658,630,878.221130721,783,800,649.778869279,629,650.221130721,0.443799640734,0.00469613274576,0.0696732371652,0.999999847578,0.000221857830772,-0.000501066105858,-6.75015343995e-05,1793193622374089472
+210,3.500000000,POSE1_TO_POSE2_PRESS,764,743,711,675.356096659,658,630,878,783,800,650,629,650.356096659,0.443837294855,0.00469796432256,0.0696736892991,0.9999998478,0.000223844467579,-0.000499729704182,-6.75628264771e-05,1793193622390756608
+211,3.516666667,POSE1_TO_POSE2_PRESS,764,743,711,675.932852102,658,630,878,783,800,650,629,650.932852102,0.443869348264,0.00470038131523,0.0696749610224,0.999999848268,0.000226430924243,-0.000497631741776,-6.75024405599e-05,1793193622407423744
+212,3.533333333,POSE1_TO_POSE2_PRESS,764,742.481509026,711,675.481509026,658,630,878.518490974,783,800,650,629,651,0.443887925125,0.00470122324343,0.0696749232353,0.999999847487,0.000226924783399,-0.000499037246909,-6.70362261463e-05,1793193622424089600
+213,3.550000000,POSE1_TO_POSE2_PRESS,763.896128266,742.103871734,711,675.103871734,657.896128266,630,878.896128266,783,799.896128266,650,629,651,0.443903546979,0.00470114843663,0.0696743844186,0.999999846531,0.00022664930614,-0.000501144898741,-6.65016936843e-05,1793193622440755968
+214,3.566666667,POSE1_TO_POSE2_PRESS,763.317280019,742.682719981,711,675.682719981,657.317280019,630,878.317280019,783,799.317280019,650,629,651,0.443913776306,0.00469783066367,0.0696723435382,0.999999845529,0.000224116699214,-0.000504352363957,-6.58992813429e-05,1793193622457423104
+215,3.583333333,POSE1_TO_POSE2_PRESS,763,742.739021686,711,675.478043372,657.260978314,630,878.521956628,783,799.260978314,649.739021686,628.739021686,651,0.443921677009,0.00469666340785,0.0696712918205,0.99999984464,0.00022415780063,-0.000506159298808,-6.53913677943e-05,1793193622474091776
+216,3.600000000,POSE1_TO_POSE2_PRESS,763,742.161478947,711,674.322957893,657.838521053,630,879.677042107,783,799.838521053,649.161478947,628.161478947,651,0.443926753113,0.00469810471084,0.0696714399487,0.999999843897,0.000227320788038,-0.000506267402321,-6.49980804963e-05,1793193622490761984
+217,3.616666667,POSE1_TO_POSE2_PRESS,763.412645327,742,711,674.412645327,657.587354673,630,879.174709345,782.587354673,800.412645327,649.412645327,628,650.587354673,0.44392916207,0.00469932834679,0.0696704819682,0.999999843105,0.000227830887264,-0.000507572390144,-6.52200413886e-05,1793193622507426816
+218,3.633333333,POSE1_TO_POSE2_PRESS,763.985442844,742,711,674.985442844,657.014557156,630,878.029114312,782.014557156,800.985442844,649.985442844,628,650.014557156,0.443930535878,0.00470046750375,0.0696690946947,0.999999842293,0.00022731137134,-0.000509341901926,-6.56807868782e-05,1793193622524089856
+219,3.650000000,POSE1_TO_POSE2_PRESS,763.423812714,742,711,674.423812714,657,630,878,782,799.847625428,650,628.576187286,650,0.44393173036,0.00469926078637,0.0696693139623,0.999999842344,0.00022695048148,-0.000509498213241,-6.49358842644e-05,1793193622540756480
+220,3.666666667,POSE1_TO_POSE2_PRESS,763,742,711,674.163989382,657,630,878,782.163989382,799,650,628.836010618,650,0.44393334789,0.00469838272029,0.0696697375656,0.999999842492,0.000227250168668,-0.000509149355532,-6.43391429977e-05,1793193622557423360
+221,3.683333333,POSE1_TO_POSE2_PRESS,763,742,711,674.743157276,657,630,878,782.743157276,799,650,628.256842724,650,0.443936048306,0.00469849158835,0.0696705724307,0.999999842827,0.00022921179292,-0.000507628044304,-6.41971045823e-05,1793193622574090496
+222,3.700000000,POSE1_TO_POSE2_PRESS,763,742,711,675,657,630,878,782.678683257,799.321316743,650,628,650.321316743,0.443935699861,0.00469847247099,0.0696694685656,0.999999841927,0.000229562091956,-0.00050922228152,-6.43428716145e-05,1793193622590756864
+223,3.716666667,POSE1_TO_POSE2_PRESS,763,742,711,675,657,630,878,782.101327287,799.898672713,650,628,650.898672713,0.443932921951,0.00469835136928,0.0696668198356,0.999999840032,0.000228628416832,-0.000513299123765,-6.4717974593e-05,1793193622607422720
+224,3.733333333,POSE1_TO_POSE2_PRESS,763,742,711,675,657.47039898,630,878,782.47039898,799.52960102,650,628.47039898,650.52960102,0.443933668108,0.00469845252459,0.069666825312,0.999999840556,0.000227394394754,-0.000512850123639,-6.45300364045e-05,1793193622624089344
+225,3.750000000,POSE1_TO_POSE2_PRESS,763,742.042659068,711,675,658,630,878,783,799.042659068,649.957340932,628.957340932,650,0.443935221869,0.00469858759924,0.069667456115,0.999999841587,0.000226232847954,-0.000511388348899,-6.42399523394e-05,1793193622640755712
+226,3.766666667,POSE1_TO_POSE2_PRESS,763,742.637334039,711,675,658,630,878,783,799.637334039,649.362665961,628.362665961,650,0.443937519315,0.00469854940228,0.0696688678989,0.999999842526,0.000226836431085,-0.000509287256991,-6.41789461036e-05,1793193622657422080
+227,3.783333333,POSE1_TO_POSE2_PRESS,763,742.774830892,711,675.225169108,658,630,878.225169108,783,800,649.225169108,628.225169108,650.225169108,0.443938608158,0.00469827865163,0.0696694825346,0.999999843045,0.000226532393408,-0.000508411192537,-6.41176378663e-05,1793193622674089216
+228,3.800000000,POSE1_TO_POSE2_PRESS,763,742.197687683,711,675.802312317,658,630,878.802312317,783,800,649.802312317,628.802312317,650.802312317,0.443937807767,0.00469764438365,0.0696688511047,0.999999842909,0.000224809604155,-0.000509450035373,-6.40558575581e-05,1793193622690756864
+229,3.816666667,POSE1_TO_POSE2_PRESS,763.378366668,742,711,675.621633332,658,630,879,783,800,649.621633332,629,651,0.443937358388,0.00469688104233,0.069668070656,0.999999842635,0.000223984539147,-0.000510363177425,-6.39543493764e-05,1793193622707423744
+230,3.833333333,POSE1_TO_POSE2_PRESS,763.953853731,742,711,675.046146269,658,630,879,783,800,649.046146269,629,651,0.443937091876,0.00469605045676,0.069667212572,0.99999984229,0.000223627168026,-0.000511210832204,-6.38321438817e-05,1793193622724090368
+231,3.850000000,POSE1_TO_POSE2_PRESS,763.458532097,742,711,675,658,630,879.541467903,782.458532097,800,649.541467903,628.458532097,650.458532097,0.443938561804,0.00469717485505,0.0696679925668,0.999999842001,0.000226975727061,-0.000510298760863,-6.38292599873e-05,1793193622740756736
+232,3.866666667,POSE1_TO_POSE2_PRESS,763,742.127840723,711,675,658,630,879.744318554,782.127840723,800,649.872159277,628.127840723,650,0.443939916924,0.00469815480354,0.0696687299406,0.999999841905,0.000229122293048,-0.000509526836947,-6.38320978206e-05,1793193622757422848
+233,3.883333333,POSE1_TO_POSE2_PRESS,763,742.706114688,711,675,658,630,878.587770623,782.706114688,800,649.293885312,628.706114688,650,0.44394033417,0.00469802530836,0.0696688139942,0.999999842507,0.000225895455334,-0.000509789222624,-6.38184449196e-05,1793193622774089216
+234,3.900000000,POSE1_TO_POSE2_PRESS,763,742.716238432,711,675,657.716238432,630,878.283761568,783,800,649,628.716238432,650.283761568,0.443940719979,0.00469726269531,0.0696691077666,0.999999842937,0.000224339090556,-0.000509653594047,-6.36538770484e-05,1793193622790755840
+235,3.916666667,POSE1_TO_POSE2_PRESS,763,742.139239508,711,675,657.139239508,630,878.860760492,783,800,649,628.139239508,650.860760492,0.443941073301,0.00469584582235,0.0696696182611,0.999999843197,0.000224508981233,-0.000509106660166,-6.33333546289e-05,1793193622807422720
+236,3.933333333,POSE1_TO_POSE2_PRESS,763,742,711,675,657.437486716,630,878.562513284,782.562513284,800.437486716,649,628,651,0.443941158874,0.00469645949669,0.0696691337388,0.999999843128,0.000223923880023,-0.00050948337019,-6.34726112311e-05,1793193622824088832
+237,3.950000000,POSE1_TO_POSE2_PRESS,763.014419092,742,711,675,658,630,878,782.014419092,800.985580908,649,628.014419092,651,0.443941132427,0.00469768990653,0.0696683480438,0.999999842941,0.000223174706251,-0.000510145630688,-6.37434688213e-05,1793193622840755456
+238,3.966666667,POSE1_TO_POSE2_PRESS,763.603015935,742,711,675,658,630,878,782.603015935,800.396984065,649,628.603015935,651,0.443940036563,0.00469776046143,0.0696681722097,0.999999842278,0.00022545469079,-0.000510479936508,-6.34312584905e-05,1793193622857421824
+239,3.983333333,POSE1_TO_POSE2_PRESS,764,742,711,675,657.811659425,630.188340575,878,783,800,649.188340575,628.811659425,650.811659425,0.443939261373,0.00469808547586,0.069668061866,0.999999841694,0.000227334220746,-0.000510815632525,-6.32351359554e-05,1793193622874088960
+240,4.000000000,POSE1_TO_POSE2_PRESS,764,742,711,675,657.233114182,630.766885818,878,783,800,649.766885818,628.233114182,650.233114182,0.443939150557,0.00469893768047,0.0696680872051,0.999999841279,0.000228384087345,-0.000511154208737,-6.32795245445e-05,1793193622890756608
+241,4.016666667,HOLD_POSE2,764,742,711,675,657,630,878,783,800,649,628,651,0.443940876642,0.00469614960671,0.0696690729768,0.999999842317,0.000225731968419,-0.000510379493921,-6.26357331744e-05,1793193622926504960
+242,4.033333333,HOLD_POSE2,763.424284687,742,711,675,657,630,878,783,799.424284687,649.575715313,628,650.424284687,0.443940817476,0.00469752834821,0.0696685323443,0.999999841747,0.00022702796028,-0.000510874318435,-6.30256654979e-05,1793193622943171584
+243,4.050000000,HOLD_POSE2,763,742,711,675,657.154421383,630,878,783,799.308842766,650,628.154421383,650.154421383,0.443940554561,0.0046982323413,0.0696681392994,0.999999841547,0.000227132607913,-0.000511185516933,-6.32979500782e-05,1793193622959838464
+244,4.066666667,HOLD_POSE2,763,742,711,675,657.741507217,630,878,783,800.483014433,650,628.741507217,650.741507217,0.443939720779,0.00469704579569,0.0696681597712,0.999999842383,0.000223899296531,-0.0005109822243,-6.32406042577e-05,1793193622976504320
+245,4.083333333,HOLD_POSE2,763.32721585,742,711,675,657.67278415,630,878.32721585,783,800.67278415,650,629,651,0.443940430871,0.0046964230712,0.06966881424,0.999999843374,0.000222211916764,-0.000509784039432,-6.32062617791e-05,1793193622993170176
+246,4.100000000,HOLD_POSE2,763.911841053,742,711,675,657.088158947,630,878.911841053,783,800.088158947,650,629,651,0.443942355476,0.0046962438853,0.0696699674522,0.999999844487,0.000221740667945,-0.000507803207386,-6.31900152349e-05,1793193623009836800
+247,4.116666667,HOLD_POSE2,763.513689407,742.486310593,711,675.486310593,657,630,879,783,800,649.513689407,628.513689407,650.513689407,0.443941456006,0.00469618984016,0.0696686952314,0.999999842769,0.000224736158938,-0.000509853568844,-6.3280713173e-05,1793193623026504448
+248,4.133333333,HOLD_POSE2,763,742.938932633,711,675.938932633,657,630,878.938932633,782.938932633,800,649,628.061067367,650,0.443940527848,0.00469614714342,0.0696674008413,0.999999840997,0.000227921611628,-0.000511904076623,-6.33451356636e-05,1793193623043172352
+249,4.150000000,HOLD_POSE2,763,742.345966617,711,675.345966617,657,630,878.345966617,782.345966617,800,649,628.654033383,650,0.443943717715,0.00469600974069,0.0696696646893,0.999999843269,0.000227399750409,-0.000507720951742,-6.30152908823e-05,1793193623059838464
+250,4.166666667,HOLD_POSE2,763,742,711,675,657,630,878,782.240435236,800,649,629,650.240435236,0.443945312053,0.00469534317354,0.0696710059295,0.999999844762,0.000225407492577,-0.000505707670952,-6.26666911942e-05,1793193623076504832
+251,4.183333333,HOLD_POSE2,763,742,711,675,657,630,878,782.817642761,800,649,629,650.817642761,0.443944671568,0.00469393541757,0.0696710548932,0.999999845171,0.000221355682943,-0.000506733642898,-6.22918219534e-05,1793193623093171456
+252,4.200000000,HOLD_POSE2,763,742,711,675,657.394439128,630,878.394439128,783,800,649.394439128,629,651,0.443944066026,0.00469468000251,0.0696706165542,0.999999844578,0.000222643305446,-0.000507326118466,-6.24025991832e-05,1793193623109837568
+253,4.216666667,HOLD_POSE2,763,742,711,675,657.971045658,630,878.971045658,783,800,649.971045658,629,651,0.443943476622,0.00469641862246,0.0696699531598,0.999999843515,0.000226396885974,-0.000507718388556,-6.27376668949e-05,1793193623126503168
+254,4.233333333,HOLD_POSE2,763,742,711,675,658,630,879,783,800,650,628.456161452,651,0.443944341213,0.00469529221048,0.0696707013978,0.999999844584,0.000223992932731,-0.000506700446562,-6.25641746268e-05,1793193623143169792
+255,4.250000000,HOLD_POSE2,763.120238065,742,711,675,657.879761935,630,878.879761935,783,800,650,628,650.879761935,0.443945126253,0.00469453227733,0.0696712407664,0.999999845356,0.000222458499379,-0.000505862531588,-6.24687016921e-05,1793193623159836416
+256,4.266666667,HOLD_POSE2,763.711558149,742,711,675,657.288441851,630,878.288441851,783,800,650,628,650.288441851,0.443945298444,0.00469580163708,0.0696706693989,0.999999844551,0.000225606236565,-0.000506022057077,-6.27842444717e-05,1793193623176503040
+257,4.283333333,HOLD_POSE2,764,742,711,675,657,630,878.296385714,783,800,649.703614286,628,650.296385714,0.443945026468,0.0046951766285,0.069670356972,0.999999844397,0.000225136420507,-0.000506542847361,-6.27230286665e-05,1793193623193169664
+258,4.300000000,HOLD_POSE2,764,742,711,675,657,630,878.875030184,783,800,649.124969816,628,650.875030184,0.443944331495,0.00469274754487,0.0696702911436,0.999999844858,0.000221221478422,-0.000507407683068,-6.23030121145e-05,1793193623209836288
+259,4.316666667,POSE2_TO_POSE3_RETREAT,764,742,711,675,658,630,879,783,799,650,628,650,0.443945636559,0.00469630121437,0.0696705127074,0.999999844515,0.000223725524215,-0.000506915170703,-6.28749665778e-05,1793193623242471424
+260,4.333333333,POSE2_TO_POSE3_RETREAT,764,742,711,675,657.411940814,630,879,783,799.588059186,650,628,650.588059186,0.443943968384,0.0046957591293,0.0696700256915,0.999999843487,0.000224289483075,-0.00050870862808,-6.27299577141e-05,1793193623259138048
+261,4.350000000,POSE2_TO_POSE3_RETREAT,764,742.173460304,711,675,657,630,879,783,800,650,628.173460304,651,0.443942878242,0.00469553860739,0.0696695150392,0.999999842873,0.000224484739442,-0.000509838027659,-6.26515425905e-05,1793193623275804672
+262,4.366666667,POSE2_TO_POSE3_RETREAT,764,742.75264432,711,675,657,630,879,783,800,650,628.75264432,651,0.443943140118,0.00469607022168,0.0696689491014,0.999999843234,0.000223817600669,-0.00050941419618,-6.27288902194e-05,1793193623292471040
+263,4.383333333,POSE2_TO_POSE3_RETREAT,763.669272488,742.669272488,711,675,657.330727512,630,879,783,800,650,628.669272488,651,0.443943805382,0.00469568690782,0.0696695111482,0.999999843917,0.000223263340206,-0.000508329054089,-6.26130914491e-05,1793193623309137664
+264,4.400000000,POSE2_TO_POSE3_RETREAT,763.092009919,742.092009919,711,675,657.907990081,630,879,783,800,650,628.092009919,651,0.443944771344,0.0046946215767,0.0696709140314,0.999999844839,0.000222793222953,-0.000506750949562,-6.23533150593e-05,1793193623325804288
+265,4.416666667,POSE2_TO_POSE3_RETREAT,763.484611636,742,711,675,657.515388364,630,878.515388364,783,800,650,628,651,0.443942610973,0.00469339963333,0.0696692888639,0.999999844137,0.000220936285387,-0.000508934825523,-6.24354910038e-05,1793193623342470144
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764,742,711,675,657,630,878.0624278,783,800,649.9375722,628.0624278,650.9375722,0.443938651981,0.00469244413975,0.069666599587,0.999999842627,0.000219168810279,-0.000512633886041,-6.25887926163e-05,1793193623359135744
+267,4.450000000,POSE2_TO_POSE3_RETREAT,764,742,711,675,657,630,878.651343836,783,800,649.348656164,628.651343836,650.348656164,0.443924523566,0.00469398620467,0.069659778262,0.999999836932,0.000220373494912,-0.000523095530575,-6.27951182277e-05,1793193623375802624
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764,742,711,675,657.236306958,630,879,783,800,649.236306958,628.763693042,650,0.443897573262,0.00469451301765,0.0696473357653,0.999999825452,0.000221340305171,-0.000544212182476,-6.2742174059e-05,1793193623392469248
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,742,711,675,657.815533707,630,879,783,800,649.815533707,628.184466293,650,0.443852016315,0.004693566535,0.0696267360356,0.999999804766,0.000221961920776,-0.000580790979905,-6.23129872448e-05,1793193623409135872
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764,742.392259904,711,675.392259904,658,630,879,783,800,649.607740096,628,650,0.443790498925,0.00469289240763,0.0696068579876,0.999999782022,0.000222995037655,-0.000618438796728,-6.13475614265e-05,1793193623425803008
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764,742.967817676,711,675.967817676,658,630,879,783,800,649.032182324,628,650,0.443721523426,0.0046923455482,0.0695873171701,0.999999757502,0.000224220443514,-0.000656586154894,-6.01315581215e-05,1793193623442470656
+272,4.533333333,POSE2_TO_POSE3_RETREAT,763.458885234,743,711,675.458885234,657.458885234,630,878.458885234,783,799.458885234,649.541114766,628,650,0.443649720586,0.00469257581522,0.0695819462199,0.99999975426,0.000226208374782,-0.000660882995848,-5.95237249023e-05,1793193623459137280
+273,4.550000000,POSE2_TO_POSE3_RETREAT,763.118125314,742.881874686,711,675,657,630,878.118125314,783,799,650,628.118125314,650.118125314,0.443573171633,0.00469264444698,0.0695787992689,0.999999752951,0.000227938357703,-0.000662353988406,-5.85606289933e-05,1793193623475803648
+274,4.566666667,POSE2_TO_POSE3_RETREAT,763.710585144,742.289414856,711,675,657,630,878.710585144,783,799,650,628.710585144,650.710585144,0.443478236965,0.00469187920842,0.0695812128676,0.999999754187,0.000228451196262,-0.000660528261416,-5.60263300068e-05,1793193623492470272
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764,742,711,675,657,630,878.70387545,783,799.29612455,650,629,651,0.44337098768,0.00469009547681,0.0695851069405,0.999999757345,0.000228600144171,-0.000655921234337,-5.31049670012e-05,1793193623509136896
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764,742,711,675,657,630,878.124945243,783,799.875054757,650,629,651,0.443251977665,0.0046873390613,0.0695904148997,0.999999762297,0.00022840156822,-0.000648658002705,-4.98139492332e-05,1793193623525803520
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764,742,711,675,657.450684213,630,878.450684213,783,800,650,629,650.549315787,0.443107430301,0.00468572600598,0.0695960871332,0.999999766282,0.000230825576427,-0.000641896154357,-4.60931548143e-05,1793193623542470400
+278,4.633333333,POSE2_TO_POSE3_RETREAT,763.974027124,742,711,675.025972876,658,630.025972876,878.974027124,783,800,649.974027124,629,650.025972876,0.442954336087,0.00468426926494,0.069602045817,0.999999770214,0.000233860087003,-0.000634902302133,-4.2194587644e-05,1793193623559138048
+279,4.650000000,POSE2_TO_POSE3_RETREAT,763.386464799,742,711,675.613535201,658,630.613535201,878.386464799,783,800,649.386464799,629,650.613535201,0.442768408849,0.00467938843818,0.0696120304383,0.99999977968,0.000234488434705,-0.000619908381792,-3.70097156061e-05,1793193623575804416
+280,4.666666667,POSE2_TO_POSE3_RETREAT,763,742.198489856,711,675.801510144,658,630.801510144,878,783,799.801510144,649.198489856,628.801510144,651,0.442566651733,0.00467480052545,0.0696200320789,0.99999978611,0.000236019433368,-0.000609166814986,-3.14657212341e-05,1793193623592471040
+281,4.683333333,POSE2_TO_POSE3_RETREAT,763,742.778433079,711,675.221566921,658,630.221566921,878,783,799.221566921,649.778433079,628.221566921,651,0.442334473135,0.0046707755289,0.0696242228703,0.999999787073,0.000239285126484,-0.00060659732809,-2.52315742002e-05,1793193623609138432
+282,4.700000000,POSE2_TO_POSE3_RETREAT,763,742.643705293,711,675.356294707,658,630.356294707,878,783,799.356294707,650,628.356294707,651,0.442081263445,0.00466525866949,0.0696312495702,0.999999791962,0.000240275089527,-0.000598326696713,-1.86675021396e-05,1793193623625805056
+283,4.716666667,POSE2_TO_POSE3_RETREAT,763,742.06713056,711,675.93286944,658,630.93286944,878,783,799.93286944,650,628.93286944,651,0.44181505121,0.00465881946201,0.0696400295774,0.999999799154,0.000239858077476,-0.000586531319249,-1.18994525604e-05,1793193623642471168
+284,4.733333333,POSE2_TO_POSE3_RETREAT,763.49599106,742,711,675.008017881,658.49599106,631,878.49599106,783,800,649.50400894,629,650.50400894,0.441527264527,0.004652499042,0.0696516146385,0.999999811501,0.000243289172569,-0.000563723712702,-4.82683238446e-06,1793193623659137792
+285,4.750000000,POSE2_TO_POSE3_RETREAT,763.937842972,742,711,674.062157028,659,631,879,783,800,649.062157028,629,650,0.441229413891,0.00464588298018,0.0696642400987,0.999999824579,0.000246775455207,-0.000538459176948,2.42965774576e-06,1793193623675804416
+286,4.766666667,POSE2_TO_POSE3_RETREAT,763.329335157,742,711,674.670664843,659,631,879,783,800,649.670664843,629,650,0.440868091238,0.00463653068184,0.0696827615422,0.999999842424,0.000246289733508,-0.000504353590166,1.09495697872e-05,1793193623692471296
+287,4.783333333,POSE2_TO_POSE3_RETREAT,763,742.263393687,711,675,659,631,879,783,800,649.736606313,629,650,0.440487399953,0.0046292311707,0.0696977607815,0.9999998555,0.00024669206564,-0.000477280515738,1.86103959809e-05,1793193623709137920
+288,4.800000000,POSE2_TO_POSE3_RETREAT,763,742.837508318,711,675,659,631,879,783,800,649.162491682,629,650,0.440083859855,0.00462435329741,0.0697086049367,0.999999863781,0.000248142019638,-0.00045850357607,2.52577730656e-05,1793193623725804544
+289,4.816666667,POSE2_TO_POSE3_RETREAT,763,742.586814281,711,675,659,631,878.586814281,783,799.586814281,649,629,650,0.439635657265,0.00461594168055,0.0697107774185,0.999999873754,0.000214738347729,-0.000453751090179,2.21322420694e-05,1793193623742471168
+290,4.833333333,POSE2_TO_POSE3_RETREAT,763,742.010519976,711,675,659,631,878.010519976,783,799.010519976,649,629,650,0.439169823785,0.0046061350884,0.0697095266831,0.999999882543,0.000167575909421,-0.000454534876587,1.51487720916e-05,1793193623759138048
+291,4.850000000,POSE2_TO_POSE3_RETREAT,763.577078386,742.577078386,711,675,659,631,878.577078386,783.577078386,799.577078386,649.577078386,629,650.577078386,0.438659975634,0.00459654474313,0.0696975406397,0.999999878151,0.000158054794089,-0.000467234131038,2.02435809801e-05,1793193623775804928
+292,4.866666667,POSE2_TO_POSE3_RETREAT,763.836918078,742.836918078,711,674.836918078,659.163081922,631,878.836918078,784,800,649.836918078,629,650.836918078,0.438141840144,0.00458811531228,0.0696943170715,0.999999880124,0.000149755413903,-0.000465537499185,2.44851983261e-05,1793193623792471296
+293,4.883333333,POSE2_TO_POSE3_RETREAT,763.255544343,742.255544343,711,674.255544343,659.744455657,631,878.255544343,784,800,649.255544343,629,650.255544343,0.437604547533,0.00458265322036,0.0697140805263,0.999999898581,0.000142794497978,-0.000426348320439,2.59624115724e-05,1793193623809137664
+294,4.900000000,POSE2_TO_POSE3_RETREAT,763,742.32354977,711,674,660.32354977,631.32354977,878.32354977,784,800,649,629,650.32354977,0.437049860314,0.00457675868109,0.0697420401954,0.999999913771,0.000159185531387,-0.000382531222099,2.80813910207e-05,1793193623825804288
+295,4.916666667,POSE2_TO_POSE3_RETREAT,763,742.900856063,711,674,660.900856063,631.900856063,878.900856063,784,800,649,629,650.900856063,0.436481530639,0.00457052497752,0.0697764280671,0.999999924591,0.000193891240597,-0.000335084492482,3.07037007445e-05,1793193623842470912
+296,4.933333333,POSE2_TO_POSE3_RETREAT,763,743,711,674,661.47504552,632,878.52495448,784,800,649.47504552,629,651,0.435856885237,0.00456670397174,0.0697989373169,0.999999935897,0.000185723393556,-0.000304222680645,3.40887263367e-05,1793193623859137024
+297,4.950000000,POSE2_TO_POSE3_RETREAT,763.050107992,742.949892008,711,674,662,632,878,784,800,650,629,651,0.435215716511,0.00456351535039,0.0698169246518,0.999999945734,0.000169211221479,-0.000280177940136,3.7403798446e-05,1793193623875802624
+298,4.966666667,POSE2_TO_POSE3_RETREAT,763.641585149,742.358414851,711,674,662,632,878,784,800,650,629,651,0.434522184293,0.00456175423126,0.0698126669211,0.999999943876,0.000158589787392,-0.000292632429561,3.8254493725e-05,1793193623892469504
+299,4.983333333,POSE2_TO_POSE3_RETREAT,763.772220492,742,711,674,661.772220492,632,878,784,799.772220492,649.772220492,629,650.772220492,0.433805313417,0.00456047952787,0.0698064190816,0.999999940641,0.000154697646883,-0.000305424966775,3.87623680727e-05,1793193623909136128
+300,5.000000000,POSE2_TO_POSE3_RETREAT,763.19415032,742,711,674,661.19415032,632,878,784,799.19415032,649.19415032,629,650.19415032,0.433052551235,0.00455995285892,0.0697971107539,0.999999935467,0.000161154149637,-0.000318737370011,3.87430352852e-05,1793193623925803008
+301,5.016666667,POSE2_TO_POSE3_RETREAT,763,742.382440216,711,674,661.764880432,632,877.617559784,784,799,649.382440216,629,650.382440216,0.432300917711,0.00455884323868,0.0698013988244,0.999999938114,0.000163542295501,-0.000308982268341,3.94351298128e-05,1793193623942469632
+302,5.033333333,POSE2_TO_POSE3_RETREAT,763,742.958282475,711,674,662.91656495,632,877.041717525,784,799,649.958282475,629,650.958282475,0.431549854979,0.00455743881689,0.0698125626657,0.999999944407,0.000163873051485,-0.000287561806728,4.0486996891e-05,1793193623959136000
+303,5.050000000,POSE2_TO_POSE3_RETREAT,763,742.457225237,711,674,663,632,877,784,799,649.457225237,629,651,0.430715444446,0.00455788932494,0.0697686329221,0.999999918708,0.000165459047047,-0.00036544186401,4.07415532033e-05,1793193623975802624
+304,5.066666667,POSE2_TO_POSE3_RETREAT,763,742,711,674,662.618201498,632,877.127266167,784,799,649.127266167,629,650.872733833,0.42987920791,0.00455756987217,0.0697296136601,0.999999892067,0.000166389510801,-0.00043189224197,4.06142596316e-05,1793193623992469504
+305,5.083333333,POSE2_TO_POSE3_RETREAT,763,742,711,674,660.871980338,632,877.709339887,784,799,649.709339887,629,650.290660113,0.429059710045,0.00455398108422,0.0697235205677,0.99999989332,0.000164626959974,-0.000429779947178,3.93449058153e-05,1793193624009136128
+306,5.100000000,POSE2_TO_POSE3_RETREAT,763,742,711,674,660.577456143,632,878,783.711271929,799,649.711271929,629,650,0.428251529359,0.00454964557057,0.0697553064216,0.999999914995,0.000159906820327,-0.000377877251562,4.06138673224e-05,1793193624025802752
+307,5.116666667,POSE2_TO_POSE3_RETREAT,763,742,711,674,661.730875466,632,878,783.134562267,799,649.134562267,629,650,0.427454636494,0.00454456526137,0.0698248732885,0.999999949251,0.000152236736982,-0.00027631288051,4.44145810972e-05,1793193624042469632
+308,5.133333333,POSE2_TO_POSE3_RETREAT,763,742,711,674,662.44018143,632,878,783.44018143,799,649.44018143,629,650,0.426627619244,0.00454088374623,0.0698543476302,0.99999996005,0.000150557683829,-0.000234652985142,4.65897226722e-05,1793193624059136000
+309,5.150000000,POSE2_TO_POSE3_RETREAT,763,742,711,673.985238767,662.970477535,632,878,784,799.014761233,649.985238767,629,650,0.425790269404,0.00453751064925,0.0698703008172,0.9999999648,0.000150378474658,-0.000213220689356,4.8204009669e-05,1793193624075802880
+310,5.166666667,POSE2_TO_POSE3_RETREAT,763,742,711,673.393682527,661.787365055,632,878,784,799.606317473,649.393682527,629,650,0.424907411064,0.00452955451495,0.0698346955881,0.999999953028,0.000137560282122,-0.000269797220869,4.7234224494e-05,1793193624092469248
+311,5.183333333,POSE2_TO_POSE3_RETREAT,763,742,711,673,661.193639506,632,877.806360494,784,799.806360494,649,629,650,0.424012174886,0.00452304825303,0.0698008604225,0.999999938107,0.000128187434352,-0.000324372244384,4.621517647e-05,1793193624109135872
+312,5.200000000,POSE2_TO_POSE3_RETREAT,763,742,711,673,661.772537278,632,877.227462722,784,799.227462722,649,629,650,0.423092312257,0.00451942660606,0.0697705469142,0.999999920787,0.000125669323147,-0.000374965136466,4.50981170774e-05,1793193624125802752
+313,5.216666667,POSE2_TO_POSE3_RETREAT,763,742,711,673,661.303302294,632,877,784,799.696697706,649.348348853,629,650,0.422145550516,0.00451423240712,0.069725075441,0.999999889675,0.000119927432059,-0.000451956133058,4.47511388841e-05,1793193624142469376
+314,5.233333333,POSE2_TO_POSE3_RETREAT,763,742,711,673,660.155674209,632,877,784,800.844325791,649.922162896,629,650,0.421181378638,0.00450802039032,0.0696697931331,0.999999843633,0.000112098982185,-0.000546033024912,4.49025875513e-05,1793193624159136000
+315,5.250000000,POSE2_TO_POSE3_RETREAT,763,742.498559075,711,673,660.498559075,632,877,784,800.00288185,649.501440925,629,650.498559075,0.420376398041,0.00449774516268,0.069718347169,0.999999888325,9.43586360614e-05,-0.000460832970597,4.55974017492e-05,1793193624175802624
+316,5.266666667,POSE2_TO_POSE3_RETREAT,763,742.922759023,711,673,661.154481953,632,877.077240977,784,799.077240977,649,629,651,0.41959705714,0.00448752526381,0.0697831262331,0.999999934844,7.84728797117e-05,-0.00034924521415,4.67147611535e-05,1793193624192469504
+317,5.283333333,POSE2_TO_POSE3_RETREAT,763,742.331564811,711,673,662.336870377,632,877.668435189,784,799.668435189,649,629,651,0.418822086234,0.00448191649601,0.0698474346371,0.999999964039,8.52777968989e-05,-0.000249285043821,5.0076289051e-05,1793193624209136384
+318,5.300000000,POSE2_TO_POSE3_RETREAT,763,742.253371175,711,673,662.746628825,632,877.746628825,784,799.746628825,649,629,650.746628825,0.41800282846,0.00447460155987,0.0698738199543,0.999999972481,8.13258013111e-05,-0.000213930961517,5.15521535936e-05,1793193624225803008
+319,5.316666667,POSE2_TO_POSE3_RETREAT,763,742.830315052,711,673,662.169684948,632,877.169684948,784,799.169684948,649,629,650.169684948,0.417127013153,0.00446510772673,0.0698517748474,0.999999962612,6.36364778632e-05,-0.000261083357766,5.06198950991e-05,1793193624242469632
+320,5.333333333,POSE2_TO_POSE3_RETREAT,763,742.596068519,711,673,661.192137037,632,877.403931481,784,799,649,629,650,0.416263947655,0.00445769390241,0.0698213943657,0.999999954451,4.94497470309e-05,-0.000293867683538,4.79026389411e-05,1793193624259136256
+321,5.350000000,POSE2_TO_POSE3_RETREAT,763,742.023838508,711,673,660.047677016,632,877.976161492,784,799,649,629,650,0.415406194432,0.00445114671679,0.0697875409415,0.999999946925,3.67223766159e-05,-0.000320665532893,4.44416614491e-05,1793193624275802880
+322,5.366666667,POSE2_TO_POSE3_RETREAT,763,742.567601296,711,672.432398704,661.135202593,632,877.432398704,784,799.567601296,649.567601296,629,650.567601296,0.41454535859,0.004446405216,0.0697522811907,0.999999920353,3.28751398167e-05,-0.000395195691382,4.50991548423e-05,1793193624292469504
+323,5.383333333,POSE2_TO_POSE3_RETREAT,763.156055365,743,711,672.156055365,661.687889271,632,877,784,799.843944635,649.843944635,629,651,0.41371467889,0.00444063213,0.0697300420069,0.999999899767,2.68349205694e-05,-0.000444588920237,4.56731468798e-05,1793193624309136128
+324,5.400000000,POSE2_TO_POSE3_RETREAT,763.734175766,743,711,672.734175766,660.531648468,632,877,784,799.265824234,649.265824234,629,651,0.412965921509,0.00443185674342,0.0697431833972,0.999999910506,1.38195746463e-05,-0.00042038539025,4.55371026463e-05,1793193624325802496
+325,5.416666667,POSE2_TO_POSE3_RETREAT,763.689061886,742.689061886,711.310938114,673,660.621876228,632,877,784,799,649,628.689061886,651,0.412272465172,0.00442411648031,0.0697847798631,0.999999939129,3.07910027083e-06,-0.000345926945996,4.54671695595e-05,1793193624342469376
+326,5.433333333,POSE2_TO_POSE3_RETREAT,763.113455533,742.113455533,711.886544467,673,661.773088935,632,877,784,799,649,628.113455533,651,0.411626080715,0.00441725730715,0.0698505970797,0.999999972801,-5.72501952565e-06,-0.000228691885162,4.54535093397e-05,1793193624359136000
+327,5.450000000,POSE2_TO_POSE3_RETREAT,763.463092646,742,711.536907354,673,662,632,877,784,799,649,628.463092646,651,0.410923890694,0.00442502902334,0.0698701768407,0.999999978716,1.74634147281e-06,-0.000200936970195,4.6782817244e-05,1793193624375802880
+328,5.466666667,POSE2_TO_POSE3_RETREAT,763.959223101,742,711,673,661.918446202,632,877.040776899,784,799.081553798,649.040776899,628.959223101,650.959223101,0.410209464676,0.00443744670328,0.0698748470687,0.999999978602,1.47141521442e-05,-0.000200650287591,4.81554347038e-05,1793193624392469504
+329,5.483333333,POSE2_TO_POSE3_RETREAT,763.369354797,742,711,673,660.738709594,632,877.630645203,784,800.261290406,649.630645203,628.369354797,650.369354797,0.409514752792,0.00446405941518,0.069831599601,0.999999960151,4.78927849824e-05,-0.000274443250521,4.56717033347e-05,1793193624409136128
+330,5.500000000,POSE2_TO_POSE3_RETREAT,763.216736935,742,711,673,660.216736935,632,878,784,800.56652613,650,628.216736935,650.216736935,0.408838441495,0.00447707646344,0.0697935032881,0.99999994041,6.29986420828e-05,-0.000336641798181,4.33955987593e-05,1793193624425802496
+331,5.516666667,POSE2_TO_POSE3_RETREAT,763.796503092,742,711,673,660.796503092,632,878,784,799.406993816,650,628.796503092,650.796503092,0.408192950634,0.00446732110205,0.0697640350302,0.999999926016,4.78330344322e-05,-0.000379419989325,4.14672640805e-05,1793193624442469120
+332,5.533333333,POSE2_TO_POSE3_RETREAT,764,742,711,673,661,632.371894225,878,784,799,649.628105775,629,651,0.407605241532,0.00445857539356,0.0697656205838,0.999999928244,3.3620784378e-05,-0.000375070270559,4.12684912951e-05,1793193624459136000
+333,5.550000000,POSE2_TO_POSE3_RETREAT,764,742,711,673,661,632.944919188,878,784,799,649.055080812,629,651,0.407048782451,0.00445037573403,0.0697840009039,0.999999939327,1.99241375346e-05,-0.000345232464921,4.20051137893e-05,1793193624475802624
+334,5.566666667,POSE2_TO_POSE3_RETREAT,764,742,711,673,661,632.468357939,877.468357939,784,799,649.531642061,629,651,0.406511018075,0.00445257239326,0.0697890475994,0.999999939286,2.37291492988e-05,-0.000345029123541,4.26685840508e-05,1793193624492469248
+335,5.583333333,POSE2_TO_POSE3_RETREAT,764,742,711,673,660.88221644,632,877.11778356,784,799,649.88221644,629,650.88221644,0.405985560322,0.00445587520909,0.0697914279084,0.999999937901,2.95765181649e-05,-0.000348496978571,4.32754468828e-05,1793193624509135872
+336,5.600000000,POSE2_TO_POSE3_RETREAT,764,742,711,673,660.304041388,632,877.695958612,784,799,649.304041388,629,650.304041388,0.405500435596,0.0044591802108,0.0697889283984,0.999999935736,3.61319326323e-05,-0.000353996299151,4.36914509727e-05,1793193624525802496
+337,5.616666667,POSE2_TO_POSE3_RETREAT,763.725566805,742,711,672.725566805,660,632,878,784,799,649.274433195,629,650.274433195,0.405054534948,0.00446439103357,0.0697953949264,0.999999939466,4.11011567499e-05,-0.000342796116677,4.32322877003e-05,1793193624542469376
+338,5.633333333,POSE2_TO_POSE3_RETREAT,763.14676005,742,711,672.14676005,660,632,878,784,799,649.85323995,629,650.85323995,0.404652137714,0.0044717156002,0.0698118056777,0.999999949137,4.43111384057e-05,-0.000313074532853,4.18024771991e-05,1793193624559136256
+339,5.650000000,POSE2_TO_POSE3_RETREAT,763.428640456,742,711,672.428640456,660.428640456,632,877.571359544,784,799,649.571359544,629,650.571359544,0.404284137142,0.00446993960798,0.0698288469891,0.999999958587,4.06562216194e-05,-0.000281889803516,4.13585368668e-05,1793193624575802880
+340,5.666666667,POSE2_TO_POSE3_RETREAT,764,742,711,673,661,632,877,784,799,649,629,650.002960683,0.403927867721,0.00446508003775,0.0698459815639,0.999999967194,3.47056528254e-05,-0.000250412315793,4.12448212851e-05,1793193624592469248
+341,5.683333333,POSE2_TO_POSE3_RETREAT,764,742,711,673,661,632,877,784,799,649,629,650.592482179,0.40358093505,0.00446175613155,0.0698391578564,0.999999964901,3.59379522201e-05,-0.000259400929138,4.0207659113e-05,1793193624609136128
+342,5.700000000,POSE2_TO_POSE3_RETREAT,764,742,711,672.820342176,661,632,877.179657824,784,799,649.179657824,628.820342176,651,0.403245412199,0.00445925553143,0.0698315434869,0.999999961818,3.54878065728e-05,-0.000271185511526,3.95307313156e-05,1793193624625803008
+343,5.716666667,POSE2_TO_POSE3_RETREAT,764,742,711,672.23841893,661,632,877.76158107,784,799,649.76158107,628.23841893,651,0.402935436599,0.00445859836593,0.0698221587731,0.999999956897,3.12705584988e-05,-0.00028923045016,3.96603912492e-05,1793193624642469632
+344,5.733333333,POSE2_TO_POSE3_RETREAT,764,742,711,672.33853769,661,632,878,784,799.33853769,649.66146231,628,650.66146231,0.402654320413,0.00445927235127,0.0698116649396,0.999999951455,2.72841177712e-05,-0.000307888113914,3.93726969992e-05,1793193624659136000
+345,5.750000000,POSE2_TO_POSE3_RETREAT,764,742,711,672.912047049,661,632,878,784,799.912047049,649.087952951,628,650.087952951,0.402393234941,0.00446087025957,0.0698004012908,0.999999945517,2.3457875667e-05,-0.000326971055759,3.87953262491e-05,1793193624675802624
+346,5.766666667,POSE2_TO_POSE3_RETREAT,764,742,711,673,661,632.496616519,878,784,800,649.496616519,628.496616519,650.496616519,0.402169013839,0.00446168938349,0.0697924924208,0.999999941221,2.16481759328e-05,-0.00033998176676,3.87508689321e-05,1793193624692469504
+347,5.783333333,POSE2_TO_POSE3_RETREAT,764,742.082060914,711,673,660.917939086,632.917939086,878,784,800,650,629,650.917939086,0.401958640131,0.00446264147272,0.0697866225645,0.999999937904,2.1195550647e-05,-0.000349623326015,3.88220193409e-05,1793193624709136128
+348,5.800000000,POSE2_TO_POSE3_RETREAT,764,742.660676777,711,673,660.339323223,632.339323223,878,784,800,650,629,650.339323223,0.401791651488,0.004465251751,0.0697894137871,0.999999939185,2.67443660571e-05,-0.000345533611439,3.90086032549e-05,1793193624725802752
+349,5.816666667,POSE2_TO_POSE3_RETREAT,763.760844909,742.760844909,711,672.760844909,660.239155091,632,878,784,799.760844909,650,629,650.239155091,0.401638121503,0.00447036164989,0.0697914317126,0.999999939746,4.38989286423e-05,-0.000342148525798,3.89157599825e-05,1793193624742469376
+350,5.833333333,POSE2_TO_POSE3_RETREAT,763.182561694,742.182561694,711,672.182561694,660.817438306,632,878,784,799.182561694,650,629,650.817438306,0.401503676259,0.00447901607544,0.0697923530828,0.999999938538,7.75107413685e-05,-0.000339762622362,3.84266816643e-05,1793193624759136000
+351,5.850000000,POSE2_TO_POSE3_RETREAT,763.394428386,742,711,672.394428386,660.605571614,632,878,784,799,650,629,651,0.401392606141,0.0044833626756,0.0697934520364,0.999999938995,8.33316316981e-05,-0.000337180868742,3.70753674426e-05,1793193624775802624
+352,5.866666667,POSE2_TO_POSE3_RETREAT,763.970821944,742,711,672.970821944,660.029178056,632,878,784,799,650,629,651,0.401292319866,0.00448572190894,0.0697946329161,0.999999940515,7.63314904659e-05,-0.000334508761697,3.53262701961e-05,1793193624792469248
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764,742,711,672.442735755,660,632,878,784,799,650,628.442735755,651,0.401217136891,0.00448049094259,0.0697949094115,0.999999942521,5.8663488267e-05,-0.000332278453024,3.32785623783e-05,1793193624809135872
+354,5.900000000,POSE2_TO_POSE3_RETREAT,764,742,711,672.142336038,660.142336038,632.142336038,878,784,799,650,628.142336038,650.857663962,0.401147594872,0.00447624560608,0.0697949883247,0.999999943845,4.41782744813e-05,-0.000330677807245,3.17807610584e-05,1793193624825802752
+355,5.916666667,POSE2_TO_POSE3_RETREAT,764,742,711,672.721556748,660.721556748,632.721556748,878,784,799,650,628.721556748,650.278443252,0.401091258647,0.00447626778267,0.0697946087956,0.999999943878,4.12082037726e-05,-0.000330937535655,3.20197076659e-05,1793193624842469376
+356,5.933333333,POSE2_TO_POSE3_RETREAT,764,742,711,673,661,633,878,784,799,649.700206784,629,650.299793216,0.40104632182,0.00447633528861,0.0697951613969,0.999999944287,4.08539762582e-05,-0.00032971735346,3.23170681309e-05,1793193624859136000
+357,5.950000000,POSE2_TO_POSE3_RETREAT,764,742,711,673,661,633,878,784,799,649.122881508,629,650.877118492,0.401011937931,0.00447644475796,0.0697965769132,0.999999945039,4.29213525901e-05,-0.000327127151457,3.26685049159e-05,1793193624875802368
+358,5.966666667,POSE2_TO_POSE3_RETREAT,764,742,711,672.547583976,661,632.547583976,878,784,799.452416024,649.452416024,629,651,0.40099211168,0.0044763106317,0.0697994629625,0.999999946725,4.23664097676e-05,-0.000322009379997,3.26300704811e-05,1793193624892469248
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764,742,711,672.027843499,661,632,877.972156501,784,799.972156501,650,629,651,0.400976556989,0.00447607219515,0.0698027434863,0.999999948627,4.10749569727e-05,-0.000316230967891,3.2507773967e-05,1793193624909135872
+360,6.000000000,POSE2_TO_POSE3_RETREAT,764,742,711,672.616942839,661,632,877.383057161,784,799.383057161,650,629,651,0.400967758654,0.00447505886147,0.0698059603655,0.999999950359,3.92304747415e-05,-0.000310912421004,3.28200538576e-05,1793193624925802752
+361,6.016666667,POSE2_TO_POSE3_RETREAT,764,742,711,672.797089412,660.797089412,632.202910588,877.202910588,784,799,649.797089412,629,650.797089412,0.400959726326,0.00447453054803,0.0698084092016,0.999999951522,3.84220040765e-05,-0.000307230900105,3.29968772339e-05,1793193624942469632
+362,6.033333333,POSE2_TO_POSE3_RETREAT,764,742,711,672.216943732,660.216943732,632.783056268,877.783056268,784,799,649.216943732,629,650.216943732,0.400953118099,0.00447490394544,0.0698094301531,0.999999951677,3.95396032262e-05,-0.000306592807229,3.29218706905e-05,1793193624959136000
+363,6.050000000,POSE2_TO_POSE3_RETREAT,763.640298614,742,711.359701386,672.359701386,660.359701386,632.640298614,877.640298614,784,799,649.359701386,629,650.359701386,0.400949719187,0.00447550683964,0.0698102301422,0.999999952045,4.14112389586e-05,-0.000305151763275,3.28132690415e-05,1793193624975802624
+364,6.066666667,POSE2_TO_POSE3_RETREAT,763.065744358,742,711.934255642,672.934255642,660.934255642,632.065744358,877.065744358,784,799,649.934255642,629,650.934255642,0.400948237229,0.00447624681438,0.0698108981484,0.999999952535,4.37332676261e-05,-0.000303231109363,3.26846007266e-05,1793193624992469504
+365,6.083333333,POSE2_TO_POSE3_RETREAT,763.519885534,742,711.480114466,673,661,632.519885534,877,784,799.519885534,650,629,651,0.400948714105,0.00447549432807,0.0698123604224,0.99999995349,4.16112511825e-05,-0.00030038836393,3.24717960048e-05,1793193625009136128
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764,742,711,673,661,632.894126163,877.105873837,784,799.894126163,650,629,650.894126163,0.400949343874,0.00447489022929,0.0698138867977,0.999999954367,3.97865699424e-05,-0.000297722466477,3.23305802248e-05,1793193625025802752
+367,6.116666667,POSE2_TO_POSE3_RETREAT,764,742,711,673,661,632.31295331,877.68704669,784,799.31295331,650,629,650.31295331,0.400949523758,0.00447581801926,0.0698152402114,0.999999954671,4.18745755578e-05,-0.000296385369637,3.25595534311e-05,1793193625042469632
+368,6.133333333,POSE2_TO_POSE3_RETREAT,763.733907996,742,711.266092004,673,661,632.266092004,878,784,799,650,628.733907996,650.266092004,0.40094927792,0.00447660810316,0.069815588763,0.999999954706,4.31912340685e-05,-0.000296086382649,3.24740317952e-05,1793193625059136000
+369,6.150000000,POSE2_TO_POSE3_RETREAT,763.157345085,742,711.842654915,673,661,632.842654915,878,784,799,650,628.157345085,650.842654915,0.400948535358,0.00447723751429,0.0698147648612,0.999999954432,4.36078998535e-05,-0.000296998641859,3.20215637617e-05,1793193625075802624
+370,6.166666667,POSE2_TO_POSE3_RETREAT,763,742.418157845,711.581842155,672.581842155,661,633,877.581842155,784,799,650,628.418157845,651,0.400948450258,0.0044767561726,0.0698150165549,0.999999954534,4.18987796569e-05,-0.000296902402333,3.20166207525e-05,1793193625092469504
+371,6.183333333,POSE2_TO_POSE3_RETREAT,763,742.99326292,711.00673708,672.00673708,661,633,877.00673708,784,799,650,628.99326292,651,0.400948611924,0.00447585793192,0.0698156719519,0.999999954772,3.93917879639e-05,-0.000296427642843,3.21796473699e-05,1793193625109136128
+372,6.200000000,POSE2_TO_POSE3_RETREAT,763.583197924,742.416802076,711,672.583197924,661.583197924,633,877.583197924,784,799,650,628.416802076,651,0.400946731364,0.00447499947328,0.0698144812783,0.999999954255,4.06557851462e-05,-0.000297953721647,3.25748684626e-05,1793193625125802752
+373,6.216666667,POSE2_TO_POSE3_RETREAT,764,742,711,673,661.659069943,633,877.829534972,784,799,650,628.170465028,651,0.400945795232,0.0044745734223,0.0698141377409,0.999999954093,4.11230535458e-05,-0.000298420561158,3.26890423599e-05,1793193625142469376
+374,6.233333333,POSE2_TO_POSE3_RETREAT,764,742,711,673,660.498213843,633,877.249106921,784,799,650,628.750893079,651,0.400947188635,0.0044751861642,0.0698158841656,0.99999995481,3.95667145706e-05,-0.000296282925431,3.21206873831e-05,1793193625159136000
+375,6.250000000,POSE2_TO_POSE3_RETREAT,764,742,711,672.673304914,660,633,877.326695086,784,799.326695086,650,629,650.673304914,0.400948277829,0.00447540364295,0.069816704786,0.999999955252,4.04442781562e-05,-0.000294682063695,3.19846246973e-05,1793193625175802624
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764,742,711,672.100980982,660,633,877.899019018,784,799.899019018,650,629,650.100980982,0.400949138301,0.00447532393936,0.0698168293317,0.999999955485,4.31517946665e-05,-0.00029348478043,3.21735850752e-05,1793193625192469504
+377,6.283333333,POSE2_TO_POSE3_RETREAT,764,742.480271897,711,672.480271897,660.480271897,632.519728103,877.519728103,784,799.039456206,650,629,650.480271897,0.400949752079,0.00447495477758,0.0698179174062,0.999999955964,4.27240910438e-05,-0.000291908477681,3.21986245149e-05,1793193625209136128
+378,6.300000000,POSE2_TO_POSE3_RETREAT,764,742.936326379,711.063673621,672.936326379,660.936326379,632,877.063673621,784,798.127347242,650,629,651,0.400950260409,0.0044746273516,0.0698190733998,0.999999956464,4.16605962819e-05,-0.00029034627314,3.21737290913e-05,1793193625225802752
+379,6.316666667,POSE2_TO_POSE3_RETREAT,764,742.350991675,711.649008325,672.350991675,660.350991675,632,877.649008325,784,799.29801665,650,629,651,0.40095033783,0.00447514991845,0.0698190946321,0.999999956727,4.08912326434e-05,-0.000289564832992,3.20274478197e-05,1793193625242469376
+380,6.333333333,POSE2_TO_POSE3_RETREAT,764,742,711.768721124,672.231278876,660.231278876,632,877.768721124,784,800,650,629,651,0.40094937082,0.0044759074198,0.0698182404737,0.999999956456,4.12277680413e-05,-0.000290479885915,3.17621406616e-05,1793193625259136000
+381,6.350000000,POSE2_TO_POSE3_RETREAT,764,742,711.191039999,672.808960001,660.808960001,632,877.191039999,784,800,650,629,651,0.400946839495,0.00447701679864,0.0698160751825,0.999999955376,4.32206843845e-05,-0.000293935893011,3.13185602715e-05,1793193625275802624
+382,6.366666667,POSE2_TO_POSE3_RETREAT,764,742,711,673,661.384428579,632,877.384428579,784,800,649.615571421,629,651,0.400947840489,0.00447746479952,0.069816585941,0.999999955462,4.41605592988e-05,-0.000293483355062,3.15089230653e-05,1793193625292469248
+383,6.383333333,POSE2_TO_POSE3_RETREAT,764,742,711,673,661.958803918,632,877.958803918,784,800,649.041196082,629,651,0.400950586807,0.00447758601248,0.0698184189398,0.999999956124,4.45801247456e-05,-0.000291099598824,3.20125181857e-05,1793193625309135872
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764,742,711,673,660.910505605,632,877.455252802,784,799.455252802,649,628.455252802,651,0.400949680611,0.00447740472403,0.0698177891037,0.999999956031,4.291430327e-05,-0.000291723750941,3.15200148915e-05,1793193625325802752
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764,742,711,672.869316955,660.130683045,632,877.130683045,784,799,649.130683045,628,650.869316955,0.400948981465,0.00447697974114,0.0698174098549,0.999999955986,4.14545123797e-05,-0.0002921287794,3.11636059415e-05,1793193625342469376
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764,742,711,672.286499296,660.713500704,632,877.713500704,784,799,649.713500704,628,650.286499296,0.400949975057,0.00447579249373,0.069818555948,0.999999956319,4.12650077357e-05,-0.000290971614404,3.1544330506e-05,1793193625359136000
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764,742,711.291996809,672.291996809,661,632,877.708003191,784,799,650,628.291996809,650.291996809,0.400950637666,0.00447562287423,0.0698191996428,0.999999956623,4.13403101071e-05,-0.000289918871023,3.15088050386e-05,1793193625375802624
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764,742,711.866314631,672.866314631,661,632,877.133685369,784,799,650,628.866314631,650.866314631,0.400950980258,0.00447643716172,0.0698193575872,0.999999956898,4.1671644654e-05,-0.00028896708894,3.10708227164e-05,1793193625392469248
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764.439648891,742,712,673,661.439648891,632.439648891,877.439648891,784,799.439648891,650,629,651,0.400950049687,0.00447588330364,0.069818678008,0.999999956524,4.06021021353e-05,-0.000290390525448,3.1269854126e-05,1793193625409136128
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764.986922841,742,711.986922841,673,661.986922841,632.986922841,877.986922841,784,799.986922841,650,629,651,0.400948780483,0.00447498793753,0.0698177872138,0.999999955966,3.92597559467e-05,-0.000292444972058,3.16488475967e-05,1793193625425802752
+391,6.516666667,POSE2_TO_POSE3_RETREAT,764.396157963,742,711.396157963,673,661.396157963,632.396157963,877.396157963,784,799.396157963,650,629,651,0.400949615736,0.00447734296814,0.0698187908659,0.999999956302,4.46415271953e-05,-0.00029054053571,3.14401218543e-05,1793193625442469376
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_11/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_11/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..47857bd100a1f52d6469b71e66f97c3b0b508ce3
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_11/depth_01/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
+0,0.000000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+1,0.016666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+2,0.033333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+3,0.050000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+4,0.066666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+5,0.083333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+6,0.100000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+7,0.116666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+8,0.133333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+9,0.150000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+10,0.166666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+11,0.183333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+12,0.200000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+13,0.216666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+14,0.233333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+15,0.250000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+16,0.266666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+17,0.283333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+18,0.300000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+19,0.316666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+20,0.333333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+21,0.350000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+22,0.366666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+23,0.383333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+24,0.400000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+25,0.416666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+26,0.433333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+27,0.450000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+28,0.466666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+29,0.483333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+30,0.500000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+31,0.516666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+32,0.533333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+33,0.550000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+34,0.566666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+35,0.583333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+36,0.600000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+37,0.616666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+38,0.633333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+39,0.650000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+40,0.666666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+41,0.683333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+42,0.700000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+43,0.716666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+44,0.733333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+45,0.750000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+46,0.766666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+47,0.783333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+48,0.800000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+49,0.816666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+50,0.833333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+51,0.850000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+52,0.866666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+53,0.883333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+54,0.900000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+55,0.916666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+56,0.933333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+57,0.950000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+58,0.966666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+59,0.983333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+60,1.000000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+61,1.016666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+62,1.033333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+63,1.050000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+64,1.066666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+65,1.083333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+66,1.100000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+67,1.116666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+68,1.133333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+69,1.150000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+70,1.166666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+71,1.183333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+72,1.200000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+73,1.216666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+74,1.233333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+75,1.250000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+76,1.266666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+77,1.283333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+78,1.300000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+79,1.316666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+80,1.333333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+81,1.350000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+82,1.366666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+83,1.383333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+84,1.400000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+85,1.416666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+86,1.433333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+87,1.450000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+88,1.466666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+89,1.483333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+90,1.500000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+91,1.516666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+92,1.533333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+93,1.550000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+94,1.566666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+95,1.583333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+96,1.600000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+97,1.616666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+98,1.633333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+99,1.650000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+100,1.666666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+101,1.683333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+102,1.700000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+103,1.716666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+104,1.733333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+105,1.750000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+106,1.766666667,pose1_to_pose2_press,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+107,1.783333333,pose1_to_pose2_press,0.575709444995,0.01005471945,1.06002916723,0.546280171916,0.0187274375229,1.05969845423
+108,1.800000000,pose1_to_pose2_press,0.575709714624,0.0100547120573,1.0600291648,0.546280441692,0.0187274306314,1.05969845187
+109,1.816666667,pose1_to_pose2_press,0.575709958329,0.0100547053755,1.0600291626,0.546280685529,0.0187274244025,1.05969844973
+110,1.833333333,pose1_to_pose2_press,0.575710007957,0.0100547023757,1.06002917209,0.546280735239,0.0187274216703,1.05969845895
+111,1.850000000,pose1_to_pose2_press,0.575710166276,0.0100546925665,1.0600292038,0.546280893828,0.0187274127403,1.05969848976
+112,1.866666667,pose1_to_pose2_press,0.575710476866,0.0100546733228,1.06002926602,0.546281204946,0.0187273952216,1.05969855021
+113,1.883333333,pose1_to_pose2_press,0.575711701968,0.0100546187352,1.06002937365,0.546282431423,0.0187273452388,1.05969865622
+114,1.900000000,pose1_to_pose2_press,0.575714661938,0.0100546062748,1.06002900767,0.546285391053,0.0187273323535,1.05969830929
+115,1.916666667,pose1_to_pose2_press,0.575722787734,0.0100546251512,1.06002921079,0.546293517849,0.0187273543056,1.05969850412
+116,1.933333333,pose1_to_pose2_press,0.575737552798,0.0100545656623,1.06002893605,0.546308283196,0.018727295833,1.05969823069
+117,1.950000000,pose1_to_pose2_press,0.575762143718,0.0100546052313,1.06002905652,0.546332874066,0.0187273352278,1.05969835105
+118,1.966666667,pose1_to_pose2_press,0.57579743976,0.0100546597214,1.06002904723,0.546368169303,0.0187273868272,1.05969833748
+119,1.983333333,pose1_to_pose2_press,0.575845004535,0.0100546608111,1.06002926921,0.546415733507,0.0187273860594,1.05969856155
+120,2.000000000,pose1_to_pose2_press,0.575903365241,0.0100545422489,1.06002931026,0.546474095323,0.0187272707997,1.05969859027
+121,2.016666667,pose1_to_pose2_press,0.575972099075,0.0100546247467,1.06002915062,0.546542828599,0.018727351593,1.05969843563
+122,2.033333333,pose1_to_pose2_press,0.576050389084,0.0100544910226,1.0600291259,0.546621120691,0.0187272247273,1.05969840529
+123,2.050000000,pose1_to_pose2_press,0.576138348125,0.010054617079,1.06002917803,0.546709077148,0.0187273427099,1.05969847551
+124,2.066666667,pose1_to_pose2_press,0.576241575065,0.0100546048026,1.06002896485,0.546812303664,0.0187273290177,1.05969826293
+125,2.083333333,pose1_to_pose2_press,0.576360822837,0.0100544669117,1.06002930314,0.546931553172,0.0187271967293,1.05969859367
+126,2.100000000,pose1_to_pose2_press,0.576498451961,0.0100545672978,1.06002893729,0.547069183042,0.018727299793,1.05969823161
+127,2.116666667,pose1_to_pose2_press,0.576656005869,0.010054458582,1.06002911497,0.547226737989,0.0187271946432,1.05969841018
+128,2.133333333,pose1_to_pose2_press,0.576834731217,0.0100544444797,1.06002904931,0.547405463665,0.0187271817049,1.0596983459
+129,2.150000000,pose1_to_pose2_press,0.577032816506,0.0100544723482,1.06002924467,0.547603548099,0.018727206446,1.05969853523
+130,2.166666667,pose1_to_pose2_press,0.577250374074,0.0100546005683,1.0600290754,0.547821104624,0.0187273310545,1.05969836399
+131,2.183333333,pose1_to_pose2_press,0.577495542228,0.0100544849477,1.06002887846,0.548066274138,0.0187272200774,1.05969816774
+132,2.200000000,pose1_to_pose2_press,0.577766393977,0.0100545196693,1.0600291687,0.548337126197,0.0187272556886,1.05969845369
+133,2.216666667,pose1_to_pose2_press,0.578063508028,0.0100546491469,1.06002909972,0.548634237074,0.018727374365,1.05969838381
+134,2.233333333,pose1_to_pose2_press,0.578386011221,0.0100546386879,1.06002904017,0.548956739903,0.0187273628884,1.05969832993
+135,2.250000000,pose1_to_pose2_press,0.578733298471,0.0100545645091,1.06002921585,0.549304029002,0.0187272951129,1.05969850888
+136,2.266666667,pose1_to_pose2_press,0.57910131159,0.0100546138066,1.06002913585,0.54967204153,0.0187273424549,1.05969843017
+137,2.283333333,pose1_to_pose2_press,0.579489253776,0.0100546586002,1.06002902278,0.550059983516,0.0187273866738,1.0596983198
+138,2.300000000,pose1_to_pose2_press,0.579898968727,0.0100546953861,1.06002898453,0.550469698059,0.018727421997,1.05969827949
+139,2.316666667,pose1_to_pose2_press,0.58032789761,0.0100546024861,1.06002907771,0.550898626661,0.0187273281614,1.05969837308
+140,2.333333333,pose1_to_pose2_press,0.580775981995,0.0100545264425,1.06002906182,0.551346711528,0.0187272536839,1.05969835533
+141,2.350000000,pose1_to_pose2_press,0.581247893607,0.0100545661561,1.06002915805,0.551818623607,0.0187272948231,1.05969844732
+142,2.366666667,pose1_to_pose2_press,0.581745684542,0.0100545939811,1.0600290932,0.552316414226,0.0187273217568,1.05969838711
+143,2.383333333,pose1_to_pose2_press,0.582275606607,0.0100546902507,1.06002901341,0.55284633604,0.0187274171683,1.05969830715
+144,2.400000000,pose1_to_pose2_press,0.582836835489,0.0100547179806,1.06002906393,0.553407565196,0.0187274457963,1.05969835682
+145,2.416666667,pose1_to_pose2_press,0.583429900324,0.0100544992762,1.06002913443,0.554000632861,0.0187272367234,1.05969842804
+146,2.433333333,pose1_to_pose2_press,0.584043398956,0.0100545828163,1.06002906386,0.554614129588,0.0187273140569,1.05969836416
+147,2.450000000,pose1_to_pose2_press,0.584674441996,0.0100544535993,1.06002916205,0.555245173851,0.0187271886622,1.0596984537
+148,2.466666667,pose1_to_pose2_press,0.585325669387,0.0100545094047,1.06002932363,0.555896400881,0.0187272429805,1.05969860836
+149,2.483333333,pose1_to_pose2_press,0.585997330136,0.0100545515716,1.06002913447,0.556568061334,0.0187272844401,1.05969842702
+150,2.500000000,pose1_to_pose2_press,0.58669104864,0.0100544802147,1.06002917104,0.557261780442,0.018727215248,1.05969846663
+151,2.516666667,pose1_to_pose2_press,0.587403720389,0.0100545512686,1.06002918795,0.557974451838,0.0187272851881,1.05969848566
+152,2.533333333,pose1_to_pose2_press,0.588132931771,0.0100546085221,1.06002926091,0.558703662048,0.0187273381122,1.05969854948
+153,2.550000000,pose1_to_pose2_press,0.588863159038,0.0100546474286,1.06002921051,0.559433888353,0.0187273737146,1.05969849792
+154,2.566666667,pose1_to_pose2_press,0.58959233418,0.0100546111531,1.06002894594,0.560163062569,0.0187273345239,1.05969823935
+155,2.583333333,pose1_to_pose2_press,0.590335007439,0.0100545866718,1.06002897948,0.560905736214,0.0187273113379,1.0596982725
+156,2.600000000,pose1_to_pose2_press,0.591094369766,0.0100545113296,1.0600289047,0.561665100106,0.0187272412422,1.05969819613
+157,2.616666667,pose1_to_pose2_press,0.591875707981,0.0100544455795,1.06002899414,0.562446439179,0.0187271783141,1.05969828318
+158,2.633333333,pose1_to_pose2_press,0.592684106424,0.0100545649821,1.06002916265,0.563254836768,0.0187272948204,1.05969845176
+159,2.650000000,pose1_to_pose2_press,0.593522037898,0.0100545007464,1.06002918394,0.564092768727,0.0187272320519,1.05969846843
+160,2.666666667,pose1_to_pose2_press,0.594364087855,0.0100545792281,1.06002910432,0.564934818607,0.018727310518,1.05969839524
+161,2.683333333,pose1_to_pose2_press,0.595205461371,0.0100545765436,1.06002906279,0.565776192429,0.018727309029,1.05969835789
+162,2.700000000,pose1_to_pose2_press,0.596026690033,0.0100544950913,1.06002904305,0.566597421472,0.0187272287262,1.05969833442
+163,2.716666667,pose1_to_pose2_press,0.596827725247,0.0100544376251,1.06002899793,0.567398456489,0.0187271706141,1.05969828989
+164,2.733333333,pose1_to_pose2_press,0.597610866464,0.0100545238063,1.0600291332,0.568181596878,0.0187272540178,1.0596984261
+165,2.750000000,pose1_to_pose2_press,0.598400567431,0.0100546669985,1.06002922681,0.568971296205,0.0187273915849,1.05969851815
+166,2.766666667,pose1_to_pose2_press,0.599207318897,0.0100546161536,1.06002926983,0.569778049362,0.0187273463393,1.05969855756
+167,2.783333333,pose1_to_pose2_press,0.600030002603,0.0100545004321,1.06002894786,0.570600733832,0.0187272332728,1.0596982374
+168,2.800000000,pose1_to_pose2_press,0.600864992149,0.0100545991981,1.06002901941,0.571435722934,0.0187273302926,1.05969830271
+169,2.816666667,pose1_to_pose2_press,0.601710070456,0.0100545753652,1.06002903032,0.57228080116,0.0187273062784,1.05969831614
+170,2.833333333,pose1_to_pose2_press,0.602540843344,0.0100545775447,1.06002916916,0.573111572677,0.0187273038241,1.05969845556
+171,2.850000000,pose1_to_pose2_press,0.603343687704,0.0100545823476,1.06002908457,0.573914417865,0.0187273116499,1.05969837662
+172,2.866666667,pose1_to_pose2_press,0.604120490656,0.01005459354,1.06002906197,0.574691221277,0.0187273245636,1.05969835827
+173,2.883333333,pose1_to_pose2_press,0.604867980848,0.0100546223266,1.06002913077,0.575438709361,0.0187273461408,1.05969842573
+174,2.900000000,pose1_to_pose2_press,0.605588785303,0.0100545794449,1.06002923652,0.576159514331,0.0187273049006,1.05969852876
+175,2.916666667,pose1_to_pose2_press,0.606295996979,0.0100546500006,1.06002932066,0.576866725536,0.0187273735891,1.0596986059
+176,2.933333333,pose1_to_pose2_press,0.607005840557,0.0100547364866,1.06002917571,0.577576567246,0.0187274537122,1.05969846046
+177,2.950000000,pose1_to_pose2_press,0.607720094047,0.0100545876331,1.06002912898,0.578290823632,0.0187273146723,1.05969841344
+178,2.966666667,pose1_to_pose2_press,0.608434486434,0.0100545739854,1.06002909273,0.579005217581,0.018727306924,1.05969839303
+179,2.983333333,pose1_to_pose2_press,0.60913339538,0.0100545503375,1.06002912084,0.579704126599,0.0187272833298,1.05969841612
+180,3.000000000,pose1_to_pose2_press,0.60980717183,0.0100545936789,1.06002917339,0.58037790259,0.0187273248478,1.05969846191
+181,3.016666667,pose1_to_pose2_press,0.610431959816,0.010054622935,1.06002911928,0.581002689808,0.0187273516199,1.05969841104
+182,3.033333333,pose1_to_pose2_press,0.611019860841,0.010054616432,1.06002911173,0.581590591016,0.0187273455999,1.0596983999
+183,3.050000000,pose1_to_pose2_press,0.611576358018,0.0100547573204,1.06002915805,0.582147086253,0.0187274799127,1.05969844657
+184,3.066666667,pose1_to_pose2_press,0.612102361641,0.0100547156099,1.06002899637,0.582673090264,0.0187274397917,1.0596982919
+185,3.083333333,pose1_to_pose2_press,0.612598503519,0.0100544950449,1.06002908748,0.583169234795,0.0187272280821,1.05969837903
+186,3.100000000,pose1_to_pose2_press,0.613069478799,0.010054556874,1.06002917013,0.583640209856,0.0187272891101,1.05969845998
+187,3.116666667,pose1_to_pose2_press,0.613517055042,0.0100547685036,1.06002902033,0.584087783846,0.01872749331,1.0596983145
+188,3.133333333,pose1_to_pose2_press,0.61394399485,0.0100547335538,1.06002908246,0.584514723117,0.018727456417,1.05969837139
+189,3.150000000,pose1_to_pose2_press,0.614356344639,0.0100545926522,1.06002917636,0.584927074309,0.0187273201905,1.05969846114
+190,3.166666667,pose1_to_pose2_press,0.614754697452,0.0100544663632,1.06002912836,0.585325428293,0.0187271980735,1.05969841576
+191,3.183333333,pose1_to_pose2_press,0.615137819435,0.0100544793499,1.06002909593,0.585708550711,0.0187272128365,1.05969838771
+192,3.200000000,pose1_to_pose2_press,0.615502527394,0.0100546301585,1.06002919329,0.586073257804,0.0187273608605,1.05969848351
+193,3.216666667,pose1_to_pose2_press,0.615837030706,0.0100546263213,1.06002907846,0.586407760754,0.0187273561746,1.05969836782
+194,3.233333333,pose1_to_pose2_press,0.616140751486,0.0100545861045,1.0600291813,0.586711481502,0.0187273164471,1.05969847377
+195,3.250000000,pose1_to_pose2_press,0.616410647719,0.0100545268585,1.06002931683,0.586981378081,0.0187272585876,1.05969860374
+196,3.266666667,pose1_to_pose2_press,0.616653737662,0.0100545583132,1.06002932218,0.587224467715,0.0187272895202,1.0596986121
+197,3.283333333,pose1_to_pose2_press,0.616871838446,0.0100546599427,1.06002911013,0.587442567228,0.018727387413,1.05969840438
+198,3.300000000,pose1_to_pose2_press,0.617070666209,0.0100548089779,1.06002908907,0.587641393349,0.0187275311217,1.05969837788
+199,3.316666667,pose1_to_pose2_press,0.617253023093,0.0100546020947,1.06002944206,0.587823752261,0.0187273307846,1.05969871669
+200,3.333333333,pose1_to_pose2_press,0.617420848641,0.010054701153,1.06002902006,0.587991576855,0.0187274275055,1.05969831253
+201,3.350000000,pose1_to_pose2_press,0.617573884647,0.0100546762525,1.06002891882,0.588144612271,0.0187274007714,1.0596982072
+202,3.366666667,pose1_to_pose2_press,0.617710085409,0.0100545379525,1.06002929018,0.588280814233,0.0187272664592,1.05969856967
+203,3.383333333,pose1_to_pose2_press,0.617830514131,0.0100544822263,1.0600290816,0.588401243211,0.0187272119682,1.05969836591
+204,3.400000000,pose1_to_pose2_press,0.617934838316,0.0100546176958,1.06002914874,0.58850556656,0.0187273448675,1.0596984361
+205,3.416666667,pose1_to_pose2_press,0.618023008283,0.0100546364565,1.06002915267,0.588593737801,0.0187273687763,1.05969844374
+206,3.433333333,pose1_to_pose2_press,0.618097379075,0.0100545270598,1.06002936011,0.588668109999,0.0187272636098,1.05969864133
+207,3.450000000,pose1_to_pose2_press,0.618159482711,0.0100545441243,1.06002926968,0.58873021268,0.0187272774283,1.0596985528
+208,3.466666667,pose1_to_pose2_press,0.618212373699,0.0100545636184,1.06002914102,0.588783102556,0.0187272937631,1.05969843314
+209,3.483333333,pose1_to_pose2_press,0.618256470815,0.0100544996926,1.06002907082,0.588827199429,0.0187272292492,1.05969836649
+210,3.500000000,pose1_to_pose2_press,0.618292872927,0.0100545165227,1.06002909733,0.588863601,0.0187272440187,1.05969839048
+211,3.516666667,pose1_to_pose2_press,0.618321709895,0.0100546248629,1.06002917245,0.588892437514,0.018727350843,1.05969846271
+212,3.533333333,pose1_to_pose2_press,0.618343310419,0.0100545491176,1.0600289846,0.588914039286,0.0187272794907,1.05969827242
+213,3.550000000,pose1_to_pose2_press,0.618359137027,0.0100546319925,1.06002938463,0.588929864976,0.0187273591951,1.05969867139
+214,3.566666667,pose1_to_pose2_press,0.618369751168,0.0100545280918,1.06002932975,0.58894048044,0.0187272595654,1.05969861642
+215,3.583333333,pose1_to_pose2_press,0.618377316305,0.0100545457138,1.06002922131,0.588948045533,0.0187272769707,1.05969850664
+216,3.600000000,pose1_to_pose2_press,0.618382222465,0.0100546607159,1.06002911083,0.588952950533,0.0187273880857,1.05969839398
+217,3.616666667,pose1_to_pose2_press,0.618385410771,0.0100546630455,1.06002905459,0.58895613871,0.0187273900819,1.05969834058
+218,3.633333333,pose1_to_pose2_press,0.618387427212,0.0100546094258,1.06002903085,0.588958155545,0.0187273379195,1.05969832188
+219,3.650000000,pose1_to_pose2_press,0.618389033193,0.0100545667207,1.06002901194,0.58895976184,0.0187272963752,1.05969830699
+220,3.666666667,pose1_to_pose2_press,0.618390160168,0.0100545405433,1.06002900034,0.58896088898,0.0187272708159,1.0596982979
+221,3.683333333,pose1_to_pose2_press,0.61839056092,0.0100545466956,1.060029003,0.588961289563,0.0187272763868,1.05969830022
+222,3.700000000,pose1_to_pose2_press,0.618390886374,0.0100545516919,1.06002900517,0.58896161488,0.0187272809109,1.05969830211
+223,3.716666667,pose1_to_pose2_press,0.618391201117,0.0100545565238,1.06002900726,0.588961929491,0.0187272852862,1.05969830393
+224,3.733333333,pose1_to_pose2_press,0.61839144818,0.0100545603167,1.0600290089,0.588962176449,0.0187272887206,1.05969830537
+225,3.750000000,pose1_to_pose2_press,0.618391936642,0.0100545678154,1.06002901215,0.588962664705,0.0187272955107,1.0596983082
+226,3.766666667,pose1_to_pose2_press,0.618392757237,0.0100545804131,1.06002901761,0.588963484955,0.0187273069179,1.05969831295
+227,3.783333333,pose1_to_pose2_press,0.618393377037,0.0100545899281,1.06002902173,0.588964104494,0.0187273155337,1.05969831654
+228,3.800000000,pose1_to_pose2_press,0.618393691113,0.0100545947498,1.06002902382,0.588964418438,0.0187273198997,1.05969831836
+229,3.816666667,pose1_to_pose2_press,0.618393846614,0.0100545915122,1.06002902448,0.588964574009,0.0187273168979,1.05969831892
+230,3.833333333,pose1_to_pose2_press,0.61839402254,0.0100545816114,1.06002902482,0.588964750163,0.0187273077754,1.05969831917
+231,3.850000000,pose1_to_pose2_press,0.618394362141,0.0100545624991,1.06002902547,0.588965090205,0.0187272901656,1.05969831964
+232,3.866666667,pose1_to_pose2_press,0.61839481401,0.0100545370685,1.06002902633,0.58896554266,0.0187272667343,1.05969832028
+233,3.883333333,pose1_to_pose2_press,0.618395349197,0.0100545069489,1.06002902735,0.588966078542,0.0187272389825,1.05969832103
+234,3.900000000,pose1_to_pose2_press,0.618395679841,0.010054501055,1.06002898183,0.588966409466,0.0187272341317,1.05969827777
+235,3.916666667,pose1_to_pose2_press,0.618395830368,0.0100545014439,1.06002894995,0.588966560083,0.0187272348941,1.05969824751
+236,3.933333333,pose1_to_pose2_press,0.618395867223,0.0100545015392,1.06002894214,0.588966596961,0.0187272350808,1.0596982401
+237,3.950000000,pose1_to_pose2_press,0.618396047856,0.0100545020059,1.06002890389,0.588966777703,0.0187272359957,1.05969820379
+238,3.966666667,pose1_to_pose2_press,0.618396278081,0.010054503043,1.06002887313,0.588967007984,0.0187272373012,1.05969817496
+239,3.983333333,pose1_to_pose2_press,0.618396425928,0.0100545090804,1.06002907209,0.588967154861,0.0187272398331,1.05969836855
+240,4.000000000,pose1_to_pose2_press,0.618396567412,0.0100545185424,1.06002889224,0.588967295908,0.0187272477619,1.05969818721
+241,4.016666667,pose2_hold,0.618396567412,0.0100545185424,1.06002889224,0.588967295908,0.0187272477638,1.05969818721
+242,4.033333333,pose2_hold,0.618396567412,0.0100545185424,1.06002889224,0.588967295907,0.0187272477628,1.05969818721
+243,4.050000000,pose2_hold,0.618396567412,0.0100545185424,1.06002889224,0.588967295907,0.0187272477629,1.05969818721
+244,4.066666667,pose2_hold,0.618396567412,0.0100545185424,1.06002889224,0.588967295906,0.0187272477631,1.0596981872
+245,4.083333333,pose2_hold,0.618396567412,0.0100545185424,1.06002889224,0.588967295908,0.0187272477638,1.05969818721
+246,4.100000000,pose2_hold,0.618396567412,0.0100545185424,1.06002889224,0.588967295907,0.0187272477621,1.05969818721
+247,4.116666667,pose2_hold,0.618396567412,0.0100545185424,1.06002889224,0.588967295907,0.0187272477638,1.05969818721
+248,4.133333333,pose2_hold,0.618396567412,0.0100545185424,1.06002889224,0.588967295907,0.0187272477622,1.05969818721
+249,4.150000000,pose2_hold,0.618396567412,0.0100545185424,1.06002889224,0.588967295907,0.0187272477625,1.0596981872
+250,4.166666667,pose2_hold,0.618396567412,0.0100545185424,1.06002889224,0.588967295907,0.0187272477625,1.05969818721
+251,4.183333333,pose2_hold,0.618396567412,0.0100545185424,1.06002889224,0.588967295907,0.0187272477627,1.05969818721
+252,4.200000000,pose2_hold,0.618396567412,0.0100545185424,1.06002889224,0.588967295906,0.0187272477642,1.05969818721
+253,4.216666667,pose2_hold,0.618396567412,0.0100545185424,1.06002889224,0.588967295907,0.0187272477629,1.05969818721
+254,4.233333333,pose2_hold,0.618396567412,0.0100545185424,1.06002889224,0.588967295906,0.0187272477648,1.05969818721
+255,4.250000000,pose2_hold,0.618396567412,0.0100545185424,1.06002889224,0.588967295906,0.0187272477649,1.05969818721
+256,4.266666667,pose2_hold,0.618396567412,0.0100545185424,1.06002889224,0.588967295907,0.0187272477636,1.05969818721
+257,4.283333333,pose2_hold,0.618396567412,0.0100545185424,1.06002889224,0.588967295906,0.0187272477635,1.05969818721
+258,4.300000000,pose2_hold,0.618396567412,0.0100545185424,1.06002889224,0.588967295906,0.0187272477647,1.05969818721
+259,4.316666667,pose2_to_pose3_retreat,0.618396567412,0.0100545185424,1.06002889224,0.588967295907,0.018727247762,1.05969818721
+260,4.333333333,pose2_to_pose3_retreat,0.618396432083,0.010054476146,1.06002906935,0.588967160846,0.018727205962,1.05969835621
+261,4.350000000,pose2_to_pose3_retreat,0.61839626803,0.0100544457327,1.06002913297,0.588966997491,0.0187271778062,1.05969841695
+262,4.366666667,pose2_to_pose3_retreat,0.618396190517,0.0100544313626,1.06002916303,0.588966920307,0.0187271645029,1.05969844566
+263,4.383333333,pose2_to_pose3_retreat,0.618396044421,0.0100544310215,1.06002919684,0.588966774391,0.0187271647311,1.05969847842
+264,4.400000000,pose2_to_pose3_retreat,0.61839548282,0.0100545267442,1.06002924393,0.588966211878,0.018727257413,1.05969852695
+265,4.416666667,pose2_to_pose3_retreat,0.618392777304,0.0100545578723,1.06002896221,0.588963506099,0.0187272881853,1.05969825897
+266,4.433333333,pose2_to_pose3_retreat,0.618385101412,0.010054458298,1.06002930678,0.588955831158,0.0187271912853,1.05969858907
+267,4.450000000,pose2_to_pose3_retreat,0.618368496823,0.0100544798176,1.06002900583,0.588939226468,0.0187272123892,1.05969829041
+268,4.466666667,pose2_to_pose3_retreat,0.618340118359,0.0100546373605,1.06002897601,0.588910846479,0.018727365319,1.05969827478
+269,4.483333333,pose2_to_pose3_retreat,0.618299005666,0.0100546759296,1.0600290968,0.588869733146,0.0187274015675,1.05969838871
+270,4.500000000,pose2_to_pose3_retreat,0.618246273115,0.0100545307171,1.06002928035,0.588817002502,0.0187272618145,1.05969856559
+271,4.516666667,pose2_to_pose3_retreat,0.618183489349,0.0100545545731,1.06002918983,0.588754217276,0.0187272813473,1.05969847581
+272,4.533333333,pose2_to_pose3_retreat,0.618110750178,0.0100544964853,1.06002938477,0.588681480257,0.0187272294348,1.05969866949
+273,4.550000000,pose2_to_pose3_retreat,0.618028928138,0.0100546316902,1.06002916032,0.58859965623,0.0187273585739,1.05969844845
+274,4.566666667,pose2_to_pose3_retreat,0.617936957849,0.0100545410333,1.06002914687,0.588507687228,0.0187272721676,1.05969843685
+275,4.583333333,pose2_to_pose3_retreat,0.617830468889,0.0100544659094,1.06002899607,0.58840119937,0.0187272008416,1.05969829253
+276,4.600000000,pose2_to_pose3_retreat,0.617708850798,0.010054600329,1.06002910943,0.588279579428,0.0187273287029,1.05969840563
+277,4.616666667,pose2_to_pose3_retreat,0.617569120754,0.0100546531598,1.06002918089,0.588139848748,0.0187273785744,1.05969846263
+278,4.633333333,pose2_to_pose3_retreat,0.617410440357,0.010054616211,1.06002918764,0.587981168574,0.0187273420561,1.05969846829
+279,4.650000000,pose2_to_pose3_retreat,0.617229382695,0.0100545713383,1.06002925363,0.587800111202,0.0187272981965,1.05969854132
+280,4.666666667,pose2_to_pose3_retreat,0.617026586599,0.0100545136182,1.06002918568,0.587597316011,0.0187272432392,1.05969847696
+281,4.683333333,pose2_to_pose3_retreat,0.616801310672,0.0100545720117,1.06002924901,0.587372039583,0.0187272992909,1.05969853495
+282,4.700000000,pose2_to_pose3_retreat,0.616555631276,0.0100546205678,1.06002920063,0.587126359864,0.0187273465083,1.0596984912
+283,4.716666667,pose2_to_pose3_retreat,0.616290777432,0.0100545848776,1.06002901629,0.586861505483,0.0187273086246,1.05969830867
+284,4.733333333,pose2_to_pose3_retreat,0.616000194002,0.0100545863059,1.06002891477,0.586570923631,0.0187273148978,1.0596982055
+285,4.750000000,pose2_to_pose3_retreat,0.615684201642,0.0100545024689,1.06002902546,0.586254933821,0.0187272393365,1.05969831524
+286,4.766666667,pose2_to_pose3_retreat,0.61534091737,0.0100545315468,1.06002916897,0.585911648202,0.0187272633619,1.05969845578
+287,4.783333333,pose2_to_pose3_retreat,0.614965690723,0.0100547124328,1.06002911422,0.585536418879,0.0187274348468,1.05969840308
+288,4.800000000,pose2_to_pose3_retreat,0.614556969183,0.0100546126365,1.06002900614,0.585127698054,0.0187273375991,1.05969830111
+289,4.816666667,pose2_to_pose3_retreat,0.614118612997,0.01005450995,1.06002911453,0.584689344596,0.0187272440686,1.05969840617
+290,4.833333333,pose2_to_pose3_retreat,0.613652839187,0.0100545066933,1.06002921108,0.584223571438,0.0187272430853,1.05969850373
+291,4.850000000,pose2_to_pose3_retreat,0.613160423652,0.0100546136763,1.06002915955,0.583731152954,0.0187273403586,1.05969846026
+292,4.866666667,pose2_to_pose3_retreat,0.612646737475,0.0100546795906,1.06002922162,0.583217466416,0.0187274047088,1.05969851412
+293,4.883333333,pose2_to_pose3_retreat,0.612112590053,0.0100546471041,1.06002922907,0.58268332025,0.0187273761009,1.05969851158
+294,4.900000000,pose2_to_pose3_retreat,0.611555535299,0.0100545327625,1.06002928312,0.582126267812,0.0187272694369,1.05969856156
+295,4.916666667,pose2_to_pose3_retreat,0.610973963794,0.0100545124921,1.06002905376,0.581544696054,0.0187272489144,1.0596983483
+296,4.933333333,pose2_to_pose3_retreat,0.610361243701,0.0100546178494,1.06002886291,0.580931973766,0.018727347123,1.05969816539
+297,4.950000000,pose2_to_pose3_retreat,0.609716207545,0.0100546136887,1.06002891796,0.580286937365,0.0187273419426,1.05969821528
+298,4.966666667,pose2_to_pose3_retreat,0.609034542418,0.0100546892731,1.0600290261,0.579605271546,0.0187274153372,1.05969832727
+299,4.983333333,pose2_to_pose3_retreat,0.608327502503,0.0100545657564,1.06002907789,0.578898232276,0.0187272935998,1.0596983684
+300,5.000000000,pose2_to_pose3_retreat,0.607598443656,0.0100546426989,1.06002894826,0.578169172593,0.0187273677404,1.05969823967
+301,5.016666667,pose2_to_pose3_retreat,0.606841455382,0.0100545462426,1.06002907795,0.5774121858,0.0187272762925,1.05969836896
+302,5.033333333,pose2_to_pose3_retreat,0.606060669615,0.0100545513499,1.060029105,0.576631399735,0.0187272803898,1.05969839614
+303,5.050000000,pose2_to_pose3_retreat,0.605266502405,0.0100545541321,1.06002902372,0.575837232442,0.0187272829139,1.05969831548
+304,5.066666667,pose2_to_pose3_retreat,0.604461015233,0.0100545163188,1.06002908015,0.575031745955,0.0187272473438,1.05969836973
+305,5.083333333,pose2_to_pose3_retreat,0.603646437897,0.0100545278928,1.06002907657,0.574217169423,0.0187272618263,1.05969837081
+306,5.100000000,pose2_to_pose3_retreat,0.602833342361,0.0100545615959,1.06002903239,0.573404073764,0.0187272949524,1.05969832245
+307,5.116666667,pose2_to_pose3_retreat,0.602019917675,0.0100545933977,1.06002921336,0.572590647609,0.0187273214458,1.05969849489
+308,5.133333333,pose2_to_pose3_retreat,0.60119383938,0.0100545560945,1.0600292743,0.571764569179,0.0187272838698,1.05969856056
+309,5.150000000,pose2_to_pose3_retreat,0.600350437453,0.0100545876621,1.06002909229,0.570921167396,0.018727316318,1.05969838863
+310,5.166666667,pose2_to_pose3_retreat,0.599482672704,0.0100545975609,1.06002923263,0.570053402812,0.0187273264841,1.0596985213
+311,5.183333333,pose2_to_pose3_retreat,0.59859097703,0.0100545880971,1.06002901656,0.569161707011,0.0187273169665,1.05969831551
+312,5.200000000,pose2_to_pose3_retreat,0.597674081737,0.0100545931923,1.06002894064,0.56824481039,0.0187273174829,1.05969823728
+313,5.216666667,pose2_to_pose3_retreat,0.596772610161,0.0100546072591,1.06002896527,0.567343339704,0.0187273343616,1.05969825633
+314,5.233333333,pose2_to_pose3_retreat,0.595894235968,0.0100546850887,1.06002903308,0.566464965144,0.0187274108747,1.05969832251
+315,5.250000000,pose2_to_pose3_retreat,0.595044753208,0.0100545361121,1.06002897235,0.565615483397,0.0187272653749,1.05969826207
+316,5.266666667,pose2_to_pose3_retreat,0.594220579994,0.0100545831207,1.0600289671,0.564791309008,0.0187273083427,1.05969825434
+317,5.283333333,pose2_to_pose3_retreat,0.593414040798,0.0100547013019,1.06002916839,0.56398476945,0.0187274252472,1.05969845446
+318,5.300000000,pose2_to_pose3_retreat,0.5925959949,0.0100546243629,1.06002910226,0.563166725263,0.0187273543088,1.05969839345
+319,5.316666667,pose2_to_pose3_retreat,0.591762250268,0.0100547101902,1.06002905264,0.562332979708,0.0187274371368,1.05969834728
+320,5.333333333,pose2_to_pose3_retreat,0.590911473907,0.0100546301998,1.06002919775,0.56148220389,0.0187273588311,1.05969848823
+321,5.350000000,pose2_to_pose3_retreat,0.590058564957,0.0100545630827,1.06002933599,0.560629295999,0.018727295142,1.05969862211
+322,5.366666667,pose2_to_pose3_retreat,0.589230867611,0.010054684368,1.06002929439,0.559801597918,0.0187274139649,1.05969858124
+323,5.383333333,pose2_to_pose3_retreat,0.588436954028,0.0100546969723,1.0600290926,0.559007683359,0.0187274233983,1.0596983832
+324,5.400000000,pose2_to_pose3_retreat,0.587685111913,0.0100546227408,1.06002907613,0.558255841459,0.0187273499799,1.05969836882
+325,5.416666667,pose2_to_pose3_retreat,0.586964895435,0.0100545662264,1.06002910754,0.557535625599,0.01872729547,1.05969839781
+326,5.433333333,pose2_to_pose3_retreat,0.586267868142,0.0100545992067,1.06002904614,0.556838596854,0.0187273233959,1.0596983331
+327,5.450000000,pose2_to_pose3_retreat,0.585581617433,0.0100546344072,1.0600290176,0.556152346059,0.0187273585588,1.05969831114
+328,5.466666667,pose2_to_pose3_retreat,0.584898736512,0.0100546151448,1.06002896358,0.555469466141,0.0187273428548,1.05969826119
+329,5.483333333,pose2_to_pose3_retreat,0.584216154134,0.0100545804152,1.06002895568,0.554786883378,0.0187273069196,1.05969825592
+330,5.500000000,pose2_to_pose3_retreat,0.583556530846,0.0100545117903,1.06002910163,0.554127262292,0.0187272454652,1.05969839395
+331,5.516666667,pose2_to_pose3_retreat,0.582928296642,0.0100545938794,1.06002901867,0.553499026515,0.0187273222703,1.05969831241
+332,5.533333333,pose2_to_pose3_retreat,0.582331308563,0.0100546019984,1.06002891894,0.552902038481,0.0187273305552,1.05969821299
+333,5.550000000,pose2_to_pose3_retreat,0.581764420356,0.0100544879004,1.06002881205,0.55233515189,0.0187272219968,1.05969810754
+334,5.566666667,pose2_to_pose3_retreat,0.58122945016,0.0100544391766,1.0600289541,0.551800180816,0.0187271700914,1.05969824468
+335,5.583333333,pose2_to_pose3_retreat,0.580722701617,0.0100545446268,1.06002910563,0.551293430832,0.0187272707608,1.05969839947
+336,5.600000000,pose2_to_pose3_retreat,0.580246770461,0.0100545742174,1.06002932819,0.550817501032,0.0187273047075,1.05969861535
+337,5.616666667,pose2_to_pose3_retreat,0.579804629812,0.010054560951,1.06002928389,0.550375361016,0.0187272934866,1.05969856853
+338,5.633333333,pose2_to_pose3_retreat,0.579396254121,0.0100546014947,1.0600290961,0.549966984721,0.018727332313,1.05969838944
+339,5.650000000,pose2_to_pose3_retreat,0.579015396728,0.010054611481,1.06002914324,0.549586127114,0.0187273414299,1.05969843244
+340,5.666666667,pose2_to_pose3_retreat,0.57865647732,0.0100546517989,1.06002881926,0.54922720581,0.0187273753722,1.05969811032
+341,5.683333333,pose2_to_pose3_retreat,0.578316047415,0.0100546693323,1.06002885749,0.548886776478,0.0187273953069,1.05969816015
+342,5.700000000,pose2_to_pose3_retreat,0.577993071501,0.0100545937466,1.06002895106,0.548563801868,0.0187273235906,1.05969823937
+343,5.716666667,pose2_to_pose3_retreat,0.577688993295,0.0100545398868,1.06002905047,0.548259723919,0.0187272704952,1.05969833612
+344,5.733333333,pose2_to_pose3_retreat,0.577409478935,0.0100545587731,1.06002897618,0.547980207767,0.0187272836122,1.05969826992
+345,5.750000000,pose2_to_pose3_retreat,0.57715486488,0.010054603303,1.06002900795,0.547725593248,0.0187273265921,1.05969830228
+346,5.766666667,pose2_to_pose3_retreat,0.576928807768,0.0100545811568,1.06002915387,0.5474995377,0.0187273095077,1.0596984417
+347,5.783333333,pose2_to_pose3_retreat,0.576728191703,0.0100543862364,1.06002897196,0.547298923172,0.0187271198112,1.05969826009
+348,5.800000000,pose2_to_pose3_retreat,0.576552819153,0.0100544155507,1.06002921803,0.54712355152,0.0187271519239,1.05969849964
+349,5.816666667,pose2_to_pose3_retreat,0.576399904588,0.0100545130752,1.0600293217,0.546970636276,0.0187272470879,1.05969860195
+350,5.833333333,pose2_to_pose3_retreat,0.576268871034,0.0100545904935,1.06002915015,0.546839601629,0.0187273211847,1.0596984406
+351,5.850000000,pose2_to_pose3_retreat,0.576156115836,0.0100546245011,1.06002913674,0.54672684646,0.0187273553825,1.05969843007
+352,5.866666667,pose2_to_pose3_retreat,0.576060140394,0.0100546539705,1.06002915837,0.546630870389,0.0187273825285,1.05969844705
+353,5.883333333,pose2_to_pose3_retreat,0.575979743251,0.0100545946104,1.06002915542,0.546550473064,0.0187273225625,1.0596984441
+354,5.900000000,pose2_to_pose3_retreat,0.575912436026,0.0100545647441,1.06002915131,0.546483166061,0.0187272935122,1.0596984416
+355,5.916666667,pose2_to_pose3_retreat,0.575858142911,0.0100545969478,1.06002908555,0.546428872602,0.0187273246548,1.05969837855
+356,5.933333333,pose2_to_pose3_retreat,0.575814916717,0.0100546763235,1.06002912337,0.546385645975,0.0187274026415,1.05969841844
+357,5.950000000,pose2_to_pose3_retreat,0.575782374047,0.0100546752148,1.06002921194,0.546353104397,0.0187274050807,1.05969850293
+358,5.966666667,pose2_to_pose3_retreat,0.575759088801,0.0100546357569,1.06002914277,0.546329818882,0.0187273647545,1.05969843489
+359,5.983333333,pose2_to_pose3_retreat,0.575742982503,0.0100545978287,1.06002918459,0.546313711394,0.0187273224223,1.05969846721
+360,6.000000000,pose2_to_pose3_retreat,0.575732223911,0.01005469392,1.06002915414,0.546302952205,0.0187274166821,1.05969844188
+361,6.016666667,pose2_to_pose3_retreat,0.575724611516,0.0100545628137,1.06002913578,0.54629534211,0.0187272935221,1.05969842731
+362,6.033333333,pose2_to_pose3_retreat,0.575719620622,0.0100545082349,1.06002917083,0.546290352406,0.0187272429491,1.0596984616
+363,6.050000000,pose2_to_pose3_retreat,0.575716379126,0.0100545552055,1.06002926363,0.54628711072,0.0187272890742,1.05969854902
+364,6.066666667,pose2_to_pose3_retreat,0.575714640864,0.0100545728789,1.06002927466,0.546285372398,0.0187273064894,1.05969855861
+365,6.083333333,pose2_to_pose3_retreat,0.575714075633,0.0100545689628,1.06002922846,0.546284807201,0.0187273027403,1.05969851379
+366,6.100000000,pose2_to_pose3_retreat,0.575714006242,0.0100545684821,1.06002922278,0.546284737814,0.0187273022801,1.05969850828
+367,6.116666667,pose2_to_pose3_retreat,0.575713959359,0.0100545681573,1.06002921895,0.546284690934,0.0187273019691,1.05969850457
+368,6.133333333,pose2_to_pose3_retreat,0.575713917868,0.0100545678698,1.06002921556,0.546284649445,0.0187273016939,1.05969850128
+369,6.150000000,pose2_to_pose3_retreat,0.575713802764,0.0100545670723,1.06002920615,0.546284534349,0.0187273009305,1.05969849215
+370,6.166666667,pose2_to_pose3_retreat,0.575713363645,0.01005456403,1.06002917025,0.546284095255,0.0187272980179,1.05969845732
+371,6.183333333,pose2_to_pose3_retreat,0.575712815973,0.0100545602356,1.06002912548,0.546283547615,0.0187272943853,1.05969841389
+372,6.200000000,pose2_to_pose3_retreat,0.575712604193,0.0100545587683,1.06002910817,0.546283335848,0.0187272929806,1.05969839709
+373,6.216666667,pose2_to_pose3_retreat,0.575712577077,0.0100545585805,1.06002910595,0.546283308734,0.0187272928008,1.05969839494
+374,6.233333333,pose2_to_pose3_retreat,0.575712494302,0.010054558007,1.06002909918,0.546283225963,0.0187272922517,1.05969838838
+375,6.250000000,pose2_to_pose3_retreat,0.575712019277,0.0100545547159,1.06002906035,0.546282750967,0.018727289101,1.0596983507
+376,6.266666667,pose2_to_pose3_retreat,0.575711361867,0.0100545688115,1.06002903904,0.546282093141,0.0187273018189,1.05969833022
+377,6.283333333,pose2_to_pose3_retreat,0.575710956739,0.0100546035439,1.06002907119,0.546281687122,0.0187273335067,1.05969836182
+378,6.300000000,pose2_to_pose3_retreat,0.575710816131,0.0100546155984,1.06002908235,0.546281546205,0.0187273445046,1.05969837278
+379,6.316666667,pose2_to_pose3_retreat,0.575710520401,0.0100546409519,1.06002910582,0.546281249825,0.0187273676357,1.05969839584
+380,6.333333333,pose2_to_pose3_retreat,0.575710274485,0.0100546620347,1.06002912534,0.546281003368,0.0187273868705,1.05969841502
+381,6.350000000,pose2_to_pose3_retreat,0.575710232496,0.0100546656345,1.06002912868,0.546280961286,0.0187273901548,1.0596984183
+382,6.366666667,pose2_to_pose3_retreat,0.575710147948,0.010054672883,1.06002913539,0.546280876552,0.0187273967679,1.05969842489
+383,6.383333333,pose2_to_pose3_retreat,0.575710097859,0.0100546771772,1.06002913936,0.546280826354,0.0187274006856,1.05969842879
+384,6.400000000,pose2_to_pose3_retreat,0.575709749945,0.0100547136654,1.06002914274,0.546280477762,0.0187274348983,1.05969843279
+385,6.416666667,pose2_to_pose3_retreat,0.575709451769,0.0100547466349,1.06002913947,0.546280179028,0.0187274660039,1.05969843031
+386,6.433333333,pose2_to_pose3_retreat,0.575709409828,0.0100547512724,1.06002913901,0.546280137008,0.0187274703792,1.05969842997
+387,6.450000000,pose2_to_pose3_retreat,0.575709380194,0.0100547520659,1.06002915042,0.546280107391,0.0187274712249,1.05969844136
+388,6.466666667,pose2_to_pose3_retreat,0.575709367727,0.0100547511538,1.06002916111,0.546280094966,0.0187274704538,1.05969845199
+389,6.483333333,pose2_to_pose3_retreat,0.575709345438,0.0100547495232,1.06002918022,0.546280072752,0.0187274690753,1.05969847099
+390,6.500000000,pose2_to_pose3_retreat,0.575709282046,0.0100547448857,1.06002923459,0.546280009575,0.0187274651547,1.05969852505
+391,6.516666667,pose2_to_pose3_retreat,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628183,1.05969855726
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_11/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_11/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fd02558299aeb8ea72b97fef8c9ff185dab47ff7
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_11/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a1b77888f0ecba199148a293658f94f5b50cd43785463c4869003ca0d9e3715e
+size 25128890
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_11/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_11/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..435908b42e2b1ea2c76501b243f015b3084662e4
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_11/depth_02/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,763,742,712,672,661,632,878,785,799,650,629,651,0.40094998595,0.00447534336419,0.0698202294935,0.999999956735,4.23653433043e-05,-0.000289356793715,3.17559808498e-05,1793193625570709248
+1,0.016666667,BASELINE,763.623028936,742,711.376971064,672,661,632,877.376971064,784.376971064,799,649.376971064,629,650.376971064,0.400950770345,0.00447658461247,0.0698204284549,0.999999956982,4.28307533489e-05,-0.000288462088024,3.14793078866e-05,1793193625587376384
+2,0.033333333,BASELINE,764,742,711,672,661,632,877,784,799,649,629,650.226955048,0.40095077823,0.00447730685939,0.0698201817966,0.99999995692,4.31082777911e-05,-0.000288649964869,3.13514442424e-05,1793193625604043264
+3,0.050000000,BASELINE,764,742,711,672,661,632,877,784,799,649,629,650.801614914,0.40094959647,0.00447723397425,0.06981925243,0.999999956383,4.30979535441e-05,-0.000290496404218,3.14515627824e-05,1793193625620709632
+4,0.066666667,BASELINE,764,742,711,672,661,632,877.388166631,784,799,649,629,651,0.400949158613,0.00447754940234,0.0698188901766,0.999999956194,4.37843799821e-05,-0.000291043486694,3.1439526322e-05,1793193625637376256
+5,0.083333333,BASELINE,764,742,711,672,661,632,877.980988108,784,799,649,629,651,0.400949112967,0.00447806956256,0.0698188269251,0.99999995619,4.48381574319e-05,-0.000290905503266,3.1368357868e-05,1793193625654042880
+6,0.100000000,BASELINE,763.442152586,742,711,672.557847414,661,632.557847414,878,784.557847414,799,649.557847414,628.442152586,651,0.400948746367,0.00447737137041,0.0698194988694,0.999999956662,4.29523375931e-05,-0.000289582782768,3.11769035708e-05,1793193625670709248
+7,0.116666667,BASELINE,763.133636806,742,711,673,661,632.866363194,878,784.866363194,799,650,628.133636806,651,0.400948524479,0.00447675848385,0.0698199891759,0.999999957026,4.14796206336e-05,-0.000288548034143,3.10924085075e-05,1793193625687375872
+8,0.133333333,BASELINE,763.70764328,742,711,673,661,632.29235672,878,784.29235672,799,650,628.70764328,651,0.400948814493,0.00447655972393,0.0698198006667,0.999999956996,4.16891397587e-05,-0.000288591582653,3.13735062419e-05,1793193625704042752
+9,0.150000000,BASELINE,764,742,711,673,661,632,878,784,799,650,628.712307998,651,0.400949617747,0.00447673303997,0.0698198826458,0.999999957064,4.2498426628e-05,-0.000288228807938,3.14648940638e-05,1793193625720709632
+10,0.166666667,BASELINE,764,742,711,673,661,632,878,784,799,650,628.125987367,651,0.400950953752,0.00447729257648,0.0698202453959,0.999999957231,4.39302814311e-05,-0.000287444263599,3.13593601234e-05,1793193625737376000
+11,0.183333333,BASELINE,764,742,711,672.54244492,661,632,878,784,799.45755508,649.54244492,628,651,0.400950216239,0.00447698841948,0.0698198520273,0.999999956939,4.36105946655e-05,-0.000288512918218,3.12982704801e-05,1793193625754042624
+12,0.200000000,BASELINE,764,742,711.03993437,672.03993437,661,632,877.96006563,784,799.96006563,649.03993437,628.03993437,650.96006563,0.40094907407,0.00447649758157,0.0698193459141,0.999999956584,4.2757088138e-05,-0.000289876956538,3.12371129902e-05,1793193625770709504
+13,0.216666667,BASELINE,764,742,711.616896262,672.616896262,661,632,877.383103738,784,799.383103738,649.616896262,628.616896262,650.383103738,0.400950121724,0.00447667511143,0.0698201065189,0.999999957086,4.11714184263e-05,-0.000288392580297,3.10114668624e-05,1793193625787376128
+14,0.233333333,BASELINE,763.807644504,742,711.807644504,673,661,632,877.384710992,784,799,650,629,650.192355496,0.400950458016,0.00447663763398,0.0698203501051,0.999999957293,4.06304004221e-05,-0.000287765905178,3.0895080237e-05,1793193625804043008
+15,0.250000000,BASELINE,763.235154728,742,711.235154728,673,661,632,878.529690544,784,799,650,629,650.764845272,0.400949388512,0.00447617525762,0.0698195719561,0.999999956919,4.21538301637e-05,-0.000288834224762,3.0994612966e-05,1793193625820709632
+16,0.266666667,BASELINE,763.350380194,742,711.350380194,673,661,632,878.299239612,784,799.350380194,650,628.649619806,651,0.400949735183,0.00447540825642,0.0698197696182,0.99999995709,4.15193758759e-05,-0.000288314270605,3.11574767887e-05,1793193625837376000
+17,0.283333333,BASELINE,763.945008793,742,711.945008793,673,661,632,877.109982415,784,799.945008793,650,628.054991207,651,0.400951069063,0.00447442890269,0.0698206475136,0.999999957638,3.93806705741e-05,-0.000286687138144,3.13644884161e-05,1793193625854042368
+18,0.300000000,BASELINE,764,742,712,673,661,632.525715029,877,784,799.474284971,649.474284971,628.525715029,651,0.40095163903,0.00447524432042,0.0698206967391,0.999999957735,4.11095116208e-05,-0.000286108795897,3.13460697381e-05,1793193625870709248
+19,0.316666667,BASELINE,764,742.104456056,711.895543944,673,661,632.895543944,877.104456056,784,799,649.104456056,628.895543944,651,0.40095146394,0.00447627814362,0.0698204070885,0.999999957563,4.29358920277e-05,-0.000286448979746,3.12663379649e-05,1793193625887376128
+20,0.333333333,BASELINE,764,742.680728747,711.319271253,673,661,632.319271253,877.680728747,784,799,649.680728747,628.319271253,651,0.400948275127,0.00447747236651,0.0698189681997,0.999999956394,4.34226569811e-05,-0.000290455299112,3.10134247679e-05,1793193625904042752
+21,0.350000000,BASELINE,764,742.744980226,711.255019774,673,661,632,878,784,799,650,628.255019774,651,0.400947321269,0.00447823657665,0.0698186669444,0.999999956035,4.40028710733e-05,-0.000291615993106,3.08778306481e-05,1793193625920709376
+22,0.366666667,BASELINE,764,742.173151049,711.826848951,673,661,632,878,784,799,650,628.826848951,651,0.400949143881,0.00447846658466,0.0698197789639,0.999999956694,4.46991763859e-05,-0.000289241584948,3.08879812729e-05,1793193625937376000
+23,0.383333333,BASELINE,763.588150253,742,711.588150253,673,661,632,877.588150253,784,799,650,629,651,0.400950377736,0.0044792513126,0.0698207145521,0.999999957073,4.66167807721e-05,-0.000287610256716,3.09960196986e-05,1793193625954042368
+24,0.400000000,BASELINE,763,742.002523793,711,673,661,632,877.002523793,784,799,650,629,651,0.400951346969,0.00448026035452,0.0698215645083,0.999999957325,4.90417280096e-05,-0.00028631304368,3.11462481955e-05,1793193625970708992
+25,0.416666667,BASELINE,763,742.582354211,711,673,661,632,877.582354211,784,799,650,629,651,0.400950276322,0.00447747036369,0.0698203544478,0.999999957083,4.61864740848e-05,-0.000287620355602,3.12223916592e-05,1793193625987375872
+26,0.433333333,BASELINE,763.161038402,742.838961598,711,673,661,632.161038402,877.838961598,784,799.161038402,650,629,651,0.400949552614,0.00447565645755,0.0698197598781,0.999999956985,4.38723557555e-05,-0.000288322960029,3.12342148469e-05,1793193626004042496
+27,0.450000000,BASELINE,763.736771037,742.263228963,711,673,661,632.736771037,877.263228963,784,799.736771037,650,629,651,0.400949722318,0.00447635609221,0.0698207502747,0.999999957276,4.29517293432e-05,-0.000287468366539,3.10804052144e-05,1793193626020709120
+28,0.466666667,BASELINE,764,742,711.317920214,673,661,632.682079786,877,784,800,650,628.682079786,651,0.400949225822,0.00447651029772,0.0698203225197,0.999999957109,4.21081807119e-05,-0.000288172879456,3.10555467639e-05,1793193626037375744
+29,0.483333333,BASELINE,764,742,711.903631833,673,661,632.096368167,877,784,800,650,628.096368167,651,0.400948168171,0.00447620507587,0.0698187002234,0.999999956556,4.13295564982e-05,-0.000290190663092,3.11393068265e-05,1793193626054042368
+30,0.500000000,BASELINE,763.512932049,742.487067951,711.512932049,673,661.487067951,632.487067951,877,784,799.512932049,650,628.487067951,651,0.400949621613,0.00447664020701,0.0698199315416,0.999999957054,4.12924451696e-05,-0.000288494876493,3.09567724004e-05,1793193626070709248
+31,0.516666667,BASELINE,763,742.931014341,711,673,661.931014341,632.931014341,877,784,799,650,628.931014341,651,0.40095121559,0.00447707141258,0.0698214642846,0.999999957648,4.16209872917e-05,-0.000286397857129,3.07783285868e-05,1793193626087375616
+32,0.533333333,BASELINE,763,742.356932992,711,673,661.356932992,632.356932992,877,784,799,650,628.356932992,651,0.40095021779,0.00447640636232,0.0698210893619,0.999999957467,4.35575660005e-05,-0.000286717703082,3.10138048069e-05,1793193626104042496
+33,0.550000000,BASELINE,763.217855705,742,711,673,661.217855705,632.217855705,877.217855705,784,799,650,628.217855705,650.782144295,0.400949432102,0.00447619629182,0.0698206270925,0.999999957263,4.41049971249e-05,-0.000287338663154,3.10532284725e-05,1793193626120709120
+34,0.566666667,BASELINE,763.793807033,742,711,673,661.793807033,632.793807033,877.793807033,784,799,650,628.793807033,650.206192967,0.400948995069,0.00447673408456,0.069820021249,0.999999957026,4.23690466346e-05,-0.000288454573043,3.07703949506e-05,1793193626137375744
+35,0.583333333,BASELINE,763.622264457,742,711.377735543,672.622264457,661.622264457,633,877.622264457,784,799.377735543,650,629,650.377735543,0.400949403905,0.00447654754963,0.0698202704351,0.999999957134,4.14372732843e-05,-0.000288217662304,3.07417148217e-05,1793193626154042624
+36,0.600000000,BASELINE,763.033887477,742,711.966112523,672.033887477,661.033887477,633,877.033887477,784,799.966112523,650,629,650.966112523,0.400950284435,0.00447595709878,0.069820996422,0.999999957436,4.09539432193e-05,-0.000287226361233,3.08547614303e-05,1793193626170709248
+37,0.616666667,BASELINE,764.091086375,742,712,672,661.545543187,632.454456813,877.545543187,784,799.454456813,650,629,651,0.400949927979,0.00447673038439,0.0698207829786,0.99999995726,4.14425584911e-05,-0.000287774135595,3.08049512616e-05,1793193626187375872
+38,0.633333333,BASELINE,764.876078639,742.123921361,711.876078639,672.123921361,661.876078639,632.123921361,878,784,799.123921361,650,629,651,0.400949837302,0.00447757494774,0.0698208090365,0.999999957214,4.21481100289e-05,-0.000287835665014,3.07605593885e-05,1793193626204042752
+39,0.650000000,BASELINE,764.299547466,742.700452534,711.299547466,672.700452534,661.299547466,632.700452534,878,784,799.700452534,650,629,651,0.400950993466,0.00447837543914,0.069821919543,0.999999957749,4.34290458068e-05,-0.000285777690808,3.07723093591e-05,1793193626220709376
+40,0.666666667,BASELINE,764,742.723079534,711,672.723079534,661,632.723079534,877.723079534,784,799.723079534,650,629,651,0.4009513328,0.00447752469512,0.0698223226971,0.99999995788,4.32497617426e-05,-0.000285303951979,3.11469241737e-05,1793193626237376000
+41,0.683333333,BASELINE,764,742.14668003,711,672.14668003,661,632.14668003,877.14668003,784,799.14668003,650,629,651,0.400950788762,0.00447488820224,0.0698219608761,0.999999957576,4.14913049283e-05,-0.000286543504069,3.19139636276e-05,1793193626254042880
+42,0.700000000,BASELINE,764,742,711,672.438906525,661,632,877.438906525,784,799,650,629,651,0.400950627277,0.00447539897393,0.069821887011,0.999999957531,4.25695289852e-05,-0.000286567582632,3.16844691816e-05,1793193626270709248
+43,0.716666667,BASELINE,764,742,711,673,661,632,878,784,799,650,629,651,0.400950581387,0.00447691004828,0.0698218757296,0.999999957562,4.44715512944e-05,-0.000286231732281,3.11325289676e-05,1793193626287375872
+44,0.733333333,BASELINE,764,742,711,673,661,632,878,784,799,650,629,651,0.400950231208,0.00447691869349,0.0698211393079,0.99999995739,4.34396210216e-05,-0.000287012011046,3.09402491172e-05,1793193626304042752
+45,0.750000000,BASELINE,764,742,711,673,661,632,878.183181705,784,799,650,629,651,0.40094978238,0.0044766927882,0.0698205913236,0.999999957334,4.23095961324e-05,-0.0002873833907,3.08602447839e-05,1793193626320709376
+46,0.766666667,BASELINE,764,742,711,673,661,632,878.757824095,784,799,650,629,651,0.400949122738,0.00447596564672,0.0698204460313,0.999999957529,4.09699424404e-05,-0.000286880949763,3.10201741027e-05,1793193626337376000
+47,0.783333333,BASELINE,763.659992016,742,711,673,661,632,878.319984031,784,799,649.659992016,629,651,0.400949388825,0.00447621804965,0.0698205315557,0.999999957549,4.15104708845e-05,-0.000286741664658,3.09601585656e-05,1793193626354042880
+48,0.800000000,BASELINE,763.072314671,742,711,673,661,632,877.144629343,784,799,649.072314671,629,651,0.400950329233,0.00447718397439,0.0698207852121,0.999999957439,4.34205655744e-05,-0.000286866910268,3.07399303319e-05,1793193626370710528
+49,0.816666667,BASELINE,763.510570247,742.510570247,711,673,661.510570247,632.510570247,877.510570247,784,799.510570247,649.510570247,629,651,0.400950037059,0.00447771679513,0.0698206387439,0.999999957163,4.46570121749e-05,-0.000287625479867,3.08394045146e-05,1793193626387377408
+50,0.833333333,BASELINE,764,742.908480967,711,672.908480967,661.908480967,633,877.908480967,784,799.908480967,650,629,651,0.400949618831,0.00447825006473,0.0698205473463,0.999999956968,4.56101079917e-05,-0.00028814794987,3.09075732705e-05,1793193626404043776
+51,0.850000000,BASELINE,764,742.334197836,711,672.334197836,661.334197836,633,877.334197836,784,799.334197836,650,629,651,0.40094944799,0.0044791062769,0.0698210426105,0.999999957322,4.5567145586e-05,-0.000286956218361,3.05739683992e-05,1793193626420710656
+52,0.866666667,BASELINE,764,742,711.240578626,672.240578626,661,633,877.240578626,784,799,650,629,651,0.400949701514,0.00447859014371,0.069821437954,0.999999957567,4.46275551933e-05,-0.000286240317565,3.0682126116e-05,1793193626437377536
+53,0.883333333,BASELINE,764,742,711.81604177,672.81604177,661,633,877.81604177,784,799,650,629,651,0.40095054575,0.00447616371103,0.0698216942083,0.999999957655,4.24398621136e-05,-0.000286186771353,3.14052156668e-05,1793193626454043648
+54,0.900000000,BASELINE,764,742,712,672.596853886,661,632.596853886,878,784,799,650,629,651,0.400950374779,0.00447550022468,0.0698212354015,0.999999957589,4.19126353708e-05,-0.000286492412591,3.14359546931e-05,1793193626470710016
+55,0.916666667,BASELINE,764,742,712,672.004279654,661,632.004279654,878,784,799,650,629,651,0.400949726787,0.00447566510209,0.0698204406055,0.999999957451,4.21656196412e-05,-0.000286966826888,3.11413757751e-05,1793193626487376384
+56,0.933333333,BASELINE,764,742.572807866,712,672,661,632,878,784,799.572807866,650,629,651,0.400950841706,0.00447609252429,0.0698216362748,0.999999957857,4.31047720294e-05,-0.00028540940846,3.11434071135e-05,1793193626504042752
+57,0.950000000,BASELINE,764,743,712,672.149230032,661,632.149230032,878,784,799.850769968,649.850769968,629,651,0.400951491405,0.0044764854742,0.0698223555933,0.999999958058,4.3825859095e-05,-0.000284590010123,3.11633500645e-05,1793193626520709632
+58,0.966666667,BASELINE,764,743,712,672.724075774,661,632.724075774,878,784,799.275924226,649.275924226,629,651,0.40095077768,0.00447677465907,0.0698216750237,0.999999957674,4.39107700794e-05,-0.000285917659375,3.12282242777e-05,1793193626537377024
+59,0.983333333,BASELINE,764,742.693521048,711.693521048,672.693521048,661,633,878,784,799,649.306478952,629,651,0.400950081992,0.00447671718061,0.0698211763381,0.99999995737,4.34623453286e-05,-0.000287044277635,3.12411467417e-05,1793193626554043904
+60,1.000000000,BASELINE,764,742.104141792,711.104141792,672.104141792,661,633,878,784,799,649.895858208,629,651,0.400949402954,0.00447633970906,0.0698208455434,0.999999957141,4.2521616496e-05,-0.000287985331171,3.1206114319e-05,1793193626570710528
+61,1.016666667,BASELINE,764,742,711,672.475971185,661,633,878,784.475971185,799,650,629,651,0.40094964634,0.00447704810423,0.0698214453536,0.999999957316,4.33617464898e-05,-0.000287265301022,3.1088335625e-05,1793193626587377408
+62,1.033333333,BASELINE,764,742.054000251,711.054000251,672.945999749,661,632.945999749,878,784.945999749,799.054000251,650,629,651,0.40095012837,0.00447788336199,0.069822230041,0.999999957603,4.43942337048e-05,-0.000286121697853,3.09537845139e-05,1793193626604044032
+63,1.050000000,BASELINE,764,742.631107663,711.631107663,672.368892337,661,632.368892337,878,784.368892337,799.631107663,650,629,651,0.400951004399,0.0044776899795,0.0698228708802,0.999999958154,4.35876097913e-05,-0.000284328370768,3.0828790726e-05,1793193626620710656
+64,1.066666667,BASELINE,764,742.792085562,712,672.207914438,661,632,878,784,799.792085562,650,629,650.792085562,0.400951108942,0.00447787628842,0.0698227966145,0.999999958236,4.35841652332e-05,-0.000284048464731,3.07351790517e-05,1793193626637377280
+65,1.083333333,BASELINE,764,742.215811457,712,672.784188543,661,632,878,784,799.215811457,650,629,650.215811457,0.40094984665,0.00447873529236,0.0698214554054,0.999999957489,4.50037045344e-05,-0.000286449869816,3.06971667217e-05,1793193626654043648
+66,1.100000000,BASELINE,764,742,711.63190963,672.63190963,661,632.36809037,878,784,799.36809037,650,628.63190963,650.36809037,0.400949339064,0.00447845184699,0.0698211334444,0.999999957366,4.50284075784e-05,-0.000286872515254,3.07245384001e-05,1793193626670710272
+67,1.116666667,BASELINE,764,742,711.043441055,672.043441055,661,632.956558945,878,784,799.956558945,650,628.043441055,650.956558945,0.400949283326,0.00447748440943,0.0698214217142,0.999999957619,4.42180126288e-05,-0.000286110463762,3.07910559298e-05,1793193626687376896
+68,1.133333333,BASELINE,764,742,711.536280624,672,661.536280624,633,878,784,799.463719376,650,628.536280624,651,0.400950065112,0.00447735175547,0.0698218802019,0.999999957973,4.27607629657e-05,-0.000285119276722,3.05403023394e-05,1793193626704044032
+69,1.150000000,BASELINE,764.114760962,742,711.885239038,672.114760962,661.885239038,632.885239038,878,784,799,650,629,651,0.400950697083,0.00447739644935,0.0698221802458,0.999999958169,4.18021573604e-05,-0.000284588380823,3.03938936331e-05,1793193626720710656
+70,1.166666667,BASELINE,764.691052657,742,711.308947343,672.691052657,661.308947343,632.308947343,878,784,799,650,629,651,0.400950458083,0.00447788679249,0.0698217885178,0.999999957707,4.30562797973e-05,-0.000285982072457,3.07688252259e-05,1793193626737377024
+71,1.183333333,BASELINE,764.728136679,742,711.271863321,673,661,632,878.271863321,784,799,650,629,651,0.400950190207,0.00447790178263,0.0698217126647,0.999999957468,4.37788430751e-05,-0.000286688876382,3.09392292078e-05,1793193626754043392
+72,1.200000000,BASELINE,764.142103747,742,711.857896253,673,661,632,878.857896253,784,799,650,629,651,0.40094988896,0.00447736744727,0.0698220018414,0.99999995749,4.38871282299e-05,-0.000286601902038,3.08732778525e-05,1793193626770710016
+73,1.216666667,BASELINE,764,742,711.560997783,673,661,632.439002217,878.560997783,784.439002217,799.439002217,650,629,651,0.400950116865,0.00447637246811,0.0698225742843,0.999999957673,4.33527494949e-05,-0.000286015352916,3.11555615979e-05,1793193626787376384
+74,1.233333333,BASELINE,764,742.018442724,711,673,661,633,878,784.981557276,800,650,629,651,0.400950478643,0.00447531604513,0.0698231678209,0.999999957884,4.26520501121e-05,-0.000285341075244,3.15183585782e-05,1793193626804043008
+75,1.250000000,BASELINE,764,742.595210781,711,673,661,633,878,784.404789219,800,650,629,651,0.40094976541,0.00447686345209,0.0698216548942,0.999999957448,4.31440934092e-05,-0.000286852165845,3.09439378861e-05,1793193626820709888
+76,1.266666667,BASELINE,764,743,711,673,661.17179508,633,878,784,799.82820492,650,629,651,0.400949580101,0.00447778806922,0.0698208299258,0.999999957298,4.34623217805e-05,-0.000287360760801,3.06547473079e-05,1793193626837376768
+77,1.283333333,BASELINE,764,743,711,673,661.747946828,633,878,784,799.252053172,650,629,651,0.400950637376,0.00447724681644,0.0698216242151,0.99999995782,4.33714393121e-05,-0.000285509766565,3.10369071808e-05,1793193626854043648
+78,1.300000000,BASELINE,764,742.668920786,711,672.668920786,661.668920786,632.668920786,878,784,799,650,629,651,0.400951169447,0.00447702081461,0.0698223124417,0.999999958213,4.29337718153e-05,-0.000284199939904,3.09854828876e-05,1793193626870710272
+79,1.316666667,BASELINE,764,742.080359548,711,672.080359548,661.080359548,632.080359548,878,784,799,650,629,651,0.400951293064,0.0044770399851,0.0698229181828,0.999999958508,4.2226407807e-05,-0.000283310982161,3.0596857921e-05,1793193626887376640
+80,1.333333333,BASELINE,764.499347947,742,711,672.499347947,661.499347947,632.499347947,878.499347947,784,799,650,629,651,0.400951065991,0.00447722299196,0.06982260493,0.999999958234,4.37837225307e-05,-0.00028402677864,3.07269338833e-05,1793193626904043264
+81,1.350000000,BASELINE,764.922604749,742,711,673,661.922604749,632.922604749,878.922604749,784,799,650,629,651,0.400950857543,0.00447718918464,0.0698221688677,0.999999957938,4.51110217763e-05,-0.000284833750428,3.09601406697e-05,1793193626920709632
+82,1.366666667,BASELINE,764.34623517,742,711,673,661.34623517,632.34623517,878.34623517,784,799,650,629,651,0.400951126687,0.00447559053338,0.0698218779084,0.999999958103,4.26466659294e-05,-0.000284592573232,3.13294524441e-05,1793193626937376256
+83,1.383333333,BASELINE,764,742.229301608,711,672.770698392,661,632.229301608,878,784,799.229301608,650,629,651,0.400951084693,0.0044756006376,0.0698217967122,0.99999995812,4.21331727863e-05,-0.000284606653978,3.13728156862e-05,1793193626954043136
+84,1.400000000,BASELINE,764,742.80358553,711,672.19641447,661,632.80358553,878,784,799.80358553,650,629,651,0.400950574595,0.00447803110049,0.069822031103,0.999999957915,4.45547355894e-05,-0.000285004768086,3.09257921941e-05,1793193626970710016
+85,1.416666667,BASELINE,764,742.611051672,711.388948328,672.388948328,661.388948328,633,878,784,799.611051672,650,629,650.611051672,0.400949505633,0.00447856047851,0.0698214071744,0.999999957359,4.59090370761e-05,-0.000286744609477,3.08578662148e-05,1793193626987376896
+86,1.433333333,BASELINE,764,742.019930171,711.980069829,672.980069829,661.980069829,633,878,784,799.019930171,650,629,650.019930171,0.400948146177,0.00447810168308,0.0698203370962,0.999999956616,4.67085819337e-05,-0.000289181873206,3.09869930366e-05,1793193627004043520
+87,1.450000000,BASELINE,764,742,712,673,661.439573731,632.439573731,878,784,799,650,629,650.560426269,0.400950613278,0.00447837986837,0.0698217554003,0.999999957683,4.51155717178e-05,-0.000285743295138,3.08051826679e-05,1793193627020710144
+88,1.466666667,BASELINE,764,742.138905079,712,673,661,632.138905079,878.138905079,784,799,650,629,651,0.400952601406,0.00447843115859,0.0698230045113,0.999999958563,4.37937843264e-05,-0.000282865891915,3.06939237517e-05,1793193627037376512
+89,1.483333333,BASELINE,764,742.712681494,712,673,661,632.712681494,878.712681494,784,799,650,629,651,0.400952672008,0.00447769160043,0.0698234521029,0.999999958704,4.35824736007e-05,-0.000282387226593,3.08375069183e-05,1793193627054043136
+90,1.500000000,BASELINE,764,742.706107207,712,673,661.293892793,632.706107207,879,784,799.293892793,650,629,651,0.400952456863,0.0044773072401,0.0698232733016,0.999999958703,4.30679974969e-05,-0.00028247450326,3.07681310081e-05,1793193627070710016
+91,1.516666667,BASELINE,764,742.117438724,712,673,661.882561276,632.117438724,879,784,799.882561276,650,629,651,0.400951955114,0.00447727914471,0.0698224662255,0.999999958562,4.22494452749e-05,-0.000283129422115,3.04851562522e-05,1793193627087377152
+92,1.533333333,BASELINE,764,742,711.536788531,673,661.536788531,632.463211469,878.536788531,784,799.536788531,650,629,650.536788531,0.400951874428,0.00447665657253,0.0698226250652,0.999999958553,4.17671656909e-05,-0.000283217945052,3.06134687121e-05,1793193627104044288
+93,1.550000000,BASELINE,764,742,711,672.95828862,661,633,878,784,799.04171138,650,629,650.04171138,0.400951813741,0.00447597726323,0.069822905761,0.99999995854,4.1502732039e-05,-0.000283281783753,3.08102292343e-05,1793193627120711168
+94,1.566666667,BASELINE,764,742,711,672.381738061,661,633,878,784,799.618261939,650,629,650.618261939,0.400950663948,0.00447647013737,0.069821662298,0.999999958043,4.29570220656e-05,-0.000284839065242,3.05703627512e-05,1793193627137378048
+95,1.583333333,BASELINE,764,742,711,672,661,633,878,784,799.805921525,650,629,651,0.400950229756,0.00447689061799,0.0698211848439,0.999999957914,4.38267979463e-05,-0.000285177362961,3.04233891353e-05,1793193627154044672
+96,1.600000000,BASELINE,764,742,711,672,661,633,878,784,799.231543218,650,629,651,0.400951197796,0.00447716924248,0.0698222083963,0.999999958507,4.35512093936e-05,-0.000283127043029,3.0458440516e-05,1793193627170710784
+97,1.616666667,BASELINE,764,742,711.353256961,672.706513923,661,633,878.353256961,784,799,650,629,651,0.400951624324,0.00447781166272,0.0698228249765,0.999999958679,4.38235453532e-05,-0.00028248033547,3.04355755322e-05,1793193627187376640
+98,1.633333333,BASELINE,764,742,711.945095807,673.890191613,661,633,878.945095807,784,799,650,629,651,0.400951685126,0.0044786997825,0.0698231666966,0.999999958567,4.44659373406e-05,-0.00028278159657,3.03735951237e-05,1793193627204043008
+99,1.650000000,BASELINE,764,742,712,673.474900882,661,633,878.474900882,784.525099118,799.525099118,650,629,651,0.400950773836,0.00447918074807,0.0698228839946,0.999999958188,4.64170796704e-05,-0.000283815776821,3.02992372444e-05,1793193627220709888
+100,1.666666667,BASELINE,764,742,711.896895488,673,661.103104512,632.896895488,878.103104512,784.896895488,800,650,629,651,0.400949939894,0.0044793729726,0.0698224205448,0.999999957841,4.76172570476e-05,-0.000284840205143,3.02663591794e-05,1793193627237376256
+101,1.683333333,BASELINE,764,742,711.322490649,673,661.677509351,632.322490649,878.677509351,784.322490649,800,650,629,651,0.400949913893,0.0044784356456,0.0698214227453,0.999999957786,4.47729719744e-05,-0.000285477477868,3.0428874647e-05,1793193627254043136
+102,1.700000000,BASELINE,764,742,711,673,661.742014657,632,878.742014657,784,799.742014657,650,629,651,0.400949754021,0.00447783231449,0.069820908777,0.999999957765,4.31464181596e-05,-0.000285794295495,3.04875732137e-05,1793193627270709760
+103,1.716666667,BASELINE,764,742,711,673,661.153766659,632,878.153766659,784,799.153766659,650,629,651,0.400949422774,0.00447765655181,0.0698210141906,0.999999957797,4.30787560663e-05,-0.000285700879105,3.04133694688e-05,1793193627287376128
+104,1.733333333,BASELINE,764.42791774,742,711,673,661,632.42791774,878,784,799,650,629,651,0.400949661335,0.00447743975863,0.0698212381792,0.999999957835,4.24636964938e-05,-0.000285658474573,3.04307234821e-05,1793193627304043008
+105,1.750000000,BASELINE,764.992751082,742,711,673,661,632.992751082,878,784,799.007248918,650,629,651,0.400950112438,0.00447720445276,0.0698215167675,0.99999995788,4.16778346025e-05,-0.000285610253456,3.04785101847e-05,1793193627320709632
+106,1.766666667,BASELINE,764.415805408,742,711,673,661,632.415805408,878,784,799.584194592,650,629,651,0.400951418709,0.00447665544152,0.0698227883535,0.999999958389,4.26937713885e-05,-0.00028368606582,3.03714429602e-05,1793193627337376256
+107,1.783333333,POSE1_TO_POSE2_PRESS,763,742,711,672,661,633,878,784,800,650,629,651,0.400950105753,0.00447858351146,0.0698220047103,0.999999957967,4.43874726828e-05,-0.000284884748081,3.06018270058e-05,1793193627378524416
+108,1.800000000,POSE1_TO_POSE2_PRESS,763.592200015,742,711,672,661,632.407799985,878,784,799.407799985,650,629,651,0.400950573612,0.00447772324192,0.069822210602,0.999999958167,4.34313236684e-05,-0.000284340102631,3.0496420876e-05,1793193627395191296
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,742,711,672,661,632.180112147,878,784.180112147,799.180112147,650,629,651,0.400950202488,0.00447708989157,0.0698219120876,0.999999958111,4.25974256632e-05,-0.000284673661698,3.04100018114e-05,1793193627411857920
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,742,711,672,661,632.758541751,878,784.758541751,799.758541751,650,629,651,0.400947975958,0.00447695837213,0.0698204980809,0.999999957486,4.20338852035e-05,-0.000286949367244,3.03655725632e-05,1793193627428524288
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,742.336787845,711,672.336787845,661,633,878,784.663212155,799.663212155,650,629,651,0.400948520639,0.00447683462802,0.0698208023367,0.999999957607,4.25821762118e-05,-0.000286434283556,3.04657670854e-05,1793193627445190912
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,742.914902411,711,672.914902411,661,633,878,784.085097589,799.085097589,650,629,651,0.400951051042,0.00447671645538,0.0698223378206,0.99999995826,4.39271546794e-05,-0.00028391944819,3.06695923697e-05,1793193627461857536
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,742.500890302,711,673,661,633,878,784,799,649.500890302,629,651,0.400952766627,0.00447749655471,0.0698239093605,0.999999958824,4.55222284774e-05,-0.000281670321495,3.06916579288e-05,1793193627478524416
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,742.083428284,711,673,661,633,877.916571716,784,799.083428284,649.083428284,629,651,0.400954685748,0.00447830806164,0.0698254617651,0.999999959414,4.68539826366e-05,-0.000279349362293,3.06790184102e-05,1793193627495190784
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,742.662164136,711,673,661,633,877.337835864,784,799.662164136,649.662164136,629,651,0.400958648222,0.00447838553081,0.0698268636165,0.999999960276,4.63661428542e-05,-0.000276329654393,3.06465953013e-05,1793193627511857408
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,742.768217542,711,673,661,633,877.463564917,784,799.768217542,650,629,651,0.400969244564,0.00447816426124,0.0698316498442,0.999999962481,4.5546427002e-05,-0.000268360996874,3.0758109806e-05,1793193627528524032
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,742.211385605,711,673,661,633,878.577228791,784,799.211385605,650,629,651,0.400989144178,0.00447752404335,0.0698411822886,0.999999966419,4.42612913927e-05,-0.000253451980479,3.10714810263e-05,1793193627545190912
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,742,711,673,661,633,878.628481475,784,799,650,628.628481475,651,0.401024947715,0.00447693810302,0.0698561014536,0.999999972636,4.34335538227e-05,-0.000227763375617,3.10757239913e-05,1793193627561857536
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,742,711,673,661,633,878.029623184,784,799,650,628.029623184,651,0.40107048319,0.00447638537618,0.0698743168639,0.999999979497,4.28857072881e-05,-0.000195478519028,3.08908050769e-05,1793193627578524160
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,742,711,673,661,632.441282418,878,784,799.558717582,650,628.558717582,651,0.401129923617,0.00447552282285,0.0698884989028,0.99999998376,3.93716070342e-05,-0.00017326372354,3.01692783977e-05,1793193627595191552
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,742,711,673,661,632.144335633,877.855664367,784,800,650,629,651,0.401193140647,0.00447498474736,0.0699002214654,0.999999986791,3.62837174423e-05,-0.000155704405657,2.9293925109e-05,1793193627611858688
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,742,711,673,661,632.723401706,877.276598294,784,800,650,629,651,0.401265553098,0.00447547254274,0.0699051684339,0.999999987658,3.49444862569e-05,-0.000150588701925,2.8039364167e-05,1793193627628525056
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,742,711,673,661,633,877.301186507,784,800,649.698813493,629,651,0.401345486661,0.00447618110172,0.0699063865815,0.999999987809,3.48381286016e-05,-0.000149955583481,2.6109326264e-05,1793193627645191168
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,742,711,673,661,633,877.877799585,784,800,649.122200415,629,651,0.401432298064,0.00447709154275,0.0699041948272,0.99999998731,3.58591991163e-05,-0.000153421663229,2.35615837967e-05,1793193627661857536
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,742,711,673,661,632.546275368,877.546275368,784,799.546275368,649.453724632,629,651,0.401538237547,0.00447614622368,0.0699013639176,0.999999986535,3.18085061302e-05,-0.000159663992434,2.06186453182e-05,1793193627678524416
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,742,711,672.969823749,661,632,877.030176251,784,799,650,629,651,0.401651271351,0.00447469249414,0.069898704614,0.999999985731,2.62699820604e-05,-0.000165953789571,1.75504622211e-05,1793193627695191040
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,742,711,672.380178984,661,632,877.619821016,784,799,650,629,651,0.401800465797,0.00447306522152,0.069902413573,0.999999987045,1.84336966249e-05,-0.000159281892031,1.41305979452e-05,1793193627711857664
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,742,711,672.205939506,661,632,877.794060494,784,799,649.794060494,629,650.794060494,0.401964104906,0.00447211202003,0.0699061024358,0.999999988152,1.15469943313e-05,-0.000153165349006,1.01779060509e-05,1793193627728524032
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,742,711,672.785657768,661,632,877.214342232,784,799,649.214342232,629,650.214342232,0.402153960962,0.00447238225309,0.0699097548237,0.999999989005,6.38377962914e-06,-0.000148056771271,5.25813614472e-06,1793193627745190656
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,742,711,672.638128779,661,632.361871221,877.361871221,784,799,649.361871221,629,650.361871221,0.402360091513,0.00447062172804,0.0699122469402,0.999999989659,-1.72934209802e-06,-0.000143804499315,2.83770650648e-07,1793193627761857536
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,742,711,672.063971314,661,632.936028686,877.936028686,784,799,649.936028686,629,650.936028686,0.402575769267,0.00446766988968,0.0699140584014,0.999999990114,-1.15729823726e-05,-0.00014005456561,-4.7226229824e-06,1793193627778524160
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,742,711,672.522019511,661,633,878,784,799,650,629,651,0.402826191424,0.00446057625291,0.0699175723445,0.999999990806,-2.6182733428e-05,-0.000132707327319,-9.50571765714e-06,1793193627795190784
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,742,711,673,661.107553533,632.892446467,878,784,799.107553533,649.892446467,629,651,0.403091532388,0.00445318312612,0.0699223967932,0.999999991548,-4.04085012947e-05,-0.000122761213397,-1.41383557695e-05,1793193627811857664
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,742,711,673,661.684616486,632.315383514,878,784,799.684616486,649.315383514,629,651,0.403402981491,0.00444674968774,0.0699320101884,0.999999993216,-5.0349253421e-05,-0.000103439115846,-1.82364248354e-05,1793193627828524544
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,742,711,672.737379845,661.737379845,632.262620155,878,784,800,649,629,651,0.403734585795,0.00444662654761,0.0699406536642,0.999999995542,-3.05021759696e-05,-8.78055744411e-05,-1.6632789462e-05,1793193627845191424
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,742,711,672.158242435,661.158242435,632.841757565,878,784,800,649,629,651,0.404090481698,0.00445410875821,0.0699481281652,0.999999996713,2.52460388458e-05,-7.66175864614e-05,-8.15729797435e-06,1793193627861858048
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,742.418171169,711,672.418171169,661,632.581828831,878,784,799.581828831,649.418171169,629,651,0.404466999552,0.00445940224375,0.069954819839,0.999999996748,4.22756033307e-05,-6.79167566698e-05,-1.02421391706e-05,1793193627878525440
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,742.993560701,711,672.993560701,661,632.006439299,878,784,799.006439299,649.993560701,629,651,0.40485127056,0.00446387284177,0.0699612171958,0.999999997057,4.47482500983e-05,-6.01510154072e-05,-1.62973121641e-05,1793193627895192832
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,743,711,673,661.583226807,632.583226807,877.416773193,784,799.583226807,650,629,651,0.405267373672,0.00446554750282,0.0699645140389,0.999999997589,4.15068319956e-05,-5.25011696973e-05,-1.84992346033e-05,1793193627911859200
+140,2.333333333,POSE1_TO_POSE2_PRESS,763.830066604,743,711,673,661.830066604,632.830066604,877.169933396,784,800,650,629,651,0.405694795359,0.00446907774013,0.0699649653433,0.999999998171,2.63649289676e-05,-5.03957781175e-05,-2.05606320064e-05,1793193627928525312
+141,2.350000000,POSE1_TO_POSE2_PRESS,763.250876752,743,711,673,661.250876752,632.250876752,877.749123248,784,800,650,629,651,0.406148608244,0.00447715303492,0.0699586481498,0.9999999977,-1.7281572459e-05,-6.16401286804e-05,-2.23886265747e-05,1793193627945191936
+142,2.366666667,POSE1_TO_POSE2_PRESS,763,742.674037658,711.325962342,673,661.325962342,632,878.325962342,784,800,650,629,651,0.406627126269,0.00448300643149,0.0699452471585,0.999999996124,-1.93032090703e-05,-8.24460835162e-05,-2.41163661495e-05,1793193627961858560
+143,2.383333333,POSE1_TO_POSE2_PRESS,763,742.098994809,711.901005191,673,661.901005191,632,878.901005191,784,800,650,629,651,0.407124522499,0.00448716199005,0.069926433161,0.999999993501,1.04823282199e-05,-0.000110558433309,-2.57674971711e-05,1793193627978525184
+144,2.400000000,POSE1_TO_POSE2_PRESS,763.485937041,742,712,672.514062959,661.514062959,632.485937041,878.514062959,784,800,650,629,651,0.407653179828,0.00449311385816,0.0699162446583,0.999999991911,2.02349710536e-05,-0.000122457630299,-2.77916390726e-05,1793193627995192320
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,742.071787824,711.928212176,672.071787824,661.071787824,632.928212176,878.071787824,784,800,650,629,650.928212176,0.408200142074,0.00449962522174,0.069911776285,0.999999991499,2.58658476291e-05,-0.000124242864481,-2.99334338819e-05,1793193628011859200
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,742.649620477,711.350379523,672.649620477,661.649620477,632.350379523,878.649620477,784,800,650,629,650.350379523,0.408830313948,0.00450744738609,0.0699349861112,0.99999999589,3.18075968081e-05,-7.84996379355e-05,-3.23577944333e-05,1793193628028525824
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,742.771381976,711.228618024,673,662,632,878.771381976,784,799.771381976,650,629,650,0.40945996675,0.00451458053996,0.0699483816022,0.999999997502,3.70239385223e-05,-4.93583016231e-05,-3.44730869135e-05,1793193628045192192
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,742.190590006,711.809409994,673,662,632,878.190590006,784,799.190590006,650,629,650,0.410088819911,0.00452065230922,0.0699466586285,0.999999997454,4.11228282185e-05,-4.57913001122e-05,-3.61122763534e-05,1793193628061858560
+149,2.483333333,POSE1_TO_POSE2_PRESS,763.61402225,742,711.61402225,673,661.61402225,632,878,784,799.38597775,650,629,650.38597775,0.410739630284,0.00452749577457,0.0699417510955,0.999999996353,5.12967077769e-05,-5.74299519027e-05,-3.69414218035e-05,1793193628078525184
+150,2.500000000,POSE1_TO_POSE2_PRESS,763.039517783,742,711.039517783,673,661.039517783,632,878,784,799.960482217,650,629,650.960482217,0.411401165406,0.00453471616648,0.0699352880987,0.9999999943,6.44378512112e-05,-7.64956429837e-05,-3.73749098405e-05,1793193628095191808
+151,2.516666667,POSE1_TO_POSE2_PRESS,763.547046445,742,711,673,661.547046445,632,878,784,799.452953555,649.452953555,629,651,0.412115745612,0.00453953663235,0.0699573675226,0.99999999635,6.60156897237e-05,-3.75717550475e-05,-3.91177501168e-05,1793193628111858432
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,742.132472677,711,673,662,632,878.132472677,784,799,649,629,650.867527323,0.412843874072,0.00454457815003,0.0699824708989,0.999999996828,6.85247832099e-05,4.99975785956e-06,-4.02793402323e-05,1793193628128524800
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,742.71106646,711,673,662,632,878.71106646,784,799,649,629,650.28893354,0.413604432742,0.00455096109043,0.0700106577323,0.999999995233,7.70464720446e-05,4.54298330324e-05,-3.91577741394e-05,1793193628145191936
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,742.7112418,711,673,662,632.2887582,878.7112418,784,799,649.2887582,628.7112418,650,0.414340411659,0.00455941813874,0.0700102609555,0.999999994591,8.76462726343e-05,3.9535960818e-05,-3.96675349429e-05,1793193628161858816
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,742.13444977,711,673,662,632.86555023,878.13444977,784,799,649.86555023,628.13444977,650,0.415051872575,0.00456994409266,0.0699813522757,0.999999994015,0.000100318972831,-1.25656471365e-05,-4.18045301761e-05,1793193628178525696
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,742,711.437794931,673,662,632.562205069,878,783.562205069,799,649.562205069,628.437794931,650,0.415790428026,0.00457765187489,0.0699358884152,0.999999989716,0.000105655509093,-8.58803337191e-05,-4.50456439633e-05,1793193628195192064
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,742.009025361,711.990974639,673,662,632,878.009025361,783.009025361,799,649.009025361,629,650,0.416538376424,0.00458447017313,0.0698864882432,0.999999979472,0.000108727236698,-0.000163937978289,-4.85752245625e-05,1793193628211858688
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,742.604148355,711.395851645,673,662,632,878.604148355,783.604148355,799,649.604148355,629,650,0.417361499359,0.00458915189357,0.0699082369267,0.999999984181,0.000109527167589,-0.000131291294657,-4.90442852361e-05,1793193628228525056
+159,2.650000000,POSE1_TO_POSE2_PRESS,763.806149357,742.806149357,711,673,662,632,878.806149357,784,799,650,629,650.193850643,0.418191266409,0.0045944374219,0.0699336988467,0.999999987953,0.000114840476177,-9.21682416212e-05,-4.90903581591e-05,1793193628245191680
+160,2.666666667,POSE1_TO_POSE2_PRESS,763.227215309,742.227215309,711,673,662,632,878.227215309,784,799,650,629,650.772784691,0.419034231915,0.00460092241155,0.0699665370926,0.999999989691,0.000129119588577,-4.01799127464e-05,-4.82961678384e-05,1793193628261858304
+161,2.683333333,POSE1_TO_POSE2_PRESS,763.349647961,742,711,673,662,632,878.349647961,784,799,649.650352039,628.650352039,650.650352039,0.41988699179,0.0046066271882,0.0699896264332,0.999999989721,0.000134992738399,-2.76112989795e-06,-4.82513714861e-05,1793193628278525184
+162,2.700000000,POSE1_TO_POSE2_PRESS,763.925173457,742,711,673,662,632,878.925173457,784,799,649.074826543,628.074826543,650.074826543,0.420746078934,0.00461182793596,0.0700064178418,0.999999989325,0.000135435516903,2.5245517867e-05,-4.86906943124e-05,1793193628295192064
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,742.510082438,711,673,662.510082438,632,878.489917562,784,799,649,628.510082438,650,0.421586642248,0.00461565290066,0.0700108002791,0.999999988412,0.000141299113932,2.7764978949e-05,-4.9400048006e-05,1793193628311858944
+164,2.733333333,POSE1_TO_POSE2_PRESS,763.904570721,742.904570721,711,673.095429279,663,632,878,784,799.095429279,649.095429279,628.904570721,650,0.422411927263,0.00461624181036,0.0700024571865,0.999999988295,0.000144219341923,9.34911336761e-06,-5.02396574184e-05,1793193628328525568
+165,2.750000000,POSE1_TO_POSE2_PRESS,763.324125853,742.324125853,711,673.675874147,663,632,878,784,799.675874147,649.675874147,628.324125853,650,0.42317363029,0.00460142856353,0.0699388622461,0.999999985853,0.000128062656846,-9.61110889426e-05,-5.15361854657e-05,1793193628345192192
+166,2.766666667,POSE1_TO_POSE2_PRESS,763.254536122,742,711,674,662.745463878,632,878,784,799.745463878,649.745463878,628,650,0.423952059928,0.00458238218459,0.0698836517934,0.999999977554,0.000100892728057,-0.000178475771658,-5.34782569984e-05,1793193628361858816
+167,2.783333333,POSE1_TO_POSE2_PRESS,763.830943634,742,711,674,662.169056366,632,878,784,799.169056366,649.169056366,628,650,0.42475164116,0.0045579828341,0.0698390438614,0.999999969803,5.97960987374e-05,-0.000231635235573,-5.62366453882e-05,1793193628378525440
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,742,711,674.405100105,662.405100105,632,878,784,799.405100105,649,628,650,0.425621369001,0.00455609952672,0.0698708471429,0.999999980944,5.77062507937e-05,-0.000178069938545,-5.54393812542e-05,1793193628395192064
+169,2.816666667,POSE1_TO_POSE2_PRESS,764,742,711,674.978322328,662.978322328,632,878,784,799.978322328,649,628,650,0.426520208603,0.00456356068853,0.0699343621321,0.999999992792,7.18047559218e-05,-8.02123927188e-05,-5.31664718355e-05,1793193628411858688
+170,2.833333333,POSE1_TO_POSE2_PRESS,763.430613526,742.569386474,711.569386474,674.430613526,663.569386474,632,878.569386474,784,800,649,628.569386474,650,0.427378526938,0.00457115814402,0.0699754210233,0.999999994621,8.30835191692e-05,-3.57999698196e-05,-5.07306173905e-05,1793193628428525056
+171,2.850000000,POSE1_TO_POSE2_PRESS,763.157833749,742.842166251,711.842166251,674,663.684332502,632,878.842166251,784,800,649,629,650,0.428232281487,0.00457630803291,0.0700089688815,0.999999994813,8.8881966708e-05,4.33142063098e-06,-4.95586544535e-05,1793193628445191936
+172,2.866666667,POSE1_TO_POSE2_PRESS,763.737414649,742.262585351,711.262585351,674,662.525170701,632,878.262585351,784,800,649,629,650,0.429078096775,0.00457490347104,0.070024804932,0.999999994686,8.03326141912e-05,3.86364388692e-05,-5.17810459927e-05,1793193628461858816
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,742,711,674,662.628536037,632,878.314268018,784,799.685731982,649.314268018,629,650.314268018,0.429875369324,0.00457624993951,0.0700200931277,0.999999994927,7.79678655346e-05,3.55831349281e-05,-5.29303854273e-05,1793193628478526464
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,742,711,674,663.77772398,632,878.88886199,784,799.11113801,649.88886199,629,650.88886199,0.430632431137,0.00457987524189,0.0699983603735,0.999999995326,8.07261740516e-05,1.58382056475e-06,-5.31908550661e-05,1793193628495194624
+175,2.916666667,POSE1_TO_POSE2_PRESS,763.525695887,742.474304113,711,674,663.525695887,632,878.525695887,784,799.474304113,650,628.525695887,651,0.431325218802,0.00458343107246,0.0699391606768,0.999999989579,8.90256564436e-05,-0.000100313109416,-5.34171454987e-05,1793193628511859968
+176,2.933333333,POSE1_TO_POSE2_PRESS,763,742.93859265,711,674.06140735,662.93859265,632,878,784,799.93859265,650,628.06140735,651,0.432010907937,0.00458669511003,0.0698784140853,0.999999972899,9.75144034518e-05,-0.00020445776109,-5.37508679018e-05,1793193628528525312
+177,2.950000000,POSE1_TO_POSE2_PRESS,763,742.359418114,711,674.640581886,662.359418114,632,878,784,799.359418114,650,628.640581886,651,0.432766702607,0.00458763930782,0.069880380531,0.999999975737,9.63950498023e-05,-0.000190269501043,-5.50595358928e-05,1793193628545191424
+178,2.966666667,POSE1_TO_POSE2_PRESS,763.219074958,742,711,675,662.219074958,632,878.219074958,784.219074958,799,649.780925042,629,650.780925042,0.433536544312,0.00458531780049,0.0699075408028,0.999999984689,9.19736305501e-05,-0.000138074957325,-5.56640803373e-05,1793193628561858048
+179,2.983333333,POSE1_TO_POSE2_PRESS,763.79645357,742,711,675,662.79645357,632,878.79645357,784.79645357,799,649.20354643,629,650.20354643,0.434329360485,0.00457765513483,0.0699759063319,0.999999994825,8.2151583133e-05,-2.37199950633e-05,-5.51170093571e-05,1793193628578524672
+180,3.000000000,POSE1_TO_POSE2_PRESS,763.629023044,742.370976956,711,674.629023044,663,632,878.629023044,784.629023044,799.370976956,649,629,650.370976956,0.435049868136,0.00456788882697,0.0700101846404,0.999999995706,6.92137243293e-05,3.11043532965e-05,-5.31919655874e-05,1793193628595192064
+181,3.016666667,POSE1_TO_POSE2_PRESS,763.056054323,742.943945677,711,674.056054323,663,632,878.056054323,784.056054323,799.943945677,649,629,650.943945677,0.43573100476,0.00455697711582,0.0700259029298,0.999999995803,5.45793507187e-05,5.35151079668e-05,-5.05166351682e-05,1793193628611859456
+182,3.033333333,POSE1_TO_POSE2_PRESS,763.533356489,743,711.533356489,674.533356489,662.466643511,632,879.066712978,784,800,649.533356489,629,650.466643511,0.436357724718,0.00455136038966,0.069999927067,0.999999997447,4.70086003731e-05,1.47006936077e-05,-5.177365065e-05,1793193628628525824
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,743,711.8782291,674.8782291,662,632,879.8782291,784,799.8782291,649.8782291,629,650,0.436966165721,0.00454850210856,0.0699687066079,0.999999997178,4.31845028199e-05,-3.05383021319e-05,-5.3343506175e-05,1793193628645192192
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,743,711.300228032,674.300228032,662,632,879.300228032,784,799.300228032,649.300228032,629,650,0.43752823096,0.00455382741907,0.0699347763184,0.999999994429,5.05278717312e-05,-7.49729296723e-05,-5.4487803129e-05,1793193628661859072
+185,3.083333333,POSE1_TO_POSE2_PRESS,763.723308755,742.723308755,711.276691245,674,661.446617509,632,879,784,799,649,629,650,0.438068469624,0.00456053201388,0.0698986124486,0.999999989029,5.60966912761e-05,-0.000125051043185,-5.6188679825e-05,1793193628678525696
+186,3.100000000,POSE1_TO_POSE2_PRESS,763.147558757,742.147558757,711.852441243,674,660.295117513,632,879,784,799,649,629,650,0.438585117234,0.00456872739291,0.0698600344396,0.999999980083,5.97475077324e-05,-0.000181228854722,-5.84911296264e-05,1793193628695191808
+187,3.116666667,POSE1_TO_POSE2_PRESS,763,742.437165639,711.562834361,674,659.562834361,632,879,783.562834361,799,649.437165639,629,650.437165639,0.439048566858,0.00457510771054,0.0698225827485,0.99999996548,7.25167051046e-05,-0.000246131247419,-5.65662245458e-05,1793193628711857920
+188,3.133333333,POSE1_TO_POSE2_PRESS,763,742.975408743,711,674,659,632,878.975408743,783.024591257,799.024591257,649.975408743,629,650.975408743,0.439494838312,0.00458093005962,0.0697865708274,0.999999946057,8.80191068131e-05,-0.000311901510088,-5.34443474959e-05,1793193628728524288
+189,3.150000000,POSE1_TO_POSE2_PRESS,763,742.396802909,711,674,659,632,878.396802909,783.603197091,799.603197091,649.396802909,629,650.396802909,0.439967115442,0.00458827352444,0.0697742510699,0.999999939694,9.43054410739e-05,-0.000329488982311,-5.61758236238e-05,1793193628745191168
+190,3.166666667,POSE1_TO_POSE2_PRESS,763,742.181141033,711,674.181141033,659.181141033,631.818858967,878.181141033,783.818858967,800,649.181141033,629,650.181141033,0.440431101828,0.00459550258641,0.0697709078038,0.99999993713,0.000101653422166,-0.00033467419703,-5.83046193258e-05,1793193628761858048
+191,3.183333333,POSE1_TO_POSE2_PRESS,763,742.757640439,711,674.757640439,659.757640439,631.242359561,878.757640439,783.242359561,800,649.757640439,629,650.757640439,0.44087699293,0.00460248195414,0.0697871566232,0.999999943138,0.000111318554587,-0.000312790251104,-5.91180054192e-05,1793193628778524928
+192,3.200000000,POSE1_TO_POSE2_PRESS,763.334679172,742.665320828,711,675,659.665320828,631,879,783,800,649.665320828,628.665320828,651,0.441300553206,0.00460852232656,0.0698020095229,0.99999994789,0.000123536963374,-0.000292391198425,-5.88706058215e-05,1793193628795191552
+193,3.216666667,POSE1_TO_POSE2_PRESS,763.912109059,742.087890941,711,675,659.087890941,631,879,783,800,649.087890941,628.087890941,651,0.44170791638,0.00461388162306,0.069815849928,0.999999951575,0.000137607323255,-0.000273069175185,-5.78537932318e-05,1793193628811858176
+194,3.233333333,POSE1_TO_POSE2_PRESS,764,742,711,675,659,631,879,783,799.501682697,649.498317303,628,650.501682697,0.442031687126,0.00462742845296,0.0698027470658,0.999999941488,0.000160558986372,-0.000296256191052,-5.89687027869e-05,1793193628828524544
+195,3.250000000,POSE1_TO_POSE2_PRESS,763.915121072,742,711,675,658.915121072,631,879,783,799.084878928,649.915121072,628.084878928,650,0.442334362546,0.00464270507838,0.0697828225353,0.999999926713,0.000183314872654,-0.000330574384247,-6.07512294832e-05,1793193628845190912
+196,3.266666667,POSE1_TO_POSE2_PRESS,763.335683497,742,711,675,658.335683497,631,879,783,799.664316503,649.335683497,628.664316503,650,0.442601569531,0.00465949558345,0.069751336079,0.999999904581,0.000195639274343,-0.000385281033907,-6.41937161592e-05,1793193628861857536
+197,3.283333333,POSE1_TO_POSE2_PRESS,763,742.241630385,711,675,658.241630385,631,879,783,799.758369615,649.241630385,629,650,0.442859210695,0.00467100887311,0.0697264807083,0.999999887999,0.000192725299897,-0.000427164003566,-6.62594462177e-05,1793193628878524416
+198,3.300000000,POSE1_TO_POSE2_PRESS,763,742.8160196,711,675,658.8160196,631,879,783,799.1839804,649.8160196,629,650,0.443103678364,0.00467525469783,0.0697107572722,0.999999881667,0.000168825950136,-0.000451386969136,-6.64291897769e-05,1793193628895191296
+199,3.316666667,POSE1_TO_POSE2_PRESS,763.388978133,742.611021867,711,674.611021867,658.611021867,631,878.611021867,783,799.388978133,649.611021867,628.611021867,650.388978133,0.443333075267,0.0046775569034,0.0697035130345,0.999999875754,0.000178691829516,-0.000461065567405,-6.30894326151e-05,1793193628911857920
+200,3.333333333,POSE1_TO_POSE2_PRESS,763.961262506,742.038737494,711,674.038737494,658.038737494,631,878.038737494,783,799.961262506,649.038737494,628.038737494,650.961262506,0.443555370082,0.00467894317733,0.0697002646239,0.999999869811,0.000204469596642,-0.000463890123562,-5.80958205721e-05,1793193628928524544
+201,3.350000000,POSE1_TO_POSE2_PRESS,764,742.554838977,711,674.554838977,658,631,878.554838977,783,800,649.554838977,628.554838977,650.445161023,0.44373888597,0.00468325599706,0.0696919543789,0.999999861806,0.000209635338906,-0.000478358878697,-6.01178686513e-05,1793193628945191168
+202,3.366666667,POSE1_TO_POSE2_PRESS,764,743,711,675,658,631,878.854331621,783,800,650,629,650.145668379,0.443913599124,0.00468709626216,0.0696838853227,0.999999854109,0.000213095056485,-0.000492423197388,-6.23773510843e-05,1793193628961857792
+203,3.383333333,POSE1_TO_POSE2_PRESS,764,743,711,675,658,631,878.276245735,783,800,650,629,650.723754265,0.444070539166,0.00468890300421,0.0696776231852,0.999999848257,0.000215932829027,-0.000502777336111,-6.38296119666e-05,1793193628978524672
+204,3.400000000,POSE1_TO_POSE2_PRESS,764,743,711,675,657.69992746,630.69992746,878.30007254,783,800.30007254,650,629,651,0.444211009866,0.00469127515858,0.069673669717,0.999999844401,0.000218928375472,-0.000508982559352,-6.48498964724e-05,1793193628995191296
+205,3.416666667,POSE1_TO_POSE2_PRESS,764,743,711,675,657.125226948,630.125226948,878.874773052,783,800.874773052,650,629,651,0.444336407728,0.00469416478117,0.0696718291557,0.999999842439,0.000222068317274,-0.000511390672657,-6.54748338353e-05,1793193629011857920
+206,3.433333333,POSE1_TO_POSE2_PRESS,764,742.551575183,711,675,657.448424817,630,879,783,800.103150365,650,628.551575183,651,0.444438536527,0.00469972773751,0.0696688638028,0.999999838814,0.000230403206611,-0.000514704832525,-6.6070810904e-05,1793193629028524544
+207,3.450000000,POSE1_TO_POSE2_PRESS,764,742,711,675,657.977431804,630,878.977431804,783,799.022568196,649.977431804,628,651,0.444533117177,0.00470586595915,0.0696655053703,0.999999834585,0.000239922412578,-0.000518484942536,-6.66344185077e-05,1793193629045191168
+208,3.466666667,POSE1_TO_POSE2_PRESS,764,742,711,675,657.38344251,630,878.38344251,783,799.61655749,649.38344251,628,651,0.444600727238,0.00470771129612,0.0696601288619,0.999999829093,0.000242781578577,-0.000527671284793,-6.65827339078e-05,1793193629061857536
+209,3.483333333,POSE1_TO_POSE2_PRESS,764,742,711,675,657.204887007,630,878.204887007,783,799.795112993,649,628,651,0.444662868853,0.00471021115404,0.0696548759934,0.999999824286,0.000243945937635,-0.000536186519164,-6.65030290388e-05,1793193629078524416
+210,3.500000000,POSE1_TO_POSE2_PRESS,764,742,711,675,657.782909018,630,878.782909018,783,799.217090982,649,628,651,0.444715051464,0.00471390300866,0.0696498482955,0.999999820825,0.000242023757138,-0.000543479547977,-6.63722943805e-05,1793193629095191552
+211,3.516666667,POSE1_TO_POSE2_PRESS,763.641738082,742.358261918,711,675,657.641738082,630,879,783,799,649,628.358261918,650.641738082,0.444759024277,0.00471513301541,0.0696475466827,0.999999820048,0.000238921742021,-0.00054627824137,-6.63301372759e-05,1793193629111858176
+212,3.533333333,POSE1_TO_POSE2_PRESS,763.067990529,742.932009471,711,675,657.067990529,630,879,783,799,649,628.932009471,650.067990529,0.444798059103,0.00471488228223,0.0696468847419,0.999999820899,0.000235110085541,-0.000546373704482,-6.63412573551e-05,1793193629128524800
+213,3.550000000,POSE1_TO_POSE2_PRESS,763,743,710.478768572,675,657,629.478768572,879,783,799.521231428,649,629,650.521231428,0.444824008044,0.00471530005053,0.069646958671,0.99999982104,0.000236494744658,-0.000545603709111,-6.56268434711e-05,1793193629145191424
+214,3.566666667,POSE1_TO_POSE2_PRESS,763.110099849,742.889900151,710.220199698,675.110099849,657,629,879,783,800,649.110099849,628.889900151,651,0.444846218195,0.00471599646157,0.0696468181277,0.999999820816,0.000238327047316,-0.000545286048332,-6.50540278037e-05,1793193629161858048
+215,3.583333333,POSE1_TO_POSE2_PRESS,763.68861394,742.31138606,711.377227881,675.68861394,657,629,879,783,800,649.68861394,628.31138606,651,0.444860006191,0.00471749600201,0.0696453442491,0.999999819456,0.000239091850824,-0.000547387811579,-6.54985956527e-05,1793193629178524928
+216,3.600000000,POSE1_TO_POSE2_PRESS,764,742,711.733197555,676,657,629.266802445,878.733197555,783,799.733197555,650,628.266802445,650.733197555,0.444870520094,0.00471927897284,0.0696438057279,0.99999981801,0.00024026864445,-0.000549474865536,-6.57842873814e-05,1793193629195191296
+217,3.616666667,POSE1_TO_POSE2_PRESS,764,742,711.155388616,676,657,629.844611384,878.155388616,783,799.155388616,650,628.844611384,650.155388616,0.444877217446,0.00472139233298,0.0696421918539,0.999999816465,0.00024192568701,-0.00055154477303,-6.58847802358e-05,1793193629211857920
+218,3.633333333,POSE1_TO_POSE2_PRESS,763.579787373,742,711,675.579787373,657,630,878,783,799,650,629,650.420212627,0.444882080385,0.00472290527918,0.0696413501907,0.999999815549,0.000242443479673,-0.000552949431318,-6.61111335015e-05,1793193629228524544
+219,3.650000000,POSE1_TO_POSE2_PRESS,763.004998251,742,711,675.004998251,657,630,878,783,799,650,629,650.995001749,0.444886268531,0.00472419736124,0.0696407925876,0.999999814865,0.000242542195754,-0.000554109375612,-6.63837849007e-05,1793193629245190912
+220,3.666666667,POSE1_TO_POSE2_PRESS,763,742,711,674.415619183,657,630,878.584380817,783,799.584380817,650,628.415619183,651,0.444887976469,0.00472543228925,0.0696407083342,0.999999814882,0.000243965691506,-0.000553459555874,-6.63279314322e-05,1793193629261857792
+221,3.683333333,POSE1_TO_POSE2_PRESS,763.170825883,742,711,674.170825883,657,630,879,783,800.170825883,650,628.170825883,651,0.44488941745,0.00472659030961,0.0696406913004,0.999999814689,0.000245402509289,-0.000553183695547,-6.62342189703e-05,1793193629278524416
+222,3.700000000,POSE1_TO_POSE2_PRESS,763.749952239,742,711,674.749952239,657,630,879,783,800.749952239,650,628.749952239,651,0.444890272364,0.00472756570684,0.0696408250074,0.999999813983,0.000246843392417,-0.000553839601242,-6.60569052673e-05,1793193629295191040
+223,3.716666667,POSE1_TO_POSE2_PRESS,763.673064396,742,711,675,657,630,879,783,800.019193189,650,629,651,0.444891273976,0.00472708183144,0.069640524658,0.999999813684,0.000247188663384,-0.000554252016184,-6.58318014825e-05,1793193629311857920
+224,3.733333333,POSE1_TO_POSE2_PRESS,763.097709308,742,711,675,657,630,879,783,798.293127923,650,629,651,0.444892387055,0.00472548913916,0.0696398944943,0.999999813696,0.000246701442092,-0.000554479416635,-6.55703847559e-05,1793193629328524544
+225,3.750000000,POSE1_TO_POSE2_PRESS,763.48803957,742,711,675.48803957,657,629.51196043,879,783,798.97607914,650,629,651.48803957,0.444892127836,0.00472547719638,0.0696391415079,0.999999813531,0.000245149262592,-0.000555464185251,-6.55622181182e-05,1793193629345191168
+226,3.766666667,POSE1_TO_POSE2_PRESS,763.925239743,742.074760257,711,675.925239743,657,629.074760257,878.925239743,783,800,649.925239743,629,651.925239743,0.444891861164,0.00472585819903,0.0696385566759,0.99999981335,0.000243883382498,-0.000556340660469,-6.56257838895e-05,1793193629361857792
+227,3.783333333,POSE1_TO_POSE2_PRESS,763.34630387,742.65369613,711,675.34630387,657,629.65369613,878.34630387,783,800,649.34630387,629,651.34630387,0.444893437395,0.00472670844498,0.0696392753004,0.999999813313,0.000246017451084,-0.000555441980608,-6.58237317414e-05,1793193629378524416
+228,3.800000000,POSE1_TO_POSE2_PRESS,763.231627759,743,710.768372241,675,657.231627759,630,878.231627759,782.768372241,800,649.231627759,629,651,0.444894315523,0.00472775960709,0.0696398270372,0.999999813195,0.00024803132751,-0.000554726519063,-6.61025469774e-05,1793193629395191040
+229,3.816666667,POSE1_TO_POSE2_PRESS,763.808064402,743,710.191935598,675,657.808064402,630,878.808064402,782.191935598,800,649.808064402,629,651,0.444894154429,0.0047291098597,0.0696401303393,0.999999812957,0.000249866281713,-0.000554283802534,-6.6501744114e-05,1793193629411857664
+230,3.833333333,POSE1_TO_POSE2_PRESS,764,743,710.380512519,675.380512519,657.619487481,630,878.619487481,782.380512519,800,650,629,651,0.444894524766,0.00472884696734,0.0696404196816,0.999999813261,0.000249319879433,-0.000553991633192,-6.64205624029e-05,1793193629428524544
+231,3.850000000,POSE1_TO_POSE2_PRESS,764,743,710.950969624,675.950969624,657.049030376,630,878.049030376,782.950969624,800,650,629,651,0.444895160384,0.00472777882377,0.0696407020553,0.999999813833,0.000247584749406,-0.000553774614146,-6.60995847306e-05,1793193629445191168
+232,3.866666667,POSE1_TO_POSE2_PRESS,764,742.456010282,711,675.456010282,657.543989718,630,878,783,800.543989718,650,629,651,0.444896130571,0.00472766331438,0.0696413988926,0.999999814454,0.000247362801204,-0.000552784216624,-6.58235591088e-05,1793193629461857792
+233,3.883333333,POSE1_TO_POSE2_PRESS,764,742.135119144,711,675,657.864880856,630,878.135119144,783,800.729761711,649.864880856,629,651,0.444896502763,0.00472785279261,0.069641597369,0.999999814706,0.000246981653838,-0.000552507073004,-6.57607903312e-05,1793193629478524416
+234,3.900000000,POSE1_TO_POSE2_PRESS,764,742.713097958,711,675,657.286902042,630,878.713097958,783,799.573804084,649.286902042,629,651,0.444894811884,0.00472874828871,0.0696400347084,0.999999813729,0.000245612373037,-0.000554806003452,-6.63831275941e-05,1793193629495191296
+235,3.916666667,POSE1_TO_POSE2_PRESS,764,743,711,675,657,630,879,783,799,649,629,651,0.444894480562,0.00472982013329,0.0696392140723,0.999999812718,0.000247246148177,-0.000555887018811,-6.65008763212e-05,1793193629511858176
+236,3.933333333,POSE1_TO_POSE2_PRESS,764,743,711,675,657,630,879,783,799,649,629,651,0.444895489299,0.00473106579726,0.0696391248184,0.999999811663,0.000251839908876,-0.000555767586843,-6.61212734597e-05,1793193629528524800
+237,3.950000000,POSE1_TO_POSE2_PRESS,764,742.550997277,711,675,657,630,879,783,799.449002723,649.449002723,629,651,0.444895331204,0.00472912152336,0.0696392451138,0.999999812027,0.00024987659715,-0.000556040685988,-6.57741193597e-05,1793193629545191424
+238,3.966666667,POSE1_TO_POSE2_PRESS,763.962828245,742.037171755,711,675,657,630,879,783,800,650,628.962828245,650.962828245,0.444894903308,0.0047264940727,0.0696394642944,0.999999812786,0.000246207403479,-0.000556348612715,-6.54631964395e-05,1793193629561858048
+239,3.983333333,POSE1_TO_POSE2_PRESS,763.384981929,742.615018071,711,675,657,630,879,783,800,650,628.384981929,650.384981929,0.444895838266,0.00472838398349,0.0696401722715,0.999999813014,0.000247437310452,-0.000555384464408,-6.55322336414e-05,1793193629578524672
+240,4.000000000,POSE1_TO_POSE2_PRESS,763.192980284,742.807019716,711,675,657,629.807019716,879,783,800,649.807019716,628,650.192980284,0.444896635969,0.00472952673476,0.0696409226541,0.999999813306,0.000248444976183,-0.000554405512796,-6.55535734579e-05,1793193629595191040
+241,4.016666667,POSE1_TO_POSE2_PRESS,763.771173809,742.228826191,711,675,657,629.228826191,879,783,800,649.228826191,628,650.771173809,0.444897159696,0.0047291780603,0.0696417576832,0.999999813729,0.00024900902,-0.000553397011963,-6.547970321e-05,1793193629611857664
+242,4.033333333,POSE1_TO_POSE2_PRESS,764,742.347449907,711,675.347449907,656.652550093,629.347449907,879,783,799.652550093,649.347449907,628.347449907,651,0.444898244079,0.00472787839247,0.0696424159308,0.999999814838,0.000247217161302,-0.000552228520687,-6.52000028224e-05,1793193629628524288
+243,4.050000000,POSE1_TO_POSE2_PRESS,764,742.922470118,711,675.922470118,656.077529882,629.922470118,879,783,799.077529882,649.922470118,628.922470118,651,0.444899695675,0.00472595584968,0.0696429583912,0.999999816386,0.000243882250062,-0.000550955240028,-6.47854892546e-05,1793193629645190912
+244,4.066666667,HOLD_POSE2,764,743,711,675,656,630,878,783,800,650,629,651,0.444899692841,0.0047265809123,0.069642011272,0.999999814837,0.000245989282042,-0.000552779388689,-6.51976551706e-05,1793193629675691520
+245,4.083333333,HOLD_POSE2,764,743,711,675,656,630,878.578547487,783,799.421452513,650,628.421452513,651,0.444898866572,0.00472666784993,0.0696412930355,0.999999815084,0.000244035210245,-0.000553175348671,-6.53894810603e-05,1793193629692358144
+246,4.100000000,HOLD_POSE2,763.844493625,742.844493625,711,675,656.155506375,630,878.844493625,782.844493625,799,650,628.155506375,651,0.444898382337,0.0047268369692,0.069640719352,0.999999815087,0.000243191418301,-0.000553526126057,-6.55130880473e-05,1793193629709025280
+247,4.116666667,HOLD_POSE2,763.271796489,742.271796489,711,675,656.728203511,630,878.271796489,782.271796489,799,650,628.728203511,651,0.444898815709,0.00472722656443,0.0696405334732,0.999999814443,0.000245326272288,-0.000553755688174,-6.54536781677e-05,1793193629725692928
+248,4.133333333,HOLD_POSE2,763.301710917,742,711,675.301710917,657,629.698289083,878.301710917,782.301710917,799.301710917,649.698289083,628.698289083,651,0.444898632611,0.00472819164023,0.069640276221,0.999999813404,0.000247786445289,-0.000554530501437,-6.54903092813e-05,1793193629742359552
+249,4.150000000,HOLD_POSE2,763.875950187,742,711,675.875950187,657,629.124049813,878.875950187,782.875950187,799.875950187,649.124049813,628.124049813,651,0.444897892669,0.00472967653402,0.0696399544991,0.999999812007,0.000250540471149,-0.000555797827177,-6.5613691961e-05,1793193629759025664
+250,4.166666667,HOLD_POSE2,763.533424666,742,711,675.533424666,657,629,878.533424666,782.533424666,800,649,628.466575334,651,0.444898137752,0.00472815743382,0.0696400429628,0.999999812682,0.000249399911436,-0.000555141388733,-6.52182274427e-05,1793193629775692032
+251,4.183333333,HOLD_POSE2,763.060102048,742,711,675,657,629.060102048,878,782,800,649,629,650.939897952,0.444898668159,0.00472612687355,0.0696402516001,0.999999813788,0.000247557978018,-0.000554030762765,-6.47204428076e-05,1793193629792358656
+252,4.200000000,HOLD_POSE2,763.639682324,742,711,675,657,629.639682324,878,782,800,649,629,650.360317676,0.444899318709,0.00472683010333,0.0696405220093,0.999999813709,0.00024892944185,-0.00055357621417,-6.45739928269e-05,1793193629809025792
+253,4.216666667,HOLD_POSE2,764,742,711,675,657,630,878.217187414,782.217187414,800,649,629,650,0.44489964057,0.00472733360167,0.0696408611636,0.999999813893,0.000249018857417,-0.000553194087142,-6.4645193557e-05,1793193629825692416
+254,4.233333333,HOLD_POSE2,764,742,711,675,657,630,878.791282264,782.791282264,800,649,629,650,0.444899422293,0.0047275088782,0.0696413132879,0.999999814511,0.000247001463112,-0.00055293097164,-6.50740630798e-05,1793193629842358528
+255,4.250000000,HOLD_POSE2,764,742,711,675,657,630,879,783,800,649.374739193,629,650.374739193,0.444899669562,0.00472717286067,0.0696411915697,0.999999814865,0.000246221654283,-0.000552641689176,-6.50576711653e-05,1793193629859024896
+256,4.266666667,HOLD_POSE2,764,742,711,675,657,630,879,783,800,649.963544164,629,650.963544164,0.444900182771,0.00472654477187,0.06964074205,0.999999815068,0.000246148802802,-0.000552337459086,-6.47869284316e-05,1793193629875691264
+257,4.283333333,HOLD_POSE2,763.455395312,742,711,675,657,629.455395312,879,783,800,649.455395312,628.455395312,651,0.444900479027,0.0047279489955,0.0696411562485,0.999999815282,0.000246064418654,-0.000551974388472,-6.49065041111e-05,1793193629892358144
+258,4.300000000,HOLD_POSE2,763,742,711,675,657,629,879,782.875822036,800,649.124177964,628,650.875822036,0.444900756616,0.0047292371613,0.069641649545,0.999999815372,0.000246448516044,-0.000551623151493,-6.50532153556e-05,1793193629909024768
+259,4.316666667,HOLD_POSE2,763,742,711,675,657,629,879,782.299800322,800,649.700199678,628,650.299800322,0.444901018382,0.0047296149542,0.0696422232253,0.999999815006,0.000248540037011,-0.00055132910424,-6.52049261472e-05,1793193629925691648
+260,4.333333333,HOLD_POSE2,763.274712066,742.274712066,711,675,656.725287934,629.274712066,879,782.274712066,800,650,628,650.274712066,0.444900292534,0.00472891400449,0.0696417127457,0.999999814309,0.000248534786378,-0.000552598294505,-6.51791802282e-05,1793193629942358272
+261,4.350000000,HOLD_POSE2,763.847586255,742.847586255,711,675,656.152413745,629.847586255,879,782.847586255,800,650,628,650.847586255,0.444898494766,0.0047270422282,0.0696400255598,0.999999813244,0.000246253778755,-0.000555564163863,-6.49608294751e-05,1793193629959025408
+262,4.366666667,POSE2_TO_POSE3_RETREAT,764,742,711,675,657,629,879,783,800,650,628,650,0.444899086625,0.00472856009718,0.0696390173416,0.999999812529,0.000246697303003,-0.00055657703635,-6.56110330849e-05,1793193629991505408
+263,4.383333333,POSE2_TO_POSE3_RETREAT,763.424174691,742,711,675.575825309,657,629.575825309,878.424174691,783,800,649.424174691,628,650.575825309,0.444900544725,0.00472785803065,0.0696407610731,0.999999814043,0.000246175927502,-0.000554134260129,-6.5162630686e-05,1793193630008172032
+264,4.400000000,POSE2_TO_POSE3_RETREAT,763.151095146,742.151095146,711,675.848904854,657,629.848904854,878.151095146,783,800,649.151095146,628.151095146,651,0.444902102652,0.00472712082865,0.0696422856468,0.999999815577,0.000245382989878,-0.000551747693119,-6.48602645464e-05,1793193630024838400
+265,4.416666667,POSE2_TO_POSE3_RETREAT,763.724811434,742.724811434,711,675.275188566,657,629.275188566,878.724811434,783,800,649.724811434,628.724811434,651,0.444903939799,0.00472628535072,0.0696431972249,0.999999817178,0.000243830478475,-0.000549518345699,-6.4966369472e-05,1793193630041504768
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764,742.693432219,711,675.306567781,657,629,879,783,800,650,629,651,0.444903203112,0.00472601862106,0.0696422898889,0.999999816509,0.000243780736263,-0.00055074177758,-6.50825084419e-05,1793193630058171392
+267,4.450000000,POSE2_TO_POSE3_RETREAT,764,742.104264427,711,675.895735573,657,629,879,783,800,650,629,651,0.444900093814,0.00472627617442,0.0696397058433,0.999999813738,0.000245116275358,-0.000555148047203,-6.52078969775e-05,1793193630074838272
+268,4.466666667,POSE2_TO_POSE3_RETREAT,763.522992898,742,711,675.522992898,657,629,879,783,800,649.522992898,629,651,0.444898151595,0.00472665966682,0.0696391639481,0.999999812895,0.000246047356126,-0.00055628177219,-6.49686815395e-05,1793193630091504640
+269,4.483333333,POSE2_TO_POSE3_RETREAT,763.056308738,742,711,675,657,629,879.056308738,783,800,649.056308738,628.943691262,651,0.444895776229,0.00472704562043,0.0696385801335,0.999999812181,0.00024672336764,-0.000557293200207,-6.47339784286e-05,1793193630108171264
+270,4.500000000,POSE2_TO_POSE3_RETREAT,763.633095943,742,711,675,657,629,879.633095943,783,800,649.633095943,628.366904057,651,0.44488707757,0.00472720401947,0.069633550064,0.999999808783,0.0002458455604,-0.000563678395308,-6.52656358186e-05,1793193630124837888
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764,742.209721614,711,675,657,629,879.790278386,783,800,650,628.209721614,651,0.444867308723,0.00472720575536,0.0696239453094,0.99999980026,0.000245944539139,-0.000578537129223,-6.54704965896e-05,1793193630141504512
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764,742.786064844,711,675,657,629,879.213935156,783,800,650,628.786064844,651,0.444828187699,0.00472693362295,0.06960634339,0.999999782231,0.000247751071231,-0.000608208748723,-6.51040727855e-05,1793193630158171136
+273,4.550000000,POSE2_TO_POSE3_RETREAT,763.629850031,742.629850031,711,675.370149969,657,629,879,783,800,649.629850031,629,651,0.444772963586,0.00472697879423,0.0695870089241,0.999999760233,0.000247114087978,-0.000643638836733,-6.47831168475e-05,1793193630174837760
+274,4.566666667,POSE2_TO_POSE3_RETREAT,763.041194689,742.041194689,711,675.958805311,657,629,879,783,800,649.041194689,629,651,0.444708233561,0.00472721127486,0.069566651707,0.999999735018,0.000245034658971,-0.000682468241937,-6.44890012177e-05,1793193630191504384
+275,4.583333333,POSE2_TO_POSE3_RETREAT,763.538296046,742,711,675.461703954,656.461703954,629,879,783,799.461703954,649.538296046,629,650.461703954,0.444633990957,0.00472722437365,0.0695569561888,0.99999972694,0.000248873949911,-0.000692973330504,-6.30115355484e-05,1793193630208171264
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764,742.115477569,711,675,656,629.115477569,879,783,799,650,629,650.115477569,0.444555440597,0.00472724778307,0.0695497719018,0.999999720903,0.000252549132699,-0.000700466017753,-6.13248722831e-05,1793193630224838400
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764,742.686273306,711,675,656,629.686273306,879,783,799,650,629,650.686273306,0.444462727416,0.00472737693527,0.0695493259426,0.999999717888,0.000253821216232,-0.000704484661797,-5.91644506945e-05,1793193630241505280
+278,4.633333333,POSE2_TO_POSE3_RETREAT,763.741013085,742.741013085,711,675,656.51797383,629.741013085,879,783,799.258986915,649.741013085,628.741013085,651,0.444360283539,0.00472635157875,0.0695521256936,0.999999718623,0.000255198083824,-0.000703159896732,-5.65158980001e-05,1793193630258171648
+279,4.650000000,POSE2_TO_POSE3_RETREAT,763.165958942,742.165958942,711,675,657.668082116,629.165958942,879,783,799.834041058,649.165958942,628.165958942,651,0.444245964342,0.00472391726158,0.0695588865044,0.999999723902,0.000256702829634,-0.000695314043228,-5.3271630991e-05,1793193630274838272
+280,4.666666667,POSE2_TO_POSE3_RETREAT,763,742,711,675,657.57613248,629.42386752,879,783,800,649.42386752,628.42386752,651,0.444105189105,0.00472237506743,0.0695644242658,0.999999726932,0.000259333400546,-0.000690215613983,-4.98547202145e-05,1793193630291504640
+281,4.683333333,POSE2_TO_POSE3_RETREAT,763,742.018423328,711,675.018423328,657,630,879,783,800,650,628.981576672,651,0.443952422944,0.00472117384779,0.0695693772441,0.999999729023,0.000262467819524,-0.000686235262882,-4.63131435196e-05,1793193630308171264
+282,4.700000000,POSE2_TO_POSE3_RETREAT,763,742.576006457,711,675.576006457,657,630,879,783,800,650,628.423993543,651,0.443762828947,0.00471935993822,0.0695717366187,0.999999730707,0.000266981533439,-0.000682357977166,-4.11728442837e-05,1793193630324837888
+283,4.716666667,POSE2_TO_POSE3_RETREAT,763.143309485,743,711,676,657,630,879,783,800,650,628.143309485,651,0.443561592626,0.0047176507343,0.0695734473379,0.999999731662,0.000271208091824,-0.000679574519777,-3.60652169377e-05,1793193630341504768
+284,4.733333333,POSE2_TO_POSE3_RETREAT,763.741461918,743,711,676,657,630,879,783,800,650,628.741461918,651,0.443323405336,0.00471627385088,0.0695730993213,0.999999730457,0.00027452326053,-0.000680262711347,-3.10612862864e-05,1793193630358171392
+285,4.750000000,POSE2_TO_POSE3_RETREAT,764,743,711,675.666151876,657.333848124,630,879,783,800,650,628.666151876,651,0.443075451821,0.00471304079896,0.0695790888802,0.999999734534,0.000277755713855,-0.000673180295016,-2.47490769463e-05,1793193630374838016
+286,4.766666667,POSE2_TO_POSE3_RETREAT,764,743,711,675.078155262,657.921844738,630,879,783,800,650,628.078155262,651,0.442820063547,0.00470839470191,0.0695899030439,0.999999742468,0.000280925198764,-0.000660182349651,-1.74409140384e-05,1793193630391504640
+287,4.783333333,POSE2_TO_POSE3_RETREAT,764,742.497941843,711,675,658,630.502058157,879,783,800,650,628.502058157,650.497941843,0.442531141864,0.00470439782731,0.0696086557509,0.999999759779,0.000287085327907,-0.000630821569919,-9.38421403709e-06,1793193630408171520
+288,4.800000000,POSE2_TO_POSE3_RETREAT,764,742,711,675,657.919219525,631,879,783,800,650,629,650.080780475,0.442228805931,0.00470048852436,0.0696277891562,0.99999977654,0.000293778843086,-0.000600510932858,-1.24183739062e-06,1793193630424838400
+289,4.816666667,POSE2_TO_POSE3_RETREAT,764,742,711,675,657.342327052,631,879,783,800,650,629,650.657672948,0.441875656445,0.00469650583022,0.0696417868949,0.99999978663,0.000300932607471,-0.000579771515271,6.72201545031e-06,1793193630441504768
+290,4.833333333,POSE2_TO_POSE3_RETREAT,764,742.232988317,711,675,657.232988317,631,878.767011683,783,800,650,629,650.767011683,0.441512387275,0.00469072334284,0.0696566040052,0.999999800904,0.000303686881787,-0.000552962396175,1.4078334967e-05,1793193630458171392
+291,4.850000000,POSE2_TO_POSE3_RETREAT,764,742.806002012,711,675,657.806002012,631,878.193997988,783,800,650,629,650.193997988,0.441134349362,0.00468231422027,0.0696726169133,0.999999820986,0.00030002049772,-0.000517295097759,2.05480140591e-05,1793193630474838016
+292,4.866666667,POSE2_TO_POSE3_RETREAT,763.608302009,742.608302009,711,675,658.391697991,631,878,783,799.608302009,650,629,650,0.440723965439,0.00466709270754,0.069691156319,0.999999848012,0.000264468088164,-0.0004834187708,1.84186617246e-05,1793193630491504640
+293,4.883333333,POSE2_TO_POSE3_RETREAT,763.016114661,742.016114661,711,675,658.983885339,631,878,783,799.016114661,650,629,650,0.440297025326,0.00464838429506,0.069710988904,0.999999875874,0.000212594918354,-0.000450459146615,1.1887922546e-05,1793193630508171008
+294,4.900000000,POSE2_TO_POSE3_RETREAT,763,742.563243152,711,674.436756848,659,631,878,783,799,650,629,650,0.439794911627,0.0046150252245,0.0697157029033,0.999999886644,0.000173393355651,-0.000443102858341,1.74884162362e-05,1793193630524838400
+295,4.916666667,POSE2_TO_POSE3_RETREAT,763,742.858723724,711,674,659,631,878,783.141276276,799,650,629,650,0.439270025747,0.00458866766943,0.0697141623895,0.999999888711,0.000155313165178,-0.000444923519016,2.23379352427e-05,1793193630541505536
+296,4.933333333,POSE2_TO_POSE3_RETREAT,763,742.283656233,711,674,659,631,878,783.716343767,799,650,629,650,0.438681674443,0.0045850667757,0.0696947158595,0.999999867782,0.000200998120005,-0.000472723024988,2.38395902694e-05,1793193630558172672
+297,4.950000000,POSE2_TO_POSE3_RETREAT,763,742.2976671,711,674,659.2976671,631,878,784,799.2976671,649.7023329,629,650,0.438114752994,0.00458300390339,0.069693216425,0.999999866495,0.000217716878181,-0.000467969055248,2.47984931055e-05,1793193630574839040
+298,4.966666667,POSE2_TO_POSE3_RETREAT,763,742.885079862,711,674,659.885079862,631,878,784,799.885079862,649.114920138,629,650,0.437568691047,0.00458243812264,0.0697091864804,0.999999885306,0.000206240285986,-0.000431527917941,2.5229087528e-05,1793193630591504896
+299,4.983333333,POSE2_TO_POSE3_RETREAT,763.466048645,742.533951355,711,674,660.466048645,631,878,784,799.533951355,649,629,650,0.436982885805,0.00457814613794,0.0697444706601,0.999999910595,0.000186314123487,-0.000378624140046,2.7217104981e-05,1793193630608171520
+300,5.000000000,POSE2_TO_POSE3_RETREAT,764,742,711,674,661,631,878,784,799,649,629,650,0.436381904724,0.00457326267983,0.0697836222542,0.999999933778,0.000165488421923,-0.000322758707896,2.97248866517e-05,1793193630624838144
+301,5.016666667,POSE2_TO_POSE3_RETREAT,764,742,711,674,661,631,878,784,799,649,629,650,0.435716197897,0.00457207772283,0.0698130207781,0.999999947947,0.000158238491291,-0.000279139518601,3.38887538618e-05,1793193630641504768
+302,5.033333333,POSE2_TO_POSE3_RETREAT,764,742,711,674,661,631,878,784,799,649,629,650.199153645,0.435017703869,0.00457096378924,0.0698305509491,0.999999953365,0.000161054620806,-0.000256890155866,3.65778689701e-05,1793193630658171648
+303,5.050000000,POSE2_TO_POSE3_RETREAT,764,742,711,674,661,631,878,784,799,649,629,650.773849422,0.434257383368,0.00456998378384,0.0698257010781,0.999999944822,0.00018285222481,-0.00027493767467,3.64860579356e-05,1793193630674838272
+304,5.066666667,POSE2_TO_POSE3_RETREAT,764,742,711,674,661,631.357474992,878,784,799,649,629,651,0.433506255291,0.00456831624253,0.0698175772481,0.999999940943,0.000184384355342,-0.00028765796101,3.70073801803e-05,1793193630691504896
+305,5.083333333,POSE2_TO_POSE3_RETREAT,764,742,711,674,661,631.946894559,878,784,799,649,629,651,0.432761091669,0.0045662025995,0.0698073291381,0.999999940275,0.000172767406774,-0.000296921717699,3.79265286936e-05,1793193630708171520
+306,5.100000000,POSE2_TO_POSE3_RETREAT,763.472481715,742.527518285,711.527518285,674,661.527518285,632,878.527518285,783.472481715,799,649,628.472481715,651,0.431974844923,0.00456276870125,0.069813555035,0.99999994577,0.000158065822346,-0.000286161143517,3.98472894356e-05,1793193630724838144
+307,5.116666667,POSE2_TO_POSE3_RETREAT,763,742.893535612,711.893535612,674,662,632,878.893535612,783.106464388,798.893535612,649.106464388,628.106464388,650.893535612,0.431165299541,0.00455976814537,0.069809531427,0.999999944995,0.000150171496276,-0.000292817888987,4.1425145597e-05,1793193630741504768
+308,5.133333333,POSE2_TO_POSE3_RETREAT,763,742.318142684,711.318142684,674,662,632,878.318142684,783.681857316,798.318142684,649.681857316,628.681857316,650.318142684,0.43027105204,0.00455925208298,0.0697531783708,0.999999910005,0.000173605457679,-0.000384923561742,4.10558186838e-05,1793193630758171392
+309,5.150000000,POSE2_TO_POSE3_RETREAT,763,742,711,674.257286423,661.485427153,632,878,784,798.257286423,649.742713577,629,650,0.429402707584,0.00455553028322,0.0697282631655,0.999999893955,0.000175224250071,-0.000423931719262,4.08568655565e-05,1793193630774838016
+310,5.166666667,POSE2_TO_POSE3_RETREAT,763,742,711,674.832760351,660.334479298,632,878,784,798.832760351,649.167239649,629,650,0.428566397443,0.00454784393073,0.0697422273119,0.999999909022,0.000149864110066,-0.000397273909377,4.0868614873e-05,1793193630791504896
+311,5.183333333,POSE2_TO_POSE3_RETREAT,763.418948632,742,711,674.581051368,660.837897264,632,878,784,799.418948632,649,629,650,0.427764196387,0.00454443117124,0.0697910166453,0.99999993559,0.000149542882518,-0.000323459371141,4.27988301523e-05,1793193630808172032
+312,5.200000000,POSE2_TO_POSE3_RETREAT,763.990671099,742,711,674,662,632,878.009328901,784,799.990671099,649.009328901,629,650.009328901,0.426974771381,0.00454271430322,0.0698531627508,0.999999959452,0.000159194358284,-0.000231698360203,4.54950784851e-05,1793193630824838656
+313,5.216666667,POSE2_TO_POSE3_RETREAT,763.412323951,742,711,674,662,632,878.587676049,784,799.412323951,649.587676049,629,650.587676049,0.426112315158,0.00453765161635,0.0698598084542,0.999999962421,0.000151469353202,-0.000223624342408,4.69777360638e-05,1793193630841505280
+314,5.233333333,POSE2_TO_POSE3_RETREAT,763,742,711,673.834918505,661.834918505,632,878.834918505,784,799,649.834918505,629,651,0.425238419104,0.00453183478236,0.0698574531564,0.999999962388,0.00014297722288,-0.000229135291513,4.77355502709e-05,1793193630858172160
+315,5.250000000,POSE2_TO_POSE3_RETREAT,763,742,711,673.259851841,661.259851841,632,878.259851841,784,799,649.259851841,629,651,0.424336111916,0.00452414500019,0.0698327435839,0.999999954106,0.00013257991286,-0.000268384940278,4.66931926781e-05,1793193630874838528
+316,5.266666667,POSE2_TO_POSE3_RETREAT,763,742,711,673.32279168,661.32279168,632,878,784,799,649,629,650.67720832,0.423392765491,0.00452008235839,0.0697890749882,0.999999931748,0.000127154385104,-0.000343849831687,4.58617996181e-05,1793193630891504640
+317,5.283333333,POSE2_TO_POSE3_RETREAT,763,742,711,673.911681263,661.911681263,632,878,784,799,649,629,650.088318737,0.422415587832,0.00451900980159,0.069729777254,0.999999890185,0.000125827416172,-0.000449169267911,4.52043178676e-05,1793193630908171264
+318,5.300000000,POSE2_TO_POSE3_RETREAT,763,742.491985786,711,674,660.524042641,632,877.508014214,783.508014214,799,649,629,650,0.421493110387,0.00451185962614,0.0696955384703,0.999999867133,0.00011618980148,-0.000500225741167,4.48083499196e-05,1793193630924838144
+319,5.316666667,POSE2_TO_POSE3_RETREAT,763.070339768,743,711,673.929660232,659.140679537,632,877,783.070339768,799,649,629,650.070339768,0.420598387118,0.00450340441973,0.0696795698501,0.999999858387,0.000104910002678,-0.000519830652948,4.46834199291e-05,1793193630941504768
+320,5.333333333,POSE2_TO_POSE3_RETREAT,763.645565168,743,711,673.354434832,660.291130335,632,877,783.645565168,799,649,629,650.645565168,0.419833604864,0.00449327879709,0.069763005769,0.999999921552,9.23677269882e-05,-0.000382402101676,4.61727617512e-05,1793193630958171648
+321,5.350000000,POSE2_TO_POSE3_RETREAT,763.77989241,742.77989241,711,673.22010759,661.44021518,632,877.22010759,784,799,649.22010759,629,650.77989241,0.419050021498,0.0044843653665,0.0698321120585,0.999999958555,8.36396970679e-05,-0.000271278661578,4.79805113567e-05,1793193630974838528
+322,5.366666667,POSE2_TO_POSE3_RETREAT,763.20644628,742.20644628,711,673.79355372,662.58710744,632,877.79355372,784,799,649.79355372,629,650.20644628,0.418236256599,0.00447739786529,0.0698782150184,0.999999974972,8.10346728725e-05,-0.00020238278223,5.02994019482e-05,1793193630991505408
+323,5.383333333,POSE2_TO_POSE3_RETREAT,763.380211781,742,711.380211781,673.619788219,661.859364656,632,878,784,799,649.619788219,629,650.380211781,0.417375082042,0.00446988758401,0.0698712315673,0.999999973205,6.9268201555e-05,-0.00021526561272,4.95275261739e-05,1793193631008172032
+324,5.400000000,POSE2_TO_POSE3_RETREAT,763.974301838,742,711.974301838,673.025698162,660.077094487,632,878,784,799,649.025698162,629,650.974301838,0.416487238459,0.0044620719763,0.0698343857302,0.999999959945,5.23481959028e-05,-0.000274150938806,4.70170197592e-05,1793193631024838400
+325,5.416666667,POSE2_TO_POSE3_RETREAT,763.447199703,742,711.447199703,673,660.552800297,632,877.447199703,784,799,649,629,651,0.415632041813,0.00445423999057,0.0698048727352,0.999999951076,4.19957702726e-05,-0.000306756650323,4.45548576447e-05,1793193631041505024
+326,5.433333333,POSE2_TO_POSE3_RETREAT,763,742,711,673,661.129887522,632,877.129887522,784,799.129887522,649,629,651,0.414777977064,0.00444644590254,0.0697746680709,0.999999938006,3.21560812891e-05,-0.00034801226295,4.29108098984e-05,1793193631058171648
+327,5.450000000,POSE2_TO_POSE3_RETREAT,763,742,711,673,661.704556071,632,877.704556071,784,799.704556071,649,629,651,0.41392273391,0.00443878412578,0.0697409596006,0.999999909317,2.3055378598e-05,-0.000422956874529,4.4060791793e-05,1793193631074838016
+328,5.466666667,POSE2_TO_POSE3_RETREAT,763,742,711,673,661.141594436,632,878,784,799.713864812,649.286135188,628.713864812,651,0.413140493347,0.00443126544685,0.0697429514009,0.999999909803,1.15567092485e-05,-0.000422278262364,4.40702189123e-05,1793193631091504896
+329,5.483333333,POSE2_TO_POSE3_RETREAT,763,742,711,673,659.374921255,632,878,784,799.124973752,649.875026248,628.124973752,651,0.412435495918,0.00442389817833,0.0697827171891,0.999999940738,-2.47921642504e-06,-0.000341583708635,4.28728399608e-05,1793193631108171776
+330,5.500000000,POSE2_TO_POSE3_RETREAT,763.455477011,742,711,673,660.366431034,632,877.544522989,784,799.455477011,649.544522989,628.455477011,651,0.411765235682,0.00441687748089,0.0698348775971,0.999999966275,-1.07633799832e-05,-0.000255785072227,4.36764819638e-05,1793193631124838912
+331,5.516666667,POSE2_TO_POSE3_RETREAT,763.966405398,742,711,673,661.966405398,632,877.033594602,784.033594602,799.966405398,649,629,651,0.411101240107,0.00441069823154,0.0698861469082,0.999999983446,-1.67152222303e-05,-0.000175497346946,4.5048250651e-05,1793193631141506304
+332,5.533333333,POSE2_TO_POSE3_RETREAT,763.389250542,742,711,673,661.389250542,632,877.610749458,784.610749458,799.389250542,649,629,651,0.41038719868,0.00441662301329,0.0698689738542,0.999999977504,-1.00003000945e-05,-0.000206623362801,4.689046557e-05,1793193631158172672
+333,5.550000000,POSE2_TO_POSE3_RETREAT,763.186401893,742,711,673,660.627196214,632,877.813598107,784.813598107,799.186401893,649,629,651,0.409679972415,0.00443069492973,0.0698420100887,0.999999966431,5.87320090442e-06,-0.000254715617935,4.71486676304e-05,1793193631174838784
+334,5.566666667,POSE2_TO_POSE3_RETREAT,763.758942113,742,711,673,659.482115773,632,877.241057887,784.241057887,799.758942113,649,629,651,0.40898686388,0.00446164393427,0.0697947645038,0.999999941091,4.07190337027e-05,-0.000337954062159,4.41255293768e-05,1793193631191504896
+335,5.583333333,POSE2_TO_POSE3_RETREAT,763.65694477,742,711,673,659.68611046,632,877,784,799.65694477,649,629,651,0.408339898529,0.00447477063334,0.0697710442484,0.999999928706,5.79646335033e-05,-0.00037076698206,4.19478828767e-05,1793193631208171520
+336,5.600000000,POSE2_TO_POSE3_RETREAT,763.064415741,742,711,673,660.871168518,632,877,784,799.064415741,649,629,651,0.407726489087,0.00447493674038,0.0697644318922,0.999999929926,6.24111349637e-05,-0.000366909864052,4.03850882873e-05,1793193631224838656
+337,5.616666667,POSE2_TO_POSE3_RETREAT,763.516041718,742,711,672.483958282,660.483958282,632,877,784,799,649.516041718,629,651,0.407169698792,0.00446457120968,0.0697803619666,0.999999937612,4.41526387774e-05,-0.000348013405962,4.13860865628e-05,1793193631241505280
+338,5.633333333,POSE2_TO_POSE3_RETREAT,764,742.09424793,711,672.09424793,660,632,877.09424793,784,799.09424793,650,629,651,0.406623662618,0.00445467198119,0.0697947473546,0.999999943102,2.6578338229e-05,-0.000333589959108,4.25109709194e-05,1793193631258171904
+339,5.650000000,POSE2_TO_POSE3_RETREAT,764,742.668487615,711,672.668487615,660,632,877.668487615,784,799.668487615,650,629,651,0.406097224276,0.00445368975042,0.0697872626569,0.999999937034,2.6592748498e-05,-0.000351289284923,4.26741788403e-05,1793193631274839040
+340,5.666666667,POSE2_TO_POSE3_RETREAT,764,742.751287605,711,672.751287605,660,632,878,784,799.751287605,649.751287605,629,651,0.405608063955,0.00445596007106,0.0697863755675,0.999999935397,3.01267238205e-05,-0.000355624184907,4.2775406615e-05,1793193631291506176
+341,5.683333333,POSE2_TO_POSE3_RETREAT,764,742.162888545,711,672.162888545,660,632,878,784,799.162888545,649.162888545,629,651,0.405169817289,0.00446267266471,0.0697944993667,0.999999939963,3.84676542694e-05,-0.000341706204446,4.27919830756e-05,1793193631308172544
+342,5.700000000,POSE2_TO_POSE3_RETREAT,764,742,711,672,660,632,877.578983364,784,799,649.421016636,629,651,0.404760802192,0.00447103703185,0.0698109370714,0.999999949454,4.51617728344e-05,-0.000311947647958,4.17292147713e-05,1793193631324838912
+343,5.716666667,POSE2_TO_POSE3_RETREAT,763.996838817,742.003161183,711,672.003161183,660.003161183,632,877.003161183,784,799,650,629,651,0.404363200335,0.00447995625042,0.0698304871444,0.999999959722,5.11781498248e-05,-0.000276253373272,4.02588227178e-05,1793193631341505536
+344,5.733333333,POSE2_TO_POSE3_RETREAT,763.421998865,742.578001135,711,672.578001135,660.578001135,632,877.578001135,784,799,650,629,651,0.404005965232,0.00447486728812,0.0698373316604,0.999999963247,4.86351461056e-05,-0.000263738458914,3.9793468368e-05,1793193631358171904
+345,5.750000000,POSE2_TO_POSE3_RETREAT,763.153300077,742.846699923,711,673,660.846699923,632,878,784,799.153300077,650,629,651,0.403654682919,0.00446913700654,0.0698394754808,0.999999964763,4.36638661355e-05,-0.000258881397599,3.93491981661e-05,1793193631374838528
+346,5.766666667,POSE2_TO_POSE3_RETREAT,763.729866433,742.270133567,711,673,660.270133567,632,878,784,799.729866433,650,629,651,0.403319836362,0.0044616360213,0.0698286405366,0.999999960871,3.19880393862e-05,-0.00027516790379,3.89631418518e-05,1793193631391505408
+347,5.783333333,POSE2_TO_POSE3_RETREAT,764,742.311800401,711.311800401,673,660,632.311800401,877.688199599,784,800,650,629,651,0.403007619196,0.00445794416193,0.0698180971015,0.999999955598,2.4612847648e-05,-0.000294409278677,3.89939518261e-05,1793193631408172288
+348,5.800000000,POSE2_TO_POSE3_RETREAT,764,742.898466113,711.898466113,673,660,632.898466113,877.101533887,784,800,650,629,651,0.402715350821,0.0044576102094,0.0698078106449,0.999999948994,2.10288492282e-05,-0.000316255494942,3.9392247177e-05,1793193631424838912
+349,5.816666667,POSE2_TO_POSE3_RETREAT,764,742.519413734,711.519413734,672.519413734,660,632.519413734,877,784,799.519413734,650,628.519413734,651,0.402455580417,0.00445642292396,0.0697980122261,0.999999943961,1.03728886406e-05,-0.000332382428571,3.86330298426e-05,1793193631441505536
+350,5.833333333,POSE2_TO_POSE3_RETREAT,764,742,711,672.060944495,660,632,877,784,799,650,628.060944495,651,0.402208785175,0.00445487955535,0.0697889919432,0.999999939387,-1.16841756719e-06,-0.000346112146434,3.78246858943e-05,1793193631458171648
+351,5.850000000,POSE2_TO_POSE3_RETREAT,764,742,711,672.634485096,660,632,877,784,799,650,628.634485096,651,0.402013915412,0.00445184335858,0.0697856573541,0.999999938062,-7.70732041536e-06,-0.000349746978173,3.86407393068e-05,1793193631474838528
+352,5.866666667,POSE2_TO_POSE3_RETREAT,764,742,711.208665444,672.791334556,660.208665444,632,877.208665444,784,799.208665444,650,629,651,0.401832242233,0.00444969530994,0.0697840081005,0.999999937203,-1.27808781959e-05,-0.000351948451629,3.95373070948e-05,1793193631491505408
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764,742,711.783969809,672.216030191,660.783969809,632,877.783969809,784,799.783969809,650,629,651,0.401673756339,0.00444910779633,0.0697853200927,0.999999937238,-1.52797275319e-05,-0.000351631419857,4.05753438581e-05,1793193631508172032
+354,5.900000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,660.631199352,632,878,784,800,650,629,651,0.401538733957,0.004459397066,0.0697870085721,0.999999937919,3.06292557178e-05,-0.000348707038133,4.03402596919e-05,1793193631524838656
+355,5.916666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,660.040640223,632,878,784,800,650,629,651,0.401417820083,0.00447622650557,0.0697889234319,0.999999934404,0.000105645691125,-0.000344214864799,3.93396524862e-05,1793193631541505280
+356,5.933333333,POSE2_TO_POSE3_RETREAT,764,742.540684419,712,672,660.540684419,632,878,784,799.459315581,650,628.459315581,651,0.40132003045,0.00448490538629,0.0697883694931,0.999999935896,9.54583994783e-05,-0.000343541264168,3.27761890698e-05,1793193631558171904
+357,5.950000000,POSE2_TO_POSE3_RETREAT,764,743,711.880464962,672.119535038,660.880464962,632.119535038,878,784,799.119535038,649.880464962,628.119535038,651,0.401230396622,0.00448909531741,0.0697880970356,0.999999937935,7.86918436271e-05,-0.000342293873302,2.7778813097e-05,1793193631574838528
+358,5.966666667,POSE2_TO_POSE3_RETREAT,764,743,711.308396683,672.691603317,660.308396683,632.691603317,878,784,799.691603317,649.308396683,628.691603317,651,0.401165169206,0.00447857142202,0.0697895809179,0.999999940634,6.08557233938e-05,-0.000337805888743,3.02666578599e-05,1793193631591505408
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764,742.733725187,711,672.733725187,660.266274813,632.733725187,878,784,800,649,629,651,0.401106916675,0.00447162441867,0.0697905962498,0.999999941963,5.01817479897e-05,-0.000335452948934,3.20434030011e-05,1793193631608172288
+360,6.000000000,POSE2_TO_POSE3_RETREAT,764,742.15600894,711,672.15600894,660.84399106,632.15600894,878,784,800,649,629,651,0.401056822141,0.00446886103502,0.0697910635535,0.999999941997,4.78847907397e-05,-0.00033559720925,3.29884287606e-05,1793193631624838400
+361,6.016666667,POSE2_TO_POSE3_RETREAT,764,742,711,672,660.566561545,632,877.566561545,784,799.566561545,649,629,651,0.401022831194,0.0044660000226,0.069793159991,0.999999943282,4.33067138441e-05,-0.000332288504088,3.38319370605e-05,1793193631641505280
+362,6.033333333,POSE2_TO_POSE3_RETREAT,764,742,711,672.026347407,660.026347407,632,877.026347407,784.026347407,799,649.026347407,629,651,0.400995447887,0.00446328514652,0.0697958699057,0.999999945011,3.81510444081e-05,-0.000327608137257,3.45842805866e-05,1793193631658171904
+363,6.050000000,POSE2_TO_POSE3_RETREAT,764,742,711,672.600978648,660.600978648,632,877.600978648,784.600978648,799,649.600978648,629,651,0.400981594686,0.00446436292961,0.0697988042652,0.999999947162,3.85369889377e-05,-0.000320966429383,3.42210370545e-05,1793193631674838528
+364,6.066666667,POSE2_TO_POSE3_RETREAT,764,742,711,672.825663395,660.825663395,632,878,784.825663395,799.174336605,649.825663395,629,651,0.400969630425,0.00446489491309,0.0698018875022,0.999999949101,3.83375759515e-05,-0.000314901961664,3.41194140137e-05,1793193631691505408
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764,742,711,672.255198676,660.255198676,632,878,784.255198676,799.744801324,649.255198676,629,651,0.400961958218,0.00446418672905,0.0698053090185,0.999999950627,3.68081119509e-05,-0.000310149101547,3.4612245828e-05,1793193631708172800
+366,6.100000000,POSE2_TO_POSE3_RETREAT,763.670412382,742,711,672.329587618,660.659175237,632,877.670412382,784,799.670412382,649,629,651,0.400955699746,0.00446419648665,0.0698070630551,0.999999951225,3.6649101588e-05,-0.000308233560399,3.46164644189e-05,1793193631724839936
+367,6.116666667,POSE2_TO_POSE3_RETREAT,763.074033124,742,711,672.925966876,661.851933752,632,877.074033124,784,799.074033124,649,629,651,0.400950585649,0.00446478739716,0.0698074673155,0.999999951086,3.75994336197e-05,-0.000308614746334,3.42251647996e-05,1793193631741506048
+368,6.133333333,POSE2_TO_POSE3_RETREAT,763,742,711,673,661.4930723,632,877,784,799,649.5069277,628.4930723,651,0.400947741949,0.00446587631882,0.0698068124152,0.999999950984,3.86103121936e-05,-0.000308840435645,3.40450705646e-05,1793193631758172672
+369,6.150000000,POSE2_TO_POSE3_RETREAT,763.084959905,742,711,673,660.915040095,632.084959905,877.084959905,784,799,650,628.084959905,651,0.400945827537,0.00446650264152,0.0698065357989,0.999999951113,3.89244405412e-05,-0.00030838641258,3.40032468393e-05,1793193631774839040
+370,6.166666667,POSE2_TO_POSE3_RETREAT,763.658715753,742,711,673,660.341284247,632.658715753,877.658715753,784,799,650,628.658715753,651,0.400947408232,0.00446406142704,0.0698092992078,0.99999995253,3.51806171967e-05,-0.000304148626447,3.45847074055e-05,1793193631791505664
+371,6.183333333,POSE2_TO_POSE3_RETREAT,763.761466329,742,711.238533671,673,660,633,877.761466329,784,799.238533671,649.761466329,629,651,0.400948374829,0.0044633182401,0.0698109774872,0.999999953329,3.36678246306e-05,-0.000301670620254,3.46964570997e-05,1793193631808172032
+372,6.200000000,POSE2_TO_POSE3_RETREAT,763.172748913,742,711.827251087,673,660,633,877.172748913,784,799.827251087,649.172748913,629,651,0.400948439889,0.00446506787386,0.0698110627223,0.999999953256,3.54303380784e-05,-0.000301776091651,3.41186390715e-05,1793193631824838400
+373,6.216666667,POSE2_TO_POSE3_RETREAT,763.408832247,742,711.591167753,672.591167753,660.408832247,632.591167753,877.408832247,784,800,649.408832247,629,651,0.40094776671,0.00446542228831,0.069810983355,0.999999953246,3.61478575543e-05,-0.000301762313191,3.3763471632e-05,1793193631841505024
+374,6.233333333,POSE2_TO_POSE3_RETREAT,763.987449752,742,711.012550248,672.012550248,660.987449752,632.012550248,877.987449752,784,800,649.987449752,629,651,0.400946786946,0.00446519727759,0.0698108356296,0.999999953264,3.64313980783e-05,-0.000301699011072,3.35007694859e-05,1793193631858172160
+375,6.250000000,POSE2_TO_POSE3_RETREAT,764,742.565235018,711,672.565235018,660.434764982,632.565235018,878,784,800,650,629,651,0.40094913727,0.00446450257843,0.0698121095474,0.99999995402,3.42479412557e-05,-0.00029943781768,3.35266779056e-05,1793193631874838784
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764,742.858895705,711,672.858895705,660,632.858895705,878,784,799.858895705,649.858895705,629,651,0.400950285181,0.00446403516258,0.0698126533357,0.999999954411,3.30539907027e-05,-0.000298247884912,3.36569247789e-05,1793193631891504896
+377,6.283333333,POSE2_TO_POSE3_RETREAT,764,742.288795573,711,672.288795573,660,632.288795573,878,784,799.288795573,649.288795573,629,651,0.400947552961,0.00446429041033,0.0698108815025,0.999999953666,3.50347014507e-05,-0.000300463029862,3.4084935202e-05,1793193631908171264
+378,6.300000000,POSE2_TO_POSE3_RETREAT,764,742,711,672.29336085,660,632,878,784,799,649.29336085,629,651,0.400946613533,0.00446436938059,0.0698106835505,0.999999953581,3.56174203186e-05,-0.000300673936927,3.4115716108e-05,1793193631924837888
+379,6.316666667,POSE2_TO_POSE3_RETREAT,764,742,711,672.88789469,660,632,878,784,799,649.88789469,629,651,0.400947514639,0.00446426737915,0.0698121013916,0.999999954178,3.47649193126e-05,-0.000298827233935,3.37386894088e-05,1793193631941504512
+380,6.333333333,POSE2_TO_POSE3_RETREAT,764,742,711,673,660.468613823,632,878,784,799,649.531386177,629,651,0.400946623597,0.00446472489563,0.0698118870215,0.999999953849,3.49437777252e-05,-0.000299921442141,3.36007619215e-05,1793193631958171136
+381,6.350000000,POSE2_TO_POSE3_RETREAT,764,742,711,672.954093214,661,632.045906786,878,784,799,649,629,651,0.400945426195,0.00446526728153,0.0698113225682,0.999999953334,3.53239155569e-05,-0.000301599749575,3.35002231827e-05,1793193631974837760
+382,6.366666667,POSE2_TO_POSE3_RETREAT,764,742,711,672.379287817,661,632.620712183,878,784,799,649,629,651,0.40094549719,0.00446528949195,0.069811094591,0.999999953185,3.52618167001e-05,-0.000302133997502,3.31903173819e-05,1793193631991505664
+383,6.383333333,POSE2_TO_POSE3_RETREAT,764.200075377,742,711,672,661,632.799924623,877.799924623,784,799.200075377,649,629,651,0.400946068825,0.00446572614569,0.0698115519904,0.999999953398,3.57449020989e-05,-0.000301390539359,3.30251349117e-05,1793193632008173056
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764.788280283,742,711,672,661,632.211719717,877.211719717,784,799.788280283,649,629,651,0.400947611656,0.00446696678489,0.069813338963,0.999999954304,3.7285599441e-05,-0.000298168438082,3.31407036384e-05,1793193632024839424
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764.629570876,742,711,672,661,632,877.370429124,784,799.629570876,649,628.629570876,651,0.400948003571,0.00446626622475,0.0698137225685,0.999999954521,3.78925417034e-05,-0.000297334188467,3.33982739618e-05,1793193632041505536
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764.050827733,742,711,672,661,632,877.949172267,784,799.050827733,649,628.050827733,651,0.400947748258,0.00446447401435,0.0698133169785,0.999999954355,3.79743786794e-05,-0.00029784276797,3.37357001059e-05,1793193632058171648
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764,742,711,672.527932075,661,632.527932075,878,784,799,649,628.527932075,651,0.400948199418,0.00446527123365,0.069814013124,0.999999954591,3.86273423649e-05,-0.000296975044541,3.36318357358e-05,1793193632074838528
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764,742,711,673,661,633,878,784,799,649.106334636,628.893665364,650.893665364,0.400948727537,0.00446582957544,0.0698147956034,0.9999999549,3.85453240872e-05,-0.000295953393606,3.35516878162e-05,1793193632091505152
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764,742,711,673,661,633,878,784,799,649.683149283,628.316850717,650.316850717,0.400949295213,0.0044642279181,0.0698154907366,0.999999955354,3.4968065031e-05,-0.000294836983128,3.3764460743e-05,1793193632108171776
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764,742,711,673,660.735624949,632.735624949,878,784,799.264375051,650,628.264375051,650.264375051,0.400948893779,0.00446432111133,0.0698151167041,0.999999955225,3.48953414517e-05,-0.000295288433722,3.37060678849e-05,1793193632124838400
+391,6.516666667,POSE2_TO_POSE3_RETREAT,764,742,711,673,660.149022716,632.149022716,878,784,799.850977284,650,628.850977284,650.850977284,0.400947311167,0.00446648003228,0.0698134395445,0.999999954383,3.90940362964e-05,-0.000297650833982,3.33171711505e-05,1793193632141505280
+392,6.533333333,POSE2_TO_POSE3_RETREAT,764,742,711.431763233,673,660.863526466,632,878,784,800,649.568236767,629,651,0.400946917269,0.00446697036789,0.0698134987419,0.999999954366,3.98453916423e-05,-0.000297607942413,3.33192130802e-05,1793193632158172160
+393,6.550000000,POSE2_TO_POSE3_RETREAT,764,742,711.989461868,673,661.989461868,632,878,784,800,649.010538132,629,651,0.400946940296,0.00446689037092,0.0698141391742,0.999999954633,3.94499744307e-05,-0.000296747360141,3.34526809759e-05,1793193632174839040
+394,6.566666667,POSE2_TO_POSE3_RETREAT,764,742,711.412311409,673,661.412311409,632,878,784,800,649.587688591,629,651,0.400947613681,0.00446669871153,0.0698142364836,0.99999995482,4.05201798751e-05,-0.000295965220882,3.34940626065e-05,1793193632191505664
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_11/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_11/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..33371ade0d99bd97f10519666af2d87499983cf9
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_11/depth_02/simulation_data.csv
@@ -0,0 +1,396 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+1,0.016666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+2,0.033333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+3,0.050000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+4,0.066666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+5,0.083333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+6,0.100000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+7,0.116666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+8,0.133333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+9,0.150000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+10,0.166666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+11,0.183333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+12,0.200000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+13,0.216666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+14,0.233333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+15,0.250000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+16,0.266666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+17,0.283333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+18,0.300000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+19,0.316666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+20,0.333333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+21,0.350000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+22,0.366666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+23,0.383333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+24,0.400000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+25,0.416666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+26,0.433333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+27,0.450000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+28,0.466666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+29,0.483333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+30,0.500000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+31,0.516666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+32,0.533333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+33,0.550000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+34,0.566666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+35,0.583333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+36,0.600000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+37,0.616666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+38,0.633333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+39,0.650000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+40,0.666666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+41,0.683333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+42,0.700000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+43,0.716666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+44,0.733333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+45,0.750000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+46,0.766666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+47,0.783333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+48,0.800000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+49,0.816666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+50,0.833333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+51,0.850000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+52,0.866666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+53,0.883333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+54,0.900000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+55,0.916666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+56,0.933333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+57,0.950000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+58,0.966666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+59,0.983333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+60,1.000000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+61,1.016666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+62,1.033333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+63,1.050000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+64,1.066666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+65,1.083333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+66,1.100000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+67,1.116666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+68,1.133333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+69,1.150000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+70,1.166666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+71,1.183333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+72,1.200000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+73,1.216666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+74,1.233333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+75,1.250000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+76,1.266666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+77,1.283333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+78,1.300000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+79,1.316666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+80,1.333333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+81,1.350000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+82,1.366666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+83,1.383333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+84,1.400000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+85,1.416666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+86,1.433333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+87,1.450000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+88,1.466666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+89,1.483333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+90,1.500000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+91,1.516666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+92,1.533333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+93,1.550000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+94,1.566666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+95,1.583333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+96,1.600000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+97,1.616666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+98,1.633333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+99,1.650000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+100,1.666666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+101,1.683333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+102,1.700000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+103,1.716666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+104,1.733333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+105,1.750000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+106,1.766666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+107,1.783333333,pose1_to_pose2_press,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+108,1.800000000,pose1_to_pose2_press,0.575709439533,0.0100547195997,1.06002916728,0.546280166451,0.0187274376625,1.05969845428
+109,1.816666667,pose1_to_pose2_press,0.575709615612,0.010054714772,1.06002916569,0.546280342626,0.018727433162,1.05969845274
+110,1.833333333,pose1_to_pose2_press,0.575709720617,0.010054711893,1.06002916475,0.546280447688,0.0187274304782,1.05969845182
+111,1.850000000,pose1_to_pose2_press,0.575709964754,0.0100547054181,1.06002916337,0.546280691956,0.0187274244524,1.05969845051
+112,1.866666667,pose1_to_pose2_press,0.575710533757,0.0100547191036,1.06002926896,0.546281261072,0.0187274385684,1.05969855736
+113,1.883333333,pose1_to_pose2_press,0.575712047573,0.0100546896701,1.06002931878,0.546282775763,0.0187274121865,1.05969860933
+114,1.900000000,pose1_to_pose2_press,0.575715422574,0.0100545884456,1.06002914393,0.546286152504,0.0187273169099,1.05969843574
+115,1.916666667,pose1_to_pose2_press,0.575722084645,0.0100546162573,1.06002924824,0.546292814862,0.0187273456089,1.05969853762
+116,1.933333333,pose1_to_pose2_press,0.575735206653,0.0100544890172,1.06002923381,0.546305938028,0.0187272222594,1.0596985221
+117,1.950000000,pose1_to_pose2_press,0.575756731349,0.0100546787258,1.0600290022,0.54632746094,0.0187274062409,1.05969829902
+118,1.966666667,pose1_to_pose2_press,0.575789203464,0.0100545999211,1.06002905719,0.546359933667,0.0187273294354,1.05969835185
+119,1.983333333,pose1_to_pose2_press,0.57583228464,0.0100546083133,1.06002923166,0.546403015074,0.0187273383496,1.05969851944
+120,2.000000000,pose1_to_pose2_press,0.575885844786,0.0100544906158,1.06002926269,0.546456576649,0.0187272256184,1.05969855346
+121,2.016666667,pose1_to_pose2_press,0.575948217388,0.0100545626351,1.06002918391,0.546518946459,0.0187272879803,1.0596984699
+122,2.033333333,pose1_to_pose2_press,0.576018863777,0.010054536914,1.06002938703,0.546589593786,0.0187272653557,1.0596986706
+123,2.050000000,pose1_to_pose2_press,0.576098826678,0.0100545756675,1.06002893664,0.546669557994,0.0187273092937,1.05969823988
+124,2.066666667,pose1_to_pose2_press,0.576188882074,0.0100545920604,1.06002927199,0.546759613377,0.018727325214,1.0596985638
+125,2.083333333,pose1_to_pose2_press,0.57629414542,0.0100545677824,1.06002924012,0.546864875424,0.0187272963037,1.05969852619
+126,2.100000000,pose1_to_pose2_press,0.576416061324,0.0100546673788,1.0600291611,0.546986788877,0.0187273876851,1.05969844967
+127,2.116666667,pose1_to_pose2_press,0.576558486047,0.0100545241624,1.06002915264,0.5471292152,0.0187272499368,1.05969844225
+128,2.133333333,pose1_to_pose2_press,0.576720939052,0.0100544995858,1.06002922263,0.547291669613,0.0187272301697,1.05969851302
+129,2.150000000,pose1_to_pose2_press,0.576903874449,0.010054544071,1.06002902645,0.54747460447,0.0187272728486,1.05969831745
+130,2.166666667,pose1_to_pose2_press,0.577106903154,0.0100546620544,1.06002909445,0.547677632952,0.0187273899127,1.05969838109
+131,2.183333333,pose1_to_pose2_press,0.577330283466,0.0100545541797,1.06002900745,0.547901014184,0.0187272851401,1.05969829352
+132,2.200000000,pose1_to_pose2_press,0.577577840303,0.0100545471925,1.06002900666,0.548148571128,0.0187272785823,1.05969829438
+133,2.216666667,pose1_to_pose2_press,0.577850534889,0.0100544285254,1.06002913884,0.548421267399,0.0187271655264,1.05969842378
+134,2.233333333,pose1_to_pose2_press,0.578151114053,0.0100545306166,1.06002913956,0.548721844653,0.0187272614368,1.05969843238
+135,2.250000000,pose1_to_pose2_press,0.578476829352,0.010054589538,1.06002896829,0.549047559038,0.0187273171134,1.0596982572
+136,2.266666667,pose1_to_pose2_press,0.578826399017,0.0100545715646,1.06002918835,0.549397129184,0.0187273009215,1.05969848119
+137,2.283333333,pose1_to_pose2_press,0.579196738561,0.0100544675672,1.06002917293,0.549767471058,0.0187272047449,1.05969846339
+138,2.300000000,pose1_to_pose2_press,0.57958630576,0.0100544537731,1.06002914845,0.550157038434,0.0187271914932,1.05969843734
+139,2.316666667,pose1_to_pose2_press,0.579995494719,0.0100544978189,1.06002934224,0.550566225579,0.0187272294043,1.0596986316
+140,2.333333333,pose1_to_pose2_press,0.580424981322,0.0100546071996,1.06002931335,0.550995710608,0.0187273333611,1.05969860046
+141,2.350000000,pose1_to_pose2_press,0.580876997437,0.0100544434922,1.06002920462,0.55144772879,0.0187271765522,1.05969848876
+142,2.366666667,pose1_to_pose2_press,0.581351509977,0.0100545904954,1.06002923762,0.551922239806,0.0187273185132,1.0596985251
+143,2.383333333,pose1_to_pose2_press,0.581849879576,0.0100546364784,1.06002928911,0.55242060897,0.0187273629318,1.05969857426
+144,2.400000000,pose1_to_pose2_press,0.582383466688,0.0100545234098,1.06002897431,0.552954197469,0.0187272546273,1.05969826083
+145,2.416666667,pose1_to_pose2_press,0.58294722222,0.0100545332431,1.06002901248,0.553517952854,0.0187272642547,1.0596983067
+146,2.433333333,pose1_to_pose2_press,0.583537050849,0.0100545804785,1.06002906543,0.554107780458,0.0187273079211,1.05969835717
+147,2.450000000,pose1_to_pose2_press,0.584151286041,0.0100544756497,1.06002912422,0.554722016275,0.0187272051152,1.05969841338
+148,2.466666667,pose1_to_pose2_press,0.584788422791,0.0100545606486,1.06002919013,0.555359152832,0.0187272891905,1.05969847217
+149,2.483333333,pose1_to_pose2_press,0.585442380597,0.0100546043389,1.06002916041,0.55601311118,0.0187273349295,1.05969844798
+150,2.500000000,pose1_to_pose2_press,0.58611606272,0.0100544222963,1.06002914545,0.556686794972,0.018727158668,1.05969843599
+151,2.516666667,pose1_to_pose2_press,0.586815979581,0.0100544647905,1.06002926051,0.557386711307,0.0187271991725,1.05969854578
+152,2.533333333,pose1_to_pose2_press,0.587532883223,0.0100545860619,1.06002902135,0.558103613794,0.0187273166328,1.0596983094
+153,2.550000000,pose1_to_pose2_press,0.588259752764,0.0100545961839,1.06002917096,0.558830482926,0.0187273255035,1.05969846259
+154,2.566666667,pose1_to_pose2_press,0.588991437126,0.0100545326901,1.06002929279,0.559562167913,0.0187272639144,1.0596985787
+155,2.583333333,pose1_to_pose2_press,0.589727106783,0.0100545541657,1.06002918448,0.560297836757,0.0187272828396,1.05969847591
+156,2.600000000,pose1_to_pose2_press,0.590475288608,0.0100545361183,1.06002913286,0.561046019312,0.0187272673559,1.05969842655
+157,2.616666667,pose1_to_pose2_press,0.591242194337,0.0100545206239,1.06002910012,0.561812925413,0.0187272527618,1.05969838432
+158,2.633333333,pose1_to_pose2_press,0.592035237981,0.0100544711998,1.0600290776,0.562605968945,0.0187272028093,1.05969835793
+159,2.650000000,pose1_to_pose2_press,0.592850991047,0.010054480779,1.06002895162,0.563421721874,0.0187272123078,1.05969824209
+160,2.666666667,pose1_to_pose2_press,0.593688905708,0.0100546388104,1.06002910623,0.564259634937,0.0187273652887,1.05969840643
+161,2.683333333,pose1_to_pose2_press,0.594530408391,0.0100545097461,1.06002926486,0.565101140005,0.018727243965,1.05969855587
+162,2.700000000,pose1_to_pose2_press,0.59537099654,0.0100543788904,1.06002907625,0.565941729506,0.0187271178159,1.05969837042
+163,2.716666667,pose1_to_pose2_press,0.59619545821,0.0100543841421,1.06002909924,0.566766191568,0.0187271243638,1.05969839254
+164,2.733333333,pose1_to_pose2_press,0.597004965498,0.0100546511643,1.06002905715,0.56757569498,0.0187273782401,1.05969835059
+165,2.750000000,pose1_to_pose2_press,0.597802664586,0.0100545498398,1.06002907479,0.568373394877,0.0187272798394,1.05969837301
+166,2.766666667,pose1_to_pose2_press,0.598606248939,0.0100544643229,1.06002915465,0.569176981036,0.0187272001419,1.05969844487
+167,2.783333333,pose1_to_pose2_press,0.599424490543,0.0100546609024,1.06002916391,0.569995219941,0.0187273874784,1.05969845196
+168,2.800000000,pose1_to_pose2_press,0.600261971972,0.0100546853926,1.06002908656,0.57083270078,0.0187274100071,1.05969837574
+169,2.816666667,pose1_to_pose2_press,0.601114443226,0.0100546334526,1.06002916998,0.571685174069,0.0187273651832,1.05969846476
+170,2.833333333,pose1_to_pose2_press,0.601976009606,0.0100545431669,1.06002907973,0.572546741514,0.018727278634,1.05969837779
+171,2.850000000,pose1_to_pose2_press,0.602823257299,0.0100545241409,1.06002902116,0.573393986815,0.0187272512764,1.05969831361
+172,2.866666667,pose1_to_pose2_press,0.603642192612,0.0100546228914,1.06002910086,0.574212921538,0.0187273481165,1.05969839583
+173,2.883333333,pose1_to_pose2_press,0.604428186782,0.0100545801222,1.06002916606,0.574998917548,0.0187273113087,1.05969845366
+174,2.900000000,pose1_to_pose2_press,0.605180538142,0.0100544589483,1.06002898967,0.575751269631,0.0187271925923,1.05969827751
+175,2.916666667,pose1_to_pose2_press,0.605915079707,0.0100544813802,1.06002921111,0.576485810998,0.0187272141009,1.05969849241
+176,2.933333333,pose1_to_pose2_press,0.606644108167,0.0100545564167,1.06002919992,0.577214837627,0.0187272831815,1.05969848808
+177,2.950000000,pose1_to_pose2_press,0.607380195719,0.0100545709879,1.06002906979,0.577950925579,0.0187272992155,1.05969836084
+178,2.966666667,pose1_to_pose2_press,0.608121813362,0.0100546166568,1.0600293929,0.578692543083,0.018727344244,1.0596986796
+179,2.983333333,pose1_to_pose2_press,0.608862368308,0.010054590805,1.06002900681,0.579433097146,0.0187273158657,1.05969830592
+180,3.000000000,pose1_to_pose2_press,0.609577280156,0.0100546721771,1.0600292425,0.580148007695,0.0187273922536,1.0596985266
+181,3.016666667,pose1_to_pose2_press,0.610259948924,0.010054433108,1.06002905521,0.580830679925,0.0187271651653,1.05969834551
+182,3.033333333,pose1_to_pose2_press,0.610896647056,0.0100544591028,1.0600290081,0.581467379689,0.0187271967851,1.05969830072
+183,3.050000000,pose1_to_pose2_press,0.611497464458,0.0100545498495,1.06002927632,0.582068195,0.018727280069,1.05969855938
+184,3.066666667,pose1_to_pose2_press,0.612065475293,0.01005439885,1.06002896468,0.582636206684,0.0187271321786,1.05969825381
+185,3.083333333,pose1_to_pose2_press,0.612600760135,0.0100545177986,1.06002907654,0.583171491102,0.0187272499612,1.05969837243
+186,3.100000000,pose1_to_pose2_press,0.613103988284,0.0100546553963,1.06002907991,0.583674716905,0.018727379272,1.05969836715
+187,3.116666667,pose1_to_pose2_press,0.613589205303,0.0100546822513,1.06002902397,0.584159933463,0.0187274048488,1.059698317
+188,3.133333333,pose1_to_pose2_press,0.614059126863,0.0100545851398,1.06002916606,0.584629857061,0.0187273147804,1.05969846006
+189,3.150000000,pose1_to_pose2_press,0.614514916191,0.0100544615245,1.0600291329,0.585085647842,0.0187271961122,1.05969842448
+190,3.166666667,pose1_to_pose2_press,0.614962664423,0.0100544246291,1.06002901621,0.585533396528,0.018727160923,1.05969830837
+191,3.183333333,pose1_to_pose2_press,0.615402604345,0.0100544526576,1.06002919319,0.585973335785,0.0187271866867,1.05969847831
+192,3.200000000,pose1_to_pose2_press,0.615812912226,0.0100545467816,1.06002937843,0.586383643766,0.0187272814629,1.05969866118
+193,3.216666667,pose1_to_pose2_press,0.616191047687,0.0100544499469,1.06002916688,0.586761779767,0.0187271871184,1.05969845277
+194,3.233333333,pose1_to_pose2_press,0.616533587744,0.0100545071274,1.06002929759,0.587104318584,0.0187272404317,1.05969857701
+195,3.250000000,pose1_to_pose2_press,0.616843095998,0.0100546201927,1.06002919171,0.587413824775,0.018727347311,1.05969847918
+196,3.266666667,pose1_to_pose2_press,0.617120179641,0.0100545672953,1.06002904135,0.587690908534,0.0187272953095,1.0596983296
+197,3.283333333,pose1_to_pose2_press,0.617378334417,0.0100545278285,1.06002911712,0.587949063752,0.0187272575933,1.05969839945
+198,3.300000000,pose1_to_pose2_press,0.617620385075,0.0100545423975,1.06002914179,0.588191114242,0.0187272724203,1.05969843449
+199,3.316666667,pose1_to_pose2_press,0.617845838428,0.0100545048195,1.06002913466,0.588416568557,0.0187272388927,1.05969843764
+200,3.333333333,pose1_to_pose2_press,0.618054726247,0.01005457022,1.06002924323,0.588625455541,0.0187273016173,1.05969853935
+201,3.350000000,pose1_to_pose2_press,0.618246106412,0.0100545978497,1.0600291451,0.588816834579,0.0187273257777,1.05969844439
+202,3.366666667,pose1_to_pose2_press,0.618419718859,0.0100546301668,1.06002898983,0.588990447291,0.0187273588491,1.05969828602
+203,3.383333333,pose1_to_pose2_press,0.618574126727,0.0100546196786,1.06002936914,0.589144854103,0.0187273452746,1.0596986603
+204,3.400000000,pose1_to_pose2_press,0.618712130563,0.0100546139834,1.06002923028,0.589282858867,0.0187273428177,1.05969851977
+205,3.416666667,pose1_to_pose2_press,0.618834278587,0.0100544996733,1.06002909707,0.589405008033,0.0187272325526,1.05969838056
+206,3.433333333,pose1_to_pose2_press,0.618938607854,0.0100544758808,1.06002926888,0.589509336066,0.0187272049422,1.05969855793
+207,3.450000000,pose1_to_pose2_press,0.61902721783,0.0100544263139,1.0600292355,0.589597947562,0.0187271611717,1.05969853373
+208,3.466666667,pose1_to_pose2_press,0.619101423523,0.0100546700608,1.06002940498,0.589672150149,0.0187273948645,1.05969869334
+209,3.483333333,pose1_to_pose2_press,0.61916407236,0.0100546624444,1.06002918515,0.589734799376,0.0187273880597,1.05969847151
+210,3.500000000,pose1_to_pose2_press,0.619215560473,0.0100547705719,1.06002915552,0.589786286612,0.0187274931119,1.05969844578
+211,3.516666667,pose1_to_pose2_press,0.619258933398,0.0100545610071,1.0600290857,0.589829661707,0.0187272909667,1.05969837085
+212,3.533333333,pose1_to_pose2_press,0.61929428541,0.0100544511142,1.06002912836,0.589865014637,0.0187271841524,1.05969841523
+213,3.550000000,pose1_to_pose2_press,0.619321975082,0.0100545294498,1.06002914761,0.589892703946,0.0187272614748,1.0596984394
+214,3.566666667,pose1_to_pose2_press,0.61934311076,0.0100545488091,1.06002913087,0.589913839821,0.0187272817827,1.05969842527
+215,3.583333333,pose1_to_pose2_press,0.619358035812,0.0100544631393,1.0600291286,0.589928765503,0.0187271983122,1.05969842244
+216,3.600000000,pose1_to_pose2_press,0.619368940231,0.0100544473107,1.060029148,0.589939669302,0.0187271800947,1.05969843809
+217,3.616666667,pose1_to_pose2_press,0.61937628118,0.0100545522199,1.06002918991,0.589947009589,0.0187272828751,1.05969848451
+218,3.633333333,pose1_to_pose2_press,0.619381358342,0.0100546575023,1.06002922705,0.589952086224,0.0187273865379,1.05969852677
+219,3.650000000,pose1_to_pose2_press,0.619384639914,0.0100545712503,1.06002907682,0.589955368098,0.0187273013926,1.05969837649
+220,3.666666667,pose1_to_pose2_press,0.619386895096,0.0100544991346,1.06002895908,0.58995762354,0.0187272302166,1.05969825844
+221,3.683333333,pose1_to_pose2_press,0.619388483251,0.010054448349,1.06002887617,0.589959211878,0.0187271800927,1.0596981753
+222,3.700000000,pose1_to_pose2_press,0.61938950477,0.0100545092438,1.06002893917,0.589960232813,0.0187272388924,1.05969823562
+223,3.716666667,pose1_to_pose2_press,0.619390195816,0.0100545560268,1.06002898873,0.589960923422,0.0187272841075,1.05969828322
+224,3.733333333,pose1_to_pose2_press,0.619390602603,0.0100545835657,1.06002901791,0.589961329952,0.0187273107236,1.05969831124
+225,3.750000000,pose1_to_pose2_press,0.619391129462,0.0100546192334,1.0600290557,0.589961856477,0.0187273451959,1.05969834754
+226,3.766666667,pose1_to_pose2_press,0.619391635765,0.0100546535095,1.06002909202,0.589962362461,0.0187273783233,1.05969838241
+227,3.783333333,pose1_to_pose2_press,0.619391929967,0.0100546734265,1.06002911312,0.589962656476,0.0187273975728,1.05969840268
+228,3.800000000,pose1_to_pose2_press,0.619392328965,0.0100547004382,1.06002914174,0.589963055222,0.0187274236793,1.05969843017
+229,3.816666667,pose1_to_pose2_press,0.61939286885,0.0100547257115,1.06002917346,0.589963594967,0.0187274484198,1.0596984606
+230,3.833333333,pose1_to_pose2_press,0.619393277274,0.0100547050552,1.06002917277,0.589964003993,0.0187274298016,1.05969845979
+231,3.850000000,pose1_to_pose2_press,0.619393608971,0.0100546882794,1.06002917221,0.58996433618,0.018727414681,1.05969845914
+232,3.866666667,pose1_to_pose2_press,0.619393708675,0.0100546832368,1.06002917205,0.589964436031,0.0187274101359,1.05969845894
+233,3.883333333,pose1_to_pose2_press,0.619393715379,0.0100546828977,1.06002917203,0.589964442745,0.0187274098303,1.05969845893
+234,3.900000000,pose1_to_pose2_press,0.619393765259,0.010054680375,1.06002917195,0.589964492699,0.0187274075565,1.05969845883
+235,3.916666667,pose1_to_pose2_press,0.619393886484,0.010054674244,1.06002917174,0.589964614103,0.0187274020304,1.05969845859
+236,3.933333333,pose1_to_pose2_press,0.619394129044,0.0100546619764,1.06002917133,0.58996485702,0.0187273909732,1.05969845811
+237,3.950000000,pose1_to_pose2_press,0.619394284696,0.0100546541042,1.06002917107,0.589965012902,0.0187273838777,1.0596984578
+238,3.966666667,pose1_to_pose2_press,0.619394611566,0.0100546375725,1.06002917052,0.589965340255,0.0187273689772,1.05969845716
+239,3.983333333,pose1_to_pose2_press,0.619394864884,0.0100546247608,1.06002917009,0.589965593947,0.0187273574296,1.05969845666
+240,4.000000000,pose1_to_pose2_press,0.619395277549,0.0100546660139,1.0600291636,0.589966006018,0.0187273967261,1.05969845172
+241,4.016666667,pose1_to_pose2_press,0.619395926875,0.010054798637,1.06002914706,0.5899666531,0.0187275218935,1.05969843947
+242,4.033333333,pose1_to_pose2_press,0.619396331121,0.0100547671266,1.06002914158,0.58996705681,0.018727488647,1.05969843398
+243,4.050000000,pose1_to_pose2_press,0.619396469295,0.0100547852209,1.06002936232,0.589967194222,0.0187275043845,1.05969866127
+244,4.066666667,pose2_hold,0.619396469295,0.0100547852209,1.06002936232,0.589967194211,0.0187275043945,1.05969866127
+245,4.083333333,pose2_hold,0.619396469295,0.0100547852209,1.06002936232,0.58996719421,0.0187275043937,1.05969866127
+246,4.100000000,pose2_hold,0.619396469295,0.0100547852209,1.06002936232,0.589967194212,0.0187275043926,1.05969866127
+247,4.116666667,pose2_hold,0.619396469295,0.0100547852209,1.06002936232,0.589967194212,0.0187275043921,1.05969866127
+248,4.133333333,pose2_hold,0.619396469295,0.0100547852209,1.06002936232,0.589967194212,0.0187275043918,1.05969866127
+249,4.150000000,pose2_hold,0.619396469295,0.0100547852209,1.06002936232,0.589967194212,0.0187275043922,1.05969866127
+250,4.166666667,pose2_hold,0.619396469295,0.0100547852209,1.06002936232,0.589967194211,0.0187275043938,1.05969866127
+251,4.183333333,pose2_hold,0.619396469295,0.0100547852209,1.06002936232,0.589967194211,0.0187275043939,1.05969866127
+252,4.200000000,pose2_hold,0.619396469295,0.0100547852209,1.06002936232,0.589967194212,0.0187275043932,1.05969866127
+253,4.216666667,pose2_hold,0.619396469295,0.0100547852209,1.06002936232,0.589967194214,0.0187275043902,1.05969866126
+254,4.233333333,pose2_hold,0.619396469295,0.0100547852209,1.06002936232,0.589967194213,0.0187275043905,1.05969866127
+255,4.250000000,pose2_hold,0.619396469295,0.0100547852209,1.06002936232,0.589967194213,0.0187275043905,1.05969866126
+256,4.266666667,pose2_hold,0.619396469295,0.0100547852209,1.06002936232,0.589967194212,0.0187275043932,1.05969866127
+257,4.283333333,pose2_hold,0.619396469295,0.0100547852209,1.06002936232,0.589967194213,0.0187275043917,1.05969866127
+258,4.300000000,pose2_hold,0.619396469295,0.0100547852209,1.06002936232,0.589967194213,0.0187275043908,1.05969866127
+259,4.316666667,pose2_hold,0.619396469295,0.0100547852209,1.06002936232,0.589967194214,0.0187275043906,1.05969866127
+260,4.333333333,pose2_hold,0.619396469295,0.0100547852209,1.06002936232,0.589967194213,0.0187275043906,1.05969866127
+261,4.350000000,pose2_hold,0.619396469295,0.0100547852209,1.06002936232,0.589967194214,0.0187275043903,1.05969866127
+262,4.366666667,pose2_to_pose3_retreat,0.619396469295,0.0100547852209,1.06002936232,0.589967194214,0.0187275043895,1.05969866127
+263,4.383333333,pose2_to_pose3_retreat,0.619396210597,0.0100547266101,1.06002904872,0.589966936259,0.0187274480935,1.05969834183
+264,4.400000000,pose2_to_pose3_retreat,0.619395734953,0.0100547337025,1.06002896552,0.589966460989,0.0187274565927,1.05969826254
+265,4.416666667,pose2_to_pose3_retreat,0.619395604022,0.0100547366556,1.06002894781,0.589966330186,0.0187274600217,1.05969824596
+266,4.433333333,pose2_to_pose3_retreat,0.619395292922,0.0100547436723,1.06002890574,0.589966019393,0.0187274681694,1.05969820659
+267,4.450000000,pose2_to_pose3_retreat,0.619394393446,0.0100546959202,1.06002891382,0.589965120632,0.0187274228985,1.05969821618
+268,4.466666667,pose2_to_pose3_retreat,0.619391797014,0.010054502144,1.06002910929,0.589962525328,0.0187272327463,1.05969840565
+269,4.483333333,pose2_to_pose3_retreat,0.619385719596,0.0100546179646,1.06002904531,0.58995644638,0.0187273431554,1.05969833763
+270,4.500000000,pose2_to_pose3_retreat,0.61937283588,0.0100545746161,1.06002922571,0.589943565468,0.0187273092516,1.05969851303
+271,4.516666667,pose2_to_pose3_retreat,0.619349898954,0.0100545447145,1.06002904654,0.589920627815,0.018727276967,1.05969833884
+272,4.533333333,pose2_to_pose3_retreat,0.61931439588,0.0100545895505,1.06002909092,0.589885123736,0.0187273182864,1.05969838045
+273,4.550000000,pose2_to_pose3_retreat,0.619265909217,0.0100545776935,1.06002890053,0.589836638014,0.018727309477,1.05969819359
+274,4.566666667,pose2_to_pose3_retreat,0.619205646368,0.0100544240113,1.06002908931,0.589776377223,0.0187271622553,1.05969838092
+275,4.583333333,pose2_to_pose3_retreat,0.619134577675,0.0100545703421,1.06002926472,0.589705307556,0.0187273044394,1.05969855468
+276,4.600000000,pose2_to_pose3_retreat,0.619054011762,0.0100546775567,1.06002921664,0.589624739771,0.0187274054604,1.05969849277
+277,4.616666667,pose2_to_pose3_retreat,0.618963328632,0.0100545634799,1.06002915449,0.589534058395,0.0187272977535,1.05969844395
+278,4.633333333,pose2_to_pose3_retreat,0.618859589384,0.0100546198444,1.06002913679,0.589430317502,0.0187273484868,1.05969842983
+279,4.650000000,pose2_to_pose3_retreat,0.618740947648,0.0100545615307,1.06002911113,0.589311676099,0.0187272912716,1.05969840911
+280,4.666666667,pose2_to_pose3_retreat,0.618603059225,0.0100545815358,1.06002906777,0.589173787825,0.0187273111842,1.05969835684
+281,4.683333333,pose2_to_pose3_retreat,0.618445485456,0.0100544756321,1.06002904519,0.589016214723,0.0187272071686,1.05969833203
+282,4.700000000,pose2_to_pose3_retreat,0.618263112135,0.0100544653523,1.06002910358,0.58883384187,0.0187271983353,1.05969839565
+283,4.716666667,pose2_to_pose3_retreat,0.618059371398,0.0100545620564,1.06002896216,0.588630100934,0.0187272942317,1.05969826076
+284,4.733333333,pose2_to_pose3_retreat,0.617835291738,0.0100544891309,1.06002905615,0.588406022374,0.0187272243949,1.05969834849
+285,4.750000000,pose2_to_pose3_retreat,0.61759131795,0.010054475617,1.06002907358,0.588162048963,0.0187272117026,1.05969836562
+286,4.766666667,pose2_to_pose3_retreat,0.617327115841,0.0100545653214,1.06002924201,0.587897845218,0.01872729514,1.05969852776
+287,4.783333333,pose2_to_pose3_retreat,0.617039975063,0.0100545955393,1.06002936596,0.587610704352,0.0187273243914,1.05969864781
+288,4.800000000,pose2_to_pose3_retreat,0.616729855581,0.0100546186988,1.06002925104,0.587300585663,0.0187273497918,1.05969853499
+289,4.816666667,pose2_to_pose3_retreat,0.616395273013,0.0100546505496,1.06002924431,0.586966002296,0.0187273782767,1.05969852554
+290,4.833333333,pose2_to_pose3_retreat,0.616036369323,0.0100545701988,1.06002920688,0.586607098765,0.0187272980811,1.05969849335
+291,4.850000000,pose2_to_pose3_retreat,0.615652597119,0.0100544860088,1.0600290072,0.586223327789,0.0187272178832,1.05969830353
+292,4.866666667,pose2_to_pose3_retreat,0.615239161162,0.0100545418591,1.06002901991,0.58580989094,0.0187272701571,1.05969831339
+293,4.883333333,pose2_to_pose3_retreat,0.614793537129,0.0100545987478,1.060029116,0.585364266029,0.0187273236215,1.05969840561
+294,4.900000000,pose2_to_pose3_retreat,0.614305940294,0.0100547480736,1.06002931574,0.584876667712,0.0187274678321,1.05969860305
+295,4.916666667,pose2_to_pose3_retreat,0.61378704348,0.0100545666888,1.06002901989,0.584357772787,0.0187272927653,1.05969830529
+296,4.933333333,pose2_to_pose3_retreat,0.613244492172,0.0100546120731,1.06002899113,0.583815220728,0.0187273359296,1.05969828476
+297,4.950000000,pose2_to_pose3_retreat,0.612685089552,0.0100546417124,1.0600291315,0.583255818216,0.0187273662581,1.05969843369
+298,4.966666667,pose2_to_pose3_retreat,0.612110547363,0.0100546093862,1.06002898694,0.582681276933,0.018727336839,1.05969828526
+299,4.983333333,pose2_to_pose3_retreat,0.611520410153,0.0100546545583,1.0600293035,0.582091138818,0.0187273787229,1.05969859604
+300,5.000000000,pose2_to_pose3_retreat,0.610904192656,0.010054639209,1.06002889345,0.581474921086,0.0187273626375,1.05969818857
+301,5.016666667,pose2_to_pose3_retreat,0.610245087054,0.0100546160226,1.06002890217,0.580815816918,0.0187273444572,1.0596982003
+302,5.033333333,pose2_to_pose3_retreat,0.609553251911,0.010054526941,1.06002905522,0.58012398204,0.0187272559605,1.05969834528
+303,5.050000000,pose2_to_pose3_retreat,0.608832580254,0.0100546030425,1.0600292004,0.579403308514,0.0187273256727,1.05969848818
+304,5.066666667,pose2_to_pose3_retreat,0.60808767822,0.0100546047439,1.06002935119,0.578658409267,0.0187273366703,1.05969863466
+305,5.083333333,pose2_to_pose3_retreat,0.607320739626,0.0100544871789,1.06002895519,0.577891470683,0.0187272195594,1.05969824983
+306,5.100000000,pose2_to_pose3_retreat,0.606527208974,0.0100544197649,1.06002923725,0.577097940889,0.0187271548814,1.05969852774
+307,5.116666667,pose2_to_pose3_retreat,0.605710127091,0.0100545768454,1.06002916003,0.576280857535,0.0187273068946,1.05969844879
+308,5.133333333,pose2_to_pose3_retreat,0.60487500886,0.0100545132747,1.06002908261,0.575445739599,0.0187272444295,1.05969837407
+309,5.150000000,pose2_to_pose3_retreat,0.604036512956,0.0100544465825,1.06002894203,0.574607245173,0.0187271827195,1.05969823259
+310,5.166666667,pose2_to_pose3_retreat,0.603202097712,0.0100545829413,1.06002912988,0.573772828693,0.0187273146143,1.0596984133
+311,5.183333333,pose2_to_pose3_retreat,0.602373928799,0.0100545554797,1.06002927023,0.572944660859,0.0187272908059,1.05969855339
+312,5.200000000,pose2_to_pose3_retreat,0.601544736607,0.0100545284641,1.06002916013,0.572115468475,0.0187272633369,1.05969844846
+313,5.216666667,pose2_to_pose3_retreat,0.600702294494,0.0100545434334,1.0600291422,0.571273026229,0.0187272779813,1.05969843381
+314,5.233333333,pose2_to_pose3_retreat,0.599831710276,0.0100545614248,1.06002918485,0.570402440357,0.0187272898743,1.05969846349
+315,5.250000000,pose2_to_pose3_retreat,0.598923809892,0.0100546093753,1.06002904705,0.569494538818,0.0187273345483,1.05969834238
+316,5.266666667,pose2_to_pose3_retreat,0.598003940104,0.0100545880603,1.06002917762,0.568574670126,0.0187273168227,1.05969847021
+317,5.283333333,pose2_to_pose3_retreat,0.59707993225,0.0100546042317,1.0600291362,0.567650661939,0.0187273318647,1.05969842832
+318,5.300000000,pose2_to_pose3_retreat,0.596183195882,0.0100544948545,1.06002895981,0.566753927778,0.0187272301973,1.05969825758
+319,5.316666667,pose2_to_pose3_retreat,0.595318352265,0.0100545585722,1.06002905799,0.565889084156,0.0187272940439,1.05969835946
+320,5.333333333,pose2_to_pose3_retreat,0.594486064677,0.010054469182,1.06002903224,0.565056796368,0.0187272038418,1.0596983303
+321,5.350000000,pose2_to_pose3_retreat,0.593666073958,0.01005450412,1.06002915397,0.564236804759,0.0187272353948,1.05969844269
+322,5.366666667,pose2_to_pose3_retreat,0.592847311717,0.0100545185448,1.06002908674,0.56341804208,0.0187272485111,1.05969837841
+323,5.383333333,pose2_to_pose3_retreat,0.59201071528,0.0100546876183,1.06002896179,0.562581444649,0.0187274143812,1.05969825777
+324,5.400000000,pose2_to_pose3_retreat,0.591159991928,0.0100547519664,1.06002925846,0.56173072042,0.0187274757281,1.05969855381
+325,5.416666667,pose2_to_pose3_retreat,0.590301220533,0.0100544445706,1.06002926444,0.560871951994,0.0187271779655,1.05969854813
+326,5.433333333,pose2_to_pose3_retreat,0.589458052908,0.0100544118561,1.06002920487,0.5600287854,0.0187271488108,1.05969849018
+327,5.450000000,pose2_to_pose3_retreat,0.588651262156,0.0100545345404,1.06002932227,0.559221992155,0.0187272631462,1.05969861042
+328,5.466666667,pose2_to_pose3_retreat,0.587881389651,0.0100546068025,1.06002937123,0.558452119302,0.0187273338933,1.05969865056
+329,5.483333333,pose2_to_pose3_retreat,0.587149389677,0.0100546275475,1.06002919406,0.557720119282,0.0187273547625,1.05969848076
+330,5.500000000,pose2_to_pose3_retreat,0.586445568834,0.0100545615451,1.06002929548,0.557016299557,0.0187272924775,1.05969858017
+331,5.516666667,pose2_to_pose3_retreat,0.585756851752,0.0100546863462,1.06002922044,0.556327580662,0.0187274112355,1.05969850791
+332,5.533333333,pose2_to_pose3_retreat,0.585070356252,0.0100546534633,1.06002892063,0.555641084714,0.0187273769053,1.05969820999
+333,5.550000000,pose2_to_pose3_retreat,0.584388716277,0.0100545043711,1.06002891208,0.554959447751,0.0187272382474,1.05969820698
+334,5.566666667,pose2_to_pose3_retreat,0.583717187536,0.010054580078,1.06002903037,0.554287918796,0.0187273130314,1.05969832013
+335,5.583333333,pose2_to_pose3_retreat,0.583076949763,0.0100546458336,1.06002911165,0.553647678938,0.0187273716171,1.05969839925
+336,5.600000000,pose2_to_pose3_retreat,0.582468931364,0.0100545935923,1.0600293256,0.553039661288,0.0187273218181,1.05969861132
+337,5.616666667,pose2_to_pose3_retreat,0.581894162893,0.0100546877456,1.06002936762,0.552464892811,0.0187274160008,1.05969865438
+338,5.633333333,pose2_to_pose3_retreat,0.581350767827,0.0100546116125,1.06002913899,0.551921497693,0.0187273400076,1.05969843441
+339,5.650000000,pose2_to_pose3_retreat,0.580842417614,0.0100545139918,1.06002899995,0.551413149486,0.018727249119,1.05969829335
+340,5.666666667,pose2_to_pose3_retreat,0.580363488806,0.0100546420232,1.06002924393,0.550934218977,0.0187273712163,1.05969853305
+341,5.683333333,pose2_to_pose3_retreat,0.579914153383,0.0100545645248,1.06002914004,0.550484882979,0.0187272919051,1.05969843266
+342,5.700000000,pose2_to_pose3_retreat,0.57949865663,0.0100545973477,1.06002914785,0.550069386372,0.0187273252637,1.05969844096
+343,5.716666667,pose2_to_pose3_retreat,0.579110493416,0.0100546854748,1.06002910226,0.549681223203,0.0187274137688,1.05969840126
+344,5.733333333,pose2_to_pose3_retreat,0.578743162884,0.0100546105438,1.0600290104,0.549313893017,0.018727339969,1.05969830825
+345,5.750000000,pose2_to_pose3_retreat,0.578395170385,0.0100545139075,1.06002903986,0.548965903409,0.0187272527631,1.05969832792
+346,5.766666667,pose2_to_pose3_retreat,0.578068193713,0.0100546014551,1.06002904981,0.548638922921,0.0187273271924,1.05969833354
+347,5.783333333,pose2_to_pose3_retreat,0.577760599644,0.0100545641536,1.06002893139,0.548331329366,0.0187272920557,1.05969822638
+348,5.800000000,pose2_to_pose3_retreat,0.577474125121,0.0100546931857,1.06002912675,0.548044854322,0.0187274192772,1.05969842043
+349,5.816666667,pose2_to_pose3_retreat,0.57721541552,0.0100546539693,1.06002912328,0.547786144774,0.0187273800638,1.05969841243
+350,5.833333333,pose2_to_pose3_retreat,0.576982825262,0.0100545972173,1.06002926153,0.54755355531,0.0187273260863,1.0596985528
+351,5.850000000,pose2_to_pose3_retreat,0.576776857097,0.010054519585,1.06002908151,0.547347587711,0.0187272503757,1.05969837276
+352,5.866666667,pose2_to_pose3_retreat,0.576595851332,0.0100545447237,1.0600295344,0.547166582794,0.0187272777797,1.0596988096
+353,5.883333333,pose2_to_pose3_retreat,0.576439824719,0.0100546039286,1.06002929008,0.547010555105,0.0187273337617,1.05969857652
+354,5.900000000,pose2_to_pose3_retreat,0.576303189606,0.0100545390972,1.06002912234,0.546873921578,0.0187272743646,1.05969841021
+355,5.916666667,pose2_to_pose3_retreat,0.576184886518,0.0100545837976,1.06002923492,0.546755619238,0.0187273216409,1.05969852412
+356,5.933333333,pose2_to_pose3_retreat,0.576085146376,0.0100546412064,1.06002906854,0.546655876447,0.0187273701376,1.05969836032
+357,5.950000000,pose2_to_pose3_retreat,0.576000775354,0.0100545946806,1.06002901516,0.546571504122,0.018727318981,1.05969830118
+358,5.966666667,pose2_to_pose3_retreat,0.575930463161,0.0100546816733,1.06002917298,0.546501191605,0.0187274048753,1.05969845883
+359,5.983333333,pose2_to_pose3_retreat,0.575872823684,0.0100547065673,1.06002926739,0.54644355284,0.018727432135,1.05969855179
+360,6.000000000,pose2_to_pose3_retreat,0.575827549704,0.0100545952059,1.06002931554,0.546398279892,0.0187273241143,1.05969859579
+361,6.016666667,pose2_to_pose3_retreat,0.57579236513,0.0100543944649,1.06002903273,0.546363097975,0.0187271327574,1.05969832267
+362,6.033333333,pose2_to_pose3_retreat,0.575766298844,0.0100544904813,1.06002902087,0.546337030329,0.0187272243053,1.05969831454
+363,6.050000000,pose2_to_pose3_retreat,0.575748458483,0.0100544910851,1.06002901386,0.546319189481,0.0187272234101,1.05969831153
+364,6.066666667,pose2_to_pose3_retreat,0.575736233919,0.0100544189796,1.06002923131,0.546306965826,0.0187271540968,1.05969852136
+365,6.083333333,pose2_to_pose3_retreat,0.575728069616,0.0100545048737,1.06002929284,0.54629880063,0.0187272367363,1.05969857707
+366,6.100000000,pose2_to_pose3_retreat,0.575721967289,0.0100545833433,1.06002927353,0.546292697369,0.01872731193,1.05969855494
+367,6.116666667,pose2_to_pose3_retreat,0.575717895041,0.010054522438,1.06002911224,0.546288625354,0.0187272520049,1.05969839867
+368,6.133333333,pose2_to_pose3_retreat,0.575715470212,0.0100545176839,1.06002906595,0.546286200412,0.0187272469071,1.05969835348
+369,6.150000000,pose2_to_pose3_retreat,0.575714334111,0.0100545579606,1.06002911137,0.546285063918,0.018727285772,1.05969839686
+370,6.166666667,pose2_to_pose3_retreat,0.575714001302,0.0100545697593,1.06002912467,0.546284730994,0.0187272971571,1.05969840957
+371,6.183333333,pose2_to_pose3_retreat,0.575713997462,0.0100545698954,1.06002912483,0.546284727152,0.0187272972884,1.05969840972
+372,6.200000000,pose2_to_pose3_retreat,0.575713848657,0.0100545751708,1.06002913077,0.546284578295,0.0187273023789,1.0596984154
+373,6.216666667,pose2_to_pose3_retreat,0.575713580481,0.0100545846781,1.06002914149,0.546284310027,0.0187273115529,1.05969842564
+374,6.233333333,pose2_to_pose3_retreat,0.575713284184,0.0100545951823,1.06002915334,0.546284013628,0.018727321689,1.05969843696
+375,6.250000000,pose2_to_pose3_retreat,0.575713146621,0.0100546000592,1.06002915884,0.546283876017,0.0187273263949,1.05969844221
+376,6.266666667,pose2_to_pose3_retreat,0.575712967762,0.0100546064,1.06002916599,0.546283697096,0.0187273325134,1.05969844904
+377,6.283333333,pose2_to_pose3_retreat,0.575712854896,0.0100546104013,1.0600291705,0.546283584191,0.0187273363745,1.05969845335
+378,6.300000000,pose2_to_pose3_retreat,0.575712465024,0.010054624223,1.06002918609,0.546283194184,0.0187273497116,1.05969846823
+379,6.316666667,pose2_to_pose3_retreat,0.575711733398,0.0100546389756,1.06002921318,0.546282462819,0.0187273654175,1.05969849713
+380,6.333333333,pose2_to_pose3_retreat,0.57571142621,0.0100546439383,1.06002922432,0.546282155796,0.0187273709854,1.05969850937
+381,6.350000000,pose2_to_pose3_retreat,0.575711344816,0.0100546452532,1.06002922727,0.546282074446,0.0187273724607,1.05969851261
+382,6.366666667,pose2_to_pose3_retreat,0.575711330319,0.0100546454874,1.0600292278,0.546282059957,0.0187273727235,1.05969851319
+383,6.383333333,pose2_to_pose3_retreat,0.575711124113,0.0100546488187,1.06002923527,0.546281853862,0.0187273764611,1.0596985214
+384,6.400000000,pose2_to_pose3_retreat,0.575710777133,0.0100546544242,1.06002924785,0.54628150707,0.0187273827503,1.05969853523
+385,6.416666667,pose2_to_pose3_retreat,0.575710373346,0.0100546609475,1.0600292625,0.546281103501,0.0187273900692,1.05969855131
+386,6.433333333,pose2_to_pose3_retreat,0.5757100558,0.0100546875653,1.06002923199,0.54628078512,0.0187274139145,1.05969852241
+387,6.450000000,pose2_to_pose3_retreat,0.57570987641,0.0100547099144,1.06002920046,0.546280604916,0.0187274335411,1.05969849195
+388,6.466666667,pose2_to_pose3_retreat,0.575709781555,0.0100547217318,1.06002918379,0.546280509631,0.0187274439189,1.05969847584
+389,6.483333333,pose2_to_pose3_retreat,0.575709734981,0.0100547275342,1.0600291756,0.546280462846,0.0187274490144,1.05969846793
+390,6.500000000,pose2_to_pose3_retreat,0.575709598363,0.0100547445546,1.06002915159,0.546280325608,0.0187274639614,1.05969844473
+391,6.516666667,pose2_to_pose3_retreat,0.575709433638,0.010054698976,1.06002913437,0.546280161293,0.018727419793,1.059698428
+392,6.533333333,pose2_to_pose3_retreat,0.575709298157,0.0100546035325,1.06002913049,0.546280027164,0.0187273289378,1.05969842411
+393,6.550000000,pose2_to_pose3_retreat,0.575709246244,0.0100547306626,1.06002925699,0.546279974019,0.0187274517675,1.05969854751
+394,6.566666667,pose2_to_pose3_retreat,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_11/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_11/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8305f293b5bb1897f1daf7fd5f60fd8c8f316aff
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_11/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:adce6edb734b5adc4370c109c581a962bcf5169324ca5436c8002f8e551995f7
+size 25325371
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_11/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_11/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..facbe3c0d8ee9d92e7ed7b004744854490c0a52b
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_11/depth_03/franka_data.csv
@@ -0,0 +1,399 @@
+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,765,742,711,673,661,632,878,784,800,649,629,651,0.400947089437,0.00446495257671,0.0698151465624,0.999999955469,3.08056504768e-05,-0.000295005835382,3.29263749879e-05,1793193632347727616
+1,0.016666667,BASELINE,764.402919944,742,711,672.402919944,660.402919944,632,877.402919944,784,799.402919944,649,629,651,0.400946844075,0.00446494100706,0.0698147427881,0.999999955317,3.41794524854e-05,-0.000295105408088,3.33131452346e-05,1793193632364394240
+2,0.033333333,BASELINE,764,742.188007343,711,672.188007343,660.188007343,632,877,784,799,649,629,651,0.400946644538,0.00446463193066,0.0698144236663,0.999999955146,3.55240772619e-05,-0.00029550957649,3.34556553891e-05,1793193632381060864
+3,0.050000000,BASELINE,764,742.766166545,711,672.766166545,660.766166545,632,877,784,799,649,629,651,0.400946540098,0.00446370546979,0.0698142802147,0.99999995495,3.26577646527e-05,-0.000296545840318,3.30912783462e-05,1793193632397727744
+4,0.066666667,BASELINE,764,742.657945588,711,673,661,632.342054412,877,784,799,649.342054412,629,651,0.400947299918,0.00446344828067,0.0698146534602,0.999999955221,3.19140377086e-05,-0.000295707944908,3.31102479183e-05,1793193632414394368
+5,0.083333333,BASELINE,764,742.083600232,711,673,661,632.916399768,877,784,799,649.916399768,629,651,0.400948646662,0.00446364559756,0.0698153775975,0.999999955811,3.26117699919e-05,-0.00029359729807,3.33895502088e-05,1793193632431060992
+6,0.100000000,BASELINE,764,742,711,672.495912404,660.495912404,632.495912404,877.504087596,784,799.504087596,649.495912404,629,651,0.400949466958,0.00446576973391,0.0698166001271,0.999999956102,3.68497453405e-05,-0.000292110172034,3.33050366228e-05,1793193632447727872
+7,0.116666667,BASELINE,764,742,711,672,660.092517568,632.092517568,878,784,799.907482432,649,629,651,0.400949983932,0.00446773755331,0.0698175563489,0.999999956235,4.07931674692e-05,-0.000291139943301,3.32063545427e-05,1793193632464394496
+8,0.133333333,BASELINE,764,742,711,672,660.672875733,632.672875733,878,784,799.327124267,649,629,651,0.400949374395,0.00446715032372,0.0698166606531,0.999999955913,4.00033430728e-05,-0.000292335200847,3.33597663162e-05,1793193632481061120
+9,0.150000000,BASELINE,763.749280725,742,711.250719275,672,661,633,878,784,799.250719275,649,629,650.749280725,0.400948634061,0.00446637546056,0.0698159985629,0.999999955673,3.84090848133e-05,-0.000293364321963,3.34140071534e-05,1793193632497727488
+10,0.166666667,BASELINE,763.174685584,742,711.825314416,672,661,633,878,784,799.825314416,649,629,650.174685584,0.400947724764,0.00446535821487,0.0698156382414,0.999999955534,3.57756695211e-05,-0.000294178830126,3.33401402666e-05,1793193632514394112
+11,0.183333333,BASELINE,763.401405003,742,711.598594997,672,661,632.598594997,878,784,799.598594997,649.401405003,629,650.401405003,0.400948452077,0.0044653673265,0.0698166837246,0.999999955968,3.54706661903e-05,-0.000292736844916,3.33223710601e-05,1793193632531060992
+12,0.200000000,BASELINE,763.978148871,742,711.021851129,672,661,632.021851129,878,784,799.021851129,649.978148871,629,650.978148871,0.400949894283,0.00446582476409,0.0698183432813,0.99999995665,3.61827429002e-05,-0.000290309194469,3.33291060346e-05,1793193632547727616
+13,0.216666667,BASELINE,764,742,711,672,661,632,878,784,799,649.430690715,629,650.430690715,0.400948020165,0.00446541525478,0.0698170261301,0.999999955998,3.60403396954e-05,-0.000292563778159,3.33471693526e-05,1793193632564394240
+14,0.233333333,BASELINE,764,742,711,672.156139269,661,632,878,784,799.156139269,649,629,650.156139269,0.400947295057,0.00446529801896,0.0698162940833,0.999999955685,3.60255610845e-05,-0.000293636133751,3.33027685335e-05,1793193632581061120
+15,0.250000000,BASELINE,764,742,711,672.729869422,661,632,878,784,799.729869422,649,629,650.729869422,0.400949992219,0.00446605376713,0.0698174403867,0.999999956432,3.6442103819e-05,-0.000291053523251,3.30901157405e-05,1793193632597727744
+16,0.266666667,BASELINE,764,742,711,672.694022156,661,632.305977844,878,784,799.694022156,649,628.694022156,651,0.40095028754,0.00446652702381,0.0698173233913,0.999999956465,3.69476743339e-05,-0.000290885264537,3.30317128318e-05,1793193632614394624
+17,0.283333333,BASELINE,764,742,711,672.115797679,661,632.884202321,878,784,799.115797679,649,628.115797679,651,0.400948445801,0.00446674893101,0.0698160823639,0.999999955862,3.75324581195e-05,-0.000292865197931,3.31105552048e-05,1793193632631061504
+18,0.300000000,BASELINE,764.471851565,742.471851565,711,672,661,632.528148435,877.528148435,784,799.471851565,649.471851565,628,651,0.4009475804,0.00446666805727,0.0698156929466,0.999999955609,3.84469423776e-05,-0.000293614973406,3.30867050072e-05,1793193632647728128
+19,0.316666667,BASELINE,764.939363783,742.939363783,711,672.060636217,661,632.060636217,877.060636217,784.060636217,799.939363783,649.939363783,628.060636217,651,0.400947013022,0.00446654054392,0.0698155297513,0.999999955453,3.93059673424e-05,-0.000294035686633,3.30506439762e-05,1793193632664394496
+20,0.333333333,BASELINE,764.361034972,742.361034972,711,672.638965028,661,632.638965028,877.638965028,784.638965028,799.361034972,649.361034972,628.638965028,651,0.400946902701,0.00446666216569,0.0698154772716,0.999999955392,3.89866169172e-05,-0.000294276982925,3.31298819202e-05,1793193632681061120
+21,0.350000000,BASELINE,764,742,711,673,661,633,878,784.78397631,799.21602369,649,629,651,0.400947417583,0.00446633031564,0.0698157122248,0.999999955535,3.82094324067e-05,-0.000293878869827,3.32443168373e-05,1793193632697728000
+22,0.366666667,BASELINE,764,742,711,673,661,633,878,784.209028065,799.790971935,649,629,651,0.40094897124,0.00446524501966,0.0698164247496,0.999999956015,3.66715540644e-05,-0.000292418374465,3.3417231712e-05,1793193632714394880
+23,0.383333333,BASELINE,764,742,711,672.625898844,661,632.625898844,878,784,800,649,629,651,0.400950119218,0.00446540365411,0.0698175239633,0.999999956658,3.65506075418e-05,-0.00029024626801,3.32572557904e-05,1793193632731061504
+24,0.400000000,BASELINE,764,742,711,672.038096272,661,632.038096272,878,784,800,649,629,651,0.400951035455,0.00446627287085,0.0698188440691,0.999999957389,3.72390685237e-05,-0.000287667660941,3.29071194601e-05,1793193632747727872
+25,0.416666667,BASELINE,764,742,711,672.540559986,661,632,877.459440014,784,799.459440014,649,629,651,0.400950039243,0.00446593924979,0.069817883062,0.999999956823,3.60334226638e-05,-0.000289775360164,3.29479315903e-05,1793193632764394496
+26,0.433333333,BASELINE,764,742,711,672.8807315,660.8807315,632,877,784,799,649,629,651,0.400949302629,0.00446566973273,0.0698171199652,0.999999956345,3.52064510257e-05,-0.000291517066588,3.29824730224e-05,1793193632781061120
+27,0.450000000,BASELINE,764,742,711,672.299364477,660.299364477,632,877,784,799,649,629,651,0.40095008532,0.00446597155665,0.0698177361611,0.999999956579,3.63552159111e-05,-0.000290582436545,3.28877454392e-05,1793193632797727744
+28,0.466666667,BASELINE,764,742,711,672,660.278813941,632.278813941,877.278813941,784,799,649,629,651,0.400950127514,0.00446602555629,0.0698174895454,0.99999995648,3.73462053149e-05,-0.000290796316631,3.28956749447e-05,1793193632814394368
+29,0.483333333,BASELINE,764,742,711,672,660.853607409,632.853607409,877.853607409,784,799,649,629,651,0.40094938362,0.00446581647397,0.0698163269977,0.999999956028,3.81697054905e-05,-0.000292229416604,3.30125817775e-05,1793193632831060992
+30,0.500000000,BASELINE,764,742,711,672,661,633,878,784,799.436913086,649.436913086,629,651,0.400949319861,0.0044658003852,0.0698166328285,0.999999956126,3.83236582998e-05,-0.00029185015693,3.31935593017e-05,1793193632847727872
+31,0.516666667,BASELINE,764,742,711,672,661,632.977169938,878,784.022830062,799.977169938,649.977169938,629,651,0.400949457467,0.00446585548884,0.0698173920616,0.999999956388,3.82044384324e-05,-0.000290946668672,3.33797020725e-05,1793193632864394752
+32,0.533333333,BASELINE,764,742,711,672,661,632.398495493,878,784.601504507,799.398495493,649.398495493,629,651,0.400948839094,0.00446603824187,0.0698169736229,0.999999956029,3.70047987311e-05,-0.000292358305728,3.31585456104e-05,1793193632881061120
+33,0.550000000,BASELINE,764,742,711,672.358587439,661,632.17929372,878,784.82070628,799.17929372,649,629,651,0.400948627606,0.00446583995391,0.0698168081499,0.999999955962,3.58256453001e-05,-0.000292751086765,3.3013782376e-05,1793193632897727744
+34,0.566666667,BASELINE,764,742,711,673.510250033,661,632.755125016,878,784.244874984,799.755125016,649,629,651,0.40094931601,0.00446479893106,0.0698172021518,0.999999956544,3.46918007879e-05,-0.000290890499797,3.30379753703e-05,1793193632914394624
+35,0.583333333,BASELINE,764,742,711.331424692,673.668575308,661,632.668575308,877.668575308,784,799.668575308,649.331424692,629,651,0.40094910442,0.00446490937192,0.0698172343249,0.999999956593,3.47948648005e-05,-0.000290710997625,3.30224398713e-05,1793193632931061248
+36,0.600000000,BASELINE,764,742,711.908070981,673.091929019,661,632.091929019,877.091929019,784,799.091929019,649.908070981,629,651,0.400948226925,0.00446587178231,0.0698169987804,0.999999956249,3.58131190591e-05,-0.000291775332274,3.29775092065e-05,1793193632947727872
+37,0.616666667,BASELINE,764,742,711.504490113,673,661,632,877.495509887,784,799,649.504490113,629,650.504490113,0.400948701961,0.00446667064923,0.0698166544411,0.999999956139,3.64494275017e-05,-0.000292097336409,3.27523440207e-05,1793193632964394496
+38,0.633333333,BASELINE,764,742,711,672.916460715,661,632,878,784,799,649.083539285,629,650,0.400949320761,0.0044671107198,0.0698164023128,0.999999956137,3.67988712338e-05,-0.000292082173395,3.25679790498e-05,1793193632981061120
+39,0.650000000,BASELINE,764,742,711,672.337075398,661,632,878,784,799,649.662924602,629,650,0.400949270327,0.00446560526084,0.0698168199711,0.999999956506,3.58755884727e-05,-0.000290901397223,3.28286718276e-05,1793193632997727744
+40,0.666666667,BASELINE,764,742,711,672,661,632,877.759634056,784,799,649.759634056,629,650.240365944,0.400949009154,0.00446501939545,0.0698168414695,0.99999995652,3.57293200384e-05,-0.000290861222146,3.29052319364e-05,1793193633014394368
+41,0.683333333,BASELINE,764,742,711,672,661,632,877.184896999,784,799,649.184896999,629,650.815103001,0.400948454822,0.00446571276929,0.0698163118728,0.999999956041,3.66639499814e-05,-0.000292407728063,3.27256465689e-05,1793193633031060736
+42,0.700000000,BASELINE,763.613066436,742,711,672,661,632,877,784,799,649,629,651,0.400949115299,0.00446681458473,0.0698168849233,0.999999956241,3.83471450308e-05,-0.000291517742381,3.2621188537e-05,1793193633047727616
+43,0.716666667,BASELINE,763.042614409,742,711,672,661,632,877,784,799,649,629,651,0.400950351947,0.00446811011964,0.0698179809478,0.999999956758,4.03853765019e-05,-0.000289472154666,3.25523626042e-05,1793193633064394496
+44,0.733333333,BASELINE,763.551997545,742,711,672,661,632.551997545,877.551997545,784,799,649,629,650.448002455,0.400949332664,0.00446677899501,0.069817622347,0.999999956517,3.75872696701e-05,-0.000290672576926,3.26015419637e-05,1793193633081061120
+45,0.750000000,BASELINE,764,742,711.143784301,672,661,632.856215699,878,784,799.143784301,649,629,650.143784301,0.400948394056,0.00446545012108,0.0698171615304,0.999999956229,3.54600695809e-05,-0.000291910683348,3.2752494362e-05,1793193633097727744
+46,0.766666667,BASELINE,764,742,711.721169113,672,661,632.278830887,878,784,799.721169113,649,629,650.721169113,0.400948247973,0.00446476753129,0.069816746617,0.999999956012,3.65335512547e-05,-0.000292472145043,3.31816267435e-05,1793193633114394624
+47,0.783333333,BASELINE,764,742,711.702753362,671.702753362,661,632,878,784,800,649.297246638,629,651,0.400948179995,0.00446444181081,0.0698165442293,0.999999955901,3.7085545672e-05,-0.000292762004385,3.33555612646e-05,1793193633131061248
+48,0.800000000,BASELINE,764,742,711.127896695,671.127896695,661,632,878,784,800,649.872103305,629,651,0.400948184961,0.00446444938418,0.0698165403274,0.99999995589,3.71505032756e-05,-0.000292798203944,3.32911567716e-05,1793193633147727616
+49,0.816666667,BASELINE,764,742.458096674,711,671.916193349,661,632,877.541903326,784,800,650,629,651,0.400948580156,0.0044652921165,0.0698171329194,0.999999956138,3.6915741851e-05,-0.000291988010707,3.32202224346e-05,1793193633164394240
+50,0.833333333,BASELINE,764,742.953444628,711,673,661,632,877.046555372,784,800,650,629,651,0.400949103296,0.00446627652028,0.0698178614478,0.999999956451,3.65912238926e-05,-0.000290966058386,3.31361599703e-05,1793193633181061120
+51,0.850000000,BASELINE,764,742.373254639,711,673,661,632,877.626745361,784,800,650,629,651,0.400949813062,0.00446614554995,0.0698181916692,0.999999956667,3.62209417776e-05,-0.000290292956735,3.29230355276e-05,1793193633197728000
+52,0.866666667,BASELINE,764,742,711,673,661,632.205129169,877.794870831,784,799.794870831,649.794870831,628.794870831,651,0.400949890301,0.00446640175089,0.0698183121341,0.999999956809,3.65328177822e-05,-0.000289780748756,3.27650160562e-05,1793193633214394624
+53,0.883333333,BASELINE,764,742,711,673,661,632.780255087,877.219744913,784,799.219744913,649.219744913,628.219744913,651,0.400948826636,0.0044673563026,0.0698180542558,0.999999956818,3.80751199272e-05,-0.000289558748869,3.27063908494e-05,1793193633231061504
+54,0.900000000,BASELINE,763.636021767,742,711,672.636021767,661,632.636021767,877,784,799,649,628.363978233,651,0.400948810781,0.00446637895822,0.0698177395905,0.999999956691,3.65480466997e-05,-0.000290202083964,3.26368852524e-05,1793193633247728128
+55,0.916666667,BASELINE,763.046982665,742,711,672.046982665,661,632.046982665,877,784,799,649,628.953017335,651,0.400949442826,0.00446420705277,0.0698173898118,0.99999995647,3.31230679264e-05,-0.000291380486891,3.25606519195e-05,1793193633264394496
+56,0.933333333,BASELINE,763,742,711,672.532055023,660.467944977,632,877.532055023,784,799,649,629,651,0.400948636933,0.0044644025238,0.0698170469109,0.999999956331,3.32232154939e-05,-0.000291818795486,3.28109620442e-05,1793193633281061376
+57,0.950000000,BASELINE,763.109276874,742,711,672.890723126,660.109276874,632,878,784,799,649,629,651,0.400947731719,0.00446492147788,0.0698167015549,0.99999995617,3.37158488291e-05,-0.000292290787158,3.300125324e-05,1793193633297728000
+58,0.966666667,BASELINE,763.682469896,742,711,672.317530104,660.682469896,632,878,784,799,649,629,651,0.400946933961,0.00446594261604,0.0698163432451,0.999999955887,3.45775960693e-05,-0.000293178101895,3.2816588365e-05,1793193633314394880
+59,0.983333333,BASELINE,764,742,711,672,661,632,878,784,799.258631496,649,628.741368504,651,0.400947618706,0.00446581025589,0.0698167742742,0.999999956218,3.38428522731e-05,-0.000292157041835,3.26049573817e-05,1793193633331062016
+60,1.000000000,BASELINE,764,742,711,672,661,632,878,784,799.83848011,649,628.16151989,651,0.400950144702,0.00446424526526,0.0698181856521,0.999999957299,3.11252864746e-05,-0.000288765804003,3.23598348003e-05,1793193633347729152
+61,1.016666667,BASELINE,764,742,711,672.424972235,660.575027765,632,877.575027765,784,799.575027765,649,628.424972235,651,0.400948892126,0.00446516599888,0.0698174530073,0.999999956708,3.35285220506e-05,-0.000290528318888,3.24390465989e-05,1793193633364395520
+62,1.033333333,BASELINE,764,742,711,672.986207015,660.013792985,632,877,784,799,649,629,651,0.40094627311,0.0044669858058,0.0698159576236,0.999999955488,3.78232539939e-05,-0.000294156213875,3.26409081962e-05,1793193633381061376
+63,1.050000000,BASELINE,764,742,711,672.40707764,660.59292236,632,877,784,799,649,629,651,0.400947445159,0.00446631836123,0.0698171298692,0.999999955888,3.86060528823e-05,-0.000292680269798,3.27370985658e-05,1793193633397727744
+64,1.066666667,BASELINE,764,742,711,672.170829,661,632,877.170829,784,799,649.170829,629,651,0.400948595747,0.00446587552977,0.0698180728073,0.999999956258,3.86811057931e-05,-0.000291394299267,3.28124597533e-05,1793193633414394624
+65,1.083333333,BASELINE,764,742,711,672.745842591,661,632,877.745842591,784,799,649.745842591,629,651,0.400949695559,0.00446596413713,0.0698184731998,0.999999956561,3.7081618519e-05,-0.000290557809768,3.2838538703e-05,1793193633431061248
+66,1.100000000,BASELINE,764,742,711,672.681081086,661,632,878,784,799,649.681081086,629,651,0.400949422804,0.00446536985829,0.0698181978609,0.999999956499,3.56125371158e-05,-0.00029094099141,3.29716414224e-05,1793193633447727872
+67,1.116666667,BASELINE,764,742,711,672.109539345,661,632,878,784,799,649.109539345,629,651,0.400948062807,0.00446423464997,0.0698173872602,0.999999956146,3.42467532051e-05,-0.000292290301971,3.31895200699e-05,1793193633464394496
+68,1.133333333,BASELINE,763.519966084,742,711,672,661,632,877.519966084,784,799,649,629,651,0.400948144154,0.00446444395976,0.0698171745575,0.999999956113,3.50324236108e-05,-0.000292350587817,3.2819007191e-05,1793193633481061120
+69,1.150000000,BASELINE,763.072131342,742,711,672,661,632,877,784,799,649,629,650.927868658,0.400948454662,0.00446489500968,0.0698171637488,0.999999956162,3.62308126244e-05,-0.000292081002142,3.24443453055e-05,1793193633497727744
+70,1.166666667,BASELINE,763.651904981,742,711,672,661,632,877,784,799,649,629,650.348095019,0.400947972869,0.00446480386442,0.069817576149,0.999999956253,3.67438326959e-05,-0.00029164076712,3.30222909881e-05,1793193633514394624
+71,1.183333333,BASELINE,763.770297678,742,711.229702322,672.229702322,661,632.229702322,877.229702322,784,799,649.229702322,629,650.229702322,0.400948039977,0.00446521589956,0.0698179608613,0.999999956333,3.75474017325e-05,-0.000291240650997,3.32200615986e-05,1793193633531061248
+72,1.200000000,BASELINE,763.195469622,742,711.804530378,672.804530378,661,632.804530378,877.804530378,784,799,649.804530378,629,650.804530378,0.400948931802,0.00446638395888,0.0698183039728,0.999999956397,3.87875181324e-05,-0.000290900813107,3.28466225656e-05,1793193633547727872
+73,1.216666667,BASELINE,763.387250761,742,711.612749239,672.612749239,661,632.612749239,877.612749239,784,798.612749239,649.612749239,629,651,0.400950021463,0.0044655457404,0.0698188186449,0.999999956834,3.69285582148e-05,-0.000289643403399,3.27987423404e-05,1793193633564394240
+74,1.233333333,BASELINE,763.974037738,742,711.025962262,672.025962262,661,632.025962262,877.025962262,784,798.025962262,649.025962262,629,651,0.40095121306,0.00446367375997,0.0698194217159,0.999999957451,3.34727570516e-05,-0.000287913202364,3.29186107354e-05,1793193633581060864
+75,1.250000000,BASELINE,764,742,711,672,661,632.556020755,877.556020755,783.443979245,799.112041509,649,629,651,0.40094983227,0.00446473036875,0.0698187080162,0.999999956938,3.58617681854e-05,-0.000289373777662,3.31811577925e-05,1793193633597727744
+76,1.266666667,BASELINE,764,742,711,672,661,632.863927406,877.863927406,783.136072594,799.863927406,649,629,651,0.400948475399,0.00446546478684,0.0698179507441,0.99999995645,3.73683782272e-05,-0.000290848401248,3.33336595352e-05,1793193633614394624
+77,1.283333333,BASELINE,764,742,711,672,661,632.289381899,877.289381899,783.710618101,799.289381899,649,629,651,0.400947579328,0.00446472413149,0.0698172494919,0.999999956233,3.51597042471e-05,-0.000291892318517,3.31102735694e-05,1793193633631060992
+78,1.300000000,BASELINE,764,742.286155327,711,672.286155327,661.286155327,632.286155327,877,784,799,649.286155327,628.713844673,651,0.400946910358,0.00446472403636,0.0698166497965,0.999999956079,3.49611526537e-05,-0.000292461272815,3.29447303626e-05,1793193633647727616
+79,1.316666667,BASELINE,764,742.862698905,711,672.862698905,661.862698905,632.862698905,877,784,799,649.862698905,628.137301095,651,0.400946471847,0.00446547545616,0.0698161531601,0.999999955991,3.68024581244e-05,-0.000292548238234,3.28378855616e-05,1793193633664394240
+80,1.333333333,BASELINE,763.55119265,742.55119265,711,672.55119265,661.55119265,633,877.44880735,784,799,649.55119265,628.44880735,651,0.400948164607,0.00446552727196,0.069817248029,0.999999956625,3.54319440166e-05,-0.000290574409363,3.25686755822e-05,1793193633681061120
+81,1.350000000,BASELINE,763,742,711,672.037201739,661,632.962798261,877.962798261,784,799,649,629,651,0.400950313792,0.00446550168632,0.0698187460346,0.999999957404,3.34339747465e-05,-0.000288152954577,3.22767848983e-05,1793193633697727488
+82,1.366666667,BASELINE,763,742,711,672.615359938,661,632.384640062,877.384640062,784,799,649,629,651,0.400949412522,0.00446753054937,0.0698188721441,0.999999957152,3.69109731519e-05,-0.000288589564071,3.23930997656e-05,1793193633714394624
+83,1.383333333,BASELINE,763.192855412,742,711,672.807144588,661,632,877.192855412,784,799.192855412,649,628.807144588,650.807144588,0.400949043111,0.0044678394771,0.0698188917842,0.999999956984,3.87990820578e-05,-0.000288903592103,3.25682077688e-05,1793193633731061248
+84,1.400000000,BASELINE,763.769033745,742,711,672.230966255,661,632,877.769033745,784,799.769033745,649,628.230966255,650.230966255,0.400949730834,0.00446472983051,0.069818699804,0.999999957003,3.75290859406e-05,-0.000288973975077,3.28601740985e-05,1793193633747727872
+85,1.416666667,BASELINE,764,742,711,672,661.352037681,632,877.647962319,784,799.647962319,649.352037681,628.352037681,650,0.400948971739,0.00446436902027,0.0698176890838,0.999999956474,3.82106667784e-05,-0.000290707197206,3.28747025313e-05,1793193633764394496
+86,1.433333333,BASELINE,764,742,711,672,661.939608292,632,877.060391708,784,799.060391708,649.939608292,628.939608292,650,0.400947244641,0.00446584733574,0.0698161305806,0.999999955571,4.01979620036e-05,-0.000293552951873,3.27036094511e-05,1793193633781061120
+87,1.450000000,BASELINE,764,742,711,672,661.480217938,632,877.519782062,784,799,650,629,650.519782062,0.400948434656,0.00446581323907,0.0698174162447,0.999999956388,3.89381655568e-05,-0.000290952524286,3.24787613453e-05,1793193633797728768
+88,1.466666667,BASELINE,764,742,711,672,661,632.098759586,877.901240414,784,799.098759586,650,629,651,0.400949658488,0.00446562574692,0.0698186361537,0.999999957214,3.71960158339e-05,-0.00028835110571,3.22819589404e-05,1793193633814395904
+89,1.483333333,BASELINE,764,742,711,672,661,632.676046588,877.323953412,784,799.676046588,650,629,651,0.400949426975,0.00446553448867,0.0698179587465,0.999999957177,3.49190421861e-05,-0.000288767891673,3.22508862757e-05,1793193633831061760
+90,1.500000000,BASELINE,764,742,711.251858989,672.251858989,661,632.748141011,877,784,799.748141011,649.748141011,629,651,0.400949318323,0.0044656876573,0.0698178762826,0.999999957117,3.43630248941e-05,-0.000289029525722,3.23506241765e-05,1793193633847728128
+91,1.516666667,BASELINE,764,742,711.825785681,672.825785681,661,632.174214319,877,784,799.174214319,649.174214319,629,651,0.400949366781,0.00446615338974,0.0698185546095,0.999999957032,3.60077013651e-05,-0.000289092757368,3.26176376601e-05,1793193633864394496
+92,1.533333333,BASELINE,764,742,711.588997827,672.588997827,660.588997827,632,877,784,799,649.411002173,628.588997827,651,0.400949123849,0.00446627271682,0.0698183228406,0.999999956945,3.70238420657e-05,-0.000289255639543,3.27174632017e-05,1793193633881061120
+93,1.550000000,BASELINE,764,742,711,672,660.001116733,632,877.001116733,784,799,649.998883267,628.001116733,651,0.40094875393,0.00446624151621,0.0698176955138,0.999999956856,3.77648757831e-05,-0.000289464184315,3.27444372995e-05,1793193633897728000
+94,1.566666667,BASELINE,764,742,711,672,660.57953106,632,877.57953106,784,799,649.42046894,628.57953106,651,0.400948390538,0.00446644440689,0.0698176402433,0.999999956455,3.79061245036e-05,-0.000290825519857,3.27803468274e-05,1793193633914394624
+95,1.583333333,BASELINE,764,742,711,672.157191533,661,632,878,784,799,649,629,651,0.400948468066,0.00446649568964,0.0698178190686,0.999999956302,3.77445242261e-05,-0.000291363457179,3.28341815998e-05,1793193633931061248
+96,1.600000000,BASELINE,764,742,711,672.732845283,661,632,878,784,799,649,629,651,0.400949719371,0.00446614337441,0.0698186210842,0.999999956816,3.67767045804e-05,-0.000289709412583,3.29357354749e-05,1793193633947727872
+97,1.616666667,BASELINE,764,742,711,672.692577762,661,632.307422238,878,784,799,649.307422238,629,651,0.400949806523,0.00446564708492,0.0698189457074,0.999999957035,3.6050931959e-05,-0.000289034194844,3.29964065551e-05,1793193633964394496
+98,1.633333333,BASELINE,764,742,711,672.118933327,661,632.881066673,878,784,799,649.881066673,629,651,0.400948885539,0.00446502611629,0.0698188569173,0.999999957003,3.55347678199e-05,-0.000289206623875,3.30216738551e-05,1793193633981061376
+99,1.650000000,BASELINE,764,742,711,672,661,632.528641519,877.528641519,784,799.471358481,650,629,650.528641519,0.400948344347,0.00446522657548,0.0698184792876,0.999999956774,3.58118237019e-05,-0.00028997043965,3.29795095481e-05,1793193633997728000
+100,1.666666667,BASELINE,764,742,711,672,661,632,877,784,800,649.935958396,628.935958396,650.064041604,0.400947974457,0.00446559487883,0.0698180388583,0.999999956513,3.62434762666e-05,-0.000290823499704,3.28827824927e-05,1793193634014394368
+101,1.683333333,BASELINE,764,742,711,672,661,632,877,784,800,649.358996739,628.358996739,650.641003261,0.400948180951,0.00446558669637,0.0698177005358,0.99999995643,3.62516331611e-05,-0.000291152458583,3.24903130716e-05,1793193634031061248
+102,1.700000000,BASELINE,763.782313796,742,711,672,661,632,877.217686204,784,799.782313796,649,628.217686204,651,0.400948117453,0.00446563884606,0.0698176692167,0.999999956418,3.64840407951e-05,-0.000291181822534,3.23530853316e-05,1793193634047727872
+103,1.716666667,BASELINE,763.206089964,742,711,672,661,632,877.793910036,784,799.206089964,649,628.793910036,651,0.40094760927,0.00446579036516,0.0698181435443,0.999999956521,3.70857981018e-05,-0.000290717741975,3.26362505879e-05,1793193634064394496
+104,1.733333333,BASELINE,763,742,711,672.378194354,661,632,878,784,799,649.378194354,629,650.621805646,0.400947561234,0.00446650650639,0.0698182876195,0.999999956648,3.78779584864e-05,-0.000290176948969,3.26633508267e-05,1793193634081061376
+105,1.750000000,BASELINE,763,742,711,672.966966793,661,632,878,784,799,649.966966793,629,650.033033207,0.400947769409,0.00446753702844,0.0698182478109,0.999999956786,3.87761350939e-05,-0.000289593442534,3.25478744493e-05,1793193634097728256
+106,1.766666667,BASELINE,763.543453238,742,711,672.456546762,661,632,878,784,799,649.456546762,629,650.543453238,0.400948743654,0.00446670078618,0.0698185628138,0.999999956964,3.76011488276e-05,-0.000289103325409,3.2821279095e-05,1793193634114394624
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,742,711,673,661,632,878,784,799,650,629,651,0.400950017047,0.00446543385774,0.0698195719999,0.999999957391,3.57795258538e-05,-0.000287871777745,3.2687049316e-05,1793193634156573184
+108,1.800000000,POSE1_TO_POSE2_PRESS,763.422311612,742.577688388,711,672.422311612,661,632,878,784,799.577688388,649.422311612,629,650.422311612,0.400950630064,0.00446537237547,0.0698192096446,0.999999957295,3.74473163374e-05,-0.000287965653505,3.29225463026e-05,1793193634173239552
+109,1.816666667,POSE1_TO_POSE2_PRESS,763,742.840911995,711,672.159088005,661,632.159088005,878,784,799.840911995,649.159088005,628.840911995,650.159088005,0.400950861439,0.0044653831756,0.0698188805211,0.999999957228,3.84245168119e-05,-0.000288062003317,3.29961542767e-05,1793193634189906176
+110,1.833333333,POSE1_TO_POSE2_PRESS,763,742.249425181,711,672.750574819,661,632.750574819,878,784,799.249425181,649.750574819,628.249425181,650.750574819,0.400950055518,0.00446559043818,0.0698186417208,0.999999957244,3.7524704393e-05,-0.000288165077588,3.26297504003e-05,1793193634206573056
+111,1.850000000,POSE1_TO_POSE2_PRESS,763.332899942,742,711,673,661,632.667100058,877.667100058,784,799,650,628.332899942,650.667100058,0.400950226175,0.00446632802734,0.0698187964623,0.999999957296,3.8236724166e-05,-0.000287896891513,3.25630354446e-05,1793193634223239680
+112,1.866666667,POSE1_TO_POSE2_PRESS,763.908544492,742,711,673,661,632.091455508,877.091455508,784,799,650,628.908544492,650.091455508,0.400951108935,0.00446745232102,0.0698192381674,0.999999957373,4.01240628301e-05,-0.000287357989112,3.27148482429e-05,1793193634239906304
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,742,711,672.515445044,661,632.484554956,877.484554956,784,799,650,629,650.484554956,0.400951218494,0.00446692648742,0.0698194610537,0.999999957438,3.89885959206e-05,-0.000287281782569,3.27623833739e-05,1793193634256572928
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,742,711,672,661,633,878,784,799,650,629,651,0.400951935974,0.00446611796512,0.0698200059502,0.999999957678,3.74131574087e-05,-0.000286651337723,3.27868562546e-05,1793193634273239808
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,742,711,672,661,633,878,784,799,650,629,651,0.400959062806,0.00446555591426,0.0698236395599,0.999999959421,3.69512252907e-05,-0.000280566457913,3.27827163025e-05,1793193634289906688
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,742,711,672.237434853,661,632.762565147,878,784,799,650,629,651,0.400973650249,0.00446515287637,0.0698306449369,0.999999962668,3.62197422565e-05,-0.000268839985099,3.28258340526e-05,1793193634306573056
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,742,711,672.816113753,661,632.183886247,878,784,799,650,629,651,0.400998960164,0.00446497837375,0.0698424962557,0.99999996784,3.51008576383e-05,-0.000249005351686,3.29368710978e-05,1793193634323239424
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,742,711,672.608812925,661,632,877.608812925,783.608812925,799,649.608812925,628.608812925,651,0.401043367783,0.00446535314372,0.0698609668308,0.999999975355,3.60343831115e-05,-0.000216592972484,3.28448190446e-05,1793193634339906048
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,742,711,672.035418958,661,632,877.035418958,783.035418958,799,649.035418958,628.035418958,651,0.401096670722,0.00446598375354,0.0698825205205,0.999999982848,3.79238788496e-05,-0.000178322136027,3.265817224e-05,1793193634356572928
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,742,711,672,661,632,877.540874741,783.540874741,799,649.540874741,628.540874741,651,0.401159980967,0.0044659241261,0.0698966431897,0.99999998566,3.69733620511e-05,-0.000162105531978,3.21742816818e-05,1793193634373239808
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,742,711,672,661,632,878,784,799,649.879475362,628.879475362,651,0.401225483603,0.00446570188881,0.0699079821968,0.999999987692,3.53637241867e-05,-0.00014958933513,3.14270062372e-05,1793193634389906432
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,742,711,672,661,632,878,784,799,649.287442268,628.287442268,651,0.401296985649,0.00446502128123,0.0699103451235,0.99999998841,3.19070051381e-05,-0.000145869215813,2.97258935384e-05,1793193634406573056
+123,2.050000000,POSE1_TO_POSE2_PRESS,763.704491962,742,711,672,661,632,877.704491962,784,799,649,628.295508038,651,0.401377901413,0.00446483835634,0.069909474104,0.999999988445,2.81488866389e-05,-0.000146839553144,2.74822483927e-05,1793193634423239936
+124,2.066666667,POSE1_TO_POSE2_PRESS,763.130113115,742,711,672,661,632,877.130113115,784,799,649,628.869886885,651,0.401467700895,0.00446512509445,0.0699055512108,0.999999987816,2.41063378136e-05,-0.00015223627263,2.47266157097e-05,1793193634439906304
+125,2.083333333,POSE1_TO_POSE2_PRESS,763.448271605,742,711,672.448271605,660.551728395,632.448271605,877.448271605,784,799,649.448271605,629,651,0.401579994082,0.00446691534066,0.0699025671518,0.999999986873,2.43184228752e-05,-0.000158749835601,2.14712694509e-05,1793193634456572672
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,742,711.028211664,672.971788336,660.028211664,633,878,784,799.028211664,650,629,651,0.401700709108,0.00446901347199,0.0699001609052,0.999999985896,2.53249589444e-05,-0.000165048164575,1.80304909194e-05,1793193634473239040
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,742,711.615727718,672.384272282,660.615727718,633,878,784,799.615727718,650,629,651,0.401857784869,0.00446848573036,0.0699037588203,0.999999986858,1.73781315647e-05,-0.000160594716453,1.38149387078e-05,1793193634489905664
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,742.200296365,711.799703635,672,661,633,877.799703635,784.200296365,799.799703635,649.799703635,629,651,0.402028122492,0.00446847433925,0.0699079800698,0.999999988072,1.09875382075e-05,-0.000153789967549,9.19021277132e-06,1793193634506572288
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,742.779292292,711.220707708,672,661,633,877.220707708,784.779292292,799.220707708,649.220707708,629,651,0.40222353425,0.00446943921014,0.0699133798549,0.999999989806,7.53931140098e-06,-0.000142539623863,3.79186413472e-06,1793193634523239424
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,742.642151483,711,672.357848517,661,633,877.357848517,784.642151483,799,649.357848517,629,651,0.402437423086,0.00446966889835,0.0699169514357,0.999999990788,8.29907590861e-07,-0.000135721267544,-1.77314994835e-06,1793193634539906304
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,742.06386606,711,672.93613394,661,633,877.93613394,784.06386606,799,649.93613394,629,651,0.402662693937,0.00446944570957,0.0699193968317,0.999999991278,-7.88840180194e-06,-0.000131633041821,-7.44083150268e-06,1793193634556572928
+132,2.200000000,POSE1_TO_POSE2_PRESS,763.489246016,742,711,673,661,633,878,784,799,650,629,651,0.402928396359,0.00447179769324,0.0699235847104,0.999999992455,-1.15753979221e-05,-0.000121546779225,-1.35380052565e-05,1793193634573239296
+133,2.216666667,POSE1_TO_POSE2_PRESS,763.087127017,742,711.087127017,673,661,632.912872983,877.912872983,784.087127017,799,650,629,651,0.403206478703,0.0044741335522,0.0699290088632,0.999999993701,-1.46294132804e-05,-0.000109534372496,-1.96667456446e-05,1793193634589905920
+134,2.233333333,POSE1_TO_POSE2_PRESS,763.676221604,742,711.676221604,673,661,632.323778396,877.323778396,784.676221604,799,650,629,651,0.403526966114,0.00447453454503,0.06994030924,0.9999999954,-1.76354123719e-05,-9.07150792587e-05,-2.56701474925e-05,1793193634606572800
+135,2.250000000,POSE1_TO_POSE2_PRESS,763.738589235,742.261410765,712,672.738589235,661,632,877.261410765,784.738589235,799,650,629,651,0.40386064628,0.00447753777021,0.0699479879392,0.999999996558,1.18063356258e-05,-7.88691716569e-05,-2.29101109374e-05,1793193634623239424
+136,2.266666667,POSE1_TO_POSE2_PRESS,763.158166091,742.841833909,712,672.158166091,661,632,877.841833909,784.158166091,799,650,629,651,0.404210426191,0.00448371662715,0.069951246927,0.999999993835,8.08456610557e-05,-7.55332294445e-05,-9.45562023388e-06,1793193634639906048
+137,2.283333333,POSE1_TO_POSE2_PRESS,763.415820851,743,711.584179149,672.415820851,661,632,878,784,799,649.584179149,629,651,0.404585344543,0.00448753899139,0.0699552371643,0.999999992933,9.52788498801e-05,-7.00876917334e-05,-1.1961688976e-05,1793193634656572928
+138,2.300000000,POSE1_TO_POSE2_PRESS,763.987396953,743,711.012603047,672.987396953,661,632,878,784,799,649.012603047,629,651,0.404969679068,0.00449047867701,0.0699595013078,0.999999993769,8.92580545973e-05,-6.3851956728e-05,-2.04461521502e-05,1793193634673239808
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,742.435232245,711,673,661,632,878,784,799,649,629,650.435232245,0.405403759824,0.00449107710877,0.0699606350236,0.99999999649,5.28662135785e-05,-6.08015465094e-05,-2.29902787633e-05,1793193634689906432
+140,2.333333333,POSE1_TO_POSE2_PRESS,763.854245262,742.145754738,711,672.854245262,661,632,878,784,799.145754738,649.145754738,629,650.145754738,0.405844923731,0.00449104418113,0.0699597701804,0.999999997652,1.63511809625e-05,-6.19124251561e-05,-2.43892980472e-05,1793193634706573056
+141,2.350000000,POSE1_TO_POSE2_PRESS,763.262595406,742.737404594,711,672.262595406,661,632,878,784,799.737404594,649.737404594,629,650.737404594,0.406304325173,0.00448924127819,0.0699530072376,0.99999999672,-1.84458567354e-05,-7.5533873646e-05,-2.26949246778e-05,1793193634723239680
+142,2.366666667,POSE1_TO_POSE2_PRESS,763.321367331,743,711,672.321367331,661.321367331,632,878,784,800,650,629,651,0.406784801306,0.00448709832666,0.0699383251284,0.99999999478,-2.1975116551e-05,-9.7116831612e-05,-2.29273635747e-05,1793193634739906048
+143,2.383333333,POSE1_TO_POSE2_PRESS,763.899195576,743,711,672.899195576,661.899195576,632,878,784,800,650,629,651,0.407282095734,0.00448468400583,0.0699173232826,0.999999991876,-5.5174142986e-07,-0.00012505331797,-2.46974571346e-05,1793193634756572672
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,742.526022611,711,673,662,632.473977389,878.473977389,784,800,650,629,651,0.407837850578,0.00449131741806,0.0699152314565,0.999999992189,1.60404110231e-05,-0.00012100868032,-2.68767336099e-05,1793193634773239552
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,742.04813279,711,673,662,632.95186721,878.90373442,784,799.95186721,649.95186721,629,651,0.408411208823,0.00449966438955,0.0699184294819,0.999999993253,3.04727056974e-05,-0.00010824554412,-2.91369979111e-05,1793193634789906176
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,742.622478379,711,673,662,632.377521621,877.755043242,784,799.377521621,649.377521621,629,651,0.409041958583,0.00450584232262,0.0699357719631,0.999999996241,3.24536739127e-05,-7.40517680284e-05,-3.13373482544e-05,1793193634806572800
+147,2.450000000,POSE1_TO_POSE2_PRESS,763.795671049,743,711,673,662,632,877.204328951,784,799,649.204328951,629,651,0.409671807303,0.00451307252626,0.0699451860019,0.999999997278,3.62689613203e-05,-5.48965309902e-05,-3.34002060486e-05,1793193634823239680
+148,2.466666667,POSE1_TO_POSE2_PRESS,763.199425451,743,711,673,662,632,877.800574549,784,799,649.800574549,629,651,0.410299927729,0.00452232105515,0.069939392755,0.999999996344,4.3602596051e-05,-6.45862238632e-05,-3.51993438251e-05,1793193634839906304
+149,2.483333333,POSE1_TO_POSE2_PRESS,763.384215857,742.615784143,711.384215857,673,661.615784143,632,878.384215857,784,799.768431714,650,629,651,0.410954513899,0.00452938925032,0.0699368257363,0.999999995269,5.33049455775e-05,-7.27947462059e-05,-3.63451190562e-05,1793193634856572928
+150,2.500000000,POSE1_TO_POSE2_PRESS,763.96152275,742.03847725,711.96152275,673,661.03847725,632,878.96152275,784,800.923045501,650,629,651,0.411622400642,0.00453536169945,0.069935880087,0.999999994028,6.41977131943e-05,-8.0258893058e-05,-3.71625411739e-05,1793193634873239552
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,742.535125985,711.464874015,673,661.535125985,632,878.464874015,784,799.92974803,649.464874015,629,651,0.412356813264,0.00454230301331,0.0699617473602,0.999999996366,6.90796080245e-05,-3.18709786189e-05,-3.84809001399e-05,1793193634889906688
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,743,711.112031966,673,662,632,878.112031966,784,799.112031966,649.112031966,629,651,0.413101262076,0.00454939160276,0.06998774669,0.999999996388,7.37472360572e-05,1.45320963285e-05,-3.96801203438e-05,1793193634906573312
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,743,711.7042267,673,662,632,878.7042267,784,799.7042267,649.7042267,629,651,0.413868364674,0.00455681487961,0.0700061057779,0.99999999542,7.93361839092e-05,3.53344586557e-05,-4.0215404379e-05,1793193634923239936
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,742.711857548,712,673,662,632,879,784,800,649.711857548,629,651,0.414602909111,0.00456486172214,0.0699950620159,0.99999999512,8.92469427112e-05,1.07072578707e-05,-4.09893949929e-05,1793193634939906560
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,742.136202605,712,673,662,632,879,784,800,649.136202605,629,651,0.415304966661,0.00457353076794,0.0699546796892,0.99999999201,0.000103470064111,-5.92501815416e-05,-4.20015702267e-05,1793193634956573184
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,742.439616797,711.560383203,673,661.560383203,632,879,784,799.560383203,649.439616797,629,651,0.416051044423,0.00458138915129,0.0699142141597,0.999999985417,0.000109582294776,-0.00012296720795,-4.51391907409e-05,1793193634973239552
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,743,711,673.015867543,661.015867543,632,879,784,799.015867543,650,629,651,0.41681278212,0.00458886676401,0.0698757158358,0.999999975912,0.000113129883734,-0.000181644300923,-4.88170943867e-05,1793193634989906432
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,743,711,673.605882918,661.605882918,632,879,784,799.605882918,650,629,651,0.417647483869,0.00459165800617,0.0699093314648,0.999999984059,0.000114840245023,-0.000127942014698,-4.8208269082e-05,1793193635006573056
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,742.80809458,711,674,662,632,879,784,799.80809458,650,629,651,0.418494795115,0.00459598516773,0.0699418513547,0.999999988579,0.000120348215244,-7.80447794357e-05,-4.76084120348e-05,1793193635023239680
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,742.230105158,711,674,662,632,879,784,799.230105158,650,629,651,0.419367474667,0.00460340236126,0.0699721667855,0.999999989343,0.000133496387172,-3.58027214973e-05,-4.70265979414e-05,1793193635039906304
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,742.347842006,711,673.652157994,662,632,878.652157994,784,799,650,629,650.652157994,0.420236751449,0.00460824342752,0.0699952315901,0.999999989541,0.000136839915559,7.61272988905e-07,-4.68262442466e-05,1793193635056572672
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,742.925761196,711,673.074238804,662,632,878.074238804,784,799,650,629,650.074238804,0.421103777462,0.00461138053567,0.0700135005276,0.9999999894,0.000133698244003,3.35695582242e-05,-4.68782043653e-05,1793193635073239296
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,742.499228279,711,673,662,632.500771721,878.500771721,784,799,650,629,650,0.42193879002,0.00461338275769,0.0700063976728,0.999999989271,0.000136839551321,1.92312724498e-05,-4.86122664116e-05,1793193635089905920
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,742.077275507,711.077275507,673,662,633,878.922724493,784,799,649.922724493,629,650.077275507,0.422755478787,0.00461296354149,0.0699862061529,0.99999998903,0.000138248708134,-1.67036841862e-05,-5.04802691944e-05,1793193635106572544
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,742.666512404,711.666512404,673,662,633,878.333487596,784,799,649.333487596,629,650.666512404,0.423482030482,0.0045976101604,0.0699040758413,0.999999980019,0.000122046799509,-0.000149681171014,-5.15930785306e-05,1793193635123239424
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,742.748627075,711.748627075,673.251372925,662,632.748627075,878.251372925,784,799,649,629,650.748627075,0.424275757886,0.00457858749032,0.0698530041325,0.999999968843,9.44239222516e-05,-0.000224871442177,-5.32033748802e-05,1793193635139905792
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,742.169473108,711.169473108,673.830526892,662,632.169473108,878.830526892,784,799,649,629,650.169473108,0.425157080045,0.00455478020032,0.0698424316873,0.999999971868,5.19085220722e-05,-0.000224709332154,-5.54623770185e-05,1793193635156572672
+168,2.800000000,POSE1_TO_POSE2_PRESS,763.592927394,742,711,673.592927394,662.407072606,632,878.592927394,784,799.407072606,649,629,650,0.42605224852,0.00455285508383,0.0698874930418,0.999999985169,4.97027548853e-05,-0.000155776410882,-5.40865252155e-05,1793193635173239296
+169,2.816666667,POSE1_TO_POSE2_PRESS,763.017460674,742,711,673.017460674,662.982539326,632,878.017460674,784,799.982539326,649,629,650,0.426953144762,0.00455998198841,0.069955568484,0.999999994925,6.41719142904e-05,-5.83950011531e-05,-5.12070393493e-05,1793193635189906176
+170,2.833333333,POSE1_TO_POSE2_PRESS,763.569283064,742,711.569283064,673,662.430716936,632,878,784,799.430716936,649.569283064,629,650,0.427795625689,0.00456679679941,0.0699891256542,0.999999995681,7.65972279788e-05,-1.85974076774e-05,-4.9239781839e-05,1793193635206572800
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,742.15439409,711.84560591,673.15439409,662.15439409,632,878.15439409,784,799.15439409,649.84560591,629,650,0.428639578846,0.00457211106102,0.0700151721934,0.999999995105,8.49843424206e-05,1.55860493914e-05,-4.82146977185e-05,1793193635223239424
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,742.734036187,711.265963813,673.734036187,662.734036187,632,878.734036187,784,799.734036187,649.265963813,629,650,0.429492621468,0.00457331925344,0.0700235071537,0.999999994597,8.24251843013e-05,3.9269359408e-05,-4.97060234881e-05,1793193635239905792
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,743,711.313470449,674,663.313470449,632,878.686529551,784,800,649.313470449,629,650,0.430299664873,0.00457574939728,0.0700049822472,0.999999995323,8.13551975712e-05,1.26459061308e-05,-5.07542176755e-05,1793193635256572672
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,743,711.892728462,674,663.892728462,632,878.107271538,784,800,649.892728462,629,650,0.43106770609,0.00457921561795,0.0699636832047,0.999999993749,8.15478599761e-05,-5.66320063008e-05,-5.14266860456e-05,1793193635273239296
+175,2.916666667,POSE1_TO_POSE2_PRESS,764,742.532955388,711.532955388,674,663.065910776,632,878.467044612,784,799.532955388,650,629,650,0.431770105673,0.00458236546098,0.0699050383568,0.999999982484,8.93417734313e-05,-0.00015576974558,-5.27903301318e-05,1793193635289905920
+176,2.933333333,POSE1_TO_POSE2_PRESS,763.958650265,742,711,674,662,632,878.958650265,784,799.041349735,650,629,650.041349735,0.432465504686,0.00458503940734,0.0698496920346,0.99999996289,9.73427315593e-05,-0.00024859523636,-5.42637750428e-05,1793193635306572800
+177,2.950000000,POSE1_TO_POSE2_PRESS,763.36961514,742,711,674,662,632,878.36961514,784,799.63038486,650,629,650.63038486,0.433265781742,0.00458236240504,0.0698902519089,0.999999980752,8.52038026654e-05,-0.000167925884005,-5.51108947943e-05,1793193635323239424
+178,2.966666667,POSE1_TO_POSE2_PRESS,763,742,711.215208528,674,662.215208528,632,878,784,799.784791472,649.784791472,629,650.784791472,0.434059574581,0.00457797119656,0.0699364940535,0.999999991873,7.65133929507e-05,-8.61690077411e-05,-5.45383883582e-05,1793193635339905792
+179,2.983333333,POSE1_TO_POSE2_PRESS,763,742,711.792938047,674,662.792938047,632,878,784,799.207061953,649.207061953,629,650.207061953,0.434842444821,0.00457069238959,0.0699923080478,0.999999995956,7.36320478856e-05,-2.58017414163e-06,-5.1574507305e-05,1793193635356572416
+180,3.000000000,POSE1_TO_POSE2_PRESS,763,742,711.629665405,674.370334595,662.629665405,632,878,784,799,649.370334595,629,650,0.435571818223,0.00455888403678,0.0700074336999,0.999999996441,6.37769603112e-05,2.09020522703e-05,-5.11225197531e-05,1793193635373239296
+181,3.016666667,POSE1_TO_POSE2_PRESS,763,742,711.052454896,674.947545104,662.052454896,632,878,784,799,649.947545104,629,650,0.436271307231,0.00454454539438,0.0699998300707,0.999999997334,5.00262085244e-05,1.08075852848e-05,-5.20737237547e-05,1793193635389906176
+182,3.033333333,POSE1_TO_POSE2_PRESS,763.521970474,742,711,675,662,632,878,784,799,649.478029526,629,650,0.43690159191,0.00454355718301,0.0699725568316,0.999999997903,2.92971803771e-05,-2.32589543752e-05,-5.2869448095e-05,1793193635406572800
+183,3.050000000,POSE1_TO_POSE2_PRESS,763.900460365,742,711,675,662,632,878,783.900460365,799.099539635,649,629,650.099539635,0.437514308938,0.00454567068889,0.0699410810052,0.99999999642,1.59134583884e-05,-6.32964029249e-05,-5.38544287482e-05,1793193635423239424
+184,3.066666667,POSE1_TO_POSE2_PRESS,763.305871309,742,711,675,662,632,878,783.305871309,799.694128691,649,629,650.694128691,0.438074059621,0.00455657316906,0.0698984826853,0.999999990201,4.25300115513e-05,-0.000121111957391,-5.58579507563e-05,1793193635439906048
+185,3.083333333,POSE1_TO_POSE2_PRESS,763,742,711,674.720962542,661.441925084,632,878.279037458,783.279037458,799.720962542,649,629,651,0.438610270342,0.00456562381277,0.0698559322207,0.999999978689,6.67593310049e-05,-0.00018708636498,-5.6242535704e-05,1793193635456572672
+186,3.100000000,POSE1_TO_POSE2_PRESS,763,742,711,674.146309235,660.292618469,632,878.853690765,783.853690765,799.146309235,649,629,651,0.439121542492,0.00457271259658,0.0698134324576,0.999999960335,8.84595827426e-05,-0.000261704361837,-5.49119978403e-05,1793193635473239296
+187,3.116666667,POSE1_TO_POSE2_PRESS,763,742,711,674.428935983,660,631.571064017,879,784,799,649.428935983,628.571064017,651,0.439627791604,0.00457876186746,0.0697822884011,0.999999945053,8.98039490581e-05,-0.00031433748683,-5.49657515388e-05,1793193635489905920
+188,3.133333333,POSE1_TO_POSE2_PRESS,763.004354849,742,711,675,659.995645151,631.004354849,878.995645151,784,799,649.995645151,628.004354849,650.995645151,0.440132288043,0.00458445503227,0.0697553381566,0.999999930487,8.42583665981e-05,-0.000358951656326,-5.54962068363e-05,1793193635506572800
+189,3.150000000,POSE1_TO_POSE2_PRESS,763.57605098,742,711,675,659.42394902,631.57605098,878.42394902,784,799,649.42394902,628.57605098,650.42394902,0.440631964435,0.00459001261446,0.06976943229,0.999999937781,8.69202486065e-05,-0.000337176248334,-5.65308284197e-05,1793193635523239424
+190,3.166666667,POSE1_TO_POSE2_PRESS,764,742,711,674.845356546,659,631.845356546,878,783.845356546,799.154643454,649,628.845356546,650.154643454,0.441123027852,0.00459602225915,0.0697853733486,0.999999944724,9.41229566028e-05,-0.000313731324644,-5.71389793008e-05,1793193635539905792
+191,3.183333333,POSE1_TO_POSE2_PRESS,764,742,711,674.246975399,659,631.246975399,878,783.246975399,799.753024601,649,628.246975399,650.753024601,0.441589377104,0.00460332906422,0.0698066140229,0.99999995111,0.000114355221885,-0.000285495847064,-5.65234050322e-05,1793193635556572416
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,742.338221289,711,674.338221289,659,631,878.338221289,783.338221289,800,649,628.338221289,650.661778711,0.442004090136,0.0046167808677,0.069805932561,0.999999946649,0.000137252390521,-0.000290655086594,-5.81697430793e-05,1793193635573239552
+193,3.216666667,POSE1_TO_POSE2_PRESS,764,742.914151625,711,674.914151625,659,631,878.914151625,783.914151625,800,649,628.914151625,650.085848375,0.442382512118,0.00463455150508,0.0697898437586,0.999999934018,0.000162022508082,-0.000319284838374,-6.14058007588e-05,1793193635589906176
+194,3.233333333,POSE1_TO_POSE2_PRESS,764,742.511293386,711,675,658.511293386,631,879,784,800.488706614,649,628.511293386,650.488706614,0.442708865025,0.00465385501164,0.0697569667403,0.999999910136,0.000187619247239,-0.000374725882165,-6.40932906856e-05,1793193635606573056
+195,3.250000000,POSE1_TO_POSE2_PRESS,764,742,711,674.935019578,658,631,878.935019578,783.935019578,800.935019578,649.064980422,628.064980422,651,0.443023601506,0.00467134639586,0.0697231012056,0.99999988278,0.000209833916241,-0.000431317127832,-6.61507081288e-05,1793193635623239680
+196,3.266666667,POSE1_TO_POSE2_PRESS,764,742,711,674.342846173,658,631,878.342846173,783.342846173,800.342846173,649.657153827,628.657153827,651,0.443318092481,0.00467195735188,0.0697050748839,0.999999871864,0.000203434719402,-0.000459136302232,-6.38758992721e-05,1793193635639906048
+197,3.283333333,POSE1_TO_POSE2_PRESS,764,742,711,674.243070755,658,630.756929245,878.243070755,783,800,650,629,651,0.443603408773,0.00467417923825,0.0696907822057,0.999999863889,0.00019316250047,-0.000480525408314,-6.32924284039e-05,1793193635656572416
+198,3.300000000,POSE1_TO_POSE2_PRESS,764,742,711,674.820384447,658,630.179615553,878.820384447,783,800,650,629,651,0.443876109073,0.00467861629062,0.0696816236059,0.99999986056,0.000177564547794,-0.000493072622198,-6.50346911769e-05,1793193635673239296
+199,3.316666667,POSE1_TO_POSE2_PRESS,764,742,711,675,658,630,879.395746074,783,800,650,629,651,0.444126450458,0.00468205106546,0.0696777767098,0.999999856106,0.000181968688491,-0.000500476553662,-6.47942506674e-05,1793193635689905920
+200,3.333333333,POSE1_TO_POSE2_PRESS,764,742,711,675,658,630,879.970226124,783,800,650,629,651,0.444366693731,0.00468503317405,0.0696763287803,0.999999851088,0.000195406533802,-0.000505557584267,-6.36583461076e-05,1793193635706572800
+201,3.350000000,POSE1_TO_POSE2_PRESS,763.45506046,742,711,675,657.45506046,630,879.45506046,783,800,650,629,651,0.444570146594,0.0046876484481,0.0696708608143,0.99999984531,0.000207917619405,-0.000512242369002,-6.13087500474e-05,1793193635723239424
+202,3.366666667,POSE1_TO_POSE2_PRESS,763.123407861,742,711,675.123407861,657,630,878.876592139,783,800,649.876592139,628.876592139,651,0.444763081023,0.00469107700771,0.0696645599892,0.999999839253,0.000218973313569,-0.000519557562213,-6.00304778634e-05,1793193635739906304
+203,3.383333333,POSE1_TO_POSE2_PRESS,763.716106867,742,711,675.716106867,657,630,878.283893133,783,800,649.283893133,628.283893133,651,0.444923663654,0.00469767455279,0.0696559276023,0.999999832881,0.000224687136248,-0.000528936695602,-6.30784772969e-05,1793193635756572672
+204,3.400000000,POSE1_TO_POSE2_PRESS,764,742,711,675.699451384,657,630,878.300548616,783,800,649.300548616,628.300548616,651,0.445073876012,0.00470054183189,0.0696523538065,0.999999830685,0.000224989594481,-0.000532712536448,-6.50229229339e-05,1793193635773239552
+205,3.416666667,POSE1_TO_POSE2_PRESS,764,742,711,675.122600776,657,630,878.877399224,783,800,649.877399224,628.877399224,651,0.445214554705,0.00469997978214,0.0696534305029,0.999999832396,0.000220317247332,-0.000531337127328,-6.59528433013e-05,1793193635789906176
+206,3.433333333,POSE1_TO_POSE2_PRESS,763.545623126,742,711,675,657,630,879,783,800,650,628.545623126,650.545623126,0.445336342972,0.00470342455785,0.0696572627378,0.999999835131,0.000223524496846,-0.000524710460105,-6.67288362344e-05,1793193635806572544
+207,3.450000000,POSE1_TO_POSE2_PRESS,763.031970999,742,711,675,657,630,879,783,800,650,628.031970999,650,0.445451356709,0.00470807932001,0.0696616645852,0.999999837872,0.000229106483092,-0.000516930440784,-6.74491489245e-05,1793193635823239168
+208,3.466666667,POSE1_TO_POSE2_PRESS,763.619685257,742,711,675,657,630,879,783,800,650,628.619685257,650,0.445537236021,0.0047149687255,0.069663040102,0.999999837169,0.000239000349994,-0.000513738556792,-6.7923745606e-05,1793193635839906048
+209,3.483333333,POSE1_TO_POSE2_PRESS,764,742,711,675,657,630,879,783,800,650,629,650,0.445614657482,0.00472088054782,0.0696631738879,0.999999835683,0.00024662525003,-0.000512956089074,-6.84583667811e-05,1793193635856572672
+210,3.500000000,POSE1_TO_POSE2_PRESS,764,742,711,675,657,630,879,783,800,650,629,650,0.445676569521,0.00472499974595,0.0696610306745,0.999999832906,0.000250089476794,-0.000516591840274,-6.91030566187e-05,1793193635873239296
+211,3.516666667,POSE1_TO_POSE2_PRESS,764,742,711,675,656.639874717,630,879,783,800,649.639874717,629,650,0.445726539507,0.00472738551179,0.0696596319904,0.999999830684,0.000252796840591,-0.000519546617526,-6.9265940354e-05,1793193635889905920
+212,3.533333333,POSE1_TO_POSE2_PRESS,764,742,711,675,656.064503083,630,879,783,800,649.064503083,629,650,0.445769371752,0.00472873520809,0.06965867831,0.999999828793,0.000255051828839,-0.000522094378001,-6.91408493532e-05,1793193635906572544
+213,3.550000000,POSE1_TO_POSE2_PRESS,764,742.509902604,711,675.509902604,656,629.490097396,879,782.490097396,799.490097396,649,629,650.509902604,0.445798281556,0.00473148835956,0.0696563849808,0.999999826884,0.000256202446048,-0.000525169104028,-6.92062914985e-05,1793193635923239168
+214,3.566666667,POSE1_TO_POSE2_PRESS,763.91336294,742.91336294,710.91336294,675.91336294,656.08663706,629,879,782.08663706,799.08663706,649.08663706,629,650.91336294,0.445824156259,0.0047342772823,0.0696541657699,0.999999825109,0.00025719106062,-0.000528044791561,-6.93048556258e-05,1793193635939905792
+215,3.583333333,POSE1_TO_POSE2_PRESS,763.322361113,742.322361113,710.322361113,675.322361113,656.677638887,629,879,782.677638887,799.677638887,649.677638887,629,650.322361113,0.445842595465,0.0047362428526,0.0696533627423,0.999999824175,0.000258048323383,-0.000529374419476,-6.94561922095e-05,1793193635956572416
+216,3.600000000,POSE1_TO_POSE2_PRESS,763.263212539,742,710.263212539,675,656.736787461,629,879,783,799.736787461,650,629,650.263212539,0.445857238994,0.00473698496796,0.0696526275471,0.999999823474,0.000258527348285,-0.000530479240716,-6.93283932132e-05,1793193635973239296
+217,3.616666667,POSE1_TO_POSE2_PRESS,763.842272502,742,710.842272502,675,656.157727498,629,879,783,799.157727498,650,629,650.842272502,0.445867327819,0.0047362589727,0.069651973749,0.999999823057,0.000258552498657,-0.00053131430038,-6.88656395962e-05,1793193635989905920
+218,3.633333333,POSE1_TO_POSE2_PRESS,764,742.416436132,711,675.416436132,656,629,879,783.416436132,799.416436132,649.583563868,629,651,0.445874570236,0.00473627579763,0.069651852416,0.999999822675,0.000259300783666,-0.00053172985222,-6.83885818049e-05,1793193636006572800
+219,3.650000000,POSE1_TO_POSE2_PRESS,764,742.988766786,711,675.988766786,656,629,879,783.988766786,799.988766786,649.011233214,629,651,0.445880747088,0.00473657070025,0.0696519304135,0.999999822305,0.000260319777005,-0.000531988359619,-6.79061691993e-05,1793193636023239424
+220,3.666666667,POSE1_TO_POSE2_PRESS,764,743,711,675.434981318,656,629.565018682,878.434981318,783.434981318,799.434981318,649.565018682,629,651,0.445880782418,0.00473671488441,0.069650360153,0.999999820122,0.000262204323246,-0.000535208062316,-6.75007283451e-05,1793193636039906304
+221,3.683333333,POSE1_TO_POSE2_PRESS,763.853606926,742.853606926,711,675,656,629.853606926,878.146393074,783,799.146393074,650,629,650.853606926,0.445881135161,0.00473688000114,0.0696489224097,0.999999818469,0.000263429920972,-0.000537719488415,-6.72685986848e-05,1793193636056572928
+222,3.700000000,POSE1_TO_POSE2_PRESS,763.256710492,742.256710492,711,675,656,629.256710492,878.743289508,783,799.743289508,650,629,650.256710492,0.445882843067,0.00473711882039,0.0696479940162,0.999999818593,0.000262574374539,-0.00053786885996,-6.75650669158e-05,1793193636073239296
+223,3.716666667,POSE1_TO_POSE2_PRESS,763.32861752,742,711,675,656,629,879,782.67138248,799.67138248,650,628.67138248,650.32861752,0.445882936277,0.00473768295219,0.0696471687012,0.99999981781,0.000262990093366,-0.000539148266263,-6.73469165622e-05,1793193636089905664
+224,3.733333333,POSE1_TO_POSE2_PRESS,763.905215851,742,711,675,656,629,879,782.094784149,799.094784149,650,628.094784149,650.905215851,0.445881811009,0.00473849257082,0.069646421171,0.999999816336,0.000264365132191,-0.00054128041754,-6.67404256133e-05,1793193636106572544
+225,3.750000000,POSE1_TO_POSE2_PRESS,764,742,711,675,656,629,879,782.479219959,799.479219959,649.520780041,628,651,0.445882592362,0.00473806685013,0.0696463738717,0.999999816462,0.000263984414385,-0.000541225141409,-6.68048650101e-05,1793193636123239168
+226,3.766666667,POSE1_TO_POSE2_PRESS,764,742,711,675,656,629,879,782.945715831,800,649.054284169,628.054284169,650.945715831,0.445883485477,0.00473748840029,0.0696463351857,0.999999816718,0.000263341564404,-0.000541042724899,-6.69861617419e-05,1793193636139905792
+227,3.783333333,POSE1_TO_POSE2_PRESS,764,742,711,675,656,629,879,782.355136153,800,649.644863847,628.644863847,650.355136153,0.445881777206,0.00473780197234,0.0696450206872,0.999999815143,0.00026352133611,-0.000543855526472,-6.70179792035e-05,1793193636156572672
+228,3.800000000,POSE1_TO_POSE2_PRESS,763.769397564,742,710.769397564,675,656,629,879,782.230602436,799.769397564,649.769397564,629,650,0.44588239062,0.00473801395975,0.0696454304277,0.999999815146,0.000263989679034,-0.000543644643334,-6.68466564376e-05,1793193636173239552
+229,3.816666667,POSE1_TO_POSE2_PRESS,763.19096117,742,710.19096117,675,656,629,879,782.80903883,799.19096117,649.19096117,629,650,0.445886505995,0.00473807271985,0.06964844096,0.999999817521,0.000264893294318,-0.000538872922571,-6.63689229001e-05,1793193636189906176
+230,3.833333333,POSE1_TO_POSE2_PRESS,763.385529196,742,710.385529196,675,656,629,879,783,799.385529196,649,628.614470804,650.385529196,0.4458875882,0.00473948407649,0.0696488821505,0.999999817729,0.000266107109036,-0.000537888789167,-6.63744594645e-05,1793193636206572800
+231,3.850000000,POSE1_TO_POSE2_PRESS,763.961060475,742,710.961060475,675,656,629,879,783,799.961060475,649,628.038939525,650.961060475,0.445887175553,0.00474156203935,0.0696480570808,0.999999816873,0.000267473800707,-0.000538771309571,-6.66181682147e-05,1793193636223239424
+232,3.866666667,POSE1_TO_POSE2_PRESS,764,742.548120675,711,675,656,629,878.451879325,783,800,649,628.548120675,650.451879325,0.445885779857,0.00473908635398,0.06964690993,0.999999816541,0.000263849626709,-0.00054118249303,-6.65045910912e-05,1793193636239906048
+233,3.883333333,POSE1_TO_POSE2_PRESS,764,742.866406993,711,675,656,629,878.133593007,783,800,649.133593007,629,650.133593007,0.445884950164,0.00473684792538,0.0696461324432,0.999999816477,0.000261016171212,-0.000542704116725,-6.62410304983e-05,1793193636256572928
+234,3.900000000,POSE1_TO_POSE2_PRESS,764,742.288989495,711,675,656,629,878.711010505,783,800,649.711010505,629,650.711010505,0.445886237854,0.00473649554141,0.0696466607087,0.999999817238,0.00026201288618,-0.000540901891346,-6.55653298922e-05,1793193636273239552
+235,3.916666667,POSE1_TO_POSE2_PRESS,764,742,711,675,656,629,879,782.711474691,800,650,628.711474691,650.711474691,0.445886515033,0.00473565945811,0.0696466024513,0.999999817472,0.000262175317088,-0.000540449371619,-6.50802446773e-05,1793193636289906176
+236,3.933333333,POSE1_TO_POSE2_PRESS,764,742,711,675,656,629,879,782.133862322,800,650,628.133862322,650.133862322,0.445885779735,0.00473433873369,0.0696459565291,0.99999981718,0.000261501839725,-0.000541349185173,-6.4786145896e-05,1793193636306572800
+237,3.950000000,POSE1_TO_POSE2_PRESS,764,742.441531038,711,675.441531038,656,629,879,782.441531038,799.558468962,650,628.441531038,650.441531038,0.44588650616,0.00473539173979,0.0696460391921,0.999999816868,0.000263189587704,-0.000541069905062,-6.51100147144e-05,1793193636323239680
+238,3.966666667,POSE1_TO_POSE2_PRESS,764,742.983308723,711,675.983308723,656,629.016691277,879,782.983308723,799.016691277,650,629,651,0.445887648234,0.00473710445974,0.069646343122,0.999999816552,0.000265502627629,-0.000540461662501,-6.56088344493e-05,1793193636339906048
+239,3.983333333,POSE1_TO_POSE2_PRESS,764,742.393158533,711,675.393158533,656,629.606841467,879,782.393158533,799.606841467,650,629,651,0.445887921234,0.00473688120019,0.0696466979219,0.999999816557,0.000264826667628,-0.000540771596029,-6.57137153132e-05,1793193636356572672
+240,4.000000000,POSE1_TO_POSE2_PRESS,764,742,711,675,656,629.806580293,879,782.193419707,800,650,629,650.806580293,0.445888770182,0.0047368050232,0.069647278257,0.999999816942,0.000264300495734,-0.000540324702622,-6.56574990384e-05,1793193636373239552
+241,4.016666667,POSE1_TO_POSE2_PRESS,764,742,711,675,656,629.227131035,879,782.772868965,800,650,629,650.227131035,0.445890768617,0.00473702239553,0.0696483087185,0.999999818082,0.00026407327292,-0.000538367324216,-6.52797630042e-05,1793193636389905920
+242,4.033333333,POSE1_TO_POSE2_PRESS,764,742,711,675.349551314,656,629,879,782.650448686,800,649.650448686,629,650.349551314,0.445890161897,0.00473735390268,0.0696476000757,0.999999817666,0.000263619742086,-0.000539339981515,-6.54610765031e-05,1793193636406572544
+243,4.050000000,POSE1_TO_POSE2_PRESS,764,742,711,675.924449879,656,629,879,782.075550121,800,649.075550121,629,650.924449879,0.445887875695,0.00473775898976,0.0696457702746,0.999999816241,0.000263020315969,-0.000542201561824,-6.6002795688e-05,1793193636423239424
+244,4.066666667,POSE1_TO_POSE2_PRESS,764,742,711,675.491593521,656,629,879,782.508406479,800,649.508406479,629,651,0.445887467681,0.00473757542783,0.0696453365193,0.999999815832,0.000263382730277,-0.000542778829571,-6.60012376312e-05,1793193636439906304
+245,4.083333333,HOLD_POSE2,763,743,711,675,657,629,878,782,800,650,629,651,0.445889862236,0.00473518865456,0.0696470721105,0.999999818174,0.000262496778322,-0.000539030250477,-6.47570887745e-05,1793193636482598400
+246,4.100000000,HOLD_POSE2,763.579314913,742.420685087,711,675,656.420685087,629,878.579314913,782.579314913,799.420685087,650,629,651,0.445890460097,0.00473647622002,0.0696476654908,0.999999817799,0.000264472236247,-0.000538738440247,-6.49410194226e-05,1793193636499264768
+247,4.116666667,HOLD_POSE2,764,742,711,674.843079833,656,629,878.843079833,783,799.156920167,650,629,651,0.445890684869,0.0047377806292,0.0696478468056,0.999999817234,0.000265919163587,-0.000539050928944,-6.5140925638e-05,1793193636515931136
+248,4.133333333,HOLD_POSE2,764,742,711,674.270008454,656,629,878.270008454,783,799.729991546,650,629,651,0.445889920215,0.00473912970804,0.0696469353254,0.999999816172,0.000265964431858,-0.00054096601421,-6.53831989897e-05,1793193636532598016
+249,4.150000000,HOLD_POSE2,764,742.311781192,711,674.311781192,656,629,878.311781192,782.688218808,799.688218808,650,628.688218808,651,0.445889840363,0.0047389229036,0.0696468328419,0.999999816282,0.000264735537546,-0.000541365034474,-6.5379300139e-05,1793193636549264640
+250,4.166666667,HOLD_POSE2,764,742.901338187,711,674.901338187,656,629,878.901338187,782.098661813,799.098661813,650,628.098661813,651,0.445890370624,0.00473732991305,0.0696474511193,0.999999817435,0.000262371451169,-0.000540413343984,-6.51560786112e-05,1793193636565931264
+251,4.183333333,HOLD_POSE2,764,742.519016944,710.519016944,675,656,629,879,782.480983056,799.480983056,650,628,651,0.445891366107,0.00473615413354,0.0696482668054,0.999999818452,0.000261594234813,-0.000538919589932,-6.50454181489e-05,1793193636582598400
+252,4.200000000,HOLD_POSE2,763.941353261,742,710.058646739,675.058646739,656,629,878.941353261,783,800,649.941353261,628.058646739,650.941353261,0.445892401328,0.00473519129786,0.0696490451934,0.999999819362,0.000261175003846,-0.000537443525383,-6.4946182112e-05,1793193636599265280
+253,4.216666667,HOLD_POSE2,763.363592294,742,710.636407706,675.636407706,656,629,878.363592294,783,800,649.363592294,628.636407706,650.363592294,0.445892960658,0.00473537111965,0.069649142242,0.999999819585,0.000261101432392,-0.000537088378887,-6.47478221626e-05,1793193636615931904
+254,4.233333333,HOLD_POSE2,763,742.212202981,711,675.787797019,656,629,878.212202981,782.787797019,799.787797019,649,629,650.212202981,0.445893015777,0.00473603406978,0.069648939398,0.999999819471,0.000261407339273,-0.000537141658932,-6.48239653687e-05,1793193636632598272
+255,4.250000000,HOLD_POSE2,763,742.784661059,711,675.215338941,656,629,878.784661059,782.215338941,799.215338941,649,629,650.784661059,0.4458922149,0.00473751722254,0.0696482274289,0.999999818786,0.000262357483121,-0.000537888321086,-6.53661301394e-05,1793193636649264896
+256,4.266666667,HOLD_POSE2,763.369415339,743,711,675,656,629,879,782.369415339,799.369415339,649.369415339,628.630584661,651,0.44589228878,0.00473881314119,0.0696479172473,0.999999818007,0.000265055975738,-0.000538015310368,-6.53445482222e-05,1793193636665931776
+257,4.283333333,HOLD_POSE2,763.961584151,743,711,675,656,629,879,782.961584151,799.961584151,649.961584151,628.038415849,651,0.445892890128,0.00473999615984,0.0696478493393,0.999999817162,0.000268808703931,-0.000537768643645,-6.49830331724e-05,1793193636682598400
+258,4.300000000,HOLD_POSE2,763.45683575,742.45683575,711,675,656,629,879,783,799.45683575,649.45683575,628,651,0.445891762623,0.00473709586001,0.0696467601556,0.999999817611,0.000264206050235,-0.00053922810647,-6.48553786512e-05,1793193636699265024
+259,4.316666667,HOLD_POSE2,763.12297667,742,711,675,656,629.12297667,879,783,799.12297667,649,628.12297667,651,0.445891063037,0.00473479563645,0.069646120633,0.999999817998,0.000260546207429,-0.000540299506507,-6.47848850935e-05,1793193636715931648
+260,4.333333333,HOLD_POSE2,763.698983433,742,711,675,656,629.698983433,879,783,799.698983433,649,628.698983433,651,0.445892381679,0.00473574956203,0.069647398604,0.999999817911,0.000262494886194,-0.000539505309767,-6.48651988849e-05,1793193636732598528
+261,4.350000000,POSE2_TO_POSE3_RETREAT,763,742,710,675,656,629,879,783,799,649,628,651,0.445893982773,0.00473570191452,0.0696495063643,0.999999819014,0.000264562050414,-0.000536465856972,-6.46786101196e-05,1793193636770653184
+262,4.366666667,POSE2_TO_POSE3_RETREAT,763.596993054,742.596993054,710.596993054,675,656,629,878.403006946,782.403006946,799,649,628,650.403006946,0.445893291696,0.00473803865094,0.0696482293026,0.99999981806,0.000264264724499,-0.000538321064671,-6.5228353354e-05,1793193636787319808
+263,4.383333333,POSE2_TO_POSE3_RETREAT,764,742.811986028,711,675,656,629,878,782,799,649.188013972,628,650.188013972,0.445892919395,0.00473933364062,0.069647408732,0.999999817459,0.000264447425696,-0.00053931605741,-6.54770381686e-05,1793193636803986176
+264,4.400000000,POSE2_TO_POSE3_RETREAT,764,742.233372139,711,675,656,629,878,782,799,649.766627861,628,650.766627861,0.445893209349,0.0047384643969,0.0696475365239,0.999999817598,0.000265627385434,-0.000538523949834,-6.51002727909e-05,1793193636820652544
+265,4.416666667,POSE2_TO_POSE3_RETREAT,764,742,711,675,656.343527232,629,878.343527232,782.343527232,799.343527232,650,628,651,0.445893539554,0.00473761928376,0.0696481162138,0.999999817855,0.000265449924129,-0.000538155806738,-6.49158254155e-05,1793193636837319424
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764,742,711,675,656.919267608,629,878.919267608,782.919267608,799.919267608,650,628,651,0.445893896967,0.00473679048214,0.0696490013719,0.999999818193,0.000264354890634,-0.000538074249774,-6.48613787266e-05,1793193636853986048
+267,4.450000000,POSE2_TO_POSE3_RETREAT,763.495634923,742,711,675.504365077,656.495634923,629,879,783,800,650,628.504365077,650.495634923,0.445892968902,0.00473688956835,0.06964758654,0.999999817784,0.000263865011003,-0.00053904813247,-6.506443521e-05,1793193636870652672
+268,4.466666667,POSE2_TO_POSE3_RETREAT,763.090248147,742,711,676,656,629,879,783,799.909751853,649.909751853,628.909751853,650,0.445891388245,0.00473705389741,0.0696458793157,0.999999817087,0.00026361936072,-0.000540441799444,-6.52133667292e-05,1793193636887319296
+269,4.483333333,POSE2_TO_POSE3_RETREAT,763.672097674,742,711,676,656,629,879,783,799.327902326,649.327902326,628.327902326,650,0.445887394808,0.00473674927945,0.0696446226855,0.999999815481,0.000264166460075,-0.000543184466511,-6.48387009378e-05,1793193636903985920
+270,4.500000000,POSE2_TO_POSE3_RETREAT,763.746810901,742,711,675.746810901,656,629,879,782.746810901,799.253189099,649,628.253189099,650.253189099,0.445874498839,0.00473766240751,0.0696380455795,0.999999809507,0.00026515572855,-0.00055359132833,-6.4927086127e-05,1793193636920652800
+271,4.516666667,POSE2_TO_POSE3_RETREAT,763.166698399,742,711,675.166698399,656,629,879,782.166698399,799.833301601,649,628.833301601,650.833301601,0.445850107724,0.0047401479164,0.0696245985568,0.999999797601,0.000266715935523,-0.000573894368745,-6.56133730664e-05,1793193636937319424
+272,4.533333333,POSE2_TO_POSE3_RETREAT,763.406597622,742,711,675,656,629.406597622,878.593402378,782.406597622,800,649.406597622,628.593402378,650.593402378,0.445803423729,0.00473928372053,0.0696051779426,0.999999777499,0.000266447503579,-0.000608070965107,-6.5250953892e-05,1793193636953986048
+273,4.550000000,POSE2_TO_POSE3_RETREAT,763.977145123,742,711,675,656,629.977145123,878.022854877,782.977145123,800,649.977145123,628.022854877,650.022854877,0.445747750711,0.00473706884385,0.0695833486323,0.999999752843,0.000265441720517,-0.000647841711772,-6.44656713236e-05,1793193636970652416
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764,742.566549633,711,675,656,629.433450367,878.566549633,783,799.433450367,649.433450367,628,650.566549633,0.44568004509,0.00473729879308,0.0695677036302,0.999999737259,0.000266078651423,-0.00067127227105,-6.38507943113e-05,1793193636987319296
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764,743,710.8460475,675,656,629,879,782.8460475,799,649.1539525,628.1539525,651,0.445609202187,0.00473715284162,0.0695558390287,0.999999725169,0.000267133971161,-0.000688728195541,-6.28817640264e-05,1793193637003985920
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764,743,710.266355894,675,656,629,879,782.266355894,799,649.733644106,628.733644106,651,0.445531071996,0.00473568524891,0.0695537150584,0.999999722803,0.000269156734611,-0.000691547542149,-6.09136963436e-05,1793193637020652800
+277,4.616666667,POSE2_TO_POSE3_RETREAT,763.690704759,742.690704759,710.309295241,675,656,629,878.690704759,782,799.309295241,649.690704759,628.690704759,650.690704759,0.445441203077,0.00473518305368,0.0695552092556,0.999999723695,0.000270567435784,-0.000689900873966,-5.86591013122e-05,1793193637037319424
+278,4.633333333,POSE2_TO_POSE3_RETREAT,763.118488324,742.118488324,710.881511676,675,656,629,878.118488324,782,799.881511676,649.118488324,628.118488324,650.118488324,0.445341355476,0.00473550150959,0.0695597791321,0.999999727337,0.000271457843843,-0.000684457800786,-5.6160939402e-05,1793193637053986304
+279,4.650000000,POSE2_TO_POSE3_RETREAT,763.450853959,742,711,675,656,629,878,782,800,649,628,650.450853959,0.445210131776,0.00473554354752,0.0695589377238,0.999999724821,0.00027522420077,-0.000686833414689,-5.35625647219e-05,1793193637070652928
+280,4.666666667,POSE2_TO_POSE3_RETREAT,763.979430204,742,711,675,656,629,878.020569796,782.020569796,799.979430204,649.020569796,628.020569796,651,0.445069233699,0.00473540218056,0.0695565075483,0.999999720433,0.000279630110501,-0.000691631531868,-5.08671027048e-05,1793193637087319808
+281,4.683333333,POSE2_TO_POSE3_RETREAT,763.37796892,742,711,675,656,629,878.62203108,782.62203108,799.37796892,649.62203108,628.62203108,651,0.444886520565,0.00473211995789,0.0695491172044,0.999999709433,0.000280887720893,-0.000707180653317,-4.61689312749e-05,1793193637103986432
+282,4.700000000,POSE2_TO_POSE3_RETREAT,763.214284792,742.214284792,711,675,656.214284792,629,879,783,799.214284792,650,629,650.785715208,0.444693469253,0.00472909990072,0.0695441355872,0.999999701019,0.00028262090064,-0.000718588356721,-4.14533646542e-05,1793193637120652800
+283,4.716666667,POSE2_TO_POSE3_RETREAT,763.790966657,742.790966657,711,675,656.790966657,629,879,783,799.790966657,650,629,650.209033343,0.444482934098,0.00472652321652,0.069543227594,0.99999969731,0.000285158360208,-0.000722992119038,-3.67083798898e-05,1793193637137319168
+284,4.733333333,POSE2_TO_POSE3_RETREAT,764,742.636314955,711,675,656.636314955,629.363685045,878.636314955,783,800,650,628.636314955,650.363685045,0.444250581096,0.0047243852997,0.0695466100994,0.999999696673,0.000289560575209,-0.000722400732846,-3.07391992293e-05,1793193637153985792
+285,4.750000000,POSE2_TO_POSE3_RETREAT,764,742.065850021,711,675,656.065850021,629.934149979,878.065850021,783,800,650,628.065850021,650.934149979,0.444005823132,0.00472249685197,0.0695524320473,0.999999697732,0.000295023031781,-0.000718969262546,-2.40739788006e-05,1793193637170652672
+286,4.766666667,POSE2_TO_POSE3_RETREAT,764,742,711,675,656.524425574,630,878.524425574,783,800,649.475574426,628.524425574,650.475574426,0.44372398779,0.0047211332412,0.0695621235513,0.999999708432,0.000303003599289,-0.000700731854506,-1.73334514095e-05,1793193637187319040
+287,4.783333333,POSE2_TO_POSE3_RETREAT,764,742.115030161,711,675,657,630,879,783,800,649,628.884969839,650,0.443427748969,0.00471896405404,0.0695719548729,0.999999718601,0.000310723041991,-0.000682746344889,-1.02786363767e-05,1793193637203985920
+288,4.800000000,POSE2_TO_POSE3_RETREAT,764,742.696486405,711,675,657,630,879,783,800,649,628.303513595,650,0.443092725568,0.00471325069295,0.0695803056127,0.999999723174,0.000316051252778,-0.000673616579913,-1.98928850578e-06,1793193637220652800
+289,4.816666667,POSE2_TO_POSE3_RETREAT,764,743,710.726256465,675.273743535,657.273743535,630.273743535,879,783,800,649.273743535,628.273743535,650.273743535,0.442747701538,0.00470766210856,0.069594457572,0.99999973596,0.000318934343284,-0.000652934497134,6.05762777332e-06,1793193637237319424
+290,4.833333333,POSE2_TO_POSE3_RETREAT,764,743,710.153584807,675.846415193,657.846415193,630.846415193,879,783,800,649.846415193,628.846415193,650.846415193,0.442391756833,0.00470220978076,0.0696149444665,0.999999757002,0.000319147360255,-0.000619637275648,1.38398080909e-05,1793193637253986304
+291,4.850000000,POSE2_TO_POSE3_RETREAT,763.578326627,742.578326627,710.421673373,675.578326627,657.578326627,630.578326627,878.578326627,783,799.578326627,649.578326627,628.578326627,651,0.441995555978,0.00469738337835,0.069633007509,0.9999997758,0.000314197604288,-0.000591030199138,1.90760251356e-05,1793193637270652928
+292,4.866666667,POSE2_TO_POSE3_RETREAT,763.002120565,742.002120565,710.997879435,675.002120565,657.002120565,630.002120565,878.002120565,783,799.002120565,649.002120565,628.002120565,651,0.441584602263,0.00469278636199,0.0696501822702,0.999999793365,0.000307355821714,-0.000564141943332,2.33792104737e-05,1793193637287319552
+293,4.883333333,POSE2_TO_POSE3_RETREAT,763,742.593279373,711,674.406720627,657.593279373,630,878,783,799,649,628.593279373,651,0.44113659365,0.00468184030917,0.0696744618336,0.99999983006,0.000272220453205,-0.000515162060169,1.9576989948e-05,1793193637303986176
+294,4.900000000,POSE2_TO_POSE3_RETREAT,763,742.818046108,711,674,658,630.181953892,878,783,799.181953892,649,629,650.818046108,0.440671790659,0.00466465910225,0.0696978525635,0.99999986184,0.000233359489462,-0.000470686634006,1.7808673279e-05,1793193637320652544
+295,4.916666667,POSE2_TO_POSE3_RETREAT,763,742.24401643,711,674,658,630.75598357,878,783,799.75598357,649,629,650.24401643,0.440171093995,0.00463409286881,0.0697192714739,0.999999887274,0.000186695789082,-0.000436093296086,2.04875451197e-05,1793193637337319168
+296,4.933333333,POSE2_TO_POSE3_RETREAT,763,742,711,674.326595317,658.326595317,631,878,783.326595317,800,649,629,650.326595317,0.439628926533,0.00460703447416,0.0697233526551,0.999999897743,0.000140708425632,-0.000429186866889,2.26674748199e-05,1793193637353986048
+297,4.950000000,POSE2_TO_POSE3_RETREAT,763,742,711,674.894679855,658.894679855,631,878,783.894679855,800,649,629,650.894679855,0.439056094921,0.00458256982221,0.0697146140749,0.999999897152,9.52211504973e-05,-0.000442752528125,2.4478479884e-05,1793193637370652672
+298,4.966666667,POSE2_TO_POSE3_RETREAT,763,742,711,675,659,631,878,784,799.512138884,649.487861116,629,650.512138884,0.438427637894,0.00458132536498,0.0697021608734,0.999999881977,0.000171256824666,-0.000453961601612,2.52199800622e-05,1793193637387319296
+299,4.983333333,POSE2_TO_POSE3_RETREAT,763,742.083823501,711,674.916176499,659.083823501,631.083823501,878.083823501,784,799,649.916176499,629,650,0.437790041676,0.00458402274545,0.0696949902095,0.999999862682,0.000256877739684,-0.000456044512465,2.5944176397e-05,1793193637403985920
+300,5.000000000,POSE2_TO_POSE3_RETREAT,763,742.662485705,711,674.337514295,659.662485705,631.662485705,878.662485705,784,799,649.337514295,629,650,0.437173228198,0.0045787929671,0.0697239948889,0.999999888809,0.000235813167987,-0.000407418761928,2.8003142258e-05,1793193637420652544
+301,5.016666667,POSE2_TO_POSE3_RETREAT,763.239589913,742.760410087,711,674.239589913,660.239589913,632,878.760410087,783.760410087,799.239589913,649,629,650,0.436537521053,0.0045743278633,0.0697594889646,0.999999914939,0.000212306187393,-0.000352291876793,3.06217255176e-05,1793193637437319168
+302,5.033333333,POSE2_TO_POSE3_RETREAT,763.814513491,742.185486509,711,674.814513491,660.814513491,632,878.185486509,783.185486509,799.814513491,649,629,650,0.435875370085,0.00457093300988,0.0698040656958,0.999999940747,0.000185380775599,-0.000288065908251,3.40235576133e-05,1793193637453986048
+303,5.050000000,POSE2_TO_POSE3_RETREAT,764,742,711,675,661,632,878,783.397907575,799.602092425,649,629,650,0.435168461007,0.00457107886262,0.0698271909768,0.99999994965,0.000172673190743,-0.000263546078022,3.77889113768e-05,1793193637470653184
+304,5.066666667,POSE2_TO_POSE3_RETREAT,764,742,711,675,661,632,878,783.985336093,799.014663907,649,629,650,0.434440233934,0.00457291113214,0.0698400990621,0.999999951963,0.000166737470868,-0.000257938040686,4.17274082406e-05,1793193637487320576
+305,5.083333333,POSE2_TO_POSE3_RETREAT,764.564853117,742,711,674.435146883,660.435146883,632,878,784,799.564853117,649.564853117,629,650,0.433625387961,0.00456785739589,0.0698248652124,0.999999943905,0.000174925595705,-0.000282817590681,4.00665636576e-05,1793193637503986944
+306,5.100000000,POSE2_TO_POSE3_RETREAT,764.725197212,742,711,674.137401394,660.137401394,632,878,784,800,649.862598606,629,650.137401394,0.432813331425,0.0045634190339,0.0698138015673,0.999999939254,0.00017653114818,-0.000297997178597,3.90614414395e-05,1793193637520653568
+307,5.116666667,POSE2_TO_POSE3_RETREAT,763.620946238,742,711,674.689526881,660.689526881,632,878,784,800,649.310473119,629,650.689526881,0.432016388027,0.00456137020082,0.0698174997008,0.999999947196,0.000157176832552,-0.000281543038073,4.0468204263e-05,1793193637537319936
+308,5.133333333,POSE2_TO_POSE3_RETREAT,763.263609266,742,711,674.736390734,661,631.736390734,878,784,799.736390734,649,629,650.736390734,0.431170151446,0.00456048638208,0.0697976247846,0.999999938198,0.000158108363992,-0.000311291394795,4.12628967163e-05,1793193637553986304
+309,5.150000000,POSE2_TO_POSE3_RETREAT,763.865901789,742,711,674.134098211,661,631.134098211,878,784,799.134098211,649,629,650.134098211,0.430260583233,0.00456109936495,0.069747463387,0.999999901857,0.000185102999859,-0.000400400378129,4.1271205597e-05,1793193637570652928
+310,5.166666667,POSE2_TO_POSE3_RETREAT,763.542668758,742.457331242,711,674,660.085337515,631.457331242,878,784,799.457331242,649,629,650,0.429406519894,0.00455545474352,0.0697279812717,0.999999893061,0.000174043016343,-0.000426535938695,4.0667012404e-05,1793193637587319808
+311,5.183333333,POSE2_TO_POSE3_RETREAT,763.044984405,742.955015595,711,674,659.08996881,632,878,784,800,649.044984405,629,650,0.428568835484,0.00454813490756,0.0697236381374,0.99999989681,0.000153202022842,-0.000425777102429,4.02836219396e-05,1793193637603986176
+312,5.200000000,POSE2_TO_POSE3_RETREAT,763.6247334,742.3752666,711,674,660.249466799,632,878,784,800,649.6247334,629,650,0.427736873902,0.00454220666937,0.0697948055909,0.999999937287,0.000145656670405,-0.000319718488633,4.46105592333e-05,1793193637620652800
+313,5.216666667,POSE2_TO_POSE3_RETREAT,764,742,711,674,661.20249071,632,878,784,800,650,628.79750929,650,0.426895756525,0.00453766125638,0.0698472834034,0.999999959611,0.000143257628408,-0.000240820962667,4.75480994043e-05,1793193637637319424
+314,5.233333333,POSE2_TO_POSE3_RETREAT,764,742,711,674,661.776592842,632,878,784,800,650,628.223407158,650,0.426037836461,0.00453565360774,0.0698654619392,0.999999965132,0.000150303110158,-0.000211769539839,4.79358152234e-05,1793193637653986304
+315,5.250000000,POSE2_TO_POSE3_RETREAT,764,742,711,674,661.64995732,632,877.64995732,784,800,649.64995732,628.35004268,650.35004268,0.425148224836,0.00453170309818,0.0698557168999,0.999999962828,0.000142689410061,-0.000227458654537,4.73888770554e-05,1793193637670652928
+316,5.266666667,POSE2_TO_POSE3_RETREAT,764,742,711,674,661.076923043,632,877.076923043,784,800,649.076923043,628.923076957,650.923076957,0.424238424416,0.0045265149063,0.069828183393,0.999999954129,0.000125737207197,-0.00027164933422,4.62465257399e-05,1793193637687319296
+317,5.283333333,POSE2_TO_POSE3_RETREAT,764,742.514362376,711,674,661.514362376,632,877.514362376,784,799.485637624,649,629,651,0.423289072119,0.00452308212746,0.0697817901505,0.999999928486,0.000128840364219,-0.000352687984296,4.51495781208e-05,1793193637703986176
+318,5.300000000,POSE2_TO_POSE3_RETREAT,764,742.894348426,711,674,661.683045277,632,878,784,799,649.105651574,629.105651574,651,0.422331391272,0.00451899481642,0.0697334880526,0.999999895089,0.000131540351929,-0.000436532245059,4.42589991357e-05,1793193637720652544
+319,5.316666667,POSE2_TO_POSE3_RETREAT,764,742.315711394,711,674,659.947134183,632,878,784,799,649.684288606,629.684288606,651,0.421363879793,0.0045107587604,0.0696897316867,0.999999863291,0.000118514119413,-0.000507358988714,4.42607847913e-05,1793193637737319424
+320,5.333333333,POSE2_TO_POSE3_RETREAT,763.739860916,742,711,673.739860916,659.520278169,632,877.739860916,784,799,649.739860916,629.739860916,651,0.420481662249,0.00450202161914,0.0696995724831,0.999999873699,0.000105189550958,-0.000489417816935,4.48059826306e-05,1793193637753986304
+321,5.350000000,POSE2_TO_POSE3_RETREAT,763.167356351,742,711,673.167356351,660.665287297,632,877.167356351,784,799,649.167356351,629.167356351,651,0.41970186241,0.00449268279201,0.0697737707823,0.999999928184,9.15067492288e-05,-0.000364887390906,4.60036896136e-05,1793193637770652928
+322,5.366666667,POSE2_TO_POSE3_RETREAT,763.417323213,742.417323213,711.417323213,673.417323213,661.834646426,632,877.417323213,784,799,649.417323213,629,651,0.418916323494,0.00448437141838,0.0698361214048,0.999999960025,8.54783607149e-05,-0.000265221962602,4.79561920104e-05,1793193637787319808
+323,5.383333333,POSE2_TO_POSE3_RETREAT,764,742.993057344,711.993057344,673.993057344,662.979172033,632,878,784,799,649.993057344,629,651,0.418127146145,0.00447647365818,0.069892535889,0.999999979584,8.2458221235e-05,-0.000177525944983,5.01765243458e-05,1793193637803986432
+324,5.400000000,POSE2_TO_POSE3_RETREAT,764,742.4108347,711.4108347,673.4108347,661.232504099,632,878,784,799,649.4108347,629,651,0.417232915589,0.004467680844,0.0698625950257,0.999999970009,6.67111103398e-05,-0.000230554881395,4.87545520687e-05,1793193637820653312
+325,5.416666667,POSE2_TO_POSE3_RETREAT,763.830746624,742,711,673,660.169253376,632,878,784,799,649,629,651,0.416343892209,0.0044600083977,0.0698312196078,0.999999958791,5.18694339469e-05,-0.000278468660974,4.67100322063e-05,1793193637837319936
+326,5.433333333,POSE2_TO_POSE3_RETREAT,763.255775365,742,711,673,660.744224635,632,878,784,799,649,629,651,0.415467351025,0.00445502158983,0.0697964054155,0.999999948964,3.91981791929e-05,-0.000314120877566,4.31732016128e-05,1793193637853986560
+327,5.450000000,POSE2_TO_POSE3_RETREAT,763,742,711,673,661.319966644,632,877.680033356,784,799,649,628.680033356,650.680033356,0.414595771467,0.00444860776038,0.0697609535929,0.999999928784,3.35254189575e-05,-0.000373504161086,4.24535580935e-05,1793193637870652928
+328,5.466666667,POSE2_TO_POSE3_RETREAT,763,742,711,673,661.896326237,632,877.103673763,784,799,649,628.103673763,650.103673763,0.413728167761,0.00444105044238,0.0697249908315,0.999999896364,3.34606332826e-05,-0.000451903418085,4.39913589546e-05,1793193637887319552
+329,5.483333333,POSE2_TO_POSE3_RETREAT,763,742,711,673,660.549062733,632,877,784,799,649,628.483645756,650,0.413003613959,0.00443110450013,0.0697473108931,0.999999914588,1.49311631745e-05,-0.000410706048726,4.38452430541e-05,1793193637903986176
+330,5.500000000,POSE2_TO_POSE3_RETREAT,763,742,711,673,659.215944347,632,877.071981449,784,799,649,629,650.071981449,0.412314584141,0.00442083664288,0.0697857168975,0.999999941571,-5.97553458394e-06,-0.000339016184038,4.34817183424e-05,1793193637920652800
+331,5.516666667,POSE2_TO_POSE3_RETREAT,763,742,711,673,660.951652543,632,877.650550848,784,799,649,629,650.650550848,0.411654754156,0.00441199027606,0.0698473673494,0.999999970746,-1.51107611247e-05,-0.000237335146388,4.41873929826e-05,1793193637937319424
+332,5.533333333,POSE2_TO_POSE3_RETREAT,763.227990039,742.227990039,711,673,661.772009961,632,877.772009961,784,799.227990039,649,629,651,0.410969010418,0.00440621762,0.0698807287542,0.999999981884,-2.11487161042e-05,-0.000183681147721,4.52356375566e-05,1793193637953986048
+333,5.550000000,POSE2_TO_POSE3_RETREAT,763.803705551,742.803705551,711,673,661.196294449,632,877.196294449,784,799.803705551,649,629,651,0.410243743484,0.00440513291974,0.0698709443262,0.999999977992,-2.24627811372e-05,-0.00020327693657,4.68063630362e-05,1793193637970652672
+334,5.566666667,POSE2_TO_POSE3_RETREAT,764,742.612926798,711,673,660.225853595,632,877.387073202,784,800,649,629,651,0.409539596406,0.00442655136501,0.0698357005565,0.999999963465,1.07076675591e-07,-0.0002664243706,4.56901355429e-05,1793193637987319808
+335,5.583333333,POSE2_TO_POSE3_RETREAT,764,742.025600328,711,673,659.051200657,632,877.974399672,784,800,649,629,651,0.408846375779,0.00445961186766,0.0697872853349,0.999999936466,3.50333404125e-05,-0.000352103351655,4.31838059508e-05,1793193638003986432
+336,5.600000000,POSE2_TO_POSE3_RETREAT,763.44648442,742,711,673,660.10703116,632.55351558,878,784,800,649,629,650.44648442,0.408230995727,0.00447043339421,0.0697727099678,0.999999930828,5.43756536295e-05,-0.000365576184156,4.17370003464e-05,1793193638020653056
+337,5.616666667,POSE2_TO_POSE3_RETREAT,763.131657815,742.131657815,711,673.131657815,660.868342185,632.868342185,878.131657815,784,800,649.131657815,629,650.131657815,0.407632459172,0.00447530886676,0.0697668390149,0.999999929321,6.46157300332e-05,-0.000368104019291,4.10066372841e-05,1793193638037319424
+338,5.633333333,POSE2_TO_POSE3_RETREAT,763.707776244,742.707776244,711,673.707776244,660.292223756,632.292223756,878.707776244,784,800,649.707776244,629,650.707776244,0.407078808173,0.00446353273634,0.0697851467143,0.999999938572,4.65254180793e-05,-0.000344792059758,4.25318847981e-05,1793193638053986304
+339,5.650000000,POSE2_TO_POSE3_RETREAT,764,742.716977744,711,673.716977744,660,632,878.716977744,784.283022256,799.716977744,650,629,650.716977744,0.40653183363,0.00445664682075,0.0697925533837,0.99999994083,3.47846371633e-05,-0.000339493932791,4.32980551265e-05,1793193638070653184
+340,5.666666667,POSE2_TO_POSE3_RETREAT,764,742.14262978,711,673.14262978,660,632,878.14262978,784.85737022,799.14262978,650,629,650.14262978,0.405991731455,0.00445479459234,0.069788739202,0.999999936414,2.95796742155e-05,-0.000352738139043,4.3282878003e-05,1793193638087319808
+341,5.683333333,POSE2_TO_POSE3_RETREAT,764,742,711.446785163,673.446785163,660.446785163,632,878,784.553214837,799.446785163,649.553214837,629,650.446785163,0.405519590884,0.00445687311243,0.0697917880424,0.999999937464,3.27608124228e-05,-0.000349471361342,4.32232769242e-05,1793193638103986176
+342,5.700000000,POSE2_TO_POSE3_RETREAT,764,742.039936673,712,673.960063327,661,632,878,784,799.960063327,649.039936673,629,651,0.405074560441,0.0044606820949,0.0697980926632,0.999999940941,3.90254344806e-05,-0.000338731093685,4.30854857562e-05,1793193638120652800
+343,5.716666667,POSE2_TO_POSE3_RETREAT,764,742.61641211,712,673.38358789,661,632,878,784,799.38358789,649.61641211,629,651,0.404692098422,0.00447029264121,0.069817676111,0.999999952628,4.94938940587e-05,-0.000300870936902,4.20944082637e-05,1793193638137319424
+344,5.733333333,POSE2_TO_POSE3_RETREAT,764,743,711.807454584,673,661.192545416,632,878,784.192545416,799,649.807454584,629,651,0.404315389659,0.00447621667291,0.0698330933063,0.999999960856,5.49541918972e-05,-0.000271231284099,4.12430892532e-05,1793193638153986048
+345,5.750000000,POSE2_TO_POSE3_RETREAT,764,743,711.232001559,673,661.767998441,632,878,784.767998441,799,649.232001559,629,651,0.403950122102,0.00447480947756,0.0698402252398,0.999999964634,5.04549545052e-05,-0.000257939423024,4.06697024457e-05,1793193638170652416
+346,5.766666667,POSE2_TO_POSE3_RETREAT,764,742.64888434,711,673,661.297768679,632,878,785,799,649,629,651,0.403600962779,0.00446878281132,0.0698370110274,0.999999963836,3.95010011721e-05,-0.000262996353106,4.00128716066e-05,1793193638187319040
+347,5.783333333,POSE2_TO_POSE3_RETREAT,764,742.060589991,711,673,660.121179981,632,878,785,799,649,629,651,0.403262684594,0.0044596356918,0.0698268079913,0.99999995961,2.41868863676e-05,-0.000280447895479,3.9299674331e-05,1793193638203985920
+348,5.800000000,POSE2_TO_POSE3_RETREAT,764,742,711.519747839,673,660,632,878,784.480252161,799,649.519747839,629,651,0.402957835058,0.00445792449124,0.069818411092,0.999999954501,1.9436863082e-05,-0.000298454641251,3.93107717939e-05,1793193638220652544
+349,5.816666667,POSE2_TO_POSE3_RETREAT,763.901394754,742,711.901394754,673,660,632.098605246,878,784,799,650,629,651,0.402665832572,0.00445717529604,0.0698098326523,0.999999949217,1.53285832663e-05,-0.00031589188254,3.92898378837e-05,1793193638237319168
+350,5.833333333,POSE2_TO_POSE3_RETREAT,763.325282498,742,711.325282498,673,660,632.674717502,878,784,799,650,629,651,0.402417456404,0.00445695020503,0.0697993708362,0.999999944678,8.45417891989e-06,-0.000330262530226,3.87110665673e-05,1793193638253986560
+351,5.850000000,POSE2_TO_POSE3_RETREAT,763.249512015,742.249512015,711,672.750487985,660,633,878,784,799.249512015,649.750487985,629,651,0.402190792846,0.004456268231,0.0697926598489,0.999999941534,2.655218181e-06,-0.000339755712429,3.86014151022e-05,1793193638270653184
+352,5.866666667,POSE2_TO_POSE3_RETREAT,763.822597601,742.822597601,711,672.177402399,660,633,878,784,799.822597601,649.177402399,629,651,0.401992286779,0.00445499375936,0.0697908130332,0.999999940436,-1.74907920621e-06,-0.000342923671429,3.91001303295e-05,1793193638287319808
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764,742.59102057,711,672.40897943,660,632.59102057,878,784,799.59102057,649.40897943,629,651,0.401817585345,0.00445391491718,0.0697910674155,0.999999940356,-3.23175731742e-06,-0.000343027396834,4.01135290746e-05,1793193638303986432
+354,5.900000000,POSE2_TO_POSE3_RETREAT,764,742,711,672.998715893,660.001284107,632,877.998715893,784,799,650,629,651,0.401653640714,0.00445293599333,0.0697922624683,0.999999940741,-3.30583526935e-06,-0.000341755218722,4.13574510859e-05,1793193638320653056
+355,5.916666667,POSE2_TO_POSE3_RETREAT,764,742,711,672.423615382,660.576384618,632,877.423615382,784,799,650,629,651,0.401527294108,0.0044574127902,0.0697928362623,0.999999940618,4.07288036804e-05,-0.000339557599455,4.24975270957e-05,1793193638337319680
+356,5.933333333,POSE2_TO_POSE3_RETREAT,764,742,711.151169016,672.151169016,660.848830984,632,877.151169016,784,799.151169016,650,629,651,0.40140854631,0.00446562992263,0.0697927561646,0.999999939136,7.49806652018e-05,-0.000338291773225,4.07891953777e-05,1793193638353986304
+357,5.950000000,POSE2_TO_POSE3_RETREAT,764,742,711.725069563,672.725069563,660.274930437,632,877.725069563,784,799.725069563,650,629,651,0.401311047911,0.00448430659213,0.0697908475133,0.999999938489,8.18758168546e-05,-0.000339631629484,3.11155297856e-05,1793193638370653184
+358,5.966666667,POSE2_TO_POSE3_RETREAT,764,742,711.691820973,673,660.308179027,632,877.691820973,784,800,649.691820973,629,651,0.40122761027,0.00448987636974,0.0697902321821,0.999999938922,7.76186272415e-05,-0.000339713917387,2.69246412892e-05,1793193638387320064
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764,742,711.100243099,673,660.899756901,632,877.100243099,784,800,649.100243099,629,651,0.401157102791,0.00448339315849,0.0697908061772,0.999999940285,6.31058377937e-05,-0.000338639755882,2.77756691673e-05,1793193638403986944
+360,6.000000000,POSE2_TO_POSE3_RETREAT,764,742.48102196,711,673,660.51897804,632,877.48102196,784,799.51897804,649,629,651,0.401103594342,0.00447544860515,0.0697926240905,0.999999942067,5.4006720588e-05,-0.000334739751327,2.99919663226e-05,1793193638420653568
+361,6.016666667,POSE2_TO_POSE3_RETREAT,764,742.939784891,711,672.939784891,660,632,878,784,799,649,629,651,0.401055469634,0.00446822767571,0.069794604296,0.999999943805,4.69189142238e-05,-0.000330376738811,3.22535667278e-05,1793193638437319936
+362,6.033333333,POSE2_TO_POSE3_RETREAT,764,742.36031464,711,672.36031464,660,632,878,784,799,649,629,651,0.401023863475,0.00446981781097,0.0697957955141,0.999999944874,4.76507718125e-05,-0.000326992700591,3.25038455405e-05,1793193638453986560
+363,6.050000000,POSE2_TO_POSE3_RETREAT,764,742,711,672.216534703,660,632.216534703,878.433069406,784,799,649,629,651,0.40099861481,0.00447000468006,0.0697975575618,0.999999946233,4.74672149192e-05,-0.000322799667746,3.28752899973e-05,1793193638470652928
+364,6.066666667,POSE2_TO_POSE3_RETREAT,764,742,711,672.789074943,660,632.789074943,879.578149886,784,799,649,629,651,0.400983818526,0.00446788443368,0.0698002581128,0.999999948061,4.57786214868e-05,-0.000317276564058,3.34459433305e-05,1793193638487319552
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764,742.372004174,711,672.627995826,660.372004174,632.627995826,879.255991653,784,799.372004174,649.372004174,629,651,0.400971418702,0.00446642262728,0.0698029685857,0.999999949375,4.25395948632e-05,-0.000313549700962,3.35713471277e-05,1793193638503986176
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764,742.960993212,711,672.039006788,660.960993212,632.039006788,878.078013576,784,799.960993212,649.960993212,629,651,0.400960416698,0.00446534487957,0.069805684846,0.999999950384,3.83962219433e-05,-0.000310870559514,3.34370431118e-05,1793193638520652800
+367,6.116666667,POSE2_TO_POSE3_RETREAT,764,742.456054477,711.543945523,672,660.456054477,632,878,784,800,650,629,651,0.400956098975,0.00446451922067,0.0698066374495,0.999999951072,3.79306189381e-05,-0.000308674019273,3.37316523518e-05,1793193638537319936
+368,6.133333333,POSE2_TO_POSE3_RETREAT,764,742,711.875073098,672,660.124926902,632,878,784,799.875073098,649.875073098,629,651,0.400952944666,0.00446373529745,0.0698075253663,0.999999951681,3.76588404612e-05,-0.000306698768821,3.3984186172e-05,1793193638553987072
+369,6.150000000,POSE2_TO_POSE3_RETREAT,764,742,711.299654901,672,660.700345099,632,878,784,799.299654901,649.299654901,629,651,0.400952276149,0.00446303740182,0.0698086310819,0.999999952099,3.71453974473e-05,-0.000305398070361,3.39752983142e-05,1793193638570653696
+370,6.166666667,POSE2_TO_POSE3_RETREAT,764,742,711,672.274266067,661,632.274266067,878,784,799,649,629,651,0.400951199538,0.0044630582775,0.0698092697127,0.999999952354,3.80809499158e-05,-0.000304448045553,3.39486512839e-05,1793193638587320320
+371,6.183333333,POSE2_TO_POSE3_RETREAT,764,742,711,672.846560055,661,632.846560055,878,784,799,649,629,651,0.400949679477,0.00446386019743,0.0698094007913,0.99999995243,4.0591035914e-05,-0.000303879076128,3.39027064629e-05,1793193638603987200
+372,6.200000000,POSE2_TO_POSE3_RETREAT,764,742,711,672.565417803,661,633,878,784,799.434582197,649.434582197,629,651,0.400949706538,0.00446481173599,0.0698105328746,0.999999952807,4.10121456859e-05,-0.000302598190054,3.37526227424e-05,1793193638620654080
+373,6.216666667,POSE2_TO_POSE3_RETREAT,764,742.027597453,711,672,661,632.972402547,878,784,799.972402547,649.972402547,629,651,0.40095029264,0.00446573274216,0.0698119759203,0.999999953294,4.06181984868e-05,-0.000301056443653,3.35843958562e-05,1793193638637320704
+374,6.233333333,POSE2_TO_POSE3_RETREAT,764,742.605292034,711,672,661,632.394707966,878,784,799.394707966,649.394707966,629,651,0.400950724854,0.00446495262399,0.0698123079426,0.999999953805,3.92316606178e-05,-0.000299513461629,3.38149527994e-05,1793193638653986816
+375,6.250000000,POSE2_TO_POSE3_RETREAT,764,742.818020385,711.181979615,672,661,632.181979615,878,784,799,649.181979615,629,651,0.400951060592,0.0044643273347,0.0698128176393,0.999999954251,3.79624946244e-05,-0.000298173843963,3.39029751459e-05,1793193638670653696
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764,742.243505006,711.756494994,672,661,632.756494994,878,784,799,649.756494994,629,651,0.400951188229,0.00446403601629,0.0698137105855,0.999999954565,3.69465036441e-05,-0.000297272889821,3.36835458475e-05,1793193638687321344
+377,6.283333333,POSE2_TO_POSE3_RETREAT,764,742,711.660959797,672,660.660959797,632.660959797,877.660959797,784,799,649.660959797,629,650.660959797,0.400951278479,0.00446456791746,0.0698142689832,0.999999954731,3.81161872514e-05,-0.000296577293914,3.35791367142e-05,1793193638703987968
+378,6.300000000,POSE2_TO_POSE3_RETREAT,764,742,711.072507449,672,660.072507449,632.072507449,877.072507449,784,799,649.072507449,629,650.072507449,0.400951341226,0.00446570541334,0.0698145812733,0.999999954783,4.08937443391e-05,-0.000296032768012,3.35593411992e-05,1793193638720654080
+379,6.316666667,POSE2_TO_POSE3_RETREAT,764,742,711,672,660.507755627,632,878.015511254,784,799,649,629,650.507755627,0.400950838835,0.00446463465769,0.069814777687,0.999999954966,4.0611492052e-05,-0.000295441197355,3.36557821439e-05,1793193638737320704
+380,6.333333333,POSE2_TO_POSE3_RETREAT,764,742,711,672,661,632,878.9132475,784,799.0867525,649,629,651,0.400950425867,0.00446369899063,0.0698149772195,0.999999955128,4.03578814319e-05,-0.000294919737931,3.37256692867e-05,1793193638753987072
+381,6.350000000,POSE2_TO_POSE3_RETREAT,764,742,711,672,661,632,878.334903964,784,799.665096036,649,629,651,0.400950969673,0.00446528734497,0.0698152867023,0.999999955062,4.27032350736e-05,-0.000294833033874,3.35525225858e-05,1793193638770653440
+382,6.366666667,POSE2_TO_POSE3_RETREAT,764,742,711,672.241403595,661,632,878,784,799.758596405,649,628.758596405,650.758596405,0.400951360528,0.00446609491233,0.0698156783066,0.999999955255,4.23559470821e-05,-0.00029424212721,3.34226682718e-05,1793193638787319808
+383,6.383333333,POSE2_TO_POSE3_RETREAT,764,742,711,672.81491019,661,632,878,784,799.18508981,649,628.18508981,650.18508981,0.400951540965,0.00446582833775,0.0698161828865,0.999999955798,3.83043463911e-05,-0.000292957580511,3.33523720354e-05,1793193638803986176
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764,742,711,673,661,632,878,784,799.398173958,649.398173958,628.398173958,650.398173958,0.40095051439,0.0044643238129,0.0698154063371,0.999999955583,3.71800768922e-05,-0.000293849946079,3.32340079832e-05,1793193638820653312
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764,742,711,673,661,632,878,784,799.986087233,649.986087233,628.986087233,650.986087233,0.400948912646,0.00446222937543,0.0698140192992,0.999999955008,3.74507501203e-05,-0.000295779661911,3.30927384813e-05,1793193638837320448
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764,742,711,672.432983158,661,632.567016842,878,784,799.432983158,650,629,651,0.400950400495,0.00446284525492,0.0698154246506,0.999999955422,3.87601977119e-05,-0.00029415048299,3.36014178673e-05,1793193638853987072
+387,6.450000000,POSE2_TO_POSE3_RETREAT,763.853307566,742,711.146692434,672,661,633,877.853307566,784,799,650,629,651,0.400951617286,0.00446381926844,0.0698165777764,0.999999955758,4.00607516586e-05,-0.000292795346635,3.39261083316e-05,1793193638870653696
+388,6.466666667,POSE2_TO_POSE3_RETREAT,763.276810354,742,711.723189646,672,661,633,877.276810354,784,799,650,629,651,0.400951820466,0.004465650125,0.0698167935798,0.999999955805,4.12614761763e-05,-0.000292495891199,3.36655585624e-05,1793193638887319808
+389,6.483333333,POSE2_TO_POSE3_RETREAT,763,742,711.702440233,672.297559767,660.702440233,632.702440233,877.297559767,784,799,649.702440233,629,651,0.400951886285,0.00446610490146,0.0698166759372,0.999999955808,4.12930221522e-05,-0.000292514003966,3.33712874168e-05,1793193638903986432
+390,6.500000000,POSE2_TO_POSE3_RETREAT,763,742,711.130034767,672.869965233,660.130034767,632.130034767,877.869965233,784,799,649.130034767,629,651,0.400951825229,0.00446528864036,0.0698162503021,0.999999955771,4.02446383503e-05,-0.000292825443504,3.30458689681e-05,1793193638920652800
+391,6.516666667,POSE2_TO_POSE3_RETREAT,763.459866739,742,711.459866739,673,660,632,878,784,799,649,629,651,0.400951291201,0.00446484182028,0.0698165089926,0.999999955531,4.01339850792e-05,-0.000293632651829,3.32868589036e-05,1793193638937319680
+392,6.533333333,POSE2_TO_POSE3_RETREAT,764,742.053018832,712,673.053018832,660.053018832,632,878,784,799,649.053018832,629,651,0.400950568607,0.00446472865401,0.069816818299,0.99999995524,4.0393399652e-05,-0.00029455081402,3.3600028401e-05,1793193638953986816
+393,6.550000000,POSE2_TO_POSE3_RETREAT,764,742.627557025,712,673.627557025,660.627557025,632,878,784,799,649.627557025,629,651,0.400949358744,0.00446682925629,0.0698156468058,0.999999955042,4.15815973112e-05,-0.000295126890567,3.29854589637e-05,1793193638970653440
+394,6.566666667,POSE2_TO_POSE3_RETREAT,764.203303632,742.796696368,712,673.796696368,661,632.203303632,878,784,799.203303632,649.796696368,629,651,0.400948760665,0.00446731513898,0.0698151764217,0.999999955037,4.14265116459e-05,-0.000295199429245,3.26763714595e-05,1793193638987320320
+395,6.583333333,POSE2_TO_POSE3_RETREAT,764.7812772,742.2187228,712,673.2187228,661,632.7812772,878,784,799.7812772,649.2187228,629,651,0.400949290048,0.00446482524153,0.0698159981175,0.999999955386,3.87958780281e-05,-0.000294343993808,3.29302591577e-05,1793193639003987712
+396,6.600000000,POSE2_TO_POSE3_RETREAT,764.633980736,742,711.633980736,672.633980736,660.633980736,633,878,784,799.633980736,649,629,650.633980736,0.400949149796,0.00446513666632,0.0698157810273,0.999999955346,3.8025027e-05,-0.000294578458606,3.29576618087e-05,1793193639020654080
+397,6.616666667,POSE2_TO_POSE3_RETREAT,764.045117827,742,711.045117827,672.045117827,660.045117827,633,878,784,799.045117827,649,629,650.045117827,0.40094860185,0.00446715362128,0.0698149314927,0.999999955071,3.8386468198e-05,-0.000295476487805,3.28471734744e-05,1793193639037320448
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_11/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_11/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..be807fcbaa1663283923a224f046cdd00ed1b1cc
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_11/depth_03/simulation_data.csv
@@ -0,0 +1,399 @@
+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,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+1,0.016666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+2,0.033333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+3,0.050000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+4,0.066666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+5,0.083333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+6,0.100000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+7,0.116666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+8,0.133333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+9,0.150000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+10,0.166666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+11,0.183333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+12,0.200000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+13,0.216666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+14,0.233333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+15,0.250000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+16,0.266666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+17,0.283333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+18,0.300000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+19,0.316666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+20,0.333333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+21,0.350000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+22,0.366666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+23,0.383333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+24,0.400000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+25,0.416666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+26,0.433333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+27,0.450000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+28,0.466666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+29,0.483333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+30,0.500000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+31,0.516666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+32,0.533333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+33,0.550000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+34,0.566666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+35,0.583333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+36,0.600000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+37,0.616666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+38,0.633333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+39,0.650000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+40,0.666666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+41,0.683333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+42,0.700000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+43,0.716666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+44,0.733333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+45,0.750000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+46,0.766666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+47,0.783333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+48,0.800000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+49,0.816666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+50,0.833333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+51,0.850000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+52,0.866666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+53,0.883333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+54,0.900000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+55,0.916666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+56,0.933333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+57,0.950000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+58,0.966666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+59,0.983333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+60,1.000000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+61,1.016666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+62,1.033333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+63,1.050000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+64,1.066666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+65,1.083333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+66,1.100000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+67,1.116666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+68,1.133333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+69,1.150000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+70,1.166666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+71,1.183333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+72,1.200000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+73,1.216666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+74,1.233333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+75,1.250000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+76,1.266666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+77,1.283333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+78,1.300000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+79,1.316666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+80,1.333333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+81,1.350000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+82,1.366666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+83,1.383333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+84,1.400000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+85,1.416666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+86,1.433333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+87,1.450000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+88,1.466666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+89,1.483333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+90,1.500000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+91,1.516666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+92,1.533333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+93,1.550000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+94,1.566666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+95,1.583333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+96,1.600000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+97,1.616666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+98,1.633333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+99,1.650000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+100,1.666666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+101,1.683333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+102,1.700000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+103,1.716666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+104,1.733333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+105,1.750000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+106,1.766666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+107,1.783333333,pose1_to_pose2_press,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+108,1.800000000,pose1_to_pose2_press,0.575709247824,0.0100547416862,1.06002926502,0.546279975466,0.0187274623301,1.05969855523
+109,1.816666667,pose1_to_pose2_press,0.575709267145,0.0100547393172,1.06002925435,0.546279994707,0.0187274596759,1.05969854422
+110,1.833333333,pose1_to_pose2_press,0.575709368023,0.0100547269481,1.06002919866,0.546280095168,0.0187274458182,1.05969848669
+111,1.850000000,pose1_to_pose2_press,0.575709422388,0.0100547202822,1.06002916865,0.546280149307,0.0187274383501,1.05969845569
+112,1.866666667,pose1_to_pose2_press,0.575709536828,0.0100547102422,1.06002916142,0.546280264014,0.0187274292576,1.0596984495
+113,1.883333333,pose1_to_pose2_press,0.575710638417,0.010054688578,1.06002928396,0.54628136627,0.0187274099077,1.05969857334
+114,1.900000000,pose1_to_pose2_press,0.575714258773,0.010054540572,1.06002915441,0.546284989974,0.018727273248,1.05969844365
+115,1.916666667,pose1_to_pose2_press,0.575722590978,0.010054549801,1.06002934787,0.546293322243,0.0187272825506,1.05969863306
+116,1.933333333,pose1_to_pose2_press,0.575739405627,0.0100544540905,1.06002927633,0.546310138401,0.018727191957,1.05969856138
+117,1.950000000,pose1_to_pose2_press,0.575766505473,0.0100545709711,1.06002914927,0.546337236537,0.0187273032485,1.05969843989
+118,1.966666667,pose1_to_pose2_press,0.575804801872,0.0100546600361,1.06002902705,0.546375530066,0.0187273828062,1.05969832369
+119,1.983333333,pose1_to_pose2_press,0.575853447566,0.0100545386292,1.06002929575,0.546424178037,0.0187272686822,1.05969858068
+120,2.000000000,pose1_to_pose2_press,0.575911348864,0.0100545560018,1.06002926891,0.546482078584,0.0187272834196,1.05969855142
+121,2.016666667,pose1_to_pose2_press,0.575976600249,0.010054533659,1.0600292504,0.546547330615,0.0187272630999,1.05969852847
+122,2.033333333,pose1_to_pose2_press,0.576049300334,0.0100545757081,1.0600293141,0.546620030459,0.0187273044149,1.0596985943
+123,2.050000000,pose1_to_pose2_press,0.576131722444,0.0100546192379,1.06002926061,0.546702450871,0.0187273423754,1.05969854583
+124,2.066666667,pose1_to_pose2_press,0.576225110586,0.010054488364,1.06002907207,0.546795840709,0.0187272175382,1.05969836461
+125,2.083333333,pose1_to_pose2_press,0.57633557805,0.0100544912874,1.06002878327,0.546906307755,0.0187272193429,1.05969808369
+126,2.100000000,pose1_to_pose2_press,0.576463744881,0.0100545947902,1.06002898329,0.547034475444,0.0187273257694,1.059698284
+127,2.116666667,pose1_to_pose2_press,0.576613146054,0.010054630812,1.06002904837,0.547183875162,0.0187273565424,1.05969834075
+128,2.133333333,pose1_to_pose2_press,0.576782678587,0.0100545493582,1.06002926049,0.547353407342,0.0187272738189,1.05969855096
+129,2.150000000,pose1_to_pose2_press,0.576973174725,0.0100545537711,1.06002914803,0.547543905314,0.0187272842435,1.05969843282
+130,2.166666667,pose1_to_pose2_press,0.577185179421,0.0100545152394,1.06002890501,0.547755909616,0.0187272446221,1.05969819632
+131,2.183333333,pose1_to_pose2_press,0.577418830983,0.0100545927817,1.06002891543,0.547989561096,0.0187273223399,1.05969821856
+132,2.200000000,pose1_to_pose2_press,0.577677301045,0.0100546365155,1.06002923274,0.548248031087,0.0187273652944,1.05969852167
+133,2.216666667,pose1_to_pose2_press,0.577959793076,0.0100545523676,1.06002904974,0.548530522479,0.0187272788656,1.05969833562
+134,2.233333333,pose1_to_pose2_press,0.578267109823,0.0100545143665,1.06002900581,0.54883784047,0.0187272454532,1.05969830129
+135,2.250000000,pose1_to_pose2_press,0.578596296861,0.0100543766964,1.06002910719,0.549167029061,0.0187271129423,1.05969839973
+136,2.266666667,pose1_to_pose2_press,0.578946620944,0.0100544632603,1.06002933829,0.549517351275,0.018727192734,1.05969861953
+137,2.283333333,pose1_to_pose2_press,0.579319580156,0.0100545047798,1.06002910524,0.549890311138,0.0187272369394,1.05969839896
+138,2.300000000,pose1_to_pose2_press,0.579714126151,0.0100544684313,1.06002940577,0.550284857418,0.0187272013328,1.05969869352
+139,2.316666667,pose1_to_pose2_press,0.580130466093,0.0100545765872,1.06002937524,0.550701195697,0.018727303674,1.0596986584
+140,2.333333333,pose1_to_pose2_press,0.580567808906,0.0100545354257,1.06002915018,0.551138538195,0.0187272616664,1.05969843913
+141,2.350000000,pose1_to_pose2_press,0.581027885781,0.0100544878253,1.06002914201,0.551598615977,0.0187272172626,1.05969843404
+142,2.366666667,pose1_to_pose2_press,0.581512179143,0.0100546470259,1.06002914648,0.552082908279,0.0187273730511,1.05969844327
+143,2.383333333,pose1_to_pose2_press,0.582022945719,0.0100546188629,1.06002930705,0.552593674313,0.0187273423545,1.05969858561
+144,2.400000000,pose1_to_pose2_press,0.5825677367,0.0100545878101,1.06002914865,0.553138465908,0.01872731383,1.05969843884
+145,2.416666667,pose1_to_pose2_press,0.583142357214,0.0100545493527,1.06002911725,0.553713087295,0.0187272783817,1.05969840866
+146,2.433333333,pose1_to_pose2_press,0.583743118969,0.0100546390649,1.06002893806,0.554313849173,0.0187273684249,1.05969822718
+147,2.450000000,pose1_to_pose2_press,0.584363590123,0.010054618606,1.06002903131,0.554934320719,0.0187273493638,1.05969832217
+148,2.466666667,pose1_to_pose2_press,0.585002959038,0.0100544746309,1.06002906632,0.555573690268,0.0187272077395,1.05969836232
+149,2.483333333,pose1_to_pose2_press,0.585663057544,0.0100545571698,1.06002941261,0.556233787681,0.0187272861154,1.05969869663
+150,2.500000000,pose1_to_pose2_press,0.586345860199,0.0100546418458,1.06002932339,0.556916590438,0.0187273714129,1.05969861472
+151,2.516666667,pose1_to_pose2_press,0.587056627116,0.0100543776809,1.06002902338,0.557627358715,0.0187271118215,1.05969831354
+152,2.533333333,pose1_to_pose2_press,0.587783175612,0.0100544487774,1.06002905928,0.558353906316,0.0187271798296,1.05969834807
+153,2.550000000,pose1_to_pose2_press,0.5885166706,0.0100545085938,1.06002916722,0.559087402959,0.0187272451626,1.05969845336
+154,2.566666667,pose1_to_pose2_press,0.589252384234,0.0100547381607,1.06002915541,0.55982311354,0.0187274647805,1.0596984524
+155,2.583333333,pose1_to_pose2_press,0.589991692098,0.0100546547866,1.06002923407,0.560562422444,0.0187273848746,1.05969852946
+156,2.600000000,pose1_to_pose2_press,0.59074449283,0.0100545955956,1.06002910944,0.56131522225,0.0187273226919,1.05969840873
+157,2.616666667,pose1_to_pose2_press,0.591519851672,0.0100546267255,1.06002912332,0.562090581624,0.0187273555201,1.05969841979
+158,2.633333333,pose1_to_pose2_press,0.592328989277,0.0100545698169,1.06002914047,0.562899719962,0.0187273009208,1.05969843238
+159,2.650000000,pose1_to_pose2_press,0.593162922861,0.0100545795584,1.06002918486,0.563733653467,0.0187273102323,1.05969847248
+160,2.666666667,pose1_to_pose2_press,0.594017649534,0.0100546437135,1.06002927305,0.564588379519,0.0187273721662,1.05969855771
+161,2.683333333,pose1_to_pose2_press,0.594872518269,0.0100547028455,1.06002917853,0.565443246697,0.0187274261846,1.05969846773
+162,2.700000000,pose1_to_pose2_press,0.595721467272,0.0100545830607,1.06002928988,0.566292196762,0.0187273099287,1.05969857705
+163,2.716666667,pose1_to_pose2_press,0.596541139343,0.010054571834,1.0600292234,0.567111869579,0.0187273015406,1.05969851877
+164,2.733333333,pose1_to_pose2_press,0.597345783084,0.0100546046267,1.06002916083,0.56791651145,0.0187273278725,1.05969845316
+165,2.750000000,pose1_to_pose2_press,0.598153271074,0.0100546358185,1.06002922368,0.568724000948,0.0187273643797,1.05969852126
+166,2.766666667,pose1_to_pose2_press,0.598972764112,0.0100547265134,1.06002909365,0.569543493994,0.0187274552848,1.05969839608
+167,2.783333333,pose1_to_pose2_press,0.599809100874,0.0100546119062,1.06002918778,0.57037983275,0.0187273467596,1.05969847229
+168,2.800000000,pose1_to_pose2_press,0.600668400281,0.0100546380664,1.06002924282,0.571239131145,0.0187273698035,1.05969853574
+169,2.816666667,pose1_to_pose2_press,0.601537721852,0.0100547539282,1.0600291609,0.57210845193,0.0187274831664,1.05969845835
+170,2.833333333,pose1_to_pose2_press,0.602401503836,0.0100546744413,1.06002938547,0.572972232738,0.0187273990564,1.05969866639
+171,2.850000000,pose1_to_pose2_press,0.603247709256,0.0100547367362,1.06002918917,0.573818436141,0.0187274545388,1.059698471
+172,2.866666667,pose1_to_pose2_press,0.604067382567,0.0100546119221,1.06002920204,0.574638111631,0.0187273372401,1.05969848714
+173,2.883333333,pose1_to_pose2_press,0.60485914573,0.0100544886821,1.0600292346,0.575429876875,0.0187272210417,1.0596985192
+174,2.900000000,pose1_to_pose2_press,0.605621146619,0.0100545770127,1.06002907458,0.576191876044,0.0187273037483,1.05969836487
+175,2.916666667,pose1_to_pose2_press,0.60637273928,0.0100544885242,1.06002925537,0.576943470865,0.0187272223826,1.0596985403
+176,2.933333333,pose1_to_pose2_press,0.607121657852,0.0100545966434,1.06002903134,0.577692388388,0.0187273273009,1.05969832574
+177,2.950000000,pose1_to_pose2_press,0.607873517495,0.0100546359247,1.06002912473,0.578444247004,0.0187273630178,1.05969841723
+178,2.966666667,pose1_to_pose2_press,0.608630633601,0.0100546354222,1.06002908683,0.579201362996,0.0187273620184,1.0596983765
+179,2.983333333,pose1_to_pose2_press,0.609388527627,0.0100545586051,1.06002922602,0.579959258363,0.0187272896353,1.05969851269
+180,3.000000000,pose1_to_pose2_press,0.610112630961,0.0100545029968,1.06002906508,0.58068336148,0.0187272334884,1.05969835707
+181,3.016666667,pose1_to_pose2_press,0.610800622687,0.0100545230324,1.06002920429,0.581371353534,0.0187272544919,1.05969849255
+182,3.033333333,pose1_to_pose2_press,0.611444051934,0.0100546436112,1.06002925432,0.582014781745,0.0187273714247,1.05969853923
+183,3.050000000,pose1_to_pose2_press,0.612048947704,0.010054545742,1.06002920995,0.582619677171,0.0187272723905,1.05969849493
+184,3.066666667,pose1_to_pose2_press,0.612616337694,0.0100545559978,1.06002922171,0.583187068243,0.018727286713,1.0596985169
+185,3.083333333,pose1_to_pose2_press,0.613158975882,0.0100545176356,1.06002909581,0.583729708276,0.0187272546971,1.05969839286
+186,3.100000000,pose1_to_pose2_press,0.613680052441,0.0100545531478,1.06002903291,0.584250783441,0.0187272854008,1.05969832584
+187,3.116666667,pose1_to_pose2_press,0.61418919382,0.0100545114019,1.06002918992,0.584759924072,0.0187272408694,1.05969847388
+188,3.133333333,pose1_to_pose2_press,0.61468924803,0.0100544336176,1.06002941734,0.58525997996,0.0187271688951,1.05969870069
+189,3.150000000,pose1_to_pose2_press,0.615180110411,0.0100546356346,1.06002917465,0.585750837727,0.018727355439,1.0596984584
+190,3.166666667,pose1_to_pose2_press,0.615652900453,0.0100545720007,1.06002911794,0.586223629932,0.0187273001123,1.05969841344
+191,3.183333333,pose1_to_pose2_press,0.616100496254,0.0100543881284,1.06002905342,0.586671229231,0.0187271282859,1.05969833652
+192,3.200000000,pose1_to_pose2_press,0.616513391265,0.0100547656253,1.06002890718,0.587084117924,0.0187274854108,1.05969820169
+193,3.216666667,pose1_to_pose2_press,0.616891207609,0.0100547164662,1.06002941415,0.587461934266,0.018727436516,1.05969869876
+194,3.233333333,pose1_to_pose2_press,0.617234781118,0.0100545264711,1.06002893497,0.587805510229,0.0187272556938,1.05969822613
+195,3.250000000,pose1_to_pose2_press,0.617552438887,0.010054417758,1.06002901907,0.588123168773,0.018727150005,1.05969830825
+196,3.266666667,pose1_to_pose2_press,0.617849169174,0.010054549075,1.06002913153,0.588419897956,0.018727278133,1.05969841936
+197,3.283333333,pose1_to_pose2_press,0.61813061496,0.0100546359647,1.06002906757,0.588701342811,0.0187273623941,1.05969835722
+198,3.300000000,pose1_to_pose2_press,0.61839721026,0.0100545293034,1.06002913206,0.588967939427,0.0187272603726,1.05969841772
+199,3.316666667,pose1_to_pose2_press,0.618645589591,0.0100545283595,1.06002913517,0.589216318924,0.0187272608062,1.05969842966
+200,3.333333333,pose1_to_pose2_press,0.618875443644,0.0100545785261,1.06002918614,0.58944617301,0.0187273116717,1.05969848566
+201,3.350000000,pose1_to_pose2_press,0.619083000091,0.0100545678456,1.06002934093,0.589653729942,0.0187273027492,1.05969863253
+202,3.366666667,pose1_to_pose2_press,0.619270578871,0.010054511492,1.06002919296,0.589841309641,0.0187272498157,1.0596984818
+203,3.383333333,pose1_to_pose2_press,0.619438301733,0.010054624134,1.06002901514,0.59000903045,0.0187273560405,1.0596983095
+204,3.400000000,pose1_to_pose2_press,0.61958974141,0.0100546083556,1.06002909196,0.590160469322,0.0187273377658,1.05969838355
+205,3.416666667,pose1_to_pose2_press,0.619725524197,0.0100544606044,1.06002923227,0.590296253967,0.018727196395,1.05969851813
+206,3.433333333,pose1_to_pose2_press,0.61984645726,0.0100545688244,1.06002921666,0.590417185164,0.0187272986414,1.05969850619
+207,3.450000000,pose1_to_pose2_press,0.619952976661,0.0100546078655,1.06002904562,0.59052370277,0.018727331755,1.05969833344
+208,3.466666667,pose1_to_pose2_press,0.620043706237,0.0100545627171,1.06002919364,0.590614433757,0.018727291542,1.05969847603
+209,3.483333333,pose1_to_pose2_press,0.620120075787,0.0100545786584,1.06002930228,0.590690803034,0.0187273069017,1.05969858618
+210,3.500000000,pose1_to_pose2_press,0.620182120084,0.0100545538347,1.06002916216,0.59075284631,0.0187272787895,1.05969844961
+211,3.516666667,pose1_to_pose2_press,0.620232872172,0.0100545579761,1.06002920057,0.590803599816,0.0187272878752,1.05969849016
+212,3.533333333,pose1_to_pose2_press,0.620273454063,0.010054601325,1.06002927844,0.590844182596,0.0187273343676,1.05969856691
+213,3.550000000,pose1_to_pose2_press,0.620305463274,0.0100546395181,1.06002925489,0.590876190431,0.0187273679152,1.05969854234
+214,3.566666667,pose1_to_pose2_press,0.620330390727,0.010054552626,1.06002915303,0.590901119925,0.0187272878168,1.05969844416
+215,3.583333333,pose1_to_pose2_press,0.620348996563,0.010054627294,1.06002914212,0.59091972327,0.0187273542762,1.05969843392
+216,3.600000000,pose1_to_pose2_press,0.620363272294,0.01005459666,1.06002918131,0.590934001038,0.0187273303534,1.05969846539
+217,3.616666667,pose1_to_pose2_press,0.620373650005,0.0100546757957,1.06002922656,0.590944376943,0.0187274035328,1.05969851502
+218,3.633333333,pose1_to_pose2_press,0.620380559153,0.0100547288619,1.06002921373,0.590951284072,0.0187274499491,1.05969850792
+219,3.650000000,pose1_to_pose2_press,0.620384862676,0.0100546426745,1.06002909243,0.590955588449,0.0187273665817,1.05969838498
+220,3.666666667,pose1_to_pose2_press,0.620387624613,0.0100545713435,1.06002903383,0.590958351365,0.018727298518,1.05969832474
+221,3.683333333,pose1_to_pose2_press,0.620389052911,0.0100545038118,1.06002904036,0.590959780995,0.0187272354643,1.05969832927
+222,3.700000000,pose1_to_pose2_press,0.62038923455,0.0100544952237,1.06002904119,0.590959962803,0.0187272274457,1.05969832984
+223,3.716666667,pose1_to_pose2_press,0.620389543554,0.0100544806137,1.06002904261,0.590960272096,0.0187272138044,1.05969833082
+224,3.733333333,pose1_to_pose2_press,0.620389944813,0.0100544616416,1.06002904444,0.590960673729,0.0187271960904,1.0596983321
+225,3.750000000,pose1_to_pose2_press,0.620390126783,0.0100544530379,1.06002904527,0.590960855869,0.0187271880572,1.05969833267
+226,3.766666667,pose1_to_pose2_press,0.62039021994,0.0100544486333,1.0600290457,0.590960949113,0.0187271839447,1.05969833297
+227,3.783333333,pose1_to_pose2_press,0.620391021495,0.0100544107348,1.06002904936,0.590961751415,0.0187271485592,1.05969833551
+228,3.800000000,pose1_to_pose2_press,0.620391874412,0.0100543704078,1.06002905326,0.590962605128,0.0187271109063,1.05969833822
+229,3.816666667,pose1_to_pose2_press,0.620392451559,0.010054415881,1.0600290209,0.590963181622,0.0187271541966,1.05969830808
+230,3.833333333,pose1_to_pose2_press,0.620393073268,0.0100544713689,1.06002898291,0.590963802519,0.0187272069761,1.05969827276
+231,3.850000000,pose1_to_pose2_press,0.620393470826,0.0100545068514,1.06002895862,0.59096419956,0.0187272407267,1.05969825018
+232,3.866666667,pose1_to_pose2_press,0.620393512475,0.0100545105686,1.06002895608,0.590964241154,0.0187272442624,1.05969824781
+233,3.883333333,pose1_to_pose2_press,0.620393679164,0.0100545254457,1.06002894589,0.590964407625,0.0187272584134,1.05969823834
+234,3.900000000,pose1_to_pose2_press,0.620393895968,0.0100545447956,1.06002893264,0.590964624147,0.0187272768188,1.05969822603
+235,3.916666667,pose1_to_pose2_press,0.62039400878,0.0100545548642,1.06002892575,0.590964736812,0.018727286396,1.05969821962
+236,3.933333333,pose1_to_pose2_press,0.620394427856,0.010054592267,1.06002890014,0.590965155341,0.0187273219731,1.05969819581
+237,3.950000000,pose1_to_pose2_press,0.620394677828,0.0100546053319,1.06002889734,0.590965405168,0.0187273345485,1.05969819336
+238,3.966666667,pose1_to_pose2_press,0.620394980476,0.0100545940401,1.06002893049,0.590965708167,0.0187273244215,1.05969822484
+239,3.983333333,pose1_to_pose2_press,0.620395649999,0.01005456906,1.06002900384,0.590966378469,0.0187273020184,1.05969829448
+240,4.000000000,pose1_to_pose2_press,0.62039612953,0.0100545670141,1.06002912648,0.59096685759,0.0187272985574,1.0596984163
+241,4.016666667,pose1_to_pose2_press,0.620396158736,0.0100545678134,1.06002913804,0.590966886714,0.0187272990805,1.05969842791
+242,4.033333333,pose1_to_pose2_press,0.62039621697,0.0100545694074,1.06002916109,0.590966944786,0.0187273001235,1.05969845107
+243,4.050000000,pose1_to_pose2_press,0.620396384207,0.0100545739849,1.06002922727,0.590967111556,0.0187273031187,1.05969851758
+244,4.066666667,pose1_to_pose2_press,0.620396568258,0.0100543528938,1.06002905497,0.590967298694,0.0187270922096,1.05969833788
+245,4.083333333,pose2_hold,0.620396568258,0.0100543528938,1.06002905497,0.590967298698,0.0187270922077,1.05969833788
+246,4.100000000,pose2_hold,0.620396568258,0.0100543528938,1.06002905497,0.590967298698,0.0187270922077,1.05969833788
+247,4.116666667,pose2_hold,0.620396568258,0.0100543528938,1.06002905497,0.590967298698,0.0187270922076,1.05969833788
+248,4.133333333,pose2_hold,0.620396568258,0.0100543528938,1.06002905497,0.590967298699,0.0187270922072,1.05969833788
+249,4.150000000,pose2_hold,0.620396568258,0.0100543528938,1.06002905497,0.590967298699,0.0187270922073,1.05969833788
+250,4.166666667,pose2_hold,0.620396568258,0.0100543528938,1.06002905497,0.590967298699,0.0187270922077,1.05969833788
+251,4.183333333,pose2_hold,0.620396568258,0.0100543528938,1.06002905497,0.590967298699,0.0187270922084,1.05969833788
+252,4.200000000,pose2_hold,0.620396568258,0.0100543528938,1.06002905497,0.590967298699,0.0187270922076,1.05969833788
+253,4.216666667,pose2_hold,0.620396568258,0.0100543528938,1.06002905497,0.590967298699,0.0187270922078,1.05969833788
+254,4.233333333,pose2_hold,0.620396568258,0.0100543528938,1.06002905497,0.590967298699,0.0187270922086,1.05969833788
+255,4.250000000,pose2_hold,0.620396568258,0.0100543528938,1.06002905497,0.590967298699,0.0187270922085,1.05969833788
+256,4.266666667,pose2_hold,0.620396568258,0.0100543528938,1.06002905497,0.590967298699,0.0187270922089,1.05969833788
+257,4.283333333,pose2_hold,0.620396568258,0.0100543528938,1.06002905497,0.590967298699,0.0187270922087,1.05969833788
+258,4.300000000,pose2_hold,0.620396568258,0.0100543528938,1.06002905497,0.590967298699,0.0187270922087,1.05969833788
+259,4.316666667,pose2_hold,0.620396568258,0.0100543528938,1.06002905497,0.590967298699,0.0187270922087,1.05969833788
+260,4.333333333,pose2_hold,0.620396568258,0.0100543528938,1.06002905497,0.590967298699,0.0187270922088,1.05969833788
+261,4.350000000,pose2_to_pose3_retreat,0.620396568258,0.0100543528938,1.06002905497,0.5909672987,0.0187270922092,1.05969833788
+262,4.366666667,pose2_to_pose3_retreat,0.620396540274,0.0100544214529,1.06002910588,0.590967269606,0.0187271570983,1.0596983913
+263,4.383333333,pose2_to_pose3_retreat,0.620396524238,0.0100544607414,1.06002913506,0.590967252934,0.0187271942837,1.05969842192
+264,4.400000000,pose2_to_pose3_retreat,0.620396521134,0.0100544683475,1.06002914071,0.590967249707,0.0187272014827,1.05969842784
+265,4.416666667,pose2_to_pose3_retreat,0.620396504323,0.0100544954198,1.06002915408,0.590967232495,0.0187272272382,1.05969844235
+266,4.433333333,pose2_to_pose3_retreat,0.620396306408,0.0100545883405,1.06002903602,0.590967034115,0.0187273188604,1.0596983318
+267,4.450000000,pose2_to_pose3_retreat,0.620395619798,0.010054703785,1.06002885228,0.590966346716,0.0187274319614,1.05969815688
+268,4.466666667,pose2_to_pose3_retreat,0.62039300867,0.0100545110579,1.06002930601,0.590963738623,0.0187272487979,1.05969859144
+269,4.483333333,pose2_to_pose3_retreat,0.620385607325,0.0100545601764,1.06002918609,0.590956335184,0.0187272908937,1.05969847569
+270,4.500000000,pose2_to_pose3_retreat,0.620369591113,0.0100547187487,1.0600291723,0.590940318355,0.0187274473789,1.0596984628
+271,4.516666667,pose2_to_pose3_retreat,0.620342854103,0.0100545833443,1.06002893504,0.590913581366,0.0187273116358,1.05969821998
+272,4.533333333,pose2_to_pose3_retreat,0.620303435517,0.0100545292743,1.06002907066,0.590874164401,0.0187272632629,1.05969836066
+273,4.550000000,pose2_to_pose3_retreat,0.62025254216,0.0100546296012,1.06002900054,0.590823268737,0.0187273561719,1.05969829839
+274,4.566666667,pose2_to_pose3_retreat,0.62019074863,0.0100544973499,1.06002936822,0.590761476542,0.0187272271323,1.05969865437
+275,4.583333333,pose2_to_pose3_retreat,0.620120183578,0.0100547355948,1.0600290657,0.590690909704,0.018727459897,1.0596983551
+276,4.600000000,pose2_to_pose3_retreat,0.620040713802,0.0100545915429,1.06002925776,0.590611441538,0.0187273204585,1.05969854998
+277,4.616666667,pose2_to_pose3_retreat,0.619948531289,0.0100543188906,1.06002926991,0.590519263027,0.0187270618302,1.05969855857
+278,4.633333333,pose2_to_pose3_retreat,0.619842584403,0.0100546943567,1.06002925514,0.590413311066,0.0187274200285,1.05969854662
+279,4.650000000,pose2_to_pose3_retreat,0.619715534831,0.0100544707111,1.0600291416,0.590286265598,0.01872721002,1.05969843309
+280,4.666666667,pose2_to_pose3_retreat,0.619568129566,0.0100546527063,1.06002904037,0.590138858412,0.018727385037,1.05969832997
+281,4.683333333,pose2_to_pose3_retreat,0.619398670218,0.0100544606324,1.06002917548,0.58996940084,0.0187271984807,1.05969845927
+282,4.700000000,pose2_to_pose3_retreat,0.619208942948,0.0100546424997,1.06002914678,0.589779669898,0.0187273677583,1.05969843952
+283,4.716666667,pose2_to_pose3_retreat,0.618998445518,0.0100545886994,1.06002915113,0.589569174762,0.0187273210538,1.05969844196
+284,4.733333333,pose2_to_pose3_retreat,0.618768207688,0.0100545349685,1.06002917071,0.589338935732,0.0187272628315,1.05969845624
+285,4.750000000,pose2_to_pose3_retreat,0.618517219619,0.0100546621231,1.06002883421,0.589087946628,0.0187273869164,1.05969814294
+286,4.766666667,pose2_to_pose3_retreat,0.618241481979,0.0100547134382,1.06002936195,0.588812210337,0.0187274416687,1.05969865368
+287,4.783333333,pose2_to_pose3_retreat,0.617943267968,0.0100545116817,1.06002928458,0.588513995678,0.0187272370961,1.05969857305
+288,4.800000000,pose2_to_pose3_retreat,0.617622893252,0.0100545360932,1.06002916744,0.588193622398,0.0187272658455,1.05969845607
+289,4.816666667,pose2_to_pose3_retreat,0.617279592907,0.0100545945866,1.06002904249,0.587850322293,0.0187273247132,1.0596983348
+290,4.833333333,pose2_to_pose3_retreat,0.616913396106,0.0100545132336,1.0600291277,0.587484126873,0.0187272473049,1.05969841768
+291,4.850000000,pose2_to_pose3_retreat,0.616524534894,0.0100545661409,1.06002914601,0.587095264921,0.018727297223,1.05969843858
+292,4.866666667,pose2_to_pose3_retreat,0.616111832581,0.0100544999096,1.06002897027,0.586682562806,0.0187272311074,1.05969826493
+293,4.883333333,pose2_to_pose3_retreat,0.615670248336,0.0100545428601,1.06002905241,0.5862409779,0.0187272711204,1.0596983454
+294,4.900000000,pose2_to_pose3_retreat,0.615199479146,0.010054577131,1.06002900237,0.585770209387,0.0187273071377,1.05969829521
+295,4.916666667,pose2_to_pose3_retreat,0.6146965256,0.0100546491092,1.06002903952,0.585267254439,0.0187273739125,1.0596983314
+296,4.933333333,pose2_to_pose3_retreat,0.614157487175,0.0100546015736,1.06002906355,0.584728216436,0.0187273278445,1.05969835939
+297,4.950000000,pose2_to_pose3_retreat,0.613584017638,0.0100545907912,1.06002909833,0.58415474691,0.0187273169193,1.05969838862
+298,4.966666667,pose2_to_pose3_retreat,0.612987427168,0.0100546318548,1.06002916202,0.583558156088,0.0187273567189,1.05969845014
+299,4.983333333,pose2_to_pose3_retreat,0.612372037633,0.0100546474003,1.06002902531,0.58294276623,0.0187273712645,1.05969831553
+300,5.000000000,pose2_to_pose3_retreat,0.611738813436,0.0100546756674,1.0600289665,0.582309541767,0.0187273987246,1.05969825939
+301,5.016666667,pose2_to_pose3_retreat,0.611089897933,0.0100546158152,1.06002908295,0.58166062745,0.0187273428724,1.05969837569
+302,5.033333333,pose2_to_pose3_retreat,0.610422904166,0.0100545204462,1.06002922829,0.580993634918,0.0187272514038,1.05969851356
+303,5.050000000,pose2_to_pose3_retreat,0.609716475972,0.0100545265967,1.06002924318,0.580287207097,0.0187272587847,1.05969852757
+304,5.066666667,pose2_to_pose3_retreat,0.608974854527,0.0100545356469,1.06002923168,0.57954558433,0.0187272633193,1.0596985155
+305,5.083333333,pose2_to_pose3_retreat,0.6082062808,0.0100544799854,1.06002923926,0.578777011176,0.0187272096632,1.05969852485
+306,5.100000000,pose2_to_pose3_retreat,0.607409866302,0.0100544855132,1.06002908917,0.577980598104,0.0187272202697,1.05969838032
+307,5.116666667,pose2_to_pose3_retreat,0.606577376815,0.0100545684057,1.0600290132,0.577148107787,0.0187273004777,1.0596983077
+308,5.133333333,pose2_to_pose3_retreat,0.605737028013,0.0100545956655,1.06002896666,0.576307759208,0.0187273283347,1.05969825743
+309,5.150000000,pose2_to_pose3_retreat,0.604891454801,0.0100545329782,1.06002912176,0.575462186224,0.0187272664156,1.05969841219
+310,5.166666667,pose2_to_pose3_retreat,0.604038974304,0.0100545692244,1.0600291134,0.574609704348,0.0187272981916,1.05969840924
+311,5.183333333,pose2_to_pose3_retreat,0.603187413385,0.0100544933246,1.06002909692,0.57375814454,0.0187272258848,1.05969838807
+312,5.200000000,pose2_to_pose3_retreat,0.602346139813,0.0100544703981,1.06002912424,0.572916871233,0.0187272040157,1.05969841958
+313,5.216666667,pose2_to_pose3_retreat,0.60149781904,0.0100545775124,1.06002914507,0.572068549454,0.0187273075624,1.0596984363
+314,5.233333333,pose2_to_pose3_retreat,0.600635093444,0.0100546247469,1.06002916028,0.571205823542,0.0187273535859,1.05969844781
+315,5.250000000,pose2_to_pose3_retreat,0.599748973684,0.0100545858833,1.06002927046,0.570319704245,0.0187273164107,1.05969856096
+316,5.266666667,pose2_to_pose3_retreat,0.598839632419,0.0100545471553,1.06002926095,0.569410363808,0.0187272804981,1.05969855157
+317,5.283333333,pose2_to_pose3_retreat,0.59790844523,0.0100545779317,1.06002915113,0.568479175414,0.0187273072409,1.05969844199
+318,5.300000000,pose2_to_pose3_retreat,0.59697872615,0.0100545856794,1.06002921739,0.567549455125,0.0187273109568,1.05969851013
+319,5.316666667,pose2_to_pose3_retreat,0.596074920817,0.0100545362432,1.06002919546,0.566645649856,0.0187272615616,1.05969848348
+320,5.333333333,pose2_to_pose3_retreat,0.595203722115,0.0100544853103,1.06002908282,0.565774452873,0.0187272163496,1.05969836847
+321,5.350000000,pose2_to_pose3_retreat,0.594366070169,0.0100544257149,1.0600289202,0.564936803002,0.0187271642128,1.05969821716
+322,5.366666667,pose2_to_pose3_retreat,0.593543090218,0.0100545067621,1.06002910525,0.564113822339,0.0187272425544,1.05969839437
+323,5.383333333,pose2_to_pose3_retreat,0.592718783567,0.0100546153904,1.06002925221,0.563289514188,0.0187273457801,1.05969853249
+324,5.400000000,pose2_to_pose3_retreat,0.591875228127,0.0100545460868,1.0600290323,0.562445958625,0.0187272764646,1.05969832276
+325,5.416666667,pose2_to_pose3_retreat,0.591014560211,0.0100545312118,1.06002894813,0.561585290477,0.0187272610147,1.05969824414
+326,5.433333333,pose2_to_pose3_retreat,0.590138322022,0.0100545321505,1.06002901474,0.560709052896,0.0187272639026,1.05969830764
+327,5.450000000,pose2_to_pose3_retreat,0.58929578342,0.0100545678161,1.060029081,0.559866514492,0.018727300316,1.05969837588
+328,5.466666667,pose2_to_pose3_retreat,0.588493233265,0.0100545349393,1.0600291438,0.559063963654,0.018727264993,1.05969843527
+329,5.483333333,pose2_to_pose3_retreat,0.587733926974,0.0100544279419,1.06002914098,0.558304659136,0.0187271640469,1.05969843334
+330,5.500000000,pose2_to_pose3_retreat,0.587011612709,0.0100545054819,1.06002923345,0.557582343944,0.0187272382871,1.05969852176
+331,5.516666667,pose2_to_pose3_retreat,0.586317713868,0.010054512764,1.06002908484,0.55688844469,0.0187272442684,1.05969837579
+332,5.533333333,pose2_to_pose3_retreat,0.585627913436,0.0100545498194,1.06002902068,0.556198644075,0.0187272807725,1.05969831341
+333,5.550000000,pose2_to_pose3_retreat,0.584937346074,0.0100546057132,1.06002918074,0.555508076544,0.0187273358292,1.05969846657
+334,5.566666667,pose2_to_pose3_retreat,0.58425565951,0.0100545822366,1.06002914347,0.554826390269,0.0187273135742,1.05969843557
+335,5.583333333,pose2_to_pose3_retreat,0.583591473327,0.0100546127261,1.06002918807,0.554162203298,0.0187273415133,1.05969848338
+336,5.600000000,pose2_to_pose3_retreat,0.582961491521,0.0100545499191,1.06002920374,0.55353222208,0.0187272804931,1.05969849361
+337,5.616666667,pose2_to_pose3_retreat,0.582362844466,0.0100545045952,1.06002916328,0.552933574714,0.0187272340298,1.05969845096
+338,5.633333333,pose2_to_pose3_retreat,0.581794782398,0.0100545263419,1.06002907237,0.552365512352,0.018727254978,1.05969836521
+339,5.650000000,pose2_to_pose3_retreat,0.581255327789,0.0100545290232,1.06002904571,0.551826058304,0.0187272593511,1.05969833361
+340,5.666666667,pose2_to_pose3_retreat,0.580746539193,0.0100545587626,1.06002896167,0.55131726983,0.0187272896151,1.05969825252
+341,5.683333333,pose2_to_pose3_retreat,0.580271827032,0.0100545377617,1.06002881337,0.550842557574,0.0187272685168,1.0596981102
+342,5.700000000,pose2_to_pose3_retreat,0.579831089077,0.010054640547,1.0600288896,0.550401819026,0.018727369346,1.059698188
+343,5.716666667,pose2_to_pose3_retreat,0.579425305942,0.0100546390253,1.06002922065,0.549996036398,0.0187273692058,1.05969851018
+344,5.733333333,pose2_to_pose3_retreat,0.579044066787,0.0100546020598,1.06002937117,0.54961479756,0.0187273331408,1.05969865611
+345,5.750000000,pose2_to_pose3_retreat,0.578684089725,0.0100546862694,1.06002928103,0.549254820025,0.0187274159197,1.05969857033
+346,5.766666667,pose2_to_pose3_retreat,0.57833965903,0.0100546519945,1.06002923811,0.548910389472,0.0187273820309,1.05969852468
+347,5.783333333,pose2_to_pose3_retreat,0.57801221753,0.0100546107209,1.06002903363,0.548582947093,0.0187273380674,1.05969832789
+348,5.800000000,pose2_to_pose3_retreat,0.577708155096,0.0100545817089,1.0600289408,0.548278884134,0.0187273073192,1.05969823636
+349,5.816666667,pose2_to_pose3_retreat,0.577428546325,0.0100545967746,1.06002905857,0.547999276487,0.018727326256,1.05969835567
+350,5.833333333,pose2_to_pose3_retreat,0.577176846141,0.0100545729371,1.06002897938,0.547747577697,0.018727307308,1.05969828074
+351,5.850000000,pose2_to_pose3_retreat,0.576951141025,0.0100545233032,1.06002910084,0.547521872226,0.0187272561076,1.05969839267
+352,5.866666667,pose2_to_pose3_retreat,0.576750942928,0.0100546272318,1.06002927167,0.54732167254,0.0187273545454,1.05969856084
+353,5.883333333,pose2_to_pose3_retreat,0.576575123341,0.0100546451702,1.06002934293,0.547145853273,0.0187273736151,1.0596986334
+354,5.900000000,pose2_to_pose3_retreat,0.576420804265,0.0100546086575,1.06002923761,0.546991534647,0.0187273387055,1.05969853004
+355,5.916666667,pose2_to_pose3_retreat,0.57628664599,0.0100545520803,1.06002912648,0.546857376089,0.0187272812622,1.05969842139
+356,5.933333333,pose2_to_pose3_retreat,0.57617060435,0.0100545300341,1.06002913887,0.546741335362,0.0187272622287,1.05969843229
+357,5.950000000,pose2_to_pose3_retreat,0.576073247468,0.0100546389244,1.06002929835,0.546643975996,0.0187273625899,1.05969858927
+358,5.966666667,pose2_to_pose3_retreat,0.575990446356,0.0100546458666,1.06002938957,0.546561175416,0.0187273713579,1.05969868082
+359,5.983333333,pose2_to_pose3_retreat,0.575921652724,0.0100545343662,1.06002925868,0.546492384237,0.0187272680105,1.05969854532
+360,6.000000000,pose2_to_pose3_retreat,0.57586595225,0.0100545466937,1.06002917153,0.54643668325,0.0187272786017,1.0596984582
+361,6.016666667,pose2_to_pose3_retreat,0.575821791743,0.010054583207,1.06002916715,0.546392522444,0.0187273140919,1.05969845361
+362,6.033333333,pose2_to_pose3_retreat,0.575788664715,0.0100546579074,1.06002917453,0.546359394336,0.018727385061,1.0596984592
+363,6.050000000,pose2_to_pose3_retreat,0.575763618804,0.0100546481091,1.06002908311,0.546334348194,0.01872737468,1.05969837305
+364,6.066666667,pose2_to_pose3_retreat,0.575745853077,0.0100545608929,1.06002913038,0.546316583412,0.0187272907356,1.05969842208
+365,6.083333333,pose2_to_pose3_retreat,0.575733409287,0.0100545202468,1.06002926512,0.546304140105,0.0187272515003,1.05969855092
+366,6.100000000,pose2_to_pose3_retreat,0.575725129064,0.0100545671494,1.06002920911,0.546295859335,0.0187272963053,1.05969848867
+367,6.116666667,pose2_to_pose3_retreat,0.575719644321,0.0100545713064,1.06002919193,0.546290375235,0.018727302707,1.05969847314
+368,6.133333333,pose2_to_pose3_retreat,0.575716182402,0.0100545735372,1.06002917145,0.546286913682,0.0187273063523,1.05969845726
+369,6.150000000,pose2_to_pose3_retreat,0.575714389948,0.010054575542,1.06002914967,0.546285121326,0.0187273089158,1.05969844138
+370,6.166666667,pose2_to_pose3_retreat,0.575713322806,0.0100545767356,1.06002913671,0.546284054242,0.018727310442,1.05969843192
+371,6.183333333,pose2_to_pose3_retreat,0.575712880081,0.0100545772308,1.06002913133,0.546283611541,0.0187273110751,1.059698428
+372,6.200000000,pose2_to_pose3_retreat,0.575712650641,0.0100545761314,1.06002914906,0.546283382108,0.0187273099891,1.05969844546
+373,6.216666667,pose2_to_pose3_retreat,0.575712630977,0.0100545759912,1.06002915127,0.546283362445,0.0187273098481,1.05969844762
+374,6.233333333,pose2_to_pose3_retreat,0.57571241746,0.0100545744689,1.06002917532,0.546283148932,0.0187273083168,1.05969847105
+375,6.250000000,pose2_to_pose3_retreat,0.575712195,0.0100545728828,1.06002920037,0.546282926477,0.0187273067215,1.05969849546
+376,6.266666667,pose2_to_pose3_retreat,0.575712046606,0.0100545718248,1.06002921709,0.546282778085,0.0187273056573,1.05969851174
+377,6.283333333,pose2_to_pose3_retreat,0.575712030475,0.0100545717098,1.06002921891,0.546282761955,0.0187273055416,1.05969851351
+378,6.300000000,pose2_to_pose3_retreat,0.575711940649,0.0100545710694,1.06002922902,0.546282672131,0.0187273048974,1.05969852337
+379,6.316666667,pose2_to_pose3_retreat,0.57571190972,0.0100545708489,1.06002923251,0.546282641202,0.0187273046756,1.05969852676
+380,6.333333333,pose2_to_pose3_retreat,0.575711898108,0.0100545707661,1.06002923381,0.54628262959,0.0187273045923,1.05969852803
+381,6.350000000,pose2_to_pose3_retreat,0.575711869841,0.0100545705646,1.060029237,0.546282601324,0.0187273043896,1.05969853114
+382,6.366666667,pose2_to_pose3_retreat,0.575711823926,0.0100545702372,1.06002924217,0.54628255541,0.0187273040603,1.05969853617
+383,6.383333333,pose2_to_pose3_retreat,0.575711609776,0.0100545687104,1.06002926629,0.546282341264,0.0187273025245,1.05969855967
+384,6.400000000,pose2_to_pose3_retreat,0.575711529227,0.0100545681361,1.06002927536,0.546282260717,0.0187273019469,1.05969856851
+385,6.416666667,pose2_to_pose3_retreat,0.575711492891,0.0100545678771,1.06002927945,0.546282224381,0.0187273016863,1.0596985725
+386,6.433333333,pose2_to_pose3_retreat,0.575711453336,0.0100545675951,1.06002928391,0.546282184827,0.0187273014026,1.05969857684
+387,6.450000000,pose2_to_pose3_retreat,0.575711259187,0.0100545662109,1.06002930577,0.546281990682,0.0187273000103,1.05969859814
+388,6.466666667,pose2_to_pose3_retreat,0.575710847001,0.0100545632721,1.0600293522,0.546281578504,0.0187272970543,1.05969864336
+389,6.483333333,pose2_to_pose3_retreat,0.575710720949,0.0100545623734,1.06002936639,0.546281452455,0.0187272961503,1.0596986572
+390,6.500000000,pose2_to_pose3_retreat,0.575710577049,0.0100545672499,1.06002937639,0.546281308425,0.01872730057,1.0596986667
+391,6.516666667,pose2_to_pose3_retreat,0.575710270982,0.0100546204766,1.06002935256,0.546281001125,0.0187273495522,1.05969864129
+392,6.533333333,pose2_to_pose3_retreat,0.575709882372,0.0100546880578,1.0600293223,0.54628061095,0.0187274117445,1.05969860902
+393,6.550000000,pose2_to_pose3_retreat,0.575709576817,0.0100547251895,1.06002928703,0.546280304414,0.0187274455174,1.05969857296
+394,6.566666667,pose2_to_pose3_retreat,0.575709382099,0.0100546403599,1.06002918674,0.546280110766,0.0187273645026,1.05969847757
+395,6.583333333,pose2_to_pose3_retreat,0.575709256096,0.010054676733,1.06002920714,0.546279984459,0.0187273998773,1.05969849888
+396,6.600000000,pose2_to_pose3_retreat,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+397,6.616666667,pose2_to_pose3_retreat,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_11/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_11/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..93c95b299045a9c8ff93bc1c09742693291e3afa
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_11/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:736c304c8609a2f8a4ff042fac3bb74fa25b59811301498d53ad81e4f73f86b6
+size 25572394
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_11/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_11/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c6e8d797bd8641832803f958e04f7e63838e492b
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_11/depth_04/franka_data.csv
@@ -0,0 +1,403 @@
+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,763,742,711,673,661,632,877,785,799,650,629,651,0.400951697294,0.004466593897,0.0698171480502,0.999999955982,4.27477298808e-05,-0.000291718250775,3.33014721295e-05,1793193639153581824
+1,0.016666667,BASELINE,763.579278186,742,711,673,661,632,877.579278186,784.420721814,799,650,629,651,0.400951061253,0.00446530359584,0.069817429907,0.999999955952,4.03690846983e-05,-0.000292157914556,3.33190970194e-05,1793193639170248448
+2,0.033333333,BASELINE,764,742,711.157210287,673,661,632,878,784,799.157210287,650,629,651,0.400950579522,0.00446468413196,0.0698175655813,0.999999955899,3.9287317563e-05,-0.000292491851866,3.32809466096e-05,1793193639186915328
+3,0.050000000,BASELINE,764,742,711.731570741,673,661,632,878,784,799.731570741,650,629,651,0.400950507247,0.00446584470326,0.0698173133675,0.999999955794,4.16467553296e-05,-0.000292545249015,3.30947990468e-05,1793193639203582976
+4,0.066666667,BASELINE,764.30413066,742,712,672.69586934,661,632,878,784,799.69586934,650,629,651,0.400950977447,0.00446627132928,0.0698175618046,0.999999956068,4.28660218136e-05,-0.000291442423203,3.29669149777e-05,1793193639220249600
+5,0.083333333,BASELINE,764.875110724,742,712,672.124889276,661,632,878,784,799.124889276,650,629,651,0.400951923626,0.00446605397917,0.0698182495214,0.999999956676,4.30848825102e-05,-0.000289325107723,3.28901522984e-05,1793193639236915712
+6,0.100000000,BASELINE,764.532737156,742,711.532737156,672.467262844,660.532737156,632,877.532737156,784,799.467262844,650,629,651,0.40095112458,0.00446473424519,0.0698176971066,0.99999995657,4.02028460398e-05,-0.000290097176711,3.29636862302e-05,1793193639253582336
+7,0.116666667,BASELINE,764,742,711,673,660.062924471,632,877.062924471,784,800,650,629.062924471,650.937075529,0.400950132951,0.00446350067875,0.0698170298931,0.999999956335,3.72514392707e-05,-0.000291290245819,3.30454517863e-05,1793193639270249216
+8,0.133333333,BASELINE,764,742,711,673,660.638872958,632,877.638872958,784,800,650,629.638872958,650.361127042,0.400951554747,0.00446548588193,0.0698182573848,0.999999956774,4.08124034207e-05,-0.000289320574286,3.285127059e-05,1793193639286916096
+9,0.150000000,BASELINE,764,742,711,673,661,632,878,784,799.785777501,650,629.785777501,650.214222499,0.400952105209,0.00446648813237,0.0698186653224,0.999999956866,4.19733827163e-05,-0.000288833974376,3.28735569007e-05,1793193639303582720
+10,0.166666667,BASELINE,764,742,711,673,661,632,878,784,799.211434881,650,629.211434881,650.788565119,0.400951190908,0.0044658379835,0.0698176955433,0.999999956388,3.90998515467e-05,-0.000290840501843,3.32597373381e-05,1793193639320249088
+11,0.183333333,BASELINE,764,742,711,673,661,632,878,784,799,650,629,651,0.400950640731,0.00446557430487,0.0698176250481,0.999999956366,3.77744401053e-05,-0.000291111316065,3.30850731632e-05,1793193639336915456
+12,0.200000000,BASELINE,764,742,711,673,661,632,878,784,799,650,629,651,0.400950302698,0.00446553578892,0.0698180784876,0.999999956614,3.73509837916e-05,-0.000290370880567,3.25836534015e-05,1793193639353581824
+13,0.216666667,BASELINE,763.455902574,742,711,673,661,632,878,784,799,650,629,651,0.400951053728,0.00446520772056,0.0698181577628,0.999999956646,3.83786778047e-05,-0.000290103200088,3.27840431241e-05,1793193639370248448
+14,0.233333333,BASELINE,763,742,711,673,661,632.121855624,878,784,799.243711248,649.878144376,628.878144376,651,0.400951662288,0.00446505418106,0.0698182527954,0.999999956674,3.93585429009e-05,-0.000289854791935,3.29809194157e-05,1793193639386915328
+15,0.250000000,BASELINE,763,742,711,673,661,632.693490459,878,784,800.386980919,649.306509541,628.306509541,651,0.400951484032,0.00446561422003,0.0698184956409,0.999999956739,3.98141655763e-05,-0.000289564245204,3.29966706579e-05,1793193639403582464
+16,0.266666667,BASELINE,763.274105593,742,711,672.725894407,661,633,877.725894407,784,800.725894407,649.274105593,628.274105593,651,0.400951044618,0.00446587224577,0.0698183579358,0.99999995667,3.97256483012e-05,-0.000289821083147,3.29341028671e-05,1793193639420249344
+17,0.283333333,BASELINE,763.865102753,742,711,672.134897247,661,633,877.134897247,784,800.134897247,649.865102753,628.865102753,651,0.400950303281,0.00446578111607,0.0698177802786,0.999999956446,3.90080545917e-05,-0.000290710748716,3.27809909867e-05,1793193639436916224
+18,0.300000000,BASELINE,764,742.446682697,711.446682697,672.446682697,660.553317303,633,877.893365395,784,800,649.553317303,629,651,0.400950932727,0.00446630039007,0.069818317582,0.999999956512,3.98631380855e-05,-0.000290378717034,3.26627593657e-05,1793193639453582848
+19,0.316666667,BASELINE,764,743,711.974566405,672.974566405,660.050867191,632.974566405,878.974566405,784,800,649,629,651,0.400951898011,0.0044669524841,0.069819129183,0.999999956658,4.1118371566e-05,-0.000289710188585,3.25729515275e-05,1793193639470249472
+20,0.333333333,BASELINE,764,743,711.396766279,672.396766279,661.206467442,632.396766279,878.396766279,784,800,649,629,651,0.400951351975,0.0044665683154,0.0698187361724,0.999999956692,4.09621764224e-05,-0.000289581036083,3.28764023548e-05,1793193639486915840
+21,0.350000000,BASELINE,764,743,711.17930946,672,661.82069054,632,878,784,800,649.17930946,629,651,0.400951637871,0.00446619102237,0.0698188272098,0.999999956903,4.01424863657e-05,-0.000288950975828,3.30023937306e-05,1793193639503582208
+22,0.366666667,BASELINE,764,743,711.751605841,672,661.248394159,632,878,784,800,649.751605841,629,651,0.400953747085,0.00446582879857,0.0698199791201,0.999999957498,3.78686353395e-05,-0.000287223091776,3.27394527524e-05,1793193639520248832
+23,0.383333333,BASELINE,764,742.665857869,711.665857869,672,661,632,878,784,799.665857869,649.665857869,629,651,0.400953450453,0.00446540167393,0.0698196759629,0.999999957343,3.84201650993e-05,-0.000287683783197,3.28039568201e-05,1793193639536915456
+24,0.400000000,BASELINE,764,742.075468733,711.075468733,672,661,632,878,784,799.075468733,649.075468733,629,651,0.400951308826,0.00446492477806,0.0698182569434,0.999999956607,4.11384233729e-05,-0.00028982284976,3.31195720018e-05,1793193639553582592
+25,0.416666667,BASELINE,764,742.507077629,711,672.507077629,661,632.507077629,878,784.507077629,799.507077629,649,629,651,0.400951370894,0.00446450962635,0.0698180574136,0.999999956655,3.89465235491e-05,-0.000289985045298,3.29053984467e-05,1793193639570249472
+26,0.433333333,BASELINE,764,742.912511495,711,673,661.087488505,632.912511495,878,784.912511495,799.912511495,649.087488505,629,651,0.400951949009,0.00446428918347,0.0698182697982,0.999999956889,3.6820876547e-05,-0.000289480642476,3.2653558221e-05,1793193639586916352
+27,0.450000000,BASELINE,764,742.337593852,711,673,661.662406148,632.337593852,878,784.337593852,799.337593852,649.662406148,629,651,0.400953602758,0.00446510311396,0.0698197813178,0.999999957555,3.90737788263e-05,-0.000286876617798,3.26244672968e-05,1793193639603583232
+28,0.466666667,BASELINE,764,742.236535992,711,673,661.763464008,632,878,784,799,650,628.763464008,651,0.400953858594,0.00446571326505,0.0698201609205,0.999999957707,4.01732755997e-05,-0.00028620648173,3.25364318922e-05,1793193639620249600
+29,0.483333333,BASELINE,764,742.809545155,711,673,661.190454845,632,878,784,799,650,628.190454845,651,0.400952125896,0.00446603353925,0.069818930368,0.999999957136,3.96320493789e-05,-0.000288287308284,3.2364547786e-05,1793193639636915968
+30,0.500000000,BASELINE,764,742.60319483,711,672.60319483,661,632.39680517,878,784,799,650,628.39680517,651,0.400950817605,0.00446611705895,0.0698183235546,0.99999995674,3.94610597152e-05,-0.000289681190088,3.23661973274e-05,1793193639653582336
+31,0.516666667,BASELINE,764,742.008840041,711,672.008840041,661,632.991159959,878,784,799,650,628.991159959,651,0.400949720605,0.0044660827103,0.06981802727,0.999999956431,3.94743924929e-05,-0.000290733076096,3.24542406734e-05,1793193639670248960
+32,0.533333333,BASELINE,764,742,711,672,661,632.431329183,877.431329183,784,799.568670817,650,629,651,0.400951721548,0.00446608001916,0.0698190287139,0.999999957095,3.98095322931e-05,-0.000288404896962,3.23630390773e-05,1793193639686915584
+33,0.550000000,BASELINE,764,742,711.145632276,672,660.854367724,632,877.145632276,784,799.854367724,650,629,651,0.400952776472,0.00446613856669,0.0698195006849,0.999999957415,4.02623479242e-05,-0.000287233318239,3.23463298299e-05,1793193639703582464
+34,0.566666667,BASELINE,764,742,711.721721407,672,660.278278593,632,877.721721407,784,799.278278593,650,629,651,0.400950896926,0.0044663767095,0.0698183497387,0.999999956684,4.1048626294e-05,-0.000289631234348,3.25578025287e-05,1793193639720249344
+35,0.583333333,BASELINE,764,742.303238219,711.696761781,672,660.303238219,632.303238219,878,784,799,650,628.696761781,651,0.400950619862,0.00446548238955,0.0698183684267,0.999999956645,3.95726170324e-05,-0.000289953671162,3.27285380031e-05,1793193639736915712
+36,0.600000000,BASELINE,764,742.889826805,711.110173195,672,660.889826805,632.889826805,878,784,799,650,628.110173195,651,0.40095184018,0.00446352987933,0.0698194800386,0.999999957244,3.59826921629e-05,-0.000288336749084,3.28612080247e-05,1793193639753582336
+37,0.616666667,BASELINE,764,742.528775991,711.471224009,672.471224009,661,632.528775991,878,784,799,650,628.471224009,651,0.400952679754,0.0044637624238,0.0698197759887,0.999999957586,3.62844593014e-05,-0.000287124191289,3.27258812781e-05,1793193639770248960
+38,0.633333333,BASELINE,764,742.051075626,712,673,660.948924374,632,878,784,799.051075626,649.948924374,629,651,0.400953294547,0.00446437461238,0.0698198736881,0.999999957817,3.72394272815e-05,-0.000286212179227,3.25792886123e-05,1793193639786915584
+39,0.650000000,BASELINE,764,742.627379297,712,673,660.372620703,632,878,784,799.627379297,649.372620703,629,651,0.400952503281,0.0044636946012,0.0698198724072,0.999999957514,3.56567722685e-05,-0.000287429174453,3.29541592166e-05,1793193639803581952
+40,0.666666667,BASELINE,763.793792641,742.793792641,711.793792641,673,660.206207359,632,877.793792641,784,800,649.206207359,629,651,0.400952056509,0.00446418257641,0.0698198686013,0.99999995733,3.57965508327e-05,-0.000288036575718,3.30756230092e-05,1793193639820248576
+41,0.683333333,BASELINE,763.210346455,742.210346455,711.210346455,673,660.789653545,632,877.210346455,784,800,649.789653545,629,651,0.400952239959,0.00446680728343,0.0698198601764,0.999999957364,3.90873752476e-05,-0.000287528776595,3.27335005667e-05,1793193639836915456
+42,0.700000000,BASELINE,763.371757305,742,711,672.628242695,661,632,877,784,799.628242695,650,629,650.628242695,0.40095264539,0.00446626681402,0.0698201253021,0.999999957544,3.83750276788e-05,-0.000286993472571,3.27869175252e-05,1793193639853582080
+43,0.716666667,BASELINE,763.953104211,742,711,672.046895789,661,632,877,784,799.046895789,650,629,650.046895789,0.400953175969,0.00446394187907,0.0698205446505,0.999999957802,3.54057688203e-05,-0.000286442661829,3.30633319828e-05,1793193639870248704
+44,0.733333333,BASELINE,764,742,711,672.532060665,661,632,877,784,799.532060665,649.467939335,629,650,0.400952237442,0.00446444129419,0.0698196934575,0.999999957305,3.79494175461e-05,-0.000287872782762,3.28476855346e-05,1793193639886915584
+45,0.750000000,BASELINE,764,742,711,672.890534387,661,632,877.109465613,784,799.890534387,649.109465613,629,650.109465613,0.400951384349,0.00446499420089,0.0698189420466,0.999999956862,4.01094828093e-05,-0.000289139416274,3.26511019286e-05,1793193639903582208
+46,0.766666667,BASELINE,764,742,711,672.318795817,661,632,877.681204183,784,799.318795817,649.681204183,629,650.681204183,0.400951436426,0.00446472643966,0.0698190828145,0.999999956964,3.86068684003e-05,-0.000288981608546,3.27173538109e-05,1793193639920248576
+47,0.783333333,BASELINE,764,742,711,672,661,632,878,784,799,649.738585558,629,651,0.400951598375,0.00446470292732,0.0698190589656,0.999999956957,3.86575114992e-05,-0.000288990698849,3.27897468687e-05,1793193639936915200
+48,0.800000000,BASELINE,764,742,711,672,661,632,878,784,799,649.147697946,629,651,0.400951898802,0.00446498725356,0.0698188276425,0.999999956812,4.06657994012e-05,-0.00028921013873,3.28698799539e-05,1793193639953581568
+49,0.816666667,BASELINE,764,742,711,672.433443857,661.433443857,632,878,784,799,649.433443857,629,651,0.40095106029,0.00446571911698,0.0698184496557,0.999999956683,4.03364904457e-05,-0.000289726691649,3.26298817113e-05,1793193639970248448
+50,0.833333333,BASELINE,764,742,711.011353507,673,661.988646493,632.011353507,877.988646493,784,799,649.988646493,629,651,0.400949901696,0.00446657241736,0.0698180592486,0.999999956574,3.92616782261e-05,-0.00029028874191,3.22936788027e-05,1793193639986914816
+51,0.850000000,BASELINE,764,742,711.590051938,673,661.409948062,632.590051938,877.409948062,784,799,649.409948062,629,651,0.400951715537,0.00446604103484,0.0698194906269,0.999999957155,3.98622469764e-05,-0.000288176405654,3.24813048574e-05,1793193640003581696
+52,0.866666667,BASELINE,764,742,711.832492508,673,661,632.832492508,877,784,799,649,629,650.832492508,0.400952658796,0.00446565122022,0.0698202394269,0.999999957467,4.01465517398e-05,-0.000287040770146,3.25847679966e-05,1793193640020248320
+53,0.883333333,BASELINE,764,742,711.25805633,673,661,632.25805633,877,784,799,649,629,650.25805633,0.400951487137,0.00446560531883,0.0698193300283,0.999999957134,3.96625511977e-05,-0.000288277849849,3.24837727797e-05,1793193640036914944
+54,0.900000000,BASELINE,764,742,711,672.675654869,661,632,877,784,799,649.324345131,629,650.324345131,0.400950861239,0.00446564255825,0.0698190745205,0.99999995696,3.95907997257e-05,-0.000288878009286,3.25936581202e-05,1793193640053581568
+55,0.916666667,BASELINE,764,742,711,672.086756526,661,632,877,784,799,649.913243474,629,650.913243474,0.400950680494,0.00446574761175,0.0698193523611,0.999999956917,3.98553006365e-05,-0.000288958662476,3.28755489111e-05,1793193640070248192
+56,0.933333333,BASELINE,764,742,711,672.496811562,661,632.496811562,877.496811562,784,799.496811562,649.503188438,629,651,0.400951940982,0.00446655253979,0.0698200286737,0.999999957182,4.15436688371e-05,-0.000287820534781,3.2702218602e-05,1793193640086915072
+57,0.950000000,BASELINE,764,742,711,672.921767447,661,632.921767447,877.921767447,784,799.921767447,649.078232553,629,651,0.400953225566,0.00446734918519,0.0698206627218,0.999999957453,4.32264433247e-05,-0.000286653932064,3.24787550525e-05,1793193640103581696
+58,0.966666667,BASELINE,764,742,711,672.348111703,661,632.348111703,877.348111703,784,799.348111703,649.651888297,629,651,0.400953085857,0.0044673276326,0.0698205931453,0.999999957454,4.33159132825e-05,-0.000286640497639,3.2435878997e-05,1793193640120248320
+59,0.983333333,BASELINE,764,742,711,672,661,632.225066225,877,784,799,649.774933775,629,651,0.400952912705,0.00446693671562,0.0698205493729,0.999999957516,4.30615685124e-05,-0.000286461991852,3.24539820419e-05,1793193640136915200
+60,1.000000000,BASELINE,764,742,711,672,661,632.797506765,877,784,799,649.202493235,629,651,0.400952687937,0.00446597570996,0.0698205454274,0.99999995767,4.22765692538e-05,-0.000286028709708,3.25662021479e-05,1793193640153581824
+61,1.016666667,BASELINE,764.384620727,742,711,672,661,633,877,784.384620727,799,649,629,651,0.400953056711,0.00446538984624,0.0698207002729,0.999999957881,4.10430513844e-05,-0.000285457085725,3.26740171491e-05,1793193640170248192
+62,1.033333333,BASELINE,764.979766253,742,711,672,661,633,877,784.979766253,799,649,629,651,0.400953750366,0.00446500931909,0.0698209420337,0.999999958122,3.9564033817e-05,-0.000284809739412,3.27794209791e-05,1793193640186914816
+63,1.050000000,BASELINE,763.882620852,742,711,672,661,633,877.558689574,785,799,649.558689574,629,651,0.400953298487,0.00446585832184,0.0698209715529,0.999999957925,4.04517466815e-05,-0.00028538173152,3.27165651016e-05,1793193640203581952
+64,1.066666667,BASELINE,763.136091832,742,711,672,661,633,877.863908168,784.863908168,799.136091832,649.863908168,629,651,0.400952896235,0.00446606689649,0.0698208437359,0.999999957741,4.06146779494e-05,-0.000286006011908,3.26893154021e-05,1793193640220248832
+65,1.083333333,BASELINE,763.710434398,742,711,672,661,633,877.289565602,784.289565602,799.710434398,649.289565602,629,651,0.40095278363,0.00446407377842,0.0698202333103,0.999999957646,3.81753914309e-05,-0.000286660479736,3.27957965517e-05,1793193640236915456
+66,1.100000000,BASELINE,764,742,711.291097347,672,661,633,877.291097347,784,799.708902653,649.291097347,629,651,0.400951929348,0.00446359718546,0.0698198337747,0.999999957416,3.70713654963e-05,-0.000287607105349,3.27948358727e-05,1793193640253581824
+67,1.116666667,BASELINE,764,742,711.878186923,672,661,633,877.878186923,784,799.121813077,649.878186923,629,651,0.400950320918,0.00446466261851,0.0698196486755,0.999999957052,3.73250530721e-05,-0.00028885080142,3.26846266947e-05,1793193640270248448
+68,1.133333333,BASELINE,764,742,711.540713286,672.459286714,661,632.540713286,878.459286714,784,799,649.540713286,629,651,0.400950100038,0.00446591563212,0.0698192464234,0.999999956834,3.90737335138e-05,-0.00028939604959,3.2485338824e-05,1793193640286915072
+69,1.150000000,BASELINE,764,742,711,672.961382927,661,632.038617073,878.961382927,784,799,649,629,651,0.400950359917,0.00446720025346,0.0698188978285,0.999999956707,4.11661543564e-05,-0.000289568078357,3.2273030221e-05,1793193640303582208
+70,1.166666667,BASELINE,764,742,711,672.38485656,661,632.61514344,878.38485656,784,799,649,629,651,0.400952256319,0.00446824107783,0.0698200885557,0.999999957364,4.25946937318e-05,-0.000287088519905,3.22042045808e-05,1793193640320248832
+71,1.183333333,BASELINE,764,742,711,672.19101242,661,632.80898758,877.80898758,784,799,649,628.80898758,651,0.400952936731,0.00446848490001,0.069820791954,0.999999957666,4.31903124499e-05,-0.00028594952203,3.21832377508e-05,1793193640336915456
+72,1.200000000,BASELINE,764,742,711,672.765561527,661,632.234438473,877.234438473,784,799,649,628.234438473,651,0.400951175537,0.00446712840981,0.0698205168376,0.999999957264,4.21134976223e-05,-0.000287502255276,3.22583673276e-05,1793193640353582080
+73,1.216666667,BASELINE,764,742,711,672.650698005,661,632.349301995,877,783.650698005,799,649,628.349301995,650.650698005,0.400951591458,0.00446688142389,0.0698204865449,0.999999957294,4.28043786709e-05,-0.00028727918568,3.23996820101e-05,1793193640370248448
+74,1.233333333,BASELINE,764,742,711,672.06062196,661,632.93937804,877,783.06062196,799,649,628.93937804,650.06062196,0.400953508065,0.00446739921994,0.0698206250093,0.999999957619,4.4713733478e-05,-0.000285832054159,3.25866181162e-05,1793193640386914816
+75,1.250000000,BASELINE,764,742,711.516701224,672.516701224,661.516701224,632.483298776,877.516701224,783.516701224,799,649.516701224,629,650.516701224,0.400952764988,0.00446657076008,0.0698208397907,0.999999957784,4.25384423984e-05,-0.000285588136136,3.25932755829e-05,1793193640403581696
+76,1.266666667,BASELINE,764,742,712,672.907024686,661.907024686,632,878,784,799.092975314,650,629,650.907024686,0.400951687612,0.00446583087881,0.0698208633546,0.999999957795,4.03148611206e-05,-0.00028587246179,3.25778570222e-05,1793193640420248576
+77,1.283333333,BASELINE,764,742,712,672.32860419,661.32860419,632,878,784,799.67139581,650,629,650.32860419,0.400950454812,0.00446635831225,0.0698198429043,0.99999995713,4.02810500692e-05,-0.000288195556041,3.25549496332e-05,1793193640436915200
+78,1.300000000,BASELINE,764,742,711.752547113,672.247452887,661,632,878,784,800,650,629,650.247452887,0.400950243489,0.00446646243366,0.0698195515532,0.99999995697,4.01127176621e-05,-0.000288775207452,3.25671023473e-05,1793193640453582336
+79,1.316666667,BASELINE,764,742,711.179598881,672.820401119,661,632,878,784,800,650,629,650.820401119,0.400951375801,0.00446600973754,0.0698202192468,0.999999957475,3.97674381406e-05,-0.000287061563443,3.26253725301e-05,1793193640470250240
+80,1.333333333,BASELINE,763.591130856,742,711,672.591130856,661,632,878,784,799.591130856,649.591130856,629,650.591130856,0.400952180706,0.00446608561563,0.0698200243392,0.999999957646,3.9431300128e-05,-0.000286529507576,3.24546677894e-05,1793193640486917120
+81,1.350000000,BASELINE,763.004275918,742,711,672,661,632,878,784,799,649.004275918,629,650.004275918,0.400952837683,0.00446640288924,0.0698194516435,0.99999995767,3.9108783297e-05,-0.00028652240518,3.21801193448e-05,1793193640503583744
+82,1.366666667,BASELINE,763.57997568,742,711,672,661,632,878,784,799,649.57997568,629,650.57997568,0.400953703167,0.00446672744327,0.0698210259759,0.999999958196,4.00487820578e-05,-0.000284571360232,3.19996105074e-05,1793193640520250112
+83,1.383333333,BASELINE,764,742,711,672,660.844538505,632,878,784,799,649.844538505,629,651,0.400953926551,0.00446630650946,0.0698218964918,0.999999958409,4.01359252596e-05,-0.000283797298529,3.21001033752e-05,1793193640536916736
+84,1.400000000,BASELINE,764,742,711,672,660.269629806,632,878,784,799,649.269629806,629,651,0.4009524175,0.00446387419158,0.0698208680568,0.999999957783,3.79219980466e-05,-0.000286198828724,3.2958760657e-05,1793193640553583104
+85,1.416666667,BASELINE,764,742.31163965,711,672,660,632.31163965,878,784,799,649,629,651,0.400951369125,0.00446409908877,0.069820031895,0.999999957268,3.90377513503e-05,-0.000287822816309,3.31299010597e-05,1793193640570249728
+86,1.433333333,BASELINE,764,742.898527048,711,672,660,632.898527048,878,784,799,649,629,651,0.400950727628,0.00446667090334,0.0698193655538,0.999999956846,4.30943599075e-05,-0.000288760059132,3.26938097187e-05,1793193640586916864
+87,1.450000000,BASELINE,764,742.519426219,711,672,660.480573781,633,878,784,799,649.480573781,629,651,0.400951720431,0.00446646492866,0.0698198385808,0.999999957386,4.08355534821e-05,-0.00028725982476,3.22802240924e-05,1793193640603583744
+88,1.466666667,BASELINE,764,742,711.061128435,672,660.938871565,632.938871565,878,784,799.061128435,649.938871565,629,650.938871565,0.400952826804,0.00446575074212,0.0698204067867,0.999999957989,3.76315760979e-05,-0.000285633114021,3.19313454166e-05,1793193640620250368
+89,1.483333333,BASELINE,764,742,711.637634786,672,660.362365214,632.362365214,878,784,799.637634786,649.362365214,629,650.362365214,0.400952010297,0.00446564753962,0.0698197693575,0.999999957526,3.75894874159e-05,-0.00028723603709,3.20883498425e-05,1793193640636916992
+90,1.500000000,BASELINE,764,742,712,672,660.213488545,632,878,784.213488545,799.786511455,649,629,650.213488545,0.400951742688,0.00446545512052,0.069819725383,0.999999957347,3.80503912196e-05,-0.000287783730055,3.22367899249e-05,1793193640653583360
+91,1.516666667,BASELINE,764,742,712,672,660.788237945,632,878,784.788237945,799.211762055,649,629,650.788237945,0.400952403911,0.00446511173099,0.0698206856401,0.999999957647,3.93624484005e-05,-0.000286545784527,3.23707375879e-05,1793193640670249472
+92,1.533333333,BASELINE,764,742,712,672.370792231,661,632,878,784.629207769,799.741584461,649,629,651,0.400951910001,0.00446486457999,0.0698204802015,0.999999957472,4.00910779051e-05,-0.000287030193719,3.25845330942e-05,1793193640686916096
+93,1.550000000,BASELINE,764,742,712,672.957899841,661,632,878,784.042100159,800.915799682,649,629,651,0.400950742202,0.00446467357325,0.0698195947111,0.99999995702,4.04793433925e-05,-0.000288519402203,3.28449108095e-05,1793193640703582976
+94,1.566666667,BASELINE,764,742,711.524737153,673,661.475262847,632.475262847,878,784,800.049474306,649,629,651,0.400951413731,0.00446464331817,0.069820188995,0.999999957459,3.97846255889e-05,-0.000287110772409,3.26527630068e-05,1793193640720249088
+95,1.583333333,BASELINE,764,742,711.012761735,673,661.987238265,632.987238265,878,784,799.025523471,649,629,651,0.400952227342,0.00446462548067,0.0698208975869,0.999999957965,3.90062506844e-05,-0.000285478293566,3.24256590049e-05,1793193640736915456
+96,1.600000000,BASELINE,764,742,711,672.355206466,661.355206466,632.355206466,877.355206466,784,799,649,629,650.355206466,0.400952950468,0.00446323904314,0.0698207822951,0.999999957763,3.76154745824e-05,-0.000286314436526,3.29027210282e-05,1793193640753582336
+97,1.616666667,BASELINE,763.726315463,742.273684537,711.273684537,672,661,632,877.273684537,784,799,649.273684537,629,650.273684537,0.400953345477,0.00446401565349,0.0698208436872,0.999999957741,3.87433263929e-05,-0.000286242226946,3.28994777866e-05,1793193640770249216
+98,1.633333333,BASELINE,763.135009492,742.864990508,711.864990508,672,661,632,877.864990508,784,799,649.864990508,629,650.864990508,0.40095336238,0.0044673431673,0.0698211345703,0.999999957937,4.28123113633e-05,-0.000285042601093,3.23179308436e-05,1793193640786915840
+99,1.650000000,BASELINE,763.4466858,743,711.5533142,672,661,632.4466858,878,784.4466858,799,650,629,651,0.400952543196,0.00446754346046,0.0698208664999,0.999999957742,4.22354727895e-05,-0.000285831630556,3.21333695237e-05,1793193640803582464
+100,1.666666667,BASELINE,764,743,711,672.025282393,661,633,877.974717607,784.974717607,799.025282393,649.974717607,628.974717607,651,0.400951525988,0.00446686159454,0.0698204388399,0.999999957435,4.04105075325e-05,-0.000287172634789,3.20828784213e-05,1793193640820249088
+101,1.683333333,BASELINE,764,743,711,672.598352378,661,633,877.401647622,784.401647622,799.598352378,649.401647622,628.401647622,651,0.400951578196,0.00446711413624,0.0698201367222,0.999999957229,4.13260527372e-05,-0.000287724304257,3.23922654002e-05,1793193640836915712
+102,1.700000000,BASELINE,764,742.828353093,711,672.828353093,661,632.828353093,877.171646907,784.171646907,799.828353093,649.171646907,628.171646907,651,0.400952043448,0.0044676373812,0.0698200497583,0.999999957243,4.25831958186e-05,-0.000287477511589,3.25050822059e-05,1793193640853582336
+103,1.716666667,BASELINE,764,742.254532531,711,672.254532531,661,632.254532531,877.745467469,784.745467469,799.254532531,649.745467469,628.745467469,651,0.400953476472,0.00446879489166,0.0698204669062,0.999999957771,4.46407124521e-05,-0.000285359899016,3.21573293807e-05,1793193640870248960
+104,1.733333333,BASELINE,764,742,711,672,661,632,878,784.668854995,799,649.668854995,628.668854995,651,0.400953592002,0.00446780548988,0.0698208097024,0.999999957906,4.31462468597e-05,-0.000285126945236,3.20710370766e-05,1793193640886915584
+105,1.750000000,BASELINE,764,742,711,672,661,632,878,784.073725159,799,649.073725159,628.073725159,651,0.400952657241,0.00446510459551,0.0698210932263,0.999999957717,3.88201838145e-05,-0.000286396418635,3.21931779298e-05,1793193640903582464
+106,1.766666667,BASELINE,764,742,711,672.504202404,661,632,878,784,799,649,628.504202404,651,0.400953020832,0.00446523276494,0.0698210111672,0.999999957783,3.871979766e-05,-0.000286151493663,3.24299271681e-05,1793193640920248832
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,743,711,673,661,632,878,784,799,650,629,651,0.400953033239,0.00446433301474,0.0698218868695,0.999999958113,3.59793564123e-05,-0.000285369052276,3.23105651928e-05,1793193640963381248
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,742.416276383,711,673,661,632,877.416276383,784,799,649.416276383,629,651,0.400952321619,0.0044659444645,0.0698208152899,0.999999957832,3.968050355e-05,-0.000285863799522,3.23054055814e-05,1793193640980047872
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,742,711,672.832307368,661,632.167692632,877.167692632,784.167692632,799,649.167692632,629,651,0.400951544487,0.00446700934497,0.0698200145697,0.999999957525,4.19869268453e-05,-0.00028660873685,3.22850621094e-05,1793193640996714496
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,742,711,672.247728165,661,632.752271835,877.752271835,784.752271835,799,649.752271835,629,651,0.400950604487,0.00446671544579,0.0698198872104,0.999999957182,4.08260450985e-05,-0.000287975650848,3.22269713157e-05,1793193641013381120
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,742,711.331934794,672.331934794,661,632.668065206,878,784.668065206,799,649.668065206,629,651,0.400950759177,0.00446631906082,0.0698200131167,0.999999957283,3.96291900683e-05,-0.000287807418159,3.2100349258e-05,1793193641030047744
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,742,711.907982196,672.907982196,661,632.092017804,878,784.092017804,799,649.092017804,629,651,0.400951718926,0.00446584730541,0.0698203252806,0.999999957709,3.84058795139e-05,-0.000286510202621,3.19233277099e-05,1793193641046714112
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,742,711.515869769,672.515869769,661,632.484130231,878,784,799,649.484130231,629,651,0.400952260841,0.00446578892639,0.0698205726295,0.999999957816,3.86454532078e-05,-0.000286075042874,3.21910249469e-05,1793193641063380992
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,742,711,672.06162889,660.93837111,632.93837111,878,784,799.06162889,650,629,651,0.400953199875,0.00446584223525,0.0698209809304,0.99999995794,3.92251311962e-05,-0.000285529484337,3.24787861533e-05,1793193641080047616
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,742,711,672.650519062,660.349480938,632.349480938,878,784,799.650519062,650,629,651,0.400958216021,0.00446617874409,0.0698228716619,0.999999958726,4.03352333562e-05,-0.000282637324231,3.2214888994e-05,1793193641096714496
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,742.235230604,711.235230604,673,660.235230604,632,877.764769396,784,799.764769396,650,629,651,0.400971461845,0.00446616244684,0.0698290662319,0.999999961576,4.10751430756e-05,-0.000272257390639,3.21886411248e-05,1793193641113381376
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,742.813842284,711.813842284,673,660.813842284,632,877.186157716,784,799.186157716,650,629,651,0.400996721054,0.00446563113606,0.0698415433885,0.999999967133,4.12746592332e-05,-0.000250947077988,3.25093050538e-05,1793193641130048000
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,742.609624341,711.609624341,673,661,632,877.390375659,784,799.390375659,649.609624341,629,651,0.401037661473,0.00446508782534,0.0698585602402,0.99999997421,3.95292148803e-05,-0.000221264740707,3.25471290521e-05,1793193641146714624
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,742.034076745,711.034076745,673,661,632,877.965923255,784,799.965923255,649.034076745,629,651,0.401086040164,0.00446453882248,0.0698777304653,0.999999981195,3.68611922278e-05,-0.000187611190593,3.24507899283e-05,1793193641163381504
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,742,711.54122928,673,661,632,877.45877072,784,799.45877072,649,629,651,0.401146844866,0.0044648161581,0.0698924728323,0.999999984387,3.72668825095e-05,-0.000169761145338,3.19200269316e-05,1793193641180047872
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,742,711.880556911,672.880556911,661,632,877.119443089,784,799,649.119443089,629,651,0.401210854764,0.00446497946222,0.0699045726609,0.999999986795,3.70453296627e-05,-0.000155140590447,3.11373116836e-05,1793193641196714240
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,742,711.290834353,672.290834353,661,632,877.709165647,784,799,649.709165647,629,651,0.401284405398,0.00446448903818,0.0699073652757,0.999999987853,3.35925273948e-05,-0.000149319501723,2.94702371838e-05,1793193641213380864
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,742,711,672.29328739,661,632,878,784,799,650,629,651,0.401365602269,0.00446504606043,0.0699071677134,0.999999988083,3.10059893925e-05,-0.000148771923901,2.71856969327e-05,1793193641230047744
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,742,711,672.871959204,661,632,878,784,799,650,629,651,0.401454239335,0.00446662230437,0.0699040605477,0.999999987518,2.92623733718e-05,-0.000153355756487,2.43003293587e-05,1793193641246714368
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,742,711,672.551367759,661,632.448632241,878,784.448632241,799.448632241,649.551367759,628.551367759,651,0.401562882528,0.00446663294987,0.06990057151,0.999999986543,2.53029751171e-05,-0.000160734851775,2.09272002208e-05,1793193641263381760
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,742,711.02520067,672,661,633,878,784.97479933,799.97479933,649,628.02520067,651,0.401678700587,0.00446619942709,0.0698972770362,0.999999985443,2.0754320641e-05,-0.000168461479866,1.74308194729e-05,1793193641280049408
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,742,711.612096127,672,661,633,878,784.387903873,799.387903873,649,628.612096127,651,0.401827737881,0.00446578096309,0.0699007376035,0.999999985935,1.71045477953e-05,-0.000166231581375,1.42763343048e-05,1793193641296715776
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,742,711.802610096,672.197389904,661,633,878,784,799.197389904,649.197389904,629,651,0.401994243685,0.00446608894881,0.0699056021689,0.999999987173,1.27251115548e-05,-0.000159329449033,1.03036228042e-05,1793193641313382144
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,742,711.22043862,672.77956138,661,633,878,784,799.77956138,649.77956138,629,651,0.402194801673,0.00446781303772,0.0699132036147,0.999999989695,6.92330801701e-06,-0.000143319508218,4.73590398226e-06,1793193641330049024
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,742.356845568,711,673,661,633,878,784,800,650,628.643154432,650.643154432,0.402406681232,0.0044691829345,0.0699164524499,0.999999990708,1.39552349987e-06,-0.000136309649804,-1.13629926179e-06,1793193641346715136
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,742.931151515,711,673,661,633,878,784,800,650,628.068848485,650.068848485,0.402625460135,0.00447033698805,0.0699170488207,0.999999990883,-3.96527539102e-06,-0.000134784407055,-7.19405473291e-06,1793193641363380992
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,742.493407508,711,672.493407508,661,632.493407508,878,784,800.506592492,650,628.506592492,650.506592492,0.40288546333,0.00446981751005,0.0699212798886,0.999999991912,-1.10632581412e-05,-0.0001260544226,-1.27926555198e-05,1793193641380047872
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,742,711,672,661,632,878,784,800.830884761,650,629,651,0.403156169791,0.00446993496361,0.0699265143813,0.999999992998,-1.73854894604e-05,-0.000115585960829,-1.85008416609e-05,1793193641396714752
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,742,711,672,661,632,878,784,799.646503331,650,629,651,0.403457422229,0.00447524465847,0.0699348006548,0.999999994469,-1.76300411879e-05,-0.000100572215817,-2.52423766865e-05,1793193641413381376
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,742,711,672,661,632.26189156,878,784.26189156,799,650,629,650.73810844,0.403785096157,0.00447890407712,0.0699423844422,0.999999995631,-9.96772257575e-06,-8.83473734318e-05,-2.88525295188e-05,1793193641430048512
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,742,711,672,661,632.838564012,878,784.838564012,799,650,629,650.161435988,0.404144527412,0.00448057994386,0.0699491238751,0.999999996404,7.19826884654e-06,-7.94746569857e-05,-2.86989131614e-05,1793193641446716160
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,742,711,672.413508164,661,633,878,784.586491836,799,650,629,650.413508164,0.404518591336,0.00448609900711,0.0699524785659,0.999999995781,4.73884428659e-05,-7.49315307577e-05,-2.40465472108e-05,1793193641463382272
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,742,711,672.987780372,661,633,878,784.012219628,799,650,629,650.987780372,0.404898344153,0.00449311223143,0.0699545173337,0.999999992588,9.65299770522e-05,-7.20716662338e-05,-1.76451536447e-05,1793193641480047616
+139,2.316666667,POSE1_TO_POSE2_PRESS,764.575868411,742,711,672.424131589,661,632.424131589,878.575868411,784,799,649.424131589,629,651,0.405320120037,0.00449349636505,0.069960692198,0.999999994484,8.375903517e-05,-5.94440203118e-05,-2.19725078518e-05,1793193641496714240
+140,2.333333333,POSE1_TO_POSE2_PRESS,764.837911445,742.162088555,711.162088555,672.162088555,661,632,878.837911445,784,799,649,628.837911445,651,0.405750144856,0.00449461814821,0.0699617113941,0.99999999648,5.66349404687e-05,-5.64579622151e-05,-2.53812914272e-05,1793193641513380864
+141,2.350000000,POSE1_TO_POSE2_PRESS,764.257290127,742.742709873,711.742709873,672.742709873,661,632,878.257290127,784,799,649,628.257290127,651,0.406199110281,0.00449801677889,0.0699491858214,0.999999996545,-4.07512164955e-06,-7.89160275797e-05,-2.58159187437e-05,1793193641530047488
+142,2.366666667,POSE1_TO_POSE2_PRESS,763.678236853,742.678236853,712,673,661,632.321763147,878,784,799,649,628.321763147,651,0.406676264971,0.00449849009867,0.069932534977,0.999999993928,-1.53171514218e-05,-0.000106003487431,-2.59423100568e-05,1793193641546714112
+143,2.383333333,POSE1_TO_POSE2_PRESS,763.100431284,742.100431284,712,673,661,632.899568716,878,784,799,649,628.899568716,651,0.407175851263,0.00449663560813,0.0699126014539,0.999999990231,1.28049063879e-05,-0.000136774781768,-2.58234232213e-05,1793193641563380736
+144,2.400000000,POSE1_TO_POSE2_PRESS,763,742.471845461,711.528154539,672.528154539,661,633,878.471845461,784,799.471845461,649,628.528154539,651,0.407731287413,0.00449535490861,0.0699118518286,0.9999999909,2.35993006903e-05,-0.000129994213359,-2.72824907092e-05,1793193641580047360
+145,2.416666667,POSE1_TO_POSE2_PRESS,763.044523466,742.955476534,711,672.044523466,661.044523466,633,879,784,799.955476534,649.044523466,628.044523466,651,0.408302129455,0.00449504041741,0.0699162212749,0.999999992656,3.01607488482e-05,-0.000113715369383,-2.90941697074e-05,1793193641596714240
+146,2.433333333,POSE1_TO_POSE2_PRESS,763.636435618,742.363564382,711,672.636435618,661.636435618,633,879,784,799.363564382,649.636435618,628.636435618,651,0.408917920818,0.00450512073837,0.0699339069168,0.999999996054,2.94991800978e-05,-7.77899146095e-05,-3.11595723316e-05,1793193641613381120
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,742.222907598,711,673,662,632.777092402,878.777092402,784,799,650,628.777092402,650.777092402,0.409534511472,0.00451374670795,0.0699431946039,0.999999997159,3.45424146839e-05,-5.84676103343e-05,-3.27048295943e-05,1793193641630047744
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,742.800717959,711,673,662,632.199282041,878.199282041,784,799,650,628.199282041,650.199282041,0.410152374683,0.00452005712857,0.0699391114696,0.999999996107,4.86685630434e-05,-6.55800465784e-05,-3.34219363341e-05,1793193641646714368
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,743,711.37413788,673,661.62586212,632.37413788,878,784,799.37413788,650,628.37413788,650.37413788,0.410803361335,0.00452794529634,0.0699349088134,0.999999994769,5.87664607667e-05,-7.61927219559e-05,-3.47000106942e-05,1793193641663381248
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,743,711.945246368,673,661.054753632,632.945246368,878,784,799.945246368,650,628.945246368,650.945246368,0.411471786309,0.00453666409302,0.0699306432333,0.999999993186,6.67436238993e-05,-8.86481515113e-05,-3.6273415009e-05,1793193641680048128
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,742.463289337,711.463289337,673,661.536710663,632.463289337,878,784,799.463289337,650,629,651,0.412201488824,0.00454438629069,0.0699551039431,0.999999995831,7.14290487523e-05,-4.17988012348e-05,-3.85824737468e-05,1793193641696714496
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,742,711.127121499,673.127121499,662,632.127121499,878.127121499,784,799.127121499,650,629,651,0.412942216454,0.00455123393157,0.0699814340788,0.99999999632,7.55906698854e-05,5.64522983576e-06,-4.01800983081e-05,1793193641713380864
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,742,711.706114812,673.706114812,662,632.706114812,878.706114812,784,799.706114812,650,629,651,0.413699036923,0.00455534847993,0.0700035815484,0.99999999557,7.91311097451e-05,3.28493660004e-05,-3.8971536266e-05,1793193641730048000
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,742.283590505,712,673.716409495,662,632.716409495,879,784,800,650,629,651,0.414434755129,0.00456187821704,0.0699980961771,0.999999995237,8.77798756872e-05,1.67504658622e-05,-3.92468113571e-05,1793193641746714880
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,742.85950193,712,673.14049807,662,632.14049807,879,784,800,650,629,651,0.415148721523,0.00457089749566,0.069964127283,0.999999993019,0.000101694229208,-4.39845635484e-05,-4.10516036902e-05,1793193641763381504
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,743,711.565385901,672.565385901,661.565385901,632,878.565385901,784,800,650,628.565385901,651,0.415904361617,0.00457925798878,0.0699208460817,0.999999986778,0.000108441257872,-0.000112866549964,-4.41177796913e-05,1793193641780048128
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,743,711,672.009702979,661.009702979,632,878.009702979,784,799.990297021,650,628.009702979,651,0.416674485098,0.00458733178686,0.0698757944466,0.999999975862,0.000112824518234,-0.00018244753363,-4.75323013957e-05,1793193641796714496
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,743,711,672.598803396,661.598803396,632,878.598803396,784,799.401196604,650,628.598803396,651,0.417506487764,0.00459097967213,0.069904455066,0.999999983002,0.000114160394217,-0.00013679145406,-4.74432025051e-05,1793193641813381120
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,743,711,673,662,632.185167784,879,784,799.185167784,649.814832216,629,651,0.418345173579,0.00459541460108,0.0699337490114,0.999999987468,0.000119388237718,-9.27520663372e-05,-4.69901253659e-05,1793193641830047744
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,743,711,673,662,632.765690395,879,784,799.765690395,649.234309605,629,651,0.41919812865,0.00460152995994,0.0699643951801,0.999999988758,0.000132925886276,-5.21645074962e-05,-4.57599123149e-05,1793193641846714624
+161,2.683333333,POSE1_TO_POSE2_PRESS,763.656289982,742.656289982,711.343710018,673.343710018,662,633,878.656289982,784,800,649.343710018,629,650.656289982,0.420066734971,0.00460690786141,0.0699892404323,0.999999989366,0.000137902827109,-1.2753629351e-05,-4.56957593054e-05,1793193641863381248
+162,2.700000000,POSE1_TO_POSE2_PRESS,763.07996435,742.07996435,711.92003565,673.92003565,662,633,878.07996435,784,800,649.92003565,629,650.07996435,0.420945933691,0.00461178666718,0.0700101597467,0.999999989192,0.000137086062857,2.58608947237e-05,-4.64207709085e-05,1793193641880047872
+163,2.716666667,POSE1_TO_POSE2_PRESS,763.491920668,742.491920668,712,673.508079332,662,632.508079332,878.491920668,784,800,650,629,650.491920668,0.421806514215,0.00461483433002,0.0700076926767,0.999999988862,0.000140001275307,1.95993665203e-05,-4.78694749937e-05,1793193641896715264
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,742.934459766,711.934459766,673.065540234,662,632,879,784,800,650,629,651,0.422651216202,0.00461586603379,0.0699932370259,0.999999988727,0.000141586374272,-6.97856067241e-06,-4.95121124333e-05,1793193641913382912
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,742.341110692,711.341110692,673.658889308,662,632,879,784,800,650,629,651,0.423392199496,0.00460303849547,0.0699125759236,0.999999980863,0.000127618003473,-0.000138947285355,-5.17776291789e-05,1793193641930049792
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,742,711,674,662,632,879.246831449,784,799.753168551,650,629,651,0.4241813984,0.00458375808395,0.0698569045362,0.999999968809,0.000100801042337,-0.000222191133761,-5.34007001231e-05,1793193641946716672
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,742,711,674,662,632,879.827461687,784,799.172538313,650,629,651,0.425035801061,0.00455575122478,0.0698350276018,0.999999968241,5.66084839005e-05,-0.000239542651179,-5.415497038e-05,1793193641963383296
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,742.402867085,711,674,662,632,879.194265831,784,799.402867085,650,629,651,0.425936165228,0.00454801196585,0.0698782986057,0.99999998247,4.92028134406e-05,-0.000173173937588,-5.14833798681e-05,1793193641980049664
+169,2.816666667,POSE1_TO_POSE2_PRESS,764,742.976063423,711,674,662,632,878.047873154,784,799.976063423,650,629,651,0.426855961532,0.0045488417016,0.0699491136824,0.999999994684,5.73503721277e-05,-7.14089208064e-05,-4.73633600345e-05,1793193641996716032
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,743,711,674,662.54876553,632,878.54876553,784,800,649.45123447,629,651,0.427751187211,0.00455938499313,0.0699843778569,0.999999995943,7.09077845728e-05,-2.99741507627e-05,-4.67692847466e-05,1793193642013382912
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,743,711.126698112,674,663,632,879,784,799.873301888,649.126698112,629,651,0.428636714717,0.00456824953474,0.0700128718376,0.999999995561,8.16326277551e-05,5.83672205782e-06,-4.66859220358e-05,1793193642030049792
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,743,711.72414458,674,663,632,879,784,799.27585542,649.72414458,629,651,0.429490186999,0.00456930383254,0.0700219675145,0.999999995109,8.0957056984e-05,3.0520663349e-05,-4.79291941254e-05,1793193642046716160
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,743,711.691160378,674,663,632,879,784,799,649.691160378,629,651,0.430290786125,0.00457237730404,0.0700046751848,0.99999999557,8.02537640746e-05,5.11226902933e-06,-4.89207405309e-05,1793193642063382528
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,743,711.117403325,674,663,632,879,784,799,649.117403325,629,651,0.431046031502,0.00457718278871,0.0699647476668,0.999999993602,7.9526691358e-05,-6.32644891137e-05,-4.96963606597e-05,1793193642080049152
+175,2.916666667,POSE1_TO_POSE2_PRESS,764,743,711,674,662.541847594,632,878.541847594,784,799,649,629,650.541847594,0.431768843233,0.00457931424352,0.0699043072285,0.999999981423,8.98143180228e-05,-0.00016275566632,-5.0968774438e-05,1793193642096715264
+176,2.933333333,POSE1_TO_POSE2_PRESS,764,742.964953496,711.035046504,674,662.070093008,632,878.035046504,784,799.035046504,649.035046504,629,650.035046504,0.432491560075,0.00458043275549,0.0698452717327,0.999999960146,0.000100838200973,-0.000258459241404,-5.23216297395e-05,1793193642113380864
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,742.374175195,711.625824805,674,663.25164961,632,878.625824805,784,799.625824805,649.625824805,629,650.625824805,0.433345082166,0.00457639756284,0.069892195457,0.999999981537,7.86032045714e-05,-0.000167173720829,-5.29234163699e-05,1793193642130047488
+178,2.966666667,POSE1_TO_POSE2_PRESS,764.212314142,742.212314142,711.787685858,673.787685858,663.787685858,632,879,784,800,650,628.787685858,650.787685858,0.434178920956,0.00456861747064,0.0699414216556,0.999999993447,6.29468782613e-05,-8.00919339976e-05,-5.22470431673e-05,1793193642146714368
+179,2.983333333,POSE1_TO_POSE2_PRESS,764.791394521,742.791394521,711.208605479,673.208605479,663.208605479,632,879,784,800,650,628.208605479,650.208605479,0.434978757579,0.00455436817743,0.0699946253164,0.999999997061,5.86550019488e-05,-2.71956248849e-07,-4.93626881636e-05,1793193642163380992
+180,3.000000000,POSE1_TO_POSE2_PRESS,764.631093984,743,711,673.737812031,663,632,879,784,800.368906016,650,628.368906016,650.368906016,0.435716949263,0.00454348866759,0.0700082866179,0.999999997135,5.33948272867e-05,2.20500701278e-05,-4.89087832437e-05,1793193642180047616
+181,3.016666667,POSE1_TO_POSE2_PRESS,764.054465925,743,711,674.891068151,663,632,879,784,800.945534075,650,628.945534075,650.945534075,0.436420430126,0.00453450660203,0.0699996825713,0.999999997554,4.7589427663e-05,1.1996387714e-05,-4.98234061971e-05,1793193642196714240
+182,3.033333333,POSE1_TO_POSE2_PRESS,763.469346599,743,711,675,662.469346599,632,879,784,799.938693198,649.469346599,629,650.469346599,0.437075628657,0.00453827240019,0.0699678562345,0.999999997768,3.05404621421e-05,-3.10514876622e-05,-5.06612731378e-05,1793193642213381120
+183,3.050000000,POSE1_TO_POSE2_PRESS,763,743,711,675,662,632,879,784,799.115357294,649.115357294,629,650,0.43771442117,0.00454457377799,0.069931248566,0.999999995144,2.15401023409e-05,-8.09775942305e-05,-5.18753644205e-05,1793193642230047744
+184,3.066666667,POSE1_TO_POSE2_PRESS,763,743,711,675,662,632,879,784,799.694826337,649.694826337,629,650,0.438307470219,0.00455572667626,0.0698851498379,0.999999986802,4.96398008844e-05,-0.00014473024878,-5.46353136052e-05,1793193642246714368
+185,3.083333333,POSE1_TO_POSE2_PRESS,763.272461784,742.727538216,711,675,661.455076432,632,878.727538216,784,800,649.727538216,629,650.272461784,0.438865596324,0.00456591853234,0.0698365991619,0.999999970884,7.60823813968e-05,-0.000222339664893,-5.48495633953e-05,1793193642263380992
+186,3.100000000,POSE1_TO_POSE2_PRESS,763.848057184,742.151942816,711,675,660.303885631,632,878.151942816,784,800,649.151942816,629,650.848057184,0.439384868067,0.00457504115811,0.069785320518,0.99999994384,0.000100681295058,-0.000315365734405,-5.22315365157e-05,1793193642280047872
+187,3.116666667,POSE1_TO_POSE2_PRESS,763.574869261,742,711,675,660,631.574869261,878,784,800,649.425130739,629,651,0.439917570653,0.00458451605144,0.0697597206282,0.999999930219,9.6370932943e-05,-0.00035683043982,-5.4286250112e-05,1793193642296714496
+188,3.133333333,POSE1_TO_POSE2_PRESS,763,742,711,675,659.997216618,631,878,784,800,649.997216618,629,651,0.440455167029,0.00459410645201,0.0697435302626,0.999999922955,8.1849571633e-05,-0.000379506915809,-5.80039138994e-05,1793193642313381376
+189,3.150000000,POSE1_TO_POSE2_PRESS,763,742,711,675,659.409283372,631,878,784,800,649.409283372,629,651,0.441008905134,0.00460141919232,0.0697693546793,0.999999935418,0.00010039758345,-0.000340003518189,-5.90040353326e-05,1793193642330048000
+190,3.166666667,POSE1_TO_POSE2_PRESS,763.176528519,742,711,675,659,631,878.176528519,783.823471481,800,649.176528519,629,650.823471481,0.441545213956,0.00461165446313,0.0697926852318,0.999999944202,0.000122613613165,-0.000304911551358,-5.99206267403e-05,1793193642346714624
+191,3.183333333,POSE1_TO_POSE2_PRESS,763.757480538,742,711,675,659,631,878.757480538,783.242519462,800,649.757480538,629,650.242519462,0.442041592728,0.00462858519752,0.0698103023936,0.999999947242,0.000153233006501,-0.000279926082255,-6.06458527935e-05,1793193642363381248
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,742.334740702,711,675,659.334740702,631,879,783.334740702,800.334740702,649.665259298,629,650.334740702,0.442466614971,0.00464378609837,0.069797003843,0.999999935143,0.000176863223755,-0.000307489459549,-6.23135471907e-05,1793193642380047616
+193,3.216666667,POSE1_TO_POSE2_PRESS,764,742.909355262,711,675,659.909355262,631,879,783.909355262,800.909355262,649.090644738,629,650.909355262,0.442840503381,0.00465774740635,0.0697615512149,0.999999909347,0.000195485022857,-0.000372709132031,-6.46566104379e-05,1793193642396714240
+194,3.233333333,POSE1_TO_POSE2_PRESS,764,742.516107353,711,675,659.032214706,631,879,783.516107353,800.516107353,649.483892647,628.516107353,651,0.443192412157,0.0046629070962,0.069729662318,0.999999886702,0.000206825556042,-0.000424002614156,-6.35616878443e-05,1793193642413380864
+195,3.250000000,POSE1_TO_POSE2_PRESS,764,742,711,675,658,630.93982438,878.93982438,783,800,649.93982438,628.06017562,651,0.443538979501,0.00466664603069,0.0696994723185,0.999999863721,0.000216569341244,-0.000470952081903,-6.21234118419e-05,1793193642430047744
+196,3.266666667,POSE1_TO_POSE2_PRESS,764,742,711,675,658,630.34799123,878.34799123,783,800,649.34799123,628.65200877,651,0.443874725854,0.00467239704069,0.0696783951126,0.999999846562,0.000224254470954,-0.000502566302488,-6.33406260297e-05,1793193642446715392
+197,3.283333333,POSE1_TO_POSE2_PRESS,764,742.237973235,711,675,658,630,878.237973235,783,800,649,629,650.762026765,0.444200795387,0.00467893722733,0.0696669420393,0.999999836163,0.000233587281991,-0.000518648028629,-6.41477284925e-05,1793193642463382528
+198,3.300000000,POSE1_TO_POSE2_PRESS,764,742.815562343,711,675,658,630,878.815562343,783,800,649,629,650.184437657,0.444513054927,0.00468660366161,0.0696692237401,0.999999836489,0.000245271528199,-0.000512563051049,-6.43695531169e-05,1793193642480048640
+199,3.316666667,POSE1_TO_POSE2_PRESS,764,742.608818806,711,675,658,630,879,782.608818806,799.608818806,649,629,650.391181194,0.444791952283,0.00469235567631,0.0696676800663,0.999999842454,0.000218989685816,-0.000512775943752,-6.47864951485e-05,1793193642496715008
+200,3.333333333,POSE1_TO_POSE2_PRESS,764,742.034124204,711,675,658,630,879,782.034124204,799.034124204,649,629,650.965875796,0.445055198588,0.004697209587,0.0696643418088,0.999999849475,0.000174896951383,-0.000515943332031,-6.52949718146e-05,1793193642513381632
+201,3.350000000,POSE1_TO_POSE2_PRESS,764,742.554433201,711,675,657.445566799,630,879,782.554433201,799,649.554433201,629,651,0.445282143266,0.00470072807848,0.0696619210343,0.999999846182,0.000191371704342,-0.000516669256838,-6.37571459494e-05,1793193642530048768
+202,3.366666667,POSE1_TO_POSE2_PRESS,763.858592252,742.858592252,711,675,657,629.858592252,879,783,799.141407748,649.858592252,628.858592252,651,0.445500766055,0.00470428468953,0.069660307159,0.999999842457,0.000209435150193,-0.000517010414919,-6.26366825131e-05,1793193642546717184
+203,3.383333333,POSE1_TO_POSE2_PRESS,763.279230136,742.279230136,711,675,657,629.279230136,879,783,799.720769864,649.279230136,628.279230136,651,0.445700712433,0.00470822044761,0.0696610129572,0.999999840218,0.000220577480507,-0.000516637238523,-6.32089029737e-05,1793193642563389184
+204,3.400000000,POSE1_TO_POSE2_PRESS,763.296687123,742,711,675,657,629,879,783,800,649,628.296687123,651,0.44587791762,0.00471407358959,0.0696608352884,0.999999837741,0.000230710202852,-0.0005167936548,-6.49202082351e-05,1793193642580055808
+205,3.416666667,POSE1_TO_POSE2_PRESS,763.869399398,742,711,675,657,629,879,783,800,649,628.869399398,651,0.446033965351,0.00472171058423,0.0696598356791,0.999999835059,0.000239903627973,-0.000517442781736,-6.76912697897e-05,1793193642596717568
+206,3.433333333,POSE1_TO_POSE2_PRESS,764,742.455364995,711,675.455364995,657,629,879,783,799.544635005,649.455364995,629,651,0.446156996361,0.00472799079239,0.0696545638856,0.999999826806,0.000248493293482,-0.000529006016484,-6.92224956396e-05,1793193642613382912
+207,3.450000000,POSE1_TO_POSE2_PRESS,763.955568872,743,711,675.955568872,656.955568872,629,879,783.044431128,799,650,629,651,0.446269217664,0.00473367829056,0.0696484208283,0.999999817243,0.000256557267184,-0.000542905590879,-7.0332236398e-05,1793193642630049536
+208,3.466666667,POSE1_TO_POSE2_PRESS,763.37630727,743,711,675.37630727,656.37630727,629,879,783.62369273,799,650,629,651,0.446368721513,0.00473705567964,0.0696469813106,0.999999814457,0.000260440208448,-0.000546119569436,-7.07770935705e-05,1793193642646715648
+209,3.483333333,POSE1_TO_POSE2_PRESS,763.202425646,742.797574354,711,675,656,629,879.202425646,783.797574354,799.202425646,650,629,651,0.446460831568,0.00473939627776,0.0696454935112,0.999999812072,0.000263781420319,-0.000548835779327,-7.10989010723e-05,1793193642663382016
+210,3.500000000,POSE1_TO_POSE2_PRESS,763.780178236,742.219821764,711,675,656,629,879.780178236,783.219821764,799.780178236,650,629,651,0.44653923243,0.00473981451244,0.0696439161907,0.99999981046,0.000266118185729,-0.000550629052499,-7.11925563241e-05,1793193642680048896
+211,3.516666667,POSE1_TO_POSE2_PRESS,764,742.356362421,711,675,656,629,879.643637579,783,800,650,628.643637579,651,0.446603390017,0.00474184826883,0.0696433020327,0.999999808363,0.000269589308103,-0.00055274637153,-7.11778863549e-05,1793193642696715520
+212,3.533333333,POSE1_TO_POSE2_PRESS,764,742.931583433,711,675,656,629,879.068416567,783,800,650,628.068416567,651,0.446658800159,0.00474487419162,0.0696432793972,0.999999805954,0.000273757091602,-0.000555062702228,-7.10966888818e-05,1793193642713382400
+213,3.550000000,POSE1_TO_POSE2_PRESS,763.482489144,743,711,675,656,629,879,783,799.482489144,650,628,650.482489144,0.446700100576,0.00474402863102,0.0696442471889,0.999999806977,0.00027165269788,-0.000554343789166,-7.03762014654e-05,1793193642730049280
+214,3.566666667,POSE1_TO_POSE2_PRESS,763.103559664,743,711,675,656,629,879,783,799.103559664,650,628.103559664,650.103559664,0.446736961542,0.00474340646261,0.0696448818031,0.999999807718,0.000269562084318,-0.000554121488871,-6.9642722458e-05,1793193642746716160
+215,3.583333333,POSE1_TO_POSE2_PRESS,763.683518244,743,711,675,656,629,879,783,799.683518244,650,628.683518244,650.683518244,0.446762162325,0.00474621619381,0.0696433686543,0.999999805045,0.000271429968091,-0.000558068651405,-6.92464864394e-05,1793193642763382272
+216,3.600000000,POSE1_TO_POSE2_PRESS,763.738254342,743,711,675,655.738254342,629,879,782.738254342,800,650,629,651,0.446783747089,0.00474697755503,0.0696418547491,0.99999980355,0.000271650036197,-0.000560694301593,-6.87565783049e-05,1793193642780048640
+217,3.616666667,POSE1_TO_POSE2_PRESS,763.162106398,743,711,675,655.162106398,629,879,782.162106398,800,650,629,651,0.446800988377,0.00474527846569,0.0696403399355,0.999999803485,0.000269890789552,-0.000561732584232,-6.81541536106e-05,1793193642796715008
+218,3.633333333,POSE1_TO_POSE2_PRESS,763.414407442,742.585592558,711,675.414407442,655.414407442,629,879.414407442,782.414407442,800,650,629,651,0.446809999074,0.00474491035651,0.0696392096569,0.999999802285,0.000270052672602,-0.000563824505849,-6.785275411e-05,1793193642813381888
+219,3.650000000,POSE1_TO_POSE2_PRESS,763.991064526,742.008935474,711,675.991064526,655.991064526,629,879.991064526,782.991064526,800,650,629,651,0.446815787313,0.00474506335542,0.0696382299323,0.999999800635,0.000270966720279,-0.000566328950304,-6.76692126163e-05,1793193642830048512
+220,3.666666667,POSE1_TO_POSE2_PRESS,764,742,711,675.420688882,656,629,879.420688882,783,800,650,629,651,0.446818940641,0.00474647840211,0.069636807502,0.999999799122,0.000271741888919,-0.000568671775473,-6.72665521528e-05,1793193642846715392
+221,3.683333333,POSE1_TO_POSE2_PRESS,763.834911197,742,711,675.165088803,656,629,879,783,800,650,629,651,0.446821604891,0.00474737162881,0.0696353677566,0.999999797807,0.00027183896194,-0.000570974284706,-6.69115986881e-05,1793193642863382272
+222,3.700000000,POSE1_TO_POSE2_PRESS,763.255783049,742,711,675.744216951,656,629,879,783,800,650,629,651,0.446823146549,0.00474690632391,0.0696339020607,0.999999796993,0.000270240866939,-0.000573182061726,-6.66849428679e-05,1793193642880048896
+223,3.716666667,POSE1_TO_POSE2_PRESS,763.321067783,742,711,675.678932217,656,629,879,783,800,650,629,651,0.446824449281,0.0047466485679,0.0696332921803,0.999999796492,0.000269941951324,-0.000574218422335,-6.64932775256e-05,1793193642896715520
+224,3.733333333,POSE1_TO_POSE2_PRESS,763.896117199,742,711,675.103882801,656,629,879,783,800,650,629,651,0.44682556301,0.00474655499402,0.069633359295,0.999999796242,0.000270670755294,-0.000574328130713,-6.63292914819e-05,1793193642913382144
+225,3.750000000,POSE1_TO_POSE2_PRESS,764,742.470128789,711.470128789,675,656,629,879.470128789,783,800,650,629,651,0.446825728983,0.00474753603641,0.0696330067787,0.999999795929,0.000270990003581,-0.000574716429419,-6.63904023036e-05,1793193642930048512
+226,3.766666667,POSE1_TO_POSE2_PRESS,764,743,711.954559237,675,655.954559237,629,879.954559237,783,800,650,629,651,0.446825673753,0.00474858351608,0.0696325530365,0.999999795593,0.000271201079331,-0.000575192771449,-6.64623451335e-05,1793193642946714880
+227,3.783333333,POSE1_TO_POSE2_PRESS,764,743,711.36079424,675,655.36079424,629,879.36079424,783,800,650,629,651,0.446825470797,0.00474757367993,0.0696319942454,0.999999795161,0.000271196476928,-0.000575990328669,-6.60661285954e-05,1793193642963381760
+228,3.800000000,POSE1_TO_POSE2_PRESS,764,742.773651423,711,675,655.226348577,629,879,783,800,650,629,651,0.446826181608,0.00474786285562,0.0696318096556,0.999999794868,0.000272428613433,-0.000575942339726,-6.5849256008e-05,1793193642980048640
+229,3.816666667,POSE1_TO_POSE2_PRESS,764,742.196764196,711,675,655.803235804,629,879,783,800,650,629,651,0.44682830754,0.00475016376855,0.0696322045792,0.999999794783,0.000275576047093,-0.000574584881001,-6.59101275631e-05,1793193642996715264
+230,3.833333333,POSE1_TO_POSE2_PRESS,764,742.378774195,711,675.378774195,655.621225805,629,879,783,800,650,629,651,0.446828123872,0.00475008864727,0.0696318268146,0.999999794522,0.000275168354762,-0.000575229397941,-6.59496910939e-05,1793193643013382144
+231,3.850000000,POSE1_TO_POSE2_PRESS,764,742.953614366,711,675.953614366,655.046385634,629,879,783,800,650,629,651,0.446826744681,0.00474878361249,0.0696310490813,0.999999794168,0.000272920412244,-0.00057691020334,-6.59782248889e-05,1793193643030048768
+232,3.866666667,POSE1_TO_POSE2_PRESS,764,742.457143138,711,675.457143138,655,629,879,783,799.457143138,650,629,651,0.446828806594,0.0047475057609,0.0696320349021,0.999999795475,0.000272129300925,-0.000575081318392,-6.54033072262e-05,1793193643046715136
+233,3.883333333,POSE1_TO_POSE2_PRESS,763.869140354,742.130859646,711,675,655,629,879,783,799.130859646,650,628.869140354,651,0.446830719529,0.00474660687293,0.0696329173483,0.999999796685,0.000271116049879,-0.000573499381417,-6.49904004775e-05,1793193643063381760
+234,3.900000000,POSE1_TO_POSE2_PRESS,763.289720532,742.710279468,711,675,655,629,879,783,799.710279468,650,628.289720532,651,0.44683108644,0.00474699881644,0.0696329148316,0.999999797078,0.000268903020443,-0.00057381992181,-6.53143996746e-05,1793193643080048384
+235,3.916666667,POSE1_TO_POSE2_PRESS,763.287730564,742.712269436,711,675.287730564,655.287730564,629,878.712269436,783,800,650,628,651,0.446831244872,0.004746422886,0.0696330304624,0.999999797222,0.000267750487667,-0.000574112776796,-6.52731487638e-05,1793193643096715264
+236,3.933333333,POSE1_TO_POSE2_PRESS,763.863212857,742.136787143,711,675.863212857,655.863212857,629,878.136787143,783,800,650,628,651,0.44683119481,0.00474487901045,0.0696332642494,0.999999797121,0.000267658529298,-0.000574377944376,-6.48666209154e-05,1793193643113382656
+237,3.950000000,POSE1_TO_POSE2_PRESS,764,742.43555939,710.56444061,676,655.56444061,629,878.43555939,782.56444061,800,650,628,651,0.446832027927,0.00474598103854,0.0696334848591,0.999999796785,0.000270095648269,-0.000573794969018,-6.50925131529e-05,1793193643130049536
+238,3.966666667,POSE1_TO_POSE2_PRESS,763.992783889,742.992783889,710.007216111,675.992783889,655,629,878.992783889,782,800,650,628,650.992783889,0.446833106941,0.00474787362667,0.0696336893651,0.999999796363,0.000273264864018,-0.00057298257758,-6.55070194964e-05,1793193643146716160
+239,3.983333333,POSE1_TO_POSE2_PRESS,763.397666208,742.397666208,710.602333792,675.397666208,655,629,878.397666208,782,800,650,628,650.397666208,0.446831784059,0.00474695998656,0.0696329166229,0.9999997956,0.00027183254679,-0.000575024813329,-6.52227250863e-05,1793193643163382528
+240,4.000000000,POSE1_TO_POSE2_PRESS,763.191489007,742.191489007,711,675.191489007,655,628.808510993,878.191489007,782,800.191489007,650,628,650.191489007,0.446830883868,0.00474630405373,0.0696323885752,0.999999795212,0.000270312524234,-0.000576446588337,-6.49323840998e-05,1793193643180048640
+241,4.016666667,POSE1_TO_POSE2_PRESS,763.768635814,742.768635814,711,675.768635814,655,628.231364186,878.768635814,782,800.768635814,650,628,650.768635814,0.446830834976,0.00474616714198,0.0696323533405,0.99999979559,0.000268615863723,-0.000576618758733,-6.46298653595e-05,1793193643196715264
+242,4.033333333,POSE1_TO_POSE2_PRESS,764,742.655224996,711,675.655224996,655,628.344775004,879,782.344775004,800.655224996,650,628.344775004,651,0.446831639446,0.00474637011085,0.0696327574275,0.999999796073,0.000268929930634,-0.0005756172918,-6.47787797947e-05,1793193643213381888
+243,4.050000000,POSE1_TO_POSE2_PRESS,764,742.07976003,711,675.07976003,655,628.92023997,879,782.92023997,800.07976003,650,628.92023997,651,0.446833014904,0.00474680049483,0.0696334554659,0.999999796622,0.000270589381208,-0.000573830540693,-6.52297494987e-05,1793193643230048512
+244,4.066666667,POSE1_TO_POSE2_PRESS,764,742.505593963,711,675,655,629,879,783,800,650,629,651,0.446832666653,0.00474610015298,0.0696332920897,0.999999795886,0.000272000040594,-0.000574539096115,-6.44145009261e-05,1793193643246715648
+245,4.083333333,POSE1_TO_POSE2_PRESS,764,742.90853708,711,675,655,628.90853708,879,783,800,650,628.90853708,650.90853708,0.446831965455,0.00474535841181,0.0696327797021,0.99999979498,0.000272922826201,-0.000575773286102,-6.35494661484e-05,1793193643263382784
+246,4.100000000,POSE1_TO_POSE2_PRESS,764,742.328418136,711,675,655,628.328418136,879,783,800,650,628.328418136,650.328418136,0.446830860366,0.00474536751356,0.0696311431748,0.999999794288,0.000271452936287,-0.000577670683406,-6.35069415907e-05,1793193643280048896
+247,4.116666667,HOLD_POSE2,764,743,711,675,655,629,880,782,800,650,629,651,0.446833549206,0.00474623090166,0.0696337763217,0.99999979627,0.000270816140951,-0.000574448679738,-6.42458729018e-05,1793193643318408448
+248,4.133333333,HOLD_POSE2,764.570434026,743,711,675,655,629,879.429565974,782.570434026,800,650,629,650.429565974,0.44683153061,0.00474679234377,0.0696318960004,0.99999979478,0.000270918116193,-0.000576968070189,-6.44218873117e-05,1793193643335075328
+249,4.150000000,HOLD_POSE2,764.852979943,742.852979943,711,675.147020057,655.147020057,629,879,783,799.852979943,650,629,650.147020057,0.446830421111,0.0047469620809,0.069630731258,0.999999793923,0.00027105080892,-0.000578390161541,-6.44294880148e-05,1793193643351741952
+250,4.166666667,HOLD_POSE2,764.257633717,742.257633717,711,675.742366283,655.742366283,629,879,783,799.257633717,650,629,650.742366283,0.446832083831,0.00474593734446,0.0696317486166,0.999999795005,0.000271277172249,-0.000576466125702,-6.39235243301e-05,1793193643368408064
+251,4.183333333,HOLD_POSE2,764,742,711,676,655.670172874,629,879,782.670172874,799.329827126,650,628.670172874,651,0.446832712432,0.00474508693751,0.069631863666,0.999999795504,0.000270369543455,-0.000576038780079,-6.38134306483e-05,1793193643385074688
+252,4.200000000,HOLD_POSE2,764,742,711,676,655.08872766,629,879,782.08872766,799.91127234,650,628.08872766,651,0.446832552127,0.00474436952286,0.0696312903629,0.999999795557,0.000268596816208,-0.000576753227662,-6.40053377911e-05,1793193643401741312
+253,4.216666667,HOLD_POSE2,764,742,711,676,655.485132058,629,879,782,800.485132058,650,628.485132058,651,0.446832869255,0.00474618575091,0.069631359684,0.999999795257,0.000269853718783,-0.000576677945824,-6.40825238861e-05,1793193643418408448
+254,4.233333333,HOLD_POSE2,763.940935363,742.059064637,711,675.940935363,655.940935363,629,879,782.059064637,800.940935363,650,628.940935363,651,0.446833339121,0.00474810989178,0.0696316208248,0.999999795034,0.000271284019037,-0.000576389752914,-6.4128336726e-05,1793193643435075328
+255,4.250000000,HOLD_POSE2,763.354147146,742.645852854,711,675.354147146,655.354147146,629,879,782.645852854,800.354147146,650,628.354147146,651,0.446834405498,0.00474692171919,0.0696325618692,0.999999796079,0.000269389078274,-0.000575469895448,-6.40784189257e-05,1793193643451741952
+256,4.266666667,HOLD_POSE2,763.231089247,742.768910753,711,675,655,629,879,783,800,650,628.231089247,651,0.446835075468,0.00474644943316,0.0696332465661,0.999999796507,0.000269382574748,-0.000574735130084,-6.40257145106e-05,1793193643468408832
+257,4.283333333,HOLD_POSE2,763.813963264,742.186036736,711,675,655,629,879,783,800,650,628.813963264,651,0.446835141993,0.00474706693394,0.0696335410279,0.999999795994,0.000272250819854,-0.000574282128595,-6.3968768065e-05,1793193643485075456
+258,4.300000000,HOLD_POSE2,764,742.39128401,711,675,655,629,879,782.60871599,800.39128401,650,629,651,0.446834993928,0.00474605316,0.0696331099321,0.99999979623,0.000270614398413,-0.000574647484898,-6.3943821888e-05,1793193643501741824
+259,4.316666667,HOLD_POSE2,764,742.966001442,711,675,655,629,879,782.033998558,800.966001442,650,629,651,0.446834745263,0.00474427464671,0.0696323386959,0.999999796807,0.000266866195568,-0.000575396486194,-6.39338773885e-05,1793193643518408448
+260,4.333333333,HOLD_POSE2,764,742.45731269,711,675.54268731,655,629,879,782.54268731,800.45731269,650,629,651,0.446834571783,0.00474503830228,0.0696322400507,0.999999796179,0.00026817063406,-0.000575942817226,-6.33766932493e-05,1793193643535075072
+261,4.350000000,HOLD_POSE2,764,742.122107606,711,675.877892394,655,628.877892394,879,783,799.877892394,650,629,651,0.446834487722,0.00474599222364,0.0696321857113,0.999999795581,0.000269873958697,-0.000576223276344,-6.30253959695e-05,1793193643551741952
+262,4.366666667,HOLD_POSE2,764,742.711519024,711,675.288480976,655,628.288480976,879,783,799.288480976,650,629,651,0.446834727779,0.00474706257316,0.0696321390857,0.999999795396,0.000271888009207,-0.000575535016233,-6.35937051624e-05,1793193643568408832
+263,4.383333333,HOLD_POSE2,763.704229487,743,711,675,655,628.295770513,879,783,799.295770513,650,629,651,0.446835169874,0.00474698447026,0.0696325490246,0.999999795628,0.000272106699701,-0.000575000367988,-6.38536943555e-05,1793193643585075712
+264,4.400000000,HOLD_POSE2,763.124924496,743,711,675,655,628.875075504,879,783,799.875075504,650,629,651,0.446835805648,0.00474580542637,0.06963339664,0.99999979626,0.00027060430415,-0.000574612976725,-6.38181187216e-05,1793193643601742080
+265,4.416666667,POSE2_TO_POSE3_RETREAT,764,742,711,675,656,628,880,782,800,650,629,651,0.446835707645,0.0047446130827,0.0696326359624,0.999999796315,0.000268633513745,-0.000575513477069,-6.31727726976e-05,1793193643634411008
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764,742,711,675,655.411723909,628.588276091,879.411723909,782.588276091,800.588276091,649.411723909,628.411723909,651,0.446836396751,0.00474619173576,0.069632920297,0.999999796861,0.00026879694661,-0.000574451656461,-6.35006278735e-05,1793193643651077376
+267,4.450000000,POSE2_TO_POSE3_RETREAT,763.826018214,742.173981786,711,675.173981786,655.173981786,628.826018214,879,782.826018214,801,649.173981786,628,651,0.446836721915,0.00474672822804,0.0696329940846,0.999999797208,0.000268784238238,-0.000573838992468,-6.36234860909e-05,1793193643667743744
+268,4.466666667,POSE2_TO_POSE3_RETREAT,763.246306626,742.753693374,711,675.753693374,655.753693374,628.246306626,879,782.246306626,801,649.753693374,628,651,0.446836198356,0.00474483437609,0.0696325768716,0.999999797095,0.000268360764203,-0.000574273772531,-6.32682864282e-05,1793193643684410624
+269,4.483333333,POSE2_TO_POSE3_RETREAT,763,742.667982643,711,675.667982643,655.667982643,628.332017357,879,782.332017357,800.667982643,650,628.332017357,651,0.44683599043,0.00474455185665,0.0696326799113,0.999999797039,0.000268429403812,-0.000574315095474,-6.34740139091e-05,1793193643701077248
+270,4.500000000,POSE2_TO_POSE3_RETREAT,763,742.090683803,711,675.090683803,655.090683803,628.909316197,879,782.909316197,800.090683803,650,628.909316197,651,0.446836015681,0.00474545972696,0.0696331672933,0.999999797027,0.000268861597826,-0.000574065747607,-6.40941325215e-05,1793193643717743872
+271,4.516666667,POSE2_TO_POSE3_RETREAT,763.484378548,742,711,675,655.484378548,629,878.515621452,782.515621452,800,650,628.515621452,650.515621452,0.446833089225,0.00474465447855,0.0696314513971,0.999999795558,0.000268552410819,-0.000576769788993,-6.40353404424e-05,1793193643734410496
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764,742,711,675.060571674,655.939428326,629,878.121143348,782.060571674,800,650,628,650.060571674,0.446828404319,0.00474372854929,0.0696287351642,0.999999793261,0.000268243262952,-0.000580900416312,-6.38642976291e-05,1793193643751076864
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764,742,711,675.650283952,655.349716048,629,879.300567904,782.650283952,800,650,628,650.650283952,0.446813163262,0.00474453728056,0.0696208670785,0.999999786107,0.000269141401139,-0.000592685358074,-6.38179019777e-05,1793193643767743744
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764,742.235088493,711,676,655,629,879.764911507,783,800,650,628.235088493,651,0.446786684416,0.00474558062856,0.0696081680182,0.999999773478,0.000269641049766,-0.000613400379521,-6.38527889074e-05,1793193643784410368
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764,742.812741562,711,676,655,629,879.187258438,783,800,650,628.812741562,651,0.446743830169,0.00474696585361,0.0695884293933,0.999999752233,0.000269560029965,-0.00064712806947,-6.4006118573e-05,1793193643801076992
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764,743,710.610133107,675.610133107,655,629,878.610133107,783,799.610133107,650,629,651,0.446683329041,0.00474741487108,0.069567186839,0.999999726616,0.000271045234502,-0.000685020963143,-6.3630137087e-05,1793193643817743616
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764,743,710.033260861,675.033260861,655,629,878.033260861,783,799.033260861,650,629,651,0.446614363324,0.00474741482302,0.0695452229011,0.999999697925,0.00027328170116,-0.000724911759975,-6.30002637234e-05,1793193643834410240
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764,743,710.55261553,675.55261553,655.55261553,628.44738447,878.55261553,783,799.55261553,650,629,651,0.446546315913,0.0047458942961,0.0695393133807,0.999999696912,0.00027360717148,-0.000726305643273,-6.16020244518e-05,1793193643851076864
+279,4.650000000,POSE2_TO_POSE3_RETREAT,763.862961013,743,711,675.862961013,655.862961013,628,879,782.862961013,800,650,629,651,0.446471995561,0.00474490581927,0.0695355336706,0.999999696469,0.000274701078933,-0.000726633200326,-6.00383272622e-05,1793193643867743488
+280,4.666666667,POSE2_TO_POSE3_RETREAT,763.284985006,743,711,675.284985006,655.284985006,628,879,782.284985006,800,650,629,651,0.446377310572,0.00474592860303,0.0695354462256,0.999999692231,0.000278643727782,-0.000731108592141,-5.80935192841e-05,1793193643884410368
+281,4.683333333,POSE2_TO_POSE3_RETREAT,763.291031172,743,711,675.291031172,655,628.291031172,879,782.291031172,800,650,628.708968828,651,0.446272661821,0.00474580306276,0.0695388494266,0.999999694914,0.00028162764617,-0.000726463919313,-5.57428660421e-05,1793193643901076992
+282,4.700000000,POSE2_TO_POSE3_RETREAT,763.865141036,743,711,675.865141036,655,628.865141036,879,782.865141036,800,650,628.134858964,651,0.446158321576,0.00474456057658,0.0695456478911,0.999999704211,0.000283679031312,-0.000712948388872,-5.29974574397e-05,1793193643917743872
+283,4.716666667,POSE2_TO_POSE3_RETREAT,763.557392204,743,711,676,655.442607796,629,879,782.557392204,800,650,628.442607796,651,0.44601490311,0.00474404727662,0.0695480179468,0.999999705961,0.000287223167826,-0.000709315800773,-4.95261915777e-05,1793193643934410240
+284,4.733333333,POSE2_TO_POSE3_RETREAT,763.021502312,743,711,676,656,629,879,782.021502312,800.021502312,650,629,651,0.445861374135,0.00474369844585,0.0695489289004,0.999999705407,0.000291140410301,-0.000708747068231,-4.5828125812e-05,1793193643951076864
+285,4.750000000,POSE2_TO_POSE3_RETREAT,763.610885097,743,711,676,656,629,879,782.610885097,800.610885097,650,629,651,0.445676604349,0.00474178069512,0.0695472122927,0.999999704937,0.000292807529087,-0.000708959844298,-4.20258185207e-05,1793193643967743744
+286,4.766666667,POSE2_TO_POSE3_RETREAT,764,743,711,675.606503233,656,629,879,782.803251616,800.803251616,650,628.803251616,650.803251616,0.445475833388,0.00473988366785,0.0695463569925,0.999999703365,0.000295992319254,-0.000710104709075,-3.75368323541e-05,1793193643984410368
+287,4.783333333,POSE2_TO_POSE3_RETREAT,764,743,711,674.448453366,656,629,879,782.224226683,800.224226683,650,628.224226683,650.224226683,0.445243972616,0.00473802690591,0.0695471751889,0.999999699629,0.000302125901827,-0.000713060595835,-3.17136489792e-05,1793193644001076992
+288,4.800000000,POSE2_TO_POSE3_RETREAT,764,743,711,674.354554374,656,629,879,782,799.645445626,650,628.354554374,650.354554374,0.444977720574,0.0047352294332,0.0695448093008,0.999999693341,0.000305900019815,-0.000720482652364,-2.54397306058e-05,1793193644017743872
+289,4.816666667,POSE2_TO_POSE3_RETREAT,764,743,711,674.93318136,656,629,879,782,799.06681864,650,628.93318136,650.93318136,0.444689733784,0.00473183744636,0.0695404311231,0.999999685352,0.000308182995028,-0.000730727255974,-1.88809544513e-05,1793193644034410496
+290,4.833333333,POSE2_TO_POSE3_RETREAT,764,742.492543345,711,675,656,629,879,782.507456655,799.507456655,650,629,651,0.444375347131,0.00472716641198,0.0695411636083,0.999999682253,0.000314148631093,-0.000732585259547,-1.11273200546e-05,1793193644051077120
+291,4.850000000,POSE2_TO_POSE3_RETREAT,763.916892877,742.083107123,711,675.083107123,656.083107123,629.083107123,879,783,800,650,628.916892877,651,0.444053115701,0.00472265178373,0.0695438356335,0.999999681717,0.000320755081579,-0.000730527550523,-3.29803414526e-06,1793193644067743488
+292,4.866666667,POSE2_TO_POSE3_RETREAT,763.329449203,742.670550797,711,675.670550797,656.670550797,629.670550797,879,783,800,650,628.329449203,651,0.44370419379,0.00472009965502,0.0695542287625,0.99999969308,0.000328332668028,-0.0007113517344,4.04369850785e-06,1793193644084410368
+293,4.883333333,POSE2_TO_POSE3_RETREAT,763.255702563,743,711,675.744297437,657,630,879,783,800,649.744297437,628.255702563,651,0.443332342646,0.00471613833717,0.0695672976541,0.999999706884,0.000332706330514,-0.000689497259633,1.14914362171e-05,1793193644101077248
+294,4.900000000,POSE2_TO_POSE3_RETREAT,763.837927613,743,711,675.162072387,657,630,879,783,800,649.162072387,628.837927613,651,0.442931211761,0.0047103775383,0.0695837833925,0.999999723782,0.000332988702986,-0.000664222240376,1.90745379254e-05,1793193644117744128
+295,4.916666667,POSE2_TO_POSE3_RETREAT,764,742.586102307,711,675,657,630,879,783,800,649.413897693,629,651,0.442503226221,0.00470106511321,0.0696076475908,0.99999975698,0.000304426531591,-0.000626924528173,1.81701707299e-05,1793193644134411008
+296,4.933333333,POSE2_TO_POSE3_RETREAT,764,742.012545073,711,675,657,630,879,783,800,649.987454927,629,651,0.442064881605,0.00469038266126,0.069634358003,0.999999793753,0.000264737680687,-0.00058498910445,1.39917928178e-05,1793193644151077632
+297,4.950000000,POSE2_TO_POSE3_RETREAT,763.436100672,742.563899328,711,675,657.563899328,630.563899328,878.436100672,783,799.436100672,649.436100672,629,650.436100672,0.441591288368,0.00466483000133,0.0696555242646,0.999999822353,0.000229881063016,-0.000549696301184,1.68328229066e-05,1793193644167744000
+298,4.966666667,POSE2_TO_POSE3_RETREAT,763.13853619,742.86146381,711,675,658,631,878.13853619,783.13853619,799,649.13853619,629,650.13853619,0.441108739519,0.00463754667761,0.0696783877244,0.999999851626,0.000190860126884,-0.00050983036611,1.9835524936e-05,1793193644184410368
+299,4.983333333,POSE2_TO_POSE3_RETREAT,763.7073583,742.2926417,711,675,658,631,878.7073583,783.7073583,799,649.7073583,629,650.7073583,0.440600823259,0.00460592080021,0.0697069076472,0.999999886489,0.000138569433918,-0.000455299185127,2.28528475373e-05,1793193644201076992
+300,5.000000000,POSE2_TO_POSE3_RETREAT,763.709896187,742.290103813,711,674.709896187,658.290103813,631.290103813,879,783.709896187,799.290103813,650,629,650.709896187,0.440051377001,0.00459088176936,0.0697238101473,0.999999904018,0.000108094848081,-0.000423847601709,2.51526904759e-05,1793193644217743872
+301,5.016666667,POSE2_TO_POSE3_RETREAT,763.112397315,742.887602685,711,674.112397315,658.887602685,631.887602685,879,783.112397315,799.887602685,650,629,650.112397315,0.439457925343,0.00459341821777,0.0697284027874,0.999999907687,0.000100736683123,-0.000416851239403,2.66922898232e-05,1793193644234410496
+302,5.033333333,POSE2_TO_POSE3_RETREAT,763.467637654,742.532362346,711,674.467637654,659,631.532362346,878.532362346,783.467637654,800,649.532362346,629,650,0.438785992956,0.00459250139168,0.0697083939764,0.999999882558,0.000189013340131,-0.000445455803613,2.6971600486e-05,1793193644251077120
+303,5.050000000,POSE2_TO_POSE3_RETREAT,763.95531634,742,711,674.95531634,659.04468366,631.04468366,878,784,800.04468366,649,629,650.04468366,0.438100344618,0.00459035285086,0.0696858823361,0.999999844382,0.000288500331681,-0.000476731407103,2.70320133824e-05,1793193644267743744
+304,5.066666667,POSE2_TO_POSE3_RETREAT,763.365366668,742,711,674.365366668,659.634633332,631.634633332,878,784,800.634633332,649,629,650.634633332,0.437469216857,0.00458293762517,0.0697023865891,0.999999870476,0.00025438974999,-0.000439944212573,2.79845682005e-05,1793193644284410368
+305,5.083333333,POSE2_TO_POSE3_RETREAT,763,742.219144753,711,674,660.219144753,632,878.219144753,784,800.561710495,649.219144753,629,650.780855247,0.436819974008,0.00457788351648,0.0697296956076,0.999999897486,0.000223369192603,-0.00039274300536,2.97774102502e-05,1793193644301077248
+306,5.100000000,POSE2_TO_POSE3_RETREAT,763,742.794808827,711,674,660.794808827,632,878.794808827,784,799.410382346,649.794808827,629,650.205191173,0.436141260361,0.00457667063107,0.069774582539,0.99999992599,0.000197375695266,-0.000328599588976,3.29372876371e-05,1793193644317743872
+307,5.116666667,POSE2_TO_POSE3_RETREAT,763.372021398,743,711.372021398,674,661,632,878.627978602,784.372021398,799.372021398,650,629,650.372021398,0.435414063431,0.00457313964642,0.0698086321863,0.999999942745,0.000178007654863,-0.000285307446288,3.77147603363e-05,1793193644334410496
+308,5.133333333,POSE2_TO_POSE3_RETREAT,763.950091604,743,711.950091604,674,661,632,878.049908396,784.950091604,799.950091604,650,629,650.950091604,0.434660013438,0.00456832475289,0.0698366794637,0.999999953739,0.00016230920952,-0.000253564050554,4.33881588019e-05,1793193644351077376
+309,5.150000000,POSE2_TO_POSE3_RETREAT,764,743,711.473904974,674,660.473904974,632,878,784.473904974,800,650,629,650.473904974,0.433834769131,0.00456371507982,0.069830599697,0.999999947622,0.000173433188722,-0.000270022768365,4.20153062999e-05,1793193644367744000
+310,5.166666667,POSE2_TO_POSE3_RETREAT,764,742.89503075,711,674,660.10496925,632,878,784,799.89503075,650,629,650.10496925,0.433006874131,0.00456011379556,0.0698232903032,0.999999941987,0.000182324703209,-0.000284829091926,4.07023206852e-05,1793193644384410624
+311,5.183333333,POSE2_TO_POSE3_RETREAT,764,742.301897672,711,674,660.698102328,632,878,784,799.301897672,650,629,650.698102328,0.432197938621,0.00456111188219,0.0698252596326,0.999999948139,0.000169046912602,-0.000270768431695,4.27642287981e-05,1793193644401076992
+312,5.200000000,POSE2_TO_POSE3_RETREAT,763.718322502,742,711,673.718322502,661,632,878,784,799,649.718322502,629,650.718322502,0.431338822898,0.00456040678662,0.0698039583158,0.999999940305,0.000160148087881,-0.000303032147213,4.37554445906e-05,1793193644417743616
+313,5.216666667,POSE2_TO_POSE3_RETREAT,763.144655089,742,711,673.144655089,661,632,878,784,799,649.144655089,629,650.144655089,0.430427689728,0.00455793615426,0.0697585343977,0.999999913447,0.000155788543811,-0.000383316204443,4.36367692944e-05,1793193644434410240
+314,5.233333333,POSE2_TO_POSE3_RETREAT,763,742.430054613,711,673.430054613,660.139890774,632,878,784.430054613,799,649.430054613,629,650,0.429539706964,0.00455291174789,0.0697319076103,0.999999899171,0.000156189219132,-0.000418863116916,4.26104161006e-05,1793193644451077120
+315,5.250000000,POSE2_TO_POSE3_RETREAT,763,742.994862224,711,674,659.015413328,632,878,784.994862224,799.005137776,649.994862224,629,650,0.428659817398,0.00454702653449,0.0697124332965,0.999999890643,0.000158026819888,-0.000438216920195,4.13222860902e-05,1793193644467743744
+316,5.266666667,POSE2_TO_POSE3_RETREAT,763,742.417321852,711,674,660.748034445,632,878,784.417321852,799.582678148,649.417321852,629,650,0.427811930644,0.00454117233554,0.0697836945152,0.99999993323,0.000141132593271,-0.000334065011548,4.49669039417e-05,1793193644484410368
+317,5.283333333,POSE2_TO_POSE3_RETREAT,763,742.164144909,711,674,662,632,878,784,799.835855091,649,629,650,0.426962224936,0.00453598430909,0.0698420399797,0.999999959449,0.000132361274779,-0.000247584122466,4.77892706883e-05,1793193644501076992
+318,5.300000000,POSE2_TO_POSE3_RETREAT,763,742.755838713,711,674,662,632,878,784,799.244161287,649,629,650,0.42610778144,0.00453253146512,0.0698667437237,0.999999966898,0.000144747731683,-0.000207131022403,4.84699175734e-05,1793193644517743616
+319,5.316666667,POSE2_TO_POSE3_RETREAT,763,742.660401222,711,673.660401222,661.320802444,632,878,784,799,649,629,650,0.425215482029,0.00452759605488,0.0698612900469,0.99999996644,0.000137997067211,-0.000213891248427,4.82380811827e-05,1793193644534410240
+320,5.333333333,POSE2_TO_POSE3_RETREAT,763,742.082215084,711,673.082215084,660.164430168,632,878,784,799,649,629,650,0.424296586731,0.00452161905807,0.0698346490744,0.999999959727,0.000117801491333,-0.000253821509517,4.73651735886e-05,1793193644551076864
+321,5.350000000,POSE2_TO_POSE3_RETREAT,763.49208601,742,711,673,660.98417202,632,878,784,799,649.49208601,629,650.49208601,0.423325995586,0.00451786674269,0.0697870792328,0.999999933445,0.000121937356565,-0.000340652994429,4.68601843878e-05,1793193644567743744
+322,5.366666667,POSE2_TO_POSE3_RETREAT,763.932156179,742,711,673.067843821,661.796468536,632,878,784,799,649.932156179,629,650.932156179,0.42234897724,0.00451400117481,0.0697368134877,0.999999897205,0.00012768647388,-0.000432588735295,4.640586924e-05,1793193644584410112
+323,5.383333333,POSE2_TO_POSE3_RETREAT,763.340169032,742,711,673.659830968,660.020507097,632,878,784,799,649.340169032,629,650.340169032,0.421388509552,0.00450641158231,0.0696925227691,0.999999865411,0.000114738769027,-0.000503893897137,4.58718716829e-05,1793193644601076992
+324,5.400000000,POSE2_TO_POSE3_RETREAT,763.245829094,742.245829094,711,673.754170906,659.245829094,632,877.754170906,784,799.245829094,649.245829094,629,650.245829094,0.4204979098,0.00449853514505,0.0696986251635,0.999999872743,0.000101488913578,-0.000492035770508,4.59950084753e-05,1793193644617743872
+325,5.416666667,POSE2_TO_POSE3_RETREAT,763.823737022,742.823737022,711,673.176262978,659.823737022,632,877.176262978,784,799.823737022,649.823737022,629,650.823737022,0.419701691186,0.00449027122178,0.0697728012118,0.999999927386,8.78308948869e-05,-0.000367836318953,4.70058364854e-05,1793193644634410496
+326,5.433333333,POSE2_TO_POSE3_RETREAT,764,742.599807721,711,673,661.200576838,632,877.400192279,784,800,650,629,651,0.418902504308,0.00448240160551,0.0698360515656,0.999999960424,8.31938222686e-05,-0.000264287192204,4.88099577092e-05,1793193644651077120
+327,5.450000000,POSE2_TO_POSE3_RETREAT,764,742.023990006,711,673,662.928029981,632,877.976009994,784,800,650,629,651,0.418102014848,0.00447470503241,0.0698945071452,0.999999980881,8.25156161269e-05,-0.000169800521663,5.09622175296e-05,1793193644667743744
+328,5.466666667,POSE2_TO_POSE3_RETREAT,763.446865535,742,711,673,661.340596605,632,877.446865535,784,799.446865535,649.446865535,629,651,0.417212443083,0.00446590256516,0.0698655700046,0.999999972347,6.59562230236e-05,-0.000220345086335,4.90335576297e-05,1793193644684410624
+329,5.483333333,POSE2_TO_POSE3_RETREAT,763.133700763,742,711,673,660.133700763,631.866299237,877,784,799.267401526,649,629,651,0.41632435486,0.00445753215169,0.0698326159771,0.999999960604,4.89158252102e-05,-0.000272430637984,4.66968035778e-05,1793193644701077248
+330,5.500000000,POSE2_TO_POSE3_RETREAT,763.725874589,742,711,673,660.725874589,631.274125411,877,784,800.451749177,649,629,651,0.415454633902,0.00445080815549,0.0697989157807,0.999999951032,3.25935151668e-05,-0.000308179754511,4.35690209774e-05,1793193644717743872
+331,5.516666667,POSE2_TO_POSE3_RETREAT,764,742.308827437,711,673.308827437,661,631.308827437,877.617654874,784,800.382345126,649,629,651,0.414585412139,0.00444355697752,0.069764007933,0.999999931385,2.54554868261e-05,-0.000367030542378,4.32602133101e-05,1793193644734410496
+332,5.533333333,POSE2_TO_POSE3_RETREAT,764,742.88383271,711,673.88383271,661,631.88383271,878.767665421,784,799.232334579,649,629,651,0.413716620677,0.00443585142285,0.0697280592146,0.999999899261,2.62333758237e-05,-0.000445792617781,4.53810752835e-05,1793193644751077632
+333,5.550000000,POSE2_TO_POSE3_RETREAT,764,742.54358557,711,674,660.08717114,632,878.54358557,784,799,649.45641443,629,651,0.412987739143,0.00442866919233,0.0697511357008,0.999999918814,1.2540369769e-05,-0.000400242365472,4.49485697575e-05,1793193644767744256
+334,5.566666667,POSE2_TO_POSE3_RETREAT,764,742.029477627,711,673.970522373,659.088432881,632,878,784,799,649.970522373,629,651,0.412295321116,0.00442157489024,0.0697902691318,0.999999947077,-4.36835547906e-06,-0.000322327152384,4.39536869682e-05,1793193644784411136
+335,5.583333333,POSE2_TO_POSE3_RETREAT,764,742.623512771,711,673.376487229,660.870538312,632,878,784,799,649.376487229,629,651,0.41162285118,0.00441362708098,0.0698507209074,0.999999973087,-1.26972988285e-05,-0.000227329951898,4.45690582405e-05,1793193644801077248
+336,5.600000000,POSE2_TO_POSE3_RETREAT,763.7877156,743,711,673,661.7877156,632,878,784.2122844,799.2122844,649.2122844,629,651,0.410934481868,0.00441216798799,0.0698834395786,0.999999983119,-1.30415813079e-05,-0.00017743269738,4.59207661616e-05,1793193644817743360
+337,5.616666667,POSE2_TO_POSE3_RETREAT,763.208052885,743,711,673,661.208052885,632,878,784.791947115,799.791947115,649.791947115,629,651,0.41021859707,0.00442193823345,0.0698681634889,0.999999977689,4.32348651654e-07,-0.000205585169805,4.85467752291e-05,1793193644834409984
+338,5.633333333,POSE2_TO_POSE3_RETREAT,763,742.631033652,711,673,660.631033652,632,877.631033652,784.631033652,799.631033652,649.631033652,629,651,0.409509638073,0.00444494389599,0.0698313420888,0.999999961671,2.7004630525e-05,-0.000271498831616,4.70817785077e-05,1793193644851076864
+339,5.650000000,POSE2_TO_POSE3_RETREAT,763,742.055494458,711,673,660.055494458,632,877.055494458,784.055494458,799.055494458,649.055494458,629,651,0.408804556662,0.00447535965864,0.0697824581368,0.999999932926,6.09102735534e-05,-0.000358553811993,4.33263536919e-05,1793193644867743744
+340,5.666666667,POSE2_TO_POSE3_RETREAT,763.527041831,742,711,673,660.527041831,632,877.527041831,784,799,649.527041831,628.472958169,651,0.408204327777,0.00447168597791,0.0697705240298,0.999999929538,5.75070764194e-05,-0.000368628034483,4.16040062329e-05,1793193644884410624
+341,5.683333333,POSE2_TO_POSE3_RETREAT,763.890038563,742,711,673,660.890038563,632,877.890038563,784,799,650,628.109961437,651,0.407619477507,0.00446398473049,0.0697675915906,0.999999931134,4.88665792998e-05,-0.000365629538068,4.07434388506e-05,1793193644901078016
+342,5.700000000,POSE2_TO_POSE3_RETREAT,763.308676646,742,711,673,660.308676646,632,877.308676646,784,799,650,628.691323354,651,0.407052588363,0.0044546122094,0.0697863456714,0.999999940068,3.48414914424e-05,-0.000341804849276,4.26472265654e-05,1793193644917746944
+343,5.716666667,POSE2_TO_POSE3_RETREAT,763.270682685,742,711,673,660,632,877.270682685,784,799.270682685,650,629,651,0.40650529826,0.00444825720223,0.0697958319394,0.999999943104,2.40573057663e-05,-0.000333629801833,4.36504435085e-05,1793193644934413568
+344,5.733333333,POSE2_TO_POSE3_RETREAT,763.84777507,742,711,673,660,632,877.84777507,784,799.84777507,650,629,651,0.405980194086,0.00444531798692,0.0697948271482,0.999999940022,1.6941785228e-05,-0.000343169971046,4.36342245426e-05,1793193644951077888
+345,5.750000000,POSE2_TO_POSE3_RETREAT,764,742,711,673,660,632,877.579481895,784,800,650,628.579481895,651,0.40551532205,0.00445044213859,0.0697982670905,0.999999941636,2.45910919781e-05,-0.000337934305476,4.38509464638e-05,1793193644967744000
+346,5.766666667,POSE2_TO_POSE3_RETREAT,764,742,711,673,660,632,877.008297133,784,800,650,628.008297133,651,0.405072030432,0.00445845529892,0.0698032995281,0.999999944724,3.75304608853e-05,-0.000327404634017,4.41511283353e-05,1793193644984410624
+347,5.783333333,POSE2_TO_POSE3_RETREAT,764,742,711,673,660,632,877.584377095,784,799.415622905,649.415622905,628.584377095,651,0.404688007271,0.00447116269547,0.069818503098,0.999999953031,5.6086058107e-05,-0.000298264091195,4.27940269473e-05,1793193645001077248
+348,5.800000000,POSE2_TO_POSE3_RETREAT,764,742,711,673,660.174199156,632,878,784,799,649,629,651,0.404308608905,0.00447824010942,0.0698326348048,0.999999960042,6.49723941468e-05,-0.000271932118323,4.18076209988e-05,1793193645017743872
+349,5.816666667,POSE2_TO_POSE3_RETREAT,764,742,711,673,660.756595649,632,878,784,799,649,629,651,0.403938000478,0.00447196276026,0.0698439035222,0.999999965868,5.10069628598e-05,-0.000252824236494,4.17471015745e-05,1793193645034410496
+350,5.833333333,POSE2_TO_POSE3_RETREAT,764,742,711,673,660.666090122,632,878,784,799,649.333909878,629,651,0.403589953862,0.00446539725185,0.0698421637038,0.999999965885,3.72298262139e-05,-0.000255289305078,4.08921056426e-05,1793193645051077376
+351,5.850000000,POSE2_TO_POSE3_RETREAT,764,742,711,673,660.092425112,632,878,784,799,649.907574888,629,651,0.403258107179,0.00445862483872,0.0698310834505,0.999999961612,2.35878903762e-05,-0.000273244259615,3.94666569261e-05,1793193645067744256
+352,5.866666667,POSE2_TO_POSE3_RETREAT,764,742,711,672.515954607,660,632,878,784,799,650,629,651,0.402953985423,0.00445800994371,0.0698205445882,0.999999955874,1.76725491044e-05,-0.000293938550022,3.92346051674e-05,1793193645084410368
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764.062514297,742,711,672.062514297,660,632,878,784,799.062514297,649.937485703,629,651,0.402660649218,0.0044583610073,0.0698099400486,0.999999949545,1.28574957445e-05,-0.000314976961461,3.91717227253e-05,1793193645101076992
+354,5.900000000,POSE2_TO_POSE3_RETREAT,764.653317734,742,711,672.653317734,660,632,878,784,799.653317734,649.346682266,629,651,0.402413460587,0.00445688138876,0.0697979018076,0.999999943306,4.80031200307e-06,-0.000334477471382,3.86015454127e-05,1793193645117743872
+355,5.916666667,POSE2_TO_POSE3_RETREAT,764.521490571,742,711,672.760745286,660,632,878,784,800,649,628.760745286,651,0.402184254028,0.00445485762564,0.0697898663522,0.999999939014,-2.15515614526e-06,-0.000347088726015,3.86814480543e-05,1793193645134410240
+356,5.933333333,POSE2_TO_POSE3_RETREAT,763.363438653,742,711,672.181719326,660,632,878,784,800,649,628.181719326,651,0.401980584254,0.00445206111013,0.0697875153477,0.999999937963,-7.54605138946e-06,-0.000349916385739,3.96845445892e-05,1793193645151076864
+357,5.950000000,POSE2_TO_POSE3_RETREAT,763.392225633,742,711,672.392225633,660,632,878,784,800,649.392225633,628.392225633,651,0.401813170212,0.00445279997763,0.0697903757042,0.999999939982,-5.54876066156e-06,-0.000343980939579,4.10176656962e-05,1793193645167744000
+358,5.966666667,POSE2_TO_POSE3_RETREAT,763.963846706,742,711,672.963846706,660,632,878,784,800,649.963846706,628.963846706,651,0.401662338732,0.00445515585187,0.0697956196232,0.999999943306,-1.72275495776e-07,-0.000334037440383,4.25017329186e-05,1793193645184411136
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764,742.552285966,711,673,660,632,878,784,800,650,629,651,0.401534022955,0.00446160340358,0.0697940259985,0.999999941575,4.41807248564e-05,-0.000336142215618,4.36703053566e-05,1793193645201077760
+360,6.000000000,POSE2_TO_POSE3_RETREAT,764,742.860448375,711,673,660,632,877.860448375,784,800,650,629,651,0.4014133462,0.00447158354582,0.0697917922085,0.99999993764,8.84188438141e-05,-0.000339105687873,4.37070469451e-05,1793193645217744384
+361,6.016666667,POSE2_TO_POSE3_RETREAT,764,742.280470178,711,673,660,632,877.280470178,784,800,650,629,651,0.401311980497,0.00449184071145,0.0697889950277,0.999999932949,0.000123989091733,-0.000342211912319,4.02389448016e-05,1793193645234410752
+362,6.033333333,POSE2_TO_POSE3_RETREAT,764,742,711,672.702307254,660,632,877.297692746,784,799.702307254,650,629,651,0.401227600472,0.00449887335586,0.069788593489,0.999999933971,0.000119296364253,-0.000341551787603,3.41863711306e-05,1793193645251077376
+363,6.050000000,POSE2_TO_POSE3_RETREAT,764,742,711,672.125844253,660,632,877.874155747,784,799.125844253,650,629,651,0.401159126456,0.00449352207905,0.0697904353165,0.999999939805,7.68999280849e-05,-0.000337364716931,2.57136050316e-05,1793193645267744000
+364,6.066666667,POSE2_TO_POSE3_RETREAT,764,742,711,672,660,632,877.554386381,784,799.445613619,650,628.554386381,651,0.401107145155,0.00448449164255,0.0697932843428,0.999999942405,6.04963253527e-05,-0.000332900977612,2.65757145399e-05,1793193645284410880
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764,742.016352486,711,672,660,632,877.016352486,784,800,650,628.016352486,651,0.401060274363,0.00447460618627,0.0697963965838,0.999999944328,5.14329076896e-05,-0.000328330371643,2.99755836963e-05,1793193645301077248
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764,742.611100336,711,672,660,632,877.611100336,784,800,650,628.611100336,651,0.401031251159,0.00447082067532,0.0697988698372,0.999999946427,4.52404732421e-05,-0.000322712743899,3.09281656715e-05,1793193645317743872
+367,6.116666667,POSE2_TO_POSE3_RETREAT,763.799448239,742.799448239,711,672,660,632.200551761,878,784.200551761,799.799448239,650,629,651,0.401005896516,0.00446856222974,0.0698010760696,0.999999948067,4.17553367095e-05,-0.000317989023685,3.1714152512e-05,1793193645334410496
+368,6.133333333,POSE2_TO_POSE3_RETREAT,763.220003176,742.220003176,711,672,660,632.779996824,878,784.779996824,799.220003176,650,629,651,0.400987472722,0.00446918879957,0.069802777831,0.999999948943,4.33849754305e-05,-0.000314954122893,3.21853986535e-05,1793193645351077120
+369,6.150000000,POSE2_TO_POSE3_RETREAT,763.356823433,742,711,672.356823433,660,633,878,784.643176567,799,649.643176567,629,651,0.400973761177,0.00446838284278,0.0698044072173,0.999999949761,4.28782255431e-05,-0.000312368207789,3.26439091522e-05,1793193645367743744
+370,6.166666667,POSE2_TO_POSE3_RETREAT,763.932047422,742,711,672.932047422,660,633,878,784.067952578,799,649.067952578,629,651,0.40096293385,0.00446670008094,0.0698059923052,0.999999950542,4.10638586033e-05,-0.000310057102606,3.30946246044e-05,1793193645384410368
+371,6.183333333,POSE2_TO_POSE3_RETREAT,763.505890318,742,711,672.505890318,660,633,877.505890318,784,799.494109682,649.494109682,629,651,0.400957466338,0.00446712524273,0.0698072822926,0.999999950937,4.24025922972e-05,-0.000308597384531,3.31095766039e-05,1793193645401076992
+372,6.200000000,POSE2_TO_POSE3_RETREAT,763.058978756,742,711,672.058978756,660,632.941021244,877.058978756,784,799.941021244,650,629,651,0.400953045681,0.00446779435571,0.0698084007881,0.999999951294,4.39366450403e-05,-0.000307227532729,3.30499776539e-05,1793193645417743616
+373,6.216666667,POSE2_TO_POSE3_RETREAT,763.666339081,742,711,672.666339081,660,632.333660919,877.666339081,784,799.333660919,650,629,651,0.400951682839,0.00446810624166,0.0698082923173,0.999999951815,4.33594970215e-05,-0.000305632827536,3.28399623194e-05,1793193645434410496
+374,6.233333333,POSE2_TO_POSE3_RETREAT,764,742.260689956,711,672.739310044,660,632,878,784,799,650,629,650.739310044,0.4009509229,0.00446764811681,0.0698086739494,0.999999952286,4.19906944111e-05,-0.000304293424802,3.27156219509e-05,1793193645451077120
+375,6.250000000,POSE2_TO_POSE3_RETREAT,764,742.839181262,711,672.160818738,660,632,878,784,799,650,629,650.160818738,0.400950897948,0.00446625128884,0.069809653055,0.999999952694,3.96568032594e-05,-0.000303265255734,3.26957260479e-05,1793193645467743744
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764,742.585558167,711.414441833,672.414441833,660,632,878,784.414441833,799.414441833,650,629,650.414441833,0.400951240132,0.004467161937,0.0698109506272,0.99999995305,4.18819278266e-05,-0.000301778330276,3.27922365028e-05,1793193645484410624
+377,6.283333333,POSE2_TO_POSE3_RETREAT,764,742.011541557,711.988458443,672.988458443,660,632,878,784.988458443,799.988458443,650,629,650.988458443,0.400951723677,0.0044689610452,0.0698123708202,0.999999953372,4.58624348965e-05,-0.000300114767386,3.29335675264e-05,1793193645501077248
+378,6.300000000,POSE2_TO_POSE3_RETREAT,764,742,711.424013995,673,660.575986005,632.575986005,878,784.424013995,799.424013995,650,629,651,0.400950579601,0.00446825260601,0.0698119938831,0.999999953315,4.24063811007e-05,-0.000300857095133,3.24968725752e-05,1793193645517743616
+379,6.316666667,POSE2_TO_POSE3_RETREAT,763.837816515,742,711,673,660.837816515,632.837816515,878,784.162183485,798.837816515,650,629,651,0.400949869567,0.00446751448641,0.0698119013976,0.999999953349,3.95886505249e-05,-0.000301160468769,3.21962595215e-05,1793193645534409984
+380,6.333333333,POSE2_TO_POSE3_RETREAT,763.255780076,742,711,673,660.255780076,632.255780076,878,784.744219924,798.255780076,650,629,651,0.400950369617,0.00446683273065,0.0698126407494,0.999999953666,3.8818405896e-05,-0.000300199699547,3.22786332275e-05,1793193645551076864
+381,6.350000000,POSE2_TO_POSE3_RETREAT,763.3224816,742,711.3224816,673,660.3224816,632,878,784.6775184,798.644963201,649.6775184,629.3224816,651,0.400950898954,0.0044676167308,0.0698132050645,0.999999953786,4.07948953119e-05,-0.000299523162463,3.23875018398e-05,1793193645567743744
+382,6.366666667,POSE2_TO_POSE3_RETREAT,763.89778398,742,711.89778398,673,660.89778398,632,878,784.10221602,799.79556796,649.10221602,629.89778398,651,0.400951451253,0.00446954986172,0.0698136321535,0.999999953741,4.49247832922e-05,-0.000299069459039,3.2517142073e-05,1793193645584410624
+383,6.383333333,POSE2_TO_POSE3_RETREAT,764,742,711.529006558,672.529006558,660.529006558,632.470993442,878,784,800,649.470993442,629.529006558,651,0.400951011706,0.00446884215333,0.0698134606816,0.999999953964,4.25385583985e-05,-0.000298701933646,3.22581479305e-05,1793193645601077760
+384,6.400000000,POSE2_TO_POSE3_RETREAT,763.95458092,742,711,672,660,632.95458092,878,784,799.95458092,649.95458092,629,651,0.400950392819,0.00446762523035,0.0698132271897,0.999999954221,3.90836886372e-05,-0.000298345878045,3.19465056062e-05,1793193645617745152
+385,6.416666667,POSE2_TO_POSE3_RETREAT,763.359981837,742,711,672,660,632.359981837,878,784,799.359981837,649.359981837,629,651,0.400950196658,0.00446715036276,0.0698138075254,0.999999954325,3.97307003476e-05,-0.000297903368589,3.20135771764e-05,1793193645634411776
+386,6.433333333,POSE2_TO_POSE3_RETREAT,763.225498118,742,711,672.225498118,660,632,877.774501882,784,799.225498118,649.225498118,629,651,0.400949949211,0.00446691333345,0.069813832258,0.999999954351,4.00082516391e-05,-0.000297768697481,3.20993223328e-05,1793193645651078400
+387,6.450000000,POSE2_TO_POSE3_RETREAT,763.796986225,742,711,672.796986225,660,632,877.203013775,784,799.796986225,649.796986225,629,651,0.400949623073,0.00446704122811,0.0698130045084,0.999999954259,3.97189262913e-05,-0.000298106354006,3.22137190498e-05,1793193645667744768
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764,742.373249109,711,673,660,632,877.373249109,784,800,649.626750891,629,651,0.400950627673,0.00446818180156,0.0698138832165,0.999999954527,4.12382876434e-05,-0.000296991906393,3.22663950144e-05,1793193645684411136
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764,742.952142673,711,673,660,632,877.952142673,784,800,649.047857327,629,651,0.400952365455,0.00446988031813,0.0698157021106,0.999999954986,4.37541587945e-05,-0.00029507741087,3.22850654536e-05,1793193645701077248
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764,742.47394422,711,672.47394422,660.52605578,632,878.52605578,784,800,649.52605578,629,651,0.400950896156,0.00446843561139,0.0698151806839,0.999999954741,4.11559130945e-05,-0.000296272813427,3.23464452325e-05,1793193645717743872
+391,6.516666667,POSE2_TO_POSE3_RETREAT,764,742,711,672.103357978,660.896642022,632,878.896642022,784,799.896642022,649.896642022,629,651,0.400949632233,0.00446686170916,0.0698146913289,0.999999954577,3.87491447464e-05,-0.000297143066068,3.24023305582e-05,1793193645734410240
+392,6.533333333,POSE2_TO_POSE3_RETREAT,764,742,711,672.698937373,660.301062627,632,878.301062627,784,799.301062627,649.301062627,629,651,0.400950722795,0.00446602155278,0.0698153591318,0.999999955146,3.9449132699e-05,-0.000295130147627,3.24137195944e-05,1793193645751076864
+393,6.550000000,POSE2_TO_POSE3_RETREAT,764,742.282834159,711,673,660.282834159,632,878,784.282834159,799.282834159,649.282834159,629,650.717165841,0.400950853807,0.00446517670468,0.0698152232768,0.999999955134,3.88013802791e-05,-0.000295248749912,3.24644588517e-05,1793193645767743488
+394,6.566666667,POSE2_TO_POSE3_RETREAT,764,742.854788751,711,673,660.854788751,632,878,784.854788751,799.854788751,649.854788751,629,650.145211249,0.400950003943,0.00446432706049,0.0698142659021,0.999999954527,3.67759326907e-05,-0.000297546247861,3.25554229294e-05,1793193645784410368
+395,6.583333333,POSE2_TO_POSE3_RETREAT,764,743,711,672.570243093,660.570243093,632,878,784.570243093,800,650,629,650.429756907,0.40095024936,0.00446608601455,0.0698149267376,0.999999954633,3.96666971937e-05,-0.000296845536077,3.22933013308e-05,1793193645801077248
+396,6.600000000,POSE2_TO_POSE3_RETREAT,763.994075356,742.994075356,711,672,660,632.005924644,878,784,799.994075356,650,629,651,0.400950864387,0.00446870227023,0.0698161246816,0.999999954963,4.41711373291e-05,-0.000295133514943,3.19147799672e-05,1793193645817744128
+397,6.616666667,POSE2_TO_POSE3_RETREAT,763.400636556,742.400636556,711,672,660,632.599363444,878,784,799.400636556,650,629,651,0.400951173027,0.00446830927544,0.0698159807111,0.999999955267,4.28048916904e-05,-0.000294305496261,3.19078674612e-05,1793193645834410496
+398,6.633333333,POSE2_TO_POSE3_RETREAT,763.188544789,742,711,672.188544789,660.188544789,632.811455211,878.188544789,784,799.188544789,650,628.811455211,651,0.400951253933,0.00446762937962,0.0698159715564,0.999999955443,4.18860580626e-05,-0.000293819740273,3.20878526403e-05,1793193645851077120
+399,6.650000000,POSE2_TO_POSE3_RETREAT,763.76887925,742,711,672.76887925,660.76887925,632.23112075,878.76887925,784,799.76887925,650,628.23112075,651,0.400950861613,0.00446635331322,0.0698162425448,0.999999955358,4.18969314874e-05,-0.000294045194593,3.26562048648e-05,1793193645867743744
+400,6.666666667,POSE2_TO_POSE3_RETREAT,764,742,711,672.656805134,661,632,879,784,799.656805134,650,628.343194866,651,0.400951448405,0.00446591988458,0.0698166733729,0.999999955713,4.12629045384e-05,-0.000292909996502,3.27798639136e-05,1793193645884410368
+401,6.683333333,POSE2_TO_POSE3_RETREAT,764,742,711,672.086473003,661,632,879,784,799.086473003,650,628.913526997,651,0.400952683204,0.00446604414043,0.0698172099882,0.999999956356,4.02020620353e-05,-0.000290874275411,3.26092108694e-05,1793193645901076992
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_11/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_11/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9d0d13af0211af18069629e361a2ae3d6f2e2f92
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_11/depth_04/simulation_data.csv
@@ -0,0 +1,403 @@
+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,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+1,0.016666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+2,0.033333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+3,0.050000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+4,0.066666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+5,0.083333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+6,0.100000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+7,0.116666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+8,0.133333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+9,0.150000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+10,0.166666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+11,0.183333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+12,0.200000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+13,0.216666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+14,0.233333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+15,0.250000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+16,0.266666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+17,0.283333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+18,0.300000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+19,0.316666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+20,0.333333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+21,0.350000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+22,0.366666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+23,0.383333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+24,0.400000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+25,0.416666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+26,0.433333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+27,0.450000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+28,0.466666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+29,0.483333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+30,0.500000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+31,0.516666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+32,0.533333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+33,0.550000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+34,0.566666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+35,0.583333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+36,0.600000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+37,0.616666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+38,0.633333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+39,0.650000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+40,0.666666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+41,0.683333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+42,0.700000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+43,0.716666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+44,0.733333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+45,0.750000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+46,0.766666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+47,0.783333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+48,0.800000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+49,0.816666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+50,0.833333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+51,0.850000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+52,0.866666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+53,0.883333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+54,0.900000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+55,0.916666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+56,0.933333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+57,0.950000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+58,0.966666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+59,0.983333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+60,1.000000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+61,1.016666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+62,1.033333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+63,1.050000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+64,1.066666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+65,1.083333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+66,1.100000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+67,1.116666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+68,1.133333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+69,1.150000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+70,1.166666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+71,1.183333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+72,1.200000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+73,1.216666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+74,1.233333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+75,1.250000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+76,1.266666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+77,1.283333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+78,1.300000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+79,1.316666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+80,1.333333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+81,1.350000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+82,1.366666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+83,1.383333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+84,1.400000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+85,1.416666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+86,1.433333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+87,1.450000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+88,1.466666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+89,1.483333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+90,1.500000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+91,1.516666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+92,1.533333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+93,1.550000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+94,1.566666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+95,1.583333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+96,1.600000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+97,1.616666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+98,1.633333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+99,1.650000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+100,1.666666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+101,1.683333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+102,1.700000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+103,1.716666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+104,1.733333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+105,1.750000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+106,1.766666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+107,1.783333333,pose1_to_pose2_press,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+108,1.800000000,pose1_to_pose2_press,0.575709340943,0.0100547099327,1.06002910878,0.546280068145,0.0187274293868,1.05969840702
+109,1.816666667,pose1_to_pose2_press,0.575709634434,0.0100546846125,1.06002912607,0.546280362061,0.0187274053838,1.05969842099
+110,1.833333333,pose1_to_pose2_press,0.57570980406,0.0100546699785,1.06002913607,0.546280531933,0.0187273915111,1.05969842906
+111,1.850000000,pose1_to_pose2_press,0.575709811904,0.0100546693018,1.06002913653,0.546280539788,0.0187273908696,1.05969842943
+112,1.866666667,pose1_to_pose2_press,0.575710045063,0.0100546662065,1.06002915909,0.546280773148,0.0187273884017,1.05969845059
+113,1.883333333,pose1_to_pose2_press,0.575711150266,0.0100546780128,1.06002927977,0.546281879088,0.0187274025297,1.05969856656
+114,1.900000000,pose1_to_pose2_press,0.575714372996,0.0100546839023,1.06002902826,0.546285100677,0.018727404818,1.05969832207
+115,1.916666667,pose1_to_pose2_press,0.57572215085,0.0100546051758,1.06002919275,0.546292879915,0.0187273306927,1.05969848402
+116,1.933333333,pose1_to_pose2_press,0.575737730227,0.0100545807292,1.06002932746,0.546308460412,0.0187273095466,1.05969860568
+117,1.950000000,pose1_to_pose2_press,0.575762701268,0.0100546541482,1.06002905563,0.546333430182,0.0187273792924,1.0596983505
+118,1.966666667,pose1_to_pose2_press,0.575798711659,0.0100546305791,1.06002916315,0.546369441005,0.0187273568944,1.0596984502
+119,1.983333333,pose1_to_pose2_press,0.575844911993,0.0100546283139,1.06002915998,0.546415643154,0.0187273609001,1.05969844999
+120,2.000000000,pose1_to_pose2_press,0.575900747107,0.0100546907953,1.06002914058,0.546471475823,0.0187274152626,1.05969843515
+121,2.016666667,pose1_to_pose2_press,0.575964791471,0.0100546274472,1.06002917672,0.546535521549,0.0187273564003,1.05969846764
+122,2.033333333,pose1_to_pose2_press,0.576037005613,0.0100545177837,1.06002926429,0.546607737226,0.0187272517147,1.05969854911
+123,2.050000000,pose1_to_pose2_press,0.576118687246,0.0100546574893,1.06002912563,0.546689417239,0.0187273863654,1.05969842194
+124,2.066666667,pose1_to_pose2_press,0.576210818682,0.010054652348,1.06002911663,0.546781548997,0.0187273824523,1.05969841647
+125,2.083333333,pose1_to_pose2_press,0.576317946045,0.0100545186355,1.06002917368,0.546888677807,0.0187272530952,1.05969845894
+126,2.100000000,pose1_to_pose2_press,0.576442083125,0.0100546770511,1.06002911438,0.547012812558,0.0187274042065,1.05969841532
+127,2.116666667,pose1_to_pose2_press,0.576588598703,0.0100546174054,1.06002924802,0.547159329758,0.0187273497476,1.05969854063
+128,2.133333333,pose1_to_pose2_press,0.576755749038,0.0100547175356,1.06002914558,0.547326476555,0.0187274376627,1.05969843256
+129,2.150000000,pose1_to_pose2_press,0.576943406767,0.0100545835997,1.06002895184,0.547514136197,0.0187273102451,1.05969823949
+130,2.166666667,pose1_to_pose2_press,0.577153115358,0.0100545923057,1.06002914232,0.547723844376,0.018727317581,1.05969843065
+131,2.183333333,pose1_to_pose2_press,0.577383731138,0.0100545144443,1.0600290462,0.547954462401,0.0187272474055,1.05969833632
+132,2.200000000,pose1_to_pose2_press,0.577634541618,0.0100545129262,1.06002917401,0.548205272263,0.0187272437298,1.05969846243
+133,2.216666667,pose1_to_pose2_press,0.577908372255,0.0100545682396,1.06002924672,0.548479103554,0.0187273014355,1.05969853957
+134,2.233333333,pose1_to_pose2_press,0.578210490649,0.0100545056866,1.0600291639,0.54878122097,0.0187272353688,1.05969845157
+135,2.250000000,pose1_to_pose2_press,0.578535283895,0.0100544497951,1.06002912959,0.549106015799,0.0187271848918,1.05969841839
+136,2.266666667,pose1_to_pose2_press,0.578881897364,0.0100546088563,1.06002902561,0.549452627678,0.0187273385248,1.05969831349
+137,2.283333333,pose1_to_pose2_press,0.579252599369,0.0100546277521,1.06002899498,0.549823329106,0.0187273554957,1.05969828369
+138,2.300000000,pose1_to_pose2_press,0.579643733509,0.0100544957445,1.06002932997,0.550214465201,0.0187272296789,1.05969860698
+139,2.316666667,pose1_to_pose2_press,0.580052772559,0.0100545483993,1.06002923235,0.550623503203,0.018727279103,1.05969851786
+140,2.333333333,pose1_to_pose2_press,0.580482426335,0.0100546748649,1.06002887626,0.55105315561,0.0187274015556,1.05969817822
+141,2.350000000,pose1_to_pose2_press,0.580936194727,0.0100546238525,1.06002903165,0.551506923262,0.0187273479643,1.0596983318
+142,2.366666667,pose1_to_pose2_press,0.581416608296,0.0100545522223,1.0600293988,0.55198733889,0.0187272826726,1.05969868196
+143,2.383333333,pose1_to_pose2_press,0.581925070185,0.010054616512,1.06002919909,0.552495800761,0.0187273468894,1.0596984819
+144,2.400000000,pose1_to_pose2_press,0.582466937434,0.0100546102662,1.06002924327,0.553037666681,0.0187273364319,1.0596985338
+145,2.416666667,pose1_to_pose2_press,0.583036525133,0.0100545739577,1.0600288948,0.553607254666,0.018727301285,1.05969819028
+146,2.433333333,pose1_to_pose2_press,0.583629772946,0.0100545618115,1.06002888398,0.554200502342,0.0187272888305,1.05969818356
+147,2.450000000,pose1_to_pose2_press,0.584242239196,0.0100544779279,1.06002905434,0.554812969666,0.0187272081261,1.05969834173
+148,2.466666667,pose1_to_pose2_press,0.58487419279,0.0100545885426,1.06002910631,0.555444921406,0.0187273126267,1.05969839823
+149,2.483333333,pose1_to_pose2_press,0.585528895015,0.0100545618139,1.06002882591,0.55609962513,0.0187272911355,1.05969812178
+150,2.500000000,pose1_to_pose2_press,0.586208405875,0.0100545808783,1.0600292614,0.556779135383,0.0187273077469,1.05969854692
+151,2.516666667,pose1_to_pose2_press,0.586915710545,0.0100544450648,1.06002904095,0.557486443021,0.0187271822096,1.05969833186
+152,2.533333333,pose1_to_pose2_press,0.587639838136,0.0100545444409,1.06002914428,0.558210568151,0.0187272732442,1.05969843542
+153,2.550000000,pose1_to_pose2_press,0.588373182727,0.0100545549822,1.06002916622,0.558943912976,0.0187272846007,1.05969845795
+154,2.566666667,pose1_to_pose2_press,0.589111708383,0.0100544469624,1.06002927663,0.559682440899,0.0187271838422,1.05969855697
+155,2.583333333,pose1_to_pose2_press,0.589856062229,0.0100545182582,1.0600290418,0.560426793626,0.0187272518402,1.05969833525
+156,2.600000000,pose1_to_pose2_press,0.59061548958,0.0100545520197,1.06002922393,0.561186220092,0.0187272827432,1.05969852118
+157,2.616666667,pose1_to_pose2_press,0.591395578297,0.0100547401976,1.06002914467,0.561966307131,0.0187274649996,1.05969843588
+158,2.633333333,pose1_to_pose2_press,0.592203292605,0.0100546186056,1.06002900991,0.562774023237,0.0187273497242,1.05969830682
+159,2.650000000,pose1_to_pose2_press,0.593033619396,0.0100546482312,1.06002915845,0.563604349379,0.0187273769275,1.05969844955
+160,2.666666667,pose1_to_pose2_press,0.593885682723,0.0100545915103,1.06002923448,0.564456413011,0.0187273213908,1.05969852965
+161,2.683333333,pose1_to_pose2_press,0.594743468289,0.0100545444387,1.06002914082,0.565314199527,0.0187272773474,1.05969843083
+162,2.700000000,pose1_to_pose2_press,0.595602464379,0.0100544395402,1.06002904471,0.566173195689,0.0187271727723,1.05969833686
+163,2.716666667,pose1_to_pose2_press,0.596439224308,0.010054578772,1.06002914993,0.567009954606,0.0187273083424,1.05969843613
+164,2.733333333,pose1_to_pose2_press,0.597260034586,0.0100544764508,1.06002904211,0.567830765802,0.01872720918,1.0596983295
+165,2.750000000,pose1_to_pose2_press,0.59807602208,0.0100547419304,1.06002906783,0.568646749673,0.018727462458,1.05969835763
+166,2.766666667,pose1_to_pose2_press,0.598899717259,0.0100546865111,1.06002943737,0.569470446502,0.018727412275,1.05969871775
+167,2.783333333,pose1_to_pose2_press,0.599738563458,0.010054659076,1.06002925181,0.570309294566,0.0187273916463,1.05969854479
+168,2.800000000,pose1_to_pose2_press,0.600608270124,0.0100544412276,1.06002919145,0.571179001311,0.0187271737456,1.05969847607
+169,2.816666667,pose1_to_pose2_press,0.601497065052,0.0100546489283,1.06002938851,0.57206779455,0.0187273757819,1.05969867496
+170,2.833333333,pose1_to_pose2_press,0.602385644257,0.010054572747,1.06002917556,0.572956375093,0.018727304064,1.0596984601
+171,2.850000000,pose1_to_pose2_press,0.603254344801,0.0100545384822,1.06002918141,0.573825076485,0.0187272728485,1.05969847049
+172,2.866666667,pose1_to_pose2_press,0.60409019046,0.0100545359717,1.06002928214,0.574660921085,0.0187272664496,1.0596985636
+173,2.883333333,pose1_to_pose2_press,0.604891716351,0.0100545052765,1.06002918338,0.575462446638,0.0187272348152,1.05969847034
+174,2.900000000,pose1_to_pose2_press,0.605660572194,0.0100546078686,1.0600292536,0.576231301729,0.0187273351641,1.0596985487
+175,2.916666667,pose1_to_pose2_press,0.606429400341,0.0100546793011,1.06002929236,0.577000129886,0.018727406245,1.05969857747
+176,2.933333333,pose1_to_pose2_press,0.607204999432,0.0100545960921,1.06002926252,0.577775728372,0.0187273212993,1.05969855588
+177,2.950000000,pose1_to_pose2_press,0.607989415908,0.0100547511643,1.06002931939,0.578560144707,0.0187274753626,1.05969859907
+178,2.966666667,pose1_to_pose2_press,0.608776821001,0.0100547096017,1.06002928308,0.579347550263,0.018727435766,1.05969857316
+179,2.983333333,pose1_to_pose2_press,0.609560398794,0.0100546633816,1.06002922084,0.58013112792,0.018727389068,1.05969851059
+180,3.000000000,pose1_to_pose2_press,0.610304439739,0.0100545771013,1.06002905135,0.580875170539,0.0187273083584,1.0596983382
+181,3.016666667,pose1_to_pose2_press,0.611009426734,0.010054636547,1.06002903955,0.581580157174,0.0187273666673,1.05969832883
+182,3.033333333,pose1_to_pose2_press,0.61167317553,0.0100546585949,1.06002909145,0.58224390525,0.0187273861009,1.05969837621
+183,3.050000000,pose1_to_pose2_press,0.612300993456,0.0100545695792,1.0600291409,0.582871723076,0.0187272967853,1.05969842692
+184,3.066666667,pose1_to_pose2_press,0.612891946641,0.0100545277898,1.06002905877,0.5834626765,0.0187272561601,1.05969835389
+185,3.083333333,pose1_to_pose2_press,0.613458544811,0.0100545543046,1.06002925632,0.584029275368,0.0187272847302,1.05969854186
+186,3.100000000,pose1_to_pose2_press,0.614004731554,0.0100545067605,1.06002904724,0.584575462009,0.0187272370083,1.05969833366
+187,3.116666667,pose1_to_pose2_press,0.614543265054,0.010054476607,1.06002903832,0.585113995602,0.0187272074214,1.05969832886
+188,3.133333333,pose1_to_pose2_press,0.615077279309,0.0100546140628,1.06002925832,0.58564800868,0.0187273410816,1.05969854991
+189,3.150000000,pose1_to_pose2_press,0.615606635332,0.0100547231735,1.06002903912,0.586177364669,0.0187274503054,1.05969832862
+190,3.166666667,pose1_to_pose2_press,0.616114436433,0.0100546383194,1.06002924938,0.586685167103,0.0187273708232,1.05969854384
+191,3.183333333,pose1_to_pose2_press,0.616589668209,0.0100546334658,1.06002913774,0.587160397502,0.0187273621728,1.05969843207
+192,3.200000000,pose1_to_pose2_press,0.617024490335,0.0100545841045,1.06002906363,0.587595219074,0.0187273113341,1.05969834817
+193,3.216666667,pose1_to_pose2_press,0.617421514958,0.010054732452,1.06002915297,0.587992241118,0.0187274519281,1.05969844256
+194,3.233333333,pose1_to_pose2_press,0.617786424977,0.010054608153,1.06002928744,0.588357153721,0.0187273367612,1.0596985707
+195,3.250000000,pose1_to_pose2_press,0.618131542031,0.0100546049221,1.06002908807,0.588702270023,0.0187273317533,1.05969837583
+196,3.266666667,pose1_to_pose2_press,0.618464305524,0.0100544396016,1.06002924033,0.589035035591,0.0187271740095,1.05969852582
+197,3.283333333,pose1_to_pose2_press,0.618782541915,0.0100544871022,1.06002911864,0.589353271099,0.018727219104,1.05969840401
+198,3.300000000,pose1_to_pose2_press,0.619084069241,0.010054538657,1.06002915744,0.589654796619,0.0187272651258,1.05969843854
+199,3.316666667,pose1_to_pose2_press,0.619363742852,0.0100544676207,1.06002898075,0.589934470759,0.0187271966205,1.05969826969
+200,3.333333333,pose1_to_pose2_press,0.6196219465,0.0100545055767,1.06002919857,0.590192676045,0.0187272404874,1.05969848446
+201,3.350000000,pose1_to_pose2_press,0.619857669311,0.0100546250543,1.06002917707,0.590428397735,0.0187273569329,1.05969846858
+202,3.366666667,pose1_to_pose2_press,0.620073209233,0.0100546798035,1.06002912582,0.590643936449,0.0187274083126,1.05969842163
+203,3.383333333,pose1_to_pose2_press,0.620267311858,0.0100546095359,1.06002893372,0.590838039132,0.0187273387035,1.05969823339
+204,3.400000000,pose1_to_pose2_press,0.620440561831,0.0100546719617,1.0600289925,0.591011288441,0.0187273990353,1.05969828641
+205,3.416666667,pose1_to_pose2_press,0.620592595249,0.0100545267582,1.06002895197,0.591163324003,0.0187272612848,1.05969824182
+206,3.433333333,pose1_to_pose2_press,0.620724707296,0.0100544780111,1.06002910105,0.591295435839,0.0187272118166,1.05969838481
+207,3.450000000,pose1_to_pose2_press,0.620839750757,0.0100545942928,1.06002917013,0.591410478856,0.0187273269681,1.059698456
+208,3.466666667,pose1_to_pose2_press,0.62093923472,0.0100545861463,1.06002924251,0.59150996278,0.0187273189286,1.05969852755
+209,3.483333333,pose1_to_pose2_press,0.621027074752,0.0100546610191,1.06002938596,0.591597801244,0.018727388416,1.05969866484
+210,3.500000000,pose1_to_pose2_press,0.621103589945,0.0100546997882,1.06002943719,0.591674315522,0.0187274241399,1.05969871812
+211,3.516666667,pose1_to_pose2_press,0.62116841183,0.0100546006626,1.06002922985,0.591739138191,0.0187273284517,1.05969852025
+212,3.533333333,pose1_to_pose2_press,0.621222214381,0.0100545000017,1.06002896888,0.591792942252,0.0187272333536,1.05969826207
+213,3.550000000,pose1_to_pose2_press,0.62126544963,0.0100544644883,1.06002894859,0.591836178537,0.0187272008905,1.05969824002
+214,3.566666667,pose1_to_pose2_press,0.621300242216,0.0100545880094,1.06002896561,0.59187097012,0.0187273214334,1.05969826203
+215,3.583333333,pose1_to_pose2_press,0.621327482876,0.01005457246,1.06002892646,0.591898210441,0.018727305419,1.05969822688
+216,3.600000000,pose1_to_pose2_press,0.621348417023,0.0100545325464,1.06002916888,0.591919144542,0.0187272642749,1.05969845546
+217,3.616666667,pose1_to_pose2_press,0.621363356984,0.010054603008,1.06002918437,0.591934083884,0.0187273328988,1.05969846776
+218,3.633333333,pose1_to_pose2_press,0.621373738232,0.0100546364381,1.06002904679,0.591944463039,0.018727359553,1.05969833993
+219,3.650000000,pose1_to_pose2_press,0.621380621952,0.0100545723197,1.06002901173,0.591951347898,0.0187272993443,1.0596983058
+220,3.666666667,pose1_to_pose2_press,0.621384641419,0.0100544994113,1.06002901701,0.591955369105,0.0187272322909,1.05969830915
+221,3.683333333,pose1_to_pose2_press,0.621387182122,0.010054559407,1.0600291105,0.591957909837,0.0187272922529,1.0596983996
+222,3.700000000,pose1_to_pose2_press,0.621388880693,0.0100546270141,1.06002919636,0.59195960815,0.0187273588695,1.05969848297
+223,3.716666667,pose1_to_pose2_press,0.621390060198,0.0100546739612,1.06002925599,0.591960787475,0.0187274051287,1.05969854087
+224,3.733333333,pose1_to_pose2_press,0.621390767181,0.0100547021007,1.06002929173,0.591961494351,0.018727432856,1.05969857557
+225,3.750000000,pose1_to_pose2_press,0.621391144591,0.0100547001017,1.06002927737,0.591961871733,0.0187274307688,1.05969856152
+226,3.766666667,pose1_to_pose2_press,0.62139141658,0.0100546922502,1.06002925442,0.591962143713,0.0187274229034,1.05969853912
+227,3.783333333,pose1_to_pose2_press,0.621391847491,0.010054679811,1.06002921807,0.591962574611,0.0187274104423,1.05969850363
+228,3.800000000,pose1_to_pose2_press,0.621392223507,0.0100546689565,1.06002918635,0.591962950615,0.0187273995687,1.05969847267
+229,3.816666667,pose1_to_pose2_press,0.62139239165,0.0100546641027,1.06002917217,0.591963118753,0.0187273947063,1.05969845882
+230,3.833333333,pose1_to_pose2_press,0.621392915395,0.0100546489837,1.06002912798,0.591963642482,0.0187273795607,1.05969841569
+231,3.850000000,pose1_to_pose2_press,0.621393627883,0.0100546284163,1.06002906788,0.591964354947,0.018727358957,1.05969835701
+232,3.866666667,pose1_to_pose2_press,0.621394060792,0.0100546162545,1.0600290374,0.591964787775,0.0187273465371,1.05969832715
+233,3.883333333,pose1_to_pose2_press,0.621394526443,0.010054605215,1.06002904141,0.591965252925,0.0187273337809,1.05969833031
+234,3.900000000,pose1_to_pose2_press,0.6213951904,0.0100545894742,1.06002904713,0.591965916166,0.0187273155924,1.05969833481
+235,3.916666667,pose1_to_pose2_press,0.621395670104,0.0100545781359,1.06002905213,0.591966395361,0.0187273025086,1.05969833894
+236,3.933333333,pose1_to_pose2_press,0.621395931943,0.0100545754719,1.06002914447,0.591966657605,0.0187273012422,1.05969843193
+237,3.950000000,pose1_to_pose2_press,0.621396008454,0.0100545746935,1.06002917145,0.591966734234,0.0187273008721,1.0596984591
+238,3.966666667,pose1_to_pose2_press,0.621396048047,0.0100545742907,1.06002918541,0.591966773889,0.0187273006806,1.05969847316
+239,3.983333333,pose1_to_pose2_press,0.621396087512,0.0100545738892,1.06002919933,0.591966813415,0.0187273004898,1.05969848718
+240,4.000000000,pose1_to_pose2_press,0.621396130118,0.0100545734557,1.06002921435,0.591966856087,0.0187273002837,1.05969850231
+241,4.016666667,pose1_to_pose2_press,0.621396140213,0.010054573353,1.06002921791,0.591966866197,0.0187273002349,1.05969850589
+242,4.033333333,pose1_to_pose2_press,0.621396237011,0.0100545723682,1.06002925205,0.591966963145,0.0187272997667,1.05969854027
+243,4.050000000,pose1_to_pose2_press,0.621396354834,0.0100545955901,1.06002930412,0.591967081013,0.0187273231099,1.05969859172
+244,4.066666667,pose1_to_pose2_press,0.621396357584,0.0100545966231,1.06002930554,0.591967083761,0.0187273241356,1.05969859312
+245,4.083333333,pose1_to_pose2_press,0.621396441963,0.0100546283213,1.06002934932,0.591967168088,0.0187273556075,1.05969863589
+246,4.100000000,pose1_to_pose2_press,0.62139656054,0.0100546728665,1.06002941084,0.591967286604,0.0187273998368,1.05969869601
+247,4.116666667,pose2_hold,0.62139656054,0.0100546728665,1.06002941084,0.591967286607,0.0187273998362,1.05969869601
+248,4.133333333,pose2_hold,0.62139656054,0.0100546728665,1.06002941084,0.591967286607,0.0187273998362,1.05969869601
+249,4.150000000,pose2_hold,0.62139656054,0.0100546728665,1.06002941084,0.591967286607,0.0187273998362,1.05969869601
+250,4.166666667,pose2_hold,0.62139656054,0.0100546728665,1.06002941084,0.591967286607,0.0187273998362,1.05969869601
+251,4.183333333,pose2_hold,0.62139656054,0.0100546728665,1.06002941084,0.591967286607,0.0187273998363,1.05969869601
+252,4.200000000,pose2_hold,0.62139656054,0.0100546728665,1.06002941084,0.591967286607,0.0187273998366,1.05969869601
+253,4.216666667,pose2_hold,0.62139656054,0.0100546728665,1.06002941084,0.591967286607,0.0187273998369,1.05969869601
+254,4.233333333,pose2_hold,0.62139656054,0.0100546728665,1.06002941084,0.591967286607,0.0187273998373,1.05969869601
+255,4.250000000,pose2_hold,0.62139656054,0.0100546728665,1.06002941084,0.591967286607,0.0187273998362,1.05969869601
+256,4.266666667,pose2_hold,0.62139656054,0.0100546728665,1.06002941084,0.591967286607,0.0187273998368,1.05969869601
+257,4.283333333,pose2_hold,0.62139656054,0.0100546728665,1.06002941084,0.591967286607,0.0187273998363,1.05969869601
+258,4.300000000,pose2_hold,0.62139656054,0.0100546728665,1.06002941084,0.591967286607,0.0187273998364,1.05969869601
+259,4.316666667,pose2_hold,0.62139656054,0.0100546728665,1.06002941084,0.591967286607,0.0187273998364,1.05969869601
+260,4.333333333,pose2_hold,0.62139656054,0.0100546728665,1.06002941084,0.591967286607,0.0187273998364,1.05969869601
+261,4.350000000,pose2_hold,0.62139656054,0.0100546728665,1.06002941084,0.591967286607,0.0187273998362,1.05969869601
+262,4.366666667,pose2_hold,0.62139656054,0.0100546728665,1.06002941084,0.591967286607,0.0187273998365,1.05969869601
+263,4.383333333,pose2_hold,0.62139656054,0.0100546728665,1.06002941084,0.591967286607,0.0187273998365,1.05969869601
+264,4.400000000,pose2_hold,0.62139656054,0.0100546728665,1.06002941084,0.591967286607,0.0187273998365,1.05969869601
+265,4.416666667,pose2_to_pose3_retreat,0.62139656054,0.0100546728665,1.06002941084,0.591967286607,0.0187273998366,1.05969869601
+266,4.433333333,pose2_to_pose3_retreat,0.621396532073,0.0100546784154,1.06002931744,0.591967257765,0.0187274042507,1.05969860642
+267,4.450000000,pose2_to_pose3_retreat,0.621396515669,0.0100546816131,1.06002926362,0.591967241144,0.0187274067944,1.0596985548
+268,4.466666667,pose2_to_pose3_retreat,0.621396497799,0.0100546850963,1.06002920499,0.591967223039,0.0187274095653,1.05969849856
+269,4.483333333,pose2_to_pose3_retreat,0.621396218382,0.0100546016705,1.06002924583,0.591966945198,0.0187273312482,1.05969853339
+270,4.500000000,pose2_to_pose3_retreat,0.621395242066,0.0100544599215,1.0600291712,0.591965970435,0.018727194853,1.05969846023
+271,4.516666667,pose2_to_pose3_retreat,0.62139170878,0.0100544574039,1.06002905004,0.591962436248,0.0187271892599,1.05969834044
+272,4.533333333,pose2_to_pose3_retreat,0.62138322471,0.0100545244525,1.06002907169,0.591953952194,0.0187272564573,1.05969836495
+273,4.550000000,pose2_to_pose3_retreat,0.621366621744,0.0100545362918,1.06002918424,0.591937350626,0.018727272777,1.05969846852
+274,4.566666667,pose2_to_pose3_retreat,0.621338601448,0.0100545999459,1.06002928259,0.591909328127,0.0187273288375,1.05969857006
+275,4.583333333,pose2_to_pose3_retreat,0.62129785611,0.0100546462612,1.06002913142,0.591868581416,0.0187273707226,1.05969842892
+276,4.600000000,pose2_to_pose3_retreat,0.621246366241,0.0100545288193,1.06002910366,0.591817093733,0.0187272599845,1.05969839582
+277,4.616666667,pose2_to_pose3_retreat,0.621185288922,0.0100547058087,1.06002887997,0.591756013395,0.0187274275807,1.05969817607
+278,4.633333333,pose2_to_pose3_retreat,0.621113852266,0.0100545846806,1.06002920409,0.591684579833,0.0187273158158,1.05969849324
+279,4.650000000,pose2_to_pose3_retreat,0.62103341739,0.0100545817258,1.06002907213,0.591604144616,0.0187273122491,1.05969836943
+280,4.666666667,pose2_to_pose3_retreat,0.620943854254,0.0100545046923,1.06002922782,0.591514582161,0.018727237287,1.05969852443
+281,4.683333333,pose2_to_pose3_retreat,0.620839205422,0.0100545619395,1.06002913756,0.591409932779,0.0187272922041,1.05969842746
+282,4.700000000,pose2_to_pose3_retreat,0.620718898319,0.010054575648,1.0600290441,0.59128962549,0.0187273051762,1.05969833997
+283,4.716666667,pose2_to_pose3_retreat,0.620580507435,0.0100545824943,1.06002929582,0.591151235649,0.0187273147869,1.05969857979
+284,4.733333333,pose2_to_pose3_retreat,0.620422938936,0.0100546175347,1.06002912664,0.590993667513,0.0187273512234,1.05969842246
+285,4.750000000,pose2_to_pose3_retreat,0.620241838453,0.0100544050043,1.06002914797,0.59081256791,0.018727141039,1.05969843961
+286,4.766666667,pose2_to_pose3_retreat,0.620036314655,0.0100546254013,1.06002914517,0.590607043154,0.0187273577685,1.05969843764
+287,4.783333333,pose2_to_pose3_retreat,0.619803999744,0.010054579535,1.06002947788,0.59037472867,0.0187273129465,1.05969877365
+288,4.800000000,pose2_to_pose3_retreat,0.61954570797,0.0100544688743,1.06002915886,0.590116438393,0.0187272065718,1.05969844856
+289,4.816666667,pose2_to_pose3_retreat,0.619263185729,0.0100546225754,1.06002906288,0.589833912113,0.0187273457569,1.05969834714
+290,4.833333333,pose2_to_pose3_retreat,0.618957174524,0.0100545975836,1.0600291597,0.589527903604,0.0187273294886,1.05969844869
+291,4.850000000,pose2_to_pose3_retreat,0.618630108395,0.0100545022434,1.06002913301,0.589200837777,0.0187272346634,1.05969842629
+292,4.866666667,pose2_to_pose3_retreat,0.618280233771,0.0100545658634,1.06002900822,0.588850964888,0.0187273036794,1.05969830363
+293,4.883333333,pose2_to_pose3_retreat,0.617907853305,0.0100546799571,1.06002916014,0.588478581946,0.0187274083613,1.05969844603
+294,4.900000000,pose2_to_pose3_retreat,0.617512061154,0.0100545683065,1.06002894607,0.588082790389,0.0187272980699,1.05969823543
+295,4.916666667,pose2_to_pose3_retreat,0.617091405346,0.0100546222222,1.0600292065,0.587662134952,0.01872735271,1.05969850001
+296,4.933333333,pose2_to_pose3_retreat,0.616648655838,0.0100544834596,1.06002908524,0.587219386333,0.0187272160568,1.05969837417
+297,4.950000000,pose2_to_pose3_retreat,0.616184605751,0.0100543877874,1.06002920903,0.586755336972,0.0187271220299,1.05969849778
+298,4.966666667,pose2_to_pose3_retreat,0.615696178395,0.0100546359312,1.06002917665,0.586266906944,0.0187273604542,1.05969846744
+299,4.983333333,pose2_to_pose3_retreat,0.615176733626,0.010054631104,1.06002924388,0.585747463075,0.0187273579281,1.05969852976
+300,5.000000000,pose2_to_pose3_retreat,0.614617697845,0.0100545052988,1.06002912249,0.585188428215,0.0187272351293,1.05969841144
+301,5.016666667,pose2_to_pose3_retreat,0.614018230891,0.0100545203694,1.06002912663,0.584588961006,0.0187272492001,1.05969841199
+302,5.033333333,pose2_to_pose3_retreat,0.613393999613,0.0100545471146,1.06002893593,0.583964729996,0.0187272769249,1.05969822254
+303,5.050000000,pose2_to_pose3_retreat,0.612749759525,0.0100546318278,1.06002909232,0.583320490844,0.0187273650447,1.05969838413
+304,5.066666667,pose2_to_pose3_retreat,0.61208849773,0.0100545550916,1.06002927742,0.582659230034,0.0187272915565,1.05969856809
+305,5.083333333,pose2_to_pose3_retreat,0.611416185664,0.0100545322498,1.0600290638,0.58198691725,0.0187272662256,1.05969835436
+306,5.100000000,pose2_to_pose3_retreat,0.610730222168,0.0100546023508,1.0600292042,0.581300952507,0.0187273317762,1.05969848617
+307,5.116666667,pose2_to_pose3_retreat,0.610005463142,0.0100545311821,1.06002914911,0.580576193956,0.018727262415,1.05969843594
+308,5.133333333,pose2_to_pose3_retreat,0.60924504244,0.010054482953,1.06002904767,0.579815773805,0.0187272160832,1.05969833573
+309,5.150000000,pose2_to_pose3_retreat,0.608458592063,0.0100545982999,1.06002905947,0.579029320853,0.0187273224585,1.05969834149
+310,5.166666667,pose2_to_pose3_retreat,0.607645778221,0.0100546281062,1.06002893223,0.578216505762,0.0187273481672,1.0596982178
+311,5.183333333,pose2_to_pose3_retreat,0.606801572201,0.0100546264395,1.06002905488,0.577372300284,0.0187273484841,1.0596983441
+312,5.200000000,pose2_to_pose3_retreat,0.605944849704,0.0100544613369,1.06002907516,0.57651558129,0.0187271952659,1.0596983643
+313,5.216666667,pose2_to_pose3_retreat,0.60507767669,0.0100545090012,1.06002911826,0.575648407453,0.0187272401354,1.05969840712
+314,5.233333333,pose2_to_pose3_retreat,0.604202702884,0.0100545320926,1.06002924136,0.574773433689,0.0187272633936,1.05969853063
+315,5.250000000,pose2_to_pose3_retreat,0.6033296019,0.0100545227253,1.06002936504,0.57390033294,0.0187272547645,1.05969865278
+316,5.266666667,pose2_to_pose3_retreat,0.602467810209,0.0100545344043,1.06002923215,0.573038540527,0.0187272640826,1.05969852213
+317,5.283333333,pose2_to_pose3_retreat,0.601605172842,0.0100545489613,1.06002913686,0.572175902874,0.0187272777825,1.05969842981
+318,5.300000000,pose2_to_pose3_retreat,0.600734642408,0.010054575311,1.06002921156,0.571305372259,0.0187273035781,1.05969850598
+319,5.316666667,pose2_to_pose3_retreat,0.599839696279,0.0100545817125,1.06002910116,0.570410426567,0.0187273115664,1.0596983982
+320,5.333333333,pose2_to_pose3_retreat,0.598919342467,0.0100544289518,1.06002902932,0.569490074709,0.0187271651273,1.05969831825
+321,5.350000000,pose2_to_pose3_retreat,0.597977819285,0.0100544242362,1.06002905674,0.568548551278,0.0187271594318,1.05969834163
+322,5.366666667,pose2_to_pose3_retreat,0.597036696898,0.0100545466594,1.06002919782,0.567607428123,0.0187272795143,1.05969849036
+323,5.383333333,pose2_to_pose3_retreat,0.596120098849,0.0100545546846,1.0600292113,0.566690830879,0.0187272899995,1.05969849634
+324,5.400000000,pose2_to_pose3_retreat,0.595237588826,0.0100544862706,1.06002914542,0.565808321687,0.0187272245942,1.05969843532
+325,5.416666667,pose2_to_pose3_retreat,0.594390278903,0.0100544777578,1.06002915397,0.564961010419,0.0187272114954,1.05969844322
+326,5.433333333,pose2_to_pose3_retreat,0.593557148804,0.0100545722592,1.06002918579,0.564127878842,0.0187273006453,1.05969846788
+327,5.450000000,pose2_to_pose3_retreat,0.592724594301,0.0100545989571,1.06002924857,0.56329532347,0.0187273245363,1.05969853368
+328,5.466666667,pose2_to_pose3_retreat,0.591877407117,0.0100546068851,1.06002935042,0.562448136804,0.0187273344987,1.05969864084
+329,5.483333333,pose2_to_pose3_retreat,0.59101619991,0.0100545585538,1.06002914846,0.56158693011,0.0187272880874,1.0596984431
+330,5.500000000,pose2_to_pose3_retreat,0.59014148399,0.0100546043272,1.0600292051,0.560712212118,0.0187273265562,1.05969849262
+331,5.516666667,pose2_to_pose3_retreat,0.589298817453,0.0100545729332,1.06002935347,0.559869547923,0.0187273032497,1.05969864455
+332,5.533333333,pose2_to_pose3_retreat,0.588495199824,0.010054621831,1.0600289393,0.559065929713,0.0187273502743,1.059698233
+333,5.550000000,pose2_to_pose3_retreat,0.587731032626,0.0100545909407,1.06002898474,0.558301762778,0.0187273200151,1.05969827156
+334,5.566666667,pose2_to_pose3_retreat,0.587002919216,0.0100545245797,1.0600291967,0.557573649463,0.0187272540746,1.05969848612
+335,5.583333333,pose2_to_pose3_retreat,0.586305314813,0.0100545113014,1.06002925874,0.556876046378,0.0187272453598,1.05969855055
+336,5.600000000,pose2_to_pose3_retreat,0.585611771625,0.0100545465398,1.06002909155,0.55618250389,0.0187272832075,1.05969838945
+337,5.616666667,pose2_to_pose3_retreat,0.584915803201,0.0100544409651,1.06002902484,0.555486536008,0.0187271792126,1.05969831591
+338,5.633333333,pose2_to_pose3_retreat,0.584234315381,0.0100543989361,1.06002926479,0.554805048111,0.0187271368065,1.05969855283
+339,5.650000000,pose2_to_pose3_retreat,0.583573445565,0.0100545166924,1.06002931009,0.554144176556,0.0187272487434,1.05969860025
+340,5.666666667,pose2_to_pose3_retreat,0.582942438342,0.0100544671096,1.06002919506,0.553513168939,0.0187271977568,1.05969848349
+341,5.683333333,pose2_to_pose3_retreat,0.582343657879,0.0100544708883,1.06002905688,0.552914389946,0.0187272066707,1.05969834907
+342,5.700000000,pose2_to_pose3_retreat,0.581780863426,0.0100544315826,1.06002912599,0.552351596233,0.0187271696586,1.05969841259
+343,5.716666667,pose2_to_pose3_retreat,0.581245174798,0.0100545532608,1.06002923022,0.551815906109,0.0187272863949,1.05969852099
+344,5.733333333,pose2_to_pose3_retreat,0.580737723064,0.0100546141733,1.0600291805,0.551308452105,0.0187273396791,1.05969847312
+345,5.750000000,pose2_to_pose3_retreat,0.580266760369,0.0100544948576,1.06002896357,0.550837489804,0.0187272218005,1.05969825899
+346,5.766666667,pose2_to_pose3_retreat,0.579829415016,0.0100544444238,1.06002889554,0.550400145556,0.0187271749958,1.05969818784
+347,5.783333333,pose2_to_pose3_retreat,0.579422913522,0.0100545079598,1.06002896125,0.549993644494,0.0187272400592,1.05969825527
+348,5.800000000,pose2_to_pose3_retreat,0.579039817739,0.010054636596,1.06002923999,0.549610548393,0.0187273674015,1.05969852835
+349,5.816666667,pose2_to_pose3_retreat,0.57867903054,0.0100546522679,1.06002935489,0.549249760787,0.0187273815914,1.05969864033
+350,5.833333333,pose2_to_pose3_retreat,0.578334180629,0.0100545283528,1.06002913519,0.548904911978,0.0187272617494,1.05969842896
+351,5.850000000,pose2_to_pose3_retreat,0.578006574837,0.0100545610417,1.06002893637,0.548577305087,0.0187272908294,1.05969823351
+352,5.866666667,pose2_to_pose3_retreat,0.57770375973,0.0100546671033,1.06002904237,0.548274488978,0.0187273933136,1.05969833505
+353,5.883333333,pose2_to_pose3_retreat,0.577424679113,0.0100546594067,1.06002924393,0.547995408559,0.0187273861004,1.0596985317
+354,5.900000000,pose2_to_pose3_retreat,0.577171203407,0.0100545569127,1.06002928883,0.547741933918,0.0187272872276,1.05969857686
+355,5.916666667,pose2_to_pose3_retreat,0.576945047448,0.0100546555524,1.06002919498,0.54751577697,0.0187273825376,1.05969848355
+356,5.933333333,pose2_to_pose3_retreat,0.576747304351,0.0100547086905,1.06002917079,0.547318032465,0.0187274308352,1.05969845775
+357,5.950000000,pose2_to_pose3_retreat,0.57657333221,0.0100546258784,1.0600291589,0.547144062333,0.0187273549524,1.05969844877
+358,5.966666667,pose2_to_pose3_retreat,0.576421039857,0.0100545839627,1.06002915667,0.546991770659,0.0187273153299,1.05969844633
+359,5.983333333,pose2_to_pose3_retreat,0.576289054825,0.0100545490682,1.06002913169,0.546859786454,0.0187272834285,1.05969842631
+360,6.000000000,pose2_to_pose3_retreat,0.576173846664,0.0100545749799,1.06002913353,0.546744576058,0.0187273016496,1.05969842621
+361,6.016666667,pose2_to_pose3_retreat,0.576075061767,0.0100545691002,1.06002907344,0.546645791691,0.0187272974323,1.05969836255
+362,6.033333333,pose2_to_pose3_retreat,0.575991391695,0.0100545804708,1.06002902124,0.546562121369,0.0187273080909,1.05969831366
+363,6.050000000,pose2_to_pose3_retreat,0.575922575616,0.0100545867877,1.0600292429,0.546493306632,0.0187273187488,1.05969852968
+364,6.066666667,pose2_to_pose3_retreat,0.575867966821,0.0100544235347,1.06002900106,0.546438698469,0.018727157694,1.0596982892
+365,6.083333333,pose2_to_pose3_retreat,0.575825195563,0.0100545164881,1.06002921765,0.546395926372,0.0187272475914,1.05969850029
+366,6.100000000,pose2_to_pose3_retreat,0.575792201923,0.0100545488795,1.0600290492,0.546362931943,0.0187272774677,1.05969833603
+367,6.116666667,pose2_to_pose3_retreat,0.575766936638,0.0100544927343,1.06002895888,0.546337667618,0.0187272249208,1.05969825462
+368,6.133333333,pose2_to_pose3_retreat,0.575748691288,0.0100544786215,1.0600290683,0.546319422942,0.0187272130274,1.05969836238
+369,6.150000000,pose2_to_pose3_retreat,0.575734986871,0.0100545365816,1.06002924789,0.546305718117,0.0187272692823,1.05969853356
+370,6.166666667,pose2_to_pose3_retreat,0.575725421635,0.0100546084759,1.06002939233,0.546296152439,0.0187273395176,1.05969867397
+371,6.183333333,pose2_to_pose3_retreat,0.575719149601,0.0100545884921,1.06002920564,0.546289880831,0.018727320993,1.05969848765
+372,6.200000000,pose2_to_pose3_retreat,0.575715366942,0.0100546419346,1.06002935174,0.546286098175,0.0187273743659,1.05969863154
+373,6.216666667,pose2_to_pose3_retreat,0.575713406036,0.0100546738141,1.06002943487,0.546284137118,0.0187274057302,1.05969871465
+374,6.233333333,pose2_to_pose3_retreat,0.575712423729,0.010054681345,1.06002941525,0.546283154344,0.0187274118403,1.0596986993
+375,6.250000000,pose2_to_pose3_retreat,0.575712215156,0.010054682944,1.06002941108,0.546282945672,0.0187274131377,1.05969869604
+376,6.266666667,pose2_to_pose3_retreat,0.575712041099,0.0100546842784,1.06002940761,0.546282771532,0.0187274142204,1.05969869332
+377,6.283333333,pose2_to_pose3_retreat,0.575711874915,0.0100546855524,1.06002940429,0.546282605269,0.0187274152541,1.05969869072
+378,6.300000000,pose2_to_pose3_retreat,0.57571179156,0.0100546861915,1.06002940262,0.546282521874,0.0187274157726,1.05969868942
+379,6.316666667,pose2_to_pose3_retreat,0.575711737732,0.0100546866041,1.06002940155,0.546282468021,0.0187274161074,1.05969868857
+380,6.333333333,pose2_to_pose3_retreat,0.575711694752,0.0100546869337,1.06002940069,0.546282425021,0.0187274163747,1.0596986879
+381,6.350000000,pose2_to_pose3_retreat,0.575711626579,0.0100546874563,1.06002939933,0.546282356815,0.0187274167988,1.05969868684
+382,6.366666667,pose2_to_pose3_retreat,0.575711544026,0.0100546880892,1.06002939768,0.546282274222,0.0187274173123,1.05969868555
+383,6.383333333,pose2_to_pose3_retreat,0.575711516738,0.0100546882984,1.06002939713,0.546282246922,0.018727417482,1.05969868512
+384,6.400000000,pose2_to_pose3_retreat,0.575711366897,0.0100546894471,1.06002939414,0.54628209701,0.0187274184141,1.05969868278
+385,6.416666667,pose2_to_pose3_retreat,0.575711078466,0.0100546916584,1.06002938838,0.546281808441,0.0187274202082,1.05969867827
+386,6.433333333,pose2_to_pose3_retreat,0.575711017877,0.0100546921229,1.06002938717,0.546281747824,0.0187274205851,1.05969867732
+387,6.450000000,pose2_to_pose3_retreat,0.575710745213,0.0100546765433,1.06002934861,0.546281474936,0.0187274042586,1.05969863905
+388,6.466666667,pose2_to_pose3_retreat,0.575710653097,0.0100546688889,1.0600293311,0.546281382732,0.0187273963043,1.05969862152
+389,6.483333333,pose2_to_pose3_retreat,0.575710611355,0.0100546654203,1.06002932317,0.54628134095,0.0187273926997,1.05969861358
+390,6.500000000,pose2_to_pose3_retreat,0.575710466534,0.0100546533864,1.06002929564,0.546281195991,0.0187273801942,1.05969858601
+391,6.516666667,pose2_to_pose3_retreat,0.575710436755,0.0100546509119,1.06002928998,0.546281166183,0.0187273776227,1.05969858035
+392,6.533333333,pose2_to_pose3_retreat,0.575710125771,0.0100546250706,1.06002923087,0.546280854901,0.0187273507686,1.05969852116
+393,6.550000000,pose2_to_pose3_retreat,0.575710040595,0.0100546179929,1.06002921468,0.546280769644,0.0187273434135,1.05969850495
+394,6.566666667,pose2_to_pose3_retreat,0.575709878335,0.0100546045098,1.06002918384,0.546280607229,0.018727329402,1.05969847407
+395,6.583333333,pose2_to_pose3_retreat,0.575709819045,0.0100545995831,1.06002917257,0.546280547882,0.0187273242822,1.05969846279
+396,6.600000000,pose2_to_pose3_retreat,0.575709766353,0.0100545952046,1.06002916256,0.546280495139,0.0187273197321,1.05969845276
+397,6.616666667,pose2_to_pose3_retreat,0.575709677997,0.0100545872405,1.06002913663,0.546280406775,0.0187273117545,1.05969842724
+398,6.633333333,pose2_to_pose3_retreat,0.575709578567,0.010054577499,1.06002909603,0.54628030743,0.0187273023412,1.05969838762
+399,6.650000000,pose2_to_pose3_retreat,0.575709427742,0.0100545627223,1.06002903443,0.546280156736,0.0187272880623,1.05969832753
+400,6.666666667,pose2_to_pose3_retreat,0.575709311614,0.0100546348543,1.0600291171,0.546280040076,0.0187273583567,1.05969840939
+401,6.683333333,pose2_to_pose3_retreat,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_11/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_11/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8e2a51e86f7d49d083250aa374dce62b950fab57
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_11/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:66861a8b26adcaf6f1e9a9aa409d35a9ee4865e1b1bbff3eae42e96b5013203a
+size 25705229
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_11/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_11/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3ad831fb67b69f63ad6711c6ea2861db5a441f18
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_11/depth_05/franka_data.csv
@@ -0,0 +1,405 @@
+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,764,742,711,672,661,633,878,784,799,649,629,650,0.400952664433,0.00446825066563,0.0698178600337,0.999999956066,4.26896156103e-05,-0.000291543340452,3.23758756359e-05,1793193646019667968
+1,0.016666667,BASELINE,764,742.614923431,711,672.614923431,660.385076569,632.385076569,878,784,799,649,629,650.614923431,0.400952889693,0.00446838317537,0.0698186201602,0.999999956303,4.24535510843e-05,-0.000290803011271,3.20160627504e-05,1793193646036334848
+2,0.033333333,BASELINE,764,742.783223367,711.216776633,672.783223367,660.216776633,632,878,784,799.216776633,649.216776633,629,651,0.4009528537,0.00446814097135,0.0698187995293,0.999999956372,4.2039916622e-05,-0.000290641111684,3.18817054352e-05,1793193646053001728
+3,0.050000000,BASELINE,764,742.20326743,711.79673257,672.20326743,660.79673257,632,878,784,799.79673257,649.79673257,629,651,0.400952380015,0.00446727098623,0.0698180059197,0.999999956159,4.13287882233e-05,-0.000291448290858,3.21250677263e-05,1793193646069668352
+4,0.066666667,BASELINE,764,742,711.627007129,672.372992871,661,632,878,784,800,650,629,651,0.400952044931,0.0044669489906,0.0698178151547,0.999999956227,4.110408219e-05,-0.000291251803097,3.20664355097e-05,1793193646086334976
+5,0.083333333,BASELINE,764,742,711.052741089,672.947258911,661,632,878,784,800,650,629,651,0.400951784639,0.00446692269928,0.0698179496947,0.999999956448,4.11418578128e-05,-0.000290513719886,3.184484201e-05,1793193646103001600
+6,0.100000000,BASELINE,764,742.521034319,711,673,661,632.521034319,878,784.521034319,800.521034319,650,629,651,0.400953213359,0.00446776137935,0.069818596344,0.999999956622,4.15131884199e-05,-0.000289864899276,3.18078882317e-05,1793193646119668224
+7,0.116666667,BASELINE,764,742.901398415,711,672.901398415,661,632.901398415,878,784.901398415,800.80279683,650,629,651,0.400954616391,0.00446857609805,0.069819151714,0.999999956791,4.19142671211e-05,-0.000289223147099,3.18133475055e-05,1793193646136334848
+8,0.133333333,BASELINE,764,742.3044144,711,672.3044144,661,632.3044144,878,784.3044144,799.608828799,650,629,651,0.400955026231,0.00446882756917,0.0698189839449,0.999999956959,4.22952093863e-05,-0.00028857149534,3.19388042971e-05,1793193646153001216
+9,0.150000000,BASELINE,764,742,711,672,661,632,878,784,799,650,629,651,0.400955057206,0.00446804433037,0.0698190987437,0.999999957032,4.18959812815e-05,-0.000288351720999,3.21562390893e-05,1793193646169667584
+10,0.166666667,BASELINE,764,742,711,672,661,632,878,784,799,650,629,651,0.400954693976,0.00446618449118,0.0698195075504,0.999999957006,4.06849974093e-05,-0.000288581308773,3.24693756243e-05,1793193646186334464
+11,0.183333333,BASELINE,764,742.430470867,711,672.430470867,661,632.430470867,878,784,799,649.569529133,629,651,0.400953865192,0.00446686923538,0.0698192660303,0.999999956909,4.04420446799e-05,-0.000288977893598,3.22204250326e-05,1793193646203001344
+12,0.200000000,BASELINE,764,742.990965703,711,673,661,632.990965703,878,784,799,649.009034297,629,651,0.400952909317,0.00446839527545,0.0698188205738,0.999999956798,4.0526571958e-05,-0.0002893985586,3.17852262238e-05,1793193646219667968
+13,0.216666667,BASELINE,764,742.401201138,711,673,661,632.401201138,878,784,799,649.598798862,629,651,0.40095406729,0.00446779534932,0.069819630448,0.999999957304,4.02797612886e-05,-0.000287678464424,3.17933078285e-05,1793193646236335104
+14,0.233333333,BASELINE,764,742,711,672.814772225,661,632,878,784,799.185227775,650,629,651,0.400954518426,0.00446745192392,0.069819861579,0.999999957414,4.05756460026e-05,-0.000287254228717,3.18042406562e-05,1793193646253001728
+15,0.250000000,BASELINE,764,742,711,672.235440377,661,632,878,784,799.764559623,650,629,651,0.400953465649,0.00446765424803,0.0698188613342,0.99999995668,4.20262087997e-05,-0.000289587155317,3.18212399548e-05,1793193646269668352
+16,0.266666667,BASELINE,763.658259921,742,711.341740079,672.341740079,661,632.341740079,878,784,799.658259921,650,629,651,0.400952564479,0.00446721193693,0.0698185366326,0.999999956377,4.1682138986e-05,-0.000290659117487,3.20173543479e-05,1793193646286334976
+17,0.283333333,BASELINE,763.082552418,742,711.917447582,672.917447582,661,632.917447582,878,784,799.082552418,650,629,651,0.400951767104,0.00446632828562,0.0698186744319,0.999999956371,4.01093997161e-05,-0.000290867778382,3.23360973097e-05,1793193646303001344
+18,0.300000000,BASELINE,763.47760388,742,711.52239612,672.52239612,661,633,877.52239612,784,799,650,629,651,0.400952721867,0.00446701414875,0.0698193039204,0.999999956724,4.01210223254e-05,-0.000289690906264,3.19660507486e-05,1793193646319667712
+19,0.316666667,BASELINE,764.03840601,742.03840601,711,672.03840601,661,632.96159399,877.03840601,784.03840601,799,650,628.96159399,651,0.400953791403,0.0044678962713,0.0698199100883,0.999999957074,4.04025293072e-05,-0.000288490519591,3.15173114238e-05,1793193646336334336
+20,0.333333333,BASELINE,764.647485723,742.647485723,711,672.647485723,661,632.352514277,877.647485723,784.647485723,799,650,628.352514277,651,0.400952208158,0.00446779069209,0.0698189467376,0.999999956508,4.07533949372e-05,-0.000290387020846,3.16125316659e-05,1793193646353000960
+21,0.350000000,BASELINE,764.757261209,742.757261209,711,672.757261209,661,632.242738791,878,784.757261209,799,650,628.242738791,651,0.400951477229,0.00446772906323,0.0698182728003,0.999999956319,4.09172931087e-05,-0.000291001483584,3.17129819058e-05,1793193646369667840
+22,0.366666667,BASELINE,764.181005639,742.181005639,711,672.181005639,661,632.818994361,878,784.181005639,799,650,628.818994361,651,0.400951917359,0.00446772782099,0.0698179965095,0.999999956653,4.08243028314e-05,-0.000289854458629,3.18206180187e-05,1793193646386334976
+23,0.383333333,BASELINE,764,742,711.394948901,672.394948901,661,633,878,784,799.394948901,650,629,651,0.400952185043,0.00446728274902,0.0698179687931,0.999999956736,4.03593344575e-05,-0.000289632961675,3.18147185223e-05,1793193646403001600
+24,0.400000000,BASELINE,764,742,711.970765635,672.970765635,661,633,878,784,799.970765635,650,629,651,0.400952373755,0.00446663442412,0.0698180549119,0.999999956704,3.97240177796e-05,-0.000289835312475,3.17568251202e-05,1793193646419668224
+25,0.416666667,BASELINE,764,742.55967961,711.44032039,673,661,632.44032039,878,784.55967961,800,649.44032039,629,651,0.400953700149,0.00446724954425,0.069818864978,0.999999956943,4.03304122206e-05,-0.000288920756745,3.18143440674e-05,1793193646436334592
+26,0.433333333,BASELINE,764,743,711.146591955,673,661,632.146591955,878.146591955,785,799.853408045,649,629,651,0.40095499781,0.0044677632178,0.0698197712121,0.999999957284,4.10462675979e-05,-0.000287632395973,3.18508248027e-05,1793193646453001216
+27,0.450000000,BASELINE,764,743,711.725534866,673,661,632.725534866,878.725534866,785,799.274465134,649,629,651,0.400956031265,0.00446777838392,0.0698208468777,0.999999957885,4.18890840715e-05,-0.000285417743097,3.18070504194e-05,1793193646469667840
+28,0.466666667,BASELINE,764,743,711.697328416,672.697328416,661,632.697328416,878.697328416,784.697328416,799,649.302671584,629,651,0.400955586124,0.00446758864003,0.0698208715871,0.999999957841,4.12703993223e-05,-0.000285662449052,3.18087308552e-05,1793193646486334464
+29,0.483333333,BASELINE,764,743,711.121819886,672.121819886,661,632.121819886,878.121819886,784.121819886,799,649.878180114,629,651,0.400953808136,0.00446721418432,0.0698199489341,0.999999957211,3.93342749312e-05,-0.000288124092522,3.18513855856e-05,1793193646503001088
+30,0.500000000,BASELINE,764,742.547394704,711,672.452605296,661,632.452605296,878,784,799,650,629,651,0.400953549293,0.00446757120478,0.0698200763242,0.999999957142,4.07489973825e-05,-0.000288153544252,3.19712559108e-05,1793193646519667968
+31,0.516666667,BASELINE,764,742,711.027511667,673,661,633,878,784,799,649.972488333,629,651,0.40095361378,0.00446810837545,0.0698203911554,0.999999957183,4.29692112641e-05,-0.000287677016183,3.21019472403e-05,1793193646536334592
+32,0.533333333,BASELINE,764,742,711.61822364,673,661,633,878,784,799,649.38177636,629,651,0.400951946916,0.00446831271583,0.0698187713292,0.99999995644,4.32601244941e-05,-0.000290211568851,3.20297238328e-05,1793193646553001216
+33,0.550000000,BASELINE,764,742,711.796591508,673,660.796591508,632.796591508,878,784,799,649,629,651,0.400951418661,0.00446817455518,0.0698183880091,0.999999956312,4.27307789292e-05,-0.000290735063488,3.19991577431e-05,1793193646569667840
+34,0.566666667,BASELINE,764,742,711.221506118,673,660.221506118,632.221506118,878,784,799,649,629,651,0.400952970924,0.00446741056166,0.0698202640874,0.999999957306,4.07026205667e-05,-0.000287583864606,3.20447097352e-05,1793193646586334720
+35,0.583333333,BASELINE,764,742,711,672.644285126,660.355714874,632.355714874,877.644285126,784,799.355714874,649.355714874,629,651,0.400953825782,0.00446694426097,0.0698209030894,0.999999957696,4.03119319031e-05,-0.000286280694629,3.20259935213e-05,1793193646603001344
+36,0.600000000,BASELINE,764,742,711,672.065726191,660.934273809,632.934273809,877.065726191,784,799.934273809,649.934273809,629,651,0.400954243739,0.00446666445532,0.0698207671026,0.999999957714,4.09470657575e-05,-0.00028613525571,3.19670153237e-05,1793193646619668480
+37,0.616666667,BASELINE,764,742,711,672,661,632.488250615,877.511749385,784,799.488250615,649.488250615,629,651,0.40095535025,0.00446676182752,0.0698212672284,0.999999957982,4.10934716006e-05,-0.000285179999589,3.19351716286e-05,1793193646636334592
+38,0.633333333,BASELINE,764,742,711,672,661,632.091092962,878,784,799.091092962,649.091092962,629,651,0.400956114509,0.00446698288015,0.0698216140456,0.999999958152,4.11741004285e-05,-0.000284571849481,3.19221064749e-05,1793193646653001216
+39,0.650000000,BASELINE,764,742,711,672,661,632.681435611,878,784,799.681435611,649.681435611,629,651,0.400954519357,0.00446761684689,0.0698206738129,0.999999957615,4.12375191403e-05,-0.000286434899761,3.19929003717e-05,1793193646669667840
+40,0.666666667,BASELINE,764,742,711,672,660.733486202,633,878,784,800,650,629,651,0.400953512387,0.00446765520441,0.0698201801857,0.999999957324,4.17151324249e-05,-0.000287371295685,3.20893739077e-05,1793193646686334720
+41,0.683333333,BASELINE,764,742,711,672,660.154578778,633,878,784,800,650,629,651,0.400953194854,0.00446699541973,0.0698202100463,0.999999957322,4.26782430619e-05,-0.000287221515412,3.22159477785e-05,1793193646703001344
+42,0.700000000,BASELINE,764,742,711,672.418346329,660.418346329,633,878,784,799.581653671,649.581653671,629,651,0.400951657784,0.00446713569567,0.0698190960521,0.999999956836,4.13929358095e-05,-0.000289113837943,3.20484143042e-05,1793193646719667968
+43,0.716666667,BASELINE,764,742,711,672.989092123,660.989092123,633,878,784,799.010907877,649.010907877,629,651,0.400949676448,0.00446756742586,0.0698175653628,0.999999956164,3.92885519419e-05,-0.000291750078506,3.17737404046e-05,1793193646736334848
+44,0.733333333,BASELINE,764,742,711.563046557,673,661,633,878,784.563046557,799.563046557,649.563046557,628.436953443,650.436953443,0.400951226585,0.00446751289856,0.0698186109875,0.99999995669,3.97650587325e-05,-0.000289896601228,3.16143974219e-05,1793193646753001216
+45,0.750000000,BASELINE,763.856616286,742,711.856616286,672.856616286,660.856616286,632.856616286,878,784.856616286,799.856616286,650,628.143383714,650.143383714,0.400952824703,0.00446722092677,0.0698196179359,0.999999957224,3.99416625903e-05,-0.000288028367225,3.15748319444e-05,1793193646769667840
+46,0.766666667,BASELINE,763.256130664,742,711.256130664,672.256130664,660.256130664,632.256130664,878,784.256130664,799.256130664,650,628.743869336,650.743869336,0.400954356429,0.0044662021944,0.0698203415596,0.99999995772,3.90018769923e-05,-0.000286391965084,3.19099490064e-05,1793193646786334464
+47,0.783333333,BASELINE,763.330528062,742.330528062,711,672,660,632,878.330528062,784,799.330528062,650,629,651,0.400954239294,0.00446625828091,0.0698202842629,0.999999957695,3.9031902476e-05,-0.000286460389807,3.20349855037e-05,1793193646803001344
+48,0.800000000,BASELINE,763.906902424,742.906902424,711,672,660,632,878.906902424,784,799.906902424,650,629,651,0.400952895738,0.00446711381607,0.0698196461188,0.999999957283,3.978327196e-05,-0.000287796862146,3.20037644118e-05,1793193646819667968
+49,0.816666667,BASELINE,764,742.520310995,711,672.479689005,660.479689005,632.479689005,878.520310995,784,800,650,629,651,0.400952311969,0.0044666789068,0.0698193590901,0.9999999572,3.91966580788e-05,-0.000288188602533,3.17937773974e-05,1793193646836334592
+50,0.833333333,BASELINE,764,742,711,673,661.053569029,633,878,784,800,649.946430971,629,651,0.400952067521,0.00446595091052,0.0698192373724,0.999999957213,3.83987906557e-05,-0.000288270462191,3.16064419616e-05,1793193646853001216
+51,0.850000000,BASELINE,764,742,711,673,661.645380316,633,878,784,800,649.354619684,629,651,0.40095376183,0.00446477581288,0.0698200970365,0.99999995756,3.80680693708e-05,-0.000287067336942,3.19927132741e-05,1793193646869667584
+52,0.866666667,BASELINE,764,742.232540558,711.232540558,672.767459442,662,632.767459442,878,784,800,649,629,650.767459442,0.400954642211,0.00446449844561,0.0698206376326,0.999999957759,3.83176285354e-05,-0.000286320766554,3.21492804447e-05,1793193646886334208
+53,0.883333333,BASELINE,764,742.812747094,711.812747094,672.187252906,662,632.187252906,878,784,800,649,629,650.187252906,0.400954305707,0.0044655632542,0.0698207011976,0.99999995774,3.94347515219e-05,-0.000286256780791,3.19624222723e-05,1793193646903001088
+54,0.900000000,BASELINE,764,742.610213972,711.610213972,672,661.610213972,632,877.610213972,784,799.610213972,649.389786028,629,650.389786028,0.400954231244,0.00446766562085,0.0698207648438,0.999999957671,4.18481837553e-05,-0.00028616918927,3.18472778242e-05,1793193646919667712
+55,0.916666667,BASELINE,764,742.034684502,711.034684502,672,661.034684502,632,877.034684502,784,799.034684502,649.965315498,629,650.965315498,0.400954281651,0.00447026241155,0.0698208285287,0.99999995757,4.48793418997e-05,-0.000286070348976,3.17663068842e-05,1793193646936334336
+56,0.933333333,BASELINE,763.459846698,742.540153302,711.540153302,672,661,632,877.540153302,784,799,650,629,651,0.400954368439,0.0044689283647,0.0698208379385,0.999999957737,4.22029218232e-05,-0.000285902181644,3.17116916641e-05,1793193646953001728
+57,0.950000000,BASELINE,763.118073434,742.881926566,711.881926566,672.118073434,661,632.118073434,878,784,799,649.881926566,629,651,0.400954433066,0.00446768487247,0.069820853975,0.99999995786,4.00135003276e-05,-0.000285783920248,3.17112507483e-05,1793193646969668864
+58,0.966666667,BASELINE,763.708501785,742.291498215,711.291498215,672.708501785,661,632.708501785,878,784,799,649.291498215,629,651,0.400954399705,0.00446781211842,0.0698209104464,0.999999957776,4.12366286975e-05,-0.00028588309463,3.1920773468e-05,1793193646986335744
+59,0.983333333,BASELINE,764,742.289959477,711,673,661,632.710040523,878,784,799.289959477,649.289959477,629,651,0.400954342541,0.00446723075081,0.069821122829,0.999999957851,4.10094654517e-05,-0.000285648671275,3.19389388142e-05,1793193647003002368
+60,1.000000000,BASELINE,764,742.862669601,711,673,661,632.137330399,878,784,799.862669601,649.862669601,629,651,0.400954262168,0.00446595838685,0.0698214872463,0.999999958083,3.93680671636e-05,-0.000285088943935,3.17705042434e-05,1793193647019668992
+61,1.016666667,BASELINE,764,743,711,673.439961791,661,632,878.439961791,784,800,649.560038209,629,651,0.400954667489,0.0044655943085,0.0698217481169,0.999999958223,3.86699976948e-05,-0.000284668869019,3.19583096577e-05,1793193647036335616
+62,1.033333333,BASELINE,764,742.980919844,711,673.961839689,661,632.019080156,878.980919844,784,800,649.019080156,629,651,0.400955193159,0.00446555375281,0.0698219518826,0.999999958321,3.83907190876e-05,-0.000284332205138,3.22411645839e-05,1793193647053002496
+63,1.050000000,BASELINE,764,742.390393442,711,672.780786884,661,632.609606558,878.390393442,784,800,649.609606558,629,651,0.400954734901,0.00446662209067,0.0698214235736,0.999999957954,4.17425420856e-05,-0.00028517439124,3.20053470393e-05,1793193647069668864
+64,1.066666667,BASELINE,764,742,711,672.196317529,661,633,877.803682471,784,800,650,629,651,0.400954507588,0.00446747263047,0.0698211440998,0.999999957739,4.40654974677e-05,-0.00028559028067,3.19025153357e-05,1793193647086335232
+65,1.083333333,BASELINE,764,742,711,672.775585815,661,633,877.224414185,784,800,650,629,651,0.400954730772,0.00446789831804,0.0698213500215,0.999999957839,4.43814712299e-05,-0.000285174605831,3.2059095167e-05,1793193647103002112
+66,1.100000000,BASELINE,764,742,711.351731769,672.648268231,661,632.648268231,877.351731769,784,799.648268231,650,629,651,0.400955162474,0.00446866193266,0.0698212273708,0.999999957849,4.44009503357e-05,-0.000285143147693,3.20074142267e-05,1793193647119668736
+67,1.116666667,BASELINE,764,742,711.925903099,672.074096901,661,632.074096901,877.925903099,784,799.074096901,650,629,651,0.400955726045,0.00446963925656,0.0698208969267,0.999999957802,4.42329225076e-05,-0.000285354673009,3.18240265689e-05,1793193647136335872
+68,1.133333333,BASELINE,764,742,711.500666348,672,661,632.499333652,878,784,799,650,628.500666348,651,0.400953776832,0.00446861075874,0.0698200168421,0.999999957341,4.36476470671e-05,-0.000287081358938,3.15733096002e-05,1793193647153002240
+69,1.150000000,BASELINE,763.924861992,742,711,672,661,633,878,784.075138008,799,650,628.075138008,651,0.400952010486,0.00446735564234,0.0698193207633,0.999999956955,4.30313326282e-05,-0.000288532195165,3.14085205545e-05,1793193647169668096
+70,1.166666667,BASELINE,763.331943509,742,711,672,661,633,878,784.668056491,799,650,628.668056491,651,0.400954069997,0.00446658694927,0.0698204538959,0.999999957531,4.26271618824e-05,-0.000286535063473,3.19046133363e-05,1793193647186334720
+71,1.183333333,BASELINE,763.255400947,742,711,672,661,632.744599053,878,784.744599053,799.255400947,650,629,651,0.400955091695,0.00446664718172,0.0698212405815,0.999999957868,4.20788779673e-05,-0.00028541670701,3.21013594903e-05,1793193647203001600
+72,1.200000000,BASELINE,763.835655675,742,711,672,661,632.164344325,878,784.164344325,799.835655675,650,629,651,0.400954793361,0.00446776175467,0.0698215866084,0.999999957905,4.13472912e-05,-0.000285416096542,3.19173558169e-05,1793193647219667968
+73,1.216666667,BASELINE,764,742.411895177,711,672.411895177,661,632,878,784,799.588104823,649.588104823,629,651,0.400954618327,0.00446840773617,0.0698210696203,0.999999957905,4.17746388602e-05,-0.000285375840685,3.17141903074e-05,1793193647236334592
+74,1.233333333,BASELINE,764,742.986548054,711,672.986548054,661,632,878,784,799.013451946,649.013451946,629,651,0.400954492014,0.00446886855674,0.0698202116174,0.99999995789,4.26599319633e-05,-0.00028531991921,3.15034531342e-05,1793193647253001472
+75,1.250000000,BASELINE,764,742.438292602,711,672.438292602,661,632.561707398,878,784,799,649.561707398,629,651,0.400954586656,0.00446809508591,0.0698208474289,0.999999957902,4.18406113449e-05,-0.00028536608774,3.18053865592e-05,1793193647269668096
+76,1.266666667,BASELINE,764,742.141562058,711,672.141562058,661,632.858437942,878,784,799.141562058,650,629,651,0.400954393939,0.0044672792959,0.0698210849208,0.999999957812,4.11823486041e-05,-0.000285746888822,3.2062985145e-05,1793193647286334720
+77,1.283333333,BASELINE,764,742.736412436,711,672.736412436,661,632.263587564,878,784,799.736412436,650,629,651,0.400953264124,0.00446642273328,0.0698199323202,0.999999957397,4.1170634682e-05,-0.000287191363257,3.21392725684e-05,1793193647303001344
+78,1.300000000,BASELINE,764,743,711,673,661,632.319850549,877.680149451,784,799.680149451,650,629,650.680149451,0.400953610708,0.00446598921949,0.0698201401905,0.999999957585,4.13950124664e-05,-0.000286496108811,3.2196249015e-05,1793193647319668224
+79,1.316666667,BASELINE,764,743,711,673,661,632.894207835,877.105792165,784,799.105792165,650,629,650.105792165,0.40095513207,0.00446589232787,0.0698214305945,0.999999958251,4.18072496441e-05,-0.000284098260949,3.22378596137e-05,1793193647336334848
+80,1.333333333,BASELINE,763.531314034,742.531314034,711.468685966,673,661,633,877.468685966,784,799.468685966,649.531314034,629,650.468685966,0.400954570555,0.00446685761654,0.06982069866,0.999999957872,4.24034056614e-05,-0.000285371134603,3.19633593803e-05,1793193647353001216
+81,1.350000000,BASELINE,763.088358288,742,711.955820856,673,661,632.955820856,878,784,800,649.044179144,629,651,0.400953559376,0.00446793101322,0.0698195908241,0.999999957297,4.286020391e-05,-0.000287347364386,3.16351761534e-05,1793193647369668096
+82,1.366666667,BASELINE,764.263645302,742,711.368177349,673,661,632.368177349,878,784,800,649.631822651,629,651,0.400952801679,0.00446738419444,0.0698194757125,0.99999995725,4.10918940622e-05,-0.000287780806275,3.15245824065e-05,1793193647386334720
+83,1.383333333,BASELINE,764.783714242,742,711,673,661,632,878,784.216285758,799.783714242,649.783714242,629,651,0.400952744029,0.00446735517258,0.0698198835855,0.999999957406,4.02152335489e-05,-0.000287357945526,3.15628243178e-05,1793193647403001600
+84,1.400000000,BASELINE,764.204586497,742,711,673,661,632,878,784.795413503,799.204586497,649.204586497,629,651,0.400953860783,0.00446819480913,0.06982116882,0.999999957904,4.08344078018e-05,-0.00028549854758,3.18507536001e-05,1793193647419668736
+85,1.416666667,BASELINE,764,742,711.372512351,673,661,632,878,784.627487649,799.372512351,649,629,651,0.400955074107,0.00446799409842,0.069821777221,0.999999958115,4.10595925041e-05,-0.000284714719359,3.19612834756e-05,1793193647436335616
+86,1.433333333,BASELINE,764,742,711.948502916,673,661,632,878,784.051497084,799.948502916,649,629,651,0.400956340181,0.00446722511657,0.0698220159138,0.99999995817,4.10695674193e-05,-0.000284518401988,3.19749120787e-05,1793193647453002496
+87,1.450000000,BASELINE,764,742.536483857,711.463516143,673,661,632,878.536483857,784,800,649.536483857,629,651,0.400954472315,0.00446589168622,0.0698213110503,0.999999957894,3.90069853776e-05,-0.000285796185374,3.18095373769e-05,1793193647469668608
+88,1.466666667,BASELINE,764,742.876402429,711.123597571,673,661,632.123597571,878.752804858,784,800,650,629,651,0.400953036731,0.00446473269897,0.0698207137428,0.999999957679,3.72519165474e-05,-0.000286798304404,3.16303611215e-05,1793193647486334720
+89,1.483333333,BASELINE,764,742.296831243,711.703168757,673,661,632.703168757,877.593662486,784,800,650,629,651,0.400954331092,0.00446442171818,0.0698208550036,0.999999957837,3.73820406071e-05,-0.00028624949948,3.14651070276e-05,1793193647503001088
+90,1.500000000,BASELINE,764,742,711.718630458,673,661,633,877.562739084,784.281369542,799.718630458,650,629,651,0.400954913013,0.00446517058397,0.069821055988,0.999999957909,3.89694882882e-05,-0.000285787399718,3.14615562984e-05,1793193647519667968
+91,1.516666667,BASELINE,764,742,711.141868408,673,661,633,878.716263184,784.858131592,799.141868408,650,629,651,0.400954746989,0.00446703211726,0.0698213196723,0.999999957883,4.20868900402e-05,-0.000285416326383,3.16277679569e-05,1793193647536334848
+92,1.533333333,BASELINE,764,742,711.43422441,673,661,633,878.56577559,784.56577559,799.43422441,650,629,651,0.400954809162,0.00446817228583,0.0698216883506,0.999999957987,4.21953148725e-05,-0.00028505172537,3.14893128363e-05,1793193647553001472
+93,1.550000000,BASELINE,764,742,712,673,661,632.989937579,878,784,799.989937579,650,629,651,0.400954918043,0.00446905669597,0.0698220664818,0.999999958124,4.13484465974e-05,-0.000284720246742,3.12553807593e-05,1793193647569668096
+94,1.566666667,BASELINE,764,742,712,673,661,632.416146689,878,784,799.416146689,650,629,651,0.400953473105,0.00446879603738,0.0698210553724,0.999999957697,4.19737237432e-05,-0.000286126104634,3.12404790216e-05,1793193647586334464
+95,1.583333333,BASELINE,764,742,712,673,661,632,878,784,799.163626093,650,629,651,0.400952390192,0.0044682567643,0.0698202230817,0.999999957346,4.25246489354e-05,-0.000287256748201,3.13686908178e-05,1793193647603001088
+96,1.600000000,BASELINE,764,742,712,673,661,632,878,784,799.75918991,650,629,651,0.400952262944,0.0044669820088,0.0698198628333,0.999999957198,4.28793010845e-05,-0.000287660885401,3.18746915869e-05,1793193647619667712
+97,1.616666667,BASELINE,764,742.342039293,712,673,661,632.342039293,878,784,800,650,629,651,0.400952231806,0.00446638088455,0.0698200420151,0.999999957347,4.17343322289e-05,-0.000287293683691,3.20513790728e-05,1793193647636334336
+98,1.633333333,BASELINE,764,742.916257967,712,673,661,632.916257967,878,784,800,650,629,651,0.400952265909,0.00446623702738,0.0698205873668,0.999999957692,3.9571406982e-05,-0.000286402890091,3.20045256781e-05,1793193647653001216
+99,1.650000000,BASELINE,764,742.509377178,711.509377178,673,661,633,878,784,799.509377178,650,629,651,0.400952949738,0.0044675806741,0.0698202704795,0.999999957631,4.06949390778e-05,-0.000286484018304,3.17605653664e-05,1793193647669667840
+100,1.666666667,BASELINE,764,742.067154976,711.067154976,673,661,633,878,784,799.067154976,650,629,651,0.4009535706,0.00446899541385,0.0698198583214,0.999999957496,4.23164302822e-05,-0.000286745138382,3.15246171395e-05,1793193647686334464
+101,1.683333333,BASELINE,764,742.660472479,711.660472479,673,661,633,878,784,799.660472479,650,629,651,0.400952828957,0.00446897729964,0.0698198531511,0.999999957339,4.3443078912e-05,-0.000287116339298,3.16151188599e-05,1793193647703001088
+102,1.700000000,BASELINE,764,742.753125588,711.753125588,673,661,633,878,784,799.753125588,650,629,651,0.400953005099,0.00446829918798,0.0698202903768,0.999999957439,4.32929159685e-05,-0.000286771468531,3.17766791547e-05,1793193647719667968
+103,1.716666667,BASELINE,764,742.175975548,711.175975548,673,661,633,878,784,799.175975548,650,629,651,0.400954409083,0.0044667381129,0.0698213194525,0.999999957882,4.14345980097e-05,-0.000285468616624,3.2033303629e-05,1793193647736334848
+104,1.733333333,BASELINE,764,742,711,672.601160199,661,633,877.601160199,784,799,649.601160199,629,651,0.400954556673,0.00446654118839,0.0698214292129,0.999999957886,4.12555590386e-05,-0.000285491485249,3.19381847087e-05,1793193647753001472
+105,1.750000000,BASELINE,764,742,711,672.027368914,661,633,877.027368914,784,799,649.027368914,629,651,0.400954153144,0.00446694264979,0.0698211357147,0.999999957698,4.18131373415e-05,-0.000286095882421,3.1688773213e-05,1793193647769667840
+106,1.766666667,BASELINE,763.437770672,742.562229328,711.562229328,672.562229328,661,632.437770672,878.124458655,784,799,649.562229328,629,651,0.400954811843,0.00446821815074,0.0698224369411,0.999999958148,4.35509397225e-05,-0.000284290632883,3.13955829743e-05,1793193647786334464
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,742,711,672,661,633,878,784,799,650,629,651,0.400954335948,0.00446706840978,0.0698220735993,0.999999958057,4.13360937148e-05,-0.000284867578377,3.20452439252e-05,1793193647828546048
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,742.596457052,711.596457052,672.596457052,661,633,878,784.596457052,799.596457052,650,629,651,0.400953377939,0.00446845125213,0.0698214099756,0.999999957591,4.38261042212e-05,-0.000286149275801,3.18783747647e-05,1793193647845212672
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,742.815084911,712,673,661,632.815084911,878,785,800,649.815084911,629,651,0.400952686792,0.00446926273932,0.0698208478338,0.999999957282,4.49039985396e-05,-0.000287074449134,3.17397883546e-05,1793193647861879040
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,742.243359325,712,673,661,632.243359325,878,785,800,649.243359325,629,651,0.400952553873,0.00446887905024,0.0698204979745,0.999999957316,4.30279896324e-05,-0.000287253835759,3.16603645538e-05,1793193647878545920
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,742,712,673,661,632,878,785,800,649,629,651,0.400952923827,0.00446895526363,0.0698207610718,0.999999957452,4.3810942211e-05,-0.000286659192831,3.16776941687e-05,1793193647895213312
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,742,712,673,661,632,878,785,800,649,629,651,0.400953666468,0.00446937232064,0.0698214784443,0.999999957659,4.65645083775e-05,-0.000285490899963,3.17667298233e-05,1793193647911880448
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,742,711.482336557,673,661,632.517663443,878,784.482336557,799.482336557,649,629,651,0.400954108627,0.00446757573707,0.0698216387689,0.999999957959,4.21105252161e-05,-0.00028514803365,3.16007363294e-05,1793193647928547072
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,742.096900083,711.096900083,673,661,633,878,784,799.096900083,649,629,651,0.400955045721,0.0044660222537,0.0698218920814,0.999999958295,3.81050744336e-05,-0.000284550092533,3.1465284687e-05,1793193647945213440
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,742.669873335,711.669873335,673,661,633,878,784,799.669873335,649,629,651,0.400958593683,0.00446698351539,0.0698229345132,0.999999958855,4.06024162745e-05,-0.000282206612769,3.16320052023e-05,1793193647961880064
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,742.751996102,711.751996102,672.751996102,661,632.751996102,877.751996102,784,799.751996102,649,629,651,0.400966843131,0.00446752989086,0.0698267793576,0.9999999606,4.21482636308e-05,-0.000275703490562,3.17969137386e-05,1793193647978546688
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,742.166854714,711.166854714,672.166854714,661,632.166854714,877.166854714,784,799.166854714,649,629,651,0.400981483798,0.00446751226827,0.0698344338128,0.999999963862,4.24006453789e-05,-0.000263545733971,3.19593590471e-05,1793193647995213312
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,742,711,672.418076626,661,632,877.418076626,784,799,649,629,651,0.401015255876,0.00446625790473,0.0698499068935,0.999999970574,3.92791231191e-05,-0.00023725569746,3.19101986352e-05,1793193648011880192
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,742,711,672.997119708,661,632.002880292,878,784,799,649.002880292,629,651,0.401056758106,0.00446452018812,0.0698684931803,0.999999977806,3.48381886003e-05,-0.000205338717531,3.17753653684e-05,1793193648028547584
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,742,711,672.421059091,661,632.578940909,878,784,799,649.578940909,629,651,0.401117886188,0.00446476919747,0.0698859554813,0.999999983472,3.56587838982e-05,-0.000175497574448,3.13891514258e-05,1793193648045214464
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,742,711.154147891,672.154147891,661,633,878.154147891,784,799,650,629.154147891,651,0.401181319754,0.00446545528484,0.0699008285203,0.999999987289,3.7058393234e-05,-0.000151971518464,3.08859286717e-05,1793193648061881088
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,742,711.727036114,672.727036114,661,633,878.727036114,784,799,650,629.727036114,651,0.401251016145,0.00446732868791,0.0699086678737,0.999999988147,4.00308854011e-05,-0.000145600291488,3.00648532908e-05,1793193648078546944
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,742,711.690361528,672.690361528,661,632.690361528,878.690361528,784,799.309638472,650,629.690361528,651,0.401327001898,0.00446711502901,0.0699110863189,0.999999988546,3.79978373454e-05,-0.00014372769431,2.83852330019e-05,1793193648095213312
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,742,711.098918283,672.098918283,661,632.098918283,878.098918283,784,799.901081717,650,629.098918283,651,0.401408711652,0.00446500191604,0.069908571146,0.99999998852,3.14092016924e-05,-0.00014594934117,2.59242432783e-05,1793193648111879680
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,742,711.483188003,672,661,632.483188003,878,784.483188003,799.516811997,650,629,651,0.401510348168,0.00446618146117,0.0699066055411,0.999999987836,2.90785275244e-05,-0.000151519951967,2.28879449524e-05,1793193648128546304
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,742,711.937441226,672.062558774,661,632.937441226,878,784.937441226,799,650,629,650.937441226,0.401619921029,0.00446782861745,0.0699051012247,0.99999998712,2.72650248967e-05,-0.00015694724343,1.96158846106e-05,1793193648145212928
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,742,711.365081065,672.634918935,661,632.365081065,878,784.365081065,799,650,629,650.365081065,0.401761554892,0.00446789741665,0.06990645656,0.999999987499,2.2697157615e-05,-0.000155725454471,1.53641523301e-05,1793193648161880320
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,742,711,673,661,632.213384862,878,784,799,650,629,650,0.401916258566,0.00446855947804,0.0699086656279,0.999999988204,1.79960624182e-05,-0.000152145031168,1.09733244157e-05,1793193648178547456
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,742,711,673,661,632.802604824,878,784,799,650,629,650,0.402093982106,0.00447026645307,0.0699123783764,0.999999989467,1.30603131628e-05,-0.000144410341537,6.33750758726e-06,1793193648195214336
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,742,711,673,661,633,878,784,799,650,629,650.384984206,0.402292714133,0.00447032763234,0.0699160055468,0.999999990496,7.06550886733e-06,-0.000137686101563,1.21300902087e-06,1793193648211880448
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,742,711,673,661,633,878,784,799,650,629,650.963917464,0.402502029925,0.00446955968548,0.0699195896047,0.999999991349,5.37168677112e-07,-0.000131470909698,-4.15768021891e-06,1793193648228546560
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,742,711.54388192,673,661,633,878.54388192,784.54388192,799,650,629,651,0.40274547123,0.00447146494998,0.0699200786856,0.999999991658,-5.20218564038e-06,-0.000128672886101,-1.00202162026e-05,1793193648245213440
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,742,711.877130797,672.877130797,661,633,878.877130797,784.877130797,799.122869203,649.877130797,628.877130797,651,0.403000983268,0.00447321807903,0.0699214571446,0.999999992067,-1.08681333291e-05,-0.000124464917642,-1.59866896307e-05,1793193648261880320
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,742,711.301992519,672.301992519,661,633,878.301992519,784.301992519,799.698007481,649.301992519,628.301992519,651,0.403292577226,0.00447375717429,0.0699268665449,0.999999993093,-1.64569168816e-05,-0.00011423102562,-2.22154105996e-05,1793193648278546944
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,742,711,672,661,632.722362438,878,784,799.722362438,649.277637562,628.277637562,651,0.403607191337,0.00447478253315,0.0699355446014,0.9999999944,-2.18114580315e-05,-9.9539116963e-05,-2.85833320596e-05,1793193648295213824
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,742,711,672,661,632.13776621,878,784,799.13776621,649.86223379,628.86223379,651,0.403947256724,0.00447634550954,0.0699478365143,0.999999995828,-2.69070182677e-05,-7.9918384337e-05,-3.5105154495e-05,1793193648311880704
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,742,711,672.445643264,661,632,878,784,799.445643264,649.554356736,629,651,0.404310799652,0.00447905764501,0.0699529454365,0.999999996451,3.25866192505e-05,-7.4221039916e-05,-2.29850696194e-05,1793193648328547328
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,742.028029477,711,673,661,632,878.028029477,784,800,649,629,651,0.404683391173,0.004482239748,0.0699558575392,0.999999991534,0.000107890521989,-7.24661878468e-05,-6.39972895696e-06,1793193648345213952
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,742.597712738,711,673,661,632,878.597712738,784,800,649,629,651,0.405090960394,0.0044876569134,0.0699591142611,0.999999992453,0.000103890543358,-6.39409589391e-05,-1.45960299402e-05,1793193648361880576
+140,2.333333333,POSE1_TO_POSE2_PRESS,763.829838757,742.829838757,711,673,661.170161243,632,879,784,799.829838757,649,629,651,0.405510442943,0.00449082800234,0.0699604240977,0.999999995404,7.22911048722e-05,-5.93847217482e-05,-2.09824589687e-05,1793193648378546944
+141,2.350000000,POSE1_TO_POSE2_PRESS,763.250744877,742.250744877,711,673,661.749255123,632,879,784,799.250744877,649,629,651,0.405958555618,0.00448860130455,0.0699570551659,0.999999997335,-2.56355399526e-05,-6.43667928507e-05,-2.30193903266e-05,1793193648395212800
+142,2.366666667,POSE1_TO_POSE2_PRESS,763.336013932,742,711,672.663986068,661.663986068,632,878.663986068,784,799,649.336013932,629,650.663986068,0.406418157437,0.00449120522635,0.0699445613768,0.999999994893,-4.55027852061e-05,-8.69590536702e-05,-2.41044572486e-05,1793193648411878912
+143,2.383333333,POSE1_TO_POSE2_PRESS,763.928626153,742,711,672.071373847,661.071373847,632,878.071373847,784,799,649.928626153,629,650.071373847,0.40688653303,0.00449749806855,0.0699250993561,0.99999999212,-5.75968998829e-06,-0.000122999402097,-2.44626296369e-05,1793193648428545536
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,742,711,672.507747496,661,632,878,784,799,649.492252504,628.492252504,650,0.407419235807,0.00450226756645,0.0699136911418,0.999999990712,2.17210352995e-05,-0.000131851732992,-2.68178870499e-05,1793193648445212416
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,742,711,673,661,632,878,784,799,649.084677943,628.084677943,650.084677943,0.40797016779,0.00450708026654,0.0699072626175,0.999999989869,4.52420981372e-05,-0.00013174638655,-2.92909725979e-05,1793193648461879552
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,742,711,673,661,632,878,784,799,649.659619425,628.659619425,650.659619425,0.408575644013,0.00451335080096,0.0699232801805,0.999999992846,5.55593136804e-05,-0.000101332971493,-3.08629708012e-05,1793193648478547200
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,742,711,673,661,632,878,784,799,650,629,651,0.409191348165,0.00452080174612,0.0699345689677,0.999999994758,5.87397117759e-05,-7.71152600185e-05,-3.29580711157e-05,1793193648495214336
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,742,711,673,661,632,878,784,799,650,629,651,0.409821894433,0.00452996563129,0.0699389956416,0.999999996114,5.15635933345e-05,-6.18883791623e-05,-3.5812265376e-05,1793193648511881472
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,742,711,673,661,632,878.408380963,784,799.408380963,650,629,651,0.410458156992,0.00453761025005,0.0699368273722,0.99999999519,6.2568294824e-05,-6.57410096318e-05,-3.71896576009e-05,1793193648528547584
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,742,711,673,661,632,878.983579106,784,799.983579106,650,629,651,0.41109675455,0.00454463427224,0.0699319651723,0.999999993005,8.09995744909e-05,-7.73873197274e-05,-3.79637994182e-05,1793193648545213696
+151,2.516666667,POSE1_TO_POSE2_PRESS,763.435357095,742,711,673,661,632,879,784,799.435357095,649.435357095,629,650.435357095,0.411810941176,0.00455028087345,0.0699419174223,0.999999994321,7.92629860394e-05,-5.906246123e-05,-3.98387378295e-05,1793193648561880320
+152,2.533333333,POSE1_TO_POSE2_PRESS,763.143971846,742.143971846,711,673,661.143971846,632.143971846,878.712056309,784,799.143971846,649.143971846,629,650.143971846,0.412538029495,0.00455599493073,0.0699576082523,0.999999995426,8.0118698633e-05,-3.21128720438e-05,-4.11962069803e-05,1793193648578547200
+153,2.550000000,POSE1_TO_POSE2_PRESS,763.717608793,742.717608793,711,673,661.717608793,632.717608793,877.564782414,784,799.717608793,649.717608793,629,650.717608793,0.413296991766,0.00456203110363,0.0699891258601,0.999999994909,9.04795611442e-05,1.7947553774e-05,-4.09128142624e-05,1793193648595214336
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,742.699932727,711,673,662,632.699932727,877.600134545,784,799.699932727,649.699932727,629,651,0.414050732269,0.00456862691665,0.0700024847742,0.999999993599,9.96234962826e-05,3.47793024928e-05,-4.08261252497e-05,1793193648611880960
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,742.108920841,711,673,662,632.108920841,878.782158318,784,799.108920841,649.108920841,629,651,0.414799409845,0.00457576535632,0.0699982370598,0.999999993187,0.000107587502506,1.93925997736e-05,-4.09301597822e-05,1793193648628547584
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,742.472152843,711,673,661.527847157,632,879,784.472152843,799,649.472152843,629,650.527847157,0.415520749862,0.00458353928482,0.0699461264843,0.999999990323,0.000113177479933,-6.82348684457e-05,-4.34673092221e-05,1793193648645214208
+157,2.616666667,POSE1_TO_POSE2_PRESS,763.949470216,743,711,673.050529784,661.050529784,632.050529784,878.949470216,784.949470216,799,650,629,650.050529784,0.416246061386,0.00459091359988,0.0698894857973,0.999999978888,0.0001178992775,-0.00016178479794,-4.63717635751e-05,1793193648661881088
+158,2.633333333,POSE1_TO_POSE2_PRESS,763.375766192,743,711,673.624233808,661.624233808,632.624233808,878.375766192,784.375766192,799,650,629,650.624233808,0.417076443509,0.00459266382921,0.069897905572,0.999999980872,0.000119185647106,-0.000147663821055,-4.73874993041e-05,1793193648678546688
+159,2.650000000,POSE1_TO_POSE2_PRESS,763.19854305,742.80145695,711,674,662,632.80145695,878.19854305,784,799,649.80145695,629,651,0.417912755963,0.0045955188879,0.0699151766517,0.999999984198,0.000122385546246,-0.000119778060177,-4.77296503809e-05,1793193648695212800
+160,2.666666667,POSE1_TO_POSE2_PRESS,763.774001207,742.225998793,711,674,662,632.225998793,878.774001207,784,799,649.225998793,629,651,0.418760326537,0.00460047136002,0.0699492510918,0.999999988394,0.000129218099011,-6.57611660844e-05,-4.67930648893e-05,1793193648711879168
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,742.359949902,711,673.280100197,662,632,879,784,799,649.359949902,628.640050098,651,0.419634924794,0.00460042698379,0.069976856236,0.999999990524,0.000127492840974,-2.47985299452e-05,-4.56283148422e-05,1793193648728545792
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,742.952682908,711,672.094634185,662,632,879,784,799,649.952682908,628.047317092,651,0.420527002084,0.00459715109692,0.0700002776223,0.99999999176,0.000120233163212,7.7217884134e-06,-4.43160086142e-05,1793193648745212416
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,743,711,673.060743526,662,632.530371763,879,784,799.530371763,650,628.530371763,651,0.421392468515,0.00459578142164,0.0700083138686,0.999999992031,0.00011623643655,1.99007287736e-05,-4.50701291682e-05,1793193648761879040
+164,2.733333333,POSE1_TO_POSE2_PRESS,763.893541456,743,711,674,662,632.893541456,879,784.106458544,800,649.893541456,629,650.893541456,0.422240020379,0.00459153494529,0.0700019673038,0.999999992867,0.000109757793608,9.53581393164e-06,-4.61263413307e-05,1793193648778545664
+165,2.750000000,POSE1_TO_POSE2_PRESS,763.318761076,743,711,674,662,632.318761076,879,784.681238924,800,649.318761076,629,650.318761076,0.423018919794,0.00457390564519,0.0699382208934,0.999999990456,9.11156784164e-05,-9.22387018283e-05,-4.77228527419e-05,1793193648795212544
+166,2.766666667,POSE1_TO_POSE2_PRESS,763.262770392,742.737229608,711,674,662,632,878.737229608,784.737229608,800,649.262770392,629,650,0.423807639156,0.00455633924047,0.0698784753368,0.999999979518,6.86522919324e-05,-0.000183810310081,-4.96486237464e-05,1793193648811879168
+167,2.783333333,POSE1_TO_POSE2_PRESS,763.852707493,742.147292507,711,674,662,632,878.147292507,784.147292507,800,649.852707493,629,650,0.424608585115,0.00453885114235,0.0698237111022,0.999999963291,4.14311651788e-05,-0.000262678630255,-5.1984345428e-05,1793193648828545792
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,742.434642109,711.434642109,673.565357891,662.434642109,632.434642109,878,784,800,649.565357891,629,650.434642109,0.425528615957,0.0045438450035,0.0698560150044,0.999999975955,4.7734677027e-05,-0.000207713940867,-5.16388137069e-05,1793193648845212416
+169,2.816666667,POSE1_TO_POSE2_PRESS,764,743,711.98612365,673.01387635,663,632.98612365,878.01387635,784,799.98612365,649.01387635,629,650.98612365,0.426486877667,0.0045561372698,0.0699169813079,0.999999990656,6.49898678804e-05,-0.000109216533437,-5.03638086244e-05,1793193648861879040
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,743,711.408411794,673.591588206,663,632.408411794,878.591588206,784,799.408411794,649.591588206,629,650.408411794,0.427388446609,0.00456101022457,0.0699653509072,0.999999994813,7.39627120432e-05,-5.13914913706e-05,-4.75743877143e-05,1793193648878545920
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,743,711.166139075,674,662.833860925,632,879,784,799.166139075,650,629,650.166139075,0.428281764506,0.00456423281595,0.0700051895884,0.999999995808,7.92034684974e-05,8.5654500445e-07,-4.59269612296e-05,1793193648895212800
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,743,711.733064486,674,662.266935514,632,879,784,799.733064486,650,629,650.733064486,0.429155177905,0.00456347414557,0.0700244486684,0.999999995262,7.54411064401e-05,3.96508630379e-05,-4.70344305451e-05,1793193648911879424
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,742.684480853,711.684480853,674,662.315519147,632,878.684480853,784,800,649.684480853,629,651,0.429992146253,0.0045663750786,0.0700193296217,0.99999999558,7.26700087491e-05,3.50134449029e-05,-4.83078135989e-05,1793193648928546048
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,742.088208063,711.088208063,674,662.911791937,632,878.088208063,784,800,649.088208063,629,651,0.430796685205,0.00457253238136,0.0699925185535,0.999999996224,7.07809530419e-05,-8.27018175537e-06,-4.97288290898e-05,1793193648945212416
+175,2.916666667,POSE1_TO_POSE2_PRESS,764,742,711,674,662.505557735,632,878.494442265,784,799.505557735,649.494442265,629,651,0.431543777956,0.00457600189568,0.0699225715269,0.999999986815,8.64348892565e-05,-0.00012798966822,-5.01682335505e-05,1793193648961879040
+176,2.933333333,POSE1_TO_POSE2_PRESS,764,742.074183669,711,674.074183669,662,632.074183669,878.925816331,784,799,650,629,650.925816331,0.432293456538,0.00457870976821,0.069857609073,0.999999965322,0.000100866747,-0.000237965123049,-5.05388678636e-05,1793193648978545920
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,742.650245461,711,674.650245461,662,632.650245461,878.349754539,784,799,650,629,650.349754539,0.433128103447,0.00457942186755,0.0698770352473,0.999999976456,8.64253362184e-05,-0.000192239462714,-5.15972250575e-05,1793193648995212544
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,743,711,675,662.460267354,633,878,784,799,649.769866323,629,650,0.43395681707,0.00457911422857,0.069913120359,0.999999987702,7.89186196111e-05,-0.000125198327504,-5.19001129067e-05,1793193649011878912
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,743,711,675,663.63187133,633,878,784,799,649.184064335,629,650,0.434776361015,0.00457723059869,0.0699749516234,0.999999995007,8.21293712877e-05,-2.52144228031e-05,-5.10354336211e-05,1793193649028545536
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,743,711.400003682,674.599996318,663.599996318,632.599996318,878.400003682,784,799,649.400003682,629,650,0.435557682182,0.00456365686968,0.0699997976943,0.999999995937,7.37065993075e-05,1.36883673697e-05,-5.00613135939e-05,1793193649045212160
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,743,711.983277209,674.016722791,663.016722791,632.016722791,878.983277209,784,799,649.983277209,629,650,0.436321490756,0.00454472708341,0.0700076982408,0.999999996698,5.99536912099e-05,2.46055930672e-05,-4.90370512502e-05,1793193649061878784
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,743,711.44697901,674,662.44697901,632,879,784.55302099,799,650,629,650,0.437016966044,0.00453482248306,0.069977817122,0.999999998355,2.61239072952e-05,-1.36454230403e-05,-4.92141599077e-05,1793193649078545664
+183,3.050000000,POSE1_TO_POSE2_PRESS,763.875533176,743,711,674.124466824,662,632,879,784.875533176,799.124466824,649.875533176,629,650,0.437695018119,0.00453011322769,0.069942884432,0.999999996938,6.31716248413e-06,-5.97137002795e-05,-5.01751866729e-05,1793193649095212288
+184,3.066666667,POSE1_TO_POSE2_PRESS,763.296411301,743,711,674.703588699,662,632,879,784.296411301,799.703588699,649.296411301,629,650,0.438316793952,0.00454340854561,0.0698935728674,0.999999989428,3.98987578882e-05,-0.000129035724322,-5.38701948151e-05,1793193649111878912
+185,3.083333333,POSE1_TO_POSE2_PRESS,763.287839209,742.712160791,711,675,661.424321581,632,878.712160791,784,799.712160791,649.287839209,629,650.287839209,0.438895042017,0.0045564800282,0.0698401644307,0.999999972931,7.18198173258e-05,-0.000214544153571,-5.43283949207e-05,1793193649128545792
+186,3.100000000,POSE1_TO_POSE2_PRESS,763.877466862,742.122533138,711,675,660.245066276,632,878.122533138,784,799.122533138,649.877466862,629,650.877466862,0.439427652837,0.00456931682715,0.0697824605827,0.999999943225,0.000101999865629,-0.000317023406592,-5.13929246933e-05,1793193649145212416
+187,3.116666667,POSE1_TO_POSE2_PRESS,763.540205994,742.459794006,711,674.540205994,659.540205994,631.540205994,878.459794006,784,799.459794006,649.540205994,629.459794006,651,0.440002929262,0.00458633952891,0.0697580226206,0.999999930945,9.90213025117e-05,-0.000353741585983,-5.63121371896e-05,1793193649161879040
+188,3.133333333,POSE1_TO_POSE2_PRESS,763,743,711,674.039708093,659,631,879,784,799.960291907,649.039708093,629.960291907,650.960291907,0.440590007818,0.00460371972447,0.0697452819945,0.999999925825,8.98133769498e-05,-0.000369247738615,-6.276651571e-05,1793193649178545664
+189,3.150000000,POSE1_TO_POSE2_PRESS,763,743,711,674.612931711,659,631,879,784,799.387068289,649.612931711,629.387068289,650.387068289,0.441185276885,0.00461114929629,0.0697724552511,0.999999936637,0.000113780846208,-0.000331535569204,-6.21622238622e-05,1793193649195212544
+190,3.166666667,POSE1_TO_POSE2_PRESS,763.18706735,743,711,675,659,631,879,783.81293265,799.18706735,649.81293265,629,650.18706735,0.441754775337,0.00461739111019,0.069794079472,0.999999943282,0.0001344075158,-0.000302653615195,-6.14037088677e-05,1793193649211879424
+191,3.183333333,POSE1_TO_POSE2_PRESS,763.763099436,743,711,675,659,631,879,783.236900564,799.763099436,649.236900564,629,650.763099436,0.442270689669,0.00462116324836,0.0698041657186,0.999999944545,0.000148087744084,-0.000292132114358,-6.0324521406e-05,1793193649228545792
+192,3.200000000,POSE1_TO_POSE2_PRESS,763.652064882,742.652064882,711,675,658.652064882,631,879,783,799.652064882,649.347935118,628.652064882,651,0.442721605285,0.00462818322719,0.0697859115505,0.999999931878,0.000161148297843,-0.000326638048133,-5.98516728238e-05,1793193649245212416
+193,3.216666667,POSE1_TO_POSE2_PRESS,763.061079479,742.061079479,711,675,658.061079479,631,879,783,799.061079479,649.938920521,628.061079479,651,0.443127115979,0.00463747198682,0.0697478601679,0.999999906046,0.000173775976218,-0.000392597923031,-5.98023824906e-05,1793193649261879296
+194,3.233333333,POSE1_TO_POSE2_PRESS,763,742.479948952,711,675,658.479948952,630.520051048,878.520051048,783,799.479948952,650,628.479948952,651,0.443501535245,0.00464591307671,0.0697115274056,0.99999987998,0.000183240060901,-0.000450336983817,-6.04894161194e-05,1793193649278545920
+195,3.250000000,POSE1_TO_POSE2_PRESS,763.017612028,742.982387972,711,675,658.982387972,630.017612028,878.017612028,783,799.982387972,650,629,651,0.443873282609,0.00465453639786,0.0696761063723,0.99999985153,0.000192813325273,-0.000505964356835,-6.13464278443e-05,1793193649295212544
+196,3.266666667,POSE1_TO_POSE2_PRESS,763.637043661,742.362956339,711,675,658.362956339,630.637043661,878.637043661,783,799.362956339,650,629,651,0.444276188609,0.00467272545612,0.0696650708367,0.999999837848,0.000218577845762,-0.000521812785846,-6.51115941169e-05,1793193649311879168
+197,3.283333333,POSE1_TO_POSE2_PRESS,763.760296594,742,711,675,657.760296594,630.760296594,879,783,799.239703406,650,629,651,0.444656805957,0.00468747581584,0.0696591967464,0.999999828943,0.000242145728459,-0.000528113027093,-6.76507272937e-05,1793193649328545792
+198,3.300000000,POSE1_TO_POSE2_PRESS,763.181371983,742,711,675,657.181371983,630.181371983,879,783,799.818628017,650,629,651,0.445005881025,0.00469735982905,0.0696606269828,0.999999827507,0.000262604991971,-0.000520900953087,-6.84548142472e-05,1793193649345212672
+199,3.316666667,POSE1_TO_POSE2_PRESS,763.406402276,742.406402276,711,675,657,630,879.406402276,783,800,650,629,651,0.445322815946,0.00470032544556,0.0696616696589,0.999999829221,0.000269320268366,-0.000514103656938,-6.87161439361e-05,1793193649361879040
+200,3.333333333,POSE1_TO_POSE2_PRESS,763.998213983,742.998213983,711,675,657,630,879.998213983,783,800,650,629,651,0.445625087873,0.00470013474202,0.0696625355218,0.999999832476,0.000269765244971,-0.000507495590762,-6.87298562012e-05,1793193649378545664
+201,3.350000000,POSE1_TO_POSE2_PRESS,764,742.423429306,711,675,657,629.423429306,879.423429306,783,800,650,628.423429306,651,0.445888704635,0.00470587642076,0.0696666041644,0.999999846717,0.000215414474825,-0.000505423076158,-6.862618428e-05,1793193649395215104
+202,3.366666667,POSE1_TO_POSE2_PRESS,763.846404381,742,711,675,656.846404381,629,879,783.153595619,800,650,628,651,0.446138960998,0.00471095687761,0.0696671068672,0.999999851807,0.000182761831464,-0.000508341032778,-6.76257222902e-05,1793193649411883008
+203,3.383333333,POSE1_TO_POSE2_PRESS,763.272908822,742,711,675,656.272908822,629,879,783.727091178,800,650,628,651,0.446353012625,0.00471418059431,0.0696578344952,0.999999838174,0.000209880998628,-0.000524864417218,-6.41745860311e-05,1793193649428546816
+204,3.400000000,POSE1_TO_POSE2_PRESS,763.311409651,742.311409651,711,675,656,629,879.311409651,783.377180697,799.688590349,650,628,651,0.446546450851,0.00471773000451,0.0696494625332,0.99999982668,0.000226116571448,-0.000539907068002,-6.33385620555e-05,1793193649445212160
+205,3.416666667,POSE1_TO_POSE2_PRESS,763.905554433,742.905554433,711,675,656,629,879.905554433,782.188891134,799.094445567,650,628,651,0.446721173739,0.00472157511825,0.0696419080723,0.999999817635,0.000232470707008,-0.000553605329984,-6.4876851728e-05,1793193649461879040
+206,3.433333333,POSE1_TO_POSE2_PRESS,764,743,711,675,655.515397853,629,879.515397853,782.484602147,799.484602147,649.515397853,628,650.515397853,0.446873779913,0.00472759685302,0.0696383312962,0.999999810375,0.000241146700312,-0.000562706859009,-6.6773236448e-05,1793193649478545664
+207,3.450000000,POSE1_TO_POSE2_PRESS,764,742.939519552,711,675,655,629,879,783,800,649,628,650.060480448,0.447019624271,0.00473372738408,0.0696355100155,0.999999803553,0.000249869420171,-0.00057073946499,-6.86748283518e-05,1793193649495212288
+208,3.466666667,POSE1_TO_POSE2_PRESS,764,742.36632006,711,675,655,629,879,783,800,649,628,650.63367994,0.447143582859,0.00473729268093,0.0696327200469,0.999999798458,0.000255268004637,-0.000577075582011,-7.00467967942e-05,1793193649511879168
+209,3.483333333,POSE1_TO_POSE2_PRESS,764,742,711,675,655.213666087,629,879,782.786333913,800,649.213666087,628.213666087,651,0.447260131328,0.00474030596261,0.0696306149625,0.999999795159,0.000260330591163,-0.000580399201338,-7.10459563172e-05,1793193649528545536
+210,3.500000000,POSE1_TO_POSE2_PRESS,764,742,711,675,655.805669257,629,879,782.194330743,800,649.805669257,628.805669257,651,0.447363558736,0.00474234179442,0.0696297225982,0.999999795126,0.000264798227884,-0.000578388610949,-7.13849854932e-05,1793193649545212160
+211,3.516666667,POSE1_TO_POSE2_PRESS,763.611143463,742,711,675,655.611143463,629,879,782.388856537,800.388856537,649.611143463,629,651,0.447450126585,0.00474368278028,0.0696314593991,0.999999795785,0.00026773923287,-0.000575922428198,-7.11209287253e-05,1793193649561879040
+212,3.533333333,POSE1_TO_POSE2_PRESS,763.032264194,742,711,675,655.032264194,629,879,782.967735806,800.967735806,649.032264194,629,651,0.447528455674,0.00474468421558,0.0696344809953,0.99999979678,0.00026993421831,-0.000573233610704,-7.05621616582e-05,1793193649578545664
+213,3.550000000,POSE1_TO_POSE2_PRESS,763.543039583,742.543039583,711,675,655,628.456960417,879,783,799.913920835,649.543039583,628.456960417,651,0.447586712619,0.00474759737933,0.0696363692688,0.999999795875,0.000275359873541,-0.000572260598279,-7.03152844966e-05,1793193649595212288
+214,3.566666667,POSE1_TO_POSE2_PRESS,763.882108788,743,711,675,655,628,879,783,799.117891212,650,628,651,0.447640385276,0.0047499629628,0.0696375592668,0.999999794951,0.000279559528775,-0.000571867047825,-7.00918957099e-05,1793193649611878912
+215,3.583333333,POSE1_TO_POSE2_PRESS,763.308189625,743,711,675,655,628,879,783,799.691810375,650,628,651,0.447680907888,0.00474977390056,0.0696363069531,0.999999794488,0.000278279124872,-0.000573323220302,-6.98881532569e-05,1793193649628545792
+216,3.600000000,POSE1_TO_POSE2_PRESS,763,742.726341498,710.726341498,675,655,628,879,782.726341498,800,650,628,651,0.447714765164,0.00474994820247,0.0696352301007,0.999999794071,0.000277434460202,-0.000574484983619,-6.96820855678e-05,1793193649645212416
+217,3.616666667,POSE1_TO_POSE2_PRESS,763,742.135297496,710.135297496,675,655,628,879,782.135297496,800,650,628,651,0.447740892069,0.00475054392929,0.0696343567461,0.999999793708,0.000277095160188,-0.000575305295012,-6.9473321113e-05,1793193649661879296
+218,3.633333333,POSE1_TO_POSE2_PRESS,763.446577934,742,710.446577934,675,655,628,879,782.446577934,800.446577934,650,628,651,0.447758535018,0.00474983484881,0.0696340687933,0.999999793405,0.000277726862118,-0.000575602541676,-6.88449669634e-05,1793193649678546176
+219,3.650000000,POSE1_TO_POSE2_PRESS,764,742,711,675,655,628.025383331,879,782.974616669,800.974616669,650,628.025383331,651,0.447773213121,0.00474882627754,0.0696338155451,0.999999792997,0.000278616438535,-0.000575966210539,-6.81269627099e-05,1793193649695213056
+220,3.666666667,POSE1_TO_POSE2_PRESS,764,742,711,675,655,628.596700867,879,782.403299133,800.403299133,650,628.596700867,651,0.447778294253,0.00474970752259,0.0696305709412,0.99999978996,0.000278852465793,-0.000581098207512,-6.81598637303e-05,1793193649711880448
+221,3.683333333,POSE1_TO_POSE2_PRESS,763.826501874,742,711,675,655,628.826501874,879,782,800,650,629,650.826501874,0.44778346238,0.00475067761454,0.0696282426336,0.999999787558,0.000279088507405,-0.000585109749653,-6.81233101441e-05,1793193649728547584
+222,3.700000000,POSE1_TO_POSE2_PRESS,763.236551576,742,711,675,655,628.236551576,879,782,800,650,629,650.236551576,0.447788839323,0.00475186096796,0.0696281137368,0.999999786731,0.000279324583455,-0.00058643183351,-6.79200428148e-05,1793193649745214208
+223,3.716666667,POSE1_TO_POSE2_PRESS,763.3500988,742.3500988,711,675,655,628,879,782,800.3500988,650,629,650.3500988,0.447793447003,0.00475342503352,0.0696285165939,0.999999786771,0.000281226874188,-0.00058547010938,-6.77833183693e-05,1793193649761880832
+224,3.733333333,POSE1_TO_POSE2_PRESS,763.934540392,742.934540392,711,675,655,628,879,782,800.934540392,650,629,650.934540392,0.447797539768,0.00475524393339,0.0696292753869,0.999999787379,0.00028424446554,-0.000582979691357,-6.76911351727e-05,1793193649778547456
+225,3.750000000,POSE1_TO_POSE2_PRESS,764,742.490468415,711,675,654.490468415,628,879,782,800.490468415,650,628.490468415,651,0.447797040923,0.00475553826633,0.0696281548771,0.999999785838,0.000285147092611,-0.000585197886587,-6.75207932709e-05,1793193649795213824
+226,3.766666667,POSE1_TO_POSE2_PRESS,764,742.083833966,711,675,654.083833966,628.083833966,879,782,799.916166034,649.916166034,628,651,0.447796008186,0.00475556029184,0.0696268910108,0.99999978426,0.00028563116705,-0.000587677869003,-6.73071014667e-05,1793193649811880192
+227,3.783333333,POSE1_TO_POSE2_PRESS,764,742.661098168,711,675,654.661098168,628.661098168,879,782,799.338901832,649.338901832,628,651,0.447795241791,0.004755111379,0.0696261785349,0.999999784095,0.000285221832626,-0.000588203095367,-6.68962841297e-05,1793193649828546816
+228,3.800000000,POSE1_TO_POSE2_PRESS,764,743,711,675,655,629,879,782.235011082,799,649.235011082,628.235011082,651,0.447795510779,0.00475493926721,0.0696258189548,0.99999978395,0.000285152024083,-0.000588509222815,-6.66691040015e-05,1793193649845213440
+229,3.816666667,POSE1_TO_POSE2_PRESS,764,743,711,675,655,629,879,782.804159122,799,649.804159122,628.804159122,651,0.447797251869,0.00475516070906,0.0696259611191,0.999999783833,0.000285564950869,-0.00058850383707,-6.6703017878e-05,1793193649861879296
+230,3.833333333,POSE1_TO_POSE2_PRESS,764,742.608203048,711,675,654.608203048,628.608203048,879,783,799.391796952,650,628.608203048,651,0.447797858675,0.00475505294149,0.0696266613257,0.999999783985,0.000286098758065,-0.000588008638851,-6.6505649222e-05,1793193649878545664
+231,3.850000000,POSE1_TO_POSE2_PRESS,764,742.010865299,711,675,654.010865299,628.010865299,879,783,799.989134701,650,628.010865299,651,0.447797870425,0.00475477246718,0.0696276542871,0.999999784277,0.000286695980383,-0.000587256479862,-6.61869473184e-05,1793193649895212544
+232,3.866666667,POSE1_TO_POSE2_PRESS,764,742.565728449,711,675,654.565728449,628.565728449,879,782.434271551,800,650,628,651,0.447797894063,0.00475553815839,0.0696272902824,0.999999783644,0.00028769614211,-0.00058783275684,-6.62980008645e-05,1793193649911879168
+233,3.883333333,POSE1_TO_POSE2_PRESS,764,743,711,675,655,628.859214744,879,782,800.140785256,650,628,650.859214744,0.447798272722,0.00475613739044,0.0696269877968,0.999999783443,0.000288014838904,-0.000588014800189,-6.63261802313e-05,1793193649928545792
+234,3.900000000,POSE1_TO_POSE2_PRESS,764,743,711,675,655,628.287684605,879,782,800.712315395,650,628,650.287684605,0.447799736926,0.00475616802555,0.0696269504523,0.99999978462,0.000286225693528,-0.000586915350485,-6.60764386686e-05,1793193649945212672
+235,3.916666667,POSE1_TO_POSE2_PRESS,764,743,711,675,654.703613974,628,879,782,800.407227949,650,628.296386026,650.296386026,0.447801216025,0.00475534350699,0.069627523423,0.999999785665,0.000284399680803,-0.000586046029488,-6.58599623979e-05,1793193649961879296
+236,3.933333333,POSE1_TO_POSE2_PRESS,764,743,711,675,654.106833168,628,879,782,799.213666335,650,628.893166832,650.893166832,0.447802710221,0.00475365226841,0.0696287149639,0.999999786577,0.000282536301863,-0.000585409949662,-6.56772013172e-05,1793193649978545920
+237,3.950000000,POSE1_TO_POSE2_PRESS,763.528150066,743,711,675.471849934,654,628,879,782,799.471849934,649.528150066,628.528150066,651,0.447801399978,0.00475516114721,0.0696274903016,0.999999785013,0.000283923675214,-0.000587372580296,-6.59854180334e-05,1793193649995212544
+238,3.966666667,POSE1_TO_POSE2_PRESS,763,742.953199076,711,675.953199076,654.046800924,628,879,782,800,649.046800924,628,651,0.447799734045,0.00475711626903,0.0696259431041,0.999999783122,0.000285870031842,-0.000589607754096,-6.63127491722e-05,1793193650011878912
+239,3.983333333,POSE1_TO_POSE2_PRESS,763,742.375820465,711,675.375820465,654.624179535,628,879,782,800,649.624179535,628,651,0.447800968315,0.0047562196715,0.0696267122416,0.999999783743,0.000286117624677,-0.000588508676495,-6.56430748634e-05,1793193650028545792
+240,4.000000000,POSE1_TO_POSE2_PRESS,763.205610154,742.205610154,711,675,654.794389846,628,879,782,799.794389846,650,628.205610154,651,0.447801909245,0.00475491833124,0.0696271473696,0.999999784373,0.000285520010861,-0.000587786374473,-6.51181066544e-05,1793193650045212416
+241,4.016666667,POSE1_TO_POSE2_PRESS,763.794596014,742.794596014,711,675,654.205403986,628,879,782,799.205403986,650,628.794596014,651,0.447802303218,0.00475286231758,0.0696269597114,0.999999785019,0.000283346445208,-0.000587766599129,-6.48629539695e-05,1793193650061879040
+242,4.033333333,POSE1_TO_POSE2_PRESS,764,742.62431905,711,675,654,628,879,782,799.37568095,650,628.62431905,650.62431905,0.447802330986,0.00475328396917,0.069626943521,0.999999785166,0.000282723399142,-0.000587778684421,-6.5206235688e-05,1793193650078545664
+243,4.050000000,POSE1_TO_POSE2_PRESS,764,742.047464993,711,675,654,628,879,782,799.952535007,650,628.047464993,650.047464993,0.447802162656,0.00475503238391,0.0696270191499,0.999999785047,0.000282930639701,-0.000587807830742,-6.58699725986e-05,1793193650095212544
+244,4.066666667,POSE1_TO_POSE2_PRESS,764,742,710.474045074,675,654,628,879,782,800,650,628,650.525954926,0.447802452359,0.00475599398023,0.0696262708893,0.999999784473,0.000283927900948,-0.000588311323388,-6.57986778193e-05,1793193650111879168
+245,4.083333333,POSE1_TO_POSE2_PRESS,764,742.100392483,710.100392483,675,654.100392483,628,879,782,800,650,628.100392483,651,0.447802476372,0.0047563509766,0.0696255208348,0.999999783913,0.000284540015576,-0.000588988695774,-6.56017032637e-05,1793193650128546048
+246,4.100000000,POSE1_TO_POSE2_PRESS,764,742.68117271,710.68117271,675,654.68117271,628,879,782,800,650,628.68117271,651,0.447801032529,0.00475415247325,0.0696251156708,0.99999978362,0.000282970222289,-0.000590294589867,-6.51186906119e-05,1793193650145212416
+247,4.116666667,POSE1_TO_POSE2_PRESS,764,743,711,675,654.734484887,628,879,782.265515113,800.265515113,650,628.734484887,651,0.447801337709,0.00475349492444,0.0696255032627,0.999999783951,0.000283002179847,-0.000589746304479,-6.48645233021e-05,1793193650161879040
+248,4.133333333,POSE1_TO_POSE2_PRESS,764,743,711,675,654.145806819,628,879,782.854193181,800.854193181,650,628.145806819,651,0.447803771653,0.00475471289727,0.0696268557311,0.999999785037,0.000284983655356,-0.000586941265925,-6.48888874806e-05,1793193650178545664
+249,4.150000000,POSE1_TO_POSE2_PRESS,763.563791358,743,711,675,654.436208642,628,879,782.563791358,800.563791358,650,628.436208642,651,0.44780374221,0.00475498971384,0.0696270515087,0.999999784797,0.000285475635001,-0.000587096722848,-6.50157872715e-05,1793193650195212544
+250,4.166666667,HOLD_POSE2,764,742,711,676,654,628,879,782,800,650,628,651,0.447803595577,0.00475330534583,0.0696273591465,0.999999785566,0.000283077289271,-0.000587013250826,-6.44308226752e-05,1793193650240374016
+251,4.183333333,HOLD_POSE2,763.425314533,742,711,676,654.574685467,628,879,782,800,650,628,651,0.447803456733,0.00475346486261,0.0696269135186,0.999999784921,0.000283420129872,-0.000587930624575,-6.45655088813e-05,1793193650257040384
+252,4.200000000,HOLD_POSE2,763.153611204,742,711,675.846388796,654.846388796,628,879,782.153611204,800,650.153611204,628.153611204,651,0.447803561643,0.00475328012353,0.0696266335249,0.99999978472,0.000282890118448,-0.000588514994405,-6.46782149484e-05,1793193650273707008
+253,4.216666667,HOLD_POSE2,763.744610705,742,711,675.255389295,654.255389295,628,879,782.744610705,800,650.744610705,628.744610705,651,0.447804360609,0.00475211515989,0.0696268251536,0.999999785779,0.000279874772376,-0.000588151178297,-6.47283354071e-05,1793193650290373376
+254,4.233333333,HOLD_POSE2,764,742.329434125,711,675,654.658868251,628,879.329434125,783,800,650.670565875,629,651,0.447804010146,0.00475228334412,0.0696264278085,0.999999785654,0.000279105707307,-0.000588718228464,-6.48354109846e-05,1793193650307040256
+255,4.250000000,HOLD_POSE2,764,742.909557699,711,675,655.819115397,628,879.909557699,783,800,650.090442301,629,651,0.447802785001,0.0047534660138,0.0696255822719,0.999999784629,0.000280045994612,-0.000589993639858,-6.49858276895e-05,1793193650323707136
+256,4.266666667,HOLD_POSE2,763.516286619,743,711,675,655.032573239,628.483713381,880,783,800,650,629,651,0.447803402324,0.00475439173642,0.0696257118528,0.999999784251,0.000282077272683,-0.000589697053209,-6.47064307448e-05,1793193650340373504
+257,4.283333333,HOLD_POSE2,763,743,711,675,654,628.941411885,880,782.941411885,800,650,628.941411885,650.941411885,0.447804267824,0.00475510271182,0.0696260965944,0.999999784028,0.000284234478079,-0.000589076760857,-6.43719615097e-05,1793193650357040128
+258,4.300000000,HOLD_POSE2,763,743,711,675,654,628.349972649,880,782.349972649,800,650,628.349972649,650.349972649,0.447804295493,0.00475429220625,0.0696271639992,0.99999978416,0.000285704342678,-0.000588153031551,-6.42586128993e-05,1793193650373707008
+259,4.316666667,HOLD_POSE2,763.23582684,742.76417316,711,675,654.23582684,628,879.76417316,782.23582684,799.76417316,650,628,650.23582684,0.447804387559,0.00475370948567,0.0696278289072,0.999999784554,0.000285680438334,-0.000587493952244,-6.42608406635e-05,1793193650390373888
+260,4.333333333,HOLD_POSE2,763.813452241,742.186547759,711,675,654.813452241,628,879.186547759,782.813452241,799.186547759,650,628,650.813452241,0.447804572956,0.00475345690815,0.0696279104517,0.999999785328,0.00028349152129,-0.000587218446782,-6.4430580492e-05,1793193650407040256
+261,4.350000000,HOLD_POSE2,764,742.39010666,711,675,654.60989334,628,879,782.60989334,799,650,628,651,0.447804306213,0.00475487171001,0.0696263501085,0.999999784119,0.000284761585024,-0.000588613797458,-6.48550709705e-05,1793193650423707136
+262,4.366666667,HOLD_POSE2,764,742.966297961,711,675,654.033702039,628,879,782.033702039,799,650,628,651,0.447803823793,0.0047570818679,0.069624006569,0.999999781955,0.000287681615774,-0.000590806162609,-6.54010799822e-05,1793193650440374272
+263,4.383333333,HOLD_POSE2,764,743,711,675,654,628,879,782,799,650,628.553085031,651,0.44780462813,0.00475481706828,0.0696259841179,0.999999784267,0.000283684384645,-0.000588902930121,-6.46663129359e-05,1793193650457040896
+264,4.400000000,HOLD_POSE2,764,742.861432997,711,675.138567003,654,628,879,782,799.138567003,650,628.861432997,651,0.447805481026,0.00475323192353,0.0696277072929,0.99999978616,0.000280956783891,-0.000587058892313,-6.40723659682e-05,1793193650473707008
+265,4.416666667,HOLD_POSE2,764,742.282194753,711,675.717805247,654,628,879,782,799.717805247,650,628.282194753,651,0.447806234131,0.00475469233399,0.0696277677919,0.999999785894,0.000283633504767,-0.000586212270327,-6.41792975728e-05,1793193650490373632
+266,4.433333333,POSE2_TO_POSE3_RETREAT,763,742,710,675,655,628,879,783,800,650,629,651,0.447804167514,0.00475214079951,0.0696254437563,0.999999784407,0.000281869669929,-0.000589560465084,-6.44469557653e-05,1793193650527473408
+267,4.450000000,POSE2_TO_POSE3_RETREAT,763,742,710.574397351,675,654.425602649,628,879,783,800,649.425602649,628.425602649,651,0.4478062634,0.004753403854,0.0696270385665,0.999999785304,0.000282790676305,-0.000587595022138,-6.44408665351e-05,1793193650544140032
+268,4.466666667,POSE2_TO_POSE3_RETREAT,763.153054262,742.153054262,711,675,654.153054262,628,879,782.846945738,800,649.153054262,628,651,0.447807639626,0.00475407426812,0.0696280700052,0.999999786034,0.000282977950843,-0.000586261954893,-6.44464462111e-05,1793193650560806656
+269,4.483333333,POSE2_TO_POSE3_RETREAT,763.743895078,742.743895078,711,675,654.743895078,628,879,782.256104922,800,649.743895078,628,651,0.447806957381,0.00475304953221,0.0696274900127,0.999999786291,0.000281066506289,-0.000586737693931,-6.44854028739e-05,1793193650577473280
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764,743,711,675,654.671911356,628,879,782,800,650,628.328088644,651,0.447805577254,0.00475287064588,0.0696265271689,0.999999785061,0.000281995012362,-0.000588407639812,-6.42857330542e-05,1793193650594139904
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764,743,711,675,654.092803607,628,879,782,800,650,628.907196393,651,0.44780366318,0.00475333891522,0.0696252714075,0.999999782683,0.000285096351646,-0.000590991267794,-6.39034912124e-05,1793193650610806272
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764,743,711,675,654.483990851,628,879,782,800,650,628.516009149,651,0.447804346947,0.00475240875406,0.0696263069445,0.999999783869,0.000284216665776,-0.000589407526963,-6.38855876703e-05,1793193650627473152
+273,4.550000000,POSE2_TO_POSE3_RETREAT,763.939833133,743,711,675,654.939833133,628,879.060166867,782.060166867,800,650,628.060166867,651,0.447804560045,0.00475147008215,0.0696271277395,0.999999785094,0.000282797490825,-0.000588005386409,-6.39325333163e-05,1793193650644139520
+274,4.566666667,POSE2_TO_POSE3_RETREAT,763.365170528,743,711,675,654.365170528,628,879.634829472,782.634829472,800,650,628.634829472,651,0.447796509086,0.00475274066778,0.0696223731784,0.999999780851,0.000283261516681,-0.000594956673549,-6.39394670475e-05,1793193650660806400
+275,4.583333333,POSE2_TO_POSE3_RETREAT,763.214506368,743,711,675,654.214506368,628,879.785493632,783,800,650,629,651,0.447782219185,0.00475399832737,0.0696144474283,0.999999773337,0.000283578227545,-0.000607285024507,-6.41376498413e-05,1793193650677473280
+276,4.600000000,POSE2_TO_POSE3_RETREAT,763.80292373,743,711,675,654.80292373,628,879.19707627,783,800,650,629,651,0.44775705404,0.00475523345518,0.0696009939059,0.999999759872,0.000283638150131,-0.000628986258444,-6.46692032666e-05,1793193650694140160
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764,742.612361444,711,675,654.612361444,628,879,783,800,650,628.612361444,651,0.447710329696,0.00475554512971,0.069580220082,0.99999973626,0.000285501899875,-0.000664672106546,-6.46558421818e-05,1793193650710807040
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764,742.029511133,711,675,654.029511133,628,879,783,800,650,628.029511133,651,0.447652748305,0.00475539176048,0.06955575981,0.99999970617,0.000288274042522,-0.000707400498335,-6.43680663585e-05,1793193650727473408
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764,742,711,675,654,628,879,782.454999311,799.454999311,650,628,651,0.447581474331,0.00475625896777,0.0695370609541,0.999999684117,0.000290290946598,-0.000737188836585,-6.36402063296e-05,1793193650744139776
+280,4.666666667,POSE2_TO_POSE3_RETREAT,764,742,711,675,654.118461638,628,879.118461638,782.118461638,799.118461638,650,628,651,0.447507038725,0.00475697874118,0.0695216921478,0.999999665598,0.000292066151933,-0.000761293487798,-6.27252835202e-05,1793193650760806144
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764,742,711,675,654.68960641,628,879.68960641,782.68960641,799.68960641,650,628,651,0.447423311994,0.00475692712196,0.0695178744195,0.999999661562,0.000293071663664,-0.00076631602817,-6.1185219266e-05,1793193650777473024
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764,742,711,675.271177855,655,628,879.728822145,782.728822145,800,650,628,651,0.447331675235,0.0047558818018,0.0695168262137,0.999999659678,0.000293662994503,-0.000768709470978,-5.90936587121e-05,1793193650794139648
+283,4.716666667,POSE2_TO_POSE3_RETREAT,764,742,711,675.865160988,655,628,879.134839012,782.134839012,800,650,628,651,0.447230622524,0.0047536535978,0.0695190747985,0.999999660373,0.000293761291746,-0.000767973282677,-5.63456068982e-05,1793193650810806272
+284,4.733333333,POSE2_TO_POSE3_RETREAT,763.552779566,742,711,675.552779566,654.552779566,628,879,782.447220434,799.552779566,650,628,651,0.447105935704,0.00475287086462,0.0695200175389,0.999999660922,0.000296093716845,-0.000766575003616,-5.33563812622e-05,1793193650827473152
+285,4.750000000,POSE2_TO_POSE3_RETREAT,763.02566079,742,711,675.02566079,654.02566079,628,879,783,799.051321579,650,628.02566079,651,0.446972703151,0.0047525166315,0.0695204797898,0.999999661351,0.000299101714366,-0.000765054029863,-5.02731140018e-05,1793193650844140032
+286,4.766666667,POSE2_TO_POSE3_RETREAT,763.601583742,742,711,675.601583742,654.601583742,628,879,783,800.203167484,650,628.601583742,651,0.446805053586,0.00475224821288,0.0695188620855,0.999999660481,0.000302527127304,-0.000765071525559,-4.66920309299e-05,1793193650860806656
+287,4.783333333,POSE2_TO_POSE3_RETREAT,764,742,711,675.824159713,655,628.175840287,879.175840287,782.824159713,800.824159713,650,629,651,0.446626296903,0.00475234942279,0.0695187202888,0.999999660331,0.000307152788773,-0.000763654507596,-4.27504105912e-05,1793193650877473536
+288,4.800000000,POSE2_TO_POSE3_RETREAT,764,742,711,675.253643519,655,628.746356481,879.746356481,782.253643519,800.253643519,650,629,651,0.446422610166,0.00475328026897,0.0695218911871,0.999999661778,0.00031447242386,-0.000759017704281,-3.79995599554e-05,1793193650894139648
+289,4.816666667,POSE2_TO_POSE3_RETREAT,764,742,711,675.332817186,655,628.667182814,879.667182814,782.332817186,800,649.667182814,628.667182814,650.667182814,0.446203857018,0.004751983145,0.0695267251027,0.99999966704,0.000319754223134,-0.000750059263132,-3.30012444232e-05,1793193650910806272
+290,4.833333333,POSE2_TO_POSE3_RETREAT,764,742,711,675.93204088,655,628.06795912,879.06795912,782.93204088,800,649.06795912,628.06795912,650.06795912,0.445973043804,0.0047489026224,0.0695328901958,0.999999675261,0.000323404819178,-0.000737641527567,-2.78048428739e-05,1793193650927472896
+291,4.850000000,POSE2_TO_POSE3_RETREAT,764,742,711,675.491080921,655,628.508919079,878.491080921,782.491080921,800,649.508919079,628,650,0.44570491347,0.00474463606292,0.0695385820702,0.999999680292,0.000327378500977,-0.000729248770482,-2.08660726812e-05,1793193650944140032
+292,4.866666667,POSE2_TO_POSE3_RETREAT,764,742.083218419,711,675,655,629,878.083218419,782.083218419,800,650,628.083218419,650.083218419,0.445424113749,0.00474054910654,0.069543970509,0.999999684194,0.000332087268612,-0.000721903686482,-1.36271125181e-05,1793193650960806912
+293,4.883333333,POSE2_TO_POSE3_RETREAT,764,742.659173309,711,675,655,629,878.659173309,782.659173309,800,650,628.659173309,650.659173309,0.445096562868,0.00473842389729,0.0695479207285,0.999999684318,0.000340903774197,-0.000717713307888,-5.93041460044e-06,1793193650977473536
+294,4.900000000,POSE2_TO_POSE3_RETREAT,764,742.758861216,711,675,655.241138784,629,879,783,800,649.758861216,629,651,0.444744601369,0.00473496318092,0.0695501080481,0.999999682787,0.000347386035835,-0.000716760037039,1.80017615152e-06,1793193650994140160
+295,4.916666667,POSE2_TO_POSE3_RETREAT,764,742.168183221,711,675,655.831816779,629,879,783,800,649.168183221,629,651,0.444357255833,0.0047295665998,0.0695497399817,0.999999678975,0.000350484727681,-0.000720499068887,9.57989530513e-06,1793193651010806784
+296,4.933333333,POSE2_TO_POSE3_RETREAT,764,742.413489722,711,675,656,629.413489722,879,783,799.586510278,649.413489722,629,650.586510278,0.443942526429,0.00472227722243,0.0695548812971,0.999999686046,0.000346980974934,-0.000712222818782,1.581516632e-05,1793193651027473408
+297,4.950000000,POSE2_TO_POSE3_RETREAT,764,742.991577994,711,675,656,629.991577994,879,783,799.008422006,649.991577994,629,650.008422006,0.443516896293,0.00471423437658,0.0695622157414,0.999999697266,0.000340848975809,-0.00069916362493,2.14356360741e-05,1793193651044140032
+298,4.966666667,POSE2_TO_POSE3_RETREAT,764,742.436975084,711,675,656.563024916,630,879,783,799.563024916,649.436975084,629,650.563024916,0.443064050624,0.00470713536849,0.069579579132,0.999999726363,0.000304560903973,-0.000673976663889,1.6487536841e-05,1793193651060806400
+299,4.983333333,POSE2_TO_POSE3_RETREAT,764,742.139226319,711,675,657,630,879,783,800,649.139226319,629,650.860773681,0.44260070042,0.00469447233598,0.0696000042806,0.999999757189,0.000266910198569,-0.000643580049496,1.36050732745e-05,1793193651077473280
+300,5.000000000,POSE2_TO_POSE3_RETREAT,764,742.731208187,711,675,657,630,879,783,800,649.731208187,629,650.268791813,0.442104498631,0.00466367005774,0.0696299039154,0.999999796138,0.00022627811366,-0.000596825032273,1.79480380246e-05,1793193651094140160
+301,5.016666667,POSE2_TO_POSE3_RETREAT,763.683862402,742.683862402,711,675,657.316137598,630.316137598,879,783,799.683862402,649.683862402,629,650.316137598,0.441593808863,0.00463429030938,0.0696583765497,0.999999834557,0.000181428453219,-0.000545441576118,2.15152302445e-05,1793193651110806528
+302,5.033333333,POSE2_TO_POSE3_RETREAT,763.10479834,742.10479834,711,675,657.89520166,630.89520166,879,783,799.10479834,649.10479834,629,650.89520166,0.441071069626,0.00460609365243,0.0696856623743,0.999999870695,0.000133071099507,-0.000490208716994,2.44372255862e-05,1793193651127473408
+303,5.050000000,POSE2_TO_POSE3_RETREAT,763,742.473071656,711,675,658,631,878.526928344,783,799.473071656,649.473071656,629,651,0.440495736762,0.00460291207677,0.0697102980421,0.999999892949,0.000115776700887,-0.000447290743214,2.50851462437e-05,1793193651144140032
+304,5.066666667,POSE2_TO_POSE3_RETREAT,763,742.949666509,711,675,658.050333491,631,878,783,799.949666509,649.949666509,629,650.949666509,0.439901693366,0.00460468127442,0.0697317171114,0.999999908092,0.000116243671739,-0.00041189189617,2.54780105111e-05,1793193651160806912
+305,5.083333333,POSE2_TO_POSE3_RETREAT,763,742.375984267,711,675,658.624015733,631,878,783,799.375984267,649.375984267,629,650.375984267,0.439233941475,0.00460045311379,0.0697257801062,0.999999882241,0.000230017697674,-0.000426379896531,2.84437166673e-05,1793193651177473536
+306,5.100000000,POSE2_TO_POSE3_RETREAT,763,742,711,675,658.796064105,631.203935895,878,783.203935895,799.203935895,649,629,650,0.43855003666,0.00459561198288,0.0697147476139,0.999999859333,0.000292420281867,-0.000441504265143,2.99709157677e-05,1793193651194140160
+307,5.116666667,POSE2_TO_POSE3_RETREAT,763,742,711,675,658.204280633,631.795719367,878,783.795719367,799.795719367,649,629,650,0.437835412072,0.00458960509846,0.0696940244673,0.999999861722,0.000257124078819,-0.00045783889359,2.87623463736e-05,1793193651210806784
+308,5.133333333,POSE2_TO_POSE3_RETREAT,763,742,711,675,658.757079546,632,878,784,799.621460227,649,629,650,0.437134301244,0.00458491511107,0.0697120133893,0.999999882753,0.000225701532696,-0.000427354093639,3.0343999709e-05,1793193651227473408
+309,5.150000000,POSE2_TO_POSE3_RETREAT,763,742,711,675,659.913270166,632,878,784,799.043364917,649,629,650,0.436440314512,0.004580919355,0.0697504102273,0.99999991091,0.000196321070223,-0.000372187404266,3.33965800613e-05,1793193651244140032
+310,5.166666667,POSE2_TO_POSE3_RETREAT,763.531951564,742,711,675,660,631.468048436,878,784,799,649,629,650.531951564,0.435708037391,0.00457923648092,0.0697979888672,0.999999937403,0.000180683336904,-0.000301885157787,3.75751005838e-05,1793193651260806656
+311,5.183333333,POSE2_TO_POSE3_RETREAT,763.890512823,742,711,674.890512823,660,631,878,783.890512823,799,649.109487177,629,651,0.434960893674,0.00457703776178,0.0698380739692,0.999999955399,0.000166867155653,-0.000244250864198,4.12252743559e-05,1793193651277473536
+312,5.200000000,POSE2_TO_POSE3_RETREAT,763.302288762,742,711,674.302288762,660,631,878,783.302288762,799,649.697711238,629,651,0.434162323133,0.00457176334548,0.0698421374193,0.999999956324,0.000156142632883,-0.000247374757273,4.2165974171e-05,1793193651294140672
+313,5.216666667,POSE2_TO_POSE3_RETREAT,763,742,711,674,660,631.281849521,878,783.281849521,799.281849521,649.718150479,629,650.718150479,0.433332588833,0.00456768023762,0.0698415217756,0.999999954835,0.000158705701484,-0.000251596834837,4.2916896998e-05,1793193651310807296
+314,5.233333333,POSE2_TO_POSE3_RETREAT,763,742,711,674,660,631.861668421,878,783.861668421,799.861668421,649.138331579,629,650.138331579,0.432469908322,0.0045648565722,0.0698359594265,0.999999950668,0.000175316319134,-0.000256979905857,4.34671890064e-05,1793193651327473664
+315,5.250000000,POSE2_TO_POSE3_RETREAT,763,742,711,673.563640177,660.436359823,632,878,784,800,649,629,650,0.431578443335,0.00456241951872,0.0698157828642,0.99999994358,0.000164995342519,-0.000289199470344,4.44958478342e-05,1793193651344140544
+316,5.266666667,POSE2_TO_POSE3_RETREAT,763,742,711,673.009490398,660.990509602,632,878,784.009490398,800,649.009490398,629,650,0.430677407323,0.00456011372693,0.069790567999,0.99999993355,0.000147004735002,-0.000330466107173,4.56281200851e-05,1793193651360807424
+317,5.283333333,POSE2_TO_POSE3_RETREAT,763,742,711,673.585354981,660.414645019,632,878,784.585354981,800,649.585354981,629,650,0.429743427708,0.00455841212971,0.069737947434,0.999999899757,0.000174899039017,-0.00040983011482,4.39988524336e-05,1793193651377473792
+318,5.300000000,POSE2_TO_POSE3_RETREAT,763,742,711,674,660,632,878,784.834377257,800,649.834377257,629,650,0.428840473632,0.00455503907193,0.0697163952101,0.999999884185,0.000185376133328,-0.000442018945842,4.3423641276e-05,1793193651394140416
+319,5.316666667,POSE2_TO_POSE3_RETREAT,763,742,711,674,660,632,878,784.242784874,800,649.242784874,629,650,0.428017315045,0.00454736713932,0.0697747485011,0.999999925292,0.000151057431763,-0.000352876654749,4.55593872473e-05,1793193651410807040
+320,5.333333333,POSE2_TO_POSE3_RETREAT,763,742,711,673.659349339,660.681301323,632,878,784,799.659349339,649.340650661,629,650,0.427156692949,0.0045410179574,0.0698283933244,0.999999951301,0.000146443688755,-0.000271394370832,4.79406963276e-05,1793193651427473664
+321,5.350000000,POSE2_TO_POSE3_RETREAT,763,742,711,673.081591341,661.836817318,632,878,784,799.081591341,649.918408659,629,650,0.426269994693,0.0045355894665,0.0698787608518,0.999999966461,0.000162505860594,-0.000195243781253,5.04929276557e-05,1793193651444140032
+322,5.366666667,POSE2_TO_POSE3_RETREAT,763,742.49532231,711,673.49532231,660.51403307,631.50467769,878,784,799,649.50467769,629,650.49532231,0.425349248844,0.00453124859637,0.0698672080283,0.999999964958,0.000147856398833,-0.000213727378402,5.04261743639e-05,1793193651460806656
+323,5.383333333,POSE2_TO_POSE3_RETREAT,763.073307772,743,711,674,659.146615544,631.073307772,878,784,799.073307772,649,629.073307772,651,0.424422997157,0.00452717130191,0.0698442615541,0.999999958775,0.000131228314677,-0.000250503616142,4.97653859055e-05,1793193651477473280
+324,5.400000000,POSE2_TO_POSE3_RETREAT,763.659767519,743,711,674,660.319535038,631.659767519,878,784,799.659767519,649,629.659767519,651,0.423497397367,0.00452368707186,0.0698128363354,0.999999942649,0.000136102064194,-0.000306394447957,4.79610805942e-05,1793193651494140160
+325,5.416666667,POSE2_TO_POSE3_RETREAT,763.756840296,742.756840296,711,673.756840296,660.756840296,632,878,784,799.756840296,649,629.756840296,651,0.422531308814,0.00451947938246,0.0697625999263,0.9999999124,0.00013261173985,-0.000394256501518,4.66512205928e-05,1793193651510806784
+326,5.433333333,POSE2_TO_POSE3_RETREAT,763.177686731,742.177686731,711,673.177686731,660.177686731,632,878,784,799.177686731,649,629.177686731,651,0.421509273459,0.00451427202897,0.0696863705361,0.999999853537,0.000117564082806,-0.000526295839213,4.60245758608e-05,1793193651527473408
+327,5.450000000,POSE2_TO_POSE3_RETREAT,763,742,711,673.400941554,659.599058446,631.599058446,878,784,799.400941554,649,629,651,0.420613512604,0.00450603499228,0.0697022197608,0.999999871455,0.000105767707814,-0.000493746861652,4.60069440027e-05,1793193651544140032
+328,5.466666667,POSE2_TO_POSE3_RETREAT,763,742,711,673.979337319,659.020662681,631.020662681,878,784,799.979337319,649,629,651,0.419773640109,0.00449645703715,0.069758822406,0.99999991897,9.54103302762e-05,-0.000388352121007,4.62588572475e-05,1793193651560806656
+329,5.483333333,POSE2_TO_POSE3_RETREAT,763,742,711,674,660.651196664,631.550398888,878,784.550398888,799.449601112,649.550398888,629,651,0.418983300907,0.00449002885124,0.0698321554149,0.999999957083,9.56876077316e-05,-0.000272624309669,4.85219528643e-05,1793193651577473536
+330,5.500000000,POSE2_TO_POSE3_RETREAT,763,742,711,674,661.747317013,632,878,784.873658507,799,650,629,651,0.418178621623,0.00448309331025,0.0698879170717,0.999999976768,9.28813734477e-05,-0.000187877451927,5.0382248925e-05,1793193651594140416
+331,5.516666667,POSE2_TO_POSE3_RETREAT,763,742,711,674,660.557199223,632,878,784.278599612,799,650,629,651,0.417313933711,0.00447384260408,0.0698761908492,0.999999971661,7.71738794614e-05,-0.000219487827573,5.04717663187e-05,1793193651610806784
+332,5.533333333,POSE2_TO_POSE3_RETREAT,763,742,711,673.692148541,660,632,878,784,799,649.692148541,629,651,0.416442999947,0.00446372329139,0.0698492680842,0.999999964457,6.02719835881e-05,-0.000255056077297,4.89897475993e-05,1793193651627473408
+333,5.550000000,POSE2_TO_POSE3_RETREAT,763,742,711,673.113275525,660,632,878,784,799,649.113275525,629,651,0.415566567602,0.00445283928866,0.0698089668203,0.999999954791,4.23185792608e-05,-0.000294108697787,4.61242039353e-05,1793193651644139776
+334,5.566666667,POSE2_TO_POSE3_RETREAT,763,742,711,673,660.92748527,632,878.463742635,784,799,649.463742635,629,651,0.414665115347,0.00444661933295,0.0697684405895,0.999999930385,3.69124826399e-05,-0.000368518433967,4.54062546283e-05,1793193651660806400
+335,5.583333333,POSE2_TO_POSE3_RETREAT,763.040086258,742.040086258,711,673,661.919827485,632,878.959913742,784,799,649.959913742,629,651,0.413769753132,0.00444132349401,0.0697320783356,0.999999900308,3.35653483935e-05,-0.000442960217242,4.51960632436e-05,1793193651677473024
+336,5.600000000,POSE2_TO_POSE3_RETREAT,763.613459059,742.613459059,711,673,660.773081881,632,878.386540941,784,799,649.386540941,629,651,0.41303639023,0.00443322591675,0.069751839616,0.99999991749,1.69988150053e-05,-0.000403391038765,4.4789892042e-05,1793193651694139904
+337,5.616666667,POSE2_TO_POSE3_RETREAT,763.8075891,743,711,673,660.1924109,632,878,784.1924109,799,649.1924109,629,651,0.412334680949,0.00442550191415,0.0697877641888,0.999999941448,2.93047355872e-06,-0.000339293841987,4.44324763355e-05,1793193651710806784
+338,5.633333333,POSE2_TO_POSE3_RETREAT,763.217094541,743,711,673,660.782905459,632,878,784.782905459,799,649.782905459,629,651,0.41169846049,0.00441855080786,0.0698571293997,0.999999973818,-5.96930000151e-06,-0.000224450013657,4.41759317521e-05,1793193651727473664
+339,5.650000000,POSE2_TO_POSE3_RETREAT,763.366681972,742.633318028,711,673,661.366681972,632,878,784.633318028,799,650,628.633318028,651,0.411012629083,0.00442007306073,0.069881611591,0.99999998146,-4.50831058128e-06,-0.00018690151818,4.61342119376e-05,1793193651744140288
+340,5.666666667,POSE2_TO_POSE3_RETREAT,763.946552582,742.053447418,711,673,661.946552582,632,878,784.053447418,799,650,628.053447418,651,0.410297953947,0.00442652171902,0.0698799988225,0.999999979902,2.97641956563e-06,-0.000194292482188,4.93801899145e-05,1793193651760806912
+341,5.683333333,POSE2_TO_POSE3_RETREAT,764,742,711,673,660.436578288,632,878,784,799.521140571,650,628.521140571,651,0.409570635621,0.0044524656235,0.0698348041688,0.999999961402,3.68876902377e-05,-0.000271358148926,4.69065350789e-05,1793193651777473280
+342,5.700000000,POSE2_TO_POSE3_RETREAT,764,742,711,673.095564402,659.191128805,632,878,784,799.904435598,649.904435598,629,651,0.408858879985,0.00447508240968,0.0697898329713,0.999999936918,6.59054111476e-05,-0.000346243236052,4.40031257867e-05,1793193651794139648
+343,5.716666667,POSE2_TO_POSE3_RETREAT,764,742,711,673.671860466,660.343720932,632,878,784,799.328139534,649.328139534,629,651,0.408231869018,0.00447100533674,0.0697682447912,0.999999927358,5.68093471805e-05,-0.00037457351169,4.18590959464e-05,1793193651810806272
+344,5.733333333,POSE2_TO_POSE3_RETREAT,764,742,711,673.744723216,660.744723216,632,878,784,799,649.255276784,629,651,0.407641108871,0.00446374667938,0.0697654090238,0.999999927035,4.64647530203e-05,-0.000376926451683,4.11935985636e-05,1793193651827473152
+345,5.750000000,POSE2_TO_POSE3_RETREAT,764,742,711,673.151891772,660.151891772,632,878,784,799,649.848108228,629,651,0.407098283542,0.00445228098622,0.069787369733,0.999999939015,3.44692175056e-05,-0.000344929337749,4.24831773896e-05,1793193651844140032
+346,5.766666667,POSE2_TO_POSE3_RETREAT,764,742,711,673,659.571870678,632,877.571870678,784,799,650,629,651,0.406564353268,0.00444696982435,0.0697955833102,0.999999941078,2.48510411592e-05,-0.000339614073407,4.3469000027e-05,1793193651860806656
+347,5.783333333,POSE2_TO_POSE3_RETREAT,764,742.003735635,711,673,659.003735635,632,877.003735635,784,799,649.996264365,629,651,0.406033850249,0.00444383846143,0.0697990413125,0.999999939911,1.61306486535e-05,-0.000343441097101,4.43414499333e-05,1793193651877473536
+348,5.800000000,POSE2_TO_POSE3_RETREAT,764,742.579034619,711,673,659.579034619,632,877.579034619,784,799,649.420965381,629,651,0.405558916708,0.0044498459512,0.0697994299816,0.99999994112,1.94743463863e-05,-0.000339788309324,4.38771078182e-05,1793193651894140160
+349,5.816666667,POSE2_TO_POSE3_RETREAT,764,742.841603456,711,673,660,632,877.841603456,784,799,649,629,650.841603456,0.405105689547,0.00445836635487,0.0698037032071,0.999999944153,3.09944999952e-05,-0.000329945641595,4.32370478093e-05,1793193651910806784
+350,5.833333333,POSE2_TO_POSE3_RETREAT,764,742.251159187,711,673,660,632,877.251159187,784,799,649,629,650.251159187,0.404711669327,0.00447374106809,0.0698185720785,0.999999951041,6.48170295238e-05,-0.000303219248573,4.21176936284e-05,1793193651927473664
+351,5.850000000,POSE2_TO_POSE3_RETREAT,764,742,711,673,660,632,877,784,799.332868521,649,629,650.332868521,0.404338893401,0.00447825800441,0.0698337187988,0.999999958421,7.00105195977e-05,-0.000276608654046,4.17584949671e-05,1793193651944140032
+352,5.866666667,POSE2_TO_POSE3_RETREAT,764,742,711,673,660,632,877,784,799.91214627,649,629,650.91214627,0.403981843797,0.00447473736263,0.0698490711986,0.99999996639,5.40110769144e-05,-0.00025008378219,4.19620090543e-05,1793193651960806656
+353,5.883333333,POSE2_TO_POSE3_RETREAT,763.512660851,742,711,673,659.512660851,632,877.487339149,784,799.512660851,649,629,651,0.403636479962,0.00446761735961,0.0698438406875,0.999999965423,3.86088068268e-05,-0.000256877532376,4.09575003868e-05,1793193651977473280
+354,5.900000000,POSE2_TO_POSE3_RETREAT,763.061764256,742,711,673,659,632,878,784,799,649.061764256,629,651,0.403296644543,0.00446073568777,0.0698345755884,0.999999962283,2.45775568892e-05,-0.000270634287081,3.9840634845e-05,1793193651994139904
+355,5.916666667,POSE2_TO_POSE3_RETREAT,763.635878274,742,711,673,659,632,878,784,799,649.635878274,629,651,0.402985339006,0.00446116878616,0.0698223664787,0.999999956147,2.10336667019e-05,-0.000292740278793,3.95832060536e-05,1793193652010806272
+356,5.933333333,POSE2_TO_POSE3_RETREAT,764,742,711,672.783058943,659.216941057,632,878,784,799,650,629,651,0.402694523649,0.0044610406535,0.0698110900361,0.999999950092,1.61337972009e-05,-0.00031307628784,3.92326975493e-05,1793193652027472896
+357,5.950000000,POSE2_TO_POSE3_RETREAT,764,742,711,672.189947226,659.810052774,632,878,784,799,650,629,651,0.402439237809,0.00445993935944,0.0698014308172,0.999999944648,8.88269202767e-06,-0.000330343186653,3.87207910701e-05,1793193652044140032
+358,5.966666667,POSE2_TO_POSE3_RETREAT,763.606596918,742,711,672.393403082,660,632.393403082,877.606596918,784,799,650,629,651,0.402213651452,0.00445738122303,0.0697937397253,0.999999940599,2.35951549492e-06,-0.000342444508379,3.90940291479e-05,1793193652060806656
+359,5.983333333,POSE2_TO_POSE3_RETREAT,763.027845556,742,711,672.972154444,660,632.972154444,877.027845556,784,799,650,629,651,0.402002057714,0.00445413670853,0.0697869758976,0.999999937206,-3.82070472672e-06,-0.00035211211702,3.9884294979e-05,1793193652077473280
+360,6.000000000,POSE2_TO_POSE3_RETREAT,763.546534442,742,711,673,660,632.453465558,877.546534442,784,799,650,629,651,0.401836030274,0.00445248278139,0.0697897820923,0.999999938767,-2.98159878125e-06,-0.000347445860762,4.1687629424e-05,1793193652094140160
+361,6.016666667,POSE2_TO_POSE3_RETREAT,764,742,711,672.876620045,660,632,878,784.123379955,799,649.876620045,629,651,0.401679103154,0.00445160923317,0.0697927042709,0.999999940498,1.64673089083e-06,-0.000342208638375,4.35186035504e-05,1793193652110806784
+362,6.033333333,POSE2_TO_POSE3_RETREAT,764,742,711,672.289680859,660,632,878,784.710319141,799,649.289680859,629,651,0.401547714096,0.00445336563682,0.0697942448151,0.999999941822,1.91787976764e-05,-0.000337548288705,4.52610371062e-05,1793193652127473408
+363,6.050000000,POSE2_TO_POSE3_RETREAT,763.706219789,742,711,672.293780211,660,632,878,785,799,649.293780211,629,651,0.401429145635,0.00446100227751,0.0697943268397,0.999999940512,6.00805583225e-05,-0.000336430275055,4.66963365805e-05,1793193652144140032
+364,6.066666667,POSE2_TO_POSE3_RETREAT,763.126148207,742,711,672.873851793,660,632,878,785,799,649.873851793,629,651,0.401323070966,0.00447436926026,0.0697929875243,0.999999933818,0.00012375628769,-0.000338764297995,4.78323309858e-05,1793193652160806912
+365,6.083333333,POSE2_TO_POSE3_RETREAT,763.450142767,742,711,672.549857233,660,632,877.549857233,784.549857233,799,650,629,651,0.401239206869,0.00448142357573,0.0697906175058,0.999999935689,0.000101506062594,-0.00034199485966,3.68536998129e-05,1793193652177473536
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764,742,711,672.050841063,660,632.025420532,877.025420532,784,799.025420532,650,628.974579468,651,0.401162640434,0.00448606202463,0.0697881780166,0.999999938552,5.7006560923e-05,-0.000345114615301,2.32732860733e-05,1793193652194140416
+367,6.116666667,POSE2_TO_POSE3_RETREAT,764,742,711,673.203019255,660,632.601509628,877.601509628,784,799.601509628,650,628.398490372,651,0.401110448511,0.00447637004797,0.0697904385694,0.999999940563,4.7818749331e-05,-0.000340436803816,2.6263471814e-05,1793193652210806784
+368,6.133333333,POSE2_TO_POSE3_RETREAT,764,742.181966012,711,673.818033988,660.181966012,632.818033988,878,784,799.818033988,649.818033988,628.181966012,651,0.401063422717,0.004470708865,0.0697925999673,0.999999942169,4.32030730295e-05,-0.000336121100228,2.86019447035e-05,1793193652227473408
+369,6.150000000,POSE2_TO_POSE3_RETREAT,764,742.772221498,711,673.227778502,660.772221498,632.227778502,878,784,799.227778502,649.227778502,628.772221498,651,0.401027988523,0.00447409184836,0.069794538884,0.999999943055,4.88462078317e-05,-0.00033261788337,2.94781248975e-05,1793193652244140032
+370,6.166666667,POSE2_TO_POSE3_RETREAT,763.64488154,742.64488154,711,672.64488154,660.64488154,632,878,784.35511846,799,649.35511846,629,651,0.401003266673,0.00447410626167,0.0697970540414,0.99999994471,5.0092956192e-05,-0.000327342865836,3.02875785332e-05,1793193652260806912
+371,6.183333333,POSE2_TO_POSE3_RETREAT,763.066608578,742.066608578,711,672.066608578,660.066608578,632,878,784.933391422,799,649.933391422,629,651,0.400985276399,0.00447200388426,0.0697999313057,0.999999946832,4.85770398538e-05,-0.000320954458076,3.10551016489e-05,1793193652277473536
+372,6.200000000,POSE2_TO_POSE3_RETREAT,763,742,711,672.509489669,659.490510331,632.509489669,878,785,799,650,629,651,0.400974450259,0.00447013600984,0.0698028662694,0.999999948509,4.58711454309e-05,-0.000316037931931,3.16017789304e-05,1793193652294140160
+373,6.216666667,POSE2_TO_POSE3_RETREAT,763.086917402,742.086917402,711,673,659.086917402,632.913082598,878,785,799,650,629,651,0.400965226036,0.0044690566474,0.0698056319309,0.999999949946,4.38911683992e-05,-0.000311699867388,3.20004273401e-05,1793193652310806784
+374,6.233333333,POSE2_TO_POSE3_RETREAT,763.673617906,742.673617906,711,673,659.673617906,632.326382094,878,785,799,650,629,651,0.400959850286,0.00447233576425,0.0698073808996,0.999999950472,4.69760384239e-05,-0.000309586234283,3.17132100184e-05,1793193652327473152
+375,6.250000000,POSE2_TO_POSE3_RETREAT,764,743,711,673,660.258121185,632,878,784.741878815,799.258121185,650,629,651,0.400955073296,0.00447281385587,0.0698086689174,0.999999950938,4.70876606082e-05,-0.00030805888408,3.17100582799e-05,1793193652344140032
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764,743,711,673,660.839869591,632,878,784.160130409,799.839869591,650,629,651,0.400951047022,0.00446978007739,0.069809379004,0.999999951335,4.34714834417e-05,-0.000307266603879,3.20630623519e-05,1793193652360806656
+377,6.283333333,POSE2_TO_POSE3_RETREAT,764,742.583649395,711,673,661,632,878,784.416350605,799.583649395,650,629,651,0.400950043907,0.00447119988871,0.0698097302829,0.999999951549,4.62920799882e-05,-0.000306173288631,3.18789741439e-05,1793193652377473280
+378,6.300000000,POSE2_TO_POSE3_RETREAT,764,742.009168949,711,673,661,632,878,784.990831051,799.009168949,650,629,651,0.400950188989,0.00447431117224,0.0698099452869,0.999999951673,5.15573614442e-05,-0.00030496564037,3.14908984319e-05,1793193652394139904
+379,6.316666667,POSE2_TO_POSE3_RETREAT,764,742,711,673,660.437305831,632.562694169,878,784.437305831,799.562694169,650,629.562694169,651,0.400951425844,0.00447328759883,0.0698119722716,0.999999952565,4.88279695891e-05,-0.000302465456967,3.16392143702e-05,1793193652410806528
+380,6.333333333,POSE2_TO_POSE3_RETREAT,764,742,711,672.859777864,660,633,878,784.140222136,800,650,629.859777864,651,0.400952307408,0.0044722869931,0.069813573829,0.999999953297,4.64535721234e-05,-0.000300401453302,3.17463557152e-05,1793193652427473408
+381,6.350000000,POSE2_TO_POSE3_RETREAT,764,742,711,672.263695662,660,633,878,784.736304338,800,650,629.263695662,651,0.400951976362,0.00447157908066,0.069813696785,0.999999953509,4.56548050627e-05,-0.000299823617598,3.16913558318e-05,1793193652444140032
+382,6.366666667,POSE2_TO_POSE3_RETREAT,763.678653172,742,711,672,660,632.678653172,878,784.678653172,800,650,629,651,0.400951013212,0.00447180217306,0.0698134347727,0.999999953404,4.63007564873e-05,-0.000300079555098,3.16464094114e-05,1793193652460806912
+383,6.383333333,POSE2_TO_POSE3_RETREAT,763.102368871,742,711,672,660,632.102368871,878,784.102368871,800,650,629,651,0.400949548588,0.00447276386928,0.0698128673495,0.999999953044,4.8092861607e-05,-0.000300996958642,3.16094388053e-05,1793193652477473536
+384,6.400000000,POSE2_TO_POSE3_RETREAT,763.472508716,742,711,672.472508716,660,632.472508716,878,784,800,650,629,651,0.400949830832,0.00447270279442,0.0698136461292,0.99999995337,4.81924723903e-05,-0.000299894405769,3.16263915974e-05,1793193652494140416
+385,6.416666667,POSE2_TO_POSE3_RETREAT,763.951686012,742,711,673,660,632.951686012,878,784,799.951686012,649.951686012,629,651,0.40095056662,0.0044725818123,0.0698147200557,0.999999953834,4.80589440579e-05,-0.00029836413211,3.16330018349e-05,1793193652510807040
+386,6.433333333,POSE2_TO_POSE3_RETREAT,763.362082618,742,711,673,660,632.362082618,878,784,799.362082618,649.362082618,629,651,0.40095215623,0.00447426480813,0.0698158428097,0.999999954203,4.94093388002e-05,-0.000296930243625,3.13932413706e-05,1793193652527473664
+387,6.450000000,POSE2_TO_POSE3_RETREAT,763.22372985,742,711,672.77627015,660.22372985,632,877.77627015,784,799,649.22372985,629,650.77627015,0.400952969398,0.00447413763989,0.0698166832864,0.999999954516,4.86263157118e-05,-0.000295998330883,3.14343183723e-05,1793193652544140288
+388,6.466666667,POSE2_TO_POSE3_RETREAT,763.803509303,742,711,672.196490697,660.803509303,632,877.196490697,784,799,649.803509303,629,650.196490697,0.400952546916,0.00447112972856,0.0698170745395,0.999999954735,4.44481149511e-05,-0.000295865275705,3.19223275629e-05,1793193652560806912
+389,6.483333333,POSE2_TO_POSE3_RETREAT,763.619031222,742,711,672,660.619031222,632.380968778,877.380968778,784,799.380968778,649.619031222,629,650,0.400952182758,0.00447133770787,0.0698169968258,0.999999954806,4.39549555059e-05,-0.000295716703727,3.17549873541e-05,1793193652577473280
+390,6.500000000,POSE2_TO_POSE3_RETREAT,763.042761087,742,711,672,660.042761087,632.957238913,877.957238913,784,799.957238913,649.042761087,629,650,0.400951848499,0.00447319429431,0.069816678699,0.999999954805,4.53509104885e-05,-0.00029556017716,3.12516861967e-05,1793193652594139904
+391,6.516666667,POSE2_TO_POSE3_RETREAT,763.530984079,742,711,672,660,632.469015921,878,784,800,649.530984079,629,650,0.400951372308,0.0044731227697,0.0698162581325,0.99999995476,4.63653594208e-05,-0.000295552754256,3.12821593892e-05,1793193652610806784
+392,6.533333333,POSE2_TO_POSE3_RETREAT,764,742,711,672.107754743,660,632,878,784,799.892245257,650,629,650.107754743,0.400951106056,0.00447256691928,0.0698159652259,0.999999954752,4.69083629417e-05,-0.000295487314647,3.13619308578e-05,1793193652627473408
+393,6.550000000,POSE2_TO_POSE3_RETREAT,764,742,711,672.699008832,660,632,878,784,799.300991168,650,629,650.699008832,0.400951832858,0.00447053130528,0.0698162819748,0.999999954927,4.5473178276e-05,-0.000295107928574,3.14709394913e-05,1793193652644140032
+394,6.566666667,POSE2_TO_POSE3_RETREAT,764,742,711.284323285,672.715676715,660,632,878,784,799,650,629,651,0.400952474088,0.00447017110814,0.0698166301728,0.999999955114,4.46178121043e-05,-0.000294605023479,3.1434871747e-05,1793193652660806656
+395,6.583333333,POSE2_TO_POSE3_RETREAT,764,742,711.863478641,672.136521359,660,632,878,784,799,650,629,651,0.400953026584,0.00447154825216,0.0698170109822,0.999999955317,4.4363694744e-05,-0.000293974033971,3.12483655152e-05,1793193652677473280
+396,6.600000000,POSE2_TO_POSE3_RETREAT,763.561177286,742,711.561177286,672,660,632,878,784,799,649.561177286,629,651,0.400952567804,0.00447172103045,0.0698170719706,0.999999955335,4.4826258999e-05,-0.00029384541347,3.12216447675e-05,1793193652694140160
+397,6.616666667,POSE2_TO_POSE3_RETREAT,763.013026901,742,711.013026901,672.013026901,660,632,878.013026901,784,799,649.013026901,629,651,0.400951804481,0.00447154485485,0.0698170264039,0.999999955292,4.55073211062e-05,-0.00029388710896,3.12424243962e-05,1793193652710806784
+398,6.633333333,POSE2_TO_POSE3_RETREAT,763.588771509,742,711.588771509,672.588771509,660,632,878.588771509,784,799,649.588771509,629,651,0.400951359317,0.00447234094566,0.069816639024,0.99999995506,4.60783260825e-05,-0.000294592761918,3.11862203268e-05,1793193652727473408
+399,6.650000000,POSE2_TO_POSE3_RETREAT,763.831044803,742.168955197,711.831044803,672.831044803,660,632,878.831044803,784,799,650,629,651,0.40095093313,0.00447288369224,0.0698164518668,0.999999954888,4.68500016206e-05,-0.000295057543616,3.11315930479e-05,1793193652744140032
+400,6.666666667,POSE2_TO_POSE3_RETREAT,763.239765117,742.760234883,711.239765117,672.239765117,660,632,878.239765117,784,799,650,629,651,0.400950554378,0.00447279317343,0.069816765191,0.99999995487,4.81232781054e-05,-0.000294920237658,3.10809071558e-05,1793193652760806656
+401,6.683333333,POSE2_TO_POSE3_RETREAT,763.343948302,742.656051698,711,672.343948302,660.343948302,632,878,784,799,650,629,651,0.40095056261,0.0044728430483,0.0698168382956,0.999999954849,4.78876492814e-05,-0.000295031594199,3.10762022032e-05,1793193652777473280
+402,6.700000000,POSE2_TO_POSE3_RETREAT,763.92250081,742.07749919,711,672.92250081,660.92250081,632,878,784,799,650,629,651,0.400950834802,0.0044729886845,0.0698167475484,0.999999954825,4.66228089519e-05,-0.000295312561319,3.11028604596e-05,1793193652794139904
+403,6.716666667,POSE2_TO_POSE3_RETREAT,764,742,711,673,660.502737233,632.497262767,878,784,799.497262767,649.502737233,629,651,0.400950852684,0.00447200495937,0.0698169092856,0.999999955042,4.50014715956e-05,-0.000294804895236,3.1332752237e-05,1793193652810806528
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_11/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_11/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..64dc6db19f083810d5461465812a561db52dd457
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_11/depth_05/simulation_data.csv
@@ -0,0 +1,405 @@
+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,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+1,0.016666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+2,0.033333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+3,0.050000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+4,0.066666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+5,0.083333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+6,0.100000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+7,0.116666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+8,0.133333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+9,0.150000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+10,0.166666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+11,0.183333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+12,0.200000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+13,0.216666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+14,0.233333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+15,0.250000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+16,0.266666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+17,0.283333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+18,0.300000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+19,0.316666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+20,0.333333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+21,0.350000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+22,0.366666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+23,0.383333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+24,0.400000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+25,0.416666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+26,0.433333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+27,0.450000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+28,0.466666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+29,0.483333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+30,0.500000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+31,0.516666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+32,0.533333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+33,0.550000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+34,0.566666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+35,0.583333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+36,0.600000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+37,0.616666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+38,0.633333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+39,0.650000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+40,0.666666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+41,0.683333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+42,0.700000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+43,0.716666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+44,0.733333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+45,0.750000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+46,0.766666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+47,0.783333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+48,0.800000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+49,0.816666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+50,0.833333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+51,0.850000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+52,0.866666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+53,0.883333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+54,0.900000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+55,0.916666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+56,0.933333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+57,0.950000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+58,0.966666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+59,0.983333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+60,1.000000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+61,1.016666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+62,1.033333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+63,1.050000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+64,1.066666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+65,1.083333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+66,1.100000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+67,1.116666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+68,1.133333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+69,1.150000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+70,1.166666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+71,1.183333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+72,1.200000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+73,1.216666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+74,1.233333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+75,1.250000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+76,1.266666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+77,1.283333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+78,1.300000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+79,1.316666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+80,1.333333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+81,1.350000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+82,1.366666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+83,1.383333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+84,1.400000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+85,1.416666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+86,1.433333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+87,1.450000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+88,1.466666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+89,1.483333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+90,1.500000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+91,1.516666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+92,1.533333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+93,1.550000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+94,1.566666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+95,1.583333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+96,1.600000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+97,1.616666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+98,1.633333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+99,1.650000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+100,1.666666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+101,1.683333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+102,1.700000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+103,1.716666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+104,1.733333333,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+105,1.750000000,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+106,1.766666667,pose1_baseline,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+107,1.783333333,pose1_to_pose2_press,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+108,1.800000000,pose1_to_pose2_press,0.575709301638,0.0100547341885,1.06002910773,0.546280028167,0.0187274514537,1.05969840843
+109,1.816666667,pose1_to_pose2_press,0.575709487798,0.0100547181239,1.06002911172,0.546280214691,0.0187274365444,1.05969841033
+110,1.833333333,pose1_to_pose2_press,0.575709580369,0.0100547102081,1.06002911761,0.546280307473,0.0187274292949,1.0596984149
+111,1.850000000,pose1_to_pose2_press,0.575709681404,0.0100547015685,1.06002912403,0.546280408738,0.0187274213827,1.05969841989
+112,1.866666667,pose1_to_pose2_press,0.575710000262,0.0100546814311,1.06002914804,0.54628072835,0.0187274036638,1.05969844031
+113,1.883333333,pose1_to_pose2_press,0.575710757423,0.0100546926581,1.06002923617,0.546281487514,0.0187274216527,1.0596985274
+114,1.900000000,pose1_to_pose2_press,0.575712958462,0.0100546780123,1.0600291986,0.546283688084,0.0187274053638,1.05969848851
+115,1.916666667,pose1_to_pose2_press,0.575717621274,0.0100546021351,1.06002918185,0.546288352106,0.0187273333491,1.05969846532
+116,1.933333333,pose1_to_pose2_press,0.575728477867,0.0100545659008,1.06002915828,0.546299206611,0.0187272902828,1.05969844834
+117,1.950000000,pose1_to_pose2_press,0.575747362542,0.0100545810908,1.06002907778,0.546318090813,0.0187273039157,1.05969836911
+118,1.966666667,pose1_to_pose2_press,0.57577739612,0.0100545529314,1.06002905753,0.546348128746,0.018727290519,1.05969834834
+119,1.983333333,pose1_to_pose2_press,0.575818753231,0.010054642371,1.0600292918,0.546389481694,0.0187273658935,1.05969858421
+120,2.000000000,pose1_to_pose2_press,0.575870978691,0.0100545971853,1.06002906114,0.546441708363,0.0187273248537,1.05969835453
+121,2.016666667,pose1_to_pose2_press,0.57593183042,0.0100545720099,1.06002901235,0.546502559859,0.0187272988769,1.05969830547
+122,2.033333333,pose1_to_pose2_press,0.576000767621,0.0100545371117,1.06002917887,0.546571498085,0.0187272669223,1.05969845792
+123,2.050000000,pose1_to_pose2_press,0.576077793949,0.0100544426233,1.06002917038,0.546648523699,0.0187271701934,1.05969845412
+124,2.066666667,pose1_to_pose2_press,0.576164182597,0.0100545279766,1.06002928501,0.54673491335,0.0187272588172,1.05969856526
+125,2.083333333,pose1_to_pose2_press,0.576264878483,0.0100546393863,1.06002939475,0.546835608058,0.0187273663116,1.059698677
+126,2.100000000,pose1_to_pose2_press,0.576381274509,0.0100547272639,1.06002912637,0.546952003403,0.0187274523791,1.05969842176
+127,2.116666667,pose1_to_pose2_press,0.576516769637,0.0100546302124,1.06002925358,0.547087499417,0.0187273583293,1.05969854886
+128,2.133333333,pose1_to_pose2_press,0.576671729017,0.010054645426,1.06002925422,0.54724245787,0.0187273700102,1.05969853925
+129,2.150000000,pose1_to_pose2_press,0.576846638782,0.0100546122644,1.06002916449,0.547417368985,0.0187273415451,1.05969845253
+130,2.166666667,pose1_to_pose2_press,0.577041876799,0.0100544902683,1.06002917805,0.547612608082,0.0187272230876,1.0596984627
+131,2.183333333,pose1_to_pose2_press,0.57725725842,0.0100545552763,1.06002919324,0.547827988432,0.0187272836084,1.05969847328
+132,2.200000000,pose1_to_pose2_press,0.577495337528,0.010054648131,1.06002916723,0.54806606765,0.0187273770601,1.05969845304
+133,2.216666667,pose1_to_pose2_press,0.577756623083,0.0100545666023,1.0600291469,0.548327353507,0.0187272967112,1.05969843674
+134,2.233333333,pose1_to_pose2_press,0.578044157643,0.0100545798917,1.06002925712,0.548614887364,0.0187273075221,1.05969854447
+135,2.250000000,pose1_to_pose2_press,0.578355606131,0.0100545867111,1.06002918766,0.548926336495,0.0187273166078,1.05969847722
+136,2.266666667,pose1_to_pose2_press,0.578690482248,0.0100545616975,1.06002905609,0.549261212152,0.0187272901187,1.05969834773
+137,2.283333333,pose1_to_pose2_press,0.579048592549,0.0100545166101,1.06002911794,0.549619323983,0.0187272502437,1.05969841003
+138,2.300000000,pose1_to_pose2_press,0.579427630696,0.010054655738,1.06002913972,0.549998361583,0.0187273875426,1.05969843258
+139,2.316666667,pose1_to_pose2_press,0.579828321309,0.0100546017368,1.06002924573,0.550399051903,0.0187273324744,1.05969853658
+140,2.333333333,pose1_to_pose2_press,0.580248264684,0.0100546135772,1.0600289934,0.550818994696,0.018727342402,1.05969828589
+141,2.350000000,pose1_to_pose2_press,0.580687436141,0.010054554461,1.0600290775,0.551258166352,0.0187272839003,1.05969836831
+142,2.366666667,pose1_to_pose2_press,0.581151555745,0.0100545746977,1.06002923104,0.551722287317,0.0187273087438,1.05969852152
+143,2.383333333,pose1_to_pose2_press,0.581642057235,0.0100545447941,1.06002920016,0.552212788331,0.0187272771237,1.05969848782
+144,2.400000000,pose1_to_pose2_press,0.58216389049,0.0100545824574,1.06002916584,0.552734619856,0.0187273088993,1.05969845311
+145,2.416666667,pose1_to_pose2_press,0.582716923868,0.0100545361594,1.06002914433,0.55328765388,0.018727264974,1.05969843629
+146,2.433333333,pose1_to_pose2_press,0.583302368487,0.0100544395101,1.06002914755,0.55387309936,0.0187271712295,1.05969843899
+147,2.450000000,pose1_to_pose2_press,0.583908626264,0.0100545903552,1.06002907484,0.554479356205,0.0187273187887,1.05969836299
+148,2.466666667,pose1_to_pose2_press,0.584532325727,0.010054669041,1.06002909472,0.55510305469,0.0187273943923,1.05969838903
+149,2.483333333,pose1_to_pose2_press,0.585177851502,0.0100545960632,1.06002924548,0.555748581471,0.0187273246027,1.05969853393
+150,2.500000000,pose1_to_pose2_press,0.585845682665,0.0100545580242,1.06002925462,0.556416412941,0.0187272878179,1.05969854854
+151,2.516666667,pose1_to_pose2_press,0.58653908534,0.0100545205944,1.06002919664,0.557109816926,0.0187272545905,1.05969848422
+152,2.533333333,pose1_to_pose2_press,0.587256025812,0.0100546661132,1.06002934237,0.557826754299,0.0187273896286,1.0596986308
+153,2.550000000,pose1_to_pose2_press,0.587995008661,0.0100544674168,1.06002900005,0.55856573911,0.0187271978876,1.05969829627
+154,2.566666667,pose1_to_pose2_press,0.588735366537,0.0100545258496,1.06002909721,0.5593060961,0.0187272530496,1.05969838648
+155,2.583333333,pose1_to_pose2_press,0.589475457421,0.0100546093183,1.06002897477,0.56004618641,0.0187273346309,1.05969826557
+156,2.600000000,pose1_to_pose2_press,0.590229835723,0.010054541987,1.06002899582,0.560800565857,0.0187272711646,1.05969828617
+157,2.616666667,pose1_to_pose2_press,0.591000652464,0.0100545745559,1.06002919611,0.561571382249,0.0187273025746,1.05969848708
+158,2.633333333,pose1_to_pose2_press,0.591791316162,0.0100546269492,1.06002919251,0.562362044143,0.0187273488653,1.05969848397
+159,2.650000000,pose1_to_pose2_press,0.592612592765,0.0100546047959,1.06002921654,0.563183321703,0.0187273300746,1.05969851103
+160,2.666666667,pose1_to_pose2_press,0.593467196624,0.0100545583073,1.06002882011,0.564037926416,0.0187272865063,1.05969811524
+161,2.683333333,pose1_to_pose2_press,0.594328791288,0.0100546392575,1.06002903118,0.56489951923,0.0187273610179,1.05969832211
+162,2.700000000,pose1_to_pose2_press,0.595192669335,0.0100545258948,1.06002910236,0.565763399912,0.0187272561572,1.05969838175
+163,2.716666667,pose1_to_pose2_press,0.596042843311,0.0100546110933,1.06002914971,0.566613571952,0.0187273349477,1.05969843334
+164,2.733333333,pose1_to_pose2_press,0.596875844414,0.0100544670425,1.06002915422,0.567446576487,0.0187272027153,1.05969844247
+165,2.750000000,pose1_to_pose2_press,0.59769063526,0.0100545408396,1.06002905539,0.568261366223,0.0187272728645,1.0596983468
+166,2.766666667,pose1_to_pose2_press,0.598516295385,0.0100546681781,1.06002908138,0.569087025231,0.018727396583,1.05969837725
+167,2.783333333,pose1_to_pose2_press,0.599364130871,0.0100545548183,1.06002915567,0.569934861739,0.018727286404,1.05969844406
+168,2.800000000,pose1_to_pose2_press,0.60023640784,0.0100546325659,1.06002905019,0.570807136875,0.0187273582099,1.05969834598
+169,2.816666667,pose1_to_pose2_press,0.601129674316,0.0100546641487,1.06002911964,0.571700402529,0.0187273867632,1.05969840913
+170,2.833333333,pose1_to_pose2_press,0.602037295178,0.0100546554925,1.06002918122,0.572608024566,0.0187273818515,1.05969846441
+171,2.850000000,pose1_to_pose2_press,0.602928359693,0.0100545867058,1.06002908693,0.573499090773,0.0187273188337,1.05969837097
+172,2.866666667,pose1_to_pose2_press,0.603788736509,0.0100545969097,1.06002915948,0.574359466245,0.0187273244186,1.05969844207
+173,2.883333333,pose1_to_pose2_press,0.604618299661,0.0100545627676,1.06002915577,0.575189030286,0.0187272936085,1.05969844667
+174,2.900000000,pose1_to_pose2_press,0.605419096355,0.0100544628028,1.0600291507,0.57598982747,0.0187271953455,1.05969844271
+175,2.916666667,pose1_to_pose2_press,0.606212100128,0.0100544691578,1.06002914782,0.57678283158,0.0187272026994,1.05969843613
+176,2.933333333,pose1_to_pose2_press,0.607003523414,0.0100545869841,1.0600289546,0.577574253666,0.0187273166925,1.05969824918
+177,2.950000000,pose1_to_pose2_press,0.607797871843,0.01005454692,1.06002906236,0.578368603076,0.0187272800117,1.05969835842
+178,2.966666667,pose1_to_pose2_press,0.608599077883,0.0100546218805,1.06002907634,0.579169808199,0.0187273515369,1.05969836411
+179,2.983333333,pose1_to_pose2_press,0.609403032282,0.0100543962068,1.06002900695,0.579973764515,0.0187271325793,1.05969830032
+180,3.000000000,pose1_to_pose2_press,0.610179156062,0.010054506499,1.06002899689,0.580749887084,0.0187272388741,1.05969829323
+181,3.016666667,pose1_to_pose2_press,0.610925200442,0.0100546249312,1.06002925517,0.581495930736,0.0187273545799,1.0596985449
+182,3.033333333,pose1_to_pose2_press,0.611631633564,0.0100545917413,1.06002904264,0.582202364575,0.0187273240166,1.05969833755
+183,3.050000000,pose1_to_pose2_press,0.612297655646,0.0100545547805,1.06002901176,0.582868386324,0.0187272859273,1.05969830653
+184,3.066666667,pose1_to_pose2_press,0.612917485052,0.0100545799353,1.06002921307,0.583488215184,0.0187273092878,1.05969850897
+185,3.083333333,pose1_to_pose2_press,0.613513235973,0.0100545887901,1.06002926766,0.584083965752,0.0187273168294,1.05969855888
+186,3.100000000,pose1_to_pose2_press,0.614090747075,0.010054523578,1.06002928985,0.584661477575,0.0187272539614,1.05969857549
+187,3.116666667,pose1_to_pose2_press,0.614662949877,0.0100545430498,1.06002937259,0.585233681295,0.0187272767137,1.05969865741
+188,3.133333333,pose1_to_pose2_press,0.615233369994,0.0100546535094,1.06002927353,0.585804100019,0.0187273829287,1.05969855979
+189,3.150000000,pose1_to_pose2_press,0.615800406632,0.0100546519768,1.06002922697,0.586371136336,0.0187273812562,1.05969851871
+190,3.166666667,pose1_to_pose2_press,0.616342594618,0.0100546446921,1.06002919623,0.586913323317,0.0187273712707,1.05969848598
+191,3.183333333,pose1_to_pose2_press,0.616848455762,0.0100546215719,1.0600290753,0.587419183406,0.0187273453534,1.05969836605
+192,3.200000000,pose1_to_pose2_press,0.617310178966,0.010054561714,1.06002909055,0.587880907646,0.0187272896277,1.05969838505
+193,3.216666667,pose1_to_pose2_press,0.617732467917,0.0100545079411,1.06002907407,0.588303197837,0.0187272406482,1.05969836762
+194,3.233333333,pose1_to_pose2_press,0.618132175849,0.0100545562157,1.06002926138,0.588702905971,0.0187272900639,1.05969854596
+195,3.250000000,pose1_to_pose2_press,0.61851773279,0.0100546500716,1.06002942083,0.589088462437,0.0187273828292,1.05969870176
+196,3.266666667,pose1_to_pose2_press,0.618891930709,0.0100546254497,1.06002917334,0.589462659616,0.0187273567754,1.05969846614
+197,3.283333333,pose1_to_pose2_press,0.619254631572,0.0100545831228,1.06002921876,0.589825359808,0.0187273129309,1.05969851154
+198,3.300000000,pose1_to_pose2_press,0.619603385518,0.0100545317437,1.06002914804,0.590174114594,0.0187272649051,1.05969843675
+199,3.316666667,pose1_to_pose2_press,0.619924276713,0.0100545738308,1.0600290623,0.590495004627,0.0187273041007,1.05969836056
+200,3.333333333,pose1_to_pose2_press,0.620219117485,0.0100547130346,1.06002889831,0.590789843829,0.0187274386922,1.0596981984
+201,3.350000000,pose1_to_pose2_press,0.620486972039,0.0100546013331,1.0600288373,0.591057700747,0.0187273355284,1.05969813622
+202,3.366666667,pose1_to_pose2_press,0.620730207525,0.0100545933324,1.06002901932,0.591300936014,0.0187273269971,1.05969831234
+203,3.383333333,pose1_to_pose2_press,0.620947917732,0.0100545344754,1.06002906627,0.591518646328,0.0187272688736,1.05969835728
+204,3.400000000,pose1_to_pose2_press,0.621143481317,0.0100546448184,1.06002917755,0.591714207063,0.0187273696421,1.05969846249
+205,3.416666667,pose1_to_pose2_press,0.621318191389,0.0100546028967,1.06002919063,0.591888917815,0.0187273302575,1.05969847204
+206,3.433333333,pose1_to_pose2_press,0.621474888894,0.0100546123968,1.06002910128,0.592045615683,0.0187273418792,1.05969839556
+207,3.450000000,pose1_to_pose2_press,0.621616139076,0.0100545639119,1.06002888928,0.592186865356,0.0187272921814,1.05969818938
+208,3.466666667,pose1_to_pose2_press,0.621743169726,0.0100545469514,1.06002925169,0.592313897498,0.018727280269,1.05969854623
+209,3.483333333,pose1_to_pose2_press,0.621857117046,0.010054459529,1.0600291995,0.59242784621,0.0187271973101,1.05969847865
+210,3.500000000,pose1_to_pose2_press,0.621957362344,0.0100544874599,1.06002901802,0.592528090292,0.0187272218449,1.05969831135
+211,3.516666667,pose1_to_pose2_press,0.62204452676,0.010054449364,1.06002912185,0.592615255088,0.0187271885773,1.05969841636
+212,3.533333333,pose1_to_pose2_press,0.622119110484,0.0100544563932,1.06002902441,0.592689837183,0.018727188786,1.05969831982
+213,3.550000000,pose1_to_pose2_press,0.622181326601,0.0100544880532,1.06002894809,0.59275205359,0.0187272195874,1.05969823484
+214,3.566666667,pose1_to_pose2_press,0.622232880403,0.0100544669465,1.06002913376,0.592803608021,0.0187272000739,1.05969841973
+215,3.583333333,pose1_to_pose2_press,0.622274078559,0.0100544929052,1.06002893817,0.592844804836,0.0187272223946,1.0596982345
+216,3.600000000,pose1_to_pose2_press,0.622307170981,0.010054585127,1.06002915632,0.59287789811,0.0187273173842,1.05969845252
+217,3.616666667,pose1_to_pose2_press,0.622332661521,0.0100545926808,1.06002926624,0.592903387987,0.0187273224001,1.05969855627
+218,3.633333333,pose1_to_pose2_press,0.622351172487,0.0100545438132,1.06002919977,0.59292189858,0.0187272723971,1.05969849107
+219,3.650000000,pose1_to_pose2_press,0.622364115129,0.0100544760681,1.06002910089,0.592934842149,0.0187272080523,1.0596983944
+220,3.666666667,pose1_to_pose2_press,0.622373115901,0.010054400059,1.06002902756,0.592943844746,0.0187271383828,1.05969831831
+221,3.683333333,pose1_to_pose2_press,0.6223794293,0.0100545455876,1.06002911164,0.592950154851,0.0187272723847,1.05969839693
+222,3.700000000,pose1_to_pose2_press,0.622383792076,0.0100546619992,1.06002918179,0.592954515045,0.0187273797752,1.0596984637
+223,3.716666667,pose1_to_pose2_press,0.622387082924,0.0100545747519,1.06002913451,0.59295780887,0.0187273031246,1.05969842749
+224,3.733333333,pose1_to_pose2_press,0.622389285253,0.0100545163634,1.06002910287,0.592960013192,0.0187272518279,1.05969840325
+225,3.750000000,pose1_to_pose2_press,0.622390366484,0.0100545113565,1.06002914592,0.59296109451,0.0187272471024,1.05969844557
+226,3.766666667,pose1_to_pose2_press,0.622390704308,0.0100545159583,1.06002917464,0.592961432129,0.018727250958,1.05969847292
+227,3.783333333,pose1_to_pose2_press,0.622390751434,0.0100545166002,1.06002917865,0.592961479228,0.0187272514959,1.05969847673
+228,3.800000000,pose1_to_pose2_press,0.622390885294,0.0100545184236,1.06002919003,0.592961613006,0.0187272530237,1.05969848757
+229,3.816666667,pose1_to_pose2_press,0.622391190128,0.0100545225761,1.06002921594,0.592961917655,0.0187272565028,1.05969851225
+230,3.833333333,pose1_to_pose2_press,0.622391624284,0.0100545284901,1.06002925285,0.592962351548,0.0187272614579,1.05969854741
+231,3.850000000,pose1_to_pose2_press,0.622392076392,0.0100545346487,1.06002929128,0.592962803382,0.0187272666179,1.05969858401
+232,3.866666667,pose1_to_pose2_press,0.622392483176,0.0100545401898,1.06002932586,0.59296320992,0.0187272712606,1.05969861695
+233,3.883333333,pose1_to_pose2_press,0.622393032747,0.010054547676,1.06002937258,0.592963759159,0.018727277533,1.05969866145
+234,3.900000000,pose1_to_pose2_press,0.62239378947,0.0100545461206,1.06002933315,0.592964515852,0.0187272758465,1.05969862145
+235,3.916666667,pose1_to_pose2_press,0.622394313331,0.0100545365439,1.06002923149,0.592965039999,0.0187272672827,1.05969852121
+236,3.933333333,pose1_to_pose2_press,0.622394531685,0.0100545325522,1.06002918912,0.592965258472,0.0187272637131,1.05969847943
+237,3.950000000,pose1_to_pose2_press,0.622394715681,0.0100545291886,1.06002915342,0.592965442569,0.0187272607052,1.05969844422
+238,3.966666667,pose1_to_pose2_press,0.622394819263,0.010054527295,1.06002913332,0.592965546208,0.0187272590119,1.0596984244
+239,3.983333333,pose1_to_pose2_press,0.622394880079,0.0100545261832,1.06002912152,0.592965607056,0.0187272580177,1.05969841276
+240,4.000000000,pose1_to_pose2_press,0.622395019192,0.0100545236401,1.06002909452,0.592965746245,0.0187272557436,1.05969838614
+241,4.016666667,pose1_to_pose2_press,0.622395377701,0.0100545157835,1.06002903646,0.592966104951,0.0187272485718,1.05969832891
+242,4.033333333,pose1_to_pose2_press,0.622395566103,0.0100545024168,1.06002908755,0.592966293452,0.0187272355063,1.05969837943
+243,4.050000000,pose1_to_pose2_press,0.6223956381,0.0100544973087,1.06002910708,0.592966365488,0.0187272305134,1.05969839874
+244,4.066666667,pose1_to_pose2_press,0.622395799416,0.0100544858637,1.06002915082,0.59296652689,0.0187272193263,1.059698442
+245,4.083333333,pose1_to_pose2_press,0.622395925513,0.0100544769173,1.06002918502,0.592966653055,0.0187272105815,1.05969847581
+246,4.100000000,pose1_to_pose2_press,0.622396129778,0.0100544624252,1.06002924041,0.592966857429,0.0187271964159,1.05969853058
+247,4.116666667,pose1_to_pose2_press,0.622396268517,0.0100544566765,1.06002929059,0.592966996438,0.0187271915636,1.05969857979
+248,4.133333333,pose1_to_pose2_press,0.622396377129,0.0100544574988,1.06002934619,0.592967105514,0.0187271939646,1.0596986339
+249,4.150000000,pose1_to_pose2_press,0.622396483383,0.0100544583033,1.06002940059,0.59296721224,0.0187271963132,1.05969868685
+250,4.166666667,pose2_hold,0.622396483383,0.0100544583033,1.06002940059,0.592967212252,0.0187271963106,1.05969868685
+251,4.183333333,pose2_hold,0.622396483383,0.0100544583033,1.06002940059,0.592967212251,0.0187271963106,1.05969868686
+252,4.200000000,pose2_hold,0.622396483383,0.0100544583033,1.06002940059,0.592967212253,0.0187271963092,1.05969868685
+253,4.216666667,pose2_hold,0.622396483383,0.0100544583033,1.06002940059,0.592967212254,0.0187271963087,1.05969868685
+254,4.233333333,pose2_hold,0.622396483383,0.0100544583033,1.06002940059,0.592967212253,0.0187271963084,1.05969868685
+255,4.250000000,pose2_hold,0.622396483383,0.0100544583033,1.06002940059,0.592967212253,0.0187271963089,1.05969868685
+256,4.266666667,pose2_hold,0.622396483383,0.0100544583033,1.06002940059,0.592967212255,0.0187271963065,1.05969868685
+257,4.283333333,pose2_hold,0.622396483383,0.0100544583033,1.06002940059,0.592967212253,0.0187271963083,1.05969868686
+258,4.300000000,pose2_hold,0.622396483383,0.0100544583033,1.06002940059,0.592967212254,0.0187271963084,1.05969868686
+259,4.316666667,pose2_hold,0.622396483383,0.0100544583033,1.06002940059,0.592967212254,0.0187271963078,1.05969868685
+260,4.333333333,pose2_hold,0.622396483383,0.0100544583033,1.06002940059,0.592967212255,0.0187271963068,1.05969868686
+261,4.350000000,pose2_hold,0.622396483383,0.0100544583033,1.06002940059,0.592967212255,0.018727196306,1.05969868686
+262,4.366666667,pose2_hold,0.622396483383,0.0100544583033,1.06002940059,0.592967212254,0.0187271963064,1.05969868686
+263,4.383333333,pose2_hold,0.622396483383,0.0100544583033,1.06002940059,0.592967212253,0.0187271963086,1.05969868686
+264,4.400000000,pose2_hold,0.622396483383,0.0100544583033,1.06002940059,0.592967212254,0.0187271963065,1.05969868686
+265,4.416666667,pose2_hold,0.622396483383,0.0100544583033,1.06002940059,0.592967212255,0.0187271963054,1.05969868685
+266,4.433333333,pose2_to_pose3_retreat,0.622396483383,0.0100544583033,1.06002940059,0.592967212254,0.0187271963063,1.05969868686
+267,4.450000000,pose2_to_pose3_retreat,0.622396290034,0.0100545734223,1.06002939319,0.592967017156,0.0187273056493,1.05969868276
+268,4.466666667,pose2_to_pose3_retreat,0.622396173201,0.0100545619122,1.06002941,0.592966901022,0.0187272964178,1.05969869696
+269,4.483333333,pose2_to_pose3_retreat,0.622396131404,0.0100545577944,1.06002941601,0.592966859475,0.0187272931152,1.05969870204
+270,4.500000000,pose2_to_pose3_retreat,0.622395908919,0.0100545506681,1.06002938489,0.592966637276,0.0187272869614,1.0596986711
+271,4.516666667,pose2_to_pose3_retreat,0.622395482461,0.0100545484453,1.06002927643,0.592966210553,0.0187272839998,1.05969856696
+272,4.533333333,pose2_to_pose3_retreat,0.622393988475,0.0100545494981,1.06002916995,0.592964716061,0.0187272835001,1.05969846551
+273,4.550000000,pose2_to_pose3_retreat,0.62239031348,0.0100545542834,1.0600292586,0.592961041204,0.0187272885832,1.05969855011
+274,4.566666667,pose2_to_pose3_retreat,0.622382356196,0.0100545086659,1.06002914474,0.592953083312,0.0187272404777,1.05969842309
+275,4.583333333,pose2_to_pose3_retreat,0.622365249587,0.0100545256779,1.06002923804,0.592935975845,0.0187272550055,1.05969853002
+276,4.600000000,pose2_to_pose3_retreat,0.622336766364,0.0100546289486,1.06002930891,0.592907492661,0.0187273582873,1.0596985967
+277,4.616666667,pose2_to_pose3_retreat,0.622295773731,0.0100544267064,1.06002888477,0.592866502288,0.0187271637728,1.05969818204
+278,4.633333333,pose2_to_pose3_retreat,0.622242681177,0.010054600063,1.06002924865,0.592813407987,0.0187273305902,1.05969854352
+279,4.650000000,pose2_to_pose3_retreat,0.622177759542,0.0100545300996,1.06002926,0.592748486903,0.0187272620539,1.05969855175
+280,4.666666667,pose2_to_pose3_retreat,0.622103752491,0.0100545426043,1.06002919954,0.592674479828,0.018727274776,1.05969849211
+281,4.683333333,pose2_to_pose3_retreat,0.622021019996,0.0100546781833,1.06002927421,0.592591745696,0.0187274047658,1.05969856399
+282,4.700000000,pose2_to_pose3_retreat,0.621927513385,0.0100546545382,1.06002929878,0.592498239353,0.0187273817135,1.0596985864
+283,4.716666667,pose2_to_pose3_retreat,0.621822219322,0.0100544985126,1.06002920766,0.592392947689,0.0187272336311,1.0596984953
+284,4.733333333,pose2_to_pose3_retreat,0.621700235054,0.0100545114492,1.06002918746,0.592270962968,0.0187272449567,1.05969848056
+285,4.750000000,pose2_to_pose3_retreat,0.621560845979,0.0100546608478,1.06002897335,0.592131571591,0.0187273863684,1.05969827014
+286,4.766666667,pose2_to_pose3_retreat,0.621400916556,0.0100545547738,1.0600288845,0.591971643954,0.0187272859569,1.05969817934
+287,4.783333333,pose2_to_pose3_retreat,0.62122208385,0.0100545888932,1.06002893994,0.591792810356,0.0187273167809,1.05969823737
+288,4.800000000,pose2_to_pose3_retreat,0.621023896033,0.0100546209923,1.06002926452,0.591594621985,0.0187273461088,1.05969854987
+289,4.816666667,pose2_to_pose3_retreat,0.620805646116,0.0100545429114,1.06002903497,0.591376373821,0.0187272736711,1.05969832391
+290,4.833333333,pose2_to_pose3_retreat,0.620566835984,0.0100547422026,1.06002903232,0.591137560982,0.0187274634133,1.05969832144
+291,4.850000000,pose2_to_pose3_retreat,0.620303396621,0.0100545941774,1.0600288707,0.590874123569,0.0187273217551,1.05969817166
+292,4.866666667,pose2_to_pose3_retreat,0.620013196858,0.0100546377744,1.06002902508,0.5905839223,0.0187273593089,1.05969831628
+293,4.883333333,pose2_to_pose3_retreat,0.619691718815,0.0100544698844,1.06002900141,0.590262448726,0.0187272060675,1.05969829642
+294,4.900000000,pose2_to_pose3_retreat,0.619341063345,0.0100544925961,1.06002903351,0.5899117932,0.0187272277801,1.05969832441
+295,4.916666667,pose2_to_pose3_retreat,0.618961379881,0.0100544635813,1.06002901166,0.589532108233,0.0187271930677,1.05969830388
+296,4.933333333,pose2_to_pose3_retreat,0.618556638199,0.0100544821723,1.06002885218,0.589127369074,0.0187272201031,1.05969815836
+297,4.950000000,pose2_to_pose3_retreat,0.618129430602,0.0100545774171,1.06002897671,0.588700160763,0.0187273119407,1.05969827435
+298,4.966666667,pose2_to_pose3_retreat,0.617680647866,0.0100546499622,1.06002898593,0.588251376772,0.0187273796167,1.05969828705
+299,4.983333333,pose2_to_pose3_retreat,0.617212632872,0.0100546228672,1.06002903144,0.58778336028,0.0187273462963,1.05969832265
+300,5.000000000,pose2_to_pose3_retreat,0.616725082791,0.0100545901713,1.06002913961,0.587295811976,0.0187273187306,1.05969842765
+301,5.016666667,pose2_to_pose3_retreat,0.616213024474,0.0100547993572,1.06002927465,0.586783752366,0.0187275225509,1.05969855745
+302,5.033333333,pose2_to_pose3_retreat,0.615674893882,0.0100546384282,1.0600293017,0.586245623478,0.0187273666379,1.05969858514
+303,5.050000000,pose2_to_pose3_retreat,0.615102489029,0.0100545321852,1.06002920875,0.585673219833,0.0187272640006,1.05969849699
+304,5.066666667,pose2_to_pose3_retreat,0.614495381459,0.0100546490219,1.06002922116,0.585066111629,0.018727378382,1.05969851257
+305,5.083333333,pose2_to_pose3_retreat,0.613849905519,0.0100546421548,1.06002895651,0.584420635204,0.0187273698913,1.05969825269
+306,5.100000000,pose2_to_pose3_retreat,0.61317931381,0.0100545596042,1.0600290575,0.583750043714,0.0187272881262,1.05969835501
+307,5.116666667,pose2_to_pose3_retreat,0.612488745613,0.0100545141446,1.06002925385,0.583059476119,0.0187272445912,1.05969854704
+308,5.133333333,pose2_to_pose3_retreat,0.611785291687,0.0100545913393,1.06002919151,0.582356021823,0.0187273205132,1.05969848298
+309,5.150000000,pose2_to_pose3_retreat,0.611069071418,0.0100545352261,1.06002898493,0.58163980277,0.0187272686841,1.05969828188
+310,5.166666667,pose2_to_pose3_retreat,0.610336050366,0.0100545249608,1.06002894218,0.580906781899,0.0187272590279,1.05969824014
+311,5.183333333,pose2_to_pose3_retreat,0.609577372796,0.0100545936089,1.06002901671,0.580148102374,0.0187273208833,1.05969831009
+312,5.200000000,pose2_to_pose3_retreat,0.608784942943,0.0100545970238,1.06002917403,0.5793556718,0.0187273215176,1.05969845843
+313,5.216666667,pose2_to_pose3_retreat,0.607960732,0.0100545506905,1.06002937813,0.578531462107,0.0187272792242,1.05969865741
+314,5.233333333,pose2_to_pose3_retreat,0.607105755756,0.0100545938209,1.06002927476,0.577676485405,0.0187273210903,1.05969856114
+315,5.250000000,pose2_to_pose3_retreat,0.606223723057,0.0100545812411,1.0600290576,0.576794453438,0.0187273113217,1.05969835255
+316,5.266666667,pose2_to_pose3_retreat,0.605327060309,0.0100545194003,1.06002902117,0.575897791152,0.0187272509647,1.05969831395
+317,5.283333333,pose2_to_pose3_retreat,0.604438292152,0.0100544375149,1.06002912759,0.575009024644,0.0187271744145,1.05969841356
+318,5.300000000,pose2_to_pose3_retreat,0.603555566947,0.0100544425122,1.06002916015,0.574126299655,0.0187271801883,1.05969844721
+319,5.316666667,pose2_to_pose3_retreat,0.602675703425,0.0100544979033,1.06002913074,0.573246434417,0.0187272300614,1.05969842495
+320,5.333333333,pose2_to_pose3_retreat,0.6017985546,0.0100544881772,1.06002922353,0.572369285569,0.0187272201403,1.05969851491
+321,5.350000000,pose2_to_pose3_retreat,0.600916691044,0.0100545593819,1.06002913062,0.571487420822,0.0187272872905,1.05969842207
+322,5.366666667,pose2_to_pose3_retreat,0.600014331373,0.0100545978005,1.06002901255,0.570585061474,0.0187273269372,1.05969830749
+323,5.383333333,pose2_to_pose3_retreat,0.599091016772,0.0100544892995,1.06002911495,0.569661749514,0.0187272271065,1.05969840218
+324,5.400000000,pose2_to_pose3_retreat,0.59814062734,0.0100545306758,1.06002932882,0.568711359574,0.0187272666852,1.05969861402
+325,5.416666667,pose2_to_pose3_retreat,0.597195180191,0.0100545672392,1.06002925598,0.56776591104,0.0187272985158,1.05969853992
+326,5.433333333,pose2_to_pose3_retreat,0.596267016498,0.010054553436,1.06002906978,0.566837746895,0.0187272834141,1.05969835864
+327,5.450000000,pose2_to_pose3_retreat,0.595365868682,0.0100545034331,1.06002910343,0.565936599938,0.0187272364687,1.05969839552
+328,5.466666667,pose2_to_pose3_retreat,0.594496905966,0.0100545635636,1.06002913309,0.565067636831,0.0187272953123,1.05969842623
+329,5.483333333,pose2_to_pose3_retreat,0.59365941286,0.0100546332747,1.06002895997,0.564230142915,0.018727362487,1.05969825872
+330,5.500000000,pose2_to_pose3_retreat,0.592826940616,0.0100545669487,1.06002895263,0.563397670542,0.0187272956894,1.05969825039
+331,5.516666667,pose2_to_pose3_retreat,0.591987208534,0.01005459681,1.06002915112,0.562557937509,0.0187273221511,1.05969844441
+332,5.533333333,pose2_to_pose3_retreat,0.591125325945,0.0100545963025,1.06002912583,0.561696055233,0.0187273226065,1.05969841647
+333,5.550000000,pose2_to_pose3_retreat,0.59024523151,0.0100546194916,1.06002929114,0.560815961832,0.0187273490459,1.05969857503
+334,5.566666667,pose2_to_pose3_retreat,0.589391440781,0.0100545846442,1.06002922592,0.559962171263,0.0187273149748,1.05969851583
+335,5.583333333,pose2_to_pose3_retreat,0.588571570657,0.0100544499598,1.06002922559,0.559142303793,0.0187271893487,1.05969851838
+336,5.600000000,pose2_to_pose3_retreat,0.587799610297,0.0100545673689,1.06002909251,0.558370340989,0.018727298475,1.05969838568
+337,5.616666667,pose2_to_pose3_retreat,0.587070669265,0.0100546016506,1.06002909897,0.557641398485,0.0187273277681,1.05969839268
+338,5.633333333,pose2_to_pose3_retreat,0.586377951608,0.0100545081561,1.06002917654,0.556948682564,0.0187272397814,1.05969846004
+339,5.650000000,pose2_to_pose3_retreat,0.585686464008,0.0100545054882,1.06002932727,0.556257196515,0.0187272423072,1.05969860834
+340,5.666666667,pose2_to_pose3_retreat,0.584992948262,0.0100545965694,1.0600292324,0.555563679407,0.0187273287645,1.05969851311
+341,5.683333333,pose2_to_pose3_retreat,0.584301359064,0.0100546182127,1.06002920625,0.55487208885,0.0187273459213,1.05969848997
+342,5.700000000,pose2_to_pose3_retreat,0.583628837691,0.0100544067879,1.06002913558,0.554199569545,0.0187271415652,1.05969842051
+343,5.716666667,pose2_to_pose3_retreat,0.58299069872,0.0100544036268,1.06002912127,0.553561430017,0.0187271365754,1.05969840788
+344,5.733333333,pose2_to_pose3_retreat,0.582391155679,0.0100544809565,1.06002925871,0.552961886546,0.0187272123402,1.0596985425
+345,5.750000000,pose2_to_pose3_retreat,0.581827878219,0.010054457318,1.06002906362,0.552398610737,0.0187271941578,1.05969834358
+346,5.766666667,pose2_to_pose3_retreat,0.581294989387,0.0100545712293,1.06002898572,0.551865721073,0.0187273056603,1.05969827667
+347,5.783333333,pose2_to_pose3_retreat,0.580789610527,0.0100546612866,1.06002911388,0.551360340533,0.0187273899859,1.05969840397
+348,5.800000000,pose2_to_pose3_retreat,0.58031400313,0.0100546275907,1.06002924265,0.550884733305,0.018727356755,1.05969852989
+349,5.816666667,pose2_to_pose3_retreat,0.579870678395,0.0100546004427,1.06002920612,0.550441409096,0.0187273314021,1.05969849365
+350,5.833333333,pose2_to_pose3_retreat,0.579461959754,0.0100545563942,1.06002917709,0.550032690327,0.0187272868005,1.05969846151
+351,5.850000000,pose2_to_pose3_retreat,0.579079093635,0.0100546060218,1.06002924311,0.549649823926,0.0187273354736,1.05969852766
+352,5.866666667,pose2_to_pose3_retreat,0.578718979695,0.0100546448894,1.06002922415,0.549289709804,0.0187273738543,1.0596985124
+353,5.883333333,pose2_to_pose3_retreat,0.578375430884,0.0100546350553,1.06002916217,0.548946160158,0.0187273611891,1.05969845057
+354,5.900000000,pose2_to_pose3_retreat,0.578048285553,0.0100546320147,1.06002920262,0.548619014718,0.0187273579156,1.05969849456
+355,5.916666667,pose2_to_pose3_retreat,0.577741641764,0.0100545979938,1.06002919683,0.548312371332,0.0187273252587,1.05969848882
+356,5.933333333,pose2_to_pose3_retreat,0.577458987149,0.0100544736887,1.06002907904,0.548029719172,0.0187272092314,1.05969836955
+357,5.950000000,pose2_to_pose3_retreat,0.577201894785,0.0100545157962,1.06002917728,0.54777262717,0.0187272526552,1.05969847008
+358,5.966666667,pose2_to_pose3_retreat,0.576973949649,0.0100545955732,1.06002926864,0.547544679905,0.0187273251774,1.05969856068
+359,5.983333333,pose2_to_pose3_retreat,0.576772678899,0.0100546406615,1.06002927534,0.547343409278,0.0187273706347,1.05969856605
+360,6.000000000,pose2_to_pose3_retreat,0.576596158482,0.0100546306409,1.06002919462,0.547166887342,0.0187273553891,1.05969848353
+361,6.016666667,pose2_to_pose3_retreat,0.576441012038,0.0100545945037,1.06002925935,0.547011741886,0.018727322432,1.05969854375
+362,6.033333333,pose2_to_pose3_retreat,0.576306972391,0.0100546182553,1.06002906389,0.546877701096,0.0187273428287,1.05969836199
+363,6.050000000,pose2_to_pose3_retreat,0.576189355327,0.0100546389356,1.06002922388,0.546760084143,0.018727363478,1.05969851216
+364,6.066666667,pose2_to_pose3_retreat,0.576087764108,0.0100546047057,1.06002927649,0.546658494994,0.0187273363724,1.05969856743
+365,6.083333333,pose2_to_pose3_retreat,0.576002046076,0.0100544406533,1.06002916494,0.546572777396,0.0187271739352,1.05969845934
+366,6.100000000,pose2_to_pose3_retreat,0.575930598199,0.0100546864753,1.06002924515,0.546501327876,0.0187274141637,1.05969853899
+367,6.116666667,pose2_to_pose3_retreat,0.575873144578,0.0100546373747,1.06002900272,0.546443874261,0.0187273646981,1.05969828645
+368,6.133333333,pose2_to_pose3_retreat,0.575827543628,0.0100546258722,1.06002913142,0.546398273541,0.0187273540857,1.05969841787
+369,6.150000000,pose2_to_pose3_retreat,0.575793493705,0.0100546172858,1.06002914904,0.54636422432,0.0187273480955,1.05969844117
+370,6.166666667,pose2_to_pose3_retreat,0.575767573269,0.0100545348814,1.06002914557,0.546338304778,0.0187272687278,1.05969843775
+371,6.183333333,pose2_to_pose3_retreat,0.575749142262,0.0100545163836,1.06002914063,0.546319872566,0.0187272461189,1.05969843225
+372,6.200000000,pose2_to_pose3_retreat,0.575736529516,0.010054530331,1.06002924289,0.546307259269,0.0187272581014,1.05969853205
+373,6.216666667,pose2_to_pose3_retreat,0.575727708028,0.0100545379072,1.06002938601,0.54629843849,0.0187272679762,1.05969867233
+374,6.233333333,pose2_to_pose3_retreat,0.575721640036,0.0100545189625,1.06002919325,0.546292370942,0.0187272508234,1.05969848703
+375,6.250000000,pose2_to_pose3_retreat,0.575717424747,0.010054540176,1.06002909388,0.5462881556,0.0187272718188,1.05969838671
+376,6.266666667,pose2_to_pose3_retreat,0.575714884993,0.0100545711272,1.06002905226,0.546285615623,0.0187273018654,1.05969834128
+377,6.283333333,pose2_to_pose3_retreat,0.575713534622,0.0100545891102,1.06002914165,0.546284264934,0.018727318652,1.05969842756
+378,6.300000000,pose2_to_pose3_retreat,0.575713109024,0.0100545951717,1.06002919859,0.546283839185,0.0187273241519,1.05969848323
+379,6.316666667,pose2_to_pose3_retreat,0.575712966023,0.0100545972083,1.06002921772,0.546283696133,0.0187273259999,1.05969850194
+380,6.333333333,pose2_to_pose3_retreat,0.575712816872,0.0100545993326,1.06002923767,0.546283546929,0.0187273279273,1.05969852145
+381,6.350000000,pose2_to_pose3_retreat,0.575712718331,0.010054600736,1.06002925086,0.546283448353,0.0187273292007,1.05969853434
+382,6.366666667,pose2_to_pose3_retreat,0.5757124729,0.0100546042315,1.06002928369,0.546283202835,0.0187273323723,1.05969856645
+383,6.383333333,pose2_to_pose3_retreat,0.575712205039,0.0100546080464,1.06002931953,0.546282934879,0.0187273358338,1.05969860149
+384,6.400000000,pose2_to_pose3_retreat,0.575712177362,0.0100546084406,1.06002932323,0.546282907192,0.0187273361914,1.05969860511
+385,6.416666667,pose2_to_pose3_retreat,0.575711876356,0.0100546127276,1.0600293635,0.546282606079,0.0187273400812,1.05969864449
+386,6.433333333,pose2_to_pose3_retreat,0.575711414992,0.0100546192985,1.06002942523,0.546282144551,0.0187273460433,1.05969870484
+387,6.450000000,pose2_to_pose3_retreat,0.575711088862,0.0100546300598,1.0600293859,0.546281818155,0.0187273559723,1.05969866741
+388,6.466666667,pose2_to_pose3_retreat,0.575710917181,0.0100546368767,1.06002934958,0.546281646306,0.0187273622753,1.05969863262
+389,6.483333333,pose2_to_pose3_retreat,0.575710812192,0.0100546410456,1.06002932736,0.546281541213,0.0187273661299,1.05969861134
+390,6.500000000,pose2_to_pose3_retreat,0.575710562636,0.0100546509547,1.06002927456,0.546281291412,0.0187273752921,1.05969856077
+391,6.516666667,pose2_to_pose3_retreat,0.575710467004,0.010054654752,1.06002925432,0.546281195685,0.0187273788032,1.05969854139
+392,6.533333333,pose2_to_pose3_retreat,0.575710427986,0.0100546563013,1.06002924607,0.54628115663,0.0187273802356,1.05969853348
+393,6.550000000,pose2_to_pose3_retreat,0.575710270206,0.0100546625663,1.06002921268,0.546280998695,0.0187273860284,1.05969850151
+394,6.566666667,pose2_to_pose3_retreat,0.575710110095,0.0100546689238,1.0600291788,0.546280838427,0.0187273919067,1.05969846906
+395,6.583333333,pose2_to_pose3_retreat,0.575710016556,0.010054672638,1.06002915901,0.546280744795,0.0187273953409,1.0596984501
+396,6.600000000,pose2_to_pose3_retreat,0.575709953135,0.0100546751563,1.06002914559,0.546280681312,0.0187273976693,1.05969843725
+397,6.616666667,pose2_to_pose3_retreat,0.575709752027,0.0100546888251,1.06002913085,0.546280479897,0.0187274103778,1.05969842465
+398,6.633333333,pose2_to_pose3_retreat,0.575709430511,0.0100547119246,1.06002911339,0.546280157866,0.0187274318635,1.05969841068
+399,6.650000000,pose2_to_pose3_retreat,0.575709262186,0.0100547306292,1.0600291686,0.546279989507,0.0187274503885,1.05969846418
+400,6.666666667,pose2_to_pose3_retreat,0.575709248121,0.0100547396517,1.06002924583,0.546279975705,0.0187274601467,1.05969853725
+401,6.683333333,pose2_to_pose3_retreat,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+402,6.700000000,pose2_to_pose3_retreat,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
+403,6.716666667,pose2_to_pose3_retreat,0.57570924427,0.010054742122,1.06002926698,0.546279971927,0.0187274628184,1.05969855726
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_12/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_12/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f0c0b493458a65085d3c91e2cf75eb6c277959e5
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_12/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ecc520f56cc154895821e7cfab2aecfe33ef776be1c58bb32a686499e1d58990
+size 24973992
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_12/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_12/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..477f2ee8b74b2fc27f6ed98fe60df29afa3b9fc4
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_12/depth_01/franka_data.csv
@@ -0,0 +1,394 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,763,743,712,673,659,632,878,784,800,650,629,651,0.401014226156,0.00446728858754,0.0798540723865,0.99999998328,7.6112533481e-05,-0.000160999627394,4.15514978227e-05,1793193654146320896
+1,0.016666667,BASELINE,763,742.42504281,711.42504281,672.42504281,659,632,878.57495719,784,799.42504281,649.42504281,629,651,0.401012942667,0.00446564347337,0.0798531083114,0.999999983072,7.45584809741e-05,-0.000163019191051,4.14855396412e-05,1793193654162987520
+2,0.033333333,BASELINE,763.153600254,742.153600254,711.153600254,672.153600254,659,632.153600254,878.692799491,784,799.153600254,649.153600254,629,651,0.401012106498,0.00446455857993,0.0798523779233,0.999999982909,7.33786188305e-05,-0.000164559896511,4.144597788e-05,1793193654179654144
+3,0.050000000,BASELINE,763.742693779,742.742693779,711.742693779,672.742693779,659,632.742693779,877.514612441,784,799.742693779,649.742693779,629,651,0.401012538583,0.00446506204524,0.0798523100933,0.999999982886,7.32596750495e-05,-0.000164742925505,4.14812562366e-05,1793193654196320768
+4,0.066666667,BASELINE,763.67440311,742.67440311,711.67440311,673,659,632.67440311,877.32559689,784,800,650,628.67440311,651,0.401012128437,0.0044652807717,0.0798523994216,0.999999982814,7.33662402542e-05,-0.000165121804844,4.15270441714e-05,1793193654212987648
+5,0.083333333,BASELINE,763.096300796,742.096300796,711.096300796,673,659,632.096300796,877.903699204,784,800,650,628.096300796,651,0.401011065128,0.00446527867875,0.0798526106285,0.999999982703,7.36476911717e-05,-0.000165652569141,4.15809824445e-05,1793193654229654528
+6,0.100000000,BASELINE,763,742,711,673,659,632,877.518838879,784,799.518838879,650,628,651,0.401011118778,0.0044657944124,0.0798522423765,0.999999982654,7.39024902413e-05,-0.000165886214823,4.13753819477e-05,1793193654246321152
+7,0.116666667,BASELINE,763,742.058051417,711,673,659,632,877,783.941948583,799,650,628.058051417,651,0.401011488117,0.00446632676254,0.0798519510322,0.999999982647,7.41703109198e-05,-0.000165859794376,4.11682662228e-05,1793193654262987520
+8,0.133333333,BASELINE,763,742.631006901,711,673,659,632,877,783.368993099,799,650,628.631006901,651,0.401012677328,0.00446608846173,0.0798533691449,0.999999982903,7.46008806668e-05,-0.000164053391771,4.14078374488e-05,1793193654279654144
+9,0.150000000,BASELINE,763,742.789038703,711.210961297,673,659,632.210961297,877,783.210961297,799,649.789038703,629,651,0.401013034223,0.00446633247034,0.0798540187524,0.999999983009,7.48068309853e-05,-0.000163306920405,4.14305479423e-05,1793193654296320768
+10,0.166666667,BASELINE,763,742.196422478,711.803577522,673,659,632.803577522,877,783.803577522,799,649.196422478,629,651,0.401011885354,0.00446744903602,0.0798532780394,0.999999982847,7.46064170913e-05,-0.000164477995178,4.10609306787e-05,1793193654312987392
+11,0.183333333,BASELINE,763.386506316,742,712,673,659.386506316,632.613493684,877.386506316,784,799,649.386506316,628.613493684,651,0.401010934981,0.00446777711898,0.0798523910973,0.999999982606,7.47688783806e-05,-0.000165845451735,4.11339916681e-05,1793193654329654016
+12,0.200000000,BASELINE,763.964632387,742,712,673,659.964632387,632.035367613,877.964632387,784,799,649.964632387,628.035367613,651,0.401010083016,0.00446771429287,0.0798514316585,0.999999982325,7.51112437075e-05,-0.000167310269366,4.14265209617e-05,1793193654346320640
+13,0.216666667,BASELINE,763.462441278,742.537558722,711.462441278,673,659.462441278,632,877.462441278,784,799,649.462441278,628.537558722,651,0.401011435875,0.00446731123564,0.0798531182506,0.999999982698,7.49868922815e-05,-0.000165094306739,4.15295540138e-05,1793193654362987264
+14,0.233333333,BASELINE,763,742.886596488,711,673,659,632,877.113403512,784,799,649.113403512,628.886596488,651,0.401012551611,0.00446668314539,0.0798544043208,0.999999982996,7.47203558362e-05,-0.000163386964205,4.15907002491e-05,1793193654379654144
+15,0.250000000,BASELINE,763,742.297076034,711,673,659,632,877.702923966,784,799,649.702923966,628.297076034,651,0.401012068602,0.00446520335003,0.0798532849233,0.999999982818,7.3984550141e-05,-0.000164822020167,4.1527830172e-05,1793193654396320768
+16,0.266666667,BASELINE,763.287773084,742.287773084,711,673,659,632,878,784,799,650,628,651,0.40101191624,0.00446489819669,0.0798529701211,0.999999982756,7.41595995588e-05,-0.000165117391224,4.15170484467e-05,1793193654412987392
+17,0.283333333,BASELINE,763.867876849,742.867876849,711,673,659,632,878,784,799,650,628,651,0.401012099762,0.00446578628882,0.0798534726572,0.999999982815,7.52599297724e-05,-0.000164255027565,4.15591800243e-05,1793193654429654016
+18,0.300000000,BASELINE,764,743,711.445170945,673,659,632.445170945,878,784,799,649.554829055,628.445170945,651,0.401012281537,0.00446601947376,0.0798533346341,0.999999982843,7.52355633306e-05,-0.000164132648902,4.14099099417e-05,1793193654446320640
+19,0.316666667,BASELINE,763.978382557,743,711.978382557,673,659,633,878,784,799,649.021617443,629.021617443,651,0.401012433297,0.0044660575586,0.0798530087548,0.999999982856,7.49023681437e-05,-0.000164254086088,4.12108791124e-05,1793193654462987264
+20,0.333333333,BASELINE,763.402421511,743,711.402421511,673,659,633,878,784,799,649.597578489,629.597578489,651,0.401011828574,0.00446604569018,0.0798527101652,0.99999998271,7.51558570374e-05,-0.000165031267205,4.11833879046e-05,1793193654479653888
+21,0.350000000,BASELINE,763.177374643,743,711.177374643,673,659,632.822625357,878,784,799.177374643,649.822625357,629.822625357,651,0.401011476871,0.00446584250777,0.0798528215838,0.999999982697,7.48034536956e-05,-0.000165248945253,4.12608355125e-05,1793193654496320768
+22,0.366666667,BASELINE,763.766063959,743,711.766063959,673,659,632.233936041,878,784,799.766063959,649.233936041,629.233936041,651,0.401011711894,0.00446519568668,0.079853883772,0.999999982992,7.30460447105e-05,-0.000164169189585,4.15816261078e-05,1793193654512987648
+23,0.383333333,BASELINE,763.650800589,743,711.650800589,673,659,632,878,784,799.650800589,649.349199411,629,651,0.401011141685,0.00446605395572,0.0798532671893,0.999999982801,7.37616021224e-05,-0.000165035023258,4.14787585932e-05,1793193654529654272
+24,0.400000000,BASELINE,763.071327482,743,711.071327482,673,659,632,878,784,799.071327482,649.928672518,629,651,0.401010040477,0.00446790473113,0.0798515435694,0.999999982284,7.6107915579e-05,-0.000167183843086,4.10965168743e-05,1793193654546320896
+25,0.416666667,BASELINE,763,742.4961152,711,673,659.5038848,632.5038848,878,784,800.0077696,649.4961152,629,651,0.401009382132,0.0044671970212,0.0798510503436,0.999999982241,7.50577239664e-05,-0.000167952978979,4.0928753319e-05,1793193654562987264
+26,0.433333333,BASELINE,763,742.078447373,711.078447373,673,659.921552627,632.921552627,877.921552627,784,800.843105254,649.078447373,629,650.921552627,0.401008924787,0.00446628903816,0.0798508767123,0.999999982257,7.40688378265e-05,-0.000168322793709,4.08408240738e-05,1793193654579653888
+27,0.450000000,BASELINE,763,742.652683926,711.652683926,673,659.347316074,632.347316074,877.347316074,784,799.694632147,649.652683926,629,650.347316074,0.401009344894,0.00446638503362,0.0798516314059,0.999999982222,7.64805450975e-05,-0.000167392849108,4.10671793766e-05,1793193654596320512
+28,0.466666667,BASELINE,763.235526862,743,711.764473138,673,658.764473138,632,877.235526862,784,799.235526862,649.764473138,629,650.235526862,0.401009625917,0.00446673355901,0.0798518839299,0.999999982205,7.73198992777e-05,-0.000167078055298,4.11990325562e-05,1793193654612987136
+29,0.483333333,BASELINE,763.831542372,743,711.168457628,673,658.168457628,632,877.831542372,784,799.831542372,649.168457628,629,650.831542372,0.401009694062,0.00446746859729,0.0798513678518,0.99999998222,7.57526682087e-05,-0.000167704788448,4.11862442908e-05,1793193654629653760
+30,0.500000000,BASELINE,763.588023381,742.588023381,711.411976619,673,658.411976619,632,878,784,799.588023381,649.411976619,629,651,0.40101133314,0.00446790820817,0.0798525536678,0.999999982499,7.67186214731e-05,-0.000165584663725,4.11969427361e-05,1793193654646320640
+31,0.516666667,BASELINE,763.013728159,742.013728159,711.986271841,673,658.986271841,632,878,784,799.013728159,649.986271841,629,651,0.401013591165,0.00446823142076,0.0798544100291,0.999999982871,7.86826482647e-05,-0.000162382278218,4.12168949348e-05,1793193654662987264
+32,0.533333333,BASELINE,763,742,712,672.438870607,659,632,878,784,799,649.438870607,628.438870607,651,0.40101124866,0.00446857454506,0.0798528540047,0.999999982404,7.9104035859e-05,-0.000165030282838,4.12211758451e-05,1793193654679654144
+33,0.550000000,BASELINE,763,742,711.863498483,672.136501517,659,632,878,784,799,649.136501517,628.136501517,651,0.401009641925,0.00446894820916,0.0798518398543,0.999999982064,7.93102827723e-05,-0.000166991615007,4.11687608218e-05,1793193654696320768
+34,0.566666667,BASELINE,763,742,711.286510406,672.713489594,659,632,878,784,799,649.713489594,628.713489594,651,0.401010773073,0.00446941885065,0.0798528439899,0.999999982222,7.89441880696e-05,-0.000166274730433,4.09346280814e-05,1793193654712987392
+35,0.583333333,BASELINE,763,742,711.298596906,672.701403094,659,632,877.701403094,784,799,649.701403094,629,650.701403094,0.401011374798,0.00446797889665,0.0798532204539,0.999999982461,7.68326122221e-05,-0.000165824788479,4.09610035028e-05,1793193654729654016
+36,0.600000000,BASELINE,763,742,711.891712634,672.108287366,659,632,877.108287366,784,799,649.108287366,629,650.108287366,0.401011454329,0.00446465444119,0.0798529778187,0.999999982767,7.29993940856e-05,-0.000165638143288,4.12443291689e-05,1793193654746320384
+37,0.616666667,BASELINE,763,742,711.530965039,672.469034961,659,632,877.469034961,784,799,649,629,650,0.401010645775,0.00446511707871,0.0798529917746,0.999999982644,7.32914300317e-05,-0.000166199731353,4.14602680098e-05,1793193654762987008
+38,0.633333333,BASELINE,763,742,711.043010807,673,659,632,878.043010807,784,799,649,629,650.043010807,0.401009779325,0.004466395466,0.0798530679084,0.999999982446,7.45625580329e-05,-0.000166783527129,4.16142454983e-05,1793193654779653632
+39,0.650000000,BASELINE,763,742,711.619231053,673,659,632,878.619231053,784,799,649,629,650.619231053,0.40101065416,0.00446730064108,0.0798532043893,0.999999982515,7.65491047388e-05,-0.000165570838649,4.11866703841e-05,1793193654796320512
+40,0.666666667,BASELINE,763,742,711.799099339,673.200900661,659,632,878.598198679,784,799,649,629,651,0.401011159073,0.00446784230607,0.0798533661163,0.999999982537,7.76782292194e-05,-0.000164979516768,4.09169185605e-05,1793193654812987136
+41,0.683333333,BASELINE,763,742,711.20681358,673.79318642,659,632,877.41362716,784,799,649,629,651,0.401010943322,0.00446767579799,0.0798535770261,0.999999982475,7.71369644362e-05,-0.000165598711776,4.09546305812e-05,1793193654829653760
+42,0.700000000,BASELINE,763.375405874,742,711.375405874,673.624594126,659,632,877.375405874,784.375405874,799,649.375405874,629,651,0.401010856871,0.00446675195108,0.0798532768007,0.999999982471,7.61736882023e-05,-0.000166058707454,4.0988670018e-05,1793193654846320640
+43,0.716666667,BASELINE,763.952224534,742,711.952224534,673.047775466,659,632,877.952224534,784.952224534,799,649.952224534,629,651,0.401010839792,0.0044654217767,0.079852702341,0.999999982497,7.4983994373e-05,-0.000166433289476,4.10207390383e-05,1793193654862987520
+44,0.733333333,BASELINE,763.47326855,742,712,672.47326855,659,632,877.47326855,784.47326855,799,649.47326855,628.47326855,651,0.401011860522,0.00446626374228,0.0798539705964,0.999999982661,7.58182845685e-05,-0.000165042603662,4.11192835773e-05,1793193654879654144
+45,0.750000000,BASELINE,763.101454389,742.101454389,711.898545611,672.101454389,659,632,877.101454389,784,799,649.101454389,628.101454389,651,0.401012562105,0.00446733625689,0.0798549924948,0.999999982743,7.69182872059e-05,-0.000164025557418,4.11431724625e-05,1793193654896320768
+46,0.766666667,BASELINE,763.678167043,742.678167043,711.321832957,672.678167043,659,632,877.678167043,784,799,649.678167043,628.678167043,651,0.401011329627,0.0044685698837,0.0798540808184,0.999999982398,7.84067979823e-05,-0.000165505572267,4.07892192169e-05,1793193654912987136
+47,0.783333333,BASELINE,763.737937394,742.737937394,711,673,659,632,878,784,799,649.737937394,629,651,0.401010486439,0.00446828423853,0.0798533397722,0.999999982327,7.77856217555e-05,-0.000166227852005,4.07768732429e-05,1793193654929654016
+48,0.800000000,BASELINE,763.144971996,742.144971996,711,673,659,632,878,784,799,649.144971996,629,651,0.401010134801,0.00446608023002,0.0798528141782,0.999999982599,7.45005734203e-05,-0.000165993350401,4.1195869951e-05,1793193654946320896
+49,0.816666667,BASELINE,763.433154197,742,711,673,659,632,877.566845803,784,799,649.433154197,629,651,0.401011554743,0.00446591927639,0.0798538607112,0.999999982976,7.4348556848e-05,-0.000163766971525,4.12428854928e-05,1793193654962987520
+50,0.833333333,BASELINE,763.993488806,742,711.006511194,673,659,632.006511194,877.006511194,784,799,650,629,651,0.401013521625,0.00446641716602,0.0798554002022,0.999999983375,7.51853579897e-05,-0.000160940517924,4.11670805066e-05,1793193654979654400
+51,0.850000000,BASELINE,763.417257583,742,711.582742417,673,659,632.582742417,877.582742417,784,799,650,629,651,0.401013183069,0.00446671421682,0.0798555583656,0.999999983316,7.38311407916e-05,-0.000162007969079,4.08772259629e-05,1793193654996320768
+52,0.866666667,BASELINE,763,742.163369824,711.836630176,673,659,632.836630176,878,784,799,650,629,651,0.401012712203,0.00446707472879,0.0798554229699,0.999999983177,7.3572426976e-05,-0.000163022365845,4.07033662744e-05,1793193655012987392
+53,0.883333333,BASELINE,763,742.755535844,711.244464156,673,659,632.244464156,878,784,799,650,629,651,0.401011894062,0.00446760180706,0.0798545170707,0.999999982833,7.61890770807e-05,-0.000163897510879,4.08339578875e-05,1793193655029654016
+54,0.900000000,BASELINE,763.339140279,742.660859721,711.339140279,672.660859721,659,632,878,784,799,649.660859721,628.660859721,651,0.401011392242,0.00446778093844,0.0798539978868,0.999999982663,7.70932122457e-05,-0.000164503251403,4.08680347418e-05,1793193655046320384
+55,0.916666667,BASELINE,763.916725164,742.083274836,711.916725164,672.083274836,659,632,878,784,799,649.083274836,628.083274836,651,0.401011112822,0.0044677154334,0.0798537505969,0.999999982618,7.67933029124e-05,-0.000164919577493,4.0834253465e-05,1793193655062987008
+56,0.933333333,BASELINE,763.511434749,742,712,672.488565251,659,632,878,784,799,649.488565251,628.488565251,651,0.401012124522,0.0044670336282,0.0798545446099,0.999999982841,7.53665859937e-05,-0.000164193863665,4.09598936727e-05,1793193655079653888
+57,0.950000000,BASELINE,763,742,712,673,659,632,878,784,799,650,629,651,0.401013059911,0.00446637060021,0.0798552954106,0.999999983032,7.40950416991e-05,-0.000163576526797,4.11026566125e-05,1793193655096320768
+58,0.966666667,BASELINE,763,742,712,673,659,632,878,784,799,650,629,651,0.401011467077,0.00446676252165,0.0798541649303,0.999999982578,7.57920949678e-05,-0.000165547211038,4.11616583013e-05,1793193655112987648
+59,0.983333333,BASELINE,763,742.240672527,711.759327473,672.759327473,659,632,878,784,799,649.759327473,629,651,0.401010554075,0.00446720797077,0.0798535231887,0.999999982351,7.65847877019e-05,-0.000166552493016,4.11365070777e-05,1793193655129654016
+60,1.000000000,BASELINE,763,742.820434227,711.179565773,672.179565773,659,632,878,784,799,649.179565773,629,651,0.401010598901,0.00446772883633,0.0798535700421,0.999999982453,7.61033058977e-05,-0.000166197597372,4.09927908496e-05,1793193655146320896
+61,1.016666667,BASELINE,763.399165239,742.600834761,711.399165239,672,659,632,878,784,799,649.399165239,629,651,0.40101240339,0.00446718389219,0.0798546498271,0.999999982894,7.49326534851e-05,-0.000164058715043,4.10012924169e-05,1793193655162987264
+62,1.033333333,BASELINE,763.977433753,742.022566247,711.977433753,672,659,632,878,784,799,649.977433753,629,651,0.401014997431,0.00446616072499,0.079856193083,0.999999983479,7.34527739932e-05,-0.000161119367599,4.10780932902e-05,1793193655179653888
+63,1.050000000,BASELINE,764,742.550665456,712,672.550665456,659,632,877.449334544,784,799,650,629,651,0.401012952827,0.00446706060595,0.0798552020146,0.999999983052,7.51027759685e-05,-0.000162995385468,4.10754265493e-05,1793193655196320768
+64,1.066666667,BASELINE,763.872501239,742.872501239,712,673,659,632.127498761,877.127498761,784,799.127498761,650,629,651,0.401011117877,0.00446757228318,0.0798542425309,0.999999982692,7.58343699789e-05,-0.000164854690324,4.1093488703e-05,1793193655212987392
+65,1.083333333,BASELINE,763.281841519,742.281841519,712,673,659,632.718158481,877.718158481,784,799.718158481,650,629,651,0.401010728809,0.00446639006123,0.0798537716406,0.999999982735,7.27679787054e-05,-0.000165942932198,4.11985749505e-05,1793193655229654016
+66,1.100000000,BASELINE,763,742.302111251,711.697888749,673,659,632.697888749,877.697888749,784,800,649.697888749,629,650.697888749,0.401010972795,0.0044663343758,0.0798539065057,0.999999982832,7.24727059046e-05,-0.000165489499295,4.12023276747e-05,1793193655246320640
+67,1.116666667,BASELINE,763,742.879942922,711.120057078,673,659,632.120057078,877.120057078,784,800,649.120057078,629,650.120057078,0.401011794536,0.00446730681872,0.0798545942107,0.999999982977,7.47064815777e-05,-0.000163629064059,4.11135988274e-05,1793193655262987520
+68,1.133333333,BASELINE,763,742.54372018,711,672.54372018,659,632,877,783.54372018,799.54372018,649,629,650.45627982,0.401011383127,0.00446800273689,0.0798542092131,0.999999982721,7.60294428353e-05,-0.000164603826747,4.10175329729e-05,1793193655279654400
+69,1.150000000,BASELINE,763,742,711,672.032880055,659,632,877.065760109,783.032880055,799,649,629,650.967119945,0.401010697039,0.0044685608224,0.0798536038753,0.999999982383,7.70156775053e-05,-0.000166216102325,4.09213284928e-05,1793193655296321024
+70,1.166666667,BASELINE,763,742,711,672.620537258,659,632,878.241074516,783.620537258,799,649,629,650.379462742,0.401010833141,0.00446801693719,0.0798540275961,0.999999982466,7.63508409792e-05,-0.000166038969139,4.08552520641e-05,1793193655312987392
+71,1.183333333,BASELINE,763,742.205249218,711,672.794750782,659,632,878.589501565,784,799.205249218,649.205249218,629,650.205249218,0.401011472738,0.00446694994639,0.0798546083213,0.999999982709,7.4717236467e-05,-0.000165294628646,4.09448566118e-05,1793193655329653760
+72,1.200000000,BASELINE,763,742.784593168,711,672.215406832,659,632,877.430813663,784,799.784593168,649.784593168,629,650.784593168,0.401013030021,0.00446492952409,0.0798554752086,0.999999983234,7.13179198672e-05,-0.000163516475337,4.13182109911e-05,1793193655346320384
+73,1.216666667,BASELINE,763.361921815,742.638078185,711,672.361921815,659,632,877,784,800,650,629,651,0.401012432937,0.00446442278608,0.0798553480963,0.999999983118,7.11662846722e-05,-0.000164244121225,4.15168942995e-05,1793193655362987008
+74,1.233333333,BASELINE,763.93805761,742.06194239,711,672.93805761,659,632,877,784,800,650,629,651,0.401010560727,0.00446481196639,0.0798546326563,0.999999982621,7.29368846288e-05,-0.000166454897547,4.16121934184e-05,1793193655379654144
+75,1.250000000,BASELINE,763.485482073,742,711.514517927,673,659,632,877.514517927,784.514517927,799.485482073,650,629,651,0.401011082418,0.0044666028073,0.0798549607626,0.999999982676,7.4988370049e-05,-0.000165338195897,4.10736165016e-05,1793193655396320768
+76,1.266666667,BASELINE,763,742,711.907254467,672.907254467,659,632.092745533,878,785,799.092745533,650,629,650.907254467,0.401011659124,0.0044680801691,0.0798552726205,0.999999982759,7.65525619593e-05,-0.000164241039577,4.05853024795e-05,1793193655412987392
+77,1.283333333,BASELINE,763,742,711.319808758,672.319808758,659,632.680191242,878,785,799.680191242,650,629,650.319808758,0.401010991059,0.00446698480394,0.0798548272737,0.999999982655,7.5337069419e-05,-0.000165386225788,4.07723887296e-05,1793193655429654016
+78,1.300000000,BASELINE,763,742.264545722,711,672.264545722,659,632.735454278,878,784.735454278,799.735454278,650,629,650.264545722,0.401011032684,0.00446620017151,0.0798548811013,0.999999982739,7.42135347002e-05,-0.000165359581254,4.08817379343e-05,1793193655446320640
+79,1.316666667,BASELINE,763,742.845206345,711,672.845206345,659,632.154793655,878,784.154793655,799.154793655,650,629,650.845206345,0.401011922342,0.00446578684451,0.07985553141,0.999999983048,7.31998836731e-05,-0.000163932675258,4.08981964218e-05,1793193655462987264
+80,1.333333333,BASELINE,763,743,711,673,659,632,878,784,799,649.576754342,629,651,0.401012430267,0.00446626714711,0.0798558533404,0.999999983018,7.47258185801e-05,-0.000163389656611,4.10276077782e-05,1793193655479653888
+81,1.350000000,BASELINE,763.000330532,742.999669468,711.000330532,673,659,632,878,784,799,649.000330532,629,651,0.401012798645,0.00446707225055,0.0798560550269,0.999999982862,7.71729362083e-05,-0.000163168781936,4.1197799983e-05,1793193655496320000
+82,1.366666667,BASELINE,763.574470354,742.425529646,711.574470354,673,659,632,878,784,799,649.574470354,629,651,0.401011787479,0.00446785177174,0.0798547197437,0.999999982729,7.63157688292e-05,-0.000164457532966,4.08903282821e-05,1793193655512986880
+83,1.383333333,BASELINE,763.847321362,742,712,673,659,632,878,784,799,650,629,651,0.401010842709,0.00446815239886,0.0798536973072,0.999999982585,7.57092301355e-05,-0.000165643382025,4.073650423e-05,1793193655529654016
+84,1.400000000,BASELINE,763.257463329,742,712,673,659,632,878,784,799,650,629,651,0.40101008806,0.00446708176279,0.079853570674,0.999999982417,7.58203404094e-05,-0.000166534582292,4.10226341642e-05,1793193655546320640
+85,1.416666667,BASELINE,763.32634699,742,712,673,659,632.32634699,878,784,799.32634699,650,629,651,0.401009893641,0.0044678181209,0.0798535741359,0.999999982334,7.64147298885e-05,-0.000166813198815,4.08124642808e-05,1793193655562987264
+86,1.433333333,BASELINE,763.905472889,742,712,673,659,632.905472889,878,784,799.905472889,650,629,651,0.401010133159,0.00446995412434,0.0798536783658,0.999999982316,7.73834534113e-05,-0.000166617325686,4.02178749413e-05,1793193655579653888
+87,1.450000000,BASELINE,763.518700168,742,711.518700168,673,659,633,878,784,799.518700168,650,629,650.518700168,0.401010693426,0.00446935326533,0.0798538642663,0.999999982491,7.70424742636e-05,-0.000165705439385,4.02976431704e-05,1793193655596320768
+88,1.466666667,BASELINE,763.057641812,742.057641812,711,673,659,632.942358188,878,784,799,649.942358188,629,650.057641812,0.401011275991,0.00446833826587,0.0798541154133,0.999999982675,7.6638822673e-05,-0.000164725129074,4.05263112126e-05,1793193655612987392
+89,1.483333333,BASELINE,763.644622987,742.644622987,711,673,659,632.355377013,878,784,799,649.355377013,629,650.644622987,0.401011488771,0.00446842267737,0.0798548194381,0.999999982607,7.80057169473e-05,-0.000164399064893,4.09143808659e-05,1793193655629654016
+90,1.500000000,BASELINE,764,743,711,672.77139155,659,632,878.22860845,784,799,649.22860845,629,651,0.40101139949,0.00446857964012,0.0798551874513,0.999999982575,7.83916644399e-05,-0.000164360122478,4.11253027094e-05,1793193655646320640
+91,1.516666667,BASELINE,764,743,711,672.192002809,659,632,878.807997191,784,799,649.807997191,629,651,0.401010846719,0.00446884792661,0.0798550398833,0.999999982598,7.72724321011e-05,-0.000164761744108,4.10644062155e-05,1793193655662987264
+92,1.533333333,BASELINE,764,743,711,672,659,632,878.229484128,784,799,650,629,651,0.401011647912,0.00446938923767,0.0798550873415,0.999999982695,7.72114817216e-05,-0.000164273291606,4.07696935e-05,1793193655679654144
+93,1.550000000,BASELINE,764,743,711,672,659,632,877.077071964,784,799,650,629,651,0.401013120179,0.00447006586989,0.0798552314619,0.999999982828,7.76750550978e-05,-0.000163343685334,4.03590927729e-05,1793193655696321024
+94,1.566666667,BASELINE,763.462101871,743,711.537898129,672.537898129,659,632,877.537898129,784,799,650,629,651,0.401010575971,0.00446912064878,0.0798539259377,0.999999982401,7.78162941731e-05,-0.000165810002008,4.06152249768e-05,1793193655712987392
+95,1.583333333,BASELINE,763.116782279,743,711.883217721,672.883217721,659,632.116782279,877.883217721,784.116782279,799,649.883217721,628.883217721,651,0.401008289234,0.00446844784111,0.0798528479138,0.999999982007,7.80790699313e-05,-0.000167995391301,4.08234354946e-05,1793193655729654016
+96,1.600000000,BASELINE,763.705501582,743,711.294498418,672.294498418,659,632.705501582,877.294498418,784.705501582,799,649.294498418,628.294498418,651,0.401008206318,0.00446934565468,0.0798531091315,0.999999981937,7.89263568172e-05,-0.000168061913057,4.0644874304e-05,1793193655746320896
+97,1.616666667,BASELINE,763.710074321,742.710074321,711.289925679,672.289925679,659,632.710074321,877.289925679,785,799.289925679,649.289925679,628.289925679,651,0.401008605828,0.00447003746549,0.0798534365656,0.999999981968,8.01803306668e-05,-0.000167269701735,4.07015355398e-05,1793193655762987520
+98,1.633333333,BASELINE,763.129949516,742.129949516,711.870050484,672.870050484,659,632.129949516,877.870050484,785,799.870050484,649.870050484,628.870050484,651,0.401009488219,0.00447052307918,0.0798538302787,0.999999982096,8.18413750017e-05,-0.000165617947404,4.09936410658e-05,1793193655779653888
+99,1.650000000,BASELINE,763,742,712,673,659,632,878,784.553782637,800,649.553782637,629,650.553782637,0.401009555076,0.00446950822055,0.0798536498572,0.999999982165,8.0399124161e-05,-0.000165915685064,4.09642860415e-05,1793193655796320768
+100,1.666666667,BASELINE,763,742.021259211,712,672.978740789,659,632,877.978740789,784,800,649,628.978740789,650.021259211,0.401009442688,0.00446809589718,0.0798533519553,0.99999998222,7.81138513653e-05,-0.000166699872842,4.08576477364e-05,1793193655812987392
+101,1.683333333,BASELINE,763,742.596756989,712,672.403243011,659,632,877.403243011,784,800,649,628.403243011,650.596756989,0.401010794662,0.00446761345578,0.0798543120026,0.999999982479,7.72047996563e-05,-0.000165494918679,4.11553862949e-05,1793193655829654016
+102,1.700000000,BASELINE,763,742.822522909,712,672.177477091,659,632,877.177477091,784,799.822522909,649.177477091,628.177477091,651,0.401011054897,0.00446779701346,0.079854526472,0.999999982529,7.68474455396e-05,-0.000165342239191,4.1206978665e-05,1793193655846320896
+103,1.716666667,BASELINE,763,742.229577594,712,672.770422406,659,632,877.770422406,784,799.229577594,649.770422406,628.770422406,651,0.401008759402,0.00446953965385,0.079852995567,0.999999982094,7.77815980593e-05,-0.000167652901403,4.06823505983e-05,1793193655862987520
+104,1.733333333,BASELINE,763,742.353906984,712,673,659,632,877.646093016,784,799,650,629,651,0.401008048794,0.00446985945102,0.079852728447,0.99999998197,7.81668184309e-05,-0.000168240938956,4.05499750853e-05,1793193655879653888
+105,1.750000000,BASELINE,763,742.931414277,712,673,659,632,877.068585723,784,799,650,629,651,0.401008339526,0.00446928028849,0.0798532597929,0.999999982047,7.82052206533e-05,-0.000167740613345,4.06654267638e-05,1793193655896320512
+106,1.766666667,BASELINE,763,742.494687239,712,673,659,632,877.505312761,784,799.505312761,650,629,651,0.401009873994,0.00446889291544,0.0798540608417,0.999999982458,7.62877848645e-05,-0.000166224179699,4.04134886487e-05,1793193655912987136
+107,1.783333333,POSE1_TO_POSE2_PRESS,763,743,712,673,659,632,877,784,799,649,629,651,0.401009788544,0.00446636015641,0.0798551369313,0.999999982571,7.60690665061e-05,-0.000165432191571,4.12750610714e-05,1793193655955597824
+108,1.800000000,POSE1_TO_POSE2_PRESS,763.578089876,742.421910124,712,672.421910124,659,632.578089876,877,784,799,649,629,651,0.401010189897,0.00446790815152,0.0798546975466,0.999999982418,7.76820863915e-05,-0.00016569215895,4.09285726485e-05,1793193655972264704
+109,1.816666667,POSE1_TO_POSE2_PRESS,763.844520245,742.155479755,711.844520245,672.155479755,659,632.844520245,877.155479755,784,799,649,629.155479755,651,0.40101045731,0.00446905734571,0.0798543622528,0.999999982348,7.83919805874e-05,-0.000165853521105,4.06389231172e-05,1793193655988931840
+110,1.833333333,POSE1_TO_POSE2_PRESS,763.26902124,742.73097876,711.26902124,672.73097876,659,632.26902124,877.73097876,784,799,649,629.73097876,651,0.401010362894,0.00446912920346,0.0798543081543,0.999999982505,7.66621351514e-05,-0.000165748507207,4.05028203718e-05,1793193656005598464
+111,1.850000000,POSE1_TO_POSE2_PRESS,763,743,711.306550527,673,659,632,878,784,799.306550527,649.306550527,629.693449473,651,0.401010339867,0.00446854909457,0.0798543059585,0.999999982601,7.55009274839e-05,-0.000165679003234,4.05846350008e-05,1793193656022265088
+112,1.866666667,POSE1_TO_POSE2_PRESS,763,743,711.88218613,673,659,632,878,784,799.88218613,649.88218613,629.11781387,651,0.401010379504,0.00446739669996,0.0798543493219,0.999999982646,7.48388609207e-05,-0.000165640669302,4.08577339709e-05,1793193656038931456
+113,1.883333333,POSE1_TO_POSE2_PRESS,763.4700009,743,712,673,659,632,878,784,799.5299991,649.5299991,629,651,0.401009706861,0.0044679959239,0.0798537657989,0.999999982267,7.71748084075e-05,-0.000166827357828,4.09638520239e-05,1793193656055598080
+114,1.900000000,POSE1_TO_POSE2_PRESS,763.940447824,743,711.940447824,673,659,632.059552176,878.059552176,784,799,649.059552176,629,651,0.401009142572,0.00446898619773,0.079853258333,0.999999981823,7.98339029184e-05,-0.000168218608085,4.10222382429e-05,1793193656072264448
+115,1.916666667,POSE1_TO_POSE2_PRESS,763.363049805,743,711.363049805,673,659,632.636950195,878.636950195,784,799,649.636950195,629,651,0.401011114383,0.00446945730487,0.0798548150205,0.999999981848,7.85943045948e-05,-0.000168647419821,4.10392184465e-05,1793193656088931328
+116,1.933333333,POSE1_TO_POSE2_PRESS,763,742.786060314,711,673,659,632.786060314,878.786060314,784,799.213939686,650,629,650.786060314,0.401018377907,0.00446936294027,0.0798586337687,0.999999982306,7.72404292905e-05,-0.000166539293317,4.10598432659e-05,1793193656105598208
+117,1.950000000,POSE1_TO_POSE2_PRESS,763,742.209762821,711,673,659,632.209762821,878.209762821,784,799.790237179,650,629,650.209762821,0.40103460421,0.00446831081454,0.0798662838551,0.99999998347,7.56929988293e-05,-0.000160134257707,4.10866411075e-05,1793193656122264832
+118,1.966666667,POSE1_TO_POSE2_PRESS,763.373149271,742,711.373149271,673,659,632,878,784,799.626850729,650,629,650.373149271,0.401066530575,0.00446807144899,0.0798773641047,0.999999985312,7.51616304852e-05,-0.000148506119248,4.08905931426e-05,1793193656138931456
+119,1.983333333,POSE1_TO_POSE2_PRESS,763.959846863,742,711.959846863,673,659,632,878,784,799.040153137,650,629,650.959846863,0.401107441877,0.00446829721509,0.0798904073914,0.999999987386,7.5211740699e-05,-0.000133888868487,4.05670135094e-05,1793193656155598336
+120,2.000000000,POSE1_TO_POSE2_PRESS,763.479689893,742,711.479689893,673,659,632,878,784,799.520310107,650,629,651,0.401170167697,0.00446735898743,0.0799037420258,0.999999989749,7.29317659984e-05,-0.000116648997423,3.97030792491e-05,1793193656172264704
+121,2.016666667,POSE1_TO_POSE2_PRESS,763.084505409,742,711,673,659,632,878,784.084505409,799.915494591,649.915494591,629,651,0.401236776388,0.00446668947504,0.0799162286607,0.999999991749,7.08263915157e-05,-0.000100011038374,3.85067984367e-05,1793193656188931328
+122,2.033333333,POSE1_TO_POSE2_PRESS,763.683132257,742,711,673,659,632,878,784.683132257,799.316867743,649.316867743,629,651,0.401317257701,0.00446817506224,0.0799234259442,0.99999999297,7.08247346869e-05,-8.82072613801e-05,3.55300786486e-05,1793193656205598208
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,742,711,673,659,632,878,784.729569041,799,649,629,651,0.401405379648,0.00446954810679,0.0799281135941,0.999999993672,7.00349096226e-05,-8.19669090276e-05,3.21219573248e-05,1793193656222264832
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,742,711,673,659,632,878,784.155010065,799,649,629,651,0.401502094285,0.00447079458521,0.0799299788971,0.999999993904,6.83587066037e-05,-8.19832127329e-05,2.82286798463e-05,1793193656238931456
+125,2.083333333,POSE1_TO_POSE2_PRESS,763.568293583,742,711,672.568293583,659.431706417,632,877.568293583,784,799,649.431706417,629,651,0.401623829777,0.00447071470405,0.0799334632968,0.999999994544,6.36581645134e-05,-7.9366510838e-05,2.36844813496e-05,1793193656255598080
+126,2.100000000,POSE1_TO_POSE2_PRESS,763.022387805,742,711.022387805,672.022387805,659.977612195,632,877,784,799,649.977612195,629,651,0.401756013526,0.0044702367365,0.0799376495387,0.999999995304,5.78458883239e-05,-7.54414621699e-05,1.88380261368e-05,1793193656272264704
+127,2.116666667,POSE1_TO_POSE2_PRESS,763.600001941,742,711.600001941,672.600001941,659.399998059,632,877,784,799,649.399998059,629,651,0.401918053092,0.00447203945167,0.079944406023,0.999999996565,5.21740694634e-05,-6.31950272611e-05,1.24598476222e-05,1793193656288931328
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,742.177178702,712,673,659.177178702,632,877.177178702,784,799.177178702,649.177178702,629,651,0.402089355419,0.004473388387,0.0799504380899,0.999999997539,4.5129087929e-05,-5.3406941763e-05,5.80232406498e-06,1793193656305598208
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,742.753370402,712,673,659.753370402,632,877.753370402,784,799.753370402,649.753370402,629,651,0.402281517806,0.00447371539311,0.079954838741,0.999999998179,3.49916939917e-05,-4.91551518389e-05,-1.48429400568e-06,1793193656322264832
+130,2.166666667,POSE1_TO_POSE2_PRESS,763.663979293,742.663979293,712,672.663979293,659.663979293,632,878,784,799.663979293,649.663979293,629,651,0.402482796526,0.00447364494278,0.079954248396,0.999999998286,2.29229044728e-05,-5.31150296768e-05,-9.06769363637e-06,1793193656338931456
+131,2.183333333,POSE1_TO_POSE2_PRESS,763.076495593,742.076495593,712,672.076495593,659.076495593,632,878,784,799.076495593,649.076495593,629,651,0.402690897526,0.00447327705372,0.0799499230113,0.999999997815,9.40874310008e-06,-6.32201549862e-05,-1.68731921855e-05,1793193656355598336
+132,2.200000000,POSE1_TO_POSE2_PRESS,763,742.503835421,711.496164579,672.503835421,659,632,877.496164579,784,799,649,629,651,0.4029373892,0.00447582114001,0.0799434620363,0.999999996641,1.338519432e-05,-7.83666197906e-05,-1.99549084992e-05,1793193656372264704
+133,2.216666667,POSE1_TO_POSE2_PRESS,763,742.917665128,711.082334872,673,659,632,877,784,799,649,629,651,0.403196723138,0.00447879208466,0.0799375680724,0.999999995446,1.35843653295e-05,-9.18314718723e-05,-2.21290039764e-05,1793193656388931328
+134,2.233333333,POSE1_TO_POSE2_PRESS,763,742.343708156,711.656291844,673,659,632,877,784,799,649,629,651,0.40349842225,0.00448170888441,0.0799369686678,0.999999995318,-2.44049198513e-05,-9.07491191172e-05,-2.31061260545e-05,1793193656405597952
+135,2.250000000,POSE1_TO_POSE2_PRESS,763,742,711.767336841,673,659,632.232663159,877,784,799,649,629,651,0.403820958607,0.00448667386072,0.0799384298982,0.999999995165,-3.69142435691e-05,-8.77321107438e-05,-2.46987572499e-05,1793193656422264576
+136,2.266666667,POSE1_TO_POSE2_PRESS,763,742,711.187361504,673,659,632.812638496,877,784,799,649,629,651,0.404174600123,0.0044946962898,0.0799429671791,0.999999996217,-1.13878874354e-05,-8.18271100578e-05,-2.72102008864e-05,1793193656438931456
+137,2.283333333,POSE1_TO_POSE2_PRESS,763,742.396970844,711.396970844,673,659,632.603029156,877.396970844,784,799,649,628.603029156,651,0.404552113948,0.0045028262648,0.0799449396445,0.999999996623,8.45048345444e-06,-7.63096850052e-05,-2.9307626134e-05,1793193656455598080
+138,2.300000000,POSE1_TO_POSE2_PRESS,763,742.98338241,711.98338241,673,659,632.01661759,877.98338241,784,799,649,628.01661759,651,0.404941020004,0.00451100756217,0.0799456881395,0.999999996667,2.55744577166e-05,-7.09772172976e-05,-3.12074752301e-05,1793193656472264448
+139,2.316666667,POSE1_TO_POSE2_PRESS,763,743,711.43408833,672.43408833,659,632,877.43408833,784,799,649,628,651,0.405386722253,0.00451774499062,0.0799431213863,0.999999996274,2.80074379219e-05,-7.50600287006e-05,-3.21527844911e-05,1793193656488931328
+140,2.333333333,POSE1_TO_POSE2_PRESS,763,743,711,672.145974017,659.145974017,632,877.145974017,784,799,649.145974017,628.145974017,651,0.405840117523,0.00452542141756,0.0799396153392,0.999999995667,3.13449167847e-05,-8.10086194341e-05,-3.34736778512e-05,1793193656505598208
+141,2.350000000,POSE1_TO_POSE2_PRESS,763,743,711,672.719148076,659.719148076,632,877.719148076,784,799,649.719148076,628.719148076,651,0.406311179128,0.00453596910281,0.0799336433614,0.999999994412,3.85833376882e-05,-9.16139045836e-05,-3.59752065439e-05,1793193656522264832
+142,2.366666667,POSE1_TO_POSE2_PRESS,763,743,711.29354389,673,660,632,877.70645611,784,799.29354389,649.70645611,628.70645611,651,0.406800856793,0.00454584850126,0.0799292337276,0.999999993017,5.14623942838e-05,-9.93429350877e-05,-3.80500692963e-05,1793193656538931456
+143,2.383333333,POSE1_TO_POSE2_PRESS,763,743,711.869113588,673,660,632,877.130886412,784,799.869113588,649.130886412,628.130886412,651,0.407308420117,0.00455508583639,0.079926325134,0.999999991338,6.9760760023e-05,-0.000104308570724,-3.97150079247e-05,1793193656555598336
+144,2.400000000,POSE1_TO_POSE2_PRESS,763,743,711.54129198,673,659.54129198,632,877.45870802,784,799.54129198,649,628.45870802,651,0.407829321598,0.00456626230194,0.0799179498269,0.99999998872,7.51560035039e-05,-0.000123490329822,-4.07589944007e-05,1793193656572264960
+145,2.416666667,POSE1_TO_POSE2_PRESS,763,742.949045286,711,673,659,632,877.949045286,784,799,649,629,651,0.408362702905,0.00457779367792,0.079909044883,0.999999985667,7.82155664797e-05,-0.000144262131911,-4.16833799708e-05,1793193656588931584
+146,2.433333333,POSE1_TO_POSE2_PRESS,763,742.372033577,711,673,659,632,877.372033577,784,799,649,629,651,0.408984395357,0.00458709666615,0.0799112838237,0.999999984864,9.63706522302e-05,-0.000138250602826,-4.32599115368e-05,1793193656605598208
+147,2.450000000,POSE1_TO_POSE2_PRESS,763,742.204094647,711.204094647,673,659.204094647,632,877.408189293,783.795905353,799,649,629,651,0.409629459659,0.00459451803999,0.079926348895,0.999999986991,0.000106712538021,-0.000112270168437,-4.50048612808e-05,1793193656622265088
+148,2.466666667,POSE1_TO_POSE2_PRESS,763,742.778619319,711.778619319,673,659.778619319,632,878.557238637,783.221380681,799,649,629,651,0.410316943626,0.00459852429941,0.0799646932825,0.999999992349,0.000102873531887,-5.00463430547e-05,-4.70554883791e-05,1793193656638931456
+149,2.483333333,POSE1_TO_POSE2_PRESS,763,743,712,673,660,632,878.637237818,783.362762182,799,649.362762182,629,651,0.41098722447,0.00459529817591,0.0799837906958,0.999999994011,9.5467314765e-05,-2.13873098428e-05,-4.90600221784e-05,1793193656655598336
+150,2.500000000,POSE1_TO_POSE2_PRESS,763,743,712,673,660,632,878.047065476,783.952934524,799,649.952934524,629,651,0.411646720908,0.00458753818012,0.079990822469,0.99999999492,8.58248669953e-05,-1.37695427446e-05,-5.10356607788e-05,1793193656672264960
+151,2.516666667,POSE1_TO_POSE2_PRESS,763,743,712,673.532467193,660,632.532467193,878,784,799,649.467532807,628.467532807,651,0.412321148133,0.0045766409147,0.0799624018929,0.99999999441,7.32699404445e-05,-5.55135041162e-05,-5.22504089278e-05,1793193656688931328
+152,2.533333333,POSE1_TO_POSE2_PRESS,763,743,712,673.888628813,660,632.888628813,878,784,799,649,628.111371187,650.888628813,0.413004539262,0.00456869413787,0.079932826172,0.999999991901,6.26863538717e-05,-9.68467254708e-05,-5.37552919214e-05,1793193656705598208
+153,2.550000000,POSE1_TO_POSE2_PRESS,763,743,712,673.308490221,660,632.308490221,878,784,799,649,628.691509779,650.308490221,0.413720213687,0.00457431046763,0.0799113198278,0.999999989486,6.14625912732e-05,-0.00011844615093,-5.67589073024e-05,1793193656722264832
+154,2.566666667,POSE1_TO_POSE2_PRESS,763.267323364,743,711.732676636,673,660,632.267323364,878,784,799.267323364,649.267323364,629,650.267323364,0.414476621646,0.00457659686086,0.0799112206839,0.999999990373,5.7028488582e-05,-0.000112027449185,-5.87507518129e-05,1793193656738931456
+155,2.583333333,POSE1_TO_POSE2_PRESS,763.838225445,743,711.161774555,673,660,632.838225445,878,784,799.838225445,649.838225445,629,650.838225445,0.41527928766,0.00457510170036,0.079935432059,0.999999994304,4.89486477689e-05,-7.37907040717e-05,-5.95936058035e-05,1793193656755598080
+156,2.600000000,POSE1_TO_POSE2_PRESS,763.578217943,743,711,673.421782057,660,632.578217943,877.578217943,784,799.578217943,649.578217943,628.578217943,651,0.416035911469,0.00457535651293,0.0799424455997,0.999999994291,5.2014348733e-05,-7.35419737273e-05,-5.74829770988e-05,1793193656772264960
+157,2.616666667,POSE1_TO_POSE2_PRESS,763,743,711,673.989838622,659.989838622,632,877.010161378,784,799.010161378,649.010161378,628,651,0.416775758483,0.00457633276363,0.0799426363795,0.999999992907,5.94888557482e-05,-8.77432743241e-05,-5.42980599876e-05,1793193656788931328
+158,2.633333333,POSE1_TO_POSE2_PRESS,763,743,711,673.411580126,659.411580126,632,877.588419874,784,799.588419874,649.588419874,628,651,0.417595495193,0.00457895689689,0.07994156898,0.999999993713,6.70588851859e-05,-7.00245936901e-05,-5.63437567957e-05,1793193656805597952
+159,2.650000000,POSE1_TO_POSE2_PRESS,763,743,711,673,659.1658513,632,878,784,799.8341487,649.8341487,628.1658513,650.8341487,0.418431880257,0.00458038501207,0.0799482928721,0.999999994713,7.26574271924e-05,-4.4067101097e-05,-5.79023244145e-05,1793193656822264576
+160,2.666666667,POSE1_TO_POSE2_PRESS,763,743,711,673,659.7412404,632,878,784,799.2587596,649.2587596,628.7412404,650.2587596,0.419309375172,0.0045788597911,0.0799742558566,0.999999995608,7.33877607029e-05,2.23454768409e-06,-5.82580202889e-05,1793193656838931200
+161,2.683333333,POSE1_TO_POSE2_PRESS,763.323610282,743,711.323610282,673.323610282,660,632,878,784.323610282,799.323610282,649.323610282,629,650.323610282,0.420131422336,0.00457908585697,0.079973754764,0.99999999579,7.0420190536e-05,4.55675876115e-06,-5.86526093578e-05,1793193656855598080
+162,2.700000000,POSE1_TO_POSE2_PRESS,763.91168505,743,711.91168505,673.91168505,660,632,878,784.91168505,799.91168505,649.91168505,629,650.91168505,0.420908155815,0.00458074312951,0.0799516263949,0.999999995757,6.44305773277e-05,-2.90624102839e-05,-5.90789831704e-05,1793193656872264960
+163,2.716666667,POSE1_TO_POSE2_PRESS,763.507325629,743,712,674,660,632,878.985348741,784.014651259,799.507325629,649.507325629,629,651,0.421736625025,0.00458240889119,0.0799540694006,0.999999995396,7.08598996843e-05,-2.67430842377e-05,-5.89286683467e-05,1793193656888931840
+164,2.733333333,POSE1_TO_POSE2_PRESS,763,743,712,674,660.071965407,632.071965407,879.856069186,783.071965407,799.071965407,649.071965407,628.928034593,651,0.42257693733,0.00458397841219,0.0799636790505,0.999999995044,7.92566931509e-05,-1.41944725627e-05,-5.85491756012e-05,1793193656905598720
+165,2.750000000,POSE1_TO_POSE2_PRESS,763,743,712,674,660.648130156,632.648130156,878.703739687,783.648130156,799.648130156,649.648130156,628.351869844,651,0.423436170171,0.00458486314684,0.0799930776569,0.99999999433,8.60621197482e-05,2.55268830081e-05,-5.72780225789e-05,1793193656922265344
+166,2.766666667,POSE1_TO_POSE2_PRESS,763,743,712,674,661,632.776397798,878.447204405,784,799.776397798,650,628.223602202,650.776397798,0.424264036481,0.00458533156811,0.0799946456945,0.999999994236,9.00723335849e-05,1.55817301034e-05,-5.63140655458e-05,1793193656938931712
+167,2.783333333,POSE1_TO_POSE2_PRESS,763,743,712,674,661,632.202012364,879.595975272,784,799.202012364,650,628.797987636,650.202012364,0.425042695656,0.00458514688437,0.0799525536264,0.999999991806,8.96974671853e-05,-7.22793682833e-05,-5.58320318363e-05,1793193656955598080
+168,2.800000000,POSE1_TO_POSE2_PRESS,763,742.616935536,711.616935536,674,660.616935536,632,879.233871073,784,799.383064464,650,628.616935536,650,0.425835608741,0.00458721835381,0.0799193827327,0.999999988217,8.35322999286e-05,-0.000114776973984,-5.84364179563e-05,1793193656972264960
+169,2.816666667,POSE1_TO_POSE2_PRESS,763,742.026058664,711.026058664,674,660.026058664,632,878.052117328,784,799.973941336,650,628.026058664,650,0.426636254523,0.00459051378599,0.0798910515772,0.999999986479,7.42258956507e-05,-0.000132664887312,-6.27151864951e-05,1793193656988932096
+170,2.833333333,POSE1_TO_POSE2_PRESS,763,742.553338939,711,674.553338939,660.553338939,632,879.106677878,784,799.446661061,649.446661061,628,650,0.427448105684,0.00458998778596,0.0798989852326,0.999999986954,8.70797696742e-05,-0.000121386248879,-6.14323104664e-05,1793193657005598464
+171,2.850000000,POSE1_TO_POSE2_PRESS,763.131412351,743,711.131412351,674.868587649,661,632,879.868587649,784,799.131412351,649.131412351,628.131412351,650.131412351,0.428256364325,0.00458871010523,0.0799099943523,0.999999987694,9.58304115383e-05,-0.000108772521874,-5.99726247482e-05,1793193657022265088
+172,2.866666667,POSE1_TO_POSE2_PRESS,763.706801252,743,711.706801252,674.293198748,661,632,879.293198748,784,799.706801252,649.706801252,628.706801252,650.706801252,0.429050738998,0.00458548852493,0.0799257412681,0.999999989838,8.72641249374e-05,-9.61944399628e-05,-5.87824907789e-05,1793193657038931712
+173,2.883333333,POSE1_TO_POSE2_PRESS,763.718585206,743,712,674,660.718585206,632,879,784,800,650,629,650.718585206,0.429860563327,0.00458325598504,0.0799500803915,0.999999993184,7.90934734503e-05,-6.39841504922e-05,-5.72887943095e-05,1793193657055598336
+174,2.900000000,POSE1_TO_POSE2_PRESS,763.144777307,743,712,674,660.144777307,632,879,784,800,650,629,650.144777307,0.430686439971,0.00458205106934,0.0799833469134,0.999999995852,7.13338916304e-05,-1.13757793988e-05,-5.54796929854e-05,1793193657072264960
+175,2.916666667,POSE1_TO_POSE2_PRESS,763.443432525,743,712,674.443432525,660.88686505,632,879.443432525,784,800.443432525,649.556567475,629,650,0.431453323142,0.00458306370796,0.0800052621316,0.999999995113,7.90781593854e-05,2.16869690856e-05,-5.5228209323e-05,1793193657088931328
+176,2.933333333,POSE1_TO_POSE2_PRESS,763.964433216,743,711.964433216,675,661.964433216,632.035566784,879.928866432,784,800.928866432,649,629,650.035566784,0.432193719262,0.00458491705473,0.0800189581776,0.999999993438,9.14098591575e-05,4.11233095261e-05,-5.54736246304e-05,1793193657105597952
+177,2.950000000,POSE1_TO_POSE2_PRESS,763.38656422,743,711.38656422,675,661.38656422,632.61343578,878.77312844,784,799.77312844,649,629,650.61343578,0.432833792823,0.00458817910403,0.0799657385469,0.999999992974,9.39164654054e-05,-4.66404458313e-05,-5.52810950244e-05,1793193657122264576
+178,2.966666667,POSE1_TO_POSE2_PRESS,763.190870052,743,711.190870052,675,660.809129948,632.809129948,878,784,799,649,629,651,0.433482246894,0.00458917382705,0.0799178789985,0.999999987133,9.26670191907e-05,-0.000118283598343,-5.61725371582e-05,1793193657138931200
+179,2.983333333,POSE1_TO_POSE2_PRESS,763.767425997,743,711.767425997,675,660.232574003,632.232574003,878,784,799,649,629,651,0.434147635347,0.00458558702652,0.0798808504119,0.999999982351,8.38278221138e-05,-0.000157352306262,-5.92543319507e-05,1793193657155598080
+180,3.000000000,POSE1_TO_POSE2_PRESS,763.650263058,743,711.650263058,675,660.349736942,632,878,784,799.349736942,649.349736942,629,651,0.434824956545,0.00458295083437,0.0798860815922,0.999999984826,8.14014041979e-05,-0.000142309420332,-5.89074613865e-05,1793193657172264704
+181,3.016666667,POSE1_TO_POSE2_PRESS,763.06406106,743,711.06406106,675,660.93593894,632,878,784,799.93593894,649.93593894,629,651,0.435510345702,0.00458095737026,0.0799198855587,0.999999990837,8.33108117061e-05,-9.06804596264e-05,-5.62423923756e-05,1793193657188931584
+182,3.033333333,POSE1_TO_POSE2_PRESS,763,743,711,675,660.488269604,632,879.023460792,784,800,649.488269604,629,650.488269604,0.436109580913,0.00458462895714,0.0799287716684,0.999999990581,8.45129891361e-05,-9.30519565999e-05,-5.51040215327e-05,1793193657205598464
+183,3.050000000,POSE1_TO_POSE2_PRESS,763,743,711,674.913284784,659.913284784,632,879.913284784,784,800,649,629,650.086715216,0.436688067442,0.00458949353776,0.0799285545194,0.99999998868,8.73865919244e-05,-0.000109778448613,-5.43330150323e-05,1793193657222265088
+184,3.066666667,POSE1_TO_POSE2_PRESS,763,743,711,674.335635554,659.335635554,632,879.335635554,784,800,649,629,650.664364446,0.437208928744,0.00459717725581,0.0798941076301,0.999999978994,0.000100214129938,-0.00017026638612,-5.45813808159e-05,1793193657238931712
+185,3.083333333,POSE1_TO_POSE2_PRESS,763,743,711,674.243102426,659,632,879,784,800,649.243102426,629,651,0.437722963907,0.0046036512424,0.0798633527471,0.999999968306,0.000110442144262,-0.000219503816941,-5.4844068539e-05,1793193657255598336
+186,3.100000000,POSE1_TO_POSE2_PRESS,763,743,711,674.823350285,659,632,879,784,800,649.823350285,629,651,0.43822753223,0.00460844751807,0.0798377181082,0.999999959589,0.000117065020882,-0.000253138532016,-5.51266187382e-05,1793193657272265216
+187,3.116666667,POSE1_TO_POSE2_PRESS,763,742.588192246,711,675,659,631.588192246,879,783.588192246,800,649.588192246,629,651,0.438711977929,0.00461555392236,0.0798197727203,0.999999952424,0.000120661767187,-0.000278250079811,-5.63002503715e-05,1793193657288932096
+188,3.133333333,POSE1_TO_POSE2_PRESS,763.003747634,742.003747634,711,675,659,631.003747634,879,783,799.996252366,649,629,651,0.439187190613,0.00462372317233,0.079805122356,0.999999945834,0.00012305928189,-0.000299732219757,-5.78715212279e-05,1793193657305598720
+189,3.150000000,POSE1_TO_POSE2_PRESS,763.578785126,742.578785126,711,675,659,631.578785126,879,783,799.421214874,649,629,651,0.439597518161,0.00463977836371,0.0797797308588,0.999999931059,0.000144552439749,-0.000336621632308,-6.06050281073e-05,1793193657322265856
+190,3.166666667,POSE1_TO_POSE2_PRESS,763.845639678,743,711,675,659,631.845639678,879,783,799.308720644,649.154360322,628.845639678,651,0.439992247182,0.00465492382733,0.0797523242032,0.999999913009,0.000165550212644,-0.000377678792701,-6.27244369674e-05,1793193657338932736
+191,3.183333333,POSE1_TO_POSE2_PRESS,763.268591949,743,711,675,659,631.268591949,879,783,800.462816101,649.731408051,628.268591949,651,0.440344262595,0.00466757817208,0.079719399401,0.999999888343,0.00018519146989,-0.000430148574542,-6.31622518806e-05,1793193657355598848
+192,3.200000000,POSE1_TO_POSE2_PRESS,763.315361117,742.684638883,711,675,659,631,879,783,801,649.684638883,628.315361117,650.684638883,0.44068165793,0.00467558258309,0.0796878979489,0.999999863805,0.000195895309956,-0.00047956477327,-6.35012433623e-05,1793193657372265216
+193,3.216666667,POSE1_TO_POSE2_PRESS,763.905327064,742.094672936,711,675,659,631,879,783,801,649.094672936,628.905327064,650.094672936,0.44100632262,0.00467953800256,0.0796576358995,0.999999839696,0.00019881677568,-0.000526322021405,-6.37541830387e-05,1793193657388931840
+194,3.233333333,POSE1_TO_POSE2_PRESS,763.514659385,742.485340615,711,675,658.514659385,631,879.485340615,783,800.514659385,649,629,650.485340615,0.441331564707,0.00468142383488,0.0796600959808,0.999999841399,0.000200572022168,-0.000522406516237,-6.37499039644e-05,1793193657405598464
+195,3.250000000,POSE1_TO_POSE2_PRESS,763.063378176,743,711,675,658,631,879.936621824,783,800,649.063378176,628.936621824,651,0.441652814942,0.00468310994559,0.0796695745938,0.999999848653,0.000202393322262,-0.000507628247686,-6.35994687008e-05,1793193657422265344
+196,3.266666667,POSE1_TO_POSE2_PRESS,763.640818486,743,711,675,658,631,879.359181514,783,800,649.640818486,628.359181514,651,0.441940791978,0.00468638476548,0.079685248814,0.999999859912,0.000206558473496,-0.000483304075905,-6.26623445583e-05,1793193657438932224
+197,3.283333333,POSE1_TO_POSE2_PRESS,763.783509628,742.783509628,710.783509628,675,658,630.783509628,879.216490372,783,800,649.783509628,628.216490372,651,0.442209657703,0.00469090542595,0.0796976671838,0.999999867007,0.000213639936258,-0.000465334008236,-6.17045085136e-05,1793193657455598848
+198,3.300000000,POSE1_TO_POSE2_PRESS,763.210748036,742.210748036,710.210748036,675,658,630.210748036,879.789251964,783,800,649.210748036,628.789251964,651,0.442447072532,0.00469747632576,0.079704727504,0.999999867927,0.000225520678546,-0.000457820687437,-6.07125876948e-05,1793193657472265472
+199,3.316666667,POSE1_TO_POSE2_PRESS,763.374513529,742,710.374513529,675.374513529,657.625486471,630.374513529,879.625486471,783,800,649,629,651,0.442655523658,0.00470702317794,0.0797022090016,0.999999862241,0.000237018171455,-0.000464210662941,-6.20417233471e-05,1793193657488931840
+200,3.333333333,POSE1_TO_POSE2_PRESS,763.967052073,742,710.967052073,675.967052073,657.032947927,630.967052073,879.032947927,783,800,649,629,651,0.442847113434,0.004718302497,0.0796941141379,0.999999852507,0.000248292554808,-0.000478694514499,-6.47220740906e-05,1793193657505598464
+201,3.350000000,POSE1_TO_POSE2_PRESS,764,742.544581292,711,675.455418708,657.544581292,630.455418708,879,783,800,649,628.455418708,651,0.443004557635,0.00472782193714,0.0796894681371,0.999999846579,0.000258349089578,-0.000485591849039,-6.55679248926e-05,1793193657522265088
+202,3.366666667,POSE1_TO_POSE2_PRESS,764,742.878573572,711,675,658,630,879.121426428,783,800,649,628.121426428,651,0.443153447097,0.00473520757526,0.079685126058,0.999999841337,0.000266411867294,-0.000491924437844,-6.60383326182e-05,1793193657538931712
+203,3.383333333,POSE1_TO_POSE2_PRESS,764,742.300978258,711,675,658,630,879.699021742,783,800,649,628.699021742,651,0.443277751321,0.00473496632443,0.0796811628742,0.999999838233,0.000267253977442,-0.000497813499023,-6.55040716978e-05,1793193657555598336
+204,3.400000000,POSE1_TO_POSE2_PRESS,763.725471482,742,710.725471482,675,657.725471482,630,879.725471482,783,800,649,629,651,0.443387437368,0.00473494027005,0.0796772220003,0.999999834788,0.000267642639865,-0.000504542736753,-6.5024447515e-05,1793193657572264960
+205,3.416666667,POSE1_TO_POSE2_PRESS,763.152237213,742,710.152237213,675,657.152237213,630,879.152237213,783,800,649,629,651,0.443481217835,0.00473514836409,0.0796733054013,0.999999830958,0.000267537920184,-0.00051218614352,-6.46042718606e-05,1793193657588931584
+206,3.433333333,POSE1_TO_POSE2_PRESS,763.435882724,742,710.435882724,675,657.435882724,630,879,783,800,649.435882724,628.564117276,651,0.443562208788,0.0047353898644,0.0796692656037,0.999999828039,0.000266151646787,-0.000518523361538,-6.49460802005e-05,1793193657605598208
+207,3.450000000,POSE1_TO_POSE2_PRESS,764,742.028435854,711,675.028435854,657.971564146,630,879,783,800,649.971564146,628.028435854,651,0.443637619336,0.00473557022834,0.0796653311524,0.99999982554,0.000264395335217,-0.000524140013657,-6.5521869674e-05,1793193657622264576
+208,3.466666667,POSE1_TO_POSE2_PRESS,764,742.602758984,711,675.602758984,657.397241016,630,879,783,800,649.397241016,628.602758984,651,0.443694685638,0.00473434504517,0.0796642742821,0.999999825098,0.000264431765794,-0.000524991292206,-6.52998116361e-05,1793193657638931456
+209,3.483333333,POSE1_TO_POSE2_PRESS,764,742.822180357,711,675.822180357,657,630,879.177819643,782.822180357,799.822180357,649.177819643,628.822180357,651,0.443745361869,0.00473355799807,0.079663267107,0.999999824324,0.000264381725435,-0.000526549884265,-6.4804165792e-05,1793193657655598080
+210,3.500000000,POSE1_TO_POSE2_PRESS,764,742.245465307,711,675.245465307,657,630,879.754534693,782.245465307,799.245465307,649.754534693,628.245465307,651,0.44378170351,0.00473375380352,0.0796623714112,0.999999822799,0.000264137708415,-0.000529695163166,-6.36947918369e-05,1793193657672264448
+211,3.516666667,POSE1_TO_POSE2_PRESS,764,742.338971775,710.661028225,675,657,630,879.661028225,782,799.338971775,649.661028225,628.338971775,651,0.443813019489,0.00473437849795,0.0796624220013,0.999999822191,0.000264704054706,-0.000530626477955,-6.31251361827e-05,1793193657688931072
+212,3.533333333,POSE1_TO_POSE2_PRESS,764,742.92913116,710.07086884,675,657,630,879.07086884,782,799.92913116,649.07086884,628.92913116,651,0.443840611316,0.00473532101118,0.0796631738158,0.999999822269,0.000265870902956,-0.000529917183455,-6.29554268397e-05,1793193657705597952
+213,3.550000000,POSE1_TO_POSE2_PRESS,764,743,710.509263976,675.509263976,657,630,879,782,800,649.509263976,628.490736024,651,0.443858109842,0.00473397204222,0.0796630847372,0.999999822294,0.00026437650946,-0.000530650944776,-6.2656890066e-05,1793193657722264576
+214,3.566666667,POSE1_TO_POSE2_PRESS,764,742.912414688,711,675.912414688,657,630,879,782,800,649.912414688,628,651,0.443873055098,0.00473279383184,0.0796629144974,0.999999822235,0.000263112316759,-0.000531418643087,-6.24179375839e-05,1793193657738931200
+215,3.583333333,POSE1_TO_POSE2_PRESS,764,742.336563456,711,675.336563456,657,630,879,782,800,649.336563456,628,651,0.443881445495,0.00473431091437,0.0796629315552,0.999999821758,0.000265156104974,-0.000531277656202,-6.26091641078e-05,1793193657755597824
+216,3.600000000,POSE1_TO_POSE2_PRESS,764,742.243742069,711,675,657,630,879,782.243742069,800,649,628.243742069,651,0.443887537117,0.00473489878097,0.0796624173747,0.999999821169,0.000266026254588,-0.000531965494122,-6.24939252543e-05,1793193657772264448
+217,3.616666667,POSE1_TO_POSE2_PRESS,764,742.830312618,711,675,657,630,879,782.830312618,800,649,628.830312618,651,0.443890395461,0.0047341796852,0.079661155996,0.999999820422,0.000265245656065,-0.000533819092024,-6.19476362236e-05,1793193657788931328
+218,3.633333333,POSE1_TO_POSE2_PRESS,764,743,710.588010232,675.411989768,657,630,879.411989768,782.588010232,800,649,628.588010232,650.588010232,0.443892827299,0.00473348255701,0.0796605240249,0.999999820524,0.000262875082926,-0.000534828514952,-6.17092589412e-05,1793193657805597952
+219,3.650000000,POSE1_TO_POSE2_PRESS,764,743,710.008324896,675.991675104,657,630,879.991675104,782.008324896,800,649,628.008324896,650.008324896,0.443895085533,0.00473279437047,0.0796601482469,0.999999820963,0.000259857329422,-0.000535494326382,-6.1596213511e-05,1793193657822264832
+220,3.666666667,POSE1_TO_POSE2_PRESS,764,742.430991409,710.569008591,676,657,630,879.430991409,782,799.430991409,649.569008591,628.569008591,650.569008591,0.443894958096,0.0047324827018,0.0796588270472,0.999999819734,0.000260859825172,-0.000537320246973,-6.14162794582e-05,1793193657838931200
+221,3.683333333,POSE1_TO_POSE2_PRESS,764,742,710.854328059,676,657,630,879,782,799.145671941,649.854328059,628.854328059,651,0.443895127517,0.00473230448498,0.0796580251048,0.999999818946,0.000261602339036,-0.00053843391064,-6.13258689903e-05,1793193657855598080
+222,3.700000000,POSE1_TO_POSE2_PRESS,764,742,710.279537946,676,657,630,879,782,799.720462054,649.279537946,628.279537946,651,0.443896273812,0.00473250322815,0.0796587933611,0.999999819543,0.000261406449023,-0.000537399625421,-6.15020466861e-05,1793193657872264704
+223,3.716666667,POSE1_TO_POSE2_PRESS,764,742,710,675.69735337,657,630,879,782,800,649,628,651,0.443896484537,0.00473215851485,0.0796587589706,0.99999981956,0.000260521046101,-0.000537796069988,-6.15074491815e-05,1793193657888931328
+224,3.733333333,POSE1_TO_POSE2_PRESS,764,742,710,675.108167819,657,630,879,782,800,649,628,651,0.443895809485,0.00473129926938,0.0796579646525,0.999999819026,0.000258982828072,-0.000539547096738,-6.13511656354e-05,1793193657905597952
+225,3.750000000,POSE1_TO_POSE2_PRESS,764,742.472842145,710.472842145,675.472842145,657,630,879,782,800,649.472842145,628,651,0.443898440274,0.00472893621935,0.07966044412,0.999999821207,0.000257528628568,-0.000536275791327,-6.06112795074e-05,1793193657922264576
+226,3.766666667,POSE1_TO_POSE2_PRESS,764,743,711,675.948294689,657,630,879,782,800,649.948294689,628.051705311,651,0.443901241905,0.00472647228547,0.0796629843452,0.999999823463,0.000256318703395,-0.000532723303587,-5.98312091175e-05,1793193657938931200
+227,3.783333333,POSE1_TO_POSE2_PRESS,764,743,711,675.372556067,657,630,879,782,800,649.372556067,628.627443933,651,0.443898240727,0.00472641319195,0.0796586791129,0.999999820479,0.000257393012125,-0.000537767357388,-5.99739511807e-05,1793193657955598080
+228,3.800000000,POSE1_TO_POSE2_PRESS,764,742.797321448,711,675,657,630,879,782,800,649.202678552,629,651,0.443897350712,0.00472702522324,0.0796564559498,0.999999819032,0.000258550725423,-0.000539882863113,-6.01216104249e-05,1793193657972264704
+229,3.816666667,POSE1_TO_POSE2_PRESS,764,742.223011003,711,675,657,630,879,782,800,649.776988997,629,651,0.443900331735,0.00472886783066,0.0796580504741,0.999999820434,0.000259861369488,-0.000536628575571,-6.02782858176e-05,1793193657988931328
+230,3.833333333,POSE1_TO_POSE2_PRESS,764,742,711,675.361983926,657,630,879.361983926,782,800,650,628.638016074,650.638016074,0.44390039436,0.00472870173517,0.0796587384606,0.999999820685,0.000258857847979,-0.000536657241308,-6.01747357317e-05,1793193658005598208
+231,3.850000000,POSE1_TO_POSE2_PRESS,764,742,711,675.953761529,657,630,879.953761529,782,800,650,628.046238471,650.046238471,0.443898604338,0.00472726048014,0.0796588509609,0.999999820202,0.000256385253958,-0.000538769982875,-5.99059899904e-05,1793193658022264832
+232,3.866666667,POSE1_TO_POSE2_PRESS,764,742.532623424,711,675.467376576,657.532623424,629.467376576,879.467376576,782,800,650,628,650.532623424,0.44389799957,0.00472800105393,0.0796578529997,0.999999818858,0.000258029015746,-0.000540500738304,-5.96929633584e-05,1793193658038931456
+233,3.883333333,POSE1_TO_POSE2_PRESS,764,742.88958476,711,675.11041524,657.88958476,629.11041524,879,782,799.88958476,650,628,651,0.443898172284,0.00472866693276,0.079657279593,0.999999818102,0.000259641852357,-0.000541138490762,-5.95848960105e-05,1793193658055598080
+234,3.900000000,POSE1_TO_POSE2_PRESS,764,742.311688855,711,675.688311145,657.311688855,629.688311145,879,782,799.311688855,650,628,651,0.443901211405,0.00472823361678,0.0796589021717,0.99999982016,0.000259646604421,-0.000537285716503,-5.99012149667e-05,1793193658072264704
+235,3.916666667,POSE1_TO_POSE2_PRESS,764,742,711,676,657,630,879,782,799.528935121,649.73553244,628.26446756,651,0.443902189547,0.0047282066308,0.0796596399496,0.999999820823,0.000259747124422,-0.000535989909225,-5.9996952312e-05,1793193658088931328
+236,3.933333333,POSE1_TO_POSE2_PRESS,764,742,711,676,657,630,879,782,800.677174735,649.161412632,628.838587368,651,0.443900754588,0.00472865539686,0.0796593417575,0.999999819866,0.00025995977446,-0.000537687930145,-5.98344213839e-05,1793193658105597952
+237,3.950000000,POSE1_TO_POSE2_PRESS,764,742,711,676,657,630,879,782.424856423,800.575143577,649.424856423,629,651,0.443902068532,0.00472830955589,0.0796594539061,0.999999820816,0.000258704021056,-0.00053652557618,-5.98400326465e-05,1793193658122264832
+238,3.966666667,POSE1_TO_POSE2_PRESS,764,742.015496289,711,676,657,630,879.015496289,782.984503711,800,649.984503711,628.984503711,651,0.443904430468,0.00472763808495,0.0796597513164,0.999999822491,0.000256886007743,-0.000534265920332,-5.98993657189e-05,1793193658138931456
+239,3.983333333,POSE1_TO_POSE2_PRESS,764,742.592341521,711,676,657,630,879.592341521,782.407658479,800,649.407658479,628.407658479,651,0.44390580992,0.00472642854303,0.0796609461841,0.999999823659,0.000255504239146,-0.000532781850202,-5.95225617094e-05,1793193658155598080
+240,4.000000000,POSE1_TO_POSE2_PRESS,763.83182648,742.83182648,711,675.83182648,657,630,880,782,800,649,628,651,0.443906267877,0.00472574840018,0.0796615418023,0.999999824128,0.000254492215384,-0.000532401897919,-5.93783569752e-05,1793193658172264704
+241,4.016666667,POSE1_TO_POSE2_PRESS,763.25843592,742.25843592,711,675.25843592,657,630,880,782,800,649,628,651,0.443904505478,0.00472634385373,0.0796606935182,0.999999822917,0.000254371098364,-0.000534682336999,-5.97946042895e-05,1793193658188931328
+242,4.033333333,POSE1_TO_POSE2_PRESS,763,742,711,675.324543266,656.675456734,630,879.675456734,782,800.324543266,649,628,650.675456734,0.443902981909,0.00472678208436,0.0796594964384,0.999999821956,0.000254511542275,-0.000536390735789,-5.99741319181e-05,1793193658205598208
+243,4.050000000,POSE1_TO_POSE2_PRESS,763,742,711,675.915390366,656.084609634,630,879.084609634,782,800.915390366,649,628,650.084609634,0.443901654314,0.00472709130577,0.0796580131546,0.999999821201,0.000254866609901,-0.000537629747058,-5.99594192919e-05,1793193658222264576
+244,4.066666667,HOLD_POSE2,763,743,711,676,657,630,879,782,800,649,628,651,0.44390485593,0.0047259273586,0.079659581454,0.999999822173,0.000258496779493,-0.000534196194194,-5.88842823505e-05,1793193658253334784
+245,4.083333333,HOLD_POSE2,763.57394788,743,710.42605212,675.42605212,657,630,879,782,799.42605212,649,628,651,0.443905414653,0.00472455487781,0.0796603995764,0.999999823014,0.000254898335549,-0.00053433779985,-5.9008442186e-05,1793193658270002176
+246,4.100000000,HOLD_POSE2,764,742.855452703,710.144547297,675.144547297,657,629.855452703,879.144547297,782,799.289094594,649,628,651,0.44390596196,0.00472391715445,0.0796611746569,0.999999823605,0.000252850173135,-0.000534193547711,-5.91177755865e-05,1793193658286669312
+247,4.116666667,HOLD_POSE2,764,742.294499268,710.705500732,675.705500732,657,629.294499268,879.705500732,782,800.411001463,649,628,651,0.443906476382,0.00472539609094,0.0796618257446,0.999999823503,0.000255267999624,-0.0005332258078,-5.91843976096e-05,1793193658303335424
+248,4.133333333,HOLD_POSE2,763.712057644,742,711,676,657,629,879.712057644,782.287942356,800.712057644,649,628,651,0.443906618152,0.00472556239759,0.0796620737067,0.999999823569,0.000255551379235,-0.000532950009491,-5.93202425414e-05,1793193658320002304
+249,4.150000000,HOLD_POSE2,763.105866168,742,711,676,657,629,879.105866168,782.894133832,800.105866168,649,628,651,0.443906348045,0.00472427791624,0.079661876113,0.999999823824,0.000253475655144,-0.000533438981691,-5.95325962884e-05,1793193658336669440
+250,4.166666667,HOLD_POSE2,763.476471445,742,711,675.523528555,657,629.476471445,879,782.523528555,800,649,628,651,0.443904936167,0.0047250137725,0.0796607247228,0.999999822576,0.000254827548105,-0.000535151685839,-5.93639535849e-05,1793193658353336064
+251,4.183333333,HOLD_POSE2,764,742,710.946444078,675,656.946444078,630,879,782,800,649.053555922,628,651,0.443903606784,0.00472578814263,0.0796595384793,0.999999821324,0.000256295660111,-0.000536814969163,-5.91086930742e-05,1793193658370002944
+252,4.200000000,HOLD_POSE2,764,742,710.371363505,675,656.371363505,630,879,782,800,649.628636495,628,651,0.443905433348,0.00472277465836,0.0796599781318,0.999999823195,0.000251832911017,-0.000535475498855,-5.87949952487e-05,1793193658386669312
+253,4.216666667,HOLD_POSE2,764,742.202177996,710.202177996,675.202177996,656.202177996,629.797822004,879.202177996,782,800,649.797822004,628,651,0.443906862486,0.00472191737903,0.0796607986142,0.999999824396,0.000249895850079,-0.000534144075973,-5.87335833663e-05,1793193658403335936
+254,4.233333333,HOLD_POSE2,764,742.772913804,710.772913804,675.772913804,656.772913804,629.227086196,879.772913804,782,800,649.227086196,628,651,0.44390756714,0.00472499072647,0.0796623133256,0.999999824405,0.00025256296079,-0.000532827323202,-5.9132072976e-05,1793193658420002560
+255,4.250000000,HOLD_POSE2,764,743,710.637571766,675.637571766,656.637571766,629,880,782,800,649.362428234,628.362428234,651,0.443907590613,0.00472424624988,0.0796618535871,0.999999823942,0.000253400629326,-0.000533316069051,-5.89763552397e-05,1793193658436669184
+256,4.266666667,HOLD_POSE2,764,743,710.035648223,675.035648223,656.035648223,629,880,782,800,649.964351777,628.964351777,651,0.443907163956,0.00472097892672,0.0796600891175,0.999999823168,0.000253029388946,-0.000534997901865,-5.84544131518e-05,1793193658453335808
+257,4.283333333,HOLD_POSE2,764,743,710,675.540577935,656,629.540577935,880,782,800,649.459422065,628.459422065,651,0.443907260515,0.0047236058706,0.0796603591312,0.999999822791,0.000254925074929,-0.000534767521416,-5.87795130554e-05,1793193658470002688
+258,4.300000000,HOLD_POSE2,764,742.885107919,710.114892081,676,656,630,879.885107919,782,800,649.114892081,628.114892081,650.885107919,0.443907425035,0.00472559831444,0.0796607708756,0.999999822736,0.000256070728322,-0.000534290294758,-5.90662217986e-05,1793193658486669056
+259,4.316666667,HOLD_POSE2,764,742.311967448,710.688032552,676,656,630,879.311967448,782,800,649.688032552,628.688032552,650.311967448,0.443907729241,0.00472358008528,0.079661237086,0.999999823881,0.000253655677026,-0.000533308647486,-5.89871273656e-05,1793193658503335424
+260,4.333333333,POSE2_TO_POSE3_RETREAT,764,742,711,675,657,630,879,782,801,649,628,651,0.443905363848,0.00472148433072,0.079658993533,0.999999823779,0.00024757911583,-0.000536335746544,-5.90770483007e-05,1793193658540443136
+261,4.350000000,POSE2_TO_POSE3_RETREAT,764,742,711,675.574653704,657,629.425346296,879,782,800.425346296,649.574653704,628.574653704,651,0.443906867676,0.00472292081021,0.0796597823717,0.999999824051,0.000250795440036,-0.000534351183142,-5.88972878269e-05,1793193658557109760
+262,4.366666667,POSE2_TO_POSE3_RETREAT,764,742,710.849906185,676,656.849906185,629,879,782,800,650,628.849906185,651,0.443908130387,0.00472388082313,0.0796606320474,0.999999824314,0.000253022551951,-0.000532820404356,-5.87684469926e-05,1793193658573776640
+263,4.383333333,POSE2_TO_POSE3_RETREAT,764,742,710.272225626,676,656.272225626,629,879,782,800,650,628.272225626,651,0.443908706207,0.00472348348006,0.0796616550354,0.999999824589,0.000252431600033,-0.000532582365187,-5.87846658132e-05,1793193658590443776
+264,4.400000000,POSE2_TO_POSE3_RETREAT,763.690617604,742.309382396,710.309382396,676,656,629,879,782,800,649.690617604,628.309382396,651,0.443908459045,0.00472332591283,0.0796615610833,0.999999824368,0.000252336501255,-0.000533054200634,-5.86868704159e-05,1793193658607110912
+265,4.416666667,POSE2_TO_POSE3_RETREAT,763.105509406,742.894490594,710.894490594,676,656,629,879,782,800,649.105509406,628.894490594,651,0.443907478432,0.00472338203712,0.0796604716988,0.999999823702,0.000252683313574,-0.000534158686014,-5.84874639951e-05,1793193658623777792
+266,4.433333333,POSE2_TO_POSE3_RETREAT,763.478054757,742.521945243,710.521945243,675.521945243,656.478054757,629,879,782,800,649.478054757,629,651,0.443905999619,0.00472378117525,0.0796595257819,0.999999822463,0.000254401029307,-0.000535681401562,-5.83046973675e-05,1793193658640444416
+267,4.450000000,POSE2_TO_POSE3_RETREAT,764,742.060239197,710,675,656.939760803,629,879.060239197,782,800,649.939760803,629,651,0.443903894617,0.0047240877191,0.0796584149583,0.999999821066,0.000255835155211,-0.000537616906009,-5.8175593437e-05,1793193658657111040
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764,742.63356512,710,675,656.36643488,629,879.63356512,782,800,649.36643488,629,651,0.443897389588,0.0047229628507,0.0796556307126,0.99999981943,0.000252285000309,-0.000542284653329,-5.84723812088e-05,1793193658673777408
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,742.792313115,710,675.207686885,656.207686885,629.207686885,879.792313115,782.207686885,800,649.207686885,628.792313115,651,0.443882549023,0.00472301232914,0.0796486736057,0.999999813323,0.000251999524756,-0.000553544055118,-5.86488393806e-05,1793193658690444032
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764,742.216781856,710,675.783218144,656.783218144,629.783218144,879.216781856,782.783218144,800,649.783218144,628.216781856,651,0.443852944984,0.00472514175067,0.0796343257408,0.999999798967,0.000257496282357,-0.000576478257027,-5.8612175877e-05,1793193658707110656
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764,742,710.369861925,676,657,630,879,782.630138075,800,649.630138075,628.369861925,651,0.443805460153,0.00472556515094,0.0796160786406,0.999999779872,0.000258582961838,-0.000608274557137,-5.82464447617e-05,1793193658723777024
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764,742,710.963220738,676,657,630,879,782.036779262,800,649.036779262,628.963220738,651,0.443747170473,0.00472495765202,0.0795954753436,0.999999757023,0.00025700475868,-0.000645425969099,-5.768186753e-05,1793193658740443648
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764,742,711,675.45826535,657.54173465,630,879,782,799.45826535,649,628.45826535,650.45826535,0.443680622762,0.00472224837579,0.0795844316967,0.999999749395,0.000254576210344,-0.000658232149989,-5.59576314999e-05,1793193658757110528
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764,742.118338492,711,675.118338492,657.763323016,630,879,782,799.236676984,649.118338492,628,650.118338492,0.44361034975,0.0047200809583,0.0795764237318,0.999999743644,0.000253512582429,-0.000667483833842,-5.39399763723e-05,1793193658773777664
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764,742.691372572,711,675.691372572,656.617254856,630,879,782,800.382745144,649.691372572,628,650.691372572,0.443527859631,0.00472052919112,0.0795776526192,0.999999741482,0.000257909335626,-0.000669259333836,-5.10893502489e-05,1793193658790444288
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764,743,711,676,656.262194756,630,879,782,800.737805244,650,628,651,0.443436522193,0.00472006434339,0.0795807520901,0.999999743157,0.000259638542555,-0.000666318871355,-4.78903001545e-05,1793193658807111168
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764,743,711,676,656.83043508,630,879,782,800.16956492,650,628,651,0.443334857768,0.00471853370675,0.0795860349907,0.999999749273,0.000258254068657,-0.000657873724224,-4.42845540248e-05,1793193658823778048
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764,742.57673367,711,676,657,630,879,782,800,649.57673367,628,651,0.443205158576,0.0047140554621,0.0795906522869,0.999999753547,0.000258762256843,-0.000651481243315,-3.89869480971e-05,1793193658840444416
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764,742,711,675.974731435,657,630,879,782,800,649.025268565,628.025268565,651,0.443062204502,0.00470852281319,0.0795949772689,0.999999756985,0.000260267639887,-0.00064591257713,-3.29848989077e-05,1793193658857110784
+280,4.666666667,POSE2_TO_POSE3_RETREAT,764,742,711,675.400701593,657,630,879,782,800,649.599298407,628.599298407,651,0.442890342373,0.00470731783788,0.0795991020467,0.999999759927,0.000265947199662,-0.000639274842692,-2.73116402563e-05,1793193658873777152
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764,742,711,675,657,630,879,782.173770807,800,649.826229193,629,651,0.442705651705,0.00470526348539,0.0796025282756,0.999999762313,0.000270487281065,-0.000633854437471,-2.09608356878e-05,1793193658890444032
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764,742,711,675,657,630,879,782.749266235,800,649.250733765,629,651,0.442491303949,0.00470124553667,0.0796043395931,0.999999763579,0.000272393107284,-0.000631248263861,-1.30436763032e-05,1793193658907110912
+283,4.716666667,POSE2_TO_POSE3_RETREAT,764,742.332312517,711,675.332312517,657,630,879,783,800,649,629,651,0.442251505929,0.00469677253556,0.0796029627696,0.999999760486,0.00027537311236,-0.000634957160911,-5.14096109069e-06,1793193658923777792
+284,4.733333333,POSE2_TO_POSE3_RETREAT,764,742.921188534,711,675.921188534,657,630,879,783,800,649,629,651,0.441992058888,0.0046919482086,0.0795991245265,0.999999753952,0.000279182442645,-0.000643541638751,2.75060327037e-06,1793193658940444416
+285,4.750000000,POSE2_TO_POSE3_RETREAT,763.497129276,742.497129276,711,676,657.502870724,630.502870724,879,782.497129276,800,649,629,651,0.441690601022,0.00468542134794,0.0796028790364,0.999999757744,0.000277810363427,-0.000638142418653,1.03593675358e-05,1793193658957111040
+286,4.766666667,POSE2_TO_POSE3_RETREAT,763.082450582,742.082450582,711,676,658,631,879,782.082450582,799.917549418,649,628.917549418,651,0.441376557743,0.00467863623836,0.0796063464025,0.999999763423,0.000270717133178,-0.000632146072922,1.60731922445e-05,1793193658973777664
+287,4.783333333,POSE2_TO_POSE3_RETREAT,763.656127691,742.656127691,711,676,658,631,879,782.656127691,799.343872309,649,628.343872309,651,0.441026206096,0.00467187980817,0.0796011134285,0.999999770584,0.000234308059469,-0.000635464991521,1.07576275237e-05,1793193658990444288
+288,4.800000000,POSE2_TO_POSE3_RETREAT,764,742.770660009,711,675.770660009,658,631,879,783,799.229339991,649.229339991,628.229339991,651,0.44065535074,0.00466490485834,0.0795958877558,0.999999773693,0.000208599341837,-0.000639537335346,9.63588737179e-06,1793193659007111168
+289,4.816666667,POSE2_TO_POSE3_RETREAT,764,742.198143266,711,675.198143266,658,631,879,783,799.801856734,649.801856734,628.801856734,651,0.440253814336,0.00465760292335,0.0795906730087,0.999999772267,0.000198902284457,-0.000644737080447,1.47896474573e-05,1793193659023778048
+290,4.833333333,POSE2_TO_POSE3_RETREAT,763.611314369,742,711,675.388685631,658,631,879,783,800,650,629,651,0.439836940613,0.00464932128805,0.0795923487742,0.999999772014,0.0002207903593,-0.000637911844112,1.71074296835e-05,1793193659040444416
+291,4.850000000,POSE2_TO_POSE3_RETREAT,763.016910551,742,711,675.983089449,658,631,879,783,800,650,629,651,0.439411949377,0.00464052113067,0.0795976714557,0.999999771057,0.000259395378833,-0.000624722189864,1.79242243399e-05,1793193659057110784
+292,4.866666667,POSE2_TO_POSE3_RETREAT,763.561378504,742.561378504,711,675.438621496,658,631.561378504,879,783,800,649.438621496,629,651,0.438953125685,0.0046299954193,0.0796367571465,0.999999815502,0.000223198257097,-0.000564620461183,1.95258782185e-05,1793193659073777664
+293,4.883333333,POSE2_TO_POSE3_RETREAT,764,743,711,675.138880997,658.138880997,631.861119003,879.138880997,783,799.861119003,649.138880997,629,651,0.43848476701,0.00462019191304,0.0796774799143,0.999999855159,0.000189729727889,-0.000503205110802,2.16831689176e-05,1793193659090444800
+294,4.900000000,POSE2_TO_POSE3_RETREAT,764,743,711,675.71539179,658.71539179,631.28460821,879.71539179,783,799.28460821,649.71539179,629,651,0.437989484434,0.00461282338124,0.0797202458735,0.999999887251,0.000171761535476,-0.000441979128106,2.55189128969e-05,1793193659107111936
+295,4.916666667,POSE2_TO_POSE3_RETREAT,763.703237368,743,711,675.703237368,659,631,879.703237368,783.296762632,799.296762632,649.703237368,629,651,0.437467202594,0.00460464543186,0.0797523352958,0.999999907718,0.000163223753048,-0.000396410779247,2.79274765398e-05,1793193659123778304
+296,4.933333333,POSE2_TO_POSE3_RETREAT,763.117127853,743,711,675.117127853,659,631,879.117127853,783.882872147,799.882872147,649.117127853,629,651,0.436918596111,0.00459567829043,0.0797740149804,0.999999919135,0.000163880723966,-0.000366108792035,2.89445239244e-05,1793193659140444416
+297,4.950000000,POSE2_TO_POSE3_RETREAT,763,743,711,675,659,631,878.53285285,784,800.46714715,649,629,650.53285285,0.436299507518,0.00458603291581,0.0797817563771,0.999999927756,0.000146449557838,-0.000349469801835,3.02019363234e-05,1793193659157110272
+298,4.966666667,POSE2_TO_POSE3_RETREAT,763,742.949812674,711,675,659,631.050187326,878,783.949812674,800.899625347,649,629,650,0.435659282634,0.00457642117011,0.079785809226,0.999999934655,0.000126854980198,-0.000337055809444,3.14928630461e-05,1793193659173776640
+299,4.983333333,POSE2_TO_POSE3_RETREAT,763,742.374892453,711,675,659,631.625107547,878,783.374892453,799.749784905,649,629,650,0.434982113555,0.00456893206127,0.0797876928802,0.999999935286,0.000131873527921,-0.000333138706275,3.25065460673e-05,1793193659190443776
+300,5.000000000,POSE2_TO_POSE3_RETREAT,763,742,711,675,659,632,878,783,799.199959489,649,629,650,0.434298716674,0.00456165560345,0.0797924106888,0.99999993851,0.000130632931041,-0.000323719191042,3.34857880288e-05,1793193659207110656
+301,5.016666667,POSE2_TO_POSE3_RETREAT,763,742,711,675,659,632,878,783,799.774683426,649,629,650,0.433603647674,0.00455477769704,0.0798024402746,0.999999946282,0.000117661433292,-0.000303987044958,3.44004804209e-05,1793193659223777536
+302,5.033333333,POSE2_TO_POSE3_RETREAT,763.359959546,742.359959546,711,675,659.359959546,631.640040454,878.359959546,783,800,649,629,650.359959546,0.432849340428,0.00454800779076,0.0797878620916,0.999999937132,0.000107707144754,-0.000335923261031,3.59192362891e-05,1793193659240444416
+303,5.050000000,POSE2_TO_POSE3_RETREAT,763.952040256,742.952040256,711,675,659.952040256,631.047959744,878.952040256,783,800,649,629,650.952040256,0.432056833219,0.00454130752902,0.079757415503,0.999999913843,9.96985142158e-05,-0.000401177999708,3.78275244385e-05,1793193659257111552
+304,5.066666667,POSE2_TO_POSE3_RETREAT,763.470580074,742.470580074,711,675,659.470580074,631.529419926,878.470580074,783,800,649,629,650.470580074,0.431253987732,0.00453289100259,0.0797421260943,0.999999902552,9.3303695837e-05,-0.000429763763524,3.86581119858e-05,1793193659273777920
+305,5.083333333,POSE2_TO_POSE3_RETREAT,763,742,711,675,659,632,878.105213106,783.105213106,800,649,628.894786894,650.105213106,0.430460099893,0.00452366143983,0.0797422065194,0.999999902424,8.53610455061e-05,-0.00043163809246,3.9412198268e-05,1793193659290444544
+306,5.100000000,POSE2_TO_POSE3_RETREAT,763,742,711,675,659,632,878.679709434,783.679709434,800,649,628.320290566,650.679709434,0.429710230568,0.00451148021562,0.0798048823093,0.999999942698,6.98801308036e-05,-0.00032878711193,4.02487512674e-05,1793193659307111424
+307,5.116666667,POSE2_TO_POSE3_RETREAT,763.261566392,742.261566392,711,674.738433608,659.261566392,632,878.738433608,784,800.261566392,649,628,650.738433608,0.428935777152,0.004500796886,0.0798468456683,0.99999996334,5.8852565585e-05,-0.000261043544988,4.13791647555e-05,1793193659323777792
+308,5.133333333,POSE2_TO_POSE3_RETREAT,763.852697573,742.852697573,711,674.147302427,659.852697573,632,878.147302427,784,800.852697573,649,628,650.147302427,0.428130348511,0.00449200085115,0.0798627120749,0.999999969442,5.34360683853e-05,-0.000237534118658,4.2879833026e-05,1793193659340444160
+309,5.150000000,POSE2_TO_POSE3_RETREAT,763.568326677,742.568326677,711,674,659.568326677,632,878,784,800.136653354,649,628.431673323,650,0.427262514951,0.00448181828584,0.0798317703644,0.999999958929,3.73208843973e-05,-0.000280880102948,4.30819147378e-05,1793193659357111040
+310,5.166666667,POSE2_TO_POSE3_RETREAT,763,742.006654467,711,674,659,632,878.006654467,784,799.006654467,649.006654467,629,650,0.426373849258,0.00447116720644,0.0797855313292,0.999999939014,1.7895884377e-05,-0.000346146016068,4.28404681751e-05,1793193659373777664
+311,5.183333333,POSE2_TO_POSE3_RETREAT,763,742.585046252,711,674,659,632,878.585046252,784,799.585046252,649.585046252,629,650,0.425474821496,0.00445979967293,0.0797597260705,0.999999923556,1.9174721301e-05,-0.000388323772621,4.15216183693e-05,1793193659390444544
+312,5.200000000,POSE2_TO_POSE3_RETREAT,763.162760652,742.837239348,711,674,659,632,878.837239348,784,800,649.837239348,629,650.162760652,0.424566909196,0.0044493211575,0.0797381367962,0.999999908988,1.61649752992e-05,-0.000424350275343,4.11156960068e-05,1793193659407111424
+313,5.216666667,POSE2_TO_POSE3_RETREAT,763.738755198,742.261244802,711,674,659,632,878.261244802,784,800,649.261244802,629,650.738755198,0.423636439947,0.00444109977553,0.0797272515088,0.999999900166,2.26692301237e-06,-0.000444759325423,4.30276102689e-05,1793193659423778048
+314,5.233333333,POSE2_TO_POSE3_RETREAT,763.67679628,742,711,674,659,632,878,784,799.67679628,649,629,650.67679628,0.422782299115,0.00443339796975,0.0797436785625,0.999999914028,-8.82425340462e-06,-0.00041223022101,4.39514977813e-05,1793193659440444416
+315,5.250000000,POSE2_TO_POSE3_RETREAT,763.085330919,742,711,674,659,632,878,784,799.085330919,649,629,650.085330919,0.421991511518,0.00442612741671,0.0797827750756,0.999999942507,-1.7585699955e-05,-0.000335762027479,4.40553150079e-05,1793193659457110272
+316,5.266666667,POSE2_TO_POSE3_RETREAT,763,742,711,674,659.495388944,632,878.495388944,784,799.495388944,649,628.504611056,650,0.421193847368,0.00442636796378,0.079837874535,0.999999970074,-2.25054756059e-05,-0.000239398355838,4.51066157868e-05,1793193659473776896
+317,5.283333333,POSE2_TO_POSE3_RETREAT,763,742.073709663,711,674,660,632,878.926290337,784,800,649,628.073709663,650,0.420381891204,0.00443066201783,0.0798848182165,0.999999986057,-2.05160800372e-05,-0.000159171374977,4.61549359878e-05,1793193659490443776
+318,5.300000000,POSE2_TO_POSE3_RETREAT,763,742.648039775,711,674,660,632,878.351960225,784,800,649,628.648039775,650,0.419480741085,0.00445388604366,0.0798580453671,0.999999976321,2.40000391557e-05,-0.000211322776501,4.60980978595e-05,1793193659507110400
+319,5.316666667,POSE2_TO_POSE3_RETREAT,763,742.776992649,711,674,659.776992649,632,878,784,799.776992649,649,629,650,0.418574292627,0.00446659445319,0.0798268704756,0.999999962378,4.54362398747e-05,-0.000266739649758,4.50554587846e-05,1793193659523777024
+320,5.333333333,POSE2_TO_POSE3_RETREAT,763,742.201016023,711,674,659.201016023,632,878,784,799.201016023,649,629,650,0.417659457977,0.00446265906764,0.0797887281612,0.999999945068,3.03422522955e-05,-0.000327325021401,4.24525240018e-05,1793193659540443392
+321,5.350000000,POSE2_TO_POSE3_RETREAT,763,742,711,673.614608326,659,632,878,784,799,649,629,650.385391674,0.416803556548,0.00445534285578,0.0797854973042,0.999999939916,1.86269519333e-05,-0.000343495080425,4.27986403167e-05,1793193659557110016
+322,5.366666667,POSE2_TO_POSE3_RETREAT,763,742,711,673.022608578,659,632,878,784,799,649,629,650.977391422,0.41597924921,0.00444621418671,0.0798009824455,0.999999942563,8.722963201e-06,-0.000335854133507,4.47257400576e-05,1793193659573776384
+323,5.383333333,POSE2_TO_POSE3_RETREAT,763,742,711,673,659.553295879,632,878,784,799,649,629,651,0.415162759651,0.00444994456027,0.0797847777952,0.999999934778,6.79212851112e-06,-0.000358428705066,4.3904745887e-05,1793193659590443776
+324,5.400000000,POSE2_TO_POSE3_RETREAT,763,742.128545685,711,673,659.871454315,632,877.871454315,784,799,649,629,650.871454315,0.414362640086,0.00445361137083,0.0797748678376,0.999999931329,4.67610749252e-06,-0.000368111856433,4.25898646581e-05,1793193659607110656
+325,5.416666667,POSE2_TO_POSE3_RETREAT,763,742.703741391,711,673,659.296258609,632,877.296258609,784,799,649,629,650.296258609,0.413618321816,0.00445528321065,0.0797912017912,0.999999945136,8.16605745471e-07,-0.00032883324116,3.99380474042e-05,1793193659623777280
+326,5.433333333,POSE2_TO_POSE3_RETREAT,763,742.713314712,711,673,659,632,877.286685288,784,799.286685288,649.286685288,629,650,0.412867412735,0.00445584354794,0.0798014729648,0.999999951797,-1.82418064204e-06,-0.000308156338623,3.79765647679e-05,1793193659640444160
+327,5.450000000,POSE2_TO_POSE3_RETREAT,763,742.122141512,711,673,659,632,877.877858488,784,799.877858488,649.877858488,629,650,0.412109503614,0.00445522336033,0.0798053048699,0.999999952123,-3.17057145971e-06,-0.000307236283601,3.67482854676e-05,1793193659657111040
+328,5.466666667,POSE2_TO_POSE3_RETREAT,763,742,711.458836118,673,659,632,878,784,799.541163882,649.541163882,629,650.458836118,0.411359669814,0.00445325712552,0.079795381445,0.999999944789,-3.21507671463e-06,-0.000330071422668,3.82714220093e-05,1793193659673777920
+329,5.483333333,POSE2_TO_POSE3_RETREAT,763,742,711.96311606,673.03688394,659,632,878,784,799,649,629,650.96311606,0.410617973813,0.00445108118029,0.0797833230102,0.999999935769,-2.6459107741e-06,-0.000356124158306,4.03898040833e-05,1793193659690444800
+330,5.500000000,POSE2_TO_POSE3_RETREAT,763,742,711.389070347,673.610929653,659,632,878,784,799,649,629,650.389070347,0.409964168133,0.00445095602857,0.0797923387122,0.999999941727,1.9230584115e-06,-0.00033894429258,4.07422588717e-05,1793193659707111680
+331,5.516666667,POSE2_TO_POSE3_RETREAT,763,742,711,673.814547715,659.185452285,632,878.185452285,784,799,649.185452285,629,650.185452285,0.409325562538,0.00445142200916,0.0798070874074,0.999999950345,4.2216800092e-06,-0.000312403379876,4.11752126654e-05,1793193659723778304
+332,5.533333333,POSE2_TO_POSE3_RETREAT,763,742,711,673.239021841,659.760978159,632,878.760978159,784,799,649.760978159,629,650.760978159,0.408718928125,0.00445313135591,0.0798338946734,0.999999963702,1.74493596347e-06,-0.000266172778169,4.17774851677e-05,1793193659740444416
+333,5.550000000,POSE2_TO_POSE3_RETREAT,763.346931261,742,711.346931261,673,659.653068739,632,878.653068739,784,799,649.653068739,629,651,0.408094657631,0.00445641262524,0.0798302512204,0.999999960779,8.52066186451e-06,-0.00027666725524,4.27141903111e-05,1793193659757110784
+334,5.566666667,POSE2_TO_POSE3_RETREAT,763.940290883,742,711.940290883,673,659.059709117,632,878.059709117,784,799,649.059709117,629,651,0.407457860106,0.00446081044505,0.0798049783493,0.999999945185,2.18684995952e-05,-0.000327454062738,4.38884458498e-05,1793193659773776896
+335,5.583333333,POSE2_TO_POSE3_RETREAT,763.481047823,742,711.481047823,673,659,632,878,784,799,649,629,651,0.40687940152,0.00445901194042,0.0797745722241,0.999999928755,2.055964902e-05,-0.000374442468321,4.31324973902e-05,1793193659790443776
+336,5.600000000,POSE2_TO_POSE3_RETREAT,763,742,711,673,659,632.094872507,877.905127493,784,799.094872507,649,629,650.905127493,0.406325904932,0.00445715128051,0.0797515418245,0.999999916076,1.7370043822e-05,-0.000407156435496,4.20726716178e-05,1793193659807110656
+337,5.616666667,POSE2_TO_POSE3_RETREAT,763,742,711,673,659,632.665297089,877.334702911,784,799.665297089,649,629,650.334702911,0.405864812341,0.0044584542311,0.0797683614833,0.999999930476,1.29731876011e-05,-0.000370449542735,4.05721912397e-05,1793193659823777280
+338,5.633333333,POSE2_TO_POSE3_RETREAT,763.245543118,742,711.245543118,673,659,632.754456882,877,784,800,649,629,650,0.405412211981,0.0044597588661,0.0797853830988,0.999999942058,1.39811132702e-05,-0.000337772280592,3.99868818769e-05,1793193659840443648
+339,5.650000000,POSE2_TO_POSE3_RETREAT,763.839734642,742,711.839734642,673,659,632.160265358,877,784,800,649,629,650,0.404971669838,0.00446106589271,0.0798026914726,0.999999950611,2.2663327264e-05,-0.000310816722891,4.07010304629e-05,1793193659857110272
+340,5.666666667,POSE2_TO_POSE3_RETREAT,764,742,711.576875204,673,658.576875204,632,877.423124796,784,799.576875204,649,629,650.423124796,0.404558272437,0.00446334652728,0.0798138986522,0.999999954293,2.7193932873e-05,-0.000298222098398,4.16983129199e-05,1793193659873776640
+341,5.683333333,POSE2_TO_POSE3_RETREAT,764,742,711,673,658.002507015,632,878.002507015,784,799.002507015,649.002507015,629,651,0.404155076959,0.00446598254709,0.0798228300927,0.999999956296,3.01761576719e-05,-0.000290973845001,4.2796000346e-05,1793193659890443520
+342,5.700000000,POSE2_TO_POSE3_RETREAT,764,742,711,673,658.577634356,632,878.577634356,784,799.577634356,649.577634356,629,651,0.403792167254,0.0044676580541,0.0798266594298,0.999999955596,2.97242948683e-05,-0.000293395307879,4.29418729135e-05,1793193659907110144
+343,5.716666667,POSE2_TO_POSE3_RETREAT,764,742,711,673,659,632,878.847082691,784,799.847082691,650,629,650.847082691,0.403444282393,0.00446868641912,0.079829159312,0.999999954855,3.24658968528e-05,-0.000295567274866,4.33053060039e-05,1793193659923776768
+344,5.733333333,POSE2_TO_POSE3_RETREAT,764,742,711,673,659,632,878.271369367,784,799.271369367,650,629,650.271369367,0.403137939143,0.00446792552302,0.079827983429,0.999999953931,4.40370040453e-05,-0.000297049419426,4.42702650275e-05,1793193659940443136
+345,5.750000000,POSE2_TO_POSE3_RETREAT,764,742,711,673,659,632,878,784,799,650,629,650.31224688,0.40284955465,0.00446724893346,0.0798255885053,0.99999995225,4.78990258705e-05,-0.000302026024543,4.45731683571e-05,1793193659957109760
+346,5.766666667,POSE2_TO_POSE3_RETREAT,764,742,711,673,659,632,878,784,799,650,629,650.902909761,0.402577183161,0.00446664751616,0.0798221066199,0.999999949925,4.48872146163e-05,-0.000310118477312,4.42857474019e-05,1793193659973776384
+347,5.783333333,POSE2_TO_POSE3_RETREAT,764,742,711.482564428,673,659,632,878,784,799,649.517435572,629,651,0.402353971398,0.00446409086955,0.0798238034327,0.999999951672,3.67197245957e-05,-0.000305490028102,4.45445910909e-05,1793193659990443264
+348,5.800000000,POSE2_TO_POSE3_RETREAT,764,742,712,673,658.940039351,632.059960649,878,784,799,649.059960649,629,651,0.402144830794,0.00446014688357,0.0798270610002,0.999999954301,2.65310028845e-05,-0.000297756434245,4.51196745423e-05,1793193660007109888
+349,5.816666667,POSE2_TO_POSE3_RETREAT,764,742,712,673,658.363444666,632.636555334,878,784,799,649.636555334,629,651,0.401973610105,0.0044475631746,0.0798349890539,0.999999958279,7.66520902101e-06,-0.000284828749118,4.74936910889e-05,1793193660023776512
+350,5.833333333,POSE2_TO_POSE3_RETREAT,764,742.217172396,712,673,658.217172396,632.782827604,878,784,799,649.782827604,629,651,0.40181355453,0.00443921968158,0.0798414154084,0.999999961021,-5.75316231737e-06,-0.000274813385026,4.9005231855e-05,1793193660040443392
+351,5.850000000,POSE2_TO_POSE3_RETREAT,764,742.804647999,712,673,658.804647999,632.195352001,878,784,799,649.195352001,629,651,0.401672536741,0.00443810623194,0.079845281197,0.999999962362,-9.88306746602e-06,-0.000269763855326,4.90461548083e-05,1793193660057110016
+352,5.866666667,POSE2_TO_POSE3_RETREAT,763.613389179,743,712,673,659,632,878,784,799,649,629,651,0.401542637884,0.00444538732507,0.0798424933565,0.99999996152,-3.25713888202e-06,-0.000273129634163,4.84813260109e-05,1793193660073776640
+353,5.883333333,POSE2_TO_POSE3_RETREAT,763.034172716,743,712,673,659,632,878,784,799,649,629,651,0.401418278355,0.00445685049529,0.0798363907451,0.999999959436,8.72723804992e-06,-0.000280687834995,4.761471775e-05,1793193660090443264
+354,5.900000000,POSE2_TO_POSE3_RETREAT,763.542917473,742.457082527,711.457082527,673.542917473,659,632.542917473,878,784,799,649.542917473,629,651,0.401319845028,0.00446368430264,0.0798309992667,0.999999956628,2.7446664723e-05,-0.000289503316534,4.66720062806e-05,1793193660107109888
+355,5.916666667,POSE2_TO_POSE3_RETREAT,764,742.121590808,711,673.756818385,659,632.878409192,878,784,799,649.878409192,629,651,0.401229220282,0.00446868132571,0.0798258939053,0.999999953276,4.9077623644e-05,-0.000298214867182,4.5905798392e-05,1793193660123776768
+356,5.933333333,POSE2_TO_POSE3_RETREAT,764,742.706809182,711,672.586381636,659,632.293190818,878,784,799,649.293190818,629,651,0.401162171684,0.00446778138503,0.0798217095038,0.999999948845,8.02001870199e-05,-0.000306229558332,4.58307947025e-05,1793193660140443392
+357,5.950000000,POSE2_TO_POSE3_RETREAT,764,743,711,672.578086467,659,632,878.289043233,784,799.289043233,649,628.710956767,650.710956767,0.401106968441,0.00446704789001,0.0798192990024,0.9999999464,9.35524999631e-05,-0.000310386086916,4.59167818977e-05,1793193660157109760
+358,5.966666667,POSE2_TO_POSE3_RETREAT,764,743,711,673.736562079,659,632,878.86828104,784,799.86828104,649,628.13171896,650.13171896,0.401063657742,0.00446648150372,0.0798186694675,0.999999946711,8.90637768308e-05,-0.000310669084556,4.61644012881e-05,1793193660173776640
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764,743,711.447435997,673.552564003,658.552564003,632,878.105128005,784,799.552564003,649,628.447435997,650.447435997,0.401031176078,0.00446392125905,0.0798185596535,0.999999947524,8.23006707778e-05,-0.000309930335401,4.60554321118e-05,1793193660190443008
+360,6.000000000,POSE2_TO_POSE3_RETREAT,764,742.973586105,711.973586105,673.026413895,658.026413895,632,877.026413895,783.973586105,799,649.026413895,629,651,0.401002435736,0.00446104235915,0.0798186131591,0.999999948394,7.52743995933e-05,-0.000308939358334,4.58429429415e-05,1793193660207109888
+361,6.016666667,POSE2_TO_POSE3_RETREAT,764,742.397783549,711.397783549,673.602216451,658.602216451,632,877.602216451,783.397783549,799,649.602216451,629,651,0.40098521805,0.00446374181987,0.0798188819249,0.999999948289,7.66979741577e-05,-0.000308957237599,4.56603070342e-05,1793193660223776512
+362,6.033333333,POSE2_TO_POSE3_RETREAT,764,742,711.17631651,673.82368349,659,632,878,783.17631651,799,649.82368349,629,651,0.40097080784,0.00446572048477,0.0798188541763,0.999999948169,7.76034437349e-05,-0.000309145874617,4.54707657672e-05,1793193660240443136
+363,6.050000000,POSE2_TO_POSE3_RETREAT,764,742,711.746612264,673.253387736,659,632,878,783.746612264,799,649.253387736,629,651,0.400962670938,0.00446608853107,0.0798181638661,0.999999948022,7.73512075186e-05,-0.000309716069834,4.52657944987e-05,1793193660257109760
+364,6.066666667,POSE2_TO_POSE3_RETREAT,764,742,711.669141284,673,659,632,878.330858716,784.330858716,799,649.330858716,629,650.669141284,0.40095823372,0.00446599945503,0.0798187156867,0.999999948517,7.68547940213e-05,-0.000308252186303,4.51682526656e-05,1793193660273776640
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764,742,711.073740313,673,659,632,878.926259687,784.926259687,799,649.926259687,629,650.073740313,0.400956754631,0.00446554488112,0.0798202606684,0.999999949518,7.6163145475e-05,-0.000305161929541,4.51566073686e-05,1793193660290443264
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764,742,711,673,659,632,878.494094163,784.494094163,799,650,628.494094163,650.505905837,0.400957226482,0.00446654518016,0.079822818735,0.999999950705,7.79968816225e-05,-0.000300822987048,4.48632697902e-05,1793193660307109888
+367,6.116666667,POSE2_TO_POSE3_RETREAT,763.91690072,742,711,673,659,632,877.91690072,784,799.08309928,649.91690072,628.08309928,651,0.400957541184,0.00446754358575,0.0798249777077,0.999999951696,7.93974264251e-05,-0.000297194162756,4.4497597604e-05,1793193660323776512
+368,6.133333333,POSE2_TO_POSE3_RETREAT,763.341045111,742,711,673,659,632,877.341045111,784,799.658954889,649.341045111,628.658954889,651,0.400955288737,0.00446731127782,0.0798239209864,0.999999951491,7.61124663581e-05,-0.000298822804621,4.3939117308e-05,1793193660340443136
+369,6.150000000,POSE2_TO_POSE3_RETREAT,763.239960085,742,711,672.760039915,659,632,877.239960085,784,799.760039915,649,628.760039915,651,0.400953837565,0.00446647006793,0.0798235483828,0.999999951454,7.37878342426e-05,-0.000299548572502,4.38029211527e-05,1793193660357110016
+370,6.166666667,POSE2_TO_POSE3_RETREAT,763.828444645,742,711,672.171555355,659,632,877.828444645,784,799.171555355,649,628.171555355,651,0.400953550187,0.00446474447249,0.0798241694101,0.999999951676,7.28580084415e-05,-0.00029896298186,4.42800618626e-05,1793193660373776640
+371,6.183333333,POSE2_TO_POSE3_RETREAT,764,742,711.410476867,672.410476867,659,632.410476867,878,784,799,649,628.410476867,651,0.400954090301,0.0044656801698,0.0798248744462,0.999999951788,7.48217941255e-05,-0.00029811939109,4.41620404499e-05,1793193660390443264
+372,6.200000000,POSE2_TO_POSE3_RETREAT,764,742,711.989854108,672.989854108,659,632.989854108,878,784,799,649,628.989854108,651,0.400954970905,0.00446771091873,0.0798256140499,0.999999951846,7.7976224428e-05,-0.000297169640103,4.37991255526e-05,1793193660407109888
+373,6.216666667,POSE2_TO_POSE3_RETREAT,764,742,711.435536244,673,659,632.435536244,877.435536244,784,799,649,629,651,0.400953994479,0.00446782730431,0.0798259397249,0.999999951752,7.88434960067e-05,-0.000297248128244,4.38471701385e-05,1793193660423776512
+374,6.233333333,POSE2_TO_POSE3_RETREAT,764,742,711,673,659,632,877.278265709,784,799,649,629,651,0.400953601464,0.00446773590941,0.079826444193,0.999999951883,7.9148402734e-05,-0.000296713376638,4.39510061398e-05,1793193660440443392
+375,6.250000000,POSE2_TO_POSE3_RETREAT,764,742,711,673,659,632,878.428508842,784,799,649,629,651,0.400955140359,0.00446710033363,0.0798275320489,0.999999952718,7.7818819535e-05,-0.00029419953783,4.42067175669e-05,1793193660457110016
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764,742,711,673,659.299316873,632.299316873,878.700683127,784,799.299316873,649,629,651,0.400955813086,0.0044665292378,0.0798279389933,0.999999953136,7.58060871231e-05,-0.000293325029169,4.40711259098e-05,1793193660473776896
+377,6.283333333,POSE2_TO_POSE3_RETREAT,764,742,711,673,659.894195568,632.894195568,878.105804432,784,799.894195568,649,629,651,0.400955630512,0.0044660218129,0.0798276735687,0.99999995314,7.31187757267e-05,-0.000294069284289,4.35491402563e-05,1793193660490443520
+378,6.300000000,POSE2_TO_POSE3_RETREAT,764,742,711,673,659.526010662,632.526010662,878,784.473989338,800,649.473989338,629,651,0.400953994811,0.00446700077847,0.0798263616094,0.999999952521,7.54476528315e-05,-0.000295602803741,4.34108231555e-05,1793193660507109888
+379,6.316666667,POSE2_TO_POSE3_RETREAT,764,742,711,673,659,632,878,784.949697749,799.949697749,649.949697749,629,651,0.400952382425,0.00446826787757,0.0798251469965,0.99999995189,7.86664831089e-05,-0.000296902414278,4.33596232629e-05,1793193660523776768
+380,6.333333333,POSE2_TO_POSE3_RETREAT,764,742,711,673,659,632,878,784.375648458,799.375648458,649.375648458,629,651,0.400954285961,0.00446918694157,0.0798273032643,0.999999952657,7.98525848232e-05,-0.000293988754925,4.33512774529e-05,1793193660540443392
+381,6.350000000,POSE2_TO_POSE3_RETREAT,764,742,711,673,659,632.204153063,878,784,799,649.204153063,629,651,0.400955546691,0.00446953636983,0.0798285692392,0.999999953113,8.06205031075e-05,-0.000292219253954,4.33901657515e-05,1793193660557110016
+382,6.366666667,POSE2_TO_POSE3_RETREAT,764,742,711,673,659,632.794845713,878,784,799,649.794845713,629,651,0.400955590345,0.0044688072604,0.07982814955,0.999999952993,8.0596640649e-05,-0.00029261608121,4.35184862274e-05,1793193660573776640
+383,6.383333333,POSE2_TO_POSE3_RETREAT,764,742.377618457,711.377618457,673,658.622381543,632.622381543,878.377618457,784,799.377618457,650,629,651,0.400956457981,0.00446819720455,0.0798291906005,0.999999953531,7.86006922348e-05,-0.000291315670534,4.35226322975e-05,1793193660590443264
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764,742.956176809,711.956176809,673,658.043823191,632.043823191,878.956176809,784,799.956176809,650,629,651,0.400957764078,0.0044676505,0.0798310089457,0.999999954408,7.55553492811e-05,-0.000289112118569,4.34607021645e-05,1793193660607109888
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764,743,711.466864858,673,659.066270285,632.533135142,878.466864858,784,800,649.466864858,629,651,0.400956631677,0.00446645175819,0.0798299952897,0.999999954145,7.29290518311e-05,-0.000290708160363,4.33614348167e-05,1793193660623776768
+386,6.433333333,POSE2_TO_POSE3_RETREAT,763.888291487,743,711.111708513,673,659.888291487,632.888291487,878.111708513,784,799.888291487,649,629,651,0.40095532414,0.00446580403265,0.0798287677136,0.999999953714,7.17526714028e-05,-0.000292484369143,4.33104511241e-05,1793193660640443392
+387,6.450000000,POSE2_TO_POSE3_RETREAT,763.302304627,743,711.697695373,673,659.302304627,632.302304627,878.697695373,784,799.302304627,649,629,651,0.400954121497,0.00446772261896,0.0798276172867,0.999999952991,7.65863667696e-05,-0.0002937034536,4.34774556482e-05,1793193660657110016
+388,6.466666667,POSE2_TO_POSE3_RETREAT,763.28048457,742.71951543,711.71951543,673,658.71951543,632,878.71951543,784,799,649,629,650.71951543,0.40095361677,0.00446836190951,0.0798271624709,0.999999952907,7.77120542679e-05,-0.000293696725197,4.34579499553e-05,1793193660673776640
+389,6.483333333,POSE2_TO_POSE3_RETREAT,763.859866262,742.140133738,711.140133738,673,658.140133738,632,878.140133738,784,799,649,629,650.140133738,0.400953855777,0.00446763792449,0.07982744893,0.999999953517,7.48863204277e-05,-0.000292383714979,4.32396905084e-05,1793193660690443264
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764,742.438886288,711,673,658.438886288,632,878.438886288,784,799.438886288,649,629,650.438886288,0.400954560842,0.00446769498339,0.07982813778,0.999999953588,7.53836365735e-05,-0.000292011511346,4.32559883068e-05,1793193660707110144
+391,6.516666667,POSE2_TO_POSE3_RETREAT,764,742.98245411,711,673,658.98245411,632,879,784,800,649,629,651,0.400955302637,0.00446802342666,0.0798288708986,0.999999953458,7.69333021121e-05,-0.000292039835106,4.33398664739e-05,1793193660723777024
+392,6.533333333,POSE2_TO_POSE3_RETREAT,764,742.411521833,711,673,658.411521833,632,879,784,800,649,629,651,0.400952513391,0.00446905226922,0.0798269513469,0.999999952425,7.82367508442e-05,-0.000295234108671,4.31950630286e-05,1793193660740443648
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_12/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_12/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..35031e850cada8b7bfd3bc44cd094e76c4939f47
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_12/depth_01/simulation_data.csv
@@ -0,0 +1,394 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+1,0.016666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+2,0.033333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+3,0.050000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+4,0.066666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+5,0.083333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+6,0.100000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+7,0.116666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+8,0.133333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+9,0.150000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+10,0.166666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+11,0.183333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+12,0.200000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+13,0.216666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+14,0.233333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+15,0.250000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+16,0.266666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+17,0.283333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+18,0.300000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+19,0.316666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+20,0.333333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+21,0.350000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+22,0.366666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+23,0.383333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+24,0.400000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+25,0.416666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+26,0.433333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+27,0.450000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+28,0.466666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+29,0.483333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+30,0.500000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+31,0.516666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+32,0.533333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+33,0.550000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+34,0.566666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+35,0.583333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+36,0.600000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+37,0.616666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+38,0.633333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+39,0.650000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+40,0.666666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+41,0.683333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+42,0.700000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+43,0.716666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+44,0.733333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+45,0.750000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+46,0.766666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+47,0.783333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+48,0.800000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+49,0.816666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+50,0.833333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+51,0.850000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+52,0.866666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+53,0.883333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+54,0.900000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+55,0.916666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+56,0.933333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+57,0.950000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+58,0.966666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+59,0.983333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+60,1.000000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+61,1.016666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+62,1.033333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+63,1.050000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+64,1.066666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+65,1.083333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+66,1.100000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+67,1.116666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+68,1.133333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+69,1.150000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+70,1.166666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+71,1.183333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+72,1.200000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+73,1.216666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+74,1.233333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+75,1.250000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+76,1.266666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+77,1.283333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+78,1.300000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+79,1.316666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+80,1.333333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+81,1.350000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+82,1.366666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+83,1.383333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+84,1.400000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+85,1.416666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+86,1.433333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+87,1.450000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+88,1.466666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+89,1.483333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+90,1.500000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+91,1.516666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+92,1.533333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+93,1.550000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+94,1.566666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+95,1.583333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+96,1.600000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+97,1.616666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+98,1.633333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+99,1.650000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+100,1.666666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+101,1.683333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+102,1.700000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+103,1.716666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+104,1.733333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+105,1.750000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+106,1.766666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+107,1.783333333,pose1_to_pose2_press,0.575709270927,0.0100545684129,1.07002931416,0.546280001826,0.0187272996178,1.06969859147
+108,1.800000000,pose1_to_pose2_press,0.575709304953,0.0100545793911,1.07002918731,0.546280035498,0.018727309612,1.06969847038
+109,1.816666667,pose1_to_pose2_press,0.575709337615,0.0100545899291,1.07002906555,0.54628006782,0.0187273192056,1.06969835415
+110,1.833333333,pose1_to_pose2_press,0.575709372625,0.0100546012248,1.07002893504,0.546280102465,0.0187273294889,1.06969822956
+111,1.850000000,pose1_to_pose2_press,0.575709408812,0.0100546042773,1.07002887654,0.546280138426,0.0187273318813,1.06969817379
+112,1.866666667,pose1_to_pose2_press,0.575709538608,0.0100545870291,1.07002891661,0.546280267912,0.0187273135275,1.0696982125
+113,1.883333333,pose1_to_pose2_press,0.575709612799,0.0100545771702,1.07002893951,0.546280341925,0.0187273030367,1.06969823462
+114,1.900000000,pose1_to_pose2_press,0.575710669073,0.0100545284422,1.07002917498,0.546281399019,0.0187272567313,1.06969846074
+115,1.916666667,pose1_to_pose2_press,0.575714413782,0.0100545827144,1.07002901758,0.546285142178,0.0187273060839,1.0696983122
+116,1.933333333,pose1_to_pose2_press,0.575724451403,0.010054393946,1.07002928841,0.546295183259,0.0187271286267,1.06969857164
+117,1.950000000,pose1_to_pose2_press,0.575742488468,0.0100546276803,1.07002925227,0.546313217539,0.0187273532225,1.0696985437
+118,1.966666667,pose1_to_pose2_press,0.575772739429,0.0100546448956,1.07002908026,0.546343469251,0.0187273730589,1.06969837355
+119,1.983333333,pose1_to_pose2_press,0.575814857202,0.0100546219992,1.07002891029,0.546385585375,0.0187273445911,1.06969820403
+120,2.000000000,pose1_to_pose2_press,0.575869915528,0.0100546375284,1.07002921969,0.546440645521,0.0187273662968,1.06969851345
+121,2.016666667,pose1_to_pose2_press,0.575936382999,0.0100546473354,1.07002906028,0.546507112157,0.018727373416,1.06969835772
+122,2.033333333,pose1_to_pose2_press,0.576014100642,0.0100546024102,1.07002913999,0.546584830367,0.018727330417,1.06969843746
+123,2.050000000,pose1_to_pose2_press,0.576103710463,0.0100544754391,1.07002908248,0.546674443508,0.0187272142826,1.06969836865
+124,2.066666667,pose1_to_pose2_press,0.576206713578,0.0100544889864,1.07002899623,0.546777443389,0.01872721725,1.06969829265
+125,2.083333333,pose1_to_pose2_press,0.576326129596,0.0100546055111,1.0700291112,0.546896861237,0.0187273399322,1.06969840627
+126,2.100000000,pose1_to_pose2_press,0.576462118115,0.0100546842679,1.07002904847,0.547032847579,0.0187274110467,1.06969833678
+127,2.116666667,pose1_to_pose2_press,0.576617375148,0.0100545980196,1.07002901918,0.547188103509,0.0187273211459,1.06969830979
+128,2.133333333,pose1_to_pose2_press,0.576788759193,0.0100546312273,1.07002927384,0.54735949144,0.0187273674144,1.06969856112
+129,2.150000000,pose1_to_pose2_press,0.57697529489,0.0100546945262,1.07002927514,0.547546023921,0.0187274198022,1.06969856241
+130,2.166666667,pose1_to_pose2_press,0.577178886382,0.0100545479882,1.07002918186,0.54774961593,0.018727274872,1.06969846516
+131,2.183333333,pose1_to_pose2_press,0.577400251592,0.0100546924504,1.07002913647,0.547970979661,0.0187274146615,1.06969842877
+132,2.200000000,pose1_to_pose2_press,0.577643702033,0.010054667176,1.07002922736,0.548214430841,0.018727391934,1.06969852064
+133,2.216666667,pose1_to_pose2_press,0.577911453093,0.0100546299831,1.07002927486,0.548482182873,0.0187273577919,1.06969856164
+134,2.233333333,pose1_to_pose2_press,0.578208480519,0.0100545888502,1.07002916828,0.548779211344,0.0187273202507,1.06969845619
+135,2.250000000,pose1_to_pose2_press,0.578531915891,0.0100544643521,1.07002891389,0.549102647803,0.0187271997541,1.06969820995
+136,2.266666667,pose1_to_pose2_press,0.578881437045,0.0100545553506,1.0700291068,0.549452167543,0.0187272857402,1.06969839723
+137,2.283333333,pose1_to_pose2_press,0.579259857403,0.0100545999413,1.07002922452,0.549830587178,0.0187273280235,1.06969851865
+138,2.300000000,pose1_to_pose2_press,0.579664628057,0.0100545085581,1.07002923901,0.550235360122,0.0187272443837,1.06969853245
+139,2.316666667,pose1_to_pose2_press,0.580093050688,0.0100545250653,1.07002907122,0.5506637804,0.0187272525273,1.06969835458
+140,2.333333333,pose1_to_pose2_press,0.580544054786,0.0100546430452,1.07002878198,0.551114784413,0.0187273706165,1.06969807577
+141,2.350000000,pose1_to_pose2_press,0.581019065745,0.0100545075897,1.07002911894,0.55158979681,0.0187272398912,1.06969840872
+142,2.366666667,pose1_to_pose2_press,0.581509142346,0.01005447897,1.07002905218,0.552079872676,0.0187272086161,1.06969833765
+143,2.383333333,pose1_to_pose2_press,0.582015371787,0.0100545017826,1.07002913759,0.552586103324,0.0187272355625,1.06969842416
+144,2.400000000,pose1_to_pose2_press,0.582551891109,0.0100545593234,1.07002914308,0.55312262313,0.018727294913,1.06969843394
+145,2.416666667,pose1_to_pose2_press,0.583119677557,0.0100545389766,1.07002891092,0.553690407738,0.0187272685489,1.06969820766
+146,2.433333333,pose1_to_pose2_press,0.58372363151,0.0100544933937,1.07002911778,0.554294361966,0.0187272236883,1.06969840887
+147,2.450000000,pose1_to_pose2_press,0.584357617116,0.0100546300948,1.07002910287,0.55492834853,0.0187273639345,1.0696984017
+148,2.466666667,pose1_to_pose2_press,0.585017078282,0.0100545721364,1.07002921111,0.555587808759,0.0187273028397,1.06969851107
+149,2.483333333,pose1_to_pose2_press,0.585687072469,0.0100546902333,1.07002890173,0.556257799794,0.0187274099588,1.06969819428
+150,2.500000000,pose1_to_pose2_press,0.5863648879,0.0100544913692,1.07002904225,0.556935619608,0.0187272257565,1.06969832918
+151,2.516666667,pose1_to_pose2_press,0.587048439168,0.0100545687887,1.07002915035,0.557619170524,0.0187273020368,1.06969843879
+152,2.533333333,pose1_to_pose2_press,0.587749272036,0.0100546768928,1.07002926279,0.558320002778,0.0187274081364,1.06969855325
+153,2.550000000,pose1_to_pose2_press,0.588478819578,0.0100545186112,1.07002916571,0.559049551312,0.0187272530498,1.0696984517
+154,2.566666667,pose1_to_pose2_press,0.58922501907,0.0100546342421,1.07002911068,0.559795748832,0.0187273624151,1.06969840785
+155,2.583333333,pose1_to_pose2_press,0.589982410707,0.0100547053996,1.07002885093,0.560553139973,0.018727432254,1.06969815761
+156,2.600000000,pose1_to_pose2_press,0.590760993841,0.0100546252115,1.07002889317,0.561331722245,0.0187273485304,1.06969818381
+157,2.616666667,pose1_to_pose2_press,0.591555529256,0.0100546197434,1.07002909173,0.562126258612,0.018727346598,1.06969839048
+158,2.633333333,pose1_to_pose2_press,0.592365137667,0.0100545260303,1.07002910284,0.562935867852,0.0187272557141,1.06969840195
+159,2.650000000,pose1_to_pose2_press,0.59318792776,0.0100544791218,1.07002911544,0.563758658918,0.0187272119032,1.06969840925
+160,2.666666667,pose1_to_pose2_press,0.59401804262,0.0100547132243,1.07002926711,0.564588770939,0.0187274362822,1.06969855867
+161,2.683333333,pose1_to_pose2_press,0.594849985254,0.0100545796359,1.07002931257,0.565420714855,0.0187273064794,1.06969858928
+162,2.700000000,pose1_to_pose2_press,0.595682880543,0.0100546468778,1.07002928616,0.566253610159,0.0187273740157,1.06969856938
+163,2.716666667,pose1_to_pose2_press,0.596511923014,0.0100544409738,1.07002901288,0.567082654537,0.018727174895,1.06969830437
+164,2.733333333,pose1_to_pose2_press,0.597342166606,0.0100546511929,1.07002912939,0.567912896224,0.0187273786352,1.06969842045
+165,2.750000000,pose1_to_pose2_press,0.598172752821,0.0100545831026,1.07002899936,0.568743482973,0.0187273125786,1.06969829636
+166,2.766666667,pose1_to_pose2_press,0.598996301593,0.010054611175,1.07002913202,0.569567032826,0.0187273440977,1.06969842321
+167,2.783333333,pose1_to_pose2_press,0.599811850073,0.0100545023342,1.07002899212,0.570382580821,0.0187272338974,1.06969829081
+168,2.800000000,pose1_to_pose2_press,0.600617818306,0.0100546811396,1.07002923716,0.571188547583,0.0187274074904,1.06969853024
+169,2.816666667,pose1_to_pose2_press,0.601419813732,0.0100545079424,1.07002898825,0.571990544453,0.0187272393749,1.06969828609
+170,2.833333333,pose1_to_pose2_press,0.602225039706,0.010054552911,1.07002911597,0.572795770399,0.0187272841752,1.06969841198
+171,2.850000000,pose1_to_pose2_press,0.603033739633,0.0100545782167,1.07002923956,0.573604470013,0.0187273083462,1.06969853368
+172,2.866666667,pose1_to_pose2_press,0.603847279216,0.0100547151066,1.07002911297,0.57441800843,0.0187274413687,1.06969840956
+173,2.883333333,pose1_to_pose2_press,0.604651824192,0.010054613129,1.07002915612,0.575222552243,0.0187273351032,1.06969844386
+174,2.900000000,pose1_to_pose2_press,0.60544272878,0.0100546293008,1.07002915869,0.576013458311,0.0187273562447,1.06969844512
+175,2.916666667,pose1_to_pose2_press,0.606202475373,0.0100545838441,1.07002905763,0.576773204395,0.0187273094891,1.0696983554
+176,2.933333333,pose1_to_pose2_press,0.606930082953,0.0100545260078,1.0700289371,0.57750081214,0.018727252051,1.06969823068
+177,2.950000000,pose1_to_pose2_press,0.607625138379,0.0100545195719,1.07002913935,0.578195870049,0.018727253965,1.06969843109
+178,2.966666667,pose1_to_pose2_press,0.608302247768,0.0100545343537,1.0700291688,0.578872978421,0.0187272653906,1.0696984631
+179,2.983333333,pose1_to_pose2_press,0.608968229382,0.0100546895668,1.07002932745,0.579538958509,0.0187274152417,1.06969861699
+180,3.000000000,pose1_to_pose2_press,0.609626018771,0.0100546325244,1.07002900257,0.580196748175,0.0187273593422,1.0696982975
+181,3.016666667,pose1_to_pose2_press,0.610269794637,0.0100545571613,1.07002899994,0.580840524098,0.0187272841928,1.0696982955
+182,3.033333333,pose1_to_pose2_press,0.610884324174,0.0100545405422,1.07002906491,0.581455054881,0.018727271685,1.06969835747
+183,3.050000000,pose1_to_pose2_press,0.611466137101,0.0100545557905,1.07002923794,0.582036867503,0.0187272856773,1.06969852478
+184,3.066666667,pose1_to_pose2_press,0.612011622601,0.0100546450566,1.07002905633,0.582582351355,0.0187273695479,1.06969834842
+185,3.083333333,pose1_to_pose2_press,0.612533847929,0.0100546956297,1.07002923608,0.583104576271,0.0187274185776,1.06969852439
+186,3.100000000,pose1_to_pose2_press,0.613035340177,0.0100545648661,1.07002902407,0.583606070651,0.0187272950807,1.06969831324
+187,3.116666667,pose1_to_pose2_press,0.61351459888,0.0100545014283,1.07002902921,0.584085329934,0.0187272335804,1.06969831732
+188,3.133333333,pose1_to_pose2_press,0.613969810575,0.0100544186379,1.07002903934,0.584540541434,0.0187271500638,1.06969832329
+189,3.150000000,pose1_to_pose2_press,0.614394280819,0.0100545133922,1.0700288912,0.58496501057,0.0187272415922,1.06969818757
+190,3.166666667,pose1_to_pose2_press,0.614789296928,0.0100548184665,1.07002906235,0.585360024342,0.0187275392224,1.06969836904
+191,3.183333333,pose1_to_pose2_press,0.615154081164,0.0100545682125,1.0700291619,0.585724812542,0.0187273017618,1.06969844954
+192,3.200000000,pose1_to_pose2_press,0.615501563987,0.0100545554971,1.07002935294,0.586072292675,0.0187272799967,1.06969863886
+193,3.216666667,pose1_to_pose2_press,0.61583429969,0.0100545015333,1.07002901075,0.586405029804,0.018727231456,1.06969830321
+194,3.233333333,pose1_to_pose2_press,0.616154102577,0.0100544634028,1.07002916929,0.586724833565,0.0187271966252,1.0696984582
+195,3.250000000,pose1_to_pose2_press,0.616459994935,0.0100546075498,1.07002900367,0.58703072474,0.0187273371963,1.06969829339
+196,3.266666667,pose1_to_pose2_press,0.616748282056,0.0100546483663,1.07002888084,0.58731901182,0.0187273784955,1.069698177
+197,3.283333333,pose1_to_pose2_press,0.617013195301,0.010054501568,1.07002911732,0.587583925503,0.0187272331828,1.06969840124
+198,3.300000000,pose1_to_pose2_press,0.617251865793,0.0100546426277,1.07002911556,0.587822594532,0.0187273701203,1.06969841112
+199,3.316666667,pose1_to_pose2_press,0.617464454401,0.010054494885,1.07002946694,0.588035186094,0.0187272324171,1.06969875275
+200,3.333333333,pose1_to_pose2_press,0.617652745383,0.0100544935924,1.07002907478,0.588223476184,0.0187272285906,1.06969836789
+201,3.350000000,pose1_to_pose2_press,0.617818432917,0.0100546226164,1.07002911669,0.588389161116,0.018727348976,1.06969840849
+202,3.366666667,pose1_to_pose2_press,0.617964244086,0.0100546177998,1.07002914512,0.588534972021,0.0187273434845,1.06969843574
+203,3.383333333,pose1_to_pose2_press,0.618090371303,0.0100546817964,1.07002919552,0.588661099132,0.0187274076899,1.06969849387
+204,3.400000000,pose1_to_pose2_press,0.618201191937,0.0100546088631,1.07002920233,0.58877191937,0.0187273329831,1.06969848643
+205,3.416666667,pose1_to_pose2_press,0.61829720498,0.0100545912899,1.07002915685,0.588867933748,0.0187273202658,1.06969844433
+206,3.433333333,pose1_to_pose2_press,0.618379743058,0.0100546329203,1.07002920993,0.588950471714,0.0187273618715,1.06969850054
+207,3.450000000,pose1_to_pose2_press,0.618450381195,0.0100545668745,1.07002927243,0.589021109631,0.018727295207,1.06969855973
+208,3.466666667,pose1_to_pose2_press,0.618509486016,0.0100545841402,1.07002922491,0.589080213909,0.0187273109935,1.06969851232
+209,3.483333333,pose1_to_pose2_press,0.618558684391,0.0100547029357,1.07002915544,0.589129411447,0.0187274271085,1.06969844405
+210,3.500000000,pose1_to_pose2_press,0.618598286182,0.0100546408261,1.07002914702,0.58916901446,0.0187273688469,1.06969843781
+211,3.516666667,pose1_to_pose2_press,0.618629971379,0.0100546165792,1.07002910149,0.589200699501,0.0187273443326,1.06969840276
+212,3.533333333,pose1_to_pose2_press,0.61865466068,0.0100545656228,1.07002910984,0.589225390793,0.0187273001409,1.06969840726
+213,3.550000000,pose1_to_pose2_press,0.618673687192,0.0100545614771,1.0700293052,0.589244416639,0.0187272935998,1.06969859982
+214,3.566666667,pose1_to_pose2_press,0.618687742219,0.0100546260581,1.07002923208,0.589258470567,0.0187273544912,1.0696985264
+215,3.583333333,pose1_to_pose2_press,0.618697028034,0.0100546764948,1.07002910906,0.589267755622,0.0187274024847,1.0696984054
+216,3.600000000,pose1_to_pose2_press,0.618703366833,0.010054659999,1.07002908632,0.589274094236,0.0187273855953,1.06969838821
+217,3.616666667,pose1_to_pose2_press,0.618707381668,0.0100546473954,1.07002908456,0.589278108807,0.0187273721347,1.06969838702
+218,3.633333333,pose1_to_pose2_press,0.618709830168,0.0100546356852,1.07002910708,0.589280556872,0.018727358768,1.0696984044
+219,3.650000000,pose1_to_pose2_press,0.618711205558,0.0100546291073,1.07002911973,0.589281932017,0.0187273512595,1.06969841416
+220,3.666666667,pose1_to_pose2_press,0.618712270723,0.010054624013,1.07002912953,0.589282996992,0.0187273454446,1.06969842172
+221,3.683333333,pose1_to_pose2_press,0.618712933419,0.0100546208436,1.07002913562,0.58928365957,0.0187273418268,1.06969842643
+222,3.700000000,pose1_to_pose2_press,0.6187130646,0.0100546202163,1.07002913683,0.589283790728,0.0187273411107,1.06969842736
+223,3.716666667,pose1_to_pose2_press,0.618713695575,0.0100546171986,1.07002914263,0.589284421591,0.0187273376661,1.06969843184
+224,3.733333333,pose1_to_pose2_press,0.618714729938,0.0100545885827,1.07002911896,0.589285456483,0.0187273108897,1.06969840914
+225,3.750000000,pose1_to_pose2_press,0.61871505503,0.0100545769534,1.07002910782,0.589285781821,0.0187273001213,1.06969839867
+226,3.766666667,pose1_to_pose2_press,0.618715198192,0.0100545718322,1.07002910292,0.589285925091,0.0187272953792,1.06969839405
+227,3.783333333,pose1_to_pose2_press,0.61871594563,0.0100545450946,1.07002907732,0.589286673094,0.0187272706209,1.06969836996
+228,3.800000000,pose1_to_pose2_press,0.618716268602,0.0100545335412,1.07002906626,0.58928699631,0.0187272599228,1.06969835956
+229,3.816666667,pose1_to_pose2_press,0.618716704539,0.0100545179467,1.07002905132,0.589287432577,0.0187272454827,1.06969834551
+230,3.833333333,pose1_to_pose2_press,0.618716744398,0.0100545165209,1.07002904996,0.589287472466,0.0187272441624,1.06969834422
+231,3.850000000,pose1_to_pose2_press,0.618716880187,0.0100545116633,1.07002904531,0.589287608358,0.0187272396645,1.06969833985
+232,3.866666667,pose1_to_pose2_press,0.618717025579,0.0100545064623,1.07002904033,0.58928775386,0.0187272348485,1.06969833516
+233,3.883333333,pose1_to_pose2_press,0.618717322288,0.0100544958484,1.07002903016,0.589288050793,0.0187272250203,1.0696983256
+234,3.900000000,pose1_to_pose2_press,0.618717677682,0.0100544831351,1.07002901799,0.589288406456,0.0187272132481,1.06969831414
+235,3.916666667,pose1_to_pose2_press,0.618718350201,0.0100544590776,1.07002899495,0.589289079483,0.0187271909715,1.06969829247
+236,3.933333333,pose1_to_pose2_press,0.61871932092,0.0100544663803,1.07002898232,0.589290050887,0.0187272006047,1.0696982815
+237,3.950000000,pose1_to_pose2_press,0.61872003177,0.0100544734423,1.0700289739,0.589290762234,0.0187272093635,1.06969827429
+238,3.966666667,pose1_to_pose2_press,0.618720662207,0.0100544797055,1.07002896644,0.589291393114,0.0187272171314,1.0696982679
+239,3.983333333,pose1_to_pose2_press,0.618721228032,0.0100544800699,1.07002898079,0.589291958776,0.018727216833,1.06969827974
+240,4.000000000,pose1_to_pose2_press,0.618721363884,0.0100544794143,1.07002898721,0.589292094511,0.0187272157336,1.06969828507
+241,4.016666667,pose1_to_pose2_press,0.6187217768,0.0100544774215,1.07002900673,0.589292507069,0.0187272123919,1.06969830127
+242,4.033333333,pose1_to_pose2_press,0.618722271735,0.0100544324499,1.07002902028,0.58929300233,0.0187271684321,1.06969831209
+243,4.050000000,pose1_to_pose2_press,0.618722518066,0.0100545136107,1.07002917017,0.589293245535,0.018727238756,1.06969845479
+244,4.066666667,pose2_hold,0.618722518066,0.0100545136107,1.07002917017,0.589293245541,0.0187272387537,1.06969845482
+245,4.083333333,pose2_hold,0.618722518066,0.0100545136107,1.07002917017,0.58929324554,0.0187272387546,1.06969845482
+246,4.100000000,pose2_hold,0.618722518066,0.0100545136107,1.07002917017,0.589293245538,0.0187272387575,1.06969845482
+247,4.116666667,pose2_hold,0.618722518066,0.0100545136107,1.07002917017,0.589293245537,0.0187272387569,1.06969845482
+248,4.133333333,pose2_hold,0.618722518066,0.0100545136107,1.07002917017,0.589293245538,0.0187272387573,1.06969845481
+249,4.150000000,pose2_hold,0.618722518066,0.0100545136107,1.07002917017,0.589293245537,0.0187272387583,1.06969845482
+250,4.166666667,pose2_hold,0.618722518066,0.0100545136107,1.07002917017,0.589293245537,0.0187272387584,1.06969845482
+251,4.183333333,pose2_hold,0.618722518066,0.0100545136107,1.07002917017,0.589293245537,0.0187272387561,1.06969845482
+252,4.200000000,pose2_hold,0.618722518066,0.0100545136107,1.07002917017,0.589293245535,0.0187272387583,1.06969845482
+253,4.216666667,pose2_hold,0.618722518066,0.0100545136107,1.07002917017,0.589293245536,0.0187272387582,1.06969845482
+254,4.233333333,pose2_hold,0.618722518066,0.0100545136107,1.07002917017,0.589293245537,0.0187272387563,1.06969845481
+255,4.250000000,pose2_hold,0.618722518066,0.0100545136107,1.07002917017,0.589293245536,0.0187272387576,1.06969845482
+256,4.266666667,pose2_hold,0.618722518066,0.0100545136107,1.07002917017,0.589293245536,0.0187272387574,1.06969845482
+257,4.283333333,pose2_hold,0.618722518066,0.0100545136107,1.07002917017,0.589293245536,0.0187272387573,1.06969845482
+258,4.300000000,pose2_hold,0.618722518066,0.0100545136107,1.07002917017,0.589293245536,0.0187272387578,1.06969845482
+259,4.316666667,pose2_hold,0.618722518066,0.0100545136107,1.07002917017,0.589293245537,0.0187272387573,1.06969845482
+260,4.333333333,pose2_to_pose3_retreat,0.618722518066,0.0100545136107,1.07002917017,0.589293245535,0.0187272387583,1.06969845482
+261,4.350000000,pose2_to_pose3_retreat,0.618722297117,0.0100544599505,1.07002895412,0.589293027304,0.0187271949099,1.06969825428
+262,4.366666667,pose2_to_pose3_retreat,0.618722080927,0.0100544781303,1.07002910802,0.589292811481,0.0187272141776,1.06969840402
+263,4.383333333,pose2_to_pose3_retreat,0.618721794914,0.0100544923314,1.07002907753,0.589292525428,0.0187272282685,1.06969837428
+264,4.400000000,pose2_to_pose3_retreat,0.618721677502,0.0100544981611,1.07002906501,0.589292408,0.018727234053,1.06969836208
+265,4.416666667,pose2_to_pose3_retreat,0.618721104582,0.0100545266077,1.07002900392,0.589291835,0.0187272622787,1.06969830252
+266,4.433333333,pose2_to_pose3_retreat,0.618719381458,0.0100546004419,1.07002898584,0.589290110609,0.0187273318317,1.0696982841
+267,4.450000000,pose2_to_pose3_retreat,0.618715206409,0.0100545980874,1.07002916512,0.589285935744,0.0187273297944,1.06969845656
+268,4.466666667,pose2_to_pose3_retreat,0.618705779905,0.010054668508,1.07002906869,0.589276506415,0.0187273902832,1.06969835384
+269,4.483333333,pose2_to_pose3_retreat,0.618687303645,0.0100545716343,1.07002911838,0.589258032398,0.0187273013732,1.06969841048
+270,4.500000000,pose2_to_pose3_retreat,0.618657741184,0.0100544469065,1.07002907966,0.589228471545,0.0187271818807,1.06969836921
+271,4.516666667,pose2_to_pose3_retreat,0.618616107333,0.010054646264,1.07002911174,0.589186835534,0.0187273740063,1.06969840673
+272,4.533333333,pose2_to_pose3_retreat,0.618563388836,0.010054649022,1.07002946739,0.589134118392,0.0187273804793,1.06969875372
+273,4.550000000,pose2_to_pose3_retreat,0.618499857288,0.0100546579906,1.07002911553,0.5890705852,0.0187273836848,1.0696984056
+274,4.566666667,pose2_to_pose3_retreat,0.618427387659,0.0100548131572,1.0700289667,0.588998112983,0.0187275302958,1.06969826153
+275,4.583333333,pose2_to_pose3_retreat,0.618346124003,0.0100547035764,1.07002884398,0.588916850262,0.0187274245367,1.06969814595
+276,4.600000000,pose2_to_pose3_retreat,0.618252272118,0.0100545863497,1.07002890082,0.588823000966,0.0187273157355,1.0696981962
+277,4.616666667,pose2_to_pose3_retreat,0.618143765198,0.0100545239166,1.07002905198,0.58871449489,0.018727255521,1.06969833526
+278,4.633333333,pose2_to_pose3_retreat,0.618017363382,0.0100544661628,1.07002902987,0.588588093055,0.0187271976946,1.06969831838
+279,4.650000000,pose2_to_pose3_retreat,0.617872036962,0.0100545218035,1.07002915083,0.588442768229,0.0187272584198,1.06969843761
+280,4.666666667,pose2_to_pose3_retreat,0.617704464965,0.0100545667338,1.07002930909,0.588275193923,0.018727295021,1.06969858936
+281,4.683333333,pose2_to_pose3_retreat,0.617514416451,0.0100546210848,1.07002915404,0.588085146414,0.0187273528251,1.0696984444
+282,4.700000000,pose2_to_pose3_retreat,0.617301187529,0.010054718571,1.07002914464,0.587871914261,0.018727439051,1.06969843566
+283,4.716666667,pose2_to_pose3_retreat,0.617061552434,0.0100546607842,1.07002902024,0.587632281022,0.018727387091,1.06969831012
+284,4.733333333,pose2_to_pose3_retreat,0.616796331699,0.0100547804134,1.07002909505,0.587367059681,0.0187275047323,1.06969839573
+285,4.750000000,pose2_to_pose3_retreat,0.616503624088,0.0100547093359,1.07002886892,0.587074353372,0.018727437435,1.06969816767
+286,4.766666667,pose2_to_pose3_retreat,0.61618461287,0.0100545933728,1.07002940791,0.58675534409,0.0187273271666,1.06969869188
+287,4.783333333,pose2_to_pose3_retreat,0.615836966972,0.0100546785607,1.07002914425,0.586407695126,0.0187274016184,1.06969843542
+288,4.800000000,pose2_to_pose3_retreat,0.615466034417,0.0100543647371,1.07002902112,0.586036767298,0.0187271034112,1.06969831101
+289,4.816666667,pose2_to_pose3_retreat,0.615072967926,0.0100546704651,1.07002916426,0.585643697519,0.0187273975084,1.06969844894
+290,4.833333333,pose2_to_pose3_retreat,0.614658009429,0.0100544889466,1.07002940549,0.585228741776,0.0187272252287,1.06969868838
+291,4.850000000,pose2_to_pose3_retreat,0.614223319916,0.0100543903162,1.07002919435,0.584794053379,0.0187271303321,1.06969847499
+292,4.866666667,pose2_to_pose3_retreat,0.613769665398,0.0100544896359,1.07002915532,0.584340396466,0.0187272218015,1.0696984429
+293,4.883333333,pose2_to_pose3_retreat,0.61329498064,0.0100545792089,1.07002921863,0.583865711646,0.0187273114337,1.06969851368
+294,4.900000000,pose2_to_pose3_retreat,0.612795421525,0.0100546941809,1.07002915563,0.583366150331,0.0187274188739,1.06969844967
+295,4.916666667,pose2_to_pose3_retreat,0.612263562442,0.0100546334496,1.07002925337,0.582834291534,0.018727358785,1.06969853891
+296,4.933333333,pose2_to_pose3_retreat,0.611697190165,0.0100545984059,1.07002918943,0.582267920901,0.0187273294196,1.0696984776
+297,4.950000000,pose2_to_pose3_retreat,0.611094318073,0.0100546466448,1.07002904881,0.581665047613,0.0187273737281,1.0696983407
+298,4.966666667,pose2_to_pose3_retreat,0.610459068624,0.0100546488493,1.07002899162,0.581029797745,0.0187273746652,1.06969828751
+299,4.983333333,pose2_to_pose3_retreat,0.609794375239,0.010054684236,1.0700288101,0.580365104193,0.0187274096688,1.06969811037
+300,5.000000000,pose2_to_pose3_retreat,0.60910255528,0.0100545443835,1.07002903545,0.579673285898,0.0187272751731,1.06969832758
+301,5.016666667,pose2_to_pose3_retreat,0.608380050796,0.0100544213503,1.07002912459,0.578950782028,0.0187271542556,1.06969841737
+302,5.033333333,pose2_to_pose3_retreat,0.60763230052,0.0100544603673,1.07002893728,0.578203032158,0.0187271945975,1.06969822982
+303,5.050000000,pose2_to_pose3_retreat,0.606862472435,0.0100544972044,1.07002900952,0.577433203816,0.0187272303679,1.06969829675
+304,5.066666667,pose2_to_pose3_retreat,0.606081424893,0.0100546517834,1.0700290249,0.576652153245,0.0187273747329,1.06969831365
+305,5.083333333,pose2_to_pose3_retreat,0.605296243942,0.0100544486918,1.07002899163,0.575866975542,0.0187271829392,1.06969828756
+306,5.100000000,pose2_to_pose3_retreat,0.604508559795,0.0100546229839,1.07002903093,0.57507929065,0.0187273543782,1.06969831832
+307,5.116666667,pose2_to_pose3_retreat,0.603707710674,0.0100546228676,1.07002877958,0.574278440586,0.0187273516077,1.06969808118
+308,5.133333333,pose2_to_pose3_retreat,0.602887937724,0.0100546231227,1.07002916395,0.57345866824,0.0187273534168,1.06969845257
+309,5.150000000,pose2_to_pose3_retreat,0.602038153279,0.0100545602662,1.0700290733,0.572608883525,0.0187272897213,1.06969836397
+310,5.166666667,pose2_to_pose3_retreat,0.601161580023,0.0100545077518,1.07002886536,0.571732311617,0.0187272422527,1.06969816824
+311,5.183333333,pose2_to_pose3_retreat,0.600259977216,0.0100545664107,1.07002898924,0.570830706807,0.0187272938606,1.06969828495
+312,5.200000000,pose2_to_pose3_retreat,0.599360997357,0.010054480691,1.07002914193,0.569931728551,0.0187272132351,1.06969842954
+313,5.216666667,pose2_to_pose3_retreat,0.598481618848,0.0100545871287,1.07002924131,0.569052350964,0.0187273230365,1.0696985345
+314,5.233333333,pose2_to_pose3_retreat,0.597622675458,0.0100545946012,1.07002879701,0.568193406107,0.0187273255911,1.06969809181
+315,5.250000000,pose2_to_pose3_retreat,0.596782870423,0.0100548018115,1.07002920658,0.56735359801,0.0187275222734,1.06969849759
+316,5.266666667,pose2_to_pose3_retreat,0.595949178528,0.01005457987,1.07002914991,0.566519910023,0.0187273136368,1.06969844185
+317,5.283333333,pose2_to_pose3_retreat,0.595104720246,0.0100545196187,1.07002901194,0.565675451076,0.0187272512699,1.0696983084
+318,5.300000000,pose2_to_pose3_retreat,0.594235508129,0.0100546751622,1.07002920727,0.564806237438,0.0187274016608,1.06969850233
+319,5.316666667,pose2_to_pose3_retreat,0.593354636014,0.0100545085116,1.0700292646,0.563925366662,0.0187272393515,1.06969855381
+320,5.333333333,pose2_to_pose3_retreat,0.592471262235,0.0100546183891,1.07002913317,0.563041991871,0.0187273460266,1.06969842837
+321,5.350000000,pose2_to_pose3_retreat,0.591604957052,0.0100546423014,1.07002938283,0.562175687099,0.0187273709728,1.06969866854
+322,5.366666667,pose2_to_pose3_retreat,0.590759953939,0.0100544812181,1.07002916731,0.561330684389,0.0187272113375,1.06969845512
+323,5.383333333,pose2_to_pose3_retreat,0.589949175482,0.0100545759832,1.07002904119,0.560519904934,0.0187273026949,1.06969832843
+324,5.400000000,pose2_to_pose3_retreat,0.589159551065,0.0100546400939,1.07002925174,0.559730281613,0.0187273705122,1.06969853856
+325,5.416666667,pose2_to_pose3_retreat,0.588383209151,0.0100545647903,1.07002913797,0.558953938974,0.0187272930461,1.0696984326
+326,5.433333333,pose2_to_pose3_retreat,0.587620378718,0.0100544341301,1.07002940518,0.558191109007,0.0187271633219,1.06969868281
+327,5.450000000,pose2_to_pose3_retreat,0.586869229289,0.0100545118068,1.07002918201,0.557439959842,0.0187272423134,1.06969847069
+328,5.466666667,pose2_to_pose3_retreat,0.586136214767,0.0100547479295,1.07002924115,0.556706942732,0.0187274698002,1.06969853361
+329,5.483333333,pose2_to_pose3_retreat,0.585425947553,0.0100546718693,1.07002910781,0.555996677258,0.0187273999658,1.06969840869
+330,5.500000000,pose2_to_pose3_retreat,0.584746090287,0.0100545961252,1.07002910272,0.555316820099,0.0187273245136,1.06969840175
+331,5.516666667,pose2_to_pose3_retreat,0.58409136409,0.0100544877758,1.0700289274,0.554662096019,0.0187272230331,1.06969821817
+332,5.533333333,pose2_to_pose3_retreat,0.583457795196,0.0100544979323,1.07002895896,0.554028526879,0.018727232721,1.06969825928
+333,5.550000000,pose2_to_pose3_retreat,0.582839539112,0.010054459828,1.0700289021,0.553410271308,0.0187271960777,1.06969819505
+334,5.566666667,pose2_to_pose3_retreat,0.582238179051,0.0100546235116,1.07002911569,0.552808908234,0.01872734952,1.0696984093
+335,5.583333333,pose2_to_pose3_retreat,0.581666093235,0.010054634957,1.07002917055,0.552236822949,0.0187273624005,1.06969845404
+336,5.600000000,pose2_to_pose3_retreat,0.581128618243,0.0100546446814,1.07002902977,0.55169934829,0.0187273735343,1.06969832079
+337,5.616666667,pose2_to_pose3_retreat,0.580630594878,0.0100546431824,1.07002914376,0.551201325287,0.0187273732152,1.06969843381
+338,5.633333333,pose2_to_pose3_retreat,0.580165681037,0.0100546099308,1.07002927542,0.550736411157,0.0187273388383,1.06969856135
+339,5.650000000,pose2_to_pose3_retreat,0.57973085913,0.0100545415325,1.07002913428,0.550301589232,0.01872727067,1.06969842797
+340,5.666666667,pose2_to_pose3_retreat,0.579316082263,0.0100545684903,1.07002902877,0.54988681349,0.0187273013279,1.0696983189
+341,5.683333333,pose2_to_pose3_retreat,0.578922238827,0.0100545744195,1.07002902984,0.54949296944,0.01872730517,1.06969831972
+342,5.700000000,pose2_to_pose3_retreat,0.57855537508,0.0100544397694,1.07002893469,0.54912610628,0.0187271723626,1.0696982207
+343,5.716666667,pose2_to_pose3_retreat,0.578213655898,0.0100546595145,1.07002920893,0.548784385126,0.0187273856219,1.0696985008
+344,5.733333333,pose2_to_pose3_retreat,0.577898256077,0.0100547501105,1.07002925517,0.548468983474,0.0187274700095,1.06969854711
+345,5.750000000,pose2_to_pose3_retreat,0.577610955213,0.0100546053014,1.07002915753,0.548181685106,0.0187273336315,1.06969844847
+346,5.766666667,pose2_to_pose3_retreat,0.577351592378,0.0100544253748,1.07002891699,0.547922324115,0.0187271600026,1.06969820891
+347,5.783333333,pose2_to_pose3_retreat,0.577119225947,0.0100545439312,1.07002888165,0.547689957058,0.0187272765453,1.06969817648
+348,5.800000000,pose2_to_pose3_retreat,0.576912756506,0.0100546100467,1.0700291721,0.547483487374,0.0187273418639,1.06969846773
+349,5.816666667,pose2_to_pose3_retreat,0.57673269504,0.0100547237851,1.07002937643,0.547303424106,0.0187274491277,1.06969866254
+350,5.833333333,pose2_to_pose3_retreat,0.576571193775,0.0100546406282,1.07002904216,0.547141923956,0.0187273700269,1.06969833541
+351,5.850000000,pose2_to_pose3_retreat,0.576426922746,0.0100544562584,1.07002898216,0.546997654866,0.0187271920671,1.06969827106
+352,5.866666667,pose2_to_pose3_retreat,0.57629720485,0.0100545324592,1.07002908399,0.546867936014,0.018727265111,1.06969837518
+353,5.883333333,pose2_to_pose3_retreat,0.576181453683,0.010054557802,1.07002914748,0.546752184214,0.0187272881786,1.06969843599
+354,5.900000000,pose2_to_pose3_retreat,0.576080695873,0.0100546138378,1.07002915474,0.546651425754,0.0187273419354,1.06969844152
+355,5.916666667,pose2_to_pose3_retreat,0.57599488801,0.0100545929174,1.07002913587,0.546565617548,0.0187273199821,1.06969842584
+356,5.933333333,pose2_to_pose3_retreat,0.575925282017,0.0100545933608,1.07002913493,0.546496012506,0.0187273237299,1.06969842674
+357,5.950000000,pose2_to_pose3_retreat,0.575868893281,0.0100545839921,1.0700289794,0.54643962309,0.0187273120711,1.06969827163
+358,5.966666667,pose2_to_pose3_retreat,0.575824845185,0.0100545344333,1.07002902361,0.546395575785,0.0187272652865,1.0696983182
+359,5.983333333,pose2_to_pose3_retreat,0.57579074116,0.0100545936717,1.07002918035,0.546361472393,0.0187273267408,1.0696984767
+360,6.000000000,pose2_to_pose3_retreat,0.575764803244,0.0100546591206,1.07002924362,0.546335533533,0.0187273888765,1.06969853715
+361,6.016666667,pose2_to_pose3_retreat,0.575745827932,0.0100547377991,1.0700292604,0.546316557221,0.0187274640314,1.06969855046
+362,6.033333333,pose2_to_pose3_retreat,0.575732353815,0.0100547479996,1.07002922719,0.546303082884,0.018727473481,1.0696985172
+363,6.050000000,pose2_to_pose3_retreat,0.575724100948,0.0100545903692,1.0700291454,0.54629483055,0.0187273177237,1.0696984371
+364,6.066666667,pose2_to_pose3_retreat,0.575719155701,0.0100546886119,1.07002914536,0.546289886207,0.018727418979,1.06969843569
+365,6.083333333,pose2_to_pose3_retreat,0.575716833776,0.0100547156346,1.0700291542,0.54628756464,0.0187274471774,1.06969844345
+366,6.100000000,pose2_to_pose3_retreat,0.575715636796,0.0100546458015,1.07002919756,0.546286367558,0.0187273769031,1.06969848437
+367,6.116666667,pose2_to_pose3_retreat,0.575714923985,0.0100546042153,1.07002922338,0.546285654686,0.0187273350542,1.06969850874
+368,6.133333333,pose2_to_pose3_retreat,0.575714404404,0.0100545739024,1.0700292422,0.54628513506,0.0187273045498,1.0696985265
+369,6.150000000,pose2_to_pose3_retreat,0.57571389589,0.0100545442352,1.07002926062,0.546284626504,0.0187272746951,1.06969854389
+370,6.166666667,pose2_to_pose3_retreat,0.575713479135,0.0100545199212,1.07002927572,0.546284209713,0.0187272502276,1.06969855813
+371,6.183333333,pose2_to_pose3_retreat,0.575713269279,0.010054507678,1.07002928332,0.546283999838,0.018727237907,1.06969856531
+372,6.200000000,pose2_to_pose3_retreat,0.575713230996,0.0100545054445,1.07002928471,0.546283961553,0.0187272356594,1.06969856662
+373,6.216666667,pose2_to_pose3_retreat,0.575712973159,0.0100544904021,1.07002929405,0.546283703694,0.0187272205219,1.06969857543
+374,6.233333333,pose2_to_pose3_retreat,0.575712697813,0.0100544804504,1.07002929429,0.546283428318,0.0187272104673,1.06969857555
+375,6.250000000,pose2_to_pose3_retreat,0.575712597508,0.0100544847717,1.07002928172,0.546283327996,0.018727214749,1.06969856351
+376,6.266666667,pose2_to_pose3_retreat,0.575712597458,0.0100544847739,1.07002928172,0.546283327945,0.0187272147511,1.06969856351
+377,6.283333333,pose2_to_pose3_retreat,0.575712412081,0.0100544927602,1.07002925849,0.546283142536,0.0187272226643,1.06969854126
+378,6.300000000,pose2_to_pose3_retreat,0.575712282154,0.0100544983576,1.07002924221,0.546283012586,0.0187272282105,1.06969852566
+379,6.316666667,pose2_to_pose3_retreat,0.575712241644,0.0100545001029,1.07002923714,0.546282972069,0.0187272299397,1.0696985208
+380,6.333333333,pose2_to_pose3_retreat,0.575712235536,0.010054500366,1.07002923637,0.54628296596,0.0187272302005,1.06969852007
+381,6.350000000,pose2_to_pose3_retreat,0.575711860966,0.010054516503,1.07002918944,0.546282591325,0.0187272461897,1.06969847511
+382,6.366666667,pose2_to_pose3_retreat,0.575711042589,0.0100545517599,1.07002908691,0.546281772804,0.0187272811237,1.06969837689
+383,6.383333333,pose2_to_pose3_retreat,0.57571068588,0.0100545671274,1.07002904222,0.546281416032,0.0187272963505,1.06969833408
+384,6.400000000,pose2_to_pose3_retreat,0.575710652037,0.0100545685854,1.07002903798,0.546281382184,0.0187272977952,1.06969833001
+385,6.416666667,pose2_to_pose3_retreat,0.575710429621,0.0100545778457,1.07002900994,0.546281159729,0.0187273069697,1.06969830317
+386,6.433333333,pose2_to_pose3_retreat,0.575710095769,0.0100545589123,1.07002895007,0.546280825854,0.0187272881068,1.06969824715
+387,6.450000000,pose2_to_pose3_retreat,0.57570963653,0.0100545328681,1.07002886772,0.546280366584,0.0187272621595,1.0696981701
+388,6.466666667,pose2_to_pose3_retreat,0.575709467496,0.0100545404228,1.07002896443,0.546280197055,0.0187272678943,1.06969826313
+389,6.483333333,pose2_to_pose3_retreat,0.575709466605,0.0100545407496,1.07002896707,0.546280196153,0.0187272681804,1.06969826565
+390,6.500000000,pose2_to_pose3_retreat,0.575709399954,0.0100545651873,1.07002916422,0.546280128701,0.0187272895774,1.0696984543
+391,6.516666667,pose2_to_pose3_retreat,0.575709347458,0.01005457828,1.07002928056,0.546280076197,0.0187273024092,1.06969856457
+392,6.533333333,pose2_to_pose3_retreat,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_12/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_12/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..305cfb5bdc2c2ed03b40fc35e07aefc185f2bc94
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_12/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:257530e219282c7c29a4d96ba40963cb387d54532da154bee7a6f39215aa5d26
+size 25160022
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_12/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_12/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..dfec7e2ee196d7f2baf8ec286546e7f436bf49f7
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_12/depth_02/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,764,743,712,673,659,633,879,784,800,650,628,651,0.40095512976,0.0044675857594,0.0798288699247,0.999999953448,7.73839988914e-05,-0.000291995225533,4.30704427317e-05,1793193660895581952
+1,0.016666667,BASELINE,764,742.426596563,711.426596563,673.573403437,659,633,878.426596563,784.573403437,799.426596563,650,628.573403437,651,0.400953276785,0.00446824940103,0.0798276634394,0.999999953162,7.6397476418e-05,-0.000293265339333,4.284192189e-05,1793193660912248576
+2,0.033333333,BASELINE,764,742,711,673.85137761,659,632.85137761,878,784.85137761,799,649.85137761,629,651,0.400952360143,0.00446862569358,0.0798272454575,0.999999953156,7.54551592663e-05,-0.00029354824299,4.26982621294e-05,1793193660928914944
+3,0.050000000,BASELINE,764,742,711,673.270882927,659,632.270882927,878,784.270882927,799,649.270882927,629,651,0.400954164333,0.00446816699703,0.0798291187369,0.999999953969,7.46412952987e-05,-0.000290962476172,4.28011946996e-05,1793193660945581056
+4,0.066666667,BASELINE,764,742,711,673,659,632,878,784,799.313559875,649,629,651,0.400955511122,0.00446842303843,0.0798299204248,0.999999954437,7.42514881902e-05,-0.000289466932163,4.26868270543e-05,1793193660962247680
+5,0.083333333,BASELINE,764,742,711,673,659,632,878,784,799.901456897,649,629,651,0.400956457727,0.00446930441234,0.0798297845648,0.999999954608,7.42326933632e-05,-0.000288925236808,4.23823409406e-05,1793193660978914304
+6,0.100000000,BASELINE,764,742.481960266,711,673,658.518039734,632,878,784,799.518039734,649,629,651,0.400955533078,0.00446826593206,0.0798289792673,0.999999954129,7.56842299172e-05,-0.000290166658603,4.2634294464e-05,1793193660995581184
+7,0.116666667,BASELINE,764,742.93923699,711,673,658.06076301,632,878,784,799.06076301,649,628.93923699,651,0.400954395332,0.0044671650358,0.0798281832665,0.999999953586,7.73576211452e-05,-0.000291541922116,4.29672534509e-05,1793193661012247808
+8,0.133333333,BASELINE,764,742.362233127,711,673,658.637766873,632,878,784,799.637766873,649,628.362233127,651,0.400954648585,0.00446881847025,0.0798286115688,0.999999953659,7.84003421673e-05,-0.000291003624928,4.30364384135e-05,1793193661028914944
+9,0.150000000,BASELINE,764,742.213936042,711,673,659,632.213936042,878,784,799.786063958,649.213936042,628.213936042,650.786063958,0.400954707339,0.00446994268323,0.0798289453817,0.999999953773,7.85911274642e-05,-0.000290588463642,4.28384134321e-05,1793193661045581568
+10,0.166666667,BASELINE,764,742.788697354,711,673,659,632.788697354,878,784,799.211302646,649.788697354,628.788697354,650.211302646,0.40095443805,0.00447017430926,0.0798291198284,0.999999953958,7.73450349078e-05,-0.000290380983845,4.21897112261e-05,1793193661062247936
+11,0.183333333,BASELINE,764,742.626867317,711.373132683,672.626867317,658.626867317,632.626867317,878.373132683,784,799,649.626867317,629,650,0.400953785017,0.00446987992616,0.0798289206605,0.999999953859,7.66992018102e-05,-0.00029088639392,4.22336688593e-05,1793193661078914304
+12,0.200000000,BASELINE,764,742.036807783,711.963192217,672.036807783,658.036807783,632.036807783,878.963192217,784,799,649.036807783,629,650,0.400952908888,0.00446927973899,0.0798285042856,0.999999953595,7.64023393499e-05,-0.000291806254283,4.26803156741e-05,1793193661095580928
+13,0.216666667,BASELINE,764,742.543013036,712,672.543013036,658.543013036,632,878.456986964,783.456986964,799,649,629,650,0.400952726913,0.0044689061639,0.0798278309824,0.999999953431,7.66342620898e-05,-0.000292290932489,4.27851827053e-05,1793193661112247808
+14,0.233333333,BASELINE,764,743,711.878445819,673,659,632.121554181,878,783.121554181,799.121554181,649.121554181,629,650.121554181,0.400952670957,0.00446886190222,0.0798274470507,0.999999953353,7.66367358998e-05,-0.000292563734711,4.27403646931e-05,1793193661128914688
+15,0.250000000,BASELINE,764,743,711.302143544,673,659,632.697856456,878,783.697856456,799.697856456,649.697856456,629,650.697856456,0.400952913684,0.00446999323675,0.0798282096395,0.999999953571,7.56492025892e-05,-0.000292152199851,4.22206254421e-05,1793193661145581056
+16,0.266666667,BASELINE,764,742.726620051,711,673,659,632.726620051,877.726620051,784,800.273379949,650,629,651,0.40095337916,0.00447039327122,0.0798287575517,0.999999953722,7.62047251808e-05,-0.000291512223746,4.20679650558e-05,1793193661162247680
+17,0.283333333,BASELINE,764,742.15195487,711,673,659,632.15195487,877.15195487,784,800.84804513,650,629,651,0.400954090122,0.00446998735804,0.0798290688742,0.999999953796,7.84608113021e-05,-0.000290620488259,4.23198531732e-05,1793193661178914816
+18,0.300000000,BASELINE,764,742,711,673,659,632,877.435904445,784,800.564095555,650,629,651,0.400955122271,0.0044700252327,0.0798297697809,0.999999954193,7.83517731466e-05,-0.000289270673991,4.23869003139e-05,1793193661195581440
+19,0.316666667,BASELINE,764,742,711.027622745,673,659,632,878,784.027622745,799.972377255,650,629,650.972377255,0.400956198583,0.00447020951901,0.079830551213,0.999999954669,7.74721795183e-05,-0.000287857515152,4.23945179171e-05,1793193661212248064
+20,0.333333333,BASELINE,764,742,711.601848343,673,659,632,878,784.601848343,799.398151657,650,629,650.398151657,0.400955864079,0.00447013418266,0.0798301548309,0.999999954438,7.81687829008e-05,-0.000288449378953,4.25409819039e-05,1793193661228914432
+21,0.350000000,BASELINE,764,742,712,673,659,632,878,784.823940977,799,650,629,650,0.400955439911,0.00447012891364,0.0798297684138,0.999999954228,7.8840801911e-05,-0.000288986050818,4.25996671142e-05,1793193661245581056
+22,0.366666667,BASELINE,764,742,712,673,659,632,878,784.249764108,799,650,629,650,0.400954812991,0.00447028208615,0.0798294045307,0.999999954066,7.94572288028e-05,-0.000289397918463,4.24598603624e-05,1793193661262247680
+23,0.383333333,BASELINE,763.664141412,742.335858588,711.664141412,673,659.335858588,632,878,784,799,649.664141412,629,650,0.400955208873,0.00446915461668,0.0798295521801,0.999999954415,7.77569670234e-05,-0.000288665542072,4.23688305195e-05,1793193661278914560
+24,0.400000000,BASELINE,763.069706557,742.930293443,711.069706557,673,659.930293443,632,878,784,799,649.069706557,629,650,0.400956392206,0.00446704118576,0.0798300936565,0.999999955147,7.42730953812e-05,-0.000287052216526,4.23153538207e-05,1793193661295581440
+25,0.416666667,BASELINE,763.50838282,742.49161718,711.50838282,673,659.49161718,632.50838282,878,784,799.50838282,649.50838282,629,650.50838282,0.400955735576,0.00446809517442,0.0798295378191,0.9999999546,7.54798417212e-05,-0.00028861664974,4.24758799016e-05,1793193661312248064
+26,0.433333333,BASELINE,764,742.08436194,711.91563806,673.08436194,659,632.91563806,878,784,799.91563806,649.91563806,629,651,0.400954961021,0.00446947723202,0.0798289405234,0.999999953967,7.72160809191e-05,-0.000290323585241,4.26189378586e-05,1793193661328914944
+27,0.450000000,BASELINE,764,742.660697776,711.339302224,673.660697776,659,632.339302224,878,784,799.339302224,649.339302224,629,651,0.400954924185,0.00447031868519,0.0798289515463,0.999999953857,7.8406335842e-05,-0.00029039973691,4.2494338592e-05,1793193661345581312
+28,0.466666667,BASELINE,764,743,711.236476159,673.763523841,659,632,878,784,799,649,629,651,0.400954491387,0.0044707055347,0.0798288749285,0.999999953731,7.88450590752e-05,-0.000290719828018,4.24740785957e-05,1793193661362247936
+29,0.483333333,BASELINE,764,743,711.811456542,673.188543458,659,632,878,784,799,649,629,651,0.400953491789,0.00447044164094,0.0798286728573,0.99999995358,7.82080008445e-05,-0.000291389106672,4.26031752434e-05,1793193661378915328
+30,0.500000000,BASELINE,764,742.601470291,712,673,659,632,878,784,799,649.398529709,629,651,0.400953007156,0.00446942091764,0.0798283108655,0.999999953477,7.74865402739e-05,-0.00029193070364,4.26342103353e-05,1793193661395582464
+31,0.516666667,BASELINE,764,742.008497046,712,673,659,632,878,784,799,649.991502954,629,651,0.400952773775,0.00446803093552,0.0798278708481,0.999999953397,7.67238996313e-05,-0.000292410004408,4.26174009708e-05,1793193661412249088
+32,0.533333333,BASELINE,764,742,712,673,659,632.562872335,878,784,799,649.437127665,629,651,0.400953315549,0.00446846381378,0.0798287840014,0.999999953814,7.6790584544e-05,-0.000290944344745,4.27311510679e-05,1793193661428915456
+33,0.550000000,BASELINE,764,742.135728163,712,673,659,632.864271837,878.135728163,784,799,649,628.864271837,650.864271837,0.400953745774,0.00446911183454,0.0798293629915,0.999999954088,7.7369403934e-05,-0.000289853996367,4.2697054507e-05,1793193661445582080
+34,0.566666667,BASELINE,764,742.714460614,712,673,659,632.285539386,878.714460614,784,799,649,628.285539386,650.285539386,0.400953775134,0.00447037556532,0.0798287870951,0.999999953871,7.95804315627e-05,-0.000290080918911,4.2174204891e-05,1793193661462248448
+35,0.583333333,BASELINE,764,742.707736809,711.707736809,673,659,632.292263191,878.707736809,784,799.292263191,649,628.292263191,650.292263191,0.400953919782,0.00447104951801,0.0798288765536,0.999999953859,8.03764666509e-05,-0.000289926146497,4.20059576863e-05,1793193661478914816
+36,0.600000000,BASELINE,764,742.130839763,711.130839763,673,659,632.869160237,878.130839763,784,799.869160237,649,628.869160237,650.869160237,0.400954176708,0.00447114908851,0.0798296139981,0.999999954051,7.97944469006e-05,-0.000289399643042,4.21830561709e-05,1793193661495581440
+37,0.616666667,BASELINE,764,742,711,673,659,633,878,784,799.540095875,649,629,651,0.400954022447,0.00447073401059,0.079829687659,0.999999954043,7.83891174969e-05,-0.000289806621998,4.22092512337e-05,1793193661512247808
+38,0.633333333,BASELINE,763.94712814,742,711.05287186,673,659,632.94712814,878,784,799,649.05287186,629,651,0.400953757298,0.00447019040161,0.079829493631,0.999999953961,7.68476929406e-05,-0.000290501463412,4.21961361524e-05,1793193661528914176
+39,0.650000000,BASELINE,763.37230266,742,711.62769734,673,659,632.37230266,878,784,799,649.62769734,629,651,0.400953588132,0.00446986820454,0.0798285790962,0.999999953756,7.6346802751e-05,-0.000291334994819,4.22319232985e-05,1793193661545581056
+40,0.666666667,BASELINE,763.202649276,742,711.797350724,673,659,632.202649276,878,784,799,649.797350724,629,650.797350724,0.400953377023,0.00446950930068,0.0798278941613,0.999999953568,7.58782199293e-05,-0.000292112360663,4.21583505804e-05,1793193661562247680
+41,0.683333333,BASELINE,763.777833647,742,711.222166353,673,659,632.777833647,878,784,799,649.222166353,629,650.222166353,0.400953088811,0.00446908291784,0.0798276313055,0.999999953413,7.54690285579e-05,-0.000292786475938,4.18837389612e-05,1793193661578914304
+42,0.700000000,BASELINE,764,742,711.363187104,673,659,632.636812896,877.636812896,784,799,649,629,650,0.400953310293,0.00446934276778,0.0798278995513,0.999999953464,7.63780748099e-05,-0.000292353810164,4.20468606538e-05,1793193661595581440
+43,0.716666667,BASELINE,764,742,711.954940292,673,659,632.045059708,877.045059708,784,799,649,629,650,0.400953852544,0.00447003448751,0.0798285020375,0.99999995364,7.81167331673e-05,-0.000291224609139,4.24854629233e-05,1793193661612248320
+44,0.733333333,BASELINE,764,742,711.465968617,673,659,632,877.534031383,784,799,649.534031383,629,650.534031383,0.400954181326,0.00446803501239,0.0798288907346,0.999999953959,7.62071959895e-05,-0.000290608223355,4.26804703782e-05,1793193661628914688
+45,0.750000000,BASELINE,764,742,711.111407417,673,659,632.111407417,878.111407417,784,799,649.888592583,629,651,0.400954280514,0.00446667785092,0.0798290870865,0.99999995414,7.4857799223e-05,-0.00029032319541,4.27710286362e-05,1793193661645581056
+46,0.766666667,BASELINE,764,742,711.68599186,673,659,632.68599186,878.68599186,784,799,649.31400814,629,651,0.400953498313,0.00446891330752,0.0798285570216,0.999999953715,7.70873212148e-05,-0.00029124006298,4.25108115484e-05,1793193661662247680
+47,0.783333333,BASELINE,764,742.259600595,711.740399405,673,659,633,878.740399405,784.259600595,799,649,629,651,0.400953586116,0.00447087903954,0.0798285077811,0.999999953611,7.93844386461e-05,-0.000291011393002,4.22969550848e-05,1793193661678914304
+48,0.800000000,BASELINE,764,742.832033624,711.167966376,673,659,633,878.167966376,784.832033624,799,649,629,651,0.400954722319,0.00447251973952,0.0798290379594,0.999999953893,8.17630124491e-05,-0.000289402289871,4.21389655886e-05,1793193661695580928
+49,0.816666667,BASELINE,764,742.57907518,711.42092482,673,659,633,878,784.57907518,799,649,629,651,0.400954353866,0.00447149589546,0.0798291267626,0.999999953907,7.99607227107e-05,-0.000289855960538,4.21315580141e-05,1793193661712247808
+50,0.833333333,BASELINE,764,742,712,673,659,632.983904669,878.016095331,784,799,649,629,651,0.400953398318,0.00446938067427,0.0798290477302,0.999999953814,7.64709800171e-05,-0.000291108957514,4.21904135349e-05,1793193661728914688
+51,0.850000000,BASELINE,764,742,712,673,659,632.408048861,878.591951139,784,799,649,629,651,0.400953755868,0.00446779237336,0.0798295062987,0.999999954157,7.46773618201e-05,-0.000290369200312,4.23789777368e-05,1793193661745581056
+52,0.866666667,BASELINE,764,742,711.832183352,673,659,632,878.832183352,784,799.167816648,649,628.832183352,651,0.400954176504,0.00446696976676,0.0798297505071,0.999999954379,7.36691274698e-05,-0.000289855065297,4.24093750536e-05,1793193661762247680
+53,0.883333333,BASELINE,764,742,711.256294289,673,659,632,878.256294289,784,799.743705711,649,628.256294289,651,0.400954750546,0.00446800906567,0.0798294734651,0.999999954317,7.45706768308e-05,-0.000289889565951,4.20551648521e-05,1793193661778914048
+54,0.900000000,BASELINE,764,742,711,673,659,632,878,784.327368243,800,649,628,651,0.400955455533,0.0044685627799,0.0798299060588,0.999999954437,7.59074310899e-05,-0.000289119691456,4.21190386805e-05,1793193661795580672
+55,0.916666667,BASELINE,764,742,711,673,659,632,878,784.917264565,800,649,628,651,0.400956265529,0.00446872708669,0.0798309077342,0.999999954699,7.75931913819e-05,-0.000287704760307,4.25181887772e-05,1793193661812247296
+56,0.933333333,BASELINE,764,742,711.497886317,673,659,632.497886317,878.497886317,784.502113683,800,649,628,650.502113683,0.400956243348,0.00446896130473,0.0798307027884,0.999999954679,7.78331092754e-05,-0.000287727682846,4.23896100254e-05,1793193661828913920
+57,0.950000000,BASELINE,763.923496686,742.076503314,711.923496686,673,659,633,878.923496686,784.076503314,799.923496686,649,628.076503314,650.076503314,0.400956048705,0.00446934096177,0.0798303240461,0.999999954582,7.83254060915e-05,-0.000287951308738,4.22490478576e-05,1793193661845580800
+58,0.966666667,BASELINE,763.348086853,742.651913147,711.348086853,673,659,633,878.348086853,784.651913147,799.348086853,649,628.651913147,650.651913147,0.400955614689,0.00447059470461,0.0798300955887,0.999999954272,8.20017343842e-05,-0.000287954119678,4.25917674242e-05,1793193661862247424
+59,0.983333333,BASELINE,763.231219157,742.768780843,711.231219157,673,659,633,878,784.768780843,799,649,629,650.768780843,0.400955681814,0.00447087097487,0.0798303660438,0.999999954272,8.29428301674e-05,-0.000287673182955,4.26636657776e-05,1793193661878914048
+60,1.000000000,BASELINE,763.816491251,742.183508749,711.816491251,673,659,633,878,784.183508749,799,649,629,650.183508749,0.400956516308,0.00446965049633,0.0798314004557,0.999999954756,7.96956182677e-05,-0.000286957759342,4.23208708381e-05,1793193661895580672
+61,1.016666667,BASELINE,764,742,711.601483462,673,659,632.601483462,878,784,799,649,629,650.398516538,0.40095576384,0.00446921202571,0.0798305437148,0.999999954541,7.78980436713e-05,-0.000288212184894,4.2239987896e-05,1793193661912247296
+62,1.033333333,BASELINE,764,742,711.020941216,673,659,632.020941216,878,784,799,649,629,650.979058784,0.400954286514,0.00446913074371,0.0798288231743,0.999999954004,7.67626030354e-05,-0.000290366355304,4.22787354342e-05,1793193661928913920
+63,1.050000000,BASELINE,764,742,711,673,659,632,878,784,799,649,628.441212316,651,0.400954208759,0.00447046920619,0.0798291142194,0.999999954075,7.81790032802e-05,-0.000289763455795,4.21445992918e-05,1793193661945580800
+64,1.066666667,BASELINE,764,742.136964696,711.136964696,673,659,632,878,784,799,649,628.136964696,651,0.400954177975,0.0044711391151,0.0798293154087,0.999999954188,7.86904330582e-05,-0.000289244090035,4.20738372271e-05,1793193661962247424
+65,1.083333333,BASELINE,764,742.710294386,711.710294386,673,659,632,878,784,799,649,628.710294386,651,0.400954129974,0.00446950976642,0.0798289904902,0.999999954366,7.60144154021e-05,-0.000289319569721,4.22255948174e-05,1793193661978914048
+66,1.100000000,BASELINE,764,742.708992177,712,673,659,632.291007823,878,784,799.291007823,649.291007823,628.708992177,651,0.400953873905,0.00446903334408,0.0798287325591,0.999999954167,7.64394791521e-05,-0.000289880813847,4.23384782544e-05,1793193661995580672
+67,1.116666667,BASELINE,764,742.120736704,712,673,659,632.879263296,878,784,799.879263296,649.879263296,628.120736704,651,0.400953405306,0.00446973456936,0.0798285430516,0.999999953576,8.00321182421e-05,-0.000290938238227,4.2411653984e-05,1793193662012247296
+68,1.133333333,BASELINE,764,742,711.538185399,673,659.461814601,633,878,784,800,649.538185399,628.461814601,650.538185399,0.400954651146,0.0044707259652,0.0798293961055,0.999999953899,8.01449634932e-05,-0.000289794450431,4.23964474726e-05,1793193662028914432
+69,1.150000000,BASELINE,764,742.04221093,711,673,659.95778907,632.95778907,878,784,799.95778907,649.04221093,629,650.04221093,0.400956188689,0.00447170845424,0.0798304198015,0.999999954426,7.94397460763e-05,-0.000288174511581,4.23411470701e-05,1793193662045582080
+70,1.166666667,BASELINE,764,742.614051094,711,673,659.385948906,632.385948906,878,784,799.385948906,649.614051094,629,650.614051094,0.400955830935,0.00447163894279,0.0798302063496,0.999999954546,7.97457583699e-05,-0.000287712830853,4.20691667343e-05,1793193662062248448
+71,1.183333333,BASELINE,764,742.811638319,711,673,659.188361681,632,878,784,799.188361681,649.811638319,629,651,0.400955280997,0.00447089869054,0.079829893495,0.999999954645,7.89627180104e-05,-0.000287603172856,4.19393087615e-05,1793193662078914816
+72,1.200000000,BASELINE,764,742.232198514,711,673,659.767801486,632,878,784,799.767801486,649.232198514,629,651,0.400954332044,0.00446876584055,0.0798293742596,0.999999954695,7.59185773183e-05,-0.00028822438736,4.21045263978e-05,1793193662095580928
+73,1.216666667,BASELINE,764,742,711,673,659.645614135,632.354385865,878,784,799.645614135,649,629,651,0.400954217817,0.00446919053441,0.0798291258764,0.999999954485,7.69818156299e-05,-0.000288684721793,4.20068476608e-05,1793193662112247552
+74,1.233333333,BASELINE,764,742,711,673,659.054252251,632.945747749,878,784,799.054252251,649,629,651,0.400954661767,0.00447132544492,0.0798290586107,0.999999954094,8.07916375102e-05,-0.000289037476504,4.173337145e-05,1793193662128914176
+75,1.250000000,BASELINE,764,742,711.524481284,673,659,632.475518716,878,784,799,649,629,650.475518716,0.400955434922,0.00447089274509,0.0798300344795,0.999999954601,7.989447758e-05,-0.000287510670453,4.18596950614e-05,1793193662145580800
+76,1.266666667,BASELINE,763.898716904,742,711.898716904,673,659,632.101283096,878,784,799.101283096,649.101283096,629,650.101283096,0.400956240459,0.00447024301554,0.079830883236,0.999999955102,7.86672599833e-05,-0.000286080413933,4.20058178882e-05,1793193662162247424
+77,1.283333333,BASELINE,763.324975924,742,711.324975924,673,659,632.675024076,878,784,799.675024076,649.675024076,629,650.675024076,0.400957041934,0.0044697906921,0.0798306475509,0.99999995517,7.81182194662e-05,-0.000285986133997,4.20559235008e-05,1793193662178914304
+78,1.300000000,BASELINE,763,742.248609896,711,673,659,632.751390104,878,784,799.751390104,649.751390104,629,650.751390104,0.400956629572,0.00446982476379,0.0798303349819,0.999999955101,7.75160958913e-05,-0.000286403255841,4.19882488403e-05,1793193662195581440
+79,1.316666667,BASELINE,763,742.821992974,711,673,659,632.178007026,878,784,799.178007026,649.178007026,629,650.178007026,0.400954631505,0.004470494241,0.0798299219752,0.99999995485,7.68446269553e-05,-0.000287488450795,4.17667111363e-05,1793193662212248320
+80,1.333333333,BASELINE,763,742.592756118,711,672.592756118,659,632,878,784,799.407243882,649,629,650.407243882,0.400954138777,0.00447043438438,0.0798298110397,0.999999954536,7.85260439877e-05,-0.000288107143079,4.19038802636e-05,1793193662228914688
+81,1.350000000,BASELINE,763,742.002162,711,672.002162,659,632,878,784,799.997838,649,629,650.997838,0.400954323786,0.00447004616553,0.0798298361033,0.999999954187,8.12667824518e-05,-0.000288515805599,4.22025471491e-05,1793193662245580800
+82,1.366666667,BASELINE,763,742,711,672.573441074,659.573441074,632.573441074,878,784,799.426558926,649.573441074,629,651,0.400955832403,0.00446922701283,0.0798306524783,0.999999954787,7.91195623435e-05,-0.00028701847092,4.22743331016e-05,1793193662262247424
+83,1.383333333,BASELINE,763.150020733,742,711.150020733,673,659.849979267,633,878,784,799.150020733,650,629,651,0.400956592319,0.00446886920414,0.0798310428025,0.999999955095,7.77919151806e-05,-0.000286304289465,4.22776349066e-05,1793193662278914048
+84,1.400000000,BASELINE,763.729554207,742,711.729554207,673,659.270445793,633,878,784,799.729554207,650,629,651,0.400955194766,0.00446983676667,0.0798302050097,0.999999954575,7.8862140913e-05,-0.00028785234264,4.20872516834e-05,1793193662295580928
+85,1.416666667,BASELINE,764,742,711.686196398,673,659,633,878,784,800,649.686196398,629,650.686196398,0.400954666449,0.00446992444301,0.0798299004687,0.999999954475,7.85345431129e-05,-0.000288280774015,4.21383072127e-05,1793193662312247552
+86,1.433333333,BASELINE,764,742,711.0978207,673,659,633,878,784,800,649.0978207,629,650.0978207,0.400954898698,0.00446924223585,0.0798300625131,0.999999954744,7.69838766266e-05,-0.000287729557824,4.24006170037e-05,1793193662328914432
+87,1.450000000,BASELINE,764,742,711,672.515701921,659,632.515701921,878,784,800,649.484298079,629,650.484298079,0.40095498905,0.00447016273045,0.0798302065683,0.999999954613,7.94888144708e-05,-0.000287494611295,4.24638663739e-05,1793193662345581312
+88,1.466666667,BASELINE,764,742,711,672.064528135,659,632,878,784,799.935471865,649.935471865,628.935471865,651,0.400955157679,0.00447133455075,0.0798304310605,0.999999954464,8.23826419764e-05,-0.000287197984674,4.24477379017e-05,1793193662362247680
+89,1.483333333,BASELINE,764,742,711,672.639685471,659,632,878,784,799.360314529,649.360314529,628.360314529,651,0.400956169637,0.00447196616143,0.07983132046,0.999999954881,8.19542278703e-05,-0.000285914201214,4.21175823288e-05,1793193662378914048
+90,1.500000000,BASELINE,764,742,711,673,659,632,877.787075272,784,799,649,628.212924728,651,0.400957220314,0.00447172001757,0.0798319958633,0.999999955324,8.04160844081e-05,-0.00028482234748,4.19696149507e-05,1793193662395580672
+91,1.516666667,BASELINE,764,742,711,673,659,632,877.217052898,784,799,649,628.782947102,651,0.400958335925,0.00447000178496,0.079832312372,0.999999955804,7.70168056302e-05,-0.000284052380643,4.21271967823e-05,1793193662412247552
+92,1.533333333,BASELINE,764,742,711,673,659,632.370489785,877.370489785,784,799.370489785,649,629,651,0.400958133606,0.00446924585315,0.0798320518499,0.999999955753,7.58657379709e-05,-0.00028453051474,4.21897828005e-05,1793193662428914432
+93,1.550000000,BASELINE,764,742,711,673,659,632.968806359,877.968806359,784,799.968806359,649,629,651,0.400957120848,0.0044690816727,0.0798314364921,0.99999995538,7.60971715816e-05,-0.000285776148541,4.21939526727e-05,1793193662445580800
+94,1.566666667,BASELINE,764,742,711,672.45489578,659,632.45489578,878,783.45489578,799.45489578,649,629,651,0.400958239503,0.00446927969716,0.0798323014137,0.999999955842,7.66999109697e-05,-0.000284007950657,4.21141572838e-05,1793193662462247936
+95,1.583333333,BASELINE,764,742,711,672,659,632,878,783.120235469,799,649.120235469,628.879764531,651,0.400958809369,0.00446953204199,0.0798328929266,0.999999956118,7.72559907193e-05,-0.00028288944685,4.20520458904e-05,1793193662478914816
+96,1.600000000,BASELINE,764,742,711,672,659,632,878,783.695535267,799,649.695535267,628.304464733,651,0.400956858482,0.00446991457528,0.0798321414918,0.999999955535,7.75581776998e-05,-0.000284857294198,4.20743439246e-05,1793193662495581440
+97,1.616666667,BASELINE,764,742,711,672.278300693,659,632,877.721699307,784,799,649.721699307,628.278300693,651,0.400955165353,0.00447006193933,0.079831345574,0.999999955048,7.7780243155e-05,-0.000286487942734,4.21668432085e-05,1793193662512247808
+98,1.633333333,BASELINE,764,742,711,672.869458718,659,632,877.130541282,784,799,649.130541282,628.869458718,651,0.40095376199,0.00446994493313,0.0798304996498,0.999999954672,7.79122383642e-05,-0.000287739522309,4.23382606411e-05,1793193662528914688
+99,1.650000000,BASELINE,764,742,711,672.549354384,659,632,877.450645616,784,799.450645616,649.450645616,628.549354384,651,0.400955894719,0.00447021628115,0.0798309305922,0.999999955209,7.60376162036e-05,-0.000286420192784,4.19984168353e-05,1793193662545581312
+100,1.666666667,BASELINE,764,742,711.02894625,672.02894625,659,632.02894625,878,784,799.97105375,649.97105375,628,651,0.400958769584,0.00447061870814,0.0798316333581,0.999999955906,7.4014750695e-05,-0.000284572742944,4.15637256407e-05,1793193662562247680
+101,1.683333333,BASELINE,764,742,711.60610327,672.60610327,659,632.60610327,878,784,799.39389673,649.39389673,628,651,0.400956720093,0.00447141917978,0.079830630722,0.999999954871,7.99546198239e-05,-0.000286522343107,4.20768671166e-05,1793193662578914304
+102,1.700000000,BASELINE,763.8187675,742,711.8187675,672.8187675,659,632.8187675,878,784,799,649,628,651,0.400955474388,0.00447158525086,0.0798301271185,0.999999954319,8.31847505878e-05,-0.000287479978207,4.24031146219e-05,1793193662595580672
+103,1.716666667,BASELINE,763.247996843,742,711.247996843,672.247996843,659,632.247996843,878,784,799,649,628,651,0.400955956329,0.00447038775166,0.0798306961272,0.999999954871,8.05906134585e-05,-0.000286305499661,4.23276552333e-05,1793193662612247808
+104,1.733333333,BASELINE,763.336085501,742,711.336085501,672.336085501,659,632.336085501,878,784,799,649.336085501,628.336085501,651,0.400956399854,0.00447102230222,0.0798308596436,0.999999954988,8.08348739289e-05,-0.000285865823303,4.20787569505e-05,1793193662628914688
+105,1.750000000,BASELINE,763.930395677,742,711.930395677,672.930395677,659,632.930395677,878,784,799,649.930395677,628.930395677,651,0.400956813862,0.00447306447201,0.079830711608,0.999999954769,8.32599610267e-05,-0.000285990717611,4.16966003005e-05,1793193662645581312
+106,1.766666667,BASELINE,764,742,711.489989945,673,659,633,877.489989945,784,799.510010055,649.489989945,629,651,0.400956659429,0.00447142071032,0.0798308829092,0.99999995522,7.84433792419e-05,-0.000285790851082,4.16015095006e-05,1793193662662247936
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,742,711,672,660,632,878,784,799,649,628,650,0.400955978866,0.00447207560528,0.0798305356388,0.999999954823,7.89532680978e-05,-0.000287030689113,4.16400817373e-05,1793193662707122432
+108,1.800000000,POSE1_TO_POSE2_PRESS,763.372182846,742,711,672.627817154,659.372182846,632,878,784,799,649,628,650.627817154,0.400955209211,0.00447132273115,0.0798299612045,0.999999954764,7.75010180878e-05,-0.000287626352446,4.16687205827e-05,1793193662723788800
+109,1.816666667,POSE1_TO_POSE2_PRESS,763.235554233,742,711,673,659,632,878,784,799.235554233,649.235554233,628,651,0.400954837627,0.00447002945482,0.0798297878906,0.999999954773,7.65540632826e-05,-0.000287832451796,4.1783276601e-05,1793193662740454912
+110,1.833333333,POSE1_TO_POSE2_PRESS,763.814056437,742,711,673,659,632,878,784,799.814056437,649.814056437,628,651,0.400955045602,0.00446794939637,0.0798301985753,0.999999954883,7.63427773381e-05,-0.000287471377486,4.20229210995e-05,1793193662757121536
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,742,711.391899024,673,659,632,878,784,799.608100976,649.608100976,628.391899024,651,0.400954621288,0.00446861983927,0.0798300915283,0.999999954797,7.66767325604e-05,-0.000287688279827,4.19796115781e-05,1793193662773787904
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,742,711.969429135,673,659,632,878,784,799.030570865,649.030570865,628.969429135,651,0.400953897479,0.00447059311421,0.0798297392469,0.999999954617,7.72689525635e-05,-0.000288178952797,4.1802275012e-05,1793193662790454272
+113,1.883333333,POSE1_TO_POSE2_PRESS,763.454736093,742,711.454736093,673,659,632,877.454736093,784,799,649,629,650.454736093,0.400956821036,0.00446947093106,0.0798316684839,0.999999955492,7.75197501439e-05,-0.000284989966593,4.22895135309e-05,1793193662807120640
+114,1.900000000,POSE1_TO_POSE2_PRESS,763.123737969,742,711,673,659,632,877.123737969,784,798.876262031,649,629,650,0.400960831215,0.00446900587853,0.0798339757577,0.999999956468,7.79730562662e-05,-0.000281380877901,4.2521062758e-05,1793193662823787264
+115,1.916666667,POSE1_TO_POSE2_PRESS,763.712486621,742,711,673,659,632,877.712486621,784,798.287513379,649,629,650,0.400968158838,0.004471660527,0.0798372244819,0.999999957636,7.9259109172e-05,-0.000276965927328,4.16521337934e-05,1793193662840454144
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,742,711,672.702666036,659,632,878,784,798.297333964,649.297333964,629,650,0.40098573016,0.00447176145919,0.0798447144689,0.999999961176,7.82326138289e-05,-0.00026421902674,4.14209807696e-05,1793193662857120768
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,742,711,672.121542324,659,632,878,784,798.878457676,649.878457676,629,650,0.401013078556,0.00446942500235,0.0798562525196,0.999999966663,7.49989117917e-05,-0.000243519714934,4.17985516281e-05,1793193662873787392
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,742,711,672.453002969,659,632,878,784,799,649.546997031,628.546997031,650,0.401063970651,0.00446938422584,0.0798732923865,0.999999974372,7.41488599749e-05,-0.000209972728562,4.08565774177e-05,1793193662890454528
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,742,711,673,659,632,878,784,799,649,628,650,0.401121666962,0.00446997953235,0.0798915397066,0.999999981421,7.39580962513e-05,-0.000173564413438,3.95339611821e-05,1793193662907121408
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,742,711,673,659,632,878,784,799,649,628,650,0.401191608811,0.00447118863316,0.0799045398096,0.999999985499,7.43798643386e-05,-0.00014852499545,3.75400993274e-05,1793193662923787776
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,742.197431198,711,673,659,632,877.802568802,784,799,649,628,650.197431198,0.401265343149,0.00447201975804,0.079914761972,0.999999988121,7.38766905693e-05,-0.000130595278673,3.52967392118e-05,1793193662940454400
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,742.781658908,711,673,659,632,877.218341092,784,799,649,628,650.781658908,0.401346507538,0.00447211037314,0.0799195417458,0.999999988896,7.1561420945e-05,-0.000126594499263,3.25645752957e-05,1793193662957120768
+123,2.050000000,POSE1_TO_POSE2_PRESS,763.638666665,742.638666665,711,672.638666665,659,632.361333335,877,784,799,649,628.361333335,651,0.401443299531,0.00447258173816,0.0799228646197,0.999999989805,6.92671916767e-05,-0.000121458490792,2.8982250894e-05,1793193662973787392
+124,2.066666667,POSE1_TO_POSE2_PRESS,763.061709422,742.061709422,711,672.061709422,659,632.938290578,877,784,799,649,628.938290578,651,0.401549417215,0.00447328031382,0.0799253180953,0.99999999076,6.69855182751e-05,-0.000115645040143,2.48925975251e-05,1793193662990454272
+125,2.083333333,POSE1_TO_POSE2_PRESS,763.510994582,742,711.510994582,672.510994582,659,632.489005418,877.510994582,784,799,649,629,651,0.401686373854,0.00447522641678,0.07993114579,0.999999992286,6.19456990592e-05,-0.000105912944599,1.92927523763e-05,1793193663007120640
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,742.08611627,711.91388373,673,659,632,877.91388373,784,799,649,629,651,0.401829122297,0.00447736030909,0.0799372334984,0.999999993706,5.65403720758e-05,-9.59738092705e-05,1.34261171208e-05,1793193663023787264
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,742.678444002,711.321555998,673,659,632,877.321555998,784,799,649,629,651,0.401984205215,0.00447971979268,0.0799424741257,0.999999994843,5.09282823478e-05,-8.75764320622e-05,7.05442576555e-06,1793193663040453888
+128,2.133333333,POSE1_TO_POSE2_PRESS,763.73594814,742.73594814,711,673,659,632.26405186,877,784,799.26405186,649,629,651,0.402163137445,0.00448123890193,0.0799474694918,0.999999995901,4.31846418397e-05,-7.95790841958e-05,-6.27550358663e-08,1793193663057120512
+129,2.150000000,POSE1_TO_POSE2_PRESS,763.158320537,742.158320537,711,673,659,632.841679463,877,784,799.841679463,649,629,651,0.402370392002,0.00448176002142,0.0799521735967,0.99999999683,3.29096708742e-05,-7.20567932205e-05,-8.06524407716e-06,1793193663073787392
+130,2.166666667,POSE1_TO_POSE2_PRESS,763.41685808,742,711.41685808,672.58314192,659,632.58314192,877.41685808,784,799.58314192,649,629,650.58314192,0.402585234273,0.00448055741261,0.0799491597292,0.999999996523,2.25164237499e-05,-7.88965708571e-05,-1.48830342391e-05,1793193663090454528
+131,2.183333333,POSE1_TO_POSE2_PRESS,763.991112065,742,711.991112065,672.008887935,659,632.008887935,877.991112065,784,799.008887935,649,629,650.008887935,0.402802941505,0.00447870396416,0.0799432317355,0.999999995546,1.20785174484e-05,-9.11591305548e-05,-2.12535103471e-05,1793193663107121664
+132,2.200000000,POSE1_TO_POSE2_PRESS,763.420032492,742,711.420032492,672.579967508,659,632,878,784,799,649.579967508,629,650,0.40306217278,0.00447326327271,0.0799385362733,0.999999994434,3.51073021594e-05,-9.81235863764e-05,-1.64582973435e-05,1793193663123788032
+133,2.216666667,POSE1_TO_POSE2_PRESS,763.156475786,742,711.156475786,673,659,632,878,784,799.156475786,649.843524214,629,650,0.403336063328,0.00447307944174,0.0799352157688,0.999999994152,3.16997197039e-05,-0.000102371346607,-1.45559124749e-05,1793193663140454400
+134,2.233333333,POSE1_TO_POSE2_PRESS,763.701735736,742,711.701735736,673,659,632,878,784,799.701735736,649.298264264,629,650,0.403644754843,0.00448609707174,0.0799352633797,0.999999994038,-3.86996138894e-05,-0.000100076073447,-2.02772613607e-05,1793193663157120768
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,742,712,673,659,632.279087859,878.279087859,784,799.720912141,649,629,650,0.403980285964,0.00449333110744,0.0799379878893,0.999999993107,-6.49731070247e-05,-9.48540210814e-05,-2.38147808088e-05,1793193663173787392
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,742,712,673,659,632.895193448,878.895193448,784,799.104806552,649,629,650,0.404348227732,0.00449358105556,0.0799439449378,0.999999995268,-3.79616173403e-05,-8.60976826284e-05,-2.47151761727e-05,1793193663190454016
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,742,712,673,659,632.522583891,878.522583891,784,799,649,628.522583891,650.477416109,0.40475321558,0.00450176168261,0.0799466323731,0.999999996657,-5.23546122725e-06,-7.70733542741e-05,-2.68192895282e-05,1793193663207120896
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,742,712,673,659,632,878,784,799,649,628.053888417,650.946111583,0.405168039568,0.00451176448362,0.079947768095,0.999999996796,2.60186969981e-05,-6.98180651593e-05,-2.92516776937e-05,1793193663223787520
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,742,712,673,659,632,878,784,799,649,628.642212109,650.357787891,0.405605102465,0.00452371642007,0.0799401615409,0.999999995737,3.10571341862e-05,-8.0651914255e-05,-3.24926906731e-05,1793193663240454144
+140,2.333333333,POSE1_TO_POSE2_PRESS,763.773074346,742,711.773074346,673,659,632,878,784,799,649,628.773074346,650.226925654,0.406057308837,0.0045340899605,0.079931888276,0.999999994117,3.78319739283e-05,-9.54998198569e-05,-3.48557426078e-05,1793193663257120768
+141,2.350000000,POSE1_TO_POSE2_PRESS,763.193963745,742,711.193963745,673,659,632,878,784,799,649,628.193963745,650.806036255,0.406533017599,0.00454201385472,0.0799225802874,0.999999991443,4.7301681886e-05,-0.000116577475235,-3.58562128871e-05,1793193663273787648
+142,2.366666667,POSE1_TO_POSE2_PRESS,763.383697013,742,711,673,659,632.383697013,878,784,799,649,628.383697013,651,0.407036911804,0.00455237044738,0.0799206574222,0.999999989965,6.33664557336e-05,-0.000121162968559,-3.70805136298e-05,1793193663290454272
+143,2.383333333,POSE1_TO_POSE2_PRESS,763.960627668,742,711,673,659,632.960627668,878,784,799,649,628.960627668,651,0.407555000523,0.00456395217195,0.0799224537779,0.999999988942,8.27525713727e-05,-0.000117442846497,-3.84175377108e-05,1793193663307120896
+144,2.400000000,POSE1_TO_POSE2_PRESS,763.465825217,742,711.534174783,672.465825217,659,632.465825217,878,784,799.534174783,649,629,651,0.4080936368,0.00457503437148,0.079912142541,0.999999985686,8.76968764036e-05,-0.000139145336102,-3.97061463341e-05,1793193663323787776
+145,2.416666667,POSE1_TO_POSE2_PRESS,763,742,711.889225716,672.110774284,658.889225716,632,878.110774284,783.889225716,799.889225716,649,629,651,0.408650506366,0.00458601173538,0.079904713218,0.999999982646,9.37568635772e-05,-0.000155628219518,-4.11948023163e-05,1793193663340454400
+146,2.433333333,POSE1_TO_POSE2_PRESS,763,742,711.29832193,672.70167807,658.29832193,632,878.70167807,783.29832193,799.29832193,649,629,651,0.409279881772,0.00459669329104,0.0799136186254,0.999999983085,0.000109237213207,-0.00014141715956,-4.35658948213e-05,1793193663357121024
+147,2.450000000,POSE1_TO_POSE2_PRESS,763.286289172,742.286289172,711,673,658.572578343,632,878.427421657,783.286289172,798.713710828,649,629,650.713710828,0.409945828211,0.00460644111155,0.0799381066984,0.99999998687,0.000118919836836,-0.000100012802922,-4.59995390321e-05,1793193663373787648
+148,2.466666667,POSE1_TO_POSE2_PRESS,763.864484101,742.864484101,711,673,659.728968202,632,877.271031798,783.864484101,798.135515899,649,629,650.135515899,0.410649063117,0.0046152368777,0.0799784831462,0.999999990821,0.000122690990024,-3.08816563391e-05,-4.84969618339e-05,1793193663390454528
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,742.562707481,711.437292519,673,660,632,877.437292519,784,798.437292519,649,629,650,0.411312630058,0.00460892085791,0.079982093645,0.999999991633,0.000115985808495,-2.86900876872e-05,-4.95894016151e-05,1793193663407121408
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,742,711.991238531,673,660,632,878.008761469,784,799,649,629,650,0.411964613811,0.0045978714922,0.0799739883035,0.99999999201,0.000105810319565,-4.7504800395e-05,-5.02740050952e-05,1793193663423787776
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,742,711.399164188,673,660,632,878.600835812,784,799,649,629,650,0.412653897285,0.00457968346905,0.0799352042988,0.999999990518,7.81103363714e-05,-0.000100559118679,-5.2441052611e-05,1793193663440454656
+152,2.533333333,POSE1_TO_POSE2_PRESS,763.81120576,742.18879424,711.18879424,673,659.81120576,632,879,784,799,649,629,650,0.413362981533,0.00456574187208,0.0799078715958,0.999999987874,5.45248215363e-05,-0.000135427226761,-5.42062565353e-05,1793193663457121280
+153,2.550000000,POSE1_TO_POSE2_PRESS,763.231763941,742.768236059,711.768236059,673,659.231763941,632,879,784,799,649,629,650,0.414113036886,0.00456058685955,0.0799042336,0.999999988902,3.94528495231e-05,-0.000132664948781,-5.51399773723e-05,1793193663473787648
+154,2.566666667,POSE1_TO_POSE2_PRESS,763.346081445,743,712,673,659,632,878.653918555,784,799,649,628.653918555,650.346081445,0.414889110889,0.00456229103582,0.0799197977156,0.99999999232,3.72781692999e-05,-0.000103593746879,-5.69162626353e-05,1793193663490454016
+155,2.583333333,POSE1_TO_POSE2_PRESS,763.922862696,743,712,673,659,632,878.077137304,784,799,649,628.077137304,650.922862696,0.415682529145,0.00456856758482,0.0799481620646,0.999999995666,4.370089361e-05,-5.69848701979e-05,-5.92542060077e-05,1793193663507120896
+156,2.600000000,POSE1_TO_POSE2_PRESS,763.503248578,743,712,673.496751422,659.496751422,632,878,784,799,649.496751422,628,651,0.416433047779,0.00457646867455,0.0799414544829,0.999999993822,5.47358671442e-05,-7.78798013722e-05,-5.73980990718e-05,1793193663523787776
+157,2.616666667,POSE1_TO_POSE2_PRESS,763.07234977,742.92765023,711.92765023,673.92765023,659.92765023,632,878,784,799,649.92765023,628,651,0.417191069606,0.00458355860672,0.0799324426644,0.999999991277,6.56740436589e-05,-0.000100339892505,-5.53568764455e-05,1793193663540454400
+158,2.633333333,POSE1_TO_POSE2_PRESS,763.663407033,742.336592967,711.336592967,673.336592967,659.336592967,632,878,784,799,649.336592967,628,651,0.418050369001,0.00458303487094,0.0799457301528,0.999999994131,7.08131724821e-05,-5.9304660186e-05,-5.66306657519e-05,1793193663557121024
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,742,711,673.249616508,659.499233015,632,878.249616508,784,799,649,628.249616508,650.750383492,0.418905023765,0.00458121990142,0.0799601975044,0.999999995352,7.351704696e-05,-2.46127958371e-05,-5.73163748014e-05,1793193663573787648
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,742,711,673.829413528,660.658827057,632,878.829413528,784,799,649,628.829413528,650.170586472,0.419753534788,0.00457769695108,0.0799762255207,0.999999995697,7.29996858287e-05,1.68836893795e-06,-5.72242000338e-05,1793193663590454272
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,742.405955337,711,674,660.594044663,632,879,784,799.405955337,649,629,650.405955337,0.420572894688,0.00457685212166,0.0799663863913,0.999999995465,7.5109629484e-05,-1.30104218609e-05,-5.70940392793e-05,1793193663607120896
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,742.981140139,711,674,660.018859861,632,879,784,799.981140139,649,629,650.981140139,0.421380102419,0.00457712371309,0.0799457640967,0.999999994308,7.83148102981e-05,-4.48007501066e-05,-5.69480433758e-05,1793193663623787776
+163,2.716666667,POSE1_TO_POSE2_PRESS,763.446110177,742.446110177,711,674,660,632,878.446110177,784,799.446110177,649,629,650.446110177,0.422227302509,0.00458269610629,0.0799626663112,0.999999994601,8.54094434756e-05,-1.84182969938e-05,-5.62410009265e-05,1793193663640454400
+164,2.733333333,POSE1_TO_POSE2_PRESS,763.131035246,742.131035246,711.131035246,674,660.131035246,632,878.131035246,784,799,649,629,650.131035246,0.423079044805,0.00458803718673,0.0799803588622,0.999999994276,9.11750096637e-05,7.05353993375e-06,-5.55382884938e-05,1793193663657121024
+165,2.750000000,POSE1_TO_POSE2_PRESS,763.723966406,742.723966406,711.723966406,674,660.723966406,632,878.723966406,784,799,649,629,650.723966406,0.423942019006,0.00459192945134,0.0799963531668,0.999999994029,9.17908596428e-05,2.23638557696e-05,-5.49178843144e-05,1793193663673787904
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,743,711.693012394,674,660.693012394,632,879,783.693012394,799.306987606,649,628.693012394,650.693012394,0.424750384188,0.00459257246678,0.0799759133156,0.999999993629,9.59371200312e-05,-2.29896888499e-05,-5.48518004828e-05,1793193663690454784
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,743,711.118623199,674,660.118623199,632,879,783.118623199,799.881376801,649,628.118623199,650.118623199,0.425511182275,0.0045903852238,0.0799237374905,0.999999985809,0.000103158544177,-0.000121184494073,-5.52685569827e-05,1793193663707121152
+168,2.800000000,POSE1_TO_POSE2_PRESS,763.544826651,742.544826651,711,673.544826651,660,632,878.544826651,783.455173349,799.544826651,649,628.455173349,650.455173349,0.426339888352,0.00458907261461,0.0799040208776,0.999999985239,9.30115804468e-05,-0.000131946671431,-5.88235130884e-05,1793193663723788032
+169,2.816666667,POSE1_TO_POSE2_PRESS,763.029984312,742,711.029984312,673.059968624,660.059968624,632,878,784,799,649,629,650.970015688,0.427184148307,0.00458796665871,0.0798937965122,0.999999987592,7.95268337055e-05,-0.000120595403052,-6.28381358071e-05,1793193663740454656
+170,2.833333333,POSE1_TO_POSE2_PRESS,763.626892312,742,711.626892312,674.253784623,661.253784623,632,878,784,799,649,629,650.373107688,0.427988312821,0.00458646384528,0.0799033117471,0.999999986918,8.84042504364e-05,-0.000121398378503,-6.01005839192e-05,1793193663757121280
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,742.214446083,711.785553917,675,661.571107835,632,878.214446083,784,799,649,629,650,0.428802854768,0.004585758888,0.0799168122263,0.999999987601,9.38483989754e-05,-0.000112324351312,-5.80917062223e-05,1793193663773787904
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,742.786404958,711.213595042,675,660.427190084,632,878.786404958,784,799,649,629,650,0.429634697358,0.004586384073,0.0799369566866,0.999999990215,9.35687897942e-05,-8.67839248499e-05,-5.72976344716e-05,1793193663790454272
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,743,711,675,660.363965765,632,878.636034235,784,799,649,629,650,0.43046322457,0.00458636356782,0.0799679151885,0.999999993665,8.88336178019e-05,-4.06501552616e-05,-5.59143175272e-05,1793193663807120896
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,743,711,675,660.944865463,632,878.055134537,784,799,649,629,650,0.431289775694,0.00458595821294,0.0800053191657,0.999999995058,8.14428036258e-05,1.77578308423e-05,-5.41797935991e-05,1793193663823787520
+175,2.916666667,POSE1_TO_POSE2_PRESS,763.467252084,742.467252084,711,675,661,632,879.065495832,784,799,649,629,650,0.432025861064,0.00459051278626,0.0800091572611,0.999999993631,9.66225636983e-05,2.18181693951e-05,-5.4093192639e-05,1793193663840454144
+176,2.933333333,POSE1_TO_POSE2_PRESS,763.119369235,742,711,675,660.880630765,632,879.880630765,784,799,649,629,650,0.432738718853,0.00459452340747,0.0799952235054,0.999999992526,0.000109540346033,-7.68498422272e-07,-5.43044421189e-05,1793193663857120768
+177,2.950000000,POSE1_TO_POSE2_PRESS,763.698315787,742,711,675,660.301684213,632,879.301684213,784,799,649,629,650,0.43339867348,0.00459443728105,0.0799264190394,0.999999987605,0.000104636833355,-0.000104005293101,-5.49971030279e-05,1793193663873787392
+178,2.966666667,POSE1_TO_POSE2_PRESS,763.722842743,742.277157257,711,675,660,632,879,784,799,649,628.722842743,650,0.434089084508,0.00459076907616,0.0798871369819,0.999999981121,9.51623752962e-05,-0.000159705515241,-5.65420670867e-05,1793193663890454016
+179,2.983333333,POSE1_TO_POSE2_PRESS,763.144115537,742.855884463,711,675,660,632,879,784,799,649,628.144115537,650,0.434812634693,0.0045832032745,0.0798799777305,0.999999981605,8.0714352038e-05,-0.000163682040727,-5.90144078158e-05,1793193663907120640
+180,3.000000000,POSE1_TO_POSE2_PRESS,763,743,711,675,659.569483724,632,879,784,799,649,628.430516276,650,0.435502777394,0.00458047998924,0.0799052924965,0.999999987387,7.68628625217e-05,-0.000126385121425,-5.78410616383e-05,1793193663923787264
+181,3.016666667,POSE1_TO_POSE2_PRESS,763.003893086,742.996106914,711,675,659.003893086,632,879,784,799,649,628.996106914,650,0.436181129613,0.00457941462332,0.0799410143537,0.999999992638,7.65897581498e-05,-7.60417505364e-05,-5.54658405616e-05,1793193663940454144
+182,3.033333333,POSE1_TO_POSE2_PRESS,763.592753477,742.407246523,711,675,659.592753477,632,879,784,799,649,628.407246523,650,0.436752400694,0.00458618667075,0.0799224683797,0.999999987415,8.60257202987e-05,-0.000121812302666,-5.41455312469e-05,1793193663957120768
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,742.179016075,711,674.820983925,659.820983925,631.820983925,879,784,799,649,628.179016075,650.179016075,0.437319385433,0.00459246333687,0.0798996504784,0.99999997994,9.60906545704e-05,-0.000167404395455,-5.34945821806e-05,1793193663973787136
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,742.759453409,711,674.240546591,659.240546591,631.240546591,879,784,799,649,628.759453409,650.759453409,0.437876758552,0.0045976291717,0.079867253313,0.99999997014,0.000107565980175,-0.000212596312939,-5.43445903569e-05,1793193663990454016
+185,3.083333333,POSE1_TO_POSE2_PRESS,764,743,711,674.674222119,659,631.33711106,879,783.66288894,799.33711106,649,629,650.66288894,0.438416566605,0.00460351758156,0.0798409153817,0.999999960918,0.000109765816293,-0.00025115893131,-5.50853678012e-05,1793193664007120640
+186,3.100000000,POSE1_TO_POSE2_PRESS,764,743,711,675.825602911,659,631.912801456,879,783.087198544,799.912801456,649,629,650.087198544,0.438943943534,0.00460991737008,0.0798188656766,0.99999995227,0.00010540122737,-0.000285029877973,-5.57488407369e-05,1793193664023787264
+187,3.116666667,POSE1_TO_POSE2_PRESS,764,742.517833906,711,675.517833906,659,632,879,783,799.517833906,649,629,650.482166094,0.439414349154,0.00461913795943,0.0797929074823,0.999999938718,0.000119998011192,-0.000323991561647,-5.65097664132e-05,1793193664040453888
+188,3.133333333,POSE1_TO_POSE2_PRESS,764,742.053198255,711,675,659,631.946801745,879,783,799,649,629,651,0.439869549638,0.0046291323865,0.0797652110311,0.999999921997,0.000138124518993,-0.000365573137941,-5.73057250976e-05,1793193664057120512
+189,3.150000000,POSE1_TO_POSE2_PRESS,764,742.6529638,711,675,659,631.3470362,879,783,799,649,629,651,0.440273014919,0.00464190400298,0.0797268236223,0.99999989566,0.000157740894062,-0.000424735494547,-5.82828908281e-05,1793193664073787136
+190,3.166666667,POSE1_TO_POSE2_PRESS,764,743,711,675,658.757098317,631,879.242901683,783,799.242901683,649.242901683,629,650.757098317,0.440664715562,0.00465950851193,0.0796899454223,0.999999866629,0.000176569405276,-0.000481583465809,-6.03554883451e-05,1793193664090454016
+191,3.183333333,POSE1_TO_POSE2_PRESS,764,743,711,675,658.180655239,631,879.819344761,783,799.819344761,649.819344761,629,650.180655239,0.441040261603,0.0046837493279,0.0796551395928,0.999999835829,0.000194316061234,-0.000535253438973,-6.39322825479e-05,1793193664107120640
+192,3.200000000,POSE1_TO_POSE2_PRESS,763.604399844,743,711,675,658.395600156,631,879.604399844,783,800,650,629,650.395600156,0.441427425093,0.00469531867073,0.0796508675014,0.999999830395,0.00020954391059,-0.000539472726381,-6.53498982876e-05,1793193664123787264
+193,3.216666667,POSE1_TO_POSE2_PRESS,763.02823015,743,711,675,658.97176985,631,879.02823015,783,800,650,629,650.97176985,0.44181989128,0.00470110418716,0.0796605323706,0.99999983705,0.000223622063415,-0.000521120514473,-6.57819685875e-05,1793193664140453888
+194,3.233333333,POSE1_TO_POSE2_PRESS,763,742.44024636,711.55975364,675,658.44024636,631,879,783,800,649.44024636,629,650.44024636,0.442170547005,0.00470244631989,0.0796865975463,0.999999851861,0.000237184062014,-0.000485926668074,-6.24333052233e-05,1793193664157120512
+195,3.250000000,POSE1_TO_POSE2_PRESS,763.145999028,742,711.708001943,675,658,630.854000972,879,783,800,649.145999028,629,650.145999028,0.442503953842,0.00470579529861,0.0797075217618,0.999999861755,0.000250690551074,-0.00045830735085,-5.99830140295e-05,1793193664173787136
+196,3.266666667,POSE1_TO_POSE2_PRESS,763.725278992,742,710.549442016,675,658,630.274721008,879,783,800,649.725278992,629,650.725278992,0.442792563892,0.00471577937076,0.0797106815972,0.999999859425,0.000264111223438,-0.000455741990093,-6.07768844003e-05,1793193664190453760
+197,3.283333333,POSE1_TO_POSE2_PRESS,763.697900959,742,710,675,658,630,879,783,800,649.697900959,628.697900959,650.697900959,0.443052289424,0.00472738232958,0.0797067927457,0.999999855716,0.000265169012082,-0.000462971795845,-6.25394459206e-05,1793193664207120384
+198,3.300000000,POSE1_TO_POSE2_PRESS,763.123299856,742,710,675,658,630,879,783,800,649.123299856,628.123299856,650.123299856,0.44328596027,0.00474044557038,0.0796965457746,0.999999850606,0.000255075121674,-0.000479037124841,-6.51757947909e-05,1793193664223787008
+199,3.316666667,POSE1_TO_POSE2_PRESS,763,742,710,675,657.548639857,630,879,783,800,649,628,650.451360143,0.443487295629,0.00475178776136,0.0796831675367,0.999999837556,0.00026725208755,-0.000499359090987,-6.40694181693e-05,1793193664240453888
+200,3.333333333,POSE1_TO_POSE2_PRESS,763.026703202,742.026703202,710,675.026703202,657,630,879,783,800,649,628,650.973296798,0.443678265782,0.00476209477528,0.0796692130854,0.99999982209,0.000284773495533,-0.000520451882124,-6.20866720071e-05,1793193664257120512
+201,3.350000000,POSE1_TO_POSE2_PRESS,763.616099799,742.616099799,710,675.616099799,657,630,879,783,800,649,628,650.383900201,0.443836977544,0.00476049665687,0.0796611436577,0.999999814711,0.000286697901853,-0.000533281643677,-6.31842371587e-05,1793193664273787136
+202,3.366666667,POSE1_TO_POSE2_PRESS,764,742.79739213,710,676,657,629.79739213,879,782.79739213,800,649.20260787,628.20260787,650,0.44399238481,0.00475904990697,0.0796578379331,0.999999811384,0.00028875468188,-0.000538319481935,-6.37637990079e-05,1793193664290454016
+203,3.383333333,POSE1_TO_POSE2_PRESS,764,742.21628019,710,676,657,629.21628019,879,782.21628019,800,649.78371981,628.78371981,650,0.444141618775,0.00475788593752,0.0796634315705,0.999999815819,0.000291058757656,-0.000528800757246,-6.33756476211e-05,1793193664307120640
+204,3.400000000,POSE1_TO_POSE2_PRESS,764,742,710.361759025,676,657,629.361759025,879.361759025,782.361759025,800.361759025,649.638240975,628.638240975,650.361759025,0.444271468636,0.00475935904053,0.0796671892945,0.999999817846,0.000295859791347,-0.000522333321105,-6.27918003295e-05,1793193664323787008
+205,3.416666667,POSE1_TO_POSE2_PRESS,764,742,710.937976626,676,657,629.937976626,879.937976626,782.937976626,800.937976626,649.062023374,628.062023374,650.937976626,0.444389827174,0.00476239545725,0.0796698586488,0.999999818434,0.000302141075572,-0.0005176747554,-6.20919402939e-05,1793193664340453888
+206,3.433333333,POSE1_TO_POSE2_PRESS,764,742,710.476877061,675.476877061,657,630,879.476877061,782.476877061,799.953754122,649,628,650.476877061,0.444479725233,0.00476144563876,0.0796685190454,0.99999982036,0.000288947656993,-0.000521495723422,-6.19024182376e-05,1793193664357120512
+207,3.450000000,POSE1_TO_POSE2_PRESS,764,742,710,675,656.891956346,629.891956346,879,782,799.108043654,649,628,650,0.444561586563,0.00475959273966,0.0796660955047,0.999999821459,0.000275637445738,-0.000526588554363,-6.17248096413e-05,1793193664373787392
+208,3.466666667,POSE1_TO_POSE2_PRESS,764,742,710,675,656.312716507,629.312716507,879,782,799.687283493,649,628,650,0.444623370151,0.00475589833394,0.0796610536647,0.99999981919,0.000272062636995,-0.000532767493133,-6.13306921082e-05,1793193664390454016
+209,3.483333333,POSE1_TO_POSE2_PRESS,764,742,710.265230324,675.265230324,656.265230324,629.265230324,879.265230324,782,800,649,628,650.265230324,0.44467792701,0.00474704551589,0.0796574839521,0.999999819273,0.000262210933982,-0.000537540455813,-6.12315244891e-05,1793193664407120640
+210,3.500000000,POSE1_TO_POSE2_PRESS,764,742,710.841660004,675.841660004,656.841660004,629.841660004,879.841660004,782,800,649,628,650.841660004,0.444724004618,0.00473214024311,0.0796556415126,0.99999982194,0.000244994441852,-0.000540663761738,-6.14784267557e-05,1793193664423787520
+211,3.516666667,POSE1_TO_POSE2_PRESS,763.585331973,742,711,675.585331973,657,630,879.585331973,782,799.585331973,649,628,650.585331973,0.444761333458,0.00472137485918,0.0796544543292,0.999999824226,0.000234502900195,-0.000541185072412,-6.06290283077e-05,1793193664440454144
+212,3.533333333,POSE1_TO_POSE2_PRESS,763.013619763,742,711,675.013619763,657,630,879.013619763,782,799.013619763,649,628,650.013619763,0.444795348946,0.0047121773438,0.0796535153062,0.999999826384,0.000226558248351,-0.000540720948751,-5.93644359417e-05,1793193664457120768
+213,3.550000000,POSE1_TO_POSE2_PRESS,763.578803021,742,710.421196979,675.578803021,656.421196979,629.421196979,879,782,800.157606042,649,628.578803021,650.578803021,0.444811631655,0.00472111286613,0.0796510638021,0.999999821263,0.000236627325963,-0.00054570017499,-6.07663044491e-05,1793193664473787136
+214,3.566666667,POSE1_TO_POSE2_PRESS,764,742,710.168265733,676,656.168265733,629,879,782,800.831734267,649,628.831734267,651,0.444825654306,0.00472687585435,0.0796485722408,0.999999817096,0.000243373121116,-0.000550266322082,-6.15142812818e-05,1793193664490453760
+215,3.583333333,POSE1_TO_POSE2_PRESS,764,742,710.749228911,676,656.749228911,629,879,782,800.250771089,649,628.250771089,651,0.444835195217,0.0047237723688,0.079646072962,0.999999815978,0.000240889850583,-0.000553493519599,-6.04988884273e-05,1793193664507120384
+216,3.600000000,POSE1_TO_POSE2_PRESS,764,742,711,675.674010011,656.674010011,629,879,782,800,649,628,651,0.444842265241,0.00472257048232,0.0796444643454,0.999999814667,0.000240596116196,-0.00055604810265,-5.9914518513e-05,1793193664523787520
+217,3.616666667,POSE1_TO_POSE2_PRESS,764,742,711,675.100440336,656.100440336,629,879,782,800,649,628,651,0.444847458699,0.00472281280387,0.0796435321603,0.999999813214,0.000241965269431,-0.000558091854861,-5.96574977419e-05,1793193664540455168
+218,3.633333333,POSE1_TO_POSE2_PRESS,764,742,711,675.486403955,656,629,879,782,800,649,628,651,0.44485228605,0.00472510672153,0.0796437144658,0.999999813173,0.000242827870582,-0.000557738351324,-6.01348505612e-05,1793193664557122048
+219,3.650000000,POSE1_TO_POSE2_PRESS,764,742,710.928574089,675.928574089,656,629,879.071425911,782,800,649,628,650.928574089,0.444856316308,0.00472728573632,0.0796438763041,0.999999813211,0.00024344258608,-0.000557355884083,-6.05637805775e-05,1793193664573788672
+220,3.666666667,POSE1_TO_POSE2_PRESS,764,742,710.374883845,675.374883845,656,629,879.625116155,782,800,649,628,650.374883845,0.444855489406,0.00472574824083,0.0796423024736,0.999999811752,0.000243109664959,-0.000560214004384,-5.96131347347e-05,1793193664590454784
+221,3.683333333,POSE1_TO_POSE2_PRESS,764,742.194355053,710.194355053,675.388710107,656,629.194355053,879.805644947,782,799.805644947,649,628.194355053,650,0.444855919405,0.00472566369111,0.0796417240719,0.999999810934,0.00024420977566,-0.000561250435787,-5.90851527861e-05,1793193664607120896
+222,3.700000000,POSE1_TO_POSE2_PRESS,764,742.796193045,710.796193045,676.59238609,656,629.796193045,879.203806955,782,799.203806955,649,628.796193045,650,0.444858984611,0.00472862537374,0.0796432326768,0.99999981146,0.000248314367152,-0.000558467531385,-5.9443324018e-05,1793193664623787776
+223,3.716666667,POSE1_TO_POSE2_PRESS,764,743,711,676.241435974,656,630,879,782,799.379282013,649,629,650.379282013,0.444859707119,0.00472851704462,0.079643159277,0.999999811174,0.000247392318242,-0.000559395482675,-5.93711191181e-05,1793193664640454400
+224,3.733333333,POSE1_TO_POSE2_PRESS,764,743,711,675.094458354,656,630,879,782,799.952770823,649,629,650.952770823,0.444859230076,0.00472683675314,0.0796422758308,0.999999810464,0.000243896438882,-0.000562223532777,-5.90785453233e-05,1793193664657121024
+225,3.750000000,POSE1_TO_POSE2_PRESS,764,742.455757755,711,675.544242245,656.544242245,629.455757755,879,782.544242245,800,649.544242245,628.455757755,650.455757755,0.444858973138,0.00472813592738,0.0796414785825,0.999999809849,0.000245904291767,-0.000562423534993,-5.92721705512e-05,1793193664673787904
+226,3.766666667,POSE1_TO_POSE2_PRESS,763.865553216,742,710.865553216,675.865553216,656.865553216,629,879,782.865553216,800,650,628,650,0.444858923334,0.00472952840641,0.079641152941,0.999999809552,0.000247919308905,-0.000562042701397,-5.94997400441e-05,1793193664690455040
+227,3.783333333,POSE1_TO_POSE2_PRESS,763.284909,742,710.284909,675.284909,656.284909,629,879,782.284909,800,650,628,650,0.444859495397,0.0047303431305,0.0796423667786,0.999999810297,0.000248318856678,-0.000560516954475,-5.96951518448e-05,1793193664707121664
+228,3.800000000,POSE1_TO_POSE2_PRESS,763.292459426,742,710,675,656,629,879.292459426,782.292459426,799.707540574,649.707540574,628,650,0.444859729334,0.00473034630439,0.0796425973973,0.999999810292,0.000248078648049,-0.000560632440184,-5.97082121572e-05,1793193664723788544
+229,3.816666667,POSE1_TO_POSE2_PRESS,763.866671947,742,710,675,656,629,879.866671947,782.866671947,799.133328053,649.133328053,628,650,0.444859637522,0.00472956763718,0.0796418807907,0.999999809561,0.000247222103143,-0.000562329076505,-5.95455964783e-05,1793193664740455424
+230,3.833333333,POSE1_TO_POSE2_PRESS,764,742.442172375,710,675.442172375,656,629,879.557827625,782.557827625,799.442172375,649.442172375,628,650.442172375,0.444859744601,0.00473174793121,0.0796415678328,0.999999808851,0.000249437219085,-0.000562583678832,-5.98136357853e-05,1793193664757122048
+231,3.850000000,POSE1_TO_POSE2_PRESS,764,742.981428707,710,676,656,629,879,782,799.981428707,650,628,650.981428707,0.444859942494,0.00473470155943,0.0796414137107,0.999999808187,0.00025247753611,-0.000562367063257,-6.01988698824e-05,1793193664773788672
+232,3.866666667,POSE1_TO_POSE2_PRESS,764,742.389309286,710,676,656,629,879,782,799.389309286,650,628,650.389309286,0.444861087489,0.00473390325058,0.0796423951238,0.99999980896,0.000252315191978,-0.000561065451515,-6.01813896304e-05,1793193664790455040
+233,3.883333333,POSE1_TO_POSE2_PRESS,764,742,710,676,656,629,879,782,799.197685314,650,628,650.197685314,0.444861841559,0.00473397343504,0.0796430033987,0.999999809383,0.000252552212098,-0.000560192821023,-6.0287220354e-05,1793193664807121408
+234,3.900000000,POSE1_TO_POSE2_PRESS,764,742,710,676,656,629,879,782,799.774842369,650,628,650.774842369,0.44486184522,0.00473571075744,0.0796428954069,0.999999809136,0.00025355584178,-0.000560143652264,-6.06297557174e-05,1793193664823787776
+235,3.916666667,POSE1_TO_POSE2_PRESS,764,742,710,676,656,629,879.349585031,782.349585031,800,649.650414969,628,651,0.444862434141,0.00473643532853,0.0796428683575,0.999999809128,0.000253936953521,-0.000559972679815,-6.07426123798e-05,1793193664840454400
+236,3.933333333,POSE1_TO_POSE2_PRESS,764,742,710,676,656,629,879.922783375,782.922783375,800,649.077216625,628,651,0.444863397427,0.00473651208979,0.0796428930832,0.999999809274,0.000253919869539,-0.000559723795196,-6.07085542747e-05,1793193664857121024
+237,3.950000000,POSE1_TO_POSE2_PRESS,764,742,710,676,656,629,879.488621861,782.488621861,800,649.511378139,628,651,0.444864743441,0.00473601839275,0.0796433327444,0.999999809898,0.000253596093641,-0.000558776257833,-6.05110134927e-05,1793193664873787648
+238,3.966666667,POSE1_TO_POSE2_PRESS,764,742,710.100328773,676,656,629.100328773,879,782.100328773,800,649.899671227,628,651,0.444865570162,0.00473569265657,0.0796435683676,0.999999810175,0.000253768181449,-0.000558229489353,-6.02696946949e-05,1793193664890454016
+239,3.983333333,POSE1_TO_POSE2_PRESS,764,742,710.679537163,676,656,629.679537163,879,782.679537163,800,649.320462837,628,651,0.444863633847,0.00473659252116,0.0796425217584,0.999999808434,0.00025653498004,-0.000560114799216,-5.99409024423e-05,1793193664907120640
+240,4.000000000,POSE1_TO_POSE2_PRESS,764,742,710.743514352,676,656.512971295,629.743514352,879,782.743514352,800,649.256485648,628,651,0.444863436264,0.00473761388206,0.0796427462594,0.999999807889,0.000257955677532,-0.000560418901242,-6.0091037546e-05,1793193664923787520
+241,4.016666667,POSE1_TO_POSE2_PRESS,764,742,710.169364854,676,657.661270293,629.169364854,879,782.169364854,800,649.830635146,628,651,0.444865392144,0.00473878571911,0.0796445450621,0.999999808834,0.000257709195185,-0.000558764637937,-6.08343361081e-05,1793193664940454144
+242,4.033333333,POSE1_TO_POSE2_PRESS,764,742.414143512,710.414143512,676,657.171712975,629,879.414143512,782,800,649.585856488,628.414143512,651,0.444865673658,0.00473803954718,0.0796445754765,0.999999808989,0.000256775150859,-0.000558919720558,-6.08084613226e-05,1793193664957121024
+243,4.050000000,HOLD_POSE2,764,742,711,676,656,629,879,782,800,649,628,650,0.44486544451,0.0047378027559,0.0796434478741,0.999999809195,0.000257122161154,-0.000558539489028,-5.94304056307e-05,1793193665002524416
+244,4.066666667,HOLD_POSE2,764,742.577003498,711,676,656,629,879,782,800,649,628,650.577003498,0.444866532689,0.00473837098301,0.0796447686848,0.999999809636,0.000258103998995,-0.000557226783059,-6.00633945529e-05,1793193665019191040
+245,4.083333333,HOLD_POSE2,764,742.847734685,711,676,656,629,879,782,800,649,628,651,0.444866941218,0.00473841818918,0.0796453077019,0.999999809796,0.000258152667848,-0.000556870375272,-6.04969050165e-05,1793193665035857664
+246,4.100000000,HOLD_POSE2,764,742.277256454,711,676,656,629,879,782,800,649,628,651,0.444865483015,0.00473703435593,0.0796436994398,0.999999809182,0.000255638288841,-0.000559140542079,-6.03825267739e-05,1793193665052524544
+247,4.116666667,HOLD_POSE2,764,742,711,675.695007657,656,629,879,782,800,649.304992343,628,651,0.444865547347,0.00473738737423,0.0796433353628,0.999999809046,0.000255741474142,-0.000559340827084,-6.03544387642e-05,1793193665069191424
+248,4.133333333,HOLD_POSE2,764,742,711,675.101629212,656,629,879,782,800,649.898370788,628,651,0.444867051316,0.00473938267598,0.0796441477275,0.999999809361,0.000258319702596,-0.000557583931204,-6.04079426584e-05,1793193665085858304
+249,4.150000000,HOLD_POSE2,764,742,711,675,656.476022851,629,879,782,800.476022851,650,628,651,0.444867057716,0.00473918372992,0.0796438347264,0.999999808885,0.000259735233769,-0.000557783654862,-6.03736994123e-05,1793193665102524672
+250,4.166666667,HOLD_POSE2,764,742,711,675.050588131,656.949411869,629,879.050588131,782.050588131,800.949411869,649.949411869,628,651,0.444866735419,0.00473854022365,0.0796433135393,0.999999808308,0.000260644209937,-0.000558398938683,-6.03178733973e-05,1793193665119191040
+251,4.183333333,HOLD_POSE2,764,742,711,675.626851057,656.373148943,629,879.626851057,782.626851057,800.373148943,649.373148943,628,651,0.444866213643,0.00473798943122,0.0796430458142,0.999999808388,0.000258786388777,-0.000559130480051,-6.0226216471e-05,1793193665135857920
+252,4.200000000,HOLD_POSE2,764,742,711,676,656,629,879.795667815,782.795667815,800,649,628,651,0.444866430742,0.00473765356226,0.0796432688786,0.999999808878,0.00025758290179,-0.000558816614259,-6.01645546271e-05,1793193665152524544
+253,4.216666667,HOLD_POSE2,764,742,711,676,656,629,879.215948746,782.215948746,800,649,628,651,0.444868005259,0.00473771253792,0.0796443935921,0.999999810125,0.000257581518665,-0.0005565821888,-6.0157997967e-05,1793193665169191168
+254,4.233333333,HOLD_POSE2,764,742.372046608,711,676,656,629,879.372046608,782,800,649,628,651,0.44486769705,0.00473840129797,0.0796441343093,0.999999809751,0.000258265759188,-0.00055693627598,-6.01613277704e-05,1793193665185858560
+255,4.250000000,HOLD_POSE2,764,742.964955157,711,676,656,629,879.964955157,782,800,649,628,651,0.444866271178,0.00473946392357,0.0796430534304,0.999999808413,0.000259357013687,-0.000558827008917,-6.01705265781e-05,1793193665202525952
+256,4.266666667,HOLD_POSE2,764,742.456230066,710.456230066,676,656,629,879.456230066,782,800,649,628,651,0.444867487741,0.00473896742245,0.0796437529553,0.999999809143,0.000257586147323,-0.000558309335781,-6.04524216821e-05,1793193665219192320
+257,4.283333333,HOLD_POSE2,764,742,710,676,656,629,879,782,800.120986449,649,628,650.879013551,0.444868381035,0.00473859460099,0.0796442186719,0.999999809668,0.000256181630346,-0.000557993013458,-6.06586807519e-05,1793193665235858432
+258,4.300000000,HOLD_POSE2,764,742,710,676,656,629,879,782,800.695530604,649,628,650.304469396,0.444867440157,0.00473905260865,0.0796433885949,0.99999980895,0.000256824525523,-0.000558998701892,-6.05171731097e-05,1793193665252524800
+259,4.316666667,HOLD_POSE2,764,742,710.276615777,676,656,629,879,782,800.723384223,649,628.276615777,650,0.444867151499,0.0047396958241,0.0796432849583,0.99999980856,0.000258423658888,-0.000558982129713,-6.03080375064e-05,1793193665269191680
+260,4.333333333,HOLD_POSE2,764,742,710.865074946,676,656,629,879,782,800.134925054,649,628.865074946,650,0.444867598125,0.00474054783394,0.0796440002757,0.999999808534,0.000261100809397,-0.000557813109765,-6.00226613835e-05,1793193665285858816
+261,4.350000000,POSE2_TO_POSE3_RETREAT,763,743,710,676,656,629,880,782,799,649,628,651,0.444871939845,0.00473984180731,0.0796467469218,0.99999981122,0.000260254111892,-0.000553272179082,-6.09649868968e-05,1793193665318421760
+262,4.366666667,POSE2_TO_POSE3_RETREAT,763.577378791,743,710,676,656,629,879.422621209,782,799.577378791,649.577378791,628,650.422621209,0.444869093981,0.00473953874653,0.0796445650636,0.999999809373,0.000259352717566,-0.000557059928322,-6.06227762214e-05,1793193665335087872
+263,4.383333333,POSE2_TO_POSE3_RETREAT,764,742.845872506,710,675.845872506,656,629,879.154127494,782,800,649.845872506,628.154127494,650.154127494,0.444867244988,0.00473945261604,0.0796431369585,0.999999808121,0.00025886500079,-0.000559546588116,-6.04456663091e-05,1793193665351754240
+264,4.400000000,POSE2_TO_POSE3_RETREAT,764,742.270844359,710,675.270844359,656,629,879.729155641,782,800,649.270844359,628.729155641,650.729155641,0.444868118309,0.00473995889174,0.0796437672476,0.999999808535,0.000259506979422,-0.000558480155277,-6.07194234411e-05,1793193665368420608
+265,4.416666667,POSE2_TO_POSE3_RETREAT,763.688472641,742,710,675.311527359,656,629,879.688472641,782,799.688472641,649,628.688472641,650.688472641,0.444868862511,0.00474019733124,0.0796444135141,0.999999809013,0.000259782283204,-0.000557489731864,-6.07642393703e-05,1793193665385086976
+266,4.433333333,POSE2_TO_POSE3_RETREAT,763.099562264,742,710,675.900437736,656,629,879.099562264,782,799.099562264,649,628.099562264,650.099562264,0.444869491745,0.00474019729016,0.0796450740067,0.99999980955,0.000259731100768,-0.000556566987076,-6.06052067294e-05,1793193665401753600
+267,4.450000000,POSE2_TO_POSE3_RETREAT,763.479307451,742,710,676,656,629,879,782,799.479307451,649,628,650.479307451,0.444869117108,0.00473902467767,0.0796449337027,0.99999980977,0.000258775477437,-0.000556642691289,-6.03710360068e-05,1793193665418420480
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764,742,710.056077476,676,656,629.056077476,879,782.056077476,799.943922524,649,628,651,0.44486733931,0.00473779855908,0.0796439717663,0.999999809273,0.000257777613846,-0.000558021587374,-6.01377462556e-05,1793193665435087360
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,742,710.632320419,676,656,629.632320419,879,782.632320419,799.367679581,649,628,651,0.444854440578,0.00473828906432,0.0796368998065,0.999999802666,0.000258094844377,-0.000569604352506,-6.00544327302e-05,1793193665451753728
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764,742,710.791410294,676,656,629.791410294,879.208589706,782.791410294,799.208589706,649,628,650.791410294,0.444832194385,0.00473875445417,0.0796259945122,0.999999792249,0.000258717383319,-0.000587337866752,-6.00048807281e-05,1793193665468420608
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764,742,710.215094627,676,656,629.215094627,879.784905373,782.215094627,799.784905373,649,628,650.215094627,0.444793469412,0.00473917556767,0.0796083313747,0.999999774755,0.000259878154967,-0.000615914628617,-6.00148474155e-05,1793193665485087232
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764,742.370176316,710.370176316,676,656,629,880,782,800,649,628,650.370176316,0.444740479439,0.00473949867125,0.079589239074,0.999999753925,0.000261216334268,-0.000648374148535,-5.93870339156e-05,1793193665501753600
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764,742.960779873,710.960779873,676,656,629,880,782,800,649,628,650.960779873,0.444678995146,0.00473976341336,0.079569295754,0.999999730457,0.000262660153652,-0.000683145719381,-5.8379444254e-05,1793193665518419968
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764,742.459249926,711,676,656.540750074,629,880,782,799.459249926,649,628,651,0.444610429538,0.00473852906292,0.0795633256451,0.999999727418,0.000263214892003,-0.000687503425632,-5.67484311019e-05,1793193665535086848
+275,4.583333333,POSE2_TO_POSE3_RETREAT,763.881175564,742.118824436,711,675.881175564,656.881175564,629.118824436,879.881175564,782,799.118824436,649,628,651,0.444537768251,0.0047376352858,0.0795602861945,0.999999726521,0.000264543983411,-0.000688461836237,-5.47253193644e-05,1793193665551753472
+276,4.600000000,POSE2_TO_POSE3_RETREAT,763.307463246,742.692536754,711,675.307463246,656.307463246,629.692536754,879.307463246,782,799.692536754,649,628,651,0.444451355994,0.00473845351177,0.0795646610312,0.999999728079,0.000269079580752,-0.000684688758776,-5.13709222035e-05,1793193665568420352
+277,4.616666667,POSE2_TO_POSE3_RETREAT,763,742.727149145,711,675.272850855,656.272850855,629.727149145,879,782,800,649.272850855,628,651,0.444351382696,0.00473783493054,0.0795691575714,0.999999730669,0.000270958437758,-0.000680413654209,-4.77574758728e-05,1793193665585086976
+278,4.633333333,POSE2_TO_POSE3_RETREAT,763,742.139211371,711,675.860788629,656.860788629,629.139211371,879,782,800,649.860788629,628,651,0.444235749174,0.00473555713086,0.0795737946537,0.999999734461,0.000269769302914,-0.000675558811273,-4.38448809481e-05,1793193665601753600
+279,4.650000000,POSE2_TO_POSE3_RETREAT,763.442855134,742,710.557144866,676,656.557144866,629,879.885710268,782,800,650,628,651,0.444091719736,0.0047317027949,0.0795749990738,0.999999734107,0.000271080281369,-0.000675903783426,-3.81499068538e-05,1793193665618420224
+280,4.666666667,POSE2_TO_POSE3_RETREAT,764,742,710.022780207,676,656.022780207,629,880.954439586,782,800,649.977219793,628,651,0.443937536011,0.00472748178137,0.079575023164,0.999999732328,0.000273216774238,-0.000677993984021,-3.19326883056e-05,1793193665635086848
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764,742,710.594988764,676,656.594988764,629,879.810022471,782,800,649.405011236,628,651,0.443750916651,0.00472621341587,0.0795722641478,0.99999972798,0.000276556492521,-0.000683269184167,-2.64562691795e-05,1793193665651753984
+282,4.700000000,POSE2_TO_POSE3_RETREAT,763.832234641,742.167765359,711,675.832234641,657,629,879,782,799.832234641,649,628,651,0.443553611984,0.00472423551265,0.0795706699555,0.999999724325,0.00028086703014,-0.000687065678292,-2.01107236747e-05,1793193665668421120
+283,4.716666667,POSE2_TO_POSE3_RETREAT,763.258082141,742.741917859,711,675.258082141,657,629,879,782,799.258082141,649,628,651,0.443330423746,0.00472053885783,0.0795718973801,0.999999722418,0.00028752923569,-0.000687280221793,-1.16598469378e-05,1793193665685086976
+284,4.733333333,POSE2_TO_POSE3_RETREAT,763.656838976,742.671580512,710.671580512,675,657,629.328419488,879.328419488,782,799.328419488,649,628,650.671580512,0.443086890953,0.00471557800219,0.0795766514553,0.999999725469,0.000291634975225,-0.000681176521895,-3.24019348136e-06,1793193665701753600
+285,4.750000000,POSE2_TO_POSE3_RETREAT,764.850009326,742.074995337,710.074995337,675,657,629.925004663,879.925004663,782,799.925004663,649,628,650.074995337,0.442826746116,0.00470958488316,0.0795842851607,0.999999732478,0.00029365327397,-0.000669913761238,5.15396602512e-06,1793193665718420736
+286,4.766666667,POSE2_TO_POSE3_RETREAT,763.986539579,742,710,675,656.49326979,630,879.49326979,782,800,649,628.50673021,650.50673021,0.442532727565,0.00470237579177,0.0795952365822,0.999999746584,0.000289166804099,-0.000650436282319,1.20956392423e-05,1793193665735087616
+287,4.783333333,POSE2_TO_POSE3_RETREAT,763.085155029,742,710,675.085155029,656.085155029,630,879,782,800,649,629,650.914844971,0.442226611859,0.00469535232019,0.0796060745523,0.999999761468,0.000279382348262,-0.000631441169894,1.70870321976e-05,1793193665751754240
+288,4.800000000,POSE2_TO_POSE3_RETREAT,763.656927394,742,710,675.656927394,656.656927394,630,879,782,800,649,629,650.343072606,0.441879199047,0.00469038866121,0.0796135382381,0.999999776583,0.000244667205204,-0.000621952081639,1.21269990853e-05,1793193665768420608
+289,4.816666667,POSE2_TO_POSE3_RETREAT,764,742.236022363,710.236022363,676,657,630,879.236022363,782,800,649.236022363,628.763977637,650,0.441503443882,0.00468425121869,0.0796156308899,0.999999781268,0.000233673033333,-0.000618655391358,1.11981356704e-05,1793193665785087488
+290,4.833333333,POSE2_TO_POSE3_RETREAT,764,742.826101937,710.826101937,676,657,630,879.826101937,782,800,649.826101937,628.173898063,650,0.441085172367,0.00467635298346,0.0796096664518,0.999999771425,0.000258262699316,-0.000624647920272,1.63164313549e-05,1793193665801754368
+291,4.850000000,POSE2_TO_POSE3_RETREAT,763.591356832,742.591356832,711,675.591356832,657,630,879.591356832,782.408643168,800,649.591356832,628,650,0.440633603932,0.00466761130179,0.0796007655051,0.999999766105,0.000257087952338,-0.000633559244333,1.72479969712e-05,1793193665818420736
+292,4.866666667,POSE2_TO_POSE3_RETREAT,763.011965451,742.011965451,711,675.011965451,657,630,879.011965451,782.988034549,800,649.011965451,628,650,0.440168122662,0.00465851719312,0.0795906375625,0.999999762648,0.000245147755079,-0.000643690162953,1.64301714732e-05,1793193665835087360
+293,4.883333333,POSE2_TO_POSE3_RETREAT,763,742,710.436735682,675,657.563264318,630.563264318,879,783,800,649,628.563264318,650.563264318,0.439673622466,0.00464904147453,0.0795896535116,0.999999766496,0.000238762840824,-0.000640042300669,1.86253386795e-05,1793193665851754496
+294,4.900000000,POSE2_TO_POSE3_RETREAT,763,742.138899801,710.138899801,675,658,631,878.861100199,782.861100199,799.861100199,649,628.861100199,650.861100199,0.439178968768,0.00463967051233,0.0796002751602,0.999999781652,0.000228219892891,-0.000619827680938,2.06185541213e-05,1793193665868421632
+295,4.916666667,POSE2_TO_POSE3_RETREAT,763,742.716092294,710.716092294,675,658,631,878.283907706,782.283907706,799.283907706,649,628.283907706,650.283907706,0.438685761718,0.0046306554988,0.0796469096895,0.999999828625,0.000204186790293,-0.00054825416749,2.17740340419e-05,1793193665885088256
+296,4.933333333,POSE2_TO_POSE3_RETREAT,763,743,711,675,658.298921436,631,878.298921436,782.298921436,799,649,628.298921436,650,0.438163896376,0.00462193701036,0.0796964784763,0.999999869476,0.000185855361305,-0.000475302454681,2.43518089913e-05,1793193665901754624
+297,4.950000000,POSE2_TO_POSE3_RETREAT,763,743,711,675,658.887207078,631,878.887207078,782.887207078,799,649,628.887207078,650,0.437614288958,0.00461350556531,0.0797488877109,0.99999990422,0.000173043307026,-0.000401016598456,2.83064049388e-05,1793193665918421248
+298,4.966666667,POSE2_TO_POSE3_RETREAT,763,742.528998837,711,675,659,631.471001163,878.528998837,783.471001163,799,649,629,650,0.437028060986,0.00460388024665,0.0797782365239,0.999999922124,0.00017109490071,-0.000354411013722,2.95063069281e-05,1793193665935088128
+299,4.983333333,POSE2_TO_POSE3_RETREAT,763.052795309,742,711,675,659,632,878.052795309,783.947204691,799,649,628.947204691,650,0.436423124689,0.00459412100155,0.079799687837,0.999999934658,0.00016939421541,-0.000317934791224,3.01097477521e-05,1793193665951755264
+300,5.000000000,POSE2_TO_POSE3_RETREAT,763.625389327,742,711,675,659,632,878.625389327,783.374610673,799,649,628.374610673,650,0.435719521216,0.00458583144961,0.0797972413191,0.999999938934,0.000144760549591,-0.000316540688229,3.12742600585e-05,1793193665968421120
+301,5.016666667,POSE2_TO_POSE3_RETREAT,763.801347172,742.198652828,711,675,659,632,879,783.198652828,799,649,628.198652828,650,0.435016660983,0.00457740337721,0.07979591983,0.999999941751,0.000131103722802,-0.000313522543483,3.18368202743e-05,1793193665985087488
+302,5.033333333,POSE2_TO_POSE3_RETREAT,763.226816955,742.773183045,711,675,659,632,879,783.773183045,799,649,628.773183045,650,0.4343152071,0.00456871320628,0.0797967270443,0.999999942702,0.000138216526967,-0.000307431497594,3.12604075824e-05,1793193666001754112
+303,5.050000000,POSE2_TO_POSE3_RETREAT,763,743,711,674.640339396,659.359660604,632,878.640339396,784,799,649,629,650,0.433559324807,0.00455976200019,0.0797947812098,0.999999941859,0.000126194716578,-0.000315100373173,3.26873913227e-05,1793193666018420992
+304,5.066666667,POSE2_TO_POSE3_RETREAT,763,743,711,674.046068486,659.953931514,632,878.046068486,784,799,649,629,650,0.432767938332,0.00455064051852,0.0797910395332,0.999999939175,0.000101691200209,-0.000331744986894,3.54212111347e-05,1793193666035087360
+305,5.083333333,POSE2_TO_POSE3_RETREAT,763,742.469747901,711,674,658.939495802,632,878,783.469747901,799.530252099,649,629,650,0.431917929722,0.0045436458633,0.0797521100472,0.999999911418,0.000104904322358,-0.000405939940793,3.7043094532e-05,1793193666051753984
+306,5.100000000,POSE2_TO_POSE3_RETREAT,763,742.104817498,711,674.104817498,658.104817498,632,878,783,799.895182502,649,629,650,0.43107982392,0.00453603936573,0.0797245126917,0.999999888211,0.000106312205315,-0.000459133055062,3.83672618655e-05,1793193666068420608
+307,5.116666667,POSE2_TO_POSE3_RETREAT,763,742.67827963,711,674.67827963,658.67827963,632,878,783,799.32172037,649,629,650,0.430316962397,0.0045248981834,0.0797608029328,0.999999916541,8.92348679581e-05,-0.000396802569233,3.87781100934e-05,1793193666085087232
+308,5.133333333,POSE2_TO_POSE3_RETREAT,763,742.739594973,711,674.739594973,659.260405027,632,878,783.260405027,799.260405027,649,629,650,0.429550061994,0.00451380931192,0.0798052133718,0.999999943934,7.5020276102e-05,-0.000323929373331,3.96694098419e-05,1793193666101754112
+309,5.150000000,POSE2_TO_POSE3_RETREAT,763,742.146398035,711,674.146398035,659.853601965,632,878,783.853601965,799.853601965,649,629,650,0.428777999886,0.00450278729102,0.0798600012508,0.999999968852,6.44642077826e-05,-0.000237582816495,4.11747160958e-05,1793193666118420736
+310,5.166666667,POSE2_TO_POSE3_RETREAT,763,742,711,674,659.564874659,632,878,784,799.564874659,649,629,650,0.427904315676,0.0044915719375,0.0798565588645,0.99999996934,4.94548499081e-05,-0.000239021590024,4.17401007581e-05,1793193666135087360
+311,5.183333333,POSE2_TO_POSE3_RETREAT,763,742,711.012759533,674,659,632,878,783.987240467,799.012759533,649,629,650.012759533,0.42699721653,0.00448032090104,0.0798334773178,0.999999962075,3.33563393904e-05,-0.000270146795835,4.1939548939e-05,1793193666151753984
+312,5.200000000,POSE2_TO_POSE3_RETREAT,763,742,711.58756612,674,659,632,878,783.41243388,799.58756612,649,629,650.58756612,0.426084940898,0.00447028842727,0.0797857526651,0.9999999402,3.3556478191e-05,-0.000341916669364,3.95858192359e-05,1793193666168420864
+313,5.216666667,POSE2_TO_POSE3_RETREAT,763.166168372,742,711.833831628,674,659,632,878,783,799.833831628,649,629,650.833831628,0.425177492294,0.00445985429855,0.0797486063845,0.999999919212,2.71604349234e-05,-0.000399242293281,3.79903053506e-05,1793193666185087744
+314,5.233333333,POSE2_TO_POSE3_RETREAT,763.754411746,742,711.245588254,674,659,632,878,783,799.245588254,649,629,650.245588254,0.424282304606,0.00444839994912,0.0797383296394,0.999999911109,4.0097982122e-06,-0.000419878884549,3.8320693693e-05,1793193666201754112
+315,5.250000000,POSE2_TO_POSE3_RETREAT,763.662580179,742.337419821,711,674,658.662580179,632,878,783,799.337419821,649,629,650,0.423394196036,0.00443815086627,0.0797350916012,0.999999909873,-1.23297936953e-05,-0.000422530521462,3.96249855043e-05,1793193666218420992
+316,5.266666667,POSE2_TO_POSE3_RETREAT,763.083324381,742.916675619,711,674,658.083324381,632,878,783,799.916675619,649,629,650,0.422511161258,0.00442876562414,0.0797368983548,0.999999913858,-2.37877636179e-05,-0.000412291957477,4.16272946877e-05,1793193666235087872
+317,5.283333333,POSE2_TO_POSE3_RETREAT,763,742.504738959,711,674,658.495261041,632,878.495261041,783.495261041,799.504738959,649,629,650,0.421684336506,0.00441549516211,0.0797956177235,0.999999950432,-3.38442881306e-05,-0.000310101630534,4.27550144525e-05,1793193666251754240
+318,5.300000000,POSE2_TO_POSE3_RETREAT,763,742,711,674,659,632,878.926960025,784,799,649,629,650,0.420861673769,0.00440542360737,0.0798563782614,0.99999997699,-3.98179807259e-05,-0.000206215824428,4.3688342027e-05,1793193666268420608
+319,5.316666667,POSE2_TO_POSE3_RETREAT,763,742,711,674,659,632,878.353931087,784,799,649,629,650,0.420002852798,0.00442171845078,0.0798656540069,0.999999979527,-1.94548479267e-05,-0.000196481137188,4.42968766332e-05,1793193666285087488
+320,5.333333333,POSE2_TO_POSE3_RETREAT,763,742,711,674,659,632,878,784,799.225251287,649,629,650.225251287,0.419127993106,0.00444366449355,0.0798526110414,0.999999974411,6.72271805626e-06,-0.000221793728458,4.40535653844e-05,1793193666301754112
+321,5.350000000,POSE2_TO_POSE3_RETREAT,763,742,711,674,659,632,878,784,799.814374027,649,629,650.814374027,0.418227224291,0.00447473949944,0.0798035143797,0.999999952082,4.2292936124e-05,-0.000303721772392,4.24341802413e-05,1793193666318420480
+322,5.366666667,POSE2_TO_POSE3_RETREAT,763,742,711.396409991,673.603590009,659,632,878,784,799.603590009,649,629,650.603590009,0.417358577658,0.00448067999795,0.0797937249149,0.99999994509,4.41899725336e-05,-0.000325909621055,4.06315616373e-05,1793193666335087360
+323,5.383333333,POSE2_TO_POSE3_RETREAT,763,742,711.975185697,673.024814303,659,632,878,784,799.024814303,649,629,650.024814303,0.41650470867,0.00447505753573,0.079802018461,0.999999947385,3.05958891521e-05,-0.000320614395765,3.87446479188e-05,1793193666351753984
+324,5.400000000,POSE2_TO_POSE3_RETREAT,763,742,711.44761067,673,659,632,878,784,799,649,629,650.55238933,0.415631790719,0.00446766600876,0.0797880611352,0.999999937297,2.19726036543e-05,-0.000351174843416,3.99892512009e-05,1793193666368420608
+325,5.416666667,POSE2_TO_POSE3_RETREAT,763,742,711,673,659,632,878,783.871770518,799,649,629,650.871770518,0.414784627692,0.00446091729511,0.0797770130899,0.999999929802,1.21918349224e-05,-0.000372307368585,4.04402187826e-05,1793193666385087232
+326,5.433333333,POSE2_TO_POSE3_RETREAT,763,742,711,673,659,632,878,783.300399022,799,649,629,650.300399022,0.414029418721,0.00445666390446,0.079779463574,0.999999936166,-2.35851451318e-06,-0.000355307852178,3.76637332191e-05,1793193666401753856
+327,5.450000000,POSE2_TO_POSE3_RETREAT,763,742.282534194,711,673,659,632,878,783.282534194,799,649,629,650,0.413285573058,0.00445673398447,0.0797885499175,0.999999944074,-6.42160515841e-06,-0.000332456486235,3.58192275302e-05,1793193666418420736
+328,5.466666667,POSE2_TO_POSE3_RETREAT,763,742.878284646,711,673,659,632,878,783.878284646,799,649,629,650,0.412554324764,0.00446159704676,0.0798049927474,0.999999953446,1.14143763945e-06,-0.00030311778473,3.50079111186e-05,1793193666435087360
+329,5.483333333,POSE2_TO_POSE3_RETREAT,763,743,711,673,659,632,878,784,799.455262697,649,629,650,0.411805039505,0.00446355566682,0.079798878344,0.9999999482,3.56952634422e-06,-0.000319818060556,3.6116271076e-05,1793193666451753984
+330,5.500000000,POSE2_TO_POSE3_RETREAT,763,742.972337545,711,673,659,632,878,783.972337545,799.972337545,649,629,650,0.411053045303,0.00446480798584,0.0797874319371,0.999999939019,5.25147928743e-06,-0.000347155451575,3.76442465628e-05,1793193666468420864
+331,5.516666667,POSE2_TO_POSE3_RETREAT,763,742.395135237,711,673,659,632,878,783.395135237,799.395135237,649,629,650,0.410339240618,0.00446684414094,0.0797851217195,0.999999937531,1.83034425856e-05,-0.000350970437788,3.77162656137e-05,1793193666485087232
+332,5.533333333,POSE2_TO_POSE3_RETREAT,763,742.186755137,711,673,659.186755137,632,878,783.186755137,799,649,628.813244863,650,0.409659696317,0.0044673083348,0.0797916477986,0.999999941634,2.44086187558e-05,-0.000338668623916,3.79546265943e-05,1793193666501753856
+333,5.550000000,POSE2_TO_POSE3_RETREAT,763,742.778820009,711,673,659.778820009,632,878,783.778820009,799,649,628.221179991,650,0.409054506287,0.00446436094314,0.0798173510584,0.999999956684,1.54373690099e-05,-0.000291388945408,3.85539950346e-05,1793193666518420480
+334,5.566666667,POSE2_TO_POSE3_RETREAT,763,743,711,673,659.637546714,632,878,784,799,649,628.362453286,650.362453286,0.408442502751,0.0044638457276,0.0798249427146,0.999999959511,1.48084498843e-05,-0.000281442594859,3.93515267377e-05,1793193666535087104
+335,5.583333333,POSE2_TO_POSE3_RETREAT,763,743,711,673,659.058941718,632,878,784,799,649,628.941058282,650.941058282,0.407826435965,0.00446478095853,0.0798217333799,0.999999955858,1.91545421682e-05,-0.000293760254939,4.02672345704e-05,1793193666551753728
+336,5.600000000,POSE2_TO_POSE3_RETREAT,763.519020288,742.480979712,711,673,659.519020288,632,878,784,799,649,629,651,0.407212633745,0.0044684981377,0.0797822394376,0.999999934113,2.5893718262e-05,-0.000359846780856,4.01793257558e-05,1793193666568420608
+337,5.616666667,POSE2_TO_POSE3_RETREAT,763.903759663,742,711,673,659.903759663,632,878,784,799,649,629,651,0.406618823598,0.00447159607497,0.0797478847136,0.999999912536,3.12310541995e-05,-0.000415180479753,3.97319774113e-05,1793193666585086976
+338,5.633333333,POSE2_TO_POSE3_RETREAT,763.329860139,742,711,673,659.329860139,632,878,784,799,649,629,651,0.406122963133,0.00447005452762,0.0797594629545,0.999999924039,2.82636283724e-05,-0.000386877227884,3.80656383758e-05,1793193666601753600
+339,5.650000000,POSE2_TO_POSE3_RETREAT,763.250772717,742.250772717,711,673,659,632,878,784,799,649,629,650.749227283,0.405654110291,0.0044692168673,0.0797738472852,0.999999935398,2.61826199214e-05,-0.000356550005894,3.72807243683e-05,1793193666618420224
+340,5.666666667,POSE2_TO_POSE3_RETREAT,763.840506752,742.840506752,711,673,659,632,878,784,799,649,629,650.159493248,0.405221762814,0.00446933062829,0.0797920245154,0.999999946648,2.52997532285e-05,-0.000323487051711,3.76872040194e-05,1793193666635087104
+341,5.683333333,POSE2_TO_POSE3_RETREAT,764,743,711,673,658.577367884,632,878,784,799,649.422632116,629,650,0.404807619825,0.00447019523166,0.0798073976557,0.999999953379,2.841854331e-05,-0.000301657187146,3.79079267006e-05,1793193666651753728
+342,5.700000000,POSE2_TO_POSE3_RETREAT,763.998077675,742.998077675,711,673,658.001922325,632,878.001922325,784,799.001922325,649.998077675,629,650.001922325,0.404400301875,0.00447134753163,0.0798216935832,0.999999958382,3.30177479017e-05,-0.000284073582641,3.80660631172e-05,1793193666668420352
+343,5.716666667,POSE2_TO_POSE3_RETREAT,763.423144147,742.423144147,711,673,658.576855853,632,878.576855853,784,799.576855853,649.423144147,629,650.576855853,0.404015800104,0.00447528810188,0.0798247463675,0.999999956195,3.67144101502e-05,-0.000290955741417,4.00947034094e-05,1793193666685086976
+344,5.733333333,POSE2_TO_POSE3_RETREAT,763.15557387,742,711,673,659,632,878.84442613,784,799.84442613,649.15557387,629,651,0.403646012849,0.00447853572965,0.0798265733567,0.999999954244,4.29366466136e-05,-0.000296529017544,4.16947102678e-05,1793193666701753600
+345,5.750000000,POSE2_TO_POSE3_RETREAT,763.744842059,742,711,673,659,632,878.255157941,784,799.255157941,649.744842059,629,651,0.40331724526,0.00447985163794,0.0798249831899,0.999999952997,5.61994440664e-05,-0.000298453514329,4.20998132959e-05,1793193666718420224
+346,5.766666667,POSE2_TO_POSE3_RETREAT,764,742,711,673,659,632,878,783.672148117,799,649.672148117,629,650.672148117,0.403012251702,0.00447880733229,0.0798220630622,0.999999950596,5.78594555114e-05,-0.000306066075982,4.22281856043e-05,1793193666735086848
+347,5.783333333,POSE2_TO_POSE3_RETREAT,764,742,711,673,659,632,878,783.093917802,799,649.093917802,629,650.093917802,0.402725414242,0.00447596054593,0.0798181272517,0.99999994726,5.06584910932e-05,-0.00031802257705,4.21452203673e-05,1793193666751753472
+348,5.800000000,POSE2_TO_POSE3_RETREAT,763.516422845,742.483577155,711,673,659,632,878,783.483577155,799,649,629,650.483577155,0.402488790171,0.00446215608194,0.079819118421,0.999999949129,3.08684382275e-05,-0.000314363605785,4.43237938836e-05,1793193666768420352
+349,5.816666667,POSE2_TO_POSE3_RETREAT,763.06009714,742.93990286,711.06009714,673,659,632,878,784,799,649,629,651,0.402266815313,0.00444663334966,0.0798217103381,0.999999951784,8.62387661666e-06,-0.000306890698487,4.66380548662e-05,1793193666785086976
+350,5.833333333,POSE2_TO_POSE3_RETREAT,763.62956218,742.37043782,711.62956218,673,659,632,878,784,799,649,629,651,0.402086471942,0.00443455721609,0.079829771727,0.999999955976,-1.37328605274e-05,-0.000292757670053,4.63852699806e-05,1793193666801753600
+351,5.850000000,POSE2_TO_POSE3_RETREAT,764,742.20762157,711.79237843,673,659,632,878,784,799,649,629,651,0.401914053288,0.00442950793788,0.0798367188124,0.999999959001,-2.53003814144e-05,-0.000281392089661,4.6649221896e-05,1793193666818420224
+352,5.866666667,POSE2_TO_POSE3_RETREAT,764,742.801677061,711.198322939,673,659,632,878,784,799,649,629,651,0.401756384468,0.00443753733711,0.0798415919088,0.999999960852,-1.67865607861e-05,-0.000275177400792,4.78749459595e-05,1793193666835087104
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764,742.61516208,711,673,659,632,878,784,799,649,629,651,0.401617122305,0.00444322346073,0.079840305417,0.999999960276,-1.26954825845e-05,-0.000277394528385,4.8369027821e-05,1793193666851753984
+354,5.900000000,POSE2_TO_POSE3_RETREAT,764,742.037461057,711,673,659,632,878,784,799,649,629,651,0.401487084699,0.00444773524288,0.0798359320228,0.999999958484,-1.08208791263e-05,-0.000283837294827,4.84964443018e-05,1793193666868420608
+355,5.916666667,POSE2_TO_POSE3_RETREAT,764.507806814,742,711,673,659,632,878,784,799.507806814,649,629,651,0.401380209059,0.00446070688208,0.0798284598563,0.999999955179,1.23853959926e-06,-0.000295934218105,4.54211960843e-05,1793193666885087232
+356,5.933333333,POSE2_TO_POSE3_RETREAT,764.885273018,742,711,673,659,632,878,784,799.942636509,649,628.942636509,651,0.40127745244,0.00447329799746,0.0798211606278,0.999999951559,1.89146195206e-05,-0.000307769333409,4.24545559993e-05,1793193666901753856
+357,5.950000000,POSE2_TO_POSE3_RETREAT,763.659536163,742,711,673,659,632,878,784,799.329768082,649,628.329768082,651,0.401199030892,0.00447652335993,0.0798176169387,0.999999946479,8.41430524151e-05,-0.000313272359393,4.26902567071e-05,1793193666918420480
+358,5.966666667,POSE2_TO_POSE3_RETREAT,763,742,711,673,658.726809039,632,878,784,799,649,628.273190961,650.726809039,0.401133321655,0.004475519934,0.0798149698429,0.999999942564,0.000112866526979,-0.000316698993147,4.28298474492e-05,1793193666935086848
+359,5.983333333,POSE2_TO_POSE3_RETREAT,763,742,711,673,658.135392931,632,878,784,799,649,628.864607069,650.135392931,0.401082420295,0.00446959062451,0.0798133671395,0.999999943706,9.90673768755e-05,-0.000317706952456,4.28574851145e-05,1793193666951753472
+360,6.000000000,POSE2_TO_POSE3_RETREAT,763.444365369,742,711,673,658.444365369,632.444365369,878,784,799,649,628.555634631,650.444365369,0.401047262923,0.00446978404948,0.0798138913103,0.999999944346,9.69396248819e-05,-0.000316333911591,4.29252858559e-05,1793193666968420352
+361,6.016666667,POSE2_TO_POSE3_RETREAT,764,742.020635805,711,673,659,632.979364195,878.020635805,784,799.020635805,649.020635805,628.020635805,651,0.401017108807,0.0044717262095,0.0798150311785,0.999999944873,9.81302613345e-05,-0.000314283621527,4.30171387416e-05,1793193666985086976
+362,6.033333333,POSE2_TO_POSE3_RETREAT,764,742.596189329,711,673,659,632.403810671,878.596189329,784,799.596189329,649.596189329,628.596189329,651,0.400995798537,0.00447181019849,0.0798157469812,0.999999945515,9.53722036836e-05,-0.000313031130796,4.34351193338e-05,1793193667001753600
+363,6.050000000,POSE2_TO_POSE3_RETREAT,763.824492353,742.824492353,711,673,659,632,878.824492353,784,800,649.824492353,629,651,0.400977197693,0.00447158768524,0.0798160511197,0.999999945931,9.23106819391e-05,-0.00031258852138,4.36482851104e-05,1793193667018420480
+364,6.066666667,POSE2_TO_POSE3_RETREAT,763.23632214,742.23632214,711,673,659,632,878.23632214,784,800,649.23632214,629,651,0.40096496739,0.00447064450826,0.0798153873326,0.999999945826,8.85356402695e-05,-0.000314050146554,4.33798797474e-05,1793193667035087104
+365,6.083333333,POSE2_TO_POSE3_RETREAT,763.348552051,742.348552051,711,673,659,632.348552051,878,784,799.651447949,649,629,651,0.400958766287,0.00447070239787,0.079816218901,0.999999946524,8.79312340155e-05,-0.000312008248226,4.32547338859e-05,1793193667051753728
+366,6.100000000,POSE2_TO_POSE3_RETREAT,763.931212496,742.931212496,711,673,659,632.931212496,878,784,799.068787504,649,629,651,0.400956614755,0.00447143266356,0.0798180548395,0.999999947752,8.94564156693e-05,-0.000307613174214,4.32258096423e-05,1793193667068420352
+367,6.116666667,POSE2_TO_POSE3_RETREAT,763.492795028,742.492795028,711,673,659,632.492795028,878,784,799,649,628.492795028,651,0.400955213795,0.00447160341907,0.0798189781311,0.999999948448,8.76102907952e-05,-0.000305889644847,4.31185633115e-05,1793193667085086976
+368,6.133333333,POSE2_TO_POSE3_RETREAT,763.081875022,742,711.081875022,673,659,632,878.081875022,784,799.163750044,649,628.081875022,651,0.400954052307,0.00447181626045,0.0798198128377,0.999999949009,8.5953660841e-05,-0.000304547207446,4.29537960481e-05,1793193667101753600
+369,6.150000000,POSE2_TO_POSE3_RETREAT,763.653971637,742,711.653971637,673,659,632,878.653971637,784,800.307943274,649,628.653971637,651,0.400953723063,0.00447272952686,0.0798208486195,0.999999949204,8.81336669014e-05,-0.000303345333833,4.25073996286e-05,1793193667118420736
+370,6.166666667,POSE2_TO_POSE3_RETREAT,764,742,712,673,659,632,879,784,800.529668764,649.235165618,629,651,0.400953399298,0.00447255091838,0.0798214634991,0.999999949487,8.7882944212e-05,-0.000302508176354,4.23276471892e-05,1793193667135087360
+371,6.183333333,POSE2_TO_POSE3_RETREAT,764,742,712,673,659,632,879,784,799.339431348,649.830284326,629,651,0.400953083917,0.00447070104625,0.0798214341305,0.999999949903,8.39116591356e-05,-0.000302229266784,4.25560297968e-05,1793193667151753728
+372,6.200000000,POSE2_TO_POSE3_RETREAT,764,742,711.586431048,673,659,632.413568952,878.586431048,784,799,649.586431048,629,651,0.400953280233,0.0044707719144,0.0798215208374,0.999999950175,8.38945237697e-05,-0.000301368586352,4.22952085986e-05,1793193667168420608
+373,6.216666667,POSE2_TO_POSE3_RETREAT,764,742,711.007867675,673,659,632.992132325,878.007867675,784,799,649.007867675,629,651,0.400953680694,0.00447160906698,0.0798216538529,0.999999950391,8.54549069337e-05,-0.00030027580691,4.18392182491e-05,1793193667185087488
+374,6.233333333,POSE2_TO_POSE3_RETREAT,764,742,711.566400089,673,659,633,878,784,798.433599911,649,629,651,0.400952072958,0.00447312372204,0.0798217597492,0.999999950064,8.5392835622e-05,-0.000301407414803,4.16386152126e-05,1793193667201754368
+375,6.250000000,POSE2_TO_POSE3_RETREAT,763.856051182,742,712,673,659,632.856051182,878,784,798.287897637,649,629,650.856051182,0.400951098672,0.00447378036514,0.079821964329,0.999999949978,8.48235657739e-05,-0.000301861623644,4.15800882686e-05,1793193667218420736
+376,6.266666667,POSE2_TO_POSE3_RETREAT,763.268202314,742,712,673,659,632.268202314,878,784,799.463595373,649,629,650.268202314,0.400952163148,0.00447176232373,0.0798224743756,0.999999950656,8.27592048768e-05,-0.000300132348159,4.19488292103e-05,1793193667235087360
+377,6.283333333,POSE2_TO_POSE3_RETREAT,763,742,711.685091368,673,659,632,878,784,799.685091368,649,629,650,0.400952802288,0.00447153187669,0.0798231112504,0.999999950937,8.33584523469e-05,-0.000299017098774,4.20228986117e-05,1793193667251753728
+378,6.300000000,POSE2_TO_POSE3_RETREAT,763,742,711.105955754,673,659,632,878,784,799.105955754,649,629,650,0.400953084546,0.00447280132689,0.0798238545414,0.999999950883,8.61926246649e-05,-0.000298417053439,4.18497211902e-05,1793193667268420352
+379,6.316666667,POSE2_TO_POSE3_RETREAT,763.468828168,742,711,673,659,632.468828168,878.468828168,783.531171832,799.468828168,649,629,650.468828168,0.400952815693,0.00447267195087,0.0798239876755,0.99999995093,8.60334156784e-05,-0.000298300312296,4.18834532642e-05,1793193667285086976
+380,6.333333333,POSE2_TO_POSE3_RETREAT,764,742,711,673,659,633,878.957174145,783.042825855,799.957174145,649.042825855,629,651,0.400952482551,0.00447225373892,0.0798240011187,0.999999951009,8.52163292412e-05,-0.000298264592137,4.19382105307e-05,1793193667301753600
+381,6.350000000,POSE2_TO_POSE3_RETREAT,764,742,711,673,659,633,878.380831334,783.619168666,799.380831334,649.619168666,629,651,0.40095288588,0.00447213941191,0.0798242255634,0.999999951188,8.45538292896e-05,-0.000297889996252,4.16777032102e-05,1793193667318420224
+382,6.366666667,POSE2_TO_POSE3_RETREAT,764,742,711,673,659,632.798598123,878,784,799,649.798598123,629,651,0.400952761651,0.0044720420107,0.0798241409152,0.999999951161,8.44551343967e-05,-0.000298031661386,4.1509453959e-05,1793193667335087360
+383,6.383333333,POSE2_TO_POSE3_RETREAT,764,742,711,673,659,632.2048912,878,784,799,649.2048912,629,651,0.400951609811,0.00447197757878,0.0798234541937,0.999999950733,8.54546595384e-05,-0.000299178936845,4.15209116185e-05,1793193667351754240
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764,742.378117283,711.378117283,673,659,632,878,784,799,649,629,651,0.400951444932,0.00447249352136,0.0798233367396,0.999999950602,8.63214356099e-05,-0.000299347691644,4.16519050668e-05,1793193667368420864
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764,742.955488073,711.955488073,673,659,632,878,784,799,649,629,651,0.400951800145,0.00447331529934,0.079823519268,0.999999950629,8.711825791e-05,-0.000299000803022,4.1845889355e-05,1793193667385087488
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764,742.467741385,711.467741385,672.467741385,658.467741385,632,878.532258615,784,799,649,629,650.467741385,0.40095174653,0.00447303894158,0.0798237268556,0.999999950956,8.5259188834e-05,-0.00029848144269,4.15705994519e-05,1793193667401754112
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764,742,711,672.108367312,658.108367312,632.108367312,878.891632688,783.891632688,799,649.108367312,628.891632688,650.108367312,0.400951839674,0.00447262675769,0.0798240506279,0.999999951316,8.33414408473e-05,-0.000297845817463,4.13509523856e-05,1793193667418420736
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764,742,711,672.6818504,658.6818504,632.6818504,878.3181496,783.3181496,799,649.6818504,628.3181496,650.6818504,0.400952709286,0.00447202531997,0.0798248640836,0.999999951728,8.2124061739e-05,-0.00029677301644,4.15383755884e-05,1793193667435087360
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764,742,711,672.73596828,659,633,878,783.26403172,799.26403172,650,628.26403172,650.73596828,0.400952554389,0.00447149845165,0.0798248305551,0.999999951678,8.19096853721e-05,-0.000296990356028,4.16051658095e-05,1793193667451753984
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764,742,711,672.142948744,659,633,878,783.857051256,799.857051256,650,628.857051256,650.142948744,0.400951122936,0.00447106449793,0.0798237416707,0.999999951053,8.2945066569e-05,-0.000298815231654,4.15216453985e-05,1793193667468421120
+391,6.516666667,POSE2_TO_POSE3_RETREAT,763.562100491,742,711.437899509,672.437899509,659.437899509,632.562100491,878,784,799.562100491,649.562100491,629,650.437899509,0.400951692217,0.00447146183368,0.0798238332578,0.999999951317,8.29237586766e-05,-0.000297958750533,4.13591454845e-05,1793193667485087744
+392,6.533333333,POSE2_TO_POSE3_RETREAT,763.014853644,742,711.985146356,672.985146356,660,632.014853644,878,784,799.014853644,649,629,650.985146356,0.400952872005,0.00447210773794,0.0798243146985,0.999999951849,8.2589636703e-05,-0.000296284827399,4.1182115858e-05,1793193667501754112
+393,6.550000000,POSE2_TO_POSE3_RETREAT,763.590738344,742,711.409261656,672.409261656,660,632.590738344,878,784,799.590738344,649,629,650.409261656,0.400953109246,0.00447216968842,0.0798253596526,0.99999995191,8.31168751716e-05,-0.00029590243518,4.14037649169e-05,1793193667518420736
+394,6.566666667,POSE2_TO_POSE3_RETREAT,763.829777862,742,711,672,659.829777862,632.829777862,878,784,799.829777862,649,629,650.170222138,0.40095305179,0.00447227609151,0.0798258173892,0.999999951863,8.35703354581e-05,-0.00029591725589,4.15201973129e-05,1793193667535087104
+395,6.583333333,POSE2_TO_POSE3_RETREAT,763.241453963,742,711,672,659.241453963,632.241453963,878,784,799.241453963,649,629,650.758546037,0.400952270496,0.00447249167962,0.0798248327949,0.999999951552,8.38425808113e-05,-0.000296907716027,4.13781952007e-05,1793193667551753472
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_12/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_12/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..454e4736b8ae8fe8334c64ba04b558f31809b403
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_12/depth_02/simulation_data.csv
@@ -0,0 +1,397 @@
+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,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+1,0.016666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+2,0.033333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+3,0.050000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+4,0.066666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+5,0.083333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+6,0.100000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+7,0.116666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+8,0.133333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+9,0.150000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+10,0.166666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+11,0.183333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+12,0.200000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+13,0.216666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+14,0.233333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+15,0.250000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+16,0.266666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+17,0.283333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+18,0.300000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+19,0.316666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+20,0.333333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+21,0.350000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+22,0.366666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+23,0.383333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+24,0.400000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+25,0.416666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+26,0.433333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+27,0.450000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+28,0.466666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+29,0.483333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+30,0.500000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+31,0.516666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+32,0.533333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+33,0.550000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+34,0.566666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+35,0.583333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+36,0.600000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+37,0.616666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+38,0.633333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+39,0.650000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+40,0.666666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+41,0.683333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+42,0.700000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+43,0.716666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+44,0.733333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+45,0.750000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+46,0.766666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+47,0.783333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+48,0.800000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+49,0.816666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+50,0.833333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+51,0.850000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+52,0.866666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+53,0.883333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+54,0.900000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+55,0.916666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+56,0.933333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+57,0.950000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+58,0.966666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+59,0.983333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+60,1.000000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+61,1.016666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+62,1.033333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+63,1.050000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+64,1.066666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+65,1.083333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+66,1.100000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+67,1.116666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+68,1.133333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+69,1.150000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+70,1.166666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+71,1.183333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+72,1.200000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+73,1.216666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+74,1.233333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+75,1.250000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+76,1.266666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+77,1.283333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+78,1.300000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+79,1.316666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+80,1.333333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+81,1.350000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+82,1.366666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+83,1.383333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+84,1.400000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+85,1.416666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+86,1.433333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+87,1.450000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+88,1.466666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+89,1.483333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+90,1.500000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+91,1.516666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+92,1.533333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+93,1.550000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+94,1.566666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+95,1.583333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+96,1.600000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+97,1.616666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+98,1.633333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+99,1.650000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+100,1.666666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+101,1.683333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+102,1.700000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+103,1.716666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+104,1.733333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+105,1.750000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+106,1.766666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+107,1.783333333,pose1_to_pose2_press,0.575709270927,0.0100545684129,1.07002931416,0.546280001826,0.0187272996178,1.06969859147
+108,1.800000000,pose1_to_pose2_press,0.575709327427,0.010054586642,1.07002910353,0.546280057738,0.0187273162131,1.06969839041
+109,1.816666667,pose1_to_pose2_press,0.575709422757,0.0100546019131,1.07002888085,0.546280152338,0.0187273293982,1.06969817795
+110,1.833333333,pose1_to_pose2_press,0.575709632686,0.0100545707519,1.07002894565,0.546280361765,0.018727296449,1.06969824055
+111,1.850000000,pose1_to_pose2_press,0.575709795256,0.0100545466207,1.07002899583,0.546280523946,0.0187272709331,1.06969828902
+112,1.866666667,pose1_to_pose2_press,0.575710592925,0.0100544641779,1.07002916262,0.546281323764,0.0187271955519,1.06969844974
+113,1.883333333,pose1_to_pose2_press,0.575712587397,0.010054458952,1.07002921564,0.546283319294,0.0187271938562,1.06969850126
+114,1.900000000,pose1_to_pose2_press,0.575717842783,0.0100545825624,1.07002943477,0.546288572737,0.0187273108701,1.06969872025
+115,1.916666667,pose1_to_pose2_press,0.575728356453,0.0100544589896,1.0700289048,0.546299088277,0.0187271940171,1.06969820043
+116,1.933333333,pose1_to_pose2_press,0.575748403905,0.0100544622808,1.07002922924,0.546319135653,0.0187271966811,1.06969851466
+117,1.950000000,pose1_to_pose2_press,0.575778958014,0.0100546256943,1.07002901883,0.546349685528,0.0187273459499,1.06969831004
+118,1.966666667,pose1_to_pose2_press,0.575822168604,0.0100545947596,1.07002902138,0.54639289847,0.0187273229954,1.06969831254
+119,1.983333333,pose1_to_pose2_press,0.575876734358,0.0100545817291,1.07002908224,0.546447464994,0.018727312712,1.0696983768
+120,2.000000000,pose1_to_pose2_press,0.575942251155,0.010054474162,1.07002915272,0.546512982504,0.0187272073294,1.06969844104
+121,2.016666667,pose1_to_pose2_press,0.576016856792,0.0100546430674,1.07002900388,0.54658758615,0.0187273698265,1.06969830133
+122,2.033333333,pose1_to_pose2_press,0.576101476246,0.0100546717661,1.07002910092,0.546672206309,0.0187274009083,1.06969839805
+123,2.050000000,pose1_to_pose2_press,0.576199412528,0.0100546214467,1.07002898634,0.546770142943,0.0187273519343,1.06969828731
+124,2.066666667,pose1_to_pose2_press,0.576311455261,0.0100545511487,1.07002915165,0.546882183979,0.0187272752624,1.06969843646
+125,2.083333333,pose1_to_pose2_press,0.576438168341,0.0100546592279,1.07002901797,0.547008897644,0.0187273857065,1.06969831267
+126,2.100000000,pose1_to_pose2_press,0.576581438071,0.0100544936792,1.07002911378,0.547152170008,0.0187272289527,1.06969840468
+127,2.116666667,pose1_to_pose2_press,0.576745025631,0.010054516771,1.07002902082,0.547315757667,0.0187272525163,1.06969831526
+128,2.133333333,pose1_to_pose2_press,0.576924416575,0.0100544692726,1.0700289871,0.547495148399,0.0187272044396,1.06969828523
+129,2.150000000,pose1_to_pose2_press,0.577118814311,0.0100545476526,1.07002909798,0.547689545785,0.0187272814974,1.06969839253
+130,2.166666667,pose1_to_pose2_press,0.57733421659,0.0100545538535,1.0700290359,0.547904946537,0.0187272824657,1.06969832902
+131,2.183333333,pose1_to_pose2_press,0.577568681426,0.0100544699718,1.07002921722,0.548139411529,0.0187271987425,1.06969850062
+132,2.200000000,pose1_to_pose2_press,0.577823529627,0.0100546423625,1.07002937281,0.548394258259,0.01872736611,1.06969865526
+133,2.216666667,pose1_to_pose2_press,0.578102672453,0.0100547282078,1.07002933459,0.548673400824,0.0187274511697,1.06969861962
+134,2.233333333,pose1_to_pose2_press,0.578412002137,0.0100545645386,1.07002901297,0.548982731783,0.0187272923208,1.06969831089
+135,2.250000000,pose1_to_pose2_press,0.57875067042,0.0100544619824,1.07002901979,0.549321402632,0.0187271984239,1.06969831646
+136,2.266666667,pose1_to_pose2_press,0.57911760964,0.0100545623238,1.07002914018,0.549688340206,0.0187272930174,1.06969843252
+137,2.283333333,pose1_to_pose2_press,0.579510437502,0.0100545763826,1.0700289868,0.550081167153,0.0187273039324,1.06969827803
+138,2.300000000,pose1_to_pose2_press,0.579926755529,0.010054583488,1.07002905045,0.550497486267,0.0187273147654,1.06969834259
+139,2.316666667,pose1_to_pose2_press,0.580364765276,0.010054590779,1.07002904239,0.550935496366,0.0187273233552,1.06969833723
+140,2.333333333,pose1_to_pose2_press,0.580822720508,0.0100545295007,1.07002902195,0.551393452456,0.0187272647747,1.0696983112
+141,2.350000000,pose1_to_pose2_press,0.581301471637,0.0100545637817,1.0700292783,0.55187220258,0.0187272954627,1.06969856271
+142,2.366666667,pose1_to_pose2_press,0.581800672746,0.0100545835401,1.07002925057,0.552371402861,0.018727312538,1.06969853826
+143,2.383333333,pose1_to_pose2_press,0.582320813486,0.0100545778299,1.07002906337,0.55289154395,0.0187273082181,1.06969835637
+144,2.400000000,pose1_to_pose2_press,0.582871875185,0.0100546402096,1.07002894995,0.553442604659,0.0187273672006,1.06969824187
+145,2.416666667,pose1_to_pose2_press,0.583455624444,0.0100545496713,1.07002883076,0.554026354598,0.0187272789028,1.06969812095
+146,2.433333333,pose1_to_pose2_press,0.584076546112,0.0100544739218,1.0700288813,0.554647277433,0.0187272075081,1.06969818182
+147,2.450000000,pose1_to_pose2_press,0.584722569834,0.0100545546517,1.07002891008,0.555293299993,0.0187272842055,1.06969820815
+148,2.466666667,pose1_to_pose2_press,0.585387858474,0.0100545842352,1.07002910558,0.555958588314,0.0187273120323,1.06969838595
+149,2.483333333,pose1_to_pose2_press,0.586065122918,0.0100545409799,1.07002908272,0.556635852935,0.0187272696034,1.06969836906
+150,2.500000000,pose1_to_pose2_press,0.586751107656,0.0100545761998,1.07002921132,0.557321837413,0.0187273038026,1.06969849402
+151,2.516666667,pose1_to_pose2_press,0.587446536048,0.0100545877192,1.07002918282,0.558017266258,0.0187273171134,1.06969847217
+152,2.533333333,pose1_to_pose2_press,0.58816453124,0.010054565559,1.07002911297,0.55873526152,0.0187272954654,1.06969840944
+153,2.550000000,pose1_to_pose2_press,0.588911071829,0.0100545824198,1.07002898695,0.559481801493,0.0187273100123,1.06969827755
+154,2.566666667,pose1_to_pose2_press,0.589669912162,0.0100545991661,1.07002872503,0.560240642334,0.0187273286907,1.06969802113
+155,2.583333333,pose1_to_pose2_press,0.590438533608,0.0100545946653,1.0700290438,0.561009263129,0.018727321803,1.06969833524
+156,2.600000000,pose1_to_pose2_press,0.59122918681,0.0100546269615,1.07002935561,0.56179991639,0.0187273541392,1.06969864285
+157,2.616666667,pose1_to_pose2_press,0.592035617704,0.0100546342246,1.0700293489,0.562606345851,0.0187273562091,1.06969862748
+158,2.633333333,pose1_to_pose2_press,0.592853185252,0.0100545105817,1.07002922831,0.563423915664,0.0187272402497,1.06969850685
+159,2.650000000,pose1_to_pose2_press,0.593684504984,0.010054599457,1.07002903249,0.564255234904,0.0187273280634,1.06969832705
+160,2.666666667,pose1_to_pose2_press,0.594525739363,0.0100545709891,1.0700289144,0.565096469233,0.0187272993813,1.06969820783
+161,2.683333333,pose1_to_pose2_press,0.595364556101,0.01005473959,1.07002904159,0.565935284431,0.018727462978,1.06969834075
+162,2.700000000,pose1_to_pose2_press,0.596202772057,0.010054864579,1.0700292491,0.566773499143,0.0187275832452,1.06969853526
+163,2.716666667,pose1_to_pose2_press,0.597043933226,0.0100546439194,1.07002937698,0.567614662209,0.0187273689955,1.0696986624
+164,2.733333333,pose1_to_pose2_press,0.597882990628,0.0100545950334,1.07002923615,0.568453721402,0.0187273260679,1.0696985185
+165,2.750000000,pose1_to_pose2_press,0.598712642656,0.0100546363442,1.07002917297,0.569283372688,0.0187273648529,1.06969845515
+166,2.766666667,pose1_to_pose2_press,0.599538531515,0.0100546280984,1.07002927917,0.57010926138,0.0187273558828,1.06969855727
+167,2.783333333,pose1_to_pose2_press,0.600362914179,0.0100546156745,1.07002919174,0.570933643513,0.0187273419893,1.06969847869
+168,2.800000000,pose1_to_pose2_press,0.601175487804,0.0100545636117,1.07002905942,0.571746217399,0.0187272908725,1.06969834807
+169,2.816666667,pose1_to_pose2_press,0.601989374401,0.0100544893127,1.07002921673,0.572560105731,0.0187272223211,1.06969850168
+170,2.833333333,pose1_to_pose2_press,0.60281735198,0.0100545926886,1.07002917803,0.573388082394,0.018727322788,1.06969846827
+171,2.850000000,pose1_to_pose2_press,0.603645395954,0.0100546210955,1.07002900903,0.574216125703,0.0187273492905,1.06969830865
+172,2.866666667,pose1_to_pose2_press,0.604469870086,0.0100546433787,1.07002893554,0.575040598896,0.0187273680141,1.06969822542
+173,2.883333333,pose1_to_pose2_press,0.605280599132,0.0100546335507,1.07002912385,0.575851327776,0.0187273574263,1.06969840867
+174,2.900000000,pose1_to_pose2_press,0.606071045437,0.0100546207744,1.07002924507,0.576641775236,0.0187273486574,1.06969853225
+175,2.916666667,pose1_to_pose2_press,0.606826639418,0.0100546224791,1.0700288986,0.577397367696,0.0187273457343,1.06969819993
+176,2.933333333,pose1_to_pose2_press,0.607554618734,0.0100546618115,1.07002886285,0.578125346938,0.0187273847162,1.06969816163
+177,2.950000000,pose1_to_pose2_press,0.608261916929,0.010054638973,1.0700290988,0.578832647273,0.0187273688587,1.06969839026
+178,2.966666667,pose1_to_pose2_press,0.608959886537,0.010054550926,1.07002913106,0.579530618118,0.0187272850471,1.06969842367
+179,2.983333333,pose1_to_pose2_press,0.609650956212,0.0100546101918,1.07002936962,0.580221685722,0.0187273370019,1.06969865481
+180,3.000000000,pose1_to_pose2_press,0.610324120115,0.0100544549559,1.0700291557,0.580894852332,0.0187271912584,1.06969844903
+181,3.016666667,pose1_to_pose2_press,0.610972467212,0.0100545244065,1.07002903484,0.581543198029,0.0187272558576,1.06969832565
+182,3.033333333,pose1_to_pose2_press,0.611587429862,0.010054673254,1.07002902211,0.582158159399,0.0187274003828,1.06969831355
+183,3.050000000,pose1_to_pose2_press,0.612172148937,0.0100545651655,1.0700288721,0.582742879107,0.0187272948076,1.0696981731
+184,3.066666667,pose1_to_pose2_press,0.612726591026,0.0100545367717,1.07002910548,0.583297321501,0.0187272669948,1.06969839459
+185,3.083333333,pose1_to_pose2_press,0.613260653261,0.0100547066616,1.07002914482,0.583831382534,0.0187274328363,1.06969843479
+186,3.100000000,pose1_to_pose2_press,0.613772197892,0.01005468941,1.07002905352,0.584342926424,0.0187274130936,1.06969834223
+187,3.116666667,pose1_to_pose2_press,0.614252833411,0.0100545975955,1.07002918822,0.584823562861,0.0187273246015,1.06969848033
+188,3.133333333,pose1_to_pose2_press,0.614703694125,0.0100546498161,1.07002918532,0.585274423741,0.0187273773634,1.06969847429
+189,3.150000000,pose1_to_pose2_press,0.615124031209,0.0100545760233,1.07002909394,0.585694760828,0.0187273035794,1.06969837996
+190,3.166666667,pose1_to_pose2_press,0.615527593658,0.0100544865612,1.07002911146,0.586098323845,0.0187272161787,1.06969839608
+191,3.183333333,pose1_to_pose2_press,0.615918500286,0.0100545384871,1.07002903082,0.586489230026,0.0187272671741,1.06969832119
+192,3.200000000,pose1_to_pose2_press,0.616298765989,0.0100545981124,1.07002898923,0.586869494589,0.0187273236022,1.06969828406
+193,3.216666667,pose1_to_pose2_press,0.616667233251,0.0100546102834,1.07002914677,0.587237962162,0.0187273371914,1.06969843679
+194,3.233333333,pose1_to_pose2_press,0.617018077883,0.0100545317789,1.07002901254,0.587588807418,0.0187272614517,1.06969830475
+195,3.250000000,pose1_to_pose2_press,0.617343297024,0.0100545227563,1.07002909293,0.587914025747,0.0187272500749,1.06969838234
+196,3.266666667,pose1_to_pose2_press,0.61763670535,0.0100546066477,1.07002913466,0.588207433915,0.0187273337898,1.06969842107
+197,3.283333333,pose1_to_pose2_press,0.617900063918,0.0100545236493,1.07002895765,0.588470793924,0.0187272561315,1.069698247
+198,3.300000000,pose1_to_pose2_press,0.618134766182,0.0100545111233,1.07002905282,0.588705495609,0.0187272419247,1.06969833939
+199,3.316666667,pose1_to_pose2_press,0.618343440119,0.0100544833666,1.07002923518,0.58891416989,0.0187272157006,1.06969851966
+200,3.333333333,pose1_to_pose2_press,0.618531121312,0.0100543883627,1.07002917296,0.58910185264,0.0187271264967,1.06969846197
+201,3.350000000,pose1_to_pose2_press,0.61870178729,0.0100544703297,1.07002905598,0.589272517393,0.0187272046486,1.06969834743
+202,3.366666667,pose1_to_pose2_press,0.61885809638,0.01005465307,1.07002922554,0.589428824602,0.0187273810599,1.06969851352
+203,3.383333333,pose1_to_pose2_press,0.618999697773,0.0100546421748,1.07002933285,0.589570425885,0.0187273699691,1.06969861849
+204,3.400000000,pose1_to_pose2_press,0.619127521731,0.0100545856115,1.07002912749,0.589698249223,0.0187273116612,1.06969841426
+205,3.416666667,pose1_to_pose2_press,0.619240502723,0.0100545130718,1.0700291655,0.589811232537,0.0187272472937,1.06969845517
+206,3.433333333,pose1_to_pose2_press,0.619335928803,0.010054553117,1.0700295,0.589906657797,0.0187272845389,1.06969878204
+207,3.450000000,pose1_to_pose2_press,0.619416224055,0.0100544788119,1.07002938184,0.589986953804,0.0187272134359,1.06969866391
+208,3.466666667,pose1_to_pose2_press,0.619482097909,0.0100545473859,1.07002920243,0.590052827413,0.0187272817417,1.06969849019
+209,3.483333333,pose1_to_pose2_press,0.619537367405,0.0100545387219,1.07002887629,0.590108095595,0.0187272691718,1.06969817741
+210,3.500000000,pose1_to_pose2_press,0.619583108712,0.0100546666115,1.07002902118,0.590153835626,0.0187273920796,1.06969831351
+211,3.516666667,pose1_to_pose2_press,0.619619641419,0.0100544973562,1.07002910119,0.590190369772,0.0187272280724,1.06969839918
+212,3.533333333,pose1_to_pose2_press,0.619648250075,0.0100545441033,1.07002914322,0.590218978376,0.0187272741155,1.06969843322
+213,3.550000000,pose1_to_pose2_press,0.619669449166,0.0100547082626,1.07002911794,0.590240175273,0.0187274310491,1.06969841379
+214,3.566666667,pose1_to_pose2_press,0.619684762026,0.0100546208278,1.07002911107,0.590255489354,0.0187273478683,1.06969840806
+215,3.583333333,pose1_to_pose2_press,0.61969457132,0.0100545632831,1.07002912389,0.590265299272,0.0187272923998,1.06969841812
+216,3.600000000,pose1_to_pose2_press,0.619702183235,0.0100545976649,1.0700291544,0.590272910306,0.0187273236394,1.06969844261
+217,3.616666667,pose1_to_pose2_press,0.619707755807,0.0100545823462,1.07002922037,0.590278483772,0.0187273112438,1.06969850592
+218,3.633333333,pose1_to_pose2_press,0.619711398557,0.0100545610496,1.07002927565,0.590282127534,0.0187272933137,1.06969855996
+219,3.650000000,pose1_to_pose2_press,0.619713765428,0.0100545685071,1.07002923871,0.590284494374,0.0187273007505,1.06969852622
+220,3.666666667,pose1_to_pose2_press,0.619715729531,0.0100545835795,1.07002917766,0.590286458163,0.0187273148845,1.06969846951
+221,3.683333333,pose1_to_pose2_press,0.619716994138,0.010054593284,1.07002913835,0.590287722567,0.0187273239848,1.06969843299
+222,3.700000000,pose1_to_pose2_press,0.619717483804,0.0100545903785,1.07002912271,0.590288212242,0.0187273211252,1.06969841802
+223,3.716666667,pose1_to_pose2_press,0.619718041843,0.0100545600781,1.07002910322,0.590288770642,0.0187272920108,1.06969839762
+224,3.733333333,pose1_to_pose2_press,0.619718523025,0.0100545339509,1.07002908641,0.590289252135,0.0187272669063,1.06969838003
+225,3.750000000,pose1_to_pose2_press,0.619718604845,0.0100545295083,1.07002908355,0.590289334008,0.0187272626375,1.06969837704
+226,3.766666667,pose1_to_pose2_press,0.619718608403,0.0100545293151,1.07002908343,0.590289337569,0.0187272624519,1.06969837691
+227,3.783333333,pose1_to_pose2_press,0.619718673669,0.0100545257712,1.07002908115,0.590289402878,0.0187272590467,1.06969837452
+228,3.800000000,pose1_to_pose2_press,0.619718797246,0.0100545190613,1.07002907683,0.590289526534,0.0187272525994,1.06969837
+229,3.816666667,pose1_to_pose2_press,0.619718960499,0.010054510197,1.07002907113,0.590289689893,0.0187272440821,1.06969836404
+230,3.833333333,pose1_to_pose2_press,0.619719215527,0.0100544963495,1.07002906222,0.590289945086,0.0187272307766,1.06969835471
+231,3.850000000,pose1_to_pose2_press,0.619719553872,0.0100544779781,1.0700290504,0.59029028365,0.0187272131242,1.06969834234
+232,3.866666667,pose1_to_pose2_press,0.61971990751,0.0100544587763,1.07002903805,0.590290637517,0.0187271946739,1.06969832941
+233,3.883333333,pose1_to_pose2_press,0.619720338332,0.0100544353835,1.070029023,0.590291068618,0.0187271721968,1.06969831366
+234,3.900000000,pose1_to_pose2_press,0.619720817605,0.0100545004914,1.07002910141,0.590291547152,0.0187272347886,1.069698392
+235,3.916666667,pose1_to_pose2_press,0.619721322452,0.0100545723537,1.07002918744,0.590292051184,0.0187273038733,1.06969847797
+236,3.933333333,pose1_to_pose2_press,0.619721833301,0.0100546301189,1.07002925969,0.590292561361,0.0187273593405,1.06969854986
+237,3.950000000,pose1_to_pose2_press,0.619722060083,0.0100545874489,1.07002922414,0.590292788545,0.0187273179922,1.06969851278
+238,3.966666667,pose1_to_pose2_press,0.619722187143,0.010054563542,1.07002920422,0.59029291583,0.0187272948258,1.06969849201
+239,3.983333333,pose1_to_pose2_press,0.619722440055,0.0100545159555,1.07002916457,0.590293169191,0.0187272487133,1.06969845065
+240,4.000000000,pose1_to_pose2_press,0.619722467463,0.0100545211991,1.0700291508,0.590293196293,0.018727253045,1.06969844038
+241,4.016666667,pose1_to_pose2_press,0.619722470303,0.0100545218459,1.07002914928,0.590293199098,0.0187272535867,1.06969843926
+242,4.033333333,pose1_to_pose2_press,0.619722561657,0.0100544849551,1.07002912853,0.590293290211,0.018727216024,1.06969842272
+243,4.050000000,pose2_hold,0.619722561657,0.0100544849551,1.07002912853,0.590293290212,0.0187272160235,1.06969842272
+244,4.066666667,pose2_hold,0.619722561657,0.0100544849551,1.07002912853,0.590293290211,0.0187272160216,1.06969842272
+245,4.083333333,pose2_hold,0.619722561657,0.0100544849551,1.07002912853,0.590293290212,0.0187272160222,1.06969842272
+246,4.100000000,pose2_hold,0.619722561657,0.0100544849551,1.07002912853,0.590293290211,0.0187272160222,1.06969842272
+247,4.116666667,pose2_hold,0.619722561657,0.0100544849551,1.07002912853,0.590293290211,0.0187272160228,1.06969842272
+248,4.133333333,pose2_hold,0.619722561657,0.0100544849551,1.07002912853,0.590293290212,0.0187272160224,1.06969842272
+249,4.150000000,pose2_hold,0.619722561657,0.0100544849551,1.07002912853,0.590293290211,0.0187272160226,1.06969842272
+250,4.166666667,pose2_hold,0.619722561657,0.0100544849551,1.07002912853,0.590293290211,0.0187272160225,1.06969842272
+251,4.183333333,pose2_hold,0.619722561657,0.0100544849551,1.07002912853,0.59029329021,0.0187272160234,1.06969842272
+252,4.200000000,pose2_hold,0.619722561657,0.0100544849551,1.07002912853,0.59029329021,0.0187272160224,1.06969842272
+253,4.216666667,pose2_hold,0.619722561657,0.0100544849551,1.07002912853,0.590293290211,0.0187272160227,1.06969842272
+254,4.233333333,pose2_hold,0.619722561657,0.0100544849551,1.07002912853,0.59029329021,0.0187272160215,1.06969842272
+255,4.250000000,pose2_hold,0.619722561657,0.0100544849551,1.07002912853,0.590293290209,0.0187272160234,1.06969842272
+256,4.266666667,pose2_hold,0.619722561657,0.0100544849551,1.07002912853,0.59029329021,0.0187272160215,1.06969842272
+257,4.283333333,pose2_hold,0.619722561657,0.0100544849551,1.07002912853,0.590293290209,0.0187272160235,1.06969842272
+258,4.300000000,pose2_hold,0.619722561657,0.0100544849551,1.07002912853,0.59029329021,0.0187272160216,1.06969842272
+259,4.316666667,pose2_hold,0.619722561657,0.0100544849551,1.07002912853,0.59029329021,0.0187272160218,1.06969842272
+260,4.333333333,pose2_hold,0.619722561657,0.0100544849551,1.07002912853,0.59029329021,0.0187272160218,1.06969842272
+261,4.350000000,pose2_to_pose3_retreat,0.619722561657,0.0100544849551,1.07002912853,0.590293290209,0.018727216022,1.06969842272
+262,4.366666667,pose2_to_pose3_retreat,0.619722298573,0.0100546600059,1.07002921352,0.590293025887,0.0187273866742,1.06969850257
+263,4.383333333,pose2_to_pose3_retreat,0.619721999007,0.0100547323178,1.0700292642,0.590292724288,0.0187274521044,1.06969855373
+264,4.400000000,pose2_to_pose3_retreat,0.619721676226,0.0100547624071,1.07002926495,0.590292401763,0.018727483073,1.06969855503
+265,4.416666667,pose2_to_pose3_retreat,0.619721673177,0.0100547626914,1.07002926495,0.590292398716,0.0187274833656,1.06969855505
+266,4.433333333,pose2_to_pose3_retreat,0.619721660741,0.0100547638507,1.07002926498,0.590292386289,0.0187274845588,1.0696985551
+267,4.450000000,pose2_to_pose3_retreat,0.619719721006,0.0100547225554,1.07002915391,0.590290448124,0.0187274485796,1.06969844316
+268,4.466666667,pose2_to_pose3_retreat,0.61971375134,0.0100546005654,1.07002901575,0.590284480069,0.018727332077,1.06969830656
+269,4.483333333,pose2_to_pose3_retreat,0.619700213269,0.0100545446951,1.07002916064,0.590270941456,0.0187272740611,1.06969844273
+270,4.500000000,pose2_to_pose3_retreat,0.619676309157,0.010054726619,1.07002918067,0.590247035983,0.0187274515732,1.06969846594
+271,4.516666667,pose2_to_pose3_retreat,0.619640270587,0.0100545183574,1.07002917161,0.59021100047,0.0187272537257,1.06969846565
+272,4.533333333,pose2_to_pose3_retreat,0.619593121943,0.0100544668568,1.07002908869,0.590163851261,0.0187272000747,1.06969837656
+273,4.550000000,pose2_to_pose3_retreat,0.61953582856,0.0100545132163,1.07002954978,0.590106558292,0.0187272473221,1.06969882438
+274,4.566666667,pose2_to_pose3_retreat,0.61946869628,0.0100546701203,1.07002927804,0.590039425498,0.0187274021251,1.06969856076
+275,4.583333333,pose2_to_pose3_retreat,0.619392108591,0.0100546082169,1.0700290337,0.589962837273,0.01872733885,1.06969832742
+276,4.600000000,pose2_to_pose3_retreat,0.619304575589,0.010054663936,1.07002902739,0.589875301506,0.0187273849825,1.06969831684
+277,4.616666667,pose2_to_pose3_retreat,0.619201972345,0.0100546757074,1.07002902403,0.589772699512,0.018727400843,1.0696983142
+278,4.633333333,pose2_to_pose3_retreat,0.6190828789,0.0100545150223,1.0700291168,0.589653608755,0.0187272489404,1.06969840342
+279,4.650000000,pose2_to_pose3_retreat,0.61894371228,0.0100545308106,1.07002922071,0.58951444166,0.0187272629203,1.06969850909
+280,4.666666667,pose2_to_pose3_retreat,0.618785038217,0.010054601459,1.0700290968,0.589355766324,0.0187273291872,1.06969838979
+281,4.683333333,pose2_to_pose3_retreat,0.618604684812,0.0100545436091,1.07002918922,0.589175413371,0.0187272723135,1.06969847622
+282,4.700000000,pose2_to_pose3_retreat,0.618404253737,0.0100544593804,1.07002913246,0.588974983558,0.0187271920352,1.06969842046
+283,4.716666667,pose2_to_pose3_retreat,0.618182604862,0.0100545676203,1.07002896162,0.588753333577,0.0187272961843,1.06969825068
+284,4.733333333,pose2_to_pose3_retreat,0.617939221968,0.0100546555753,1.0700291038,0.588509950443,0.0187273829269,1.06969839339
+285,4.750000000,pose2_to_pose3_retreat,0.617673949488,0.0100545883217,1.07002927265,0.588244678668,0.0187273175347,1.06969855982
+286,4.766666667,pose2_to_pose3_retreat,0.617383760969,0.0100545749156,1.07002935014,0.58795449052,0.0187273047493,1.06969863256
+287,4.783333333,pose2_to_pose3_retreat,0.617066906391,0.0100546547307,1.07002922796,0.587637636283,0.0187273854268,1.06969851574
+288,4.800000000,pose2_to_pose3_retreat,0.616718259815,0.0100545388351,1.07002908816,0.587288990532,0.0187272717855,1.0696983762
+289,4.816666667,pose2_to_pose3_retreat,0.616337883618,0.010054402058,1.07002911234,0.586908614957,0.0187271364464,1.06969839834
+290,4.833333333,pose2_to_pose3_retreat,0.615925516291,0.0100544862681,1.07002914652,0.586496248099,0.0187272217277,1.06969843443
+291,4.850000000,pose2_to_pose3_retreat,0.615483632068,0.0100545177061,1.07002933412,0.586054364351,0.0187272542325,1.06969862046
+292,4.866666667,pose2_to_pose3_retreat,0.615017730973,0.0100545466589,1.07002925947,0.585588461489,0.0187272770579,1.06969854937
+293,4.883333333,pose2_to_pose3_retreat,0.614536688426,0.0100545490963,1.0700290668,0.585107418125,0.0187272767949,1.06969836012
+294,4.900000000,pose2_to_pose3_retreat,0.614041462953,0.0100546117521,1.07002904429,0.584612191947,0.0187273372406,1.0696983418
+295,4.916666667,pose2_to_pose3_retreat,0.613529276875,0.0100546534055,1.0700291281,0.584100005892,0.0187273788735,1.06969842255
+296,4.933333333,pose2_to_pose3_retreat,0.612998601417,0.0100545584051,1.07002918571,0.58356933185,0.01872728848,1.06969847487
+297,4.950000000,pose2_to_pose3_retreat,0.612445711686,0.0100545632136,1.07002927011,0.583016442072,0.0187272930508,1.0696985573
+298,4.966666667,pose2_to_pose3_retreat,0.611850589696,0.0100546088583,1.07002925687,0.582421320678,0.0187273408556,1.0696985483
+299,4.983333333,pose2_to_pose3_retreat,0.611219126384,0.010054572436,1.07002924857,0.58178985748,0.0187273044725,1.06969853187
+300,5.000000000,pose2_to_pose3_retreat,0.610556999247,0.0100545961009,1.070029066,0.581127728835,0.0187273233202,1.06969835704
+301,5.016666667,pose2_to_pose3_retreat,0.609860728384,0.0100545765227,1.07002926902,0.580431459426,0.0187273083399,1.06969855165
+302,5.033333333,pose2_to_pose3_retreat,0.609127070437,0.0100545177368,1.07002913464,0.57969780095,0.0187272480869,1.06969842547
+303,5.050000000,pose2_to_pose3_retreat,0.608363933202,0.0100545691519,1.07002911895,0.578934662856,0.018727296556,1.0696984081
+304,5.066666667,pose2_to_pose3_retreat,0.607573559162,0.0100545354135,1.07002908076,0.578144289747,0.0187272657858,1.06969836571
+305,5.083333333,pose2_to_pose3_retreat,0.606770876879,0.010054556164,1.07002912818,0.577341608127,0.018727288734,1.06969841136
+306,5.100000000,pose2_to_pose3_retreat,0.605965897657,0.0100546708044,1.07002904331,0.576536626775,0.0187273962496,1.06969832937
+307,5.116666667,pose2_to_pose3_retreat,0.60516477184,0.0100545776704,1.07002909927,0.575735501147,0.01872730401,1.06969839197
+308,5.133333333,pose2_to_pose3_retreat,0.604358970121,0.0100545195619,1.07002928478,0.574929700254,0.018727248464,1.06969857105
+309,5.150000000,pose2_to_pose3_retreat,0.603539101296,0.0100545793652,1.07002918732,0.57410983153,0.0187273087458,1.06969847716
+310,5.166666667,pose2_to_pose3_retreat,0.602689269677,0.0100545661411,1.07002907472,0.57325999967,0.0187272948484,1.06969836826
+311,5.183333333,pose2_to_pose3_retreat,0.60181126007,0.0100545180931,1.07002920509,0.572381990689,0.0187272489379,1.06969849888
+312,5.200000000,pose2_to_pose3_retreat,0.600908359509,0.0100544461269,1.0700291037,0.571479091373,0.0187271813447,1.06969840143
+313,5.216666667,pose2_to_pose3_retreat,0.600002684405,0.0100544850035,1.07002922823,0.570573414966,0.0187272155734,1.06969851967
+314,5.233333333,pose2_to_pose3_retreat,0.599101855011,0.0100546466282,1.07002929664,0.569672583855,0.0187273711174,1.06969858161
+315,5.250000000,pose2_to_pose3_retreat,0.598218104046,0.010054556607,1.07002913477,0.568788833852,0.0187272845597,1.06969842526
+316,5.266666667,pose2_to_pose3_retreat,0.597351308566,0.0100545045229,1.07002890165,0.567922038094,0.0187272318356,1.06969819956
+317,5.283333333,pose2_to_pose3_retreat,0.596491876119,0.0100546175993,1.07002876306,0.567062604892,0.0187273424388,1.06969806331
+318,5.300000000,pose2_to_pose3_retreat,0.595635194607,0.0100546578917,1.0700290592,0.566205922941,0.0187273808997,1.06969835042
+319,5.316666667,pose2_to_pose3_retreat,0.594774907744,0.0100546507585,1.07002912781,0.565345636861,0.018727376503,1.0696984212
+320,5.333333333,pose2_to_pose3_retreat,0.593906172251,0.0100545829916,1.07002912111,0.564476902768,0.0187273135679,1.06969841644
+321,5.350000000,pose2_to_pose3_retreat,0.593031292715,0.010054645154,1.07002919183,0.563602021661,0.0187273702005,1.06969848045
+322,5.366666667,pose2_to_pose3_retreat,0.592153526905,0.0100545724299,1.0700292061,0.562724256298,0.018727299125,1.06969849819
+323,5.383333333,pose2_to_pose3_retreat,0.59128133879,0.0100544182691,1.07002921459,0.561852071149,0.0187271551968,1.06969851112
+324,5.400000000,pose2_to_pose3_retreat,0.590438438173,0.0100545304723,1.07002934207,0.561009170385,0.0187272664925,1.06969862781
+325,5.416666667,pose2_to_pose3_retreat,0.589620632962,0.0100546328246,1.0700292573,0.560191362539,0.0187273601085,1.06969854841
+326,5.433333333,pose2_to_pose3_retreat,0.588827493389,0.0100545567785,1.07002916858,0.55939822274,0.0187272835951,1.06969846752
+327,5.450000000,pose2_to_pose3_retreat,0.588059206092,0.0100546083316,1.07002919955,0.558629936005,0.0187273367285,1.06969848988
+328,5.466666667,pose2_to_pose3_retreat,0.587310066152,0.0100546114597,1.07002930123,0.55788079615,0.0187273398662,1.06969858419
+329,5.483333333,pose2_to_pose3_retreat,0.586569288897,0.0100546060685,1.07002914899,0.557140019148,0.0187273357306,1.0696984424
+330,5.500000000,pose2_to_pose3_retreat,0.585841447663,0.0100547268262,1.07002912234,0.556412176414,0.0187274513089,1.06969841346
+331,5.516666667,pose2_to_pose3_retreat,0.585139013692,0.010054649226,1.07002925386,0.555709742197,0.018727372432,1.06969853326
+332,5.533333333,pose2_to_pose3_retreat,0.584464151224,0.010054547391,1.07002905791,0.555034881062,0.0187272753081,1.06969834224
+333,5.550000000,pose2_to_pose3_retreat,0.583816675511,0.0100544978589,1.07002905576,0.554387406456,0.0187272298072,1.06969834731
+334,5.566666667,pose2_to_pose3_retreat,0.583189232831,0.0100546041769,1.07002914171,0.553759963508,0.0187273353447,1.06969843668
+335,5.583333333,pose2_to_pose3_retreat,0.582579180899,0.0100545422514,1.07002911178,0.553149911272,0.0187272723695,1.06969840618
+336,5.600000000,pose2_to_pose3_retreat,0.581991166563,0.0100544978842,1.07002922136,0.552561897284,0.0187272288603,1.0696985078
+337,5.616666667,pose2_to_pose3_retreat,0.581431889085,0.0100545487234,1.07002917963,0.55200261917,0.0187272773606,1.06969846165
+338,5.633333333,pose2_to_pose3_retreat,0.580909666921,0.0100544987613,1.07002918955,0.551480398064,0.0187272308927,1.06969846904
+339,5.650000000,pose2_to_pose3_retreat,0.580427454612,0.0100545678056,1.07002915886,0.550998185503,0.0187272993654,1.0696984459
+340,5.666666667,pose2_to_pose3_retreat,0.57998272235,0.0100546439694,1.0700291403,0.550553451978,0.018727371421,1.06969843206
+341,5.683333333,pose2_to_pose3_retreat,0.579560551136,0.0100546109284,1.07002915337,0.550131281122,0.0187273394761,1.06969844192
+342,5.700000000,pose2_to_pose3_retreat,0.579158250906,0.0100545881238,1.0700291361,0.549728981452,0.0187273187177,1.06969842833
+343,5.716666667,pose2_to_pose3_retreat,0.578776813576,0.0100546216256,1.07002921882,0.549347543318,0.0187273496235,1.0696985141
+344,5.733333333,pose2_to_pose3_retreat,0.578417406423,0.0100546049937,1.07002929645,0.548988135876,0.0187273317234,1.06969858425
+345,5.750000000,pose2_to_pose3_retreat,0.578082239403,0.0100545817501,1.07002927821,0.548652968876,0.0187273083297,1.06969856042
+346,5.766666667,pose2_to_pose3_retreat,0.577776840525,0.0100545859576,1.07002924319,0.548347569847,0.0187273121549,1.06969852907
+347,5.783333333,pose2_to_pose3_retreat,0.577501143965,0.0100546243044,1.07002912069,0.548071873583,0.0187273517639,1.06969841335
+348,5.800000000,pose2_to_pose3_retreat,0.577255331987,0.0100546111509,1.07002925541,0.54782606138,0.0187273378028,1.06969854678
+349,5.816666667,pose2_to_pose3_retreat,0.577036106121,0.0100545209108,1.07002917566,0.547606836733,0.0187272516138,1.06969846477
+350,5.833333333,pose2_to_pose3_retreat,0.576842757931,0.0100546252142,1.07002910783,0.54741348816,0.0187273546391,1.06969839765
+351,5.850000000,pose2_to_pose3_retreat,0.576669107709,0.0100546441424,1.07002924593,0.547239839128,0.0187273775252,1.06969853355
+352,5.866666667,pose2_to_pose3_retreat,0.57651393737,0.010054579653,1.07002917778,0.547084667933,0.0187273101173,1.06969846499
+353,5.883333333,pose2_to_pose3_retreat,0.576373619548,0.0100546464375,1.07002925251,0.546944349248,0.0187273740262,1.06969854116
+354,5.900000000,pose2_to_pose3_retreat,0.576247340807,0.0100547033833,1.07002917329,0.546818068653,0.0187274244035,1.06969845491
+355,5.916666667,pose2_to_pose3_retreat,0.576137030416,0.0100545485105,1.07002914439,0.546707760926,0.0187272786409,1.06969842869
+356,5.933333333,pose2_to_pose3_retreat,0.576041411179,0.0100546104287,1.07002904939,0.546612141151,0.0187273389506,1.069698339
+357,5.950000000,pose2_to_pose3_retreat,0.57596164576,0.0100545196551,1.07002912097,0.546532376186,0.0187272497124,1.06969841035
+358,5.966666667,pose2_to_pose3_retreat,0.575896469512,0.0100546119809,1.07002911478,0.546467198844,0.0187273384934,1.06969840843
+359,5.983333333,pose2_to_pose3_retreat,0.575845678447,0.0100546529499,1.07002934771,0.546416407332,0.018727377786,1.06969863714
+360,6.000000000,pose2_to_pose3_retreat,0.575806387945,0.0100546110624,1.07002925314,0.54637711571,0.0187273319028,1.06969853746
+361,6.016666667,pose2_to_pose3_retreat,0.575776413067,0.0100545732337,1.07002910895,0.546347141909,0.0187272979892,1.06969840007
+362,6.033333333,pose2_to_pose3_retreat,0.575754025725,0.0100546383306,1.07002901357,0.546324755639,0.0187273669097,1.06969830971
+363,6.050000000,pose2_to_pose3_retreat,0.575737447899,0.0100545846704,1.07002907088,0.54630817908,0.0187273175244,1.06969836632
+364,6.066666667,pose2_to_pose3_retreat,0.575726369042,0.0100545882405,1.07002874703,0.546297098615,0.0187273158024,1.06969804696
+365,6.083333333,pose2_to_pose3_retreat,0.575719361804,0.0100546185877,1.07002907701,0.546290092058,0.0187273483121,1.06969837319
+366,6.100000000,pose2_to_pose3_retreat,0.575715455649,0.0100545749245,1.07002906702,0.546286185503,0.0187273031217,1.06969835847
+367,6.116666667,pose2_to_pose3_retreat,0.575713569864,0.0100545456725,1.07002903603,0.546284299421,0.0187272727636,1.06969832485
+368,6.133333333,pose2_to_pose3_retreat,0.575712748063,0.0100545875628,1.0700291201,0.546283476833,0.0187273118686,1.06969840596
+369,6.150000000,pose2_to_pose3_retreat,0.575712207784,0.0100546153835,1.07002917587,0.546282936032,0.0187273378462,1.06969845977
+370,6.166666667,pose2_to_pose3_retreat,0.575711911915,0.0100546306186,1.07002920641,0.546282639879,0.018727352072,1.06969848925
+371,6.183333333,pose2_to_pose3_retreat,0.575711855052,0.0100546335467,1.07002921228,0.54628258296,0.0187273548061,1.06969849491
+372,6.200000000,pose2_to_pose3_retreat,0.575711602557,0.0100546465484,1.07002923835,0.546282330222,0.0187273669465,1.06969852006
+373,6.216666667,pose2_to_pose3_retreat,0.575711250521,0.0100546646758,1.07002927469,0.546281977847,0.018727383873,1.06969855513
+374,6.233333333,pose2_to_pose3_retreat,0.575711109628,0.0100546719308,1.07002928923,0.546281836817,0.0187273906474,1.06969856916
+375,6.250000000,pose2_to_pose3_retreat,0.575711036494,0.0100546756967,1.07002929678,0.546281763613,0.0187273941638,1.06969857644
+376,6.266666667,pose2_to_pose3_retreat,0.575710945273,0.0100546803939,1.0700293062,0.546281672304,0.0187273985499,1.06969858553
+377,6.283333333,pose2_to_pose3_retreat,0.575710838597,0.0100546721097,1.07002929071,0.546281565753,0.0187273907234,1.06969857093
+378,6.300000000,pose2_to_pose3_retreat,0.575710644487,0.0100546472532,1.07002924372,0.546281372032,0.018727367283,1.06969852646
+379,6.316666667,pose2_to_pose3_retreat,0.575710543112,0.0100546342719,1.07002921917,0.54628127086,0.0187273550413,1.06969850323
+380,6.333333333,pose2_to_pose3_retreat,0.575710537412,0.010054633542,1.07002921779,0.546281265172,0.018727354353,1.06969850193
+381,6.350000000,pose2_to_pose3_retreat,0.575710330557,0.0100546070535,1.07002916771,0.546281058732,0.0187273293737,1.06969845453
+382,6.366666667,pose2_to_pose3_retreat,0.575710138287,0.0100545824326,1.07002912116,0.546280866846,0.0187273061555,1.06969841048
+383,6.383333333,pose2_to_pose3_retreat,0.575710042569,0.0100545701756,1.07002909799,0.54628077132,0.0187272945968,1.06969838855
+384,6.400000000,pose2_to_pose3_retreat,0.575709882757,0.0100545497112,1.0700290593,0.546280611828,0.0187272752984,1.06969835193
+385,6.416666667,pose2_to_pose3_retreat,0.575709753435,0.0100545331511,1.07002902799,0.546280482766,0.0187272596818,1.0696983223
+386,6.433333333,pose2_to_pose3_retreat,0.575709615422,0.0100545209169,1.07002901282,0.546280345026,0.0187272484112,1.06969830801
+387,6.450000000,pose2_to_pose3_retreat,0.575709545616,0.0100545407794,1.07002909257,0.546280275348,0.0187272685536,1.0696983838
+388,6.466666667,pose2_to_pose3_retreat,0.575709503008,0.0100545529034,1.07002914124,0.546280232817,0.0187272808485,1.06969843006
+389,6.483333333,pose2_to_pose3_retreat,0.57570949959,0.0100545538758,1.07002914514,0.546280229406,0.0187272818345,1.06969843377
+390,6.500000000,pose2_to_pose3_retreat,0.575709434638,0.0100545723575,1.07002921934,0.546280164572,0.0187273005767,1.06969850428
+391,6.516666667,pose2_to_pose3_retreat,0.575709409473,0.0100545795179,1.07002924809,0.546280139453,0.0187273078381,1.0696985316
+392,6.533333333,pose2_to_pose3_retreat,0.575709378177,0.0100545884228,1.07002928384,0.546280108214,0.0187273168685,1.06969856558
+393,6.550000000,pose2_to_pose3_retreat,0.575709312138,0.0100545837879,1.07002930914,0.546280042658,0.018727313765,1.06969858804
+394,6.566666667,pose2_to_pose3_retreat,0.575709279809,0.0100545775715,1.07002931308,0.546280010627,0.0187273085117,1.06969859073
+395,6.583333333,pose2_to_pose3_retreat,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_12/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_12/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0363533b1e87fa2c9b9fad90f9439d051f9aecb0
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_12/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e92a5c47e33838a4e677897beebe8b6a2718653cad937c539635c960046b1753
+size 25294749
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_12/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_12/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3ff5a9f830241093c4584429b770fbf0109d445c
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_12/depth_03/franka_data.csv
@@ -0,0 +1,399 @@
+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,764,742,711,673,659,632,877,784,799,649,628,651,0.400954162578,0.00447143096419,0.0798272512132,0.999999952791,8.49130004608e-05,-0.000292318168758,4.1928508976e-05,1793193667675397120
+1,0.016666667,BASELINE,764,742,711.617770354,673,659,632,877.617770354,784,799,649,628.617770354,651,0.40095301649,0.00447136742413,0.0798264864412,0.999999952633,8.27218330272e-05,-0.000293567846449,4.13391035038e-05,1793193667692063744
+2,0.033333333,BASELINE,764,742,712,673,659,632,878,784,799,649,629,651,0.400952513297,0.00447167587508,0.0798260461567,0.999999952599,8.19953741258e-05,-0.000293940727031,4.09609130978e-05,1793193667708730368
+3,0.050000000,BASELINE,764,742,712,673,659,632,878,784,799,649,629,651,0.40095305338,0.00447258798399,0.0798261324426,0.999999952772,8.36458083265e-05,-0.000292890762749,4.09254772809e-05,1793193667725396992
+4,0.066666667,BASELINE,763.627049902,742,711.627049902,673,659,632,878,784,799.372950098,649,629,651,0.400953801065,0.00447265685381,0.0798262388802,0.999999952888,8.42080461254e-05,-0.000292332940125,4.09105582371e-05,1793193667742063616
+5,0.083333333,BASELINE,763.036028389,742,711.036028389,673,659,632,878,784,799.963971611,649,629,651,0.400954670138,0.00447223266475,0.0798263571008,0.999999952974,8.41339935272e-05,-0.000292062882679,4.09076357652e-05,1793193667758730752
+6,0.100000000,BASELINE,763,742,711,673,659,632,878,784,799.452295202,649,629,651,0.400953702689,0.00447160951527,0.0798264573274,0.999999952865,8.33954254828e-05,-0.000292640954928,4.09558391989e-05,1793193667775397120
+7,0.116666667,BASELINE,763,742.12894619,711,673,659,632,878,784,799.12894619,649,629,650.87105381,0.400952956851,0.00447136259089,0.0798265994318,0.999999952722,8.33791798626e-05,-0.000293114726892,4.10772037035e-05,1793193667792063744
+8,0.133333333,BASELINE,763,742.703215989,711,673,659,632,878,784,799.703215989,649,629,650.296784011,0.4009533881,0.00447245958891,0.0798268901983,0.999999952507,8.60064997989e-05,-0.00029303814557,4.14397723367e-05,1793193667808730624
+9,0.150000000,BASELINE,763.277725612,743,711,673,658.722274388,632.277725612,878,784,799.722274388,649,629,650.277725612,0.400953837497,0.00447297658665,0.0798268860222,0.999999952442,8.66836418183e-05,-0.000293068082656,4.13794782323e-05,1793193667825397248
+10,0.166666667,BASELINE,763.852491701,743,711,673,658.147508299,632.852491701,878,784,799.147508299,649,629,650.852491701,0.400954306305,0.004472873247,0.0798265663914,0.999999952542,8.52749775614e-05,-0.000293211946149,4.08669127128e-05,1793193667842063872
+11,0.183333333,BASELINE,764,742.560236124,711,673,658.439763876,632.560236124,878,784,799,649,629,650.560236124,0.400953039035,0.00447254945449,0.0798259837722,0.999999952376,8.41842867191e-05,-0.000294091076298,4.08916839831e-05,1793193667858731008
+12,0.200000000,BASELINE,764,742,711.030614723,673,659,632,878,784,799.030614723,649,629,650,0.400951259913,0.00447219511543,0.0798253272531,0.999999952122,8.32608835353e-05,-0.00029518828214,4.10758365461e-05,1793193667875398400
+13,0.216666667,BASELINE,764,742,711.608260384,673,659,632,878,784,799.608260384,649,629,650,0.400951044609,0.0044726549166,0.0798249726215,0.99999995199,8.33650687692e-05,-0.000295646323662,4.07930713831e-05,1793193667892065024
+14,0.233333333,BASELINE,764,742,712,673,659,632,877.814634288,784,799.814634288,649,629.185365712,650.185365712,0.400951463038,0.00447253215645,0.0798251983164,0.999999952161,8.26433288759e-05,-0.000295285669396,4.06701650566e-05,1793193667908731648
+15,0.250000000,BASELINE,764,742,712,673,659,632,877.238667435,784,799.238667435,649,629.761332565,650.761332565,0.400953216864,0.00447118182786,0.0798266468705,0.999999952967,8.01812062074e-05,-0.000293199866023,4.08841119333e-05,1793193667925398016
+16,0.266666667,BASELINE,763.656237343,742,712,673,659,632,877.343762657,784,799,649,629.656237343,650.656237343,0.400952761156,0.00447203214088,0.0798263216369,0.999999952735,8.06075325843e-05,-0.000293896148278,4.07161225834e-05,1793193667942064640
+17,0.283333333,BASELINE,763.069234006,742,712,673,659,632,877.930765994,784,799,649,629.069234006,650.069234006,0.400950742019,0.004474439591,0.0798247413008,0.999999951764,8.30776771164e-05,-0.000296560987694,4.02778815646e-05,1793193667958731776
+18,0.300000000,BASELINE,763.510999461,742,711.489000539,672.489000539,659,632,878,784,799.510999461,649,629,650.510999461,0.4009522086,0.00447309929245,0.079826000473,0.999999952656,8.18728703412e-05,-0.000293853013096,4.04472992273e-05,1793193667975398144
+19,0.316666667,BASELINE,764,742.089912201,711.089912201,672.089912201,659,632.089912201,878.089912201,784.089912201,799.910087799,649,629,651,0.400953582336,0.00447176179188,0.0798271715094,0.999999953455,8.07554105959e-05,-0.000291400198571,4.06735941083e-05,1793193667992064512
+20,0.333333333,BASELINE,764,742.666575635,711.666575635,672.666575635,659,632.666575635,878.666575635,784.666575635,799.333424365,649,629,651,0.400951930167,0.00447315239007,0.0798258099244,0.999999952461,8.2771069539e-05,-0.000294218043189,4.07679240849e-05,1793193668008731136
+21,0.350000000,BASELINE,764,742.757512802,711.757512802,673,659,632.757512802,878.757512802,784.757512802,799.242487198,649.242487198,629,651,0.400951267051,0.00447327933306,0.0798252120886,0.999999952027,8.32315113746e-05,-0.000295543444107,4.08862960464e-05,1793193668025397760
+22,0.366666667,BASELINE,764,742.182631925,711.182631925,673,659,632.182631925,878.182631925,784.182631925,799.817368075,649.817368075,629,651,0.400951959696,0.0044716740979,0.0798256611759,0.999999952372,8.1560111282e-05,-0.000294823050807,4.10376239829e-05,1793193668042064384
+23,0.383333333,BASELINE,764,742,711.402000364,673,659,632,878.402000364,784,800,649.597999636,629,651,0.400952316614,0.00447126326865,0.0798260986566,0.999999952586,8.06449662835e-05,-0.000294348083922,4.1027386365e-05,1793193668058731264
+24,0.400000000,BASELINE,764,742,711.991172981,673,659,632,878.991172981,784,800,649.008827019,629,651,0.400952517216,0.00447140855729,0.0798265307333,0.999999952741,8.00819351735e-05,-0.000293987388052,4.09419234829e-05,1793193668075397888
+25,0.416666667,BASELINE,764,742,711.428672242,673,659,632,878.428672242,784,800,649,629,651,0.400953555255,0.0044724507876,0.0798267521354,0.999999952991,8.01114452389e-05,-0.000293206806017,4.03842430909e-05,1793193668092064256
+26,0.433333333,BASELINE,764,742,711.150131539,673,659,632.150131539,878.150131539,784,799.849868461,649.150131539,628.849868461,650.849868461,0.400954282939,0.00447336855886,0.0798270286355,0.999999953238,8.04945158477e-05,-0.000292305459533,4.00215216983e-05,1793193668108730880
+27,0.450000000,BASELINE,764,742,711.725497373,673,659,632.725497373,878.725497373,784,799.274502627,649.725497373,628.274502627,650.274502627,0.400954095489,0.0044738951702,0.0798274702715,0.999999953477,8.18534882625e-05,-0.000291080147279,4.02313477909e-05,1793193668125397248
+28,0.466666667,BASELINE,764,742,712,673,659,632.699309429,878.699309429,784,799.300690571,649.699309429,628.300690571,650.300690571,0.400954072047,0.00447347602534,0.0798276614508,0.999999953494,8.22676504033e-05,-0.000290863805728,4.05286038599e-05,1793193668142063872
+29,0.483333333,BASELINE,764,742,712,673,659,632.124273777,878.124273777,784,799.875726223,649.124273777,628.875726223,650.875726223,0.400954198242,0.00447219398821,0.0798276241178,0.99999995331,8.18197832651e-05,-0.000291568032358,4.09056295746e-05,1793193668158730496
+30,0.500000000,BASELINE,764,742.465338912,712,673,659,632.465338912,877.534661088,784,800,649,629,651,0.400953772059,0.00447194358809,0.0798270279288,0.999999953004,8.16472438044e-05,-0.000292664416625,4.09001946115e-05,1793193668175397376
+31,0.516666667,BASELINE,764,742.942814198,712,672.942814198,659,632.942814198,877.114371604,784,799.942814198,649,629,650.942814198,0.400953295553,0.00447196942616,0.079826405524,0.999999952725,8.15429726469e-05,-0.000293662969914,4.07706616386e-05,1793193668192064000
+32,0.533333333,BASELINE,764,742.367147936,712,672.367147936,659,632.367147936,878.265704127,784,799.367147936,649,629,650.367147936,0.40095374353,0.00447192108856,0.0798269423673,0.999999953006,8.1369443938e-05,-0.000292794278799,4.04719942472e-05,1793193668208730880
+33,0.550000000,BASELINE,764,742,711.791815705,672.208184295,659,632,879,784,799,649.208184295,628.791815705,650.208184295,0.40095358237,0.00447197035496,0.0798270616755,0.999999953033,8.1759211309e-05,-0.000292611975726,4.03511563386e-05,1793193668225397504
+34,0.566666667,BASELINE,764,742,711.217071677,672.782928323,659,632,879,784,799,649.782928323,628.217071677,650.782928323,0.400952348676,0.00447219147725,0.07982644581,0.99999995261,8.31408002032e-05,-0.00029363822797,4.0543431071e-05,1793193668242064128
+35,0.583333333,BASELINE,764,742.367500215,711,673,659,632.367500215,878.632499785,784,799,649.632499785,628,651,0.400951515701,0.00447186116733,0.079826092117,0.999999952502,8.24991361091e-05,-0.000294172004486,4.0642009501e-05,1793193668258730496
+36,0.600000000,BASELINE,764,742.958036702,711,673,659,632.958036702,878.041963298,784,799,649.041963298,628,651,0.400950925923,0.00447119619264,0.0798258975366,0.999999952584,8.0629557749e-05,-0.000294406897057,4.06837235635e-05,1793193668275397120
+37,0.616666667,BASELINE,764,743,711,673,659,633,878.538032637,784,799,649,628.538032637,650.461967363,0.400951113665,0.00447189657554,0.0798256457266,0.999999952343,8.21518726127e-05,-0.000294778601667,4.08623889276e-05,1793193668292063744
+38,0.633333333,BASELINE,764,743,711,673,659,633,878.883870458,784,799.116129542,649,629,650.116129542,0.400951803729,0.00447259896725,0.0798258269623,0.999999952366,8.33276127823e-05,-0.000294360361898,4.09413402963e-05,1793193668308730624
+39,0.650000000,BASELINE,764,743,711,673,659,633,878.310079766,784,799.689920234,649,629,650.689920234,0.400954239026,0.0044728976688,0.0798277320639,0.999999953526,8.21149828117e-05,-0.000290787744002,4.05860375061e-05,1793193668325397248
+40,0.666666667,BASELINE,764,742.736210282,711.263789718,673,659,632.736210282,878,784,800,649,629,651,0.400954545225,0.00447312229332,0.0798281437466,0.999999953645,8.23494684368e-05,-0.000290317610925,4.05439741364e-05,1793193668342064384
+41,0.683333333,BASELINE,764,742.162248186,711.837751814,673,659,632.162248186,878,784,800,649,629,651,0.400952347962,0.00447325981571,0.0798267994195,0.999999952543,8.42855188816e-05,-0.000293495478826,4.08702277054e-05,1793193668358731520
+42,0.700000000,BASELINE,763.574077426,742,711.574077426,673,659,632,878,784,799.574077426,649,628.574077426,651,0.400953350981,0.00447249847294,0.079827360399,0.999999952896,8.26410153297e-05,-0.000292767078121,4.08233705074e-05,1793193668375398400
+43,0.716666667,BASELINE,763.019120455,742,711,673,659,632,878.019120455,784,799,649.019120455,628.019120455,651,0.400955535259,0.00447143082081,0.0798286201765,0.999999953779,7.97274643536e-05,-0.000290576588806,4.06338857768e-05,1793193668392064768
+44,0.733333333,BASELINE,763.595637196,742,711,673,659,632,878.595637196,784,799,649.595637196,628.595637196,651,0.400955390069,0.00447175998799,0.0798283627408,0.999999953665,8.09528015228e-05,-0.000290639342834,4.05729001491e-05,1793193668408731136
+45,0.750000000,BASELINE,764,742,711.172296925,673,659,632,878.827703075,784,799,649.827703075,629,651,0.400954977714,0.00447158099074,0.0798279395458,0.999999953463,8.16100085358e-05,-0.000291143299261,4.06078899175e-05,1793193668425397760
+46,0.766666667,BASELINE,764,742,711.749292433,673,659,632,878.250707567,784,799,649.250707567,629,651,0.400953937834,0.0044702083945,0.0798271270079,0.999999953058,8.09327663215e-05,-0.000292683571247,4.08683109183e-05,1793193668442064128
+47,0.783333333,BASELINE,764,742,711.667722526,673,659,632,878.332277474,784,799,649,628.667722526,651,0.400953413282,0.00447098030632,0.0798270052817,0.999999952861,8.21481811947e-05,-0.000293016341264,4.08776677598e-05,1793193668458730752
+48,0.800000000,BASELINE,764,742,711.080135287,673,659,632,878.919864713,784,799,649,628.080135287,651,0.400953284688,0.00447339997896,0.0798274143495,0.99999995282,8.48178439425e-05,-0.000292421311437,4.06941161825e-05,1793193668475397376
+49,0.816666667,BASELINE,764,742,711,673,659,632.499695607,878.500304393,784,799,649,628.499695607,650.500304393,0.400953957396,0.00447190389312,0.0798275211703,0.999999953322,8.19175497695e-05,-0.000291521992802,4.07397687888e-05,1793193668492064256
+50,0.833333333,BASELINE,764,742,711,673,659,632.921927742,878,784,799,649,628.921927742,650,0.400954570919,0.00447021012602,0.0798275281347,0.999999953807,7.87022992283e-05,-0.000290736160363,4.07872141567e-05,1793193668508731136
+51,0.850000000,BASELINE,764,742,711,673,659,632.345016478,878,784,799,649,628.345016478,650,0.40095399777,0.00447120429568,0.0798272020407,0.999999953712,7.90947524442e-05,-0.000290982470589,4.06148465775e-05,1793193668525397760
+52,0.866666667,BASELINE,764,742,711.230520455,673,659,632.230520455,878,783.769479545,799,649,628.230520455,650,0.400953888808,0.00447214303903,0.0798273454752,0.999999953655,7.97423339702e-05,-0.000291027173386,4.04246109674e-05,1793193668542064384
+53,0.883333333,BASELINE,764,742,711.804012605,673,659,632.804012605,878,783.195987395,799,649,628.804012605,650,0.400954470469,0.00447299931824,0.0798281874813,0.999999953656,8.07694990935e-05,-0.000290771921693,4.02077910505e-05,1793193668558731008
+54,0.900000000,BASELINE,763.610706336,742,711.610706336,672.610706336,659,632.610706336,878,783.389293664,799,649,628.610706336,650,0.400953699637,0.00447400847647,0.0798275796175,0.999999953257,8.25279736009e-05,-0.000291658428049,4.01432341514e-05,1793193668575397632
+55,0.916666667,BASELINE,763.019304904,742,711.019304904,672.019304904,659,632.019304904,878,783.980695096,799,649,628.019304904,650,0.400952226637,0.00447509700417,0.0798262190316,0.999999952645,8.46661185451e-05,-0.000293137695593,4.01577269369e-05,1793193668592064256
+56,0.933333333,BASELINE,763.562462953,742,711.562462953,672,659,632,878,784.562462953,799,649,628.562462953,650.562462953,0.400951536442,0.00447336455985,0.0798264387509,0.999999952869,8.26012009592e-05,-0.000292900623571,4.05949385279e-05,1793193668608730880
+57,0.950000000,BASELINE,763.858491491,742,712,672.141508509,659,632.141508509,878,784.858491491,799,649,629,651,0.400951424648,0.00447211040419,0.0798267558725,0.999999953122,8.10155506934e-05,-0.000292445130012,4.08498785328e-05,1793193668625397248
+58,0.966666667,BASELINE,763.286734661,742,712,672.713265339,659,632.713265339,878,784.286734661,799,649,629,651,0.400952991134,0.00447259988095,0.0798272070049,0.999999953387,8.13183069165e-05,-0.000291501630061,4.05072626764e-05,1793193668642064128
+59,0.983333333,BASELINE,763.285568135,742,711.714431865,673,659,632.714431865,877.714431865,784,799,649,629,651,0.400953196903,0.00447227135882,0.0798268668235,0.999999953318,8.10572799493e-05,-0.000291830681672,4.03545318863e-05,1793193668658731008
+60,1.000000000,BASELINE,763.858420245,742,711.141579755,673,659,632.141579755,877.141579755,784,799,649,629,651,0.400952033779,0.00447111992291,0.0798257305737,0.999999952912,8.02290823273e-05,-0.00029343993088,4.03928270487e-05,1793193668675397632
+61,1.016666667,BASELINE,764,742,711,673,659,632,877.900541343,784,799,649,629,651,0.400952778108,0.00447157415258,0.0798266479905,0.999999953274,7.9725081025e-05,-0.000292337050992,4.04338341877e-05,1793193668692064256
+62,1.033333333,BASELINE,763.953511058,742,711,673,659,632,878.953511058,784,799,649,629,651,0.400954045781,0.00447249815913,0.0798281158103,0.999999953841,7.94006910418e-05,-0.000290476387748,4.04652931697e-05,1793193668708730880
+63,1.050000000,BASELINE,763.378538972,742,711,673,659,632,878.378538972,784,799,649,629,651,0.40095414435,0.0044727703608,0.0798281764789,0.999999953907,7.99082390155e-05,-0.000290122711375,4.03780885317e-05,1793193668725397760
+64,1.066666667,BASELINE,763,742.196273087,711.196273087,673,659,632,878,784,799,649,629,650.803726913,0.400953929814,0.00447307348692,0.0798277412892,0.999999953774,8.03973978316e-05,-0.000290476981635,4.01474466936e-05,1793193668742064640
+65,1.083333333,BASELINE,763,742.770776727,711.770776727,673,659,632,878,784,799,649,629,650.229223273,0.400953111907,0.00447343620638,0.0798263505497,0.999999953257,8.08511195563e-05,-0.000292195509499,3.96403923767e-05,1793193668758731008
+66,1.100000000,BASELINE,763.353736082,742.646263918,712,673,659,632,877.646263918,784,799,649.353736082,629,650,0.400953369923,0.00447258864216,0.0798268344646,0.999999953493,7.99996339496e-05,-0.000291575305622,3.99856063286e-05,1793193668775397888
+67,1.116666667,BASELINE,763.942308959,742.057691041,712,673,659,632,877.057691041,784,799,649.942308959,629,650,0.400954342219,0.00447093759998,0.0798285629173,0.999999954223,7.82816528742e-05,-0.000289402474471,4.08966205067e-05,1793193668792065024
+68,1.133333333,BASELINE,764,742,711.476199521,673,659,632,877.523800479,784,799,649.476199521,629,650.523800479,0.400954543652,0.00447159402513,0.0798288002328,0.999999954216,7.90542265536e-05,-0.000289230087881,4.07989504281e-05,1793193668808731392
+69,1.150000000,BASELINE,763.896565138,742,711,673,659,632,878,784,799.103434862,649,629,651,0.400954417374,0.00447222177419,0.0798287048362,0.999999954092,7.97695904936e-05,-0.000289488498087,4.06068029697e-05,1793193668825398016
+70,1.166666667,BASELINE,763.321886013,742,711,673,659,632,878,784,799.678113987,649,629,651,0.400953179708,0.00447157645761,0.0798278318757,0.999999953802,7.89912449361e-05,-0.000290719185171,4.0483616975e-05,1793193668842064384
+71,1.183333333,BASELINE,763.253482931,742,711,672.746517069,659,632,878,784.253482931,799.746517069,649.253482931,629,651,0.400952749394,0.00447128772367,0.0798275352514,0.999999953682,7.91138584424e-05,-0.000291111176923,4.03937022497e-05,1793193668858730752
+72,1.200000000,BASELINE,763.829730312,742,711,672.170269688,659,632,878,784.829730312,799.170269688,649.829730312,629,651,0.400953347096,0.00447145303283,0.0798279724865,0.999999953779,8.03836794861e-05,-0.000290435242746,4.03461524229e-05,1793193668875397120
+73,1.216666667,BASELINE,764,742,711,672.417212608,658.582787392,632,878,784.582787392,799,649.582787392,629,651,0.400953553894,0.00447130474586,0.0798279924012,0.999999953847,8.02708419233e-05,-0.000290228793186,4.03791059272e-05,1793193668892064000
+74,1.233333333,BASELINE,763.990844552,742.009155448,711.009155448,673,658.009155448,632.009155448,878,784,799,649,629,651,0.400953604233,0.00447105450361,0.079827844168,0.999999953901,7.96165495585e-05,-0.000290211655739,4.04405855417e-05,1793193668908730880
+75,1.250000000,BASELINE,763.414477784,742.585522216,711.585522216,673,658.585522216,632.585522216,878,784,799,649,629,651,0.400954118461,0.00447263615891,0.0798281221075,0.999999953914,8.13438198074e-05,-0.000289724118723,4.01775836833e-05,1793193668925397504
+76,1.266666667,BASELINE,763,742.838536959,712,672.838536959,659,632.838536959,878.161463041,784,799,649,629,651,0.400954504578,0.00447309545034,0.0798283238295,0.999999954012,8.13090076701e-05,-0.000289405991353,4.01038369583e-05,1793193668942064128
+77,1.283333333,BASELINE,763,742.263686691,712,672.263686691,659,632.263686691,878.736313309,784,799,649,629,651,0.400954562693,0.00447068119934,0.0798283304152,0.999999954322,7.67628079067e-05,-0.000289521596605,4.05146324328e-05,1793193668958731008
+78,1.300000000,BASELINE,763.310325329,742,711.689674671,672,659.310325329,632,878.689674671,784,799,649,629,650.689674671,0.400954594532,0.00447060360201,0.0798282374727,0.999999954245,7.68567573072e-05,-0.000289739675973,4.0665027565e-05,1793193668975397888
+79,1.316666667,BASELINE,763.88362697,742,711.11637303,672,659.88362697,632,878.11637303,784,799,649,629,650.11637303,0.400954604104,0.00447250613503,0.0798280601879,0.999999953842,8.08828684627e-05,-0.000290044594091,4.05947538638e-05,1793193668992065024
+80,1.333333333,BASELINE,764,742,711,672.473571642,659.526428358,632,877.526428358,784,799.473571642,649.473571642,629,650.473571642,0.40095391195,0.00447281635778,0.0798273627852,0.999999953545,8.1511574248e-05,-0.000290934551078,4.02745281902e-05,1793193669008731648
+81,1.350000000,BASELINE,763.934167295,742,711.065832705,673,659,632,877.065832705,784,799.934167295,649.934167295,629,651,0.400953072977,0.00447261859647,0.0798265971504,0.999999953303,8.11536735806e-05,-0.000291910072516,3.9954118543e-05,1793193669025397760
+82,1.366666667,BASELINE,763.356842384,742,711.643157616,673,659,632,877.643157616,784,799.356842384,649.356842384,629,651,0.400952481843,0.00447162487385,0.0798263305902,0.99999995326,7.98530358032e-05,-0.000292392719508,4.01268840156e-05,1793193669042064128
+83,1.383333333,BASELINE,763.21984632,742,711.78015368,672.78015368,659,632,878,784.21984632,799.21984632,649.21984632,629,651,0.400953008702,0.00447172710966,0.0798268313451,0.999999953458,7.99503622285e-05,-0.000291674338047,4.0228639196e-05,1793193669058730752
+84,1.400000000,BASELINE,763.795505438,742,711.204494562,672.204494562,659,632,878,784.795505438,799.795505438,649.795505438,629,651,0.400955344992,0.0044736031118,0.0798285739698,0.99999995404,8.23102396515e-05,-0.000289012138382,4.02154669812e-05,1793193669075397632
+85,1.416666667,BASELINE,764,742.380231746,711.380231746,672.380231746,659,632.380231746,878,784.619768254,799.619768254,649.619768254,629,651,0.400954365575,0.00447386232856,0.0798280754022,0.999999953805,8.16731152796e-05,-0.000290005670563,4.0199722419e-05,1793193669092064512
+86,1.433333333,BASELINE,764,742.969953622,711.969953622,672.969953622,659,632.969953622,878,784.030046378,799.030046378,649.030046378,629,651,0.400951559357,0.00447323077113,0.0798263420409,0.999999953113,7.93847811979e-05,-0.000293013342304,4.01825606126e-05,1793193669108731392
+87,1.450000000,BASELINE,763.450174052,742.450174052,711.450174052,673,659,633,878,784,799,649,629,651,0.400954027563,0.00447350671733,0.0798284246465,0.999999953963,8.07841521499e-05,-0.000289690856933,4.03259324011e-05,1793193669125397760
+88,1.466666667,BASELINE,763.127932982,742,711.127932982,672.872067018,659,632.872067018,877.872067018,784,799,649.127932982,629,651,0.400955823413,0.00447358835178,0.0798299547855,0.999999954593,8.17270803319e-05,-0.000287227220089,4.04435242577e-05,1793193669142064128
+89,1.483333333,BASELINE,763.701730554,742,711.701730554,672.298269446,659,632.298269446,877.298269446,784,799,649.701730554,629,651,0.400954289153,0.00447282298733,0.0798288455282,0.999999954208,8.03892670534e-05,-0.000288941171595,4.04412333804e-05,1793193669158730752
+90,1.500000000,BASELINE,764,742.282377432,712,672.564754864,659,632,877.282377432,784,798.717622568,650,629,651,0.40095351511,0.00447293696853,0.0798280100693,0.999999953749,8.12765770138e-05,-0.000290286019999,4.03638249469e-05,1793193669175397376
+91,1.516666667,BASELINE,764,742.8704389,712,673.7408778,659,632,877.8704389,784,798.1295611,650,629,651,0.400953564031,0.00447400287406,0.0798274710074,0.999999953208,8.45726654407e-05,-0.000291231300504,4.02050989742e-05,1793193669192063744
+92,1.533333333,BASELINE,764,742.548243535,712,673.548243535,659,632.451756465,878,784,798.451756465,649.548243535,629,651,0.400953417372,0.00447289267335,0.0798273929888,0.999999953256,8.26784852421e-05,-0.000291596636374,4.03049074594e-05,1793193669208730624
+93,1.550000000,BASELINE,764,742.030781321,711.969218679,673,659,632.969218679,878,784,799,649.030781321,629,651,0.400953261507,0.00447129716213,0.0798274748629,0.999999953471,7.95407650886e-05,-0.000291708732477,4.0464899377e-05,1793193669225397504
+94,1.566666667,BASELINE,764,742.602997378,711.397002622,673,659,632.397002622,878,784,799,649.602997378,629,651,0.400953915824,0.00447198135838,0.0798280776231,0.999999953835,8.03273904645e-05,-0.000290248985554,4.0398473684e-05,1793193669242064640
+95,1.583333333,BASELINE,764,742.823892541,711,673,659,632,878,784,799,649.823892541,629,650.823892541,0.4009541822,0.00447233702268,0.0798282782976,0.999999953963,8.08842311108e-05,-0.000289660533286,4.03663484913e-05,1793193669258731520
+96,1.600000000,BASELINE,764,742.248756645,711,673,659,632,878,784,799,649.248756645,629,650.248756645,0.400953569568,0.00447194829167,0.0798275679171,0.999999953555,8.09204202484e-05,-0.00029104628073,4.04119421692e-05,1793193669275397888
+97,1.616666667,BASELINE,764,742,711,672.662914318,659,632,878,784,799,649,629,650.337085682,0.400952968983,0.0044722895444,0.079827233162,0.999999953271,8.07396303178e-05,-0.000292077952257,4.03771004108e-05,1793193669292064512
+98,1.633333333,BASELINE,764,742,711,672.068911898,659,632,878,784,799,649,629,650.931088102,0.400952377579,0.00447318716919,0.0798271846975,0.99999995308,8.03934653572e-05,-0.000292839757511,4.0280953139e-05,1793193669308730880
+99,1.650000000,BASELINE,763.486822383,742.513177617,711,672.513177617,659,632.513177617,878.513177617,784,799.513177617,649,629,650.486822383,0.400953135506,0.00447240841967,0.0798273378155,0.999999953404,7.96938575331e-05,-0.000291904247388,4.04098736741e-05,1793193669325397248
+100,1.666666667,BASELINE,763,742.907062008,711,673,659,632.907062008,878.907062008,784,800,649,629,650.092937992,0.400953862325,0.00447158876576,0.0798274597504,0.999999953708,7.91940401739e-05,-0.000290984703252,4.05072988203e-05,1793193669342064128
+101,1.683333333,BASELINE,763,742.331279783,711,673,659,632.331279783,878.331279783,784,800,649,629,650.668720217,0.400953507524,0.00447169959594,0.0798272822346,0.999999953561,7.99731883955e-05,-0.000291305382235,4.02876376194e-05,1793193669358730752
+102,1.700000000,BASELINE,763,742,711,673,659,632.243755635,878.243755635,784,799.756244365,649,629,651,0.400953774787,0.00447158577158,0.0798276261159,0.999999953684,8.01065473394e-05,-0.000290854837137,4.02412892609e-05,1793193669375397376
+103,1.716666667,BASELINE,763,742,711,673,659,632.817779145,878.817779145,784,799.182220855,649,629,651,0.400954884894,0.00447116755967,0.0798286764455,0.999999954169,7.93649174091e-05,-0.000289359349854,4.04297648841e-05,1793193669392064256
+104,1.733333333,BASELINE,763,742,711.404914673,672.595085327,659,632.595085327,878.595085327,784,799.404914673,649,629,651,0.400953528813,0.00447181828357,0.0798278942181,0.999999953769,7.96020730484e-05,-0.000290684613534,4.03446129208e-05,1793193669408731136
+105,1.750000000,BASELINE,763,742,711.998148434,672.001851566,659,632.001851566,878.001851566,784,799.998148434,649,629,651,0.40095102575,0.00447296615174,0.0798262596988,0.999999952952,8.02944455292e-05,-0.00029332176149,4.01322013294e-05,1793193669425398272
+106,1.766666667,BASELINE,763.573608532,742,712,672,659,632,878,784,799.426391468,649,629,651,0.400951443596,0.00447343424461,0.079826979627,0.99999995311,8.2838750784e-05,-0.000291992372482,4.0721603616e-05,1793193669442064384
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,742,712,672,659,632,878,784,799,649,629,651,0.400950397497,0.00447196217332,0.0798252766243,0.999999952447,8.09311109568e-05,-0.000294789580425,4.06917418648e-05,1793193669483379712
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,742,711.409929791,672.590070209,659,632.590070209,878,784,799.590070209,649,629,651,0.400952457705,0.00447352499881,0.079826730278,0.999999953073,8.26869837159e-05,-0.000292221355237,4.03046697261e-05,1793193669500047104
+109,1.816666667,POSE1_TO_POSE2_PRESS,763.823930789,742.176069211,711.176069211,673,659,633,878,784,799.823930789,649,629,650.823930789,0.400953966703,0.00447425138171,0.0798278239054,0.999999953603,8.32100557636e-05,-0.000290279428259,4.00981883658e-05,1793193669516713984
+110,1.833333333,POSE1_TO_POSE2_PRESS,763.247196161,742.752803839,711.752803839,673,659,633,878,784,799.247196161,649,629,650.247196161,0.400954221355,0.00447307434516,0.0798280982522,0.999999953932,8.09277506282e-05,-0.000289762713235,4.03026616827e-05,1793193669533380608
+111,1.850000000,POSE1_TO_POSE2_PRESS,763,743,711.670234805,672.670234805,659,633,878,784,799,649,629,650.329765195,0.400953684301,0.00447185014351,0.0798278939832,0.999999953886,7.97993645197e-05,-0.000290203579898,4.05253987724e-05,1793193669550047232
+112,1.866666667,POSE1_TO_POSE2_PRESS,763,743,711.093103406,672.093103406,659,633,878,784,799,649,629,650.906896594,0.400952553366,0.00447059056208,0.0798273306908,0.99999995356,7.95365658586e-05,-0.000291362755707,4.07618360226e-05,1793193669566713856
+113,1.883333333,POSE1_TO_POSE2_PRESS,763.489346411,742.510653589,711.489346411,672.489346411,659.489346411,632.510653589,878,784,799,649,629,650.510653589,0.400951998361,0.00447115947251,0.0798271589152,0.999999953527,7.89532149496e-05,-0.000291666234339,4.05388469916e-05,1793193669583380224
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,742,712,673,659.927236514,632,878,784,799,649,629,650.072763486,0.400952059811,0.00447213798261,0.0798273315295,0.999999953609,7.87059609107e-05,-0.000291489899963,4.02600233774e-05,1793193669600046592
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,742,712,673,659.344210363,632,878,784,799,649,629,650.655789637,0.400955667349,0.00447352243162,0.0798293911081,0.999999954101,8.12480150321e-05,-0.000289103057662,4.02093669341e-05,1793193669616712960
+116,1.933333333,POSE1_TO_POSE2_PRESS,763.763467464,742,711.763467464,673,659,632,877.763467464,784,799,649,629,650.763467464,0.400965691435,0.00447341199938,0.0798342937161,0.999999956283,8.17021150483e-05,-0.000281303897533,4.03377687817e-05,1793193669633380096
+117,1.950000000,POSE1_TO_POSE2_PRESS,763.186015516,742,711.186015516,673,659,632,877.186015516,784,799,649,629,650.186015516,0.400984963828,0.00447114696263,0.0798432940431,0.999999960739,7.91468018456e-05,-0.000265703847918,4.07242511783e-05,1793193669650049280
+118,1.966666667,POSE1_TO_POSE2_PRESS,763.389551671,742,711,673,658.610448329,632,877.389551671,784,799,649.389551671,628.610448329,650,0.401023403708,0.00447120684541,0.0798584859833,0.999999967887,7.84723513066e-05,-0.000237607049268,4.0135583654e-05,1793193669666715648
+119,1.983333333,POSE1_TO_POSE2_PRESS,763.964223247,742,711,673,658.035776753,632,877.964223247,784,799,649.964223247,628.035776753,650,0.401070952224,0.00447237155931,0.0798766202577,0.999999975419,7.86917103139e-05,-0.000203571635054,3.90835124921e-05,1793193669683380224
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,742,711,673,658.552103176,632,878,784,799,649.447896824,628.552103176,650.552103176,0.401135127374,0.00447376373616,0.0798925121868,0.999999981819,7.9283042677e-05,-0.000169370662602,3.72895034509e-05,1793193669700046848
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,742,711,673,659,632.138615994,878,784,799,649,629,650.861384006,0.401202829083,0.0044747315901,0.0799066167776,0.999999986209,7.89755465791e-05,-0.000141738987269,3.54277335762e-05,1793193669716713216
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,742,711,673,659,632.717993638,878,784,799,649,629,650.282006362,0.401278234443,0.00447430219411,0.0799155114742,0.999999987454,7.57314942433e-05,-0.000135030854421,3.35071248654e-05,1793193669733379584
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,742.295756341,711,673,659,632.704243659,878,784,799.295756341,649,629,650,0.401363766723,0.00447400943832,0.0799211917747,0.999999988805,7.18756334644e-05,-0.000127610172144,3.06614954552e-05,1793193669750046976
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,742.871987509,711,673,659,632.128012491,878,784,799.871987509,649,629,650,0.401458902669,0.00447384626266,0.0799238237642,0.999999990221,6.74395761278e-05,-0.000119513757741,2.69386406003e-05,1793193669766714880
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,742.55142857,711,673,659,632,878,784,799.55142857,649.44857143,629,650,0.401574543168,0.00447557734131,0.0799268885801,0.999999991144,6.56385305826e-05,-0.000113618897325,2.22150025502e-05,1793193669783380736
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,742,711,673,659,632,878,784,799.025737754,649.974262246,629,650,0.40169731176,0.00447779829048,0.0799302136589,0.999999991936,6.4399126032e-05,-0.000108099534533,1.71799940173e-05,1793193669800045824
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,742,711,673,659,632,878,784,799.613420471,649.386579529,629,650,0.40184785116,0.00447890281249,0.0799365222079,0.999999993484,5.8991148313e-05,-9.70503528847e-05,1.15872683528e-05,1793193669816712704
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,742,711,672.802845923,659,632,878,784,800,649,629,650,0.402012601325,0.00447829929307,0.0799434891509,0.999999995121,4.93554544561e-05,-8.53881333202e-05,5.49003804866e-06,1793193669833379840
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,742,711,672.22670374,659,632,878,784,800,649,629,650,0.402204668745,0.00447441241565,0.0799517217198,0.999999996868,3.15928476832e-05,-7.25474758938e-05,-1.57699787214e-06,1793193669850046464
+130,2.166666667,POSE1_TO_POSE2_PRESS,763.651597007,742,711,672.348402993,659,632,878,784,799.651597007,649,628.651597007,650.348402993,0.40240556853,0.00447044501902,0.0799537095796,0.999999997374,1.60818799125e-05,-7.01602649701e-05,-8.42068148178e-06,1793193669866713088
+131,2.183333333,POSE1_TO_POSE2_PRESS,763.077161983,742,711,672.922838017,659,632,878,784,799.077161983,649,628.077161983,650.922838017,0.402612198474,0.00446642538388,0.0799516460849,0.999999997104,2.03169732167e-06,-7.45548939432e-05,-1.51194623939e-05,1793193669883379456
+132,2.200000000,POSE1_TO_POSE2_PRESS,763,742,711,672.485346531,659,632.514653469,878,784,799,649,628.514653469,650.485346531,0.402840813713,0.00446976444513,0.0799451900194,0.999999996063,3.90525191169e-06,-8.61444957964e-05,-2.09243268436e-05,1793193669900046080
+133,2.216666667,POSE1_TO_POSE2_PRESS,763.106340367,742.106340367,711.106340367,672.106340367,659,632.893659633,878,784.106340367,798.893659633,649,629,650.106340367,0.403082983512,0.00447511003904,0.0799387562607,0.999999994852,1.60492944286e-05,-9.71463140177e-05,-2.45288319596e-05,1793193669916712704
+134,2.233333333,POSE1_TO_POSE2_PRESS,763.685465497,742.685465497,711.685465497,672.685465497,659,632.314534503,878,784.685465497,798.314534503,649,629,650.685465497,0.403370249165,0.0044842999734,0.0799354520226,0.999999992787,6.28700186477e-05,-0.000100571204793,-1.89673300393e-05,1793193669933379328
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,742.737105366,711.737105366,673,659,632.262894634,878,784.737105366,798.525789268,649,629,651,0.403686419813,0.00449154325202,0.079935890537,0.99999999386,4.70871530226e-05,-9.86285669667e-05,-1.83118613454e-05,1793193669950046208
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,742.161692388,711.161692388,673,659,632.838307612,878,784.161692388,799.676615224,649,629,651,0.404036951514,0.0044964724257,0.0799407782817,0.999999994717,-4.31162920316e-05,-9.03052309932e-05,-2.3488483718e-05,1793193669966713088
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,742.413698871,711,673,659,632.586301129,878,784,799.586301129,649,629,651,0.4044086729,0.00450329853717,0.0799434886596,0.99999999515,-3.99976613928e-05,-8.61825636644e-05,-2.59332628513e-05,1793193669983379712
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,742.989081629,711,673,659,632.010918371,878,784,799.010918371,649,629,651,0.404788675737,0.00451086601935,0.0799453480679,0.999999996124,-4.06422827193e-07,-8.37016231717e-05,-2.73103690806e-05,1793193670000046592
+139,2.316666667,POSE1_TO_POSE2_PRESS,763.420876106,742.420876106,711,673,659,632,878,784,799,649,629,651,0.405210210201,0.00452173623797,0.0799465033396,0.999999996133,3.31968002468e-05,-7.60600017442e-05,-2.90914471092e-05,1793193670016712704
+140,2.333333333,POSE1_TO_POSE2_PRESS,763,742,711,673,659,632.16627881,878.16627881,784,799,649,628.83372119,651,0.405642442943,0.00453224736417,0.0799443409738,0.999999995039,5.593279458e-05,-7.63294716495e-05,-3.10868896445e-05,1793193670033379328
+141,2.350000000,POSE1_TO_POSE2_PRESS,763,742,711,673,659,632.745557802,878.745557802,784,799,649,628.254442198,651,0.406099252477,0.00454170790671,0.0799339721514,0.99999999343,5.19646508046e-05,-9.64962998927e-05,-3.35953582813e-05,1793193670050046208
+142,2.366666667,POSE1_TO_POSE2_PRESS,763,742,711,673,659,632.677845947,878.677845947,784,799,649,628.322154053,650.677845947,0.406585305062,0.0045516830071,0.0799265368007,0.999999991418,6.19223905391e-05,-0.000109900771087,-3.53740888033e-05,1793193670066712832
+143,2.383333333,POSE1_TO_POSE2_PRESS,763,742,711,673,659,632.103351006,878.103351006,784,799,649,628.896648994,650.103351006,0.407094263564,0.00456206115788,0.0799213992157,0.999999988941,8.27881714804e-05,-0.000118008340116,-3.65812211157e-05,1793193670083379456
+144,2.400000000,POSE1_TO_POSE2_PRESS,763.472028605,742,711.472028605,673,659,632,878.472028605,784,799.472028605,649,629,650,0.407620504183,0.00457429961396,0.0799181447422,0.999999987461,8.68692986345e-05,-0.000126599781911,-3.87776757251e-05,1793193670100046080
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,742,711.951163756,673,659,632,878.951163756,783.951163756,799.951163756,649,629,650.048836244,0.408153319103,0.00458668209116,0.0799149391165,0.999999985969,8.92468464583e-05,-0.000135680798098,-4.10712459597e-05,1793193670116712704
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,742,711.360669407,673,659,632,878.360669407,783.360669407,799.360669407,649,629,650.639330593,0.408717004448,0.00459613581747,0.0799076936445,0.999999981565,0.000113566711157,-0.000149014575953,-4.20349256418e-05,1793193670133380096
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,742,711,673,659.22543754,632,878,783.22543754,799.22543754,649,629,650.77456246,0.409325603643,0.00460568368462,0.079915261385,0.999999981385,0.000128105663184,-0.000137584012661,-4.34682125053e-05,1793193670150047232
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,742,711,673,659.804659201,632,878,783.804659201,799.804659201,649,629,650.195340799,0.410004687103,0.00461537928852,0.0799460758283,0.999999987047,0.000127295210852,-8.72902196441e-05,-4.56384642232e-05,1793193670166713600
+149,2.483333333,POSE1_TO_POSE2_PRESS,763.636799135,742,711,673,659.636799135,632.363200865,878.726401731,784,800.363200865,649,629,650,0.410685000277,0.00461965741593,0.0799700643207,0.999999989413,0.000128589866605,-4.80193434509e-05,-4.8291948579e-05,1793193670183380224
+150,2.500000000,POSE1_TO_POSE2_PRESS,763.088780667,742,711,673,659.088780667,632.911219333,879.822438666,784,800.911219333,649,629,650,0.411365939181,0.00462117881775,0.0799905793735,0.999999990012,0.000130955723091,-1.43575662823e-05,-5.1191329572e-05,1793193670200046336
+151,2.516666667,POSE1_TO_POSE2_PRESS,763.51858478,742,711,673,659,633,879.48141522,784,799.962830441,649,629,650,0.412042135958,0.00460224538348,0.0799702505407,0.999999991642,0.0001085670112,-4.72911964133e-05,-5.18986691204e-05,1793193670216712448
+152,2.533333333,POSE1_TO_POSE2_PRESS,763.871467956,742.128532044,711,673,659,633,879,784,799.128532044,649,628.871467956,650,0.412724275303,0.00458089534364,0.0799411689084,0.999999991151,8.14722263819e-05,-9.12134697662e-05,-5.23539055146e-05,1793193670233379072
+153,2.550000000,POSE1_TO_POSE2_PRESS,763.292668256,742.707331744,711,673,659,633,879,784,799.707331744,649,628.292668256,650,0.413430443757,0.00456493231977,0.0799090858255,0.99999998882,5.46560345772e-05,-0.00012852983579,-5.34105154107e-05,1793193670250046208
+154,2.566666667,POSE1_TO_POSE2_PRESS,763.285856801,743,711.285856801,673,659,632.714143199,879,784,799.714143199,649,628,650,0.414177547458,0.00455918036924,0.0799033134672,0.999999989213,4.07460291383e-05,-0.000130074207521,-5.47182467052e-05,1793193670266713088
+155,2.583333333,POSE1_TO_POSE2_PRESS,763.864101013,743,711.864101013,673,659,632.135898987,879,784,799.135898987,649,628,650,0.414966521688,0.00456387276959,0.0799244529173,0.999999993099,4.00370581798e-05,-9.50293520452e-05,-5.62828366169e-05,1793193670283379968
+156,2.600000000,POSE1_TO_POSE2_PRESS,763.560029386,742.560029386,711.560029386,673,659,632,878.560029386,784,799,649,628.439970614,650,0.415759838798,0.0045721229505,0.0799396997404,0.999999993964,5.28318853565e-05,-7.93600979287e-05,-5.46134364563e-05,1793193670300046336
+157,2.616666667,POSE1_TO_POSE2_PRESS,763.01545471,742.01545471,711,673.01545471,659,632,878.01545471,784,799.01545471,649.01545471,628.98454529,650.01545471,0.416553964984,0.0045812555344,0.0799524553003,0.999999993768,6.94603777355e-05,-7.01958682483e-05,-5.20691538065e-05,1793193670316712704
+158,2.633333333,POSE1_TO_POSE2_PRESS,763.603690625,742.603690625,711,673.603690625,659,632,878.603690625,784,799.603690625,649.603690625,628.396309375,650.603690625,0.417328629535,0.00458258171673,0.0799399751449,0.999999992456,7.44135469351e-05,-8.15038165819e-05,-5.39232355409e-05,1793193670333379584
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,742.812059691,711,674,659.187940309,632,878.812059691,784,799.812059691,649.812059691,628.187940309,650.812059691,0.418135507823,0.00458230883592,0.079941841454,0.999999993184,7.64344527357e-05,-6.85843500613e-05,-5.55545083452e-05,1793193670350046464
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,742.236041217,711,674,659.763958783,632,878.236041217,784,799.236041217,649.236041217,628.763958783,650.236041217,0.41900890425,0.00457873404767,0.0799733317955,0.999999995754,7.24005238842e-05,-5.63766498242e-06,-5.67257024833e-05,1793193670366713088
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,742.341230934,711,674,660.341230934,632,878.341230934,784,799,649,629,650.341230934,0.419852564344,0.00457685287862,0.0799790095344,0.999999995964,6.85810911144e-05,7.9132378488e-06,-5.75023561493e-05,1793193670383379712
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,742.919373469,711,674,660.919373469,632,878.919373469,784,799,649,629,650.919373469,0.420675578904,0.00457614756453,0.079966765963,0.999999996129,6.49105800909e-05,-1.28306246354e-05,-5.80050862297e-05,1793193670400046080
+163,2.716666667,POSE1_TO_POSE2_PRESS,763.509310712,743,711.490689288,673.509310712,660.018621424,632.490689288,878.509310712,783.509310712,799.490689288,649,629,651,0.421526270179,0.00458021048126,0.0799627714523,0.999999995436,7.39506441115e-05,-1.90668497608e-05,-5.74107455439e-05,1793193670416712960
+164,2.733333333,POSE1_TO_POSE2_PRESS,763,743,711.935873941,673.064126059,659.064126059,632.935873941,878.064126059,783.064126059,799.935873941,649,629,651,0.422383307896,0.00458521837514,0.0799631534275,0.999999994589,8.52087183425e-05,-1.85004174861e-05,-5.67463807704e-05,1793193670433379840
+165,2.750000000,POSE1_TO_POSE2_PRESS,763,743,711.335447052,673.664552948,659.664552948,632.335447052,878.664552948,783.664552948,799.335447052,649,629,651,0.423255910791,0.00459166680218,0.079988956759,0.999999993409,9.77894953114e-05,1.92955633385e-05,-5.69832812361e-05,1793193670450046464
+166,2.766666667,POSE1_TO_POSE2_PRESS,763.253611734,743,711.253611734,674,660,632,878.746388266,784,799,649,629,650.746388266,0.424089925425,0.00459513681314,0.0799912356535,0.999999993024,0.00010321289681,1.07963921071e-05,-5.64165129868e-05,1793193670466713088
+167,2.783333333,POSE1_TO_POSE2_PRESS,763.828279327,743,711.828279327,674,660,632,878.171720673,784,799,649,629,650.171720673,0.424875089966,0.00459483634514,0.0799637341536,0.999999991954,9.95755308577e-05,-5.63094070606e-05,-5.48323526709e-05,1793193670483379456
+168,2.800000000,POSE1_TO_POSE2_PRESS,763.596590962,742.596590962,711.596590962,674,659.596590962,632,878,784,799,649,629,650,0.425692782192,0.00459375378863,0.0799299678312,0.99999998875,9.33059186781e-05,-0.000102922161095,-5.65759324413e-05,1793193670500046080
+169,2.816666667,POSE1_TO_POSE2_PRESS,763.021264349,742.021264349,711.021264349,674,659.021264349,632,878,784,799,649,629,650,0.426524336432,0.0045923379358,0.0798935316816,0.999999984613,8.59145435821e-05,-0.000140801555375,-5.97376684467e-05,1793193670516712960
+170,2.833333333,POSE1_TO_POSE2_PRESS,763,742.569336282,711,674.569336282,659.569336282,632,878.569336282,784,799,649,629,650,0.427379897128,0.00458969389784,0.0798986946609,0.999999986337,8.8138393873e-05,-0.000125707825732,-6.12831342723e-05,1793193670533379328
+171,2.850000000,POSE1_TO_POSE2_PRESS,763.156791332,742.843208668,711,674.843208668,660,632.156791332,879,784,799,649.156791332,629,650,0.428227355549,0.00458849560893,0.0799079054505,0.999999987755,9.11830685255e-05,-0.000111138988495,-6.18296080187e-05,1793193670550046208
+172,2.866666667,POSE1_TO_POSE2_PRESS,763.734234443,742.265765557,711,674.265765557,660,632.734234443,879,784,799,649.734234443,629,650,0.429050604667,0.00459130254771,0.0799236927154,0.999999988305,9.54398713728e-05,-0.000103432808782,-5.9862330375e-05,1793193670566713344
+173,2.883333333,POSE1_TO_POSE2_PRESS,763.689513664,742.310486336,711,674,659.689513664,632.689513664,879,783.689513664,799.310486336,649.689513664,629,650,0.429884453715,0.00459330489043,0.079949819304,0.999999991293,9.59697093214e-05,-6.96552780998e-05,-5.78970431315e-05,1793193670583379968
+174,2.900000000,POSE1_TO_POSE2_PRESS,763.114277544,742.885722456,711,674,659.114277544,632.114277544,879,783.114277544,799.885722456,649.114277544,629,650,0.430727341217,0.00459462115892,0.0799847621695,0.999999993988,9.33215868299e-05,-1.36468673713e-05,-5.59334530525e-05,1793193670600046592
+175,2.916666667,POSE1_TO_POSE2_PRESS,763,743,711.471725736,674,659.943451471,632,878.528274264,783.471725736,799.528274264,649,629,650,0.431545156184,0.00459446817623,0.080007074594,0.999999993368,9.90162006225e-05,1.96275624799e-05,-5.54475977608e-05,1793193670616713216
+176,2.933333333,POSE1_TO_POSE2_PRESS,763,743,711.940554863,674.059445137,660.940554863,632,878,784,799,649,629,650,0.432343319475,0.00459394344188,0.0800180639019,0.999999992317,0.000105502794486,3.41895573986e-05,-5.53765037105e-05,1793193670633379840
+177,2.950000000,POSE1_TO_POSE2_PRESS,763,743,711.361172969,674.638827031,660.361172969,632,878,784,799,649,629,650,0.433023965406,0.00459335306155,0.0799574030391,0.999999991211,0.000100826304181,-6.56210762704e-05,-5.57288435161e-05,1793193670650046208
+178,2.966666667,POSE1_TO_POSE2_PRESS,763,742.782683401,711.217316599,675,660,632,878.217316599,784,799.434633198,649,629,650,0.433719502957,0.00459132390464,0.0799075286238,0.999999984001,9.5803840941e-05,-0.000139952551826,-5.6858776585e-05,1793193670666712832
+179,2.983333333,POSE1_TO_POSE2_PRESS,763,742.205670694,711.794329306,675,660,632,878.794329306,784,800.588658612,649,629,650,0.434439688794,0.00458691332654,0.0798755076127,0.999999979363,9.02087338973e-05,-0.000172111683342,-5.92757601522e-05,1793193670683379200
+180,3.000000000,POSE1_TO_POSE2_PRESS,763,742,711.630740469,675,660,632,879,784,801,649,629,650,0.435161309828,0.00458386139219,0.0798882577116,0.999999983647,8.62480557091e-05,-0.000147569212337,-5.90765724745e-05,1793193670700046336
+181,3.016666667,POSE1_TO_POSE2_PRESS,763,742,711.056963678,675,660,632,879,784,801,649,629,650,0.435883725714,0.0045815619535,0.0799258046396,0.999999990693,8.31926187881e-05,-9.16221160097e-05,-5.74283977539e-05,1793193670716713472
+182,3.033333333,POSE1_TO_POSE2_PRESS,763,742.531359275,711,674.468640725,659.468640725,632,879.531359275,784,799.93728145,649,629,650,0.436536548415,0.0045891825612,0.0799249328168,0.999999988523,8.64723746032e-05,-0.000111186827469,-5.57972033253e-05,1793193670733380096
+183,3.050000000,POSE1_TO_POSE2_PRESS,763.119092976,742.880907024,711,674.119092976,659.119092976,632,879.880907024,784,799.119092976,649,629,650.119092976,0.437170802108,0.00459731925003,0.0799148421701,0.999999983946,9.36515925064e-05,-0.000142690610726,-5.45528555153e-05,1793193670750046976
+184,3.066666667,POSE1_TO_POSE2_PRESS,763.698354779,742.301645221,711,674.698354779,659.698354779,632,879.301645221,784,799.698354779,649,629,650.698354779,0.437762945045,0.00460322521803,0.0798854925759,0.999999974388,0.000113200037738,-0.000188166738057,-5.4796030521e-05,1793193670766713856
+185,3.083333333,POSE1_TO_POSE2_PRESS,764,742,711,675,659.724438145,632,879.275561855,783.724438145,800,649.275561855,629,651,0.438333912538,0.00460793207117,0.0798565102679,0.999999964443,0.000118348630898,-0.00023255174742,-5.50192124527e-05,1793193670783380480
+186,3.100000000,POSE1_TO_POSE2_PRESS,764,742,711,675,659.149463678,632,879.850536322,783.149463678,800,649.850536322,629,651,0.438881871746,0.00461133602185,0.0798279270378,0.99999995464,0.000107851017676,-0.000275751196188,-5.5220670861e-05,1793193670800047616
+187,3.116666667,POSE1_TO_POSE2_PRESS,763.574254245,742.425745755,711,675,659,632,879.148508489,783,800,650,629,651,0.439400063512,0.00461820644082,0.0797985881722,0.999999941396,0.000116477799695,-0.000316912685357,-5.66296159845e-05,1793193670816713728
+188,3.133333333,POSE1_TO_POSE2_PRESS,763.001065818,742.998934182,711,675,659,631.998934182,878.002131637,783,800.001065818,649.998934182,629,651,0.439907680934,0.00462629373483,0.0797689461087,0.999999925723,0.000131831709775,-0.000357431627917,-5.84549094452e-05,1793193670833379840
+189,3.150000000,POSE1_TO_POSE2_PRESS,763.591907054,742.408092946,711,675,659,631.408092946,879.183814108,783,800.591907054,649.408092946,629,651,0.440349803192,0.00463396759107,0.0797184021514,0.999999890665,0.000152468872741,-0.000438510477611,-5.59695690552e-05,1793193670850046720
+190,3.166666667,POSE1_TO_POSE2_PRESS,764,742.174038719,711,675.174038719,659,631,879.825961281,783,800.825961281,649.174038719,629,651,0.440781714424,0.0046430526071,0.0796741752816,0.999999854884,0.000166768779136,-0.000509275318383,-5.5308875921e-05,1793193670866713600
+191,3.183333333,POSE1_TO_POSE2_PRESS,764,742.736721261,711,675.736721261,659,631,879.263278739,783,800.263278739,649.736721261,629,651,0.44119082362,0.00465528886898,0.0796440550157,0.999999829216,0.000166917038017,-0.000557008087659,-5.87227813395e-05,1793193670883380480
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,743,711,676,658.685042529,631,879.314957471,783,800,650,629,651,0.441621878855,0.00467560773788,0.0796408831372,0.999999823934,0.000188672311991,-0.000559137765557,-6.24512473029e-05,1793193670900047104
+193,3.216666667,POSE1_TO_POSE2_PRESS,764,743,711,676,658.09312934,631,879.90687066,783,800,650,629,651,0.442072232165,0.00470303399181,0.0796614081425,0.999999835666,0.000229427568171,-0.0005211666705,-6.64563196867e-05,1793193670916713472
+194,3.233333333,POSE1_TO_POSE2_PRESS,764,743,711,676,658,630.504442251,880,783,799.504442251,649.504442251,628.504442251,651,0.442477740511,0.00471621145546,0.0796914736608,0.999999851651,0.000253057552861,-0.000477932126907,-6.51133896862e-05,1793193670933379840
+195,3.250000000,POSE1_TO_POSE2_PRESS,764,743,711,676,658,630,880,783,799.082331765,649,628,651,0.442866432106,0.00472562805297,0.0797190290013,0.999999865205,0.000268411758974,-0.000439955041229,-6.31247391623e-05,1793193670950046208
+196,3.266666667,POSE1_TO_POSE2_PRESS,764,743,711,676,658,630,880,783,799.661200926,649,628,651,0.443204200783,0.00472840800455,0.0797207025068,0.99999986933,0.000253139254572,-0.000439612258626,-6.32639237745e-05,1793193670966713088
+197,3.283333333,POSE1_TO_POSE2_PRESS,764,742.761312383,711,676,658,630,880,783,799.761312383,649,628,651,0.44350427676,0.00473497690373,0.0797108015038,0.999999860864,0.000255493496835,-0.000457171537492,-6.31670990283e-05,1793193670983380224
+198,3.300000000,POSE1_TO_POSE2_PRESS,764,742.185776751,711,676,658,630,880,783,799.185776751,649,628,651,0.443751158867,0.00474689295676,0.07968456597,0.999999833068,0.000282723494696,-0.000499995108531,-6.27372058509e-05,1793193671000047104
+199,3.316666667,POSE1_TO_POSE2_PRESS,764,742,710.610127701,675.610127701,657.610127701,630,879.610127701,782.610127701,799,649,628,651,0.443988462445,0.00475767562384,0.0796684319407,0.999999815894,0.000300374022883,-0.000523294784296,-6.44251294661e-05,1793193671016713984
+200,3.333333333,POSE1_TO_POSE2_PRESS,764,742,710.034424538,675.034424538,657.034424538,630,879.034424538,782.034424538,799,649,628,651,0.444221200483,0.0047679180687,0.0796571127454,0.99999980428,0.000313458542859,-0.000537288487981,-6.71225008425e-05,1793193671033380864
+201,3.350000000,POSE1_TO_POSE2_PRESS,764,742,710.555049201,675.555049201,657,630,879.555049201,782,799,649,628,651,0.444433716611,0.00477320350718,0.0796586798877,0.999999810053,0.00029918217572,-0.000535017621937,-6.43454289756e-05,1793193671050046976
+202,3.366666667,POSE1_TO_POSE2_PRESS,764,742,710.857206168,675.857206168,657.142793832,630,879.857206168,782,799.142793832,649,628,651,0.444639101233,0.00477718832433,0.0796613067044,0.999999815478,0.000288337289519,-0.000531098369529,-6.19635687861e-05,1793193671066713088
+203,3.383333333,POSE1_TO_POSE2_PRESS,764,742,710.277432933,675.277432933,657.722567067,630,879.277432933,782,799.722567067,649,628,651,0.444826597673,0.00477815772332,0.0796646683455,0.999999817099,0.000293318573338,-0.00052530019778,-6.18566032826e-05,1793193671083379712
+204,3.400000000,POSE1_TO_POSE2_PRESS,764,742,710.300381249,675.300381249,657.399237502,630,879.300381249,782,800,649,628,651,0.444988107275,0.00477902384668,0.0796637995202,0.999999813996,0.000299170323736,-0.00052789663747,-6.18964596411e-05,1793193671100046336
+205,3.416666667,POSE1_TO_POSE2_PRESS,764,742,710.876397733,675.876397733,656.247204534,630,879.876397733,782,800,649,628,651,0.445125770876,0.00477979520241,0.0796590487429,0.999999806483,0.000305820829595,-0.000538196123839,-6.20710423812e-05,1793193671116712960
+206,3.433333333,POSE1_TO_POSE2_PRESS,764,742,710.5403279,676,656,630,879.5403279,782,799.5403279,649,628,651,0.445247756808,0.0047803346012,0.0796587213339,0.999999804935,0.000310585002973,-0.00053836034792,-6.19221001533e-05,1793193671133379840
+207,3.450000000,POSE1_TO_POSE2_PRESS,764,742,710,676,656,629.955268069,879.044731931,782,799.044731931,649,628,650.955268069,0.445363555589,0.0047811454395,0.0796594487286,0.999999804863,0.000314913191809,-0.000535994520579,-6.17532762504e-05,1793193671150046720
+208,3.466666667,POSE1_TO_POSE2_PRESS,764,742,710,676,656,629.372582543,879.627417457,782,799.627417457,649,628,650.372582543,0.44545645754,0.00478598277663,0.0796583278574,0.999999802872,0.000320195931202,-0.000536502498933,-6.24083321847e-05,1793193671166713344
+209,3.483333333,POSE1_TO_POSE2_PRESS,763.792839098,742,710.207160902,676,656,629,879.792839098,782,799.792839098,649,628,650,0.445540069437,0.00478899408593,0.0796573202576,0.999999801181,0.000323620756503,-0.000537583820119,-6.25333815786e-05,1793193671183379968
+210,3.500000000,POSE1_TO_POSE2_PRESS,763.218313005,742,710.781686995,676,656,629,879.218313005,782,799.218313005,649,628,650,0.445607206969,0.00478876723997,0.079656513526,0.99999980006,0.000323750881548,-0.000539681868834,-6.1718553006e-05,1793193671200046080
+211,3.516666667,POSE1_TO_POSE2_PRESS,763.357494501,742,710.642505499,676,656,629,879,782,799,649.357494501,628,650,0.445663766858,0.00478804991708,0.0796547842133,0.999999799318,0.000323409453529,-0.000541303723398,-6.13302011308e-05,1793193671216712704
+212,3.533333333,POSE1_TO_POSE2_PRESS,763.934087406,742,710.065912594,676,656,629,879,782,799,649.934087406,628,650,0.445713844013,0.00478703199453,0.0796524894764,0.999999798808,0.000322779023809,-0.000542633732059,-6.12032248428e-05,1793193671233379584
+213,3.550000000,POSE1_TO_POSE2_PRESS,763.476514024,742.523485976,710.523485976,676,656.523485976,629,879,782,800.046971951,649.476514024,628,650,0.445745140544,0.00478905656307,0.0796496181433,0.999999795377,0.000325196463479,-0.000547500604041,-6.11184334414e-05,1793193671250046464
+214,3.566666667,POSE1_TO_POSE2_PRESS,763.111815737,743,710.888184263,675.888184263,656.888184263,629,879.111815737,782,800.776368526,649,628,650.111815737,0.445772330927,0.00479073414251,0.0796466839342,0.999999791937,0.000327385545157,-0.000552472802409,-6.09746988202e-05,1793193671266713088
+215,3.583333333,POSE1_TO_POSE2_PRESS,763.688822851,743,710.311177149,675.311177149,656.311177149,629,879.688822851,782,799.622354298,649,628,650.688822851,0.445792522935,0.00478933441142,0.079643797752,0.999999790146,0.000326987974214,-0.000555984015251,-6.05630884888e-05,1793193671283379712
+216,3.600000000,POSE1_TO_POSE2_PRESS,764,742.734704774,710.265295226,675,656,629,880,782,799,649,628,650.734704774,0.445809009174,0.00478833591424,0.079641954762,0.999999789232,0.000326358398186,-0.000558018055319,-6.03511923677e-05,1793193671300046336
+217,3.616666667,POSE1_TO_POSE2_PRESS,764,742.158858391,710.841141609,675,656,629,880,782,799,649,628,650.158858391,0.445821157486,0.00478780709636,0.0796413329195,0.999999789354,0.000325457240038,-0.000558322935857,-6.03730791407e-05,1793193671316712960
+218,3.633333333,POSE1_TO_POSE2_PRESS,764,742,711,675,656,629,879.573930207,782,799.426069793,649,628.426069793,650.426069793,0.445828610506,0.00478705725273,0.0796399207712,0.999999788792,0.000324480717824,-0.000559907019409,-6.02667335684e-05,1793193671333379584
+219,3.650000000,POSE1_TO_POSE2_PRESS,764,742.014224774,711,675,656,629,879,782,799.985775226,649,628.985775226,651,0.445834257007,0.00478622478504,0.0796382690277,0.999999788003,0.000323506751101,-0.00056189346326,-6.01026945177e-05,1793193671350046720
+220,3.666666667,POSE1_TO_POSE2_PRESS,764,742.593128377,711,675,656,629,879,782,799.406871623,649,628.406871623,651,0.445839198093,0.00478545501,0.0796390580289,0.999999788726,0.000323773971822,-0.000560506747884,-5.95876846767e-05,1793193671366713344
+221,3.683333333,POSE1_TO_POSE2_PRESS,764,742.828803126,710.828803126,675.171196874,656,629,879,782,799.171196874,649,628.171196874,650.828803126,0.445842911752,0.0047846941021,0.0796393824716,0.999999788973,0.000324007703742,-0.000559977357974,-5.91452393875e-05,1793193671383379712
+222,3.700000000,POSE1_TO_POSE2_PRESS,764,742.252709813,710.252709813,675.747290187,656,629,879,782,799.747290187,649,628.747290187,650.252709813,0.44584372243,0.00478395416594,0.0796386081902,0.999999788099,0.000324162231509,-0.000561475622263,-5.88744160466e-05,1793193671400046080
+223,3.716666667,POSE1_TO_POSE2_PRESS,764,742,710.322734671,676,655.677265329,629,879,782,799.677265329,649,628.677265329,650.322734671,0.445843887747,0.00478265180052,0.0796380319804,0.999999787992,0.000321814419629,-0.000563025467694,-5.87668012112e-05,1793193671416712704
+224,3.733333333,POSE1_TO_POSE2_PRESS,764,742,710.897672186,676,655.102327814,629,879,782,799.102327814,649,628.102327814,650.897672186,0.445843548741,0.00478090992147,0.0796376105546,0.99999978847,0.000317511140211,-0.000564615621651,-5.87867265611e-05,1793193671433379328
+225,3.750000000,POSE1_TO_POSE2_PRESS,764,742,710.514617277,676,655.485382723,628.514617277,879,782,799.485382723,649,628,651,0.445844019369,0.00476600002589,0.0796374700459,0.999999793323,0.000301204115543,-0.000564894361524,-5.93712992649e-05,1793193671450046208
+226,3.766666667,POSE1_TO_POSE2_PRESS,764,742.074472444,710,676,656,628.074472444,879.074472444,782,800,649.074472444,628,651,0.445844612118,0.0047482366908,0.0796372900154,0.999999798749,0.000282287760112,-0.000565017401896,-5.9752120727e-05,1793193671466713344
+227,3.783333333,POSE1_TO_POSE2_PRESS,764,742.654157356,710,676,656,628.654157356,879.654157356,782,800,649.654157356,628,651,0.445844844112,0.0047304574309,0.0796364292559,0.999999803475,0.000263301376784,-0.000566010431248,-5.7921350582e-05,1793193671483379712
+228,3.800000000,POSE1_TO_POSE2_PRESS,764,742.768494387,710,676,656,629,879.768494387,782,800,649.768494387,628,651,0.445844989611,0.00472225486129,0.0796357338698,0.999999805547,0.000253883727192,-0.000566699050091,-5.74495552257e-05,1793193671500046336
+229,3.816666667,POSE1_TO_POSE2_PRESS,764,742.194601977,710,676,656,629,879.194601977,782,800,649.194601977,628,651,0.445845007187,0.00472821580377,0.079635283064,0.99999980411,0.000258617822479,-0.000566937459118,-5.89876249802e-05,1793193671516712960
+230,3.833333333,POSE1_TO_POSE2_PRESS,764,742,710,676,655.61901232,629,879.38098768,782,800,649,628,651,0.44584697712,0.0047325352642,0.0796367082117,0.999999804054,0.000262622855679,-0.000565079025575,-6.00532624729e-05,1793193671533379328
+231,3.850000000,POSE1_TO_POSE2_PRESS,764,742,710,676,655.042551876,629,879.957448124,782,800,649,628,651,0.445849948745,0.00473601253178,0.0796390958519,0.999999804698,0.000266253829965,-0.000562144768225,-6.08765098232e-05,1793193671550045952
+232,3.866666667,POSE1_TO_POSE2_PRESS,764,742,710.547079331,676,655.547079331,629,879.452920669,782,800,649,628,650.452920669,0.445848710502,0.00474476975601,0.079638118916,0.999999801519,0.000274898297358,-0.000563436891796,-6.26978760538e-05,1793193671566712576
+233,3.883333333,POSE1_TO_POSE2_PRESS,764,742,710.865342368,676,655.865342368,629,879,782,800,649,628.134657632,650.134657632,0.445847424248,0.00475277614469,0.079637087169,0.999999798295,0.000283257569502,-0.000564837367376,-6.42884261836e-05,1793193671583379456
+234,3.900000000,POSE1_TO_POSE2_PRESS,764,742,710.287964757,676,655.287964757,629,879,782,800,649,628.712035243,650.712035243,0.445847083254,0.00475693047173,0.0796367568354,0.999999796143,0.000289365508028,-0.000565486640581,-6.48585749388e-05,1793193671600046336
+235,3.916666667,POSE1_TO_POSE2_PRESS,764,742,710,676,655,629,879.288363813,782,800,649,628.711636187,651,0.445846942241,0.00475720578817,0.0796364065549,0.999999795798,0.000289315236672,-0.00056612380385,-6.48453015088e-05,1793193671616713216
+236,3.933333333,POSE1_TO_POSE2_PRESS,764,742,710,676,655,629,879.863648658,782,800,649,628.136351342,651,0.445847000208,0.00475362150249,0.0796360364274,0.99999979725,0.000283137567732,-0.000566748917851,-6.42515250165e-05,1793193671633380096
+237,3.950000000,POSE1_TO_POSE2_PRESS,764,742,710,675.550979246,655,629,879.550979246,782.449020754,799.550979246,649,628,651,0.445848198566,0.00475508844024,0.0796366168948,0.999999797329,0.000285857571457,-0.000565216001119,-6.44771206597e-05,1793193671650046720
+238,3.966666667,POSE1_TO_POSE2_PRESS,764,742,710,675.03696573,655,629,879,782.96303427,799,649,628,651,0.445849507955,0.00475795073095,0.0796373389521,0.999999796889,0.000290932815225,-0.000563352776222,-6.49200737909e-05,1793193671666713088
+239,3.983333333,POSE1_TO_POSE2_PRESS,764,742,710,675.616679556,655,629,879,782.383320444,799,649,628,651,0.44584724623,0.00475826163702,0.079635804238,0.999999795396,0.000290006546584,-0.000566482580783,-6.48172182809e-05,1793193671683379712
+240,4.000000000,POSE1_TO_POSE2_PRESS,764,742,710.193709721,676,655.193709721,628.806290279,879.193709721,782,799,649.193709721,628.193709721,651,0.445846097199,0.00475744895683,0.0796350712155,0.999999794763,0.000288875604945,-0.000568221804658,-6.44060767821e-05,1793193671700046336
+241,4.016666667,POSE1_TO_POSE2_PRESS,764,742,710.765501884,676,655.765501884,628.234498116,879.765501884,782,799,649.765501884,628.765501884,651,0.445847119923,0.00475444326209,0.0796359029339,0.999999795822,0.000287345182813,-0.000567246894345,-6.33932230028e-05,1793193671716712960
+242,4.033333333,POSE1_TO_POSE2_PRESS,764,742,710.660691168,676,655.660691168,628.339308832,880,781.660691168,799.339308832,649.660691168,628.660691168,651,0.445848136327,0.00475462519603,0.0796361992608,0.999999796142,0.000287640157865,-0.00056653541282,-6.33763763253e-05,1793193671733379584
+243,4.050000000,POSE1_TO_POSE2_PRESS,764,742,710.085483497,676,655.085483497,628.914516503,880,781.085483497,799.914516503,649.085483497,628.085483497,651,0.445849148336,0.00475702327607,0.0796361233656,0.999999795947,0.000289204210106,-0.00056600707583,-6.40519871109e-05,1793193671750046976
+244,4.066666667,POSE1_TO_POSE2_PRESS,764,742,710,676,655.506365134,629,879.493634866,781.506365134,800,649,628,651,0.44584920108,0.00475586292147,0.0796364576566,0.999999796504,0.000288179551352,-0.000565554483871,-6.39797158956e-05,1793193671766713344
+245,4.083333333,HOLD_POSE2,763,742,710,676,655,629,879,782,799,649,628,651,0.445848577854,0.00475909709594,0.0796367057161,0.999999795526,0.000289409040381,-0.000566602118934,-6.44401371325e-05,1793193671809336576
+246,4.100000000,HOLD_POSE2,763.572770273,742,710.572770273,676,655,629,879.572770273,782,799.572770273,649.572770273,628,651,0.445851019226,0.00475720172236,0.0796374396054,0.999999797264,0.000288082409516,-0.00056424203688,-6.4119542755e-05,1793193671826003456
+247,4.116666667,HOLD_POSE2,764,742.149681503,710.850318497,676,655.149681503,629,880,782,800,650,628.149681503,651,0.445852887131,0.00475598467144,0.0796380578913,0.999999798521,0.000287186607001,-0.000562495202916,-6.38767546405e-05,1793193671842670080
+248,4.133333333,HOLD_POSE2,764,742.738748523,710.261251477,676,655.738748523,629,880,782,800,650,628.738748523,651,0.44585307164,0.00475675881565,0.0796383368275,0.999999798386,0.000287555487742,-0.000562548539601,-6.38623643793e-05,1793193671859336448
+249,4.150000000,HOLD_POSE2,764,743,710,676,656,629,879.677779266,782,800,649.677779266,628.677779266,651,0.44585277007,0.00475706949445,0.0796383640293,0.999999797864,0.000288314996582,-0.000563058112066,-6.41197463421e-05,1793193671876002816
+250,4.166666667,HOLD_POSE2,764,743,710,676,656,629,879.098765854,782,800,649.098765854,628.098765854,651,0.445852081121,0.00475701081607,0.0796381906122,0.999999797032,0.000289385815086,-0.000563931280023,-6.4593716222e-05,1793193671892669440
+251,4.183333333,HOLD_POSE2,764,742.522543472,710.477456528,676,656.477456528,629,879,782,800,649,628,650.522543472,0.445852197762,0.00475621957554,0.0796378537567,0.999999796907,0.000289317337668,-0.000564234235821,-6.41953779378e-05,1793193671909336576
+252,4.200000000,HOLD_POSE2,764,742,710.947085267,675.947085267,656.894170534,628.947085267,879,781.947085267,800,649,628,650.052914733,0.445852525997,0.00475538702415,0.079637554782,0.999999797,0.000288959788147,-0.000564311098368,-6.3677599932e-05,1793193671926003200
+253,4.216666667,HOLD_POSE2,764,742,710.3734984,675.3734984,655.746996799,628.3734984,879,781.3734984,800,649,628,650.6265016,0.445853306069,0.00475563040957,0.0796379592854,0.999999797815,0.000288063321638,-0.000563317134945,-6.3749776936e-05,1793193671942669568
+254,4.233333333,HOLD_POSE2,764,742,710,675,655,628.206657362,879.206657362,781.206657362,800,649.206657362,628,651,0.445853233355,0.00475579923173,0.0796378948849,0.999999798013,0.000287852864568,-0.000563065245339,-6.38104387045e-05,1793193671959336192
+255,4.250000000,HOLD_POSE2,764,742,710,675,655,628.79907499,879.79907499,781.79907499,800,649.79907499,628,651,0.445851568775,0.00475582886915,0.0796369551976,0.999999797063,0.00028892295808,-0.000564198559795,-6.38496053668e-05,1793193671976002816
+256,4.266666667,HOLD_POSE2,764,742,710,675.383156696,655,628.616843304,880,782,799.616843304,649.616843304,628.383156696,650.616843304,0.445851985892,0.00475627935093,0.079637187433,0.999999796916,0.000290101617375,-0.000563855782333,-6.3840768077e-05,1793193671992669440
+257,4.283333333,HOLD_POSE2,764,742,710,675.962960226,655,628.037039774,880,782,799.037039774,649.037039774,628.962960226,650.037039774,0.445853471394,0.00475694582191,0.0796380211322,0.999999797179,0.00029133599579,-0.000562755432925,-6.38072938072e-05,1793193672009336064
+258,4.300000000,HOLD_POSE2,764,742.539751141,710.539751141,676,655.539751141,628.539751141,879.460248859,782,799,649,628.460248859,650.539751141,0.445852557098,0.00475579291604,0.079637494469,0.999999797837,0.000287710875799,-0.000563463430152,-6.37020616655e-05,1793193672026002688
+259,4.316666667,HOLD_POSE2,764,742.884290938,711,676,655.884290938,629,879.115709062,782,799.115709062,649.115709062,628,650.884290938,0.445851876767,0.00475494181086,0.0796370448229,0.999999798236,0.000284901354297,-0.000564189600516,-6.36406690928e-05,1793193672042669056
+260,4.333333333,HOLD_POSE2,764,742.310814974,711,676,655.310814974,629,879.689185026,782,799.689185026,649.689185026,628,650.310814974,0.445852769952,0.00475577588448,0.0796372671438,0.999999797558,0.000286630469474,-0.000564499446829,-6.37720874253e-05,1793193672059335936
+261,4.350000000,HOLD_POSE2,764,742,710.727888279,676,655,629,879.727888279,782,800,649.727888279,628,650.272111721,0.445853361625,0.00475622826831,0.0796377357875,0.999999797383,0.000287980039707,-0.000564123257758,-6.37625840392e-05,1793193672076002304
+262,4.366666667,HOLD_POSE2,764,742,710.133778274,676,655,629,879.133778274,782,800,649.133778274,628,650.866221726,0.445853596512,0.00475622898666,0.0796384959125,0.999999797804,0.000288880482471,-0.00056293526161,-6.35863235812e-05,1793193672092668928
+263,4.383333333,POSE2_TO_POSE3_RETREAT,764,743,710,676,655,629,879,782,799,649,629,651,0.445853597136,0.00475731976371,0.0796379819786,0.999999796485,0.000291401315952,-0.000564010193766,-6.33001119205e-05,1793193672125264640
+264,4.400000000,POSE2_TO_POSE3_RETREAT,764,742.425868109,710,676,655.574131891,629,879,782,799.574131891,649,628.425868109,650.425868109,0.445853757066,0.00475705942477,0.0796381757611,0.999999796958,0.000290565907484,-0.00056362360257,-6.31221424712e-05,1793193672141931264
+265,4.416666667,POSE2_TO_POSE3_RETREAT,764,742,710,676,656,629,879.152133961,782,800,649.152133961,628,650.152133961,0.445853474841,0.00475679161557,0.0796377854428,0.999999797104,0.00028937109713,-0.000563976773201,-6.31435910059e-05,1793193672158597888
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764,742,710,676,656,629,879.741252744,782,800,649.741252744,628,650.741252744,0.445851922588,0.00475650234899,0.0796357173718,0.999999796307,0.00028714395186,-0.000566454812438,-6.37378414686e-05,1793193672175264768
+267,4.450000000,POSE2_TO_POSE3_RETREAT,764,742.324716656,710.324716656,676,655.675283344,629,879.675283344,781.675283344,799.675283344,649.675283344,628,651,0.445852736441,0.00475662321952,0.0796359132975,0.999999796965,0.000286199452875,-0.000565738819916,-6.40233852633e-05,1793193672191931392
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764,742.903751633,710.903751633,676,655.096248367,629,879.096248367,781.096248367,799.096248367,649.096248367,628,651,0.445855403429,0.00475706530977,0.0796378823872,0.99999979876,0.000286259523525,-0.000562521259243,-6.40671497347e-05,1793193672208598016
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764.481375991,742.518624009,711,675.518624009,655.481375991,629,879,781.481375991,799.481375991,649,628,650.518624009,0.445853696861,0.00475664520439,0.0796370798919,0.999999797726,0.000286903259947,-0.000564037109695,-6.40074915371e-05,1793193672225264896
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764.940541419,742,711,675.059458581,656,628.940541419,879.059458581,782,800,649,628,650,0.445850474772,0.00475606310451,0.0796353480344,0.99999979593,0.00028748284828,-0.000566928542143,-6.39146428002e-05,1793193672241931264
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764.355927741,742,711,675.644072259,656,628.355927741,879.644072259,782,800,649,628,650,0.445841568144,0.00475556838122,0.0796302880053,0.99999979241,0.000286468141026,-0.000573634893338,-6.37107529034e-05,1793193672258597888
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764,742,711,676,655.773486814,628.226513186,879.773486814,782,800,649,628,650.226513186,0.445821780606,0.00475576305018,0.0796205834923,0.999999783309,0.000286854743908,-0.000589111855814,-6.35825249618e-05,1793193672275264512
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764,742,711,676,655.194427621,628.805572379,879.194427621,782,800,649,628,650.805572379,0.445785057978,0.00475703069199,0.0796036502869,0.999999764987,0.000289422351301,-0.000618239431013,-6.3572057568e-05,1793193672291931392
+274,4.566666667,POSE2_TO_POSE3_RETREAT,763.615603689,742,710.615603689,676,655.384396311,628.615603689,879,781.615603689,800,649,628,650.615603689,0.445729380099,0.00475713561227,0.0795832722398,0.999999742319,0.000290483246264,-0.000653483879947,-6.27686042094e-05,1793193672308598016
+275,4.583333333,POSE2_TO_POSE3_RETREAT,763.036898628,742,710.036898628,676,655.963101372,628.036898628,879,781.036898628,800,649,628,650.036898628,0.445664120514,0.00475665278777,0.0795611528558,0.99999971652,0.000290782512103,-0.000691820353529,-6.15643037806e-05,1793193672325264896
+276,4.600000000,POSE2_TO_POSE3_RETREAT,763.539332838,742,710,676,655.460667162,628.539332838,879,781,799.460667162,649,628,650.539332838,0.445595596615,0.00475611325775,0.0795550251986,0.99999971246,0.000292551758571,-0.000697076887137,-5.98038345333e-05,1793193672341931264
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764,742,710,676,655,629,879,781.117400446,799.117400446,649.117400446,628,651,0.445523391005,0.00475524647693,0.0795515718336,0.999999710458,0.000293984480407,-0.00069951782666,-5.77289248213e-05,1793193672358597888
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764,742,710,676,655,629,879,781.703470719,799.703470719,649.703470719,628,651,0.445437375228,0.00475308870714,0.0795544467158,0.999999710591,0.000293674130159,-0.000699712226594,-5.45499551356e-05,1793193672375264512
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764,742,710,676,655,628.713867863,879,782,800,649.713867863,628,651,0.445334718712,0.00475120011642,0.0795563858145,0.999999710189,0.000296006387764,-0.000699598480001,-5.06330922141e-05,1793193672391931136
+280,4.666666667,POSE2_TO_POSE3_RETREAT,764,742,710,676,655,628.134697608,879,782,800,649.134697608,628,651,0.445215019827,0.00474958720169,0.0795573665437,0.999999709211,0.000301045034242,-0.000699169149535,-4.59605267259e-05,1793193672408597760
+281,4.683333333,POSE2_TO_POSE3_RETREAT,763.556194674,742,710,676,655.443805326,628.443805326,879.443805326,782,800,649.443805326,628,650.556194674,0.445064929252,0.00474828883296,0.0795571037245,0.999999707221,0.000302819491932,-0.000701552069152,-4.10117666021e-05,1793193672425264384
+282,4.700000000,POSE2_TO_POSE3_RETREAT,763.021906568,742.021906568,710.021906568,676,656,629,879.978093432,782,800,649.978093432,628,650.021906568,0.444904580748,0.00474704452155,0.0795564437834,0.999999704965,0.000303688710548,-0.000704664342966,-3.5936083993e-05,1793193672441931008
+283,4.716666667,POSE2_TO_POSE3_RETREAT,763.594989558,742.594989558,710.594989558,676,656,629,879.405010442,782,800,649.405010442,628,650.594989558,0.444717871333,0.00474476194442,0.079555273987,0.999999704243,0.000306670758242,-0.000704684432273,-2.977292997e-05,1793193672458598656
+284,4.733333333,POSE2_TO_POSE3_RETREAT,764,743,710.827206191,676,656.172793809,629,879,782,800.172793809,649,628,651,0.444521083264,0.00474193265688,0.079554392782,0.999999702297,0.000310098811187,-0.000706196602932,-2.3047093446e-05,1793193672475266048
+285,4.750000000,POSE2_TO_POSE3_RETREAT,764,743,710.238025035,676,656.761974965,629,879,782,800.761974965,649,628,651,0.444300008334,0.0047377859423,0.0795542070064,0.999999697424,0.000314601618326,-0.00071130429477,-1.49653419069e-05,1793193672491932672
+286,4.766666667,POSE2_TO_POSE3_RETREAT,764,743,710,675.653654793,656.653654793,629,879,782,800.653654793,649.346345207,628,650.653654793,0.444054379671,0.00473287408621,0.0795571926798,0.999999696469,0.000318856276451,-0.00071088280604,-6.258239097e-06,1793193672508599040
+287,4.783333333,POSE2_TO_POSE3_RETREAT,764,743,710,675.072545487,656.072545487,629,879,782,800.072545487,649.927454513,628,650.072545487,0.443792107663,0.00472744359177,0.0795623280651,0.999999698128,0.000322942731505,-0.000706713458535,2.87274805197e-06,1793193672525265408
+288,4.800000000,POSE2_TO_POSE3_RETREAT,764,742.496187663,710,675.503812337,656,629,879,782,800,650,628,650,0.443489645979,0.00472465473193,0.0795688633426,0.999999703687,0.000327989700035,-0.000696379251729,1.02724021356e-05,1793193672541931776
+289,4.816666667,POSE2_TO_POSE3_RETREAT,764,742.079102312,710,676,656,629.079102312,879,782,799.920897688,649.920897688,628,650.079102312,0.44317745326,0.00472146604004,0.0795758470192,0.999999712002,0.000327050584217,-0.000684678267735,1.58223295861e-05,1793193672558598400
+290,4.833333333,POSE2_TO_POSE3_RETREAT,764,742.651957789,710,676,656,629.651957789,879,782,799.348042211,649.348042211,628,650.651957789,0.442840304642,0.00471342949884,0.0795843831215,0.999999734088,0.000287891352059,-0.000669935112634,1.13679282383e-05,1793193672575265024
+291,4.850000000,POSE2_TO_POSE3_RETREAT,764,742.766769984,710.233230016,676,656.233230016,630,879,782.233230016,799,649,628,651,0.442486987612,0.00470418075291,0.0795947371279,0.999999753706,0.000260034644799,-0.000651808656181,1.07673301284e-05,1793193672591931904
+292,4.866666667,POSE2_TO_POSE3_RETREAT,764,742.172467493,710.827532507,676,656.827532507,630,879,782.827532507,799,649,628,651,0.442108639654,0.0046930553461,0.079607905502,0.99999977123,0.000249675819519,-0.000628444381141,1.61329552382e-05,1793193672608599040
+293,4.883333333,POSE2_TO_POSE3_RETREAT,764,742,711,676,657.40785029,630,879.40785029,783,799,649,628,651,0.441680580788,0.00468433396426,0.0796150261861,0.999999773526,0.000268811936934,-0.000616740982903,1.78705700652e-05,1793193672625266176
+294,4.900000000,POSE2_TO_POSE3_RETREAT,764,742,711,676,657.982450403,630,879.982450403,783,799,649,628,651,0.441232197598,0.00467659546967,0.0796196742684,0.999999768902,0.000300007078495,-0.000609805140919,1.8124870683e-05,1793193672641933056
+295,4.916666667,POSE2_TO_POSE3_RETREAT,764,742,711,675.441632839,657.441632839,630,879.441632839,782.441632839,799.558367161,649,628,651,0.440708549288,0.00466887549822,0.0796057343454,0.999999767687,0.000272054016038,-0.000624708484108,1.87785657955e-05,1793193672658599680
+296,4.933333333,POSE2_TO_POSE3_RETREAT,764,742,711,675,657.137716672,630.137716672,879,782.137716672,800,649,628.137716672,651,0.44017752615,0.00466017199428,0.0795913095316,0.999999764458,0.000244756121759,-0.000640932650226,1.95893455865e-05,1793193672675266560
+297,4.950000000,POSE2_TO_POSE3_RETREAT,764,742,711,675,657.728215834,630.728215834,879,782.728215834,800,649,628.728215834,651,0.439630052242,0.00464823293217,0.0795772158497,0.999999757006,0.000225738852586,-0.000659237292044,2.08752163192e-05,1793193672691933696
+298,4.966666667,POSE2_TO_POSE3_RETREAT,764,742,711,675,658,631,879,783,799.687352415,649,628.687352415,650.687352415,0.439092023323,0.00463698907675,0.0795959184362,0.999999781058,0.000212031868541,-0.000626464189048,2.16714733134e-05,1793193672708600320
+299,4.983333333,POSE2_TO_POSE3_RETREAT,764,742,711,675,658,631,879,783,799.108094584,649,628.108094584,650.108094584,0.438562048558,0.00462633805755,0.0796425880412,0.999999827858,0.000202853227472,-0.00055013453546,2.20502122162e-05,1793193672725266688
+300,5.000000000,POSE2_TO_POSE3_RETREAT,764,742.468164307,711,675,658,631,879,783,799.468164307,649,628.468164307,650,0.437993893175,0.00461551406247,0.0797024273275,0.999999874936,0.000184235108215,-0.000464206327869,2.6409591209e-05,1793193672741933056
+301,5.016666667,POSE2_TO_POSE3_RETREAT,763.956829464,743,711,675,658.043170536,631.043170536,879,783,800,649,629,650,0.437410985873,0.00460490217976,0.0797628197008,0.999999914015,0.00016544022494,-0.000378967078883,3.13490083579e-05,1793193672758599680
+302,5.033333333,POSE2_TO_POSE3_RETREAT,763.388689038,743,711,675,658.611310962,631.611310962,879,783,800,649,629,650,0.436755207118,0.00459735222955,0.0797931965504,0.999999930806,0.000170830467509,-0.000328884231212,3.22365593241e-05,1793193672775266304
+303,5.050000000,POSE2_TO_POSE3_RETREAT,763,742.811960851,711,675,658.811960851,632,878.811960851,783,800,649,629,650,0.43608079897,0.00458852208441,0.0798131428946,0.999999942471,0.000164317166408,-0.000294884724004,3.31847292578e-05,1793193672791932928
+304,5.066666667,POSE2_TO_POSE3_RETREAT,763,742.216631736,711,675,658.216631736,632,878.216631736,783,800,649,629,650,0.435366039877,0.0045769190568,0.0798104969191,0.999999946973,0.000132020969388,-0.000295721494252,3.42641990354e-05,1793193672808599040
+305,5.083333333,POSE2_TO_POSE3_RETREAT,763.370834026,742,711,675,658.370834026,631.629165974,878.370834026,783.370834026,799.629165974,649,629,650.370834026,0.434643015259,0.00456828145905,0.0798061494003,0.999999947167,0.000128341048765,-0.000296737982711,3.37670823106e-05,1793193672825265408
+306,5.100000000,POSE2_TO_POSE3_RETREAT,763.953801583,742,711,675,658.953801583,631.046198417,878.953801583,783.953801583,799.046198417,649,629,650.953801583,0.433915262418,0.00456134021926,0.0798008285231,0.999999945172,0.000141030910062,-0.000297857278018,3.23680880719e-05,1793193672841932032
+307,5.116666667,POSE2_TO_POSE3_RETREAT,763.471803684,742,711,675,659,631.528196316,878.471803684,784,799,649,629,650.471803684,0.43307212475,0.00455074618759,0.0797844025936,0.999999936261,0.000114556075989,-0.000336354192902,3.49268694727e-05,1793193672858598656
+308,5.133333333,POSE2_TO_POSE3_RETREAT,763.104450437,742,711,674.895549563,658.895549563,631.895549563,878,783.895549563,799.104450437,649,629,650,0.432214543232,0.00454041563083,0.0797639082711,0.999999922053,9.12468274461e-05,-0.000382328133092,3.73196642125e-05,1793193672875265024
+309,5.150000000,POSE2_TO_POSE3_RETREAT,763.692735249,742,711,674.307264751,658.307264751,631.307264751,878,783.307264751,799.692735249,649,629,650,0.431336057093,0.00453276184378,0.0797289957591,0.999999894111,9.82154229226e-05,-0.000448035309578,3.7365684738e-05,1793193672891931648
+310,5.166666667,POSE2_TO_POSE3_RETREAT,763.723315629,742,711,674,658.276684371,631.276684371,878,783,799.723315629,649,629,650,0.430507976151,0.00452300354531,0.0797381520668,0.999999900576,9.18352074139e-05,-0.00043471990423,3.78447416114e-05,1793193672908598528
+311,5.183333333,POSE2_TO_POSE3_RETREAT,763.144107037,742,711,674,658.855892963,631.855892963,878,783,799.144107037,649,629,650,0.42973500769,0.00451094419187,0.0797954928242,0.999999940624,7.08595216386e-05,-0.000335001919782,3.87972764143e-05,1793193672925265664
+312,5.200000000,POSE2_TO_POSE3_RETREAT,763,742,711,674,659,632,878,783.432778739,799,649,629,650.432778739,0.428924983964,0.0044988041192,0.07983786047,0.999999960436,6.16596594392e-05,-0.000271414110592,4.0758445305e-05,1793193672941932288
+313,5.216666667,POSE2_TO_POSE3_RETREAT,763,742,711,674,658.99118043,632,878.00881957,784,799.00881957,649,629,651,0.428101254872,0.00448665275846,0.0798740581645,0.999999972982,5.60373765353e-05,-0.000221463984307,4.2994902561e-05,1793193672958598656
+314,5.233333333,POSE2_TO_POSE3_RETREAT,763,742,711,674,658.419959569,632,878.580040431,784,799.580040431,649,629,651,0.427186173015,0.00447548632726,0.0798330458672,0.999999960029,2.9842973745e-05,-0.00027808512862,4.14834710305e-05,1793193672975265280
+315,5.250000000,POSE2_TO_POSE3_RETREAT,763,742.157399771,711,674,658.157399771,632,879,784,799.842600229,649,629,651,0.426264987067,0.00446452791262,0.0797937115419,0.999999943506,1.08046781776e-05,-0.000333565496437,4.00629293833e-05,1793193672991931904
+316,5.266666667,POSE2_TO_POSE3_RETREAT,763,742.751801859,711,674,658.751801859,632,879,784,799.248198141,649,629,651,0.425326853868,0.00445414703263,0.0797590359147,0.999999924725,1.16344910064e-05,-0.000385878628534,3.88947334263e-05,1793193673008598528
+317,5.283333333,POSE2_TO_POSE3_RETREAT,763,743,711,674,659,632,878.663045293,784,799,649,629,651,0.424383814359,0.00444446918153,0.0797337701087,0.99999990757,4.97954538136e-06,-0.000428130539326,3.92276786209e-05,1793193673025265152
+318,5.300000000,POSE2_TO_POSE3_RETREAT,763,743,711,674,659,632,878.08452337,784,799,649,629,651,0.423437257492,0.00443529534146,0.0797152503276,0.999999891887,-7.04132104195e-06,-0.000463169427433,4.06368115102e-05,1793193673041932032
+319,5.316666667,POSE2_TO_POSE3_RETREAT,763.487595539,743,711,674,659,632,878,784,799.487595539,649.487595539,629,650.512404461,0.422605629529,0.00442285179957,0.07974364701,0.999999916359,-2.28959913319e-05,-0.000406273997706,4.12283542796e-05,1793193673058598912
+320,5.333333333,POSE2_TO_POSE3_RETREAT,763.939282255,742.939282255,711,674,659,632,878,784,800,649.939282255,629,650,0.421792075,0.00441045171581,0.0797828940658,0.999999943879,-3.91726671598e-05,-0.000330088460805,4.18342647699e-05,1793193673075265536
+321,5.350000000,POSE2_TO_POSE3_RETREAT,763.347813725,742.347813725,711,674,659,632,878,784,800,649.347813725,629,650,0.420964614001,0.00440332180599,0.0798468172571,0.999999972799,-5.34042238711e-05,-0.000222783110852,4.37885865548e-05,1793193673091932160
+322,5.366666667,POSE2_TO_POSE3_RETREAT,763,742,711,673.761385647,659,632,878,784,799.761385647,649,629,650,0.42010276219,0.00441398373231,0.0798740860475,0.999999982092,-3.95807489553e-05,-0.000179651615939,4.44441455926e-05,1793193673108598528
+323,5.383333333,POSE2_TO_POSE3_RETREAT,763,742,711,673.182152657,659,632,878,784,799.182152657,649,629,650,0.419191817861,0.00445004325366,0.0798490312047,0.999999972942,1.42908867596e-05,-0.000228127383839,4.3245739763e-05,1793193673125265152
+324,5.400000000,POSE2_TO_POSE3_RETREAT,763.396742861,742,711,673.396742861,659,632,878,784,799,649,629,650,0.418285685137,0.00447187196982,0.0798179926191,0.999999959097,3.98854999986e-05,-0.000280173157928,4.14522089082e-05,1793193673141931520
+325,5.416666667,POSE2_TO_POSE3_RETREAT,763.975483537,742,711,673.975483537,659,632,878,784,799,649,629,650,0.417381759696,0.00448717258793,0.0797842091132,0.999999942116,5.25085941659e-05,-0.000333856597383,3.93856764408e-05,1793193673158598144
+326,5.433333333,POSE2_TO_POSE3_RETREAT,763.450503783,742,711.549496217,674,659,632,878,784,799,649,629,650,0.416539952813,0.00447611761501,0.0797938344093,0.99999994221,3.97597348819e-05,-0.000335196357141,4.05215987252e-05,1793193673175264768
+327,5.450000000,POSE2_TO_POSE3_RETREAT,763,742,712,673.873591575,659.126408425,632,878,784,799,649,629,650.126408425,0.415699627082,0.00446498032097,0.0797973175649,0.999999940406,2.49139256044e-05,-0.000341862009638,4.11956878224e-05,1793193673191931648
+328,5.466666667,POSE2_TO_POSE3_RETREAT,763,742,712,673.285321146,659.714678854,632,878,784,799,649,629,650.714678854,0.41485467321,0.00445780197099,0.0797713430617,0.999999928336,6.50717402678e-06,-0.000376447072548,3.96647672413e-05,1793193673208599040
+329,5.483333333,POSE2_TO_POSE3_RETREAT,763,742,711.70081695,673,660,632,878,784,799,649,629,650.70081695,0.414061769198,0.00445473704685,0.0797702457403,0.999999931289,-4.41826362101e-06,-0.000368716540454,3.80961969882e-05,1793193673225265920
+330,5.500000000,POSE2_TO_POSE3_RETREAT,763,742,711.119859868,673,660,632,878,784,799,649,629,650.119859868,0.41331788639,0.00445554619484,0.0797925780358,0.999999947737,-8.29771284476e-06,-0.000321132692835,3.64921679041e-05,1793193673241932544
+331,5.516666667,POSE2_TO_POSE3_RETREAT,763,742.457252255,711,673,659.08549549,632,877.542747745,784,799,649,629,650.457252255,0.412564096439,0.00446209880225,0.0797977325556,0.999999949617,1.06174209368e-07,-0.00031546217934,3.53441193372e-05,1793193673258599168
+332,5.533333333,POSE2_TO_POSE3_RETREAT,763.033290877,743,711,673,658.033290877,632,877.033290877,784,799.033290877,649,629,650.966709123,0.411809150821,0.00446958046833,0.0797978039407,0.99999994762,1.09942568838e-05,-0.000321638285676,3.44759646444e-05,1793193673275265792
+333,5.550000000,POSE2_TO_POSE3_RETREAT,763.608124664,743,711,673,658.608124664,632,877.608124664,784,799.608124664,649,629,650.391875336,0.411077299518,0.00446788876464,0.0797878245965,0.999999940365,1.03523534277e-05,-0.000343291831742,3.62327213565e-05,1793193673291932416
+334,5.566666667,POSE2_TO_POSE3_RETREAT,764,742.811754097,711,673,659,632.188245903,878.188245903,784,799.811754097,649,629,650,0.410365423269,0.00446571049065,0.0797846059045,0.999999937363,9.97246660772e-06,-0.000351802952336,3.75356451288e-05,1793193673308598784
+335,5.583333333,POSE2_TO_POSE3_RETREAT,764,742.220307647,711,673,659,632.779692353,878.779692353,784,799.220307647,649,629,650,0.409696331096,0.00446249004006,0.0797958677312,0.999999944065,1.01537884374e-05,-0.000332164550282,3.78665125663e-05,1793193673325265664
+336,5.600000000,POSE2_TO_POSE3_RETREAT,764,742.362566149,711,673,659,632.637433851,878.637433851,784,799.362566149,649,629,650,0.409066903437,0.00446176547247,0.0798160901578,0.999999954526,1.03277925257e-05,-0.000298947438044,3.83750951932e-05,1793193673341932032
+337,5.616666667,POSE2_TO_POSE3_RETREAT,764,742.940351192,711,673,659,632.059648808,878.059648808,784,799.940351192,649,629,650,0.408461020633,0.00446252245866,0.0798416315868,0.999999965988,1.04974527867e-05,-0.000257670018216,3.89891693068e-05,1793193673358598144
+338,5.633333333,POSE2_TO_POSE3_RETREAT,763.48444654,742.48444654,711,673,658.48444654,632,878,784,799.48444654,649,628.48444654,650.51555346,0.407834294568,0.00446812699037,0.0798154432872,0.999999952556,2.14273044454e-05,-0.000304660828713,4.01282415073e-05,1793193673375264512
+339,5.650000000,POSE2_TO_POSE3_RETREAT,763.092756623,742.092756623,711,673,658.092756623,632,878,784,799.092756623,649,628,651,0.407218308467,0.00447311151965,0.0797849235043,0.999999934666,3.16088329494e-05,-0.000357777984634,4.07917247516e-05,1793193673391931392
+340,5.666666667,POSE2_TO_POSE3_RETREAT,763.682267846,742.682267846,711,673,658.682267846,632,878,784,799.682267846,649,628,651,0.406672690363,0.00447178698807,0.0797630995971,0.999999922999,3.11487557043e-05,-0.000389284473512,3.8584532352e-05,1793193673408597760
+341,5.683333333,POSE2_TO_POSE3_RETREAT,764,742.7329359,711,673,659,632,878,783.7329359,799.7329359,649,628.2670641,650.7329359,0.40615882769,0.00446947888173,0.0797595258334,0.99999992357,2.50797654635e-05,-0.000388378692313,3.73240652511e-05,1793193673425264640
+342,5.700000000,POSE2_TO_POSE3_RETREAT,764,742.153651875,711,673,659,632,878,783.153651875,799.153651875,649,628.846348125,650.153651875,0.405682089767,0.00446602089557,0.0797772879918,0.999999938128,1.24534940516e-05,-0.000349580295843,3.71703981331e-05,1793193673441931264
+343,5.716666667,POSE2_TO_POSE3_RETREAT,764,742.422818873,711,673,658.577181127,632,878,783.422818873,799,649,629,650,0.405240192861,0.00446492351969,0.0797932971939,0.999999946568,1.6577467236e-05,-0.000324336003457,3.73636699705e-05,1793193673458597888
+344,5.733333333,POSE2_TO_POSE3_RETREAT,764,742.998274083,711,673,658.001725917,632,878,783.998274083,799,649,629,650,0.404810873417,0.00446467831671,0.0798086735854,0.999999952729,2.67482271769e-05,-0.000303984698588,3.76821857093e-05,1793193673475264512
+345,5.750000000,POSE2_TO_POSE3_RETREAT,763.415113186,742.415113186,711,673,658.584886814,632,878,784,799,649,628.415113186,650.584886814,0.404429719929,0.00447124890828,0.0798229028553,0.99999995757,3.33347219958e-05,-0.000286669531374,3.96070820727e-05,1793193673491931136
+346,5.766666667,POSE2_TO_POSE3_RETREAT,763.169286233,742,711,673,659,632,878,784,799.169286233,649,628.169286233,650.830713767,0.404050626986,0.00447702277148,0.0798318223553,0.99999995943,4.06058454716e-05,-0.000278932334342,4.10771729116e-05,1793193673508597760
+347,5.783333333,POSE2_TO_POSE3_RETREAT,763.74824829,742,711,673,659,632,878,784,799.74824829,649,628.74824829,650.25175171,0.40367616987,0.00448081891963,0.0798279004677,0.999999954592,4.95598778262e-05,-0.000294351896412,4.14349319018e-05,1793193673525264640
+348,5.800000000,POSE2_TO_POSE3_RETREAT,763.672782697,742.327217303,711,673,659,632,878,784,799.672782697,649.327217303,629,650.327217303,0.403335886455,0.00447960517471,0.0798254964698,0.9999999522,5.11418184968e-05,-0.000302079046037,4.16153238943e-05,1793193673541931264
+349,5.816666667,POSE2_TO_POSE3_RETREAT,763.093808366,742.906191634,711,673,659,632,878,784,799.093808366,649.906191634,629,650.906191634,0.403021895892,0.00447453687853,0.0798242603182,0.999999951851,4.70517606266e-05,-0.00030388774586,4.16592518532e-05,1793193673558597888
+350,5.833333333,POSE2_TO_POSE3_RETREAT,763.481696132,742.518303868,711,673,659,632,878,784,799,649.518303868,629,650.518303868,0.402753405417,0.00446820444696,0.0798251959886,0.999999951649,3.89167146523e-05,-0.000305467883788,4.33154552494e-05,1793193673575264256
+351,5.850000000,POSE2_TO_POSE3_RETREAT,764,742,711,673,659,632,878,784,799.057816135,649.057816135,628.942183865,650,0.402499426477,0.00446069076698,0.0798268159009,0.999999951824,2.81898594483e-05,-0.00030580945063,4.5140162319e-05,1793193673591930880
+352,5.866666667,POSE2_TO_POSE3_RETREAT,764,742,711,673,659,632,878,784,799.645730847,649.645730847,628.354269153,650,0.402297837003,0.0044445876332,0.0798308592206,0.999999955386,8.70432126549e-07,-0.00029520012923,4.56515926031e-05,1793193673608597504
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764,742,711,672.769972533,659,632,878.230027467,784,799.769972533,649.769972533,628.230027467,650.230027467,0.40210542864,0.00443373784056,0.0798345386581,0.99999995768,-1.85291578013e-05,-0.000286650015209,4.6139549108e-05,1793193673625264128
+354,5.900000000,POSE2_TO_POSE3_RETREAT,764,742,711,672.191161959,659,632,878.808838041,784,799.191161959,649.191161959,628.808838041,650.808838041,0.401926941313,0.00443085351833,0.0798376663527,0.999999959036,-2.59201554618e-05,-0.000281222211077,4.65919130895e-05,1793193673641931008
+355,5.916666667,POSE2_TO_POSE3_RETREAT,764,742.386707928,711,672.386707928,659,632,878.613292072,784,799.386707928,649.386707928,629,650.613292072,0.401769708165,0.00443284073214,0.0798402219892,0.999999960229,-2.52325014476e-05,-0.000276879432339,4.73585034805e-05,1793193673658597888
+356,5.933333333,POSE2_TO_POSE3_RETREAT,764,742.964113983,711,672.964113983,659,632,878.035886017,784,799.964113983,649.964113983,629,650.035886017,0.40162295612,0.00443723025692,0.0798424955257,0.999999961339,-2.05610049083e-05,-0.000273071714062,4.8280049069e-05,1793193673675264512
+357,5.950000000,POSE2_TO_POSE3_RETREAT,764,742.45960743,711,673,659,632,878,784,799.45960743,649.45960743,629,650.54039257,0.401499943853,0.0044464301606,0.0798354111878,0.999999958652,-1.31912680333e-05,-0.000283380259479,4.7099379891e-05,1793193673691931136
+358,5.966666667,POSE2_TO_POSE3_RETREAT,764,742,711,673,659,632,878,784,799,649.118917881,628.881082119,651,0.40138388835,0.00445723072949,0.0798283613028,0.99999995568,-2.34028996137e-06,-0.000294243875664,4.53348652399e-05,1793193673708598016
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764,742,711,673,659,632,878,784,799,649.706594169,628.293405831,651,0.401289054053,0.0044730843246,0.0798238917229,0.999999952805,2.15284338304e-05,-0.000303608007007,4.18180577084e-05,1793193673725264640
+360,6.000000000,POSE2_TO_POSE3_RETREAT,763.710104661,742,711,673,658.710104661,632,878,784,799,649.710104661,628,650.710104661,0.401206746475,0.00447813579593,0.0798193558258,0.999999949131,5.3902935488e-05,-0.000311746167779,4.05915694777e-05,1793193673741931008
+361,6.016666667,POSE2_TO_POSE3_RETREAT,763.131165786,742,711,673,658.131165786,632,878,784,799,649.131165786,628,650.131165786,0.401136928815,0.00447241688261,0.0798147538067,0.99999994387,9.47582208639e-05,-0.000318661959462,4.16486710431e-05,1793193673758597632
+362,6.033333333,POSE2_TO_POSE3_RETREAT,763.4458123,742.4458123,711,673,658.4458123,632,878,784,799.891624601,649,628.4458123,650,0.401090211979,0.00446912199716,0.0798140722655,0.999999943905,9.83822351231e-05,-0.000317405269679,4.20096380586e-05,1793193673775264512
+363,6.050000000,POSE2_TO_POSE3_RETREAT,764,742.977856172,711,672.977856172,659,632,878,784,800.955712344,649,629,650.022143828,0.401050810555,0.00446671506461,0.0798146150064,0.999999945726,9.13734669373e-05,-0.000313720854984,4.21701336308e-05,1793193673791931136
+364,6.066666667,POSE2_TO_POSE3_RETREAT,764,742.403325163,711,672.403325163,659,632,878,784,799.806650325,649,629,650.596674837,0.401025091846,0.00446874553536,0.0798170501065,0.999999947143,9.11833228863e-05,-0.000309194106361,4.24166072087e-05,1793193673808598016
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764,742,711.176053063,672.176053063,659,632,878,784,799,649.176053063,629,651,0.401001524628,0.0044691258108,0.0798187595102,0.999999948122,8.94526527548e-05,-0.000306467002449,4.27954803813e-05,1793193673825264640
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764,742,711.766850232,672.766850232,659,632,878,784,799,649.766850232,629,651,0.400983025878,0.00446561857179,0.079818759325,0.999999948093,8.40928261791e-05,-0.000307979484825,4.34862592074e-05,1793193673841931264
+367,6.116666667,POSE2_TO_POSE3_RETREAT,764,742,711.649753416,673,658.649753416,632.350246584,878,784,799,649.649753416,629,651,0.400970463228,0.00446483556937,0.0798183646492,0.999999947945,8.22667058397e-05,-0.000308936234852,4.36005643253e-05,1793193673858597888
+368,6.133333333,POSE2_TO_POSE3_RETREAT,764,742,711.071181587,673,658.071181587,632.928818413,878,784,799,649.071181587,629,651,0.400961770313,0.00446582849251,0.0798177128055,0.999999947733,8.2744202983e-05,-0.000309530703915,4.33390671307e-05,1793193673875264512
+369,6.150000000,POSE2_TO_POSE3_RETREAT,764,742,711,673,658,632.49610503,878,784,799,649,629,650.49610503,0.40095831069,0.00446715201746,0.0798185213473,0.999999948296,8.39474387192e-05,-0.000307467209925,4.27186223772e-05,1793193673891931392
+370,6.166666667,POSE2_TO_POSE3_RETREAT,764,742,711,673,658.080358562,632.080358562,878,784,799,649,629,650.080358562,0.400955745601,0.00446804184852,0.0798195606411,0.999999948965,8.43552362115e-05,-0.000305244888163,4.21870415193e-05,1793193673908597760
+371,6.183333333,POSE2_TO_POSE3_RETREAT,764,742,711,673,658.668689974,632.668689974,878,784,799,649,629,650.668689974,0.400954194173,0.00446589697557,0.0798207635007,0.999999949645,7.90912108773e-05,-0.000304375689063,4.25355189373e-05,1793193673925264640
+372,6.200000000,POSE2_TO_POSE3_RETREAT,764,742.253669491,711.253669491,672.746330509,658.746330509,633,878,784,799,649,629,651,0.400953460025,0.00446508729562,0.079821912769,0.999999950315,7.62613395665e-05,-0.000302905844828,4.24592158186e-05,1793193673941931008
+373,6.216666667,POSE2_TO_POSE3_RETREAT,764,742.834328257,711.834328257,672.165671743,658.165671743,633,878,784,799,649,629,651,0.400953779382,0.00446599872853,0.0798229929562,0.999999950995,7.65691823753e-05,-0.000300661747047,4.18353549906e-05,1793193673958597632
+374,6.233333333,POSE2_TO_POSE3_RETREAT,764,743,711.588835125,672.411164875,658.411164875,632.588835125,878,784,799,649.411164875,629,650.588835125,0.400953581345,0.00446727707499,0.0798233011629,0.999999951149,7.84963153969e-05,-0.000299670684135,4.16827932941e-05,1793193673975264256
+375,6.250000000,POSE2_TO_POSE3_RETREAT,764,743,711.013524404,672.986475596,658.986475596,632.013524404,878,784,799,649.986475596,629,650.013524404,0.400953176754,0.0044687019012,0.0798233011785,0.999999951089,8.10699038258e-05,-0.000299179859694,4.1718384343e-05,1793193673991931136
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764,742.440859045,711,673.559140955,659,632,878.559140955,784,799,650,629,650,0.400954145676,0.00446865004255,0.0798247639207,0.999999951526,7.96153445419e-05,-0.000298102936422,4.17698645582e-05,1793193674008597760
+377,6.283333333,POSE2_TO_POSE3_RETREAT,763.862966671,742,711,673.862966671,658.862966671,632,878.862966671,784,799,649.862966671,629,650.137033329,0.400954526655,0.00446868505282,0.0798256188941,0.99999995171,7.91959959597e-05,-0.00029758657972,4.18449098293e-05,1793193674025264384
+378,6.300000000,POSE2_TO_POSE3_RETREAT,763.267369802,742,711,673.267369802,658.267369802,632,878.267369802,784,799,649.267369802,629,650.732630198,0.400952829511,0.00446912972015,0.0798243222135,0.999999951011,8.25653488054e-05,-0.000298993299826,4.19975323358e-05,1793193674041931008
+379,6.316666667,POSE2_TO_POSE3_RETREAT,763.317484768,742,711,673,658,632.317484768,878,784,799,649,628.682515232,650.682515232,0.400952789313,0.00446903488805,0.0798243253871,0.999999951153,8.30034206228e-05,-0.000298396673791,4.20048835506e-05,1793193674058597632
+380,6.333333333,POSE2_TO_POSE3_RETREAT,763.893588853,742,711,673,658,632.893588853,878,784,799,649,628.106411147,650.106411147,0.400954098844,0.00446850058619,0.0798253874065,0.99999995198,8.10537061278e-05,-0.000296168145956,4.18938985144e-05,1793193674075264256
+381,6.350000000,POSE2_TO_POSE3_RETREAT,764,742,711,673,658.468668137,632.531331863,878,784,799,649,628,650,0.400955143095,0.00446785932105,0.0798263543258,0.999999952451,8.02582935859e-05,-0.000294797128075,4.18451952046e-05,1793193674091930880
+382,6.366666667,POSE2_TO_POSE3_RETREAT,764,742.044680562,711,673,659,632,878.044680562,784,799,649.044680562,628.044680562,650,0.400955958125,0.00446726131358,0.0798272001889,0.999999952797,7.97042577012e-05,-0.000293773376617,4.18343572849e-05,1793193674108597504
+383,6.383333333,POSE2_TO_POSE3_RETREAT,764,742.634922231,711,673,659,632,878.634922231,784,799,649.634922231,628.634922231,650,0.400954708134,0.0044674873844,0.0798268310003,0.9999999526,7.89043570843e-05,-0.000294617714142,4.21135760743e-05,1793193674125264384
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764,743,711.220839617,673,659,632,878.779160383,784,799,649.779160383,629,650.220839617,0.400953751706,0.004467383679,0.0798265423759,0.999999952384,7.88633070014e-05,-0.000295337932213,4.22798705394e-05,1793193674141931008
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764,743,711.799745633,673,659,632,878.200254367,784,799,649.200254367,629,650.799745633,0.400953271258,0.00446674527882,0.0798263843771,0.999999952137,8.00526470654e-05,-0.000295856904614,4.2263071e-05,1793193674158597888
+386,6.433333333,POSE2_TO_POSE3_RETREAT,763.623327649,742.623327649,712,673,658.623327649,632,878,784,799,649,629,651,0.400953171181,0.00446651676559,0.0798261876139,0.999999952144,7.89443935651e-05,-0.000296153850714,4.20952464224e-05,1793193674175264512
+387,6.450000000,POSE2_TO_POSE3_RETREAT,763.047447725,742.047447725,712,673,658.047447725,632,878,784,799,649,629,651,0.400953272267,0.00446650502587,0.0798259703498,0.999999952282,7.66210308295e-05,-0.000296333375592,4.18475504894e-05,1793193674191931136
+388,6.466666667,POSE2_TO_POSE3_RETREAT,763.527088292,742,711.472911708,672.472911708,658.527088292,632,878,784,799.527088292,649,628.472911708,651,0.400953727261,0.00446592141933,0.0798263930401,0.999999952536,7.68945321005e-05,-0.000295393412539,4.1928503799e-05,1793193674208597760
+389,6.483333333,POSE2_TO_POSE3_RETREAT,763.895534419,742.104465581,711.104465581,672,659,632.104465581,878,783.895534419,799.895534419,649,628.104465581,650.895534419,0.400953922368,0.00446553667968,0.0798267398213,0.999999952768,7.71777354387e-05,-0.00029452447811,4.19830840781e-05,1793193674225264384
+390,6.500000000,POSE2_TO_POSE3_RETREAT,763.304357445,742.695642555,711.695642555,672,659,632.695642555,878,783.304357445,799.304357445,649,628.695642555,650.304357445,0.400952758588,0.00446631770497,0.0798264652215,0.999999952856,7.64197815027e-05,-0.000294454791824,4.17773052472e-05,1793193674241931008
+391,6.516666667,POSE2_TO_POSE3_RETREAT,763,743,712,672.280137912,659,633,878,783.280137912,799,649,629,650.280137912,0.400952312985,0.00446645376955,0.0798261566873,0.999999952799,7.5767519116e-05,-0.000294849487346,4.15285012987e-05,1793193674258597888
+392,6.533333333,POSE2_TO_POSE3_RETREAT,763,743,712,672.857543167,659,633,878,783.857543167,799,649,629,650.857543167,0.400952629471,0.00446590543649,0.0798258121438,0.99999995259,7.52274108451e-05,-0.00029573695995,4.1234041375e-05,1793193674275264512
+393,6.550000000,POSE2_TO_POSE3_RETREAT,763.434573435,742.565426565,711.565426565,673,659,632.565426565,877.565426565,784,799,649,628.565426565,651,0.400953135238,0.00446659689545,0.079826079234,0.999999952681,7.6725366622e-05,-0.000295028454137,4.13543622219e-05,1793193674291931392
+394,6.566666667,POSE2_TO_POSE3_RETREAT,764,742,711,673,659,632,877.011677015,784,799,649,628.011677015,650.988322985,0.400953695307,0.00446767596488,0.0798265315373,0.99999995286,7.882602281e-05,-0.000293830015761,4.16052600664e-05,1793193674308598016
+395,6.583333333,POSE2_TO_POSE3_RETREAT,764,742,711,673,659,632,877.598441675,784,799,649,628.598441675,650.401558325,0.400953876546,0.00446784621519,0.0798262395503,0.999999952823,7.77344209907e-05,-0.000294246542828,4.15963964888e-05,1793193674325264640
+396,6.600000000,POSE2_TO_POSE3_RETREAT,764,742.18268255,711,673,658.81731745,632,878,784,799,649,628.81731745,650,0.400954009996,0.00446786812995,0.0798264228008,0.999999952942,7.68631888034e-05,-0.000294077824321,4.15497295087e-05,1793193674341931008
+397,6.616666667,POSE2_TO_POSE3_RETREAT,764,742.761451402,711,673,658.238548598,632,878,784,799,649,628.238548598,650,0.400954039827,0.00446756842847,0.0798276364455,0.999999953399,7.6469754877e-05,-0.000292640195567,4.14210984342e-05,1793193674358597632
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_12/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_12/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d3a0560cafa98ea676abbd602fc76af8d320585d
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_12/depth_03/simulation_data.csv
@@ -0,0 +1,399 @@
+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,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+1,0.016666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+2,0.033333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+3,0.050000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+4,0.066666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+5,0.083333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+6,0.100000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+7,0.116666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+8,0.133333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+9,0.150000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+10,0.166666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+11,0.183333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+12,0.200000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+13,0.216666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+14,0.233333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+15,0.250000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+16,0.266666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+17,0.283333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+18,0.300000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+19,0.316666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+20,0.333333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+21,0.350000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+22,0.366666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+23,0.383333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+24,0.400000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+25,0.416666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+26,0.433333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+27,0.450000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+28,0.466666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+29,0.483333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+30,0.500000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+31,0.516666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+32,0.533333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+33,0.550000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+34,0.566666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+35,0.583333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+36,0.600000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+37,0.616666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+38,0.633333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+39,0.650000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+40,0.666666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+41,0.683333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+42,0.700000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+43,0.716666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+44,0.733333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+45,0.750000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+46,0.766666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+47,0.783333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+48,0.800000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+49,0.816666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+50,0.833333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+51,0.850000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+52,0.866666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+53,0.883333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+54,0.900000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+55,0.916666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+56,0.933333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+57,0.950000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+58,0.966666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+59,0.983333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+60,1.000000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+61,1.016666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+62,1.033333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+63,1.050000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+64,1.066666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+65,1.083333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+66,1.100000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+67,1.116666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+68,1.133333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+69,1.150000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+70,1.166666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+71,1.183333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+72,1.200000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+73,1.216666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+74,1.233333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+75,1.250000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+76,1.266666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+77,1.283333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+78,1.300000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+79,1.316666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+80,1.333333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+81,1.350000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+82,1.366666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+83,1.383333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+84,1.400000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+85,1.416666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+86,1.433333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+87,1.450000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+88,1.466666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+89,1.483333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+90,1.500000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+91,1.516666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+92,1.533333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+93,1.550000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+94,1.566666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+95,1.583333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+96,1.600000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+97,1.616666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+98,1.633333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+99,1.650000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+100,1.666666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+101,1.683333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+102,1.700000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+103,1.716666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+104,1.733333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+105,1.750000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+106,1.766666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+107,1.783333333,pose1_to_pose2_press,0.575709270927,0.0100545684129,1.07002931416,0.546280001826,0.0187272996178,1.06969859147
+108,1.800000000,pose1_to_pose2_press,0.575709560999,0.0100545808101,1.0700289355,0.546280290556,0.0187273080932,1.06969822944
+109,1.816666667,pose1_to_pose2_press,0.575709884125,0.0100545396001,1.07002903496,0.546280613663,0.0187272666291,1.06969832394
+110,1.833333333,pose1_to_pose2_press,0.575710187472,0.0100545249955,1.07002905812,0.546280917527,0.0187272537981,1.06969834758
+111,1.850000000,pose1_to_pose2_press,0.575710252105,0.0100545218837,1.07002906306,0.54628098227,0.0187272510642,1.06969835261
+112,1.866666667,pose1_to_pose2_press,0.575710520419,0.0100545089658,1.07002908355,0.546281251042,0.018727239715,1.06969837352
+113,1.883333333,pose1_to_pose2_press,0.575710723881,0.0100544991701,1.07002909909,0.546281454851,0.0187272311089,1.06969838937
+114,1.900000000,pose1_to_pose2_press,0.575712582152,0.0100545282143,1.07002901177,0.546283313314,0.0187272608279,1.06969830278
+115,1.916666667,pose1_to_pose2_press,0.575718058367,0.0100547532191,1.07002933521,0.546288786733,0.0187274761808,1.06969862171
+116,1.933333333,pose1_to_pose2_press,0.575730905793,0.0100545703354,1.07002889448,0.546301635871,0.0187272994318,1.06969818975
+117,1.950000000,pose1_to_pose2_press,0.57575319387,0.0100545762222,1.07002915002,0.54632392408,0.018727305532,1.06969843879
+118,1.966666667,pose1_to_pose2_press,0.575787570301,0.0100544954937,1.07002928058,0.546358301548,0.018727228228,1.06969856684
+119,1.983333333,pose1_to_pose2_press,0.575833537023,0.0100546726629,1.07002919203,0.546404265869,0.018727397299,1.06969847953
+120,2.000000000,pose1_to_pose2_press,0.575890847201,0.0100545576764,1.07002912381,0.546461578834,0.018727292028,1.06969841803
+121,2.016666667,pose1_to_pose2_press,0.575957682361,0.0100544205505,1.07002895534,0.546528415557,0.0187271599323,1.0696982423
+122,2.033333333,pose1_to_pose2_press,0.576034144135,0.0100546260986,1.07002926768,0.546604875042,0.0187273576184,1.06969855206
+123,2.050000000,pose1_to_pose2_press,0.576121169945,0.0100545985697,1.07002914103,0.54669190003,0.018727327571,1.06969843242
+124,2.066666667,pose1_to_pose2_press,0.576219080294,0.0100546468114,1.0700290409,0.546789810446,0.0187273765709,1.06969834622
+125,2.083333333,pose1_to_pose2_press,0.576332255049,0.0100546057353,1.0700289431,0.546902985035,0.0187273343772,1.0696982338
+126,2.100000000,pose1_to_pose2_press,0.57646130134,0.0100546766857,1.07002911949,0.547032030784,0.0187274036759,1.06969841511
+127,2.116666667,pose1_to_pose2_press,0.57660982206,0.0100546300861,1.07002913165,0.547180552296,0.0187273596857,1.06969842514
+128,2.133333333,pose1_to_pose2_press,0.576775524983,0.0100545579613,1.070029199,0.547346254817,0.0187272856742,1.06969847873
+129,2.150000000,pose1_to_pose2_press,0.576958082459,0.0100546907054,1.07002926018,0.547528812599,0.0187274198034,1.06969854895
+130,2.166666667,pose1_to_pose2_press,0.577156400108,0.0100545592017,1.07002926886,0.547727130321,0.0187272884449,1.06969855488
+131,2.183333333,pose1_to_pose2_press,0.577370392642,0.0100545138832,1.07002911273,0.547941125121,0.0187272511731,1.06969840805
+132,2.200000000,pose1_to_pose2_press,0.577603409998,0.0100545391696,1.07002903342,0.548174139722,0.0187272668834,1.06969832285
+133,2.216666667,pose1_to_pose2_press,0.577859545098,0.0100545674188,1.07002891438,0.548430274587,0.0187272943254,1.06969820341
+134,2.233333333,pose1_to_pose2_press,0.578144767282,0.0100544326791,1.07002898733,0.548715498437,0.0187271654494,1.06969828184
+135,2.250000000,pose1_to_pose2_press,0.578458697394,0.0100545248673,1.07002886304,0.549029428851,0.0187272589644,1.06969816543
+136,2.266666667,pose1_to_pose2_press,0.578800301284,0.0100546424299,1.07002909904,0.549371030168,0.0187273675022,1.06969839366
+137,2.283333333,pose1_to_pose2_press,0.579169016238,0.0100545726358,1.07002914418,0.54973974563,0.0187272993076,1.06969843547
+138,2.300000000,pose1_to_pose2_press,0.579560973756,0.0100546680449,1.07002917177,0.550131702418,0.0187273920049,1.06969845685
+139,2.316666667,pose1_to_pose2_press,0.579974464928,0.0100545589223,1.07002915037,0.550545195828,0.0187272907005,1.06969844125
+140,2.333333333,pose1_to_pose2_press,0.580410897506,0.0100547075978,1.07002899792,0.550981626498,0.0187274332343,1.06969829744
+141,2.350000000,pose1_to_pose2_press,0.580873276442,0.0100545219244,1.07002917408,0.551444006858,0.018727251622,1.06969845331
+142,2.366666667,pose1_to_pose2_press,0.581356749976,0.0100545772649,1.07002915498,0.551927481395,0.0187273106883,1.06969844268
+143,2.383333333,pose1_to_pose2_press,0.581860445708,0.0100546636741,1.07002903976,0.552431175213,0.018727390727,1.06969833063
+144,2.400000000,pose1_to_pose2_press,0.582385712604,0.0100545633129,1.07002910459,0.552956445018,0.018727300458,1.06969840125
+145,2.416666667,pose1_to_pose2_press,0.582935701923,0.010054534937,1.07002915572,0.553506432067,0.0187272640163,1.06969844282
+146,2.433333333,pose1_to_pose2_press,0.583519678452,0.0100545812411,1.07002902366,0.554090409223,0.0187273127649,1.06969831902
+147,2.450000000,pose1_to_pose2_press,0.584134820892,0.0100545798711,1.07002902912,0.554705551639,0.0187273110508,1.06969831754
+148,2.466666667,pose1_to_pose2_press,0.584779663677,0.0100545313981,1.07002897615,0.555350395042,0.0187272651307,1.06969827654
+149,2.483333333,pose1_to_pose2_press,0.585447187768,0.0100544781391,1.07002909078,0.556017919944,0.0187272145359,1.06969838885
+150,2.500000000,pose1_to_pose2_press,0.586129609944,0.0100545600663,1.07002921001,0.556700340181,0.0187272890147,1.0696984852
+151,2.516666667,pose1_to_pose2_press,0.586817388898,0.0100546074515,1.07002926713,0.557388117043,0.0187273297337,1.06969855371
+152,2.533333333,pose1_to_pose2_press,0.58751863932,0.0100546515428,1.07002906989,0.558089367266,0.01872737312,1.06969835565
+153,2.550000000,pose1_to_pose2_press,0.588241531546,0.0100545333722,1.07002900062,0.558812261469,0.0187272619358,1.06969829363
+154,2.566666667,pose1_to_pose2_press,0.5889881827,0.0100545128965,1.07002923649,0.559558913649,0.0187272447735,1.06969852509
+155,2.583333333,pose1_to_pose2_press,0.589757251775,0.0100547879334,1.07002916995,0.560327978218,0.0187275044254,1.06969845606
+156,2.600000000,pose1_to_pose2_press,0.590540103601,0.010054402516,1.07002912136,0.56111083537,0.0187271374475,1.0696984171
+157,2.616666667,pose1_to_pose2_press,0.591334954588,0.0100545794781,1.07002903245,0.561905684901,0.0187273092711,1.06969832305
+158,2.633333333,pose1_to_pose2_press,0.592146803331,0.0100544965295,1.07002904298,0.562717534953,0.0187272306006,1.06969832929
+159,2.650000000,pose1_to_pose2_press,0.592968763415,0.0100544382555,1.07002939493,0.563539496622,0.0187271775446,1.06969867696
+160,2.666666667,pose1_to_pose2_press,0.593796732547,0.0100546671919,1.07002915782,0.564367461478,0.0187273923133,1.06969844892
+161,2.683333333,pose1_to_pose2_press,0.594639744183,0.0100547311122,1.07002914236,0.565210471803,0.0187274518015,1.06969843391
+162,2.700000000,pose1_to_pose2_press,0.59549292346,0.0100547020629,1.07002910676,0.566063651983,0.0187274260987,1.06969840566
+163,2.716666667,pose1_to_pose2_press,0.5963460047,0.0100544511463,1.07002927847,0.56691673646,0.0187271856463,1.06969856388
+164,2.733333333,pose1_to_pose2_press,0.597197051983,0.0100545296289,1.07002924306,0.56776778247,0.0187272601007,1.06969853614
+165,2.750000000,pose1_to_pose2_press,0.598040541989,0.0100545815377,1.07002914053,0.568611273636,0.018727315908,1.06969843268
+166,2.766666667,pose1_to_pose2_press,0.598877669978,0.010054664808,1.07002904127,0.569448397889,0.0187273863438,1.06969832931
+167,2.783333333,pose1_to_pose2_press,0.599709242998,0.0100546102256,1.07002900441,0.57027997167,0.0187273344997,1.06969829665
+168,2.800000000,pose1_to_pose2_press,0.60053753529,0.0100545190302,1.07002899482,0.571108264991,0.0187272469754,1.06969829179
+169,2.816666667,pose1_to_pose2_press,0.601368622633,0.0100546417397,1.0700291278,0.571939351043,0.0187273651116,1.06969841985
+170,2.833333333,pose1_to_pose2_press,0.602207229287,0.0100545157281,1.07002937624,0.572777960292,0.018727247822,1.06969866616
+171,2.850000000,pose1_to_pose2_press,0.60304925344,0.0100547805211,1.07002915702,0.573619981339,0.0187275020709,1.06969844683
+172,2.866666667,pose1_to_pose2_press,0.603893251248,0.0100544966077,1.07002900143,0.574463983021,0.0187272314997,1.06969829645
+173,2.883333333,pose1_to_pose2_press,0.604729869166,0.0100546314916,1.0700290129,0.575300597389,0.0187273541245,1.06969830246
+174,2.900000000,pose1_to_pose2_press,0.605556488169,0.010054580407,1.0700288906,0.576127218323,0.018727309752,1.06969818439
+175,2.916666667,pose1_to_pose2_press,0.606354407132,0.010054380728,1.07002903545,0.576925138967,0.0187271158107,1.06969833027
+176,2.933333333,pose1_to_pose2_press,0.607124641935,0.0100546108084,1.07002938243,0.577695370904,0.0187273357014,1.0696986651
+177,2.950000000,pose1_to_pose2_press,0.607870007077,0.0100546152116,1.07002913269,0.578440737199,0.0187273443164,1.0696984233
+178,2.966666667,pose1_to_pose2_press,0.608596203689,0.0100545790053,1.07002916936,0.579166934065,0.0187273087123,1.06969845322
+179,2.983333333,pose1_to_pose2_press,0.609307187427,0.0100547037108,1.07002911623,0.579877916732,0.0187274302616,1.0696984127
+180,3.000000000,pose1_to_pose2_press,0.610012312296,0.0100544681682,1.07002900334,0.58058304509,0.0187272065818,1.06969830055
+181,3.016666667,pose1_to_pose2_press,0.610705366041,0.0100546513482,1.07002923396,0.581276095337,0.018727377792,1.06969852862
+182,3.033333333,pose1_to_pose2_press,0.611372496612,0.0100546450176,1.07002914412,0.58194322668,0.0187273737698,1.06969843073
+183,3.050000000,pose1_to_pose2_press,0.612009402671,0.0100546830197,1.0700290443,0.582580131095,0.018727406335,1.0696983347
+184,3.066666667,pose1_to_pose2_press,0.612611124809,0.0100547353674,1.07002925509,0.583181852526,0.0187274562279,1.06969854412
+185,3.083333333,pose1_to_pose2_press,0.613185831653,0.0100546006451,1.07002914885,0.583756562665,0.0187273326594,1.06969843765
+186,3.100000000,pose1_to_pose2_press,0.613735060883,0.0100545417173,1.0700291457,0.584305791254,0.0187272715853,1.0696984334
+187,3.116666667,pose1_to_pose2_press,0.614254173143,0.0100545452624,1.07002899975,0.584824904948,0.018727280444,1.06969829643
+188,3.133333333,pose1_to_pose2_press,0.614745284481,0.0100547042366,1.070028981,0.585316012962,0.0187274283828,1.06969828129
+189,3.150000000,pose1_to_pose2_press,0.615208527035,0.0100544384646,1.07002913067,0.585779259156,0.0187271745518,1.06969841712
+190,3.166666667,pose1_to_pose2_press,0.615654197222,0.0100543966396,1.07002918454,0.586224929347,0.0187271327558,1.06969846456
+191,3.183333333,pose1_to_pose2_press,0.616088263612,0.0100544603845,1.07002907255,0.586658995272,0.0187271957315,1.06969836069
+192,3.200000000,pose1_to_pose2_press,0.616514902924,0.0100545783457,1.07002918045,0.58708563271,0.0187273079899,1.06969847036
+193,3.216666667,pose1_to_pose2_press,0.616932780434,0.0100546635523,1.07002916087,0.587503508189,0.0187273871623,1.06969845612
+194,3.233333333,pose1_to_pose2_press,0.617336282393,0.0100547680123,1.070029231,0.587907008772,0.0187274873497,1.06969851956
+195,3.250000000,pose1_to_pose2_press,0.617713469127,0.0100546423493,1.0700291699,0.588284197469,0.0187273690053,1.06969846
+196,3.266666667,pose1_to_pose2_press,0.618049775274,0.0100544859282,1.07002923903,0.588620505964,0.0187272209519,1.06969852647
+197,3.283333333,pose1_to_pose2_press,0.618352088248,0.0100546896738,1.07002895133,0.58892281671,0.0187274181375,1.06969825117
+198,3.300000000,pose1_to_pose2_press,0.618623310193,0.0100545876082,1.07002897707,0.589194038925,0.0187273171516,1.06969826928
+199,3.316666667,pose1_to_pose2_press,0.618869263672,0.0100545930463,1.07002911047,0.589439991873,0.0187273210952,1.06969839856
+200,3.333333333,pose1_to_pose2_press,0.619096077105,0.0100545777938,1.07002915427,0.589666805659,0.0187273075517,1.06969844281
+201,3.350000000,pose1_to_pose2_press,0.619310966636,0.0100544349809,1.07002914315,0.589881696607,0.0187271699411,1.06969843239
+202,3.366666667,pose1_to_pose2_press,0.619510601027,0.0100543714641,1.07002905982,0.590081331716,0.0187271093472,1.06969835337
+203,3.383333333,pose1_to_pose2_press,0.619691085084,0.0100545185343,1.07002906701,0.59026181348,0.0187272489657,1.06969835972
+204,3.400000000,pose1_to_pose2_press,0.619853406686,0.0100546111974,1.07002909906,0.590424133904,0.0187273378011,1.06969838595
+205,3.416666667,pose1_to_pose2_press,0.619997655379,0.0100545893134,1.07002902449,0.590568383219,0.0187273184537,1.06969831344
+206,3.433333333,pose1_to_pose2_press,0.620122823447,0.0100545883241,1.07002907087,0.590693550981,0.0187273166825,1.06969836111
+207,3.450000000,pose1_to_pose2_press,0.620232438411,0.010054580886,1.07002908717,0.590803166465,0.0187273112297,1.06969837776
+208,3.466666667,pose1_to_pose2_press,0.62032791487,0.0100545659387,1.0700290801,0.590898642583,0.0187272952521,1.0696983684
+209,3.483333333,pose1_to_pose2_press,0.620410146123,0.0100545277339,1.07002907118,0.590980873556,0.0187272560254,1.06969835395
+210,3.500000000,pose1_to_pose2_press,0.620479166677,0.0100545716209,1.07002900749,0.59104989436,0.0187273010897,1.06969829397
+211,3.516666667,pose1_to_pose2_press,0.620535849372,0.0100545638963,1.07002900816,0.591106577713,0.0187272962521,1.06969829873
+212,3.533333333,pose1_to_pose2_press,0.620581287663,0.0100545159086,1.07002880353,0.591152015898,0.0187272486087,1.06969810504
+213,3.550000000,pose1_to_pose2_press,0.620617389419,0.0100545266465,1.07002897259,0.591188117508,0.018727258196,1.0696982674
+214,3.566666667,pose1_to_pose2_press,0.620645538688,0.010054570557,1.07002894347,0.591216265527,0.018727297943,1.06969823256
+215,3.583333333,pose1_to_pose2_press,0.620666035815,0.010054538973,1.07002921489,0.591236763191,0.0187272682028,1.06969850972
+216,3.600000000,pose1_to_pose2_press,0.6206819322,0.0100547031984,1.07002924168,0.59125265841,0.0187274284631,1.06969853765
+217,3.616666667,pose1_to_pose2_press,0.620693589984,0.0100546719473,1.07002929715,0.591264316257,0.0187273974726,1.06969859212
+218,3.633333333,pose1_to_pose2_press,0.620702264809,0.0100545656277,1.07002932219,0.591272991697,0.018727293227,1.06969861499
+219,3.650000000,pose1_to_pose2_press,0.620708453034,0.0100546295581,1.07002910677,0.591279179625,0.018727355803,1.06969839587
+220,3.666666667,pose1_to_pose2_press,0.620712456107,0.0100545449323,1.07002908665,0.591283183932,0.0187272752334,1.06969837282
+221,3.683333333,pose1_to_pose2_press,0.620715100566,0.0100544153553,1.07002914307,0.591285830041,0.0187271512204,1.06969842701
+222,3.700000000,pose1_to_pose2_press,0.620716687409,0.0100543721464,1.07002915162,0.591287417476,0.0187271100225,1.06969843477
+223,3.716666667,pose1_to_pose2_press,0.620717484552,0.0100543930903,1.07002912465,0.591288214426,0.0187271303372,1.06969840809
+224,3.733333333,pose1_to_pose2_press,0.620717765688,0.0100544004767,1.07002911515,0.591288495494,0.0187271375018,1.06969839868
+225,3.750000000,pose1_to_pose2_press,0.620717951145,0.0100544053494,1.07002910887,0.591288680906,0.0187271422281,1.06969839248
+226,3.766666667,pose1_to_pose2_press,0.620718133326,0.0100544101359,1.07002910271,0.591288863043,0.0187271468709,1.06969838638
+227,3.783333333,pose1_to_pose2_press,0.620718374464,0.0100544164715,1.07002909456,0.591289104122,0.0187271530161,1.06969837831
+228,3.800000000,pose1_to_pose2_press,0.620718863494,0.0100544293201,1.07002907802,0.591289593034,0.0187271654788,1.06969836195
+229,3.816666667,pose1_to_pose2_press,0.620719745845,0.0100544525027,1.07002904817,0.591290475171,0.018727187965,1.06969833242
+230,3.833333333,pose1_to_pose2_press,0.620720349133,0.0100544923041,1.07002916024,0.591291078134,0.0187272266727,1.0696984453
+231,3.850000000,pose1_to_pose2_press,0.620720729001,0.0100545173784,1.07002923087,0.591291457797,0.018727251058,1.06969851645
+232,3.866666667,pose1_to_pose2_press,0.620721052922,0.0100545387598,1.0700292911,0.591291781544,0.0187272718518,1.06969857712
+233,3.883333333,pose1_to_pose2_press,0.620721058364,0.010054539119,1.07002929212,0.591291786983,0.0187272722012,1.06969857814
+234,3.900000000,pose1_to_pose2_press,0.620721518414,0.010054569486,1.07002937766,0.591292246786,0.0187273017337,1.0696986643
+235,3.916666667,pose1_to_pose2_press,0.62072159829,0.0100545747584,1.07002939251,0.591292326618,0.0187273068612,1.06969867926
+236,3.933333333,pose1_to_pose2_press,0.620721825602,0.01005460619,1.0700292646,0.591292553637,0.0187273373993,1.06969855271
+237,3.950000000,pose1_to_pose2_press,0.620721841758,0.0100546088138,1.07002925147,0.591292569769,0.0187273399482,1.0696985397
+238,3.966666667,pose1_to_pose2_press,0.620721925531,0.0100546224185,1.07002918339,0.591292653414,0.0187273531645,1.06969847226
+239,3.983333333,pose1_to_pose2_press,0.620721937399,0.0100546243458,1.07002917374,0.591292665263,0.0187273550368,1.0696984627
+240,4.000000000,pose1_to_pose2_press,0.620721943569,0.0100546253478,1.07002916873,0.591292671424,0.0187273560102,1.06969845774
+241,4.016666667,pose1_to_pose2_press,0.62072197922,0.0100546311375,1.07002913976,0.59129270702,0.0187273616345,1.06969842903
+242,4.033333333,pose1_to_pose2_press,0.620722173014,0.0100546626094,1.07002898227,0.591292900516,0.0187273922078,1.06969827301
+243,4.050000000,pose1_to_pose2_press,0.620722450434,0.0100545668436,1.07002886614,0.59129317784,0.0187272963261,1.06969816339
+244,4.066666667,pose1_to_pose2_press,0.620722549977,0.0100545079403,1.07002903384,0.591293277439,0.0187272371685,1.06969832066
+245,4.083333333,pose2_hold,0.620722549977,0.0100545079403,1.07002903384,0.591293277438,0.0187272371676,1.06969832066
+246,4.100000000,pose2_hold,0.620722549977,0.0100545079403,1.07002903384,0.59129327744,0.0187272371677,1.06969832066
+247,4.116666667,pose2_hold,0.620722549977,0.0100545079403,1.07002903384,0.59129327744,0.0187272371677,1.06969832066
+248,4.133333333,pose2_hold,0.620722549977,0.0100545079403,1.07002903384,0.591293277439,0.018727237169,1.06969832066
+249,4.150000000,pose2_hold,0.620722549977,0.0100545079403,1.07002903384,0.59129327744,0.0187272371681,1.06969832066
+250,4.166666667,pose2_hold,0.620722549977,0.0100545079403,1.07002903384,0.59129327744,0.0187272371681,1.06969832066
+251,4.183333333,pose2_hold,0.620722549977,0.0100545079403,1.07002903384,0.591293277438,0.0187272371686,1.06969832066
+252,4.200000000,pose2_hold,0.620722549977,0.0100545079403,1.07002903384,0.591293277439,0.0187272371682,1.06969832066
+253,4.216666667,pose2_hold,0.620722549977,0.0100545079403,1.07002903384,0.59129327744,0.0187272371673,1.06969832066
+254,4.233333333,pose2_hold,0.620722549977,0.0100545079403,1.07002903384,0.59129327744,0.0187272371672,1.06969832066
+255,4.250000000,pose2_hold,0.620722549977,0.0100545079403,1.07002903384,0.591293277441,0.018727237167,1.06969832066
+256,4.266666667,pose2_hold,0.620722549977,0.0100545079403,1.07002903384,0.591293277441,0.0187272371669,1.06969832066
+257,4.283333333,pose2_hold,0.620722549977,0.0100545079403,1.07002903384,0.591293277439,0.0187272371678,1.06969832066
+258,4.300000000,pose2_hold,0.620722549977,0.0100545079403,1.07002903384,0.591293277441,0.0187272371671,1.06969832066
+259,4.316666667,pose2_hold,0.620722549977,0.0100545079403,1.07002903384,0.591293277441,0.0187272371668,1.06969832066
+260,4.333333333,pose2_hold,0.620722549977,0.0100545079403,1.07002903384,0.591293277439,0.0187272371689,1.06969832066
+261,4.350000000,pose2_hold,0.620722549977,0.0100545079403,1.07002903384,0.59129327744,0.018727237168,1.06969832066
+262,4.366666667,pose2_hold,0.620722549977,0.0100545079403,1.07002903384,0.591293277439,0.0187272371691,1.06969832066
+263,4.383333333,pose2_to_pose3_retreat,0.620722549977,0.0100545079403,1.07002903384,0.591293277439,0.0187272371697,1.06969832066
+264,4.400000000,pose2_to_pose3_retreat,0.620722482283,0.0100545777007,1.07002891536,0.591293209375,0.0187273057161,1.06969820304
+265,4.416666667,pose2_to_pose3_retreat,0.6207224254,0.0100545812226,1.07002896005,0.591293152706,0.018727310018,1.06969824913
+266,4.433333333,pose2_to_pose3_retreat,0.620722306025,0.0100545886138,1.07002905383,0.591293033776,0.0187273190459,1.06969834584
+267,4.450000000,pose2_to_pose3_retreat,0.620722302046,0.0100545888601,1.07002905695,0.591293029812,0.0187273193468,1.06969834907
+268,4.466666667,pose2_to_pose3_retreat,0.620721994898,0.010054616211,1.07002912077,0.59129272279,0.018727347204,1.06969841503
+269,4.483333333,pose2_to_pose3_retreat,0.62072057302,0.0100546626492,1.07002912609,0.591291300084,0.0187273907404,1.06969841935
+270,4.500000000,pose2_to_pose3_retreat,0.620715525158,0.0100545052979,1.07002906787,0.591286252954,0.018727235739,1.06969835807
+271,4.516666667,pose2_to_pose3_retreat,0.620703146134,0.010054563081,1.0700292615,0.591273873515,0.018727291927,1.06969854601
+272,4.533333333,pose2_to_pose3_retreat,0.620680103348,0.0100545977406,1.07002922166,0.59125083034,0.0187273256034,1.06969851451
+273,4.550000000,pose2_to_pose3_retreat,0.62064470349,0.0100546044803,1.07002929287,0.59121542979,0.0187273296519,1.06969857479
+274,4.566666667,pose2_to_pose3_retreat,0.62059705126,0.0100545136702,1.07002905139,0.591167779325,0.0187272451351,1.06969834592
+275,4.583333333,pose2_to_pose3_retreat,0.620539011988,0.0100545634639,1.07002905943,0.591109739295,0.0187272923805,1.06969835279
+276,4.600000000,pose2_to_pose3_retreat,0.62047083991,0.0100545504079,1.07002927788,0.591041567779,0.0187272803199,1.06969855879
+277,4.616666667,pose2_to_pose3_retreat,0.620393085637,0.0100545600106,1.07002902934,0.590963813532,0.0187272903261,1.06969832463
+278,4.633333333,pose2_to_pose3_retreat,0.620304396946,0.0100546513509,1.07002910338,0.590875123344,0.0187273764146,1.06969840013
+279,4.650000000,pose2_to_pose3_retreat,0.62019941341,0.0100545272399,1.07002937092,0.590770143126,0.0187272628683,1.06969865356
+280,4.666666667,pose2_to_pose3_retreat,0.620076584817,0.0100544602203,1.07002898633,0.590647314745,0.0187271965563,1.06969827826
+281,4.683333333,pose2_to_pose3_retreat,0.619933550416,0.010054592718,1.07002911309,0.590504278022,0.0187273206885,1.0696983989
+282,4.700000000,pose2_to_pose3_retreat,0.619771675494,0.0100545511145,1.0700291398,0.590342403521,0.0187272802047,1.06969842787
+283,4.716666667,pose2_to_pose3_retreat,0.619589246731,0.0100545328252,1.07002914429,0.590159975933,0.0187272655723,1.06969843441
+284,4.733333333,pose2_to_pose3_retreat,0.619387568246,0.0100545763069,1.07002905659,0.589958297081,0.0187273074087,1.06969834688
+285,4.750000000,pose2_to_pose3_retreat,0.619165459602,0.0100545766153,1.07002939462,0.589736188967,0.0187273089223,1.06969868168
+286,4.766666667,pose2_to_pose3_retreat,0.618920045924,0.0100546047235,1.07002936816,0.589490773734,0.0187273310632,1.06969864775
+287,4.783333333,pose2_to_pose3_retreat,0.618651386542,0.0100545004849,1.07002918898,0.589222115781,0.0187272314737,1.06969847491
+288,4.800000000,pose2_to_pose3_retreat,0.618359422212,0.0100545786787,1.07002922935,0.588930151663,0.0187273099602,1.06969851702
+289,4.816666667,pose2_to_pose3_retreat,0.618045682292,0.0100545661312,1.07002902013,0.588616411809,0.0187272973177,1.06969831301
+290,4.833333333,pose2_to_pose3_retreat,0.617708554084,0.0100545733751,1.07002898388,0.588279282292,0.0187272993913,1.06969827198
+291,4.850000000,pose2_to_pose3_retreat,0.617346183205,0.0100546074589,1.07002918065,0.587916911987,0.0187273347412,1.06969846602
+292,4.866666667,pose2_to_pose3_retreat,0.616956394833,0.0100546013813,1.07002927423,0.587527124866,0.0187273323889,1.06969856201
+293,4.883333333,pose2_to_pose3_retreat,0.616529125332,0.0100546528414,1.070029321,0.587099854522,0.0187273804148,1.0696986114
+294,4.900000000,pose2_to_pose3_retreat,0.616066156453,0.010054692902,1.07002911985,0.586636885431,0.0187274191233,1.06969841224
+295,4.916666667,pose2_to_pose3_retreat,0.615569152369,0.0100546318265,1.07002902977,0.586139881911,0.0187273592249,1.0696983196
+296,4.933333333,pose2_to_pose3_retreat,0.615049964289,0.0100546262056,1.07002907995,0.585620693936,0.0187273536249,1.06969836938
+297,4.950000000,pose2_to_pose3_retreat,0.614514345032,0.0100547372234,1.07002895383,0.585085072629,0.0187274577285,1.06969824563
+298,4.966666667,pose2_to_pose3_retreat,0.61396966838,0.0100546608884,1.07002902506,0.584540396342,0.0187273825896,1.06969831516
+299,4.983333333,pose2_to_pose3_retreat,0.613414475347,0.01005456557,1.07002914092,0.583985205645,0.0187272952557,1.06969843187
+300,5.000000000,pose2_to_pose3_retreat,0.612837495379,0.010054657957,1.07002907131,0.583408224912,0.0187273852455,1.06969836728
+301,5.016666667,pose2_to_pose3_retreat,0.612233026912,0.0100546581225,1.07002895289,0.58280375597,0.0187273838268,1.06969824977
+302,5.033333333,pose2_to_pose3_retreat,0.611591427418,0.01005457247,1.0700288759,0.582162158654,0.0187273054861,1.0696981722
+303,5.050000000,pose2_to_pose3_retreat,0.610918782443,0.0100545631299,1.0700289566,0.58148951258,0.0187272922454,1.06969824863
+304,5.066666667,pose2_to_pose3_retreat,0.610216923111,0.0100545970542,1.07002907429,0.580787653581,0.0187273273769,1.06969836816
+305,5.083333333,pose2_to_pose3_retreat,0.609477507434,0.0100546520932,1.07002902108,0.580048237838,0.0187273820715,1.06969831205
+306,5.100000000,pose2_to_pose3_retreat,0.608701088538,0.0100544756025,1.07002933803,0.579271820599,0.018727211001,1.06969862349
+307,5.116666667,pose2_to_pose3_retreat,0.607891844609,0.0100545594613,1.07002919168,0.57846257457,0.0187272881414,1.06969848759
+308,5.133333333,pose2_to_pose3_retreat,0.607061384187,0.0100545702515,1.07002924268,0.577632113263,0.0187272958267,1.06969853539
+309,5.150000000,pose2_to_pose3_retreat,0.606221831458,0.0100545071159,1.07002900865,0.576792562459,0.0187272392538,1.06969830284
+310,5.166666667,pose2_to_pose3_retreat,0.605388992667,0.0100544457792,1.07002917426,0.575959725579,0.0187271841519,1.06969846167
+311,5.183333333,pose2_to_pose3_retreat,0.60456283877,0.0100544608875,1.0700293657,0.57513357109,0.0187271970711,1.06969864833
+312,5.200000000,pose2_to_pose3_retreat,0.603729270121,0.0100545497944,1.07002920518,0.574300000305,0.0187272791924,1.06969849981
+313,5.216666667,pose2_to_pose3_retreat,0.602876945295,0.010054631283,1.07002911379,0.573447675053,0.0187273593533,1.06969841143
+314,5.233333333,pose2_to_pose3_retreat,0.601991568917,0.0100546447583,1.07002907691,0.572562297494,0.0187273683991,1.06969836351
+315,5.250000000,pose2_to_pose3_retreat,0.601079451208,0.0100546150634,1.0700289538,0.571650180065,0.0187273398004,1.06969824418
+316,5.266666667,pose2_to_pose3_retreat,0.600142522536,0.0100545876748,1.07002911168,0.5707132526,0.0187273167453,1.0696984082
+317,5.283333333,pose2_to_pose3_retreat,0.599222328974,0.0100545903323,1.0700291125,0.569793058947,0.0187273191655,1.0696984105
+318,5.300000000,pose2_to_pose3_retreat,0.598323870843,0.0100545590848,1.07002905998,0.568894601328,0.0187272895253,1.06969835515
+319,5.316666667,pose2_to_pose3_retreat,0.597447643352,0.0100545976286,1.07002909319,0.568018373141,0.0187273254745,1.06969838218
+320,5.333333333,pose2_to_pose3_retreat,0.596587665508,0.0100546009946,1.07002910243,0.567158395395,0.0187273290696,1.06969838811
+321,5.350000000,pose2_to_pose3_retreat,0.595734866478,0.0100545716746,1.07002916475,0.566305597382,0.0187273031677,1.0696984498
+322,5.366666667,pose2_to_pose3_retreat,0.594867136268,0.0100546147515,1.07002915371,0.565437866762,0.0187273449395,1.06969844092
+323,5.383333333,pose2_to_pose3_retreat,0.593981256409,0.0100545195384,1.07002913619,0.564551987088,0.0187272505328,1.0696984278
+324,5.400000000,pose2_to_pose3_retreat,0.593092435811,0.0100545743079,1.07002926258,0.563663165461,0.0187273016786,1.06969854992
+325,5.416666667,pose2_to_pose3_retreat,0.592208015388,0.0100545949321,1.0700292171,0.562778744872,0.0187273218474,1.06969850662
+326,5.433333333,pose2_to_pose3_retreat,0.591336964774,0.0100545016716,1.07002914776,0.561907695464,0.0187272326209,1.06969843587
+327,5.450000000,pose2_to_pose3_retreat,0.590488602935,0.0100545263683,1.07002915976,0.561059334638,0.0187272606377,1.06969844494
+328,5.466666667,pose2_to_pose3_retreat,0.589672401865,0.0100545756972,1.07002910778,0.560243132812,0.0187273073673,1.06969839198
+329,5.483333333,pose2_to_pose3_retreat,0.588873952935,0.0100546076763,1.07002902143,0.559444683058,0.0187273367865,1.06969831186
+330,5.500000000,pose2_to_pose3_retreat,0.588092642259,0.0100545385638,1.07002892223,0.558663373794,0.0187272728209,1.06969822199
+331,5.516666667,pose2_to_pose3_retreat,0.587334095516,0.0100545147718,1.07002899222,0.557904826813,0.0187272480915,1.06969828848
+332,5.533333333,pose2_to_pose3_retreat,0.586591947924,0.0100546036619,1.07002906891,0.557162677783,0.0187273319623,1.06969836154
+333,5.550000000,pose2_to_pose3_retreat,0.58586483819,0.010054583754,1.07002916607,0.556435568363,0.0187273128208,1.06969845076
+334,5.566666667,pose2_to_pose3_retreat,0.585162715923,0.0100545344291,1.07002918937,0.555733446123,0.0187272634251,1.06969846981
+335,5.583333333,pose2_to_pose3_retreat,0.584490621449,0.0100545138729,1.07002902238,0.555061351251,0.0187272418818,1.06969831234
+336,5.600000000,pose2_to_pose3_retreat,0.583839645758,0.0100544981537,1.07002894809,0.554410375672,0.0187272266386,1.06969824063
+337,5.616666667,pose2_to_pose3_retreat,0.583207961776,0.0100545955172,1.07002908419,0.55377869183,0.0187273243928,1.06969837448
+338,5.633333333,pose2_to_pose3_retreat,0.582601155211,0.0100546014221,1.07002925779,0.553171886017,0.0187273329395,1.06969855046
+339,5.650000000,pose2_to_pose3_retreat,0.582017638602,0.0100544930654,1.07002925962,0.552588369658,0.0187272252923,1.06969854865
+340,5.666666667,pose2_to_pose3_retreat,0.581460191931,0.0100545390341,1.07002915294,0.552030923145,0.0187272717582,1.0696984409
+341,5.683333333,pose2_to_pose3_retreat,0.580939851666,0.0100546059008,1.07002920072,0.551510582795,0.0187273384822,1.06969849303
+342,5.700000000,pose2_to_pose3_retreat,0.580457080742,0.0100545272862,1.07002925777,0.55102781197,0.0187272601576,1.06969854905
+343,5.716666667,pose2_to_pose3_retreat,0.580007391348,0.0100544921712,1.07002920402,0.550578122338,0.0187272242116,1.06969849433
+344,5.733333333,pose2_to_pose3_retreat,0.579584838496,0.0100545879731,1.07002914546,0.55015556832,0.0187273160517,1.06969843578
+345,5.750000000,pose2_to_pose3_retreat,0.579182920598,0.0100546150753,1.0700290312,0.549753650196,0.0187273424237,1.06969832282
+346,5.766666667,pose2_to_pose3_retreat,0.578801420845,0.0100546093921,1.07002893657,0.549372149552,0.0187273338381,1.06969823135
+347,5.783333333,pose2_to_pose3_retreat,0.57844319357,0.0100546244921,1.07002901817,0.549013921775,0.0187273471195,1.06969830973
+348,5.800000000,pose2_to_pose3_retreat,0.578107648738,0.0100545189682,1.07002911065,0.548678379676,0.0187272505927,1.06969839461
+349,5.816666667,pose2_to_pose3_retreat,0.577797266369,0.0100546477331,1.07002905223,0.548367996133,0.0187273753778,1.06969833648
+350,5.833333333,pose2_to_pose3_retreat,0.577521626719,0.0100547429023,1.07002894167,0.548092354771,0.0187274651757,1.06969823747
+351,5.850000000,pose2_to_pose3_retreat,0.577275753053,0.0100546264734,1.07002904744,0.547846482759,0.018727354412,1.06969834455
+352,5.866666667,pose2_to_pose3_retreat,0.577057150812,0.0100546025192,1.07002913893,0.547627880811,0.0187273311565,1.06969842842
+353,5.883333333,pose2_to_pose3_retreat,0.576860917614,0.0100545703973,1.0700292773,0.547431647541,0.0187272987613,1.06969856606
+354,5.900000000,pose2_to_pose3_retreat,0.57668624686,0.0100546031334,1.07002939593,0.547256977081,0.0187273325041,1.06969868498
+355,5.916666667,pose2_to_pose3_retreat,0.576527355478,0.0100546533489,1.07002911871,0.547098084805,0.0187273799079,1.06969841358
+356,5.933333333,pose2_to_pose3_retreat,0.576383848737,0.0100546644755,1.07002913034,0.546954577987,0.0187273909348,1.06969842933
+357,5.950000000,pose2_to_pose3_retreat,0.57625721613,0.0100546150713,1.07002923842,0.54682794614,0.0187273439751,1.06969853393
+358,5.966666667,pose2_to_pose3_retreat,0.576145709421,0.0100545440858,1.07002917243,0.546716440096,0.018727275052,1.06969846315
+359,5.983333333,pose2_to_pose3_retreat,0.576049718753,0.0100545501056,1.0700289252,0.546620448275,0.0187272771684,1.06969821677
+360,6.000000000,pose2_to_pose3_retreat,0.575969004418,0.0100545972211,1.07002905638,0.546539734062,0.0187273247097,1.06969834802
+361,6.016666667,pose2_to_pose3_retreat,0.575903588006,0.010054673334,1.07002918916,0.546474317586,0.0187274004716,1.06969847709
+362,6.033333333,pose2_to_pose3_retreat,0.575852062137,0.0100545321817,1.07002928853,0.546422793031,0.0187272636412,1.06969857285
+363,6.050000000,pose2_to_pose3_retreat,0.575812317853,0.0100545864246,1.07002918355,0.54638304819,0.0187273162967,1.06969847584
+364,6.066666667,pose2_to_pose3_retreat,0.575782688948,0.0100545556373,1.07002901889,0.546353419225,0.0187272854707,1.06969831555
+365,6.083333333,pose2_to_pose3_retreat,0.575759813988,0.0100546723757,1.07002913751,0.5463305433,0.0187273987787,1.06969843007
+366,6.100000000,pose2_to_pose3_retreat,0.575743069129,0.0100546158625,1.07002911786,0.54631379875,0.0187273434324,1.06969841353
+367,6.116666667,pose2_to_pose3_retreat,0.575730828671,0.0100546708824,1.07002924986,0.546301557706,0.0187273961747,1.06969853794
+368,6.133333333,pose2_to_pose3_retreat,0.575722566168,0.0100547225005,1.07002907048,0.546293295515,0.0187274491204,1.06969836572
+369,6.150000000,pose2_to_pose3_retreat,0.575717519791,0.0100546856379,1.07002893503,0.546288249253,0.0187274127563,1.06969823321
+370,6.166666667,pose2_to_pose3_retreat,0.575714633465,0.0100546165826,1.07002887673,0.546285362841,0.0187273433694,1.06969817392
+371,6.183333333,pose2_to_pose3_retreat,0.575713364778,0.0100545720609,1.0700290095,0.546284094754,0.0187273006853,1.06969830137
+372,6.200000000,pose2_to_pose3_retreat,0.575712628421,0.0100545437176,1.07002911454,0.546283358859,0.018727273759,1.06969840245
+373,6.216666667,pose2_to_pose3_retreat,0.575712228453,0.0100545283223,1.0700291716,0.546282959142,0.0187272591333,1.06969845736
+374,6.233333333,pose2_to_pose3_retreat,0.575712220902,0.0100545280317,1.07002917268,0.546282951596,0.0187272588572,1.0696984584
+375,6.250000000,pose2_to_pose3_retreat,0.575712054829,0.0100545216393,1.07002919637,0.546282785626,0.0187272527844,1.0696984812
+376,6.266666667,pose2_to_pose3_retreat,0.575711906934,0.0100545159466,1.07002921746,0.546282637824,0.0187272473763,1.0696985015
+377,6.283333333,pose2_to_pose3_retreat,0.575711783615,0.0100545111999,1.07002923505,0.546282514583,0.0187272428669,1.06969851843
+378,6.300000000,pose2_to_pose3_retreat,0.575711640047,0.0100545056738,1.07002925553,0.546282371104,0.018727237617,1.06969853814
+379,6.316666667,pose2_to_pose3_retreat,0.575711484749,0.0100544996962,1.07002927769,0.546282215904,0.0187272319382,1.06969855946
+380,6.333333333,pose2_to_pose3_retreat,0.575711266594,0.0100544955638,1.07002928957,0.546281997775,0.0187272278751,1.0696985708
+381,6.350000000,pose2_to_pose3_retreat,0.575710995475,0.0100545044293,1.07002924115,0.546281726327,0.0187272356761,1.0696985238
+382,6.366666667,pose2_to_pose3_retreat,0.575710856585,0.0100545089709,1.07002921635,0.546281587267,0.0187272396724,1.06969849973
+383,6.383333333,pose2_to_pose3_retreat,0.575710737149,0.0100545128764,1.07002919502,0.546281467686,0.018727243109,1.06969847903
+384,6.400000000,pose2_to_pose3_retreat,0.575710452566,0.0100545221821,1.0700291442,0.546281182758,0.0187272512973,1.0696984297
+385,6.416666667,pose2_to_pose3_retreat,0.575710064949,0.0100545348571,1.07002907499,0.546280794669,0.0187272624503,1.06969836251
+386,6.433333333,pose2_to_pose3_retreat,0.575709923391,0.0100545394859,1.07002904971,0.546280652939,0.0187272665234,1.06969833797
+387,6.450000000,pose2_to_pose3_retreat,0.575709898761,0.0100545402913,1.07002904531,0.54628062828,0.018727267232,1.06969833371
+388,6.466666667,pose2_to_pose3_retreat,0.575709824774,0.0100545427107,1.0700290321,0.546280554202,0.0187272693609,1.06969832088
+389,6.483333333,pose2_to_pose3_retreat,0.575709746618,0.0100545480502,1.07002902476,0.546280476091,0.018727274886,1.06969831448
+390,6.500000000,pose2_to_pose3_retreat,0.5757096933,0.0100545521968,1.07002902094,0.546280422827,0.0187272792485,1.0696983114
+391,6.516666667,pose2_to_pose3_retreat,0.575709644192,0.0100545560159,1.07002901743,0.546280373771,0.0187272832663,1.06969830857
+392,6.533333333,pose2_to_pose3_retreat,0.575709625358,0.0100545574807,1.07002901608,0.546280354956,0.0187272848073,1.06969830748
+393,6.550000000,pose2_to_pose3_retreat,0.575709532625,0.0100545646926,1.07002900945,0.546280262319,0.0187272923945,1.06969830213
+394,6.566666667,pose2_to_pose3_retreat,0.575709391861,0.0100545756399,1.07002899938,0.546280121701,0.0187273039116,1.06969829401
+395,6.583333333,pose2_to_pose3_retreat,0.575709308471,0.0100545707454,1.07002921471,0.546280039037,0.0187273010266,1.0696984975
+396,6.600000000,pose2_to_pose3_retreat,0.575709270927,0.0100545716524,1.07002931416,0.546280001826,0.0187273028572,1.06969859147
+397,6.616666667,pose2_to_pose3_retreat,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_12/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_12/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..675adffc030cca3b29225740766344790209e3b2
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_12/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3877b52648758277b69a396a5a8ab339b70406b981e72dac11021d6d4d0d8eae
+size 25469417
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_12/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_12/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e532dc24bbac54eb777b422aecc4be28b4f4b63a
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_12/depth_04/franka_data.csv
@@ -0,0 +1,402 @@
+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,764,742,711,672,659,632,878,784,800,649,629,650,0.400954988988,0.00446737825579,0.0798286177311,0.999999953779,7.897504035e-05,-0.000290694196826,4.1245155881e-05,1793193674509389568
+1,0.016666667,BASELINE,764,742,711.576578523,672,659,632,878,784,799.423421477,649,629,650.576578523,0.400953741073,0.00446838980468,0.0798272651466,0.999999953123,7.94602592691e-05,-0.000292824046679,4.11634444438e-05,1793193674526056192
+2,0.033333333,BASELINE,764,742,711.843146906,672.156853094,659,632,878,784,799,649.156853094,629,651,0.400952927343,0.00446903001875,0.0798264314719,0.999999952737,7.95890800709e-05,-0.000294110803278,4.11150529e-05,1793193674542722816
+3,0.050000000,BASELINE,764,742,711.25265402,672.74734598,659,632,878,784,799,649.74734598,629,651,0.400953313969,0.00446864363203,0.0798270323873,0.99999995311,7.87325942812e-05,-0.000293066724722,4.11587783071e-05,1793193674559389440
+4,0.066666667,BASELINE,764,742,711,673,659,632,878,784,799,649.669253475,629,651,0.400953716877,0.00446836817846,0.0798276748836,0.999999953378,7.85430725531e-05,-0.000292191950146,4.12226143388e-05,1793193674576056064
+5,0.083333333,BASELINE,764,742,711,673,659,632,878,784,799,649.091156997,629,651,0.400954131961,0.00446817568667,0.0798283484762,0.999999953569,7.88523422988e-05,-0.000291443790211,4.13014901695e-05,1793193674592722688
+6,0.100000000,BASELINE,764,742,711,672.515591784,658.515591784,632,878,784,799.484408216,649.484408216,629,651,0.400953683833,0.00446781418145,0.0798278610914,0.999999953352,7.88430928978e-05,-0.000292159798977,4.15127194478e-05,1793193674609389312
+7,0.116666667,BASELINE,764,742,711.060870639,672.060870639,658,632.060870639,878,784,799.939129361,649.939129361,629,651,0.400953149825,0.00446760703864,0.0798272833524,0.999999953088,7.90165959077e-05,-0.00029299005738,4.1682788749e-05,1793193674626056192
+8,0.133333333,BASELINE,764,742,711.649214081,672.649214081,658,632.649214081,878,784,799.350785919,649.350785919,629,651,0.400953271941,0.00446901169421,0.0798278060005,0.999999953085,8.12904399139e-05,-0.00029243515284,4.12814822703e-05,1793193674642722816
+9,0.150000000,BASELINE,764,742.234151956,711.765848044,673,658.234151956,632.765848044,878,784,799,649,629,650.765848044,0.40095353281,0.0044692522082,0.0798283315661,0.999999953289,8.1084319559e-05,-0.000291817902441,4.10958447486e-05,1793193674659389952
+10,0.166666667,BASELINE,764,742.814060996,711.185939004,673,658.814060996,632.185939004,878,784,799,649,629,650.185939004,0.400953998566,0.00446777370932,0.0798288614398,0.999999953797,7.72161956603e-05,-0.000291108589981,4.12286716939e-05,1793193674676057344
+11,0.183333333,BASELINE,764,743,711,673.390620198,659,632,878,784,799.390620198,649.390620198,628.609379802,650.390620198,0.400954710848,0.00446827880725,0.0798291036701,0.999999953949,7.69099258719e-05,-0.000290673841705,4.11705243025e-05,1793193674692724224
+12,0.200000000,BASELINE,764,743,711,673.965598454,659,632,878,784,799.965598454,649.965598454,628.034401546,650.965598454,0.400955539481,0.00446972008822,0.0798292101436,0.999999953937,7.8284717057e-05,-0.000290368677344,4.1022244211e-05,1793193674709390592
+13,0.216666667,BASELINE,764,743,711.538435199,672.923129603,659,632,879.076870397,784,799.461564801,650,628.538435199,651,0.400954684072,0.00446945348113,0.0798287377562,0.9999999538,7.80833777227e-05,-0.000290873632392,4.11829291386e-05,1793193674726056960
+14,0.233333333,BASELINE,764,742.884961825,712,672.115038175,659,632.115038175,879.769923649,784,799,649.884961825,629,651,0.400953317595,0.00446900201005,0.0798278434474,0.999999953481,7.74958427459e-05,-0.00029211207309,4.12685672125e-05,1793193674742723840
+15,0.250000000,BASELINE,764,742.292150876,712,672.707849124,659,632.707849124,878.584301752,784,799,649.292150876,629,651,0.400950273661,0.00446823416559,0.079825349823,0.999999952432,7.57209466728e-05,-0.000296182686506,4.09608632156e-05,1793193674759390720
+16,0.266666667,BASELINE,764,742.294233958,711.705766042,673,659,633,878,784,799.294233958,649.294233958,628.705766042,651,0.40095036084,0.00446742392475,0.0798255691185,0.999999952606,7.40620014589e-05,-0.000296041034191,4.07677988844e-05,1793193674776057856
+17,0.283333333,BASELINE,764,742.874374514,711.125625486,673,659,633,878,784,799.874374514,649.874374514,628.125625486,651,0.400953490516,0.00446657248748,0.0798284245533,0.999999953968,7.25157255883e-05,-0.00029180633075,4.06861297242e-05,1793193674792724480
+18,0.300000000,BASELINE,764,742.54950664,711,673,659,632.54950664,878,784,799.54950664,649.54950664,628.45049336,651,0.400954449516,0.00446749121277,0.0798289455902,0.999999954055,7.49410138311e-05,-0.000290853653134,4.09517187274e-05,1793193674809390848
+19,0.316666667,BASELINE,764,742.025982071,711,672.974017929,659,632.025982071,878,784,799,649,629,651,0.400954801573,0.00446883698342,0.0798288597656,0.999999953815,7.82722278299e-05,-0.000290756126923,4.12824295002e-05,1793193674826056960
+20,0.333333333,BASELINE,764,742.611845491,711,672.388154509,659,632.611845491,878,784,799,649,629,651,0.400955003203,0.00446884203547,0.0798296004061,0.999999954245,7.74705442365e-05,-0.000289538439723,4.09481782199e-05,1793193674842723840
+21,0.350000000,BASELINE,764,742.804212008,711,672.195787992,658.804212008,632.804212008,878.195787992,784,799.195787992,649,629,651,0.400954956699,0.00446807927447,0.0798298874529,0.999999954439,7.64551716709e-05,-0.00028914529429,4.08871217695e-05,1793193674859390464
+22,0.366666667,BASELINE,764,742.224040842,711,672.775959158,658.224040842,632.224040842,878.775959158,784,799.775959158,649,629,651,0.400954423044,0.00446580909512,0.0798292839761,0.999999954173,7.50202717081e-05,-0.000290370940719,4.13624184537e-05,1793193674876056576
+23,0.383333333,BASELINE,764,742,711,673,658.355034578,632,878.644965422,784,799.644965422,649,629,651,0.400953416811,0.00446562141574,0.079828664279,0.999999953819,7.48273826769e-05,-0.000291636334686,4.13589421936e-05,1793193674892722944
+24,0.400000000,BASELINE,764,742,711,673,658.933420723,632,878.066579277,784,799.066579277,649,629,651,0.400952113279,0.00446674383283,0.0798280343777,0.99999995341,7.54158401847e-05,-0.00029292673387,4.1054270845e-05,1793193674909389568
+25,0.416666667,BASELINE,764,742.508008136,711.508008136,673.508008136,659,632.508008136,878,784,799,649,629,650.491991864,0.40095407331,0.00446807878931,0.0798292439671,0.999999953912,7.80693454855e-05,-0.000290516419103,4.10072141825e-05,1793193674926055936
+26,0.433333333,BASELINE,764,742.915791415,712,673.915791415,658.915791415,632.915791415,878,784,799,649,629,650.084208585,0.400956036395,0.00446909084272,0.0798304078297,0.999999954397,8.03369794011e-05,-0.000288218654687,4.10116429832e-05,1793193674942722816
+27,0.450000000,BASELINE,764,742.326963332,712,673.326963332,658.326963332,632.326963332,878,784,799,649,629,650.673036668,0.400955473697,0.00446800221799,0.0798298637108,0.99999995416,7.8682486748e-05,-0.000289480215758,4.1123776168e-05,1793193674959389440
+28,0.466666667,BASELINE,763.741654774,742,712,673,658.258345226,632,878,784,799,649,629,651,0.400954866464,0.00446783737472,0.0798291598716,0.999999953867,7.76210869931e-05,-0.000290772858822,4.11407133088e-05,1793193674976056576
+29,0.483333333,BASELINE,763.160740716,742,712,673,658.839259284,632,878,784,799,649,629,651,0.400954203626,0.00446882596141,0.0798282566063,0.999999953508,7.73002207977e-05,-0.000292104310668,4.10387890369e-05,1793193674992724224
+30,0.500000000,BASELINE,763.415068857,742,711.584931143,673,658.584931143,632,878,784,799,649,629,650.584931143,0.400955100921,0.00446833295949,0.0798289205678,0.999999954157,7.56184883004e-05,-0.000290343678063,4.08558896687e-05,1793193675009391104
+31,0.516666667,BASELINE,763.988925654,742,711.011074346,673,658.011074346,632,878,784,799,649,629,650.011074346,0.400956595057,0.00446727316386,0.0798301840846,0.99999995518,7.34161454263e-05,-0.00028740014357,4.0642012626e-05,1793193675026057984
+32,0.533333333,BASELINE,764,742,711,673,658.565284494,632.565284494,878,784,799,649,628.434715506,650.565284494,0.400954595259,0.00446732367239,0.0798286435656,0.999999954306,7.57251798328e-05,-0.000289812889033,4.07639678843e-05,1793193675042723584
+33,0.550000000,BASELINE,763.854252923,742,711.145747077,673,659,633,878,784,799,649.145747077,628.145747077,651,0.400953554429,0.00446724764105,0.0798279953215,0.999999953852,7.69043566974e-05,-0.000291051714678,4.08679512023e-05,1793193675059389440
+34,0.566666667,BASELINE,763.261351146,742,711.738648854,673,659,633,878,784,799,649.738648854,628.738648854,651,0.400955666667,0.00446671635181,0.0798302538786,0.999999954823,7.43447486592e-05,-0.000288365563079,4.08965213908e-05,1793193675076055808
+35,0.583333333,BASELINE,763.32205015,742.32205015,711.67794985,673,659,633,878,784,799,649.67794985,629,651,0.400955558673,0.00446701829589,0.0798300846474,0.999999954697,7.41472916367e-05,-0.000288840348448,4.09786537579e-05,1793193675092722944
+36,0.600000000,BASELINE,763.897962569,742.897962569,711.102037431,673,659,633,878,784,799,649.102037431,629,651,0.400953700539,0.00446797705222,0.0798280016653,0.999999953706,7.58118456447e-05,-0.000291806803337,4.11030075533e-05,1793193675109390592
+37,0.616666667,BASELINE,763.52719322,742.52719322,711,672.52719322,659,632.52719322,878,784,799,649,629,650.52719322,0.400953512663,0.00446865286504,0.0798279384609,0.999999953534,7.7135536988e-05,-0.000292072164352,4.09311426162e-05,1793193675126056960
+38,0.633333333,BASELINE,763,742,711,672.048756054,659,632,878,784,799,649,629,650.048756054,0.400953741198,0.00446920963171,0.0798282980354,0.999999953571,7.82428482233e-05,-0.00029168046969,4.07184687215e-05,1793193675142722816
+39,0.650000000,BASELINE,763,742,711,672.639548197,659,632,878,784,799,649,629,650.639548197,0.400954600768,0.00446912024808,0.0798285227446,0.999999953965,7.7760567149e-05,-0.000290450074661,4.07612095648e-05,1793193675159389440
+40,0.666666667,BASELINE,763.225888205,742,711,673,659,632,878,784,799,649,629,650.774111795,0.400954431555,0.00446893936302,0.0798284449058,0.999999953964,7.79043122618e-05,-0.000290397973505,4.0885742111e-05,1793193675176056064
+41,0.683333333,BASELINE,763.805261182,742,711,673,659,632,878,784,799,649,629,650.194738818,0.400952652433,0.00446861529049,0.0798278936199,0.999999953344,7.90277045006e-05,-0.000292189744444,4.11382677097e-05,1793193675192722688
+42,0.700000000,BASELINE,764,742.38160936,711,673,659,632,878,783.61839064,799,649,629,650.38160936,0.400953215752,0.00446743538282,0.0798283846621,0.999999953727,7.63754518681e-05,-0.000291597671591,4.10210644228e-05,1793193675209389312
+43,0.716666667,BASELINE,764,742.956426077,711,673,659,632,878,783.043573923,799,649,629,650.956426077,0.400954965039,0.00446582216909,0.0798294034309,0.999999954601,7.18116046729e-05,-0.000289798667702,4.07166688097e-05,1793193675226056192
+44,0.733333333,BASELINE,764,742.457048372,711.542951628,672.457048372,659,632,878,783.542951628,799,649,629,651,0.400955807443,0.00446813616816,0.0798301410391,0.999999954878,7.46056481027e-05,-0.000288138824978,4.0668985463e-05,1793193675242722816
+45,0.750000000,BASELINE,764,742,712,672,659,632,878.128535985,784,799.128535985,649,629,651,0.40095602526,0.00446991966936,0.0798303191572,0.999999954831,7.74775796964e-05,-0.000287537313219,4.07242833363e-05,1793193675259389440
+46,0.766666667,BASELINE,764,742,712,672,659,632,878.707457138,784,799.707457138,649,629,651,0.40095431519,0.00446871562873,0.0798286176497,0.99999995385,7.85077397414e-05,-0.000290604157506,4.10666433082e-05,1793193675276056064
+47,0.783333333,BASELINE,764,742,711.713667078,672.286332922,658.713667078,632,878.713667078,784,799.713667078,649,629,651,0.400953839037,0.00446854559341,0.0798282181871,0.999999953602,7.89769597352e-05,-0.000291314881682,4.11607978284e-05,1793193675292722688
+48,0.800000000,BASELINE,764,742,711.134837568,672.865162432,658.134837568,632,878.134837568,784,799.134837568,649,629,651,0.400954623361,0.00446943182146,0.0798291487974,0.999999954109,7.88731648836e-05,-0.000289618767753,4.10014040133e-05,1793193675309389312
+49,0.816666667,BASELINE,763.560189094,742,711,672.560189094,658.439810906,632,878,784,799.439810906,649,629,650.560189094,0.400954139014,0.00446811002878,0.0798291232825,0.99999995438,7.54959284561e-05,-0.000289606909272,4.08361086409e-05,1793193675326055936
+50,0.833333333,BASELINE,763,742.013542034,711.013542034,672.013542034,659,632,878.013542034,784,799.986457966,649.013542034,629,650.013542034,0.400953322287,0.00446617945226,0.0798288317359,0.999999954559,7.12789635586e-05,-0.000290079912891,4.06725848967e-05,1793193675342722816
+51,0.850000000,BASELINE,763,742.602242185,711.602242185,672.602242185,659,632,878.602242185,784,799.397757815,649.602242185,629,650.602242185,0.400954752639,0.00446687271762,0.0798295738577,0.999999954581,7.36194699066e-05,-0.000289421644351,4.06604266694e-05,1793193675359389440
+52,0.866666667,BASELINE,763,742.811107186,711.811107186,673,659,632.188892814,879,784,799,649.811107186,629,651,0.400955517904,0.0044676131143,0.0798300660304,0.999999954611,7.52988784509e-05,-0.000288885996038,4.06587049724e-05,1793193675376056064
+53,0.883333333,BASELINE,763,742.228726011,711.228726011,673,659,632.771273989,879,784,799,649.228726011,629,651,0.400954897708,0.00446845169161,0.0798300375265,0.999999954668,7.56011339326e-05,-0.000288605781691,4.06787239299e-05,1793193675392722688
+54,0.900000000,BASELINE,763.348565255,742,711.348565255,673,659.348565255,633,878.651434745,784,799,649,629,650.651434745,0.400955037051,0.0044689185834,0.0798301466267,0.999999954766,7.61723542451e-05,-0.000288115137942,4.06755808005e-05,1793193675409389312
+55,0.916666667,BASELINE,763.922564607,742,711.922564607,673,659.922564607,633,878.077435393,784,799,649,629,650.077435393,0.400955667624,0.00446914508805,0.0798303447222,0.999999954891,7.6917527178e-05,-0.000287488399278,4.06574576229e-05,1793193675426055936
+56,0.933333333,BASELINE,764,742,711.504462323,673,659.504462323,632.504462323,878,784,799,649,629,650,0.400954803133,0.00446840238919,0.079830071938,0.999999954604,7.51510901511e-05,-0.000288932136356,4.07685412418e-05,1793193675442723328
+57,0.950000000,BASELINE,763.929125442,742,711,673,659,632.070874558,878,784,799,649.070874558,628.929125442,650,0.400953835364,0.00446772742383,0.0798297242249,0.999999954262,7.36935413955e-05,-0.000290472780715,4.08828520685e-05,1793193675459390976
+58,0.966666667,BASELINE,763.335161578,742,711,673,659,632.664838422,878,784,799,649.664838422,628.335161578,650,0.400953826077,0.00446866785331,0.0798293654495,0.999999954019,7.74064350676e-05,-0.000290345670422,4.08722729407e-05,1793193675476057600
+59,0.983333333,BASELINE,763.251507014,742.251507014,711.251507014,673,659,633,878,784.251507014,799,650,628,650,0.400954421661,0.00446904613004,0.0798293947921,0.99999995417,7.83661453342e-05,-0.000289563597095,4.08829496967e-05,1793193675492723968
+60,1.000000000,BASELINE,763.828727953,742.828727953,711.828727953,673,659,633,878,784.828727953,799,650,628,650,0.400955800582,0.0044686963915,0.0798299267666,0.99999995484,7.57603485041e-05,-0.000287933314482,4.0921153864e-05,1793193675509390080
+61,1.016666667,BASELINE,764,742.595534411,711.595534411,673,659,633,878,784.595534411,799,649.595534411,628,650.404465589,0.400954989811,0.00446877084451,0.0798294566666,0.999999954729,7.60647615835e-05,-0.000288270728634,4.07055297606e-05,1793193675526056704
+62,1.033333333,BASELINE,764,742.020422623,711.020422623,673,659,633,878,784.020422623,799,649.020422623,628,650.979577377,0.400953255196,0.00446902426622,0.079828563786,0.999999954287,7.75970079707e-05,-0.000289438324689,4.03828141477e-05,1793193675542723072
+63,1.050000000,BASELINE,764,742,711,673,659,632.432153376,878,784,799,649.567846624,628.567846624,650.432153376,0.400954878288,0.00446847989482,0.0798293730372,0.999999954496,7.81753759883e-05,-0.000288517996605,4.06756336369e-05,1793193675559390208
+64,1.066666667,BASELINE,764,742,711,673,658.846064776,632.153935224,878,784,799,649.846064776,629,650.153935224,0.400955879453,0.00446820216798,0.0798299948963,0.999999954649,7.83207565117e-05,-0.000287919342002,4.08806753553e-05,1793193675576057600
+65,1.083333333,BASELINE,764,742,711,673,658.267330752,632.732669248,878,784,799,649.267330752,629,650.732669248,0.400954823204,0.00446874133035,0.0798299266872,0.999999954582,7.73681841221e-05,-0.000288420515465,4.07809457041e-05,1793193675592724224
+66,1.100000000,BASELINE,764,742,711,672.689931919,658.310068081,632.689931919,878,784,799,649,628.689931919,651,0.400954625074,0.00446910971292,0.0798301903374,0.999999954594,7.70136257746e-05,-0.000288492770188,4.06447561431e-05,1793193675609390592
+67,1.116666667,BASELINE,764,742,711,672.113679338,658.886320662,632.113679338,878,784,799,649,628.113679338,651,0.400955163615,0.00446933148593,0.0798307388791,0.999999954674,7.71724452748e-05,-0.000288196810526,4.0477266807e-05,1793193675626056960
+68,1.133333333,BASELINE,763.538386552,742,711,672.461613448,659,632.461613448,878,784,799,649.461613448,628.461613448,651,0.400954689609,0.00446805199885,0.0798300791052,0.999999954568,7.6733746591e-05,-0.000288649834969,4.06981633872e-05,1793193675642723840
+69,1.150000000,BASELINE,763.037631429,742,711,673,659,632.962368571,878.037631429,784,799,649.962368571,629,651,0.400954054087,0.00446651918546,0.0798292059579,0.999999954433,7.61698915334e-05,-0.000289227876441,4.09891031311e-05,1793193675659390464
+70,1.166666667,BASELINE,763.627758969,742,711,673,659,632.372241031,878.627758969,784,799,649.372241031,629,651,0.400954700597,0.00446668380324,0.0798295598443,0.999999954538,7.59244298194e-05,-0.000288938973226,4.09070620003e-05,1793193675676057088
+71,1.183333333,BASELINE,763.786096523,742.213903477,711,672.786096523,659,632,878.572193047,784,799,649,629,651,0.40095531843,0.00446672864655,0.0798300966117,0.999999954782,7.55750300752e-05,-0.000288189426128,4.08887256478e-05,1793193675692723968
+72,1.200000000,BASELINE,763.2067566,742.7932434,711,672.2067566,659,632,877.413513201,784,799,649,629,651,0.400955887271,0.0044665688651,0.0798309458162,0.999999955259,7.50480607395e-05,-0.000286652906904,4.09792236412e-05,1793193675709390336
+73,1.216666667,BASELINE,763,742.630619453,711,672,659,632,877.369380547,783.630619453,799.369380547,649,628.630619453,650.630619453,0.400955789807,0.00446732295448,0.0798309435922,0.999999955194,7.56950058651e-05,-0.000286714502501,4.09443314908e-05,1793193675726056960
+74,1.233333333,BASELINE,763,742.056259648,711,672,659,632,877.943740352,783.056259648,799.943740352,649,628.056259648,650.056259648,0.400955322593,0.0044685841755,0.0798304688875,0.999999954827,7.69933879161e-05,-0.00028766293534,4.0839856952e-05,1793193675742723840
+75,1.250000000,BASELINE,763.51204614,742,711,672.51204614,659,632,878,783.51204614,799.48795386,649,628.51204614,650,0.400955399901,0.00446886175829,0.0798301924059,0.999999954964,7.50181077223e-05,-0.000287736760477,4.06316477786e-05,1793193675759390720
+76,1.266666667,BASELINE,764,742,711.084235203,673,659,632.084235203,878,784,799.084235203,649.084235203,629,650.084235203,0.400955356483,0.00446900773288,0.0798298995114,0.999999955033,7.32606979918e-05,-0.000287976009889,4.04672087823e-05,1793193675776057600
+77,1.283333333,BASELINE,764,742,711.684225887,673,659,632.684225887,878,784,799.684225887,649.684225887,629,650.684225887,0.400954211844,0.00446900188317,0.0798293743328,0.999999954366,7.50138096734e-05,-0.000289809615509,4.06397354563e-05,1793193675792723712
+78,1.300000000,BASELINE,763.726288827,742,711.726288827,672.726288827,659,633,878,784,799.726288827,649.726288827,628.726288827,650.726288827,0.400954567927,0.00446888796566,0.079829707826,0.999999954428,7.56375825028e-05,-0.000289429764138,4.06544956622e-05,1793193675809390080
+79,1.316666667,BASELINE,763.148475426,742,711.148475426,672.148475426,659,633,878,784,799.148475426,649.148475426,628.148475426,650.148475426,0.40095659136,0.00446865398125,0.0798309953323,0.9999999553,7.50066221451e-05,-0.000286590688227,4.04939720569e-05,1793193675826056960
+80,1.333333333,BASELINE,763,742,711,672.426293318,658.573706682,632.573706682,878,784,799,649,628.426293318,650,0.400956252856,0.00446764143569,0.0798308743107,0.999999955376,7.49410948595e-05,-0.000286346965373,4.04644460076e-05,1793193675842723584
+81,1.350000000,BASELINE,763.00000922,742,711,673,658.00000922,632.00000922,878,784,799,649,629,650.00000922,0.400955097584,0.00446635968757,0.0798302662194,0.999999955178,7.50711213823e-05,-0.000287000740181,4.0480220296e-05,1793193675859390208
+82,1.366666667,BASELINE,763.575540678,742,711,673,658.575540678,632.575540678,878,784,799,649,629,650.575540678,0.400956796853,0.00446774733688,0.0798317333903,0.999999955602,7.60379698268e-05,-0.000285278297425,4.03850447092e-05,1793193675876057088
+83,1.383333333,BASELINE,764,742,711,673,659,633,878,784,799,649,629,650.843665995,0.400957491561,0.0044686801131,0.0798323761323,0.999999955717,7.67723091398e-05,-0.000284667406127,4.04436367172e-05,1793193675892723968
+84,1.400000000,BASELINE,764,742,711,673,659,633,878,784,799,649,629,650.248088536,0.400955363806,0.00446833485657,0.0798307025201,0.999999954973,7.68533799659e-05,-0.000287179582254,4.0934261447e-05,1793193675909390592
+85,1.416666667,BASELINE,763.664561665,742,711,673,659,632.664561665,878,784,799.335438335,649,629,650.335438335,0.400953879802,0.00446857368906,0.0798290159661,0.999999954323,7.68191102562e-05,-0.000289454852161,4.08473018839e-05,1793193675926057472
+86,1.433333333,BASELINE,763.089638305,742,711,673,659,632.089638305,878,784,799.910361695,649,629,650.910361695,0.400952855402,0.0044692295299,0.0798273201724,0.99999995374,7.67024935698e-05,-0.000291560983552,4.03479780074e-05,1793193675942724352
+87,1.450000000,BASELINE,763,742,711.482112639,672.517887361,659,632,878,784,799.517887361,649.482112639,629,651,0.40095474093,0.00446791967821,0.0798290571232,0.999999954527,7.53811087101e-05,-0.00028920133152,4.03248065197e-05,1793193675959390464
+88,1.466666667,BASELINE,763.055617267,742,711.944382733,672.055617267,659,632,878,784,799,649.944382733,629,651,0.400956887131,0.00446660134068,0.0798311795765,0.999999955431,7.42902722281e-05,-0.00028633254306,4.03970674591e-05,1793193675976056832
+89,1.483333333,BASELINE,763.651864786,742,711.348135214,672.651864786,659,632,878,784,799,649.348135214,629,651,0.400956342418,0.00446872993323,0.0798308858049,0.999999955116,7.76036632502e-05,-0.000286533021202,4.05420482113e-05,1793193675992723712
+90,1.500000000,BASELINE,764,742,711,672.760313401,658.760313401,632,878,784,799,649,628.760313401,650.760313401,0.400956554598,0.00446927025009,0.0798310370412,0.999999955211,7.76947427516e-05,-0.000286182274644,4.05212929259e-05,1793193676009390592
+91,1.516666667,BASELINE,764,742,711,672.184314042,658.184314042,632,878,784,799,649,628.184314042,650.184314042,0.4009578288,0.00446758200087,0.0798318126838,0.999999955876,7.32644825175e-05,-0.000285058085164,4.02679875221e-05,1793193676026057216
+92,1.533333333,BASELINE,763.60907407,742,711,672.39092593,658,632,878,784,799,649,628,650,0.40095596471,0.0044669030732,0.0798306395087,0.99999995539,7.21674596947e-05,-0.000287026409244,4.0352023001e-05,1793193676042723584
+93,1.550000000,BASELINE,763.034191388,742,711,672.965808612,658,632,878,784,799,649,628,650,0.400952623845,0.00446669909857,0.0798285492849,0.999999954357,7.26389472376e-05,-0.000290449967337,4.05947998666e-05,1793193676059389952
+94,1.566666667,BASELINE,763.555063929,742,711,673,658.555063929,632.555063929,878,784,799,649,628.555063929,650,0.400954069881,0.00446807886742,0.0798292539478,0.999999954603,7.44424732457e-05,-0.00028915671685,4.05172109406e-05,1793193676076057088
+95,1.583333333,BASELINE,764,742.142624736,711,673,659,633,878,784,799,649,629,650,0.4009550649,0.0044693132819,0.0798297516582,0.999999954702,7.64008492726e-05,-0.000288302755045,4.05128624898e-05,1793193676092724480
+96,1.600000000,BASELINE,764,742.722209682,711,673,659,633,878,784,799,649,629,650,0.400953750737,0.00446979554274,0.0798290738518,0.999999954115,7.85755744182e-05,-0.000289708468264,4.07949682414e-05,1793193676109390848
+97,1.616666667,BASELINE,764,742.701334677,711,673,659,632.701334677,878,784,799.298665323,649,629,650.298665323,0.400953271401,0.00446950951994,0.0798289979924,0.999999954084,7.80229992288e-05,-0.000289975468289,4.07333775889e-05,1793193676126057216
+98,1.633333333,BASELINE,764,742.127759476,711,673,659,632.127759476,878,784,799.872240524,649,629,650.872240524,0.400953560491,0.00446851632172,0.079829476202,0.99999995456,7.49600494271e-05,-0.00028919432677,4.03554276716e-05,1793193676142723328
+99,1.650000000,BASELINE,764,742,711.448537656,673,659,632.448537656,878,784,800,649.448537656,629,651,0.400954764458,0.00446775660571,0.0798301689233,0.999999954958,7.47162967831e-05,-0.000287860203887,4.04802473835e-05,1793193676159390464
+100,1.666666667,BASELINE,763.973830543,742,712,673,659,633,878,784,799.973830543,649.973830543,629,651,0.40095618559,0.00446705761278,0.0798308981993,0.999999955328,7.51202322454e-05,-0.000286429973015,4.07207691491e-05,1793193676176057600
+101,1.683333333,BASELINE,763.384257886,742,712,673,659,633,878,784,799.384257886,649.384257886,629,651,0.400956637597,0.00446622541949,0.0798310909948,0.999999955593,7.2074736657e-05,-0.000286342344971,4.03503191857e-05,1793193676192724224
+102,1.700000000,BASELINE,763.202033803,742,711.797966197,672.797966197,659,633,878,784,799,649.202033803,629,650.797966197,0.40095704773,0.00446694710619,0.0798313783088,0.999999955663,7.24578052949e-05,-0.000286025756549,4.01644168376e-05,1793193676209390848
+103,1.716666667,BASELINE,763.782184915,742,711.217815085,672.217815085,659,633,878,784,799,649.782184915,629,650.217815085,0.400957379492,0.00447057696435,0.079831842519,0.999999955354,7.92576196726e-05,-0.000285280656262,4.03239054823e-05,1793193676226056960
+104,1.733333333,BASELINE,764,742,711,672.358255679,659,633,878,784,799,649.641744321,629,650.358255679,0.40095750297,0.00447089551527,0.0798319326767,0.999999955356,8.01522895555e-05,-0.000284998710368,4.04928821422e-05,1793193676242723584
+105,1.750000000,BASELINE,764,742,711,672.931873634,659,633,878,784,799,649.068126366,629,650.931873634,0.400957501239,0.00446922350308,0.0798317979761,0.999999955559,7.74971340065e-05,-0.000284995185628,4.06675624558e-05,1793193676259390464
+106,1.766666667,BASELINE,764,742,711,673,659,633,878,784,799.502443554,649,629,651,0.400957412689,0.00446899250375,0.0798315381516,0.999999955615,7.62594477835e-05,-0.000285151481889,4.05267934348e-05,1793193676276057344
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,742,711,673,659,632,878,784,799,649,629,651,0.400954410516,0.00447006801203,0.0798307319701,0.999999954663,7.88439994425e-05,-0.000287791447965,4.04291574684e-05,1793193676318493184
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,742,711.576721036,673,659,632,878,784.576721036,799.576721036,649,629,651,0.40095536662,0.00447017182751,0.0798307679891,0.999999954754,8.03266181876e-05,-0.000287059205221,4.04559265472e-05,1793193676335159808
+109,1.816666667,POSE1_TO_POSE2_PRESS,763.846929058,742,711.846929058,673,659,632,878,784.846929058,799.846929058,649,629,650.846929058,0.400956457205,0.0044698344855,0.0798310574726,0.999999955022,8.02661789685e-05,-0.000286129683719,4.05400936575e-05,1793193676351826176
+110,1.833333333,POSE1_TO_POSE2_PRESS,763.271602807,742,711.271602807,673,659,632,878,784.271602807,799.271602807,649,629,650.271602807,0.400957918764,0.00446828018428,0.079832046153,0.99999995577,7.59491228206e-05,-0.000284655956858,4.07825966612e-05,1793193676368492800
+111,1.850000000,POSE1_TO_POSE2_PRESS,763.311191297,742,711,673,659,632,878,783.688808703,799.311191297,649,629,650,0.400957145632,0.00446735064643,0.0798314321895,0.99999995562,7.37813364696e-05,-0.000285736889425,4.08673955319e-05,1793193676385159424
+112,1.866666667,POSE1_TO_POSE2_PRESS,763.900663446,742,711,673,659,632,878,783.099336554,799.900663446,649,629,650,0.400954374141,0.00446697979937,0.0798293850718,0.999999954673,7.35355213288e-05,-0.000289102310152,4.08111684627e-05,1793193676401826048
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,742,711,672.518383434,658.518383434,632,878,783.481616566,799.518383434,649.481616566,628.518383434,650,0.400955800343,0.00446877731239,0.0798307121369,0.999999955059,7.64667033393e-05,-0.000287021515363,4.06718298264e-05,1793193676418492416
+114,1.900000000,POSE1_TO_POSE2_PRESS,763.939520503,742,711.060479497,672.060479497,658.060479497,632,878,784,799,649.939520503,628,650,0.400958585702,0.00447061295097,0.0798328724383,0.999999955799,7.94420437192e-05,-0.000283632027883,4.05393233376e-05,1793193676435158528
+115,1.916666667,POSE1_TO_POSE2_PRESS,763.363755622,742,711.636244378,672.636244378,658.636244378,632,878,784,799,649.363755622,628,650,0.400965702658,0.00446902917737,0.0798363055022,0.999999957407,7.73076954719e-05,-0.000278496795407,4.06085406511e-05,1793193676451825408
+116,1.933333333,POSE1_TO_POSE2_PRESS,763,742,711.788581295,673,659,632,877.788581295,784,799.211418705,649,628.211418705,650,0.400980266723,0.00446813438855,0.0798424663633,0.999999960349,7.59173485408e-05,-0.000268128742949,4.05593209881e-05,1793193676468492288
+117,1.950000000,POSE1_TO_POSE2_PRESS,763,742,711.21442027,673,659,632,877.21442027,784,799.78557973,649,628.78557973,650,0.401007608185,0.00446842172773,0.0798533074506,0.999999965368,7.58035244513e-05,-0.000248782463335,4.03068926882e-05,1793193676485159168
+118,1.966666667,POSE1_TO_POSE2_PRESS,763,742,711,673,659,632,877.370226163,784,799.629773837,649,628.629773837,650,0.40105450686,0.00446972291899,0.0798704248688,0.999999973008,7.59259892411e-05,-0.000216014911009,3.94491194388e-05,1793193676501826304
+119,1.983333333,POSE1_TO_POSE2_PRESS,763,742,711,673,659,632,877.961122386,784,799.038877614,649,628.038877614,650,0.401113062443,0.00447162840792,0.0798912832399,0.999999981011,7.61892918449e-05,-0.000175247724583,3.82305355656e-05,1793193676518493184
+120,2.000000000,POSE1_TO_POSE2_PRESS,763.542151009,742,711.542151009,673,659.542151009,632,878,784,799,649,628.542151009,650.542151009,0.401180959618,0.00447014913817,0.079903401505,0.999999985282,7.32679932315e-05,-0.000150829913339,3.62968656553e-05,1793193676535159552
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,742,712,673,659.878870912,632,878,784,799.121129088,649,629,650.878870912,0.401252385042,0.00446842761889,0.0799138579337,0.999999988418,6.93846485945e-05,-0.0001310569563,3.42536121171e-05,1793193676551825920
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,742,712,673,659.304959872,632,878,784,799.695040128,649,629,650.304959872,0.401334539847,0.00446669164252,0.0799204033309,0.999999989789,6.2743545189e-05,-0.000124342359327,3.1988987456e-05,1793193676568492544
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,742,711.723299525,673,659,632,877.723299525,784,800.276700475,649.276700475,628.723299525,650,0.401425008237,0.00446711624348,0.079923759325,0.999999990492,6.0067357698e-05,-0.000120767283683,2.86973625843e-05,1793193676585159168
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,742,711.132852383,673,659,632,877.132852383,784,800.867147617,649.867147617,628.132852383,650,0.401524903275,0.00446999069192,0.0799234989005,0.999999990501,6.18869313992e-05,-0.000120752066264,2.42412371704e-05,1793193676601825792
+125,2.083333333,POSE1_TO_POSE2_PRESS,763.55212478,742,711,672.55212478,659,632,877.44787522,784,800.104249559,650,628.44787522,650.44787522,0.401653711106,0.00446981251419,0.0799287338389,0.999999991991,5.67666994412e-05,-0.000111444640894,1.93845229812e-05,1793193676618493440
+126,2.100000000,POSE1_TO_POSE2_PRESS,763,742,711,672.025741152,659,632,878,784,799,649.974258848,629,651,0.401792071426,0.0044688007138,0.079935536553,0.999999993716,4.95440206623e-05,-9.95308286733e-05,1.43748652508e-05,1793193676635161088
+127,2.116666667,POSE1_TO_POSE2_PRESS,763,742,711,672.602754424,659,632,878,784,799,649.397245576,629,651,0.401955238079,0.0044689162278,0.0799417464802,0.999999995134,4.04446621122e-05,-8.95743805017e-05,8.58049077855e-06,1793193676651826688
+128,2.133333333,POSE1_TO_POSE2_PRESS,763.182523821,742,711.182523821,673,659,632,878,784.182523821,799,649.182523821,629,651,0.402128762363,0.00446935677697,0.0799474973226,0.999999996279,3.16940727101e-05,-8.02086736361e-05,2.22559167114e-06,1793193676668492544
+129,2.150000000,POSE1_TO_POSE2_PRESS,763.768383548,742,711.768383548,673,659,632,878,784.768383548,799,649.768383548,629,651,0.402325174621,0.0044705155795,0.0799522336919,0.999999997102,2.37141845891e-05,-7.21483713154e-05,-5.36793793213e-06,1793193676685159168
+130,2.166666667,POSE1_TO_POSE2_PRESS,763.650194209,742.349805791,711.650194209,673,659,632,878,784.650194209,799.349805791,649.650194209,629,651.349805791,0.402535099508,0.00447323604983,0.0799522459575,0.999999997099,1.75715523808e-05,-7.2956460345e-05,-1.30821541633e-05,1793193676701826304
+131,2.183333333,POSE1_TO_POSE2_PRESS,763.071673291,742.928326709,711.071673291,673,659,632,878,784.071673291,799.928326709,649.071673291,629,651.928326709,0.402753859439,0.00447697759272,0.0799491694411,0.999999996537,1.26301808603e-05,-7.95630096607e-05,-2.087528024e-05,1793193676718493440
+132,2.200000000,POSE1_TO_POSE2_PRESS,763.507989927,743,711,673,659,632,878,784,800,649,628.492010073,651.492010073,0.402999057275,0.00448036116678,0.0799417418365,0.999999994389,4.82338179131e-05,-9.29109764569e-05,-1.62336033504e-05,1793193676735159296
+133,2.216666667,POSE1_TO_POSE2_PRESS,763.913242079,742.913242079,711,673,659,632,878.086757921,784,800,649,628.086757921,650.913242079,0.403256366598,0.00448496014581,0.0799349305206,0.999999991057,8.25137313997e-05,-0.000104592522188,-1.17568781999e-05,1793193676751825920
+134,2.233333333,POSE1_TO_POSE2_PRESS,763.340394674,742.340394674,711,673,659,632,878.659605326,784,800,649,628.659605326,650.340394674,0.403560587942,0.00449665244494,0.0799350195062,0.999999991692,7.7253454724e-05,-0.000101596215585,-1.80563809438e-05,1793193676768493312
+135,2.250000000,POSE1_TO_POSE2_PRESS,763,742.238966286,711,673,659,632,878.761033714,784,800,649,628.761033714,650,0.403881431573,0.00450478175445,0.0799373024113,0.999999994036,4.60855403636e-05,-9.63412173656e-05,-2.28693515413e-05,1793193676785160448
+136,2.266666667,POSE1_TO_POSE2_PRESS,763,742.827865405,711,673,659,632,878.172134595,784,800,649,628.172134595,650,0.40422661621,0.00450769356135,0.079942798006,0.999999995557,-2.30204999783e-05,-8.7778679793e-05,-2.55055024543e-05,1793193676801826560
+137,2.283333333,POSE1_TO_POSE2_PRESS,763,743,711,673,659,632,878,784,799.589968678,649,628.410031322,650,0.4046222685,0.00451512639106,0.0799450616605,0.999999996243,-1.10241957711e-05,-8.1509280696e-05,-2.73711575423e-05,1793193676818492928
+138,2.300000000,POSE1_TO_POSE2_PRESS,763,743,711,673,659,632,878,784,799.010583763,649,628.989416237,650,0.405038765234,0.00452442652062,0.0799459904396,0.999999996086,3.44694863451e-05,-7.61870075656e-05,-2.89185777487e-05,1793193676835159552
+139,2.316666667,POSE1_TO_POSE2_PRESS,763,742.433440707,711.566559293,673,659,632,878,784,799,649,629,650,0.405477770913,0.00453559200394,0.0799442867858,0.999999995203,5.29977861403e-05,-7.60529157102e-05,-3.16349827581e-05,1793193676851825920
+140,2.333333333,POSE1_TO_POSE2_PRESS,763.142740223,742,711.857259777,673,659,632,878.142740223,784,799,649.142740223,629,650.142740223,0.40592328681,0.00454585913475,0.0799404327255,0.999999993965,6.58413331502e-05,-8.10244226283e-05,-3.41961213387e-05,1793193676868492544
+141,2.350000000,POSE1_TO_POSE2_PRESS,763.716144054,742,711.283855946,673,659,632,878.716144054,784,799,649.716144054,629,650.716144054,0.406387181054,0.00455331111029,0.0799302384269,0.999999992245,6.30471594797e-05,-0.000101108842319,-3.62231761606e-05,1793193676885159680
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,742.298143213,711.298143213,673,659,632.298143213,878.701856787,784,799,649.701856787,629,651,0.406877243754,0.00456322426271,0.0799239562541,0.999999990037,7.40368432718e-05,-0.000114105419581,-3.77296682571e-05,1793193676901826560
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,742.888568803,711.888568803,673,659,632.888568803,878.111431197,784,799,649.111431197,629,651,0.407392960551,0.00457555021163,0.0799215093022,0.999999987177,9.85394240407e-05,-0.000120153488078,-3.87258309732e-05,1793193676918493184
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,742.530153541,711.530153541,673,659,633,878,784,799,649,629,650.530153541,0.407927751913,0.0045868478905,0.0799127357634,0.999999984422,0.000102106352185,-0.000138106751623,-4.06972777571e-05,1793193676935162624
+145,2.416666667,POSE1_TO_POSE2_PRESS,763.951312551,742,711,673,659,632.951312551,878,784,799.048687449,649,628.951312551,650.048687449,0.408473237796,0.00459783865358,0.0799037961939,0.999999981579,0.000102789389644,-0.000156341033209,-4.28306163866e-05,1793193676951832320
+146,2.433333333,POSE1_TO_POSE2_PRESS,763.375809551,742,711,673,659,632.375809551,878,784,799.624190449,649,628.375809551,650.624190449,0.409086428093,0.00460809684892,0.0799089853985,0.999999980312,0.000124966951142,-0.00014764827414,-4.4260697939e-05,1793193676968495360
+147,2.450000000,POSE1_TO_POSE2_PRESS,763.199317569,742.199317569,711.199317569,673,659,632,878,784,800,649,628.199317569,650.800682431,0.409727450458,0.00461695020293,0.0799267195067,0.999999982373,0.000138657788451,-0.000118054614106,-4.57310494275e-05,1793193676985159680
+148,2.466666667,POSE1_TO_POSE2_PRESS,763.773737275,742.773737275,711.773737275,673,659,632,878,784,800,649,628.773737275,650.226262725,0.410420850852,0.00462315974028,0.0799680622717,0.999999988376,0.000136377185122,-4.91268770814e-05,-4.72771860119e-05,1793193677001826304
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,742.639113943,712,673.360886057,659,632,878.360886057,784,799.639113943,649,628.639113943,650,0.411110274041,0.00461947846428,0.0799843797338,0.999999990075,0.000130578431075,-2.42572968019e-05,-4.70155605595e-05,1793193677018492928
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,742.043692723,712,673.956307277,659,632,878.956307277,784,799.043692723,649,628.043692723,650,0.411797112469,0.00460936927684,0.0799844335748,0.999999991066,0.000122493276918,-2.80205434143e-05,-4.55790940658e-05,1793193677035159296
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,742,711.467288601,674,659,632,878.467288601,784,799,649,628.532711399,650,0.412466560427,0.00457584948416,0.0799490148332,0.999999992688,7.77014419111e-05,-7.94444669273e-05,-4.76983595822e-05,1793193677051826432
+152,2.533333333,POSE1_TO_POSE2_PRESS,763.892259605,742,711,674,659,632,878.107740395,784,799,649,629,650.107740395,0.413148849753,0.0045470014625,0.0799158851093,0.999999990222,3.63646632051e-05,-0.000125326246028,-5.0265728617e-05,1793193677068493312
+153,2.550000000,POSE1_TO_POSE2_PRESS,763.316662416,742,711,674,659,632,878.683337584,784,799,649,629,650.683337584,0.413892882222,0.00454649100761,0.0799048939557,0.999999989761,2.26543107725e-05,-0.000130751576578,-5.35561865185e-05,1793193677085159168
+154,2.566666667,POSE1_TO_POSE2_PRESS,763,742.26588053,711.26588053,674,659,632.26588053,878.73411947,784,799,649,629,651,0.414652548034,0.0045544167515,0.0799111451578,0.999999991445,2.68610717237e-05,-0.000115178183212,-5.58865312615e-05,1793193677101825024
+155,2.583333333,POSE1_TO_POSE2_PRESS,763,742.856917819,711.856917819,674,659,632.856917819,878.143082181,784,799,649,629,651,0.415431332636,0.00457265948633,0.0799384827781,0.999999994237,5.29794408746e-05,-7.39245460052e-05,-5.70427126033e-05,1793193677118491392
+156,2.600000000,POSE1_TO_POSE2_PRESS,763,743,711.560957885,673.560957885,659,632.560957885,878.439042115,784,799.439042115,649,628.560957885,651,0.416219138383,0.00458147960171,0.0799410610104,0.999999993168,6.47653460192e-05,-7.99574671147e-05,-5.54611186969e-05,1793193677135157760
+157,2.616666667,POSE1_TO_POSE2_PRESS,763.018162711,743,711,673,659,632,879,784,799.981837289,649,628.018162711,650.981837289,0.417011432994,0.00458715451716,0.0799362062517,0.999999991062,7.20081649327e-05,-9.93238676861e-05,-5.31500054913e-05,1793193677151824640
+158,2.633333333,POSE1_TO_POSE2_PRESS,763.592483501,743,711,673,659,632,879,784,799.407516499,649,628.592483501,650.407516499,0.417852949208,0.00458868021225,0.0799459102265,0.999999993168,8.0318838615e-05,-6.44788428286e-05,-5.52776473932e-05,1793193677168491264
+159,2.650000000,POSE1_TO_POSE2_PRESS,763.829296806,742.829296806,711,673.170703194,659.170703194,632,879,784,799,649.170703194,628.829296806,650.170703194,0.418694503001,0.00458727305511,0.0799586254691,0.999999994465,8.33540796781e-05,-2.97158593692e-05,-5.69065672831e-05,1793193677185157888
+160,2.666666667,POSE1_TO_POSE2_PRESS,763.241551812,742.241551812,711,673.758448188,659.758448188,632,879,784,799,649.758448188,628.241551812,650.758448188,0.419536148549,0.0045787007011,0.0799786974834,0.999999995644,7.35010089704e-05,4.84668804995e-06,-5.73170686659e-05,1793193677201824512
+161,2.683333333,POSE1_TO_POSE2_PRESS,763,742,711,674,660,632,878.65889085,784,799,649.65889085,628.34110915,650.65889085,0.420368898039,0.0045737702976,0.0799752365663,0.999999995947,6.97455716021e-05,-5.36724203195e-08,-5.69335103462e-05,1793193677218491392
+162,2.700000000,POSE1_TO_POSE2_PRESS,763,742,711,674,660,632,878.079777231,784,799,649.079777231,628.920222769,650.079777231,0.421195440387,0.00457138101804,0.0799553558519,0.999999995437,7.02446789324e-05,-3.24887646843e-05,-5.59959071759e-05,1793193677235158016
+163,2.716666667,POSE1_TO_POSE2_PRESS,763.496249889,742.496249889,711,674,660.496249889,632,878.496249889,783.503750111,799,649,629,650,0.42207891323,0.00457954030912,0.0799643339841,0.999999994903,8.22673682154e-05,-1.75480815196e-05,-5.58454203541e-05,1793193677251824640
+164,2.733333333,POSE1_TO_POSE2_PRESS,763.928003872,743,711.071996128,674,660.928003872,632,879,783.071996128,799.071996128,649,629,650,0.422968490589,0.00458874197468,0.0799788000436,0.999999993998,9.41620268249e-05,5.00062271558e-06,-5.57823294358e-05,1793193677268491264
+165,2.750000000,POSE1_TO_POSE2_PRESS,763.350768519,743,711.649231481,674,660.350768519,632,879,783.649231481,799.649231481,649,629,650,0.423837077402,0.00459343179015,0.0799994222779,0.999999993822,9.22382526678e-05,2.78227130974e-05,-5.54500515341e-05,1793193677285157888
+166,2.766666667,POSE1_TO_POSE2_PRESS,763,742.769038813,711.769038813,674,659.769038813,632,879,784,799.769038813,649,629,650,0.424663438967,0.00459616513,0.0799903806121,0.999999993869,9.59566428448e-05,2.85416291012e-07,-5.52706957093e-05,1793193677301824768
+167,2.783333333,POSE1_TO_POSE2_PRESS,763,742.180347833,711.180347833,674,659.180347833,632,879,784,799.180347833,649,629,650,0.425424399071,0.00459586813619,0.079935393304,0.999999987054,0.000108414034117,-0.000105252226417,-5.53281964755e-05,1793193677318491392
+168,2.800000000,POSE1_TO_POSE2_PRESS,763.401595416,742,711,674,659,632,879,784,799,649,629,650,0.426270274224,0.00459115780158,0.0799092015396,0.999999985046,9.71907909726e-05,-0.000130751398634,-5.80189782296e-05,1793193677335157760
+169,2.816666667,POSE1_TO_POSE2_PRESS,763.980558444,742,711,674,659,632,879,784,799,649,629,650,0.427153652694,0.00458449828209,0.0798957275453,0.999999987927,7.5508818532e-05,-0.000120900977275,-6.18727683274e-05,1793193677351824384
+170,2.833333333,POSE1_TO_POSE2_PRESS,763.44246643,742,711,674.55753357,660.11506714,632,878.44246643,784,799,649,628.44246643,650,0.42800896722,0.00458438351009,0.0799021200059,0.999999986541,8.63241803217e-05,-0.000126512783334,-5.88243226001e-05,1793193677368491264
+171,2.850000000,POSE1_TO_POSE2_PRESS,763,742.133850245,711,674.866149755,660.73229951,632.133850245,878.133850245,784,799.133850245,649,628.133850245,650,0.428862500518,0.00458603342489,0.0799135058568,0.999999986241,9.66022823932e-05,-0.000122463075371,-5.6468645656e-05,1793193677385157888
+172,2.866666667,POSE1_TO_POSE2_PRESS,763,742.708227132,711,674.291772868,659.583545735,632.708227132,878.708227132,784,799.708227132,649,628.708227132,650,0.429713380751,0.00459274281446,0.0799390540137,0.999999989625,0.000101395823427,-8.48472523895e-05,-5.71823300393e-05,1793193677401824512
+173,2.883333333,POSE1_TO_POSE2_PRESS,763,743,711,674.290118072,659.290118072,632.709881928,879,784,800,649,629,650,0.430559959356,0.00459597390356,0.0799717824319,0.999999992719,0.000100171789025,-3.53680947451e-05,-5.72349432506e-05,1793193677418491392
+174,2.900000000,POSE1_TO_POSE2_PRESS,763,743,711,674.879766815,659.879766815,632.120233185,879,784,800,649,629,650,0.431402096718,0.00459561384172,0.0800119240663,0.999999993751,9.27349443444e-05,2.6359289615e-05,-5.66050373348e-05,1793193677435158016
+175,2.916666667,POSE1_TO_POSE2_PRESS,763.461607729,743,711,675,660,632,879,784,800,649,629,650,0.432184778769,0.00459660236795,0.0800051908783,0.99999999336,0.000100263392395,1.07880742769e-05,-5.57681382321e-05,1793193677451824640
+176,2.933333333,POSE1_TO_POSE2_PRESS,763.958983748,743,711.041016252,675,660,632,879,784,800,649,629,650,0.432948727352,0.00459739041712,0.079982882211,0.999999992054,0.000109644473534,-2.87550287842e-05,-5.51581873626e-05,1793193677468491520
+177,2.950000000,POSE1_TO_POSE2_PRESS,763.385194241,743,711.614805759,675,660,632,879,784,800,649,629,650,0.433667148207,0.00459108764635,0.0799142113848,0.999999986451,9.33004011607e-05,-0.000122503890748,-5.81848081e-05,1793193677485158144
+178,2.966666667,POSE1_TO_POSE2_PRESS,763.19297954,743,711.80702046,675,660,632,878.80702046,784,799.80702046,649,629,650,0.434394953026,0.00458536013074,0.0798728800636,0.999999979272,8.14053343615e-05,-0.000176693817319,-6.00787994387e-05,1793193677501825024
+179,2.983333333,POSE1_TO_POSE2_PRESS,763.78010804,743,711.21989196,675,660,632,878.21989196,784,799.21989196,649,629,650,0.435141924152,0.00458080753763,0.0798873880039,0.999999983869,7.85970889215e-05,-0.000150087046361,-5.96594656306e-05,1793193677518491392
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,742.635532588,711,675,660,632,878.364467412,784,799,649.364467412,629,650.364467412,0.435865277912,0.00458346464188,0.079907122804,0.999999986961,7.85130044774e-05,-0.000128583940972,-5.81380661132e-05,1793193677535158016
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,742.052831334,711,675,660,632,878.947168666,784,799,649.947168666,629,650.947168666,0.436574490147,0.00459043873032,0.0799299873143,0.999999989165,8.00600787091e-05,-0.000110136782674,-5.59567776291e-05,1793193677551824640
+182,3.033333333,POSE1_TO_POSE2_PRESS,763.47679354,742.52320646,711,675,659.47679354,632,879.52320646,784,799,650,628.47679354,651,0.437221524391,0.00460081279991,0.0799124176829,0.999999982716,0.000101013110336,-0.000145827781777,-5.56597439687e-05,1793193677568491520
+183,3.050000000,POSE1_TO_POSE2_PRESS,763,742.90160103,711,675.09839897,659,632,879.90160103,784,799,649.90160103,628,651,0.437857147447,0.0046106828908,0.0798893507663,0.999999973692,0.000120654252653,-0.000186998730959,-5.55907309406e-05,1793193677585158144
+184,3.066666667,POSE1_TO_POSE2_PRESS,763,742.32728346,711,675.67271654,659,632,879.32728346,784,799,649.32728346,628,651,0.43846756368,0.00461647581565,0.0798591945764,0.999999964565,0.000124591927888,-0.000228566468412,-5.57159023557e-05,1793193677601824768
+185,3.083333333,POSE1_TO_POSE2_PRESS,763.254140276,742,711,675.745859724,659,632,879,783.745859724,799,649.254140276,628.254140276,650.745859724,0.439049978526,0.00462105445424,0.0798269356553,0.999999952619,0.000127245214761,-0.000274599549367,-5.62656369461e-05,1793193677618491392
+186,3.100000000,POSE1_TO_POSE2_PRESS,763.844978579,742,711,675.155021421,659,632,879,783.155021421,799,649.844978579,628.844978579,650.155021421,0.439595295653,0.00462402434387,0.0797918909309,0.99999993682,0.000128196877951,-0.000326548542258,-5.73778545156e-05,1793193677635158016
+187,3.116666667,POSE1_TO_POSE2_PRESS,764,742,711,675,659,631.572917802,879,783,799.427082198,649.572917802,629,650,0.440099572958,0.00462813401289,0.0797473504904,0.999999910221,0.000143165830377,-0.000394764353953,-5.676380915e-05,1793193677651824896
+188,3.133333333,POSE1_TO_POSE2_PRESS,763.993945889,742,711,675,659,631,879,783,800,649,629,650,0.440588911542,0.0046327117751,0.0796994576629,0.999999875335,0.000162834875279,-0.000468750038264,-5.55710223724e-05,1793193677668491520
+189,3.150000000,POSE1_TO_POSE2_PRESS,763.417311191,742,711,675,659,631,879,783,800,649,629,650,0.44104613386,0.00464319596046,0.0796539467014,0.999999839787,0.000155558578677,-0.000541200470819,-5.77047743779e-05,1793193677685158144
+190,3.166666667,POSE1_TO_POSE2_PRESS,763.161741099,742,711,675,658.838258901,631,879,783,800,649,629,650.161741099,0.44151268666,0.00465559745892,0.0796272125076,0.999999815948,0.00015828451412,-0.000582602015786,-6.02125190385e-05,1793193677701824768
+191,3.183333333,POSE1_TO_POSE2_PRESS,763.747125843,742,711,675,658.252874157,631,879,783,800,649,629,650.747125843,0.442003678613,0.00467302092078,0.0796496597327,0.999999833198,0.000187208998188,-0.000542678155276,-6.36998525883e-05,1793193677718491392
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,742,710.671035619,675.328964381,658,630.671035619,879.328964381,783,800,649.328964381,628.671035619,651,0.442480517173,0.00469360397053,0.0796791090047,0.999999850615,0.00021940232386,-0.000496398140471,-6.49740564038e-05,1793193677735158272
+193,3.216666667,POSE1_TO_POSE2_PRESS,764,742,710.091894002,675.908105998,658,630.091894002,879.908105998,783,800,649.908105998,628.091894002,651,0.442946592056,0.00471658988414,0.0797138833282,0.999999866498,0.000254081599694,-0.000445284275347,-6.45651759317e-05,1793193677751824896
+194,3.233333333,POSE1_TO_POSE2_PRESS,764,742,710.485552177,675.514447823,657.514447823,630,879.514447823,783,800,649.514447823,628,650.514447823,0.443327031099,0.00472899517831,0.079718124617,0.999999866999,0.000259060334771,-0.000441215887998,-6.49448399637e-05,1793193677768491776
+195,3.250000000,POSE1_TO_POSE2_PRESS,763.937473363,742,711,675.062526637,657,630,879,782.937473363,800,649,628.062526637,650,0.443684365789,0.00473917477504,0.0797138572968,0.99999986249,0.000260757954042,-0.000450270882513,-6.54298934903e-05,1793193677785158144
+196,3.266666667,POSE1_TO_POSE2_PRESS,763.361746152,742,711,675.638253848,657,630,879,782.361746152,800,649,628.638253848,650,0.443984627409,0.00474746485761,0.0796870176629,0.999999836106,0.000281500346454,-0.000494214322284,-6.555931855e-05,1793193677801824768
+197,3.283333333,POSE1_TO_POSE2_PRESS,763.218707548,742,711,676,657,630,879,782,800,649,629,650.218707548,0.444280557562,0.00475559649341,0.0796664477968,0.999999815191,0.000298319928443,-0.000525682293924,-6.54361916527e-05,1793193677818491392
+198,3.300000000,POSE1_TO_POSE2_PRESS,763.807151565,742,711,676,657,630,879,782,800,649,629,650.807151565,0.444569165116,0.00476346026587,0.0796564773018,0.999999806626,0.000308507794461,-0.000536059835882,-6.48861127462e-05,1793193677835158272
+199,3.316666667,POSE1_TO_POSE2_PRESS,764,742.3912816,711,676,656.6087184,630,879,782.3912816,800,649,629,651,0.444837424817,0.0047679862645,0.0796526898972,0.999999807584,0.000296252145938,-0.000541141732275,-6.50535192931e-05,1793193677851824896
+200,3.333333333,POSE1_TO_POSE2_PRESS,764,742.97330867,711,676,656.02669133,630,879,782.97330867,800,649,629,651,0.44509576519,0.00477088513586,0.0796519166801,0.999999812797,0.000273055532127,-0.000543642060513,-6.55706920199e-05,1793193677868491520
+201,3.350000000,POSE1_TO_POSE2_PRESS,764,742.452676418,710.452676418,676,656.547323582,630,879.547323582,782.452676418,799.452676418,649,628.452676418,651,0.445325399139,0.00477629971873,0.0796596531699,0.999999812652,0.000293246173952,-0.000533574183518,-6.32509858505e-05,1793193677885158144
+202,3.366666667,POSE1_TO_POSE2_PRESS,764,742,710,676,656.878930033,629.878930033,879.878930033,782,799.121069967,649,628.121069967,651,0.445544942575,0.00478170628113,0.0796659764317,0.99999981138,0.00031299529407,-0.000524888314151,-6.13765410314e-05,1793193677901825024
+203,3.383333333,POSE1_TO_POSE2_PRESS,764,742,710,676,656.30474723,629.30474723,879.30474723,782,799.69525277,649,628.69525277,651,0.445731885356,0.00478663029996,0.0796654798596,0.999999808743,0.000323287465867,-0.000523635480528,-6.16788171607e-05,1793193677918492416
+204,3.400000000,POSE1_TO_POSE2_PRESS,764,742.27836829,710.27836829,676,656,629.27836829,879,782.27836829,800,649,628.72163171,651,0.445898610983,0.00478882926407,0.0796593592148,0.999999803057,0.000329097382877,-0.000530753948254,-6.23058702498e-05,1793193677935159552
+205,3.416666667,POSE1_TO_POSE2_PRESS,764,742.871587192,710.871587192,676,656,629.871587192,879,782.871587192,800,649,628.128412808,651,0.446042469831,0.00478794603361,0.0796468774191,0.999999793809,0.000329837610193,-0.000547340841312,-6.33002648133e-05,1793193677951826432
+206,3.433333333,POSE1_TO_POSE2_PRESS,764,742.5477296,711,675.5477296,655.5477296,629.5477296,879.4522704,782.5477296,800,649.4522704,628,651,0.446169563968,0.00479000903941,0.0796419710024,0.99999979015,0.000332765257228,-0.000552202878113,-6.35472647394e-05,1793193677968492800
+207,3.450000000,POSE1_TO_POSE2_PRESS,764,742.029266924,711,675.029266924,655.058533848,629,880,782,800,650,628,650.970733076,0.446291011262,0.00479286225425,0.079639533058,0.999999788408,0.000336270773295,-0.000553230566312,-6.35821665691e-05,1793193677985159424
+208,3.466666667,POSE1_TO_POSE2_PRESS,764,742.602113881,711,675.602113881,656.204227762,629,880,782,800,650,628,650.397886119,0.446393602588,0.00479527430261,0.0796440713668,0.99999979289,0.00033928496776,-0.000543205320193,-6.35127975949e-05,1793193678001826048
+209,3.483333333,POSE1_TO_POSE2_PRESS,764,742.819282538,710.819282538,676,656.819282538,628.819282538,880,782,800,649.819282538,628,650,0.446489085063,0.00479704640259,0.0796482015217,0.999999797137,0.000340075214187,-0.000534854678072,-6.32906731276e-05,1793193678018492416
+210,3.500000000,POSE1_TO_POSE2_PRESS,764,742.227587648,710.227587648,676,656.227587648,628.227587648,880,782,800,649.227587648,628,650,0.446568400976,0.00479736316788,0.0796514034756,0.999999801034,0.000335807883436,-0.000530312327106,-6.27211607799e-05,1793193678035158784
+211,3.516666667,POSE1_TO_POSE2_PRESS,764,742,710,676,655.644003289,628.355996711,879.644003289,782,800,649,628,650.355996711,0.44663514403,0.00479837986057,0.0796534521297,0.999999803638,0.00033597961551,-0.000525317623044,-6.23126820944e-05,1793193678051825152
+212,3.533333333,POSE1_TO_POSE2_PRESS,764,742,710,676,655.065488415,628.934511585,879.065488415,782,800,649,628,650.934511585,0.44669402834,0.00479983404769,0.0796547799063,0.999999805421,0.000338926013549,-0.000520040172156,-6.20048585373e-05,1793193678068491520
+213,3.550000000,POSE1_TO_POSE2_PRESS,764.51154777,742,710,676,655,629,879,781.48845223,799.48845223,649,628,651,0.446731684149,0.00480014616852,0.0796536031693,0.999999803435,0.000341275860257,-0.000522390464565,-6.13853371362e-05,1793193678085158400
+214,3.566666667,POSE1_TO_POSE2_PRESS,764.910445239,742,710,676,655.179109522,628.910445239,879,781.089554761,799.089554761,649,628,650.910445239,0.446764720668,0.00480041033186,0.0796519498861,0.99999980118,0.000342916969539,-0.000525676009364,-6.09339076408e-05,1793193678101825536
+215,3.583333333,POSE1_TO_POSE2_PRESS,764.326030534,742,710,676,656.347938932,628.326030534,879,781.673969466,799.673969466,649,628,650.326030534,0.446787206,0.00480121507448,0.0796494299272,0.999999800151,0.000341062543052,-0.000528749156804,-6.16311798449e-05,1793193678118493440
+216,3.600000000,POSE1_TO_POSE2_PRESS,764,742,710,676,656.486813456,628.256593272,879.256593272,782,800,649,628,650.256593272,0.44680549771,0.00480174768213,0.0796471612873,0.999999798785,0.000340623497798,-0.000531582117431,-6.18588730152e-05,1793193678135160320
+217,3.616666667,POSE1_TO_POSE2_PRESS,764,742,710,676,655.326085446,628.836957277,879.836957277,782,800,649,628,650.836957277,0.446818497882,0.00480193690841,0.0796452097634,0.999999797,0.000341970388106,-0.000534112008902,-6.14940488622e-05,1793193678151826432
+218,3.633333333,POSE1_TO_POSE2_PRESS,764,742,710,676,655,629,879.585511354,782,799.585511354,649.414488646,628,651,0.446829810421,0.00480236572198,0.0796452834492,0.999999797625,0.000341400428718,-0.000533296529162,-6.1566643156e-05,1793193678168492800
+219,3.650000000,POSE1_TO_POSE2_PRESS,764,742,710,676,655,629,879.009086678,782,799.009086678,649.990913322,628,651,0.44684046362,0.0048028881396,0.0796461483615,0.999999799189,0.00034008157778,-0.000531174050634,-6.18101319023e-05,1793193678185159168
+220,3.666666667,POSE1_TO_POSE2_PRESS,763.431400271,742,710,676,655,628.431400271,879,781.431400271,799.568599729,649.431400271,628,651,0.446843441895,0.00480462914432,0.0796450662552,0.9999997973,0.000342445678169,-0.000533214587513,-6.17546760132e-05,1793193678201825536
+221,3.683333333,POSE1_TO_POSE2_PRESS,763.148174604,742,710,676,655,628.148174604,879.148174604,781.148174604,800,649.148174604,628.148174604,651,0.446845475965,0.00480595806107,0.0796440175022,0.999999795502,0.000344332009244,-0.000535381301609,-6.16377807716e-05,1793193678218492160
+222,3.700000000,POSE1_TO_POSE2_PRESS,763.733258148,742,710,676,655,628.733258148,879.733258148,781.733258148,800,649.733258148,628.733258148,651,0.4468450884,0.00480601434239,0.0796431590447,0.999999794158,0.000344635654344,-0.00053772346037,-6.13538428633e-05,1793193678235159296
+223,3.716666667,POSE1_TO_POSE2_PRESS,764,742,710,676,655,629,880,782,800,650,628.684375526,651,0.446844783194,0.00480826903896,0.0796416304768,0.999999792041,0.000347274950223,-0.000539907828873,-6.17825152002e-05,1793193678251826176
+224,3.733333333,POSE1_TO_POSE2_PRESS,764,742,710,676,655,629,880,782,800,650,628.10428592,651,0.446844546997,0.00481236581123,0.0796395404161,0.999999789261,0.000351871312964,-0.000541959983473,-6.28082912708e-05,1793193678268493056
+225,3.750000000,POSE1_TO_POSE2_PRESS,764,742,710,676,655,629,879.527062251,781.527062251,800,649.527062251,628,651,0.446847135425,0.00482339399667,0.0796407694645,0.999999786584,0.000362268806456,-0.000539730847027,-6.54533913078e-05,1793193678285159424
+226,3.766666667,POSE1_TO_POSE2_PRESS,764,742,710,676,655,628.950584848,879,781.049415152,800,649,628,650.950584848,0.446850083546,0.00483501118777,0.0796425938238,0.999999784003,0.000373017530917,-0.000536840234685,-6.82211662803e-05,1793193678301826048
+227,3.783333333,POSE1_TO_POSE2_PRESS,764,742,710,676,655,628.375363856,879,781.624636144,800,649,628,650.375363856,0.446850271456,0.00483673040569,0.0796430118576,0.999999783596,0.000373974250311,-0.000536895900329,-6.85177114737e-05,1793193678318492672
+228,3.800000000,POSE1_TO_POSE2_PRESS,764.20514681,742,710,676,655,628,879.20514681,782,799.79485319,649,628,650,0.446850289345,0.00483573765665,0.0796429042246,0.999999783867,0.000372565430442,-0.000537366207808,-6.85405386066e-05,1793193678335159296
+229,3.816666667,POSE1_TO_POSE2_PRESS,764.795592298,742,710,676,655,628,879.795592298,782,799.204407702,649,628,650,0.446849987907,0.00482965139769,0.0796418093047,0.999999785392,0.00036671374759,-0.000538615279272,-6.80492792109e-05,1793193678351825920
+230,3.833333333,POSE1_TO_POSE2_PRESS,764.621619631,742,710,676,655,628,880,781.621619631,799.378380369,649.378380369,628,650.378380369,0.446851133102,0.00483022813399,0.079641599752,0.999999785137,0.000367656617642,-0.000538445944881,-6.80412531658e-05,1793193678368492800
+231,3.850000000,POSE1_TO_POSE2_PRESS,764.042886195,742,710,676,655,628,880,781.042886195,799.957113805,649.957113805,628,650.957113805,0.446853044291,0.00483433293811,0.0796418590028,0.999999783936,0.000372197215517,-0.000537525562066,-6.82891000394e-05,1793193678385159424
+232,3.866666667,POSE1_TO_POSE2_PRESS,764,742,710.532881034,676,654.467118966,628,880,781,799.467118966,649.467118966,628,651,0.446852668176,0.00483305632887,0.0796415981185,0.999999783815,0.000371253069736,-0.000538462022922,-6.78173240649e-05,1793193678401826048
+233,3.883333333,POSE1_TO_POSE2_PRESS,764,742,710.889374621,676,654,628,879.889374621,781.110625379,799.110625379,649.110625379,628,650.889374621,0.446852306042,0.00483161725341,0.0796412483341,0.999999783883,0.000369958023641,-0.000539275797401,-6.7432208541e-05,1793193678418492928
+234,3.900000000,POSE1_TO_POSE2_PRESS,764,742,710.302088577,676,654,628,879.302088577,781.697911423,799.697911423,649.697911423,628,650.302088577,0.446852792926,0.00483133393079,0.0796406948675,0.999999784397,0.00036904244239,-0.000538920608926,-6.76686565935e-05,1793193678435159552
+235,3.916666667,POSE1_TO_POSE2_PRESS,764,742,710,675.718445644,654,628,879,781.718445644,800,649.718445644,628,650.281554356,0.446852268518,0.00483092507895,0.0796401369496,0.999999784165,0.000368455632278,-0.000539759545413,-6.75957015567e-05,1793193678451825920
+236,3.933333333,POSE1_TO_POSE2_PRESS,764,742,710,675.138661517,654,628,879,781.138661517,800,649.138661517,628,650.861338483,0.446850672924,0.00483038326323,0.0796395743167,0.999999783143,0.00036821706508,-0.000541863330384,-6.71950186686e-05,1793193678468491776
+237,3.950000000,POSE1_TO_POSE2_PRESS,764,742,710,675.439614197,654.439614197,628,879,781,800,649,628,651,0.446852465835,0.004828960622,0.0796406421955,0.999999784875,0.000366075778053,-0.000540132427925,-6.70425117398e-05,1793193678485158400
+238,3.966666667,POSE1_TO_POSE2_PRESS,764,742,710.017315221,676,655,628,879,781.017315221,799.982684779,649,628,651,0.446855196538,0.00482739790006,0.0796421412871,0.999999787306,0.000363526945702,-0.000537354219122,-6.6983788031e-05,1793193678501825280
+239,3.983333333,POSE1_TO_POSE2_PRESS,764,742,710.591782381,676,655,628,879,781.591782381,799.408217619,649,628,651,0.446853829719,0.00483023686156,0.0796410237929,0.999999784724,0.000367109483335,-0.000539662575018,-6.74325641329e-05,1793193678518492160
+240,4.000000000,POSE1_TO_POSE2_PRESS,764,742,710.829641657,676,655,628,879.340716687,781.829641657,799.170358343,649,628,651,0.446853218394,0.00483188556492,0.0796405058853,0.999999783381,0.00036924166352,-0.000540678888673,-6.7564455448e-05,1793193678535158784
+241,4.016666667,POSE1_TO_POSE2_PRESS,764,742,710.240976765,676,655,628,880.518046471,781.240976765,799.759023235,649,628,651,0.446854462151,0.00483061164768,0.0796414602335,0.999999785115,0.000367812561989,-0.00053852265591,-6.69182517007e-05,1793193678551825920
+242,4.033333333,POSE1_TO_POSE2_PRESS,764,742,710,676,654.657418795,628,880.657418795,781.342581205,800,649,628,651,0.446855377988,0.0048304489332,0.0796418748575,0.999999785892,0.00036709364885,-0.000537538974117,-6.71523688207e-05,1793193678568493056
+243,4.050000000,POSE1_TO_POSE2_PRESS,764,742,710,676,654.077400371,628,880.077400371,781.922599629,800,649,628,651,0.446856066551,0.00483105637455,0.0796419154077,0.99999978601,0.000366866955291,-0.000537367967592,-6.79966214197e-05,1793193678585159936
+244,4.066666667,POSE1_TO_POSE2_PRESS,764,742,710,676,654,628,879.501959253,781.501959253,799.501959253,649.498040747,628,651,0.446855109245,0.00483179946314,0.0796413556568,0.999999784629,0.000368199941735,-0.000539023347882,-6.80085041446e-05,1793193678601826304
+245,4.083333333,POSE1_TO_POSE2_PRESS,764,742,710,676,654,628,879,781.072772604,799,649.927227396,628,651,0.446854095589,0.00483210423106,0.0796408289552,0.999999783469,0.000369146467571,-0.000540550909333,-6.78109701684e-05,1793193678618492672
+246,4.100000000,POSE1_TO_POSE2_PRESS,764,742,710,676,654,628,879,781.647473963,799,649.352526037,628,651,0.446854441405,0.00482924172846,0.0796411678016,0.999999785459,0.000365770899885,-0.000539257008371,-6.70531308782e-05,1793193678635158784
+247,4.116666667,HOLD_POSE2,764,742,710,675,655,628,879,781,800,649,628,651,0.446855163714,0.0048274747236,0.0796404016732,0.999999786101,0.000363550152545,-0.000539585338343,-6.69090092632e-05,1793193678673439232
+248,4.133333333,HOLD_POSE2,764,742,710,675.576276112,654.423723888,628.576276112,879,781,800,649,628,651,0.446856316891,0.00482967274746,0.0796422831334,0.999999786035,0.000365751909943,-0.00053818196116,-6.7204985931e-05,1793193678690105856
+249,4.150000000,HOLD_POSE2,764,742,710,675.848666523,654.151333477,628.848666523,879.151333477,781.151333477,800,649.151333477,628.151333477,650.848666523,0.446856832797,0.00483106480092,0.0796431812058,0.999999785744,0.000367159452151,-0.000537738798374,-6.74056979809e-05,1793193678706772480
+250,4.166666667,HOLD_POSE2,764,742,710,675.276994179,654.723005821,628.276994179,879.723005821,781.723005821,800,649.723005821,628.723005821,650.276994179,0.446855578641,0.00483021821812,0.0796413478532,0.999999784842,0.000366361008993,-0.000539962695068,-6.7341806243e-05,1793193678723439104
+251,4.183333333,HOLD_POSE2,764,742,710,675.306513439,655,628,880,781.693486561,799.693486561,649.693486561,628.693486561,650,0.446855253826,0.00482959171728,0.0796407817098,0.999999784797,0.000365774833604,-0.000540452732158,-6.7270515604e-05,1793193678740105728
+252,4.200000000,HOLD_POSE2,764,742,710,675.901146047,655,628,880,781.098853953,799.098853953,649.098853953,628.098853953,650,0.446855802581,0.00482917209105,0.0796414067291,0.999999785559,0.000365388187567,-0.000539312960686,-6.71922700855e-05,1793193678756772352
+253,4.216666667,HOLD_POSE2,764,742,710,676,654.517435716,628,880,781.482564284,799.482564284,649,628,650.482564284,0.446856063776,0.00482823829055,0.0796415721902,0.999999785992,0.000365076307959,-0.00053873891548,-6.70521943176e-05,1793193678773439232
+254,4.233333333,HOLD_POSE2,764,742,710,676,654,628,879.939130163,782,799.939130163,649,628,651,0.446856204252,0.00482730629182,0.079641574193,0.999999786268,0.000364831890257,-0.000538414243676,-6.68714419928e-05,1793193678790106112
+255,4.250000000,HOLD_POSE2,764,742,710,676,654,628,879.364855021,782,799.364855021,649,628,651,0.446855810137,0.00482725420858,0.0796409703782,0.999999785778,0.00036503073919,-0.000539241489652,-6.64515878714e-05,1793193678806772480
+256,4.266666667,HOLD_POSE2,764,742,710.214463277,675.785536723,654.214463277,628,879,782,799.214463277,649,628,651,0.446855782752,0.00482706465249,0.0796407176975,0.999999785588,0.000365106667281,-0.000539574926769,-6.61783550802e-05,1793193678823438848
+257,4.283333333,HOLD_POSE2,764,742,710.802567782,675.197432218,654.802567782,628,879,782,799.802567782,649,628,651,0.446856394292,0.00482663558908,0.0796410767683,0.999999785924,0.000364968440767,-0.000539048042399,-6.61605682745e-05,1793193678840105728
+258,4.300000000,HOLD_POSE2,764,742,710.615321201,675.384678799,655,628,879,782,799.615321201,649.384678799,628.384678799,651,0.446856974198,0.00482628709798,0.0796411405334,0.999999786599,0.000363816111949,-0.00053852580282,-6.65620994725e-05,1793193678856772352
+259,4.316666667,HOLD_POSE2,764,742,710.036239031,675.963760969,655,628,879,782,799.036239031,649.963760969,628.963760969,651,0.446857538118,0.00482597932529,0.0796410550613,0.999999787442,0.000362151290863,-0.00053800591051,-6.71755394954e-05,1793193678873438976
+260,4.333333333,HOLD_POSE2,764,742,710.542138087,676,655,628,879,781.457861913,799,649.457861913,628.457861913,651,0.446856937283,0.00482690789428,0.0796411061088,0.999999787062,0.000362225744217,-0.000538641099059,-6.73381100152e-05,1793193678890105856
+261,4.350000000,HOLD_POSE2,764,742,710.880346796,676,655.119653204,628,879,781.119653204,799,649,628,651,0.446856644607,0.0048276875256,0.0796414221051,0.999999786706,0.000362851401926,-0.000538887864101,-6.72793811396e-05,1793193678906772480
+262,4.366666667,HOLD_POSE2,764,742,710.305928817,676,655.694071183,628,879,781.694071183,799,649,628,651,0.446857818677,0.00482758739942,0.0796427104515,0.999999786748,0.000365130717863,-0.000537365278022,-6.64939590774e-05,1793193678923439104
+263,4.383333333,POSE2_TO_POSE3_RETREAT,764,742,710,676,655,628,880,781,799,649,628,651,0.446860008883,0.00482451478597,0.079643421066,0.999999789092,0.000360888883343,-0.000535868849528,-6.64773752568e-05,1793193678960622336
+264,4.400000000,POSE2_TO_POSE3_RETREAT,764,742,710,676,655,628,880,781,799.578977181,649,628,651,0.446859508377,0.00482403717836,0.0796427366336,0.999999788294,0.000362141150465,-0.000536536348905,-6.62974114878e-05,1793193678977289216
+265,4.416666667,POSE2_TO_POSE3_RETREAT,764,742,710,676,654.843090225,628,880,781.156909775,800,649.156909775,628,650.843090225,0.446859196686,0.0048235802267,0.0796421987063,0.999999788057,0.000361979173603,-0.000537089380936,-6.62679338242e-05,1793193678993955584
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764,742,710,676,654.267941826,628,880,781.732058174,800,649.732058174,628,650.267941826,0.44685938828,0.00482317833282,0.0796420512845,0.999999789315,0.000358047569146,-0.000537337303597,-6.66395726351e-05,1793193679010622208
+267,4.450000000,POSE2_TO_POSE3_RETREAT,764,742,710,676,654,628,880,781.687460227,800,649.687460227,628,650,0.446859551909,0.00482337957419,0.0796421968088,0.999999789774,0.000356858986503,-0.000537257808248,-6.67635140919e-05,1793193679027288832
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764,742,710,676,654,628,880,781.102327112,800,649.102327112,628,650,0.446859691146,0.00482410686273,0.0796425978371,0.999999789546,0.000358062833954,-0.00053689274293,-6.6671416944e-05,1793193679043955712
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,742,710,676,654,628,879.520400882,781,800,649,628,650.479599118,0.446858295205,0.00482479971879,0.0796415243674,0.999999787982,0.000360334451149,-0.000538305143787,-6.65032106994e-05,1793193679060622336
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764,742,710,676,654,628,879,781,799.939406277,649,628,651,0.446856404077,0.0048251550488,0.0796400579457,0.999999786342,0.000362114925208,-0.000540172861094,-6.63513075885e-05,1793193679077288704
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764,742,710,676,654,628,879,781,799.360566529,649,628,651,0.446853060539,0.00482268600169,0.0796379035103,0.999999786526,0.000357759201861,-0.000542712792917,-6.64768050295e-05,1793193679093955328
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764,742,710,676,654,628,879,781.216809775,799.216809775,649,628,650.783190225,0.44684420046,0.00482112288402,0.079633010658,0.999999783442,0.000355025584827,-0.000550124610885,-6.65943687e-05,1793193679110622208
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764,742,710,676,654,628,879,781.791768552,799.791768552,649,628,650.208231448,0.446826227586,0.00482105627533,0.0796235942031,0.99999977483,0.000354971532589,-0.000565584318255,-6.66988265199e-05,1793193679127289088
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764,742,710,676,654,628,879.372586582,782,800,649,628,650,0.446789078451,0.00482070785036,0.0796070761939,0.999999758373,0.000356335967029,-0.000593218319311,-6.61124917525e-05,1793193679143955456
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764,742,710,676,654,628,879.956731608,782,800,649,628,650,0.446741040839,0.00482019940723,0.0795865258491,0.999999736571,0.000358505832289,-0.000627765008881,-6.51339178901e-05,1793193679160622080
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764,742,710,676,654.542842297,628,880.542842297,782,800,649.542842297,628.542842297,650,0.446674532208,0.00481736960328,0.0795679080994,0.99999971644,0.000356058601532,-0.0006604474125,-6.44278437565e-05,1793193679177288704
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764,742,710,676,654.873683774,628.126316226,880.747367547,781.873683774,800,649.873683774,628.873683774,650.126316226,0.446603713752,0.00481038140012,0.0795521275067,0.999999700889,0.000348858463727,-0.000687377028117,-6.35092857387e-05,1793193679193955328
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764,742,710,676,654.300102794,628.699897206,879.600205587,781.300102794,800,649.300102794,628.300102794,650.699897206,0.446522866913,0.00478932653374,0.0795458453923,0.999999703769,0.00032613688957,-0.000694465057534,-6.17611706083e-05,1793193679210622208
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764,742,710.274171673,676,654.274171673,628.725828327,879,781.274171673,800,649.274171673,628,651,0.446434256537,0.00477090773789,0.0795445583617,0.999999707432,0.000308640551083,-0.00069748918406,-5.81957605814e-05,1793193679227288576
+280,4.666666667,POSE2_TO_POSE3_RETREAT,764,742,710.849207107,676,654.849207107,628.150792893,879,781.849207107,800,649.849207107,628,651,0.446337126804,0.00475538164949,0.0795487527137,0.999999712301,0.000296878154555,-0.000696053764693,-5.26361323466e-05,1793193679243955200
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764,742,710.563098961,676,655,628,879,782,799.563098961,650,628,651,0.446206968969,0.00475853484899,0.079546679554,0.999999705283,0.000302853249743,-0.000703725282249,-4.98532762698e-05,1793193679260622080
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764,742,710,676,655,628,879.028404731,782,799.056809462,649.971595269,628,651,0.446063889824,0.00476751896714,0.0795425263145,0.999999694285,0.000314575865545,-0.00071427474876,-4.77778351587e-05,1793193679277288960
+283,4.716666667,POSE2_TO_POSE3_RETREAT,764,742,710,676,655,628,879.606562273,782,800.213124547,649.393437727,628,651,0.445897937933,0.00476085607286,0.079541230659,0.99999969174,0.000315516249258,-0.000717875586473,-4.02916802401e-05,1793193679293955328
+284,4.733333333,POSE2_TO_POSE3_RETREAT,764,742,710.1835364,676,655,628,879.8164636,782,800.632927199,649,628,651,0.445721239303,0.00475562817561,0.0795404485257,0.999999689026,0.000317414108693,-0.000721182702829,-3.30295700999e-05,1793193679310622208
+285,4.750000000,POSE2_TO_POSE3_RETREAT,764,742,710.757989878,676,655,628,879.242010122,782,799.484020244,649,628,651,0.445521651044,0.00475345670208,0.0795407601517,0.999999686033,0.000321351310691,-0.000723864217025,-2.6244657431e-05,1793193679327288832
+286,4.766666667,POSE2_TO_POSE3_RETREAT,764,742,710.659446582,676,655,628.340553418,879.340553418,782,799.340553418,649,628,651,0.445301504961,0.00475145468327,0.0795439331991,0.999999684867,0.000327083648378,-0.000723139309977,-1.87284330031e-05,1793193679343955968
+287,4.783333333,POSE2_TO_POSE3_RETREAT,764,742,710.070979067,676,655,628.929020933,879.929020933,782,799.929020933,649,628,651,0.445066393293,0.00474957602292,0.0795491892876,0.999999684971,0.000334122798895,-0.000719934616427,-1.0679831787e-05,1793193679360623360
+288,4.800000000,POSE2_TO_POSE3_RETREAT,764,742,710.507026101,676,655,629,880,782,799.492973899,649,628,651,0.444786974502,0.00474314239691,0.0795529301666,0.999999687829,0.000337907261275,-0.000714254839266,-1.06792801763e-06,1793193679377289472
+289,4.816666667,POSE2_TO_POSE3_RETREAT,764,742,710.916727764,676,655.083272236,629,880,782,799.083272236,649.083272236,628,650.916727764,0.444496271993,0.00473672045984,0.0795562183904,0.999999690506,0.0003407921701,-0.000709069845587,8.30226346259e-06,1793193679393955584
+290,4.833333333,POSE2_TO_POSE3_RETREAT,764,742,710.342392111,676,655.657607889,629,880,782,799.657607889,649.657607889,628,650.342392111,0.44417486605,0.00473405172599,0.0795580628437,0.999999690544,0.000341004885532,-0.000708804596696,1.49825868408e-05,1793193679410622464
+291,4.850000000,POSE2_TO_POSE3_RETREAT,764,742,710,676,656,629,879.770183056,782,800,650,628.229816944,650,0.443837603149,0.00473020631589,0.0795617536472,0.999999696564,0.000327907117932,-0.000706437402215,1.71844661115e-05,1793193679427289088
+292,4.866666667,POSE2_TO_POSE3_RETREAT,764,742,710,676,656,629,879.201113292,782,800,650,628.798886708,650,0.44347693243,0.00472462391159,0.0795681700093,0.999999710681,0.000295160586048,-0.000700967342156,1.27753233193e-05,1793193679443955968
+293,4.883333333,POSE2_TO_POSE3_RETREAT,763.611252856,742,710,676,656,629.388747144,879,782,800,649.611252856,628.611252856,650.388747144,0.443090788209,0.00471425113471,0.079576371927,0.999999721007,0.00029197944241,-0.0006873988654,1.46986198194e-05,1793193679460622848
+294,4.900000000,POSE2_TO_POSE3_RETREAT,763.01002892,742,710,676,656,629.98997108,879,782,800,649.01002892,628.01002892,650.98997108,0.442690720997,0.00470126009313,0.0795855497723,0.999999729248,0.000304957798161,-0.000669404052523,2.00830258268e-05,1793193679477290240
+295,4.916666667,POSE2_TO_POSE3_RETREAT,763.569454472,742,710.569454472,676,656.569454472,630,879,782.569454472,800,649.569454472,628,651,0.442235838246,0.00469372721136,0.0796033383942,0.999999755281,0.000286794942773,-0.000637803837768,1.98235271437e-05,1793193679493956608
+296,4.933333333,POSE2_TO_POSE3_RETREAT,764,742.147923498,711,676,657,630,879.147923498,782.852076502,799.852076502,649.852076502,628.147923498,650.852076502,0.44176685775,0.00468575993689,0.0796180588717,0.999999776477,0.00026900099334,-0.000611793114552,1.9855443493e-05,1793193679510622976
+297,4.950000000,POSE2_TO_POSE3_RETREAT,764,742.724521609,711,676,657,630,879.724521609,782.275478391,799.275478391,649.275478391,628.724521609,650.275478391,0.441259717549,0.00467626549179,0.0796234647149,0.999999785977,0.000253807027867,-0.000602649299999,2.1009321311e-05,1793193679527289600
+298,4.966666667,POSE2_TO_POSE3_RETREAT,764,743,711,676,657.303562856,630,879.696437144,782,799.303562856,649.303562856,629,650,0.440724034056,0.00466599312179,0.0796162989984,0.99999978286,0.000246265478401,-0.000610869844056,2.17024095866e-05,1793193679543956480
+299,4.983333333,POSE2_TO_POSE3_RETREAT,764,743,711,676,657.884839264,630,879.115160736,782,799.884839264,649.884839264,629,650,0.440162237763,0.00465500906848,0.0795976322295,0.999999767971,0.000245724716576,-0.000634976117421,2.19739460827e-05,1793193679560623104
+300,5.000000000,POSE2_TO_POSE3_RETREAT,764,743,711,675.532533621,657.532533621,630.467466379,879,782.467466379,800,649.532533621,629,650,0.439561314399,0.00464639638544,0.0795917194265,0.99999976928,0.000227488146158,-0.0006396894465,2.2069946695e-05,1793193679577290496
+301,5.016666667,POSE2_TO_POSE3_RETREAT,764,742.9500254,710.9500254,675.0499746,657.0999492,631,879,783,799.9500254,649,629,650,0.438951970019,0.00463806614851,0.0795946394378,0.999999779423,0.000205973416164,-0.000631054607041,2.23318194341e-05,1793193679593957888
+302,5.033333333,POSE2_TO_POSE3_RETREAT,764,742.372296502,710.372296502,675.627703498,658.255406996,631,879,783,799.372296502,649,629,650,0.438355782497,0.00462653148698,0.0796575613852,0.999999838941,0.000196010222638,-0.000532055507846,2.48033698482e-05,1793193679610624000
+303,5.050000000,POSE2_TO_POSE3_RETREAT,764,742,710.204678709,675.795321291,658.795321291,631,879.204678709,783.204678709,799.204678709,649,629,650.204678709,0.437748442453,0.00461603496221,0.079720717703,0.999999887843,0.000183610088804,-0.000435731772068,2.71741216565e-05,1793193679627289856
+304,5.066666667,POSE2_TO_POSE3_RETREAT,764,742,710.78028801,675.21971199,658.21971199,631,879.78028801,783.78028801,799.78028801,649,629,650.78028801,0.437120891198,0.00460741980958,0.0797842987563,0.999999926403,0.0001667935932,-0.000344256495478,2.93622004694e-05,1793193679643955968
+305,5.083333333,POSE2_TO_POSE3_RETREAT,764,742.363610711,711,675,658.363610711,631.363610711,879.636389289,783.636389289,800,649,629,650.636389289,0.436451407648,0.00459657763943,0.0798185323185,0.999999945289,0.000156643483865,-0.000289595686228,3.19167627117e-05,1793193679660622336
+306,5.100000000,POSE2_TO_POSE3_RETREAT,764,742.951695232,711,675,658.951695232,631.951695232,879.048304768,783.048304768,800,649,629,650.048304768,0.435756037364,0.00458436062807,0.0798346483066,0.999999954862,0.000150608846018,-0.000257662164796,3.46975722292e-05,1793193679677288960
+307,5.116666667,POSE2_TO_POSE3_RETREAT,763.468511293,742.468511293,711,674.468511293,659,631.468511293,879,783,800,649,628.468511293,650.531488707,0.434974912326,0.00457433534755,0.079820804432,0.999999950538,0.00014020565819,-0.000279315192908,3.53407523478e-05,1793193679693955328
+308,5.133333333,POSE2_TO_POSE3_RETREAT,763,742,711,674.109671538,659,631.109671538,879,783,799.890328462,649,628.109671538,650.890328462,0.434177452861,0.00456496946774,0.0798055458585,0.999999944705,0.0001297438896,-0.000304100793127,3.57665169348e-05,1793193679710622208
+309,5.150000000,POSE2_TO_POSE3_RETREAT,763,742,711,674.684172421,659,631.684172421,879,783,799.315827579,649,628.684172421,650.315827579,0.433343288197,0.0045575670749,0.0797956547804,0.999999940276,0.000120690790475,-0.000321838490862,3.60815769307e-05,1793193679727289088
+310,5.166666667,POSE2_TO_POSE3_RETREAT,763.259224104,742.259224104,711,675,659,632,879,783.259224104,799,649,629,650,0.432476482931,0.00454971761702,0.0797696412327,0.999999923917,0.000114734889782,-0.000371007862485,3.6814228228e-05,1793193679743956224
+311,5.183333333,POSE2_TO_POSE3_RETREAT,763.834948367,742.834948367,711,675,659,632,879,783.834948367,799,649,629,650,0.43156982495,0.00454132231325,0.0797239429241,0.999999887805,0.000112560517541,-0.000458553796066,3.80567382636e-05,1793193679760622848
+312,5.200000000,POSE2_TO_POSE3_RETREAT,763.57616395,742.57616395,711,674.57616395,658.57616395,632,879,784,799.42383605,649,629,649.57616395,0.430739334592,0.00452977799779,0.0797300279943,0.999999893644,9.86115655879e-05,-0.000448919954868,3.81920390797e-05,1793193679777289728
+313,5.216666667,POSE2_TO_POSE3_RETREAT,763,742,711,674,658.01753589,632,878.98246411,784,799.98246411,649,629,649.01753589,0.429939065093,0.00451699085371,0.0797581086973,0.999999916625,8.01728032519e-05,-0.000398598456087,3.79698623261e-05,1793193679793956608
+314,5.233333333,POSE2_TO_POSE3_RETREAT,763,742,711,674,658.595939137,632,878.404060863,784,799.404060863,649,629,649.595939137,0.42912627749,0.00450493217848,0.0798240457538,0.999999952919,6.948881282e-05,-0.000296125052493,4.05467949104e-05,1793193679810622720
+315,5.250000000,POSE2_TO_POSE3_RETREAT,763,742,711,674,659,632,878.172781437,784,799,649,629,650.172781437,0.428279798426,0.00449245412045,0.0798642979681,0.999999970734,5.61071576093e-05,-0.00023150452891,4.23023051139e-05,1793193679827289088
+316,5.266666667,POSE2_TO_POSE3_RETREAT,763,742,711,674,659,632,878.746006006,784,799,649,629,650.746006006,0.427355235129,0.00447900408975,0.0798450222636,0.999999966032,3.64733204501e-05,-0.00025461292007,4.21540643038e-05,1793193679843955456
+317,5.283333333,POSE2_TO_POSE3_RETREAT,763.328545086,742,711,674,659,632,878.671454914,784,799.328545086,649,629,650.671454914,0.426430110938,0.00446620754598,0.0798101540566,0.999999952353,2.33420277369e-05,-0.000305148568782,4.04275098078e-05,1793193679860622592
+318,5.300000000,POSE2_TO_POSE3_RETREAT,763.918495176,742,711,674,659,632,878.081504824,784,799.918495176,649,629,650.081504824,0.425504540518,0.00445393094596,0.0797628797658,0.999999927925,1.53844478713e-05,-0.000377506554635,3.74451789884e-05,1793193679877289728
+319,5.316666667,POSE2_TO_POSE3_RETREAT,764,742.498951301,711,674,659,632,878,784,799.501048699,649,628.501048699,650.498951301,0.424553233731,0.00444275084596,0.0797373866747,0.999999910746,-2.99987851005e-06,-0.000420865350154,3.70335883485e-05,1793193679893956096
+320,5.333333333,POSE2_TO_POSE3_RETREAT,764,743,711,674,659,632,878,784,799,649,628.077412296,650.922587704,0.423608071577,0.00443172778354,0.0797200802447,0.999999897529,-2.18330042577e-05,-0.000450632759854,3.73673939819e-05,1793193679910622720
+321,5.350000000,POSE2_TO_POSE3_RETREAT,764,743,711,674,659,632,878,784,799,649,628.652828685,650.347171315,0.422728979642,0.00442058421002,0.0797329779934,0.999999909259,-3.28007743967e-05,-0.000422870160045,3.98453737538e-05,1793193679927289088
+322,5.366666667,POSE2_TO_POSE3_RETREAT,763.774961474,742.774961474,711.225038526,674,659,632,878.225038526,784,799,649,629,650.225038526,0.421877079022,0.00440915098118,0.0797687742658,0.999999934153,-4.46985612842e-05,-0.000357712683092,4.16916482078e-05,1793193679943955712
+323,5.383333333,POSE2_TO_POSE3_RETREAT,763.207628858,742.207628858,711.792371142,674,659,632,878.792371142,784,799,649,629,650.792371142,0.421066537528,0.00439727717139,0.0798394002624,0.999999969639,-5.80109482898e-05,-0.000235675846317,4.25770694006e-05,1793193679960622336
+324,5.400000000,POSE2_TO_POSE3_RETREAT,763,742,711.619905039,674,659,632,878.619905039,784,799,649,628.619905039,651,0.420207979941,0.00441542814081,0.0798657526388,0.999999979643,-3.37902799025e-05,-0.000194276875019,4.27564037902e-05,1793193679977288960
+325,5.416666667,POSE2_TO_POSE3_RETREAT,763,742,711.02041101,674,659,632,878.02041101,784,799,649,628.02041101,651,0.41932170647,0.00445091006579,0.0798665493155,0.999999979138,1.20952839504e-05,-0.000199423839634,4.25281696646e-05,1793193679993955840
+326,5.433333333,POSE2_TO_POSE3_RETREAT,763.555473741,742,711,674,659,632,878,784,799,649,628.555473741,651,0.418403815733,0.00447413483139,0.07982209809,0.999999960728,3.9863721273e-05,-0.000274305141879,4.13788153359e-05,1793193680010622208
+327,5.450000000,POSE2_TO_POSE3_RETREAT,763.868695419,742,711,674,659,632,878,784,799,649,629,651,0.417498402992,0.00448891667051,0.0797889634635,0.999999942289,5.49549005923e-05,-0.000332839487712,4.02545973804e-05,1793193680027288576
+328,5.466666667,POSE2_TO_POSE3_RETREAT,763.290214173,742,711,674,659,632,878,784,799,649,629,651,0.416639281225,0.0044764162451,0.079799800667,0.999999945232,2.90466154203e-05,-0.000327331069069,3.93265563155e-05,1793193680043955456
+329,5.483333333,POSE2_TO_POSE3_RETREAT,763.286902277,742,711,673.713097723,659,632,878,784,799,649,629,651,0.415774645667,0.00446441748757,0.0797940674483,0.999999940564,1.04121445567e-05,-0.000342394443262,3.91046319649e-05,1793193680060622080
+330,5.500000000,POSE2_TO_POSE3_RETREAT,763.862644678,742,711,673.137355322,659,632,878,784,799,649,629,651,0.414904459126,0.00445292378714,0.0797716518839,0.99999992771,-8.99380373518e-07,-0.000378168560025,3.95935937408e-05,1793193680077288704
+331,5.516666667,POSE2_TO_POSE3_RETREAT,763.549724928,742.450275072,711.450275072,673.450275072,659,632,878,784,799.450275072,649,629,650.549724928,0.414131490065,0.00445155755988,0.0797763807938,0.999999933667,-7.90451080312e-06,-0.000362163391065,3.79748078573e-05,1793193680093955328
+332,5.533333333,POSE2_TO_POSE3_RETREAT,763.040288387,742.959711613,712,673.959711613,659,632.040288387,878,784,799.959711613,649.040288387,629,650.040288387,0.413389645604,0.00445372614617,0.0797896722106,0.999999944673,-1.23882641922e-05,-0.000330481770622,3.57963962375e-05,1793193680110621952
+333,5.550000000,POSE2_TO_POSE3_RETREAT,763.612582389,742.387417611,712,673.387417611,659,632.612582389,878,784,799.387417611,649.612582389,629,650.612582389,0.41265657587,0.00446067064413,0.0798037243174,0.999999952563,-1.39452251931e-06,-0.000306023557883,3.49486910324e-05,1793193680127288832
+334,5.566666667,POSE2_TO_POSE3_RETREAT,764,742.187530708,711.812469292,673,659,632.812469292,878.187530708,784,799,649.812469292,629,651,0.411913505839,0.00446603868893,0.0798088380683,0.999999954465,6.8452066406e-06,-0.0002996606163,3.50215114895e-05,1793193680143955456
+335,5.583333333,POSE2_TO_POSE3_RETREAT,764,742.768041383,711.231958617,673,659,632.231958617,878.768041383,784,799,649.231958617,629,651,0.411149479553,0.00446810319864,0.0797952210508,0.999999944419,9.31376700577e-06,-0.000331217215252,3.70233393317e-05,1793193680160622080
+336,5.600000000,POSE2_TO_POSE3_RETREAT,763.646665592,742.646665592,711,673,659,632,878.646665592,784,799,649,629,651,0.410432660861,0.0044655235833,0.0797893113199,0.999999940026,8.59706749641e-06,-0.000344219096558,3.7251097817e-05,1793193680177288704
+337,5.616666667,POSE2_TO_POSE3_RETREAT,763.058189988,742.058189988,711,673,659,632,878.058189988,784,799,649,629,651,0.409747258488,0.00445985334011,0.0797885307269,0.999999939856,5.76060310679e-06,-0.000344872961297,3.6298227362e-05,1793193680193955584
+338,5.633333333,POSE2_TO_POSE3_RETREAT,763.522774611,742.522774611,711.522774611,673,659,632,878,784,799.522774611,649,629,651,0.409129887524,0.00445942197781,0.0798158040399,0.999999955046,-2.77077360527e-07,-0.000297532291134,3.71703941686e-05,1793193680210622208
+339,5.650000000,POSE2_TO_POSE3_RETREAT,764,742.897929517,711.897929517,673,659,632,878,784,799.897929517,649,628.897929517,651,0.408517800286,0.00446047803018,0.0798372809958,0.999999965221,-2.34513030769e-06,-0.000260932726445,3.83083765041e-05,1793193680227288832
+340,5.666666667,POSE2_TO_POSE3_RETREAT,764,742.322549773,711.322549773,673,659,632,878,784,799.322549773,649,628.322549773,651,0.407895596878,0.00446576558269,0.0798176047482,0.999999954518,1.56232218901e-05,-0.000298562211618,3.97503114879e-05,1793193680243955968
+341,5.683333333,POSE2_TO_POSE3_RETREAT,764,742,711,673,659,632.252613752,878,784,799.252613752,649,628.252613752,651,0.407291685692,0.0044696933312,0.0797929692361,0.999999940541,2.78911787816e-05,-0.000341373776168,4.00379055465e-05,1793193680260622592
+342,5.700000000,POSE2_TO_POSE3_RETREAT,764,742,711,673,659,632.827501392,878,784,799.827501392,649,628.827501392,651,0.406711110992,0.00447188629917,0.0797620069067,0.999999922344,3.28868122795e-05,-0.000390796414363,3.88528404119e-05,1793193680277289216
+343,5.716666667,POSE2_TO_POSE3_RETREAT,764,742,711.415094926,673,659,633,878.415094926,784,799.584905074,649,628.584905074,650.584905074,0.406197969135,0.00446925463718,0.0797598269142,0.999999923613,2.52892093788e-05,-0.000388212464572,3.77540688542e-05,1793193680293955584
+344,5.733333333,POSE2_TO_POSE3_RETREAT,764,742,711.992129002,673,658.992129002,632.992129002,878.992129002,784,799,649,628.007870998,650.007870998,0.405714475021,0.0044645954269,0.079770136413,0.999999933286,1.24981967962e-05,-0.000363211926577,3.67141668485e-05,1793193680310622208
+345,5.750000000,POSE2_TO_POSE3_RETREAT,764,742,711.41835909,673,658.41835909,632.41835909,878.41835909,784,799,649,628.58164091,650.58164091,0.405284202964,0.00446286271633,0.0797912952001,0.999999944938,1.44559019614e-05,-0.000329434123772,3.72471333594e-05,1793193680327289088
+346,5.766666667,POSE2_TO_POSE3_RETREAT,763.843902273,742,711,672.843902273,658,632,878,783.843902273,799,649,629,651,0.404863176237,0.004463952737,0.0798099578696,0.999999953904,1.85223565762e-05,-0.000300709725812,3.77141884547e-05,1793193680343955968
+347,5.783333333,POSE2_TO_POSE3_RETREAT,763.267596211,742,711,672.267596211,658,632,878,783.267596211,799,649,629,651,0.404467037441,0.00447264142781,0.0798219011033,0.999999958098,2.82654740635e-05,-0.000285588868674,3.8003813076e-05,1793193680360622592
+348,5.800000000,POSE2_TO_POSE3_RETREAT,763,742,711,672.316792952,658,632,878.316792952,783.316792952,799,649,629,651,0.404075686706,0.00447884294788,0.0798254278309,0.99999995748,3.72740194909e-05,-0.000286614653733,3.8758810061e-05,1793193680377289216
+349,5.816666667,POSE2_TO_POSE3_RETREAT,763,742,711,672.908188683,658,632,878.908188683,783.908188683,799,649,629,651,0.403688486386,0.00448288853562,0.0798216589537,0.999999952669,4.56458218546e-05,-0.000301636687993,3.99172015584e-05,1793193680393955840
+350,5.833333333,POSE2_TO_POSE3_RETREAT,763.485088937,742,711,673,658.485088937,632,878.514911063,784,799,649,629,650.514911063,0.4033622597,0.00448235138134,0.0798195439732,0.999999950219,5.52581520796e-05,-0.000307959587583,4.08588392531e-05,1793193680410622720
+351,5.850000000,POSE2_TO_POSE3_RETREAT,763.940711935,742,711.059288065,673,658.940711935,632,878,784,799,649,629,650.059288065,0.403052331631,0.00448024001447,0.0798184618285,0.999999948599,6.22292931002e-05,-0.000311743368118,4.17759511056e-05,1793193680427289344
+352,5.866666667,POSE2_TO_POSE3_RETREAT,763.366835788,742,711.633164212,673,658.366835788,632,878,784,799,649,629,650.633164212,0.402786609441,0.00447177513551,0.0798237060552,0.999999950865,4.42976233169e-05,-0.00030736470973,4.28259295848e-05,1793193680443955712
+353,5.883333333,POSE2_TO_POSE3_RETREAT,763.213791442,742.213791442,712,673,658,632.213791442,878,784,799,649.213791442,629,651,0.402538469676,0.00445937531827,0.0798273440528,0.99999995291,2.29418494079e-05,-0.000302853588263,4.39747402155e-05,1793193680460622336
+354,5.900000000,POSE2_TO_POSE3_RETREAT,763.806380233,742.806380233,712,673,658,632.806380233,878,784,799,649.806380233,629,651,0.402321482618,0.00444000354749,0.0798281361207,0.99999995453,-4.48077706098e-06,-0.000298107768135,4.52986623119e-05,1793193680477289472
+355,5.916666667,POSE2_TO_POSE3_RETREAT,763.611047259,742.611047259,711.611047259,673,658.388952741,632.611047259,878,784,799,649.611047259,629,650.611047259,0.40212388376,0.00443018930469,0.0798296497074,0.999999955631,-2.28537177832e-05,-0.000293476288592,4.5690810672e-05,1793193680493956096
+356,5.933333333,POSE2_TO_POSE3_RETREAT,763.033335603,742.033335603,711.033335603,673,658.966664397,632.033335603,878,784,799,649.033335603,629,650.033335603,0.401935693983,0.00442501333218,0.0798315134476,0.999999956549,-3.68348449862e-05,-0.000288900298177,4.56307690018e-05,1793193680510622720
+357,5.950000000,POSE2_TO_POSE3_RETREAT,763.541288474,742,711,673,659,632,878,784,799,649,629,650.541288474,0.401782987851,0.00443095789273,0.079834935699,0.999999957573,-2.69789493297e-05,-0.000286197893792,4.70804198281e-05,1793193680527289344
+358,5.966666667,POSE2_TO_POSE3_RETREAT,764,742,711,673,658.883919765,632.116080235,878,784,799,649,629,651,0.401637776264,0.00443711620236,0.0798367469104,0.999999958029,-1.73098614637e-05,-0.000285153774548,4.82692053824e-05,1793193680543955968
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764,742,711,673,658.307713703,632.692286297,878,784,799,649,629,651,0.401513658931,0.00444142247253,0.0798317938849,0.999999956629,-1.41672663562e-05,-0.000290228085239,4.80575067613e-05,1793193680560622336
+360,6.000000000,POSE2_TO_POSE3_RETREAT,764,742,711,673,658.257698342,632.742301658,878,784,799,649,629,650.742301658,0.401400816004,0.00445215494529,0.0798273578706,0.999999954845,-7.33512045603e-06,-0.000296946640766,4.55876393668e-05,1793193680577288960
+361,6.016666667,POSE2_TO_POSE3_RETREAT,764,742,711,673,658.810739547,632.189260453,878,784,799,649,629,650.189260453,0.401300894454,0.00447025235875,0.0798235143928,0.999999952491,3.72554487117e-06,-0.000305549631731,4.05297303752e-05,1793193680593955840
+362,6.033333333,POSE2_TO_POSE3_RETREAT,764,742,711,673,659,632,878.410185386,784,799.410185386,649,629,650,0.401217623796,0.00447797731203,0.0798206865071,0.999999949782,5.1718369196e-05,-0.000310199902009,3.92090311959e-05,1793193680610622464
+363,6.050000000,POSE2_TO_POSE3_RETREAT,764,742.031032261,711.031032261,673,658.968967739,632.031032261,878.968967739,784,800,649.031032261,629,650,0.401144514471,0.00447987336474,0.0798183740017,0.999999943683,0.00011478258611,-0.000312844684084,3.98437256305e-05,1793193680627289344
+364,6.066666667,POSE2_TO_POSE3_RETREAT,764,742.604003917,711.604003917,673,658.395996083,632.604003917,878.395996083,784,800,649.604003917,629,650,0.401097575305,0.00447421586305,0.0798158346167,0.99999994356,0.000105495951324,-0.000316379315634,4.06718178107e-05,1793193680643955968
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764,742.822306658,711.822306658,673,658,632.822306658,878,784,799.822306658,649.822306658,629,650,0.401055550006,0.0044714756868,0.0798140593174,0.999999943528,9.9848051256e-05,-0.000318230746444,4.12792827533e-05,1793193680660622592
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764,742.247011248,711.247011248,673,658,632.247011248,878,784,799.247011248,649.247011248,629,650,0.401024519858,0.00447526324396,0.0798139937171,0.999999943878,0.000102342091987,-0.000316315890008,4.13930777405e-05,1793193680677288960
+367,6.116666667,POSE2_TO_POSE3_RETREAT,764,742,711,672.660544598,658,632,878,784,799.339455402,649,629,650.339455402,0.400999449017,0.00447299941735,0.0798145357656,0.999999944692,9.69796204889e-05,-0.000315355089434,4.19773628781e-05,1793193680693955584
+368,6.133333333,POSE2_TO_POSE3_RETREAT,764,742,711,672.065672295,658,632,878,784,799.934327705,649,629,650.934327705,0.400978862141,0.00446618234002,0.0798155350282,0.999999945759,8.57056627993e-05,-0.00031511215021,4.2915659583e-05,1793193680710622208
+369,6.150000000,POSE2_TO_POSE3_RETREAT,764,742,711,672.5117155,659.023430999,632,878,784,799.4882845,649.5117155,629,650.4882845,0.400968893941,0.0044664375834,0.0798169509478,0.999999946578,8.57651367225e-05,-0.000312495400855,4.28439812354e-05,1793193680727288832
+370,6.166666667,POSE2_TO_POSE3_RETREAT,763.913290461,742,711,672.913290461,659.826580922,632,878.086709539,784,799,649.913290461,629,650,0.400961368695,0.0044673050289,0.0798184510089,0.999999947443,8.67017726701e-05,-0.000309479384192,4.26444959638e-05,1793193680743955456
+371,6.183333333,POSE2_TO_POSE3_RETREAT,763.339554206,742,711,672.339554206,658.679108413,632,878.660445794,784,799,649.339554206,629,650,0.400960163461,0.00446668148433,0.0798201332527,0.999999948736,8.46655348253e-05,-0.00030587538215,4.24311274307e-05,1793193680760622592
+372,6.200000000,POSE2_TO_POSE3_RETREAT,763,742,711.241726136,672.241726136,658,632,878.516547728,784,799,649,629,650.241726136,0.400958426633,0.00446665478787,0.0798214751324,0.999999949612,8.33827792291e-05,-0.000303386398496,4.21805811064e-05,1793193680777289472
+373,6.216666667,POSE2_TO_POSE3_RETREAT,763,742,711.833945054,672.833945054,658,632,877.332109892,784,799,649,629,650.833945054,0.400955919019,0.00446749349625,0.0798223234985,0.999999949905,8.31925414898e-05,-0.000302514145074,4.18761285543e-05,1793193680793956096
+374,6.233333333,POSE2_TO_POSE3_RETREAT,763.415211433,742,711.584788567,672.584788567,658,632.415211433,877,784,799,649,629,650.584788567,0.400953844301,0.00446849185131,0.079821902562,0.999999949778,8.46209561264e-05,-0.000302551716405,4.1778761032e-05,1793193680810622720
+375,6.250000000,POSE2_TO_POSE3_RETREAT,763.992210137,742,711.007789863,672.007789863,658,632.992210137,877,784,799,649,629,650.007789863,0.400951938262,0.00446955241273,0.0798209870413,0.999999949484,8.66800791983e-05,-0.000302943801269,4.17620842667e-05,1793193680827289088
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764,742,711,672.568231416,658.568231416,633,877.568231416,784,799,649,629,650.568231416,0.400953883314,0.00447016504284,0.0798230400093,0.999999950526,8.38679176914e-05,-0.000300346158063,4.13086808756e-05,1793193680843955712
+377,6.283333333,POSE2_TO_POSE3_RETREAT,764,742,711,673,658.856111843,632.856111843,878,784,799,649,629,651,0.400955024779,0.00447030531584,0.079824369699,0.999999951245,8.1751835002e-05,-0.000298560018808,4.10887884837e-05,1793193680860622592
+378,6.300000000,POSE2_TO_POSE3_RETREAT,764,742,711,673,658.281506381,632.281506381,878,784,799,649,629,651,0.400953603011,0.00446904997676,0.0798234127067,0.999999950982,8.1918965153e-05,-0.000299325527772,4.15857830705e-05,1793193680877289216
+379,6.316666667,POSE2_TO_POSE3_RETREAT,763.697819917,742,711,673,658.302180083,632.302180083,878,784,799.302180083,649,629,651,0.400953446779,0.00446794035728,0.0798234139398,0.999999951078,8.17505562509e-05,-0.000299024341486,4.17687963621e-05,1793193680893955840
+380,6.333333333,POSE2_TO_POSE3_RETREAT,763.105411554,742,711,673,658.894588446,632.894588446,878,784,799.894588446,649,629,651,0.400954506029,0.00446697069375,0.0798243354984,0.999999951519,8.12598795295e-05,-0.000297698649883,4.16502469803e-05,1793193680910622720
+381,6.350000000,POSE2_TO_POSE3_RETREAT,763,742,711,673,658.524883194,632.524883194,878.950233611,784,799.524883194,649,629,651,0.400953251454,0.00446764674733,0.0798237906349,0.999999951232,8.17992511391e-05,-0.000298534826805,4.15014869327e-05,1793193680927289344
+382,6.366666667,POSE2_TO_POSE3_RETREAT,763.052674616,742,711,673,658.052674616,632,879.894650768,784,799.052674616,649.052674616,629,650.947325384,0.400951755054,0.00446862572124,0.0798231287095,0.999999950881,8.24730834334e-05,-0.000299542125161,4.13627926726e-05,1793193680943955968
+383,6.383333333,POSE2_TO_POSE3_RETREAT,763.626285859,742,711,673,658.626285859,632,878.747428283,784,799.626285859,649.626285859,629,650.373714141,0.400952820168,0.00446907758586,0.0798244481718,0.999999951472,8.2271720564e-05,-0.000297613962245,4.13883164764e-05,1793193680960622592
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764,742,711.20540452,672.79459548,658.79459548,632,877.79459548,784,799.58919096,649.79459548,629,650.20540452,0.40095359408,0.00446853658103,0.0798253650519,0.999999951958,8.12775078532e-05,-0.000296241907331,4.14486575485e-05,1793193680977289216
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764,742,711.794819446,672.205180554,658.205180554,632,877.205180554,784,798.410361108,649.205180554,629,650.794819446,0.40095382358,0.00446613937459,0.0798255292917,0.99999995225,7.88010366875e-05,-0.000295909514458,4.15740906305e-05,1793193680993955584
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764,742,711.62294207,672.37705793,658,632.37705793,877.37705793,783.62294207,798.37705793,649,629,650.62294207,0.400954023147,0.00446643010648,0.0798257169197,0.999999952322,7.84811652845e-05,-0.000295757677485,4.1520232847e-05,1793193681010622464
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764,742,711.044535812,672.955464188,658,632.955464188,877.955464188,783.044535812,798.955464188,649,629,650.044535812,0.40095420673,0.00446815619319,0.0798259170371,0.999999952279,7.93129147603e-05,-0.000295702257079,4.13706340262e-05,1793193681027289344
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764.528722621,742,711,673,658.528722621,633,877.471277379,783.528722621,799,649,629,650,0.400954128173,0.00446776037413,0.0798254912261,0.999999952076,8.01482793053e-05,-0.000296177389322,4.12752146755e-05,1793193681043955968
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764.897962829,742,711,673,658.897962829,633,877.102037171,784,799.102037171,649,629,650,0.400954067,0.00446740057303,0.0798252970102,0.999999951957,8.07523730073e-05,-0.000296430153429,4.11695310806e-05,1793193681060622848
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764.322395118,742,711,673,658.322395118,633,877.677604882,784,799.677604882,649,629,650,0.40095418798,0.00446802938823,0.0798264198917,0.999999952293,8.02817932862e-05,-0.000295445563301,4.09952387677e-05,1793193681077289728
+391,6.516666667,POSE2_TO_POSE3_RETREAT,764,742,711,673,658.262442739,632.737557261,878,784,800,649,629,650.262442739,0.400953778693,0.00446808345913,0.0798262742502,0.999999952323,7.99519936495e-05,-0.000295442512009,4.09256984002e-05,1793193681093956864
+392,6.533333333,POSE2_TO_POSE3_RETREAT,764,742,711,673,658.859085471,632.140914529,878,784,800,649,629,650.859085471,0.400952694153,0.00446740563888,0.0798245132455,0.999999951963,7.98014662092e-05,-0.000296689372362,4.09895512949e-05,1793193681110623744
+393,6.550000000,POSE2_TO_POSE3_RETREAT,763.559686842,742,711,672.559686842,659,632,878,784,800,649,629,651,0.40095323698,0.00446832310204,0.0798252838216,0.999999952249,7.97525156743e-05,-0.00029573433818,4.10110648724e-05,1793193681127290368
+394,6.566666667,POSE2_TO_POSE3_RETREAT,763.016794058,742,711.016794058,672,658.983205942,632,878,783.983205942,799.983205942,649,628.983205942,651,0.400954232698,0.00446966611188,0.0798267904802,0.999999952722,7.97085056804e-05,-0.000294144181415,4.10169152335e-05,1793193681143956480
+395,6.583333333,POSE2_TO_POSE3_RETREAT,763.593932086,742,711.593932086,672,658.406067914,632,878,783.406067914,799.406067914,649,628.406067914,651,0.40095354999,0.00446874938104,0.0798267389361,0.999999952817,7.87813817832e-05,-0.000294079479611,4.09369630653e-05,1793193681160622848
+396,6.600000000,POSE2_TO_POSE3_RETREAT,764,742.17222053,711.82777947,672,658,632,878,783.17222053,799.17222053,649,628.17222053,651,0.400952976913,0.00446802359669,0.079826528978,0.999999952767,7.8034967985e-05,-0.000294456332449,4.08971399118e-05,1793193681177289216
+397,6.616666667,POSE2_TO_POSE3_RETREAT,764,742.753239673,711.246760327,672,658,632,878,783.753239673,799.753239673,649,628.753239673,651,0.400952664065,0.0044677510607,0.0798259429937,0.999999952369,7.77175044829e-05,-0.000295881300314,4.09525707116e-05,1793193681193955840
+398,6.633333333,POSE2_TO_POSE3_RETREAT,764,742.663288534,711,672.336711466,658.336711466,632.336711466,878,784,799.663288534,649,629,651,0.400952944962,0.00446798241145,0.0798259740435,0.999999952222,7.87581513216e-05,-0.000296086835681,4.10524673676e-05,1793193681210622464
+399,6.650000000,POSE2_TO_POSE3_RETREAT,764,742.078006143,711,672.921993857,658.921993857,632.921993857,878,784,799.078006143,649,629,651,0.400953664179,0.00446858574714,0.0798264606074,0.999999952259,8.08013976617e-05,-0.000295392147814,4.11851901054e-05,1793193681227289344
+400,6.666666667,POSE2_TO_POSE3_RETREAT,764,742,711.498392261,672.501607739,659,632.501607739,878,784,799.498392261,649,628.501607739,651,0.400953109105,0.00446874527304,0.079825889808,0.999999952128,8.0436283076e-05,-0.000295983474768,4.08322559258e-05,1793193681243955712
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_12/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_12/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..47cef9c9bbc83f14c155a5741434f32876719050
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_12/depth_04/simulation_data.csv
@@ -0,0 +1,402 @@
+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,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+1,0.016666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+2,0.033333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+3,0.050000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+4,0.066666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+5,0.083333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+6,0.100000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+7,0.116666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+8,0.133333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+9,0.150000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+10,0.166666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+11,0.183333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+12,0.200000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+13,0.216666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+14,0.233333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+15,0.250000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+16,0.266666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+17,0.283333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+18,0.300000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+19,0.316666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+20,0.333333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+21,0.350000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+22,0.366666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+23,0.383333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+24,0.400000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+25,0.416666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+26,0.433333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+27,0.450000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+28,0.466666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+29,0.483333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+30,0.500000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+31,0.516666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+32,0.533333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+33,0.550000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+34,0.566666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+35,0.583333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+36,0.600000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+37,0.616666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+38,0.633333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+39,0.650000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+40,0.666666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+41,0.683333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+42,0.700000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+43,0.716666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+44,0.733333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+45,0.750000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+46,0.766666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+47,0.783333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+48,0.800000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+49,0.816666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+50,0.833333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+51,0.850000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+52,0.866666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+53,0.883333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+54,0.900000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+55,0.916666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+56,0.933333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+57,0.950000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+58,0.966666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+59,0.983333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+60,1.000000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+61,1.016666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+62,1.033333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+63,1.050000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+64,1.066666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+65,1.083333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+66,1.100000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+67,1.116666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+68,1.133333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+69,1.150000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+70,1.166666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+71,1.183333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+72,1.200000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+73,1.216666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+74,1.233333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+75,1.250000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+76,1.266666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+77,1.283333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+78,1.300000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+79,1.316666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+80,1.333333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+81,1.350000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+82,1.366666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+83,1.383333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+84,1.400000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+85,1.416666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+86,1.433333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+87,1.450000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+88,1.466666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+89,1.483333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+90,1.500000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+91,1.516666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+92,1.533333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+93,1.550000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+94,1.566666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+95,1.583333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+96,1.600000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+97,1.616666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+98,1.633333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+99,1.650000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+100,1.666666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+101,1.683333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+102,1.700000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+103,1.716666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+104,1.733333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+105,1.750000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+106,1.766666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+107,1.783333333,pose1_to_pose2_press,0.575709270927,0.0100545684129,1.07002931416,0.546280001826,0.0187272996178,1.06969859147
+108,1.800000000,pose1_to_pose2_press,0.575709551373,0.0100546175072,1.07002902349,0.546280280062,0.0187273417789,1.06969831575
+109,1.816666667,pose1_to_pose2_press,0.575709823111,0.0100546355363,1.0700292806,0.546280550165,0.0187273539295,1.06969856413
+110,1.833333333,pose1_to_pose2_press,0.575709826725,0.0100546357761,1.07002928402,0.546280553757,0.0187273540911,1.06969856743
+111,1.850000000,pose1_to_pose2_press,0.575709881978,0.0100546351164,1.07002929479,0.54628060904,0.0187273535175,1.06969857779
+112,1.866666667,pose1_to_pose2_press,0.575710187095,0.0100546220521,1.07002926383,0.546280915113,0.01872734372,1.06969854751
+113,1.883333333,pose1_to_pose2_press,0.575711315103,0.0100545735361,1.0700291621,0.546282046216,0.0187273058007,1.0696984482
+114,1.900000000,pose1_to_pose2_press,0.575715051845,0.0100544909442,1.07002917051,0.546285782207,0.0187272208197,1.06969846075
+115,1.916666667,pose1_to_pose2_press,0.575724439307,0.0100546593811,1.07002925183,0.546295167664,0.0187273825317,1.06969854404
+116,1.933333333,pose1_to_pose2_press,0.5757426588,0.0100545848348,1.07002929782,0.546313390953,0.0187273206192,1.06969858351
+117,1.950000000,pose1_to_pose2_press,0.575772002579,0.010054655404,1.07002916496,0.546342733264,0.0187273868604,1.06969846777
+118,1.966666667,pose1_to_pose2_press,0.575813511785,0.010054600608,1.07002911136,0.546384241241,0.0187273274173,1.06969840157
+119,1.983333333,pose1_to_pose2_press,0.575866616419,0.0100545448997,1.07002914867,0.546437345447,0.0187272701847,1.0696984369
+120,2.000000000,pose1_to_pose2_press,0.575930682847,0.0100546183882,1.07002926259,0.546501412823,0.0187273469846,1.06969855328
+121,2.016666667,pose1_to_pose2_press,0.576003696239,0.0100547629116,1.07002937543,0.546574424671,0.018727486181,1.06969866373
+122,2.033333333,pose1_to_pose2_press,0.576085190214,0.0100545219522,1.07002908705,0.546655920826,0.0187272525573,1.06969837371
+123,2.050000000,pose1_to_pose2_press,0.576178777047,0.0100543714488,1.07002910764,0.546749509886,0.0187271098232,1.06969839971
+124,2.066666667,pose1_to_pose2_press,0.576285816514,0.0100546005317,1.0700290312,0.546856544828,0.0187273235127,1.06969832228
+125,2.083333333,pose1_to_pose2_press,0.57640930088,0.010054669692,1.07002914832,0.546980029572,0.0187273936967,1.06969843255
+126,2.100000000,pose1_to_pose2_press,0.57654932466,0.0100546341509,1.07002915823,0.547120053331,0.0187273582311,1.06969844633
+127,2.116666667,pose1_to_pose2_press,0.57670878397,0.0100546899636,1.07002934538,0.547279513049,0.0187274154631,1.06969863425
+128,2.133333333,pose1_to_pose2_press,0.576884548259,0.0100546866314,1.07002931453,0.547455277329,0.0187274119276,1.06969859888
+129,2.150000000,pose1_to_pose2_press,0.577076535308,0.0100545315469,1.07002916475,0.547647266498,0.0187272642494,1.06969845456
+130,2.166666667,pose1_to_pose2_press,0.577285073739,0.0100544419901,1.0700291222,0.547855804763,0.0187271742845,1.0696984161
+131,2.183333333,pose1_to_pose2_press,0.577510554592,0.0100545448561,1.07002905387,0.548081284166,0.0187272721741,1.06969834624
+132,2.200000000,pose1_to_pose2_press,0.577757658048,0.0100545336133,1.07002909222,0.548328387885,0.0187272618603,1.0696983855
+133,2.216666667,pose1_to_pose2_press,0.578026950024,0.0100547006054,1.07002919597,0.548597678406,0.0187274240032,1.06969849145
+134,2.233333333,pose1_to_pose2_press,0.578321695521,0.0100546917121,1.0700291812,0.54889242501,0.0187274187611,1.06969847392
+135,2.250000000,pose1_to_pose2_press,0.578646771503,0.0100546126076,1.07002901822,0.549217500951,0.0187273393392,1.06969830618
+136,2.266666667,pose1_to_pose2_press,0.579003820094,0.0100545965172,1.07002914454,0.549574548877,0.0187273207531,1.06969842614
+137,2.283333333,pose1_to_pose2_press,0.579388000174,0.0100545814975,1.07002927163,0.549958729732,0.0187273086183,1.06969855988
+138,2.300000000,pose1_to_pose2_press,0.579797182102,0.0100544833627,1.07002933615,0.55036791362,0.0187272172042,1.06969862617
+139,2.316666667,pose1_to_pose2_press,0.580230285479,0.010054561725,1.07002924471,0.550801015653,0.0187272908573,1.06969853073
+140,2.333333333,pose1_to_pose2_press,0.580682392745,0.0100545641195,1.07002912279,0.551253123659,0.0187272960554,1.06969841646
+141,2.350000000,pose1_to_pose2_press,0.581154534251,0.0100545437374,1.07002909931,0.551725265836,0.0187272781714,1.06969839875
+142,2.366666667,pose1_to_pose2_press,0.581645966889,0.0100545882864,1.07002918628,0.55221669828,0.0187273219236,1.06969848203
+143,2.383333333,pose1_to_pose2_press,0.582157558373,0.0100546694931,1.07002918375,0.552728288486,0.0187273986518,1.06969847577
+144,2.400000000,pose1_to_pose2_press,0.582699129883,0.0100546586953,1.07002926326,0.55326985863,0.0187273831947,1.06969855456
+145,2.416666667,pose1_to_pose2_press,0.583270959937,0.0100546550332,1.07002922397,0.553841689383,0.0187273820593,1.06969851931
+146,2.433333333,pose1_to_pose2_press,0.583878604656,0.0100546338502,1.07002905298,0.554449334246,0.0187273613102,1.06969834681
+147,2.450000000,pose1_to_pose2_press,0.584517381303,0.0100545781677,1.07002924262,0.555088110357,0.0187273035762,1.06969853038
+148,2.466666667,pose1_to_pose2_press,0.585184489208,0.0100545466486,1.0700291689,0.555755218899,0.0187272741748,1.06969845549
+149,2.483333333,pose1_to_pose2_press,0.585862961822,0.0100546616137,1.07002901976,0.556433691813,0.0187273903787,1.06969831204
+150,2.500000000,pose1_to_pose2_press,0.586549837614,0.0100547300144,1.07002910042,0.55712056581,0.0187274526233,1.06969839101
+151,2.516666667,pose1_to_pose2_press,0.587246793621,0.0100546443619,1.07002905268,0.55781752297,0.0187273709623,1.06969834535
+152,2.533333333,pose1_to_pose2_press,0.587957936707,0.0100546219974,1.07002906662,0.558528666584,0.0187273505586,1.06969836368
+153,2.550000000,pose1_to_pose2_press,0.58868767701,0.0100546873182,1.07002910753,0.559258405121,0.0187274099598,1.06969840648
+154,2.566666667,pose1_to_pose2_press,0.589441224451,0.0100546378904,1.07002912074,0.560011953306,0.0187273629399,1.06969841664
+155,2.583333333,pose1_to_pose2_press,0.590216846222,0.0100545933208,1.07002906324,0.560787576304,0.0187273223738,1.06969835491
+156,2.600000000,pose1_to_pose2_press,0.591012018715,0.0100545594258,1.07002908791,0.561582748876,0.0187272887996,1.06969838095
+157,2.616666667,pose1_to_pose2_press,0.591823680137,0.0100546013747,1.07002906135,0.562394410685,0.0187273320308,1.06969835359
+158,2.633333333,pose1_to_pose2_press,0.592647968493,0.0100545975622,1.07002906735,0.563218699368,0.0187273295309,1.06969836495
+159,2.650000000,pose1_to_pose2_press,0.593481342108,0.0100546100576,1.07002913517,0.564052072697,0.0187273408735,1.06969842798
+160,2.666666667,pose1_to_pose2_press,0.594321592199,0.0100545458291,1.07002914747,0.564892322444,0.0187272753741,1.06969843763
+161,2.683333333,pose1_to_pose2_press,0.595170313797,0.0100546475016,1.07002913224,0.565741043696,0.0187273759326,1.06969842396
+162,2.700000000,pose1_to_pose2_press,0.596028702041,0.0100546321465,1.07002905988,0.566599430577,0.0187273558904,1.06969835001
+163,2.716666667,pose1_to_pose2_press,0.596892431907,0.0100545828675,1.07002900662,0.567463160977,0.0187273085663,1.06969830051
+164,2.733333333,pose1_to_pose2_press,0.597754839418,0.0100545270872,1.07002928273,0.568325570956,0.0187272610118,1.06969857279
+165,2.750000000,pose1_to_pose2_press,0.598604201476,0.0100544800831,1.07002928964,0.569174934133,0.0187272178623,1.06969858119
+166,2.766666667,pose1_to_pose2_press,0.599445976862,0.0100545430332,1.07002918238,0.570016708335,0.0187272767071,1.06969847178
+167,2.783333333,pose1_to_pose2_press,0.600286517624,0.0100544878933,1.07002913988,0.570857249792,0.0187272239637,1.06969843026
+168,2.800000000,pose1_to_pose2_press,0.601124296501,0.0100545059269,1.0700289565,0.571695027865,0.0187272394399,1.06969825149
+169,2.816666667,pose1_to_pose2_press,0.601967534602,0.0100545728189,1.07002898751,0.572538265671,0.0187273051006,1.06969827645
+170,2.833333333,pose1_to_pose2_press,0.602828996447,0.0100545608754,1.07002918059,0.573399726719,0.0187272905183,1.0696984714
+171,2.850000000,pose1_to_pose2_press,0.603690444735,0.0100546840035,1.07002916016,0.5742611748,0.0187274130419,1.0696984536
+172,2.866666667,pose1_to_pose2_press,0.604543612877,0.010054612133,1.07002911741,0.575114342691,0.0187273404332,1.06969841383
+173,2.883333333,pose1_to_pose2_press,0.605382268538,0.0100546332047,1.07002924966,0.575952997836,0.0187273593846,1.06969853651
+174,2.900000000,pose1_to_pose2_press,0.606202825508,0.0100545374613,1.0700291289,0.576773556395,0.0187272694715,1.06969842731
+175,2.916666667,pose1_to_pose2_press,0.606996791858,0.0100544712659,1.07002901777,0.577567523461,0.0187272055877,1.06969831323
+176,2.933333333,pose1_to_pose2_press,0.60776688057,0.0100544897903,1.07002901939,0.578337612531,0.0187272251571,1.06969831049
+177,2.950000000,pose1_to_pose2_press,0.608517773378,0.0100545440329,1.07002911394,0.579088504049,0.0187272749465,1.06969840306
+178,2.966666667,pose1_to_pose2_press,0.609256593495,0.0100545433436,1.07002904744,0.57982732326,0.0187272711971,1.06969833708
+179,2.983333333,pose1_to_pose2_press,0.609984594914,0.0100545665578,1.07002921876,0.580555324484,0.0187272936623,1.0696985062
+180,3.000000000,pose1_to_pose2_press,0.610698204828,0.0100545619193,1.07002915071,0.581268935113,0.0187272917216,1.06969844536
+181,3.016666667,pose1_to_pose2_press,0.611393291758,0.0100546310113,1.07002923525,0.581964021738,0.0187273596069,1.06969852546
+182,3.033333333,pose1_to_pose2_press,0.612060890407,0.0100545481379,1.07002930109,0.582631620646,0.0187272772421,1.0696985817
+183,3.050000000,pose1_to_pose2_press,0.612700101445,0.0100545544346,1.07002915421,0.583270832286,0.0187272860801,1.06969844782
+184,3.066666667,pose1_to_pose2_press,0.613306434043,0.0100546066245,1.07002904358,0.58387716373,0.0187273342839,1.06969833552
+185,3.083333333,pose1_to_pose2_press,0.613884037118,0.0100544831279,1.07002910113,0.584454768615,0.0187272169379,1.06969839107
+186,3.100000000,pose1_to_pose2_press,0.614432197009,0.0100543683426,1.07002913385,0.585002929576,0.0187271059833,1.06969842573
+187,3.116666667,pose1_to_pose2_press,0.614949588162,0.0100544102098,1.07002907604,0.585520319897,0.018727145056,1.06969836628
+188,3.133333333,pose1_to_pose2_press,0.615443629386,0.0100545014353,1.07002908824,0.586014360564,0.0187272344611,1.06969837561
+189,3.150000000,pose1_to_pose2_press,0.615926732869,0.0100545389968,1.07002921652,0.586497463998,0.0187272721888,1.06969850144
+190,3.166666667,pose1_to_pose2_press,0.616404338713,0.0100545806662,1.07002924208,0.586975069016,0.018727311773,1.06969852846
+191,3.183333333,pose1_to_pose2_press,0.616877045918,0.0100546128949,1.07002921971,0.587447775376,0.0187273419799,1.06969851069
+192,3.200000000,pose1_to_pose2_press,0.617334298026,0.0100544625784,1.07002921521,0.587905028748,0.0187271964769,1.06969850209
+193,3.216666667,pose1_to_pose2_press,0.617769647315,0.0100543923996,1.07002899163,0.588340379089,0.0187271308542,1.06969828363
+194,3.233333333,pose1_to_pose2_press,0.618166651352,0.0100546158797,1.07002918847,0.5887373791,0.0187273412407,1.06969847924
+195,3.250000000,pose1_to_pose2_press,0.618527320977,0.0100546908639,1.07002936114,0.589098047874,0.0187274138592,1.06969864963
+196,3.266666667,pose1_to_pose2_press,0.618852328099,0.0100545385377,1.07002941999,0.589423057941,0.0187272719605,1.06969870198
+197,3.283333333,pose1_to_pose2_press,0.619154733536,0.0100545763446,1.07002917855,0.589725461688,0.0187273046774,1.06969846077
+198,3.300000000,pose1_to_pose2_press,0.61943723056,0.0100545414116,1.07002917493,0.590007959214,0.0187272719736,1.06969846342
+199,3.316666667,pose1_to_pose2_press,0.619705481987,0.0100546352608,1.07002923975,0.590276209794,0.0187273634982,1.06969852963
+200,3.333333333,pose1_to_pose2_press,0.619958399509,0.0100547433443,1.0700291615,0.590529125099,0.0187274645345,1.06969844672
+201,3.350000000,pose1_to_pose2_press,0.620190759783,0.0100545473653,1.07002912487,0.590761486883,0.0187272743579,1.06969841332
+202,3.366666667,pose1_to_pose2_press,0.620402731494,0.0100545742807,1.0700290301,0.590973460134,0.0187273072281,1.06969832553
+203,3.383333333,pose1_to_pose2_press,0.620591756904,0.0100545708363,1.07002929176,0.591162484843,0.0187273013619,1.06969857501
+204,3.400000000,pose1_to_pose2_press,0.620760053392,0.0100547169518,1.07002931552,0.591330778827,0.0187274393213,1.06969859948
+205,3.416666667,pose1_to_pose2_press,0.620908695312,0.0100547009584,1.07002954987,0.591479420948,0.018727424051,1.06969882515
+206,3.433333333,pose1_to_pose2_press,0.621040275899,0.0100545594881,1.07002901117,0.591611002161,0.0187272857127,1.06969830789
+207,3.450000000,pose1_to_pose2_press,0.621157734664,0.0100545050187,1.07002914827,0.591728462538,0.0187272366957,1.06969843599
+208,3.466666667,pose1_to_pose2_press,0.621262144212,0.0100545753505,1.07002940626,0.591832871953,0.0187273065174,1.06969868672
+209,3.483333333,pose1_to_pose2_press,0.621354317322,0.0100547220737,1.07002915562,0.591925043759,0.0187274493686,1.06969844641
+210,3.500000000,pose1_to_pose2_press,0.62143383177,0.010054465491,1.07002940137,0.59200456077,0.0187272014177,1.06969868242
+211,3.516666667,pose1_to_pose2_press,0.621500463509,0.0100544725989,1.07002917714,0.592071191488,0.0187272058983,1.06969846334
+212,3.533333333,pose1_to_pose2_press,0.621554565327,0.0100546269209,1.07002937172,0.592125292642,0.018727358593,1.06969866255
+213,3.550000000,pose1_to_pose2_press,0.621597230009,0.0100547657713,1.07002949829,0.592167955081,0.0187274894437,1.06969878859
+214,3.566666667,pose1_to_pose2_press,0.621630311592,0.0100547472474,1.07002920718,0.592201037258,0.0187274729695,1.06969849829
+215,3.583333333,pose1_to_pose2_press,0.621654326344,0.0100546011699,1.07002921865,0.59222505385,0.0187273330833,1.0696985109
+216,3.600000000,pose1_to_pose2_press,0.621673046124,0.0100546278795,1.07002924343,0.592243772846,0.0187273570568,1.0696985378
+217,3.616666667,pose1_to_pose2_press,0.621687365275,0.010054651899,1.07002923527,0.592258091371,0.0187273788644,1.06969853041
+218,3.633333333,pose1_to_pose2_press,0.621697975152,0.0100544581521,1.0700292462,0.592268703933,0.0187271941239,1.06969853886
+219,3.650000000,pose1_to_pose2_press,0.62170533487,0.0100544580169,1.07002928112,0.592276063507,0.018727193265,1.06969856566
+220,3.666666667,pose1_to_pose2_press,0.621710140975,0.0100544957132,1.07002922207,0.592280869129,0.0187272292844,1.06969850544
+221,3.683333333,pose1_to_pose2_press,0.621712768582,0.0100545497355,1.07002911421,0.592283496131,0.0187272813518,1.06969840082
+222,3.700000000,pose1_to_pose2_press,0.621713485183,0.0100545644684,1.0700290848,0.592284212567,0.0187272955517,1.06969837228
+223,3.716666667,pose1_to_pose2_press,0.621714133369,0.0100545777948,1.07002905819,0.592284860604,0.0187273083959,1.06969834647
+224,3.733333333,pose1_to_pose2_press,0.621714941964,0.0100545944191,1.070029025,0.592285669013,0.0187273244186,1.06969831428
+225,3.750000000,pose1_to_pose2_press,0.621715817785,0.0100545977913,1.0700290505,0.592286544497,0.0187273266462,1.06969833928
+226,3.766666667,pose1_to_pose2_press,0.62171674719,0.0100546009147,1.07002907948,0.592287473541,0.0187273285396,1.06969836768
+227,3.783333333,pose1_to_pose2_press,0.621717665583,0.0100546040011,1.07002910811,0.592288391577,0.0187273304106,1.06969839575
+228,3.800000000,pose1_to_pose2_press,0.621718340367,0.0100546062688,1.07002912915,0.592289066098,0.0187273317852,1.06969841636
+229,3.816666667,pose1_to_pose2_press,0.621718840123,0.0100546079483,1.07002914473,0.59228956566,0.0187273328033,1.06969843163
+230,3.833333333,pose1_to_pose2_press,0.621719227225,0.0100546094393,1.07002915548,0.59228995284,0.018727334525,1.06969844121
+231,3.850000000,pose1_to_pose2_press,0.621719540923,0.0100546107844,1.07002916324,0.592290266764,0.0187273365921,1.06969844735
+232,3.866666667,pose1_to_pose2_press,0.621719977245,0.0100546126554,1.07002917403,0.592290703401,0.0187273394673,1.06969845589
+233,3.883333333,pose1_to_pose2_press,0.621720153859,0.0100546134127,1.07002917839,0.592290880143,0.0187273406312,1.06969845935
+234,3.900000000,pose1_to_pose2_press,0.621720522726,0.0100546149945,1.07002918752,0.592291249276,0.0187273430619,1.06969846657
+235,3.916666667,pose1_to_pose2_press,0.6217205542,0.0100546151294,1.07002918829,0.592291280773,0.0187273432693,1.06969846719
+236,3.933333333,pose1_to_pose2_press,0.621721003818,0.0100546170574,1.07002919941,0.592291730715,0.0187273462321,1.06969847599
+237,3.950000000,pose1_to_pose2_press,0.621721165092,0.010054617749,1.0700292034,0.592291892105,0.0187273472949,1.06969847915
+238,3.966666667,pose1_to_pose2_press,0.621721301008,0.0100546213308,1.07002920343,0.592292027945,0.0187273506019,1.06969847913
+239,3.983333333,pose1_to_pose2_press,0.621721809408,0.0100546440373,1.07002919318,0.592292535511,0.0187273704567,1.06969847075
+240,4.000000000,pose1_to_pose2_press,0.621722200131,0.010054661488,1.07002918531,0.592292925593,0.0187273857158,1.06969846431
+241,4.016666667,pose1_to_pose2_press,0.621722288968,0.0100546852153,1.07002921989,0.592293014275,0.018727408971,1.06969849972
+242,4.033333333,pose1_to_pose2_press,0.621722396799,0.0100547352581,1.07002930097,0.592293121907,0.0187274584689,1.06969858235
+243,4.050000000,pose1_to_pose2_press,0.621722470724,0.0100547695656,1.07002935656,0.592293195696,0.0187274924029,1.069698639
+244,4.066666667,pose1_to_pose2_press,0.621722472472,0.010054770377,1.07002935787,0.592293197441,0.0187274932054,1.06969864034
+245,4.083333333,pose1_to_pose2_press,0.621722540179,0.0100547850446,1.0700293989,0.592293265122,0.01872750784,1.06969868191
+246,4.100000000,pose1_to_pose2_press,0.621722539241,0.0100546274631,1.07002930547,0.592293265109,0.0187273531663,1.06969858453
+247,4.116666667,pose2_hold,0.621722539241,0.0100546274631,1.07002930547,0.59229326511,0.0187273531683,1.06969858453
+248,4.133333333,pose2_hold,0.621722539241,0.0100546274631,1.07002930547,0.59229326511,0.0187273531685,1.06969858453
+249,4.150000000,pose2_hold,0.621722539241,0.0100546274631,1.07002930547,0.59229326511,0.0187273531686,1.06969858453
+250,4.166666667,pose2_hold,0.621722539241,0.0100546274631,1.07002930547,0.592293265109,0.0187273531692,1.06969858453
+251,4.183333333,pose2_hold,0.621722539241,0.0100546274631,1.07002930547,0.592293265109,0.0187273531695,1.06969858453
+252,4.200000000,pose2_hold,0.621722539241,0.0100546274631,1.07002930547,0.592293265109,0.0187273531696,1.06969858453
+253,4.216666667,pose2_hold,0.621722539241,0.0100546274631,1.07002930547,0.592293265109,0.0187273531696,1.06969858453
+254,4.233333333,pose2_hold,0.621722539241,0.0100546274631,1.07002930547,0.592293265108,0.0187273531702,1.06969858453
+255,4.250000000,pose2_hold,0.621722539241,0.0100546274631,1.07002930547,0.592293265108,0.018727353171,1.06969858453
+256,4.266666667,pose2_hold,0.621722539241,0.0100546274631,1.07002930547,0.592293265109,0.01872735317,1.06969858453
+257,4.283333333,pose2_hold,0.621722539241,0.0100546274631,1.07002930547,0.592293265109,0.0187273531704,1.06969858453
+258,4.300000000,pose2_hold,0.621722539241,0.0100546274631,1.07002930547,0.592293265109,0.0187273531706,1.06969858453
+259,4.316666667,pose2_hold,0.621722539241,0.0100546274631,1.07002930547,0.592293265108,0.0187273531707,1.06969858453
+260,4.333333333,pose2_hold,0.621722539241,0.0100546274631,1.07002930547,0.592293265108,0.0187273531714,1.06969858453
+261,4.350000000,pose2_hold,0.621722539241,0.0100546274631,1.07002930547,0.592293265109,0.0187273531708,1.06969858453
+262,4.366666667,pose2_hold,0.621722539241,0.0100546274631,1.07002930547,0.592293265108,0.0187273531719,1.06969858453
+263,4.383333333,pose2_to_pose3_retreat,0.621722539241,0.0100546274631,1.07002930547,0.59229326511,0.0187273531704,1.06969858453
+264,4.400000000,pose2_to_pose3_retreat,0.621722539666,0.0100546989286,1.07002934784,0.592293265127,0.0187274233201,1.0696986287
+265,4.416666667,pose2_to_pose3_retreat,0.62172253998,0.0100547515514,1.07002937904,0.592293265139,0.018727474974,1.06969866122
+266,4.433333333,pose2_to_pose3_retreat,0.621722540198,0.0100547881403,1.07002940073,0.592293265148,0.0187275108893,1.06969868384
+267,4.450000000,pose2_to_pose3_retreat,0.621722426099,0.0100547575297,1.07002930473,0.59229315098,0.0187274801041,1.06969858928
+268,4.466666667,pose2_to_pose3_retreat,0.621722134679,0.0100546444234,1.07002903898,0.592292859582,0.0187273671963,1.06969832633
+269,4.483333333,pose2_to_pose3_retreat,0.621721309833,0.0100546013219,1.07002921448,0.592292036669,0.018727330566,1.06969849916
+270,4.500000000,pose2_to_pose3_retreat,0.621719070349,0.0100545802718,1.07002907445,0.592289796809,0.0187273084148,1.06969836386
+271,4.516666667,pose2_to_pose3_retreat,0.621713444028,0.0100545851153,1.07002913135,0.592284171141,0.0187273155326,1.06969842632
+272,4.533333333,pose2_to_pose3_retreat,0.621701123203,0.0100545640289,1.07002913138,0.592271850393,0.0187272945437,1.06969841929
+273,4.550000000,pose2_to_pose3_retreat,0.621679763168,0.0100545960323,1.07002912685,0.592250490173,0.018727325618,1.06969841197
+274,4.566666667,pose2_to_pose3_retreat,0.621645729025,0.0100547125815,1.07002914992,0.5922164547,0.0187274379928,1.06969844652
+275,4.583333333,pose2_to_pose3_retreat,0.621599260217,0.0100546777241,1.07002898897,0.592169986166,0.0187274042484,1.06969828823
+276,4.600000000,pose2_to_pose3_retreat,0.621540187458,0.0100545646186,1.07002915392,0.592110913919,0.0187272925994,1.06969844193
+277,4.616666667,pose2_to_pose3_retreat,0.621470698796,0.010054573495,1.07002901367,0.592041425928,0.0187273042308,1.06969830858
+278,4.633333333,pose2_to_pose3_retreat,0.621391203665,0.0100546066659,1.07002914849,0.59196193108,0.0187273372658,1.06969843735
+279,4.650000000,pose2_to_pose3_retreat,0.621298871821,0.0100544768089,1.07002916621,0.591869600434,0.0187272110293,1.06969844982
+280,4.666666667,pose2_to_pose3_retreat,0.621191981565,0.0100546118347,1.07002904193,0.59176270855,0.0187273403768,1.06969832796
+281,4.683333333,pose2_to_pose3_retreat,0.621067884286,0.0100546747713,1.07002910508,0.591638610884,0.0187274021976,1.06969840346
+282,4.700000000,pose2_to_pose3_retreat,0.620926155962,0.01005459237,1.07002913387,0.59149688334,0.0187273219544,1.06969842723
+283,4.716666667,pose2_to_pose3_retreat,0.620763781739,0.0100545918939,1.07002912257,0.591334508931,0.018727320536,1.06969841725
+284,4.733333333,pose2_to_pose3_retreat,0.620583460004,0.010054522763,1.07002902031,0.591154188227,0.0187272544085,1.06969831401
+285,4.750000000,pose2_to_pose3_retreat,0.620384419934,0.0100546362591,1.07002925345,0.590955146671,0.0187273621594,1.06969853975
+286,4.766666667,pose2_to_pose3_retreat,0.620162728358,0.0100545601301,1.07002940278,0.5907334568,0.0187272912252,1.06969868434
+287,4.783333333,pose2_to_pose3_retreat,0.619917944884,0.0100545127468,1.0700293035,0.590488674286,0.0187272466479,1.0696985889
+288,4.800000000,pose2_to_pose3_retreat,0.619648718009,0.0100545710094,1.07002907066,0.590219445891,0.0187272992951,1.06969835916
+289,4.816666667,pose2_to_pose3_retreat,0.619355857749,0.0100545381456,1.07002901912,0.589926587516,0.0187272722676,1.06969830847
+290,4.833333333,pose2_to_pose3_retreat,0.61903781276,0.0100546160311,1.07002910654,0.589608541407,0.0187273458049,1.06969839664
+291,4.850000000,pose2_to_pose3_retreat,0.618698283478,0.0100546773404,1.07002913064,0.589269011089,0.0187274031499,1.06969842357
+292,4.866666667,pose2_to_pose3_retreat,0.618336670326,0.0100545609265,1.07002904427,0.588907400575,0.0187272950706,1.06969833608
+293,4.883333333,pose2_to_pose3_retreat,0.61794818752,0.0100546295504,1.07002909341,0.588518917382,0.018727361688,1.06969838425
+294,4.900000000,pose2_to_pose3_retreat,0.617533268575,0.0100546576151,1.07002913892,0.588103997375,0.0187273855322,1.06969843114
+295,4.916666667,pose2_to_pose3_retreat,0.617088808871,0.0100546431176,1.0700291551,0.587659537223,0.0187273686419,1.06969844328
+296,4.933333333,pose2_to_pose3_retreat,0.616614274617,0.0100545280863,1.07002915331,0.587185005177,0.0187272603584,1.06969844094
+297,4.950000000,pose2_to_pose3_retreat,0.616107278364,0.0100545195117,1.07002927937,0.586678008936,0.0187272511659,1.06969857003
+298,4.966666667,pose2_to_pose3_retreat,0.615570869563,0.010054530096,1.07002924317,0.586141600293,0.0187272616975,1.06969853593
+299,4.983333333,pose2_to_pose3_retreat,0.6150062607,0.0100545219892,1.07002922968,0.585576991815,0.0187272543513,1.06969851614
+300,5.000000000,pose2_to_pose3_retreat,0.614423620091,0.0100545895541,1.07002921352,0.584994350293,0.0187273186958,1.06969849846
+301,5.016666667,pose2_to_pose3_retreat,0.613826564085,0.0100546083061,1.07002915461,0.584397294328,0.0187273376566,1.0696984413
+302,5.033333333,pose2_to_pose3_retreat,0.61321625929,0.0100545785765,1.07002926188,0.583786989707,0.0187273085799,1.06969855038
+303,5.050000000,pose2_to_pose3_retreat,0.612592089801,0.0100545287761,1.07002933944,0.583162820417,0.0187272594715,1.06969862858
+304,5.066666667,pose2_to_pose3_retreat,0.611950631748,0.0100544841876,1.07002920893,0.582521362916,0.018727216569,1.06969849361
+305,5.083333333,pose2_to_pose3_retreat,0.611271949678,0.0100545494357,1.07002910771,0.581842680863,0.0187272818712,1.06969839425
+306,5.100000000,pose2_to_pose3_retreat,0.610555162226,0.0100546467888,1.07002919419,0.581125893622,0.0187273801666,1.0696984855
+307,5.116666667,pose2_to_pose3_retreat,0.609796748854,0.0100545830248,1.07002903917,0.580367480396,0.018727317024,1.06969833392
+308,5.133333333,pose2_to_pose3_retreat,0.608998685664,0.0100545725176,1.0700291625,0.579569415509,0.0187273004332,1.0696984491
+309,5.150000000,pose2_to_pose3_retreat,0.608158134427,0.0100546091994,1.07002917644,0.578728864185,0.0187273370277,1.0696984686
+310,5.166666667,pose2_to_pose3_retreat,0.607307689095,0.0100546186834,1.07002918826,0.577878418217,0.0187273444967,1.06969848343
+311,5.183333333,pose2_to_pose3_retreat,0.606456656569,0.0100545577102,1.07002921861,0.577027386714,0.0187272870306,1.069698514
+312,5.200000000,pose2_to_pose3_retreat,0.605609826999,0.0100545163626,1.07002926274,0.576180557216,0.0187272457572,1.06969855432
+313,5.216666667,pose2_to_pose3_retreat,0.604767069082,0.0100544535688,1.07002916776,0.575337800666,0.0187271872867,1.06969845124
+314,5.233333333,pose2_to_pose3_retreat,0.603920661738,0.0100545694139,1.07002923779,0.574491391469,0.0187272971287,1.06969852865
+315,5.250000000,pose2_to_pose3_retreat,0.603055189083,0.0100546839071,1.0700291779,0.573625917853,0.0187274085262,1.06969847294
+316,5.266666667,pose2_to_pose3_retreat,0.602164627228,0.0100545856985,1.07002902079,0.572735358036,0.0187273172386,1.06969831597
+317,5.283333333,pose2_to_pose3_retreat,0.601246338044,0.0100545961,1.07002917409,0.571817068716,0.0187273268927,1.06969846173
+318,5.300000000,pose2_to_pose3_retreat,0.600308081115,0.010054499623,1.07002908123,0.570878813155,0.0187272351057,1.0696983701
+319,5.316666667,pose2_to_pose3_retreat,0.599378923726,0.0100545685086,1.07002908201,0.569949654777,0.0187273006718,1.06969837173
+320,5.333333333,pose2_to_pose3_retreat,0.598464515202,0.0100545878071,1.07002909882,0.569035245138,0.0187273160611,1.06969838521
+321,5.350000000,pose2_to_pose3_retreat,0.597573195862,0.0100545173841,1.07002920774,0.568143926254,0.0187272473034,1.06969849682
+322,5.366666667,pose2_to_pose3_retreat,0.596700519669,0.0100546168481,1.07002916043,0.567271248959,0.0187273429916,1.06969844887
+323,5.383333333,pose2_to_pose3_retreat,0.595839665647,0.0100546129199,1.07002916473,0.566410396033,0.0187273425312,1.06969844685
+324,5.400000000,pose2_to_pose3_retreat,0.594971070403,0.010054481918,1.07002913595,0.565541802361,0.0187272170061,1.06969842148
+325,5.416666667,pose2_to_pose3_retreat,0.594091713478,0.0100543986062,1.07002893175,0.564662444864,0.0187271321122,1.0696982261
+326,5.433333333,pose2_to_pose3_retreat,0.593202587004,0.0100544300364,1.07002914936,0.563773318271,0.0187271627396,1.06969843286
+327,5.450000000,pose2_to_pose3_retreat,0.592312303337,0.0100546208987,1.07002923938,0.562883033184,0.0187273487002,1.06969852118
+328,5.466666667,pose2_to_pose3_retreat,0.591425275615,0.0100546654095,1.07002921646,0.561996005705,0.0187273942629,1.06969850375
+329,5.483333333,pose2_to_pose3_retreat,0.590567404694,0.0100545400517,1.07002927402,0.56113813571,0.018727272079,1.06969856141
+330,5.500000000,pose2_to_pose3_retreat,0.589742409939,0.0100545419706,1.07002913946,0.560313140243,0.0187272716192,1.06969842776
+331,5.516666667,pose2_to_pose3_retreat,0.588942673866,0.0100545608018,1.07002915093,0.5595134045,0.0187272916315,1.06969844084
+332,5.533333333,pose2_to_pose3_retreat,0.588167340887,0.0100545887812,1.07002920189,0.558738072235,0.0187273220747,1.06969849284
+333,5.550000000,pose2_to_pose3_retreat,0.587413482449,0.0100545661737,1.0700290418,0.557984214625,0.0187273025744,1.06969834052
+334,5.566666667,pose2_to_pose3_retreat,0.586670944451,0.0100545293679,1.07002911423,0.557241676791,0.0187272661766,1.06969840907
+335,5.583333333,pose2_to_pose3_retreat,0.585939762485,0.0100546187892,1.07002915126,0.556510492485,0.0187273474027,1.06969843941
+336,5.600000000,pose2_to_pose3_retreat,0.585231907364,0.0100546492671,1.07002914084,0.555802636432,0.0187273747549,1.06969842998
+337,5.616666667,pose2_to_pose3_retreat,0.584550332367,0.0100545916846,1.07002921271,0.555121063371,0.0187273236853,1.06969850029
+338,5.633333333,pose2_to_pose3_retreat,0.583897384119,0.0100546123716,1.07002936214,0.554468114655,0.0187273425287,1.06969864303
+339,5.650000000,pose2_to_pose3_retreat,0.583267114357,0.0100546063478,1.0700294012,0.553837844196,0.0187273343307,1.06969868705
+340,5.666666667,pose2_to_pose3_retreat,0.582657844799,0.0100545997803,1.0700291887,0.553228574822,0.018727328609,1.06969848095
+341,5.683333333,pose2_to_pose3_retreat,0.582069722731,0.0100545257683,1.07002913947,0.55264045279,0.0187272545848,1.06969842858
+342,5.700000000,pose2_to_pose3_retreat,0.581507521779,0.0100545092193,1.07002912247,0.552078252276,0.0187272397348,1.06969841701
+343,5.716666667,pose2_to_pose3_retreat,0.580983810728,0.0100546494073,1.0700291939,0.551554540744,0.0187273782491,1.06969848759
+344,5.733333333,pose2_to_pose3_retreat,0.580496850038,0.01005470215,1.0700291787,0.551067578734,0.0187274264715,1.06969847143
+345,5.750000000,pose2_to_pose3_retreat,0.580046966311,0.0100547352322,1.07002911071,0.550617695035,0.0187274598275,1.06969840806
+346,5.766666667,pose2_to_pose3_retreat,0.579621697307,0.0100547425015,1.07002912135,0.550192426783,0.0187274695684,1.06969841621
+347,5.783333333,pose2_to_pose3_retreat,0.579215802732,0.0100546110471,1.070029131,0.549786532849,0.0187273401639,1.06969842223
+348,5.800000000,pose2_to_pose3_retreat,0.578830765328,0.0100544716782,1.0700289452,0.549401497078,0.0187272065092,1.06969824101
+349,5.816666667,pose2_to_pose3_retreat,0.578468229546,0.0100545274615,1.07002892884,0.549038959989,0.0187272578282,1.0696982241
+350,5.833333333,pose2_to_pose3_retreat,0.578131945199,0.0100545673119,1.07002919118,0.548702674944,0.0187272951503,1.06969848238
+351,5.850000000,pose2_to_pose3_retreat,0.577824436089,0.0100545700208,1.07002917646,0.548395166684,0.0187273008896,1.06969847152
+352,5.866666667,pose2_to_pose3_retreat,0.577551146936,0.0100546793412,1.07002926065,0.548121876366,0.0187274061185,1.06969855196
+353,5.883333333,pose2_to_pose3_retreat,0.577303727718,0.0100546866482,1.07002934944,0.547874456712,0.0187274117639,1.06969863593
+354,5.900000000,pose2_to_pose3_retreat,0.577080797723,0.0100546583794,1.07002921426,0.547651526004,0.0187273811974,1.06969850398
+355,5.916666667,pose2_to_pose3_retreat,0.576880582408,0.0100546722615,1.07002909486,0.54745131129,0.0187273971441,1.06969838529
+356,5.933333333,pose2_to_pose3_retreat,0.57670104359,0.0100545846139,1.07002899891,0.547271774742,0.0187273174073,1.06969829483
+357,5.950000000,pose2_to_pose3_retreat,0.576540194227,0.0100545134698,1.07002898433,0.547110925412,0.0187272464715,1.0696982828
+358,5.966666667,pose2_to_pose3_retreat,0.576396436998,0.01005457422,1.07002905608,0.546967167661,0.0187273051547,1.0696983468
+359,5.983333333,pose2_to_pose3_retreat,0.576270410332,0.0100546393839,1.07002916328,0.546841139984,0.0187273667199,1.06969844956
+360,6.000000000,pose2_to_pose3_retreat,0.576158406714,0.010054528216,1.07002921515,0.54672913875,0.0187272634884,1.06969849761
+361,6.016666667,pose2_to_pose3_retreat,0.576060993314,0.0100546586211,1.07002924993,0.546631723531,0.0187273878277,1.06969853584
+362,6.033333333,pose2_to_pose3_retreat,0.575978929081,0.0100546783175,1.07002909081,0.546549659036,0.0187274068949,1.06969838334
+363,6.050000000,pose2_to_pose3_retreat,0.575911162277,0.0100546324139,1.07002906575,0.546481891351,0.0187273579677,1.0696983572
+364,6.066666667,pose2_to_pose3_retreat,0.575857223302,0.0100546711352,1.07002906662,0.546427952422,0.0187273967301,1.06969835504
+365,6.083333333,pose2_to_pose3_retreat,0.575814840194,0.010054582746,1.07002900549,0.546385569961,0.0187273105196,1.06969829349
+366,6.100000000,pose2_to_pose3_retreat,0.575782932073,0.0100545937547,1.07002925038,0.546353661413,0.0187273199468,1.06969853484
+367,6.116666667,pose2_to_pose3_retreat,0.575758391176,0.0100545479022,1.0700293691,0.546329121098,0.0187272760091,1.06969865205
+368,6.133333333,pose2_to_pose3_retreat,0.575740701973,0.0100545767,1.070029303,0.5463114318,0.0187273046618,1.06969859058
+369,6.150000000,pose2_to_pose3_retreat,0.575728924141,0.0100545860875,1.07002934541,0.546299654836,0.018727316934,1.06969863134
+370,6.166666667,pose2_to_pose3_retreat,0.575721518611,0.0100545099724,1.07002916711,0.54629224764,0.0187272350866,1.06969845104
+371,6.183333333,pose2_to_pose3_retreat,0.575717491117,0.0100545891428,1.07002916822,0.546288220526,0.0187273155231,1.06969845157
+372,6.200000000,pose2_to_pose3_retreat,0.575714878346,0.0100546337653,1.07002915871,0.546285608175,0.0187273615755,1.06969844224
+373,6.216666667,pose2_to_pose3_retreat,0.575713416096,0.0100545529645,1.07002903031,0.546284146934,0.0187272843667,1.06969831817
+374,6.233333333,pose2_to_pose3_retreat,0.575712442318,0.0100544991557,1.07002894481,0.546283173829,0.0187272329498,1.06969823554
+375,6.250000000,pose2_to_pose3_retreat,0.575711914838,0.0100544700084,1.07002889849,0.546282646713,0.0187272050981,1.06969819078
+376,6.266666667,pose2_to_pose3_retreat,0.575711573491,0.0100544639181,1.0700288998,0.546282305438,0.0187271992401,1.06969819184
+377,6.283333333,pose2_to_pose3_retreat,0.575711517755,0.0100544650812,1.07002890529,0.546282249685,0.0187272003387,1.06969819708
+378,6.300000000,pose2_to_pose3_retreat,0.575711157729,0.0100544725939,1.0700289408,0.546281889554,0.0187272074349,1.06969823095
+379,6.316666667,pose2_to_pose3_retreat,0.575711069136,0.0100544744426,1.07002894954,0.546281800936,0.0187272091811,1.06969823929
+380,6.333333333,pose2_to_pose3_retreat,0.575710610688,0.0100544840091,1.07002899475,0.546281342355,0.0187272182173,1.06969828241
+381,6.350000000,pose2_to_pose3_retreat,0.575710500926,0.0100544862996,1.07002900557,0.546281232561,0.0187272203807,1.06969829274
+382,6.366666667,pose2_to_pose3_retreat,0.575710480273,0.0100544867305,1.07002900761,0.546281211902,0.0187272207878,1.06969829468
+383,6.383333333,pose2_to_pose3_retreat,0.575710384587,0.0100544887272,1.07002901705,0.546281116188,0.0187272226738,1.06969830368
+384,6.400000000,pose2_to_pose3_retreat,0.575710276388,0.0100544909851,1.07002902772,0.546281007957,0.0187272248064,1.06969831386
+385,6.416666667,pose2_to_pose3_retreat,0.575709956795,0.0100545141153,1.07002901728,0.546280687926,0.0187272464943,1.06969830466
+386,6.433333333,pose2_to_pose3_retreat,0.575709804702,0.0100545386195,1.07002897792,0.546280535341,0.0187272694328,1.06969826809
+387,6.450000000,pose2_to_pose3_retreat,0.575709749712,0.0100545474792,1.07002896369,0.546280480172,0.0187272777263,1.06969825487
+388,6.466666667,pose2_to_pose3_retreat,0.57570970734,0.0100545543059,1.07002895273,0.546280437663,0.0187272841168,1.06969824468
+389,6.483333333,pose2_to_pose3_retreat,0.575709678915,0.0100545588855,1.07002894537,0.546280409147,0.0187272884038,1.06969823785
+390,6.500000000,pose2_to_pose3_retreat,0.575709503035,0.0100545872222,1.07002889986,0.546280232697,0.0187273149298,1.06969819556
+391,6.516666667,pose2_to_pose3_retreat,0.575709399408,0.0100546039179,1.07002887304,0.546280128735,0.0187273305586,1.06969817064
+392,6.533333333,pose2_to_pose3_retreat,0.575709386141,0.0100546044266,1.07002888689,0.546280115494,0.0187273311316,1.06969818385
+393,6.550000000,pose2_to_pose3_retreat,0.575709355362,0.0100545976024,1.07002900394,0.546280085115,0.0187273254436,1.06969829509
+394,6.566666667,pose2_to_pose3_retreat,0.575709316681,0.0100545890263,1.07002915104,0.546280046937,0.0187273182954,1.06969843489
+395,6.583333333,pose2_to_pose3_retreat,0.57570931523,0.0100545887045,1.07002915656,0.546280045504,0.0187273180272,1.06969844014
+396,6.600000000,pose2_to_pose3_retreat,0.575709301142,0.0100545855809,1.07002921014,0.546280031599,0.0187273154237,1.06969849105
+397,6.616666667,pose2_to_pose3_retreat,0.575709273714,0.0100545794998,1.07002931445,0.546280004528,0.0187273103551,1.06969859018
+398,6.633333333,pose2_to_pose3_retreat,0.575709271084,0.0100545774528,1.07002931917,0.546280001956,0.0187273085247,1.06969859543
+399,6.650000000,pose2_to_pose3_retreat,0.575709271034,0.0100545769447,1.07002931757,0.546280001915,0.0187273080591,1.06969859416
+400,6.666666667,pose2_to_pose3_retreat,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_12/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_12/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4963ba554b121301f51cec4a052debfb731f24a3
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_12/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d6d9aa101c469acb220cf5b4c0547410082bd84143d54043deaeb759df38574
+size 25733376
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_12/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_12/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..169f5deb7fbc30509dac9796e8ffb466a0aefc86
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_12/depth_05/franka_data.csv
@@ -0,0 +1,406 @@
+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,764,742,711,673,659,632,879,784,799,649,629,651,0.400955723434,0.00446831671737,0.0798286826036,0.999999953691,7.86958990327e-05,-0.00029112788015,4.08560239253e-05,1793193681373555456
+1,0.016666667,BASELINE,764,742,711.578104354,673,659,632,877.843791293,784,799,649,629,651,0.400954241231,0.00446921259306,0.0798270233645,0.999999952867,8.10372503385e-05,-0.000293295666086,4.09550626584e-05,1793193681390222080
+2,0.033333333,BASELINE,764,742,712,673,658.839538041,632.160461959,877.160461959,784,799,649,629,651,0.40095325277,0.00446983895583,0.0798259329359,0.999999952362,8.21985595424e-05,-0.000294687004891,4.09729104121e-05,1793193681406888704
+3,0.050000000,BASELINE,764,742,712,673,658.245692925,632.754307075,877.754307075,784,799,649,629,651,0.400953597829,0.00446973740574,0.0798263787773,0.999999952743,8.01727564235e-05,-0.000293981279495,4.07714737979e-05,1793193681423555328
+4,0.066666667,BASELINE,764,742,711.675712986,673,658.324287014,633,877.675712986,784,799,649,629,650.675712986,0.40095450623,0.00446890221999,0.079827452575,0.999999953299,7.88497617231e-05,-0.00029243678626,4.08106956365e-05,1793193681440221952
+5,0.083333333,BASELINE,764,742,711.12257487,673,658.87742513,633,877.12257487,784,799,649,629,650.12257487,0.400955812184,0.00446754930357,0.0798289695249,0.999999953978,7.8022742855e-05,-0.000290300370054,4.10197514621e-05,1793193681456888576
+6,0.100000000,BASELINE,763.53509949,742,711.46490051,673,659,633,877.46490051,784,799.46490051,649,629,650.46490051,0.400955524827,0.00446858128921,0.0798282939271,0.99999995361,7.95352273875e-05,-0.000291172227277,4.08984852267e-05,1793193681473554944
+7,0.116666667,BASELINE,763.061652724,742,712,673,658.938347276,632.938347276,877.938347276,784,799.938347276,649,629,650.938347276,0.400954680196,0.00447008951382,0.0798270773216,0.999999952957,8.15487932994e-05,-0.00029287821248,4.07215744352e-05,1793193681490221568
+8,0.133333333,BASELINE,763.654113361,742,712,673,658.345886639,632.345886639,877.345886639,784,799.345886639,649,629,650.345886639,0.400952942889,0.00446985250637,0.0798265768447,0.999999952457,8.21422850543e-05,-0.000294392356593,4.08752149891e-05,1793193681506888192
+9,0.150000000,BASELINE,764,742,711.75883071,673,658.24116929,632,877.24116929,784,799,649,629,650,0.400952477311,0.00446980517627,0.0798263059908,0.999999952271,8.23166731298e-05,-0.000294973601753,4.09005201277e-05,1793193681523554816
+10,0.166666667,BASELINE,764,742,711.179356395,673,658.820643605,632,877.820643605,784,799,649,629,650,0.400953795677,0.00447002391988,0.0798263572452,0.999999952525,8.19031551197e-05,-0.000294246204197,4.07458001928e-05,1793193681540221696
+11,0.183333333,BASELINE,764,742,711,673,658.603711023,632.396288977,878,784,799,649,629,650.396288977,0.40095514843,0.00447018104165,0.0798273600787,0.999999953093,8.10107906991e-05,-0.000292591893273,4.05051358429e-05,1793193681556888320
+12,0.200000000,BASELINE,764,742,711,673,658.029781959,632.970218041,878,784,799,649,629,650.970218041,0.400956516597,0.0044703105409,0.079828789466,0.999999953797,7.99037790456e-05,-0.00029052208506,4.02259461245e-05,1793193681573554944
+13,0.216666667,BASELINE,764,742.544023405,711,673,658,633,878,784,799,649,628.455976595,651,0.400955056605,0.00446926503357,0.0798275602159,0.999999953388,7.89908631588e-05,-0.000292139793497,4.04731751048e-05,1793193681590221824
+14,0.233333333,BASELINE,763.878140045,742.878140045,711,672.878140045,658,632.878140045,878,784,799,649.121859955,628.121859955,650.878140045,0.4009539302,0.00446843329981,0.0798266410347,0.999999953073,7.82879912503e-05,-0.000293381101004,4.06491625661e-05,1793193681606888704
+15,0.250000000,BASELINE,763.284676246,742.284676246,711,672.284676246,658,632.284676246,878,784,799,649.715323754,628.715323754,650.284676246,0.400954693833,0.00446867776164,0.0798274849697,0.999999953368,7.8356887236e-05,-0.000292384654339,4.04379395375e-05,1793193681623555328
+16,0.266666667,BASELINE,763,742,711,672.301256984,658.301256984,632,878,784,799.301256984,649.698743016,629,650.301256984,0.400955018479,0.00446927962134,0.0798280912025,0.999999953551,7.90781384068e-05,-0.000291572563995,4.0367072916e-05,1793193681640222208
+17,0.283333333,BASELINE,763,742,711,672.880247627,658.880247627,632,878,784,799.880247627,649.119752373,629,650.880247627,0.400954938415,0.00447021097187,0.0798284782936,0.99999995363,8.04008063104e-05,-0.000290930434765,4.04256031363e-05,1793193681656888832
+18,0.300000000,BASELINE,763.455429563,742,711.455429563,673.455429563,659,632,878,784,799.544570437,649,629,650.544570437,0.400953828878,0.00446977177167,0.0798275251716,0.999999953471,7.87935278889e-05,-0.000291906196349,4.05062566892e-05,1793193681673555456
+19,0.316666667,BASELINE,764,742.030293414,711.969706586,673.969706586,658.969706586,632,878,784,799.030293414,649,628.969706586,650.030293414,0.400952603691,0.0044689782913,0.0798263623768,0.999999953274,7.65979174278e-05,-0.000293150519172,4.05959621384e-05,1793193681690222080
+20,0.333333333,BASELINE,764,742.617569676,711.382430324,673.382430324,658.382430324,632,878,784,799.617569676,649,628.382430324,650.617569676,0.400954187927,0.00446824197049,0.0798277700798,0.999999953648,7.76325846221e-05,-0.000291575769406,4.07460287818e-05,1793193681706888960
+21,0.350000000,BASELINE,763.797841539,742.797841539,711,673,658.202158461,632,878,784,800,649,628,650.797841539,0.400955230316,0.0044677887265,0.0798284873594,0.99999995385,7.79634810251e-05,-0.000290798071325,4.07145824509e-05,1793193681723555584
+22,0.366666667,BASELINE,763.218270117,742.218270117,711,673,658.781729883,632,878,784,800,649,628,650.218270117,0.400955261119,0.00446786396334,0.079827915676,0.999999953735,7.69804960257e-05,-0.000291508402347,4.03442665408e-05,1793193681740222208
+23,0.383333333,BASELINE,763.358344903,742,711.358344903,673,659.358344903,632.358344903,878,784,800,649,628.358344903,650.358344903,0.400954978184,0.00446856203279,0.0798277328712,0.999999953592,7.7211489325e-05,-0.000291946243723,4.02819551571e-05,1793193681756888832
+24,0.400000000,BASELINE,763.933173952,742,711.933173952,673,659.933173952,632.933173952,878,784,800,649,628.933173952,650.933173952,0.400954505712,0.00446963636931,0.0798277849967,0.999999953432,7.81758738827e-05,-0.000292219468099,4.04057161385e-05,1793193681773555456
+25,0.416666667,BASELINE,763.489600188,742,712,673,658.979200376,632.489600188,878.510399812,784,799.489600188,649,629,651,0.400955360881,0.00446940476277,0.0798279656114,0.999999953758,7.88484795076e-05,-0.000290923376692,4.03819370155e-05,1793193681790222080
+26,0.433333333,BASELINE,763,742,711.910212414,673,658.089787586,632,878.910212414,784,799,649,629,651,0.400956135925,0.00446891708965,0.0798281794704,0.999999954083,7.90233191081e-05,-0.000289760198593,4.03623089895e-05,1793193681806888704
+27,0.450000000,BASELINE,763,742,711.320543582,673,658.679456418,632,878.320543582,784,799,649,629,651,0.400955492561,0.00446796022995,0.079828484312,0.999999954053,7.66405982571e-05,-0.000290486316755,4.04738454879e-05,1793193681823555584
+28,0.466666667,BASELINE,763.264825227,742,711,673,658.735174773,632,878.264825227,784,799.264825227,649,628.735174773,650.735174773,0.400955228333,0.00446753296346,0.0798286866342,0.999999954042,7.60292087708e-05,-0.000290679265829,4.05153791107e-05,1793193681840222208
+29,0.483333333,BASELINE,763.845072425,742,711,673,658.154927575,632,878.845072425,784,799.845072425,649,628.154927575,650.154927575,0.400955415676,0.00446773647282,0.0798287668499,0.999999954057,7.75275762638e-05,-0.000290237180022,4.04735353037e-05,1793193681856888832
+30,0.500000000,BASELINE,764,742,711,673,658.421489545,632,878.578510455,784,799.578510455,649,628.421489545,650.421489545,0.400953669577,0.00446711853404,0.0798280960877,0.999999953705,7.711934278e-05,-0.000291531511571,4.06495725444e-05,1793193681873555200
+31,0.516666667,BASELINE,764,742,711,673,658.996511503,632,878.003488497,784,799.003488497,649,628.996511503,650.996511503,0.400951219199,0.00446620137332,0.0798271517733,0.999999953215,7.60166079398e-05,-0.000293458353112,4.09049754621e-05,1793193681890221824
+32,0.533333333,BASELINE,764,742,711.582191885,673,659,632.582191885,878.582191885,784,799.582191885,649,629,651,0.400953123309,0.00446785941487,0.0798275331248,0.999999953222,7.86533211456e-05,-0.000292726547481,4.10090615559e-05,1793193681906888704
+33,0.550000000,BASELINE,764,742,712,673,659,632.833067879,878.833067879,784,799.833067879,649,629,651,0.40095449986,0.00446898642523,0.0798278590635,0.999999953252,8.0569757919e-05,-0.000292100535183,4.1013745453e-05,1793193681923555328
+34,0.566666667,BASELINE,764,742,712,673,659,632.250828556,878.250828556,784,799.250828556,649,629,651,0.400954497782,0.00446875318761,0.0798280270109,0.99999995335,8.0637447445e-05,-0.000291778096818,4.07734263354e-05,1793193681940222720
+35,0.583333333,BASELINE,763.671867235,742,711.671867235,673,659,632.328132765,878,784,799,649,629,651,0.400954686541,0.00446813590529,0.079828334809,0.999999953609,7.87148508425e-05,-0.000291426590892,4.07009969083e-05,1793193681956889600
+36,0.600000000,BASELINE,763.095386812,742,711.095386812,673,659,632.904613188,878,784,799,649,629,651,0.400955019734,0.00446722795827,0.0798287484533,0.99999995398,7.52859039222e-05,-0.000291053085112,4.07556349589e-05,1793193681973555968
+37,0.616666667,BASELINE,763.474826997,742,711,673,658.525173003,633,878,784,799.474826997,649,629,651,0.400955073041,0.00446796434079,0.0798290415619,0.999999954,7.63728691097e-05,-0.000290708824562,4.06806440305e-05,1793193681990222336
+38,0.633333333,BASELINE,764,742,711.045906296,673,658.045906296,632.954093704,877.954093704,784,799.954093704,649,629,650.954093704,0.400954969315,0.00446894590975,0.0798292075286,0.999999953928,7.8231272948e-05,-0.000290477264335,4.05896352692e-05,1793193682006888960
+39,0.650000000,BASELINE,764,742,711.642262209,673,658.642262209,632.357737791,877.357737791,784,799.357737791,649,629,650.357737791,0.400953648073,0.00446895819665,0.0798281355333,0.999999953592,7.86036102863e-05,-0.000291527534117,4.06147422707e-05,1793193682023555328
+40,0.666666667,BASELINE,764,742.231824818,712,673,659,632.231824818,877.463649637,784,799,649,629,650.231824818,0.400953889919,0.00446857584824,0.0798283007297,0.999999953695,7.87614444656e-05,-0.000291107798868,4.07904537403e-05,1793193682040221952
+41,0.683333333,BASELINE,764,742.811202831,712,673,659,632.811202831,878.622405661,784,799,649,629,650.811202831,0.400956475156,0.00446760186016,0.0798303207318,0.999999954451,7.85976941667e-05,-0.000288484222967,4.11919523535e-05,1793193682056888576
+42,0.700000000,BASELINE,764,742.613359281,711.613359281,673,658.613359281,632.613359281,878.613359281,784,799,649,629,651,0.400955822925,0.00446846812612,0.0798295993523,0.99999995416,7.84130063124e-05,-0.000289571488044,4.09823034153e-05,1793193682073555200
+43,0.716666667,BASELINE,764,742.039825969,711.039825969,673,658.039825969,632.039825969,878.039825969,784,799,649,629,651,0.400953605781,0.00447022392554,0.0798275528565,0.999999953358,7.82181977641e-05,-0.000292452482263,4.0477240802e-05,1793193682090222080
+44,0.733333333,BASELINE,764,742,711.5472365,673,658,632,878.5472365,784,799,649,628.4527635,651,0.400953486024,0.00446847091125,0.0798273900814,0.999999953516,7.6288760692e-05,-0.000292411610535,4.05476525169e-05,1793193682106888960
+45,0.750000000,BASELINE,764,742,711.866647891,672.866647891,658.133352109,632,878.866647891,784,799,649.133352109,628.133352109,651,0.400953337742,0.00446720298384,0.0798273522494,0.999999953575,7.54561850023e-05,-0.00029241524037,4.06268278962e-05,1793193682123555328
+46,0.766666667,BASELINE,764,742,711.287078907,672.287078907,658.712921093,632,878.287078907,784,799,649.712921093,628.712921093,651,0.400952570308,0.00446843436501,0.0798272621417,0.999999953066,7.87270058487e-05,-0.000293297353748,4.05916349612e-05,1793193682140221696
+47,0.783333333,BASELINE,764,742.291544916,711.291544916,672.291544916,658.708455084,632.291544916,878.291544916,784,799,649.708455084,629,650.708455084,0.400952807296,0.00446833167763,0.0798273519664,0.999999953088,7.87892152019e-05,-0.000293210323318,4.05500723841e-05,1793193682156888320
+48,0.800000000,BASELINE,764,742.869241133,711.869241133,672.869241133,658.130758867,632.869241133,878.869241133,784,799,649.130758867,629,650.130758867,0.400954030126,0.00446691960226,0.0798276183946,0.999999953632,7.57021731316e-05,-0.000292172078457,4.05022580001e-05,1793193682173554944
+49,0.816666667,BASELINE,764,742.551832366,711.551832366,673,658.448167634,632.551832366,878.551832366,784,799,649,629,650.448167634,0.400954422275,0.00446859971872,0.0798284925126,0.999999953776,7.81690379531e-05,-0.000291031900298,4.0466580484e-05,1793193682190221824
+50,0.833333333,BASELINE,763.972335611,742,711,673.027664389,658.972335611,632,878.027664389,784,799,649,629,650.972335611,0.400954574314,0.00447101106784,0.079829468933,0.999999953792,8.19684667717e-05,-0.00028993402427,4.04449822017e-05,1793193682206888704
+51,0.850000000,BASELINE,763.388610767,742,711,673.611389233,658.388610767,632,878.611389233,784,799,649,629,650.388610767,0.400954785016,0.00446993625956,0.0798289280469,0.99999995385,7.98921478234e-05,-0.00029028586338,4.06350069711e-05,1793193682223555328
+52,0.866666667,BASELINE,763.193626875,742.193626875,711,673.806373125,658.193626875,632,878.806373125,784,799,649.193626875,629,650.193626875,0.400954837558,0.00446917866683,0.0798285645566,0.999999953948,7.81820374969e-05,-0.000290411384282,4.06498001697e-05,1793193682240222208
+53,0.883333333,BASELINE,763.772902409,742.772902409,711,673.227097591,658.772902409,632,878.227097591,784,799,649.772902409,629,650.772902409,0.40095457509,0.00446905287565,0.0798285543877,0.999999954132,7.7201308812e-05,-0.000290086144835,4.03155828173e-05,1793193682256888832
+54,0.900000000,BASELINE,763.64839369,742.64839369,711.35160631,672.64839369,658.64839369,632,878.35160631,784,799,649.64839369,629,650.64839369,0.400953754533,0.00446794272358,0.0798281303787,0.999999953959,7.5518573105e-05,-0.000291124192111,4.03188212872e-05,1793193682273555200
+55,0.916666667,BASELINE,763.070058423,742.070058423,711.929941577,672.070058423,658.070058423,632,878.929941577,784,799,649.070058423,629,650.070058423,0.4009525741,0.00446619781862,0.0798274395099,0.999999953549,7.33831569355e-05,-0.000293041337893,4.05396639613e-05,1793193682290221568
+56,0.933333333,BASELINE,763.501057449,742,711.498942551,672.501057449,658,632,878.498942551,784,799,649,629,650,0.400952808704,0.0044671826287,0.0798278135824,0.999999953665,7.4433568028e-05,-0.000292423728331,4.02251501094e-05,1793193682306888960
+57,0.950000000,BASELINE,763.926004449,742,711.073995551,672.926004449,658.073995551,632,878.073995551,783.926004449,799,649,629,650.073995551,0.400953389623,0.00446825148959,0.0798283874608,0.999999953905,7.56124977613e-05,-0.000291338066799,3.99308097122e-05,1793193682323556352
+58,0.966666667,BASELINE,763.3333179,742,711.6666821,672.3333179,658.6666821,632,878.6666821,783.3333179,799,649,629,650.6666821,0.400955030936,0.00446727209883,0.0798293329938,0.999999954522,7.46141928698e-05,-0.000289420532715,4.029513739e-05,1793193682340222720
+59,0.983333333,BASELINE,763.253479106,742,711.746520894,672,659,632.253479106,878.746520894,783.253479106,799,649,628.746520894,650.746520894,0.400954927615,0.00446750766536,0.0798291506081,0.999999954435,7.53304969043e-05,-0.000289509677559,4.04853552449e-05,1793193682356889088
+60,1.000000000,BASELINE,763.832707466,742,711.167292534,672,659,632.832707466,878.167292534,783.832707466,799,649,628.167292534,650.167292534,0.400952582245,0.00446930458895,0.0798275187195,0.999999953436,7.82502667433e-05,-0.000292177630986,4.04518223811e-05,1793193682373555712
+61,1.016666667,BASELINE,764,741.591073773,711,672.408926227,659,632.591073773,877.591073773,784,799,649,628.408926227,650,0.400952571178,0.00446821547676,0.0798278506898,0.999999953672,7.73507870335e-05,-0.000291588967949,4.06138331381e-05,1793193682390222336
+62,1.033333333,BASELINE,764,741.016077282,711,672.983922718,659,632.016077282,877.016077282,784,799,649,628.983922718,650,0.400953508102,0.00446595430777,0.0798289802088,0.999999954404,7.49002601999e-05,-0.000289677750421,4.08552567063e-05,1793193682406889216
+63,1.050000000,BASELINE,764,741.570896179,711.570896179,673,659,632,877.570896179,784,799,649,629.570896179,650.570896179,0.400954986685,0.00446809734849,0.0798293685841,0.999999954554,7.69358454426e-05,-0.000288676149323,4.04798632923e-05,1793193682423555584
+64,1.066666667,BASELINE,764,742,711.843995859,672.843995859,659.156004141,632,878,784,799,649,629.843995859,651,0.400955556848,0.00446947628433,0.0798292321895,0.999999954457,7.84642169623e-05,-0.000288630162357,4.02652051116e-05,1793193682440222208
+65,1.083333333,BASELINE,764,742,711.264881872,672.264881872,659.735118128,632,878,784,799,649,629.264881872,651,0.400953620964,0.00446843924083,0.0798277303499,0.999999953745,7.8266952176e-05,-0.000291104999878,4.05346095804e-05,1793193682456888832
+66,1.100000000,BASELINE,764,742,711,672.313574125,659.37285175,632,878,784,799,649,628.686425875,651,0.400953625498,0.00446859995555,0.0798277947495,0.999999953706,7.82926750147e-05,-0.000291247436566,4.0416864624e-05,1793193682473555456
+67,1.116666667,BASELINE,764,742,711,672.89147544,658.217049119,632,878,784,799,649,628.10852456,651,0.400955265708,0.00446977032017,0.07982917941,0.999999954236,7.8506365198e-05,-0.000289423776728,3.9972772192e-05,1793193682490222080
+68,1.133333333,BASELINE,764.468014561,742,711.468014561,672.531985439,658.468014561,632.468014561,877.531985439,784,799,649,628,650.531985439,0.400955111335,0.00446905046284,0.0798293371159,0.999999954331,7.71811095266e-05,-0.00028946161996,3.99059717342e-05,1793193682506888704
+69,1.150000000,BASELINE,764.954687246,742,711.954687246,672,659,632.954687246,877.045312754,784,799,649,628,650,0.400954504946,0.00446811216909,0.0798291336376,0.999999954289,7.57777757451e-05,-0.000289975243802,3.99147387536e-05,1793193682523555328
+70,1.166666667,BASELINE,764.364474066,742,711.364474066,672,659,632.364474066,877.635525934,784,799,649,628,650,0.400953452531,0.00446980263123,0.0798279981966,0.999999953838,7.77143733697e-05,-0.000291034608104,3.97832163383e-05,1793193682540222208
+71,1.183333333,BASELINE,764,742.2211115,711.2211115,672.2211115,659,632,878,784,799,649,628.2211115,650,0.400953427994,0.00447091361169,0.079827715478,0.999999953727,7.90532392736e-05,-0.000291055873045,3.97872478335e-05,1793193682556889088
+72,1.200000000,BASELINE,764,742.799225498,711.799225498,672.799225498,659,632,878,784,799,649,628.799225498,650,0.400955063053,0.00447108897211,0.0798288095488,0.999999954169,7.94270190041e-05,-0.000289401042306,4.00101421215e-05,1793193682573555712
+73,1.216666667,BASELINE,764,742.625196403,711.625196403,673,658.625196403,632,877.625196403,784,798.625196403,649,629,650,0.40095540282,0.00446981111866,0.0798293741251,0.999999954255,7.88315160823e-05,-0.000289239052551,4.01920834572e-05,1793193682590222336
+74,1.233333333,BASELINE,764,742.05096764,711.05096764,673,658.05096764,632,877.05096764,784,798.05096764,649,629,650,0.400955053389,0.00446776004046,0.0798296569685,0.999999954153,7.77202780792e-05,-0.000289871372408,4.03522345687e-05,1793193682606888704
+75,1.250000000,BASELINE,764,742,711,673,658.536580785,632,877.536580785,784,799.07316157,649,629,650,0.400955577821,0.00446888786896,0.0798298194398,0.999999954349,7.86909000529e-05,-0.000288891900262,4.06228283605e-05,1793193682623555584
+76,1.266666667,BASELINE,764,742,711,673,659,632.123303674,878,784,799.876696326,649,629,650.123303674,0.400955981698,0.00446990170362,0.079829771817,0.999999954515,7.92424300729e-05,-0.000288154680889,4.07203505527e-05,1793193682640222208
+77,1.283333333,BASELINE,764,742,711,673,659,632.702182888,878,784,799.297817112,649,629,650.702182888,0.40095562567,0.00446935032799,0.0798289912699,0.999999954462,7.74962979997e-05,-0.000288892578941,4.0138671076e-05,1793193682656888832
+78,1.300000000,BASELINE,764,742,711.279262201,673,659,633,878,784,799.279262201,649.279262201,629,651,0.400954963504,0.00446852124454,0.0798283228431,0.999999954269,7.62942598747e-05,-0.00028989524805,4.00283735418e-05,1793193682673555712
+79,1.316666667,BASELINE,764,742,711.85443428,673,659,633,878,784,799.85443428,649.85443428,629,651,0.400953976951,0.00446739789829,0.0798277732205,0.999999953928,7.5668750919e-05,-0.000291178471987,4.04175585111e-05,1793193682690222848
+80,1.333333333,BASELINE,764,742,711.572674938,673,658.572674938,632.572674938,878,784,799.572674938,649.572674938,629,650.572674938,0.400954643305,0.00446786241878,0.0798284500636,0.999999954189,7.61123756091e-05,-0.00029017641066,4.03235823787e-05,1793193682706889472
+81,1.350000000,BASELINE,764,742,711.000557094,673,658.000557094,632.000557094,878,784,799.000557094,649.000557094,629,650.000557094,0.400955869723,0.00446886496436,0.0798295424765,0.999999954652,7.69182603858e-05,-0.000288400014293,4.00658942777e-05,1793193682723555840
+82,1.366666667,BASELINE,764,742,711,672.406116603,658.593883397,632,878,784,799,649,629,650.593883397,0.400955403402,0.00446983602451,0.0798291932075,0.999999954147,7.95279240546e-05,-0.000289414272226,4.02563584307e-05,1793193682740222208
+83,1.383333333,BASELINE,764,742,711,672.183419949,659,632,878,784,799.183419949,649,629,651,0.400954838815,0.00447040498463,0.0798290192522,0.999999953832,8.06458544572e-05,-0.000290186827093,4.0296349819e-05,1793193682756888576
+84,1.400000000,BASELINE,764,742,711,672.762335672,659,632,878,784,799.762335672,649,629,651,0.400954065904,0.00447010699056,0.0798292263431,0.99999995394,7.85434729699e-05,-0.000290432349524,4.00109453474e-05,1793193682773555456
+85,1.416666667,BASELINE,764,742,711.33979537,673,659,632.33979537,878,784,799.66020463,649,629,651,0.400954453663,0.00446969117663,0.079829670904,0.999999954267,7.82622893291e-05,-0.000289366822195,4.01103165215e-05,1793193682790222336
+86,1.433333333,BASELINE,764,742,711.916240985,673,659,632.916240985,878,784,799.083759015,649,629,651,0.400955649769,0.00446919330716,0.0798302808504,0.999999954745,7.92494777689e-05,-0.000287388215168,4.04776644396e-05,1793193682806888704
+87,1.450000000,BASELINE,764,742.499349179,711.500650821,672.500650821,659,632.500650821,878,784,799.499349179,649,629,650.500650821,0.40095464774,0.00446821215335,0.0798287082653,0.999999954276,7.81363287607e-05,-0.000289354683321,4.02098297174e-05,1793193682823555328
+88,1.466666667,BASELINE,764,742.916948905,711,672.083051095,659,632,878.083051095,784,799.916948905,649.083051095,629,650.083051095,0.400953604989,0.00446734426569,0.0798272482407,0.999999953785,7.71156815225e-05,-0.000291353174659,3.99675147619e-05,1793193682840221952
+89,1.483333333,BASELINE,764,742.33647494,711,672.66352506,659,632,878.66352506,784,799.33647494,649.66352506,629,650.66352506,0.400954556527,0.00446764685901,0.0798286846775,0.999999954162,7.87876641435e-05,-0.000289526513871,4.05248018997e-05,1793193682856888576
+90,1.500000000,BASELINE,763.75761217,742,711,673,659,632.24238783,878.75761217,784,799,649.75761217,629,651,0.400955271339,0.00446843774529,0.0798294508953,0.999999954399,7.9615887255e-05,-0.00028847009835,4.06048797063e-05,1793193682873555200
+91,1.516666667,BASELINE,763.180971287,742,711,673,659,632.819028713,878.180971287,784,799,649.180971287,629,651,0.400955659702,0.00446990198799,0.0798292928804,0.999999954447,7.92805650477e-05,-0.000288475851952,4.00268853376e-05,1793193682890221824
+92,1.533333333,BASELINE,763.39494507,742,711,673,658.60505493,632.60505493,878,784,799,649,629,651,0.400956111219,0.00446960224359,0.0798295955073,0.999999954784,7.82865025554e-05,-0.000287584998785,3.99722310003e-05,1793193682906888192
+93,1.550000000,BASELINE,763.970530093,742,711,673,658.029469907,632.029469907,878,784,799,649,629,651,0.40095659162,0.00446849568699,0.0798301088224,0.999999955251,7.69911454384e-05,-0.000286284055663,4.01569418468e-05,1793193682923554816
+94,1.566666667,BASELINE,764,742,711,673,658,632,878,784,799,649,628.44095835,651,0.400955978436,0.0044680587573,0.0798301002454,0.999999955141,7.59456363772e-05,-0.000286962974856,4.0028674402e-05,1793193682940221696
+95,1.583333333,BASELINE,764,742,711,672.854496363,658,632,878,784,799,649,628.145503637,650.854496363,0.40095570855,0.00446790687999,0.079830124526,0.999999955048,7.53355162021e-05,-0.000287453989148,3.99910225403e-05,1793193682956888576
+96,1.600000000,BASELINE,764,742,711,672.276205302,658,632,878,784,799,649,628.723794698,650.276205302,0.400956635302,0.00446849538502,0.0798303303058,0.999999955098,7.59803181985e-05,-0.000287068314722,4.02731338739e-05,1793193682973556224
+97,1.616666667,BASELINE,764,742.301702618,711,672.603405236,658.301702618,632.301702618,878,784,799.301702618,649,628.698297382,650.301702618,0.400955905447,0.00446863539237,0.0798298391846,0.999999954755,7.72095742166e-05,-0.000287891538359,4.05892340725e-05,1793193682990223104
+98,1.633333333,BASELINE,764,742.879260188,711,673.758520375,658.879260188,632.879260188,878,784,799.879260188,649,628.120739812,650.879260188,0.40095366091,0.00446836532602,0.0798287108677,0.999999954046,7.89732124865e-05,-0.000289820090567,4.09364112023e-05,1793193683006889216
+99,1.650000000,BASELINE,764,742.5435071,711,673.0870142,658.5435071,633,878,784,800,649,628.4564929,651,0.400954217517,0.00446877294311,0.0798289890245,0.999999954157,7.96358890693e-05,-0.000289284273506,4.07231457415e-05,1793193683023555584
+100,1.666666667,BASELINE,764,742.034421566,711,672.034421566,658.034421566,633,878,784,799.965578434,649,629,651,0.400955394542,0.00446931549817,0.0798295791192,0.999999954463,7.98765239539e-05,-0.000288209887198,4.03636023804e-05,1793193683040222208
+101,1.683333333,BASELINE,764,742.624981893,711,672.624981893,658.624981893,633,878,784,799.375018107,649,629,651,0.400954633696,0.0044691442821,0.0798292030139,0.999999954408,7.799981451e-05,-0.000288957638007,4.00339586748e-05,1793193683056888576
+102,1.700000000,BASELINE,764,742.789635703,711,673,659,633,878.210364297,784,799,649.210364297,629,650.789635703,0.400953962938,0.0044697847351,0.0798287766058,0.999999954215,7.78174397262e-05,-0.000289712246049,3.97711670335e-05,1793193683073555200
+103,1.716666667,BASELINE,764,742.213262337,711,673,659,633,878.786737663,784,799,649.786737663,629,650.213262337,0.400953448925,0.00447183739659,0.0798282626768,0.999999953779,8.05830076306e-05,-0.000290478784789,3.96246901348e-05,1793193683090222080
+104,1.733333333,BASELINE,764,742,711,673,659,633,878.639262023,784,799.360737977,649.639262023,629,650,0.400954021765,0.00447059856805,0.0798282413893,0.999999953881,8.00246244206e-05,-0.000290250566094,3.98560949595e-05,1793193683106889216
+105,1.750000000,BASELINE,764,742,711,673,659,633,878.066655395,784,799.933344605,649.066655395,629,650,0.400955232937,0.00446742658157,0.07982850944,0.999999954296,7.75140182985e-05,-0.000289438106472,4.03094372874e-05,1793193683123556352
+106,1.766666667,BASELINE,764,742,711.523030301,673,659,633,878,784,799.476969699,649,629,650.523030301,0.400954422089,0.00446780169485,0.0798283116026,0.999999954207,7.66983459937e-05,-0.000289958847647,4.03396488224e-05,1793193683140222976
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,742,711,674,659,632,878,784,799,649,629,651,0.400955215943,0.00446924426086,0.0798295619408,0.999999954616,7.7339117371e-05,-0.000288384313207,4.02552556333e-05,1793193683182821120
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,742.58429194,711.58429194,673.41570806,659,632.58429194,878,784,799,649,629,651,0.400953888403,0.0044683542646,0.0798279754469,0.999999954031,7.75015504889e-05,-0.000290358953454,4.0279224248e-05,1793193683199487744
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,742.834171955,711.834171955,673,659.165828045,633,878,784,799,649.165828045,629,651,0.400953339873,0.00446779018528,0.0798272962992,0.999999953819,7.72517838514e-05,-0.000291158403711,4.02616184093e-05,1793193683216154624
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,742.259431296,711.259431296,673,659.740568704,633,878,784,799,649.740568704,629,651,0.40095471229,0.00446802977889,0.0798288545612,0.99999995453,7.59855807408e-05,-0.000289059972968,4.01414948246e-05,1793193683232820992
+111,1.850000000,POSE1_TO_POSE2_PRESS,763.67662513,742,711.32337487,673,659.67662513,633,878,784,799,649.67662513,629,651,0.400955077876,0.00446885017172,0.0798294284139,0.999999954663,7.70048509877e-05,-0.000288341149588,4.00509654278e-05,1793193683249487360
+112,1.866666667,POSE1_TO_POSE2_PRESS,763.087182834,742,711.912817166,673,659.087182834,633,878,784,799,649.087182834,629,651,0.400954615058,0.0044701484364,0.0798291923111,0.999999954318,7.9904570498e-05,-0.000288757444158,3.99847856404e-05,1793193683266154240
+113,1.883333333,POSE1_TO_POSE2_PRESS,763.494141064,742.494141064,711.505858936,673,659,633,878,784,799.494141064,649,629,651,0.400954951431,0.00446853170765,0.0798289719611,0.999999954467,7.67878197721e-05,-0.000289093334336,3.9935743163e-05,1793193683282821120
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,742.926446376,711.073553624,673,659,632.926446376,878,784,800,649.073553624,629.073553624,651,0.400955639313,0.00446674124055,0.0798289186352,0.9999999547,7.32024399339e-05,-0.000289222549665,3.98866872651e-05,1793193683299488000
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,742.350463793,711.649536207,673,659,632.350463793,878,784,800,649.649536207,629.649536207,651,0.400957780687,0.00446722030103,0.0798299875379,0.99999995502,7.35496616811e-05,-0.000288035348841,3.98172200538e-05,1793193683316154368
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,742,711.770558161,673,659,632.229441839,878.229441839,784,799.770558161,650,629.770558161,651,0.400964817852,0.00446757953079,0.0798336548862,0.999999956533,7.45314133983e-05,-0.000282468639018,3.98718560791e-05,1793193683332820736
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,742,711.184556034,673,659,632.815443966,878.815443966,784,799.184556034,650,629.184556034,651,0.400979463239,0.00446775253953,0.0798413603058,0.999999959793,7.64992458653e-05,-0.000270096025855,4.01193526857e-05,1793193683349487360
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,742,711.396968877,673,659,633,878.603031123,784,799,649.603031123,629,651,0.401010788351,0.00446822320537,0.0798539621745,0.999999965593,7.74797141383e-05,-0.000247421814292,3.99249584985e-05,1793193683366153984
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,742,711.976435537,673,659,633,878.023564463,784,799,649.023564463,629,651,0.401049781604,0.00446883071259,0.0798688150797,0.999999971974,7.8006263387e-05,-0.00022001166634,3.95274146558e-05,1793193683382820608
+120,2.000000000,POSE1_TO_POSE2_PRESS,763.445622232,742,711.445622232,673,658.445622232,632.445622232,878,784,799,649,629,650.445622232,0.401115841766,0.00446971797086,0.0798886624457,0.999999980297,7.633727402e-05,-0.000179317489725,3.77433140955e-05,1793193683399487488
+121,2.016666667,POSE1_TO_POSE2_PRESS,763.13153491,742.13153491,711.13153491,673,658,632,878,784,799,649,629,650,0.401184564579,0.00447009452547,0.0799062108169,0.999999986062,7.4316295764e-05,-0.000145131155845,3.59168942041e-05,1793193683416154368
+122,2.033333333,POSE1_TO_POSE2_PRESS,763.706264648,742.706264648,711.706264648,673,658,632,878,784,799,649,629,650,0.401258393057,0.0044687103549,0.0799152995937,0.999999987785,7.14229070994e-05,-0.000134769720835,3.41459217791e-05,1793193683432821248
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,743,712,673,658.287876996,632,878.287876996,784,799,649,629,650,0.401337901607,0.00446767292818,0.0799204607704,0.999999989111,6.78015094158e-05,-0.000127192373658,3.16757799757e-05,1793193683449487872
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,743,712,673,658.876683991,632,878.876683991,784,799,649,629,650,0.401423347772,0.00446699796753,0.0799215162602,0.999999990077,6.34190932913e-05,-0.000122525351879,2.8474766958e-05,1793193683466154240
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,742.542297489,711.542297489,673,659,632,878.542297489,784,799,649,629,650.457702511,0.401532201634,0.00446798677667,0.0799244943138,0.999999991102,5.96763321884e-05,-0.000116855738908,2.4053593582e-05,1793193683482820864
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,742,711,672.963543589,659,632,878.072912822,784,799.036456411,649,629,651,0.401649198375,0.00446933553111,0.0799280836359,0.99999999211,5.59160471048e-05,-0.000110822599776,1.92782248756e-05,1793193683499487232
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,742,711,672.387767948,659,632,879.224464105,784,799.612232052,649,629,651,0.401794921305,0.00446948876188,0.0799331811706,0.999999993342,4.93896833787e-05,-0.00010334082168,1.40449165314e-05,1793193683516153856
+128,2.133333333,POSE1_TO_POSE2_PRESS,763.811736579,742,711,672.188263421,659,632.188263421,879.623473159,784,799.811736579,649,629,651,0.401953286215,0.00446974343498,0.0799392616543,0.999999994664,4.19266238529e-05,-9.40584803853e-05,8.19160283679e-06,1793193683532820992
+129,2.150000000,POSE1_TO_POSE2_PRESS,763.235177843,742,711,672.764822157,659,632.764822157,878.470355685,784,799.235177843,649,629,651,0.402137725323,0.00447020733396,0.0799473694801,0.999999996185,3.25316200456e-05,-8.1062459193e-05,1.05952213295e-06,1793193683549487616
+130,2.166666667,POSE1_TO_POSE2_PRESS,763.348212559,742,711.348212559,673,658.651787441,632.651787441,878,784,799,649,629,651,0.402332310701,0.00447340669889,0.0799521269414,0.999999996984,2.55403820431e-05,-7.30618407044e-05,-6.50808700813e-06,1793193683566154240
+131,2.183333333,POSE1_TO_POSE2_PRESS,763.936309364,742,711.936309364,673,658.063690636,632.063690636,878,784,799,649,629,651,0.402533885881,0.00447849053118,0.0799545763313,0.999999997346,2.02051016018e-05,-6.85025626553e-05,-1.43757331817e-05,1793193683582821120
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,742.51687107,711.48312893,673,658.51687107,632,878.51687107,784,799,649,629,650.48312893,0.402754751069,0.00448086619542,0.0799478435444,0.999999996219,1.65927688891e-05,-8.26738317631e-05,-2.12656602892e-05,1793193683599487744
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,743,711,673,659,632,878.903974442,784.096025558,799,649,629,650.096025558,0.402987051036,0.0044837828369,0.0799410474204,0.999999994776,2.23298728275e-05,-9.64010724662e-05,-2.56272231071e-05,1793193683616154112
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,743,711,673,659,632,878.3272828,784.6727172,799,649,629,650.6727172,0.403264861815,0.00449105381559,0.0799395165137,0.999999992457,7.38191116578e-05,-9.65185417182e-05,-1.79271931262e-05,1793193683632820736
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,742.746774687,711,673,659,632,878,784.746774687,799,649,628.746774687,651,0.403565280355,0.00449851479118,0.0799408486256,0.999999993764,5.96331722106e-05,-9.30008975543e-05,-1.63051705577e-05,1793193683649487360
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,742.161258505,711,673,659,632,878,784.161258505,799,649,628.161258505,651,0.403895365551,0.00450622508671,0.079945937688,0.999999995326,-4.07339734223e-05,-8.47131334955e-05,-2.26589164444e-05,1793193683666153984
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,742,711.421885541,673,659,632.421885541,878.421885541,784,799,649.421885541,628,651,0.404253809153,0.00451228830727,0.0799459103568,0.99999999544,-4.06893912948e-05,-8.26186819921e-05,-2.52517598812e-05,1793193683682820352
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,742,711.99592072,673,659,632.99592072,878.99592072,784,799,649.99592072,628,650.99592072,0.404623357355,0.00451777082692,0.0799439574022,0.999999996216,-2.49773757794e-06,-8.28455015264e-05,-2.64263336407e-05,1793193683699487232
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,742,711.420541195,673,659,632.420541195,878.420541195,784,799,649.420541195,628,650.420541195,0.405038519886,0.0045296039192,0.0799446787699,0.999999995949,3.30343498861e-05,-7.84814589808e-05,-2.91740879842e-05,1793193683716154112
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,742,711,673,659,632.15481984,878,784,799.15481984,649,628.15481984,650,0.405462979389,0.00453984746639,0.0799439048873,0.999999994725,5.93538495775e-05,-7.75480360735e-05,-3.18274390046e-05,1793193683732820992
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,742,711,673,659,632.73013056,878,784,799.73013056,649,628.73013056,650,0.405912689417,0.00454577380522,0.0799390699034,0.999999993883,6.06519435353e-05,-8.59321813874e-05,-3.42243901192e-05,1793193683749487616
+142,2.366666667,POSE1_TO_POSE2_PRESS,763.686555058,742,711,673,658.686555058,633,878.313444942,784,800,649,629,650.313444942,0.406381245773,0.0045546947893,0.0799314814297,0.999999992157,6.63973431243e-05,-9.9751511489e-05,-3.64174471793e-05,1793193683766154496
+143,2.383333333,POSE1_TO_POSE2_PRESS,763.09616906,742,711,673,658.09616906,633,878.90383094,784,800,649,629,650.90383094,0.406866453661,0.00456626166209,0.0799214601379,0.999999989362,7.60721140314e-05,-0.000118373044178,-3.84303560029e-05,1793193683782821120
+144,2.400000000,POSE1_TO_POSE2_PRESS,763.484234898,742,711,673,658.484234898,633,879,784,800,649,629,651,0.40738656972,0.0045782837493,0.0799187659288,0.999999986937,9.50644401502e-05,-0.000124500981613,-3.98412629224e-05,1793193683799487744
+145,2.416666667,POSE1_TO_POSE2_PRESS,763.937493648,742.062506352,711,673,658.937493648,632.937493648,879,784,799.937493648,649,629,650.937493648,0.407916953774,0.00459006157068,0.0799167710271,0.999999984245,0.000114125573871,-0.000129605515964,-4.10925660031e-05,1793193683816154368
+146,2.433333333,POSE1_TO_POSE2_PRESS,763.360785803,742.639214197,711,673,658.360785803,632.360785803,879,784,799.360785803,649,629,650.360785803,0.408475926922,0.00459910128298,0.0799087999797,0.999999981357,0.000118837563577,-0.000146290421844,-4.19945689445e-05,1793193683832820992
+147,2.450000000,POSE1_TO_POSE2_PRESS,763,743,711.219504326,673,658.219504326,632,878.780495674,784,799,649,629,650,0.409070147682,0.00460752969426,0.0799111866176,0.999999980824,0.000124998275337,-0.000144428084073,-4.3210967209e-05,1793193683849487616
+148,2.466666667,POSE1_TO_POSE2_PRESS,763,743,711.805780084,673,658.805780084,632,878.194219916,784,799,649,629,650,0.409723263909,0.00461493667754,0.0799308799906,0.999999983843,0.000133579667363,-0.000111575016086,-4.49526909166e-05,1793193683866154752
+149,2.483333333,POSE1_TO_POSE2_PRESS,763,742.612828784,711.612828784,673,659,632,878,784,799,649,629,650,0.410410483406,0.00462117752981,0.0799617809879,0.999999987391,0.000138987386292,-6.12281590554e-05,-4.63914819423e-05,1793193683882821376
+150,2.500000000,POSE1_TO_POSE2_PRESS,763,742.033857455,711.033857455,673,659,632,878,784,799,649,629,650,0.411114597247,0.00462684069414,0.0799982341113,0.999999988662,0.000142822903914,-2.2150834381e-06,-4.76802034748e-05,1793193683899488000
+151,2.516666667,POSE1_TO_POSE2_PRESS,763.544256899,742,711,673,659,632,878,784,799,649,629,650,0.411780017185,0.00460259925556,0.0799782807058,0.999999992027,0.000110996415941,-3.73569400594e-05,-4.7217161363e-05,1793193683916154368
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,742,711.120912954,673,659,632,878.120912954,784,799,649,629,650,0.412448431582,0.00457571405157,0.0799526733495,0.999999992919,7.61894850512e-05,-7.82382245718e-05,-4.72898385901e-05,1793193683932820736
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,742,711.692333733,673,659,632,878.692333733,784,799,649,629,650,0.413136957287,0.00454589894112,0.0799190534944,0.999999990973,3.85305934489e-05,-0.000118714832442,-4.97639343234e-05,1793193683949487360
+154,2.566666667,POSE1_TO_POSE2_PRESS,763.72671308,742.27328692,711.72671308,673.27328692,659,632,879,783.72671308,799,649,629,650.27328692,0.413871101508,0.0045361103722,0.0799060458602,0.999999989954,2.02408212633e-05,-0.000130355831888,-5.18711266242e-05,1793193683966153984
+155,2.583333333,POSE1_TO_POSE2_PRESS,763.134640384,742.865359616,711.134640384,673.865359616,659,632,879,783.134640384,799,649,629,650.865359616,0.414658459247,0.00454968250973,0.0799170821196,0.999999992394,2.45448799095e-05,-0.00010836046017,-5.35503310989e-05,1793193683982820608
+156,2.600000000,POSE1_TO_POSE2_PRESS,763.447963363,742.552036637,711.447963363,673.552036637,659,632,878.552036637,783.447963363,799,649.447963363,629,651,0.415451615582,0.00456500106692,0.0799366290811,0.999999994341,4.67760529151e-05,-7.90161014523e-05,-5.37264412539e-05,1793193683999487488
+157,2.616666667,POSE1_TO_POSE2_PRESS,763.972407805,742,712,673,659,632,878.027592195,784,799.027592195,649.972407805,629,650.972407805,0.416245573764,0.00458032620237,0.079956769106,0.999999994622,7.31150594043e-05,-5.04830054122e-05,-5.35010408648e-05,1793193684016154368
+158,2.633333333,POSE1_TO_POSE2_PRESS,763.396510748,742,712,673,659,632,878.603489252,784,799.603489252,649.396510748,629,650.396510748,0.41702155083,0.00458556720642,0.0799389149491,0.999999992347,7.62275412753e-05,-8.10555660348e-05,-5.40885832552e-05,1793193684032820992
+159,2.650000000,POSE1_TO_POSE2_PRESS,763,742,711.823094217,673.176905783,659,632.176905783,879,784,800,649,629,650,0.417825998214,0.00458826146005,0.0799356761015,0.999999992003,7.8580396984e-05,-8.25895749031e-05,-5.47515462641e-05,1793193684049487616
+160,2.666666667,POSE1_TO_POSE2_PRESS,763,742,711.255160608,673.744839392,659,632.744839392,879,784,800,649,629,650,0.418693375581,0.00458532644417,0.079964742545,0.999999995116,7.92541950264e-05,-1.99375413696e-05,-5.55812169165e-05,1793193684066154240
+161,2.683333333,POSE1_TO_POSE2_PRESS,763.330920834,742.330920834,711,674,659.330920834,632.669079166,878.669079166,784,799.669079166,649,629,650,0.419559462395,0.00457842408007,0.079975880675,0.999999995892,7.09556189513e-05,4.8814706329e-06,-5.61884340983e-05,1793193684082820608
+162,2.700000000,POSE1_TO_POSE2_PRESS,763.931807274,742.931807274,711,674,659.931807274,632.068192726,878.068192726,784,799.068192726,649,629,650,0.420424496334,0.00456828514879,0.0799723928643,0.999999996866,5.53373696718e-05,-1.16374381969e-06,-5.66141735545e-05,1793193684099487488
+163,2.716666667,POSE1_TO_POSE2_PRESS,763.490814217,742.490814217,711.509185783,674,659.490814217,632,878.509185783,783.490814217,799,649,628.490814217,650,0.421265326359,0.00457012382488,0.0799611420821,0.999999996099,6.51414095413e-05,-1.98684834807e-05,-5.62418068449e-05,1793193684116154112
+164,2.733333333,POSE1_TO_POSE2_PRESS,763.083876915,742,711.916123085,673.916123085,659,632,878.916123085,783.083876915,799,649,628.083876915,650,0.422111047589,0.0045744073671,0.0799548645035,0.999999994887,7.84294744035e-05,-3.11987318504e-05,-5.56920243363e-05,1793193684132820992
+165,2.750000000,POSE1_TO_POSE2_PRESS,763.660459228,742,711.339540772,673.339540772,659,632,878.339540772,783.660459228,799,649,628.660459228,650,0.423003700961,0.00458404551132,0.0799836378507,0.99999999412,9.30662003673e-05,1.03095690583e-05,-5.47002340613e-05,1793193684149487616
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,742,711,673.242583041,659.242583041,632,878.242583041,784,799.242583041,649,629,650,0.423864013806,0.0045912786998,0.0799944072389,0.999999993192,0.000102094000172,1.75949506075e-05,-5.36911886067e-05,1793193684166154240
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,742,711,673.832644643,659.832644643,632,878.832644643,784,799.832644643,649,629,650,0.424678001859,0.0045950670052,0.0799793875668,0.999999993009,0.000103087515938,-2.41409401754e-05,-5.2657426556e-05,1793193684182820864
+168,2.800000000,POSE1_TO_POSE2_PRESS,763.589069481,742,711,674.410930519,659.589069481,632,879,784,799.589069481,649,629,650,0.425515660246,0.00459390269819,0.0799405626756,0.999999989991,9.98854778212e-05,-8.40197690937e-05,-5.460958281e-05,1793193684199487744
+169,2.816666667,POSE1_TO_POSE2_PRESS,763.015445816,742,711,674.984554184,659.015445816,632,879,784,799.015445816,649,629,650,0.42636269,0.00459077758235,0.0798923129657,0.999999982405,9.50223607675e-05,-0.000151081638474,-5.77439058067e-05,1793193684216154368
+170,2.833333333,POSE1_TO_POSE2_PRESS,763.55929742,742,711,675,659.55929742,632,879,784,799.55929742,649,629,650,0.427232904844,0.00458706399734,0.0798920661044,0.999999984522,8.77755001623e-05,-0.00013993654646,-6.05801010528e-05,1793193684232820992
+171,2.850000000,POSE1_TO_POSE2_PRESS,763.861751374,742.138248626,711,674.861751374,660,632,879,784,799.861751374,649,629,650,0.428095065763,0.00458477772492,0.0798963045313,0.99999998639,8.28919411803e-05,-0.000128310961377,-6.23237075856e-05,1793193684249487616
+172,2.866666667,POSE1_TO_POSE2_PRESS,763.26907015,742.73092985,711,674.26907015,660,632,879,784,799.26907015,649,629,650,0.428928643937,0.00458723665256,0.0799109201008,0.999999987003,8.59935386707e-05,-0.00012221961098,-6.05030183729e-05,1793193684266154240
+173,2.883333333,POSE1_TO_POSE2_PRESS,763.315024415,743,711,674,660,632,879,784,799,649,628.684975585,650,0.429794960756,0.00459028153873,0.079939270547,0.999999990672,8.95209479008e-05,-8.48685456406e-05,-5.86396409799e-05,1793193684282820864
+174,2.900000000,POSE1_TO_POSE2_PRESS,763.891979476,743,711,674,660,632,879,784,799,649,628.108020524,650,0.430688498454,0.00459381362667,0.0799790410124,0.999999993797,9.34024027335e-05,-2.15262334897e-05,-5.67407699209e-05,1793193684299487744
+175,2.916666667,POSE1_TO_POSE2_PRESS,763.533533321,742.533533321,711,674,660.466466679,632,879,784,799,649,628.466466679,650,0.431556505922,0.00459502268516,0.0800054101659,0.999999993159,0.000101292678138,1.73202020975e-05,-5.58809390544e-05,1793193684316154624
+176,2.933333333,POSE1_TO_POSE2_PRESS,763,742,711.040875708,674,660.959124292,632.040875708,879,784,799,649,629,650,0.432408745729,0.00459568867853,0.0800225467084,0.999999991682,0.000109054801639,4.09109943564e-05,-5.53928730247e-05,1793193684332820992
+177,2.950000000,POSE1_TO_POSE2_PRESS,763,742,711.621761598,674,660.378238402,632.621761598,879,784,799,649,629,650,0.433130371291,0.00459624966899,0.0799584938241,0.999999991146,0.000102924248758,-6.24951095187e-05,-5.66541950822e-05,1793193684349487616
+178,2.966666667,POSE1_TO_POSE2_PRESS,763.205329927,742,712,674.205329927,660,632.794670073,879,783.794670073,799,649,629,650,0.433858943824,0.00459399956916,0.0799056080272,0.9999999838,9.48677342462e-05,-0.00014144796561,-5.82403366913e-05,1793193684366154496
+179,2.983333333,POSE1_TO_POSE2_PRESS,763.79390509,742,712,674.79390509,660,632.20609491,879,783.20609491,799,649,629,650,0.434600482899,0.00458650261145,0.0798735654209,0.999999979441,8.32164417251e-05,-0.000174759219491,-6.04327502387e-05,1793193684382821120
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,742.375964368,711.624035632,675,660,632,879,783.375964368,799.375964368,649,629,650,0.435365518809,0.00458299786955,0.0798855570812,0.999999983217,7.8776860014e-05,-0.000154202956602,-5.98520146908e-05,1793193684399487744
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,742.954512604,711.045487396,675,660,632,879,783.954512604,799.954512604,649,629,650,0.436143215661,0.00458164428548,0.0799212760774,0.999999989799,7.82232223302e-05,-0.000104620829293,-5.77770009501e-05,1793193684416154624
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,743,711,675,659.468252135,632,879,784,800,649,629,650.531747865,0.436854940672,0.00459366100114,0.0799195235873,0.999999986011,9.29031178544e-05,-0.000127066821052,-5.6581072244e-05,1793193684432821248
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,743,711,675,659,632,879,783.891429909,800,649,629,651,0.437548732681,0.00460576524425,0.0799102401033,0.999999980044,0.000109423438045,-0.0001575986384,-5.56943674243e-05,1793193684449488128
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,743,711,675,659,632,879,783.315902281,800,649,629,651,0.438189607748,0.00461333886622,0.0798823185072,0.999999970915,0.000128268477976,-0.000196472151673,-5.5814992143e-05,1793193684466154496
+185,3.083333333,POSE1_TO_POSE2_PRESS,764,743,711,675,659,632,879,783,800,649,628.734301234,651,0.438806109067,0.00461977719408,0.0798509097839,0.999999960362,0.000133889341838,-0.00024123152049,-5.61858730723e-05,1793193684482821120
+186,3.100000000,POSE1_TO_POSE2_PRESS,764,743,711,675,659,632,879,783,800,649,628.145310322,651,0.439392953291,0.00462483413873,0.079815258059,0.999999947798,0.000123419530163,-0.000293152571363,-5.68612562088e-05,1793193684499488000
+187,3.116666667,POSE1_TO_POSE2_PRESS,764,743,711,675,659,631.561508943,879,783,799.561508943,649,628,650.561508943,0.439948383299,0.00463215753977,0.0797671446647,0.999999922511,0.000139590987198,-0.000363442817688,-5.8315298337e-05,1793193684516154624
+188,3.133333333,POSE1_TO_POSE2_PRESS,764,743,711,675.020319395,659,631,879,783,799.020319395,649,628.020319395,650.020319395,0.440491834709,0.00464011177608,0.0797148417382,0.999999887937,0.000163390021415,-0.000440269508563,-5.99375706962e-05,1793193684532821248
+189,3.150000000,POSE1_TO_POSE2_PRESS,764,743,711,675.594691349,659,631,879,783,799.594691349,649,628.594691349,650.594691349,0.440989200825,0.00464502694815,0.0796595886999,0.999999844752,0.000157256905017,-0.000531283984691,-5.9193349428e-05,1793193684549487872
+190,3.166666667,POSE1_TO_POSE2_PRESS,764,743,710.826931772,675.826931772,658.826931772,631,879,783,800,649,629,651,0.441493399419,0.00465222969958,0.0796248364796,0.999999813008,0.000159361816777,-0.000587383755409,-5.97313727089e-05,1793193684566154240
+191,3.183333333,POSE1_TO_POSE2_PRESS,764,743,710.238953455,675.238953455,658.238953455,631,879,783,800,649,629,651,0.442013978149,0.00466491664615,0.0796392324732,0.999999824897,0.000181216403448,-0.000559779780626,-6.33434226258e-05,1793193684582821376
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,743,710.342866973,675,658,631,879,783,800,649.342866973,628.657133027,650.657133027,0.44253655367,0.00468667017293,0.0796720594572,0.999999847782,0.000208466223162,-0.000506622919748,-6.56516580587e-05,1793193684599488512
+193,3.216666667,POSE1_TO_POSE2_PRESS,764,743,710.920471481,675,658,631,879,783,800,649.920471481,628.079528519,650.079528519,0.443060496225,0.00471463096546,0.0797175048772,0.999999874057,0.000239409787256,-0.000435971747408,-6.70672605239e-05,1793193684616155392
+194,3.233333333,POSE1_TO_POSE2_PRESS,764,743,711,675.496956498,657.503043502,630.503043502,879,782.503043502,800,649.503043502,628.496956498,650.496956498,0.443489643996,0.00472805491841,0.0797212846032,0.999999869338,0.000258758559348,-0.000435860845678,-6.62858370643e-05,1793193684632822016
+195,3.250000000,POSE1_TO_POSE2_PRESS,764,742.926989341,711,676,657,630,879,782.073010659,799.926989341,649,629,651,0.443896337591,0.00473885430296,0.0797152203919,0.999999858353,0.000275217968088,-0.000450851955138,-6.5436863722e-05,1793193684649488640
+196,3.266666667,POSE1_TO_POSE2_PRESS,764,742.352666211,711,676,657,630,879,782.647333789,799.352666211,649,629,651,0.444252782616,0.00474757011129,0.0796872450526,0.999999836171,0.000284550124482,-0.000492200994734,-6.65327841532e-05,1793193684666154752
+197,3.283333333,POSE1_TO_POSE2_PRESS,763.771565639,742,710.771565639,676,656.771565639,630,879,782.771565639,799,649,628.771565639,651,0.444596331679,0.00475658344801,0.0796651284109,0.999999818317,0.00028798419581,-0.000525279502956,-6.71776070783e-05,1793193684682820864
+198,3.300000000,POSE1_TO_POSE2_PRESS,763.179681906,742,710.179681906,676,656.179681906,630,879,782.179681906,799,649,628.179681906,651,0.44491936265,0.00476607016498,0.0796523332237,0.999999809356,0.000282034147478,-0.000545199219813,-6.71047135559e-05,1793193684699487232
+199,3.316666667,POSE1_TO_POSE2_PRESS,763.402921249,742,710,676,656,629.597078751,879,782,799,649,628.402921249,651,0.445236237624,0.00477297356822,0.0796526512707,0.999999805911,0.000295438392578,-0.000544523128198,-6.62399682673e-05,1793193684716154112
+200,3.333333333,POSE1_TO_POSE2_PRESS,763.981478979,742,710,676,656,629.018521021,879,782,799,649,628.981478979,651,0.44555042918,0.00477875088589,0.0796586854765,0.99999980451,0.000317279322877,-0.000534869166298,-6.50300486543e-05,1793193684732820992
+201,3.350000000,POSE1_TO_POSE2_PRESS,764,742,710,675.443464158,656,629,879.556535842,782,799,649,628.443464158,651,0.445821958208,0.00478555462511,0.0796617242028,0.999999804866,0.000328306070274,-0.000527396060985,-6.5853622742e-05,1793193684749487872
+202,3.366666667,POSE1_TO_POSE2_PRESS,764,742.134377153,710,675.134377153,656,629,879.865622847,782,799.134377153,649.134377153,628,651,0.446081866587,0.00479137957649,0.0796625193603,0.99999980555,0.000333350918467,-0.000522863441879,-6.62583543578e-05,1793193684766154496
+203,3.383333333,POSE1_TO_POSE2_PRESS,764,742.722000915,710,675.722000915,656,629,879.277999085,782,799.722000915,649.722000915,628,651,0.446307338114,0.00479378863888,0.0796560812229,0.999999807475,0.00031942544736,-0.00052800564844,-6.50235240853e-05,1793193684782821376
+204,3.400000000,POSE1_TO_POSE2_PRESS,764,742.694815191,710,676,655.694815191,629,879,782,800,649.694815191,628,650.694815191,0.446517240035,0.00479624357115,0.0796523479084,0.999999807195,0.000319401574381,-0.000528687285484,-6.38930248748e-05,1793193684799488000
+205,3.416666667,POSE1_TO_POSE2_PRESS,764,742.115617704,710,676,655.115617704,629,879,782,800,649.115617704,628,650.115617704,0.446713162646,0.00479873968791,0.0796510431418,0.999999804956,0.000331859365835,-0.000525363963399,-6.28562002371e-05,1793193684816154368
+206,3.433333333,POSE1_TO_POSE2_PRESS,764,742,710.462161986,675.537838014,655,628.537838014,879.462161986,781.537838014,800,649,628,650.462161986,0.446884516001,0.00480155846266,0.0796524510176,0.999999806656,0.000337677169896,-0.000518222661624,-6.40831043491e-05,1793193684832820736
+207,3.450000000,POSE1_TO_POSE2_PRESS,763.960509489,742.039490511,710.960509489,675.039490511,654.960509489,628,879.960509489,781,800.039490511,649,628,651,0.447046856828,0.00480435320151,0.0796541583281,0.999999808741,0.000341902575605,-0.000511176478696,-6.57262377994e-05,1793193684849487616
+208,3.466666667,POSE1_TO_POSE2_PRESS,763.384506363,742.615493637,710.384506363,675.615493637,654.384506363,628,879.384506363,781,800.615493637,649,628,651,0.447170003716,0.0048057281173,0.0796507423627,0.999999803314,0.000346992416332,-0.000518359181408,-6.53539220585e-05,1793193684866154240
+209,3.483333333,POSE1_TO_POSE2_PRESS,763.195371965,742.804628035,710,676,654.195371965,628,879,781,800.804628035,649,628,650.804628035,0.447283396785,0.00480703929698,0.0796473926296,0.999999798239,0.000351454084731,-0.000525156555084,-6.48988759983e-05,1793193684882821120
+210,3.500000000,POSE1_TO_POSE2_PRESS,763.78303124,742.21696876,710,676,654.78303124,628,879,781,800.21696876,649,628,650.21696876,0.447377205148,0.00480822250078,0.0796441758847,0.999999793968,0.000354654445515,-0.000531180225885,-6.42777158055e-05,1793193684899488000
+211,3.516666667,POSE1_TO_POSE2_PRESS,764,742,710,676,654.634498117,628,879.365501883,781,799.634498117,649.365501883,628,650.365501883,0.447460848987,0.00480826777959,0.0796427072901,0.999999792722,0.000355691450966,-0.000532900388119,-6.36956846568e-05,1793193684916154624
+212,3.533333333,POSE1_TO_POSE2_PRESS,764,742,710,676,654.055064375,628,879.944935625,781,799.055064375,649.944935625,628,650.944935625,0.447538543439,0.0048076470198,0.0796422619047,0.999999793264,0.000355462223507,-0.000532101664914,-6.31365560661e-05,1793193684932820992
+213,3.550000000,POSE1_TO_POSE2_PRESS,764,742,710,675.479875933,654,628,880,781.520124067,799.520124067,649.479875933,628,650.479875933,0.447596500325,0.00481138558511,0.079641788657,0.999999791761,0.000358074273948,-0.000533140059692,-6.34151641895e-05,1793193684949487616
+214,3.566666667,POSE1_TO_POSE2_PRESS,764,742,710.094698604,675.094698604,654,628,879.905301396,782,799.905301396,649,628,650.094698604,0.447649143075,0.00481485465005,0.0796412495481,0.999999790008,0.000360517643787,-0.000534755850928,-6.3611811109e-05,1793193684966154240
+215,3.583333333,POSE1_TO_POSE2_PRESS,764,742,710.668423009,675.668423009,654,628,879.331576991,782,799.331576991,649,628,650.668423009,0.447685389058,0.00481464484533,0.0796403920855,0.999999788111,0.000360598502109,-0.000538316503288,-6.29488673701e-05,1793193684982821120
+216,3.600000000,POSE1_TO_POSE2_PRESS,764,742,710.749761487,676,654,628,879.250238513,781.749761487,799.250238513,649,628,651,0.447717328707,0.00481438713551,0.079639652007,0.999999786941,0.000360093324213,-0.000540865870809,-6.25727076656e-05,1793193684999487744
+217,3.616666667,POSE1_TO_POSE2_PRESS,764,742,710.156866727,676,654,628,879.843133273,781.156866727,799.843133273,649,628,651,0.447743371609,0.00481406382838,0.0796390726646,0.999999786779,0.000358785676026,-0.000542030466988,-6.25892467121e-05,1793193685016154368
+218,3.633333333,POSE1_TO_POSE2_PRESS,764,742,710,676,654,628,879.574700761,781.425299239,800,649.425299239,628,650.574700761,0.447763078917,0.00481642939558,0.0796384373415,0.999999785817,0.000361328772853,-0.000542048623911,-6.31730345775e-05,1793193685032821248
+219,3.650000000,POSE1_TO_POSE2_PRESS,764,742,710,676,654,628,879,781.996428075,800,649.996428075,628,650,0.447780442081,0.00481982350092,0.0796377853683,0.999999784524,0.000365308210857,-0.000541673032743,-6.39739859446e-05,1793193685049488384
+220,3.666666667,POSE1_TO_POSE2_PRESS,764,742,710,676,654,628,879,781.423486417,800,649.423486417,628,650,0.447787470885,0.00483296992323,0.0796376896668,0.999999778425,0.000377414875758,-0.000544277970711,-6.68612491872e-05,1793193685066154496
+221,3.683333333,POSE1_TO_POSE2_PRESS,764,742,710.153867895,676,654,628,879,781,800,649,628,650,0.447793060943,0.00484454164725,0.079636778195,0.999999772519,0.000388190321416,-0.000547237163448,-6.92909130047e-05,1793193685082821120
+222,3.700000000,POSE1_TO_POSE2_PRESS,764,742,710.743725511,676,654,628,879,781,800,649,628,650,0.447794574268,0.00485165140988,0.0796335552118,0.99999976752,0.000395193711817,-0.000551200148423,-7.04239533958e-05,1793193685099487744
+223,3.716666667,POSE1_TO_POSE2_PRESS,764,742,710.671883926,676,654,628,879,781.328116074,800,649,628,650.328116074,0.447798225115,0.00485074180721,0.0796336433335,0.999999768291,0.000393745170231,-0.00055087931989,-7.01002292555e-05,1793193685116154112
+224,3.733333333,POSE1_TO_POSE2_PRESS,764,742,710.091693351,676,654,628,879,781.908306649,800,649,628,650.908306649,0.447803518107,0.00484367134439,0.0796362752044,0.99999977347,0.000385803449978,-0.00054726746083,-6.86573488732e-05,1793193685132820992
+225,3.750000000,POSE1_TO_POSE2_PRESS,764,742.482492677,710,675.517507323,654,628,879,782,799.517507323,649,628,650.517507323,0.4478046655,0.00484481411259,0.0796362493906,0.99999977189,0.000387808046273,-0.000548734169803,-6.86769940972e-05,1793193685149487616
+226,3.766666667,POSE1_TO_POSE2_PRESS,764,742.944122452,710,675.055877548,653.944122452,628,879,781.944122452,799,649,628,650.055877548,0.447805140682,0.00484738897654,0.0796357370913,0.999999769298,0.000391546728871,-0.000550765839448,-6.89375698217e-05,1793193685166154240
+227,3.783333333,POSE1_TO_POSE2_PRESS,764,742.367700965,710,675.632299035,653.367700965,628,879,781.367700965,799,649,628,650.632299035,0.447806602783,0.00484894312457,0.0796353400763,0.999999769191,0.000394047468852,-0.000549180077062,-6.88852019227e-05,1793193685182821120
+228,3.800000000,POSE1_TO_POSE2_PRESS,763.784554507,742,710,676,653.215445493,628,879.215445493,781,799.215445493,649,628,651,0.447807735443,0.00484858473753,0.079634931159,0.999999769744,0.000393657819897,-0.00054846982727,-6.87484785733e-05,1793193685199487488
+229,3.816666667,POSE1_TO_POSE2_PRESS,763.189560765,742,710,676,653.810439235,628,879.810439235,781,799.810439235,649,628,651,0.44780828773,0.00484485705581,0.0796345012735,0.99999977145,0.000388176200467,-0.000549301959663,-6.84631470421e-05,1793193685216154112
+230,3.833333333,POSE1_TO_POSE2_PRESS,763.392663034,742,710,675.607336966,654,628,879.607336966,781,799.607336966,649,628,650.607336966,0.447808284628,0.00484599925641,0.07963408099,0.999999770073,0.0003904018731,-0.000550240284446,-6.83756521551e-05,1793193685232820736
+231,3.850000000,POSE1_TO_POSE2_PRESS,763.968916213,742,710,675.031083787,654,628,879.031083787,781,799.031083787,649,628,650.031083787,0.447808021853,0.00484941837734,0.0796336651959,0.999999767236,0.000396231100944,-0.000551228259594,-6.83806560715e-05,1793193685249487616
+232,3.866666667,POSE1_TO_POSE2_PRESS,764,742,710,675.542058894,653.457941106,628,879.542058894,781,799.542058894,649,628.542058894,650.542058894,0.44780832104,0.00484625310339,0.0796337314017,0.999999769007,0.000391502015401,-0.000551462507775,-6.7825560131e-05,1793193685266154240
+233,3.883333333,POSE1_TO_POSE2_PRESS,764,742,710,675.881138626,653,628,879.881138626,781,800,649,628.881138626,651,0.447808560302,0.00484369029424,0.0796337178104,0.999999770659,0.000387037022446,-0.000551655242451,-6.75272692646e-05,1793193685282821120
+234,3.900000000,POSE1_TO_POSE2_PRESS,764,742,710,675.28905962,653,628,879.28905962,781,800,649,628.28905962,651,0.447808433416,0.00484502069947,0.0796332771134,0.999999770885,0.000386020170602,-0.000551853795969,-6.8378527181e-05,1793193685299488000
+235,3.916666667,POSE1_TO_POSE2_PRESS,764,742,710,675,653,628,879,781.295995752,799.704004248,649,628,651,0.447809180869,0.00484523625362,0.0796333965331,0.999999771027,0.000386719685865,-0.000551122249976,-6.82565087436e-05,1793193685316154624
+236,3.933333333,POSE1_TO_POSE2_PRESS,764,742,710,675,653,628,879,781.874351129,799.125648871,649,628,651,0.44781076238,0.00484438831653,0.0796340502655,0.999999771082,0.000389056497384,-0.000549503452928,-6.72060515882e-05,1793193685332820992
+237,3.950000000,POSE1_TO_POSE2_PRESS,764,742,710,675,653,628,879,781.549477262,799.450522738,649,628,650.549477262,0.447812208837,0.00484339943182,0.0796346393724,0.999999771588,0.000388432906831,-0.000549050265089,-6.69907327436e-05,1793193685349487360
+238,3.966666667,POSE1_TO_POSE2_PRESS,764,742,710,675.025990908,653,628,879,781,800,649.025990908,628,650.025990908,0.447813428191,0.00484250154646,0.0796351012241,0.999999772086,0.000387124363462,-0.000549065174697,-6.70109963986e-05,1793193685366153728
+239,3.983333333,POSE1_TO_POSE2_PRESS,764,742,710,675.599409752,653,628,879,781,800,649.599409752,628,650.599409752,0.447810653724,0.0048443442722,0.0796332605823,0.999999769785,0.000388695200322,-0.000552125314591,-6.71110761933e-05,1793193685382820608
+240,4.000000000,POSE1_TO_POSE2_PRESS,764,742,710,676,653,628,879,781,799.820942175,649.820942175,628,651,0.447808667217,0.00484499233896,0.0796319271828,0.999999768499,0.000388770703965,-0.000554381917557,-6.72267979243e-05,1793193685399487232
+241,4.016666667,POSE1_TO_POSE2_PRESS,764,742,710,676,653,628,879,781,799.22685574,649.22685574,628,651,0.44780850708,0.0048428713691,0.0796317694934,0.999999769583,0.000385380254184,-0.000554776044841,-6.73787752626e-05,1793193685416153856
+242,4.033333333,POSE1_TO_POSE2_PRESS,763.642463505,742,710,676,653.357536495,627.642463505,879,781,799.357536495,649,628,650.642463505,0.447808332673,0.00484371581969,0.079631232536,0.999999768847,0.000386545023161,-0.000555281788192,-6.74609434971e-05,1793193685432820736
+243,4.050000000,POSE1_TO_POSE2_PRESS,763.064059857,742,710,676,653.935940143,627.064059857,879,781,799.935940143,649,628,650.064059857,0.447808149451,0.00484639215042,0.0796304612869,0.999999766979,0.000390523765705,-0.000555856482031,-6.749998735e-05,1793193685449487872
+244,4.066666667,POSE1_TO_POSE2_PRESS,763.507524439,742,710,676,653.492475561,627.507524439,879,781,800,649,628,650,0.447809487714,0.00484563073531,0.0796310812696,0.999999767662,0.000390010925429,-0.000555006859455,-6.73362248897e-05,1793193685466154240
+245,4.083333333,POSE1_TO_POSE2_PRESS,764,742,710,676,653,628,879,781,799.918848517,649,628,650,0.447810872177,0.00484458251509,0.0796319196546,0.999999768692,0.000388990715686,-0.000553889449001,-6.71430707193e-05,1793193685482820608
+246,4.100000000,POSE1_TO_POSE2_PRESS,764,742,710,676,653,628,879,781,799.327022288,649,628,650,0.447811354904,0.00484442382243,0.079633042029,0.999999769909,0.000388298003431,-0.000552203203203,-6.69239092601e-05,1793193685499487488
+247,4.116666667,POSE1_TO_POSE2_PRESS,763.74077514,742.25922486,710.25922486,676,653,628,879,781.25922486,799,649,628,650,0.447811550289,0.00484476808399,0.0796336222621,0.999999770252,0.000388462930097,-0.000551473649765,-6.68565122025e-05,1793193685516154112
+248,4.133333333,POSE1_TO_POSE2_PRESS,763.161417858,742.838582142,710.838582142,676,653,628,879,781.838582142,799,649,628,650,0.44781139082,0.00484573347405,0.0796335329725,0.999999769518,0.000389687006733,-0.000551925573231,-6.69765381337e-05,1793193685532820736
+249,4.150000000,POSE1_TO_POSE2_PRESS,763.416140103,742.167719794,710.583859897,676,653,628,879,781.583859897,799,649,628,650.416140103,0.447811433038,0.00484326291739,0.0796328147816,0.99999977085,0.000385442407474,-0.000552511167532,-6.68237739049e-05,1793193685549487360
+250,4.166666667,POSE1_TO_POSE2_PRESS,763.99300309,741.01399382,710.00699691,676,653,628,879,781.00699691,799,649,628,650.99300309,0.447811553151,0.00483946531898,0.0796318536944,0.999999772945,0.000379085679658,-0.00055314838854,-6.65656518296e-05,1793193685566153728
+251,4.183333333,HOLD_POSE2,763,742,710,675,653,627,879,781,799,649,628,651,0.447813630089,0.00484437091932,0.0796336416106,0.999999770869,0.000386787108262,-0.000551444659719,-6.7571023105e-05,1793193685595514880
+252,4.200000000,HOLD_POSE2,763.570816674,742.570816674,710,675.570816674,653,627.570816674,879,781.570816674,799.570816674,649,628,651,0.447812585454,0.00484261282253,0.0796333593797,0.999999771523,0.000383963076698,-0.000552289132179,-6.71105421221e-05,1793193685612181504
+253,4.216666667,HOLD_POSE2,763.851150395,742.851150395,710,676,653,627.851150395,879,781.851150395,800,649,628,651,0.447812168283,0.00484162790667,0.0796330890745,0.999999771891,0.000382518839311,-0.000552657472429,-6.68282595049e-05,1793193685628848128
+254,4.233333333,HOLD_POSE2,763.251250315,742.251250315,710,676,653,627.251250315,879,781.251250315,800,649,628,651,0.447813652479,0.00484298591647,0.0796328549071,0.999999771417,0.000385255712926,-0.000551583016586,-6.70859611316e-05,1793193685645514752
+255,4.250000000,HOLD_POSE2,763.333366729,742,710,676,653,627,879.333366729,781,800,649,628,651,0.447814519131,0.0048438118048,0.0796331084091,0.999999770925,0.000387208858882,-0.000551138195111,-6.6821921273e-05,1793193685662181120
+256,4.266666667,HOLD_POSE2,763.906970198,742,710,676,653,627,879.906970198,781,800,649,628,651,0.447814940756,0.00484425422609,0.0796337133441,0.999999770424,0.000388597220722,-0.000551147112169,-6.61818946455e-05,1793193685678847488
+257,4.283333333,HOLD_POSE2,764,742,710,676,653,627.482667392,880,781,800,649,628,651,0.447813405253,0.00484263911927,0.0796332054137,0.99999977075,0.000385865846483,-0.000552497229801,-6.59896052183e-05,1793193685695514112
+258,4.300000000,HOLD_POSE2,763.939312684,742,710,676,653,628,880,781,799.939312684,649.060687316,628,651,0.447811910112,0.00484089580897,0.079632749476,0.999999771253,0.000382871175428,-0.000553678736057,-6.59085581294e-05,1793193685712180736
+259,4.316666667,HOLD_POSE2,763.344414257,742,710,676,653,628,880,781,799.344414257,649.655585743,628,651,0.447814105262,0.00484153005283,0.0796346475695,0.999999772018,0.000384578938128,-0.000551090564859,-6.6043784505e-05,1793193685728847360
+260,4.333333333,HOLD_POSE2,763,742,710,676.242871293,653.242871293,627.757128707,880,781,799,649.757128707,628,651,0.447815606109,0.0048420216723,0.0796353871018,0.999999772606,0.000384835436691,-0.000549805325218,-6.63669081965e-05,1793193685745514240
+261,4.350000000,HOLD_POSE2,763,742,710,676.819689134,653.819689134,627.180310866,880,781,799,649.180310866,628,651,0.447816152294,0.00484231718404,0.0796345336195,0.999999772956,0.000383096455766,-0.000550311608746,-6.6948389542e-05,1793193685762181120
+262,4.366666667,HOLD_POSE2,763.395339401,742.395339401,710,676.604660599,653.604660599,627.395339401,879.604660599,781.395339401,799,649,628,651,0.44781596783,0.00484163311325,0.0796340778508,0.999999772858,0.000382600906106,-0.000550880174804,-6.65747944281e-05,1793193685778847744
+263,4.383333333,HOLD_POSE2,763.970458764,742.970458764,710,676.029541236,653.029541236,627.970458764,879.029541236,781.970458764,799,649,628,651,0.447815451105,0.00484050357887,0.0796338029416,0.999999772555,0.00038267080468,-0.000551477063787,-6.57668798656e-05,1793193685795514368
+264,4.400000000,HOLD_POSE2,764,742.438710527,710,676,653,628,879,782,799.561289473,649,628,651,0.447813592042,0.00484050158691,0.0796321587299,0.999999770997,0.000383363168244,-0.000553793576958,-6.59704423155e-05,1793193685812180992
+265,4.416666667,HOLD_POSE2,763.850315153,742,710,676,653,628,879,781.850315153,799.850315153,649,628,651,0.447812549469,0.0048407132899,0.0796312925199,0.99999977012,0.000383818842044,-0.00055503929602,-6.61440230746e-05,1793193685828847872
+266,4.433333333,HOLD_POSE2,763.271343824,742,710,676,653,628,879,781.271343824,799.271343824,649,628,651,0.447814056985,0.0048413627612,0.0796328702058,0.999999771406,0.000383499043,-0.000552947008306,-6.60745469469e-05,1793193685845514496
+267,4.450000000,POSE2_TO_POSE3_RETREAT,763,742,710,676,654,628,879,781,799,649,628,650,0.447815939475,0.00484043670532,0.0796336476236,0.999999773866,0.000380479641359,-0.000550602208083,-6.58858027201e-05,1793193685884707328
+268,4.466666667,POSE2_TO_POSE3_RETREAT,763.641679229,742,710,676,653.358320771,627.358320771,879,781,799.641679229,649.641679229,628,650,0.447813899048,0.00484161947653,0.0796328237624,0.999999770714,0.000384381075243,-0.000553624808308,-6.57508661331e-05,1793193685901374464
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764.255538884,742,710,676,653,627.255538884,879,781,800,649.744461116,628.255538884,650,0.447813446694,0.00484256528874,0.0796327895741,0.999999769637,0.000386237087215,-0.000554277821563,-6.57527999199e-05,1793193685918041088
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764.834219392,742,710,676,653,627.834219392,879,781,800,649.165780608,628.834219392,650,0.447815002537,0.00484321145467,0.0796337539664,0.999999771203,0.00038550656202,-0.000551934374698,-6.59278130825e-05,1793193685934707456
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764.587488977,742,710,676,653,627.587488977,879,781,800,649,628.587488977,650.412511023,0.447814310562,0.00484239240627,0.079633183132,0.999999771593,0.00038363402781,-0.000552517290337,-6.60515102384e-05,1793193685951374080
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764.009353515,742,710,676,653,627.009353515,879,781,800,649,628.009353515,650.990646485,0.447812716083,0.00484098506978,0.0796319958991,0.999999771505,0.000381302973526,-0.000554275149617,-6.61546038496e-05,1793193685968040960
+273,4.550000000,POSE2_TO_POSE3_RETREAT,763.436413582,742.563586418,710,676,653,627,879,781,800,649,628,651,0.447813597138,0.00484100143242,0.0796333438758,0.99999977175,0.000382931231979,-0.000552712676747,-6.61285434836e-05,1793193685984707584
+274,4.566666667,POSE2_TO_POSE3_RETREAT,763.140668783,742.859331217,710,675.859331217,653,627.140668783,879.140668783,781,799.859331217,649,628,651,0.447813297474,0.00484123085289,0.0796336995442,0.999999771185,0.000384873878041,-0.000552396366448,-6.60271199254e-05,1793193686001374208
+275,4.583333333,POSE2_TO_POSE3_RETREAT,763.731274188,742.268725812,710,675.268725812,653,627.731274188,879.731274188,781,799.268725812,649,628,651,0.447809091005,0.00484206686422,0.0796307479107,0.999999768018,0.000387613851209,-0.000556240622083,-6.56914366204e-05,1793193686018040576
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764,742.315560135,710,675.315560135,653,628,880,781,799.315560135,649.315560135,628,651,0.447793990978,0.00484230616793,0.0796221567162,0.999999760514,0.000388125485665,-0.000569216936021,-6.57498966121e-05,1793193686034707200
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764,742.894570162,710,675.894570162,653,628,880,781,799.894570162,649.894570162,628,651,0.447769796309,0.00484204730172,0.0796088572539,0.999999749073,0.000386776759406,-0.00058981727912,-6.61374127704e-05,1793193686051373824
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764,742.529847665,710,676,653,628,880,781,800.470152335,650,628,651,0.447724105999,0.00484135191225,0.0795890773533,0.999999729475,0.000385085971201,-0.000623231428169,-6.58833635505e-05,1793193686068040704
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764,742,710,675.955076225,653,628,879.955076225,781,800.91015245,649.955076225,628,650.955076225,0.447672249102,0.00484064730104,0.0795681742953,0.999999707321,0.000383535338959,-0.000658766775814,-6.54515751883e-05,1793193686084707328
+280,4.666666667,POSE2_TO_POSE3_RETREAT,764,742,710,675.380866261,653,628,879.380866261,781,799.761732522,649.380866261,628,650.380866261,0.447604119555,0.00484097900468,0.0795510360014,0.999999688898,0.00038453321235,-0.000685684258708,-6.46084599684e-05,1793193686101373952
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764.199388292,742,710,675.199388292,653,628,879,781,799.398776584,649.199388292,628,650.199388292,0.447533718347,0.00484109354302,0.079539247219,0.999999676074,0.000386477344508,-0.000703198443472,-6.32351988071e-05,1793193686118040832
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764.79155014,742,710,675.79155014,653,628,879,781,800.583100279,649.79155014,628,650.79155014,0.447458842196,0.00484078028906,0.0795379963978,0.999999675454,0.000390285505601,-0.000702189144822,-6.08176069132e-05,1793193686134707456
+283,4.716666667,POSE2_TO_POSE3_RETREAT,764.625688316,742,710,675.625688316,653,627.625688316,879.374311684,781,800.625688316,649.625688316,628,651,0.447368373929,0.00483937576972,0.0795378201288,0.999999674948,0.000393079005382,-0.000701620248963,-5.76413900414e-05,1793193686151374080
+284,4.733333333,POSE2_TO_POSE3_RETREAT,764.04803348,742,710,675.04803348,653,627.04803348,879.95196652,781,800.04803348,649.04803348,628,651,0.447269435319,0.00483737842534,0.0795382276056,0.999999674495,0.000395321294702,-0.000701290600012,-5.40530536799e-05,1793193686168040448
+285,4.750000000,POSE2_TO_POSE3_RETREAT,764,742,710,675.526979179,653.526979179,627.526979179,879.473020821,781,800,649.526979179,628,650.473020821,0.447144984523,0.00483478667195,0.0795378794484,0.999999673697,0.000396241945158,-0.000702252146723,-4.9403199987e-05,1793193686184707328
+286,4.766666667,POSE2_TO_POSE3_RETREAT,763.895599983,742,710.104400017,676,654,628,879,781,800,649.895599983,628,650.104400017,0.447010782315,0.00483229660903,0.0795372923029,0.999999672282,0.000397305000844,-0.000703992041634,-4.4502075017e-05,1793193686201373952
+287,4.783333333,POSE2_TO_POSE3_RETREAT,763.305870157,742,710.694129843,676,654,628,879,781,800,649.305870157,628,650.694129843,0.446842004503,0.00483052989119,0.0795359127458,0.999999668206,0.00039958728453,-0.000708805898364,-3.88804028164e-05,1793193686218040576
+288,4.800000000,POSE2_TO_POSE3_RETREAT,763.278581918,742,710.721418082,676,654,628,879,781,800,649,628,650.721418082,0.446656897152,0.00482797835281,0.0795354812915,0.999999664612,0.000402490764292,-0.000712540778154,-3.26029327883e-05,1793193686234707712
+289,4.816666667,POSE2_TO_POSE3_RETREAT,763.857346966,742,710.142653034,676,654,628,879,781,800,649,628,650.142653034,0.446454194082,0.0048245811391,0.0795360714559,0.999999661535,0.000406063607462,-0.000715113016932,-2.56188148011e-05,1793193686251374592
+290,4.833333333,POSE2_TO_POSE3_RETREAT,764,741.56464367,710,676,654,628,879,781,799.56464367,649,628.43535633,650.43535633,0.44621665043,0.00482090494483,0.0795387532438,0.999999656171,0.000412096892695,-0.000719409597055,-1.68629526513e-05,1793193686268041216
+291,4.850000000,POSE2_TO_POSE3_RETREAT,764,741.013074682,710,676,654,628,879,781,799,649.013074682,628.986925318,651,0.445966862079,0.00481709555419,0.0795420372323,0.999999649946,0.000418904835417,-0.000724271919982,-7.53407699073e-06,1793193686284707328
+292,4.866666667,POSE2_TO_POSE3_RETREAT,764,741.588904766,710,676,654,628,879,781,799,649.588904766,628.411095234,651,0.445680563203,0.0048114809545,0.0795417929452,0.999999644063,0.00042441472558,-0.000729207728328,1.51382406434e-06,1793193686301373952
+293,4.883333333,POSE2_TO_POSE3_RETREAT,764,742,710,676,654.168349625,628,879,781.168349625,799,649.831650375,628,651,0.445380926273,0.00480099950344,0.0795430515289,0.999999643543,0.000422711185559,-0.000730841667094,1.00120818783e-05,1793193686318040320
+294,4.900000000,POSE2_TO_POSE3_RETREAT,764,742,710,676,654.756815271,628,879,781.756815271,799,649.243184729,628,651,0.44504800421,0.00477837283722,0.0795480605223,0.999999656387,0.000403006551818,-0.000724235800576,1.7138708416e-05,1793193686334707200
+295,4.916666667,POSE2_TO_POSE3_RETREAT,763.660660576,742,710,675.660660576,655,628.339339424,879,782,799.678678847,649,628,650.660660576,0.444691588046,0.00474879024627,0.0795519855058,0.999999679016,0.000354977142941,-0.000718077120072,1.80121169381e-05,1793193686351374336
+296,4.933333333,POSE2_TO_POSE3_RETREAT,763.082321109,742,710,675.082321109,655,628.917678891,879,782,800.835357782,649,628,650.082321109,0.444318624779,0.0047143085315,0.0795551470103,0.999999705073,0.000286998320449,-0.000712233394917,1.44813229385e-05,1793193686368041472
+297,4.950000000,POSE2_TO_POSE3_RETREAT,763,742.493541228,710,675.493541228,655.493541228,629,879,782,800.506458772,649,628,650.493541228,0.443910466303,0.00470772848217,0.079561401696,0.999999710205,0.000282270753308,-0.000706825157398,1.76701651435e-05,1793193686384708608
+298,4.966666667,POSE2_TO_POSE3_RETREAT,763.069165598,742.930834402,710,675.930834402,656,629,879,782,800,649,628,650.930834402,0.443493833519,0.00470549578815,0.0795683224512,0.99999971237,0.00028993231079,-0.000700524555316,2.15533163302e-05,1793193686401375488
+299,4.983333333,POSE2_TO_POSE3_RETREAT,763.646061012,742.353938988,710,675.353938988,656,629,879,782,800,649,628,650.353938988,0.443057871144,0.00470118336074,0.0795763642414,0.999999715158,0.000311480458638,-0.000687142737389,2.2346675022e-05,1793193686418041600
+300,5.000000000,POSE2_TO_POSE3_RETREAT,763.772179778,742,710,675.227820222,656,629,879,782,799.772179778,649,628.227820222,650,0.442594886651,0.00469292698512,0.079590311733,0.999999732745,0.000308154688112,-0.000662595291342,2.2762397659e-05,1793193686434707712
+301,5.016666667,POSE2_TO_POSE3_RETREAT,763.182699441,742,710,675.817300559,656,629,879,782,799.182699441,649,628.817300559,650,0.442089005119,0.00467840966982,0.0796136344083,0.999999772142,0.000265342059562,-0.000620322630755,2.25786303837e-05,1793193686451374592
+302,5.033333333,POSE2_TO_POSE3_RETREAT,763.399935523,742,710,676,656,629.399935523,879.399935523,782,799,649,629,650,0.44154787258,0.00467029982272,0.0796273515073,0.999999793618,0.000236772482079,-0.000596799446349,2.31033069309e-05,1793193686468040704
+303,5.050000000,POSE2_TO_POSE3_RETREAT,763.979496042,742,710,676,656,629.979496042,879.979496042,782,799,649,629,650,0.440990907538,0.00466506779188,0.0796367544089,0.999999807501,0.000214599952144,-0.000581697302437,2.3946170309e-05,1793193686484706816
+304,5.066666667,POSE2_TO_POSE3_RETREAT,764,742,710,676,656.553226558,630.553226558,878.893546884,782,799.553226558,649,628.446773442,650,0.440358143178,0.00465307365614,0.0796121851538,0.999999782628,0.000236899433469,-0.000614826520817,2.47082473774e-05,1793193686501374720
+305,5.083333333,POSE2_TO_POSE3_RETREAT,763.873003098,742,710,676,657,631,878.253993804,782,799.873003098,649,628,650,0.439722204761,0.00464151868569,0.0795924025636,0.999999763969,0.000247983528471,-0.000640261473758,2.51427399336e-05,1793193686518042112
+306,5.100000000,POSE2_TO_POSE3_RETREAT,763.298338477,742,710,676,657,631,879.403323046,782,799.298338477,649,628,650,0.439084877167,0.00463238601381,0.0795938851525,0.999999776924,0.000213783555605,-0.000632338391848,2.44329323908e-05,1793193686534708480
+307,5.116666667,POSE2_TO_POSE3_RETREAT,763.286797584,742,710,675.713202416,657.286797584,631,879.713202416,782,799,649,628,650,0.438449941002,0.00462233099727,0.0796308602919,0.999999816446,0.000192448832031,-0.000573926244164,2.60745312823e-05,1793193686551375104
+308,5.133333333,POSE2_TO_POSE3_RETREAT,763.883239211,742,710,675.116760789,657.883239211,631,879.116760789,782,799,649,628,650,0.437817586808,0.00461128016211,0.0797061553385,0.999999876167,0.000185004211251,-0.000461003038428,3.02548508111e-05,1793193686568041728
+309,5.150000000,POSE2_TO_POSE3_RETREAT,763.536924758,742,710.463075242,675,657.536924758,631,879,782.463075242,799,649,628,650,0.437156617527,0.00460129575986,0.0797717219349,0.999999919414,0.000173708062955,-0.000360636807955,3.06448639896e-05,1793193686584708096
+310,5.166666667,POSE2_TO_POSE3_RETREAT,763,742,711,675,657.038754214,631,878.961245786,783,799.038754214,649,628.038754214,650,0.436482269898,0.00459150898164,0.0798311298489,0.999999950397,0.000161105970336,-0.000268931634768,3.04364055417e-05,1793193686601374208
+311,5.183333333,POSE2_TO_POSE3_RETREAT,763,742,711,675,657.612844264,631,878.387155736,783,799.612844264,649,628.612844264,650,0.435719334765,0.00458086630861,0.0798381752406,0.999999956692,0.00014341453323,-0.000254645166411,3.47054964538e-05,1793193686618040832
+312,5.200000000,POSE2_TO_POSE3_RETREAT,763,742.192780006,711,675,658,631,878.192780006,783,799.807219994,649,628.807219994,650,0.434943692571,0.00457100358997,0.0798375235668,0.999999958843,0.000133289646936,-0.000251379318797,3.68383234342e-05,1793193686634707712
+313,5.216666667,POSE2_TO_POSE3_RETREAT,763,742.784822563,711,675,658,631,878.784822563,783,799.215177437,649,628.215177437,650,0.434141733149,0.00456275621953,0.0798209306641,0.999999953062,0.000138835684699,-0.000270938045339,3.45467793089e-05,1793193686651374848
+314,5.233333333,POSE2_TO_POSE3_RETREAT,763.364980952,742.635019048,710.635019048,674.635019048,658,631.364980952,878.635019048,783,799,649.364980952,628,650,0.43327327596,0.00455241860609,0.0797954412083,0.999999941113,0.000122153915284,-0.000318790505267,3.50069610496e-05,1793193686668041728
+315,5.250000000,POSE2_TO_POSE3_RETREAT,763.938353932,742.061646068,710.061646068,674.061646068,658,631.938353932,878.061646068,783,799,649.938353932,628,650,0.432366850674,0.0045408875324,0.079764872114,0.999999921743,9.27808047412e-05,-0.000382797749793,3.70382867028e-05,1793193686684708608
+316,5.266666667,POSE2_TO_POSE3_RETREAT,763.484112447,742,710.515887553,674.515887553,658,631.484112447,878,783.515887553,799,649.484112447,628.515887553,650,0.431454180719,0.00453137418218,0.0797317239253,0.99999989551,9.60920611198e-05,-0.000445312936535,3.79805854242e-05,1793193686701374464
+317,5.283333333,POSE2_TO_POSE3_RETREAT,763,742.095290783,710.904709217,675,658,631,878,783.904709217,799,649,629,650,0.430563800863,0.00452151292866,0.0797140291484,0.999999879426,9.79560419767e-05,-0.00047963596372,3.8767773584e-05,1793193686718040832
+318,5.300000000,POSE2_TO_POSE3_RETREAT,763,742.681747434,710.318252566,675,658,631,878,783.318252566,799,649,629,650,0.429792190053,0.0045086055722,0.0797775887151,0.999999928334,7.20654167979e-05,-0.000369572095121,3.94316742633e-05,1793193686734707712
+319,5.316666667,POSE2_TO_POSE3_RETREAT,763.266500083,742.733499917,710.266500083,674.733499917,658.266500083,631.266500083,878,783.266500083,799,649,629,650,0.428972515404,0.0044957557504,0.0798299390652,0.999999957531,5.42179809584e-05,-0.000283468033036,4.05497969444e-05,1793193686751374592
+320,5.333333333,POSE2_TO_POSE3_RETREAT,763.849230715,742.150769285,710.849230715,674.150769285,658.849230715,631.849230715,878,783.849230715,799,649,629,650,0.42809580797,0.00448297420034,0.0798689884899,0.999999972564,4.59146426326e-05,-0.000225794826864,4.22069024212e-05,1793193686768040960
+321,5.350000000,POSE2_TO_POSE3_RETREAT,763.572654286,742,710.572654286,674,659,632,878,784,799,649,628.572654286,650,0.427146484152,0.00447082350072,0.0798418563148,0.999999964074,2.89625825055e-05,-0.000263212616931,4.16200961513e-05,1793193686784707584
+322,5.366666667,POSE2_TO_POSE3_RETREAT,762.996179319,742,710.003820681,674,658.996179319,632,878,783.996179319,799,649,628,650,0.426172029183,0.00445887982993,0.0797917737912,0.999999943482,9.08003000914e-06,-0.000333666134356,4.02640356677e-05,1793193686801374208
+323,5.383333333,POSE2_TO_POSE3_RETREAT,762.424018987,742,710.575981013,674,658.424018987,632,878,783.424018987,799,649,628,650,0.425229471534,0.00444497859457,0.0797638990225,0.999999926512,2.31858474674e-06,-0.000381169926056,4.09827695629e-05,1793193686818041088
+324,5.400000000,POSE2_TO_POSE3_RETREAT,762.153517677,742,711,674,658.153517677,632,878,783,799,649,628,650,0.42428845409,0.00443299926576,0.0797388509655,0.999999909337,-6.49383737288e-06,-0.000423763740884,4.13372686981e-05,1793193686834708224
+325,5.416666667,POSE2_TO_POSE3_RETREAT,762.746442699,742,711,674,658.746442699,632,878,783,799,649,628,650,0.423351845278,0.00442652093359,0.0797218936941,0.99999989666,-2.11766851813e-05,-0.000452303924233,4.06492337171e-05,1793193686851374848
+326,5.433333333,POSE2_TO_POSE3_RETREAT,763,742,711,674,659,632,878.331379627,783,799,649,628.331379627,650,0.422473062738,0.00441611073323,0.0797417493769,0.999999914138,-3.40323615074e-05,-0.000411043737309,4.01168903091e-05,1793193686868041472
+327,5.450000000,POSE2_TO_POSE3_RETREAT,763,742,711,674,659,632,878.910348341,783,799,649,628.910348341,650,0.42163748479,0.0044027628511,0.0797891097233,0.999999947731,-4.55228746083e-05,-0.000317632456894,3.97008709661e-05,1793193686884707840
+328,5.466666667,POSE2_TO_POSE3_RETREAT,763,742.48626821,711,674,659,632,878.027463581,783.48626821,799,648.51373179,629,650,0.420780284218,0.00442161210407,0.0798394486974,0.999999971379,-2.87202098933e-05,-0.000233937198229,4.1123483817e-05,1793193686901374720
+329,5.483333333,POSE2_TO_POSE3_RETREAT,763.062867116,742.937132884,711,674,659,631.937132884,877.062867116,783.937132884,799,648.062867116,629,650,0.419913303045,0.00444660441032,0.0798805121776,0.999999984854,-4.39824594385e-06,-0.000168664997056,4.27213989778e-05,1793193686918041344
+330,5.500000000,POSE2_TO_POSE3_RETREAT,763.64978309,742.35021691,711,674,659,631.35021691,877.64978309,783.35021691,799,648.64978309,629,650,0.418997815681,0.00447363034293,0.0798397076823,0.999999968989,3.93918803742e-05,-0.000242125017977,4.29725146217e-05,1793193686934707968
+331,5.516666667,POSE2_TO_POSE3_RETREAT,763.766843181,742,711,674,658.766843181,631.233156819,878,783,799,649,628.766843181,650,0.418095963898,0.00448681176645,0.0798092436166,0.999999953196,5.82062696373e-05,-0.000297412955559,4.20152398253e-05,1793193686951374592
+332,5.533333333,POSE2_TO_POSE3_RETREAT,763.188710547,742,711,674,658.188710547,631.811289453,878,783,799,649,628.188710547,650,0.417214287199,0.00447950903168,0.0797940791194,0.999999945349,4.0066878958e-05,-0.000325813711096,3.92700464783e-05,1793193686968041728
+333,5.550000000,POSE2_TO_POSE3_RETREAT,763,742,711,674,658,632,878.389075431,783,799,649,628.389075431,650,0.416341071312,0.00446876815555,0.0797883513063,0.999999939389,2.40984807115e-05,-0.000345132200164,3.90566724323e-05,1793193686984708096
+334,5.566666667,POSE2_TO_POSE3_RETREAT,763,742,711,674,658,632,878.966693405,783,799,649,628.966693405,650,0.415471955486,0.00445636118646,0.079787196428,0.999999934337,9.18212689908e-06,-0.000360049501677,4.00701959072e-05,1793193687001374464
+335,5.583333333,POSE2_TO_POSE3_RETREAT,763,742.540612827,711,674,658,632,878.459387173,783.540612827,799,649,628.459387173,650,0.414654217533,0.0044540251979,0.0797765491644,0.999999931379,-3.61585551907e-06,-0.000368471727279,3.81810397885e-05,1793193687018041344
+336,5.600000000,POSE2_TO_POSE3_RETREAT,763.117814628,742.882185372,711,674,658.117814628,632,877.882185372,783.882185372,799,649,628,650.117814628,0.413856406879,0.00445354250116,0.0797719540456,0.999999932162,-1.28229604192e-05,-0.000366312784341,3.64299730922e-05,1793193687034707968
+337,5.616666667,POSE2_TO_POSE3_RETREAT,763.709117467,742.290882533,711,674,658.709117467,632,877.290882533,783.290882533,799,649,628,650.709117467,0.413126047951,0.00445803139709,0.0797940164101,0.999999947083,-8.11954157733e-06,-0.00032322617663,3.5947703215e-05,1793193687051374592
+338,5.633333333,POSE2_TO_POSE3_RETREAT,763.706031867,742,711,674,659,632.293968133,877.293968133,783.293968133,799,649,628.293968133,651,0.412380454654,0.00446288812666,0.0798013363279,0.999999950599,6.42148043339e-08,-0.000312259269014,3.60004639742e-05,1793193687068041472
+339,5.650000000,POSE2_TO_POSE3_RETREAT,763.127428464,742,711,674,659,632.872571536,877.872571536,783.872571536,799,649,628.872571536,651,0.411620110561,0.00446810101247,0.0797943818429,0.999999944021,1.16178159795e-05,-0.000332392324742,3.65712692655e-05,1793193687084708352
+340,5.666666667,POSE2_TO_POSE3_RETREAT,763.448182719,742,711,673.551817281,659,632.551817281,878,784,799,649,629,651,0.41088819315,0.00446691440423,0.0797848374558,0.999999936923,1.41414676099e-05,-0.000352981342682,3.68443136103e-05,1793193687101374976
+341,5.683333333,POSE2_TO_POSE3_RETREAT,764,742,711,673,658.976574665,632,878,783.976574665,799,649,629,651,0.410168321983,0.00446384145511,0.0797760928082,0.999999930479,1.37384843511e-05,-0.000370783733485,3.7052108696e-05,1793193687118041344
+342,5.700000000,POSE2_TO_POSE3_RETREAT,764,742,711,673,658.389872302,632,878,783.389872302,799,649,629,651,0.409545053063,0.00445887160253,0.0798041673858,0.999999948564,4.28848312096e-06,-0.000318483331702,3.77131506904e-05,1793193687134708736
+343,5.716666667,POSE2_TO_POSE3_RETREAT,764,742,711,673.194431508,658.194431508,632,878,783.194431508,798.805568492,649,629,650.805568492,0.408923184434,0.00445668645627,0.0798251563111,0.999999959659,6.06733163674e-07,-0.000281458935282,3.82474483328e-05,1793193687151375616
+344,5.733333333,POSE2_TO_POSE3_RETREAT,764,742,711,673.773984334,658.773984334,632,878,783.773984334,798.226015666,649,629,650.226015666,0.408304089479,0.00446001713325,0.0798321102884,0.999999961495,8.3504804017e-06,-0.000274692578215,3.85306965101e-05,1793193687168041728
+345,5.750000000,POSE2_TO_POSE3_RETREAT,764,742,711,673.646354023,658.646354023,632,878,784,798.353645977,649,628.646354023,650.353645977,0.407683312208,0.00446538476443,0.079812522944,0.999999949997,1.63993053286e-05,-0.000313335757907,3.94773406728e-05,1793193687184707840
+346,5.766666667,POSE2_TO_POSE3_RETREAT,764,742,711,673.066622834,658.066622834,632,878,784,798.933377166,649,628.066622834,650.933377166,0.40706145946,0.0044720546165,0.079775967782,0.999999926278,2.46431654959e-05,-0.000381009168482,4.08480924895e-05,1793193687201374464
+347,5.783333333,POSE2_TO_POSE3_RETREAT,764,742,711,673,658,632,878,783.492045442,799,649.507954558,628.507954558,651,0.406532990439,0.00446911682735,0.0797645793759,0.999999922717,2.40972483232e-05,-0.000390481751109,3.88458840172e-05,1793193687218041088
+348,5.800000000,POSE2_TO_POSE3_RETREAT,764,742,711,673,658,632,878,783.083808963,799,649.916191037,629,650.916191037,0.40602601954,0.00446509615432,0.0797605320853,0.999999924357,2.0465704103e-05,-0.000386680664799,3.66881374725e-05,1793193687234707968
+349,5.816666667,POSE2_TO_POSE3_RETREAT,764,742,711,673,658,632,878,783.671360925,799,649.328639075,629,650.328639075,0.405575386451,0.00446206475776,0.0797809685527,0.999999938598,5.14744346251e-06,-0.000348518255612,3.62278641458e-05,1793193687251374592
+350,5.833333333,POSE2_TO_POSE3_RETREAT,764,742,711,673,658,632,878,783.743637293,799,649,629,650,0.405140341385,0.00446324810754,0.0798008469076,0.999999949631,5.47490051292e-06,-0.000315269085347,3.62350454792e-05,1793193687268041216
+351,5.850000000,POSE2_TO_POSE3_RETREAT,764,742,711,673,658,632,878,783.161872383,799,649,629,650,0.404725082198,0.00446978125116,0.0798200168508,0.999999957446,2.56615270612e-05,-0.000288256303867,3.68355688366e-05,1793193687284708096
+352,5.866666667,POSE2_TO_POSE3_RETREAT,763.584090087,742,711,673,658,632,878,783.415909913,799,649,629,650.415909913,0.404328754313,0.0044774354089,0.0798260099224,0.999999958268,3.61638427426e-05,-0.000284058081383,3.8298344128e-05,1793193687301374720
+353,5.883333333,POSE2_TO_POSE3_RETREAT,763.007843159,742,711,673,658,632,878,783.992156841,799,649,629,650.992156841,0.403939724641,0.00448552172728,0.0798269231902,0.999999956614,4.29327682262e-05,-0.000288655078393,4.0093525272e-05,1793193687318041344
+354,5.900000000,POSE2_TO_POSE3_RETREAT,763.566443807,742,711,673,658,632,878,783.433556193,799,649,629,650.433556193,0.403591422508,0.00448370854264,0.0798263323193,0.999999953507,5.5222385347e-05,-0.00029713295048,4.06085582158e-05,1793193687334707712
+355,5.916666667,POSE2_TO_POSE3_RETREAT,764,742,711,673,658,632,878,783,799.144937708,649,629,650.144937708,0.403257178327,0.00448147287583,0.0798259908436,0.999999950945,6.23590085477e-05,-0.00030419608508,4.10543712823e-05,1793193687351374080
+356,5.933333333,POSE2_TO_POSE3_RETREAT,764,742,711,673,658,632,878,783,799.736477914,649,629,650.736477914,0.402964519854,0.00447835630553,0.0798264817929,0.999999950677,5.33827705005e-05,-0.000306734923356,4.13413237656e-05,1793193687368040448
+357,5.950000000,POSE2_TO_POSE3_RETREAT,764,742,711,673,658,632,878,783.320551593,799.679448407,649,629,650.679448407,0.40269965206,0.00447260380048,0.0798274761043,0.999999951652,4.20326405226e-05,-0.000305198129969,4.22299072893e-05,1793193687384707072
+358,5.966666667,POSE2_TO_POSE3_RETREAT,764,742,711,673,658,632,878,783.898626812,799.101373188,649,629,650.101373188,0.402457110659,0.00446473364748,0.0798288748048,0.999999953519,2.8775381919e-05,-0.000300387069619,4.36018270503e-05,1793193687401373952
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764,742,711.472636378,673,658,632,878,784,799,649,628.527363622,650,0.402253362163,0.0044456574067,0.0798296472636,0.999999955071,-2.77696285065e-06,-0.00029650470037,4.39920953212e-05,1793193687418040832
+360,6.000000000,POSE2_TO_POSE3_RETREAT,764,742,711.952879093,673,658,632,878,784,799,649,628.047120907,650.047120907,0.402059881377,0.00442609976563,0.0798304017852,0.999999955523,-3.5131596745e-05,-0.00029284682696,4.42672190529e-05,1793193687434707456
+361,6.016666667,POSE2_TO_POSE3_RETREAT,764,742,711.362964585,673,658,632,878,784,799,649,628.637035415,650.637035415,0.401889648681,0.00442844737137,0.0798324837338,0.999999956545,-3.19120535064e-05,-0.000289500033165,4.56206385811e-05,1793193687451374080
+362,6.033333333,POSE2_TO_POSE3_RETREAT,764,742,711,673,658.222790728,632.222790728,878.222790728,784,799,649,629,650.777209272,0.401732326869,0.00443188921102,0.0798338142855,0.999999957266,-2.59666033996e-05,-0.000287343944535,4.71896158355e-05,1793193687468040448
+363,6.050000000,POSE2_TO_POSE3_RETREAT,764,742,711,673,658.801894266,632.801894266,878.801894266,784,799,649,629,650.198105734,0.401595653616,0.00443708107701,0.0798339431163,0.999999957461,-1.56615659091e-05,-0.000287092169371,4.91033382514e-05,1793193687484707072
+364,6.066666667,POSE2_TO_POSE3_RETREAT,764,742,711,673,658.62854704,632.62854704,878.62854704,784,799.37145296,649,628.62854704,650,0.401478329613,0.00444716008186,0.0798316457427,0.999999956708,-9.92519416585e-06,-0.000290192275087,4.76853518272e-05,1793193687501373696
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764,742,711,673,658.06395137,632.06395137,878.06395137,784,799.93604863,649,628.06395137,650,0.40137106656,0.0044597802298,0.0798280868266,0.999999955464,-6.56437143473e-06,-0.000295035243107,4.45349917638e-05,1793193687518040320
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764,742,711,673,658,632,877.481133352,784,800,649,628.518866648,650.518866648,0.401279089634,0.00447327119963,0.0798243611638,0.999999952949,7.16500014228e-06,-0.000303926015334,4.09872134004e-05,1793193687534707200
+367,6.116666667,POSE2_TO_POSE3_RETREAT,763.894797126,742,711,673,658,632,877.105202874,783.894797126,799.894797126,649,629,650.894797126,0.401194751936,0.00448323158985,0.0798211068894,0.999999950347,2.83812240306e-05,-0.000311511953446,3.82120015077e-05,1793193687551374080
+368,6.133333333,POSE2_TO_POSE3_RETREAT,763.302953889,742,711,673,658,632,877.697046111,783.302953889,799.302953889,649,629,650.302953889,0.401136718961,0.0044763459092,0.0798201316596,0.999999947922,7.81030306458e-05,-0.000310670301037,3.92453031131e-05,1793193687568040704
+369,6.150000000,POSE2_TO_POSE3_RETREAT,763.28273113,742,711,672.71726887,658.28273113,632,877.71726887,783.28273113,799,649,629,650.28273113,0.401087321655,0.00447261883401,0.0798187120664,0.999999945443,0.000102318610257,-0.000311503387811,4.01407983078e-05,1793193687584707072
+370,6.166666667,POSE2_TO_POSE3_RETREAT,763.86195808,742,711,672.13804192,658.86195808,632,877.13804192,783.86195808,799,649,629,650.86195808,0.401046980448,0.00447220414061,0.0798168264764,0.999999944858,9.97861959188e-05,-0.000314092748667,4.0891778035e-05,1793193687601373952
+371,6.183333333,POSE2_TO_POSE3_RETREAT,764,742,711,672.43757362,658.56242638,632,877.43757362,784,799.43757362,649,629,651,0.401019348759,0.00447148956292,0.0798174073874,0.999999945713,9.74223832167e-05,-0.000312077233488,4.11135875193e-05,1793193687618040576
+372,6.200000000,POSE2_TO_POSE3_RETREAT,764,742,711,673,658,632,878,784,799.987664355,649,629,650.987664355,0.400995854298,0.00447068961108,0.0798187315106,0.99999994697,9.51362371386e-05,-0.000308729454915,4.11823776251e-05,1793193687634707456
+373,6.216666667,POSE2_TO_POSE3_RETREAT,764,742,711,673,658,632,878,784,799.400010902,649,629,650.400010902,0.400979848266,0.00447028405346,0.0798187250816,0.999999946518,9.40120099091e-05,-0.000310444380924,4.18365824946e-05,1793193687651373824
+374,6.233333333,POSE2_TO_POSE3_RETREAT,764,742,711,673.184870179,658,632,878,783.815129821,799,649,629,650.184870179,0.400967702027,0.0044702232204,0.0798190931309,0.999999946577,9.27038756892e-05,-0.000310614765971,4.2085197265e-05,1793193687668040704
+375,6.250000000,POSE2_TO_POSE3_RETREAT,764,742,711,673.763841306,658,632,878,783.236158694,799,649,629,650.763841306,0.40096378398,0.00447089726118,0.0798202594821,0.999999947723,9.10036936062e-05,-0.000307492543179,4.14691868079e-05,1793193687684707328
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764,742.338383556,711,673.661616444,658,632,878,783.338383556,799,649,629,650.661616444,0.400960073769,0.00447058595204,0.0798209837186,0.999999948468,8.91465534649e-05,-0.000305611781392,4.14501002662e-05,1793193687701373952
+377,6.283333333,POSE2_TO_POSE3_RETREAT,764,742.909874779,711,673.090125221,658,632,878,783.909874779,799,649,629,650.090125221,0.400956506733,0.00446959584919,0.0798214033883,0.999999948938,8.71812872292e-05,-0.000304586244802,4.18422262427e-05,1793193687718040576
+378,6.300000000,POSE2_TO_POSE3_RETREAT,763.510294751,742.510294751,711,673,658,632,878,784,799,649.489705249,629,650,0.400954632115,0.00446992300164,0.0798216639041,0.999999948977,8.88767987988e-05,-0.000303965108179,4.18606631443e-05,1793193687734707200
+379,6.316666667,POSE2_TO_POSE3_RETREAT,763,742,711,673,658,632,878,784,798.927979383,649.927979383,628.927979383,650,0.400953525368,0.00447037286387,0.0798221049488,0.999999949085,9.08248878455e-05,-0.000303036263283,4.1828953807e-05,1793193687751373824
+380,6.333333333,POSE2_TO_POSE3_RETREAT,763,742,711,673,658,632,878,784,798.339035232,649.339035232,628.339035232,650,0.400955655665,0.00446993331693,0.0798240556022,0.999999950294,8.9666417733e-05,-0.000299355421348,4.19394929753e-05,1793193687768040704
+381,6.350000000,POSE2_TO_POSE3_RETREAT,763.246625961,742,711,673,658,632,878,784,798.246625961,649,628,650,0.40095644471,0.00446937668976,0.0798248456685,0.999999950995,8.77344652971e-05,-0.000297597483201,4.18031122233e-05,1793193687784707328
+382,6.366666667,POSE2_TO_POSE3_RETREAT,763.827833327,742,711,673,658,632,878,784,798.827833327,649,628,650,0.400955414167,0.00446866122751,0.0798240612416,0.999999951019,8.47531797759e-05,-0.000298448223908,4.13317512605e-05,1793193687801373952
+383,6.383333333,POSE2_TO_POSE3_RETREAT,763.596567412,742,711,673,658,632,878,784,799,649,628,650,0.400955327638,0.00447000878378,0.0798242847305,0.999999951151,8.54138087456e-05,-0.000297850088514,4.10844102525e-05,1793193687818040576
+384,6.400000000,POSE2_TO_POSE3_RETREAT,763.023328573,742,711,673,658,632,878,784,799,649,628,650,0.400955638447,0.00447222467202,0.0798249324548,0.999999951327,8.76073325705e-05,-0.00029664211595,4.0931360021e-05,1793193687834707200
+385,6.416666667,POSE2_TO_POSE3_RETREAT,763.550223296,742,711.550223296,672.449776704,658.550223296,632,877.449776704,784,799,649,628,650,0.400955264159,0.00446993812717,0.079825444297,0.999999951458,8.54154928203e-05,-0.000296822887257,4.10301567612e-05,1793193687851374592
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764,742,711.871576332,672.128423668,658.743152664,632,877.256847336,783.871576332,799,649,628,650,0.400955148291,0.00446883381887,0.0798259052164,0.99999995151,8.44967281917e-05,-0.000296897971705,4.11328667705e-05,1793193687868041472
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764,742,711.276534036,672.723465964,657.553068073,632,878.446931927,783.276534036,799,649,628,650,0.400956076974,0.00447271908748,0.0798262020558,0.999999951282,8.88795512439e-05,-0.000296374990251,4.1210975893e-05,1793193687884707584
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764,742,711,673,657.309387919,632,878.381224162,783.309387919,799,649,628.309387919,650,0.400955582115,0.00447330658176,0.0798259883184,0.999999951281,8.89894354946e-05,-0.000296349235637,4.11783093175e-05,1793193687901373952
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764,742,711,673,657.887391413,632,877.225217174,783.887391413,799,649,628.887391413,650,0.400953851315,0.00447103089503,0.0798253312898,0.99999995148,8.53894851976e-05,-0.000296755181406,4.10494654922e-05,1793193687918040832
+390,6.500000000,POSE2_TO_POSE3_RETREAT,763.538729982,742.461270018,711,673,658,632,877.922540035,784,799,649,629,650,0.400953438476,0.00446991840677,0.0798253867354,0.999999951549,8.39681762148e-05,-0.00029692461399,4.10765684086e-05,1793193687934707200
+391,6.516666667,POSE2_TO_POSE3_RETREAT,763.035264389,742.964735611,711,673,658,632,878.964735611,784,799,649,629,650.035264389,0.40095334733,0.00446916049084,0.0798256003587,0.99999995158,8.31902245726e-05,-0.000297029417655,4.11378570087e-05,1793193687951373568
+392,6.533333333,POSE2_TO_POSE3_RETREAT,763.626829832,742.373170168,711,673,658,632,878.373170168,784,799,649,629,650.626829832,0.400953300277,0.00446955606544,0.0798255897394,0.999999951495,8.42454341471e-05,-0.000297017463817,4.11431795189e-05,1793193687968040448
+393,6.550000000,POSE2_TO_POSE3_RETREAT,764,742,711,673,658,632,877.78654433,784,799,649,629,651,0.400953528132,0.00446988639868,0.0798258660866,0.999999951612,8.48592032041e-05,-0.000296451876439,4.11304581923e-05,1793193687984707072
+394,6.566666667,POSE2_TO_POSE3_RETREAT,764,742,711,673,658,632,877.208358814,784,799,649,629,651,0.40095422572,0.00447010525452,0.0798266327708,0.999999952072,8.47186865785e-05,-0.000294940300247,4.10869055181e-05,1793193688001373952
+395,6.583333333,POSE2_TO_POSE3_RETREAT,764,742,711,673,658,632,877.368790859,784,799,649.368790859,628.631209141,650.631209141,0.400955070056,0.00446996315208,0.0798270269151,0.999999952311,8.44287892021e-05,-0.000294239468678,4.09026436368e-05,1793193688018040832
+396,6.600000000,POSE2_TO_POSE3_RETREAT,764,742,711,673,658,632,877.945356995,784,799,649.945356995,628.054643005,650.054643005,0.400955997069,0.00446961768724,0.0798272111721,0.999999952425,8.40547313017e-05,-0.000293995407208,4.06391067533e-05,1793193688034707456
+397,6.616666667,POSE2_TO_POSE3_RETREAT,764,742,711,673,658,632,878,784,799,649.480734544,628.519265456,650.519265456,0.400954613946,0.00446872519831,0.0798267942028,0.999999952205,8.30315707481e-05,-0.000295003940842,4.0850415428e-05,1793193688051374080
+398,6.633333333,POSE2_TO_POSE3_RETREAT,763.90414277,742.09585723,711,672.90414277,658.09585723,632,878,783.90414277,799,649,629,650.90414277,0.400953832325,0.00446804202237,0.0798269114003,0.999999952245,8.20646126783e-05,-0.000295108286133,4.10656629802e-05,1793193688068040448
+399,6.650000000,POSE2_TO_POSE3_RETREAT,763.312224731,742.687775269,711,672.312224731,658.687775269,632,878,783.312224731,799,649,629,650.312224731,0.400957415102,0.00446873841709,0.0798301186532,0.999999953809,8.17401849177e-05,-0.000289854805936,4.104402353e-05,1793193688084707328
+400,6.666666667,POSE2_TO_POSE3_RETREAT,763.273418331,742.726581669,711,672.273418331,658.726581669,632,878,783.273418331,799.273418331,649,629,650.273418331,0.400958037184,0.00446957404178,0.079830534597,0.999999953974,8.22818243539e-05,-0.000289143854474,4.09680674622e-05,1793193688101373952
+401,6.683333333,POSE2_TO_POSE3_RETREAT,763.852056533,742.147943467,711,672.852056533,658.147943467,632,878,783.852056533,799.852056533,649,629,650.852056533,0.400955354207,0.00447056509039,0.0798278345718,0.999999952584,8.37902640878e-05,-0.000293503777807,4.08314771626e-05,1793193688118040576
+402,6.700000000,POSE2_TO_POSE3_RETREAT,764,742,711.428246739,673,658.428246739,632,877.571753261,783.571753261,799.571753261,649,629,650.571753261,0.400954030029,0.00447006820008,0.079827057777,0.999999952179,8.34662611996e-05,-0.000294970270787,4.08434134303e-05,1793193688134707456
+403,6.716666667,POSE2_TO_POSE3_RETREAT,763.996405885,742,711.996405885,673,658.996405885,632,877.003594115,783.003594115,799,649,629,650,0.40095319682,0.00446906896755,0.0798269560239,0.999999952124,8.25216528257e-05,-0.000295413470381,4.09065762267e-05,1793193688151374336
+404,6.733333333,POSE2_TO_POSE3_RETREAT,763.421365848,742,711.421365848,673,658.421365848,632,877.578634152,783.578634152,799,649,629,650,0.400956214751,0.00446946319344,0.0798291458391,0.999999953323,8.29822082948e-05,-0.000291182026249,4.10027645125e-05,1793193688168040704
diff --git a/Part2/Obstacle_avoidance/cylinder_15A_20/position_12/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_15A_20/position_12/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ab679fb5071ed3592cccf5a07ad625caf2af1083
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_15A_20/position_12/depth_05/simulation_data.csv
@@ -0,0 +1,406 @@
+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,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+1,0.016666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+2,0.033333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+3,0.050000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+4,0.066666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+5,0.083333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+6,0.100000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+7,0.116666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+8,0.133333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+9,0.150000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+10,0.166666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+11,0.183333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+12,0.200000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+13,0.216666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+14,0.233333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+15,0.250000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+16,0.266666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+17,0.283333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+18,0.300000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+19,0.316666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+20,0.333333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+21,0.350000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+22,0.366666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+23,0.383333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+24,0.400000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+25,0.416666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+26,0.433333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+27,0.450000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+28,0.466666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+29,0.483333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+30,0.500000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+31,0.516666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+32,0.533333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+33,0.550000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+34,0.566666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+35,0.583333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+36,0.600000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+37,0.616666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+38,0.633333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+39,0.650000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+40,0.666666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+41,0.683333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+42,0.700000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+43,0.716666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+44,0.733333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+45,0.750000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+46,0.766666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+47,0.783333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+48,0.800000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+49,0.816666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+50,0.833333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+51,0.850000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+52,0.866666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+53,0.883333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+54,0.900000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+55,0.916666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+56,0.933333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+57,0.950000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+58,0.966666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+59,0.983333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+60,1.000000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+61,1.016666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+62,1.033333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+63,1.050000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+64,1.066666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+65,1.083333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+66,1.100000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+67,1.116666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+68,1.133333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+69,1.150000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+70,1.166666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+71,1.183333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+72,1.200000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+73,1.216666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+74,1.233333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+75,1.250000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+76,1.266666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+77,1.283333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+78,1.300000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+79,1.316666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+80,1.333333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+81,1.350000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+82,1.366666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+83,1.383333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+84,1.400000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+85,1.416666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+86,1.433333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+87,1.450000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+88,1.466666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+89,1.483333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+90,1.500000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+91,1.516666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+92,1.533333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+93,1.550000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+94,1.566666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+95,1.583333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+96,1.600000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+97,1.616666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+98,1.633333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+99,1.650000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+100,1.666666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+101,1.683333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+102,1.700000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+103,1.716666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+104,1.733333333,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+105,1.750000000,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+106,1.766666667,pose1_baseline,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
+107,1.783333333,pose1_to_pose2_press,0.575709270927,0.0100545684129,1.07002931416,0.546280001826,0.0187272996178,1.06969859147
+108,1.800000000,pose1_to_pose2_press,0.575709303436,0.0100545789016,1.07002919297,0.546280033997,0.0187273091664,1.06969847578
+109,1.816666667,pose1_to_pose2_press,0.575709312348,0.0100545817769,1.07002915974,0.546280042816,0.018727311784,1.06969844407
+110,1.833333333,pose1_to_pose2_press,0.575709351133,0.0100545942904,1.07002901516,0.546280081196,0.0187273231761,1.06969830605
+111,1.850000000,pose1_to_pose2_press,0.575709424048,0.0100546046378,1.07002887004,0.54628015359,0.0187273320084,1.06969816766
+112,1.866666667,pose1_to_pose2_press,0.575709593844,0.0100545939282,1.07002886673,0.546280322798,0.018727319338,1.06969816523
+113,1.883333333,pose1_to_pose2_press,0.575709929352,0.0100545700663,1.07002889129,0.546280658353,0.0187272955805,1.06969818829
+114,1.900000000,pose1_to_pose2_press,0.575711436456,0.0100544626581,1.07002902649,0.546282168293,0.0187271973581,1.06969831205
+115,1.916666667,pose1_to_pose2_press,0.575715482892,0.0100544150288,1.07002893777,0.546286214197,0.0187271481944,1.0696982305
+116,1.933333333,pose1_to_pose2_press,0.575725340252,0.0100545669791,1.07002901586,0.546296069489,0.018727293173,1.0696983097
+117,1.950000000,pose1_to_pose2_press,0.575742902866,0.0100545611824,1.07002925994,0.546313634882,0.0187272966735,1.06969855014
+118,1.966666667,pose1_to_pose2_press,0.575772848894,0.0100546808213,1.07002915258,0.546343578002,0.0187274063837,1.06969844112
+119,1.983333333,pose1_to_pose2_press,0.575815466281,0.0100545924178,1.07002916931,0.546386195584,0.0187273188383,1.06969846295
+120,2.000000000,pose1_to_pose2_press,0.575869910335,0.0100545452019,1.07002908092,0.546440640663,0.0187272750997,1.06969837448
+121,2.016666667,pose1_to_pose2_press,0.575934103519,0.0100546022327,1.07002935704,0.546504833344,0.0187273300777,1.06969864142
+122,2.033333333,pose1_to_pose2_press,0.576007630531,0.0100546402589,1.07002896963,0.546578361131,0.018727371518,1.06969827455
+123,2.050000000,pose1_to_pose2_press,0.576089992587,0.010054704123,1.07002911381,0.54666072042,0.018727425756,1.06969841247
+124,2.066666667,pose1_to_pose2_press,0.576182112693,0.0100545672284,1.07002926321,0.546752843541,0.0187272987102,1.06969855176
+125,2.083333333,pose1_to_pose2_press,0.576288720862,0.0100547191543,1.0700288632,0.546859448501,0.0187274402769,1.06969816556
+126,2.100000000,pose1_to_pose2_press,0.576411180243,0.0100544705136,1.0700291121,0.546981909863,0.0187271980567,1.06969840653
+127,2.116666667,pose1_to_pose2_press,0.576553564105,0.0100544725816,1.07002916319,0.547124295141,0.0187272045662,1.06969844815
+128,2.133333333,pose1_to_pose2_press,0.576713077985,0.0100545864965,1.07002885915,0.547283808006,0.0187273156848,1.06969816097
+129,2.150000000,pose1_to_pose2_press,0.576889771035,0.0100545899379,1.07002889936,0.547460499504,0.0187273133824,1.06969818859
+130,2.166666667,pose1_to_pose2_press,0.577081445382,0.0100545502856,1.07002909077,0.547652175789,0.0187272805915,1.06969838746
+131,2.183333333,pose1_to_pose2_press,0.577288143099,0.010054579406,1.07002895246,0.547858873886,0.0187273106364,1.0696982395
+132,2.200000000,pose1_to_pose2_press,0.577513562471,0.0100544181804,1.07002909684,0.548084294096,0.0187271523868,1.06969838731
+133,2.216666667,pose1_to_pose2_press,0.577760423566,0.0100546160774,1.07002930849,0.548331153181,0.0187273435232,1.06969860044
+134,2.233333333,pose1_to_pose2_press,0.578033055032,0.0100545575709,1.07002932015,0.548603785267,0.0187272868295,1.06969860443
+135,2.250000000,pose1_to_pose2_press,0.578333305579,0.0100545295503,1.07002920226,0.548904036608,0.0187272615175,1.06969848687
+136,2.266666667,pose1_to_pose2_press,0.578661113997,0.0100544560554,1.07002914952,0.549231846356,0.0187271926904,1.06969843808
+137,2.283333333,pose1_to_pose2_press,0.579016696131,0.0100545734245,1.07002931767,0.549587427,0.0187273050876,1.0696986084
+138,2.300000000,pose1_to_pose2_press,0.579397285722,0.0100545712499,1.07002921772,0.549968015285,0.0187272983401,1.06969850467
+139,2.316666667,pose1_to_pose2_press,0.579801880687,0.0100545516726,1.07002914917,0.550372611438,0.0187272829016,1.06969843888
+140,2.333333333,pose1_to_pose2_press,0.580228626039,0.0100545121534,1.07002917053,0.550799357315,0.0187272449749,1.06969845523
+141,2.350000000,pose1_to_pose2_press,0.580678692656,0.0100544648329,1.07002916587,0.551249424889,0.0187272008057,1.06969844801
+142,2.366666667,pose1_to_pose2_press,0.5811500095,0.0100545419714,1.07002924592,0.551720740221,0.0187272729571,1.0696985319
+143,2.383333333,pose1_to_pose2_press,0.581642605229,0.010054544376,1.0700291485,0.552213335368,0.0187272737858,1.0696984448
+144,2.400000000,pose1_to_pose2_press,0.582157164623,0.0100545385063,1.07002911429,0.552727895816,0.0187272715622,1.06969841239
+145,2.416666667,pose1_to_pose2_press,0.582697063543,0.0100545915035,1.07002911987,0.553267794582,0.0187273239575,1.06969841579
+146,2.433333333,pose1_to_pose2_press,0.583270652772,0.0100545606597,1.07002901399,0.553841383622,0.018727292634,1.06969831416
+147,2.450000000,pose1_to_pose2_press,0.583877995421,0.0100545003848,1.0700290879,0.554448726471,0.0187272328168,1.06969838224
+148,2.466666667,pose1_to_pose2_press,0.584520219618,0.010054462373,1.0700291394,0.555090952048,0.0187271993317,1.06969842961
+149,2.483333333,pose1_to_pose2_press,0.585183815566,0.0100547280556,1.07002921892,0.555754544892,0.0187274546106,1.06969851242
+150,2.500000000,pose1_to_pose2_press,0.585862453878,0.0100546896447,1.07002915209,0.556433182915,0.018727415254,1.06969844653
+151,2.516666667,pose1_to_pose2_press,0.586548295325,0.0100546231198,1.07002916224,0.55711902489,0.0187273501777,1.06969844768
+152,2.533333333,pose1_to_pose2_press,0.587243494845,0.0100546459522,1.07002933583,0.557814222592,0.0187273669506,1.06969862411
+153,2.550000000,pose1_to_pose2_press,0.587955521067,0.0100547427095,1.07002920637,0.558526249397,0.0187274657576,1.06969849651
+154,2.566666667,pose1_to_pose2_press,0.588693235031,0.0100547296288,1.07002923494,0.559263964257,0.0187274557693,1.06969852644
+155,2.583333333,pose1_to_pose2_press,0.589456211203,0.010054666842,1.07002914594,0.560026941502,0.0187273968035,1.06969844211
+156,2.600000000,pose1_to_pose2_press,0.590236743579,0.0100545965807,1.0700292368,0.560807473852,0.0187273261773,1.06969852575
+157,2.616666667,pose1_to_pose2_press,0.591031482246,0.0100546313224,1.07002916579,0.561602210774,0.0187273550215,1.06969845528
+158,2.633333333,pose1_to_pose2_press,0.591842442227,0.0100546351724,1.07002925341,0.562413170305,0.0187273571671,1.0696985383
+159,2.650000000,pose1_to_pose2_press,0.592668010559,0.0100546558177,1.070029286,0.563238739345,0.0187273802181,1.06969857104
+160,2.666666667,pose1_to_pose2_press,0.593507777956,0.0100546645623,1.07002918404,0.564078508016,0.0187273933814,1.06969847156
+161,2.683333333,pose1_to_pose2_press,0.594360483971,0.0100546704052,1.07002921963,0.564931212287,0.0187273936086,1.06969851512
+162,2.700000000,pose1_to_pose2_press,0.595221659111,0.0100546543572,1.07002902363,0.565792387217,0.0187273769697,1.06969832226
+163,2.716666667,pose1_to_pose2_press,0.596088061793,0.0100547546316,1.07002913802,0.566658789187,0.0187274744393,1.06969842654
+164,2.733333333,pose1_to_pose2_press,0.59695326525,0.0100546845492,1.07002925895,0.567523993928,0.0187274086439,1.06969854562
+165,2.750000000,pose1_to_pose2_press,0.597808157309,0.010054555731,1.07002914934,0.568378887389,0.018727284807,1.06969844195
+166,2.766666667,pose1_to_pose2_press,0.598662314307,0.0100545270427,1.0700289353,0.569233044148,0.0187272552406,1.06969822626
+167,2.783333333,pose1_to_pose2_press,0.599516825578,0.0100546173811,1.07002907619,0.570087555187,0.0187273449978,1.06969837256
+168,2.800000000,pose1_to_pose2_press,0.600366815338,0.0100547150242,1.07002911593,0.570937543928,0.0187274391377,1.06969841108
+169,2.816666667,pose1_to_pose2_press,0.601217229092,0.0100544414387,1.07002903921,0.571787960536,0.0187271751173,1.06969833126
+170,2.833333333,pose1_to_pose2_press,0.602071520191,0.0100545970127,1.07002908472,0.572642250382,0.018727326694,1.06969838358
+171,2.850000000,pose1_to_pose2_press,0.602931572709,0.0100546346418,1.0700289914,0.573502302996,0.0187273648151,1.06969829472
+172,2.866666667,pose1_to_pose2_press,0.603800955929,0.0100545637097,1.0700291182,0.574371684606,0.0187272879311,1.06969840873
+173,2.883333333,pose1_to_pose2_press,0.604669958461,0.0100545408025,1.07002893623,0.575240689772,0.0187272739587,1.06969822673
+174,2.900000000,pose1_to_pose2_press,0.605536778182,0.0100545911323,1.07002922485,0.576107509439,0.0187273241522,1.06969851673
+175,2.916666667,pose1_to_pose2_press,0.606381163101,0.0100545887853,1.07002904452,0.576951891737,0.0187273127928,1.06969833331
+176,2.933333333,pose1_to_pose2_press,0.607197820809,0.0100546110165,1.07002903604,0.577768551034,0.0187273403647,1.06969832366
+177,2.950000000,pose1_to_pose2_press,0.607984065779,0.010054606892,1.07002926639,0.578554794788,0.0187273320881,1.06969855333
+178,2.966666667,pose1_to_pose2_press,0.608749394346,0.0100545184826,1.07002913604,0.579320125809,0.0187272523476,1.06969843203
+179,2.983333333,pose1_to_pose2_press,0.609499707926,0.0100545099486,1.07002926677,0.58007043853,0.0187272405489,1.06969855363
+180,3.000000000,pose1_to_pose2_press,0.610248202058,0.0100545789974,1.07002914937,0.580818931528,0.0187273059607,1.06969844192
+181,3.016666667,pose1_to_pose2_press,0.610989567887,0.0100545176162,1.07002937741,0.581560299365,0.0187272511633,1.06969866395
+182,3.033333333,pose1_to_pose2_press,0.611710655114,0.0100545887237,1.07002925511,0.582281385289,0.0187273181024,1.06969854845
+183,3.050000000,pose1_to_pose2_press,0.612401895746,0.0100546936303,1.07002913833,0.582972624341,0.0187274175628,1.06969842948
+184,3.066666667,pose1_to_pose2_press,0.613054681868,0.0100546468036,1.07002937322,0.58362541138,0.0187273736166,1.06969865884
+185,3.083333333,pose1_to_pose2_press,0.613675972056,0.0100546157281,1.07002911629,0.584246701458,0.0187273429009,1.06969841937
+186,3.100000000,pose1_to_pose2_press,0.614267093761,0.0100546576737,1.07002933205,0.584837823562,0.0187273858779,1.06969862362
+187,3.116666667,pose1_to_pose2_press,0.614829353451,0.0100546602924,1.07002892852,0.585400083988,0.0187273913932,1.06969822627
+188,3.133333333,pose1_to_pose2_press,0.615369027831,0.0100546650069,1.07002900523,0.585939756954,0.018727391295,1.06969829857
+189,3.150000000,pose1_to_pose2_press,0.615895347311,0.0100546539924,1.07002914541,0.586466075376,0.0187273769373,1.06969843461
+190,3.166666667,pose1_to_pose2_press,0.616414965444,0.0100546491836,1.070029127,0.586985693969,0.01872737449,1.06969841977
+191,3.183333333,pose1_to_pose2_press,0.616930605707,0.0100546002075,1.07002906369,0.587501334619,0.0187273276948,1.06969835868
+192,3.200000000,pose1_to_pose2_press,0.617432488741,0.010054567774,1.07002900915,0.588003217899,0.0187272968594,1.06969830291
+193,3.216666667,pose1_to_pose2_press,0.617914725707,0.0100545860069,1.07002907803,0.588485455946,0.0187273194514,1.06969836941
+194,3.233333333,pose1_to_pose2_press,0.618363906419,0.0100545257677,1.07002919251,0.588934636648,0.0187272599748,1.06969848613
+195,3.250000000,pose1_to_pose2_press,0.618777060947,0.0100545658086,1.07002917847,0.589347790024,0.0187272967719,1.0696984716
+196,3.266666667,pose1_to_pose2_press,0.61914981031,0.0100544925969,1.07002905233,0.589720540306,0.0187272275454,1.0696983483
+197,3.283333333,pose1_to_pose2_press,0.619500026391,0.0100544889482,1.07002903722,0.590070756366,0.0187272247089,1.06969833652
+198,3.300000000,pose1_to_pose2_press,0.619831649944,0.0100546171998,1.07002917114,0.590402378279,0.0187273479179,1.06969846754
+199,3.316666667,pose1_to_pose2_press,0.620146088056,0.0100545787076,1.07002916323,0.590716816851,0.0187273115066,1.0696984566
+200,3.333333333,pose1_to_pose2_press,0.620443657255,0.0100546081878,1.07002906537,0.5910143852,0.0187273387642,1.06969835717
+201,3.350000000,pose1_to_pose2_press,0.620721553013,0.0100547092604,1.07002917759,0.591292278378,0.0187274318033,1.06969847164
+202,3.366666667,pose1_to_pose2_press,0.620977909131,0.010054600403,1.07002913599,0.59154863567,0.0187273276009,1.06969843391
+203,3.383333333,pose1_to_pose2_press,0.621210477554,0.0100544750765,1.07002902071,0.591781204958,0.0187272058336,1.06969832157
+204,3.400000000,pose1_to_pose2_press,0.621422879088,0.0100545514895,1.07002916451,0.591993605748,0.018727279981,1.06969845966
+205,3.416666667,pose1_to_pose2_press,0.621615599497,0.0100545780455,1.07002934636,0.592186326529,0.0187273076725,1.06969862827
+206,3.433333333,pose1_to_pose2_press,0.621787743108,0.0100545767537,1.07002930532,0.592358470533,0.0187273081978,1.06969859046
+207,3.450000000,pose1_to_pose2_press,0.621940486941,0.010054643161,1.07002920158,0.592511212994,0.0187273704786,1.06969849195
+208,3.466666667,pose1_to_pose2_press,0.622072681218,0.0100546648582,1.07002918191,0.592643406045,0.0187273881147,1.06969846749
+209,3.483333333,pose1_to_pose2_press,0.622187277272,0.0100545724356,1.07002906796,0.592758003002,0.0187272993108,1.06969835959
+210,3.500000000,pose1_to_pose2_press,0.622284860122,0.0100545429475,1.07002903274,0.59285558677,0.0187272733557,1.06969832843
+211,3.516666667,pose1_to_pose2_press,0.622369336383,0.010054442272,1.07002900993,0.592940064405,0.0187271772046,1.06969829909
+212,3.533333333,pose1_to_pose2_press,0.622441641882,0.0100543837569,1.07002920088,0.593012371154,0.0187271231104,1.06969848397
+213,3.550000000,pose1_to_pose2_press,0.622502367281,0.0100544868199,1.0700288917,0.593073095852,0.018727225079,1.06969818345
+214,3.566666667,pose1_to_pose2_press,0.622552786813,0.0100545335563,1.0700288965,0.593123512804,0.0187272627435,1.06969819622
+215,3.583333333,pose1_to_pose2_press,0.622592871532,0.0100545047728,1.07002921787,0.593163597871,0.0187272344709,1.06969851671
+216,3.600000000,pose1_to_pose2_press,0.622625259275,0.0100546064331,1.07002914233,0.593195985792,0.0187273365873,1.0696984367
+217,3.616666667,pose1_to_pose2_press,0.622650606072,0.0100546542265,1.07002887711,0.593221330873,0.0187273787536,1.0696981686
+218,3.633333333,pose1_to_pose2_press,0.622670174338,0.0100546741148,1.07002900572,0.593240898992,0.0187273982076,1.06969829455
+219,3.650000000,pose1_to_pose2_press,0.62268451962,0.0100546277975,1.0700290291,0.593255244831,0.0187273538942,1.06969831931
+220,3.666666667,pose1_to_pose2_press,0.622694071722,0.0100545305257,1.0700287727,0.593264797342,0.0187272582264,1.06969806805
+221,3.683333333,pose1_to_pose2_press,0.622700630971,0.0100544874395,1.07002888945,0.593271357475,0.0187272179399,1.06969818116
+222,3.700000000,pose1_to_pose2_press,0.622704937876,0.0100544617675,1.07002899844,0.593275665027,0.0187271942938,1.06969828699
+223,3.716666667,pose1_to_pose2_press,0.622708068943,0.0100544422908,1.07002909731,0.593278796458,0.0187271759633,1.06969838348
+224,3.733333333,pose1_to_pose2_press,0.622710230614,0.0100544284386,1.07002917535,0.593280958326,0.0187271627398,1.06969845983
+225,3.750000000,pose1_to_pose2_press,0.622712383118,0.0100544146452,1.07002925306,0.593283111026,0.0187271495724,1.06969853587
+226,3.766666667,pose1_to_pose2_press,0.622714060692,0.0100544198471,1.07002928128,0.593284788628,0.0187271548979,1.06969856446
+227,3.783333333,pose1_to_pose2_press,0.622714867462,0.0100544453703,1.07002924817,0.593285595231,0.0187271799546,1.06969853395
+228,3.800000000,pose1_to_pose2_press,0.622715479628,0.010054464737,1.07002922305,0.59328620727,0.0187271989674,1.06969851081
+229,3.816666667,pose1_to_pose2_press,0.622715966971,0.0100544801547,1.07002920305,0.593286694512,0.0187272141034,1.06969849238
+230,3.833333333,pose1_to_pose2_press,0.62271625761,0.0100544893495,1.07002919113,0.59328698509,0.0187272231301,1.06969848139
+231,3.850000000,pose1_to_pose2_press,0.622716397133,0.0100544937634,1.0700291854,0.593287124584,0.0187272274634,1.06969847611
+232,3.866666667,pose1_to_pose2_press,0.622716421775,0.010054494543,1.07002918439,0.593287149221,0.0187272282287,1.06969847518
+233,3.883333333,pose1_to_pose2_press,0.622716573372,0.010054499339,1.07002917817,0.593287300787,0.0187272329371,1.06969846945
+234,3.900000000,pose1_to_pose2_press,0.622717036925,0.0100545140041,1.07002915915,0.593287764244,0.0187272473342,1.06969845192
+235,3.916666667,pose1_to_pose2_press,0.622717694537,0.0100545348085,1.07002913216,0.593288421718,0.0187272677584,1.06969842706
+236,3.933333333,pose1_to_pose2_press,0.622718507567,0.0100545294416,1.07002911818,0.593289234838,0.0187272626974,1.0696984132
+237,3.950000000,pose1_to_pose2_press,0.622718871908,0.0100545073075,1.07002912422,0.593289599383,0.0187272411929,1.0696984177
+238,3.966666667,pose1_to_pose2_press,0.622718956195,0.010054502187,1.07002912561,0.593289683718,0.018727236218,1.06969841874
+239,3.983333333,pose1_to_pose2_press,0.622719326278,0.0100544797041,1.07002913175,0.593290054008,0.0187272143747,1.06969842331
+240,4.000000000,pose1_to_pose2_press,0.622719962337,0.010054441063,1.07002914229,0.593290690423,0.0187271768327,1.06969843117
+241,4.016666667,pose1_to_pose2_press,0.622720827686,0.0100543887704,1.07002915544,0.593291556249,0.018727126013,1.06969844073
+242,4.033333333,pose1_to_pose2_press,0.622720992096,0.0100543874432,1.07002912124,0.593291720527,0.0187271242705,1.0696984073
+243,4.050000000,pose1_to_pose2_press,0.622721303,0.0100543849333,1.07002905656,0.59329203118,0.0187271209754,1.06969834409
+244,4.066666667,pose1_to_pose2_press,0.622721704549,0.0100543816916,1.07002897302,0.593292432406,0.0187271167197,1.06969826245
+245,4.083333333,pose1_to_pose2_press,0.622722119424,0.010054381834,1.07002890899,0.593292847164,0.0187271165666,1.06969820095
+246,4.100000000,pose1_to_pose2_press,0.622722363333,0.0100543990366,1.07002898056,0.59329309207,0.0187271372839,1.06969827685
+247,4.116666667,pose1_to_pose2_press,0.622722476388,0.0100545225985,1.07002867795,0.59329320288,0.0187272534729,1.06969798094
+248,4.133333333,pose1_to_pose2_press,0.622722493392,0.010054549693,1.07002860772,0.593293219339,0.0187272787895,1.06969791203
+249,4.150000000,pose1_to_pose2_press,0.622722493392,0.010054549693,1.07002860772,0.593293219334,0.018727278786,1.06969791202
+250,4.166666667,pose1_to_pose2_press,0.622722493392,0.010054549693,1.07002860772,0.593293219334,0.0187272787859,1.06969791202
+251,4.183333333,pose2_hold,0.622722493392,0.010054549693,1.07002860772,0.593293219343,0.0187272787864,1.06969791201
+252,4.200000000,pose2_hold,0.622722493392,0.010054549693,1.07002860772,0.593293219343,0.0187272787875,1.06969791201
+253,4.216666667,pose2_hold,0.622722493392,0.010054549693,1.07002860772,0.593293219342,0.0187272787883,1.06969791201
+254,4.233333333,pose2_hold,0.622722493392,0.010054549693,1.07002860772,0.593293219343,0.0187272787874,1.06969791201
+255,4.250000000,pose2_hold,0.622722493392,0.010054549693,1.07002860772,0.593293219343,0.0187272787878,1.06969791201
+256,4.266666667,pose2_hold,0.622722493392,0.010054549693,1.07002860772,0.593293219343,0.0187272787885,1.06969791201
+257,4.283333333,pose2_hold,0.622722493392,0.010054549693,1.07002860772,0.593293219343,0.0187272787888,1.06969791201
+258,4.300000000,pose2_hold,0.622722493392,0.010054549693,1.07002860772,0.593293219343,0.0187272787882,1.06969791201
+259,4.316666667,pose2_hold,0.622722493392,0.010054549693,1.07002860772,0.593293219343,0.0187272787884,1.06969791201
+260,4.333333333,pose2_hold,0.622722493392,0.010054549693,1.07002860772,0.593293219344,0.0187272787883,1.06969791201
+261,4.350000000,pose2_hold,0.622722493392,0.010054549693,1.07002860772,0.593293219343,0.0187272787888,1.06969791201
+262,4.366666667,pose2_hold,0.622722493392,0.010054549693,1.07002860772,0.593293219344,0.0187272787887,1.06969791201
+263,4.383333333,pose2_hold,0.622722493392,0.010054549693,1.07002860772,0.593293219344,0.0187272787893,1.06969791201
+264,4.400000000,pose2_hold,0.622722493392,0.010054549693,1.07002860772,0.593293219344,0.0187272787894,1.06969791201
+265,4.416666667,pose2_hold,0.622722493392,0.010054549693,1.07002860772,0.593293219344,0.0187272787892,1.06969791201
+266,4.433333333,pose2_hold,0.622722493392,0.010054549693,1.07002860772,0.593293219344,0.0187272787892,1.06969791201
+267,4.450000000,pose2_to_pose3_retreat,0.622722493392,0.010054549693,1.07002860772,0.593293219344,0.0187272787899,1.06969791201
+268,4.466666667,pose2_to_pose3_retreat,0.622722474204,0.0100545533541,1.07002885042,0.593293200682,0.0187272840876,1.06969815077
+269,4.483333333,pose2_to_pose3_retreat,0.622722371753,0.0100545116446,1.07002905794,0.593293099001,0.0187272448788,1.06969835533
+270,4.500000000,pose2_to_pose3_retreat,0.622722083981,0.0100543983925,1.07002922693,0.593292812461,0.0187271357161,1.06969852233
+271,4.516666667,pose2_to_pose3_retreat,0.622722045865,0.0100543995442,1.07002922337,0.593292774356,0.0187271368968,1.06969851859
+272,4.533333333,pose2_to_pose3_retreat,0.622722027026,0.0100544001134,1.07002922161,0.593292755522,0.0187271374803,1.06969851674
+273,4.550000000,pose2_to_pose3_retreat,0.622721280696,0.0100544226637,1.07002915197,0.593292009402,0.0187271605977,1.06969844339
+274,4.566666667,pose2_to_pose3_retreat,0.622718230874,0.0100544962001,1.07002935147,0.593288959338,0.0187272332152,1.06969864106
+275,4.583333333,pose2_to_pose3_retreat,0.622710905208,0.0100546273983,1.07002915076,0.593281630712,0.0187273542002,1.06969843544
+276,4.600000000,pose2_to_pose3_retreat,0.622694677271,0.0100544915948,1.07002916655,0.593265403279,0.0187272200021,1.06969845083
+277,4.616666667,pose2_to_pose3_retreat,0.622668130634,0.0100545561742,1.07002902082,0.593238856057,0.0187272827647,1.06969831037
+278,4.633333333,pose2_to_pose3_retreat,0.622628782834,0.0100544848004,1.07002911013,0.593199511145,0.0187272213054,1.06969840076
+279,4.650000000,pose2_to_pose3_retreat,0.622578339385,0.0100545492382,1.07002915653,0.593149067803,0.0187272856091,1.06969844418
+280,4.666666667,pose2_to_pose3_retreat,0.622517510209,0.0100545888895,1.07002919616,0.593088237105,0.018727320973,1.06969849
+281,4.683333333,pose2_to_pose3_retreat,0.622447620923,0.0100545931502,1.07002899308,0.593018346211,0.0187273196485,1.06969829001
+282,4.700000000,pose2_to_pose3_retreat,0.622368175036,0.0100545233505,1.07002907273,0.592938902823,0.0187272574844,1.06969836584
+283,4.716666667,pose2_to_pose3_retreat,0.622277277392,0.0100545335071,1.07002926833,0.592848004472,0.0187272648572,1.06969855784
+284,4.733333333,pose2_to_pose3_retreat,0.622173595129,0.0100545261958,1.07002921941,0.592744321121,0.018727253378,1.06969850246
+285,4.750000000,pose2_to_pose3_retreat,0.622050979028,0.0100547023866,1.07002890473,0.592621703367,0.0187274242026,1.0696982012
+286,4.766666667,pose2_to_pose3_retreat,0.621909593557,0.010054439529,1.07002916865,0.592480321463,0.0187271728611,1.06969845584
+287,4.783333333,pose2_to_pose3_retreat,0.621747112894,0.0100543998159,1.07002927744,0.592317843229,0.0187271407283,1.06969855904
+288,4.800000000,pose2_to_pose3_retreat,0.621561879895,0.0100546255433,1.0700291021,0.592132606993,0.0187273556025,1.06969839677
+289,4.816666667,pose2_to_pose3_retreat,0.621353525207,0.0100544785953,1.07002899615,0.591924252676,0.0187272095963,1.06969829241
+290,4.833333333,pose2_to_pose3_retreat,0.621121420108,0.0100546544512,1.07002902286,0.591692146248,0.0187273802556,1.06969831569
+291,4.850000000,pose2_to_pose3_retreat,0.620866207873,0.010054707245,1.07002916522,0.591436934173,0.0187274327688,1.06969845167
+292,4.866666667,pose2_to_pose3_retreat,0.620584882557,0.0100545841929,1.07002926429,0.591155611729,0.0187273187665,1.06969854913
+293,4.883333333,pose2_to_pose3_retreat,0.62027951054,0.0100544867575,1.07002915786,0.590850240624,0.0187272239948,1.0696984485
+294,4.900000000,pose2_to_pose3_retreat,0.619949368841,0.0100545320288,1.07002924892,0.590520096708,0.0187272608374,1.06969853632
+295,4.916666667,pose2_to_pose3_retreat,0.619594663123,0.0100545096612,1.07002914529,0.590165392348,0.0187272423981,1.06969843432
+296,4.933333333,pose2_to_pose3_retreat,0.619216354255,0.0100546072821,1.07002916315,0.589787082788,0.018727336847,1.06969844983
+297,4.950000000,pose2_to_pose3_retreat,0.618817277873,0.0100546671282,1.07002916962,0.589388007563,0.0187273999891,1.06969845672
+298,4.966666667,pose2_to_pose3_retreat,0.618396786748,0.010054613212,1.07002926768,0.58896751728,0.0187273483071,1.06969855643
+299,4.983333333,pose2_to_pose3_retreat,0.617949399012,0.0100544357633,1.0700291631,0.588520129159,0.0187271687413,1.06969845056
+300,5.000000000,pose2_to_pose3_retreat,0.617475332138,0.0100545736349,1.07002929959,0.588046059756,0.0187272969384,1.06969858084
+301,5.016666667,pose2_to_pose3_retreat,0.616973094398,0.0100545178262,1.07002893441,0.587543823288,0.018727244827,1.06969821868
+302,5.033333333,pose2_to_pose3_retreat,0.616431052827,0.0100544955151,1.07002920871,0.587001783836,0.018727229384,1.06969850597
+303,5.050000000,pose2_to_pose3_retreat,0.615854278798,0.0100544757106,1.0700289993,0.586425009862,0.0187272089482,1.0696982966
+304,5.066666667,pose2_to_pose3_retreat,0.615250971629,0.0100545539627,1.07002912686,0.585821703815,0.0187272902286,1.06969841996
+305,5.083333333,pose2_to_pose3_retreat,0.614629019159,0.0100545100488,1.07002901864,0.585199749513,0.0187272399044,1.06969831018
+306,5.100000000,pose2_to_pose3_retreat,0.613991590009,0.0100545545063,1.07002913766,0.584562320834,0.018727285961,1.06969842816
+307,5.116666667,pose2_to_pose3_retreat,0.613348533099,0.0100546071361,1.07002913358,0.583919262441,0.0187273336199,1.0696984246
+308,5.133333333,pose2_to_pose3_retreat,0.612697691921,0.0100544481731,1.07002900351,0.583268425166,0.0187271881092,1.06969830137
+309,5.150000000,pose2_to_pose3_retreat,0.612021477866,0.0100544993561,1.07002907383,0.582592210157,0.0187272360719,1.06969837184
+310,5.166666667,pose2_to_pose3_retreat,0.611317011673,0.0100544521637,1.07002884404,0.581887743365,0.0187271868452,1.06969814249
+311,5.183333333,pose2_to_pose3_retreat,0.61057848373,0.0100544203486,1.07002907051,0.58114921617,0.0187271575898,1.06969837008
+312,5.200000000,pose2_to_pose3_retreat,0.609798186084,0.0100545312734,1.07002919011,0.580368917515,0.0187272646449,1.06969847824
+313,5.216666667,pose2_to_pose3_retreat,0.608971174851,0.0100546131257,1.07002914481,0.579541905534,0.0187273440663,1.0696984357
+314,5.233333333,pose2_to_pose3_retreat,0.608114036454,0.0100545914932,1.07002913999,0.578684766802,0.018727321284,1.06969843044
+315,5.250000000,pose2_to_pose3_retreat,0.607233732549,0.0100545767081,1.07002936114,0.57780446258,0.0187273051908,1.06969864553
+316,5.266666667,pose2_to_pose3_retreat,0.606359713923,0.0100545300889,1.07002928129,0.576930444765,0.0187272615683,1.06969857208
+317,5.283333333,pose2_to_pose3_retreat,0.605495272765,0.010054503919,1.07002893918,0.576066004312,0.0187272378956,1.06969823323
+318,5.300000000,pose2_to_pose3_retreat,0.604636868201,0.01005444002,1.07002931132,0.575207602205,0.0187271820311,1.06969859691
+319,5.316666667,pose2_to_pose3_retreat,0.60377101071,0.0100545323513,1.0700293912,0.574341741671,0.0187272640963,1.06969867822
+320,5.333333333,pose2_to_pose3_retreat,0.6028882431,0.0100545830769,1.07002929448,0.573458973519,0.0187273130697,1.0696985837
+321,5.350000000,pose2_to_pose3_retreat,0.601971099689,0.0100545848867,1.07002916717,0.572541828622,0.0187273099061,1.06969845822
+322,5.366666667,pose2_to_pose3_retreat,0.601029651183,0.0100544785854,1.07002892761,0.571600380848,0.0187272060988,1.06969821885
+323,5.383333333,pose2_to_pose3_retreat,0.600076125127,0.0100545811118,1.07002912642,0.570646855265,0.0187273101592,1.06969841566
+324,5.400000000,pose2_to_pose3_retreat,0.599136744944,0.0100544880471,1.07002912489,0.569707476748,0.0187272229324,1.06969841904
+325,5.416666667,pose2_to_pose3_retreat,0.59822521623,0.0100545369112,1.07002899774,0.568795947971,0.0187272717091,1.06969829504
+326,5.433333333,pose2_to_pose3_retreat,0.59733103176,0.0100544430761,1.07002925065,0.567901765479,0.0187271842226,1.06969853786
+327,5.450000000,pose2_to_pose3_retreat,0.596451509576,0.0100546320699,1.07002925816,0.567022238713,0.0187273578122,1.06969855029
+328,5.466666667,pose2_to_pose3_retreat,0.595576401982,0.0100546507642,1.07002914934,0.566147131272,0.0187273770119,1.06969844035
+329,5.483333333,pose2_to_pose3_retreat,0.594696676153,0.0100544609687,1.07002911246,0.565267409539,0.0187272012846,1.06969840778
+330,5.500000000,pose2_to_pose3_retreat,0.593807608187,0.0100545620729,1.07002894511,0.564378339135,0.0187272939449,1.06969823589
+331,5.516666667,pose2_to_pose3_retreat,0.592915335905,0.0100546463423,1.07002895117,0.563486064064,0.0187273691894,1.06969825311
+332,5.533333333,pose2_to_pose3_retreat,0.592022753282,0.0100544082115,1.07002902895,0.562593485928,0.0187271457241,1.06969831734
+333,5.550000000,pose2_to_pose3_retreat,0.591149714551,0.0100546765683,1.07002899446,0.561720443084,0.0187274005056,1.06969829077
+334,5.566666667,pose2_to_pose3_retreat,0.590297832869,0.0100545416301,1.0700292869,0.560868562992,0.0187272703773,1.06969856777
+335,5.583333333,pose2_to_pose3_retreat,0.589476186835,0.0100547000606,1.07002928898,0.560046916044,0.0187274258986,1.06969857492
+336,5.600000000,pose2_to_pose3_retreat,0.58868026529,0.0100546116354,1.07002911117,0.559250994478,0.0187273378906,1.06969840996
+337,5.616666667,pose2_to_pose3_retreat,0.587906236099,0.0100545457703,1.07002915593,0.558476967348,0.0187272785868,1.0696984433
+338,5.633333333,pose2_to_pose3_retreat,0.58714962555,0.0100545538939,1.07002926626,0.557720355279,0.0187272815044,1.06969855241
+339,5.650000000,pose2_to_pose3_retreat,0.586408520678,0.0100545314473,1.07002904692,0.556979251536,0.0187272630463,1.06969833713
+340,5.666666667,pose2_to_pose3_retreat,0.585689260563,0.0100546713647,1.07002925552,0.556259989201,0.0187273952201,1.06969854021
+341,5.683333333,pose2_to_pose3_retreat,0.584994718409,0.0100547713223,1.07002930481,0.55556544672,0.0187274938563,1.069698584
+342,5.700000000,pose2_to_pose3_retreat,0.584328565922,0.0100545632005,1.07002917398,0.554899297276,0.0187272963503,1.06969846067
+343,5.716666667,pose2_to_pose3_retreat,0.583684962349,0.0100545189426,1.07002949747,0.554255691968,0.0187272461047,1.06969878157
+344,5.733333333,pose2_to_pose3_retreat,0.583060953464,0.0100546180354,1.0700290651,0.553631682644,0.0187273439245,1.06969835494
+345,5.750000000,pose2_to_pose3_retreat,0.582456169815,0.0100546625594,1.0700290569,0.553026898012,0.0187273848387,1.06969833947
+346,5.766666667,pose2_to_pose3_retreat,0.581874497043,0.0100546210028,1.07002912148,0.552445227108,0.0187273499996,1.06969841397
+347,5.783333333,pose2_to_pose3_retreat,0.581326800569,0.0100544528798,1.07002900971,0.551897531698,0.0187271854743,1.06969830186
+348,5.800000000,pose2_to_pose3_retreat,0.580816426749,0.0100545374466,1.07002905316,0.551387158078,0.0187272703715,1.06969833618
+349,5.816666667,pose2_to_pose3_retreat,0.580347671471,0.0100545603945,1.07002911209,0.550918402678,0.0187272933415,1.06969840736
+350,5.833333333,pose2_to_pose3_retreat,0.579905516862,0.0100546540288,1.07002916368,0.550476245343,0.0187273773405,1.06969844849
+351,5.850000000,pose2_to_pose3_retreat,0.57948711395,0.010054509928,1.0700292792,0.550057845572,0.0187272438052,1.06969856192
+352,5.866666667,pose2_to_pose3_retreat,0.579089305288,0.0100546119868,1.07002937479,0.549660035554,0.0187273414455,1.06969866224
+353,5.883333333,pose2_to_pose3_retreat,0.578711716977,0.010054451991,1.07002927514,0.549282449264,0.0187271883561,1.06969856384
+354,5.900000000,pose2_to_pose3_retreat,0.57835908017,0.0100545879221,1.07002906849,0.548929809856,0.018727315333,1.06969835375
+355,5.916666667,pose2_to_pose3_retreat,0.578032836519,0.0100546088359,1.07002913393,0.548603566674,0.0187273380905,1.06969842551
+356,5.933333333,pose2_to_pose3_retreat,0.577736122153,0.0100546657288,1.0700292735,0.548306851393,0.0187273916683,1.06969855961
+357,5.950000000,pose2_to_pose3_retreat,0.577468336296,0.0100547567451,1.07002905221,0.548039063368,0.0187274753837,1.06969833984
+358,5.966666667,pose2_to_pose3_retreat,0.577228920527,0.0100545917411,1.07002915132,0.547799650098,0.0187273187678,1.0696984367
+359,5.983333333,pose2_to_pose3_retreat,0.577014171735,0.0100545614569,1.07002936748,0.547584902508,0.0187272925602,1.06969865271
+360,6.000000000,pose2_to_pose3_retreat,0.576821122916,0.0100546350261,1.07002919884,0.547391852024,0.0187273606659,1.06969848903
+361,6.016666667,pose2_to_pose3_retreat,0.576649346084,0.0100546675061,1.07002913703,0.547220075942,0.0187273958205,1.06969843073
+362,6.033333333,pose2_to_pose3_retreat,0.576495029282,0.0100546377876,1.07002942756,0.547065759375,0.0187273666146,1.06969871373
+363,6.050000000,pose2_to_pose3_retreat,0.576357989099,0.0100545755361,1.07002929104,0.546928718338,0.0187273012766,1.06969857228
+364,6.066666667,pose2_to_pose3_retreat,0.57623677666,0.0100546026628,1.070029246,0.546807505067,0.018727325683,1.06969853
+365,6.083333333,pose2_to_pose3_retreat,0.576130203018,0.0100546651196,1.07002899117,0.546700932112,0.0187273909411,1.06969828808
+366,6.100000000,pose2_to_pose3_retreat,0.576039438869,0.0100546328384,1.07002904993,0.546610168204,0.018727359375,1.06969834426
+367,6.116666667,pose2_to_pose3_retreat,0.575962363472,0.0100546388889,1.07002913801,0.546533093525,0.0187273677509,1.06969842927
+368,6.133333333,pose2_to_pose3_retreat,0.575898700679,0.0100545763137,1.07002915491,0.546469431715,0.0187273083785,1.06969844252
+369,6.150000000,pose2_to_pose3_retreat,0.575847914621,0.010054554691,1.07002915178,0.546418645494,0.0187272862312,1.06969844013
+370,6.166666667,pose2_to_pose3_retreat,0.575809360674,0.0100545765848,1.07002904666,0.546380091686,0.0187273087765,1.0696983398
+371,6.183333333,pose2_to_pose3_retreat,0.575779171954,0.0100545868121,1.0700290889,0.546349903491,0.0187273208101,1.06969838264
+372,6.200000000,pose2_to_pose3_retreat,0.575756425452,0.0100546227023,1.07002914592,0.546327155455,0.0187273513548,1.06969843606
+373,6.216666667,pose2_to_pose3_retreat,0.575740779951,0.0100545910995,1.070029199,0.546311510044,0.0187273200497,1.06969848906
+374,6.233333333,pose2_to_pose3_retreat,0.575729803127,0.0100545731654,1.07002925099,0.546300533654,0.0187273036744,1.06969854332
+375,6.250000000,pose2_to_pose3_retreat,0.575722724308,0.0100546697044,1.07002925547,0.546293452745,0.0187273931407,1.0696985484
+376,6.266666667,pose2_to_pose3_retreat,0.575718353249,0.0100546916687,1.07002930363,0.546289081269,0.0187274132203,1.0696985842
+377,6.283333333,pose2_to_pose3_retreat,0.575715904839,0.0100547030675,1.07002931926,0.546286632689,0.0187274238104,1.06969859366
+378,6.300000000,pose2_to_pose3_retreat,0.575714553857,0.0100547083575,1.07002921222,0.546285282044,0.0187274304801,1.06969849278
+379,6.316666667,pose2_to_pose3_retreat,0.575713950682,0.0100547107193,1.07002916443,0.546284679019,0.0187274334578,1.06969844775
+380,6.333333333,pose2_to_pose3_retreat,0.57571376909,0.0100547114303,1.07002915004,0.546284497473,0.0187274343543,1.06969843419
+381,6.350000000,pose2_to_pose3_retreat,0.57571365349,0.010054711883,1.07002914088,0.546284381901,0.018727434925,1.06969842556
+382,6.366666667,pose2_to_pose3_retreat,0.575713302281,0.0100547132581,1.07002911305,0.54628403078,0.0187274366589,1.06969839933
+383,6.383333333,pose2_to_pose3_retreat,0.57571323721,0.0100547135129,1.0700291079,0.546283965725,0.0187274369802,1.06969839448
+384,6.400000000,pose2_to_pose3_retreat,0.575713021737,0.0100547143567,1.07002909082,0.546283750305,0.0187274380439,1.06969837839
+385,6.416666667,pose2_to_pose3_retreat,0.575712911573,0.010054714788,1.0700290821,0.546283640169,0.0187274385878,1.06969837016
+386,6.433333333,pose2_to_pose3_retreat,0.575712869278,0.0100547149536,1.07002907874,0.546283597884,0.0187274387966,1.069698367
+387,6.450000000,pose2_to_pose3_retreat,0.575712572244,0.0100547161167,1.07002905521,0.546283300925,0.018727440263,1.06969834483
+388,6.466666667,pose2_to_pose3_retreat,0.575712268803,0.0100547173049,1.07002903117,0.546282997559,0.018727441761,1.06969832217
+389,6.483333333,pose2_to_pose3_retreat,0.575711997862,0.0100547024018,1.07002903586,0.546282726844,0.0187274276181,1.06969832672
+390,6.500000000,pose2_to_pose3_retreat,0.575711603875,0.0100546659802,1.07002906684,0.54628233333,0.0187273927484,1.06969835624
+391,6.516666667,pose2_to_pose3_retreat,0.575711312433,0.0100546390384,1.07002908976,0.546282042239,0.0187273669545,1.06969837808
+392,6.533333333,pose2_to_pose3_retreat,0.575711259309,0.0100546341274,1.07002909394,0.546281989179,0.0187273622528,1.06969838206
+393,6.550000000,pose2_to_pose3_retreat,0.575711027803,0.0100546127262,1.07002911215,0.546281757951,0.0187273417635,1.0696983994
+394,6.566666667,pose2_to_pose3_retreat,0.575710651829,0.0100545779699,1.07002914172,0.54628138243,0.0187273084881,1.06969842757
+395,6.583333333,pose2_to_pose3_retreat,0.575710465432,0.0100545607387,1.07002915638,0.546281196256,0.0187272919911,1.06969844154
+396,6.600000000,pose2_to_pose3_retreat,0.575710422269,0.0100545567487,1.07002915978,0.546281153146,0.0187272881711,1.06969844477
+397,6.616666667,pose2_to_pose3_retreat,0.575710008927,0.0100545346756,1.07002911115,0.546280739924,0.0187272666493,1.06969839985
+398,6.633333333,pose2_to_pose3_retreat,0.575709640513,0.0100545222695,1.07002903127,0.546280371449,0.0187272542496,1.06969832563
+399,6.650000000,pose2_to_pose3_retreat,0.575709560692,0.0100545195816,1.07002901396,0.546280291615,0.018727251563,1.06969830955
+400,6.666666667,pose2_to_pose3_retreat,0.57570948819,0.0100545171401,1.07002899824,0.546280219101,0.0187272491228,1.06969829494
+401,6.683333333,pose2_to_pose3_retreat,0.575709438872,0.0100545274914,1.07002902563,0.546280169564,0.0187272586573,1.06969832032
+402,6.700000000,pose2_to_pose3_retreat,0.575709404449,0.0100545728633,1.07002916567,0.546280134323,0.0187273008624,1.06969845017
+403,6.716666667,pose2_to_pose3_retreat,0.575709327733,0.0100546071819,1.07002932535,0.546280057404,0.0187273341044,1.06969859963
+404,6.733333333,pose2_to_pose3_retreat,0.575709270927,0.0100545758635,1.07002931416,0.546280001826,0.0187273070683,1.06969859147
diff --git a/Part2/Obstacle_avoidance/cylinder_PLA_10/position_01/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_PLA_10/position_01/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a91648a9b02322e49486be4a2f2226a4060dda08
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_PLA_10/position_01/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d56bf0d41613ec31019a9ac69258d07f190afcb9d56ec3ccd5ce35bfec4e2b58
+size 25707128
diff --git a/Part2/Obstacle_avoidance/cylinder_PLA_10/position_01/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_PLA_10/position_01/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e8942c0bb30d14bda8edd75e7125781f15817a7a
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_PLA_10/position_01/depth_01/franka_data.csv
@@ -0,0 +1,407 @@
+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,793,750,728,708,697,655,934,803,835,668,657,676,0.400880170457,-0.00543237831834,0.0599187459801,0.99999996785,5.99073730058e-05,-0.000244027452147,-3.40823683307e-05,1793256485001517312
+1,0.016666667,BASELINE,793,750,728,708,697,655,934,802.41720266,835,668,657.58279734,676,0.400856906633,-0.00543250338825,0.0599079373913,0.999999962031,6.05615072258e-05,-0.000266635342774,-3.42941065067e-05,1793256485018183936
+2,0.033333333,BASELINE,792.836955893,750,728,708,697,655,934,802.163044107,835,668,657.836955893,676,0.400838850698,-0.00543229276468,0.059899648278,0.999999957159,6.13793077646e-05,-0.000284113229755,-3.45566312699e-05,1793256485034850560
+3,0.050000000,BASELINE,792.263134976,750,728,708,697,655,934,802.736865024,835,668,657.263134976,676,0.400833915624,-0.00543123638782,0.0598977067832,0.999999955765,6.26094529335e-05,-0.000288666480843,-3.49471089293e-05,1793256485051517184
+4,0.066666667,BASELINE,792.311443968,750,728,708,697,655,934,803,835,668,657,676,0.400830601623,-0.00543027975523,0.0598960429754,0.999999954729,6.36549620656e-05,-0.00029196666794,-3.52943603891e-05,1793256485068183552
+5,0.083333333,BASELINE,792.886664885,750,728,708,697,655,934,803,835,668,657,676,0.400828660586,-0.00542940760096,0.0598946143543,0.999999954005,6.45440939404e-05,-0.000294205574306,-3.5605001468e-05,1793256485084850176
+6,0.100000000,BASELINE,793,749.527225427,728,708,697,655,934,803,835,668,657,676,0.400828695436,-0.00542965810103,0.0598942533848,0.999999953747,6.48088863783e-05,-0.000295030521667,-3.55286379551e-05,1793256485101517056
+7,0.116666667,BASELINE,793,749.06084252,728,708,697,654.93915748,933.93915748,802.93915748,835,668,657,676,0.400829149785,-0.00543024594373,0.0598941920571,0.999999953655,6.46979636775e-05,-0.000295390002055,-3.53401800421e-05,1793256485118183680
+8,0.133333333,BASELINE,793,749.642798811,728,708,697,654.357201189,933.357201189,802.357201189,835,668,657,676,0.400829044558,-0.00543136371433,0.0598944533456,0.999999953989,6.26811831096e-05,-0.000294734387929,-3.50049765598e-05,1793256485134850304
+9,0.150000000,BASELINE,793,750,728.22131402,708,697,654.22131402,933,802.22131402,835,668,657,676,0.400828548347,-0.00543170951774,0.0598946376981,0.999999954115,6.16897325788e-05,-0.000294535385821,-3.48428665059e-05,1793256485151517440
+10,0.166666667,BASELINE,793,750,728.794360296,708,697,654.794360296,933,802.794360296,835,668,657,676,0.400827430749,-0.00543082844096,0.0598946997767,0.999999953916,6.23278294625e-05,-0.000295062072888,-3.49558522142e-05,1793256485168184064
+11,0.183333333,BASELINE,793,750,728.630573247,708,697,654.630573247,933,803,835,668,657,676,0.400827334578,-0.00543054440918,0.0598946962861,0.999999953726,6.26602318483e-05,-0.00029563536933,-3.49541846832e-05,1793256485184850688
+12,0.200000000,BASELINE,793,750,728.05437603,708,697,654.05437603,933,803,835,668,657,676,0.400827810106,-0.00543059454713,0.0598946560959,0.999999953541,6.28215351709e-05,-0.000296234753382,-3.48883450274e-05,1793256485201517312
+13,0.216666667,BASELINE,793,750,728,708,697,654.53669769,933,802.46330231,835,668,657,676,0.40082707593,-0.00543055309498,0.0598942858513,0.999999953504,6.25522361367e-05,-0.000296394462853,-3.50564530812e-05,1793256485218183936
+14,0.233333333,BASELINE,793,749.874282808,728,708,697,655,933.125717192,802.125717192,835,668,657,676,0.400826591512,-0.00543048366156,0.0598939967961,0.999999953498,6.24666589001e-05,-0.000296415379197,-3.52045898139e-05,1793256485234850560
+15,0.250000000,BASELINE,793,749.298176173,728,708,697,655,933.701823827,802.701823827,835,668,657,676,0.400827453471,-0.00543034817585,0.0598941218225,0.999999953545,6.32000277782e-05,-0.000296103199384,-3.51938411663e-05,1793256485251517184
+16,0.266666667,BASELINE,793,749.276852691,728,708,697,655,934,802.723147309,835,668,657,676,0.400827627067,-0.0054299188922,0.059894194117,0.999999953473,6.38904351565e-05,-0.000296187348237,-3.52888924585e-05,1793256485268183808
+17,0.283333333,BASELINE,793,749.850725242,728,708,697,655,934,802.149274758,835,668,657,676,0.400827062157,-0.0054291744091,0.0598942098385,0.999999953273,6.45347514863e-05,-0.000296696696099,-3.54974506239e-05,1793256485284850688
+18,0.300000000,BASELINE,793,749.562983124,728,708,697,655,934,802.437016876,835,668,657,676,0.400826695884,-0.0054289217111,0.0598936573466,0.999999953099,6.53857620237e-05,-0.000297105165705,-3.54225671107e-05,1793256485301517312
+19,0.316666667,BASELINE,793,749.027134158,728,708,697,655,933.972865842,802.972865842,835,668,657,675.972865842,0.400826390099,-0.00542893076175,0.0598929717106,0.999999952949,6.60975623432e-05,-0.0002974721695,-3.52499257529e-05,1793256485318183680
+20,0.333333333,BASELINE,793,749.606256355,728,708,697,655,933.393743645,802.393743645,835,668,657,675.393743645,0.400825894207,-0.00543074734216,0.0598936413464,0.999999953113,6.24991623591e-05,-0.000297717109755,-3.51157532102e-05,1793256485334850560
+21,0.350000000,BASELINE,793,750,728,708,697,655,933.184309624,802.184309624,835,668,657,675.184309624,0.400825697215,-0.00543201688239,0.0598941551918,0.99999995328,6.07656536463e-05,-0.00029752913813,-3.49715621838e-05,1793256485351517184
+22,0.366666667,BASELINE,793,750,728,708,697,655,933.760092421,802.760092421,835,668,657,675.760092421,0.400826135086,-0.00543212451042,0.0598943381386,0.999999953477,6.29931697061e-05,-0.000296421662743,-3.48060919411e-05,1793256485368183808
+23,0.383333333,BASELINE,793,750,728,708,697,655,934,803,835,668,657,676,0.400826512173,-0.00543162364606,0.0598945019858,0.999999953494,6.45324924289e-05,-0.000296048554555,-3.46783028951e-05,1793256485384850688
+24,0.400000000,BASELINE,793,750,728,708,697,655,934,803,835,668,657,676,0.400826845842,-0.00543068815014,0.0598946521905,0.999999953385,6.5580255335e-05,-0.000296199987183,-3.457742861e-05,1793256485401517312
+25,0.416666667,BASELINE,793,749.492832187,728,708,697,655,933.492832187,802.492832187,835,668,657,675.492832187,0.40082603125,-0.0054293269574,0.0598942590671,0.999999952907,6.74441634806e-05,-0.000297381975751,-3.46640526076e-05,1793256485418183936
+26,0.433333333,BASELINE,793,749.08621573,728,708,697,655,933,802,835,668,657,675,0.400825162111,-0.00542838334979,0.0598937945936,0.999999952494,6.83309239808e-05,-0.000298548740681,-3.47996967953e-05,1793256485434850816
+27,0.450000000,BASELINE,793,749.665122525,728,708,697,655,933,802,835,668,657,675,0.400824911583,-0.00543017098786,0.0598933625867,0.999999952764,6.29724028103e-05,-0.000298793547698,-3.50635613767e-05,1793256485451517440
+28,0.466666667,BASELINE,793,749.757826022,728,708,697,655,933.242173978,802.242173978,835,668,657,675.242173978,0.400825080626,-0.00543122607446,0.0598935377848,0.999999952993,6.11719689834e-05,-0.000298394338619,-3.51085622365e-05,1793256485468183808
+29,0.483333333,BASELINE,793,749.183320659,728,708,697,655,933.816679341,802.816679341,835,668,657,675.816679341,0.40082582544,-0.00543127589256,0.0598945462403,0.999999953191,6.42542404683e-05,-0.00029711135679,-3.48532199804e-05,1793256485484850432
+30,0.500000000,BASELINE,793,749,728,708,697,655,934,803,835,668,657,676,0.400826005548,-0.00543063287146,0.0598944230366,0.999999953134,6.41088579438e-05,-0.00029733635204,-3.48306721462e-05,1793256485501517312
+31,0.516666667,BASELINE,793,749,728,708,697,655,934,803,835,668,657,676,0.400825921018,-0.00542966516558,0.0598937695041,0.999999952958,6.24509018602e-05,-0.000298268029677,-3.49172186228e-05,1793256485518183936
+32,0.533333333,BASELINE,793,749,728,708,697,655,933.433024269,803,835,668,657,676,0.400825180138,-0.00543022968594,0.0598933963856,0.999999952679,6.41572111675e-05,-0.000298843492094,-3.48954346038e-05,1793256485534850560
+33,0.550000000,BASELINE,793,749.145861105,728,708,697,655,933.145861105,803,835.145861105,668,657,675.854138895,0.400824678943,-0.00543060981621,0.0598933133549,0.999999952479,6.53710612757e-05,-0.000299253961611,-3.48714615919e-05,1793256485551517184
+34,0.566666667,BASELINE,793,749.723119449,728,708,697,655,933.723119449,803,835.723119449,668,657,675.276880551,0.400824929297,-0.00543034500869,0.059894070059,0.999999952526,6.49097575717e-05,-0.000299199602117,-3.48480554156e-05,1793256485568183808
+35,0.583333333,BASELINE,793,750,728,708,697,655,934,803,835.700375637,668,657,675.299624363,0.400825345582,-0.00543012117352,0.059894231168,0.999999952681,6.41827645878e-05,-0.000298820195725,-3.50004823055e-05,1793256485584850688
+36,0.600000000,BASELINE,793,750,728,708,697,655,934,803,835.124565149,668,657,675.875434851,0.400825914818,-0.00542993510561,0.0598938432727,0.999999952935,6.32108659235e-05,-0.000298141169357,-3.53149876451e-05,1793256485601517312
+37,0.616666667,BASELINE,793,749.539456344,728,708,697,655,934,803,835,668,657,676,0.400825046575,-0.00543005435501,0.0598928709154,0.999999952474,6.51895587216e-05,-0.000299274699473,-3.51627805048e-05,1793256485618183936
+38,0.633333333,BASELINE,793,749.047690408,728,708,697,655,934,803,835,668,657,676,0.40082383063,-0.00543020510708,0.0598918317007,0.999999951868,6.76181819705e-05,-0.000300787038467,-3.4921671233e-05,1793256485634850560
+39,0.650000000,BASELINE,793,749.628921246,728,708,697,655,934,803,835,668,657,676,0.400823164106,-0.00542976538527,0.0598918495085,0.999999951925,6.59681167725e-05,-0.000300939608258,-3.51273120024e-05,1793256485651517184
+40,0.666666667,BASELINE,792.791917185,750,728,708,697,655,933.791917185,803,835,668,657,675.791917185,0.400823215566,-0.00542991960865,0.0598921788751,0.999999952148,6.43509050088e-05,-0.000300532608022,-3.52662845698e-05,1793256485668183808
+41,0.683333333,BASELINE,792.216409491,750,728,708,697,655,933.216409491,803,835,668,657,675.216409491,0.400824534813,-0.00543112259834,0.0598930583808,0.999999952664,6.27917047139e-05,-0.000299137539881,-3.52875368985e-05,1793256485684850432
+42,0.700000000,BASELINE,792.3582328,750,728,708,697,655,933.3582328,802.6417672,835,668,657,675.3582328,0.400825728819,-0.00543076176728,0.0598936992531,0.9999999529,6.41554575778e-05,-0.000298066160306,-3.52260533679e-05,1793256485701517312
+43,0.716666667,BASELINE,792.932353537,750,728,708,697,655,933.932353537,802.067646463,835,668,657,675.932353537,0.400826847349,-0.00542945850425,0.0598941963139,0.999999952959,6.72807195692e-05,-0.000297189850737,-3.51147093156e-05,1793256485718183936
+44,0.733333333,BASELINE,793,749.479621791,728,708,697,655,933.479621791,802,835,668,657,676,0.400824811313,-0.00542915451872,0.0598924917643,0.999999952177,6.76139264785e-05,-0.000299732944945,-3.51296344867e-05,1793256485734850560
+45,0.750000000,BASELINE,793,749.108399581,728,708,697,655,933.108399581,802,835,668,657,676,0.400823009189,-0.00542907245545,0.0598911163066,0.999999951537,6.75913754232e-05,-0.000301862852985,-3.5154424754e-05,1793256485751517184
+46,0.766666667,BASELINE,793,749.688328375,728,708,697,655,933.688328375,802,835,668,657,676,0.400824057331,-0.00542937516541,0.0598924514858,0.999999952032,6.76434629233e-05,-0.00030020879484,-3.51487662003e-05,1793256485768183808
+47,0.783333333,BASELINE,793,749.733338833,728,708,697,655,934,802.266661167,835,668,657,676,0.400823859014,-0.00542991116382,0.0598927751172,0.999999952115,6.7056263088e-05,-0.000300071542393,-3.50893243452e-05,1793256485784850688
+48,0.800000000,BASELINE,793,749.156860265,728,708,697,655,934,802.843139735,835,668,657,676,0.400822212509,-0.00543071820594,0.0598919234928,0.999999951718,6.57263141636e-05,-0.000301696574076,-3.49673949406e-05,1793256485801517312
+49,0.816666667,BASELINE,793,749,728,708,697,655.425958643,933.574041357,803,835,668,657.425958643,676,0.400822492873,-0.00543061021892,0.0598918283474,0.999999951688,6.62888904363e-05,-0.000301668209408,-3.50195748363e-05,1793256485818183680
+50,0.833333333,BASELINE,793,749,728,708,697,655.988973285,933,803,835,668,657.988973285,675.988973285,0.400823483524,-0.0054301607408,0.0598920235743,0.999999951799,6.74968398114e-05,-0.000301017071166,-3.51366845629e-05,1793256485834850560
+51,0.850000000,BASELINE,793,749,728,708,697,655.410132176,933,803,835,668,657.410132176,675.410132176,0.400823958849,-0.0054297401977,0.0598926095376,0.999999952196,6.5507806159e-05,-0.000300123564105,-3.52458075416e-05,1793256485851517440
+52,0.866666667,BASELINE,793,749.168326765,728,708,697,655,933.168326765,803,835,668,657,675.168326765,0.400823938498,-0.00542973798603,0.0598927842747,0.999999952368,6.41795560305e-05,-0.000299837387327,-3.52460250895e-05,1793256485868183808
+53,0.883333333,BASELINE,793,749.745856616,728,708,697,655,933.745856616,803,835,668,657,675.745856616,0.400822713158,-0.00543075273987,0.0598919593194,0.999999952002,6.44576736002e-05,-0.000301027633131,-3.49814930627e-05,1793256485884850688
+54,0.900000000,BASELINE,793,750,728,708.322687567,697,655,934,802.677312433,835,668,657,676,0.400821799562,-0.00543086342181,0.0598916235456,0.999999951694,6.5593888834e-05,-0.000301815996407,-3.48851278399e-05,1793256485901517312
+55,0.916666667,BASELINE,793,750,728,708.898969238,697,655,934,802.101030762,835,668,657,676,0.400821130961,-0.00543026361054,0.0598916722104,0.999999951429,6.74044669088e-05,-0.000302288527689,-3.49209217656e-05,1793256485918183936
+56,0.933333333,BASELINE,793,749.51517445,728.48482555,708.51517445,697,655,934,802.48482555,835.48482555,668,657,676,0.400822163964,-0.00542990363194,0.0598921335507,0.999999951767,6.71021366544e-05,-0.000301241248518,-3.48940876249e-05,1793256485934850560
+57,0.950000000,BASELINE,793,749,728.928146851,708,697,655,933.928146851,803,835.928146851,668,657,676,0.400823382822,-0.00542962466393,0.0598925377165,0.999999952155,6.63734612742e-05,-0.000300113230886,-3.48906996755e-05,1793256485951517440
+58,0.966666667,BASELINE,793,749,728.347241565,708,697,655,933.347241565,803,835.347241565,668,657,676,0.400823355646,-0.00542955841881,0.0598919153006,0.999999952006,6.58064960744e-05,-0.000300702164087,-3.51477417419e-05,1793256485968184064
+59,0.983333333,BASELINE,793,749.231004269,728,708,697,655,933.231004269,803,835.231004269,668,657,676,0.400822940584,-0.00542973628735,0.0598916058359,0.999999951842,6.51030681582e-05,-0.000301378347001,-3.53445156001e-05,1793256485984850688
+60,1.000000000,BASELINE,793,749.805298046,728,708,697,655,933.805298046,803,835.805298046,668,657,676,0.400821949097,-0.00543027692694,0.0598917614397,0.999999951653,6.4196846421e-05,-0.000302184189558,-3.54517264613e-05,1793256486001517312
+61,1.016666667,BASELINE,793,750,728,708,697,655,933.61193868,803,835.61193868,668,657,676,0.400821484112,-0.00543011461974,0.0598914894662,0.999999951566,6.34658248385e-05,-0.000302623341719,-3.54895640155e-05,1793256486018183936
+62,1.033333333,BASELINE,793,750,728,708,697,655,933.024831229,803,835.024831229,668,657,676,0.400821289182,-0.00542959175393,0.0598909981779,0.99999995153,6.28246677496e-05,-0.00030287440937,-3.54918182993e-05,1793256486034850560
+63,1.050000000,BASELINE,793,750,728,708,697,655,933,803,835,668,657,676,0.400821563068,-0.00542966132342,0.0598914554869,0.999999951604,6.41089505724e-05,-0.00030238034419,-3.53260043331e-05,1793256486051517184
+64,1.066666667,BASELINE,793,749.865815509,728,708,697,655,933.134184491,803,835,668,657,676,0.400822176009,-0.00542955265958,0.0598921264982,0.999999951758,6.56253317362e-05,-0.000301563341549,-3.51713249762e-05,1793256486068183808
+65,1.083333333,BASELINE,793,749.288649935,728,708,697,655,933.711350065,803,835,668,657,676,0.400823839918,-0.00542876922505,0.0598933647045,0.999999952161,6.76272230915e-05,-0.00029978886455,-3.50779070082e-05,1793256486084850432
+66,1.100000000,BASELINE,793,749.288182022,728,708,697,655,933.711817978,803,835,668,657,675.711817978,0.400824023796,-0.00542870856365,0.0598937439922,0.999999952302,6.78459366917e-05,-0.000299283177015,-3.49761920748e-05,1793256486101517312
+67,1.116666667,BASELINE,793,749.864680172,728,708,697,655,933.135319828,803,835,668,657,675.135319828,0.400822726955,-0.00542937101179,0.0598932639616,0.999999952182,6.6280642618e-05,-0.000300046869478,-3.48661763207e-05,1793256486118183936
+68,1.133333333,BASELINE,793,750,728,708,697,655,933.449638815,803,835,668,657,675.449638815,0.400823126692,-0.00543104097382,0.0598925710263,0.999999952113,6.44264647854e-05,-0.000300693055145,-3.47402712767e-05,1793256486134850560
+69,1.150000000,BASELINE,793,750,728,708,697,655,933.963314847,803,835,668,657,676,0.400823896435,-0.00543279710969,0.0598918579467,0.999999952037,6.27691185767e-05,-0.000301310335133,-3.46250079775e-05,1793256486151517184
+70,1.166666667,BASELINE,793,750,728,708,697,655,933.383776597,803,835,668,657,676,0.400822440986,-0.00543125552594,0.0598918131095,0.99999995165,6.5335595176e-05,-0.000302033216709,-3.47393353805e-05,1793256486168183808
+71,1.183333333,BASELINE,793.194411445,750,728,708,697,655,933.194411445,803,835.194411445,668,657,676,0.400821944427,-0.00543036493091,0.0598919004223,0.999999951599,6.60619908553e-05,-0.000302025694176,-3.48931080295e-05,1793256486184850688
+72,1.200000000,BASELINE,793.769952601,750,728,708,697,655,933.769952601,803,835.769952601,668,657,676,0.400823327705,-0.00543075055238,0.0598922468059,0.999999952211,6.31810401534e-05,-0.000300586266838,-3.51242102782e-05,1793256486201517312
+73,1.216666667,BASELINE,793.65731799,750,728,708,697,655,933.65731799,803,835.65731799,668,657,675.65731799,0.400824221674,-0.00543101648535,0.0598927038178,0.999999952442,6.32715410332e-05,-0.000299807322443,-3.50545251987e-05,1793256486218183936
+74,1.233333333,BASELINE,793.08646082,750,728,708,697,655,933.08646082,803,835.08646082,668,657,675.08646082,0.400824789836,-0.0054312027236,0.0598932344916,0.99999995242,6.5340586091e-05,-0.000299468161362,-3.47845605625e-05,1793256486234850560
+75,1.250000000,BASELINE,793,750,728,708,697,655,933.505070646,803,835,668,657,675.505070646,0.400821917747,-0.00543043011889,0.0598919175537,0.99999995166,6.52452325352e-05,-0.000301972644278,-3.51605931896e-05,1793256486251517184
+76,1.266666667,BASELINE,793,749.9026822,728,708,697,655,934,802.9026822,835.0973178,668,657,676,0.400819191563,-0.00542987858079,0.0598905796035,0.999999950967,6.46087168019e-05,-0.000304352698861,-3.55112461574e-05,1793256486268183808
+77,1.283333333,BASELINE,793,749.325113842,728,708,697,655,934,802.325113842,835.674886158,668,657,676,0.40082021569,-0.00543126255884,0.0598907654001,0.999999951293,6.32081127791e-05,-0.000303613937563,-3.51676374662e-05,1793256486284850432
+78,1.300000000,BASELINE,793,749.251937328,728,708,697,655,934,802.251937328,835.748062672,668,657,676,0.400821740851,-0.00543110272829,0.0598917067395,0.999999951675,6.403756543e-05,-0.000302215181448,-3.48541053472e-05,1793256486301517312
+79,1.316666667,BASELINE,793,749.828322414,728,708,697,655,934,802.828322414,835.171677586,668,657,676,0.400823911247,-0.00542895476336,0.0598936210755,0.999999952118,6.77389105479e-05,-0.000299966476549,-3.45793062064e-05,1793256486318183936
+80,1.333333333,BASELINE,793,750,728,708,697,655,933.587707227,803,835,668,657,676,0.400823683656,-0.00542943039994,0.0598932914102,0.999999952052,6.71461504814e-05,-0.000300321836618,-3.45436199247e-05,1793256486334850560
+81,1.350000000,BASELINE,793,750,728,708,697,655,933.000519133,803,835,668,657,676,0.400822438835,-0.00543101897272,0.0598920098357,0.99999995177,6.47318237456e-05,-0.000301781845441,-3.46093657157e-05,1793256486351517184
+82,1.366666667,BASELINE,793,749.421421193,728,708,697,655,933.578578807,803,835,668.578578807,657,676,0.400822555036,-0.00543022146985,0.0598924356628,0.999999951882,6.70392253665e-05,-0.000300905315186,-3.46172499416e-05,1793256486368183808
+83,1.383333333,BASELINE,793,749,728,708,697,655,934,803,835,668.842593513,657,675.842593513,0.400822781011,-0.00542962086552,0.0598926307044,0.999999951979,6.81914611273e-05,-0.000300308819032,-3.47346148418e-05,1793256486384850688
+84,1.400000000,BASELINE,793,749,728,708,697,655,934,803,835,668.264468926,657,675.264468926,0.400823297174,-0.00542955217738,0.0598922048616,0.999999952048,6.6244987625e-05,-0.000300466327673,-3.51447379605e-05,1793256486401517312
+85,1.416666667,BASELINE,792.68966676,749,728,708,697,655,933.68966676,803,835.31033324,668,657,675.31033324,0.400823819507,-0.00542957053358,0.0598923516801,0.999999952206,6.53932756821e-05,-0.000300099375465,-3.53932706941e-05,1793256486418184192
+86,1.433333333,BASELINE,792.117666034,749,728,708,697,655,933.117666034,803,835.882333966,668,657,675.882333966,0.40082434704,-0.00542966228401,0.0598929813564,0.99999995244,6.546464739e-05,-0.000299290207161,-3.55055532561e-05,1793256486434851072
+87,1.450000000,BASELINE,792.469577969,749.469577969,728,707.530422031,697,655,933.469577969,803,835.530422031,668,657,676,0.400824307826,-0.00542930994412,0.0598930399228,0.999999952397,6.57895932713e-05,-0.000299407749837,-3.51226957979e-05,1793256486451517440
+88,1.466666667,BASELINE,793,750,728,707.059808534,697,655,934,803,835,668,657,676,0.400823949863,-0.00542890426981,0.0598928647739,0.999999952201,6.63728029997e-05,-0.000299980308356,-3.46918766113e-05,1793256486468183808
+89,1.483333333,BASELINE,793,750,728,707.641649204,697,655,934,803,835,668,657,676,0.400822090875,-0.00542903694924,0.0598919406754,0.999999951301,6.86370292956e-05,-0.000302429568832,-3.4961705128e-05,1793256486484850432
+90,1.500000000,BASELINE,793,750,728,708.220637614,697,655,934,803,835,668,657.220637614,676,0.400822123902,-0.00542966512851,0.0598921460842,0.999999951308,6.88120069506e-05,-0.000302366524758,-3.49903536079e-05,1793256486501516800
+91,1.516666667,BASELINE,793,750,728,708.795052564,697,655,934,803,835,668,657.795052564,676,0.400825190645,-0.00543108780791,0.0598941625805,0.999999952762,6.5637016979e-05,-0.000298275171798,-3.46322863555e-05,1793256486518183424
+92,1.533333333,BASELINE,793,750,728,708.630322028,697,655,934,803,835,668,657.630322028,676,0.400824361617,-0.00543064003065,0.0598935742298,0.999999952425,6.64125915396e-05,-0.000299228613236,-3.46653249633e-05,1793256486534850304
+93,1.550000000,BASELINE,793,750,728,708.055579823,697,655,934,803,835,668,657.055579823,676,0.400821371564,-0.00542915469168,0.0598915409434,0.999999951085,6.93795852171e-05,-0.000302980454439,-3.49153140434e-05,1793256486551516928
+94,1.566666667,BASELINE,792.467491234,750,728,708,697,655,934,803,835.532508766,668,657,676,0.400821063249,-0.00543063428913,0.0598917129399,0.999999951352,6.63590751093e-05,-0.000302756175006,-3.51011881874e-05,1793256486568183552
+95,1.583333333,BASELINE,792.118689133,749.881310867,728,708,697,655,934,803,835.881310867,668,657,676,0.40082128776,-0.00543173014028,0.0598920562496,0.999999951672,6.39102357749e-05,-0.000302211310201,-3.52213920899e-05,1793256486584850688
+96,1.600000000,BASELINE,792.692085211,749.307914789,728,708,697,655,934,803,835.307914789,668,657,676,0.400822453669,-0.00543013978533,0.0598921513939,0.999999951575,6.61072375297e-05,-0.000302069033989,-3.51163046875e-05,1793256486601518336
+97,1.616666667,BASELINE,793,749,728,708,697,655,934,802.731191306,835,668,657,676,0.400822841064,-0.00542939844509,0.0598921695982,0.999999951587,6.77779968303e-05,-0.000301672418911,-3.5005947168e-05,1793256486618185216
+98,1.633333333,BASELINE,793,749,728,708,697,655,934,802.150608614,835,668,657,676,0.400822325512,-0.00542964182277,0.0598920985647,0.999999951727,6.88384010614e-05,-0.000300980812472,-3.48894771834e-05,1793256486634851328
+99,1.650000000,BASELINE,793,749.434764846,728,708,697,655,934,802.434764846,835,668,657,675.565235154,0.400822767472,-0.00543079025075,0.059892550021,0.999999952111,6.63581633985e-05,-0.000300274094017,-3.47827090594e-05,1793256486651517952
+100,1.666666667,BASELINE,793,749.97913551,728,708,697,655,933.97913551,802.97913551,835,668,657,675,0.400823480341,-0.00543211414268,0.0598931251327,0.999999952529,6.28153625609e-05,-0.000299653803257,-3.47048137588e-05,1793256486668184320
+101,1.683333333,BASELINE,793,749.417698002,728,708,697,655,933.417698002,802.417698002,835,668,657,675,0.40082252256,-0.00542977061485,0.0598921623267,0.999999951913,6.38747477825e-05,-0.000301409890425,-3.52869315133e-05,1793256486684851456
+102,1.700000000,BASELINE,793,749.152438387,728,708,697,655,933.152438387,802.152438387,835,668,657,675.152438387,0.400822053407,-0.00542805849413,0.0598914699839,0.999999951456,6.49963462653e-05,-0.000302642191708,-3.56554615361e-05,1793256486701518336
+103,1.716666667,BASELINE,793,749.747853078,728,708,697,655,933.747853078,802.747853078,835,668,657,675.747853078,0.400823004178,-0.00542818120295,0.0598915635903,0.999999951467,6.62987323621e-05,-0.00030235240407,-3.54033190313e-05,1793256486718184960
+104,1.733333333,BASELINE,793,749.668415158,728,708,697,655,933.668415158,803,835,668,657,676,0.400823067475,-0.00542790392881,0.059891733165,0.999999951416,6.79167067121e-05,-0.00030217754129,-3.52689029627e-05,1793256486734851328
+105,1.750000000,BASELINE,793,749.093265011,728,708,697,655,933.093265011,803,835,668,657,676,0.400822478878,-0.00542733284759,0.059891958542,0.999999951318,6.97664962231e-05,-0.000302087096417,-3.52209626998e-05,1793256486751517184
+106,1.766666667,POSE1_TO_POSE2_PRESS,794,749,728,708,697,655,934,803,835,668,657,676,0.400824501533,-0.00543118572075,0.0598936134166,0.999999952469,6.65065384998e-05,-0.000299057071769,-3.46910258517e-05,1793256486782325760
+107,1.783333333,POSE1_TO_POSE2_PRESS,793.426095146,749.573904854,728,708,697,655,933.426095146,803,835,668,657,675.426095146,0.400823454458,-0.00542895686833,0.0598927955173,0.999999951989,6.77150292203e-05,-0.000300327287918,-3.52139553218e-05,1793256486798992384
+108,1.800000000,POSE1_TO_POSE2_PRESS,793,750,728,708,697,655,933.148859427,803,835,668,657.148859427,675.148859427,0.400822590025,-0.00542712818125,0.059892098749,0.999999951564,6.86573831713e-05,-0.000301480388784,-3.56111337643e-05,1793256486815659264
+109,1.816666667,POSE1_TO_POSE2_PRESS,793,750,728,708,697,655,933.726840184,803,835,668,657.726840184,675.726840184,0.400822252096,-0.00542645306175,0.0598917511686,0.999999951304,6.88325373199e-05,-0.00030229587837,-3.5645806241e-05,1793256486832326912
+110,1.833333333,POSE1_TO_POSE2_PRESS,793,749.698925509,728,708,697,655,934,803,835,668,657.698925509,676,0.400822307798,-0.00542759439999,0.0598917620911,0.999999951426,6.77408327204e-05,-0.000302165640165,-3.54252869725e-05,1793256486848993536
+111,1.850000000,POSE1_TO_POSE2_PRESS,793,749.128048552,728,708,697,655,934,803,835,668,657.128048552,676,0.400822716245,-0.00543036352408,0.0598920942793,0.999999951885,6.55138555272e-05,-0.000301187905034,-3.49760822289e-05,1793256486865659392
+112,1.866666667,POSE1_TO_POSE2_PRESS,793,749.464277638,728.464277638,708,697,655,934,803,835,668,657.464277638,676,0.400824097387,-0.00543035470122,0.0598926607737,0.999999952128,6.56656387497e-05,-0.000300378021859,-3.47197392646e-05,1793256486882325760
+113,1.883333333,POSE1_TO_POSE2_PRESS,793,750,728.939615358,708,697,655,934,803,835,668,657.939615358,676,0.400825846533,-0.00542948736306,0.0598933679287,0.99999995228,6.68651817187e-05,-0.000299624015778,-3.45628415141e-05,1793256486898992128
+114,1.900000000,POSE1_TO_POSE2_PRESS,793,750,728.364162824,708,697,655,934,803,835,668,657.364162824,676,0.400828335541,-0.00542814881961,0.0598946969763,0.999999952185,7.11347286602e-05,-0.000298932626005,-3.47785005728e-05,1793256486915658752
+115,1.916666667,POSE1_TO_POSE2_PRESS,793,750,728,708,697.210307108,655,934,803,835,668,657,676,0.400832844622,-0.00542848470974,0.0598963719577,0.999999952102,7.21042217795e-05,-0.000298989543069,-3.46821132819e-05,1793256486932325632
+116,1.933333333,POSE1_TO_POSE2_PRESS,793,750,728,708,697.783083443,655,934,803,835,668,657,676,0.400840835346,-0.00543170652551,0.0598986431639,0.999999952049,6.73859943725e-05,-0.000300336184576,-3.40479067742e-05,1793256486948992512
+117,1.950000000,POSE1_TO_POSE2_PRESS,792.631250738,750,728,708,697.631250738,655,933.631250738,802.631250738,835,668,657,675.631250738,0.400858944239,-0.00543208715525,0.0599029831602,0.999999951789,6.64749004587e-05,-0.000301455616577,-3.35714997273e-05,1793256486965659136
+118,1.966666667,POSE1_TO_POSE2_PRESS,792.037727996,750,728,708,697.037727996,655,933.037727996,802.037727996,835,668,657,675.037727996,0.400883220727,-0.00543073592213,0.0599085842008,0.999999951411,6.78844687493e-05,-0.000302436551699,-3.31912802937e-05,1793256486982325760
+119,1.983333333,POSE1_TO_POSE2_PRESS,792.54025599,750,728,708,697,655,933.54025599,802.54025599,835,668,657,675.54025599,0.400924216039,-0.00543065058636,0.0599122310265,0.999999953471,6.84033754409e-05,-0.000295388532344,-3.35262438644e-05,1793256486998992128
+120,2.000000000,POSE1_TO_POSE2_PRESS,793,749.882762151,728,708,697,655,934,803,835.117237849,668,657,676,0.400969483904,-0.00543123793411,0.0599144127319,0.999999955266,6.81586346509e-05,-0.000289254755249,-3.39633091619e-05,1793256487015659008
+121,2.016666667,POSE1_TO_POSE2_PRESS,793,749.305573516,728,708,697,655,934,803,835.694426484,668,657,676,0.401027061538,-0.00543412724724,0.059911366871,0.999999955562,6.51551260115e-05,-0.000288845973822,-3.46104801759e-05,1793256487032325888
+122,2.033333333,POSE1_TO_POSE2_PRESS,793.270404258,749.270404258,728,708,697,655,934,803,835.729595742,668,657,676,0.401093917047,-0.00543639733027,0.0599091204767,0.999999955554,6.34581532367e-05,-0.000289155233086,-3.54294666447e-05,1793256487048992512
+123,2.050000000,POSE1_TO_POSE2_PRESS,793.845019749,749.845019749,728,708,697,655,934,803,835.154980251,668,657,676,0.401171210383,-0.0054379707645,0.0599077735016,0.999999955208,6.32310646207e-05,-0.000290272305264,-3.64417495553e-05,1793256487065658880
+124,2.066666667,POSE1_TO_POSE2_PRESS,793.567850909,750,728.432149091,708,697,655,934,803,835,668,657,675.567850909,0.401265597463,-0.00543933322085,0.0599069179093,0.999999955669,6.18756980847e-05,-0.00028883673986,-3.74935960232e-05,1793256487082325760
+125,2.083333333,POSE1_TO_POSE2_PRESS,793,749.976657342,728.976657342,708,697,655,933.976657342,803,835,668,657,675.023342658,0.401367983247,-0.00544064875511,0.0599066402427,0.999999956606,6.01555236387e-05,-0.000285800312668,-3.85564748322e-05,1793256487098992128
+126,2.100000000,POSE1_TO_POSE2_PRESS,793,749.398707144,728.398707144,708,697,655,933.398707144,803,835,668,657,675.601292856,0.401510418371,-0.00544270074916,0.0599157819304,0.99999996176,5.96682048231e-05,-0.000267127390159,-3.95343115275e-05,1793256487115658752
+127,2.116666667,POSE1_TO_POSE2_PRESS,793,749.178021948,728,708,697,655,933,803,835,668,657,676,0.40165948721,-0.00544516780502,0.0599226224848,0.999999965807,5.89806322042e-05,-0.00025150432881,-4.06665808342e-05,1793256487132325376
+128,2.133333333,POSE1_TO_POSE2_PRESS,793,749.752034743,728,708,697,655,933,803,835,668,657,676,0.401823312024,-0.00544855812136,0.059924344412,0.999999967996,5.78476164486e-05,-0.000242665361149,-4.21423689158e-05,1793256487148992256
+129,2.150000000,POSE1_TO_POSE2_PRESS,793,750,728.334665303,707.665334697,697,655,933.334665303,802.665334697,835,668,657.334665303,676,0.402002166073,-0.00545064945548,0.0599259462105,0.999999969887,5.82221421663e-05,-0.000234324696172,-4.39198328725e-05,1793256487165659136
+130,2.166666667,POSE1_TO_POSE2_PRESS,793,750,728.923849896,707.076150104,697,655,933.923849896,802.076150104,835,668,657.923849896,676,0.402192450156,-0.00545175288941,0.0599274566492,0.999999971541,5.97431815566e-05,-0.000226362998872,-4.59267271913e-05,1793256487182325760
+131,2.183333333,POSE1_TO_POSE2_PRESS,792.495119736,749.495119736,728.495119736,707.504880264,697,655,933.495119736,802.504880264,835.504880264,668.504880264,657.495119736,675.495119736,0.402416060452,-0.0054542365007,0.0599266378798,0.999999972338,5.88592495406e-05,-0.000222549267781,-4.82900946382e-05,1793256487198992640
+132,2.200000000,POSE1_TO_POSE2_PRESS,792.084051849,749.084051849,728,708,697,655,933,803,835.915948151,668.915948151,657,675,0.402649825176,-0.00545706799845,0.0599253441761,0.999999972952,5.71879117721e-05,-0.000219646423569,-5.08004488723e-05,1793256487215659008
+133,2.216666667,POSE1_TO_POSE2_PRESS,792.659433157,749.659433157,728,708,697,655,933,803,835.340566843,668.340566843,657,675,0.402914032418,-0.00546073556129,0.0599232951786,0.999999973281,5.30004491748e-05,-0.000218469191222,-5.38607256156e-05,1793256487232325632
+134,2.233333333,POSE1_TO_POSE2_PRESS,793,750,728,708,697,655,933.234308433,802.765691567,835,668,657,675,0.403195582355,-0.00546399096898,0.0599217993403,0.999999973428,4.90847491337e-05,-0.000217922297613,-5.69679666748e-05,1793256487248992256
+135,2.250000000,POSE1_TO_POSE2_PRESS,793,750,728,708,697,655,933.808449744,802.191550256,835,668,657,675,0.403502285524,-0.00546664860082,0.0599211057853,0.999999973328,4.55632043915e-05,-0.000218289625661,-6.01433229769e-05,1793256487265658880
+136,2.266666667,POSE1_TO_POSE2_PRESS,793,750,728,708,697,655,933.606000515,802.393999485,835,668,657,675.393999485,0.40381812204,-0.00546711885157,0.0599111582628,0.99999997024,4.31049931643e-05,-0.000231438329502,-6.402292637e-05,1793256487282325760
+137,2.283333333,POSE1_TO_POSE2_PRESS,793,750,728,708,697,655,933.014738979,802.985261021,835,668,657,675.985261021,0.404138531301,-0.00546649395543,0.0598965775957,0.999999965326,4.11791567061e-05,-0.000250986230421,-6.82551220485e-05,1793256487298992384
+138,2.300000000,POSE1_TO_POSE2_PRESS,792.435071687,750,728,708,697,655,933.564928313,802.435071687,835,668,657,676,0.404494486545,-0.00545766763236,0.0598818138935,0.999999958014,3.91396855726e-05,-0.000277692702242,-7.29887188247e-05,1793256487315659008
+139,2.316666667,POSE1_TO_POSE2_PRESS,792.142918467,749.857081533,728,708,697,655,933.857081533,802,835,668,657,676,0.404867107562,-0.00545073050937,0.0598701205286,0.999999951655,2.71033881043e-05,-0.000299953685643,-7.73465594151e-05,1793256487332325632
+140,2.333333333,POSE1_TO_POSE2_PRESS,792.716745529,749.283254471,728,708,697,655,933.283254471,802,835,668,657,676,0.405287236996,-0.0054501216258,0.0598676985438,0.999999949132,-1.50652399899e-05,-0.000308259433217,-8.05328209698e-05,1793256487348992512
+141,2.350000000,POSE1_TO_POSE2_PRESS,793,749,728,708,697,655,933.289708133,802,835.289708133,668,657,676,0.405757872834,-0.00545600912746,0.0598817358608,0.999999955337,-3.74761504372e-05,-0.000285007913863,-8.17994592656e-05,1793256487365659648
+142,2.366666667,POSE1_TO_POSE2_PRESS,793,749,728,708,697,655,933.861828118,802,835.861828118,668,657,676,0.406277743124,-0.00546822940325,0.0599118179528,0.999999969199,-4.06269450128e-05,-0.000230993896027,-8.11948201954e-05,1793256487382327552
+143,2.383333333,POSE1_TO_POSE2_PRESS,792.548303218,749,728,708,697,655,933.548303218,802,835.548303218,668,657,676,0.406819237905,-0.00547457436964,0.0599402789141,0.999999979851,-3.49783555079e-05,-0.000180849105968,-7.98063041766e-05,1793256487398994176
+144,2.400000000,POSE1_TO_POSE2_PRESS,792,749,728,708,697,655,933.045741312,802,835,668,657,676,0.407366737051,-0.00547848522991,0.0599660490962,0.999999987267,-2.70980728154e-05,-0.000136460798442,-7.817179496e-05,1793256487415660544
+145,2.416666667,POSE1_TO_POSE2_PRESS,792,749,728,708,697,655,933.622652916,802,835,668,657,676,0.407904005855,-0.00547585397251,0.0599665667804,0.999999986278,-2.58379179678e-05,-0.000144613090254,-7.65790709871e-05,1793256487432326912
+146,2.433333333,POSE1_TO_POSE2_PRESS,792,749,728,708,697,655,933.801964883,802,835.198035117,668,657.198035117,676,0.408453593965,-0.00547216730926,0.0599625257987,0.999999983955,-2.62659735241e-05,-0.000160100757273,-7.59439659334e-05,1793256487448993280
+147,2.450000000,POSE1_TO_POSE2_PRESS,792,749,728,708,697,655,933.229474591,802,835.770525409,668,657.770525409,676,0.40902647603,-0.0054664850295,0.0599498650524,0.999999978632,-2.98861858285e-05,-0.000189458535503,-7.71195769655e-05,1793256487465659392
+148,2.466666667,POSE1_TO_POSE2_PRESS,792,749,728,708,697,655,933.354982187,802,835.645017813,668,657.645017813,675.645017813,0.40964672289,-0.00546689588646,0.0599453446788,0.999999976899,-3.26728639148e-05,-0.00019761677249,-7.79846873956e-05,1793256487482326016
+149,2.483333333,POSE1_TO_POSE2_PRESS,792,749,728,708,697,655,933.947444418,802,835.052555582,668,657.052555582,675.052555582,0.410298656369,-0.00547138299996,0.0599462701454,0.999999977945,-3.4901914612e-05,-0.000191592696788,-7.86420755635e-05,1793256487498992640
+150,2.500000000,POSE1_TO_POSE2_PRESS,792,749,728.525433685,708,697,655,934,802,835,668,657,675.525433685,0.410989513215,-0.00547730940305,0.0599533961172,0.99999998112,-3.9314809936e-05,-0.000173567266489,-7.80261721048e-05,1793256487515659520
+151,2.516666667,POSE1_TO_POSE2_PRESS,792.102015716,749,728.897984284,708,697,655,934,802,835,668,657,676,0.411682636657,-0.00548177169228,0.0599571412445,0.999999982994,-4.24094692113e-05,-0.000161821060888,-7.76368748601e-05,1793256487532325888
+152,2.533333333,POSE1_TO_POSE2_PRESS,792.67860497,749,728.32139503,708,697,655,934,802,835,668,657,676,0.412368678291,-0.00547877121756,0.0599423510145,0.999999979092,-3.83828255639e-05,-0.000184720186079,-7.88783286469e-05,1793256487548992512
+153,2.550000000,POSE1_TO_POSE2_PRESS,792.746644638,749,728,708,697,655,934,802,835,668,657,676,0.413052592034,-0.0054760623017,0.059917666073,0.999999969471,-3.45839700697e-05,-0.000231058766083,-8.04565321799e-05,1793256487565659392
+154,2.566666667,POSE1_TO_POSE2_PRESS,792.174210055,749,728,708,697,655,934,802,835,668,657,676,0.413733825975,-0.00547372057865,0.059880519594,0.999999949018,-3.10719934274e-05,-0.000306917319474,-8.24588428424e-05,1793256487582326016
+155,2.583333333,POSE1_TO_POSE2_PRESS,792,749,728,708,697,655,934,802,835,668,657,675.585925761,0.41453476443,-0.00547635843455,0.059892032799,0.99999995669,-3.51580464014e-05,-0.000279979692781,-8.36338790281e-05,1793256487598992640
+156,2.600000000,POSE1_TO_POSE2_PRESS,792,749,728.008999713,708,697,655,934,802,835.008999713,668,657.008999713,675.008999713,0.415388198851,-0.00548117718054,0.0599250856585,0.999999973921,-4.25038498416e-05,-0.000207942701191,-8.43338039877e-05,1793256487615659008
+157,2.616666667,POSE1_TO_POSE2_PRESS,792,749,728.585480893,708,697,655,934,802,835.585480893,668,657.585480893,675.585480893,0.416249783527,-0.00548615289337,0.0599740697874,0.999999987758,-4.5805554121e-05,-0.000127743738653,-7.78954833906e-05,1793256487632325888
+158,2.633333333,POSE1_TO_POSE2_PRESS,792,749,728.838208829,707.838208829,696.838208829,655,934,801.838208829,835.838208829,668,657.838208829,676,0.417098647257,-0.00548947979717,0.0600053700076,0.999999993526,-4.30949279937e-05,-7.57541086472e-05,-7.3159964753e-05,1793256487648992512
+159,2.650000000,POSE1_TO_POSE2_PRESS,792,749,728.262335983,707.262335983,696.262335983,655,934,801.262335983,835.262335983,668,657.262335983,676,0.417914953468,-0.00548858680662,0.0599914107559,0.999999992435,-2.49965909806e-05,-9.5962291415e-05,-7.2782528921e-05,1793256487665659136
+160,2.666666667,POSE1_TO_POSE2_PRESS,792,749,728,707.320913424,696.320913424,655,934,801.320913424,835,668,657,676,0.418752740619,-0.00548896207497,0.0599750842579,0.999999989403,-3.04174906966e-05,-0.000121566862127,-7.40984740233e-05,1793256487682325760
+161,2.683333333,POSE1_TO_POSE2_PRESS,792,749,728,707.910334764,696.910334764,655,934,801.910334764,835,668,657,676,0.419608500809,-0.00549039849421,0.059956777088,0.999999984003,-5.55169112389e-05,-0.000151686583689,-7.68312690861e-05,1793256487698992384
+162,2.700000000,POSE1_TO_POSE2_PRESS,792,749,728.490944738,708,696.509055262,655,934,801.509055262,835,668.490944738,657.490944738,676,0.420443504197,-0.00548904832173,0.0599252953231,0.999999976239,-4.81773817924e-05,-0.000196928436592,-8.01211051347e-05,1793256487715658752
+163,2.716666667,POSE1_TO_POSE2_PRESS,792,748.930473892,728.930473892,708,696.069526108,655,934,801,835,668.930473892,658,675.930473892,0.421276601322,-0.00548767079668,0.0598925464253,0.99999996575,-3.85156052112e-05,-0.000245192104026,-8.3051286984e-05,1793256487732325888
+164,2.733333333,POSE1_TO_POSE2_PRESS,792,748.355149707,728.355149707,708,696.644850293,655,934,801,835,668.355149707,658,675.355149707,0.422122922986,-0.005489731496,0.059867775434,0.999999951392,-5.43007234922e-05,-0.000295701028499,-8.26379260529e-05,1793256487748992512
+165,2.750000000,POSE1_TO_POSE2_PRESS,792,748,728.217818613,707.782181387,697,655,933.782181387,801,835,668,657.782181387,675.217818613,0.423020102974,-0.00549309117327,0.0598755264503,0.999999954615,-6.18502039928e-05,-0.000283373944657,-8.1505174154e-05,1793256487765658880
+166,2.766666667,POSE1_TO_POSE2_PRESS,792,748,728.786986921,707.213013079,697,655,933.213013079,801,835,668,657.213013079,675.786986921,0.423999319505,-0.00549854615164,0.0599357366963,0.999999980891,-5.61152900487e-05,-0.000169689998827,-7.92120167985e-05,1793256487782325760
+167,2.783333333,POSE1_TO_POSE2_PRESS,792,748,728.626449449,707.373550551,696.626449449,655,933.373550551,801,835,668,657,676,0.424975349609,-0.00550227918917,0.0599865280157,0.999999992092,-5.30790947406e-05,-8.51855166663e-05,-7.57765450708e-05,1793256487798992640
+168,2.800000000,POSE1_TO_POSE2_PRESS,792,748,728.029481877,707.970518123,696.029481877,655,933.970518123,801,835,668,657,676,0.425949473884,-0.00550498234998,0.0600316859614,0.999999995934,-5.16569777413e-05,-1.81330005455e-05,-7.16578662896e-05,1793256487815659008
+169,2.816666667,POSE1_TO_POSE2_PRESS,792,748,728.550593353,708,696.550593353,655,934,801.550593353,835,668,657,676,0.426873477832,-0.00550613559115,0.0600179571615,0.999999994984,-6.30755650373e-05,-2.43613663991e-05,-7.38945055103e-05,1793256487832325632
+170,2.833333333,POSE1_TO_POSE2_PRESS,792,748,729,708,697,655,934,801.871361769,835,668,657,676,0.427786408438,-0.00550805757493,0.0599997468988,0.99999999379,-7.12529434253e-05,-3.95737600311e-05,-7.60115179823e-05,1793256487848992256
+171,2.850000000,POSE1_TO_POSE2_PRESS,792,748,729,708,697,655,934,801.297308419,835,668,657,676,0.428670012997,-0.00551292016869,0.0599766122349,0.999999992254,-6.58976522697e-05,-7.27115791513e-05,-7.65710909994e-05,1793256487865658880
+172,2.866666667,POSE1_TO_POSE2_PRESS,792,748,729,708,697,655,934,801,835,668,657,676,0.429524849307,-0.00551448292926,0.0599428858449,0.999999986653,-6.55021154762e-05,-0.000128218765318,-7.72186000434e-05,1793256487882325504
+173,2.883333333,POSE1_TO_POSE2_PRESS,792,748,729,708,697,655,934,801,835,668,657,676,0.430348779695,-0.00551250066319,0.0598977807153,0.999999972899,-7.04348662293e-05,-0.00020775746517,-7.79605788467e-05,1793256487898992128
+174,2.900000000,POSE1_TO_POSE2_PRESS,792,747.561046011,729,708,696.561046011,655,934,801,835,668,657,676,0.431298058408,-0.00551336593868,0.0599167334382,0.999999980445,-7.01496297737e-05,-0.000167491987715,-7.8335005032e-05,1793256487915659008
+175,2.916666667,POSE1_TO_POSE2_PRESS,792,747.029911883,729,708,696,654.970088117,934,800.970088117,835,668,657,676,0.432287554215,-0.00551542819177,0.0599577639267,0.999999990782,-6.89886908873e-05,-8.67377197515e-05,-7.844303408e-05,1793256487932325632
+176,2.933333333,POSE1_TO_POSE2_PRESS,792,747.608549256,729,708,696,654.391450744,934,800.391450744,835,668,657,676,0.433215022632,-0.00552127964697,0.059995077406,0.999999993112,-8.50571323799e-05,-2.76503087676e-05,-7.60092914726e-05,1793256487948992512
+177,2.950000000,POSE1_TO_POSE2_PRESS,792.185357206,747.814642794,729,708,696.185357206,654.185357206,934,800.185357206,835,668.185357206,657,676,0.434117789067,-0.0055262656314,0.0600125361315,0.999999992888,-9.34733754991e-05,-3.67640369017e-07,-7.40766487341e-05,1793256487965659136
+178,2.966666667,POSE1_TO_POSE2_PRESS,792.758339514,747.241660486,729,708,696.758339514,654.758339514,934,800.758339514,835,668.758339514,657,676,0.434968898074,-0.0055294417159,0.059988473948,0.999999992849,-8.58870924619e-05,-3.9596087775e-05,-7.3191922537e-05,1793256487982325504
+179,2.983333333,POSE1_TO_POSE2_PRESS,792.658834602,747,729,708,696.658834602,655,934,801,835,669,657,676,0.435791699228,-0.0055308438869,0.0599610600435,0.999999989904,-8.17762013777e-05,-8.98791587676e-05,-7.36663916519e-05,1793256487998992384
+180,3.000000000,POSE1_TO_POSE2_PRESS,792.068829016,747,729,708,696.068829016,655,934,801,835,669,657,676,0.436593853069,-0.00553095219565,0.0599312014525,0.999999982976,-8.02002018559e-05,-0.000148225279992,-7.51322344219e-05,1793256488015659008
+181,3.016666667,POSE1_TO_POSE2_PRESS,791.488000459,745.976000918,729,708,696,655,934,800.488000459,835,669,657,676,0.437406432826,-0.00552841141776,0.0599143768438,0.999999977273,-8.54267122601e-05,-0.000179848270206,-7.62272249672e-05,1793256488032325632
+182,3.033333333,POSE1_TO_POSE2_PRESS,791.091087769,744.908912231,729,708,696,655,934,800,835,669,657,676,0.438217929368,-0.00552619189413,0.0599017649306,0.999999972506,-8.89915026973e-05,-0.000202840660826,-7.69726031891e-05,1793256488048992256
+183,3.050000000,POSE1_TO_POSE2_PRESS,791.667361595,744.332638405,729,708,696,655,934,800,835,669,657,676,0.439016321926,-0.00552754706345,0.0599024234758,0.999999974256,-7.89197689495e-05,-0.00019865995393,-7.61166214734e-05,1793256488065658880
+184,3.066666667,POSE1_TO_POSE2_PRESS,792,744.242750217,729,708.242750217,696,654.757249783,934,800,835,669,657,676,0.439818860277,-0.00553080274733,0.0599194524539,0.999999979556,-8.01706193801e-05,-0.000169988329794,-7.45929535469e-05,1793256488082325504
+185,3.083333333,POSE1_TO_POSE2_PRESS,792,744.816930211,729,708.816930211,696,654.183069789,934,800,835,669,657,676,0.440627058864,-0.00553665322638,0.0599588321797,0.999999986885,-9.68803301589e-05,-0.00010787896295,-7.21576855008e-05,1793256488098992128
+186,3.100000000,POSE1_TO_POSE2_PRESS,792,744.597482274,729,708.597482274,696,654,934,800,835,669,657,676,0.441341107844,-0.00553930356495,0.0599491892386,0.999999984244,-0.000102397931638,-0.000125655442357,-7.23713216732e-05,1793256488115659008
+187,3.116666667,POSE1_TO_POSE2_PRESS,792,744.006555108,729,708.006555108,696,654,934,800,835,669,657,676,0.442011087593,-0.00554045599066,0.0599165998996,0.999999975655,-0.000102676761288,-0.000180824673485,-7.38248496762e-05,1793256488132325888
+188,3.133333333,POSE1_TO_POSE2_PRESS,792,744.57310649,729,708,695.42689351,653.42689351,934,799.42689351,835,669.57310649,657,676,0.442666590786,-0.00554306691419,0.0598557416498,0.999999957508,-9.95915227601e-05,-0.000263065523102,-7.6569342628e-05,1793256488148992512
+189,3.150000000,POSE1_TO_POSE2_PRESS,792,745,729,708.151052616,695,653,934,798.848947384,835,669.848947384,657,676,0.443317529684,-0.00554506605484,0.0598068410139,0.999999937776,-9.87384224567e-05,-0.000329469177358,-7.84091810411e-05,1793256488165659136
+190,3.166666667,POSE1_TO_POSE2_PRESS,792,745,729,708.724554628,695,653,934,798.275445372,835,669.275445372,657,676,0.443956157903,-0.0055453084653,0.0597922691076,0.999999930044,-0.000104233488323,-0.000350731632892,-7.76784710513e-05,1793256488182325760
+191,3.183333333,POSE1_TO_POSE2_PRESS,792,745,729,709,694.700435436,653,934,798.299564564,835,669.299564564,657,676,0.444582740943,-0.00554562947887,0.0597871788538,0.999999926494,-0.000109614795567,-0.00035925118063,-7.70401082384e-05,1793256488198992384
+192,3.200000000,POSE1_TO_POSE2_PRESS,792,745,729,709,694.124032005,653,934,798.875967995,835,669.875967995,657,676,0.445198192543,-0.00554602313251,0.0597908509523,0.999999927109,-0.000114890973898,-0.000355994527426,-7.64870869879e-05,1793256488215659520
+193,3.216666667,POSE1_TO_POSE2_PRESS,791.535777604,745,729,709,693.535777604,652.535777604,934,799,835.464222396,670,657,676,0.445733353291,-0.0055448832132,0.0597644872365,0.999999908885,-0.000107835791824,-0.000405807673857,-7.69462305787e-05,1793256488232326144
+194,3.233333333,POSE1_TO_POSE2_PRESS,791,745,729,709.054562733,693,652,934,798.945437267,835.945437267,670,657,676,0.446248733659,-0.00554372164139,0.0597310146493,0.999999883312,-9.82297402862e-05,-0.000466587839382,-7.75995896513e-05,1793256488248992768
+195,3.250000000,POSE1_TO_POSE2_PRESS,791,745,729,709.633717793,693,652,934,798.366282207,835.366282207,670,657,676,0.446785591962,-0.00554639456708,0.0597083718266,0.999999870853,-9.66052960619e-05,-0.000492912098839,-7.74520490375e-05,1793256488265659136
+196,3.266666667,POSE1_TO_POSE2_PRESS,791,745,729,709.789612131,692.789612131,651.789612131,934,798,835,669.789612131,656.789612131,676,0.447313393913,-0.00554968300448,0.0596991718387,0.99999986661,-9.89383294577e-05,-0.000501059115981,-7.70075326744e-05,1793256488282325760
+197,3.283333333,POSE1_TO_POSE2_PRESS,791,745,729,709.217217929,692.217217929,651.217217929,934,798,835,669.217217929,656.217217929,676,0.447825612894,-0.00555403052895,0.0597131024232,0.999999877059,-0.000108080842943,-0.000477929247406,-7.60520215941e-05,1793256488298992384
+198,3.300000000,POSE1_TO_POSE2_PRESS,791.365715684,745,729,709,692,651,934,797.634284316,835,669.365715684,656.365715684,676,0.448292364502,-0.00556028459002,0.0597157355772,0.999999879622,-0.000117628457084,-0.000470367336097,-7.5330207571e-05,1793256488315659008
+199,3.316666667,POSE1_TO_POSE2_PRESS,791.955095024,745,729,709,692,651,934,797.044904976,835,669.955095024,656.955095024,676,0.448731309317,-0.00556770464729,0.0597114594728,0.999999877542,-0.000127423822767,-0.000472326442326,-7.4751317441e-05,1793256488332325888
+200,3.333333333,POSE1_TO_POSE2_PRESS,792,745,729.536864919,709.536864919,691.463135081,650.463135081,934,797,835,670,656.463135081,676,0.449105871487,-0.00557260477271,0.0596798003309,0.999999850413,-0.000135504441503,-0.000524373963227,-7.64469701326e-05,1793256488348992512
+201,3.350000000,POSE1_TO_POSE2_PRESS,791.882088204,745,729.882088204,709.882088204,691,650,934,797,835,670,656,676,0.449468110663,-0.00557568398199,0.0596466810209,0.999999819735,-0.000141247364567,-0.000578291401493,-7.84747801945e-05,1793256488365658880
+202,3.366666667,POSE1_TO_POSE2_PRESS,791.301415706,745,729.301415706,709.301415706,691,650,934,797,835,670,656,676,0.449802826096,-0.00557243241467,0.0596166944241,0.999999792867,-0.000138370720022,-0.000623334971206,-8.10699631481e-05,1793256488382325504
+203,3.383333333,POSE1_TO_POSE2_PRESS,791,745,729.271715119,709,690.728284881,650,934,797,835,670,656,676,0.450137499573,-0.00557107134487,0.0595986123761,0.999999778107,-0.000135777803425,-0.000646948012377,-8.250874829e-05,1793256488398992640
+204,3.400000000,POSE1_TO_POSE2_PRESS,791,745,729.836705808,709,690.163294192,650,934,797,835,670,656,676,0.450472127747,-0.00557175078277,0.0595933794985,0.999999778088,-0.000133491128842,-0.000647430022143,-8.269937604e-05,1793256488415659776
+205,3.416666667,POSE1_TO_POSE2_PRESS,791,745,729.577008939,709,690,649.577008939,934,796.577008939,835,670,656,676.422991061,0.450777812621,-0.00557320970308,0.0595971887638,0.999999784334,-0.000132971955217,-0.000637870221509,-8.22973423555e-05,1793256488432326400
+206,3.433333333,POSE1_TO_POSE2_PRESS,791.017510977,745,729,709,690,649,934,796.017510977,835,670,656,677,0.451070632831,-0.00557497858857,0.0596046260993,0.999999792858,-0.000133105209388,-0.000624423189328,-8.16260618391e-05,1793256488448992512
+207,3.450000000,POSE1_TO_POSE2_PRESS,791.598458831,745,729,709,690,649,934,796.598458831,835,670,656,677,0.451328095352,-0.00557652535399,0.0596105298036,0.999999797705,-0.000131112214288,-0.000617246602343,-8.004344732e-05,1793256488465659136
+208,3.466666667,POSE1_TO_POSE2_PRESS,791.822898247,745,729,709.177101753,689.822898247,649,934,796.822898247,835.177101753,670,656,676.822898247,0.451573754302,-0.00557748226696,0.0596144576549,0.999999801482,-0.000128979069342,-0.00061169506448,-7.89327107489e-05,1793256488482326016
+209,3.483333333,POSE1_TO_POSE2_PRESS,791.249414212,745,729,709.750585788,689.249414212,649,934,796.249414212,835.750585788,670,656,676.249414212,0.451792994921,-0.00557711899485,0.0596139632279,0.999999802968,-0.000126532246725,-0.000609780649628,-7.88781133368e-05,1793256488498992896
+210,3.500000000,POSE1_TO_POSE2_PRESS,791,745,729,709.668031166,689,648.668031166,934,796,835.668031166,670,656,676,0.451984960933,-0.00557659512232,0.0596101877774,0.99999980182,-0.000123642771358,-0.000612255483655,-7.88433237583e-05,1793256488515659520
+211,3.516666667,POSE1_TO_POSE2_PRESS,791,745,729,709.080568732,689,648.080568732,934,796,835.080568732,670,656,676,0.452155935578,-0.00557594764665,0.0596038871485,0.999999798615,-0.000120412616324,-0.000618108420697,-7.88237789002e-05,1793256488532325888
+212,3.533333333,POSE1_TO_POSE2_PRESS,791.499909132,745,729,709,689,648,934,795.500090868,835,670,656,676,0.452305765581,-0.00557600478099,0.0596011074818,0.999999797826,-0.000118886989269,-0.000619773757661,-7.80665564594e-05,1793256488548992768
+213,3.550000000,POSE1_TO_POSE2_PRESS,791.920732376,745,729,709,689,648,934,795,835,670,656,676,0.452448175313,-0.005576229182,0.0595991277098,0.99999979717,-0.000117608009647,-0.000621178151952,-7.72445182273e-05,1793256488565659136
+214,3.566666667,POSE1_TO_POSE2_PRESS,791.341431679,745,729,709,689,648,934,795,835,670,656,676,0.45256497766,-0.00557680224612,0.0595986634843,0.999999794909,-0.000116175864198,-0.000625135205632,-7.67532488687e-05,1793256488582325760
+215,3.583333333,POSE1_TO_POSE2_PRESS,791.235152865,745,729.235152865,709,688.764847135,648,934,795,835,670.235152865,656,676,0.45267277171,-0.00557633239001,0.0595982866329,0.999999793789,-0.000114948842467,-0.000627171431739,-7.65786437698e-05,1793256488598992384
+216,3.600000000,POSE1_TO_POSE2_PRESS,791.807838672,745,729.807838672,709,688.192161328,648,934,795,835,670.807838672,656,676,0.452767635451,-0.00557436555046,0.0595980351966,0.999999794326,-0.000114016250631,-0.000626450546495,-7.68585711996e-05,1793256488615659264
+217,3.616666667,POSE1_TO_POSE2_PRESS,792,744.608412376,729.608412376,709,688,648,934,795.391587624,835,670.608412376,656,676,0.452841748364,-0.00557488603812,0.0595940418377,0.999999790214,-0.000113569288285,-0.000633111996231,-7.64458825885e-05,1793256488632325888
+218,3.633333333,POSE1_TO_POSE2_PRESS,792,744.019076655,729.019076655,709,688,648,934,795.980923345,835,670.019076655,656,676,0.4529053823,-0.00557666260288,0.0595881588428,0.999999783663,-0.000113367564318,-0.000643501456216,-7.56834293243e-05,1793256488648992512
+219,3.650000000,POSE1_TO_POSE2_PRESS,791.439346126,744.560653874,729.560653874,709,688,647.439346126,934,795.439346126,835,670.560653874,656,676,0.452955594145,-0.00557448873066,0.059587148949,0.999999781698,-0.000110076721892,-0.000647163716562,-7.52695914763e-05,1793256488665659392
+220,3.666666667,POSE1_TO_POSE2_PRESS,791,745,729.860459639,709,688,647,934,795,835,670.860459639,656,676,0.453002167535,-0.00557320122467,0.0595860790493,0.999999779817,-0.000108269445835,-0.000650402355674,-7.49638180379e-05,1793256488682326272
+221,3.683333333,POSE1_TO_POSE2_PRESS,791,745,729.283212931,709,688,647,934,795,835,670.283212931,656,676,0.453038736333,-0.00557510858033,0.0595843095746,0.999999777765,-0.000111439931602,-0.000653018097552,-7.49604367927e-05,1793256488698992640
+222,3.700000000,POSE1_TO_POSE2_PRESS,791,745,729,709,688,647.29123573,934,795,835,670.29123573,656,676,0.453069894407,-0.00557549681773,0.0595829447545,0.999999776783,-0.000111351353688,-0.00065458943515,-7.4476615165e-05,1793256488715659008
+223,3.716666667,POSE1_TO_POSE2_PRESS,791,745,729,709,688,647.862989383,934,795,835,670.862989383,656,676,0.453095840881,-0.00557442184238,0.0595819696972,0.999999776837,-0.000108123649734,-0.000655154804049,-7.353003391e-05,1793256488732325632
+224,3.733333333,POSE1_TO_POSE2_PRESS,791,745,729,709,688,648,934,795,835.45034514,670.54965486,656,676,0.453112224902,-0.00557355396273,0.0595803651991,0.999999775712,-0.000106322666335,-0.000657191727911,-7.32822937428e-05,1793256488748992256
+225,3.750000000,POSE1_TO_POSE2_PRESS,791.041711822,745,729,709,688,647.958288178,934,795,835.958288178,670,656,676,0.453125118003,-0.00557285905434,0.0595785851998,0.999999774211,-0.000105031364258,-0.000659686384779,-7.32144235099e-05,1793256488765659136
+226,3.766666667,POSE1_TO_POSE2_PRESS,791.62139244,745,729,709,688,647.37860756,934,795,835.37860756,670,656,676,0.453131855461,-0.00557355323871,0.0595771001469,0.999999772711,-0.000104514489583,-0.000662103245974,-7.2625864468e-05,1793256488782326016
+227,3.783333333,POSE1_TO_POSE2_PRESS,791.801079772,745,729,709,688,647,934,795,835,670,656,676.198920228,0.453137805127,-0.00557336489198,0.0595758764116,0.999999771497,-0.000103761526293,-0.000664093784265,-7.22365108827e-05,1793256488798992896
+228,3.800000000,POSE1_TO_POSE2_PRESS,791.227605657,745,729,709,688,647,934,795,835,670,656,676.772394343,0.453142271431,-0.0055715147964,0.0595751447203,0.999999770832,-0.000102564023484,-0.000665281584042,-7.22222482853e-05,1793256488815659520
+229,3.816666667,POSE1_TO_POSE2_PRESS,791,745,729,709,688,647,934,795,835,670,656,677,0.453143822232,-0.00557008761564,0.0595728897742,0.999999769059,-0.000101141652013,-0.000668175200807,-7.20662708062e-05,1793256488832326400
+230,3.833333333,POSE1_TO_POSE2_PRESS,791,745,729,709,688,647,934,795,835,670,656,677,0.453143454428,-0.00556893874247,0.0595696324201,0.999999766543,-9.95713012838e-05,-0.000672191364396,-7.18170350231e-05,1793256488848993024
+231,3.850000000,POSE1_TO_POSE2_PRESS,791,745,729,709,688,647,934,795,835,670,656,677,0.453144667766,-0.00557160124631,0.0595691037595,0.999999765465,-0.000102523926107,-0.000673405588897,-7.13069728667e-05,1793256488865659392
+232,3.866666667,POSE1_TO_POSE2_PRESS,791,745,729.103584356,709,687.896415644,647,934,794.896415644,835,670,655.896415644,676.896415644,0.453146074763,-0.00557372026413,0.0595690664323,0.999999764897,-0.000104495825508,-0.000673985446456,-7.09214330306e-05,1793256488882326016
+233,3.883333333,POSE1_TO_POSE2_PRESS,791,745,729.680176403,709,687.319823597,647,934,794.319823597,835,670,655.319823597,676.319823597,0.453147272685,-0.00557072184234,0.0595693857696,0.9999997657,-9.88615864404e-05,-0.000673606141722,-7.1284880229e-05,1793256488898992384
+234,3.900000000,POSE1_TO_POSE2_PRESS,791,745,729.743444911,709,687.256555089,647,934,794.256555089,835,670.256555089,655.256555089,676.256555089,0.453146720041,-0.00556898024742,0.0595685547735,0.999999765082,-9.60728047287e-05,-0.000674923418136,-7.13062094493e-05,1793256488915659008
+235,3.916666667,POSE1_TO_POSE2_PRESS,791,745,729.167331904,709,687.832668096,647,934,794.832668096,835,670.832668096,655.832668096,676.832668096,0.45314398694,-0.00556880412087,0.0595662909539,0.999999762717,-9.68282451979e-05,-0.000678353909042,-7.0901406034e-05,1793256488932325376
+236,3.933333333,POSE1_TO_POSE2_PRESS,791,745.417823724,729.417823724,709,688,647,934,795,835,670.582176276,656,676.582176276,0.453144726301,-0.00556842185296,0.05956604254,0.99999976267,-9.7037499147e-05,-0.000678387602626,-7.09444768126e-05,1793256488948992256
+237,3.950000000,POSE1_TO_POSE2_PRESS,791.006573522,745.993426478,729.993426478,709,688,647,934,795,835,670,656,676,0.453146870952,-0.00556796122936,0.0595666123719,0.999999763563,-9.70100591057e-05,-0.000677051581355,-7.11646973576e-05,1793256488965658880
+238,3.966666667,POSE1_TO_POSE2_PRESS,791.585970261,745.414029739,729.414029739,709,688,647,934,795,835,670,656,676,0.453147609289,-0.00556802579646,0.0595665942335,0.999999763379,-9.58396720625e-05,-0.000677523047824,-7.08459832542e-05,1793256488982325504
+239,3.983333333,POSE1_TO_POSE2_PRESS,791.835127592,745,729,709,688,647,934,795,835,670,656,676,0.453147776209,-0.00556821407172,0.0595664037157,0.999999762964,-9.55689189646e-05,-0.000678200246961,-7.05907448582e-05,1793256488998992384
+240,4.000000000,POSE1_TO_POSE2_PRESS,791.257463786,745,729,709,688,647,934,795,835,670,656,676,0.453146512469,-0.00556871207533,0.0595657816112,0.99999976197,-9.75505813498e-05,-0.000679392539378,-7.04944307448e-05,1793256489015659008
+241,4.016666667,POSE1_TO_POSE2_PRESS,791,745,729,709,687.682407615,647,934,795,835,670,656,676,0.453146211595,-0.00556964343144,0.0595655233604,0.999999761702,-9.75641181577e-05,-0.000679820549292,-7.0146517754e-05,1793256489032325376
+242,4.033333333,POSE1_TO_POSE2_PRESS,791,745,729,709,687.109448196,647,934,795,835,670,656,676,0.453146684935,-0.00557092323398,0.0595655576741,0.999999762019,-9.59951408849e-05,-0.000679634021255,-6.95963012428e-05,1793256489048992000
+243,4.050000000,POSE1_TO_POSE2_PRESS,791,745,729.477716116,709,687.477716116,647,934,795,835,670,656,676,0.453147656808,-0.00556985338874,0.0595660060363,0.999999762614,-9.69016476723e-05,-0.000678604270213,-6.98389299116e-05,1793256489065658880
+244,4.066666667,POSE1_TO_POSE2_PRESS,791,745,729.93310495,709,687.93310495,647,934,795,835,670,656,676,0.453148425054,-0.00556852314829,0.0595662177687,0.999999762893,-9.82282708572e-05,-0.00067796366737,-7.02233540003e-05,1793256489082325504
+245,4.083333333,POSE1_TO_POSE2_PRESS,791,745,729.354179635,709,687.354179635,647,934,795,835,670,656,676,0.45314673364,-0.00556944649483,0.059563869938,0.999999760257,-9.82964159524e-05,-0.000681825722277,-7.02601386912e-05,1793256489098992384
+246,4.100000000,HOLD_POSE2,792,746,729,710,688,647,934,795,835,670,656,676,0.453148018858,-0.00556949623015,0.0595643374397,0.999999760817,-9.59160977608e-05,-0.000681407814555,-6.96421099959e-05,1793256489138183680
+247,4.116666667,HOLD_POSE2,791.412573035,745.412573035,729.587426965,709.412573035,688,647,934,795,835,670.587426965,656,676,0.453146783561,-0.00556772039857,0.0595628823792,0.99999975945,-9.44457662104e-05,-0.000683602769504,-6.97605145957e-05,1793256489154850304
+248,4.133333333,HOLD_POSE2,791,745,730,709.172473949,688,647,934,795,835,671,656,676.172473949,0.453146139587,-0.00556646458242,0.0595619520013,0.99999975852,-9.31822479088e-05,-0.000685135636545,-6.97640506431e-05,1793256489171516672
+249,4.150000000,HOLD_POSE2,791,745,730,709.751905414,688,647,934,795,835,671,656,676.751905414,0.453146890859,-0.00556643575811,0.0595622596279,0.99999975863,-9.24067114491e-05,-0.00068510628753,-6.94965508804e-05,1793256489188183552
+250,4.166666667,HOLD_POSE2,791.330328157,745.330328157,730,709.669671843,688,647,934,795,835.330328157,671,656,677,0.45314739864,-0.00556720534931,0.0595626046955,0.99999975898,-9.32933019661e-05,-0.0006844926758,-6.93193949169e-05,1793256489204850176
+251,4.183333333,HOLD_POSE2,791.907995567,745.907995567,730,709.092004433,688,647,934,795,835.907995567,671,656,677,0.453147724104,-0.00556857276873,0.0595629777978,0.999999759506,-9.54244405178e-05,-0.000683441586666,-6.92098855418e-05,1793256489221516800
+252,4.200000000,HOLD_POSE2,792,745.519754742,729.519754742,709,688,647,934.480245258,795,836,671,656,677,0.453146770456,-0.00556760389303,0.0595619334109,0.999999758779,-9.48015669248e-05,-0.000684571334738,-6.93991221787e-05,1793256489238183424
+253,4.216666667,HOLD_POSE2,792,745,729,709,688,647,934.946640239,795,836,670.946640239,656,676.946640239,0.453145835376,-0.00556632850401,0.0595608506525,0.999999757978,-9.39562030995e-05,-0.000685832177241,-6.96464633192e-05,1793256489254850048
+254,4.233333333,HOLD_POSE2,792,745,729,709,688,647,934.354427971,795,836,670.354427971,656,676.354427971,0.453147534831,-0.00556642728136,0.0595620921506,0.99999975884,-9.61326309846e-05,-0.00068424479043,-6.99090510476e-05,1793256489271517184
+255,4.250000000,HOLD_POSE2,791.767107629,745,729,709,687.767107629,647,934,795,835.767107629,670,656,676,0.453148750012,-0.00556632464505,0.0595629853739,0.999999759404,-9.67677869143e-05,-0.000683325582697,-6.99598686767e-05,1793256489288184064
+256,4.266666667,HOLD_POSE2,791.187078971,745,729,709,687.187078971,647,934,795,835.187078971,670,656,676,0.453149243361,-0.00556592179286,0.0595633594781,0.999999759529,-9.5105609249e-05,-0.000683402325313,-6.96950336687e-05,1793256489304850688
+257,4.283333333,HOLD_POSE2,791,745,729.389882825,709,687.389882825,647,934,795,835.389882825,670.389882825,656,676,0.453149153476,-0.00556628366029,0.0595631517754,0.999999759225,-9.470837025e-05,-0.000683905917767,-6.96564505548e-05,1793256489321517056
+258,4.300000000,HOLD_POSE2,791,745,729.965384572,709,687.965384572,647,934,795,835.965384572,670.965384572,656,676,0.45314878592,-0.00556700960228,0.0595626670809,0.999999758718,-9.49133544851e-05,-0.000684612728741,-6.97255834552e-05,1793256489338183424
+259,4.316666667,HOLD_POSE2,791.537004491,745,729.462995509,709,687.462995509,647,934,795,835.462995509,671,656,676,0.453147695085,-0.00556612518973,0.0595618016437,0.999999757191,-9.39491020922e-05,-0.000686984442665,-6.95975384834e-05,1793256489354849792
+260,4.333333333,HOLD_POSE2,792,745,729.112919286,709,687,647,934,795,835.112919286,671,656,676,0.453146870765,-0.00556517763484,0.0595610551666,0.999999756105,-9.27454714828e-05,-0.000688747098157,-6.93970643659e-05,1793256489371516672
+261,4.350000000,HOLD_POSE2,792,745,729.708243822,709,687,647,934,795,835.708243822,671,656,676,0.453147382777,-0.00556440060789,0.059560920999,0.999999757202,-9.08388629972e-05,-0.000687452587003,-6.89410734378e-05,1793256489388183296
+262,4.366666667,POSE2_TO_POSE3_RETREAT,791,745,730,709,688,647,934,795,835,670,656,676,0.453148779821,-0.00556766122073,0.0595616676402,0.999999758231,-9.26737543366e-05,-0.000685778445721,-6.82462675073e-05,1793256489425177600
+263,4.383333333,POSE2_TO_POSE3_RETREAT,791.546866604,745,730,709,687.453133396,647,934,794.453133396,835,670,656,676,0.453147785652,-0.00556712028316,0.0595605346942,0.999999757279,-9.22620295965e-05,-0.00068717900396,-6.86630418819e-05,1793256489441844992
+264,4.400000000,POSE2_TO_POSE3_RETREAT,792,745,729.896463756,709,687,647,934,794.103536244,835,670.103536244,656,676,0.453146988782,-0.00556667717819,0.0595597833485,0.999999756599,-9.20156879778e-05,-0.000688164329321,-6.90340979286e-05,1793256489458512384
+265,4.416666667,POSE2_TO_POSE3_RETREAT,792,745,729.292403193,709,687,647,934,794.707596807,835,670.707596807,656,676,0.453147145712,-0.00556670702426,0.05956087677,0.99999975724,-9.2568856327e-05,-0.000687142298671,-6.91841384275e-05,1793256489475178496
+266,4.433333333,POSE2_TO_POSE3_RETREAT,792,745,729,709,687,647,934,795,835.307219832,671,656,676,0.453147081935,-0.00556741825274,0.0595608848098,0.999999757147,-9.34789955541e-05,-0.000687168285685,-6.90449280993e-05,1793256489491844864
+267,4.450000000,POSE2_TO_POSE3_RETREAT,792,745,729,709,687,647,934,795,835.902679436,671,656,676,0.453146811088,-0.0055687687678,0.0595598745228,0.999999756364,-9.47240519417e-05,-0.000688177543825,-6.86343368701e-05,1793256489508511488
+268,4.466666667,POSE2_TO_POSE3_RETREAT,792,745,729.48088871,709,687.48088871,647,934,795,835.51911129,671,656,676,0.453147936309,-0.00556610418781,0.0595606922971,0.999999757222,-9.19949782123e-05,-0.0006872909596,-6.87362266785e-05,1793256489525177856
+269,4.483333333,POSE2_TO_POSE3_RETREAT,791.944715528,745,730,709,687.944715528,647,934,795,835,671,656,676,0.453149117977,-0.00556310554496,0.0595617091384,0.999999758216,-8.91152469172e-05,-0.000686205027179,-6.89190501173e-05,1793256489541844480
+270,4.500000000,POSE2_TO_POSE3_RETREAT,791.374449546,745,730,709,687.374449546,647,934,795,835,671,656,676,0.453148284772,-0.00556430205313,0.0595612534618,0.9999997576,-9.20645579382e-05,-0.00068671234597,-6.89231266144e-05,1793256489558511104
+271,4.516666667,POSE2_TO_POSE3_RETREAT,791,745,729.796105097,709,687,647,934,795,835,671,656,676,0.453145152733,-0.00556536142062,0.0595596665146,0.999999756279,-9.38921387961e-05,-0.00068838928081,-6.88893510658e-05,1793256489575177472
+272,4.533333333,POSE2_TO_POSE3_RETREAT,791,745,729.202312684,709,687,647,934,795,835,671,656,676,0.453137624754,-0.00556615854103,0.0595559162982,0.999999753615,-9.35746936578e-05,-0.000692302810916,-6.8783193039e-05,1793256489591844352
+273,4.550000000,POSE2_TO_POSE3_RETREAT,791,745,729,709,687,647,934,795,835,670.618025823,656,676,0.45311461389,-0.00556499667479,0.0595463670551,0.999999742692,-9.20670151243e-05,-0.000708038640024,-6.94261905695e-05,1793256489608511232
+274,4.566666667,POSE2_TO_POSE3_RETREAT,791,745,729,709,687,647,934,795,835,670.03865128,656,676,0.453083601628,-0.00556282242427,0.0595338209336,0.999999727108,-8.99442360277e-05,-0.000729884112937,-7.04563440258e-05,1793256489625177856
+275,4.583333333,POSE2_TO_POSE3_RETREAT,791,745,729.534179003,709,687,647,934,795,835,670.534179003,656,676,0.453035453921,-0.00556407304436,0.0595198006048,0.999999712722,-9.16852199282e-05,-0.000749139113873,-7.02839482988e-05,1793256489641844480
+276,4.600000000,POSE2_TO_POSE3_RETREAT,791.107707992,745,730,709,687,647,934,794.892292008,835,670.892292008,656,676,0.452981767229,-0.00556463304433,0.0595051914373,0.999999698099,-9.26128111026e-05,-0.000768300336771,-7.0278586342e-05,1793256489658511104
+277,4.616666667,POSE2_TO_POSE3_RETREAT,791.686337309,745,730,709,687,647,934,794.313662691,835,670.313662691,656,676,0.452909218256,-0.00556110314388,0.0594884684736,0.999999683149,-8.87765489638e-05,-0.000787861145534,-7.13793606904e-05,1793256489675177728
+278,4.633333333,POSE2_TO_POSE3_RETREAT,791.729369054,745,729.729369054,709.270630946,687.270630946,647,934,794,835,670,656,676,0.452827435676,-0.00555718367398,0.0594729808132,0.999999666194,-8.52891822083e-05,-0.000809408602688,-7.20846625686e-05,1793256489691844608
+279,4.650000000,POSE2_TO_POSE3_RETREAT,791.138370134,745,729.138370134,709.861629866,687.861629866,647,934,794,835,670,656,676,0.452734722526,-0.00555280303909,0.0594589554834,0.999999646804,-8.22148316661e-05,-0.000833307816723,-7.23218112832e-05,1793256489708511232
+280,4.666666667,POSE2_TO_POSE3_RETREAT,791,745,729,709.557008823,688,647,934,794,835,670,656,676,0.45262238812,-0.00555006323787,0.0594443367056,0.999999627342,-8.04520358619e-05,-0.000856498180997,-7.24817444189e-05,1793256489725177600
+281,4.683333333,POSE2_TO_POSE3_RETREAT,791.021291655,745,729,709,688,647,934,794.021291655,835,670,656,676,0.452502881627,-0.00554775922566,0.0594293580672,0.999999607169,-7.90952557014e-05,-0.000879847990594,-7.26206838074e-05,1793256489741844224
+282,4.700000000,POSE2_TO_POSE3_RETREAT,791.596610841,745,729,709,688,647,934,794.596610841,835,670,656,676,0.45235283168,-0.00554374253568,0.0594097362135,0.999999577545,-7.78703748333e-05,-0.000912985389441,-7.28275725355e-05,1793256489758510848
+283,4.716666667,POSE2_TO_POSE3_RETREAT,791.82427472,745,729,709.17572528,688,647,934,795,835,670,656,676,0.452195581283,-0.005539224639,0.0593894657296,0.999999545856,-7.59777393716e-05,-0.00094719842866,-7.30053067603e-05,1793256489775177728
+284,4.733333333,POSE2_TO_POSE3_RETREAT,791.236255784,745,729,709.763744216,688,647,934,795,835,670,656,676,0.452021436927,-0.00553353079176,0.0593676734061,0.999999510633,-7.25183917495e-05,-0.0009839351747,-7.31146375939e-05,1793256489791844352
+285,4.750000000,POSE2_TO_POSE3_RETREAT,791,745,729,709.65336344,688,647,934,795,835,670,656,676,0.451817927699,-0.00552772650711,0.0593416184055,0.999999466625,-6.7483463055e-05,-0.00102805060739,-7.2848616565e-05,1793256489808511232
+286,4.766666667,POSE2_TO_POSE3_RETREAT,791,745,729,709.073914227,688,647,934,795,835,670,656,676,0.451594696029,-0.00552184804845,0.0593127004468,0.999999415404,-6.13903212274e-05,-0.001077121814,-7.23304966452e-05,1793256489825177856
+287,4.783333333,POSE2_TO_POSE3_RETREAT,791.501676259,745,729,709,688.501676259,647.501676259,934,795,835,670,656,676,0.451340963645,-0.00551526956768,0.0592898033273,0.999999374073,-5.71650407222e-05,-0.00111506426615,-7.22299067438e-05,1793256489841844480
+288,4.800000000,POSE2_TO_POSE3_RETREAT,791.923302885,745,729,709,688.923302885,648,934,795,835,670.076697115,656,676,0.451080934691,-0.00550873310021,0.0592701481379,0.999999337289,-5.30687585032e-05,-0.00114779276686,-7.19451767037e-05,1793256489858511104
+289,4.816666667,POSE2_TO_POSE3_RETREAT,791.348317151,745,729,709,688.348317151,648,934,795,835,670.651682849,656,676,0.450808970523,-0.00550313453566,0.0592658360219,0.999999326814,-4.80362705935e-05,-0.00115721832582,-7.00675061574e-05,1793256489875177728
+290,4.833333333,POSE2_TO_POSE3_RETREAT,791,745,729,709,688.23348043,648,934,795.23348043,835,670.76651957,656,676,0.450529975699,-0.00549697767352,0.0592643933234,0.999999323037,-4.34065843315e-05,-0.00116077940831,-6.80661989056e-05,1793256489891844352
+291,4.850000000,POSE2_TO_POSE3_RETREAT,791,745,729,709,688.825745605,648,934,795.825745605,835,670.174254395,656,676,0.45024017702,-0.00548996288689,0.0592673600021,0.999999329662,-3.93958756805e-05,-0.00115532866568,-6.58749017004e-05,1793256489908510976
+292,4.866666667,POSE2_TO_POSE3_RETREAT,791.404548831,745,729,709.404548831,689,648.404548831,934,796,835,670,656,676,0.449906041261,-0.00548314943175,0.0592638617636,0.999999323405,-3.19307470336e-05,-0.00116109137179,-6.35371978689e-05,1793256489925177600
+293,4.883333333,POSE2_TO_POSE3_RETREAT,791.977740216,745,729,709.977740216,689,648.977740216,934,796,835,670,656,676,0.449553422899,-0.005476419905,0.0592576685224,0.999999311626,-2.30255890738e-05,-0.00117152858067,-6.11384621732e-05,1793256489941844224
+294,4.900000000,POSE2_TO_POSE3_RETREAT,791.439882021,745,729,709.439882021,689.560117979,649,934,796,835,670,656,676,0.449146340937,-0.0054668783678,0.0592495447551,0.999999304393,-1.27855080388e-05,-0.00117795106408,-5.90012204152e-05,1793256489958510848
+295,4.916666667,POSE2_TO_POSE3_RETREAT,791,745,729,709,690.143519776,649.143519776,934,796,835,670,656,676,0.448736118546,-0.00545642893836,0.0592445414246,0.999999301401,-2.18007722784e-06,-0.00118066092869,-5.68505841405e-05,1793256489975177984
+296,4.933333333,POSE2_TO_POSE3_RETREAT,791,745,729,709,690.728931619,649.728931619,934,796,835,670,656,676,0.448323002355,-0.00544353396421,0.0592493859663,0.999999311157,9.38418278041e-06,-0.00117243921704,-5.4626176674e-05,1793256489991845120
+297,4.950000000,POSE2_TO_POSE3_RETREAT,791.311145524,745,729,709,691,650,934,796.311145524,835,670,656.311145524,676,0.447899620554,-0.00543505437102,0.0592684444218,0.999999345397,1.83102412347e-05,-0.00114290579704,-5.13423585223e-05,1793256490008512000
+298,4.966666667,POSE2_TO_POSE3_RETREAT,791.890601808,745,729,709,691,650,934,796.890601808,835,670,656.890601808,676,0.44746738634,-0.00543038230094,0.0592997599915,0.99999939907,2.49612951737e-05,-0.00109499460484,-4.71449762371e-05,1793256490025178624
+299,4.983333333,POSE2_TO_POSE3_RETREAT,792,745,729,709,691,650,934,797,835,670,656.531919824,676,0.447006825772,-0.00544721009528,0.0593444856268,0.999999476112,6.05272879876e-06,-0.00102275177313,-4.14401530223e-05,1793256490041845248
+300,5.000000000,POSE2_TO_POSE3_RETREAT,792,745,729,709,691.045696216,650.045696216,934,797.045696216,835,670,656.045696216,676,0.446534545202,-0.00546777796003,0.0593911917565,0.999999550091,-1.72146279618e-05,-0.000947773438659,-3.53236190752e-05,1793256490058511872
+301,5.016666667,POSE2_TO_POSE3_RETREAT,792,745,729,709,691.630365917,650.630365917,934,797.630365917,835,670,656.630365917,676,0.446001786729,-0.00547344128354,0.0594244463534,0.999999587742,-2.17309486186e-05,-0.000907321533048,-2.84890335826e-05,1793256490075178752
+302,5.033333333,POSE2_TO_POSE3_RETREAT,791.787235487,745,729,709,692.212764513,651.212764513,934,798,835.212764513,670,657,676,0.44543964036,-0.00546851214155,0.0594430425311,0.999999608136,-1.30619869994e-05,-0.000884876039525,-2.3472780515e-05,1793256490091845888
+303,5.050000000,POSE2_TO_POSE3_RETREAT,791.208740828,745,729,709,692.791259172,651.791259172,934,798,835.791259172,670,657,676,0.444826977896,-0.005445375151,0.0594364417146,0.999999600534,1.8271728243e-05,-0.000893382552403,-2.15821383507e-05,1793256490108512512
+304,5.066666667,POSE2_TO_POSE3_RETREAT,791.370704599,745,729,709,693,652,934,798,836,670,657,676,0.444223513087,-0.00542809533632,0.0594493893538,0.99999962084,7.63663180606e-05,-0.000867265246549,-1.84337779374e-05,1793256490125179136
+305,5.083333333,POSE2_TO_POSE3_RETREAT,791.950686752,745,729,709,693,652,934,798,836,670,657,676,0.443625240742,-0.00541412213217,0.0594733728774,0.999999651194,0.000149568489112,-0.000821601406661,-1.45753852887e-05,1793256490141845760
+306,5.100000000,POSE2_TO_POSE3_RETREAT,792,745,729,709,693.529497532,652.529497532,934,798.529497532,835.470502468,669.470502468,657,676,0.443013565747,-0.00541299742843,0.0595303923276,0.99999972533,0.000151884021249,-0.000725406673526,-7.53766815311e-06,1793256490158511616
+307,5.116666667,POSE2_TO_POSE3_RETREAT,792,744.892660755,729,709,694,653,934,799,835,669.107339245,657,676,0.44238423595,-0.00541506052407,0.0595864211429,0.999999787748,0.000146999233732,-0.000634740351137,-1.57146995114e-07,1793256490175177728
+308,5.133333333,POSE2_TO_POSE3_RETREAT,792,744.318559834,729,709,694,653,934,799,835,669.681440166,657,676,0.44168355078,-0.00542579374236,0.0596247927508,0.999999817064,0.000139448550515,-0.00058853318039,7.4293165578e-06,1793256490191844608
+309,5.150000000,POSE2_TO_POSE3_RETREAT,792,744,729,709,694.26208117,653,934,799.26208117,835,669.73791883,657,676,0.440976393389,-0.0054344378143,0.059656598962,0.999999839637,0.00013560294051,-0.000549669942809,1.41467866447e-05,1793256490208511232
+310,5.166666667,POSE2_TO_POSE3_RETREAT,792,744,729,709,694.850875179,653,934,799.850875179,835,669.149124821,657,676,0.440261167575,-0.00544047753828,0.0596802206932,0.999999855325,0.000136376108645,-0.000519961715728,1.97809623759e-05,1793256490225177856
+311,5.183333333,POSE2_TO_POSE3_RETREAT,792,744.865084902,729,708.567457549,695.432542451,653.432542451,934,800,835.432542451,669.432542451,657,676,0.439551643528,-0.00543844067292,0.0597303411088,0.999999894116,0.000145272160755,-0.000435941225043,2.48995382876e-05,1793256490241844480
+312,5.200000000,POSE2_TO_POSE3_RETREAT,792.011723034,746.011723034,729,708,696,654,934,800,835.988276966,669.988276966,657,676,0.438842432822,-0.00543361542705,0.0597889183937,0.999999931353,0.000156297329815,-0.000334652082827,2.95532190221e-05,1793256490258510848
+313,5.216666667,POSE2_TO_POSE3_RETREAT,792.58756205,746.58756205,729,708,696,654,934,800,835.41243795,669.41243795,657,676,0.438055238308,-0.00542643213426,0.0598219524607,0.999999948671,0.000137201080872,-0.000288831752529,2.02512386958e-05,1793256490275177728
+314,5.233333333,POSE2_TO_POSE3_RETREAT,792.836874609,747,729,708.163125391,696,654,934,800,835,669,657,676,0.43723110678,-0.00542212313204,0.059830950332,0.99999995236,0.000127383630578,-0.000280803964859,1.41986958982e-05,1793256490291844608
+315,5.250000000,POSE2_TO_POSE3_RETREAT,792.262007131,747,729,708.737992869,696,654,934,800,835,669,657,676,0.436313743196,-0.00542506907928,0.0597792788396,0.999999922154,0.000140986642987,-0.000368167708875,1.63480049485e-05,1793256490308511232
+316,5.266666667,POSE2_TO_POSE3_RETREAT,792,747.321503106,729,708.678496894,696,654,934,800.321503106,835.321503106,669.321503106,657.321503106,676.321503106,0.435440972897,-0.00542835397457,0.059750184857,0.999999911231,0.000141527904251,-0.000396477095573,1.77029656395e-05,1793256490325177856
+317,5.283333333,POSE2_TO_POSE3_RETREAT,792,747.912251253,729,708.087748747,696,654,934,800.912251253,835.912251253,669.912251253,657.912251253,676.912251253,0.434605547603,-0.00543192272415,0.0597399985718,0.999999920797,0.000131130509928,-0.000375330991938,1.83926936653e-05,1793256490341844480
+318,5.300000000,POSE2_TO_POSE3_RETREAT,792,748,729,708.493177595,696,654,934,800.506822405,835.506822405,669.506822405,657.506822405,676.506822405,0.433741967104,-0.0054293759272,0.0597564995129,0.999999928158,0.00014048159796,-0.000351429650186,2.11009468507e-05,1793256490358511104
+319,5.316666667,POSE2_TO_POSE3_RETREAT,792,748,729,708.928260655,696,654,934,800,835,669,657,676,0.432870811463,-0.00542586162453,0.0597766911183,0.999999934199,0.000152557434072,-0.000328274707889,2.37630859765e-05,1793256490375177984
+320,5.333333333,POSE2_TO_POSE3_RETREAT,792,748,729,708.35425818,696,654,934,800,835,669,657,676,0.431981008912,-0.00542304294745,0.0597901268905,0.999999937779,0.000159589622933,-0.000313710653895,2.36370022025e-05,1793256490391844352
+321,5.350000000,POSE2_TO_POSE3_RETREAT,792,748,729,708,696,654,934,800.225034119,835,669,657,676,0.431099550773,-0.00542325598265,0.0598107884816,0.999999947003,0.000158945980895,-0.000283044432388,2.48264467453e-05,1793256490408510976
+322,5.366666667,POSE2_TO_POSE3_RETREAT,792,748,729,708,696,654,934,800.812854438,835,669,657,676,0.430231544844,-0.00542835655791,0.0598430990965,0.999999963324,0.000145927836048,-0.000226419281573,2.81367052514e-05,1793256490425177856
+323,5.383333333,POSE2_TO_POSE3_RETREAT,792,748,729,708,696,654,934,801,835,669,657.396126019,676,0.429276126988,-0.00542708574735,0.05982359862,0.999999950762,0.000152797270249,-0.000272629375286,2.83389832209e-05,1793256490441844736
+324,5.400000000,POSE2_TO_POSE3_RETREAT,792,748,729,708,696,654,934,801,835,669,657.977272958,676,0.428279881179,-0.00542283901564,0.0597798984288,0.999999918063,0.000168955713298,-0.000366871336005,2.70895979654e-05,1793256490458511360
+325,5.416666667,POSE2_TO_POSE3_RETREAT,792,748.552755841,729,708,696.552755841,654.552755841,934,801,835,669,658,676,0.427378327626,-0.00542138581992,0.0597586913235,0.999999917492,0.000158408587412,-0.000373260542133,2.44830636504e-05,1793256490475177984
+326,5.433333333,POSE2_TO_POSE3_RETREAT,792,748.872138232,729,708,697,654.872138232,934,801,835,669,657.872138232,676,0.4264795438,-0.00542071346903,0.0597489765033,0.999999920129,0.000151845953492,-0.000368986769713,2.30939946261e-05,1793256490491844608
+327,5.450000000,POSE2_TO_POSE3_RETREAT,792,748.297543958,729,708,697,654.297543958,934,801,835,669,657.297543958,676,0.42557697218,-0.00542237205818,0.0597762158057,0.99999992859,0.000163002058588,-0.000339950280294,2.61515740488e-05,1793256490508512000
+328,5.466666667,POSE2_TO_POSE3_RETREAT,792,748,729,708,697,654.285460611,934,801.285460611,835,669,657,676,0.424675355366,-0.00542245472466,0.0598037151034,0.999999937262,0.000168354158259,-0.000310288574288,2.92232998103e-05,1793256490525178880
+329,5.483333333,POSE2_TO_POSE3_RETREAT,792,748,729,708,697,654.877497554,934,801.877497554,835,669,657,676,0.423774764043,-0.00542084489626,0.0598314936266,0.999999946267,0.000167472925494,-0.000279955405915,3.231021813e-05,1793256490541845248
+330,5.500000000,POSE2_TO_POSE3_RETREAT,792,748,729,708,697,655,934,801.541346509,834.541346509,669,657,676,0.422900144338,-0.00541932563309,0.0598495247397,0.999999955037,0.000169255773591,-0.000245277053998,3.344133791e-05,1793256490558511872
+331,5.516666667,POSE2_TO_POSE3_RETREAT,792,748,728.96328781,708,697,655,934,801.03671219,834,669,657,676,0.422027380627,-0.00541762847883,0.0598614090914,0.999999961124,0.000172103747972,-0.000216752814618,3.39300430403e-05,1793256490575178752
+332,5.533333333,POSE2_TO_POSE3_RETREAT,792,748,728.389012871,708,697,655,934,801.610987129,834,669,657,676,0.421082575435,-0.0054129805489,0.0598205266347,0.999999939711,0.000180370407032,-0.000294940819268,3.24838266211e-05,1793256490591845120
+333,5.550000000,POSE2_TO_POSE3_RETREAT,792,748.189944829,728,708,697,655,934,801.810055171,834.189944829,669,657,676,0.420146979952,-0.00540977092978,0.0597761877639,0.999999914246,0.000181115900207,-0.000371205370069,3.01778794344e-05,1793256490608511488
+334,5.566666667,POSE2_TO_POSE3_RETREAT,792,748.778735489,728,708,697,655,934,801.221264511,834.778735489,669,657,676,0.419230722825,-0.00540958147244,0.0597245911132,0.999999887555,0.000166068464769,-0.000443431072288,2.60666710004e-05,1793256490625177856
+335,5.583333333,POSE2_TO_POSE3_RETREAT,792.361471937,749,728,708,697,655,934,801.361471937,835,669,657,676,0.41838442408,-0.00541086110842,0.0597257462834,0.999999891976,0.00017073416802,-0.000431590478436,2.50618841652e-05,1793256490641844480
+336,5.600000000,POSE2_TO_POSE3_RETREAT,792.940563489,749,728,708,697,655,934,801.940563489,835,669,657,676,0.41758024295,-0.00541302519349,0.0597586600242,0.999999913998,0.00018726791811,-0.000369138828142,2.59272794335e-05,1793256490658511104
+337,5.616666667,POSE2_TO_POSE3_RETREAT,793,749,728,708,697,654.484487107,934,802,835,669,657.515512893,676,0.416799664369,-0.00541097035272,0.0598040961987,0.99999993437,0.000185974449405,-0.000309415970014,3.05854195527e-05,1793256490675177984
+338,5.633333333,POSE2_TO_POSE3_RETREAT,793,749,728.089608709,708,697,654.089608709,934,802,835,669,658,676,0.416022133525,-0.00540902576658,0.0598440090232,0.999999948763,0.000182877141991,-0.000260399416168,3.49621440107e-05,1793256490691844608
+339,5.650000000,POSE2_TO_POSE3_RETREAT,793,749,728.661659597,708,697,654.661659597,934,802,835,669,658,676,0.41524647711,-0.00541027275353,0.0598464736152,0.999999947245,0.000181046031388,-0.00026734391801,3.54882242941e-05,1793256490708511744
+340,5.666666667,POSE2_TO_POSE3_RETREAT,793,749,729,708,697,655,934,802,835,669,657.756910009,676,0.41447237723,-0.00540966131114,0.0598482331733,0.999999946149,0.000187803622174,-0.000266779229337,3.55006830235e-05,1793256490725178624
+341,5.683333333,POSE2_TO_POSE3_RETREAT,793,749,729,708,697,655,934,802,835,669,657.161901044,676,0.413700530796,-0.00540635943891,0.0598489720604,0.999999945372,0.00020699499102,-0.00025534355923,3.47695768592e-05,1793256490741845248
+342,5.700000000,POSE2_TO_POSE3_RETREAT,793.421734179,749,729,708.421734179,697,655,934,802,835,669,657,676,0.412906616347,-0.00540229322589,0.0598183792108,0.999999929869,0.000205528470214,-0.000311255527411,3.37601478139e-05,1793256490758511616
+343,5.716666667,POSE2_TO_POSE3_RETREAT,793.99889057,749,728.99889057,708.99889057,697,655,934,802,835,669,657,676,0.412104653334,-0.00539794900825,0.0597761047163,0.999999903255,0.000196390995716,-0.000392242602554,3.26434245062e-05,1793256490775178496
+344,5.733333333,POSE2_TO_POSE3_RETREAT,793.42384798,749,728.42384798,708.42384798,697,655,934,802,835,669,657,676,0.411406567122,-0.00539759629629,0.0597496320594,0.999999887939,0.000213750942817,-0.000421357882328,2.98436020264e-05,1793256490791844864
+345,5.750000000,POSE2_TO_POSE3_RETREAT,793,749,728,708,697,655,934,802,835,668.846102893,657,676,0.410737039243,-0.00539867023142,0.0597415809914,0.999999884629,0.000221883483663,-0.000425088935333,2.84396929309e-05,1793256490808511744
+346,5.766666667,POSE2_TO_POSE3_RETREAT,793,749,728,708,697,655,934,802,835,668.260781695,657,676,0.410147569581,-0.00540374352645,0.0597851716765,0.999999914723,0.000204148580615,-0.000357659677162,3.09489864891e-05,1793256490825178368
+347,5.783333333,POSE2_TO_POSE3_RETREAT,793,749,728,708,697,655,934,802.321800776,835,668,657,676,0.409550779563,-0.00540322425226,0.0598244378503,0.999999936175,0.000196348553034,-0.000296652890701,3.30705782682e-05,1793256490841845248
+348,5.800000000,POSE2_TO_POSE3_RETREAT,793,749,728,708,697,655,934,802.902182526,835,668,657,676,0.408948107354,-0.00539821110425,0.0598602290877,0.999999951085,0.000196531632804,-0.000240806844933,3.48806345996e-05,1793256490858512128
+349,5.816666667,POSE2_TO_POSE3_RETREAT,793,749,728,708,697,655,934,802.519827429,835,668,657,676,0.408365793071,-0.00539445705827,0.05986225826,0.999999947688,0.00021935919518,-0.000235062905837,3.53554021673e-05,1793256490875178752
+350,5.833333333,POSE2_TO_POSE3_RETREAT,793.057465001,749,728,708,697,655,934,802.057465001,835,668,657,676,0.407790317091,-0.00539168089914,0.0598560363909,0.999999940682,0.000242382840633,-0.000242135941587,3.5436957699e-05,1793256490891845376
+351,5.850000000,POSE2_TO_POSE3_RETREAT,793.632839501,749,728,708,697,655,934,802.632839501,835,668,657,676,0.407239280397,-0.00539541781277,0.05983713061,0.999999936597,0.000225804792181,-0.000273192443761,3.44140695332e-05,1793256490908511744
+352,5.866666667,POSE2_TO_POSE3_RETREAT,794,749,728,708,697,655,934,802.787133367,834.787133367,668,657.212866633,676,0.406718740796,-0.00539765484628,0.059825479375,0.999999934423,0.000214286739474,-0.000289997254013,3.37092336244e-05,1793256490925178368
+353,5.883333333,POSE2_TO_POSE3_RETREAT,794,749,728,708,697,655,934,802.198901937,834.198901937,668,657.801098063,676,0.406251979219,-0.00539724702053,0.0598266206644,0.999999937361,0.000211691385026,-0.000281670910647,3.35652449236e-05,1793256490941844992
+354,5.900000000,POSE2_TO_POSE3_RETREAT,793.616719746,749,728,708,697.383280254,655,934,802.383280254,834.383280254,668,658,676,0.405793712373,-0.00539355856083,0.0598305947962,0.999999937509,0.000221041104041,-0.000273778147903,3.41813354796e-05,1793256490958511872
+355,5.916666667,POSE2_TO_POSE3_RETREAT,793.037627959,749,728,708,697.962372041,655,934,802.962372041,834.962372041,668,658,676,0.405339785302,-0.00538819407953,0.0598360161805,0.99999993601,0.000236493362959,-0.000266106893501,3.51857379179e-05,1793256490975178752
+356,5.933333333,POSE2_TO_POSE3_RETREAT,793,749.540680293,728,708.540680293,697.459319707,655,934,802.459319707,835,668,658,676,0.404914444274,-0.0053867056278,0.0598200793697,0.999999930226,0.000238925174725,-0.00028513509288,3.40717235174e-05,1793256490991845376
+357,5.950000000,POSE2_TO_POSE3_RETREAT,793,749.883587087,728,708.883587087,697,654.883587087,934,802.116412913,834.883587087,668,657.883587087,676,0.404499308021,-0.00538448324578,0.059801362097,0.999999922456,0.000240033902112,-0.000310504975575,3.25299985479e-05,1793256491008512000
+358,5.966666667,POSE2_TO_POSE3_RETREAT,793,749.317591025,728,708.317591025,697,654.317591025,934,802.682408975,834.317591025,668,657.317591025,676,0.404115910257,-0.00537838619822,0.0597776388711,0.999999908491,0.000239527345227,-0.000353200655308,2.99050085643e-05,1793256491025178624
+359,5.983333333,POSE2_TO_POSE3_RETREAT,793.262356855,749,728,708.262356855,697,654.262356855,934,803,834,668,657,676,0.403772786879,-0.00537483987011,0.0597691657063,0.999999903811,0.000240722502086,-0.000365569703553,2.8103263206e-05,1793256491041845248
+360,6.000000000,POSE2_TO_POSE3_RETREAT,793.86014239,749,728,708.86014239,697,654.86014239,934,803,834,668,657,676,0.403481155163,-0.00537455469008,0.059780190062,0.999999912318,0.0002440933356,-0.000339165522528,2.73540533683e-05,1793256491058511616
+361,6.016666667,POSE2_TO_POSE3_RETREAT,794,749,728,708.556462339,697,655,934,802.556462339,834.443537661,668,657,676,0.4032126395,-0.00537509221818,0.0597974961447,0.999999922669,0.000240525653009,-0.000309951701402,2.72062935247e-05,1793256491075178240
+362,6.033333333,POSE2_TO_POSE3_RETREAT,794,749,728,708,697,654.97753265,933.97753265,802.02246735,834.97753265,668,657,676,0.402952884686,-0.00537608361776,0.0598167207948,0.99999993292,0.000234650323091,-0.000279920009584,2.72666938104e-05,1793256491091844864
+363,6.050000000,POSE2_TO_POSE3_RETREAT,794,749,728,708,697,654.400345668,933.400345668,802.599654332,834.400345668,668,657,676,0.402735124601,-0.00538207733887,0.0598359464405,0.999999943024,0.000224120252032,-0.000250881660071,2.79312316656e-05,1793256491108511744
+364,6.066666667,POSE2_TO_POSE3_RETREAT,794,749,728,708,697,654.175248803,933.175248803,803,834.175248803,668,657,676,0.402519794522,-0.00538593244231,0.0598484281818,0.999999948962,0.000216912573786,-0.000232897170872,2.80045081587e-05,1793256491125178368
+365,6.083333333,POSE2_TO_POSE3_RETREAT,794,749,728,708,697,654.747237962,933.747237962,803,834.747237962,668,657,676,0.402309965689,-0.00538494599444,0.0598456426036,0.999999947264,0.00021722635989,-0.000239937179159,2.67392462687e-05,1793256491141844736
+366,6.100000000,POSE2_TO_POSE3_RETREAT,794,749,728,708,697,655,934,803,834.669593426,668,657,676,0.402114079604,-0.00538507461736,0.059839914941,0.999999943564,0.000219087068694,-0.000253340187458,2.62872756134e-05,1793256491158511104
+367,6.116666667,POSE2_TO_POSE3_RETREAT,794,749,728,708,697,655,934,803,834.07757293,668,657,676,0.401929233278,-0.00538608614648,0.0598318577535,0.999999938037,0.000222172621504,-0.000271781381316,2.64792638885e-05,1793256491175177472
+368,6.133333333,POSE2_TO_POSE3_RETREAT,794,749,728,708,697,655,934,803,834.502991068,668,657,676,0.401780847097,-0.00538794356804,0.0598321167551,0.999999935976,0.000228590393283,-0.000273989185308,2.69290782927e-05,1793256491191844352
+369,6.150000000,POSE2_TO_POSE3_RETREAT,793.918689132,749,728,708,697.081310868,655,934,803,835,668,657,676,0.401642672442,-0.00538913685336,0.059833656608,0.999999934487,0.000235750148079,-0.000273310429328,2.73644217738e-05,1793256491208510720
+370,6.166666667,POSE2_TO_POSE3_RETREAT,793.343507367,749,728,708,697.656492633,655,934,803,835,668,657,676,0.401533128357,-0.00538552154086,0.0598353596238,0.999999933324,0.000244364727456,-0.000269966787153,2.74757358298e-05,1793256491225177600
+371,6.183333333,POSE2_TO_POSE3_RETREAT,793.236665159,749,728,708.236665159,697.763334841,655,934,803,835,668,657,676,0.401433715129,-0.00538300319596,0.0598374118363,0.99999993283,0.00025004793862,-0.00026655440877,2.76395712139e-05,1793256491241844224
+372,6.200000000,POSE2_TO_POSE3_RETREAT,793.824237531,749,728,708.824237531,697.175762469,655,934,803,835,668,657,676,0.401349323091,-0.00538211134268,0.0598399818082,0.999999933419,0.000251384762807,-0.000263040114343,2.78812808064e-05,1793256491258510848
+373,6.216666667,POSE2_TO_POSE3_RETREAT,793.593444485,749,728,709,697,655,934,803,835,668,657.406555515,676,0.401273802823,-0.00538194248785,0.0598390114227,0.999999933285,0.000249653282072,-0.000265210560423,2.76728899592e-05,1793256491275177472
+374,6.233333333,POSE2_TO_POSE3_RETREAT,793.013369113,749,728,709,697,655,934,803,835,668,657.986630887,676,0.401202069071,-0.00538208221228,0.0598365299955,0.999999932821,0.000246612233941,-0.000269807281282,2.72723940645e-05,1793256491291844096
+375,6.250000000,POSE2_TO_POSE3_RETREAT,793,749,728,708.438108979,697,655,934,803,834.438108979,668,657.438108979,676,0.401146892743,-0.00538121690115,0.0598336818903,0.999999930978,0.000247843943903,-0.000275450871137,2.72876293097e-05,1793256491308510720
+376,6.266666667,POSE2_TO_POSE3_RETREAT,793,749,728,708.137201243,697.137201243,655,934,803,834,668,657,676,0.401096940677,-0.00538072535342,0.0598315198275,0.999999929456,0.000248915431915,-0.000279960385867,2.74076135819e-05,1793256491325177344
+377,6.283333333,POSE2_TO_POSE3_RETREAT,793,749,728,708.713034649,697.713034649,655,934,803,834,668,657,676,0.401062441818,-0.00538150452673,0.0598315786972,0.99999992916,0.000249152438589,-0.000280765308131,2.78311258518e-05,1793256491341843968
+378,6.300000000,POSE2_TO_POSE3_RETREAT,793,749,728,708.702640238,697.702640238,655,934,803,834.297359762,668.297359762,657,676,0.401035182795,-0.00538108595594,0.059831782651,0.999999929089,0.000249572062862,-0.000280651322827,2.77537071531e-05,1793256491358510848
+379,6.316666667,POSE2_TO_POSE3_RETREAT,793,749,728,708.109879279,697.109879279,655,934,803,834.890120721,668.890120721,657,676,0.401015115919,-0.0053794775301,0.0598321307333,0.999999929242,0.000250173101948,-0.000279624482449,2.71786569268e-05,1793256491375177472
+380,6.333333333,POSE2_TO_POSE3_RETREAT,793,749,728,708.470908661,697,655,934,802.529091339,835,668.529091339,657,676,0.401002790073,-0.00538014885326,0.0598333264291,0.999999930818,0.000247345900118,-0.000276504751825,2.70182675965e-05,1793256491391844096
+381,6.350000000,POSE2_TO_POSE3_RETREAT,793,749,728,709,697.048460279,655,934,802.048460279,835,668,657,676,0.400992388978,-0.00538116993092,0.0598346987763,0.999999932506,0.000244127011176,-0.000273245221487,2.69624494169e-05,1793256491408510720
+382,6.366666667,POSE2_TO_POSE3_RETREAT,793,749,728,709,697.620482085,655,934,802.620482085,835,668,657,676,0.40098375203,-0.00538036514213,0.0598358958598,0.999999932163,0.000245104430753,-0.000273620514942,2.70169981976e-05,1793256491425177600
+383,6.383333333,POSE2_TO_POSE3_RETREAT,793,749.198920422,728,709,697.801079578,655,934,803,835,668,657,676,0.400977672096,-0.00537970230968,0.0598367890364,0.999999931943,0.000246362903481,-0.000273296906167,2.6990293123e-05,1793256491441844224
+384,6.400000000,POSE2_TO_POSE3_RETREAT,793,749.7900088,728,709,697.2099912,655,934,803,835,668,657,676,0.40097663327,-0.0053793193416,0.0598370830658,0.999999931963,0.000248175467272,-0.000271595424468,2.68033975627e-05,1793256491458511104
+385,6.416666667,POSE2_TO_POSE3_RETREAT,793,749.626575981,728,709,697,655,934,803,835,668,657,676,0.400975116134,-0.00538037893743,0.0598376660794,0.999999932658,0.000246476139681,-0.000270580486671,2.68110687073e-05,1793256491475177728
+386,6.433333333,POSE2_TO_POSE3_RETREAT,793,749.047388826,728,709,697,655,934,803,835,668,657,676,0.400973335441,-0.00538223341111,0.0598384083283,0.999999933717,0.000242841698722,-0.000269943846572,2.69259495001e-05,1793256491491844352
+387,6.450000000,POSE2_TO_POSE3_RETREAT,793,749,728,708.472540676,697,655,934,803,835,668,657,676,0.400973547261,-0.0053830474768,0.0598395498065,0.999999934384,0.000241770713023,-0.000268413303355,2.70794314468e-05,1793256491508510976
+388,6.466666667,POSE2_TO_POSE3_RETREAT,793.102032946,749,728,708,697,655,934,803,835,668,657.102032946,676,0.400973722838,-0.00538330300472,0.0598405171105,0.999999934788,0.000241594400623,-0.000267061380221,2.71023651401e-05,1793256491525177600
+389,6.483333333,POSE2_TO_POSE3_RETREAT,793.677126233,749,728,708,697,655,934,803,835,668,657.677126233,676,0.400972907175,-0.00538139879825,0.0598405119415,0.999999934137,0.000244507021066,-0.000266906916428,2.6504083557e-05,1793256491541844224
+390,6.500000000,POSE2_TO_POSE3_RETREAT,794,749.259566879,728,708,697,655,934,803,835,668,658,676,0.400972495287,-0.00538045253176,0.059840446485,0.99999993376,0.000246129118219,-0.000266857022856,2.62079927734e-05,1793256491558511104
+391,6.516666667,POSE2_TO_POSE3_RETREAT,794,749.851413178,728,708,697,655,934,803,835,668,658,676,0.400972600283,-0.00538073255296,0.0598403038528,0.999999933743,0.000246099177835,-0.000266940992772,2.62987455013e-05,1793256491575177728
+392,6.533333333,POSE2_TO_POSE3_RETREAT,794,749.56743267,728,708,697.43256733,655,934,803,835,668,657.56743267,676,0.400972331112,-0.00538144935554,0.0598408297853,0.999999934437,0.000243761469248,-0.000266480009943,2.63422568062e-05,1793256491591844096
+393,6.550000000,POSE2_TO_POSE3_RETREAT,794,749,728.0101227,708.0101227,697.9898773,655,934,803,834.9898773,668,657,676,0.400971949947,-0.005382287066,0.0598415646494,0.999999935336,0.000240749114565,-0.000265844815449,2.63654781709e-05,1793256491608510976
+394,6.566666667,POSE2_TO_POSE3_RETREAT,794,749,728.586861478,708.586861478,697.413138522,655,934,803,834.413138522,668,657,676,0.400972320551,-0.00538169700824,0.0598414497767,0.999999934773,0.000243275473684,-0.0002656833993,2.61393907055e-05,1793256491625177600
+395,6.583333333,POSE2_TO_POSE3_RETREAT,794,749,728.837804432,708.837804432,697.162195568,655,934,803,834.162195568,668,657,676,0.400972154145,-0.00538127173416,0.0598412172131,0.999999934418,0.00024479714791,-0.000265638708057,2.59814692886e-05,1793256491641844224
+396,6.600000000,POSE2_TO_POSE3_RETREAT,794,749,728.266017625,708.266017625,697.733982375,655,934,803,834.733982375,668,657,676,0.400970631627,-0.0053812625871,0.0598406874455,0.999999934599,0.000243781698837,-0.000265888781345,2.59956870912e-05,1793256491658510848
+397,6.616666667,POSE2_TO_POSE3_RETREAT,793.681512783,749,728,708,698,655,934,803,835,668,657,676,0.400971207614,-0.00538159384736,0.0598413030649,0.999999935229,0.00024245091758,-0.000264734450023,2.59979087067e-05,1793256491675177472
+398,6.633333333,POSE2_TO_POSE3_RETREAT,793.085943348,749,728,708,698,655,934,803,835,668,657,676,0.40097360929,-0.00538222126022,0.0598429151649,0.999999936243,0.000240845799019,-0.000262358293998,2.59896937009e-05,1793256491691844096
+399,6.650000000,POSE2_TO_POSE3_RETREAT,793,749.492980853,728,708,697.507019147,655,934,803,835,668,657,676,0.400973217877,-0.00538251041154,0.0598430522107,0.999999935778,0.000242470117375,-0.000262589593726,2.64243442578e-05,1793256491708510976
+400,6.666666667,POSE2_TO_POSE3_RETREAT,793.068857096,749.931142904,728,708.068857096,697,655,934,803,835,668.068857096,657,676,0.400972476838,-0.00538288454981,0.0598429827114,0.999999935257,0.000244036626235,-0.000263077539184,2.68597493106e-05,1793256491725177344
+401,6.683333333,POSE2_TO_POSE3_RETREAT,793.642965354,749.357034646,728,708.642965354,697,655,934,803,835,668.642965354,657,676,0.400972626607,-0.00538430086848,0.0598432229204,0.999999936177,0.000241182757391,-0.000262222134376,2.67526769951e-05,1793256491741844224
+402,6.700000000,POSE2_TO_POSE3_RETREAT,794,749,728,708.777723361,697,655,934,803,835,668.777723361,657,676,0.400972803638,-0.00538474815031,0.0598434855995,0.99999993667,0.000239810842423,-0.000261610166755,2.66579307929e-05,1793256491758510848
+403,6.716666667,POSE2_TO_POSE3_RETREAT,794,749,728,708.189854235,697,655,934,803,835,668.189854235,657,676,0.400973025508,-0.00538360159604,0.0598437852364,0.999999936471,0.000240876390537,-0.000261398595587,2.65834581142e-05,1793256491775177472
+404,6.733333333,POSE2_TO_POSE3_RETREAT,794,749,728,708.394531155,697.394531155,655,934,803,835,668,657.394531155,676,0.400973230499,-0.00538246683302,0.0598440253742,0.999999936255,0.000242510368268,-0.000260733866023,2.64045037875e-05,1793256491791844096
+405,6.750000000,POSE2_TO_POSE3_RETREAT,794,749,728,708.977254758,697.977254758,655,934,803,835,668,657.977254758,676,0.400973427439,-0.00538133769454,0.0598442371308,0.999999936026,0.000244415488429,-0.00025985297867,2.61757114313e-05,1793256491808510720
diff --git a/Part2/Obstacle_avoidance/cylinder_PLA_10/position_01/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_PLA_10/position_01/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fa4944e01917d876b9b17883c73a3a4cbe1c2231
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_PLA_10/position_01/depth_01/simulation_data.csv
@@ -0,0 +1,407 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+1,0.016666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+2,0.033333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+3,0.050000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+4,0.066666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+5,0.083333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+6,0.100000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+7,0.116666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+8,0.133333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+9,0.150000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+10,0.166666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+11,0.183333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+12,0.200000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+13,0.216666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+14,0.233333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+15,0.250000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+16,0.266666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+17,0.283333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+18,0.300000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+19,0.316666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+20,0.333333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+21,0.350000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+22,0.366666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+23,0.383333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+24,0.400000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+25,0.416666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+26,0.433333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+27,0.450000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+28,0.466666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+29,0.483333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+30,0.500000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+31,0.516666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+32,0.533333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+33,0.550000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+34,0.566666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+35,0.583333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+36,0.600000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+37,0.616666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+38,0.633333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+39,0.650000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+40,0.666666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+41,0.683333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+42,0.700000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+43,0.716666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+44,0.733333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+45,0.750000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+46,0.766666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+47,0.783333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+48,0.800000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+49,0.816666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+50,0.833333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+51,0.850000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+52,0.866666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+53,0.883333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+54,0.900000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+55,0.916666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+56,0.933333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+57,0.950000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+58,0.966666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+59,0.983333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+60,1.000000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+61,1.016666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+62,1.033333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+63,1.050000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+64,1.066666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+65,1.083333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+66,1.100000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+67,1.116666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+68,1.133333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+69,1.150000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+70,1.166666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+71,1.183333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+72,1.200000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+73,1.216666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+74,1.233333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+75,1.250000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+76,1.266666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+77,1.283333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+78,1.300000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+79,1.316666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+80,1.333333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+81,1.350000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+82,1.366666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+83,1.383333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+84,1.400000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+85,1.416666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+86,1.433333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+87,1.450000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+88,1.466666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+89,1.483333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+90,1.500000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+91,1.516666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+92,1.533333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+93,1.550000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+94,1.566666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+95,1.583333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+96,1.600000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+97,1.616666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+98,1.633333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+99,1.650000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+100,1.666666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+101,1.683333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+102,1.700000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+103,1.716666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+104,1.733333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+105,1.750000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+106,1.766666667,pose1_to_pose2_press,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+107,1.783333333,pose1_to_pose2_press,0.575667006173,0.000181742278729,1.05002055085,0.546238154489,0.00885598179266,1.04969225036
+108,1.800000000,pose1_to_pose2_press,0.575667175945,0.000181734371641,1.05002054966,0.546238323901,0.00885597277831,1.04969225214
+109,1.816666667,pose1_to_pose2_press,0.575667306227,0.000181723552952,1.0500205274,0.546238453971,0.00885596141191,1.04969223442
+110,1.833333333,pose1_to_pose2_press,0.575667353144,0.000181719656858,1.05002051939,0.546238500812,0.00885595731857,1.04969222804
+111,1.850000000,pose1_to_pose2_press,0.575667645746,0.000181720729976,1.05002050674,0.54623879308,0.00885595735126,1.04969221784
+112,1.866666667,pose1_to_pose2_press,0.575668315032,0.000181769181925,1.05002054553,0.54623946186,0.00885600376731,1.04969224813
+113,1.883333333,pose1_to_pose2_press,0.57566956561,0.000181754622189,1.05002053614,0.546240713204,0.00885599163996,1.04969223438
+114,1.900000000,pose1_to_pose2_press,0.575671868702,0.000181601103312,1.05002041783,0.546243019701,0.0088558499443,1.04969212338
+115,1.916666667,pose1_to_pose2_press,0.575676723482,0.000181881905769,1.05002057321,0.546247869876,0.0088561147996,1.04969226996
+116,1.933333333,pose1_to_pose2_press,0.575685071561,0.000181747815104,1.05002030056,0.546256219763,0.00885598719471,1.04969200702
+117,1.950000000,pose1_to_pose2_press,0.57569938823,0.000181790488449,1.05002066929,0.546270535301,0.00885602579289,1.04969236893
+118,1.966666667,pose1_to_pose2_press,0.575720135174,0.000181834137435,1.05002047774,0.546291282776,0.00885607156027,1.04969218575
+119,1.983333333,pose1_to_pose2_press,0.575748853363,0.000181734473981,1.05002031966,0.546320001767,0.00885597495838,1.0496920366
+120,2.000000000,pose1_to_pose2_press,0.575785642911,0.000181760951305,1.05002052425,0.546356791746,0.00885600261624,1.04969223375
+121,2.016666667,pose1_to_pose2_press,0.575830975632,0.000181718604652,1.05002047728,0.546402124394,0.00885596000685,1.04969218625
+122,2.033333333,pose1_to_pose2_press,0.575884968156,0.000181698222062,1.05002051362,0.54645611738,0.00885594105172,1.0496922188
+123,2.050000000,pose1_to_pose2_press,0.575948230283,0.000181819913306,1.05002065757,0.546519378185,0.00885605825803,1.04969236271
+124,2.066666667,pose1_to_pose2_press,0.576025195007,0.000181797497917,1.05002066668,0.546596341959,0.00885603257773,1.04969237064
+125,2.083333333,pose1_to_pose2_press,0.576115446049,0.000181721836702,1.05002062574,0.546686594742,0.00885596283568,1.04969232988
+126,2.100000000,pose1_to_pose2_press,0.576219754264,0.000181780795661,1.05002046725,0.546790901531,0.00885601699694,1.04969217253
+127,2.116666667,pose1_to_pose2_press,0.57633779825,0.000181822525853,1.05002037699,0.546908945144,0.00885605737369,1.04969207992
+128,2.133333333,pose1_to_pose2_press,0.576470205404,0.000181716532251,1.05002063485,0.547041353965,0.00885595673148,1.04969232975
+129,2.150000000,pose1_to_pose2_press,0.576615641475,0.000181723789279,1.05002077614,0.547186790266,0.00885596485016,1.04969247318
+130,2.166666667,pose1_to_pose2_press,0.576774904023,0.000181645966705,1.05002054045,0.547346052884,0.00885588757238,1.04969224547
+131,2.183333333,pose1_to_pose2_press,0.576950501802,0.000181541052182,1.05002053088,0.547521652649,0.00885578940883,1.04969223613
+132,2.200000000,pose1_to_pose2_press,0.577142691794,0.000181683672431,1.05002064352,0.547713839585,0.00885592159751,1.04969234714
+133,2.216666667,pose1_to_pose2_press,0.577353867912,0.000181866918268,1.05002054672,0.547925016064,0.00885610632516,1.04969225706
+134,2.233333333,pose1_to_pose2_press,0.577580014917,0.000181804107651,1.05002071328,0.548151162269,0.00885604058417,1.04969241782
+135,2.250000000,pose1_to_pose2_press,0.577820184749,0.000181735357399,1.05002064979,0.548391333453,0.00885597635089,1.04969235247
+136,2.266666667,pose1_to_pose2_press,0.578075395974,0.000181717690518,1.05002053991,0.548646545061,0.00885596006911,1.0496922448
+137,2.283333333,pose1_to_pose2_press,0.578345406686,0.000181738178694,1.05002058501,0.548916554588,0.00885597648803,1.0496922886
+138,2.300000000,pose1_to_pose2_press,0.578633599046,0.000181798373106,1.05002064438,0.549204746507,0.00885603500449,1.04969234309
+139,2.316666667,pose1_to_pose2_press,0.578947000507,0.000181863892605,1.05002043184,0.549518146822,0.00885609686064,1.04969213639
+140,2.333333333,pose1_to_pose2_press,0.579292762832,0.000181848024807,1.05002051137,0.549863909482,0.00885608236954,1.04969222225
+141,2.350000000,pose1_to_pose2_press,0.579668633017,0.00018165046543,1.05002062973,0.550239782606,0.00885589476411,1.04969234016
+142,2.366666667,pose1_to_pose2_press,0.580072758009,0.000181823325436,1.05002044657,0.550643905692,0.00885606102473,1.0496921534
+143,2.383333333,pose1_to_pose2_press,0.580496027178,0.00018173933027,1.05002073006,0.551067176504,0.00885598238654,1.04969243105
+144,2.400000000,pose1_to_pose2_press,0.580932161766,0.000181695115839,1.05002064612,0.551503310207,0.00885593494027,1.04969234104
+145,2.416666667,pose1_to_pose2_press,0.581376847922,0.000181701555265,1.05002056897,0.551947995415,0.00885593822639,1.04969226557
+146,2.433333333,pose1_to_pose2_press,0.581834362757,0.00018177115817,1.05002062269,0.552405509309,0.00885600472033,1.0496923215
+147,2.450000000,pose1_to_pose2_press,0.582308839256,0.000181798895999,1.05002061394,0.552879986329,0.00885603441195,1.04969231762
+148,2.466666667,pose1_to_pose2_press,0.582808235012,0.000181809019101,1.05002056165,0.553379383077,0.00885604805453,1.04969226937
+149,2.483333333,pose1_to_pose2_press,0.583330993591,0.000181898373631,1.05002065385,0.553902140126,0.0088561319872,1.04969235542
+150,2.500000000,pose1_to_pose2_press,0.583872002464,0.00018174651593,1.05002055294,0.554443149739,0.00885598277828,1.0496922581
+151,2.516666667,pose1_to_pose2_press,0.584423441916,0.000181844506989,1.05002064042,0.554994589093,0.00885608063558,1.0496923509
+152,2.533333333,pose1_to_pose2_press,0.584979602571,0.000181899521878,1.05002044397,0.555550747549,0.00885612807017,1.04969215129
+153,2.550000000,pose1_to_pose2_press,0.585553749515,0.000181870937613,1.05002040796,0.556124895915,0.00885610438187,1.0496921171
+154,2.566666667,pose1_to_pose2_press,0.586153752885,0.000181724916478,1.05002057114,0.556724901164,0.00885596461837,1.04969227721
+155,2.583333333,pose1_to_pose2_press,0.586782266188,0.00018171525227,1.05002058698,0.557353414742,0.00885595591967,1.04969229387
+156,2.600000000,pose1_to_pose2_press,0.587437629942,0.000181788064331,1.05002059048,0.558008777496,0.00885602529339,1.04969229622
+157,2.616666667,pose1_to_pose2_press,0.588114825229,0.000181775346514,1.05002056051,0.55868597288,0.00885601284479,1.04969226465
+158,2.633333333,pose1_to_pose2_press,0.588797916838,0.000181721170005,1.05002044118,0.55936906568,0.00885596282602,1.04969214845
+159,2.650000000,pose1_to_pose2_press,0.589481476831,0.000181703780347,1.05002060841,0.560052625658,0.008855945174,1.04969231017
+160,2.666666667,pose1_to_pose2_press,0.590160798935,0.000181706709779,1.05002082702,0.560731947749,0.00885594768811,1.0496925189
+161,2.683333333,pose1_to_pose2_press,0.590837590848,0.000181649110275,1.05002066778,0.561408741349,0.00885589629689,1.04969237259
+162,2.700000000,pose1_to_pose2_press,0.59151920216,0.000181612495814,1.05002082965,0.562090352351,0.00885585810602,1.04969252056
+163,2.716666667,pose1_to_pose2_press,0.592210439073,0.000181598409274,1.05002059173,0.562781588852,0.00885584319327,1.04969229777
+164,2.733333333,pose1_to_pose2_press,0.592921732838,0.000181699715596,1.05002055649,0.563492880827,0.00885593820821,1.04969225675
+165,2.750000000,pose1_to_pose2_press,0.593655912123,0.000181772331749,1.05002054319,0.564227059384,0.00885600848423,1.04969224697
+166,2.766666667,pose1_to_pose2_press,0.594412931365,0.000181794582793,1.05002049971,0.564984078223,0.00885602975453,1.04969221366
+167,2.783333333,pose1_to_pose2_press,0.595182525366,0.000181837692925,1.05002049431,0.565753672379,0.00885607343175,1.04969220945
+168,2.800000000,pose1_to_pose2_press,0.595954671893,0.000181861815822,1.05002050808,0.566525819293,0.00885609872708,1.04969221958
+169,2.816666667,pose1_to_pose2_press,0.596711332837,0.000181779034255,1.05002044739,0.567282480011,0.00885601507095,1.04969215607
+170,2.833333333,pose1_to_pose2_press,0.597448379253,0.000181669642903,1.05002028973,0.568019528549,0.00885591300125,1.04969200171
+171,2.850000000,pose1_to_pose2_press,0.598161051787,0.00018173741851,1.05002036679,0.568732201373,0.00885598193625,1.0496920835
+172,2.866666667,pose1_to_pose2_press,0.598877836786,0.000181798158349,1.05002038469,0.569448983821,0.00885603388655,1.04969209781
+173,2.883333333,pose1_to_pose2_press,0.599607149147,0.000181927963648,1.05002064655,0.570178294637,0.00885615795355,1.04969234661
+174,2.900000000,pose1_to_pose2_press,0.600343345768,0.000181791270833,1.05002068426,0.570914495321,0.00885603509515,1.04969238572
+175,2.916666667,pose1_to_pose2_press,0.601087467808,0.000181832304794,1.05002059991,0.571658614583,0.00885606665936,1.04969230021
+176,2.933333333,pose1_to_pose2_press,0.601835897524,0.000181915172968,1.05002048024,0.572407042707,0.00885614418177,1.0496921821
+177,2.950000000,pose1_to_pose2_press,0.602563805399,0.000181910117689,1.05002050566,0.573134951417,0.00885614188292,1.04969220557
+178,2.966666667,pose1_to_pose2_press,0.603261366583,0.000181851844632,1.05002055739,0.573832513683,0.00885608730716,1.04969225804
+179,2.983333333,pose1_to_pose2_press,0.603940277493,0.000181776337625,1.05002054635,0.574511425625,0.00885601543192,1.0496922505
+180,3.000000000,pose1_to_pose2_press,0.604604371989,0.000181731482471,1.05002049736,0.575175520339,0.00885597129654,1.04969220103
+181,3.016666667,pose1_to_pose2_press,0.605259805774,0.000181812559999,1.05002026932,0.575830953207,0.00885604965904,1.04969198353
+182,3.033333333,pose1_to_pose2_press,0.605912089083,0.000181818493608,1.05002053458,0.576483236879,0.00885605651315,1.04969224061
+183,3.050000000,pose1_to_pose2_press,0.606565475022,0.000181820922949,1.05002026569,0.577136622324,0.00885605774106,1.04969198437
+184,3.066666667,pose1_to_pose2_press,0.60720261313,0.000181897244501,1.0500203641,0.577773760643,0.00885613461637,1.0496920786
+185,3.083333333,pose1_to_pose2_press,0.607816873274,0.000181933364967,1.05002042152,0.578388019616,0.00885616643154,1.04969212731
+186,3.100000000,pose1_to_pose2_press,0.608407885999,0.000181867682632,1.05002049326,0.578979033036,0.00885610310992,1.04969219911
+187,3.116666667,pose1_to_pose2_press,0.608974361112,0.0001818169552,1.0500204575,0.579545508539,0.00885605393359,1.04969216942
+188,3.133333333,pose1_to_pose2_press,0.609513417775,0.000181798974072,1.05002038858,0.580084565764,0.00885603789095,1.04969210147
+189,3.150000000,pose1_to_pose2_press,0.610038244329,0.000181765651331,1.05002046934,0.580609393967,0.00885600985972,1.04969217417
+190,3.166666667,pose1_to_pose2_press,0.610554122602,0.000181756389925,1.05002067223,0.581125270867,0.00885599574945,1.0496923721
+191,3.183333333,pose1_to_pose2_press,0.611050588592,0.000181769188248,1.05002054838,0.581621736961,0.00885600909815,1.04969225358
+192,3.200000000,pose1_to_pose2_press,0.611525053533,0.000181748035239,1.05002073749,0.582096201819,0.00885598760984,1.04969244126
+193,3.216666667,pose1_to_pose2_press,0.611982862424,0.000181670715401,1.05002054523,0.582554010443,0.00885590935224,1.0496922481
+194,3.233333333,pose1_to_pose2_press,0.612424636549,0.000181723468118,1.05002046445,0.582995784966,0.00885596372672,1.04969217453
+195,3.250000000,pose1_to_pose2_press,0.612849715438,0.000181786331053,1.05002040546,0.583420863719,0.00885602669067,1.04969211892
+196,3.266666667,pose1_to_pose2_press,0.61326369067,0.00018177963521,1.05002028108,0.583834837384,0.00885601606313,1.04969199112
+197,3.283333333,pose1_to_pose2_press,0.613665210306,0.000181784815617,1.05002033284,0.584236355319,0.00885601829841,1.04969204302
+198,3.300000000,pose1_to_pose2_press,0.614040436128,0.000181738351451,1.05002054025,0.58461158142,0.00885597575415,1.04969224601
+199,3.316666667,pose1_to_pose2_press,0.614388754057,0.000181702776641,1.05002057458,0.584959900586,0.00885594575493,1.04969227268
+200,3.333333333,pose1_to_pose2_press,0.61470832918,0.000181795498389,1.05002051745,0.585279474842,0.00885603812929,1.04969222775
+201,3.350000000,pose1_to_pose2_press,0.615006473513,0.000181835117132,1.05002064338,0.585577617973,0.00885607609451,1.04969234374
+202,3.366666667,pose1_to_pose2_press,0.615287650003,0.000181771547483,1.05002062638,0.585858793641,0.00885601209688,1.04969232422
+203,3.383333333,pose1_to_pose2_press,0.615557612518,0.000181719288298,1.05002061302,0.586128755614,0.00885596041158,1.04969231032
+204,3.400000000,pose1_to_pose2_press,0.615816298246,0.000181735072191,1.05002070561,0.58638744094,0.00885597761738,1.04969239936
+205,3.416666667,pose1_to_pose2_press,0.616062432785,0.000181719402606,1.05002065594,0.586633574773,0.00885596273606,1.04969235692
+206,3.433333333,pose1_to_pose2_press,0.616294134624,0.000181765389569,1.05002054111,0.586865273669,0.00885600035158,1.04969224581
+207,3.450000000,pose1_to_pose2_press,0.616507054744,0.000181612599012,1.05002064896,0.587078197739,0.00885586313907,1.04969235667
+208,3.466666667,pose1_to_pose2_press,0.616701429985,0.000181989628293,1.05002064721,0.587272567472,0.00885622343534,1.04969235658
+209,3.483333333,pose1_to_pose2_press,0.616876050909,0.000181813478087,1.05002057216,0.587447189567,0.00885605292147,1.04969227431
+210,3.500000000,pose1_to_pose2_press,0.617033320529,0.000181702414937,1.05002074994,0.587604460051,0.00885594628931,1.0496924484
+211,3.516666667,pose1_to_pose2_press,0.617173845805,0.000181817879753,1.05002056649,0.587744981988,0.00885605135727,1.0496922652
+212,3.533333333,pose1_to_pose2_press,0.617297662086,0.000181758490208,1.05002047723,0.587868799004,0.00885599498311,1.04969218219
+213,3.550000000,pose1_to_pose2_press,0.61740790361,0.000181717414591,1.05002063689,0.587979042067,0.00885595943229,1.04969234268
+214,3.566666667,pose1_to_pose2_press,0.617505856461,0.000181831122618,1.05002069826,0.588076993653,0.00885606919228,1.04969240323
+215,3.583333333,pose1_to_pose2_press,0.617591435459,0.000181860414163,1.05002051398,0.588162571996,0.00885609669358,1.04969222443
+216,3.600000000,pose1_to_pose2_press,0.617664340282,0.000181744653054,1.05002054703,0.588235478644,0.00885598724137,1.04969225138
+217,3.616666667,pose1_to_pose2_press,0.617726398806,0.000181770351046,1.05002053508,0.588297536616,0.00885601131676,1.0496922409
+218,3.633333333,pose1_to_pose2_press,0.617778578862,0.00018172396724,1.05002056748,0.588349717989,0.00885596925791,1.04969226582
+219,3.650000000,pose1_to_pose2_press,0.61782136684,0.000181650579418,1.05002055902,0.588392505624,0.00885589489205,1.04969225935
+220,3.666666667,pose1_to_pose2_press,0.617857227479,0.000181796938532,1.05002055947,0.588428364098,0.00885603399771,1.04969226044
+221,3.683333333,pose1_to_pose2_press,0.617886994862,0.000181904304093,1.05002060507,0.588458129625,0.00885613520572,1.0496923082
+222,3.700000000,pose1_to_pose2_press,0.617911248038,0.000181833874735,1.05002063406,0.588482383709,0.0088560678848,1.04969233626
+223,3.716666667,pose1_to_pose2_press,0.617930059319,0.000181779378662,1.05002055323,0.588501197431,0.00885602147909,1.04969224904
+224,3.733333333,pose1_to_pose2_press,0.617944204166,0.000181925558698,1.05002043387,0.58851534055,0.00885616210443,1.04969213802
+225,3.750000000,pose1_to_pose2_press,0.617954256913,0.000181964434039,1.05002052081,0.588525393541,0.00885620199495,1.04969222994
+226,3.766666667,pose1_to_pose2_press,0.617960995471,0.000181852220178,1.05002054343,0.588532132292,0.00885609027747,1.04969224867
+227,3.783333333,pose1_to_pose2_press,0.617965389514,0.000181884614121,1.05002040553,0.58853652598,0.00885612150181,1.04969211163
+228,3.800000000,pose1_to_pose2_press,0.617967853742,0.000181920870189,1.0500203496,0.588538989925,0.00885615680294,1.04969205581
+229,3.816666667,pose1_to_pose2_press,0.617969505036,0.000181852036509,1.0500205956,0.588540641389,0.00885608826947,1.04969229511
+230,3.833333333,pose1_to_pose2_press,0.617970494488,0.000181859384803,1.05002063751,0.588541630425,0.00885609427893,1.04969233906
+231,3.850000000,pose1_to_pose2_press,0.617971021189,0.000181912436662,1.05002055313,0.588542156382,0.00885614508229,1.04969226188
+232,3.866666667,pose1_to_pose2_press,0.617971326368,0.000181943175783,1.05002050424,0.58854246113,0.0088561745186,1.04969221716
+233,3.883333333,pose1_to_pose2_press,0.617971376281,0.000181945951164,1.05002050272,0.588542511104,0.00885617749789,1.0496922156
+234,3.900000000,pose1_to_pose2_press,0.617971381403,0.000181946086016,1.05002050299,0.58854251624,0.00885617768142,1.04969221583
+235,3.916666667,pose1_to_pose2_press,0.61797145106,0.000181947920258,1.05002050672,0.588542586101,0.0088561801778,1.04969221888
+236,3.933333333,pose1_to_pose2_press,0.617971480509,0.000181948695718,1.05002050829,0.588542615636,0.00885618123318,1.04969222017
+237,3.950000000,pose1_to_pose2_press,0.617971572912,0.000181951128894,1.05002051323,0.58854270831,0.00885618454469,1.04969222422
+238,3.966666667,pose1_to_pose2_press,0.617971793868,0.00018195694715,1.05002052505,0.588542929911,0.00885619246324,1.04969223391
+239,3.983333333,pose1_to_pose2_press,0.61797185366,0.000181936155058,1.0500204598,0.58854298962,0.00885617141978,1.0496921696
+240,4.000000000,pose1_to_pose2_press,0.617971858766,0.000181932728871,1.05002044918,0.5885429947,0.00885616791164,1.04969215917
+241,4.016666667,pose1_to_pose2_press,0.61797186007,0.000181931853634,1.05002044646,0.588542995998,0.00885616701547,1.04969215651
+242,4.033333333,pose1_to_pose2_press,0.617971877881,0.000181919902767,1.05002040941,0.588543013717,0.00885615477872,1.04969212013
+243,4.050000000,pose1_to_pose2_press,0.617971889569,0.000181907608629,1.05002044065,0.588543025444,0.00885614254667,1.04969214961
+244,4.066666667,pose1_to_pose2_press,0.617971937218,0.000181849236263,1.05002067105,0.588543073431,0.00885608489052,1.0496923688
+245,4.083333333,pose1_to_pose2_press,0.617971941663,0.000181843790322,1.05002069254,0.588543077908,0.0088560795114,1.04969238925
+246,4.100000000,pose2_hold,0.617971941663,0.000181843790322,1.05002069254,0.588543077913,0.00885607951177,1.04969238925
+247,4.116666667,pose2_hold,0.617971941663,0.000181843790322,1.05002069254,0.588543077912,0.00885607951177,1.04969238925
+248,4.133333333,pose2_hold,0.617971941663,0.000181843790322,1.05002069254,0.588543077913,0.00885607951169,1.04969238925
+249,4.150000000,pose2_hold,0.617971941663,0.000181843790322,1.05002069254,0.588543077913,0.00885607951172,1.04969238925
+250,4.166666667,pose2_hold,0.617971941663,0.000181843790322,1.05002069254,0.588543077913,0.00885607951176,1.04969238925
+251,4.183333333,pose2_hold,0.617971941663,0.000181843790322,1.05002069254,0.588543077913,0.00885607951184,1.04969238925
+252,4.200000000,pose2_hold,0.617971941663,0.000181843790322,1.05002069254,0.588543077913,0.00885607951157,1.04969238925
+253,4.216666667,pose2_hold,0.617971941663,0.000181843790322,1.05002069254,0.588543077913,0.00885607951182,1.04969238925
+254,4.233333333,pose2_hold,0.617971941663,0.000181843790322,1.05002069254,0.588543077913,0.00885607951157,1.04969238925
+255,4.250000000,pose2_hold,0.617971941663,0.000181843790322,1.05002069254,0.588543077913,0.00885607951176,1.04969238925
+256,4.266666667,pose2_hold,0.617971941663,0.000181843790322,1.05002069254,0.588543077913,0.00885607951159,1.04969238925
+257,4.283333333,pose2_hold,0.617971941663,0.000181843790322,1.05002069254,0.588543077913,0.00885607951169,1.04969238925
+258,4.300000000,pose2_hold,0.617971941663,0.000181843790322,1.05002069254,0.588543077913,0.00885607951168,1.04969238925
+259,4.316666667,pose2_hold,0.617971941663,0.000181843790322,1.05002069254,0.588543077913,0.00885607951156,1.04969238925
+260,4.333333333,pose2_hold,0.617971941663,0.000181843790322,1.05002069254,0.588543077913,0.00885607951167,1.04969238925
+261,4.350000000,pose2_hold,0.617971941663,0.000181843790322,1.05002069254,0.588543077913,0.00885607951153,1.04969238925
+262,4.366666667,pose2_to_pose3_retreat,0.617971941663,0.000181843790322,1.05002069254,0.588543077913,0.00885607951159,1.04969238925
+263,4.383333333,pose2_to_pose3_retreat,0.617971894326,0.000181919833449,1.05002066469,0.588543029661,0.00885615273127,1.04969236878
+264,4.400000000,pose2_to_pose3_retreat,0.617971766336,0.00018192776554,1.05002058826,0.588542901733,0.00885616103203,1.04969229658
+265,4.416666667,pose2_to_pose3_retreat,0.617971590211,0.00018191196297,1.05002048292,0.588542726036,0.00885614681844,1.04969219493
+266,4.433333333,pose2_to_pose3_retreat,0.617971576733,0.000181910753681,1.05002047486,0.588542712591,0.00885614573075,1.04969218716
+267,4.450000000,pose2_to_pose3_retreat,0.617971385702,0.000181895044867,1.05002037425,0.588542521992,0.0088561316124,1.04969208992
+268,4.466666667,pose2_to_pose3_retreat,0.617971280498,0.000181894172594,1.05002039296,0.58854241685,0.00885613089314,1.04969210709
+269,4.483333333,pose2_to_pose3_retreat,0.617971102316,0.000181892695243,1.05002042465,0.588542238774,0.00885612967495,1.04969213615
+270,4.500000000,pose2_to_pose3_retreat,0.617970226597,0.000181885687781,1.05002055571,0.58854136345,0.00885612358279,1.04969225622
+271,4.516666667,pose2_to_pose3_retreat,0.617965916064,0.000181862843008,1.05002044496,0.58853705175,0.00885609702205,1.04969215295
+272,4.533333333,pose2_to_pose3_retreat,0.617956717584,0.000181752348789,1.05002054222,0.588527855143,0.00885599268753,1.04969224709
+273,4.550000000,pose2_to_pose3_retreat,0.617940182467,0.000181728503429,1.0500202846,0.588511319612,0.00885596751994,1.04969199488
+274,4.566666667,pose2_to_pose3_retreat,0.617915281177,0.000181919949483,1.05002046611,0.588486416093,0.00885615095463,1.04969216961
+275,4.583333333,pose2_to_pose3_retreat,0.617879959006,0.000181830106003,1.05002058504,0.588451094881,0.00885606382954,1.04969228021
+276,4.600000000,pose2_to_pose3_retreat,0.617834919167,0.000181754387096,1.05002052377,0.588406057136,0.00885599536385,1.04969223183
+277,4.616666667,pose2_to_pose3_retreat,0.617780018105,0.000181692297304,1.05002054849,0.588351156278,0.00885593337428,1.04969225063
+278,4.633333333,pose2_to_pose3_retreat,0.617714414116,0.000181794964602,1.05002034066,0.588285552494,0.00885603672839,1.04969205281
+279,4.650000000,pose2_to_pose3_retreat,0.6176380999,0.000181848273081,1.05002034558,0.588209237187,0.00885608593873,1.04969205932
+280,4.666666667,pose2_to_pose3_retreat,0.617549215294,0.000181787772149,1.05002037177,0.588120353811,0.00885602910632,1.04969208693
+281,4.683333333,pose2_to_pose3_retreat,0.617448019785,0.000181807664963,1.05002050919,0.58801915792,0.00885604709879,1.04969222511
+282,4.700000000,pose2_to_pose3_retreat,0.617333598375,0.000181808187428,1.05002050244,0.587904736524,0.00885604679242,1.04969221539
+283,4.716666667,pose2_to_pose3_retreat,0.617204319324,0.000181787215701,1.05002044316,0.587775458508,0.00885602806696,1.04969215352
+284,4.733333333,pose2_to_pose3_retreat,0.617058105373,0.00018179567931,1.05002057076,0.587629245357,0.00885603783523,1.04969227779
+285,4.750000000,pose2_to_pose3_retreat,0.616895022099,0.000181773472417,1.05002069298,0.587466163465,0.00885601886499,1.0496923928
+286,4.766666667,pose2_to_pose3_retreat,0.616715240736,0.000181810137019,1.05002066006,0.587286381636,0.00885605195509,1.04969235929
+287,4.783333333,pose2_to_pose3_retreat,0.616519519719,0.000181777416117,1.05002035776,0.587090658889,0.00885601354948,1.04969207783
+288,4.800000000,pose2_to_pose3_retreat,0.616311384658,0.000181686843336,1.05002050038,0.586882526235,0.00885592811596,1.04969221175
+289,4.816666667,pose2_to_pose3_retreat,0.616092374791,0.000181825999746,1.05002053179,0.586663515975,0.00885606392611,1.04969223843
+290,4.833333333,pose2_to_pose3_retreat,0.61586023477,0.000181830507151,1.0500204646,0.586431376884,0.00885607006878,1.04969217109
+291,4.850000000,pose2_to_pose3_retreat,0.615613033165,0.000181793384532,1.05002039887,0.586184176027,0.00885603355993,1.04969210746
+292,4.866666667,pose2_to_pose3_retreat,0.615343902372,0.00018180668627,1.05002041965,0.58591504495,0.00885604313758,1.04969212924
+293,4.883333333,pose2_to_pose3_retreat,0.615053419355,0.000181776874986,1.05002054057,0.585624563242,0.00885601496272,1.04969224609
+294,4.900000000,pose2_to_pose3_retreat,0.614742822284,0.000181734135824,1.05002041684,0.585313966222,0.00885597050363,1.04969212637
+295,4.916666667,pose2_to_pose3_retreat,0.614417598756,0.000181848914956,1.05002064038,0.584988744023,0.00885608583523,1.04969235028
+296,4.933333333,pose2_to_pose3_retreat,0.61407947961,0.000181794737555,1.0500207365,0.584650626654,0.00885603555349,1.04969243859
+297,4.950000000,pose2_to_pose3_retreat,0.613732636424,0.000181680619792,1.0500206589,0.584303784732,0.00885592437923,1.04969235639
+298,4.966666667,pose2_to_pose3_retreat,0.613375565542,0.000181707692512,1.05002052669,0.583946714088,0.00885594947931,1.04969223398
+299,4.983333333,pose2_to_pose3_retreat,0.612999001097,0.000181681263944,1.05002053453,0.583570151407,0.00885592654634,1.04969224102
+300,5.000000000,pose2_to_pose3_retreat,0.612599897243,0.000181809496854,1.0500206824,0.583171045345,0.00885604414035,1.0496923891
+301,5.016666667,pose2_to_pose3_retreat,0.612171434574,0.000181905727295,1.05002060412,0.582742582563,0.00885613614085,1.04969231551
+302,5.033333333,pose2_to_pose3_retreat,0.611719733538,0.000181870199526,1.05002045063,0.58229088435,0.00885610664782,1.04969216567
+303,5.050000000,pose2_to_pose3_retreat,0.611247602303,0.000181729186927,1.05002063233,0.581818755575,0.00885597186832,1.04969234111
+304,5.066666667,pose2_to_pose3_retreat,0.610762443958,0.000181835413377,1.05002053653,0.58133359684,0.00885607326131,1.04969224552
+305,5.083333333,pose2_to_pose3_retreat,0.610266404198,0.000181698957086,1.05002051739,0.580837558709,0.00885594136869,1.04969222589
+306,5.100000000,pose2_to_pose3_retreat,0.609756001288,0.000181706681802,1.0500203966,0.58032715373,0.00885595150197,1.04969210391
+307,5.116666667,pose2_to_pose3_retreat,0.609228754553,0.000181869585524,1.05002041363,0.57979990283,0.00885610916128,1.04969211947
+308,5.133333333,pose2_to_pose3_retreat,0.608682533621,0.000182042839818,1.05002064523,0.579253678617,0.00885627138133,1.04969235038
+309,5.150000000,pose2_to_pose3_retreat,0.60812027316,0.000181854645037,1.0500205281,0.57869141866,0.00885608495211,1.04969223593
+310,5.166666667,pose2_to_pose3_retreat,0.607544996387,0.000181795199275,1.05002056424,0.578116143706,0.00885603131354,1.04969226335
+311,5.183333333,pose2_to_pose3_retreat,0.60695567097,0.000181758843866,1.05002054199,0.577526819531,0.00885599932158,1.04969224583
+312,5.200000000,pose2_to_pose3_retreat,0.606347331283,0.000181739183126,1.05002053143,0.576918480001,0.00885598027864,1.04969223748
+313,5.216666667,pose2_to_pose3_retreat,0.60570613902,0.000181718737572,1.05002055916,0.576277287273,0.00885595804146,1.04969225907
+314,5.233333333,pose2_to_pose3_retreat,0.605038403258,0.000181678356541,1.05002056875,0.575609551713,0.00885591825259,1.0496922661
+315,5.250000000,pose2_to_pose3_retreat,0.604350017688,0.000181691818929,1.05002049291,0.574921166431,0.00885593334277,1.04969220734
+316,5.266666667,pose2_to_pose3_retreat,0.603649279613,0.000181830635209,1.05002054483,0.574220426555,0.00885606567769,1.04969224944
+317,5.283333333,pose2_to_pose3_retreat,0.602940857567,0.000181779842179,1.0500205895,0.573512006131,0.00885602002124,1.04969228441
+318,5.300000000,pose2_to_pose3_retreat,0.60223691455,0.000181840801451,1.0500206253,0.572808062571,0.00885607938634,1.04969232663
+319,5.316666667,pose2_to_pose3_retreat,0.601531524244,0.00018190716161,1.05002049041,0.572102671291,0.00885614270975,1.04969219879
+320,5.333333333,pose2_to_pose3_retreat,0.600820808795,0.000181847484765,1.05002031591,0.571391956667,0.00885608590618,1.04969202613
+321,5.350000000,pose2_to_pose3_retreat,0.600095187887,0.000181680591792,1.05002037523,0.570666338064,0.00885592694069,1.04969208818
+322,5.366666667,pose2_to_pose3_retreat,0.599349263576,0.000181709915422,1.05002039648,0.569920412485,0.00885595187386,1.04969210711
+323,5.383333333,pose2_to_pose3_retreat,0.598601312576,0.000181667173568,1.05002040103,0.56917246138,0.00885590874019,1.04969211064
+324,5.400000000,pose2_to_pose3_retreat,0.597850580683,0.000181751854653,1.05002036872,0.56842172897,0.00885599189817,1.04969208436
+325,5.416666667,pose2_to_pose3_retreat,0.597094370965,0.000181682094164,1.05002040807,0.56766551889,0.0088559205588,1.04969211442
+326,5.433333333,pose2_to_pose3_retreat,0.596346798966,0.00018165817803,1.05002050221,0.566917947818,0.00885589948663,1.04969220055
+327,5.450000000,pose2_to_pose3_retreat,0.595614669039,0.000181702888938,1.05002055401,0.566185818667,0.00885594695002,1.04969225545
+328,5.466666667,pose2_to_pose3_retreat,0.594886992974,0.000181723525079,1.05002047912,0.565458141829,0.00885596529328,1.0496921892
+329,5.483333333,pose2_to_pose3_retreat,0.594163723671,0.000181765785863,1.05002027768,0.564734871923,0.00885600552794,1.04969198833
+330,5.500000000,pose2_to_pose3_retreat,0.593433380258,0.000181808321156,1.05002047497,0.564004528238,0.00885604726783,1.04969218883
+331,5.516666667,pose2_to_pose3_retreat,0.592697538901,0.000181660983903,1.05002041672,0.563268689856,0.00885590996381,1.049692129
+332,5.533333333,pose2_to_pose3_retreat,0.591959202697,0.000181612158826,1.05002031387,0.56253035265,0.00885585770381,1.04969202513
+333,5.550000000,pose2_to_pose3_retreat,0.591225506819,0.000181725559369,1.05002044747,0.561796655005,0.00885596517761,1.04969216049
+334,5.566666667,pose2_to_pose3_retreat,0.590502946362,0.000181816687945,1.0500204479,0.56107409384,0.00885605385847,1.04969215966
+335,5.583333333,pose2_to_pose3_retreat,0.589807067468,0.000181814226974,1.05002027065,0.560378214428,0.00885604937271,1.04969197539
+336,5.600000000,pose2_to_pose3_retreat,0.589136936184,0.000181880807336,1.05002055951,0.559708082549,0.00885611372676,1.04969225868
+337,5.616666667,pose2_to_pose3_retreat,0.588489665668,0.000181780795013,1.05002044026,0.559060813096,0.00885601749629,1.04969214409
+338,5.633333333,pose2_to_pose3_retreat,0.587854204602,0.000181834200345,1.05002035465,0.55842535158,0.00885607001307,1.04969207533
+339,5.650000000,pose2_to_pose3_retreat,0.587223968089,0.000181811812142,1.05002058656,0.55779511608,0.00885605081274,1.04969230063
+340,5.666666667,pose2_to_pose3_retreat,0.586591589073,0.000181799648448,1.05002056269,0.557162738071,0.00885604188192,1.04969227179
+341,5.683333333,pose2_to_pose3_retreat,0.585955349363,0.000181806695073,1.05002039363,0.556526498198,0.00885604840394,1.04969210362
+342,5.700000000,pose2_to_pose3_retreat,0.585331786913,0.000181753404649,1.05002065747,0.555902935162,0.00885599276222,1.04969235774
+343,5.716666667,pose2_to_pose3_retreat,0.584725066822,0.000181750135473,1.05002051823,0.555296215273,0.00885599055682,1.04969222854
+344,5.733333333,pose2_to_pose3_retreat,0.584148160024,0.000181688063984,1.05002049012,0.554719308152,0.00885592757082,1.04969220519
+345,5.750000000,pose2_to_pose3_retreat,0.58360328896,0.000181693868216,1.05002043384,0.55417443878,0.00885593882141,1.04969214114
+346,5.766666667,pose2_to_pose3_retreat,0.583090793691,0.000181755927031,1.05002040575,0.553661942481,0.00885599745459,1.04969211486
+347,5.783333333,pose2_to_pose3_retreat,0.582597149859,0.0001817249318,1.050020468,0.553168297717,0.00885596319236,1.0496921743
+348,5.800000000,pose2_to_pose3_retreat,0.582118887285,0.000181694382529,1.05002055272,0.552690034743,0.00885593110565,1.04969225433
+349,5.816666667,pose2_to_pose3_retreat,0.581646984332,0.000181820017288,1.05002054112,0.552218131126,0.00885605466177,1.04969224731
+350,5.833333333,pose2_to_pose3_retreat,0.581187266079,0.00018165990734,1.05002053779,0.551758415154,0.00885590220327,1.04969224164
+351,5.850000000,pose2_to_pose3_retreat,0.580749810756,0.000181779870782,1.05002045038,0.55132095767,0.00885601477976,1.04969215284
+352,5.866666667,pose2_to_pose3_retreat,0.580332583293,0.000181811133885,1.05002065977,0.550903730334,0.00885604664298,1.04969236671
+353,5.883333333,pose2_to_pose3_retreat,0.579935201186,0.000181685198625,1.0500207247,0.550506350579,0.00885592855321,1.049692428
+354,5.900000000,pose2_to_pose3_retreat,0.579558282092,0.00018159856214,1.05002068663,0.550129432736,0.00885584602544,1.04969238635
+355,5.916666667,pose2_to_pose3_retreat,0.579198468176,0.000181696080715,1.05002063485,0.549769617247,0.00885593834623,1.04969233824
+356,5.933333333,pose2_to_pose3_retreat,0.57885220645,0.000181864970124,1.05002056173,0.549423353489,0.00885610049908,1.04969226933
+357,5.950000000,pose2_to_pose3_retreat,0.578524870447,0.000181762807911,1.05002078645,0.549096019349,0.00885600444556,1.04969248843
+358,5.966666667,pose2_to_pose3_retreat,0.578223931715,0.000181793981997,1.05002049246,0.548795078952,0.00885602970186,1.04969218764
+359,5.983333333,pose2_to_pose3_retreat,0.577948358166,0.000181694401925,1.0500205118,0.548519506738,0.00885593504466,1.04969221732
+360,6.000000000,pose2_to_pose3_retreat,0.5776981211,0.000181742308025,1.05002055324,0.54826926854,0.00885597900326,1.04969225586
+361,6.016666667,pose2_to_pose3_retreat,0.577474813748,0.000181772345987,1.05002059935,0.548045960635,0.00885600722491,1.04969230364
+362,6.033333333,pose2_to_pose3_retreat,0.577272285681,0.000181759265473,1.0500205868,0.547843433076,0.00885599611146,1.04969229755
+363,6.050000000,pose2_to_pose3_retreat,0.577083130296,0.000181792957548,1.05002040309,0.547654277643,0.00885602955612,1.04969211163
+364,6.066666667,pose2_to_pose3_retreat,0.576905813518,0.000181838307013,1.05002063061,0.547476960571,0.00885607368407,1.0496923332
+365,6.083333333,pose2_to_pose3_retreat,0.576740627198,0.000181751134182,1.05002041819,0.547311775909,0.00885599226761,1.04969212429
+366,6.100000000,pose2_to_pose3_retreat,0.576586847722,0.000181748025361,1.0500205398,0.547157996265,0.00885598861971,1.04969224676
+367,6.116666667,pose2_to_pose3_retreat,0.576445673585,0.000181746377375,1.05002056834,0.547016821367,0.00885598447125,1.04969227739
+368,6.133333333,pose2_to_pose3_retreat,0.576320743777,0.000181736525706,1.05002026838,0.546891891234,0.00885597361427,1.04969198007
+369,6.150000000,pose2_to_pose3_retreat,0.576211507062,0.000181881609346,1.05002034599,0.546782653225,0.00885611401447,1.04969205002
+370,6.166666667,pose2_to_pose3_retreat,0.576118693905,0.00018173089632,1.05002063299,0.546689843868,0.00885597625768,1.04969233869
+371,6.183333333,pose2_to_pose3_retreat,0.576037557098,0.000181852814356,1.05002063272,0.546608704531,0.00885608977284,1.04969234374
+372,6.200000000,pose2_to_pose3_retreat,0.575967297098,0.00018177128023,1.05002056389,0.546538445706,0.00885601222956,1.04969227505
+373,6.216666667,pose2_to_pose3_retreat,0.575905875554,0.000181700504367,1.05002052738,0.546477025216,0.00885594491935,1.04969223555
+374,6.233333333,pose2_to_pose3_retreat,0.575852493046,0.000181689278622,1.05002048875,0.546423642254,0.00885593215609,1.04969219692
+375,6.250000000,pose2_to_pose3_retreat,0.575807263122,0.000181637840405,1.0500204056,0.546378412121,0.00885588016814,1.04969211803
+376,6.266666667,pose2_to_pose3_retreat,0.57576979372,0.000181723256106,1.05002054459,0.546340941772,0.00885596199118,1.04969224689
+377,6.283333333,pose2_to_pose3_retreat,0.57574077244,0.000181736562124,1.05002051466,0.546311921023,0.00885597745421,1.04969222641
+378,6.300000000,pose2_to_pose3_retreat,0.575718528074,0.000181765394695,1.05002054249,0.54628967714,0.00885600767296,1.04969224755
+379,6.316666667,pose2_to_pose3_retreat,0.575702673007,0.000181776925542,1.05002054493,0.546273821318,0.00885601661833,1.04969224936
+380,6.333333333,pose2_to_pose3_retreat,0.575690916527,0.000181798863036,1.05002053453,0.546262063824,0.00885603520095,1.04969224122
+381,6.350000000,pose2_to_pose3_retreat,0.575682463005,0.000181818665542,1.05002054414,0.546253609737,0.00885605311156,1.04969225147
+382,6.366666667,pose2_to_pose3_retreat,0.575677063419,0.000181763240515,1.05002066463,0.546248211082,0.00885600048993,1.04969236221
+383,6.383333333,pose2_to_pose3_retreat,0.575673237997,0.000181721438415,1.05002063011,0.546244386204,0.00885596051801,1.04969232758
+384,6.400000000,pose2_to_pose3_retreat,0.575670637525,0.000181692151363,1.05002054947,0.546241786053,0.00885593243778,1.04969225022
+385,6.416666667,pose2_to_pose3_retreat,0.575669387859,0.000181683491288,1.05002045928,0.54624053667,0.00885592500179,1.04969216707
+386,6.433333333,pose2_to_pose3_retreat,0.575668904237,0.000181680139829,1.05002042438,0.546240053157,0.00885592212405,1.04969213489
+387,6.450000000,pose2_to_pose3_retreat,0.575668447943,0.000181676977752,1.05002039145,0.546239596967,0.00885591940893,1.04969210452
+388,6.466666667,pose2_to_pose3_retreat,0.575668144208,0.000181682312897,1.05002038152,0.546239293132,0.00885592443842,1.04969209547
+389,6.483333333,pose2_to_pose3_retreat,0.575668076819,0.00018169163173,1.05002039242,0.546239225537,0.00885593302991,1.04969210566
+390,6.500000000,pose2_to_pose3_retreat,0.57566796534,0.000181707047584,1.05002041047,0.546239113716,0.00885594724256,1.04969212252
+391,6.516666667,pose2_to_pose3_retreat,0.575667802827,0.000181729520677,1.05002043677,0.546238950705,0.00885596796162,1.0496921471
+392,6.533333333,pose2_to_pose3_retreat,0.575667749054,0.000181736956699,1.05002044548,0.546238896767,0.00885597481726,1.04969215524
+393,6.550000000,pose2_to_pose3_retreat,0.575667717783,0.000181741281001,1.05002045054,0.5462388654,0.00885597880405,1.04969215997
+394,6.566666667,pose2_to_pose3_retreat,0.575667537324,0.000181766235603,1.05002047975,0.546238684389,0.00885600181093,1.04969218726
+395,6.583333333,pose2_to_pose3_retreat,0.575667434338,0.000181780477017,1.05002049642,0.546238581088,0.0088560149408,1.04969220283
+396,6.600000000,pose2_to_pose3_retreat,0.575667282233,0.00018180151078,1.05002052104,0.546238428517,0.00885603433287,1.04969222584
+397,6.616666667,pose2_to_pose3_retreat,0.575667205361,0.000181803719242,1.05002053116,0.546238351565,0.00885603625399,1.04969223546
+398,6.633333333,pose2_to_pose3_retreat,0.575667185177,0.000181791806762,1.05002053037,0.546238331593,0.00885602507055,1.04969223502
+399,6.650000000,pose2_to_pose3_retreat,0.575667060394,0.000181718160414,1.05002052548,0.546238208115,0.00885595593132,1.04969223229
+400,6.666666667,pose2_to_pose3_retreat,0.575666960566,0.000181659241859,1.05002052157,0.54623810933,0.00885590061855,1.0496922301
+401,6.683333333,pose2_to_pose3_retreat,0.575666924051,0.00018163769106,1.05002052014,0.546238073197,0.00885588038665,1.0496922293
+402,6.700000000,pose2_to_pose3_retreat,0.575666923262,0.000181637225109,1.05002052011,0.546238072416,0.00885587994921,1.04969222928
+403,6.716666667,pose2_to_pose3_retreat,0.575666846102,0.000181668751,1.05002045123,0.546237995408,0.00885591208696,1.04969216295
+404,6.733333333,pose2_to_pose3_retreat,0.575666778486,0.000181705144013,1.05002038339,0.546237927851,0.00885594876872,1.04969209747
+405,6.750000000,pose2_to_pose3_retreat,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641387,1.04969208382
diff --git a/Part2/Obstacle_avoidance/cylinder_PLA_10/position_01/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_PLA_10/position_01/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..faf94ddd3ef624e43d492bc2ad52e3be2739cad7
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_PLA_10/position_01/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a9a38af0440c624061eabd7b9ad8d1f074aae2cfd4a5acdea5a5e33c06db8209
+size 25714976
diff --git a/Part2/Obstacle_avoidance/cylinder_PLA_10/position_01/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_PLA_10/position_01/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..654ed9474330e35f156111a28de2efb493ce39ac
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_PLA_10/position_01/depth_02/franka_data.csv
@@ -0,0 +1,407 @@
+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,793,750,728,708,697,655,934,803,834,668,657,676,0.400973983209,-0.00538001266638,0.0598452223989,0.999999936382,0.000244090191175,-0.000258886553073,2.51620206285e-05,1793256491953206016
+1,0.016666667,BASELINE,793,750,728,708.589267231,697.589267231,655,934,803,834.589267231,668,657.589267231,676,0.400973851187,-0.00538262100078,0.059845761386,0.999999936822,0.000242042456589,-0.000259034467859,2.59267870831e-05,1793256491969872640
+2,0.033333333,BASELINE,793.17543873,750,728.17543873,708.82456127,697.82456127,655,934,803,834.82456127,668,657.82456127,676,0.400973903651,-0.00538429251159,0.0598460559279,0.999999937188,0.000240452400863,-0.00025906480625,2.63008334293e-05,1793256491986539264
+3,0.050000000,BASELINE,793.754488367,750,728.754488367,708.245511633,697.245511633,655,934,803,834.245511633,668,657.245511633,676,0.400974380543,-0.00538380878492,0.0598457881037,0.999999937393,0.00023991527176,-0.000258824650722,2.57759968963e-05,1793256492003205888
+4,0.066666667,BASELINE,793.668017973,749.668017973,728.668017973,708,697,655,934,803,834.331982027,668,657,676,0.400974300975,-0.00538323154905,0.0598457181684,0.999999937115,0.000241474215767,-0.000258441671306,2.5860964501e-05,1793256492019873280
+5,0.083333333,BASELINE,793.091669676,749.091669676,728.091669676,708,697,655,934,803,834.908330324,668,657,676,0.400973811807,-0.00538258548271,0.0598457938956,0.999999936473,0.000244576043234,-0.000257953561691,2.63947984928e-05,1793256492036540672
+6,0.100000000,BASELINE,793,749,728,708,697,655,934,803,835,668,657.482413285,676,0.400972324876,-0.00538300241214,0.0598450657122,0.999999936632,0.000241792501838,-0.000259975165541,2.6174534413e-05,1793256492053207296
+7,0.116666667,BASELINE,793.057755752,749.057755752,728,708.057755752,697,655,934,803,835,668,657.942244248,676,0.400970950276,-0.00538356807986,0.05984429778,0.999999936926,0.000238373263498,-0.000262027047815,2.5857883143e-05,1793256492069873664
+8,0.133333333,BASELINE,793.648680558,749.648680558,728,708.648680558,697,655,934,803,835,668,657.351319442,676,0.400972354737,-0.00538365083797,0.0598445665279,0.999999937222,0.000239361413352,-0.000259976511552,2.59680858044e-05,1793256492086540032
+9,0.150000000,BASELINE,793.765086307,749.765086307,728,708.765086307,697,655,934,803,835,668,657.234913693,676,0.400972896646,-0.00538362869955,0.0598448005747,0.999999937345,0.000239729106847,-0.000259175080165,2.58554000127e-05,1793256492103206656
+10,0.166666667,BASELINE,793.185732348,749.185732348,728,708.185732348,697,655,934,803,835,668,657.814267652,676,0.400972173846,-0.00538345275742,0.0598449837412,0.999999937218,0.000239187061228,-0.000260205138696,2.54159058528e-05,1793256492119873024
+11,0.183333333,BASELINE,793,749,728,708.39244876,697.39244876,655,934,803,835,668,657.60755124,676,0.400971693318,-0.00538339307833,0.0598445521468,0.999999937198,0.000238736917487,-0.000260709701954,2.52814229238e-05,1793256492136539648
+12,0.200000000,BASELINE,793,749,728,708.970076504,697.970076504,655,934,803,835,668,657.029923496,676,0.400971327107,-0.00538338825855,0.0598438304743,0.999999937228,0.000238330138074,-0.000260966307632,2.52908610868e-05,1793256492153206528
+13,0.216666667,BASELINE,793,749,728,708.457195986,697.457195986,655,934,803,835,668.542804014,657.542804014,676,0.400973189623,-0.00538230337746,0.0598451692583,0.999999936866,0.000241656233186,-0.000259267748762,2.54988179761e-05,1793256492169873152
+14,0.233333333,BASELINE,793,749,728,708,697.11899799,655,934,803,835,668.88100201,658,676,0.400974662126,-0.00538177459409,0.0598463429687,0.999999936728,0.000243831587486,-0.000257736662989,2.57249060383e-05,1793256492186540288
+15,0.250000000,BASELINE,793,749,728,708,697.710003862,655,934,803,835,668.289996138,658,676,0.40097410465,-0.00538368564134,0.0598464153932,0.99999993761,0.000240633561164,-0.000257293562727,2.59798911365e-05,1793256492203206912
+16,0.266666667,BASELINE,793.294952563,749.294952563,728,708,698,655,934,803,835,668,657.705047437,676,0.400973589695,-0.0053840155131,0.0598463839122,0.999999937847,0.00023967842347,-0.000257252191733,2.60926568634e-05,1793256492219873536
+17,0.283333333,BASELINE,793.874065685,749.874065685,728,708,698,655,934,803,835,668,657.125934315,676,0.400973115705,-0.00538282206278,0.0598462523276,0.999999937469,0.000240884109652,-0.000257597851182,2.60684068614e-05,1793256492236539648
+18,0.300000000,BASELINE,793.548710655,749.548710655,728,708,698,655,934,803,835,668,657,676,0.400973711127,-0.00538339768242,0.0598468242711,0.999999937934,0.000239838809983,-0.000256783315934,2.5930383659e-05,1793256492253206016
+19,0.316666667,BASELINE,793.028401991,749,728,708,698,655,934,803,834.971598009,668,657,676,0.40097445055,-0.00538432903181,0.0598474529872,0.999999938539,0.000238333432503,-0.000255844526741,2.5743770052e-05,1793256492269872640
+20,0.333333333,BASELINE,793.613632352,749,728,708,698,655,934,803,834.386367648,668,657,676,0.400972186843,-0.00538259644085,0.0598453618363,0.999999937378,0.000240071762439,-0.000258790592229,2.52243795863e-05,1793256492286539008
+21,0.350000000,BASELINE,793.802187163,749.197812837,728,708,698,655,934,803,834.197812837,668,657,676,0.400971444079,-0.0053820474223,0.0598446400369,0.99999993714,0.000240055338774,-0.000259748152578,2.50043962883e-05,1793256492303205888
+22,0.366666667,BASELINE,793.220046534,749.779953466,728,708,698,655,934,803,834.779953466,668,657,676,0.400973656333,-0.00538379795022,0.0598465787315,0.999999938698,0.000236629628701,-0.000256842273789,2.53661270453e-05,1793256492319872768
+23,0.383333333,BASELINE,793.35752271,750,728,708.35752271,698,655,934,803,835,668,657.35752271,676,0.400975049176,-0.00538394264495,0.0598477211969,0.999999939116,0.000236621744481,-0.000255194265117,2.55688862621e-05,1793256492336539904
+24,0.400000000,BASELINE,793.932313953,750,728,708.932313953,698,655,934,803,835,668,657.932313953,676,0.400975944059,-0.0053831114661,0.0598483797894,0.999999938847,0.000238690891659,-0.000254310670813,2.56750376275e-05,1793256492353207040
+25,0.416666667,BASELINE,793.49263449,750,728,708.49263449,698,655,934,803,835,668,658,676,0.400975301509,-0.00538377180659,0.0598474523061,0.99999993864,0.000238232827775,-0.000255526567058,2.59222182629e-05,1793256492369873152
+26,0.433333333,BASELINE,793,750,728,708.0847957,697.9152043,655,934,803,835,668,657.9152043,676,0.400974355923,-0.00538428639859,0.0598463800946,0.999999938375,0.00023774883065,-0.000256992949139,2.60862161206e-05,1793256492386539520
+27,0.450000000,BASELINE,793,750,728,708.676230438,697.323769562,655,934,803,835,668,657.323769562,676,0.400972825838,-0.00538274069644,0.0598457080392,0.999999937726,0.000239125315408,-0.00025828161432,2.56407423659e-05,1793256492403205888
+28,0.466666667,BASELINE,793,749.738203475,728,708.738203475,697.261796525,655,934,803,835,668,657,676,0.400972731691,-0.00538283239028,0.0598459469842,0.99999993782,0.000239109145126,-0.000257946654033,2.54960286204e-05,1793256492419872768
+29,0.483333333,BASELINE,793,749.159736183,728,708.159736183,697.840263817,655,934,803,835,668,657,676,0.400974374461,-0.00538490468896,0.0598472878812,0.99999993881,0.000237408410228,-0.000255647745816,2.57151161512e-05,1793256492436539648
+30,0.500000000,BASELINE,793,749.41592444,728,708.41592444,698,655,934,803,835,668,657.41592444,676,0.400974733028,-0.00538486652294,0.0598476772406,0.999999938536,0.000238410172249,-0.000255767942982,2.59194668533e-05,1793256492453206528
+31,0.516666667,BASELINE,793,749.990514371,728,708.990514371,698,655,934,803,835,668,657.990514371,676,0.400974601701,-0.00538402326372,0.0598477036107,0.999999937777,0.000240442873964,-0.000256810972583,2.61181957933e-05,1793256492469873408
+32,0.533333333,BASELINE,793.578214086,749.421785914,728,709,698,655,934,803,835,668,657.421785914,676,0.400973985697,-0.00538438336056,0.0598470742293,0.999999937851,0.000239981552984,-0.000256967418132,2.59880299055e-05,1793256492486540032
+33,0.550000000,BASELINE,794,749.163578464,728,708.836421536,698,655,934,803,835,668,657.163578464,676,0.400973901344,-0.00538417494901,0.0598469282446,0.999999937853,0.000240551864281,-0.000256426324184,2.59553717114e-05,1793256492503206656
+34,0.566666667,BASELINE,794,749.742455039,728,708.257544961,698,655,934,803,835,668,657.742455039,676,0.40097518742,-0.00538247190852,0.0598480374679,0.99999993763,0.000243847600819,-0.000254152077716,2.61842852528e-05,1793256492519873024
+35,0.583333333,BASELINE,794,750,728,708.320399937,698,655,934,803,834.679600063,668,657.679600063,676,0.40097467652,-0.00538247824893,0.0598474232986,0.999999937483,0.00024371535279,-0.000254880947324,2.59490177234e-05,1793256492536539392
+36,0.600000000,BASELINE,794,750,728,708.897598167,698,655,934,803,834.102401833,668,657.102401833,676,0.400972725355,-0.0053838546459,0.0598454278422,0.999999937392,0.000240835599636,-0.000258016793059,2.53417123603e-05,1793256492553206016
+37,0.616666667,BASELINE,793.525539265,749.525539265,728,709,698,655,934,803,834.474460735,668,657,676,0.400972652813,-0.00538344483539,0.059846148456,0.999999937251,0.000241809707441,-0.000257614709858,2.57170664971e-05,1793256492569872384
+38,0.633333333,BASELINE,793.052104014,749,728,708.947895986,698,655,934,803,834.947895986,668,657.052104014,676,0.400972968535,-0.00538267579543,0.0598473159932,0.999999937156,0.000243322354001,-0.000256507349099,2.62110116794e-05,1793256492586539008
+39,0.650000000,BASELINE,793.638495628,749,728,708.361504372,698,655,934,803,834.361504372,668,657.638495628,676,0.400973110875,-0.00538217348122,0.0598470595684,0.999999937661,0.000241834160232,-0.000255992336216,2.57477815406e-05,1793256492603205888
+40,0.666666667,BASELINE,793.777582098,749.222417902,728,708,697.777582098,655,934,803,834.222417902,668,657.777582098,676,0.400973920254,-0.00538247430032,0.0598474090816,0.999999938294,0.000240127268912,-0.000255147008797,2.55262533568e-05,1793256492619873024
+41,0.683333333,BASELINE,793.197629304,749.802370696,728,708,697.197629304,655,934,803,834.802370696,668,657.197629304,676,0.400975801892,-0.00538406614944,0.059848732635,0.999999939132,0.000238068823219,-0.000253770703596,2.56932590446e-05,1793256492636539648
+42,0.700000000,BASELINE,793,749.62092998,728,708,697,655,934,803,835,668,657,676,0.40097430995,-0.00538390324776,0.0598479082599,0.999999938359,0.000239261422996,-0.000255689842855,2.56512688815e-05,1793256492653206272
+43,0.716666667,BASELINE,793,749.045912447,728,708,697,655,934,803,835,668,657,676,0.400971074148,-0.00538283328655,0.0598459735853,0.999999936739,0.000242134541579,-0.000259312451469,2.55012453281e-05,1793256492669872896
+44,0.733333333,BASELINE,793.530609763,749,728,708.530609763,697.530609763,655,934,803,835,668,657,676,0.400972546595,-0.00538375519811,0.0598458695502,0.999999937736,0.00023910520344,-0.000258288627427,2.53818752735e-05,1793256492686539520
+45,0.750000000,BASELINE,793.890334471,749,728,709,697.890334471,655,934,803,835,668,657,676,0.400974124627,-0.00538488426585,0.0598460933989,0.999999938744,0.00023628799992,-0.000256975305177,2.53726773513e-05,1793256492703206144
+46,0.766666667,BASELINE,793.300763175,749,728,709,697.300763175,655,934,803,835,668,657,676,0.400974376848,-0.0053861634937,0.0598470569478,0.999999938858,0.000236640453601,-0.000256159501849,2.583396213e-05,1793256492719872768
+47,0.783333333,BASELINE,793,749,728,708.716172178,697.283827822,655,934,803,835,668,657,676,0.400973685894,-0.00538602974223,0.0598468770216,0.999999938426,0.000237965641832,-0.000256610436885,2.58956662401e-05,1793256492736539904
+48,0.800000000,BASELINE,793,749,728,708.136767564,697.863232436,655,934,803,835,668,657,676,0.400972012722,-0.00538442452172,0.0598455062867,0.999999937421,0.000240303830716,-0.000258380546445,2.5541249213e-05,1793256492753207040
+49,0.816666667,BASELINE,793,749,728,708,698,655,934,803,835,668,657,676,0.400973065505,-0.00538381927378,0.0598468427283,0.999999937741,0.000240764980391,-0.000256711443328,2.54871265411e-05,1793256492769873664
+50,0.833333333,BASELINE,793.013150513,749,728,708,698,655,934,803,835,668,657.013150513,676,0.400974926865,-0.00538353656274,0.0598489683704,0.999999938464,0.00024059830486,-0.00025403494951,2.5521680618e-05,1793256492786540288
+51,0.850000000,BASELINE,793.600515455,749,728,708,698,655,934,803,835,668,657.600515455,676,0.400975316804,-0.00538384602542,0.0598490298764,0.999999939074,0.00023834222602,-0.000253771776109,2.5376804591e-05,1793256492803206400
+52,0.866666667,BASELINE,794,749,728,708.186312572,698,655,934,803,835,668,658,676,0.40097517423,-0.00538453801738,0.059848741025,0.999999939371,0.000236753822401,-0.000254089109874,2.53830986517e-05,1793256492819872768
+53,0.883333333,BASELINE,794,749,728,708.768776034,698,655,934,803,835,668,658,676,0.40097389939,-0.00538604336998,0.0598477072187,0.999999939007,0.000236585076918,-0.00025564075881,2.57108211907e-05,1793256492836539392
+54,0.900000000,BASELINE,794,749,728,709,698,655,934,803,835,668,657.652451078,676,0.400974239454,-0.00538600474658,0.0598475877762,0.999999938585,0.000238387369267,-0.000255593625942,2.59300546972e-05,1793256492853206272
+55,0.916666667,BASELINE,794,749,728,709,698,655,934,803,835,668,657.076107749,676,0.400975642623,-0.0053849497106,0.059848070267,0.999999938118,0.000241487212564,-0.00025449400137,2.60778689391e-05,1793256492869872896
+56,0.933333333,BASELINE,793.505309216,749.494690784,728,708.505309216,698,655,934,803,835,668,657,676,0.400974901027,-0.0053832024161,0.0598473302489,0.99999993765,0.000242378930276,-0.000255535434713,2.55693600582e-05,1793256492886539776
+57,0.950000000,BASELINE,793,749.932906964,728,708,697.932906964,655,934,803,834.932906964,668,657.067093036,676,0.400974015319,-0.00538178274126,0.0598466277497,0.999999937336,0.000242570876119,-0.000256631095714,2.50647568501e-05,1793256492903206656
+58,0.966666667,BASELINE,793,749.341375289,728,708,697.341375289,655,934,803,834.341375289,668,657.658624711,676,0.400974553793,-0.00538374720083,0.059847672385,0.999999938231,0.000239918996567,-0.000255604387627,2.5371212367e-05,1793256492919873024
+59,0.983333333,BASELINE,793.24489975,749,728,708.24489975,697.24489975,655,934,803,834,668,657.75510025,676,0.400974840633,-0.00538480212578,0.0598481479823,0.999999938625,0.000238844224903,-0.000255058768607,2.54752652656e-05,1793256492936539392
+60,1.000000000,BASELINE,793.824001417,749,728,708.824001417,697.824001417,655,934,803,834,668,657.175998583,676,0.400974784081,-0.00538461585656,0.0598478470434,0.999999938343,0.000239921649742,-0.000255169666603,2.53031099114e-05,1793256492953206016
+61,1.016666667,BASELINE,793.598008461,749.401991539,728,708.598008461,698,655,934,803,834,668,657.401991539,676,0.400974046522,-0.00538433975122,0.0598479227519,0.999999938144,0.000240317827217,-0.000255560974662,2.54354944938e-05,1793256492969872640
+62,1.033333333,BASELINE,793.020503684,749.979496316,728,708.020503684,698,655,934,803,834,668,657.979496316,676,0.400973011629,-0.00538402442261,0.0598481629081,0.999999937983,0.000240416565706,-0.000256074712354,2.57008440499e-05,1793256492986539520
+63,1.050000000,BASELINE,793,749.448954013,728,708,697.448954013,655,933.448954013,803,834.551045987,668,657.448954013,676,0.400975567751,-0.00538529312661,0.0598487440548,0.999999939057,0.000238594357006,-0.000253595651981,2.54538158814e-05,1793256493003206144
+64,1.066666667,BASELINE,793.127693631,749,728,708,697.127693631,655,933.127693631,803,834.872306369,668,657.127693631,676,0.400976906565,-0.00538591715603,0.0598486743525,0.999999939653,0.000237170161651,-0.000252602751782,2.52368035854e-05,1793256493019872768
+65,1.083333333,BASELINE,793.723848035,749,728,708,697.723848035,655,933.723848035,803,834.276151965,668,657.723848035,676,0.400973294575,-0.00538396219611,0.0598461708766,0.999999938343,0.000237465545469,-0.000257466188165,2.51991027167e-05,1793256493036539392
+66,1.100000000,BASELINE,793.690360383,749,728,708,698,655,934,803,834.309639617,668,657.690360383,676,0.400971848868,-0.00538382015613,0.0598456078117,0.99999993798,0.000237439236204,-0.000258898676698,2.51889057037e-05,1793256493053206272
+67,1.116666667,BASELINE,793.113511617,749,728,708,698,655,934,803,834.886488383,668,657.113511617,676,0.400972272597,-0.00538524260856,0.0598467192599,0.999999938446,0.00023713531602,-0.000257370366021,2.52024436464e-05,1793256493069872896
+68,1.133333333,BASELINE,793,749,728,708,697.538900556,655,934,803,835,668,657.461099444,676,0.400973857117,-0.00538398242402,0.0598478446293,0.99999993849,0.000238829631591,-0.000255637969821,2.50942702184e-05,1793256493086539520
+69,1.150000000,BASELINE,793,749.036163304,728.036163304,708,697.036163304,655,934,802.963836696,835,668,657.963836696,676,0.400975445744,-0.00538230560598,0.0598488044851,0.999999938442,0.000240654190794,-0.000254122691446,2.49748122271e-05,1793256493103206144
+70,1.166666667,BASELINE,793,749.62656802,728.62656802,708,697.62656802,655,934,802.37343198,835,668,657.37343198,676,0.400972738906,-0.00538431590441,0.0598471753976,0.999999938658,0.000236972115432,-0.000256701256488,2.51393948088e-05,1793256493119872512
+71,1.183333333,BASELINE,793,749.787071741,728.787071741,708,698,655,934,802.212928259,835,668,657,676,0.400972626581,-0.00538583488553,0.0598471702126,0.999999939193,0.000234910204301,-0.000256491340234,2.53712989274e-05,1793256493136539136
+72,1.200000000,BASELINE,793,749.207672365,728.207672365,708,698,655,934,802.792327635,835,668,657,676,0.400976979675,-0.00538650826006,0.0598499599285,0.999999940285,0.000235636759453,-0.000251482165414,2.57190702629e-05,1793256493153205760
+73,1.216666667,BASELINE,793,749.368261196,728,708.368261196,697.631738804,655,934,803,834.631738804,668,657,676,0.400977744337,-0.00538606275581,0.0598503374763,0.99999994,0.000237259164836,-0.000251102673293,2.55946762726e-05,1793256493169872896
+74,1.233333333,BASELINE,793,749.942258477,728,708.942258477,697.057741523,655,934,803,834.057741523,668,657,676,0.400976504253,-0.00538499216872,0.0598493674206,0.999999938948,0.000239382053859,-0.000253309641327,2.5206498167e-05,1793256493186539776
+75,1.250000000,BASELINE,793,750,728,708.484469614,697.515530386,655,934,803,834.515530386,668,657.515530386,676,0.400975774152,-0.00538547029423,0.0598487374707,0.999999938867,0.000239041482384,-0.000253919862025,2.55115134998e-05,1793256493203206400
+76,1.266666667,BASELINE,793.092060877,749.907939123,728,708.092060877,698,655,934,803,835,668,658,676,0.400974963382,-0.00538603687554,0.0598481477344,0.999999938885,0.000238303788747,-0.000254512639785,2.57943849407e-05,1793256493219872768
+77,1.283333333,BASELINE,793.686828148,749.313171852,728,708.686828148,698,655,934,803,835,668,658,676,0.40097340064,-0.00538614060302,0.0598475698686,0.999999938848,0.000236902130718,-0.000255985380374,2.55329706711e-05,1793256493236539392
+78,1.300000000,BASELINE,794,749,728,708.72599427,698,655,934,803,835,668,657.72599427,676,0.400973569612,-0.00538590227992,0.0598476590268,0.999999939031,0.000236284559003,-0.000255868993802,2.52639598081e-05,1793256493253206016
+79,1.316666667,BASELINE,794,749,728,708.147257479,698,655,934,803,835,668,657.147257479,676,0.400975664483,-0.00538528355075,0.0598484900051,0.999999939458,0.000236538996357,-0.000253985284933,2.49865005335e-05,1793256493269872896
+80,1.333333333,BASELINE,794,749.427072205,728,708,698,655.427072205,934,803,835,668,657.427072205,676,0.400975018618,-0.00538402991586,0.0598481612436,0.999999938982,0.000238239985916,-0.000254270201146,2.49796882933e-05,1793256493286539264
+81,1.350000000,BASELINE,794,749.999897854,728,708,698,655.999897854,934,803,835,668,657.999897854,676,0.40097343738,-0.00538255959697,0.0598474366802,0.999999938194,0.000240434662425,-0.000255295236959,2.50652438714e-05,1793256493303205888
+82,1.366666667,BASELINE,793.410706962,750,728,708,697.410706962,655.410706962,934,803,835,668,658,676,0.400972982064,-0.00538388538334,0.0598475501118,0.999999938204,0.000239569887027,-0.000256052825651,2.52023186178e-05,1793256493319872768
+83,1.383333333,BASELINE,793,750,728,708.175602262,697.175602262,655,934,803,835,668,658,676,0.40097311185,-0.00538495688504,0.0598478258857,0.999999938429,0.00023856406834,-0.00025609643086,2.53810558055e-05,1793256493336539392
+84,1.400000000,BASELINE,793,750,728,708.754811982,697.754811982,655,934,803,835,668,658,676,0.400974585988,-0.00538544278827,0.0598484744463,0.999999939146,0.000237235327151,-0.000254499113137,2.56555296195e-05,1793256493353206272
+85,1.416666667,BASELINE,793,749.667628189,728,708.667628189,698,655,934,802.667628189,835,668,657.667628189,676,0.400973853433,-0.00538589304519,0.0598478380939,0.999999938922,0.000237137817289,-0.000255459271034,2.57517468844e-05,1793256493369872896
+86,1.433333333,BASELINE,793,749.091279493,728,708.091279493,698,655,934,802.091279493,835,668,657.091279493,676,0.40097150106,-0.00538631713598,0.0598462585537,0.999999938002,0.000237944090481,-0.000258296739057,2.57171152574e-05,1793256493386539520
+87,1.450000000,BASELINE,793.480454509,749,728,708,697.519545491,655,934,802.480454509,835,668,657.480454509,676,0.400972771362,-0.005384668147,0.0598472236901,0.999999938251,0.000238625371536,-0.000256728683874,2.54363982045e-05,1793256493403206144
+88,1.466666667,BASELINE,794,749.053398348,728,708.053398348,697.053398348,655,934,803,835,668,658,676,0.40097439733,-0.00538295249785,0.0598484369795,0.999999938639,0.000239207141059,-0.000254693404304,2.51786076031e-05,1793256493419872768
+89,1.483333333,BASELINE,794,749.647381333,728,708.647381333,697.647381333,655,934,803,835,668,658,676,0.400972722549,-0.00538451131797,0.0598473147502,0.999999938256,0.000239019609313,-0.000256320845046,2.56217196745e-05,1793256493436539392
+90,1.500000000,BASELINE,794,750,728,709,698,655,934,803,834.765545289,668,657.765545289,676,0.400972679902,-0.00538516622384,0.0598471890749,0.9999999382,0.000239398372882,-0.000256159642375,2.58871911453e-05,1793256493453206016
+91,1.516666667,BASELINE,794,750,728,709,698,655,934,803,834.18856648,668,657.18856648,676,0.400975021705,-0.00538450056574,0.0598485193046,0.999999938617,0.000240604459537,-0.000253385340135,2.58931404452e-05,1793256493469872640
+92,1.533333333,BASELINE,793.613946983,749.613946983,728,708.613946983,698,655,934,803,834,668,657,676,0.400974963839,-0.00538427732572,0.0598481880299,0.99999993873,0.000240039805745,-0.000253516029185,2.55127670241e-05,1793256493486539520
+93,1.550000000,BASELINE,793.040472834,749.040472834,728,708.040472834,698,655,934,803,834,668,657,676,0.400973740983,-0.00538426887091,0.0598470501277,0.999999938693,0.000238615492472,-0.000255057034008,2.49448415361e-05,1793256493503206400
+94,1.566666667,BASELINE,793,749.549502871,728,708.549502871,698,655,934,803,834.549502871,668.549502871,657.549502871,676,0.400973153244,-0.00538464695311,0.0598473245934,0.999999938758,0.000237482071527,-0.00025581663061,2.53960734399e-05,1793256493519872768
+95,1.583333333,BASELINE,793.137886069,750,728,709,698,655,933.862113931,803,835,668.862113931,657.862113931,676,0.400972858332,-0.00538484315026,0.0598476072954,0.999999938803,0.00023674691493,-0.000256291420866,2.56882979015e-05,1793256493536539392
+96,1.600000000,BASELINE,793.717160551,750,728,709,698,655,933.282839449,803,835,668.282839449,657.282839449,676,0.400973346411,-0.00538436315699,0.059847573055,0.999999938767,0.000237215937932,-0.000256044453854,2.52237930952e-05,1793256493553206016
+97,1.616666667,BASELINE,794,750,728,708.70502927,697.70502927,655,933.29497073,803,835,668,657,676,0.400973401284,-0.00538395554167,0.0598474638545,0.999999938425,0.00023840959925,-0.000256274368748,2.51830545045e-05,1793256493569872640
+98,1.633333333,BASELINE,794,750,728,708.128616271,697.128616271,655,933.871383729,803,835,668,657,676,0.40097304282,-0.0053836169848,0.0598472831318,0.999999937789,0.000240294664237,-0.000256959293976,2.55466466551e-05,1793256493586539264
+99,1.650000000,BASELINE,793.552689139,749.552689139,728,708.447310861,697.447310861,655,934,803,835,668,657,676,0.400973225254,-0.00538274087461,0.0598475736656,0.999999937762,0.000240781734147,-0.00025663899058,2.52361464144e-05,1793256493603205888
+100,1.666666667,BASELINE,793.02363094,749,728.02363094,709,697.97636906,655,934,803,835,668,657,676,0.400973528893,-0.00538187667852,0.0598479487289,0.999999937923,0.000240750261502,-0.000256086246639,2.47670480097e-05,1793256493619872512
+101,1.683333333,BASELINE,793.612692594,749,728.612692594,709,697.387307406,655,934,803,835,668,657,676,0.400973015376,-0.00538499188115,0.059847107674,0.999999938388,0.000237919022461,-0.000256880179868,2.51357680356e-05,1793256493636539136
+102,1.700000000,BASELINE,794,749,728.801586515,709,697,655,934,803,835,668,657,676,0.400972788696,-0.0053868313451,0.059846715159,0.999999938779,0.000235894108547,-0.000257204677607,2.53433012026e-05,1793256493653205760
+103,1.716666667,BASELINE,794,749,728.222278952,709,697,655,934,803,835,668,657,676,0.400973112656,-0.00538622177502,0.0598471837054,0.999999939042,0.000235417096135,-0.00025662800063,2.52414041497e-05,1793256493669872384
+104,1.733333333,BASELINE,793.645204663,749,728,709,697,655,934,803,835,668,657.354795337,676,0.400974264869,-0.00538539003867,0.0598483517214,0.99999993932,0.000236569081209,-0.000254476757268,2.5220715972e-05,1793256493686539264
+105,1.750000000,BASELINE,793.06952071,749,728,709,697,655,934,803,835,668,657.93047929,676,0.400975932736,-0.0053844199859,0.0598499552136,0.999999939597,0.000238735248109,-0.00025134521971,2.52505868367e-05,1793256493703206144
+106,1.766666667,POSE1_TO_POSE2_PRESS,793,749,728,708,697,655,934,803,835,668,657,676,0.400973626864,-0.00538482435098,0.0598477851117,0.999999939644,0.00023554661548,-0.000254175240756,2.50133853314e-05,1793256493734341632
+107,1.783333333,POSE1_TO_POSE2_PRESS,793,749,728,708.592976875,697.592976875,655,934,803,834.407023125,668,657.592976875,676,0.400974419523,-0.00538454087638,0.0598482563134,0.999999939141,0.000238640367999,-0.000253230679983,2.5338126401e-05,1793256493751008768
+108,1.800000000,POSE1_TO_POSE2_PRESS,793.181706845,749,728,708.818293155,698,655,934,803,834.181706845,668,658,676,0.400974455019,-0.00538465981839,0.0598483520765,0.999999938787,0.000240181423564,-0.000253154435949,2.55223420303e-05,1793256493767675392
+109,1.816666667,POSE1_TO_POSE2_PRESS,793.76114113,749,728,708.23885887,698,655,934,803,834.76114113,668,658,676,0.400972833204,-0.00538565958644,0.0598476260641,0.999999938771,0.000238323872565,-0.000254978799243,2.53989698398e-05,1793256493784342016
+110,1.833333333,POSE1_TO_POSE2_PRESS,793.660221202,749.339778798,728,708,697.660221202,655,934,803,835,668,657.660221202,676,0.40097218262,-0.00538590709793,0.0598472470047,0.999999938858,0.000236866535231,-0.000256007960278,2.525340117e-05,1793256493801008384
+111,1.850000000,POSE1_TO_POSE2_PRESS,793.082142268,749.917857732,728,708,697.082142268,655,934,803,835,668,657.082142268,676,0.400972213197,-0.00538562702246,0.0598471112771,0.999999939019,0.000235689883475,-0.000256479414812,2.509226525e-05,1793256493817675008
+112,1.866666667,POSE1_TO_POSE2_PRESS,793.490631232,750,728,708.490631232,697,655,934,803,835,668,657,676,0.400973273679,-0.00538628905525,0.0598478800159,0.999999939241,0.000235751766567,-0.000255544717736,2.52052453309e-05,1793256493834342400
+113,1.883333333,POSE1_TO_POSE2_PRESS,794,749.935335546,728,708.935335546,697,655,934,803,835,668,657.064664454,676,0.400974285809,-0.00538695688893,0.059848662232,0.999999939362,0.000236169852846,-0.000254665607841,2.5383191493e-05,1793256493851009792
+114,1.900000000,POSE1_TO_POSE2_PRESS,794,749.343881282,728,708.343881282,697,655,934,803,835,668,657.656118718,676,0.400973514383,-0.00538640078206,0.0598483338355,0.999999938587,0.000237818583677,-0.000256136676142,2.57205168045e-05,1793256493867675648
+115,1.916666667,POSE1_TO_POSE2_PRESS,794,749,728,708,697.242332548,655,934,803,835,668,658,676,0.400976184809,-0.00538521693315,0.0598495845707,0.99999993859,0.000239506861246,-0.000254546822967,2.57304293984e-05,1793256493884341760
+116,1.933333333,POSE1_TO_POSE2_PRESS,794,749,728,708,697.821267314,655,934,803,835,668,658,676,0.400983635998,-0.00538316114462,0.059853028735,0.999999939652,0.000241250069467,-0.00024870532055,2.52855625771e-05,1793256493901008640
+117,1.950000000,POSE1_TO_POSE2_PRESS,793.602875354,749,728,708,698,655,934,803,835,668,658,676,0.401004763423,-0.00538419628114,0.0598615399062,0.999999943732,0.000239469755456,-0.000233521320791,2.56616898579e-05,1793256493917675264
+118,1.966666667,POSE1_TO_POSE2_PRESS,793.028392373,749,728,708,698,655,934,803,835,668,658,676,0.40103199874,-0.00538661184381,0.0598723140346,0.999999948843,0.000236115814595,-0.000214164903083,2.64044781597e-05,1793256493934341376
+119,1.983333333,POSE1_TO_POSE2_PRESS,793.558816753,749,728,708.558816753,698,655,934,803,835,668,658,676,0.401087739243,-0.00539010069256,0.0598916011603,0.999999956425,0.000233844039496,-0.000178066470652,2.75564403067e-05,1793256493951008000
+120,2.000000000,POSE1_TO_POSE2_PRESS,794,749,728,708.855481888,698,655,934,803,834.855481888,668,657.855481888,676,0.401148473326,-0.00539283314178,0.0599099966035,0.999999961785,0.000232330877336,-0.000147071134477,2.86851763095e-05,1793256493967674624
+121,2.016666667,POSE1_TO_POSE2_PRESS,794,749,728,708.276305239,698,655,934,803,834.276305239,668,657.276305239,676,0.401219768862,-0.00539312278055,0.0599243789845,0.999999963448,0.000232930128529,-0.000134042075336,2.96800728825e-05,1793256493984341248
+122,2.033333333,POSE1_TO_POSE2_PRESS,794,749,728,708,697.698298105,655,934,802.698298105,834.301701895,668,657,676,0.401303025383,-0.00539482915263,0.0599367891016,0.999999965764,0.000232552524836,-0.000116151488368,2.99965948597e-05,1793256494001008128
+123,2.050000000,POSE1_TO_POSE2_PRESS,794,749,728,708,697.121357938,655,934,802.121357938,834.878642062,668,657,676,0.401397193734,-0.00539782798996,0.05994739995,0.999999968411,0.000231283750474,-9.38258006874e-05,2.96942454451e-05,1793256494017675008
+124,2.066666667,POSE1_TO_POSE2_PRESS,793.545278335,749,728,708,697,655,934,802.454721665,835,668,657,676,0.401503740122,-0.00540093035824,0.0599528948343,0.999999969754,0.000229805832525,-8.26473342179e-05,2.91739704682e-05,1793256494034341632
+125,2.083333333,POSE1_TO_POSE2_PRESS,793,749,728,708,697.031226232,655,934,803,835,668,657,676,0.401614906397,-0.00540402901253,0.059957136229,0.999999970795,0.000228214293658,-7.4233826878e-05,2.85771431426e-05,1793256494051008000
+126,2.100000000,POSE1_TO_POSE2_PRESS,793,749,728,708,697.61939917,655,934,803,835,668,657,676,0.401749662899,-0.00540656953799,0.0599633270901,0.99999997224,0.00022558989263,-6.2174020612e-05,2.76503279302e-05,1793256494067674880
+127,2.116666667,POSE1_TO_POSE2_PRESS,793,749,728,708,698,655,934,803,835,668,657,676,0.401891829906,-0.0054094562722,0.0599660381871,0.999999973259,0.000223097836761,-5.49473811686e-05,2.62794701529e-05,1793256494084341504
+128,2.133333333,POSE1_TO_POSE2_PRESS,793,749,728,708,698,655,934,803,835,668,657,676,0.402047584677,-0.00541297780872,0.0599623688458,0.999999973722,0.000220848447118,-5.65827573693e-05,2.40944234213e-05,1793256494101008128
+129,2.150000000,POSE1_TO_POSE2_PRESS,793.363830473,749,728,708,698,655,934,803,835,668,657.363830473,676,0.402226844982,-0.00541747022639,0.0599598402,0.999999974298,0.000218230484131,-5.73547473643e-05,2.21162515011e-05,1793256494117675008
+130,2.166666667,POSE1_TO_POSE2_PRESS,793.938032643,749,728,708,698,655,934,803,835,668,657.938032643,676,0.402419696518,-0.005422524021,0.0599579711195,0.999999974936,0.000215399406843,-5.7627515942e-05,2.02576971857e-05,1793256494134341632
+131,2.183333333,POSE1_TO_POSE2_PRESS,793.486527881,749,728,708,698,655,933.486527881,803,834.486527881,668,657.486527881,676,0.402650120813,-0.00542885082123,0.059959018297,0.999999976812,0.000208684129975,-4.99648409308e-05,1.81511874069e-05,1793256494151008000
+132,2.200000000,POSE1_TO_POSE2_PRESS,793,749,728.091657201,708.091657201,697.908342799,655,933.091657201,802.908342799,834,668,657.091657201,676,0.402889990831,-0.00543548429846,0.0599607619456,0.999999978786,0.000201160023596,-4.13153640785e-05,1.59947689552e-05,1793256494167674880
+133,2.216666667,POSE1_TO_POSE2_PRESS,793,749,728.684023643,708.684023643,697.315976357,655,933.684023643,802.315976357,834,668,657.684023643,676,0.40315663094,-0.00544295182247,0.0599643830552,0.999999980986,0.000191784335314,-3.25193954076e-05,1.37295713964e-05,1793256494184341504
+134,2.233333333,POSE1_TO_POSE2_PRESS,793,749,728.731131351,708.731131351,697.268868649,655,934,802.268868649,834.268868649,668,657.731131351,676,0.40343799943,-0.00544961074535,0.0599648392412,0.999999982592,0.000183793402112,-3.0291116747e-05,1.08500109108e-05,1793256494201008128
+135,2.250000000,POSE1_TO_POSE2_PRESS,793,749,728.154885081,708.154885081,697.845114919,655,934,802.845114919,834.845114919,668,657.154885081,676,0.403736205771,-0.00545534525397,0.0599616772043,0.999999983608,0.000177385557459,-3.55711923839e-05,7.26809491088e-06,1793256494217674752
+136,2.266666667,POSE1_TO_POSE2_PRESS,793,749,728,708,698,655,934,803,835,668,657,676,0.404059281685,-0.00546385162907,0.0599497363349,0.999999984699,0.000166130115402,-5.46984008257e-05,3.399083977e-06,1793256494234341376
+137,2.283333333,POSE1_TO_POSE2_PRESS,793,749,728,708,698,655,934,803,835,668,657,676,0.404391499216,-0.00547337689411,0.059934568519,0.999999985167,0.00015309278062,-7.89155750608e-05,-5.75458000301e-07,1793256494251008256
+138,2.300000000,POSE1_TO_POSE2_PRESS,793,749.582463309,728,708.582463309,697.417536691,655,934,803,835,668,657,676,0.404742113298,-0.00547938140106,0.059919790807,0.999999983761,0.00014440113407,-0.000107718847654,-4.74954751181e-06,1793256494267674880
+139,2.316666667,POSE1_TO_POSE2_PRESS,793.167672707,750,728,708.832327293,697.167672707,655,934,803,835,668,657,676,0.405118144609,-0.00548581668847,0.0599103546857,0.999999982746,0.000135284650249,-0.000127001914361,-8.70938729308e-06,1793256494284341504
+140,2.333333333,POSE1_TO_POSE2_PRESS,793.750195343,750,728,708.249804657,697.750195343,655,934,803,835,668,657,676,0.405556762841,-0.00549337510541,0.0599141281932,0.999999984586,0.000125046314303,-0.000122655767995,-1.21358891892e-05,1793256494301008128
+141,2.350000000,POSE1_TO_POSE2_PRESS,793.671756954,749.671756954,728,708,698,655,934,803,835,668,657,676,0.406038810934,-0.00549764444431,0.05993413816,0.999999992864,7.75905704338e-05,-8.96659152902e-05,-1.45611847101e-05,1793256494317674752
+142,2.366666667,POSE1_TO_POSE2_PRESS,793.097068971,749.097068971,728,708,698,655,934,803,835,668,657,676,0.40655346622,-0.00549944434362,0.0599663384637,0.999999999247,2.19198842895e-06,-3.51703616769e-05,-1.62347745712e-05,1793256494334341632
+143,2.383333333,POSE1_TO_POSE2_PRESS,793,749,728,708,698,655,934,803,835,668,657.478121299,676,0.407110538575,-0.00549389689896,0.0599962787325,0.999999999465,-2.22971302791e-05,1.42000340911e-05,-1.92794738424e-05,1793256494351008256
+144,2.400000000,POSE1_TO_POSE2_PRESS,793,749,728,708.054898044,698,655,934,802.945101956,835,668,658,676,0.40767266167,-0.00548794082254,0.0600225462976,0.999999997571,-3.46168091644e-05,5.61063672536e-05,-2.26000377825e-05,1793256494367674880
+145,2.416666667,POSE1_TO_POSE2_PRESS,793,749,728,708.646178458,698,655,934,802.353821542,835,668,658,676,0.40819990537,-0.00549258191256,0.0600174174421,0.999999998619,-2.91263312744e-05,3.52620596279e-05,-2.58933154916e-05,1793256494384341504
+146,2.433333333,POSE1_TO_POSE2_PRESS,793,749,728,709,698,655,934,802.232136907,835,668,658,676,0.408744906111,-0.00549940830338,0.0600082089468,0.999999999105,-2.91338816874e-05,8.73402334545e-06,-2.94024933008e-05,1793256494401008128
+147,2.450000000,POSE1_TO_POSE2_PRESS,793,749,728,709,698,655,934,802.810165418,835,668,658,676,0.409316365394,-0.00550949086377,0.0599929216547,0.999999998406,-3.73336749103e-05,-2.62629537923e-05,-3.32333691311e-05,1793256494417674752
+148,2.466666667,POSE1_TO_POSE2_PRESS,793,749,728,708.612440838,698,655,934,802.612440838,835,668,657.612440838,676,0.409949893218,-0.00551354841626,0.0599921177512,0.999999997953,-4.54579555479e-05,-2.58219168741e-05,-3.6889842564e-05,1793256494434341632
+149,2.483333333,POSE1_TO_POSE2_PRESS,793,749,728,708.035357525,698,655,934,802.035357525,835,668,657.035357525,676,0.410613773777,-0.00551465961956,0.0599983965137,0.999999997715,-5.35453087888e-05,-8.05098404544e-06,-4.04610296403e-05,1793256494451008256
+150,2.500000000,POSE1_TO_POSE2_PRESS,793,749,728,708,697.461199242,655,934,802.538800758,835,668,657,676,0.411320946274,-0.00550932595405,0.0600032167317,0.999999999585,3.3724402564e-06,5.18024783778e-06,-2.81245448236e-05,1793256494467674880
+151,2.516666667,POSE1_TO_POSE2_PRESS,793,749,728,707.8837409,697.1162591,655,934,802.8837409,835,668,657.1162591,676,0.412023532275,-0.00550370490062,0.0600034719865,0.999999998526,5.03276455228e-05,8.41038927992e-06,-1.85667917553e-05,1793256494484341504
+152,2.533333333,POSE1_TO_POSE2_PRESS,793,749,728,707.292005339,697.707994661,655,934,802.292005339,835,668,657.707994661,676,0.41269580414,-0.00549862884618,0.0599854467895,0.999999998536,3.91859313295e-05,-2.80501298274e-05,-2.46198030364e-05,1793256494501008128
+153,2.550000000,POSE1_TO_POSE2_PRESS,793,749,728,707.291267597,697.708732403,655,934,802,834.708732403,668,657.708732403,676,0.413376328497,-0.00549844033731,0.0599592269354,0.999999996107,2.18044350367e-05,-8.01998003992e-05,-2.9624427775e-05,1793256494517675008
+154,2.566666667,POSE1_TO_POSE2_PRESS,793,749,728,707.866296082,697.133703918,655,934,802,834.133703918,668,657.133703918,676,0.414064892738,-0.00550301340886,0.0599250236192,0.999999988536,-1.65602963364e-06,-0.000147634277077,-3.36076862022e-05,1793256494534341888
+155,2.583333333,POSE1_TO_POSE2_PRESS,793,748.557046011,728,708,697,655,934,802,834.442953989,668,657,676,0.414883859974,-0.00550780118645,0.0599482413514,0.999999994335,-3.05038798654e-06,-0.000100364770042,-3.53184787928e-05,1793256494551008512
+156,2.600000000,POSE1_TO_POSE2_PRESS,793,748.020523565,728,708,697,655,934,802,834.979476435,668,657.020523565,676,0.415742091964,-0.00551259796272,0.0599886978321,0.999999999158,1.30220706502e-06,-1.92419792304e-05,-3.62264461292e-05,1793256494567674880
+157,2.616666667,POSE1_TO_POSE2_PRESS,793,748.609675793,728,708,697,655,934,802,834.390324207,668,657.609675793,676,0.416593614854,-0.00551584185288,0.0600247889485,0.999999998531,-2.03392386389e-05,3.70148415624e-05,-3.39660064771e-05,1793256494584341504
+158,2.633333333,POSE1_TO_POSE2_PRESS,793,748.804547329,728.195452671,708,697.195452671,655,934,802,834.195452671,668,657.804547329,676,0.417438340289,-0.00551734021602,0.0600439893215,0.99999999672,-3.10873622766e-05,6.69727848986e-05,-3.32784517506e-05,1793256494601008128
+159,2.650000000,POSE1_TO_POSE2_PRESS,793,748.225396717,728.774603283,708,697.774603283,655,934,802,834.774603283,668,657.225396717,676,0.418269721421,-0.00551541189198,0.0600300310588,0.999999998128,-2.04505365824e-05,4.53027526892e-05,-3.56786663835e-05,1793256494617675008
+160,2.666666667,POSE1_TO_POSE2_PRESS,793,748.350857051,728.649142949,708,697.649142949,655,934,802,834.649142949,668.350857051,657,676,0.41910342642,-0.00551498294087,0.0600112440529,0.999999999128,-1.10448329072e-05,1.38664578763e-05,-3.78083597112e-05,1793256494634341632
+161,2.683333333,POSE1_TO_POSE2_PRESS,793,748.925265052,728.074734948,708,697.074734948,655,934,802,834.074734948,668.925265052,657,676,0.419938612055,-0.00551550932547,0.0599893803812,0.999999998923,-2.42354737621e-06,-2.37924766053e-05,-3.97656884262e-05,1793256494651008256
+162,2.700000000,POSE1_TO_POSE2_PRESS,793,748.49897552,728.50102448,708.50102448,697,655,934,802,834.50102448,668.49897552,657.50102448,676,0.420766665231,-0.00551699012009,0.0599529095449,0.999999995819,-2.11590954102e-05,-7.8411620831e-05,-4.20265567537e-05,1793256494667674880
+163,2.716666667,POSE1_TO_POSE2_PRESS,793,748,728.920962926,708.920962926,697.079037074,655,934,802,835,668,658,676,0.421600100268,-0.00551828340098,0.0599173705067,0.999999989489,-3.85167290743e-05,-0.000132627414084,-4.41324050543e-05,1793256494684341504
+164,2.733333333,POSE1_TO_POSE2_PRESS,793,748,728.329657067,708.329657067,697.670342933,655,934,802,835,668,658,676,0.42247533103,-0.00551743612561,0.0599020310629,0.999999984705,-2.04237487629e-05,-0.000167787618185,-4.49392579242e-05,1793256494701008128
+165,2.750000000,POSE1_TO_POSE2_PRESS,793,748,728,708,697.744145995,655,934,801.744145995,835,668.255854005,657.744145995,676,0.423409315457,-0.00551844036014,0.0599252235841,0.99999999003,-1.9311385467e-05,-0.000132548451711,-4.4704492193e-05,1793256494717674752
+166,2.766666667,POSE1_TO_POSE2_PRESS,793,748,728,708,697.165935826,655,934,801.165935826,835,668.834064174,657.165935826,676,0.424417325056,-0.00552177735314,0.0599969633849,0.999999998248,-3.95932774732e-05,-8.61155214526e-06,-4.31573676335e-05,1793256494734341632
+167,2.783333333,POSE1_TO_POSE2_PRESS,793,747.592092489,728,708,697,655,934,801.407907511,835,668.592092489,657.407907511,676,0.425367311338,-0.00552321220448,0.0600390359834,0.999999996445,-4.20945878214e-05,5.96996765743e-05,-4.2114583858e-05,1793256494751008000
+168,2.800000000,POSE1_TO_POSE2_PRESS,793,747.020006787,728,708,697,655,934,801.979993213,835,668.020006787,657.979993213,676,0.426293943827,-0.00552388146498,0.0600691678621,0.999999992869,-3.74394126878e-05,0.000105622190274,-4.12747917722e-05,1793256494767674624
+169,2.816666667,POSE1_TO_POSE2_PRESS,793,747,728.570581284,708,697,655,934,801.429418716,835,668,657.429418716,676,0.427229817797,-0.00553091109008,0.0600506792223,0.999999994275,-3.9246938193e-05,8.95749433078e-05,-4.34348456162e-05,1793256494784341760
+170,2.833333333,POSE1_TO_POSE2_PRESS,793,747,729,708,697,655,934,801,835,668.158501219,657,676,0.428149444637,-0.00553589222778,0.0600274289164,0.999999995902,-4.54352158805e-05,6.33027171704e-05,-4.60808063957e-05,1793256494801008128
+171,2.850000000,POSE1_TO_POSE2_PRESS,793,747,729,708,697,655,934,801,835,668.73756251,657,676,0.4290250734,-0.00553482641935,0.0599962193226,0.999999996677,-6.26257654503e-05,1.58586867851e-05,-4.97276007982e-05,1793256494817674752
+172,2.866666667,POSE1_TO_POSE2_PRESS,792.684703605,747,729,708.315296395,697,655,934,801.315296395,835,669,657.315296395,676,0.429886739015,-0.00553134215078,0.0599625969034,0.999999996087,-5.77420141967e-05,-4.28473532427e-05,-5.15275887421e-05,1793256494834341376
+173,2.883333333,POSE1_TO_POSE2_PRESS,792.108069984,747,729,708.891930016,697,655,934,801.891930016,835,669,657.891930016,676,0.430736831063,-0.00552585331237,0.0599269745863,0.999999991913,-3.4561711125e-05,-0.000110888043484,-5.17968285409e-05,1793256494851008000
+174,2.900000000,POSE1_TO_POSE2_PRESS,792,747,729,708.532048889,697,654.532048889,934,802,835,669,658,676,0.431692126991,-0.00552768746264,0.0599591433495,0.999999996378,-4.77515662084e-05,-4.77726891274e-05,-5.17803140773e-05,1793256494867674880
+175,2.916666667,POSE1_TO_POSE2_PRESS,792.044812174,747,729,708.044812174,697,654.044812174,934,801.955187826,835,669,658,676,0.432667103217,-0.00553138357351,0.0600050533352,0.99999999556,-6.75040706735e-05,4.06687438491e-05,-5.16565784216e-05,1793256494884341504
+176,2.933333333,POSE1_TO_POSE2_PRESS,792.633583657,747,729,708.633583657,697,654.633583657,934,801.366416343,835,669,658,676,0.433586434619,-0.00553717941508,0.0600279704916,0.999999994175,-6.50938109278e-05,6.93408060674e-05,-5.10313445741e-05,1793256494901008128
+177,2.950000000,POSE1_TO_POSE2_PRESS,792.781224905,746.781224905,729,708.781224905,697,655,934,801,835,669,657.781224905,676,0.434483089388,-0.00554063162392,0.0600314616946,0.999999994046,-6.50738237476e-05,7.07447646622e-05,-5.16656313086e-05,1793256494917674752
+178,2.966666667,POSE1_TO_POSE2_PRESS,792.201932887,746.201932887,729,708.201932887,697,655,934,801,835,669,657.201932887,676,0.435342375742,-0.00554022178869,0.0600029410994,0.999999995771,-6.8992738414e-05,2.72139383169e-05,-5.4375467189e-05,1793256494934341376
+179,2.983333333,POSE1_TO_POSE2_PRESS,792,746,729,708.375176139,697,655,934,801,835,669,657,676,0.436172935227,-0.00554163106805,0.0599751220547,0.999999995377,-7.44263064554e-05,-2.42687861098e-05,-5.58410164553e-05,1793256494951008256
+180,3.000000000,POSE1_TO_POSE2_PRESS,792,746,729,708.951116963,697,655,934,801,835,669,657,676,0.436988122305,-0.00554401379412,0.0599476784261,0.999999991942,-8.0670397171e-05,-8.00067366946e-05,-5.66407213714e-05,1793256494967674880
+181,3.016666667,POSE1_TO_POSE2_PRESS,792.526609138,746,729,709,697,655,934,801,835,669,657.526609138,676,0.437764996667,-0.00554166484151,0.0599263552294,0.999999988431,-6.92971135327e-05,-0.000122481864022,-5.77487470507e-05,1793256494984341248
+182,3.033333333,POSE1_TO_POSE2_PRESS,792.895367446,745.790734891,729,709,697,655,934,801,835,669,657.895367446,676,0.438549442708,-0.00553945976392,0.0599116810397,0.999999984834,-6.16823421215e-05,-0.000151959399808,-5.86146798488e-05,1793256495001008128
+183,3.050000000,POSE1_TO_POSE2_PRESS,792.305410208,744.610820416,729,709,697,655,934,801,835,669,657.305410208,676,0.439385490927,-0.00553995757739,0.0599252144367,0.999999987132,-7.90798572592e-05,-0.000126854875745,-5.82250580981e-05,1793256495017674752
+184,3.066666667,POSE1_TO_POSE2_PRESS,792,744.278937651,729,709,696.721062349,654.721062349,934,800.721062349,835,669,657,676,0.440201615084,-0.0055409866959,0.0599475090983,0.999999990265,-8.63163107253e-05,-9.32988697563e-05,-5.75775847393e-05,1793256495034341376
+185,3.083333333,POSE1_TO_POSE2_PRESS,792,744.857264811,729,709,696.142735189,654.142735189,934,800.142735189,835,669,657,676,0.440996354281,-0.00554258607502,0.0599792074043,0.999999993696,-8.26466868894e-05,-5.06717162563e-05,-5.66533539464e-05,1793256495051008000
+186,3.100000000,POSE1_TO_POSE2_PRESS,792,745,729,709,695.567398651,653.567398651,934,800,835,669,657,676,0.44169831926,-0.00554367881999,0.0599520373124,0.999999991302,-7.47408958013e-05,-9.21602404251e-05,-5.75857342134e-05,1793256495067674624
+187,3.116666667,POSE1_TO_POSE2_PRESS,792,744.99287089,729,709,695,653,934,799.99287089,835,669,657,676,0.44236938354,-0.00554461148023,0.0599055157106,0.999999983084,-6.57482470524e-05,-0.000161276858365,-5.91522238317e-05,1793256495084341504
+188,3.133333333,POSE1_TO_POSE2_PRESS,792,744.404386628,729,709,695,653,934,799.404386628,835,669,657,676,0.442999641112,-0.00554602767376,0.0598539827365,0.999999966945,-8.13219102909e-05,-0.000235692701465,-6.28171850721e-05,1793256495101008128
+189,3.150000000,POSE1_TO_POSE2_PRESS,792,744,729,709,695,653,934,799,835.181078383,669.181078383,657,676.181078383,0.443642038688,-0.00554721898165,0.0598162261195,0.999999951105,-9.49737368522e-05,-0.000290671052764,-6.54283307125e-05,1793256495117674752
+190,3.166666667,POSE1_TO_POSE2_PRESS,792,744,729,709,695,653,934,799,835.759911451,669.759911451,657,676.759911451,0.444311102977,-0.00554791630857,0.0598087304792,0.9999999465,-0.000104404082993,-0.000302953250644,-6.57246785345e-05,1793256495134341376
+191,3.183333333,POSE1_TO_POSE2_PRESS,792,744,729,709,694.662212232,652.662212232,934,799,835.662212232,670,657,676.662212232,0.444937785855,-0.00554922871263,0.0598028295587,0.999999941379,-0.000102488257458,-0.000320163019017,-6.50716891417e-05,1793256495151008000
+192,3.200000000,POSE1_TO_POSE2_PRESS,792,744,729,709,694.085014057,652.085014057,934,799,835.085014057,670,657,676.085014057,0.445534430449,-0.00555097705864,0.059798058912,0.999999935593,-9.25307204075e-05,-0.00034086525067,-6.37458476113e-05,1793256495167674624
+193,3.216666667,POSE1_TO_POSE2_PRESS,792,744.483606196,729,709.483606196,693.516393804,652,934,799,835,669.516393804,656.516393804,676,0.446066020006,-0.00554996312873,0.059764407107,0.999999915359,-9.11272468712e-05,-0.000395808300064,-6.56743506249e-05,1793256495184341504
+194,3.233333333,POSE1_TO_POSE2_PRESS,792,745,729,709.946585717,693,651.946585717,934,798.946585717,835,669,656,676,0.44658743889,-0.00554831928578,0.0597283352215,0.999999891411,-9.13241454902e-05,-0.000451878335727,-6.81463589768e-05,1793256495201008384
+195,3.250000000,POSE1_TO_POSE2_PRESS,792,745,729,709.349612158,693,651.349612158,934,798.349612158,835,669,656,676,0.447119707385,-0.00554512060521,0.0597184012271,0.99999988777,-9.27711486095e-05,-0.00045923074708,-7.0428972512e-05,1793256495217676544
+196,3.266666667,POSE1_TO_POSE2_PRESS,792,745,729,709,692.76062486,651,934,798,835,669.23937514,656,676,0.447650847416,-0.00554514717495,0.0597174210856,0.999999889035,-9.48058992104e-05,-0.000455811951112,-7.19576762885e-05,1793256495234343936
+197,3.283333333,POSE1_TO_POSE2_PRESS,792,745,729,709,692.182925119,651,934,798,835,669.817074881,656,676,0.448180392471,-0.00554973220298,0.0597290960129,0.999999897049,-9.76713517747e-05,-0.000437169499966,-7.24208296995e-05,1793256495251010048
+198,3.300000000,POSE1_TO_POSE2_PRESS,792,744.606277815,729,709,691.606277815,650.606277815,934,797.606277815,835,670,656,676,0.448634374988,-0.00555343844678,0.0597187985532,0.999999889055,-0.000102828148852,-0.000453616976168,-7.44845470076e-05,1793256495267676160
+199,3.316666667,POSE1_TO_POSE2_PRESS,792,744.030118125,729,709,691.030118125,650.030118125,934,797.030118125,835,670,656,676,0.449053344434,-0.00555673749217,0.0596983198356,0.999999872812,-0.000109046677421,-0.000486323932425,-7.72899113123e-05,1793256495284342528
+200,3.333333333,POSE1_TO_POSE2_PRESS,792.540542867,744,729,709,691,650,934,796.459457133,835,670,656.540542867,676,0.449416300318,-0.00556359014136,0.0596590391338,0.999999841329,-0.000113762138249,-0.000545935107343,-7.97226939406e-05,1793256495301008896
+201,3.350000000,POSE1_TO_POSE2_PRESS,792.883812479,744.116187521,729.116187521,709,690.883812479,650,934,796,835,670,656.883812479,676,0.44977360361,-0.00557004430578,0.0596225510209,0.999999809172,-0.000117428378778,-0.000600991997393,-8.17069644794e-05,1793256495317675264
+202,3.366666667,POSE1_TO_POSE2_PRESS,792.286263972,744.713736028,729.713736028,709,690.286263972,650,934,796,835,670,656.286263972,676,0.450120288422,-0.00557403551361,0.0596019290222,0.999999790688,-0.000117091210503,-0.000631032662239,-8.19182065983e-05,1793256495334341632
+203,3.383333333,POSE1_TO_POSE2_PRESS,792,744.699498498,729.699498498,709,690,649.699498498,934,796,835,670,656,676,0.450465933507,-0.00557850935645,0.0595942832183,0.999999785461,-0.000116394486835,-0.000640137459083,-7.58567306948e-05,1793256495351008256
+204,3.400000000,POSE1_TO_POSE2_PRESS,792,744.122649367,729.122649367,709,690,649.122649367,934,796,835,670,656,676,0.450810622416,-0.00558342704057,0.0595985706028,0.999999792852,-0.000115367108383,-0.00062998918103,-6.4026728748e-05,1793256495367675136
+205,3.416666667,POSE1_TO_POSE2_PRESS,792,744.451634528,729,709.451634528,690,649,934,796,835,670,656,676,0.451114022594,-0.00558724388971,0.0596057432554,0.999999800338,-0.000125831740273,-0.000616072102508,-6.28054922998e-05,1793256495384342016
+206,3.433333333,POSE1_TO_POSE2_PRESS,792,744.974024139,729,709.974024139,689.974024139,649,934,796,835,670,656,676,0.451404237306,-0.00559058326453,0.0596134398085,0.999999807254,-0.000138710620669,-0.000601746031099,-6.44392914038e-05,1793256495401008896
+207,3.450000000,POSE1_TO_POSE2_PRESS,792,744.383375868,729,709.383375868,689.383375868,649,934,796,835,670,656,676,0.451650190494,-0.00559000513991,0.0596155883046,0.999999808108,-0.000136612113926,-0.000600652339431,-6.58624130217e-05,1793256495417675520
+208,3.466666667,POSE1_TO_POSE2_PRESS,792,744.203264739,729,709.203264739,689,648.796735261,934,796,835,670,656,676.203264739,0.45188555172,-0.00558627806234,0.0596159361996,0.999999809,-0.00013065683683,-0.000600371118396,-6.69577900561e-05,1793256495434341888
+209,3.483333333,POSE1_TO_POSE2_PRESS,792,744.782492615,729,709.782492615,689,648.217507385,934,796,835,670,656,676.782492615,0.452101321784,-0.00557672660907,0.059612953661,0.999999809857,-0.00011756798879,-0.000601592661789,-6.74469630043e-05,1793256495451008512
+210,3.500000000,POSE1_TO_POSE2_PRESS,792,745,729,709.640276815,689,648,934,796,835,670,656,676.640276815,0.452292400647,-0.00556119014477,0.0596072766634,0.999999808548,-9.75851047986e-05,-0.000607082144717,-6.95141410914e-05,1793256495467675392
+211,3.516666667,POSE1_TO_POSE2_PRESS,792,745,729,709.064247197,689,648,934,796,835,670,656,676.064247197,0.452468632377,-0.00554205481121,0.0595999794508,0.999999805474,-7.34567421324e-05,-0.000615137997439,-7.25301950978e-05,1793256495484341760
+212,3.533333333,POSE1_TO_POSE2_PRESS,792,745,729,709,688.512529414,648,934,795.512529414,835,670,656,676,0.452611632195,-0.0055488418006,0.0595980055419,0.999999801153,-8.11558158062e-05,-0.000621218256532,-7.2075642364e-05,1793256495501008384
+213,3.550000000,POSE1_TO_POSE2_PRESS,792,744.959110022,729,709.040889978,688,647.959110022,934,795,835,670,656,676,0.452748531521,-0.00555830528653,0.0595965158711,0.999999796629,-9.20416549898e-05,-0.000627049878085,-7.12599139835e-05,1793256495517675520
+214,3.566666667,POSE1_TO_POSE2_PRESS,792,744.338268453,729,709.661731547,688,647.338268453,934,795,835,670,656,676,0.45285807601,-0.00555957524562,0.0595924160737,0.999999792998,-9.14571306061e-05,-0.000632872583043,-7.15009905532e-05,1793256495534342656
+215,3.583333333,POSE1_TO_POSE2_PRESS,791.734988209,744.265011791,729.265011791,709.734988209,688,647.265011791,934,795,835,670,656,676,0.452957741858,-0.0055593234595,0.059587855032,0.999999787831,-8.91014515464e-05,-0.000641280760019,-7.18214819933e-05,1793256495551009024
+216,3.600000000,POSE1_TO_POSE2_PRESS,791.152730676,744.847269324,729.847269324,709.152730676,688,647.847269324,934,795,835,670,656,676,0.453045581973,-0.00555724999135,0.0595827418346,0.999999780747,-8.46255223902e-05,-0.000652784006404,-7.22370409931e-05,1793256495567675648
+217,3.616666667,POSE1_TO_POSE2_PRESS,791.422657375,745,729.577342625,709,688,648,934,795,835,670,656,676,0.45312309553,-0.0055619056808,0.0595815181265,0.999999779531,-8.85004913138e-05,-0.000654208483011,-7.15340022375e-05,1793256495584342272
+218,3.633333333,POSE1_TO_POSE2_PRESS,791.99560277,745,729.00439723,709,688,648,934,795,835,670,656,676,0.45319693718,-0.00556895411637,0.0595816774385,0.99999978039,-9.53448630054e-05,-0.000652049162072,-7.04332137771e-05,1793256495601008896
+219,3.650000000,POSE1_TO_POSE2_PRESS,791.433774896,745,729,709,688,647.433774896,934,795,835,670,656,676,0.453244681125,-0.00556473607956,0.0595796889267,0.999999777706,-9.28015445334e-05,-0.000656362523905,-7.18674014583e-05,1793256495617675264
+220,3.666666667,POSE1_TO_POSE2_PRESS,791,744.856441892,729,709,688,647,934,795,835,670,656,676,0.453289775559,-0.00556173219001,0.0595781394593,0.999999775818,-8.99623438267e-05,-0.000659532784794,-7.2717098435e-05,1793256495634341888
+221,3.683333333,POSE1_TO_POSE2_PRESS,791,744.257777973,729,709,688,647,934,795,835,670,656,676,0.453327110422,-0.00556285361177,0.0595780345066,0.999999776611,-8.64153155924e-05,-0.0006589205016,-7.16516970809e-05,1793256495651008512
+222,3.700000000,POSE1_TO_POSE2_PRESS,791.327949537,744.327949537,729,709,688,647,934,795,835,670,656,676.327949537,0.453360314495,-0.00556530066231,0.0595788456686,0.999999777786,-8.71140660053e-05,-0.000657138439586,-7.07614656152e-05,1793256495667675392
+223,3.716666667,POSE1_TO_POSE2_PRESS,791.903894596,744.903894596,729,709,688,647,934,795,835,670,656,676.903894596,0.453390394866,-0.00556875015379,0.059580349597,0.99999977924,-9.10234749062e-05,-0.000654471790466,-7.00036975495e-05,1793256495684342272
+224,3.733333333,POSE1_TO_POSE2_PRESS,792,745,729.476055893,709.476055893,688,647,934,795,835,670,656,676.523944107,0.453405694357,-0.00556737981317,0.0595787863258,0.99999977756,-9.06934750573e-05,-0.000657069162083,-7.01057346252e-05,1793256495701009152
+225,3.750000000,POSE1_TO_POSE2_PRESS,792,745,730,709.950971777,688,647,934,794.950971777,835,670,656,676,0.453417467714,-0.00556523606625,0.0595766335743,0.999999775269,-8.95653707793e-05,-0.000660675684447,-7.0339853077e-05,1793256495717675520
+226,3.766666667,POSE1_TO_POSE2_PRESS,792,745,730,709.360678932,688,647,934,794.360678932,835,670,656,676,0.453422995572,-0.00556521131894,0.0595747550333,0.999999773276,-8.90002090611e-05,-0.000663783632579,-7.01309865565e-05,1793256495734341888
+227,3.783333333,POSE1_TO_POSE2_PRESS,791.773408646,745,729.773408646,709.226591354,687.773408646,647,934,794.226591354,835,670,656,676,0.453428098361,-0.00556557291355,0.0595728503889,0.99999977164,-8.89453948536e-05,-0.0006662583264,-7.00586952248e-05,1793256495751008512
+228,3.800000000,POSE1_TO_POSE2_PRESS,791.190886248,745,729.190886248,709.809113752,687.190886248,647,934,794.809113752,835,670,656,676,0.453432533448,-0.00556654137635,0.0595709047415,0.999999770576,-8.96922375808e-05,-0.000667738300412,-7.02009370237e-05,1793256495767675392
+229,3.816666667,POSE1_TO_POSE2_PRESS,791.386956253,745,729,710,687.386956253,647,934,795,835,670,656,676,0.453434451789,-0.00556566636867,0.0595697246269,0.999999768787,-9.0101814704e-05,-0.000670347132268,-7.03054816641e-05,1793256495784341760
+230,3.833333333,POSE1_TO_POSE2_PRESS,791.962517723,745,729,710,687.962517723,647,934,795,835,670,656,676,0.45343514345,-0.00556389284041,0.0595689176385,0.999999766636,-9.03470061626e-05,-0.000673506177378,-7.03916524381e-05,1793256495801008384
+231,3.850000000,POSE1_TO_POSE2_PRESS,791.464017113,745,729,710,687.464017113,647,934,795,835,670,656,676,0.453435041291,-0.00556433895567,0.0595672761501,0.999999765619,-8.96397976734e-05,-0.000675152147895,-6.99773841712e-05,1793256495817675264
+232,3.866666667,POSE1_TO_POSE2_PRESS,791,745,729,709.887059703,687.112940297,647,934,795,835,670,656,676,0.453434918214,-0.0055648642211,0.0595659858237,0.999999764749,-8.88955202737e-05,-0.000676586298221,-6.95008069575e-05,1793256495834342400
+233,3.883333333,POSE1_TO_POSE2_PRESS,791,745,729,709.294656984,687.705343016,647,934,795,835,670,656,676,0.453434941076,-0.00556506910032,0.0595664330576,0.99999976418,-8.82755222069e-05,-0.000677568664815,-6.89077028041e-05,1793256495851009024
+234,3.900000000,POSE1_TO_POSE2_PRESS,791,745,729,709.290554254,688,647,934,795,835,670,656,676,0.453435258736,-0.0055654930464,0.0595661307319,0.999999763437,-8.92776093013e-05,-0.000678564076668,-6.86073836525e-05,1793256495867675392
+235,3.916666667,POSE1_TO_POSE2_PRESS,791,745,729,709.868648682,688,647,934,795,835,670,656,676,0.453435868135,-0.00556613378684,0.0595650866223,0.999999762516,-9.18849546945e-05,-0.000679572398565,-6.85968122105e-05,1793256495884342016
+236,3.933333333,POSE1_TO_POSE2_PRESS,791.443670464,745,729,710,688,647,934,795,835,670,656,676.443670464,0.453437125052,-0.00556495773657,0.0595658824646,0.999999763672,-9.18789244036e-05,-0.000677898836946,-6.83171522682e-05,1793256495901008640
+237,3.950000000,POSE1_TO_POSE2_PRESS,792,745,729,709.98176186,687.98176186,647,934,795,835,670,656,676.98176186,0.453438485414,-0.00556332044639,0.0595671195305,0.999999765311,-9.1135962073e-05,-0.000675611843161,-6.79775352717e-05,1793256495917675264
+238,3.966666667,POSE1_TO_POSE2_PRESS,792,745,729,709.393141216,687.393141216,647,934,795,835,670,656,676.393141216,0.453437126845,-0.00556396405654,0.0595652367339,0.999999763112,-9.13766377406e-05,-0.000678800783818,-6.82371396328e-05,1793256495934341888
+239,3.983333333,POSE1_TO_POSE2_PRESS,791.807836197,745,729,709,687,646.807836197,934,794.807836197,835,670.192163803,656,676,0.453436931022,-0.00556461396702,0.0595640512713,0.999999761813,-9.23123395393e-05,-0.000680573509619,-6.83583385289e-05,1793256495951008512
+240,4.000000000,POSE1_TO_POSE2_PRESS,791.229199482,745,729,709,687,646.229199482,934,794.229199482,835,670.770800518,656,676,0.453439073672,-0.00556527654848,0.0595642682622,0.999999762337,-9.46458528239e-05,-0.000679497994968,-6.8201181329e-05,1793256495967675648
+241,4.016666667,POSE1_TO_POSE2_PRESS,791,745,729,709,687,646.348016835,933.651983165,794.348016835,835,670.651983165,656,676,0.453439347915,-0.00556503661026,0.0595639556684,0.999999762162,-9.51788989859e-05,-0.000679679958709,-6.8210303792e-05,1793256495984342528
+242,4.033333333,POSE1_TO_POSE2_PRESS,791,745,729,709,687,646.924301476,933.075698524,794.924301476,835,670.075698524,656,676,0.453438396652,-0.00556420470012,0.0595632957147,0.99999976153,-9.4531000237e-05,-0.000680686715448,-6.83284907947e-05,1793256496001009408
+243,4.050000000,POSE1_TO_POSE2_PRESS,791.501323118,745,729,709.501323118,687,647,933.501323118,795,835,670,656,676,0.453438459905,-0.00556477601894,0.0595634323285,0.999999761608,-9.59033074134e-05,-0.000680418828348,-6.7946926367e-05,1793256496017675520
+244,4.066666667,POSE1_TO_POSE2_PRESS,792,745,729,710,687,647,934,795,835,670,656,676.079912578,0.453438483015,-0.00556546838017,0.0595634991778,0.999999761554,-9.73200486697e-05,-0.000680337212633,-6.75461521989e-05,1793256496034341888
+245,4.083333333,POSE1_TO_POSE2_PRESS,792,745,729,710,687,647,934,795,835,670,656,676.667758626,0.453437275858,-0.00556558135854,0.0595623569586,0.999999759994,-9.70774555128e-05,-0.000682664709027,-6.75036251197e-05,1793256496051008512
+246,4.100000000,HOLD_POSE2,792,745,730,709,688,647,934,794,835,670,656,676,0.45344066387,-0.0055625223633,0.0595642293286,0.999999762202,-9.07514978101e-05,-0.000680342865724,-6.70301205419e-05,1793256496089194752
+247,4.116666667,HOLD_POSE2,792,745,729.432128029,709,687.432128029,647,934,794,835,670,656,676,0.453439914491,-0.0055656199348,0.0595633537095,0.999999760832,-9.66341847678e-05,-0.000681560145202,-6.68859054359e-05,1793256496105861632
+248,4.133333333,HOLD_POSE2,792,745,729,709.138368322,687.138368322,647,934,794.138368322,835,670,656,676,0.453439057896,-0.005566918518,0.0595623938728,0.999999759434,-9.99184338592e-05,-0.000683125021336,-6.69924994679e-05,1793256496122528512
+249,4.150000000,HOLD_POSE2,792,745,729,709.717219283,687.717219283,647,934,794.717219283,835,670,656,676,0.453437859985,-0.0055624901906,0.0595611659371,0.999999758031,-9.49308000463e-05,-0.000685796439333,-6.78975209472e-05,1793256496139195392
+250,4.166666667,HOLD_POSE2,792,745,729.304106746,710,687.695893254,647,934,795,835,670,656,676,0.453437235041,-0.0055612566024,0.0595606850639,0.999999757599,-9.36755374051e-05,-0.000686569665421,-6.81844723314e-05,1793256496155862016
+251,4.183333333,HOLD_POSE2,792,745,729.898669945,710,687.101330055,647,934,795,835,670,656,676,0.453437157343,-0.00556307435298,0.0595609177202,0.999999758114,-9.59851131062e-05,-0.00068552990267,-6.78810965791e-05,1793256496172528384
+252,4.200000000,HOLD_POSE2,791.519766361,745,729.519766361,709.519766361,687,646.519766361,934,795,835,670,655.519766361,676,0.453437144165,-0.00556293443904,0.0595599559666,0.999999757806,-9.54126108517e-05,-0.000686091337538,-6.75488497498e-05,1793256496189195008
+253,4.216666667,HOLD_POSE2,791.058951569,745,729,709,687,646.058951569,934,795,835,670,655,676,0.453437203728,-0.00556249556487,0.059558864632,0.999999757368,-9.44022831225e-05,-0.000686899017422,-6.72504425113e-05,1793256496205861632
+254,4.233333333,HOLD_POSE2,791.636129936,745,729,709,687,646.636129936,934,795,835,670,655,676,0.453437786219,-0.00556296409792,0.0595587912547,0.999999757276,-9.47480999231e-05,-0.000686979653789,-6.73016499524e-05,1793256496222528256
+255,4.250000000,HOLD_POSE2,792,744.784031868,729,709,687,647,934,795,835,670,655,676,0.453438064616,-0.00556258605498,0.0595587795295,0.999999757234,-9.49436952693e-05,-0.000686988273265,-6.7565996838e-05,1793256496239194880
+256,4.266666667,HOLD_POSE2,792,744.199656485,729,709,687,647,934,795,835,670,655,676,0.453437824278,-0.0055607638881,0.0595588729728,0.999999757275,-9.48830366941e-05,-0.000686874043385,-6.81939256794e-05,1793256496255861760
+257,4.283333333,HOLD_POSE2,792,744.383551497,729.383551497,709.383551497,687,647,934,795,835,670.383551497,655.383551497,676,0.453439152082,-0.00556102859179,0.0595602101979,0.999999758082,-9.52231620937e-05,-0.000685673717549,-6.79682144354e-05,1793256496272528384
+258,4.300000000,HOLD_POSE2,792,744.966153691,729.966153691,709.966153691,687,647,934,795,835,670.966153691,655.966153691,676,0.453441293701,-0.00556237631297,0.059562192905,0.999999759283,-9.57712812763e-05,-0.000683909743381,-6.72994919331e-05,1793256496289195520
+259,4.316666667,HOLD_POSE2,792,745,730,710,687,647,934,795,835,670.457511692,656,676,0.453440684195,-0.00556435192835,0.0595615047916,0.999999758006,-9.82986628218e-05,-0.000685448761144,-6.69792888873e-05,1793256496305861632
+260,4.333333333,HOLD_POSE2,792,745,729.881540267,710,687,647,934,794.881540267,835,670,656,676,0.453439836721,-0.00556538283659,0.0595605415354,0.999999756917,-9.96278564999e-05,-0.000686857444755,-6.6829294737e-05,1793256496322528256
+261,4.350000000,HOLD_POSE2,792,745,729.305478356,710,687,647,934,794.305478356,835,670,656,676,0.453438725473,-0.00556261480216,0.0595591517673,0.999999757176,-9.58569525966e-05,-0.000686975688806,-6.7253768375e-05,1793256496339194880
+262,4.366666667,POSE2_TO_POSE3_RETREAT,791,745,729,709,687,647,934,795,835,670,656,677,0.453440992992,-0.00556272307762,0.0595598658801,0.999999757699,-9.75897823136e-05,-0.000685975118106,-6.72034686133e-05,1793256496376335360
+263,4.383333333,POSE2_TO_POSE3_RETREAT,791,745,729,709,687.578614412,647,934,794.421385588,835,670,655.421385588,676.421385588,0.453438858205,-0.0055627481854,0.0595584379013,0.999999756338,-9.69018344577e-05,-0.000688093283896,-6.67891014664e-05,1793256496393002752
+264,4.400000000,POSE2_TO_POSE3_RETREAT,791,745,729.155858812,709,687.844141188,647,934,794.155858812,835,670,655.155858812,676,0.453437472705,-0.00556287480171,0.0595577580367,0.9999997555,-9.69410184673e-05,-0.000689324275219,-6.65955784536e-05,1793256496409669632
+265,4.416666667,POSE2_TO_POSE3_RETREAT,791,745,729.7294316,709,687.2705684,647,934,794.7294316,835,670,655.7294316,676,0.453438095352,-0.00556327346891,0.0595590831772,0.999999756068,-9.89289733894e-05,-0.000688177569087,-6.6993935143e-05,1793256496426336512
+266,4.433333333,POSE2_TO_POSE3_RETREAT,791.303307668,745,729.696692332,709.303307668,687,647,934,795,835,670,656,676,0.453438461016,-0.00556302225975,0.0595594234457,0.999999756338,-9.86955845812e-05,-0.000687823416775,-6.69516042746e-05,1793256496443003136
+267,4.450000000,POSE2_TO_POSE3_RETREAT,791.877454517,745,729.122545483,709.877454517,687,647,934,795,835,670,656,676,0.453438597207,-0.00556219074219,0.0595588842708,0.99999975634,-9.64786423899e-05,-0.000688176977027,-6.65157605586e-05,1793256496459669248
+268,4.466666667,POSE2_TO_POSE3_RETREAT,792,745,729.46747264,710,687,646.53252736,934,795,835,670,656,676,0.453437534255,-0.00556185111105,0.0595576604115,0.999999755225,-9.70585886462e-05,-0.000689696538961,-6.66959457656e-05,1793256496476335616
+269,4.483333333,POSE2_TO_POSE3_RETREAT,792,745,730,710,687.060092348,646.060092348,934,795,835,670,656,676,0.453436368736,-0.00556177440908,0.0595564924853,0.999999754043,-9.82506459235e-05,-0.000691213876349,-6.69564321334e-05,1793256496493001728
+270,4.500000000,POSE2_TO_POSE3_RETREAT,792,745,730,710,687.638017836,646.638017836,934,795,835,670,656,676,0.453437123414,-0.00556281323264,0.0595574075934,0.999999754932,-9.81772884801e-05,-0.000689985504137,-6.64683949609e-05,1793256496509668608
+271,4.516666667,POSE2_TO_POSE3_RETREAT,792,745,730,710,687.785828967,646.785828967,934,795,835,670,656,676,0.453434924402,-0.00556249395345,0.0595567754472,0.999999754461,-9.75754170725e-05,-0.000690764096511,-6.63539395503e-05,1793256496526335232
+272,4.533333333,POSE2_TO_POSE3_RETREAT,792,745,730,710,687.212646689,646.212646689,934,795,835,670,656,676,0.453427774168,-0.00555989810969,0.0595535496648,0.9999997517,-9.60876067374e-05,-0.00069490692947,-6.68657129173e-05,1793256496543002112
+273,4.550000000,POSE2_TO_POSE3_RETREAT,791.628852189,745,729.628852189,709.628852189,687,646,934,794.628852189,835,670,656,676,0.453406282427,-0.0055593023424,0.0595444781048,0.99999974131,-9.52322448062e-05,-0.000709776167562,-6.72929701929e-05,1793256496559668736
+274,4.566666667,POSE2_TO_POSE3_RETREAT,791.038798463,745,729.038798463,709.038798463,687,646,934,794.038798463,835,670,656,676,0.45337633195,-0.00555988623579,0.0595319586585,0.999999726062,-9.47499057724e-05,-0.000730971924422,-6.76703792338e-05,1793256496576335360
+275,4.583333333,POSE2_TO_POSE3_RETREAT,791.541464982,745.541464982,729.541464982,709,687,646.541464982,934,794.541464982,835,670,656,676,0.45332386643,-0.00555942707017,0.0595149759563,0.999999707254,-9.45772208571e-05,-0.000756236715804,-6.82163801294e-05,1793256496593001728
+276,4.600000000,POSE2_TO_POSE3_RETREAT,792,745.879654628,729.879654628,709.120345372,687,646.879654628,934,795,835,670,656,676,0.453267033984,-0.00555864360591,0.0594986872277,0.999999689647,-9.46292502284e-05,-0.000779115368571,-6.87785379477e-05,1793256496609668096
+277,4.616666667,POSE2_TO_POSE3_RETREAT,792,745.303403143,729.303403143,709.696596857,687,646.303403143,934,795,835,670,656,676,0.453199661409,-0.0055569097063,0.0594862175191,0.999999679511,-9.54500052796e-05,-0.00079186966311,-6.93569520443e-05,1793256496626334976
+278,4.633333333,POSE2_TO_POSE3_RETREAT,792,745,729,710,687,646,934,795,835,670,656,676,0.453122613762,-0.00555417997059,0.0594734349325,0.999999665906,-9.44961322496e-05,-0.000808930010371,-6.99330970499e-05,1793256496643002112
+279,4.650000000,POSE2_TO_POSE3_RETREAT,792,745,729,710,687,646,934,795,835,670,656,676,0.453034807589,-0.00555034288074,0.0594603044311,0.999999648225,-9.15689003525e-05,-0.000830778620272,-7.05067188115e-05,1793256496659670016
+280,4.666666667,POSE2_TO_POSE3_RETREAT,791.556451624,745,729,709.556451624,687,646.443548376,934,795,835,670,655.556451624,676,0.452927300173,-0.00554693729698,0.0594472716513,0.999999630226,-8.85940600529e-05,-0.000852457463547,-7.08123859581e-05,1793256496676336640
+281,4.683333333,POSE2_TO_POSE3_RETREAT,791,744.977824814,729,709.022175186,687,647,934,795,835,670,655.022175186,676,0.452812346241,-0.0055435686918,0.0594339940411,0.999999611374,-8.55437648465e-05,-0.000874579786446,-7.10256314248e-05,1793256496693003008
+282,4.700000000,POSE2_TO_POSE3_RETREAT,791,744.402349411,729,709.597650589,687,647,934,795,835,670,655.597650589,676,0.45266143541,-0.00553784080396,0.0594138643351,0.999999581009,-8.09728690433e-05,-0.000909058737277,-7.09708417171e-05,1793256496709669376
+283,4.716666667,POSE2_TO_POSE3_RETREAT,791,744.173497727,729,709.826502273,687.173497727,647,934,795,835,670,656,676,0.452503751756,-0.00553232191699,0.0593933024778,0.999999549788,-7.67959414981e-05,-0.000943126825805,-7.09823979204e-05,1793256496726336000
+284,4.733333333,POSE2_TO_POSE3_RETREAT,791,744.750208706,729,709.249791294,687.750208706,647,934,795,835,670,656,676,0.452330327903,-0.00552728875431,0.0593717362921,0.999999518243,-7.35346072517e-05,-0.000976240056299,-7.11481438801e-05,1793256496743002112
+285,4.750000000,POSE2_TO_POSE3_RETREAT,791.334258103,745,729,709.334258103,688,647,934,795,835,670,656,676,0.452137390459,-0.00552317604743,0.0593482107392,0.999999480077,-7.15179015139e-05,-0.00101473959202,-7.09530848385e-05,1793256496759668736
+286,4.766666667,POSE2_TO_POSE3_RETREAT,791.923914669,745,729,709.923914669,688,647,934,795,835,670,656,676,0.451929543138,-0.00551976663783,0.0593231880793,0.999999436035,-7.04521856512e-05,-0.00105735467482,-7.04823434577e-05,1793256496776335616
+287,4.783333333,POSE2_TO_POSE3_RETREAT,791.495513402,744.495513402,729,709.495513402,688,647.504486598,934,795,835,670,656,676,0.451683531081,-0.00551316925497,0.0592981883647,0.999999390564,-6.6676032424e-05,-0.00109977324353,-7.01772284689e-05,1793256496793001984
+288,4.800000000,POSE2_TO_POSE3_RETREAT,791,744,729,709,688,648,934,795,834.916835085,670,656,676,0.451427961138,-0.00550658696878,0.059275848117,0.999999348101,-6.26290725735e-05,-0.00113799392178,-6.95999929062e-05,1793256496809668608
+289,4.816666667,POSE2_TO_POSE3_RETREAT,791,744,729,709,688,648,934,795,834.34139865,670,656,676,0.451149283639,-0.00550288966882,0.0592692297107,0.999999332955,-5.93560104367e-05,-0.00115153871388,-6.72667732403e-05,1793256496826335488
+290,4.833333333,POSE2_TO_POSE3_RETREAT,791,744,729,709,688.233875247,648,934,795,834.233875247,670,656,676,0.450862756546,-0.00549675986083,0.0592658250067,0.999999324843,-5.29386879786e-05,-0.00115899178471,-6.51803150916e-05,1793256496843002112
+291,4.850000000,POSE2_TO_POSE3_RETREAT,791,744,729,709,688.80891201,648,934,795,834.80891201,670,656,676,0.45056477901,-0.00548708167357,0.0592671082366,0.999999327136,-4.19347297619e-05,-0.00115755866066,-6.34538162346e-05,1793256496859668992
+292,4.866666667,POSE2_TO_POSE3_RETREAT,791.394858876,744.394858876,729,709.394858876,689,648.394858876,934,795.394858876,835,670,656,676.394858876,0.450244798227,-0.00547949751622,0.059267264568,0.999999329584,-3.2221939867e-05,-0.00115586476356,-6.14054262609e-05,1793256496876335616
+293,4.883333333,POSE2_TO_POSE3_RETREAT,791.986235589,744.986235589,729,709.986235589,689,648.986235589,934,795.986235589,835,670,656,676.986235589,0.449913866628,-0.00547295553968,0.0592668600517,0.999999332074,-2.31517535712e-05,-0.00115404108198,-5.91968339209e-05,1793256496893002240
+294,4.900000000,POSE2_TO_POSE3_RETREAT,791.434648296,745,729,709.434648296,689.565351704,649,934,796,835,670,656,676.434648296,0.449515030117,-0.00546202286903,0.0592564796355,0.999999312966,-9.04387255245e-06,-0.00117077247504,-5.72438141041e-05,1793256496909668608
+295,4.916666667,POSE2_TO_POSE3_RETREAT,791.143365225,745,729,709,690,649.143365225,934,796.143365225,835,670,656,676,0.449106577361,-0.0054511169812,0.0592487661991,0.999999300531,4.46948577707e-06,-0.00118147123878,-5.51713643028e-05,1793256496926335232
+296,4.933333333,POSE2_TO_POSE3_RETREAT,791.71893544,745,729,709,690,649.71893544,934,796.71893544,835,670,656,676,0.44867401276,-0.005440607266,0.0592498096132,0.99999931093,1.58286175717e-05,-0.00117265035629,-5.2720507451e-05,1793256496943001856
+297,4.950000000,POSE2_TO_POSE3_RETREAT,792,745,729,709,690,650,934,797,835,670,656.29388151,676,0.448234233139,-0.00542946169109,0.0592587854097,0.999999329288,2.92179738864e-05,-0.00115676846141,-4.95599106328e-05,1793256496959668480
+298,4.966666667,POSE2_TO_POSE3_RETREAT,792,745,729,709,690,650,934,797,835,670,656.868231988,676,0.447787567735,-0.00541770927542,0.0592753315604,0.999999354817,4.45448980439e-05,-0.00113414781214,-4.57219655652e-05,1793256496976335104
+299,4.983333333,POSE2_TO_POSE3_RETREAT,792,744.544226349,729,709,690.455773651,650,934,797,835,670,657,676,0.447337952429,-0.00541270659553,0.0593128816711,0.999999424223,5.13498218741e-05,-0.0010710531567,-4.1973742344e-05,1793256496993002752
+300,5.000000000,POSE2_TO_POSE3_RETREAT,792,744.046169909,729,709,691.046169909,650.046169909,934,797,835,670,657,676,0.446882318205,-0.00541234544914,0.0593571328226,0.999999501243,5.30116105269e-05,-0.000996633480842,-3.77648425415e-05,1793256497009670656
+301,5.016666667,POSE2_TO_POSE3_RETREAT,792,744.624208679,729,709,691.624208679,650.624208679,934,797,835,670,657,676,0.446367464227,-0.00544230406624,0.0594065406182,0.999999566328,2.46536885607e-05,-0.000930567012736,-2.79413099206e-05,1793256497026336768
+302,5.033333333,POSE2_TO_POSE3_RETREAT,792,745,729,709,692,651,934,797.200737266,835,670,657,676,0.445819186684,-0.00546087927321,0.0594405945681,0.999999606936,6.46810840551e-06,-0.00088637897558,-2.04486560071e-05,1793256497043002624
+303,5.050000000,POSE2_TO_POSE3_RETREAT,792,745,729,709,692,651,934,797.77445978,835,670,657,676,0.445208805624,-0.00545830322853,0.0594461198908,0.999999610119,7.18352207009e-06,-0.000882842753995,-1.72869544641e-05,1793256497059668992
+304,5.066666667,POSE2_TO_POSE3_RETREAT,792,744.64196625,729,709,692.35803375,651.35803375,934,798,835,670,657,676,0.444597647237,-0.00544269749399,0.0594500103425,0.999999618979,4.38889471619e-05,-0.00087171805112,-1.4922755307e-05,1793256497076335360
+305,5.083333333,POSE2_TO_POSE3_RETREAT,792,744.052010878,729,709,692.947989122,651.947989122,934,798,835,670,657,676,0.443985985348,-0.00541865158645,0.0594528417822,0.999999628424,0.000103907430947,-0.000855677795399,-1.30751501172e-05,1793256497093001984
+306,5.100000000,POSE2_TO_POSE3_RETREAT,792,744,729,709.527701339,693.527701339,652.527701339,934,798.527701339,835,670,657,676,0.443380562906,-0.00540987130542,0.0595008380461,0.999999688023,0.000158698738491,-0.000773767741145,-7.16080066954e-06,1793256497109668864
+307,5.116666667,POSE2_TO_POSE3_RETREAT,792,744,729,709.893982206,694,653,934,799,835,670,657,676,0.442764612906,-0.00540440329261,0.0595534339877,0.999999743548,0.000201176786693,-0.00068733622524,-8.72370494153e-07,1793256497126335744
+308,5.133333333,POSE2_TO_POSE3_RETREAT,792,744,729,709.317465092,694,653,934,799,835,670,657,676,0.442099265328,-0.00540708473417,0.0596070636873,0.999999796194,0.000191252338132,-0.000609102170262,5.3312475292e-06,1793256497143002368
+309,5.150000000,POSE2_TO_POSE3_RETREAT,792,744,729,709,694.252115649,653,934,799,835,670,657,676,0.44140517535,-0.00541393233542,0.0596476150549,0.999999829886,0.000179574636376,-0.00055483240581,1.1906361282e-05,1793256497159669248
+310,5.166666667,POSE2_TO_POSE3_RETREAT,792,744,729,709,694.813196024,653,934,799,835,670,657,676,0.440675861816,-0.00542588551615,0.0596721390893,0.999999845671,0.000165748343386,-0.000529930586866,1.893673949e-05,1793256497176335872
+311,5.183333333,POSE2_TO_POSE3_RETREAT,792,744.404074645,729,709,695,653,934,799.404074645,835,670,657,676,0.439940697774,-0.00542859868257,0.0597083844978,0.999999872246,0.000166531951112,-0.000476594079908,2.51594954678e-05,1793256497193002496
+312,5.200000000,POSE2_TO_POSE3_RETREAT,792.009381506,745.018763012,729,709,695.009381506,653.009381506,934,800,835,670,657,676.009381506,0.439202590768,-0.00542662062342,0.0597507124034,0.999999900759,0.000174819120058,-0.000408606833396,3.09923600329e-05,1793256497209669120
+313,5.216666667,POSE2_TO_POSE3_RETREAT,792.587745653,746.175491306,729,709,695.587745653,653.587745653,934,800,835,670,657,676.587745653,0.438463090033,-0.00541982277198,0.059807127931,0.999999931175,0.000195943242743,-0.000312794260306,3.76257328239e-05,1793256497226335744
+314,5.233333333,POSE2_TO_POSE3_RETREAT,792.834684453,747,729,709,696,654,934,800,835,669.834684453,657,676.834684453,0.437675841281,-0.00541281933775,0.0598350053608,0.999999943773,0.000198186642881,-0.000268249091954,3.49063715336e-05,1793256497243002112
+315,5.250000000,POSE2_TO_POSE3_RETREAT,792.259085788,747,729,709,696,654,934,800,835,669.259085788,657,676.259085788,0.436770090682,-0.00540530568483,0.0597920564189,0.999999926588,0.000153571525137,-0.000350940308339,8.97522542962e-06,1793256497259668736
+316,5.266666667,POSE2_TO_POSE3_RETREAT,792.323214082,747,729,709,696,654,934,800,835,669,657,676,0.435886080672,-0.00540866306914,0.0597593355789,0.999999915014,0.000126922112769,-0.000392254565385,7.50220655444e-08,1793256497276335360
+317,5.283333333,POSE2_TO_POSE3_RETREAT,792.910999283,747,729,709,696,654,934,800,835,669,657,676,0.435019866751,-0.00542091908366,0.0597349870879,0.999999913497,0.000114978766696,-0.000399699168659,5.11572112415e-06,1793256497293002496
+318,5.300000000,POSE2_TO_POSE3_RETREAT,792.50842067,747,729,709,696,654,934,800.49157933,835,669,657.49157933,676,0.434150971504,-0.00542392440629,0.0597459964551,0.999999923512,0.000112477287634,-0.000374451994818,1.05046831469e-05,1793256497309669120
+319,5.316666667,POSE2_TO_POSE3_RETREAT,792.070626418,747.070626418,728.929373582,709,696,654,934,801,835,669,657.929373582,676,0.433279670179,-0.00542405180494,0.0597631359665,0.999999933378,0.000117542789684,-0.000345229636975,1.56413946378e-05,1793256497326336000
+320,5.333333333,POSE2_TO_POSE3_RETREAT,792.647899138,747.647899138,728.352100862,709,696,654,934,801,835,669,657.352100862,676,0.432394541196,-0.00541537521357,0.0597789918025,0.999999932017,0.000164805035225,-0.000329337155438,1.85227716302e-05,1793256497343002368
+321,5.350000000,POSE2_TO_POSE3_RETREAT,792.775706986,748,728.224293014,709,696,654,933.775706986,800.775706986,834.775706986,669,657,676,0.43151529759,-0.0054102086834,0.0597992305769,0.999999937374,0.000186655992058,-0.000299963881388,2.07987787533e-05,1793256497359668480
+322,5.366666667,POSE2_TO_POSE3_RETREAT,792.20068727,748,728.79931273,709,696,654,933.20068727,800.20068727,834.20068727,669,657,676,0.430645256804,-0.00541053083018,0.0598263229489,0.999999954385,0.000168771356325,-0.000249510707098,2.21281702403e-05,1793256497376335104
+323,5.383333333,POSE2_TO_POSE3_RETREAT,792,748,729,709,696,654,933.38351452,800.38351452,834.38351452,669,657,676,0.429708905691,-0.00541167365553,0.0598225284411,0.999999950791,0.000163043618696,-0.000267013503297,2.32138164753e-05,1793256497393001984
+324,5.400000000,POSE2_TO_POSE3_RETREAT,792,748,729,709,696,654,933.972638974,800.972638974,834.972638974,669,657,676,0.428737004316,-0.00541325646335,0.0598021748471,0.999999934783,0.000163833442201,-0.000320948879791,2.41687858122e-05,1793256497409668608
+325,5.416666667,POSE2_TO_POSE3_RETREAT,792.552352245,748,728.447647755,708.447647755,696,654,934,801,834.447647755,669,657,676,0.427788970073,-0.00541023044582,0.0597615814707,0.999999916866,0.000165597067176,-0.000372039535458,2.07924148836e-05,1793256497426335488
+326,5.433333333,POSE2_TO_POSE3_RETREAT,793,748,728.129933214,708,696.129933214,654,934,801,834.129933214,669,657,676,0.426859255984,-0.00540803620193,0.0597358930017,0.999999905825,0.000165767431038,-0.000400658282917,1.85510001844e-05,1793256497443002368
+327,5.450000000,POSE2_TO_POSE3_RETREAT,793,748,728.701820475,708,696.701820475,654,934,801,834.701820475,669,657,676,0.425987902004,-0.00540943467801,0.0597642550596,0.99999992451,0.000160357160407,-0.000353312493821,2.08875789271e-05,1793256497459669248
+328,5.466666667,POSE2_TO_POSE3_RETREAT,793,748,729,708.275902005,697,654,934,801,834.724097995,669,657,676,0.425100945515,-0.00540990761819,0.0597943539131,0.999999936729,0.000165244041423,-0.000314092316716,2.41173221533e-05,1793256497476335872
+329,5.483333333,POSE2_TO_POSE3_RETREAT,793,748,729,708.852373954,697,654,934,801,834.147626046,669,657,676,0.424196991581,-0.00540937227178,0.0598263448444,0.999999942906,0.000181348725724,-0.000283724252454,2.83200860749e-05,1793256497493002240
+330,5.500000000,POSE2_TO_POSE3_RETREAT,793,748,728.558785757,708.558785757,697,654,934,801,834.441214243,669,657.441214243,676,0.423308026448,-0.00540829149416,0.0598453684984,0.999999951683,0.000179325248774,-0.000252181323333,2.96711400579e-05,1793256497509668608
+331,5.516666667,POSE2_TO_POSE3_RETREAT,793,748.033488429,728,708.033488429,697,654,934,801.033488429,835,669,657.966511571,676,0.422421453431,-0.00540695788879,0.05985778757,0.999999959509,0.000172374796013,-0.00022443406027,2.99674178643e-05,1793256497526335232
+332,5.533333333,POSE2_TO_POSE3_RETREAT,793,748.612346245,728,708.612346245,697,654,934,801.612346245,835,669,657.387653755,676,0.421489809807,-0.00540456462686,0.0598353442915,0.999999946992,0.000186814587881,-0.000265086795464,2.90731961094e-05,1793256497543002368
+333,5.550000000,POSE2_TO_POSE3_RETREAT,793,748.810228262,728,708.810228262,697,654,934,802,835,669,657,676.189771738,0.42055723566,-0.00540180443545,0.0597993565915,0.999999927246,0.000192879930044,-0.000327940456403,2.75850849129e-05,1793256497559669504
+334,5.566666667,POSE2_TO_POSE3_RETREAT,793,748.235706605,728,708.235706605,697,654,934,802,835,669,657,676.764293395,0.419622774771,-0.00539830031781,0.059735908449,0.999999888171,0.000181966619057,-0.000435805063544,2.48929010126e-05,1793256497576336128
+335,5.583333333,POSE2_TO_POSE3_RETREAT,793,748.34669238,728.34669238,708.34669238,697,654.34669238,934,802,835,669,657,677,0.418753412089,-0.00539731034295,0.0597203558874,0.999999882284,0.000181792357376,-0.000449292962601,2.27823712675e-05,1793256497593002496
+336,5.600000000,POSE2_TO_POSE3_RETREAT,793,748.934571423,728.934571423,708.934571423,697,654.934571423,934,802,835,669,657,677,0.41792933693,-0.00539806940502,0.0597381232871,0.999999903046,0.0001890890298,-0.000397124947732,2.10764864469e-05,1793256497609668864
+337,5.616666667,POSE2_TO_POSE3_RETREAT,793,749,728.485172067,708.485172067,697.514827933,654.485172067,934,802,835,669,657.514827933,676.485172067,0.41713929132,-0.00539768615978,0.0597841700703,0.999999924986,0.000194862982118,-0.000333774608746,2.55288192294e-05,1793256497626335232
+338,5.633333333,POSE2_TO_POSE3_RETREAT,793,749,728,708.094163022,697.905836978,654.094163022,934,802,835,669,658,676,0.416358038617,-0.00539731900726,0.0598277287568,0.999999941166,0.000197791389987,-0.000278630772552,3.01792894034e-05,1793256497643001856
+339,5.650000000,POSE2_TO_POSE3_RETREAT,793,749,728,708.673669117,697.326330883,654.673669117,934,802,835,669,658,676,0.415600141279,-0.00539777215135,0.0598402089689,0.999999944735,0.000187035956994,-0.000273003699495,3.1875936939e-05,1793256497659668480
+340,5.666666667,POSE2_TO_POSE3_RETREAT,793,749,728,708.750000215,697,655,934,802,835,669,658,676,0.414832474265,-0.00539837108868,0.0598483060412,0.999999946439,0.000190488601676,-0.000264141814705,3.26468649179e-05,1793256497676335104
+341,5.683333333,POSE2_TO_POSE3_RETREAT,793,749,728,708.177762566,697,655,934,802,835,669,658,676,0.414052214659,-0.00539915794656,0.0598507534534,0.999999945427,0.000212254785205,-0.00025111041141,3.22245841647e-05,1793256497693001728
+342,5.700000000,POSE2_TO_POSE3_RETREAT,793,749,728,708.406325013,697,655,934,802,835,668.593674987,657.593674987,676,0.413254417032,-0.00539697172694,0.059829985171,0.999999935024,0.000210887924531,-0.000290655699588,3.15813524226e-05,1793256497709668352
+343,5.716666667,POSE2_TO_POSE3_RETREAT,793,749,728,708.995752585,697,655,934,802,835,668.004247415,657.004247415,676,0.412448716165,-0.00539344574715,0.0597987551821,0.999999917084,0.000199096603188,-0.000353893661419,3.08385532217e-05,1793256497726334976
+344,5.733333333,POSE2_TO_POSE3_RETREAT,793.57543283,749.57543283,728,708.42456717,697,655,934,802,835,668,657,676,0.411711420479,-0.00538855332622,0.0597588837306,0.999999894393,0.000208038022666,-0.000408852962685,2.78000375039e-05,1793256497743001600
+345,5.750000000,POSE2_TO_POSE3_RETREAT,793.844126824,749.844126824,728,708,697,655,934,802,835,668,657,676,0.4110130336,-0.00538538178151,0.0597381283651,0.999999882072,0.000216915337347,-0.00043374060079,2.5944914274e-05,1793256497759668480
+346,5.766666667,POSE2_TO_POSE3_RETREAT,793.261411152,749.261411152,728,708,697,655,934,802,835,668,657,676,0.410419834652,-0.00538694983595,0.0597698921641,0.999999903411,0.000225205024588,-0.000376444675853,2.73760177862e-05,1793256497776335360
+347,5.783333333,POSE2_TO_POSE3_RETREAT,793.319343012,749,728,708.319343012,697,655,934,802.319343012,835,668.319343012,657.319343012,676,0.409827928488,-0.00538804026283,0.0598088844911,0.999999925532,0.000220555651,-0.000315321086622,2.93906182011e-05,1793256497793001984
+348,5.800000000,POSE2_TO_POSE3_RETREAT,793.898501272,749,728,708.898501272,697,655,934,802.898501272,835,668.898501272,657.898501272,676,0.409237074157,-0.00538874209516,0.0598537578964,0.99999994688,0.000205379146965,-0.000251083339465,3.18799474974e-05,1793256497809668608
+349,5.816666667,POSE2_TO_POSE3_RETREAT,793.522453476,749,728,708.522453476,697,654.522453476,934,803,835,668.522453476,658,676,0.408632233671,-0.00538755436483,0.0598612113502,0.999999946167,0.000223392549787,-0.000238065805337,3.29566216938e-05,1793256497826335232
+350,5.833333333,POSE2_TO_POSE3_RETREAT,793,749,728,708.056579019,697,654.056579019,934,802.943420981,835,668,658,676,0.408029129814,-0.00538597696486,0.0598590794414,0.999999940786,0.000245495688587,-0.000238830116841,3.34813610902e-05,1793256497843001856
+351,5.850000000,POSE2_TO_POSE3_RETREAT,793,749,728,708.635715504,697,654.635715504,934,802.364284496,835,668,658,676,0.407469513774,-0.00538450898152,0.059841856736,0.999999935168,0.000240234309375,-0.000266359762144,3.16808993861e-05,1793256497859668480
+352,5.866666667,POSE2_TO_POSE3_RETREAT,793.214092164,749,728,708.785907836,697,655,934,802.214092164,834.785907836,668,658,676,0.40693535399,-0.00538393961607,0.0598308966898,0.999999932127,0.000235282639875,-0.000281870621138,3.0621936833e-05,1793256497876335360
+353,5.883333333,POSE2_TO_POSE3_RETREAT,793.791180473,749,728,708.208819527,697,655,934,802.791180473,834.208819527,668,658,676,0.406444355686,-0.00538489386949,0.0598305550685,0.999999934512,0.000230856088148,-0.000277003463678,3.08201962859e-05,1793256497893001984
+354,5.900000000,POSE2_TO_POSE3_RETREAT,794,749,728,708,697,655,934,802.626564296,834,668,657.626564296,676,0.405987074567,-0.0053833445006,0.0598332849248,0.999999935756,0.000233804377062,-0.000269908921471,3.11770610665e-05,1793256497909669120
+355,5.916666667,POSE2_TO_POSE3_RETREAT,794,749,728,708,697,655,934,802.041379209,834,668,657.041379209,676,0.405548912068,-0.00538037550194,0.0598377564021,0.999999936271,0.000240934424121,-0.000261551383997,3.16238598999e-05,1793256497926336512
+356,5.933333333,POSE2_TO_POSE3_RETREAT,794,749,728,708,697,655,934,802,834.538377327,668,657.538377327,676,0.40511005086,-0.00537673563968,0.0598272237923,0.999999931431,0.000248457662583,-0.000272798095165,3.14319603501e-05,1793256497943002624
+357,5.950000000,POSE2_TO_POSE3_RETREAT,794,749,728,708,697.117007122,655,934,802.117007122,835,668,658,676,0.404678211682,-0.0053727343534,0.0598126476606,0.999999924132,0.000255283613876,-0.000292583552253,3.10029051079e-05,1793256497959668480
+358,5.966666667,POSE2_TO_POSE3_RETREAT,794,749,728,708,697.692838538,655,934,802.692838538,835,668,658,676,0.404274116593,-0.00536751597431,0.059786692463,0.999999908147,0.000259257948445,-0.00034000275684,2.98344585106e-05,1793256497976335360
+359,5.983333333,POSE2_TO_POSE3_RETREAT,794,749,728,708.267981013,697.732018987,655,934,802.732018987,835,668,658,676,0.40391273372,-0.00536364763639,0.0597741170143,0.999999900559,0.000262086563734,-0.00035962206081,2.9390403438e-05,1793256497993002240
+360,6.000000000,POSE2_TO_POSE3_RETREAT,794,749,728,708.842335811,697.157664189,655,934,802.157664189,835,668,658,676,0.403600182327,-0.00536132275595,0.0597768381892,0.999999904449,0.000263605316509,-0.000347458660342,2.97745212405e-05,1793256498009669120
+361,6.016666667,POSE2_TO_POSE3_RETREAT,793.571333308,749,727.571333308,709,697,655,934,802.428666692,834.571333308,668,658,676,0.403330839487,-0.00536058059992,0.0597931188711,0.999999914046,0.00026371419232,-0.000318425972215,3.11007843555e-05,1793256498026336000
+362,6.033333333,POSE2_TO_POSE3_RETREAT,793.019195305,749,727.019195305,709,697,655,934,802.980804695,834.019195305,668,658,676,0.403078452199,-0.0053605070124,0.0598144459954,0.99999992474,0.000263177319581,-0.00028316769639,3.27775143345e-05,1793256498043002880
+363,6.050000000,POSE2_TO_POSE3_RETREAT,793.599962018,749,727.599962018,709,697,655,934,802.400037982,834.599962018,668,658,676,0.402843812188,-0.00536247282043,0.0598333127406,0.999999933899,0.000259355331515,-0.000252510847179,3.42782782163e-05,1793256498059669504
+364,6.066666667,POSE2_TO_POSE3_RETREAT,793.8210659,749,728,708.8210659,697,655,934,802,834.8210659,668,658,676,0.402615667077,-0.00536513192887,0.0598469520529,0.999999942131,0.000246832512569,-0.000231691026464,3.36155779973e-05,1793256498076335872
+365,6.083333333,POSE2_TO_POSE3_RETREAT,793.246066261,749,728,708.246066261,697,655,934,802,834.246066261,668,658,676,0.402401898275,-0.0053693256378,0.0598490205888,0.999999949418,0.000215050652773,-0.000232645192861,2.8164111371e-05,1793256498093002240
+366,6.100000000,POSE2_TO_POSE3_RETREAT,793.328075361,749,728,708.328075361,697,655,934,802.328075361,834.328075361,668,658,676,0.402199043109,-0.00537684007109,0.059845185855,0.999999953373,0.000181996556786,-0.000244133996729,2.301868195e-05,1793256498109668608
+367,6.116666667,POSE2_TO_POSE3_RETREAT,793.901575183,749,728,708.901575183,697,655,934,802.901575183,834.901575183,668,658,676,0.402004352122,-0.0053868386505,0.0598369350422,0.999999954168,0.000147990731256,-0.000263503482927,1.81021902449e-05,1793256498126335488
+368,6.133333333,POSE2_TO_POSE3_RETREAT,794,749,728,709,697.490087141,655,934,803,834.509912859,668,657.509912859,676,0.401848324469,-0.00538581003162,0.0598342476489,0.999999949362,0.000166321101879,-0.000270686874334,1.84710277319e-05,1793256498143001856
+369,6.150000000,POSE2_TO_POSE3_RETREAT,793.919883226,749,728,708.919883226,697.919883226,655,934,803,834,668,657.080116774,676,0.401703790928,-0.0053823443363,0.0598330013693,0.999999942412,0.000198289678841,-0.000274711632848,1.97587655746e-05,1793256498159668736
+370,6.166666667,POSE2_TO_POSE3_RETREAT,793.33979146,749,728,708.33979146,697.33979146,655,934,803,834,668,657.66020854,676,0.401580999129,-0.00537792701461,0.0598335554875,0.999999931371,0.000247702730848,-0.000274780184878,1.99475348323e-05,1793256498176335872
+371,6.183333333,POSE2_TO_POSE3_RETREAT,793.237956913,749.237956913,728,708.237956913,697,655,934,802.762043087,834,668,658,676,0.401472447123,-0.0053755760913,0.0598357668589,0.999999924628,0.000276792616651,-0.000271474900753,2.07489473353e-05,1793256498193003008
+372,6.200000000,POSE2_TO_POSE3_RETREAT,793.812391626,749.812391626,728,708.812391626,697,655,934,802.187608374,834,668,658,676,0.401384030595,-0.005376147114,0.0598403216333,0.999999926655,0.000277144968698,-0.000263398917672,2.24166547467e-05,1793256498209669120
+373,6.216666667,POSE2_TO_POSE3_RETREAT,794,750,728,709,697,655,934,802.395295211,834,668,657.604704789,676,0.401306113546,-0.0053754136472,0.0598407510981,0.999999927074,0.000275875016184,-0.000263099777268,2.28779254876e-05,1793256498226335488
+374,6.233333333,POSE2_TO_POSE3_RETREAT,794,750,728,709,697,655,934,802.982306129,834,668,657.017693871,676,0.401233288682,-0.00537404751114,0.0598391798133,0.999999926722,0.000273818256086,-0.000266572357212,2.27540819324e-05,1793256498243002112
+375,6.250000000,POSE2_TO_POSE3_RETREAT,794,750,728,709,697,655,934,803,834.561762303,668,657,676,0.40117682804,-0.00537480719294,0.0598374061261,0.999999926569,0.000271154955016,-0.00026981031037,2.32229771331e-05,1793256498259668736
+376,6.266666667,POSE2_TO_POSE3_RETREAT,794,749.859916429,728,709,697,655,934,803,834.859916429,668,657,676,0.401124748813,-0.00537519764095,0.0598356152831,0.999999926309,0.000268934071595,-0.000272949873701,2.3537443229e-05,1793256498276335360
+377,6.283333333,POSE2_TO_POSE3_RETREAT,794,749.284393198,728,709,697,655,934,803,834.284393198,668,657,676,0.401084708012,-0.00537423498294,0.0598337906669,0.999999925742,0.000268147008208,-0.00027580626539,2.33146146966e-05,1793256498293002240
+378,6.300000000,POSE2_TO_POSE3_RETREAT,794,749,728,709,697,655,934,803,834,668,657,676,0.401052785647,-0.00537300406581,0.059832960001,0.999999925582,0.00026776373117,-0.000276768721056,2.31944848502e-05,1793256498309669120
+379,6.316666667,POSE2_TO_POSE3_RETREAT,794,749,728,709,697,655,934,803,834,668,657,676,0.401028793855,-0.00537151109696,0.059833100285,0.999999925825,0.000267774896751,-0.000275881066824,2.31746772107e-05,1793256498326335488
+380,6.333333333,POSE2_TO_POSE3_RETREAT,794,749,728,708.546380709,697,655,934,803,834.453619291,668,657,676,0.401013283888,-0.00537254182736,0.0598342139053,0.999999926924,0.000265704290045,-0.000273891694972,2.31830623835e-05,1793256498343001856
+381,6.350000000,POSE2_TO_POSE3_RETREAT,793.956920276,749,728,708,697.043079724,655,934,803,834.956920276,668,657.043079724,676,0.401000724775,-0.00537417897197,0.059835618992,0.999999928268,0.000262976837938,-0.000271606555789,2.31922262784e-05,1793256498359668480
+382,6.366666667,POSE2_TO_POSE3_RETREAT,793.377340651,749,728,708,697.622659349,655,934,803,834.377340651,668,657.622659349,676,0.400993097845,-0.00537390138406,0.059837002757,0.999999929577,0.000259878325335,-0.00026977075295,2.31053323045e-05,1793256498376335104
+383,6.383333333,POSE2_TO_POSE3_RETREAT,793.200486987,749.200486987,728,708.200486987,697.799513013,655,934,802.799513013,834.200486987,668,658,676,0.400987170357,-0.00537362817437,0.059838230411,0.999999930392,0.000258588315183,-0.000267985416381,2.30696849083e-05,1793256498393001728
+384,6.400000000,POSE2_TO_POSE3_RETREAT,793.775045705,749.775045705,728,708.775045705,697.224954295,655,934,802.224954295,834.775045705,668,658,676,0.400984413713,-0.00537336313364,0.0598391667905,0.999999930301,0.000260672637162,-0.000266294240679,2.31296541779e-05,1793256498409668352
+385,6.416666667,POSE2_TO_POSE3_RETREAT,794,750,728,709,697.349136343,655,934,802.349136343,834.650863657,668,658,676,0.400981141263,-0.00537366492589,0.0598391756638,0.999999930214,0.000260784854985,-0.000266496047275,2.32877728528e-05,1793256498426334976
+386,6.433333333,POSE2_TO_POSE3_RETREAT,794,750,728,709,697.922925771,655,934,802.922925771,834.077074229,668,658,676,0.400977536917,-0.00537433144895,0.0598385877298,0.999999930131,0.00025962811494,-0.000267915900473,2.3509046127e-05,1793256498443001856
+387,6.450000000,POSE2_TO_POSE3_RETREAT,794,750,728,709,698,655,934,803,834.51070275,668,658,676,0.400978131245,-0.00537488344802,0.0598394246482,0.99999993062,0.000259205444873,-0.000266488962601,2.35814746639e-05,1793256498459668480
+388,6.466666667,POSE2_TO_POSE3_RETREAT,794,750,728,709,698,655,934,803,835,668,658,676,0.400979237579,-0.00537524104806,0.0598405537087,0.999999931144,0.000259004336944,-0.000264708170322,2.36434018437e-05,1793256498476335104
+389,6.483333333,POSE2_TO_POSE3_RETREAT,794,750,728,709,698,655,934,803,835,668,658,676,0.400979665778,-0.00537473999203,0.0598420281727,0.999999931415,0.000259326594282,-0.000263354576136,2.37665557566e-05,1793256498493001728
+390,6.500000000,POSE2_TO_POSE3_RETREAT,794,749.742934296,728,709,698,655,934,803,835,668,657.742934296,676,0.400979366849,-0.00537377573181,0.0598428241257,0.999999931476,0.000260020389842,-0.000262459561699,2.34973801364e-05,1793256498509668352
+391,6.516666667,POSE2_TO_POSE3_RETREAT,794,749.164482067,728,709,698,655,934,803,835,668,657.164482067,676,0.400978158856,-0.00537223236828,0.0598427717964,0.999999931276,0.00026117868684,-0.000262137868802,2.27377095999e-05,1793256498526334976
+392,6.533333333,POSE2_TO_POSE3_RETREAT,793.58940076,749,728,708.58940076,697.58940076,655,934,803,835,668,657.41059924,676,0.400977811749,-0.00537348697511,0.0598426809642,0.99999993185,0.000258993257384,-0.00026210404839,2.28772490391e-05,1793256498543001600
+393,6.550000000,POSE2_TO_POSE3_RETREAT,793.015658852,749,728,708.015658852,697.015658852,655,934,803,835,668,657.984341148,676,0.400977806697,-0.00537585329464,0.0598425748337,0.999999932722,0.000255479270944,-0.00026218460786,2.33740700317e-05,1793256498559668480
+394,6.566666667,POSE2_TO_POSE3_RETREAT,793.578669488,749,728,708.578669488,697,655,934,803,835,668,657.421330512,676,0.400979622275,-0.00537525017722,0.0598439992468,0.99999993321,0.000256414701966,-0.000259396799992,2.33504400763e-05,1793256498576335104
+395,6.583333333,POSE2_TO_POSE3_RETREAT,794,749,728,709,697,655,934,803,834.832001324,668,657,676,0.400980942702,-0.00537502439448,0.0598455684587,0.999999933901,0.000256284212484,-0.000256854624548,2.3283672173e-05,1793256498593001472
+396,6.600000000,POSE2_TO_POSE3_RETREAT,794,749,728,709,697,655,934,803,834.256209013,668,657,676,0.400980937219,-0.00537591678097,0.0598473849081,0.999999935122,0.000253263308609,-0.000255104045781,2.31476395194e-05,1793256498609668352
+397,6.616666667,POSE2_TO_POSE3_RETREAT,794,749,728,709,697,655,934,803,834,668,657.316709939,676,0.400981079481,-0.00537640670733,0.0598475687639,0.999999935261,0.000253188597406,-0.000254628031022,2.32178190616e-05,1793256498626335488
+398,6.633333333,POSE2_TO_POSE3_RETREAT,794,749,728,709,697,655,934,803,834,668,657.8873253,676,0.40098134019,-0.00537657398256,0.0598464437742,0.999999934534,0.000255475840312,-0.000255173830548,2.3453318319e-05,1793256498643003136
+399,6.650000000,POSE2_TO_POSE3_RETREAT,794,749,728,708.521565358,697.478434642,655,934,803,834.478434642,668,658,676,0.4009798809,-0.00537603492055,0.0598454856336,0.999999933847,0.000256625158707,-0.00025670288885,2.3523505128e-05,1793256498659669504
+400,6.666666667,POSE2_TO_POSE3_RETREAT,794,749,728,708.072135958,697.927864042,655,934,803,835,668,658,676,0.400978076603,-0.00537541937055,0.059844622908,0.999999933281,0.000257128537716,-0.000258399457033,2.35096945195e-05,1793256498676335360
+401,6.683333333,POSE2_TO_POSE3_RETREAT,794,749,728,708.648701216,697.351298784,655,934,803,835,668,658,676,0.400976819099,-0.00537548424307,0.059844140325,0.99999993351,0.000255072867264,-0.000259575640686,2.31929375669e-05,1793256498693001984
+402,6.700000000,POSE2_TO_POSE3_RETREAT,793.775680593,749,728,709,697,655,934,802.775680593,835,668,658,676,0.400976368031,-0.00537526632645,0.059844096903,0.999999933627,0.000254392671364,-0.000259804341044,2.30796615036e-05,1793256498709668864
+403,6.716666667,POSE2_TO_POSE3_RETREAT,793.201539248,749,728,709,697,655,934,802.201539248,835,668,658,676,0.400977174586,-0.00537460740544,0.0598447383444,0.999999933572,0.00025585750209,-0.000258555459031,2.32837100484e-05,1793256498726335488
+404,6.733333333,POSE2_TO_POSE3_RETREAT,793.38331711,749.38331711,728,709,697.38331711,655,934,802.38331711,835,668,657.61668289,676,0.400978234417,-0.00537534686131,0.0598456233932,0.999999933801,0.000256262668849,-0.000257252182559,2.34378149199e-05,1793256498743002112
+405,6.750000000,POSE2_TO_POSE3_RETREAT,793.973969149,749.973969149,728,709,697.973969149,655,934,802.973969149,835,668,657.026030851,676,0.400979431245,-0.00537684269453,0.0598466402083,0.999999934183,0.000256094666869,-0.000255919484382,2.35649054155e-05,1793256498759668480
diff --git a/Part2/Obstacle_avoidance/cylinder_PLA_10/position_01/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_PLA_10/position_01/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..12d065823f3874ce7c5cce85f3378f88a123fd2a
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_PLA_10/position_01/depth_02/simulation_data.csv
@@ -0,0 +1,407 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+1,0.016666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+2,0.033333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+3,0.050000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+4,0.066666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+5,0.083333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+6,0.100000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+7,0.116666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+8,0.133333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+9,0.150000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+10,0.166666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+11,0.183333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+12,0.200000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+13,0.216666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+14,0.233333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+15,0.250000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+16,0.266666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+17,0.283333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+18,0.300000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+19,0.316666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+20,0.333333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+21,0.350000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+22,0.366666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+23,0.383333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+24,0.400000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+25,0.416666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+26,0.433333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+27,0.450000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+28,0.466666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+29,0.483333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+30,0.500000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+31,0.516666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+32,0.533333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+33,0.550000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+34,0.566666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+35,0.583333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+36,0.600000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+37,0.616666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+38,0.633333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+39,0.650000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+40,0.666666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+41,0.683333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+42,0.700000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+43,0.716666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+44,0.733333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+45,0.750000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+46,0.766666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+47,0.783333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+48,0.800000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+49,0.816666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+50,0.833333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+51,0.850000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+52,0.866666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+53,0.883333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+54,0.900000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+55,0.916666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+56,0.933333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+57,0.950000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+58,0.966666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+59,0.983333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+60,1.000000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+61,1.016666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+62,1.033333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+63,1.050000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+64,1.066666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+65,1.083333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+66,1.100000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+67,1.116666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+68,1.133333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+69,1.150000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+70,1.166666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+71,1.183333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+72,1.200000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+73,1.216666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+74,1.233333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+75,1.250000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+76,1.266666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+77,1.283333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+78,1.300000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+79,1.316666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+80,1.333333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+81,1.350000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+82,1.366666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+83,1.383333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+84,1.400000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+85,1.416666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+86,1.433333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+87,1.450000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+88,1.466666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+89,1.483333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+90,1.500000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+91,1.516666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+92,1.533333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+93,1.550000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+94,1.566666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+95,1.583333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+96,1.600000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+97,1.616666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+98,1.633333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+99,1.650000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+100,1.666666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+101,1.683333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+102,1.700000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+103,1.716666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+104,1.733333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+105,1.750000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+106,1.766666667,pose1_to_pose2_press,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+107,1.783333333,pose1_to_pose2_press,0.575666853449,0.000181723613064,1.05002043614,0.546238002435,0.00885596576169,1.04969214516
+108,1.800000000,pose1_to_pose2_press,0.575667015506,0.000181743419307,1.05002055786,0.54623816378,0.00885598277224,1.04969225678
+109,1.816666667,pose1_to_pose2_press,0.575667135888,0.000181736658734,1.05002053445,0.546238284117,0.00885597591772,1.04969223497
+110,1.833333333,pose1_to_pose2_press,0.575667228778,0.000181727975349,1.050020498,0.54623837705,0.00885596748195,1.04969220123
+111,1.850000000,pose1_to_pose2_press,0.575667242496,0.00018172669305,1.05002049261,0.546238390774,0.00885596623622,1.04969219625
+112,1.866666667,pose1_to_pose2_press,0.575667297717,0.000181721530969,1.05002047095,0.54623844602,0.00885596122134,1.04969217619
+113,1.883333333,pose1_to_pose2_press,0.575667657916,0.000181704112156,1.05002038939,0.546238806214,0.00885594400773,1.04969210063
+114,1.900000000,pose1_to_pose2_press,0.575668902712,0.000181720086351,1.05002041027,0.546240050275,0.00885595742916,1.04969211983
+115,1.916666667,pose1_to_pose2_press,0.57567316277,0.000181669575626,1.05002052515,0.546244311658,0.0088559113499,1.04969223298
+116,1.933333333,pose1_to_pose2_press,0.5756815698,0.000181737541708,1.05002055532,0.546252717885,0.00885597638771,1.0496922577
+117,1.950000000,pose1_to_pose2_press,0.575698852333,0.000181733462076,1.05002059528,0.546269999903,0.00885597083505,1.04969230488
+118,1.966666667,pose1_to_pose2_press,0.575725682255,0.00018171545633,1.05002041464,0.546296831268,0.00885595759116,1.0496921206
+119,1.983333333,pose1_to_pose2_press,0.575763075084,0.000181689691344,1.05002043561,0.546334223974,0.0088559313574,1.04969214014
+120,2.000000000,pose1_to_pose2_press,0.57581086145,0.00018180615735,1.0500207766,0.546382011045,0.00885605020259,1.04969248074
+121,2.016666667,pose1_to_pose2_press,0.575869720289,0.000181850053603,1.05002048194,0.546440867749,0.00885608719158,1.04969219491
+122,2.033333333,pose1_to_pose2_press,0.575937051479,0.000181731911693,1.05002047787,0.546508200664,0.00885597472483,1.04969218608
+123,2.050000000,pose1_to_pose2_press,0.57601284144,0.000181798730427,1.05002061131,0.546583988482,0.00885603426118,1.04969231908
+124,2.066666667,pose1_to_pose2_press,0.576099200547,0.000181751263099,1.05002050194,0.546670347769,0.00885598759959,1.04969221481
+125,2.083333333,pose1_to_pose2_press,0.576195361186,0.000181646428568,1.05002054654,0.54676651035,0.00885588920802,1.04969225554
+126,2.100000000,pose1_to_pose2_press,0.576301685235,0.000181959141513,1.05002064739,0.546872830273,0.00885618763202,1.04969234877
+127,2.116666667,pose1_to_pose2_press,0.576420055714,0.000181660664916,1.05002044543,0.546991204578,0.00885590211062,1.04969214613
+128,2.133333333,pose1_to_pose2_press,0.576552141926,0.000181730464837,1.05002043823,0.547123289366,0.0088559671277,1.04969214014
+129,2.150000000,pose1_to_pose2_press,0.576699863087,0.0001818479017,1.05002031929,0.547271009518,0.00885608135811,1.0496920268
+130,2.166666667,pose1_to_pose2_press,0.576863745429,0.00018176513339,1.05002026059,0.54743489314,0.00885600314149,1.04969197365
+131,2.183333333,pose1_to_pose2_press,0.577046115045,0.0001817228259,1.05002056986,0.547617263,0.00885596126336,1.04969227235
+132,2.200000000,pose1_to_pose2_press,0.577245378242,0.000181726296457,1.05002058974,0.547816526123,0.00885596433959,1.04969228834
+133,2.216666667,pose1_to_pose2_press,0.577462011456,0.000181784852523,1.05002027657,0.548033159352,0.0088560234157,1.0496919876
+134,2.233333333,pose1_to_pose2_press,0.577694070564,0.000181869437201,1.050020385,0.548265217825,0.00885610592611,1.04969209798
+135,2.250000000,pose1_to_pose2_press,0.577941504162,0.000181734456148,1.05002082003,0.548512652053,0.00885597240765,1.04969251514
+136,2.266666667,pose1_to_pose2_press,0.578202779939,0.000181936555036,1.05002076231,0.548773926882,0.00885617181425,1.0496924713
+137,2.283333333,pose1_to_pose2_press,0.578479814694,0.000181714240979,1.05002037667,0.549050962817,0.00885595333834,1.04969208124
+138,2.300000000,pose1_to_pose2_press,0.578780067615,0.000181793165107,1.05002047954,0.549351215168,0.00885603029561,1.04969218319
+139,2.316666667,pose1_to_pose2_press,0.579106587105,0.000181756151813,1.0500203681,0.549677734328,0.00885599243907,1.04969207896
+140,2.333333333,pose1_to_pose2_press,0.579463363758,0.0001818084857,1.05002026432,0.550034510555,0.00885604341803,1.04969197759
+141,2.350000000,pose1_to_pose2_press,0.579854321009,0.000181775801686,1.05002035757,0.550425468363,0.00885601229577,1.04969206209
+142,2.366666667,pose1_to_pose2_press,0.58027601034,0.000181729443374,1.05002053403,0.55084715868,0.00885596928269,1.04969223852
+143,2.383333333,pose1_to_pose2_press,0.580712438285,0.000181759326582,1.05002062924,0.551283587131,0.00885600122123,1.04969234265
+144,2.400000000,pose1_to_pose2_press,0.581159350648,0.00018171739615,1.05002064318,0.551730499366,0.0088559586882,1.04969235206
+145,2.416666667,pose1_to_pose2_press,0.581615652889,0.000181813015218,1.05002063853,0.552186799749,0.00885604775403,1.04969234081
+146,2.433333333,pose1_to_pose2_press,0.582084746349,0.000181779307757,1.05002050708,0.55265589253,0.00885601213203,1.04969221954
+147,2.450000000,pose1_to_pose2_press,0.582570611201,0.000181721719176,1.0500205038,0.553141758919,0.00885595972924,1.04969221556
+148,2.466666667,pose1_to_pose2_press,0.583086432227,0.000181782144228,1.05002057052,0.553657579413,0.00885601779282,1.04969226751
+149,2.483333333,pose1_to_pose2_press,0.58362818801,0.00018167941757,1.05002064936,0.554199336866,0.0088559209804,1.04969235299
+150,2.500000000,pose1_to_pose2_press,0.584186651909,0.000181824115626,1.05002039442,0.554757800229,0.00885606385152,1.04969209779
+151,2.516666667,pose1_to_pose2_press,0.58475302327,0.00018188324464,1.05002035666,0.555324170925,0.00885612096821,1.04969206638
+152,2.533333333,pose1_to_pose2_press,0.585323403676,0.000181826124534,1.05002047656,0.555894551099,0.00885606294968,1.0496921834
+153,2.550000000,pose1_to_pose2_press,0.585912311425,0.000181773862592,1.05002059602,0.556483459671,0.00885601338794,1.04969230038
+154,2.566666667,pose1_to_pose2_press,0.586527076931,0.000181716780224,1.05002057825,0.557098226259,0.00885596009711,1.04969228573
+155,2.583333333,pose1_to_pose2_press,0.587171436839,0.000181633682322,1.05002039351,0.557742585611,0.00885587502592,1.04969209875
+156,2.600000000,pose1_to_pose2_press,0.58784294439,0.000181745810056,1.05002034595,0.558414092493,0.00885598501133,1.04969205463
+157,2.616666667,pose1_to_pose2_press,0.588538251288,0.000181603656105,1.05002062733,0.559109400866,0.00885584788434,1.04969233653
+158,2.633333333,pose1_to_pose2_press,0.589235900335,0.00018189896639,1.05002051378,0.559807047413,0.00885613476905,1.04969222453
+159,2.650000000,pose1_to_pose2_press,0.589929807377,0.000181802149954,1.05002051649,0.560500954287,0.00885603733562,1.04969222595
+160,2.666666667,pose1_to_pose2_press,0.590619820307,0.000181868843775,1.05002051586,0.561190967319,0.00885610444451,1.0496922272
+161,2.683333333,pose1_to_pose2_press,0.591308052537,0.000181868370725,1.05002063017,0.561879198393,0.00885609978794,1.04969233467
+162,2.700000000,pose1_to_pose2_press,0.592003546091,0.000181876129609,1.05002074957,0.562574692758,0.00885611014664,1.04969245
+163,2.716666667,pose1_to_pose2_press,0.59271554843,0.000181936282488,1.05002072738,0.563286694824,0.00885616947451,1.04969243049
+164,2.733333333,pose1_to_pose2_press,0.59345612992,0.000181921801061,1.05002060766,0.564027276504,0.00885615575709,1.04969231402
+165,2.750000000,pose1_to_pose2_press,0.594216980312,0.00018176459087,1.05002051114,0.564788128713,0.00885600456765,1.04969221374
+166,2.766666667,pose1_to_pose2_press,0.594993264597,0.000181700836958,1.05002047011,0.565564412371,0.00885593857609,1.04969216987
+167,2.783333333,pose1_to_pose2_press,0.595779518401,0.000181823226305,1.05002062282,0.566350665677,0.00885605947659,1.04969232784
+168,2.800000000,pose1_to_pose2_press,0.596563430698,0.00018182200976,1.05002087496,0.567134578673,0.00885606025412,1.04969257009
+169,2.816666667,pose1_to_pose2_press,0.597325465659,0.000181792088063,1.05002055648,0.567896613365,0.00885602954592,1.04969225495
+170,2.833333333,pose1_to_pose2_press,0.598072786894,0.000181839913174,1.05002041583,0.568643933214,0.00885607304015,1.04969212415
+171,2.850000000,pose1_to_pose2_press,0.598807494676,0.000181921944675,1.05002059885,0.569378641508,0.00885615695529,1.04969231122
+172,2.866666667,pose1_to_pose2_press,0.599545575737,0.000181904066619,1.05002048907,0.570116721569,0.0088561352793,1.04969219073
+173,2.883333333,pose1_to_pose2_press,0.60029272236,0.000181837969019,1.05002059969,0.570863868587,0.00885607049864,1.04969230084
+174,2.900000000,pose1_to_pose2_press,0.601047015972,0.000181784092883,1.05002058102,0.571618163743,0.00885602202789,1.04969228656
+175,2.916666667,pose1_to_pose2_press,0.60180714235,0.000181802597731,1.05002064758,0.57237829012,0.00885604066936,1.04969235688
+176,2.933333333,pose1_to_pose2_press,0.602568701573,0.000181787943072,1.05002058194,0.573139849451,0.00885602633192,1.04969229005
+177,2.950000000,pose1_to_pose2_press,0.603309584478,0.000181727558529,1.05002046339,0.573880732994,0.00885596800685,1.04969216871
+178,2.966666667,pose1_to_pose2_press,0.604024137976,0.000181722340948,1.05002049219,0.574595286238,0.00885596201212,1.0496921998
+179,2.983333333,pose1_to_pose2_press,0.60471512901,0.000181769204024,1.05002042493,0.575286276756,0.00885600726246,1.04969213632
+180,3.000000000,pose1_to_pose2_press,0.605387518232,0.000181841561309,1.05002053192,0.575958664438,0.00885607426996,1.04969223999
+181,3.016666667,pose1_to_pose2_press,0.606055873562,0.000181870587462,1.05002053477,0.576627019909,0.00885610372367,1.04969224158
+182,3.033333333,pose1_to_pose2_press,0.606722033689,0.000181941252286,1.05002064272,0.57729317946,0.00885617241101,1.04969234902
+183,3.050000000,pose1_to_pose2_press,0.607384699284,0.000181797870142,1.0500205826,0.577955847403,0.00885603675075,1.0496922825
+184,3.066666667,pose1_to_pose2_press,0.608035008275,0.000181780687297,1.05002051654,0.578606155591,0.0088560171995,1.04969222587
+185,3.083333333,pose1_to_pose2_press,0.608666456338,0.000181776637577,1.05002060317,0.57923760281,0.0088560102259,1.04969231103
+186,3.100000000,pose1_to_pose2_press,0.609263877425,0.000181872079379,1.05002073908,0.57983502482,0.0088561085847,1.04969244127
+187,3.116666667,pose1_to_pose2_press,0.609832568571,0.000181872243743,1.05002073936,0.580403716911,0.00885611194175,1.04969244126
+188,3.133333333,pose1_to_pose2_press,0.610380407371,0.000181784371397,1.0500205623,0.580951555583,0.00885602393574,1.04969227221
+189,3.150000000,pose1_to_pose2_press,0.61091574669,0.000181800704875,1.05002035302,0.581486894605,0.00885603966464,1.04969207367
+190,3.166666667,pose1_to_pose2_press,0.611438894746,0.000181768333215,1.05002037111,0.582010043761,0.0088560107983,1.04969208578
+191,3.183333333,pose1_to_pose2_press,0.611945604122,0.000181717318815,1.05002030942,0.582516753587,0.00885596100145,1.04969201608
+192,3.200000000,pose1_to_pose2_press,0.612432138729,0.0001816794558,1.05002051003,0.583003289141,0.00885592614476,1.04969221122
+193,3.216666667,pose1_to_pose2_press,0.612896109107,0.000181643637755,1.05002045142,0.583467260038,0.00885589264379,1.0496921566
+194,3.233333333,pose1_to_pose2_press,0.613344302187,0.000181717524471,1.05002054443,0.583915450194,0.00885595855487,1.04969224997
+195,3.250000000,pose1_to_pose2_press,0.613781352486,0.000181789544496,1.05002068247,0.584352497631,0.00885602463595,1.04969238189
+196,3.266666667,pose1_to_pose2_press,0.614205418627,0.000181824006271,1.05002054468,0.584776562045,0.00885605685833,1.04969224699
+197,3.283333333,pose1_to_pose2_press,0.614612449421,0.000181860462713,1.05002040429,0.585183590933,0.00885608900719,1.0496921154
+198,3.300000000,pose1_to_pose2_press,0.614991601011,0.000181862705472,1.05002075116,0.585562742444,0.00885609395107,1.0496924514
+199,3.316666667,pose1_to_pose2_press,0.615341911275,0.000181972191526,1.05002051675,0.585913052602,0.0088562058402,1.04969222842
+200,3.333333333,pose1_to_pose2_press,0.615662044654,0.00018175089372,1.05002068124,0.586233187057,0.00885599207782,1.04969237877
+201,3.350000000,pose1_to_pose2_press,0.615964121286,0.000181829731916,1.0500206616,0.586535261324,0.00885606623936,1.04969236617
+202,3.366666667,pose1_to_pose2_press,0.616253923329,0.000181812400835,1.05002057263,0.586825062392,0.0088560486869,1.04969227961
+203,3.383333333,pose1_to_pose2_press,0.616533779482,0.000181740088232,1.05002049985,0.587104918748,0.00885598004575,1.0496922135
+204,3.400000000,pose1_to_pose2_press,0.616802451382,0.000181662710282,1.05002050283,0.58737359106,0.00885590615199,1.0496922162
+205,3.416666667,pose1_to_pose2_press,0.617054446345,0.000181694193698,1.05002051048,0.587625585094,0.0088559361362,1.04969221172
+206,3.433333333,pose1_to_pose2_press,0.617288156968,0.000181845946001,1.05002046443,0.587859293818,0.00885608404044,1.04969216663
+207,3.450000000,pose1_to_pose2_press,0.617500539478,0.000181830857094,1.05002048082,0.588071676294,0.0088560708164,1.04969219512
+208,3.466666667,pose1_to_pose2_press,0.617694366303,0.000181870396323,1.05002040974,0.588265500953,0.00885610395009,1.04969211777
+209,3.483333333,pose1_to_pose2_press,0.61786930369,0.000181871053934,1.05002040293,0.588440438363,0.00885610504274,1.04969211061
+210,3.500000000,pose1_to_pose2_press,0.618027126157,0.000181665850801,1.05002035569,0.588598264655,0.00885591319201,1.04969207488
+211,3.516666667,pose1_to_pose2_press,0.618168738443,0.000181561214589,1.05002061611,0.588739878138,0.00885581244057,1.04969232233
+212,3.533333333,pose1_to_pose2_press,0.61829270641,0.000181757219837,1.05002068091,0.588863844395,0.00885600254193,1.04969238098
+213,3.550000000,pose1_to_pose2_press,0.61840154597,0.000181773607618,1.05002059558,0.588972682406,0.00885601395694,1.04969229757
+214,3.566666667,pose1_to_pose2_press,0.618495802406,0.00018178072566,1.05002052975,0.589066938694,0.00885602129921,1.04969223764
+215,3.583333333,pose1_to_pose2_press,0.618579226565,0.000181793439472,1.05002052208,0.589150362847,0.00885603459505,1.04969223285
+216,3.600000000,pose1_to_pose2_press,0.618652212145,0.000181729973488,1.05002055836,0.589223347633,0.00885596857498,1.0496922658
+217,3.616666667,pose1_to_pose2_press,0.618714988289,0.000181705885222,1.05002067056,0.589286123919,0.0088559452733,1.04969237426
+218,3.633333333,pose1_to_pose2_press,0.618768785002,0.000181638019807,1.05002071687,0.589339922331,0.00885588290059,1.04969241158
+219,3.650000000,pose1_to_pose2_press,0.618814239087,0.000181679656582,1.05002060905,0.589385375709,0.00885592220904,1.04969230413
+220,3.666666667,pose1_to_pose2_press,0.618852256457,0.000181885235572,1.05002062286,0.589423392456,0.00885612606956,1.04969232983
+221,3.683333333,pose1_to_pose2_press,0.618883118331,0.000181751222076,1.05002064049,0.589454256154,0.00885599844446,1.04969235038
+222,3.700000000,pose1_to_pose2_press,0.618908604743,0.000181697731947,1.05002058401,0.589479742293,0.00885594413929,1.04969229297
+223,3.716666667,pose1_to_pose2_press,0.618928587128,0.000181769191141,1.05002041952,0.589499723296,0.00885601109107,1.04969212959
+224,3.733333333,pose1_to_pose2_press,0.618943451525,0.000181719959707,1.05002037933,0.589514589135,0.00885596663473,1.04969208497
+225,3.750000000,pose1_to_pose2_press,0.618953834003,0.000181704285925,1.05002062523,0.589524973179,0.00885595588562,1.04969232268
+226,3.766666667,pose1_to_pose2_press,0.618960063667,0.000181727477201,1.05002075819,0.589531201222,0.00885597395834,1.04969246443
+227,3.783333333,pose1_to_pose2_press,0.618964223696,0.000181674959716,1.05002070031,0.589535360519,0.00885591894102,1.04969240725
+228,3.800000000,pose1_to_pose2_press,0.618966739642,0.000181656358158,1.05002064051,0.589537876004,0.00885589872867,1.04969234702
+229,3.816666667,pose1_to_pose2_press,0.618968324739,0.000181752578068,1.05002058624,0.589539460492,0.00885599284581,1.04969229196
+230,3.833333333,pose1_to_pose2_press,0.618969222165,0.000181807054321,1.05002055551,0.589540357572,0.00885604613156,1.04969226079
+231,3.850000000,pose1_to_pose2_press,0.618969538985,0.000181826286195,1.05002054466,0.58954067427,0.00885606494314,1.04969224979
+232,3.866666667,pose1_to_pose2_press,0.618969632728,0.000181822156381,1.05002054384,0.589540768065,0.00885606097939,1.04969224883
+233,3.883333333,pose1_to_pose2_press,0.618969711661,0.000181813981247,1.0500205443,0.589540847083,0.008856053083,1.04969224914
+234,3.900000000,pose1_to_pose2_press,0.618969938623,0.000181790474445,1.05002054559,0.589541074291,0.00885603037771,1.04969225
+235,3.916666667,pose1_to_pose2_press,0.618970327162,0.000181750233045,1.05002054782,0.589541463249,0.00885599150842,1.04969225148
+236,3.933333333,pose1_to_pose2_press,0.618970565235,0.000181725575496,1.05002054918,0.589541701579,0.00885596769163,1.04969225238
+237,3.950000000,pose1_to_pose2_press,0.61897074738,0.000181706710524,1.05002055022,0.589541883921,0.00885594946989,1.04969225308
+238,3.966666667,pose1_to_pose2_press,0.618971095283,0.000181689582209,1.05002055066,0.589542231936,0.00885593269623,1.04969225319
+239,3.983333333,pose1_to_pose2_press,0.618971332786,0.000181735135815,1.05002054625,0.589542468716,0.00885597584543,1.04969224957
+240,4.000000000,pose1_to_pose2_press,0.61897134227,0.000181736954834,1.05002054607,0.589542478171,0.00885597756844,1.04969224943
+241,4.016666667,pose1_to_pose2_press,0.618971484701,0.000181764273517,1.05002054343,0.589542620169,0.00885600344519,1.04969224727
+242,4.033333333,pose1_to_pose2_press,0.618971650524,0.000181796078841,1.05002054036,0.589542785488,0.00885603357176,1.04969224474
+243,4.050000000,pose1_to_pose2_press,0.618971774906,0.000181786770245,1.05002053402,0.589542910534,0.00885602664124,1.04969224084
+244,4.066666667,pose1_to_pose2_press,0.61897183987,0.000181720449528,1.05002050829,0.589542977674,0.00885596792909,1.04969221975
+245,4.083333333,pose1_to_pose2_press,0.618971924228,0.000181699383349,1.05002028716,0.589543061464,0.00885594471958,1.04969199594
+246,4.100000000,pose2_hold,0.618971924228,0.000181699383349,1.05002028716,0.589543061488,0.00885594470582,1.04969199594
+247,4.116666667,pose2_hold,0.618971924228,0.000181699383349,1.05002028716,0.589543061491,0.00885594471188,1.04969199594
+248,4.133333333,pose2_hold,0.618971924228,0.000181699383349,1.05002028716,0.589543061492,0.00885594471412,1.04969199595
+249,4.150000000,pose2_hold,0.618971924228,0.000181699383349,1.05002028716,0.589543061494,0.00885594470994,1.04969199594
+250,4.166666667,pose2_hold,0.618971924228,0.000181699383349,1.05002028716,0.589543061496,0.00885594471574,1.04969199595
+251,4.183333333,pose2_hold,0.618971924228,0.000181699383349,1.05002028716,0.589543061496,0.00885594470965,1.04969199595
+252,4.200000000,pose2_hold,0.618971924228,0.000181699383349,1.05002028716,0.589543061495,0.00885594471113,1.04969199595
+253,4.216666667,pose2_hold,0.618971924228,0.000181699383349,1.05002028716,0.589543061495,0.00885594470466,1.04969199594
+254,4.233333333,pose2_hold,0.618971924228,0.000181699383349,1.05002028716,0.589543061496,0.00885594471039,1.04969199594
+255,4.250000000,pose2_hold,0.618971924228,0.000181699383349,1.05002028716,0.5895430615,0.0088559447119,1.04969199595
+256,4.266666667,pose2_hold,0.618971924228,0.000181699383349,1.05002028716,0.589543061504,0.00885594470784,1.04969199595
+257,4.283333333,pose2_hold,0.618971924228,0.000181699383349,1.05002028716,0.589543061509,0.00885594470997,1.04969199595
+258,4.300000000,pose2_hold,0.618971924228,0.000181699383349,1.05002028716,0.589543061509,0.00885594470894,1.04969199594
+259,4.316666667,pose2_hold,0.618971924228,0.000181699383349,1.05002028716,0.589543061511,0.00885594470894,1.04969199595
+260,4.333333333,pose2_hold,0.618971924228,0.000181699383349,1.05002028716,0.589543061514,0.00885594471359,1.04969199595
+261,4.350000000,pose2_hold,0.618971924228,0.000181699383349,1.05002028716,0.58954306151,0.00885594470507,1.04969199595
+262,4.366666667,pose2_to_pose3_retreat,0.618971924228,0.000181699383349,1.05002028716,0.589543061516,0.00885594471212,1.04969199595
+263,4.383333333,pose2_to_pose3_retreat,0.618971783727,0.000181718480356,1.05002045043,0.589542919963,0.0088559601952,1.04969215836
+264,4.400000000,pose2_to_pose3_retreat,0.618971565022,0.000181769359848,1.05002058935,0.589542700896,0.00885600967794,1.04969229315
+265,4.416666667,pose2_to_pose3_retreat,0.618971349028,0.000181806155229,1.05002067243,0.589542484658,0.00885604553663,1.04969237369
+266,4.433333333,pose2_to_pose3_retreat,0.618971218144,0.000181812046455,1.0500206568,0.589542353765,0.00885605140015,1.04969235838
+267,4.450000000,pose2_to_pose3_retreat,0.618971109007,0.000181816958824,1.05002064376,0.589542244621,0.00885605628941,1.04969234561
+268,4.466666667,pose2_to_pose3_retreat,0.618971012923,0.00018182128369,1.05002063229,0.58954214853,0.00885606059394,1.04969233438
+269,4.483333333,pose2_to_pose3_retreat,0.618970663297,0.000181837020684,1.05002059053,0.589541798881,0.00885607625691,1.04969229348
+270,4.500000000,pose2_to_pose3_retreat,0.618969428246,0.000181886471122,1.05002058753,0.589540562972,0.00885612281942,1.04969229174
+271,4.516666667,pose2_to_pose3_retreat,0.618965322291,0.000181876780496,1.0500207034,0.589536456733,0.0088561122542,1.04969241025
+272,4.533333333,pose2_to_pose3_retreat,0.618956679284,0.000181692879793,1.0500205754,0.589527816294,0.00885593708934,1.04969228568
+273,4.550000000,pose2_to_pose3_retreat,0.618939671746,0.000181826434916,1.0500203857,0.589510807318,0.00885606569495,1.04969209882
+274,4.566666667,pose2_to_pose3_retreat,0.618913603692,0.000181776180808,1.05002049508,0.589484739923,0.00885601734428,1.04969220346
+275,4.583333333,pose2_to_pose3_retreat,0.618877553314,0.000181693230915,1.05002065881,0.58944869083,0.00885593831457,1.04969236264
+276,4.600000000,pose2_to_pose3_retreat,0.618832397078,0.00018173913894,1.05002056126,0.589403534205,0.00885598275122,1.04969226951
+277,4.616666667,pose2_to_pose3_retreat,0.618777554815,0.000181710670757,1.05002050687,0.589348692067,0.00885595410151,1.04969221898
+278,4.633333333,pose2_to_pose3_retreat,0.618713573842,0.000181665571025,1.05002074182,0.589284711456,0.00885590958096,1.04969244455
+279,4.650000000,pose2_to_pose3_retreat,0.618639779263,0.000181876717865,1.05002068694,0.589210915121,0.00885611465307,1.04969239373
+280,4.666666667,pose2_to_pose3_retreat,0.618552225423,0.000181829487511,1.05002044709,0.589123361621,0.00885606831492,1.04969216341
+281,4.683333333,pose2_to_pose3_retreat,0.618451299097,0.000181814977953,1.05002046839,0.589022435559,0.00885605376183,1.04969217891
+282,4.700000000,pose2_to_pose3_retreat,0.618336204863,0.000181758681097,1.05002038328,0.588907342416,0.00885599999741,1.04969209126
+283,4.716666667,pose2_to_pose3_retreat,0.618206990093,0.000181746847574,1.05002052868,0.588778127913,0.00885598819639,1.0496922347
+284,4.733333333,pose2_to_pose3_retreat,0.618062341249,0.00018188785612,1.05002074315,0.588633477709,0.00885612399675,1.04969244745
+285,4.750000000,pose2_to_pose3_retreat,0.617901890925,0.000181964736065,1.05002054922,0.588473026914,0.00885619862274,1.0496922573
+286,4.766666667,pose2_to_pose3_retreat,0.617725273493,0.000181785875095,1.05002035147,0.588296411508,0.00885602569754,1.04969206069
+287,4.783333333,pose2_to_pose3_retreat,0.617531153894,0.000181690818129,1.0500206062,0.588102294131,0.00885593694448,1.04969231715
+288,4.800000000,pose2_to_pose3_retreat,0.617321523481,0.000181723399103,1.05002042941,0.587892662859,0.00885596397203,1.04969213552
+289,4.816666667,pose2_to_pose3_retreat,0.617096997864,0.000181802806224,1.05002055831,0.58766813626,0.00885603793065,1.0496922538
+290,4.833333333,pose2_to_pose3_retreat,0.616860144333,0.000181754216332,1.05002074504,0.587431284125,0.00885599289716,1.04969243736
+291,4.850000000,pose2_to_pose3_retreat,0.616610706417,0.000181722133095,1.05002074841,0.587181847629,0.00885596402679,1.0496924467
+292,4.866666667,pose2_to_pose3_retreat,0.616341309906,0.000181675670184,1.05002062032,0.586912452474,0.00885591977893,1.04969232583
+293,4.883333333,pose2_to_pose3_retreat,0.616051706249,0.000181584603807,1.05002054279,0.586622850357,0.00885583131258,1.04969224976
+294,4.900000000,pose2_to_pose3_retreat,0.615739922446,0.000181745877691,1.05002061423,0.586311065551,0.00885598769044,1.04969232988
+295,4.916666667,pose2_to_pose3_retreat,0.615408233669,0.000181851986729,1.05002033262,0.585979374905,0.00885608407552,1.04969204366
+296,4.933333333,pose2_to_pose3_retreat,0.615057316297,0.000181931383254,1.05002060945,0.58562846184,0.00885616750642,1.04969231577
+297,4.950000000,pose2_to_pose3_retreat,0.614697963603,0.000181853015002,1.05002073261,0.585269110515,0.00885609048005,1.04969243546
+298,4.966666667,pose2_to_pose3_retreat,0.614330769255,0.000181815223629,1.05002064033,0.584901914183,0.00885604707334,1.04969234236
+299,4.983333333,pose2_to_pose3_retreat,0.61394990645,0.000182021725464,1.05002053676,0.584521049417,0.0088562445375,1.04969224196
+300,5.000000000,pose2_to_pose3_retreat,0.613551030202,0.000181879515351,1.05002040243,0.584122175717,0.00885610975063,1.04969211679
+301,5.016666667,pose2_to_pose3_retreat,0.613125087689,0.000181743574653,1.05002054984,0.58369623643,0.00885598331438,1.04969226101
+302,5.033333333,pose2_to_pose3_retreat,0.612672409783,0.000181726230973,1.05002054112,0.583243559617,0.0088559647931,1.0496922473
+303,5.050000000,pose2_to_pose3_retreat,0.612193879179,0.000181829463095,1.05002047796,0.582765028735,0.00885606137494,1.0496921794
+304,5.066666667,pose2_to_pose3_retreat,0.611700314721,0.000181928402077,1.05002059032,0.582271464913,0.00885616046134,1.04969228891
+305,5.083333333,pose2_to_pose3_retreat,0.611195577613,0.000181759975935,1.05002063585,0.581766729912,0.00885600070949,1.04969234483
+306,5.100000000,pose2_to_pose3_retreat,0.610681628198,0.000181774894746,1.05002065647,0.581252781249,0.00885601441042,1.04969236196
+307,5.116666667,pose2_to_pose3_retreat,0.610153935816,0.000181742834134,1.05002074418,0.580725090056,0.00885598222781,1.04969244558
+308,5.133333333,pose2_to_pose3_retreat,0.60960673426,0.000181745703918,1.05002069038,0.580177889388,0.00885598586792,1.04969239422
+309,5.150000000,pose2_to_pose3_retreat,0.609038037705,0.000181791739464,1.05002052289,0.579609192851,0.00885603112094,1.0496922313
+310,5.166666667,pose2_to_pose3_retreat,0.608449163841,0.000181778059697,1.05002055998,0.579020317835,0.00885601146479,1.04969225887
+311,5.183333333,pose2_to_pose3_retreat,0.607847955129,0.000181686395654,1.05002041375,0.578419103461,0.0088559223316,1.04969212333
+312,5.200000000,pose2_to_pose3_retreat,0.607231327267,0.000181762731198,1.05002061528,0.577802474356,0.00885599774196,1.04969231293
+313,5.216666667,pose2_to_pose3_retreat,0.606585460396,0.000181777464096,1.0500204753,0.577156607519,0.00885601302719,1.04969217918
+314,5.233333333,pose2_to_pose3_retreat,0.605914931387,0.000181788891281,1.05002048825,0.576486078613,0.00885602497825,1.04969219463
+315,5.250000000,pose2_to_pose3_retreat,0.605223242181,0.000181851003373,1.05002080449,0.575794389567,0.00885608709967,1.04969249781
+316,5.266666667,pose2_to_pose3_retreat,0.604510215782,0.000181835840601,1.05002067392,0.575081363857,0.00885607435443,1.0496923683
+317,5.283333333,pose2_to_pose3_retreat,0.603783149511,0.000181640855166,1.05002044674,0.574354297936,0.00885588077364,1.0496921468
+318,5.300000000,pose2_to_pose3_retreat,0.603059390214,0.000181804176768,1.05002065107,0.573630538118,0.00885604242217,1.04969235359
+319,5.316666667,pose2_to_pose3_retreat,0.60233650641,0.000181862311721,1.05002046878,0.572907654162,0.00885610023796,1.04969217643
+320,5.333333333,pose2_to_pose3_retreat,0.601613005358,0.000181855470085,1.05002049727,0.57218415274,0.00885609204827,1.04969220245
+321,5.350000000,pose2_to_pose3_retreat,0.600878309617,0.000181780523357,1.05002048311,0.571449458363,0.00885602176924,1.04969218921
+322,5.366666667,pose2_to_pose3_retreat,0.600126919099,0.000181738245808,1.05002037682,0.570698068437,0.00885598153242,1.04969208377
+323,5.383333333,pose2_to_pose3_retreat,0.599365097642,0.000181805461712,1.05002036196,0.569936244657,0.00885604074939,1.04969206574
+324,5.400000000,pose2_to_pose3_retreat,0.598594954956,0.000181873047132,1.05002052747,0.569166101191,0.00885610593362,1.04969223767
+325,5.416666667,pose2_to_pose3_retreat,0.597824595809,0.000181929245462,1.05002064888,0.568395742284,0.00885616284274,1.04969235632
+326,5.433333333,pose2_to_pose3_retreat,0.597062434618,0.000181824957271,1.05002069099,0.567633583175,0.00885606526373,1.04969238896
+327,5.450000000,pose2_to_pose3_retreat,0.596311476313,0.000181796578061,1.05002060171,0.566882623156,0.00885603109248,1.04969230024
+328,5.466666667,pose2_to_pose3_retreat,0.595570265867,0.000181804337091,1.05002060801,0.566141411892,0.00885603634156,1.04969231353
+329,5.483333333,pose2_to_pose3_retreat,0.594836116969,0.000181823305051,1.05002059635,0.565407263795,0.008856058167,1.0496923055
+330,5.500000000,pose2_to_pose3_retreat,0.594092036275,0.000181865141591,1.05002049468,0.564663183776,0.00885610227957,1.04969220342
+331,5.516666667,pose2_to_pose3_retreat,0.593340646976,0.00018190381476,1.05002045251,0.563911793681,0.00885613827822,1.04969216186
+332,5.533333333,pose2_to_pose3_retreat,0.592584175088,0.000181696330955,1.05002079797,0.563155324557,0.00885593972228,1.0496924954
+333,5.550000000,pose2_to_pose3_retreat,0.59183086145,0.00018165558955,1.05002055737,0.562402009059,0.00885589290202,1.04969226085
+334,5.566666667,pose2_to_pose3_retreat,0.591087827355,0.000181726787844,1.05002053939,0.561658975985,0.00885596764974,1.04969224521
+335,5.583333333,pose2_to_pose3_retreat,0.590368243392,0.000181671060192,1.05002055159,0.560939392252,0.00885591260479,1.04969225476
+336,5.600000000,pose2_to_pose3_retreat,0.589673765169,0.00018170418901,1.05002053581,0.560244913349,0.00885594350867,1.04969224108
+337,5.616666667,pose2_to_pose3_retreat,0.589008556953,0.000181757807664,1.05002056598,0.559579704438,0.00885599487324,1.049692274
+338,5.633333333,pose2_to_pose3_retreat,0.58836019515,0.000181776765677,1.0500206259,0.558931342345,0.0088560127796,1.04969233205
+339,5.650000000,pose2_to_pose3_retreat,0.587719058447,0.000181850218887,1.05002057281,0.55829020545,0.00885608533099,1.04969227226
+340,5.666666667,pose2_to_pose3_retreat,0.587076731816,0.000181896220631,1.05002079374,0.557647878763,0.00885613100347,1.04969248946
+341,5.683333333,pose2_to_pose3_retreat,0.586430261806,0.000181812836636,1.05002069124,0.557001409841,0.00885605166191,1.04969239625
+342,5.700000000,pose2_to_pose3_retreat,0.585787349317,0.000181826328193,1.05002055722,0.556358496508,0.00885606249569,1.04969226769
+343,5.716666667,pose2_to_pose3_retreat,0.585155947731,0.000181828589231,1.0500205444,0.555727094643,0.00885606354714,1.04969224787
+344,5.733333333,pose2_to_pose3_retreat,0.584555477424,0.00018180277283,1.0500205456,0.555126624438,0.00885603805438,1.04969224842
+345,5.750000000,pose2_to_pose3_retreat,0.583989084827,0.000181773553141,1.05002050784,0.554560232037,0.00885600981582,1.04969221892
+346,5.766666667,pose2_to_pose3_retreat,0.583458281571,0.000181725740545,1.05002051263,0.554029429796,0.00885596553498,1.04969222617
+347,5.783333333,pose2_to_pose3_retreat,0.582949455252,0.000181635476524,1.05002062935,0.553520604813,0.00885587959663,1.04969233829
+348,5.800000000,pose2_to_pose3_retreat,0.582456384662,0.000181728334188,1.05002066498,0.553027533291,0.00885596910054,1.04969236811
+349,5.816666667,pose2_to_pose3_retreat,0.581968957554,0.000181704666256,1.05002048777,0.55254010577,0.00885594419722,1.0496921954
+350,5.833333333,pose2_to_pose3_retreat,0.58149109212,0.000181697498859,1.05002039463,0.552062239942,0.00885593581924,1.0496921058
+351,5.850000000,pose2_to_pose3_retreat,0.581029761757,0.000181810275443,1.0500204018,0.551600909181,0.00885604722598,1.0496921124
+352,5.866666667,pose2_to_pose3_retreat,0.580592896134,0.000181903247509,1.05002044085,0.551164043917,0.00885614137037,1.04969215022
+353,5.883333333,pose2_to_pose3_retreat,0.580183367355,0.000181756282433,1.05002049673,0.550754516541,0.00885599916637,1.04969220621
+354,5.900000000,pose2_to_pose3_retreat,0.579793847041,0.000181653757293,1.05002028748,0.550364996012,0.00885589579391,1.04969199389
+355,5.916666667,pose2_to_pose3_retreat,0.579421352204,0.000181750791474,1.05002057548,0.549992500828,0.00885599187386,1.04969228774
+356,5.933333333,pose2_to_pose3_retreat,0.579063298382,0.000181706589248,1.0500204749,0.549634448133,0.00885595130799,1.04969218223
+357,5.950000000,pose2_to_pose3_retreat,0.578721174864,0.000181747202049,1.05002031556,0.549292323777,0.0088559892651,1.04969202779
+358,5.966666667,pose2_to_pose3_retreat,0.578399864461,0.000181797587742,1.05002041925,0.54897101222,0.00885603552656,1.04969212609
+359,5.983333333,pose2_to_pose3_retreat,0.578106586158,0.00018179448314,1.05002054822,0.548677733423,0.0088560305258,1.04969224917
+360,6.000000000,pose2_to_pose3_retreat,0.577842958913,0.00018179781985,1.05002046507,0.54841410537,0.00885603131348,1.04969217109
+361,6.016666667,pose2_to_pose3_retreat,0.577607334079,0.000181859799227,1.05002031177,0.548178479044,0.00885608842084,1.04969202303
+362,6.033333333,pose2_to_pose3_retreat,0.577393875573,0.000181789411904,1.05002060683,0.547965023203,0.00885602694098,1.04969231446
+363,6.050000000,pose2_to_pose3_retreat,0.577196791153,0.000181777390624,1.05002056264,0.547767939127,0.00885601607136,1.0496922699
+364,6.066666667,pose2_to_pose3_retreat,0.577010722321,0.00018173637882,1.05002057556,0.547581870713,0.0088559765694,1.04969228526
+365,6.083333333,pose2_to_pose3_retreat,0.576834223751,0.000181738208081,1.05002051611,0.547405371914,0.0088559776413,1.04969222656
+366,6.100000000,pose2_to_pose3_retreat,0.576670769025,0.000181836358272,1.05002034524,0.547241915518,0.0088560699439,1.04969205108
+367,6.116666667,pose2_to_pose3_retreat,0.576521254527,0.000181892346217,1.05002055726,0.547092399864,0.00885612181327,1.04969225786
+368,6.133333333,pose2_to_pose3_retreat,0.576386853572,0.00018182327662,1.05002051826,0.546958002171,0.00885606410692,1.0496922267
+369,6.150000000,pose2_to_pose3_retreat,0.576268055257,0.000181860219517,1.05002044141,0.546839202384,0.0088560959043,1.04969214578
+370,6.166666667,pose2_to_pose3_retreat,0.576166808554,0.000181906454335,1.05002050255,0.546737953879,0.00885613604271,1.04969220746
+371,6.183333333,pose2_to_pose3_retreat,0.57607844583,0.000181897793825,1.05002059767,0.546649591573,0.0088561288118,1.04969230336
+372,6.200000000,pose2_to_pose3_retreat,0.57600191511,0.000181872549136,1.05002065229,0.546573061739,0.00885610653898,1.04969235735
+373,6.216666667,pose2_to_pose3_retreat,0.575936350538,0.000181859691458,1.05002063233,0.546507497127,0.00885609354173,1.04969233691
+374,6.233333333,pose2_to_pose3_retreat,0.575880158727,0.000181805376072,1.05002053397,0.546451306332,0.00885604280691,1.04969224202
+375,6.250000000,pose2_to_pose3_retreat,0.575831870848,0.00018187933879,1.05002065694,0.546403017576,0.00885611364045,1.04969236091
+376,6.266666667,pose2_to_pose3_retreat,0.575791269758,0.000181763337035,1.05002046235,0.546362418373,0.00885600427413,1.04969217245
+377,6.283333333,pose2_to_pose3_retreat,0.575758752359,0.000181738862908,1.05002041802,0.546329900914,0.00885597940822,1.04969212311
+378,6.300000000,pose2_to_pose3_retreat,0.5757329459,0.000181722898443,1.0500206609,0.546304094988,0.00885596498381,1.04969235892
+379,6.316666667,pose2_to_pose3_retreat,0.575713541113,0.000181682432001,1.05002082769,0.546284690709,0.00885592633303,1.0496925281
+380,6.333333333,pose2_to_pose3_retreat,0.575699367768,0.000181684481756,1.0500204889,0.546270514631,0.00885591964791,1.04969220361
+381,6.350000000,pose2_to_pose3_retreat,0.575689451097,0.000181754353088,1.05002031376,0.546260598587,0.00885599173578,1.04969203079
+382,6.366666667,pose2_to_pose3_retreat,0.575682870392,0.0001818072305,1.05002033999,0.546254017841,0.00885604436967,1.04969205411
+383,6.383333333,pose2_to_pose3_retreat,0.575678218217,0.000181849247988,1.05002049382,0.546249365138,0.00885608437291,1.04969220181
+384,6.400000000,pose2_to_pose3_retreat,0.575674916049,0.000181793011633,1.05002057619,0.546246063694,0.00885603057453,1.04969228381
+385,6.416666667,pose2_to_pose3_retreat,0.575672805502,0.00018172327599,1.0500206183,0.546243954042,0.00885596391581,1.04969232725
+386,6.433333333,pose2_to_pose3_retreat,0.575671686845,0.000181686313863,1.05002064062,0.546242835859,0.00885592858455,1.04969235027
+387,6.450000000,pose2_to_pose3_retreat,0.575671080093,0.000181691073895,1.05002060049,0.546242228748,0.00885593215602,1.049692311
+388,6.466666667,pose2_to_pose3_retreat,0.575670860267,0.000181695820635,1.05002057959,0.546242008717,0.00885593621959,1.04969229046
+389,6.483333333,pose2_to_pose3_retreat,0.575670783217,0.000181697484386,1.05002057227,0.546241931595,0.00885593764389,1.04969228327
+390,6.500000000,pose2_to_pose3_retreat,0.575670743636,0.000181698339071,1.0500205685,0.546241891977,0.00885593837556,1.04969227957
+391,6.516666667,pose2_to_pose3_retreat,0.57567056637,0.000181702166828,1.05002055165,0.546241714544,0.00885594165241,1.04969226301
+392,6.533333333,pose2_to_pose3_retreat,0.57567056098,0.000181702283203,1.05002055114,0.54624170915,0.00885594175204,1.04969226251
+393,6.550000000,pose2_to_pose3_retreat,0.575670365753,0.000181706498772,1.05002053257,0.546241513741,0.00885594536089,1.04969224427
+394,6.566666667,pose2_to_pose3_retreat,0.575670021552,0.00018171393118,1.05002049985,0.546241169218,0.00885595172359,1.04969221212
+395,6.583333333,pose2_to_pose3_retreat,0.575669616725,0.000181722672701,1.05002046136,0.546240764012,0.008855959207,1.0496921743
+396,6.600000000,pose2_to_pose3_retreat,0.575669178974,0.000181732125159,1.05002041974,0.546240325852,0.00885596729902,1.04969213341
+397,6.616666667,pose2_to_pose3_retreat,0.575669146933,0.000181732817008,1.05002041669,0.546240293781,0.0088559678913,1.04969213042
+398,6.633333333,pose2_to_pose3_retreat,0.575668791863,0.000181740484118,1.05002038293,0.546239938379,0.00885597445493,1.04969209725
+399,6.650000000,pose2_to_pose3_retreat,0.575668338598,0.000181710509368,1.05002033856,0.546239485941,0.00885594732238,1.0496920538
+400,6.666666667,pose2_to_pose3_retreat,0.575667833246,0.000181666694589,1.05002028876,0.54623898184,0.00885590778776,1.04969200506
+401,6.683333333,pose2_to_pose3_retreat,0.575667386746,0.000181628689393,1.05002024569,0.546238536428,0.0088558735103,1.04969196291
+402,6.700000000,pose2_to_pose3_retreat,0.575667226272,0.000181652346494,1.05002027923,0.546238375515,0.00885589565824,1.04969199586
+403,6.716666667,pose2_to_pose3_retreat,0.575667094242,0.000181671810348,1.05002030683,0.546238243124,0.00885591388043,1.04969202297
+404,6.733333333,pose2_to_pose3_retreat,0.575666839649,0.00018170934235,1.05002036004,0.546237987836,0.00885594901815,1.04969207525
+405,6.750000000,pose2_to_pose3_retreat,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
diff --git a/Part2/Obstacle_avoidance/cylinder_PLA_10/position_01/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_PLA_10/position_01/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ca101edd86fa4199b482bf142b3089cd7a7d444d
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_PLA_10/position_01/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d0f8f73a781bf93818d523f078df3ec6e0f190810d2b184ccf9abba98960bc4
+size 25767900
diff --git a/Part2/Obstacle_avoidance/cylinder_PLA_10/position_01/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_PLA_10/position_01/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7e43edf07f27304fb0d68f65403f9cf76ebe55a4
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_PLA_10/position_01/depth_03/franka_data.csv
@@ -0,0 +1,408 @@
+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,793,749,728,708,697,655,934,803,835,668,658,676,0.400977873053,-0.00537542397543,0.0598467670448,0.999999934534,0.000253995391226,-0.000256718809875,2.26572073526e-05,1793256498904450304
+1,0.016666667,BASELINE,793.578718866,749,728,708.578718866,697,655,934,803,835,668,657.421281134,676,0.40097943773,-0.00537522634347,0.059848073608,0.99999993471,0.000255056408764,-0.00025494233873,2.30149286874e-05,1793256498921116928
+2,0.033333333,BASELINE,794,749,728,708.843222516,697.156777484,655,934,803,834.843222516,668,657.156777484,676,0.400980296768,-0.00537471687017,0.0598485873393,0.999999934685,0.000255955071543,-0.000254126631832,2.31537217071e-05,1793256498937783552
+3,0.050000000,BASELINE,794,749,728,708.266930502,697.733069498,655,934,803,834.266930502,668,657.733069498,676,0.400979267612,-0.00537337295322,0.0598469795643,0.999999934129,0.00025641929603,-0.000255881794734,2.27066933833e-05,1793256498954450176
+4,0.066666667,BASELINE,794,749,728,708.318817531,697.681182469,655,934,803,834.318817531,668,657.681182469,676,0.40097835951,-0.00537319535872,0.0598463689962,0.999999933833,0.000256679083002,-0.0002567877306,2.26008884704e-05,1793256498971117056
+5,0.083333333,BASELINE,794,749,728,708.912724594,697.087275406,655,934,803,834.912724594,668,657.087275406,676,0.400977555858,-0.00537402411766,0.0598466188612,0.999999933762,0.000256762472433,-0.000256960916611,2.2789505875e-05,1793256498987783424
+6,0.100000000,BASELINE,794,749,728,709,697,655,934,803,835,668,657,676,0.400976833734,-0.00537552575546,0.0598461529788,0.999999934389,0.000254124282832,-0.000257138005221,2.28702484777e-05,1793256499004450048
+7,0.116666667,BASELINE,794,749.067446431,728,709,697,655,934,803,835,668,657.067446431,676,0.400976278592,-0.00537669711129,0.0598456973919,0.999999934928,0.000251871870636,-0.000257253587258,2.29270748509e-05,1793256499021116416
+8,0.133333333,BASELINE,794,749.637469492,728,709,697,655,934,803,835,668,657.637469492,676,0.400976863065,-0.00537454363983,0.0598462372828,0.999999933972,0.000255987600904,-0.000256905843962,2.29441618958e-05,1793256499037783296
+9,0.150000000,BASELINE,794,750,728,708.789480356,697.210519644,655,934,803,835,668,657.789480356,676,0.400977532146,-0.00537408824587,0.0598467144942,0.999999933747,0.000257268952468,-0.000256501254877,2.29467565136e-05,1793256499054449920
+10,0.166666667,BASELINE,794,750,728,708.211141335,697.788858665,655,934,803,835,668,657.211141335,676,0.400978349055,-0.00537659972874,0.0598470821919,0.999999934814,0.000253598084483,-0.000255997345021,2.2924029999e-05,1793256499071116800
+11,0.183333333,BASELINE,794,749.622521428,728,708.377478572,697.622521428,655,934,803,834.622521428,668,657,676,0.400978474705,-0.00537691883337,0.059847132177,0.999999934976,0.00025360030687,-0.000255356645228,2.29878240117e-05,1793256499087783424
+12,0.200000000,BASELINE,794,749.027989879,728,708.972010121,697.027989879,655,934,803,834.027989879,668,657,676,0.400978202876,-0.0053759773045,0.0598469994751,0.999999934618,0.000255714583094,-0.000254637290162,2.31013679667e-05,1793256499104450048
+13,0.216666667,BASELINE,794,749,728,709,697.548119896,655,934,803,834.548119896,668,657.548119896,676,0.400979659337,-0.00537426636449,0.0598478443107,0.999999934597,0.00025742883432,-0.00025300885514,2.28772214039e-05,1793256499121116672
+14,0.233333333,BASELINE,794,749.12321258,728,708.87678742,698,655,934,803,834.87678742,668,657.87678742,675.87678742,0.400980504606,-0.00537353076821,0.0598483382225,0.999999934712,0.000257904597055,-0.00025208359565,2.27079547419e-05,1793256499137783040
+15,0.250000000,BASELINE,794,749.697913463,728,708.302086537,698,655,934,803,834.302086537,668,657.302086537,675.302086537,0.400978797402,-0.00537650841675,0.0598473692757,0.999999935271,0.000253914580584,-0.000253899558913,2.28009181638e-05,1793256499154449664
+16,0.266666667,BASELINE,793.718565101,750,728,708.281434899,698,655,934,803,834.281434899,668,657,675.281434899,0.400978154768,-0.00537799777865,0.0598469977003,0.999999935665,0.000251482407757,-0.000254755400515,2.29438675891e-05,1793256499171116544
+17,0.283333333,BASELINE,793.125269564,750,728,708.874730436,698,655,934,803,834.874730436,668,657,675.874730436,0.400978691793,-0.00537783795606,0.0598472880777,0.999999935891,0.000250776496253,-0.000254547322241,2.31422069658e-05,1793256499187783168
+18,0.300000000,BASELINE,793.455317051,749.544682949,728,709,697.544682949,655,934,803,834.544682949,668,657.455317051,676,0.400978978243,-0.0053766935477,0.0598479935341,0.999999935715,0.000252441034183,-0.000253592193016,2.31065418947e-05,1793256499204449792
+19,0.316666667,BASELINE,794,749,728,708.967536338,697.032463662,655,934,803,834.032463662,668,658,676,0.400979134284,-0.00537539266704,0.059848726165,0.999999935445,0.000254540085802,-0.000252568933906,2.29903170605e-05,1793256499221116416
+20,0.333333333,BASELINE,794,749,728,708.391033058,697.608966942,655,934,803,834.608966942,668,658,676,0.400978228811,-0.00537588589473,0.0598480523719,0.999999935472,0.000253288303674,-0.000253754805325,2.25736595769e-05,1793256499237783040
+21,0.350000000,BASELINE,794,749,728,708.189024941,697.810975059,655,934,803,835,668,658,676,0.40097780186,-0.0053764210107,0.059847680042,0.999999935698,0.000251775335017,-0.000254393131222,2.23122977893e-05,1793256499254449920
+22,0.366666667,BASELINE,794,749,728,708.7765774,697.2234226,655,934,803,835,668,658,676,0.400978383793,-0.00537704444106,0.0598479432967,0.999999936345,0.000249711698343,-0.000253877048686,2.23783510926e-05,1793256499271116544
+23,0.383333333,BASELINE,793.640849803,749,728,708.640849803,697,655,934,803,834.640849803,668,658,676,0.40097843589,-0.00537679066905,0.0598479661424,0.999999936165,0.00025042556168,-0.000253864206463,2.2590947553e-05,1793256499287783168
+24,0.400000000,BASELINE,793.061332369,749,728,708.061332369,697,655,934,803,834.061332369,668,658,676,0.400978162891,-0.00537599866362,0.0598478414781,0.999999935474,0.000252843642185,-0.000254160142185,2.28934599126e-05,1793256499304449536
+25,0.416666667,BASELINE,793.515716207,749,728,708.515716207,697.515716207,655,934,803,834.515716207,668,658,676,0.400979184284,-0.00537480783509,0.0598485358115,0.999999935271,0.000254916179164,-0.000252878521146,2.29772627103e-05,1793256499321116416
+26,0.433333333,BASELINE,794,749.092274023,728,709,697.907725977,655,934,803,835,668,658,676,0.400980197899,-0.00537400731695,0.0598491867166,0.999999935298,0.000256100221146,-0.000251573015886,2.29898237307e-05,1793256499337783040
+27,0.450000000,BASELINE,794,749.667792265,728,709,697.332207735,655,934,803,835,668,658,676,0.400980368443,-0.00537549808928,0.059849102523,0.999999936245,0.000252845353774,-0.000251120287914,2.27648564262e-05,1793256499354449920
+28,0.466666667,BASELINE,794,749.750681606,728,708.750681606,697,655,934,803,835,668,658,676,0.400979705726,-0.00537606251091,0.0598487782389,0.999999936425,0.000251601973094,-0.000251661600785,2.26425226066e-05,1793256499371116800
+29,0.483333333,BASELINE,794,749.160952552,728,708.160952552,697,655,934,803,835,668,658,676,0.400977905305,-0.00537536212545,0.0598481261433,0.999999935566,0.000253105006551,-0.00025356014246,2.266032099e-05,1793256499387783168
+30,0.500000000,BASELINE,794,749.420543216,728,708.420543216,697.420543216,655,934,803,835,668,657.579456784,676,0.400978041493,-0.00537532402902,0.0598484815616,0.999999935565,0.000253348782549,-0.000253307728736,2.2808217302e-05,1793256499404449536
+31,0.516666667,BASELINE,794,749.99894839,728,708.99894839,697.99894839,655,934,803,835,668,657.00105161,676,0.400978904639,-0.00537553454022,0.0598492151766,0.999999935886,0.000253119863104,-0.000252247897282,2.3004949293e-05,1793256499421116160
+32,0.533333333,BASELINE,794,749.424439954,728,709,698,655,934,803,834.424439954,668,657,676,0.400978280832,-0.00537459108186,0.0598483032122,0.999999935261,0.000254623803701,-0.000253232019592,2.27501093265e-05,1793256499437783040
+33,0.550000000,BASELINE,794,749,728,709,698,655,934,803,834.15462317,668,657.15462317,676,0.400978038689,-0.00537418219047,0.0598478089691,0.999999934976,0.000255269609155,-0.000253727330261,2.2553959204e-05,1793256499454449408
+34,0.566666667,BASELINE,794,749,728,709,698,655,934,803,834.740533131,668,657.740533131,676,0.40097886867,-0.00537527021707,0.0598484882269,0.999999935646,0.00025351303434,-0.000252848825644,2.25238055335e-05,1793256499471116288
+35,0.583333333,BASELINE,793.677114411,749,728,709,697.677114411,655,934,803,835,668,658,676,0.400978954517,-0.00537627620734,0.0598486622369,0.99999993622,0.000251453600632,-0.000252628755932,2.25569623001e-05,1793256499487782912
+36,0.600000000,BASELINE,793.097589501,749,728,709,697.097589501,655,934,803,835,668,658,676,0.400978448903,-0.00537721699273,0.0598484346606,0.999999936718,0.000249153445242,-0.000252932030282,2.26404401311e-05,1793256499504449792
+37,0.616666667,BASELINE,793.480910753,749,728,709,697.480910753,655,934,803,835,668,657.519089247,676,0.400978248837,-0.00537620034078,0.0598483484518,0.999999935691,0.00025288297138,-0.000253295383848,2.25916017162e-05,1793256499521116416
+38,0.633333333,BASELINE,793.941293797,749,728,709,698,655,934,803,835,668,657,676,0.400978108033,-0.00537496383698,0.0598482656493,0.999999934525,0.000257135011538,-0.000253621577244,2.25486200708e-05,1793256499537783040
+39,0.650000000,BASELINE,793.36785842,749,728,709,698,655,934,803,835,668,657,676,0.400977944336,-0.00537527503392,0.0598479617228,0.999999935026,0.000255262983846,-0.000253515287056,2.27919110711e-05,1793256499554449920
+40,0.666666667,BASELINE,793.211434304,749,728,708.788565696,697.788565696,655,934,803,834.788565696,668,657.211434304,676,0.400978244723,-0.00537539405228,0.0598481579918,0.999999935479,0.000253957251129,-0.000253023406367,2.29571791749e-05,1793256499571116544
+41,0.683333333,BASELINE,793.8012081,749,728,708.1987919,697.1987919,655,934,803,834.1987919,668,657.8012081,676,0.40097937554,-0.00537516918722,0.0598492493084,0.999999935851,0.000253664843938,-0.000251841551957,2.29828334804e-05,1793256499587782912
+42,0.700000000,BASELINE,794,749,728,708.384134425,697.384134425,655,934,803,834,668,658,676,0.400980147423,-0.00537516305325,0.0598496956445,0.999999935974,0.000254479411168,-0.000250528782534,2.29859983921e-05,1793256499604449792
+43,0.716666667,BASELINE,794,749,728,708.963579186,697.963579186,655,934,803,834,668,658,676,0.400980736808,-0.0053752681315,0.0598498140451,0.999999935967,0.000255856811445,-0.000249149450368,2.2977728735e-05,1793256499621116672
+44,0.733333333,BASELINE,794,749,728,708.458964457,698,655,934,803,834,668,658,676,0.400978551407,-0.00537547779026,0.0598485310113,0.999999935321,0.000255391916373,-0.000252215179351,2.27925527013e-05,1793256499637783296
+45,0.750000000,BASELINE,794,749,728,708,698,655,934,803,834.117292278,668,657.882707722,676,0.400976895173,-0.00537585710442,0.0598475105608,0.999999934889,0.000254584915916,-0.000254744409129,2.2666704927e-05,1793256499654449920
+46,0.766666667,BASELINE,794,749,728,708,698,655,934,803,834.689414188,668,657.310585812,676,0.400978012588,-0.00537686709953,0.0598478728292,0.999999935485,0.000252930465449,-0.000254037150959,2.28169272405e-05,1793256499671116544
+47,0.783333333,BASELINE,794,749,728,708.270787715,698,655,934,803,835,668,657.270787715,676,0.400978336433,-0.00537739551977,0.0598484221438,0.999999935906,0.000252119850419,-0.000253177359585,2.29124790511e-05,1793256499687783168
+48,0.800000000,BASELINE,794,749,728,708.86314803,698,655,934,803,835,668,657.86314803,676,0.400977717879,-0.00537735204833,0.0598491935843,0.99999993612,0.000252311327737,-0.000252136428073,2.29431071985e-05,1793256499704449792
+49,0.816666667,BASELINE,794,749.444459195,728,709,697.555540805,655,934,803,834.555540805,668,657.555540805,676,0.400978966715,-0.00537754204526,0.0598500061211,0.999999936922,0.000250365211169,-0.000250887406411,2.29873760967e-05,1793256499721116416
+50,0.833333333,BASELINE,794,750,728,708.977628348,697.022371652,655,934,803,834.022371652,668,657.022371652,676,0.400980659314,-0.00537777569172,0.0598507399639,0.99999993781,0.000247977491895,-0.000249714120364,2.30369275493e-05,1793256499737783296
+51,0.850000000,BASELINE,794,750,728,708.40167292,697.59832708,655,934,803,834.59832708,668,657.59832708,676,0.40097945004,-0.00537735376731,0.059849221012,0.999999936602,0.000250553875772,-0.000251961905179,2.31157858168e-05,1793256499754449664
+52,0.866666667,BASELINE,794,750,728,708.173977533,698,655,934,803,835,668,657.826022467,676,0.400978968817,-0.00537724048263,0.0598484550759,0.99999993598,0.000251970647217,-0.000253009686477,2.31830236427e-05,1793256499771116544
+53,0.883333333,BASELINE,794,750,728,708.748925069,698,655,934,803,835,668,657.251074931,676,0.400980165546,-0.00537783852708,0.0598494246328,0.999999936728,0.000250714833193,-0.000251291792069,2.32234795664e-05,1793256499787783168
+54,0.900000000,BASELINE,794,750,728,709,698,655,934,803,835,668,657.333654651,676.333654651,0.400980181798,-0.00537787695457,0.0598497780608,0.999999936887,0.000250525522082,-0.000250851026885,2.31635987903e-05,1793256499804450048
+55,0.916666667,BASELINE,794,750,728,709,698,655,934,803,835,668,657.925967516,676.925967516,0.400979282913,-0.00537748155165,0.059849653849,0.999999936592,0.000251162993265,-0.000251400327296,2.30259342579e-05,1793256499821116672
+56,0.933333333,BASELINE,794,750,728,708.495246022,698,655,934,803,834.495246022,668,657.495246022,676.495246022,0.400977947769,-0.00537730731616,0.0598489331778,0.999999936375,0.000250503450904,-0.000252924870091,2.29609430324e-05,1793256499837783296
+57,0.950000000,BASELINE,794,749.918602766,727.918602766,708,698,655,934,803,834.081397234,668,657,676,0.400976820881,-0.00537710755226,0.0598482608099,0.999999936128,0.000250121679961,-0.000254282516016,2.28718740889e-05,1793256499854449920
+58,0.966666667,BASELINE,794,749.343240587,727.343240587,708,698,655,934,803,834.656759413,668,657,676,0.400977335974,-0.00537656114841,0.0598483986161,0.999999935652,0.000252549901529,-0.000253781946602,2.25736909436e-05,1793256499871116544
+59,0.983333333,BASELINE,794,749,727.231958299,708,698,655,934,803,834.768041701,668,657,676,0.400977046017,-0.00537643480591,0.0598479027569,0.999999935084,0.000254160974884,-0.000254414295256,2.25477908701e-05,1793256499887783168
+60,1.000000000,BASELINE,794,749,727.806915807,708,698,655,934,803,834.193084193,668,657,676,0.400975565626,-0.00537692961253,0.0598464698899,0.999999934383,0.000254563722834,-0.000256721901851,2.2924518631e-05,1793256499904449792
+61,1.016666667,BASELINE,794,749,728,708.393950879,697.606049121,655,934,803,834,668,657.393950879,676,0.400975897796,-0.005377653743,0.0598470726696,0.99999993504,0.000252792407466,-0.000255905245988,2.29704853687e-05,1793256499921116672
+62,1.033333333,BASELINE,794,749,728,708.987092618,697.012907382,655,934,803,834,668,657.987092618,676,0.40097714644,-0.00537849382499,0.0598487047203,0.999999936375,0.000249921834361,-0.000253508889171,2.2849211506e-05,1793256499937783040
+63,1.050000000,BASELINE,794,749,727.43875489,708.43875489,697,655,934,803,834,668,657.43875489,676,0.400978446129,-0.0053759471354,0.059848731619,0.999999936214,0.000251228437135,-0.000252878969441,2.2552638925e-05,1793256499954449664
+64,1.066666667,BASELINE,794,749,727.135668234,708,697.135668234,655,934,803,834.135668234,668,657,676,0.400978737824,-0.00537414322457,0.0598484844952,0.999999935925,0.000252308274824,-0.000252968548658,2.23166957956e-05,1793256499971116288
+65,1.083333333,BASELINE,794,749,727.712344178,708,697.712344178,655,934,803,834.712344178,668,657,676,0.400975749209,-0.00537499871529,0.0598474626947,0.99999993533,0.000252348927633,-0.000255269222952,2.22905127875e-05,1793256499987783936
+66,1.100000000,BASELINE,794,749,728,708,698,655,934,803,835,668,657,676,0.40097492113,-0.00537576099724,0.0598471891068,0.999999935359,0.000251631154526,-0.000255863787557,2.23196289403e-05,1793256500004451072
+67,1.116666667,BASELINE,794,749,728,708,698,655,934,803,835,668,657,676,0.400976243389,-0.00537643051036,0.0598476601995,0.999999936008,0.000250158535687,-0.000254760296114,2.24037832132e-05,1793256500021116928
+68,1.133333333,BASELINE,794,749,728,708,697.531864693,655,934,803,834.531864693,668,657.468135307,676,0.400978311213,-0.00537622549889,0.0598483920946,0.999999936323,0.000251199553973,-0.000252490445593,2.23694324399e-05,1793256500037783296
+69,1.150000000,BASELINE,794,749,728,708,697,655,934,803,834.047212174,668,657.952787826,676,0.400980222277,-0.00537590864498,0.0598491036266,0.999999936536,0.00025254091829,-0.000250307157772,2.23223110725e-05,1793256500054450176
+70,1.166666667,BASELINE,794,749,728,708,697,655,934,803,834.621941635,668,657.378058365,676,0.400978400673,-0.00537666593424,0.0598488946278,0.999999936558,0.000250558885591,-0.000252190326819,2.24473924607e-05,1793256500071117056
+71,1.183333333,BASELINE,794,749.201183908,728,708.201183908,697.201183908,655,934,803,835,668,657.201183908,676,0.400976748803,-0.00537680518156,0.0598483436157,0.999999936064,0.000250638910719,-0.000254050945415,2.2569137855e-05,1793256500087783680
+72,1.200000000,BASELINE,794,749.789101206,728,708.789101206,697.789101206,655,934,803,835,668,657.789101206,676,0.400975423212,-0.00537575637449,0.0598471351559,0.999999934577,0.000254682804289,-0.000255868215886,2.26844705306e-05,1793256500104450304
+73,1.216666667,BASELINE,794,749.628457195,728,708.628457195,698,655,934,803,834.628457195,668,657.628457195,676,0.400976548162,-0.00537617287318,0.059848056528,0.999999935171,0.000253970326345,-0.000254249257904,2.26643114218e-05,1793256500121116928
+74,1.233333333,BASELINE,794,749.049078659,728,708.049078659,698,655,934,803,834.049078659,668,657.049078659,676,0.400979043909,-0.00537740904303,0.0598501692976,0.999999936919,0.000250597201956,-0.000250708122758,2.25683601393e-05,1793256500137783552
+75,1.250000000,BASELINE,794,749,728,708,698,655,934,803,834,668,657.522987958,676,0.40097931929,-0.0053770018924,0.0598502741576,0.999999937338,0.000249406619253,-0.000250218818212,2.26220562189e-05,1793256500154449920
+76,1.266666667,BASELINE,794,749.095669381,728,708.095669381,698,655,934,803.095669381,834.095669381,668,657.904330619,676,0.400979484591,-0.00537644682134,0.0598502085433,0.999999937529,0.000248917843584,-0.000249938992734,2.26361417431e-05,1793256500171116288
+77,1.283333333,BASELINE,794,749.674878462,728,708.674878462,698,655,934,803.674878462,834.674878462,668,657.325121538,676,0.400980132129,-0.00537591281165,0.0598502205395,0.999999937187,0.000250955273417,-0.000249290384685,2.2380024265e-05,1793256500187783168
+78,1.300000000,BASELINE,794,749.74069984,728.25930016,709,698,655,934,804,835,668,657,676,0.400980243193,-0.00537554481239,0.059850062221,0.99999993679,0.000252350335945,-0.000249496596932,2.21738009284e-05,1793256500204450048
+79,1.316666667,BASELINE,794,749.149608303,728.850391697,709,698,655,934,804,835,668,657,676,0.400979667804,-0.00537538923429,0.0598496859738,0.999999936323,0.000252923447678,-0.000250796607252,2.20314204023e-05,1793256500221116928
+80,1.333333333,BASELINE,794,749,728.56795762,708.56795762,698,655,934,803.56795762,835,668,657,676,0.400978712567,-0.00537635111447,0.0598488715564,0.999999936437,0.000251005065965,-0.000252254450709,2.21496749753e-05,1793256500237783296
+81,1.350000000,BASELINE,794,749,728,708.010457945,698,655,934,803,835,668,657,676,0.400977661845,-0.00537763570887,0.0598479380135,0.99999993672,0.000248365336042,-0.000253723723014,2.23538110277e-05,1793256500254449920
+82,1.366666667,BASELINE,794,749,728,708.586931488,698,655,934,803,835,668,657,676,0.400978410106,-0.00537589123917,0.0598485935345,0.999999935917,0.000252380608392,-0.000252916731546,2.24257974199e-05,1793256500271116800
+83,1.383333333,BASELINE,794,749,728,708.833719779,698,655,934,803,834.833719779,668,657,676,0.400979156361,-0.00537511248543,0.0598493394065,0.999999935576,0.000254666179956,-0.000251961982209,2.25262921955e-05,1793256500287783424
+84,1.400000000,BASELINE,794,749,728,708.247102784,698,655,934,803,834.247102784,668,657,676,0.400979897548,-0.00537677494726,0.0598503136752,0.999999936436,0.000252579272927,-0.000250633718256,2.26988528157e-05,1793256500304450048
+85,1.416666667,BASELINE,794,749.335462951,728,708.335462951,698,655,934,803,834.335462951,668,657,676,0.400979628181,-0.00537690004783,0.0598506112723,0.999999936636,0.00025203524091,-0.000250401559028,2.25001536444e-05,1793256500321116672
+86,1.433333333,BASELINE,794,749.915080092,728,708.915080092,698,655,934,803,834.915080092,668,657,676,0.400978623321,-0.00537590623728,0.0598504163793,0.999999936358,0.000252614133018,-0.000250967158802,2.20312468784e-05,1793256500337783296
+87,1.450000000,BASELINE,794,750,728,708.506226961,697.506226961,655,934,803,835,668,657,676,0.400978748637,-0.0053776137432,0.0598500705061,0.999999936794,0.000250951590209,-0.000250837986318,2.26887241858e-05,1793256500354449920
+88,1.466666667,BASELINE,794,749.928344769,728,708,697.071655231,655,934,803,834.928344769,668,657.071655231,676,0.400978860683,-0.00537930975161,0.059849691774,0.999999937197,0.000249314946822,-0.000250802729944,2.33546017731e-05,1793256500371116800
+89,1.483333333,BASELINE,794,749.355027996,728,708,697.644972004,655,934,803,834.355027996,668,657.644972004,676,0.400977521587,-0.00537767881782,0.0598492644441,0.999999936536,0.000250553387509,-0.000252259963264,2.27255994344e-05,1793256500387783424
+90,1.500000000,BASELINE,794,749,728,708,698,655,934,803,834.218582759,668,657.781417241,676,0.400977078118,-0.00537682592788,0.0598492346718,0.999999936238,0.000251547417912,-0.0002524752255,2.24425850634e-05,1793256500404450048
+91,1.516666667,BASELINE,794,749,728,708,698,655,934,803,834.792671598,668,657.207328402,676,0.400978091313,-0.00537723845959,0.0598498514927,0.999999936536,0.000252143935867,-0.000250670528333,2.2722290459e-05,1793256500421116928
+92,1.533333333,BASELINE,794,749,728,708,697.619887843,655,934,803,835,668,657,676,0.400976950529,-0.00537710515018,0.0598485321578,0.999999936283,0.000251241584876,-0.000252591226018,2.25825275834e-05,1793256500437783552
+93,1.550000000,BASELINE,794,749,728,708,697.024899546,655,934,803,835,668,657,676,0.400974592107,-0.00537666327863,0.0598461183204,0.999999935704,0.000249491928303,-0.000256617876867,2.22056407132e-05,1793256500454449920
+94,1.566666667,BASELINE,794,749,728,708,697.550603352,655,934,803,834.449396648,668,657,676,0.400976038499,-0.00537654363151,0.0598475317365,0.999999935857,0.000251625101855,-0.000253933875494,2.21117875616e-05,1793256500471116288
+95,1.583333333,BASELINE,793.875017099,749,728,708,697.875017099,655,934,803,834.124982901,668,657,676,0.400977687238,-0.00537629658991,0.0598488880848,0.999999936004,0.000253476826617,-0.000251502654069,2.20798518995e-05,1793256500487783168
+96,1.600000000,BASELINE,793.301614333,749,728,708,697.301614333,655,934,803,834.698385667,668,657,676,0.400979465731,-0.00537554198185,0.0598494399325,0.999999936061,0.000253710296699,-0.000251029961886,2.22257140287e-05,1793256500504450304
+97,1.616666667,BASELINE,793,749.28036823,728,708.28036823,697.28036823,655,934,803,835,668,657,676,0.400979571964,-0.00537554671185,0.0598491997506,0.999999936122,0.000252758318073,-0.000251741012066,2.22797221255e-05,1793256500521117440
+98,1.633333333,BASELINE,793,749.871872095,728,708.871872095,697.871872095,655,934,803,835,668,657,676,0.400977822425,-0.00537639410916,0.0598480806221,0.999999936182,0.000250490800445,-0.000253765707664,2.22317961863e-05,1793256500537783808
+99,1.650000000,BASELINE,793.454053346,750,728,708.545946654,698,655,934,803,835,668,657,676,0.40097727888,-0.00537553533311,0.0598480367238,0.999999935956,0.00025122151597,-0.000253923087447,2.23393262726e-05,1793256500554450432
+100,1.666666667,BASELINE,794,749.96655723,727.96655723,708,698,655,934,803,835,668,657,676,0.400977144557,-0.0053743641465,0.0598483095802,0.99999993568,0.000252689124122,-0.000253542842376,2.24767655535e-05,1793256500571116800
+101,1.683333333,BASELINE,794,749.390639531,727.390639531,708,698,655,934,803,835,668,657,676,0.400978239041,-0.00537577798191,0.0598488978271,0.999999935872,0.000252662006312,-0.000252817185952,2.24021009481e-05,1793256500587783424
+102,1.700000000,BASELINE,794,749,727.18864382,708.18864382,698,655,934,803,835,668,657,676,0.400978762349,-0.00537692952901,0.0598491699833,0.99999993618,0.000252024780617,-0.000252246570272,2.22338568591e-05,1793256500604450048
+103,1.716666667,BASELINE,794,749,727.775023222,708.775023222,698,655,934,803,835,668,657,676,0.400978081392,-0.00537752806871,0.0598487756959,0.999999936733,0.000250101206853,-0.000252002841732,2.18683103174e-05,1793256500621116672
+104,1.733333333,BASELINE,794,749,728,709,698,655,934,803,835,668,657,676,0.400978270645,-0.005376976411,0.0598493696674,0.999999936986,0.000250047785269,-0.000251036888427,2.20094230926e-05,1793256500637783552
+105,1.750000000,BASELINE,794,749,728,709,698,655,934,803,835,668,657,676,0.400979001613,-0.00537570874367,0.0598505788401,0.999999937052,0.00025115855239,-0.000249621342786,2.24659364484e-05,1793256500654450688
+106,1.766666667,BASELINE,794,749,728,709,698,655,934,803,835,668,657,676,0.4009791076,-0.00537615000211,0.0598503919491,0.999999936997,0.000250924732492,-0.000250062335533,2.2601871237e-05,1793256500671117312
+107,1.783333333,POSE1_TO_POSE2_PRESS,794,749,728,709,698,655,934,803,834,668,657,676,0.40097835845,-0.00537837428283,0.0598497283906,0.999999937208,0.00024933024057,-0.000250797448818,2.27904470066e-05,1793256500714483712
+108,1.800000000,POSE1_TO_POSE2_PRESS,794,749,728,708.402589281,698,655,934,803,834.597410719,668,657,676,0.400979979103,-0.00537816130891,0.0598498820926,0.999999937711,0.000248585640371,-0.000249554002103,2.24907806871e-05,1793256500731149824
+109,1.816666667,POSE1_TO_POSE2_PRESS,794,749,728,708,698,655,934,803,835,668,657.187869435,676,0.400980594889,-0.00537764631641,0.0598498660805,0.999999937682,0.000248994066388,-0.000249289476019,2.21769509473e-05,1793256500747815936
+110,1.833333333,POSE1_TO_POSE2_PRESS,794,749,728,708,698,655,934,803,835,668,657.763962269,676,0.400979134162,-0.00537650721658,0.0598494993621,0.999999936551,0.000251785167015,-0.000251047843408,2.18338531063e-05,1793256500764482560
+111,1.850000000,POSE1_TO_POSE2_PRESS,794,749.340960761,728,708,698,655,934,803,835,668,658,676,0.400977610642,-0.0053765821987,0.0598490797477,0.999999936299,0.000251801746087,-0.000252014272671,2.20654851172e-05,1793256500781149440
+112,1.866666667,POSE1_TO_POSE2_PRESS,794,749.918587849,728,708,698,655,934,803,835,668,658,676,0.400976043537,-0.00537749989462,0.0598486234175,0.999999936659,0.000249892485124,-0.000252431004885,2.26960463481e-05,1793256500797816576
+113,1.883333333,POSE1_TO_POSE2_PRESS,794,749.507756729,728,708,698,655,934,803,835,668,657.507756729,676,0.400977101592,-0.00537725283951,0.059849011873,0.999999936867,0.000249359734386,-0.000252143254895,2.25821979771e-05,1793256500814483200
+114,1.900000000,POSE1_TO_POSE2_PRESS,794,749,728,708,698,655,934,803,835,668,657.067797237,676,0.400978372078,-0.00537691844152,0.059849406049,0.99999993694,0.000249257280964,-0.000251970859125,2.24076990062e-05,1793256500831149568
+115,1.916666667,POSE1_TO_POSE2_PRESS,794,749,728,708,698,655,934,803,835,668,657.663196726,676,0.400977943993,-0.00537739145978,0.059848766143,0.99999993615,0.000250745935086,-0.000253595621537,2.27116561979e-05,1793256500847815680
+116,1.933333333,POSE1_TO_POSE2_PRESS,794,749.250192092,728,708,698,655,934,803,834.749807908,668,657.749807908,676,0.40098332297,-0.005377523843,0.0598508319457,0.999999936811,0.000251213557015,-0.000250492343271,2.28907440637e-05,1793256500864482048
+117,1.950000000,POSE1_TO_POSE2_PRESS,794,749.826241639,728,708,698,655,934,803,834.173758361,668,657.173758361,676,0.400996265234,-0.0053772125732,0.059856421742,0.999999939303,0.0002503513568,-0.00024123112723,2.2907198464e-05,1793256500881148672
+118,1.966666667,POSE1_TO_POSE2_PRESS,794,750,728,708,698,655,934.401734289,803,834.401734289,668,657,676,0.401028814147,-0.00537814012685,0.0598692850136,0.999999944815,0.000249772417787,-0.000217788387107,2.35099464957e-05,1793256500897815296
+119,1.983333333,POSE1_TO_POSE2_PRESS,794,750,728,708,698,655,934.976986451,803,834.976986451,668,657,676,0.401069831604,-0.00537960275557,0.0598852898595,0.999999950911,0.000249315825264,-0.000188220333917,2.43659276244e-05,1793256500914482176
+120,2.000000000,POSE1_TO_POSE2_PRESS,794,750,727.436591756,708,698,655,934.436591756,803,835,668,657,676,0.401131162456,-0.00538275565732,0.0599022508732,0.999999955362,0.000247822195223,-0.000164894265913,2.58810727697e-05,1793256500931148544
+121,2.016666667,POSE1_TO_POSE2_PRESS,794,750,727.149218077,708,698,655,934,803.149218077,835,668,657,676,0.401199109552,-0.00538583026152,0.059918772386,0.999999959335,0.000246064470821,-0.000141597778082,2.70486943333e-05,1793256500947815168
+122,2.033333333,POSE1_TO_POSE2_PRESS,794,750,727.73189822,708,698,655,934,803.73189822,835,668,657,676,0.401283817063,-0.00538847280298,0.0599339014512,0.999999963027,0.000243665120935,-0.000117631582092,2.71270027931e-05,1793256500964482048
+123,2.050000000,POSE1_TO_POSE2_PRESS,794,750,728,708,698,655,934,803.689227466,835,668,657,676,0.401377137757,-0.00538983100047,0.0599440954281,0.999999964789,0.000244018410609,-0.000100793694003,2.68012723094e-05,1793256500981148672
+124,2.066666667,POSE1_TO_POSE2_PRESS,794,750,728,708,698,655,934,803.113596735,835,668,657,676,0.401477799095,-0.00539009460613,0.0599500834384,0.999999965171,0.000246717657983,-9.00309606979e-05,2.613119664e-05,1793256500997815296
+125,2.083333333,POSE1_TO_POSE2_PRESS,794,749.540280701,728,708.459719299,698,655,934,803,835,668,657.459719299,676,0.401597995679,-0.00539409072907,0.0599560898961,0.999999967251,0.000242963656351,-7.63201167173e-05,2.5348117178e-05,1793256501014481920
+126,2.100000000,POSE1_TO_POSE2_PRESS,794,749.033496204,728,709,698,655,934.033496204,803,835,668,658,676,0.401723765684,-0.00539888565318,0.0599617711991,0.999999969424,0.000237962315601,-6.26441277547e-05,2.45314197837e-05,1793256501031148544
+127,2.116666667,POSE1_TO_POSE2_PRESS,794,749.624413237,728,709,698,655,934.624413237,803,835,668,658,676,0.401862356862,-0.00540170219154,0.0599619660261,0.999999969357,0.000238606896808,-6.16102798981e-05,2.36176275503e-05,1793256501047815168
+128,2.133333333,POSE1_TO_POSE2_PRESS,794,750,728,708.788850793,698,655,934.788850793,803,835,668,657.788850793,676,0.402012467699,-0.00540521745254,0.0599607234484,0.999999970002,0.000236232920924,-6.07987319467e-05,2.22028828246e-05,1793256501064481792
+129,2.150000000,POSE1_TO_POSE2_PRESS,794,750,728,708.209407644,698,655,934.209407644,803,835,668,657.209407644,676,0.402182671518,-0.00540995145009,0.0599569736983,0.999999971852,0.000228593870526,-6.0374927488e-05,1.9914359073e-05,1793256501081148672
+130,2.166666667,POSE1_TO_POSE2_PRESS,794,749.632525801,728,708,698,655,934,803,835,668,657,676,0.402383510198,-0.00541517477641,0.0599569593609,0.999999973386,0.000223192233973,-5.56350830129e-05,1.78327783222e-05,1793256501097815552
+131,2.183333333,POSE1_TO_POSE2_PRESS,794,749.057093379,728,708,698,655,934,803,835,668,657,676,0.402601685542,-0.00542067502041,0.0599590589398,0.999999974707,0.000219056777042,-4.84527377244e-05,1.5868308976e-05,1793256501114482176
+132,2.200000000,POSE1_TO_POSE2_PRESS,794,749,728,708,698,655,934,803,834.481503459,668,657,676,0.402854359971,-0.00542661567095,0.0599635033504,0.999999976972,0.000211206310593,-3.55627487479e-05,1.35307835013e-05,1793256501131148544
+133,2.216666667,POSE1_TO_POSE2_PRESS,794,749,728,708,698,655,934,803,834.096654021,668,657,676,0.403113745523,-0.00543293500121,0.0599672511144,0.999999979038,0.000202989537487,-2.44236858409e-05,1.11183296409e-05,1793256501147815424
+134,2.233333333,POSE1_TO_POSE2_PRESS,794,749,728,708,698,655,934,803,834.687860459,668,657,676,0.403388026784,-0.00544094372591,0.0599661128017,0.999999980628,0.00019499221654,-2.54604098797e-05,8.53273785507e-06,1793256501164482048
+135,2.250000000,POSE1_TO_POSE2_PRESS,794,749,728,708.272203571,698,655,934,803,835,668,657.272203571,676,0.403676117242,-0.00544778725583,0.0599592057249,0.999999981715,0.0001874196211,-3.7621009516e-05,5.32915666869e-06,1793256501181148416
+136,2.266666667,POSE1_TO_POSE2_PRESS,794,749,728,708.848869937,698,655,934,803,835,668,657.848869937,676,0.403979653427,-0.00545332750164,0.05994584622,0.999999981805,0.00018032208638,-6.22237907061e-05,1.43434744738e-06,1793256501197815040
+137,2.283333333,POSE1_TO_POSE2_PRESS,794,749,728.423383686,708.576616314,698,655,934,803,835,668,657.576616314,676,0.404318929071,-0.0054617638153,0.0599334649338,0.9999999817,0.000172147971849,-8.34176693889e-05,-2.45861251432e-06,1793256501214481920
+138,2.300000000,POSE1_TO_POSE2_PRESS,794,749,728.997132918,708.002867082,698,655,934,803,835,668,657.002867082,676,0.404670897646,-0.00547122867301,0.0599214310643,0.999999981253,0.000163591507994,-0.000103400869127,-6.35091562389e-06,1793256501231148544
+139,2.316666667,POSE1_TO_POSE2_PRESS,793.411981946,749,728.411981946,708,698,655,934,803,834.411981946,668,657,676,0.405059054175,-0.00547779459387,0.0599136456989,0.999999980489,0.000156698726481,-0.000119837961978,-1.03069490224e-05,1793256501247815424
+140,2.333333333,POSE1_TO_POSE2_PRESS,793.17387768,749,728,708,698,655,934,803,834.17387768,668,657.17387768,676,0.405470414214,-0.00548442133787,0.0599130413235,0.999999980964,0.000150291064004,-0.000123654511546,-1.39221015143e-05,1793256501264482048
+141,2.350000000,POSE1_TO_POSE2_PRESS,793.747971857,749,728,708,698,655,934,803,834.747971857,668,657.747971857,676,0.405934763699,-0.0054912215891,0.0599289164156,0.999999984502,0.00014498077567,-9.84631834006e-05,-1.675190678e-05,1793256501281148672
+142,2.366666667,POSE1_TO_POSE2_PRESS,794,749.328243763,728,708,698,655,934,803,835,668,658,676,0.406443180671,-0.00549263576757,0.0599552928464,0.999999987561,0.000147487744081,-5.25482891317e-05,-1.90687017388e-05,1793256501297815296
+143,2.383333333,POSE1_TO_POSE2_PRESS,794,749.913350024,728,708,698,655,934,803,835,668,658,676,0.40698608208,-0.00548983515197,0.0599898869524,0.999999987548,0.000156111994832,9.58354049515e-06,-2.09840480154e-05,1793256501314482176
+144,2.400000000,POSE1_TO_POSE2_PRESS,793.513825266,749.513825266,728,708,698,655,934.486174734,803,835,668,658,676,0.407545215006,-0.00548370817613,0.0600069295545,0.999999998781,2.82719655578e-05,3.2224469632e-05,-2.45046189217e-05,1793256501331148800
+145,2.416666667,POSE1_TO_POSE2_PRESS,793,749,728,708,698,655,934.941082777,803,835,668,657.941082777,676,0.408104991552,-0.00547867305857,0.0600183896179,0.999999992813,-0.00010830138044,4.29678108153e-05,-2.82737943759e-05,1793256501347815424
+146,2.433333333,POSE1_TO_POSE2_PRESS,793,749,728,708,698,655,934.349791224,803,835,668,657.349791224,676,0.408645087961,-0.00548872892719,0.0600069756362,0.999999993474,-0.000109433033547,8.2365428808e-06,-3.17679004153e-05,1793256501364482048
+147,2.450000000,POSE1_TO_POSE2_PRESS,793,749,728,708,698,655,934,803,835,668,657.236190844,676,0.409210942714,-0.0054978998138,0.0599962605602,0.999999993107,-0.000109678337372,-2.18152410841e-05,-3.57833130532e-05,1793256501381148672
+148,2.466666667,POSE1_TO_POSE2_PRESS,793,749,728,708,698,655,934,803,835,668,657.814482572,676,0.409814106048,-0.00550578888414,0.0599865577861,0.99999999226,-0.00010863984519,-4.50892174497e-05,-4.05537905485e-05,1793256501397815552
+149,2.483333333,POSE1_TO_POSE2_PRESS,793.390971449,749,728,708,697.609028551,655,934,803,835,668,657.609028551,676,0.410478263571,-0.00550924368293,0.0599923452067,0.999999993435,-0.000101712720273,-2.70371142315e-05,-4.53052318579e-05,1793256501414481920
+150,2.500000000,POSE1_TO_POSE2_PRESS,793.966608776,749,728,708,697.033391224,655,934,803,835,668,657.033391224,676,0.411171230203,-0.00551060406093,0.0600054490453,0.99999999446,-9.20042424651e-05,1.0534360753e-05,-5.00476817012e-05,1793256501431148544
+151,2.516666667,POSE1_TO_POSE2_PRESS,794,749,728,708,697.553738956,655,934,802.446261044,835,668,657,676,0.411867102818,-0.00550702024669,0.0600028662367,0.999999996875,-6.1895123246e-05,7.03533628291e-06,-4.86691917655e-05,1793256501447815168
+152,2.533333333,POSE1_TO_POSE2_PRESS,793.860405938,749,728,708,697.860405938,655,934,802.139594062,835,668,657,676,0.412557082404,-0.00550212851764,0.0599913672228,0.999999998565,-2.66924273914e-05,-1.55949215882e-05,-4.37617801337e-05,1793256501464482048
+153,2.550000000,POSE1_TO_POSE2_PRESS,793.280800876,749,728,708,697.280800876,655,934,802.719199124,835,668,657,676,0.41322792252,-0.00549407382644,0.0599548084861,0.999999995269,2.06057715845e-05,-9.05563554398e-05,-2.89190351679e-05,1793256501481148416
+154,2.566666667,POSE1_TO_POSE2_PRESS,793,749,728,708,697,655,934,803,835,668,657,676,0.413948760532,-0.005489510965,0.0599345330116,0.999999990594,4.18300849199e-05,-0.000128112176981,-2.54916272316e-05,1793256501497815296
+155,2.583333333,POSE1_TO_POSE2_PRESS,793,749,728,708,697,655,934,803,835,668,657,676,0.414716584096,-0.00548822954625,0.0599295597128,0.999999990202,3.85514952034e-05,-0.000130516119973,-3.27917696083e-05,1793256501514481920
+156,2.600000000,POSE1_TO_POSE2_PRESS,793,748.549641335,728.450358665,708,697.450358665,655,934.450358665,802.549641335,834.549641335,668,657.450358665,676,0.415572243476,-0.00549765412286,0.0599766615735,0.999999997988,3.06194160767e-05,-4.422721316e-05,-3.36206636756e-05,1793256501531148800
+157,2.616666667,POSE1_TO_POSE2_PRESS,793,748.023631884,729,708,698,655,934.976368116,802,834.023631884,668,657.976368116,676,0.416449529593,-0.00550954849562,0.0600355653565,0.999999997362,2.0638957654e-05,6.14621068666e-05,-3.27455985749e-05,1793256501547815424
+158,2.633333333,POSE1_TO_POSE2_PRESS,793,748.614008932,729,708,698,655,934.385991068,802,834.614008932,668,657.385991068,676,0.417273892002,-0.00551100595866,0.0600386319782,0.999999997891,-8.18410909774e-06,5.52572918182e-05,-3.31167740751e-05,1793256501564482048
+159,2.650000000,POSE1_TO_POSE2_PRESS,793,748.799454753,729,708,697.799454753,655,934,802,835,668,657.200545247,676,0.418105820598,-0.00551032985953,0.0600336131048,0.999999998285,-1.90665849484e-05,4.33127150396e-05,-3.45102332923e-05,1793256501581148928
+160,2.666666667,POSE1_TO_POSE2_PRESS,793,748.22017185,729,708,697.22017185,655,934,802,835,668,657.77982815,676,0.41895203819,-0.00550562444348,0.0600133244532,0.999999999066,3.93245880282e-06,2.05283708687e-05,-3.78343158765e-05,1793256501597815296
+161,2.683333333,POSE1_TO_POSE2_PRESS,793,748.357626385,729,708,697,655,934,802,835,668,658,676,0.419789495419,-0.00550472574837,0.0599876326886,0.999999999008,2.21084320837e-06,-1.85871893866e-05,-4.04114492379e-05,1793256501614481664
+162,2.700000000,POSE1_TO_POSE2_PRESS,793,748.934514345,729,708,697,655,934,802,835,668,658,676,0.420621581619,-0.00550616096298,0.0599586282636,0.999999996695,-1.46670674782e-05,-6.77154556658e-05,-4.25306260856e-05,1793256501631148288
+163,2.716666667,POSE1_TO_POSE2_PRESS,793,748.494075703,728.494075703,708,697,655,934,802,835,668,657.494075703,676,0.421437301755,-0.00550547323054,0.0599213659542,0.99999998892,-1.06178242781e-05,-0.000141783221968,-4.40978955119e-05,1793256501647815168
+164,2.733333333,POSE1_TO_POSE2_PRESS,793,748,728,708.07974013,697,655,934,802,835,668,657.07974013,676,0.422272224392,-0.0055048619402,0.0598924211746,0.999999979063,-4.14430241057e-06,-0.00019945361496,-4.55611501074e-05,1793256501664482048
+165,2.750000000,POSE1_TO_POSE2_PRESS,793,748,728,708.673589754,697,655,934,802,835,668,657.673589754,676,0.423244462773,-0.00550649617102,0.0599239197124,0.999999990348,6.82137488538e-07,-0.000130815302969,-4.68094362048e-05,1793256501681148672
+166,2.766666667,POSE1_TO_POSE2_PRESS,793,748,728,708.739508623,697,655,934,802,835,668,658,676,0.424224231462,-0.00550986854863,0.059971671727,0.999999997768,-9.37281231053e-06,-4.7434299534e-05,-4.6105108e-05,1793256501697815296
+167,2.783333333,POSE1_TO_POSE2_PRESS,793,748,728,708.161086969,697,655,934,802,835,668,658,676,0.425213191039,-0.00551536233829,0.0600392611486,0.999999996913,-3.75905290893e-05,5.39401992382e-05,-4.30176099034e-05,1793256501714481920
+168,2.800000000,POSE1_TO_POSE2_PRESS,793,747.585105777,728.414894223,708.414894223,697.414894223,655,934,802,835,668.414894223,657.585105777,676,0.426154064064,-0.00551795886571,0.0600580239227,0.999999994364,-3.5181991052e-05,9.02750112827e-05,-4.34170615999e-05,1793256501731148544
+169,2.816666667,POSE1_TO_POSE2_PRESS,793,747.010066613,728.989933387,708.989933387,697.989933387,655,934,802,835,668.989933387,657.010066613,676,0.42707637611,-0.00551943707911,0.0600579401045,0.999999993609,-2.09520293353e-05,0.000101505161516,-4.51624406525e-05,1793256501747815168
+170,2.833333333,POSE1_TO_POSE2_PRESS,793,747,729,709,697.422172581,655,934,802,835,669,657.577827419,676,0.427988145269,-0.00552223419328,0.0600306707503,0.999999996323,-3.55038254822e-05,6.16738650054e-05,-4.78443684397e-05,1793256501764481792
+171,2.850000000,POSE1_TO_POSE2_PRESS,793,747,729,709,697,655,934,802,835,669,657.836455992,676,0.428881864149,-0.00552387295851,0.0599998890773,0.999999997619,-4.5181586878e-05,1.37645143376e-05,-5.03104293703e-05,1793256501781148416
+172,2.866666667,POSE1_TO_POSE2_PRESS,793,747,729,709,697,655,934,802,835,669,657.256861466,676,0.429730141554,-0.00552250513915,0.0599614044522,0.99999999642,-4.11553429317e-05,-5.23806169034e-05,-5.21848801312e-05,1793256501797815040
+173,2.883333333,POSE1_TO_POSE2_PRESS,793,747,729,708.67943058,697,655,934,801.67943058,835,669,657.32056942,676,0.43062024521,-0.00552125111734,0.0599444629707,0.999999995031,-3.47168619279e-05,-7.69055245969e-05,-5.30931105922e-05,1793256501814481920
+174,2.900000000,POSE1_TO_POSE2_PRESS,793,747,729,708.10372175,697,655,934,801.10372175,835,669,657.89627825,676,0.431543638107,-0.00552008766643,0.0599446675587,0.999999995903,-2.63584952166e-05,-6.83051259108e-05,-5.32323317524e-05,1793256501831148544
+175,2.916666667,POSE1_TO_POSE2_PRESS,793,746.528607906,729,708.471392094,697,655,934,801.471392094,835,669,657.528607906,676,0.432495727135,-0.00552325926542,0.0599864375341,0.999999997789,-4.06444481155e-05,-1.56050044079e-06,-5.26136437663e-05,1793256501847815424
+176,2.933333333,POSE1_TO_POSE2_PRESS,793,746.047711089,729,709,697.047711089,655,934,801.952288911,835,669,657.047711089,676,0.433449478229,-0.00552733539704,0.0600328744598,0.999999994484,-5.76755731105e-05,7.07907003475e-05,-5.19032339148e-05,1793256501864482048
+177,2.950000000,POSE1_TO_POSE2_PRESS,793,746.639256873,729,709,697.639256873,655,934,801.360743127,835,669,657.639256873,676,0.434350293145,-0.00553086304822,0.0600283911609,0.999999995546,-4.92761666498e-05,6.1403925956e-05,-5.20458099471e-05,1793256501881148672
+178,2.966666667,POSE1_TO_POSE2_PRESS,792.781408948,746.781408948,729,709,697.781408948,655,934,801,835,669,658,676,0.435230527713,-0.00553268739177,0.0600120136082,0.999999996763,-5.13363584909e-05,3.14032191008e-05,-5.34173039112e-05,1793256501897815296
+179,2.983333333,POSE1_TO_POSE2_PRESS,792.221161345,746.221161345,729,709,697.221161345,655,934,801,835,669,658,676,0.436078595455,-0.00553184947586,0.0599770454047,0.999999995485,-6.97448405991e-05,-3.08169466204e-05,-5.67095893781e-05,1793256501914481920
+180,3.000000000,POSE1_TO_POSE2_PRESS,792.360258066,746,728.639741934,709,697,655,934,801,835,669,657.639741934,676,0.436897153577,-0.00553197585338,0.0599515304929,0.999999993185,-6.85541860723e-05,-7.41474486601e-05,-5.85799457427e-05,1793256501931148800
+181,3.016666667,POSE1_TO_POSE2_PRESS,792.955486273,746,728.044513727,709,697,655,934,801,835,669,657.044513727,676,0.43769646467,-0.00553273116944,0.0599321812781,0.99999999121,-5.45804387494e-05,-0.000105157592853,-5.95228810019e-05,1793256501947815424
+182,3.033333333,POSE1_TO_POSE2_PRESS,792.468562856,744.937125713,728.531437144,709,697,655,934,801,835,669,657,676,0.43848110961,-0.00552927488172,0.0599181861538,0.999999987669,-4.87585636018e-05,-0.000136478975804,-6.04779213036e-05,1793256501964482304
+183,3.050000000,POSE1_TO_POSE2_PRESS,792.109108378,744.109108378,729,709,696.890891622,654.890891622,934,801,835,669,657,676,0.439278159234,-0.00552670571647,0.059914028294,0.999999985644,-4.89339085778e-05,-0.000150335456046,-6.09619670606e-05,1793256501981148672
+184,3.066666667,POSE1_TO_POSE2_PRESS,792.701295333,744.701295333,729,709,696.298704667,654.298704667,934,801,835,669,657,676,0.440135379303,-0.00552957150915,0.059951508958,0.999999991829,-7.27446908006e-05,-8.67544975691e-05,-5.93563471166e-05,1793256501997815296
+185,3.083333333,POSE1_TO_POSE2_PRESS,792.713379516,744.713379516,729,709,696,654,934,800.713379516,835,669,657,676,0.440929646224,-0.00553114328931,0.059966169685,0.999999993134,-7.75983192727e-05,-6.52441136349e-05,-5.87744716788e-05,1793256502014481920
+186,3.100000000,POSE1_TO_POSE2_PRESS,792.135038309,744.135038309,729,709,696,654,934,800.135038309,835,669,657,676,0.441659839732,-0.00553139803059,0.0599576044054,0.999999992505,-6.31574615222e-05,-8.65529291561e-05,-5.92345579477e-05,1793256502031148544
+187,3.116666667,POSE1_TO_POSE2_PRESS,792.439490855,744,729,709,695.560509145,654,934.439490855,800,835,669,657,676,0.442330464566,-0.00553270100564,0.0599080442054,0.99999998367,-5.63498249994e-05,-0.000160327878672,-6.14746363454e-05,1793256502047815168
+188,3.133333333,POSE1_TO_POSE2_PRESS,792.987140559,744.012859441,729,709.012859441,695,654,934.987140559,800,835,669.012859441,657,676,0.442982900527,-0.00553429960849,0.0598468290176,0.999999965564,-5.26956691259e-05,-0.000248939711743,-6.42258124656e-05,1793256502064481792
+189,3.150000000,POSE1_TO_POSE2_PRESS,792.4137459,744.5862541,729,709.5862541,695,654,934.4137459,800,835,669.5862541,657,676,0.443633453441,-0.00553486584769,0.0598219164831,0.999999952857,-8.51448716549e-05,-0.000287629371779,-6.56204526705e-05,1793256502081148672
+190,3.166666667,POSE1_TO_POSE2_PRESS,792.165712307,745,729.165712307,709.834287693,694.834287693,653.668575385,934,799.834287693,835,669.834287693,657,676.165712307,0.444286386469,-0.00553609154968,0.0598047085205,0.999999942907,-0.000105602175922,-0.000314047642918,-6.63980766372e-05,1793256502097815552
+191,3.183333333,POSE1_TO_POSE2_PRESS,792.760884946,745,729.760884946,709.239115054,694.239115054,652.478230109,934,799.239115054,835,669.239115054,657,676.760884946,0.444945487942,-0.00553902631683,0.0598074677359,0.999999945703,-9.49812613255e-05,-0.000308663369211,-6.55766408162e-05,1793256502114482432
+192,3.200000000,POSE1_TO_POSE2_PRESS,792.655394109,744.655394109,729.655394109,709,693.655394109,652,934,799,835,669.344605891,657,676.655394109,0.445538792121,-0.00553927243856,0.0597897728784,0.999999934213,-8.6974804972e-05,-0.000345928220181,-6.58995763542e-05,1793256502131148800
+193,3.216666667,POSE1_TO_POSE2_PRESS,792.079363729,744.079363729,729.079363729,709,693.079363729,652,934,799,835,669.920636271,657,676.079363729,0.446087909248,-0.00553771296593,0.0597583418267,0.999999909694,-8.07241217857e-05,-0.000411834634815,-6.69910289202e-05,1793256502147815680
+194,3.233333333,POSE1_TO_POSE2_PRESS,792,744.495839442,729,709,693,652,934,798.504160558,835,670,657,676.495839442,0.446634774809,-0.00553343976744,0.0597315800961,0.999999895743,-7.67282832317e-05,-0.000444541768597,-7.0774700816e-05,1793256502164482048
+195,3.250000000,POSE1_TO_POSE2_PRESS,792,744.927612952,729,709.072387048,692.927612952,651.927612952,934,797.927612952,835,670,656.927612952,676.927612952,0.44717909083,-0.00553025492393,0.0597097145638,0.999999885366,-7.46885958671e-05,-0.000467047449198,-7.45397420959e-05,1793256502181148416
+196,3.266666667,POSE1_TO_POSE2_PRESS,792,744.340566857,729,709.659433143,692.340566857,651.340566857,934,797.340566857,835,670,656.340566857,676.340566857,0.447707838077,-0.00553789114945,0.0597173553236,0.999999890257,-8.39950712901e-05,-0.000454740249964,-7.51136980797e-05,1793256502197815552
+197,3.283333333,POSE1_TO_POSE2_PRESS,792,744.244332925,729,710,692,651,934,797,835,669.755667075,656,676,0.44822167269,-0.00554368429062,0.0597197578123,0.999999891918,-9.05711972926e-05,-0.000449621876926,-7.61580914063e-05,1793256502214482688
+198,3.300000000,POSE1_TO_POSE2_PRESS,792,744.826267041,729,710,692,651,934,797,835,669.173732959,656,676,0.448714902083,-0.00554693079333,0.0597149224439,0.999999889354,-9.33747273523e-05,-0.000454436494154,-7.78525002811e-05,1793256502231149312
+199,3.316666667,POSE1_TO_POSE2_PRESS,792,744.597617507,729,710,691.597617507,650.597617507,934,797,835,669.402382493,656,676,0.449132506122,-0.00555001437348,0.0596866857587,0.99999986677,-9.82052277125e-05,-0.000500254449943,-8.09958650521e-05,1793256502247815680
+200,3.333333333,POSE1_TO_POSE2_PRESS,792,744.023978467,729,710,691.023978467,650.023978467,934,797,835,669.976021533,656,676,0.449517923572,-0.00555302861303,0.0596484893238,0.999999832231,-0.000103898419424,-0.000563523686058,-8.47559145335e-05,1793256502264482304
+201,3.350000000,POSE1_TO_POSE2_PRESS,792,744,729,710,691,650,934,797,835,670,656,676,0.449871638879,-0.00556033195818,0.0596181219637,0.999999804561,-0.000111629667368,-0.000608905098733,-8.74678112539e-05,1793256502281148928
+202,3.366666667,POSE1_TO_POSE2_PRESS,792,744.140058482,729,710,690.859941518,649.859941518,934,796.859941518,835,670,656,676,0.450227814983,-0.00556748535403,0.0595949225103,0.999999782816,-0.000119787404118,-0.00064182825322,-8.98667541785e-05,1793256502297815296
+203,3.383333333,POSE1_TO_POSE2_PRESS,792,744.725788353,729,710,690.274211647,649.274211647,934,796.274211647,835,670,656,676,0.450596222213,-0.00557356622096,0.059593444817,0.999999784237,-0.00012901933691,-0.000637591847277,-9.14153653242e-05,1793256502314481920
+204,3.400000000,POSE1_TO_POSE2_PRESS,792,745,729,710,690,649,934,796,835,670,656,676.30532487,0.450943935705,-0.00557842052794,0.0595969699093,0.999999785299,-0.00016241899453,-0.000628107606393,-9.22092347612e-05,1793256502331148544
+205,3.416666667,POSE1_TO_POSE2_PRESS,792,745,729,710,690,649,934,796,835,670,656,676.879409699,0.451273433663,-0.00558219516423,0.0596048986667,0.999999783672,-0.000217092112308,-0.000614003996363,-9.23387480783e-05,1793256502347815168
+206,3.433333333,POSE1_TO_POSE2_PRESS,792,745,729,710,689.545942442,649,934,796,835,670,656,676.545942442,0.451565725421,-0.00558307910188,0.0596113588386,0.999999800804,-0.000170217512303,-0.000603153161701,-7.50001161252e-05,1793256502364482048
+207,3.450000000,POSE1_TO_POSE2_PRESS,791.970219866,745,729,709.970219866,689,648.970219866,934,796,835,670,656,676.029780134,0.451845728608,-0.00558234621812,0.0596171741953,0.999999817502,-9.90448548356e-05,-0.000593503243436,-5.42222349638e-05,1793256502381148672
+208,3.466666667,POSE1_TO_POSE2_PRESS,791.376996044,745,729,709.376996044,689,648.376996044,934,796,835,670,656,676.623003956,0.452080419301,-0.00556556631608,0.0596181781942,0.999999821119,-7.90482389256e-05,-0.000590209773121,-5.6257588045e-05,1793256502397815552
+209,3.483333333,POSE1_TO_POSE2_PRESS,791.21065163,745,729,709,689,648,934,796,835,670,656,677,0.452300362354,-0.00555029028663,0.0596157711818,0.999999820992,-6.21070040996e-05,-0.000592182381108,-5.89889038181e-05,1793256502414481920
+210,3.500000000,POSE1_TO_POSE2_PRESS,791.788577152,745,729,709,689,648,934,796,835,670,656,677,0.452494592677,-0.0055376362806,0.0596074170262,0.999999814737,-5.04928685974e-05,-0.00060333646662,-6.29336395289e-05,1793256502431148800
+211,3.516666667,POSE1_TO_POSE2_PRESS,792,745,729,709,688.634913598,648,934,796,835,670,656,677,0.45266949855,-0.00554152804073,0.0596005075837,0.999999808095,-5.50830934203e-05,-0.000613748478699,-6.39483096912e-05,1793256502447815424
+212,3.533333333,POSE1_TO_POSE2_PRESS,792,745,729,709,688.059221294,648,934,796,835,670,656,677,0.452833256826,-0.00555496448829,0.0595944315462,0.999999801095,-6.90210603696e-05,-0.000623732414879,-6.32727252589e-05,1793256502464482304
+213,3.550000000,POSE1_TO_POSE2_PRESS,792,745,729,709.515660312,688,648,934,795.484339688,835,670,656,676.484339688,0.452961799131,-0.0055553059041,0.0595886642373,0.999999792217,-7.02983698309e-05,-0.000637508787897,-6.48525267796e-05,1793256502481148672
+214,3.566666667,POSE1_TO_POSE2_PRESS,792,744.906701943,729,709.906701943,688,648,934,795,835,670,656,676.093298057,0.453083388435,-0.00555420623383,0.0595833561908,0.999999783891,-7.00694726352e-05,-0.00065029958255,-6.64786091835e-05,1793256502497815296
+215,3.583333333,POSE1_TO_POSE2_PRESS,792,744.313807506,729,709.313807506,688,648,934,795,835,670,656,676.686192494,0.453189368674,-0.00555343031373,0.0595803178554,0.999999780509,-6.95489035325e-05,-0.000655484155237,-6.69676795037e-05,1793256502514481920
+216,3.600000000,POSE1_TO_POSE2_PRESS,792,744.26977792,729,709.26977792,688,647.73022208,934,795,835,670,656,677,0.45328353382,-0.0055552306431,0.0595760844793,0.999999776062,-7.21241032045e-05,-0.00066190181561,-6.75268772042e-05,1793256502531148544
+217,3.616666667,POSE1_TO_POSE2_PRESS,792,744.842896184,729,709.842896184,688,647.157103816,934,795,835,670,656,677,0.453364413981,-0.00555992772701,0.0595705073903,0.999999770368,-7.81802088701e-05,-0.000669705968816,-6.81649266322e-05,1793256502547815424
+218,3.633333333,POSE1_TO_POSE2_PRESS,791.580300676,744.580300676,729.419699324,709.580300676,688,647,934,795,835,670,656,676.580300676,0.453439236066,-0.00555884514328,0.0595718647424,0.999999772182,-7.40520741155e-05,-0.000667421725002,-6.85652144714e-05,1793256502564482304
+219,3.650000000,POSE1_TO_POSE2_PRESS,791.002105993,744.002105993,729.997894007,709.002105993,688,647,934,795,835,670,656,676.002105993,0.453511770378,-0.00555557992428,0.0595758408187,0.999999776768,-6.60779600763e-05,-0.000661327696153,-6.88757139448e-05,1793256502581148928
+220,3.666666667,POSE1_TO_POSE2_PRESS,791.588358176,744.588358176,729.411641824,709.588358176,688,647,934,795,835,670,656,676,0.453559048315,-0.0055581851674,0.0595770755629,0.99999977697,-6.9955169084e-05,-0.000660682509276,-6.83058353527e-05,1793256502597815296
+221,3.683333333,POSE1_TO_POSE2_PRESS,792,744.824487116,729,710,688,647,934,795,835,670,656,676.175512884,0.453602534117,-0.00555988584626,0.0595780238358,0.999999777428,-7.29108501717e-05,-0.00065969698208,-6.80224220398e-05,1793256502614481920
+222,3.700000000,POSE1_TO_POSE2_PRESS,792,744.245052045,729,710,688,647,934,795,835,670,656,676.754947955,0.453637505243,-0.00555945538802,0.0595783358919,0.999999778544,-7.36460365576e-05,-0.000657882360242,-6.84056815489e-05,1793256502631148544
+223,3.716666667,POSE1_TO_POSE2_PRESS,792,744.33157914,729,710,688,647,934,795,835,670,656,676.66842086,0.453666148706,-0.00555797746427,0.0595789042718,0.999999779552,-7.24870185785e-05,-0.000656457494133,-6.85918138351e-05,1793256502647815168
+224,3.733333333,POSE1_TO_POSE2_PRESS,792,744.906155561,729,710,688,647,934,795,835,670,656,676.093844439,0.453690154954,-0.0055557319069,0.0595796604984,0.999999780478,-6.9939835816e-05,-0.000655318259744,-6.86334817678e-05,1793256502664481792
+225,3.750000000,POSE1_TO_POSE2_PRESS,792,745,729.479694781,710,688,647,934,795,835,670,656,676.479694781,0.453703569936,-0.00555765341591,0.0595791974659,0.999999779311,-7.03278538196e-05,-0.000657177300329,-6.74496067202e-05,1793256502681148672
+226,3.766666667,POSE1_TO_POSE2_PRESS,791.945050153,745,729.945050153,710,687.945050153,647,934,795,835,670,656,677,0.453714599667,-0.00556010519684,0.0595785782233,0.999999777898,-7.12540069427e-05,-0.000659355918132,-6.61610946516e-05,1793256502697815552
+227,3.783333333,POSE1_TO_POSE2_PRESS,791.350973593,745,729.350973593,710,687.350973593,647,934,795,835,670,656,677,0.453722512229,-0.00555977855523,0.0595787615734,0.999999778136,-7.18382386895e-05,-0.000658927485126,-6.61932067146e-05,1793256502714482176
+228,3.800000000,POSE1_TO_POSE2_PRESS,791.235622077,745,729,710,687,647,934,795,835,670,656,676.764377923,0.453728130154,-0.00555959622531,0.059578077494,0.99999977762,-7.21400080362e-05,-0.000659695148551,-6.60114161023e-05,1793256502731148800
+229,3.816666667,POSE1_TO_POSE2_PRESS,791.811417372,745,729,710,687,647,934,795,835,670,656,676.188582628,0.453730435254,-0.00555962224162,0.0595761410858,0.999999776011,-7.20339796375e-05,-0.000662189644971,-6.55208090897e-05,1793256502747815424
+230,3.833333333,POSE1_TO_POSE2_PRESS,792,745,729,709.613133716,687,647,934,795,835,670,656,676,0.453731499592,-0.00555977805993,0.0595745955231,0.999999774257,-7.28158414464e-05,-0.000664756637538,-6.54428744288e-05,1793256502764482048
+231,3.850000000,POSE1_TO_POSE2_PRESS,792,745,729,709.037853517,687,647,934,795,835,670,656,676,0.453731959646,-0.00555999709517,0.0595732403124,0.999999772426,-7.40301288181e-05,-0.000667358937531,-6.5565921921e-05,1793256502781148928
+232,3.866666667,POSE1_TO_POSE2_PRESS,792,745,729,709.53630145,687,647,934,795,835,670.53630145,656,676,0.453732993937,-0.00555949084991,0.0595728125913,0.999999772363,-7.30421553185e-05,-0.000667544781971,-6.57452853938e-05,1793256502797815552
+233,3.883333333,POSE1_TO_POSE2_PRESS,792,745,729.114540854,710,687.114540854,647,934,795,835,670.885459146,656,676.114540854,0.453734060531,-0.0055588638227,0.0595725682838,0.999999772519,-7.18964781303e-05,-0.000667433795997,-6.57660475509e-05,1793256502814482432
+234,3.900000000,POSE1_TO_POSE2_PRESS,792,745,729.710271929,710,687.710271929,647,934,795,835,670.289728071,656,676.710271929,0.45373509291,-0.00555794399608,0.0595728200608,0.999999773074,-7.07399290434e-05,-0.000666790841445,-6.51038560254e-05,1793256502831149056
+235,3.916666667,POSE1_TO_POSE2_PRESS,792,745,730,710,687.706853126,646.706853126,934,795,835,670,656,676.706853126,0.45373440077,-0.00555717738618,0.059571564904,0.999999771921,-7.02942333698e-05,-0.000668585058429,-6.48908160958e-05,1793256502847815424
+236,3.933333333,POSE1_TO_POSE2_PRESS,792,745,730,710,687.136150484,646.136150484,934,795,835,670,656,676.136150484,0.453732075829,-0.00555655584402,0.0595688829602,0.99999976914,-7.052158402e-05,-0.000672686825162,-6.51030394207e-05,1793256502864482304
+237,3.950000000,POSE1_TO_POSE2_PRESS,792,745,729.558537271,710,687,646.441462729,934,795,835,670,656,676.441462729,0.453731712483,-0.00555629722777,0.0595679067714,0.999999768303,-6.95713184103e-05,-0.000674055341317,-6.48260672001e-05,1793256502881148928
+238,3.966666667,POSE1_TO_POSE2_PRESS,792,745,729,710,687,647,934,794.978320024,835,670,656,677,0.453732009107,-0.00555618686977,0.0595674770852,0.999999768092,-6.84026725067e-05,-0.000674527014182,-6.44259591425e-05,1793256502897815552
+239,3.983333333,POSE1_TO_POSE2_PRESS,792,745,729,710,687,647,934,794.38656173,835,670,656,677,0.45373349896,-0.00555698498624,0.0595673647545,0.999999768271,-7.11935809373e-05,-0.00067393419172,-6.48182570951e-05,1793256502914482176
+240,4.000000000,POSE1_TO_POSE2_PRESS,792,745,729.200690613,710,687,647,934,794.200690613,835,670,656,677,0.45373458537,-0.00555716041381,0.0595676300424,0.999999768391,-7.19217805448e-05,-0.000673666411556,-6.49580457679e-05,1793256502931148800
+241,4.016666667,POSE1_TO_POSE2_PRESS,792,745,729.779454341,710,687,647,934,794.779454341,835,670,656,677,0.453734911749,-0.00555616278231,0.0595686067113,0.999999768402,-6.87641243636e-05,-0.000674010965765,-6.4622142166e-05,1793256502947815680
+242,4.033333333,POSE1_TO_POSE2_PRESS,792,745,730,710,687,647,934,795,835,670,656,677,0.453733954191,-0.00555594571944,0.0595676357252,0.999999767098,-6.88950575828e-05,-0.000675931828744,-6.46084617897e-05,1793256502964482048
+243,4.050000000,POSE1_TO_POSE2_PRESS,792,745,730,710,687,647,934,795,835,670,656,677,0.453732206146,-0.0055562092326,0.0595654656181,0.999999764976,-7.105069071e-05,-0.000678823184417,-6.47931659662e-05,1793256502981148928
+244,4.066666667,POSE1_TO_POSE2_PRESS,792,745,730,710,687,647,934,795,835,670,656,676.492568442,0.453734140914,-0.00555662855153,0.0595666430626,0.999999766832,-7.04571304272e-05,-0.000676168713697,-6.45567570683e-05,1793256502997815808
+245,4.083333333,POSE1_TO_POSE2_PRESS,792,745,730,710,687,647,934,795,835,670,656,676.085488552,0.453735972974,-0.00555683453882,0.0595678601564,0.999999768587,-6.96791975462e-05,-0.000673669793494,-6.4346206558e-05,1793256503014482688
+246,4.100000000,POSE1_TO_POSE2_PRESS,792,745,730,710,687,647,934,795,835,670,656,676.675924705,0.453734260592,-0.00555565617282,0.0595666411039,0.999999766626,-7.0005276317e-05,-0.000676513550393,-6.46243130152e-05,1793256503031149312
+247,4.116666667,HOLD_POSE2,792,745,730,711,687,647,934,795,835,671,656,677,0.453736572929,-0.00555469012467,0.0595674231284,0.999999767463,-6.84175903079e-05,-0.000675465730327,-6.43417639781e-05,1793256503069081856
+248,4.133333333,HOLD_POSE2,792,745,730,710.425784358,687,647,934,795,835,670.425784358,656,676.425784358,0.453735756664,-0.00555420857857,0.0595667935272,0.999999766737,-6.89184120711e-05,-0.000676488551493,-6.43308064972e-05,1793256503085748224
+249,4.150000000,HOLD_POSE2,792,745,730,710,687.152020594,647,934,795,835,670,656,676.152020594,0.453735063444,-0.00555399900627,0.0595662801788,0.999999766163,-6.91265455849e-05,-0.000677323303693,-6.42614766415e-05,1793256503102414592
+250,4.166666667,HOLD_POSE2,792,745,730,710,687.74012184,647,934,795,835,670,656,676.74012184,0.453734723184,-0.00555456960786,0.0595661003085,0.999999766021,-6.84950845262e-05,-0.000677618568453,-6.40247019479e-05,1793256503119081472
+251,4.183333333,HOLD_POSE2,792,745,729.676772312,710,687.676772312,647,934,795,835,670,655.676772312,676.676772312,0.453734312246,-0.00555524370072,0.0595656809617,0.999999765574,-6.81726801436e-05,-0.000678320242922,-6.39159139802e-05,1793256503135748352
+252,4.200000000,HOLD_POSE2,792,745,729.09762172,710,687.09762172,647,934,795,835,670,655.09762172,676.09762172,0.453733845348,-0.00555599973512,0.0595650720039,0.999999764885,-6.80949784802e-05,-0.000679343701543,-6.390846244e-05,1793256503152415232
+253,4.216666667,HOLD_POSE2,792,744.519798508,729,710,687,647,934,795,835,670,655.480201492,676,0.453733805755,-0.00555427323162,0.0595645873468,0.999999764541,-6.63620968449e-05,-0.000679984969271,-6.43005473976e-05,1793256503169081600
+254,4.233333333,HOLD_POSE2,791.94236838,744.05763162,729,710,687,647,934,794.94236838,835,670,655.94236838,676,0.453733841955,-0.00555235174718,0.0595641050669,0.999999764224,-6.47045211887e-05,-0.000680572909974,-6.47038965004e-05,1793256503185747968
+255,4.250000000,HOLD_POSE2,791.366054042,744.633945958,729,710,687,647,934,794.366054042,835,670,655.366054042,676,0.453733780628,-0.00555320505215,0.0595634173833,0.999999763556,-6.67447201042e-05,-0.000681378250561,-6.44796326413e-05,1793256503202414848
+256,4.266666667,HOLD_POSE2,791.214292876,745,729,710,687,646.785707124,934,794.214292876,835,670,655.214292876,676.214292876,0.453733960915,-0.00555378144644,0.0595631815129,0.99999976348,-6.78298527264e-05,-0.000681402610454,-6.42667857045e-05,1793256503219081472
+257,4.283333333,HOLD_POSE2,791.801660281,745,729,710,687,646.198339719,934,794.801660281,835,670,655.801660281,676.801660281,0.453734561843,-0.00555387575126,0.0595637322295,0.99999976444,-6.72522564721e-05,-0.000680067317026,-6.4073815154e-05,1793256503235748096
+258,4.300000000,HOLD_POSE2,792,745,729,710,687,646,934,794.616782614,835,670,656,676.616782614,0.453734465047,-0.00555245362021,0.0595638111882,0.999999764316,-6.58174914906e-05,-0.000680377035261,-6.42153844762e-05,1793256503252414464
+259,4.316666667,HOLD_POSE2,792,745,729,710,687,646,934,794.038187746,835,670,656,676.038187746,0.453734012526,-0.00555025835771,0.0595636496284,0.999999763635,-6.39457121865e-05,-0.000681525437226,-6.45275137809e-05,1793256503269081344
+260,4.333333333,HOLD_POSE2,792,745,729,709.462944315,687,646,934,794.537055685,835,670,656,676.537055685,0.453734004058,-0.00555021144536,0.0595635262288,0.99999976354,-6.45083118709e-05,-0.000681629403319,-6.43371719806e-05,1793256503285748224
+261,4.350000000,HOLD_POSE2,791.885348628,744.885348628,729.114651372,709.114651372,687,646.114651372,934,795,835,670.114651372,656,676.885348628,0.453734260233,-0.00555046061808,0.05956357142,0.999999763691,-6.5258557324e-05,-0.000681353335674,-6.41660238274e-05,1793256503302415104
+262,4.366666667,HOLD_POSE2,791.297056901,744.297056901,729.702943099,709.702943099,687,646.702943099,934,795,835,670.702943099,656,676.297056901,0.453735480057,-0.0055513057997,0.0595643019429,0.999999764683,-6.60733351834e-05,-0.000679812194898,-6.42208514171e-05,1793256503319081216
+263,4.383333333,POSE2_TO_POSE3_RETREAT,791,745,729,710,687,647,934,795,835,670,656,676,0.453733411937,-0.0055493043232,0.0595629347672,0.99999976277,-6.19387770571e-05,-0.000682974191647,-6.45668884523e-05,1793256503356301568
+264,4.400000000,POSE2_TO_POSE3_RETREAT,791.579710499,745,729,710,687,647,934,795,835,670,656,676,0.45373497284,-0.00554850206839,0.0595627511083,0.999999763055,-6.32448254051e-05,-0.000682405857968,-6.49038779138e-05,1793256503372968192
+265,4.416666667,POSE2_TO_POSE3_RETREAT,792,745,729,710,687,646.841691273,934,795,835,670,655.841691273,676.158308727,0.453735924229,-0.00554843036342,0.0595627205984,0.99999976314,-6.43417918051e-05,-0.00068217316949,-6.49658433115e-05,1793256503389634816
+266,4.433333333,POSE2_TO_POSE3_RETREAT,792,745,729,710,687,646.266025255,934,795,835,670,655.266025255,676.733974745,0.453735268724,-0.00555028464372,0.0595630938426,0.999999762702,-6.4887545195e-05,-0.000682825359279,-6.43027489586e-05,1793256503406301184
+267,4.450000000,POSE2_TO_POSE3_RETREAT,792,745,729,710,687,646.315181992,934,794.684818008,835,670,655.315181992,676.684818008,0.453734958976,-0.00555102241021,0.0595632846156,0.999999762606,-6.4330143441e-05,-0.000683060132529,-6.38689185048e-05,1793256503422967808
+268,4.466666667,POSE2_TO_POSE3_RETREAT,792,745,729,710,687,646.901149905,934,794.098850095,835,670,655.901149905,676.098850095,0.453734946283,-0.00555080093328,0.0595633186201,0.999999762801,-6.28249753208e-05,-0.000682936285882,-6.36320582144e-05,1793256503439634432
+269,4.483333333,POSE2_TO_POSE3_RETREAT,792,745,729.481520992,710,687,647,934,794,835,670.481520992,656,676,0.45373439154,-0.00555103714477,0.0595626342296,0.999999762508,-6.29303720925e-05,-0.000683372563866,-6.34488928845e-05,1793256503456301056
+270,4.500000000,POSE2_TO_POSE3_RETREAT,792,744.939376457,729.939376457,710,687,647,934,794.060623543,835,671,656,676,0.453733666538,-0.00555125115832,0.0595618693707,0.99999976217,-6.33026232072e-05,-0.000683843667419,-6.33349325708e-05,1793256503472967936
+271,4.516666667,POSE2_TO_POSE3_RETREAT,792,744.361406999,729.361406999,710,687,647,934,794.638593001,835,671,656,676,0.453732427262,-0.00555048314279,0.0595616618891,0.999999762292,-6.31630612244e-05,-0.000683641973109,-6.3718564549e-05,1793256503489634560
+272,4.533333333,POSE2_TO_POSE3_RETREAT,792,744.214205237,729.214205237,710,687,647,934,795,835,670.785794763,655.785794763,676,0.453727253356,-0.00554902727674,0.0595597710838,0.999999760265,-6.2712519515e-05,-0.000686604479068,-6.41188925847e-05,1793256503506301184
+273,4.550000000,POSE2_TO_POSE3_RETREAT,792,744.785883601,729.785883601,710,687,647,934,795,835,670.214116399,655.214116399,676,0.453715513204,-0.00554642350198,0.0595550710898,0.999999754604,-6.1743004068e-05,-0.000694847512118,-6.45470835388e-05,1793256503522967808
+274,4.566666667,POSE2_TO_POSE3_RETREAT,792,744.629587554,729.629587554,709.629587554,687,647,934,795,835,670,655.370412446,676.370412446,0.453689893064,-0.00554670866161,0.0595451419786,0.999999742417,-6.22978531816e-05,-0.00071211949904,-6.45801230864e-05,1793256503539634432
+275,4.583333333,POSE2_TO_POSE3_RETREAT,792,744.037363487,729.037363487,709.037363487,687,647,934,795,835,670,655.962636513,676.962636513,0.453655961263,-0.00554872378236,0.0595320815495,0.999999725931,-6.37655272696e-05,-0.000734798234873,-6.43765367611e-05,1793256503556301056
+276,4.600000000,POSE2_TO_POSE3_RETREAT,792,744.541889207,729,709.541889207,687,647,934,795,835,670,655.458110793,676.458110793,0.453598306308,-0.00554909331666,0.0595125840305,0.999999707078,-6.34367579636e-05,-0.000760005877976,-6.48875144612e-05,1793256503572968192
+277,4.616666667,POSE2_TO_POSE3_RETREAT,792,745,729,710,687.120108121,647,934,795,835,670,655.120108121,676,0.453535642305,-0.00554847578373,0.0594936843165,0.999999688142,-6.31342587983e-05,-0.000784492227169,-6.55957557915e-05,1793256503589635072
+278,4.633333333,POSE2_TO_POSE3_RETREAT,792,745,729,710,687.697716587,647,934,795,835,670,655.697716587,676,0.453459983386,-0.00554452053014,0.0594787127733,0.999999671273,-6.33926070884e-05,-0.000805582467878,-6.68721048935e-05,1793256503606301440
+279,4.650000000,POSE2_TO_POSE3_RETREAT,792,745,729.273426091,709.726573909,687.726573909,647,934,794.726573909,835,670,656,676,0.453375207487,-0.00554092183123,0.0594648404524,0.999999654752,-6.15384204732e-05,-0.000825931203746,-6.74351521059e-05,1793256503622968064
+280,4.666666667,POSE2_TO_POSE3_RETREAT,792,745,729.847050665,709.152949335,687.152949335,647,934,794.152949335,835,670,656,676,0.453280421928,-0.00553771459916,0.0594521749847,0.999999638689,-5.73648510532e-05,-0.000845465829459,-6.7215054729e-05,1793256503639634432
+281,4.683333333,POSE2_TO_POSE3_RETREAT,792,745,729.566426381,709.433573619,687,647,934,794,835,670,656,676,0.453167263585,-0.00553419979536,0.0594379492346,0.999999618548,-5.49104017075e-05,-0.000869110937134,-6.73381529142e-05,1793256503656301056
+282,4.700000000,POSE2_TO_POSE3_RETREAT,791.975754524,745,729,710,687.024245476,647,934,794.024245476,835,670.024245476,656,676.024245476,0.453046087365,-0.00553060633567,0.059422981197,0.999999596318,-5.30499328131e-05,-0.000894418763917,-6.75550656428e-05,1793256503672967936
+283,4.716666667,POSE2_TO_POSE3_RETREAT,791.397438676,745,729,710,687.602561324,647,934,794.602561324,835,670.602561324,656,676.602561324,0.452894336932,-0.00552777091987,0.059404013976,0.999999569985,-5.0479705964e-05,-0.000923571040596,-6.70643578133e-05,1793256503689634560
+284,4.733333333,POSE2_TO_POSE3_RETREAT,791.179853173,745,729.179853173,710,688,647,934,795,835,670.820146827,656,677,0.452733483554,-0.00552362830873,0.0593849104078,0.999999541183,-4.65621199653e-05,-0.00095446614447,-6.67894325418e-05,1793256503706300928
+285,4.750000000,POSE2_TO_POSE3_RETREAT,791.754894931,745,729.754894931,710,688,647,934,795,835,670.245105069,656,677,0.452552628439,-0.00551661341793,0.0593655072486,0.99999950772,-3.96840030102e-05,-0.00098919073233,-6.69886430498e-05,1793256503722967808
+286,4.766666667,POSE2_TO_POSE3_RETREAT,792,745,729.66242341,710,688,647,934,795,835,670,656,676.66242341,0.452353593947,-0.00551120349011,0.0593416028945,0.999999467992,-3.66485270405e-05,-0.00102867885857,-6.70226887756e-05,1793256503739634688
+287,4.783333333,POSE2_TO_POSE3_RETREAT,792,745,729.074066121,710,688,647,934,795,835,670,656,676.074066121,0.452141054243,-0.00550698586503,0.0593143546667,0.999999422818,-3.64676919845e-05,-0.00107170575046,-6.69340359737e-05,1793256503756301568
+288,4.800000000,POSE2_TO_POSE3_RETREAT,792,745,729,709.493843019,688,647,934,795,835,670,656,676,0.451895028466,-0.00549982407412,0.0592945350925,0.999999387121,-3.1229929058e-05,-0.0011047048689,-6.64072241886e-05,1793256503772967936
+289,4.816666667,POSE2_TO_POSE3_RETREAT,792,745,729,709.084957524,688,647.084957524,934,795,835,670,656,676,0.451639577791,-0.00549268276974,0.0592776000185,0.999999355227,-2.53737752493e-05,-0.0011333977122,-6.56538964125e-05,1793256503789634560
+290,4.833333333,POSE2_TO_POSE3_RETREAT,792,745,729,709.662302974,688,647.662302974,934,795,835,670,656,676,0.451357453082,-0.00548811761012,0.0592711821275,0.999999341664,-2.01544923638e-05,-0.00114550262052,-6.3953470237e-05,1793256503806301184
+291,4.850000000,POSE2_TO_POSE3_RETREAT,791.761833717,745,729,709.761833717,688.238166283,648,934,795.238166283,835,670,656,676,0.451064281113,-0.00548350550794,0.0592681011623,0.999999333938,-1.49140871806e-05,-0.00115241366719,-6.19972980308e-05,1793256503822968576
+292,4.866666667,POSE2_TO_POSE3_RETREAT,791.188058981,745,729,709.188058981,688.811941019,648,934,795.811941019,835,670,656,676,0.450755542079,-0.00547882725762,0.0592697223767,0.999999334614,-9.64391814408e-06,-0.0011520058609,-5.96807452452e-05,1793256503839636224
+293,4.883333333,POSE2_TO_POSE3_RETREAT,791.396968116,745,729,709.396968116,689,648,934,796,835,670,656,676,0.45042683494,-0.00547242433955,0.0592680614274,0.999999333591,-1.53915730445e-06,-0.00115305333312,-5.7299261451e-05,1793256503856302592
+294,4.900000000,POSE2_TO_POSE3_RETREAT,791.987481379,745,729,709.987481379,689,648,934,796,835,670,656,676,0.450088392192,-0.00546518054533,0.0592648002315,0.999999331668,7.94763247816e-06,-0.00115481033857,-5.48861200606e-05,1793256503872968448
+295,4.916666667,POSE2_TO_POSE3_RETREAT,792,745,729,710,689.565640907,648.565640907,934,796,835,670,656,676,0.449687005229,-0.00545421927958,0.0592594217049,0.999999319567,1.90814291118e-05,-0.0011651911992,-5.32100338327e-05,1793256503889634816
+296,4.933333333,POSE2_TO_POSE3_RETREAT,792,744.85685502,729,709.85685502,690,649,934,796,835,670,656,676,0.449273331345,-0.00544289290913,0.059254354914,0.999999310166,3.06689743945e-05,-0.0011730726863,-5.12530502866e-05,1793256503906301440
+297,4.950000000,POSE2_TO_POSE3_RETREAT,792,744.280524884,729,709.280524884,690,649,934,796,835,670,656,676,0.448826600458,-0.00543070531775,0.0592503702759,0.999999310122,4.35217004762e-05,-0.00117282533278,-4.83977067423e-05,1793256503922968064
+298,4.966666667,POSE2_TO_POSE3_RETREAT,792,744.301236495,729,709.301236495,690.301236495,649.301236495,934,796.301236495,835,670,656,676,0.448375354822,-0.0054199930022,0.0592542297475,0.999999317257,5.47631019701e-05,-0.00116638031558,-4.52113735275e-05,1793256503939634944
+299,4.983333333,POSE2_TO_POSE3_RETREAT,792,744.888148624,729,709.888148624,690.888148624,649.888148624,934,796.888148624,835,670,656,676,0.4479198276,-0.0054106797533,0.059265528128,0.999999331127,6.44764159589e-05,-0.00115405778496,-4.17111481137e-05,1793256503956301568
+300,5.000000000,POSE2_TO_POSE3_RETREAT,792,745,729,710,691,650,934,797,835,670,656,676,0.447458812451,-0.00541305585428,0.059302150126,0.999999404876,6.14049644131e-05,-0.00108854592327,-3.93005183712e-05,1793256503972969216
+301,5.016666667,POSE2_TO_POSE3_RETREAT,792,745,729,709.952513121,691.047486879,650.047486879,934,797,835,670,656.047486879,676.047486879,0.446991985242,-0.00541994602345,0.059345627654,0.999999486801,5.36819713529e-05,-0.00101103581429,-3.63766481828e-05,1793256503989637120
+302,5.033333333,POSE2_TO_POSE3_RETREAT,792,745,729,709.377129251,691.622870749,650.622870749,934,797,835,670,656.622870749,676.622870749,0.446474910844,-0.00544642216287,0.0593990343494,0.999999558106,2.77118876111e-05,-0.000939361890892,-2.48953505449e-05,1793256504006303232
+303,5.050000000,POSE2_TO_POSE3_RETREAT,792,745,729,709.199095364,692,651,934,797.199095364,835,670,657,676.800904636,0.445924657482,-0.00545906276128,0.0594395163775,0.999999606665,1.584410517e-05,-0.000886652426054,-1.62896620498e-05,1793256504022969344
+304,5.066666667,POSE2_TO_POSE3_RETREAT,792,745,729,709.776919247,692,651,934,797.776919247,835,670,657,676.223080753,0.445311289571,-0.00544538474434,0.0594554124952,0.999999620973,3.08023821758e-05,-0.000870018054718,-1.31540927785e-05,1793256504039635712
+305,5.083333333,POSE2_TO_POSE3_RETREAT,792,745,729,710,692.361263068,651.361263068,934,798,835,670,657,676,0.444692292241,-0.00542829843369,0.0594595769406,0.999999631157,4.92338426882e-05,-0.000857402822938,-1.10519325322e-05,1793256504056302080
+306,5.100000000,POSE2_TO_POSE3_RETREAT,792,745,729,710,692.949706939,651.949706939,934,798,835,670,657,676,0.444069754867,-0.00540906881314,0.0594563639063,0.999999638543,6.98494191004e-05,-0.000847315033339,-9.5996331636e-06,1793256504072968192
+307,5.116666667,POSE2_TO_POSE3_RETREAT,792.529016954,745,729,709.470983046,693.529016954,652,934,798.529016954,835,670,657,676,0.443448258568,-0.00539921383601,0.0594958741887,0.9999996813,0.000175162687454,-0.00077890611077,-4.77833970406e-06,1793256504089634560
+308,5.133333333,POSE2_TO_POSE3_RETREAT,792.892883133,745,729,709,694,652.107116867,934,799,835,670,657,676,0.442819692268,-0.00539266945673,0.0595428923452,0.999999718689,0.000265135992298,-0.000701658124022,7.27510624287e-07,1793256504106301184
+309,5.150000000,POSE2_TO_POSE3_RETREAT,792.316345657,745,729,709,694,652.683654343,934,799,835,670,657,676,0.442159716754,-0.00539679378806,0.0596053150195,0.999999782133,0.000253196561212,-0.000609560081354,7.85353174818e-06,1793256504122968064
+310,5.166666667,POSE2_TO_POSE3_RETREAT,792.257568063,744.742431937,729,709,694.257568063,653,934,799,835,670,657,676,0.441460530536,-0.00540556379549,0.0596507363165,0.999999822679,0.000235778661084,-0.000546644014528,1.51665455002e-05,1793256504139634944
+311,5.183333333,POSE2_TO_POSE3_RETREAT,792.828291851,744.171708149,729,709,694.828291851,653,934,799,835,670,657,676,0.440713671175,-0.00541998209719,0.0596754870519,0.999999842545,0.000211699943335,-0.000519207892935,2.27069091475e-05,1793256504156301568
+312,5.200000000,POSE2_TO_POSE3_RETREAT,793,744.832641843,729,709,695,653.416320921,934,799,835,670,657,676,0.439972176896,-0.0054220983356,0.0597099017367,0.999999867617,0.000203278244463,-0.000471795403072,2.9201678214e-05,1793256504172968448
+313,5.216666667,POSE2_TO_POSE3_RETREAT,793,746,729,709,695,654,934,799.01139085,835,669.98860915,657,676,0.439232969232,-0.00541881158311,0.059748824788,0.999999892926,0.000201797949055,-0.000414951286818,3.52187665899e-05,1793256504189635072
+314,5.233333333,POSE2_TO_POSE3_RETREAT,793,746,729,709,695,654,934,799.586369205,835,669.413630795,657,676,0.438492664055,-0.005410129246,0.0598050494062,0.999999926896,0.000210397581397,-0.000316783269347,3.98638421665e-05,1793256504206301696
+315,5.250000000,POSE2_TO_POSE3_RETREAT,792.838137233,746.161862767,729,709,695.161862767,654,934,800,835,669,657,676,0.43770589449,-0.00540394453606,0.0598354373684,0.999999942671,0.000205832932914,-0.000266419727022,3.62081991278e-05,1793256504222968064
+316,5.266666667,POSE2_TO_POSE3_RETREAT,792.26132292,746.73867708,729,709,695.73867708,654,934,800,835,669,657,676,0.436800008817,-0.0054041627461,0.0597995904504,0.999999928577,0.000167520324171,-0.000338607795533,1.12728260766e-05,1793256504239634688
+317,5.283333333,POSE2_TO_POSE3_RETREAT,792.322485466,746.677514534,729,709,696,654,934,800,835,669,657,676,0.435910871076,-0.00541063947935,0.0597673306454,0.999999918379,0.000140144925041,-0.000378941033563,2.13428639689e-06,1793256504256301312
+318,5.300000000,POSE2_TO_POSE3_RETREAT,792.912087046,746.087912954,729,709,696,654,934,800,835,669,657,676,0.435035605766,-0.00542230017457,0.0597380420633,0.99999991538,0.000121828866682,-0.000392888774939,6.08033368792e-06,1793256504272968192
+319,5.316666667,POSE2_TO_POSE3_RETREAT,793,746.492897176,729,709,696,654,934,800.492897176,835,669,657,676,0.43416857667,-0.005420554263,0.0597516015073,0.999999927771,0.000120741756035,-0.000360235111002,1.05071482633e-05,1793256504289635072
+320,5.333333333,POSE2_TO_POSE3_RETREAT,793,747,728.927987882,709,696,654,934,801,835,669,657,676.072012118,0.433298024579,-0.00541601719704,0.0597710605256,0.999999939014,0.000128614490587,-0.000324361417698,1.48091928125e-05,1793256504306301952
+321,5.350000000,POSE2_TO_POSE3_RETREAT,793,747,728.349959757,709,696,654,934,801,835,669,657,676.650040243,0.432392575916,-0.00540837526554,0.0597792143603,0.999999931718,0.000178231763255,-0.000323243271641,1.76425119795e-05,1793256504322968576
+322,5.366666667,POSE2_TO_POSE3_RETREAT,793,747,728.227215826,709,696.227215826,654,934,801.227215826,835,669,657,676.772784174,0.431500843477,-0.00540469986327,0.0597966076921,0.999999935118,0.000198106077166,-0.000300192841253,2.00632710475e-05,1793256504339634944
+323,5.383333333,POSE2_TO_POSE3_RETREAT,793,747,728.803083314,709,696.803083314,654,934,801.803083314,835,669,657,676.196916686,0.430630157782,-0.00540711090649,0.059828178585,0.999999955267,0.000172341271467,-0.000243488384604,2.18509770928e-05,1793256504356301568
+324,5.400000000,POSE2_TO_POSE3_RETREAT,793,747.387151387,728.612848613,709,697,654,934,801.612848613,835,669,657,676,0.42969223065,-0.00540835711712,0.059825154774,0.999999952684,0.000162454955927,-0.000260215593863,2.29971146972e-05,1793256504372968448
+325,5.416666667,POSE2_TO_POSE3_RETREAT,793,747.975480749,728.024519251,709,697,654,934,801.024519251,835,669,657,676,0.42871936247,-0.00540899803813,0.0598041542917,0.999999937141,0.000160819684072,-0.000315100576686,2.38098698175e-05,1793256504389635072
+326,5.433333333,POSE2_TO_POSE3_RETREAT,793,748,728.555079993,709,696.444920007,654,934,801,835,669,657,676,0.427760489018,-0.00540675082544,0.0597580019028,0.999999913972,0.000167669539008,-0.000378824930459,2.08513936401e-05,1793256504406301696
+327,5.450000000,POSE2_TO_POSE3_RETREAT,793,748.133118122,728.866881878,709,696.133118122,654,934,801.133118122,835,669,657,676,0.426820590127,-0.00540519134351,0.0597283243892,0.999999898759,0.000170726883408,-0.000415912134661,1.87301193155e-05,1793256504422968064
+328,5.466666667,POSE2_TO_POSE3_RETREAT,793,748.707242186,728.292757814,709,696.707242186,654,934,801.707242186,835,669,657,676,0.425941535694,-0.00540632634049,0.0597568500608,0.999999920943,0.000159997576948,-0.000363479831385,1.99257359199e-05,1793256504439634944
+329,5.483333333,POSE2_TO_POSE3_RETREAT,793,748.717039481,728,709,697,654,934,801.717039481,835,669,657,676,0.425054100052,-0.00540633667052,0.0597900407403,0.999999935815,0.000165257090977,-0.000317078907867,2.28312972935e-05,1793256504456301824
+330,5.500000000,POSE2_TO_POSE3_RETREAT,793,748.13966237,728,709,697,654,934,801.13966237,835,669,657,676,0.424157943931,-0.00540517679971,0.0598280852955,0.999999943757,0.00018715275725,-0.00027695355696,2.75160330088e-05,1793256504472968960
+331,5.516666667,POSE2_TO_POSE3_RETREAT,793,748,728,709,697,654,934,801,835,669,657,676,0.42326932841,-0.00540315820015,0.0598455285559,0.999999951362,0.000186275259902,-0.000248497265931,2.87539659332e-05,1793256504489635328
+332,5.533333333,POSE2_TO_POSE3_RETREAT,793,748.037104893,728.037104893,709,697,654,934,801.037104893,835,669,657.037104893,676,0.422380523592,-0.00540087521655,0.0598544749334,0.999999957571,0.00017954133583,-0.000227572270488,2.88633115641e-05,1793256504506301440
+333,5.550000000,POSE2_TO_POSE3_RETREAT,793,748.615038431,728.615038431,709,697,654,934,801.615038431,835,669,657.615038431,676,0.421453891732,-0.00539873233644,0.0598353836345,0.999999946537,0.000193356847883,-0.000262151878756,2.85527291843e-05,1793256504522968320
+334,5.566666667,POSE2_TO_POSE3_RETREAT,793,749,728.808142048,709,697,654.191857952,934,802,835,669,657.808142048,676,0.420524972917,-0.00539590148161,0.0598008431016,0.999999928556,0.000198423318895,-0.000320596879337,2.70952549698e-05,1793256504539634944
+335,5.583333333,POSE2_TO_POSE3_RETREAT,793,749,728.233544787,709,697,654.766455213,934,802,835,669,657.233544787,676,0.419591491663,-0.00539169817891,0.0597354827371,0.999999891407,0.000186036243648,-0.000426651189431,2.33498347964e-05,1793256504556301568
+336,5.600000000,POSE2_TO_POSE3_RETREAT,793,749,728.349646863,709,697,655,934,802,835,669,657,676,0.418718068569,-0.00539162448272,0.0597187147545,0.999999883635,0.00018674739471,-0.000444293557588,2.14132431921e-05,1793256504572968448
+337,5.616666667,POSE2_TO_POSE3_RETREAT,793,749,728.938723717,709,697,655,934,802,835,669,657,676,0.417885771952,-0.0053943786447,0.0597352217019,0.999999899935,0.000196427906117,-0.000401393492178,2.07152953795e-05,1793256504589635328
+338,5.633333333,POSE2_TO_POSE3_RETREAT,793,748.481696526,729,709,697,654.481696526,934,802,835,669,657,676,0.41709452944,-0.00539383745023,0.0597794720414,0.999999922013,0.000199974587235,-0.000339646301459,2.49800091331e-05,1793256504606302208
+339,5.650000000,POSE2_TO_POSE3_RETREAT,793,748.096542417,728.903457583,708.903457583,697,654,934,802,835,669,657.096542417,676,0.416307056646,-0.00539298191908,0.0598211757527,0.99999993848,0.000200781234041,-0.000286131131173,2.92657002089e-05,1793256504622968832
+340,5.666666667,POSE2_TO_POSE3_RETREAT,793,748.673595645,728.326404355,708.326404355,697,654,934,802,835,669,657.673595645,676,0.415514623801,-0.00539246606034,0.0598341731476,0.999999940727,0.000191494560551,-0.000284478993065,3.07881758326e-05,1793256504639635200
+341,5.683333333,POSE2_TO_POSE3_RETREAT,793.249705017,749,728,708,697,654,934,802,835,669,658,676,0.414739089056,-0.00539248704322,0.0598410034435,0.999999941028,0.000196937150283,-0.00027959794283,3.13913481149e-05,1793256504656301824
+342,5.700000000,POSE2_TO_POSE3_RETREAT,793.82458522,749,728,708,697,654,934,802,835,669,658,676,0.413985559711,-0.00539320712133,0.0598398027118,0.999999938393,0.000221560736503,-0.000270512082828,3.0797369173e-05,1793256504672968448
+343,5.716666667,POSE2_TO_POSE3_RETREAT,793.591961244,749,728,708,697,654,934,802.408038756,835,669,657.591961244,676,0.413206421816,-0.00539150219893,0.0598214560848,0.999999929517,0.000219108934113,-0.000303377286308,3.0314281178e-05,1793256504689635072
+344,5.733333333,POSE2_TO_POSE3_RETREAT,793.004742904,749,728,708,697,654,934,802.995257096,835,669,657.004742904,676,0.41241603853,-0.00538873240084,0.0597955802847,0.999999915695,0.000204767682147,-0.000354664204452,2.9879887934e-05,1793256504706301696
+345,5.750000000,POSE2_TO_POSE3_RETREAT,793.577565225,749,728,708.577565225,697,654.577565225,934.577565225,803,835,668.422434775,657.577565225,676,0.4116759528,-0.00538510677138,0.0597552919956,0.999999891289,0.000215156490335,-0.000412803609649,2.68759931257e-05,1793256504722968576
+346,5.766666667,POSE2_TO_POSE3_RETREAT,794,749,728,709,697,655,934.842492672,802.842492672,835,668,657.842492672,676,0.410973494147,-0.00538296409671,0.0597363549805,0.999999879728,0.000223311535936,-0.000435946846321,2.50369362384e-05,1793256504739635456
+347,5.783333333,POSE2_TO_POSE3_RETREAT,794,749,728,709,697,655,934.268698108,802.268698108,835,668,657.268698108,676,0.410369400141,-0.00538475924534,0.0597741589148,0.999999907192,0.000225030604595,-0.000366448781786,2.63318090149e-05,1793256504756302848
+348,5.800000000,POSE2_TO_POSE3_RETREAT,794,749,728,709,697.305764473,655,934.305764473,802,835,668.305764473,657.305764473,676,0.409776043477,-0.00538609445066,0.059812651574,0.999999929536,0.000218119818391,-0.000304230181398,2.82000788549e-05,1793256504772969728
+349,5.816666667,POSE2_TO_POSE3_RETREAT,794,749,728,709,697.880815343,655,934.880815343,802,835,668.880815343,657.880815343,676,0.409192143213,-0.00538702458438,0.0598517507899,0.999999947947,0.000203608729653,-0.000248422600591,3.05733387197e-05,1793256504789635840
+350,5.833333333,POSE2_TO_POSE3_RETREAT,794,749,728,709,697.532019471,655,935,802.467980529,835,668.532019471,658,676,0.408598800648,-0.00538396503461,0.0598613141685,0.999999946172,0.000226474279243,-0.000235299130849,3.16270844082e-05,1793256504806302464
+351,5.850000000,POSE2_TO_POSE3_RETREAT,794,749,728,709,697,655,935,802.942763964,835,668.057236036,657.942763964,676,0.40800658998,-0.00538026628158,0.059861135802,0.999999939105,0.000254751743924,-0.000236351202022,3.21020942596e-05,1793256504822969088
+352,5.866666667,POSE2_TO_POSE3_RETREAT,794,749,728,709,697,655,935,802.363333762,835,668.636666238,657.363333762,676,0.407447229001,-0.00538025238875,0.0598425306452,0.99999993486,0.000243249943381,-0.000264919142211,3.04444504206e-05,1793256504839635456
+353,5.883333333,POSE2_TO_POSE3_RETREAT,794,749,728,708.785416545,697.214583455,655,934.785416545,802.214583455,835,669,657,676,0.406912990173,-0.00538141638058,0.0598296900914,0.999999932361,0.000233705956572,-0.000282459793046,2.96041481682e-05,1793256504856302080
+354,5.900000000,POSE2_TO_POSE3_RETREAT,794,749,728,708.210043242,697.789956758,655,934.210043242,802.789956758,835,669,657,676,0.406420990525,-0.00538456080855,0.0598265418535,0.999999934068,0.000227453740945,-0.00028145971068,3.01380832275e-05,1793256504872969472
+355,5.916666667,POSE2_TO_POSE3_RETREAT,794,749,728,708.372463495,697.627536505,655,934,803,835,668.627536505,657,676,0.4059633954,-0.00538298048978,0.0598291257353,0.999999935111,0.000230765331212,-0.000274931333166,3.06275945429e-05,1793256504889636352
+356,5.933333333,POSE2_TO_POSE3_RETREAT,794,749,728,708.959071591,697.040928409,655,934,803,835,668.040928409,657,676,0.405525580805,-0.00537868371983,0.0598350052484,0.999999935646,0.00023957554671,-0.000265224510982,3.1091564865e-05,1793256504906302720
+357,5.950000000,POSE2_TO_POSE3_RETREAT,793.46091983,749,728,708.46091983,697,655,934,802.46091983,835,668.53908017,657,676,0.405088361504,-0.00537332531024,0.0598236128948,0.999999929901,0.000249462337763,-0.000277523233684,3.0772320757e-05,1793256504922969344
+358,5.966666667,POSE2_TO_POSE3_RETREAT,793.118282827,749,728,708.118282827,697,655,934,802.118282827,834.881717173,668.881717173,657,676,0.40465828785,-0.00536845676582,0.0598083869994,0.99999992199,0.000257621198849,-0.000297875297676,3.03505833865e-05,1793256504939635456
+359,5.983333333,POSE2_TO_POSE3_RETREAT,793.696277215,749,728,708.696277215,697,655,934,802.696277215,834.303722785,668.303722785,657,676,0.404255812412,-0.00536580157967,0.0597832967576,0.999999907218,0.000258750554117,-0.000343112244018,2.97588146342e-05,1793256504956301824
+360,6.000000000,POSE2_TO_POSE3_RETREAT,794,749,728,709,697,655,934,803,834,668,657,676,0.40389426392,-0.00536166850995,0.059770143517,0.999999899171,0.000262501393637,-0.000363154578903,2.94771988626e-05,1793256504972968448
+361,6.016666667,POSE2_TO_POSE3_RETREAT,794,749,728,709,697,655,934,803,834,668,657,676,0.403578037114,-0.00535589886241,0.0597702090683,0.999999900224,0.000269155211447,-0.000355296915324,2.95390402292e-05,1793256504989634816
+362,6.033333333,POSE2_TO_POSE3_RETREAT,794,749,728,708.566983294,697,655,934.433016706,803,834.433016706,668,657.433016706,676,0.403312379073,-0.00535349851373,0.0597876459418,0.999999909351,0.000273897443564,-0.000324488632116,3.13969931621e-05,1793256505006301440
+363,6.050000000,POSE2_TO_POSE3_RETREAT,794,749,728,708,697,655,934.979159675,803,834.979159675,668,657.979159675,676,0.40306546403,-0.00535249167727,0.0598112227433,0.999999920061,0.000277732103918,-0.000285645522993,3.39073475405e-05,1793256505022968064
+364,6.066666667,POSE2_TO_POSE3_RETREAT,794,749,728,708,697,655,934.400896899,803,834.400896899,668,657.400896899,676,0.402835199513,-0.00535646464488,0.0598325314415,0.99999992963,0.000275613183709,-0.000251861631666,3.66529352857e-05,1793256505039634944
+365,6.083333333,POSE2_TO_POSE3_RETREAT,794,749.176901272,728,708,697.176901272,655,934,803,834.176901272,668,657,676,0.402607787921,-0.00536056014726,0.0598464286153,0.999999935509,0.00027165851201,-0.000231694959659,3.87346303215e-05,1793256505056301824
+366,6.100000000,POSE2_TO_POSE3_RETREAT,794,749.753649231,728,708,697.753649231,655,934,803,834.753649231,668,657,676,0.402386824771,-0.00536493261222,0.0598435736543,0.99999993514,0.000263554525901,-0.000242307042691,3.93157406029e-05,1793256505072968448
+367,6.116666667,POSE2_TO_POSE3_RETREAT,794,749.670424864,728,708.329575136,698,655,934,803,835,668,657,676,0.402182369539,-0.00536947177742,0.0598386740908,0.999999934326,0.000254431870482,-0.000255022943365,3.97066781198e-05,1793256505089635328
+368,6.133333333,POSE2_TO_POSE3_RETREAT,794,749.09511184,728,708.90488816,698,655,934,803,835,668,657,676,0.401990222923,-0.00537413523816,0.0598322500301,0.999999933036,0.000244549673736,-0.000269307494107,3.99558190313e-05,1793256505106301952
+369,6.150000000,POSE2_TO_POSE3_RETREAT,794,749,728,708.507066537,698,655,934,803,835,668,657.492933463,676,0.401837749794,-0.00537617110647,0.0598309854547,0.999999944529,0.000183707341887,-0.000276697056652,2.51541447337e-05,1793256505122968576
+370,6.166666667,POSE2_TO_POSE3_RETREAT,794,749,728,708,697.918569901,655,934,803,835,668,658,676,0.401696937142,-0.00537783947721,0.0598310290794,0.999999952886,0.000123406226832,-0.000280884838435,1.01419512447e-05,1793256505139634944
+371,6.183333333,POSE2_TO_POSE3_RETREAT,794,749,728,708,697.342646396,655,934,803,835,668,658,676,0.401579215424,-0.00538043659908,0.0598328111593,0.99999995426,0.000127685616649,-0.000273922625066,1.19541982639e-05,1793256505156301568
+372,6.200000000,POSE2_TO_POSE3_RETREAT,794,749,728,708,697,655,934,803,835,668,658,676,0.401472714181,-0.00538110102626,0.0598348585948,0.999999950524,0.000163136652033,-0.000268619332063,1.35067667739e-05,1793256505172968448
+373,6.216666667,POSE2_TO_POSE3_RETREAT,794,749,728,708,697,655,934,803,835,668,658,676,0.40138269401,-0.00537892663722,0.0598372957944,0.999999934721,0.000244373794855,-0.000265752724094,1.46779093631e-05,1793256505189635328
+374,6.233333333,POSE2_TO_POSE3_RETREAT,794,749.389494823,728,708.389494823,697,655,934,803,835,668.389494823,658,676,0.401303704799,-0.00537746773604,0.0598370328124,0.999999927117,0.000272678204114,-0.000266773164674,1.5619780818e-05,1793256505206301952
+375,6.250000000,POSE2_TO_POSE3_RETREAT,794,749.984679831,728,708.984679831,697,655,934,803,835,668.984679831,658,676,0.401230540985,-0.00537638668034,0.0598353438784,0.999999926184,0.000273029110836,-0.000269846336036,1.64405753803e-05,1793256505222968576
+376,6.266666667,POSE2_TO_POSE3_RETREAT,794,749.435696728,728,708.435696728,697.564303272,655,934,803,835,669,658,676,0.401171625108,-0.00537550809774,0.0598325829676,0.999999924478,0.000273524513099,-0.00027555578486,1.7271818804e-05,1793256505239635200
+377,6.283333333,POSE2_TO_POSE3_RETREAT,794,749,728,708,697.857310753,655,934,803,835,668.857310753,658,676,0.40111798392,-0.00537433967818,0.0598301399187,0.9999999229,0.000274194692093,-0.000280537751441,1.77872839531e-05,1793256505256301568
+378,6.300000000,POSE2_TO_POSE3_RETREAT,794,749,728,708,697.281433516,655,934,803,835,668.281433516,658,676,0.401079213275,-0.00537227510735,0.0598287478442,0.999999921859,0.000275383883079,-0.000283099712699,1.73432446679e-05,1793256505272968192
+379,6.316666667,POSE2_TO_POSE3_RETREAT,794,749,728,708,697,655,934,803,835,668.292871404,657.707128596,676,0.401048779821,-0.00537176627487,0.0598288866957,0.99999992211,0.000275014276986,-0.000282558723401,1.75255580332e-05,1793256505289634816
+380,6.333333333,POSE2_TO_POSE3_RETREAT,794,749,728,708,697,655,934,803,835,668.865673547,657.134326453,676,0.401026315172,-0.00537274443942,0.0598304888283,0.999999923591,0.00027315475016,-0.000279051889227,1.83065482997e-05,1793256505306301440
+381,6.350000000,POSE2_TO_POSE3_RETREAT,794,749,728,708.453948575,697.453948575,655,934,803,834.546051425,668.546051425,657.453948575,676,0.401011120618,-0.00537234124689,0.05983200583,0.999999924227,0.000273722126051,-0.00027619038091,1.84426113683e-05,1793256505322968576
+382,6.366666667,POSE2_TO_POSE3_RETREAT,794,749.045810028,728,708.954189972,698,655,934,803,834.045810028,668,658,676,0.400998473611,-0.00537152570873,0.0598333202667,0.999999924546,0.000274925481401,-0.000273834991819,1.83881544272e-05,1793256505339635200
+383,6.383333333,POSE2_TO_POSE3_RETREAT,794,749.624258041,728,708.375741959,698,655,934,803,834.624258041,668,658,676,0.400989551497,-0.00537083610669,0.0598325826931,0.999999924221,0.000274878935534,-0.000275065684632,1.84156986704e-05,1793256505356301824
+384,6.400000000,POSE2_TO_POSE3_RETREAT,794,750,728,708.201489205,698,655,934.201489205,803,835,668,658,676,0.400983048658,-0.00537038886297,0.0598329637163,0.999999924254,0.000275096349995,-0.000274718688911,1.85114635708e-05,1793256505372968192
+385,6.416666667,POSE2_TO_POSE3_RETREAT,794,750,728,708.776464748,698,655,934.776464748,803,835,668,658,676,0.400981030262,-0.00537039086182,0.0598354182037,0.999999924949,0.000275803049113,-0.000271447243076,1.87336842932e-05,1793256505389634816
+386,6.433333333,POSE2_TO_POSE3_RETREAT,794,749.640611636,728,709,698,655,934.640611636,803,835,668.359388364,658,676,0.400980811141,-0.00537082580397,0.0598373588274,0.999999926294,0.000274426924303,-0.000267860170822,1.87821026869e-05,1793256505406301440
+387,6.450000000,POSE2_TO_POSE3_RETREAT,794,749.052632634,728,709,698,655,934.052632634,803,835,668.947367366,658,676,0.400981736458,-0.00537153612172,0.0598389726055,0.99999992804,0.000271726009629,-0.000264072343038,1.87199732934e-05,1793256505422968064
+388,6.466666667,POSE2_TO_POSE3_RETREAT,794,749,728,708.47229347,698,655,934,803,835,669,657.47229347,676,0.400981442764,-0.00537111345675,0.0598397338952,0.999999927851,0.000273294839192,-0.00026314549727,1.90340847833e-05,1793256505439634944
+389,6.483333333,POSE2_TO_POSE3_RETREAT,794,749,728,708.106714645,698,655,934,803,835,668.893285355,657,676,0.400980942043,-0.00537080612793,0.0598404453124,0.99999992755,0.000274946026037,-0.000262546044151,1.93410528895e-05,1793256505456301824
+390,6.500000000,POSE2_TO_POSE3_RETREAT,794,749,728,708.683169805,698,655,934,803,835,668.316830195,657,676,0.400980057572,-0.00537149680793,0.0598413061284,0.999999927606,0.000275111930853,-0.000262149581541,1.94537522057e-05,1793256505472968960
+391,6.516666667,POSE2_TO_POSE3_RETREAT,794,749,728,708.741327633,698,655,934,803,835,668,657,676,0.400978476505,-0.00537179560669,0.0598411676027,0.999999927555,0.000274513935074,-0.00026297572745,1.94078820267e-05,1793256505489635584
+392,6.533333333,POSE2_TO_POSE3_RETREAT,794,749,728,708.166987487,698,655,934,803,835,668,657,676,0.400976045355,-0.00537161617788,0.0598398095423,0.999999927366,0.000272983722209,-0.000265293869227,1.91685034442e-05,1793256505506302208
+393,6.550000000,POSE2_TO_POSE3_RETREAT,793.580646117,749.419353883,728,708.419353883,698,655,934,803,835,668,657,676,0.400976147677,-0.00537181838476,0.0598401770308,0.999999927531,0.000273338726947,-0.000264298803512,1.92187024352e-05,1793256505522968320
+394,6.566666667,POSE2_TO_POSE3_RETREAT,793.020591063,749.989704468,728,708.989704468,698,655,934,803,835,668.010295532,657,676,0.400977257949,-0.00537216737162,0.0598412250237,0.99999992783,0.000274447452986,-0.000261999407742,1.93880469173e-05,1793256505539634688
+395,6.583333333,POSE2_TO_POSE3_RETREAT,794.167532573,749.416233713,728,708.416233713,698,655,934,803,835,668.583766287,657,676,0.400976694151,-0.00537198766044,0.0598408039726,0.999999927638,0.000274511806026,-0.000262646447,1.95813484064e-05,1793256505556301312
+396,6.600000000,POSE2_TO_POSE3_RETREAT,794.840592105,749.159407895,728,708.159407895,697.840592105,655,934.159407895,803,835,668.840592105,657,676,0.40097634613,-0.00537181128884,0.0598407711057,0.999999927633,0.000274358495281,-0.000262829490455,1.95462151875e-05,1793256505572968192
+397,6.616666667,POSE2_TO_POSE3_RETREAT,794.259203905,749.740796095,728,708.740796095,697.259203905,655,934.740796095,803,835,668.259203905,657,676,0.400976569305,-0.00537164375771,0.0598417658295,0.999999928119,0.000273628990795,-0.000261784256621,1.89063757242e-05,1793256505589634816
+398,6.633333333,POSE2_TO_POSE3_RETREAT,794,749.675059829,728,708.675059829,697,655,934.675059829,803,834.675059829,668.324940171,657,676,0.400977359345,-0.00537226555274,0.0598425128197,0.999999928965,0.00027179626624,-0.000260457540311,1.89491016514e-05,1793256505606301952
+399,6.650000000,POSE2_TO_POSE3_RETREAT,794,749.088698623,728,708.088698623,697,655,934.088698623,803,834.088698623,668.911301377,657,676,0.400978605441,-0.00537352237687,0.059843060503,0.999999930092,0.000269075978535,-0.000258904365623,1.95409654714e-05,1793256505622969088
+400,6.666666667,POSE2_TO_POSE3_RETREAT,794,749,728,708,697.492029032,655,934,803,834.492029032,668.507970968,657,676,0.400977537243,-0.00537183212849,0.0598425394257,0.999999928834,0.000272630309799,-0.000260047510216,1.94886462673e-05,1793256505639635456
+401,6.683333333,POSE2_TO_POSE3_RETREAT,794,749,728,708,697.928492527,655,934,803,835,668,657,676,0.400976466097,-0.00537011508651,0.0598421242401,0.999999927511,0.00027641603891,-0.000261146065012,1.93572998088e-05,1793256505656301568
+402,6.700000000,POSE2_TO_POSE3_RETREAT,794,749,728,708,697.350749871,655,934,803,835,668,657,676,0.400978294191,-0.00537192691081,0.0598438072515,0.999999928875,0.000273922767247,-0.000258526791733,1.94792978259e-05,1793256505672968192
+403,6.716666667,POSE2_TO_POSE3_RETREAT,794,749.22621168,728,708.22621168,697.22621168,655,934.22621168,803,835,668.22621168,657,676,0.400978496325,-0.00537277187455,0.0598441958115,0.9999999294,0.000272393459359,-0.000258106288742,1.95527704026e-05,1793256505689634816
+404,6.733333333,POSE2_TO_POSE3_RETREAT,794,749.801966352,728,708.801966352,697.801966352,655,934.801966352,803,835,668.801966352,657,676,0.40097618602,-0.00537212284261,0.0598425841815,0.999999928638,0.000272353670917,-0.000261083332041,1.95512613363e-05,1793256505706301696
+405,6.750000000,POSE2_TO_POSE3_RETREAT,794,750,728,708.624219326,698,655,934.624219326,803,834.624219326,668.624219326,657.375780674,676,0.400975489418,-0.00537133328502,0.059842254396,0.999999928285,0.000272898133638,-0.00026188844328,1.92870214572e-05,1793256505722968320
+406,6.766666667,POSE2_TO_POSE3_RETREAT,794,750,728,708.051422336,698,655,934.051422336,803,834.051422336,668.051422336,657.948577664,676,0.400975638856,-0.00537047005192,0.0598425966629,0.999999928147,0.000273748910708,-0.000261554842101,1.8885035652e-05,1793256505739634944
diff --git a/Part2/Obstacle_avoidance/cylinder_PLA_10/position_01/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_PLA_10/position_01/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..958144a7b97d00c3450e9053612e7b6c72f851da
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_PLA_10/position_01/depth_03/simulation_data.csv
@@ -0,0 +1,408 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+1,0.016666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+2,0.033333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+3,0.050000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+4,0.066666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+5,0.083333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+6,0.100000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+7,0.116666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+8,0.133333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+9,0.150000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+10,0.166666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+11,0.183333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+12,0.200000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+13,0.216666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+14,0.233333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+15,0.250000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+16,0.266666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+17,0.283333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+18,0.300000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+19,0.316666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+20,0.333333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+21,0.350000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+22,0.366666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+23,0.383333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+24,0.400000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+25,0.416666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+26,0.433333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+27,0.450000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+28,0.466666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+29,0.483333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+30,0.500000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+31,0.516666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+32,0.533333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+33,0.550000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+34,0.566666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+35,0.583333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+36,0.600000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+37,0.616666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+38,0.633333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+39,0.650000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+40,0.666666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+41,0.683333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+42,0.700000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+43,0.716666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+44,0.733333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+45,0.750000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+46,0.766666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+47,0.783333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+48,0.800000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+49,0.816666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+50,0.833333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+51,0.850000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+52,0.866666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+53,0.883333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+54,0.900000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+55,0.916666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+56,0.933333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+57,0.950000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+58,0.966666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+59,0.983333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+60,1.000000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+61,1.016666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+62,1.033333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+63,1.050000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+64,1.066666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+65,1.083333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+66,1.100000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+67,1.116666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+68,1.133333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+69,1.150000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+70,1.166666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+71,1.183333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+72,1.200000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+73,1.216666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+74,1.233333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+75,1.250000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+76,1.266666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+77,1.283333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+78,1.300000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+79,1.316666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+80,1.333333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+81,1.350000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+82,1.366666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+83,1.383333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+84,1.400000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+85,1.416666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+86,1.433333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+87,1.450000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+88,1.466666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+89,1.483333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+90,1.500000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+91,1.516666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+92,1.533333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+93,1.550000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+94,1.566666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+95,1.583333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+96,1.600000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+97,1.616666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+98,1.633333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+99,1.650000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+100,1.666666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+101,1.683333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+102,1.700000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+103,1.716666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+104,1.733333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+105,1.750000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+106,1.766666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+107,1.783333333,pose1_to_pose2_press,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+108,1.800000000,pose1_to_pose2_press,0.575666854907,0.0001817237912,1.05002043723,0.546238003887,0.00885596591468,1.04969214617
+109,1.816666667,pose1_to_pose2_press,0.575666942164,0.000181734455588,1.05002050277,0.54623809076,0.00885597507377,1.04969220627
+110,1.833333333,pose1_to_pose2_press,0.575667140146,0.000181739030325,1.0500205648,0.546238288064,0.00885597718286,1.04969226395
+111,1.850000000,pose1_to_pose2_press,0.575667338254,0.000181725796512,1.05002054819,0.546238485667,0.00885596234399,1.04969225024
+112,1.866666667,pose1_to_pose2_press,0.575667532643,0.000181725611163,1.05002052747,0.546238679722,0.00885596110339,1.04969223161
+113,1.883333333,pose1_to_pose2_press,0.575667665162,0.000181732413864,1.05002051095,0.5462388121,0.00885596746803,1.04969221612
+114,1.900000000,pose1_to_pose2_press,0.575668301197,0.000181765064065,1.05002043169,0.546239447461,0.00885599801571,1.04969214175
+115,1.916666667,pose1_to_pose2_press,0.575670955592,0.000181715201612,1.05002039197,0.546242103758,0.00885595468396,1.04969210404
+116,1.933333333,pose1_to_pose2_press,0.575678436292,0.000181790639892,1.05002044411,0.546249584142,0.00885602885375,1.04969215097
+117,1.950000000,pose1_to_pose2_press,0.575692412007,0.00018183547895,1.05002052172,0.546263558583,0.00885606944793,1.04969223055
+118,1.966666667,pose1_to_pose2_press,0.575716510461,0.000181701208103,1.05002041099,0.546287659135,0.00885594203524,1.0496921128
+119,1.983333333,pose1_to_pose2_press,0.575751191377,0.000181727074215,1.05002040705,0.546322339282,0.00885596549254,1.04969211407
+120,2.000000000,pose1_to_pose2_press,0.575797996315,0.00018171355643,1.0500204491,0.546369144444,0.00885595263209,1.04969215337
+121,2.016666667,pose1_to_pose2_press,0.575855044885,0.000181795057195,1.05002057876,0.546426192644,0.00885603265345,1.04969227711
+122,2.033333333,pose1_to_pose2_press,0.575922135688,0.000181775956764,1.05002067026,0.546493284106,0.00885601577677,1.04969236816
+123,2.050000000,pose1_to_pose2_press,0.575999315117,0.000181847631655,1.05002053499,0.546570462534,0.00885608437003,1.04969224106
+124,2.066666667,pose1_to_pose2_press,0.576086246548,0.000181689083036,1.05002053409,0.546657396316,0.00885593379514,1.04969224012
+125,2.083333333,pose1_to_pose2_press,0.576182284684,0.000181801274155,1.05002053593,0.546753432836,0.00885604071857,1.04969224745
+126,2.100000000,pose1_to_pose2_press,0.576288041495,0.000181772713417,1.05002064761,0.546859189921,0.00885601290868,1.0496923546
+127,2.116666667,pose1_to_pose2_press,0.576405499607,0.00018178079366,1.05002054919,0.546976647149,0.00885601787787,1.04969225311
+128,2.133333333,pose1_to_pose2_press,0.576536472615,0.000181752279012,1.05002041735,0.547107621804,0.00885599516132,1.04969212679
+129,2.150000000,pose1_to_pose2_press,0.576683066644,0.000181676579201,1.05002057616,0.547254215225,0.00885591742012,1.04969228614
+130,2.166666667,pose1_to_pose2_press,0.576848815303,0.000181647375016,1.0500205414,0.547419964367,0.00885588997834,1.04969225461
+131,2.183333333,pose1_to_pose2_press,0.57703292837,0.000181653570273,1.05002042692,0.547604077268,0.00885589563582,1.04969214078
+132,2.200000000,pose1_to_pose2_press,0.577234668415,0.000181759341597,1.05002046216,0.547805816405,0.0088559981589,1.0496921714
+133,2.216666667,pose1_to_pose2_press,0.577451121558,0.000181814344664,1.05002052707,0.548022269746,0.00885605382935,1.04969223617
+134,2.233333333,pose1_to_pose2_press,0.577681941323,0.000181786600649,1.05002051184,0.548253089933,0.00885602767476,1.04969222508
+135,2.250000000,pose1_to_pose2_press,0.577927467169,0.000181818656341,1.05002050321,0.548498614715,0.00885605596365,1.0496922123
+136,2.266666667,pose1_to_pose2_press,0.578188568811,0.000181752123395,1.05002045976,0.548759716672,0.00885599013724,1.04969215926
+137,2.283333333,pose1_to_pose2_press,0.578468827797,0.000181852942183,1.05002050894,0.549039975221,0.00885608989668,1.04969221952
+138,2.300000000,pose1_to_pose2_press,0.578769957792,0.00018187365394,1.05002055478,0.549341103514,0.008856104515,1.04969225682
+139,2.316666667,pose1_to_pose2_press,0.579098010135,0.000181765538758,1.05002054121,0.549669156839,0.00885599981497,1.04969224552
+140,2.333333333,pose1_to_pose2_press,0.579454583814,0.000181742312181,1.05002060843,0.550025731857,0.00885598123533,1.0496923154
+141,2.350000000,pose1_to_pose2_press,0.579843334677,0.000181757458878,1.05002065207,0.550414483102,0.00885599762628,1.04969235763
+142,2.366666667,pose1_to_pose2_press,0.580260973213,0.000181730525759,1.0500207204,0.550832121829,0.00885597134094,1.04969242596
+143,2.383333333,pose1_to_pose2_press,0.58070350494,0.000181740936893,1.05002071589,0.551274653678,0.00885598216652,1.0496924214
+144,2.400000000,pose1_to_pose2_press,0.581158801765,0.000181752094114,1.05002059319,0.551729950774,0.00885599432528,1.04969230083
+145,2.416666667,pose1_to_pose2_press,0.581623885979,0.00018171681056,1.05002053356,0.552195035595,0.00885596107037,1.04969224038
+146,2.433333333,pose1_to_pose2_press,0.582099130408,0.000181781029499,1.05002054135,0.552670279023,0.00885602183327,1.04969224648
+147,2.450000000,pose1_to_pose2_press,0.582592156049,0.00018191988461,1.0500205213,0.553163302272,0.00885615291898,1.04969223556
+148,2.466666667,pose1_to_pose2_press,0.583107651004,0.000181682684005,1.05002064544,0.553678800378,0.00885592605495,1.04969235029
+149,2.483333333,pose1_to_pose2_press,0.583649260218,0.000181758751525,1.0500205278,0.554220408085,0.00885599712881,1.04969223587
+150,2.500000000,pose1_to_pose2_press,0.584211882681,0.000181742118677,1.05002057537,0.55478303133,0.00885598272941,1.04969227224
+151,2.516666667,pose1_to_pose2_press,0.584785864195,0.000181610008451,1.05002054362,0.555357012384,0.00885584931612,1.04969224737
+152,2.533333333,pose1_to_pose2_press,0.585369522519,0.000181722332011,1.0500207324,0.55594067195,0.0088559658414,1.0496924358
+153,2.550000000,pose1_to_pose2_press,0.585965682548,0.000181744206554,1.05002078554,0.556536831976,0.00885598777061,1.04969249071
+154,2.566666667,pose1_to_pose2_press,0.586588801755,0.000181820199083,1.05002059159,0.557159949401,0.00885605769886,1.04969229617
+155,2.583333333,pose1_to_pose2_press,0.587243535749,0.000181904275638,1.05002053803,0.557814681998,0.00885613703912,1.04969224268
+156,2.600000000,pose1_to_pose2_press,0.587924055709,0.000181800670207,1.05002049077,0.558495202892,0.00885603684338,1.04969220184
+157,2.616666667,pose1_to_pose2_press,0.588623269285,0.000181662227261,1.0500203002,0.559194418019,0.00885590381915,1.04969201539
+158,2.633333333,pose1_to_pose2_press,0.589335768563,0.000181712204062,1.05002043531,0.559906917235,0.00885595336014,1.04969214461
+159,2.650000000,pose1_to_pose2_press,0.590045171167,0.000181751159136,1.05002054842,0.560616319308,0.00885599028517,1.04969225162
+160,2.666666667,pose1_to_pose2_press,0.59074703922,0.000181791079457,1.050020566,0.561318186677,0.00885602767802,1.04969226381
+161,2.683333333,pose1_to_pose2_press,0.591447383672,0.000181834251779,1.05002054411,0.562018531374,0.00885607186127,1.04969224668
+162,2.700000000,pose1_to_pose2_press,0.592148245595,0.000181701843505,1.05002055174,0.562719395211,0.0088559459502,1.04969225441
+163,2.716666667,pose1_to_pose2_press,0.592870393225,0.000181646640981,1.05002044259,0.563441541494,0.00885588627942,1.049692148
+164,2.733333333,pose1_to_pose2_press,0.593616505479,0.000181717544285,1.05002049909,0.564187654389,0.00885595938255,1.04969220522
+165,2.750000000,pose1_to_pose2_press,0.594389031681,0.000181796881347,1.05002054238,0.564960180557,0.00885603854932,1.04969224705
+166,2.766666667,pose1_to_pose2_press,0.595182532541,0.000181884990625,1.05002051158,0.565753679889,0.00885612173912,1.0496922233
+167,2.783333333,pose1_to_pose2_press,0.595990837823,0.000181865816547,1.05002050583,0.566561985574,0.00885610397824,1.04969221879
+168,2.800000000,pose1_to_pose2_press,0.59678901862,0.00018175367306,1.05002058382,0.567360167619,0.0088559958969,1.04969229224
+169,2.816666667,pose1_to_pose2_press,0.597572646475,0.000181729960477,1.05002065364,0.56814379565,0.00885597267612,1.0496923594
+170,2.833333333,pose1_to_pose2_press,0.598332571938,0.000181717056398,1.0500205152,0.568903721056,0.00885595968794,1.04969222388
+171,2.850000000,pose1_to_pose2_press,0.599083968401,0.000181671804963,1.05002026287,0.569655116849,0.00885591231295,1.04969197545
+172,2.866666667,pose1_to_pose2_press,0.599835612358,0.000181819015957,1.05002037445,0.570406759225,0.00885605367797,1.04969207446
+173,2.883333333,pose1_to_pose2_press,0.600593984513,0.000181646323609,1.05002062464,0.571165134879,0.00885589314389,1.04969233222
+174,2.900000000,pose1_to_pose2_press,0.60136241617,0.00018178239036,1.05002028577,0.571933563611,0.00885601929671,1.0496919937
+175,2.916666667,pose1_to_pose2_press,0.602139719946,0.000181776387826,1.05002036881,0.572710869089,0.00885601923771,1.04969208132
+176,2.933333333,pose1_to_pose2_press,0.602915371792,0.000181699868044,1.05002051392,0.573486519665,0.00885593822029,1.04969222145
+177,2.950000000,pose1_to_pose2_press,0.603678344979,0.000181813452966,1.05002047042,0.574249491765,0.00885604773697,1.04969216796
+178,2.966666667,pose1_to_pose2_press,0.604418856965,0.000181852844646,1.05002060602,0.574990003177,0.00885608541985,1.04969230997
+179,2.983333333,pose1_to_pose2_press,0.605133298121,0.000181786369802,1.05002068244,0.575704445772,0.00885602365096,1.04969238167
+180,3.000000000,pose1_to_pose2_press,0.605828121645,0.000181811603493,1.05002059777,0.576399269163,0.00885604861659,1.04969230198
+181,3.016666667,pose1_to_pose2_press,0.606508999045,0.000181822417569,1.05002059395,0.577080147145,0.00885606146577,1.0496922998
+182,3.033333333,pose1_to_pose2_press,0.607191467891,0.000181801015969,1.05002068779,0.577762616613,0.00885604189869,1.0496923864
+183,3.050000000,pose1_to_pose2_press,0.607869771426,0.000181848653794,1.0500206902,0.5784409184,0.00885608358256,1.0496923883
+184,3.066666667,pose1_to_pose2_press,0.608536343105,0.000181814216413,1.0500206504,0.579107490402,0.0088560503446,1.04969235136
+185,3.083333333,pose1_to_pose2_press,0.609183755683,0.000181665313626,1.05002056697,0.579754904005,0.00885590496317,1.04969226907
+186,3.100000000,pose1_to_pose2_press,0.60980686256,0.000181839157928,1.05002067703,0.580378007506,0.00885606728148,1.04969237735
+187,3.116666667,pose1_to_pose2_press,0.610395019396,0.000181841625838,1.05002063514,0.580966167142,0.00885607951611,1.04969234253
+188,3.133333333,pose1_to_pose2_press,0.610959535085,0.000181711850869,1.05002038345,0.581530683937,0.00885595323906,1.04969208418
+189,3.150000000,pose1_to_pose2_press,0.611512044582,0.000181820494397,1.05002048453,0.58208319206,0.00885605719602,1.04969218466
+190,3.166666667,pose1_to_pose2_press,0.61205139253,0.000181780738191,1.05002052139,0.58262254057,0.008856019656,1.04969222975
+191,3.183333333,pose1_to_pose2_press,0.612573335319,0.000181699604202,1.05002063253,0.583144484987,0.00885594412086,1.04969234136
+192,3.200000000,pose1_to_pose2_press,0.613077894566,0.000181679827484,1.0500207579,0.583649044522,0.00885592612916,1.04969245897
+193,3.216666667,pose1_to_pose2_press,0.613564156808,0.000181708272509,1.05002061074,0.584135304679,0.00885595039408,1.04969231292
+194,3.233333333,pose1_to_pose2_press,0.614028362157,0.000181893049683,1.05002039358,0.584599506129,0.00885612572418,1.04969210759
+195,3.250000000,pose1_to_pose2_press,0.614479126278,0.000181792097628,1.05002054223,0.585050269606,0.00885602535087,1.0496922484
+196,3.266666667,pose1_to_pose2_press,0.61492054277,0.000181788073212,1.05002028231,0.585491685834,0.00885602464177,1.04969199501
+197,3.283333333,pose1_to_pose2_press,0.615340195674,0.000181734434058,1.05002048462,0.585911337869,0.00885597141438,1.04969219458
+198,3.300000000,pose1_to_pose2_press,0.615732866344,0.000181826157161,1.05002060787,0.586304008123,0.00885606560733,1.04969231961
+199,3.316666667,pose1_to_pose2_press,0.616096216363,0.000181747434788,1.05002049323,0.58666735669,0.00885598522796,1.04969220226
+200,3.333333333,pose1_to_pose2_press,0.61643303159,0.000181717968076,1.05002033722,0.587004170523,0.00885595433645,1.04969204641
+201,3.350000000,pose1_to_pose2_press,0.616748834567,0.000181802867826,1.05002042259,0.587319972767,0.00885604057085,1.04969213477
+202,3.366666667,pose1_to_pose2_press,0.617052897303,0.000181865593515,1.05002071295,0.58762403498,0.00885610527913,1.04969242442
+203,3.383333333,pose1_to_pose2_press,0.617347327618,0.000181789920923,1.05002054932,0.587918464177,0.00885602774105,1.04969225554
+204,3.400000000,pose1_to_pose2_press,0.617631365733,0.000181847934683,1.05002059412,0.588202502129,0.00885608766658,1.04969231371
+205,3.416666667,pose1_to_pose2_press,0.61790258056,0.000181801074594,1.050020645,0.588473716756,0.00885604039636,1.04969235349
+206,3.433333333,pose1_to_pose2_press,0.618151238444,0.000181680839556,1.05002056897,0.588722375314,0.00885592251824,1.04969227085
+207,3.450000000,pose1_to_pose2_press,0.618378370506,0.000181764604707,1.05002044644,0.588949506382,0.00885600348061,1.04969215046
+208,3.466666667,pose1_to_pose2_press,0.618582803238,0.000181797706062,1.05002048487,0.58915393905,0.00885603716908,1.04969219586
+209,3.483333333,pose1_to_pose2_press,0.618767356382,0.000181848902399,1.05002049221,0.589338491507,0.0088560865773,1.04969220562
+210,3.500000000,pose1_to_pose2_press,0.618932379224,0.000181868354639,1.05002058395,0.589503513282,0.00885610313791,1.04969229347
+211,3.516666667,pose1_to_pose2_press,0.619079544952,0.000181877609536,1.05002059435,0.589650679731,0.00885611548178,1.04969230205
+212,3.533333333,pose1_to_pose2_press,0.619210138967,0.000181872478458,1.05002052509,0.589781274407,0.0088561132681,1.04969223492
+213,3.550000000,pose1_to_pose2_press,0.619325926398,0.000181829224258,1.05002051281,0.589897060799,0.00885606719015,1.04969222363
+214,3.566666667,pose1_to_pose2_press,0.619428224246,0.000181788372626,1.05002054813,0.589999359072,0.00885602763091,1.04969225507
+215,3.583333333,pose1_to_pose2_press,0.619516341204,0.000181942688236,1.05002066668,0.590087475214,0.00885617902599,1.049692369
+216,3.600000000,pose1_to_pose2_press,0.619595565668,0.000181682698473,1.05002049339,0.590166702866,0.00885593001314,1.04969219483
+217,3.616666667,pose1_to_pose2_press,0.619666505324,0.000181702365666,1.05002048961,0.590237641646,0.00885594751388,1.04969219625
+218,3.633333333,pose1_to_pose2_press,0.619727538299,0.000181845581542,1.05002053338,0.590298671979,0.00885608201283,1.04969224155
+219,3.650000000,pose1_to_pose2_press,0.619780053444,0.000181825935493,1.05002059576,0.590351187173,0.00885606245826,1.04969229997
+220,3.666666667,pose1_to_pose2_press,0.619824853335,0.000181696645271,1.05002056775,0.590395989203,0.00885594059213,1.04969226785
+221,3.683333333,pose1_to_pose2_press,0.619861865483,0.000181728247687,1.05002039022,0.590433001158,0.00885597161723,1.04969209011
+222,3.700000000,pose1_to_pose2_press,0.619890817906,0.000181710955028,1.0500206682,0.590461953961,0.00885595565154,1.04969236997
+223,3.716666667,pose1_to_pose2_press,0.619914022362,0.000181971293767,1.05002067728,0.590485154149,0.00885620162649,1.04969237894
+224,3.733333333,pose1_to_pose2_press,0.619931928292,0.000181798075218,1.05002063768,0.590503063851,0.0088560415279,1.04969234908
+225,3.750000000,pose1_to_pose2_press,0.619945251226,0.000181820397991,1.05002058006,0.590516386595,0.00885606287189,1.04969228284
+226,3.766666667,pose1_to_pose2_press,0.61995481247,0.000181868513316,1.05002061679,0.590525946424,0.00885610615289,1.0496923195
+227,3.783333333,pose1_to_pose2_press,0.619960870321,0.000181886363292,1.05002065697,0.590532003925,0.00885612279574,1.04969236209
+228,3.800000000,pose1_to_pose2_press,0.619964920887,0.000181883531167,1.05002065889,0.590536055317,0.00885612257229,1.04969236344
+229,3.816666667,pose1_to_pose2_press,0.619967369819,0.000181782831071,1.05002069172,0.590538505942,0.00885602763147,1.04969239056
+230,3.833333333,pose1_to_pose2_press,0.619968845468,0.000181718943227,1.05002071227,0.590539982643,0.00885596733243,1.04969240751
+231,3.850000000,pose1_to_pose2_press,0.619969562522,0.00018176685803,1.05002064252,0.59054069814,0.00885601004564,1.04969234255
+232,3.866666667,pose1_to_pose2_press,0.619970125688,0.000181804489815,1.05002058773,0.590541260084,0.00885604359214,1.04969229152
+233,3.883333333,pose1_to_pose2_press,0.619970476475,0.000181827930041,1.0500205536,0.59054161011,0.00885606448771,1.04969225974
+234,3.900000000,pose1_to_pose2_press,0.619970490523,0.000181828868747,1.05002055223,0.590541624127,0.00885606532451,1.04969225847
+235,3.916666667,pose1_to_pose2_press,0.619970645466,0.000181839222325,1.05002053716,0.590541778734,0.00885607455411,1.04969224443
+236,3.933333333,pose1_to_pose2_press,0.619970878465,0.000181861341754,1.05002048634,0.590542011479,0.00885609583179,1.04969219448
+237,3.950000000,pose1_to_pose2_press,0.619971054113,0.000181880515711,1.05002043728,0.590542187032,0.0088561146949,1.04969214582
+238,3.966666667,pose1_to_pose2_press,0.619971074455,0.000181882736303,1.0500204316,0.590542207363,0.00885611687949,1.04969214019
+239,3.983333333,pose1_to_pose2_press,0.619971386964,0.000181916850176,1.05002034432,0.590542519704,0.00885615044032,1.04969205361
+240,4.000000000,pose1_to_pose2_press,0.61997162978,0.000181938696095,1.05002028503,0.590542762431,0.0088561720012,1.04969199473
+241,4.016666667,pose1_to_pose2_press,0.619971645694,0.000181934019607,1.05002029233,0.590542778396,0.00885616749566,1.04969200187
+242,4.033333333,pose1_to_pose2_press,0.619971697543,0.000181918783588,1.05002031609,0.590542830411,0.00885615281661,1.04969202514
+243,4.050000000,pose1_to_pose2_press,0.619971809614,0.000181885850447,1.05002036746,0.590542942843,0.00885612108737,1.04969207542
+244,4.066666667,pose1_to_pose2_press,0.619971862206,0.000181870396005,1.05002039157,0.590542995604,0.00885610619787,1.04969209902
+245,4.083333333,pose1_to_pose2_press,0.619971886953,0.00018186312394,1.05002040291,0.59054302043,0.00885609919165,1.04969211012
+246,4.100000000,pose1_to_pose2_press,0.619971854584,0.000181822006861,1.05002042588,0.590542989041,0.00885606141,1.0496921285
+247,4.116666667,pose2_hold,0.619971854584,0.000181822006861,1.05002042588,0.590542989117,0.00885606141059,1.0496921285
+248,4.133333333,pose2_hold,0.619971854584,0.000181822006861,1.05002042588,0.590542989094,0.00885606139549,1.04969212851
+249,4.150000000,pose2_hold,0.619971854584,0.000181822006861,1.05002042588,0.590542989099,0.00885606140661,1.0496921285
+250,4.166666667,pose2_hold,0.619971854584,0.000181822006861,1.05002042588,0.590542989105,0.00885606141167,1.0496921285
+251,4.183333333,pose2_hold,0.619971854584,0.000181822006861,1.05002042588,0.590542989111,0.0088560614012,1.04969212851
+252,4.200000000,pose2_hold,0.619971854584,0.000181822006861,1.05002042588,0.590542989116,0.00885606139597,1.0496921285
+253,4.216666667,pose2_hold,0.619971854584,0.000181822006861,1.05002042588,0.590542989121,0.00885606140544,1.0496921285
+254,4.233333333,pose2_hold,0.619971854584,0.000181822006861,1.05002042588,0.590542989126,0.00885606140882,1.0496921285
+255,4.250000000,pose2_hold,0.619971854584,0.000181822006861,1.05002042588,0.590542989107,0.0088560613984,1.0496921285
+256,4.266666667,pose2_hold,0.619971854584,0.000181822006861,1.05002042588,0.590542989117,0.00885606140258,1.0496921285
+257,4.283333333,pose2_hold,0.619971854584,0.000181822006861,1.05002042588,0.590542989123,0.00885606140678,1.0496921285
+258,4.300000000,pose2_hold,0.619971854584,0.000181822006861,1.05002042588,0.590542989125,0.00885606139907,1.0496921285
+259,4.316666667,pose2_hold,0.619971854584,0.000181822006861,1.05002042588,0.590542989127,0.00885606139375,1.0496921285
+260,4.333333333,pose2_hold,0.619971854584,0.000181822006861,1.05002042588,0.590542989133,0.00885606140296,1.0496921285
+261,4.350000000,pose2_hold,0.619971854584,0.000181822006861,1.05002042588,0.590542989136,0.00885606140683,1.0496921285
+262,4.366666667,pose2_hold,0.619971854584,0.000181822006861,1.05002042588,0.590542989127,0.00885606138799,1.04969212851
+263,4.383333333,pose2_to_pose3_retreat,0.619971854584,0.000181822006861,1.05002042588,0.590542989142,0.00885606139666,1.0496921285
+264,4.400000000,pose2_to_pose3_retreat,0.619971794148,0.000181863961495,1.05002013223,0.590542928797,0.00885610418459,1.04969184913
+265,4.416666667,pose2_to_pose3_retreat,0.619971728326,0.00018178330505,1.05002026486,0.590542864023,0.00885602687039,1.04969197632
+266,4.433333333,pose2_to_pose3_retreat,0.619971662868,0.000181701992273,1.05002040069,0.590542799614,0.00885594890263,1.04969210658
+267,4.450000000,pose2_to_pose3_retreat,0.619971638068,0.000181671186237,1.05002045216,0.590542775213,0.00885591936388,1.04969215593
+268,4.466666667,pose2_to_pose3_retreat,0.619971474591,0.000181615734004,1.05002057715,0.590542612354,0.00885586584227,1.04969227647
+269,4.483333333,pose2_to_pose3_retreat,0.61997115214,0.000181657495132,1.05002060432,0.590542289072,0.00885590483509,1.04969230458
+270,4.500000000,pose2_to_pose3_retreat,0.619970265665,0.000181760282058,1.05002067534,0.590541400601,0.00885600097222,1.04969237787
+271,4.516666667,pose2_to_pose3_retreat,0.619967753486,0.000181779130961,1.05002079314,0.590538889361,0.00885602274941,1.04969249462
+272,4.533333333,pose2_to_pose3_retreat,0.619961521073,0.000181754583831,1.05002081388,0.590532656213,0.00885599560239,1.0496925097
+273,4.550000000,pose2_to_pose3_retreat,0.619949777601,0.000181716005149,1.05002074485,0.590520913347,0.00885595871696,1.04969243513
+274,4.566666667,pose2_to_pose3_retreat,0.619928908968,0.00018165667578,1.05002064434,0.590500045201,0.00885590120515,1.04969234512
+275,4.583333333,pose2_to_pose3_retreat,0.619898459781,0.000181808763544,1.05002063604,0.590469596371,0.00885605466006,1.04969234755
+276,4.600000000,pose2_to_pose3_retreat,0.619857159215,0.000181715832409,1.05002048508,0.590428295501,0.00885596020201,1.0496921944
+277,4.616666667,pose2_to_pose3_retreat,0.619805833615,0.000181772742864,1.050020495,0.590376968843,0.00885601296103,1.04969220087
+278,4.633333333,pose2_to_pose3_retreat,0.619744245303,0.000181703975901,1.05002055769,0.590315381792,0.00885594781421,1.04969226366
+279,4.650000000,pose2_to_pose3_retreat,0.619673367456,0.000181675758003,1.05002043622,0.590244504178,0.00885591991469,1.04969213835
+280,4.666666667,pose2_to_pose3_retreat,0.619592490429,0.000181778375943,1.05002046536,0.59016362624,0.00885601929945,1.04969217038
+281,4.683333333,pose2_to_pose3_retreat,0.619498695288,0.000181794556823,1.05002053812,0.590069831499,0.00885603618359,1.0496922444
+282,4.700000000,pose2_to_pose3_retreat,0.619392188623,0.000181823402463,1.05002056185,0.589963322843,0.00885605762413,1.04969226837
+283,4.716666667,pose2_to_pose3_retreat,0.619271100851,0.000181752436612,1.05002064051,0.589842236878,0.00885599190987,1.04969234597
+284,4.733333333,pose2_to_pose3_retreat,0.619135577972,0.000181671335859,1.05002058813,0.589706715295,0.00885591381319,1.04969228256
+285,4.750000000,pose2_to_pose3_retreat,0.618984630686,0.00018162582673,1.05002039561,0.589555769619,0.00885587336056,1.04969210598
+286,4.766666667,pose2_to_pose3_retreat,0.61881771092,0.00018169533489,1.05002041022,0.589388849626,0.00885594078022,1.04969211689
+287,4.783333333,pose2_to_pose3_retreat,0.618634835887,0.000181876256486,1.05002041111,0.589205972593,0.00885611467406,1.04969211884
+288,4.800000000,pose2_to_pose3_retreat,0.618434972656,0.000181846503354,1.05002057551,0.589006110667,0.00885608856295,1.04969227809
+289,4.816666667,pose2_to_pose3_retreat,0.618219172568,0.000181819374956,1.05002049046,0.588790311326,0.00885606253796,1.04969219713
+290,4.833333333,pose2_to_pose3_retreat,0.617987114759,0.000181831689889,1.05002037485,0.588558253109,0.00885607180371,1.04969208938
+291,4.850000000,pose2_to_pose3_retreat,0.61774116413,0.00018176642054,1.0500206153,0.588312303346,0.00885600780975,1.04969232515
+292,4.866666667,pose2_to_pose3_retreat,0.617481122709,0.000181804151338,1.05002054217,0.588052261945,0.00885604387322,1.04969224773
+293,4.883333333,pose2_to_pose3_retreat,0.617201032547,0.000181754201308,1.05002043377,0.587772171681,0.00885599198438,1.04969214126
+294,4.900000000,pose2_to_pose3_retreat,0.616900553903,0.000181727949001,1.0500204921,0.587471695492,0.00885597321964,1.04969219849
+295,4.916666667,pose2_to_pose3_retreat,0.61657686406,0.000181761420387,1.05002044497,0.587148006561,0.00885600709757,1.04969215845
+296,4.933333333,pose2_to_pose3_retreat,0.616232542904,0.000181787144305,1.05002052712,0.586803685087,0.00885602828729,1.04969223962
+297,4.950000000,pose2_to_pose3_retreat,0.615868461874,0.000181779494667,1.05002070185,0.58643960419,0.00885601834761,1.04969240606
+298,4.966666667,pose2_to_pose3_retreat,0.615494280447,0.000181824641972,1.050020343,0.586065423474,0.00885606314028,1.04969206719
+299,4.983333333,pose2_to_pose3_retreat,0.615111099248,0.000181726805489,1.05002049623,0.585682244321,0.00885596833729,1.04969220758
+300,5.000000000,pose2_to_pose3_retreat,0.614715981537,0.000181698733609,1.05002054034,0.585287128267,0.00885594284305,1.04969224572
+301,5.016666667,pose2_to_pose3_retreat,0.614304166658,0.000181696495799,1.05002056228,0.584875315294,0.00885594312815,1.04969226292
+302,5.033333333,pose2_to_pose3_retreat,0.613865797234,0.000181733438737,1.05002056154,0.584436947034,0.00885598016209,1.04969226225
+303,5.050000000,pose2_to_pose3_retreat,0.613400863631,0.000181835184478,1.05002050625,0.583972012446,0.00885607643142,1.04969221645
+304,5.066666667,pose2_to_pose3_retreat,0.612909678423,0.000181931671874,1.05002041673,0.583480826721,0.00885616590836,1.04969212509
+305,5.083333333,pose2_to_pose3_retreat,0.612400872884,0.000181857928602,1.05002071696,0.582972022671,0.00885609439289,1.04969241709
+306,5.100000000,pose2_to_pose3_retreat,0.611878777353,0.000181780538068,1.05002059079,0.582449929271,0.0088560223637,1.04969228997
+307,5.116666667,pose2_to_pose3_retreat,0.611348819241,0.000181742628808,1.05002053723,0.581919972004,0.0088559849068,1.04969223917
+308,5.133333333,pose2_to_pose3_retreat,0.610805363686,0.000181777505111,1.05002062741,0.58137651642,0.00885601516846,1.04969233394
+309,5.150000000,pose2_to_pose3_retreat,0.610240917598,0.000181891280331,1.05002048766,0.580812071627,0.00885612601307,1.04969220065
+310,5.166666667,pose2_to_pose3_retreat,0.609656208858,0.000181676892309,1.05002031783,0.580227364917,0.0088559187916,1.04969202277
+311,5.183333333,pose2_to_pose3_retreat,0.609052989576,0.000181725760262,1.0500205784,0.579624146201,0.00885596502193,1.04969227678
+312,5.200000000,pose2_to_pose3_retreat,0.608436229578,0.000181725574472,1.05002059097,0.579007385921,0.00885596219989,1.04969229499
+313,5.216666667,pose2_to_pose3_retreat,0.607804638058,0.000181686420058,1.05002045974,0.578375791137,0.00885592345545,1.04969217045
+314,5.233333333,pose2_to_pose3_retreat,0.607146206353,0.000181661180186,1.05002044444,0.577717354617,0.00885590084368,1.04969215443
+315,5.250000000,pose2_to_pose3_retreat,0.606462937727,0.000181667681578,1.05002061578,0.577034085963,0.00885590723448,1.04969232254
+316,5.266666667,pose2_to_pose3_retreat,0.605756678514,0.000181931938519,1.05002032242,0.576327823299,0.00885615954726,1.04969202495
+317,5.283333333,pose2_to_pose3_retreat,0.605029268057,0.000181834811009,1.05002047159,0.575600415485,0.00885607177002,1.04969218318
+318,5.300000000,pose2_to_pose3_retreat,0.604287697633,0.000181815410416,1.05002053132,0.574858844614,0.00885605066237,1.04969223775
+319,5.316666667,pose2_to_pose3_retreat,0.603546034935,0.000181731730586,1.05002059143,0.574117183056,0.00885597094275,1.04969230017
+320,5.333333333,pose2_to_pose3_retreat,0.602803938986,0.000181746598011,1.05002038993,0.573375087625,0.00885598763519,1.04969210037
+321,5.350000000,pose2_to_pose3_retreat,0.602062676777,0.000181777485213,1.05002029865,0.572633825467,0.00885601858961,1.04969200626
+322,5.366666667,pose2_to_pose3_retreat,0.601309479674,0.000181734039235,1.05002054567,0.571880628581,0.00885597576572,1.04969225026
+323,5.383333333,pose2_to_pose3_retreat,0.600538996557,0.000181797099821,1.05002054291,0.571110143841,0.00885603332227,1.04969224739
+324,5.400000000,pose2_to_pose3_retreat,0.599759593315,0.000181822644176,1.05002069117,0.570330741238,0.00885606078194,1.04969238895
+325,5.416666667,pose2_to_pose3_retreat,0.598972021514,0.000181862285944,1.05002044858,0.569543168781,0.00885609846873,1.04969215355
+326,5.433333333,pose2_to_pose3_retreat,0.598183007499,0.000181805609973,1.05002050084,0.568754154971,0.00885604260857,1.04969220879
+327,5.450000000,pose2_to_pose3_retreat,0.597402509671,0.000181728249762,1.05002045616,0.567973658825,0.00885597089455,1.04969216249
+328,5.466666667,pose2_to_pose3_retreat,0.596635009694,0.000181665727007,1.05002053869,0.567206158618,0.00885590757608,1.04969224455
+329,5.483333333,pose2_to_pose3_retreat,0.595879253303,0.000181710508972,1.05002063843,0.566450401128,0.00885594875176,1.04969234754
+330,5.500000000,pose2_to_pose3_retreat,0.595132015866,0.000181779048496,1.05002061323,0.565703163795,0.00885601769756,1.04969232368
+331,5.516666667,pose2_to_pose3_retreat,0.594376959323,0.000181646676719,1.05002055623,0.564948108195,0.00885588816928,1.04969225726
+332,5.533333333,pose2_to_pose3_retreat,0.593614789932,0.000181849981092,1.05002055741,0.564185936545,0.00885608381364,1.04969225848
+333,5.550000000,pose2_to_pose3_retreat,0.592846512398,0.000181888038047,1.05002066823,0.563417660778,0.00885612782791,1.04969236826
+334,5.566666667,pose2_to_pose3_retreat,0.592080637273,0.000181866544045,1.05002049244,0.5626517852,0.00885610487176,1.04969219443
+335,5.583333333,pose2_to_pose3_retreat,0.591324366212,0.000181738293279,1.05002049896,0.561895513824,0.00885597567552,1.04969220415
+336,5.600000000,pose2_to_pose3_retreat,0.590590903651,0.000181685645363,1.05002052879,0.561162051763,0.00885592481258,1.0496922363
+337,5.616666667,pose2_to_pose3_retreat,0.589881231107,0.000181717761475,1.05002048111,0.560452379456,0.00885595771312,1.04969218811
+338,5.633333333,pose2_to_pose3_retreat,0.589195342655,0.000181738521177,1.05002047701,0.559766490687,0.00885597737229,1.04969218327
+339,5.650000000,pose2_to_pose3_retreat,0.58852601255,0.000181703225981,1.05002063479,0.559097160615,0.00885594223769,1.04969234235
+340,5.666666667,pose2_to_pose3_retreat,0.587869773393,0.000181754785587,1.05002059493,0.558440922075,0.00885599537151,1.04969228869
+341,5.683333333,pose2_to_pose3_retreat,0.587215737006,0.000181793182831,1.05002049773,0.557786884925,0.00885603195791,1.04969221201
+342,5.700000000,pose2_to_pose3_retreat,0.586561304804,0.000181797684791,1.05002053632,0.557132452821,0.00885603645888,1.04969224174
+343,5.716666667,pose2_to_pose3_retreat,0.585915692251,0.000181789557008,1.05002054153,0.556486841486,0.00885603245878,1.04969224683
+344,5.733333333,pose2_to_pose3_retreat,0.585282346794,0.000181770793991,1.05002054739,0.555853495593,0.00885601218182,1.04969225178
+345,5.750000000,pose2_to_pose3_retreat,0.584674152337,0.00018172351989,1.05002055736,0.555245300278,0.00885596190191,1.0496922592
+346,5.766666667,pose2_to_pose3_retreat,0.584097272186,0.000181727339429,1.05002054031,0.554668419857,0.0088559649514,1.04969224603
+347,5.783333333,pose2_to_pose3_retreat,0.583555182628,0.000181870811767,1.05002051047,0.554126328173,0.00885610125053,1.04969221715
+348,5.800000000,pose2_to_pose3_retreat,0.583037818878,0.000181717428972,1.05002030105,0.553608966467,0.00885595481198,1.04969200794
+349,5.816666667,pose2_to_pose3_retreat,0.58253910004,0.000181777626021,1.05002058541,0.553110246726,0.00885601180958,1.04969228874
+350,5.833333333,pose2_to_pose3_retreat,0.58204789192,0.000181815533918,1.05002069483,0.552619038649,0.00885604961754,1.04969239169
+351,5.850000000,pose2_to_pose3_retreat,0.581566674559,0.00018181458534,1.05002068251,0.55213782245,0.00885605272579,1.04969238271
+352,5.866666667,pose2_to_pose3_retreat,0.581101031796,0.000181814904511,1.05002060413,0.551672180639,0.00885605660026,1.04969231314
+353,5.883333333,pose2_to_pose3_retreat,0.580658303739,0.00018182891234,1.0500205135,0.551229451889,0.00885606840732,1.0496922261
+354,5.900000000,pose2_to_pose3_retreat,0.580241517489,0.000181808715866,1.05002051769,0.550812663795,0.00885604184701,1.04969222765
+355,5.916666667,pose2_to_pose3_retreat,0.579845352542,0.000181758548719,1.05002059774,0.550416499933,0.00885599465444,1.049692289
+356,5.933333333,pose2_to_pose3_retreat,0.579466868465,0.000181785811237,1.05002056507,0.550038015946,0.00885602248411,1.04969226329
+357,5.950000000,pose2_to_pose3_retreat,0.579103393797,0.00018176427755,1.05002066373,0.549674541494,0.00885600161556,1.04969236021
+358,5.966666667,pose2_to_pose3_retreat,0.578756216039,0.000181700491337,1.05002071073,0.549327364237,0.00885593938791,1.04969240343
+359,5.983333333,pose2_to_pose3_retreat,0.578429445953,0.000181805273928,1.05002067936,0.549000592984,0.00885604050183,1.04969237975
+360,6.000000000,pose2_to_pose3_retreat,0.57813154856,0.00018187657105,1.05002052046,0.548702695363,0.00885611140517,1.0496922309
+361,6.016666667,pose2_to_pose3_retreat,0.577864586177,0.000181837907845,1.05002047084,0.548435733952,0.00885607601449,1.04969218088
+362,6.033333333,pose2_to_pose3_retreat,0.577626653601,0.000181818488664,1.05002065519,0.548197801198,0.00885605565551,1.04969235697
+363,6.050000000,pose2_to_pose3_retreat,0.57741117953,0.000181815539622,1.05002054962,0.547982325259,0.00885604645507,1.04969225363
+364,6.066666667,pose2_to_pose3_retreat,0.57721180714,0.000181702641114,1.05002085522,0.547782956026,0.0088559438648,1.04969254847
+365,6.083333333,pose2_to_pose3_retreat,0.577022759649,0.000181721777634,1.05002070489,0.547593908728,0.0088559639806,1.04969240646
+366,6.100000000,pose2_to_pose3_retreat,0.576843009806,0.00018177827395,1.0500206323,0.547414157884,0.00885601736041,1.0496923411
+367,6.116666667,pose2_to_pose3_retreat,0.576676449978,0.000181729803214,1.05002061223,0.547247599156,0.00885597263694,1.04969232146
+368,6.133333333,pose2_to_pose3_retreat,0.576524507569,0.000181628414693,1.05002031291,0.547095659017,0.00885587913682,1.04969202712
+369,6.150000000,pose2_to_pose3_retreat,0.576389840807,0.000181802621075,1.05002051673,0.546960988083,0.0088560392237,1.04969223179
+370,6.166666667,pose2_to_pose3_retreat,0.576271899412,0.000181626370143,1.05002075723,0.546843049415,0.00885587190338,1.04969246388
+371,6.183333333,pose2_to_pose3_retreat,0.576170876969,0.000181771674559,1.05002058814,0.546742024753,0.00885600957829,1.0496922922
+372,6.200000000,pose2_to_pose3_retreat,0.576082321065,0.000181789940932,1.05002070132,0.546653468883,0.0088560278755,1.04969240467
+373,6.216666667,pose2_to_pose3_retreat,0.576005207692,0.000181753273061,1.05002067052,0.546576355897,0.00885599251422,1.04969237402
+374,6.233333333,pose2_to_pose3_retreat,0.575937937015,0.000181739371233,1.05002048488,0.546509085308,0.00885597910916,1.04969219284
+375,6.250000000,pose2_to_pose3_retreat,0.575879491688,0.000181754148658,1.05002035768,0.546450639695,0.00885599315808,1.04969207153
+376,6.266666667,pose2_to_pose3_retreat,0.575829809013,0.000181713394754,1.05002032841,0.54640095546,0.00885594672941,1.049692032
+377,6.283333333,pose2_to_pose3_retreat,0.575788302938,0.000181694957166,1.05002052391,0.54635945067,0.00885593277611,1.04969223074
+378,6.300000000,pose2_to_pose3_retreat,0.575755205624,0.000181704825861,1.05002050827,0.546326353834,0.00885594443785,1.04969221964
+379,6.316666667,pose2_to_pose3_retreat,0.57572944858,0.00018166658678,1.05002052554,0.546300596938,0.00885590652278,1.04969223225
+380,6.333333333,pose2_to_pose3_retreat,0.575710509207,0.000181703494253,1.05002046232,0.546281657099,0.00885594182128,1.04969216833
+381,6.350000000,pose2_to_pose3_retreat,0.575696490156,0.000181760040512,1.05002057937,0.546267637458,0.00885599625392,1.04969228207
+382,6.366666667,pose2_to_pose3_retreat,0.575686371079,0.000181792780104,1.05002074398,0.546257518136,0.00885602800863,1.04969244228
+383,6.383333333,pose2_to_pose3_retreat,0.575679567446,0.000181788869731,1.05002046724,0.546250715035,0.00885602606973,1.04969217067
+384,6.400000000,pose2_to_pose3_retreat,0.575675151471,0.000181725444445,1.05002041872,0.546246299684,0.0088559648345,1.04969212427
+385,6.416666667,pose2_to_pose3_retreat,0.575672737651,0.000181679507869,1.05002041645,0.546243886256,0.00885592026351,1.04969212293
+386,6.433333333,pose2_to_pose3_retreat,0.575671646942,0.000181710591516,1.05002044674,0.546242795164,0.00885595002059,1.0496921525
+387,6.450000000,pose2_to_pose3_retreat,0.575671369983,0.000181723004717,1.05002045716,0.546242518058,0.00885596192747,1.04969216263
+388,6.466666667,pose2_to_pose3_retreat,0.575671242102,0.000181728736281,1.05002046197,0.54624239011,0.00885596742524,1.04969216731
+389,6.483333333,pose2_to_pose3_retreat,0.575670935165,0.000181742493093,1.05002047352,0.54624208301,0.00885598062092,1.04969217855
+390,6.500000000,pose2_to_pose3_retreat,0.575670186949,0.000181776027844,1.05002050168,0.546241334399,0.00885601278782,1.04969220593
+391,6.516666667,pose2_to_pose3_retreat,0.575669490798,0.000181807229076,1.05002052787,0.54624063788,0.00885604271637,1.04969223141
+392,6.533333333,pose2_to_pose3_retreat,0.575669026048,0.000181820583629,1.05002052857,0.546240172934,0.00885605541795,1.04969223237
+393,6.550000000,pose2_to_pose3_retreat,0.575668642916,0.000181815231528,1.05002049238,0.54623978975,0.00885604995797,1.04969219804
+394,6.566666667,pose2_to_pose3_retreat,0.575668400242,0.000181811841533,1.05002046946,0.546239547043,0.00885604649965,1.0496921763
+395,6.583333333,pose2_to_pose3_retreat,0.575668340558,0.000181811007788,1.05002046383,0.546239487351,0.0088560456491,1.04969217095
+396,6.600000000,pose2_to_pose3_retreat,0.575668202536,0.000181809079701,1.05002045079,0.54623934931,0.00885604368215,1.04969215858
+397,6.616666667,pose2_to_pose3_retreat,0.575668049041,0.000181806935481,1.05002043629,0.546239195794,0.00885604149471,1.04969214483
+398,6.633333333,pose2_to_pose3_retreat,0.575667953003,0.000181805593897,1.05002042722,0.546239099744,0.00885604012609,1.04969213622
+399,6.650000000,pose2_to_pose3_retreat,0.575667939338,0.000181805402997,1.05002042593,0.546239086076,0.00885603993134,1.049692135
+400,6.666666667,pose2_to_pose3_retreat,0.575667742854,0.000181802658243,1.05002040738,0.546238889565,0.00885603713127,1.04969211739
+401,6.683333333,pose2_to_pose3_retreat,0.575667613339,0.000181800849004,1.05002039515,0.546238760033,0.00885603528556,1.04969210579
+402,6.700000000,pose2_to_pose3_retreat,0.575667409466,0.000181783713427,1.05002044694,0.546238556611,0.00885601953264,1.04969215375
+403,6.716666667,pose2_to_pose3_retreat,0.575667247219,0.000181767299473,1.05002050198,0.546238394815,0.00885600449894,1.04969220479
+404,6.733333333,pose2_to_pose3_retreat,0.575667181678,0.000181760668879,1.05002052421,0.546238329456,0.00885599842592,1.04969222541
+405,6.750000000,pose2_to_pose3_retreat,0.575666956508,0.00018173620875,1.05002051355,0.546238105041,0.00885597657916,1.04969221615
+406,6.766666667,pose2_to_pose3_retreat,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641348,1.04969208382
diff --git a/Part2/Obstacle_avoidance/cylinder_PLA_10/position_01/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_PLA_10/position_01/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..414cba01741aad4a8600fa5ac806799da300a449
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_PLA_10/position_01/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c3d02c8bb8a942ed7e9ba5fc5482fa5eb70f7db1864eeac77c032a5d209640a3
+size 25847833
diff --git a/Part2/Obstacle_avoidance/cylinder_PLA_10/position_01/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_PLA_10/position_01/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ac52cd632a2c79c026ee288d3d1d844c31afa633
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_PLA_10/position_01/depth_04/franka_data.csv
@@ -0,0 +1,409 @@
+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,794,749,728,709,698,655,934,803,835,669,658,676,0.400974455782,-0.00537255532501,0.0598429410646,0.999999929811,0.000268929457227,-0.000260166447028,1.91782931858e-05,1793256505884106496
+1,0.016666667,BASELINE,794,749.573627964,728,709,697.426372036,655,934,802.426372036,835,668.426372036,657.426372036,676,0.400973947783,-0.00537309424162,0.0598426878159,0.999999929354,0.000270299043568,-0.000260495045246,1.93018772943e-05,1793256505900773376
+2,0.033333333,BASELINE,794,749.848738632,728,709,697.151261368,655,934,802.151261368,835,668,657,676,0.400973807483,-0.0053733838346,0.0598427266468,0.999999929009,0.000271641180081,-0.000260418723226,1.93919017507e-05,1793256505917440000
+3,0.050000000,BASELINE,794,749.259507547,728,709,697.740492453,655,934,802.740492453,835,668,657,676,0.400974731835,-0.00537295152359,0.0598436111795,0.999999928989,0.00027290383731,-0.000259169975007,1.9384755943e-05,1793256505934106624
+4,0.066666667,BASELINE,794,749,728,709,698,655,934,803,835,668,657,676,0.400975952679,-0.00537313584376,0.0598441916771,0.999999929697,0.000271662186921,-0.000257736474424,1.94059170142e-05,1793256505950773248
+5,0.083333333,BASELINE,794,749,728,709,698,655,934,803,835,668,657,676,0.400977406875,-0.0053738054809,0.0598445328852,0.99999993097,0.000268449531777,-0.000256157565348,1.94493568947e-05,1793256505967439872
+6,0.100000000,BASELINE,794,749,728,708.524032198,698,655,934,803,834.524032198,668,657.475967802,676,0.400976667965,-0.00537254625261,0.059844047614,0.999999930129,0.000270354669658,-0.00025744706029,1.92674138846e-05,1793256505984106496
+7,0.116666667,BASELINE,794,749.054877697,728,708.054877697,698,655,934.054877697,803,834.054877697,668.054877697,657.945122303,676,0.400975587546,-0.00537113067215,0.0598434691713,0.999999928958,0.000273060946376,-0.000259148055246,1.90632062097e-05,1793256506000773120
+8,0.133333333,BASELINE,794,749.627127296,728,708.627127296,698,655,934.627127296,803,834.627127296,668.627127296,657.372872704,676,0.400975789949,-0.00537220104056,0.0598437091102,0.999999929105,0.000272813222675,-0.000258839676393,1.91118083593e-05,1793256506017439744
+9,0.150000000,BASELINE,794,749.793161011,728,708.793161011,698,655,934.793161011,803,835,669,657.206838989,676,0.400975827971,-0.00537291939167,0.0598439261111,0.999999929278,0.000272376987959,-0.000258622466773,1.92150280542e-05,1793256506034106368
+10,0.166666667,BASELINE,794,749.199493854,728,708.199493854,698,655,934.199493854,803,835,669,657.800506146,676,0.400975558566,-0.0053729794035,0.0598441002135,0.999999929501,0.000271588201894,-0.000258575760955,1.94203929207e-05,1793256506050773248
+11,0.183333333,BASELINE,794,749.384157804,728,708.384157804,698,655,934,803,835,669,658,676,0.400975320795,-0.00537199304675,0.0598438115337,0.999999929266,0.000272587832837,-0.00025842889556,1.9427521197e-05,1793256506067439872
+12,0.200000000,BASELINE,794,749.962740599,728,708.962740599,698,655,934,803,835,669,658,676,0.400975099032,-0.00537047711544,0.0598432886366,0.999999928798,0.000274492594248,-0.000258231338686,1.93343205464e-05,1793256506084106496
+13,0.216666667,BASELINE,794,750,728,709,698,655,934,803,835,668.462865047,657.462865047,676,0.400976319363,-0.00537156281231,0.0598443981608,0.999999929438,0.00027287706209,-0.000257448456747,1.95520025743e-05,1793256506100773376
+14,0.233333333,BASELINE,794,749.885926361,728,708.885926361,698,655,934,803,834.885926361,668,657,676,0.400976948455,-0.00537289395075,0.0598451536083,0.999999929969,0.000271149662829,-0.000257197604253,1.97317503145e-05,1793256506117439744
+15,0.250000000,BASELINE,794,749.297201173,728,708.297201173,698,655,934,803,834.297201173,668,657,676,0.400974704437,-0.00537450125406,0.05984396825,0.999999929741,0.000269964994682,-0.000259328120111,1.96646205972e-05,1793256506134106368
+16,0.266666667,BASELINE,793.713197728,749,728,708.286802272,698,655,934,803,834.286802272,668.286802272,657,676,0.400974435759,-0.00537461841103,0.0598437753728,0.999999929697,0.000270024026206,-0.000259444032292,1.95325917215e-05,1793256506150773248
+17,0.283333333,BASELINE,793.134008011,749,728,708.865991989,698,655,934,803,834.865991989,668.865991989,657,676,0.400976180887,-0.00537321640253,0.0598445943042,0.999999929843,0.000271350977219,-0.000257506108379,1.93343998488e-05,1793256506167439872
+18,0.300000000,BASELINE,793,749.443378065,728,708.556621935,697.556621935,655,934,803,835,668.556621935,657,676,0.400975585001,-0.00537320279311,0.0598443383583,0.999999929281,0.000272598810107,-0.000258341963666,1.96595239766e-05,1793256506184106496
+19,0.316666667,BASELINE,793.020145366,749.979854634,728,708,697.020145366,655,934,803,835,668,657,676,0.400974318421,-0.00537359896248,0.0598437735273,0.999999928554,0.0002737042283,-0.00025994994197,2.01060189397e-05,1793256506200773376
+20,0.333333333,BASELINE,793.594825151,749.405174849,728,708,697.594825151,655,934,803,835,668,657,676,0.40097398761,-0.00537377064499,0.0598436125974,0.999999929185,0.000271545023361,-0.000259828247146,1.95572314978e-05,1793256506217440000
+21,0.350000000,BASELINE,794,749,728,708,698,655,934,803,835,668,657,676,0.400973840089,-0.00537386321249,0.0598436659079,0.999999929776,0.000269576798451,-0.000259623256197,1.92870956189e-05,1793256506234106624
+22,0.366666667,BASELINE,794,749,728,708,698,655,934,803,835,668,657,676,0.400974130694,-0.00537376666803,0.0598442313261,0.99999993028,0.000268065081432,-0.000259219159036,1.96830323535e-05,1793256506250773248
+23,0.383333333,BASELINE,794,749,728,708,698,655,934,803,835,668,657,676,0.400974458547,-0.00537356239327,0.0598441040957,0.999999929931,0.000269315368533,-0.000259263558102,1.97247234162e-05,1793256506267439872
+24,0.400000000,BASELINE,794,749,728,708,698,655,934,803,835,668,657,676,0.400974811248,-0.00537328625538,0.0598435148238,0.999999929008,0.000272408091655,-0.000259607133242,1.95301096426e-05,1793256506284106496
+25,0.416666667,BASELINE,793.496692761,749.503307239,727.496692761,708,698,655,934,803,835,668.503307239,657.503307239,676,0.400974841274,-0.00537236475421,0.0598442343157,0.999999929192,0.000272533586518,-0.000258774358528,1.94230647846e-05,1793256506300773120
+26,0.433333333,BASELINE,793.079165321,749.920834679,727.079165321,708,697.920834679,655,934,803,834.920834679,668.920834679,658,676,0.400974652804,-0.00537161595656,0.0598448241579,0.999999929457,0.000272121998568,-0.000258189928085,1.93219101401e-05,1793256506317440000
+27,0.450000000,BASELINE,793.652686694,749.347313306,727.652686694,708,697.347313306,655,934,803,834.347313306,668.347313306,658,676,0.400973391861,-0.00537252954281,0.0598434202305,0.999999929227,0.00027104126473,-0.000260220660332,1.91783058739e-05,1793256506334106624
+28,0.466666667,BASELINE,794,749,728,708,697,655,934,803,834.233551521,668,657.766448479,676,0.400973476135,-0.00537350854577,0.0598429365424,0.999999929539,0.000269735616537,-0.0002603772094,1.91827005186e-05,1793256506350773248
+29,0.483333333,BASELINE,794,749,728,708,697,655,934,803,834.825691243,668,657.174308757,676,0.400975625818,-0.00537458798755,0.0598438657631,0.999999930683,0.000268084641463,-0.000257656192108,1.94143283872e-05,1793256506367440128
+30,0.500000000,BASELINE,794,749,728,708,697,655,934,803,835,668,657,676,0.400976575852,-0.00537362431465,0.0598445129164,0.999999930102,0.000270995778083,-0.00025685160546,1.961867083e-05,1793256506384106496
+31,0.516666667,BASELINE,794,749,728,708,697,655,934,803,835,668,657,676,0.400977025423,-0.0053718083048,0.0598450423982,0.999999928783,0.000275810114883,-0.000256846506333,1.9811630462e-05,1793256506400773376
+32,0.533333333,BASELINE,794,749,728,708.558959281,697,655,934.558959281,803,835,668,657,676,0.400974868402,-0.00537257140999,0.0598444140515,0.9999999289,0.000273819774924,-0.000258535300572,1.95464325925e-05,1793256506417440256
+33,0.550000000,BASELINE,794,749,728,708.867138277,697.132861723,655,934.867138277,803,835,668,657,676,0.400973420755,-0.00537339362639,0.0598440735782,0.999999929268,0.000271557951055,-0.000259513048316,1.93247804865e-05,1793256506434106880
+34,0.566666667,BASELINE,794,749,728,708.294753354,697.705246646,655,934.294753354,803,835,668,657,676,0.400974557406,-0.00537417629384,0.0598447909664,0.999999930351,0.000269018296829,-0.000257984160182,1.92889460551e-05,1793256506450773504
+35,0.583333333,BASELINE,794,749,728,708,697.710607337,655,934,803,835,668,657,676,0.400975441034,-0.00537424839149,0.0598451519908,0.999999930831,0.000268315936971,-0.000256837792976,1.94417935558e-05,1793256506467440128
+36,0.600000000,BASELINE,794,749,728,708,697.113974836,655,934,803,835,668,657,676,0.400976056036,-0.00537356609779,0.0598451346741,0.999999930679,0.000269564179205,-0.000256097537013,1.9794959214e-05,1793256506484106496
+37,0.616666667,BASELINE,794,749,728,708.467759894,697.467759894,655,934,803,835,668,657.467759894,676,0.400974811396,-0.00537408548576,0.059844520291,0.999999930357,0.000269234369667,-0.000257686942405,1.9917897131e-05,1793256506500773376
+38,0.633333333,BASELINE,794,749.045739221,728,708.954260779,698,655,934,803,835,668,657.954260779,676,0.400973323933,-0.00537471145085,0.0598438582406,0.999999930015,0.00026867889323,-0.000259583209128,1.99362445997e-05,1793256506517440000
+39,0.650000000,BASELINE,794,749.620970278,728,708.379029722,698,655,934,803,835,668,657.379029722,676,0.400974109058,-0.00537328623012,0.059844276539,0.999999929956,0.000269824839207,-0.000258663362176,1.93731779084e-05,1793256506534106368
+40,0.666666667,BASELINE,794,750,728,708.199966273,698,655,934,803,835,668,657.199966273,676,0.400974677488,-0.0053724423898,0.0598447247201,0.999999929937,0.000270849913083,-0.000257685160807,1.9111002534e-05,1793256506550772992
+41,0.683333333,BASELINE,794,750,728,708.786235493,698,655,934,803,835,668,657.786235493,676,0.400974827301,-0.00537272168379,0.0598452306296,0.999999929996,0.000271641481274,-0.000256594228067,1.94301012283e-05,1793256506567439616
+42,0.700000000,BASELINE,794,749.630998271,728,709,698,655,934.369001729,803,834.630998271,668,657.630998271,676,0.400975222906,-0.00537338820414,0.0598450754796,0.999999930281,0.000270882093068,-0.00025628480458,1.94588898791e-05,1793256506584106240
+43,0.716666667,BASELINE,794,749.050242269,728,709,698,655,934.949757731,803,834.050242269,668,657.050242269,676,0.40097575956,-0.00537427693708,0.0598445409759,0.999999930694,0.000269232677444,-0.000256423855787,1.93210820297e-05,1793256506600773120
+44,0.733333333,BASELINE,794,749,728,709,698,655,934.472767599,803,834,668,657.527232401,676,0.400976439471,-0.00537449361217,0.0598450818437,0.999999931107,0.000268142931363,-0.000255944523586,1.94239435689e-05,1793256506617439744
+45,0.750000000,BASELINE,794,749.103542153,728,709,698,655,934,803,834.103542153,668,657.896457847,676.103542153,0.400976831309,-0.00537457063537,0.0598454983197,0.999999931327,0.000267504517384,-0.000255744625999,1.95301461223e-05,1793256506634106368
+46,0.766666667,BASELINE,794,749.675983597,728,709,698,655,934,803,834.675983597,668,657.324016403,676.675983597,0.400975857139,-0.00537430346499,0.0598448902724,0.999999930673,0.000268669968205,-0.000257075383365,1.95482606016e-05,1793256506650772992
+47,0.783333333,BASELINE,794,749.743039326,728,708.743039326,698,655,934.256960674,803,835,668.256960674,657.256960674,676.743039326,0.400975708149,-0.0053742733895,0.0598447366882,0.999999930433,0.000269320914969,-0.000257324365323,1.95934333681e-05,1793256506667439616
+48,0.800000000,BASELINE,794,749.150929294,728,708.150929294,698,655,934.849070706,803,835,668.849070706,657.849070706,676.150929294,0.400976635425,-0.00537455255276,0.0598451758523,0.999999930735,0.000269300803161,-0.000256162406525,1.96738977929e-05,1793256506684106240
+49,0.816666667,BASELINE,794,749,728,708,698,655,935,803,835,668.569379618,658,676,0.400975526522,-0.00537401296575,0.0598441096005,0.999999930321,0.000269697086241,-0.000257374242013,1.9509148192e-05,1793256506700773120
+50,0.833333333,BASELINE,794,749,728,708.008535503,698,655,934.991464497,803,835,668.008535503,657.991464497,676,0.400973742686,-0.00537320708278,0.0598425610714,0.999999929667,0.000270226373019,-0.000259370597175,1.92638421956e-05,1793256506717439744
+51,0.850000000,BASELINE,794,749,728,708.585000852,698,655,934.414999148,803,835,668.585000852,657.414999148,676,0.40097339949,-0.00537331948099,0.0598431903159,0.999999929652,0.000270127131602,-0.000259533012193,1.92402430561e-05,1793256506734106368
+52,0.866666667,BASELINE,794,749,728,709,698,655,934,803,835,669,657,676,0.400974004992,-0.00537368294396,0.0598441853724,0.999999930127,0.000269416667686,-0.000258437106275,1.9240635255e-05,1793256506750773248
+53,0.883333333,BASELINE,794,749,728,709,698,655,934,803,835,669,657,676,0.400977048833,-0.00537469169155,0.0598461206357,0.999999931848,0.000267135244674,-0.00025410707411,1.93026897981e-05,1793256506767439872
+54,0.900000000,BASELINE,794.31406617,749,728,708.68593383,698,655,934.31406617,803,834.68593383,669,657.31406617,676,0.400977898887,-0.00537439040796,0.0598464508447,0.999999931872,0.000267887226152,-0.000253227773489,1.9201340181e-05,1793256506784106752
+55,0.916666667,BASELINE,794.909710868,749,728,708.090289132,698,655,934.909710868,803,834.090289132,669,657.909710868,676,0.400976782084,-0.00537291460543,0.0598453420295,0.999999930377,0.000271358830737,-0.000255442253985,1.89534892576e-05,1793256506800773376
+56,0.933333333,BASELINE,794.510383818,749.489616182,728,708,698,655,934.510383818,803,834.489616182,668.510383818,658,676,0.400976481785,-0.0053733197752,0.0598453506592,0.999999930643,0.00027013196569,-0.00025569348511,1.90787949451e-05,1793256506817439744
+57,0.950000000,BASELINE,794,749.93334395,728.06665605,708.06665605,698,655,934,803,835,668.06665605,658,676,0.40097636362,-0.00537393600077,0.0598456073268,0.999999931141,0.000268457992978,-0.000255496447675,1.92546419106e-05,1793256506834106368
+58,0.966666667,BASELINE,794,749.356712764,728.643287236,708.643287236,698,655,934,803,835,668.643287236,658,676,0.400976522822,-0.00537359581437,0.0598462342192,0.999999931023,0.000269785772192,-0.000254553411042,1.93070914605e-05,1793256506850773248
+59,0.983333333,BASELINE,794.224163087,749,728.775836913,709,698,655.224163087,934.224163087,803,835,668.775836913,657.775836913,676,0.400976613018,-0.00537291931245,0.0598464035468,0.999999930709,0.000271251920361,-0.000254236629575,1.9209024565e-05,1793256506867439872
+60,1.000000000,BASELINE,794.811923973,749,728.188076027,709,698,655.811923973,934.811923973,803,835,668.188076027,657.188076027,676,0.400976591287,-0.00537169729879,0.0598458306936,0.999999930077,0.00027294250644,-0.000254935648567,1.88668164634e-05,1793256506884106496
+61,1.016666667,BASELINE,795,749,728,709,698,655.606716411,934.606716411,803,835,668,657.393283589,676.393283589,0.400977171964,-0.0053717514448,0.0598464591754,0.999999930421,0.000272513244991,-0.000254032288556,1.90163201034e-05,1793256506900773376
+62,1.033333333,BASELINE,795,749,728,709,698,655.028369017,934.028369017,803,835,668,657.971630983,676.971630983,0.40097803611,-0.00537240610149,0.0598476529582,0.999999931221,0.00027108646648,-0.0002523749119,1.93972039909e-05,1793256506917440000
+63,1.050000000,BASELINE,794.450685982,749,728,708.450685982,698,655.549314018,934,803,835,668,657.450685982,676.450685982,0.400978120233,-0.00537386329264,0.0598472381876,0.999999931589,0.000269292472855,-0.000252832879179,1.94658266794e-05,1793256506934106880
+64,1.066666667,BASELINE,794,749,728,708.126471801,698,655.873528199,934,803,835,668,657.126471801,676,0.400978083035,-0.00537497767831,0.0598468505137,0.999999931818,0.000268020900533,-0.000253278195459,1.94732011845e-05,1793256506950773760
+65,1.083333333,BASELINE,794,749,728,708.701886685,698,655.298113315,934,803,835,668,657.701886685,676,0.400977758008,-0.00537472824389,0.0598468535574,0.999999931643,0.000268671030851,-0.000253291277319,1.9320336107e-05,1793256506967440128
+66,1.100000000,BASELINE,794,749,728,709,698,655,934,803,835,668,658,676,0.400977493772,-0.00537429992505,0.0598467482637,0.99999993128,0.000269932866869,-0.000253375559172,1.94091125247e-05,1793256506984106752
+67,1.116666667,BASELINE,794,749,728,709,698,655,934,803,835,668,658,676,0.400977294891,-0.00537367929637,0.0598465265018,0.999999930713,0.000271852317554,-0.000253536384633,1.97576658372e-05,1793256507000773120
+68,1.133333333,BASELINE,794,749,728,709,698,655,934.455370144,803,835,668,658,676,0.400976393653,-0.00537347953841,0.0598461096009,0.999999930816,0.000270115121428,-0.000255000807179,1.95271901675e-05,1793256507017440000
+69,1.150000000,BASELINE,794,749.034627632,728,709,698,655,935,803,835,668.034627632,658,676,0.40097549081,-0.00537344491991,0.0598457587234,0.999999931088,0.000267658513465,-0.00025654277443,1.91844137636e-05,1793256507034106368
+70,1.166666667,BASELINE,794,749.610425328,728,709,698,655,935,803,835,668.610425328,658,676,0.40097755451,-0.00537419848879,0.0598472708535,0.999999931292,0.000269533871564,-0.000253744085966,1.95528882722e-05,1793256507050772992
+71,1.183333333,BASELINE,794,750,728,708.81472981,698,655,934.81472981,803,835,669,658,676,0.400977949296,-0.00537437068532,0.0598474640605,0.999999931193,0.000270551685965,-0.000253042141286,1.9654252109e-05,1793256507067439872
+72,1.200000000,BASELINE,794,750,728,708.241878152,698,655,934.241878152,803,835,669,658,676,0.400974852752,-0.00537332666289,0.0598448981074,0.999999930472,0.000269775536751,-0.000256726541426,1.9196825924e-05,1793256507084106496
+73,1.216666667,BASELINE,794,750,728,708,698,655,934,803.342707299,835,669,658,676,0.400975108633,-0.00537383678797,0.0598449510336,0.999999930701,0.00026915637483,-0.000256486814429,1.91624949823e-05,1793256507100773120
+74,1.233333333,BASELINE,794,750,728,708,698,655,934,803.935867868,835,669,658,676,0.400977814493,-0.00537548269673,0.0598469178582,0.999999931624,0.00026865194054,-0.000253379303323,1.9437365498e-05,1793256507117440000
+75,1.250000000,BASELINE,794,749.486138791,728,708,698,655,934.513861209,803.486138791,835,668.486138791,657.486138791,676,0.400976762269,-0.00537329078229,0.05984623895,0.999999931062,0.00026980397604,-0.000254386159999,1.9245973301e-05,1793256507134106368
+76,1.266666667,BASELINE,794,749.090170534,728,708.090170534,698,655,935,803,835,668.090170534,657.090170534,676,0.400975715498,-0.00537133723831,0.0598455964379,0.99999993058,0.000270673560122,-0.000255366634663,1.90758153895e-05,1793256507150772992
+77,1.283333333,BASELINE,794,749.667315042,728,708.667315042,698,655,935,803,835,668.667315042,657.667315042,676,0.400977158578,-0.00537318363162,0.059846882629,0.999999931517,0.000268933260859,-0.000253510982667,1.93255941133e-05,1793256507167439616
+78,1.300000000,BASELINE,794.249252661,749.750747339,728.249252661,709,698,655,935,803,835,669,658,676,0.400977593354,-0.00537423454519,0.0598471250121,0.999999931605,0.000269058072767,-0.000253016258563,1.95208969403e-05,1793256507184106240
+79,1.316666667,BASELINE,794.837713174,749.162286826,728.837713174,709,698,655,935,803,835,669,658,676,0.400976655927,-0.00537420289053,0.0598459468772,0.999999930538,0.000271721113906,-0.000254373620863,1.96420635197e-05,1793256507200772864
+80,1.333333333,BASELINE,794.581111672,749,728.581111672,709,698,655,934.581111672,803,835,669,657.581111672,676,0.400975962536,-0.00537444777335,0.0598460704233,0.99999993054,0.000271670654836,-0.000254414068119,1.96931337577e-05,1793256507217439744
+81,1.350000000,BASELINE,794.002710734,749,728.002710734,709,698,655,934.002710734,803,835,669,657.002710734,676,0.400975362073,-0.00537479796161,0.0598466896492,0.999999930951,0.000270586895525,-0.000253953034443,1.97175113299e-05,1793256507234106368
+82,1.366666667,BASELINE,794,749,728,709,698,655,934.572779779,803,835,669,657.572779779,676,0.400976339382,-0.00537400427061,0.0598466968398,0.99999993096,0.000270717526617,-0.000253803041869,1.93941358267e-05,1793256507250772992
+83,1.383333333,BASELINE,794,749.147830919,728,709,698,655,934.852169081,803,835,668.852169081,658,676,0.40097692815,-0.00537376953464,0.0598464453393,0.999999931051,0.000270212887957,-0.000253993349226,1.92255860865e-05,1793256507267439616
+84,1.400000000,BASELINE,794,749.72165557,728,709,698,655,934.27834443,803,835,668.27834443,658,676,0.40097637588,-0.00537516101987,0.0598454566913,0.999999931382,0.000267861160526,-0.000255160053992,1.95079050752e-05,1793256507284106240
+85,1.416666667,BASELINE,794,749.694500792,728,709,698,655,934.305499208,803,835,668,658,676,0.400976380834,-0.00537474686105,0.0598452634084,0.999999931184,0.000268264541596,-0.00025551606514,1.94591286956e-05,1793256507300772864
+86,1.433333333,BASELINE,794,749.101219236,728,709,698,655,934.898780764,803,835,668,658,676,0.400976910696,-0.00537263177307,0.0598458193649,0.999999930486,0.000271263253904,-0.000255108397271,1.9098458192e-05,1793256507317439744
+87,1.450000000,BASELINE,794,749,728,709,698,655,935,803,835,668.480065327,658,676,0.400976939362,-0.00537155588921,0.0598461102913,0.999999929995,0.000273417403094,-0.000254725049417,1.9162720259e-05,1793256507334106624
+88,1.466666667,BASELINE,794,749,728,709,698,655,935,803,834.94375951,668.94375951,657.94375951,676,0.400976953602,-0.00537103209584,0.0598463174111,0.999999929698,0.000274864670067,-0.000254324486903,1.9325175318e-05,1793256507350772992
+89,1.483333333,BASELINE,794,749,728,709,698,655,935,803,834.390909642,668.390909642,657.390909642,676,0.400977750808,-0.00537349572036,0.0598462659078,0.999999930735,0.00027160414848,-0.000253727742533,1.9582842041e-05,1793256507367439872
+90,1.500000000,BASELINE,794,749.179378068,728,709,698,655,935,803,834.179378068,668.179378068,657.179378068,676,0.400977909503,-0.00537507332858,0.0598462339232,0.999999931507,0.000268907037113,-0.000253550116927,1.96925062186e-05,1793256507384106496
+91,1.516666667,BASELINE,794,749.791759127,728,709,698,655,935,803,834.791759127,668.791759127,657.791759127,676,0.400976526886,-0.00537451217045,0.0598462490547,0.999999931658,0.000267569949286,-0.000254384207506,1.94449051408e-05,1793256507400773120
+92,1.533333333,BASELINE,794,750,728,709,698,655,934.617580406,803.382419594,835,668.617580406,658,676,0.400976691274,-0.00537457289426,0.0598467627391,0.999999931936,0.000267024012101,-0.000253864530837,1.94660186109e-05,1793256507417439744
+93,1.550000000,BASELINE,794,750,728,709,698,655,934.038111833,803.961888167,835,668.038111833,658,676,0.400977652787,-0.00537495405454,0.0598475333124,0.999999932278,0.00026688573023,-0.000252647299884,1.96255923477e-05,1793256507434106624
+94,1.566666667,BASELINE,794,750,728,709,698,655,934.540709175,804,835,668,658,676,0.400977044275,-0.00537549188608,0.0598464239314,0.999999932325,0.000265481307235,-0.000253953004743,1.94448340331e-05,1793256507450773248
+95,1.583333333,BASELINE,794,749.881859435,728,708.881859435,698,655,934.881859435,803.881859435,835,668,658,676,0.400976449179,-0.00537525191811,0.0598455163778,0.999999932143,0.000265111912353,-0.000255068457422,1.92376673251e-05,1793256507467439616
+96,1.600000000,BASELINE,794,749.30959424,728,708.30959424,698,655,934.30959424,803.30959424,835,668,658,676,0.400976330523,-0.00537197974202,0.0598458933791,0.999999931168,0.00026906373476,-0.000254769848591,1.9021087464e-05,1793256507484106496
+97,1.616666667,BASELINE,794,749.271264386,728,708,697.728735614,655,934,803,835,668,657.728735614,676.271264386,0.400976426006,-0.00537166959241,0.0598462494825,0.999999930949,0.000270159521566,-0.00025445867026,1.91589567264e-05,1793256507500773120
+98,1.633333333,BASELINE,794,749.862251529,728,708,697.137748471,655,934,803,835,668,657.137748471,676.862251529,0.400976773883,-0.00537485060264,0.0598465809546,0.999999931632,0.000267889073489,-0.000254132677049,1.97145935264e-05,1793256507517440000
+99,1.650000000,BASELINE,794,750,728,708.44455787,697.44455787,655,934,803,835,668,657.44455787,676.55544213,0.400977455787,-0.00537422868414,0.0598471103059,0.999999931856,0.000268321886751,-0.000252806322368,1.9522928932e-05,1793256507534106624
+100,1.666666667,BASELINE,794.024023505,749.975976495,728,709,698,655,934.024023505,803.024023505,835,668,657.975976495,676,0.400978225828,-0.00537253740061,0.0598476738085,0.999999931932,0.000269504759116,-0.000251272486895,1.91308673209e-05,1793256507550773248
+101,1.683333333,BASELINE,794.598848038,749.401151962,728,709,698,655,934.598848038,803.598848038,835,668,657.401151962,676,0.400978689114,-0.00537282757664,0.059847641468,0.999999931879,0.000269047916939,-0.000251952296883,1.93515020118e-05,1793256507567439872
+102,1.700000000,BASELINE,794.822700136,749,728,709,698,655,935,803.822700136,835,668,657,676,0.400978524471,-0.00537304021969,0.0598470706468,0.999999931813,0.000268459654294,-0.000252838207642,1.93719678512e-05,1793256507584106752
+103,1.716666667,BASELINE,794.235870005,749,728,709,698,655,935,803.235870005,835,668,657,676,0.400976909429,-0.00537307377567,0.0598452560335,0.999999931716,0.000267567834456,-0.000254200173406,1.89300802144e-05,1793256507600773376
+104,1.733333333,BASELINE,794,749.346726395,728,709,698,655,934.653273605,803,835,668,657.346726395,676,0.400976874486,-0.00537338824947,0.0598455913952,0.99999993161,0.000268238845305,-0.000253899070927,1.90555515109e-05,1793256507617440000
+105,1.750000000,BASELINE,794,749.926477487,728,709,698,655,934.073522513,803,835,668,657.926477487,676,0.400977901481,-0.00537389151997,0.0598473716922,0.999999931496,0.000269960188985,-0.000252480268925,1.95623281537e-05,1793256507634106880
+106,1.766666667,BASELINE,794,750,728,709,698,655,934,803,835,668,657.496966791,676,0.400977830069,-0.00537344424315,0.0598475787405,0.999999931504,0.00026989618942,-0.000252531010702,1.94187011333e-05,1793256507650773504
+107,1.783333333,POSE1_TO_POSE2_PRESS,795,750,728,708,698,655,934,803,835,669,658,676,0.400977503266,-0.00537483170665,0.0598484273304,0.999999933074,0.000264839340293,-0.000251643097995,1.97148906873e-05,1793256507695360256
+108,1.800000000,POSE1_TO_POSE2_PRESS,794.382916932,749.382916932,728,708,698,655,934,803,834.382916932,668.382916932,657.382916932,676,0.400978022488,-0.00537357329872,0.0598483731358,0.99999993239,0.000267548916383,-0.000251511756265,1.94645106375e-05,1793256507712026624
+109,1.816666667,POSE1_TO_POSE2_PRESS,794,749.219419772,728,708,698,655,934,803,834.219419772,668,657,676,0.400978122526,-0.00537307168183,0.0598482410263,0.999999931932,0.000269126988666,-0.000251655550197,1.93945529164e-05,1793256507728692992
+110,1.833333333,POSE1_TO_POSE2_PRESS,794,749.797642779,728,708,698,655,934,803,834.797642779,668,657,676,0.400977537101,-0.00537380759711,0.0598479815076,0.999999931851,0.000268854784976,-0.000252249256007,1.96196283455e-05,1793256507745359360
+111,1.850000000,POSE1_TO_POSE2_PRESS,794,749.624202531,728,708.375797469,698,655,934.375797469,803,835,668,657.375797469,676,0.400976187589,-0.00537467491956,0.0598468644922,0.999999931616,0.0002682360765,-0.000253850494199,1.94309047149e-05,1793256507762025984
+112,1.866666667,POSE1_TO_POSE2_PRESS,794,749.046084657,728,708.953915343,698,655,934.953915343,803,835,668,657.953915343,676,0.400974426712,-0.00537561298846,0.059845285821,0.999999931293,0.000267430818117,-0.000255994163787,1.90194015135e-05,1793256507778692608
+113,1.883333333,POSE1_TO_POSE2_PRESS,794,749.529129893,728,709,698,655,935,803,834.470870107,668.529129893,658,676,0.400974906399,-0.00537435324083,0.059845633373,0.999999930809,0.000269058047032,-0.000256171071078,1.91096080358e-05,1793256507795359232
+114,1.900000000,POSE1_TO_POSE2_PRESS,794,750,728,708.893288503,698,655,935,803,834.106711497,668.893288503,657.893288503,676,0.400975900301,-0.0053734187909,0.0598462578227,0.999999930546,0.000270246415087,-0.000255934612198,1.92818208404e-05,1793256507812026112
+115,1.916666667,POSE1_TO_POSE2_PRESS,794,750,728,708.303861821,698,655,935,803,834.696138179,668.303861821,657.303861821,676,0.400978342366,-0.00537481701245,0.0598473800823,0.999999931352,0.000268496451631,-0.000254598905137,1.96284086889e-05,1793256507828692736
+116,1.933333333,POSE1_TO_POSE2_PRESS,794,750,728,708.280553033,698,655,934.719446967,803,835,668,657.280553033,676,0.400988679997,-0.00537523831634,0.0598521257245,0.999999933578,0.000267030209082,-0.000247275837276,1.9830986863e-05,1793256507845359360
+117,1.950000000,POSE1_TO_POSE2_PRESS,794,750,728,708.859634901,698,655,934.140365099,803,835,668,657.859634901,676,0.401007419083,-0.00537462010868,0.0598607269096,0.99999993718,0.000265865866288,-0.000233581782067,1.98803282434e-05,1793256507862025728
+118,1.966666667,POSE1_TO_POSE2_PRESS,794,749.564220251,728,709,698,655,934.435779749,803,834.564220251,668.435779749,658,676,0.401051285473,-0.00537607968226,0.0598771580771,0.999999943741,0.000265765734123,-0.000203609641073,2.0707400847e-05,1793256507878692096
+119,1.983333333,POSE1_TO_POSE2_PRESS,794,749,728,709,698,655,934.988788096,803,834.011211904,668.988788096,657.988788096,676,0.40110346543,-0.00537821532121,0.0598960509816,0.999999950149,0.000265983056365,-0.000168758193169,2.17919362728e-05,1793256507895358976
+120,2.000000000,POSE1_TO_POSE2_PRESS,794,749,728,709,698,655,934.401699305,803,834.598300695,668.401699305,657.401699305,676,0.401169729981,-0.00538093085452,0.0599127134075,0.999999953242,0.00026501729017,-0.000150794028384,2.33198260226e-05,1793256507912025856
+121,2.016666667,POSE1_TO_POSE2_PRESS,794,749,728,709,698,655,934,803,835,668.182865441,657,676,0.401242715992,-0.00538321912841,0.0599279519814,0.999999956226,0.000264093988698,-0.000131197047303,2.42845131302e-05,1793256507928692480
+122,2.033333333,POSE1_TO_POSE2_PRESS,794,749,728,709,698,655,934,803,835,668.761961232,657,676,0.401330265982,-0.0053845816229,0.0599401053753,0.999999959219,0.000263262699095,-0.000108062098702,2.40288607064e-05,1793256507945359104
+123,2.050000000,POSE1_TO_POSE2_PRESS,794,749.340628606,728,709,698,655,934.340628606,803,835,669,657,676,0.401429597791,-0.00538716046442,0.0599480363972,0.999999960934,0.000262426232876,-9.32725342063e-05,2.37781071164e-05,1793256507962025984
+124,2.066666667,POSE1_TO_POSE2_PRESS,794,749.918996933,728,709,698,655,934.918996933,803,835,669,657,676,0.401537152646,-0.00539058824808,0.0599530204386,0.999999961956,0.000261586153774,-8.43075826221e-05,2.35307726586e-05,1793256507978692608
+125,2.083333333,POSE1_TO_POSE2_PRESS,794,749.509157946,728,709,698,655.490842054,934.509157946,803,835,669,657.490842054,676,0.40166230377,-0.00539367307009,0.059958005553,0.999999963675,0.000258289940295,-7.36310890539e-05,2.26771220672e-05,1793256507995359232
+126,2.100000000,POSE1_TO_POSE2_PRESS,794,749.063987602,728,709,698,655.936012398,934.063987602,803,835,669,658,676,0.401792075242,-0.00539663211439,0.0599622337542,0.999999965257,0.000254796089387,-6.40066354567e-05,2.16297224578e-05,1793256508012025856
+127,2.116666667,POSE1_TO_POSE2_PRESS,794,749.656655358,728,709,698,655.343344642,934.656655358,803,835,669,658,676,0.401936343154,-0.00539901345149,0.0599602067225,0.999999965669,0.000252974342418,-6.53774648739e-05,1.97973968303e-05,1793256508028692480
+128,2.133333333,POSE1_TO_POSE2_PRESS,794,750,728,709,698,655.242785087,935,803,835,668.757214913,658,676,0.402097899455,-0.00540288694679,0.0599594035294,0.999999966944,0.000248582856592,-6.3182192696e-05,1.8046308233e-05,1793256508045358848
+129,2.150000000,POSE1_TO_POSE2_PRESS,794,750,728,709,698,655.819911204,935,803,835,668.180088796,658,676,0.402283263707,-0.00540881530331,0.0599602856933,0.999999969336,0.000240652565658,-5.60760171139e-05,1.64070918646e-05,1793256508062025472
+130,2.166666667,POSE1_TO_POSE2_PRESS,794,750,728,709,698,655.602610607,934.602610607,803,835,668.397389393,657.602610607,676,0.402499641336,-0.00541434125069,0.0599626195076,0.999999971669,0.000232866156137,-4.72621240692e-05,1.42283464587e-05,1793256508078692352
+131,2.183333333,POSE1_TO_POSE2_PRESS,794,750,728,709,698,655.024972674,934.024972674,803,835,668.975027326,657.024972674,676,0.402730086081,-0.00541968467317,0.059965611764,0.999999973876,0.000225145007874,-3.76736410813e-05,1.18048804325e-05,1793256508095359232
+132,2.200000000,POSE1_TO_POSE2_PRESS,794,750,728,709,698,655,934.561139766,803,835,668.438860234,657.561139766,676,0.402970713355,-0.00542568179357,0.0599666724599,0.999999975225,0.000220043557525,-3.21173716313e-05,9.96551405689e-06,1793256508112026112
+133,2.216666667,POSE1_TO_POSE2_PRESS,794,749.85414073,728,708.85414073,698,655,935,803,835,668,658,676,0.403226434496,-0.00543235456493,0.0599667454398,0.999999976797,0.000213370143626,-2.8637508421e-05,7.74866635359e-06,1793256508128692736
+134,2.233333333,POSE1_TO_POSE2_PRESS,794,749.274700019,728,708.274700019,698,655,935,803,835,668,658,676,0.403525656029,-0.00544094797412,0.0599641417808,0.999999979181,0.000201672030913,-3.07883661492e-05,4.33126071171e-06,1793256508145359104
+135,2.250000000,POSE1_TO_POSE2_PRESS,794,749,728,708.30199417,698,655,934.69800583,803,835,668,657.69800583,676,0.403834653624,-0.00544866183639,0.0599576433329,0.999999980626,0.000192566963614,-4.08163718007e-05,7.32366060189e-07,1793256508162025728
+136,2.266666667,POSE1_TO_POSE2_PRESS,794,749,728,708.876212547,698,655,934.123787453,803,835,668,657.123787453,676,0.404152463559,-0.00545558285516,0.0599476340366,0.999999981056,0.000185799325331,-5.79450122414e-05,-3.03012658367e-06,1793256508178692352
+137,2.283333333,POSE1_TO_POSE2_PRESS,794,749,728,708.546353311,698,655,934,803,835,668,657.453646689,676,0.404501157256,-0.00546272755671,0.0599324275208,0.999999980003,0.000180099227894,-8.66434125153e-05,-7.14169118112e-06,1793256508195358976
+138,2.300000000,POSE1_TO_POSE2_PRESS,794,749,728,708,698,655,934,803,835,668,657.967456704,676,0.404860998534,-0.00546994229379,0.0599165772965,0.999999977859,0.000174522466329,-0.000117030686246,-1.13427600303e-05,1793256508212025344
+139,2.316666667,POSE1_TO_POSE2_PRESS,794,749,728,708,698,655,934,803,835,668,657.378668409,676,0.405266307594,-0.00547730339549,0.0599141376698,0.999999978662,0.000166039205618,-0.000121937748296,-1.54339643156e-05,1793256508228692480
+140,2.333333333,POSE1_TO_POSE2_PRESS,794,749,728,708,698,655,934.205977411,803,835,668,657.205977411,676,0.405703851885,-0.00548443687022,0.0599220304837,0.999999980953,0.000160312482281,-0.000109753427194,-1.8676556875e-05,1793256508245359360
+141,2.350000000,POSE1_TO_POSE2_PRESS,794,749,728,708,698,655,934.783157791,803,835,668,657.783157791,676,0.406199488977,-0.00549116012538,0.0599485439445,0.999999984835,0.000159553463904,-6.67678048597e-05,-2.03898201519e-05,1793256508262026496
+142,2.366666667,POSE1_TO_POSE2_PRESS,793.639138379,749,728,708.360861621,697.639138379,655,934.639138379,803,835,668,657.639138379,676,0.406728230944,-0.0054907956186,0.0599787624906,0.99999998598,0.000165252727225,-1.54311550987e-05,-2.21980858451e-05,1793256508278692864
+143,2.383333333,POSE1_TO_POSE2_PRESS,793.061119496,749,728,708.938880504,697.061119496,655,934.061119496,803,835,668,657.061119496,676,0.407276894623,-0.00548616587922,0.0600112106645,0.999999983589,0.000174838418342,4.09309328008e-05,-2.40635216767e-05,1793256508295359232
+144,2.400000000,POSE1_TO_POSE2_PRESS,793.515048212,749,728,708.484951788,697.515048212,655,934,803,835,668.515048212,657,676,0.407828527608,-0.00548056878807,0.0600178356985,0.999999998521,1.67710396582e-05,4.33786030901e-05,-2.81908178415e-05,1793256508312026112
+145,2.416666667,POSE1_TO_POSE2_PRESS,794,749,728,708,698,655,934.093169882,803,834.906830118,668.906830118,657.093169882,676,0.408379906912,-0.00547778908836,0.0600181841292,0.999999990126,-0.000132478566749,3.37133221164e-05,-3.2580889434e-05,1793256508328692736
+146,2.433333333,POSE1_TO_POSE2_PRESS,794,749,728,708,698,655,934.682871575,803,834.317128425,668.317128425,657.682871575,676,0.408928063373,-0.00549063373651,0.0600013550565,0.999999990964,-0.000129088629295,-6.5314332062e-06,-3.69460645754e-05,1793256508345359360
+147,2.450000000,POSE1_TO_POSE2_PRESS,794,749,728,708.267259941,697.732740059,655,934.732740059,803,834.267259941,668,658,676,0.409514767947,-0.00549998443644,0.05999302226,0.999999990927,-0.000125006966513,-2.83001646429e-05,-4.14498365157e-05,1793256508362025984
+148,2.466666667,POSE1_TO_POSE2_PRESS,794,749,728,708.845466424,697.154533576,655,934.154533576,803,834.845466424,668,658,676,0.41014632172,-0.00550527006282,0.0599945745513,0.999999991314,-0.000120120508616,-2.8572758833e-05,-4.6114860231e-05,1793256508378692864
+149,2.483333333,POSE1_TO_POSE2_PRESS,794,749,728,708.582713853,697.417286147,655,934.417286147,803,835,668.417286147,658,676,0.410819210682,-0.00550437366428,0.0600009040082,0.999999992918,-0.000107081534084,-9.11584115266e-06,-5.11323492683e-05,1793256508395359488
+150,2.500000000,POSE1_TO_POSE2_PRESS,794,749,728,708.013223698,697.986776302,655,934.986776302,803,835,668.986776302,658,676,0.41150717653,-0.00550122238853,0.0600089759234,0.999999994116,-9.10689508731e-05,1.75373633673e-05,-5.62783989462e-05,1793256508412026112
+151,2.516666667,POSE1_TO_POSE2_PRESS,794,749,728,708,697.420335804,655,935,802.420335804,835,668.420335804,658,676,0.412210522163,-0.00550160989957,0.0600018796831,0.999999996143,-6.8089092458e-05,3.07900347487e-06,-5.53952583676e-05,1793256508428692992
+152,2.533333333,POSE1_TO_POSE2_PRESS,794,749,728,708,697,655,935,802.169165351,835,668,658,676,0.412905447682,-0.00549927665057,0.0599841570186,0.999999997722,-3.29028917996e-05,-3.31209841662e-05,-4.87583663465e-05,1793256508445359872
+153,2.550000000,POSE1_TO_POSE2_PRESS,794,749,728,708,697,655,935,802.749092269,835,668,658,676,0.413579039893,-0.00549013267512,0.0599415071833,0.999999991928,3.15201602811e-05,-0.000119740172099,-2.8498432652e-05,1793256508462026240
+154,2.566666667,POSE1_TO_POSE2_PRESS,794,749,728,708,697,655,935,803,834.671325279,668,658,676,0.414336185,-0.00548679151945,0.0599361564607,0.999999989723,5.95520748695e-05,-0.000128379187672,-2.29624300059e-05,1793256508478692864
+155,2.583333333,POSE1_TO_POSE2_PRESS,794,749,728,708,697,655,935,803,834.092005453,668,658,676,0.415157047047,-0.00548787555366,0.059959249783,0.999999994792,5.9832362834e-05,-7.75510646456e-05,-2.86547948755e-05,1793256508495359488
+156,2.600000000,POSE1_TO_POSE2_PRESS,793.517262953,748.517262953,728,708,697.482737047,655,934.517262953,803,834.482737047,668,658,676,0.416013678213,-0.00549751971437,0.0600042676721,0.999999998723,4.01377151464e-05,1.13004503193e-06,-3.06843031915e-05,1793256508512026112
+157,2.616666667,POSE1_TO_POSE2_PRESS,793,748.058017943,728.058017943,708,698,655,934,802.941982057,835,668,658,676,0.416872572283,-0.00550798491684,0.0600476229759,0.999999996569,1.69437059619e-05,7.44869243004e-05,-3.20360024999e-05,1793256508528692992
+158,2.633333333,POSE1_TO_POSE2_PRESS,793,748.646113981,728.646113981,708,698,655,934,802.353886019,835,668,658,676,0.417690441085,-0.00551118556138,0.0600379689315,0.999999998123,-3.76586930702e-06,5.11536816217e-05,-3.35132580364e-05,1793256508545359616
+159,2.650000000,POSE1_TO_POSE2_PRESS,793,748.769571675,729,708,698,655,934.230428325,802.230428325,835,668.230428325,658,676,0.418522070758,-0.00551255716603,0.0600243517218,0.999999998977,-9.71384118445e-06,2.66715914178e-05,-3.52146447066e-05,1793256508562026240
+160,2.666666667,POSE1_TO_POSE2_PRESS,793,748.190971419,729,708,698,655,934.809028581,802.809028581,835,668.809028581,658,676,0.419374492743,-0.00551116513303,0.0600047462606,0.999999999284,6.64263343983e-06,4.53620301896e-07,-3.72546883241e-05,1793256508578692864
+161,2.683333333,POSE1_TO_POSE2_PRESS,793,748.381971113,729,708,698,655,935,802.618028887,835,668.618028887,658,676.381971113,0.420211651567,-0.00551411541628,0.0599798919249,0.999999998573,-1.0417006713e-05,-3.51587313932e-05,-3.88412948934e-05,1793256508595359488
+162,2.700000000,POSE1_TO_POSE2_PRESS,793,748.952126262,729,708,698,655,935,802.047873738,835,668.047873738,658,676.952126262,0.42104129073,-0.00551920500951,0.0599524516497,0.999999995384,-4.39396183464e-05,-7.5399370608e-05,-4.02045084795e-05,1793256508612026112
+163,2.716666667,POSE1_TO_POSE2_PRESS,793,748.476412924,729,708,698,655.523587076,935,802,835,668,657.476412924,676.476412924,0.421863287138,-0.00551983241597,0.0599169611257,0.99999998755,-2.89257690577e-05,-0.00014945805996,-4.15408185185e-05,1793256508628692736
+164,2.733333333,POSE1_TO_POSE2_PRESS,793.100083602,748,729,708,697.899916398,655.899916398,934.899916398,802,835,668,657.100083602,676,0.422719054051,-0.00552065195435,0.0598969439942,0.999999980144,-1.34699647207e-05,-0.000194215116873,-4.25489948201e-05,1793256508645359616
+165,2.750000000,POSE1_TO_POSE2_PRESS,793.701189794,748,729,708,697.298810206,655.298810206,934.298810206,802,835,668,657.701189794,676,0.423747384232,-0.00552448086457,0.0599580813048,0.999999996011,-1.80735190779e-05,-7.67689856898e-05,-4.19268657599e-05,1793256508662026240
+166,2.766666667,POSE1_TO_POSE2_PRESS,793.710721044,748,729,708,697,655,934.289278956,802.289278956,835,668.289278956,658,676.289278956,0.424739647496,-0.00552846845558,0.0600120158336,0.99999999868,-2.82222423046e-05,1.5032499686e-05,-4.02272553854e-05,1793256508678692864
+167,2.783333333,POSE1_TO_POSE2_PRESS,793.135498742,748,729,708,697,655,934.864501258,802.864501258,835,668.864501258,658,676.864501258,0.425696259844,-0.00553261289812,0.0600588306416,0.999999995017,-4.38521949626e-05,8.14850553212e-05,-3.74625881011e-05,1793256508695359488
+168,2.800000000,POSE1_TO_POSE2_PRESS,793.440492613,748,729,708.440492613,697,655.440492613,934.559507387,802.559507387,835,668.559507387,657.559507387,676.559507387,0.426632761235,-0.00553479612645,0.0600624078198,0.999999993389,-4.15516429457e-05,9.98495333451e-05,-3.90543755617e-05,1793256508712026112
+169,2.816666667,POSE1_TO_POSE2_PRESS,793.982881809,747.982881809,729,709,697.017118191,655.982881809,934.017118191,802,835,668.017118191,657.017118191,676,0.427562143471,-0.00553641442983,0.060051998917,0.999999993344,-3.45759094212e-05,0.000101759645341,-4.19765744503e-05,1793256508728692736
+170,2.833333333,POSE1_TO_POSE2_PRESS,793.392962644,747.392962644,729,709,697.607037356,655.392962644,934.607037356,802,835,668.607037356,657.607037356,676,0.428460674189,-0.00553935158848,0.0600194180701,0.999999996243,-5.60430977664e-05,4.89182669689e-05,-4.4496920125e-05,1793256508745359616
+171,2.850000000,POSE1_TO_POSE2_PRESS,793,747.193489544,729,709,697.806510456,655,935,802,835.193489544,669,658,676,0.429340013331,-0.00554011108167,0.0599833105374,0.999999996794,-6.39958988529e-05,-1.23821423489e-05,-4.65152383521e-05,1793256508762026240
+172,2.866666667,POSE1_TO_POSE2_PRESS,793,747.773024475,729,709,697.226975525,655,935,802,835.773024475,669,658,676,0.43018106188,-0.0055365257523,0.0599401666532,0.999999993758,-4.49851389647e-05,-9.05597904295e-05,-4.75319241515e-05,1793256508778692608
+173,2.883333333,POSE1_TO_POSE2_PRESS,793,747.649913203,729,709,697,655,934.649913203,802,835.649913203,669,657.649913203,676.350086797,0.43110090043,-0.00553620963021,0.0599400241326,0.999999994003,-4.80464512197e-05,-8.56670523296e-05,-4.84488000111e-05,1793256508795358976
+174,2.900000000,POSE1_TO_POSE2_PRESS,793,747.074442752,729,709,697,655,934.074442752,802,835.074442752,669,657.074442752,676.925557248,0.43207146345,-0.00553799820311,0.0599675656181,0.999999996279,-6.53176238578e-05,-2.72941249538e-05,-4.93014188217e-05,1793256508812025600
+175,2.916666667,POSE1_TO_POSE2_PRESS,793,747,729,709,697.500201761,655,934,802,835,669,657.500201761,677,0.433019311449,-0.00554431939871,0.0600111392665,0.999999995853,-6.62982012454e-05,4.0539506427e-05,-4.74779308346e-05,1793256508828692480
+176,2.933333333,POSE1_TO_POSE2_PRESS,793,746.923076186,729,709,697.923076186,655,934.076923814,802,835,669,658,676.923076186,0.43395619788,-0.00555015059481,0.0600483642226,0.999999992216,-6.46651107225e-05,9.63943015464e-05,-4.57623965057e-05,1793256508845359360
+177,2.950000000,POSE1_TO_POSE2_PRESS,793,746.331637691,729,709,697.331637691,655,934.668362309,802,835,669,658,676.331637691,0.434842340157,-0.00554819985737,0.0600271924098,0.999999995002,-6.17397168556e-05,6.27250823576e-05,-4.74284328332e-05,1793256508862025728
+178,2.966666667,POSE1_TO_POSE2_PRESS,793,746,729,709,697,655,935,801.745985143,835,669,658,676,0.435702862889,-0.00554734241697,0.059999379379,0.99999999654,-6.54524071734e-05,1.35538343672e-05,-4.95145208652e-05,1793256508878692096
+179,2.983333333,POSE1_TO_POSE2_PRESS,793,746,729,709,697,655,935,801.16771832,835,669,658,676,0.436530682191,-0.00554788057861,0.0599630887782,0.999999994092,-7.76386636689e-05,-5.54058800937e-05,-5.21368083143e-05,1793256508895358976
+180,3.000000000,POSE1_TO_POSE2_PRESS,793,745.591933163,729,709,697,655,934.591933163,801,835,669,657.591933163,676,0.437339481147,-0.00554775119763,0.0599400304086,0.999999990998,-7.26182869492e-05,-9.91683250545e-05,-5.38181663006e-05,1793256508912025856
+181,3.016666667,POSE1_TO_POSE2_PRESS,793,745.017161856,729,709,697,655,934.017161856,801,835,669,657.017161856,676,0.438140509815,-0.00554734911047,0.0599223777048,0.999999987851,-6.05686133508e-05,-0.000132637115293,-5.51151333188e-05,1793256508928692480
+182,3.033333333,POSE1_TO_POSE2_PRESS,793,745,728.444703579,709,697,655,934,801,835,669.555296421,657,676.555296421,0.438950729559,-0.00554705138171,0.0599225089848,0.999999986868,-7.47034041887e-05,-0.000132768226161,-5.52861137388e-05,1793256508945358848
+183,3.050000000,POSE1_TO_POSE2_PRESS,793,744.867226886,728.132773114,709.132773114,696.867226886,654.867226886,934,801,835,670,657,677,0.439769385079,-0.0055470066632,0.0599315284901,0.999999987632,-8.65752204781e-05,-0.000119202398237,-5.5050798738e-05,1793256508962025472
+184,3.066666667,POSE1_TO_POSE2_PRESS,793,744.272023847,728.727976153,709.727976153,696.272023847,654.272023847,934,801,835,670,657,677,0.440616435944,-0.0055478319569,0.0599695980892,0.999999992825,-8.77586026064e-05,-6.15056694064e-05,-5.35211131712e-05,1793256508978692608
+185,3.083333333,POSE1_TO_POSE2_PRESS,793,744,729,709.686789604,696,654,934,800.686789604,835,669.686789604,657,677,0.441386128921,-0.0055494006467,0.0599697176406,0.999999993299,-8.09146880377e-05,-6.3647624616e-05,-5.29543494885e-05,1793256508995359232
+186,3.100000000,POSE1_TO_POSE2_PRESS,793,744,729,709.109946249,696,654,934,800.109946249,835,669.109946249,657,677,0.442090708791,-0.0055515950619,0.0599378941782,0.999999989573,-6.73141011506e-05,-0.000116156523311,-5.31980888117e-05,1793256509012025600
+187,3.116666667,POSE1_TO_POSE2_PRESS,793,744.465093513,729,709,695.534906487,654,934,800,835,669,657,676.534906487,0.442746948942,-0.00555173403841,0.0598801171782,0.999999975875,-6.5077590821e-05,-0.000202053630012,-5.64668956278e-05,1793256509028692224
+188,3.133333333,POSE1_TO_POSE2_PRESS,793,744.959214634,729,709,695,653.959214634,934,799.959214634,835,669,657,676.040785366,0.443393161629,-0.0055516117503,0.0598200304362,0.999999953781,-6.78785762886e-05,-0.000290187975249,-6.01790665382e-05,1793256509045358848
+189,3.150000000,POSE1_TO_POSE2_PRESS,793,744.369017924,729,709,695,653.369017924,934,799.369017924,835,669,657,676.630982076,0.444057636149,-0.00555449016156,0.0598111579779,0.999999947164,-0.00010249019193,-0.000302547524115,-6.02677653485e-05,1793256509062025984
+190,3.166666667,POSE1_TO_POSE2_PRESS,793,744,729,709.216875941,694.783124059,652.783124059,934,799,835,669.216875941,657,677,0.444714328392,-0.00555674014211,0.0598040442109,0.999999941055,-0.000119013432868,-0.000316383133194,-6.0236555502e-05,1793256509078693120
+191,3.183333333,POSE1_TO_POSE2_PRESS,793,744,729,709.795590969,694.204409031,652.204409031,934,799,835,669.795590969,657,677,0.445358036673,-0.00555794163984,0.0597998646699,0.999999937311,-0.000105357762636,-0.000332681425807,-6.00052883514e-05,1793256509095360000
+192,3.200000000,POSE1_TO_POSE2_PRESS,793,744.373100445,729,710,694,652,934,798.626899555,835,670,657,676.626899555,0.445940087589,-0.00555682142094,0.0597732152193,0.999999921188,-9.70563965311e-05,-0.000380048708563,-6.1372020634e-05,1793256509112026880
+193,3.216666667,POSE1_TO_POSE2_PRESS,793,744.949951532,729,710,694,652,934,798.050048468,835,670,657,676.050048468,0.446488467298,-0.00555443330947,0.059734294922,0.999999895036,-9.16790234281e-05,-0.000444382805348,-6.36114223148e-05,1793256509128693760
+194,3.233333333,POSE1_TO_POSE2_PRESS,792.475806277,745,729,710,693.475806277,652,934,798.524193723,835,670,657,676.524193723,0.447047315695,-0.00555238081559,0.0597228368116,0.999999890958,-9.06155691977e-05,-0.000453209375771,-6.68833549863e-05,1793256509145360640
+195,3.250000000,POSE1_TO_POSE2_PRESS,792.101263481,745,729,709.898736519,692.898736519,651.898736519,934,798.898736519,835.101263481,670,656.898736519,677,0.447602522047,-0.00555190321156,0.0597174946164,0.999999890688,-9.11686323546e-05,-0.000453267771379,-6.9724485506e-05,1793256509162027264
+196,3.266666667,POSE1_TO_POSE2_PRESS,792.693236315,745,729,709.306763685,692.306763685,651.306763685,934,798.306763685,835.693236315,670,656.306763685,677,0.448135259971,-0.0055589028034,0.0597291463524,0.999999897571,-9.75690912424e-05,-0.000436391189025,-7.00026516294e-05,1793256509178693376
+197,3.283333333,POSE1_TO_POSE2_PRESS,792.722085728,745,729,709.277914272,692,650.722085728,934.277914272,797.722085728,835.722085728,670,656,677,0.448630694981,-0.00556393626292,0.0597234359844,0.999999892725,-0.00010312892531,-0.000445861576469,-7.15713126554e-05,1793256509195359744
+198,3.300000000,POSE1_TO_POSE2_PRESS,792.145253992,745,729,709.854746008,692,650.145253992,934.854746008,797.145253992,835.145253992,670,656,677,0.449086007899,-0.00556685500049,0.0596990513818,0.999999874446,-0.000107784604376,-0.000483670089803,-7.45279968336e-05,1793256509212026368
+199,3.316666667,POSE1_TO_POSE2_PRESS,792,744.568342364,729,709.568342364,691.568342364,650,934.568342364,797,835,670,656,676.568342364,0.449488667849,-0.00556950534333,0.0596614828679,0.99999984306,-0.00011164474354,-0.000543440911024,-7.80183323739e-05,1793256509228693248
+200,3.333333333,POSE1_TO_POSE2_PRESS,792,744.008550119,729,709.008550119,690.991449881,650,934.008550119,797,835.008550119,670,656,676,0.449873406792,-0.00557210862499,0.0596197822643,0.999999803976,-0.000115320944676,-0.000609981065247,-8.16784801654e-05,1793256509245359616
+201,3.350000000,POSE1_TO_POSE2_PRESS,792,744.58239593,729,709.58239593,690.41760407,650,934.58239593,797,835.58239593,670,656,676,0.450244930117,-0.00557757278489,0.0595982573203,0.999999786811,-0.000124538489298,-0.000635369849076,-8.46909491091e-05,1793256509262026240
+202,3.366666667,POSE1_TO_POSE2_PRESS,792,745,729,710,690,649.838365373,934.838365373,797,835.838365373,670.161634627,656,676,0.450613441438,-0.00558341439348,0.0595849937697,0.999999775336,-0.000142250809218,-0.000649260473298,-8.69065334553e-05,1793256509278693120
+203,3.383333333,POSE1_TO_POSE2_PRESS,792,745,729,710,690,649.244712404,934.244712404,797,835.244712404,670.755287596,656,676,0.450973902331,-0.00559026485118,0.0595938113335,0.999999779556,-0.000182668035587,-0.000632418729086,-8.69921988844e-05,1793256509295360000
+204,3.400000000,POSE1_TO_POSE2_PRESS,792,745,729,710,690,649,934,796.661124151,835,670.661124151,656.338875849,676.338875849,0.45131526087,-0.00559553027632,0.0596024614897,0.999999783032,-0.000210807748555,-0.000618132525141,-8.60664586105e-05,1793256509312026368
+205,3.416666667,POSE1_TO_POSE2_PRESS,792,745,729,710,690,649,934,796.084594328,835,670.084594328,656.915405672,676.915405672,0.451643222887,-0.00559968411611,0.0596109942421,0.999999786509,-0.0002303372267,-0.000605638525498,-8.44314185408e-05,1793256509328692736
+206,3.433333333,POSE1_TO_POSE2_PRESS,792,744.50957969,729,710,690,649,934,796,835,670,656.50957969,676.50957969,0.451927465352,-0.00559147498173,0.0596162000883,0.999999807758,-0.000161566670607,-0.000595054997625,-6.55001671938e-05,1793256509345359104
+207,3.450000000,POSE1_TO_POSE2_PRESS,792,744.064995256,729,709.935004744,689.935004744,648.935004744,934.064995256,796,835,670,656,676.064995256,0.45219789944,-0.00558029510152,0.0596193625068,0.999999822857,-8.49140962565e-05,-0.000587289138263,-4.65482148645e-05,1793256509362025984
+208,3.466666667,POSE1_TO_POSE2_PRESS,792,744.638169595,729,709.361830405,689.361830405,648.361830405,934.638169595,796,835,670,656,676.638169595,0.452419151784,-0.00556251012211,0.0596110210571,0.999999817188,-6.53557311137e-05,-0.00059898517018,-5.06895631427e-05,1793256509378692608
+209,3.483333333,POSE1_TO_POSE2_PRESS,792,745,729,709.220060183,689,648,935,795.779939817,835,670,656,677,0.452627662647,-0.00555362899004,0.0596039348915,0.999999811135,-5.52627722423e-05,-0.000609741400559,-5.37661042319e-05,1793256509395359488
+210,3.500000000,POSE1_TO_POSE2_PRESS,792,745,729,709.816873323,689,648,935,795.183126677,835,670,656,677,0.452814359499,-0.00555999164792,0.0595989978295,0.999999805091,-6.13750177774e-05,-0.000618888647526,-5.50196470073e-05,1793256509412026368
+211,3.516666667,POSE1_TO_POSE2_PRESS,792.399125752,745,729,710,689,648,934.600874248,795.399125752,835,670,656,676.600874248,0.45298089194,-0.00556569639584,0.0595922885352,0.999999796445,-6.70760734922e-05,-0.000632039493147,-5.60119266116e-05,1793256509428692992
+212,3.533333333,POSE1_TO_POSE2_PRESS,792.974932639,745,729,710,689,648,934.025067361,795.974932639,835,670,656,676.025067361,0.45313849821,-0.00557110990709,0.0595847947258,0.999999786466,-7.25951081844e-05,-0.000646962613842,-5.68885528562e-05,1793256509445359616
+213,3.550000000,POSE1_TO_POSE2_PRESS,792.451087698,745,729.548912302,710,688.451087698,648,934,795.451087698,835,670,656,676.548912302,0.45326116125,-0.00556961582762,0.0595764738627,0.999999777221,-7.16805865354e-05,-0.000661069321541,-5.83757522554e-05,1793256509462025984
+214,3.566666667,POSE1_TO_POSE2_PRESS,792,745,729.87328387,709.87328387,688,648,934,795,835,670,656,677,0.453378928347,-0.00556839745967,0.0595693296522,0.99999976936,-7.11061676749e-05,-0.000672789540909,-5.9823161538e-05,1793256509478692608
+215,3.583333333,POSE1_TO_POSE2_PRESS,792,745,729.281127892,709.281127892,688,648,934,795,835,670,656,677,0.453484554174,-0.00556934664144,0.0595666456615,0.999999767077,-7.28565629132e-05,-0.000675880467353,-6.1022340671e-05,1793256509495359232
+216,3.600000000,POSE1_TO_POSE2_PRESS,792,745,729,709.303582469,688,647.696417531,934,795,835.303582469,670,656,677,0.453581341592,-0.00557058337089,0.0595671426273,0.999999767847,-7.51630634077e-05,-0.000674417015604,-6.17834283755e-05,1793256509512026112
+217,3.616666667,POSE1_TO_POSE2_PRESS,792,745,729,709.881562951,688,647.118437049,934,795,835.881562951,670,656,677,0.453670140263,-0.005572080005,0.0595705147532,0.999999771357,-7.79722086891e-05,-0.000668837013926,-6.21485398554e-05,1793256509528692480
+218,3.633333333,POSE1_TO_POSE2_PRESS,792,745,729,710,688,647,934.456268469,795,836,670.456268469,656,676.543731531,0.453745097642,-0.00557315481769,0.0595756713188,0.999999776063,-7.77348547042e-05,-0.000661854287032,-6.14878146793e-05,1793256509545359104
+219,3.650000000,POSE1_TO_POSE2_PRESS,792,745.030944479,729,710,687.969055521,647,934.969055521,795,835.969055521,671,656,676,0.453815500019,-0.00557412255567,0.0595812269685,0.999999781047,-7.68294330388e-05,-0.000654469972567,-6.05996612965e-05,1793256509562025728
+220,3.666666667,POSE1_TO_POSE2_PRESS,792,745.62031999,729,710,687.37968001,647,934.37968001,795,835.37968001,671,656,676,0.453868077834,-0.00557511989566,0.0595856851335,0.99999978624,-7.80372135721e-05,-0.000646362607912,-6.03784648878e-05,1793256509578692608
+221,3.683333333,POSE1_TO_POSE2_PRESS,792,745.794540906,729,710,687.205459094,647,934,795,835,670.794540906,656,676,0.453913715171,-0.00557504151521,0.0595885330305,0.999999789584,-7.71157637902e-05,-0.000641286662702,-6.03012054354e-05,1793256509595359232
+222,3.700000000,POSE1_TO_POSE2_PRESS,792,745.217072412,729,710,687.782927588,647,934,795,835,670.217072412,656,676,0.453946785898,-0.0055730154082,0.0595884653352,0.999999789665,-7.23390759434e-05,-0.000641699482687,-6.04845618842e-05,1793256509612025856
+223,3.716666667,POSE1_TO_POSE2_PRESS,792.361852894,745,729,710,688,647,934,795,835,670,656,676,0.453971287101,-0.00557214993583,0.0595871107737,0.999999788755,-7.10552087566e-05,-0.000643252113522,-6.05675197513e-05,1793256509628692736
+224,3.733333333,POSE1_TO_POSE2_PRESS,792.941655719,745,729,710,688,647,934,795,835,670,656,676,0.453990626741,-0.00557198353253,0.0595849811114,0.999999787252,-7.1875124248e-05,-0.000645491271156,-6.05900059248e-05,1793256509645359360
+225,3.750000000,POSE1_TO_POSE2_PRESS,792.482880451,745,729.517119549,710,687.482880451,647,934,795,835,670,656,676.517119549,0.454002065235,-0.00557026066523,0.0595829531002,0.999999785292,-6.99668123523e-05,-0.000648726483092,-6.06189293267e-05,1793256509662025984
+226,3.766666667,POSE1_TO_POSE2_PRESS,792,745,729.90575008,710,687,647,934,795,835,670.09424992,656,677,0.454011979767,-0.00556864557217,0.0595812564238,0.999999783511,-6.82965135481e-05,-0.000651644908272,-6.05933917952e-05,1793256509678692608
+227,3.783333333,POSE1_TO_POSE2_PRESS,792,745,729.317336208,710,687,647,934,795,835,670.682663792,656,677,0.45401853908,-0.00556850862957,0.0595812373434,0.99999978301,-6.94746218392e-05,-0.000652318061594,-6.02785325794e-05,1793256509695359232
+228,3.800000000,POSE1_TO_POSE2_PRESS,792,745,729,710,687,647,934,795,835,670.734680502,656,676.734680502,0.454024484638,-0.00556786291223,0.0595814441433,0.999999783087,-6.89426832152e-05,-0.000652279436164,-6.00417641693e-05,1793256509712025856
+229,3.816666667,POSE1_TO_POSE2_PRESS,792,745,729,710,687,647,934,795,835,670.158765609,656,676.158765609,0.454029711707,-0.00556662159942,0.0595819153692,0.999999783835,-6.64088837431e-05,-0.000651407569245,-5.98964125222e-05,1793256509728692736
+230,3.833333333,POSE1_TO_POSE2_PRESS,792,745,729.420382547,710,687.420382547,647,934.420382547,795,835.420382547,670,656,676,0.454031104408,-0.00556617862607,0.0595803769228,0.999999782553,-6.70546977635e-05,-0.000653277201914,-6.02247998164e-05,1793256509745359104
+231,3.850000000,POSE1_TO_POSE2_PRESS,792,745,729.999247384,710,687.999247384,647,934.999247384,795,836,670,656,676.000752616,0.454031038864,-0.00556604017627,0.0595780764287,0.999999780491,-6.89040079144e-05,-0.000656186987625,-6.07318908055e-05,1793256509762025728
+232,3.866666667,POSE1_TO_POSE2_PRESS,792,745,729.425458801,710,687.425458801,647,934.425458801,795,836,670,656,676.574541199,0.45403181329,-0.00556641814181,0.0595779280266,0.999999780466,-6.56870187243e-05,-0.000656620438412,-6.00209550661e-05,1793256509778692608
+233,3.883333333,POSE1_TO_POSE2_PRESS,792,745,729.152722039,710,687.152722039,647,934.152722039,795,835.847277961,670.152722039,656,677,0.454032418282,-0.00556604883072,0.0595776325537,0.999999780186,-6.23604009749e-05,-0.000657413328947,-5.95569409554e-05,1793256509795359232
+234,3.900000000,POSE1_TO_POSE2_PRESS,792,745,729.743501219,710,687.743501219,647,934.743501219,795,835.256498781,670.743501219,656,677,0.454032537281,-0.00556353608387,0.0595769152329,0.999999779191,-5.87193329417e-05,-0.000659237211077,-5.98011795775e-05,1793256509812025856
+235,3.916666667,POSE1_TO_POSE2_PRESS,791.674825319,745.325174681,729.674825319,710,688,647,934.674825319,795,835.325174681,670.674825319,656,677,0.454032986852,-0.005561872936,0.0595761821982,0.999999778894,-5.74451261692e-05,-0.000659772886428,-6.01025694119e-05,1793256509828692480
+236,3.933333333,POSE1_TO_POSE2_PRESS,791.100138763,745.899861237,729.100138763,710,688,647,934.100138763,795,835.899861237,670.100138763,656,677,0.454033690076,-0.00556086169913,0.0595754371058,0.99999977914,-5.79870505465e-05,-0.000659320099752,-6.04478123369e-05,1793256509845359104
+237,3.950000000,POSE1_TO_POSE2_PRESS,791.478019475,745.04396105,729,710,687.521980525,647,934,795,836,670,656,677,0.454033174562,-0.00556140144613,0.0595751660316,0.999999778328,-5.94664785933e-05,-0.000660452695193,-6.00827694874e-05,1793256509862025728
+238,3.966666667,POSE1_TO_POSE2_PRESS,792,744.057791649,729,710,687,646.942208351,934.057791649,795,835.942208351,670.057791649,656,676.942208351,0.454032465375,-0.00556222216137,0.0595749107456,0.999999777342,-6.09045857976e-05,-0.000661854734461,-5.96178314439e-05,1793256509878692352
+239,3.983333333,POSE1_TO_POSE2_PRESS,792,744.645647857,729,710,687,646.354352143,934.645647857,795,835.354352143,670.645647857,656,676.354352143,0.454032338647,-0.00556261803629,0.0595738828223,0.999999776855,-6.01491914419e-05,-0.000662659655359,-5.96113903626e-05,1793256509895359232
+240,4.000000000,POSE1_TO_POSE2_PRESS,792,745,729,710,687,646,934.770262159,795,835,671,655.770262159,676.229737841,0.454032416596,-0.00556195051593,0.0595730925997,0.99999977638,-5.86525559722e-05,-0.000663504678801,-5.96811207276e-05,1793256509912026368
+241,4.016666667,POSE1_TO_POSE2_PRESS,792,745,729,710,687,646,934.19188761,795,835,671,655.19188761,676.80811239,0.454032805149,-0.00555966924904,0.0595726630981,0.999999775918,-5.60310563958e-05,-0.000664410559467,-5.98664444237e-05,1793256509928694016
+242,4.033333333,POSE1_TO_POSE2_PRESS,792,744.615316592,729.384683408,710,687.384683408,646.384683408,934,795,835,670.615316592,655.384683408,677,0.45403310862,-0.00555951980154,0.0595724404503,0.999999775988,-5.62373434933e-05,-0.00066430332747,-5.96819699109e-05,1793256509945360640
+243,4.050000000,POSE1_TO_POSE2_PRESS,792,744.03964103,729.96035897,710,687.96035897,646.96035897,934,795,835,670.03964103,655.96035897,677,0.454033369849,-0.00556042878493,0.0595723205039,0.999999776323,-5.78476035344e-05,-0.000663693093329,-5.93138936182e-05,1793256509962026752
+244,4.066666667,POSE1_TO_POSE2_PRESS,792,744.535462849,730,710,687.464537151,647,934,795,835,670,656,677,0.454033137923,-0.00556064573026,0.0595725190182,0.999999775858,-5.7701956998e-05,-0.00066441289089,-5.92481617772e-05,1793256509978693632
+245,4.083333333,POSE1_TO_POSE2_PRESS,792,745,730,710,687,647,934,795,835,670,656,677,0.454032766537,-0.00556083772203,0.0595724009784,0.999999775197,-5.76193347694e-05,-0.000665416221101,-5.92287506462e-05,1793256509995360512
+246,4.100000000,POSE1_TO_POSE2_PRESS,792,745,730,710,687,647,934,795,835,670,656,677,0.454031962282,-0.00556113993515,0.0595708534685,0.999999773962,-5.83473826933e-05,-0.000667197840473,-5.93100507989e-05,1793256510012026880
+247,4.116666667,HOLD_POSE2,792,745,730,710,687,646,934,795,835,670,656,677,0.454032427003,-0.00555959931528,0.0595703688297,0.999999773699,-5.64354939944e-05,-0.00066773851143,-5.95211283652e-05,1793256510049204224
+248,4.133333333,HOLD_POSE2,792,744.422998999,729.422998999,710,687,646,934,795,835.577001001,670,656,677,0.454031400982,-0.00555849571472,0.0595701452335,0.999999772563,-5.60506902182e-05,-0.000669448364955,-5.97570716433e-05,1793256510065870592
+249,4.150000000,HOLD_POSE2,792,744,729,709.846669523,687,646,934,794.846669523,835.846669523,670,656,677,0.454031068837,-0.00555787510102,0.0595700526757,0.999999772062,-5.622396595e-05,-0.000670169382592,-5.99039850275e-05,1793256510082536960
+250,4.166666667,HOLD_POSE2,792,744,729,709.272184403,687,646,934,794.272184403,835.272184403,670,656,677,0.454032642573,-0.00555858111278,0.0595703200425,0.999999773305,-5.79301252029e-05,-0.000668174353346,-5.98063589989e-05,1793256510099203584
+251,4.183333333,HOLD_POSE2,792,744,729,709.311674439,687,646.311674439,934,794.311674439,835,670,656,676.688325561,0.454033468635,-0.00555944114477,0.0595706769995,0.999999773856,-5.79701604568e-05,-0.000667381536159,-5.94031789085e-05,1793256510115870464
+252,4.200000000,HOLD_POSE2,792,744,729,709.903973122,687,646.903973122,934,794.903973122,835,670,656,676.096026878,0.454033621509,-0.00556043985287,0.0595711146214,0.999999773787,-5.6510057222e-05,-0.000667671162211,-5.87248852205e-05,1793256510132537600
+253,4.216666667,HOLD_POSE2,792,744.482939855,729.482939855,710,687,647,934,795,835.482939855,670,656,676.482939855,0.454032835359,-0.00556065043188,0.0595705189276,0.999999773027,-5.60731774526e-05,-0.000668850840305,-5.86616784033e-05,1793256510149204224
+254,4.233333333,HOLD_POSE2,792,745,730,710,687,646.940623071,934,795,835.940623071,670.059376929,656,676.940623071,0.454032049249,-0.00556064894277,0.059569878248,0.99999977229,-5.58984167051e-05,-0.000669956964193,-5.87697452888e-05,1793256510165870848
+255,4.250000000,HOLD_POSE2,792,745,730,710,687,646.363749961,934,795,835.363749961,670.636250039,656,676.363749961,0.454032847075,-0.00556012829343,0.059570588089,0.999999772928,-5.62825669656e-05,-0.000668921039915,-5.93332508551e-05,1793256510182537216
+256,4.266666667,HOLD_POSE2,792,745,729.782715673,710,687.217284327,646,934,795,835,670.782715673,656,676.217284327,0.454033633522,-0.00556043240628,0.0595708480994,0.999999773292,-5.7190693496e-05,-0.000668277736274,-5.95741224085e-05,1793256510199203328
+257,4.283333333,HOLD_POSE2,792,745,729.194579312,710,687.805420688,646,934,795,835,670.194579312,656,676.805420688,0.454034400547,-0.00556214418964,0.0595703403575,0.999999773188,-5.89931213259e-05,-0.000668304541636,-5.92643353222e-05,1793256510215870208
+258,4.300000000,HOLD_POSE2,792,745,729,709.613218035,687.613218035,646,934,795,835,670,656,676.613218035,0.454033761778,-0.00556093143567,0.0595694879495,0.999999772318,-5.90208564025e-05,-0.000669596636095,-5.93381946711e-05,1793256510232536832
+259,4.316666667,HOLD_POSE2,792,745,729,709.035206388,687.035206388,646,934,795,835,670,656,676.035206388,0.454032427967,-0.00555827275522,0.0595684651346,0.999999771066,-5.81711620794e-05,-0.000671514304788,-5.96017334293e-05,1793256510249203200
+260,4.333333333,HOLD_POSE2,792,745,729,709.543091133,687,646,934,795,835,670,656,676.543091133,0.454032845979,-0.0055580104072,0.0595682410806,0.999999771179,-5.70064265411e-05,-0.000671463682527,-5.94017540552e-05,1793256510265870080
+261,4.350000000,HOLD_POSE2,792,745,729.120616464,710,687,646.120616464,934,794.879383536,835,670,656,676.879383536,0.454033250399,-0.00555773181838,0.0595681838867,0.9999997714,-5.57807064203e-05,-0.000671249797531,-5.92555875609e-05,1793256510282536704
+262,4.366666667,HOLD_POSE2,792,745,729.695166085,710,687,646.695166085,934,794.304833915,835,670,656,676.304833915,0.454033176048,-0.00555680717025,0.0595685596863,0.9999997717,-5.44023746426e-05,-0.000670901936777,-5.94250861587e-05,1793256510299203328
+263,4.383333333,POSE2_TO_POSE3_RETREAT,792,744,729,710,687,647,934,795,835,670,656,676,0.454035960581,-0.00556053870649,0.0595705570015,0.999999773693,-5.81223885201e-05,-0.000667649174374,-5.89919859764e-05,1793256510336379392
+264,4.400000000,POSE2_TO_POSE3_RETREAT,792,744.580472665,729,710,687,647,934,795,835,670.580472665,656,676,0.454033781606,-0.00556041268362,0.0595690673726,0.999999772079,-5.83710405258e-05,-0.000670041316506,-5.89881626778e-05,1793256510353046528
+265,4.416666667,POSE2_TO_POSE3_RETREAT,792,745,729.159426927,710,687,647,934,795,835,671,656,676.159426927,0.454032738995,-0.00556016709586,0.0595681726103,0.999999771187,-5.83343460152e-05,-0.000671377636672,-5.89429184079e-05,1793256510369713408
+266,4.433333333,POSE2_TO_POSE3_RETREAT,792,745,729.734423372,710,687,647,934,795,835,671,656,676.734423372,0.454034658485,-0.00555960984471,0.0595688284539,0.999999772191,-5.755385428e-05,-0.000669961803535,-5.87897043399e-05,1793256510386379264
+267,4.450000000,POSE2_TO_POSE3_RETREAT,792,744.690613868,730,710,687,646.690613868,934,795,835,670.690613868,656,677,0.454035385423,-0.00555802490094,0.0595688543213,0.999999772631,-5.49780496839e-05,-0.000669516956094,-5.88477934453e-05,1793256510403045888
+268,4.466666667,POSE2_TO_POSE3_RETREAT,792,744.115680057,730,710,687,646.115680057,934,795,835,670.115680057,656,677,0.454035088787,-0.00555555788343,0.0595683394769,0.999999772574,-5.0861319036e-05,-0.000669905510659,-5.90872451406e-05,1793256510419712512
+269,4.483333333,POSE2_TO_POSE3_RETREAT,792,744.472706822,729.527293178,709.527293178,687,646.472706822,934,795,835,670,656,677,0.454035137248,-0.0055562154587,0.0595684562959,0.999999772462,-5.15257435943e-05,-0.000670024103931,-5.90657706794e-05,1793256510436379392
+270,4.500000000,POSE2_TO_POSE3_RETREAT,792,744.936842526,729.063157474,709.063157474,687,647,934,794.936842526,835,670,656,677,0.454035103792,-0.00555738390959,0.059568629997,0.999999772336,-5.31020302545e-05,-0.000670096445399,-5.89866156361e-05,1793256510453046016
+271,4.516666667,POSE2_TO_POSE3_RETREAT,792,744.357225808,729.642774192,709.642774192,687,647,934,794.357225808,835,670,656,677,0.454033689654,-0.0055562940389,0.0595679677643,0.999999772212,-5.22868679076e-05,-0.000670346626877,-5.89732335016e-05,1793256510469712640
+272,4.533333333,POSE2_TO_POSE3_RETREAT,792,744.219538609,730,710,687,646.780461391,934,794.219538609,835.219538609,670,656,677,0.454029139794,-0.00555552589752,0.0595658449471,0.999999770365,-5.16005859738e-05,-0.000673136133171,-5.91264606232e-05,1793256510486379264
+273,4.550000000,POSE2_TO_POSE3_RETREAT,792,744.791721329,730,710,687,646.208278671,934,794.791721329,835.791721329,670,656,677,0.454019553035,-0.00555527454892,0.059561375998,0.999999765717,-5.11213242801e-05,-0.000680004548112,-5.95473116176e-05,1793256510503045888
+274,4.566666667,POSE2_TO_POSE3_RETREAT,792.375259056,745,730,710,687,646.375259056,934,795,835.624740944,670,656,676.624740944,0.453997079716,-0.00555569735598,0.0595529014127,0.999999755142,-5.06831732999e-05,-0.000695411522943,-5.95789236185e-05,1793256510519713024
+275,4.583333333,POSE2_TO_POSE3_RETREAT,792.96529582,745,730,710,687,646.96529582,934,795,835.03470418,670,656,676.03470418,0.453967230835,-0.00555650601275,0.0595421342204,0.999999740856,-5.02685517767e-05,-0.000715705501729,-5.93877565814e-05,1793256510536380416
+276,4.600000000,POSE2_TO_POSE3_RETREAT,792.454186638,745,729.454186638,710,687,647,934,795,835.545813362,670,656,676.545813362,0.453911871913,-0.00555416454391,0.0595238281889,0.999999722196,-5.00595119197e-05,-0.000741254153576,-6.03619685439e-05,1793256510553046784
+277,4.616666667,POSE2_TO_POSE3_RETREAT,792,745,729.1248495,710,687,646.8751505,934,795,835.8751505,670,656,676.8751505,0.453851528724,-0.00555187541132,0.0595056418005,0.999999703694,-4.98873360023e-05,-0.00076574103617,-6.13523968708e-05,1793256510569713408
+278,4.633333333,POSE2_TO_POSE3_RETREAT,792,745,729.700683483,710,687,646.299316517,934,795,835.299316517,670,656,676.299316517,0.4537789398,-0.00555048642936,0.0594895893827,0.999999688555,-4.98019135034e-05,-0.000785206401878,-6.21383331878e-05,1793256510586380032
+279,4.650000000,POSE2_TO_POSE3_RETREAT,792,745,729.724237778,710,687,646,934,795,835,670,656,676.275762222,0.453696763234,-0.00554869707377,0.059476578374,0.999999672904,-4.99028018676e-05,-0.000804864210499,-6.24060321296e-05,1793256510603046656
+280,4.666666667,POSE2_TO_POSE3_RETREAT,792,745,729.149976586,710,687,646,934,795,835,670,656,676.850023414,0.453604208526,-0.00554647433362,0.0594668595411,0.999999656721,-5.02053625343e-05,-0.000824730327902,-6.21127646929e-05,1793256510619713024
+281,4.683333333,POSE2_TO_POSE3_RETREAT,792,745,729.437314917,710,687,646.437314917,934.437314917,795,835,670,656,676.562685083,0.453491425786,-0.00554278717842,0.0594514592388,0.999999634782,-4.71267428035e-05,-0.000851083407823,-6.22313978528e-05,1793256510636379392
+282,4.700000000,POSE2_TO_POSE3_RETREAT,792.028540268,745,729.971459732,709.971459732,687.028540268,647,934.971459732,795,835,670,656,676,0.453369742086,-0.005538622831,0.0594337794338,0.999999609816,-4.28854476349e-05,-0.000880128119123,-6.24683627348e-05,1793256510653046016
+283,4.716666667,POSE2_TO_POSE3_RETREAT,792.606819516,745,729.393180484,709.393180484,687.606819516,647,934.393180484,795,835,670,656,676,0.453214335937,-0.00553523764073,0.0594108755982,0.999999576988,-3.92703144807e-05,-0.000916850878464,-6.21801082035e-05,1793256510669712896
+284,4.733333333,POSE2_TO_POSE3_RETREAT,792.815754318,744.815754318,729.184245682,709,687.815754318,646.815754318,934,795,835.184245682,670,656,676,0.453051697231,-0.00553110839541,0.0593884409982,0.999999543946,-3.55791473544e-05,-0.000952353944571,-6.21622475605e-05,1793256510686379520
+285,4.750000000,POSE2_TO_POSE3_RETREAT,792.240140311,744.240140311,729.759859689,709,687.240140311,646.240140311,934,795,835.759859689,670,656,676,0.452873695396,-0.00552539865445,0.0593670031351,0.999999512155,-3.17264720147e-05,-0.000985266177235,-6.27187484344e-05,1793256510703046144
+286,4.766666667,POSE2_TO_POSE3_RETREAT,792,744,729.665011087,709.334988913,687.334988913,646.334988913,934,795,835.665011087,670.334988913,656,676,0.45267668397,-0.00551957403478,0.0593446688027,0.999999475304,-2.88613174151e-05,-0.00102205828735,-6.28889413997e-05,1793256510719712768
+287,4.783333333,POSE2_TO_POSE3_RETREAT,792,744,729.090228824,709.909771176,687.909771176,646.909771176,934,795,835.090228824,670.909771176,656,676,0.452466064989,-0.00551366718148,0.0593216927532,0.999999434146,-2.6703054172e-05,-0.00106162771241,-6.27826056226e-05,1793256510736379648
+288,4.800000000,POSE2_TO_POSE3_RETREAT,792,744,729,710,688,647,934,795,835,670.500643905,656,676,0.452230078454,-0.00550787296717,0.059299649532,0.999999397319,-2.16434776451e-05,-0.00109592755454,-6.19351673803e-05,1793256510753046272
+289,4.816666667,POSE2_TO_POSE3_RETREAT,792,744,729,710,688,647.08927457,934,795,835,670,656,676,0.451983499751,-0.00550205976439,0.0592794595573,0.999999362847,-1.60417409998e-05,-0.00112709235256,-6.0913835775e-05,1793256510769712896
+290,4.833333333,POSE2_TO_POSE3_RETREAT,792,744,729,710,688,647.665965134,934,795,835,670,656,676,0.451704880629,-0.00549602837167,0.0592684394509,0.999999340935,-1.04295970521e-05,-0.00114649801318,-5.96965404204e-05,1793256510786379264
+291,4.850000000,POSE2_TO_POSE3_RETREAT,792,744.242008518,729,710,688.242008518,648,934,795.242008518,835,670,656,676,0.451416126071,-0.00549137819412,0.0592624858682,0.999999327615,-6.85524435536e-06,-0.00115817358432,-5.79353004298e-05,1793256510803045632
+292,4.866666667,POSE2_TO_POSE3_RETREAT,792,744.817160972,729,710,688.817160972,648,934,795.817160972,835,670,656,676,0.4511134193,-0.00548862936923,0.0592635067583,0.999999326564,-6.08607341601e-06,-0.00115920807301,-5.5425277569e-05,1793256510819712512
+293,4.883333333,POSE2_TO_POSE3_RETREAT,792,745,729,710,689,648,934,796,835,670,656,676,0.450789014516,-0.00548363195057,0.0592651317082,0.999999326,-5.2049694185e-07,-0.00115981998753,-5.3073083316e-05,1793256510836379136
+294,4.900000000,POSE2_TO_POSE3_RETREAT,792,745,729,710,689,648,934,796,835,670,656,676,0.450454497307,-0.00547758656718,0.0592670381821,0.999999325611,7.28046069741e-06,-0.00116023495981,-5.07944456925e-05,1793256510853045760
+295,4.916666667,POSE2_TO_POSE3_RETREAT,792.565795981,745,729,710,689,648.565795981,934,796,835,670,656,676,0.450064982145,-0.00546778700162,0.0592608882602,0.99999931963,1.80473490358e-05,-0.00116533878646,-4.89820546688e-05,1793256510869712384
+296,4.933333333,POSE2_TO_POSE3_RETREAT,792.855613898,745,729,710,689.144386102,649,934,796,835.144386102,670,656,676,0.449659222316,-0.00545784002135,0.059254110756,0.99999931133,2.80056024253e-05,-0.00117232176893,-4.70879572618e-05,1793256510886379008
+297,4.950000000,POSE2_TO_POSE3_RETREAT,792.279008885,745,729,710,689.720991115,649,934,796,835.720991115,670,656,676,0.449208750057,-0.00544771905232,0.0592460281978,0.999999296733,3.53320383689e-05,-0.00118459614986,-4.49160762871e-05,1793256510903046400
+298,4.966666667,POSE2_TO_POSE3_RETREAT,792.29687321,745,729,710,690.29687321,649.29687321,934,796.29687321,835.70312679,670,656.29687321,676,0.448750916016,-0.00543859028454,0.0592439773022,0.9999992935,4.32469565339e-05,-0.00118713732236,-4.28201314418e-05,1793256510919713280
+299,4.983333333,POSE2_TO_POSE3_RETREAT,792.872077605,745,729,710,690.872077605,649.872077605,934,796.872077605,835.127922395,670,656.872077605,676,0.44828617994,-0.0054303917462,0.0592475813444,0.999999300978,5.17136025158e-05,-0.00118055320194,-4.07953796784e-05,1793256510936379648
+300,5.000000000,POSE2_TO_POSE3_RETREAT,793,745,729,710,691,650,934,797,835,670,657,676,0.447816230455,-0.0054379938239,0.0592682272327,0.999999340275,4.16587022571e-05,-0.00114729156735,-3.79056464817e-05,1793256510953046272
+301,5.016666667,POSE2_TO_POSE3_RETREAT,792.952130932,745,729,710,691.047869068,650,934,797.047869068,835,670,657,676,0.447342791561,-0.00544986249186,0.0592964610856,0.999999391808,2.68395683485e-05,-0.00110203629525,-3.43369895738e-05,1793256510969712896
+302,5.033333333,POSE2_TO_POSE3_RETREAT,792.374319454,745,729,710,691.625680546,650,934,797.625680546,835,670,657,676,0.446847228955,-0.00545893718938,0.059354740812,0.999999490996,1.79201795883e-05,-0.00100846991353,-2.59909015097e-05,1793256510986380288
+303,5.050000000,POSE2_TO_POSE3_RETREAT,792,745,729,710,692,650.203285141,934,798,835,670,657,676,0.446320753511,-0.0054579031126,0.0594068872627,0.99999956773,1.94923120464e-05,-0.000929410579564,-1.88800050135e-05,1793256511003046912
+304,5.066666667,POSE2_TO_POSE3_RETREAT,792,745,729,710,692,650.780509144,934,798,835,670,657,676,0.445737414566,-0.00543827415163,0.0594477516747,0.99999961449,4.03633840539e-05,-0.000877036680451,-1.40412189532e-05,1793256511019712768
+305,5.083333333,POSE2_TO_POSE3_RETREAT,792,745,729,710,692.356695258,651.356695258,934,798,835,670,657,676,0.445116741277,-0.00542340670385,0.0594597681423,0.999999628986,5.42512436613e-05,-0.000859636995356,-1.03999583171e-05,1793256511036378880
+306,5.100000000,POSE2_TO_POSE3_RETREAT,792,745,729,710,692.932244544,651.932244544,934,798,835,670,657,676,0.444473161139,-0.00541146073195,0.0594540846569,0.999999624948,6.38544811023e-05,-0.000863696100325,-7.49345185815e-06,1793256511053045504
+307,5.116666667,POSE2_TO_POSE3_RETREAT,792.523274568,744.476725432,729,710,693,652,934,798.523274568,835,670,657,676,0.443847089402,-0.00540124635251,0.0594747166307,0.999999658318,7.18729448215e-05,-0.000823517218294,-4.10920781066e-06,1793256511069712384
+308,5.133333333,POSE2_TO_POSE3_RETREAT,792.886836454,744,729,709.886836454,693.113163546,652,934,799,835,670,657,676,0.443217271696,-0.00539403144779,0.0595059894538,0.999999699788,0.000103434632011,-0.000767936180046,-1.95246823519e-07,1793256511086379264
+309,5.150000000,POSE2_TO_POSE3_RETREAT,792.310084124,744,729,709.310084124,693.689915876,652,934,799,835,670,657,676,0.442562537936,-0.00539815775548,0.0595664693745,0.99999974624,0.000232310375426,-0.0006734395075,5.62762614865e-06,1793256511103045888
+310,5.166666667,POSE2_TO_POSE3_RETREAT,792.265018701,744,729,709.265018701,694.265018701,652,934,799,835,670,657,676,0.441874075634,-0.00540515030876,0.0596177561808,0.999999779561,0.000290970783502,-0.000596703599837,1.25929010438e-05,1793256511119712512
+311,5.183333333,POSE2_TO_POSE3_RETREAT,792.838203542,744,729,709.838203542,694.838203542,652,934,799,835,670,657,676,0.441146393393,-0.00541547575884,0.0596583531582,0.999999817739,0.000267984186888,-0.000540620071124,2.08865721015e-05,1793256511136379136
+312,5.200000000,POSE2_TO_POSE3_RETREAT,793,744,729,710,695,652.849191437,934,799.424595719,835,670,657.424595719,676.424595719,0.440402889628,-0.00541501232222,0.0596897408596,0.999999840882,0.000258825990896,-0.000500479142054,2.76874276672e-05,1793256511153045760
+313,5.216666667,POSE2_TO_POSE3_RETREAT,793,744.03171315,729,709.984143425,695.015856575,654,934,800,835,669.984143425,658,676.984143425,0.439653864458,-0.00541030670888,0.0597185249682,0.999999859046,0.000255106100597,-0.000464413055201,3.39023349705e-05,1793256511169712384
+314,5.233333333,POSE2_TO_POSE3_RETREAT,793,745.191076322,729,709.404461839,695.595538161,654,934,800,835,669.404461839,658,676.404461839,0.438929767241,-0.0054056375125,0.0597835196974,0.999999906248,0.000251374924552,-0.000350287489121,4.01587398785e-05,1793256511186379008
+315,5.250000000,POSE2_TO_POSE3_RETREAT,793,746.173579301,729,709.173579301,695.826420699,654,934,800.173579301,835,669.173579301,658,676,0.438159759374,-0.00540032518055,0.0598256566426,0.99999993522,0.000223451688346,-0.000279888373409,3.59557550328e-05,1793256511203045632
+316,5.266666667,POSE2_TO_POSE3_RETREAT,793,746.747833746,729,709.747833746,695.252166254,654,934,800.747833746,835,669.747833746,658,676,0.437283775456,-0.00539352829149,0.0598150306918,0.999999942034,0.000139685639959,-0.000310423552241,7.60923802743e-06,1793256511219712256
+317,5.283333333,POSE2_TO_POSE3_RETREAT,793,746.678169622,729,709.678169622,695.321830378,654,934,800.678169622,835,669.678169622,657.678169622,676,0.436386482196,-0.00539809594562,0.0597841286461,0.999999930471,0.000107264006739,-0.000357122408528,-3.93503711114e-06,1793256511236379136
+318,5.300000000,POSE2_TO_POSE3_RETREAT,793,746.10437486,729,709.10437486,695.89562514,654,934,800.10437486,835,669.10437486,657.10437486,676,0.43547250567,-0.00541156102028,0.0597373522332,0.999999906654,0.000115040459658,-0.000416475976847,-2.32465926889e-06,1793256511253046016
+319,5.316666667,POSE2_TO_POSE3_RETREAT,793,746.484785039,729,709,696.484785039,654,934,800.484785039,835,669,657,676,0.434608292407,-0.00541409413089,0.0597362787766,0.999999913573,0.000118583023886,-0.000398477063861,2.80603305815e-06,1793256511269712384
+320,5.333333333,POSE2_TO_POSE3_RETREAT,792.924584584,747,729,709,696.924584584,654,934,800.924584584,835,669,657,676,0.433750157048,-0.00541317172387,0.059746657347,0.999999925313,0.000124751408352,-0.000365700595263,8.6169633828e-06,1793256511286379008
+321,5.350000000,POSE2_TO_POSE3_RETREAT,792.346914157,747,729,709,696.346914157,654,934,800.346914157,835,669,657,676,0.432858810209,-0.00540542423609,0.0597656273698,0.999999927024,0.000154676922279,-0.000349052030914,1.37452632312e-05,1793256511303045632
+322,5.366666667,POSE2_TO_POSE3_RETREAT,792.230123815,747,729,709,696,654.230123815,934,800.230123815,835,669,657,676,0.43197076093,-0.00540030313926,0.0597861906314,0.999999932999,0.000175068579282,-0.000321021516936,1.72954795995e-05,1793256511319712512
+323,5.383333333,POSE2_TO_POSE3_RETREAT,792.806211054,747,729,709,696,654.806211054,934,800.806211054,835,669,657,676,0.431087669001,-0.00539913050353,0.0598091491382,0.999999945371,0.000181127235826,-0.000275879610872,1.84732384011e-05,1793256511336379136
+324,5.400000000,POSE2_TO_POSE3_RETREAT,793,747.39052647,729,709,696,654.60947353,934,801,835,669,657.39052647,676.39052647,0.430172726536,-0.00539921435582,0.0598219896163,0.999999950384,0.000175040494204,-0.000261132902911,2.00682089585e-05,1793256511353046016
+325,5.416666667,POSE2_TO_POSE3_RETREAT,793,747.979012754,729,709,696,654.020987246,934,801,835,669,657.979012754,676.979012754,0.42924163893,-0.00539993512822,0.0598297012137,0.999999952241,0.000162797189443,-0.000261793675261,2.18746661751e-05,1793256511369712640
+326,5.433333333,POSE2_TO_POSE3_RETREAT,793,748,729,709,696,654.558312032,934,801,835,669,658,676.441687968,0.428255657216,-0.00539955081543,0.0597792028767,0.999999922395,0.000178100592883,-0.000350840880588,2.00458601332e-05,1793256511386379264
+327,5.450000000,POSE2_TO_POSE3_RETREAT,793,748,729,709,696.136591621,655,934,801,835,669,657.863408379,676,0.42728968214,-0.00539935644392,0.0597405119201,0.999999896437,0.000186526070252,-0.000414725153994,1.83358934133e-05,1793256511403045632
+328,5.466666667,POSE2_TO_POSE3_RETREAT,793,748,729,709,696.712683405,655,934,801,835,669,657.287316595,676,0.426394612981,-0.00539990473017,0.0597467392864,0.999999910542,0.00016954309201,-0.000387127174044,1.74408820132e-05,1793256511419712512
+329,5.483333333,POSE2_TO_POSE3_RETREAT,793.28866846,748,729,709,697,655,934,801,835,669,657.28866846,676,0.425498371417,-0.00539983251766,0.0597699390479,0.99999992329,0.000172513820957,-0.000351117887722,1.93771666206e-05,1793256511436379136
+330,5.500000000,POSE2_TO_POSE3_RETREAT,793.86454729,748,729,709,697,655,934,801,835,669,657.86454729,676,0.424600963423,-0.00539914294054,0.0598100254751,0.999999933586,0.000195337469932,-0.000306739782561,2.41304461346e-05,1793256511453045760
+331,5.516666667,POSE2_TO_POSE3_RETREAT,793.54858708,748,729,709,697,655,934,801.45141292,835,669,657.54858708,676,0.423710236748,-0.00539685175011,0.0598335658092,0.999999944331,0.000193639133096,-0.000270487988657,2.60453243021e-05,1793256511469712384
+332,5.533333333,POSE2_TO_POSE3_RETREAT,793,748.040891351,728.959108649,709,697,655,934.040891351,802,835,669,657.040891351,676,0.422820961659,-0.00539420619845,0.0598507199173,0.999999953801,0.000185947686946,-0.000238937366259,2.70408517145e-05,1793256511486379008
+333,5.550000000,POSE2_TO_POSE3_RETREAT,793,748.620279368,728.379720632,709,697,655,934.620279368,802,835,669,657.620279368,676,0.421923743355,-0.00539338078052,0.0598507874343,0.999999951954,0.000198649816493,-0.000236383924422,2.74253037477e-05,1793256511503045632
+334,5.566666667,POSE2_TO_POSE3_RETREAT,793,749,728,709,697,655,934.801942175,802,835,669,658,676.198057825,0.420998599382,-0.00539107240423,0.0598251980775,0.999999938927,0.000205091138229,-0.000281728693262,2.67119345185e-05,1793256511519712512
+335,5.583333333,POSE2_TO_POSE3_RETREAT,793,749,728,709,697,655,934.227224625,802,835,669,658,676.772775375,0.420020347151,-0.00538594378735,0.0597508153389,0.999999892358,0.000199625865425,-0.000418164668678,2.39107653759e-05,1793256511536379392
+336,5.600000000,POSE2_TO_POSE3_RETREAT,793,749,728.34679716,709,697,655,934,802,835,669,658,676.65320284,0.419130328593,-0.00538442016749,0.0597196320915,0.999999877663,0.000191106665234,-0.000455763310638,2.07908973748e-05,1793256511553046016
+337,5.616666667,POSE2_TO_POSE3_RETREAT,793,749,728.920363953,709,697,655,934,802,835,669,658,676.079636047,0.41829800583,-0.00538525384478,0.0597166968674,0.999999891635,0.000180590512884,-0.000428732509609,1.74626334866e-05,1793256511569712640
+338,5.633333333,POSE2_TO_POSE3_RETREAT,793,749,728.48864984,709,697,654.48864984,934,802,835,669,657.48864984,676,0.417489650314,-0.00538612838417,0.0597579274948,0.999999911118,0.000197942536353,-0.000371657906902,2.12776338938e-05,1793256511586379264
+339,5.650000000,POSE2_TO_POSE3_RETREAT,793,749,728,708.898016098,697,654.101983902,934,801.898016098,835,669,657,676,0.416687788731,-0.00538681795424,0.05980192212,0.999999926801,0.000213620371675,-0.000316379016876,2.58529524367e-05,1793256511603045632
+340,5.666666667,POSE2_TO_POSE3_RETREAT,793,749,728,708.322072707,697,654.677927293,934,801.322072707,835,669,657,676,0.41589814848,-0.00538661728093,0.0598256688527,0.999999936844,0.000200636091908,-0.000291957211364,2.86093529095e-05,1793256511619712512
+341,5.683333333,POSE2_TO_POSE3_RETREAT,793,749,728,708.252687931,697,654.747312069,934,801.252687931,834.747312069,669,657.252687931,676,0.415122507197,-0.0053860286468,0.0598392294089,0.999999939906,0.0002065398079,-0.000276828656696,2.99225324354e-05,1793256511636378880
+342,5.700000000,POSE2_TO_POSE3_RETREAT,793,749,728,708.825948024,697,654.174051976,934,801.825948024,834.174051976,669,657.825948024,676,0.414364625747,-0.00538494782674,0.0598398672859,0.999999934225,0.000236405752283,-0.000273489972618,2.94047716726e-05,1793256511653045504
+343,5.716666667,POSE2_TO_POSE3_RETREAT,793.412597268,749,728,708.587402732,697,654.412597268,934,802,834,668.587402732,657.587402732,676,0.413587050543,-0.00538307438434,0.0598326280007,0.999999930367,0.00023499935382,-0.000288396672372,2.94875678516e-05,1793256511669712128
+344,5.733333333,POSE2_TO_POSE3_RETREAT,793.995035436,749,728,708,697,655,934,802,834,668.004964564,657,676,0.412801032542,-0.00538084419541,0.059821613106,0.999999926749,0.000220062894636,-0.000311746904116,2.98037467661e-05,1793256511686379008
+345,5.750000000,POSE2_TO_POSE3_RETREAT,793.41648365,749,728,708,697,655,934,802,834,668.58351635,657,676,0.412031606866,-0.00537732364107,0.0597711748734,0.999999899395,0.000217196014356,-0.000391556131466,2.6832230982e-05,1793256511703045632
+346,5.766666667,POSE2_TO_POSE3_RETREAT,793,749,728,708.161255919,697.161255919,655,934.161255919,802,834.161255919,668.838744081,657.161255919,676,0.411299649829,-0.00537557918494,0.0597391827344,0.999999879548,0.000219536107326,-0.00043829435892,2.46264179749e-05,1793256511719712256
+347,5.783333333,POSE2_TO_POSE3_RETREAT,793,749,728,708.736908377,697.736908377,655,934.736908377,802,834.736908377,668.263091623,657.736908377,676,0.410663979789,-0.00537839895712,0.059754593479,0.999999892011,0.000235257117132,-0.000400046532202,2.43883127903e-05,1793256511736379136
+348,5.800000000,POSE2_TO_POSE3_RETREAT,793.311112612,749,728,708.688887388,697.688887388,655,934.688887388,802.311112612,835,668,658,676,0.410054153271,-0.00538021886076,0.0597851597823,0.999999911261,0.00023268309738,-0.000350266337525,2.55090130279e-05,1793256511753045504
+349,5.816666667,POSE2_TO_POSE3_RETREAT,793.8840978,749,728,708.1159022,697.1159022,655,934.1159022,802.8840978,835,668,658,676,0.409466080039,-0.00538119714565,0.0598284829613,0.999999934288,0.000214709615187,-0.000290779013331,2.77734594654e-05,1793256511769712384
+350,5.833333333,POSE2_TO_POSE3_RETREAT,793.527283633,749,728,708.472716367,697,655,934,802.527283633,835,668,657.527283633,676,0.408874449653,-0.00537824520069,0.0598509975777,0.999999942164,0.00022131590513,-0.000256560373044,2.94763663032e-05,1793256511786379008
+351,5.850000000,POSE2_TO_POSE3_RETREAT,793.06367283,749.06367283,728,708.93632717,697,655,934.06367283,802.06367283,835,668,657,676,0.408284948545,-0.00537458684298,0.0598646380073,0.999999944857,0.000233640680048,-0.000233995179857,3.07168252515e-05,1793256511803045632
+352,5.866666667,POSE2_TO_POSE3_RETREAT,793.641497534,749.641497534,728,708.358502466,697,655,934.641497534,802.641497534,835,668,657,676,0.407719924547,-0.00537327160165,0.059849226758,0.999999938127,0.000241813423133,-0.000253791611983,2.93728415937e-05,1793256511819712256
+353,5.883333333,POSE2_TO_POSE3_RETREAT,794,749.781681149,728,708.218318851,697,655,934.781681149,802.781681149,835,668.218318851,657,676,0.4071744698,-0.00537241834136,0.0598362084701,0.999999933247,0.000244053563886,-0.000270443322935,2.83575935189e-05,1793256511836379136
+354,5.900000000,POSE2_TO_POSE3_RETREAT,794,749.206500018,728,708.793499982,697,655,934.206500018,802.206500018,835,668.793499982,657,676,0.406661002852,-0.00537232023177,0.0598271016997,0.999999931873,0.000236596318804,-0.000281954695547,2.78796941901e-05,1793256511853046016
+355,5.916666667,POSE2_TO_POSE3_RETREAT,794,749,728,709,697,655,934,802,835,669,657.377883869,676,0.406189936239,-0.00537257227655,0.0598284914994,0.999999932374,0.000238301671078,-0.00027864867666,2.86089011011e-05,1793256511869713664
+356,5.933333333,POSE2_TO_POSE3_RETREAT,794,749,728,709,697,655,934,802,835,669,657.967422318,676,0.40574261821,-0.00537302044447,0.0598357604777,0.999999933847,0.000245139037685,-0.000267043366263,3.00142140023e-05,1793256511886381568
+357,5.950000000,POSE2_TO_POSE3_RETREAT,794,749,728,709,697.546753708,655,934.546753708,802,835,669,657.453246292,676,0.405299008456,-0.00536825090719,0.0598300034894,0.999999930391,0.000254910944079,-0.000270797140323,3.01329680254e-05,1793256511903047680
+358,5.966666667,POSE2_TO_POSE3_RETREAT,794,749,728.124564168,709,698,655,935,802.124564168,835,669,657.124564168,676,0.404862102059,-0.00536341791705,0.0598196408301,0.99999992462,0.000263345540747,-0.000283733514801,3.00770711845e-05,1793256511919714048
+359,5.983333333,POSE2_TO_POSE3_RETREAT,794,749,728.699037783,709,698,655,935,802.699037783,835,669,657.699037783,676,0.40444862375,-0.00535945806054,0.0597953950204,0.999999910763,0.000266329987005,-0.000326591402308,2.96621631676e-05,1793256511936379904
+360,6.000000000,POSE2_TO_POSE3_RETREAT,794,749.273989878,728.726010122,709,698,655,935,803,835.273989878,669,658,676,0.404068996429,-0.00535548589399,0.0597777603638,0.99999990033,0.000269680489069,-0.00035462448693,2.92265503802e-05,1793256511953046272
+361,6.016666667,POSE2_TO_POSE3_RETREAT,794,749.849468441,728.150531559,709,698,655,935,803,835.849468441,669,658,676,0.40372661755,-0.00535150018215,0.0597674003856,0.999999895099,0.000273433786084,-0.000366344885368,2.87681548694e-05,1793256511969712896
+362,6.033333333,POSE2_TO_POSE3_RETREAT,794,750,728,709,697.562789654,655,934.562789654,803,835.562789654,669,658,676,0.403444079954,-0.00535021970276,0.0597793952046,0.999999902351,0.000277368327355,-0.000342702395562,3.03407982572e-05,1793256511986379520
+363,6.050000000,POSE2_TO_POSE3_RETREAT,794,750,728,709,697.028592347,655,934.028592347,803,835,668.971407653,657.971407653,676,0.403184030498,-0.00535002482777,0.0597995817593,0.999999912948,0.000281436794079,-0.000306321382437,3.26365749181e-05,1793256512003046144
+364,6.066666667,POSE2_TO_POSE3_RETREAT,794,750,728,709,697.606450148,655,934.606450148,803,835,668.393549852,657.393549852,676,0.402948765958,-0.00535227567298,0.0598250100207,0.999999922903,0.000286844646914,-0.000265873317818,3.50027781118e-05,1793256512019713024
+365,6.083333333,POSE2_TO_POSE3_RETREAT,794,749.816626907,728,709,697.816626907,655,934.816626907,803,835,668.183373093,657,676,0.402718804158,-0.00535542327052,0.0598439255572,0.999999929616,0.000288820608883,-0.000236608961498,3.69807289187e-05,1793256512036379904
+366,6.100000000,POSE2_TO_POSE3_RETREAT,794,749.241700221,728,709,697.241700221,655,934.241700221,803,835,668.758299779,657,676,0.402500165243,-0.00536048568844,0.0598489345744,0.999999932363,0.000283468510063,-0.00023122500222,3.81296504972e-05,1793256512053046784
+367,6.116666667,POSE2_TO_POSE3_RETREAT,794,749,728,708.668560055,697,655,934.331439945,803,835,669,657.331439945,676,0.402288318986,-0.00536374242373,0.0598452453828,0.999999931198,0.00027791475487,-0.000242572607672,3.90564740521e-05,1793256512069713408
+368,6.133333333,POSE2_TO_POSE3_RETREAT,794,749,728,708.096715653,697,655,934.903284347,803,835,669,657.903284347,676,0.402081399648,-0.00536568943764,0.0598352470904,0.999999926764,0.000272214730906,-0.000266056174921,3.98222025984e-05,1793256512086379776
+369,6.150000000,POSE2_TO_POSE3_RETREAT,794.495779739,749,728,708.495779739,697.495779739,655,935,803,835,669,657.504220261,676,0.401915569598,-0.00536384617849,0.0598313939808,0.999999925403,0.000268691452679,-0.000274660661694,3.94926967188e-05,1793256512103046144
+370,6.166666667,POSE2_TO_POSE3_RETREAT,794.910625502,749,728,708.910625502,697.910625502,655,934.910625502,803,835,669,657.089374498,676,0.401763095985,-0.00536176004355,0.0598297671409,0.999999927755,0.000256301842596,-0.000278326949607,3.65173324877e-05,1793256512119712768
+371,6.183333333,POSE2_TO_POSE3_RETREAT,794.333955929,749,728,708.333955929,697.333955929,655,934.333955929,803,835,669,657.666044071,676,0.40163784248,-0.0053625563105,0.0598334583293,0.99999994426,0.00019315461908,-0.000271582311586,2.03315435384e-05,1793256512136379392
+372,6.200000000,POSE2_TO_POSE3_RETREAT,794,749,728,708,697.241536324,655,934,803,835,668.758463676,657.758463676,676,0.401524781802,-0.0053671144849,0.059836324202,0.999999953472,0.000147986313487,-0.00026652694119,1.09519947805e-05,1793256512153046016
+373,6.216666667,POSE2_TO_POSE3_RETREAT,794,749,728,708,697.815408638,655,934,803,835,668.184591362,657.184591362,676,0.401428497554,-0.00537684876364,0.0598380545016,0.999999957011,0.000127555664237,-0.000263795878791,1.0937326554e-05,1793256512169712896
+374,6.233333333,POSE2_TO_POSE3_RETREAT,794,749,728,708.401205645,698,654.598794355,934.401205645,803,835,668,657.401205645,676,0.401346173767,-0.00537621261206,0.0598387669838,0.999999957273,0.000128245418751,-0.000262461936959,1.09918994447e-05,1793256512186380032
+375,6.250000000,POSE2_TO_POSE3_RETREAT,794,749,728,708.992657153,698,654.007342847,934.992657153,803,835,668,657.992657153,676,0.401270469831,-0.00537065895348,0.0598389968316,0.999999956018,0.000138950161109,-0.0002617904894,1.10793054635e-05,1793256512203046912
+376,6.266666667,POSE2_TO_POSE3_RETREAT,794,749.568926039,728,709,698,654.568926039,935,803,835,668,657.431073961,676,0.401205377519,-0.00537049060375,0.0598357249494,0.999999953958,0.000139147168053,-0.000269406062446,1.19504876978e-05,1793256512219713024
+377,6.283333333,POSE2_TO_POSE3_RETREAT,794.145562363,750,728,709,697.854437637,655,934.854437637,803,835,668,657.145562363,676,0.401145184871,-0.00536980823375,0.0598325430938,0.99999995184,0.000140349782749,-0.000276520303113,1.26269741932e-05,1793256512236379392
+378,6.300000000,POSE2_TO_POSE3_RETREAT,794.72385832,750,728,709,697.27614168,655,934.27614168,803,835,668,657.72385832,676,0.401099161582,-0.00536739650595,0.0598297597392,0.999999949701,0.000144934599692,-0.000281834461883,1.26953702676e-05,1793256512253046272
+379,6.316666667,POSE2_TO_POSE3_RETREAT,794.700810999,750,728,709,697.299189001,655,934,803.299189001,835,668,658,676.299189001,0.401062810461,-0.00536569547647,0.0598286161417,0.999999948832,0.000147578091089,-0.000283539536757,1.27510946501e-05,1793256512269712896
+380,6.333333333,POSE2_TO_POSE3_RETREAT,794.128190246,750,728,709,697.871809754,655,934,803.871809754,835,668,658,676.871809754,0.401035298824,-0.00536464396083,0.0598289711339,0.999999949153,0.00014844738662,-0.000281946235197,1.27952382578e-05,1793256512286379520
+381,6.350000000,POSE2_TO_POSE3_RETREAT,794,750,728.458466239,709,698,655,934.458466239,803.541533761,835,668,657.541533761,676.541533761,0.401018471221,-0.0053661282341,0.0598310763295,0.999999950545,0.000146455433148,-0.000277995484492,1.33878313708e-05,1793256512303046144
+382,6.366666667,POSE2_TO_POSE3_RETREAT,794,749.951695245,728.951695245,708.951695245,697.951695245,655,934.951695245,803,835,668,657,676,0.401005075741,-0.00536798106899,0.0598335063316,0.999999952047,0.000144204062668,-0.000273703287888,1.40655840809e-05,1793256512319712768
+383,6.383333333,POSE2_TO_POSE3_RETREAT,794,749.371398131,728.371398131,708.371398131,697.371398131,655,934.371398131,803,835,668,657,676,0.400995539855,-0.00536583770375,0.0598339537632,0.999999951621,0.000148184795139,-0.000273139402501,1.39390001526e-05,1793256512336379648
+384,6.400000000,POSE2_TO_POSE3_RETREAT,794,749.207214418,728,708.207214418,697.207214418,655.207214418,934.207214418,803,835,668,657.207214418,676,0.400987675841,-0.00536530108105,0.0598346284139,0.999999951555,0.000149768875484,-0.000272510227349,1.40226375607e-05,1793256512353046272
+385,6.416666667,POSE2_TO_POSE3_RETREAT,794,749.782831969,728,708.782831969,697.782831969,655.782831969,934.782831969,803,835,668,657.782831969,676,0.400982784221,-0.00536762105983,0.0598357070336,0.999999952149,0.000147091986869,-0.000271764974629,1.4480024062e-05,1793256512369712896
+386,6.433333333,POSE2_TO_POSE3_RETREAT,794,749.63518215,728,709,698,655.63518215,935,803,835,668.36481785,658,676,0.400980305713,-0.00536785145763,0.0598367694715,0.999999952514,0.000147547053296,-0.000270163415358,1.46234243695e-05,1793256512386379264
+387,6.450000000,POSE2_TO_POSE3_RETREAT,794,749.049338011,728,709,698,655.049338011,935,803,835,668.950661989,658,676,0.400979289199,-0.00536681587474,0.0598378221056,0.999999952735,0.000149899626742,-0.000268043059517,1.45765949257e-05,1793256512403045888
+388,6.466666667,POSE2_TO_POSE3_RETREAT,794.532914717,749,728.532914717,709,698,655,935,803.532914717,835,669,658,676,0.400980350218,-0.00536634712592,0.0598389914541,0.99999995338,0.000150591629233,-0.000265228273636,1.47119294403e-05,1793256512419712512
+389,6.483333333,POSE2_TO_POSE3_RETREAT,795,749,728.886489764,709,698,655,934.886489764,803.886489764,835,669,658,676,0.40098076857,-0.00536607347225,0.0598398193879,0.999999953815,0.000151023058014,-0.000263327360054,1.48474856512e-05,1793256512436379136
+390,6.500000000,POSE2_TO_POSE3_RETREAT,795,749,728.311291542,709,698,655,934.311291542,803.311291542,835,669,658,676,0.400977795873,-0.00536638132282,0.0598392150053,0.999999953266,0.000151015760765,-0.000265403248955,1.49158065508e-05,1793256512453046272
+391,6.516666667,POSE2_TO_POSE3_RETREAT,794.736406514,749.263593486,728,709,698,655,934.263593486,803,835,669,657.736406514,676,0.400976025764,-0.00536683131607,0.0598391718484,0.999999953101,0.000151019857545,-0.00026602726864,1.48810552952e-05,1793256512469713152
+392,6.533333333,POSE2_TO_POSE3_RETREAT,794.161890839,749.838109161,728,709,698,655,934.838109161,803,835,669,657.161890839,676,0.400975674171,-0.00536744897401,0.0598397906864,0.999999953389,0.00015103739417,-0.000264938733545,1.47247250948e-05,1793256512486380032
+393,6.550000000,POSE2_TO_POSE3_RETREAT,794,749.576767979,728,709,698,655,934.576767979,803,835,669,657,676,0.4009766129,-0.00536704134176,0.0598403027737,0.99999995355,0.000152132894919,-0.000263690910755,1.49060128965e-05,1793256512503046656
+394,6.566666667,POSE2_TO_POSE3_RETREAT,794,749,728,709,698,655,934.012343739,803,835,669,657,676,0.400978020537,-0.00536627408112,0.0598407743939,0.999999953665,0.000153572230685,-0.000262400690784,1.52136920685e-05,1793256512519712768
+395,6.583333333,POSE2_TO_POSE3_RETREAT,794,749,728,709,698,655,934.593494138,803,835,669,657,676,0.400977707364,-0.00536747159983,0.0598413112607,0.999999954096,0.000151366705832,-0.000262036611925,1.5241617191e-05,1793256512536379136
+396,6.600000000,POSE2_TO_POSE3_RETREAT,794,749.172790393,728,709,698,655,935,803,835,668.827209607,657.172790393,676.172790393,0.400977268476,-0.00536836660523,0.0598416407937,0.999999954358,0.00014989234374,-0.000261886638179,1.52020468337e-05,1793256512553045760
+397,6.616666667,POSE2_TO_POSE3_RETREAT,794,749.747770875,728,709,698,655,935,803,835,668.252229125,657.747770875,676.747770875,0.400976536973,-0.00536855747507,0.0598414877327,0.999999954236,0.000150119849642,-0.000262235019448,1.50053727572e-05,1793256512569712384
+398,6.633333333,POSE2_TO_POSE3_RETREAT,794,750,728,708.678634936,698,655,935,803,835,668.321365064,658,676.678634936,0.400976490989,-0.00536801813761,0.0598418834538,0.999999954129,0.000151399051036,-0.000261907732316,1.50190935552e-05,1793256512586379264
+399,6.650000000,POSE2_TO_POSE3_RETREAT,794,750,728,708.106124157,698,655,935,803,835,668.893875843,658,676.106124157,0.400976980736,-0.00536690814561,0.0598427080463,0.999999954029,0.000153500148899,-0.000261052412589,1.51972372471e-05,1793256512603046144
+400,6.666666667,POSE2_TO_POSE3_RETREAT,794,750,728.485600682,708.485600682,698,655,935,803,835,669,658,676,0.40097753035,-0.00536678233238,0.0598428305013,0.999999954354,0.000152466133926,-0.000260424248012,1.50245071573e-05,1793256512619712768
+401,6.683333333,POSE2_TO_POSE3_RETREAT,794.078853335,750,728.921146665,709,698,655,935,803.078853335,835,669,658,676,0.400978048467,-0.00536700273391,0.0598428129035,0.999999954718,0.000151048374355,-0.000259862562524,1.48549205658e-05,1793256512636379392
+402,6.700000000,POSE2_TO_POSE3_RETREAT,794.654197182,750,728.345802818,709,698,655,935,803.654197182,835,669,658,676,0.400978282487,-0.00536799298961,0.0598429194412,0.999999954734,0.000151706129447,-0.000259394006847,1.52078280086e-05,1793256512653046016
+403,6.716666667,POSE2_TO_POSE3_RETREAT,795,750,728,709,698,655.229552509,935,803.770447491,835,669,658,676,0.400978170493,-0.00536820533438,0.0598430555303,0.999999954674,0.00015212732577,-0.000259373266271,1.53456655388e-05,1793256512669712640
+404,6.733333333,POSE2_TO_POSE3_RETREAT,795,750,728,709,698,655.804925216,935,803.195074784,835,669,658,676,0.400977537232,-0.0053672457587,0.0598432361388,0.999999954497,0.000152192147081,-0.000260027157798,1.51595009135e-05,1793256512686379264
+405,6.750000000,POSE2_TO_POSE3_RETREAT,794.611621184,750,728,708.611621184,697.611621184,655.611621184,934.611621184,803,835,669,658,676,0.400978449979,-0.00536784513345,0.0598438319215,0.999999954884,0.000151596296701,-0.000258874135252,1.53190700367e-05,1793256512703045888
+406,6.766666667,POSE2_TO_POSE3_RETREAT,794.024022504,750,728,708.024022504,697.024022504,655.024022504,934.024022504,803,835,669,658,676,0.400980155754,-0.00536924417568,0.059844640669,0.999999955556,0.000150661553155,-0.000256794251673,1.56559841431e-05,1793256512719712512
+407,6.783333333,POSE2_TO_POSE3_RETREAT,794,750,728,708.558132847,697.558132847,655,934.558132847,803,835,669,658,676,0.400980101784,-0.00536908453561,0.059844942838,0.999999955654,0.000150971106424,-0.000256237704831,1.55407583976e-05,1793256512736379136
diff --git a/Part2/Obstacle_avoidance/cylinder_PLA_10/position_01/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_PLA_10/position_01/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b15de0a89098cae1d0ba6eaa1ab926d593c8c43e
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_PLA_10/position_01/depth_04/simulation_data.csv
@@ -0,0 +1,409 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+1,0.016666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+2,0.033333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+3,0.050000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+4,0.066666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+5,0.083333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+6,0.100000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+7,0.116666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+8,0.133333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+9,0.150000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+10,0.166666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+11,0.183333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+12,0.200000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+13,0.216666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+14,0.233333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+15,0.250000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+16,0.266666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+17,0.283333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+18,0.300000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+19,0.316666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+20,0.333333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+21,0.350000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+22,0.366666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+23,0.383333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+24,0.400000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+25,0.416666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+26,0.433333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+27,0.450000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+28,0.466666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+29,0.483333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+30,0.500000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+31,0.516666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+32,0.533333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+33,0.550000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+34,0.566666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+35,0.583333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+36,0.600000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+37,0.616666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+38,0.633333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+39,0.650000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+40,0.666666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+41,0.683333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+42,0.700000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+43,0.716666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+44,0.733333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+45,0.750000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+46,0.766666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+47,0.783333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+48,0.800000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+49,0.816666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+50,0.833333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+51,0.850000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+52,0.866666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+53,0.883333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+54,0.900000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+55,0.916666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+56,0.933333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+57,0.950000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+58,0.966666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+59,0.983333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+60,1.000000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+61,1.016666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+62,1.033333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+63,1.050000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+64,1.066666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+65,1.083333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+66,1.100000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+67,1.116666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+68,1.133333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+69,1.150000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+70,1.166666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+71,1.183333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+72,1.200000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+73,1.216666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+74,1.233333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+75,1.250000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+76,1.266666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+77,1.283333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+78,1.300000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+79,1.316666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+80,1.333333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+81,1.350000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+82,1.366666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+83,1.383333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+84,1.400000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+85,1.416666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+86,1.433333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+87,1.450000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+88,1.466666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+89,1.483333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+90,1.500000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+91,1.516666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+92,1.533333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+93,1.550000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+94,1.566666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+95,1.583333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+96,1.600000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+97,1.616666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+98,1.633333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+99,1.650000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+100,1.666666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+101,1.683333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+102,1.700000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+103,1.716666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+104,1.733333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+105,1.750000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+106,1.766666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+107,1.783333333,pose1_to_pose2_press,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+108,1.800000000,pose1_to_pose2_press,0.575666768027,0.000181712329644,1.05002037209,0.546237917395,0.00885595597959,1.04969208646
+109,1.816666667,pose1_to_pose2_press,0.575666909268,0.000181696805448,1.05002048271,0.546238058325,0.00885593909428,1.04969218906
+110,1.833333333,pose1_to_pose2_press,0.5756671738,0.00018169984855,1.05002055108,0.54623832198,0.00885593899475,1.04969225295
+111,1.850000000,pose1_to_pose2_press,0.575667414452,0.000181719255495,1.05002054137,0.546238561684,0.00885595523535,1.04969224463
+112,1.866666667,pose1_to_pose2_press,0.575667671813,0.000181721637355,1.05002051013,0.546238818946,0.00885595736265,1.04969221559
+113,1.883333333,pose1_to_pose2_press,0.575667766963,0.000181722247901,1.05002049827,0.546238914072,0.00885595792511,1.04969220457
+114,1.900000000,pose1_to_pose2_press,0.575669309453,0.000181732860131,1.05002041104,0.546240456323,0.00885596798891,1.04969212428
+115,1.916666667,pose1_to_pose2_press,0.575673937928,0.000181826127368,1.05002038028,0.546245085087,0.00885606228573,1.04969209489
+116,1.933333333,pose1_to_pose2_press,0.575685639865,0.000181710869007,1.05002055158,0.546256788164,0.00885595038114,1.04969225246
+117,1.950000000,pose1_to_pose2_press,0.575705798152,0.000181825406974,1.05002055594,0.546276945401,0.00885606137877,1.04969225732
+118,1.966666667,pose1_to_pose2_press,0.575736847081,0.000181672521579,1.05002039518,0.546307997706,0.0088559205202,1.04969211164
+119,1.983333333,pose1_to_pose2_press,0.575778583361,0.000181690406342,1.05002061249,0.546349733087,0.00885593513851,1.04969232311
+120,2.000000000,pose1_to_pose2_press,0.575832387161,0.000181677611252,1.05002061434,0.54640353559,0.0088559173848,1.04969231013
+121,2.016666667,pose1_to_pose2_press,0.575895634111,0.000181762485338,1.05002064934,0.546466782358,0.00885600206079,1.04969235612
+122,2.033333333,pose1_to_pose2_press,0.575968366116,0.000181905020858,1.05002052362,0.546539513502,0.00885614183565,1.04969223456
+123,2.050000000,pose1_to_pose2_press,0.576051312523,0.000181798519892,1.05002063998,0.54662246013,0.00885603594512,1.04969234718
+124,2.066666667,pose1_to_pose2_press,0.576144006163,0.000181797588867,1.05002065297,0.546715155057,0.00885603940437,1.04969236072
+125,2.083333333,pose1_to_pose2_press,0.576246395338,0.000181935770435,1.05002044747,0.546817540862,0.00885616627722,1.04969215862
+126,2.100000000,pose1_to_pose2_press,0.576359673272,0.000181872241409,1.05002069994,0.546930820276,0.0088561073664,1.04969240034
+127,2.116666667,pose1_to_pose2_press,0.576486116292,0.000181699077454,1.05002062393,0.547057265046,0.00885594034341,1.04969232977
+128,2.133333333,pose1_to_pose2_press,0.576628111609,0.000181676739029,1.05002041787,0.547199260131,0.00885591715967,1.04969212211
+129,2.150000000,pose1_to_pose2_press,0.576787454341,0.000181760328389,1.05002044531,0.547358602338,0.00885599868235,1.0496921419
+130,2.166666667,pose1_to_pose2_press,0.57696334461,0.000181769686482,1.05002061298,0.547534493429,0.00885601089409,1.04969231126
+131,2.183333333,pose1_to_pose2_press,0.57715531663,0.000181756963003,1.05002065074,0.547726465354,0.00885599794865,1.04969235161
+132,2.200000000,pose1_to_pose2_press,0.577366857135,0.000181844764671,1.05002058599,0.547938003127,0.00885607624467,1.04969228047
+133,2.216666667,pose1_to_pose2_press,0.577594284649,0.000181835314607,1.05002056689,0.54816543245,0.0088560728434,1.04969225906
+134,2.233333333,pose1_to_pose2_press,0.577836509408,0.000181855212163,1.05002029972,0.548407656136,0.00885608954428,1.04969200355
+135,2.250000000,pose1_to_pose2_press,0.57809738449,0.000181729186045,1.0500203665,0.548668532666,0.0088559687536,1.04969207874
+136,2.266666667,pose1_to_pose2_press,0.578376116261,0.000181768935423,1.05002048761,0.548947263642,0.00885600570796,1.04969219729
+137,2.283333333,pose1_to_pose2_press,0.578673027481,0.000181932409329,1.05002045068,0.549244173108,0.0088561631337,1.04969215767
+138,2.300000000,pose1_to_pose2_press,0.578991967599,0.000181893091169,1.05002045944,0.549563114447,0.00885612816439,1.04969217194
+139,2.316666667,pose1_to_pose2_press,0.579341373804,0.000181781145907,1.05002050015,0.549912522377,0.00885602214319,1.04969221441
+140,2.333333333,pose1_to_pose2_press,0.579721560837,0.000181731098522,1.05002053549,0.550292709507,0.00885597207167,1.04969224039
+141,2.350000000,pose1_to_pose2_press,0.580134051422,0.000181738972137,1.05002046822,0.550705199915,0.00885597910363,1.04969216675
+142,2.366666667,pose1_to_pose2_press,0.580571646916,0.000181763292881,1.05002032674,0.551142795288,0.00885600341765,1.04969203587
+143,2.383333333,pose1_to_pose2_press,0.581028718825,0.000181728588221,1.05002031738,0.551599866396,0.00885596634682,1.0496920357
+144,2.400000000,pose1_to_pose2_press,0.581494894638,0.000181768507652,1.05002035263,0.552066041186,0.00885600239638,1.04969206039
+145,2.416666667,pose1_to_pose2_press,0.581971100699,0.000181800756513,1.05002057687,0.552542247475,0.0088560352151,1.0496922792
+146,2.433333333,pose1_to_pose2_press,0.582461552714,0.000181839848251,1.0500206567,0.553032699363,0.00885607387511,1.04969235906
+147,2.450000000,pose1_to_pose2_press,0.582972569377,0.000181706423234,1.0500205092,0.55354371757,0.00885594605913,1.04969222128
+148,2.466666667,pose1_to_pose2_press,0.583507044419,0.000181818772275,1.05002064493,0.554078191611,0.008856054801,1.04969235143
+149,2.483333333,pose1_to_pose2_press,0.584068281576,0.000181784582399,1.05002062862,0.554639429707,0.00885602399582,1.04969234035
+150,2.500000000,pose1_to_pose2_press,0.584647947369,0.000181702196633,1.05002058359,0.555219094823,0.00885593889129,1.04969228416
+151,2.516666667,pose1_to_pose2_press,0.585234797215,0.000181840236412,1.05002054714,0.555805942427,0.00885606942528,1.0496922504
+152,2.533333333,pose1_to_pose2_press,0.58583614572,0.000181818387307,1.05002038545,0.556407291537,0.00885604982512,1.04969209384
+153,2.550000000,pose1_to_pose2_press,0.586460274385,0.000181735839248,1.05002045153,0.557031422375,0.00885597468468,1.04969216079
+154,2.566666667,pose1_to_pose2_press,0.587110635633,0.000181807175685,1.05002062728,0.557681783736,0.00885604646181,1.04969233813
+155,2.583333333,pose1_to_pose2_press,0.58778907385,0.000181885420962,1.05002063228,0.558360220391,0.00885611941577,1.04969234335
+156,2.600000000,pose1_to_pose2_press,0.588492205279,0.000181835076822,1.05002062816,0.559063351538,0.00885606784129,1.04969233193
+157,2.616666667,pose1_to_pose2_press,0.589208065229,0.000181847897013,1.05002055796,0.559779212215,0.0088560830009,1.04969225841
+158,2.633333333,pose1_to_pose2_press,0.589929382029,0.00018177025265,1.05002054278,0.560500530437,0.00885601028382,1.04969224592
+159,2.650000000,pose1_to_pose2_press,0.590647472496,0.00018173302626,1.05002055496,0.5612186204,0.00885597139088,1.04969225938
+160,2.666666667,pose1_to_pose2_press,0.591360673362,0.000181738647689,1.05002066508,0.56193182143,0.00885597752333,1.04969236828
+161,2.683333333,pose1_to_pose2_press,0.592074287522,0.000181785079399,1.05002053244,0.562645434806,0.00885602156765,1.04969224285
+162,2.700000000,pose1_to_pose2_press,0.592792229458,0.000181830737589,1.05002065584,0.56336337745,0.00885606929615,1.0496923575
+163,2.716666667,pose1_to_pose2_press,0.593540272327,0.000181919396765,1.05002060375,0.564111418472,0.00885615154915,1.04969230176
+164,2.733333333,pose1_to_pose2_press,0.594314807653,0.000181759891381,1.05002063714,0.564885955337,0.0088559973295,1.04969233685
+165,2.750000000,pose1_to_pose2_press,0.595111091612,0.000181639028534,1.05002058077,0.565682240185,0.00885587971408,1.0496922867
+166,2.766666667,pose1_to_pose2_press,0.595926994214,0.00018165098885,1.05002052583,0.566498142737,0.00885589156542,1.04969223327
+167,2.783333333,pose1_to_pose2_press,0.596755502793,0.000181723875201,1.05002047563,0.567326650957,0.00885596313079,1.04969218044
+168,2.800000000,pose1_to_pose2_press,0.597561762275,0.000181871338609,1.05002047334,0.568132908204,0.00885610306624,1.04969217975
+169,2.816666667,pose1_to_pose2_press,0.598348710714,0.000181790832135,1.05002047957,0.56891985661,0.00885602243945,1.04969218571
+170,2.833333333,pose1_to_pose2_press,0.599115928215,0.000181604231405,1.05002046284,0.569687076845,0.00885584501123,1.04969216633
+171,2.850000000,pose1_to_pose2_press,0.59988024565,0.000181686925196,1.05002058978,0.570451395399,0.00885593161036,1.04969229614
+172,2.866666667,pose1_to_pose2_press,0.600651601259,0.000181587617678,1.05002072852,0.571222751995,0.00885583569828,1.04969243627
+173,2.883333333,pose1_to_pose2_press,0.60143151443,0.000181788877716,1.05002052071,0.572002662789,0.00885602892211,1.04969222927
+174,2.900000000,pose1_to_pose2_press,0.602221179216,0.000181575562746,1.0500205403,0.572792329657,0.00885582252684,1.04969224504
+175,2.916666667,pose1_to_pose2_press,0.603018567772,0.000181662001954,1.05002031979,0.573589717303,0.00885590573081,1.04969202074
+176,2.933333333,pose1_to_pose2_press,0.603805615184,0.000181745236691,1.0500204993,0.574376764091,0.00885598723422,1.04969221049
+177,2.950000000,pose1_to_pose2_press,0.604568525254,0.000181792438868,1.0500203923,0.575139673809,0.00885603338224,1.04969210716
+178,2.966666667,pose1_to_pose2_press,0.605307426078,0.000181777290453,1.05002025544,0.575878572654,0.008856011723,1.04969197582
+179,2.983333333,pose1_to_pose2_press,0.606023151864,0.000181873210082,1.05002051826,0.576594298603,0.0088561078843,1.04969223039
+180,3.000000000,pose1_to_pose2_press,0.606725881063,0.000181760009574,1.05002055062,0.577297029913,0.0088560018309,1.04969226247
+181,3.016666667,pose1_to_pose2_press,0.607421403801,0.000181654638586,1.05002041265,0.577992553822,0.00885590065773,1.0496921305
+182,3.033333333,pose1_to_pose2_press,0.608120196235,0.000181762030925,1.05002047976,0.578691343747,0.00885599937291,1.04969219337
+183,3.050000000,pose1_to_pose2_press,0.608812264942,0.000181848312327,1.05002065396,0.579383411143,0.00885608092506,1.0496923601
+184,3.066666667,pose1_to_pose2_press,0.609487803104,0.00018179314532,1.05002069288,0.580058952295,0.00885603591342,1.04969239945
+185,3.083333333,pose1_to_pose2_press,0.610137001632,0.000181846410962,1.05002077383,0.580708149784,0.0088560854005,1.04969247383
+186,3.100000000,pose1_to_pose2_press,0.610756580232,0.000181762352622,1.05002062708,0.581327727192,0.00885599757594,1.04969233439
+187,3.116666667,pose1_to_pose2_press,0.611344987548,0.000181795417838,1.0500205095,0.581916136197,0.00885603660157,1.04969222296
+188,3.133333333,pose1_to_pose2_press,0.611914145747,0.000181634575694,1.05002042838,0.582485295899,0.00885588060161,1.04969213509
+189,3.150000000,pose1_to_pose2_press,0.612472644852,0.000181792793154,1.05002041575,0.583043792013,0.0088560286599,1.04969212236
+190,3.166666667,pose1_to_pose2_press,0.613018400102,0.000181702229468,1.05002050543,0.583589548436,0.00885594318761,1.0496922092
+191,3.183333333,pose1_to_pose2_press,0.613547508882,0.000181708788827,1.05002054837,0.58411865645,0.00885595114513,1.04969225094
+192,3.200000000,pose1_to_pose2_press,0.614058524396,0.000181790916099,1.05002059116,0.584629669588,0.00885602885304,1.04969229772
+193,3.216666667,pose1_to_pose2_press,0.614552084681,0.000181767971475,1.05002059591,0.585123229041,0.00885600577856,1.04969230617
+194,3.233333333,pose1_to_pose2_press,0.615026638342,0.000181717137031,1.05002052342,0.585597781991,0.00885595666064,1.04969223178
+195,3.250000000,pose1_to_pose2_press,0.615486368165,0.000181832158938,1.05002058614,0.586057508559,0.00885606515618,1.04969229081
+196,3.266666667,pose1_to_pose2_press,0.615930099612,0.000181892425922,1.0500207887,0.586501240623,0.00885613026948,1.04969248809
+197,3.283333333,pose1_to_pose2_press,0.616347020071,0.000181745986759,1.05002066601,0.586918158861,0.00885598213072,1.04969237055
+198,3.300000000,pose1_to_pose2_press,0.61673490978,0.000181668992148,1.0500206662,0.587306049555,0.00885591249834,1.04969236979
+199,3.316666667,pose1_to_pose2_press,0.617095043668,0.000181787017951,1.05002069247,0.587666180904,0.00885602532248,1.0496923897
+200,3.333333333,pose1_to_pose2_press,0.617433473644,0.000181786087163,1.05002060393,0.588004610065,0.0088560242782,1.0496923041
+201,3.350000000,pose1_to_pose2_press,0.617755703128,0.000181819325217,1.05002068579,0.58832683857,0.00885605664312,1.04969238581
+202,3.366666667,pose1_to_pose2_press,0.61806733148,0.000181842869624,1.05002070675,0.588638466562,0.00885608053728,1.04969240641
+203,3.383333333,pose1_to_pose2_press,0.618369133708,0.000181845347615,1.05002053851,0.588940268292,0.00885608319881,1.04969224464
+204,3.400000000,pose1_to_pose2_press,0.618656034237,0.000181915841704,1.05002052579,0.589227166548,0.00885614831848,1.04969223472
+205,3.416666667,pose1_to_pose2_press,0.618926061789,0.000181851926787,1.05002056425,0.589497195503,0.00885608701005,1.04969226544
+206,3.433333333,pose1_to_pose2_press,0.619172351641,0.000181755050417,1.0500205594,0.589743487535,0.00885599788189,1.04969226664
+207,3.450000000,pose1_to_pose2_press,0.619395848282,0.000181781418413,1.05002065694,0.589966983332,0.00885602212827,1.04969236332
+208,3.466666667,pose1_to_pose2_press,0.619595060043,0.000181719550079,1.05002062398,0.590166195027,0.00885596194495,1.04969233856
+209,3.483333333,pose1_to_pose2_press,0.619774199586,0.000181748992572,1.05002054196,0.590345333072,0.00885598576439,1.04969224591
+210,3.500000000,pose1_to_pose2_press,0.619933929886,0.000181886229637,1.05002041658,0.590505062966,0.00885612245573,1.04969212837
+211,3.516666667,pose1_to_pose2_press,0.62007692546,0.000181938452338,1.05002052443,0.590648057465,0.00885617120709,1.04969222469
+212,3.533333333,pose1_to_pose2_press,0.62020438312,0.000181811984851,1.05002058255,0.59077551572,0.00885604706302,1.04969227728
+213,3.550000000,pose1_to_pose2_press,0.620317946966,0.000181700886696,1.05002052,0.590889080773,0.00885594075363,1.0496922183
+214,3.566666667,pose1_to_pose2_press,0.620419576588,0.000181747015909,1.05002044991,0.590990710698,0.00885598871445,1.04969215333
+215,3.583333333,pose1_to_pose2_press,0.620509404128,0.000181822665202,1.05002053243,0.591080538207,0.00885606471989,1.04969224067
+216,3.600000000,pose1_to_pose2_press,0.620591074778,0.000181720174279,1.05002063924,0.59116220925,0.00885596370722,1.04969234704
+217,3.616666667,pose1_to_pose2_press,0.62066462416,0.000181733362574,1.05002071299,0.591235758144,0.00885597476325,1.04969240728
+218,3.633333333,pose1_to_pose2_press,0.620729044526,0.000181751341879,1.05002066685,0.59130017825,0.00885599274188,1.04969237108
+219,3.650000000,pose1_to_pose2_press,0.620784636716,0.000181673171985,1.05002058037,0.591355771152,0.00885591673262,1.0496922835
+220,3.666666667,pose1_to_pose2_press,0.620830741513,0.000181771002361,1.05002055171,0.591401876277,0.00885601577385,1.04969225401
+221,3.683333333,pose1_to_pose2_press,0.620868250101,0.000181775444896,1.05002058142,0.591439385288,0.00885602164468,1.0496922776
+222,3.700000000,pose1_to_pose2_press,0.620897029175,0.000181778844687,1.05002050384,0.591468163122,0.00885602078953,1.04969220325
+223,3.716666667,pose1_to_pose2_press,0.6209188537,0.000181776818749,1.0500203606,0.591489987308,0.0088560178169,1.04969206817
+224,3.733333333,pose1_to_pose2_press,0.620934731739,0.000181740743186,1.05002034743,0.591505866212,0.00885598501906,1.04969205716
+225,3.750000000,pose1_to_pose2_press,0.620946197366,0.000181763393943,1.05002052357,0.59151733124,0.00885600598542,1.04969223168
+226,3.766666667,pose1_to_pose2_press,0.620954476886,0.000181842826861,1.05002033683,0.591525609873,0.00885608162486,1.04969204532
+227,3.783333333,pose1_to_pose2_press,0.620960501182,0.000181841327737,1.05002049024,0.591531634565,0.00885608154971,1.0496921976
+228,3.800000000,pose1_to_pose2_press,0.620964868754,0.00018182575403,1.05002063215,0.591536002213,0.00885606625625,1.04969233663
+229,3.816666667,pose1_to_pose2_press,0.620967587042,0.000181831370741,1.05002057487,0.591538719452,0.00885606781916,1.04969227484
+230,3.833333333,pose1_to_pose2_press,0.620969444076,0.000181863301701,1.05002072717,0.591540576445,0.00885609937741,1.04969242117
+231,3.850000000,pose1_to_pose2_press,0.620970526587,0.000181889836711,1.05002083024,0.591541659024,0.00885612608035,1.0496925216
+232,3.866666667,pose1_to_pose2_press,0.620970806984,0.000181913009975,1.05002076893,0.591541939341,0.00885614922953,1.04969246618
+233,3.883333333,pose1_to_pose2_press,0.62097099379,0.000181928448385,1.05002072808,0.591542126093,0.00885616465189,1.04969242926
+234,3.900000000,pose1_to_pose2_press,0.620971256884,0.000181950191661,1.05002067055,0.591542389113,0.00885618637257,1.04969237725
+235,3.916666667,pose1_to_pose2_press,0.620971391971,0.000181961355805,1.05002064101,0.591542524161,0.00885619752511,1.04969235055
+236,3.933333333,pose1_to_pose2_press,0.620971396644,0.000181961742027,1.05002063999,0.591542528833,0.00885619791093,1.04969234963
+237,3.950000000,pose1_to_pose2_press,0.620971416356,0.000181963371076,1.05002063568,0.591542548539,0.00885619953829,1.04969234573
+238,3.966666667,pose1_to_pose2_press,0.620971469482,0.000181960643126,1.05002064126,0.591542601648,0.00885619673279,1.04969234977
+239,3.983333333,pose1_to_pose2_press,0.620971550902,0.000181954225627,1.05002065523,0.591542683043,0.00885619017352,1.04969236052
+240,4.000000000,pose1_to_pose2_press,0.620971556969,0.000181953747415,1.05002065627,0.591542689108,0.00885618968474,1.04969236133
+241,4.016666667,pose1_to_pose2_press,0.620971640188,0.000181947188161,1.05002067055,0.5915427723,0.00885618298058,1.04969237232
+242,4.033333333,pose1_to_pose2_press,0.620971713728,0.000181941391804,1.05002068316,0.591542845816,0.00885617705617,1.04969238203
+243,4.050000000,pose1_to_pose2_press,0.620971745925,0.000181938854029,1.05002068868,0.591542878003,0.00885617446233,1.04969238629
+244,4.066666667,pose1_to_pose2_press,0.620971823475,0.00018193274155,1.05002070199,0.591542955529,0.00885616821481,1.04969239653
+245,4.083333333,pose1_to_pose2_press,0.620971904221,0.000181904734293,1.05002074093,0.591543036606,0.00885614157016,1.04969244103
+246,4.100000000,pose1_to_pose2_press,0.620971961509,0.000181879520011,1.05002077474,0.591543094218,0.00885611770721,1.04969248098
+247,4.116666667,pose2_hold,0.620971961509,0.000181879520011,1.05002077474,0.591543094378,0.00885611767933,1.04969248099
+248,4.133333333,pose2_hold,0.620971961509,0.000181879520011,1.05002077474,0.591543094395,0.00885611769183,1.04969248099
+249,4.150000000,pose2_hold,0.620971961509,0.000181879520011,1.05002077474,0.591543094404,0.00885611769275,1.049692481
+250,4.166666667,pose2_hold,0.620971961509,0.000181879520011,1.05002077474,0.5915430944,0.00885611767332,1.049692481
+251,4.183333333,pose2_hold,0.620971961509,0.000181879520011,1.05002077474,0.59154309439,0.00885611764943,1.04969248099
+252,4.200000000,pose2_hold,0.620971961509,0.000181879520011,1.05002077474,0.591543094392,0.0088561176743,1.04969248099
+253,4.216666667,pose2_hold,0.620971961509,0.000181879520011,1.05002077474,0.591543094404,0.00885611767915,1.049692481
+254,4.233333333,pose2_hold,0.620971961509,0.000181879520011,1.05002077474,0.591543094412,0.0088561176883,1.04969248101
+255,4.250000000,pose2_hold,0.620971961509,0.000181879520011,1.05002077474,0.591543094412,0.00885611764891,1.049692481
+256,4.266666667,pose2_hold,0.620971961509,0.000181879520011,1.05002077474,0.591543094426,0.00885611765852,1.04969248099
+257,4.283333333,pose2_hold,0.620971961509,0.000181879520011,1.05002077474,0.591543094432,0.00885611767083,1.049692481
+258,4.300000000,pose2_hold,0.620971961509,0.000181879520011,1.05002077474,0.591543094444,0.00885611767499,1.049692481
+259,4.316666667,pose2_hold,0.620971961509,0.000181879520011,1.05002077474,0.59154309445,0.00885611768462,1.04969248101
+260,4.333333333,pose2_hold,0.620971961509,0.000181879520011,1.05002077474,0.591543094458,0.00885611769298,1.04969248102
+261,4.350000000,pose2_hold,0.620971961509,0.000181879520011,1.05002077474,0.591543094434,0.00885611765927,1.04969248102
+262,4.366666667,pose2_hold,0.620971961509,0.000181879520011,1.05002077474,0.591543094445,0.0088561176589,1.049692481
+263,4.383333333,pose2_to_pose3_retreat,0.620971961509,0.000181879520011,1.05002077474,0.591543094453,0.00885611765139,1.04969248096
+264,4.400000000,pose2_to_pose3_retreat,0.620971876938,0.000181916742103,1.05002072482,0.591543009414,0.00885615290785,1.04969242204
+265,4.416666667,pose2_to_pose3_retreat,0.620971838366,0.000181930814302,1.05002070475,0.59154297067,0.00885616625612,1.0496923987
+266,4.433333333,pose2_to_pose3_retreat,0.620971767219,0.000181927415002,1.05002069505,0.591542899621,0.00885616326588,1.04969239139
+267,4.450000000,pose2_to_pose3_retreat,0.620971656585,0.000181922129083,1.05002067995,0.59154278914,0.00885615861604,1.04969238001
+268,4.466666667,pose2_to_pose3_retreat,0.620971463595,0.000181912908266,1.05002065363,0.591542596415,0.00885615050481,1.04969236017
+269,4.483333333,pose2_to_pose3_retreat,0.620971373009,0.000181910237795,1.05002066828,0.591542505821,0.00885614776349,1.04969237372
+270,4.500000000,pose2_to_pose3_retreat,0.620970779978,0.000181893893289,1.05002078271,0.591541912648,0.00885613054894,1.04969247811
+271,4.516666667,pose2_to_pose3_retreat,0.620968858877,0.000181773060811,1.05002066797,0.591539992062,0.00885601132145,1.04969236324
+272,4.533333333,pose2_to_pose3_retreat,0.620963426859,0.000181935968471,1.05002066209,0.591534558819,0.00885617056696,1.04969236601
+273,4.550000000,pose2_to_pose3_retreat,0.620953288825,0.000181876360564,1.05002066923,0.591524420591,0.00885610952187,1.04969236651
+274,4.566666667,pose2_to_pose3_retreat,0.620934084926,0.000181732424233,1.05002053349,0.591505219383,0.0088559751318,1.04969223866
+275,4.583333333,pose2_to_pose3_retreat,0.62090539338,0.000181698067765,1.05002044478,0.591476528523,0.00885594274909,1.04969214895
+276,4.600000000,pose2_to_pose3_retreat,0.620866003072,0.000181778418372,1.05002055314,0.591437138586,0.00885602431054,1.04969226095
+277,4.616666667,pose2_to_pose3_retreat,0.620816243857,0.000181757732858,1.05002080996,0.591387379699,0.00885600455427,1.0496925184
+278,4.633333333,pose2_to_pose3_retreat,0.620755712793,0.000181680592281,1.05002057213,0.591326848793,0.00885592750142,1.04969227979
+279,4.650000000,pose2_to_pose3_retreat,0.620685432368,0.000181775471605,1.05002061695,0.591256567859,0.0088560202654,1.04969232492
+280,4.666666667,pose2_to_pose3_retreat,0.620604510485,0.000181829685583,1.05002050235,0.591175645207,0.00885607138723,1.0496922094
+281,4.683333333,pose2_to_pose3_retreat,0.620509421254,0.000181831791308,1.05002040213,0.591080555436,0.00885607112283,1.04969211238
+282,4.700000000,pose2_to_pose3_retreat,0.620400464407,0.00018194217211,1.05002040247,0.590971597801,0.00885617811951,1.0496921117
+283,4.716666667,pose2_to_pose3_retreat,0.620276916242,0.000181846736677,1.05002041789,0.590848050196,0.00885608379057,1.04969212798
+284,4.733333333,pose2_to_pose3_retreat,0.620138958863,0.000181630982909,1.05002048938,0.590710097032,0.008855881301,1.04969219476
+285,4.750000000,pose2_to_pose3_retreat,0.619985646472,0.000181700737397,1.05002016402,0.590556783596,0.00885594762755,1.04969187445
+286,4.766666667,pose2_to_pose3_retreat,0.619818489837,0.000181764256533,1.05002048785,0.590389625206,0.00885600348975,1.04969219829
+287,4.783333333,pose2_to_pose3_retreat,0.619637012517,0.000181707830122,1.05002051164,0.590208149373,0.00885595066947,1.04969222222
+288,4.800000000,pose2_to_pose3_retreat,0.619438250905,0.000181735484648,1.05002053912,0.590009387534,0.00885597601022,1.04969224475
+289,4.816666667,pose2_to_pose3_retreat,0.619223730982,0.000181690065848,1.05002044253,0.589794868434,0.00885593232487,1.0496921558
+290,4.833333333,pose2_to_pose3_retreat,0.618993402677,0.000181687577221,1.05002048341,0.589564540493,0.0088559298789,1.04969219668
+291,4.850000000,pose2_to_pose3_retreat,0.618747916394,0.00018178507749,1.05002066958,0.589319053659,0.0088560234637,1.04969237252
+292,4.866666667,pose2_to_pose3_retreat,0.618487379438,0.000181824982671,1.05002063789,0.589058517763,0.00885606423485,1.04969234628
+293,4.883333333,pose2_to_pose3_retreat,0.61820772895,0.000181595479448,1.05002051911,0.58877887004,0.0088558427375,1.04969223106
+294,4.900000000,pose2_to_pose3_retreat,0.617908042146,0.000181824823744,1.05002060731,0.588479179114,0.0088560573361,1.04969231664
+295,4.916666667,pose2_to_pose3_retreat,0.617583050152,0.000181861871399,1.05002055965,0.588154188288,0.00885609725983,1.04969226932
+296,4.933333333,pose2_to_pose3_retreat,0.617235280239,0.000181808605416,1.05002048207,0.58780642007,0.00885604796977,1.04969218622
+297,4.950000000,pose2_to_pose3_retreat,0.616865151343,0.000181730974103,1.05002038692,0.587436292425,0.00885597097405,1.04969208909
+298,4.966666667,pose2_to_pose3_retreat,0.616481095026,0.000181669848001,1.0500203257,0.587052237874,0.00885591085501,1.04969203507
+299,4.983333333,pose2_to_pose3_retreat,0.616085553745,0.000181762792512,1.05002052325,0.586656695999,0.00885599843237,1.04969222716
+300,5.000000000,pose2_to_pose3_retreat,0.615682179731,0.000181858626174,1.05002031933,0.586253323566,0.00885609163927,1.04969202715
+301,5.016666667,pose2_to_pose3_retreat,0.615266945651,0.000181837444658,1.05002010866,0.585838088431,0.00885607018251,1.04969182125
+302,5.033333333,pose2_to_pose3_retreat,0.614831499456,0.000181751175171,1.05002031659,0.585402644056,0.00885598633667,1.04969202433
+303,5.050000000,pose2_to_pose3_retreat,0.614370262285,0.000181712275232,1.05002064517,0.58494140922,0.00885594907915,1.04969234521
+304,5.066666667,pose2_to_pose3_retreat,0.613879750947,0.000181811779648,1.05002055383,0.584450896213,0.00885604605962,1.04969225596
+305,5.083333333,pose2_to_pose3_retreat,0.613366993353,0.000181766600613,1.0500205553,0.583938140611,0.00885600463068,1.04969225767
+306,5.100000000,pose2_to_pose3_retreat,0.612836375715,0.000181759119927,1.05002033863,0.583407525012,0.0088559985264,1.04969204742
+307,5.116666667,pose2_to_pose3_retreat,0.612293646455,0.00018178604722,1.05002036454,0.582864795249,0.00885601927731,1.04969207336
+308,5.133333333,pose2_to_pose3_retreat,0.611739235209,0.00018176565465,1.05002051426,0.582310386282,0.00885600211075,1.0496922232
+309,5.150000000,pose2_to_pose3_retreat,0.611170365867,0.000181748463421,1.05002054373,0.5817415201,0.00885599067099,1.04969225195
+310,5.166666667,pose2_to_pose3_retreat,0.610581444079,0.000181813402066,1.05002034922,0.581152598364,0.0088560492654,1.04969205339
+311,5.183333333,pose2_to_pose3_retreat,0.609972063329,0.000181806373624,1.0500206245,0.580543221639,0.00885604141629,1.04969233507
+312,5.200000000,pose2_to_pose3_retreat,0.609350733738,0.000181810734339,1.05002075662,0.579921891611,0.0088560461077,1.0496924598
+313,5.216666667,pose2_to_pose3_retreat,0.608715433534,0.000181856112419,1.05002061963,0.579286592409,0.00885609333866,1.04969232617
+314,5.233333333,pose2_to_pose3_retreat,0.608054778464,0.000181906955864,1.05002064803,0.578625938475,0.00885614385959,1.04969235344
+315,5.250000000,pose2_to_pose3_retreat,0.607367780088,0.000181879414911,1.05002064087,0.57793894124,0.00885611491769,1.0496923423
+316,5.266666667,pose2_to_pose3_retreat,0.60665246381,0.000181778456422,1.05002035315,0.57722362693,0.00885601536371,1.0496920589
+317,5.283333333,pose2_to_pose3_retreat,0.605913151081,0.000181828171228,1.05002051789,0.576484316183,0.00885606788071,1.04969222938
+318,5.300000000,pose2_to_pose3_retreat,0.605158880711,0.000181910753219,1.0500205368,0.575730044659,0.00885614536189,1.04969224298
+319,5.316666667,pose2_to_pose3_retreat,0.604401875147,0.000181840898363,1.05002052874,0.57497304106,0.00885607324251,1.04969223431
+320,5.333333333,pose2_to_pose3_retreat,0.603646434322,0.000181730329507,1.05002064417,0.574217603529,0.00885596991393,1.04969234478
+321,5.350000000,pose2_to_pose3_retreat,0.602896243144,0.000181693522897,1.05002066016,0.573467413818,0.00885593545788,1.04969236422
+322,5.366666667,pose2_to_pose3_retreat,0.602137362053,0.000181840578845,1.0500205768,0.572708531332,0.00885607530971,1.04969228536
+323,5.383333333,pose2_to_pose3_retreat,0.601366022244,0.000181911118028,1.05002041881,0.571937190894,0.00885614126304,1.04969212827
+324,5.400000000,pose2_to_pose3_retreat,0.600578502398,0.00018179067051,1.0500203791,0.571149673603,0.008856025957,1.04969208716
+325,5.416666667,pose2_to_pose3_retreat,0.599777593279,0.000181787179471,1.05002060173,0.570348767163,0.00885602575894,1.04969230899
+326,5.433333333,pose2_to_pose3_retreat,0.598974573389,0.000181824249734,1.05002043978,0.569545748133,0.00885606152475,1.04969214398
+327,5.450000000,pose2_to_pose3_retreat,0.59817482964,0.000181739270378,1.0500205406,0.568746005451,0.00885597855389,1.04969224647
+328,5.466666667,pose2_to_pose3_retreat,0.597380935669,0.000181718061348,1.05002050184,0.567952114969,0.00885596291853,1.04969221487
+329,5.483333333,pose2_to_pose3_retreat,0.596603257391,0.00018177549635,1.05002056171,0.567174439639,0.00885601898894,1.04969226146
+330,5.500000000,pose2_to_pose3_retreat,0.595838639187,0.000181764736836,1.05002040517,0.566409821922,0.0088560071359,1.04969210836
+331,5.516666667,pose2_to_pose3_retreat,0.59507370872,0.000181763422337,1.0500204037,0.565644891628,0.00885600353263,1.04969210861
+332,5.533333333,pose2_to_pose3_retreat,0.594303853149,0.000181775955134,1.05002059698,0.564875037065,0.00885601411944,1.04969229638
+333,5.550000000,pose2_to_pose3_retreat,0.59352011289,0.00018173096437,1.05002063759,0.564091297985,0.00885597123326,1.04969233918
+334,5.566666667,pose2_to_pose3_retreat,0.592736636917,0.000181714050449,1.05002051686,0.563307822688,0.0088559548454,1.04969222328
+335,5.583333333,pose2_to_pose3_retreat,0.591962982793,0.000181885484434,1.05002044674,0.562534166571,0.00885611457352,1.04969214726
+336,5.600000000,pose2_to_pose3_retreat,0.591204306063,0.000181784201281,1.05002060376,0.561775495529,0.00885602658246,1.04969231763
+337,5.616666667,pose2_to_pose3_retreat,0.590466823027,0.00018182240489,1.050020422,0.561038011375,0.00885605811625,1.04969213548
+338,5.633333333,pose2_to_pose3_retreat,0.589761644642,0.000181732154663,1.05002029374,0.560332835591,0.00885597301331,1.04969200821
+339,5.650000000,pose2_to_pose3_retreat,0.589076069568,0.000181754644641,1.05002042037,0.55964726161,0.00885599408788,1.04969212612
+340,5.666666667,pose2_to_pose3_retreat,0.588403306267,0.00018186082786,1.05002059606,0.558974499241,0.0088560990719,1.04969229818
+341,5.683333333,pose2_to_pose3_retreat,0.587735845176,0.000181867506466,1.05002058224,0.558307040311,0.0088561102773,1.04969229138
+342,5.700000000,pose2_to_pose3_retreat,0.587071018597,0.000181668239729,1.05002043679,0.557642214497,0.00885590918662,1.04969214216
+343,5.716666667,pose2_to_pose3_retreat,0.586409860474,0.000181674584249,1.05002067031,0.55698106028,0.0088559191494,1.04969237269
+344,5.733333333,pose2_to_pose3_retreat,0.585756099224,0.000181696594141,1.05002048357,0.556327298225,0.00885593808485,1.04969217787
+345,5.750000000,pose2_to_pose3_retreat,0.58512328118,0.000181778745556,1.0500206145,0.555694480228,0.00885601814595,1.04969231948
+346,5.766666667,pose2_to_pose3_retreat,0.584519249983,0.000181775927588,1.05002056594,0.555090450221,0.00885601955639,1.04969227288
+347,5.783333333,pose2_to_pose3_retreat,0.583949067181,0.00018179622842,1.05002053731,0.55452026722,0.008856038619,1.04969224289
+348,5.800000000,pose2_to_pose3_retreat,0.583409349603,0.000181807522924,1.05002059407,0.553980549601,0.00885604736609,1.04969229822
+349,5.816666667,pose2_to_pose3_retreat,0.58289399971,0.00018178345434,1.05002062719,0.553465201375,0.0088560249196,1.04969233221
+350,5.833333333,pose2_to_pose3_retreat,0.582390660303,0.000181743496157,1.05002051667,0.55296186489,0.00885598984106,1.04969222488
+351,5.850000000,pose2_to_pose3_retreat,0.58189868257,0.000181690787615,1.05002044814,0.552469887092,0.00885593269736,1.049692147
+352,5.866666667,pose2_to_pose3_retreat,0.581419378818,0.000181725592967,1.05002041229,0.551990585717,0.00885597297867,1.04969212141
+353,5.883333333,pose2_to_pose3_retreat,0.580960807592,0.000181744169856,1.05002057582,0.551532012934,0.00885598827116,1.04969228666
+354,5.900000000,pose2_to_pose3_retreat,0.580526459739,0.000181684730059,1.05002043857,0.551097656325,0.00885592978388,1.04969214096
+355,5.916666667,pose2_to_pose3_retreat,0.580113015775,0.000181720891946,1.05002044585,0.550684207483,0.00885596689845,1.0496921428
+356,5.933333333,pose2_to_pose3_retreat,0.579718232002,0.00018181505915,1.0500204605,0.55028942259,0.00885605619736,1.04969216049
+357,5.950000000,pose2_to_pose3_retreat,0.579340558784,0.000181868508292,1.05002039597,0.549911747889,0.00885610279047,1.04969209967
+358,5.966666667,pose2_to_pose3_retreat,0.57897865702,0.000181895075581,1.05002069672,0.549549847391,0.00885613167033,1.04969239678
+359,5.983333333,pose2_to_pose3_retreat,0.578634657454,0.00018177581099,1.05002078213,0.549205850539,0.00885602002033,1.04969248599
+360,6.000000000,pose2_to_pose3_retreat,0.578318313885,0.000181796084083,1.05002081542,0.548889508242,0.00885604274632,1.04969250919
+361,6.016666667,pose2_to_pose3_retreat,0.578032269581,0.000181789797631,1.05002071104,0.548603463114,0.00885603298266,1.04969240471
+362,6.033333333,pose2_to_pose3_retreat,0.577776707094,0.000181673317381,1.05002058775,0.548347902404,0.00885592237211,1.04969228845
+363,6.050000000,pose2_to_pose3_retreat,0.577546731048,0.000181566459041,1.05002070867,0.548117927262,0.00885581758,1.04969240471
+364,6.066666667,pose2_to_pose3_retreat,0.577337977145,0.000181610940598,1.05002087822,0.547909173108,0.00885586013623,1.04969256938
+365,6.083333333,pose2_to_pose3_retreat,0.577141379934,0.000181798252559,1.05002085508,0.547712574755,0.00885604299617,1.04969255131
+366,6.100000000,pose2_to_pose3_retreat,0.576953759193,0.000181884166815,1.05002038382,0.547524952348,0.00885612318762,1.04969209805
+367,6.116666667,pose2_to_pose3_retreat,0.5767782211,0.000181738264984,1.05002074212,0.547349417752,0.00885598808686,1.04969244599
+368,6.133333333,pose2_to_pose3_retreat,0.576616063027,0.000181812471237,1.05002060766,0.547187257926,0.00885605552563,1.04969230707
+369,6.150000000,pose2_to_pose3_retreat,0.576469846344,0.000181752174615,1.05002045743,0.547041042086,0.0088559977219,1.049692161
+370,6.166666667,pose2_to_pose3_retreat,0.576340522455,0.00018173114298,1.05002056326,0.546911718391,0.00885597692086,1.04969226582
+371,6.183333333,pose2_to_pose3_retreat,0.576230076207,0.00018179684434,1.05002051052,0.546801271396,0.00885603979592,1.04969221194
+372,6.200000000,pose2_to_pose3_retreat,0.576133906826,0.00018189330101,1.05002029434,0.546705100752,0.00885613191806,1.04969199977
+373,6.216666667,pose2_to_pose3_retreat,0.576050898035,0.000181952712552,1.05002030905,0.546622090317,0.00885618566607,1.04969201978
+374,6.233333333,pose2_to_pose3_retreat,0.575978281905,0.000181860087709,1.05002063912,0.546549475353,0.00885609622898,1.04969234222
+375,6.250000000,pose2_to_pose3_retreat,0.575914650799,0.000181796451039,1.05002052218,0.546485847267,0.00885604309384,1.04969223504
+376,6.266666667,pose2_to_pose3_retreat,0.575859644068,0.00018183917204,1.05002049745,0.546430839568,0.00885608227686,1.04969221145
+377,6.283333333,pose2_to_pose3_retreat,0.575812516069,0.000181753692992,1.05002044357,0.546383712548,0.0088559997249,1.04969215205
+378,6.300000000,pose2_to_pose3_retreat,0.575773613113,0.000181773306587,1.05002046607,0.546344809579,0.00885601915161,1.04969217265
+379,6.316666667,pose2_to_pose3_retreat,0.575742961404,0.00018177517673,1.05002053723,0.546314158295,0.00885602227622,1.04969224165
+380,6.333333333,pose2_to_pose3_retreat,0.575720225953,0.000181700743596,1.0500204653,0.546291424271,0.00885595255305,1.04969216884
+381,6.350000000,pose2_to_pose3_retreat,0.575703570971,0.000181727783723,1.05002028544,0.546274768809,0.00885597817233,1.04969199445
+382,6.366666667,pose2_to_pose3_retreat,0.575691668023,0.000181682053538,1.05002040904,0.54626286575,0.00885593181687,1.04969211229
+383,6.383333333,pose2_to_pose3_retreat,0.575683592186,0.000181860844057,1.05002052519,0.546254786638,0.00885609928112,1.04969222324
+384,6.400000000,pose2_to_pose3_retreat,0.57567780387,0.000181920892991,1.05002051649,0.546248997926,0.00885615810003,1.04969221671
+385,6.416666667,pose2_to_pose3_retreat,0.575673942794,0.000181857111996,1.05002040812,0.546245139139,0.00885610245382,1.04969211624
+386,6.433333333,pose2_to_pose3_retreat,0.575671812474,0.000181814586201,1.05002050824,0.546243009188,0.00885606108261,1.04969221489
+387,6.450000000,pose2_to_pose3_retreat,0.575670865135,0.000181794512314,1.05002057812,0.54624206187,0.00885604099361,1.04969228319
+388,6.466666667,pose2_to_pose3_retreat,0.575670180978,0.000181780015194,1.05002062858,0.546241377729,0.00885602648558,1.04969233251
+389,6.483333333,pose2_to_pose3_retreat,0.575669599401,0.000181767013779,1.05002066326,0.546240796164,0.00885601347633,1.04969236627
+390,6.500000000,pose2_to_pose3_retreat,0.575669180954,0.000181748474941,1.05002057689,0.546240377724,0.00885599495129,1.04969227993
+391,6.516666667,pose2_to_pose3_retreat,0.575668748353,0.000181729308966,1.05002048759,0.546239945128,0.00885597579958,1.04969219067
+392,6.533333333,pose2_to_pose3_retreat,0.575668430263,0.000181715216312,1.05002042193,0.546239627043,0.00885596171742,1.04969212504
+393,6.550000000,pose2_to_pose3_retreat,0.575668420018,0.000181714762414,1.05002041981,0.546239616798,0.00885596126386,1.04969212292
+394,6.566666667,pose2_to_pose3_retreat,0.575668276172,0.000181708389452,1.05002039012,0.546239472954,0.00885595489564,1.04969209324
+395,6.583333333,pose2_to_pose3_retreat,0.575668176301,0.000181703964771,1.0500203695,0.546239373084,0.00885595047425,1.04969207264
+396,6.600000000,pose2_to_pose3_retreat,0.575668162189,0.000181703339578,1.05002036659,0.546239358973,0.00885594984952,1.04969206972
+397,6.616666667,pose2_to_pose3_retreat,0.57566804183,0.000181698007199,1.05002034175,0.546239238615,0.00885594452111,1.04969204489
+398,6.633333333,pose2_to_pose3_retreat,0.575668021341,0.000181697099423,1.05002033752,0.546239218126,0.00885594361401,1.04969204066
+399,6.650000000,pose2_to_pose3_retreat,0.575667931055,0.000181693099419,1.05002031888,0.546239127842,0.00885593961699,1.04969202203
+400,6.666666667,pose2_to_pose3_retreat,0.575667736965,0.000181685627942,1.05002031041,0.546238933868,0.00885593258152,1.04969201449
+401,6.683333333,pose2_to_pose3_retreat,0.575667556472,0.000181679602916,1.05002032841,0.546238753575,0.00885592731367,1.04969203408
+402,6.700000000,pose2_to_pose3_retreat,0.575667496667,0.000181677606551,1.05002033437,0.546238693836,0.00885592556819,1.04969204057
+403,6.716666667,pose2_to_pose3_retreat,0.575667397836,0.000181674307488,1.05002034423,0.546238595115,0.00885592268373,1.0496920513
+404,6.733333333,pose2_to_pose3_retreat,0.57566717137,0.000181666747839,1.05002036681,0.546238368901,0.00885591607411,1.04969207588
+405,6.750000000,pose2_to_pose3_retreat,0.575666987541,0.000181663869939,1.05002037181,0.546238185224,0.00885591379991,1.04969208306
+406,6.766666667,pose2_to_pose3_retreat,0.575666867558,0.000181684279463,1.0500202839,0.54623806498,0.00885593345795,1.04969200033
+407,6.783333333,pose2_to_pose3_retreat,0.575666764394,0.000181712728876,1.05002036925,0.546237962342,0.0088559637315,1.0496920821
diff --git a/Part2/Obstacle_avoidance/cylinder_PLA_10/position_01/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_PLA_10/position_01/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f4c686d426418e6f18d3aabf3ff3bfce098805ad
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_PLA_10/position_01/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d485101789ef88c05235285713273de85c35b3f948cdebf3939c8064d1161b6
+size 25914874
diff --git a/Part2/Obstacle_avoidance/cylinder_PLA_10/position_01/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_PLA_10/position_01/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..908fe21d192817a720049eef67bfa39737b7b5d2
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_PLA_10/position_01/depth_05/franka_data.csv
@@ -0,0 +1,410 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,794,749,728,709,698,655,935,803,835,669,658,676,0.400978730224,-0.00536861658151,0.0598459019928,0.999999955436,0.000153611788913,-0.000255510395281,1.56676287055e-05,1793256512864106752
+1,0.016666667,BASELINE,794,749,728,708.424564201,698,655,935,803.575435799,835,669,658,676.575435799,0.400978994466,-0.00536957025336,0.0598457586079,0.99999995537,0.000153022364392,-0.000256105361275,1.59473898026e-05,1793256512880774144
+2,0.033333333,BASELINE,794,749,728,708.154234529,698,655,935,803.845765471,835,669,657.845765471,676.845765471,0.40097894515,-0.00537021193271,0.0598454539224,0.99999995535,0.000152136068805,-0.00025670429301,1.60565933119e-05,1793256512897441280
+3,0.050000000,BASELINE,794,749,728,708.742496937,698,655,935,803.257503063,835,669,657.257503063,676.257503063,0.400978013457,-0.00536997564129,0.0598446953246,0.999999955459,0.00015041435498,-0.000257314384784,1.56858346591e-05,1793256512914107648
+4,0.066666667,BASELINE,794,749,728,709,698,655,934.674757264,803.325242736,835,669,657.325242736,676,0.400977503549,-0.0053698167949,0.0598441632032,0.999999955441,0.000149808856023,-0.000257742826044,1.56100059247e-05,1793256512930774016
+5,0.083333333,BASELINE,794,749,728,709,698,655,934.096306294,803.903693706,835,669,657.903693706,676,0.400977322009,-0.00536971824109,0.0598438073984,0.999999955325,0.00015007235366,-0.000258029848564,1.57637862875e-05,1793256512947440640
+6,0.100000000,BASELINE,794,749,728,709,698,655,934.482166164,803.517833836,835,669,657.517833836,676,0.400979125709,-0.00536821996873,0.0598450891611,0.999999955403,0.000152962510415,-0.000256034521503,1.56018379074e-05,1793256512964107008
+7,0.116666667,BASELINE,794,749.060311894,728,709,698,655.060311894,935,803,835.060311894,669,657.060311894,676,0.400980899064,-0.00536655705449,0.0598464407818,0.999999955461,0.000155962782496,-0.000253999603411,1.54062180898e-05,1793256512980773376
+8,0.133333333,BASELINE,794,749.63563104,728,709,698,655.63563104,935,803,835.63563104,669,657.63563104,676,0.400979027191,-0.00536587566999,0.0598455958215,0.999999955157,0.000155423198792,-0.000255519484288,1.54615955812e-05,1793256512997440256
+9,0.150000000,BASELINE,794,750,728,709,698,655.784066004,935,803,835.784066004,669,657.784066004,676,0.400978085878,-0.00536585621073,0.0598454332889,0.999999955013,0.000155518057536,-0.000256018499722,1.55966471196e-05,1793256513014107136
+10,0.166666667,BASELINE,794,750,728,709,698,655.195154697,935,803,835.195154697,669,657.195154697,676,0.400978751899,-0.00536698007819,0.0598464494963,0.999999955145,0.000156708772668,-0.000254754200028,1.58693176117e-05,1793256513030774016
+11,0.183333333,BASELINE,794.386873204,750,728,709,698,655,934.613126796,803,835,669,657,676,0.40097803269,-0.00536654253626,0.0598456845024,0.999999954814,0.000157137415857,-0.000255800812018,1.57051879892e-05,1793256513047440640
+12,0.200000000,BASELINE,794.965489584,750,728,709,698,655,934.034510416,803,835,669,657,676,0.400976626928,-0.00536533112435,0.0598440367047,0.999999954248,0.000157188358929,-0.000257992764392,1.53245702992e-05,1793256513064107264
+13,0.216666667,BASELINE,794.457673408,750,728,709,698,655,934.542326592,803.542326592,835,669,657,676,0.400976980635,-0.00536631261109,0.0598439782592,0.999999954335,0.000156743680584,-0.000257929060877,1.52903227186e-05,1793256513080773888
+14,0.233333333,BASELINE,794.118520898,750,728,709,698,655,935,803.881479102,835,668.881479102,657,676,0.400977587707,-0.00536705401495,0.0598442218217,0.999999954504,0.000156362569575,-0.000257506782718,1.52731029555e-05,1793256513097440256
+15,0.250000000,BASELINE,794.692678461,750,728,709,698,655,935,803.307321539,835,668.307321539,657,676,0.400978739789,-0.00536633775623,0.0598452388768,0.999999954828,0.000156346682262,-0.000256256016242,1.52368881351e-05,1793256513114106880
+16,0.266666667,BASELINE,795,749.725259469,728,709,698,655,935,803,835,668,657.274740531,676,0.400979271157,-0.00536625385787,0.0598459616315,0.999999955145,0.000155841243096,-0.000255314803667,1.54352253003e-05,1793256513130773504
+17,0.283333333,BASELINE,795,749.134093622,728,709,698,655,935,803,835,668,657.865906378,676,0.400979087635,-0.00536689826427,0.0598463454332,0.999999955453,0.00015477197522,-0.000254730111886,1.59037016635e-05,1793256513147440128
+18,0.300000000,BASELINE,794.55323281,749,728,708.55323281,698,655,934.55323281,803,835,668,657.55323281,676,0.400977955028,-0.00536746868501,0.0598455738228,0.999999955356,0.000153446387857,-0.00025591977234,1.57327399768e-05,1793256513164107008
+19,0.316666667,BASELINE,794,749.024494576,728,708.024494576,698,655,934,803,834.975505424,668,657,676,0.400976662709,-0.00536799815425,0.0598445691425,0.999999955164,0.000152114526876,-0.000257481289011,1.53983211525e-05,1793256513180774144
+20,0.333333333,BASELINE,794,749.599744679,728,708.599744679,698,655,934,803,834.400255321,668,657,676,0.400978039905,-0.00536809488255,0.0598459455853,0.999999955585,0.000152332410716,-0.000255699438717,1.56066420388e-05,1793256513197441024
+21,0.350000000,BASELINE,794,750,728,709,698,655,934.179094842,803,834.179094842,668.179094842,657,676,0.400978540627,-0.00536835291492,0.0598466113724,0.99999995574,0.000152492960313,-0.000254979378344,1.58761672722e-05,1793256513214107648
+22,0.366666667,BASELINE,794,750,728,709,698,655,934.767822754,803,834.767822754,668.767822754,657,676,0.40097703664,-0.00536897988856,0.0598456517185,0.999999955292,0.000152522372647,-0.000256687887674,1.62856815702e-05,1793256513230774016
+23,0.383333333,BASELINE,794,750,728,709,698,655,934.649211923,803,835,669,657.350788077,676,0.400977469238,-0.00536825217961,0.0598456332051,0.999999955007,0.000154654166218,-0.000256529649011,1.61580604724e-05,1793256513247440384
+24,0.400000000,BASELINE,794,750,728,709,698,655,934.069999004,803,835,669,657.930000996,676,0.400979162893,-0.00536664233365,0.0598462275399,0.999999954818,0.000158154980396,-0.000255155828668,1.56806696342e-05,1793256513264106752
+25,0.416666667,BASELINE,794,749.49268952,728,709,698,655,934.50731048,803,835,669,657.49268952,676,0.400978321512,-0.00536735278318,0.0598460302666,0.999999955262,0.000154731760949,-0.000255532691523,1.53806854632e-05,1793256513280773376
+26,0.433333333,BASELINE,794,749,728,708.916288313,698,655,934.916288313,803,835,669,657,676,0.400977100652,-0.00536826759671,0.0598457141166,0.999999955647,0.000151264939481,-0.000256110700284,1.52186903024e-05,1793256513297440256
+27,0.450000000,BASELINE,794,749,728,708.343663429,698,655,934.343663429,803,835,669,657,676,0.400975698739,-0.00536851312525,0.059845339221,0.999999955271,0.000153102458085,-0.000256457944954,1.57201798771e-05,1793256513314107136
+28,0.466666667,BASELINE,794,749.236731856,728,708.236731856,698,655,934.236731856,803,835,669,657,676,0.400975372385,-0.00536891961688,0.0598452695951,0.999999955144,0.000153698366463,-0.000256583658613,1.5938404797e-05,1793256513330774016
+29,0.483333333,BASELINE,794,749.828790215,728,708.828790215,698,655,934.828790215,803,835,669,657,676,0.40097666041,-0.00536956770864,0.0598456581689,0.999999955394,0.000152430659813,-0.000256376861702,1.57314590289e-05,1793256513347440640
+30,0.500000000,BASELINE,794,749.588191197,728,709,698,655,934.588191197,803,835,668.588191197,657.411808803,676,0.400977564615,-0.00536939363133,0.0598459476291,0.999999955343,0.000153291666191,-0.00025604632549,1.59782569532e-05,1793256513364107264
+31,0.516666667,BASELINE,794,749.008850187,728,709,698,655,934.008850187,803,835,668.008850187,657.991149813,676,0.400978312675,-0.00536888507888,0.0598461967678,0.999999955168,0.000155018676412,-0.000255665449613,1.64096470575e-05,1793256513380773888
+32,0.533333333,BASELINE,794,749,728,709,698,655,934.566226267,803,835,668,658,676,0.400978848787,-0.00536930014871,0.059846965748,0.999999955673,0.000155073785419,-0.000253649680221,1.6379851085e-05,1793256513397440256
+33,0.550000000,BASELINE,793.855800908,749,728,709,698,655.144199092,934.855800908,803,835,668,658,676,0.400979360933,-0.00536937952258,0.0598475369669,0.999999956009,0.000155460021325,-0.000252090536818,1.6282477865e-05,1793256513414106880
+34,0.566666667,BASELINE,793.268729509,749,728,709,698,655.731270491,934.268729509,803,835,668,658,676,0.400979809572,-0.00536838388193,0.0598474760424,0.999999955802,0.000156942890843,-0.000252011703978,1.59995309694e-05,1793256513430773504
+35,0.583333333,BASELINE,793.31365007,749.31365007,728,709,698,655.68634993,934,803,835,668.31365007,657.68634993,676,0.400979565702,-0.00536811876102,0.0598470957896,0.999999955544,0.00015709967391,-0.000252944978638,1.58297022987e-05,1793256513447440384
+36,0.600000000,BASELINE,793.892069094,749.892069094,728,709,698,655.107930906,934,803,835,668.892069094,657.107930906,676,0.400978737247,-0.00536847031114,0.0598464459744,0.999999955242,0.00015613703599,-0.00025473262786,1.57553627963e-05,1793256513464107008
+37,0.616666667,BASELINE,794,749.528977484,728,709,698,655,934.471022516,803,835,669,657.471022516,676,0.400978517015,-0.00536933007731,0.0598462868695,0.999999955499,0.000153752016683,-0.000255173315896,1.57511832632e-05,1793256513480773888
+38,0.633333333,BASELINE,794,749,728,709,698,655,935,803,835,669,658,676,0.400978512555,-0.0053702295975,0.059846296894,0.999999955874,0.000151345239121,-0.000255143178173,1.57962143359e-05,1793256513497440512
+39,0.650000000,BASELINE,794,749,728,709,698,655,935,803,835,669,658,676,0.400979313144,-0.00537031787119,0.0598469041168,0.999999956187,0.000152154009534,-0.000253404315787,1.61909065861e-05,1793256513514107136
+40,0.666666667,BASELINE,794,749,728,709,698,655,935,803.200543167,835,669,657.799456833,676,0.400979634835,-0.00537010101794,0.059847050688,0.999999956197,0.000153286932572,-0.000252668919758,1.63853084763e-05,1793256513530773504
+41,0.683333333,BASELINE,794,749,728,709,698,655,935,803.791409377,835,669,657.208590623,676,0.400979024435,-0.0053692902872,0.0598463006796,0.999999955619,0.000155050763312,-0.000253886599814,1.61898793448e-05,1793256513547440128
+42,0.700000000,BASELINE,794,749,728,709,698,655,935,803.625568332,835,669,657,676,0.40097881379,-0.00536875883035,0.0598462740782,0.999999955418,0.000155451927864,-0.0002544380966,1.61019163683e-05,1793256513564106752
+43,0.716666667,BASELINE,794,749,728,709,698,655,935,803.046826134,835,669,657,676,0.400978821275,-0.00536837976073,0.0598466422074,0.999999955424,0.000155109546675,-0.000254626087081,1.60725928482e-05,1793256513580773632
+44,0.733333333,BASELINE,794,749.530045451,728,709,698,655,934.469954549,803,835,669,657.530045451,676,0.400978338872,-0.00536814771683,0.059846738356,0.999999955159,0.000156465251598,-0.000254845347046,1.59739240286e-05,1793256513597440256
+45,0.750000000,BASELINE,794,750,728,709,697.891597973,655,934.108402027,803.108402027,835,668.891597973,657.891597973,676,0.400977902009,-0.00536847556414,0.059846679896,0.999999955054,0.000156923008406,-0.000254977404291,1.59029558221e-05,1793256513614106880
+46,0.766666667,BASELINE,794,750,728,709,697.305979259,655,934.694020741,803.694020741,835,668.305979259,657.305979259,676,0.400977855476,-0.0053712112333,0.0598460462097,0.999999955764,0.000152769653983,-0.000254713451822,1.598080816e-05,1793256513630773760
+47,0.783333333,BASELINE,794,750,728,709,697.267848538,655,934.732151462,803.732151462,835,668.267848538,657,676,0.40097753312,-0.00537181894962,0.0598456172036,0.999999955691,0.000152394534882,-0.000255216832268,1.60752418914e-05,1793256513647440640
+48,0.800000000,BASELINE,794,750,728,709,697.828774881,655,934.171225119,803.171225119,835,668.828774881,657,676,0.400976908962,-0.00537009827669,0.059845412157,0.999999954766,0.0001561535312,-0.000256559822437,1.61878188655e-05,1793256513664107264
+49,0.816666667,BASELINE,794.415748959,749.584251041,728,709,698,655,934,803,835,669,657,676,0.400978404317,-0.00536789666368,0.059846811455,0.999999954949,0.000158626956655,-0.000254315705935,1.62254634281e-05,1793256513680774144
+50,0.833333333,BASELINE,794.98636077,749,728,709,698,655,934.01363923,803,835,668.98636077,657.01363923,676,0.400980719944,-0.00536559882321,0.0598488168675,0.999999955589,0.00016041196286,-0.000250654377942,1.62271193468e-05,1793256513697440768
+51,0.850000000,BASELINE,794.410264949,749,728,709,698,655,934.589735051,803,835,668.410264949,657.589735051,676,0.400978458474,-0.00536804690099,0.0598467481631,0.999999955388,0.000157101131323,-0.000253544744013,1.61023725975e-05,1793256513714107392
+52,0.866666667,BASELINE,794.168737079,749,728,709,698,655,935,803,835,668,658,676,0.400977059109,-0.00536993578325,0.0598454535273,0.999999955338,0.000154612025008,-0.000255269062207,1.6002725873e-05,1793256513730773504
+53,0.883333333,BASELINE,794.754929016,749,728,709,698,655,935,803,835,668,658,676,0.400977792585,-0.00537044121787,0.0598460739344,0.999999955705,0.000154155863802,-0.00025410858247,1.5965176517e-05,1793256513747440128
+54,0.900000000,BASELINE,794.664235183,749.335764817,728,709,698,655,935,803,835,668,658,676.335764817,0.400977836751,-0.00536928511035,0.0598462964549,0.999999955594,0.000155292172693,-0.00025385227141,1.60109861829e-05,1793256513764107008
+55,0.916666667,BASELINE,794.087247405,749.912752595,728,709,698,655,935,803,835,668,658,676.912752595,0.400977385695,-0.00536693530384,0.0598462331223,0.999999955135,0.000157572557251,-0.000254245540799,1.6116683334e-05,1793256513780774144
+56,0.933333333,BASELINE,794,750,728,708.508357968,698,655.491642032,934.508357968,803,835,668,657.508357968,676.508357968,0.400978466498,-0.00536752667755,0.0598471418761,0.999999955497,0.000156128087247,-0.000253731365426,1.5808893765e-05,1793256513797440768
+57,0.950000000,BASELINE,794,750,728,708.070539057,698,655.929460943,934.070539057,803,835,668,657,676,0.400979487184,-0.00536849575085,0.0598480146669,0.999999955882,0.000154461429544,-0.000253253191898,1.55025509268e-05,1793256513814107136
+58,0.966666667,BASELINE,794,750,728,708.64706012,698,655.35293988,934.64706012,803,835,668,657,676,0.400978119103,-0.00536841559898,0.0598473872765,0.999999955407,0.000155960942318,-0.000254192873423,1.57349745862e-05,1793256513830773504
+59,0.983333333,BASELINE,794,749.77195809,728,709,698,655,934.77195809,803,835,668.22804191,657.22804191,676,0.400977682033,-0.00536907325955,0.0598472010181,0.99999995547,0.000156095562216,-0.000253848168766,1.59568629073e-05,1793256513847440128
+60,1.000000000,BASELINE,794,749.183934611,728,709,698,655,934.183934611,803,835,668.816065389,657.816065389,676,0.400978714633,-0.00537089561339,0.0598477111203,0.99999995638,0.000154075594713,-0.000251475962583,1.61621204283e-05,1793256513864107008
+61,1.016666667,BASELINE,794,749.39780241,728,709,698,655,934.39780241,803,835,669,658,676,0.40097976144,-0.00537038597385,0.0598479823531,0.999999956395,0.000154631692758,-0.000251077994022,1.61099369868e-05,1793256513880773888
+62,1.033333333,BASELINE,794,749.976677904,728,709,698,655,934.976677904,803,835,669,658,676,0.400980814713,-0.00536881484936,0.0598481448564,0.999999956003,0.000156360373394,-0.000251578665945,1.59405706611e-05,1793256513897440512
+63,1.050000000,BASELINE,794,749.446278813,728,708.446278813,698,655,934.446278813,803,835,669,658,676,0.400980855672,-0.00536903666828,0.0598488328988,0.999999956301,0.000156023316205,-0.000250579300138,1.63004579236e-05,1793256513914107136
+64,1.066666667,BASELINE,794,749.127108961,728,708.127108961,698,655.127108961,934.127108961,803,835,668.872891039,657.872891039,676,0.400980648267,-0.00536926051518,0.0598491261272,0.999999956482,0.000155705939684,-0.000250034748551,1.65746722452e-05,1793256513930774016
+65,1.083333333,BASELINE,794,749.688276337,728,708.688276337,698,655.688276337,934.688276337,803,835,668.311723663,657.311723663,676,0.400979737851,-0.00536923425929,0.0598479957849,0.999999956169,0.000155751904256,-0.000251258359083,1.64804547394e-05,1793256513947440640
+66,1.100000000,BASELINE,794,749.73095276,728.26904724,709,698,655.73095276,934.73095276,803.26904724,835,668.26904724,657.26904724,676,0.40097888006,-0.00536880910283,0.0598472129683,0.999999955938,0.000155471620926,-0.000252369507416,1.61705298907e-05,1793256513964107264
+67,1.116666667,BASELINE,794,749.125683855,728.874316145,709,698,655.125683855,934.125683855,803.874316145,835,668.874316145,657.874316145,676,0.400978088031,-0.0053678854502,0.0598468644461,0.999999955809,0.000154783633682,-0.000253340114435,1.55910409312e-05,1793256513980773632
+68,1.133333333,BASELINE,794,749.458866205,728.541133795,709,698,655,934,803.541133795,835,668.541133795,658,676,0.400977938855,-0.00536871358069,0.0598463323107,0.999999955846,0.000153529883412,-0.000253958118871,1.55361378226e-05,1793256513997440512
+69,1.150000000,BASELINE,794,750,728,709,698,655,934.037627609,803.037627609,835,668.037627609,658,676,0.400977994382,-0.00536997475368,0.0598458467105,0.999999955946,0.000152171573907,-0.000254379187606,1.56117357871e-05,1793256514014106880
+70,1.166666667,BASELINE,794,750,728,709,698,655,934.611275534,803.611275534,835,668.611275534,658,676,0.400978566051,-0.00537086492304,0.0598467095003,0.999999956329,0.000151435919581,-0.000253311185945,1.55879570593e-05,1793256514030773760
+71,1.183333333,BASELINE,794.189814157,749.810185843,728,708.810185843,698,655,935,804,835,669,658,676,0.400978681872,-0.0053713364318,0.0598472014233,0.999999956444,0.000151512128744,-0.000252797676149,1.57838979423e-05,1793256514047440640
+72,1.200000000,BASELINE,794.778633544,749.221366456,728,708.221366456,698,655,935,804,835,669,658,676,0.400977839464,-0.00537092788111,0.0598469137535,0.999999955997,0.00015329494271,-0.00025344975442,1.64417078146e-05,1793256514064107520
+73,1.216666667,BASELINE,794.638515556,749,727.638515556,708.361484444,698,655,935,803.638515556,835,669,658,676,0.400977904807,-0.00537033945612,0.0598469519026,0.999999955974,0.000153593617377,-0.000253357335607,1.64348358376e-05,1793256514080774144
+74,1.233333333,BASELINE,794.059260316,749,727.059260316,708.940739684,698,655,935,803.059260316,835,669,658,676,0.400978517011,-0.00536964266861,0.0598471863363,0.999999956209,0.000152998194828,-0.00025281640583,1.60275363677e-05,1793256514097440512
+75,1.250000000,BASELINE,794,749.519025171,727.519025171,709,698,655,934.480974829,803.519025171,835,668.480974829,658,676,0.400978926988,-0.00536954884324,0.0598476848552,0.999999956114,0.000154789779618,-0.000252084426402,1.62901859185e-05,1793256514114107136
+76,1.266666667,BASELINE,794,750,728,709,698,655,934,803.903972303,835,668.096027697,657.903972303,676,0.40097921534,-0.00536938282653,0.059848085407,0.999999955994,0.000156439977692,-0.000251531301504,1.64587638344e-05,1793256514130773504
+77,1.283333333,BASELINE,794,750,728,709,698,655,934,803.332771386,835,668.667228614,657.332771386,676,0.400979015899,-0.00536851956136,0.0598478522642,0.999999955956,0.000156044462905,-0.00025197093873,1.57840476038e-05,1793256514147440128
+78,1.300000000,BASELINE,794,749.752926952,728,709,698,655,934.247073048,803,835,669,657,676,0.400979038477,-0.00536794231881,0.0598475805927,0.999999955782,0.000156696547104,-0.00025227538387,1.54427049477e-05,1793256514164107008
+79,1.316666667,BASELINE,794,749.161018983,728,709,698,655,934.838981017,803,835,669,657,676,0.400979370922,-0.00536776427241,0.0598472551474,0.999999955418,0.000158810744332,-0.000252391144076,1.55666451925e-05,1793256514180773632
+80,1.333333333,BASELINE,794,749,728,709,698,655.420848795,934.579151205,803,835,668.579151205,657,676,0.400979842915,-0.00536873543227,0.0598476036728,0.999999955747,0.000157970058615,-0.000251591848394,1.592663601e-05,1793256514197440768
+81,1.350000000,BASELINE,794,749,728,709,698,655.998964698,934.001035302,803,835,668.001035302,657,676,0.400980367056,-0.00537013603935,0.0598482040545,0.999999956331,0.000156025162001,-0.000250450605216,1.63748366452e-05,1793256514214108160
+82,1.366666667,BASELINE,794,749,728,709,698,655.424405459,934.575594541,803,835,668,657.575594541,676,0.400977979622,-0.00537003357843,0.0598466322764,0.999999955724,0.000155202222655,-0.000253380083649,1.61840852851e-05,1793256514230774784
+83,1.383333333,BASELINE,794,749.154820583,728,709,697.845179417,655,934.845179417,803,835,668,657.845179417,676,0.400976265954,-0.00537021502763,0.0598455985257,0.999999955462,0.000153680527042,-0.000255349944207,1.59881265265e-05,1793256514247441152
+84,1.400000000,BASELINE,794,749.741292589,728,709,697.258707411,655,934.258707411,803,835,668,657.258707411,676,0.400976445362,-0.00537119555769,0.0598460757008,0.999999956178,0.000150205034342,-0.00025462395735,1.5780845079e-05,1793256514264107264
+85,1.416666667,BASELINE,794,749.676383268,728,709,697.323616732,655.323616732,934,803,835,668.323616732,657,676,0.40097722581,-0.00537057780561,0.0598466285354,0.999999956264,0.000151144094561,-0.000253734828693,1.56920969518e-05,1793256514280773632
+86,1.433333333,BASELINE,794,749.097333102,728,709,697.902666898,655.902666898,934,803,835,668.902666898,657,676,0.400978480665,-0.0053686985158,0.0598472410885,0.999999955843,0.000155567599073,-0.000252716930872,1.5696908193e-05,1793256514297440256
+87,1.450000000,BASELINE,794,749.480041318,728,709,698,655.519958682,934,803,835,669,657,676,0.400977948699,-0.00536894510998,0.0598469594907,0.999999955706,0.00015528249367,-0.000253418546145,1.59281763833e-05,1793256514314106880
+88,1.466666667,BASELINE,794,750,728,709,698,655,934.056976859,803,835,668.943023141,657.056976859,676,0.400977336398,-0.00536944935647,0.0598466863535,0.999999955683,0.000154244148433,-0.00025412823982,1.61460917244e-05,1793256514330773760
+89,1.483333333,BASELINE,794,750,728,709,698,655,934.632998837,803,835,668.367001163,657.632998837,676,0.400979281199,-0.00536838770811,0.0598481361243,0.999999956172,0.000155010955437,-0.000251746475386,1.58255341673e-05,1793256514347440384
+90,1.500000000,BASELINE,794,749.786444907,728,709,698,655,934.786444907,803,835,668.213555093,657.786444907,676,0.40098023523,-0.00536828380054,0.059848827848,0.999999956378,0.000155839011652,-0.000250415697144,1.58199969427e-05,1793256514364107008
+91,1.516666667,BASELINE,794,749.197927375,728,709,698,655,934.197927375,803,835,668.802072625,657.197927375,676,0.400979449656,-0.00536986150518,0.0598481885836,0.999999956094,0.000156774609844,-0.000250930252543,1.63675759993e-05,1793256514380773632
+92,1.533333333,BASELINE,794,749.383554753,728,708.616445247,697.616445247,655,934.383554753,803,835,669,657,676,0.400977816319,-0.00536940175276,0.0598468271749,0.999999955525,0.00015694596566,-0.000253090985619,1.62378447177e-05,1793256514397440256
+93,1.550000000,BASELINE,794,749.961471819,728,708.038528181,697.038528181,655,934.961471819,803,835,669,657,676,0.400975753388,-0.00536790954067,0.059845099827,0.999999954804,0.000156730049822,-0.000256085901859,1.5764893638e-05,1793256514414106880
+94,1.566666667,BASELINE,794,749.461422589,728,708,697.538577411,655,934.461422589,803,835,668.461422589,657,676,0.400975862918,-0.00536909925022,0.0598451239293,0.999999955154,0.000153865640757,-0.000256458640122,1.56862252916e-05,1793256514430773248
+95,1.583333333,BASELINE,794,749,728,708,698,655,934,803,835,668,657,676,0.400976207573,-0.00536983554777,0.05984539457,0.999999955481,0.000151928137246,-0.000256343960266,1.55922959335e-05,1793256514447439872
+96,1.600000000,BASELINE,794,749,728,708,698,655,934,803,835,668,657,676,0.400976871276,-0.00536799793631,0.0598461498127,0.999999955435,0.000154444575637,-0.000255031606053,1.5325073752e-05,1793256514464106752
+97,1.616666667,BASELINE,794,749,728,708,698,655,934.275296165,803.275296165,835,668,657,676,0.400978121105,-0.00536776263175,0.0598471766553,0.999999955747,0.000155472577778,-0.000253169816182,1.54856348558e-05,1793256514480773376
+98,1.633333333,BASELINE,794,749,728,708,698,655,934.86288863,803.86288863,835,668,657,676,0.400980035837,-0.00536934498616,0.0598485116013,0.999999956465,0.000154812095901,-0.000250684745921,1.61314738476e-05,1793256514497440000
+99,1.650000000,BASELINE,794,749.445053112,728,708,698,655,934.554946888,803.554946888,835,668.445053112,657.445053112,676,0.400980010791,-0.00536974869825,0.0598486110401,0.999999956708,0.000153421862395,-0.00025057055141,1.61424631534e-05,1793256514514106880
+100,1.666666667,BASELINE,794,750,728,708.025321227,698,655,934,803.025321227,835,668.974678773,658,676,0.400979399803,-0.00536977020015,0.0598483362338,0.999999956772,0.000152034300177,-0.000251171289047,1.59765652771e-05,1793256514530773504
+101,1.683333333,BASELINE,794,750,728,708.600287209,698,655,934,803.600287209,835,668.399712791,658,676,0.400978885634,-0.00536928222139,0.0598481005422,0.999999956117,0.000155526079998,-0.000251626957945,1.61653537311e-05,1793256514547440128
+102,1.700000000,BASELINE,794,749.825454057,728,708.825454057,698,655,934.174545943,803.825454057,835,668.174545943,658,676,0.400978689535,-0.00536914733423,0.0598480100145,0.99999995583,0.000157068482534,-0.000251800912284,1.62883137361e-05,1793256514564107008
+103,1.716666667,BASELINE,794,749.252808474,728,708.252808474,698,655,934.747191526,803.252808474,835,668.747191526,658,676,0.400979218881,-0.00536981776881,0.0598482505726,0.9999999564,0.000154164797913,-0.000251332339664,1.62611339798e-05,1793256514580774912
+104,1.733333333,BASELINE,794,749.332633923,728,708,698,655,935,803,835,669,658,676.332633923,0.400979040911,-0.00536982332596,0.0598481631566,0.999999956479,0.000153391097878,-0.000251492800292,1.62685374349e-05,1793256514597441536
+105,1.750000000,BASELINE,794,749.928191355,728,708,698,655,935,803,835,669,658,676.928191355,0.400978303857,-0.00536930334474,0.0598478165004,0.999999956173,0.000154300999189,-0.000252150467014,1.63032764615e-05,1793256514614106880
+106,1.766666667,BASELINE,794,750,728,708.507526959,698,655.507526959,935,803,835,669,658,676.492473041,0.400978907053,-0.00536850227602,0.0598483613332,0.999999956193,0.000155453115484,-0.000251387570591,1.58997205413e-05,1793256514630773760
+107,1.783333333,POSE1_TO_POSE2_PRESS,793,750,728,709,698,655,935,804,835,668,658,677,0.40097813028,-0.00536946267124,0.0598482526902,0.999999955948,0.000156296373837,-0.000251819205492,1.62002476094e-05,1793256514674033664
+108,1.800000000,POSE1_TO_POSE2_PRESS,793.591121558,749.408878442,728,709,698,655,935,803.408878442,835,668.591121558,658,676.408878442,0.40097755393,-0.00536962269508,0.0598477051431,0.999999955906,0.000155179514719,-0.000252680097317,1.61506085801e-05,1793256514690699776
+109,1.816666667,POSE1_TO_POSE2_PRESS,794,749,728,709,698,655.176082501,935,803,835,669,658,676.176082501,0.400977075084,-0.00536922607459,0.0598471846272,0.999999955758,0.000154934401452,-0.000253423625589,1.59933868085e-05,1793256514707366144
+110,1.833333333,POSE1_TO_POSE2_PRESS,794,749,728,709,698,655.747221676,935,803,835,669,658,676.747221676,0.400976814993,-0.0053675805733,0.0598467247578,0.999999955376,0.000156645126926,-0.000253903838512,1.55947936244e-05,1793256514724032512
+111,1.850000000,POSE1_TO_POSE2_PRESS,794,749,728,709,698,655.676560457,935,803,835,669,658,676.676560457,0.400977307811,-0.00536663977902,0.0598468107073,0.999999955292,0.0001577411202,-0.000253564246837,1.54810794131e-05,1793256514740699136
+112,1.866666667,POSE1_TO_POSE2_PRESS,794,749,728,709,698,655.096310148,935,803,835,669,658,676.096310148,0.400978398437,-0.00536625852169,0.0598473300367,0.999999955444,0.000158349016441,-0.000252573730869,1.55935589271e-05,1793256514757365760
+113,1.883333333,POSE1_TO_POSE2_PRESS,794,749,728,709,698,655,934.507903329,803,835,669,657.507903329,676,0.400978623935,-0.00536781849761,0.0598476049884,0.999999955747,0.000157001310147,-0.000252205599807,1.57611981206e-05,1793256514774032128
+114,1.900000000,POSE1_TO_POSE2_PRESS,794,749,728,709,698,655,934.080405322,803,835,669,657.080405322,676,0.400978712789,-0.00536926483598,0.0598478667164,0.999999955998,0.000155683913157,-0.000252018952371,1.58894516349e-05,1793256514790699008
+115,1.916666667,POSE1_TO_POSE2_PRESS,794,749,728,709,698,655,934.658068087,803,835,669,657.658068087,676,0.40097902136,-0.00536761918456,0.0598483474365,0.999999955759,0.000156960857342,-0.000252188656848,1.57062400865e-05,1793256514807365632
+116,1.933333333,POSE1_TO_POSE2_PRESS,794.235013868,749.235013868,728,709,698,655,934.764986132,803,835,669,658,676,0.400982911367,-0.00536764336912,0.0598501166261,0.99999995626,0.000156851652683,-0.00025024705354,1.59412936352e-05,1793256514824032256
+117,1.950000000,POSE1_TO_POSE2_PRESS,794.810919601,749.810919601,728,709,698,655,934.189080399,803,835,669,658,676,0.400991996313,-0.00537008968111,0.059853754764,0.999999957816,0.000154731813943,-0.000245242960086,1.67830482879e-05,1793256514840698880
+118,1.966666667,POSE1_TO_POSE2_PRESS,794.612847921,750,728,709,698,655,934.387152079,803,835,669,658,676,0.401020194438,-0.00537169755136,0.0598654004329,0.999999962631,0.000154130735518,-0.000225116296012,1.74486526009e-05,1793256514857365504
+119,1.983333333,POSE1_TO_POSE2_PRESS,794.036455679,750,728,709,698,655,934.963544321,803,835,669,658,676,0.401057735096,-0.00537289559099,0.059880960188,0.999999968415,0.00015427202774,-0.00019759770995,1.80281545887e-05,1793256514874032384
+120,2.000000000,POSE1_TO_POSE2_PRESS,794,749.447275838,728,708.447275838,697.447275838,655,935,803,835,668.447275838,657.447275838,676,0.401116561971,-0.00537180408797,0.0598980251354,0.999999973003,0.000156400923571,-0.000170824131222,1.87526455604e-05,1793256514890698752
+121,2.016666667,POSE1_TO_POSE2_PRESS,794,749.139475324,728,708.139475324,697.139475324,655,935,803,835,668.139475324,657,676,0.401181532921,-0.00537191135873,0.0599143733236,0.999999976783,0.00015743484802,-0.000145837335265,1.94973146315e-05,1793256514907365632
+122,2.033333333,POSE1_TO_POSE2_PRESS,794,749.715912879,728,708.715912879,697.715912879,655,935,803,835,668.715912879,657,676,0.401261250011,-0.00537625857111,0.0599281575901,0.999999979866,0.000154617902624,-0.000126290754256,2.02745305726e-05,1793256514924032512
+123,2.050000000,POSE1_TO_POSE2_PRESS,794,750,728,709,698,655.293516318,934.706483682,803,835,669,657,676,0.40134963948,-0.00538031982859,0.0599383097645,0.99999998218,0.000151517910437,-0.000110740098248,2.04835191309e-05,1793256514940699136
+124,2.066666667,POSE1_TO_POSE2_PRESS,794,750,728,709,698,655.872252653,934.127747347,803,835,669,657,676,0.401446456196,-0.00538410321348,0.0599449325079,0.999999983916,0.00014814287203,-9.90724227597e-05,2.01403413318e-05,1793256514957365760
+125,2.083333333,POSE1_TO_POSE2_PRESS,794,749.552367586,727.552367586,709,698,655.552367586,934,803,835,668.552367586,657.447632414,676,0.401562963625,-0.00538707483769,0.0599512389915,0.999999985403,0.000146259209048,-8.6197174588e-05,1.93128978555e-05,1793256514974032640
+126,2.100000000,POSE1_TO_POSE2_PRESS,794,749,727.022670652,708.977329348,697.977329348,655.022670652,934,803,835,668.022670652,658,676,0.401685744581,-0.00538979845202,0.0599573543025,0.999999986665,0.00014483220204,-7.31866346294e-05,1.83477271263e-05,1793256514990698752
+127,2.116666667,POSE1_TO_POSE2_PRESS,794,749,727.612963649,708.387036351,697.387036351,655.612963649,934,803,835,668.612963649,658,676,0.401825950041,-0.00539206963043,0.059960926062,0.999999987308,0.000144261693925,-6.53530426703e-05,1.73686867899e-05,1793256515007365376
+128,2.133333333,POSE1_TO_POSE2_PRESS,794,749,728,708.19870993,697.19870993,655.80129007,934,803,835,669,658,676,0.401975101187,-0.00539566360271,0.0599623885172,0.999999988069,0.000141616297563,-5.95674118096e-05,1.60852193326e-05,1793256515024032000
+129,2.150000000,POSE1_TO_POSE2_PRESS,794,749,728,708.775798399,697.775798399,655.224201601,934,803,835,669,658,676,0.402141286471,-0.00540177640613,0.0599598344871,0.99999998912,0.000135019950349,-5.7681458759e-05,1.42220693882e-05,1793256515040698624
+130,2.166666667,POSE1_TO_POSE2_PRESS,794,749,728.350322931,709,698,655,934.350322931,803,835,669,657.649677069,676,0.402332719557,-0.00540726515886,0.059959140569,0.999999990015,0.000129688220663,-5.48030348749e-05,1.21553488903e-05,1793256515057365504
+131,2.183333333,POSE1_TO_POSE2_PRESS,794,749,728.923218559,709,698,655,934.923218559,803,835,669,657.076781441,676,0.402540193491,-0.00541235743044,0.0599596284463,0.999999990802,0.000125159947107,-5.12940585622e-05,9.95929255061e-06,1793256515074032384
+132,2.200000000,POSE1_TO_POSE2_PRESS,794,749.509597133,728.490402867,709,698,655,935,803,835,668.490402867,657,676,0.402779117077,-0.00541764086742,0.0599621492791,0.999999991893,0.000120016717638,-4.18355046733e-05,7.7856590739e-06,1793256515090699264
+133,2.216666667,POSE1_TO_POSE2_PRESS,794,750,728,709,698,655,935,803,835,668.09698137,657.09698137,676,0.403029166342,-0.00542317367002,0.0599649409385,0.9999999929,0.000114629022616,-3.20926690377e-05,5.5436542454e-06,1793256515107366144
+134,2.233333333,POSE1_TO_POSE2_PRESS,794,750,728,709,698,655,935,803,835,668.678959642,657.678959642,676,0.403310513264,-0.00542980557745,0.0599675135327,0.999999993784,0.000108494729688,-2.55329636113e-05,2.94237372337e-06,1793256515124032512
+135,2.250000000,POSE1_TO_POSE2_PRESS,794,749.740075988,728,709,697.740075988,655,935,803,835,668.740075988,658,676,0.403601211497,-0.00543656303423,0.0599638028532,0.999999994425,0.000101081432149,-3.05403867822e-05,-1.6547680404e-07,1793256515140698880
+136,2.266666667,POSE1_TO_POSE2_PRESS,794,749.160359092,728,709,697.160359092,655,935,803,835,668.160359092,658,676,0.403903414934,-0.00544347495801,0.0599523616596,0.999999994513,9.20945343755e-05,-4.97792213005e-05,-3.89657657276e-06,1793256515157365504
+137,2.283333333,POSE1_TO_POSE2_PRESS,794,749.414983216,728,709,697.414983216,655,934.585016784,803,835,668,658,676,0.404235438058,-0.00545199494603,0.0599395401081,0.999999994029,8.19487525343e-05,-7.18433413163e-05,-8.04252168422e-06,1793256515174032128
+138,2.300000000,POSE1_TO_POSE2_PRESS,794,749.988652703,728,709,697.988652703,655,934.011347297,803,835,668,658,676,0.404578863985,-0.00546112984484,0.059926190719,0.999999992866,7.1359822843e-05,-9.49878274843e-05,-1.23471002547e-05,1793256515190698752
+139,2.316666667,POSE1_TO_POSE2_PRESS,793.435160238,749.435160238,728,708.435160238,698,655,934.564839762,803,835,668.564839762,658,676,0.404960658971,-0.00546820175202,0.0599159511047,0.999999991164,6.32499141469e-05,-0.000115795287251,-1.62014599567e-05,1793256515207365888
+140,2.333333333,POSE1_TO_POSE2_PRESS,793.144716568,749,728,708,698,655,934.855283432,803,835,668.855283432,658,676,0.405360469665,-0.00547516450934,0.0599112582124,0.999999990247,5.62897692396e-05,-0.00012626512129,-1.98523435437e-05,1793256515224033280
+141,2.350000000,POSE1_TO_POSE2_PRESS,793.735817748,749,728,708,698,655,934.264182252,803,835,668.264182252,658,676,0.405813462281,-0.00548191899683,0.0599234808645,0.999999992836,5.272181842e-05,-0.000104993556919,-2.29036188711e-05,1793256515240700672
+142,2.366666667,POSE1_TO_POSE2_PRESS,794,749,728,708,698,655,934,803,835,668,657.680987792,676,0.406310109601,-0.00548706655419,0.0599474543545,0.999999996318,5.21810402736e-05,-6.34323425534e-05,-2.486863009e-05,1793256515257367040
+143,2.383333333,POSE1_TO_POSE2_PRESS,794,749,728,708,698,655,934,803,835,668,657.104182667,676,0.406842034218,-0.00549091555633,0.0599809236667,0.999999998185,5.40865118025e-05,-5.47511353395e-06,-2.59558344456e-05,1793256515274033152
+144,2.400000000,POSE1_TO_POSE2_PRESS,794,749.463367629,728,708,698,655,934.463367629,803,835,668,657.463367629,676,0.407389793041,-0.00548590893006,0.0600025538153,0.999999997186,6.45449590957e-05,2.5245332561e-05,-2.87008693776e-05,1793256515290699520
+145,2.416666667,POSE1_TO_POSE2_PRESS,794,749.96936397,728.03063603,708.03063603,698,655,935,803,835,668,658,676,0.407940545063,-0.00547921422459,0.0600200615794,0.999999995882,7.07626318706e-05,4.7022039386e-05,-3.18938427605e-05,1793256515307365888
+146,2.433333333,POSE1_TO_POSE2_PRESS,794,749.369422579,728.630577421,708.630577421,698,655,935,803,835,668,658,676,0.40848205797,-0.00547742564443,0.0600094606354,0.99999999855,-3.68611684066e-05,1.41690173392e-05,-3.66197967604e-05,1793256515324032512
+147,2.450000000,POSE1_TO_POSE2_PRESS,794,749,728.777872802,708.777872802,698,655,935,803,835,668,658,676,0.409041976799,-0.0054810441647,0.0599974885493,0.99999999327,-0.000106897370428,-1.80405294166e-05,-4.13175835274e-05,1793256515340699136
+148,2.466666667,POSE1_TO_POSE2_PRESS,794,749,728.199771211,708.199771211,698,655,935,803,835,668,658,676,0.409631392374,-0.00549332794227,0.0599833191125,0.999999990923,-0.000116696807452,-4.92188597622e-05,-4.59702306228e-05,1793256515357365760
+149,2.483333333,POSE1_TO_POSE2_PRESS,794,749,728,708,698,655,935,803,835,668,658,676,0.410285582429,-0.00550119258517,0.0599879517383,0.999999991266,-0.000116920148976,-3.49372078033e-05,-5.07602901723e-05,1793256515374032896
+150,2.500000000,POSE1_TO_POSE2_PRESS,794,749,728,708,698,655,935,803,835,668,658,676,0.410973975573,-0.00550672377564,0.0600025124873,0.999999992166,-0.000112086988921,3.3488479639e-06,-5.56229079369e-05,1793256515390700032
+151,2.516666667,POSE1_TO_POSE2_PRESS,794,749,728,708.538760229,698,655,935,803,835.538760229,668,657.461239771,676,0.411670741767,-0.00550377881152,0.0600044999227,0.999999992852,-0.000102727502519,8.21096035805e-06,-6.06233807578e-05,1793256515407366400
+152,2.533333333,POSE1_TO_POSE2_PRESS,794,749,728,709,698,655,935,803,835.875814179,668.124185821,657,676,0.412363359138,-0.00550011074317,0.0599987672777,0.999999995929,-6.91579241225e-05,-3.8174767804e-06,-5.78309834247e-05,1793256515424032768
+153,2.550000000,POSE1_TO_POSE2_PRESS,794,749,728,709,698,655,935,803,835.2965704,668.7034296,657,676,0.413038020083,-0.00549658048715,0.0599688806158,0.99999999609,5.16368980945e-05,-6.67465377564e-05,-2.64375923426e-05,1793256515440698880
+154,2.566666667,POSE1_TO_POSE2_PRESS,793.717452888,749,728.282547112,708.717452888,698,655,935,803,835,668.717452888,657.282547112,676,0.41374555546,-0.00548943980575,0.0599444745512,0.999999988182,0.00010345396808,-0.000112825243298,-1.42549478875e-05,1793256515457365504
+155,2.583333333,POSE1_TO_POSE2_PRESS,793.138467782,749,728.861532218,708.138467782,698,655,935,803,835,668.138467782,657.861532218,676,0.414487581559,-0.00547851119895,0.0599258185233,0.999999986344,8.2902143821e-05,-0.000141225187105,-2.22275057462e-05,1793256515474032384
+156,2.600000000,POSE1_TO_POSE2_PRESS,793,749,728.563359142,708,698,655,935,803,835,668.436640858,658,676,0.415334523911,-0.00548281147466,0.0599650350964,0.999999995266,6.59962267555e-05,-6.60564292561e-05,-2.73660779885e-05,1793256515490699264
+157,2.616666667,POSE1_TO_POSE2_PRESS,793,748.989208111,728.010791889,708,698,655,934.989208111,803,835,668.989208111,657.989208111,676,0.416213586856,-0.00549194951248,0.0600216836098,0.999999997472,4.95954947477e-05,4.00031248471e-05,-3.15540342296e-05,1793256515507365888
+158,2.633333333,POSE1_TO_POSE2_PRESS,793,748.401099394,728.598900606,708,698,655,934.401099394,803,835,668.401099394,657.401099394,676,0.417046768201,-0.00550380881016,0.0600377212046,0.999999997843,-1.08688082845e-06,5.70494127114e-05,-3.25424846196e-05,1793256515524033024
+159,2.650000000,POSE1_TO_POSE2_PRESS,793.184334315,748,728.815665685,708.184334315,698,655,934,802.815665685,835,668.184334315,657,676,0.417882668994,-0.00551180675378,0.0600421860755,0.999999997142,-2.96886796663e-05,6.06056409972e-05,-3.40830806911e-05,1793256515540699904
+160,2.666666667,POSE1_TO_POSE2_PRESS,793.764030604,748,728.235969396,708.764030604,698,655,934,802.235969396,835,668.764030604,657,676,0.418724402437,-0.00551152282813,0.0600218296579,0.999999998642,-1.09318464028e-05,3.52282616125e-05,-3.68079241099e-05,1793256515557366016
+161,2.683333333,POSE1_TO_POSE2_PRESS,794,748.343065348,728.343065348,709,698,655,934.343065348,802.343065348,835,669,657.343065348,676,0.419563789195,-0.00551103714336,0.0599967132477,0.999999999242,-1.07398864807e-06,-3.936218216e-06,-3.87089666139e-05,1793256515574032640
+162,2.700000000,POSE1_TO_POSE2_PRESS,794,748.921645914,728.921645914,709,698,655,934.921645914,802.921645914,835,669,657.921645914,676,0.420401564912,-0.00551041295046,0.0599683290913,0.999999997813,2.67469940826e-06,-5.25655759018e-05,-4.00444675641e-05,1793256515590699264
+163,2.716666667,POSE1_TO_POSE2_PRESS,793.503827404,748.503827404,728.503827404,709,697.503827404,655,934.503827404,802.503827404,835,669,658,676,0.421222690059,-0.00551307547134,0.0599304671543,0.999999991427,-7.94831765457e-06,-0.000124176917158,-4.07681447119e-05,1793256515607365632
+164,2.733333333,POSE1_TO_POSE2_PRESS,793,748,728.071895366,709,697.071895366,655.071895366,934,802,835,669,658,676,0.422056284337,-0.00551696925083,0.0598977502039,0.999999981696,-1.91048116887e-05,-0.000185843754166,-4.1298331512e-05,1793256515624032000
+165,2.750000000,POSE1_TO_POSE2_PRESS,793,748,728.66078499,709,697.66078499,655.66078499,934,802,835,669,658,676,0.422998297449,-0.00552601487342,0.0599127059469,0.999999987727,-1.79096831691e-05,-0.000150114222489,-4.11262825593e-05,1793256515640698880
+166,2.766666667,POSE1_TO_POSE2_PRESS,793,748,729,708.754837671,697.754837671,655.754837671,934,802,835,669,658,676,0.423963834827,-0.00553505405677,0.0599514594172,0.999999995181,-3.39694813757e-05,-8.31614334607e-05,-3.96083008288e-05,1793256515657365760
+167,2.783333333,POSE1_TO_POSE2_PRESS,793,748,729,708.176590771,697.176590771,655.176590771,934,802,835,669,658,676,0.42496133308,-0.00554408449286,0.0600225451643,0.9999999963,-7.34723175818e-05,2.62121745329e-05,-3.62616958629e-05,1793256515674032896
+168,2.800000000,POSE1_TO_POSE2_PRESS,793,748,729,708.399602049,697.399602049,655,934.399602049,802,835,668.600397951,658,676.399602049,0.425913900274,-0.00554674833528,0.0600512923971,0.999999994255,-6.83025172154e-05,7.46661561636e-05,-3.53656416448e-05,1793256515690700032
+169,2.816666667,POSE1_TO_POSE2_PRESS,793,748,729,708.974891745,697.974891745,655,934.974891745,802,835,668.025108255,658,676.974891745,0.426846713175,-0.00554661306273,0.0600614252216,0.999999993782,-4.3492098787e-05,9.63364204604e-05,-3.55469883466e-05,1793256515707366912
+170,2.833333333,POSE1_TO_POSE2_PRESS,793,747.450256731,728.450256731,708.450256731,697.450256731,655,934.450256731,802,835,668.549743269,657.450256731,676.450256731,0.427764982126,-0.0055487418823,0.0600357492791,0.999999995443,-5.69403447643e-05,6.59324876716e-05,-3.9047198524e-05,1793256515724032768
+171,2.850000000,POSE1_TO_POSE2_PRESS,793,747,728.128245271,708,697,655,934.128245271,802,835,669,657.128245271,676,0.428669715987,-0.00554992455453,0.0600054947679,0.999999996431,-6.83028212182e-05,2.58146667848e-05,-4.25026116165e-05,1793256515740699136
+172,2.866666667,POSE1_TO_POSE2_PRESS,793,747,728.720013614,708,697,655,934.720013614,802,835,669,657.720013614,676,0.429527928232,-0.00554731406872,0.0599645982128,0.999999995977,-6.58160032028e-05,-4.08231200198e-05,-4.52486805571e-05,1793256515757365760
+173,2.883333333,POSE1_TO_POSE2_PRESS,793,747,729,708.304487918,697,655,934.695512082,802,835.304487918,669,657.695512082,676,0.430417450915,-0.00554727587032,0.059940772619,0.999999993988,-6.11579927856e-05,-7.83787318188e-05,-4.62585299813e-05,1793256515774032384
+174,2.900000000,POSE1_TO_POSE2_PRESS,793,747,729,708.882411998,697,655,934.117588002,802,835.882411998,669,657.117588002,676,0.431335090944,-0.00554954763693,0.0599322770878,0.999999993434,-5.45502090438e-05,-8.98179728584e-05,-4.57092199826e-05,1793256515790699520
+175,2.916666667,POSE1_TO_POSE2_PRESS,793,747,729,709,697,655,934.459028872,802,836,669,657.459028872,676,0.432301770573,-0.00555249846315,0.0599732499731,0.999999996533,-6.69330544297e-05,-1.96549910076e-05,-4.54653088057e-05,1793256515807366400
+176,2.933333333,POSE1_TO_POSE2_PRESS,793,746.963998106,729,709,697,655,935,802,835.963998106,669,658,676,0.433276632669,-0.00555558019595,0.0600236588321,0.999999993416,-8.26314283006e-05,6.5501260463e-05,-4.52798906609e-05,1793256515824032512
+177,2.950000000,POSE1_TO_POSE2_PRESS,793,746.37645418,729,709,697,655,935,802,835.37645418,669,658,676,0.434184941575,-0.00555801003618,0.0600250409992,0.999999994337,-7.48073355052e-05,6.10187887012e-05,-4.47954677371e-05,1793256515840699136
+178,2.966666667,POSE1_TO_POSE2_PRESS,792.791777187,746,729,709.208222813,697,655,934.791777187,802,835,669,657.791777187,676,0.435073881942,-0.00555940913992,0.060013884602,0.999999995414,-7.59969846054e-05,3.66784747648e-05,-4.52866293946e-05,1793256515857365504
+179,2.983333333,POSE1_TO_POSE2_PRESS,792.212212939,746,729,709.787787061,697,655,934.212212939,802,835,669,657.212212939,676,0.435928280898,-0.00555897004409,0.059980367118,0.999999994256,-9.32616039753e-05,-2.3076017186e-05,-4.75176337314e-05,1793256515874032128
+180,3.000000000,POSE1_TO_POSE2_PRESS,792.366239811,745.633760189,729,709.633760189,697,655,934,802,835.366239811,669,657,676,0.436763680376,-0.00555963603233,0.0599544172478,0.999999992435,-9.0822227306e-05,-6.66379599398e-05,-4.9394211703e-05,1793256515890699008
+181,3.016666667,POSE1_TO_POSE2_PRESS,792.944050433,745.055949567,729,709.055949567,697,655,934,802,835.944050433,669,657,676,0.437588104111,-0.00556094040975,0.0599328390677,0.999999990647,-7.70001700868e-05,-0.000100845725543,-5.10660431858e-05,1793256515907365632
+182,3.033333333,POSE1_TO_POSE2_PRESS,793,744.481903199,729,709,697,655,934,801.481903199,835.481903199,669,657.518096801,676,0.438377998469,-0.00555864998134,0.0599134322961,0.999999985649,-7.29767367755e-05,-0.000143725052433,-5.21450894513e-05,1793256515924032256
+183,3.050000000,POSE1_TO_POSE2_PRESS,793,744,729,709,697,654.905676148,934,801,835,669,657.905676148,676,0.439178661912,-0.00555672974217,0.0599041509092,0.999999981637,-7.40519183482e-05,-0.000168684284684,-5.279440546e-05,1793256515940698880
+184,3.066666667,POSE1_TO_POSE2_PRESS,793,744,729,709,697,654.315874156,934,801,835,669,657.315874156,676,0.44005534091,-0.00555877859887,0.05994683474,0.99999998955,-9.63914929917e-05,-9.46265959798e-05,-5.15202145933e-05,1793256515957365504
+185,3.083333333,POSE1_TO_POSE2_PRESS,792.73137473,744,728.73137473,709,696.73137473,654,934,801,835,669,657,676.26862527,0.440872023436,-0.00556061403674,0.0599661270847,0.999999991542,-0.000100979887022,-6.44612629479e-05,-5.06248997817e-05,1793256515974032128
+186,3.100000000,POSE1_TO_POSE2_PRESS,792.15298989,744,728.15298989,709,696.15298989,654,934,801,835,669,657,676.84701011,0.441619522234,-0.00556220337502,0.0599584460273,0.999999991516,-8.50988800173e-05,-8.4909480729e-05,-5.01664782463e-05,1793256515990698752
+187,3.116666667,POSE1_TO_POSE2_PRESS,792,744.42333839,728.42333839,709,695.57666161,654,934.42333839,800.57666161,835,669.42333839,657,676.57666161,0.442311780176,-0.00556205144792,0.0599125652661,0.999999983782,-7.61289387944e-05,-0.000154640044451,-5.22110221244e-05,1793256516007365120
+188,3.133333333,POSE1_TO_POSE2_PRESS,792,744.998927091,728.998927091,709,695.001072909,654,934.998927091,800.001072909,835,669.998927091,657,676.001072909,0.442984171241,-0.0055612732886,0.0598529462823,0.999999966749,-6.96445060483e-05,-0.00024209461563,-5.51557373828e-05,1793256516024032000
+189,3.150000000,POSE1_TO_POSE2_PRESS,792,745,729,709.586135504,695,653.413864496,934.413864496,800,835,670,657,676,0.443642997932,-0.00556195045277,0.0598237886584,0.999999952751,-0.000105091652809,-0.000283317816391,-5.64423187335e-05,1793256516040698880
+190,3.166666667,POSE1_TO_POSE2_PRESS,792,744.829149781,729,710,694.829149781,653,934,799.829149781,835.170850219,670,657,676,0.444307935957,-0.00556292989691,0.059803789457,0.999999941635,-0.000125868471178,-0.000312397874139,-5.73922133853e-05,1793256516057365248
+191,3.183333333,POSE1_TO_POSE2_PRESS,792,744.250439796,729,710,694.250439796,653,934,799.250439796,835.749560204,670,657,676,0.444987523785,-0.00556462446667,0.0598055177625,0.999999943246,-0.000111436825759,-0.000312695502803,-5.75457503092e-05,1793256516074031872
+192,3.200000000,POSE1_TO_POSE2_PRESS,792,744,729,710,694,652.671642317,934,799,836,669.671642317,657,676,0.445602017737,-0.00556655519683,0.0597861055117,0.999999930572,-0.000102839815939,-0.000353379266601,-5.83285566675e-05,1793256516090698496
+193,3.216666667,POSE1_TO_POSE2_PRESS,792,744,729,710,694,652.092778122,934,799,836,669.092778122,657,676,0.446166851048,-0.0055686660954,0.0597505649734,0.999999903095,-9.86940933585e-05,-0.000424873911126,-5.95914371093e-05,1793256516107365376
+194,3.233333333,POSE1_TO_POSE2_PRESS,792,744.482149952,729,710,693.517850048,652,934,799,835.517850048,669,657,676.482149952,0.446736046859,-0.00556837622208,0.0597262267954,0.999999889187,-9.89046208955e-05,-0.000456028813347,-6.23021108317e-05,1793256516124032000
+195,3.250000000,POSE1_TO_POSE2_PRESS,792,745,729,709.94216917,693,651.94216917,934,798.94216917,835,669.05783083,657,677,0.447304563506,-0.00556763552585,0.0597074453359,0.999999879915,-9.99556013733e-05,-0.000475332039154,-6.51026843994e-05,1793256516140698624
+196,3.266666667,POSE1_TO_POSE2_PRESS,792,745,729,709.35266022,693,651.35266022,934,798.35266022,835,669.64733978,657,677,0.44785918095,-0.00556696292596,0.0597200929281,0.999999888521,-0.000101089192305,-0.000456461974976,-6.61892150723e-05,1793256516157365248
+197,3.283333333,POSE1_TO_POSE2_PRESS,792.232577419,744.767422581,729,709,692.767422581,651,934,797.767422581,835,670,657,676.767422581,0.448390693163,-0.00556790365565,0.0597218100239,0.999999889835,-0.000103274168309,-0.000452859230325,-6.76981549544e-05,1793256516174031872
+198,3.300000000,POSE1_TO_POSE2_PRESS,792.811455159,744.188544841,729,709,692.188544841,651,934,797.188544841,835,670,657,676.188544841,0.448887802377,-0.00557124658143,0.0597072519597,0.999999880447,-0.0001070246229,-0.000471989036869,-6.98360485233e-05,1793256516190698752
+199,3.316666667,POSE1_TO_POSE2_PRESS,793,744.390169798,729,709.390169798,691.609830202,650.609830202,934,797,835,670,656.609830202,676,0.449325139421,-0.00557555071438,0.0596740529636,0.999999853855,-0.000114177562573,-0.000523362149143,-7.31134540621e-05,1793256516207365376
+200,3.333333333,POSE1_TO_POSE2_PRESS,793,744.968805704,729,709.968805704,691.031194296,650.031194296,934,797,835,670,656.031194296,676,0.449733604392,-0.00558031914542,0.0596318497226,0.999999815246,-0.000122974025378,-0.000590309942757,-7.69412849706e-05,1793256516224032000
+201,3.350000000,POSE1_TO_POSE2_PRESS,792.458019818,745,729,710,691,650,934.541980182,797,835,670,656,676.541980182,0.450124375688,-0.00558265577839,0.0596060040823,0.999999793271,-0.000125488327742,-0.000625612163941,-7.95043400034e-05,1793256516240698880
+202,3.366666667,POSE1_TO_POSE2_PRESS,792,745,729,710,690.881668394,649.881668394,934.881668394,797,835,670,656,677,0.45051218907,-0.00558578050683,0.0595872534651,0.999999777283,-0.000129394675325,-0.000649640988124,-8.15933660605e-05,1793256516257365504
+203,3.383333333,POSE1_TO_POSE2_PRESS,792,745,729,710,690.291405319,649.291405319,934.291405319,797,835,670,656,677,0.450892226776,-0.00559260096825,0.0595930819285,0.999999784607,-0.000140280453957,-0.000635900782746,-8.20792933647e-05,1793256516274031872
+204,3.400000000,POSE1_TO_POSE2_PRESS,792.293140641,745,729,710,690,649,934.293140641,797,835,670,656,676.706859359,0.451256259548,-0.00559670088179,0.0595993646091,0.999999786613,-0.000172792121819,-0.000624662230334,-8.19398637268e-05,1793256516290698752
+205,3.416666667,POSE1_TO_POSE2_PRESS,792.872112015,745,729,710,690,649,934.872112015,797,835,670,656,676.127887985,0.451604686473,-0.00559814808802,0.0596060901799,0.999999781434,-0.000226390403502,-0.000615862947937,-8.11906711796e-05,1793256516307365632
+206,3.433333333,POSE1_TO_POSE2_PRESS,792.551521199,745,729,710,689.551521199,649,935,796.551521199,835,670,656,676,0.451916074429,-0.00559835529237,0.0596117260735,0.999999795373,-0.000197819797247,-0.000604371381168,-6.96932766952e-05,1793256516324032256
+207,3.450000000,POSE1_TO_POSE2_PRESS,792,744.975437777,729,709.975437777,689,648.975437777,934.975437777,796,835,670,656,676,0.452214295984,-0.00559784702909,0.0596165737926,0.999999811934,-0.000146497758197,-0.000592951660716,-5.54772560391e-05,1793256516340698880
+208,3.466666667,POSE1_TO_POSE2_PRESS,792,744.388943085,729,709.388943085,689,648.388943085,934.388943085,796,835,670,656,676,0.452451539426,-0.00558901323949,0.059610457573,0.999999812635,-0.000107632997002,-0.000600638315276,-4.87795648457e-05,1793256516357365248
+209,3.483333333,POSE1_TO_POSE2_PRESS,792,744.196121119,729,709.196121119,688.803878881,648,934,796,835,670,656,676,0.45267892923,-0.00558027596103,0.0596037088011,0.99999980932,-7.82778663009e-05,-0.000610889467635,-4.52356892393e-05,1793256516374032128
+210,3.500000000,POSE1_TO_POSE2_PRESS,792,744.778368883,729,709.778368883,688.221631117,648,934,796,835,670,656,676,0.452886918993,-0.00557172869645,0.0595957146501,0.999999800508,-6.76454651647e-05,-0.000626189648081,-4.79011011232e-05,1793256516390699008
+211,3.516666667,POSE1_TO_POSE2_PRESS,792,745,729,710,688,648,934.356659156,796,835.356659156,670,656,676.356659156,0.453073544442,-0.00557134857882,0.0595863036606,0.999999789981,-6.66053934904e-05,-0.000642756859219,-4.96585766161e-05,1793256516407365632
+212,3.533333333,POSE1_TO_POSE2_PRESS,792,745,729,710,688,648,934.932517253,796,835.932517253,670,656,676.932517253,0.453247039631,-0.0055759879024,0.0595760218965,0.999999778286,-7.14606648849e-05,-0.000660102775409,-5.08580442705e-05,1793256516424032256
+213,3.550000000,POSE1_TO_POSE2_PRESS,792,745,729.50602563,710,688,648,935,796,835.49397437,670,656,677,0.453392929472,-0.00557734660387,0.0595697122694,0.999999770446,-7.22861421137e-05,-0.000671691879886,-5.20832480559e-05,1793256516440699904
+214,3.566666667,POSE1_TO_POSE2_PRESS,792,745,730,710,688,648,934.918644651,795.918644651,835.081355349,670,656,676.918644651,0.453532088222,-0.00557853448542,0.0595645973669,0.999999763913,-7.34066691085e-05,-0.000681134685314,-5.33087502285e-05,1793256516457367296
+215,3.583333333,POSE1_TO_POSE2_PRESS,792,745,730,710,688,648,934.330013217,795.330013217,835.669986783,670,656,676.330013217,0.453652125176,-0.00558137258249,0.0595636442546,0.999999762803,-7.97023353799e-05,-0.000681959491656,-5.45148120145e-05,1793256516474033152
+216,3.600000000,POSE1_TO_POSE2_PRESS,792,745,730,710,688,647.744403425,934,795,835.744403425,670,656,676,0.453768627591,-0.00558305520965,0.0595668437045,0.999999766856,-8.24329833352e-05,-0.000675609858532,-5.51782408488e-05,1793256516490699264
+217,3.616666667,POSE1_TO_POSE2_PRESS,792,745,730,710,688,647.162649475,934,795,835.162649475,670,656,676,0.453880619703,-0.00558326338406,0.0595753420863,0.99999977736,-8.06144423411e-05,-0.000660105187326,-5.51492356807e-05,1793256516507365632
+218,3.633333333,POSE1_TO_POSE2_PRESS,792,745,730,709.585474587,688,647,934,795.414525413,835.414525413,670,656,676.414525413,0.453971549414,-0.00558353711999,0.059581297595,0.999999783704,-7.96639511415e-05,-0.000650519582672,-5.54054599858e-05,1793256516524032512
+219,3.650000000,POSE1_TO_POSE2_PRESS,792,745,730,709.010076792,688,647,934,795.989923208,835.989923208,670,656,676.989923208,0.454054305055,-0.00558383629957,0.0595862662448,0.999999788447,-7.90503397856e-05,-0.000643231097713,-5.57723784583e-05,1793256516540699392
+220,3.666666667,POSE1_TO_POSE2_PRESS,792,745,730,709.56233954,687.43766046,647,934.56233954,795.43766046,835.43766046,670,656,677,0.454110535155,-0.00558349331988,0.0595871487622,0.999999789276,-7.99155711772e-05,-0.000641778386632,-5.64038228267e-05,1793256516557366016
+221,3.683333333,POSE1_TO_POSE2_PRESS,792,745,729.859938281,710,687.140061719,647,935,795,835.140061719,670,656,676.859938281,0.45416270436,-0.00558324767424,0.0595877393192,0.999999789951,-8.05197151397e-05,-0.000640619207524,-5.67647683845e-05,1793256516574032896
+222,3.700000000,POSE1_TO_POSE2_PRESS,792,745,729.264804407,710,687.735195593,647,935,795,835.735195593,670,656,676.264804407,0.454203215585,-0.00558335546544,0.0595876179195,0.999999790355,-8.01899176225e-05,-0.00064007576199,-5.62315208139e-05,1793256516590699264
+223,3.716666667,POSE1_TO_POSE2_PRESS,792,745,729,710,688,647,934.680475674,795,835.680475674,670,656,676.319524326,0.454235523979,-0.00558359495853,0.0595865495403,0.999999789515,-7.96866926648e-05,-0.000641472941025,-5.59610768181e-05,1793256516607365632
+224,3.733333333,POSE1_TO_POSE2_PRESS,792,745,729,710,688,647,934.104808682,795,835.104808682,670,656,676.895191318,0.454261256682,-0.00558394002879,0.0595847220268,0.999999787671,-7.90444417394e-05,-0.000644425797328,-5.59013059518e-05,1793256516624032256
+225,3.750000000,POSE1_TO_POSE2_PRESS,792,745,729,710,687.527779993,647,934,795,835,670.472220007,656,676.527779993,0.454277656225,-0.00558252180016,0.0595817989357,0.99999978465,-7.71563382908e-05,-0.00064930566764,-5.61103218502e-05,1793256516640698880
+226,3.766666667,POSE1_TO_POSE2_PRESS,791.950713142,745,729,710,687,647,934.049286858,795,835,670.950713142,656,676,0.454291373465,-0.00558095482195,0.0595787101333,0.999999781418,-7.51661679738e-05,-0.000654474778523,-5.63679209681e-05,1793256516657365504
+227,3.783333333,POSE1_TO_POSE2_PRESS,791.376467784,745,729,710,687,647,934.623532216,795,835,670.376467784,656,676,0.454298648633,-0.00558198398438,0.0595764537547,0.999999779003,-7.5042580877e-05,-0.000658155991824,-5.65057358983e-05,1793256516674032128
+228,3.800000000,POSE1_TO_POSE2_PRESS,791.204537198,745,729,710,687,647,934.795462802,795,835,670,656,676,0.45430598056,-0.00558228320384,0.0595751854408,0.999999777792,-7.48457238263e-05,-0.000660016110433,-5.64972014862e-05,1793256516690699008
+229,3.816666667,POSE1_TO_POSE2_PRESS,791.798409024,745,729,710,687,647,934.201590976,795,835,670,656,676,0.454313420525,-0.0055811929837,0.0595757978986,0.999999778893,-7.45093981169e-05,-0.00065840979224,-5.62100924721e-05,1793256516707365632
+230,3.833333333,POSE1_TO_POSE2_PRESS,792,745,729,710,687,646.619992586,934.380007414,795,835.380007414,670,656,676.380007414,0.454315943684,-0.00558051320437,0.0595740259315,0.999999777385,-7.27684275703e-05,-0.000660901737531,-5.60727459165e-05,1793256516724032000
+231,3.850000000,POSE1_TO_POSE2_PRESS,792,745,729,710,687,646.044701465,934.955298535,795,835.955298535,670,656,676.955298535,0.454315940123,-0.00558004434834,0.0595710286216,0.999999774515,-7.03056178289e-05,-0.000665499757768,-5.60123614668e-05,1793256516740698624
+232,3.866666667,POSE1_TO_POSE2_PRESS,792,745,729,710,687,646,934.469493112,795,835.469493112,670,656,676.469493112,0.454316247229,-0.00558099540719,0.0595702968799,0.9999997734,-7.30272313404e-05,-0.000666877855359,-5.60363255613e-05,1793256516757365248
+233,3.883333333,POSE1_TO_POSE2_PRESS,792.108321998,745,729,710,687,646.108321998,934,795,835.108321998,670,655.891678002,676,0.454317006314,-0.00558134170732,0.0595700287968,0.999999772881,-7.4873029572e-05,-0.000667445888219,-5.6110717925e-05,1793256516774032128
+234,3.900000000,POSE1_TO_POSE2_PRESS,792.697745568,745,729,710,687,646.697745568,934,795,835.697745568,670,655.302254432,676,0.454319656573,-0.00557847072348,0.0595709722731,0.999999774373,-7.08890601253e-05,-0.000665620935082,-5.63775207913e-05,1793256516790698752
+235,3.916666667,POSE1_TO_POSE2_PRESS,792.717212333,744.717212333,729,710,687,647,934,795,835.717212333,670,655.282787667,676,0.454320329824,-0.00557675730203,0.0595704823458,0.999999774308,-6.86558151195e-05,-0.000665938722131,-5.65353939044e-05,1793256516807365376
+236,3.933333333,POSE1_TO_POSE2_PRESS,792.136781796,744.136781796,729,710,687,647,934,795,835.136781796,670,655.863218204,676,0.454318922214,-0.00557626225085,0.0595684837165,0.999999772615,-6.82652618857e-05,-0.000668511810065,-5.65786150767e-05,1793256516824032000
+237,3.950000000,POSE1_TO_POSE2_PRESS,792,744,729.438203533,710,687,647,934,795,835.438203533,670,656,676,0.454319382557,-0.00557662214689,0.0595682965218,0.999999772184,-6.79775273455e-05,-0.00066917024913,-5.67638317363e-05,1793256516840698624
+238,3.966666667,POSE1_TO_POSE2_PRESS,792,744,729.988165396,710,687,646.988165396,934,795,835.988165396,670.011834604,656,676,0.454320405634,-0.00557724181526,0.0595686478759,0.999999772143,-6.77390159783e-05,-0.000669237751664,-5.69803183224e-05,1793256516857365248
+239,3.983333333,POSE1_TO_POSE2_PRESS,792,744,729.398691084,710,687,646.398691084,934,795,835.398691084,670.601308916,656,676,0.454320785563,-0.00557767516533,0.0595680261434,0.999999772099,-6.83557924126e-05,-0.000669274544383,-5.658625651e-05,1793256516874031872
+240,4.000000000,POSE1_TO_POSE2_PRESS,792,744.187273885,729,710,687,646.187273885,934,795,835,670.812726115,656,676.187273885,0.454320942097,-0.00557765266086,0.0595674116849,0.999999771864,-6.88370337069e-05,-0.000669596707234,-5.63355320832e-05,1793256516890698752
+241,4.016666667,POSE1_TO_POSE2_PRESS,792,744.765905136,729,710,687,646.765905136,934,795,835,670.234094864,656,676.765905136,0.454320631789,-0.00557667753008,0.0595668124271,0.999999771232,-6.9035039127e-05,-0.000670515225005,-5.63843483331e-05,1793256516907365376
+242,4.033333333,POSE1_TO_POSE2_PRESS,792,745,729,710,687,647,934,795,835,670,656,677,0.454321006659,-0.00557645295401,0.0595664188499,0.999999770974,-7.00129459651e-05,-0.000670778471923,-5.66322151928e-05,1793256516924031744
+243,4.050000000,POSE1_TO_POSE2_PRESS,792,745,729,710,687,647,934,795,835,670,656,677,0.454321847071,-0.0055767383415,0.059566165022,0.999999770967,-7.15207558908e-05,-0.000670596495796,-5.70153267516e-05,1793256516940698624
+244,4.066666667,POSE1_TO_POSE2_PRESS,792,745,729,709.504157744,687,647,934,795,835,670,656,676.504157744,0.454320808578,-0.00557847610377,0.0595656613253,0.999999770021,-6.9613154622e-05,-0.00067230440298,-5.5848756405e-05,1793256516957365248
+245,4.083333333,POSE1_TO_POSE2_PRESS,792,744.929111781,729,709.070888219,687,646.929111781,934,795,835,670,656,676.070888219,0.454319619665,-0.00558014946912,0.0595649580686,0.999999768898,-6.79204327511e-05,-0.00067423726681,-5.47298340706e-05,1793256516974032128
+246,4.100000000,POSE1_TO_POSE2_PRESS,792,744.338025506,729,709.661974494,687,646.338025506,934,795,835,670,656,676.661974494,0.454319468571,-0.00557969480134,0.0595630751926,0.999999767614,-7.1697567575e-05,-0.000675666768786,-5.57269505544e-05,1793256516990698752
+247,4.116666667,HOLD_POSE2,792,745,729,710,687,646,935,794,835,670,656,676,0.454320357744,-0.00557528988832,0.059564355962,0.999999768946,-6.53004410961e-05,-0.000674295263165,-5.62923706993e-05,1793256517029080576
+248,4.133333333,HOLD_POSE2,792,745,729.576076248,710,687,646,935,794.576076248,835,670,656,676,0.454319233448,-0.00557593056861,0.0595636351789,0.999999768116,-6.51903737201e-05,-0.000675561376371,-5.59868564587e-05,1793256517045747200
+249,4.150000000,HOLD_POSE2,792,745,729.844806435,710,687,646,934.844806435,795,835,670,656,676,0.454318674652,-0.00557620524652,0.0595631021,0.999999767562,-6.49812999931e-05,-0.000676421566902,-5.57453083119e-05,1793256517062413568
+250,4.166666667,HOLD_POSE2,792,745,729.257216027,710,687,646,934.257216027,795,835,670,656,676,0.454319691443,-0.0055754601769,0.0595630919982,0.99999976778,-6.44963769577e-05,-0.000676150785033,-5.56819809984e-05,1793256517079080192
+251,4.183333333,HOLD_POSE2,792,744.67467276,729,710,687,646,934.32532724,795,835,670,656,676,0.454319649326,-0.00557539954288,0.0595626181902,0.99999976725,-6.5328293188e-05,-0.000676843794578,-5.58172324443e-05,1793256517095746816
+252,4.200000000,HOLD_POSE2,792,744.096059026,729,710,687,646,934.903940974,795,835,670,656,676,0.454318782788,-0.00557587178249,0.0595617833593,0.999999766132,-6.7185446686e-05,-0.000678287172749,-5.61070892012e-05,1793256517112413440
+253,4.216666667,HOLD_POSE2,792,744.480996157,729,710,687,646,934.519003843,795,835.480996157,670,656,676,0.454319704541,-0.0055759249228,0.0595616849138,0.999999766221,-6.77984181816e-05,-0.000678100489993,-5.60439472855e-05,1793256517129080320
+254,4.233333333,HOLD_POSE2,792,745,729,710,687,646,934,795,835.942490682,670,656,676,0.454320764871,-0.00557597826289,0.0595617427717,0.999999766507,-6.82089866217e-05,-0.00067764779099,-5.59199081633e-05,1793256517145747200
+255,4.250000000,HOLD_POSE2,792,745,729,710,687,646,934,795,835.36806076,670,656,676,0.454319871043,-0.00557678328283,0.0595618879624,0.999999766404,-6.90264464349e-05,-0.000677720641993,-5.58801084282e-05,1793256517162413824
+256,4.266666667,HOLD_POSE2,792.212457307,745,729,710,687,646,934,795,835,670,655.787542693,676,0.454319633988,-0.0055771366797,0.0595620032503,0.999999766547,-6.89214843658e-05,-0.000677526793023,-5.57911358661e-05,1793256517179080192
+257,4.283333333,HOLD_POSE2,792.803833559,745,729,710,687,646,934,795,835,670,655.196166441,676,0.45432056829,-0.0055766846039,0.0595620652065,0.99999976713,-6.71713769806e-05,-0.000676857282968,-5.56144632621e-05,1793256517195746816
+258,4.300000000,HOLD_POSE2,792.613818519,745,729,710,687,646,934,795,835,670.386181481,655.386181481,676,0.454321205136,-0.00557626903667,0.0595619916781,0.999999767514,-6.61808228959e-05,-0.000676387592516,-5.56095691982e-05,1793256517212413440
+259,4.316666667,HOLD_POSE2,792.035951847,745,729,710,687,646,934,795,835,670.964048153,655.964048153,676,0.454321694337,-0.00557587159081,0.0595618509005,0.9999997678,-6.5567280825e-05,-0.000676017084541,-5.56899391814e-05,1793256517229080064
+260,4.333333333,HOLD_POSE2,792,745,729,710,687,646,934,795,835,670.46026532,656,676,0.454322089396,-0.00557389430113,0.0595629506625,0.999999768206,-6.3625067887e-05,-0.000675603576626,-5.56801782233e-05,1793256517245746944
+261,4.350000000,HOLD_POSE2,792.115547745,745,729,710,687,646,934,795,835,670,656,676,0.454321914418,-0.00557283812762,0.059563499856,0.999999768081,-6.26089658995e-05,-0.0006758889189,-5.56002383271e-05,1793256517262413824
+262,4.366666667,HOLD_POSE2,792.692443692,745,729,710,687,646,934,795,835,670,656,676,0.454319488388,-0.00557587817686,0.0595615221912,0.999999765814,-6.56424974106e-05,-0.000678975954627,-5.52639688855e-05,1793256517279080448
+263,4.383333333,HOLD_POSE2,792.72466419,745,729,710,687,646,934.27533581,795,835.27533581,670,656,676,0.454318388045,-0.00557703181625,0.0595605908884,0.999999764486,-6.71095140225e-05,-0.000680783686228,-5.53065545238e-05,1793256517295747072
+264,4.400000000,HOLD_POSE2,792.134925141,745,729,710,687,646,934.865074859,795,835.865074859,670,656,676,0.454318801494,-0.00557603138269,0.0595608544163,0.999999764244,-6.6787742573e-05,-0.000681130592916,-5.57817510546e-05,1793256517312413696
+265,4.416666667,POSE2_TO_POSE3_RETREAT,792,745,729,710,687,646,934,794,835,670,656,676,0.454319736107,-0.00557509741479,0.0595612144884,0.999999765258,-6.90667704612e-05,-0.000679375234509,-5.62401915504e-05,1793256517344995328
+266,4.433333333,POSE2_TO_POSE3_RETREAT,792,744.425760795,729,710,687,646,934,794.574239205,835,670,656,676,0.454319186708,-0.00557446590304,0.0595602747862,0.999999764776,-6.5727000168e-05,-0.000680425778798,-5.61211106412e-05,1793256517361662208
+267,4.450000000,POSE2_TO_POSE3_RETREAT,792,744.148966269,729,710,687,646.148966269,934,795,835,670,656,676,0.454318847301,-0.00557427565819,0.0595595324241,0.999999764362,-6.39214849612e-05,-0.000681221542329,-5.59213299951e-05,1793256517378329088
+268,4.466666667,POSE2_TO_POSE3_RETREAT,792,744.7250924,729,710,687,646.7250924,934,795,835,670,656,676,0.454319110043,-0.00557535074331,0.0595593559332,0.999999764172,-6.65154360236e-05,-0.000681286723863,-5.54901433228e-05,1793256517394996480
+269,4.483333333,POSE2_TO_POSE3_RETREAT,792,745,729,710,687,646.691119815,934,794.691119815,835,670,656,676,0.454319461001,-0.00557603676211,0.059559603977,0.999999764278,-6.73928710549e-05,-0.000681061238502,-5.52883033654e-05,1793256517411663872
+270,4.500000000,POSE2_TO_POSE3_RETREAT,792,745,729,710,687,646.100339644,934,794.100339644,835,670,656,676,0.454319892468,-0.00557636769884,0.0595602394732,0.999999764658,-6.67037248787e-05,-0.000680570475539,-5.52957770738e-05,1793256517428330240
+271,4.516666667,POSE2_TO_POSE3_RETREAT,792,745,729,709.520849783,687,646,934,794.479150217,835,670,656,676,0.454319543417,-0.00557548145672,0.0595601925514,0.999999764604,-6.59428168018e-05,-0.000680717920003,-5.53700485647e-05,1793256517444996608
+272,4.533333333,POSE2_TO_POSE3_RETREAT,792,745,729,709.056069554,687,646,934.056069554,795,835,670,656,676,0.454318659264,-0.00557440811436,0.0595598639095,0.999999764322,-6.50749311526e-05,-0.000681206361126,-5.54834893883e-05,1793256517461663232
+273,4.550000000,POSE2_TO_POSE3_RETREAT,792,745,729,709.630579036,687,646,934.630579036,795,835,670,656,676,0.454314303891,-0.0055739073387,0.0595582213236,0.999999762752,-6.33536447181e-05,-0.000683640472381,-5.58327415163e-05,1793256517478329600
+274,4.566666667,POSE2_TO_POSE3_RETREAT,792,745,729.210695069,709.789304931,687,646,934.789304931,795,835,670,656,676,0.454305603654,-0.00557350778709,0.0595547524478,0.999999759201,-6.29862520265e-05,-0.000688820175269,-5.61895440712e-05,1793256517494996224
+275,4.583333333,POSE2_TO_POSE3_RETREAT,792,745,729.800909984,709.199090016,687,646,934.199090016,795,835,670,656,676,0.454289077119,-0.0055732905679,0.0595479939212,0.999999752022,-6.50575950078e-05,-0.000698945444513,-5.65599469832e-05,1793256517511662592
+276,4.600000000,POSE2_TO_POSE3_RETREAT,792,745,729.617156258,709.382843742,687,646,934,795,835,670,656,676.382843742,0.454251912784,-0.00557294764913,0.0595339210464,0.999999735655,-6.45615593533e-05,-0.000722012450621,-5.67425155468e-05,1793256517528329472
+277,4.616666667,POSE2_TO_POSE3_RETREAT,792,745,729.039437713,709.960562287,687,646,934,795,835,670,656,676.960562287,0.454204243411,-0.00557254074686,0.0595161250275,0.999999713914,-6.27586789094e-05,-0.000751667049244,-5.68294728211e-05,1793256517544996096
+278,4.633333333,POSE2_TO_POSE3_RETREAT,792,745,729,710,687,646,934.537690975,795,835,670,656,676.462309025,0.454145241219,-0.00556970747714,0.0595027947342,0.99999970484,-6.02973736758e-05,-0.000763791542816,-5.75052879285e-05,1793256517561662976
+279,4.650000000,POSE2_TO_POSE3_RETREAT,792,745,729,710,687,646,934.883408704,795,835,670,656,676,0.454080997907,-0.00556675673336,0.0594899012094,0.99999969455,-5.81432105218e-05,-0.000777254688047,-5.82615116041e-05,1793256517578329856
+280,4.666666667,POSE2_TO_POSE3_RETREAT,792,745,729,710,687,646,934.297198155,795,835,670,656,676,0.453998988239,-0.00556404885677,0.0594774490687,0.999999675574,-5.74204944035e-05,-0.000801283098087,-5.91678366797e-05,1793256517594996224
+281,4.683333333,POSE2_TO_POSE3_RETREAT,792,745,729,710,687,646.285327082,934.285327082,795,835,670,656,676,0.453903943992,-0.00556215568517,0.0594651159028,0.999999656817,-5.74457725774e-05,-0.000824361004497,-5.91242468795e-05,1793256517611662848
+282,4.700000000,POSE2_TO_POSE3_RETREAT,792,745,729,710,687,646.864062593,934.864062593,795,835,670,656,676,0.45379549599,-0.00556110029369,0.0594529050822,0.999999638367,-5.82402306086e-05,-0.000846461484687,-5.8103837621e-05,1793256517628329216
+283,4.716666667,POSE2_TO_POSE3_RETREAT,792,745,729.44313283,710,687,646.55686717,935,795,835,670,656,676,0.453661261972,-0.00555708722031,0.0594343825815,0.999999612309,-5.43729339072e-05,-0.000876955570883,-5.80934351585e-05,1793256517644995584
+284,4.733333333,POSE2_TO_POSE3_RETREAT,792,745,729.977884611,710,687,646.022115389,934.977884611,795,835.022115389,670,656,676,0.453517908437,-0.00555212215975,0.059413697032,0.999999582681,-4.91024986142e-05,-0.000910393155574,-5.84029039491e-05,1793256517661662208
+285,4.750000000,POSE2_TO_POSE3_RETREAT,792,745,729.403656124,710,687,646.596343876,934.403656124,795,835.596343876,670,656,676,0.453344514217,-0.00554605889197,0.059387384687,0.99999954318,-4.45311641055e-05,-0.000952985277309,-5.89571030654e-05,1793256517678329088
+286,4.766666667,POSE2_TO_POSE3_RETREAT,792,745,729,710,687.17456184,647,934,795,835.82543816,670,656,676,0.453165654583,-0.00554033715385,0.0593618904568,0.999999503727,-4.10276085762e-05,-0.000993640256646,-5.95069533218e-05,1793256517694995968
+287,4.783333333,POSE2_TO_POSE3_RETREAT,792,745,729,710,687.762220743,647,934,795,835.237779257,670,656,676,0.452973861184,-0.0055354236396,0.0593383322823,0.999999467243,-4.00509311673e-05,-0.00102971102437,-6.00465121787e-05,1793256517711663616
+288,4.800000000,POSE2_TO_POSE3_RETREAT,792,745,729.34503738,710,688,647,934,795,835,670,656,676,0.452754408167,-0.00553060676746,0.0593125456481,0.999999421709,-3.74722447588e-05,-0.00107312487032,-5.98364795198e-05,1793256517728330240
+289,4.816666667,POSE2_TO_POSE3_RETREAT,792,745,729.924563257,710,688,647,934,795,835,670,656,676,0.452516157565,-0.00552585557312,0.0592852445433,0.999999368767,-3.38048278083e-05,-0.00112152909782,-5.91170220688e-05,1793256517744996352
+290,4.833333333,POSE2_TO_POSE3_RETREAT,792.502436983,745,730,710,688,647,934,795.502436983,835,670,656,676,0.452261032489,-0.00551918858909,0.0592704194033,0.999999346226,-2.79877525858e-05,-0.00114164345066,-5.84311022386e-05,1793256517761662720
+291,4.850000000,POSE2_TO_POSE3_RETREAT,792.920120297,745,730,710,688,647,934,795.920120297,835,670,656,676,0.452000275717,-0.0055126575356,0.0592596266877,0.999999330911,-2.23605931966e-05,-0.00115515237765,-5.74460808037e-05,1793256517778329088
+292,4.866666667,POSE2_TO_POSE3_RETREAT,792.343819337,745,730,710,688,647,934,795.343819337,835,670,656,676,0.451720213533,-0.00550875294585,0.0592622910922,0.999999332546,-1.99128965773e-05,-0.00115392114333,-5.45710685953e-05,1793256517794995712
+293,4.883333333,POSE2_TO_POSE3_RETREAT,792,745,729.763295179,710,688.236704821,647.236704821,934,795,835,670,656,676,0.451426502574,-0.00550372612566,0.0592646678586,0.99999933383,-1.6113665435e-05,-0.00115297847855,-5.21572881668e-05,1793256517811662336
+294,4.900000000,POSE2_TO_POSE3_RETREAT,792,745,729.176525328,710,688.823474672,647.823474672,934,795,835,670,656,676,0.451112606327,-0.00549703962834,0.059266619234,0.99999933459,-1.03156370789e-05,-0.00115246258211,-5.04256280105e-05,1793256517828328960
+295,4.916666667,POSE2_TO_POSE3_RETREAT,792,745,729,710,689,648,934,795.390852535,835,670,656,676.390852535,0.450757382979,-0.00548877135756,0.0592662230194,0.99999933037,-1.99731619742e-06,-0.00115626221755,-4.80969724908e-05,1793256517844995584
+296,4.933333333,POSE2_TO_POSE3_RETREAT,792,745,729,710,689,648,934,795.949886148,835,670,656,676.949886148,0.450384376881,-0.00547982246104,0.0592648166534,0.999999323909,7.40546855666e-06,-0.0011619187957,-4.55114341348e-05,1793256517861662208
+297,4.950000000,POSE2_TO_POSE3_RETREAT,792,745,729,710,689,648.545274469,934,796,835,670,656,676.454725531,0.449960359163,-0.00547074647145,0.0592572601578,0.999999313239,1.68441284223e-05,-0.00117106004828,-4.30727172865e-05,1793256517878328832
+298,4.966666667,POSE2_TO_POSE3_RETREAT,792,745,729,710,689.138692628,649,934,796,835,670,656,676,0.449524539217,-0.00546143405616,0.0592496609798,0.999999303471,2.59195948539e-05,-0.0011792873768,-4.08214630724e-05,1793256517894995456
+299,4.983333333,POSE2_TO_POSE3_RETREAT,792,745,729,710,689.714614123,649,934,796,835,670,656,676,0.449067348349,-0.0054514157636,0.0592438364326,0.999999298265,3.38389543817e-05,-0.00118355180788,-3.91156079889e-05,1793256517911662080
+300,5.000000000,POSE2_TO_POSE3_RETREAT,792,745,729,710,690.296815669,649.296815669,934,796.296815669,835,670,656.296815669,676.296815669,0.448601958075,-0.00544643047089,0.0592455748089,0.99999930383,3.72116416497e-05,-0.0011787757765,-3.79727952401e-05,1793256517928328704
+301,5.016666667,POSE2_TO_POSE3_RETREAT,792,745,729,710,690.885186023,649.885186023,934,796.885186023,835,670,656.885186023,676.885186023,0.448128513674,-0.00544638896815,0.0592547420569,0.999999319897,3.61182462334e-05,-0.00116511952301,-3.73830448346e-05,1793256517944995328
+302,5.033333333,POSE2_TO_POSE3_RETREAT,792,745,729,710,691,650,934,797,835,670,656.533912098,676.533912098,0.447634810336,-0.00545320134586,0.0592840978097,0.999999373697,2.74552217294e-05,-0.0011183714514,-3.312673586e-05,1793256517961662208
+303,5.050000000,POSE2_TO_POSE3_RETREAT,792,745,729,709.955099895,691.044900105,650.044900105,934,797.044900105,835,670,656.044900105,676,0.44713371162,-0.00545979169482,0.0593206891561,0.999999437384,1.91355549634e-05,-0.00106022882322,-2.79371352259e-05,1793256517978328576
+304,5.066666667,POSE2_TO_POSE3_RETREAT,792,745,729,709.37958368,691.62041632,650.62041632,934,797.62041632,835,670,656.62041632,676,0.446603262195,-0.00544412038805,0.0593849443606,0.999999536128,3.65621419263e-05,-0.000962243635801,-2.2223620472e-05,1793256517994995456
+305,5.083333333,POSE2_TO_POSE3_RETREAT,792,745,729,709,692,651,934,798,835,670,657,676.195388447,0.446048728531,-0.00543074816645,0.0594359741503,0.999999604875,5.01725695965e-05,-0.000887388904563,-1.65627987486e-05,1793256518011662080
+306,5.100000000,POSE2_TO_POSE3_RETREAT,792,745,729,709,692,651,934,798,835,670,657,676.769306468,0.445447536066,-0.0054218300051,0.059461382101,0.999999630829,5.63898823283e-05,-0.000857345245273,-1.10040608654e-05,1793256518028328960
+307,5.116666667,POSE2_TO_POSE3_RETREAT,792,745,729,709.353379758,692.353379758,651.353379758,934,798.353379758,835.353379758,670,657,676.646620242,0.444820168121,-0.00540971555492,0.0594691052755,0.999999642486,6.53415154952e-05,-0.000843027829866,-7.93782953435e-06,1793256518044995584
+308,5.133333333,POSE2_TO_POSE3_RETREAT,792,745,729,709.944278747,692.944278747,651.944278747,934,798.944278747,835.944278747,670,657,676.055721253,0.444175206719,-0.00539545276456,0.0594649418757,0.999999644885,7.61309834185e-05,-0.000839280589403,-6.54690162079e-06,1793256518061662208
+309,5.150000000,POSE2_TO_POSE3_RETREAT,792,745,729,709.498776678,693.501223322,652,934.501223322,799,835.498776678,670,657,676,0.443534688055,-0.00539482830604,0.0595009212902,0.999999695985,7.23548126672e-05,-0.000776397073537,-1.70871483208e-06,1793256518078328832
+310,5.166666667,POSE2_TO_POSE3_RETREAT,792,745,728.940532553,709,694,652.059467447,934.940532553,799,835,670,657,676,0.44288859006,-0.00539630275167,0.0595431227941,0.999999748948,6.95278041901e-05,-0.000705163915724,3.80942632533e-06,1793256518094995712
+311,5.183333333,POSE2_TO_POSE3_RETREAT,792,745,728.338148885,709,694,652.661851115,934.338148885,799,835,670,657,676,0.442187332112,-0.00540397547239,0.0596039718193,0.9999998075,8.92117211717e-05,-0.000613913791991,1.22584985567e-05,1793256518111662336
+312,5.200000000,POSE2_TO_POSE3_RETREAT,792,744.741971309,728.258028691,709,694.258028691,653,934,799,835,670,657,676,0.441474025754,-0.00540819749464,0.0596509380603,0.999999837102,0.000160184527519,-0.000547486907067,1.98624156816e-05,1793256518128329216
+313,5.216666667,POSE2_TO_POSE3_RETREAT,792,744.153735767,728.846264233,709,694.846264233,653,934,799,835,670,657,676,0.440745300596,-0.00540800355836,0.0596801381053,0.999999824113,0.000296793224705,-0.000512827030436,2.63847641527e-05,1793256518144997376
+314,5.233333333,POSE2_TO_POSE3_RETREAT,792,744,729,709.427608612,695,653.427608612,934,799.427608612,835,670,657,676,0.439996115677,-0.00540529647141,0.0597166123167,0.999999840906,0.000324905358176,-0.000459949700053,3.27233345557e-05,1793256518161664256
+315,5.250000000,POSE2_TO_POSE3_RETREAT,792,744.012986709,729,709.993506645,695.006493355,654,934,800,835,669.993506645,657,676.006493355,0.439239565234,-0.00540173992655,0.0597558616055,0.99999986965,0.000314634138135,-0.000400230171808,3.90037751023e-05,1793256518178330624
+316,5.266666667,POSE2_TO_POSE3_RETREAT,792,745.167003894,729,709.416498053,695.583501947,654,934,800,835,669.416498053,657,676.583501947,0.438471905026,-0.0054016759572,0.0598127988436,0.999999905771,0.000304816590723,-0.000305677250706,4.58900463492e-05,1793256518194996480
+317,5.283333333,POSE2_TO_POSE3_RETREAT,792,746.158751188,729,709,696,654,934,800.158751188,835,669,657,676.841248812,0.437657831053,-0.00540149607076,0.0598411974575,0.999999929741,0.000266364429389,-0.000260431578573,4.17618829575e-05,1793256518211662336
+318,5.300000000,POSE2_TO_POSE3_RETREAT,792,746.729435173,729,709,696,654,934,800.729435173,835,669,657,676.270564827,0.436723321162,-0.00540101539885,0.0597955431085,0.999999929292,0.000153610233917,-0.000343129984477,9.0531025661e-06,1793256518228328960
+319,5.316666667,POSE2_TO_POSE3_RETREAT,792.312361385,746.687638615,729,709.312361385,696.312361385,654,934,801,835,669,657,676,0.435824363168,-0.00540493272222,0.0597603717397,0.999999919734,0.000103923570771,-0.000386926769092,-4.46573994161e-06,1793256518244995584
+320,5.333333333,POSE2_TO_POSE3_RETREAT,792.906324232,746.093675768,729,709.906324232,696.906324232,654,934,801,835,669,657,676,0.434957456132,-0.0054128149464,0.0597346510374,0.999999915558,0.000111093845354,-0.000395652786802,-6.8438017912e-07,1793256518261662208
+321,5.350000000,POSE2_TO_POSE3_RETREAT,793,746,729,709.511359291,696.511359291,654,934,801,835,669,657,676,0.434077433272,-0.00541290938253,0.0597453998577,0.999999923158,0.000116800274321,-0.000374179953624,5.5527034636e-06,1793256518278329088
+322,5.366666667,POSE2_TO_POSE3_RETREAT,792.931956599,746.068043401,729,709,696.068043401,654.068043401,934,801,835,669,657,676,0.433192659583,-0.00541064243492,0.0597630535259,0.999999931183,0.000128117911634,-0.000347959564686,1.20091116385e-05,1793256518294995968
+323,5.383333333,POSE2_TO_POSE3_RETREAT,792.358004668,746.641995332,729,709,696.641995332,654.641995332,934,801,835,669,657,676,0.432290823067,-0.0054016603643,0.0597812733484,0.999999929131,0.000183193292693,-0.000328482804588,1.6677414564e-05,1793256518311662848
+324,5.400000000,POSE2_TO_POSE3_RETREAT,792.222252207,747.222252207,729,709,696.777747793,654.777747793,934,801,835,669,657.222252207,676,0.431397435159,-0.00539673523346,0.0598037648826,0.999999934961,0.000207523031934,-0.000294313580456,1.98019904877e-05,1793256518328329472
+325,5.416666667,POSE2_TO_POSE3_RETREAT,792.812961724,747.812961724,729,709,696.187038276,654.187038276,934,801,835,669,657.812961724,676,0.430518053497,-0.00539853583472,0.0598333382094,0.999999955636,0.000180881603549,-0.000235786684397,2.03673237522e-05,1793256518344995840
+326,5.433333333,POSE2_TO_POSE3_RETREAT,793,748,729,709,696,654,934,801.395838826,835,669,657.604161174,676,0.429564430122,-0.00539914232694,0.0598264445172,0.99999995113,0.000170864502519,-0.000260939293228,2.1371088001e-05,1793256518361662464
+327,5.450000000,POSE2_TO_POSE3_RETREAT,793,748,729,709,696,654,934,801.975086799,835,669,657.024913201,676,0.428576407423,-0.005399195537,0.0598026540854,0.999999932772,0.000168550168312,-0.000324864217213,2.25779960929e-05,1793256518378328832
+328,5.466666667,POSE2_TO_POSE3_RETREAT,792.450257606,748,728.450257606,709,696.549742394,654,934,801.450257606,835,669,657.549742394,676,0.427644552687,-0.0053999893027,0.0597658781084,0.999999918636,0.000173065700981,-0.00036386002341,1.95333144537e-05,1793256518394995968
+329,5.483333333,POSE2_TO_POSE3_RETREAT,792.124166983,748,728,709,697,654.124166983,934,801,835,669,657.875833017,676,0.426721632324,-0.00540071167569,0.0597428322856,0.99999991054,0.000175245552297,-0.000384581947726,1.75045294191e-05,1793256518411662592
+330,5.500000000,POSE2_TO_POSE3_RETREAT,792.698502305,748,728,709,697,654.698502305,934,801,835,669,657.301497695,676,0.425821951671,-0.00540105454813,0.0597716811,0.999999926854,0.000167844518684,-0.000343113710226,1.98516371563e-05,1793256518428328960
+331,5.516666667,POSE2_TO_POSE3_RETREAT,793,748,728,709,696.719005345,655,934,801.280994655,835,669,657.280994655,676,0.424917152534,-0.00539877398297,0.0598010868833,0.999999937443,0.000175134425956,-0.000306493414136,2.24303781341e-05,1793256518444995840
+332,5.533333333,POSE2_TO_POSE3_RETREAT,793,748,728,709,696.127499156,655,934,801.872500844,835,669,657.872500844,676,0.424006697307,-0.00539359440309,0.0598311081398,0.999999942072,0.000198658473901,-0.00027523031084,2.52650839487e-05,1793256518461662720
+333,5.550000000,POSE2_TO_POSE3_RETREAT,793,748.453944852,728,709,696.453944852,655,934.453944852,802,835,669,657.546055148,676,0.423119681851,-0.00539466189597,0.0598485578546,0.999999951504,0.00019287561604,-0.000243035983469,2.69072113525e-05,1793256518478329344
+334,5.566666667,POSE2_TO_POSE3_RETREAT,793,749,728.032468608,709,697,654.967531392,934.967531392,801.967531392,835,669,657,676,0.422235873051,-0.00539709594971,0.0598600666651,0.999999960007,0.000180718389939,-0.000215726261367,2.80980027662e-05,1793256518494995968
+335,5.583333333,POSE2_TO_POSE3_RETREAT,793,749,728.608390879,709,697,654.391609121,934.391609121,801.391609121,835,669,657,676,0.421297933793,-0.00539367175626,0.0598299566241,0.999999942629,0.000196656271087,-0.000274457098439,2.72193108222e-05,1793256518511662592
+336,5.600000000,POSE2_TO_POSE3_RETREAT,793.187856515,748.812143485,728.812143485,708.812143485,697,654.187856515,934,801.187856515,835,669,657,676,0.420360089711,-0.00539025008294,0.0597899407933,0.999999919504,0.000203633069267,-0.00034477216889,2.56630656826e-05,1793256518528328960
+337,5.616666667,POSE2_TO_POSE3_RETREAT,793.774850832,748.225149168,728.225149168,708.225149168,697,654.774850832,934,801.774850832,835,669,657,676,0.419422447675,-0.00538683376348,0.0597288781743,0.999999884725,0.000191570302178,-0.000439700213229,2.26672264991e-05,1793256518544995584
+338,5.633333333,POSE2_TO_POSE3_RETREAT,793.643052644,748.356947356,728,708.356947356,697,654.643052644,934,802,835,669,657.356947356,676,0.418561610681,-0.00538664220716,0.059721969074,0.999999883347,0.000198623636454,-0.000439783601051,2.10916603035e-05,1793256518561662464
+339,5.650000000,POSE2_TO_POSE3_RETREAT,793.064003685,748.935996315,728,708.935996315,697,654.064003685,934,802,835,669,657.935996315,676,0.417748563769,-0.00538845717959,0.0597487556556,0.999999903599,0.000217571489567,-0.000380852258274,2.0399823802e-05,1793256518578329344
+340,5.666666667,POSE2_TO_POSE3_RETREAT,793,749,728,709,697,654.513839991,934.513839991,802,835,669,658,676.513839991,0.416960050724,-0.00538808931594,0.0597943188912,0.999999926479,0.000212380621272,-0.000318340908026,2.44178722856e-05,1793256518594996224
+341,5.683333333,POSE2_TO_POSE3_RETREAT,793,749,728,709,697,655,935,802,835,669,658,677,0.416175115175,-0.00538757145595,0.0598356547169,0.999999943411,0.000203927645553,-0.00026604800998,2.84689487986e-05,1793256518611663104
+342,5.700000000,POSE2_TO_POSE3_RETREAT,793,749,728,709,697,655,935,802,835,669,658,677,0.415392987814,-0.00538769764163,0.0598421447212,0.999999944173,0.000194080814185,-0.00027039081782,2.9586829276e-05,1793256518628329472
+343,5.716666667,POSE2_TO_POSE3_RETREAT,793.245518138,749.245518138,728,709,697,655,935,802,835,669,657.754481862,676.754481862,0.414616211107,-0.00538717874883,0.0598463546247,0.999999943786,0.000198161708245,-0.000268822771187,2.99064018187e-05,1793256518644995840
+344,5.733333333,POSE2_TO_POSE3_RETREAT,793.835670857,749.835670857,728,709,697,655,935,802,835,669,657.164329143,676.164329143,0.413846945196,-0.00538575435736,0.059847363943,0.999999941451,0.000221792994921,-0.000258957639144,2.91053869064e-05,1793256518661662464
+345,5.750000000,POSE2_TO_POSE3_RETREAT,793.582920467,749.582920467,728,708.582920467,697,655,934.582920467,802,834.582920467,669,657,676,0.413060213399,-0.00538274280213,0.059823854482,0.99999992974,0.00022031867303,-0.000301929501079,2.85893606392e-05,1793256518678329088
+346,5.766666667,POSE2_TO_POSE3_RETREAT,793.004886147,749.004886147,728,708.004886147,697,655,934.004886147,802,834.004886147,669,657,676,0.412266741293,-0.00537911874586,0.0597908830011,0.999999911011,0.000209155869635,-0.000365291637777,2.81833139188e-05,1793256518694995968
+347,5.783333333,POSE2_TO_POSE3_RETREAT,793.571708341,749,728,708.571708341,697,655,934,802,834,669,657.571708341,676,0.411543841956,-0.00537527939296,0.0597540857813,0.999999885753,0.000234433578586,-0.000415807546871,2.52875031471e-05,1793256518711662592
+348,5.800000000,POSE2_TO_POSE3_RETREAT,794,749,728,708.852585133,697,655,934,802,834.147414867,669,657.852585133,676,0.410854886123,-0.00537386771887,0.0597376796329,0.999999874603,0.000248691253299,-0.000434038201623,2.36059679578e-05,1793256518728329216
+349,5.816666667,POSE2_TO_POSE3_RETREAT,794,749,728,708.279407625,697,655,934,802,834.720592375,669,657.279407625,676,0.410262227872,-0.00537947295075,0.0597802610308,0.999999908611,0.000230223701486,-0.000359339113885,2.54927982228e-05,1793256518744996352
+350,5.833333333,POSE2_TO_POSE3_RETREAT,793.696450931,749,728,708.303549069,697,655,934,802,835,669,657,676,0.409668193243,-0.00538198921404,0.0598210023722,0.999999933293,0.000215407396534,-0.000293689237609,2.75759605472e-05,1793256518761663232
+351,5.850000000,POSE2_TO_POSE3_RETREAT,793.104193185,749,728,708.895806815,697,655,934,802,835,669,657,676,0.40907284956,-0.00538156752685,0.0598599936141,0.999999950733,0.000204063831941,-0.000236646165598,2.9845856261e-05,1793256518778330368
+352,5.866666667,POSE2_TO_POSE3_RETREAT,793.477769619,749,728,708.522230381,697,655,934.477769619,802,835,669,657,676,0.408486971448,-0.00537967217357,0.0598659960089,0.999999946281,0.000234363102272,-0.0002270648581,3.08848921612e-05,1793256518794996992
+353,5.883333333,POSE2_TO_POSE3_RETREAT,794.05695942,749,728,708,697,655,935,802.05695942,835,669,657.05695942,676,0.407906047982,-0.0053775293598,0.0598630418939,0.999999936942,0.000268033148433,-0.000230840552023,3.14235825561e-05,1793256518811663360
+354,5.900000000,POSE2_TO_POSE3_RETREAT,794.630928157,749,728,708,697,655,935,802.630928157,835,669,657.630928157,676,0.407351755041,-0.00537599597373,0.0598427150352,0.999999933085,0.000251606194238,-0.000263886669601,2.9805819378e-05,1793256518828329728
+355,5.916666667,POSE2_TO_POSE3_RETREAT,794.790208371,749,728,708,697,655.209791629,934.790208371,803,835,669,657.790208371,676,0.40682618025,-0.00537479656039,0.0598294668878,0.999999931062,0.000238850453607,-0.00028284356872,2.87353337087e-05,1793256518844996096
+356,5.933333333,POSE2_TO_POSE3_RETREAT,794.202528291,749,728,708,697,655.797471709,934.202528291,803,835,669,657.202528291,676,0.40635233426,-0.00537419871763,0.0598289693147,0.999999934309,0.000232707511049,-0.000276422174178,2.86506352206e-05,1793256518861662976
+357,5.950000000,POSE2_TO_POSE3_RETREAT,794,749,728,708,697,655.620769398,934.379230602,803,835,668.620769398,657,676,0.405890787769,-0.00537126898224,0.0598332416994,0.999999935717,0.000237223301033,-0.000267264337434,2.93516305044e-05,1793256518878330112
+358,5.966666667,POSE2_TO_POSE3_RETREAT,794,749,728,708,697,655.04212405,934.95787595,803,835,668.04212405,657,676,0.405435708807,-0.00536711304358,0.0598400223203,0.999999936007,0.000247343881902,-0.000256667568378,3.04657752517e-05,1793256518894997248
+359,5.983333333,POSE2_TO_POSE3_RETREAT,794,749,728,708,697,655,934.463793523,803,835,668.536206477,657,676,0.40500596225,-0.00536357808156,0.0598233824372,0.99999992972,0.000249733662183,-0.000277966466544,3.04594764299e-05,1793256518911664128
+360,6.000000000,POSE2_TO_POSE3_RETREAT,794,749,728,708,697,655,934.113853288,803,835,669,657,676,0.404583760856,-0.00535975798905,0.0598032619755,0.999999921048,0.000250955868038,-0.00030661584402,3.01853311176e-05,1793256518928330752
+361,6.016666667,POSE2_TO_POSE3_RETREAT,794,749,728,708,697,655,934.688831226,803,835,669,657,676,0.40418406299,-0.00535458560437,0.0597764921176,0.999999905373,0.000249907536138,-0.000354893325577,2.91826550596e-05,1793256518944996608
+362,6.033333333,POSE2_TO_POSE3_RETREAT,794,749,728.270008935,708,697.270008935,655,935,803,834.729991065,668.729991065,657,676,0.403833625426,-0.00535124931923,0.0597662791839,0.999999900461,0.000247651961879,-0.000370018148385,2.88711365617e-05,1793256518961662720
+363,6.050000000,POSE2_TO_POSE3_RETREAT,794,749,728.858499375,708,697.858499375,655,935,803,834.141500625,668.141500625,657,676,0.403541291502,-0.00535007875441,0.0597755955101,0.999999909936,0.000243972419063,-0.00034603867528,2.93748537887e-05,1793256518978329088
+364,6.066666667,POSE2_TO_POSE3_RETREAT,794,749,728.558648872,708,697.558648872,655,934.558648872,803,834.441351128,668.441351128,657,676,0.403270032561,-0.00535229247786,0.0597945364881,0.99999990969,0.000284031145276,-0.000314585780136,3.13380403142e-05,1793256518994995712
+365,6.083333333,POSE2_TO_POSE3_RETREAT,794,749.022161175,728,708.022161175,697.022161175,655,934.022161175,803,835,668.977838825,657,676,0.403007129081,-0.0053556391393,0.0598163374445,0.999999903659,0.000335530896972,-0.000281000829684,3.37558481181e-05,1793256519011662336
+366,6.100000000,POSE2_TO_POSE3_RETREAT,794,749.596574447,728,708.596574447,697.596574447,655,934.596574447,803,835,668.403425553,657,676,0.402786187723,-0.00536052076509,0.0598334825339,0.999999913789,0.000327100798103,-0.000253241063376,3.59894195629e-05,1793256519028329216
+367,6.116666667,POSE2_TO_POSE3_RETREAT,794,749.829154422,728,709,697.829154422,655,934.829154422,803,835,668,657,676,0.40256788383,-0.0053640800347,0.0598451495481,0.999999920785,0.000318815915399,-0.000235286402273,3.77620138333e-05,1793256519044996096
+368,6.133333333,POSE2_TO_POSE3_RETREAT,794,749.255218737,728,709,697.255218737,655,934.255218737,803,835,668,657,676,0.402355802758,-0.00536451935927,0.0598438916836,0.999999922028,0.000310873654938,-0.000240465741361,3.84469862643e-05,1793256519061663488
+369,6.150000000,POSE2_TO_POSE3_RETREAT,794,749,728,709,697,655,934,803,835,668.329975607,657,676,0.402158221029,-0.00536286417034,0.0598405580247,0.999999920815,0.000306572144285,-0.000250741597738,3.88968849027e-05,1793256519078330112
+370,6.166666667,POSE2_TO_POSE3_RETREAT,794,749,728,709,697,655,934,803,835,668.924185604,657,676,0.401972249909,-0.00535953175902,0.0598355621329,0.999999917525,0.000305186034003,-0.000265098590054,3.91585436965e-05,1793256519094995968
+371,6.183333333,POSE2_TO_POSE3_RETREAT,794,749,728,709,697.503376142,655,934,803,835,669,657,676,0.401816706731,-0.00536017428052,0.0598330743862,0.99999991836,0.000296256022598,-0.000272094160787,3.84231346859e-05,1793256519111662080
+372,6.200000000,POSE2_TO_POSE3_RETREAT,794,749.080134077,728,708.919865923,698,655,934.080134077,803,835,669,657,676,0.401670357636,-0.00536110177854,0.0598309181748,0.999999922187,0.000278068528462,-0.000277615154681,3.51209453324e-05,1793256519128328704
+373,6.216666667,POSE2_TO_POSE3_RETREAT,794,749.655433757,728,708.344566243,698,655,934.655433757,803,835,669,657,676,0.401553322986,-0.00536019806677,0.0598285439824,0.999999938524,0.000209494476493,-0.000280676931091,1.68591196023e-05,1793256519144995584
+374,6.233333333,POSE2_TO_POSE3_RETREAT,794,749.769368098,728,708.230631902,698,655,934.769368098,803,835,669,657,676,0.401449455577,-0.00536302059122,0.0598296872204,0.999999947652,0.000164076352695,-0.000278794878654,7.02487428896e-06,1793256519161662208
+375,6.250000000,POSE2_TO_POSE3_RETREAT,794,749.194321614,728,708.805678386,698,655,934.194321614,803,835,669,657,676,0.4013652515,-0.00537140769757,0.0598360832198,0.999999951888,0.000153238182966,-0.000269529951599,9.77597318149e-06,1793256519178329088
+376,6.266666667,POSE2_TO_POSE3_RETREAT,794,749,728,709,697.606712855,655,934.393287145,803,835,668.606712855,657,676,0.401290634232,-0.00537065508958,0.0598371720101,0.999999952304,0.000154005603254,-0.000267508583645,1.061840456e-05,1793256519194995712
+377,6.283333333,POSE2_TO_POSE3_RETREAT,794,749,728,709,697.012692341,655,934.987307659,803,835,668.012692341,657,676,0.401220910065,-0.00536523758021,0.059835552006,0.999999950803,0.000160696505492,-0.000269184321352,1.0486653852e-05,1793256519211662336
+378,6.300000000,POSE2_TO_POSE3_RETREAT,794,749,728,709,697,655,934.438120507,803,835,668,657,676,0.401164150842,-0.00536516931968,0.0598338601827,0.999999949587,0.000160249234514,-0.000273896828935,1.12839426825e-05,1793256519228328960
+379,6.316666667,POSE2_TO_POSE3_RETREAT,794,749,728,709,697,655,934.136168005,803,835,668.136168005,657,676,0.40111246586,-0.00536498945381,0.0598320569214,0.999999948498,0.000160071730737,-0.000277919648874,1.18621127258e-05,1793256519244995584
+380,6.333333333,POSE2_TO_POSE3_RETREAT,794,749,728,709,697,655,934.710911538,803,835,668.710911538,657,676,0.401076212491,-0.00536407395634,0.0598298997867,0.999999947866,0.000161265073264,-0.000279507542495,1.16692040928e-05,1793256519261662464
+381,6.350000000,POSE2_TO_POSE3_RETREAT,794,749,728,709,697.293845966,655,935,803.293845966,834.706154034,669,657,676,0.401046646549,-0.00536336253654,0.0598291511267,0.999999947377,0.000163590645452,-0.000279899585911,1.18439864519e-05,1793256519278328832
+382,6.366666667,POSE2_TO_POSE3_RETREAT,794,749,728,709,697.885069812,655,935,803.885069812,834.114930188,669,657,676,0.40102384841,-0.00536285764723,0.0598298278703,0.999999947025,0.000167062056397,-0.000279081405665,1.23908792795e-05,1793256519294995456
+383,6.383333333,POSE2_TO_POSE3_RETREAT,794,749,728,709,697.533480849,655,934.533480849,803.533480849,834.466519151,668.533480849,657,676,0.401009906734,-0.0053640387555,0.0598317968816,0.999999947893,0.000166474378619,-0.000276280531749,1.29941456008e-05,1793256519311662336
+384,6.400000000,POSE2_TO_POSE3_RETREAT,794,749,728,709,697.045284535,655,934.045284535,803,835,668.045284535,657.045284535,676,0.400998466741,-0.00536537487343,0.0598340305741,0.999999948977,0.0001651563928,-0.000273101103863,1.35863285024e-05,1793256519328328960
+385,6.416666667,POSE2_TO_POSE3_RETREAT,794,749,728,709,697.62024478,655,934.62024478,803,835,668.62024478,657.62024478,676,0.400991291433,-0.00536376551136,0.0598357128382,0.999999949255,0.000166752670638,-0.000271089840193,1.38897645206e-05,1793256519344995584
+386,6.433333333,POSE2_TO_POSE3_RETREAT,794,749.199737625,728,709,698,655,934.800262375,803,835,669,657.800262375,676,0.400985968109,-0.00536291983788,0.059837389692,0.999999949647,0.000167735348646,-0.0002690217715,1.40671590951e-05,1793256519361662208
+387,6.450000000,POSE2_TO_POSE3_RETREAT,794,749.788048234,728,709,698,655,934.211951766,803,835,669,657.211951766,676,0.400984247669,-0.00536355985731,0.0598390560203,0.999999950267,0.000167524318981,-0.000266843193465,1.39993504767e-05,1793256519378328832
+388,6.466666667,POSE2_TO_POSE3_RETREAT,794,749.629749958,728,709,698,655,934,803,835,668.629749958,657,676,0.400982740774,-0.0053635929036,0.059839781297,0.999999950599,0.000168318480919,-0.000265092849281,1.40230573819e-05,1793256519394995456
+389,6.483333333,POSE2_TO_POSE3_RETREAT,794,749.050988427,728,709,698,655,934,803,835,668.050988427,657,676,0.40098135414,-0.00536328412446,0.0598399766072,0.999999950767,0.000169678730574,-0.000263583671051,1.40983025363e-05,1793256519411662080
+390,6.500000000,POSE2_TO_POSE3_RETREAT,794.524916818,749.524916818,728,709,698,655,934.524916818,803,835,668,657.524916818,676,0.400980548868,-0.00536389005424,0.059840730383,0.999999951002,0.000169078823729,-0.000263063844854,1.43386918021e-05,1793256519428328960
+391,6.516666667,POSE2_TO_POSE3_RETREAT,794.899494471,749.899494471,728,709,697.899494471,655,934.899494471,803,835,668.100505529,657.899494471,676,0.400980036439,-0.00536438271692,0.0598414243002,0.999999951222,0.000168674898754,-0.000262474835158,1.45356088094e-05,1793256519444995584
+392,6.533333333,POSE2_TO_POSE3_RETREAT,794.324097709,749.324097709,728,709,697.324097709,655,934.324097709,803,835,668.675902291,657.324097709,676,0.400980642314,-0.00536392263654,0.059841580451,0.999999951341,0.000170091779716,-0.000261107305272,1.44517320214e-05,1793256519461662208
+393,6.550000000,POSE2_TO_POSE3_RETREAT,794,749.257871065,728,708.742128935,697,655,934.257871065,803,835,668.742128935,657,676,0.400980574849,-0.00536353811796,0.0598419401895,0.999999951558,0.000170240854562,-0.000260182397796,1.43879145812e-05,1793256519478328832
+394,6.566666667,POSE2_TO_POSE3_RETREAT,794,749.848315773,728,708.151684227,697,655,934.848315773,803,835,668.151684227,657,676,0.400979638987,-0.00536325105058,0.059842562493,0.999999951903,0.000168754853176,-0.000259828335675,1.43499674626e-05,1793256519494995456
+395,6.583333333,POSE2_TO_POSE3_RETREAT,794,750,728,708.430651621,697.430651621,655,935,803,835,668.430651621,657,676,0.400977842554,-0.00536366665006,0.0598421164167,0.999999951522,0.000169005477997,-0.000261124373158,1.43856839404e-05,1793256519511662080
+396,6.600000000,POSE2_TO_POSE3_RETREAT,794.010100417,749.989899583,728,709,697.989899583,655,935,803,835,669,657,676,0.400975811535,-0.0053642903021,0.0598413268469,0.999999950902,0.000169861295958,-0.000262935269093,1.44453465691e-05,1793256519528328704
+397,6.616666667,POSE2_TO_POSE3_RETREAT,794.584870173,749.415129827,728,709,697.415129827,655,935,803,835,669,657,676,0.400977298174,-0.00536296470114,0.0598419828169,0.999999951051,0.000170986734976,-0.000261637892246,1.44200246944e-05,1793256519544996864
+398,6.633333333,POSE2_TO_POSE3_RETREAT,794.840831707,749,728,709,697.159168293,655,935,803,835,669,657,676,0.400978206173,-0.00536246532178,0.0598423896252,0.999999951236,0.000171131371983,-0.000260840608842,1.43196698388e-05,1793256519561664256
+399,6.650000000,POSE2_TO_POSE3_RETREAT,794.267760067,749,728,709,697.732239933,655,935,803,835,669,657,676,0.400977609471,-0.00536411446016,0.0598421485098,0.999999951517,0.000168725518336,-0.000261343775163,1.40241982233e-05,1793256519578329856
+400,6.666666667,POSE2_TO_POSE3_RETREAT,794,749,728,709,698,655,935,803,835,668.684431795,657,676,0.400977334646,-0.00536517424268,0.0598426230545,0.999999951987,0.000167203631458,-0.000260515168607,1.41414200725e-05,1793256519594995968
+401,6.683333333,POSE2_TO_POSE3_RETREAT,794,749,728,709,698,655,935,803,835,668.092108426,657,676,0.400977342109,-0.00536571715659,0.0598437252371,0.999999952623,0.000166456988735,-0.000258518589418,1.46205765212e-05,1793256519611662592
+402,6.700000000,POSE2_TO_POSE3_RETREAT,794,749,727.510390242,709,697.510390242,655,935,803,835,668.489609758,657.489609758,676,0.400977934275,-0.0053668196981,0.0598439056026,0.999999952784,0.000165702055926,-0.000258373231166,1.47742752616e-05,1793256519628329728
+403,6.716666667,POSE2_TO_POSE3_RETREAT,794,749,727,708.931450911,697.068549089,655,935,803,835,668.931450911,657.931450911,676,0.40097856053,-0.00536757345117,0.0598440116373,0.999999952845,0.000165185510432,-0.000258463575869,1.48189085196e-05,1793256519644996608
+404,6.733333333,POSE2_TO_POSE3_RETREAT,794,749,727,708.358589015,697.641410985,655,935,803,835,668.358589015,657.358589015,676,0.400978645479,-0.00536500305758,0.0598448196029,0.999999952819,0.000166434001475,-0.000257780140584,1.45020468952e-05,1793256519661662720
+405,6.750000000,POSE2_TO_POSE3_RETREAT,794,749,727.215532534,708.215532534,697.784467466,655,935,803,835,668,657,676,0.400978768814,-0.00536365419772,0.0598452314099,0.999999952733,0.000168017994047,-0.00025708795269,1.44613622135e-05,1793256519678329088
+406,6.766666667,POSE2_TO_POSE3_RETREAT,794,749,727.791762223,708.791762223,697.208237777,655,935,803,835,668,657,676,0.400978956389,-0.00536434959378,0.0598449802391,0.999999952546,0.00017016345401,-0.000256381117054,1.48828640287e-05,1793256519694995712
+407,6.783333333,POSE2_TO_POSE3_RETREAT,794,749,728,709,697.378515365,655,935,803,835,668,657.378515365,676.378515365,0.400979128927,-0.00536428682889,0.0598452308861,0.999999952656,0.000170169187753,-0.000255940738428,1.49895291463e-05,1793256519711662336
+408,6.800000000,POSE2_TO_POSE3_RETREAT,794,749,728,709,697.971223441,655,935,803,835,668,657.971223441,676.971223441,0.400979292956,-0.00536379503897,0.0598457654996,0.999999952936,0.000168964101934,-0.000255651141438,1.49180357491e-05,1793256519728328960
diff --git a/Part2/Obstacle_avoidance/cylinder_PLA_10/position_01/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_PLA_10/position_01/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0b0c8e488c484a022f8c018b1bf04832d6e8543a
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_PLA_10/position_01/depth_05/simulation_data.csv
@@ -0,0 +1,410 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+1,0.016666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+2,0.033333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+3,0.050000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+4,0.066666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+5,0.083333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+6,0.100000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+7,0.116666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+8,0.133333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+9,0.150000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+10,0.166666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+11,0.183333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+12,0.200000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+13,0.216666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+14,0.233333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+15,0.250000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+16,0.266666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+17,0.283333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+18,0.300000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+19,0.316666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+20,0.333333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+21,0.350000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+22,0.366666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+23,0.383333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+24,0.400000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+25,0.416666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+26,0.433333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+27,0.450000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+28,0.466666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+29,0.483333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+30,0.500000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+31,0.516666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+32,0.533333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+33,0.550000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+34,0.566666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+35,0.583333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+36,0.600000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+37,0.616666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+38,0.633333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+39,0.650000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+40,0.666666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+41,0.683333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+42,0.700000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+43,0.716666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+44,0.733333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+45,0.750000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+46,0.766666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+47,0.783333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+48,0.800000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+49,0.816666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+50,0.833333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+51,0.850000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+52,0.866666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+53,0.883333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+54,0.900000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+55,0.916666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+56,0.933333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+57,0.950000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+58,0.966666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+59,0.983333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+60,1.000000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+61,1.016666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+62,1.033333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+63,1.050000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+64,1.066666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+65,1.083333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+66,1.100000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+67,1.116666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+68,1.133333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+69,1.150000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+70,1.166666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+71,1.183333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+72,1.200000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+73,1.216666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+74,1.233333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+75,1.250000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+76,1.266666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+77,1.283333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+78,1.300000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+79,1.316666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+80,1.333333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+81,1.350000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+82,1.366666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+83,1.383333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+84,1.400000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+85,1.416666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+86,1.433333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+87,1.450000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+88,1.466666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+89,1.483333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+90,1.500000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+91,1.516666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+92,1.533333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+93,1.550000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+94,1.566666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+95,1.583333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+96,1.600000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+97,1.616666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+98,1.633333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+99,1.650000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+100,1.666666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+101,1.683333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+102,1.700000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+103,1.716666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+104,1.733333333,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+105,1.750000000,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+106,1.766666667,pose1_baseline,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+107,1.783333333,pose1_to_pose2_press,0.575666764394,0.000181712728876,1.05002036925,0.546237913771,0.00885595641383,1.04969208382
+108,1.800000000,pose1_to_pose2_press,0.575666910976,0.000181696617783,1.05002048405,0.546238060029,0.00885593889016,1.0496921903
+109,1.816666667,pose1_to_pose2_press,0.575667002635,0.000181686543271,1.05002055584,0.546238151486,0.00885592793235,1.04969225689
+110,1.833333333,pose1_to_pose2_press,0.575667024863,0.000181687837787,1.05002055709,0.546238173631,0.00885592894361,1.04969225811
+111,1.850000000,pose1_to_pose2_press,0.575667110627,0.000181694754117,1.05002055363,0.546238259057,0.0088559347315,1.04969225514
+112,1.866666667,pose1_to_pose2_press,0.575667241895,0.000181705339962,1.05002054833,0.546238389807,0.00885594359021,1.0496922506
+113,1.883333333,pose1_to_pose2_press,0.575667418743,0.000181719601542,1.0500205412,0.546238565958,0.00885595552494,1.04969224448
+114,1.900000000,pose1_to_pose2_press,0.575668087723,0.000181732459259,1.05002045483,0.546239234473,0.00885596702538,1.04969216399
+115,1.916666667,pose1_to_pose2_press,0.575669862768,0.000181756401721,1.05002049433,0.546241009112,0.00885598967862,1.04969220583
+116,1.933333333,pose1_to_pose2_press,0.575675842519,0.000181730978022,1.05002079006,0.546246990681,0.00885597008013,1.04969249232
+117,1.950000000,pose1_to_pose2_press,0.575688306398,0.000181838358841,1.05002073923,0.546259454544,0.00885607740914,1.04969244156
+118,1.966666667,pose1_to_pose2_press,0.575710607307,0.000181687050769,1.05002060323,0.546281754505,0.00885592252394,1.04969229595
+119,1.983333333,pose1_to_pose2_press,0.575743494917,0.000181603606766,1.05002051494,0.546314645697,0.00885585183403,1.04969222348
+120,2.000000000,pose1_to_pose2_press,0.575788637544,0.000181832987577,1.05002046087,0.546359784387,0.00885606777548,1.04969216719
+121,2.016666667,pose1_to_pose2_press,0.575844345867,0.000181597855845,1.0500207929,0.546415496668,0.00885584586644,1.04969249366
+122,2.033333333,pose1_to_pose2_press,0.575910552559,0.000181806423779,1.05002064771,0.546481700477,0.00885604475333,1.0496923511
+123,2.050000000,pose1_to_pose2_press,0.575986738237,0.000181811627783,1.05002044186,0.546557886157,0.00885605009541,1.04969214865
+124,2.066666667,pose1_to_pose2_press,0.576073070993,0.000181701366417,1.05002048749,0.546644220551,0.00885594551912,1.04969219755
+125,2.083333333,pose1_to_pose2_press,0.57616998291,0.000181841985299,1.05002046265,0.546741130212,0.00885607836699,1.0496921696
+126,2.100000000,pose1_to_pose2_press,0.576277496206,0.000181854914688,1.05002059877,0.546848642237,0.00885608693846,1.04969230449
+127,2.116666667,pose1_to_pose2_press,0.576397137906,0.000181830315363,1.05002030842,0.546968284628,0.00885606454814,1.04969201057
+128,2.133333333,pose1_to_pose2_press,0.576529893453,0.000181569478414,1.05002030355,0.547101043627,0.00885581559179,1.04969201019
+129,2.150000000,pose1_to_pose2_press,0.576677348714,0.000181822868107,1.0500207656,0.547248496069,0.00885605918862,1.04969246603
+130,2.166666667,pose1_to_pose2_press,0.576841983616,0.000181849129163,1.05002055986,0.547413130543,0.00885608435644,1.04969226969
+131,2.183333333,pose1_to_pose2_press,0.577024181122,0.000181744724067,1.05002055848,0.547595328219,0.00885598019746,1.04969225953
+132,2.200000000,pose1_to_pose2_press,0.577226430043,0.000181746575356,1.05002061727,0.547797579053,0.00885598880281,1.04969232523
+133,2.216666667,pose1_to_pose2_press,0.577445966152,0.000181752643548,1.05002065496,0.548017115271,0.00885599520528,1.04969236192
+134,2.233333333,pose1_to_pose2_press,0.577682035807,0.000181638889536,1.05002052415,0.548253184848,0.00885588115881,1.04969223045
+135,2.250000000,pose1_to_pose2_press,0.577934316189,0.000181655831075,1.05002045773,0.548505464759,0.00885589662487,1.04969216713
+136,2.266666667,pose1_to_pose2_press,0.578202922642,0.000181788896349,1.05002054151,0.54877406972,0.00885602447335,1.04969224673
+137,2.283333333,pose1_to_pose2_press,0.578489087263,0.000181779228574,1.05002054456,0.549060233938,0.00885601314322,1.04969224198
+138,2.300000000,pose1_to_pose2_press,0.578794100356,0.000181750322917,1.05002046955,0.54936524869,0.00885599008265,1.04969217272
+139,2.316666667,pose1_to_pose2_press,0.579125560271,0.000181868277202,1.05002067526,0.549696706035,0.00885609919343,1.04969237499
+140,2.333333333,pose1_to_pose2_press,0.579485434896,0.000181918840172,1.05002056005,0.550056580542,0.00885614945896,1.04969226252
+141,2.350000000,pose1_to_pose2_press,0.579878262837,0.000181773814511,1.05002056764,0.55044941046,0.00885601105192,1.04969226774
+142,2.366666667,pose1_to_pose2_press,0.580299934241,0.000181742659514,1.0500205198,0.550871081868,0.00885598025346,1.04969222884
+143,2.383333333,pose1_to_pose2_press,0.580747989587,0.000181860609419,1.05002050743,0.551319135527,0.00885609251975,1.0496922175
+144,2.400000000,pose1_to_pose2_press,0.581211401649,0.000181950818357,1.05002039797,0.551782547595,0.00885618291875,1.0496921125
+145,2.416666667,pose1_to_pose2_press,0.581685879534,0.000181818480696,1.05002059841,0.552257024869,0.00885604821849,1.04969230526
+146,2.433333333,pose1_to_pose2_press,0.582170368504,0.000181694791538,1.05002039535,0.552741516012,0.00885593192747,1.04969210283
+147,2.450000000,pose1_to_pose2_press,0.582673463185,0.000181706291139,1.05002059508,0.553244611968,0.0088559476066,1.04969229868
+148,2.466666667,pose1_to_pose2_press,0.583200531116,0.000181722329451,1.05002066683,0.553771679265,0.008855961304,1.04969236538
+149,2.483333333,pose1_to_pose2_press,0.583754708718,0.000181717510367,1.05002057011,0.554325855763,0.00885595267141,1.04969226683
+150,2.500000000,pose1_to_pose2_press,0.584331941784,0.000181809379902,1.05002059894,0.554903088416,0.00885604335869,1.04969230148
+151,2.516666667,pose1_to_pose2_press,0.584923875265,0.000181897553694,1.05002051795,0.555495021996,0.0088561321443,1.04969222775
+152,2.533333333,pose1_to_pose2_press,0.585525204053,0.000181830904634,1.05002032361,0.556096350882,0.00885606573997,1.04969203107
+153,2.550000000,pose1_to_pose2_press,0.586135922747,0.000181831922065,1.05002040603,0.556707069694,0.0088560672493,1.04969211589
+154,2.566666667,pose1_to_pose2_press,0.586772816784,0.000181790727111,1.0500203825,0.557343964075,0.00885602724755,1.04969209304
+155,2.583333333,pose1_to_pose2_press,0.58744229002,0.000181734758012,1.05002015871,0.558013437244,0.00885597108686,1.04969187017
+156,2.600000000,pose1_to_pose2_press,0.588139211634,0.000181745748089,1.05002078225,0.558710359666,0.00885598442502,1.04969248339
+157,2.616666667,pose1_to_pose2_press,0.588858493164,0.000181824274272,1.05002045516,0.559429640825,0.00885606173578,1.04969215736
+158,2.633333333,pose1_to_pose2_press,0.589595034312,0.000181780228156,1.05002039462,0.560166182193,0.00885601872514,1.04969210453
+159,2.650000000,pose1_to_pose2_press,0.590330354682,0.000181781005562,1.05002053121,0.56090150209,0.00885601761067,1.04969223346
+160,2.666666667,pose1_to_pose2_press,0.591058574496,0.000181820808132,1.05002051035,0.561629722383,0.00885605937798,1.0496922216
+161,2.683333333,pose1_to_pose2_press,0.591784672452,0.000181774055422,1.05002061149,0.562355821137,0.00885601517575,1.04969231866
+162,2.700000000,pose1_to_pose2_press,0.59251043105,0.000181745398332,1.0500206539,0.563081579806,0.00885598673928,1.04969236055
+163,2.716666667,pose1_to_pose2_press,0.593253675527,0.000181737839321,1.05002063957,0.563824823376,0.00885597618152,1.04969234825
+164,2.733333333,pose1_to_pose2_press,0.594018804412,0.000181764112598,1.05002058994,0.564589951973,0.00885600148856,1.04969229901
+165,2.750000000,pose1_to_pose2_press,0.59481171019,0.000181845907061,1.05002056581,0.565382857741,0.0088560832203,1.04969227423
+166,2.766666667,pose1_to_pose2_press,0.595627590273,0.000181821286129,1.05002066505,0.566198737434,0.00885605710854,1.04969236902
+167,2.783333333,pose1_to_pose2_press,0.596460603255,0.000181686758365,1.05002065673,0.567031752838,0.00885593086047,1.0496923624
+168,2.800000000,pose1_to_pose2_press,0.597289440662,0.000181790153582,1.05002054229,0.567860588535,0.00885602870794,1.04969225471
+169,2.816666667,pose1_to_pose2_press,0.598107839139,0.000181744464861,1.05002033788,0.568678987378,0.00885598410155,1.04969204608
+170,2.833333333,pose1_to_pose2_press,0.598902058827,0.000181838014901,1.0500205175,0.569473205846,0.00885607362177,1.04969222864
+171,2.850000000,pose1_to_pose2_press,0.599685186147,0.000181841880491,1.0500205188,0.570256334388,0.00885608160988,1.04969222934
+172,2.866666667,pose1_to_pose2_press,0.60046578479,0.000181662759829,1.05002055704,0.571036931531,0.00885589706436,1.04969225884
+173,2.883333333,pose1_to_pose2_press,0.601254732321,0.000181738624459,1.05002044901,0.571825879804,0.00885597535876,1.04969214853
+174,2.900000000,pose1_to_pose2_press,0.60205588438,0.000181772571998,1.05002051417,0.572627032028,0.00885601009606,1.04969221981
+175,2.916666667,pose1_to_pose2_press,0.602865659197,0.000181784567738,1.05002062125,0.573436807375,0.00885602400413,1.04969232999
+176,2.933333333,pose1_to_pose2_press,0.603675467119,0.000181967675087,1.05002056529,0.574246613236,0.00885619996256,1.04969226995
+177,2.950000000,pose1_to_pose2_press,0.604474256736,0.000181856206646,1.05002054057,0.575045403792,0.00885609169696,1.04969224568
+178,2.966666667,pose1_to_pose2_press,0.605250093482,0.000181560012214,1.05002054014,0.575821243957,0.00885580710648,1.0496922454
+179,2.983333333,pose1_to_pose2_press,0.605999783577,0.000181641795196,1.05002055828,0.576570932798,0.00885588443378,1.04969225833
+180,3.000000000,pose1_to_pose2_press,0.606728919229,0.000181782663734,1.05002069265,0.57730006696,0.00885602010874,1.04969238916
+181,3.016666667,pose1_to_pose2_press,0.607442654017,0.000181780828656,1.05002078086,0.578013802577,0.00885602101965,1.04969247567
+182,3.033333333,pose1_to_pose2_press,0.608160190953,0.000181815576856,1.05002061997,0.578731339469,0.00885605570272,1.04969231699
+183,3.050000000,pose1_to_pose2_press,0.608874444772,0.000181858329733,1.05002040194,0.579445592491,0.00885609621429,1.04969211131
+184,3.066666667,pose1_to_pose2_press,0.60957527691,0.000181800561243,1.05002036406,0.580146425391,0.00885604114454,1.04969207645
+185,3.083333333,pose1_to_pose2_press,0.610259216722,0.000181551767358,1.05002030907,0.580830366643,0.00885579701169,1.04969201567
+186,3.100000000,pose1_to_pose2_press,0.610920787379,0.000181671211411,1.05002057185,0.581491935058,0.00885590861812,1.04969227237
+187,3.116666667,pose1_to_pose2_press,0.611544445982,0.000181895236074,1.05002081101,0.582115592935,0.00885612999948,1.04969250681
+188,3.133333333,pose1_to_pose2_press,0.612141768773,0.000181861027556,1.0500207021,0.582712915493,0.00885609511242,1.04969240114
+189,3.150000000,pose1_to_pose2_press,0.612727055602,0.000181753907375,1.05002066431,0.583298204474,0.00885599564492,1.04969236901
+190,3.166666667,pose1_to_pose2_press,0.613298908505,0.000181496504306,1.050020633,0.583870059897,0.0088557490595,1.04969234432
+191,3.183333333,pose1_to_pose2_press,0.61385200935,0.000181582761523,1.05002063834,0.584423158174,0.00885582964951,1.04969234712
+192,3.200000000,pose1_to_pose2_press,0.614389423902,0.000181784572923,1.0500207009,0.584960569373,0.00885602386904,1.04969240748
+193,3.216666667,pose1_to_pose2_press,0.614910074999,0.00018177130008,1.05002067395,0.585481220011,0.00885601352008,1.04969238435
+194,3.233333333,pose1_to_pose2_press,0.615409033181,0.000181708352601,1.0500205233,0.585980177165,0.00885595220037,1.049692233
+195,3.250000000,pose1_to_pose2_press,0.615893488846,0.000181750429658,1.05002057131,0.586464629956,0.00885599110032,1.04969227432
+196,3.266666667,pose1_to_pose2_press,0.61636609449,0.000181780046243,1.05002064081,0.586937234563,0.00885602101703,1.04969234684
+197,3.283333333,pose1_to_pose2_press,0.616815710324,0.000181953156897,1.05002053468,0.587386846016,0.00885618369939,1.04969224131
+198,3.300000000,pose1_to_pose2_press,0.617237494995,0.00018183861132,1.05002073412,0.587808630464,0.0088560752095,1.049692444
+199,3.316666667,pose1_to_pose2_press,0.61763072077,0.000181628031007,1.05002056579,0.588201857221,0.00885587148533,1.04969227527
+200,3.333333333,pose1_to_pose2_press,0.617998932622,0.000181765168877,1.05002044473,0.588570067133,0.00885600474814,1.04969215296
+201,3.350000000,pose1_to_pose2_press,0.618346768198,0.000181874220026,1.05002049357,0.588917899598,0.0088561072515,1.04969219824
+202,3.366666667,pose1_to_pose2_press,0.618681845463,0.000181860434016,1.05002061355,0.589252976202,0.00885609423955,1.04969231453
+203,3.383333333,pose1_to_pose2_press,0.619006398897,0.000181846052547,1.05002062045,0.589577531,0.00885608343895,1.04969232345
+204,3.400000000,pose1_to_pose2_press,0.619317043484,0.000181847987943,1.0500204826,0.589888176902,0.0088560870213,1.04969219279
+205,3.416666667,pose1_to_pose2_press,0.619612053913,0.000181745916953,1.05002042416,0.590183188929,0.00885599117619,1.04969213644
+206,3.433333333,pose1_to_pose2_press,0.619882149892,0.000181630734547,1.05002049415,0.590453285003,0.00885587804453,1.04969219996
+207,3.450000000,pose1_to_pose2_press,0.620128622341,0.000181487130881,1.05002050058,0.590699758733,0.00885573953607,1.04969219455
+208,3.466666667,pose1_to_pose2_press,0.620350613229,0.000181700379299,1.05002065688,0.590921747432,0.00885594602219,1.04969236058
+209,3.483333333,pose1_to_pose2_press,0.620550888356,0.000181966370642,1.05002053276,0.591122018319,0.00885619813751,1.04969224033
+210,3.500000000,pose1_to_pose2_press,0.62072942499,0.000181756980063,1.05002065683,0.591300558668,0.00885600203129,1.0496923594
+211,3.516666667,pose1_to_pose2_press,0.620892060051,0.000181675121798,1.05002066534,0.591463192954,0.00885591816256,1.0496923698
+212,3.533333333,pose1_to_pose2_press,0.621039369268,0.000181687579111,1.05002075501,0.591610502207,0.00885593062783,1.04969245539
+213,3.550000000,pose1_to_pose2_press,0.621171357483,0.00018172351987,1.05002062105,0.59174249072,0.00885596762992,1.04969232406
+214,3.566666667,pose1_to_pose2_press,0.621291140845,0.000181842333236,1.05002053473,0.591862273608,0.00885608511237,1.04969224363
+215,3.583333333,pose1_to_pose2_press,0.621400241964,0.000181977843567,1.05002065455,0.591971374189,0.00885621906876,1.04969236414
+216,3.600000000,pose1_to_pose2_press,0.621499692369,0.00018177929363,1.05002033052,0.592070825497,0.00885602411821,1.04969204268
+217,3.616666667,pose1_to_pose2_press,0.621589248073,0.000181657437287,1.05002066735,0.592160380633,0.00885589926261,1.04969236711
+218,3.633333333,pose1_to_pose2_press,0.621667687574,0.000181888663058,1.05002047647,0.592238819059,0.00885612809926,1.04969219792
+219,3.650000000,pose1_to_pose2_press,0.621735011895,0.000181722609246,1.05002061627,0.592306144307,0.0088559659256,1.04969233295
+220,3.666666667,pose1_to_pose2_press,0.621789888862,0.000181730955036,1.05002075757,0.592361021384,0.00885597429471,1.04969246644
+221,3.683333333,pose1_to_pose2_press,0.621834540429,0.000181757245015,1.0500205241,0.59240567296,0.00885599916878,1.04969223456
+222,3.700000000,pose1_to_pose2_press,0.621869312252,0.000181783300675,1.05002075728,0.592440443704,0.00885602185515,1.04969246046
+223,3.716666667,pose1_to_pose2_press,0.621897359166,0.000181829646014,1.05002049053,0.59246848993,0.00885606708313,1.04969219618
+224,3.733333333,pose1_to_pose2_press,0.621918675938,0.000181714092429,1.05002049946,0.592489809227,0.00885595962373,1.04969220361
+225,3.750000000,pose1_to_pose2_press,0.621934399448,0.000181798335149,1.05002060023,0.592505531425,0.00885603936541,1.04969230481
+226,3.766666667,pose1_to_pose2_press,0.621945894464,0.00018183869287,1.05002065504,0.592517025644,0.0088560771027,1.04969236108
+227,3.783333333,pose1_to_pose2_press,0.62195418653,0.000181545184378,1.05002065378,0.59252532276,0.00885580001374,1.04969235921
+228,3.800000000,pose1_to_pose2_press,0.621960107444,0.000181685727909,1.05002086047,0.592531241443,0.00885593261206,1.04969255994
+229,3.816666667,pose1_to_pose2_press,0.621963837824,0.000181768545958,1.05002089119,0.592534970738,0.00885601195037,1.04969258915
+230,3.833333333,pose1_to_pose2_press,0.621966453196,0.000181813407768,1.05002081862,0.592537585771,0.0088560561953,1.04969251766
+231,3.850000000,pose1_to_pose2_press,0.621968063157,0.000181823730794,1.05002070838,0.592539195954,0.00885606751948,1.04969241042
+232,3.866666667,pose1_to_pose2_press,0.621968963457,0.000181823180255,1.05002062275,0.592540096535,0.00885606803373,1.04969232733
+233,3.883333333,pose1_to_pose2_press,0.621969596686,0.000181822793032,1.05002056253,0.59254072996,0.00885606839542,1.04969226888
+234,3.900000000,pose1_to_pose2_press,0.621970020163,0.000181823558286,1.05002052242,0.592541153507,0.00885606940951,1.04969222986
+235,3.916666667,pose1_to_pose2_press,0.621970407383,0.00018183282884,1.05002048711,0.592541540267,0.00885607679868,1.04969219474
+236,3.933333333,pose1_to_pose2_press,0.621970827206,0.000181842879968,1.05002044883,0.592541959592,0.00885608481002,1.04969215666
+237,3.950000000,pose1_to_pose2_press,0.621970966639,0.000181846218171,1.05002043611,0.592542098859,0.00885608747076,1.04969214401
+238,3.966666667,pose1_to_pose2_press,0.621971042256,0.000181848028543,1.05002042922,0.592542174387,0.00885608891373,1.04969213715
+239,3.983333333,pose1_to_pose2_press,0.621971253392,0.000181853083424,1.05002040997,0.592542385272,0.00885609294277,1.04969211799
+240,4.000000000,pose1_to_pose2_press,0.621971418947,0.000181841628575,1.05002042537,0.59254255096,0.00885608183574,1.04969213212
+241,4.016666667,pose1_to_pose2_press,0.621971535948,0.000181817567758,1.05002046785,0.592542668395,0.00885605921382,1.04969217229
+242,4.033333333,pose1_to_pose2_press,0.621971537816,0.000181817183586,1.05002046853,0.59254267027,0.00885605885262,1.04969217293
+243,4.050000000,pose1_to_pose2_press,0.621971645157,0.000181795109229,1.0500205075,0.592542778009,0.00885603809836,1.04969220978
+244,4.066666667,pose1_to_pose2_press,0.621971739574,0.000181775692512,1.05002054177,0.592542872777,0.00885601984281,1.0496922422
+245,4.083333333,pose1_to_pose2_press,0.62197185126,0.000181769045331,1.05002050878,0.5925429842,0.00885601233841,1.04969221058
+246,4.100000000,pose1_to_pose2_press,0.621971947695,0.000181778508875,1.05002041178,0.592543079785,0.00885601902049,1.04969211816
+247,4.116666667,pose2_hold,0.621971947695,0.000181778508875,1.05002041178,0.592543079892,0.00885601885713,1.04969211816
+248,4.133333333,pose2_hold,0.621971947695,0.000181778508875,1.05002041178,0.592543079917,0.00885601890171,1.04969211817
+249,4.150000000,pose2_hold,0.621971947695,0.000181778508875,1.05002041178,0.592543079922,0.00885601894358,1.04969211817
+250,4.166666667,pose2_hold,0.621971947695,0.000181778508875,1.05002041178,0.592543079933,0.00885601895249,1.04969211818
+251,4.183333333,pose2_hold,0.621971947695,0.000181778508875,1.05002041178,0.592543079949,0.00885601896067,1.04969211818
+252,4.200000000,pose2_hold,0.621971947695,0.000181778508875,1.05002041178,0.59254307996,0.00885601897088,1.04969211819
+253,4.216666667,pose2_hold,0.621971947695,0.000181778508875,1.05002041178,0.59254307997,0.00885601898416,1.0496921182
+254,4.233333333,pose2_hold,0.621971947695,0.000181778508875,1.05002041178,0.592543079982,0.00885601899441,1.04969211821
+255,4.250000000,pose2_hold,0.621971947695,0.000181778508875,1.05002041178,0.592543080002,0.00885601899495,1.04969211822
+256,4.266666667,pose2_hold,0.621971947695,0.000181778508875,1.05002041178,0.592543080005,0.0088560190149,1.04969211823
+257,4.283333333,pose2_hold,0.621971947695,0.000181778508875,1.05002041178,0.592543079871,0.00885601891894,1.04969211819
+258,4.300000000,pose2_hold,0.621971947695,0.000181778508875,1.05002041178,0.592543079903,0.00885601894304,1.04969211819
+259,4.316666667,pose2_hold,0.621971947695,0.000181778508875,1.05002041178,0.592543079907,0.00885601896787,1.0496921182
+260,4.333333333,pose2_hold,0.621971947695,0.000181778508875,1.05002041178,0.592543079935,0.00885601897283,1.0496921182
+261,4.350000000,pose2_hold,0.621971947695,0.000181778508875,1.05002041178,0.592543079942,0.00885601898745,1.04969211821
+262,4.366666667,pose2_hold,0.621971947695,0.000181778508875,1.05002041178,0.592543079982,0.00885601889253,1.04969211816
+263,4.383333333,pose2_hold,0.621971947695,0.000181778508875,1.05002041178,0.592543079999,0.00885601891915,1.04969211817
+264,4.400000000,pose2_hold,0.621971947695,0.000181778508875,1.05002041178,0.592543080003,0.00885601894179,1.04969211818
+265,4.416666667,pose2_to_pose3_retreat,0.621971947695,0.000181778508875,1.05002041178,0.59254308008,0.0088560189689,1.04969211822
+266,4.433333333,pose2_to_pose3_retreat,0.621971926105,0.00018175553511,1.05002045107,0.592543058467,0.00885599593344,1.04969215737
+267,4.450000000,pose2_to_pose3_retreat,0.621971916618,0.000181745439943,1.05002046834,0.59254304897,0.00885598581117,1.04969217458
+268,4.466666667,pose2_to_pose3_retreat,0.621971911226,0.00018173970219,1.05002047815,0.592543043572,0.00885598005801,1.04969218436
+269,4.483333333,pose2_to_pose3_retreat,0.621971898924,0.000181726612556,1.05002050054,0.592543031258,0.00885596693322,1.04969220666
+270,4.500000000,pose2_to_pose3_retreat,0.62197189244,0.000181719712435,1.05002051234,0.592543024767,0.00885596001457,1.04969221842
+271,4.516666667,pose2_to_pose3_retreat,0.62197152236,0.000181837702106,1.05002052133,0.592542654236,0.00885607634995,1.0496922278
+272,4.533333333,pose2_to_pose3_retreat,0.621969885544,0.000181890156058,1.05002057381,0.592541016559,0.00885612554708,1.04969227619
+273,4.550000000,pose2_to_pose3_retreat,0.62196562286,0.00018178448385,1.0500206686,0.592536755542,0.00885602518753,1.04969237081
+274,4.566666667,pose2_to_pose3_retreat,0.621955489526,0.000181614241649,1.05002082126,0.592526625608,0.00885586653526,1.04969251657
+275,4.583333333,pose2_to_pose3_retreat,0.621937215515,0.000181687319945,1.05002060616,0.592508350263,0.00885593485308,1.04969231317
+276,4.600000000,pose2_to_pose3_retreat,0.621909449787,0.000181829365382,1.05002041889,0.592480582899,0.00885607192493,1.04969213148
+277,4.616666667,pose2_to_pose3_retreat,0.6218720584,0.000181909264094,1.0500205087,0.592443191818,0.00885615243845,1.04969222081
+278,4.633333333,pose2_to_pose3_retreat,0.621823293338,0.000181909168097,1.05002046558,0.592394425965,0.00885614938568,1.04969217667
+279,4.650000000,pose2_to_pose3_retreat,0.621764439324,0.00018179707665,1.05002023169,0.592335571498,0.00885603520395,1.04969194219
+280,4.666666667,pose2_to_pose3_retreat,0.621694924855,0.000181820497438,1.05002053962,0.592266057173,0.00885605874403,1.04969224575
+281,4.683333333,pose2_to_pose3_retreat,0.621612298673,0.000181734206155,1.05002053569,0.592183431578,0.00885597438714,1.04969224157
+282,4.700000000,pose2_to_pose3_retreat,0.621515856146,0.000181738493107,1.05002054259,0.592086990282,0.00885598270953,1.04969224802
+283,4.716666667,pose2_to_pose3_retreat,0.621403581431,0.000181878951744,1.05002053163,0.591974713702,0.00885611605279,1.04969223961
+284,4.733333333,pose2_to_pose3_retreat,0.621276618041,0.000181927768824,1.05002043561,0.591847749821,0.00885616286081,1.04969214905
+285,4.750000000,pose2_to_pose3_retreat,0.621135062353,0.000181826328688,1.05002030928,0.591706196934,0.00885607060447,1.04969202517
+286,4.766666667,pose2_to_pose3_retreat,0.620978715921,0.000181795145234,1.0500206051,0.591549851734,0.00885604262782,1.04969230394
+287,4.783333333,pose2_to_pose3_retreat,0.620805826832,0.000181802446491,1.05002078666,0.591376960598,0.00885604124726,1.04969248178
+288,4.800000000,pose2_to_pose3_retreat,0.620618616151,0.000181709860865,1.05002040581,0.591189753089,0.0088559588322,1.04969211695
+289,4.816666667,pose2_to_pose3_retreat,0.620417151045,0.000182002068442,1.05002071522,0.590988283146,0.00885623334762,1.04969242459
+290,4.833333333,pose2_to_pose3_retreat,0.620200227542,0.000181843767064,1.05002078912,0.590771361767,0.00885608116906,1.04969249243
+291,4.850000000,pose2_to_pose3_retreat,0.619970316434,0.000181816846169,1.05002071585,0.590541450867,0.00885605501043,1.04969241935
+292,4.866666667,pose2_to_pose3_retreat,0.619727220297,0.000181782628151,1.05002066516,0.590298355436,0.00885602225673,1.04969236818
+293,4.883333333,pose2_to_pose3_retreat,0.619466724934,0.000181753641997,1.05002067538,0.590037861336,0.0088559953004,1.04969237597
+294,4.900000000,pose2_to_pose3_retreat,0.619186698935,0.000181886905823,1.05002067061,0.589757834445,0.00885612329209,1.049692371
+295,4.916666667,pose2_to_pose3_retreat,0.618881459478,0.000181782893135,1.05002058745,0.589452595296,0.0088560178694,1.04969228324
+296,4.933333333,pose2_to_pose3_retreat,0.618551470744,0.000181852297546,1.05002044747,0.589122608685,0.00885609415591,1.04969215273
+297,4.950000000,pose2_to_pose3_retreat,0.618196662385,0.000181853102535,1.05002048547,0.588767799104,0.0088560879447,1.04969219425
+298,4.966666667,pose2_to_pose3_retreat,0.61782247384,0.000181857653345,1.05002058991,0.588393611419,0.00885609267689,1.04969229932
+299,4.983333333,pose2_to_pose3_retreat,0.61743081028,0.000181814602402,1.05002044023,0.588001949486,0.00885605272403,1.04969214882
+300,5.000000000,pose2_to_pose3_retreat,0.617027134347,0.000181794312538,1.05002031729,0.587598273966,0.00885603136035,1.04969202244
+301,5.016666667,pose2_to_pose3_retreat,0.61661205369,0.000181915213628,1.05002064524,0.58718319298,0.00885614865278,1.0496923459
+302,5.033333333,pose2_to_pose3_retreat,0.616183984822,0.000181951153217,1.05002040543,0.58675512464,0.0088561833375,1.0496921163
+303,5.050000000,pose2_to_pose3_retreat,0.615740497221,0.000181785849238,1.05002054287,0.586311639788,0.00885602359713,1.04969223989
+304,5.066666667,pose2_to_pose3_retreat,0.615274749213,0.000181697591252,1.0500205831,0.585845893662,0.00885593816725,1.04969227886
+305,5.083333333,pose2_to_pose3_retreat,0.61478565922,0.000181691077684,1.05002050541,0.585356804683,0.00885593151448,1.04969220709
+306,5.100000000,pose2_to_pose3_retreat,0.614271500872,0.000181746837726,1.0500203984,0.584842646484,0.00885598371655,1.04969210622
+307,5.116666667,pose2_to_pose3_retreat,0.613738263259,0.000181828092576,1.05002040767,0.584309408561,0.00885605908297,1.0496921199
+308,5.133333333,pose2_to_pose3_retreat,0.613188999681,0.000181723547738,1.050020611,0.583760150221,0.0088559674797,1.04969232248
+309,5.150000000,pose2_to_pose3_retreat,0.612622329482,0.000181741900727,1.05002038916,0.583193480329,0.00885598061812,1.04969209204
+310,5.166666667,pose2_to_pose3_retreat,0.612040601248,0.000181774847103,1.05002044117,0.582611752629,0.00885601032262,1.04969214567
+311,5.183333333,pose2_to_pose3_retreat,0.611444302374,0.000181816985338,1.05002047854,0.582015453762,0.0088560479181,1.04969218477
+312,5.200000000,pose2_to_pose3_retreat,0.610829088971,0.000181819496748,1.0500204428,0.581400241243,0.00885604840235,1.04969214864
+313,5.216666667,pose2_to_pose3_retreat,0.610194559323,0.000181729247189,1.05002051372,0.580765715469,0.00885596653565,1.04969222313
+314,5.233333333,pose2_to_pose3_retreat,0.609548541104,0.000181684421152,1.05002049694,0.580119698325,0.00885592740774,1.04969220997
+315,5.250000000,pose2_to_pose3_retreat,0.608884987818,0.000181764339937,1.05002050795,0.579456145348,0.0088560059517,1.04969222114
+316,5.266666667,pose2_to_pose3_retreat,0.60818560234,0.000181798066483,1.05002062937,0.578756759598,0.00885603471426,1.04969233288
+317,5.283333333,pose2_to_pose3_retreat,0.607460143678,0.000181824437602,1.05002054132,0.578031301355,0.00885605831191,1.0496922427
+318,5.300000000,pose2_to_pose3_retreat,0.606715442946,0.000181849630071,1.05002048145,0.577286601491,0.00885608459317,1.04969218481
+319,5.316666667,pose2_to_pose3_retreat,0.605951154282,0.000181837625856,1.05002047585,0.576522314673,0.0088560770046,1.04969218407
+320,5.333333333,pose2_to_pose3_retreat,0.605174557973,0.000181788344234,1.05002030159,0.575745719661,0.00885602988805,1.04969201626
+321,5.350000000,pose2_to_pose3_retreat,0.604403625427,0.000181771343923,1.05002019388,0.574974784639,0.00885600683219,1.04969190199
+322,5.366666667,pose2_to_pose3_retreat,0.603633610802,0.000181800278,1.05002043907,0.574204771553,0.00885603673616,1.04969213929
+323,5.383333333,pose2_to_pose3_retreat,0.602861484183,0.000181775415343,1.05002053508,0.57343264668,0.00885601403421,1.04969223768
+324,5.400000000,pose2_to_pose3_retreat,0.602076531355,0.000181760651091,1.05002054969,0.572647696855,0.00885600525785,1.04969225128
+325,5.416666667,pose2_to_pose3_retreat,0.60127350762,0.000181637526589,1.05002053618,0.571844675114,0.00885588605073,1.04969223982
+326,5.433333333,pose2_to_pose3_retreat,0.600465329421,0.000181668022575,1.05002053073,0.571036497943,0.00885591680932,1.0496922354
+327,5.450000000,pose2_to_pose3_retreat,0.599652124725,0.000181735186702,1.05002054342,0.570223292874,0.00885597846679,1.04969224488
+328,5.466666667,pose2_to_pose3_retreat,0.598835340861,0.000181733248664,1.05002055667,0.569406509425,0.00885597403938,1.04969225463
+329,5.483333333,pose2_to_pose3_retreat,0.598026940441,0.000181675897542,1.05002051312,0.568598111384,0.00885592165258,1.04969221297
+330,5.500000000,pose2_to_pose3_retreat,0.597232052498,0.000181621557029,1.05002042784,0.567803224539,0.00885586745294,1.04969213225
+331,5.516666667,pose2_to_pose3_retreat,0.59644491559,0.000181833715061,1.05002055615,0.56701608529,0.00885606873452,1.04969225635
+332,5.533333333,pose2_to_pose3_retreat,0.595664783527,0.000181787823113,1.05002055291,0.566235954383,0.00885602299198,1.04969225335
+333,5.550000000,pose2_to_pose3_retreat,0.594877866442,0.000181889742859,1.05002053935,0.565449037288,0.00885612183969,1.04969224293
+334,5.566666667,pose2_to_pose3_retreat,0.594085289929,0.000181794941103,1.05002064557,0.564656463179,0.00885603205728,1.04969234295
+335,5.583333333,pose2_to_pose3_retreat,0.593287946009,0.00018168074572,1.050020615,0.563859121363,0.00885592145126,1.0496923106
+336,5.600000000,pose2_to_pose3_retreat,0.592495148417,0.000181679683441,1.05002035853,0.563066325824,0.00885592425903,1.04969206047
+337,5.616666667,pose2_to_pose3_retreat,0.591714678136,0.000181738297093,1.05002026505,0.562285856202,0.00885598110677,1.04969197216
+338,5.633333333,pose2_to_pose3_retreat,0.590960255255,0.000181801372353,1.05002041281,0.561531432543,0.00885603762701,1.04969211738
+339,5.650000000,pose2_to_pose3_retreat,0.5902324915,0.000181880369846,1.0500204905,0.56080366922,0.00885611670529,1.04969218971
+340,5.666666667,pose2_to_pose3_retreat,0.589531633531,0.000181912548599,1.05002068139,0.560102812395,0.00885615008541,1.04969238109
+341,5.683333333,pose2_to_pose3_retreat,0.588845551313,0.000181852101173,1.05002069683,0.559416732639,0.00885609296804,1.04969239021
+342,5.700000000,pose2_to_pose3_retreat,0.588167193946,0.000181792591554,1.05002057513,0.558738374442,0.00885602951144,1.04969227535
+343,5.716666667,pose2_to_pose3_retreat,0.587489035333,0.000181869430347,1.05002064046,0.558060215462,0.00885610313496,1.0496923385
+344,5.733333333,pose2_to_pose3_retreat,0.586809499338,0.000181904521301,1.05002074948,0.557380681254,0.00885614192574,1.04969244759
+345,5.750000000,pose2_to_pose3_retreat,0.586140315983,0.00018182313606,1.05002068536,0.556711498917,0.00885606070247,1.04969238421
+346,5.766666667,pose2_to_pose3_retreat,0.585486429414,0.000181790039423,1.05002057859,0.55605761254,0.00885602498569,1.04969227238
+347,5.783333333,pose2_to_pose3_retreat,0.584863299684,0.000181818930104,1.05002057817,0.555434485031,0.00885605974574,1.04969227186
+348,5.800000000,pose2_to_pose3_retreat,0.584273615118,0.000181731890595,1.05002047678,0.554844803022,0.00885597989618,1.0496921842
+349,5.816666667,pose2_to_pose3_retreat,0.583718526327,0.000181850553597,1.05002029543,0.554289713194,0.00885609250283,1.04969200106
+350,5.833333333,pose2_to_pose3_retreat,0.583187213769,0.000181919686986,1.05002048657,0.553758399929,0.00885615766861,1.04969219392
+351,5.850000000,pose2_to_pose3_retreat,0.582674804795,0.000181833684746,1.05002062153,0.553245993691,0.00885607888109,1.04969232608
+352,5.866666667,pose2_to_pose3_retreat,0.582169131411,0.000181785662042,1.05002067534,0.552740320413,0.00885602905304,1.04969237557
+353,5.883333333,pose2_to_pose3_retreat,0.581675372859,0.00018178449218,1.05002054547,0.552246561444,0.00885602465301,1.04969224974
+354,5.900000000,pose2_to_pose3_retreat,0.581202867343,0.000181772357968,1.05002048786,0.551774056342,0.00885601228477,1.04969219629
+355,5.916666667,pose2_to_pose3_retreat,0.580752092627,0.000181756376849,1.05002061693,0.551323281967,0.00885599577178,1.04969232122
+356,5.933333333,pose2_to_pose3_retreat,0.580323042879,0.000181806033767,1.05002054994,0.550894232567,0.00885604499058,1.04969225422
+357,5.950000000,pose2_to_pose3_retreat,0.579915886139,0.000181806866875,1.05002064419,0.550487076337,0.008856044747,1.04969234639
+358,5.966666667,pose2_to_pose3_retreat,0.579526555775,0.000181717382394,1.05002035578,0.550097748585,0.00885596406802,1.04969207858
+359,5.983333333,pose2_to_pose3_retreat,0.579150367437,0.000181729682816,1.05002051261,0.549721559586,0.00885597249972,1.04969221792
+360,6.000000000,pose2_to_pose3_retreat,0.578793520097,0.000181850950318,1.05002044109,0.549364711538,0.00885609011619,1.04969214675
+361,6.016666667,pose2_to_pose3_retreat,0.578464972369,0.000181831575294,1.05002031944,0.54903616495,0.0088560730042,1.04969202784
+362,6.033333333,pose2_to_pose3_retreat,0.578164041084,0.000181889183496,1.05002034727,0.548735232898,0.00885612714436,1.04969205509
+363,6.050000000,pose2_to_pose3_retreat,0.577890903607,0.000181878008721,1.05002046987,0.548462095745,0.00885611582194,1.04969217346
+364,6.066666667,pose2_to_pose3_retreat,0.577648860173,0.00018182918417,1.05002062764,0.5482200538,0.00885607079846,1.04969232712
+365,6.083333333,pose2_to_pose3_retreat,0.577429751825,0.000181878572031,1.05002075526,0.548000945536,0.00885612027027,1.04969245508
+366,6.100000000,pose2_to_pose3_retreat,0.577224653459,0.00018166794042,1.05002042494,0.547795848043,0.00885591140923,1.04969213135
+367,6.116666667,pose2_to_pose3_retreat,0.577032305728,0.00018174789106,1.05002058792,0.547603500169,0.00885599085353,1.04969229508
+368,6.133333333,pose2_to_pose3_retreat,0.576853458903,0.000181822514319,1.05002048065,0.54742465366,0.00885606561077,1.04969218904
+369,6.150000000,pose2_to_pose3_retreat,0.576686107039,0.000181825025407,1.0500203817,0.547257301839,0.00885606794714,1.04969209332
+370,6.166666667,pose2_to_pose3_retreat,0.57653136801,0.000181737861055,1.05002054854,0.547102563416,0.00885598246604,1.04969225708
+371,6.183333333,pose2_to_pose3_retreat,0.576393168149,0.000181660059085,1.0500207029,0.546964364426,0.00885590664649,1.04969240341
+372,6.200000000,pose2_to_pose3_retreat,0.576271230681,0.000181710042001,1.05002055395,0.546842426291,0.00885595387499,1.04969225273
+373,6.216666667,pose2_to_pose3_retreat,0.576166997749,0.000181808600099,1.05002059048,0.546738192237,0.00885604827569,1.04969228879
+374,6.233333333,pose2_to_pose3_retreat,0.576076861946,0.000181773584449,1.05002078259,0.546648056831,0.00885601439948,1.04969248273
+375,6.250000000,pose2_to_pose3_retreat,0.575999770817,0.000181785320916,1.05002043974,0.546570966959,0.00885603051753,1.04969215032
+376,6.266666667,pose2_to_pose3_retreat,0.575933450039,0.000181716614398,1.0500203294,0.546504646514,0.00885596197707,1.04969203264
+377,6.283333333,pose2_to_pose3_retreat,0.575876215533,0.000181644088456,1.05002050866,0.546447413951,0.00885589561399,1.04969221081
+378,6.300000000,pose2_to_pose3_retreat,0.575827338313,0.000181697092478,1.05002060549,0.546398536042,0.00885594613079,1.04969230855
+379,6.316666667,pose2_to_pose3_retreat,0.575786231441,0.000181764367556,1.05002063582,0.546357427322,0.0088560071307,1.04969233704
+380,6.333333333,pose2_to_pose3_retreat,0.575753120799,0.000181688441732,1.05002071576,0.54632431833,0.0088559371017,1.04969241748
+381,6.350000000,pose2_to_pose3_retreat,0.575727482987,0.000181628611324,1.05002052103,0.546298682083,0.00885588260771,1.04969222555
+382,6.366666667,pose2_to_pose3_retreat,0.57570877759,0.000181653268803,1.05002041456,0.546279975935,0.00885590458003,1.04969211821
+383,6.383333333,pose2_to_pose3_retreat,0.575695151657,0.000181680510235,1.0500207323,0.54626634924,0.0088559291027,1.04969243285
+384,6.400000000,pose2_to_pose3_retreat,0.575685571012,0.00018177475495,1.05002077123,0.546256767033,0.0088560182017,1.04969247521
+385,6.416666667,pose2_to_pose3_retreat,0.575679408803,0.000181784521532,1.05002068352,0.546250604775,0.00885602804023,1.04969239
+386,6.433333333,pose2_to_pose3_retreat,0.575675247665,0.000181713115957,1.0500205391,0.546246444975,0.00885596143046,1.04969224621
+387,6.450000000,pose2_to_pose3_retreat,0.575672752866,0.000181669799156,1.05002052095,0.54624395107,0.00885592103593,1.0496922266
+388,6.466666667,pose2_to_pose3_retreat,0.57567122117,0.000181643059831,1.05002052939,0.546242419949,0.0088558961042,1.04969223362
+389,6.483333333,pose2_to_pose3_retreat,0.575670375421,0.000181628295307,1.05002053406,0.546241574518,0.00885588233776,1.0496922375
+390,6.500000000,pose2_to_pose3_retreat,0.57566988187,0.000181636318975,1.05002049142,0.546241080883,0.00885589010052,1.04969219564
+391,6.516666667,pose2_to_pose3_retreat,0.575669589306,0.000181644404186,1.05002045707,0.546240788217,0.00885589786235,1.04969216199
+392,6.533333333,pose2_to_pose3_retreat,0.575669357631,0.000181650806704,1.05002042986,0.54624055646,0.00885590400878,1.04969213535
+393,6.550000000,pose2_to_pose3_retreat,0.575668992074,0.000181660909141,1.05002038694,0.546240190775,0.00885591370715,1.04969209331
+394,6.566666667,pose2_to_pose3_retreat,0.575668421393,0.000181676680343,1.05002031994,0.546239619894,0.00885592884755,1.04969202768
+395,6.583333333,pose2_to_pose3_retreat,0.575667969681,0.000181689163729,1.0500202669,0.546239168024,0.00885594083164,1.04969197574
+396,6.600000000,pose2_to_pose3_retreat,0.575667750455,0.000181746417843,1.05002033468,0.546238947587,0.00885599390953,1.049692042
+397,6.616666667,pose2_to_pose3_retreat,0.575667566351,0.000181797268254,1.05002039666,0.546238762406,0.00885604104002,1.04969210259
+398,6.633333333,pose2_to_pose3_retreat,0.575667520277,0.000181809994111,1.05002041217,0.546238716062,0.00885605283493,1.04969211776
+399,6.650000000,pose2_to_pose3_retreat,0.575667381434,0.000181848343313,1.05002045892,0.546238576406,0.00885608837872,1.04969216346
+400,6.666666667,pose2_to_pose3_retreat,0.575667323731,0.000181864281102,1.05002047834,0.546238518366,0.0088561031506,1.04969218245
+401,6.683333333,pose2_to_pose3_retreat,0.575667291587,0.000181873159671,1.05002048916,0.546238486033,0.00885611137966,1.04969219303
+402,6.700000000,pose2_to_pose3_retreat,0.575667197607,0.000181899117305,1.0500205208,0.546238391503,0.00885613543839,1.04969222396
+403,6.716666667,pose2_to_pose3_retreat,0.57566708935,0.000181856214753,1.05002053041,0.546238283651,0.00885609406116,1.04969223398
+404,6.733333333,pose2_to_pose3_retreat,0.575666977903,0.000181770361326,1.05002052493,0.546238173218,0.00885601190387,1.04969222963
+405,6.750000000,pose2_to_pose3_retreat,0.575666895427,0.00018170682528,1.05002052088,0.546238091491,0.00885595110316,1.04969222641
+406,6.766666667,pose2_to_pose3_retreat,0.575666834553,0.000181705559784,1.05002045588,0.546238031487,0.00885595280026,1.04969216449
+407,6.783333333,pose2_to_pose3_retreat,0.575666778877,0.00018171124898,1.05002038713,0.546237976654,0.00885596134067,1.04969209892
+408,6.800000000,pose2_to_pose3_retreat,0.575666764394,0.000181712728876,1.05002036925,0.546237962401,0.00885596354444,1.04969208183
diff --git a/Part2/Obstacle_avoidance/cylinder_PLA_10/position_02/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_PLA_10/position_02/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f1841395efc8c0c71318507ad1137073a94332c8
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_PLA_10/position_02/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:72f03d8de471ecc06fa31c7a2c7c45f4a6eede6224dcdfb6a2f8c51d07bbb172
+size 25773882
diff --git a/Part2/Obstacle_avoidance/cylinder_PLA_10/position_02/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_PLA_10/position_02/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c307964d0abad48922f9657c201ad0600c6485d8
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_PLA_10/position_02/depth_01/franka_data.csv
@@ -0,0 +1,407 @@
+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,793,749,728,707,697,655,934,803,836,667,657,676,0.400951371781,-0.00544111738741,0.0499417186551,0.999999979122,5.33877579617e-05,-0.000195242491902,-2.80405884778e-05,1793256520992955392
+1,0.016666667,BASELINE,793.575777964,749.575777964,728,707,697.575777964,655,934,803,835.424222036,667,657,675.424222036,0.400951877076,-0.00544107056965,0.0499430980458,0.999999979327,5.4600594633e-05,-0.000193875153998,-2.78669351611e-05,1793256521009622016
+2,0.033333333,BASELINE,793.845714248,749.845714248,728,707,697.845714248,655,934,803,835,667,657.154285752,675,0.400952100687,-0.00544089146181,0.0499437668641,0.999999979388,5.57808356544e-05,-0.000193251368449,-2.77014337427e-05,1793256521026288896
+3,0.050000000,BASELINE,793.259565239,749.259565239,728,707,697.259565239,655,934,803,835,667,657.740434761,675,0.400951535834,-0.00544034205906,0.0499424467102,0.999999979047,5.68698380453e-05,-0.000194708869664,-2.75587503702e-05,1793256521042955520
+4,0.066666667,BASELINE,793.322459715,749.322459715,728,707,697,655,934,803,835,667,657.677540285,675.322459715,0.400951343292,-0.00544018146429,0.0499420410572,0.99999997899,5.65911107235e-05,-0.000195087386477,-2.75514843e-05,1793256521059622144
+5,0.083333333,BASELINE,793.901206882,749.901206882,728,707,697,655,934,803,835,667,657.098793118,675.901206882,0.400951446658,-0.00544032988988,0.0499423622395,0.999999979157,5.52253267341e-05,-0.00019460833821,-2.76518464279e-05,1793256521076289024
+6,0.100000000,BASELINE,794,750,728,707,697,655,934,803,835,667,657,676,0.400952043864,-0.00544202914119,0.0499429075313,0.999999979422,5.33302030666e-05,-0.000193792636026,-2.74875191455e-05,1793256521092955648
+7,0.116666667,BASELINE,794,750,728,707,697.055208298,655,934,803,835.055208298,667,657.055208298,676,0.400952517133,-0.00544370647876,0.0499432899164,0.999999979638,5.17490460943e-05,-0.000193132989131,-2.73244557737e-05,1793256521109622272
+8,0.133333333,BASELINE,794,750,728,707,697.631951772,655,934,803,835.631951772,667,657.631951772,676,0.400950859338,-0.00544216123543,0.0499416975942,0.999999979215,5.41631292241e-05,-0.000194602167733,-2.76880187267e-05,1793256521126288896
+9,0.150000000,BASELINE,793.787397251,749.787397251,728,707,697.787397251,655,934,802.787397251,835.787397251,667,657.787397251,675.787397251,0.400950053263,-0.00544119156455,0.0499411102419,0.99999997896,5.57724591445e-05,-0.000195428721531,-2.78868124726e-05,1793256521142955520
+10,0.166666667,BASELINE,793.19985519,749.19985519,728,707,697.19985519,655,934,802.19985519,835.19985519,667,657.19985519,675.19985519,0.400950749255,-0.00544123695473,0.0499422952219,0.999999979012,5.59625521487e-05,-0.000195121962914,-2.77950245503e-05,1793256521159622144
+11,0.183333333,BASELINE,793,749,728,707,697.384287288,655,934,802.384287288,835.384287288,667,657.384287288,675.384287288,0.40095139413,-0.00544155168356,0.0499426860626,0.999999979152,5.49946266516e-05,-0.000194719484052,-2.74922814384e-05,1793256521176288768
+12,0.200000000,BASELINE,793,749,728,707,697.966677309,655,934,802.966677309,835.966677309,667,657.966677309,675.966677309,0.400952012656,-0.00544200525832,0.0499426675192,0.999999979336,5.34297346867e-05,-0.00019426766072,-2.70807894701e-05,1793256521192955392
+13,0.216666667,BASELINE,793,749.54094016,728,707,698,655,934,803,836,667,657.45905984,675.45905984,0.400950935662,-0.00544163536937,0.0499417224651,0.999999979044,5.37664752511e-05,-0.000195638967272,-2.7315273462e-05,1793256521209622016
+14,0.233333333,BASELINE,793,749.885450712,728,707.114549288,698,655,934,803,836,667,657,675,0.400950150998,-0.00544119493343,0.0499410254088,0.999999978847,5.42841606651e-05,-0.000196470847682,-2.7547910377e-05,1793256521226288896
+15,0.250000000,BASELINE,793,749.31248367,728,707.68751633,698,655,934,803,836,667,657,675,0.400950948018,-0.00544067217255,0.0499415458475,0.999999979148,5.50641143602e-05,-0.000194701191753,-2.76162638522e-05,1793256521242955520
+16,0.266666667,BASELINE,793.269660429,749.269660429,728,707.730339571,697.730339571,655.269660429,934,803,835.730339571,667.269660429,657,675.269660429,0.400952724729,-0.00544034975164,0.0499426551697,0.999999979584,5.54956548973e-05,-0.000192332664313,-2.75568431126e-05,1793256521259622144
+17,0.283333333,BASELINE,793.862813567,749.862813567,728,707.137186433,697.137186433,655.862813567,934,803,835.137186433,667.862813567,657,675.862813567,0.400955676707,-0.00544026766455,0.0499444709341,0.999999980179,5.55092285519e-05,-0.000189245712819,-2.73441406027e-05,1793256521276289024
+18,0.300000000,BASELINE,793.557900192,749.557900192,728,707,697,655.557900192,934,803,835.442099808,667.557900192,657,676,0.400953757558,-0.00544169206932,0.0499435758446,0.99999997986,5.35278388028e-05,-0.000191478656427,-2.74046626024e-05,1793256521292955648
+19,0.316666667,BASELINE,793.017172011,749.017172011,728,707,697,655,934.017172011,803,836,667,657,676,0.400950525328,-0.00544350857183,0.0499419327671,0.999999979273,5.10542008576e-05,-0.000195165978148,-2.75253328674e-05,1793256521309622528
+20,0.333333333,BASELINE,793.590886172,749.590886172,728,707,697,655,934.590886172,803,836,667,657,676,0.400952235319,-0.00544334290391,0.0499424814043,0.999999979441,5.20800225851e-05,-0.00019411447859,-2.69311513263e-05,1793256521326288896
+21,0.350000000,BASELINE,794,750,728,707.169366076,697,655,934.830633924,803,836,667,657,676,0.400953176289,-0.00544304868883,0.04994249935,0.999999979468,5.27419012714e-05,-0.00019383504923,-2.66601138279e-05,1793256521342955520
+22,0.366666667,BASELINE,794,750,728,707.759691139,697,655,934.240308861,803,836,667,657,676,0.400952205858,-0.00544243497008,0.0499411982634,0.999999979147,5.24992002199e-05,-0.000195474598716,-2.71922501872e-05,1793256521359622144
+23,0.383333333,BASELINE,794,749.654589883,728,707.654589883,697,655,934,803,836,667.345410117,657,676,0.400952128478,-0.00544212096597,0.0499411554585,0.999999979178,5.36512146644e-05,-0.00019498009622,-2.73599601151e-05,1793256521376288768
+24,0.400000000,BASELINE,794,749.072033223,728,707.072033223,697,655,934,803,836,667.927966777,657,676,0.400952664236,-0.00544201273541,0.0499419765457,0.999999979445,5.57607921135e-05,-0.000193020428206,-2.72774676154e-05,1793256521392955392
+25,0.416666667,BASELINE,794,749.505180565,728,707,697,655,934,803,835.494819435,667.494819435,657,676,0.400951802179,-0.0054419277308,0.0499414348056,0.999999979353,5.49872106336e-05,-0.000193748313246,-2.70664690888e-05,1793256521409622016
+26,0.433333333,BASELINE,794,749.919060904,728,707,697,655,934,803,835,667,657,675.919060904,0.400951001745,-0.00544187397022,0.0499408909181,0.99999997923,5.41235116427e-05,-0.000194652450996,-2.68596563029e-05,1793256521426288896
+27,0.450000000,BASELINE,794,749.347553244,728,707,697,655,934,803,835,667,657,675.347553244,0.400951770191,-0.00544198971592,0.0499414994809,0.999999979237,5.51792390575e-05,-0.000194326502859,-2.67881090584e-05,1793256521442955520
+28,0.466666667,BASELINE,793.767613082,749.232386918,728.232386918,707,697.232386918,655.232386918,934,803,835,667,657,675.232386918,0.4009522919,-0.00544255816741,0.0499418445914,0.999999979326,5.5041257189e-05,-0.000193930514054,-2.66290744457e-05,1793256521459622144
+29,0.483333333,BASELINE,793.174586618,749.825413382,728.825413382,707,697.825413382,655.825413382,934,803,835,667,657,675.825413382,0.400952430699,-0.00544382916966,0.0499417808522,0.999999979539,5.30507666099e-05,-0.000193425829675,-2.63342688344e-05,1793256521476288768
+30,0.500000000,BASELINE,793.407767457,749.592232543,728.592232543,707,697.592232543,655.592232543,934,803,835,667,657,676,0.400951697786,-0.00544368248054,0.0499412783217,0.9999999794,5.24929281985e-05,-0.000194237613342,-2.67459723931e-05,1793256521492955648
+31,0.516666667,BASELINE,793.985668652,749.014331348,728.014331348,707,697.014331348,655.014331348,934,803,835,667,657,676,0.400950601167,-0.00544294428482,0.0499405927132,0.999999979114,5.25328385425e-05,-0.000195598669964,-2.74524543789e-05,1793256521509622272
+32,0.533333333,BASELINE,793.440282497,749,728,707.559717503,697.559717503,655,934,803,835,667,657.559717503,675.440282497,0.400951158985,-0.00544216265489,0.0499408867657,0.999999979076,5.36238226244e-05,-0.000195511787818,-2.73276581253e-05,1793256521526289152
+33,0.550000000,BASELINE,793.137365569,749.137365569,728,707.862634431,697.862634431,655,934,803,835.137365569,667,657.862634431,675,0.400951591573,-0.00544175830662,0.0499412520251,0.999999979085,5.40962801191e-05,-0.000195352225776,-2.72107275844e-05,1793256521542955520
+34,0.566666667,BASELINE,793.727191434,749.727191434,728,707.272808566,697.272808566,655,934,803,835.727191434,667,657.272808566,675,0.400951473092,-0.00544260030225,0.049941769771,0.999999979228,5.24433703774e-05,-0.000195074548577,-2.71893341795e-05,1793256521559622144
+35,0.583333333,BASELINE,794,749.689118074,728,707,697,655,934,802.689118074,835.689118074,667,657,675,0.400952025331,-0.00544299926547,0.0499420195894,0.99999997937,5.23041662901e-05,-0.000194386639742,-2.71512799772e-05,1793256521576289024
+36,0.600000000,BASELINE,794,749.110707299,728,707,697,655,934,802.110707299,835.110707299,667,657,675,0.400953154756,-0.0054430169781,0.0499420388433,0.999999979512,5.34675785288e-05,-0.000193345706825,-2.70988883549e-05,1793256521592955648
+37,0.616666667,BASELINE,794,749.452647935,728,707,697.452647935,655,934,802.452647935,835,667.452647935,657,675.452647935,0.400952730498,-0.00544264454437,0.0499416915388,0.999999979414,5.38956431822e-05,-0.000193717416564,-2.72362936136e-05,1793256521609622272
+38,0.633333333,BASELINE,793.986850024,750,728,707,697.986850024,655,934,803,835,667.986850024,657.013149976,676,0.400951999289,-0.00544219219266,0.0499412958571,0.999999979271,5.41182798132e-05,-0.000194362339688,-2.74137172481e-05,1793256521626288896
+39,0.650000000,BASELINE,793.395082927,750,728,707,697.395082927,655,934,803,835,667.395082927,657.604917073,676,0.400953943891,-0.00544228683089,0.0499425893232,0.99999997973,5.2960669349e-05,-0.000192315927635,-2.73752128791e-05,1793256521642956288
+40,0.666666667,BASELINE,793.196443083,750,728,707,697,655,934,803,835,667,657.803556917,675.803556917,0.400954758213,-0.0054422899436,0.0499431859821,0.999999979922,5.29957940756e-05,-0.000191323206966,-2.72517311867e-05,1793256521659623424
+41,0.683333333,BASELINE,793.787484779,750,728,707,697,655,934,803,835,667,657.212515221,675.212515221,0.400953302121,-0.00544210920742,0.0499423829524,0.999999979583,5.54267866572e-05,-0.00019244705451,-2.69575540793e-05,1793256521676290048
+42,0.700000000,BASELINE,794,750,728.370614848,707,697,655,934,803,835.370614848,667,657,675.370614848,0.400952295556,-0.00544255549353,0.0499412794704,0.999999979394,5.46188965064e-05,-0.000193641106573,-2.70423572008e-05,1793256521692956672
+43,0.716666667,BASELINE,794,750,728.949303092,707,697,655,934,803,835.949303092,667,657,675.949303092,0.400951541369,-0.00544335380724,0.0499400073062,0.999999979287,5.19926081973e-05,-0.000194874573351,-2.73399302827e-05,1793256521709623552
+44,0.733333333,BASELINE,793.474255685,750,728.474255685,707,697,655,934,803,835.474255685,667,657,676,0.400952363777,-0.00544368173024,0.0499408944869,0.999999979459,5.24280082181e-05,-0.000193899134493,-2.7137940157e-05,1793256521726289408
+45,0.750000000,BASELINE,793.101404826,750,728,707,697,655,934,803,835,667,657,675.898595174,0.400953098314,-0.00544395383812,0.0499417855892,0.999999979613,5.30802836386e-05,-0.000192961458377,-2.68831809677e-05,1793256521742955776
+46,0.766666667,BASELINE,793.674437587,750,728,707,697,655,934,803,835,667,657,675.325562413,0.400952720096,-0.00544417641829,0.0499417306186,0.999999979561,5.3373956528e-05,-0.000193185859628,-2.66060890574e-05,1793256521759622912
+47,0.783333333,BASELINE,793.744567088,749.744567088,728,707,697,655,934,803,835,667,657,675.255432912,0.400952564744,-0.00544353868299,0.0499417818369,0.999999979502,5.43552599478e-05,-0.000193215223207,-2.6632161226e-05,1793256521776289792
+48,0.800000000,BASELINE,793.153096438,749.153096438,728,707,697,655,934,803,835,667,657,675.846903562,0.400952702586,-0.00544176914969,0.0499419727533,0.99999997943,5.62411837493e-05,-0.000192988002739,-2.70570643856e-05,1793256521792956416
+49,0.816666667,BASELINE,793,749.429827736,728.429827736,707.429827736,697,655.429827736,934,803,835,667,657.429827736,675.570172264,0.400952504985,-0.00544270198461,0.0499409389882,0.999999979306,5.48260415276e-05,-0.000194012239451,-2.72426506083e-05,1793256521809623040
+50,0.833333333,BASELINE,793.00969431,749.99030569,728.99030569,708,697.00969431,655.99030569,934,803,835.00969431,667,657.99030569,675.00969431,0.400952206117,-0.00544454261598,0.0499395269139,0.999999979166,5.22850522789e-05,-0.000195416836126,-2.7337331351e-05,1793256521826289920
+51,0.850000000,BASELINE,793.585309908,749.414690092,728.414690092,708,697.585309908,655.414690092,934,803,835.585309908,667,657.414690092,675.585309908,0.400952834364,-0.00544428343679,0.0499409983346,0.999999979595,5.13206280646e-05,-0.00019351177296,-2.70042761623e-05,1793256521842956544
+52,0.866666667,BASELINE,793.839652856,749,728,707.839652856,697.839652856,655,934,803,835.839652856,667,657.160347144,676,0.400952852905,-0.005444062791,0.0499418809186,0.999999979819,5.0653937321e-05,-0.00019255066788,-2.68260985719e-05,1793256521859622912
+53,0.883333333,BASELINE,793.266106038,749,728,707.266106038,697.266106038,655,934,803,835.266106038,667,657.733893962,676,0.400951300294,-0.00544394144223,0.0499412461251,0.999999979524,5.07544780922e-05,-0.000194022055088,-2.70470261643e-05,1793256521876289536
+54,0.900000000,BASELINE,793,749,728.31766368,707,697,655,934,803,835,667,657.68233632,675.68233632,0.400951046572,-0.00544344852968,0.0499408703321,0.999999979416,5.11074160212e-05,-0.000194472505365,-2.71484617599e-05,1793256521892955904
+55,0.916666667,BASELINE,793,749,728.910281823,707,697,655,934,803,835,667,657.089718177,675.089718177,0.400951917107,-0.00544263400933,0.0499407187176,0.999999979471,5.16788168321e-05,-0.000194039281474,-2.71464707962e-05,1793256521909622528
+56,0.933333333,BASELINE,793.489941774,749,728.510058226,707,697,655,934,803,835,667,657,675.489941774,0.40095246666,-0.00544211126349,0.0499413765754,0.999999979619,5.27273564035e-05,-0.000192991291767,-2.71384856673e-05,1793256521926289408
+57,0.950000000,BASELINE,793.932966143,749.067033857,728,707,697,655,934,803,835,667,657.067033857,676,0.40095305989,-0.00544181454055,0.0499422098157,0.999999979795,5.38290105904e-05,-0.000191782978205,-2.70591666926e-05,1793256521942956032
+58,0.966666667,BASELINE,793.35781566,749.64218434,728,707,697,655,934,803,835,667,657.64218434,676,0.40095441825,-0.00544283650921,0.0499432778185,0.999999980069,5.46880456512e-05,-0.000190190748675,-2.64472429928e-05,1793256521959622912
+59,0.983333333,BASELINE,793.222482039,749.777517961,728,707,697.222482039,655,934,803,835,667.222482039,657.777517961,676,0.400954525376,-0.00544363919761,0.0499434986427,0.999999980108,5.45074645437e-05,-0.000190074918279,-2.61571200046e-05,1793256521976290048
+60,1.000000000,BASELINE,793.811254105,749.188745895,728,707,697.811254105,655,934,803,835,667.811254105,657.188745895,676,0.400952572499,-0.00544408086749,0.049942324689,0.999999979761,5.26152800925e-05,-0.000192389801938,-2.63968032405e-05,1793256521992956928
+61,1.016666667,BASELINE,793.606443081,749,728,707,697.606443081,655,934,803,835.393556919,667.606443081,657.393556919,675.606443081,0.400951718096,-0.00544338958821,0.0499410165617,0.999999979392,5.35279434038e-05,-0.000193991052651,-2.67957078752e-05,1793256522009623296
+62,1.033333333,BASELINE,793.027192713,749,728,707,697.027192713,655,934,803,835.972807287,667.027192713,657.972807287,675.027192713,0.400951381992,-0.0054421637452,0.0499396451268,0.999999979011,5.57640287525e-05,-0.000195255587093,-2.72697385301e-05,1793256522026289664
+63,1.050000000,BASELINE,793.54913523,749.54913523,728,707,697,655,934,803,835.45086477,667.54913523,657.45086477,675,0.400952957798,-0.00544231459328,0.0499406037009,0.999999979346,5.60766362924e-05,-0.00019345317266,-2.71815879935e-05,1793256522042956288
+64,1.066666667,BASELINE,794,749.875180937,728,707,697.124819063,655,934,803,835,667.875180937,657.124819063,675,0.400954219759,-0.00544272638988,0.049941536417,0.999999979692,5.52866488003e-05,-0.000191898605827,-2.70975729497e-05,1793256522059622656
+65,1.083333333,BASELINE,794,749.30129657,728,707,697.69870343,655,934,803,835,667.30129657,657.69870343,675,0.400954013773,-0.0054438330407,0.049941963194,0.999999979948,5.08706880609e-05,-0.000191779232469,-2.71280623671e-05,1793256522076289280
+66,1.100000000,BASELINE,794,749.280355847,728,707,698,655,934,803,835.280355847,667,657.719644153,675,0.400953220764,-0.00544418030669,0.049941830604,0.999999979806,4.99138502525e-05,-0.000192792666205,-2.69678386751e-05,1793256522092955904
+67,1.116666667,BASELINE,794,749.870594402,728,707,698,655,934,803,835.870594402,667,657.129405598,675,0.400951778907,-0.00544368820995,0.0499410797348,0.99999997923,5.27804478103e-05,-0.000195058213407,-2.6596816115e-05,1793256522109622784
+68,1.133333333,BASELINE,794,750,728,707,697.546248465,655,934,803,835.546248465,667,657,675,0.400952123899,-0.0054434200619,0.0499412983844,0.999999979407,5.25040020654e-05,-0.000194205837949,-2.67210442847e-05,1793256522126289408
+69,1.150000000,BASELINE,794,750,728,707.034473482,697,655,934,803,835.034473482,667,657.034473482,675.034473482,0.400952956599,-0.00544321420035,0.0499417604301,0.99999997977,5.14709446448e-05,-0.000192571496525,-2.69733283527e-05,1793256522142956032
+70,1.166666667,BASELINE,794,750,728,707.608207643,697,655,934,803,835.608207643,667,657.608207643,675.608207643,0.40095356943,-0.00544299895202,0.0499417711392,0.999999979752,5.24085667971e-05,-0.000192400878752,-2.70533150429e-05,1793256522159622656
+71,1.183333333,BASELINE,793.813854302,750,728,707.813854302,697,655,934,803,835.813854302,667,657.813854302,676,0.400953933811,-0.0054429567317,0.049941557195,0.999999979719,5.28523674332e-05,-0.000192435786862,-2.71438898883e-05,1793256522176289536
+72,1.200000000,BASELINE,793.2268635,750,728,707.2268635,697,655,934,803,835.2268635,667,657.2268635,676,0.400953763177,-0.0054432871089,0.0499408594834,0.999999979657,5.22327757544e-05,-0.000192913273226,-2.72572652232e-05,1793256522192956160
+73,1.216666667,BASELINE,793,749.642595993,728,707,697,655,934,803,835,667.357404007,657,676,0.400953190646,-0.00544217300329,0.049940277963,0.999999979427,5.37015129301e-05,-0.000193683259556,-2.73574145924e-05,1793256522209622528
+74,1.233333333,BASELINE,793,749.060044072,728,707,697,655,934,803,835,667.939955928,657,676,0.400952364938,-0.00544014894062,0.0499397696375,0.999999979086,5.64858002695e-05,-0.00019463750724,-2.7449232211e-05,1793256522226289152
+75,1.250000000,BASELINE,793.514449922,749.514449922,728,707,697,655,934,803,835.514449922,668,657.514449922,676,0.400951828173,-0.00544255807872,0.0499404438162,0.999999979267,5.36634829921e-05,-0.000194533225895,-2.72767621222e-05,1793256522242956032
+76,1.266666667,BASELINE,793.911557102,749.911557102,728,707,697,655,934,803,835.911557102,667.911557102,657.911557102,675.911557102,0.400951346698,-0.00544474347407,0.0499410192258,0.999999979423,5.11283090811e-05,-0.000194429468815,-2.71389972742e-05,1793256522259623168
+77,1.283333333,BASELINE,793.335219847,749.335219847,728,707,697,655,934,803,835.335219847,667.335219847,657.335219847,675.335219847,0.400950987063,-0.00544288426327,0.0499403001541,0.99999997917,5.37313441594e-05,-0.000194999635375,-2.73602230052e-05,1793256522276289792
+78,1.300000000,BASELINE,793,749,728,707,697.246034579,655,934,803,835.246034579,667,657,675.246034579,0.400951446981,-0.00544142130019,0.0499402853682,0.999999979153,5.53028075773e-05,-0.000194641185077,-2.74043651233e-05,1793256522292956160
+79,1.316666667,BASELINE,793,749,728,707,697.83412518,655,934,803,835.83412518,667,657,675.83412518,0.400953046302,-0.00544050923103,0.0499412497341,0.99999997947,5.54401012365e-05,-0.000192991700807,-2.72023120881e-05,1793256522309622528
+80,1.333333333,BASELINE,793,749,728,707,697.582207646,655,934,803,835.582207646,667,657.417792354,675.582207646,0.400953430996,-0.00544117224747,0.0499414992616,0.999999979622,5.3823702635e-05,-0.000192674238881,-2.71378789333e-05,1793256522326289152
+81,1.350000000,BASELINE,793,749,728,707,697.000278244,655,934,803,835.000278244,667,657.999721756,675.000278244,0.400953338504,-0.00544245406381,0.0499414679524,0.999999979704,5.15183353037e-05,-0.000192880085141,-2.71275121434e-05,1793256522342955776
+82,1.366666667,BASELINE,793.574020707,749.574020707,728,707,697.574020707,655.574020707,934,803,835,667,658,675,0.400953307897,-0.00544299537547,0.0499411700212,0.999999979624,5.19373796074e-05,-0.0001931682625,-2.7223495714e-05,1793256522359622400
+83,1.383333333,BASELINE,794,750,728.147871337,707.147871337,698,655.852128663,934,802.852128663,835,667,657.852128663,675.147871337,0.400953111701,-0.00544316061997,0.0499410162992,0.999999979573,5.25507158444e-05,-0.000193256794229,-2.72933502721e-05,1793256522376289024
+84,1.400000000,BASELINE,794,750,728.720444956,707.720444956,698,655.279555044,934,802.279555044,835,667,657.279555044,675.720444956,0.400952439829,-0.00544224677695,0.0499412771278,0.999999979604,5.37183362352e-05,-0.000192771809326,-2.72880134186e-05,1793256522392955904
+85,1.416666667,BASELINE,794,750,728.696105982,707.696105982,698,655,934,802.303894018,835,667.303894018,657.303894018,676,0.400952886175,-0.00544173274766,0.0499417401443,0.999999979735,5.45525442838e-05,-0.000191853038611,-2.73319405036e-05,1793256522409622784
+86,1.433333333,BASELINE,794,750,728.102281214,707.102281214,698,655,934,802.897718786,835,667.897718786,657.897718786,676,0.40095439936,-0.0054416001616,0.0499423960586,0.999999979959,5.50686594904e-05,-0.000190520413625,-2.74228679569e-05,1793256522426289408
+87,1.450000000,BASELINE,793.521721228,750,728,707,698,655,934,803,835.478278772,668,658,676,0.400953598895,-0.00544260201688,0.0499415973686,0.999999979846,5.36375967132e-05,-0.000191519546112,-2.74180200712e-05,1793256522442955776
+88,1.466666667,BASELINE,793.055875667,750,728,707,697.944124333,655.055875667,934,803,836,667.944124333,658,676,0.400952406429,-0.00544353763352,0.0499405828246,0.999999979665,5.218993392e-05,-0.000192860512552,-2.73913218683e-05,1793256522459622400
+89,1.483333333,BASELINE,793.631584641,750,728,707,697.368415359,655.631584641,934,803,836,667.368415359,658,676,0.400952045943,-0.00544166088002,0.0499403760246,0.99999997955,5.4357309821e-05,-0.000192867725266,-2.73467497751e-05,1793256522476289024
+90,1.500000000,BASELINE,793.78899997,749.78899997,728,707,697,655.78899997,934,803,836,667,657.78899997,676,0.400952140409,-0.00544068367104,0.0499407217606,0.999999979528,5.55791588435e-05,-0.000192636266051,-2.73094970855e-05,1793256522492955648
+91,1.516666667,BASELINE,793.202997368,749.202997368,728,707,697,655.202997368,934,803,836,667,657.202997368,676,0.400953043445,-0.00544130518958,0.0499420494984,0.99999997968,5.51205575903e-05,-0.000191980624023,-2.72852529065e-05,1793256522509622272
+92,1.533333333,BASELINE,793,749,728,707,697,655.380027794,934,803,836,667,657,676,0.400953331648,-0.00544207835864,0.0499419211504,0.99999997966,5.49529097584e-05,-0.000192175266162,-2.6996161552e-05,1793256522526289152
+93,1.550000000,BASELINE,793,749,728,707,697,655.96147493,934,803,836,667,657,676,0.400953293983,-0.00544293190438,0.0499410210595,0.999999979548,5.49394707285e-05,-0.000192820569168,-2.65666979782e-05,1793256522542955776
+94,1.566666667,BASELINE,793.537954732,749.537954732,728,707,697,656,934,803,836,667,657.537954732,676,0.400952866736,-0.00544366962241,0.0499404825167,0.999999979415,5.29586678493e-05,-0.000194037644323,-2.67512979905e-05,1793256522559622912
+95,1.583333333,BASELINE,793.886005701,750,728,707.113994299,697.113994299,655.886005701,934,803,836,667.113994299,657.886005701,676,0.400952376307,-0.00544423612354,0.0499401901698,0.999999979333,5.09535119436e-05,-0.000194968984404,-2.69394543287e-05,1793256522576289792
+96,1.600000000,BASELINE,793.31032139,750,728,707.68967861,697.68967861,655.31032139,934,803,836,667.68967861,657.31032139,676,0.400951741949,-0.00544414246462,0.0499407910387,0.999999979485,4.94151256688e-05,-0.000194578742768,-2.69655378651e-05,1793256522592956160
+97,1.616666667,BASELINE,793,750,728,707.727710512,697.727710512,655,934,803,836,667.727710512,657.272289488,675.727710512,0.400951488368,-0.00544390481207,0.0499407397764,0.999999979489,4.99421704244e-05,-0.000194406629915,-2.71074545989e-05,1793256522609622528
+98,1.633333333,BASELINE,793,750,728,707.136999586,697.136999586,655,934,803,836,667.136999586,657.863000414,675.136999586,0.400951680077,-0.00544349877013,0.0499399258975,0.999999979314,5.28845766692e-05,-0.000194489601781,-2.73848292712e-05,1793256522626289152
+99,1.650000000,BASELINE,793.444171985,749.555828015,728.444171985,707,697.444171985,655,934,803,836,667,657.555828015,675,0.400953347409,-0.00544332309548,0.0499405888351,0.999999979682,5.37978251071e-05,-0.000192374994805,-2.70928636783e-05,1793256522642955520
+100,1.666666667,BASELINE,794,749,729,707,697.977668841,655,934,803,835.977668841,667,657,675.022331159,0.400955317712,-0.00544322935755,0.049941633813,0.999999980173,5.40927342669e-05,-0.000189782073838,-2.66564752164e-05,1793256522659622144
+101,1.683333333,BASELINE,794,749,729,707,697.402774594,655,934,803,835.402774594,667,657,675.597225406,0.40095375956,-0.00544344186589,0.0499410979155,0.999999979778,5.42483689974e-05,-0.000191773033436,-2.69003309044e-05,1793256522676289024
+102,1.700000000,BASELINE,793.823868898,749,729,707,697.176131102,655,934,803,835,667,657.176131102,676,0.400953112589,-0.00544354173441,0.0499409580815,0.999999979597,5.40115343789e-05,-0.000192761319751,-2.70455856844e-05,1793256522692955904
+103,1.716666667,BASELINE,793.235576153,749,729,707,697.764423847,655,934,803,835,667,657.764423847,676,0.40095459786,-0.00544337801623,0.0499417450698,0.999999979922,5.2856288346e-05,-0.000191403265701,-2.69601059857e-05,1793256522709622272
+104,1.733333333,BASELINE,793,749.347338084,728.652661916,707,697.652661916,655,934,803,835.347338084,667,657.652661916,676,0.400955279305,-0.00544327064577,0.049942167681,0.999999980133,5.21701799996e-05,-0.000190484445977,-2.69947301902e-05,1793256522726288896
+105,1.750000000,BASELINE,793,749.926660125,728.073339875,707,697.073339875,655,934,803,835.926660125,667,657.073339875,676,0.400955423882,-0.00544320090941,0.049942346928,0.999999980268,5.17974043442e-05,-0.000189858986741,-2.7109570694e-05,1793256522742955520
+106,1.766666667,POSE1_TO_POSE2_PRESS,794,750,728,707,697,655,934,803,836,668,657,675,0.400953479904,-0.00544465737678,0.0499417824067,0.999999979924,5.20218166835e-05,-0.000191765770724,-2.59151534373e-05,1793256522774002176
+107,1.783333333,POSE1_TO_POSE2_PRESS,794,750,728,707,697,655.552632253,934,803,836,667.447367747,657,675,0.400952388498,-0.00544443561604,0.0499410546442,0.999999979741,5.12482030848e-05,-0.000192825355879,-2.66368866211e-05,1793256522790668544
+108,1.800000000,POSE1_TO_POSE2_PRESS,794,750,728,707.117076345,697.117076345,656,934,803,835.882923655,667,657.117076345,675.117076345,0.400951626303,-0.00544415333608,0.0499405391892,0.999999979614,5.04399754713e-05,-0.000193615884867,-2.72195227809e-05,1793256522807334912
+109,1.816666667,POSE1_TO_POSE2_PRESS,794,750,728,707.73172023,697.73172023,656,934,803,835.26827977,667,657.73172023,675.73172023,0.400952263235,-0.005443613853,0.0499409260283,0.99999997973,4.94846400981e-05,-0.00019326294139,-2.72110050419e-05,1793256522824001536
+110,1.833333333,POSE1_TO_POSE2_PRESS,793.675743669,749.675743669,728,707.675743669,697.675743669,655.675743669,934,803,835,667,657.675743669,676,0.400952839121,-0.00544355696803,0.049940991181,0.999999979822,5.02709100651e-05,-0.00019259946866,-2.70903373142e-05,1793256522840667904
+111,1.850000000,POSE1_TO_POSE2_PRESS,793.100331406,749.100331406,728,707.100331406,697.100331406,655.100331406,934,803,835,667,657.100331406,676,0.400953367724,-0.00544387388421,0.0499408071685,0.999999979892,5.24061576398e-05,-0.000191695472461,-2.68828027096e-05,1793256522857334528
+112,1.866666667,POSE1_TO_POSE2_PRESS,793.47430047,749.47430047,728,707,697.47430047,655.47430047,934,802.52569953,835,667,657.47430047,676,0.400957403352,-0.00544383224469,0.0499426244317,0.999999980596,5.20822820973e-05,-0.000188085824538,-2.68096125124e-05,1793256522874001152
+113,1.883333333,POSE1_TO_POSE2_PRESS,793.9496368,749.9496368,728,707,697.9496368,655.9496368,934,802.0503632,835.0503632,667,658,676,0.400962486437,-0.00544388960445,0.0499448730152,0.999999981448,5.10963093668e-05,-0.000183789083427,-2.67382496335e-05,1793256522890667776
+114,1.900000000,POSE1_TO_POSE2_PRESS,793.356373258,749.356373258,728,707,697.356373258,655.356373258,934,802.643626742,835.643626742,667,658,676,0.400970876899,-0.00544583041516,0.0499472151094,0.999999982587,4.85714290108e-05,-0.000178245218379,-2.63807436658e-05,1793256522907334400
+115,1.916666667,POSE1_TO_POSE2_PRESS,793,749,728,707,697,655,934,803,835.768950353,667,657.768950353,676,0.400986270484,-0.0054469872553,0.0499512490854,0.999999984417,4.80354678591e-05,-0.000167858912543,-2.61274493233e-05,1793256522924001024
+116,1.933333333,POSE1_TO_POSE2_PRESS,793,749,728,707,697,655,934,803,835.190314045,667,657.190314045,676,0.40101219943,-0.00544696470496,0.049957828296,0.999999987108,5.04915988664e-05,-0.000150187732045,-2.60309289802e-05,1793256522940667648
+117,1.950000000,POSE1_TO_POSE2_PRESS,793.384301713,749.384301713,728,707,697,655,934.384301713,803,835,667,657.384301713,676,0.401044330394,-0.00544710984595,0.0499638032181,0.999999989896,4.97852041198e-05,-0.000130531572228,-2.6287071385e-05,1793256522957334272
+118,1.966666667,POSE1_TO_POSE2_PRESS,793.956947079,749.956947079,728,707,697,655,934.956947079,803,835,667,657.956947079,676,0.401079500928,-0.00544733717132,0.049969481983,0.999999992474,4.75288772446e-05,-0.000109902585952,-2.67160513853e-05,1793256522974000640
+119,1.983333333,POSE1_TO_POSE2_PRESS,793.463487195,749.463487195,728,707,697,655,934.463487195,803,835,667,657.463487195,675.463487195,0.401131801293,-0.00544887932766,0.0499743900511,0.99999999498,4.64991296216e-05,-8.45517424606e-05,-2.69957548484e-05,1793256522990667520
+120,2.000000000,POSE1_TO_POSE2_PRESS,793.118501807,749.118501807,728,707,697,655,934,803,835,667,657,675.118501807,0.401186134049,-0.00545017225534,0.0499784707402,0.999999996564,4.62271305821e-05,-6.32217541337e-05,-2.7157439175e-05,1793256523007334144
+121,2.016666667,POSE1_TO_POSE2_PRESS,793.707884648,749.707884648,728,707,697,655,934,803,835,667,657,675.707884648,0.401243009268,-0.00545005010983,0.0499795127025,0.999999996695,4.85699098234e-05,-5.93944212276e-05,-2.68983818207e-05,1793256523024000768
+122,2.033333333,POSE1_TO_POSE2_PRESS,794,750,728,707,697,655,934,803,835,667,657,676,0.401311786867,-0.0054519206463,0.0499813835142,0.999999996931,4.8573945313e-05,-5.55418547513e-05,-2.63538857538e-05,1793256523040667392
+123,2.050000000,POSE1_TO_POSE2_PRESS,794,750,728,707,697,655,934,803,835,667,657,676,0.401392260554,-0.00545574932803,0.04998406881,0.999999997269,4.62797714855e-05,-5.16644922769e-05,-2.5528898149e-05,1793256523057334016
+124,2.066666667,POSE1_TO_POSE2_PRESS,794,749.552541293,728,707,697.447458707,655,934,803,835.447458707,667.447458707,657,676,0.401489626982,-0.00545926022825,0.0499848677547,0.999999997463,4.55358083695e-05,-4.88923647551e-05,-2.46791122932e-05,1793256523074000640
+125,2.083333333,POSE1_TO_POSE2_PRESS,794,749.023187463,728,707,698,655,934,803,836,667.976812537,657,676,0.401592480056,-0.00546275842649,0.0499851056083,0.999999997617,4.50254518017e-05,-4.66068925833e-05,-2.3816194512e-05,1793256523090667520
+126,2.100000000,POSE1_TO_POSE2_PRESS,794,749.609934942,728,707,698,655,934,803,836,667.390065058,657,676,0.401711404054,-0.00546815413765,0.0499848025797,0.999999997788,3.94303103035e-05,-4.84761472605e-05,-2.2806275474e-05,1793256523107334144
+127,2.116666667,POSE1_TO_POSE2_PRESS,794,749.806377543,728,707,697.806377543,655,934,803,835.806377543,667,657,676,0.40184379611,-0.00547333039274,0.0499855371906,0.999999997961,3.5441333532e-05,-4.84822717344e-05,-2.16983684591e-05,1793256523124000768
+128,2.133333333,POSE1_TO_POSE2_PRESS,794,749.228758688,728,707,697.228758688,655,934,803,835.228758688,667,657,676,0.402002898305,-0.00547807141697,0.0499883296712,0.999999998189,3.46377393197e-05,-4.47933944031e-05,-2.03961296133e-05,1793256523140667392
+129,2.150000000,POSE1_TO_POSE2_PRESS,793.650139846,749,728,707,697.349860154,655.349860154,934,803,835,667,657,675.650139846,0.402178370776,-0.0054839523417,0.049986135807,0.999999998026,3.1688981996e-05,-5.07002071741e-05,-1.93318660767e-05,1793256523157334016
+130,2.166666667,POSE1_TO_POSE2_PRESS,793.070865224,749,728,707,697.929134776,655.929134776,934,803,835,667,657,675.070865224,0.402364577774,-0.00549058073604,0.0499806722377,0.999999997479,2.73335726726e-05,-6.28992198217e-05,-1.84236504137e-05,1793256523174000640
+131,2.183333333,POSE1_TO_POSE2_PRESS,793,749,728,707,697.49572542,655.49572542,934,803,835,667,657,675.50427458,0.402580326631,-0.00549864054898,0.0499791796829,0.999999997555,2.3157563298e-05,-6.3738965711e-05,-1.70751300351e-05,1793256523190667264
+132,2.200000000,POSE1_TO_POSE2_PRESS,793.080701397,749.080701397,728,707,697,655.080701397,934,802.919298603,835.080701397,667.080701397,657,676,0.402806310841,-0.00550691413021,0.0499791562528,0.99999999778,1.90248986878e-05,-6.19423868479e-05,-1.55368395486e-05,1793256523207333888
+133,2.216666667,POSE1_TO_POSE2_PRESS,793.668845021,749.668845021,728,707,697,655.668845021,934,802.331154979,835.668845021,667.668845021,657,676,0.403070762162,-0.00551527730746,0.0499848901498,0.999999998368,1.50075453995e-05,-5.35246474753e-05,-1.31911964701e-05,1793256523224000768
+134,2.233333333,POSE1_TO_POSE2_PRESS,793.746845748,750,727.746845748,707,697,655.746845748,934,802.253154252,835.746845748,667.746845748,657.253154252,676,0.403358033308,-0.0055248976343,0.0499914125217,0.999999999063,1.04154538334e-05,-4.0604481282e-05,-1.08296969647e-05,1793256523240667392
+135,2.250000000,POSE1_TO_POSE2_PRESS,793.167477545,750,727.167477545,707,697,655.167477545,934,802.832522455,835.167477545,667.167477545,657.832522455,676,0.40367471001,-0.00553613792055,0.04999895092,0.999999999712,5.08275616113e-06,-2.18824993453e-05,-8.44776504472e-06,1793256523257334016
+136,2.266666667,POSE1_TO_POSE2_PRESS,793,750,727.411475242,707,697,655,934,803,835,667,657.588524758,676,0.40402717856,-0.00554654359554,0.0500061851786,0.999999999956,2.26048079508e-06,-7.16406398308e-06,-5.66044560015e-06,1793256523274000640
+137,2.283333333,POSE1_TO_POSE2_PRESS,793,750,727.990259103,707,697,655,934,803,835,667,657.009740897,676,0.40439420031,-0.00555660991168,0.0500132957719,0.999999999979,4.58960264272e-07,5.926501781e-06,-2.70829290159e-06,1793256523290667520
+138,2.300000000,POSE1_TO_POSE2_PRESS,793,749.437027711,728,707,697,655.562972289,934.562972289,803,835.562972289,667.562972289,657.562972289,676,0.404785584016,-0.00556506350069,0.0500187551605,0.999999999794,-3.14313301492e-07,2.02926550729e-05,2.68802057101e-07,1793256523307334144
+139,2.316666667,POSE1_TO_POSE2_PRESS,793,749.139716553,728,707.139716553,697,655.860283447,934.860283447,803,835.860283447,667.860283447,658,676,0.405181266935,-0.00557125966724,0.0500208711507,0.999999999604,1.92598770211e-06,2.78989143835e-05,3.2351465124e-06,1793256523324000768
+140,2.333333333,POSE1_TO_POSE2_PRESS,793,749.729789269,728,707.729789269,697,655.270210731,934.270210731,803,835.270210731,667.270210731,658,676,0.405589463437,-0.0055702683426,0.0500123012868,0.999999999792,1.38233758036e-05,1.36452436489e-05,6.16546143232e-06,1793256523340667648
+141,2.350000000,POSE1_TO_POSE2_PRESS,793.31527222,749.68472778,728,707.68472778,697.31527222,655,934,802.68472778,835,667,658,676,0.40601653663,-0.00556286976764,0.0499963559827,0.999999999299,3.32686479268e-05,-1.53199511783e-05,7.73259365406e-06,1793256523357334272
+142,2.366666667,POSE1_TO_POSE2_PRESS,793.896877926,749.103122074,728,707.103122074,697.896877926,655,934,802.103122074,835,667,658,676,0.406459556389,-0.00555005851993,0.0499741801044,0.999999996613,5.9090170585e-05,-5.67130471534e-05,8.14814613471e-06,1793256523374000640
+143,2.383333333,POSE1_TO_POSE2_PRESS,793.527422096,749,728,707,698,655.472577904,934,802,835.472577904,667.472577904,657.527422096,676,0.406957038366,-0.00554839327453,0.0499598821189,0.999999994009,7.3639693052e-05,-8.03288900466e-05,1.0290711168e-05,1793256523390667264
+144,2.400000000,POSE1_TO_POSE2_PRESS,793,749,728,707,697.953119175,655.953119175,934,802.046880825,835.953119175,667.953119175,657,676,0.407471942054,-0.0055494347382,0.049949487942,0.999999991658,8.55677102117e-05,-9.5884188684e-05,1.29579441495e-05,1793256523407333888
+145,2.416666667,POSE1_TO_POSE2_PRESS,793,749,728,707,697.380210136,655.380210136,934,802.619789864,835.380210136,667.380210136,657,676,0.408050624736,-0.00555389329897,0.049963846011,0.999999993258,9.53393645711e-05,-6.3985395735e-05,1.73359164448e-05,1793256523424000768
+146,2.433333333,POSE1_TO_POSE2_PRESS,793,749,728.198724009,707.198724009,697.198724009,655,934,803,835,667.198724009,657,676,0.408643920688,-0.00555812746369,0.0499830367288,0.999999993919,0.000104722020262,-2.64576752549e-05,2.22491795124e-05,1793256523440667392
+147,2.450000000,POSE1_TO_POSE2_PRESS,793,749,728.789546128,707.789546128,697.789546128,655,934,803,835,667.789546128,657,676,0.409266049734,-0.0055619188771,0.0500117626422,0.999999992933,0.000113337150387,2.21763603507e-05,2.82186131439e-05,1793256523457334016
+148,2.466666667,POSE1_TO_POSE2_PRESS,793.374198244,749,728.625801756,708,697.625801756,655,934,802.625801756,835,668,657,676,0.409901406585,-0.00556244054765,0.0500238540092,0.999999991334,0.000121419323834,3.99893654604e-05,3.14788388251e-05,1793256523474000640
+149,2.483333333,POSE1_TO_POSE2_PRESS,793.955436542,749,728.044563458,708,697.044563458,655,934,802.044563458,835,668,657,676,0.410544082225,-0.00556115310287,0.0500267416511,0.99999999027,0.00012920661763,4.07494086964e-05,3.32400873418e-05,1793256523490667264
+150,2.500000000,POSE1_TO_POSE2_PRESS,793.470119119,749,728,707.470119119,697.529880881,655,934,802.529880881,835,668,657,675.470119119,0.411171089291,-0.00555933849664,0.049993559196,0.999999991846,0.000119737339254,-3.27181284326e-05,2.99945764377e-05,1793256523507334144
+151,2.516666667,POSE1_TO_POSE2_PRESS,793,749,728,707.106525209,697.893474791,655.106525209,934,802.893474791,835,668,657,675.106525209,0.411813442913,-0.00555685078096,0.0499639123077,0.999999988846,0.000112286404105,-9.48102843491e-05,2.66635157283e-05,1793256523524000512
+152,2.533333333,POSE1_TO_POSE2_PRESS,793,749,728,707.695693057,697.304306943,655.695693057,934,802.304306943,835,668,657,675.695693057,0.412531223087,-0.00555151168102,0.0499638545794,0.999999989437,0.000120472404482,-7.74371907393e-05,2.48284881772e-05,1793256523540667136
+153,2.550000000,POSE1_TO_POSE2_PRESS,793,749,728.280223015,708,697,655.719776985,934,802,835,668,657.280223015,676,0.413285339403,-0.00554482616728,0.0499773476933,0.999999990141,0.00013092009654,-4.46461724948e-05,2.41632473332e-05,1793256523557334016
+154,2.566666667,POSE1_TO_POSE2_PRESS,793,749,728.859798548,708,697,655.140201452,934,802,835,668,657.859798548,676,0.414078272447,-0.00553670232575,0.0500053167014,0.999999989346,0.000143783876116,4.61528167361e-06,2.47476487545e-05,1793256523574000640
+155,2.583333333,POSE1_TO_POSE2_PRESS,793,749,728.562239532,708,697.437760468,655,934,802,835.437760468,668,657.562239532,676,0.414839723842,-0.00553016626261,0.0499949176376,0.999999988182,0.000151127737265,-1.45541976826e-05,2.41807760614e-05,1793256523590667264
+156,2.600000000,POSE1_TO_POSE2_PRESS,793,748.984917962,728.015082038,708,697.984917962,655,934,802,835.984917962,668,657,676,0.415592641866,-0.00552439027265,0.0499724114646,0.999999985988,0.000156338717814,-5.514713719e-05,2.32398124344e-05,1793256523607334400
+157,2.616666667,POSE1_TO_POSE2_PRESS,793,748.412233381,728.587766619,708,697.412233381,655,934,802,835.412233381,668,657,676,0.416401470407,-0.0055279836571,0.049954929513,0.999999985593,0.000147814507444,-8.04927689716e-05,2.20501509113e-05,1793256523624000768
+158,2.633333333,POSE1_TO_POSE2_PRESS,793,748,728.834305646,707.834305646,697,655,934,802,835,668,657,676,0.417223238531,-0.00553173696211,0.0499506862907,0.999999986364,0.000140627400119,-8.37751088736e-05,2.18734436097e-05,1793256523640667136
+159,2.650000000,POSE1_TO_POSE2_PRESS,793,748,728.242907166,707.242907166,697,655,934,802,835,668,657,676,0.418078251154,-0.00553590113693,0.0499804561877,0.999999989876,0.000136875596095,-3.03721459741e-05,2.42992317549e-05,1793256523657333760
+160,2.666666667,POSE1_TO_POSE2_PRESS,793.341093326,748,728,707.341093326,697,655,934,802,835,668,657,676,0.418917814381,-0.00553639577996,0.0499915165662,0.999999990061,0.000137038307703,-2.05153231549e-05,2.60430893987e-05,1793256523674000640
+161,2.683333333,POSE1_TO_POSE2_PRESS,793.91993721,748,728,707.91993721,697,655,934,802,835,668,657,676,0.419746608957,-0.00553433266761,0.0499895359424,0.999999988996,0.000139929534671,-4.10112486543e-05,2.73116243944e-05,1793256523690667264
+162,2.700000000,POSE1_TO_POSE2_PRESS,793.504126154,748,728.495873846,708,697,655,934,802,835,668,657,676,0.4206332754,-0.00553246512609,0.0499853356892,0.999999989496,0.000139402785651,-2.97984633879e-05,2.62133688179e-05,1793256523707333888
+163,2.716666667,POSE1_TO_POSE2_PRESS,792.929140922,748,729,708,697,655,934.070859078,802,835.070859078,668,657.070859078,676,0.42153544859,-0.00553116245561,0.0499846230612,0.999999990127,0.000137915212722,-9.75044760408e-06,2.50979251195e-05,1793256523724000512
+164,2.733333333,POSE1_TO_POSE2_PRESS,792.357581227,748,729,708,697,655,934.642418773,802,835.642418773,668,657.642418773,676,0.422481553933,-0.00553362942411,0.0500110720891,0.999999990059,0.000133515108819,3.67634361647e-05,2.65455270928e-05,1793256523740667136
+165,2.750000000,POSE1_TO_POSE2_PRESS,792.222393107,747.777606893,729,708,697,655,935,802,836,668.222393107,658,675.777606893,0.423399500447,-0.00553542118619,0.0500211133228,0.999999989726,0.00013051067406,5.24756762786e-05,2.76046566167e-05,1793256523757334016
+166,2.766666667,POSE1_TO_POSE2_PRESS,792.816429309,747.183570691,729,708,697,655,935,802,836,668.816429309,658,675.183570691,0.424270390643,-0.00553608460525,0.0500037353503,0.999999991039,0.000129838553978,1.67150236591e-05,2.80146066674e-05,1793256523774000640
+167,2.783333333,POSE1_TO_POSE2_PRESS,793,747,728.600529511,708,697,655,934.600529511,801.600529511,835.600529511,668.600529511,658,675,0.425185047515,-0.00554055685161,0.0500073565392,0.999999991514,0.00012465280787,2.4267162119e-05,2.90513874876e-05,1793256523790667264
+168,2.800000000,POSE1_TO_POSE2_PRESS,793,747,728.02240562,708,697,655,934.02240562,801.02240562,835.02240562,668.02240562,658,675,0.426119277909,-0.00554673250276,0.0500203690901,0.999999991332,0.000117448452979,5.11898886403e-05,3.03685029976e-05,1793256523807333888
+169,2.816666667,POSE1_TO_POSE2_PRESS,793,747,728,708,697,655,934,801,835.554218071,668,657.445781929,675,0.427023335909,-0.00554529266486,0.0500244001288,0.999999991788,0.000119398411206,3.37906172839e-05,3.20375440128e-05,1793256523824000512
+170,2.833333333,POSE1_TO_POSE2_PRESS,793,746.867003665,728.132996335,708,697,655,934.132996335,801.132996335,836,668.132996335,657,675,0.427916945465,-0.00554230595957,0.0500179481462,0.999999991868,0.00012313358095,4.67153588079e-06,3.28561058522e-05,1793256523840667392
+171,2.850000000,POSE1_TO_POSE2_PRESS,793,746.280675169,728.719324831,708,697,655,934.719324831,801.719324831,836,668.719324831,657,675,0.42877908691,-0.00553509318309,0.0499769979923,0.999999989156,0.000131695763532,-5.83046257052e-05,3.07273539287e-05,1793256523857334016
+172,2.866666667,POSE1_TO_POSE2_PRESS,793,745.697992606,729,708.302007394,697,655,934.697992606,801.697992606,836,668.697992606,657.302007394,675,0.429692079664,-0.00553407936518,0.0499636107007,0.999999988601,0.000130838067582,-6.93288105533e-05,2.95524379298e-05,1793256523874000640
+173,2.883333333,POSE1_TO_POSE2_PRESS,793,745.11865806,729,708.88134194,697,655,934.11865806,801.11865806,836,668.11865806,657.88134194,675,0.430651768078,-0.00553875792327,0.0499755338185,0.999999991679,0.000121330291495,-3.26465648819e-05,2.92534099268e-05,1793256523890667264
+174,2.900000000,POSE1_TO_POSE2_PRESS,793,745.460180115,729,708.539819885,697,655,934.460180115,801,836,668.460180115,657.539819885,675.460180115,0.431537506033,-0.00554212191272,0.049964220255,0.999999991223,0.000116776436813,-5.53276553051e-05,2.92685469782e-05,1793256523907334144
+175,2.916666667,POSE1_TO_POSE2_PRESS,793,745.922705944,729,708,697,655,935,801,836,669,657,676,0.432406849818,-0.00554482925831,0.0499484746352,0.999999989082,0.000113889259362,-8.94586948039e-05,2.93814681397e-05,1793256523924000768
+176,2.933333333,POSE1_TO_POSE2_PRESS,793,744.77253064,729,708,697,655,935,801,836,669,657,676,0.433313024755,-0.00554312196147,0.0499542868199,0.999999990311,0.000116424902803,-7.02819446818e-05,2.97284638679e-05,1793256523940667392
+177,2.950000000,POSE1_TO_POSE2_PRESS,793,744,729,708,697,655,935,801.192556186,836,668.807443814,657,676,0.434215049306,-0.00554215922587,0.0499663594412,0.99999999141,0.000118222359138,-4.76122947321e-05,3.05974972566e-05,1793256523957334016
+178,2.966666667,POSE1_TO_POSE2_PRESS,793,744,729,708,697,655,935,801.779015974,836,668.220984026,657,676,0.435108583763,-0.00554271960566,0.0499912387594,0.99999999229,0.000118509739493,-1.77973718613e-05,3.2534439874e-05,1793256523974000640
+179,2.983333333,POSE1_TO_POSE2_PRESS,793,744,729,708.361373034,697,655,934.638626966,801.638626966,836,668.361373034,657,676,0.435947066609,-0.00554212379629,0.0499863745373,0.99999999123,0.00012071695556,-4.24803322939e-05,3.40882332605e-05,1793256523990667264
+180,3.000000000,POSE1_TO_POSE2_PRESS,793,744,729,708.941249353,697,655,934.058750647,801.058750647,836,668.941249353,657,676,0.436752262583,-0.00554082890006,0.0499635259577,0.999999986663,0.000124084995111,-0.00010011530098,3.54103562431e-05,1793256524007334144
+181,3.016666667,POSE1_TO_POSE2_PRESS,793,744,729,708.483899163,697,655,934.516100837,801,836,669,657,676,0.437601739998,-0.00553952819907,0.0499694509162,0.999999989091,0.00012409250621,-7.22273872218e-05,3.46657021363e-05,1793256524024000768
+182,3.033333333,POSE1_TO_POSE2_PRESS,793,744,729,708.090773119,697,655,934.909226881,801,836,668.909226881,657,675.909226881,0.438451118708,-0.005539024804,0.0499794486968,0.999999991136,0.000123038135359,-3.78196743288e-05,3.40416348607e-05,1793256524040667392
+183,3.050000000,POSE1_TO_POSE2_PRESS,793,744,729,708.667518808,697,655,934.332481192,801,836,668.332481192,657,675.332481192,0.439273242186,-0.00554279345375,0.0499938844427,0.999999992173,0.000118327062003,-2.01255706717e-05,3.53105903353e-05,1793256524057334016
+184,3.066666667,POSE1_TO_POSE2_PRESS,792.749851531,743.749851531,729,708.749851531,697,655,934.250148469,801,836,668.250148469,657,675.250148469,0.440063067551,-0.00554522091215,0.0499928905373,0.999999992465,0.0001152655323,-2.28385735673e-05,3.55148654342e-05,1793256524074000640
+185,3.083333333,POSE1_TO_POSE2_PRESS,792.159212938,743.159212938,729,708.159212938,697,655,934.840787062,801,836,668.840787062,657,675.840787062,0.440808930203,-0.00554582280476,0.0499708945278,0.999999991441,0.000114449282829,-5.33287547415e-05,3.42699484425e-05,1793256524090667264
+186,3.100000000,POSE1_TO_POSE2_PRESS,792,743.422791624,729.422791624,708.422791624,697,654.577208376,935,801,836,669,657,675.577208376,0.441536256151,-0.00554877309912,0.04995919527,0.999999990932,0.000109822762887,-7.04296110998e-05,3.33977622097e-05,1793256524107334144
+187,3.116666667,POSE1_TO_POSE2_PRESS,792.001602461,744,729.998397539,709,696.998397539,654,934.998397539,800.998397539,836,669,657,675.001602461,0.442256612191,-0.00555259892347,0.0499513030602,0.999999990672,0.000103779476449,-8.25711053321e-05,3.26659615062e-05,1793256524124000768
+188,3.133333333,POSE1_TO_POSE2_PRESS,792.577733153,744,729.422266847,709,696.422266847,654,934.422266847,800.422266847,836,669,657,675.577733153,0.44293064643,-0.00555960761785,0.0499459723884,0.999999991157,9.39260328067e-05,-8.81950206248e-05,3.29500020152e-05,1793256524140667392
+189,3.150000000,POSE1_TO_POSE2_PRESS,793,744,729.156507523,709,696,653.843492477,934,800,836,669,657,676,0.443579558349,-0.00556419818099,0.0499284650306,0.999999988855,8.73591983183e-05,-0.000116522848121,3.28653385012e-05,1793256524157334016
+190,3.166666667,POSE1_TO_POSE2_PRESS,793,744,729.742537385,709,696,653.257462615,934,800,836,669,657,676,0.444159524224,-0.00556215237855,0.0498775397335,0.999999974005,8.98121963206e-05,-0.00020715974193,3.17687962779e-05,1793256524174000640
+191,3.183333333,POSE1_TO_POSE2_PRESS,792.675874701,744,730,709,695.675874701,653,934,800,836,669,657,676.324125299,0.444747028432,-0.00555649888443,0.049838239701,0.999999960159,9.52516585182e-05,-0.000264080259706,2.95067818614e-05,1793256524190667520
+192,3.200000000,POSE1_TO_POSE2_PRESS,792.097767494,744,730,709,695.097767494,653,934,800,836,669,657,676.902232506,0.445340439582,-0.00554801843302,0.0498080491329,0.999999950957,0.00010303128959,-0.000294580899147,2.63315132491e-05,1793256524207333888
+193,3.216666667,POSE1_TO_POSE2_PRESS,792,744,730,709,695,652.519392708,934.480607292,800,836,669,657,676.519392708,0.445949054048,-0.00554616419953,0.0498184156416,0.999999959028,0.000104009695129,-0.000265385394986,2.64022522482e-05,1793256524224000768
+194,3.233333333,POSE1_TO_POSE2_PRESS,792.058527224,744,730,709,695,651.941472776,934.941472776,800,836,669,657,676,0.446549858753,-0.00554572033966,0.049833900538,0.999999967712,0.0001034328559,-0.000230547786117,2.69201765232e-05,1793256524240667648
+195,3.250000000,POSE1_TO_POSE2_PRESS,792.631966296,744,730,709,695,651.368033704,934.368033704,800,836,669,657,676,0.447054730179,-0.0055458191727,0.049821790834,0.99999996254,0.000101352159672,-0.000252969390634,2.55597550495e-05,1793256524257335296
+196,3.266666667,POSE1_TO_POSE2_PRESS,792.788770938,744,730,709,695,651,934,800,836,669.211229062,657,676,0.447540077577,-0.00554723081149,0.0497992133984,0.999999953182,9.78058026557e-05,-0.000288932127988,2.42504200467e-05,1793256524274002688
+197,3.283333333,POSE1_TO_POSE2_PRESS,792.199073668,744,730,709,695,651,934,800,836,669.800926332,657,676,0.447990442877,-0.00555099466086,0.0497578804785,0.999999934581,9.16333581428e-05,-0.000349157093276,2.30326189775e-05,1793256524290669312
+198,3.300000000,POSE1_TO_POSE2_PRESS,792,744,730,709,694.231131655,650.615565828,934.384434172,799.615565828,836,669.615565828,657,676,0.448430273616,-0.00555190703044,0.049736276546,0.999999922282,9.09798271082e-05,-0.000382961879567,2.23565537996e-05,1793256524307335680
+199,3.316666667,POSE1_TO_POSE2_PRESS,792,744,730,709,693.070424512,650.035212256,934.964787744,799.035212256,836,669.035212256,657,676,0.448864735661,-0.00555136619915,0.0497247271045,0.999999914095,9.31389025174e-05,-0.000403302141234,2.19565736932e-05,1793256524324002560
+200,3.333333333,POSE1_TO_POSE2_PRESS,792,744,730,709,693,650,935,799,836,669,656.46166261,676,0.449281817872,-0.00555269348579,0.0497358740433,0.999999921214,9.27604831742e-05,-0.000385257030017,2.33401852348e-05,1793256524340668672
+201,3.350000000,POSE1_TO_POSE2_PRESS,792,744.111349005,730,709,693,649.888650995,935,799,836,669.111349005,656,676,0.449689992336,-0.00555394811981,0.0497480004668,0.999999928265,9.25228453211e-05,-0.000366467935021,2.47248434266e-05,1793256524357334528
+202,3.366666667,POSE1_TO_POSE2_PRESS,792,744.683952583,730,709,693,649.316047417,935,799,836,669.683952583,656,676,0.450065917618,-0.00555440194228,0.049758111439,0.99999993233,9.35473438716e-05,-0.000354867753297,2.56366003199e-05,1793256524374000896
+203,3.383333333,POSE1_TO_POSE2_PRESS,792,744.731640375,730.268359625,709,693,649,935,799,836,669.731640375,656,676,0.450414917788,-0.00555544927947,0.0497590288173,0.999999931077,9.36204731504e-05,-0.000358300179227,2.64844021241e-05,1793256524390667520
+204,3.400000000,POSE1_TO_POSE2_PRESS,792,744.132692872,730.867307128,709,693,649,935,799,836,669.132692872,656,676,0.450730749325,-0.00555722775779,0.0497486207556,0.999999923053,9.25216259439e-05,-0.000380251031755,2.72534186289e-05,1793256524407334144
+205,3.416666667,POSE1_TO_POSE2_PRESS,792,744,730.552104615,709,693,648.552104615,934.552104615,799,836,669.447895385,656,676,0.451000952792,-0.00555613805841,0.0497355723871,0.999999913,9.20603531738e-05,-0.00040598643634,2.64456782046e-05,1793256524424001024
+206,3.433333333,POSE1_TO_POSE2_PRESS,792,744,730,709,693,648,934.023243644,799,836,670,656,676,0.451256840107,-0.00555439522394,0.0497218547603,0.999999901794,9.16728355939e-05,-0.000432862816986,2.52505829588e-05,1793256524440667648
+207,3.450000000,POSE1_TO_POSE2_PRESS,792,744,730,709,693,648,934.598234064,799,836,670,656,676,0.451481139631,-0.00555652466005,0.0497100872802,0.999999889359,8.87289261737e-05,-0.00046125647933,2.55124829627e-05,1793256524457334784
+208,3.466666667,POSE1_TO_POSE2_PRESS,792,744,730,709.177017193,693,647.822982807,935,799,836,670,656,676,0.451695058991,-0.00555812402776,0.0496979642788,0.999999877093,8.60689285591e-05,-0.000487602566442,2.55083360807e-05,1793256524474001664
+209,3.483333333,POSE1_TO_POSE2_PRESS,792,744,730,709.764596808,693,647.235403192,935,799,836,670,656,676,0.451884903227,-0.00555849398824,0.0496850167054,0.999999866515,8.40674184612e-05,-0.000509199634381,2.4887136963e-05,1793256524490668032
+210,3.500000000,POSE1_TO_POSE2_PRESS,792,744,730,709.65058264,692.65058264,647,935,799,836,670,656,676,0.452072205393,-0.00555842678046,0.0496785117915,0.999999862896,8.32192320885e-05,-0.00051642978554,2.41541331887e-05,1793256524507334400
+211,3.516666667,POSE1_TO_POSE2_PRESS,792,744,730,709.067606254,692.067606254,647,935,799,836,670,656,676,0.452257808399,-0.00555806735888,0.0496763133059,0.999999864144,8.31419550427e-05,-0.000514056743857,2.33463964172e-05,1793256524524001024
+212,3.533333333,POSE1_TO_POSE2_PRESS,792,744,730,709,692,647,934.49146295,799,836,670,655.49146295,676,0.452415033517,-0.00555777396579,0.0496805409998,0.99999986878,8.27255960994e-05,-0.000505026379429,2.33439285469e-05,1793256524540667648
+213,3.550000000,POSE1_TO_POSE2_PRESS,792,743.916413575,730,709,692,646.916413575,934,798.916413575,836,669.916413575,655.083586425,676,0.452563278709,-0.00555725025971,0.0496848308746,0.999999873131,8.25947681332e-05,-0.000496354080901,2.34286084161e-05,1793256524557334016
+214,3.566666667,POSE1_TO_POSE2_PRESS,792,743.34252285,730,709,692,646.34252285,934,798.34252285,836,669.34252285,655.65747715,676,0.452680685418,-0.00555532476761,0.0496845406749,0.999999873699,8.43997349252e-05,-0.000494904814164,2.34048440646e-05,1793256524574000896
+215,3.583333333,POSE1_TO_POSE2_PRESS,792,743.238117451,730.238117451,709,692,646,934.238117451,798.238117451,836,669.238117451,655.761882549,676,0.452783386078,-0.00555471514872,0.0496808551532,0.999999871265,8.48577965973e-05,-0.000499726674143,2.33083679601e-05,1793256524590667520
+216,3.600000000,POSE1_TO_POSE2_PRESS,792,743.82874996,730.82874996,709,692,646,934.82874996,798.82874996,836,669.82874996,655.17125004,676,0.452864315528,-0.00555605358172,0.0496721431113,0.99999986425,8.33218659635e-05,-0.000513832467718,2.31042475477e-05,1793256524607334400
+217,3.616666667,POSE1_TO_POSE2_PRESS,792.410219247,744,730.589780753,709,692,646,935,798.589780753,836,670,655.410219247,676,0.452935792227,-0.00555434677638,0.0496652495804,0.999999858836,8.5749365266e-05,-0.000523893187623,2.2604203616e-05,1793256524624001280
+218,3.633333333,POSE1_TO_POSE2_PRESS,792.987946824,744,730.012053176,709,692,646,935,798.012053176,836,670,655.987946824,676,0.453003409003,-0.00555139648284,0.049659098618,0.999999854054,8.97952858031e-05,-0.000532302147688,2.19833227107e-05,1793256524640667904
+219,3.650000000,POSE1_TO_POSE2_PRESS,792.436972378,744,730.563027622,709,692,646,934.436972378,798.563027622,836,670,656,676,0.453050392349,-0.00555038133455,0.0496553424275,0.9999998508,8.93886432669e-05,-0.000538463701685,2.15930610517e-05,1793256524657334528
+220,3.666666667,POSE1_TO_POSE2_PRESS,792,744,730.858679221,709,692,646,934.141320779,799,836,670,656,676,0.453094153786,-0.00554939456286,0.0496522431293,0.999999848252,8.88713167355e-05,-0.000543278099154,2.11493439488e-05,1793256524674000896
+221,3.683333333,POSE1_TO_POSE2_PRESS,792,744,730.270039679,709,692,646,934.729960321,799,836,670,656,676,0.453129108604,-0.00554836709626,0.049651061561,0.999999847934,8.83039458873e-05,-0.0005439799531,2.05208718969e-05,1793256524690667520
+222,3.700000000,POSE1_TO_POSE2_PRESS,792,744,730,709,692,646,934.686500568,798.686500568,836,670,655.686500568,676,0.453158043136,-0.00554863810186,0.0496496183442,0.999999847417,8.72120832607e-05,-0.000545117142629,2.0169407216e-05,1793256524707334400
+223,3.716666667,POSE1_TO_POSE2_PRESS,792,744,730,709,692,646,934.107284427,798.107284427,836,670,655.107284427,676,0.453181874983,-0.00555000966998,0.0496479533586,0.99999984673,8.56756703917e-05,-0.00054662331516,2.00527291324e-05,1793256524724001024
+224,3.733333333,POSE1_TO_POSE2_PRESS,792,744,730,709,692,646,934,798,836,669.530429527,655,676,0.453197684282,-0.00554874514403,0.0496473851447,0.999999845431,8.70526759916e-05,-0.000548780724571,1.99732103628e-05,1793256524740667904
+225,3.750000000,POSE1_TO_POSE2_PRESS,792,744,730.045751312,709,692,646,934.045751312,798.045751312,835.954248688,669.045751312,655.045751312,676,0.453211078228,-0.00554699828089,0.0496468925141,0.999999843939,8.8831414747e-05,-0.000551213350349,1.98635797049e-05,1793256524757334784
+226,3.766666667,POSE1_TO_POSE2_PRESS,792,744,730.620345759,709,692,646,934.620345759,798.620345759,835.379654241,669.620345759,655.620345759,676,0.453217634013,-0.0055466029866,0.0496443915351,0.9999998419,8.75981423244e-05,-0.000555115951184,1.93082385608e-05,1793256524774001408
+227,3.783333333,POSE1_TO_POSE2_PRESS,792,744,731,709,692,646,934.799942874,799,835.200057126,670,655.799942874,676,0.453223223835,-0.00554646326764,0.0496428051572,0.999999840547,8.64308778658e-05,-0.0005577428357,1.89313612907e-05,1793256524790668032
+228,3.800000000,POSE1_TO_POSE2_PRESS,792,744,731,709,692,646,934.210266129,799,835.789733871,670,655.210266129,676,0.453226932402,-0.00554682129232,0.0496430000032,0.999999840557,8.53921667548e-05,-0.000557885209105,1.89020499136e-05,1793256524807334656
+229,3.816666667,POSE1_TO_POSE2_PRESS,792.372970021,744,731,709,692,646,934.372970021,799,836,670,655.372970021,676,0.453228308906,-0.00554593399375,0.049641893379,0.999999839462,8.72044836377e-05,-0.000559561733922,1.90357337112e-05,1793256524824001024
+230,3.833333333,POSE1_TO_POSE2_PRESS,792.952636829,744,731,709,692,646,934.952636829,799,836,670,655.952636829,676,0.453228393,-0.0055443565477,0.0496400654911,0.999999837739,9.0596815809e-05,-0.000562088472276,1.92597480369e-05,1793256524840667392
+231,3.850000000,POSE1_TO_POSE2_PRESS,792.472926338,744,730.472926338,709.527073662,692,646,934.472926338,798.472926338,836,670,655.472926338,676,0.45323056364,-0.00554294760816,0.0496393053545,0.99999983729,9.25877350049e-05,-0.000562575681548,1.88695711182e-05,1793256524857334272
+232,3.866666667,POSE1_TO_POSE2_PRESS,792,744,730.103510221,709.896489779,692,646,934.103510221,798.103510221,836,670,655,676,0.453232245596,-0.00554191279207,0.0496383972909,0.999999836722,9.38429190644e-05,-0.000563389722059,1.85046702431e-05,1793256524874000896
+233,3.883333333,POSE1_TO_POSE2_PRESS,792,744,730.691484017,709.308515983,692,646,934.691484017,798.691484017,836,670,655,676,0.453230771407,-0.00554255882936,0.0496363522167,0.999999835067,9.22382216312e-05,-0.000566582800298,1.85138479193e-05,1793256524890667776
+234,3.900000000,POSE1_TO_POSE2_PRESS,792,744,731,709,692,645.724529125,935,798.724529125,836,670,655,676,0.45322954002,-0.0055432489206,0.0496347968083,0.999999833646,9.00195940595e-05,-0.000569444947787,1.83599629411e-05,1793256524907334656
+235,3.916666667,POSE1_TO_POSE2_PRESS,792,744,731,709,692,645.144943695,935,798.144943695,836,670,655,676,0.45322857668,-0.00554398764663,0.0496337819813,0.999999832484,8.71231992057e-05,-0.000571941754486,1.8026059926e-05,1793256524924001536
+236,3.933333333,POSE1_TO_POSE2_PRESS,792,744,731,709,692,645.435176183,935,798.435176183,836,670,655.435176183,676,0.453228269533,-0.00554303502822,0.0496330646476,0.999999831888,8.79717367926e-05,-0.000572852704892,1.80059589822e-05,1793256524940667904
+237,3.950000000,POSE1_TO_POSE2_PRESS,792,744,730.984721727,709,692,646,934.984721727,798.984721727,836,670,655.984721727,676,0.453228232153,-0.00554158033447,0.0496324669058,0.999999831507,8.99989056316e-05,-0.000573200532167,1.80976197354e-05,1793256524957334272
+238,3.966666667,POSE1_TO_POSE2_PRESS,792,744,730.411773023,709,692,646,934.411773023,798.411773023,836,670,655.411773023,676,0.453230054197,-0.00554238693082,0.0496326132004,0.999999832066,8.94628637049e-05,-0.000572297326334,1.84490004283e-05,1793256524974001152
+239,3.983333333,POSE1_TO_POSE2_PRESS,792.165226296,744,730,709,692,646,934,798,835.834773704,670,655,676,0.453230907396,-0.00554314086188,0.0496323091125,0.999999832171,8.86693954762e-05,-0.000572229023264,1.86756763105e-05,1793256524990667776
+240,4.000000000,POSE1_TO_POSE2_PRESS,792.752574125,744,730,709,692,646,934,798,835.247425875,670,655,676,0.453229285381,-0.00554376024317,0.0496308543834,0.999999831117,8.72182523928e-05,-0.000574293736865,1.85837552702e-05,1793256525007334400
+241,4.016666667,POSE1_TO_POSE2_PRESS,792.662915087,744,730,709,692,645.662915087,934,798,835.337084913,669.662915087,655.337084913,676,0.453229183794,-0.00554320466866,0.0496305073124,0.999999830741,8.78662216277e-05,-0.000574859986896,1.82736621958e-05,1793256525024001280
+242,4.033333333,POSE1_TO_POSE2_PRESS,792.080469381,744,730,709,692,645.080469381,934,798,835.919530619,669.080469381,655.919530619,676,0.453230188911,-0.00554179385534,0.049630966495,0.999999830857,9.00421141446e-05,-0.000574335519935,1.78047638468e-05,1793256525040668160
+243,4.050000000,POSE1_TO_POSE2_PRESS,792.494785885,744,730,709,692,645,934.494785885,798.494785885,836,669.494785885,655.505214115,676,0.453229382099,-0.00554167065355,0.0496302363068,0.999999830068,8.89660226602e-05,-0.000575880057753,1.76637200514e-05,1793256525057334784
+244,4.066666667,HOLD_POSE2,792,744,730,709,692,645,934,799,836,670,655,676,0.453228302659,-0.00554480536745,0.0496283723534,0.999999828725,8.91223169526e-05,-0.000578159904183,1.83974507937e-05,1793256525100947968
+245,4.083333333,HOLD_POSE2,792,744,730.590355655,709.590355655,692,645.590355655,934.590355655,799,836,670,655.590355655,676,0.45322820976,-0.00554247458255,0.0496286458195,0.999999828082,8.9956047734e-05,-0.000579144800529,1.82903056893e-05,1793256525117614848
+246,4.100000000,HOLD_POSE2,792,744,730.822492047,709.822492047,692,645.822492047,934.822492047,799,836,670,655.822492047,676,0.453228639767,-0.00554029980236,0.0496289372902,0.999999827878,9.10374381373e-05,-0.000579338862352,1.7966545238e-05,1793256525134281728
+247,4.116666667,HOLD_POSE2,792,744,730.242601146,709.242601146,692,645.242601146,934.242601146,799,836,670,655.242601146,676,0.45323025512,-0.00553847866016,0.0496292695749,0.999999828666,9.26802345852e-05,-0.000577740225382,1.71517514327e-05,1793256525150948096
+248,4.133333333,HOLD_POSE2,792,744,730.333523076,709,692,645.333523076,934.333523076,799,836,670,655,676,0.453230649403,-0.00553875199252,0.0496292578559,0.999999829015,9.22871640062e-05,-0.000577205977516,1.69492411724e-05,1793256525167614976
+249,4.150000000,HOLD_POSE2,792,744,730.906938019,709,692,645.906938019,934.906938019,799,836,670,655,676,0.453230165413,-0.00554053180969,0.0496289987066,0.999999829047,9.04297630432e-05,-0.000577437308826,1.71871258034e-05,1793256525184281600
+250,4.166666667,HOLD_POSE2,792,744,730.506873757,709,692,645.506873757,935,798.506873757,835.506873757,670,655,676,0.453230367877,-0.00553979713368,0.0496286489518,0.999999828544,9.13580847217e-05,-0.000578164476616,1.70550123026e-05,1793256525200948480
+251,4.183333333,HOLD_POSE2,792,744,730.080484956,709,692,645,935,798,835.080484956,670,655,676,0.453230457945,-0.00553889124476,0.0496282372558,0.999999827924,9.23233296921e-05,-0.000579088313747,1.69123831661e-05,1793256525217615104
+252,4.200000000,HOLD_POSE2,792,744,730.659761356,709,692,645,935,798,835.659761356,670,655,676,0.453229027271,-0.0055399433178,0.0496275504747,0.999999827219,9.01727249248e-05,-0.000580635649115,1.71488231414e-05,1793256525234281472
+253,4.216666667,HOLD_POSE2,792,744,730.762007081,709,692,645,934.762007081,798.237992919,836,670,655,676,0.453228607396,-0.00554002669979,0.0496273358001,0.99999982698,8.99437479125e-05,-0.000581079244971,1.72541718501e-05,1793256525250948096
+254,4.233333333,HOLD_POSE2,792,744,730.185262755,709,692,645,934.185262755,798.814737245,836,670,655,676,0.45322962626,-0.00553873127824,0.0496277931063,0.999999827407,9.24499537562e-05,-0.000579951813645,1.71729294776e-05,1793256525267614464
+255,4.250000000,HOLD_POSE2,792,744,730.390470414,709,692,645,934,798.609529586,836,670,655,676,0.453229317564,-0.0055379891343,0.0496273890385,0.999999827074,9.3097263756e-05,-0.000580428839557,1.69716690505e-05,1793256525284281344
+256,4.266666667,HOLD_POSE2,792,744,730.965725117,709,692,645,934,798.034274883,836,670,655,676,0.45322838062,-0.0055375088206,0.0496265773383,0.999999826381,9.28648792883e-05,-0.000581665150788,1.67136118649e-05,1793256525300948224
+257,4.283333333,HOLD_POSE2,791.447528945,744,730.447528945,709,692,645,934,798,836,670,655,676,0.453228601066,-0.0055390684411,0.0496259197601,0.999999825992,9.24881209843e-05,-0.000582384436205,1.70384705066e-05,1793256525317615104
+258,4.300000000,HOLD_POSE2,791.138241536,744,730.138241536,709,692,645,934,798.138241536,836,670,655,676,0.453229083503,-0.00554024559478,0.0496257414465,0.999999825989,9.18338835836e-05,-0.000582485343301,1.72804252997e-05,1793256525334281984
+259,4.316666667,HOLD_POSE2,791.718564533,744,730.718564533,709,692,645,934,798.718564533,836,670,655,676,0.453230169258,-0.00553978635247,0.0496270645421,0.99999982716,9.0321549415e-05,-0.000580713497728,1.71391586793e-05,1793256525350948608
+260,4.333333333,HOLD_POSE2,792,744,730.703428799,709,692,645,934,799,836,670,655.296571201,676,0.453231103017,-0.00553950482464,0.0496276622312,0.999999827727,8.98540127181e-05,-0.000579813962719,1.69603329822e-05,1793256525367614976
+261,4.350000000,HOLD_POSE2,792,744,730.127603247,709,692,645,934,799,836,670,655.872396753,676,0.453231893653,-0.00553939063452,0.0496275768703,0.99999982773,9.0370267662e-05,-0.000579735804002,1.67461412985e-05,1793256525384281344
+262,4.366666667,POSE2_TO_POSE3_RETREAT,792,744,731,710,692,645,934,798,836,670,655,676,0.453230133387,-0.00554042278181,0.0496264426502,0.999999826954,8.74118897533e-05,-0.000581528275049,1.66305970587e-05,1793256525417117696
+263,4.383333333,POSE2_TO_POSE3_RETREAT,792,744,731,709.406244521,692,645,934.593755479,798.593755479,836,670,655.593755479,676,0.453229278451,-0.00554158994685,0.049626039185,0.999999826177,8.89134989306e-05,-0.000582621336753,1.71056896558e-05,1793256525433784320
+264,4.400000000,POSE2_TO_POSE3_RETREAT,792,744,731,709,692,645,935,798.817359529,836,670,655.817359529,676,0.453228800001,-0.00554186599866,0.0496259306755,0.999999825701,9.01430897019e-05,-0.000583239523127,1.7421878013e-05,1793256525450451200
+265,4.416666667,POSE2_TO_POSE3_RETREAT,792,744,731,709,692,645,935,798.239026389,836,670,655.239026389,676,0.453229137212,-0.00554021144369,0.0496264611911,0.999999825883,9.07833497699e-05,-0.000582828886875,1.73937986057e-05,1793256525467118080
+266,4.433333333,POSE2_TO_POSE3_RETREAT,792,744,731,709,692,645,934.66318619,798,836,670,655,676,0.453228810268,-0.00553887419042,0.0496256786723,0.999999825227,9.20426610317e-05,-0.000583769184158,1.6988694919e-05,1793256525483784704
+267,4.450000000,POSE2_TO_POSE3_RETREAT,792,744,731,709,692,645,934.089102192,798,836,670,655,676,0.453228015458,-0.00553776046204,0.0496239711798,0.999999823974,9.37380659947e-05,-0.000585661153414,1.6317994576e-05,1793256525500451584
+268,4.466666667,POSE2_TO_POSE3_RETREAT,792,744,731,709,692,645,934.496882458,798,836,670,655.496882458,676,0.453226288198,-0.00553906927401,0.0496237031404,0.999999823217,9.30070312915e-05,-0.000587056213542,1.67787151996e-05,1793256525517117696
+269,4.483333333,POSE2_TO_POSE3_RETREAT,792,744,730.91634311,709,692,645,934.91634311,798,836,670,656,676,0.453224790925,-0.00554045911674,0.0496237272993,0.9999998228,9.18484872727e-05,-0.000587934247822,1.72649144491e-05,1793256525533783808
+270,4.500000000,POSE2_TO_POSE3_RETREAT,792,744,730.337830218,709,692,645,934.337830218,798,836,670,656,676,0.453225667457,-0.00553969552221,0.0496239155367,0.999999823869,9.0798091906e-05,-0.000586293945573,1.66722263084e-05,1793256525550450432
+271,4.516666667,POSE2_TO_POSE3_RETREAT,792,744,730,709,692,645.240717292,934.240717292,798,836,670,655.759282708,676,0.45322062161,-0.00553911691339,0.0496216809925,0.999999822144,9.02467619722e-05,-0.000589326991789,1.61642236645e-05,1793256525567117056
+272,4.533333333,POSE2_TO_POSE3_RETREAT,792,744,730,709,692,645.819313344,934.819313344,798,836,670,655.180686656,676,0.453207262915,-0.00553879795672,0.0496160457518,0.999999816437,9.03959368873e-05,-0.00059891970475,1.57750884364e-05,1793256525583783680
+273,4.550000000,POSE2_TO_POSE3_RETREAT,792,744,730.394069824,709.394069824,692,645.605930176,935,798,836,670,655.394069824,676,0.453178548664,-0.00553816160382,0.0496041772421,0.999999804109,9.026881834e-05,-0.000619195483534,1.51967572742e-05,1793256525600450560
+274,4.566666667,POSE2_TO_POSE3_RETREAT,792,744,730.967082844,709.967082844,692,645.032917156,935,798,836,670,655.967082844,676,0.453142861607,-0.00553738112441,0.0495894782662,0.999999788267,9.00162376417e-05,-0.000644322336983,1.45325140747e-05,1793256525617117440
+275,4.583333333,POSE2_TO_POSE3_RETREAT,792,744,730.441380057,709.441380057,692,645,935,798.558619943,836,670,656,676,0.453081953641,-0.00553720457712,0.0495710901799,0.999999770099,8.90643820695e-05,-0.000672071019409,1.38167929595e-05,1793256525633784064
+276,4.600000000,POSE2_TO_POSE3_RETREAT,792,744,730.147656777,709,692,645,935,798.852343223,836,670,655.852343223,676,0.453015346882,-0.00553560804418,0.0495527555489,0.999999752147,8.94267502241e-05,-0.000698245703117,1.2694670654e-05,1793256525650450688
+277,4.616666667,POSE2_TO_POSE3_RETREAT,792,744,730.726105332,709,692,645,935,798.273894668,836,670,655.273894668,676,0.452936598385,-0.00552976128548,0.0495352328455,0.999999736811,9.37477346171e-05,-0.000719362022391,1.03960175909e-05,1793256525667117312
+278,4.633333333,POSE2_TO_POSE3_RETREAT,792,744,731,709.302670322,692,645,934.697329678,798,836,670,655.302670322,676,0.452846842022,-0.00552624477907,0.0495208782367,0.99999972139,9.50788909887e-05,-0.000740336341398,9.08791951324e-06,1793256525683783936
+279,4.650000000,POSE2_TO_POSE3_RETREAT,792,744,731,709.877541329,692,645,934.122458671,798,836,670,655.877541329,676,0.452747185956,-0.00552482394023,0.0495093727936,0.999999705871,9.37212032369e-05,-0.00076118295393,8.67065799407e-06,1793256525700450560
+280,4.666666667,POSE2_TO_POSE3_RETREAT,792,744,731,709.537043671,692,645,934.462956329,798,836,670,656,676,0.452630461831,-0.00552052104078,0.0494968128845,0.999999687446,9.8202033655e-05,-0.000784476435507,7.76817143085e-06,1793256525717117184
+281,4.683333333,POSE2_TO_POSE3_RETREAT,792,744,731,709,692,645,934.949541095,798.050458905,836,670,655.949541095,676,0.452505533756,-0.00551532072699,0.0494833986259,0.99999966695,0.000104028613651,-0.000809465045696,6.63060031628e-06,1793256525733783808
+282,4.700000000,POSE2_TO_POSE3_RETREAT,792,744,731,709,692,645,934.370074027,798.629925973,836,670,655.370074027,676,0.452343031445,-0.00550889064534,0.0494640197669,0.999999636973,0.000107395487802,-0.000845281598506,4.40538151313e-06,1793256525750450432
+283,4.716666667,POSE2_TO_POSE3_RETREAT,792.208289676,744,731,709,692,645.208289676,934.208289676,798.791710324,836,670,655.208289676,676,0.452170763388,-0.00550314012603,0.0494444743655,0.999999605067,0.000110967225817,-0.000881784234957,2.78053989006e-06,1793256525767117312
+284,4.733333333,POSE2_TO_POSE3_RETREAT,792.784703268,744,731,709,692,645.784703268,934.784703268,798.215296732,836,670,655.784703268,676,0.451981235708,-0.0054985906422,0.0494246346248,0.999999570657,0.000114901032831,-0.000919499428685,2.2167842193e-06,1793256525783785216
+285,4.750000000,POSE2_TO_POSE3_RETREAT,792.639888903,744,730.639888903,709.360111097,692.360111097,646,935,798,836,670,655.639888903,676,0.451768803364,-0.00549230883022,0.0494023144229,0.999999532835,0.000118006839271,-0.000959376738155,7.68070343164e-07,1793256525800452096
+286,4.766666667,POSE2_TO_POSE3_RETREAT,792.065080651,744,730.065080651,709.934919349,692.934919349,646,935,798,836,670,655.065080651,676,0.451542715311,-0.00548499420896,0.0493785153756,0.999999492181,0.00012061899454,-0.00100054309738,-1.20825301159e-06,1793256525817117952
+287,4.783333333,POSE2_TO_POSE3_RETREAT,792,744,730.52268889,709.47731111,693,646,934.47731111,798.52268889,836,669.47731111,655.52268889,676,0.451288541426,-0.00547631279741,0.0493537062526,0.999999452908,0.000126549656236,-0.00103834215303,-3.76928410726e-06,1793256525833784064
+288,4.800000000,POSE2_TO_POSE3_RETREAT,792,744,731,709,693,646.110281726,934,799,836,669.110281726,656,676,0.451028425901,-0.00546799943734,0.0493345157001,0.999999423267,0.000132091603112,-0.00106582353559,-6.16090855822e-06,1793256525850450176
+289,4.816666667,POSE2_TO_POSE3_RETREAT,792,744,731,709,693,646.690077026,934,799,836,669.690077026,656,676,0.450758281069,-0.0054619959684,0.0493397947003,0.99999943845,0.000134174785125,-0.00105120883591,-7.51347008792e-06,1793256525867116800
+290,4.833333333,POSE2_TO_POSE3_RETREAT,792,744.268009735,731,709,693,647.268009735,934.268009735,799,836.268009735,670,656,676,0.450480732019,-0.0054554586593,0.0493497010868,0.99999946085,0.000136338928335,-0.0010293857917,-8.77098061943e-06,1793256525883783424
+291,4.850000000,POSE2_TO_POSE3_RETREAT,792,744.843803399,731,709,693,647.843803399,934.843803399,799,836.843803399,670,656,676,0.45019467994,-0.00544830828542,0.04936492159,0.999999491061,0.000138596047661,-0.000999284643394,-9.91933395032e-06,1793256525900450048
+292,4.866666667,POSE2_TO_POSE3_RETREAT,792,745,731,709,693,648,935,799,836.572888466,670,656,676,0.449879477568,-0.005441229436,0.0493777844418,0.999999512575,0.00014260107516,-0.000976934681473,-1.06452546735e-05,1793256525917116928
+293,4.883333333,POSE2_TO_POSE3_RETREAT,792,745,730.986930674,709,693,648,934.986930674,799,836,669.986930674,656,676,0.44955176419,-0.00543417786465,0.0493895467174,0.999999530494,0.000147187395993,-0.000957716471899,-1.126650734e-05,1793256525933783552
+294,4.900000000,POSE2_TO_POSE3_RETREAT,792,745,730.40737152,709,693,648,934.40737152,799,836,669.40737152,656,676,0.449152110877,-0.0054271545833,0.0493916460377,0.999999538366,0.00014876678757,-0.000949176017707,-1.41670174084e-05,1793256525950450432
+295,4.916666667,POSE2_TO_POSE3_RETREAT,792,744.82804089,730,709,693.17195911,648.17195911,934.17195911,799,836,669.17195911,656,676,0.448736747612,-0.00542291191313,0.0493938032277,0.999999544397,0.000147036620259,-0.000943025005736,-1.70302297494e-05,1793256525967117312
+296,4.933333333,POSE2_TO_POSE3_RETREAT,792,744.249251,730,709,693.750749,648.750749,934.750749,799,836,669.750749,656,676,0.448284216889,-0.00542524777432,0.0493960973288,0.999999546175,0.00013747650742,-0.000942527075311,-1.9805200565e-05,1793256525983784192
+297,4.950000000,POSE2_TO_POSE3_RETREAT,792,744.326763574,730,709,694,649.326763574,934.673236426,799.326763574,836,670,656,675.673236426,0.447820731719,-0.00542862675037,0.0494007395925,0.999999556966,0.000127279873907,-0.000932412440806,-2.18012132978e-05,1793256526000450816
+298,4.966666667,POSE2_TO_POSE3_RETREAT,792,744.90067906,730,709,694,649.90067906,934.09932094,799.90067906,836,670,656,675.09932094,0.447348960961,-0.00543279470028,0.0494071579199,0.999999574298,0.000116601798597,-0.000915024085782,-2.32080511588e-05,1793256526017117440
+299,4.983333333,POSE2_TO_POSE3_RETREAT,792,745,730.474473234,709,694,650,934,799.525526766,836,669.525526766,656,675.474473234,0.446852012979,-0.00542690346029,0.0494214779827,0.999999599219,0.00011414769329,-0.000887609406275,-2.61081242056e-05,1793256526033784320
+300,5.000000000,POSE2_TO_POSE3_RETREAT,792,744.950183168,730.950183168,709,694,650.049816832,934,799.049816832,836,669,656.049816832,676,0.446348059855,-0.0054190502827,0.0494383525608,0.999999625869,0.000113426192944,-0.00085705494824,-2.9204523955e-05,1793256526050451456
+301,5.016666667,POSE2_TO_POSE3_RETREAT,792,744.357683846,730.357683846,709,694,650.642316154,934,799.642316154,836,669,656.642316154,676,0.445825193298,-0.00541275708819,0.0494650409027,0.999999660914,0.000112830303882,-0.000815154662013,-3.1035415012e-05,1793256526067118080
+302,5.033333333,POSE2_TO_POSE3_RETREAT,792,744,730,708.769973251,694.230026749,651.230026749,934,800,836,669,657,676,0.445281319833,-0.00540936090391,0.0495022984609,0.99999970356,0.000109257113824,-0.000761523316641,-3.20182737173e-05,1793256526083784960
+303,5.050000000,POSE2_TO_POSE3_RETREAT,792,744,730,708.189557141,694.810442859,651.810442859,934,800,836,669,657,676,0.444705447526,-0.00541037760488,0.0495556556277,0.999999756316,0.000101148735465,-0.000690022579979,-3.17093628734e-05,1793256526100451840
+304,5.066666667,POSE2_TO_POSE3_RETREAT,792,744,730,708.384954743,695,652,934,800,836,669,657,676,0.444096142959,-0.0054080143219,0.0495915259695,0.999999790272,9.53669549141e-05,-0.000639761131606,-3.26480183903e-05,1793256526117118208
+305,5.083333333,POSE2_TO_POSE3_RETREAT,792,744,730,708.956603205,695,652,934,800,836,669,657,676,0.443470624574,-0.00540401182861,0.0496189156236,0.999999815421,9.07135181682e-05,-0.000599800225482,-3.41917133665e-05,1793256526133784320
+306,5.100000000,POSE2_TO_POSE3_RETREAT,792,744,730,709,695.545449404,652.545449404,934.545449404,800,836,669,657,675.454550596,0.442808183681,-0.00539717757183,0.0496241885218,0.999999820625,8.84011844256e-05,-0.000591187127218,-3.78480885405e-05,1793256526150450688
+307,5.116666667,POSE2_TO_POSE3_RETREAT,792,744,729.866869856,708.866869856,696,653,934.866869856,800,836,669,657,675,0.442147233237,-0.00539198656864,0.0496403402791,0.999999837361,8.43994498312e-05,-0.00056257078771,-4.08581886294e-05,1793256526167116800
+308,5.133333333,POSE2_TO_POSE3_RETREAT,792,744,729.287825107,708.287825107,696,653,934.287825107,800,836,669,657,675,0.441501434899,-0.00539307878566,0.0496990161226,0.999999891377,7.40949400706e-05,-0.000458328514714,-4.11222784282e-05,1793256526183783680
+309,5.150000000,POSE2_TO_POSE3_RETREAT,791.709527469,743.709527469,729.290472531,708,696,653,934,800.290472531,836,669,657,675.290472531,0.440824272207,-0.00539335682163,0.0497600384803,0.999999934131,6.56294331917e-05,-0.000354574044267,-4.13288432396e-05,1793256526200450560
+310,5.166666667,POSE2_TO_POSE3_RETREAT,791.131968163,743.131968163,729.868031837,708,696,653,934,800.868031837,836,669,657,675.868031837,0.440116110668,-0.0053928301668,0.0498233800083,0.999999965824,5.89814925344e-05,-0.000251301678574,-4.147855361e-05,1793256526217117440
+311,5.183333333,POSE2_TO_POSE3_RETREAT,791.451210979,743.451210979,729.548789021,708.451210979,696.451210979,653.451210979,934,801,836,669,657,676,0.43934641425,-0.00538955234769,0.0498289502399,0.999999967155,5.32689342645e-05,-0.000246698997561,-4.46296668465e-05,1793256526233784064
+312,5.200000000,POSE2_TO_POSE3_RETREAT,792,744.035720147,729,708.964279853,697,654,934,801,836,669,657.035720147,676,0.43855429715,-0.00538607290303,0.0498166152878,0.999999960505,4.72592453947e-05,-0.000272755628502,-4.85798668682e-05,1793256526250450688
+313,5.216666667,POSE2_TO_POSE3_RETREAT,792,744.615140433,729,708.384859567,697,654,934,801,836,669,657.615140433,676,0.43769830769,-0.0053919265941,0.049792173586,0.999999946744,3.25102392509e-05,-0.000320683173608,-5.11628885374e-05,1793256526267117056
+314,5.233333333,POSE2_TO_POSE3_RETREAT,792,745,729.194139245,708.194139245,697,654,934,801,835.805860755,668.805860755,657.805860755,675.805860755,0.436846917918,-0.00539537101027,0.0497837675914,0.999999940305,2.17948963667e-05,-0.000340744305228,-5.29855409939e-05,1793256526283783424
+315,5.250000000,POSE2_TO_POSE3_RETREAT,792,745,729.772304308,708.772304308,697,654,934,801,835.227695692,668.227695692,657.227695692,675.227695692,0.436004626818,-0.00539404965207,0.0498070817463,0.999999951677,1.90585225656e-05,-0.000305683029015,-5.33041111229e-05,1793256526300450048
+316,5.266666667,POSE2_TO_POSE3_RETREAT,792.34938613,745.34938613,730,709,697,654,934,801,835.34938613,668.34938613,657.34938613,675.34938613,0.435113060019,-0.00538497820326,0.0497998305099,0.99999994569,5.41621385526e-05,-0.00032163955417,-4.72764640938e-05,1793256526317116672
+317,5.283333333,POSE2_TO_POSE3_RETREAT,792.92576416,745.92576416,730,709,697,654,934,801,835.92576416,668.92576416,657.92576416,675.92576416,0.434189479433,-0.00537087161532,0.0497727213111,0.999999924105,0.000113849933519,-0.000370741721602,-3.71257570866e-05,1793256526333783296
+318,5.300000000,POSE2_TO_POSE3_RETREAT,793,746,730,708.488852245,697,654,934,801.511147755,836,668.488852245,658,676,0.433345145549,-0.00536844693092,0.0497801749043,0.99999993089,0.000109171885726,-0.000353206585234,-3.93142767373e-05,1793256526350450432
+319,5.316666667,POSE2_TO_POSE3_RETREAT,793,746,729.903574138,708,697,654,934,801.903574138,836,668.096425862,658,675.903574138,0.432504746949,-0.00536834141329,0.0497933384085,0.999999941272,9.51763009642e-05,-0.000326426190919,-4.29263165537e-05,1793256526367117568
+320,5.333333333,POSE2_TO_POSE3_RETREAT,793,746,729.325473735,708,697,654,934,801.325473735,836,668.674526265,658,675.325473735,0.431625483261,-0.00537119377418,0.0498095001133,0.999999949826,8.21707806533e-05,-0.000302674380854,-4.45367950765e-05,1793256526383784192
+321,5.350000000,POSE2_TO_POSE3_RETREAT,793,746.252325253,729,708,697,654,934,801,836,669,657.747674747,675,0.430714929192,-0.00537242770426,0.0498054333786,0.999999947945,7.19410111854e-05,-0.000311001318929,-4.7049195325e-05,1793256526400450816
+322,5.366666667,POSE2_TO_POSE3_RETREAT,793,746.829735989,729,708,697,654,934,801,836,669,657.170264011,675,0.429764061759,-0.005371576515,0.0497753051565,0.999999931546,6.52874031314e-05,-0.00036065719376,-5.07235946173e-05,1793256526417117440
+323,5.383333333,POSE2_TO_POSE3_RETREAT,793,747,729,708,697,654.406165368,934,801,835.593834632,668.593834632,657.406165368,675,0.428831414372,-0.00536980031145,0.0497753843657,0.999999931776,6.73801301484e-05,-0.000359543815026,-5.13371690673e-05,1793256526433783808
+324,5.400000000,POSE2_TO_POSE3_RETREAT,793,747,729,708,697,654.982184321,934,801,835.017815679,668.017815679,657.982184321,675,0.427906386451,-0.00536763727784,0.0497880959694,0.999999939191,7.31304721167e-05,-0.000337199328209,-5.06707423312e-05,1793256526450450176
+325,5.416666667,POSE2_TO_POSE3_RETREAT,793,747,729,708,696.429893052,655,934,801,835,668,657.429893052,675,0.42697123481,-0.00536268777017,0.0497760721519,0.999999926795,8.70607903505e-05,-0.00036931541059,-4.93586349901e-05,1793256526467116544
+326,5.433333333,POSE2_TO_POSE3_RETREAT,793,747,729,708,696.156647773,655,934,801,835,668,657.156647773,675,0.426053880688,-0.00535879050404,0.0497700529185,0.999999921535,9.60563750431e-05,-0.00038117225798,-4.91032779662e-05,1793256526483783424
+327,5.450000000,POSE2_TO_POSE3_RETREAT,793,747,729,708,696.738407592,655,934,801,835,668,657.738407592,675,0.425185702533,-0.00535799016844,0.0497824714158,0.999999938969,9.09515354126e-05,-0.000333332361978,-5.17716641225e-05,1793256526500450816
+328,5.466666667,POSE2_TO_POSE3_RETREAT,793,747,728.68503871,708,697,655,934,801,835,668,658,675,0.424319018986,-0.00536091543574,0.0498073430404,0.999999955483,8.28499877389e-05,-0.000281840226774,-5.22990751359e-05,1793256526517117440
+329,5.483333333,POSE2_TO_POSE3_RETREAT,793,747,728.112738694,708,697,655,934,801,835,668,658,675,0.423453556648,-0.00536688470223,0.0498423894763,0.999999970235,7.22999836959e-05,-0.000227364036206,-5.10772049161e-05,1793256526533784064
+330,5.500000000,POSE2_TO_POSE3_RETREAT,793,747.463423156,728,708,697,654.536576844,934,801.463423156,835,668,658,675,0.422516199843,-0.00536488007988,0.049829798665,0.999999964087,7.49114692413e-05,-0.000252058747436,-5.17809906711e-05,1793256526550450688
+331,5.516666667,POSE2_TO_POSE3_RETREAT,793,748,728,708,697,654.041701771,934.041701771,802,835,668,658,675,0.421566731508,-0.00536119909119,0.049807032605,0.999999952205,8.04580885685e-05,-0.000293809436805,-5.28503194325e-05,1793256526567117312
+332,5.533333333,POSE2_TO_POSE3_RETREAT,793,748,728,708,697,654.635460423,934.635460423,802,835,668,658,675,0.420690411616,-0.00536122179586,0.0498042698851,0.99999994897,8.2117734406e-05,-0.000304237494445,-5.25050762481e-05,1793256526583783680
+333,5.550000000,POSE2_TO_POSE3_RETREAT,793,748,728,708,697,655,934.778036278,802,835,668,658,675,0.419815117417,-0.00536013512436,0.0498039364657,0.999999945548,8.56538272245e-05,-0.000314417960147,-5.20477338447e-05,1793256526600450048
+334,5.566666667,POSE2_TO_POSE3_RETREAT,793,748,728,708,697,655,934.203071471,802,835,668,658,675,0.418941454297,-0.00535728415106,0.0498074664958,0.999999941876,9.2174136891e-05,-0.000324204668439,-5.14121138517e-05,1793256526617116672
+335,5.583333333,POSE2_TO_POSE3_RETREAT,792.628152024,748,728,707.628152024,697,655,934,802,835,668.371847976,658,675,0.418079133206,-0.00535582967384,0.04979261162,0.999999932884,9.42581306724e-05,-0.0003500859665,-5.27972727953e-05,1793256526633783552
+336,5.600000000,POSE2_TO_POSE3_RETREAT,792.05325738,748,728,707.05325738,697,655,934,802,835,668.94674262,658,675,0.417223005453,-0.00535513775002,0.0497677177114,0.999999920043,9.39196846519e-05,-0.000384755674602,-5.52858730695e-05,1793256526650450432
+337,5.616666667,POSE2_TO_POSE3_RETREAT,792.53236881,748.53236881,728,707,697,655,934,802,835,668.46763119,658,675.53236881,0.416439770416,-0.00535882464761,0.0497866694339,0.999999934236,8.65783134483e-05,-0.000347781752587,-5.54987251962e-05,1793256526667117568
+338,5.633333333,POSE2_TO_POSE3_RETREAT,793,749,728.118323528,707.118323528,697,655,934.118323528,802,835,668,658,675.881676472,0.415661823456,-0.00536203702509,0.049806656395,0.999999947358,8.05881644088e-05,-0.000309375066361,-5.54685119354e-05,1793256526683784192
+339,5.650000000,POSE2_TO_POSE3_RETREAT,793,749,728.701265969,707.701265969,697,655,934.701265969,802,835,668,658,675.298734031,0.41487541837,-0.00536163063951,0.0498131306584,0.999999951808,8.27113150378e-05,-0.00029406436504,-5.53962077841e-05,1793256526700450560
+340,5.666666667,POSE2_TO_POSE3_RETREAT,793,749,728.720367198,707.720367198,697,655,934.720367198,802,835,668,658,675.279632802,0.41408900673,-0.00535958070499,0.049802925098,0.999999945935,8.71590113283e-05,-0.000312047883477,-5.62124227255e-05,1793256526717117184
+341,5.683333333,POSE2_TO_POSE3_RETREAT,793,749,728.146809866,707.146809866,697,655,934.146809866,802,835,668,658,675.853190134,0.413302588252,-0.00535580322154,0.0497751872255,0.999999927275,9.40500579886e-05,-0.000365027253526,-5.79625679035e-05,1793256526733784064
+342,5.700000000,POSE2_TO_POSE3_RETREAT,793,748.572246748,728,707,697.427753252,655,934.427753252,802,835,668,658,676,0.412579831768,-0.00535786183725,0.0497773453509,0.99999992868,9.16321798337e-05,-0.000361737320166,-5.82263979823e-05,1793256526750450432
+343,5.716666667,POSE2_TO_POSE3_RETREAT,793.002753289,748.002753289,728,707,697.997246711,655,934.997246711,802.002753289,835,668,658,676,0.411879067773,-0.00536191103195,0.0497898413943,0.999999937142,8.60618881778e-05,-0.000339042240126,-5.79684346341e-05,1793256526767116800
+344,5.733333333,POSE2_TO_POSE3_RETREAT,793.597282675,748.597282675,728,707,697.402717325,655,934.402717325,802.597282675,835,668,658,676,0.411197973853,-0.00536227218453,0.0498137464699,0.999999947429,9.12485503861e-05,-0.000306169479076,-5.54599826759e-05,1793256526783783680
+345,5.750000000,POSE2_TO_POSE3_RETREAT,793.81387697,749,728.18612303,707,697,655,934,803,835,668,658,675.81387697,0.410518192249,-0.0053617606673,0.0498211000378,0.999999948955,9.56536057492e-05,-0.000299978983629,-5.43499622235e-05,1793256526800450560
+346,5.766666667,POSE2_TO_POSE3_RETREAT,793.236980863,749,728.763019137,707,697,655,934,803,835,668,658,675.236980863,0.409841165783,-0.00535941694344,0.049793703028,0.999999932396,9.84176458709e-05,-0.000349809013685,-5.61760067013e-05,1793256526817117952
+347,5.783333333,POSE2_TO_POSE3_RETREAT,793,749,728.661866292,707,697,655,934,802.661866292,835,668,658,675.338133708,0.409227133229,-0.00535916714421,0.0497879035677,0.999999930483,0.000100053665765,-0.00035463521275,-5.70672007281e-05,1793256526833784832
+348,5.800000000,POSE2_TO_POSE3_RETREAT,793,749,728.087993801,707,697,655,934,802.087993801,835,668,658,675.912006199,0.408657018574,-0.00536037717962,0.0497971614071,0.999999939447,0.00010090325667,-0.000328085807945,-5.73066391719e-05,1793256526850451200
+349,5.816666667,POSE2_TO_POSE3_RETREAT,793,749,728,707,697,655,934.486976896,802.486976896,835,668,658,676,0.408108797867,-0.00536307758219,0.0498155590926,0.999999947195,0.000100194075581,-0.000304070996718,-5.5792711658e-05,1793256526867117312
+350,5.833333333,POSE2_TO_POSE3_RETREAT,793,749,728,707,697,655,935,803,835,668,658,676,0.40756479813,-0.00536579279565,0.0498324421792,0.99999995301,9.9376020744e-05,-0.00028488184486,-5.4283387662e-05,1793256526883783680
+351,5.850000000,POSE2_TO_POSE3_RETREAT,793,749,728,707,697,655,935,803,835,668,658,676,0.407022911034,-0.00536640215756,0.0498231579798,0.999999947941,9.99895891142e-05,-0.000301739569243,-5.54333689806e-05,1793256526900450560
+352,5.866666667,POSE2_TO_POSE3_RETREAT,793,749,728,707,697,655,934.75489755,803,835,668,658,676,0.406493497257,-0.00536693218557,0.0498070271219,0.999999938655,0.000101042209239,-0.000330578212474,-5.65562871912e-05,1793256526917117440
+353,5.883333333,POSE2_TO_POSE3_RETREAT,793,749,728,707,697,655,934.181382355,803,835,668,658,676,0.405980796523,-0.00536735591402,0.0497817224278,0.999999922578,0.000102683114595,-0.000375470085805,-5.764294339e-05,1793256526933784576
+354,5.900000000,POSE2_TO_POSE3_RETREAT,793,749,728,707,697.393386379,655,934,803,835,668,658,675.606613621,0.405521506064,-0.00536704275889,0.0497737191333,0.999999916466,0.000106136989142,-0.000390487690086,-5.7633548412e-05,1793256526950451712
+355,5.916666667,POSE2_TO_POSE3_RETREAT,793,749,728,707,697.968734993,655,934,803,835,668,658,675.031265007,0.405086920669,-0.00536638875572,0.0497737186591,0.999999915562,0.000110429459084,-0.000391686851756,-5.71171712898e-05,1793256526967119104
+356,5.933333333,POSE2_TO_POSE3_RETREAT,793,749,728,707,698,655,934,803,835,668,658,675,0.404716359015,-0.00536491971636,0.0497940581484,0.999999927966,0.000114308135997,-0.000357583919081,-5.59909965743e-05,1793256526983784704
+357,5.950000000,POSE2_TO_POSE3_RETREAT,793,749,728,707,698,655,934,803,835,667.851462896,658,675.148537104,0.404360114364,-0.00536546172675,0.0498171427482,0.999999940497,0.00011510502276,-0.000320597131839,-5.45435763062e-05,1793256527000450816
+358,5.966666667,POSE2_TO_POSE3_RETREAT,793,749,728,707,698,655,934,803,835,667.272291741,658,675.727708259,0.404034710889,-0.00537196989058,0.04984479732,0.999999953388,0.000107036219164,-0.000281130768634,-5.22664012413e-05,1793256527017117184
+359,5.983333333,POSE2_TO_POSE3_RETREAT,793,749,728,707,698,655,934,803,835,667,658,675.696124562,0.403718274959,-0.0053747556279,0.0498587412637,0.999999958559,0.000104325888709,-0.000263406763361,-5.11344113546e-05,1793256527033783808
+360,6.000000000,POSE2_TO_POSE3_RETREAT,793,749,728,707,698,655,934,803,835,667,658,675.122622821,0.403409795883,-0.00537423848484,0.0498605198723,0.999999957935,0.000106370090212,-0.000264974585113,-5.10185355232e-05,1793256527050450176
+361,6.016666667,POSE2_TO_POSE3_RETREAT,793,749,728,707.450571676,698,655,934,803,835,667,658,675,0.403114297059,-0.00537384195541,0.0498497896488,0.999999951489,0.000107536631062,-0.000287707953527,-5.17928319252e-05,1793256527067117056
+362,6.033333333,POSE2_TO_POSE3_RETREAT,793,749,728,707.975473038,697.975473038,655.024526962,934.024526962,803,835,667,658,675,0.402823890438,-0.00537345869116,0.0498357103894,0.999999942823,0.000108639704363,-0.000315861622526,-5.27529750187e-05,1793256527083783680
+363,6.050000000,POSE2_TO_POSE3_RETREAT,793,749,728,707.381929005,697.381929005,655.618070995,934.618070995,803,835,667,658,675,0.402569722569,-0.00537262216639,0.0498228587522,0.999999935628,0.000113807928444,-0.000336221021239,-5.24081831152e-05,1793256527100450048
+364,6.066666667,POSE2_TO_POSE3_RETREAT,793.205088575,749,728,707,697.205088575,655.794911425,934.794911425,803,835,667,658,675.205088575,0.4023372862,-0.00537096300173,0.0498140187359,0.99999993067,0.00012075017117,-0.000348403674813,-5.19107953983e-05,1793256527117116928
+365,6.083333333,POSE2_TO_POSE3_RETREAT,793.780326958,749,728,707,697.780326958,655.219673042,934.219673042,803,835,667,658,675.780326958,0.402144071501,-0.00536781911282,0.0498124190106,0.999999930327,0.000130894213713,-0.00034582869957,-5.1137998399e-05,1793256527133783808
+366,6.100000000,POSE2_TO_POSE3_RETREAT,793.644032192,749.355967808,728,707,698,655,934,803.355967808,835,667,658,676,0.401974987914,-0.00536735072905,0.0498150603466,0.999999932712,0.000134238805481,-0.000337624422639,-5.06486174371e-05,1793256527150450176
+367,6.116666667,POSE2_TO_POSE3_RETREAT,793.068142637,749.931857363,728,707,698,655,934,803.931857363,835,667,658,676,0.401820812837,-0.00536853530839,0.0498203218677,0.999999936719,0.000133382605179,-0.00032594228639,-5.03343346747e-05,1793256527167116800
+368,6.133333333,POSE2_TO_POSE3_RETREAT,793.520951275,749.479048725,728,707,697.479048725,655,934.520951275,803.479048725,835,667.520951275,658,675.479048725,0.401697753103,-0.00536886624346,0.0498280691588,0.999999941997,0.000133465646595,-0.000309263879297,-5.04832105773e-05,1793256527183783424
+369,6.150000000,POSE2_TO_POSE3_RETREAT,793.890388968,749,728,707,697.109611032,655.109611032,934.890388968,803,835,667.890388968,658,675,0.401581750372,-0.00536973483995,0.0498353100744,0.999999946666,0.000132539509146,-0.000294158534816,-5.07148218477e-05,1793256527200450304
+370,6.166666667,POSE2_TO_POSE3_RETREAT,793.3111811,749,728,707,697.6888189,655.6888189,934.3111811,803,835,667.3111811,658,675,0.401478091011,-0.00537339770855,0.0498389523377,0.999999949001,0.000126749803775,-0.000288665206246,-5.10345883307e-05,1793256527217117184
+371,6.183333333,POSE2_TO_POSE3_RETREAT,793.26564225,749.26564225,728,707,698,655.73435775,934,803,835,667,658,675,0.401384017328,-0.00538001329334,0.0498403003685,0.999999950842,0.000117743281996,-0.000286119384497,-5.08797549265e-05,1793256527233783808
+372,6.200000000,POSE2_TO_POSE3_RETREAT,793.839697122,749.839697122,728,707,698,655.160302878,934,803,835,667,658,675,0.401301072695,-0.00539005700332,0.0498389847781,0.999999952045,0.000105002012842,-0.000286995640351,-5.01739075095e-05,1793256527250450432
+373,6.216666667,POSE2_TO_POSE3_RETREAT,794,749.585859966,728,707,697.585859966,655,934.414140034,803,835,667,658,675,0.401235840821,-0.0053925579543,0.0498397977532,0.999999952963,0.000101156630072,-0.000285191954477,-5.00645866368e-05,1793256527267117056
+374,6.233333333,POSE2_TO_POSE3_RETREAT,794,749.011266727,728,707,697.011266727,655,934.988733273,803,835,667,658,675,0.401177471531,-0.00539213656055,0.0498414354136,0.999999953804,0.000100757843841,-0.000282349959798,-5.01863822844e-05,1793256527283783424
+375,6.250000000,POSE2_TO_POSE3_RETREAT,793.420054087,749,728,707.579945913,697.579945913,655,934.420054087,803,835,667,658,675,0.401136257353,-0.00538964939447,0.0498415832098,0.999999954231,0.000104236494817,-0.000279444547692,-5.08302023001e-05,1793256527300450048
+376,6.266666667,POSE2_TO_POSE3_RETREAT,793,749.167496414,728,707.832503586,698,655,934.167496414,803,835,667,658,675,0.40109950489,-0.00538829767948,0.0498426783415,0.999999955128,0.000106335070167,-0.000275360797066,-5.11207914428e-05,1793256527317116672
+377,6.283333333,POSE2_TO_POSE3_RETREAT,793,749.745262523,728,707.254737477,698,655,934.745262523,803,835,667,658,675,0.401072840646,-0.00538982836652,0.0498461668868,0.999999957208,0.000104863301898,-0.000268393903296,-5.05205947709e-05,1793256527333783552
+378,6.300000000,POSE2_TO_POSE3_RETREAT,793.319565939,749.680434061,728,707,698,655,935,803,835,667,658,675,0.401051866411,-0.00539057011343,0.0498488413759,0.999999958447,0.000104838529056,-0.000263785450712,-5.03297191459e-05,1793256527350450176
+379,6.316666667,POSE2_TO_POSE3_RETREAT,793.891138767,749.108861233,728,707,698,655,935,803,835,667,658,675,0.401035379265,-0.00539068970924,0.0498508739076,0.999999959043,0.000105954843927,-0.000261036843366,-5.04616304358e-05,1793256527367116800
+380,6.333333333,POSE2_TO_POSE3_RETREAT,793.534373475,749.465626525,728,707,698,655,934.534373475,803,835,667,658,675,0.401021006038,-0.0053907216479,0.0498495760315,0.999999958608,0.000106070084917,-0.000262618134323,-5.06369674551e-05,1793256527383783424
+381,6.350000000,POSE2_TO_POSE3_RETREAT,793,749.957629947,728,707,698,655,934.042370053,803,835,667,658,675,0.401007773598,-0.00539077366119,0.049847749006,0.999999957994,0.000106037716876,-0.000264938909161,-5.07412868792e-05,1793256527400450560
+382,6.366666667,POSE2_TO_POSE3_RETREAT,793,749.360323302,728,707,698,655,934.639676698,803,835,667,658,675,0.401002968637,-0.00539135870578,0.0498492538073,0.999999958276,0.000107156760444,-0.000263602863728,-4.97816504244e-05,1793256527417117184
+383,6.383333333,POSE2_TO_POSE3_RETREAT,793.228878574,749,728,707,697.771121426,655,934.771121426,803,835,667,658,675,0.400999619954,-0.00539186798307,0.0498506479775,0.999999958688,0.000107793764902,-0.000261881466677,-4.92134318011e-05,1793256527433783552
+384,6.400000000,POSE2_TO_POSE3_RETREAT,793.805757455,749,728,707,697.194242545,655,934.194242545,803,835,667,658,675,0.40099848548,-0.0053922620593,0.0498518739375,0.999999959299,0.000107697848972,-0.000259574158675,-4.92403476894e-05,1793256527450450176
+385,6.416666667,POSE2_TO_POSE3_RETREAT,794,749.38141449,728,707.38141449,697,655,934,803,835,667.38141449,658,675.38141449,0.400997427488,-0.00539209559635,0.049852782839,0.999999959969,0.000106184891997,-0.000257602212334,-4.92643189959e-05,1793256527467116800
+386,6.433333333,POSE2_TO_POSE3_RETREAT,794,749.956451248,728,707.956451248,697,655,934,803,835,667.956451248,658,675.956451248,0.400996408323,-0.00539164457978,0.049853530788,0.999999960665,0.000103952584536,-0.000255800509949,-4.9286795506e-05,1793256527483783424
+387,6.450000000,POSE2_TO_POSE3_RETREAT,794,749.454798092,728,707.454798092,697.545201908,655,934.545201908,803,835,667.454798092,658,675.454798092,0.400996810647,-0.00539089503677,0.0498548524463,0.999999960851,0.000105362134748,-0.000254464388499,-4.94418634968e-05,1793256527500450304
+388,6.466666667,POSE2_TO_POSE3_RETREAT,793.866736243,749,728,707,698,655,935,803,835,667,658,675.133263757,0.400997176198,-0.00539026350058,0.0498557688659,0.999999960926,0.000107043459828,-0.000253451712702,-4.9524877009e-05,1793256527517116928
+389,6.483333333,POSE2_TO_POSE3_RETREAT,793.284777134,749,728,707,698,655,935,803,835,667,658,675.715222866,0.400997025779,-0.00539011164795,0.0498551625818,0.999999960777,0.000108635123665,-0.000253399624764,-4.93287055963e-05,1793256527533783552
+390,6.500000000,POSE2_TO_POSE3_RETREAT,793.293052464,749.293052464,728,707,697.706947536,655,935,803,835,667,658,675.706947536,0.400996949898,-0.00539143414606,0.0498551093991,0.999999961002,0.000107836556098,-0.000252902605568,-4.9075250973e-05,1793256527550450176
+391,6.516666667,POSE2_TO_POSE3_RETREAT,793.86692499,749.86692499,728,707,697.13307501,655,935,803,835,667,658,675.13307501,0.400996945444,-0.00539416945351,0.0498555862306,0.999999961578,0.000104747528774,-0.000251979227132,-4.87669041937e-05,1793256527567116800
+392,6.533333333,POSE2_TO_POSE3_RETREAT,793.556952868,749.556952868,728,707,697.443047132,655,935,803,835,667,658,675.443047132,0.400995076977,-0.00539339094713,0.0498550107718,0.999999961225,0.000105458463371,-0.00025307855427,-4.87783832968e-05,1793256527583783424
+393,6.550000000,POSE2_TO_POSE3_RETREAT,793.020348331,749,728,707,698,655,934.979651669,803,835,667.020348331,658,676,0.400992796191,-0.00539164795298,0.0498542045091,0.99999996063,0.000107245939258,-0.000254655714035,-4.88779017505e-05,1793256527600450048
+394,6.566666667,POSE2_TO_POSE3_RETREAT,793.611678108,749,728,707,698,655,934.388321892,803,835,667.611678108,658,676,0.400994736187,-0.00539260768989,0.0498558360822,0.999999961203,0.000107050896733,-0.000252506065377,-4.87384918788e-05,1793256527617116928
+395,6.583333333,POSE2_TO_POSE3_RETREAT,793.801783007,749,728,707,698,655,934,803,835,668,658,676,0.400996168587,-0.00539306165897,0.0498568481951,0.999999961654,0.000106914446639,-0.000250780494246,-4.8693615752e-05,1793256527633783552
+396,6.600000000,POSE2_TO_POSE3_RETREAT,793.224408371,749,728,707,698,655,934,803,835,668,658,676,0.400996630038,-0.00539254817441,0.0498566753792,0.999999961879,0.000106890074577,-0.000249866116237,-4.88295676818e-05,1793256527650450176
+397,6.616666667,POSE2_TO_POSE3_RETREAT,793.350611364,749,728,707,698,655,934,803,835,667.649388636,658,676,0.400996698047,-0.00539292095616,0.0498566448201,0.999999962018,0.000105745558427,-0.000249802470596,-4.87833406254e-05,1793256527667116800
+398,6.633333333,POSE2_TO_POSE3_RETREAT,793.924133881,749,728,707,698,655,934,803,835,667.075866119,658,676,0.400996515915,-0.00539385720697,0.0498567047048,0.999999962102,0.000103888878793,-0.000250279702303,-4.86212880885e-05,1793256527683783424
+399,6.650000000,POSE2_TO_POSE3_RETREAT,793.488995945,749,728,707,698,655,934.511004055,803,835,667,658,675.488995945,0.400996701941,-0.00539394173124,0.0498573765804,0.999999962248,0.000104572503613,-0.000249394257433,-4.86988836896e-05,1793256527700450048
+400,6.666666667,POSE2_TO_POSE3_RETREAT,793.09849387,749,728,707.09849387,697.90150613,655,934.90150613,803,835,667,658,675,0.400996864772,-0.00539405847637,0.0498579397689,0.99999996238,0.00010533677481,-0.000248535397069,-4.87292972258e-05,1793256527717116928
+401,6.683333333,POSE2_TO_POSE3_RETREAT,793.679057081,749,728,707.679057081,697.320942919,655,934.320942919,803,835,667,658,675,0.40099663938,-0.00539496842827,0.0498575143697,0.999999962404,0.000104600346877,-0.000248823395964,-4.83499720299e-05,1793256527733783552
+402,6.700000000,POSE2_TO_POSE3_RETREAT,794,749,728,708,697,655,934.257415395,803,835,667,658,675,0.40099571826,-0.00539531386855,0.0498572843723,0.999999962415,0.000103610937235,-0.00024921014298,-4.82571485009e-05,1793256527750450176
+403,6.716666667,POSE2_TO_POSE3_RETREAT,794,749,728,708,697,655,934.83304809,803,835,667,658,675,0.40099393708,-0.00539496145882,0.0498572959311,0.99999996241,0.000102308791129,-0.000249718962613,-4.85184987137e-05,1793256527767116800
+404,6.733333333,POSE2_TO_POSE3_RETREAT,793.592595588,749.407404412,728,707.592595588,697.407404412,655.407404412,935,803,835,667,658,675,0.400995256155,-0.00539561250544,0.0498578484462,0.999999962794,0.000102455301933,-0.0002481484576,-4.83379419602e-05,1793256527783783424
+405,6.750000000,POSE2_TO_POSE3_RETREAT,793.018760717,749.981239283,728,707.018760717,697.981239283,655.981239283,935,803,835,667,658,675,0.40099784173,-0.00539667347819,0.0498586219498,0.999999963333,0.000103193609633,-0.000245728519056,-4.79768599507e-05,1793256527800450048
diff --git a/Part2/Obstacle_avoidance/cylinder_PLA_10/position_02/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_PLA_10/position_02/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5858506cb90ce23656ed8cce8a780628afa98666
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_PLA_10/position_02/depth_01/simulation_data.csv
@@ -0,0 +1,407 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+1,0.016666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+2,0.033333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+3,0.050000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+4,0.066666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+5,0.083333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+6,0.100000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+7,0.116666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+8,0.133333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+9,0.150000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+10,0.166666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+11,0.183333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+12,0.200000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+13,0.216666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+14,0.233333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+15,0.250000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+16,0.266666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+17,0.283333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+18,0.300000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+19,0.316666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+20,0.333333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+21,0.350000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+22,0.366666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+23,0.383333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+24,0.400000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+25,0.416666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+26,0.433333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+27,0.450000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+28,0.466666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+29,0.483333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+30,0.500000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+31,0.516666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+32,0.533333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+33,0.550000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+34,0.566666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+35,0.583333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+36,0.600000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+37,0.616666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+38,0.633333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+39,0.650000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+40,0.666666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+41,0.683333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+42,0.700000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+43,0.716666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+44,0.733333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+45,0.750000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+46,0.766666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+47,0.783333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+48,0.800000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+49,0.816666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+50,0.833333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+51,0.850000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+52,0.866666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+53,0.883333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+54,0.900000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+55,0.916666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+56,0.933333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+57,0.950000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+58,0.966666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+59,0.983333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+60,1.000000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+61,1.016666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+62,1.033333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+63,1.050000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+64,1.066666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+65,1.083333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+66,1.100000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+67,1.116666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+68,1.133333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+69,1.150000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+70,1.166666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+71,1.183333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+72,1.200000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+73,1.216666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+74,1.233333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+75,1.250000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+76,1.266666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+77,1.283333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+78,1.300000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+79,1.316666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+80,1.333333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+81,1.350000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+82,1.366666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+83,1.383333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+84,1.400000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+85,1.416666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+86,1.433333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+87,1.450000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+88,1.466666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+89,1.483333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+90,1.500000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+91,1.516666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+92,1.533333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+93,1.550000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+94,1.566666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+95,1.583333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+96,1.600000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+97,1.616666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+98,1.633333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+99,1.650000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+100,1.666666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+101,1.683333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+102,1.700000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+103,1.716666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+104,1.733333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+105,1.750000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+106,1.766666667,pose1_to_pose2_press,0.575666710209,0.000181852718045,1.0400204364,0.546237856699,0.00885608621235,1.03969214046
+107,1.783333333,pose1_to_pose2_press,0.57566679443,0.000181858460119,1.0400203764,0.546237941214,0.00885609298388,1.03969208127
+108,1.800000000,pose1_to_pose2_press,0.575666838786,0.000181861484297,1.0400203448,0.546237985726,0.00885609655025,1.0396920501
+109,1.816666667,pose1_to_pose2_press,0.575666846552,0.000181862013731,1.04002033927,0.546237993519,0.0088560971746,1.03969204464
+110,1.833333333,pose1_to_pose2_press,0.575667228354,0.000181836397418,1.0400204785,0.546238374647,0.00885606925651,1.03969218347
+111,1.850000000,pose1_to_pose2_press,0.575668474314,0.000181773402103,1.04002057528,0.546239621263,0.00885600820629,1.03969227284
+112,1.866666667,pose1_to_pose2_press,0.57567080521,0.000181758236368,1.04002055151,0.546241953215,0.00885599689423,1.03969225633
+113,1.883333333,pose1_to_pose2_press,0.575675243479,0.000181940109687,1.04002053131,0.546246388993,0.00885617050178,1.03969224093
+114,1.900000000,pose1_to_pose2_press,0.57568370258,0.000181934732027,1.0400206712,0.546254848384,0.00885616571799,1.03969237035
+115,1.916666667,pose1_to_pose2_press,0.575696513579,0.000181818753977,1.04002042886,0.546267661738,0.00885605818383,1.03969214005
+116,1.933333333,pose1_to_pose2_press,0.575713995379,0.000181895711219,1.04002038087,0.546285142577,0.00885613205933,1.03969209676
+117,1.950000000,pose1_to_pose2_press,0.575738685945,0.000181894461702,1.04002027081,0.54630983216,0.00885612738719,1.03969198427
+118,1.966666667,pose1_to_pose2_press,0.575769670764,0.00018152659389,1.04002056127,0.546340822134,0.00885577641596,1.03969225897
+119,1.983333333,pose1_to_pose2_press,0.575805567763,0.000181803426884,1.04002066448,0.54637671559,0.00885604138154,1.03969236617
+120,2.000000000,pose1_to_pose2_press,0.575847362546,0.000181769094522,1.0400205188,0.546418509745,0.00885600487861,1.03969221948
+121,2.016666667,pose1_to_pose2_press,0.575896565116,0.00018169039406,1.04002060984,0.546467713075,0.00885592854989,1.039692305
+122,2.033333333,pose1_to_pose2_press,0.575953012938,0.000181661705634,1.04002068051,0.546524161157,0.00885590055862,1.03969237064
+123,2.050000000,pose1_to_pose2_press,0.576017208428,0.000181736052915,1.04002060196,0.546588355608,0.00885597146097,1.03969229415
+124,2.066666667,pose1_to_pose2_press,0.576091399687,0.000181950834353,1.04002055419,0.546662544985,0.00885618036201,1.03969225958
+125,2.083333333,pose1_to_pose2_press,0.576175827179,0.000181965404988,1.04002055447,0.546746973036,0.00885619676043,1.03969225797
+126,2.100000000,pose1_to_pose2_press,0.576272815503,0.000181797393158,1.04002042727,0.546843963272,0.00885603560115,1.03969214059
+127,2.116666667,pose1_to_pose2_press,0.576382505731,0.000181703962395,1.04002043888,0.546953654543,0.0088559453551,1.03969214284
+128,2.133333333,pose1_to_pose2_press,0.576505601728,0.000181732673148,1.04002050309,0.547076749445,0.00885597020908,1.03969220327
+129,2.150000000,pose1_to_pose2_press,0.576644224051,0.000181798206894,1.04002061116,0.547215370136,0.00885603041904,1.03969231691
+130,2.166666667,pose1_to_pose2_press,0.576797971121,0.000181786109081,1.04002080033,0.547369117939,0.00885602063835,1.03969250156
+131,2.183333333,pose1_to_pose2_press,0.576968629573,0.000181775808517,1.04002075947,0.547539777471,0.00885601428081,1.03969246792
+132,2.200000000,pose1_to_pose2_press,0.577157195956,0.000181746613572,1.04002055044,0.547728343808,0.00885598494725,1.03969225937
+133,2.216666667,pose1_to_pose2_press,0.577366980916,0.000181762096295,1.04002056768,0.547938129537,0.00885600273058,1.03969226832
+134,2.233333333,pose1_to_pose2_press,0.577598644646,0.00018172604385,1.04002053931,0.548169793428,0.00885596742501,1.03969224526
+135,2.250000000,pose1_to_pose2_press,0.57785300058,0.00018176077427,1.04002054774,0.548424147483,0.00885599572642,1.03969225228
+136,2.266666667,pose1_to_pose2_press,0.578127848433,0.000181761659945,1.04002060283,0.548698995721,0.00885599804574,1.03969231061
+137,2.283333333,pose1_to_pose2_press,0.578420142288,0.000181741857072,1.04002064723,0.548991290451,0.00885598127689,1.03969235671
+138,2.300000000,pose1_to_pose2_press,0.578727213002,0.000181709708165,1.04002055135,0.549298361676,0.00885595087031,1.03969226106
+139,2.316666667,pose1_to_pose2_press,0.579046382371,0.000181692631398,1.04002042517,0.549617531676,0.00885593607476,1.03969213848
+140,2.333333333,pose1_to_pose2_press,0.579377799057,0.000181759884624,1.04002050959,0.549948947259,0.00885599951715,1.03969222107
+141,2.350000000,pose1_to_pose2_press,0.579726370155,0.000181721225366,1.04002044694,0.550297516655,0.00885595474211,1.03969214934
+142,2.366666667,pose1_to_pose2_press,0.580094041988,0.000181745727275,1.04002055082,0.550665190483,0.00885598600029,1.03969225281
+143,2.383333333,pose1_to_pose2_press,0.580489197248,0.000181745921499,1.04002053746,0.551060344901,0.00885598354407,1.03969224497
+144,2.400000000,pose1_to_pose2_press,0.580911168521,0.000181753387702,1.04002045114,0.551482315487,0.00885598874819,1.03969216032
+145,2.416666667,pose1_to_pose2_press,0.581362002682,0.000181816956319,1.0400205552,0.551933149363,0.00885605121962,1.03969226099
+146,2.433333333,pose1_to_pose2_press,0.58183499601,0.000181846849226,1.04002068893,0.552406142873,0.00885608151688,1.03969238903
+147,2.450000000,pose1_to_pose2_press,0.582328604171,0.000181769087758,1.04002064841,0.552899752192,0.00885600762445,1.03969234692
+148,2.466666667,pose1_to_pose2_press,0.582830074712,0.00018167913703,1.04002051379,0.553401223598,0.00885592081567,1.03969221778
+149,2.483333333,pose1_to_pose2_press,0.583339361892,0.000181680372491,1.04002040206,0.553910509878,0.00885591924763,1.03969211255
+150,2.500000000,pose1_to_pose2_press,0.5838641813,0.000181677559474,1.04002040448,0.554435330406,0.00885592027264,1.03969211606
+151,2.516666667,pose1_to_pose2_press,0.584408120045,0.000181829149118,1.04002052145,0.554979267074,0.00885606476144,1.03969223155
+152,2.533333333,pose1_to_pose2_press,0.584976196117,0.00018181205689,1.0400207585,0.555547342927,0.00885604655968,1.03969245892
+153,2.550000000,pose1_to_pose2_press,0.585565932779,0.000181681587059,1.040020509,0.556137082135,0.00885592505626,1.03969221804
+154,2.566666667,pose1_to_pose2_press,0.586173472348,0.000181716071314,1.04002039023,0.55674462069,0.00885595623974,1.03969210301
+155,2.583333333,pose1_to_pose2_press,0.586795711758,0.000181724790909,1.04002047633,0.557366859729,0.00885596352851,1.03969218449
+156,2.600000000,pose1_to_pose2_press,0.587428889976,0.000181715591437,1.04002061519,0.558000037913,0.00885595394103,1.03969231625
+157,2.616666667,pose1_to_pose2_press,0.588072103591,0.000181776724955,1.04002061596,0.558643250355,0.00885601105589,1.03969231596
+158,2.633333333,pose1_to_pose2_press,0.588727909356,0.000181808748114,1.04002044475,0.559299056491,0.00885604461583,1.03969215207
+159,2.650000000,pose1_to_pose2_press,0.589395830054,0.000181801746979,1.04002054095,0.559966977402,0.00885603824574,1.03969224589
+160,2.666666667,pose1_to_pose2_press,0.590076323715,0.000181628355549,1.04002040278,0.560647472578,0.00885587017698,1.03969211256
+161,2.683333333,pose1_to_pose2_press,0.590769886296,0.000181676281434,1.04002052447,0.561341035257,0.00885591838323,1.03969223298
+162,2.700000000,pose1_to_pose2_press,0.591477946403,0.000181744635226,1.04002042468,0.562049095308,0.00885598670017,1.03969213715
+163,2.716666667,pose1_to_pose2_press,0.592198655011,0.000181766916525,1.04002039887,0.562769802608,0.0088560044681,1.03969210942
+164,2.733333333,pose1_to_pose2_press,0.592926187905,0.000181817495013,1.04002049123,0.563497335561,0.00885605516678,1.0396921997
+165,2.750000000,pose1_to_pose2_press,0.593658269397,0.000181816601664,1.0400206875,0.564229416862,0.00885605342506,1.03969239068
+166,2.766666667,pose1_to_pose2_press,0.594395509886,0.000181779564737,1.04002064885,0.564966656647,0.00885601390267,1.03969234947
+167,2.783333333,pose1_to_pose2_press,0.5951259647,0.000181714528848,1.04002047327,0.565697112227,0.00885595155607,1.03969217632
+168,2.800000000,pose1_to_pose2_press,0.59585251618,0.000181686728401,1.04002058728,0.566423664493,0.00885592637327,1.03969228912
+169,2.816666667,pose1_to_pose2_press,0.596577690292,0.000181949131321,1.04002066025,0.567148834688,0.00885617539694,1.03969235979
+170,2.833333333,pose1_to_pose2_press,0.597302510599,0.000181787650588,1.04002036874,0.567873657468,0.00885602296927,1.03969208586
+171,2.850000000,pose1_to_pose2_press,0.598031476838,0.000181648159048,1.0400205033,0.5686026252,0.0088558882543,1.03969221282
+172,2.866666667,pose1_to_pose2_press,0.59875754,0.00018170666042,1.04002051769,0.569328687084,0.00885594246667,1.03969222852
+173,2.883333333,pose1_to_pose2_press,0.599479651148,0.000181923224668,1.04002053137,0.570050796932,0.0088561545484,1.03969224034
+174,2.900000000,pose1_to_pose2_press,0.600208862135,0.000181934008904,1.04002061705,0.570780008804,0.00885616821683,1.03969232297
+175,2.916666667,pose1_to_pose2_press,0.600936279398,0.000181859201997,1.04002060858,0.571507426998,0.0088560965823,1.03969231483
+176,2.933333333,pose1_to_pose2_press,0.601652988148,0.000181756125138,1.04002049832,0.572224136249,0.00885599521344,1.03969220492
+177,2.950000000,pose1_to_pose2_press,0.602362099863,0.000181662766236,1.04002043632,0.572933248138,0.00885590234379,1.03969214028
+178,2.966666667,pose1_to_pose2_press,0.603060967447,0.000181773383728,1.04002044315,0.573632114214,0.00885600778179,1.03969214558
+179,2.983333333,pose1_to_pose2_press,0.603750691815,0.000181824773051,1.04002046868,0.574321838673,0.00885605945616,1.03969217049
+180,3.000000000,pose1_to_pose2_press,0.604431806993,0.000181747922669,1.04002065632,0.575002956928,0.00885599320076,1.03969236232
+181,3.016666667,pose1_to_pose2_press,0.605101493991,0.000181770661151,1.04002053137,0.575672641973,0.00885600946455,1.03969224141
+182,3.033333333,pose1_to_pose2_press,0.60576332191,0.000181889961918,1.04002049669,0.576334468278,0.0088561235328,1.03969221318
+183,3.050000000,pose1_to_pose2_press,0.606415499875,0.000181809475961,1.04002051587,0.57698664753,0.00885604732167,1.03969223007
+184,3.066666667,pose1_to_pose2_press,0.607048140299,0.000181825187469,1.04002045564,0.577619286917,0.00885605934633,1.03969216546
+185,3.083333333,pose1_to_pose2_press,0.607659981082,0.000181858822602,1.04002055542,0.578231126968,0.00885609040711,1.03969226291
+186,3.100000000,pose1_to_pose2_press,0.60824794398,0.000181761291834,1.04002060152,0.578819091492,0.00885599834226,1.03969230774
+187,3.116666667,pose1_to_pose2_press,0.608813205619,0.00018168147472,1.04002064099,0.579384354933,0.00885592452628,1.03969234425
+188,3.133333333,pose1_to_pose2_press,0.609351739837,0.000181728045188,1.04002076462,0.579922888944,0.00885597020914,1.03969246309
+189,3.150000000,pose1_to_pose2_press,0.609867780375,0.000181664494177,1.04002058009,0.580438928766,0.00885590414017,1.03969227624
+190,3.166666667,pose1_to_pose2_press,0.610363428857,0.000181793716035,1.0400205411,0.580934577302,0.00885603392577,1.03969224737
+191,3.183333333,pose1_to_pose2_press,0.610848313727,0.000181761921008,1.04002038672,0.581419461254,0.00885599953212,1.03969210668
+192,3.200000000,pose1_to_pose2_press,0.611325619107,0.000181807618388,1.04002058469,0.581896767116,0.00885604629769,1.03969228975
+193,3.216666667,pose1_to_pose2_press,0.611790775745,0.000181816053174,1.0400205516,0.582361923153,0.00885605250331,1.03969225187
+194,3.233333333,pose1_to_pose2_press,0.612239389585,0.000181690326858,1.04002050714,0.582810538199,0.008855930894,1.03969220512
+195,3.250000000,pose1_to_pose2_press,0.612665003304,0.000181586498171,1.04002059689,0.583236153981,0.00885583480926,1.03969229024
+196,3.266666667,pose1_to_pose2_press,0.613063510168,0.000181694229071,1.04002058498,0.583634658966,0.00885593857809,1.03969228412
+197,3.283333333,pose1_to_pose2_press,0.613435194949,0.000181880811061,1.04002055553,0.584006339091,0.00885611235961,1.03969225963
+198,3.300000000,pose1_to_pose2_press,0.613792640793,0.000181699100263,1.04002056379,0.584363786344,0.0088559380424,1.03969226368
+199,3.316666667,pose1_to_pose2_press,0.614137661227,0.000181749439874,1.04002052148,0.584708806485,0.00885599046134,1.03969223179
+200,3.333333333,pose1_to_pose2_press,0.614470678488,0.000181848982557,1.04002072722,0.585041821688,0.00885608457221,1.03969243198
+201,3.350000000,pose1_to_pose2_press,0.614788892604,0.000181759439142,1.0400203958,0.585360035453,0.00885599688416,1.03969210449
+202,3.366666667,pose1_to_pose2_press,0.615088068483,0.000181826004775,1.04002035898,0.585659210001,0.00885606187611,1.03969207171
+203,3.383333333,pose1_to_pose2_press,0.615363668897,0.000181965008669,1.04002045766,0.585934808278,0.00885619582427,1.03969217152
+204,3.400000000,pose1_to_pose2_press,0.61561474961,0.000181981470131,1.04002040165,0.586185888164,0.00885621150499,1.0396921126
+205,3.416666667,pose1_to_pose2_press,0.615841447122,0.000181908375433,1.04002043778,0.586412586758,0.0088561442387,1.03969214145
+206,3.433333333,pose1_to_pose2_press,0.616046381952,0.000181746256042,1.04002044881,0.58661752408,0.00885599328661,1.03969215336
+207,3.450000000,pose1_to_pose2_press,0.616231039242,0.000181686057054,1.04002068802,0.586802178178,0.00885592355689,1.03969238206
+208,3.466666667,pose1_to_pose2_press,0.616402272729,0.000181655581943,1.04002041122,0.586973412332,0.00885589666537,1.03969211516
+209,3.483333333,pose1_to_pose2_press,0.616562220048,0.000181721970721,1.04002044589,0.587133358662,0.00885596150656,1.03969215323
+210,3.500000000,pose1_to_pose2_press,0.616711277613,0.000181843580488,1.04002056141,0.587282415394,0.00885608111555,1.03969226514
+211,3.516666667,pose1_to_pose2_press,0.616849698384,0.000181805780033,1.04002057309,0.587420837431,0.00885604786931,1.03969227376
+212,3.533333333,pose1_to_pose2_press,0.61697650888,0.000181652404268,1.04002048569,0.58754764862,0.00885589805821,1.03969219082
+213,3.550000000,pose1_to_pose2_press,0.617089638979,0.000181783749805,1.04002028214,0.587660776001,0.00885602154053,1.0396919952
+214,3.566666667,pose1_to_pose2_press,0.617185856949,0.000181761869757,1.04002029964,0.587756995192,0.0088560046037,1.03969201044
+215,3.583333333,pose1_to_pose2_press,0.617268486238,0.000181664749404,1.04002041214,0.58783962407,0.00885590635645,1.03969212108
+216,3.600000000,pose1_to_pose2_press,0.617338007475,0.000181633340993,1.04002065363,0.587909146063,0.00885587831608,1.03969235512
+217,3.616666667,pose1_to_pose2_press,0.617396270141,0.000181829310223,1.0400204788,0.58796740642,0.00885606691923,1.03969218419
+218,3.633333333,pose1_to_pose2_press,0.617445122909,0.000181906548478,1.04002033673,0.588016259232,0.00885614466085,1.03969204653
+219,3.650000000,pose1_to_pose2_press,0.617486637058,0.000181792946817,1.0400204263,0.588057774469,0.00885603478693,1.03969213027
+220,3.666666667,pose1_to_pose2_press,0.61752134355,0.000181669906346,1.04002059185,0.588092481146,0.0088559123026,1.03969228719
+221,3.683333333,pose1_to_pose2_press,0.617549037141,0.000181746768712,1.04002057597,0.588120173549,0.00885598533322,1.03969227405
+222,3.700000000,pose1_to_pose2_press,0.617571673131,0.000181860939029,1.04002054838,0.588142809195,0.00885609860964,1.03969225326
+223,3.716666667,pose1_to_pose2_press,0.617589271684,0.000181677219685,1.04002043058,0.588160409922,0.0088559225928,1.03969214055
+224,3.733333333,pose1_to_pose2_press,0.617602567388,0.000181692782321,1.04002054895,0.58817370434,0.00885593334024,1.03969224676
+225,3.750000000,pose1_to_pose2_press,0.617612172828,0.000181654526664,1.04002059007,0.58818331007,0.00885589595347,1.03969228541
+226,3.766666667,pose1_to_pose2_press,0.61761864242,0.000181621907299,1.04002053068,0.588189780335,0.00885586578734,1.03969223051
+227,3.783333333,pose1_to_pose2_press,0.617622929359,0.000181661587894,1.04002043349,0.588194066874,0.00885590430555,1.03969213752
+228,3.800000000,pose1_to_pose2_press,0.617625277233,0.000181773053124,1.04002050993,0.588196412734,0.00885600888522,1.03969221188
+229,3.816666667,pose1_to_pose2_press,0.617626997157,0.00018185969618,1.04002058363,0.58819813138,0.00885609116205,1.03969228457
+230,3.833333333,pose1_to_pose2_press,0.61762802433,0.00018192594259,1.04002070758,0.588199159165,0.00885615955532,1.03969241154
+231,3.850000000,pose1_to_pose2_press,0.61762846142,0.000181954132242,1.04002076033,0.588199596516,0.00885618865852,1.03969246557
+232,3.866666667,pose1_to_pose2_press,0.617628601589,0.00018196317226,1.04002077724,0.588199736768,0.0088561979915,1.03969248289
+233,3.883333333,pose1_to_pose2_press,0.617628622502,0.000181964521014,1.04002077977,0.588199757693,0.00885619938397,1.03969248548
+234,3.900000000,pose1_to_pose2_press,0.617628845195,0.000181952918798,1.0400206778,0.588199980378,0.00885618780085,1.03969238463
+235,3.916666667,pose1_to_pose2_press,0.617629216618,0.00018191919712,1.04002043643,0.58820035171,0.00885615386399,1.03969214538
+236,3.933333333,pose1_to_pose2_press,0.617629282992,0.000181913170992,1.04002039329,0.588200418068,0.00885614779941,1.03969210262
+237,3.950000000,pose1_to_pose2_press,0.617629409535,0.00018190168205,1.04002031106,0.588200544581,0.00885613623716,1.03969202111
+238,3.966666667,pose1_to_pose2_press,0.617629475929,0.000181894930174,1.04002030205,0.588200610997,0.00885612954701,1.03969201167
+239,3.983333333,pose1_to_pose2_press,0.617629563546,0.000181884277117,1.04002037234,0.588200698739,0.00885611921663,1.03969207947
+240,4.000000000,pose1_to_pose2_press,0.617629751069,0.000181861476783,1.04002052278,0.588200886529,0.00885609710691,1.03969222456
+241,4.016666667,pose1_to_pose2_press,0.617629807062,0.000181851322559,1.04002056958,0.588200942607,0.00885608718144,1.03969226989
+242,4.033333333,pose1_to_pose2_press,0.617629720591,0.000181778287297,1.04002054719,0.58820085615,0.00885601439095,1.03969225307
+243,4.050000000,pose1_to_pose2_press,0.617629720591,0.000181778287297,1.04002054719,0.588200856151,0.00885601439114,1.03969225307
+244,4.066666667,pose2_hold,0.617629720591,0.000181778287297,1.04002054719,0.588200856161,0.00885601438941,1.03969225307
+245,4.083333333,pose2_hold,0.617629720591,0.000181778287297,1.04002054719,0.588200856157,0.00885601438873,1.03969225307
+246,4.100000000,pose2_hold,0.617629720591,0.000181778287297,1.04002054719,0.588200856158,0.00885601439056,1.03969225307
+247,4.116666667,pose2_hold,0.617629720591,0.000181778287297,1.04002054719,0.588200856162,0.00885601438611,1.03969225307
+248,4.133333333,pose2_hold,0.617629720591,0.000181778287297,1.04002054719,0.588200856162,0.0088560143894,1.03969225307
+249,4.150000000,pose2_hold,0.617629720591,0.000181778287297,1.04002054719,0.588200856159,0.00885601438833,1.03969225307
+250,4.166666667,pose2_hold,0.617629720591,0.000181778287297,1.04002054719,0.58820085616,0.00885601439055,1.03969225307
+251,4.183333333,pose2_hold,0.617629720591,0.000181778287297,1.04002054719,0.588200856163,0.00885601438661,1.03969225307
+252,4.200000000,pose2_hold,0.617629720591,0.000181778287297,1.04002054719,0.58820085616,0.00885601438881,1.03969225307
+253,4.216666667,pose2_hold,0.617629720591,0.000181778287297,1.04002054719,0.588200856161,0.00885601439003,1.03969225307
+254,4.233333333,pose2_hold,0.617629720591,0.000181778287297,1.04002054719,0.58820085616,0.00885601438738,1.03969225307
+255,4.250000000,pose2_hold,0.617629720591,0.000181778287297,1.04002054719,0.588200856161,0.00885601439019,1.03969225307
+256,4.266666667,pose2_hold,0.617629720591,0.000181778287297,1.04002054719,0.588200856163,0.00885601438852,1.03969225307
+257,4.283333333,pose2_hold,0.617629720591,0.000181778287297,1.04002054719,0.588200856162,0.0088560143879,1.03969225307
+258,4.300000000,pose2_hold,0.617629720591,0.000181778287297,1.04002054719,0.588200856162,0.00885601439004,1.03969225307
+259,4.316666667,pose2_hold,0.617629720591,0.000181778287297,1.04002054719,0.588200856161,0.00885601438871,1.03969225307
+260,4.333333333,pose2_hold,0.617629720591,0.000181778287297,1.04002054719,0.588200856162,0.00885601439011,1.03969225307
+261,4.350000000,pose2_hold,0.617629720591,0.000181778287297,1.04002054719,0.588200856165,0.00885601438834,1.03969225307
+262,4.366666667,pose2_to_pose3_retreat,0.617629720591,0.000181778287297,1.04002054719,0.588200856167,0.00885601438816,1.03969225307
+263,4.383333333,pose2_to_pose3_retreat,0.617629676525,0.000181818633259,1.0400204049,0.588200812284,0.00885605556285,1.03969211622
+264,4.400000000,pose2_to_pose3_retreat,0.617629611222,0.000181858198056,1.04002026631,0.588200747176,0.00885609598877,1.03969198289
+265,4.416666667,pose2_to_pose3_retreat,0.617629461317,0.000181827586652,1.04002038203,0.588200597256,0.00885606515071,1.03969209395
+266,4.433333333,pose2_to_pose3_retreat,0.617629249669,0.000181784367147,1.04002054541,0.588200385588,0.00885602161119,1.03969225076
+267,4.450000000,pose2_to_pose3_retreat,0.61762887671,0.000181792357986,1.0400205855,0.588200012901,0.00885603054285,1.03969229142
+268,4.466666667,pose2_to_pose3_retreat,0.617628552166,0.000181800572666,1.04002061668,0.588199688599,0.00885603959877,1.03969232327
+269,4.483333333,pose2_to_pose3_retreat,0.617627685772,0.000181805205053,1.0400206558,0.588198822291,0.00885604455336,1.03969236347
+270,4.500000000,pose2_to_pose3_retreat,0.617625156225,0.000181770217825,1.04002065568,0.58819629183,0.00885600645246,1.03969236382
+271,4.516666667,pose2_to_pose3_retreat,0.617618601888,0.000181687429271,1.04002066847,0.588189739693,0.00885593072686,1.03969236782
+272,4.533333333,pose2_to_pose3_retreat,0.617606867115,0.000181738250829,1.04002053212,0.58817800373,0.00885597772427,1.03969223991
+273,4.550000000,pose2_to_pose3_retreat,0.617585496097,0.000181724944117,1.04002053042,0.588156633205,0.00885596594955,1.03969223985
+274,4.566666667,pose2_to_pose3_retreat,0.6175542838,0.000181784252887,1.04002055106,0.588125420202,0.00885602238007,1.03969225514
+275,4.583333333,pose2_to_pose3_retreat,0.617512394123,0.000181805111347,1.04002047172,0.58808353119,0.0088560449561,1.03969217137
+276,4.600000000,pose2_to_pose3_retreat,0.617460759077,0.000181833907816,1.04002053564,0.588031895882,0.00885607268725,1.03969224329
+277,4.616666667,pose2_to_pose3_retreat,0.617398640855,0.000181738235238,1.04002061537,0.587969778912,0.0088559807633,1.03969232243
+278,4.633333333,pose2_to_pose3_retreat,0.617327516273,0.000181905092856,1.04002071982,0.587898652247,0.00885614001581,1.03969242508
+279,4.650000000,pose2_to_pose3_retreat,0.61724693525,0.000181974950606,1.04002052985,0.587818069229,0.00885620261253,1.03969223926
+280,4.666666667,pose2_to_pose3_retreat,0.617152751514,0.000181723928009,1.04002047339,0.587723888839,0.00885596201529,1.03969218912
+281,4.683333333,pose2_to_pose3_retreat,0.617045455828,0.000181579064422,1.0400204202,0.587616594566,0.00885582054487,1.03969212682
+282,4.700000000,pose2_to_pose3_retreat,0.616923530235,0.000181624704929,1.04002042297,0.587494671176,0.00885587338854,1.03969212956
+283,4.716666667,pose2_to_pose3_retreat,0.616786232486,0.000181609759045,1.04002041909,0.587357374311,0.00885585943304,1.03969212578
+284,4.733333333,pose2_to_pose3_retreat,0.6166325529,0.000181768586142,1.04002083733,0.587203692327,0.00885600895399,1.03969253364
+285,4.750000000,pose2_to_pose3_retreat,0.616464048059,0.000181762573996,1.0400205942,0.58703518741,0.00885600084293,1.03969229893
+286,4.766666667,pose2_to_pose3_retreat,0.616281364119,0.000181769894836,1.04002040627,0.586852504605,0.00885600994029,1.03969211717
+287,4.783333333,pose2_to_pose3_retreat,0.616085670424,0.000181768971144,1.04002045643,0.586656811965,0.00885601098554,1.03969216726
+288,4.800000000,pose2_to_pose3_retreat,0.61587945163,0.000181725870879,1.04002050976,0.586450593834,0.00885596887499,1.03969221933
+289,4.816666667,pose2_to_pose3_retreat,0.615663536557,0.000181782099141,1.04002042433,0.586234679112,0.00885602445962,1.03969212982
+290,4.833333333,pose2_to_pose3_retreat,0.615437644055,0.000181778522888,1.04002051341,0.586008786595,0.00885601889797,1.03969222101
+291,4.850000000,pose2_to_pose3_retreat,0.615200808767,0.000181842823347,1.0400203898,0.585771951021,0.00885607996667,1.03969210329
+292,4.866666667,pose2_to_pose3_retreat,0.614943140089,0.000181781030094,1.04002032218,0.585514283508,0.00885601977756,1.03969203264
+293,4.883333333,pose2_to_pose3_retreat,0.614663312411,0.00018153454748,1.04002048398,0.585234458726,0.00885578081406,1.03969217793
+294,4.900000000,pose2_to_pose3_retreat,0.61435659476,0.000181761580713,1.04002054686,0.584927738378,0.00885599554693,1.03969225008
+295,4.916666667,pose2_to_pose3_retreat,0.614026012735,0.000181796712765,1.04002056027,0.584597157481,0.00885603255644,1.03969226352
+296,4.933333333,pose2_to_pose3_retreat,0.613672110448,0.000181896510388,1.04002070823,0.584243255534,0.00885613128284,1.03969240927
+297,4.950000000,pose2_to_pose3_retreat,0.613302508223,0.000181892449967,1.04002063786,0.583873654396,0.00885612841016,1.03969234177
+298,4.966666667,pose2_to_pose3_retreat,0.612918703001,0.000181762904322,1.04002050297,0.58348985141,0.00885600351589,1.03969220915
+299,4.983333333,pose2_to_pose3_retreat,0.612523631201,0.000181678256136,1.04002081979,0.583094781445,0.00885592147011,1.03969251516
+300,5.000000000,pose2_to_pose3_retreat,0.612115329196,0.000181854281406,1.04002071251,0.582686478609,0.00885609198499,1.03969241158
+301,5.016666667,pose2_to_pose3_retreat,0.611690262796,0.000181751652352,1.04002049042,0.582261413333,0.00885599048498,1.03969219951
+302,5.033333333,pose2_to_pose3_retreat,0.611247091632,0.000181730577685,1.04002049899,0.58181824276,0.00885596812621,1.03969221144
+303,5.050000000,pose2_to_pose3_retreat,0.610784345394,0.000181808847937,1.0400206894,0.581355496611,0.00885604288865,1.03969239685
+304,5.066666667,pose2_to_pose3_retreat,0.610299139597,0.000181825497105,1.0400207837,0.580870291819,0.00885605901637,1.03969248366
+305,5.083333333,pose2_to_pose3_retreat,0.60979495971,0.000181623885693,1.04002044682,0.580366115744,0.00885586599284,1.0396921587
+306,5.100000000,pose2_to_pose3_retreat,0.609279495242,0.000181681677732,1.04002053607,0.579850651697,0.00885592177986,1.03969223505
+307,5.116666667,pose2_to_pose3_retreat,0.608753081773,0.000181716786257,1.04002051592,0.579324239177,0.00885595606577,1.03969221489
+308,5.133333333,pose2_to_pose3_retreat,0.60821330835,0.000181721514661,1.04002051556,0.578784467603,0.00885596257054,1.03969221579
+309,5.150000000,pose2_to_pose3_retreat,0.607656189694,0.000181765467626,1.04002072422,0.578227350518,0.00885600758546,1.03969241127
+310,5.166666667,pose2_to_pose3_retreat,0.607077946956,0.000181925900035,1.04002056339,0.577649104435,0.00885615365577,1.03969226704
+311,5.183333333,pose2_to_pose3_retreat,0.606465903309,0.00018182309526,1.04002054643,0.577037065208,0.00885606103836,1.03969225188
+312,5.200000000,pose2_to_pose3_retreat,0.605825775998,0.00018173324689,1.04002052367,0.576396940322,0.008855973761,1.03969223387
+313,5.216666667,pose2_to_pose3_retreat,0.605164024758,0.000181717212788,1.04002052025,0.575735189509,0.00885595485453,1.03969223067
+314,5.233333333,pose2_to_pose3_retreat,0.60448263254,0.000181727036801,1.04002054252,0.575053798643,0.00885596549677,1.03969224848
+315,5.250000000,pose2_to_pose3_retreat,0.603780032398,0.000181721711829,1.04002052701,0.574351200996,0.0088559636515,1.03969223141
+316,5.266666667,pose2_to_pose3_retreat,0.603079247223,0.000181756096407,1.0400204317,0.573650415162,0.00885599110013,1.03969213591
+317,5.283333333,pose2_to_pose3_retreat,0.602380352107,0.0001817787283,1.04002047271,0.572951520297,0.00885600884417,1.0396921673
+318,5.300000000,pose2_to_pose3_retreat,0.601675329397,0.000181756827125,1.0400204043,0.572246499956,0.00885599061746,1.03969211429
+319,5.316666667,pose2_to_pose3_retreat,0.600967244622,0.00018167233278,1.04002040809,0.571538417526,0.00885590929678,1.03969211631
+320,5.333333333,pose2_to_pose3_retreat,0.600254806136,0.000181685524089,1.0400204258,0.570825981604,0.00885592614804,1.03969213122
+321,5.350000000,pose2_to_pose3_retreat,0.599528164221,0.000181742650913,1.04002047817,0.570099341497,0.0088559844969,1.03969218189
+322,5.366666667,pose2_to_pose3_retreat,0.598787856187,0.000181756333413,1.04002054969,0.569359034059,0.00885599554903,1.03969225164
+323,5.383333333,pose2_to_pose3_retreat,0.59803849466,0.000181754861916,1.04002056157,0.568609673582,0.00885599273074,1.03969226617
+324,5.400000000,pose2_to_pose3_retreat,0.597288148643,0.000181662223674,1.04002080616,0.567859330705,0.0088559053033,1.03969250619
+325,5.416666667,pose2_to_pose3_retreat,0.596551020265,0.000181795857117,1.04002078738,0.567122201871,0.00885603348217,1.03969248963
+326,5.433333333,pose2_to_pose3_retreat,0.595824553588,0.000181896451868,1.04002063867,0.566395736157,0.00885613209418,1.03969234055
+327,5.450000000,pose2_to_pose3_retreat,0.595107566733,0.000181865522404,1.04002048172,0.565678750508,0.00885610144983,1.0396921886
+328,5.466666667,pose2_to_pose3_retreat,0.594390293162,0.000181762779117,1.04002045773,0.564961479131,0.00885600209925,1.03969216563
+329,5.483333333,pose2_to_pose3_retreat,0.593668013451,0.000181695485166,1.0400205434,0.564239201977,0.00885593821256,1.03969224391
+330,5.500000000,pose2_to_pose3_retreat,0.592944302703,0.000181730107294,1.04002044189,0.563515490318,0.00885596641001,1.03969214243
+331,5.516666667,pose2_to_pose3_retreat,0.592219169177,0.000181780497176,1.04002047411,0.562790359249,0.00885601907269,1.03969216834
+332,5.533333333,pose2_to_pose3_retreat,0.591492727638,0.000181721114097,1.0400206448,0.562063918695,0.008855959353,1.03969234379
+333,5.550000000,pose2_to_pose3_retreat,0.590778502042,0.000181773340112,1.04002043259,0.561349693393,0.00885600839017,1.03969213812
+334,5.566666667,pose2_to_pose3_retreat,0.590079262957,0.000181871762099,1.04002048356,0.560650456767,0.00885610908288,1.03969219175
+335,5.583333333,pose2_to_pose3_retreat,0.589394947568,0.000181822168773,1.04002061629,0.559966144945,0.00885606517552,1.03969232372
+336,5.600000000,pose2_to_pose3_retreat,0.588726355947,0.000181644572877,1.04002057425,0.559297553257,0.00885588979184,1.03969227874
+337,5.616666667,pose2_to_pose3_retreat,0.588071976291,0.000181668776491,1.04002068922,0.558643165515,0.00885590973438,1.03969238771
+338,5.633333333,pose2_to_pose3_retreat,0.58742967692,0.000181640735462,1.04002059108,0.5580008696,0.00885588688154,1.03969229015
+339,5.650000000,pose2_to_pose3_retreat,0.586798821138,0.000181787891251,1.0400205482,0.557370014702,0.00885602768178,1.03969225407
+340,5.666666667,pose2_to_pose3_retreat,0.586177581883,0.000181806507709,1.04002045614,0.556748777403,0.0088560470955,1.03969216714
+341,5.683333333,pose2_to_pose3_retreat,0.585568749391,0.000181759690418,1.0400204787,0.556139946659,0.0088560021708,1.03969218657
+342,5.700000000,pose2_to_pose3_retreat,0.58497700344,0.000181797930138,1.04002055632,0.55554820048,0.00885603626014,1.03969226021
+343,5.716666667,pose2_to_pose3_retreat,0.584402565728,0.000181903194275,1.04002057084,0.55497376213,0.00885613665261,1.039692276
+344,5.733333333,pose2_to_pose3_retreat,0.583845659796,0.000181708015701,1.04002073012,0.554416862167,0.00885595851294,1.03969242292
+345,5.750000000,pose2_to_pose3_retreat,0.583306277274,0.000181818831104,1.04002052615,0.553877475689,0.0088560531343,1.03969221612
+346,5.766666667,pose2_to_pose3_retreat,0.582788015613,0.000181635004419,1.04002056267,0.553359217847,0.00885587979506,1.0396922568
+347,5.783333333,pose2_to_pose3_retreat,0.582291137931,0.000181684459945,1.04002057068,0.552862340979,0.0088559297476,1.0396922714
+348,5.800000000,pose2_to_pose3_retreat,0.581816173727,0.000181757165505,1.04002046439,0.552387377172,0.00885600150957,1.03969216771
+349,5.816666667,pose2_to_pose3_retreat,0.581363027359,0.000181736406872,1.04002045061,0.551934232061,0.00885598270966,1.03969215288
+350,5.833333333,pose2_to_pose3_retreat,0.580923522344,0.00018173017015,1.04002075492,0.551494727106,0.00885597458007,1.03969245901
+351,5.850000000,pose2_to_pose3_retreat,0.580493357467,0.00018169161331,1.04002041111,0.551064563867,0.00885593980744,1.03969212456
+352,5.866666667,pose2_to_pose3_retreat,0.580077561652,0.000181848376639,1.04002028997,0.550648767004,0.00885609101982,1.03969200473
+353,5.883333333,pose2_to_pose3_retreat,0.579679496715,0.000181710209008,1.04002048229,0.550250703686,0.00885595618077,1.03969218951
+354,5.900000000,pose2_to_pose3_retreat,0.579308969158,0.000181813216094,1.04002061953,0.54988017532,0.00885605466036,1.03969232733
+355,5.916666667,pose2_to_pose3_retreat,0.578966384472,0.000181862860489,1.04002059916,0.549537591247,0.00885610477518,1.03969230888
+356,5.933333333,pose2_to_pose3_retreat,0.578653980664,0.000181781948824,1.04002057489,0.549225189573,0.00885602949482,1.03969228189
+357,5.950000000,pose2_to_pose3_retreat,0.578364524798,0.000181766074978,1.04002066371,0.548935734273,0.00885601396102,1.03969236579
+358,5.966666667,pose2_to_pose3_retreat,0.578095468459,0.000181944935481,1.04002054246,0.548666676029,0.00885618532699,1.03969225131
+359,5.983333333,pose2_to_pose3_retreat,0.577838622679,0.000181750002002,1.0400204483,0.548409831942,0.00885599487009,1.03969215655
+360,6.000000000,pose2_to_pose3_retreat,0.577592409279,0.000181653805564,1.04002045573,0.54816362034,0.00885590326023,1.03969215539
+361,6.016666667,pose2_to_pose3_retreat,0.57735772208,0.000181621547192,1.04002051289,0.547928933895,0.00885587246051,1.03969221326
+362,6.033333333,pose2_to_pose3_retreat,0.577136602761,0.000181668133877,1.04002053625,0.547707813998,0.008855916383,1.03969224584
+363,6.050000000,pose2_to_pose3_retreat,0.576934046356,0.000181773076601,1.04002051573,0.54750525679,0.00885601779652,1.0396922294
+364,6.066666667,pose2_to_pose3_retreat,0.576751879524,0.00018175930171,1.04002044214,0.547323090439,0.00885600477752,1.03969215563
+365,6.083333333,pose2_to_pose3_retreat,0.576591692977,0.000181676946451,1.04002017648,0.547162904829,0.00885592485607,1.0396918906
+366,6.100000000,pose2_to_pose3_retreat,0.576452720729,0.000181805947864,1.04002041178,0.547023931033,0.008856047633,1.03969211783
+367,6.116666667,pose2_to_pose3_retreat,0.576332351588,0.000181670331802,1.04002063472,0.546903564382,0.00885591973654,1.03969233605
+368,6.133333333,pose2_to_pose3_retreat,0.576226431194,0.000181688035736,1.04002060684,0.546797645142,0.00885594051458,1.03969231151
+369,6.150000000,pose2_to_pose3_retreat,0.576132573223,0.000181769329202,1.0400206087,0.546703785919,0.0088560170666,1.03969231343
+370,6.166666667,pose2_to_pose3_retreat,0.576050174025,0.000181810261819,1.04002067224,0.54662138486,0.00885605158081,1.03969237268
+371,6.183333333,pose2_to_pose3_retreat,0.575977181876,0.000181756538995,1.04002058136,0.54654839391,0.0088560018114,1.03969228233
+372,6.200000000,pose2_to_pose3_retreat,0.575913468217,0.00018175710211,1.04002067687,0.546484682429,0.00885600950376,1.0396923775
+373,6.216666667,pose2_to_pose3_retreat,0.575859744863,0.000181765866553,1.0400205697,0.546430957377,0.00885601257567,1.0396922789
+374,6.233333333,pose2_to_pose3_retreat,0.575815242637,0.000181769484117,1.0400205842,0.546386456515,0.00885602071263,1.03969230059
+375,6.250000000,pose2_to_pose3_retreat,0.575779764715,0.000181738464957,1.04002059453,0.546350979102,0.0088559911525,1.03969230777
+376,6.266666667,pose2_to_pose3_retreat,0.575751334364,0.000181716407112,1.04002055257,0.546322547348,0.008855964033,1.03969225851
+377,6.283333333,pose2_to_pose3_retreat,0.575729453126,0.00018181148669,1.04002053375,0.546300665406,0.00885605652728,1.03969224596
+378,6.300000000,pose2_to_pose3_retreat,0.575712065512,0.000181833146364,1.04002064818,0.546283276964,0.00885607495646,1.03969235095
+379,6.316666667,pose2_to_pose3_retreat,0.575698334348,0.00018186835652,1.0400206248,0.546269545418,0.00885610878882,1.03969232817
+380,6.333333333,pose2_to_pose3_retreat,0.575687972431,0.000181862952687,1.0400205393,0.546259183672,0.00885610403709,1.03969224838
+381,6.350000000,pose2_to_pose3_retreat,0.575680379628,0.000181710708391,1.04002054026,0.546251591745,0.0088559546676,1.03969224911
+382,6.366666667,pose2_to_pose3_retreat,0.575675223624,0.000181775022254,1.0400204532,0.546246435178,0.00885601708182,1.03969216341
+383,6.383333333,pose2_to_pose3_retreat,0.575672065931,0.000181790673299,1.04002051995,0.546243277202,0.00885603179585,1.03969222642
+384,6.400000000,pose2_to_pose3_retreat,0.575670659455,0.000181750620376,1.04002068883,0.546241870815,0.00885599206638,1.0396923886
+385,6.416666667,pose2_to_pose3_retreat,0.575669897392,0.000181728918701,1.04002078034,0.546241108799,0.00885597053997,1.03969247646
+386,6.433333333,pose2_to_pose3_retreat,0.575669594972,0.000181720306541,1.04002081665,0.546240806399,0.00885596199736,1.03969251133
+387,6.450000000,pose2_to_pose3_retreat,0.575669418311,0.000181717048723,1.04002083314,0.546240629805,0.00885595897171,1.03969252732
+388,6.466666667,pose2_to_pose3_retreat,0.575669365438,0.000181718318258,1.04002083209,0.546240577023,0.00885596055321,1.03969252655
+389,6.483333333,pose2_to_pose3_retreat,0.575669305975,0.00018171974604,1.04002083091,0.546240517662,0.00885596233184,1.03969252569
+390,6.500000000,pose2_to_pose3_retreat,0.575669114044,0.000181724354503,1.04002082711,0.546240326061,0.00885596807274,1.0396925229
+391,6.516666667,pose2_to_pose3_retreat,0.575668629143,0.000181735997491,1.0400208175,0.546239841995,0.00885598257677,1.03969251586
+392,6.533333333,pose2_to_pose3_retreat,0.575668375668,0.000181742083713,1.04002081248,0.546239588955,0.00885599015856,1.03969251218
+393,6.550000000,pose2_to_pose3_retreat,0.575668289171,0.000181744160603,1.04002081077,0.546239502607,0.00885599274581,1.03969251092
+394,6.566666667,pose2_to_pose3_retreat,0.575668254253,0.000181744999019,1.04002081007,0.546239467749,0.00885599379025,1.03969251041
+395,6.583333333,pose2_to_pose3_retreat,0.575668074788,0.000181749308168,1.04002080652,0.546239288592,0.00885599915829,1.03969250781
+396,6.600000000,pose2_to_pose3_retreat,0.575667663187,0.000181760124702,1.04002078344,0.546238877617,0.00885601213153,1.03969248704
+397,6.616666667,pose2_to_pose3_retreat,0.575667447255,0.000181773135803,1.04002065408,0.546238661359,0.00885602413774,1.0396923599
+398,6.633333333,pose2_to_pose3_retreat,0.575667370781,0.000181777743772,1.04002060826,0.54623858477,0.00885602838982,1.03969231488
+399,6.650000000,pose2_to_pose3_retreat,0.575667369755,0.000181777805605,1.04002060764,0.546238583742,0.00885602844688,1.03969231427
+400,6.666666667,pose2_to_pose3_retreat,0.575667262128,0.000181784290703,1.04002054316,0.546238475953,0.00885603443111,1.03969225091
+401,6.683333333,pose2_to_pose3_retreat,0.57566697885,0.000181801359717,1.04002037345,0.546238192248,0.00885605018182,1.03969208412
+402,6.700000000,pose2_to_pose3_retreat,0.575666823751,0.000181811236416,1.04002028391,0.546238036885,0.00885605922758,1.03969199607
+403,6.716666667,pose2_to_pose3_retreat,0.575666789518,0.000181823743022,1.04002032989,0.546238002,0.0088560694286,1.03969204002
+404,6.733333333,pose2_to_pose3_retreat,0.575666747388,0.000181839135,1.04002038647,0.546237959065,0.00885608198308,1.03969209412
+405,6.750000000,pose2_to_pose3_retreat,0.575666710394,0.000181862845544,1.04002043434,0.546237921188,0.00885610264355,1.03969214036
diff --git a/Part2/Obstacle_avoidance/cylinder_PLA_10/position_02/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_PLA_10/position_02/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e0bdd40fdd6466dd8117b8a5d2583d1a979492d4
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_PLA_10/position_02/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ae2a1e0713c9079ce854a96258c63c11dfca4463160752bf8fdd6ab3926a32c
+size 25774296
diff --git a/Part2/Obstacle_avoidance/cylinder_PLA_10/position_02/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_PLA_10/position_02/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7e8b76279a27780498acb8b4bfe9f7febab632e5
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_PLA_10/position_02/depth_02/franka_data.csv
@@ -0,0 +1,407 @@
+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,793,749,728,707,698,655,934,803,835,667,658,676,0.401000006774,-0.00539441870289,0.0498615898843,0.999999963598,0.000106864676829,-0.000243134212444,-4.76418867275e-05,1793256527944082432
+1,0.016666667,BASELINE,793.576561808,749,728,707,698,655,934,803,835,667,658,675.423438192,0.40099800724,-0.00539403173936,0.0498603643493,0.999999963133,0.00010748216698,-0.000244749169866,-4.77399002796e-05,1793256527960748800
+2,0.033333333,BASELINE,794,749,728,707,697.847337116,655,934.152662884,803,835,667,658,675.152662884,0.400996806375,-0.00539394690245,0.049859624465,0.999999962939,0.000107381256018,-0.00024555547536,-4.78934421238e-05,1793256527977415424
+3,0.050000000,BASELINE,794,749,728,707,697.272509991,655,934.727490009,803,835,667,658,675.727490009,0.400997814099,-0.00539469754722,0.0498602275682,0.999999963496,0.000105293724389,-0.000244125586546,-4.82005384016e-05,1793256527994083328
+4,0.066666667,BASELINE,794,749,728,707,697.309605241,655.309605241,935,803,835,667,658,675.690394759,0.400997318633,-0.00539448078911,0.0498598548647,0.999999963519,0.00010431001503,-0.000244428127618,-4.83279078975e-05,1793256528010749952
+5,0.083333333,BASELINE,794,749,728,707,697.898289969,655.898289969,935,803,835,667,658,675.101710031,0.400995468186,-0.00539339200985,0.0498586025647,0.999999963062,0.00010432129591,-0.000246292288481,-4.82932708857e-05,1793256528027415808
+6,0.100000000,BASELINE,794,749,728,707,698,655.519781006,934.519781006,802.519781006,835,667,658,675.480218994,0.400996343676,-0.00539368814152,0.0498591481873,0.999999963205,0.000104956960882,-0.000245473942782,-4.81382400291e-05,1793256528044082176
+7,0.116666667,BASELINE,793.940007638,749,728,707,698,655,934,802.059992362,835,667,658,676,0.400997679522,-0.00539420984497,0.0498600111999,0.999999963453,0.0001056653547,-0.000244186778528,-4.79850717825e-05,1793256528060749056
+8,0.133333333,BASELINE,793.366606918,749,728,707,698,655,934,802.633393082,835,667,658,676,0.40099808267,-0.00539418656354,0.0498603767767,0.999999963549,0.000105880123565,-0.000243682255144,-4.80630367992e-05,1793256528077415680
+9,0.150000000,BASELINE,793.20756042,749,728,707,698,655,934,803,835,667,658,676,0.400998221373,-0.00539400061627,0.0498606129464,0.999999963609,0.000106463861352,-0.000243176727427,-4.80932890516e-05,1793256528094082304
+10,0.166666667,BASELINE,793.78308677,749,728,707,698,655,934,803,835,667,658,676,0.400997891262,-0.00539352629277,0.0498606197017,0.999999963602,0.000107701712224,-0.000242669419271,-4.80389554595e-05,1793256528110749184
+11,0.183333333,BASELINE,794,749,728,707,698,655,934.368969944,803,835,667,658,675.631030056,0.400998024779,-0.00539476449551,0.0498607371512,0.999999963726,0.000106631764873,-0.000242654287448,-4.79208696912e-05,1793256528127415808
+12,0.200000000,BASELINE,794,749,728,707,698,655,934.961117674,803,835,667,658,675.038882326,0.400998438729,-0.00539703854902,0.0498609215559,0.999999963925,0.000104165906379,-0.000242936856853,-4.77642223222e-05,1793256528144082432
+13,0.216666667,BASELINE,793.458491279,749,728,707,698,655,935,803,835,667.541508721,658,675,0.400997741908,-0.00539599347023,0.0498603155503,0.999999963671,0.000104965437394,-0.000243658031086,-4.76448127647e-05,1793256528160748800
+14,0.233333333,BASELINE,793,749,728,707,698,655,934.879658947,803,835,667.879658947,658,675.120341053,0.400997042574,-0.00539477361881,0.0498598210483,0.999999963399,0.000106045567718,-0.000244316281333,-4.76008708348e-05,1793256528177415424
+15,0.250000000,BASELINE,793,749,728,707,698,655,934.303600261,803,835,667.303600261,658,675.696399739,0.400996629341,-0.00539377525804,0.0498599591527,0.999999963178,0.000107319263482,-0.000244619518195,-4.78328057803e-05,1793256528194082048
+16,0.266666667,BASELINE,793,749,728,707,698,655,934,803,835,667.27109178,658,676,0.400996251263,-0.00539292320779,0.0498596954958,0.999999962938,0.000108137151526,-0.000245196713243,-4.80583922112e-05,1793256528210748672
+17,0.283333333,BASELINE,793,749,728,707,698,655,934,803,835,667.844260936,658,676,0.400995912358,-0.00539223419131,0.0498589841567,0.999999962677,0.000108447133278,-0.000246079179683,-4.82769044832e-05,1793256528227415552
+18,0.300000000,BASELINE,793,749,728,707,698,655,934,803,835,667.568877931,658,675.568877931,0.400996937366,-0.00539244365471,0.0498597013889,0.999999962973,0.000108882462816,-0.000244690587478,-4.8210095875e-05,1793256528244082432
+19,0.316666667,BASELINE,793,749,728,707,698,655,934,803,835,667,658,675,0.400998362476,-0.00539301915275,0.049860883587,0.999999963448,0.00010931894535,-0.000242582867024,-4.80278273345e-05,1793256528260749568
+20,0.333333333,BASELINE,793,749,728,707,698,655,934,803,835,667,658,675,0.400997108232,-0.00539435394117,0.0498603900584,0.999999963287,0.000108631715571,-0.000243632994423,-4.76236022645e-05,1793256528277415936
+21,0.350000000,BASELINE,793,749,728,707,698,655,934,803.170167302,835,667,658,675,0.400996419408,-0.0053952872035,0.0498600190249,0.999999963161,0.000108230016972,-0.000244380156664,-4.73665144567e-05,1793256528294082304
+22,0.366666667,BASELINE,793,749,728,707,698,655,934,803.729841869,835,667,658,675,0.400997024811,-0.00539530138585,0.0498599283785,0.999999963116,0.00010848188979,-0.000244433841648,-4.74462189766e-05,1793256528310748672
+23,0.383333333,BASELINE,793,749,728,707,698,655,934,803.686744982,835,667,658,675,0.400997386253,-0.00539482095118,0.0498601499485,0.99999996319,0.000108358062517,-0.000244161544221,-4.75838503314e-05,1793256528327415296
+24,0.400000000,BASELINE,793,749,728,707,698,655,934,803.081180442,835,667,658,675,0.400997520047,-0.00539387897159,0.049860662859,0.999999963372,0.000107883656005,-0.000243585060891,-4.77755353081e-05,1793256528344081920
+25,0.416666667,BASELINE,793.50234448,749,728,707,698,655,934,803,835,667,658,675,0.400997202388,-0.00539448652655,0.0498608176358,0.999999963503,0.000106950245654,-0.00024346789599,-4.77340892863e-05,1793256528360748544
+26,0.433333333,BASELINE,794,749,728,707,698,655,934,803,835,667,658,675,0.400996881895,-0.00539521833803,0.0498608253852,0.999999963589,0.000106200608059,-0.000243456395143,-4.76796091034e-05,1793256528377415168
+27,0.450000000,BASELINE,794,749,728,707,698,655,934,803,835,667,658,675,0.400996966109,-0.00539525229645,0.0498602803951,0.999999963452,0.000106988956697,-0.00024365345329,-4.77642854663e-05,1793256528394082304
+28,0.466666667,BASELINE,794,749,728,707,697.765229344,655.234770656,934.234770656,803,835,667,658,675,0.400997406593,-0.00539544633967,0.0498603496899,0.999999963471,0.000107118902691,-0.000243521802612,-4.77461188053e-05,1793256528410749184
+29,0.483333333,BASELINE,794,749,728,707,697.191338653,655.808661347,934.808661347,803,835,667,658,675,0.400998361701,-0.00539587162115,0.0498613063032,0.999999963715,0.00010629780335,-0.000242915340675,-4.75793980983e-05,1793256528427415808
+30,0.500000000,BASELINE,793.606189796,749,728,707,697,655.606189796,934.606189796,803,835,667,658,675,0.400997636107,-0.00539611120412,0.0498610179613,0.999999963576,0.000106203368541,-0.000243565104884,-4.7378578063e-05,1793256528444082176
+31,0.516666667,BASELINE,793.015410029,749,728,707,697,655.015410029,934.015410029,803,835,667,658,675,0.400996069886,-0.00539625790742,0.0498601069379,0.999999963246,0.000106472384966,-0.000244843187807,-4.71607027871e-05,1793256528460748544
+32,0.533333333,BASELINE,793,749,728,707,697.563845206,655,934,803,835,667,658,675,0.400997601662,-0.0053957472772,0.0498611492462,0.999999963592,0.000107026176086,-0.000243134583813,-4.73955187131e-05,1793256528477415168
+33,0.550000000,BASELINE,793.141944708,749,728,707,698,655.141944708,934,803,835,667,658,675,0.400998455375,-0.00539514078956,0.049861651314,0.999999963798,0.000107324888354,-0.00024212050033,-4.75755205485e-05,1793256528494081792
+34,0.566666667,BASELINE,793.71745673,749,728,707,698,655.71745673,934,803,835,667,658,675,0.40099698452,-0.0053942952823,0.0498603434306,0.999999963525,0.000106821170449,-0.000243472150162,-4.75510601875e-05,1793256528510748672
+35,0.583333333,BASELINE,793.708704369,749,728,707,698,655.708704369,934,803,835,667,658,675,0.400996203829,-0.00539463197016,0.0498595392966,0.999999963475,0.000105672243454,-0.00024416641955,-4.75995684629e-05,1793256528527415552
+36,0.600000000,BASELINE,793.13647898,749,728,707,698,655.13647898,934,803,835,667,658,675,0.400996088743,-0.00539610878414,0.0498592209858,0.99999996364,0.00010390106734,-0.000244226701804,-4.77184487529e-05,1793256528544082688
+37,0.616666667,BASELINE,793.452541872,749.452541872,728,707,698,655,934,803,835,667,657.547458128,675,0.400996386045,-0.00539606686276,0.0498600313381,0.999999963663,0.000104412549661,-0.00024393158201,-4.76410089102e-05,1793256528560749056
+38,0.633333333,BASELINE,793.954565246,749.954565246,728,707,698,655,934,803,835,667.045434754,657.045434754,675,0.400996845427,-0.00539558044002,0.0498611056879,0.999999963657,0.000105619697958,-0.000243457985373,-4.7515983161e-05,1793256528577415680
+39,0.650000000,BASELINE,793.377905509,749.377905509,728,707,698,655,934,803,835,667.622094491,657.622094491,675,0.400997689698,-0.00539545854817,0.0498611335084,0.999999963857,0.000106601431297,-0.000242199124025,-4.75535117747e-05,1793256528594082304
+40,0.666666667,BASELINE,793.197961501,749,728,707.197961501,698,655,934.197961501,803,835,667.802038499,658,675.197961501,0.400997794601,-0.00539540283142,0.0498610474475,0.999999963883,0.000107250985064,-0.00024181560423,-4.75079950618e-05,1793256528610748928
+41,0.683333333,BASELINE,793.772321207,749,728,707.772321207,698,655,934.772321207,803,835,667.227678793,658,675.772321207,0.400996493693,-0.00539547293806,0.049860744856,0.99999996358,0.000107268942252,-0.000243096433323,-4.73045783924e-05,1793256528627415552
+42,0.700000000,BASELINE,793.644203541,749,728,708,698,655,935,803,835,667,658,675.644203541,0.400996493966,-0.00539543032359,0.0498606885887,0.999999963689,0.000106549915805,-0.000242927845039,-4.748049195e-05,1793256528644082176
+43,0.716666667,BASELINE,793.05474178,749,728,708,698,655,935,803,835,667,658,675.05474178,0.400997348776,-0.00539531368081,0.0498607940921,0.999999964068,0.000105346883689,-0.00024180736823,-4.79055263532e-05,1793256528660748800
+44,0.733333333,BASELINE,793.52759696,749,728,707.47240304,698,655.52759696,934.47240304,803,835,667,658,675.52759696,0.400998059317,-0.00539486382092,0.0498613733885,0.999999964032,0.000107199608508,-0.000241157633868,-4.78328439834e-05,1793256528677415680
+45,0.750000000,BASELINE,793.892280198,749,728,707,697.892280198,655.892280198,934,803,835,667,658,675.892280198,0.400998617752,-0.00539458551986,0.0498618204931,0.999999963976,0.000108510019909,-0.000240835081645,-4.76636571096e-05,1793256528694082304
+46,0.766666667,BASELINE,793.318588575,749,728,707,697.318588575,655.318588575,934,803,835,667,658,675.318588575,0.400998582098,-0.00539519690931,0.049861485946,0.999999964036,0.000106121262056,-0.000241719378225,-4.7297427181e-05,1793256528710748928
+47,0.783333333,BASELINE,793.255680387,749,728,707,697.255680387,655,934,803,835,667.255680387,658,675,0.400998771613,-0.00539570115737,0.0498616539608,0.999999964229,0.000104972244311,-0.000241434397052,-4.72547313983e-05,1793256528727415552
+48,0.800000000,BASELINE,793.830670445,749,728,707,697.830670445,655,934,803,835,667.830670445,658,675,0.400999242333,-0.00539607160062,0.0498624496062,0.999999964589,0.000105371491291,-0.000239689148754,-4.7616085259e-05,1793256528744081920
+49,0.816666667,BASELINE,793.580569487,749.419430513,728,707,698,655,934,803.419430513,835,668,658,675,0.400999260247,-0.00539592924915,0.0498626532559,0.999999964751,0.00010435632208,-0.000239483191271,-4.74830522625e-05,1793256528760748544
+50,0.833333333,BASELINE,793,749.986495218,728,707,698,655,934,803.986495218,835,667.986495218,658,675.013504782,0.400999098111,-0.00539557612547,0.0498626125041,0.999999964821,0.000102831384365,-0.000239917854436,-4.71531383572e-05,1793256528777415168
+51,0.850000000,BASELINE,793,749.410481407,728,707,698,655,934,803.410481407,835,667.410481407,658,675.589518593,0.400999309173,-0.00539535949519,0.0498626845311,0.999999964542,0.000104665004184,-0.000240273155019,-4.721827861e-05,1793256528794082048
+52,0.866666667,BASELINE,793.165378356,749,728,707,698,655,934,803,835,667,658,675.834621644,0.400999263303,-0.0053952812826,0.0498626476309,0.999999964385,0.000105641193079,-0.000240489941507,-4.72681467636e-05,1793256528810748928
+53,0.883333333,BASELINE,793.740856084,749,728,707,698,655,934,803,835,667,658,675.259143916,0.400998580304,-0.00539554631325,0.0498623406165,0.999999964536,0.000104491155124,-0.000240363245643,-4.72801437046e-05,1793256528827416320
+54,0.900000000,BASELINE,793.677559438,749,728,707,698,655,934,803,835,667.322440562,657.677559438,675,0.400998477254,-0.00539562416608,0.0498621377964,0.999999964544,0.000104732517799,-0.000240212696072,-4.73429240995e-05,1793256528844083200
+55,0.916666667,BASELINE,793.090972276,749,728,707,698,655,934,803,835,667.909027724,657.090972276,675,0.400998849306,-0.00539554868091,0.0498620203333,0.999999964434,0.000106113730126,-0.000240042605306,-4.74473068173e-05,1793256528860749568
+56,0.933333333,BASELINE,793,749,728,707,698,655,934,803,835,667.508179822,657.491820178,675.491820178,0.400998328482,-0.00539551261805,0.0498617548767,0.999999964221,0.000106793004529,-0.000240638935695,-4.73830898541e-05,1793256528877415936
+57,0.950000000,BASELINE,793.072857678,749,728,707,698,655,934,803,835,667,658,676,0.400997616765,-0.0053955575855,0.0498614110907,0.999999963973,0.000107161111333,-0.000241524346447,-4.72904522877e-05,1793256528894082048
+58,0.966666667,BASELINE,793.646618167,749,728,707,698,655,934,803,835,667,658,676,0.400996719415,-0.00539610989424,0.049860715544,0.999999963609,0.000106275725835,-0.00024343002249,-4.7215185389e-05,1793256528910748672
+59,0.983333333,BASELINE,793.778488898,749,727.778488898,707,698,655.221511102,934,803,835.221511102,667.221511102,658,675.778488898,0.400996161332,-0.00539604115352,0.0498604186819,0.999999963356,0.000106711195932,-0.00024427903872,-4.72142990558e-05,1793256528927415296
+60,1.000000000,BASELINE,793.201779975,749,727.201779975,707,698,655.798220025,934,803,835.798220025,667.798220025,658,675.201779975,0.400996147271,-0.0053949765467,0.0498607611191,0.99999996328,0.00010926468628,-0.000243433678484,-4.73326835493e-05,1793256528944081920
+61,1.016666667,BASELINE,793,749,727.38412904,707,698,655.61587096,934,803,835.61587096,667.61587096,657.61587096,675,0.40099665187,-0.00539462583588,0.049861077954,0.999999963424,0.000109604927389,-0.000242678325711,-4.7389017057e-05,1793256528960748800
+62,1.033333333,BASELINE,793,749,727.974989343,707,698,655.025010657,934,803,835.025010657,667.025010657,657.025010657,675,0.400997435601,-0.00539465933096,0.0498613810102,0.999999963687,0.000108754037861,-0.000241971413368,-4.74119558456e-05,1793256528977415936
+63,1.050000000,BASELINE,793,749,728,707,698,655,934,803,835,667,657.553276655,675,0.400998121206,-0.00539441904006,0.049861532743,0.999999964016,0.000107474912664,-0.000241145433234,-4.75949386507e-05,1793256528994082560
+64,1.066666667,BASELINE,793,749.130269037,728,707,698,655.130269037,934.130269037,803,835,667,658,675,0.400998572375,-0.0053943141134,0.0498616438944,0.999999964237,0.000106823923882,-0.000240503586873,-4.76651543204e-05,1793256529010749184
+65,1.083333333,BASELINE,793,749.704740795,728,707,698,655.704740795,934.704740795,803,835,667,658,675,0.400998238937,-0.00539471202792,0.049861639475,0.999999964085,0.000108379352162,-0.00024050756157,-4.73267253128e-05,1793256529027415552
+66,1.100000000,BASELINE,793,749.71390333,728,707,697.71390333,655.71390333,934.71390333,803,835,667,658,675,0.400998136125,-0.00539529715111,0.0498616711424,0.999999964127,0.000108589993844,-0.000240221910265,-4.74002196834e-05,1793256529044081920
+67,1.116666667,BASELINE,793,749.125267738,728,707,697.125267738,655.125267738,934.125267738,803,835,667,658,675,0.400998277194,-0.00539608024201,0.0498617409707,0.999999964376,0.000107378562644,-0.000239629987869,-4.79093110877e-05,1793256529060748288
+68,1.133333333,BASELINE,793,749.456152398,728,707,697.456152398,655,934,803,835,667,657.543847602,675,0.400998249707,-0.00539665890244,0.0498612568027,0.999999964348,0.00010650629004,-0.000240201661129,-4.75786791433e-05,1793256529077415168
+69,1.150000000,BASELINE,793,749.96453686,728,707,698,655,934,803,835,667,657.03546314,675,0.400998140998,-0.00539703280465,0.049860661309,0.99999996422,0.000105940174987,-0.000241081220726,-4.70770080026e-05,1793256529094081792
+70,1.166666667,BASELINE,793,749.387650537,728,707,698,655,934,803,835,667,657.612349463,675,0.400997487956,-0.00539512437897,0.0498606527276,0.999999963725,0.000108648400607,-0.000241858759196,-4.74298919956e-05,1793256529110748928
+71,1.183333333,BASELINE,793,749,728,707,697.811134766,655,934,803,835,667,658,675,0.400997407883,-0.00539438176983,0.0498609563764,0.999999963598,0.000109718376219,-0.000241878593795,-4.75552095458e-05,1793256529127415808
+72,1.200000000,BASELINE,793,749,728,707,697.235377965,655,934,803,835,667,658,675,0.400998501541,-0.00539602734252,0.0498618996309,0.999999964231,0.000107432387361,-0.000240346267613,-4.72143559381e-05,1793256529144082432
+73,1.216666667,BASELINE,793,749,728,707,697.34825655,655,934,803,835,667,657.65174345,675,0.400998956564,-0.00539578020697,0.0498620391901,0.999999964411,0.000107385074167,-0.000239594725713,-4.73451693435e-05,1793256529160748800
+74,1.233333333,BASELINE,793,749,728,707,697.937338608,655,934,803,835,667,657.062661392,675,0.400998969958,-0.0053942242304,0.0498616229799,0.999999964277,0.000108885844576,-0.000239383109925,-4.78021487773e-05,1793256529177415168
+75,1.250000000,BASELINE,793,749,728,707,698,655,934,803,835,667,657.517572096,675,0.400999980694,-0.0053952521103,0.0498628014206,0.999999964825,0.000106404715066,-0.000238281133604,-4.74311429657e-05,1793256529194081792
+76,1.266666667,BASELINE,793,749,728,707,698,655,934,803,835,667,658,675,0.401000759925,-0.00539621466498,0.0498638142602,0.999999965246,0.000104420274267,-0.000237467527073,-4.70417594647e-05,1793256529210748416
+77,1.283333333,BASELINE,793,749,728,707,698,655,934,803,835,667,658,675,0.400999792879,-0.00539531791358,0.0498630549131,0.999999964669,0.000107275783067,-0.000238620244733,-4.70521698302e-05,1793256529227415040
+78,1.300000000,BASELINE,793,749,728,707,698,655,934,803,835,667,658,675,0.400998816376,-0.00539513791058,0.0498623482899,0.999999964322,0.0001081543987,-0.000239670086843,-4.7079887106e-05,1793256529244081920
+79,1.316666667,BASELINE,793,749,728,707,698,655,934,803,835,667,658,675,0.400997827283,-0.00539591204613,0.0498617118528,0.999999964289,0.00010640136562,-0.000240582980499,-4.7130643413e-05,1793256529260748800
+80,1.333333333,BASELINE,793,749,728,707,698,655.404994118,934,803,835,667,658,675,0.40099780376,-0.00539691905657,0.049861174298,0.999999964386,0.000104790442187,-0.000240886314772,-4.71176907014e-05,1793256529277415424
+81,1.350000000,BASELINE,793,749,728,707,698,655.996468966,934,803,835,667,658,675,0.400998224835,-0.00539803329499,0.0498606822738,0.999999964544,0.000103244953404,-0.000240908975717,-4.70754029897e-05,1793256529294081792
+82,1.366666667,BASELINE,793,749.576804815,728,707,698,655.423195185,934,803,835,667,658,675,0.400997670566,-0.00539756039515,0.0498611941804,0.999999964411,0.000103586822977,-0.000241325345473,-4.69995925934e-05,1793256529310748416
+83,1.383333333,BASELINE,793,750,728,707,698,655,934,803,835,667,658,675,0.400997234531,-0.00539677257496,0.049861553834,0.999999964263,0.000104493015252,-0.000241551685453,-4.69810166961e-05,1793256529327415040
+84,1.400000000,BASELINE,793,750,728,707,698,655,934,803,835,667,658,675,0.400997132828,-0.00539516196325,0.049861487036,0.999999964074,0.000106889092414,-0.000241259668044,-4.71171870126e-05,1793256529344081664
+85,1.416666667,BASELINE,793,749.692632815,728,707,697.692632815,655,934,803,835,667.307367185,658,675,0.4009973353,-0.00539525344902,0.049861702262,0.999999964184,0.000106959304417,-0.000240779844919,-4.70924174657e-05,1793256529360748544
+86,1.433333333,BASELINE,793,749.109304251,728,707,697.109304251,655,934,803,835,667.890695749,658,675,0.400997810867,-0.00539687311744,0.0498621706957,0.999999964561,0.000104941300645,-0.000240131405491,-4.69231523728e-05,1793256529377415168
+87,1.450000000,BASELINE,793.475135306,749,728,707,697.475135306,655,934,803,835,667.524864694,658,675,0.400997264468,-0.00539633624326,0.0498612684848,0.999999964247,0.000104937960929,-0.000241374235982,-4.72489736391e-05,1793256529394081792
+88,1.466666667,BASELINE,793.940848479,749,728,707,698,655,934,803,835,667,658,675.059151521,0.400996476,-0.00539557936476,0.049860203279,0.999999963831,0.000105235310143,-0.000242892846196,-4.76141050234e-05,1793256529410748416
+89,1.483333333,BASELINE,793.362793304,749,728,707,698,655,934,803,835,667,658,675.637206696,0.400995631241,-0.00539725480722,0.0498604807768,0.999999963937,0.00010409513465,-0.000243005021182,-4.73226118073e-05,1793256529427415040
+90,1.500000000,BASELINE,793.213535767,749,728,707,698,655,934,803,835,667,658,675.786464233,0.400995711583,-0.00539779779834,0.0498609769517,0.99999996415,0.000103479810951,-0.00024241227154,-4.72013033342e-05,1793256529444081664
+91,1.516666667,BASELINE,793.786955677,749,728,707,698,655,934,803,835,667,658,675.213044323,0.400997351049,-0.00539643220375,0.0498618416757,0.999999964545,0.00010374905036,-0.000240631471763,-4.73668170522e-05,1793256529460748288
+92,1.533333333,BASELINE,794,749,728.370763833,707,698,655,934,803.370763833,835,667,658,675.370763833,0.400996467503,-0.00539640305901,0.0498610370374,0.999999964159,0.000104424490482,-0.000241931498379,-4.73889987292e-05,1793256529477415168
+93,1.550000000,BASELINE,794,749,728.960713296,707,698,655,934,803.960713296,835,667,658,675.960713296,0.400994092419,-0.00539716398745,0.0498592455171,0.999999963306,0.000105340065592,-0.000245052826731,-4.73264463643e-05,1793256529494081792
+94,1.566666667,BASELINE,793.459613008,749,728.459613008,707,698,655,934,803.459613008,835,667,658,675.459613008,0.400997097,-0.00539578842709,0.0498609506842,0.999999963889,0.000107390716794,-0.0002418048262,-4.71215370138e-05,1793256529510748416
+95,1.583333333,BASELINE,793,749.11876874,728,707,698,655,934,803,835,667,658,675,0.400999426221,-0.0053946808426,0.0498623155765,0.999999964333,0.000108971176887,-0.000239269089179,-4.69965227199e-05,1793256529527415296
+96,1.600000000,BASELINE,793,749.69499821,728,707,698,655,934,803,835,667,658,675,0.400997675852,-0.0053951925186,0.0498614089568,0.999999963912,0.000108428690575,-0.000241227042273,-4.72183588359e-05,1793256529544082944
+97,1.616666667,BASELINE,793.269747446,749.730252554,728,707,698,655,934,803,835,667,658,675,0.400997215798,-0.00539597234316,0.0498613170469,0.999999963966,0.000107887763197,-0.000241255532208,-4.7152315395e-05,1793256529560750080
+98,1.633333333,BASELINE,793.842832091,749.157167909,728,707,698,655,934,803,835,667,658,675,0.400998206732,-0.00539705370692,0.0498621412969,0.999999964557,0.000107348588909,-0.000239114296381,-4.67625447666e-05,1793256529577416960
+99,1.650000000,BASELINE,793.570997527,749,728,707,698,655,934,803,835,667,658,675,0.400998293748,-0.0053961745185,0.0498623510819,0.999999964364,0.000108770924628,-0.000239256627293,-4.6884257144e-05,1793256529594082816
+100,1.666666667,BASELINE,793,749,728,707,698,655,934,803.019714234,835,667,658,675,0.400997964592,-0.00539464207037,0.0498622653494,0.999999963874,0.00011075480039,-0.000240330384403,-4.71877784084e-05,1793256529610748928
+101,1.683333333,BASELINE,793,749,728,707,698,655,934,803.598973883,835,667,658,675,0.400995518154,-0.00539559595095,0.0498603823744,0.999999963485,0.00010763881241,-0.000243348503981,-4.71656950605e-05,1793256529627415552
+102,1.700000000,BASELINE,793,749.177098451,728,707,698,655,934.177098451,803.822901549,835,667,658,675.177098451,0.400994513519,-0.00539585798088,0.0498596623029,0.999999963398,0.000105921528223,-0.000244447923765,-4.72171510909e-05,1793256529644082176
+103,1.716666667,BASELINE,793,749.752669004,728,707,698,655,934.752669004,803.247330996,835,667,658,675.752669004,0.400996752942,-0.0053945633444,0.0498615587685,0.999999964017,0.000107351332634,-0.000241230262249,-4.74340709707e-05,1793256529660748800
+104,1.733333333,BASELINE,793.334089204,749.665910796,728,707,698,655,935,803,835,667,658,675.665910796,0.40099856986,-0.00539461286854,0.0498627449454,0.99999996447,0.000107804148258,-0.000239146434299,-4.74132773992e-05,1793256529677415680
+105,1.750000000,BASELINE,793.919917218,749.080082782,728,707,698,655,935,803,835,667,658,675.080082782,0.401000068417,-0.00539567522802,0.0498633959144,0.999999964803,0.000107520795396,-0.000237916958415,-4.72133649183e-05,1793256529694082560
+106,1.766666667,POSE1_TO_POSE2_PRESS,793,750,728,707,698,655,934,803,835,667,658,676,0.400996716545,-0.0053956204819,0.049861939551,0.999999964607,0.000105571606873,-0.000239597051208,-4.72601591274e-05,1793256529725251328
+107,1.783333333,POSE1_TO_POSE2_PRESS,793.580185566,749.419814434,728,707,698,655.580185566,934.580185566,803,835,667,658,676,0.400997296121,-0.00539613603989,0.0498624772381,0.999999964737,0.000104718962963,-0.000239412383612,-4.73409714862e-05,1793256529741917696
+108,1.800000000,POSE1_TO_POSE2_PRESS,794,749,728,707.159197236,698,655.840802764,935,803,835,667,658,675.840802764,0.400997402146,-0.00539647078759,0.0498624004485,0.999999964666,0.000104178127989,-0.000239929781185,-4.7414301902e-05,1793256529758584064
+109,1.816666667,POSE1_TO_POSE2_PRESS,794,749,728,707.735136045,698,655.264863955,935,803,835,667,658,675.264863955,0.400996268523,-0.00539633221586,0.0498607151013,0.999999964067,0.000104453536562,-0.000242285023087,-4.7468046338e-05,1793256529775250688
+110,1.833333333,POSE1_TO_POSE2_PRESS,794,749.31786805,728,707.68213195,698,655.31786805,935,803,835,667,658,675,0.40099630204,-0.00539635097476,0.0498601698653,0.999999963809,0.000105307411556,-0.000242998889081,-4.7370581684e-05,1793256529791917824
+111,1.850000000,POSE1_TO_POSE2_PRESS,794,749.90638407,728,707.09361593,698,655.90638407,935,803,835,667,658,675,0.400997329317,-0.00539650369244,0.0498605953742,0.999999963843,0.000106653820346,-0.000242315209447,-4.71443704185e-05,1793256529808585728
+112,1.866666667,POSE1_TO_POSE2_PRESS,794,749.512570502,728,707.487429498,698,656,935,803,835,667,658,675,0.400995830972,-0.00539554650143,0.0498603426744,0.999999963422,0.000107811663349,-0.000243530042762,-4.71723957622e-05,1793256529825252608
+113,1.883333333,POSE1_TO_POSE2_PRESS,793.933524697,749,728,707.933524697,698,656,934.933524697,803,835,667.066475303,658,675,0.400994237856,-0.00539460795077,0.04986007808,0.999999963028,0.000108749766058,-0.000244715169235,-4.72414468236e-05,1793256529841919232
+114,1.900000000,POSE1_TO_POSE2_PRESS,793.358961463,749,728,707.358961463,698,656,934.358961463,803,835,667.641038537,658,675,0.400995571948,-0.00539541658853,0.0498607031309,0.999999963514,0.000108280966916,-0.000242928352483,-4.72564906053e-05,1793256529858585600
+115,1.916666667,POSE1_TO_POSE2_PRESS,793,749,728,707,698,656,934,803,835,667.779070103,658,675,0.40099835189,-0.00539623394446,0.0498619763425,0.999999964286,0.000107077168358,-0.000240280532637,-4.71967040722e-05,1793256529875251968
+116,1.933333333,POSE1_TO_POSE2_PRESS,793,749,728,707,698,656,934,803,835,667.190307855,658,675,0.401003539068,-0.00539706581544,0.0498643286947,0.999999965524,0.000104649648805,-0.000236199204891,-4.70123304576e-05,1793256529891918336
+117,1.950000000,POSE1_TO_POSE2_PRESS,793,749,728,707,698,655.6081007,934,803,835,667,658,675.3918993,0.401021941004,-0.00539819848376,0.0498716390297,0.999999968902,0.000102967622768,-0.000222335775776,-4.64900083406e-05,1793256529908584704
+118,1.966666667,POSE1_TO_POSE2_PRESS,793,749,728,707,698,655.029024304,934,803,835,667,658,675.970975696,0.401046654513,-0.00539947481757,0.0498813173732,0.999999973018,0.000101641655582,-0.000203800265137,-4.58062768251e-05,1793256529925251328
+119,1.983333333,POSE1_TO_POSE2_PRESS,793,749,728,707,697.451935655,655.548064345,934,803,835,667,658,676,0.401099906858,-0.00540139224873,0.049898048895,0.99999997998,0.000100098767649,-0.000167333311375,-4.49459018008e-05,1793256529941917696
+120,2.000000000,POSE1_TO_POSE2_PRESS,793,749,728,707,697.124275261,655.875724739,934,803,834.875724739,667,658,675.875724739,0.401157723199,-0.0054031435129,0.0499148235008,0.999999985219,9.95141606925e-05,-0.000133170743029,-4.3870673135e-05,1793256529958584064
+121,2.016666667,POSE1_TO_POSE2_PRESS,793,749,728,707,697.697693198,655.302306802,934,803,834.302306802,667,658,675.302306802,0.401226591827,-0.00540417197493,0.0499304087584,0.999999987736,0.000102434240228,-0.000110756015071,-4.20526292658e-05,1793256529975250944
+122,2.033333333,POSE1_TO_POSE2_PRESS,793,749.27107535,728,707,698,655,934,803.27107535,834.27107535,667,658,675,0.401302705324,-0.00540636101557,0.0499428264654,0.999999989591,0.000102942007601,-9.26020069866e-05,-4.05571213041e-05,1793256529991917824
+123,2.050000000,POSE1_TO_POSE2_PRESS,793,749.844417564,728,707,698,655,934,803.844417564,834.844417564,667,658,675,0.401386897323,-0.00540984417772,0.0499517121439,0.99999999101,0.000100759887924,-7.91989834951e-05,-3.94212622394e-05,1793256530008584704
+124,2.066666667,POSE1_TO_POSE2_PRESS,793,749.564091371,728,707.435908629,698,655,934,803.564091371,835,667,658,675,0.401484958867,-0.00541240119702,0.0499551380732,0.999999991553,9.9654079231e-05,-7.40434695429e-05,-3.8491163022e-05,1793256530025251328
+125,2.083333333,POSE1_TO_POSE2_PRESS,793.032780618,749,728,707.967219382,698,655,934.032780618,803.032780618,835,667,658,675,0.401589199551,-0.00541484186867,0.0499563601819,0.999999991797,9.88499943835e-05,-7.22396793432e-05,-3.76224784254e-05,1793256530041917696
+126,2.100000000,POSE1_TO_POSE2_PRESS,793.606895308,749,728,707.393104692,698,655,934.606895308,803.606895308,835,667,658,675,0.401710182532,-0.00542105706522,0.0499547667425,0.999999991869,9.64091102652e-05,-7.50627302457e-05,-3.65025415085e-05,1793256530058584576
+127,2.116666667,POSE1_TO_POSE2_PRESS,794,749,728,707,698,655.181572447,934.818427553,803.818427553,835,667,658,675.181572447,0.401842924528,-0.00542701746169,0.0499547891141,0.999999992189,9.30623952735e-05,-7.55458445191e-05,-3.54170324566e-05,1793256530075251200
+128,2.133333333,POSE1_TO_POSE2_PRESS,794,749,728,707,698,655.757470996,934.242529004,803.242529004,835,667,658,675.757470996,0.402001203897,-0.00543242450072,0.0499583205891,0.999999993041,8.7748461653e-05,-7.09472507838e-05,-3.44062915348e-05,1793256530091917824
+129,2.150000000,POSE1_TO_POSE2_PRESS,793.65706408,749,728,707,698,656,934,803,835,667,658,675.65706408,0.402169388772,-0.00543839133598,0.0499572217297,0.999999993091,8.42289878126e-05,-7.49840843265e-05,-3.31886125528e-05,1793256530108584704
+130,2.166666667,POSE1_TO_POSE2_PRESS,793.064639482,749,728,707,698,656,934,803,835,667,658,675.064639482,0.402344779999,-0.00544476542813,0.0499527542647,0.999999992492,8.20149975407e-05,-8.53032611563e-05,-3.18203843376e-05,1793256530125251328
+131,2.183333333,POSE1_TO_POSE2_PRESS,793.513703852,749,728,707,698,655.486296148,934,803,835,667,658,675.513703852,0.402567399795,-0.0054522273971,0.0499556752438,0.999999992979,8.07590504075e-05,-8.13964827171e-05,-2.99235076332e-05,1793256530141918464
+132,2.200000000,POSE1_TO_POSE2_PRESS,793.90972039,749,728,707,698,655,934,803,835,667,658,675.90972039,0.402800883043,-0.00546007092999,0.0499595209066,0.999999993588,7.88023245997e-05,-7.63814237334e-05,-2.79424777379e-05,1793256530158585344
+133,2.216666667,POSE1_TO_POSE2_PRESS,793.333375925,749,728,707,698,655,934,803,835,667,658,675.333375925,0.403061712877,-0.00546925146366,0.0499634731639,0.999999994246,7.24408820306e-05,-7.47799028072e-05,-2.58569547102e-05,1793256530175251200
+134,2.233333333,POSE1_TO_POSE2_PRESS,793,749,728,707,698,655,934,803,835,667,658,675.247974167,0.403341378505,-0.00547875343545,0.0499694800124,0.999999995288,6.77024103702e-05,-6.54643619215e-05,-2.35380465501e-05,1793256530191917824
+135,2.250000000,POSE1_TO_POSE2_PRESS,793,749,728,707,698,655,934,803,835,667,658,675.836192421,0.403646888611,-0.00548869645027,0.0499783059546,0.999999996619,6.51908091552e-05,-4.55644537983e-05,-2.08989119637e-05,1793256530208584448
+136,2.266666667,POSE1_TO_POSE2_PRESS,793,749,728,707,697.582268665,655,934.417731335,803,835,667,658,676,0.403989700601,-0.005498488983,0.0499870445317,0.999999997509,6.21289764598e-05,-2.82680736803e-05,-1.79441241538e-05,1793256530225250816
+137,2.283333333,POSE1_TO_POSE2_PRESS,793,749,728,707,697.003307754,655,934.996692246,803,835,667,658,676,0.404346909795,-0.00550822343472,0.0499957493888,0.999999998086,5.88547738513e-05,-1.19765640866e-05,-1.48675053813e-05,1793256530241917440
+138,2.300000000,POSE1_TO_POSE2_PRESS,793,749,728,707,697.573032364,655,935,803,835,667,658,676,0.404749851169,-0.00552051102164,0.0500028016497,0.99999999843,5.47599833411e-05,3.27317024409e-06,-1.14416381534e-05,1793256530258584320
+139,2.316666667,POSE1_TO_POSE2_PRESS,793,749,728,707,698,655,934.850837205,803,835,667.149162795,658,676,0.405154686374,-0.00552907914282,0.0500051497313,0.999999998395,5.52296579248e-05,9.63345297683e-06,-8.16372819001e-06,1793256530275251200
+140,2.333333333,POSE1_TO_POSE2_PRESS,793,749,728,707,698,655,934.275263253,803,835,667.724736747,658,676,0.405564184186,-0.00552697249966,0.049994077137,0.999999997578,6.87612327169e-05,-9.4013982679e-06,-5.31452060028e-06,1793256530291918336
+141,2.350000000,POSE1_TO_POSE2_PRESS,793,749,728,707,698,655,934.30730793,803,835,667.69269207,658,676,0.405980172505,-0.0055157888404,0.0499781289161,0.999999995056,9.11189403294e-05,-3.96290060812e-05,-3.94751719946e-06,1793256530308584960
+142,2.366666667,POSE1_TO_POSE2_PRESS,793,749,728,707,698,655,934.896292806,803,835,667.103707194,658,676,0.406402110036,-0.00549628523231,0.0499577117186,0.999999989394,0.000121566639547,-8.01158419703e-05,-3.93909457747e-06,1793256530325251072
+143,2.383333333,POSE1_TO_POSE2_PRESS,793.477624123,749,728,707,698,655,934.522375877,803,835.477624123,667,658,675.522375877,0.406893526526,-0.00549563317884,0.0499461399686,0.999999985869,0.00013596914479,-9.88566596812e-05,-1.14388747583e-06,1793256530341917440
+144,2.400000000,POSE1_TO_POSE2_PRESS,793.943167269,749,728,707,698,655,934.056832731,802.943167269,836,667.056832731,658,675.056832731,0.407408025833,-0.0054996817451,0.0499388487966,0.999999983443,0.000145912518593,-0.000108705824969,2.41658098131e-06,1793256530358584064
+145,2.416666667,POSE1_TO_POSE2_PRESS,793.368397355,749,728,707,698,655,934.631602645,802.368397355,836,667.631602645,658,675.631602645,0.407997571097,-0.00550985369202,0.0499533407822,0.999999986055,0.000146467655465,-7.98744499512e-05,7.52364581793e-06,1793256530375251456
+146,2.433333333,POSE1_TO_POSE2_PRESS,793.210697891,748.789302109,728,707,698,655.210697891,934.789302109,802.210697891,835.789302109,668,658,675.789302109,0.408596119412,-0.00551685121678,0.0499717345383,0.999999987297,0.00015228661922,-4.52640924261e-05,1.29057955895e-05,1793256530391918592
+147,2.450000000,POSE1_TO_POSE2_PRESS,793.797514288,748.202485712,728,707,698,655.797514288,934.202485712,802.797514288,835.202485712,668,658,675.202485712,0.409210739109,-0.00551818205434,0.0499970933759,0.999999985795,0.000167502082753,-3.37628316042e-07,1.87790013858e-05,1793256530408585472
+148,2.466666667,POSE1_TO_POSE2_PRESS,793.620503155,748,728.379496845,707,697.620503155,655.620503155,934,803,835,668,658,675.379496845,0.409840886268,-0.00551744036948,0.0500108675557,0.999999982859,0.000182505423241,2.09993900171e-05,2.30698650837e-05,1793256530425252352
+149,2.483333333,POSE1_TO_POSE2_PRESS,793.041067339,748,728.958932661,707,697.041067339,655.041067339,934,803,835,668,658,675.958932661,0.410479214095,-0.00551560677036,0.0500185383254,0.999999979718,0.000197397005722,2.99082416148e-05,2.65270672579e-05,1793256530441918976
+150,2.500000000,POSE1_TO_POSE2_PRESS,793,748,728.464140837,707,697.535859163,655,934.535859163,803,835,668,658,675.464140837,0.411098869248,-0.00551569268351,0.0499899534438,0.99999997751,0.000207138609058,-3.48899162061e-05,2.92530096498e-05,1793256530458585344
+151,2.516666667,POSE1_TO_POSE2_PRESS,793,748.112304996,728,707,698,655,934.887695004,803,835.112304996,668,658,675,0.411740503094,-0.00551641598385,0.0499636063009,0.999999974904,0.000202897072845,-9.059899044e-05,2.85860383598e-05,1793256530475251968
+152,2.533333333,POSE1_TO_POSE2_PRESS,793,748.68755829,728,707,698,655,934.31244171,803,835.68755829,668,658,675,0.412478609854,-0.00551916315905,0.0499578842223,0.999999986058,0.000142633067365,-8.56635472725e-05,1.41626016518e-05,1793256530491918080
+153,2.550000000,POSE1_TO_POSE2_PRESS,793,748.73053023,728,707.26946977,698,655,934.26946977,803,835.73053023,668,658,675.26946977,0.413236443866,-0.00552565612682,0.0499680915554,0.999999992341,0.00010832665329,-5.91915218236e-05,8.90183526519e-06,1793256530508584448
+154,2.566666667,POSE1_TO_POSE2_PRESS,793,748.140703133,728,707.859296867,698,655,934.859296867,803,835.140703133,668,658,675.859296867,0.414017730584,-0.00553660225527,0.0499972364619,0.999999994369,0.00010487973971,-7.11587471706e-06,1.45340460679e-05,1793256530525251072
+155,2.583333333,POSE1_TO_POSE2_PRESS,793,748.440815236,728,708,697.559184764,655,935,802.559184764,835,668,658,675.559184764,0.414771167413,-0.00553586814714,0.0499894260712,0.999999992562,0.000118498388697,-2.27172957908e-05,1.78190978807e-05,1793256530541917696
+156,2.600000000,POSE1_TO_POSE2_PRESS,793,748.980347405,728,708,697,655,935,802,835.019652595,668,658,675,0.415517675656,-0.00553147999488,0.0499700286623,0.999999988652,0.00013702416332,-5.92480343107e-05,2.02632649517e-05,1793256530558584576
+157,2.616666667,POSE1_TO_POSE2_PRESS,793,748.403720248,728,708,697,655,935,802,835.596279752,668,658,675,0.416315094913,-0.00552723868179,0.0499503610482,0.99999998569,0.000143101642434,-8.80476290025e-05,1.97158007661e-05,1793256530575251712
+158,2.633333333,POSE1_TO_POSE2_PRESS,793,748,728.171928416,708,697.171928416,655.171928416,935,802,835.828071584,668,658,675,0.417138302376,-0.00552602367026,0.0499454840879,0.999999985013,0.000145174753832,-9.21813675303e-05,2.00036953463e-05,1793256530591918592
+159,2.650000000,POSE1_TO_POSE2_PRESS,793,748,728.745292366,708,697.745292366,655.745292366,935,802,835.254707634,668,658,675,0.418021722658,-0.00553187476826,0.0499751418152,0.999999989495,0.000137898069577,-3.87228147448e-05,2.22420685285e-05,1793256530608585216
+160,2.666666667,POSE1_TO_POSE2_PRESS,793,748,729,707.671550356,697.671550356,655.671550356,935,802,835,668,658,675.328449644,0.41887153626,-0.00553425385323,0.0499891678261,0.999999990361,0.000134915348994,-2.2151077572e-05,2.42083428554e-05,1793256530625251584
+161,2.683333333,POSE1_TO_POSE2_PRESS,793,748,729,707.080565126,697.080565126,655.080565126,935,802,835,668,658,675.919434874,0.419694487408,-0.00553385769676,0.0499906991292,0.999999989887,0.00013536486976,-3.50636243832e-05,2.59571237028e-05,1793256530641917696
+162,2.700000000,POSE1_TO_POSE2_PRESS,793,747.499741332,728.499741332,707.500258668,697,655,934.499741332,802,835,668,658,675.499741332,0.420570164036,-0.0055310354493,0.0499855037387,0.999999989731,0.000138376519928,-2.75119616811e-05,2.51663211989e-05,1793256530658584576
+163,2.716666667,POSE1_TO_POSE2_PRESS,793.07910288,747.07910288,728.07910288,708,697.07910288,655,934,802,835,668,657.92089712,675.07910288,0.421462210387,-0.005528889275,0.0499835290808,0.999999989768,0.000140477962833,-1.16323917564e-05,2.43719674455e-05,1793256530675251200
+164,2.733333333,POSE1_TO_POSE2_PRESS,793.655584579,747.655584579,728.655584579,708,697.655584579,655,934,802,835,668,657.344415421,675.655584579,0.422404856928,-0.00553340188382,0.0500084815676,0.999999989981,0.000134313433517,3.63009688119e-05,2.60757272657e-05,1793256530691917568
+165,2.750000000,POSE1_TO_POSE2_PRESS,793.764021765,747.764021765,729,708,697.764021765,655,934,802,835,668,657.235978235,675.764021765,0.423321820488,-0.00553616719599,0.0500161069597,0.999999989826,0.000131041515708,4.94369438857e-05,2.70568193891e-05,1793256530708584192
+166,2.766666667,POSE1_TO_POSE2_PRESS,793.177822185,747.177822185,729,708,697.177822185,655,934,802,835,668,657.822177815,675.177822185,0.424200667417,-0.00553633930107,0.0499980167705,0.999999990856,0.000132062596053,1.09292349123e-05,2.69653821692e-05,1793256530725251072
+167,2.783333333,POSE1_TO_POSE2_PRESS,793,747,729,708,697,655,934,802,835,668,658,675.403711116,0.425121622959,-0.00554021490979,0.0499992256933,0.9999999915,0.000126719356284,1.32881743067e-05,2.76544878464e-05,1793256530741917184
+168,2.800000000,POSE1_TO_POSE2_PRESS,793,747,729,708,697,655,934,802,835,668,658,675.983212516,0.426060914048,-0.00554570315668,0.050008838142,0.999999991996,0.000118604863444,3.34419189817e-05,2.8683469874e-05,1793256530758583808
+169,2.816666667,POSE1_TO_POSE2_PRESS,793,747,729,708,697,655,934.559047628,802,835.559047628,668,658,676,0.426963263931,-0.00554542005412,0.0500165720009,0.999999992235,0.000118115582967,2.52843662648e-05,3.06362166286e-05,1793256530775251456
+170,2.833333333,POSE1_TO_POSE2_PRESS,793,747,729,708,697,655,935,802,836,668,658,676,0.427854878159,-0.005544059515,0.0500120615879,0.999999992399,0.000119150863861,1.44460061417e-06,3.16794707003e-05,1793256530791918848
+171,2.850000000,POSE1_TO_POSE2_PRESS,793,747,729,708,697,655,935,802,836,668,658,676,0.428714973111,-0.00553973714219,0.0499676736533,0.999999989303,0.00012442993201,-7.09409183153e-05,2.96568737911e-05,1793256530808584704
+172,2.866666667,POSE1_TO_POSE2_PRESS,793,746.415502835,729,708,697.292248583,655,935,802,836,668.292248583,658,676,0.429628971393,-0.00553781585945,0.0499528467594,0.999999988073,0.000125637321001,-8.52157438703e-05,2.84179784995e-05,1793256530825251072
+173,2.883333333,POSE1_TO_POSE2_PRESS,793,745.233689397,729,708,697.883155301,655,935,802,836,668.883155301,658,676,0.430598055152,-0.0055383483274,0.0499682292372,0.999999991279,0.000122683731354,-4.01053965854e-05,2.79799730538e-05,1793256530841917696
+174,2.900000000,POSE1_TO_POSE2_PRESS,793,744.535332133,729.464667867,708,698,655,934.535332133,802,836,668.535332133,658,676,0.431499266992,-0.00554120613644,0.0499606350291,0.999999991143,0.000117004623645,-5.6918792454e-05,2.80075376026e-05,1793256530858584576
+175,2.916666667,POSE1_TO_POSE2_PRESS,793,744,729.956459539,708.043540461,698,655,934,802,835.956459539,668.043540461,657.956459539,675.956459539,0.432384557369,-0.00554442627752,0.0499485743091,0.999999989766,0.000111116319232,-8.55992588864e-05,2.81826200099e-05,1793256530875251712
+176,2.933333333,POSE1_TO_POSE2_PRESS,793,744,729.381548203,708.618451797,698,655,934,802,835.381548203,668.618451797,657.381548203,675.381548203,0.433279699364,-0.00554507370354,0.049951117962,0.999999990787,0.000110873342417,-7.28393299802e-05,2.87575839745e-05,1793256530891918080
+177,2.950000000,POSE1_TO_POSE2_PRESS,793,744,729,709,697.806378801,655,934.193621199,802,835.193621199,668.806378801,657.193621199,675.193621199,0.434177563412,-0.00554508269565,0.0499614141276,0.999999991922,0.000111472517048,-5.3333725389e-05,2.97669092642e-05,1793256530908584704
+178,2.966666667,POSE1_TO_POSE2_PRESS,793,744,729,709,697.230700078,655,934.769299922,802,835.769299922,668.230700078,657.769299922,675.769299922,0.435080798834,-0.00554383191632,0.0499870077186,0.999999992822,0.000113733442981,-2.05174057832e-05,3.16333257748e-05,1793256530925251072
+179,2.983333333,POSE1_TO_POSE2_PRESS,793,744,729,708.660598017,697,655,935,801.660598017,836,668,658,676,0.435924247124,-0.00554128434038,0.049980817788,0.999999991331,0.000118501041529,-4.72019853607e-05,3.26590941121e-05,1793256530941917440
+180,3.000000000,POSE1_TO_POSE2_PRESS,793,744,729,708.094225312,697,655,935,801.094225312,836,668,658,676,0.436727713484,-0.00553786954842,0.0499533730335,0.999999985185,0.00012494494473,-0.000113677029661,3.3122689558e-05,1793256530958583808
+181,3.016666667,POSE1_TO_POSE2_PRESS,793,744,729.504005722,708,697.504005722,655,935,801.504005722,835.495994278,668.504005722,658,676,0.43759387875,-0.00553933790807,0.0499596438781,0.999999987915,0.000123533807287,-8.81172492199e-05,3.38479050715e-05,1793256530975250688
+182,3.033333333,POSE1_TO_POSE2_PRESS,793,744,730,708.103116925,697.896883075,655.103116925,934.896883075,802,835.103116925,668.896883075,658,676,0.4384620155,-0.00554202202654,0.0499732018106,0.999999990972,0.000120638054061,-4.79315647794e-05,3.47044428859e-05,1793256530991917312
+183,3.050000000,POSE1_TO_POSE2_PRESS,793,744,730,708.677209229,697.322790771,655.677209229,934.322790771,802,835.677209229,668.322790771,658,676,0.439282006523,-0.00554580798287,0.0499893108474,0.99999999207,0.000118121375126,-2.4833695144e-05,3.59223136773e-05,1793256531008584448
+184,3.066666667,POSE1_TO_POSE2_PRESS,792.742660495,744,729.742660495,709,697,655.48532099,934.257339505,802,836,668.257339505,658,676,0.440073288956,-0.00554731554878,0.0499881886137,0.999999992519,0.000114079977684,-2.65966906082e-05,3.52123975952e-05,1793256531025251584
+185,3.083333333,POSE1_TO_POSE2_PRESS,792.154774635,744,729.154774635,709,697,654.309549271,934.845225365,802,836,668.845225365,658,676,0.440827695837,-0.00554589657714,0.0499649332294,0.999999991829,0.00010808011645,-6.0292866291e-05,3.20262859102e-05,1793256531041918208
+186,3.100000000,POSE1_TO_POSE2_PRESS,792.426887909,744,729.426887909,709,697,654.426887909,935,801.573112091,836,669,658,676,0.441563512014,-0.00554953693054,0.0499546032657,0.999999991642,9.9932021586e-05,-7.6021519717e-05,3.08187026255e-05,1793256531058584576
+187,3.116666667,POSE1_TO_POSE2_PRESS,793,744,730,708.993694819,697,654.993694819,935,801,836,669,658,676,0.442292207004,-0.00555497261604,0.0499488602094,0.999999991748,9.11076103244e-05,-8.53470246334e-05,3.03352967748e-05,1793256531075251200
+188,3.133333333,POSE1_TO_POSE2_PRESS,793,744,730,708.416214739,697,654.416214739,935,801,836,669,658,676,0.442977622716,-0.00555926277046,0.049940212805,0.999999990772,9.05599876255e-05,-9.62706729624e-05,3.14045414714e-05,1793256531091917824
+189,3.150000000,POSE1_TO_POSE2_PRESS,793,744,730,708.16001184,696.83998816,654,935,800.83998816,836,669,657.83998816,676,0.443631862837,-0.00556051677241,0.0499192347908,0.999999986704,9.25673393145e-05,-0.000130407519621,3.18838470859e-05,1793256531108584448
+190,3.166666667,POSE1_TO_POSE2_PRESS,793,744,730,708.733003348,696.266996652,654,935,800.266996652,836,669,657.266996652,676,0.444205641029,-0.00555393467243,0.0498664323107,0.999999969217,0.000101168905368,-0.000224456052801,3.0840560143e-05,1793256531125250816
+191,3.183333333,POSE1_TO_POSE2_PRESS,793,744,730,709,696,653.684648689,934.684648689,800,836,669,657,676,0.444800110386,-0.00554720064677,0.0498257008361,0.999999953694,0.000109395900465,-0.00028249379661,2.9024840517e-05,1793256531141917696
+192,3.200000000,POSE1_TO_POSE2_PRESS,793,744,730,709,696,653.094136758,934.094136758,800,836,669,657,676,0.44541263384,-0.00554033405834,0.0497955019524,0.999999944994,0.000117296062695,-0.000309110226741,2.65351329342e-05,1793256531158584832
+193,3.216666667,POSE1_TO_POSE2_PRESS,792.529131025,744,730,709,695.529131025,652.529131025,934.470868975,800,836,669,657,676,0.446032843126,-0.00554443076484,0.049805918389,0.99999995312,0.000117003017633,-0.000281556312899,2.8232506185e-05,1793256531175251968
+194,3.233333333,POSE1_TO_POSE2_PRESS,792.032950512,744,730,709,695,652,934.967049488,800,836,669,657,676,0.446648076852,-0.00555029872149,0.049822005151,0.99999996229,0.000115160976583,-0.000247431422201,3.05805061988e-05,1793256531191919104
+195,3.250000000,POSE1_TO_POSE2_PRESS,792.627645414,744,730,709,695,652,934.372354586,800,836,669,657,676,0.447153637258,-0.00555091719988,0.0498034449261,0.9999999549,0.000113401325859,-0.000276424521576,3.04830146863e-05,1793256531208585984
+196,3.266666667,POSE1_TO_POSE2_PRESS,793,744,730,709,694.784628362,651.784628362,934,800,836,669,657,676,0.44763800446,-0.00555029117997,0.0497773753077,0.999999942765,0.000113955602203,-0.000317163362548,2.98586315346e-05,1793256531225252352
+197,3.283333333,POSE1_TO_POSE2_PRESS,793,744,730,709,694.208572683,651.208572683,934,800,836,669,657,676,0.44808687924,-0.00554758099198,0.0497387296696,0.99999992131,0.000118385024696,-0.000377572856903,2.83518600845e-05,1793256531241918208
+198,3.300000000,POSE1_TO_POSE2_PRESS,792.623492616,744,730,709.376507384,694,650.623492616,934,800,836,669,657,676,0.448540772584,-0.00554844833961,0.049720921663,0.999999910121,0.000115760788326,-0.000406928888725,2.76988329607e-05,1793256531258584576
+199,3.316666667,POSE1_TO_POSE2_PRESS,792.033290514,744,730,709.966709486,694,650.033290514,934,800,836,669,657,676,0.448997514362,-0.0055513461929,0.0497149404908,0.999999906028,0.000109133099438,-0.000418659878107,2.75303663574e-05,1793256531275251712
+200,3.333333333,POSE1_TO_POSE2_PRESS,792.54665586,744,730.54665586,709.45334414,694,650,934.54665586,799.45334414,836,669,657,676,0.449425601512,-0.00555145868739,0.0497257546256,0.99999991616,7.67902391939e-05,-0.000401811451932,1.82132578594e-05,1793256531291918848
+201,3.350000000,POSE1_TO_POSE2_PRESS,792.875328062,744,731,709,693.875328062,649.875328062,935,799,836,669,657,676,0.449842295165,-0.00555177105645,0.0497364647578,0.999999924292,5.13081632636e-05,-0.000385569341551,1.09540904579e-05,1793256531308585728
+202,3.366666667,POSE1_TO_POSE2_PRESS,792.302051622,744,731,709,693.302051622,649.302051622,935,799,836,669,657,676,0.450224155402,-0.00555340174528,0.0497431880864,0.999999927032,5.6044289217e-05,-0.000377656194889,1.30677899513e-05,1793256531325252352
+203,3.383333333,POSE1_TO_POSE2_PRESS,792,744,730.727262514,709,693,648.727262514,935,799,836.272737486,669,656.727262514,676,0.450569906083,-0.00555446135891,0.0497400294337,0.999999922994,5.92951621168e-05,-0.000387662307392,1.46097399753e-05,1793256531341918464
+204,3.400000000,POSE1_TO_POSE2_PRESS,792,744,730.150788846,709,693,648.150788846,935,799,836.849211154,669,656.150788846,676,0.450875443059,-0.00555488499019,0.0497258656367,0.999999910821,6.08919712994e-05,-0.000417624339872,1.55149567042e-05,1793256531358584320
+205,3.416666667,POSE1_TO_POSE2_PRESS,792,744.439652315,730,709,693,648,934.560347685,799,836.560347685,669.439652315,656,676,0.451159889216,-0.00555781549328,0.0497140970635,0.999999899832,6.03571229743e-05,-0.000443177767661,1.69252920779e-05,1793256531375250688
+206,3.433333333,POSE1_TO_POSE2_PRESS,792.033924394,744.966075606,730,708.966075606,693,648,934,799,836,669.966075606,656,676,0.451433743421,-0.00556151916188,0.0497027478817,0.999999888625,5.91692017371e-05,-0.000467877803257,1.84180402709e-05,1793256531391917568
+207,3.450000000,POSE1_TO_POSE2_PRESS,792.610338729,744.389661271,730,708.389661271,693,648,934,799,836,669.389661271,656,676,0.451657688954,-0.00556338648961,0.0496845375304,0.999999871095,5.96126438704e-05,-0.000503903615243,1.83674260423e-05,1793256531408584192
+208,3.466666667,POSE1_TO_POSE2_PRESS,793,744.184357793,730.184357793,708.184357793,693,647.815642207,934.184357793,799,836,669,656,676,0.451877204426,-0.0055657212882,0.0496700531549,0.999999857402,5.91459315773e-05,-0.000530429065045,1.85368920052e-05,1793256531425250816
+209,3.483333333,POSE1_TO_POSE2_PRESS,793,744.753379039,730.753379039,708.753379039,693,647.246620961,934.753379039,799,836,669,656,676,0.452087476526,-0.00556903146681,0.0496633430486,0.999999853949,5.67801776188e-05,-0.00053713195846,1.91655564308e-05,1793256531441917696
+210,3.500000000,POSE1_TO_POSE2_PRESS,793,744.662414822,730.662414822,709,693,647,935,799,836,669.337585178,656,676,0.452291520377,-0.00556884326151,0.0496661114622,0.999999857737,5.92706490809e-05,-0.00052973384432,1.98898850489e-05,1793256531458584576
+211,3.516666667,POSE1_TO_POSE2_PRESS,793,744.066592894,730.066592894,709,693,647,935,799,836,669.933407106,656,676,0.452490799933,-0.00556597895775,0.0496761304962,0.999999866801,6.5475903829e-05,-0.000511549124614,2.06873923267e-05,1793256531475251712
+212,3.533333333,POSE1_TO_POSE2_PRESS,793,744,730.512958551,709,693,646.487041449,934.487041449,799,836,669.487041449,656,676,0.452652906547,-0.00556087091805,0.0496776729211,0.999999868988,6.92227175117e-05,-0.00050676919505,2.04031114014e-05,1793256531491918080
+213,3.550000000,POSE1_TO_POSE2_PRESS,792.909778616,744,730.909778616,709,693,646.090221384,934.090221384,799,836,669.090221384,656,676,0.452803414139,-0.00555543221936,0.0496766543108,0.999999868908,7.33819833813e-05,-0.000506359405271,1.9980119449e-05,1793256531508584192
+214,3.566666667,POSE1_TO_POSE2_PRESS,792.333814689,744,730.333814689,709,693,646.666185311,934.666185311,799,836,669.666185311,656,676,0.452916656889,-0.00554973331674,0.0496675898797,0.999999861087,8.14273350814e-05,-0.000520396840905,1.95431851569e-05,1793256531525250816
+215,3.583333333,POSE1_TO_POSE2_PRESS,792.246619071,744,730.246619071,709,693,646.753380929,935,799,836,669.753380929,656,676,0.453016771425,-0.00554767589061,0.0496580360983,0.999999853,8.48922142308e-05,-0.000535179561518,1.93883698837e-05,1793256531541917184
+216,3.600000000,POSE1_TO_POSE2_PRESS,792.833214683,744,730.833214683,709,693,646.166785317,935,799,836,669.166785317,656,676,0.453098788065,-0.00555063841958,0.0496478077238,0.999999844647,8.20426858077e-05,-0.000550989693403,1.96224696065e-05,1793256531558584064
+217,3.616666667,POSE1_TO_POSE2_PRESS,792.584639277,744,730.584639277,709,693,646,935,799,836,669,656,676,0.45317552004,-0.00555242623982,0.0496434572126,0.999999841823,7.94980143854e-05,-0.000556466201844,1.94908955524e-05,1793256531575251200
+218,3.633333333,POSE1_TO_POSE2_PRESS,792.004261009,744,730.004261009,709,693,646,935,799,836,669,656,676,0.453250152482,-0.00555374736312,0.0496414419021,0.999999841254,7.7074458854e-05,-0.000557837292458,1.92140439419e-05,1793256531591918336
+219,3.650000000,POSE1_TO_POSE2_PRESS,792.570855385,744,730.570855385,709,693,646,935,799,836,669,656,676,0.453313534616,-0.00555325118205,0.0496445913994,0.999999844948,7.88913516186e-05,-0.000550905881502,1.95429629171e-05,1793256531608584960
+220,3.666666667,POSE1_TO_POSE2_PRESS,792.853839078,744.146160922,731,709,693,646,935,799,836,669,656,676,0.453371808739,-0.00555279825028,0.0496480173284,0.999999848696,8.00816352358e-05,-0.000543879297385,1.97693492e-05,1793256531625251840
+221,3.683333333,POSE1_TO_POSE2_PRESS,792.27786299,744.72213701,731,709,693,646,935,799,836,669,656,676,0.453415306423,-0.00555251202748,0.049652143826,0.999999852607,7.9337021887e-05,-0.000536753415438,1.96810424252e-05,1793256531641917952
+222,3.700000000,POSE1_TO_POSE2_PRESS,792.305488611,744.694511389,731,709,693,646,935,799,836.305488611,669.305488611,656,676,0.453450667094,-0.00555237860094,0.0496545409988,0.99999985474,7.92104390104e-05,-0.000532787655253,1.95567680202e-05,1793256531658584320
+223,3.716666667,POSE1_TO_POSE2_PRESS,792.895714792,744.104285208,731,709,693,646,935,799,836.895714792,669.895714792,656,676,0.453478443484,-0.0055523875916,0.0496553263156,0.999999855251,7.96599053299e-05,-0.000531767357222,1.93989691624e-05,1793256531675250944
+224,3.733333333,POSE1_TO_POSE2_PRESS,792.523203109,744,731,709,692.523203109,645.523203109,934.523203109,799,836.523203109,670,656,676,0.453493389383,-0.00555211904094,0.0496521658851,0.999999852495,7.87591618724e-05,-0.000537061031069,1.93038901738e-05,1793256531691917568
+225,3.750000000,POSE1_TO_POSE2_PRESS,792,744.055613736,731,709,692.055613736,645.055613736,934,798.944386264,836,670,656,676,0.45350537611,-0.00555177760948,0.0496483483661,0.999999849296,7.7682312331e-05,-0.000543142978217,1.92092827079e-05,1793256531708584192
+226,3.766666667,POSE1_TO_POSE2_PRESS,792,744.631596831,731,709,692.631596831,645.631596831,934,798.368403169,836,670,656,676,0.453515438239,-0.00555131155261,0.0496463057214,0.999999848878,7.76689172303e-05,-0.000543922078957,1.89931441769e-05,1793256531725250816
+227,3.783333333,POSE1_TO_POSE2_PRESS,792.211087812,744.788912188,731,709,692.788912188,646,934,798.211087812,836,669.788912188,655.788912188,676,0.453522964699,-0.00555080906704,0.0496445811081,0.999999847991,7.79507453081e-05,-0.00054552002762,1.86946544301e-05,1793256531741917440
+228,3.800000000,POSE1_TO_POSE2_PRESS,792.796804391,744.203195609,731,709,692.203195609,646,934,798.796804391,836,669.203195609,655.203195609,676,0.453525990972,-0.00555024192953,0.0496434209222,0.999999846267,7.8756521663e-05,-0.000548571229193,1.82500116137e-05,1793256531758584576
+229,3.816666667,POSE1_TO_POSE2_PRESS,792.622404991,744,731,709,692,645.622404991,934,799,835.622404991,669,655,676,0.453527629062,-0.00554965001413,0.0496419473067,0.999999844846,8.01838743577e-05,-0.000550945485789,1.83691829974e-05,1793256531775251200
+230,3.833333333,POSE1_TO_POSE2_PRESS,792.044231067,744,731,709,692,645.044231067,934,799,835.044231067,669,655,676,0.453528529748,-0.0055490449367,0.049640307197,0.999999843584,8.19414091109e-05,-0.000552960148316,1.87878531628e-05,1793256531791917568
+231,3.850000000,POSE1_TO_POSE2_PRESS,792,744,730.464534822,709,692.535465178,645,934.535465178,799,835.535465178,669,655.535465178,676,0.453529164888,-0.00554937398743,0.0496393018124,0.999999842623,7.83327532006e-05,-0.000555238366634,1.81451200185e-05,1793256531808584192
+232,3.866666667,POSE1_TO_POSE2_PRESS,792,744,730,709,692.885858449,645,934.885858449,799,836,669.114141551,656,676,0.453529488302,-0.00554934082495,0.0496382658578,0.999999841615,7.60060893047e-05,-0.000557393246526,1.75055923119e-05,1793256531825250816
+233,3.883333333,POSE1_TO_POSE2_PRESS,792,744,730,709,692.311799785,645,934.311799785,799,836,669.688200215,656,676,0.453528644299,-0.00554753637672,0.0496368948635,0.99999984038,8.06361912084e-05,-0.000558963179935,1.72332624791e-05,1793256531841917696
+234,3.900000000,POSE1_TO_POSE2_PRESS,792,744,730,709,692,645,934,799,836,670,656,676,0.453529047639,-0.00554692766509,0.0496363602654,0.999999839894,8.23743161837e-05,-0.000559581277378,1.71987403129e-05,1793256531858584576
+235,3.916666667,POSE1_TO_POSE2_PRESS,792,744,730,709,692,645,934,799,836,670,656,676,0.453530933947,-0.00554774056575,0.0496368200595,0.999999840315,8.06741673228e-05,-0.000559067736246,1.74469478994e-05,1793256531875251200
+236,3.933333333,POSE1_TO_POSE2_PRESS,792,744.438127196,730.438127196,709,692,645,934.438127196,799,836,670,656,676,0.453530028402,-0.0055480349927,0.0496355411246,0.999999839284,8.04211208169e-05,-0.000560939369679,1.76310334101e-05,1793256531891917824
+237,3.950000000,POSE1_TO_POSE2_PRESS,792,744.981906755,731,709,692.018093245,645,935,799,836.018093245,669.981906755,656,676,0.453528309036,-0.00554815398661,0.0496337733083,0.999999837835,8.06790731802e-05,-0.00056347598488,1.77941559292e-05,1793256531908584960
+238,3.966666667,POSE1_TO_POSE2_PRESS,792,744.404111762,731,709,692.595888238,645,935,799,836.595888238,669.404111762,656,676,0.453529387919,-0.00554804097973,0.0496343036498,0.99999983815,8.22450360118e-05,-0.000562684864412,1.79512806307e-05,1793256531925251328
+239,3.983333333,POSE1_TO_POSE2_PRESS,792,744,731,709,692.827039885,645,934.827039885,799,836.827039885,669,655.827039885,676,0.453530270603,-0.00554764159106,0.0496345611403,0.999999838243,8.33977197101e-05,-0.000562349188674,1.79670730316e-05,1793256531941917952
+240,4.000000000,POSE1_TO_POSE2_PRESS,792,744,731,709,692.251650527,645,934.251650527,799,836.251650527,669,655.251650527,676,0.453530696787,-0.005546575873,0.0496341837834,0.999999837825,8.35888197198e-05,-0.000563073203996,1.76540251532e-05,1793256531958584320
+241,4.016666667,POSE1_TO_POSE2_PRESS,792,744,731,709,692,645,934,799,836,669,655.330763032,676,0.453530535066,-0.00554546983536,0.049633772022,0.999999837477,8.34083199139e-05,-0.000563734152602,1.71123241491e-05,1793256531975250688
+242,4.033333333,POSE1_TO_POSE2_PRESS,792,744,731,709,692,645,934,799,836,669,655.918636658,676,0.453529916352,-0.00554433245631,0.0496333335172,0.999999837183,8.29389660266e-05,-0.000564346077799,1.63928852172e-05,1793256531991917312
+243,4.050000000,POSE1_TO_POSE2_PRESS,792,744,731,709,692.499333304,645,934,799,836.499333304,669.499333304,656,676,0.453529746202,-0.00554448876839,0.0496326234934,0.999999836796,8.27539994708e-05,-0.000565059180169,1.634702485e-05,1793256532008584704
+244,4.066666667,HOLD_POSE2,792,744,730,709,692,645,934,798,836,670,656,676,0.453530562617,-0.00554365439364,0.0496315041011,0.999999835982,8.43942644995e-05,-0.000566237603043,1.69902064732e-05,1793256532052075008
+245,4.083333333,HOLD_POSE2,793.156203213,744,730.578101606,709,692.578101606,645,934.578101606,798,836,670,656,676,0.453529335325,-0.00554262860794,0.0496307213737,0.999999835015,8.31898561083e-05,-0.000568138976012,1.63453143926e-05,1793256532068742400
+246,4.100000000,HOLD_POSE2,793.682413749,744,731,709,692.841206874,645,935,798,836,670,655.841206874,676,0.453528403543,-0.00554244482854,0.0496302127073,0.999999834325,8.2123701841e-05,-0.000569517537967,1.59779113671e-05,1793256532085409792
+247,4.116666667,HOLD_POSE2,792.507039954,744,731,709,692.253519977,645,935,798,836,670,655.253519977,676,0.453528269923,-0.00554453527366,0.0496304442683,0.999999834395,8.14309660704e-05,-0.000569484009073,1.63599948456e-05,1793256532102076416
+248,4.133333333,HOLD_POSE2,792,744,731,709,692,645,934.670099819,798,836,669.670099819,655.329900181,676,0.453527765187,-0.00554524414877,0.0496297664944,0.999999833697,8.13976298859e-05,-0.000570707544602,1.65297880646e-05,1793256532118743040
+249,4.150000000,HOLD_POSE2,792,744,731,709,692,645,934.089916712,798,836,669.089916712,655.910083288,676,0.453526978901,-0.00554490487827,0.0496283988423,0.999999832414,8.18645555415e-05,-0.000572884767884,1.65385245821e-05,1793256532135409664
+250,4.166666667,HOLD_POSE2,792,744,731,709,692,645,934,798,836,669,655.51354344,676,0.453526509225,-0.00554371957781,0.0496282695491,0.999999832115,8.11683115954e-05,-0.000573514786098,1.62178310318e-05,1793256532152075776
+251,4.183333333,HOLD_POSE2,792,744,731,709,692,645,934.061843201,798,836,669,655.061843201,676,0.453526090957,-0.0055425046978,0.0496282468307,0.999999831933,8.0667424269e-05,-0.000573910821715,1.59237788229e-05,1793256532168741632
+252,4.200000000,HOLD_POSE2,792,744,731,709,692,645,934.634850276,798,836,669,655.634850276,676,0.453525617652,-0.00554232784288,0.0496272277511,0.999999831226,8.35445264672e-05,-0.000574718318555,1.63493199966e-05,1793256532185408256
+253,4.216666667,HOLD_POSE2,792.216658071,744,731,709,692,645,934.783341929,798,836,669,656,676,0.453526348812,-0.00554206013627,0.0496272129785,0.99999983144,8.55784807185e-05,-0.000574043690138,1.64386984248e-05,1793256532202074624
+254,4.233333333,HOLD_POSE2,792.813926315,744,731,709,692,645,934.186073685,798,836,669,656,676,0.453529195894,-0.00554163282763,0.0496289625042,0.999999833277,8.6131249669e-05,-0.00057076536474,1.59375289485e-05,1793256532218741248
+255,4.250000000,HOLD_POSE2,792.605780135,744,730.605780135,709,692,645,934,798,836,669,656,676,0.453529719407,-0.00554264495615,0.0496286130019,0.999999833091,8.40259818735e-05,-0.000571395491908,1.62454019189e-05,1793256532235407616
+256,4.266666667,HOLD_POSE2,792.033167921,744,730.033167921,709,692,645,934,798,836,669,656,676,0.45352919146,-0.00554430845864,0.0496273136478,0.999999831979,8.07178994914e-05,-0.000573794271515,1.69193826865e-05,1793256532252074240
+257,4.283333333,HOLD_POSE2,792,743.444755125,730.555244875,709,692.555244875,645,934,798.555244875,836,669,656,676,0.453528291639,-0.00554353405005,0.0496269684582,0.999999831392,8.2780029294e-05,-0.000574533472802,1.65920483676e-05,1793256532268740864
+258,4.300000000,HOLD_POSE2,792,743.142191444,731,709,693,645,934,799,836,669,656,676,0.453527925955,-0.00554279963033,0.0496272780643,0.999999831305,8.48738236925e-05,-0.000574385952784,1.63344250937e-05,1793256532285407744
+259,4.316666667,HOLD_POSE2,792,743.721641785,731,709,693,645,934,799,836,669,656,676,0.453529273127,-0.00554264913279,0.0496294208505,0.99999983267,8.6049612575e-05,-0.00057182542564,1.64804979319e-05,1793256532302074368
+260,4.333333333,HOLD_POSE2,792,744,730.700326855,709,692.700326855,645,934,798.700326855,836,669.299673145,656,676,0.453528465168,-0.00554334780816,0.0496286686494,0.999999832151,8.54933733869e-05,-0.000572805657401,1.68183141327e-05,1793256532318741248
+261,4.350000000,HOLD_POSE2,792,744,730.123607369,709,692.123607369,645,934,798.123607369,836,669.876392631,656,676,0.4535256648,-0.00554483153971,0.0496252400467,0.999999829879,8.33358827478e-05,-0.000577059303392,1.73333961141e-05,1793256532335408128
+262,4.366666667,POSE2_TO_POSE3_RETREAT,792,744,731,709,692,645,935,798,836,669,656,676,0.45352911272,-0.0055426102581,0.0496280461325,0.999999831461,8.60319146306e-05,-0.000573943272149,1.63204193269e-05,1793256532367935232
+263,4.383333333,POSE2_TO_POSE3_RETREAT,792,744,731,709,692,645,934.410873075,798,836,669,656,676,0.453530215786,-0.00554278778402,0.0496281638844,0.999999832092,8.52684683149e-05,-0.000572952376748,1.64540977628e-05,1793256532384601600
+264,4.400000000,POSE2_TO_POSE3_RETREAT,792,744,731,709,692,645,934,798,836,669,655.824848113,676,0.453530546839,-0.00554257189019,0.0496277582211,0.999999832184,8.49640745843e-05,-0.000572839645211,1.63848827171e-05,1793256532401267968
+265,4.416666667,POSE2_TO_POSE3_RETREAT,792,744,731,709,692,645,934,798,836,669,655.245973027,676,0.45352909841,-0.00554144916811,0.0496261460917,0.999999831031,8.57177919317e-05,-0.000574751071654,1.58480004239e-05,1793256532417934080
+266,4.433333333,POSE2_TO_POSE3_RETREAT,792,744,730.668751795,709,692,645,934,798.331248205,836,669.331248205,655,676,0.45352814009,-0.00554095690837,0.0496254256935,0.999999830464,8.56752301999e-05,-0.000575748337501,1.56676834068e-05,1793256532434600448
+267,4.450000000,POSE2_TO_POSE3_RETREAT,792,744,730.092752591,709,692,645,934,798.907247409,836,669.907247409,655,676,0.453527543898,-0.00554093048151,0.0496253641732,0.999999830331,8.50443177605e-05,-0.000576070152872,1.57508235715e-05,1793256532451266560
+268,4.466666667,POSE2_TO_POSE3_RETREAT,792,744,730,709,692,645,934.483343533,799,836,669.516656467,655,676,0.45352878987,-0.0055413717561,0.0496265253564,0.999999831282,8.4394942602e-05,-0.000574516531115,1.56314903178e-05,1793256532467933696
+269,4.483333333,POSE2_TO_POSE3_RETREAT,792,744,730.060734981,709,692,645,934.939265019,798.939265019,836,669.060734981,655,676,0.453530096497,-0.00554167400029,0.0496277593318,0.999999832276,8.40169284571e-05,-0.000572843840283,1.54825510574e-05,1793256532484600576
+270,4.500000000,POSE2_TO_POSE3_RETREAT,792,744,730.649220392,709,692,645,934.350779608,798.350779608,836,669.649220392,655,676,0.4535288578,-0.00553998811623,0.049627586589,0.999999831865,8.60276705218e-05,-0.000573264386153,1.54140408802e-05,1793256532501267200
+271,4.516666667,POSE2_TO_POSE3_RETREAT,792.234102877,744,731,709,692.234102877,645,934.234102877,798.234102877,836,670,655.234102877,676,0.453521826266,-0.00553916955348,0.0496242436946,0.999999828793,8.68126195976e-05,-0.000578486026472,1.52435605402e-05,1793256532517933824
+272,4.533333333,POSE2_TO_POSE3_RETREAT,792.813668515,744,731,709,692.813668515,645,934.813668515,798.813668515,836,670,655.813668515,676,0.453506246312,-0.00553963088636,0.0496162226462,0.999999821691,8.57886807205e-05,-0.000590792583221,1.49226040793e-05,1793256532534600448
+273,4.550000000,POSE2_TO_POSE3_RETREAT,793,744.390072148,731,709,692.609927852,645,934.609927852,799,836,669.609927852,655.609927852,676,0.453474767507,-0.00553887862249,0.0496025339271,0.999999808046,8.57231471493e-05,-0.000613477680442,1.42805634234e-05,1793256532551267072
+274,4.566666667,POSE2_TO_POSE3_RETREAT,793,744.964977535,731,709,692.035022465,645,934.035022465,799,836,669.035022465,655.035022465,676,0.453435755129,-0.00553755130345,0.049586159617,0.999999790709,8.61117477772e-05,-0.00064108058467,1.34863789996e-05,1793256532567933696
+275,4.583333333,POSE2_TO_POSE3_RETREAT,792.461082027,744.461082027,731,709,692,645,934,799,836,669,655.538917973,676,0.453377777672,-0.00553645746267,0.0495691016221,0.999999773951,8.57027288224e-05,-0.000666784584987,1.23209984252e-05,1793256532584600320
+276,4.600000000,POSE2_TO_POSE3_RETREAT,792,744,731,709,692,645,934.116504504,798.883495496,836,669,656,676,0.453314783662,-0.00553499160342,0.049552140463,0.999999757204,8.59688473564e-05,-0.000691431957675,1.11230543001e-05,1793256532601266944
+277,4.616666667,POSE2_TO_POSE3_RETREAT,792,744,731,709,692,645,934.709251443,798.290748557,836,669,656,676,0.453236312233,-0.00553194310907,0.0495357564364,0.999999742312,8.92062745985e-05,-0.000712263641201,9.8904297823e-06,1793256532617934080
+278,4.633333333,POSE2_TO_POSE3_RETREAT,792,744,731,709,692,645,934.7080136,798.2919864,836,669,656,676,0.453149584582,-0.00553026995011,0.0495239233529,0.999999728925,8.94118787299e-05,-0.000730803147917,9.08223379237e-06,1793256532634600704
+279,4.650000000,POSE2_TO_POSE3_RETREAT,792,744,731,709,692,645,934.134917703,798.865082297,836,669,656,676,0.453054908269,-0.00552992089354,0.0495164716847,0.999999717098,8.66985992206e-05,-0.000747135863448,8.68265584877e-06,1793256532651267584
+280,4.666666667,POSE2_TO_POSE3_RETREAT,792,744,731,709,692.443569135,645,934.443569135,799,836,669.443569135,656,676,0.452934016176,-0.00552556088322,0.0495020037295,0.999999696876,8.94188567518e-05,-0.000773428920896,7.72297061102e-06,1793256532667933952
+281,4.683333333,POSE2_TO_POSE3_RETREAT,792,744,730.976576442,709,692.976576442,645,934.976576442,799,836,669.976576442,656,676,0.452804075249,-0.00551991422886,0.0494853962323,0.999999673378,9.38099929726e-05,-0.000802745672631,6.5636085375e-06,1793256532684600064
+282,4.700000000,POSE2_TO_POSE3_RETREAT,792,744,730.403580241,709,692.403580241,645,934.403580241,799,836,669.403580241,656,676,0.452651215342,-0.00551305580453,0.0494692770996,0.99999964985,9.81509213276e-05,-0.000831049930207,4.76568370831e-06,1793256532701266944
+283,4.716666667,POSE2_TO_POSE3_RETREAT,792,744,730,709,692,645.175595364,934.175595364,798.824404636,836,669,656,676,0.452486039918,-0.00550583669325,0.049451623811,0.999999622579,0.000102825900743,-0.000862705107224,2.9215958063e-06,1793256532717933568
+284,4.733333333,POSE2_TO_POSE3_RETREAT,792,744,730,709,692,645.769491373,934.769491373,798.230508627,836,669,656,676,0.452291526676,-0.00549775835992,0.0494303158818,0.999999587024,0.000108296651023,-0.000902342790755,9.67539185498e-07,1793256532734600192
+285,4.750000000,POSE2_TO_POSE3_RETREAT,792.350751515,744.350751515,730.350751515,709,692.350751515,646,934.649248485,798.350751515,836,669.350751515,656,676,0.452079660882,-0.00549189581644,0.0494081384569,0.999999548681,0.000112757151982,-0.00094335780259,-4.95362534948e-07,1793256532751266816
+286,4.766666667,POSE2_TO_POSE3_RETREAT,792.923996367,744.923996367,730.923996367,709,692.923996367,646,934.076003633,798.923996367,836,669.923996367,656,676,0.451856787769,-0.00548743882127,0.0493854094798,0.999999507848,0.000116576818694,-0.000985246502711,-1.64670857919e-06,1793256532767933440
+287,4.783333333,POSE2_TO_POSE3_RETREAT,792.520149105,745,731,709,693,646,934,799,836,670,656,676,0.451601220116,-0.00547977281909,0.0493648074786,0.999999469578,0.000119966227435,-0.00102295583459,-3.70913593623e-06,1793256532784600320
+288,4.800000000,POSE2_TO_POSE3_RETREAT,792.036937655,744.963062345,731,709,693,646,934.036937655,799,836,669.963062345,656,676,0.451339655076,-0.00547178149936,0.0493452292264,0.999999432336,0.00012325782151,-0.00105834807058,-5.87047012056e-06,1793256532801266944
+289,4.816666667,POSE2_TO_POSE3_RETREAT,792.655257418,744.344742582,731,709,693,646,934.655257418,799,836,669.344742582,656,676,0.451062350107,-0.00546639004897,0.0493366472238,0.999999422437,0.00012604497679,-0.00106732503798,-7.39667597658e-06,1793256532817933568
+290,4.833333333,POSE2_TO_POSE3_RETREAT,792.744511865,744,730.744511865,709.255488135,693,646.255488135,934.744511865,799,836,669,656,676,0.450777517654,-0.0054600651955,0.0493374144961,0.999999431184,0.000128816557577,-0.00105875478405,-8.76693808697e-06,1793256532834600192
+291,4.850000000,POSE2_TO_POSE3_RETREAT,792.167075717,744,730.167075717,709.832924283,693,646.832924283,934.167075717,799,836,669,656,676,0.450483199616,-0.00545256413405,0.0493499630615,0.999999462829,0.00013156851225,-0.00102807276619,-9.94069086177e-06,1793256532851266816
+292,4.866666667,POSE2_TO_POSE3_RETREAT,792,744,730,709.591041908,693,647.408958092,934.408958092,799,836,669,656,676,0.450163628933,-0.00544343996744,0.0493657498408,0.999999490833,0.000138470858063,-0.000999516296436,-1.12593586111e-05,1793256532867933184
+293,4.883333333,POSE2_TO_POSE3_RETREAT,792,744,730,709.015579068,693,647.984420932,934.984420932,799,836,669,656,676,0.4498337768,-0.00543365496382,0.0493828550384,0.999999516884,0.000147063009733,-0.000971825230675,-1.26370275587e-05,1793256532884599808
+294,4.900000000,POSE2_TO_POSE3_RETREAT,792,744,730,709,693,648,934.430247203,799,836,669,656,676,0.449460572551,-0.00542539529512,0.0493884462558,0.999999528623,0.00014961532382,-0.000959237476853,-1.52197489008e-05,1793256532901266688
+295,4.916666667,POSE2_TO_POSE3_RETREAT,792.155125751,744,730,709,693.155125751,648.155125751,934,799,836,669,656.155125751,676,0.449066885055,-0.00542119971657,0.0493930342444,0.999999537828,0.000147095266904,-0.000949943224599,-1.77228201479e-05,1793256532917933312
+296,4.933333333,POSE2_TO_POSE3_RETREAT,792.739851902,744,730,709,693.739851902,648.739851902,934,799,836,669,656.739851902,676,0.448619812635,-0.00542814156246,0.0493957311796,0.999999541295,0.000130993369063,-0.000948606045953,-1.99124501253e-05,1793256532934600448
+297,4.950000000,POSE2_TO_POSE3_RETREAT,793,744.318606639,730,709,694,649,934,799,836,669,656.681393361,676,0.448150625928,-0.00543409712572,0.0493993624706,0.99999955013,0.000117340265633,-0.000941007487347,-2.18392638422e-05,1793256532951267584
+298,4.966666667,POSE2_TO_POSE3_RETREAT,793,744.892575371,730,709,694,649,934,799,836,669,656.107424629,676,0.44766371465,-0.00543926218771,0.0494037426448,0.999999563187,0.000105649860504,-0.000928390454653,-2.35554314916e-05,1793256532967934464
+299,4.983333333,POSE2_TO_POSE3_RETREAT,792.532781414,745,730,708.532781414,694,649.467218586,934,799.467218586,836,669,656.467218586,676,0.447157320533,-0.00542962239873,0.0494120347593,0.999999580224,0.000108678846401,-0.000909400946823,-2.70151969779e-05,1793256532984601088
+300,5.000000000,POSE2_TO_POSE3_RETREAT,792,744.956730267,730,708.043269733,694.043269733,650.043269733,934,800,836,669,657,676,0.446645055037,-0.00541710118482,0.0494218587641,0.999999598389,0.00011445513261,-0.000888356235137,-3.07367422929e-05,1793256533001267712
+301,5.016666667,POSE2_TO_POSE3_RETREAT,792,744.364795157,730,708.635204843,694.635204843,650.635204843,934,800,836,669,657,676,0.446115222903,-0.00541126850005,0.0494396857358,0.999999623507,0.000112091683907,-0.000859856836225,-3.26869515423e-05,1793256533017933824
+302,5.033333333,POSE2_TO_POSE3_RETREAT,792,744,730,708.778776722,695,651,934,799.778776722,836,669,657,676,0.445576529637,-0.00540846222445,0.049470081753,0.99999966343,0.000107120042355,-0.000812722613939,-3.38676235271e-05,1793256533034600192
+303,5.050000000,POSE2_TO_POSE3_RETREAT,792,744,730,708.20226072,695,651,934,799.20226072,836,669,657,676,0.445023605099,-0.00541051647374,0.0495206641191,0.999999724032,9.79595469047e-05,-0.000735660178656,-3.38123901217e-05,1793256533051267072
+304,5.066666667,POSE2_TO_POSE3_RETREAT,792,744,730,708.3746555,695.3746555,651.3746555,934,799.3746555,836,669,657,676,0.444421665172,-0.00541046077841,0.0495687661902,0.999999772587,9.16948701909e-05,-0.000667294719173,-3.37009942016e-05,1793256533067933952
+305,5.083333333,POSE2_TO_POSE3_RETREAT,792,744,730,708.951787992,695.951787992,651.951787992,934,799.951787992,836,669,657,676,0.443793235625,-0.00540926479483,0.0496155278211,0.999999813469,8.69951958399e-05,-0.000603629412703,-3.35592460484e-05,1793256533084600832
+306,5.100000000,POSE2_TO_POSE3_RETREAT,792,744,730,709,696,652.539263012,934,800,836,669,657,676,0.443125400083,-0.00540565603399,0.0496248917238,0.99999982087,8.03428970871e-05,-0.000591998758659,-3.66530694704e-05,1793256533101266944
+307,5.116666667,POSE2_TO_POSE3_RETREAT,792,744,730,709,696,653,934,800,836,669,657,676,0.442459904775,-0.00540190506303,0.0496401088735,0.999999835595,7.35364502083e-05,-0.000567301101748,-3.96499073103e-05,1793256533117933568
+308,5.133333333,POSE2_TO_POSE3_RETREAT,792,744,730,709,696,653,934,800,836,669,657,676,0.44181581586,-0.00539843454128,0.0496887484169,0.999999882515,6.6816020257e-05,-0.000478335766672,-4.12325219745e-05,1793256533134600192
+309,5.150000000,POSE2_TO_POSE3_RETREAT,792,744,730,709,696.282118163,653,934,800.282118163,836,669,657,676,0.4411523324,-0.00539698738075,0.0497468154532,0.999999925215,5.89304269693e-05,-0.000379924371237,-4.18794143466e-05,1793256533151266816
+310,5.166666667,POSE2_TO_POSE3_RETREAT,792,744,730,709,696.858778698,653,934,800.858778698,836,669,657,676,0.440468600201,-0.00539765268788,0.049814725166,0.999999960998,4.98283567374e-05,-0.000271650908561,-4.15493762163e-05,1793256533167933440
+311,5.183333333,POSE2_TO_POSE3_RETREAT,792,744,730,709,697,653.433317984,934,801,836,669,657.433317984,675.566682016,0.439687672823,-0.00539608978265,0.0498303987152,0.999999967309,4.28621702186e-05,-0.000248213534786,-4.39956515715e-05,1793256533184600320
+312,5.200000000,POSE2_TO_POSE3_RETREAT,792,744.007177774,730,709,697,654,934,801,836,669,658,675,0.438874629725,-0.00539384517368,0.0498287510748,0.999999966222,3.64874905156e-05,-0.000252946123429,-4.73613931601e-05,1793256533201266944
+313,5.216666667,POSE2_TO_POSE3_RETREAT,792,744.581709471,730,709,697,654,934,801,836,669,658,675,0.43801467391,-0.00539483723644,0.0497970671033,0.999999950487,2.21135037679e-05,-0.000309530236093,-5.22332691661e-05,1793256533217933824
+314,5.233333333,POSE2_TO_POSE3_RETREAT,792.161997698,745.161997698,729.838002302,708.838002302,697,654,934,801,836,669,657.838002302,675,0.437163544467,-0.00539617242226,0.0497791669815,0.999999939273,8.52160667563e-06,-0.000343848506019,-5.61142560494e-05,1793256533234600448
+315,5.250000000,POSE2_TO_POSE3_RETREAT,792.75769733,745.75769733,729.24230267,708.24230267,697,654,934,801,836,669,657.24230267,675,0.436336045128,-0.00539842622068,0.0497981691287,0.999999947612,-2.97647076491e-06,-0.000318556427325,-5.73424242849e-05,1793256533251267072
+316,5.266666667,POSE2_TO_POSE3_RETREAT,793,746,729.342329932,708.342329932,697,654,934,801,836,669,657,675.342329932,0.435459798814,-0.00539232334645,0.0497955085458,0.999999943055,-6.06795833048e-06,-0.000331927145431,-6.06437764677e-05,1793256533267933440
+317,5.283333333,POSE2_TO_POSE3_RETREAT,793,746,729.919374523,708.919374523,697,654,934,801,836,669,657,675.919374523,0.43455012972,-0.00538049081368,0.0497779951555,0.999999928738,-3.39556179053e-06,-0.000371806575266,-6.53665837579e-05,1793256533284599808
+318,5.300000000,POSE2_TO_POSE3_RETREAT,793,746,729.504984823,708.504984823,697,654,934,801,836,668.504984823,657.495015177,676,0.433672362653,-0.00537889441359,0.0497809554665,0.999999934378,2.59665754053e-05,-0.000356741027945,-5.74859688679e-05,1793256533301266688
+319,5.316666667,POSE2_TO_POSE3_RETREAT,792.927986979,746,729,708,697,654,934,801,836,668,658,675.927986979,0.432801267027,-0.00537861858787,0.0497892736052,0.99999994206,6.02242397263e-05,-0.000331652517323,-4.75325250806e-05,1793256533317933312
+320,5.333333333,POSE2_TO_POSE3_RETREAT,792.339623084,746,729,708,697,654,934,801,836,668,658,675.339623084,0.431940856238,-0.00537589112573,0.0498121660441,0.999999949844,9.8502502562e-05,-0.000298683043506,-3.73936993823e-05,1793256533334600192
+321,5.350000000,POSE2_TO_POSE3_RETREAT,792,746,729,708,697,654.245006475,934,801.245006475,836,668.245006475,657.754993525,675,0.431045597558,-0.00537109154221,0.0498134721078,0.999999948183,0.000115945824074,-0.000298292283904,-3.48088197714e-05,1793256533351266816
+322,5.366666667,POSE2_TO_POSE3_RETREAT,792,746,729,708,697,654.82453737,934,801.82453737,836,668.82453737,657.17546263,675,0.430102758502,-0.00536346274653,0.0497853047921,0.999999934976,0.000104941753322,-0.000342383509643,-4.25378679607e-05,1793256533367933696
+323,5.383333333,POSE2_TO_POSE3_RETREAT,792,746.401346706,729,708,697,654.598653294,934,801.598653294,836,668.598653294,657.401346706,675,0.42917775136,-0.00536456822662,0.0497762782599,0.99999993268,9.17826394123e-05,-0.000352209048079,-4.65337661988e-05,1793256533384600320
+324,5.400000000,POSE2_TO_POSE3_RETREAT,792,746.976974197,729,708,697,654.023025803,934,801.023025803,836,668.023025803,657.976974197,675,0.428260487604,-0.00536946647891,0.0497755634228,0.999999935528,7.76877203084e-05,-0.000347155052665,-4.89085810331e-05,1793256533401266688
+325,5.416666667,POSE2_TO_POSE3_RETREAT,792.549873976,747,729,708,697,654,934,801.549873976,836,668,657.450126024,675,0.42729102552,-0.00536563443804,0.0497724925784,0.99999992594,8.34094563687e-05,-0.000372576627959,-4.84685179255e-05,1793256533417933312
+326,5.433333333,POSE2_TO_POSE3_RETREAT,792.873031482,747,729,708,697,654,934,802,835.873031482,668.126968518,657.126968518,675.126968518,0.426340717665,-0.00536188503371,0.0497701792441,0.999999919946,8.91835335573e-05,-0.000387042619402,-4.85095722066e-05,1793256533434599936
+327,5.450000000,POSE2_TO_POSE3_RETREAT,792.280126344,747,729,708,697,654,934,802,835.280126344,668.719873656,657.719873656,675.719873656,0.425468681771,-0.00535977382241,0.0497710060017,0.999999930872,9.21195397382e-05,-0.000356644889989,-5.07466045255e-05,1793256533451266560
+328,5.466666667,POSE2_TO_POSE3_RETREAT,792.305096321,747.305096321,728.694903679,708,697,654,934,802,835,668.694903679,658,675.694903679,0.424605641835,-0.00536092958422,0.0497929941282,0.999999947272,8.8650193632e-05,-0.000308172211978,-5.12491585925e-05,1793256533467933184
+329,5.483333333,POSE2_TO_POSE3_RETREAT,792.883438492,747.883438492,728.116561508,708,697,654,934,802,835,668.116561508,658,675.116561508,0.423750658775,-0.00536501126421,0.0498339344867,0.999999965935,7.94441803467e-05,-0.00024351151691,-5.01983046704e-05,1793256533484599808
+330,5.500000000,POSE2_TO_POSE3_RETREAT,793,748,728.454435266,708,697,654.454435266,934,802,835,668,658,675,0.422850520467,-0.00536541624652,0.049832991897,0.999999965881,7.79072607891e-05,-0.000244151281656,-5.05908560537e-05,1793256533501266688
+331,5.516666667,POSE2_TO_POSE3_RETREAT,793,748,729,708,697,654.975408328,934,802,835,668,658,675,0.421938687243,-0.00536478767181,0.0498212848879,0.999999961305,7.84568278118e-05,-0.000261909685021,-5.13639990037e-05,1793256533517933568
+332,5.533333333,POSE2_TO_POSE3_RETREAT,793,748,729,708,697,654.381796294,934,802,835,668,658,675,0.421019984726,-0.00536171809319,0.0498051252777,0.99999995189,8.24927846817e-05,-0.000294376466698,-5.251316434e-05,1793256533534600192
+333,5.550000000,POSE2_TO_POSE3_RETREAT,793,748,728.793655135,708,697,654,934,802,835.206344865,668,658,675,0.420114973369,-0.00535938801772,0.0497987171044,0.999999945016,8.64338619325e-05,-0.000315775453164,-5.27600119356e-05,1793256533551266816
+334,5.566666667,POSE2_TO_POSE3_RETREAT,793,748,728.21537509,708,697,654,934,802,835.78462491,668,658,675,0.419234640079,-0.00535839089097,0.0498098858255,0.999999944296,9.02039201411e-05,-0.00031722482195,-5.13804383789e-05,1793256533567933440
+335,5.583333333,POSE2_TO_POSE3_RETREAT,793,748,728,707.639950099,697,654.360049901,934,802,835.639950099,668,658,675,0.418364744158,-0.0053568007213,0.0497967117349,0.99999993464,9.38492596924e-05,-0.000345290427371,-5.18289632249e-05,1793256533584599808
+336,5.600000000,POSE2_TO_POSE3_RETREAT,793,748,728,707.066219547,697,654.933780453,934,802,835.066219547,668,658,675,0.417501042609,-0.0053548585955,0.0497690907912,0.999999918111,9.74205814527e-05,-0.000389152105911,-5.33624189582e-05,1793256533601266432
+337,5.616666667,POSE2_TO_POSE3_RETREAT,792.489376067,748,728.510623933,707.510623933,697,655,934,802,835,668,658,675,0.41670882032,-0.00535696161379,0.0497835987498,0.999999930626,9.24209374133e-05,-0.000356720367338,-5.43726561785e-05,1793256533617933312
+338,5.633333333,POSE2_TO_POSE3_RETREAT,792.090613042,748,728.909386958,708,697,655,934,802,835,668,657.909386958,675.090613042,0.41592510684,-0.005359198672,0.0498022504973,0.999999944406,8.77138867717e-05,-0.000316948993238,-5.51081354351e-05,1793256533634599936
+339,5.650000000,POSE2_TO_POSE3_RETREAT,792.685858426,748,728.314141574,708,697,655,934,802,835,668,657.314141574,675.685858426,0.41513683933,-0.00535924280797,0.04981336643,0.99999995182,9.08644063448e-05,-0.000291741109449,-5.46936593759e-05,1793256533651266816
+340,5.666666667,POSE2_TO_POSE3_RETREAT,793,748,728,707.729993768,697,655,934,802,835,668,657.270006232,676,0.41434591545,-0.00535885899256,0.0498069411552,0.999999948415,9.37670926117e-05,-0.000302273706735,-5.48409391455e-05,1793256533667933440
+341,5.683333333,POSE2_TO_POSE3_RETREAT,793,748,728,707.158247863,697,655,934,802,835,668,657.841752137,676,0.413552023054,-0.00535799692925,0.0497809130794,0.999999931592,9.63928177475e-05,-0.000352747313301,-5.56159970465e-05,1793256533684600064
+342,5.700000000,POSE2_TO_POSE3_RETREAT,793,748.419281932,728,707.419281932,697,655,934,802,835,668,658,675.580718068,0.412814916026,-0.00535849752641,0.0497767975574,0.999999928938,9.59969324735e-05,-0.000360164245956,-5.64819998396e-05,1793256533701266944
+343,5.716666667,POSE2_TO_POSE3_RETREAT,793,748.999025301,728,707.999025301,697,655,934,802,835,668,658,675.000974699,0.412099540996,-0.00535951962095,0.0497810680845,0.999999932257,9.44446610225e-05,-0.000351103163842,-5.7382807824e-05,1793256533717933568
+344,5.733333333,POSE2_TO_POSE3_RETREAT,793,748.410931258,728,707.410931258,697,655,934,802,835,668,658,675,0.41141996073,-0.00536160077049,0.0498086798927,0.999999945873,9.58990874958e-05,-0.000309843385535,-5.52681567301e-05,1793256533734599936
+345,5.750000000,POSE2_TO_POSE3_RETREAT,793,748,728,707,697.175354766,655,934,802,835,668,658,675,0.410738138857,-0.00536220065169,0.0498204753642,0.999999950098,9.82198542935e-05,-0.000295335723914,-5.41555518189e-05,1793256533751266560
+346,5.766666667,POSE2_TO_POSE3_RETREAT,793,748,728,707,697.752981429,655,934,802,835,668,658,675,0.41005103621,-0.00535939834413,0.0497958972611,0.999999934621,0.000102516430065,-0.000342323036191,-5.53533364776e-05,1793256533767933440
+347,5.783333333,POSE2_TO_POSE3_RETREAT,792.670821808,748,728,707,697.670821808,655,934,802,835,668,658,675.329178192,0.409420612165,-0.00536014321595,0.0497883592993,0.999999930872,0.000103624336801,-0.00035271067771,-5.58003184996e-05,1793256533784600320
+348,5.800000000,POSE2_TO_POSE3_RETREAT,792.095693449,748,728,707,697.095693449,655,934,802,835,668,658,675.904306551,0.408832536385,-0.00536353841348,0.0497935531229,0.999999936847,0.000102349783964,-0.000335752352249,-5.56863276356e-05,1793256533801266944
+349,5.816666667,POSE2_TO_POSE3_RETREAT,792.478497468,748.478497468,728,707,697,655,934,802,835,668,658,676,0.408287657506,-0.00536510949049,0.0498122658956,0.99999994602,0.000102037907671,-0.000307550302906,-5.44165744843e-05,1793256533817933824
+350,5.833333333,POSE2_TO_POSE3_RETREAT,793,749,728,707,697.054191181,655,934,802.054191181,835,668,658,675.945808819,0.407750435655,-0.00536626686041,0.0498313754662,0.999999953899,0.000102332363953,-0.000280920122691,-5.30395652705e-05,1793256533834600448
+351,5.850000000,POSE2_TO_POSE3_RETREAT,793,749,728,707,697.646671005,655,934,802.646671005,835,668,658,675.353328995,0.407203629128,-0.0053669313546,0.0498276235681,0.999999950215,0.000106740987643,-0.000292195555669,-5.28886024831e-05,1793256533851267072
+352,5.866666667,POSE2_TO_POSE3_RETREAT,793,749,728,707,698,655,934,803,835,668,658,675.233319606,0.406666959037,-0.00536778093518,0.0498153863476,0.999999942601,0.000108076042734,-0.000316646968352,-5.3413049408e-05,1793256533867933952
+353,5.883333333,POSE2_TO_POSE3_RETREAT,793,749,728,707,698,655,934,803,835,668,658,675.811352923,0.406145264885,-0.00536890396812,0.0497906126458,0.999999927989,0.000104870110565,-0.000360564985728,-5.49353677956e-05,1793256533884600320
+354,5.900000000,POSE2_TO_POSE3_RETREAT,793,749,728,707,698,655,934,803,835,668,658,676,0.405667895587,-0.00536961244964,0.0497771990651,0.99999991943,0.000102947213594,-0.000383919541782,-5.61067624602e-05,1793256533901267200
+355,5.916666667,POSE2_TO_POSE3_RETREAT,793,749,728,707,698,655,934,803,835,668,658,676,0.405212000439,-0.00537012009228,0.0497692891544,0.999999914275,0.000101645912325,-0.000397311659692,-5.71081442102e-05,1793256533917933824
+356,5.933333333,POSE2_TO_POSE3_RETREAT,793,749,728,707,697.466467735,655,934.533532265,802.466467735,835,667.466467735,658,676,0.404843975827,-0.00536808304231,0.0497866861878,0.999999925853,0.000104496793396,-0.000366231160013,-5.6996825881e-05,1793256533934600704
+357,5.950000000,POSE2_TO_POSE3_RETREAT,793,749,728,707,697,655,935,802.10806185,835.10806185,667.10806185,658,676,0.404486191925,-0.00536709609428,0.0498081556646,0.999999938123,0.000106102036551,-0.000330619254118,-5.64509391432e-05,1793256533951267328
+358,5.966666667,POSE2_TO_POSE3_RETREAT,793,749,728,707,697,655,935,802.707309049,835.707309049,667.707309049,658,676,0.404148335983,-0.0053716531966,0.0498404693989,0.99999995201,0.000100787454224,-0.000287883102718,-5.42668507317e-05,1793256533967933696
+359,5.983333333,POSE2_TO_POSE3_RETREAT,793,749,728,707,697.294991182,655,935,803,835.705008818,668,657.705008818,676,0.403823302145,-0.00537607920478,0.0498586339306,0.999999959321,9.36266279259e-05,-0.000264083601784,-5.34040286333e-05,1793256533984600064
+360,6.000000000,POSE2_TO_POSE3_RETREAT,793,749,728,707,697.871631291,655,935,803,835.128368709,668,657.128368709,676,0.403510510499,-0.00538038004785,0.0498632892168,0.999999961589,8.47030624766e-05,-0.000258364262231,-5.38027130564e-05,1793256534001266688
+361,6.016666667,POSE2_TO_POSE3_RETREAT,793.447469683,749,728,707,698,655,934.552530317,803,835,667.552530317,657.447469683,676,0.40320746906,-0.00537847903721,0.0498527865611,0.999999955792,8.4513456996e-05,-0.000279667528944,-5.53135915565e-05,1793256534017933312
+362,6.033333333,POSE2_TO_POSE3_RETREAT,793.976383303,749,728,707,698,655,934,803,835,667.023616697,658,676,0.402909057774,-0.00537497536389,0.0498379981198,0.999999947034,8.67303237426e-05,-0.000308469012293,-5.70760783598e-05,1793256534034599936
+363,6.050000000,POSE2_TO_POSE3_RETREAT,793.387350711,749,728,707,698,655,934,803,835,667.612649289,658,676,0.40265465171,-0.00537562129749,0.0498245240614,0.999999939651,8.66819121051e-05,-0.000331522668848,-5.72372766376e-05,1793256534051266816
+364,6.066666667,POSE2_TO_POSE3_RETREAT,793.198363609,749,728,707,698,655,934,803,835,668,658,675.801636391,0.402413195576,-0.00537436025774,0.0498131617217,0.999999931945,0.000103718943139,-0.00034987197685,-5.42444988499e-05,1793256534067933440
+365,6.083333333,POSE2_TO_POSE3_RETREAT,793.777704781,749,728,707,698,655,934,803,835,668,658,675.222295219,0.402196611136,-0.0053694366809,0.0498058551548,0.999999922679,0.00015357031101,-0.000359186100198,-4.51941879649e-05,1793256534084600064
+366,6.100000000,POSE2_TO_POSE3_RETREAT,793.644072517,749,727.644072517,707,698,655,934,803,835,667.644072517,658,675,0.402018100351,-0.0053671210534,0.0498079475538,0.999999923003,0.000169630932347,-0.00035130990951,-4.24352419631e-05,1793256534101266688
+367,6.116666667,POSE2_TO_POSE3_RETREAT,793.066546114,749,727.066546114,707,698,655,934,803,835,667.066546114,658,675,0.401863294038,-0.00536642912347,0.0498158917077,0.999999930139,0.000164653585101,-0.000332731104389,-4.35932718557e-05,1793256534117933312
+368,6.133333333,POSE2_TO_POSE3_RETREAT,793,749,727.503689968,707,698,655,934,803,835,667,658,675.503689968,0.401738751716,-0.00536870638781,0.0498258562182,0.999999937708,0.000157862544159,-0.00031260355342,-4.40773718854e-05,1793256534134600192
+369,6.150000000,POSE2_TO_POSE3_RETREAT,793,749,728,707,698,655,934.076090686,803,835,667.076090686,658,675.923909314,0.401620565016,-0.00537134007345,0.0498354897427,0.999999944474,0.000150991809355,-0.000293723889632,-4.44973593534e-05,1793256534151266816
+370,6.166666667,POSE2_TO_POSE3_RETREAT,793,749,728,707,698,655,934.66967031,803,835,667.66967031,658,675.33032969,0.401518797612,-0.00537376793949,0.0498410828176,0.999999947917,0.000145185471679,-0.000284702764143,-4.5078222511e-05,1793256534167933440
+371,6.183333333,POSE2_TO_POSE3_RETREAT,793,749,728,707,698,655,934.742641266,803,835.257358734,668,658,675,0.401421593628,-0.00537770993641,0.0498430602304,0.999999949979,0.000138007768218,-0.000280893881827,-4.57634243079e-05,1793256534184599808
+372,6.200000000,POSE2_TO_POSE3_RETREAT,793,749,728,707,698,655,934.162345237,803,835.837654763,668,658,675,0.401330115892,-0.00538355188553,0.0498405006603,0.999999950359,0.00012910925638,-0.000283625394798,-4.65795516381e-05,1793256534201266688
+373,6.216666667,POSE2_TO_POSE3_RETREAT,793,749,728,707,698,655,934,802.586002856,835.586002856,667.586002856,658,675.413997144,0.401256721773,-0.00538857691209,0.0498380562864,0.999999950323,0.00012147779032,-0.000287022706112,-4.70733999475e-05,1793256534217933312
+374,6.233333333,POSE2_TO_POSE3_RETREAT,793,749,728,707,698,655,934,802.01119621,835.01119621,667.01119621,658,675.98880379,0.401190351901,-0.00539328462012,0.0498356566585,0.999999950091,0.000114338484865,-0.000290678634354,-4.74420649358e-05,1793256534234599936
+375,6.250000000,POSE2_TO_POSE3_RETREAT,793,749,728,707,698,655,934,802.575458307,835,667,657.424541693,676,0.401149969574,-0.00539185481109,0.0498393215422,0.99999995207,0.000117048447475,-0.000282673928609,-4.74884519091e-05,1793256534251266816
+376,6.266666667,POSE2_TO_POSE3_RETREAT,793,749,728,707,698,655,934,803,835,667,657.160318961,676,0.401113386123,-0.00539073062131,0.0498430885104,0.999999954085,0.00011888315617,-0.000274650932382,-4.7582306217e-05,1793256534267933184
+377,6.283333333,POSE2_TO_POSE3_RETREAT,793,749,728,707,698,655,934,803,835,667,657.739873092,676,0.401085386777,-0.00539072445696,0.049846807393,0.99999995621,0.000117917424436,-0.000267185848808,-4.78170294704e-05,1793256534284599808
+378,6.300000000,POSE2_TO_POSE3_RETREAT,793.318813733,749,728,707,698,655,934.318813733,803,835,667,658,676,0.401062206182,-0.00539136206814,0.0498495372635,0.999999957769,0.000115261490947,-0.000262469861654,-4.78220741701e-05,1793256534301266688
+379,6.316666667,POSE2_TO_POSE3_RETREAT,793.89725484,749,728,707,698,655,934.89725484,803,835,667,658,676,0.401042949755,-0.00539252394076,0.0498514617281,0.999999958881,0.000111229134077,-0.000259992612522,-4.76400791495e-05,1793256534317933312
+380,6.333333333,POSE2_TO_POSE3_RETREAT,794,749.47304999,728,707,698,655,935,803,835,667,657.52695001,676,0.40102807917,-0.00539261589504,0.0498512632007,0.999999958512,0.00011432323971,-0.000260119281628,-4.7365043265e-05,1793256534334599936
+381,6.350000000,POSE2_TO_POSE3_RETREAT,794,749.950683785,728,707,698,655,934.950683785,803,835,667,657.049316215,675.950683785,0.401014726105,-0.00539238515253,0.0498506018717,0.999999957876,0.000118331383708,-0.000260816404959,-4.71300332637e-05,1793256534351266816
+382,6.366666667,POSE2_TO_POSE3_RETREAT,794,749.363036528,728,707,698,655,934.363036528,803,835,667,657.636963472,675.363036528,0.401007597555,-0.00539115444728,0.0498498940577,0.99999995798,0.000115514906382,-0.000261601250727,-4.75513057327e-05,1793256534367933440
+383,6.383333333,POSE2_TO_POSE3_RETREAT,793.778494982,749,728,707,697.778494982,655,934,803,835,667,657.778494982,675,0.40100233779,-0.00539036259696,0.0498497617924,0.999999958132,0.000115126852464,-0.000261162485142,-4.77091635859e-05,1793256534384600064
+384,6.400000000,POSE2_TO_POSE3_RETREAT,793.19897321,749,728,707,697.19897321,655,934,803,835,667,657.19897321,675,0.401000098529,-0.00539028006436,0.049850559782,0.999999958359,0.000118663839681,-0.000258746006453,-4.74412665175e-05,1793256534401266688
+385,6.416666667,POSE2_TO_POSE3_RETREAT,793,749,728,707,697.377960768,655,934.377960768,803,835,667,657,675,0.400998852689,-0.00539139612799,0.0498515076525,0.999999958803,0.000118489465591,-0.000257152701698,-4.71969065881e-05,1793256534417933312
+386,6.433333333,POSE2_TO_POSE3_RETREAT,793,749,728,707,697.953541677,655,934.953541677,803,835,667,657,675,0.400998126268,-0.00539313888829,0.0498525338895,0.99999995936,0.000116374573203,-0.000255989800813,-4.69648532694e-05,1793256534434599680
+387,6.450000000,POSE2_TO_POSE3_RETREAT,793.538107262,749,728,707,698,655,934.461892738,803,835,667,657.538107262,675,0.400998254311,-0.00539321249682,0.0498531964066,0.999999959683,0.000116069970921,-0.000254882610129,-4.68673293088e-05,1793256534451266304
+388,6.466666667,POSE2_TO_POSE3_RETREAT,794,749,728,707,698,655,934,803,835,667,657.877771908,675,0.40099852628,-0.00539327558928,0.0498539388563,0.999999960069,0.000115755275172,-0.000253526849205,-4.67687934104e-05,1793256534467933440
+389,6.483333333,POSE2_TO_POSE3_RETREAT,794,749,728,707,698,655,934,803,835,667,657.298266463,675,0.400999056027,-0.00539384763101,0.0498550998247,0.999999960766,0.000114808164365,-0.000251222842439,-4.66222807787e-05,1793256534484601088
+390,6.500000000,POSE2_TO_POSE3_RETREAT,794,749,728,707,698,655,934.281365297,803,835,667,657,675,0.400999081791,-0.00539345660963,0.0498556273701,0.999999961001,0.000114931367089,-0.000250212461628,-4.67146429642e-05,1793256534501268480
+391,6.516666667,POSE2_TO_POSE3_RETREAT,794,749,728,707,698,655,934.861131091,803,835,667,657,675,0.400998573058,-0.00539204421675,0.0498554831421,0.999999960749,0.000116189685123,-0.000250574028786,-4.70603425724e-05,1793256534517935104
+392,6.533333333,POSE2_TO_POSE3_RETREAT,793.56287561,749,728,707,698,655,935,803,835,667,657.43712439,675.43712439,0.40099862534,-0.00539214394432,0.0498552787669,0.99999996069,0.000116747951143,-0.000250605334805,-4.67603380286e-05,1793256534534601216
+393,6.550000000,POSE2_TO_POSE3_RETREAT,793,749,728,707,698,655,935,803,835.011935951,667,658,675.988064049,0.400998860957,-0.00539272138095,0.04985508758,0.999999960705,0.000117064128767,-0.000250490023259,-4.62664943854e-05,1793256534551267328
+394,6.566666667,POSE2_TO_POSE3_RETREAT,793,749,728,707,698,655,935,803,835.587054998,667,658,675.412945002,0.40099940958,-0.00539336665899,0.0498564125358,0.999999961319,0.000116361439216,-0.000248364895546,-4.62226774875e-05,1793256534567933696
+395,6.583333333,POSE2_TO_POSE3_RETREAT,793.166917798,749,728,707,698,655,934.833082202,803,835.833082202,667,658,675,0.400999695873,-0.00539423525995,0.0498572438731,0.999999961752,0.000115456718305,-0.000247058252627,-4.61239894524e-05,1793256534584600320
+396,6.600000000,POSE2_TO_POSE3_RETREAT,793.75885962,749,728,707,698,655,934.24114038,803,835.24114038,667,658,675,0.40099931419,-0.0053956725097,0.0498568183058,0.999999961734,0.000114037563489,-0.000247835723728,-4.58855826371e-05,1793256534601266944
+397,6.616666667,POSE2_TO_POSE3_RETREAT,793.657217924,749,728,707,698,655,934,803,835,667,658,675,0.400998302289,-0.00539568461707,0.0498562804445,0.999999961383,0.000113923750579,-0.000249286997983,-4.59391072234e-05,1793256534617933312
+398,6.633333333,POSE2_TO_POSE3_RETREAT,793.078807993,749,728,707,698,655,934,803,835,667,658,675,0.400996857176,-0.00539471708376,0.0498556653925,0.999999960803,0.000114707227684,-0.000251201443426,-4.61933050021e-05,1793256534634599936
+399,6.650000000,POSE2_TO_POSE3_RETREAT,793,749,728,707,697.503419307,655,934,803,835,667,658,675.496580693,0.400997781333,-0.00539568726516,0.0498566982611,0.999999961486,0.000113440838903,-0.000249094520105,-4.59496276149e-05,1793256534651266816
+400,6.666666667,POSE2_TO_POSE3_RETREAT,793.073100291,749,728,707,697.073100291,655,934,803,835,667,658,675.926899709,0.400998851565,-0.00539660711058,0.0498578065617,0.999999962214,0.000112284642358,-0.000246733407734,-4.5685901663e-05,1793256534667933440
+401,6.683333333,POSE2_TO_POSE3_RETREAT,793.660938792,749,728,707,697.660938792,655,934,803,835,667,658,675.339061208,0.400998318738,-0.00539502021055,0.0498576156026,0.999999961914,0.000114181242521,-0.000247049121652,-4.58340144048e-05,1793256534684600320
+402,6.700000000,POSE2_TO_POSE3_RETREAT,794,749,728,707,698,655,934.245360577,803,835.245360577,667,658,675,0.400997976965,-0.00539440981693,0.0498574937802,0.999999961752,0.000115248499284,-0.00024718780168,-4.59614522711e-05,1793256534701267200
+403,6.716666667,POSE2_TO_POSE3_RETREAT,794,749,728,707,698,655,934.825125766,803,835.825125766,667,658,675,0.400997895582,-0.00539513031435,0.0498574661848,0.99999996178,0.000115185435139,-0.000247085200328,-4.60607121445e-05,1793256534717933568
+404,6.733333333,POSE2_TO_POSE3_RETREAT,793.597657869,749,728,707,698,655,934.597657869,803,835.597657869,667,658,675.402342131,0.400996419112,-0.00539428898972,0.0498568427077,0.999999961305,0.000116272772047,-0.000248506201885,-4.59922012322e-05,1793256534734599936
+405,6.750000000,POSE2_TO_POSE3_RETREAT,793.021542387,749,728,707,698,655,934.021542387,803,835.021542387,667,658,675.978457613,0.400994340098,-0.00539277310718,0.0498559618666,0.999999960607,0.000117856972275,-0.000250585254301,-4.58512293671e-05,1793256534751266816
diff --git a/Part2/Obstacle_avoidance/cylinder_PLA_10/position_02/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_PLA_10/position_02/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..80070c52ed47e9e2663746d96685a38cfe7806d1
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_PLA_10/position_02/depth_02/simulation_data.csv
@@ -0,0 +1,407 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+1,0.016666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+2,0.033333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+3,0.050000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+4,0.066666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+5,0.083333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+6,0.100000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+7,0.116666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+8,0.133333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+9,0.150000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+10,0.166666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+11,0.183333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+12,0.200000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+13,0.216666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+14,0.233333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+15,0.250000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+16,0.266666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+17,0.283333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+18,0.300000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+19,0.316666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+20,0.333333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+21,0.350000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+22,0.366666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+23,0.383333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+24,0.400000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+25,0.416666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+26,0.433333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+27,0.450000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+28,0.466666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+29,0.483333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+30,0.500000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+31,0.516666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+32,0.533333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+33,0.550000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+34,0.566666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+35,0.583333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+36,0.600000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+37,0.616666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+38,0.633333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+39,0.650000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+40,0.666666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+41,0.683333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+42,0.700000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+43,0.716666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+44,0.733333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+45,0.750000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+46,0.766666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+47,0.783333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+48,0.800000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+49,0.816666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+50,0.833333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+51,0.850000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+52,0.866666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+53,0.883333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+54,0.900000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+55,0.916666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+56,0.933333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+57,0.950000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+58,0.966666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+59,0.983333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+60,1.000000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+61,1.016666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+62,1.033333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+63,1.050000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+64,1.066666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+65,1.083333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+66,1.100000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+67,1.116666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+68,1.133333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+69,1.150000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+70,1.166666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+71,1.183333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+72,1.200000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+73,1.216666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+74,1.233333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+75,1.250000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+76,1.266666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+77,1.283333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+78,1.300000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+79,1.316666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+80,1.333333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+81,1.350000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+82,1.366666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+83,1.383333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+84,1.400000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+85,1.416666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+86,1.433333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+87,1.450000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+88,1.466666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+89,1.483333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+90,1.500000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+91,1.516666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+92,1.533333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+93,1.550000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+94,1.566666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+95,1.583333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+96,1.600000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+97,1.616666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+98,1.633333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+99,1.650000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+100,1.666666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+101,1.683333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+102,1.700000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+103,1.716666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+104,1.733333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+105,1.750000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+106,1.766666667,pose1_to_pose2_press,0.575666710209,0.000181852718045,1.0400204364,0.546237856699,0.00885608621235,1.03969214046
+107,1.783333333,pose1_to_pose2_press,0.575666742527,0.000181854921441,1.04002041338,0.54623788913,0.00885608881078,1.03969211775
+108,1.800000000,pose1_to_pose2_press,0.575666772427,0.000181856959999,1.04002039208,0.546237919135,0.00885609121482,1.03969209674
+109,1.816666667,pose1_to_pose2_press,0.575666816629,0.000181859973644,1.04002036059,0.546237963491,0.00885609476876,1.03969206567
+110,1.833333333,pose1_to_pose2_press,0.575666921507,0.000181861033951,1.04002031921,0.546238068472,0.00885609619352,1.03969202472
+111,1.850000000,pose1_to_pose2_press,0.575667144375,0.000181835723921,1.04002038216,0.546238290364,0.00885606750546,1.03969208593
+112,1.866666667,pose1_to_pose2_press,0.575667193436,0.000181830152265,1.04002039602,0.54623833921,0.00885606119017,1.0396920994
+113,1.883333333,pose1_to_pose2_press,0.575667360077,0.000181816716232,1.04002042395,0.546238505387,0.00885604614962,1.03969212655
+114,1.900000000,pose1_to_pose2_press,0.575668119571,0.000181809869789,1.0400203616,0.5462392654,0.00885604111995,1.0396920657
+115,1.916666667,pose1_to_pose2_press,0.575671466318,0.000181780641105,1.04002054015,0.546242615171,0.00885602213942,1.03969224394
+116,1.933333333,pose1_to_pose2_press,0.575678855795,0.000181857079808,1.04002053548,0.546250002109,0.00885609040131,1.03969225071
+117,1.950000000,pose1_to_pose2_press,0.57569450072,0.000181767003044,1.04002046884,0.54626564896,0.00885600657412,1.03969217641
+118,1.966666667,pose1_to_pose2_press,0.575718880252,0.000181970104018,1.04002037509,0.54629002532,0.00885619930655,1.03969209309
+119,1.983333333,pose1_to_pose2_press,0.575753888373,0.000181721237849,1.04002039115,0.546325035825,0.00885595829805,1.03969210289
+120,2.000000000,pose1_to_pose2_press,0.575798320892,0.000181698575831,1.04002050756,0.546369469511,0.00885593942112,1.03969221469
+121,2.016666667,pose1_to_pose2_press,0.575852445455,0.000181785093098,1.04002050913,0.546423594121,0.00885602639424,1.03969222398
+122,2.033333333,pose1_to_pose2_press,0.575914214548,0.000181767029095,1.04002047593,0.546485361426,0.00885600157352,1.03969217244
+123,2.050000000,pose1_to_pose2_press,0.575983674674,0.000181635294067,1.0400204378,0.546554824147,0.00885587891999,1.03969214163
+124,2.066666667,pose1_to_pose2_press,0.576061630736,0.000181727842743,1.04002051429,0.546632779806,0.00885597030959,1.03969222358
+125,2.083333333,pose1_to_pose2_press,0.576148941336,0.000181785062454,1.04002045757,0.546720089136,0.0088560231107,1.03969216386
+126,2.100000000,pose1_to_pose2_press,0.57624844416,0.000181715912317,1.04002049333,0.546819592352,0.00885595533318,1.03969220075
+127,2.116666667,pose1_to_pose2_press,0.576359412133,0.000181708721595,1.04002067437,0.546930561247,0.0088559511232,1.03969237797
+128,2.133333333,pose1_to_pose2_press,0.576482069596,0.00018174720945,1.0400207235,0.547053218018,0.00885598710491,1.0396924229
+129,2.150000000,pose1_to_pose2_press,0.576621421188,0.000181759841137,1.04002056141,0.547192567657,0.00885599322174,1.03969226362
+130,2.166666667,pose1_to_pose2_press,0.576777241369,0.000181827955597,1.04002053404,0.547348388031,0.00885606209881,1.03969223905
+131,2.183333333,pose1_to_pose2_press,0.576949964985,0.000181827927268,1.04002041077,0.547521113659,0.00885606910872,1.03969212127
+132,2.200000000,pose1_to_pose2_press,0.577140988619,0.000181824547697,1.04002044125,0.547712137354,0.00885606562339,1.03969214347
+133,2.216666667,pose1_to_pose2_press,0.57735314403,0.000181724698331,1.04002038353,0.547924292626,0.00885596575264,1.03969209765
+134,2.233333333,pose1_to_pose2_press,0.577585101448,0.00018178614899,1.04002050527,0.548156248823,0.00885602288548,1.03969221463
+135,2.250000000,pose1_to_pose2_press,0.577837522444,0.000181669162671,1.04002056527,0.548408671308,0.00885591068521,1.03969226753
+136,2.266666667,pose1_to_pose2_press,0.578113166272,0.000181764251732,1.04002055472,0.548684314601,0.00885600403331,1.03969225894
+137,2.283333333,pose1_to_pose2_press,0.578409329909,0.000181863185887,1.04002044701,0.548980476496,0.00885609737521,1.0396921596
+138,2.300000000,pose1_to_pose2_press,0.578722608058,0.000181804736664,1.04002046687,0.549293754984,0.00885604002782,1.03969217813
+139,2.316666667,pose1_to_pose2_press,0.579047937038,0.000181758574114,1.04002055874,0.549619084515,0.00885599543468,1.03969226197
+140,2.333333333,pose1_to_pose2_press,0.579383927783,0.000181786050904,1.04002053284,0.549955074713,0.00885602096884,1.03969223382
+141,2.350000000,pose1_to_pose2_press,0.579734477833,0.000181773120187,1.04002045221,0.55030562512,0.00885600940938,1.0396921573
+142,2.366666667,pose1_to_pose2_press,0.580103050576,0.000181765174851,1.04002054554,0.550674198206,0.00885600267585,1.03969225196
+143,2.383333333,pose1_to_pose2_press,0.580501150392,0.000181740063015,1.04002042427,0.551072299046,0.00885598118691,1.03969213451
+144,2.400000000,pose1_to_pose2_press,0.58092910266,0.000181693578825,1.04002053922,0.551500250623,0.0088559320373,1.03969224095
+145,2.416666667,pose1_to_pose2_press,0.581388727897,0.000181882966563,1.04002073049,0.551959875258,0.00885611955573,1.0396924368
+146,2.433333333,pose1_to_pose2_press,0.581871159994,0.000181742943511,1.04002056154,0.552442308058,0.00885598172757,1.03969226277
+147,2.450000000,pose1_to_pose2_press,0.582373814402,0.000181697825788,1.04002043095,0.552944963105,0.00885593892772,1.03969213614
+148,2.466666667,pose1_to_pose2_press,0.582881490914,0.000181738152201,1.04002041113,0.55345263951,0.00885597905787,1.03969212068
+149,2.483333333,pose1_to_pose2_press,0.583396302059,0.000181758999994,1.04002039173,0.553967450364,0.0088559990548,1.03969210479
+150,2.500000000,pose1_to_pose2_press,0.583931387602,0.000181774003035,1.04002049233,0.554502535851,0.00885601392219,1.03969220687
+151,2.516666667,pose1_to_pose2_press,0.58448750633,0.000181786365319,1.04002076879,0.555058654376,0.00885602522902,1.03969247364
+152,2.533333333,pose1_to_pose2_press,0.585066978408,0.000181869238466,1.04002063585,0.555638125813,0.00885610594314,1.03969234109
+153,2.550000000,pose1_to_pose2_press,0.585668457813,0.000181666491873,1.04002031247,0.556239608928,0.00885591571024,1.03969201574
+154,2.566666667,pose1_to_pose2_press,0.586287138159,0.000181858939019,1.04002051997,0.556858284297,0.00885609143426,1.03969222753
+155,2.583333333,pose1_to_pose2_press,0.586915502857,0.000181673869408,1.04002065717,0.557486652065,0.00885591654123,1.03969235839
+156,2.600000000,pose1_to_pose2_press,0.587554628911,0.000181685241095,1.04002052273,0.558125777313,0.00885592504198,1.03969222043
+157,2.616666667,pose1_to_pose2_press,0.588210564907,0.000181806933832,1.04002059811,0.558781712664,0.00885604462994,1.03969229803
+158,2.633333333,pose1_to_pose2_press,0.588882289498,0.00018177810352,1.04002055336,0.559453437337,0.00885601618061,1.03969225598
+159,2.650000000,pose1_to_pose2_press,0.589566602538,0.000181759029379,1.04002048826,0.560137750589,0.00885599789015,1.03969219256
+160,2.666666667,pose1_to_pose2_press,0.590263775559,0.000181821459723,1.04002054513,0.56083492365,0.00885606054086,1.03969225177
+161,2.683333333,pose1_to_pose2_press,0.590972129934,0.000181760684452,1.04002050682,0.561543278445,0.00885600126876,1.03969221553
+162,2.700000000,pose1_to_pose2_press,0.591690197832,0.000181691353308,1.04002042291,0.56226134746,0.00885593567215,1.03969213016
+163,2.716666667,pose1_to_pose2_press,0.592419421406,0.000181806204529,1.04002044208,0.562990568031,0.00885604017409,1.03969214507
+164,2.733333333,pose1_to_pose2_press,0.593157710862,0.000181588285805,1.04002040828,0.563728861151,0.00885583495846,1.03969211852
+165,2.750000000,pose1_to_pose2_press,0.593903631512,0.000181714757642,1.04002068455,0.564474779475,0.00885595304927,1.03969238187
+166,2.766666667,pose1_to_pose2_press,0.59465706274,0.000181766133572,1.04002033597,0.565228211132,0.00885600646295,1.0396920487
+167,2.783333333,pose1_to_pose2_press,0.595403950691,0.000181745380168,1.04002054562,0.565975098477,0.00885598362134,1.03969225757
+168,2.800000000,pose1_to_pose2_press,0.59614675009,0.000181837085525,1.04002059354,0.566717895814,0.00885606804862,1.03969229807
+169,2.816666667,pose1_to_pose2_press,0.596886418775,0.000181837905399,1.04002054594,0.567457565124,0.00885607105229,1.0396922522
+170,2.833333333,pose1_to_pose2_press,0.597624967628,0.000181766334357,1.04002048389,0.568196115479,0.00885600464985,1.03969219217
+171,2.850000000,pose1_to_pose2_press,0.598368405643,0.000181764080927,1.04002047324,0.56893955313,0.00885600102775,1.03969217804
+172,2.866666667,pose1_to_pose2_press,0.599111618869,0.000181825992702,1.04002055449,0.569682765486,0.00885605997323,1.0396922589
+173,2.883333333,pose1_to_pose2_press,0.599853957634,0.000181825166713,1.0400205758,0.570425105067,0.00885606201668,1.03969228289
+174,2.900000000,pose1_to_pose2_press,0.600601888176,0.000181836563457,1.04002076199,0.57117303573,0.00885607372565,1.03969246658
+175,2.916666667,pose1_to_pose2_press,0.601347090007,0.000181820072807,1.04002028592,0.571918237973,0.00885605894078,1.0396919987
+176,2.933333333,pose1_to_pose2_press,0.602081616294,0.000181837597832,1.04002040671,0.572652763875,0.00885607500904,1.0396921156
+177,2.950000000,pose1_to_pose2_press,0.602806642286,0.00018168798724,1.04002018831,0.573377791503,0.00885593122919,1.0396919046
+178,2.966666667,pose1_to_pose2_press,0.60351817753,0.000181818873263,1.04002042979,0.574089323906,0.00885605217798,1.03969213826
+179,2.983333333,pose1_to_pose2_press,0.60422500844,0.000181834489452,1.04002045151,0.574796154196,0.00885606571918,1.03969216089
+180,3.000000000,pose1_to_pose2_press,0.604927004511,0.000181809343341,1.04002047892,0.575498151305,0.00885604406538,1.03969218746
+181,3.016666667,pose1_to_pose2_press,0.605615326062,0.000181815427958,1.04002050032,0.576186473018,0.00885605053412,1.03969220468
+182,3.033333333,pose1_to_pose2_press,0.606295014324,0.000181794911568,1.04002038781,0.576866161422,0.0088560304695,1.0396920913
+183,3.050000000,pose1_to_pose2_press,0.606966646463,0.000181799104402,1.04002038528,0.577537793656,0.00885603497454,1.03969208867
+184,3.066666667,pose1_to_pose2_press,0.607616957718,0.000181921301085,1.04002051358,0.578188103026,0.00885615093228,1.03969222109
+185,3.083333333,pose1_to_pose2_press,0.608244264051,0.000181978608311,1.04002035701,0.578815409514,0.00885620933565,1.03969207971
+186,3.100000000,pose1_to_pose2_press,0.608849568682,0.000181624163185,1.04002043196,0.579420717491,0.00885586561446,1.03969213805
+187,3.116666667,pose1_to_pose2_press,0.609432334899,0.000181622447012,1.04002054516,0.580003483056,0.00885586156471,1.03969224819
+188,3.133333333,pose1_to_pose2_press,0.609985531718,0.000181630726928,1.04002054041,0.580556681355,0.00885587505731,1.03969224857
+189,3.150000000,pose1_to_pose2_press,0.610515573066,0.000181626426302,1.04002043159,0.581086721893,0.00885586821723,1.03969214529
+190,3.166666667,pose1_to_pose2_press,0.611026419051,0.000181718187488,1.04002044659,0.581597567682,0.00885595939325,1.0396921625
+191,3.183333333,pose1_to_pose2_press,0.6115265876,0.000181802824547,1.04002051868,0.582097735829,0.00885604252935,1.03969223067
+192,3.200000000,pose1_to_pose2_press,0.612020436508,0.000181752876744,1.04002051692,0.582591584039,0.00885598994138,1.03969222054
+193,3.216666667,pose1_to_pose2_press,0.612502994165,0.000181625885508,1.04002047081,0.583074142786,0.00885586698376,1.03969217048
+194,3.233333333,pose1_to_pose2_press,0.612967476328,0.000181660235059,1.04002050731,0.583538625466,0.00885590545926,1.03969221557
+195,3.250000000,pose1_to_pose2_press,0.613404958818,0.000181806092221,1.0400202856,0.583976104455,0.00885604236365,1.03969199757
+196,3.266666667,pose1_to_pose2_press,0.613815389009,0.000181841991023,1.04002038858,0.584386533481,0.0088560780953,1.03969209743
+197,3.283333333,pose1_to_pose2_press,0.614199719962,0.000181770116884,1.04002067713,0.584770863857,0.0088560061656,1.03969238441
+198,3.300000000,pose1_to_pose2_press,0.614571311214,0.000181791602718,1.04002062459,0.585142455944,0.00885603292499,1.03969233667
+199,3.316666667,pose1_to_pose2_press,0.614931727326,0.000181780654799,1.04002051822,0.585502871554,0.00885602321759,1.03969223154
+200,3.333333333,pose1_to_pose2_press,0.615281153889,0.000181714589427,1.04002063093,0.585852296309,0.00885595452049,1.03969233893
+201,3.350000000,pose1_to_pose2_press,0.615612859619,0.000181687550542,1.04002070843,0.58618400147,0.00885592954969,1.03969241387
+202,3.366666667,pose1_to_pose2_press,0.61591966743,0.000181660313843,1.04002059013,0.586490809432,0.00885590621288,1.03969229622
+203,3.383333333,pose1_to_pose2_press,0.61620301091,0.000181628265743,1.040020781,0.58677415167,0.00885587245033,1.03969247974
+204,3.400000000,pose1_to_pose2_press,0.616462759438,0.000181841998284,1.04002051868,0.587033899179,0.0088560853989,1.03969223145
+205,3.416666667,pose1_to_pose2_press,0.616696697231,0.00018181792492,1.04002056342,0.587267834647,0.0088560544959,1.03969226591
+206,3.433333333,pose1_to_pose2_press,0.616909942011,0.000181754923866,1.04002054547,0.587481079079,0.00885599365014,1.03969225244
+207,3.450000000,pose1_to_pose2_press,0.617107568137,0.000181812448216,1.04002060501,0.587678705066,0.00885605178595,1.03969231325
+208,3.466666667,pose1_to_pose2_press,0.617291976334,0.000181860255174,1.04002060372,0.587863112848,0.00885609898553,1.03969231224
+209,3.483333333,pose1_to_pose2_press,0.617464170438,0.000181801950172,1.04002061316,0.588035306771,0.00885604146291,1.03969231793
+210,3.500000000,pose1_to_pose2_press,0.617626248149,0.000181727339179,1.04002078036,0.58819738495,0.00885596889957,1.03969247268
+211,3.516666667,pose1_to_pose2_press,0.617776692429,0.000181789521662,1.04002046978,0.58834782837,0.00885603008876,1.03969217197
+212,3.533333333,pose1_to_pose2_press,0.617911438983,0.000181701960293,1.04002065172,0.588482575698,0.00885594560024,1.03969236169
+213,3.550000000,pose1_to_pose2_press,0.61802902963,0.000181491760689,1.04002065648,0.588600169272,0.00885574545238,1.03969236384
+214,3.566666667,pose1_to_pose2_press,0.618127492967,0.000181610689469,1.04002057639,0.588698630363,0.008855857099,1.03969228002
+215,3.583333333,pose1_to_pose2_press,0.618211944231,0.000181790959605,1.04002062626,0.588783079703,0.00885603106683,1.03969233177
+216,3.600000000,pose1_to_pose2_press,0.618284083679,0.000181798290597,1.0400205706,0.588855218232,0.00885603538741,1.03969227319
+217,3.616666667,pose1_to_pose2_press,0.618348080112,0.000181744380648,1.0400205293,0.588919215147,0.00885598320207,1.0396922287
+218,3.633333333,pose1_to_pose2_press,0.618405106373,0.000181796764555,1.04002065511,0.588976243042,0.00885604135184,1.03969235955
+219,3.650000000,pose1_to_pose2_press,0.61845569306,0.000181742124097,1.04002053181,0.58902682925,0.00885598548155,1.03969224092
+220,3.666666667,pose1_to_pose2_press,0.618499534723,0.000181926855228,1.04002073236,0.58907066782,0.00885615911824,1.03969242289
+221,3.683333333,pose1_to_pose2_press,0.618535758329,0.000181816491082,1.04002081648,0.589106892858,0.00885605396192,1.03969251398
+222,3.700000000,pose1_to_pose2_press,0.61856398142,0.000181909318452,1.04002059231,0.589135115507,0.00885614528244,1.03969229158
+223,3.716666667,pose1_to_pose2_press,0.618584766894,0.000181851440972,1.04002045297,0.589155902028,0.00885609102857,1.03969215771
+224,3.733333333,pose1_to_pose2_press,0.618600193831,0.000181861879991,1.0400209478,0.58917132797,0.00885609784188,1.0396926456
+225,3.750000000,pose1_to_pose2_press,0.618610966197,0.000181896992991,1.04002061326,0.589182099621,0.00885613096763,1.03969231728
+226,3.766666667,pose1_to_pose2_press,0.618617908646,0.00018191542724,1.04002039555,0.589189042056,0.00885614962885,1.03969210788
+227,3.783333333,pose1_to_pose2_press,0.618622798704,0.000181875997986,1.04002039558,0.589193932492,0.00885611137666,1.03969210742
+228,3.800000000,pose1_to_pose2_press,0.618625972582,0.000181776208405,1.04002044152,0.589197106854,0.00885601285323,1.03969214231
+229,3.816666667,pose1_to_pose2_press,0.618627791756,0.000181753706226,1.0400204444,0.589198926031,0.00885599025655,1.03969214565
+230,3.833333333,pose1_to_pose2_press,0.61862860171,0.000181758425399,1.04002053848,0.589199735907,0.00885599466381,1.03969223954
+231,3.850000000,pose1_to_pose2_press,0.618628898337,0.000181769603414,1.04002063244,0.589200032456,0.00885600555458,1.03969233317
+232,3.866666667,pose1_to_pose2_press,0.618629056926,0.000181775579638,1.04002068268,0.589200191003,0.00885601137723,1.03969238323
+233,3.883333333,pose1_to_pose2_press,0.618629325702,0.000181785708119,1.04002076781,0.589200459707,0.00885602124543,1.03969246807
+234,3.900000000,pose1_to_pose2_press,0.618629422238,0.000181789345956,1.04002079839,0.589200556218,0.00885602478979,1.03969249854
+235,3.916666667,pose1_to_pose2_press,0.618629484718,0.000181798145446,1.04002077442,0.589200618617,0.00885603338026,1.03969247578
+236,3.933333333,pose1_to_pose2_press,0.618629517234,0.000181804074422,1.04002075279,0.589200651078,0.00885603916935,1.03969245504
+237,3.950000000,pose1_to_pose2_press,0.618629570709,0.000181813825268,1.0400207172,0.589200704463,0.00885604869015,1.03969242093
+238,3.966666667,pose1_to_pose2_press,0.61862958108,0.000181815716174,1.0400207103,0.589200714815,0.00885605053645,1.03969241431
+239,3.983333333,pose1_to_pose2_press,0.618629603234,0.00018181975587,1.04002069556,0.589200736932,0.00885605448084,1.03969240018
+240,4.000000000,pose1_to_pose2_press,0.618629693233,0.000181802757135,1.04002062739,0.589200827365,0.00885603902345,1.03969233346
+241,4.016666667,pose1_to_pose2_press,0.618629721415,0.000181786688084,1.04002060338,0.589200855872,0.00885602405737,1.03969230956
+242,4.033333333,pose1_to_pose2_press,0.618629762664,0.000181763168613,1.04002056823,0.589200897596,0.00885600215225,1.03969227459
+243,4.050000000,pose1_to_pose2_press,0.618629795377,0.000181744516216,1.04002054036,0.58920093069,0.00885598476258,1.03969224684
+244,4.066666667,pose2_hold,0.618629795377,0.000181744516216,1.04002054036,0.589200930737,0.00885598476397,1.03969224685
+245,4.083333333,pose2_hold,0.618629795377,0.000181744516216,1.04002054036,0.589200930739,0.00885598476735,1.03969224685
+246,4.100000000,pose2_hold,0.618629795377,0.000181744516216,1.04002054036,0.589200930719,0.00885598475582,1.03969224685
+247,4.116666667,pose2_hold,0.618629795377,0.000181744516216,1.04002054036,0.589200930722,0.00885598476446,1.03969224684
+248,4.133333333,pose2_hold,0.618629795377,0.000181744516216,1.04002054036,0.589200930724,0.0088559847669,1.03969224684
+249,4.150000000,pose2_hold,0.618629795377,0.000181744516216,1.04002054036,0.589200930726,0.00885598477005,1.03969224684
+250,4.166666667,pose2_hold,0.618629795377,0.000181744516216,1.04002054036,0.589200930748,0.00885598475082,1.03969224685
+251,4.183333333,pose2_hold,0.618629795377,0.000181744516216,1.04002054036,0.589200930751,0.0088559847579,1.03969224684
+252,4.200000000,pose2_hold,0.618629795377,0.000181744516216,1.04002054036,0.589200930752,0.00885598476233,1.03969224685
+253,4.216666667,pose2_hold,0.618629795377,0.000181744516216,1.04002054036,0.589200930754,0.00885598476532,1.03969224685
+254,4.233333333,pose2_hold,0.618629795377,0.000181744516216,1.04002054036,0.58920093075,0.00885598475082,1.03969224685
+255,4.250000000,pose2_hold,0.618629795377,0.000181744516216,1.04002054036,0.589200930753,0.00885598475756,1.03969224685
+256,4.266666667,pose2_hold,0.618629795377,0.000181744516216,1.04002054036,0.589200930755,0.00885598476087,1.03969224685
+257,4.283333333,pose2_hold,0.618629795377,0.000181744516216,1.04002054036,0.589200930744,0.00885598475325,1.03969224685
+258,4.300000000,pose2_hold,0.618629795377,0.000181744516216,1.04002054036,0.589200930746,0.00885598475953,1.03969224685
+259,4.316666667,pose2_hold,0.618629795377,0.000181744516216,1.04002054036,0.589200930748,0.00885598476238,1.03969224685
+260,4.333333333,pose2_hold,0.618629795377,0.000181744516216,1.04002054036,0.589200930743,0.00885598475078,1.03969224684
+261,4.350000000,pose2_hold,0.618629795377,0.000181744516216,1.04002054036,0.589200930745,0.00885598475782,1.03969224684
+262,4.366666667,pose2_to_pose3_retreat,0.618629795377,0.000181744516216,1.04002054036,0.589200930748,0.00885598475564,1.03969224684
+263,4.383333333,pose2_to_pose3_retreat,0.618629794964,0.000181744770011,1.04002054222,0.589200930324,0.00885598497214,1.03969224866
+264,4.400000000,pose2_to_pose3_retreat,0.618629766905,0.000181762020088,1.04002066818,0.589200901546,0.00885599968682,1.03969237229
+265,4.416666667,pose2_to_pose3_retreat,0.61862970556,0.000181780805796,1.04002079785,0.589200839476,0.00885601591499,1.0396924994
+266,4.433333333,pose2_to_pose3_retreat,0.618629624426,0.000181783623108,1.04002079975,0.589200758375,0.00885601882432,1.03969250086
+267,4.450000000,pose2_to_pose3_retreat,0.618629598802,0.000181784512889,1.04002080035,0.589200732761,0.00885601974317,1.03969250132
+268,4.466666667,pose2_to_pose3_retreat,0.618629585111,0.000181784988284,1.04002080067,0.589200719076,0.00885602023409,1.03969250157
+269,4.483333333,pose2_to_pose3_retreat,0.618629013758,0.000181741863795,1.0400206345,0.589200148232,0.00885597886275,1.03969233687
+270,4.500000000,pose2_to_pose3_retreat,0.61862638439,0.000181811911225,1.04002044986,0.58919751835,0.00885604726718,1.03969215633
+271,4.516666667,pose2_to_pose3_retreat,0.618619089105,0.000181668594264,1.04002053058,0.589190225592,0.00885591248962,1.03969223791
+272,4.533333333,pose2_to_pose3_retreat,0.618605261877,0.00018186902153,1.04002045848,0.589176396733,0.0088561073703,1.03969216853
+273,4.550000000,pose2_to_pose3_retreat,0.618582321623,0.000181815680322,1.04002077504,0.589153458107,0.00885605913047,1.0396924787
+274,4.566666667,pose2_to_pose3_retreat,0.61855020102,0.000181865254557,1.04002053932,0.58912133683,0.00885610639063,1.03969224754
+275,4.583333333,pose2_to_pose3_retreat,0.618507575332,0.000181844836439,1.04002054593,0.589078710188,0.00885608226609,1.0396922502
+276,4.600000000,pose2_to_pose3_retreat,0.618455934036,0.000181794753391,1.04002049031,0.589027069884,0.00885603529728,1.03969219701
+277,4.616666667,pose2_to_pose3_retreat,0.618395113472,0.000181721458197,1.04002049175,0.588966249943,0.00885596365237,1.03969219447
+278,4.633333333,pose2_to_pose3_retreat,0.618323868624,0.000181674391093,1.04002060015,0.588895006434,0.00885592078281,1.03969230545
+279,4.650000000,pose2_to_pose3_retreat,0.618241648656,0.000181752090987,1.04002064322,0.588812785499,0.00885599458662,1.03969234607
+280,4.666666667,pose2_to_pose3_retreat,0.618147334627,0.000181803529556,1.04002061599,0.588718470356,0.00885604157603,1.03969231413
+281,4.683333333,pose2_to_pose3_retreat,0.618039937084,0.000181785083191,1.04002059588,0.588611072637,0.00885602194662,1.03969230124
+282,4.700000000,pose2_to_pose3_retreat,0.617916350192,0.000181855888374,1.04002035808,0.588487484898,0.00885608954152,1.03969206511
+283,4.716666667,pose2_to_pose3_retreat,0.617777770896,0.000181650335279,1.0400208321,0.588348908602,0.00885589225828,1.03969252581
+284,4.733333333,pose2_to_pose3_retreat,0.617623781348,0.000181679760268,1.04002058858,0.588194919335,0.0088559220129,1.03969228564
+285,4.750000000,pose2_to_pose3_retreat,0.617452955518,0.00018173727365,1.04002053193,0.588024094804,0.00885598317931,1.03969224035
+286,4.766666667,pose2_to_pose3_retreat,0.617266315125,0.000181817285042,1.04002043619,0.587837453518,0.00885605900621,1.03969214948
+287,4.783333333,pose2_to_pose3_retreat,0.61706607904,0.00018183021428,1.04002049094,0.587637216372,0.00885606551707,1.03969219739
+288,4.800000000,pose2_to_pose3_retreat,0.616853805841,0.000181764394773,1.04002052213,0.587424943888,0.00885599998605,1.03969222205
+289,4.816666667,pose2_to_pose3_retreat,0.616629747528,0.000181684195301,1.04002047584,0.587200887239,0.0088559246321,1.03969217716
+290,4.833333333,pose2_to_pose3_retreat,0.61639517517,0.000181683755835,1.04002052941,0.586966314799,0.00885592241205,1.03969223715
+291,4.850000000,pose2_to_pose3_retreat,0.616149336913,0.000181815426167,1.04002055226,0.586720477221,0.00885605344287,1.03969225585
+292,4.866666667,pose2_to_pose3_retreat,0.615887761207,0.000181823866401,1.04002055003,0.586458902048,0.00885606117928,1.03969225512
+293,4.883333333,pose2_to_pose3_retreat,0.615608288726,0.000181818855554,1.04002059203,0.586179429991,0.00885605543395,1.0396922981
+294,4.900000000,pose2_to_pose3_retreat,0.615303748428,0.000181852986116,1.04002069948,0.585874889992,0.00885608830956,1.0396924033
+295,4.916666667,pose2_to_pose3_retreat,0.614974734319,0.000181914530977,1.04002081873,0.585545876004,0.00885614689049,1.03969251859
+296,4.933333333,pose2_to_pose3_retreat,0.614619696913,0.000181787054211,1.04002049657,0.585190843305,0.00885603085809,1.03969220069
+297,4.950000000,pose2_to_pose3_retreat,0.614243033909,0.000181696052839,1.04002057819,0.584814180384,0.00885593894141,1.0396922868
+298,4.966666667,pose2_to_pose3_retreat,0.613846885637,0.000181787099297,1.0400206158,0.584418031184,0.00885602373248,1.03969231888
+299,4.983333333,pose2_to_pose3_retreat,0.613437033482,0.000181890300833,1.04002059647,0.584008178817,0.00885612260937,1.03969230089
+300,5.000000000,pose2_to_pose3_retreat,0.613015714937,0.00018183585803,1.04002060487,0.583586861354,0.00885606968522,1.0396923203
+301,5.016666667,pose2_to_pose3_retreat,0.612583674632,0.000181654654511,1.04002057666,0.583154823684,0.0088558950959,1.03969227585
+302,5.033333333,pose2_to_pose3_retreat,0.612135822313,0.000181831670689,1.04002072819,0.582706971929,0.0088560725888,1.03969243553
+303,5.050000000,pose2_to_pose3_retreat,0.611668896429,0.000181786850243,1.0400207105,0.582240047198,0.00885602884234,1.03969241854
+304,5.066666667,pose2_to_pose3_retreat,0.611179328846,0.000181736259695,1.04002053243,0.581750480188,0.008855976497,1.03969223683
+305,5.083333333,pose2_to_pose3_retreat,0.610668985464,0.000181777141407,1.04002038048,0.581240136935,0.00885601323502,1.03969208047
+306,5.100000000,pose2_to_pose3_retreat,0.61014375255,0.000181815415662,1.04002058072,0.580714905411,0.00885605033601,1.03969227825
+307,5.116666667,pose2_to_pose3_retreat,0.609608296234,0.000181915133424,1.04002053045,0.58017944839,0.00885614884541,1.03969223941
+308,5.133333333,pose2_to_pose3_retreat,0.609063721021,0.000181827897737,1.04002046041,0.57963487406,0.00885606217816,1.03969216799
+309,5.150000000,pose2_to_pose3_retreat,0.60850055737,0.000181811850373,1.04002042158,0.579071711802,0.00885604746136,1.03969212805
+310,5.166666667,pose2_to_pose3_retreat,0.607913173257,0.000181857929574,1.04002047701,0.57848432894,0.0088560941034,1.03969218463
+311,5.183333333,pose2_to_pose3_retreat,0.607290397511,0.000181828239641,1.04002063903,0.577861553991,0.00885606299921,1.03969234617
+312,5.200000000,pose2_to_pose3_retreat,0.606636836266,0.00018186576889,1.04002053658,0.577207993938,0.00885610156229,1.03969224332
+313,5.216666667,pose2_to_pose3_retreat,0.605959841172,0.000181807079964,1.04002042052,0.576530989929,0.00885604289877,1.03969213153
+314,5.233333333,pose2_to_pose3_retreat,0.605267067917,0.000181637029723,1.04002050674,0.575838217665,0.00885588165101,1.03969221487
+315,5.250000000,pose2_to_pose3_retreat,0.604558401942,0.000181716708585,1.04002045782,0.575129550915,0.00885595884255,1.03969216625
+316,5.266666667,pose2_to_pose3_retreat,0.60384681317,0.000181732914776,1.04002049187,0.574417961663,0.00885597323906,1.03969219659
+317,5.283333333,pose2_to_pose3_retreat,0.603131933778,0.000181744737222,1.04002044933,0.573703082349,0.00885598543961,1.03969215697
+318,5.300000000,pose2_to_pose3_retreat,0.60241164017,0.000181874407996,1.04002033266,0.572982787948,0.00885611285397,1.0396920512
+319,5.316666667,pose2_to_pose3_retreat,0.601688259595,0.000181873111527,1.04002063971,0.572259407078,0.00885611029031,1.03969235119
+320,5.333333333,pose2_to_pose3_retreat,0.600959451242,0.000181729662533,1.04002071138,0.57153059936,0.00885596835679,1.03969240588
+321,5.350000000,pose2_to_pose3_retreat,0.600222778908,0.000181773970775,1.04002066458,0.570793927348,0.00885601420023,1.03969237076
+322,5.366666667,pose2_to_pose3_retreat,0.599478605979,0.000181729237297,1.04002058983,0.570049755726,0.00885597381114,1.0396922936
+323,5.383333333,pose2_to_pose3_retreat,0.598716576101,0.000181766855657,1.04002055943,0.569287723992,0.00885600507829,1.03969226173
+324,5.400000000,pose2_to_pose3_retreat,0.597945471349,0.000181778960883,1.04002046885,0.568516618043,0.00885601346083,1.03969218007
+325,5.416666667,pose2_to_pose3_retreat,0.59718591744,0.000181727092531,1.04002041469,0.567757065122,0.0088559651348,1.03969213082
+326,5.433333333,pose2_to_pose3_retreat,0.596436544993,0.000181740355748,1.04002054774,0.567007692482,0.00885597731991,1.0396922527
+327,5.450000000,pose2_to_pose3_retreat,0.59569750225,0.000181811626855,1.04002053909,0.566268648867,0.00885604573608,1.03969224669
+328,5.466666667,pose2_to_pose3_retreat,0.594969747146,0.000181844378335,1.04002055621,0.565540893708,0.00885607816908,1.0396922602
+329,5.483333333,pose2_to_pose3_retreat,0.594248281072,0.00018179588402,1.04002044137,0.56481942889,0.00885603419591,1.03969215228
+330,5.500000000,pose2_to_pose3_retreat,0.593519136964,0.000181691822452,1.04002025771,0.564090285868,0.00885593398144,1.03969197285
+331,5.516666667,pose2_to_pose3_retreat,0.592783125649,0.000181643564922,1.04002031235,0.563354275185,0.00885588773358,1.03969202379
+332,5.533333333,pose2_to_pose3_retreat,0.592043034156,0.000181697365379,1.04002059197,0.562614183741,0.00885594140946,1.03969229574
+333,5.550000000,pose2_to_pose3_retreat,0.591307979879,0.00018175453496,1.04002069032,0.561879128936,0.00885599667244,1.03969239099
+334,5.566666667,pose2_to_pose3_retreat,0.590580762941,0.000181714063116,1.04002068843,0.561151912206,0.0088559568949,1.03969238867
+335,5.583333333,pose2_to_pose3_retreat,0.589874312883,0.000181782231304,1.04002065593,0.560445461974,0.0088560248032,1.03969236495
+336,5.600000000,pose2_to_pose3_retreat,0.589187638479,0.000181802928551,1.04002055424,0.55975878608,0.00885604050296,1.03969226473
+337,5.616666667,pose2_to_pose3_retreat,0.588516249335,0.000181793191079,1.04002068204,0.55908739706,0.00885603108019,1.03969239086
+338,5.633333333,pose2_to_pose3_retreat,0.587857829944,0.000181701453858,1.0400207497,0.558428979145,0.00885594404336,1.03969245179
+339,5.650000000,pose2_to_pose3_retreat,0.587210777069,0.000181676015957,1.04002066628,0.557781926083,0.00885591782329,1.03969236444
+340,5.666666667,pose2_to_pose3_retreat,0.586572742308,0.000181793822841,1.04002053449,0.557143888895,0.00885602764841,1.0396922377
+341,5.683333333,pose2_to_pose3_retreat,0.585946052796,0.00018171446339,1.04002043069,0.556517201574,0.00885595580717,1.03969213603
+342,5.700000000,pose2_to_pose3_retreat,0.585337169526,0.000181645220197,1.04002040771,0.555908319393,0.00885589043898,1.03969211784
+343,5.716666667,pose2_to_pose3_retreat,0.584746240272,0.000181749819246,1.04002053489,0.555317388582,0.00885598949746,1.03969223813
+344,5.733333333,pose2_to_pose3_retreat,0.584172841055,0.000181668353469,1.04002071388,0.554743990321,0.00885591128873,1.0396924175
+345,5.750000000,pose2_to_pose3_retreat,0.583616936788,0.000181681162372,1.04002052735,0.554188086323,0.00885592518461,1.03969223567
+346,5.766666667,pose2_to_pose3_retreat,0.58308194583,0.000181781183317,1.04002034061,0.553653094358,0.00885602178808,1.03969204886
+347,5.783333333,pose2_to_pose3_retreat,0.582569098429,0.000181798741054,1.04002046455,0.553140246553,0.00885603780311,1.03969216821
+348,5.800000000,pose2_to_pose3_retreat,0.582079962073,0.000181687889087,1.0400205472,0.552651111869,0.00885593273144,1.03969225379
+349,5.816666667,pose2_to_pose3_retreat,0.581613814844,0.000181767981435,1.04002064906,0.552184964151,0.00885601116693,1.03969235564
+350,5.833333333,pose2_to_pose3_retreat,0.581163138435,0.00018197213058,1.0400204701,0.551734283491,0.00885620094419,1.03969217804
+351,5.850000000,pose2_to_pose3_retreat,0.580723404135,0.000181876757711,1.0400205062,0.551294549403,0.00885610614221,1.03969221027
+352,5.866666667,pose2_to_pose3_retreat,0.580294743321,0.000181789583744,1.04002047492,0.550865889992,0.00885602384883,1.0396921821
+353,5.883333333,pose2_to_pose3_retreat,0.57987951939,0.000181738139929,1.04002053598,0.550450667171,0.00885597599561,1.03969223854
+354,5.900000000,pose2_to_pose3_retreat,0.579493654983,0.000181701029507,1.04002072457,0.550064802804,0.00885593863462,1.03969241693
+355,5.916666667,pose2_to_pose3_retreat,0.579137030629,0.000181806140831,1.04002066167,0.549708176514,0.00885603756321,1.03969236429
+356,5.933333333,pose2_to_pose3_retreat,0.578810692035,0.000181825048212,1.04002053398,0.549381838245,0.0088560577587,1.03969224145
+357,5.950000000,pose2_to_pose3_retreat,0.578509294181,0.000181825238583,1.04002022931,0.549080441141,0.00885606056266,1.03969193865
+358,5.966666667,pose2_to_pose3_retreat,0.578231396497,0.000181847491262,1.04002047797,0.548802543129,0.0088560817133,1.03969218753
+359,5.983333333,pose2_to_pose3_retreat,0.577964190254,0.000181824270374,1.04002066209,0.548535337678,0.00885606104551,1.03969236817
+360,6.000000000,pose2_to_pose3_retreat,0.57770675739,0.00018175021791,1.04002059152,0.548277906094,0.00885599125446,1.03969229543
+361,6.016666667,pose2_to_pose3_retreat,0.577463066099,0.000181664183536,1.0400204585,0.548034215383,0.00885590723875,1.03969216389
+362,6.033333333,pose2_to_pose3_retreat,0.577233208136,0.000181620872463,1.04002058709,0.547804358226,0.00885586649083,1.03969228811
+363,6.050000000,pose2_to_pose3_retreat,0.577019264349,0.000181724113026,1.04002067554,0.547590413348,0.0088559660787,1.03969237822
+364,6.066666667,pose2_to_pose3_retreat,0.576825394222,0.000181747852594,1.04002051278,0.547396542692,0.00885598846212,1.03969222664
+365,6.083333333,pose2_to_pose3_retreat,0.576655368303,0.000181774284657,1.04002066049,0.547226516491,0.008856013579,1.03969236491
+366,6.100000000,pose2_to_pose3_retreat,0.576506611374,0.000181783491028,1.04002047337,0.547077759091,0.00885602136077,1.03969218233
+367,6.116666667,pose2_to_pose3_retreat,0.576378021686,0.000181814304881,1.04002032409,0.546949167893,0.00885604720199,1.03969203704
+368,6.133333333,pose2_to_pose3_retreat,0.576268262663,0.000181766125333,1.04002038957,0.546839408996,0.00885599933597,1.03969209958
+369,6.150000000,pose2_to_pose3_retreat,0.576171789963,0.000181699111739,1.04002053779,0.54674293768,0.00885593687084,1.03969224394
+370,6.166666667,pose2_to_pose3_retreat,0.576085518498,0.000181765067311,1.04002051844,0.546656666608,0.00885600436681,1.03969223023
+371,6.183333333,pose2_to_pose3_retreat,0.576007866447,0.000181760888983,1.04002069661,0.546579015325,0.00885600213656,1.03969239377
+372,6.200000000,pose2_to_pose3_retreat,0.575938827734,0.000181670784412,1.04002044435,0.546509976322,0.00885591102463,1.03969214001
+373,6.216666667,pose2_to_pose3_retreat,0.575879715158,0.000181680430504,1.04002038617,0.546450864271,0.00885592282606,1.03969209087
+374,6.233333333,pose2_to_pose3_retreat,0.57583053275,0.000181742462059,1.04002047628,0.546401681273,0.00885598303407,1.03969218519
+375,6.250000000,pose2_to_pose3_retreat,0.575791699205,0.000181744271296,1.04002053885,0.546362847549,0.00885598420795,1.03969224689
+376,6.266666667,pose2_to_pose3_retreat,0.575760970658,0.000181667157363,1.04002051171,0.546332120837,0.00885591336234,1.0396922208
+377,6.283333333,pose2_to_pose3_retreat,0.575737901691,0.000181695178157,1.0400204171,0.546309051565,0.00885594043766,1.03969212856
+378,6.300000000,pose2_to_pose3_retreat,0.575719040769,0.000181809226814,1.0400204985,0.546290188664,0.00885604750034,1.03969220289
+379,6.316666667,pose2_to_pose3_retreat,0.575703886032,0.000181883329618,1.04002051173,0.546275032743,0.00885611756017,1.03969221543
+380,6.333333333,pose2_to_pose3_retreat,0.575692031986,0.000181879592485,1.04002042262,0.54626317895,0.00885611498978,1.0396921345
+381,6.350000000,pose2_to_pose3_retreat,0.575683235657,0.000181836705407,1.04002063346,0.54625438272,0.00885607223434,1.03969234004
+382,6.366666667,pose2_to_pose3_retreat,0.575676993823,0.000181888760776,1.04002059422,0.546248140634,0.00885612338151,1.0396922994
+383,6.383333333,pose2_to_pose3_retreat,0.575672902704,0.000181895951844,1.04002064117,0.546244049628,0.00885613081061,1.03969234242
+384,6.400000000,pose2_to_pose3_retreat,0.575670743238,0.00018184866145,1.04002079516,0.546241890614,0.00885608482899,1.03969249038
+385,6.416666667,pose2_to_pose3_retreat,0.575669569983,0.000181857493707,1.04002082763,0.546240717216,0.00885609322228,1.03969252405
+386,6.433333333,pose2_to_pose3_retreat,0.575669110252,0.000181876963767,1.04002081662,0.546240257248,0.00885611198708,1.03969251558
+387,6.450000000,pose2_to_pose3_retreat,0.575668984509,0.000181882289104,1.0400208136,0.546240131441,0.00885611711952,1.03969251327
+388,6.466666667,pose2_to_pose3_retreat,0.575668956876,0.000181883459409,1.04002081294,0.546240103793,0.00885611824743,1.03969251276
+389,6.483333333,pose2_to_pose3_retreat,0.575668902986,0.000181885741714,1.04002081165,0.546240049875,0.00885612044706,1.03969251177
+390,6.500000000,pose2_to_pose3_retreat,0.575668858233,0.000181887637015,1.04002081058,0.5462400051,0.00885612227371,1.03969251094
+391,6.516666667,pose2_to_pose3_retreat,0.575668817866,0.000181889346621,1.04002080961,0.546239964711,0.00885612392139,1.0396925102
+392,6.533333333,pose2_to_pose3_retreat,0.575668775221,0.00018189115265,1.04002080859,0.546239922045,0.008856125662,1.03969250941
+393,6.550000000,pose2_to_pose3_retreat,0.575668701153,0.00018189428952,1.04002080681,0.546239847939,0.00885612868524,1.03969250805
+394,6.566666667,pose2_to_pose3_retreat,0.57566861176,0.000181898075391,1.04002080467,0.5462397585,0.00885613233398,1.0396925064
+395,6.583333333,pose2_to_pose3_retreat,0.575668572795,0.000181899725609,1.04002080374,0.546239719514,0.00885613392442,1.03969250569
+396,6.600000000,pose2_to_pose3_retreat,0.575668331106,0.000181909961378,1.04002079795,0.546239477701,0.00885614378942,1.03969250123
+397,6.616666667,pose2_to_pose3_retreat,0.575668134712,0.000181918278834,1.04002079324,0.546239281207,0.00885615180559,1.03969249762
+398,6.633333333,pose2_to_pose3_retreat,0.575668032875,0.000181922591751,1.0400207908,0.546239179317,0.00885615596228,1.03969249574
+399,6.650000000,pose2_to_pose3_retreat,0.57566791608,0.000181926269235,1.04002078682,0.546239062462,0.00885615945643,1.03969249221
+400,6.666666667,pose2_to_pose3_retreat,0.575667883491,0.000181925070501,1.04002078362,0.546239029859,0.00885615819925,1.0396924888
+401,6.683333333,pose2_to_pose3_retreat,0.575667779471,0.000181921244246,1.04002077341,0.546238925792,0.00885615418645,1.03969247793
+402,6.700000000,pose2_to_pose3_retreat,0.575667643015,0.000181916224818,1.04002076002,0.546238789273,0.0088561489223,1.03969246367
+403,6.716666667,pose2_to_pose3_retreat,0.57566719109,0.000181899601242,1.04002071566,0.546238337144,0.00885613148824,1.03969241643
+404,6.733333333,pose2_to_pose3_retreat,0.57566684861,0.000181848843082,1.04002054685,0.546237995275,0.00885608293688,1.0396922512
+405,6.750000000,pose2_to_pose3_retreat,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579569,1.03969213895
diff --git a/Part2/Obstacle_avoidance/cylinder_PLA_10/position_02/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_PLA_10/position_02/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..44e7fa4fdecb7760bd83883cda15c27a81ae20fe
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_PLA_10/position_02/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:74edf58deb3a8b454c742e4b57acfcdf591f1bd4b664098cd983b44b8e820823
+size 25850009
diff --git a/Part2/Obstacle_avoidance/cylinder_PLA_10/position_02/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_PLA_10/position_02/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3b309b1a8ee678bc1b35c68f47bde2e6157815cd
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_PLA_10/position_02/depth_03/franka_data.csv
@@ -0,0 +1,408 @@
+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,793,749,728,707,697,655,935,803,835,667,658,675,0.400998986004,-0.00539469698105,0.0498588341587,0.999999962071,0.000117649340185,-0.000244759859921,-4.59172137262e-05,1793256534868046592
+1,0.016666667,BASELINE,793,749,728,707,697.61256231,655.61256231,935,803,835.61256231,667,658,675,0.400998596312,-0.00539513729794,0.0498588827347,0.999999962137,0.000117070976078,-0.000244811366002,-4.57001377916e-05,1793256534884713472
+2,0.033333333,BASELINE,793,749.212942306,728,707,698,655.787057694,934.787057694,803,835.787057694,667,658,675.212942306,0.400997993251,-0.00539547922493,0.0498586821729,0.999999962121,0.000116260090117,-0.000245281636503,-4.55947330991e-05,1793256534901380096
+3,0.050000000,BASELINE,793,749.792356729,728,707,698,655.207643271,934.207643271,803,835.207643271,667,658,675.792356729,0.400997022982,-0.00539565182373,0.0498580528467,0.999999961964,0.000115049035691,-0.000246472597447,-4.56815137449e-05,1793256534918046464
+4,0.066666667,BASELINE,793.369666887,750,728,707,698,655.369666887,934,803,835.369666887,667.369666887,658,676,0.400996991262,-0.0053958032169,0.0498583514614,0.999999961944,0.000115575209002,-0.000246332654081,-4.55474891857e-05,1793256534934713344
+5,0.083333333,BASELINE,793.945801726,750,728,707,698,655.945801726,934,803,835.945801726,667.945801726,658,676,0.400997483745,-0.00539594276619,0.0498591683536,0.999999961999,0.000117071666354,-0.000245449368198,-4.52901395407e-05,1793256534951380224
+6,0.100000000,BASELINE,794,749.477764791,728,707,698,656,934.522235209,803.522235209,835.477764791,667.477764791,658,676,0.400998669957,-0.00539585381421,0.0498594851276,0.999999962333,0.000116818633117,-0.000244194727507,-4.53573103368e-05,1793256534968046848
+7,0.116666667,BASELINE,793.899348231,749.100651769,728,707,698,656,934.899348231,803.899348231,835,667,658,676,0.40099937899,-0.00539569163564,0.0498595053103,0.999999962534,0.000116498836666,-0.000243495405923,-4.54934276119e-05,1793256534984713728
+8,0.133333333,BASELINE,793.311482541,749.688517459,728,707,698,656,934.311482541,803.311482541,835,667,658,676,0.400997429493,-0.00539528985343,0.0498583412009,0.999999961961,0.000116735248993,-0.000245670817981,-4.58001661824e-05,1793256535001379840
+9,0.150000000,BASELINE,793.27279655,749.72720345,728,707,698,655.72720345,934,803,835.27279655,667.27279655,658,675.72720345,0.400996907193,-0.00539510591144,0.0498582471983,0.999999961891,0.00011706827863,-0.000245790289103,-4.58276436944e-05,1793256535018046208
+10,0.166666667,BASELINE,793.853033521,749.146966479,728,707,698,655.146966479,934,803,835.853033521,667.853033521,658,675.146966479,0.400997993338,-0.00539516747437,0.0498593592011,0.99999996239,0.000117510195502,-0.000243592724369,-4.55403952935e-05,1793256535034712832
+11,0.183333333,BASELINE,793.570207338,749,728,707,698,655,934,803,835.570207338,668,658,675,0.400997846787,-0.0053960327202,0.0498592392454,0.999999962446,0.000116763601341,-0.000243740709755,-4.54370093092e-05,1793256535051379456
+12,0.200000000,BASELINE,793,749,728,707,698,655,934,803,835,667.994530946,658,675,0.400997296799,-0.00539714578121,0.0498587105347,0.999999962353,0.000115626637991,-0.00024467145587,-4.53983261987e-05,1793256535068046336
+13,0.216666667,BASELINE,793,749,728,707,698,655,934,803,835,667.408570044,658,675,0.400998306612,-0.00539562694179,0.0498591507411,0.999999962424,0.000115845834181,-0.00024423764523,-4.56076171963e-05,1793256535084713216
+14,0.233333333,BASELINE,793.175439648,749,728,707,698,655,934.175439648,803,835,667.175439648,657.824560352,675,0.400998443975,-0.00539409191191,0.0498593376766,0.99999996234,0.000116707365851,-0.000244125187084,-4.58400158064e-05,1793256535101380096
+15,0.250000000,BASELINE,793.75495539,749,728,707,698,655,934.75495539,803,835,667.75495539,657.24504461,675,0.400996571895,-0.00539251959155,0.0498589412735,0.999999961898,0.000119048337443,-0.000244752874318,-4.61256363708e-05,1793256535118046720
+16,0.266666667,BASELINE,793.666486445,749,727.666486445,707,698,655,934.666486445,803,835,667.666486445,657.333513555,675.333513555,0.400995460034,-0.00539361851116,0.0498584724317,0.999999961778,0.0001179774624,-0.000245814321978,-4.58407252535e-05,1793256535134713344
+17,0.283333333,BASELINE,793.088629866,749,727.088629866,707,698,655,934.088629866,803,835,667.088629866,657.911370134,675.911370134,0.400994905134,-0.00539667446932,0.049857950519,0.999999961884,0.000114406955914,-0.000247193556785,-4.51378238027e-05,1793256535151379712
+18,0.300000000,BASELINE,793,749,727.487466207,707,698,655,934,803,835,667,658,675.512533793,0.400996112732,-0.00539588395034,0.0498582179669,0.999999962051,0.000115721447946,-0.000245850558936,-4.54322685924e-05,1793256535168046336
+19,0.316666667,BASELINE,793.064556751,749,728,707,697.935443249,655.064556751,934,803,835,667,658,675,0.400997466906,-0.00539468563842,0.0498585556561,0.999999962208,0.000117486363213,-0.000244302573924,-4.58056662703e-05,1793256535184712960
+20,0.333333333,BASELINE,793.652291382,749,728,707,697.347708618,655.652291382,934,803,835,667,658,675,0.400997421307,-0.00539582980869,0.0498583036722,0.99999996224,0.00011572954838,-0.000245090053478,-4.53546321739e-05,1793256535201379840
+21,0.350000000,BASELINE,794,749,728,707,697.236534616,655.763465384,934,803,835,667,658,675,0.400997541946,-0.00539646123431,0.0498584159351,0.999999962405,0.000114653020765,-0.000244960788223,-4.51634057934e-05,1793256535218046464
+22,0.366666667,BASELINE,794,749,728,707,697.815720061,655.184279939,934,803,835,667,658,675,0.400997903401,-0.00539634988321,0.0498590558562,0.999999962763,0.000114561976872,-0.000243503500082,-4.53485443595e-05,1793256535234713088
+23,0.383333333,BASELINE,793.606726646,749,728,706.606726646,698,655,934.393273354,803,835,667,658,675.393273354,0.400998263267,-0.00539597386295,0.0498593828344,0.999999962819,0.000114823648,-0.000243118613236,-4.55043615056e-05,1793256535251380224
+24,0.400000000,BASELINE,793.029934935,749,728,706.029934935,698,655,934.970065065,803,835,667,658,675.970065065,0.400998622393,-0.00539547433659,0.0498595637799,0.999999962735,0.000115249911205,-0.000243234155091,-4.56464960251e-05,1793256535268047104
+25,0.416666667,BASELINE,793.536001288,749.536001288,728,706.536001288,698,655,935,803,835,667,658,676,0.400998251109,-0.00539554095606,0.0498594024562,0.999999962517,0.000116161019884,-0.000243733847643,-4.54673844562e-05,1793256535284713472
+26,0.433333333,BASELINE,793.892605209,749.892605209,728,707,698,655,934.892605209,803,835,667,658,675.892605209,0.400997754543,-0.00539563477518,0.0498592488858,0.999999962293,0.000117050089625,-0.00024425891685,-4.52870070327e-05,1793256535301379840
+27,0.450000000,BASELINE,793.293504765,749.293504765,728,707,698,655,934.293504765,803,835,667,658,675.293504765,0.400996867429,-0.00539571123657,0.0498592165948,0.999999962086,0.000117716739645,-0.000244803894637,-4.51813465756e-05,1793256535318046464
+28,0.466666667,BASELINE,793,749,728,707,698,655,934,803,835.294919819,667,657.705080181,675,0.400996355264,-0.0053951268233,0.0498591607644,0.999999961931,0.000118695332776,-0.000244948108001,-4.52689158567e-05,1793256535334713088
+29,0.483333333,BASELINE,793,749,728,707,698,655,934,803,835.873090899,667,657.126909101,675,0.400996203213,-0.00539390768301,0.0498590823257,0.999999961825,0.000119973526891,-0.00024470741323,-4.55420697123e-05,1793256535351379456
+30,0.500000000,BASELINE,793,749,728,707,698,655,934,803,835.548715552,667,657.451284448,675,0.40099689565,-0.00539384406902,0.0498591314691,0.999999962129,0.000118251349122,-0.000244255890541,-4.57980602826e-05,1793256535368046336
+31,0.516666667,BASELINE,793,749,728,707,698,655,934.029238323,803,835,667,658,675,0.400997745329,-0.00539409936203,0.0498592142517,0.999999962508,0.000115868868052,-0.000243805442485,-4.60212420585e-05,1793256535384713216
+32,0.533333333,BASELINE,793,749,728,707,698,655,934.602614306,803,835,667,658,675,0.400997101425,-0.00539424181203,0.0498592553324,0.999999962237,0.000116901323277,-0.000244478433088,-4.57236681243e-05,1793256535401380096
+33,0.550000000,BASELINE,793.18237233,749,728,707,698,655,935,803,835,667,658,675.18237233,0.400996311403,-0.00539423224743,0.0498591330773,0.999999961949,0.000118235016542,-0.000245054257082,-4.549764883e-05,1793256535418046976
+34,0.566666667,BASELINE,793.776540913,749,728,707,698,655,935,803,835,667,658,675.776540913,0.400995191447,-0.00539387943425,0.0498586420105,0.999999961625,0.000120248904385,-0.000245410679032,-4.54331997684e-05,1793256535434713344
+35,0.583333333,BASELINE,794,749.360062182,728,707,698,655,934.639937818,803,835,667,658,675.639937818,0.400995921138,-0.00539379878033,0.049859122658,0.9999999618,0.000121063758762,-0.000244323168228,-4.528192154e-05,1793256535451379968
+36,0.600000000,BASELINE,794,749.937165437,728,707,698,655,934.062834563,803,835,667,658,675.062834563,0.400997765775,-0.00539388218066,0.0498601890429,0.999999962274,0.000121155850643,-0.000242365272474,-4.50783037469e-05,1793256535468046592
+37,0.616666667,BASELINE,793.489767252,750,728,707,698,655.510232748,934.510232748,803,835,667,658,675.510232748,0.400996125399,-0.00539428876503,0.049859521397,0.999999962083,0.000118597340063,-0.000244402047526,-4.5114428976e-05,1793256535484713216
+38,0.633333333,BASELINE,793,750,728,707,698,656,934.91465964,803,835,667,658,676,0.400994786403,-0.00539466495266,0.0498589112927,0.999999961923,0.000116428960145,-0.00024608567125,-4.51745459344e-05,1793256535501379840
+39,0.650000000,BASELINE,793,750,728,707,698,656,934.324567683,803,835,667,658,676,0.400997748402,-0.00539462780594,0.0498598946303,0.999999962485,0.000118483508781,-0.000242793783842,-4.52033119185e-05,1793256535518046464
+40,0.666666667,BASELINE,793,749.739164745,728,707,698,655.739164745,934,803,835,667,658,676,0.400998953256,-0.00539497107515,0.04986011248,0.999999962677,0.00011873133591,-0.000241879215453,-4.5208241427e-05,1793256535534713344
+41,0.683333333,BASELINE,793,749.159493537,728,707,698,655.159493537,934,803,835,667,658,676,0.400998010236,-0.00539577935158,0.0498593946238,0.999999962425,0.000116770689327,-0.000243870599432,-4.51840340546e-05,1793256535551380480
+42,0.700000000,BASELINE,793,749.417060868,728,707,697.582939132,655,934.417060868,803,835,667.417060868,658,676,0.400996677918,-0.00539585654839,0.0498589753249,0.999999962223,0.000115842467645,-0.00024512449306,-4.52582950196e-05,1793256535568046848
+43,0.716666667,BASELINE,793,749.992432165,728,707,697.007567835,655,934.992432165,803,835,667.992432165,658,676,0.400995197829,-0.00539565623767,0.0498586693541,0.999999962041,0.000115306139951,-0.000246098445697,-4.53699331785e-05,1793256535584713472
+44,0.733333333,BASELINE,793,749.431885164,728,707,697.568114836,655,934.431885164,803,835,668,658,676,0.400996277219,-0.00539542636788,0.0498592369274,0.999999962302,0.000116635418502,-0.000244415078719,-4.53111691591e-05,1793256535601379840
+45,0.750000000,BASELINE,793,749,728,707,698,655,934,803,835,667.852487585,657.852487585,675.852487585,0.400997314371,-0.00539508295012,0.049859577039,0.999999962501,0.000117643578975,-0.000243113361323,-4.53120173153e-05,1793256535618046208
+46,0.766666667,BASELINE,793,749,728,707,698,655,934,803,835,667.261945448,657.261945448,675.261945448,0.400998122216,-0.00539439969268,0.0498591990385,0.999999962508,0.000117612634003,-0.000243064237774,-4.54987221066e-05,1793256535634712832
+47,0.783333333,BASELINE,793,749,727.677907373,707,698,655,934,803,835,667,657.322092627,675.322092627,0.400997873099,-0.00539502233783,0.0498591700458,0.999999962559,0.000116199221178,-0.000243536322458,-4.54847786427e-05,1793256535651379456
+48,0.800000000,BASELINE,793,749,727.09905404,707,698,655,934,803,835,667,657.90094596,675.90094596,0.40099678141,-0.00539668600168,0.0498594192695,0.99999996264,0.000113683754493,-0.000244423895671,-4.53108855963e-05,1793256535668046336
+49,0.816666667,BASELINE,793.476715569,748.523284431,727.476715569,707,698,655.476715569,934,803,835,667,658,675.523284431,0.400997552899,-0.00539708540096,0.0498595102543,0.999999962708,0.000115044295023,-0.000243517559809,-4.52631772578e-05,1793256535684713472
+50,0.833333333,BASELINE,793.947204507,748.052795493,728,707,698,655.947204507,934,803,835.052795493,667,658,675,0.400998483294,-0.00539715110175,0.0498595535543,0.999999962761,0.000116888738192,-0.000242419582246,-4.52449205288e-05,1793256535701380352
+51,0.850000000,BASELINE,793.361567088,748.638432912,728,707,698,655.361567088,934,803,835.638432912,667,658,675,0.400997135343,-0.00539648314947,0.0498594453004,0.999999962746,0.000115540956894,-0.000243125234636,-4.5260987735e-05,1793256535718046976
+52,0.866666667,BASELINE,793.223243868,749,728,707,698,655,934,803,835.776756132,667,658,675.223243868,0.40099635831,-0.00539593529005,0.0498595254079,0.999999962695,0.000115198152337,-0.00024350763309,-4.52140311951e-05,1793256535734713600
+53,0.883333333,BASELINE,793.806721183,749,728,707,698,655,934,803,835.193278817,667,658,675.806721183,0.400996502527,-0.00539558121635,0.0498599094614,0.999999962587,0.000116477010479,-0.000243368418605,-4.5065377521e-05,1793256535751379968
+54,0.900000000,BASELINE,794,749,728,707,698,655,934,803,835,667,657.615400756,676,0.400996346745,-0.00539489532459,0.0498596496951,0.99999996235,0.000117933114711,-0.000243634617071,-4.50940058312e-05,1793256535768046592
+55,0.916666667,BASELINE,794,749,728,707,698,655,934,803,835,667,657.040296217,676,0.400996042364,-0.00539404507189,0.0498590710226,0.999999962048,0.000119477015014,-0.000244101630583,-4.52104480386e-05,1793256535784713216
+56,0.933333333,BASELINE,793.467545498,749,728,707,698,655.532454502,934.532454502,803,835,667,657.532454502,676,0.400996956981,-0.00539470094804,0.0498594374327,0.999999962332,0.000118698081264,-0.000243306999773,-4.52528989748e-05,1793256535801380096
+57,0.950000000,BASELINE,793,749,728,707,698,655.891842205,935,803,835,667,657.891842205,676,0.40099746499,-0.00539536314828,0.0498596598884,0.999999962538,0.000117891919764,-0.000242845632909,-4.52970675636e-05,1793256535818046720
+58,0.966666667,BASELINE,793,749,728,707,698,655.302205791,935,803,835,667,657.302205791,676,0.400995754057,-0.00539554831932,0.0498589245154,0.9999999622,0.000117743669087,-0.000244291011674,-4.53737004422e-05,1793256535834714112
+59,0.983333333,BASELINE,793,749,728,707,698,655,934.715715758,803,835,667,657.284284242,675.715715758,0.400994976168,-0.00539514331856,0.0498583090513,0.999999961846,0.000118076005496,-0.000245568667317,-4.54185163718e-05,1793256535851381248
+60,1.000000000,BASELINE,793,749,728,707,698,655,934.132533772,803,835,667,657.867466228,675.132533772,0.400995179285,-0.0053941178085,0.0498578196599,0.999999961475,0.000118913633335,-0.000246669978281,-4.54298798258e-05,1793256535868048128
+61,1.016666667,BASELINE,793,749,728,707,698,655.442455398,934,803,835,667,658,675,0.400996247455,-0.00539478543824,0.0498588464575,0.999999962105,0.000117292692211,-0.000244907807843,-4.52996209709e-05,1793256535884714240
+62,1.033333333,BASELINE,792.984526648,749,728,707,698,656,934,803,835,667,658,675,0.400997520962,-0.00539588633554,0.0498602699258,0.999999962982,0.00011505998293,-0.000242404085028,-4.513871101e-05,1793256535901380096
+63,1.050000000,BASELINE,792.395255521,749,728,707,698,656,934,803,835,667,658,675,0.400996974769,-0.00539458878991,0.0498598676472,0.999999962453,0.000116954112288,-0.000243630370143,-4.53856920844e-05,1793256535918046464
+64,1.066666667,BASELINE,792.190825287,749.190825287,728,707,698,655.809174713,934.190825287,803,835,667,658,675,0.400996895826,-0.00539401581693,0.0498596684436,0.999999962188,0.00011836761806,-0.000244010924347,-4.55092931347e-05,1793256535934712832
+65,1.083333333,BASELINE,792.770406631,749.770406631,728,707,698,655.229593369,934.770406631,803,835,667,658,675,0.400997768782,-0.00539491896918,0.0498598829519,0.999999962469,0.000118801980267,-0.000242668525414,-4.53815400012e-05,1793256535951379712
+66,1.100000000,BASELINE,793.347602932,749.652397068,728,707,698,655.347602932,935,803,835,667,658,675.347602932,0.400997856108,-0.00539554550149,0.0498599425779,0.999999962675,0.000118046995835,-0.000242203355411,-4.53094009188e-05,1793256535968046592
+67,1.116666667,BASELINE,793.923234613,749.076765387,728,707,698,655.923234613,935,803,835,667,658,675.923234613,0.400997428058,-0.00539599057011,0.0498599006005,0.99999996283,0.000116511795797,-0.000242313650731,-4.52737448552e-05,1793256535984713472
+68,1.133333333,BASELINE,793.503254137,749,728,707,698,655.503254137,934.503254137,803,835,667,658,676,0.400997278283,-0.00539582933599,0.0498603786422,0.999999963043,0.000115227494622,-0.000242054849544,-4.52291725959e-05,1793256536001380096
+69,1.150000000,BASELINE,793.072327132,749.072327132,728,707,698,655.072327132,934.072327132,803,835,667,658,676,0.400997154046,-0.00539567475618,0.0498608215092,0.999999963206,0.000114318998412,-0.000241822948722,-4.51741172826e-05,1793256536018047232
+70,1.166666667,BASELINE,793.665153052,749.665153052,728,707,698,655.665153052,934.665153052,803,835,667,658,676,0.400996905438,-0.00539623947633,0.0498604353809,0.999999962947,0.00011583712313,-0.000242193368247,-4.50534948753e-05,1793256536034713344
+71,1.183333333,BASELINE,793.748704927,749.748704927,728,707,698,655.748704927,934.748704927,803,835,667,658,676,0.400996982951,-0.00539661978141,0.0498600214822,0.999999962712,0.000117090711356,-0.000242570893331,-4.50091698926e-05,1793256536051379712
+72,1.200000000,BASELINE,793.171238274,749.171238274,728,707,698,655.171238274,934.171238274,803,835,667,658,676,0.400997483755,-0.00539676072269,0.0498595715383,0.999999962508,0.000118000941349,-0.00024295764121,-4.5063876089e-05,1793256536068046336
+73,1.216666667,BASELINE,793.405389514,749,728,707,698,655,934,803,835,667,658,676,0.400997409037,-0.00539676731994,0.049859480234,0.999999962572,0.000117365003052,-0.000243045253137,-4.48444343006e-05,1793256536084712960
+74,1.233333333,BASELINE,793.981663659,749,728,707,698,655,934,803,835,667,658,676,0.400997091719,-0.00539671728687,0.0498595401077,0.999999962746,0.000116077305375,-0.000243006769682,-4.45094303755e-05,1793256536101379584
+75,1.250000000,BASELINE,793.432479383,749,728,707,698,655,934.567520617,803,835,667,657.432479383,676,0.400997161922,-0.00539700718659,0.0498598401412,0.999999962897,0.000114708613914,-0.000242995701187,-4.47422857753e-05,1793256536118046720
+76,1.266666667,BASELINE,793.152042208,749,728,707,698,655,934.847957792,803,835,667,657.152042208,675.847957792,0.400997446765,-0.00539712564832,0.0498602158426,0.999999963045,0.0001139116723,-0.000242724298187,-4.49429950312e-05,1793256536134713600
+77,1.283333333,BASELINE,793.731919939,749,728,707,698,655,934.268080061,803,835,667,657.731919939,675.268080061,0.40099829975,-0.00539673025982,0.0498607822583,0.999999963192,0.000114731082693,-0.000241717797866,-4.50007327711e-05,1793256536151380480
+78,1.300000000,BASELINE,793.689261759,749,728,707,698,655,934,803,835,667,658,675,0.400998446552,-0.00539625483667,0.0498609403404,0.999999963122,0.000116080271043,-0.000241355857497,-4.50402273841e-05,1793256536168047104
+79,1.316666667,BASELINE,793.111354372,749,728,707,698,655,934,803,835,667,658,675,0.400997986185,-0.00539571060067,0.049860747342,0.999999962863,0.00011788495631,-0.000241548102369,-4.50640367644e-05,1793256536184713216
+80,1.333333333,BASELINE,793.465392778,749,727.534607222,707,698,655,934,803,835,667,658,675.465392778,0.400997949007,-0.00539453452029,0.0498607289171,0.999999962777,0.000118529363918,-0.000241539374733,-4.5333102384e-05,1793256536201379840
+81,1.350000000,BASELINE,793.957355183,749,727.042644817,707,698,655.042644817,934,803,835,667,658,676,0.400997949441,-0.00539342456464,0.0498607015392,0.999999962754,0.000118618872978,-0.000241534437839,-4.56347616224e-05,1793256536218046464
+82,1.366666667,BASELINE,793.37011969,749,727.62988031,707,698,655.62988031,934,803,835,667,658,676,0.400997140334,-0.00539508488914,0.049860027734,0.999999963001,0.000115158602017,-0.000242190467685,-4.56051207195e-05,1793256536234713088
+83,1.383333333,BASELINE,793,749.213994925,728,707,698,655.786005075,934,803,835,667,658,676,0.400996737644,-0.00539604768734,0.0498597734593,0.999999963088,0.000113895947096,-0.00024246896118,-4.54017835834e-05,1793256536251379712
+84,1.400000000,BASELINE,793,749.792789438,728,707,698,655.207210562,934,803,835,667,658,676,0.400997027775,-0.00539582140477,0.0498602343631,0.999999962913,0.000116379592743,-0.000242103864256,-4.49023444927e-05,1793256536268046848
+85,1.416666667,BASELINE,793,749.62970571,728,707,698,655,934,803,835,667,658,675.62970571,0.40099746866,-0.00539545662619,0.0498605474761,0.999999962958,0.000116680526794,-0.000241755053439,-4.49948675429e-05,1793256536284713728
+86,1.433333333,BASELINE,793,749.052920062,728,707,698,655,934,803,835,667,658,675.052920062,0.400997993612,-0.00539501461654,0.0498607781748,0.999999963127,0.000115764290746,-0.000241415324448,-4.54174931116e-05,1793256536301380352
+87,1.450000000,BASELINE,793.523264918,749,728,707,698,655,934,803,835,667,657.476735082,675,0.400997564877,-0.00539534969233,0.0498608266522,0.999999963056,0.000115822401085,-0.000241730738103,-4.5152942707e-05,1793256536318046720
+88,1.466666667,BASELINE,794,749,728,707,698,655,934,803,835,667,657,675,0.400997205992,-0.00539588692716,0.0498609317161,0.999999963068,0.000115665503396,-0.000241810256649,-4.48746003074e-05,1793256536334712832
+89,1.483333333,BASELINE,794,749,728,707,698,655,934,803,835,667,657,675,0.400997644262,-0.00539701731113,0.0498613965009,0.999999963589,0.000114005168773,-0.000240440820337,-4.48630734582e-05,1793256536351379456
+90,1.500000000,BASELINE,793.724651688,749,728,707,698,655,934,803,835,667,657.275348312,675,0.400997550648,-0.00539732701352,0.0498610880634,0.999999963624,0.000113644251368,-0.000240442582478,-4.49875355032e-05,1793256536368046336
+91,1.516666667,BASELINE,793.145546077,749,728,707,698,655,934,803,835,667,657.854453923,675,0.400996870275,-0.00539673136065,0.0498599266265,0.999999963124,0.000114716818308,-0.000241957016186,-4.52620170599e-05,1793256536384712960
+92,1.533333333,BASELINE,793,749,728,707,698,655,934,803,835,667,658,675,0.400996620065,-0.00539618911486,0.0498595969258,0.999999962931,0.000114947874272,-0.000242632979379,-4.53144105339e-05,1793256536401379584
+93,1.550000000,BASELINE,793,749,728,707,698,655,934,803,835,667,658,675,0.40099651426,-0.00539566479781,0.0498595464393,0.999999962843,0.000114896434722,-0.000243027467777,-4.52922489639e-05,1793256536418046464
+94,1.566666667,BASELINE,793,749,728,707,697.422167473,655,934,803,835,667,657.422167473,675,0.400995958817,-0.00539555109278,0.0498596362274,0.999999962653,0.000115568964828,-0.00024348838982,-4.5284614793e-05,1793256536434713344
+95,1.583333333,BASELINE,793,749.173205011,728,707,697.173205011,655,934,803,835,667,657,675,0.400995493914,-0.00539620864936,0.0498597798299,0.999999962669,0.000114950173263,-0.000243729219643,-4.52168456531e-05,1793256536451380224
+96,1.600000000,BASELINE,793,749.756048004,728,707,697.756048004,655,934,803,835,667,657,675,0.400995285169,-0.00539865189418,0.0498600375939,0.999999963171,0.00011120967298,-0.000243443311289,-4.50054965496e-05,1793256536468046592
+97,1.616666667,BASELINE,793,749.664809031,728,707,698,655,934,803,835,667,657.335190969,675,0.400996132046,-0.00539836266056,0.0498605436105,0.999999963297,0.000111918670307,-0.000242611580755,-4.49452697278e-05,1793256536484712704
+98,1.633333333,BASELINE,793,749.08832958,728,707,698,655,934,803,835,667,657.91167042,675,0.400997738818,-0.00539610644189,0.0498612283327,0.999999963146,0.000115830655469,-0.000241386938084,-4.4993828862e-05,1793256536501379328
+99,1.650000000,BASELINE,793.484042965,749,728,707,698,655,934,803,835,667,658,675.484042965,0.400997876522,-0.00539643037021,0.0498608600277,0.999999963011,0.000116864875224,-0.00024143806816,-4.50323634642e-05,1793256536518046208
+100,1.666666667,BASELINE,793.942290931,749,728,706.942290931,698,655,934,803,835,667,658,675.942290931,0.400997730204,-0.0053971065676,0.0498603890248,0.999999962899,0.000117280434308,-0.000241691887332,-4.50745680446e-05,1793256536534712832
+101,1.683333333,BASELINE,793.349749262,749,728,706.349749262,698,655,934,803,835,667,658,675.349749262,0.400997415226,-0.00539672065883,0.0498607321445,0.999999962954,0.000116788350553,-0.000241684736205,-4.51675959246e-05,1793256536551379712
+102,1.700000000,BASELINE,793,749,728,706.237711804,698,655,934,803,835,667,658,675,0.400997505031,-0.00539681403871,0.0498610586087,0.999999963183,0.00011547246725,-0.000241376789694,-4.51374324247e-05,1793256536568046336
+103,1.716666667,BASELINE,793,749,728,706.817854071,698,655,934,803,835,667,658,675,0.400998177936,-0.00539759784726,0.0498613610803,0.999999963657,0.000112969877838,-0.00024063553907,-4.49298083086e-05,1793256536584712960
+104,1.733333333,BASELINE,793,749,728,707,698,655,934,803,835,667,658,675.395345404,0.400997964617,-0.00539789730328,0.0498610570312,0.999999963671,0.000113059070322,-0.000240558776504,-4.48015874059e-05,1793256536601379840
+105,1.750000000,BASELINE,793,749,728,707,698,655,934,803,835,667,658,675.971623568,0.400997345711,-0.00539797509184,0.0498604754036,0.999999963475,0.000114334410825,-0.00024078612177,-4.47097059556e-05,1793256536618046464
+106,1.766666667,BASELINE,793,749,728,707,698,655,934.556654936,803,835,667,657.443345064,675.443345064,0.400995885703,-0.00539547026417,0.0498595613982,0.999999962636,0.000116858817642,-0.00024300969807,-4.49242128392e-05,1793256536634713088
+107,1.783333333,POSE1_TO_POSE2_PRESS,793,749,728,707,698,655,935,803,835,667,658,675,0.400998332378,-0.00539407237709,0.0498615604958,0.999999963375,0.00011738295764,-0.000239566365877,-4.55950404726e-05,1793256536676102144
+108,1.800000000,POSE1_TO_POSE2_PRESS,793,749,728,707,698,655,934.42226944,803,835,667,658,675,0.400996442734,-0.00539543303315,0.049860057663,0.999999963065,0.000114276022655,-0.000242376308309,-4.54336985341e-05,1793256536692768768
+109,1.816666667,POSE1_TO_POSE2_PRESS,793,749,728,707,698,655,934.154224532,803,835,667,657.845775468,675,0.400995637842,-0.00539652912056,0.0498592914548,0.999999962924,0.000112384766385,-0.000243859238972,-4.53321716211e-05,1793256536709435904
+110,1.833333333,POSE1_TO_POSE2_PRESS,793,749,728,707,698,655,934.72735976,803,835,667,657.27264024,675,0.400997779398,-0.00539690657655,0.0498605260942,0.999999963276,0.000113795583448,-0.000241737689062,-4.53931165825e-05,1793256536726103296
+111,1.850000000,POSE1_TO_POSE2_PRESS,793,749,728,706.690310837,697.690310837,655.309689163,934.690310837,803,835,667,657.309689163,675,0.400997880082,-0.00539695334355,0.0498607130345,0.999999963217,0.000114855001106,-0.000241507664261,-4.52510983085e-05,1793256536742769920
+112,1.866666667,POSE1_TO_POSE2_PRESS,793,749,728,706.099639562,697.099639562,655.900360438,934.099639562,803,835,667,657.900360438,675,0.400996129074,-0.00539670007517,0.0498599493934,0.999999962787,0.000115595592711,-0.000242993827254,-4.49249307439e-05,1793256536759435776
+113,1.883333333,POSE1_TO_POSE2_PRESS,793,749,727.518412284,706.481587716,697.481587716,655.518412284,934,803,835.481587716,667,658,675,0.400995870706,-0.00539572302701,0.0498597017023,0.999999962645,0.000116164387137,-0.000243283951651,-4.50473053313e-05,1793256536776102144
+114,1.900000000,POSE1_TO_POSE2_PRESS,793,749,727.060624945,707,698,655,934,803,835.939375055,667,658,675.060624945,0.400995953815,-0.00539482745896,0.049859609479,0.999999962598,0.000116466807924,-0.000243296416579,-4.52382220653e-05,1793256536792769024
+115,1.916666667,POSE1_TO_POSE2_PRESS,793,749,727.637332417,707,698,655,934,803,835.362667583,667,658,675.637332417,0.400996365455,-0.00539587575632,0.0498599494623,0.99999996286,0.000114798427901,-0.000243011270707,-4.5237811543e-05,1793256536809435648
+116,1.933333333,POSE1_TO_POSE2_PRESS,793.210829538,749,728,707,698,655,934,803,835,667,657.789170462,676,0.400999807443,-0.00539691150744,0.0498615423067,0.999999963628,0.000113511567793,-0.000240479836878,-4.50333730469e-05,1793256536826102528
+117,1.950000000,POSE1_TO_POSE2_PRESS,793.778887008,749,728,707,698,655,934,803,835,667,657.221112992,676,0.401008384031,-0.0053979260002,0.0498652579891,0.999999965229,0.000112871152229,-0.000234142310209,-4.44832311352e-05,1793256536842769920
+118,1.966666667,POSE1_TO_POSE2_PRESS,794,749.363793988,728,706.636206012,698,655,934,803,835,667,657,675.636206012,0.401031884275,-0.00539783489321,0.0498743393681,0.999999969113,0.000115244860126,-0.00021578174393,-4.39527606249e-05,1793256536859436800
+119,1.983333333,POSE1_TO_POSE2_PRESS,794,749.959439474,728,706.040560526,698,655,934,803,835,667,657,675.040560526,0.401064895594,-0.0053970391706,0.0498868403884,0.999999973908,0.000119539515093,-0.000189758709022,-4.34348269229e-05,1793256536876103424
+120,2.000000000,POSE1_TO_POSE2_PRESS,794,750,728,706.540942658,698,655.540942658,934,803,835,667,657,675.540942658,0.401123958592,-0.00539926845945,0.0499055458846,0.999999980691,0.000118831986847,-0.000150752674983,-4.20867668849e-05,1793256536892769792
+121,2.016666667,POSE1_TO_POSE2_PRESS,793.879304465,749.879304465,728,707,698,655.879304465,934,803,835,667,657,675.879304465,0.401187491397,-0.0054020998496,0.0499238793384,0.99999998563,0.000117097701987,-0.000115692172207,-4.05376886538e-05,1793256536909436160
+122,2.033333333,POSE1_TO_POSE2_PRESS,793.302262071,749.302262071,728,707,698,655.302262071,934,803,835,667,657,675.302262071,0.40126072692,-0.00540637202336,0.0499390919482,0.999999987977,0.00011286327433,-9.91365465972e-05,-3.84579118956e-05,1793256536926102528
+123,2.050000000,POSE1_TO_POSE2_PRESS,793,749,728,707,698,655.278303445,934.278303445,803,835.278303445,667,657,675.278303445,0.401340452076,-0.00540988789523,0.0499514281258,0.999999989927,0.000109328692226,-8.25835570548e-05,-3.70582954941e-05,1793256536942769152
+124,2.066666667,POSE1_TO_POSE2_PRESS,793,749,728,707,698,655.862744408,934.862744408,803,835.862744408,667,657,675.862744408,0.40142731591,-0.00541257182464,0.0499606001885,0.999999991479,0.000106563949862,-6.6033468222e-05,-3.64068647215e-05,1793256536959435776
+125,2.083333333,POSE1_TO_POSE2_PRESS,793,749,728.443217208,707,698,656,934.556782792,803,835.556782792,667,657.443217208,676,0.401526615393,-0.00541439672905,0.0499619227218,0.999999991606,0.000106884853599,-6.39070856541e-05,-3.57782554255e-05,1793256536976102656
+126,2.100000000,POSE1_TO_POSE2_PRESS,793.022430964,749,728.977569036,707,698,655.977569036,934,803,835,667,658,675.977569036,0.401630939742,-0.00541619545642,0.0499608592024,0.999999991374,0.000107928919469,-6.61029692782e-05,-3.51286651905e-05,1793256536992769280
+127,2.116666667,POSE1_TO_POSE2_PRESS,793.600626956,749,728.399373044,707,698,655.399373044,934,803,835,667,658,675.399373044,0.401765193488,-0.00542387828613,0.049960371013,0.999999991923,0.000103424939274,-6.57014202325e-05,-3.37856845218e-05,1793256537009435648
+128,2.133333333,POSE1_TO_POSE2_PRESS,793.821863286,749,728,707,698,655.178136714,934.178136714,803,835,667.178136714,658,675.178136714,0.401907533152,-0.00543101342765,0.0499604669162,0.999999992393,9.91980252525e-05,-6.57315540662e-05,-3.24420791314e-05,1793256537026102016
+129,2.150000000,POSE1_TO_POSE2_PRESS,793.245886202,749,728,707,698,655.754113798,934.754113798,803,835,667.754113798,658,675.754113798,0.402067931427,-0.00543692539261,0.0499618672983,0.999999992722,9.55898956138e-05,-6.67257838567e-05,-3.10970787042e-05,1793256537042768896
+130,2.166666667,POSE1_TO_POSE2_PRESS,793,749,728,707,698,655.663353725,934.663353725,803,835,667.663353725,657.663353725,676,0.40224228082,-0.00544190147892,0.0499616505962,0.999999992725,9.32390320867e-05,-7.03963799944e-05,-3.00014318663e-05,1793256537059435264
+131,2.183333333,POSE1_TO_POSE2_PRESS,793,749,728,707,698,655.075938043,934.075938043,803,835,667.075938043,657.075938043,676,0.402427022483,-0.0054461804254,0.0499602293203,0.999999992468,9.18247116645e-05,-7.60606142093e-05,-2.90915295574e-05,1793256537076101888
+132,2.200000000,POSE1_TO_POSE2_PRESS,793,749,728,707,698,655,934,803,835,667,657,675.495623311,0.402646560995,-0.00545375260727,0.0499589951685,0.999999992495,8.89148412841e-05,-7.97640269065e-05,-2.72236641776e-05,1793256537092768768
+133,2.216666667,POSE1_TO_POSE2_PRESS,793,749,728,707,698,655.083312846,934.083312846,803,835,667,657.083312846,675.083312846,0.402879903815,-0.00546204053814,0.0499588524884,0.999999992726,8.53657723771e-05,-8.14032619056e-05,-2.51755316132e-05,1793256537109435392
+134,2.233333333,POSE1_TO_POSE2_PRESS,793,749,728,707,698,655.660327412,934.660327412,803,835,667,657.660327412,675.660327412,0.403164434993,-0.00547167251506,0.0499650131042,0.999999993959,7.93446793082e-05,-7.25355708019e-05,-2.29019757104e-05,1793256537126102016
+135,2.250000000,POSE1_TO_POSE2_PRESS,793,749,728,707,698,655.763370378,934.763370378,803,835,667,657.763370378,676,0.403465274319,-0.00548191207656,0.0499731491007,0.999999995342,7.48444065305e-05,-5.74953705779e-05,-2.02300199838e-05,1793256537142768640
+136,2.266666667,POSE1_TO_POSE2_PRESS,793,749,728,707,698,655.188087692,934.188087692,803,835,667,657.188087692,676,0.403789453076,-0.00549302118363,0.0499841121678,0.999999996661,7.2520659792e-05,-3.36213692679e-05,-1.69878935006e-05,1793256537159435520
+137,2.283333333,POSE1_TO_POSE2_PRESS,793,749,728,707,697.604028957,655,934,803,835,667,657.395971043,675.604028957,0.40413116518,-0.00550319683888,0.04999210839,0.99999999728,6.9868609102e-05,-1.90786889504e-05,-1.39120269351e-05,1793256537176101888
+138,2.300000000,POSE1_TO_POSE2_PRESS,793,749,728,707,697.015707099,655,934,803,835,667,657.984292901,675.015707099,0.404481394447,-0.00551291905098,0.0499986634079,0.999999997651,6.7057078307e-05,-9.0688842463e-06,-1.09169245303e-05,1793256537192768768
+139,2.316666667,POSE1_TO_POSE2_PRESS,793.564450964,749,728,706.435549036,697.564450964,655.564450964,934,803,835,667,657.435549036,675,0.404886763772,-0.00551905801537,0.050003578678,0.999999997383,7.17055746879e-05,5.65519042728e-06,-7.80524709457e-06,1793256537209435392
+140,2.333333333,POSE1_TO_POSE2_PRESS,793.856778629,749,727.856778629,706,698,655.856778629,934,803,835,667,657.143221371,675,0.405297162135,-0.00552155133504,0.0500037123636,0.999999996756,7.98011356556e-05,9.79089359042e-06,-4.94126099938e-06,1793256537226102016
+141,2.350000000,POSE1_TO_POSE2_PRESS,793.281518783,749,727.281518783,706,698,655.281518783,934,803,835,667,657.718481217,675,0.405718168282,-0.00551334378108,0.0499895577076,0.999999995056,9.7677746955e-05,-1.84041453003e-05,-2.83410193941e-06,1793256537242768640
+142,2.366666667,POSE1_TO_POSE2_PRESS,793,749,727.293452635,706,698,655,934.293452635,803,835,667,658,675,0.406152206425,-0.00550426470549,0.0499714112973,0.999999991654,0.000118057167813,-5.24629870385e-05,-1.38098506683e-06,1793256537259435520
+143,2.383333333,POSE1_TO_POSE2_PRESS,793,749,727.868147693,706,698,655,934.868147693,803,835,667,658,675,0.406598734369,-0.0054943503703,0.0499494392233,0.999999985838,0.000140835261326,-9.21416490823e-05,-5.54696222066e-07,1793256537276102144
+144,2.400000000,POSE1_TO_POSE2_PRESS,793,748.544182212,728,706.455817788,698,655,934.544182212,802.544182212,835,667,657.544182212,675,0.407086518057,-0.00549774024812,0.049938484781,0.99999998295,0.000147941173228,-0.000110496581142,2.15351223936e-06,1793256537292768768
+145,2.416666667,POSE1_TO_POSE2_PRESS,793,748.046181576,728,707,698,655.046181576,934,802.046181576,835.046181576,667,657.046181576,675.046181576,0.407594627326,-0.00550511842729,0.0499331336015,0.999999981662,0.000150694172575,-0.000118046134179,5.61782651846e-06,1793256537309435648
+146,2.433333333,POSE1_TO_POSE2_PRESS,793,748.623105282,728,707,698,655.623105282,934,802.623105282,835.623105282,667,657.623105282,675.623105282,0.408195160478,-0.00551280801001,0.0499544779657,0.999999984838,0.000157048162736,-7.43800598598e-05,1.13321667412e-05,1793256537326103552
+147,2.450000000,POSE1_TO_POSE2_PRESS,793,748.801876489,728,707,698,656,934,802.801876489,835.801876489,667.198123511,658,676,0.40881251347,-0.0055177052785,0.0499776815731,0.999999985507,0.000166602681445,-3.07003023118e-05,1.69424227306e-05,1793256537342770432
+148,2.466666667,POSE1_TO_POSE2_PRESS,793,748.230448594,728,707,698,656,934,802.230448594,835.230448594,667.769551406,658,676,0.409461558375,-0.00551734126711,0.0500043883662,0.999999983069,0.000182187636982,1.30052344139e-05,2.23565628449e-05,1793256537359436032
+149,2.483333333,POSE1_TO_POSE2_PRESS,793,748,728,707,697.64608152,655.64608152,934,802,835,668,658,676,0.410093154076,-0.00551618274256,0.05001307628,0.999999980044,0.000196443660823,2.48759064642e-05,2.65240065309e-05,1793256537376102656
+150,2.500000000,POSE1_TO_POSE2_PRESS,793,748,728,707,697.052969613,655.052969613,934,802,835,668,658,676,0.410712956823,-0.00551448725164,0.0500095862542,0.99999997743,0.000209801534622,1.52311973209e-05,2.98488786099e-05,1793256537392770048
+151,2.516666667,POSE1_TO_POSE2_PRESS,793,748.527678544,728,707,697.527678544,655,934,802.527678544,835,667.472321456,658,675.472321456,0.411335076914,-0.00551460678519,0.0499768771927,0.999999973435,0.000220879544244,-5.72402202899e-05,3.2639980966e-05,1793256537409436160
+152,2.533333333,POSE1_TO_POSE2_PRESS,793,748.893535282,728,707,698,655,934,803,835.106464718,667.106464718,658,675.106464718,0.411981767299,-0.00551525615069,0.0499496135875,0.999999965948,0.000231570564005,-0.000114969281352,3.55197414259e-05,1793256537426102272
+153,2.550000000,POSE1_TO_POSE2_PRESS,793,748.31757036,728,707,698,655,934,803,835.68242964,667.68242964,658,675.68242964,0.41273580821,-0.00551745709873,0.0499590001282,0.999999966826,0.000241540950199,-8.05155918713e-05,3.90213119391e-05,1793256537442769152
+154,2.566666667,POSE1_TO_POSE2_PRESS,793,748,728,707,697.74107557,655,934,802.74107557,836,668,658,675.74107557,0.41351294564,-0.00551844392106,0.0499738312028,0.999999974401,0.000218970976887,-4.55786831919e-05,3.42453346822e-05,1793256537459436032
+155,2.583333333,POSE1_TO_POSE2_PRESS,793,748,728,707,697.163929488,655,934,802.163929488,836,668,658,675.163929488,0.414318469106,-0.00551793856665,0.0499953536851,0.999999987532,0.000156408459077,-1.00478868007e-05,1.92961387979e-05,1793256537476102656
+156,2.600000000,POSE1_TO_POSE2_PRESS,793,748,728,707.408904465,697,655,934,802,835.591095535,667.591095535,658,675,0.415078881799,-0.00552517141921,0.0499801857541,0.999999992424,0.000116760796095,-3.70591590597e-05,1.20458838351e-05,1793256537492769280
+157,2.616666667,POSE1_TO_POSE2_PRESS,793,748,728,707.980027694,697,655,934,802,835.019972306,667.019972306,658,675,0.415821398299,-0.00553547413892,0.049950462164,0.999999992304,8.62038161808e-05,-8.88818452315e-05,7.8499194213e-06,1793256537509435904
+158,2.633333333,POSE1_TO_POSE2_PRESS,793,748,728,707.424097245,697,655,934,802,835,667.575902755,658,675.575902755,0.416624537231,-0.00553653589574,0.0499465781388,0.999999990659,9.98341571882e-05,-9.25440862819e-05,1.23141052132e-05,1793256537526102528
+159,2.650000000,POSE1_TO_POSE2_PRESS,793,747.833024292,728,707,697.166975708,655,934,802,835.166975708,668,657.833024292,675.833024292,0.417450884623,-0.005536492218,0.049953312706,0.999999990281,0.000114076607114,-7.83614696871e-05,1.68763677566e-05,1793256537542769152
+160,2.666666667,POSE1_TO_POSE2_PRESS,793,747.255948506,728,707,697.744051494,655,934,802,835.744051494,668,657.255948506,675.255948506,0.41832883758,-0.00553455599538,0.0499838272849,0.999999991554,0.000125889714149,-2.46373766412e-05,2.09087502077e-05,1793256537559435776
+161,2.683333333,POSE1_TO_POSE2_PRESS,793,747,728,707,697.680942636,655,934,802,835.680942636,668,657.319057364,675,0.419186693387,-0.00553131282638,0.0499896231989,0.999999990365,0.000135067852611,-2.22188875621e-05,2.30971947325e-05,1793256537576102400
+162,2.700000000,POSE1_TO_POSE2_PRESS,793,747,728,707,697.107586581,655,934,802,835.107586581,668,657.892413419,675,0.420028531098,-0.00552702798036,0.0499757175629,0.999999987772,0.000142145838271,-6.06925709231e-05,2.3815962918e-05,1793256537592769536
+163,2.716666667,POSE1_TO_POSE2_PRESS,793,747,728.479750246,707,697,655,934,802,835,668,657.520249754,675.479750246,0.420922073626,-0.00552881600187,0.049980896649,0.999999989402,0.000139428958797,-3.42768318944e-05,2.40892737202e-05,1793256537609436416
+164,2.733333333,POSE1_TO_POSE2_PRESS,793,747,728.931050483,707.068949517,697,655,934,802,835,668,657.068949517,676,0.42182936873,-0.00553227430138,0.0499914142269,0.999999990706,0.000134017035232,5.75837330678e-06,2.43678493141e-05,1793256537626102784
+165,2.750000000,POSE1_TO_POSE2_PRESS,793,747,728.351965014,707.648034986,697,655,934,802,835,668,657.648034986,676,0.422750050881,-0.00553771194077,0.0500088138643,0.999999991177,0.000125404739512,3.5663781949e-05,2.54466637678e-05,1793256537642769152
+166,2.766666667,POSE1_TO_POSE2_PRESS,793,746.774578165,728,707.774578165,697,655,934,802,835,668,658,675.774578165,0.423660293835,-0.00554042706312,0.0500128041182,0.999999991345,0.000122293552483,4.07609384003e-05,2.63364552229e-05,1793256537659435520
+167,2.783333333,POSE1_TO_POSE2_PRESS,793,746.199823553,728,707.199823553,697,655,934,802,835,668,658,675.199823553,0.424554359467,-0.00553892314322,0.0499960140577,0.999999991455,0.000127707348363,7.41312967075e-06,2.69333207975e-05,1793256537676102400
+168,2.800000000,POSE1_TO_POSE2_PRESS,793,746,728,707,697,655,934,802,835.38297444,668,658,675,0.425479915022,-0.00554059110176,0.0499997996506,0.99999999157,0.000126027400432,1.39283621962e-05,2.79841193658e-05,1793256537692768768
+169,2.816666667,POSE1_TO_POSE2_PRESS,793,746,728,707,697,655,934,802,835.970059204,668,658,675,0.426422253414,-0.00554394954693,0.050014551259,0.999999991434,0.000120566765512,4.16890308882e-05,2.92768463349e-05,1793256537709435392
+170,2.833333333,POSE1_TO_POSE2_PRESS,793,746.553029408,728,707.553029408,697,655,934.553029408,802,835.446970592,668,658,675,0.427315113581,-0.00553962895227,0.0500070287593,0.999999991771,0.000124674963089,-7.22256685468e-07,3.02324448895e-05,1793256537726102272
+171,2.850000000,POSE1_TO_POSE2_PRESS,793,746.732511712,728,708,697,655.133744144,934.866255856,802,835.133744144,668,658,675.133744144,0.428203993965,-0.00553579642858,0.0499928927365,0.999999990246,0.000128668691827,-4.48824701915e-05,3.06412014663e-05,1793256537742769152
+172,2.866666667,POSE1_TO_POSE2_PRESS,793,745.584476108,728,708,697,655.707761946,934.292238054,802,835.707761946,668,658,675.707761946,0.429088526242,-0.00553492906295,0.0499609260274,0.99999998765,0.000130592811056,-8.23861114378e-05,2.9309443903e-05,1793256537759436288
+173,2.883333333,POSE1_TO_POSE2_PRESS,793,744.717774968,728.282225032,708,697,655.717774968,934,802,836,668,658,675.717774968,0.430007131979,-0.00553691456074,0.0499526601481,0.999999988062,0.000126547772356,-8.38838138027e-05,2.87139998604e-05,1793256537776102912
+174,2.900000000,POSE1_TO_POSE2_PRESS,793,744.142850106,728.857149894,708,697,655.142850106,934,802,836,668,658,675.142850106,0.430961075761,-0.00554185880618,0.0499689747581,0.999999991665,0.00011631203,-4.80392125907e-05,2.88821977397e-05,1793256537792769280
+175,2.916666667,POSE1_TO_POSE2_PRESS,793,744,729,708,697,655,934,801.554825196,836,668,658,675,0.431868509631,-0.00554267164591,0.0499603722165,0.999999991124,0.000113694739839,-6.33117486478e-05,2.85863577119e-05,1793256537809435392
+176,2.933333333,POSE1_TO_POSE2_PRESS,793,744,729,708,697,655,934,801,835.9634275,668,658,675.0365725,0.43276206314,-0.00554219986389,0.0499454653337,0.999999988954,0.000113610890715,-9.1585133448e-05,2.82170725066e-05,1793256537826102016
+177,2.950000000,POSE1_TO_POSE2_PRESS,793,744,729,708,697,655,934,801,835.386196885,668,658,675.613803115,0.433677738357,-0.00554292966245,0.0499591436283,0.999999991174,0.00011374393527,-6.22157392081e-05,2.90300350936e-05,1793256537842768640
+178,2.966666667,POSE1_TO_POSE2_PRESS,793,744,729,708,697,655,934,801.190188247,835,668,658,675.809811753,0.434579616177,-0.00554328108083,0.0499736683752,0.999999992372,0.00011408812571,-3.64543335102e-05,3.01925042625e-05,1793256537859435776
+179,2.983333333,POSE1_TO_POSE2_PRESS,793,744,729,708,697,655,934,801.764864241,835,668,658,675.235135759,0.435453601116,-0.00554286755961,0.0499899043267,0.999999992728,0.000114859172379,-1.79868926966e-05,3.20615419806e-05,1793256537876103680
+180,3.000000000,POSE1_TO_POSE2_PRESS,793,744,729,708,697,655,934,801.652151243,835.347848757,668,657.652151243,675,0.436294536383,-0.00554239039557,0.0499794136827,0.999999991269,0.000117158956436,-5.12101058705e-05,3.33536801718e-05,1793256537892770304
+181,3.016666667,POSE1_TO_POSE2_PRESS,793,744,729,708,697,655,934,801.063413009,835.936586991,668,657.063413009,675,0.4371125843,-0.00554186915814,0.0499504145467,0.999999984924,0.00012051740917,-0.000120229723648,3.42463082237e-05,1793256537909436416
+182,3.033333333,POSE1_TO_POSE2_PRESS,793,744,729,708.51728315,697,655,934,801,836,668.51728315,657.51728315,675.51728315,0.437998043332,-0.0055425014163,0.0499702857317,0.999999990057,0.000120345650337,-6.50544496293e-05,3.42185094841e-05,1793256537926102784
+183,3.050000000,POSE1_TO_POSE2_PRESS,792.903553641,744,729,708.903553641,697,655,934,801,836,669,658,675.903553641,0.438876223587,-0.0055434910215,0.0499918439596,0.999999992359,0.000118600442469,-7.58202523168e-06,3.40215522287e-05,1793256537942769152
+184,3.066666667,POSE1_TO_POSE2_PRESS,792.327187844,744,729,708.327187844,697,655,934,801,836,669,658,675.327187844,0.439677692923,-0.00554556592947,0.0499924422423,0.999999993173,0.000111146192054,-1.32785011671e-05,3.35357272595e-05,1793256537959435520
+185,3.083333333,POSE1_TO_POSE2_PRESS,792.248524439,744,729,708,697,655,934,801,835.751475561,669,658,675.248524439,0.440450084746,-0.00554800079704,0.0499829049473,0.999999993454,0.000104905783776,-3.17237805546e-05,3.28632370649e-05,1793256537976102144
+186,3.100000000,POSE1_TO_POSE2_PRESS,792.823378567,744,729,708,697,655,934,801,835.176621433,669,658,675.823378567,0.441184295728,-0.00555090831617,0.0499600589414,0.999999992225,0.000100259234256,-6.69091157226e-05,3.19456425954e-05,1793256537992768768
+187,3.116666667,POSE1_TO_POSE2_PRESS,792.59105068,744,729,708.40894932,697,654.59105068,934,801,835,669,657.59105068,676,0.441920657386,-0.00555424852115,0.0499493922567,0.99999999158,9.65773820028e-05,-8.07417392254e-05,3.15132112704e-05,1793256538009435648
+188,3.133333333,POSE1_TO_POSE2_PRESS,792.000726913,744,729,708.999273087,697,654.000726913,934,801,835,669,657.000726913,676,0.442657972959,-0.00555778062828,0.0499441272605,0.999999991534,9.3323385413e-05,-8.51041549807e-05,3.1295956166e-05,1793256538026102528
+189,3.150000000,POSE1_TO_POSE2_PRESS,792,744,729.578159038,708.421840962,696.421840962,653.421840962,934,800.421840962,835.578159038,669,657.578159038,676,0.4433213505,-0.00555787096161,0.0499259466581,0.999999988234,9.58861950237e-05,-0.000115383730577,3.20092427722e-05,1793256538042769920
+190,3.166666667,POSE1_TO_POSE2_PRESS,792,744,730,708.155804531,696,653,934,800.155804531,836,669,657.844195469,676,0.443961614054,-0.00555575966699,0.0498963709748,0.999999980722,0.000100601274562,-0.000165553934299,3.20401447828e-05,1793256538059437312
+191,3.183333333,POSE1_TO_POSE2_PRESS,792,744,730,708.730155722,696,653,934,800.730155722,836,669,657.269844278,676,0.444540030206,-0.00554774541204,0.0498362268041,0.999999957174,0.000111078855208,-0.000269071642822,3.02348359147e-05,1793256538076103680
+192,3.200000000,POSE1_TO_POSE2_PRESS,792.311809826,744,730,709,696,653,934,800.688190174,836,669,657,676,0.445138253152,-0.00554332213054,0.0498032719707,0.999999943952,0.000117188140195,-0.000312273855965,2.9112389196e-05,1793256538092770560
+193,3.216666667,POSE1_TO_POSE2_PRESS,792.899935505,744,730,709,696,653,934,800.100064495,836,669,657,676,0.445754028208,-0.00554208105486,0.0497944114583,0.99999994685,0.000119426382056,-0.000302026410425,2.85950732947e-05,1793256538109437184
+194,3.233333333,POSE1_TO_POSE2_PRESS,793,744,730,709,695.519394751,652.519394751,934.480605249,800,836,669,657,676,0.446372557554,-0.00554658606063,0.0498034669674,0.999999953513,0.000118118515863,-0.000279449873431,3.05005676773e-05,1793256538126103552
+195,3.250000000,POSE1_TO_POSE2_PRESS,793,744,730,709,695,651.940499172,935,799.940499172,836,669,657,676,0.446978265645,-0.00555156996974,0.0498113641568,0.99999995818,0.000116866558232,-0.000262523909393,3.26055171588e-05,1793256538142770432
+196,3.266666667,POSE1_TO_POSE2_PRESS,793,744,730,709,695,651.363737916,935,799.363737916,836,669,657,676,0.447467605242,-0.00555047564007,0.0497772591415,0.999999941843,0.000122421023657,-0.000316694955358,3.21261102241e-05,1793256538159436544
+197,3.283333333,POSE1_TO_POSE2_PRESS,792.787512289,744,730,709,694.787512289,651,934.787512289,799.212487711,836,669,657,676,0.447948889127,-0.00554980201709,0.0497468301437,0.999999925038,0.000126599442222,-0.000364517463223,3.19809476232e-05,1793256538176103168
+198,3.300000000,POSE1_TO_POSE2_PRESS,792.21220131,744,730,709,694.21220131,651,934.21220131,799.78779869,836,669,657,676,0.448416417813,-0.00554984675189,0.0497226779581,0.999999910627,0.000128428257352,-0.000401499822793,3.24065081607e-05,1793256538192770560
+199,3.316666667,POSE1_TO_POSE2_PRESS,792.371498992,744,730.371498992,709,694,650.628501008,934.371498992,799.628501008,836,669,656.628501008,676,0.448871077168,-0.00555108636819,0.0497149569135,0.999999905524,0.000129714125535,-0.000413539088875,3.33377593957e-05,1793256538209437184
+200,3.333333333,POSE1_TO_POSE2_PRESS,792.960102071,744,730.960102071,709,694,650.039897929,934.960102071,799.039897929,836,669,656.039897929,676,0.449318215729,-0.00555302427348,0.0497168382289,0.999999906402,0.000130682695655,-0.000411001609751,3.45645364363e-05,1793256538226103552
+201,3.350000000,POSE1_TO_POSE2_PRESS,793,744,730.459235518,709,693.459235518,649.459235518,934.459235518,799,836,669,656.540764482,676,0.44975712394,-0.00555291184219,0.0497287150684,0.999999911167,0.000131760137551,-0.000398728752565,3.63405420328e-05,1793256538242769920
+202,3.366666667,POSE1_TO_POSE2_PRESS,792.879675472,744,730,708.879675472,693,649,934,799,836,669,656.879675472,676,0.450180513484,-0.00555262345722,0.0497381578198,0.999999915556,0.000126217455745,-0.000389467168816,3.56663396628e-05,1793256538259436288
+203,3.383333333,POSE1_TO_POSE2_PRESS,792.302110202,744,730,708.302110202,693,649,934,799,836,669,656.302110202,676,0.45054720541,-0.0055522329728,0.0497355889899,0.999999917364,9.54878069257e-05,-0.000394338625093,2.55294348714e-05,1793256538276102400
+204,3.400000000,POSE1_TO_POSE2_PRESS,792.273485205,744,730,708.273485205,693,648.726514795,934,799,836,669.273485205,656,676,0.450883309776,-0.00555478698775,0.0497279401187,0.999999913418,6.44310406171e-05,-0.000410768185665,1.68138519984e-05,1793256538292769024
+205,3.416666667,POSE1_TO_POSE2_PRESS,792.846920094,744,730,708.846920094,693,648.153079906,934,799,836,669.846920094,656,676,0.451185866678,-0.00556057043396,0.0497147196233,0.999999902664,3.30155042993e-05,-0.000439874298913,9.65712941793e-06,1793256538309435648
+206,3.433333333,POSE1_TO_POSE2_PRESS,793,744,730,709,693,647.567334049,934,799,836,669.567334049,656,676,0.451449907851,-0.0055615217279,0.049695536872,0.99999988484,2.8268952963e-05,-0.000479011059876,8.30437171273e-06,1793256538326102528
+207,3.450000000,POSE1_TO_POSE2_PRESS,792.97754099,744,730,709,693,647,934,799,836,669,656,676,0.451699734589,-0.00556088617871,0.0496745343514,0.999999863797,3.30116269882e-05,-0.000520801720285,9.06157455127e-06,1793256538342769920
+208,3.466666667,POSE1_TO_POSE2_PRESS,792.398553123,744,730,709,693,647,934,799,836,669,656,676,0.451944897107,-0.00556453437896,0.0496622417713,0.999999854798,3.22341126726e-05,-0.000537838842571,9.72811522216e-06,1793256538359436288
+209,3.483333333,POSE1_TO_POSE2_PRESS,792,744,730,709,693,647,934,799,836,669.178969474,656,676,0.452184433807,-0.00556737543471,0.0496559575266,0.999999850941,3.22179992659e-05,-0.000544946122778,1.06200826835e-05,1793256538376102656
+210,3.500000000,POSE1_TO_POSE2_PRESS,792,744,730,709,693,647,934,799,836,669.753255435,656,676,0.452411543895,-0.00556843362991,0.0496629447871,0.99999985884,3.38837053699e-05,-0.000530119882343,1.20099837294e-05,1793256538392769024
+211,3.516666667,POSE1_TO_POSE2_PRESS,792,744,730.335638776,709,692.664361224,647,934,799,836,669.664361224,656,676,0.452612773556,-0.00556584672529,0.0496681174274,0.99999986433,3.97060289159e-05,-0.000519222467002,1.30658738998e-05,1793256538409435648
+212,3.533333333,POSE1_TO_POSE2_PRESS,792,744,730.924122124,709,692.075877876,647,934,799,836,669.075877876,656,676,0.452794506908,-0.00556051388149,0.0496719230724,0.999999868014,4.86596301782e-05,-0.000511284726321,1.38701459794e-05,1793256538426102016
+213,3.550000000,POSE1_TO_POSE2_PRESS,792,744,730.495607897,709,692,646.495607897,934,799,836,669,655.495607897,676,0.452946112597,-0.00555458609653,0.0496659992041,0.999999863521,5.69351544186e-05,-0.000519148900687,1.41827895394e-05,1793256538442768896
+214,3.566666667,POSE1_TO_POSE2_PRESS,792,744,730,708.916806045,692.083193955,646,934,799,836,669,655.083193955,676,0.453088360771,-0.00554986549227,0.0496584006977,0.999999857451,6.40222420885e-05,-0.000529894132623,1.45280768512e-05,1793256538459435776
+215,3.583333333,POSE1_TO_POSE2_PRESS,792,744,730,708.339502731,692.660497269,646,934,799,836,669,655.660497269,676,0.453201519166,-0.00555283767135,0.0496494098071,0.999999849899,6.46470479006e-05,-0.000543858416783,1.54994590122e-05,1793256538476102400
+216,3.600000000,POSE1_TO_POSE2_PRESS,792,744,730,708.237107506,693,646,934,799,836,669,656,676,0.453307866648,-0.00555424685307,0.0496436566536,0.999999845885,6.44975046332e-05,-0.000551198732164,1.5836241666e-05,1793256538492769280
+217,3.616666667,POSE1_TO_POSE2_PRESS,792,744,730,708.812728218,693,646,934,799,836,669,656,676,0.453404490332,-0.00555342457741,0.0496425259471,0.999999847138,6.32424400777e-05,-0.000549082151308,1.52670204118e-05,1793256538509435904
+218,3.633333333,POSE1_TO_POSE2_PRESS,792,744.396315502,730.396315502,709,692.603684498,645.603684498,934,799,836,669.396315502,656,676,0.453486404016,-0.00555305752977,0.0496439617498,0.999999849407,6.5026658289e-05,-0.00054472717351,1.51427167273e-05,1793256538526102528
+219,3.650000000,POSE1_TO_POSE2_PRESS,792,744.983744455,730.983744455,709,692.016255545,645.016255545,934,799,836,669.983744455,656,676,0.453561224159,-0.00555291000473,0.0496466351886,0.999999852135,6.82764962548e-05,-0.000539292783623,1.52329636661e-05,1793256538542769152
+220,3.666666667,POSE1_TO_POSE2_PRESS,792,744.435512465,730.435512465,709,692,645,934,799,836,669.435512465,655.435512465,676,0.453622431727,-0.00555475679233,0.049649858333,0.99999985511,6.67015582529e-05,-0.000533917605934,1.62252803106e-05,1793256538559435520
+221,3.683333333,POSE1_TO_POSE2_PRESS,792,744,730.143668934,709,692,645,934,799,836,669,655.143668934,676,0.453678253836,-0.00555561902765,0.0496522950432,0.999999857271,6.60551545945e-05,-0.000529915855667,1.68223514536e-05,1793256538576102144
+222,3.700000000,POSE1_TO_POSE2_PRESS,792,744,730.718732318,709,692,645,934,799,836,669,655.718732318,676,0.453719068309,-0.0055533545222,0.0496523233528,0.999999857048,6.86091682816e-05,-0.000530033034445,1.61555317005e-05,1793256538592768768
+223,3.716666667,POSE1_TO_POSE2_PRESS,792,744,730.706444536,708.706444536,692,645,934,798.706444536,836,669.293555464,655.706444536,676,0.453749737159,-0.00555202651895,0.0496506310203,0.999999855395,6.99966775865e-05,-0.000532975824305,1.56929320417e-05,1793256538609435648
+224,3.733333333,POSE1_TO_POSE2_PRESS,792,744,730.131851317,708.131851317,692,645,934,798.131851317,836,669.868148683,655.131851317,676,0.453770693015,-0.0055515950836,0.0496472914167,0.999999852354,7.02674245551e-05,-0.000538623736348,1.54258441037e-05,1793256538626102784
+225,3.750000000,POSE1_TO_POSE2_PRESS,792,743.544018616,730,708.455981384,692,645,934,798.455981384,836,670,655,676,0.453786782955,-0.00555144624247,0.0496452070662,0.999999850572,6.98454393561e-05,-0.000541975782881,1.54783906903e-05,1793256538642769664
+226,3.766666667,POSE1_TO_POSE2_PRESS,792.046733694,743.046733694,730,709,692,645,934,798.953266306,836,670,655,676,0.453800944544,-0.00555136723569,0.0496435045879,0.999999849157,6.93215840655e-05,-0.000544644546458,1.56110052364e-05,1793256538659436288
+227,3.783333333,POSE1_TO_POSE2_PRESS,792.625830834,743.625830834,730,709,692,645,934,798.374169166,836,670,655,676,0.453809646811,-0.00555112505835,0.0496418938081,0.999999847651,6.99873337961e-05,-0.000547318326546,1.55713677614e-05,1793256538676102400
+228,3.800000000,POSE1_TO_POSE2_PRESS,792.796596933,744,730,709,692,645,934.203403067,798,836,669.796596933,655,676,0.453816275722,-0.0055511593065,0.049640129585,0.999999846053,6.97092378367e-05,-0.000550267631076,1.54791343509e-05,1793256538692769024
+229,3.816666667,POSE1_TO_POSE2_PRESS,792.221808996,744,730,709,692,645,934.778191004,798,836,669.221808996,655,676,0.45381911898,-0.00555169826801,0.0496380851965,0.999999844288,6.77078147717e-05,-0.000553720003621,1.52908682969e-05,1793256538709435392
+230,3.833333333,POSE1_TO_POSE2_PRESS,792,744,730.352557749,709,692,645,934.647442251,798,836,669,655.352557749,676,0.453820543727,-0.00555162031972,0.0496361419838,0.999999842569,6.69282422404e-05,-0.000556908460488,1.53549137217e-05,1793256538726102016
+231,3.850000000,POSE1_TO_POSE2_PRESS,792,744,730.926659797,709,692,645,934.073340203,798,836,669,655.926659797,676,0.453821077092,-0.00555115471053,0.0496342623491,0.999999840878,6.69164702989e-05,-0.000559931074851,1.55775095475e-05,1793256538742768896
+232,3.866666667,POSE1_TO_POSE2_PRESS,792,743.483254669,730.483254669,709.516745331,692,645,934,798,836,669,655.483254669,676,0.453820900661,-0.00554861220438,0.0496325363641,0.999999839239,7.07544855152e-05,-0.000562397637673,1.50101932884e-05,1793256538759435776
+233,3.883333333,POSE1_TO_POSE2_PRESS,792,743.106384221,730.106384221,709.893615779,692.106384221,645,934,798,836,669,655,676,0.453820602389,-0.00554638066589,0.0496309232365,0.999999837654,7.4092467269e-05,-0.000564796508624,1.43896634745e-05,1793256538776102656
+234,3.900000000,POSE1_TO_POSE2_PRESS,792,743.683683736,730.683683736,709.316316264,692.683683736,645,934,798,836,669,655,676,0.45382022494,-0.00554687209641,0.0496297100676,0.999999836367,7.27212040381e-05,-0.000567256225883,1.40456818142e-05,1793256538792769536
+235,3.916666667,POSE1_TO_POSE2_PRESS,792.259469032,743.740530968,731,709,692.740530968,645,934,798.259469032,836,669,655,676,0.453819863901,-0.00554753366176,0.0496285291616,0.999999835512,7.10799497569e-05,-0.000568972497864,1.39276588299e-05,1793256538809435904
+236,3.933333333,POSE1_TO_POSE2_PRESS,792.833419145,743.166580855,731,709,692.166580855,645,934,798.833419145,836,669,655,676,0.453819522749,-0.00554840143362,0.0496273873588,0.999999835184,6.91114613388e-05,-0.000569787701274,1.40835017342e-05,1793256538826102272
+237,3.950000000,POSE1_TO_POSE2_PRESS,793,743.418044679,731,709,692.418044679,645,934,798.581955321,836,669.418044679,655,676,0.453820046663,-0.00554814058387,0.0496265872404,0.999999834455,7.02408127761e-05,-0.000570918154165,1.44155015683e-05,1793256538842768896
+238,3.966666667,POSE1_TO_POSE2_PRESS,792.993072988,744,730.993072988,709,693,645,934.006927012,798.006927012,836,669.993072988,655.006927012,676,0.45382089577,-0.00554741001184,0.0496259137798,0.999999833554,7.26201103588e-05,-0.000572188005252,1.48080385733e-05,1793256538859435520
+239,3.983333333,POSE1_TO_POSE2_PRESS,792.413168952,744,730.413168952,709,693,645,934.586831048,798.586831048,836,669.413168952,655.586831048,676,0.453819383495,-0.00554600050398,0.0496241597621,0.999999832265,7.36082878133e-05,-0.00057432529502,1.42496152084e-05,1793256538876102144
+240,4.000000000,POSE1_TO_POSE2_PRESS,792.165585988,744,730,709,692.834414012,645,934.834414012,799,836,669,656,676,0.453818494677,-0.00554488494809,0.0496231503845,0.999999831463,7.44821892615e-05,-0.000575614077984,1.39303195278e-05,1793256538892768768
+241,4.016666667,POSE1_TO_POSE2_PRESS,792.741493438,744,730,709,692.258506562,645,934.258506562,799,836,669,656,676,0.453819150784,-0.00554449780417,0.0496239862225,0.999999831883,7.5072915133e-05,-0.000574800264116,1.42035813936e-05,1793256538909435904
+242,4.033333333,POSE1_TO_POSE2_PRESS,793,744,730.317758782,709,692.317758782,645,934,798.682241218,836,669.317758782,656,676,0.453819099034,-0.00554430143617,0.0496235826886,0.99999983146,7.56491703734e-05,-0.000575457695387,1.43386262332e-05,1793256538926103040
+243,4.050000000,POSE1_TO_POSE2_PRESS,793,744,730.894315584,709,692.894315584,645,934,798.105684416,836,669.894315584,656,676,0.453818470771,-0.00554426044528,0.0496221697505,0.999999830347,7.62136400073e-05,-0.000577313379429,1.43611004718e-05,1793256538942770176
+244,4.066666667,POSE1_TO_POSE2_PRESS,793,744,731,709,693,645,934.481292912,798.481292912,836,670,655.518707088,676,0.453818382343,-0.00554323771604,0.0496227479819,0.999999830751,7.61448647266e-05,-0.000576630382496,1.40242449679e-05,1793256538959436288
+245,4.083333333,POSE1_TO_POSE2_PRESS,793,744,731,709,692.930640137,645,934.930640137,799,836,670,655,676,0.453818324739,-0.00554200034589,0.0496233978721,0.999999831234,7.61242180101e-05,-0.000575803707355,1.36787160625e-05,1793256538976102144
+246,4.100000000,POSE1_TO_POSE2_PRESS,793,744,731,709,692.351750353,645,934.351750353,799,836,670,655,676,0.453817603501,-0.00554080488068,0.0496212911305,0.999999829797,7.75012295592e-05,-0.000578107336084,1.38619355669e-05,1793256538992769024
+247,4.116666667,HOLD_POSE2,792,744,731,710,692,645,934,799,836,670,655,676,0.45381775369,-0.0055398144049,0.0496208718455,0.999999828674,7.91566729705e-05,-0.000579824153844,1.37636196686e-05,1793256539031858688
+248,4.133333333,HOLD_POSE2,792,744,731,709.413180882,692,644.413180882,934,799,836,670,655,676,0.453818048916,-0.00554022177116,0.049620561131,0.99999982863,7.90852589282e-05,-0.000579912335697,1.37173063265e-05,1793256539048525056
+249,4.150000000,HOLD_POSE2,792,744,730.828575344,709,692,644.171424656,934,799,836,670,655,676,0.453818304616,-0.00553992935809,0.0496204081817,0.999999828592,7.97756835476e-05,-0.00057988612067,1.35975476187e-05,1793256539065191424
+250,4.166666667,HOLD_POSE2,792,744,730.249237011,709,692,644.750762989,934,799,836,670,655,676,0.453818466265,-0.00553797178465,0.0496206306427,0.999999828566,8.22789419379e-05,-0.000579587692474,1.33030219237e-05,1793256539081858048
+251,4.183333333,HOLD_POSE2,792,744,730,709,692,644.671037657,934,798.671037657,836,669.671037657,655,676,0.453818962132,-0.00553784974557,0.0496209422457,0.999999828683,8.17868232204e-05,-0.000579452523006,1.34309932842e-05,1793256539098524416
+252,4.200000000,HOLD_POSE2,792,744,730,709,692,644.093698301,934,798.093698301,836,669.093698301,655,676,0.453819710344,-0.00553911359333,0.0496213211536,0.999999828905,7.90330995437e-05,-0.000579440619077,1.38779633518e-05,1793256539115190784
+253,4.216666667,HOLD_POSE2,792,744,730.481383985,709,692,644,934.481383985,798.481383985,836,669.481383985,655,676,0.45381760626,-0.00553916878033,0.0496194858483,0.999999827547,8.05827154253e-05,-0.00058157021086,1.37646147656e-05,1793256539131857408
+254,4.233333333,HOLD_POSE2,792,744,731,709,692,644,934.942673334,799,836,670,655.057326666,676,0.453815250511,-0.00553911419001,0.0496174650972,0.999999826067,8.23289497665e-05,-0.000583868843812,1.35880024529e-05,1793256539148523776
+255,4.250000000,HOLD_POSE2,792,744,731,709,692,644,934.354719133,799,836,670,655.645280867,676,0.453815680191,-0.005540210913,0.0496176984679,0.999999826384,7.81781473455e-05,-0.000583891912702,1.38306012474e-05,1793256539165190656
+256,4.266666667,HOLD_POSE2,792,744,731,709,692,644.230321479,934,798.769678521,836,670,655.769678521,676,0.453815852227,-0.00554007387068,0.0496176803372,0.999999826303,7.65040829716e-05,-0.000584253255518,1.37782994799e-05,1793256539181857280
+257,4.283333333,HOLD_POSE2,792,744,731,709,692,644.810930863,934,798.189069137,836,670,655.189069137,676,0.453815632424,-0.00553806043762,0.0496172797067,0.999999825635,7.85968034967e-05,-0.000585129067361,1.32774937103e-05,1793256539198524160
+258,4.300000000,HOLD_POSE2,792,744,731,709.388193259,692,645,934.388193259,798,836,669.611806741,655,676,0.45381665836,-0.00553734863968,0.0496175331738,0.999999825761,8.05073700941e-05,-0.000584655230377,1.32335119368e-05,1793256539215191040
+259,4.316666667,HOLD_POSE2,792,744,731,709.963839493,692,645,934.963839493,798,836,669.036160507,655,676,0.453818285847,-0.00553726538255,0.0496181024951,0.999999826268,8.23299773499e-05,-0.000583529667346,1.34101238961e-05,1793256539231857920
+260,4.333333333,HOLD_POSE2,792,744,730.463380804,709.463380804,692,645,934.463380804,798.536619196,836,669,655.536619196,676,0.453816896389,-0.00553837992273,0.0496180070014,0.999999826027,7.94665077345e-05,-0.000584340033216,1.33463556423e-05,1793256539248524288
+261,4.350000000,HOLD_POSE2,792,744,730.113186205,709,692,645,934,799,836,669.113186205,656,676,0.453815761002,-0.00553929391367,0.0496178406633,0.99999982577,7.70424520295e-05,-0.000585105037999,1.33071683814e-05,1793256539265190656
+262,4.366666667,HOLD_POSE2,792,744,730.706638783,709,692,645,934,799,836,669.706638783,656,676,0.453816561721,-0.00553901627965,0.0496175628011,0.999999825695,7.78156578484e-05,-0.000585126973607,1.34406482869e-05,1793256539281857536
+263,4.383333333,POSE2_TO_POSE3_RETREAT,792,744,731,709,692,644,934,799,836,670,655,676,0.453818551708,-0.00553872797309,0.0496187077652,0.999999826727,7.78943596915e-05,-0.00058334524528,1.36843736603e-05,1793256539319037696
+264,4.400000000,POSE2_TO_POSE3_RETREAT,792,744,731,709,692,644.577956366,934.577956366,798.422043634,836,670,655,676,0.45381790014,-0.00553630046078,0.0496177630125,0.999999825703,8.15599840028e-05,-0.000584605488508,1.33742000517e-05,1793256539335704832
+265,4.416666667,POSE2_TO_POSE3_RETREAT,792.158476636,744,731,709,692,645,935,798,836,670,655.158476636,676,0.453817420443,-0.00553483441474,0.0496172215717,0.999999824921,8.39856712816e-05,-0.000585600540013,1.32948349409e-05,1793256539352371712
+266,4.433333333,POSE2_TO_POSE3_RETREAT,792.74593733,744,731,709,692,645,935,798,836,670,655.74593733,676,0.453817405985,-0.00553597098335,0.0496177718648,0.999999824829,8.30549452637e-05,-0.000585877738231,1.38402506006e-05,1793256539369038080
+267,4.450000000,POSE2_TO_POSE3_RETREAT,793,744,731,709,692,645,934.671102795,798,836,670,656,676,0.453816690631,-0.00553601680282,0.0496172906806,0.999999824361,8.2634885654e-05,-0.000586731937036,1.39544265978e-05,1793256539385704704
+268,4.466666667,POSE2_TO_POSE3_RETREAT,793,744,731,709,692,645,934.091572761,798,836,670,656,676,0.453815441167,-0.00553523142773,0.0496160234693,0.999999823607,8.26039743355e-05,-0.000588025833357,1.37399806851e-05,1793256539402371072
+269,4.483333333,POSE2_TO_POSE3_RETREAT,793,744,731,709,692,644.51397426,934,798.48602574,836,669.51397426,655.51397426,676,0.453817629853,-0.00553639873371,0.0496172019206,0.99999982516,8.16029222421e-05,-0.000585519909826,1.36771465167e-05,1793256539419037440
+270,4.500000000,POSE2_TO_POSE3_RETREAT,792.937218862,744,731,709,692,644,934,798.937218862,836,669.062781138,655.062781138,676,0.453819784719,-0.00553761000244,0.049618480851,0.999999826708,8.0823581054e-05,-0.000582980431518,1.36492552742e-05,1793256539435703808
+271,4.516666667,POSE2_TO_POSE3_RETREAT,792.364368282,744,731,709,692,644,934,798.364368282,836,669.635631718,655.635631718,676,0.453816422662,-0.00553620119496,0.0496168472272,0.999999824759,8.33247189674e-05,-0.000585961923693,1.36740975541e-05,1793256539452370432
+272,4.533333333,POSE2_TO_POSE3_RETREAT,792,744,730.784686175,709,692,644,934,798.215313825,836,669.784686175,656,676,0.453809883504,-0.00553549645797,0.0496135811294,0.999999821585,8.40244552254e-05,-0.000591259630758,1.35105747881e-05,1793256539469037056
+273,4.550000000,POSE2_TO_POSE3_RETREAT,792,744,730.193064545,709,692,644,934,798.806935455,836,669.193064545,656,676,0.453797791673,-0.00553602223764,0.049607461928,0.999999816225,8.15758494787e-05,-0.00060060542748,1.30178430755e-05,1793256539485703680
+274,4.566666667,POSE2_TO_POSE3_RETREAT,792.389918123,744,730.389918123,709,692,644.389918123,934,798.610081877,836,669.389918123,655.610081877,676,0.453771238698,-0.00553514988732,0.049596400963,0.999999805153,8.051010722e-05,-0.000618922373217,1.2162240384e-05,1793256539502370560
+275,4.583333333,POSE2_TO_POSE3_RETREAT,792.968716054,744,730.968716054,709,692,644.968716054,934,798.031283946,836,669.968716054,655.031283946,676,0.453737680617,-0.00553360027044,0.0495829461632,0.999999790913,8.01142360885e-05,-0.000641585023941,1.11308597131e-05,1793256539519037696
+276,4.600000000,POSE2_TO_POSE3_RETREAT,792.456166292,744,731,709,692,644.456166292,934.543833708,798,836,670,655,676,0.453681055018,-0.00553222195843,0.0495640048316,0.999999771192,8.21294199578e-05,-0.000671388923884,1.03977387649e-05,1793256539535704064
+277,4.616666667,POSE2_TO_POSE3_RETREAT,792,744,731,709,692,644,935,798.118983323,836.118983323,670,655.118983323,676,0.453620312323,-0.00553021365325,0.0495456399722,0.999999752443,8.41760702988e-05,-0.000698527029435,9.37990719453e-06,1793256539552370688
+278,4.633333333,POSE2_TO_POSE3_RETREAT,792,744,731,709,692,644,935,798.695063732,836.695063732,670,655.695063732,676,0.453548816486,-0.00552574750629,0.0495306940675,0.999999741496,8.58143621204e-05,-0.000713856433714,7.2028352446e-06,1793256539569037568
+279,4.650000000,POSE2_TO_POSE3_RETREAT,792,744,730.721914198,709,692,644,934.721914198,799,836.721914198,670,656,676,0.453463298879,-0.00552248807275,0.049515518483,0.999999726227,8.70881682788e-05,-0.000734798651311,5.71415940903e-06,1793256539585703936
+280,4.666666667,POSE2_TO_POSE3_RETREAT,792,744,730.131085376,709,692,644,934.131085376,799,836.131085376,670,656,676,0.453362012004,-0.0055205857429,0.0495000845949,0.999999705757,8.79520636063e-05,-0.000762053193529,4.99967309695e-06,1793256539602370560
+281,4.683333333,POSE2_TO_POSE3_RETREAT,792,744,730,709,692,644.450179127,934,798.549820873,836,670,655.549820873,676,0.453247454306,-0.00551682749416,0.0494882234741,0.999999687791,9.03590126719e-05,-0.000785006525348,4.24333414594e-06,1793256539619037440
+282,4.700000000,POSE2_TO_POSE3_RETREAT,792,744,730.028474276,709,692,645,934,798.028474276,836,670,655,676,0.453127526059,-0.00551255680472,0.0494771335634,0.999999669929,9.3177166944e-05,-0.000807122820148,3.46023432098e-06,1793256539635704064
+283,4.716666667,POSE2_TO_POSE3_RETREAT,792,744,730.602130242,709,692,645,934,798.602130242,836,670,655,676,0.45297721856,-0.00550860647874,0.0494613052241,0.999999645414,9.54446426497e-05,-0.000836693899971,2.39323921916e-06,1793256539652370944
+284,4.733333333,POSE2_TO_POSE3_RETREAT,792.180382328,744,730.819617672,709,692.180382328,645,934,799,836,670,655,676,0.452817803913,-0.00550355983582,0.0494444288153,0.999999618171,9.94619229032e-05,-0.000868195560632,1.2499617748e-06,1793256539669037824
+285,4.750000000,POSE2_TO_POSE3_RETREAT,792.769037067,744,730.230962933,709,692.769037067,645,934,799,836,670,655,676,0.452637776419,-0.00549603181974,0.0494251802369,0.99999958556,0.000107439662535,-0.000904066841645,-6.59708836501e-08,1793256539685704192
+286,4.766666667,POSE2_TO_POSE3_RETREAT,792.647786254,744,730,709,693,645,934,799,836,670,655.352213746,676,0.452428394861,-0.0054884429497,0.0494026789733,0.99999954676,0.000112444774615,-0.000945426625197,-2.00630864273e-06,1793256539702370304
+287,4.783333333,POSE2_TO_POSE3_RETREAT,792.068146723,744,730,709,693,645,934,799,836,670,655.931853277,676,0.45220005925,-0.00548081478527,0.0493780774363,0.99999950294,0.000115530450196,-0.000990330358743,-4.34982733065e-06,1793256539719036928
+288,4.800000000,POSE2_TO_POSE3_RETREAT,792,744,730,709,693,645.50866531,934,799,836,670,656,676,0.451952566508,-0.00547616950933,0.0493588548401,0.999999467676,0.00011592679525,-0.00102526676314,-6.00166763985e-06,1793256539735703552
+289,4.816666667,POSE2_TO_POSE3_RETREAT,792,744,730,709,693,646,934,799,836,669.914979682,656,676,0.451697995826,-0.00547165853058,0.0493418181932,0.999999434915,0.000116643354885,-0.00105664928591,-7.5333813444e-06,1793256539752370432
+290,4.833333333,POSE2_TO_POSE3_RETREAT,792,744,730,709,693,646,934,799,836,669.339088137,656,676,0.45141729606,-0.00546562842898,0.0493332646957,0.9999994146,0.000121277383648,-0.00107518028713,-8.9035881953e-06,1793256539769037312
+291,4.850000000,POSE2_TO_POSE3_RETREAT,792,744,730,709,693,646.242305266,934,799,836,669,656,676,0.451131994838,-0.00545993760073,0.0493294432697,0.99999940788,0.00012394992517,-0.00108109558712,-1.03759216593e-05,1793256539785703936
+292,4.866666667,POSE2_TO_POSE3_RETREAT,792,744,730,709,693,646.831576962,934,799,836,669,656,676,0.450840104626,-0.00545473259168,0.0493323978831,0.99999942094,0.00012381373582,-0.00106894596816,-1.19944941528e-05,1793256539802370560
+293,4.883333333,POSE2_TO_POSE3_RETREAT,792.413944865,744,730,709,693,647,934,799,836,669,656,676,0.450520151601,-0.00544747209339,0.0493418070114,0.999999446964,0.000126341897357,-0.00104399200691,-1.37652065775e-05,1793256539819037184
+294,4.900000000,POSE2_TO_POSE3_RETREAT,792.993549866,744,730,709,693,647,934,799,836,669,656,676,0.450188967887,-0.00543938899139,0.0493537992271,0.999999477426,0.000129936328173,-0.00101391376592,-1.55968051334e-05,1793256539835704064
+295,4.916666667,POSE2_TO_POSE3_RETREAT,792.431255648,744,730,709,693,647.568744352,934,799,836,669,656,676,0.449823366662,-0.00543454307147,0.0493710139103,0.999999502856,0.00012974379699,-0.000988517212066,-1.69666840801e-05,1793256539852370688
+296,4.933333333,POSE2_TO_POSE3_RETREAT,792,744,730,709,693,648,934,799,836,669,656,676,0.449442813433,-0.00543136866431,0.0493855013706,0.999999524652,0.000127807936513,-0.000966445536685,-1.85547849787e-05,1793256539869037312
+297,4.950000000,POSE2_TO_POSE3_RETREAT,792,744,730,709,693,648,934,799,836,669,656,676,0.449018607941,-0.00543309482262,0.0493916388206,0.999999537259,0.000120774811291,-0.000954181072547,-2.0812499902e-05,1793256539885704192
+298,4.966666667,POSE2_TO_POSE3_RETREAT,792,743.702147839,730,709,693.297852161,648.297852161,934,799,836,669,656,676,0.4485731697,-0.00543357512581,0.0493961609244,0.999999546161,0.0001148337247,-0.000945499774649,-2.28331014082e-05,1793256539902371328
+299,4.983333333,POSE2_TO_POSE3_RETREAT,792,743.107895003,730,709,693.892104997,648.892104997,934,799,836,669,656,676,0.448106602131,-0.00543281564536,0.0493990755548,0.999999551488,0.000109979354213,-0.000940384180228,-2.46177452655e-05,1793256539919038720
+300,5.000000000,POSE2_TO_POSE3_RETREAT,792,743.472171292,730,709,694,649.472171292,934,799,836,669,656.472171292,676,0.447590916942,-0.00542769896169,0.0494041564142,0.999999563802,0.00010561335822,-0.000927610343223,-2.79467735095e-05,1793256539935705600
+301,5.016666667,POSE2_TO_POSE3_RETREAT,792,744,730,709,694,650,934,799,836,669,657,676,0.447063057477,-0.00542166793841,0.0494102873176,0.999999578164,0.000101681965438,-0.000912325042455,-3.15488215187e-05,1793256539952372224
+302,5.033333333,POSE2_TO_POSE3_RETREAT,792,744,730,709,694,650,934,799,836,669,657,676,0.4465214576,-0.00541619897843,0.0494225413967,0.99999959974,0.00010125858669,-0.000888303179773,-3.44026184259e-05,1793256539969038592
+303,5.050000000,POSE2_TO_POSE3_RETREAT,792,744,730,709,694.202055885,650.202055885,934,799.202055885,836,669,657,676,0.445983601082,-0.00541173334201,0.0494423675093,0.999999629566,9.94466359645e-05,-0.000854188200512,-3.66237482985e-05,1793256539985704960
+304,5.066666667,POSE2_TO_POSE3_RETREAT,792,744,730,709,694.777232177,650.777232177,934,799.777232177,836,669,657,676,0.445452657158,-0.00540912046312,0.0494761762887,0.999999673622,9.50705205905e-05,-0.00080143507244,-3.76765824599e-05,1793256540002370816
+305,5.083333333,POSE2_TO_POSE3_RETREAT,792,744,730,709,695,651.362753723,934,800,836.362753723,669,657,676,0.444875842488,-0.00540839828929,0.0495270078547,0.999999728643,8.7583624037e-05,-0.000730513126808,-3.73406031507e-05,1793256540019037696
+306,5.100000000,POSE2_TO_POSE3_RETREAT,792,744,730,709,695,651.954814789,934,800,836.954814789,669,657,676,0.444270031587,-0.00540887128606,0.0495886000257,0.999999786274,7.81303106189e-05,-0.000648106133887,-3.61267136295e-05,1793256540035704576
+307,5.116666667,POSE2_TO_POSE3_RETREAT,792,743.465857347,730,708.465857347,695.534142653,652,934,800,836.465857347,669,657,676,0.443588931494,-0.00540631320026,0.049613474118,0.999999809282,7.21126607549e-05,-0.000612211676265,-3.78475109948e-05,1793256540052370944
+308,5.133333333,POSE2_TO_POSE3_RETREAT,792,743.110314396,730,708,696,652.110314396,934,800.110314396,836,669,657.110314396,676,0.442906727608,-0.00540340360698,0.0496358504337,0.999999830566,6.63600719296e-05,-0.000576940553425,-4.00504525268e-05,1793256540069037312
+309,5.150000000,POSE2_TO_POSE3_RETREAT,792,743.677766888,730,708,696,652.677766888,934,800.677766888,836,669,657.677766888,676,0.442245728205,-0.00540007519912,0.0496604480174,0.999999857668,6.05295447248e-05,-0.000528327022293,-4.32465667577e-05,1793256540085703936
+310,5.166666667,POSE2_TO_POSE3_RETREAT,792,744,729.742312206,708.257687794,696.257687794,653,934,801,836,669,658,676,0.441587759684,-0.00539829006032,0.0497049125841,0.999999896141,5.40656332066e-05,-0.000450327785301,-4.47175611118e-05,1793256540102370816
+311,5.183333333,POSE2_TO_POSE3_RETREAT,792,744,729.146006968,708.853993032,696.853993032,653,934,801,836,669,658,676,0.440933773836,-0.00539853287053,0.0497754835792,0.999999942259,4.67694149427e-05,-0.000333713932162,-4.39216430654e-05,1793256540119037696
+312,5.200000000,POSE2_TO_POSE3_RETREAT,792,744,729,709,697,653.43747861,934,801,836,669,658,676,0.440199577569,-0.00539605979549,0.049816964022,0.999999962358,4.01485204596e-05,-0.000267643384874,-4.51482325249e-05,1793256540135704064
+313,5.216666667,POSE2_TO_POSE3_RETREAT,792,744,729,708.983281678,697,654,934,801,835.983281678,669,658,676,0.439435857146,-0.00539279171588,0.0498471747326,0.999999973895,3.35804603164e-05,-0.000221048723672,-4.71201961198e-05,1793256540152370432
+314,5.233333333,POSE2_TO_POSE3_RETREAT,792,744,729,708.407024674,697,654,934,801,835.407024674,669,658,676,0.438554448652,-0.00539238879758,0.049815894818,0.99999995983,2.1452046867e-05,-0.000277787265146,-5.20904854414e-05,1793256540169037056
+315,5.250000000,POSE2_TO_POSE3_RETREAT,792,744,729.171914381,708,697,654,934,801,835.171914381,669,658,676,0.437687929123,-0.0053930025076,0.0497937406038,0.999999947046,8.71752335447e-06,-0.00032041042412,-5.6291281021e-05,1793256540185703680
+316,5.266666667,POSE2_TO_POSE3_RETREAT,792,744,729.757304065,708,697,654,934,801,835.757304065,669,658,676,0.436857219443,-0.00539606133426,0.0497935348273,0.999999944117,-5.47476879236e-06,-0.000329084344586,-5.86413492376e-05,1793256540202370304
+317,5.283333333,POSE2_TO_POSE3_RETREAT,792.338947619,744.338947619,729.661052381,708,697,654,934,801,835.661052381,668.661052381,657.661052381,676,0.435994490769,-0.00539352418413,0.0497943206636,0.999999942316,-1.29052730195e-05,-0.00033376490444,-6.16702574031e-05,1793256540219036928
+318,5.300000000,POSE2_TO_POSE3_RETREAT,792.917938136,744.917938136,729.082061864,708,697,654,934,801,835.082061864,668.082061864,657.082061864,676,0.43510908626,-0.00538702395992,0.0497958087607,0.999999941435,-1.55470745725e-05,-0.000335617363696,-6.51799203159e-05,1793256540235704064
+319,5.316666667,POSE2_TO_POSE3_RETREAT,793,745,729,708,697,654,934,801.496031046,835.496031046,668,657.496031046,675.503968954,0.434221511322,-0.0053822404744,0.0497824139517,0.999999935814,-2.1801336226e-05,-0.000350809105615,-6.94903189141e-05,1793256540252370944
+320,5.333333333,POSE2_TO_POSE3_RETREAT,793,745.073654955,729.073654955,708,697,654,934,802,836,668,658,675.073654955,0.433333786403,-0.00537892206892,0.0497724447336,0.999999932361,-1.61662460411e-05,-0.000360782010292,-6.96695361615e-05,1793256540269037824
+321,5.350000000,POSE2_TO_POSE3_RETREAT,793,745.649093298,729.649093298,708,697,654,934,802,836,668,658,675.649093298,0.432447481925,-0.00538365333088,0.0498025564003,0.999999945128,7.45306134225e-05,-0.00032019393016,-4.08037264394e-05,1793256540285704192
+322,5.366666667,POSE2_TO_POSE3_RETREAT,793,746,729.770906896,708,697,654,934,801.770906896,836,668,658,676,0.431554177484,-0.00538094455041,0.0498157402507,0.999999946022,0.000129709476668,-0.000300765139014,-2.59355861502e-05,1793256540302370304
+323,5.383333333,POSE2_TO_POSE3_RETREAT,793,746,729.183778169,708,697,654,934,801.183778169,836,668,658,676,0.430649933091,-0.00536660818266,0.0498024686552,0.999999941663,0.000129379447484,-0.000314404906561,-3.29435447582e-05,1793256540319036928
+324,5.400000000,POSE2_TO_POSE3_RETREAT,793,746,728.599424148,708,697,654.400575852,934,801,836,668.400575852,658,675.599424148,0.42971675691,-0.00536387306874,0.0497832093049,0.999999933609,0.000114543511546,-0.000343687751191,-3.92556187956e-05,1793256540335703808
+325,5.416666667,POSE2_TO_POSE3_RETREAT,793,746,728.016334397,708,697,654.983665603,934,801,836,668.983665603,658,675.016334397,0.428770398628,-0.00536642382112,0.0497612217617,0.999999922405,9.309826646e-05,-0.000380098031056,-4.52506272978e-05,1793256540352370432
+326,5.433333333,POSE2_TO_POSE3_RETREAT,793,746.557428818,728.557428818,708,697,655,934,801.557428818,836,668.442571182,657.442571182,675,0.42784439351,-0.0053681005995,0.0497745545989,0.999999925641,8.60050269381e-05,-0.000373121145599,-4.58495167477e-05,1793256540369037568
+327,5.450000000,POSE2_TO_POSE3_RETREAT,793,746.869107089,728.869107089,707.869107089,697,654.869107089,934,802,835.869107089,668,657.130892911,675,0.426913742724,-0.00536810058796,0.0497822094579,0.999999927693,8.26246192716e-05,-0.000368249831693,-4.6685692537e-05,1793256540385704704
+328,5.466666667,POSE2_TO_POSE3_RETREAT,793,746.295745525,728.295745525,707.295745525,697,654.295745525,934,802,835.295745525,668,657.704254475,675,0.425965404911,-0.0053625175257,0.0497672294394,0.999999924512,9.03967640366e-05,-0.000374723192357,-4.88497089512e-05,1793256540402371072
+329,5.483333333,POSE2_TO_POSE3_RETREAT,793,746.28813499,728,707.28813499,697,654,934,802,835,668,658,675.28813499,0.425069028049,-0.00536124183031,0.0497775809902,0.999999935707,9.04285930206e-05,-0.000343425895714,-4.96778718121e-05,1793256540419037440
+330,5.500000000,POSE2_TO_POSE3_RETREAT,793,746.88322135,728,707.88322135,697,654,934,802,835,668,658,675.88322135,0.424228005458,-0.00536455479064,0.0498149183652,0.999999958453,8.22146314491e-05,-0.000271891363299,-4.90829441535e-05,1793256540435703808
+331,5.516666667,POSE2_TO_POSE3_RETREAT,793,747,728,707.536788301,697,654,934,802,835,668,658,675.536788301,0.4233466679,-0.0053660274688,0.0498320693339,0.999999966487,7.98416824633e-05,-0.000241298217745,-4.92541984436e-05,1793256540452370432
+332,5.533333333,POSE2_TO_POSE3_RETREAT,793,747.039405449,728,707.039405449,697,654,934,802,835,668,658,675,0.422452351921,-0.00536656068408,0.0498413272925,0.999999970005,7.94857167542e-05,-0.000226277269445,-4.97076230438e-05,1793256540469037056
+333,5.550000000,POSE2_TO_POSE3_RETREAT,793,747.614091966,728,707.614091966,697,654,934,802,835,668,658,675,0.421515443897,-0.0053604356148,0.049810315574,0.999999953692,8.7156528933e-05,-0.000287005427754,-5.14529779417e-05,1793256540485703680
+334,5.566666667,POSE2_TO_POSE3_RETREAT,792.806309846,748,728.193690154,708,697,654.193690154,934,802,835,668,658,675,0.420600884021,-0.00535763372836,0.0497954077618,0.999999942505,9.11575938667e-05,-0.000322440306167,-5.20827726618e-05,1793256540502370304
+335,5.583333333,POSE2_TO_POSE3_RETREAT,792.216670929,748,728.783329071,708,697,654.783329071,934,802,835,668,658,675,0.419732008906,-0.00536162521729,0.0498134201604,0.999999948016,8.76568241546e-05,-0.000306169714789,-5.04320975685e-05,1793256540519037440
+336,5.600000000,POSE2_TO_POSE3_RETREAT,792.733159838,748,728.633420081,708,697,655,934,802,835,668,657.633420081,675.366579919,0.418843402272,-0.00536124826374,0.0498053005956,0.999999940761,9.0398244141e-05,-0.00032828532587,-5.03395103109e-05,1793256540535704320
+337,5.616666667,POSE2_TO_POSE3_RETREAT,793.892239332,748,728.053880334,708,697,655,934,802,835,668,657.053880334,675.946119666,0.417943332921,-0.00535833352021,0.0497820000059,0.999999924557,9.67659829857e-05,-0.000372700901675,-5.11520739058e-05,1793256540552371200
+338,5.633333333,POSE2_TO_POSE3_RETREAT,793.477342198,748,728,707.477342198,697,655,934,802,835,668,657,675.477342198,0.417136482635,-0.00535922630802,0.0497807476785,0.999999927955,9.18030568255e-05,-0.000364483986686,-5.30517105424e-05,1793256540569037312
+339,5.650000000,POSE2_TO_POSE3_RETREAT,793,748,728,707,697.098109959,654.901890041,934,802,835,668,657.098109959,675,0.416344982951,-0.0053605085512,0.0497858841815,0.999999935248,8.68599205727e-05,-0.000344936846081,-5.45627817796e-05,1793256540585703936
+340,5.666666667,POSE2_TO_POSE3_RETREAT,793,748,728,707,697.669805113,654.330194887,934,802,835,668,657.669805113,675,0.415581459179,-0.00536178684404,0.0498109511105,0.999999950695,8.76184819505e-05,-0.000296739160639,-5.36603539318e-05,1793256540602370304
+341,5.683333333,POSE2_TO_POSE3_RETREAT,793,748,728,707,697.749356068,654,934,802,835,668,658,675,0.41479845907,-0.00536199522633,0.0498164564377,0.999999954152,8.96708190822e-05,-0.000284235180036,-5.3525091839e-05,1793256540619037184
+342,5.700000000,POSE2_TO_POSE3_RETREAT,793,748,728,707,697.156015485,654,934,802,835,668,658,675,0.413988829713,-0.00536074075735,0.0497952158714,0.999999942777,9.34920904678e-05,-0.000320533953733,-5.44387487151e-05,1793256540635703808
+343,5.716666667,POSE2_TO_POSE3_RETREAT,793,748,728,707,697,654.425935138,934,802,835,668,658,675,0.413221368314,-0.0053614726075,0.0497814074446,0.999999934875,9.30281553225e-05,-0.000344264954141,-5.54773406417e-05,1793256540652370432
+344,5.733333333,POSE2_TO_POSE3_RETREAT,793,748,728,707,697,655,934,802,835,668,657.996193941,675.003806059,0.412469501611,-0.00536291340433,0.0497705249992,0.999999928328,9.10421986378e-05,-0.000363122309922,-5.65408243884e-05,1793256540669037312
+345,5.750000000,POSE2_TO_POSE3_RETREAT,793,748,728,707,697,655,934,802,835,668,657.420784267,675.579215733,0.411800439619,-0.00536440350666,0.0498008782751,0.999999942159,9.00660203272e-05,-0.000323393444502,-5.46488992389e-05,1793256540685704448
+346,5.766666667,POSE2_TO_POSE3_RETREAT,793,748,728,707,697,655,934,802,835,668,657.157943004,675.842056996,0.411123290915,-0.00536416889476,0.0498197018354,0.999999949304,9.23044752309e-05,-0.000300043869256,-5.33427594345e-05,1793256540702371328
+347,5.783333333,POSE2_TO_POSE3_RETREAT,793,748,728,707,697,655,934,802,835,668,657.745698625,675.254301375,0.410424135572,-0.00535924079303,0.0498071494181,0.999999941621,0.000103290958819,-0.000321267489245,-5.36307256588e-05,1793256540719037440
+348,5.800000000,POSE2_TO_POSE3_RETREAT,793.328553997,748.328553997,728,707,697.328553997,655,934,802,835,668,658,675,0.409766441826,-0.00535781895983,0.0497954295927,0.999999935014,0.000108924686885,-0.000339360739129,-5.42284071291e-05,1793256540735704064
+349,5.816666667,POSE2_TO_POSE3_RETREAT,793.90767227,748.90767227,728,707,697.90767227,655,934,802,835,668,658,675,0.409140367873,-0.00535907110334,0.0497843447254,0.999999929345,0.000110476256364,-0.000355066681812,-5.50622859161e-05,1793256540752370944
+350,5.833333333,POSE2_TO_POSE3_RETREAT,793.029889574,748.514944787,727.514944787,707,697.514944787,655,934,802,835,668,657.514944787,675,0.408579916456,-0.00536550068882,0.0498010204725,0.999999939624,0.000104572063578,-0.000326973763402,-5.38900596958e-05,1793256540769037568
+351,5.850000000,POSE2_TO_POSE3_RETREAT,792,748.061870209,727.061870209,707,697,655,934,802,835,668,657.061870209,675.061870209,0.408033833944,-0.00537213709741,0.0498214315004,0.999999950644,9.81498652772e-05,-0.000293817867676,-5.24342074798e-05,1793256540785704448
+352,5.866666667,POSE2_TO_POSE3_RETREAT,792,748.636705229,727.636705229,707,697,655,934,802,835,668,657.636705229,675.636705229,0.407503691046,-0.005372346645,0.0498291575718,0.999999952398,9.91572240911e-05,-0.000287559477635,-5.17814566739e-05,1793256540802371840
+353,5.883333333,POSE2_TO_POSE3_RETREAT,792.217002134,749,728,707,697,655,934,802.217002134,835,667.782997866,658,676,0.406967424242,-0.00537147991055,0.0498243361061,0.999999948286,0.000100879416173,-0.000300896162064,-5.20756543262e-05,1793256540819038720
+354,5.900000000,POSE2_TO_POSE3_RETREAT,792.806679103,749,728,707,697,655,934,802.806679103,835,667.193320897,658,676,0.406420640427,-0.0053687647923,0.0497979657675,0.99999993264,0.000103829247405,-0.000347885009417,-5.39961210429e-05,1793256540835705600
+355,5.916666667,POSE2_TO_POSE3_RETREAT,793,749,728,707,697.389488628,655,934,803,835,667.389488628,658,675.610511372,0.405921953748,-0.00536890556827,0.0497789193125,0.999999921741,0.000103544841616,-0.000377760349554,-5.56232037186e-05,1793256540852371712
+356,5.933333333,POSE2_TO_POSE3_RETREAT,793,749,728,707,697.968948639,655,934,803,835,667.968948639,658,675.031051361,0.405446726189,-0.00537043929399,0.0497634450475,0.999999913484,0.000101682951094,-0.000399288655341,-5.71071897942e-05,1793256540869037568
+357,5.950000000,POSE2_TO_POSE3_RETREAT,793,749,728,707,698,655,934,803,835,668,658,675,0.405046205982,-0.00537015426167,0.0497747846354,0.9999999194,0.000102731512329,-0.00038394562749,-5.68547936376e-05,1793256540885704448
+358,5.966666667,POSE2_TO_POSE3_RETREAT,793,748.880682712,728,707,698,655,934,803,835,667.880682712,658,675.119317288,0.40466385185,-0.0053704875465,0.0497918335814,0.999999928145,0.000102408349769,-0.000360638034343,-5.62313761128e-05,1793256540902371328
+359,5.983333333,POSE2_TO_POSE3_RETREAT,793,748.307455664,728,707,698,655,934,803,835,667.307455664,658,675.692544336,0.404334513588,-0.00537356480611,0.0498248265505,0.999999944276,9.623993546e-05,-0.000314973467483,-5.45705238241e-05,1793256540919037952
+360,6.000000000,POSE2_TO_POSE3_RETREAT,793,748,728,707,698,655,934,803,835,667,658,676,0.404010277659,-0.00537718533448,0.0498500361367,0.999999955981,8.94426664575e-05,-0.000277788005774,-5.35929549559e-05,1793256540935704576
+361,6.016666667,POSE2_TO_POSE3_RETREAT,793,748,728,707,698,655,934,803,835,667,658,676,0.403691944345,-0.00538143433907,0.0498662415727,0.999999963866,8.19179121242e-05,-0.000250411536299,-5.34058375493e-05,1793256540952371456
+362,6.033333333,POSE2_TO_POSE3_RETREAT,793,748.449167041,728,707,697.550832959,655,934,803,835,667,658,675.550832959,0.403378359853,-0.00538195303158,0.0498583700842,0.999999959847,7.69125889875e-05,-0.000267116035158,-5.5123177524e-05,1793256540969038336
+363,6.050000000,POSE2_TO_POSE3_RETREAT,793,749,727.972256228,707,697.027743772,655,934,803,835,667,658,675,0.403068023491,-0.0053812482281,0.0498435022377,0.999999951775,7.29295245854e-05,-0.000296380765563,-5.7363352276e-05,1793256540985704960
+364,6.066666667,POSE2_TO_POSE3_RETREAT,793,749,727.397784668,707,697.602215332,655,934,803,835,667,658,675,0.402794690409,-0.00537764611818,0.049827681017,0.999999943462,7.47640806688e-05,-0.00032248464739,-5.90765324855e-05,1793256541002371328
+365,6.083333333,POSE2_TO_POSE3_RETREAT,793,749,727.1809483,707,698,655,934,803,835,667,658,675,0.402538943881,-0.0053750583363,0.0498153123945,0.999999936493,7.54803665028e-05,-0.000342997778017,-6.05802229619e-05,1793256541019037440
+366,6.100000000,POSE2_TO_POSE3_RETREAT,793,749,727.769275122,707,698,655,934,803,835,667,658,675,0.402322790935,-0.00537475416553,0.049810716792,0.999999933814,7.36790309555e-05,-0.000350924150303,-6.16122779154e-05,1793256541035704064
+367,6.116666667,POSE2_TO_POSE3_RETREAT,793,749,728,707,698,655,934.352346326,803,835,667.352346326,658,675,0.402130136502,-0.00537547675819,0.0498111131914,0.999999935129,7.31492638774e-05,-0.000347190384364,-6.20435751695e-05,1793256541052370432
+368,6.133333333,POSE2_TO_POSE3_RETREAT,793,749,728,707,698,655,934.932026662,803,835,667.932026662,658,675,0.401952643301,-0.00537686181904,0.0498147304323,0.99999993895,7.34399131694e-05,-0.000335933492711,-6.20872633811e-05,1793256541069036800
+369,6.150000000,POSE2_TO_POSE3_RETREAT,793,749,728.508398019,707,698,655,934.491601981,803,835,667.491601981,658,675.508398019,0.401813081923,-0.00537570815798,0.0498239955479,0.99999993978,0.00012765466318,-0.000318972348594,-4.90052107778e-05,1793256541085703936
+370,6.166666667,POSE2_TO_POSE3_RETREAT,793,749,728.915549867,707,698,655,934,803,835,667,658,676,0.401682900224,-0.00537394464359,0.049833640963,0.999999937731,0.000179898917701,-0.000301394576716,-3.65573973918e-05,1793256541102371072
+371,6.183333333,POSE2_TO_POSE3_RETREAT,793,749,728.33879616,707,698,655,934,803,835,667,658,676,0.401578024125,-0.00537059189398,0.0498411297861,0.999999942767,0.000178898823426,-0.000284639377747,-3.79710999436e-05,1793256541119037952
+372,6.200000000,POSE2_TO_POSE3_RETREAT,793,749,728,707,697.75711049,655,934,803,835,667,658,675.75711049,0.401478164937,-0.00537093559336,0.0498452243527,0.999999946087,0.000174545978364,-0.000275385329791,-3.90148307472e-05,1793256541135704576
+373,6.216666667,POSE2_TO_POSE3_RETREAT,793,749,728,707,697.168402889,655,934,803,835,667,658,675.168402889,0.40138544867,-0.0053765421754,0.0498444862883,0.999999947225,0.000165419597167,-0.000276811174886,-3.95318078754e-05,1793256541152370944
+374,6.233333333,POSE2_TO_POSE3_RETREAT,793.413436473,749,728,707,697.413436473,655,934,803,835,667,658,675,0.401303915693,-0.00537991486896,0.0498420803412,0.999999947197,0.000159225841609,-0.000280412567433,-4.02804144493e-05,1793256541169037312
+375,6.250000000,POSE2_TO_POSE3_RETREAT,793.992523935,749,728,707,697.992523935,655,934,803,835,667,658,675,0.401226863511,-0.00538239251357,0.0498390061258,0.999999946685,0.0001542070971,-0.000284885633361,-4.11218276415e-05,1793256541185703936
+376,6.266666667,POSE2_TO_POSE3_RETREAT,794,749,728,706.432119523,698,655,934,803,835,667,658,675.567880477,0.401176746543,-0.00538510920035,0.0498388393633,0.999999947739,0.000150343859369,-0.000283195953342,-4.14662819975e-05,1793256541202370560
+377,6.283333333,POSE2_TO_POSE3_RETREAT,794,748.853905407,728,706.146094593,698,655,934,803,835,667,658,675.853905407,0.401132118273,-0.00538694916194,0.049840023322,0.999999949292,0.000147202809769,-0.000279282685712,-4.18259432403e-05,1793256541219037184
+378,6.300000000,POSE2_TO_POSE3_RETREAT,794,748.266920434,728,706.733079566,698,655,934,803,835,667,658,675.266920434,0.401102990894,-0.00538613387001,0.0498451687864,0.999999952267,0.00014619560243,-0.000268902227068,-4.22511114358e-05,1793256541235703808
+379,6.316666667,POSE2_TO_POSE3_RETREAT,793.684275067,748.315724933,728,707,698,655,934,803,835.315724933,667,658,675,0.401077658004,-0.00538677035578,0.0498481981851,0.999999954249,0.000143605672925,-0.000262823620066,-4.24663046978e-05,1793256541252370944
+380,6.333333333,POSE2_TO_POSE3_RETREAT,793.105248685,748.894751315,728,707,698,655,934,803,835.894751315,667,658,675,0.401055489558,-0.00538861756361,0.0498494628737,0.999999955453,0.000139695818929,-0.000260332577098,-4.25063876566e-05,1793256541269038080
+381,6.350000000,POSE2_TO_POSE3_RETREAT,793,749,727.526798123,707,698,655,934,803,835.526798123,667,658,675.473201877,0.401037223931,-0.00539068915706,0.0498488654418,0.999999955641,0.000136796925986,-0.000261159310688,-4.24305924214e-05,1793256541285704448
+382,6.366666667,POSE2_TO_POSE3_RETREAT,793,749,727.051091015,707,698,655,934,803,835,667,658,675.948908985,0.401020674066,-0.00539235064983,0.0498479892782,0.999999955558,0.000134709365767,-0.000262566405088,-4.23726349389e-05,1793256541302370816
+383,6.383333333,POSE2_TO_POSE3_RETREAT,793,749,727.624548273,707,698,655,934,803,835,667,658,675.375451727,0.401012802098,-0.00538930953571,0.0498484927139,0.999999955058,0.000138620869423,-0.000262371608796,-4.27602476764e-05,1793256541319037696
+384,6.400000000,POSE2_TO_POSE3_RETREAT,793.203126903,749,728,707,698,655,934,803,835,667,658,675.203126903,0.401006853132,-0.00538777069517,0.049849059684,0.99999995505,0.000140105248153,-0.000261575304113,-4.30034306203e-05,1793256541335704064
+385,6.416666667,POSE2_TO_POSE3_RETREAT,793.791416476,749,728,707,698,655,934,803,835,667,658,675.791416476,0.401004550504,-0.00538908041741,0.0498497471261,0.999999955988,0.000136987390782,-0.00025963843867,-4.29727504332e-05,1793256541352370688
+386,6.433333333,POSE2_TO_POSE3_RETREAT,793.625606221,749,728,707,697.625606221,655,934.374393779,803,835,667,658,675.625606221,0.401002097439,-0.00538960206024,0.0498507013558,0.999999956383,0.000136388333581,-0.00025842963483,-4.29790885051e-05,1793256541369037312
+387,6.450000000,POSE2_TO_POSE3_RETREAT,793.045547121,749,728,707,697.045547121,655,934.954452879,803,835,667,658,675.045547121,0.400999561735,-0.00538969078823,0.0498518021398,0.999999956483,0.0001371729262,-0.000257620776331,-4.30057617773e-05,1793256541385703936
+388,6.466666667,POSE2_TO_POSE3_RETREAT,793,749,728.532442249,707,697.532442249,655,934.467557751,803,835,667,658,675.532442249,0.400999249916,-0.00539146941427,0.0498520856061,0.999999957071,0.000135074929163,-0.000256471888134,-4.28346400027e-05,1793256541402371072
+389,6.483333333,POSE2_TO_POSE3_RETREAT,793.109315159,749,728.890684841,707,698,655,934,803,835,667,658,675.890684841,0.400998660647,-0.00539262324616,0.049852160751,0.999999957523,0.000133294303334,-0.000255649173467,-4.27808482435e-05,1793256541419038208
+390,6.500000000,POSE2_TO_POSE3_RETREAT,793.682201275,749,728.317798725,707,698,655,934,803,835,667,658,675.317798725,0.400996091184,-0.00539051686303,0.0498516478163,0.999999957245,0.000133901199687,-0.000256332530656,-4.3296091055e-05,1793256541435704320
+391,6.516666667,POSE2_TO_POSE3_RETREAT,793.737031299,749,728,707,698,655,934,803,835.262968701,667.262968701,658,675,0.400995534423,-0.00539010643567,0.0498519219861,0.999999957349,0.00013381800719,-0.000255942761746,-4.3450373652e-05,1793256541452370688
+392,6.533333333,POSE2_TO_POSE3_RETREAT,793.146444925,749,728,707,698,655,934,803,835.853555075,667.853555075,658,675,0.400997485173,-0.00539180890242,0.0498531767643,0.999999957928,0.000132875072522,-0.000254216046457,-4.31549566182e-05,1793256541469037056
+393,6.550000000,POSE2_TO_POSE3_RETREAT,793.435569069,749,728,707,698,655,934,803,835.564430931,668,658,675.435569069,0.400996929975,-0.00539108302951,0.0498530389427,0.999999957813,0.000133848291329,-0.000254148536093,-4.32065267952e-05,1793256541485703680
+394,6.566666667,POSE2_TO_POSE3_RETREAT,793.985350278,749,728,707,698,655,934,803.014649722,835,667.985350278,657.985350278,676,0.400995608339,-0.00538967188061,0.0498524792297,0.999999957491,0.00013535075242,-0.000254594186256,-4.33552603789e-05,1793256541502370304
+395,6.583333333,POSE2_TO_POSE3_RETREAT,793.410353495,749,728,707,698,655,934,803.589646505,835,667.410353495,657.410353495,676,0.400996575489,-0.00539267513811,0.0498533456449,0.999999958054,0.000132930212931,-0.000253742322388,-4.2844292608e-05,1793256541519037184
+396,6.600000000,POSE2_TO_POSE3_RETREAT,793,749,728,707,698,655,934,803.836374733,835,667,657.163625267,675.836374733,0.400997419098,-0.00539457743842,0.0498542197199,0.999999958582,0.000131273351828,-0.00025258810094,-4.24559933004e-05,1793256541535704064
+397,6.616666667,POSE2_TO_POSE3_RETREAT,793,749,728,707,698,655,934,803.2649333,835,667,657.7350667,675.2649333,0.400997954797,-0.00539373573602,0.049855112886,0.999999959033,0.000131519866791,-0.000250680289885,-4.23734303168e-05,1793256541552370944
+398,6.633333333,POSE2_TO_POSE3_RETREAT,793,749,728,707,698,655,934.318966425,803,835,667,658,675,0.400997971775,-0.00539314308033,0.049855704726,0.999999959136,0.000131949318452,-0.000250049925013,-4.23457144636e-05,1793256541569037824
+399,6.650000000,POSE2_TO_POSE3_RETREAT,793,749,728,707,698,655,934.913634564,803,835,667,658,675,0.400997540391,-0.0053927656906,0.0498560361118,0.999999958939,0.000132536893204,-0.000250523733202,-4.2365406262e-05,1793256541585704192
+400,6.666666667,POSE2_TO_POSE3_RETREAT,793,749,728,707,698,655,934.503696103,803,835,667,658,675,0.400996936988,-0.00539161230447,0.0498555752023,0.999999958938,0.000132453147793,-0.000250506265694,-4.2748162825e-05,1793256541602370560
+401,6.683333333,POSE2_TO_POSE3_RETREAT,793,749,728,707,697.923856996,655,934.076143004,803,835,667,658,675.076143004,0.400996456561,-0.00539059175953,0.0498550108045,0.999999958968,0.000132226471945,-0.000250433926149,-4.31581913764e-05,1793256541619036928
+402,6.700000000,POSE2_TO_POSE3_RETREAT,793,749,728,707,697.349200261,655,934.650799739,803,835,667,658,675.650799739,0.400996972627,-0.00539130416176,0.0498546502181,0.999999958986,0.000131810803212,-0.000250548835205,-4.33428947213e-05,1793256541635703808
+403,6.716666667,POSE2_TO_POSE3_RETREAT,793,749,728,707,697.229946825,655,934.770053175,803,835,667,658,675.770053175,0.400996840773,-0.00539221159356,0.049854365066,0.999999958947,0.000131320466968,-0.000250971637345,-4.33007060806e-05,1793256541652370432
+404,6.733333333,POSE2_TO_POSE3_RETREAT,793,749,728,707,697.816048919,655,934.183951081,803,835,667,658,675.183951081,0.400995705384,-0.00539342109884,0.0498541967512,0.999999958817,0.000130714481194,-0.000251871322558,-4.29070937152e-05,1793256541669037056
+405,6.750000000,POSE2_TO_POSE3_RETREAT,793.399495303,749,728,707,698,655,934,803,835,667,657.600504697,675.399495303,0.400995895,-0.00539425344909,0.0498548009582,0.999999958981,0.000131153653663,-0.000251089756014,-4.23266801958e-05,1793256541685703936
+406,6.766666667,POSE2_TO_POSE3_RETREAT,793.981726882,749,728,707,698,655,934,803,835,667,657.018273118,675.981726882,0.400996690699,-0.00539491328185,0.0498557585305,0.999999959276,0.000132070900189,-0.000249539154878,-4.16608205208e-05,1793256541702370816
diff --git a/Part2/Obstacle_avoidance/cylinder_PLA_10/position_02/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_PLA_10/position_02/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..50ec40063b97e7c1a2a9c323032c0924287096d2
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_PLA_10/position_02/depth_03/simulation_data.csv
@@ -0,0 +1,408 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+1,0.016666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+2,0.033333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+3,0.050000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+4,0.066666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+5,0.083333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+6,0.100000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+7,0.116666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+8,0.133333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+9,0.150000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+10,0.166666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+11,0.183333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+12,0.200000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+13,0.216666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+14,0.233333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+15,0.250000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+16,0.266666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+17,0.283333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+18,0.300000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+19,0.316666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+20,0.333333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+21,0.350000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+22,0.366666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+23,0.383333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+24,0.400000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+25,0.416666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+26,0.433333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+27,0.450000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+28,0.466666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+29,0.483333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+30,0.500000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+31,0.516666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+32,0.533333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+33,0.550000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+34,0.566666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+35,0.583333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+36,0.600000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+37,0.616666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+38,0.633333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+39,0.650000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+40,0.666666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+41,0.683333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+42,0.700000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+43,0.716666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+44,0.733333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+45,0.750000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+46,0.766666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+47,0.783333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+48,0.800000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+49,0.816666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+50,0.833333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+51,0.850000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+52,0.866666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+53,0.883333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+54,0.900000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+55,0.916666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+56,0.933333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+57,0.950000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+58,0.966666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+59,0.983333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+60,1.000000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+61,1.016666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+62,1.033333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+63,1.050000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+64,1.066666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+65,1.083333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+66,1.100000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+67,1.116666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+68,1.133333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+69,1.150000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+70,1.166666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+71,1.183333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+72,1.200000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+73,1.216666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+74,1.233333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+75,1.250000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+76,1.266666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+77,1.283333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+78,1.300000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+79,1.316666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+80,1.333333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+81,1.350000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+82,1.366666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+83,1.383333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+84,1.400000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+85,1.416666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+86,1.433333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+87,1.450000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+88,1.466666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+89,1.483333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+90,1.500000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+91,1.516666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+92,1.533333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+93,1.550000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+94,1.566666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+95,1.583333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+96,1.600000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+97,1.616666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+98,1.633333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+99,1.650000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+100,1.666666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+101,1.683333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+102,1.700000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+103,1.716666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+104,1.733333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+105,1.750000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+106,1.766666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+107,1.783333333,pose1_to_pose2_press,0.575666710209,0.000181852718045,1.0400204364,0.546237856699,0.00885608621235,1.03969214046
+108,1.800000000,pose1_to_pose2_press,0.575666751567,0.000181841852473,1.04002043963,0.54623789838,0.00885607640641,1.03969214278
+109,1.816666667,pose1_to_pose2_press,0.575666785396,0.000181832965253,1.04002044228,0.546237932473,0.00885606838589,1.03969214467
+110,1.833333333,pose1_to_pose2_press,0.575666957469,0.000181799787782,1.0400204287,0.546238105131,0.00885603713895,1.03969212959
+111,1.850000000,pose1_to_pose2_press,0.575667005215,0.000181795441715,1.04002041401,0.546238152734,0.00885603232735,1.03969211542
+112,1.866666667,pose1_to_pose2_press,0.575667031588,0.000181793041063,1.0400204059,0.546238179029,0.00885602966955,1.03969210759
+113,1.883333333,pose1_to_pose2_press,0.575667149607,0.000181782298422,1.04002036961,0.546238296695,0.0088560177762,1.03969207256
+114,1.900000000,pose1_to_pose2_press,0.57566731048,0.000181767655011,1.04002032013,0.546238457086,0.00885600156424,1.03969202481
+115,1.916666667,pose1_to_pose2_press,0.575668664264,0.000181788203315,1.04002053606,0.546239810713,0.00885602163087,1.03969224202
+116,1.933333333,pose1_to_pose2_press,0.575673616988,0.000181821882574,1.04002051251,0.546244764949,0.00885606074495,1.03969222653
+117,1.950000000,pose1_to_pose2_press,0.57568382613,0.000181838125919,1.04002065916,0.546254973734,0.00885607537442,1.03969236251
+118,1.966666667,pose1_to_pose2_press,0.575703396403,0.00018181042281,1.04002048209,0.546274544439,0.0088560493712,1.03969219159
+119,1.983333333,pose1_to_pose2_press,0.575733115778,0.00018157739097,1.04002054941,0.546304264231,0.00885581739505,1.03969224925
+120,2.000000000,pose1_to_pose2_press,0.57577351465,0.000181645777706,1.0400204208,0.546344664774,0.00885589164568,1.03969212575
+121,2.016666667,pose1_to_pose2_press,0.575823422714,0.000181742661102,1.04002040765,0.546394570859,0.00885598201545,1.03969211783
+122,2.033333333,pose1_to_pose2_press,0.575882475121,0.000181627401062,1.04002043733,0.546453624381,0.00885587024974,1.03969213981
+123,2.050000000,pose1_to_pose2_press,0.575948250756,0.000181720859213,1.04002049708,0.546519399601,0.00885596237772,1.03969220154
+124,2.066666667,pose1_to_pose2_press,0.576020900784,0.000181788500317,1.0400204223,0.546592048988,0.00885602812888,1.03969213425
+125,2.083333333,pose1_to_pose2_press,0.576103880332,0.000181818622419,1.04002036302,0.546675027379,0.00885605436768,1.03969207595
+126,2.100000000,pose1_to_pose2_press,0.576197233556,0.000181704474055,1.04002048391,0.546768381541,0.00885594314799,1.0396921902
+127,2.116666667,pose1_to_pose2_press,0.57630278308,0.000181636275442,1.04002035579,0.546873932479,0.00885587964478,1.03969205945
+128,2.133333333,pose1_to_pose2_press,0.576420993548,0.000181718301031,1.04002051096,0.546992142653,0.00885596097644,1.03969222258
+129,2.150000000,pose1_to_pose2_press,0.576552528507,0.000181748153724,1.04002055148,0.547123675877,0.00885598464689,1.03969225518
+130,2.166666667,pose1_to_pose2_press,0.576698315192,0.000181795288672,1.04002044427,0.547269462479,0.00885603162659,1.03969215127
+131,2.183333333,pose1_to_pose2_press,0.576859422911,0.000181853682423,1.04002050989,0.547430570223,0.00885609010197,1.03969221669
+132,2.200000000,pose1_to_pose2_press,0.577041194734,0.000181872931566,1.04002046833,0.547612341394,0.00885610716259,1.03969217576
+133,2.216666667,pose1_to_pose2_press,0.577243982884,0.000181858620921,1.04002042492,0.547815129828,0.0088560937763,1.03969213126
+134,2.233333333,pose1_to_pose2_press,0.577470074839,0.000181851150699,1.04002048361,0.548041221756,0.00885608617092,1.03969218873
+135,2.250000000,pose1_to_pose2_press,0.577716594402,0.000181776424629,1.0400204819,0.548287741028,0.00885601058703,1.03969219039
+136,2.266666667,pose1_to_pose2_press,0.577982604147,0.000181690107372,1.04002039357,0.548553751878,0.00885592819136,1.03969210649
+137,2.283333333,pose1_to_pose2_press,0.578268864032,0.000181730902737,1.04002040499,0.548840012775,0.0088559723166,1.03969211518
+138,2.300000000,pose1_to_pose2_press,0.578573402498,0.000181698513519,1.04002049505,0.549144551573,0.00885594076489,1.03969219762
+139,2.316666667,pose1_to_pose2_press,0.57889414461,0.000181774284398,1.04002065654,0.549465291468,0.00885600911043,1.03969236154
+140,2.333333333,pose1_to_pose2_press,0.579230303815,0.000181865393184,1.04002056017,0.549801451504,0.00885610299568,1.039692264
+141,2.350000000,pose1_to_pose2_press,0.579582565756,0.000181815888193,1.04002063672,0.55015371308,0.0088560524609,1.03969234611
+142,2.366666667,pose1_to_pose2_press,0.579948682221,0.000181782858944,1.04002046409,0.550519829187,0.0088560180701,1.03969216944
+143,2.383333333,pose1_to_pose2_press,0.580331104071,0.000181749066419,1.04002032241,0.550902251926,0.00885598745284,1.039692032
+144,2.400000000,pose1_to_pose2_press,0.58074349703,0.000181656386671,1.04002037358,0.551314646663,0.00885590063297,1.03969207862
+145,2.416666667,pose1_to_pose2_press,0.581186482386,0.000181616788603,1.04002042438,0.551757632782,0.00885586361242,1.03969212906
+146,2.433333333,pose1_to_pose2_press,0.58166320365,0.00018165623248,1.04002041457,0.552234353249,0.00885590045811,1.03969212199
+147,2.450000000,pose1_to_pose2_press,0.582163965098,0.000181670149713,1.04002042241,0.552735114062,0.00885591220691,1.03969212937
+148,2.466666667,pose1_to_pose2_press,0.582683500699,0.000181711413976,1.04002045173,0.553254648977,0.00885595119391,1.03969216002
+149,2.483333333,pose1_to_pose2_press,0.583206631039,0.000181790348296,1.04002054097,0.553777778192,0.0088560260001,1.03969224098
+150,2.500000000,pose1_to_pose2_press,0.58373460929,0.00018163898998,1.04002040884,0.554305759156,0.00885588404429,1.03969211407
+151,2.516666667,pose1_to_pose2_press,0.584280219586,0.00018160519045,1.0400203282,0.554851369861,0.00885585151343,1.03969203027
+152,2.533333333,pose1_to_pose2_press,0.584850061501,0.000181807764193,1.04002032679,0.555421207291,0.00885603886974,1.0396920289
+153,2.550000000,pose1_to_pose2_press,0.585450815641,0.000181677331782,1.04002050817,0.556021964886,0.00885592020337,1.03969221143
+154,2.566666667,pose1_to_pose2_press,0.586074853227,0.000181619321652,1.04002055841,0.556646003234,0.0088558647646,1.03969226123
+155,2.583333333,pose1_to_pose2_press,0.586714896165,0.000181781830502,1.04002061537,0.557286044958,0.00885602338639,1.03969232438
+156,2.600000000,pose1_to_pose2_press,0.587363048492,0.000181894669531,1.04002049422,0.557934195639,0.00885613078572,1.03969220704
+157,2.616666667,pose1_to_pose2_press,0.588019398907,0.000181930673751,1.04002044316,0.558590545285,0.00885616428163,1.03969215866
+158,2.633333333,pose1_to_pose2_press,0.588687909665,0.00018190508808,1.04002041792,0.559259056108,0.00885613883763,1.03969213126
+159,2.650000000,pose1_to_pose2_press,0.589372741884,0.000181834971929,1.0400204173,0.559943888871,0.00885607028259,1.03969212316
+160,2.666666667,pose1_to_pose2_press,0.590074124907,0.000181806591657,1.04002067949,0.560645272755,0.00885604471212,1.03969238241
+161,2.683333333,pose1_to_pose2_press,0.590790563902,0.000181795249321,1.0400206527,0.56136171125,0.00885603160923,1.0396923539
+162,2.700000000,pose1_to_pose2_press,0.591520532571,0.00018188904618,1.04002041047,0.562091678629,0.00885612136707,1.03969212069
+163,2.716666667,pose1_to_pose2_press,0.592257652963,0.000181669515391,1.0400204904,0.562828803406,0.00885591695199,1.03969220699
+164,2.733333333,pose1_to_pose2_press,0.593003593354,0.000181794653267,1.04002043236,0.563574741816,0.00885603500196,1.03969213918
+165,2.750000000,pose1_to_pose2_press,0.593758195545,0.000181756754781,1.04002049152,0.564329343796,0.00885599660323,1.03969220412
+166,2.766666667,pose1_to_pose2_press,0.594518198937,0.00018183621166,1.04002046291,0.565089346087,0.00885607197129,1.03969216625
+167,2.783333333,pose1_to_pose2_press,0.595283934609,0.00018166593002,1.0400205002,0.565855084706,0.00885591185281,1.03969220792
+168,2.800000000,pose1_to_pose2_press,0.596045071882,0.000181707161696,1.04002052423,0.566616222311,0.00885595432938,1.03969223508
+169,2.816666667,pose1_to_pose2_press,0.596802640131,0.000181717911577,1.04002032948,0.567373789748,0.00885596243474,1.03969204333
+170,2.833333333,pose1_to_pose2_press,0.597558687039,0.000181702165515,1.04002036922,0.568129835765,0.00885594348484,1.03969207838
+171,2.850000000,pose1_to_pose2_press,0.59831363907,0.000181731852903,1.04002048004,0.568884786852,0.00885596979031,1.03969218445
+172,2.866666667,pose1_to_pose2_press,0.599070409779,0.000181662725291,1.04002013479,0.569641557968,0.00885590242939,1.03969184939
+173,2.883333333,pose1_to_pose2_press,0.599829614782,0.00018183735509,1.04002058169,0.570400761934,0.00885607304561,1.03969228329
+174,2.900000000,pose1_to_pose2_press,0.600589568989,0.000181864960266,1.0400206626,0.571160714259,0.00885609437529,1.0396923672
+175,2.916666667,pose1_to_pose2_press,0.601354703233,0.000181792286714,1.04002051686,0.571925851657,0.00885603270367,1.03969222943
+176,2.933333333,pose1_to_pose2_press,0.602117277369,0.00018169254633,1.04002056079,0.57268842579,0.00885593255121,1.03969226284
+177,2.950000000,pose1_to_pose2_press,0.602866270244,0.000181723706145,1.04002058535,0.573437419388,0.0088559660287,1.03969228388
+178,2.966666667,pose1_to_pose2_press,0.603604158508,0.000181764895349,1.04002045079,0.574175306688,0.00885600431571,1.0396921591
+179,2.983333333,pose1_to_pose2_press,0.604329497051,0.000181779473109,1.04002048936,0.574900644813,0.00885601749604,1.03969219826
+180,3.000000000,pose1_to_pose2_press,0.60504973987,0.000181842198539,1.04002052714,0.575620887394,0.00885607945622,1.03969223724
+181,3.016666667,pose1_to_pose2_press,0.605766058972,0.000181789565089,1.04002051736,0.576337207055,0.00885602879849,1.0396922296
+182,3.033333333,pose1_to_pose2_press,0.606470253408,0.000181683797954,1.04002040803,0.577041402273,0.00885592569032,1.03969212045
+183,3.050000000,pose1_to_pose2_press,0.607162931839,0.000181704054536,1.04002037867,0.577734080749,0.00885594605416,1.03969209
+184,3.066666667,pose1_to_pose2_press,0.607841646059,0.000181767342744,1.04002052969,0.578412794224,0.00885600675885,1.03969223961
+185,3.083333333,pose1_to_pose2_press,0.608495488183,0.000181776117715,1.04002053557,0.579066635933,0.00885601408775,1.03969224459
+186,3.100000000,pose1_to_pose2_press,0.609125801279,0.000181820622615,1.04002053289,0.579696951248,0.00885606596515,1.0396922379
+187,3.116666667,pose1_to_pose2_press,0.609733220602,0.000181747340243,1.04002045299,0.580304369592,0.00885598911792,1.03969215159
+188,3.133333333,pose1_to_pose2_press,0.61031834761,0.000181770493808,1.04002040306,0.580889494737,0.00885600640017,1.03969211355
+189,3.150000000,pose1_to_pose2_press,0.610877461713,0.000181837770444,1.04002049773,0.581448608591,0.00885607284324,1.03969220851
+190,3.166666667,pose1_to_pose2_press,0.611413636918,0.000181890782854,1.04002043196,0.581984783211,0.00885612392876,1.03969214438
+191,3.183333333,pose1_to_pose2_press,0.611929537388,0.000181776203716,1.0400203849,0.582500684791,0.00885601318211,1.03969209908
+192,3.200000000,pose1_to_pose2_press,0.612437890787,0.000181694729572,1.04002044087,0.583009039248,0.00885593563854,1.03969215313
+193,3.216666667,pose1_to_pose2_press,0.612940411644,0.000181813169184,1.04002052357,0.583511557687,0.00885604770168,1.03969223304
+194,3.233333333,pose1_to_pose2_press,0.613428012484,0.000181920578279,1.04002057477,0.5839991544,0.00885614498841,1.03969228572
+195,3.250000000,pose1_to_pose2_press,0.613896042018,0.000181719776223,1.04002077813,0.584467186741,0.00885595715272,1.03969248587
+196,3.266666667,pose1_to_pose2_press,0.61433960028,0.000181776561252,1.04002079541,0.584910744162,0.00885601435175,1.03969249681
+197,3.283333333,pose1_to_pose2_press,0.614755505101,0.000181671533211,1.04002042853,0.585326649681,0.00885591710364,1.03969214174
+198,3.300000000,pose1_to_pose2_press,0.61514504966,0.000181688781536,1.0400207283,0.585716191707,0.00885592813798,1.03969242749
+199,3.316666667,pose1_to_pose2_press,0.6155261113,0.000181750619495,1.04002048938,0.586097251787,0.00885598816926,1.03969219012
+200,3.333333333,pose1_to_pose2_press,0.615897442401,0.000181746144681,1.04002052895,0.586468582338,0.00885598532499,1.03969223037
+201,3.350000000,pose1_to_pose2_press,0.616251871421,0.000181813071751,1.04002060508,0.586823009907,0.00885605053651,1.03969231022
+202,3.366666667,pose1_to_pose2_press,0.61658646142,0.000181793233365,1.04002044023,0.58715759882,0.00885603179,1.03969214705
+203,3.383333333,pose1_to_pose2_press,0.61689698254,0.000181748710301,1.04002035216,0.587468119398,0.00885598854885,1.03969205748
+204,3.400000000,pose1_to_pose2_press,0.617178430216,0.000181906524877,1.04002046177,0.587749565929,0.00885614140923,1.03969217181
+205,3.416666667,pose1_to_pose2_press,0.617430907311,0.000181812469025,1.04002064889,0.588002044311,0.00885605371411,1.03969235337
+206,3.433333333,pose1_to_pose2_press,0.617663061643,0.000181729896386,1.0400204386,0.588234197211,0.00885596800178,1.0396921448
+207,3.450000000,pose1_to_pose2_press,0.617879146306,0.000181840917584,1.04002051722,0.588450279971,0.00885607338657,1.03969222284
+208,3.466666667,pose1_to_pose2_press,0.618082395853,0.000181795704441,1.04002042768,0.588653530689,0.00885603425079,1.03969214287
+209,3.483333333,pose1_to_pose2_press,0.618275169425,0.000181709771614,1.04002046675,0.58884630598,0.00885595553531,1.03969217731
+210,3.500000000,pose1_to_pose2_press,0.618456685586,0.000181765351199,1.04002067753,0.589027820434,0.00885600584637,1.03969237688
+211,3.516666667,pose1_to_pose2_press,0.618622535002,0.000181800482463,1.04002071985,0.589193668321,0.00885603583259,1.03969242055
+212,3.533333333,pose1_to_pose2_press,0.618772029572,0.000181691138479,1.04002049861,0.58934316502,0.00885593375592,1.0396922076
+213,3.550000000,pose1_to_pose2_press,0.618902630805,0.000181750511526,1.04002043842,0.589473765587,0.00885599198279,1.03969214695
+214,3.566666667,pose1_to_pose2_press,0.619017392424,0.000181732093591,1.04002056449,0.589588527428,0.00885597451411,1.03969226514
+215,3.583333333,pose1_to_pose2_press,0.619117894782,0.000181762671306,1.04002048017,0.58968902842,0.00885600028174,1.03969217572
+216,3.600000000,pose1_to_pose2_press,0.619206849606,0.000181777302974,1.04002053457,0.589777983183,0.00885601527721,1.03969223836
+217,3.616666667,pose1_to_pose2_press,0.61928446793,0.000181692718971,1.0400204571,0.589855603115,0.00885593619272,1.03969216414
+218,3.633333333,pose1_to_pose2_press,0.619353440046,0.000181720501804,1.04002049912,0.589924574616,0.0088559618812,1.03969220435
+219,3.650000000,pose1_to_pose2_press,0.619413997658,0.000181832852312,1.04002062875,0.589985131317,0.00885607087623,1.03969233055
+220,3.666666667,pose1_to_pose2_press,0.619465184826,0.000181790622828,1.04002068329,0.590036319137,0.00885603090811,1.03969238569
+221,3.683333333,pose1_to_pose2_press,0.619507754096,0.000181722008699,1.04002055786,0.590078888977,0.00885596445051,1.03969226272
+222,3.700000000,pose1_to_pose2_press,0.619541438261,0.000181726393672,1.04002046254,0.590112572806,0.00885596770148,1.03969217195
+223,3.716666667,pose1_to_pose2_press,0.619567723667,0.000181695479149,1.04002046092,0.590138858437,0.008855937593,1.03969217525
+224,3.733333333,pose1_to_pose2_press,0.619587156747,0.000181714732874,1.04002046448,0.590158291884,0.00885595808925,1.03969217659
+225,3.750000000,pose1_to_pose2_press,0.619601336121,0.000181736525654,1.04002066201,0.590172470465,0.00885597727601,1.03969236924
+226,3.766666667,pose1_to_pose2_press,0.619611630053,0.000181755471476,1.04002070603,0.590182764774,0.00885599704021,1.03969240366
+227,3.783333333,pose1_to_pose2_press,0.619618851572,0.000181871413098,1.04002057169,0.590189984347,0.00885610654079,1.03969227391
+228,3.800000000,pose1_to_pose2_press,0.619623653035,0.000181785910073,1.04002056434,0.59019478698,0.0088560247106,1.0396922639
+229,3.816666667,pose1_to_pose2_press,0.619626336173,0.000181702328395,1.04002057341,0.590197471125,0.00885594457485,1.03969227123
+230,3.833333333,pose1_to_pose2_press,0.619627775414,0.00018168116071,1.04002060061,0.590198910629,0.00885592441473,1.03969229878
+231,3.850000000,pose1_to_pose2_press,0.619628323911,0.00018175583061,1.04002067331,0.590199458437,0.00885599676296,1.0396923746
+232,3.866666667,pose1_to_pose2_press,0.619628464115,0.000181774917339,1.0400206919,0.590199598465,0.00885601525624,1.03969239398
+233,3.883333333,pose1_to_pose2_press,0.619628550297,0.00018178664982,1.04002070332,0.590199684539,0.00885602662393,1.0396924059
+234,3.900000000,pose1_to_pose2_press,0.619628747343,0.000181813474772,1.04002072944,0.590199881337,0.00885605261483,1.03969243314
+235,3.916666667,pose1_to_pose2_press,0.619628855606,0.000181828213125,1.04002074379,0.590199989463,0.00885606689493,1.0396924481
+236,3.933333333,pose1_to_pose2_press,0.619628892798,0.000181833276313,1.04002074872,0.590200026609,0.00885607180069,1.03969245324
+237,3.950000000,pose1_to_pose2_press,0.619628999469,0.000181847798026,1.04002076286,0.590200133146,0.00885608587089,1.03969246799
+238,3.966666667,pose1_to_pose2_press,0.619629160112,0.000181859380403,1.04002078199,0.59020029376,0.00885609734728,1.03969248744
+239,3.983333333,pose1_to_pose2_press,0.619629193714,0.000181853177757,1.04002078418,0.590200327502,0.00885609160375,1.0396924892
+240,4.000000000,pose1_to_pose2_press,0.61962927932,0.000181837375714,1.04002078976,0.590200413463,0.00885607697134,1.03969249368
+241,4.016666667,pose1_to_pose2_press,0.619629498388,0.000181796938014,1.04002080405,0.59020063344,0.00885603952676,1.03969250515
+242,4.033333333,pose1_to_pose2_press,0.619629588829,0.000181780243457,1.04002080994,0.590200724257,0.00885602406791,1.03969250988
+243,4.050000000,pose1_to_pose2_press,0.619629604181,0.000181777409682,1.04002081095,0.590200739672,0.00885602144388,1.03969251069
+244,4.066666667,pose1_to_pose2_press,0.619629727651,0.000181729683121,1.04002080954,0.590200863339,0.00885597440628,1.03969250958
+245,4.083333333,pose1_to_pose2_press,0.619629835781,0.000181668479007,1.04002080095,0.590200971395,0.00885591302874,1.03969250273
+246,4.100000000,pose1_to_pose2_press,0.619629840912,0.000181665574581,1.04002080054,0.590200976528,0.00885591012231,1.0396925024
+247,4.116666667,pose2_hold,0.619629840912,0.000181665574581,1.04002080054,0.590200976567,0.00885591011006,1.03969250239
+248,4.133333333,pose2_hold,0.619629840912,0.000181665574581,1.04002080054,0.59020097657,0.00885591011595,1.0396925024
+249,4.150000000,pose2_hold,0.619629840912,0.000181665574581,1.04002080054,0.590200976571,0.00885591012155,1.0396925024
+250,4.166666667,pose2_hold,0.619629840912,0.000181665574581,1.04002080054,0.590200976581,0.00885591011231,1.0396925024
+251,4.183333333,pose2_hold,0.619629840912,0.000181665574581,1.04002080054,0.590200976593,0.00885591009851,1.0396925024
+252,4.200000000,pose2_hold,0.619629840912,0.000181665574581,1.04002080054,0.590200976596,0.00885591010729,1.0396925024
+253,4.216666667,pose2_hold,0.619629840912,0.000181665574581,1.04002080054,0.590200976591,0.0088559101002,1.0396925024
+254,4.233333333,pose2_hold,0.619629840912,0.000181665574581,1.04002080054,0.590200976591,0.00885591010494,1.0396925024
+255,4.250000000,pose2_hold,0.619629840912,0.000181665574581,1.04002080054,0.590200976593,0.00885591011124,1.0396925024
+256,4.266666667,pose2_hold,0.619629840912,0.000181665574581,1.04002080054,0.590200976598,0.00885591011034,1.0396925024
+257,4.283333333,pose2_hold,0.619629840912,0.000181665574581,1.04002080054,0.59020097661,0.00885591009388,1.0396925024
+258,4.300000000,pose2_hold,0.619629840912,0.000181665574581,1.04002080054,0.590200976613,0.00885591010195,1.0396925024
+259,4.316666667,pose2_hold,0.619629840912,0.000181665574581,1.04002080054,0.59020097661,0.00885591009889,1.0396925024
+260,4.333333333,pose2_hold,0.619629840912,0.000181665574581,1.04002080054,0.590200976609,0.00885591009987,1.0396925024
+261,4.350000000,pose2_hold,0.619629840912,0.000181665574581,1.04002080054,0.590200976611,0.00885591010604,1.0396925024
+262,4.366666667,pose2_hold,0.619629840912,0.000181665574581,1.04002080054,0.590200976613,0.00885591011071,1.0396925024
+263,4.383333333,pose2_to_pose3_retreat,0.619629840912,0.000181665574581,1.04002080054,0.590200976621,0.00885591009676,1.0396925024
+264,4.400000000,pose2_to_pose3_retreat,0.619629733638,0.000181744326447,1.04002070971,0.590200868868,0.00885598740744,1.03969241667
+265,4.416666667,pose2_to_pose3_retreat,0.619629591269,0.000181795533789,1.04002071948,0.590200726146,0.00885603737639,1.03969242563
+266,4.433333333,pose2_to_pose3_retreat,0.619629390068,0.000181792700843,1.04002091708,0.590200524842,0.00885603374449,1.03969261146
+267,4.450000000,pose2_to_pose3_retreat,0.619629372585,0.000181792454677,1.04002093425,0.590200507349,0.0088560334289,1.0396926276
+268,4.466666667,pose2_to_pose3_retreat,0.619629128915,0.000181788683447,1.04002092381,0.590200263634,0.00885602946024,1.03969261658
+269,4.483333333,pose2_to_pose3_retreat,0.619629016034,0.000181786909278,1.04002089904,0.59020015074,0.00885602765606,1.03969259263
+270,4.500000000,pose2_to_pose3_retreat,0.619628234614,0.000181774627462,1.04002072759,0.59019936922,0.0088560151665,1.03969242688
+271,4.516666667,pose2_to_pose3_retreat,0.619626126651,0.00018176314595,1.04002069463,0.590197259728,0.00885599847144,1.0396923933
+272,4.533333333,pose2_to_pose3_retreat,0.619619631513,0.000181856303662,1.04002053483,0.590190766577,0.00885609871493,1.0396922442
+273,4.550000000,pose2_to_pose3_retreat,0.619607467999,0.00018177989952,1.04002060177,0.590178602268,0.00885601933025,1.03969230642
+274,4.566666667,pose2_to_pose3_retreat,0.619586573774,0.000181817117497,1.04002057724,0.590157706406,0.00885605082958,1.03969228091
+275,4.583333333,pose2_to_pose3_retreat,0.619556767601,0.000181742337646,1.04002079997,0.590127902937,0.00885598497433,1.03969250272
+276,4.600000000,pose2_to_pose3_retreat,0.619516889624,0.000181873684538,1.04002056194,0.590088021192,0.00885610320999,1.03969226287
+277,4.616666667,pose2_to_pose3_retreat,0.619467154882,0.000181844653772,1.04002050523,0.590038288455,0.00885608081929,1.03969221159
+278,4.633333333,pose2_to_pose3_retreat,0.619406078267,0.000181744608559,1.04002049685,0.589977213657,0.00885598675749,1.03969220475
+279,4.650000000,pose2_to_pose3_retreat,0.619335343902,0.000181775973629,1.04002056984,0.58990648036,0.00885602149639,1.03969228035
+280,4.666666667,pose2_to_pose3_retreat,0.619254625741,0.000181740752134,1.04002045449,0.589825762663,0.00885598764421,1.03969216936
+281,4.683333333,pose2_to_pose3_retreat,0.619160881811,0.000181798705137,1.04002061822,0.589732017833,0.00885604200017,1.03969232905
+282,4.700000000,pose2_to_pose3_retreat,0.61905463785,0.000181910237339,1.04002055018,0.589625771644,0.00885614554746,1.03969225652
+283,4.716666667,pose2_to_pose3_retreat,0.61893531934,0.000181744143987,1.04002055137,0.589506454479,0.00885598335436,1.03969225431
+284,4.733333333,pose2_to_pose3_retreat,0.618800012297,0.000181702379537,1.04002040871,0.589371147499,0.00885594125684,1.03969211826
+285,4.750000000,pose2_to_pose3_retreat,0.618646619103,0.000181812694077,1.04002029861,0.589217753067,0.00885604689269,1.03969200879
+286,4.766666667,pose2_to_pose3_retreat,0.618477076211,0.00018193241047,1.0400205022,0.589048210076,0.00885616529098,1.03969220781
+287,4.783333333,pose2_to_pose3_retreat,0.618291604825,0.000181749184151,1.04002037855,0.58886274023,0.00885598716862,1.03969208524
+288,4.800000000,pose2_to_pose3_retreat,0.618089241972,0.000181679610398,1.04002052589,0.588660378334,0.00885591983021,1.03969222706
+289,4.816666667,pose2_to_pose3_retreat,0.617874145323,0.000181711757846,1.04002056504,0.588445281766,0.00885595112553,1.03969226943
+290,4.833333333,pose2_to_pose3_retreat,0.617648450794,0.000181722381469,1.04002049459,0.588219587841,0.00885596284591,1.03969220728
+291,4.850000000,pose2_to_pose3_retreat,0.617410688508,0.000181715297888,1.0400207483,0.587981827422,0.00885596041331,1.03969245413
+292,4.866666667,pose2_to_pose3_retreat,0.617159859268,0.000181749219756,1.04002047707,0.587730996922,0.00885598779676,1.03969217976
+293,4.883333333,pose2_to_pose3_retreat,0.616894951126,0.000181740767853,1.04002048578,0.587466090247,0.00885598155227,1.03969219582
+294,4.900000000,pose2_to_pose3_retreat,0.6166140973,0.000181745620718,1.04002039668,0.587185237936,0.00885598906691,1.03969211062
+295,4.916666667,pose2_to_pose3_retreat,0.616311197999,0.000181780426947,1.04002034449,0.586882339517,0.00885602415484,1.03969205749
+296,4.933333333,pose2_to_pose3_retreat,0.615987451469,0.000181821404553,1.04002052643,0.586558593132,0.00885606213431,1.03969223537
+297,4.950000000,pose2_to_pose3_retreat,0.61564086797,0.000181672399777,1.04002055825,0.586212010012,0.00885591155625,1.03969226055
+298,4.966666667,pose2_to_pose3_retreat,0.61526934933,0.000181799847881,1.04002041783,0.585840492306,0.00885603914273,1.03969212999
+299,4.983333333,pose2_to_pose3_retreat,0.614873149963,0.000181762393419,1.04002062485,0.585444294621,0.00885600405045,1.03969233273
+300,5.000000000,pose2_to_pose3_retreat,0.614457354253,0.00018170499101,1.04002074685,0.585028500388,0.00885594780173,1.03969244937
+301,5.016666667,pose2_to_pose3_retreat,0.614026126586,0.000181736231229,1.04002057464,0.584597273577,0.00885597715874,1.03969227879
+302,5.033333333,pose2_to_pose3_retreat,0.613584064295,0.000181811431428,1.04002031117,0.58415521178,0.00885604900679,1.03969201935
+303,5.050000000,pose2_to_pose3_retreat,0.613131818923,0.000181769010134,1.04002042685,0.583702966751,0.00885600825407,1.0396921312
+304,5.066666667,pose2_to_pose3_retreat,0.61266646039,0.000181741660647,1.04002061669,0.583237608915,0.00885598095028,1.03969231915
+305,5.083333333,pose2_to_pose3_retreat,0.612177772928,0.00018178428754,1.04002047632,0.582748921956,0.00885602204523,1.03969218321
+306,5.100000000,pose2_to_pose3_retreat,0.611665068272,0.00018180350402,1.04002042787,0.582236218175,0.00885604029203,1.0396921356
+307,5.116666667,pose2_to_pose3_retreat,0.611130711433,0.000181766770292,1.04002065827,0.581701862865,0.0088560043937,1.03969236035
+308,5.133333333,pose2_to_pose3_retreat,0.610582548861,0.000181821129518,1.04002054198,0.581153701753,0.00885605968788,1.03969224857
+309,5.150000000,pose2_to_pose3_retreat,0.610026570675,0.000181646339849,1.0400205427,0.580597727146,0.00885589343143,1.03969224727
+310,5.166666667,pose2_to_pose3_retreat,0.609461530591,0.000181796176719,1.0400205277,0.580032685379,0.00885603319154,1.03969223498
+311,5.183333333,pose2_to_pose3_retreat,0.608882912435,0.000181884632235,1.04002065596,0.57945406667,0.00885611491636,1.03969235828
+312,5.200000000,pose2_to_pose3_retreat,0.608267586796,0.000181838168273,1.04002083203,0.578838743555,0.00885607196321,1.03969252652
+313,5.216666667,pose2_to_pose3_retreat,0.607617422303,0.000181798489032,1.04002077627,0.578188582649,0.0088560396125,1.03969247627
+314,5.233333333,pose2_to_pose3_retreat,0.606937714258,0.0001818216175,1.04002050344,0.577508874362,0.00885605605649,1.03969221791
+315,5.250000000,pose2_to_pose3_retreat,0.606236472461,0.000181964219409,1.04002068349,0.576807632135,0.00885619186725,1.03969238306
+316,5.266666667,pose2_to_pose3_retreat,0.605515079146,0.000181647923381,1.04002076893,0.57608624533,0.00885589354367,1.03969247093
+317,5.283333333,pose2_to_pose3_retreat,0.604792501871,0.000181617652345,1.04002069908,0.57536367022,0.00885586387438,1.03969240275
+318,5.300000000,pose2_to_pose3_retreat,0.604066395446,0.000181744534543,1.04002066224,0.574637562465,0.00885598221154,1.03969236644
+319,5.316666667,pose2_to_pose3_retreat,0.603331074951,0.000181796404199,1.0400206237,0.573902241705,0.00885603252643,1.03969232554
+320,5.333333333,pose2_to_pose3_retreat,0.602590594869,0.000181776838629,1.04002056634,0.573161763464,0.00885601800431,1.03969226679
+321,5.350000000,pose2_to_pose3_retreat,0.601846840248,0.000181836313582,1.04002055207,0.57241800993,0.00885607640977,1.03969225621
+322,5.366666667,pose2_to_pose3_retreat,0.601095558686,0.000181930185795,1.04002055229,0.571666727331,0.00885616198865,1.03969225523
+323,5.383333333,pose2_to_pose3_retreat,0.600334478762,0.000181646272776,1.04002065514,0.57090565275,0.00885589155669,1.03969236093
+324,5.400000000,pose2_to_pose3_retreat,0.599566792789,0.00018169669432,1.04002046492,0.570137968126,0.00885594200788,1.03969217288
+325,5.416666667,pose2_to_pose3_retreat,0.598792749995,0.000181803543261,1.04002032341,0.569363926401,0.00885604678703,1.03969203538
+326,5.433333333,pose2_to_pose3_retreat,0.598011488179,0.000181785040943,1.04002035772,0.568582666246,0.00885602501115,1.03969206918
+327,5.450000000,pose2_to_pose3_retreat,0.597236336774,0.000181814675396,1.04002038838,0.567807510794,0.0088560510278,1.03969210275
+328,5.466666667,pose2_to_pose3_retreat,0.596478700212,0.000181867957849,1.04002041744,0.567049869256,0.00885610442298,1.03969213197
+329,5.483333333,pose2_to_pose3_retreat,0.59572862151,0.00018176307129,1.04002052765,0.566299793487,0.00885600425797,1.03969222891
+330,5.500000000,pose2_to_pose3_retreat,0.594984560456,0.000181697491647,1.04002033505,0.565555732882,0.00885593607337,1.03969203258
+331,5.516666667,pose2_to_pose3_retreat,0.594242431579,0.000181856122457,1.04002039467,0.564813604199,0.00885609254057,1.03969210229
+332,5.533333333,pose2_to_pose3_retreat,0.593497205974,0.000181858047865,1.04002049217,0.564068379031,0.00885609279648,1.03969220064
+333,5.550000000,pose2_to_pose3_retreat,0.5927474233,0.000181803069933,1.04002051658,0.563318598605,0.0088560423713,1.03969222705
+334,5.566666667,pose2_to_pose3_retreat,0.591996407097,0.000181761210254,1.04002053871,0.562567583796,0.00885600201162,1.03969224536
+335,5.583333333,pose2_to_pose3_retreat,0.591244431695,0.000181780083674,1.04002060367,0.561815608589,0.00885601844693,1.03969230567
+336,5.600000000,pose2_to_pose3_retreat,0.590514237834,0.000181774535594,1.04002059181,0.561085416007,0.0088560145685,1.0396922979
+337,5.616666667,pose2_to_pose3_retreat,0.589804590876,0.000181649660043,1.04002043079,0.560375771506,0.00885589512896,1.0396921422
+338,5.633333333,pose2_to_pose3_retreat,0.589112508353,0.000181905777952,1.04002067905,0.559683687807,0.00885614400855,1.03969238448
+339,5.650000000,pose2_to_pose3_retreat,0.588438045734,0.000181745273203,1.04002057139,0.559009227101,0.00885598817308,1.03969227527
+340,5.666666667,pose2_to_pose3_retreat,0.587778707953,0.000181777741307,1.04002071363,0.558349889734,0.00885602027884,1.03969241975
+341,5.683333333,pose2_to_pose3_retreat,0.587125961352,0.000181744205411,1.04002080966,0.557697144698,0.0088559889617,1.03969251073
+342,5.700000000,pose2_to_pose3_retreat,0.586479809733,0.000181743337343,1.04002064581,0.557050994042,0.00885598831215,1.03969234849
+343,5.716666667,pose2_to_pose3_retreat,0.58584942884,0.000181782117217,1.04002036632,0.556420613585,0.00885602625797,1.03969207766
+344,5.733333333,pose2_to_pose3_retreat,0.585236795461,0.000181734961159,1.04002034474,0.555807981603,0.00885598138104,1.03969205576
+345,5.750000000,pose2_to_pose3_retreat,0.584642668664,0.000181742737438,1.04002066569,0.55521385366,0.00885598273605,1.0396923717
+346,5.766666667,pose2_to_pose3_retreat,0.584066874733,0.000181836627555,1.04002076113,0.554638060744,0.00885607791194,1.03969246825
+347,5.783333333,pose2_to_pose3_retreat,0.583512106397,0.000181717595299,1.04002061352,0.55408329315,0.00885595903187,1.03969231487
+348,5.800000000,pose2_to_pose3_retreat,0.582975376774,0.000181693469365,1.04002055096,0.553546565797,0.00885594072367,1.03969225603
+349,5.816666667,pose2_to_pose3_retreat,0.582460605721,0.000181676301444,1.040020539,0.55303179536,0.00885592431692,1.03969224647
+350,5.833333333,pose2_to_pose3_retreat,0.58197412842,0.000181689844565,1.04002054957,0.552545317702,0.00885593528098,1.03969225439
+351,5.850000000,pose2_to_pose3_retreat,0.581507947101,0.000181758908317,1.04002058947,0.552079136287,0.00885600223463,1.03969229175
+352,5.866666667,pose2_to_pose3_retreat,0.58105499601,0.00018179615355,1.04002064129,0.551626184892,0.0088560366011,1.03969234847
+353,5.883333333,pose2_to_pose3_retreat,0.580612291175,0.00018164528953,1.04002042097,0.551183482833,0.00885589403438,1.0396921298
+354,5.900000000,pose2_to_pose3_retreat,0.580181627687,0.000181648455723,1.04002056071,0.550752820976,0.00885590107605,1.03969225887
+355,5.916666667,pose2_to_pose3_retreat,0.579772655429,0.00018166148689,1.04002053921,0.550343846572,0.00885590522726,1.03969224597
+356,5.933333333,pose2_to_pose3_retreat,0.579389336238,0.000181754959324,1.04002054885,0.549960526796,0.00885599505554,1.03969225448
+357,5.950000000,pose2_to_pose3_retreat,0.579042231949,0.00018178185284,1.04002055244,0.549613423454,0.00885602376739,1.03969225775
+358,5.966666667,pose2_to_pose3_retreat,0.578724269298,0.000181752905327,1.04002057199,0.549295462003,0.0088559973594,1.03969227297
+359,5.983333333,pose2_to_pose3_retreat,0.578432527126,0.00018172717161,1.04002058562,0.549003720461,0.00885597234208,1.03969227876
+360,6.000000000,pose2_to_pose3_retreat,0.578155235084,0.000181717350033,1.04002044474,0.548726428037,0.00885596139553,1.03969214777
+361,6.016666667,pose2_to_pose3_retreat,0.577890162453,0.000181686422568,1.04002072585,0.548461355332,0.00885592909096,1.03969243409
+362,6.033333333,pose2_to_pose3_retreat,0.57763450485,0.000181802840176,1.04002082714,0.548205696699,0.00885604102934,1.03969252444
+363,6.050000000,pose2_to_pose3_retreat,0.577390323762,0.00018177445013,1.04002049507,0.547961516728,0.00885601596954,1.03969219775
+364,6.066666667,pose2_to_pose3_retreat,0.577163227439,0.000181738991587,1.04002038023,0.547734422199,0.0088559858588,1.03969208652
+365,6.083333333,pose2_to_pose3_retreat,0.576956300536,0.000181699998268,1.04002055907,0.54752749613,0.00885594884928,1.03969226339
+366,6.100000000,pose2_to_pose3_retreat,0.576771536405,0.00018169388227,1.04002057989,0.547342731727,0.00885594108676,1.0396922843
+367,6.116666667,pose2_to_pose3_retreat,0.576609144258,0.000181728278891,1.04002046483,0.547180338686,0.00885597184616,1.03969217154
+368,6.133333333,pose2_to_pose3_retreat,0.576467734914,0.000181716198506,1.04002055232,0.547038928487,0.00885595651367,1.03969226037
+369,6.150000000,pose2_to_pose3_retreat,0.576344797284,0.000181834048447,1.04002068656,0.546915990768,0.00885607340008,1.03969238834
+370,6.166666667,pose2_to_pose3_retreat,0.576237355846,0.00018184223319,1.04002055783,0.546808549299,0.00885608135638,1.03969226473
+371,6.183333333,pose2_to_pose3_retreat,0.576143991697,0.000181738602204,1.04002046167,0.546715186159,0.00885598077992,1.03969216917
+372,6.200000000,pose2_to_pose3_retreat,0.576060338062,0.000181701642383,1.04002042349,0.546631533882,0.00885594806879,1.03969213109
+373,6.216666667,pose2_to_pose3_retreat,0.575985600357,0.000181748058737,1.04002051613,0.546556796457,0.00885599498716,1.03969222049
+374,6.233333333,pose2_to_pose3_retreat,0.575920007805,0.000181832968648,1.04002068845,0.546491202169,0.00885607351424,1.03969238614
+375,6.250000000,pose2_to_pose3_retreat,0.575863561767,0.000181967034926,1.04002056699,0.546434754423,0.00885620195261,1.03969226943
+376,6.266666667,pose2_to_pose3_retreat,0.575817958884,0.000181678838729,1.04002056844,0.54638915505,0.00885592551482,1.03969226956
+377,6.283333333,pose2_to_pose3_retreat,0.575781424818,0.000181723575933,1.0400204634,0.546352621024,0.00885597034452,1.03969216798
+378,6.300000000,pose2_to_pose3_retreat,0.575753952996,0.000181768399059,1.04002048536,0.546325148807,0.00885601386316,1.03969219293
+379,6.316666667,pose2_to_pose3_retreat,0.575731697119,0.000181756175926,1.04002048614,0.546302892939,0.0088560018158,1.03969219943
+380,6.333333333,pose2_to_pose3_retreat,0.575713940344,0.000181672927317,1.04002034801,0.5462851369,0.00885592135888,1.03969207218
+381,6.350000000,pose2_to_pose3_retreat,0.575700057998,0.00018165870149,1.0400207214,0.546271255438,0.00885590920092,1.0396924225
+382,6.366666667,pose2_to_pose3_retreat,0.57568925054,0.000181739731022,1.04002064509,0.546260446851,0.00885598665425,1.03969235408
+383,6.383333333,pose2_to_pose3_retreat,0.575681606134,0.000181763382629,1.04002049525,0.546252801925,0.00885600885185,1.03969221365
+384,6.400000000,pose2_to_pose3_retreat,0.575676515671,0.00018163691999,1.04002053582,0.54624771321,0.00885588791546,1.03969224498
+385,6.416666667,pose2_to_pose3_retreat,0.575673521283,0.000181748545993,1.04002060498,0.546244716123,0.0088559902644,1.03969231118
+386,6.433333333,pose2_to_pose3_retreat,0.575671615003,0.000181865811869,1.04002066026,0.546242807199,0.00885609851267,1.03969236518
+387,6.450000000,pose2_to_pose3_retreat,0.575670492435,0.000181899115207,1.0400206313,0.546241683942,0.00885612948525,1.0396923366
+388,6.466666667,pose2_to_pose3_retreat,0.575669399779,0.000181849675076,1.04002046226,0.546240592603,0.00885608459823,1.03969217054
+389,6.483333333,pose2_to_pose3_retreat,0.575668552061,0.000181811317812,1.04002033112,0.546239745907,0.00885604977342,1.0396920417
+390,6.500000000,pose2_to_pose3_retreat,0.57566828384,0.000181799181435,1.04002028963,0.546239478009,0.00885603875473,1.03969200094
+391,6.516666667,pose2_to_pose3_retreat,0.575668036826,0.000181792085836,1.04002030619,0.546239231198,0.00885603233772,1.03969201735
+392,6.533333333,pose2_to_pose3_retreat,0.575667727332,0.000181784652896,1.0400203465,0.546238921922,0.00885602562977,1.03969205718
+393,6.550000000,pose2_to_pose3_retreat,0.575667678226,0.000181783473522,1.0400203529,0.546238872849,0.00885602456543,1.0396920635
+394,6.566666667,pose2_to_pose3_retreat,0.575667487126,0.000181778883987,1.04002037779,0.546238681884,0.00885602042354,1.03969208809
+395,6.583333333,pose2_to_pose3_retreat,0.575667439507,0.000181777740365,1.04002038399,0.546238634299,0.00885601939147,1.03969209422
+396,6.600000000,pose2_to_pose3_retreat,0.575667333872,0.000181775203387,1.04002039775,0.546238528739,0.00885601710194,1.03969210782
+397,6.616666667,pose2_to_pose3_retreat,0.575667142971,0.000181776059374,1.04002041758,0.546238337875,0.00885601806763,1.03969212713
+398,6.633333333,pose2_to_pose3_retreat,0.575667116629,0.000181786643356,1.04002041065,0.546238311352,0.00885602801756,1.0396921197
+399,6.650000000,pose2_to_pose3_retreat,0.575667046489,0.00018181482455,1.04002039217,0.546238240731,0.00885605451052,1.0396920999
+400,6.666666667,pose2_to_pose3_retreat,0.575666974919,0.000181843580561,1.04002037332,0.546238168669,0.00885608154386,1.03969207969
+401,6.683333333,pose2_to_pose3_retreat,0.575666892503,0.00018187669408,1.04002035162,0.546238085688,0.00885611267367,1.03969205643
+402,6.700000000,pose2_to_pose3_retreat,0.57566677211,0.00018189665058,1.04002036259,0.546237965128,0.00885613202649,1.03969206644
+403,6.716666667,pose2_to_pose3_retreat,0.575666719571,0.000181867872528,1.04002042367,0.546237913386,0.00885610601147,1.03969212884
+404,6.733333333,pose2_to_pose3_retreat,0.575666710394,0.000181862845544,1.04002043434,0.546237904345,0.00885610146335,1.03969213974
+405,6.750000000,pose2_to_pose3_retreat,0.575666710394,0.000181862845544,1.04002043434,0.546237904333,0.00885610144287,1.03969213974
+406,6.766666667,pose2_to_pose3_retreat,0.575666710394,0.000181862845544,1.04002043434,0.546237904327,0.00885610143197,1.03969213974
diff --git a/Part2/Obstacle_avoidance/cylinder_PLA_10/position_02/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_PLA_10/position_02/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f9c277efd63451d8f1a1cee04bae8ef7f905f4a6
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_PLA_10/position_02/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d7f9c05de725b5bf73d2dfcca21f63ce0ddf8df32025c30aa2ef28b22f01156
+size 25851051
diff --git a/Part2/Obstacle_avoidance/cylinder_PLA_10/position_02/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_PLA_10/position_02/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9c006e7edcfede374b9a3233b3ce037cc3a73a19
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_PLA_10/position_02/depth_04/franka_data.csv
@@ -0,0 +1,408 @@
+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,793,749,728,707,698,655,934,803,835,667,658,675,0.400998969971,-0.00539240119747,0.0498576148411,0.999999960065,0.000131686551814,-0.00024628950647,-4.32360413443e-05,1793256541846843904
+1,0.016666667,BASELINE,793,749,728,707,698,655,934,803,835,667,658,675,0.400996916053,-0.00539536193891,0.0498567560266,0.999999959875,0.000130122213525,-0.000248026762641,-4.24276708099e-05,1793256541863510528
+2,0.033333333,BASELINE,793,749,728,707,698,655,934,803,835,667,658,675,0.400995769166,-0.00539700031764,0.0498560969602,0.999999959755,0.000128715958144,-0.000249304488486,-4.205910751e-05,1793256541880177152
+3,0.050000000,BASELINE,793,749,728,707,698,655,934,803,835,667,658,675,0.400996776741,-0.00539549769802,0.0498559123539,0.999999959812,0.000127685195676,-0.000249490695515,-4.27352150998e-05,1793256541896843776
+4,0.066666667,BASELINE,793.329647021,749,728,707,698,655,934.329647021,803,835.329647021,667,658,675.329647021,0.400997356566,-0.00539419840203,0.0498561486232,0.999999959875,0.000128705809015,-0.000248683027691,-4.29031545066e-05,1793256541913510400
+5,0.083333333,BASELINE,793.906054758,749,728,707,698,655,934.906054758,803,835.906054758,667,658,675.906054758,0.400997616192,-0.00539305130616,0.0498566999434,0.999999959937,0.000131262001167,-0.000247131384471,-4.26906992803e-05,1793256541930177024
+6,0.100000000,BASELINE,793.518948448,749,728,707,698,655,935,803,836,667,658,675.518948448,0.400997620379,-0.00539388445442,0.049856797723,0.999999960049,0.000130704479155,-0.000246954319714,-4.27998172153e-05,1793256541946843648
+7,0.116666667,BASELINE,793.057257225,749,728,707.057257225,698,655,934.942742775,803,835.942742775,667,658,675.057257225,0.40099745159,-0.00539487060389,0.0498567555013,0.999999960115,0.000129730299025,-0.000247176390796,-4.29463581415e-05,1793256541963510528
+8,0.133333333,BASELINE,793.647267323,749,728,707.647267323,698,655,934.352732677,803,835.352732677,667,658,675.647267323,0.40099613614,-0.00539369258414,0.0498562323481,0.999999959657,0.000130520682982,-0.000248621801273,-4.28584817398e-05,1793256541980177152
+9,0.150000000,BASELINE,794,749,728,707.767101649,698,655,934.232898351,803,835,667,658,675.767101649,0.400995114314,-0.0053932671861,0.0498558813584,0.999999959411,0.000130698181812,-0.000249529516453,-4.27931115817e-05,1793256541996843776
+10,0.166666667,BASELINE,794,749,728,707.187980524,698,655,934.812019476,803,835,667,658,675.187980524,0.400994528984,-0.00539396062295,0.0498557863041,0.999999959481,0.000129964575846,-0.00024963790271,-4.2761198835e-05,1793256542013510400
+11,0.183333333,BASELINE,794,749,728,707,698,655,935,803,835,667,658,675,0.400995850024,-0.00539325733775,0.0498564830589,0.999999959685,0.000131160877522,-0.000248188778949,-4.2765797114e-05,1793256542030177536
+12,0.200000000,BASELINE,794,749,728,707,698,655,935,803,835,667,658,675,0.400998087259,-0.00539188279369,0.049857560354,0.999999959946,0.000133284684863,-0.000245991122238,-4.27879424398e-05,1793256542046844672
+13,0.216666667,BASELINE,794,749,728,707,698,655,934.461373089,803,835,667,658,675,0.400997815919,-0.00539325492848,0.0498574488703,0.999999960144,0.000131972719024,-0.000245947070291,-4.24811625877e-05,1793256542063511296
+14,0.233333333,BASELINE,794,749.115514676,728,707,698,655,934,803,835,667,658,675.115514676,0.400997437935,-0.00539444910473,0.0498574350922,0.999999960298,0.000130821259191,-0.000245969894105,-4.22920736546e-05,1793256542080177408
+15,0.250000000,BASELINE,794,749.7074283,728,707,698,655,934,803,835,667,658,675.7074283,0.400997285052,-0.0053941813252,0.0498581393619,0.999999960293,0.000131242428616,-0.000245697692302,-4.26755430458e-05,1793256542096844032
+16,0.266666667,BASELINE,794,749.414234188,728,707,698,655,934,803,835,667,658,676,0.400998045535,-0.00539507269381,0.0498586412085,0.999999960604,0.000130464247394,-0.000244858199152,-4.26059164265e-05,1793256542113510912
+17,0.283333333,BASELINE,794,748.255950915,728,707,698,655,934,803,835,667,658,676,0.400999698725,-0.00539709699395,0.0498589452102,0.999999961219,0.000128513841393,-0.000243464245181,-4.20934415127e-05,1793256542130177792
+18,0.300000000,BASELINE,793.553362318,748.446637682,728,707,698,655,934,803,835,667,658,675.553362318,0.401000158903,-0.00539646983354,0.0498595183786,0.999999961309,0.000129512445755,-0.000242550266582,-4.21710144973e-05,1793256542146844672
+19,0.316666667,BASELINE,793,749,728,707,698,655,934,803,835,667.020494818,658,675.020494818,0.401000186988,-0.00539511386844,0.0498600745666,0.999999961222,0.000131255665439,-0.000241927892617,-4.24087548207e-05,1793256542163511808
+20,0.333333333,BASELINE,793,749,728,707,698,655,934,803,835,667.609000199,658,675.609000199,0.40099761848,-0.00539440351531,0.0498580441074,0.999999960427,0.000130452289798,-0.000245613992396,-4.24468767259e-05,1793256542180177920
+21,0.350000000,BASELINE,793,749,728,707,698,655.194304115,934.194304115,803,835,667.805695885,658,676,0.400996340696,-0.00539439879489,0.0498567756077,0.999999960062,0.000129495500231,-0.000247595407116,-4.24558213537e-05,1793256542196844288
+22,0.366666667,BASELINE,793,749,728,707,698,655.773270053,934.773270053,803,835,667.226729947,658,676,0.400997618141,-0.00539579100825,0.0498570155515,0.999999960571,0.000128234998821,-0.000246202074213,-4.24070040268e-05,1793256542213510912
+23,0.383333333,BASELINE,793,749,728,707,698,655.649110691,934.649110691,803,835,667,658,675.649110691,0.400998485725,-0.00539533259339,0.0498577980908,0.999999960755,0.000128877491521,-0.000245105633841,-4.2461319021e-05,1793256542230177536
+24,0.400000000,BASELINE,793,749,728,707,698,655.072358221,934.072358221,803,835,667,658,675.072358221,0.400999089486,-0.0053936829519,0.0498589298924,0.999999960729,0.000130744918152,-0.000244200299427,-4.25820190251e-05,1793256542246844160
+25,0.416666667,BASELINE,793.504352308,749,728,707,698,655.504352308,934.504352308,803.504352308,835.504352308,667,658,675.504352308,0.400998464999,-0.00539427036804,0.0498585333852,0.999999960473,0.000131975167294,-0.000244647253031,-4.22411294364e-05,1793256542263511040
+26,0.433333333,BASELINE,794,749,728,707,698,655.919493231,934.919493231,803.919493231,835.919493231,667,658,675.919493231,0.400997831235,-0.00539503494418,0.0498580271158,0.999999960254,0.000132874064615,-0.000245103552175,-4.19532409322e-05,1793256542280177920
+27,0.450000000,BASELINE,794,749,728,707,698,655.346701994,934.346701994,803.346701994,835.346701994,667,658,675.346701994,0.400998218168,-0.00539492046236,0.0498581903107,0.999999960476,0.000132305741191,-0.00024443076301,-4.23943534572e-05,1793256542296844800
+28,0.466666667,BASELINE,794,749,728,707,698,655,934.236009546,803,835,667,658,675.236009546,0.400999085653,-0.00539507485893,0.0498586218387,0.999999960794,0.000131376180693,-0.000243617883323,-4.24613256837e-05,1793256542313511424
+29,0.483333333,BASELINE,794,749,728,707,698,655,934.833933577,803,835,667,658,675.833933577,0.401000690054,-0.00539564157348,0.0498594648484,0.999999961259,0.000129892672594,-0.000242590178512,-4.19545634893e-05,1793256542330177536
+30,0.500000000,BASELINE,794,749,728,707,698,655,934.585929993,803,835,667,658,675.585929993,0.401000251105,-0.00539477896979,0.0498590336645,0.999999960981,0.000131121744499,-0.000243021190798,-4.22669283955e-05,1793256542346844160
+31,0.516666667,BASELINE,794,749,728,707,698,655,934.012633617,803,835,667,658,675.012633617,0.400999026407,-0.00539336673643,0.0498581125025,0.999999960412,0.000133393911226,-0.000244013137787,-4.28942802285e-05,1793256542363510784
+32,0.533333333,BASELINE,794,749,728,707,698,655,934.561315219,803,835,667,658,675.561315219,0.400997960132,-0.00539355026551,0.0498580710238,0.999999960325,0.000132585580192,-0.000244840048258,-4.27044838322e-05,1793256542380177408
+33,0.550000000,BASELINE,794,749,728,707,698,655,934.859866801,803,835.140133199,667,658,676,0.400997708423,-0.00539379512176,0.0498584403709,0.9999999605,0.0001315718365,-0.00024470473911,-4.25235279887e-05,1793256542396844032
+34,0.566666667,BASELINE,794,749,728,707,698,655,934.265306853,803,835.734693147,667,658,676,0.401000086626,-0.00539412224598,0.0498600776716,0.999999961483,0.000130117073716,-0.000241461184202,-4.24309508701e-05,1793256542413511168
+35,0.583333333,BASELINE,793.681280028,749,728,707,698,655,934,803,835.681280028,667,658,675.681280028,0.401000403604,-0.00539380697811,0.0498601594605,0.999999961676,0.000129662598999,-0.000240886925534,-4.25342532746e-05,1793256542430178048
+36,0.600000000,BASELINE,793.105740561,749,728,707,698,655,934,803,835.105740561,667,658,675.105740561,0.400999059679,-0.00539297408094,0.0498589878427,0.999999961238,0.000130014140371,-0.00024246354306,-4.27953922803e-05,1793256542446844928
+37,0.616666667,BASELINE,793,749,728,707,698,655,934,803,835,667,658,675,0.400998143534,-0.00539286949723,0.0498584834009,0.999999960877,0.000130858046962,-0.000243512875143,-4.27083733148e-05,1793256542463511296
+38,0.633333333,BASELINE,793,749,728,707,698,655,934,803,835,667,658,675.046633753,0.400997540998,-0.00539312869119,0.0498582518421,0.999999960606,0.000131570512986,-0.000244274582598,-4.25097861164e-05,1793256542480177664
+39,0.650000000,BASELINE,793,749,728,707,698,655,934,803,835,667,658,675.63360504,0.400999456577,-0.00539570353282,0.0498594421915,0.999999961195,0.000129475950322,-0.000243078750638,-4.19264446119e-05,1793256542496844288
+40,0.666666667,BASELINE,793,749,728,707,698,655,934,803,835,667,658,676,0.40100000899,-0.00539619119682,0.0498598164106,0.999999961342,0.000129207981898,-0.00024262407502,-4.1893854048e-05,1793256542513510912
+41,0.683333333,BASELINE,793,749,728,707,698,655,934,803,835,667,658,676,0.400998297075,-0.00539321189166,0.0498588349718,0.999999960755,0.000131974132747,-0.000243400519441,-4.27761048892e-05,1793256542530177536
+42,0.700000000,BASELINE,793.377960004,749,728,707,698,655,934,803.377960004,835,667,658,676,0.400997329382,-0.00539283625162,0.0498584244647,0.999999960449,0.000133100247987,-0.000244028116809,-4.28481953752e-05,1793256542546844416
+43,0.716666667,BASELINE,793.951709195,749,728,707,698,655,934,803.951709195,835,667,658,676,0.400996747206,-0.00539380935088,0.0498583097092,0.999999960293,0.00013337679907,-0.000244578609053,-4.25006101098e-05,1793256542563511296
+44,0.733333333,BASELINE,794,749,728,707,698,655,934,803.472258066,835,667,658,676,0.400997132022,-0.00539431116401,0.0498583033015,0.999999960441,0.000132510123205,-0.000244448761361,-4.24616113005e-05,1793256542580177408
+45,0.750000000,BASELINE,793.893280856,749,728,707,698,655,934.106719144,803,835,667,658,675.893280856,0.400997751065,-0.00539484066684,0.0498584567804,0.99999996069,0.000131149577748,-0.000244163538407,-4.2474575929e-05,1793256542596843776
+46,0.766666667,BASELINE,793.301884271,749,728,707,698,655,934.698115729,803,835,667,658,675.301884271,0.400999030264,-0.00539569263322,0.0498592911807,0.999999961262,0.000128023231722,-0.000243456624145,-4.25947392906e-05,1793256542613510400
+47,0.783333333,BASELINE,793.282555197,749,728,707,698,655,934.717444803,803,835,667,658,675.282555197,0.400999391601,-0.0053957234831,0.0498595886912,0.999999961369,0.000128027663005,-0.000243009294938,-4.26354209937e-05,1793256542630177024
+48,0.800000000,BASELINE,793.859740314,749,728,707,698,655,934.140259686,803,835,667,658,675.859740314,0.400998795852,-0.00539489812695,0.0498593263685,0.99999996099,0.000131296661966,-0.000242832643812,-4.25932244809e-05,1793256542646843648
+49,0.816666667,BASELINE,794,749,728,707,698,655,934,803,835,667,658,675.564724652,0.400999543619,-0.00539460587875,0.0498599043399,0.999999961223,0.000131773043272,-0.000241606645042,-4.26103759552e-05,1793256542663511040
+50,0.833333333,BASELINE,794,749,728,707,698,655.010526647,934,803,835,667,658,675.010526647,0.401000679278,-0.0053945222569,0.0498607300308,0.999999961647,0.000131315792689,-0.000240090822101,-4.26385010582e-05,1793256542680178688
+51,0.850000000,BASELINE,794,749,728,707,698,655.599290975,934,803,835,667,658,675.599290975,0.40099943109,-0.00539649802592,0.0498603457326,0.999999961733,0.000128817349112,-0.000241158519951,-4.22228962445e-05,1793256542696845056
+52,0.866666667,BASELINE,793.815141988,749,728,707,698,656,934,803,835,667,658,676,0.40099851733,-0.00539713742479,0.0498599858109,0.999999961622,0.000128130788062,-0.000242014471972,-4.20363994829e-05,1793256542713511680
+53,0.883333333,BASELINE,793.236387787,749,728,707,698,656,934,803,835,667,658,676,0.40099831617,-0.00539492928065,0.0498596778303,0.9999999611,0.000131304993685,-0.000242419235073,-4.23380870994e-05,1793256542730178560
+54,0.900000000,BASELINE,793.341373557,749,728,707,698,655.658626443,934.341373557,803,835,667,658,675.658626443,0.400998365427,-0.00539427149218,0.0498590995756,0.999999960931,0.000131159785601,-0.000243150062884,-4.25860281391e-05,1793256542746844928
+55,0.916666667,BASELINE,793.918449358,749,728,707,698,655.081550642,934.918449358,803,835,667,658,675.081550642,0.400998587584,-0.00539468415084,0.0498583347094,0.999999961006,0.000128722679726,-0.00024410602289,-4.27968597052e-05,1793256542763511040
+56,0.933333333,BASELINE,793.506772742,748.506772742,728,707,698,655,934.506772742,803,835,667,658,675.493227258,0.400998942231,-0.00539574977087,0.0498591004933,0.999999961499,0.000127239666723,-0.000242910805072,-4.2512434984e-05,1793256542780177664
+57,0.950000000,BASELINE,793,748.069532904,728,707,698,655,934.069532904,803,835,667,658,675.930467096,0.400999197654,-0.00539658093426,0.0498599375973,0.999999961907,0.000126446044385,-0.000241692936888,-4.2220413138e-05,1793256542796844032
+58,0.966666667,BASELINE,793,748.660120534,728,707,698,655,934.660120534,803,835,667,658,675.339879466,0.400998546138,-0.00539484989172,0.0498594214574,0.99999996118,0.000129641825359,-0.00024295829737,-4.24822411197e-05,1793256542813510656
+59,0.983333333,BASELINE,793.245535459,749,728,707,698,655,935,803,835,667,658,675,0.4009983975,-0.00539418071663,0.0498593230183,0.999999960842,0.000131796431224,-0.000243167875943,-4.25978811632e-05,1793256542830177536
+60,1.000000000,BASELINE,793.823937943,749,728,707,698,655,935,803,835,667,658,675,0.400998930602,-0.00539495109167,0.0498597908468,0.999999961044,0.00013253953933,-0.000241946154368,-4.25153374692e-05,1793256542846844672
+61,1.016666667,BASELINE,793.598894932,749,728,707,698,655,935,803,835.401105068,667,658,675,0.400999137639,-0.00539505697134,0.0498597533563,0.999999961195,0.00013176199189,-0.000241790180419,-4.2254345207e-05,1793256542863511552
+62,1.033333333,BASELINE,793.022268428,749,728,707,698,655,935,803,835.977731572,667,658,675,0.400999201991,-0.00539487207134,0.0498594947408,0.999999961324,0.000130319013657,-0.000242100572011,-4.19152648092e-05,1793256542880178176
+63,1.050000000,BASELINE,793.56331629,749,728,707,698,655,935,803,835.43668371,667,658,675,0.400998657127,-0.0053938867781,0.0498589427087,0.999999960686,0.000133389813217,-0.000243031638365,-4.20695404787e-05,1793256542896844544
+64,1.066666667,BASELINE,793.852447318,749,728,707,698,655,934.852447318,803,835,667,658,675,0.400998684747,-0.0053934159999,0.0498590234202,0.999999960437,0.000135147015327,-0.000243070742971,-4.21664708054e-05,1793256542913511168
+65,1.083333333,BASELINE,793.273208465,749,728,707,698,655,934.273208465,803,835,667,658,675,0.401000458844,-0.00539454457203,0.0498609897954,0.999999961432,0.000132530633263,-0.000240427344578,-4.20376489078e-05,1793256542930177792
+66,1.100000000,BASELINE,793.30540599,749,728,707,698,655,934.30540599,803,835,667,658,675.30540599,0.400999305189,-0.00539513117033,0.0498604310506,0.999999961245,0.000130962257644,-0.000242054951334,-4.20446968051e-05,1793256542946844160
+67,1.116666667,BASELINE,793.883462984,749,728,707,698,655,934.883462984,803,835,667,658,675.883462984,0.400995537784,-0.00539523392177,0.0498576180065,0.999999959991,0.000130329489253,-0.000247495495366,-4.21730423818e-05,1793256542963510784
+68,1.133333333,BASELINE,794,749,728,707,698,655,934.54074698,803,835,667,658,675.54074698,0.400996914443,-0.00539550168858,0.0498585368179,0.999999960578,0.000130027819039,-0.000245261278381,-4.22300307367e-05,1793256542980177408
+69,1.150000000,BASELINE,794,749,728,707,698,655,934,803,835,667,658,675,0.400999429637,-0.00539577257578,0.0498602423416,0.999999961552,0.000129869240677,-0.000241334490914,-4.22797125877e-05,1793256542996844288
+70,1.166666667,BASELINE,794,749,728,707,698,655,934,803,835,667,658,675,0.400999428976,-0.00539543876737,0.0498595068272,0.999999961461,0.000130643848557,-0.000241256713557,-4.24974304297e-05,1793256543013511680
+71,1.183333333,BASELINE,794,749,728,707,698,655,934,803,835,667,658,675,0.400998731828,-0.00539469710416,0.049858850973,0.999999961169,0.000131511728038,-0.000241968959517,-4.26341860168e-05,1793256543030178304
+72,1.200000000,BASELINE,794,749,728,707,698,655,934,803,835,667,658,675,0.400996791234,-0.00539322729164,0.0498583373373,0.999999960517,0.000132546126823,-0.000244091645855,-4.26263985204e-05,1793256543046844416
+73,1.216666667,BASELINE,794,749,728,707,698,655.365513885,934.365513885,803,835,667,658,675,0.400996956242,-0.00539316803851,0.0498583543475,0.999999960482,0.000132668271886,-0.00024416294921,-4.26509005078e-05,1793256543063510784
+74,1.233333333,BASELINE,794,749,728,707,698,655.941820371,934.941820371,803,835,667,658,675,0.400998335554,-0.00539392225795,0.0498586773823,0.999999960805,0.000132264318309,-0.000243051215703,-4.26940239067e-05,1793256543080177408
+75,1.250000000,BASELINE,794,749,728,707,698,656,935,803,835,667,658,675,0.400998962588,-0.00539445417002,0.0498594139257,0.999999961112,0.000131774939848,-0.000242070532549,-4.25752196041e-05,1793256543096844032
+76,1.266666667,BASELINE,794,749,728,707,698,655.908059174,935,803.091940826,835,667,658,675.091940826,0.400999399529,-0.00539501061599,0.0498600839978,0.999999961409,0.000130954816945,-0.000241312406763,-4.24344231227e-05,1793256543113510912
+77,1.283333333,BASELINE,794,749,728,707,698,655.317086805,935,803.682913195,835,667,658,675.682913195,0.400999263185,-0.00539583571605,0.0498601412585,0.999999961659,0.000128391561052,-0.000241682394452,-4.22729492158e-05,1793256543130177536
+78,1.300000000,BASELINE,794,749,728,707,698,655,934.731797798,803.731797798,835.268202202,667,658,675.731797798,0.400999333662,-0.00539601377346,0.0498605410171,0.99999996187,0.000127444976087,-0.000241324172079,-4.21855005269e-05,1793256543146844416
+79,1.316666667,BASELINE,794,749,728,707,698,655,934.153088657,803.153088657,835.846911343,667,658,675.153088657,0.400999643581,-0.00539544272725,0.0498613372974,0.999999962041,0.000128370066991,-0.000240122875778,-4.21837533975e-05,1793256543163511040
+80,1.333333333,BASELINE,793.576837371,749,728,707,698,655,934.423162629,803,835.576837371,667,658,675.423162629,0.401000313696,-0.00539647085524,0.0498616014383,0.999999962447,0.000127602623944,-0.000238878099868,-4.19565042358e-05,1793256543180178176
+81,1.350000000,BASELINE,793.001470086,749,728,707,698,655,934.998529914,803,835.001470086,667,658,675.998529914,0.401001113368,-0.00539807417992,0.0498616741774,0.999999962935,0.00012622640428,-0.000237617684959,-4.16481456926e-05,1793256543196845312
+82,1.366666667,BASELINE,793,749,728,707,697.413998506,655,934.413998506,803,835,667,658,675.413998506,0.401000322184,-0.00539571442848,0.0498610604287,0.999999962142,0.000128974081841,-0.000239380388697,-4.21648073596e-05,1793256543213511424
+83,1.383333333,BASELINE,793,749,728,706.828952331,697.171047669,655,934.171047669,803,835,667,658,675,0.400999930036,-0.0053937127808,0.0498606653941,0.999999961532,0.000131388372606,-0.000240537975547,-4.2586299182e-05,1793256543230177792
+84,1.400000000,BASELINE,793,749,728,706.249767289,697.750232711,655,934.750232711,803,835,667,658,675,0.401000499749,-0.00539258982825,0.0498607964302,0.999999961387,0.000132981962556,-0.000240233213549,-4.27756633558e-05,1793256543246844416
+85,1.416666667,BASELINE,793.328255333,749,727.671744667,706.328255333,698,655,934.671744667,803,835,667,658,675.328255333,0.401000167251,-0.00539419452936,0.0498608281879,0.999999961436,0.000132365833298,-0.000240423870202,-4.24724027226e-05,1793256543263511040
+86,1.433333333,BASELINE,793.905396564,749,727.094603436,706.905396564,698,655,934.094603436,803,835,667,658,675.905396564,0.400999150688,-0.00539786736001,0.0498607846721,0.999999961629,0.000130074276634,-0.000240990157376,-4.17956298902e-05,1793256543280177664
+87,1.450000000,BASELINE,793.519453451,749,727,707,698,655,934,803.480546549,835,667,658,676,0.400999926676,-0.00539750192804,0.0498609415973,0.999999961942,0.00012882233437,-0.000240372879021,-4.17245929668e-05,1793256543296844032
+88,1.466666667,BASELINE,793.056784794,749,727.056784794,707,698,655,934,803.943215206,835,667,658,676,0.401000781059,-0.00539635334644,0.0498610475877,0.999999962199,0.000127910298948,-0.000239777220247,-4.18010150571e-05,1793256543313510656
+89,1.483333333,BASELINE,793.646911045,749,727.646911045,707,698,655,934,803.353088955,835,667,658,676,0.400999070941,-0.00539528523512,0.0498603060882,0.999999961708,0.000128276431132,-0.000241564040842,-4.21470167272e-05,1793256543330177280
+90,1.500000000,BASELINE,793.767527761,749,728,707,698,655,934.232472239,803,835,667,658,676,0.400998811367,-0.00539462057808,0.0498603097678,0.999999961552,0.000128952027888,-0.000241800560872,-4.24132680446e-05,1793256543346843904
+91,1.516666667,BASELINE,793.188766692,749,728,707,698,655,934.811233308,803,835,667,658,676,0.401000712511,-0.0053945569035,0.0498614234607,0.999999961898,0.000130088600617,-0.000239727765137,-4.2560723829e-05,1793256543363510528
+92,1.533333333,BASELINE,793.390653255,749,728,707,698,655,934.609346745,803,835,667,658,675.609346745,0.401001414992,-0.00539445735151,0.0498618428071,0.999999961999,0.000131063306313,-0.000238776522388,-4.25451282673e-05,1793256543380177152
+93,1.550000000,BASELINE,793.970392166,749,728,707,698,655,934.029607834,803,835,667,658,675.029607834,0.401001537292,-0.00539434043399,0.0498619260732,0.999999961983,0.000131959664537,-0.000238368138321,-4.24506119097e-05,1793256543396843776
+94,1.566666667,BASELINE,793.458157488,749,728,707,698,655,934,803,835,667,658,675,0.401001346743,-0.00539476368694,0.0498615596893,0.999999961875,0.000132139366794,-0.000238735888674,-4.23501241876e-05,1793256543413510400
+95,1.583333333,BASELINE,793,749,728,707,698,655,934.116830987,803,835,667,658,675.116830987,0.401000837917,-0.00539496456171,0.0498610970849,0.999999961753,0.000131872475546,-0.000239403528105,-4.22997883606e-05,1793256543430177024
+96,1.600000000,BASELINE,793,749,728,707,698,655,934.707995548,803,835,667,658,675.707995548,0.400999105248,-0.00539414455033,0.0498603420765,0.999999961586,0.000129949010273,-0.000241119125552,-4.24543738859e-05,1793256543446843648
+97,1.616666667,BASELINE,793.291794005,749,728,707,698,655,935,803,835,667,658,676,0.400998729323,-0.00539424187546,0.0498600148792,0.999999961443,0.000129797044323,-0.000241822572357,-4.22946598364e-05,1793256543463510528
+98,1.633333333,BASELINE,793.868402514,749,728,707,698,655,935,803,835,667,658,676,0.400999677691,-0.00539523459511,0.04986010526,0.999999961325,0.000131374204836,-0.000241538078325,-4.182816402e-05,1793256543480177408
+99,1.650000000,BASELINE,794,749,728,707,698,655,934.556067892,803,835,667,658,675.556067892,0.40099876314,-0.00539622938623,0.0498598831974,0.999999961366,0.000129997547011,-0.000242141605061,-4.16720937021e-05,1793256543496843776
+100,1.666666667,BASELINE,793.980403693,749,728,707,698,655,934,803,835,667,658,675,0.400997366663,-0.00539715011004,0.0498595769831,0.999999961444,0.000127866608284,-0.000242959428071,-4.16178194253e-05,1793256543513510656
+101,1.683333333,BASELINE,793.391561063,749,728,707,698,655,934,803,835,667,658,675,0.400997973728,-0.00539590148427,0.0498595102244,0.999999961405,0.000129198688173,-0.000242374001571,-4.1853968678e-05,1793256543530177280
+102,1.700000000,BASELINE,793.194068683,749,728,707,697.805931317,655,934,803,835,667,658,675,0.400998705995,-0.00539451739152,0.0498596076271,0.999999961352,0.000130659874138,-0.000241767688768,-4.2092085363e-05,1793256543546843904
+103,1.716666667,BASELINE,793.773321482,749,728,707,697.226678518,655,934,803,835,667,658,675,0.40099968676,-0.00539286442642,0.0498600308545,0.999999961273,0.000132377307424,-0.000241119921263,-4.23341069454e-05,1793256543563510528
+104,1.733333333,BASELINE,794,749,728,707,697.351767177,655,934,803,835,667,658,675.351767177,0.401000089846,-0.00539374660326,0.0498602727995,0.99999996152,0.000131893483784,-0.000240389303312,-4.21439018632e-05,1793256543580177152
+105,1.750000000,BASELINE,794,749,728,707,697.929694022,655,934,803,835,667,658,675.929694022,0.401000121529,-0.00539625868431,0.0498603981938,0.999999961977,0.000129994418729,-0.00023960541873,-4.16758077757e-05,1793256543596843776
+106,1.766666667,BASELINE,793.494077505,749,728,707,698,655,934,803,835,667,657.494077505,675.494077505,0.400999686928,-0.00539596606153,0.0498606549598,0.999999961768,0.000130634671022,-0.000240070290035,-4.20049571985e-05,1793256543613510656
+107,1.783333333,POSE1_TO_POSE2_PRESS,793,749,728,707,698,655,934,803,835,667,658,676,0.400998607958,-0.00539619925402,0.0498595653489,0.999999961213,0.00013055163172,-0.000242377504328,-4.22236873404e-05,1793256543656249600
+108,1.800000000,POSE1_TO_POSE2_PRESS,793,749,728,707,698,655,934,803,835,667,658,675.419366707,0.400997144564,-0.00539511734033,0.0498593004545,0.999999961,0.000130401935279,-0.000243310856911,-4.23691632905e-05,1793256543672916224
+109,1.816666667,POSE1_TO_POSE2_PRESS,793,749,728,707,698,655.160213569,934,803,835,667,658,675,0.400996857151,-0.00539485939812,0.0498594331547,0.999999961049,0.000130038916378,-0.000243294573316,-4.24152610361e-05,1793256543689582848
+110,1.833333333,POSE1_TO_POSE2_PRESS,793,749,728,707,698,655.737055647,934,803,835,667,658,675,0.400999627826,-0.00539674415809,0.0498605997824,0.999999961779,0.000129121161537,-0.00024080880181,-4.22029300588e-05,1793256543706249472
+111,1.850000000,POSE1_TO_POSE2_PRESS,793,749,727.686854226,707,698,656,934,803,835,667,658,675,0.401000380097,-0.00539672476248,0.0498607327377,0.999999961852,0.000129727901239,-0.000240182472906,-4.21873606363e-05,1793256543722916352
+112,1.866666667,POSE1_TO_POSE2_PRESS,793,749,727.111394023,707,698,656,934,803,835,667,658,675,0.400999441601,-0.00539511030296,0.0498599998112,0.999999961375,0.00013161167217,-0.000241113752984,-4.2336613489e-05,1793256543739582976
+113,1.883333333,POSE1_TO_POSE2_PRESS,793,749,727.47464696,707,698,655.52535304,934,803,835,667,658,675,0.400997514377,-0.00539590551718,0.0498589990193,0.999999960997,0.000131017195303,-0.000243028389886,-4.21625208898e-05,1793256543756249344
+114,1.900000000,POSE1_TO_POSE2_PRESS,793,749,728,707,698,655,934,803,835,667,658,675.062355311,0.400995851587,-0.00539713485085,0.0498582634046,0.999999960742,0.000129862357916,-0.000244731101516,-4.19452987787e-05,1793256543772915968
+115,1.916666667,POSE1_TO_POSE2_PRESS,793,749,728,707,698,655,934,803,835,667,658,675.64281474,0.400998357929,-0.00539716523966,0.0498602653688,0.999999961343,0.000128994309,-0.000242711680232,-4.20146177139e-05,1793256543789582592
+116,1.933333333,POSE1_TO_POSE2_PRESS,793,749,728,707,698,655.220583533,934.220583533,803,835,667,658,676,0.40100506761,-0.00539655255846,0.0498632849255,0.999999962557,0.000128833221755,-0.000237737190446,-4.20527518708e-05,1793256543806249216
+117,1.950000000,POSE1_TO_POSE2_PRESS,793,749,728,707,698,655.794047894,934.794047894,803,835,667,658,676,0.401018501624,-0.00539491111923,0.0498679323863,0.999999964692,0.000129803103963,-0.000228035298886,-4.20409978408e-05,1793256543822916096
+118,1.966666667,POSE1_TO_POSE2_PRESS,793,749,728,707,698,655.624497609,934.624497609,803,835,667,658,675.624497609,0.40104925962,-0.00539608158043,0.0498787860628,0.999999969468,0.000130650021411,-0.00020567618884,-4.11441109091e-05,1793256543839582720
+119,1.983333333,POSE1_TO_POSE2_PRESS,793,749,728,707,698,655.038565423,934.038565423,803,835,667,658,675.038565423,0.401089725894,-0.00539882781739,0.0498931176742,0.999999975046,0.000131428029979,-0.000176224031355,-3.97511995857e-05,1793256543856249344
+120,2.000000000,POSE1_TO_POSE2_PRESS,793,749,728,707,698,655,934,803,835,667,658,675,0.40115961044,-0.00540097982376,0.049913842082,0.999999981613,0.00013054204997,-0.000135141302643,-3.83398734885e-05,1793256543872915968
+121,2.016666667,POSE1_TO_POSE2_PRESS,793,749,728,707,698,655,934,803,835.126927317,667,658,675,0.401232831777,-0.00540356222589,0.0499332406868,0.999999986053,0.000128882796123,-9.96542142745e-05,-3.67746736171e-05,1793256543889583104
+122,2.033333333,POSE1_TO_POSE2_PRESS,793,749,728,707,698,655,934,803,835.699359225,667,658,675,0.401310489987,-0.00540780223357,0.0499464049241,0.999999987839,0.00012492091159,-8.66835508031e-05,-3.46739429795e-05,1793256543906250752
+123,2.050000000,POSE1_TO_POSE2_PRESS,793,749,728,707,698,655,934,803,835.725113006,667,658,675,0.401396764548,-0.00541164036239,0.0499554282562,0.999999989206,0.000121818707588,-7.51253284899e-05,-3.3239438112e-05,1793256543922917888
+124,2.066666667,POSE1_TO_POSE2_PRESS,793,749,728,707,698,655,934,803,835.146160798,667,658,675,0.401492570047,-0.00541503395416,0.0499598711408,0.999999990189,0.000119667436219,-6.51294734332e-05,-3.25418765014e-05,1793256543939584512
+125,2.083333333,POSE1_TO_POSE2_PRESS,793,749,727.562362251,707,698,655,934,803,835,667,658,675,0.401598079019,-0.00541901475651,0.049960645948,0.999999990474,0.000117934001534,-6.42442121909e-05,-3.18908193787e-05,1793256543956250880
+126,2.100000000,POSE1_TO_POSE2_PRESS,793,749,727.022997286,707,698,655,934.022997286,803,835,667,658,675.022997286,0.401708434044,-0.00542320434656,0.0499603291194,0.99999999055,0.000116371512415,-6.61984711473e-05,-3.12287094585e-05,1793256543972916992
+127,2.116666667,POSE1_TO_POSE2_PRESS,793,749,727.606512046,707,698,655,934.606512046,803,835,667,658,675.606512046,0.4018570314,-0.00542764929669,0.0499635984298,0.999999990933,0.00011553620252,-6.23695160898e-05,-2.9914417974e-05,1793256543989583360
+128,2.133333333,POSE1_TO_POSE2_PRESS,793,748.813282478,728,707,698,655,934.813282478,803,835,667,658,675.813282478,0.40201258242,-0.0054326263123,0.049965873513,0.999999991307,0.000113569720575,-6.05878619554e-05,-2.85851083849e-05,1793256544006249728
+129,2.150000000,POSE1_TO_POSE2_PRESS,793,748.239929599,728,707,698,655,934.239929599,803,835,667,658,675.239929599,0.40218253235,-0.00543870507361,0.0499660898532,0.999999991673,0.000109260924494,-6.30455475841e-05,-2.72247010196e-05,1793256544022916608
+130,2.166666667,POSE1_TO_POSE2_PRESS,793.333721623,748.333721623,728,707,698,655,934,803,835,667,657.666278377,675,0.402369789354,-0.00544449333633,0.0499640745433,0.999999991512,0.000108037776732,-6.80947220987e-05,-2.58290586909e-05,1793256544039583744
+131,2.183333333,POSE1_TO_POSE2_PRESS,793.907587588,748.907587588,728,707,698,655,934,803,835,667,657.092412412,675,0.402569500455,-0.00545007255838,0.0499604533498,0.999999990945,0.000109035044994,-7.50087187815e-05,-2.44080613247e-05,1793256544056250624
+132,2.200000000,POSE1_TO_POSE2_PRESS,793.501692504,749,727.501692504,707,698,655.498307496,934,803,835.498307496,667,657.498307496,675.498307496,0.402801721058,-0.00545829825414,0.049960236449,0.999999991425,0.00010329883079,-7.72193818617e-05,-2.27112379931e-05,1793256544072916992
+133,2.216666667,POSE1_TO_POSE2_PRESS,793,749,727.089849635,707,698,655.910150365,934,803,835.910150365,667,658,675.910150365,0.403050013641,-0.00546729413556,0.0499617466249,0.999999992196,9.67554557546e-05,-7.62467534196e-05,-2.08004573042e-05,1793256544089583360
+134,2.233333333,POSE1_TO_POSE2_PRESS,793,749,727.668272032,707,698,655.331727968,934,803,835.331727968,667,658,675.331727968,0.40335176926,-0.00547771582833,0.0499690949077,0.999999993551,9.28509515375e-05,-6.2873451197e-05,-1.80141344859e-05,1793256544106249984
+135,2.250000000,POSE1_TO_POSE2_PRESS,793,749,728,707,698,655,934,803,835,667,658,675.244361,0.403668082478,-0.00548798548017,0.0499774206938,0.999999994757,8.94135654968e-05,-4.75557097562e-05,-1.51779323319e-05,1793256544122916608
+136,2.266666667,POSE1_TO_POSE2_PRESS,793,749,728,707,698,655,934,803,835,667,658,675.817312191,0.404003971159,-0.00549805068323,0.0499870609201,0.999999995736,8.66043095903e-05,-2.96232979767e-05,-1.22746580198e-05,1793256544139583232
+137,2.283333333,POSE1_TO_POSE2_PRESS,793,749,728,707,697.607890177,655,934,803,835,667,658,676,0.404368519897,-0.00550658764448,0.0499952941169,0.999999996279,8.46888236363e-05,-1.36850496969e-05,-9.11853604502e-06,1793256544156250112
+138,2.300000000,POSE1_TO_POSE2_PRESS,793,749,728,707,697.032228216,655,934,803,835,667,658,676,0.404746484804,-0.0055144092139,0.050002868663,0.999999996522,8.31917240734e-05,1.31970202038e-06,-5.8440525942e-06,1793256544172916992
+139,2.316666667,POSE1_TO_POSE2_PRESS,793.560659318,749,728,707,697.560659318,655,934,803,835,667,658,675.439340682,0.40515105969,-0.00551304314886,0.0500035728823,0.999999995313,9.66327178491e-05,4.9996759815e-06,-3.22561287173e-06,1793256544189583872
+140,2.333333333,POSE1_TO_POSE2_PRESS,793.850210295,748.850210295,728,707,698,655,934,803,835,667,658,675,0.40556195985,-0.00550908108595,0.0499979754142,0.999999993628,0.000112821742795,-3.69928165278e-06,-1.04106057595e-06,1793256544206250496
+141,2.350000000,POSE1_TO_POSE2_PRESS,793.274662858,748.274662858,728,707,698,655,934,803,835,667,658,675,0.405986353165,-0.00549928896118,0.0499756243249,0.999999989938,0.000134303629711,-4.56747673339e-05,2.0809475967e-08,1793256544222916864
+142,2.366666667,POSE1_TO_POSE2_PRESS,793,748,728,707,698,655,934,802.700149041,835,667,658,675.299850959,0.406434812336,-0.0054953617443,0.0499564862143,0.999999985723,0.000149576250706,-7.8596691277e-05,1.74534507047e-06,1793256544239583232
+143,2.383333333,POSE1_TO_POSE2_PRESS,793,748,728,707,698,655,934,802.126578701,835,667,658,675.873421299,0.406905240109,-0.00549678831597,0.0499402810734,0.999999981992,0.000159180736918,-0.000103254063157,4.07479598557e-06,1793256544256249600
+144,2.400000000,POSE1_TO_POSE2_PRESS,793,748,728,707,698,655,934,802.461522641,835,667,658,676,0.407423411574,-0.00550371243343,0.0499395974492,0.999999981206,0.000163203334454,-0.000104345392008,8.05690545365e-06,1793256544272916480
+145,2.416666667,POSE1_TO_POSE2_PRESS,793.052360704,748.052360704,728,707,698,655,934,803,835,667.052360704,658,675.947639296,0.407963374569,-0.00551173963055,0.0499454930053,0.999999981656,0.000166234280664,-9.43195290999e-05,1.25513550072e-05,1793256544289583360
+146,2.433333333,POSE1_TO_POSE2_PRESS,793.629389673,748.629389673,728,707,698,655,934,803,835,667.629389673,658,675.370610327,0.408586220691,-0.00551522053224,0.0499732709328,0.999999983715,0.000175167396371,-3.97657939411e-05,1.74901230351e-05,1793256544306250752
+147,2.450000000,POSE1_TO_POSE2_PRESS,793.793577356,748.793577356,727.793577356,707,698,655.206422644,934,803,835,667.793577356,658,675,0.40921871248,-0.00551714430542,0.0499961499323,0.999999982532,0.000185558014802,2.04947080565e-06,2.23592727597e-05,1793256544322917888
+148,2.466666667,POSE1_TO_POSE2_PRESS,793.216537234,748.216537234,727.216537234,707,698,655.783462766,934,803,835,667.216537234,658,675,0.409868522353,-0.0055162723626,0.0500102332463,0.999999979698,0.000198565478045,2.09936958169e-05,2.71034274478e-05,1793256544339584512
+149,2.483333333,POSE1_TO_POSE2_PRESS,793,748,727.366295311,707,697.633704689,655.633704689,934,803,835.366295311,667,658,675,0.410492843067,-0.0055147066851,0.0500076848562,0.999999976596,0.00021394682172,8.78849184885e-06,3.09414059357e-05,1793256544356250880
+150,2.500000000,POSE1_TO_POSE2_PRESS,793,748,727.952607073,707,697.047392927,655.047392927,934,803,835.952607073,667,658,675,0.411101853611,-0.00551272431368,0.0499951465794,0.999999972545,0.000230754043638,-2.21267170312e-05,3.42350865931e-05,1793256544372917504
+151,2.516666667,POSE1_TO_POSE2_PRESS,793,748,728,707,697.533190706,655,934,802.466809294,835.466809294,667,658,675,0.411757307277,-0.00551411568324,0.0499686296336,0.99999996812,0.000238334307482,-7.48249042301e-05,3.68592604162e-05,1793256544389583872
+152,2.533333333,POSE1_TO_POSE2_PRESS,793,748,728,707,697.887462441,655.112537559,934,802.112537559,835,667.112537559,658,675.112537559,0.412442691343,-0.00551622338331,0.0499511710634,0.999999963443,0.000245319699551,-0.000106532657423,3.97804114277e-05,1793256544406249984
+153,2.550000000,POSE1_TO_POSE2_PRESS,793,748,728,707,697.311136749,655.688863251,934,802.688863251,835,667.688863251,658,675.688863251,0.413234592037,-0.00552006050206,0.049976109896,0.999999966009,0.000253197550277,-4.38403391777e-05,4.41681028152e-05,1793256544422916352
+154,2.566666667,POSE1_TO_POSE2_PRESS,793,748,728,707,697,655.734772141,934,803,835.265227859,668,658,675.734772141,0.414021620091,-0.0055258342332,0.0499912354183,0.999999977678,0.000207857463758,-1.27254797043e-05,3.57338998174e-05,1793256544439582976
+155,2.583333333,POSE1_TO_POSE2_PRESS,793,748,728,707,697,655.158361798,934,803,835.841638202,668,658,675.158361798,0.414802931349,-0.00553388012379,0.0499948473333,0.999999994743,0.000100078649996,-1.86593297059e-05,1.22562211334e-05,1793256544456249600
+156,2.600000000,POSE1_TO_POSE2_PRESS,793,748,728,707,697.426351254,655,934,802.573648746,836,668,658,675,0.415559590706,-0.0055380678813,0.0499721245628,0.999999995226,7.88610645536e-05,-5.71775533203e-05,7.71369139043e-06,1793256544472916480
+157,2.616666667,POSE1_TO_POSE2_PRESS,793,748,728,707,697.986003714,655,934,802,836,668,658,675,0.416309266998,-0.00554067283832,0.0499406101521,0.999999990222,9.05939354041e-05,-0.000106020300251,1.04116393344e-05,1793256544489583616
+158,2.633333333,POSE1_TO_POSE2_PRESS,793,748,728,707,697.406963814,655,934,802,836,668,658,675,0.417154033742,-0.00553838106903,0.0499569051551,0.999999991266,0.000108787226431,-7.33611383575e-05,1.58393317196e-05,1793256544506249984
+159,2.650000000,POSE1_TO_POSE2_PRESS,793,747.828938943,728,707.171061057,697,655,934,802,836,668,658,675,0.418005079602,-0.00553581458492,0.0499736967545,0.999999991141,0.000124648888841,-4.18984401209e-05,2.06000872553e-05,1793256544522916352
+160,2.666666667,POSE1_TO_POSE2_PRESS,793,747.253314672,728,707.746685328,697,655,934,802,836,668,658,675,0.418870975661,-0.0055325983943,0.0499916628143,0.999999990517,0.000134996196755,-1.32654072338e-05,2.37835219857e-05,1793256544539582976
+161,2.683333333,POSE1_TO_POSE2_PRESS,793,747,728,707.67744225,697,655,934,802,835.67744225,668,657.67744225,675,0.419731980913,-0.00553051368893,0.0499878080913,0.999999989809,0.000138781266948,-2.26827175415e-05,2.4624478762e-05,1793256544556249600
+162,2.700000000,POSE1_TO_POSE2_PRESS,793,747,728,707.101374823,697,655,934,802,835.101374823,668,657.101374823,675,0.420589142265,-0.00552931825847,0.0499668036334,0.999999988358,0.000137408839153,-6.20051552447e-05,2.36243981391e-05,1793256544572916224
+163,2.716666667,POSE1_TO_POSE2_PRESS,793,747,728.485289231,707,697,655,934,802,835.485289231,668,657.485289231,675,0.421476063706,-0.00553190519627,0.049986106074,0.999999990564,0.000134566980472,-1.3042396598e-05,2.43848588935e-05,1793256544589582848
+164,2.733333333,POSE1_TO_POSE2_PRESS,793,747,728.926989903,707.073010097,697,655,934,802,835.926989903,668,658,675,0.422374863103,-0.00553506211665,0.0500106272992,0.99999999001,0.000131361907411,4.55298529953e-05,2.5508736482e-05,1793256544606249728
+165,2.750000000,POSE1_TO_POSE2_PRESS,793,747,728.347634614,707.652365386,697,655,934,802,835.347634614,668,658,675,0.423311961583,-0.00553656999476,0.0500116440846,0.99999999068,0.00012781420652,3.99882335281e-05,2.65454902855e-05,1793256544622916864
+166,2.766666667,POSE1_TO_POSE2_PRESS,793,746.769632754,728,708,697,655,934,802,835.230367246,668,658,675.230367246,0.424239011325,-0.00553787591933,0.0500070942916,0.999999991275,0.000125860111325,2.95088040329e-05,2.7189817786e-05,1793256544639583488
+167,2.783333333,POSE1_TO_POSE2_PRESS,793,746.193661263,728,708,697,655,934,802,835.806338737,668,658,675.806338737,0.425150985775,-0.00553887886703,0.0499941933411,0.999999991586,0.000126296793353,1.16215145851e-05,2.72454150587e-05,1793256544656250368
+168,2.800000000,POSE1_TO_POSE2_PRESS,793,746,728,708,697,655,934,802,836,668,658,676,0.426092362894,-0.00554182431816,0.0500030648075,0.999999991862,0.00012306983965,1.76705123457e-05,2.85842184726e-05,1793256544672916736
+169,2.816666667,POSE1_TO_POSE2_PRESS,793,746,728,708,697,655,934,802,836,668,658,676,0.427048634033,-0.00554575375443,0.0500229652053,0.99999999193,0.00011798705221,3.58445616326e-05,3.05730366051e-05,1793256544689582848
+170,2.833333333,POSE1_TO_POSE2_PRESS,793,746,728.547035434,708,697,655,934,802,835.452964566,668,657.452964566,675.452964566,0.427902819595,-0.00554076410016,0.0499923020287,0.99999999139,0.000123077859537,-3.40801784054e-05,3.01714829344e-05,1793256544706249472
+171,2.850000000,POSE1_TO_POSE2_PRESS,793,745.723051227,729,707.861525613,697,655,934,802,835,668,657.138474387,675.138474387,0.42877093779,-0.00553644562946,0.0499641043679,0.999999987435,0.000127074961826,-9.00866855868e-05,2.94387947654e-05,1793256544722916096
+172,2.866666667,POSE1_TO_POSE2_PRESS,793,744.568387355,729,707.284193677,697,655,934,802,835,668,657.715806323,675.715806323,0.42971210585,-0.00553677874159,0.0499580319382,0.999999988852,0.000124726341458,-7.70477257511e-05,2.83332320027e-05,1793256544739582976
+173,2.883333333,POSE1_TO_POSE2_PRESS,793,744,729,707.290438028,697,655,934,802,835,668,658,676,0.430641138771,-0.00553850053783,0.0499572247219,0.999999990015,0.000120807365272,-6.77163813506e-05,2.80991800265e-05,1793256544756249600
+174,2.900000000,POSE1_TO_POSE2_PRESS,793,744,729,707.862451863,697,655,934,802,835,668,658,676,0.431558406783,-0.00554156864484,0.0499615220603,0.999999991012,0.000115365950147,-6.19795215813e-05,2.87100462366e-05,1793256544772916736
+175,2.916666667,POSE1_TO_POSE2_PRESS,793,743.550967262,729,708,697,655,934,801.550967262,835,668.449032738,658,675.550967262,0.432465956802,-0.00554315794084,0.0499536048379,0.999999990427,0.000114351963196,-7.24107373528e-05,2.87607648648e-05,1793256544789583616
+176,2.933333333,POSE1_TO_POSE2_PRESS,793,743.039415086,729,708,697.039415086,655,934,801.039415086,835,668.960584914,657.960584914,675.039415086,0.433371766618,-0.00554431917499,0.0499443860771,0.999999989476,0.00011462618202,-8.41444881724e-05,2.87913814236e-05,1793256544806249984
+177,2.950000000,POSE1_TO_POSE2_PRESS,793,743.618697742,729,708,697.618697742,655,934,801.618697742,835,668.381302258,657.381302258,675.618697742,0.434295880507,-0.00554602989107,0.0499703067558,0.999999992146,0.000113346064101,-4.36086383217e-05,3.09756545734e-05,1793256544822916352
+178,2.966666667,POSE1_TO_POSE2_PRESS,793,744,729,708,697.803593031,655,934,802,835,668,657.196406969,675.803593031,0.435188773927,-0.00554597681664,0.0499852372433,0.999999992642,0.0001139835095,-2.56309796007e-05,3.26709669413e-05,1793256544839583232
+179,2.983333333,POSE1_TO_POSE2_PRESS,793,744,729,708,697.228914064,655,934,802,835,668,657.771085936,675.228914064,0.436021538133,-0.00554252675227,0.0499790010647,0.999999991137,0.000118314105477,-5.10994912538e-05,3.34245607749e-05,1793256544856250112
+180,3.000000000,POSE1_TO_POSE2_PRESS,792.654187437,744,729,708,697,655,934,801.654187437,835,668.345812563,658,675,0.436862088628,-0.00554061255847,0.0499669105995,0.99999998937,0.000119870728903,-7.6031875467e-05,3.33150799819e-05,1793256544872916480
+181,3.016666667,POSE1_TO_POSE2_PRESS,792.079429291,744,729,708,697,655,934,801.079429291,835,668.920570709,658,675,0.437707793996,-0.00553971518966,0.0499509442978,0.999999987255,0.000119590840511,-0.000100609314382,3.2634199646e-05,1793256544889582848
+182,3.033333333,POSE1_TO_POSE2_PRESS,792.510099896,744,729,708,697,655,934,801,835,668.489900104,658,675.510099896,0.438588355148,-0.00554273976235,0.0499730978377,0.999999991347,0.000115115709379,-5.44310497406e-05,3.30327679563e-05,1793256544906249728
+183,3.050000000,POSE1_TO_POSE2_PRESS,792.900249569,744,729,708,697.099750431,655,934,801,835.099750431,668,657.900249569,676,0.439455849572,-0.00554616294091,0.0499933891975,0.999999993303,0.000110159160258,-1.18208038068e-05,3.34458995859e-05,1793256544922916608
+184,3.066666667,POSE1_TO_POSE2_PRESS,792.321392874,744,729,708,697.678607126,655,934,801,835.678607126,668,657.321392874,676,0.440233737877,-0.00554847995951,0.0499753764692,0.999999992987,0.000106121518749,-4.08440505209e-05,3.30975874459e-05,1793256544939583232
+185,3.083333333,POSE1_TO_POSE2_PRESS,792,744,729.255418434,708,697.744581566,655,934,801,835.744581566,668.255418434,657.255418434,676,0.440992537202,-0.00555066071568,0.0499590305398,0.99999999201,0.00010188289726,-6.73720279321e-05,3.25684214856e-05,1793256544956250112
+186,3.100000000,POSE1_TO_POSE2_PRESS,792,744,729.829676435,708,697.170323565,655,934,801,835.170323565,668.829676435,657.829676435,676,0.441727507641,-0.00555267137488,0.0499447652815,0.99999999063,9.73933922314e-05,-9.07851513262e-05,3.1813495221e-05,1793256544972916480
+187,3.116666667,POSE1_TO_POSE2_PRESS,792,744,730,708.412770197,696.587229803,654.587229803,934,801,835,669,657.587229803,676,0.442455550716,-0.00555654077973,0.049936494693,0.999999989949,9.49298980373e-05,-0.000100240665414,3.22963265999e-05,1793256544989583104
+188,3.133333333,POSE1_TO_POSE2_PRESS,792,744,730,708.999589708,696.000410292,654.000410292,934,801,835,669,657.000410292,676,0.44318067285,-0.00556119394629,0.0499307518249,0.999999989703,9.33206943063e-05,-0.000103810794589,3.33010727033e-05,1793256545006249728
+189,3.150000000,POSE1_TO_POSE2_PRESS,792.57923162,744,730,708.42076838,696,653.42076838,934,801,835.57923162,669,657,676,0.443800584633,-0.0055552722294,0.0498893434411,0.999999977906,0.000102191174255,-0.000180714819386,3.29603113789e-05,1793256545022916608
+190,3.166666667,POSE1_TO_POSE2_PRESS,793,744,730,708.158291558,696,653,934,800.841708442,836,669,657,676,0.444419367497,-0.00554934666594,0.0498476896207,0.999999961865,0.000110957671234,-0.00025084929728,3.21435177951e-05,1793256545039583488
+191,3.183333333,POSE1_TO_POSE2_PRESS,793,744,730,708.735823545,696,653,934,800.264176455,836,669,657,676,0.445035355482,-0.00554343050973,0.0498054518359,0.999999946536,0.000119429349164,-0.000302918530281,3.00684306931e-05,1793256545056250624
+192,3.200000000,POSE1_TO_POSE2_PRESS,793,744,730,709,695.687991874,653,934,800,835.687991874,669,657,676,0.445661389956,-0.00554256495938,0.0497915080195,0.999999943975,0.000122849305491,-0.000309934008962,2.99728949049e-05,1793256545072917760
+193,3.216666667,POSE1_TO_POSE2_PRESS,793,744,730,709,695.112943266,653,934,800,835.112943266,669,657,676,0.44629589415,-0.0055459573555,0.0498014176198,0.999999953148,0.000122010374657,-0.000278966624066,3.15462328863e-05,1793256545089584640
+194,3.233333333,POSE1_TO_POSE2_PRESS,792.527097746,744,730,709,694.527097746,652.054195492,934,800,835.472902254,669,657,676,0.44687104781,-0.00554882604469,0.0497963254815,0.999999951319,0.000122448835409,-0.00028513106011,3.26814283789e-05,1793256545106251264
+195,3.250000000,POSE1_TO_POSE2_PRESS,792.060557798,744,730,709,694.060557798,651,934.060557798,800,836,669,657,676,0.447424094038,-0.00555120908259,0.0497846524288,0.999999945429,0.000123238084682,-0.000304684043441,3.34922140313e-05,1793256545122917632
+196,3.266666667,POSE1_TO_POSE2_PRESS,792.641096424,744,730,709,694.641096424,651,934.641096424,800,836,669,657,676,0.447911869385,-0.00555052113441,0.0497479553664,0.999999926483,0.000124358610159,-0.000361271990541,3.24369481881e-05,1793256545139584000
+197,3.283333333,POSE1_TO_POSE2_PRESS,793,744,730,709,694.7801154,650.7801154,934.7801154,799.7801154,836,669,657,676,0.448394696369,-0.00555020956288,0.0497206975028,0.999999909917,0.000126415321332,-0.000403931481255,3.20171642413e-05,1793256545156250368
+198,3.300000000,POSE1_TO_POSE2_PRESS,793,744,730,709,694.204161863,650.204161863,934.204161863,799.204161863,836,669,657,676,0.448869510203,-0.00555050747489,0.0497087249583,0.999999901116,0.000129988040126,-0.000424035997363,3.26264446963e-05,1793256545172917248
+199,3.316666667,POSE1_TO_POSE2_PRESS,793,744,730,709,693.630080424,650,934.369919576,799,836,669,657,676,0.449326062618,-0.00555117658436,0.049711496731,0.999999901717,0.000131596042634,-0.000422002512608,3.41009489608e-05,1793256545189583616
+200,3.333333333,POSE1_TO_POSE2_PRESS,793,744,730,709,693.057026956,650,934.942973044,799,836,669,657,676,0.449772587186,-0.00555204952947,0.0497223650477,0.999999907466,0.000132125161054,-0.000407812391994,3.60505735267e-05,1793256545206249984
+201,3.350000000,POSE1_TO_POSE2_PRESS,792.464457141,744,730,709,693,649.464457141,934.464457141,799,836,669,657,676,0.450204527682,-0.00555460405016,0.0497335782667,0.999999913605,0.000132333335514,-0.000392224742329,3.79248493361e-05,1793256545222916352
+202,3.366666667,POSE1_TO_POSE2_PRESS,792,743.873492989,730,709,693,648.873492989,934,799,836,669,656.873492989,676,0.450613393988,-0.00555708057559,0.0497391613314,0.999999916473,0.000126135698712,-0.000386960768233,3.74906188443e-05,1793256545239582976
+203,3.383333333,POSE1_TO_POSE2_PRESS,792,743.29594315,730,709,693,648.29594315,934,799,836,669,656.29594315,676,0.450945738984,-0.00555861645681,0.0497245349849,0.999999907054,9.72255055193e-05,-0.000419055038242,2.88554250614e-05,1793256545256249600
+204,3.400000000,POSE1_TO_POSE2_PRESS,792.279930301,743.279930301,730,709,693,648,934,799,836,669,655.720069699,676,0.451256195813,-0.00556177546023,0.0497073122614,0.999999893796,6.30026007267e-05,-0.000456142593359,1.92919457511e-05,1793256545272916224
+205,3.416666667,POSE1_TO_POSE2_PRESS,792.854041985,743.854041985,730,709,693,648,934,799,836,669,655.145958015,676,0.451543650141,-0.00556664021792,0.0496873609819,0.999999875453,2.31965190703e-05,-0.000498477636298,8.75292295904e-06,1793256545289582848
+206,3.433333333,POSE1_TO_POSE2_PRESS,792.56037428,743.56037428,730,709,693,647.56037428,934,799,836,669,655.43962572,676,0.451801382761,-0.00556629113103,0.0496658985444,0.99999985728,1.6980443742e-05,-0.000533959710698,6.1915364613e-06,1793256545306249472
+207,3.450000000,POSE1_TO_POSE2_PRESS,792.028610052,743.028610052,730,709,693,647,934,799,836,669,656,676,0.452049729534,-0.00556426686203,0.0496451908831,0.999999840161,2.2114836699e-05,-0.000564931637882,6.3668672294e-06,1793256545322916096
+208,3.466666667,POSE1_TO_POSE2_PRESS,792.607775878,743.607775878,730,709,693,647,934,799,836,669,656,676,0.452312438065,-0.00556420970968,0.0496489210616,0.99999984616,2.53172177868e-05,-0.00055406904775,6.87189687031e-06,1793256545339582720
+209,3.483333333,POSE1_TO_POSE2_PRESS,792.814289555,743.814289555,730.185710445,709,693,647,934,799,836,669,655.814289555,676,0.452560370156,-0.00556404195126,0.0496537675697,0.999999852522,2.92693044884e-05,-0.00054225296408,7.77493133863e-06,1793256545356249344
+210,3.500000000,POSE1_TO_POSE2_PRESS,792.238938379,743.238938379,730.761061621,709,693,647,934,799,836,669,655.238938379,676,0.452777299638,-0.00556364212928,0.0496609562584,0.999999859727,3.47943547835e-05,-0.000528436348578,9.51302320051e-06,1793256545372915968
+211,3.516666667,POSE1_TO_POSE2_PRESS,792,743.342885067,730.657114933,709,693,646.657114933,934,799,836,669.342885067,655.342885067,676,0.452966396134,-0.00556207656564,0.0496625510219,0.999999861777,3.86841679898e-05,-0.000524250301382,1.05211706815e-05,1793256545389582848
+212,3.533333333,POSE1_TO_POSE2_PRESS,792,743.929305526,730.070694474,709,693,646.070694474,934,799,836,669.929305526,655.929305526,676,0.453135724171,-0.00555968302961,0.04966017268,0.999999860268,4.14125485526e-05,-0.00052690439972,1.10108726349e-05,1793256545406249472
+213,3.550000000,POSE1_TO_POSE2_PRESS,792,744,730,709,692.490459777,646,934.509540223,799,836,670,656,676,0.453272383139,-0.00555809820106,0.0496485472758,0.99999985103,4.58805988071e-05,-0.000543782017922,1.16718965129e-05,1793256545422916096
+214,3.566666667,POSE1_TO_POSE2_PRESS,792,744,730,709,692.089012332,646,934.910987668,799,836,670,656,676,0.453403032086,-0.00555693723776,0.0496376370567,0.999999842423,4.96676323354e-05,-0.000559050099379,1.22346561087e-05,1793256545439582464
+215,3.583333333,POSE1_TO_POSE2_PRESS,792,744,730,709,692.668955354,646,934.331044646,799,836,670,656,676,0.453525232597,-0.00555750261908,0.0496376623157,0.999999844917,4.83834141157e-05,-0.000554687749563,1.21259341781e-05,1793256545456249344
+216,3.600000000,POSE1_TO_POSE2_PRESS,792.245897833,744,730,709,693,645.754102167,934,799,836,669.754102167,656,676,0.453634426373,-0.00555728831151,0.0496375703,0.999999846006,4.90663161524e-05,-0.000552658005837,1.22165063978e-05,1793256545472915968
+217,3.616666667,POSE1_TO_POSE2_PRESS,792.818849437,744,730,709,693,645.181150563,934,799,836,669.181150563,656,676,0.453726320673,-0.00555603698706,0.0496373223043,0.999999845241,5.23655654442e-05,-0.000553730720066,1.25721476691e-05,1793256545489582592
+218,3.633333333,POSE1_TO_POSE2_PRESS,792.606028972,744,730,709,693,645,934.393971028,799,836,669,656,676,0.453803272568,-0.00555726392703,0.0496364873334,0.999999845524,5.45357366056e-05,-0.000552989514246,1.34579930214e-05,1793256545506249472
+219,3.650000000,POSE1_TO_POSE2_PRESS,792.029904095,744,730,709,693,645,934.970095905,799,836,669,656,676,0.453873315789,-0.00555963670104,0.0496353809724,0.999999846289,5.61838745535e-05,-0.000551409636277,1.45889800278e-05,1793256545522916352
+220,3.666666667,POSE1_TO_POSE2_PRESS,792,744,730,709,692.439748166,645,934.439748166,798.439748166,836,669,656,676,0.453927939711,-0.00555841983744,0.0496384258648,0.999999847952,5.72522705991e-05,-0.000548270528234,1.47326297292e-05,1793256545539582976
+221,3.683333333,POSE1_TO_POSE2_PRESS,792.148127164,743.851872836,730,709,692,645,934,798,836,669,655.851872836,676,0.453977442797,-0.00555713873737,0.0496409025277,0.999999849282,5.82555476953e-05,-0.000545732463555,1.4780039903e-05,1793256545556249600
+222,3.700000000,POSE1_TO_POSE2_PRESS,792.727133993,743.272866007,730,709,692,645,934,798,836,669,655.272866007,676,0.454014505679,-0.00555624243875,0.0496410652016,0.999999849525,5.91617281731e-05,-0.000545191054185,1.47047387559e-05,1793256545572916224
+223,3.716666667,POSE1_TO_POSE2_PRESS,792.697555393,743.302444607,730,709,692,645,934,798.302444607,836.302444607,669.302444607,655.302444607,676,0.454043652099,-0.00555533419558,0.0496403373843,0.999999848978,5.96673840002e-05,-0.000546143684647,1.45435049835e-05,1793256545589582848
+224,3.733333333,POSE1_TO_POSE2_PRESS,792.125539182,743.874460818,730,709,692,645,934,798.874460818,836.874460818,669.874460818,655.874460818,676,0.454065742509,-0.00555441530602,0.049638815864,0.999999847722,5.98160487012e-05,-0.000548427966206,1.43056786794e-05,1793256545606249472
+225,3.750000000,POSE1_TO_POSE2_PRESS,792,744,730,709,692,644.539630648,934,798.539630648,836.539630648,669.539630648,655.539630648,676,0.454078801351,-0.00555435106999,0.0496356396508,0.999999844205,6.10905975131e-05,-0.000554660972557,1.44275125242e-05,1793256545622916096
+226,3.766666667,POSE1_TO_POSE2_PRESS,792.049278072,744,730,709,692,644,934,798.049278072,836,669.049278072,655.049278072,676,0.454088922059,-0.00555429493022,0.0496320691294,0.999999840173,6.26921953825e-05,-0.000561703405509,1.46126361544e-05,1793256545639582720
+227,3.783333333,POSE1_TO_POSE2_PRESS,792.628444759,744,730,709,692,644,934,798.628444759,836,669.628444759,655.628444759,676,0.454094755962,-0.00555174179832,0.0496292615731,0.999999837921,6.44064437993e-05,-0.000565510633645,1.43908817705e-05,1793256545656249600
+228,3.800000000,POSE1_TO_POSE2_PRESS,792.792697819,744,730.207302181,709,692.207302181,644.207302181,934,799,836,670,656,676,0.454099400682,-0.00554998747536,0.0496265004287,0.999999835732,6.59521367569e-05,-0.000569199904953,1.40459634848e-05,1793256545672916480
+229,3.816666667,POSE1_TO_POSE2_PRESS,792.214393911,744,730.785606089,709,692.785606089,644.785606089,934,799,836,670,656,676,0.454101917159,-0.005549662754,0.0496238223462,0.999999833671,6.71961715883e-05,-0.000572678072686,1.34806229292e-05,1793256545689582848
+230,3.833333333,POSE1_TO_POSE2_PRESS,792,744,730.639959627,709,692.639959627,644.639959627,934,798.639959627,836,670,655.639959627,676,0.454103823658,-0.00554975656519,0.0496223292258,0.999999832305,6.73285060797e-05,-0.000575044440818,1.34741405675e-05,1793256545706249472
+231,3.850000000,POSE1_TO_POSE2_PRESS,792,744,730.067805115,709,692.067805115,644.067805115,934,798.067805115,836,670,655.067805115,676,0.454105370795,-0.00555009695062,0.049621534214,0.99999983135,6.68058935275e-05,-0.00057675580335,1.37969038725e-05,1793256545722916096
+232,3.866666667,POSE1_TO_POSE2_PRESS,792.523765597,744,730.523765597,709,692,644,934,798.523765597,836,669.476234403,655,676,0.454104101992,-0.00554942451762,0.0496195939101,0.999999829362,6.5367987434e-05,-0.000580360782336,1.35447507589e-05,1793256545739582976
+233,3.883333333,POSE1_TO_POSE2_PRESS,792.885492819,744,730.885492819,709,692,644.114507181,934,798.885492819,836,669,655,676,0.454102650232,-0.00554823778203,0.0496175551828,0.999999827343,6.45545197463e-05,-0.000583929770183,1.31751582414e-05,1793256545756249600
+234,3.900000000,POSE1_TO_POSE2_PRESS,792.308638922,744,730.308638922,709,692,644.691361078,934,798.308638922,836,669,655,676,0.454101988329,-0.00554552423321,0.0496157407531,0.999999825803,6.67592045588e-05,-0.000586325518308,1.26434630656e-05,1793256545772916224
+235,3.916666667,POSE1_TO_POSE2_PRESS,792,744,730,709,692,644.732556113,934,798,836,669,655,676,0.45410130938,-0.00554401604061,0.0496140037004,0.999999824376,6.84500350988e-05,-0.000588565910175,1.23387378723e-05,1793256545789583104
+236,3.933333333,POSE1_TO_POSE2_PRESS,792,744,730,709,692,644.157360532,934,798,836,669,655,676,0.454100610817,-0.00554389486914,0.0496123556863,0.999999823085,6.95495661008e-05,-0.000590627531578,1.22951903756e-05,1793256545806249728
+237,3.950000000,POSE1_TO_POSE2_PRESS,792,744,730.428044664,709,692,644.428044664,934,798.428044664,836,669,655,676,0.454099785875,-0.00554488410831,0.0496106481314,0.999999821997,6.92296640316e-05,-0.000592499871459,1.25186582265e-05,1793256545822916352
+238,3.966666667,POSE1_TO_POSE2_PRESS,792.016999428,744,730.983000572,708.983000572,692,644.983000572,934,799,836,669,655,676,0.454098999566,-0.00554624467721,0.0496090355821,0.999999821053,6.84102046931e-05,-0.000594179331397,1.28270755726e-05,1793256545839582976
+239,3.983333333,POSE1_TO_POSE2_PRESS,792.596184068,744,730.403815932,708.403815932,692,644.403815932,934,799,836,669,655,676,0.45410106489,-0.00554605551167,0.0496113065127,0.999999822421,6.87486959499e-05,-0.000591837554676,1.26192266186e-05,1793256545856249344
+240,4.000000000,POSE1_TO_POSE2_PRESS,793,744,730,708.174012927,692.174012927,644,934,799,836,669,655,676,0.454102151753,-0.00554567194097,0.049612133273,0.999999822877,6.90921872078e-05,-0.000591029198817,1.24908258134e-05,1793256545872916224
+241,4.016666667,POSE1_TO_POSE2_PRESS,793,744,730,708.74871984,692.74871984,644,934,799,836,669,655,676,0.454100985545,-0.00554484071978,0.0496096345887,0.999999821239,6.94471917884e-05,-0.000593751802136,1.25453677245e-05,1793256545889583104
+242,4.033333333,POSE1_TO_POSE2_PRESS,792.669708874,744,730,709,692.669708874,644,934,798.669708874,836,669,655,676,0.454100390668,-0.00554415357674,0.0496085058414,0.999999820295,7.08182949976e-05,-0.000595176028052,1.26555037454e-05,1793256545906249728
+243,4.050000000,POSE1_TO_POSE2_PRESS,792.082804474,744,730,709,692.082804474,644,934,798.082804474,836,669,655,676,0.454100239677,-0.00554357837246,0.04960844144,0.99999981989,7.29788362798e-05,-0.000595591504741,1.2808832527e-05,1793256545922916352
+244,4.066666667,POSE1_TO_POSE2_PRESS,792,744,730.496326701,709,692,644,934.496326701,798.496326701,836,669.496326701,655,676,0.454100239161,-0.00554184236988,0.0496083383461,0.999999819726,7.42978918007e-05,-0.000595717049808,1.22402803122e-05,1793256545939583232
+245,4.083333333,HOLD_POSE2,793,744,730,709,692,644,934,798,836,669,655,676,0.454103678053,-0.00554436219195,0.0496103530843,0.999999821391,6.60174056029e-05,-0.000593883963705,1.27394810517e-05,1793256545982813696
+246,4.100000000,HOLD_POSE2,792.426019803,744,730,709,692,644,934,798.573980197,836,669.573980197,655.573980197,676,0.454101256023,-0.00554256674594,0.0496091361056,0.999999819231,7.13972223555e-05,-0.000596887475824,1.28595132064e-05,1793256545999480320
+247,4.116666667,HOLD_POSE2,792,744,730,709,692,644,934,798.848289432,836,669.848289432,655.848289432,676,0.454099474646,-0.00554160722933,0.0496079251015,0.999999817564,7.47204532052e-05,-0.000599267278265,1.29286676095e-05,1793256546016147200
+248,4.133333333,HOLD_POSE2,792,744,730,709,692,644,934,798.259761116,836,669.259761116,655.259761116,676,0.454099537892,-0.00554305459017,0.0496067312995,0.999999817406,7.21221912477e-05,-0.000599851244408,1.28513305663e-05,1793256546032813824
+249,4.150000000,HOLD_POSE2,792.323580809,744,730.323580809,709,692,644,934,798.323580809,836,669.323580809,655,676,0.454099672677,-0.00554386203216,0.0496059555205,0.999999817465,7.09132540579e-05,-0.000599897881741,1.2775420965e-05,1793256546049480448
+250,4.166666667,HOLD_POSE2,792.902824896,744,730.902824896,709,692,644,934,798.902824896,836,669.902824896,655,676,0.454099863985,-0.00554416387005,0.0496055100242,0.999999817701,7.08020314596e-05,-0.000599519972091,1.27006391994e-05,1793256546066147072
+251,4.183333333,HOLD_POSE2,792.51926743,744,731,708.51926743,692,644,934,798.51926743,836,670,655,676,0.454100466286,-0.00554299677553,0.0496057119751,0.999999817317,7.26421964124e-05,-0.00059994157483,1.26459501547e-05,1793256546082813696
+252,4.200000000,HOLD_POSE2,792.057943174,744,731,708.057943174,692,644,934,798.057943174,836,670,655.057943174,676,0.454101096848,-0.00554151943866,0.0496060137376,0.9999998169,7.47052479531e-05,-0.000600383958006,1.25507560503e-05,1793256546099480320
+253,4.216666667,HOLD_POSE2,792.6313492,744,731,708.6313492,692,644,934,798.6313492,836,670,655.6313492,676,0.454101241808,-0.00553991634726,0.0496060423891,0.999999817349,7.52517738036e-05,-0.000599577478307,1.20591973947e-05,1793256546116146944
+254,4.233333333,HOLD_POSE2,792.789460526,744,731,709,692,644,934,799,836,669.789460526,655.789460526,676,0.454101784263,-0.00553961887343,0.0496062622584,0.999999818042,7.45823234077e-05,-0.000598508216922,1.18604443408e-05,1793256546132813568
+255,4.250000000,HOLD_POSE2,792.199856089,744,731,709,692,644,934,799,836,669.199856089,655.199856089,676,0.454103042386,-0.00554167209376,0.0496068264051,0.999999819169,7.172357333e-05,-0.00059696583138,1.21888720269e-05,1793256546149480448
+256,4.266666667,HOLD_POSE2,792.383080132,744,731,709,692,644.383080132,934.383080132,798.616919868,836,669.383080132,655,676,0.45410244253,-0.00554075653479,0.0496059969855,0.999999818092,7.36610173098e-05,-0.000598531027316,1.22957011635e-05,1793256546166147072
+257,4.283333333,HOLD_POSE2,792.962597062,744,731,709,692,644.962597062,934.962597062,798.037402938,836,669.962597062,655,676,0.454100889936,-0.00553831863784,0.0496044529696,0.999999815863,7.80578655424e-05,-0.000601689736588,1.22888984653e-05,1793256546182813696
+258,4.300000000,HOLD_POSE2,793,744.537783724,731,709,692,644.462216276,934.462216276,798.537783724,836,670,655,676.537783724,0.454102626236,-0.00553881676711,0.049605520863,0.99999981704,7.66749650662e-05,-0.000599911787755,1.21065695195e-05,1793256546199480320
+259,4.316666667,HOLD_POSE2,793,744.884961261,731,709,692,644,934.115038739,798.884961261,836,670,655,676.884961261,0.454103560331,-0.00553936592196,0.0496062065218,0.999999817795,7.53915614231e-05,-0.000598817000314,1.19933192579e-05,1793256546216146944
+260,4.333333333,HOLD_POSE2,793,744.297995369,731,709,692,644,934.702004631,798.297995369,836,670,655,676.297995369,0.454100272634,-0.00553929339164,0.0496045848552,0.999999815871,7.61522193759e-05,-0.000601922033105,1.22131334025e-05,1793256546232813568
+261,4.350000000,HOLD_POSE2,793,744,730.715006444,709,692,644,934.715006444,798.284993556,836,670,655.284993556,676.284993556,0.454099182965,-0.00553875143117,0.0496039875364,0.999999815183,7.64899624042e-05,-0.000603021656367,1.21403152849e-05,1793256546249480192
+262,4.366666667,HOLD_POSE2,793,744,730.136118726,709,692,644,934.136118726,798.863881274,836,670,655.863881274,676.863881274,0.454100359972,-0.0055377253798,0.0496044465566,0.999999815779,7.63915824458e-05,-0.000602053239156,1.17657257208e-05,1793256546266146816
+263,4.383333333,POSE2_TO_POSE3_RETREAT,793,744,730,709,692,644,934,799,836,670,655,676,0.454098120611,-0.00553769343026,0.0496035556016,0.999999814096,7.71591280056e-05,-0.000604746019979,1.16817683171e-05,1793256546298879488
+264,4.400000000,POSE2_TO_POSE3_RETREAT,792.425107939,744,730.574892061,709,692,644.574892061,934,798.425107939,836,669.425107939,655,676,0.454098305659,-0.00553795759063,0.0496033377788,0.999999813911,7.67747287212e-05,-0.000605092834677,1.21159039194e-05,1793256546315546112
+265,4.416666667,POSE2_TO_POSE3_RETREAT,792.150384553,744,730.849615447,709,692,644.849615447,934,798.150384553,836,669.150384553,655,676,0.454098984203,-0.00553790766151,0.0496034250862,0.99999981418,7.64567213538e-05,-0.000604682306943,1.23622637848e-05,1793256546332212736
+266,4.433333333,POSE2_TO_POSE3_RETREAT,792.727581284,744,730.272418716,709,692,644.272418716,934,798.727581284,836,669.727581284,655,676,0.45410106336,-0.00553696630302,0.0496043783954,0.999999815739,7.63271433477e-05,-0.000602122336637,1.20756902181e-05,1793256546348879360
+267,4.450000000,POSE2_TO_POSE3_RETREAT,792.686877787,744,730.313122213,709,692,644,934,798.686877787,836,669.686877787,655,676,0.454100479904,-0.00553734526886,0.0496034990534,0.999999815443,7.58383701739e-05,-0.000602674588528,1.20591803561e-05,1793256546365545984
+268,4.466666667,POSE2_TO_POSE3_RETREAT,792.093878626,744,730.906121374,709,692,644,934,798.093878626,836,669.093878626,655,676,0.454097516535,-0.0055389043757,0.0496009816391,0.999999813487,7.502853883e-05,-0.000606008627397,1.22840606208e-05,1793256546382212864
+269,4.483333333,POSE2_TO_POSE3_RETREAT,792.484860732,744,731,709,692,644,934,798.484860732,836,669.484860732,655,676,0.454099367107,-0.00553970669984,0.0496025295776,0.999999814883,7.46944434036e-05,-0.000603736474471,1.24931576153e-05,1793256546398879488
+270,4.500000000,POSE2_TO_POSE3_RETREAT,792.939536696,744,730.939536696,709,692.060463304,644,934,798.939536696,836,670,655,676,0.454101469663,-0.00554008372912,0.0496044351929,0.999999816488,7.48188851656e-05,-0.0006010533328,1.26675067087e-05,1793256546415546112
+271,4.516666667,POSE2_TO_POSE3_RETREAT,792.367779057,744,730.367779057,709,692.632220943,644,934,798.367779057,836,670,655,676,0.454098046369,-0.00553806802963,0.0496028993768,0.99999981458,7.80641738639e-05,-0.000603811543084,1.2573121678e-05,1793256546432212736
+272,4.533333333,POSE2_TO_POSE3_RETREAT,792.211908166,744,730.211908166,709,692.788091834,644,934.211908166,798,836,670,655.211908166,676,0.454088881539,-0.00553697562083,0.0495985242522,0.999999810255,7.88819449331e-05,-0.000610834557346,1.21631033565e-05,1793256546448879360
+273,4.550000000,POSE2_TO_POSE3_RETREAT,792.805892584,744,730.805892584,709,692.194107416,644,934.805892584,798,836,670,655.805892584,676,0.454069364561,-0.00553754793074,0.0495890297764,0.999999801446,7.53228345868e-05,-0.000625547130106,1.11839895392e-05,1793256546465545984
+274,4.566666667,POSE2_TO_POSE3_RETREAT,792.609994072,744,731,709,692.390005928,644,935,798,836,669.609994072,655.609994072,676,0.454032749949,-0.00553673187968,0.0495743513507,0.999999785389,7.50554622532e-05,-0.000650752251341,1.04797716441e-05,1793256546482212608
+275,4.583333333,POSE2_TO_POSE3_RETREAT,792.030672273,744,731,709,692.969327727,644,935,798,836,669.030672273,655.030672273,676,0.453987835837,-0.00553524189335,0.0495571565418,0.999999765118,7.63859582179e-05,-0.000681050644646,9.90899306515e-06,1793256546498879232
+276,4.600000000,POSE2_TO_POSE3_RETREAT,792,744,731,709,692.457743849,644,934.457743849,798.542256151,836,669.542256151,655.542256151,676,0.453925696783,-0.00553273196375,0.0495389287686,0.999999749543,7.93728121303e-05,-0.000703234676215,8.68673933495e-06,1793256546515545856
+277,4.616666667,POSE2_TO_POSE3_RETREAT,792,744,731,709,692,644,934,799,836,670,655.884590219,676,0.453858765156,-0.00552977081007,0.0495213789771,0.999999733816,8.22134669584e-05,-0.000724952380532,7.31941267062e-06,1793256546532212736
+278,4.633333333,POSE2_TO_POSE3_RETREAT,792,744,731,709,692,644,934,799,836,670,655.309113847,676,0.453776567242,-0.0055252382105,0.0495067620735,0.999999717728,8.41021852292e-05,-0.000746619491041,5.5189573379e-06,1793256546548879616
+279,4.650000000,POSE2_TO_POSE3_RETREAT,792.274696227,744,731,709,692.274696227,644,934,798.725303773,836,669.725303773,655,676,0.453681888278,-0.00552209866152,0.0494931263997,0.999999700655,8.48131841708e-05,-0.000769075839361,4.26357108565e-06,1793256546565545984
+280,4.666666667,POSE2_TO_POSE3_RETREAT,792.86817753,744,731,709,692.86817753,644,934,798.13182247,836,669.13182247,655,676,0.453572725057,-0.00552057574856,0.0494806294444,0.999999682465,8.41574392692e-05,-0.000792448097176,3.64073781813e-06,1793256546582212608
+281,4.683333333,POSE2_TO_POSE3_RETREAT,793,744,731,709,692.552407914,644,934,798,835.552407914,669.447592086,655,676,0.45344504302,-0.00551445184625,0.0494653166829,0.99999966041,8.90614014986e-05,-0.000819294565965,2.16212170412e-06,1793256546598879232
+282,4.700000000,POSE2_TO_POSE3_RETREAT,793,744,731,709,692.022996205,644,934,798.022996205,835.022996205,670,655.022996205,676,0.453310746913,-0.00550717780549,0.0494490897647,0.999999636395,9.53124919536e-05,-0.000847423138744,4.54523451407e-07,1793256546615546112
+283,4.716666667,POSE2_TO_POSE3_RETREAT,793,744,731,709,692.598549392,644,934,798.598549392,835.598549392,670,655.598549392,676,0.453144584789,-0.0055038355439,0.0494302166483,0.99999960599,9.57873207305e-05,-0.00088252170094,-8.83549611527e-07,1793256546632212736
+284,4.733333333,POSE2_TO_POSE3_RETREAT,793,744,731,709,693,644.178594468,934,798.821405532,836.178594468,670,656,676,0.452969046044,-0.00549995298425,0.0494105937251,0.999999573038,9.64573371952e-05,-0.00091902881719,-2.24564142905e-06,1793256546648879616
+285,4.750000000,POSE2_TO_POSE3_RETREAT,793,744,731,709,693,644.768996989,934,798.231003011,836.768996989,670,656,676,0.452771886447,-0.00549482459087,0.0493892418795,0.999999535599,9.75774228834e-05,-0.000958783812585,-3.66311616901e-06,1793256546665546240
+286,4.766666667,POSE2_TO_POSE3_RETREAT,792.647432076,744,730.647432076,709.352567924,693,645,934.352567924,798.352567924,836.647432076,670,656,676,0.45255123528,-0.00548795510572,0.0493683200056,0.99999949803,0.000102080691484,-0.00099674184018,-4.90991338482e-06,1793256546682212608
+287,4.783333333,POSE2_TO_POSE3_RETREAT,792.068252065,744,730.068252065,709.931747935,693,645,934.931747935,798.931747935,836.068252065,670,656,676,0.45231548495,-0.00547996653801,0.0493476744928,0.99999945996,0.00010875849188,-0.00103354487504,-6.04700821774e-06,1793256546698879488
+288,4.800000000,POSE2_TO_POSE3_RETREAT,792,744,730,709.493619975,693,645.506380025,934.493619975,799,836,669.493619975,656,676,0.452059411852,-0.00547431645237,0.0493346039365,0.999999430024,0.0001113168665,-0.00106183887334,-7.60486318978e-06,1793256546715546112
+289,4.816666667,POSE2_TO_POSE3_RETREAT,792,744,730.080643584,709,693,646,934,799,836,669,656,676,0.451796870071,-0.00546887584595,0.0493242154398,0.999999404272,0.000113583080253,-0.00108557334157,-9.18446100828e-06,1793256546732212736
+290,4.833333333,POSE2_TO_POSE3_RETREAT,792,744,730.656374668,709,693,646,934,799,836,669,656,676,0.451511282368,-0.0054628034775,0.0493240804096,0.999999400857,0.000117434012271,-0.00108829421917,-1.05524767796e-05,1793256546748879360
+291,4.850000000,POSE2_TO_POSE3_RETREAT,792.238402563,744,731,709,693,646,934,799,836,669,656,676,0.451214889883,-0.00545762395801,0.0493239540338,0.999999400246,0.000119384529287,-0.0010886269453,-1.20846362993e-05,1793256546765545728
+292,4.866666667,POSE2_TO_POSE3_RETREAT,792.829752655,744,731,709,693,646,934,799,836,669,656,676,0.450902501273,-0.0054537662738,0.049323840471,0.999999403807,0.000118521541166,-0.00108542408782,-1.38598054174e-05,1793256546782212352
+293,4.883333333,POSE2_TO_POSE3_RETREAT,793,744,730.588459272,709,693,646.411540728,934.411540728,799,836,669,656,676,0.450566387041,-0.00544887972915,0.0493337595605,0.999999431315,0.000118929231383,-0.00105970440891,-1.58839925075e-05,1793256546798879232
+294,4.900000000,POSE2_TO_POSE3_RETREAT,793,744,730.010537036,709,693,646.989462964,934.989462964,799,836,669,656,676,0.4502206808,-0.00544357722735,0.049347734744,0.999999467465,0.00011985064314,-0.00102488141925,-1.80088548368e-05,1793256546815546112
+295,4.916666667,POSE2_TO_POSE3_RETREAT,793,744,730,708.436997261,693.563002739,647.563002739,934.436997261,799,836,669,656,676,0.449840336819,-0.00544155465315,0.0493644729136,0.999999494207,0.000116657548797,-0.000998801831855,-1.92893126921e-05,1793256546832212736
+296,4.933333333,POSE2_TO_POSE3_RETREAT,792.859646611,744,730,708.140353389,694,648,934,799,836,669,656,676,0.449448588404,-0.00544022897434,0.0493801150075,0.999999518961,0.000112565936863,-0.00097415679999,-2.06288252639e-05,1793256546848879360
+297,4.950000000,POSE2_TO_POSE3_RETREAT,792.269831663,744,730,708.730168337,694,648,934,799,836,669,656,676,0.449022378971,-0.00544093994046,0.0493920827539,0.999999539489,0.000105841648823,-0.000953585748028,-2.2207670006e-05,1793256546865545984
+298,4.966666667,POSE2_TO_POSE3_RETREAT,792.314243714,744.314243714,730,709,694,648.628487429,934,799,836,669,656,676,0.448560272996,-0.00543827969809,0.0493988585544,0.999999552,0.00010069347663,-0.00094088476485,-2.44407757441e-05,1793256546882212608
+299,4.983333333,POSE2_TO_POSE3_RETREAT,792.89347916,744.89347916,730,709,694,649.78695832,934,799,836,669,656,676,0.448067896562,-0.00543277662289,0.0494012561533,0.999999557992,9.68743920899e-05,-0.000934820358353,-2.72255991537e-05,1793256546898879488
+300,5.000000000,POSE2_TO_POSE3_RETREAT,793,744.529705518,730,709,694,649.529705518,934,799,836,669,656.470294482,676,0.44753619343,-0.00542558490575,0.0494075733455,0.999999572172,9.6862047782e-05,-0.000919433745901,-3.02611914259e-05,1793256546915546112
+301,5.016666667,POSE2_TO_POSE3_RETREAT,792.953591662,744,730,709,694.046408338,649.046408338,934,799,836,669,657,676,0.446994049191,-0.00541832718908,0.0494149655116,0.999999587916,9.72786611193e-05,-0.000901994391821,-3.33323838303e-05,1793256546932212736
+302,5.033333333,POSE2_TO_POSE3_RETREAT,792.379253357,744,730,709,694.620746643,649.620746643,934,799,836,669,657,676,0.446433938995,-0.00541464733172,0.0494245388501,0.999999603337,9.28168068933e-05,-0.000885100052068,-3.61657369251e-05,1793256546948880128
+303,5.050000000,POSE2_TO_POSE3_RETREAT,792.200485892,744,730,709,695,650.200485892,934,799.200485892,836,669,656.799514108,676,0.445877678186,-0.00541257187293,0.0494453929496,0.999999634122,8.70119477328e-05,-0.000850130035311,-3.82659137263e-05,1793256546965547520
+304,5.066666667,POSE2_TO_POSE3_RETREAT,792.790724766,744,730,709,695,650.790724766,934,799.790724766,836,669,656.209275234,676,0.445328900779,-0.00541361543247,0.0494881773213,0.999999691937,7.85962306613e-05,-0.000780020142814,-3.89407647815e-05,1793256546982214144
+305,5.083333333,POSE2_TO_POSE3_RETREAT,792.62596673,744,730,709,695,651,934,800,836,669,656.37403327,676,0.444737851849,-0.00541373644072,0.0495406601384,0.999999746883,7.1718839532e-05,-0.000706816327834,-3.87351577583e-05,1793256546998881024
+306,5.100000000,POSE2_TO_POSE3_RETREAT,792.046465315,744,730,709,695,651,934,800,836,669,656.953534685,676,0.444123581871,-0.00541335066274,0.0495984706129,0.999999797462,6.56864989213e-05,-0.000631912925105,-3.80458875122e-05,1793256547015547648
+307,5.116666667,POSE2_TO_POSE3_RETREAT,792,744,730,709,695.529412305,651.529412305,934,800,836,669,657.529412305,676,0.443424489482,-0.00540860694064,0.0496177808979,0.999999814053,6.19312490799e-05,-0.000605346733796,-4.01681851069e-05,1793256547032213248
+308,5.133333333,POSE2_TO_POSE3_RETREAT,792,744,729.893130941,708.893130941,696,652.106869059,934,800.106869059,836,669,658,676,0.442727121328,-0.0054036194285,0.0496369356683,0.999999831694,5.78949645223e-05,-0.000575713779713,-4.25967151926e-05,1793256547048879360
+309,5.150000000,POSE2_TO_POSE3_RETREAT,792,744,729.307179165,708.307179165,696,652.692820835,934,800.692820835,836,669,658,676,0.442070629724,-0.00539924202418,0.0496704383289,0.999999865825,5.17089935608e-05,-0.000513443708999,-4.52993519126e-05,1793256547065546240
+310,5.166666667,POSE2_TO_POSE3_RETREAT,792.275922509,744,729.275922509,708,696.275922509,653.275922509,934,801,836,669,658,676,0.441403073893,-0.00539865178975,0.0497212191586,0.999999907017,4.37642419242e-05,-0.000426516847912,-4.61988007914e-05,1793256547082213376
+311,5.183333333,POSE2_TO_POSE3_RETREAT,792.855883733,744,729.855883733,708,696.855883733,653.855883733,934,801,836,669,658,676,0.440723326317,-0.00540223463319,0.0497910387882,0.999999949605,3.38814906956e-05,-0.000312420685474,-4.51113189728e-05,1793256547098881280
+312,5.200000000,POSE2_TO_POSE3_RETREAT,793,744,729.566960695,708,697,653.566960695,934,801,836,668.566960695,658,676,0.439968391427,-0.00540032052771,0.0498244945161,0.999999964869,2.73240370814e-05,-0.000259457497817,-4.68723669607e-05,1793256547115547904
+313,5.216666667,POSE2_TO_POSE3_RETREAT,793,744,729,708,697,653.009283002,934,801,836,668.009283002,658,676,0.439186690249,-0.00539664856674,0.0498450415794,0.999999972497,2.17217279749e-05,-0.000228193026788,-4.96117821588e-05,1793256547132214016
+314,5.233333333,POSE2_TO_POSE3_RETREAT,793,744,729,708,697,653.586497984,934,801,836,668.586497984,658,676,0.438288445424,-0.00539663286564,0.0498114693501,0.999999957084,7.28523932265e-06,-0.000287750944788,-5.45826632697e-05,1793256547148880128
+315,5.250000000,POSE2_TO_POSE3_RETREAT,793,744,729.166939903,708.166939903,697,654,934,801.166939903,836,668.833060097,658,676,0.437407678805,-0.00539669158897,0.0497899654325,0.999999944297,-6.16039501832e-06,-0.000328515366815,-5.8700463251e-05,1793256547165545984
+316,5.266666667,POSE2_TO_POSE3_RETREAT,793,744,729.755532304,708.755532304,697,654,934,801.755532304,836,668.244467696,658,676,0.436571058245,-0.00539693829161,0.0497989433472,0.999999946232,-1.71033541937e-05,-0.000321811660601,-6.06635730801e-05,1793256547182212864
+317,5.283333333,POSE2_TO_POSE3_RETREAT,793,744.338570883,729.661429117,708.661429117,697,654,934,801.661429117,836,668,658,676,0.435692827412,-0.00539289555946,0.0497955226281,0.999999941172,-2.27038845431e-05,-0.000336243894012,-6.38797266676e-05,1793256547198879488
+318,5.300000000,POSE2_TO_POSE3_RETREAT,793,744.917663978,729.082336022,708.082336022,697,654,934,801.082336022,836,668,658,676,0.434785036495,-0.00538580559435,0.0497832938657,0.999999930524,-2.45091299817e-05,-0.000365691189973,-6.79860478109e-05,1793256547215546112
+319,5.316666667,POSE2_TO_POSE3_RETREAT,793,745,729,708.493043924,697.493043924,654,934,801.493043924,835.506956076,668.493043924,657.506956076,676,0.433905552029,-0.00538310744841,0.0497764802468,0.999999931078,-1.0609115436e-05,-0.00036523661475,-6.58321706061e-05,1793256547232212736
+320,5.333333333,POSE2_TO_POSE3_RETREAT,793,745.068009984,729,708.931990016,697.931990016,654,934,801.931990016,835.068009984,669,657.068009984,675.931990016,0.433027772168,-0.00538092266832,0.0497743617837,0.999999934749,1.29549665875e-05,-0.000355906314788,-6.05398699554e-05,1793256547248879872
+321,5.350000000,POSE2_TO_POSE3_RETREAT,793,745.64448265,729,708.35551735,697.35551735,654,934,801.35551735,835.64448265,669,657.64448265,675.35551735,0.432127660282,-0.00537713373624,0.0498006353882,0.999999944899,8.93089092898e-05,-0.000317272099056,-3.95412661784e-05,1793256547265546752
+322,5.366666667,POSE2_TO_POSE3_RETREAT,793,746,729,708,697,654,934,801.226386513,836,668.773613487,658,675.226386513,0.431217519795,-0.00537183253475,0.0498085020456,0.99999994395,0.00013332729594,-0.000305724694572,-2.92682793256e-05,1793256547282213376
+323,5.383333333,POSE2_TO_POSE3_RETREAT,793,746,729,708,697,654,934,801.817029272,836,668.182970728,658,675.817029272,0.430291243136,-0.0053640980889,0.049786751901,0.99999993445,0.000125317736439,-0.000337760007558,-3.62528235231e-05,1793256547298879744
+324,5.400000000,POSE2_TO_POSE3_RETREAT,793,746,729,708,697,654,934,802,836,668,658,676,0.429364748791,-0.00536485023467,0.0497752094204,0.999999930492,0.000109502464299,-0.000353995600673,-4.13685655326e-05,1793256547315546112
+325,5.416666667,POSE2_TO_POSE3_RETREAT,793,746,729,708,697,654,934,802,836,668,658,676,0.428438156799,-0.00536941131904,0.0497682483279,0.999999928956,9.0183845495e-05,-0.000363139987486,-4.56455543872e-05,1793256547332212480
+326,5.433333333,POSE2_TO_POSE3_RETREAT,793,746.553380258,729,708,697,654.553380258,934,802,836,668,657.446619742,676,0.427488361481,-0.0053701065556,0.0497722407424,0.999999924177,8.28558155146e-05,-0.000377683353704,-4.62174579662e-05,1793256547348879360
+327,5.450000000,POSE2_TO_POSE3_RETREAT,793,747,728.869331134,708,697,654.869331134,934,802,835.869331134,668,657.130668866,676,0.426547668366,-0.0053696072715,0.0497742940969,0.999999921454,7.95511963223e-05,-0.000385445685233,-4.68600682628e-05,1793256547365545984
+328,5.466666667,POSE2_TO_POSE3_RETREAT,793,747,728.281644686,708,697,654.281644686,934,802,835.281644686,668,657.718355314,676,0.425641880699,-0.00536544164319,0.049768116195,0.999999926902,8.87319851448e-05,-0.000368776798022,-4.82402265467e-05,1793256547382213120
+329,5.483333333,POSE2_TO_POSE3_RETREAT,793.301803848,747,728.301803848,708,697,654,934,802,835,668,658,676,0.424759636697,-0.00536483517188,0.0497875899798,0.999999942879,8.90468870397e-05,-0.000322382081966,-4.88195343761e-05,1793256547398880000
+330,5.500000000,POSE2_TO_POSE3_RETREAT,793.881352275,747,728.881352275,708,697,654,934,802,835,668,658,676,0.423899059551,-0.0053675041281,0.0498306705445,0.99999996461,8.12026739577e-05,-0.000248631227131,-4.86618338636e-05,1793256547415546624
+331,5.516666667,POSE2_TO_POSE3_RETREAT,793.54173248,747,728.54173248,708,697,654,934,802,835,668,658,675.54173248,0.423000522046,-0.00536682186274,0.0498354780715,0.99999996692,8.01863482918e-05,-0.000239416764326,-4.90894810022e-05,1793256547432212992
+332,5.533333333,POSE2_TO_POSE3_RETREAT,792.965021891,747.034978109,728,708,697,654.034978109,934,802,835,668.034978109,658,675,0.422091257856,-0.00536528620834,0.0498294617676,0.999999964499,8.10772219597e-05,-0.000248916241641,-4.96830085087e-05,1793256547448879360
+333,5.550000000,POSE2_TO_POSE3_RETREAT,792.380882782,747.619117218,728,708,697,654.619117218,934,802,835,668.619117218,658,675,0.421167005651,-0.00536389659527,0.0498081949223,0.999999952714,8.43156571856e-05,-0.000291395546798,-5.05151263006e-05,1793256547465546240
+334,5.566666667,POSE2_TO_POSE3_RETREAT,792.20207252,747.79792748,728,708,697,654.79792748,934,802,835.20207252,668.79792748,658,675.20207252,0.420270705606,-0.00536319717096,0.0497989077683,0.999999944484,8.71539983378e-05,-0.000317622095719,-5.05307180615e-05,1793256547482212864
+335,5.583333333,POSE2_TO_POSE3_RETREAT,792.782809582,747.217190418,728,708,697,654.217190418,934,802,835.782809582,668.217190418,658,675.782809582,0.41942678507,-0.00536379109401,0.0498120694041,0.999999945709,8.92426023274e-05,-0.000313392544937,-4.90162185641e-05,1793256547498879488
+336,5.600000000,POSE2_TO_POSE3_RETREAT,793,747.362380766,728.362380766,708,697.362380766,654.362380766,934,802,836,668,658,675.637619234,0.418535089991,-0.00536151363221,0.0498007172662,0.999999936718,9.25608805491e-05,-0.000339889926612,-4.97093692077e-05,1793256547515546112
+337,5.616666667,POSE2_TO_POSE3_RETREAT,793,747.941255395,728.941255395,708,697.941255395,654.941255395,934,802,836,668,658,675.058744605,0.41761485345,-0.00535752074489,0.0497747200853,0.999999919981,9.66137916512e-05,-0.000384744221398,-5.17214163217e-05,1793256547532212992
+338,5.633333333,POSE2_TO_POSE3_RETREAT,793,748,728.481511442,707.481511442,697.481511442,655,934,802,835.481511442,668,658,675,0.416819949406,-0.00535811677983,0.0497848686434,0.999999930508,9.36395310723e-05,-0.000356979826624,-5.27361831109e-05,1793256547548879360
+339,5.650000000,POSE2_TO_POSE3_RETREAT,793,748,728,707,697,655,934,802,835,668,658,675,0.416040361473,-0.00535945146825,0.0497993234246,0.999999942846,9.06823801626e-05,-0.000321304865843,-5.33669307235e-05,1793256547565545984
+340,5.666666667,POSE2_TO_POSE3_RETREAT,793,748,728,707,697,655,934,802,835,668,658,675,0.415266624031,-0.00536189684425,0.0498149064066,0.999999953188,9.1811599168e-05,-0.000287097304492,-5.26298785934e-05,1793256547582212864
+341,5.683333333,POSE2_TO_POSE3_RETREAT,793,748,728,707,697,655,934,802.262536001,835,668,658,675,0.414477905991,-0.00536209310997,0.0498114614287,0.999999951665,9.33822397062e-05,-0.000291791649742,-5.29858358427e-05,1793256547598879488
+342,5.700000000,POSE2_TO_POSE3_RETREAT,793,748,728,707,697,655,934,802.84343491,835,668,658,675,0.413671021862,-0.00535956200373,0.0497849422937,0.999999934896,9.54881675902e-05,-0.000343660190443,-5.46672251973e-05,1793256547615545856
+343,5.716666667,POSE2_TO_POSE3_RETREAT,793,748,728,707,697.42296446,655,934.42296446,803,835.42296446,668,658,675,0.412922148317,-0.00535983993142,0.0497789135136,0.999999931343,9.4223276817e-05,-0.000354013007315,-5.57701701307e-05,1793256547632213248
+344,5.733333333,POSE2_TO_POSE3_RETREAT,793,748,728,707,698,655,934.99802635,802.99802635,835.99802635,668,658,675.00197365,0.412194893337,-0.00536115503681,0.0497805344419,0.999999933312,9.17371580375e-05,-0.000348927554269,-5.66482033958e-05,1793256547648880896
+345,5.750000000,POSE2_TO_POSE3_RETREAT,793,748,728,707,698,655,934.42341548,802.42341548,835.42341548,668,658,675.57658452,0.411529915493,-0.00536268406963,0.0498081077807,0.999999946228,9.57769846853e-05,-0.000308924773386,-5.41939687772e-05,1793256547665547520
+346,5.766666667,POSE2_TO_POSE3_RETREAT,793,748,728,707,698,655,934.154593622,802.154593622,835,668,658,676,0.410856117889,-0.00536387357856,0.0498227102723,0.999999951447,9.88697331651e-05,-0.00029082109341,-5.24843555883e-05,1793256547682214144
+347,5.783333333,POSE2_TO_POSE3_RETREAT,793,748,728,707,698,655,934.742119446,802.742119446,835,668,658,676,0.410157620806,-0.00536411226712,0.0498009885195,0.999999937879,9.931023476e-05,-0.000334044812006,-5.28600194439e-05,1793256547698881024
+348,5.800000000,POSE2_TO_POSE3_RETREAT,793,748.32515714,728,707,698,655,934.67484286,803,835.32515714,668,658,675.67484286,0.409515547067,-0.00536395747364,0.0497910278091,0.999999932688,0.000101341910861,-0.000348591561928,-5.32659520771e-05,1793256547715547648
+349,5.816666667,POSE2_TO_POSE3_RETREAT,793,748.904683748,728,707,698,655,934.095316252,803,835.904683748,668,658,675.095316252,0.408917613186,-0.00536349486031,0.0497902677287,0.999999935046,0.000104618358145,-0.000340704401841,-5.36955639157e-05,1793256547732214272
+350,5.833333333,POSE2_TO_POSE3_RETREAT,793.482292297,749,728,707,698,655,934,803,836,668,658,675.482292297,0.408362041947,-0.00536604110255,0.049806935904,0.999999943232,0.000103973329234,-0.000316137411642,-5.27553028784e-05,1793256547748880896
+351,5.850000000,POSE2_TO_POSE3_RETREAT,793.940801077,749,728,707,697.940801077,655,934.059198923,803,835.940801077,668,658,675.940801077,0.407816833865,-0.00536907602731,0.0498250799501,0.999999951013,0.000102392028418,-0.000291234108471,-5.16895702885e-05,1793256547765547264
+352,5.866666667,POSE2_TO_POSE3_RETREAT,793.366715536,749,728,707,697.366715536,655,934.633284464,803,835.366715536,668,658,675.366715536,0.407289230676,-0.0053712098213,0.0498262214588,0.999999951095,9.93814235999e-05,-0.000291963340725,-5.18779084272e-05,1793256547782213632
+353,5.883333333,POSE2_TO_POSE3_RETREAT,793.212941011,749,728,707,697.212941011,655,935,803,835,667.787058989,658,675.212941011,0.406758917004,-0.00537160808877,0.0498172536511,0.999999945578,9.90856857867e-05,-0.000310242684532,-5.26745960357e-05,1793256547798880000
+354,5.900000000,POSE2_TO_POSE3_RETREAT,793.802449329,749,728,707,697.802449329,655,935,803,835,667.197550671,658,675.802449329,0.406223810139,-0.00536893723119,0.0497904084131,0.999999928506,0.000103590949823,-0.000359557844675,-5.45470956605e-05,1793256547815546880
+355,5.916666667,POSE2_TO_POSE3_RETREAT,794,749,728,707,698,655,935,803,835,667.385226833,658,676,0.405738184156,-0.00536764252634,0.0497744980265,0.999999918588,0.000104915570691,-0.000385576564594,-5.61092703463e-05,1793256547832213760
+356,5.933333333,POSE2_TO_POSE3_RETREAT,794,749,728,707,698,655,935,803,835,667.96461199,658,676,0.405277497003,-0.00536704141653,0.0497640989162,0.99999991293,0.000104637114849,-0.000399853641438,-5.75150382456e-05,1793256547848880384
+357,5.950000000,POSE2_TO_POSE3_RETREAT,794,748.460437819,728,707,698,655,934.460437819,803,835.539562181,668,658,675.460437819,0.404898304043,-0.00536785537937,0.0497830362701,0.999999924831,0.000102301672933,-0.000369609267078,-5.71110916494e-05,1793256547865547264
+358,5.966666667,POSE2_TO_POSE3_RETREAT,794,748.116734705,728,707,698,655,934,803,835.883265295,668,658,675,0.404535232652,-0.00536965046602,0.0498060130453,0.999999937538,9.91733827191e-05,-0.000334546332664,-5.62778947486e-05,1793256547882213888
+359,5.983333333,POSE2_TO_POSE3_RETREAT,794,748.704028613,728,707,698,655,934,803,835.295971387,668,658,675,0.404215777609,-0.00537502940945,0.0498375800404,0.999999951617,9.3388502436e-05,-0.000291734337099,-5.41889360212e-05,1793256547898880000
+360,6.000000000,POSE2_TO_POSE3_RETREAT,793.712604259,749,728.287395741,707,698,655.287395741,934,803,835,668,658,675.287395741,0.40389303751,-0.00537886547075,0.0498561413231,0.999999959398,8.74541468025e-05,-0.000265921957602,-5.33006374665e-05,1793256547915546112
+361,6.016666667,POSE2_TO_POSE3_RETREAT,793.13322661,749,728.86677339,707,698,655.86677339,934,803,835,668,658,675.86677339,0.403566959952,-0.00538113402879,0.0498614893505,0.999999962129,8.13679310106e-05,-0.000257380471496,-5.36321590293e-05,1793256547932212992
+362,6.033333333,POSE2_TO_POSE3_RETREAT,793.445278118,749,728.554721882,707,698,655.554721882,934.445278118,803,835,667.554721882,658,676,0.40325960051,-0.00538106595946,0.0498525790105,0.999999957472,7.91370548652e-05,-0.000275255079109,-5.50294836719e-05,1793256547948879616
+363,6.050000000,POSE2_TO_POSE3_RETREAT,794,749,728,707,698,655,934.976627311,803,835,667,658,675.976627311,0.402959372142,-0.0053803251658,0.0498393767846,0.999999950041,7.79143850048e-05,-0.000301042248933,-5.67457390903e-05,1793256547965545984
+364,6.066666667,POSE2_TO_POSE3_RETREAT,794,749,728,707,698,655,934.402057956,803,835,667,658,675.402057956,0.402695499057,-0.0053801745008,0.0498253692299,0.999999942006,7.33181955632e-05,-0.000327404071215,-5.84777459338e-05,1793256547982213632
+365,6.083333333,POSE2_TO_POSE3_RETREAT,794,749,728,707,698,655,934,803,835.176162741,667,658,675,0.402450089355,-0.0053798478583,0.0498146993218,0.999999935869,7.01840393611e-05,-0.000346034389749,-5.99747701842e-05,1793256547998880768
+366,6.100000000,POSE2_TO_POSE3_RETREAT,794,749,728,707,698,655,934,803,835.762893235,667,658,675,0.402247710747,-0.0053791110798,0.0498118081891,0.99999993558,7.04573223803e-05,-0.000346645536533,-6.0924140018e-05,1793256548015546880
+367,6.116666667,POSE2_TO_POSE3_RETREAT,794,749,728,707,698,655,934,803,835.654228952,667,658,675,0.402067642941,-0.00537901870279,0.0498150278194,0.999999938638,7.19904902664e-05,-0.000337429035893,-6.06838044994e-05,1793256548032213248
+368,6.133333333,POSE2_TO_POSE3_RETREAT,794,749,728,707,698,655,934,803,835.07396388,667,658,675,0.401902705791,-0.00537936334407,0.0498223916291,0.999999943759,7.43780832923e-05,-0.000321547649328,-5.96366380797e-05,1793256548048879616
+369,6.150000000,POSE2_TO_POSE3_RETREAT,794,749,728,707.504675319,698,655,934.504675319,803,835,667,658,675,0.401765342078,-0.0053738840466,0.0498272579341,0.999999941486,0.000136091866007,-0.00031024152003,-4.75176771488e-05,1793256548065545984
+370,6.166666667,POSE2_TO_POSE3_RETREAT,794,749,728,707.917482594,698,655,935,803.082517406,835,667,658,675.082517406,0.401636233589,-0.00536882025933,0.0498318722326,0.999999935392,0.000195321051968,-0.00029963528447,-3.58486033082e-05,1793256548082212608
+371,6.183333333,POSE2_TO_POSE3_RETREAT,794,749,728,707.342976702,698,655,935,803.657023298,835,667,658,675.657023298,0.401532328096,-0.00537130651399,0.049837159346,0.999999939827,0.000188063167364,-0.000289216919424,-3.65054358144e-05,1793256548098879488
+372,6.200000000,POSE2_TO_POSE3_RETREAT,794,749,728,707,698,655,934.763001312,803.763001312,835,667,658,675.763001312,0.40143645511,-0.00537487782984,0.0498401807228,0.99999994314,0.000180522729187,-0.000282423507801,-3.70017543673e-05,1793256548115546368
+373,6.216666667,POSE2_TO_POSE3_RETREAT,794,749,728,707,698,655,934.174923694,803.174923694,835,667,658,675.174923694,0.401352481118,-0.00538005650513,0.0498398457416,0.999999944936,0.000172563729641,-0.0002809999357,-3.72602949171e-05,1793256548132213248
+374,6.233333333,POSE2_TO_POSE3_RETREAT,794,749,728,707,697.590698462,655,934.409301538,803,835,667,658,675.409301538,0.401276694181,-0.00538265581293,0.0498385443995,0.999999945467,0.00016577663645,-0.000283049954678,-3.82991124613e-05,1793256548148880128
+375,6.250000000,POSE2_TO_POSE3_RETREAT,794,749,728,707,697.008104293,655,934.991895707,803,835,667,658,675.991895707,0.401204373534,-0.00538416305194,0.0498368339136,0.999999945434,0.000159485712463,-0.000286570644292,-3.9668288528e-05,1793256548165546752
+376,6.266666667,POSE2_TO_POSE3_RETREAT,794,749,728,707,697.56487208,655,935,803,835,667.56487208,658,675.43512792,0.401161208797,-0.0053851494058,0.0498387418702,0.999999947374,0.000157998786991,-0.000280530560638,-3.98837263828e-05,1793256548182213120
+377,6.283333333,POSE2_TO_POSE3_RETREAT,793.858964707,749,728,707,698,655,934.858964707,803,835,667.858964707,658,675,0.401121669926,-0.00538610992674,0.0498409003355,0.999999949294,0.00015638763557,-0.000274502911083,-4.00484157327e-05,1793256548198879488
+378,6.300000000,POSE2_TO_POSE3_RETREAT,793.272303523,749,728,707,698,655,934.272303523,803,835,667.272303523,658,675,0.401092288053,-0.00538701204138,0.0498436890406,0.999999951147,0.000154169840291,-0.000268940706221,-4.0104182178e-05,1793256548215546368
+379,6.316666667,POSE2_TO_POSE3_RETREAT,793.31035797,749,728,707,698,655,934.31035797,803,835,667,658,675.31035797,0.401067922441,-0.00538661114297,0.0498458813852,0.999999952201,0.000154281042333,-0.000264902789221,-4.02643195082e-05,1793256548232212992
+380,6.333333333,POSE2_TO_POSE3_RETREAT,793.889554907,749,728,707,698,655,934.889554907,803,835,667,658,675.889554907,0.401047902022,-0.00538508154581,0.0498475571495,0.999999952577,0.000156409673342,-0.000262185243611,-4.05148652244e-05,1793256548248879616
+381,6.350000000,POSE2_TO_POSE3_RETREAT,794,749,728,707,698,655,935,803.468143537,835,667,658,675.531856463,0.401030780015,-0.00538636028471,0.0498464273981,0.999999952472,0.000154188774939,-0.00026386919008,-4.06721195954e-05,1793256548265546496
+382,6.366666667,POSE2_TO_POSE3_RETREAT,794,749,728,707,698,655,935,803.953611709,835,667,657.953611709,675,0.401015165044,-0.00538816228725,0.0498448283047,0.999999952302,0.000151029039487,-0.000266309286887,-4.08029347536e-05,1793256548282213632
+383,6.383333333,POSE2_TO_POSE3_RETREAT,794,749,728,707,698,655,935,803.377655982,835,667,657.377655982,675,0.401008958258,-0.00538838405568,0.0498454174267,0.99999995283,0.000148850829768,-0.000265542543244,-4.08828536517e-05,1793256548298880000
+384,6.400000000,POSE2_TO_POSE3_RETREAT,794,749,728,707,698,655,934.797809323,803,835,667,657.202190677,675,0.401004573035,-0.00538868196555,0.0498463904064,0.999999953565,0.000147604614454,-0.000263459258246,-4.08822952874e-05,1793256548315546624
+385,6.416666667,POSE2_TO_POSE3_RETREAT,794,749,728,707,698,655,934.210552533,803,835,667,657.789447467,675,0.401003656926,-0.00538912488452,0.0498480944315,0.999999954692,0.000148133354813,-0.000258868659554,-4.07284703723e-05,1793256548332212992
+386,6.433333333,POSE2_TO_POSE3_RETREAT,794,749,728,707,698,655,934.373472814,803,835,667,658,675.373472814,0.401002007843,-0.0053890158851,0.0498487931787,0.999999955077,0.00014791958807,-0.000257471128107,-4.09159146649e-05,1793256548348879360
+387,6.450000000,POSE2_TO_POSE3_RETREAT,794,749,728,707,698,655,934.955691981,803,835,667,658,675.955691981,0.400999949077,-0.00538859840016,0.0498489300426,0.999999955055,0.000147290809447,-0.000257858308083,-4.12941056504e-05,1793256548365545984
+388,6.466666667,POSE2_TO_POSE3_RETREAT,794,749,728,707,698,655,935,803,835.529925604,667,658,675.470074396,0.400999892746,-0.00538882991034,0.0498498752867,0.999999955445,0.000147409750344,-0.000256335468453,-4.08998675088e-05,1793256548382212864
+389,6.483333333,POSE2_TO_POSE3_RETREAT,794,749,728,707,698,655,934.89591851,803,835.89591851,667.10408149,658,675,0.400999902736,-0.00538897604882,0.0498506977824,0.999999955765,0.000147849472302,-0.000254888972203,-4.05318198161e-05,1793256548398879232
+390,6.500000000,POSE2_TO_POSE3_RETREAT,794,749,728,707,698,655,934.319128436,803,835.319128436,667.680871564,658,675,0.400999464829,-0.00538849166179,0.0498506603718,0.999999955621,0.000149466366238,-0.000254503751443,-4.05716902859e-05,1793256548415545856
+391,6.516666667,POSE2_TO_POSE3_RETREAT,794,749.264108638,728,707,698,655.264108638,934.264108638,803,835,667.735891362,658,675.264108638,0.400998939539,-0.00538881858915,0.0498505915412,0.999999955822,0.000148515642185,-0.000254242655468,-4.07392017538e-05,1793256548432212480
+392,6.533333333,POSE2_TO_POSE3_RETREAT,794,749.855330763,728,707,698,655.855330763,934.855330763,803,835,667.144669237,658,675.855330763,0.400998306019,-0.00539015037521,0.0498504837951,0.999999956441,0.000144384778229,-0.000254135295006,-4.10648038228e-05,1793256548448879360
+393,6.550000000,POSE2_TO_POSE3_RETREAT,794,749.563268953,728,707,698,655.563268953,935,803,835,667,658,675.563268953,0.400997935653,-0.00539011075505,0.0498511505053,0.999999956239,0.000145610086534,-0.000254228609367,-4.10873464836e-05,1793256548465545984
+394,6.566666667,POSE2_TO_POSE3_RETREAT,794,749,728,707,698,655.014819524,935,803,835,667,658,675,0.400997657136,-0.00538962852581,0.0498520284154,0.99999995579,0.000148468029499,-0.000254353198542,-4.1014235596e-05,1793256548482212352
+395,6.583333333,POSE2_TO_POSE3_RETREAT,794,749,728,707,698,655.588017316,935,803,835,667,658,675,0.400997627124,-0.00538920974083,0.0498514104918,0.999999956229,0.000147460218231,-0.000253206604778,-4.10363859953e-05,1793256548498879232
+396,6.600000000,POSE2_TO_POSE3_RETREAT,794,749,728,707,698,655.838839309,935,803.161160691,835,667,658,675.161160691,0.400997628623,-0.00538925347351,0.0498510668239,0.999999956572,0.000146391520557,-0.000252479387187,-4.09723237424e-05,1793256548515546112
+397,6.616666667,POSE2_TO_POSE3_RETREAT,794,749,728,707,698,655.265835031,935,803.734164969,835,667,658,675.734164969,0.40099771065,-0.00539047916277,0.049851424012,0.999999956676,0.000145167228702,-0.000252823878816,-4.06879464253e-05,1793256548532212736
+398,6.633333333,POSE2_TO_POSE3_RETREAT,794,749,728,707,698,655,935,803.680204574,835,667,658,675.680204574,0.400997106048,-0.00539041654794,0.0498514749418,0.999999956533,0.00014527068668,-0.000253321083589,-4.07189969453e-05,1793256548548879104
+399,6.650000000,POSE2_TO_POSE3_RETREAT,794,749,728,707,698,655,935,803.083647009,835,667,658,675.083647009,0.400995907213,-0.00538923898965,0.049851260825,0.999999956179,0.000146523225829,-0.000253950451638,-4.1023029754e-05,1793256548565545728
+400,6.666666667,POSE2_TO_POSE3_RETREAT,793.506611292,749,728,707,698,655,935,803,835,667,658,675,0.400996805685,-0.00538989025319,0.0498518356766,0.999999956843,0.000144582216868,-0.000252415837066,-4.11770173399e-05,1793256548582213376
+401,6.683333333,POSE2_TO_POSE3_RETREAT,793.067493518,749,728,707,698,655,934.932506482,803,835.067493518,667,658,675.067493518,0.400997935062,-0.00539062716899,0.0498525098168,0.999999957557,0.000142622298692,-0.000250677075892,-4.12903605265e-05,1793256548598880768
+402,6.700000000,POSE2_TO_POSE3_RETREAT,793.643502512,749,728,707,698,655,934.356497488,803,835.643502512,667,658,675.643502512,0.400998227148,-0.00538976231343,0.0498529626084,0.999999957451,0.000144443872381,-0.000250059133058,-4.12818398159e-05,1793256548615546624
+403,6.716666667,POSE2_TO_POSE3_RETREAT,793.77596388,749,728,707,698,655,934.22403612,803,835.77596388,667,658,676,0.400997842649,-0.00538954088593,0.0498531914951,0.999999957287,0.000145051727226,-0.000250384902715,-4.11615663649e-05,1793256548632212736
+404,6.733333333,POSE2_TO_POSE3_RETREAT,793.188081981,749,728,707,698,655,934.811918019,803,835.188081981,667,658,676,0.400996359341,-0.00539036441737,0.0498530567494,0.999999957029,0.000143688442714,-0.000252243308202,-4.08598009154e-05,1793256548648879360
+405,6.750000000,POSE2_TO_POSE3_RETREAT,793.396102755,749,728,707,698,655,935,803,835.396102755,667,658,676,0.400997169271,-0.00539081883543,0.0498534622354,0.999999957411,0.000143179153841,-0.000251020234898,-4.08231421385e-05,1793256548665545984
+406,6.766666667,POSE2_TO_POSE3_RETREAT,793.978548162,749,728,707,698,655,935,803,835.978548162,667,658,676,0.400999058033,-0.00539109960767,0.0498541218679,0.99999995809,0.000143071618912,-0.00024834751004,-4.09112002106e-05,1793256548682212608
diff --git a/Part2/Obstacle_avoidance/cylinder_PLA_10/position_02/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_PLA_10/position_02/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f85b10caf79b8d878a61d88bdf9bffa73a92ba3c
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_PLA_10/position_02/depth_04/simulation_data.csv
@@ -0,0 +1,408 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+1,0.016666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+2,0.033333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+3,0.050000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+4,0.066666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+5,0.083333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+6,0.100000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+7,0.116666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+8,0.133333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+9,0.150000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+10,0.166666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+11,0.183333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+12,0.200000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+13,0.216666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+14,0.233333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+15,0.250000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+16,0.266666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+17,0.283333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+18,0.300000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+19,0.316666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+20,0.333333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+21,0.350000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+22,0.366666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+23,0.383333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+24,0.400000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+25,0.416666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+26,0.433333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+27,0.450000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+28,0.466666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+29,0.483333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+30,0.500000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+31,0.516666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+32,0.533333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+33,0.550000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+34,0.566666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+35,0.583333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+36,0.600000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+37,0.616666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+38,0.633333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+39,0.650000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+40,0.666666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+41,0.683333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+42,0.700000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+43,0.716666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+44,0.733333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+45,0.750000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+46,0.766666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+47,0.783333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+48,0.800000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+49,0.816666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+50,0.833333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+51,0.850000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+52,0.866666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+53,0.883333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+54,0.900000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+55,0.916666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+56,0.933333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+57,0.950000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+58,0.966666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+59,0.983333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+60,1.000000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+61,1.016666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+62,1.033333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+63,1.050000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+64,1.066666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+65,1.083333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+66,1.100000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+67,1.116666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+68,1.133333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+69,1.150000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+70,1.166666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+71,1.183333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+72,1.200000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+73,1.216666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+74,1.233333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+75,1.250000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+76,1.266666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+77,1.283333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+78,1.300000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+79,1.316666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+80,1.333333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+81,1.350000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+82,1.366666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+83,1.383333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+84,1.400000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+85,1.416666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+86,1.433333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+87,1.450000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+88,1.466666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+89,1.483333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+90,1.500000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+91,1.516666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+92,1.533333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+93,1.550000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+94,1.566666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+95,1.583333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+96,1.600000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+97,1.616666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+98,1.633333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+99,1.650000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+100,1.666666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+101,1.683333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+102,1.700000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+103,1.716666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+104,1.733333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+105,1.750000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+106,1.766666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+107,1.783333333,pose1_to_pose2_press,0.575666710209,0.000181852718045,1.0400204364,0.546237856699,0.00885608621235,1.03969214046
+108,1.800000000,pose1_to_pose2_press,0.575666789497,0.000181831887913,1.0400204426,0.546237936605,0.00885606741362,1.0396921449
+109,1.816666667,pose1_to_pose2_press,0.575666932037,0.000181808576507,1.0400204482,0.546238079667,0.00885604579904,1.03969214856
+110,1.833333333,pose1_to_pose2_press,0.5756670046,0.000181812497591,1.04002044487,0.546238151837,0.0088560484003,1.03969214559
+111,1.850000000,pose1_to_pose2_press,0.575667036789,0.000181814237025,1.0400204434,0.546238183853,0.00885604955425,1.03969214427
+112,1.866666667,pose1_to_pose2_press,0.575667124317,0.000181818966748,1.04002043939,0.546238270906,0.00885605269196,1.03969214069
+113,1.883333333,pose1_to_pose2_press,0.575667234852,0.000181824939775,1.04002043432,0.546238380843,0.00885605665448,1.03969213617
+114,1.900000000,pose1_to_pose2_press,0.575667718622,0.000181836337244,1.04002039203,0.546238864139,0.00885606650082,1.03969209538
+115,1.916666667,pose1_to_pose2_press,0.575670121755,0.000181839956807,1.04002043443,0.546241268694,0.00885607500412,1.0396921393
+116,1.933333333,pose1_to_pose2_press,0.575677660919,0.000181827790597,1.04002065819,0.546248808493,0.00885606495429,1.03969236198
+117,1.950000000,pose1_to_pose2_press,0.575692094395,0.0001816887937,1.04002064987,0.546263243502,0.00885593104712,1.03969235067
+118,1.966666667,pose1_to_pose2_press,0.575717770226,0.000181719287489,1.04002051036,0.546288919291,0.00885596171062,1.03969221934
+119,1.983333333,pose1_to_pose2_press,0.57575470292,0.000181808880848,1.04002061758,0.546325848568,0.00885603925911,1.03969231452
+120,2.000000000,pose1_to_pose2_press,0.575802578245,0.000181553312747,1.04002041041,0.546373729623,0.00885580358776,1.03969211935
+121,2.016666667,pose1_to_pose2_press,0.575859916706,0.000181784450627,1.04002053241,0.546431064895,0.00885602360739,1.03969223346
+122,2.033333333,pose1_to_pose2_press,0.575926875452,0.000181838906599,1.04002033158,0.546498022858,0.00885607565668,1.03969203899
+123,2.050000000,pose1_to_pose2_press,0.575999951382,0.000181766379483,1.04002035492,0.546571099704,0.00885600648027,1.03969206877
+124,2.066666667,pose1_to_pose2_press,0.576079361034,0.000181662841517,1.04002031512,0.54665051034,0.00885590626395,1.03969202851
+125,2.083333333,pose1_to_pose2_press,0.576170871343,0.000181873713767,1.04002051931,0.546742018008,0.00885610803078,1.03969222871
+126,2.100000000,pose1_to_pose2_press,0.5762740731,0.000182025774501,1.04002038452,0.546845217699,0.00885625333944,1.03969210084
+127,2.116666667,pose1_to_pose2_press,0.57638997068,0.000181824954871,1.0400204479,0.546961117951,0.00885606100456,1.03969214882
+128,2.133333333,pose1_to_pose2_press,0.576519722337,0.000181803541444,1.0400204987,0.547090870229,0.00885604209258,1.03969221006
+129,2.150000000,pose1_to_pose2_press,0.576664680661,0.000181873328889,1.04002036213,0.547235826413,0.00885610447863,1.03969206965
+130,2.166666667,pose1_to_pose2_press,0.576823829664,0.000181812271117,1.04002062305,0.547394976097,0.00885604540243,1.03969232185
+131,2.183333333,pose1_to_pose2_press,0.576998680498,0.00018180186034,1.04002067281,0.547569827505,0.00885603710085,1.03969237581
+132,2.200000000,pose1_to_pose2_press,0.577195922478,0.000181832212153,1.04002047202,0.547767069486,0.00885606772503,1.03969218208
+133,2.216666667,pose1_to_pose2_press,0.577415117106,0.000181817501972,1.04002046128,0.547986264016,0.00885605256095,1.0396921681
+134,2.233333333,pose1_to_pose2_press,0.577657354939,0.000181789727989,1.04002062301,0.548228500893,0.00885602145669,1.03969232751
+135,2.250000000,pose1_to_pose2_press,0.577922035219,0.000181662394275,1.04002061093,0.54849318297,0.0088559004413,1.03969232115
+136,2.266666667,pose1_to_pose2_press,0.578208761675,0.000181613311087,1.040020227,0.548779912122,0.00885586080693,1.03969194511
+137,2.283333333,pose1_to_pose2_press,0.578513067246,0.000181691005995,1.04002065797,0.549084216898,0.00885593531432,1.03969236313
+138,2.300000000,pose1_to_pose2_press,0.578833472356,0.000181630600975,1.04002066684,0.549404621626,0.00885587354702,1.03969237023
+139,2.316666667,pose1_to_pose2_press,0.579168916151,0.000181646645691,1.04002059389,0.549740066172,0.00885589182475,1.0396922889
+140,2.333333333,pose1_to_pose2_press,0.579518730488,0.000181744240545,1.04002057268,0.550089876823,0.0088559770093,1.03969227018
+141,2.350000000,pose1_to_pose2_press,0.579884045902,0.000181750858897,1.04002043258,0.550455193005,0.00885598667596,1.03969214169
+142,2.366666667,pose1_to_pose2_press,0.580268766963,0.000181781490798,1.04002049616,0.550839914329,0.00885601811103,1.03969220284
+143,2.383333333,pose1_to_pose2_press,0.580675477973,0.000181762066908,1.04002061756,0.551246625808,0.00885600017526,1.03969232153
+144,2.400000000,pose1_to_pose2_press,0.581115878124,0.000181739534348,1.04002063168,0.551687026276,0.00885597859504,1.03969233238
+145,2.416666667,pose1_to_pose2_press,0.581587461884,0.000181705314385,1.04002061283,0.552158610615,0.00885594637785,1.03969231455
+146,2.433333333,pose1_to_pose2_press,0.582089445722,0.000181680570313,1.04002056992,0.552660595072,0.0088559239383,1.03969227701
+147,2.450000000,pose1_to_pose2_press,0.582609540165,0.000181745506242,1.04002052566,0.553180688839,0.00885598633165,1.03969222608
+148,2.466666667,pose1_to_pose2_press,0.5831414596,0.000181763946712,1.04002068287,0.553712607787,0.00885600288372,1.03969237698
+149,2.483333333,pose1_to_pose2_press,0.583678917299,0.000181782717827,1.04002057992,0.554250064312,0.00885601796024,1.03969228169
+150,2.500000000,pose1_to_pose2_press,0.584225357226,0.000181906087654,1.04002072053,0.554796501999,0.00885613339285,1.03969241333
+151,2.516666667,pose1_to_pose2_press,0.584795929806,0.000181791672603,1.04002065892,0.555367076619,0.00885602637508,1.03969236433
+152,2.533333333,pose1_to_pose2_press,0.585394181736,0.000181773352254,1.04002064872,0.555965330433,0.00885601459203,1.0396923579
+153,2.550000000,pose1_to_pose2_press,0.586021648729,0.000181751557851,1.04002056108,0.556592796724,0.00885599036959,1.03969226909
+154,2.566666667,pose1_to_pose2_press,0.586666304781,0.000181803497845,1.0400204422,0.557237452266,0.00885604061337,1.03969215101
+155,2.583333333,pose1_to_pose2_press,0.587321959822,0.0001818319155,1.04002060648,0.557893107216,0.00885606843862,1.03969230784
+156,2.600000000,pose1_to_pose2_press,0.587986504042,0.000181819038282,1.04002053249,0.558557651542,0.00885605607962,1.03969223805
+157,2.616666667,pose1_to_pose2_press,0.588662010311,0.000181770561258,1.04002046789,0.559233157468,0.00885600659411,1.03969217751
+158,2.633333333,pose1_to_pose2_press,0.589351950706,0.000181756597631,1.04002064587,0.559923097604,0.00885599154451,1.03969235008
+159,2.650000000,pose1_to_pose2_press,0.590059514894,0.000181735480577,1.04002073871,0.560630662542,0.00885597273847,1.0396924368
+160,2.666666667,pose1_to_pose2_press,0.590785309781,0.000181634989867,1.04002054439,0.561356458633,0.00885587633302,1.03969224241
+161,2.683333333,pose1_to_pose2_press,0.591518328577,0.000181666923669,1.04002045391,0.562089477976,0.00885591032313,1.03969215731
+162,2.700000000,pose1_to_pose2_press,0.592259527438,0.000181703052225,1.04002052207,0.562830676922,0.00885594682736,1.03969222775
+163,2.716666667,pose1_to_pose2_press,0.593012574675,0.000181757776396,1.04002028529,0.563583721865,0.00885599390462,1.03969199471
+164,2.733333333,pose1_to_pose2_press,0.593777099977,0.000181657992835,1.04002037753,0.564348248395,0.00885589846685,1.03969209163
+165,2.750000000,pose1_to_pose2_press,0.594550897043,0.000181680007638,1.04002054823,0.565122046753,0.00885592443207,1.03969225096
+166,2.766666667,pose1_to_pose2_press,0.595333792565,0.000181715616105,1.04002066467,0.565904940417,0.00885595376958,1.03969236836
+167,2.783333333,pose1_to_pose2_press,0.596126611137,0.000181765134264,1.04002050535,0.566697758409,0.0088560012005,1.03969220591
+168,2.800000000,pose1_to_pose2_press,0.596905242304,0.000181755209564,1.04002073781,0.567476389756,0.0088559915889,1.03969243058
+169,2.816666667,pose1_to_pose2_press,0.597673920439,0.000181721600114,1.04002053319,0.568245067496,0.00885595678645,1.03969222982
+170,2.833333333,pose1_to_pose2_press,0.598447605102,0.000181774790611,1.04002044474,0.569018751329,0.00885600738095,1.03969214726
+171,2.850000000,pose1_to_pose2_press,0.599219145391,0.000181771989353,1.04002061746,0.569790292269,0.00885600675397,1.03969231906
+172,2.866666667,pose1_to_pose2_press,0.599984009086,0.000181777870705,1.04002068317,0.570555157044,0.00885601630885,1.03969238509
+173,2.883333333,pose1_to_pose2_press,0.60075792221,0.000181908244782,1.04002062628,0.571329069468,0.00885614454529,1.0396923345
+174,2.900000000,pose1_to_pose2_press,0.601538263314,0.000181771556713,1.04002053938,0.572109410975,0.0088560092438,1.03969224811
+175,2.916666667,pose1_to_pose2_press,0.602315841796,0.000181728302591,1.04002051268,0.572886990676,0.00885597019738,1.03969222342
+176,2.933333333,pose1_to_pose2_press,0.603087144303,0.000181847788445,1.04002041628,0.573658291044,0.00885608233742,1.03969212477
+177,2.950000000,pose1_to_pose2_press,0.603844095365,0.000181674114302,1.04002037607,0.574415243926,0.00885591519637,1.03969209409
+178,2.966666667,pose1_to_pose2_press,0.604589692651,0.00018172425929,1.04002025732,0.575160841852,0.00885596758533,1.03969197734
+179,2.983333333,pose1_to_pose2_press,0.605325094576,0.000181762413386,1.04002035628,0.575896242702,0.00885600198146,1.03969207341
+180,3.000000000,pose1_to_pose2_press,0.606053111406,0.000181798612819,1.04002052773,0.576624258626,0.00885603455837,1.03969223043
+181,3.016666667,pose1_to_pose2_press,0.606776705861,0.000181689476614,1.04002038286,0.577347853805,0.008855927935,1.03969208714
+182,3.033333333,pose1_to_pose2_press,0.607490951896,0.000181778131081,1.04002042829,0.578062099829,0.00885601692462,1.03969214245
+183,3.050000000,pose1_to_pose2_press,0.608191418856,0.000181836384332,1.04002052043,0.578762567053,0.00885607599833,1.03969223261
+184,3.066666667,pose1_to_pose2_press,0.608873064984,0.000181890296322,1.04002046304,0.579444212829,0.00885612864645,1.03969217347
+185,3.083333333,pose1_to_pose2_press,0.609528764627,0.000181804941298,1.04002047344,0.58009991346,0.00885604649522,1.03969218012
+186,3.100000000,pose1_to_pose2_press,0.610160312783,0.000181680390293,1.04002061256,0.58073146248,0.00885592460062,1.03969231199
+187,3.116666667,pose1_to_pose2_press,0.610765066766,0.000181769507207,1.04002065551,0.581336214592,0.00885600741473,1.03969235617
+188,3.133333333,pose1_to_pose2_press,0.611346034972,0.000181816175361,1.04002052848,0.581917182558,0.00885605345817,1.0396922341
+189,3.150000000,pose1_to_pose2_press,0.611906752351,0.000181934499987,1.04002043533,0.582477899733,0.00885617117688,1.03969214238
+190,3.166666667,pose1_to_pose2_press,0.612450093431,0.000181708812875,1.0400207906,0.583021242909,0.00885595247813,1.03969248815
+191,3.183333333,pose1_to_pose2_press,0.612978134546,0.000181717618117,1.04002061308,0.583549282946,0.00885596023674,1.03969231604
+192,3.200000000,pose1_to_pose2_press,0.613498548607,0.000181840396536,1.04002058318,0.584069693952,0.00885607568637,1.03969228117
+193,3.216666667,pose1_to_pose2_press,0.614007684414,0.000181850467163,1.04002055674,0.584578828545,0.00885608590081,1.03969225931
+194,3.233333333,pose1_to_pose2_press,0.614494979122,0.000181794229547,1.04002066033,0.585066122622,0.00885603202881,1.03969236731
+195,3.250000000,pose1_to_pose2_press,0.614958005002,0.000181804494988,1.04002074283,0.58552914636,0.00885603848747,1.03969244767
+196,3.266666667,pose1_to_pose2_press,0.615393975011,0.000181811572605,1.04002068043,0.585965115162,0.00885604493658,1.03969238344
+197,3.283333333,pose1_to_pose2_press,0.615809784914,0.00018172315107,1.04002067982,0.58638092661,0.00885596675121,1.03969238199
+198,3.300000000,pose1_to_pose2_press,0.616207571607,0.000181790915875,1.04002070462,0.586778710537,0.0088560292985,1.03969240197
+199,3.316666667,pose1_to_pose2_press,0.616595642491,0.000181764420548,1.04002067998,0.587166780922,0.00885600495753,1.03969238318
+200,3.333333333,pose1_to_pose2_press,0.616971174643,0.00018183232045,1.04002066884,0.58754231074,0.00885606817165,1.03969237422
+201,3.350000000,pose1_to_pose2_press,0.617322588866,0.000181671393143,1.04002047427,0.587893725365,0.00885591364287,1.03969217602
+202,3.366666667,pose1_to_pose2_press,0.617649086809,0.000181624346935,1.04002051158,0.588220222049,0.00885586453769,1.03969221806
+203,3.383333333,pose1_to_pose2_press,0.617948582454,0.000181770375181,1.04002054221,0.588519717888,0.00885601182828,1.03969224877
+204,3.400000000,pose1_to_pose2_press,0.61821856123,0.000181788764677,1.04002067041,0.588789696423,0.00885603125421,1.03969237949
+205,3.416666667,pose1_to_pose2_press,0.618461303503,0.000181772094519,1.04002062314,0.589032437902,0.00885601319843,1.03969233466
+206,3.433333333,pose1_to_pose2_press,0.618692178681,0.000181790672764,1.04002045452,0.58926331291,0.00885603099559,1.03969216592
+207,3.450000000,pose1_to_pose2_press,0.618912448155,0.000181735747071,1.04002062511,0.589483583587,0.00885598013338,1.03969233598
+208,3.466666667,pose1_to_pose2_press,0.619120649976,0.000181796716095,1.04002042603,0.589691783368,0.00885603532739,1.0396921325
+209,3.483333333,pose1_to_pose2_press,0.619317135897,0.000181758895188,1.04002048631,0.589888269453,0.00885599902251,1.03969220506
+210,3.500000000,pose1_to_pose2_press,0.619500201048,0.000181869032807,1.04002065958,0.590071332955,0.00885610270698,1.03969236202
+211,3.516666667,pose1_to_pose2_press,0.619661950895,0.000181754357253,1.04002056448,0.590233085033,0.00885599674322,1.03969226998
+212,3.533333333,pose1_to_pose2_press,0.619803754962,0.000181757801577,1.04002062352,0.590374888822,0.00885599978022,1.03969233066
+213,3.550000000,pose1_to_pose2_press,0.619929503111,0.000181714875373,1.04002058533,0.590500636878,0.00885595677449,1.03969229344
+214,3.566666667,pose1_to_pose2_press,0.620041629089,0.000181771837631,1.04002055599,0.590612761753,0.00885601034465,1.03969225947
+215,3.583333333,pose1_to_pose2_press,0.620140599032,0.000181827166649,1.04002046931,0.590711730742,0.00885606276221,1.03969217177
+216,3.600000000,pose1_to_pose2_press,0.620229492806,0.000181706802204,1.04002040902,0.590800626014,0.00885594757044,1.0396921151
+217,3.616666667,pose1_to_pose2_press,0.62030810509,0.000181676717167,1.04002066466,0.590879239344,0.00885592100383,1.03969236348
+218,3.633333333,pose1_to_pose2_press,0.620375145504,0.00018193938576,1.04002054224,0.590946276543,0.00885617276239,1.03969224549
+219,3.650000000,pose1_to_pose2_press,0.62043201207,0.0001816911847,1.04002046134,0.591003146142,0.00885593481687,1.03969216399
+220,3.666666667,pose1_to_pose2_press,0.620479834451,0.000181783819936,1.04002070087,0.591050967644,0.00885602434641,1.03969239578
+221,3.683333333,pose1_to_pose2_press,0.62051920151,0.00018189219838,1.04002031289,0.591090333337,0.00885612835101,1.0396920186
+222,3.700000000,pose1_to_pose2_press,0.620550674927,0.00018164774794,1.0400205113,0.591121810266,0.00885589645525,1.03969222025
+223,3.716666667,pose1_to_pose2_press,0.620575133189,0.000181735984748,1.04002041309,0.591146267862,0.00885598199066,1.03969212283
+224,3.733333333,pose1_to_pose2_press,0.620592980975,0.000181814657037,1.04002056009,0.591164114245,0.00885605529422,1.03969225835
+225,3.750000000,pose1_to_pose2_press,0.620605617108,0.000181681752259,1.04002049737,0.591176751179,0.00885592596607,1.03969219248
+226,3.766666667,pose1_to_pose2_press,0.620614237106,0.000181724947489,1.04002053537,0.591185370185,0.00885596515329,1.03969223211
+227,3.783333333,pose1_to_pose2_press,0.620619737089,0.000181724277655,1.04002057535,0.59119086962,0.00885596233041,1.039692274
+228,3.800000000,pose1_to_pose2_press,0.620623479374,0.000181602136724,1.04002056657,0.591194612582,0.00885584317957,1.03969226625
+229,3.816666667,pose1_to_pose2_press,0.620625824751,0.00018164146395,1.04002066326,0.59119695821,0.00885588320167,1.03969235773
+230,3.833333333,pose1_to_pose2_press,0.620627149327,0.000181672204179,1.04002072539,0.591198282916,0.00885591424754,1.03969241649
+231,3.850000000,pose1_to_pose2_press,0.620627547188,0.000181696158866,1.04002067129,0.591198680824,0.00885593819847,1.03969236402
+232,3.866666667,pose1_to_pose2_press,0.620627555703,0.000181696725498,1.04002066987,0.591198689341,0.00885593876468,1.03969236264
+233,3.883333333,pose1_to_pose2_press,0.620627856531,0.000181716743366,1.04002061955,0.591198990206,0.00885595876734,1.03969231389
+234,3.900000000,pose1_to_pose2_press,0.620628426052,0.00018175464077,1.04002052428,0.591199559798,0.00885599663595,1.0396922216
+235,3.916666667,pose1_to_pose2_press,0.620628929187,0.000181779171054,1.04002045821,0.591200063024,0.00885602130015,1.03969215814
+236,3.933333333,pose1_to_pose2_press,0.62062927926,0.00018174402009,1.04002051778,0.591200413325,0.0088559871721,1.03969221941
+237,3.950000000,pose1_to_pose2_press,0.620629367811,0.000181735128624,1.04002053285,0.591200501934,0.00885597853938,1.0396922349
+238,3.966666667,pose1_to_pose2_press,0.620629448588,0.000181727017714,1.04002054659,0.591200582764,0.0088559706645,1.03969224904
+239,3.983333333,pose1_to_pose2_press,0.620629484522,0.000181723409592,1.04002055271,0.591200618721,0.00885596716138,1.03969225533
+240,4.000000000,pose1_to_pose2_press,0.620629542517,0.000181717586255,1.04002056258,0.591200676754,0.0088559615075,1.03969226548
+241,4.016666667,pose1_to_pose2_press,0.620629620852,0.000181755782987,1.04002064591,0.591200754555,0.00885599786343,1.03969234857
+242,4.033333333,pose1_to_pose2_press,0.620629668241,0.000181787109034,1.04002070881,0.591200801517,0.00885602770659,1.03969241122
+243,4.050000000,pose1_to_pose2_press,0.620629758254,0.000181804693275,1.0400206523,0.591200890705,0.0088560425429,1.03969235722
+244,4.066666667,pose1_to_pose2_press,0.620629770875,0.000181781503112,1.04002053667,0.591200903148,0.00885601893849,1.03969224373
+245,4.083333333,pose2_hold,0.620629770875,0.000181781503112,1.04002053667,0.591200903266,0.00885601895448,1.03969224371
+246,4.100000000,pose2_hold,0.620629770875,0.000181781503112,1.04002053667,0.591200903274,0.00885601896987,1.03969224372
+247,4.116666667,pose2_hold,0.620629770875,0.000181781503112,1.04002053667,0.591200903276,0.00885601897792,1.03969224373
+248,4.133333333,pose2_hold,0.620629770875,0.000181781503112,1.04002053667,0.59120090328,0.00885601898636,1.03969224373
+249,4.150000000,pose2_hold,0.620629770875,0.000181781503112,1.04002053667,0.591200903284,0.00885601899308,1.03969224373
+250,4.166666667,pose2_hold,0.620629770875,0.000181781503112,1.04002053667,0.591200903277,0.00885601893526,1.0396922437
+251,4.183333333,pose2_hold,0.620629770875,0.000181781503112,1.04002053667,0.591200903287,0.00885601895102,1.03969224372
+252,4.200000000,pose2_hold,0.620629770875,0.000181781503112,1.04002053667,0.591200903291,0.00885601895702,1.03969224372
+253,4.216666667,pose2_hold,0.620629770875,0.000181781503112,1.04002053667,0.591200903294,0.00885601896604,1.03969224372
+254,4.233333333,pose2_hold,0.620629770875,0.000181781503112,1.04002053667,0.591200903298,0.00885601897248,1.03969224373
+255,4.250000000,pose2_hold,0.620629770875,0.000181781503112,1.04002053667,0.591200903313,0.00885601891714,1.03969224371
+256,4.266666667,pose2_hold,0.620629770875,0.000181781503112,1.04002053667,0.591200903317,0.00885601893437,1.03969224371
+257,4.283333333,pose2_hold,0.620629770875,0.000181781503112,1.04002053667,0.591200903323,0.00885601893968,1.03969224371
+258,4.300000000,pose2_hold,0.620629770875,0.000181781503112,1.04002053667,0.591200903324,0.00885601895053,1.03969224371
+259,4.316666667,pose2_hold,0.620629770875,0.000181781503112,1.04002053667,0.591200903327,0.00885601895533,1.03969224372
+260,4.333333333,pose2_hold,0.620629770875,0.000181781503112,1.04002053667,0.59120090333,0.0088560189622,1.03969224372
+261,4.350000000,pose2_hold,0.620629770875,0.000181781503112,1.04002053667,0.591200903332,0.00885601896875,1.03969224373
+262,4.366666667,pose2_hold,0.620629770875,0.000181781503112,1.04002053667,0.591200903334,0.00885601897501,1.03969224373
+263,4.383333333,pose2_to_pose3_retreat,0.620629770875,0.000181781503112,1.04002053667,0.591200903385,0.00885601895017,1.03969224372
+264,4.400000000,pose2_to_pose3_retreat,0.620629591671,0.000181753679962,1.04002034788,0.591200725367,0.00885599495004,1.03969205093
+265,4.416666667,pose2_to_pose3_retreat,0.62062940336,0.000181771548029,1.04002037465,0.591200536288,0.00885601045352,1.03969208463
+266,4.433333333,pose2_to_pose3_retreat,0.620629355145,0.000181776122989,1.04002038151,0.591200487876,0.00885601442305,1.03969209326
+267,4.450000000,pose2_to_pose3_retreat,0.620629263916,0.000181780695499,1.04002039079,0.59120039643,0.00885601832852,1.03969210466
+268,4.466666667,pose2_to_pose3_retreat,0.620629009629,0.000181769738985,1.04002039525,0.591200142433,0.00885600828986,1.03969210791
+269,4.483333333,pose2_to_pose3_retreat,0.620628700961,0.000181756439353,1.04002040067,0.591199834117,0.00885599610437,1.03969211185
+270,4.500000000,pose2_to_pose3_retreat,0.620627340612,0.000181734234515,1.04002050678,0.591198474348,0.00885597556916,1.0396922132
+271,4.516666667,pose2_to_pose3_retreat,0.62062353847,0.000181773651198,1.04002056334,0.591194671362,0.00885601199605,1.03969226853
+272,4.533333333,pose2_to_pose3_retreat,0.620613709719,0.000181788096551,1.0400207944,0.591184842149,0.00885602455702,1.03969249141
+273,4.550000000,pose2_to_pose3_retreat,0.620596101941,0.000181704476428,1.04002041634,0.591167237378,0.00885595123168,1.03969211882
+274,4.566666667,pose2_to_pose3_retreat,0.620568625172,0.000181774105956,1.0400207674,0.591139761007,0.00885602183795,1.03969246469
+275,4.583333333,pose2_to_pose3_retreat,0.620531361604,0.00018186453332,1.0400205664,0.591102494792,0.00885610352444,1.03969227623
+276,4.600000000,pose2_to_pose3_retreat,0.620483411507,0.000181873112815,1.04002068681,0.591054542835,0.00885610518688,1.03969238681
+277,4.616666667,pose2_to_pose3_retreat,0.620425494339,0.000181722722059,1.04002058978,0.590996627433,0.00885596029921,1.03969228481
+278,4.633333333,pose2_to_pose3_retreat,0.620356618628,0.00018183391199,1.04002051721,0.590927753232,0.00885607676523,1.03969222667
+279,4.650000000,pose2_to_pose3_retreat,0.620276655439,0.000181722241349,1.04002045801,0.590847790906,0.00885596725698,1.03969215961
+280,4.666666667,pose2_to_pose3_retreat,0.620185171274,0.000181764715538,1.04002053158,0.590756305469,0.00885600516987,1.03969223696
+281,4.683333333,pose2_to_pose3_retreat,0.620079313889,0.000181724724633,1.04002040499,0.590650448266,0.00885596525416,1.03969211045
+282,4.700000000,pose2_to_pose3_retreat,0.619959883398,0.000181842392189,1.04002026584,0.590531016575,0.00885607858493,1.03969197971
+283,4.716666667,pose2_to_pose3_retreat,0.619825410916,0.000181746520639,1.04002075816,0.590396545427,0.00885598604263,1.03969245805
+284,4.733333333,pose2_to_pose3_retreat,0.619675140643,0.000181744244022,1.04002061989,0.590246275536,0.00885598480928,1.03969231748
+285,4.750000000,pose2_to_pose3_retreat,0.619507561027,0.000181716837168,1.04002063026,0.590078696874,0.00885595990646,1.03969233439
+286,4.766666667,pose2_to_pose3_retreat,0.619324681185,0.000181801048969,1.04002056361,0.589895816515,0.00885604143639,1.03969227461
+287,4.783333333,pose2_to_pose3_retreat,0.619127026976,0.000181775853782,1.04002039398,0.589698162941,0.00885601743042,1.03969210708
+288,4.800000000,pose2_to_pose3_retreat,0.618914326723,0.000181755331352,1.04002039332,0.589485462318,0.00885599440443,1.03969210055
+289,4.816666667,pose2_to_pose3_retreat,0.618688707043,0.000181811388781,1.04002060139,0.589259841083,0.00885604388189,1.03969229982
+290,4.833333333,pose2_to_pose3_retreat,0.618450043924,0.000181710654022,1.04002066901,0.589021180242,0.00885595035775,1.03969236847
+291,4.850000000,pose2_to_pose3_retreat,0.618197657491,0.000181793381625,1.04002040712,0.588768792116,0.00885602801923,1.03969212274
+292,4.866666667,pose2_to_pose3_retreat,0.617931262202,0.000181686069048,1.04002041813,0.58850239866,0.00885592516047,1.03969212544
+293,4.883333333,pose2_to_pose3_retreat,0.61764861984,0.000181703603708,1.04002043651,0.588219758735,0.00885594777386,1.03969213961
+294,4.900000000,pose2_to_pose3_retreat,0.617349742441,0.000181791692055,1.04002047159,0.587920882154,0.00885603488277,1.03969217506
+295,4.916666667,pose2_to_pose3_retreat,0.617031644965,0.000181849051783,1.04002058347,0.58760278297,0.00885608323821,1.03969228704
+296,4.933333333,pose2_to_pose3_retreat,0.616692081292,0.00018196358352,1.0400207759,0.587263219126,0.00885619691187,1.03969248052
+297,4.950000000,pose2_to_pose3_retreat,0.616327620788,0.000181843977901,1.0400205121,0.58689875992,0.00885607759445,1.03969221832
+298,4.966666667,pose2_to_pose3_retreat,0.615937401628,0.000181914912237,1.04002026811,0.586508540974,0.00885614728729,1.03969197703
+299,4.983333333,pose2_to_pose3_retreat,0.615521657881,0.000181917551043,1.04002033547,0.586092797907,0.00885614993961,1.0396920441
+300,5.000000000,pose2_to_pose3_retreat,0.615083170399,0.000181811939048,1.04002055918,0.585654312674,0.00885604768445,1.03969226313
+301,5.016666667,pose2_to_pose3_retreat,0.6146286136,0.000181798535648,1.04002055697,0.585199758349,0.00885603777555,1.03969225621
+302,5.033333333,pose2_to_pose3_retreat,0.614164477161,0.000181846398947,1.04002042818,0.584735620447,0.00885607809254,1.03969213163
+303,5.050000000,pose2_to_pose3_retreat,0.613690187696,0.000181632821419,1.04002031501,0.584261335754,0.00885587512718,1.03969202318
+304,5.066666667,pose2_to_pose3_retreat,0.613203682874,0.000181562989193,1.04002043513,0.583774833248,0.00885580862025,1.03969214551
+305,5.083333333,pose2_to_pose3_retreat,0.612693516335,0.000181602097603,1.04002059376,0.583264667744,0.00885584689942,1.03969230022
+306,5.100000000,pose2_to_pose3_retreat,0.612159363332,0.000181719707596,1.04002053061,0.582730515534,0.00885596258539,1.03969223645
+307,5.116666667,pose2_to_pose3_retreat,0.611607001853,0.000181854633666,1.04002018429,0.58217815538,0.00885609688201,1.03969190298
+308,5.133333333,pose2_to_pose3_retreat,0.611041628259,0.000181817119404,1.04002062346,0.581612783423,0.00885605890914,1.03969233259
+309,5.150000000,pose2_to_pose3_retreat,0.610464997721,0.000181664710124,1.04002048337,0.581036154699,0.00885590748922,1.03969219114
+310,5.166666667,pose2_to_pose3_retreat,0.609878904727,0.000181628767173,1.04002057273,0.580450064458,0.00885587566211,1.03969227714
+311,5.183333333,pose2_to_pose3_retreat,0.609278455312,0.000181659990462,1.04002062761,0.579849616881,0.00885590784398,1.03969233174
+312,5.200000000,pose2_to_pose3_retreat,0.608636932783,0.000181722295503,1.04002050594,0.579208094569,0.00885596556367,1.03969221409
+313,5.216666667,pose2_to_pose3_retreat,0.607959256142,0.000181832637428,1.04002045739,0.578530417712,0.00885606974625,1.03969216572
+314,5.233333333,pose2_to_pose3_retreat,0.607254972616,0.000181985338009,1.04002084008,0.577826133334,0.00885621105466,1.03969253514
+315,5.250000000,pose2_to_pose3_retreat,0.606529651814,0.000181743848861,1.04002068134,0.577100818001,0.0088559845999,1.03969238925
+316,5.266666667,pose2_to_pose3_retreat,0.605782983368,0.000181703992816,1.04002057303,0.576354153344,0.00885594959713,1.03969227883
+317,5.283333333,pose2_to_pose3_retreat,0.605039527411,0.000181759257917,1.04002075933,0.575610698638,0.00885600345909,1.03969245593
+318,5.300000000,pose2_to_pose3_retreat,0.604296454575,0.000181792784436,1.04002060406,0.574867623205,0.00885603200825,1.03969230395
+319,5.316666667,pose2_to_pose3_retreat,0.603542552799,0.000181770015957,1.04002057377,0.57411372085,0.00885600661149,1.03969227257
+320,5.333333333,pose2_to_pose3_retreat,0.602783295664,0.000181802027079,1.04002077076,0.573354465105,0.0088560356652,1.03969246312
+321,5.350000000,pose2_to_pose3_retreat,0.60202095127,0.000181860200877,1.04002072503,0.572592122054,0.00885609180116,1.03969242096
+322,5.366666667,pose2_to_pose3_retreat,0.60125053473,0.000181650837002,1.04002033856,0.571821711206,0.00885589549934,1.0396920465
+323,5.383333333,pose2_to_pose3_retreat,0.600471752516,0.000181704384484,1.04002064083,0.571042928533,0.00885594431576,1.03969235221
+324,5.400000000,pose2_to_pose3_retreat,0.599684701755,0.000181787492966,1.04002066333,0.570255878877,0.00885602533924,1.03969237123
+325,5.416666667,pose2_to_pose3_retreat,0.598892285797,0.000181778935227,1.04002067089,0.569463463448,0.0088560130815,1.03969237678
+326,5.433333333,pose2_to_pose3_retreat,0.598103525361,0.000181845087623,1.04002065645,0.568674701307,0.00885608114703,1.03969236553
+327,5.450000000,pose2_to_pose3_retreat,0.597322243696,0.000181795247365,1.04002060474,0.567893405425,0.00885603428844,1.03969231102
+328,5.466666667,pose2_to_pose3_retreat,0.59655204893,0.000181747030152,1.04002056022,0.56712319795,0.00885598672233,1.03969226387
+329,5.483333333,pose2_to_pose3_retreat,0.59579053514,0.000181833329198,1.0400205034,0.566361682788,0.00885607080638,1.03969221325
+330,5.500000000,pose2_to_pose3_retreat,0.595034447918,0.000181920326627,1.04002037684,0.565605594447,0.00885615432408,1.03969209487
+331,5.516666667,pose2_to_pose3_retreat,0.594275271208,0.00018181059947,1.04002057369,0.564846419212,0.00885604908106,1.03969227175
+332,5.533333333,pose2_to_pose3_retreat,0.5935137033,0.000181725234702,1.0400205832,0.564084851898,0.00885596567247,1.03969227929
+333,5.550000000,pose2_to_pose3_retreat,0.592755039635,0.000181683657136,1.04002064169,0.563326187862,0.00885592303546,1.03969234362
+334,5.566666667,pose2_to_pose3_retreat,0.591997442422,0.000181702935815,1.04002066582,0.562568590676,0.0088559423625,1.03969237108
+335,5.583333333,pose2_to_pose3_retreat,0.591238010625,0.000181735705431,1.04002052737,0.561809158542,0.00885597406238,1.03969223717
+336,5.600000000,pose2_to_pose3_retreat,0.590500532468,0.000181756043723,1.04002044704,0.561071680328,0.00885599438451,1.03969215915
+337,5.616666667,pose2_to_pose3_retreat,0.589782851549,0.000181785689354,1.04002057984,0.560353999932,0.00885602566949,1.03969228635
+338,5.633333333,pose2_to_pose3_retreat,0.589077199524,0.000181815938431,1.04002062877,0.559648347744,0.00885605498364,1.03969232814
+339,5.650000000,pose2_to_pose3_retreat,0.588388929722,0.000181696628549,1.04002017673,0.55896007868,0.00885593879361,1.03969188643
+340,5.666666667,pose2_to_pose3_retreat,0.587720208287,0.0001818086874,1.04002051323,0.558291355665,0.00885604527021,1.03969221732
+341,5.683333333,pose2_to_pose3_retreat,0.587059053315,0.000181750403288,1.04002036806,0.557630202367,0.00885599256856,1.03969207399
+342,5.700000000,pose2_to_pose3_retreat,0.586406757964,0.000181745292578,1.04002053428,0.556977907021,0.00885598737874,1.03969223902
+343,5.716666667,pose2_to_pose3_retreat,0.585773018074,0.000181786418795,1.04002066665,0.556344166273,0.00885602558976,1.03969237106
+344,5.733333333,pose2_to_pose3_retreat,0.585158907554,0.000181857192432,1.04002062348,0.555730054749,0.00885609298548,1.03969232837
+345,5.750000000,pose2_to_pose3_retreat,0.584563248282,0.00018188774428,1.0400205551,0.555134395063,0.00885612212599,1.03969225955
+346,5.766666667,pose2_to_pose3_retreat,0.583985688144,0.000181778641355,1.04002053848,0.554556836062,0.00885601690164,1.03969224322
+347,5.783333333,pose2_to_pose3_retreat,0.583430145432,0.000181675609878,1.04002042909,0.554001293932,0.00885591591531,1.03969213546
+348,5.800000000,pose2_to_pose3_retreat,0.582893089368,0.000181763956273,1.04002076804,0.55346423785,0.00885600399077,1.03969246867
+349,5.816666667,pose2_to_pose3_retreat,0.582377973838,0.000181768562859,1.04002039927,0.552949121013,0.00885600446876,1.03969210767
+350,5.833333333,pose2_to_pose3_retreat,0.581891849937,0.000181788651765,1.04002035535,0.55246299728,0.00885602522744,1.03969206621
+351,5.850000000,pose2_to_pose3_retreat,0.581424719334,0.000181732285774,1.04002052872,0.551995867734,0.0088559723915,1.03969223789
+352,5.866666667,pose2_to_pose3_retreat,0.580968374605,0.000181746237417,1.04002072294,0.551539522785,0.00885598536514,1.03969242579
+353,5.883333333,pose2_to_pose3_retreat,0.580523963221,0.000181861260938,1.04002068667,0.551095109929,0.00885609527599,1.03969238616
+354,5.900000000,pose2_to_pose3_retreat,0.58009375384,0.000181756095013,1.04002027171,0.55066490128,0.00885599313284,1.03969198527
+355,5.916666667,pose2_to_pose3_retreat,0.579688923172,0.000181804549326,1.04002029364,0.550260070255,0.00885604037949,1.03969200703
+356,5.933333333,pose2_to_pose3_retreat,0.579312635518,0.000181773287997,1.04002068046,0.549883783822,0.00885601272785,1.03969237964
+357,5.950000000,pose2_to_pose3_retreat,0.578972879107,0.000181934812561,1.04002031914,0.549544024258,0.00885616420836,1.03969203543
+358,5.966666667,pose2_to_pose3_retreat,0.578660740475,0.000181790568679,1.04002047562,0.549231888739,0.00885602993381,1.03969217609
+359,5.983333333,pose2_to_pose3_retreat,0.57837142578,0.000181641654009,1.04002051225,0.548942577151,0.00885589150556,1.03969221118
+360,6.000000000,pose2_to_pose3_retreat,0.578094336431,0.000181636478289,1.04002042103,0.548665487449,0.00885588545568,1.03969212835
+361,6.016666667,pose2_to_pose3_retreat,0.577827995638,0.000181760621848,1.04002043621,0.548399143104,0.00885599742297,1.03969214016
+362,6.033333333,pose2_to_pose3_retreat,0.577571206845,0.000181792289781,1.04002046717,0.548142353458,0.00885602608541,1.03969216805
+363,6.050000000,pose2_to_pose3_retreat,0.577327483008,0.000181720602861,1.04002063835,0.547898631609,0.00885596157793,1.03969235009
+364,6.066666667,pose2_to_pose3_retreat,0.577105055724,0.000181791844737,1.04002077356,0.547676202618,0.00885602684742,1.03969248054
+365,6.083333333,pose2_to_pose3_retreat,0.576904067498,0.000181823680564,1.04002056025,0.547475213522,0.00885605571976,1.0396922669
+366,6.100000000,pose2_to_pose3_retreat,0.576726113337,0.00018182736381,1.04002048194,0.547297259626,0.00885606000203,1.03969218072
+367,6.116666667,pose2_to_pose3_retreat,0.576569653312,0.000181786653308,1.04002064056,0.547140799582,0.00885601904305,1.0396923345
+368,6.133333333,pose2_to_pose3_retreat,0.576432868743,0.000181776178397,1.04002070434,0.547004015769,0.00885601120813,1.03969240029
+369,6.150000000,pose2_to_pose3_retreat,0.576312737508,0.00018178498275,1.04002061339,0.546883885433,0.00885602341626,1.03969231869
+370,6.166666667,pose2_to_pose3_retreat,0.576206927402,0.00018180429962,1.04002049447,0.546778075603,0.0088560438447,1.03969220442
+371,6.183333333,pose2_to_pose3_retreat,0.576114965372,0.000181856150846,1.0400204837,0.546686113343,0.0088560942833,1.03969217734
+372,6.200000000,pose2_to_pose3_retreat,0.576033328056,0.000181842870637,1.04002046102,0.546604475931,0.00885608072209,1.03969216
+373,6.216666667,pose2_to_pose3_retreat,0.575961276349,0.000181775675503,1.04002050855,0.546532424458,0.00885601479855,1.03969221821
+374,6.233333333,pose2_to_pose3_retreat,0.575899689297,0.000181800066027,1.04002071055,0.546470838657,0.00885604331329,1.0396924161
+375,6.250000000,pose2_to_pose3_retreat,0.57584765896,0.000181753603898,1.04002062531,0.546418808815,0.00885599832836,1.03969232527
+376,6.266666667,pose2_to_pose3_retreat,0.575804790457,0.0001817338344,1.04002058467,0.546375939228,0.00885597491203,1.03969228536
+377,6.283333333,pose2_to_pose3_retreat,0.575770543394,0.000181786082056,1.04002076384,0.546341690833,0.00885602280539,1.03969246898
+378,6.300000000,pose2_to_pose3_retreat,0.575745043987,0.000181722162223,1.0400206618,0.54631619222,0.00885596163953,1.03969236864
+379,6.316666667,pose2_to_pose3_retreat,0.575723996861,0.000181814272148,1.04002057731,0.546295144074,0.00885605021702,1.03969228207
+380,6.333333333,pose2_to_pose3_retreat,0.575706986703,0.000181811896338,1.04002045006,0.546278134223,0.00885604917299,1.03969216171
+381,6.350000000,pose2_to_pose3_retreat,0.57569388389,0.000181822959481,1.04002052171,0.546265031757,0.00885606153567,1.03969223625
+382,6.366666667,pose2_to_pose3_retreat,0.575684140207,0.000181885305764,1.04002075641,0.546255287549,0.00885612187421,1.03969246523
+383,6.383333333,pose2_to_pose3_retreat,0.575677536045,0.000181886815855,1.04002067541,0.546248682224,0.00885611930506,1.039692381
+384,6.400000000,pose2_to_pose3_retreat,0.575673404762,0.000181810942947,1.04002060031,0.546244552263,0.00885604781421,1.03969230303
+385,6.416666667,pose2_to_pose3_retreat,0.5756712459,0.000181788734437,1.04002052833,0.546242393732,0.00885602671749,1.03969223079
+386,6.433333333,pose2_to_pose3_retreat,0.575669990049,0.000181829385158,1.04002041629,0.546241136881,0.00885606408156,1.03969212156
+387,6.450000000,pose2_to_pose3_retreat,0.575669343069,0.000181850327276,1.04002035858,0.546240489386,0.0088560833305,1.03969206529
+388,6.466666667,pose2_to_pose3_retreat,0.575668762335,0.000181869125086,1.04002030677,0.54623990819,0.00885610060849,1.03969201478
+389,6.483333333,pose2_to_pose3_retreat,0.575668390582,0.000181863398476,1.04002033385,0.546239536485,0.0088560950589,1.03969204223
+390,6.500000000,pose2_to_pose3_retreat,0.575668206187,0.000181854966805,1.04002036625,0.546239352221,0.00885608707705,1.03969207467
+391,6.516666667,pose2_to_pose3_retreat,0.575667986548,0.000181844923602,1.04002040485,0.54623913274,0.00885607756964,1.0396921133
+392,6.533333333,pose2_to_pose3_retreat,0.575667734531,0.00018183339987,1.04002044913,0.546238880903,0.00885606666069,1.03969215764
+393,6.550000000,pose2_to_pose3_retreat,0.575667528291,0.00018182396933,1.04002048537,0.546238674811,0.00885605773326,1.03969219391
+394,6.566666667,pose2_to_pose3_retreat,0.57566738117,0.00018181724211,1.04002051122,0.546238527796,0.00885605136493,1.03969221979
+395,6.583333333,pose2_to_pose3_retreat,0.575667314354,0.000181814186858,1.04002052296,0.546238461027,0.00885604847267,1.03969223155
+396,6.600000000,pose2_to_pose3_retreat,0.575667237345,0.000181809463852,1.04002051128,0.546238384191,0.00885604432954,1.03969221961
+397,6.616666667,pose2_to_pose3_retreat,0.575667099222,0.000181798797796,1.04002044428,0.546238246597,0.00885603541956,1.03969215164
+398,6.633333333,pose2_to_pose3_retreat,0.575667034385,0.000181793790996,1.04002041283,0.546238182008,0.00885603123709,1.03969211974
+399,6.650000000,pose2_to_pose3_retreat,0.575667010197,0.000181791923202,1.0400204011,0.546238157913,0.00885602967682,1.03969210784
+400,6.666666667,pose2_to_pose3_retreat,0.575666969429,0.000181788775066,1.04002038132,0.546238117301,0.008856027047,1.03969208778
+401,6.683333333,pose2_to_pose3_retreat,0.575666911289,0.000181784285367,1.04002035312,0.546238059382,0.00885602329649,1.03969205917
+402,6.700000000,pose2_to_pose3_retreat,0.575666875602,0.000181781529575,1.04002033581,0.546238023832,0.00885602099442,1.03969204161
+403,6.716666667,pose2_to_pose3_retreat,0.575666846904,0.000181779313461,1.04002032189,0.546237995244,0.00885601914317,1.03969202749
+404,6.733333333,pose2_to_pose3_retreat,0.575666781907,0.000181810503941,1.04002035913,0.546237929517,0.00885604784274,1.03969206427
+405,6.750000000,pose2_to_pose3_retreat,0.575666738993,0.000181841912881,1.04002040426,0.546237885831,0.00885607661622,1.03969210909
+406,6.766666667,pose2_to_pose3_retreat,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579254,1.03969213896
diff --git a/Part2/Obstacle_avoidance/cylinder_PLA_10/position_02/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_PLA_10/position_02/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e94b2c4f53ef29b004b14287e8f22e830b56e6e2
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_PLA_10/position_02/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0bf78bda55b3cf30f5bbf6c3b47e3b86412199cf496904b900ce7797734a589c
+size 25971671
diff --git a/Part2/Obstacle_avoidance/cylinder_PLA_10/position_02/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_PLA_10/position_02/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9ebf6b2d687f946828b188314b6771f124f1c5f9
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_PLA_10/position_02/depth_05/franka_data.csv
@@ -0,0 +1,410 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,794,749,728,707,698,655,934,803,835,667,658,675,0.400996690994,-0.00539361002957,0.0498539751192,0.999999958096,0.000140555414196,-0.00024982364145,-4.05025268044e-05,1793256548826830080
+1,0.016666667,BASELINE,794,749,727.410656465,707.589343535,698,655.589343535,934.589343535,803,835,667,658,675,0.400998338097,-0.00539170745225,0.0498543475926,0.999999958239,0.000141889924919,-0.000248404249132,-4.10377876201e-05,1793256548843496704
+2,0.033333333,BASELINE,794,749,727.175546625,707.824453375,698,655.824453375,934.824453375,803,835,667.175546625,658,675.175546625,0.400998802693,-0.00539128784648,0.0498544096035,0.999999958378,0.000141557364325,-0.000248005975063,-4.12222472555e-05,1793256548860163584
+3,0.050000000,BASELINE,794,749,727.754532495,707.245467505,698,655.245467505,934.245467505,803,835,667.754532495,658,675.754532495,0.400996549667,-0.00539427638856,0.049853758113,0.999999958499,0.000137393559759,-0.000249954422993,-4.06004997367e-05,1793256548876830464
+4,0.066666667,BASELINE,794,749,728,707,698,655,934.331285312,803.331285312,835.331285312,668,658,676,0.400996253788,-0.00539349456373,0.0498538532669,0.999999958423,0.000138058280457,-0.000249880790557,-4.0662210998e-05,1793256548893496832
+5,0.083333333,BASELINE,794,749,728,707,698,655,934.906394579,803.906394579,835.906394579,668,658,676,0.400997398357,-0.00538993777181,0.0498544979467,0.999999958198,0.00014227676636,-0.000248318919264,-4.12269437638e-05,1793256548910162688
+6,0.100000000,BASELINE,794,749,728,707,698,655,935,803.518701791,835.518701791,667.518701791,658,676,0.4009967989,-0.00539063846648,0.0498536789335,0.999999957856,0.000142652513724,-0.000249502251069,-4.10666665857e-05,1793256548926829056
+7,0.116666667,BASELINE,794,749,728,707,698,655,935,803,835,667,658,676,0.400996032481,-0.00539205729541,0.0498527310606,0.99999995755,0.000142294934298,-0.00025097179863,-4.07973747824e-05,1793256548943495936
+8,0.133333333,BASELINE,794,749,728,707,698,655,935,803,835,667,658,676,0.400996855365,-0.00539246451738,0.0498532210747,0.999999957787,0.000142063979542,-0.00025015586587,-4.08229733097e-05,1793256548960162816
+9,0.150000000,BASELINE,793.764900315,749,728,707,698,655.235099685,935,803,835,667,658,675.764900315,0.400997241481,-0.00539256412507,0.0498538454068,0.999999958018,0.000141838534386,-0.000249355426529,-4.08437984404e-05,1793256548976829696
+10,0.166666667,BASELINE,793.186674159,749,728,707,698,655.813325841,935,803,835,667,658,675.186674159,0.400996990138,-0.00539221477164,0.0498546657752,0.999999958242,0.000141621130474,-0.000248577599804,-4.08576568271e-05,1793256548993496320
+11,0.183333333,BASELINE,793,749,728,707,698,656,935,803,835,667,658,675,0.400996663288,-0.00539208049411,0.0498544236062,0.999999958017,0.000142472982977,-0.000249010613433,-4.07532541065e-05,1793256549010163456
+12,0.200000000,BASELINE,793,749,728,707,698,656,935,803,835,667,658,675,0.400996300438,-0.00539204875495,0.0498536748677,0.999999957577,0.000143834608356,-0.000250020900681,-4.05924698621e-05,1793256549026830336
+13,0.216666667,BASELINE,793.551074755,749,728,707,698,655.448925245,934.448925245,803,835,667,658,675.551074755,0.400995550314,-0.00539239281281,0.0498535852296,0.999999957595,0.000142598326435,-0.000250617375331,-4.081264846e-05,1793256549043496448
+14,0.233333333,BASELINE,794,749,728,707,698,655,934,803,835,667,658,676,0.40099536009,-0.00539271516589,0.0498536310531,0.999999957755,0.000141256171601,-0.000250712305997,-4.09979154356e-05,1793256549060162816
+15,0.250000000,BASELINE,794,749,728,707,698,655,934,803,835,667,658,676,0.400997037429,-0.00539288386438,0.0498539591642,0.999999958261,0.000140162481996,-0.000249305655812,-4.09863699367e-05,1793256549076829184
+16,0.266666667,BASELINE,793.705223291,749,728,707,698,655,934,803,835,667,658,675.705223291,0.4009972529,-0.00539373690214,0.0498540591138,0.999999958466,0.000139374793771,-0.000248938372601,-4.09021925003e-05,1793256549093495808
+17,0.283333333,BASELINE,793.128529229,749,728,707,698,655,934,803,835,667,658,675.128529229,0.400996070275,-0.00539524442552,0.0498539408553,0.999999958385,0.000138879757973,-0.00024956511505,-4.07485516269e-05,1793256549110162432
+18,0.300000000,BASELINE,793,749,728,707,698,655.446481314,934.446481314,803,835,667,658,675.446481314,0.400996837157,-0.00539318282537,0.0498543522854,0.999999958341,0.000141214389952,-0.000248407573048,-4.08670266587e-05,1793256549126829568
+19,0.316666667,BASELINE,793.021581643,749,728,707,698,655.978418357,934.978418357,803,835,667,658,676,0.400998075957,-0.00539031181156,0.0498548684626,0.999999958294,0.000144160866331,-0.000246870606375,-4.10397666883e-05,1793256549143496704
+20,0.333333333,BASELINE,793.61176839,749,728,707,698,655.38823161,934.38823161,803,835,667,658,676,0.400997017817,-0.00539308361658,0.0498541420676,0.999999958161,0.000141846533291,-0.000248819055176,-4.0586110152e-05,1793256549160163072
+21,0.350000000,BASELINE,793.801863651,749,728,707,698,655,934.198136349,803,835.198136349,667,658,675.801863651,0.40099667008,-0.00539456682167,0.049853905933,0.999999958254,0.000140178917568,-0.00024941186746,-4.04307085869e-05,1793256549176829952
+22,0.366666667,BASELINE,793.222836867,749,728,707,698,655,934.777163133,803,835.777163133,667,658,675.222836867,0.400997687997,-0.00539357286669,0.049854612258,0.999999958797,0.000139754529019,-0.000247398650973,-4.08486620713e-05,1793256549193496320
+23,0.383333333,BASELINE,793.35385978,749,728,707,698,655,935,803,836,667,657.64614022,675,0.400998563944,-0.0053930694826,0.049855364438,0.999999958863,0.000140754722439,-0.000246576974422,-4.07736813942e-05,1793256549210162688
+24,0.400000000,BASELINE,793.929098719,749,728,707,698,655,935,803,836,667,657.070901281,675,0.400999351074,-0.00539287300577,0.0498561453056,0.999999958629,0.00014264615234,-0.00024650074015,-4.03903149034e-05,1793256549226829312
+25,0.416666667,BASELINE,794,749.514391594,728,707,698,655,934.485608406,803,835.485608406,667.514391594,657.514391594,675.514391594,0.400998962087,-0.00539284920753,0.0498559518097,0.999999958773,0.000142554187527,-0.000245987004057,-4.02841641662e-05,1793256549243496192
+26,0.433333333,BASELINE,794,749.900179197,728,707,698,655,934,803,835,667.900179197,658,676,0.400998293683,-0.00539263800205,0.0498554852871,0.999999958818,0.00014254990401,-0.00024580120833,-4.03152738675e-05,1793256549260163328
+27,0.450000000,BASELINE,794,749.320884037,728,707,698,655,934,803,835,667.320884037,658,676,0.400997077337,-0.00539141000924,0.049854365279,0.99999995813,0.00014430610998,-0.000247486056649,-4.08184983231e-05,1793256549276830208
+28,0.466666667,BASELINE,794,749,728,707,698,655,934,803,835,667,658,675.742430389,0.400997419105,-0.00539135536526,0.0498544442848,0.999999958162,0.00014424139255,-0.000247353765385,-4.1075587603e-05,1793256549293497088
+29,0.483333333,BASELINE,794,749,728,707,698,655,934,803,835,667,658,675.165021727,0.400999695675,-0.00539275773628,0.0498560121756,0.999999959084,0.000141915529346,-0.000244965026936,-4.10270366011e-05,1793256549310163712
+30,0.500000000,BASELINE,794,749,728,707,698,655.411357513,934,803,835,667,658,675,0.400999881743,-0.00539267090026,0.0498561423098,0.99999995913,0.000142117379469,-0.000244692191884,-4.08436890114e-05,1793256549326830336
+31,0.516666667,BASELINE,794,749,728,707,698,655.987324803,934,803,835,667,658,675,0.400999231272,-0.00539198813965,0.0498556971079,0.999999958826,0.000143330725285,-0.000245266061709,-4.0606400907e-05,1793256549343496448
+32,0.533333333,BASELINE,794.574884341,749,728,707,698,655.425115659,934,803,835,667,658,675,0.400998521524,-0.00539182346008,0.0498556580526,0.999999959007,0.000142199067981,-0.000245157316145,-4.07776157873e-05,1793256549360162816
+33,0.550000000,BASELINE,794.839693887,749,728,707,698,655.160306113,934.160306113,803,835,667,658,675.160306113,0.400998029799,-0.00539209072239,0.0498555493337,0.999999959102,0.000141400390193,-0.000245230193365,-4.07972597449e-05,1793256549376829440
+34,0.566666667,BASELINE,794.260539316,749,728,707,698,655.739460684,934.739460684,803,835,667,658,675.739460684,0.400998111208,-0.00539345610451,0.0498552347182,0.999999958944,0.000141609593306,-0.000245817748566,-4.03968613156e-05,1793256549393496064
+35,0.583333333,BASELINE,793.682323747,749,728,707,698,655.682323747,934.682323747,803,835,667.317676253,658,676,0.400997534309,-0.00539377019555,0.0498550580109,0.999999958894,0.00014050416949,-0.000246634856492,-4.05270466381e-05,1793256549410162688
+36,0.600000000,BASELINE,793.104875961,749,728,707,698,655.104875961,934.104875961,803,835,667.895124039,658,676,0.400996419094,-0.00539322462067,0.0498549940744,0.999999958926,0.000138323743551,-0.000247639675281,-4.10911030473e-05,1793256549426829312
+37,0.616666667,BASELINE,793,749,728,707,698,655,934,803,835.469947735,667.530052265,658,676,0.400995490606,-0.0053935626331,0.049854301548,0.999999958677,0.00013846789432,-0.000248582403225,-4.0970018976e-05,1793256549443496192
+38,0.633333333,BASELINE,793,749,728,707,698,655,934.04538669,803,836,667,658,676,0.400994854412,-0.00539402542645,0.0498536549286,0.999999958435,0.000139089625463,-0.000249252860068,-4.07078595989e-05,1793256549460163328
+39,0.650000000,BASELINE,793,749,728,707,698,655,934.635191599,803,836,667,658,676,0.400997227248,-0.00539363284836,0.0498552322885,0.99999995902,0.000139251901731,-0.000246822683986,-4.05773482351e-05,1793256549476829696
+40,0.666666667,BASELINE,793.221036081,749,728,707,698,655,935,803,835.778963919,667,658,676,0.400997623812,-0.00539332961138,0.049855588104,0.999999959026,0.000139950448664,-0.000246400142744,-4.06146921452e-05,1793256549493496064
+41,0.683333333,BASELINE,793.800459112,749,728,707,698,655,935,803,835.199540888,667,658,676,0.400994816056,-0.00539317123169,0.0498539633122,0.99999995809,0.000141518502531,-0.000249232772117,-4.09241958798e-05,1793256549510162688
+42,0.700000000,BASELINE,793.622206519,749,728,706.622206519,698,655.377793481,935,803,835,667,658,676,0.400995351708,-0.00539252736063,0.0498543931663,0.999999958093,0.000142830866346,-0.00024845724116,-4.10062409625e-05,1793256549526829568
+43,0.716666667,BASELINE,793.045969279,749,728,706.045969279,698,655.954030721,935,803,835,667,658,676,0.400997643554,-0.00539162847529,0.0498559022652,0.999999958586,0.000144008923677,-0.000245786450051,-4.09688087229e-05,1793256549543496192
+44,0.733333333,BASELINE,793.529129348,749,728,706.529129348,698,656,935,803,835,667,658,675.470870652,0.400998057293,-0.00539126255192,0.0498562245154,0.99999995859,0.000145005726146,-0.000245199127699,-4.08791694322e-05,1793256549560162816
+45,0.750000000,BASELINE,793.893113508,749,728,707,698,655.893113508,935,803,835.106886492,667,658,675.106886492,0.4009980177,-0.00539124047231,0.0498562923525,0.999999958598,0.000145114408379,-0.000245112359941,-4.08044954984e-05,1793256549576829440
+46,0.766666667,BASELINE,793.302888414,749,728,707,698,655.302888414,935,803,835.697111586,667,658,675.697111586,0.4009966644,-0.00539256431921,0.0498556749987,0.999999958813,0.000141278082552,-0.000246472342504,-4.08179605045e-05,1793256549593496576
+47,0.783333333,BASELINE,793.281590888,749,728,707,698,655,934.718409112,803,836,667,658,676,0.400996268933,-0.00539319965142,0.0498552145322,0.999999958888,0.000139569598199,-0.000247146224194,-4.07880157993e-05,1793256549610163456
+48,0.800000000,BASELINE,793.860013486,749,728,707,698,655,934.139986514,803,836,667,658,676,0.400996883142,-0.00539310920394,0.0498549194442,0.999999958828,0.000140104122117,-0.000247096870667,-4.07123118783e-05,1793256549626829824
+49,0.816666667,BASELINE,794,749,728,706.557435567,698,655,934.442564433,803,835.557435567,667,658,675.557435567,0.400997256374,-0.0053922457033,0.0498546966127,0.999999958634,0.000141180954607,-0.00024723434752,-4.09185967097e-05,1793256549643496448
+50,0.833333333,BASELINE,794,749,728,706.026226631,698,655,935,803,835,667,658,675,0.400997540712,-0.00539123842271,0.0498545484672,0.999999958419,0.000142344581971,-0.00024739477576,-4.11843265603e-05,1793256549660162560
+51,0.850000000,BASELINE,794,749,728,706.605527026,698,655,935,803,835,667,658,675,0.400997572999,-0.00539240418215,0.0498554888009,0.999999958679,0.000141687099864,-0.000246781245622,-4.08049662145e-05,1793256549676829184
+52,0.866666667,BASELINE,794,749,728,707,698,655.184665755,935,803,835,667,657.815334245,675,0.40099774084,-0.00539332980326,0.0498560870554,0.999999959045,0.000140608201971,-0.000245952696099,-4.05730358762e-05,1793256549693496064
+53,0.883333333,BASELINE,794,749,728,707,698,655.76345941,935,803,835,667,657.23654059,675,0.400998197995,-0.00539374290258,0.0498559552181,0.999999959634,0.000138629886036,-0.000244665235652,-4.06557620551e-05,1793256549710162688
+54,0.900000000,BASELINE,793.657690565,749,728,707,698,656,935,803,835,667,657.342309435,675,0.400998313718,-0.00539376112653,0.0498560390719,0.999999959753,0.0001381279374,-0.000244445725484,-4.07514077126e-05,1793256549726829568
+55,0.916666667,BASELINE,793.078801605,749,728,707,698,656,935,803,835,667,657.921198395,675,0.400998193466,-0.00539350644117,0.0498562719957,0.99999995955,0.000138646347148,-0.000244964305366,-4.0855982376e-05,1793256549743496192
+56,0.933333333,BASELINE,793.494197365,749,728,707,698,656,935,803,835,667.494197365,658,675,0.400997880858,-0.00539333453484,0.0498559358362,0.999999959164,0.000140400743035,-0.000245552791006,-4.07848378337e-05,1793256549760162816
+57,0.950000000,BASELINE,794,749,728,707,698,655.931622806,934.931622806,803,835.068377194,667.931622806,658,675,0.400997550375,-0.00539304815682,0.0498556187161,0.999999958767,0.000142336573068,-0.00024606728618,-4.07032541426e-05,1793256549776829440
+58,0.966666667,BASELINE,794,749,728,707,698,655.341346185,934.341346185,803,835.658653815,667.341346185,658,675,0.400997314811,-0.00539178849607,0.0498561313669,0.999999958535,0.000144170680086,-0.000245932960353,-4.07533332037e-05,1793256549793495808
+59,0.983333333,BASELINE,793.755785726,749,728,707,698,655,934,803,835.755785726,667,658,675.244214274,0.400997460344,-0.00539140784576,0.0498564893285,0.999999958655,0.000143871600996,-0.000245605224907,-4.08554307004e-05,1793256549810162432
+60,1.000000000,BASELINE,793.176692228,749,728,707,698,655,934,803,835.176692228,667,658,675.823307772,0.400998128457,-0.00539223253976,0.0498566351724,0.999999959252,0.000140647387224,-0.000245012276179,-4.10288585692e-05,1793256549826829312
+61,1.016666667,BASELINE,793,749,728,707,698,655,934,803,835,667,658,675.600242767,0.400998219598,-0.00539319966065,0.0498561227274,0.999999959306,0.000139520167188,-0.000245462570004,-4.08583779622e-05,1793256549843495936
+62,1.033333333,BASELINE,793,749,728,707,698,655,934,803,835,667,658,675.024954322,0.400998057393,-0.00539422932037,0.0498553212312,0.999999959125,0.000139313725813,-0.000246370945958,-4.05368890164e-05,1793256549860162560
+63,1.050000000,BASELINE,793.552427399,749,728,707,698,655,934.552427399,803,835,667,658,675,0.400997788086,-0.00539389612454,0.0498560130527,0.99999995921,0.000139734376597,-0.000245746684195,-4.07840392138e-05,1793256549876829184
+64,1.066666667,BASELINE,794,749,728,707,698,655,934.866911328,803,835,667,658,675,0.40099761927,-0.00539356305116,0.049856515433,0.999999959261,0.000140197182408,-0.000245245964447,-4.09541583121e-05,1793256549893495808
+65,1.083333333,BASELINE,794,749,728,707,698,655,934.275277721,803,835,667,658,675,0.400997813417,-0.00539344331648,0.0498561318125,0.999999959157,0.000140707259876,-0.000245410339157,-4.07700361204e-05,1793256549910162432
+66,1.100000000,BASELINE,794,749,728,707,698,655.30799519,934.30799519,803,835,667,657.69200481,675,0.400998704815,-0.00539277341801,0.0498562151604,0.999999959382,0.000140597792545,-0.000244551593492,-4.07829224227e-05,1793256549926830080
+67,1.116666667,BASELINE,794,749,728,707,698,655.883992996,934.883992996,803,835,667,657.116007004,675,0.401000202927,-0.00539162479344,0.0498567048416,0.999999959891,0.000139949227072,-0.000242802577629,-4.09672360597e-05,1793256549943497984
+68,1.133333333,BASELINE,793.541819215,749,728,707,698,655.541819215,934.541819215,803,835,667,657.458180785,675.458180785,0.401000015597,-0.00539173192146,0.0498568528162,0.99999995962,0.000141421753285,-0.000243082903388,-4.08819624894e-05,1793256549960164096
+69,1.150000000,BASELINE,793,749,728,707,698,655.032917913,934.032917913,803,835.032917913,667,658,675.967082087,0.400999348157,-0.00539219219363,0.0498568734067,0.999999959163,0.00014322129128,-0.000243931463286,-4.07311285176e-05,1793256549976829952
+70,1.166666667,BASELINE,793,749,728,707,698,655.624731491,934.624731491,803,835.624731491,667,658,675.375268509,0.400997746037,-0.00539327134124,0.0498561943551,0.999999958971,0.000141490745571,-0.000245738388483,-4.06215171657e-05,1793256549993496832
+71,1.183333333,BASELINE,793.211552571,749,728,707,698,656,935,803,835.788447429,667,658,675,0.400996972934,-0.00539424141243,0.049855867073,0.999999958953,0.000140088705081,-0.000246625170643,-4.05522950599e-05,1793256550010163456
+72,1.200000000,BASELINE,793.789721841,749,728,707,698,656,935,803,835.210278159,667,658,675,0.400997636502,-0.0053950224564,0.0498561494006,0.999999959244,0.00013925595779,-0.000245917362212,-4.05530667541e-05,1793256550026830592
+73,1.216666667,BASELINE,793.633977385,749,728,707,698,656,935,803,835.366022615,667,658,675.366022615,0.400997912014,-0.00539475038192,0.0498562670145,0.99999995924,0.000139888514828,-0.000245586409964,-4.04899809031e-05,1793256550043497216
+74,1.233333333,BASELINE,793.058744635,749,728,707,698,656,935,803,835.941255365,667,658,675.941255365,0.400997965721,-0.00539387636903,0.0498562904818,0.999999959065,0.000141358606273,-0.000245470860111,-4.03903955432e-05,1793256550060163584
+75,1.250000000,BASELINE,793.515745712,749,728,707,698,655.484254288,934.484254288,803,836,667,658,675.484254288,0.400997564864,-0.00539342834869,0.0498558402956,0.999999958984,0.000141908745417,-0.000245479689379,-4.04232065408e-05,1793256550076830208
+76,1.266666667,BASELINE,793.907037251,749,728,707,698,655,934,803,835.907037251,667,657.907037251,675,0.400997273042,-0.00539298993292,0.049855521876,0.999999958961,0.000142046611265,-0.000245476738091,-4.05173165452e-05,1793256550093496832
+77,1.283333333,BASELINE,793.314720086,749,728,707,698,655,934,803,835.314720086,667,657.314720086,675,0.400997844625,-0.00539234284722,0.049856200628,0.999999959196,0.000140531976516,-0.000245334517104,-4.08598095129e-05,1793256550110163200
+78,1.300000000,BASELINE,793.270635976,749,728,707,698,655,934,803,835,667,657.270635976,675,0.400997695491,-0.00539220093019,0.0498562372268,0.999999959112,0.000140203854971,-0.000245838303155,-4.10262982634e-05,1793256550126829824
+79,1.316666667,BASELINE,793.848099989,749,728,707,698,655,934,803,835,667,657.848099989,675,0.40099672926,-0.0053926317379,0.0498555457976,0.999999958665,0.000141220918751,-0.000247074486562,-4.09932457873e-05,1793256550143496192
+80,1.333333333,BASELINE,793.575273895,749,728,707,698,655.424726105,934,803,835,667,657.575273895,675,0.400998247465,-0.00539263396146,0.0498564828061,0.999999959422,0.000139785514188,-0.000244807104308,-4.10563274131e-05,1793256550160163072
+81,1.350000000,BASELINE,793,749,727.998926587,707,698,655.998926587,934,803,835,667,657,675,0.401000644027,-0.00539248388631,0.0498579948692,0.999999960589,0.000137481687368,-0.000241301536915,-4.11533283528e-05,1793256550176829696
+82,1.366666667,BASELINE,793,749,727.411533968,707,698,655.411533968,934,803,835,667,657,675,0.400998434097,-0.0053927048738,0.0498561219156,0.999999959597,0.000138978104733,-0.000244553397182,-4.10347810599e-05,1793256550193496320
+83,1.383333333,BASELINE,793.167907723,749,727.167907723,707,698,655.167907723,934,803,835,667,657.167907723,675,0.400997308332,-0.00539293287151,0.0498552704022,0.999999959129,0.000139674321165,-0.000246085494283,-4.09158712712e-05,1793256550210163200
+84,1.400000000,BASELINE,793.728743238,749,727.728743238,707,698,655.728743238,934,803,835,667,657.728743238,675,0.400998719665,-0.00539317727413,0.0498568092032,0.999999959908,0.000138497954669,-0.000243593103279,-4.07961131686e-05,1793256550226829568
+85,1.416666667,BASELINE,794,748.691095062,728,707,698,656,934,803,835,667,658,675,0.400998557471,-0.00539340220635,0.0498570016638,0.999999960035,0.000138182883278,-0.000243248585896,-4.08066109787e-05,1793256550243495936
+86,1.433333333,BASELINE,794,748.092830005,728,707,698,656,934,803,835,667,658,675,0.400996921309,-0.00539360890006,0.0498559329688,0.999999959555,0.000138674611801,-0.000244916043526,-4.0939123248e-05,1793256550260162560
+87,1.450000000,BASELINE,793.516337586,748.483662414,728,706.516337586,698,655.516337586,934,803,835,667,658,675,0.400996984707,-0.00539296325953,0.0498556420143,0.999999959235,0.000140531081672,-0.000245196155487,-4.07526104694e-05,1793256550276829184
+88,1.466666667,BASELINE,793,749,728,706.057847064,698,655,934.057847064,803,835,667,658,675.057847064,0.400997396176,-0.00539233268144,0.0498555801788,0.999999959016,0.00014226024911,-0.000245121014369,-4.05658074686e-05,1793256550293495552
+89,1.483333333,BASELINE,793,749,728,706.647580646,698,655,934.647580646,803,835,667,658,675.647580646,0.400998137962,-0.00539327996193,0.0498563116302,0.999999959493,0.000140514226612,-0.000244122281751,-4.09150836902e-05,1793256550310162688
+90,1.500000000,BASELINE,793,749,728,707,698,655,934.766914842,803,835,667,657.766914842,675.766914842,0.400998514538,-0.00539403584846,0.049856590137,0.999999959732,0.000139429001934,-0.000243743300609,-4.10458546477e-05,1793256550326829568
+91,1.516666667,BASELINE,793,749,728,707,698,655,934.18769069,803,835,667,657.18769069,675.18769069,0.400998348764,-0.00539450750865,0.0498561960064,0.999999959622,0.000139325083533,-0.000244284670534,-4.08521381936e-05,1793256550343496192
+92,1.533333333,BASELINE,793,749,728,706.611331381,698,655,934,803,835,667,657.388668619,675,0.400998593345,-0.00539362544398,0.0498563426622,0.999999959626,0.000139386849633,-0.000244239480474,-4.08201204506e-05,1793256550360162816
+93,1.550000000,BASELINE,793,749,728,706.036345349,698,655,934,803,835,667,657.963654651,675,0.400999034638,-0.00539209443961,0.0498567485567,0.999999959684,0.000139528040472,-0.000243913109186,-4.08656167573e-05,1793256550376829440
+94,1.566666667,BASELINE,793.537862655,749,728,706.537862655,698,655,934,803,835,667,658,675,0.400997275729,-0.00539355393838,0.0498564357739,0.999999959556,0.000138095321707,-0.000245261942268,-4.08036666094e-05,1793256550393496064
+95,1.583333333,BASELINE,793.884432382,749,728,707,698,655,934.115567618,803,835,667,657.884432382,675,0.400995812777,-0.00539507738944,0.0498561445156,0.999999959453,0.000136765465068,-0.000246444318896,-4.06688283241e-05,1793256550410162688
+96,1.600000000,BASELINE,793.292083751,749,728,707,698,655,934.707916249,803,835,667,657.292083751,675,0.400996183297,-0.00539603219429,0.0498561421205,0.999999959526,0.000136298111076,-0.000246473632645,-4.02631962791e-05,1793256550426829312
+97,1.616666667,BASELINE,793.293072808,749,728,707,698,655,935,803,835,667,657,675,0.400997607852,-0.00539639344809,0.0498565832889,0.999999959891,0.000136508117726,-0.000244902165427,-4.0071130422e-05,1793256550443495936
+98,1.633333333,BASELINE,793.871233218,749,728,707,698,655,935,803,835,667,657,675,0.401000057723,-0.00539617732294,0.0498574559355,0.999999960533,0.000137377029348,-0.000241773532897,-4.00868118481e-05,1793256550460163072
+99,1.650000000,BASELINE,793.55367802,749,728,707,698,655,934.55367802,803,835,667,657.44632198,675.44632198,0.400999904027,-0.00539539619811,0.0498573816132,0.999999960313,0.000138563146005,-0.000241988211207,-4.0204038821e-05,1793256550476829440
+100,1.666666667,BASELINE,793.021055995,748.978944005,728,707,698,655,934,803,835,667,658,676,0.400999066193,-0.00539445710808,0.049857061548,0.999999959856,0.000139888274347,-0.000243085035575,-4.03504848873e-05,1793256550493496320
+101,1.683333333,BASELINE,793.609959089,748.390040911,728,707,698,655,934,803,835,667,658,676,0.400999896978,-0.00539362391491,0.0498574317791,0.99999995971,0.000142511164348,-0.000242136902155,-4.05002424779e-05,1793256550510162944
+102,1.700000000,BASELINE,794,748.195660355,728,707,698,655,934,803,835,667,658,676,0.400999874602,-0.00539300809318,0.0498574133664,0.999999959466,0.000144023920332,-0.000242229444563,-4.061187532e-05,1793256550526829568
+103,1.716666667,BASELINE,794,748.775081607,728,707,698,655,934,803,835,667,658,676,0.400998178867,-0.00539281861577,0.0498566326823,0.999999959041,0.000143359300703,-0.000244363129701,-4.06487316904e-05,1793256550543496192
+104,1.733333333,BASELINE,793.647565724,749,728,707,698,655,934,803,835,667,658,675.647565724,0.400996712044,-0.00539334850193,0.0498558418596,0.99999995899,0.000141652546478,-0.000245579751807,-4.05676391161e-05,1793256550560162816
+105,1.750000000,BASELINE,793.071525435,749,728,707,698,655,934,803,835,667,658,675.071525435,0.400995390457,-0.00539433479664,0.0498550446044,0.999999959173,0.000139284597812,-0.000246214532848,-4.04117124697e-05,1793256550576829184
+106,1.766666667,POSE1_TO_POSE2_PRESS,793,749,728,707,698,655,934,803,835,667,658,676,0.401000126049,-0.00539322344672,0.0498570578088,0.999999960115,0.000139980718305,-0.000241898769993,-4.07379408671e-05,1793256550608075520
+107,1.783333333,POSE1_TO_POSE2_PRESS,793.593894061,749,728,707,698,655.593894061,934,803,835,667,658,675.406105939,0.400999142807,-0.00539511900451,0.0498571947468,0.999999960267,0.000137681030295,-0.000242656395222,-4.03486375863e-05,1793256550624742912
+108,1.800000000,POSE1_TO_POSE2_PRESS,794,749,728,707,698,655.816525658,934,803,835,667,658,675.183474342,0.400998780855,-0.00539581617939,0.0498573366963,0.999999960284,0.000137209734925,-0.000242888268878,-4.01403027957e-05,1793256550641410048
+109,1.816666667,POSE1_TO_POSE2_PRESS,794,749,728,707,698,655.236274142,934,803,835,667,658,675.763725858,0.400999762489,-0.00539392176072,0.049857489484,0.999999960012,0.000140692476817,-0.000241983165043,-4.03233260112e-05,1793256550658076416
+110,1.833333333,POSE1_TO_POSE2_PRESS,794,749,728,707,698,655,934,803,835,667,658,675.658941159,0.400999803504,-0.00539350038362,0.0498575878723,0.999999960109,0.000140448924164,-0.000241684278,-4.05624272357e-05,1793256550674742784
+111,1.850000000,POSE1_TO_POSE2_PRESS,794,749,728,707,698,655,934,803,835,667,658,675.083612917,0.400999198419,-0.00539409082196,0.0498576488943,0.999999960459,0.00013764582238,-0.000241801794363,-4.08400477896e-05,1793256550691409152
+112,1.866666667,POSE1_TO_POSE2_PRESS,793.507690602,749,728,707,698,655,934.492309398,803.492309398,835,667,657.507690602,675,0.400998887973,-0.00539517869844,0.0498580231851,0.999999960584,0.000136164332408,-0.00024216349915,-4.06021361315e-05,1793256550708075520
+113,1.883333333,POSE1_TO_POSE2_PRESS,793.06985398,749,728,707,698,655.06985398,934.93014602,804,835,667,657.06985398,675,0.400998556537,-0.00539596298301,0.0498581860346,0.999999960535,0.000135477103593,-0.00024278631187,-4.03794863086e-05,1793256550724741888
+114,1.900000000,POSE1_TO_POSE2_PRESS,793.65870098,749,728,707,698,655.65870098,934.34129902,804,835,667,657.65870098,675,0.400997696919,-0.00539386322796,0.0498563821672,0.999999959477,0.000139021301887,-0.00024504057417,-4.09215341747e-05,1793256550741408512
+115,1.916666667,POSE1_TO_POSE2_PRESS,793.7567145,749,728,707,698,656,934,803.7567145,835,667,658,675,0.400998536611,-0.00539268413696,0.0498563654079,0.999999959153,0.000141205258189,-0.000245095780941,-4.10296785388e-05,1793256550758075392
+116,1.933333333,POSE1_TO_POSE2_PRESS,793.178006786,749,728,707,698,656,934,803.178006786,835,667,658,675,0.401001719173,-0.00539277438268,0.0498588125678,0.999999959854,0.000141513823443,-0.000242119109051,-4.05395920852e-05,1793256550774742016
+117,1.950000000,POSE1_TO_POSE2_PRESS,793.398209454,749,728,707,698,655.601790546,934,803,835,667,658,675,0.401018999355,-0.00539337767575,0.0498656474005,0.999999963001,0.000141572684037,-0.000228810341129,-4.00227002765e-05,1793256550791408640
+118,1.966666667,POSE1_TO_POSE2_PRESS,793.973318935,749,728,707,698,655.026681065,934,803,835,667,658,675,0.401042542244,-0.00539420888429,0.0498744314072,0.999999966964,0.000141520616162,-0.00021091165659,-3.94939004401e-05,1793256550808075008
+119,1.983333333,POSE1_TO_POSE2_PRESS,793.439707532,749,728,706.439707532,698,655,934.560292468,803,835,667,658,675.560292468,0.401090374501,-0.00539645733562,0.049890808598,0.999999973548,0.000140684939678,-0.000177917786137,-3.81705904778e-05,1793256550824741632
+120,2.000000000,POSE1_TO_POSE2_PRESS,793,748.853612244,728,706.146387756,698,655,934.853612244,803,835,667,658,675.853612244,0.40114628351,-0.0053987159589,0.0499084185244,0.999999979106,0.000139946501659,-0.000144384522388,-3.68166711729e-05,1793256550841408256
+121,2.016666667,POSE1_TO_POSE2_PRESS,793,748.271845487,728,706.728154513,698,655,934.271845487,803,835,667,658,675.271845487,0.40122269951,-0.00540079977126,0.0499285961174,0.999999983416,0.000139610647689,-0.000111431174738,-3.54866745155e-05,1793256550858075136
+122,2.033333333,POSE1_TO_POSE2_PRESS,793,748.306932064,728,707,698,655,934,803,835.306932064,667,658,675.306932064,0.401303688241,-0.00540393745695,0.0499445878937,0.999999986116,0.00013790559265,-8.72253931053e-05,-3.37973754325e-05,1793256550874741760
+123,2.050000000,POSE1_TO_POSE2_PRESS,793,748.883087617,728,707,698,655,934,803,835.883087617,667,658,675.883087617,0.401388687911,-0.00540799954076,0.0499569081066,0.999999987883,0.000134999551777,-7.06924848387e-05,-3.17929166322e-05,1793256550891408640
+124,2.066666667,POSE1_TO_POSE2_PRESS,793.457528967,749.457528967,728,707,698,655,934.457528967,803,836,667.457528967,658,676,0.401484190637,-0.00541216428801,0.0499606892712,0.999999988663,0.000132473550946,-6.46882486996e-05,-3.06469020945e-05,1793256550908075264
+125,2.083333333,POSE1_TO_POSE2_PRESS,794,749.967498284,728,707,698,655,934.967498284,803,835.967498284,667.967498284,658,676,0.401583318664,-0.00541628854917,0.0499620719525,0.999999989182,0.000130087348522,-6.18835252105e-05,-2.97313962053e-05,1793256550924742144
+126,2.100000000,POSE1_TO_POSE2_PRESS,794,749.37587669,728,707,698,655,934.37587669,803,835.37587669,667.37587669,658,676,0.401698814676,-0.00541926673158,0.0499595901177,0.999999989018,0.000128441712452,-6.80098525424e-05,-2.90217930422e-05,1793256550941408768
+127,2.116666667,POSE1_TO_POSE2_PRESS,794,749,728,707,698,655,934.21024874,803,835,667,658,676,0.401830657884,-0.00542355500722,0.0499596796178,0.999999989233,0.000126417937225,-6.9024655474e-05,-2.80859334867e-05,1793256550958075392
+128,2.133333333,POSE1_TO_POSE2_PRESS,794,749,728,707,698,655,934.786798541,803,835,667,658,676,0.401990981608,-0.00543012576253,0.0499642489676,0.999999990118,0.000123735357866,-6.11340212098e-05,-2.67558839772e-05,1793256550974742016
+129,2.150000000,POSE1_TO_POSE2_PRESS,793.636598944,749,728,707,698,655.363401056,934.636598944,803,835,667,658,676,0.402160518392,-0.00543632149786,0.0499638125469,0.999999990276,0.000120377834741,-6.56020910589e-05,-2.55465533284e-05,1793256550991408384
+130,2.166666667,POSE1_TO_POSE2_PRESS,793.059965443,749,728,707,698,655.940034557,934.059965443,803,835,667,658,676,0.402335461127,-0.00544229718375,0.0499604388962,0.999999989912,0.000116624275328,-7.73218635912e-05,-2.44080566255e-05,1793256551008074752
+131,2.183333333,POSE1_TO_POSE2_PRESS,793,749,728,707,698,655.473238947,934,803,835,667,658,676,0.40254702296,-0.00544774049377,0.0499631966413,0.999999990401,0.000116105085998,-7.20217327522e-05,-2.30163982833e-05,1793256551024741632
+132,2.200000000,POSE1_TO_POSE2_PRESS,793,749,728,707,698,655,934.112962072,803,835,667,658,676,0.402771168085,-0.00545409479305,0.0499666149619,0.999999991001,0.000114694127905,-6.62203356235e-05,-2.13880258226e-05,1793256551041408512
+133,2.216666667,POSE1_TO_POSE2_PRESS,793,749,728,707,698,655,934.692159593,803,835,667,658,676,0.403029707465,-0.00546446410078,0.0499698225999,0.999999991772,0.00010805315857,-6.65030607681e-05,-1.89039197297e-05,1793256551058075392
+134,2.233333333,POSE1_TO_POSE2_PRESS,793,748.730447068,728,707,698,655.269552932,935,803,835,667,658,675.730447068,0.403313809648,-0.00547509830152,0.0499742027557,0.999999992752,0.00010304776663,-6.01445590718e-05,-1.61454027277e-05,1793256551074742016
+135,2.250000000,POSE1_TO_POSE2_PRESS,793,748.155100515,728,707,698,655.844899485,935,803,835,667,658,675.155100515,0.403626911472,-0.00548603300881,0.049979913071,0.999999993855,9.9897851592e-05,-4.62519348599e-05,-1.30755811319e-05,1793256551091408384
+136,2.266666667,POSE1_TO_POSE2_PRESS,793.419221119,748.419221119,728,707,698,655.580778881,934.580778881,803,835.419221119,667.419221119,658,675,0.403963804832,-0.00549561269751,0.0499868456686,0.999999994763,9.6555904314e-05,-3.23057172645e-05,-1.03610420845e-05,1793256551108075008
+137,2.283333333,POSE1_TO_POSE2_PRESS,793.993164473,748.993164473,728,707,698,655.006835527,934.006835527,803,835.993164473,667.993164473,658,675,0.404309478944,-0.0055046922883,0.0499942293748,0.999999995464,9.31430836184e-05,-1.83397202247e-05,-7.77762748472e-06,1793256551124741632
+138,2.300000000,POSE1_TO_POSE2_PRESS,794,749,728,707,698,655,934,803,835.415003804,667.415003804,658,675.584996196,0.404690024001,-0.00551056044578,0.050000837559,0.999999995438,9.52679277056e-05,-5.09138409648e-06,-4.61491027447e-06,1793256551141408256
+139,2.316666667,POSE1_TO_POSE2_PRESS,793.826905911,748.826905911,727.826905911,707,698,655,934,803,835.173094089,667.173094089,657.826905911,675.826905911,0.405081963914,-0.00551350494345,0.0500031207248,0.99999999487,0.000101268137838,1.23645133281e-06,-1.72511914926e-06,1793256551158075392
+140,2.333333333,POSE1_TO_POSE2_PRESS,793.248065907,748.248065907,727.248065907,707,698,655,934,803,835.751934093,667.751934093,657.248065907,675.248065907,0.405499628956,-0.00550968689131,0.0499952876241,0.999999993212,0.000116196044471,-8.63762666675e-06,5.08544141809e-07,1793256551174742016
+141,2.350000000,POSE1_TO_POSE2_PRESS,793,748,727.328854084,707,698,655,934.328854084,803,835.671145916,667.671145916,657.328854084,675,0.405930742855,-0.00550464595986,0.0499804748032,0.999999990485,0.000133092544698,-3.62047658469e-05,2.40795409045e-06,1793256551191409152
+142,2.366666667,POSE1_TO_POSE2_PRESS,793,748,727.904334211,707,698,655,934.904334211,803,835.095665789,667.095665789,657.904334211,675,0.406371942847,-0.0054986879225,0.0499604274995,0.999999985553,0.000151465404588,-7.70409207318e-05,4.0566890214e-06,1793256551208076544
+143,2.383333333,POSE1_TO_POSE2_PRESS,793,748.478448691,728,707,698,655,934.521551309,802.521551309,835,667,658,675,0.4068515767,-0.00550015623404,0.0499451639642,0.999999981944,0.000160458056803,-0.000101616549171,6.18918264369e-06,1793256551224742912
+144,2.400000000,POSE1_TO_POSE2_PRESS,793,748.946033855,728,707,698,655,934,802.053966145,835.053966145,667,658,675.053966145,0.407345843275,-0.00550335835945,0.0499334431856,0.999999978946,0.000167473835567,-0.000118264805073,8.63127002959e-06,1793256551241409536
+145,2.416666667,POSE1_TO_POSE2_PRESS,793,748.353806926,728,707,698,655,934,802.646193074,835.646193074,667,658,675.646193074,0.407909626737,-0.0055090853379,0.0499475448519,0.999999980987,0.000173425989971,-8.81813304909e-05,1.31992423791e-05,1793256551258075904
+146,2.433333333,POSE1_TO_POSE2_PRESS,793,748,728,707,698,655.232487373,934,803,835.767512627,667,658,675.767512627,0.408499522003,-0.00551318900745,0.0499664355623,0.999999981942,0.000181889006448,-5.20174246397e-05,1.80539924967e-05,1793256551274742528
+147,2.450000000,POSE1_TO_POSE2_PRESS,793,748,728,707,698,655.809977823,934,803,835.190022177,667,658,675.190022177,0.409128166232,-0.00551488374342,0.0499924330449,0.999999980871,0.000194078053395,-6.83037467861e-06,2.33343104404e-05,1793256551291409664
+148,2.466666667,POSE1_TO_POSE2_PRESS,793.385227114,748,728,707,698,656,934,803,835,667,658,675,0.409771428831,-0.00551539610152,0.0500057178067,0.999999978229,0.000206328658297,1.37076293815e-05,2.79759057606e-05,1793256551308076288
+149,2.483333333,POSE1_TO_POSE2_PRESS,793.95937728,748,728,707,698,656,934,803,835,667,658,675,0.41042186055,-0.0055153285979,0.0500127679963,0.999999975338,0.00021860945219,2.21572489072e-05,3.23042586382e-05,1793256551324742656
+150,2.500000000,POSE1_TO_POSE2_PRESS,793.452972016,748,728,707,698,655.452972016,934,803,835.547027984,667.547027984,658,675,0.411028762951,-0.00551488536458,0.0499891751595,0.999999972229,0.000230524155939,-3.38561702569e-05,3.54050915725e-05,1793256551341410048
+151,2.516666667,POSE1_TO_POSE2_PRESS,793.133759158,748,728,707,697.866240842,655,934,802.866240842,835.866240842,667.866240842,658,675,0.411656079052,-0.00551473512654,0.0499665570047,0.999999966452,0.000242375004317,-8.29211627197e-05,3.83869118576e-05,1793256551358076928
+152,2.533333333,POSE1_TO_POSE2_PRESS,793.713989826,748,728,707,697.286010174,655,934,802.286010174,835.286010174,667.286010174,658,675,0.412362596214,-0.00551565836063,0.0499549800114,0.999999962593,0.000254105751463,-9.24101617817e-05,4.1283451077e-05,1793256551374742528
+153,2.550000000,POSE1_TO_POSE2_PRESS,793.707577016,748,728,707,697.292422984,655.292422984,934,802,835.292422984,667.292422984,658,675,0.413118174335,-0.00551694338135,0.049964445042,0.999999973727,0.000216907823206,-6.66471815632e-05,3.24717488252e-05,1793256551391408640
+154,2.566666667,POSE1_TO_POSE2_PRESS,793.13089114,748,728,707,697.86910886,655.86910886,934,802,835.86910886,667.86910886,658,675,0.413921444448,-0.0055185800931,0.0499943649152,0.999999991171,0.0001321465787,-6.61593263128e-06,1.22785248215e-05,1793256551408075264
+155,2.583333333,POSE1_TO_POSE2_PRESS,793,747.555534642,728,707,697.555534642,655.555534642,934,802,836,668,658,675.444465358,0.41469726815,-0.00553053943465,0.0499876279424,0.999999995439,9.30047303211e-05,-2.02150695882e-05,7.92792197316e-06,1793256551424741632
+156,2.600000000,POSE1_TO_POSE2_PRESS,793,747.019917924,728,707,697.019917924,655,934,802,836,668,658,676,0.415465215831,-0.00554490283129,0.0499700574414,0.999999996067,6.88184520728e-05,-5.53231626112e-05,8.32366697805e-06,1793256551441408256
+157,2.616666667,POSE1_TO_POSE2_PRESS,793,747.60927711,728,707,697.60927711,655,934,802,836,668,658,676,0.41623838538,-0.00554134632699,0.0499504684775,0.999999992141,8.92636305927e-05,-8.72897988882e-05,1.14281987404e-05,1793256551458075136
+158,2.633333333,POSE1_TO_POSE2_PRESS,793,747.804831169,728,707,698,655,934,802.195168831,836,668,658,675.804831169,0.41704101577,-0.00553812567773,0.0499462732928,0.999999989754,0.000108681439911,-9.19256611527e-05,1.5152593287e-05,1793256551474742016
+159,2.650000000,POSE1_TO_POSE2_PRESS,793,747.22576008,728,707,698,655,934,802.77423992,836,668,658,675.22576008,0.417901596367,-0.00553556566445,0.0499723580808,0.999999990934,0.000126078385602,-4.28011651967e-05,2.00962741635e-05,1793256551491408640
+160,2.666666667,POSE1_TO_POSE2_PRESS,793,747,728,707.352135156,697.647864844,655,934,803,836,668,658,675.352135156,0.418755646018,-0.0055333237774,0.049983904733,0.999999990221,0.000134996928718,-2.83338147591e-05,2.30537461952e-05,1793256551508075520
+161,2.683333333,POSE1_TO_POSE2_PRESS,793,747,728,707.92927902,697.07072098,655,934,803,836,668,658,675.92927902,0.419605522465,-0.00553128516799,0.0499861617489,0.999999989455,0.000138497908294,-3.60118254048e-05,2.47420625218e-05,1793256551524741888
+162,2.700000000,POSE1_TO_POSE2_PRESS,793,747,728.500482382,707.499517618,697.500482382,655,934,803,836,668,658,676,0.420492785147,-0.00553101545467,0.049977985242,0.999999989841,0.000135816319003,-3.61652087764e-05,2.37288137078e-05,1793256551541408768
+163,2.716666667,POSE1_TO_POSE2_PRESS,793,747,728.926168712,707.073831288,697.926168712,655,934,802.926168712,836,668,658,676,0.421390783166,-0.00553146051723,0.0499731160223,0.999999990615,0.00013209124125,-2.84068220085e-05,2.2708412042e-05,1793256551558075648
+164,2.733333333,POSE1_TO_POSE2_PRESS,793,747,728.331846243,707.668153757,697.331846243,655,934,802.331846243,836,668,658,676,0.422327655977,-0.00553520311521,0.0500018339297,0.999999991244,0.000127096474623,2.77196031959e-05,2.42972281298e-05,1793256551574742016
+165,2.750000000,POSE1_TO_POSE2_PRESS,793,746.744665502,728.255334498,708,697,655,934,802,835.744665502,668,658,676,0.423240737855,-0.00553756493962,0.0500114943026,0.999999990936,0.000124640269861,4.40223136693e-05,2.56090703938e-05,1793256551591408384
+166,2.766666667,POSE1_TO_POSE2_PRESS,793,746.166513902,728.833486098,708,697,655,934,802,835.166513902,668,658,676,0.424123741201,-0.00553818106497,0.0499970604105,0.999999991735,0.000125393545587,9.97626844042e-06,2.65707374217e-05,1793256551608075008
+167,2.783333333,POSE1_TO_POSE2_PRESS,793,746,728.591208322,708,697,655,934,802,835.408791678,668,658,676,0.425045924772,-0.00554046308821,0.0499978424186,0.99999999196,0.000123271962729,1.14160977828e-05,2.74627493274e-05,1793256551624741888
+168,2.800000000,POSE1_TO_POSE2_PRESS,793,746,728.017054037,708,697,655,934,802,835.982945963,668,658,676,0.425983957303,-0.00554341899308,0.0500047794965,0.99999999203,0.000119987454718,2.72105186827e-05,2.83265845946e-05,1793256551641408512
+169,2.816666667,POSE1_TO_POSE2_PRESS,793.571303598,746,728,708,697,655,934,802,836,668.571303598,658,676,0.426903791563,-0.00554316769199,0.0500131445292,0.999999992008,0.000121334013203,1.86028979145e-05,3.02688891355e-05,1793256551658075392
+170,2.833333333,POSE1_TO_POSE2_PRESS,793.84161345,745.84161345,728,708,697,655,934,802,836,668.84161345,658,676,0.427811398056,-0.00554221768523,0.0500077576348,0.999999991954,0.000122740340118,-7.12899046176e-06,3.12422028438e-05,1793256551674742016
+171,2.850000000,POSE1_TO_POSE2_PRESS,793.259108072,745.259108072,728,708,697,655,934,802,836,668.259108072,658,676,0.42868775339,-0.00553965962237,0.049965429531,0.999999988942,0.000123927095577,-7.67150310942e-05,2.9532402002e-05,1793256551691408640
+172,2.866666667,POSE1_TO_POSE2_PRESS,793,744.681529671,728,708,697,655,934,802,835.681529671,668,658,675.681529671,0.429609102974,-0.00553988621369,0.0499532746595,0.999999988391,0.000122122170924,-8.64837839062e-05,2.87290966805e-05,1793256551708075008
+173,2.883333333,POSE1_TO_POSE2_PRESS,793,744.107898824,728,708,697,655,934,802,835.107898824,668,658,675.107898824,0.430566502204,-0.00554234388833,0.0499652947819,0.999999991469,0.000117920292679,-4.8326529927e-05,2.865208165e-05,1793256551724741632
+174,2.900000000,POSE1_TO_POSE2_PRESS,793.467954615,744,728.467954615,708,697,655,934,802,835,668,658,675.467954615,0.431477808592,-0.00554230289692,0.0499599981265,0.999999991179,0.000115709617933,-5.86513358201e-05,2.85024932715e-05,1793256551741408512
+175,2.916666667,POSE1_TO_POSE2_PRESS,793.954521421,744,729,708,697,655,934,802,835.045478579,668,658,676,0.432380046334,-0.00554179251708,0.049951428501,0.999999990051,0.000114047601034,-7.80157668117e-05,2.83527832973e-05,1793256551758075648
+176,2.933333333,POSE1_TO_POSE2_PRESS,793.363126305,744,729,708,697,655,934,802,835.636873695,668,658,676,0.433301608786,-0.00554259645915,0.0499517285961,0.999999990638,0.000113434050306,-7.10618896957e-05,2.84034399336e-05,1793256551774742272
+177,2.950000000,POSE1_TO_POSE2_PRESS,793,743.776734761,729,708.223265239,697,655,934,802,836,668,658,676,0.434222441622,-0.00554524620866,0.0499625000521,0.999999991918,0.000111830812867,-5.26719911816e-05,2.97290096713e-05,1793256551791409152
+178,2.966666667,POSE1_TO_POSE2_PRESS,793,743.198302728,729,708.801697272,697,655,934,802,836,668,658,676,0.435142113939,-0.00555083223945,0.0499899291825,0.999999993421,0.000108653197346,-1.60898504719e-05,3.30826908877e-05,1793256551808075520
+179,2.983333333,POSE1_TO_POSE2_PRESS,793.376646283,743.376646283,729,708.623353717,697,655,934,802,836,668.376646283,658,676,0.435986583689,-0.00554821763968,0.049982442455,0.999999991966,0.000113669786997,-4.45438980758e-05,3.40945936137e-05,1793256551824741888
+180,3.000000000,POSE1_TO_POSE2_PRESS,793.949778265,743.949778265,729,708.050221735,697,655,934,802,836,668.949778265,658,676,0.436791822335,-0.00554132500286,0.0499567411116,0.99999998615,0.000122961061291,-0.000106925485323,3.38848565246e-05,1793256551841408512
+181,3.016666667,POSE1_TO_POSE2_PRESS,793.46241683,744,729,708,697.53758317,655,934,802,836,668.46241683,657.46241683,676,0.437684761446,-0.00554132860929,0.0499648135843,0.999999989296,0.000120637268216,-7.56139716561e-05,3.37252440839e-05,1793256551858075136
+182,3.033333333,POSE1_TO_POSE2_PRESS,793,743.87536879,729.12463121,708,697.87536879,655,934.12463121,801.87536879,836,668.12463121,657.12463121,676,0.438573822538,-0.0055428554591,0.0499767059578,0.999999991927,0.000115913232662,-3.96810596289e-05,3.37091684748e-05,1793256551874741760
+183,3.050000000,POSE1_TO_POSE2_PRESS,793,743.296220291,729.703779709,708,697.296220291,655,934.703779709,801.296220291,836,668.703779709,657.703779709,676,0.43941802306,-0.00554752195696,0.0499906995675,0.999999993549,0.000106504029765,-1.97111469611e-05,3.41990006048e-05,1793256551891408640
+184,3.066666667,POSE1_TO_POSE2_PRESS,792.719537399,743.280462601,729.719537399,708,697,655,934.719537399,801.280462601,836,669,658,676,0.440220783046,-0.00554997023487,0.0499851357537,0.999999993825,0.000102043161464,-2.80811275685e-05,3.38920248582e-05,1793256551908075264
+185,3.083333333,POSE1_TO_POSE2_PRESS,792.145435983,743.854564017,729.145435983,708,697,655,934.145435983,801.854564017,836,669,658,676,0.440980155554,-0.00555009607994,0.0499590957021,0.999999991997,0.000102763102448,-6.61224189406e-05,3.27508069201e-05,1793256551924742144
+186,3.100000000,POSE1_TO_POSE2_PRESS,792,744,729,708,697,655,934,801.568075973,836,669,657.568075973,676,0.441725863013,-0.00555124906304,0.0499472170857,0.999999990666,0.000103251429908,-8.32653585579e-05,3.27727866815e-05,1793256551941408768
+187,3.116666667,POSE1_TO_POSE2_PRESS,792.010581034,744,729.010581034,708,697,654.989418966,934,801,836,669,657,676,0.442466269869,-0.00555282134111,0.0499400298514,0.999999989718,0.000103560684735,-9.3469494224e-05,3.31938602257e-05,1793256551958075136
+188,3.133333333,POSE1_TO_POSE2_PRESS,792.599702503,744,729.599702503,708,697,654.400297497,934,801,836,669,657,676,0.443170347253,-0.00555826538007,0.0499266501338,0.999999988321,9.83753413213e-05,-0.000111957695304,3.38581613296e-05,1793256551974741760
+189,3.150000000,POSE1_TO_POSE2_PRESS,793,744,729.814548308,708.185451692,696.814548308,654,934.185451692,801,836,669,657,676,0.443841638178,-0.00556024135161,0.0498992001346,0.99999998231,9.6992170023e-05,-0.000157549346549,3.39226953424e-05,1793256551991408640
+190,3.166666667,POSE1_TO_POSE2_PRESS,793,744,729.235948077,708.764051923,696.235948077,654,934.764051923,801,836,669,657,676,0.444443423543,-0.00555486519049,0.0498419218226,0.999999960135,0.000103669416499,-0.000260598992256,3.27157522938e-05,1793256552008076288
+191,3.183333333,POSE1_TO_POSE2_PRESS,792.65979136,744,729.34020864,709,695.65979136,653.65979136,935,800.65979136,836,669,657,676,0.445068020727,-0.00555024784716,0.0498066251078,0.999999946778,0.000110629937393,-0.000305332207502,3.12635588196e-05,1793256552024743168
+192,3.200000000,POSE1_TO_POSE2_PRESS,792.085317265,744,729.914682735,709,695.085317265,653.085317265,935,800.085317265,836,669,657,676,0.445708325947,-0.00554615302116,0.0497864647811,0.999999944602,0.000117785519347,-0.00030990910351,2.96424877355e-05,1793256552041409792
+193,3.216666667,POSE1_TO_POSE2_PRESS,792.490619538,744,730,709,695,652.509380462,935,800,836,669,657,676,0.446334495992,-0.00554830442923,0.0497948274556,0.99999995061,0.000119688240625,-0.000288946730448,3.10692288924e-05,1793256552058075904
+194,3.233333333,POSE1_TO_POSE2_PRESS,793,744,730,709,695,651.931450293,934.931450293,800,836,669,657,676,0.446947081768,-0.00555130569936,0.0498028363882,0.999999955101,0.000120490093586,-0.00027240724258,3.27634173227e-05,1793256552074742016
+195,3.250000000,POSE1_TO_POSE2_PRESS,793,744,730,709,695,651.340267482,934.340267482,800,836,669,657,676,0.447474895772,-0.00555248032038,0.049770218996,0.999999939945,0.000119883918259,-0.000323550120161,3.24437406908e-05,1793256552091408640
+196,3.266666667,POSE1_TO_POSE2_PRESS,793,744,730,709,694.754882811,651,934.245117189,799.754882811,835.754882811,669,656.754882811,676,0.447986240589,-0.00555310993129,0.0497392786349,0.999999922916,0.000120858444639,-0.000372192234344,3.21506673533e-05,1793256552108075520
+197,3.283333333,POSE1_TO_POSE2_PRESS,793,744,730,709,694.17736107,651,934.82263893,799.17736107,835.17736107,669,656.17736107,676,0.44847525142,-0.00555300045138,0.0497106125059,0.999999904677,0.000123976568106,-0.00041744304798,3.18936709356e-05,1793256552124743680
+198,3.300000000,POSE1_TO_POSE2_PRESS,793,744,730,708.601947999,694,650.601947999,934.601947999,799,835.398052001,669,656.398052001,676,0.448958105548,-0.00555283363161,0.0497037302975,0.999999899801,0.00012578334217,-0.000428399574792,3.24073845579e-05,1793256552141410048
+199,3.316666667,POSE1_TO_POSE2_PRESS,793,744,730,708.027469493,694,650.027469493,934.027469493,799,835.972530507,669,656.972530507,676,0.449438230914,-0.00555264139738,0.0497065032597,0.999999901427,0.000127008894044,-0.000424156028536,3.32626959532e-05,1793256552158075904
+200,3.333333333,POSE1_TO_POSE2_PRESS,793,744,730,708.560699028,694,649.439300972,934,799,836,669.560699028,657,676,0.44989086601,-0.00555408241261,0.0497232510926,0.999999910016,0.00012810723412,-0.000402893125592,3.51154152918e-05,1793256552174742528
+201,3.350000000,POSE1_TO_POSE2_PRESS,793,743.852905905,730,708.852905905,693.852905905,649,934.147094095,799,836,669.852905905,656.852905905,676,0.450328070266,-0.00555540838993,0.0497345180121,0.999999914818,0.000127979654232,-0.000390707025845,3.65190912553e-05,1793256552191409152
+202,3.366666667,POSE1_TO_POSE2_PRESS,793,743.27373942,730,708.27373942,693.27373942,649,934.72626058,799,836,669.27373942,656.27373942,676,0.450724003319,-0.00555615553828,0.0497276239539,0.999999908507,0.000124269837305,-0.000407693513819,3.64566269142e-05,1793256552208076544
+203,3.383333333,POSE1_TO_POSE2_PRESS,793,743.30445686,730,708.30445686,693,648.69554314,934.69554314,799,836,669,656,676,0.451082810356,-0.00555871470777,0.0497167984133,0.999999901731,8.81064937136e-05,-0.000433685237016,2.63236766375e-05,1793256552224743168
+204,3.400000000,POSE1_TO_POSE2_PRESS,793,743.881783556,730,708.881783556,693,648.118216444,934.118216444,799,836,669,656,676,0.451408343132,-0.00556289790338,0.0497024492772,0.999999890319,2.28566365259e-05,-0.000467747910592,7.16504076811e-06,1793256552241409024
+205,3.416666667,POSE1_TO_POSE2_PRESS,793,744,730,708.543111177,693,648,934,799,836,669,656,676,0.451695518592,-0.00556544453437,0.0496796555421,0.999999869902,1.12005487552e-05,-0.000509950434426,4.56977008797e-06,1793256552258075392
+206,3.433333333,POSE1_TO_POSE2_PRESS,793,744.032256055,730,708.032256055,693,647.967743945,934,799,836,669,656,676,0.451972324466,-0.00556743640645,0.0496557167999,0.999999847534,1.33529022736e-05,-0.00055201085714,6.17054434442e-06,1793256552274742016
+207,3.450000000,POSE1_TO_POSE2_PRESS,793,744.622037908,730,708.622037908,693,647.377962092,934,799,836,669,656,676,0.452240610106,-0.00556712324539,0.0496495705092,0.999999845628,1.56532908995e-05,-0.000555388279468,6.58109600706e-06,1793256552291408640
+208,3.466666667,POSE1_TO_POSE2_PRESS,793,744.791990841,730,709,693,647,934.208009159,799,836,669.208009159,656,676,0.452505510469,-0.00556611100687,0.0496489402197,0.999999848141,1.90447157745e-05,-0.000550729081673,7.20453421049e-06,1793256552308075008
+209,3.483333333,POSE1_TO_POSE2_PRESS,793,744.212819122,730,709,693,647,934.787180878,799,836,669.787180878,656,676,0.452764370263,-0.00556385136475,0.0496581524453,0.999999858301,2.43829383541e-05,-0.000531729685585,8.20783791596e-06,1793256552324741888
+210,3.500000000,POSE1_TO_POSE2_PRESS,793,744,730,709,693,646.635853786,934.635853786,799,836,670,655.635853786,676,0.452985722922,-0.00556248127911,0.04965977485,0.999999860922,3.03610953441e-05,-0.0005264482796,9.34707924787e-06,1793256552341408768
+211,3.516666667,POSE1_TO_POSE2_PRESS,793,744,730,709,693,646.060170111,934.060170111,799,836,670,655.060170111,676,0.453185287203,-0.00556162794866,0.0496569882261,0.999999859278,3.67109993967e-05,-0.000529135837846,1.05652886816e-05,1793256552358075648
+212,3.533333333,POSE1_TO_POSE2_PRESS,792.484444713,744,730,709,692.484444713,646,934,798.484444713,836,669.484444713,655.515555287,676,0.453351102296,-0.00556013460794,0.049650022732,0.999999853928,3.96927153078e-05,-0.000538942517976,1.04333748324e-05,1793256552374742272
+213,3.550000000,POSE1_TO_POSE2_PRESS,792.093505867,744,730,709,692,646,934,798,836,669,655.906494133,676,0.453508920302,-0.00555897461278,0.0496430756284,0.999999848632,4.21381678798e-05,-0.000548501431769,1.03410883378e-05,1793256552391408896
+214,3.566666667,POSE1_TO_POSE2_PRESS,792.683239672,744,730,709,692,646,934,798,836,669,655.316760328,676,0.453645203301,-0.00555998008769,0.0496388145817,0.999999846439,4.38240287958e-05,-0.000552335769718,1.1295390061e-05,1793256552408075264
+215,3.583333333,POSE1_TO_POSE2_PRESS,792.732425588,744,730,709,692,646,934,798.267574412,836,669.267574412,655,676,0.453769661002,-0.00556013933748,0.0496340456401,0.999999843918,4.61061436091e-05,-0.000556682681254,1.19065801905e-05,1793256552424741888
+216,3.600000000,POSE1_TO_POSE2_PRESS,792.154355998,744,730,709,692,646,934,798.845644002,836,669.845644002,655,676,0.453880396535,-0.0055593166218,0.0496286873339,0.999999841011,4.90801554245e-05,-0.000561624386454,1.2119621221e-05,1793256552441408512
+217,3.616666667,POSE1_TO_POSE2_PRESS,792,744,730,709,692.42232034,645.57767966,934,799,836,669.57767966,655,676,0.453972836964,-0.00555881701305,0.049626211789,0.999999838698,5.06954662936e-05,-0.000565581620999,1.23155138071e-05,1793256552458075392
+218,3.633333333,POSE1_TO_POSE2_PRESS,792,744,730,709,692.998489113,645.001510887,934,799,836,669.001510887,655,676,0.454058612609,-0.00555843510997,0.0496247864147,0.999999836596,5.18158115667e-05,-0.000569180219457,1.25051593264e-05,1793256552474742016
+219,3.650000000,POSE1_TO_POSE2_PRESS,792,743.414663181,730,709,692.414663181,645,934,799,835.414663181,669.585336819,655.585336819,676,0.45412567822,-0.00555587196142,0.0496255488954,0.999999837456,5.52398104086e-05,-0.000567332096589,1.30937215579e-05,1793256552491408896
+220,3.666666667,POSE1_TO_POSE2_PRESS,792.170764191,743.170764191,730,709,692.170764191,645,934,799,835.170764191,670,656,676,0.454187428806,-0.00555415592815,0.0496255259866,0.999999837831,5.7829844789e-05,-0.00056640426538,1.34037282093e-05,1793256552508075776
+221,3.683333333,POSE1_TO_POSE2_PRESS,792.752703916,743.752703916,730,709,692.752703916,645,934,799,835.752703916,670,656,676,0.454236500012,-0.00555449343545,0.0496235981226,0.999999837053,5.83972287978e-05,-0.000567726845645,1.30404877017e-05,1793256552524742144
+222,3.700000000,POSE1_TO_POSE2_PRESS,792.669100397,744,730,709,692.669100397,645,934,798.669100397,836,670,656,676,0.454275839484,-0.00555489508082,0.0496213318656,0.999999834904,5.85255218373e-05,-0.000571484149327,1.31707210003e-05,1793256552541408768
+223,3.716666667,POSE1_TO_POSE2_PRESS,792.093671432,744,730,709,692.093671432,645,934,798.093671432,836,670,656,676,0.45430798737,-0.0055553441232,0.0496188155415,0.999999831717,5.83293339323e-05,-0.000577040673682,1.36656232849e-05,1793256552558075392
+224,3.733333333,POSE1_TO_POSE2_PRESS,792.481142083,744,730.481142083,709,692,644.518857917,934,798.481142083,836,670,655.518857917,676,0.454326057452,-0.00555387770256,0.0496136902645,0.999999826321,5.78674515669e-05,-0.000586376334402,1.31018492172e-05,1793256552574742016
+225,3.750000000,POSE1_TO_POSE2_PRESS,793,744,731,709,692.057507902,644,934,798.942492098,836,670,655.057507902,676,0.454340526477,-0.00555219218598,0.0496079764101,0.99999982047,5.75405910042e-05,-0.000596318234177,1.23904544484e-05,1793256552591408384
+226,3.766666667,POSE1_TO_POSE2_PRESS,793,744,731,709,692.649410953,644,934,798.350589047,836,670,655.649410953,676,0.454346968486,-0.00555193159491,0.049601507062,0.999999815136,5.89484878997e-05,-0.000605065448984,1.22201182846e-05,1793256552608075008
+227,3.783333333,POSE1_TO_POSE2_PRESS,793,744,731,709,692.765847572,644.234152428,934,798.234152428,836,670,655.765847572,676,0.454353409328,-0.00555190207371,0.0495970146489,0.999999811283,5.98322326889e-05,-0.000611313265043,1.22411714593e-05,1793256552624741888
+228,3.800000000,POSE1_TO_POSE2_PRESS,793,744,731,709,692.191510706,644.808489294,934,798.808489294,836,670,655.191510706,676,0.454359848477,-0.00555220825854,0.0495953943929,0.999999809669,5.99544717826e-05,-0.000613929870981,1.25402814429e-05,1793256552641408768
+229,3.816666667,POSE1_TO_POSE2_PRESS,793,744,731,709,692,644.61637688,934.38362312,799,836,669.61637688,655.38362312,676,0.454363162717,-0.00555209783173,0.0495939485417,0.999999808255,5.95291741542e-05,-0.000616266831505,1.26818696478e-05,1793256552658075392
+230,3.833333333,POSE1_TO_POSE2_PRESS,793,744,731,709,692,644.040844389,934.959155611,799,836,669.040844389,655.959155611,676,0.454364913706,-0.00555177899287,0.0495925899375,0.999999806939,5.88299685565e-05,-0.00061846389794,1.27446567913e-05,1793256552674742016
+231,3.850000000,POSE1_TO_POSE2_PRESS,792.451041493,744,730.451041493,709,692.548958507,644,935,799,836,669.548958507,655.451041493,676,0.454364513363,-0.00555113468859,0.0495906076837,0.999999804761,5.95973410567e-05,-0.000621916869217,1.21045654201e-05,1793256552691408640
+232,3.866666667,POSE1_TO_POSE2_PRESS,792,744,730.137031516,709,692.862968484,644,934.862968484,799,835.862968484,670,655,676,0.454364384256,-0.00555036895288,0.0495888277994,0.999999802937,6.10570261737e-05,-0.000624709676624,1.16438686446e-05,1793256552708075264
+233,3.883333333,POSE1_TO_POSE2_PRESS,792,744,730.716009522,709,692.283990478,644,934.283990478,799,835.283990478,670,655,676,0.454365659941,-0.00554929176704,0.0495878542325,0.999999802503,6.43882043312e-05,-0.000625063946708,1.19349110766e-05,1793256552724741888
+234,3.900000000,POSE1_TO_POSE2_PRESS,792.295083523,744,731,709,692,644,934,799,835.295083523,669.704916477,655.295083523,676.295083523,0.454366276719,-0.00554947190126,0.049586963496,0.999999801917,6.42321947963e-05,-0.000626014307284,1.20584738491e-05,1793256552741408512
+235,3.916666667,POSE1_TO_POSE2_PRESS,792.874250008,744,731,709,692,644,934,799,835.874250008,669.125749992,655.874250008,676.874250008,0.454366259153,-0.00555086248316,0.049586152502,0.999999801182,6.07189985086e-05,-0.000627538536453,1.2020800551e-05,1793256552758075136
+236,3.933333333,POSE1_TO_POSE2_PRESS,793,744.44308538,730.55691462,709,692,644,934,799,836,669.44308538,655.55691462,676.55691462,0.454365380907,-0.00554979318697,0.0495846113023,0.999999799589,6.21603018377e-05,-0.000629934308271,1.18736691732e-05,1793256552774742016
+237,3.950000000,POSE1_TO_POSE2_PRESS,793,744.990448287,730,709,692,644,934.009551713,799,836,670,655.009551713,676,0.454364268894,-0.00554809804596,0.0495828813677,0.999999797759,6.4905516056e-05,-0.000632560834955,1.17021055429e-05,1793256552791408896
+238,3.966666667,POSE1_TO_POSE2_PRESS,793,744.393464706,730,709,692,644,934.606535294,799,836,670,655.606535294,676,0.454363460254,-0.00554986996101,0.0495819988651,0.99999979662,6.33356347444e-05,-0.000634513469401,1.18949125411e-05,1793256552808075264
+239,3.983333333,POSE1_TO_POSE2_PRESS,793,744,730,709,692,644,934.803827863,798.803827863,836,669.803827863,655.803827863,676,0.454363408332,-0.00555066775083,0.0495813361287,0.999999795914,6.24385873805e-05,-0.000635710951886,1.20019970094e-05,1793256552824741888
+240,4.000000000,POSE1_TO_POSE2_PRESS,793,744,730,709,692,644,934.228394562,798.228394562,836,669.228394562,655.228394562,676,0.454364819378,-0.00554958225647,0.0495810982679,0.999999796057,6.2842335374e-05,-0.000635448492923,1.19433534122e-05,1793256552841408512
+241,4.016666667,POSE1_TO_POSE2_PRESS,793,744,730.347234572,709,692.347234572,644,934,798,836,669,655,676,0.454365519795,-0.00554838132695,0.049581263119,0.999999796162,6.4039176528e-05,-0.000635164861734,1.18248501964e-05,1793256552858075392
+242,4.033333333,POSE1_TO_POSE2_PRESS,793,744,730.922992566,709,692.922992566,644,934,798,836,669,655,676,0.454365752528,-0.00554710442682,0.0495816930045,0.999999796242,6.5757971345e-05,-0.000634867296603,1.16669519284e-05,1793256552874742016
+243,4.050000000,POSE1_TO_POSE2_PRESS,793,744,730.504799354,709,692.504799354,644,934,798.495200646,836,669,655,676,0.45436637938,-0.00554693929156,0.0495813198588,0.999999796441,6.50561300087e-05,-0.000634632575095,1.13194789611e-05,1793256552891409152
+244,4.066666667,POSE1_TO_POSE2_PRESS,792.930237192,744,730.069762808,709,692,644,934,799,836,669.069762808,655,676,0.454367035351,-0.0055468236398,0.0495809494676,0.999999796594,6.42557049745e-05,-0.00063447761832,1.09953018523e-05,1793256552908075776
+245,4.083333333,POSE1_TO_POSE2_PRESS,792.333763725,744,730.666236275,709,692,644,934,799,836,669.666236275,655,676,0.454367451747,-0.00554578557344,0.0495815359898,0.999999796273,6.55327760768e-05,-0.000634851628484,1.10680017901e-05,1793256552924742144
+246,4.100000000,HOLD_POSE2,792,744,731,709,692,644,934,799,836,670,655,676,0.454363925887,-0.00554685062627,0.0495780134538,0.999999792605,6.69170818833e-05,-0.000640450068587,1.16429755641e-05,1793256552962982656
+247,4.116666667,HOLD_POSE2,792,744,730.425701572,709,692,644,934,798.425701572,835.425701572,669.425701572,655,676,0.454365507803,-0.00554548811094,0.0495798841219,0.999999793931,6.84806503308e-05,-0.000638207799766,1.1820778754e-05,1793256552979649536
+248,4.133333333,HOLD_POSE2,792,744,730,708.846868716,692,644,934,798.153131284,835.153131284,669,655,676,0.454366326682,-0.00554474941275,0.0495808605292,0.999999794657,6.90012204165e-05,-0.000637012284242,1.18646369716e-05,1793256552996316160
+249,4.150000000,HOLD_POSE2,792,744,730,708.25504545,692,644,934,798.74495455,835.74495455,669,655,676,0.454364959604,-0.00554579783157,0.04957927505,0.999999793678,6.65337990869e-05,-0.000638815517163,1.152476838e-05,1793256553012982528
+250,4.166666667,HOLD_POSE2,792.328927285,744,730,708.328927285,692,644,934,799,836,669,655,676,0.454364332315,-0.00554550529699,0.0495783849534,0.999999792926,6.68047498413e-05,-0.000639964093909,1.14084068585e-05,1793256553029648896
+251,4.183333333,HOLD_POSE2,792.906954693,744,730,708.906954693,692,644,934,799,836,669,655,676,0.454364265275,-0.00554419724411,0.0495780214776,0.999999792348,6.91494989897e-05,-0.000640616892478,1.14613096338e-05,1793256553046315520
+252,4.200000000,HOLD_POSE2,792.517797373,744,730.482202627,709,692,644,934,799,836,669.482202627,655,676,0.454364807218,-0.00554282319954,0.0495779067563,0.999999792273,6.94792860072e-05,-0.000640704585626,1.11375892591e-05,1793256553062982400
+253,4.216666667,HOLD_POSE2,792,744,730.94298034,709,692,644,934,799,835.94298034,669.94298034,655,676,0.454365408611,-0.00554172138199,0.0495778086601,0.999999792336,6.92385818267e-05,-0.000640637884751,1.07952370139e-05,1793256553079649280
+254,4.233333333,HOLD_POSE2,792,744,730.367232167,709,692,644,934,799,835.367232167,669.367232167,655,676,0.454365487962,-0.00554321129118,0.0495774276438,0.999999792776,6.73247406053e-05,-0.000640152916166,1.0940725703e-05,1793256553096315904
+255,4.250000000,HOLD_POSE2,792,744,730,709,692,644,934,798.785507302,835.214492698,669,655,676,0.454365864489,-0.00554397084215,0.0495773611809,0.999999792954,6.72920259717e-05,-0.000639875233547,1.11119285342e-05,1793256553112982272
+256,4.266666667,HOLD_POSE2,792,744,730,709,692,644,934,798.193256529,835.806743471,669,655,676,0.454366764398,-0.00554344410807,0.0495778487004,0.99999979267,7.05722949832e-05,-0.000639962616776,1.13284183216e-05,1793256553129648896
+257,4.283333333,HOLD_POSE2,792.388643958,744,730.388643958,709,692,644,934,798.388643958,836,669,655.388643958,676,0.454366474754,-0.00554301879024,0.0495775396262,0.999999792232,6.97641951576e-05,-0.000640736770704,1.12035225057e-05,1793256553146315520
+258,4.300000000,HOLD_POSE2,792.965531239,744,730.965531239,709,692,644,934,798.965531239,836,669,655.965531239,676,0.454365608938,-0.00554264259426,0.0495768447144,0.999999791716,6.69758560699e-05,-0.000641843568424,1.091327341e-05,1793256553162982144
+259,4.316666667,HOLD_POSE2,793,744,731,708.458938819,692,644,934,798.458938819,836,669.541061181,655.458938819,676,0.45436559796,-0.00554189473083,0.0495770286373,0.999999791991,6.92321355277e-05,-0.000641180858585,1.05932692744e-05,1793256553179649024
+260,4.333333333,HOLD_POSE2,792.883425685,744,731,708.116574315,692,644,934,798,836,669.883425685,655,676,0.454365698141,-0.00554118171531,0.0495771922828,0.99999979225,7.12053723591e-05,-0.000640565199031,1.03013379342e-05,1793256553196315904
+261,4.350000000,HOLD_POSE2,792.30763881,744,731,708.69236119,692,644,934,798,836,669.30763881,655,676,0.454366022216,-0.0055406990105,0.0495770560577,0.999999792272,7.08008533229e-05,-0.000640577830712,1.01274399728e-05,1793256553212982528
+262,4.366666667,HOLD_POSE2,792,743.724179866,731,709,692,644,934,798,836,669.275820134,655,676,0.454366005248,-0.00554027694224,0.0495769672139,0.999999791938,7.08559745491e-05,-0.0006410892169,1.03635011817e-05,1793256553229648896
+263,4.383333333,HOLD_POSE2,792,743.131919005,731,709,692,644,934,798,836,669.868080995,655,676,0.454365597011,-0.00553992444064,0.0495769327295,0.999999791194,7.14384282174e-05,-0.000642172810188,1.10698970917e-05,1793256553246315520
+264,4.400000000,POSE2_TO_POSE3_RETREAT,792,744,730,709,692,644,934,799,836,670,655,676,0.454365963172,-0.00554142635696,0.0495759207962,0.999999790502,7.33270872443e-05,-0.000643032808075,1.13425783068e-05,1793256553278882560
+265,4.416666667,POSE2_TO_POSE3_RETREAT,792.575733868,744,730,708.424266132,692,644,934,799,836,670,655,676,0.454366375501,-0.00554171253669,0.0495760058215,0.999999790703,7.09256847004e-05,-0.000642994612908,1.10109003528e-05,1793256553295549184
+266,4.433333333,POSE2_TO_POSE3_RETREAT,792.845393633,744,730,708,692,644,934,798.845393633,836,669.845393633,655,676,0.454366423051,-0.00554169436213,0.0495759234377,0.999999790701,6.93431771179e-05,-0.000643173834302,1.07811325003e-05,1793256553312215808
+267,4.450000000,POSE2_TO_POSE3_RETREAT,792.257729592,744,730,708,692,644,934,798.257729592,836,669.257729592,655,676,0.454365448845,-0.00554082368098,0.0495753721352,0.999999790144,7.00544215331e-05,-0.000643962046854,1.0836818221e-05,1793256553328882432
+268,4.466666667,POSE2_TO_POSE3_RETREAT,792.325380004,744,730.325380004,708.325380004,692,644,934,798,835.674619996,669,655.325380004,676,0.454365054034,-0.00554105316897,0.0495752475259,0.999999790035,6.94119843853e-05,-0.00064419903536,1.09414792368e-05,1793256553345549312
+269,4.483333333,POSE2_TO_POSE3_RETREAT,792.904931843,744,730.904931843,708.904931843,692,644,934,798,835.095068157,669,655.904931843,676,0.454365111819,-0.00554214205833,0.0495754562298,0.999999790275,6.77121136647e-05,-0.000644005433044,1.10843974883e-05,1793256553362215936
+270,4.500000000,POSE2_TO_POSE3_RETREAT,793,743.516880476,731,709,692,644,934,798,835.483119524,669.483119524,655.516880476,676,0.454365859668,-0.00554197334797,0.0495760861304,0.999999790725,6.82395227599e-05,-0.000643248209999,1.11598875828e-05,1793256553378882560
+271,4.516666667,POSE2_TO_POSE3_RETREAT,792.939582419,743.060417581,730.939582419,709,692,643.939582419,934,798,836,669.939582419,655,676,0.454366310762,-0.00554152960775,0.0495765703721,0.999999791019,6.93350506993e-05,-0.000642673029865,1.12316262575e-05,1793256553395549184
+272,4.533333333,POSE2_TO_POSE3_RETREAT,792.36755091,743.63244909,730.36755091,709,692,643.36755091,934,798,836,669.36755091,655,676,0.454363102325,-0.00554084659294,0.0495751213054,0.999999789637,7.1540468561e-05,-0.000644575913053,1.13836388562e-05,1793256553412216064
+273,4.550000000,POSE2_TO_POSE3_RETREAT,792,744,730,709,692,643.211187904,934,798.211187904,836,669,655,676,0.454355346954,-0.0055398720973,0.0495714653279,0.999999785874,7.31968896975e-05,-0.000650208623211,1.10901294891e-05,1793256553428882688
+274,4.566666667,POSE2_TO_POSE3_RETREAT,792,744,730,709,692,643.801982937,934,798.801982937,836,669,655,676,0.454339418539,-0.00553837366922,0.0495638424612,0.999999777739,7.38664971101e-05,-0.000662545641825,9.99580097142e-06,1793256553445549312
+275,4.583333333,POSE2_TO_POSE3_RETREAT,792,744,730,709,692,644,934,799,836,669.386449686,655,676.386449686,0.454308296423,-0.00553736621947,0.0495511110832,0.9999997628,7.44391581954e-05,-0.000684667960386,9.40985344695e-06,1793256553462215936
+276,4.600000000,POSE2_TO_POSE3_RETREAT,792,744,730,709,692,644,934,799,836,669.967726115,655,676.967726115,0.454269514474,-0.00553660629394,0.0495358042733,0.999999743874,7.49629442769e-05,-0.000711723491365,9.08020363983e-06,1793256553478882560
+277,4.616666667,POSE2_TO_POSE3_RETREAT,792.543234348,743.456765652,730,709,692,644,934,798.456765652,836,670,655,676.456765652,0.454210897987,-0.0055358167309,0.0495184146478,0.99999972595,7.28149090382e-05,-0.00073670992103,7.50986158335e-06,1793256553495549184
+278,4.633333333,POSE2_TO_POSE3_RETREAT,792.881531013,743.118468987,730.118468987,709,692,643.881531013,934,798,836,669.881531013,655,676,0.454147940284,-0.0055342840494,0.0495019712064,0.999999708945,7.20509681243e-05,-0.000759528522675,5.98167238313e-06,1793256553512215552
+279,4.650000000,POSE2_TO_POSE3_RETREAT,792.306043533,743.693956467,730.693956467,709,692,643.306043533,934,798,836,669.306043533,655,676,0.454072733522,-0.00552989135649,0.0494896502021,0.999999697116,7.72323726817e-05,-0.000774453522451,4.89746102451e-06,1793256553528882432
+280,4.666666667,POSE2_TO_POSE3_RETREAT,792,744,731,709,692,643.277507328,934,798.277507328,836,669,655,676,0.453984216801,-0.00552598139706,0.0494769050677,0.999999681879,8.09411148966e-05,-0.000793520850382,3.87106618961e-06,1793256553545549312
+281,4.683333333,POSE2_TO_POSE3_RETREAT,792,744,731,709,692,643.870216816,934,798.870216816,836,669,655,676,0.453880582187,-0.00552261974282,0.0494636781925,0.999999662569,8.29771573512e-05,-0.000817293172937,2.91034137183e-06,1793256553562215680
+282,4.700000000,POSE2_TO_POSE3_RETREAT,792,744,730.549148381,709,692.450851619,644,934,798.549148381,836,669,655,676,0.453754973391,-0.0055189188028,0.0494478102799,0.99999963878,8.43104873707e-05,-0.000845771264337,1.82404917467e-06,1793256553578882304
+283,4.716666667,POSE2_TO_POSE3_RETREAT,792,743.972114576,730,709,692.972114576,644,934,798.027885424,836,669,655,675.972114576,0.453621883891,-0.00551506871983,0.049431088652,0.999999612893,8.55335854795e-05,-0.000875727007092,6.8281677168e-07,1793256553595548928
+284,4.733333333,POSE2_TO_POSE3_RETREAT,792,743.399297958,730,709,692.399297958,644,934,798.600702042,836,669,655,675.399297958,0.453462996135,-0.00551016293212,0.049412153125,0.999999583149,8.84524483625e-05,-0.000908777618402,-8.44110412738e-07,1793256553612215808
+285,4.750000000,POSE2_TO_POSE3_RETREAT,792,743.178062025,730,709,692,644,934,798.821937975,835.821937975,669,655.178062025,675.178062025,0.453295147653,-0.00550521168027,0.0493925745009,0.999999551112,9.13216131503e-05,-0.000943096030107,-2.30326453797e-06,1793256553628882176
+286,4.766666667,POSE2_TO_POSE3_RETREAT,792,743.765877036,730,709,692,644,934,798.234122964,835.234122964,669,655.765877036,675.765877036,0.453106678936,-0.00550015580789,0.0493715159962,0.999999515043,9.40764133216e-05,-0.000980331876824,-3.606460362e-06,1793256553645549056
+287,4.783333333,POSE2_TO_POSE3_RETREAT,792,744,730,709,692.348696216,644.348696216,934,798.348696216,835.348696216,669,656,676,0.452888789409,-0.00549387659501,0.0493493887038,0.999999473927,9.73614810388e-05,-0.00102109758601,-5.10854134251e-06,1793256553662215680
+288,4.800000000,POSE2_TO_POSE3_RETREAT,792,744,730,709,692.928208511,644.928208511,934,798.928208511,835.928208511,669,656,676,0.452651425044,-0.00548678760323,0.0493265539357,0.999999428616,0.000100997554409,-0.00106419985627,-6.74227254994e-06,1793256553678882304
+289,4.816666667,POSE2_TO_POSE3_RETREAT,792.505460947,744,730,709,693,645,934,798.494539053,836,669.505460947,655.494539053,676,0.452402438414,-0.00548106514463,0.0493146321544,0.999999403719,0.000104030158884,-0.00108704582112,-8.41596107093e-06,1793256553695550464
+290,4.833333333,POSE2_TO_POSE3_RETREAT,793,744,730,708.918191993,693,645.081808007,934,798.081808007,836,669.918191993,655,676,0.452148364563,-0.00547594184225,0.0493062297891,0.999999384535,0.000106291187036,-0.00110432529278,-9.89823108906e-06,1793256553712217856
+291,4.850000000,POSE2_TO_POSE3_RETREAT,793,744,730,708.345360929,693,645.654639071,934,798.654639071,836,669.345360929,655,676,0.451873620212,-0.00547325498034,0.0493096895961,0.999999383556,0.000104433271877,-0.00110538542766,-1.01976695449e-05,1793256553728883456
+292,4.866666667,POSE2_TO_POSE3_RETREAT,792.763881455,744,730.236118545,708.236118545,693,646,934,799,836,669,655,676,0.451585847176,-0.00546880234253,0.0493143378384,0.99999938538,0.00010449861728,-0.00110372086726,-1.09334160279e-05,1793256553745549312
+293,4.883333333,POSE2_TO_POSE3_RETREAT,792.169271398,744,730.830728602,708.830728602,693,646,934,799,836,669,655,676,0.451278293104,-0.00546166878175,0.0493207904452,0.999999391434,0.000107483990043,-0.00109791948587,-1.23315955264e-05,1793256553762215936
+294,4.900000000,POSE2_TO_POSE3_RETREAT,792.412750597,744,730.587249403,708.587249403,693,646,934,799,836,669,655.412750597,676,0.450934314872,-0.00545567569879,0.0493223287682,0.999999400094,0.000109398393397,-0.0010897874198,-1.43807319149e-05,1793256553778882816
+295,4.916666667,POSE2_TO_POSE3_RETREAT,792.989762924,744,730.010237076,708.010237076,693,646,934,799,836,669,655.989762924,676,0.45057584098,-0.00545013649023,0.0493219113609,0.999999409726,0.000110886584595,-0.00108072781475,-1.66889285991e-05,1793256553795549696
+296,4.933333333,POSE2_TO_POSE3_RETREAT,793,744,730,708.565571115,693,646.565571115,934,799,836,669,656,676,0.450208411677,-0.00545089767967,0.0493381589661,0.99999944776,0.000105182721975,-0.00104551308581,-1.78639356666e-05,1793256553812216832
+297,4.950000000,POSE2_TO_POSE3_RETREAT,792.859399731,743.859399731,730,708.859399731,693,647,934,799,836,669,656,676,0.449828518564,-0.00545069124181,0.0493549860255,0.999999482885,0.000100230047363,-0.00101183837685,-1.91615047225e-05,1793256553828883712
+298,4.966666667,POSE2_TO_POSE3_RETREAT,792.286698028,743.286698028,730,708.286698028,693,647,934,799,836,669,656,676,0.449410818078,-0.0054471613021,0.0493726688356,0.99999951051,9.79851963483e-05,-0.000984348410949,-2.08986410813e-05,1793256553845549824
+299,4.983333333,POSE2_TO_POSE3_RETREAT,792,743.297248093,730,708.297248093,693,647.297248093,934,799,836,669,656.297248093,676,0.448965941588,-0.00544297373121,0.0493870290296,0.999999530519,9.68891401363e-05,-0.000963875456373,-2.27568182024e-05,1793256553862216448
+300,5.000000000,POSE2_TO_POSE3_RETREAT,792,743.892466006,730,708.892466006,693,647.892466006,934,799,836,669,656.892466006,676,0.448493823057,-0.00543812693199,0.0493980585423,0.99999954333,9.69446678015e-05,-0.000950436547718,-2.47363301936e-05,1793256553878883328
+301,5.016666667,POSE2_TO_POSE3_RETREAT,792.471629178,744,730,709,693.471629178,648.471629178,934,799,835.528370822,669,656.528370822,676,0.447966673197,-0.00543205928689,0.0494005371678,0.99999955264,9.27820548783e-05,-0.00094091423435,-2.81518648717e-05,1793256553895550464
+302,5.033333333,POSE2_TO_POSE3_RETREAT,792.952902062,744,730,709,694,649.047097938,934,799,835.047097938,669,656.047097938,676,0.447426395737,-0.0054261598012,0.0494020462643,0.999999562319,8.77166717444e-05,-0.000930945219853,-3.17528588643e-05,1793256553912217088
+303,5.050000000,POSE2_TO_POSE3_RETREAT,792.379158835,744,730,709,694,649.620841165,934,799,835.620841165,669,656.620841165,676,0.446875011715,-0.00542515078057,0.0494137972842,0.999999585273,8.29568544634e-05,-0.000906324443686,-3.38869805237e-05,1793256553928884480
+304,5.066666667,POSE2_TO_POSE3_RETREAT,792.200602523,743.799397477,730,708.799397477,694.200602523,650.200602523,934,799.200602523,836,669,657,676,0.446318279529,-0.00542315940662,0.0494292700663,0.999999610791,7.87351511695e-05,-0.000878018388879,-3.60971581263e-05,1793256553945551104
+305,5.083333333,POSE2_TO_POSE3_RETREAT,792.792090518,743.207909482,730,708.207909482,694.792090518,650.792090518,934,799.792090518,836,669,657,676,0.445751126173,-0.00541925386119,0.049451994914,0.999999641476,7.55619940141e-05,-0.000842531359812,-3.84555349552e-05,1793256553962217472
+306,5.100000000,POSE2_TO_POSE3_RETREAT,793,743.375805767,730,708,695,651,934,799.624194233,836,669,657,676,0.445168729388,-0.00541834462016,0.0495011219436,0.999999699748,6.9430142348e-05,-0.000770846557557,-3.84619100961e-05,1793256553978883840
+307,5.116666667,POSE2_TO_POSE3_RETREAT,793,743.955307968,730,708,695,651,934,799.044692032,836,669,657,676,0.444578070291,-0.00541905945364,0.049564559637,0.999999766517,6.16946014828e-05,-0.000679541623349,-3.71934392412e-05,1793256553995549952
+308,5.133333333,POSE2_TO_POSE3_RETREAT,792.469761116,744,729.469761116,708.530238884,695,651.530238884,934,799.530238884,836,669,657,676,0.443906346732,-0.00541496082417,0.0496038766922,0.999999803899,5.73908740536e-05,-0.000622408874918,-3.89298239177e-05,1793256554012217088
+309,5.150000000,POSE2_TO_POSE3_RETREAT,792.10716617,744,729.10716617,708.89283383,695.10716617,652.10716617,934,800,836,669,657,675.89283383,0.443226235782,-0.00541029290936,0.0496368264174,0.999999833216,5.32363780054e-05,-0.000573623128481,-4.11072129419e-05,1793256554028883968
+310,5.166666667,POSE2_TO_POSE3_RETREAT,792.69475548,744,729.69475548,708.30524452,695.69475548,652.69475548,934,800,836,669,657,675.30524452,0.442538893344,-0.00540487614759,0.0496502677491,0.999999846901,4.84652412627e-05,-0.000549455043771,-4.41359190043e-05,1793256554045549824
+311,5.183333333,POSE2_TO_POSE3_RETREAT,792.721860383,744,729.721860383,708,696,653,934,800.278139617,835.721860383,669,657,675.278139617,0.441858874159,-0.00540302882989,0.0496869418384,0.999999879965,4.02739900841e-05,-0.000486155239693,-4.58371396587e-05,1793256554062216448
+312,5.200000000,POSE2_TO_POSE3_RETREAT,792.143022409,744,729.143022409,708,696,653,934,800.856977591,835.143022409,669,657,675.856977591,0.441186772102,-0.00540504045825,0.0497487329986,0.999999926125,2.83852323804e-05,-0.000380549899374,-4.61032081423e-05,1793256554078883840
+313,5.216666667,POSE2_TO_POSE3_RETREAT,792,744,729.43598017,708,696.43598017,653.43598017,934,801,835.43598017,669,657,676,0.440460228194,-0.00540479757099,0.0498019613236,0.999999956031,2.06412304587e-05,-0.000292157596052,-4.6430156357e-05,1793256554095550464
+314,5.233333333,POSE2_TO_POSE3_RETREAT,792,744,729.985110856,708,697,654,934,801,835.985110856,669,657.014889144,676,0.439712351605,-0.00540370271497,0.0498504062719,0.999999976148,1.42793887333e-05,-0.000212838940181,-4.69015664472e-05,1793256554112217088
+315,5.250000000,POSE2_TO_POSE3_RETREAT,792,744,729.411737817,708,697,654,934,801,835.411737817,669,657.588262183,676,0.438834450576,-0.00539840303929,0.0498248340883,0.99999996429,8.74154040682e-06,-0.000261983041202,-5.20422695815e-05,1793256554128883200
+316,5.266666667,POSE2_TO_POSE3_RETREAT,792.166045043,743.833954957,729,708,697,654,934,801,835.166045043,669,658,675.833954957,0.437962561421,-0.00539491542379,0.0498029031018,0.999999951697,7.31326416347e-07,-0.000305597878201,-5.6710354483e-05,1793256554145549312
+317,5.283333333,POSE2_TO_POSE3_RETREAT,792.755061127,743.244938873,729,708,697,654,934,801,835.755061127,669,658,675.244938873,0.437105986528,-0.00539604371863,0.0497902474373,0.999999941942,-1.35768113261e-05,-0.000335127869223,-6.01745260737e-05,1793256554162215936
+318,5.300000000,POSE2_TO_POSE3_RETREAT,793,743.676453212,729.338226606,708,697,654,934,801,836,669,658,675.338226606,0.436237338783,-0.00539594711532,0.0497912430095,0.999999941172,-2.56691127519e-05,-0.000336110464414,-6.34547876079e-05,1793256554178882560
+319,5.316666667,POSE2_TO_POSE3_RETREAT,793,744.834454359,729.91722718,708,697,654,934,801,836,669,658,675.91722718,0.435360096754,-0.00539497854155,0.0498019565123,0.999999946955,-3.61840222789e-05,-0.000316770973628,-6.66041286286e-05,1793256554195549440
+320,5.333333333,POSE2_TO_POSE3_RETREAT,793,745,729.505317908,708,697,654,934,801.494682092,836,668.505317908,658,676,0.434453633792,-0.00538902741636,0.0497835690836,0.99999993738,-3.78240285551e-05,-0.000344799464449,-7.01644859623e-05,1793256554212216064
+321,5.350000000,POSE2_TO_POSE3_RETREAT,793,745,729,708,697,654,934,802,836,668,658,676,0.433545928509,-0.00538233825539,0.0497665777178,0.999999928392,-2.44961636347e-05,-0.000371136108888,-6.98181061966e-05,1793256554228882944
+322,5.366666667,POSE2_TO_POSE3_RETREAT,793,745,729,708,697,654,934,802,836,668,658,676,0.432663755942,-0.00537630341841,0.0497935259971,0.999999941178,8.36501417172e-05,-0.000330032877272,-4.15250060137e-05,1793256554245549312
+323,5.383333333,POSE2_TO_POSE3_RETREAT,793,745,729,708,697,654,934,802,836,668,658,676,0.431771904953,-0.00537177385434,0.0498099693992,0.999999942757,0.000145926283074,-0.000304197051819,-2.56195616713e-05,1793256554262215680
+324,5.400000000,POSE2_TO_POSE3_RETREAT,793,745,729,708,697,654,934,802,836,668,658,676,0.430863559582,-0.00536980961791,0.0498085100973,0.999999944747,0.000130029215294,-0.000304380370684,-3.08255063164e-05,1793256554278882304
+325,5.416666667,POSE2_TO_POSE3_RETREAT,793,745.399276838,729,708,697,654,934,801.600723162,835.600723162,668.399276838,658,676,0.429922025608,-0.00536996288597,0.0497883024856,0.999999936328,0.000111511411643,-0.000336940724793,-3.71387225984e-05,1793256554295548672
+326,5.433333333,POSE2_TO_POSE3_RETREAT,793,745.978471708,729,708,697,654,934,801.021528292,835.021528292,668.978471708,658,676,0.428965536581,-0.00537107032229,0.0497596467029,0.999999921057,9.18126795967e-05,-0.00038409048557,-4.39508858714e-05,1793256554312215552
+327,5.450000000,POSE2_TO_POSE3_RETREAT,793,746,728.447445228,708,697,654,934,801.552554772,835.552554772,668.447445228,658,675.447445228,0.428041096081,-0.00537201417866,0.0497750363853,0.999999927608,8.31013413168e-05,-0.000368555922172,-4.52088090388e-05,1793256554328882944
+328,5.466666667,POSE2_TO_POSE3_RETREAT,793,746.127040882,728,708,697,654,934,801.872959118,835.872959118,668,658,675.127040882,0.42710726544,-0.00537138739714,0.0497841862982,0.999999931233,7.90898628041e-05,-0.000359360373905,-4.62589507465e-05,1793256554345550336
+329,5.483333333,POSE2_TO_POSE3_RETREAT,793,746.703651586,728,708,697,654,934,801.296348414,835.296348414,668,658,675.703651586,0.426135826984,-0.00536522481949,0.0497652378987,0.999999922169,9.02091488432e-05,-0.000381160637361,-4.73325748346e-05,1793256554362216704
+330,5.500000000,POSE2_TO_POSE3_RETREAT,793,747,728,707.713060236,697,654,934,801.286939764,835,668,658,675.713060236,0.425229038593,-0.00536327362209,0.0497715533574,0.999999930591,9.15216689118e-05,-0.000357944847031,-4.81331190907e-05,1793256554378883072
+331,5.516666667,POSE2_TO_POSE3_RETREAT,793,747,728,707.122711356,697,654,934,801.877288644,835,668,658,675.122711356,0.424390611021,-0.005365775524,0.049804582734,0.999999954195,8.2464547479e-05,-0.000287129234204,-4.86449094479e-05,1793256554395549696
+332,5.533333333,POSE2_TO_POSE3_RETREAT,793,747,728,707.457705618,697,654.457705618,934,802,835,668,658,675.457705618,0.423510230063,-0.00536672703108,0.0498252172146,0.999999964445,7.91012539808e-05,-0.000249912565246,-4.89637394006e-05,1793256554412216576
+333,5.550000000,POSE2_TO_POSE3_RETREAT,793,747,728,707.964615528,697,655,934,802,835,668.035384472,658,675.964615528,0.422615821115,-0.00536706769175,0.0498397771632,0.999999970047,7.78223481042e-05,-0.000226760427412,-4.92820011224e-05,1793256554428883456
+334,5.566666667,POSE2_TO_POSE3_RETREAT,793,747,728,707.388951598,697,655,934,802,835,668.611048402,658,675.388951598,0.421675314624,-0.0053642933281,0.0498112480792,0.999999954818,8.55564409025e-05,-0.000283738118314,-5.03647104719e-05,1793256554445549568
+335,5.583333333,POSE2_TO_POSE3_RETREAT,793,747.190713247,728,707,697,654.809286753,934,802,835,668.809286753,658,675,0.420756501994,-0.00536324317837,0.0497967343766,0.999999944012,8.97808341241e-05,-0.000318361160248,-5.06103724476e-05,1793256554462215680
+336,5.600000000,POSE2_TO_POSE3_RETREAT,793,747.778712744,728,707,697,654.221287256,934,802,835,668.221287256,658,675,0.419882880981,-0.005365784842,0.0498114169537,0.999999948091,8.66939626891e-05,-0.000306415898681,-4.91123311098e-05,1793256554478882304
+337,5.616666667,POSE2_TO_POSE3_RETREAT,793,747.63859777,728,707,697,654,934,802,835,668,658,675.36140223,0.418989624581,-0.00536312301877,0.0498046677245,0.999999940678,9.08392562537e-05,-0.000328600178818,-4.91304131169e-05,1793256554495549184
+338,5.633333333,POSE2_TO_POSE3_RETREAT,793,747.059112569,728,707,697,654,934,802,835,668,658,675.940887431,0.418084519541,-0.00535732122618,0.0497849857795,0.99999992485,9.93486956831e-05,-0.000371379439608,-5.00633779388e-05,1793256554512216064
+339,5.650000000,POSE2_TO_POSE3_RETREAT,793.518719145,747.518719145,728.518719145,707,697,654,934,802,835,668,657.481280855,675.481280855,0.417267093708,-0.0053576667977,0.0497789636723,0.999999925559,9.5818502547e-05,-0.000370168992752,-5.17328402365e-05,1793256554528882944
+340,5.666666667,POSE2_TO_POSE3_RETREAT,793.904007534,748,728.904007534,707,697,654.095992466,934,802.095992466,835,668,657.095992466,675.095992466,0.416465580638,-0.00535927180662,0.049779639342,0.999999930773,9.0937099282e-05,-0.000356897054046,-5.30035158867e-05,1793256554545550080
+341,5.683333333,POSE2_TO_POSE3_RETREAT,793.328584981,748,728.328584981,707,697,654.671415019,934,802.671415019,835,668,657.671415019,675.671415019,0.415693798094,-0.00536367929251,0.0498060168068,0.999999947408,8.61378616019e-05,-0.000308342234404,-5.18646150751e-05,1793256554562216448
+342,5.700000000,POSE2_TO_POSE3_RETREAT,793,748,728,707,697.252511523,654.747488477,934,802.747488477,835,668,658,675.747488477,0.41491084323,-0.00536545513232,0.0498140852284,0.999999952443,8.49583709178e-05,-0.000291927938704,-5.17030861005e-05,1793256554578883072
+343,5.716666667,POSE2_TO_POSE3_RETREAT,793,748,728,707,697.841161024,654.158838976,934,802.158838976,835,668,658,675.158838976,0.414113016075,-0.0053637277804,0.0497977810384,0.999999944022,8.85974111217e-05,-0.000318298430445,-5.28426139541e-05,1793256554595549696
+344,5.733333333,POSE2_TO_POSE3_RETREAT,793,748,728,707,697.576875761,654.423124239,934,802,835,668,658,675.423124239,0.413337795254,-0.00536316941574,0.0497814961142,0.999999934707,9.2291122175e-05,-0.000345241148353,-5.36316858597e-05,1793256554612216064
+345,5.750000000,POSE2_TO_POSE3_RETREAT,793,748,728,707,697,655,934,802.00259978,835,668,658,675.99740022,0.412571366905,-0.00536305273629,0.04976542141,0.999999924689,9.59847915765e-05,-0.000372106263972,-5.42821232575e-05,1793256554628882688
+346,5.766666667,POSE2_TO_POSE3_RETREAT,793,748,728,707,697,655,934,802.578378678,835,668,658,675.421621322,0.411901556639,-0.00536507004636,0.0497941249652,0.999999937874,9.52148160026e-05,-0.000335238637761,-5.29215227452e-05,1793256554645549312
+347,5.783333333,POSE2_TO_POSE3_RETREAT,793,748,728,707,697,655,934,802.843062746,835,668,658,675,0.411226363821,-0.00536682362511,0.0498146733415,0.999999946441,9.5082389986e-05,-0.000308872661763,-5.17199849879e-05,1793256554662216192
+348,5.800000000,POSE2_TO_POSE3_RETREAT,793,748,728,707,697,655,934,802.256901616,835,668,658,675,0.410536449556,-0.00536785589835,0.0498129172846,0.999999945595,9.66936641212e-05,-0.000311228724505,-5.09534842244e-05,1793256554678883584
+349,5.816666667,POSE2_TO_POSE3_RETREAT,793,748,728,707,697,655,934,802,835,668,658,675.325670048,0.409876812536,-0.00536669129819,0.0498027382047,0.999999940184,0.000101039414272,-0.000326773210915,-5.13959073868e-05,1793256554695550720
+350,5.833333333,POSE2_TO_POSE3_RETREAT,793,748,728,707,697,655,934,802,835,668,658,675.90544103,0.409240799088,-0.00536381260853,0.0497859871418,0.999999930661,0.000107518712985,-0.000352607838226,-5.27815818787e-05,1793256554712217088
+351,5.850000000,POSE2_TO_POSE3_RETREAT,793,748,728,707,697.482365057,655,934,802.482365057,835,667.517634943,658,676,0.40866979514,-0.00536558168085,0.0497978843315,0.999999937674,0.00010648768174,-0.000332481643588,-5.26078262955e-05,1793256554728883456
+352,5.866666667,POSE2_TO_POSE3_RETREAT,793.058479467,748,728,707,698,655,934,803,835,667.058479467,658,675.941520533,0.408115039943,-0.0053683207186,0.0498151346904,0.999999946909,0.000103825348926,-0.000304448898541,-5.20787971382e-05,1793256554745550080
+353,5.883333333,POSE2_TO_POSE3_RETREAT,793.632348342,748,728,707,698,655,934,803,835,667.632348342,658,675.367651658,0.407591832206,-0.00537162557424,0.0498303593208,0.999999952921,9.96852661781e-05,-0.000285673289081,-5.10970437054e-05,1793256554762216448
+354,5.900000000,POSE2_TO_POSE3_RETREAT,794,748.212773298,728,706.787226702,698,655,934,803,835.212773298,668,658,675,0.407059981639,-0.00537340252786,0.0498312324606,0.999999952133,9.7721824527e-05,-0.000289092563836,-5.10956317224e-05,1793256554778883072
+355,5.916666667,POSE2_TO_POSE3_RETREAT,794,748.804886612,728,706.195113388,698,655,934,803,835.804886612,668,658,675,0.406512722376,-0.00537245548156,0.0498065192369,0.999999938501,9.96389785896e-05,-0.000332081691575,-5.28420083926e-05,1793256554795549952
+356,5.933333333,POSE2_TO_POSE3_RETREAT,794,749,728,706.388340128,698,655,934,803,835.611659872,667.611659872,658,675.388340128,0.406003419055,-0.00537257921718,0.049782628645,0.999999924911,9.93124164519e-05,-0.000370575682058,-5.46700347122e-05,1793256554812216832
+357,5.950000000,POSE2_TO_POSE3_RETREAT,794,749,728,706.96753767,698,655,934,803,835.03246233,667.03246233,658,675.96753767,0.405512769881,-0.00537322920961,0.0497591423494,0.999999910843,9.78831358684e-05,-0.000406860452353,-5.65381894903e-05,1793256554828883712
+358,5.966666667,POSE2_TO_POSE3_RETREAT,793.458844928,749,728,707,697.458844928,655,934,803,835,667,658,675.458844928,0.405108252292,-0.00537262013569,0.0497709371149,0.999999917162,9.85856730226e-05,-0.00039089903376,-5.61717965864e-05,1793256554845550336
+359,5.983333333,POSE2_TO_POSE3_RETREAT,793,749,728,707,697,655,934,803,835,667,658,675.117586779,0.404723055391,-0.00537231577465,0.0497882507398,0.999999926461,9.87481746505e-05,-0.000366392984864,-5.55229827756e-05,1793256554862216960
+360,6.000000000,POSE2_TO_POSE3_RETREAT,793,749,728,707,697,655,934,803,835,667,658,675.706630856,0.404394819049,-0.00537353287524,0.0498192929012,0.999999942675,9.62379350795e-05,-0.000320065465976,-5.4273775258e-05,1793256554878883840
+361,6.016666667,POSE2_TO_POSE3_RETREAT,793.290736839,749,728,707,697.290736839,655,934,803,835.290736839,667,658,675.709263161,0.404068280898,-0.00537623123699,0.0498432442552,0.999999954242,9.15283230116e-05,-0.000283334990582,-5.34705987399e-05,1793256554895550208
+362,6.033333333,POSE2_TO_POSE3_RETREAT,793.869943202,749,728,707,697.869943202,655,934,803,835.869943202,667,658,675.130056798,0.403743427716,-0.00538039930818,0.0498601600975,0.999999962208,8.46364905304e-05,-0.000256126719117,-5.31099749728e-05,1793256554912216576
+363,6.050000000,POSE2_TO_POSE3_RETREAT,794,749,728,707,698,655.447369993,934,803,835.552630007,667,658,675.447369993,0.403427214617,-0.00538056587813,0.0498531530801,0.999999958413,8.28800701659e-05,-0.000270883588496,-5.41084976072e-05,1793256554928882944
+364,6.066666667,POSE2_TO_POSE3_RETREAT,793.975834902,749,728,707,698,655.975834902,934,802.975834902,835,667,658,675.975834902,0.40311513932,-0.00537965049682,0.0498393084839,0.999999950761,8.2478199879e-05,-0.000297653223874,-5.5483890741e-05,1793256554945549312
+365,6.083333333,POSE2_TO_POSE3_RETREAT,793.401688548,749,728,707,698,655.401688548,934,802.401688548,835,667,658,675.401688548,0.402840297252,-0.00538048150159,0.0498275026715,0.999999943674,7.90613607588e-05,-0.00032126482813,-5.64794976604e-05,1793256554962216448
+366,6.100000000,POSE2_TO_POSE3_RETREAT,793.177475214,749,728,707,698,655,934,802.177475214,835.177475214,667,658,675.177475214,0.40258144496,-0.00538137066073,0.0498180604393,0.99999993767,7.65664778831e-05,-0.000339872779507,-5.73088001368e-05,1793256554978883584
+367,6.116666667,POSE2_TO_POSE3_RETREAT,793.768325435,749,728,707,698,655,934,802.768325435,835.768325435,667,658,675.768325435,0.402359836072,-0.00538239527279,0.0498141234562,0.999999935284,7.62190147058e-05,-0.000346826226976,-5.77507464713e-05,1793256554995550208
+368,6.133333333,POSE2_TO_POSE3_RETREAT,794,749,728,707,698,655,934.352213765,803,835.647786235,667,657.647786235,676,0.402165160942,-0.00538240029489,0.0498146561046,0.999999936638,7.88311635962e-05,-0.00034236713687,-5.74034522804e-05,1793256555012216832
+369,6.150000000,POSE2_TO_POSE3_RETREAT,794,749,728,707,698,655,934.931611611,803,835.068388389,667,657.068388389,676,0.401987858538,-0.0053817476636,0.0498180717436,0.999999940297,8.33523143467e-05,-0.000330546759697,-5.65470840892e-05,1793256555028883456
+370,6.166666667,POSE2_TO_POSE3_RETREAT,794,749,728,707,698,655,934.491494507,803,835,667,657,676,0.401842812984,-0.00537734264302,0.0498236913723,0.999999938812,0.000138521456213,-0.000318059850193,-4.50008829568e-05,1793256555045549824
+371,6.183333333,POSE2_TO_POSE3_RETREAT,794,749,728,707,698,655,934,803,835.084719339,667,657.084719339,676,0.401706200401,-0.00537282292712,0.0498293383076,0.999999934425,0.000191042476616,-0.000305751021718,-3.41824561777e-05,1793256555062216192
+372,6.200000000,POSE2_TO_POSE3_RETREAT,794,749,728,707,698,655,934,803,835.658940442,667,657.658940442,676,0.401593369904,-0.00537054207836,0.0498334387653,0.99999993797,0.000189098856273,-0.000294986535374,-3.58350611646e-05,1793256555078883072
+373,6.216666667,POSE2_TO_POSE3_RETREAT,794,749,728,707,698,655,934,803,835.760236448,667,658,676,0.401489176487,-0.00537152908583,0.0498365220132,0.999999940896,0.000184963710106,-0.000287456912233,-3.69562819533e-05,1793256555095549952
+374,6.233333333,POSE2_TO_POSE3_RETREAT,794,749,728,707,698,655,934,803,835.169756213,667,658,676,0.401397617058,-0.00537729618484,0.0498381173267,0.999999943014,0.000177622886401,-0.000284659120266,-3.73002147671e-05,1793256555112216832
+375,6.250000000,POSE2_TO_POSE3_RETREAT,794,749,728,706.588307942,697.588307942,655,934,803,835,667,658,675.588307942,0.401318619026,-0.00538082912015,0.049838449768,0.999999944752,0.000170015022707,-0.00028309185888,-3.80774383894e-05,1793256555128883456
+376,6.266666667,POSE2_TO_POSE3_RETREAT,794,749,728,706.010503956,697.010503956,655,934,803,835,667,658,675.010503956,0.401244689343,-0.00538346060182,0.0498382726582,0.9999999463,0.000162299412322,-0.000282021099253,-3.90294887213e-05,1793256555145550336
+377,6.283333333,POSE2_TO_POSE3_RETREAT,794,749,728,706.565748391,697.565748391,655,934,803,835,667,657.434251609,675,0.401192734427,-0.00538469908025,0.0498386681842,0.999999947764,0.000158659678998,-0.000278819282213,-3.9490026969e-05,1793256555162216448
+378,6.300000000,POSE2_TO_POSE3_RETREAT,794,749,728,707,698,655.14482658,934,803,835,667,657.14482658,675,0.40114557721,-0.00538570777902,0.0498395140861,0.999999949195,0.000155539757895,-0.00027536124937,-3.99130504965e-05,1793256555178882816
+379,6.316666667,POSE2_TO_POSE3_RETREAT,794,749,728,707,698,655.732635973,934,803,835,667,657.732635973,675,0.401111850265,-0.00538609253929,0.0498417051278,0.99999995058,0.000153778959403,-0.000271240217482,-4.02491636017e-05,1793256555195549440
+380,6.333333333,POSE2_TO_POSE3_RETREAT,793.684381428,749,728,707,698,655.684381428,934,803,835,667,658,675,0.401082638504,-0.00538585763645,0.0498433685251,0.999999951521,0.000152284839074,-0.000268569396453,-4.04686947253e-05,1793256555212216064
+381,6.350000000,POSE2_TO_POSE3_RETREAT,793.105426008,749,728,707,698,655.105426008,934,803,835,667,658,675,0.401057193989,-0.00538510571674,0.0498445916819,0.9999999521,0.000151013221893,-0.000267108560672,-4.05909555276e-05,1793256555228882688
+382,6.366666667,POSE2_TO_POSE3_RETREAT,793,749,728,707,698,655,934,803.470452605,835,667,657.529547395,675.470452605,0.401040219686,-0.00538517601178,0.0498447257605,0.999999952639,0.000150521434626,-0.000265329235743,-4.08135232494e-05,1793256555245549568
+383,6.383333333,POSE2_TO_POSE3_RETREAT,793,749,728,707,698,655,934,803.954294461,835,667,657,675.954294461,0.40102561623,-0.00538543371725,0.0498446455846,0.999999953131,0.000150278971266,-0.000263570588288,-4.10402201371e-05,1793256555262216448
+384,6.400000000,POSE2_TO_POSE3_RETREAT,793,749,728,707,698,655,934,803.378352707,835,667,657,675.378352707,0.401016639897,-0.00538574192907,0.0498448927512,0.999999953218,0.000150914754692,-0.000262874435481,-4.10557412067e-05,1793256555278883072
+385,6.416666667,POSE2_TO_POSE3_RETREAT,793.202607503,749,728,707,698,655,934.202607503,803,835.202607503,667,657.202607503,675.202607503,0.401009369014,-0.00538603833492,0.0498452648471,0.999999953369,0.000150948821735,-0.000262276058873,-4.10881478984e-05,1793256555295549696
+386,6.433333333,POSE2_TO_POSE3_RETREAT,793.793177247,749,728,707,698,655,934.793177247,803,835.793177247,667,657.793177247,675.793177247,0.401005363807,-0.00538631213412,0.0498458761634,0.999999953642,0.000149830694306,-0.00026186490871,-4.11528879614e-05,1793256555312216064
+387,6.450000000,POSE2_TO_POSE3_RETREAT,793.624686255,749,728,707,698,655,934.624686255,803,835.624686255,667,658,675.624686255,0.40100270211,-0.00538745709442,0.0498464313206,0.999999953977,0.000149476712746,-0.000260797047922,-4.10831407044e-05,1793256555328882432
+388,6.466666667,POSE2_TO_POSE3_RETREAT,793.047094925,749,728,707,698,655,934.047094925,803,835.047094925,667,658,675.047094925,0.401000764506,-0.00538907157218,0.0498469562106,0.999999954344,0.000149534572205,-0.000259375249033,-4.09409107003e-05,1793256555345549312
+389,6.483333333,POSE2_TO_POSE3_RETREAT,793.52921657,749,727.47078343,707,698,655,934,803,835,667,657.47078343,675,0.401000563562,-0.00538845805047,0.0498478385961,0.999999954724,0.00014965841382,-0.000257830946658,-4.09487237121e-05,1793256555362216192
+390,6.500000000,POSE2_TO_POSE3_RETREAT,794,749,727.105007194,706.894992806,698,655,934,803,835,667,657.105007194,675,0.401000372932,-0.00538774936205,0.0498486793203,0.999999955063,0.000149837773081,-0.000256398309871,-4.10212162263e-05,1793256555378882816
+391,6.516666667,POSE2_TO_POSE3_RETREAT,794,749,727.678978852,706.321021148,698,655,934,803,835,667,657.678978852,675,0.400999539822,-0.00538749899673,0.0498491922473,0.999999955217,0.000150238915264,-0.000255512943736,-4.13230809724e-05,1793256555395549696
+392,6.533333333,POSE2_TO_POSE3_RETREAT,794,748.738544102,728,706,698,655,934,803,835,667,658,675,0.400999597014,-0.00538841061014,0.0498497811633,0.999999955633,0.000149022180996,-0.000254615718289,-4.1203608645e-05,1793256555412216576
+393,6.550000000,POSE2_TO_POSE3_RETREAT,794,748.145272732,728,706,698,655,934,803,835,667,658,675,0.401000784095,-0.0053907968987,0.0498504665175,0.999999956373,0.000145752188687,-0.000253703441984,-4.05494145901e-05,1793256555428883456
+394,6.566666667,POSE2_TO_POSE3_RETREAT,793.564044399,748.435955601,727.564044399,706.435955601,697.564044399,655,934,803,835,667,658,675,0.401000705334,-0.00538992605373,0.0498507351863,0.999999956518,0.000146322513112,-0.000252759329321,-4.08237505837e-05,1793256555445550080
+395,6.583333333,POSE2_TO_POSE3_RETREAT,793,749,727,707,697,655,934,803,835,667,658,675.013204614,0.401000221474,-0.00538806337804,0.0498508707799,0.999999956473,0.000148054377244,-0.000251836446576,-4.13824497243e-05,1793256555462216192
+396,6.600000000,POSE2_TO_POSE3_RETREAT,793,749,727,707,697,655,934,803,835,667,658,675.587306801,0.400999965966,-0.00538893460731,0.0498510931797,0.999999956643,0.000146228270487,-0.000252253872082,-4.12304299178e-05,1793256555478882816
+397,6.616666667,POSE2_TO_POSE3_RETREAT,793,749,727.165911342,707,697.165911342,655,934,803,835,667,658,675.834088658,0.400999970574,-0.00538979106662,0.0498514645155,0.999999956925,0.000144473668339,-0.00025217480628,-4.10586343475e-05,1793256555495549440
+398,6.633333333,POSE2_TO_POSE3_RETREAT,793,749,727.756027542,707,697.756027542,655,934,803,835,667,658,675.243972458,0.401000640249,-0.00539060976184,0.0498522166531,0.999999957499,0.000142901890466,-0.000250826303273,-4.08362757873e-05,1793256555512216064
+399,6.650000000,POSE2_TO_POSE3_RETREAT,793.339653459,749,727.660346541,707,698,655,934,803,835,667,658,675,0.400999720709,-0.00539027104347,0.0498518524558,0.999999957282,0.000143568560383,-0.000251295638132,-4.09188130465e-05,1793256555528883456
+400,6.666666667,POSE2_TO_POSE3_RETREAT,793.918704806,749,727.081295194,707,698,655,934,803,835,667,658,675,0.400997681041,-0.00538911654543,0.0498507014322,0.999999956504,0.000145812955133,-0.000253046239395,-4.12162499828e-05,1793256555545550592
+401,6.683333333,POSE2_TO_POSE3_RETREAT,794,749,727.495071802,707,697.504928198,655,934,803,835,667,657.504928198,675,0.400997426294,-0.00538976170853,0.0498509845074,0.999999956745,0.000144821022756,-0.000252728695931,-4.08129029096e-05,1793256555562216960
+402,6.700000000,POSE2_TO_POSE3_RETREAT,794,749,728,707,697.070897009,655,934,803,835,667,657,675,0.400997632219,-0.00539061461697,0.0498515134289,0.999999957128,0.000143561021556,-0.000251999360019,-4.03692038386e-05,1793256555578883584
+403,6.716666667,POSE2_TO_POSE3_RETREAT,794,749,728,707,697.645986784,655,934,803,835,667,657,675,0.400999041086,-0.00539085463601,0.0498521250196,0.999999957355,0.000144153591067,-0.000250743649487,-4.04524932037e-05,1793256555595549440
+404,6.733333333,POSE2_TO_POSE3_RETREAT,794,749,728,707,698,655,934,803,835,667,657.227219346,675,0.400999099247,-0.0053910594363,0.0498520308053,0.999999957297,0.000144388454643,-0.000250813498893,-4.06261930239e-05,1793256555612215808
+405,6.750000000,POSE2_TO_POSE3_RETREAT,794,749,728,707,698,655,934,803,835,667,657.818288536,675,0.400996994504,-0.00539120784033,0.0498508063742,0.99999995678,0.000144050518279,-0.000253005987694,-4.09446685138e-05,1793256555628882688
+406,6.766666667,POSE2_TO_POSE3_RETREAT,794,749,728,707,698,655,934,803,835,667,657.599104467,675,0.400997357528,-0.00539058667724,0.049851082822,0.999999956629,0.000146096115793,-0.000252409622577,-4.10760212257e-05,1793256555645549568
+407,6.783333333,POSE2_TO_POSE3_RETREAT,794,749,728,707,698,655,934,803,835,667,657.020253823,675,0.40099881598,-0.00538962390793,0.0498520255008,0.99999995663,0.000149199749652,-0.000250575301878,-4.11243112446e-05,1793256555662216192
+408,6.800000000,POSE2_TO_POSE3_RETREAT,793.450015227,749,728,707,698,655,934.549984773,803,835,667,657.549984773,675,0.400999135031,-0.00539003105054,0.049852739802,0.999999957345,0.000146887253317,-0.000249147682175,-4.07415156219e-05,1793256555678882816
diff --git a/Part2/Obstacle_avoidance/cylinder_PLA_10/position_02/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_PLA_10/position_02/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3a207335f5def5e636027a5ca825eedc54299f88
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_PLA_10/position_02/depth_05/simulation_data.csv
@@ -0,0 +1,410 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+1,0.016666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+2,0.033333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+3,0.050000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+4,0.066666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+5,0.083333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+6,0.100000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+7,0.116666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+8,0.133333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+9,0.150000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+10,0.166666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+11,0.183333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+12,0.200000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+13,0.216666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+14,0.233333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+15,0.250000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+16,0.266666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+17,0.283333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+18,0.300000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+19,0.316666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+20,0.333333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+21,0.350000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+22,0.366666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+23,0.383333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+24,0.400000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+25,0.416666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+26,0.433333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+27,0.450000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+28,0.466666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+29,0.483333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+30,0.500000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+31,0.516666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+32,0.533333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+33,0.550000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+34,0.566666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+35,0.583333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+36,0.600000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+37,0.616666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+38,0.633333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+39,0.650000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+40,0.666666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+41,0.683333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+42,0.700000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+43,0.716666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+44,0.733333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+45,0.750000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+46,0.766666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+47,0.783333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+48,0.800000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+49,0.816666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+50,0.833333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+51,0.850000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+52,0.866666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+53,0.883333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+54,0.900000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+55,0.916666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+56,0.933333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+57,0.950000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+58,0.966666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+59,0.983333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+60,1.000000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+61,1.016666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+62,1.033333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+63,1.050000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+64,1.066666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+65,1.083333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+66,1.100000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+67,1.116666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+68,1.133333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+69,1.150000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+70,1.166666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+71,1.183333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+72,1.200000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+73,1.216666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+74,1.233333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+75,1.250000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+76,1.266666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+77,1.283333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+78,1.300000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+79,1.316666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+80,1.333333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+81,1.350000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+82,1.366666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+83,1.383333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+84,1.400000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+85,1.416666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+86,1.433333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+87,1.450000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+88,1.466666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+89,1.483333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+90,1.500000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+91,1.516666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+92,1.533333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+93,1.550000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+94,1.566666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+95,1.583333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+96,1.600000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+97,1.616666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+98,1.633333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+99,1.650000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+100,1.666666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+101,1.683333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+102,1.700000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+103,1.716666667,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+104,1.733333333,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+105,1.750000000,pose1_baseline,0.575666710394,0.000181862845544,1.04002043434,0.546237856718,0.00885609579601,1.03969213895
+106,1.766666667,pose1_to_pose2_press,0.575666710209,0.000181852718045,1.0400204364,0.546237856699,0.00885608621235,1.03969214046
+107,1.783333333,pose1_to_pose2_press,0.575666724542,0.000181851053014,1.04002041033,0.546237871268,0.0088560853915,1.03969211555
+108,1.800000000,pose1_to_pose2_press,0.575666737258,0.000181849575824,1.0400203872,0.546237884193,0.00885608466326,1.03969209346
+109,1.816666667,pose1_to_pose2_press,0.575666773829,0.000181845327467,1.04002032068,0.546237921366,0.00885608256885,1.03969202991
+110,1.833333333,pose1_to_pose2_press,0.575666783875,0.000181844160379,1.0400203024,0.546237931578,0.00885608199348,1.03969201245
+111,1.850000000,pose1_to_pose2_press,0.575666792719,0.000181843133048,1.04002028632,0.546237940567,0.00885608148702,1.03969199709
+112,1.866666667,pose1_to_pose2_press,0.575667029959,0.000181826221981,1.04002033359,0.546238176908,0.00885606145454,1.03969204248
+113,1.883333333,pose1_to_pose2_press,0.575667180383,0.000181815614707,1.04002036874,0.54623832671,0.008856048683,1.03969207622
+114,1.900000000,pose1_to_pose2_press,0.575667475693,0.000181801492576,1.0400204209,0.546238621019,0.00885603108106,1.03969212618
+115,1.916666667,pose1_to_pose2_press,0.57566992688,0.000181838272533,1.04002029126,0.546241073568,0.00885607265368,1.03969200103
+116,1.933333333,pose1_to_pose2_press,0.575676399461,0.000181696463157,1.04002054142,0.546247548251,0.00885593779481,1.03969224642
+117,1.950000000,pose1_to_pose2_press,0.575690897752,0.000181874593805,1.04002044727,0.546262044059,0.00885610772944,1.03969215817
+118,1.966666667,pose1_to_pose2_press,0.575714714321,0.000181885994523,1.04002057168,0.546285860673,0.00885611903705,1.03969227595
+119,1.983333333,pose1_to_pose2_press,0.575751192534,0.000181890096175,1.04002060127,0.546322337165,0.0088561172775,1.03969230493
+120,2.000000000,pose1_to_pose2_press,0.575798657695,0.000181686465595,1.04002069315,0.546369805608,0.00885592457194,1.03969239121
+121,2.016666667,pose1_to_pose2_press,0.575856866554,0.000181715019415,1.04002035891,0.546428015876,0.00885595811081,1.03969206225
+122,2.033333333,pose1_to_pose2_press,0.575923315101,0.000181689795422,1.04002053801,0.546494464412,0.00885593301516,1.0396922457
+123,2.050000000,pose1_to_pose2_press,0.575997448648,0.000181666520702,1.04002050234,0.546568598336,0.00885591100656,1.03969220958
+124,2.066666667,pose1_to_pose2_press,0.576078335672,0.000181669425905,1.04002044419,0.546649485914,0.00885591589129,1.03969215406
+125,2.083333333,pose1_to_pose2_press,0.57616801596,0.000181729876913,1.0400206067,0.546739165803,0.00885597453278,1.03969230439
+126,2.100000000,pose1_to_pose2_press,0.576270733223,0.000181750117837,1.04002066645,0.546841882359,0.00885599256519,1.03969236932
+127,2.116666667,pose1_to_pose2_press,0.576386257576,0.000181635492382,1.04002043767,0.546957406992,0.00885587890573,1.03969214085
+128,2.133333333,pose1_to_pose2_press,0.576514900036,0.000181693863889,1.04002050637,0.547086048666,0.008855934806,1.03969221467
+129,2.150000000,pose1_to_pose2_press,0.576660139982,0.000181777522357,1.04002043392,0.547231287928,0.00885601621167,1.03969214405
+130,2.166666667,pose1_to_pose2_press,0.576821296782,0.000181758998415,1.0400204933,0.547392445301,0.00885599968128,1.03969220461
+131,2.183333333,pose1_to_pose2_press,0.576999383838,0.00018180412903,1.04002052098,0.547570531399,0.00885604154689,1.03969223183
+132,2.200000000,pose1_to_pose2_press,0.577197321446,0.000181856126341,1.0400205452,0.547768468364,0.00885609117893,1.03969225115
+133,2.216666667,pose1_to_pose2_press,0.577419103393,0.000181813952238,1.04002062361,0.547990251085,0.00885605150403,1.03969232617
+134,2.233333333,pose1_to_pose2_press,0.577662433225,0.000181781929337,1.0400206279,0.548233580739,0.00885601890798,1.03969233126
+135,2.250000000,pose1_to_pose2_press,0.577926784309,0.000181754245166,1.04002046047,0.54849793127,0.00885598938965,1.03969216483
+136,2.266666667,pose1_to_pose2_press,0.578212327713,0.000181669370479,1.04002039801,0.54878347588,0.00885590853697,1.03969210047
+137,2.283333333,pose1_to_pose2_press,0.578516507985,0.000181715317635,1.04002056636,0.549087656401,0.00885595521857,1.03969226589
+138,2.300000000,pose1_to_pose2_press,0.578838713714,0.000181796402595,1.04002054873,0.549409861631,0.0088560348465,1.03969225444
+139,2.316666667,pose1_to_pose2_press,0.579177206624,0.000181849514768,1.04002051575,0.549748355583,0.00885609149005,1.03969222124
+140,2.333333333,pose1_to_pose2_press,0.579532321097,0.000181768022412,1.04002031924,0.550103467964,0.00885600283687,1.03969202301
+141,2.350000000,pose1_to_pose2_press,0.579904499094,0.000181935762717,1.04002053561,0.550475646644,0.00885617291169,1.03969223994
+142,2.366666667,pose1_to_pose2_press,0.580294430819,0.000182016780613,1.04002054516,0.550865575977,0.00885624587732,1.03969225107
+143,2.383333333,pose1_to_pose2_press,0.580709613202,0.000181810033501,1.0400204549,0.551280760926,0.00885604787063,1.03969216163
+144,2.400000000,pose1_to_pose2_press,0.581152155214,0.00018170293409,1.04002050716,0.551723304867,0.00885594732287,1.0396922141
+145,2.416666667,pose1_to_pose2_press,0.581627052682,0.000181789614644,1.04002043359,0.552198201456,0.00885603132283,1.03969214848
+146,2.433333333,pose1_to_pose2_press,0.582130250356,0.000181801029997,1.04002058456,0.552701398149,0.00885603893505,1.03969228683
+147,2.450000000,pose1_to_pose2_press,0.582660402077,0.000181715099008,1.04002048258,0.553231549765,0.00885595265616,1.03969218501
+148,2.466666667,pose1_to_pose2_press,0.583198167179,0.000181695446166,1.04002036862,0.55376931419,0.00885593072195,1.03969207144
+149,2.483333333,pose1_to_pose2_press,0.583742452065,0.000181794107847,1.04002051891,0.554313597978,0.00885602530429,1.03969221239
+150,2.500000000,pose1_to_pose2_press,0.584300023319,0.000181924936956,1.04002060128,0.554871168717,0.00885615465989,1.03969230194
+151,2.516666667,pose1_to_pose2_press,0.584877001672,0.000181920659007,1.04002057852,0.555448147782,0.00885615325958,1.03969229131
+152,2.533333333,pose1_to_pose2_press,0.5854805487,0.00018178164332,1.04002041491,0.556051696942,0.00885602146263,1.03969212733
+153,2.550000000,pose1_to_pose2_press,0.586113127915,0.000181887375405,1.04002055221,0.556684274775,0.00885612230231,1.03969225929
+154,2.566666667,pose1_to_pose2_press,0.586770117224,0.000181709301428,1.04002073023,0.55734126581,0.00885594948676,1.03969242147
+155,2.583333333,pose1_to_pose2_press,0.587438648197,0.00018164097559,1.04002043772,0.558009796737,0.00885588154609,1.03969214334
+156,2.600000000,pose1_to_pose2_press,0.588115286518,0.00018166310271,1.04002043867,0.558686434551,0.00885590184441,1.03969214135
+157,2.616666667,pose1_to_pose2_press,0.588801801197,0.000181776859662,1.04002051399,0.559372948695,0.00885601402185,1.03969222296
+158,2.633333333,pose1_to_pose2_press,0.589501779075,0.000181680073761,1.04002035245,0.560072927891,0.00885592179124,1.03969206361
+159,2.650000000,pose1_to_pose2_press,0.590215998023,0.000181688466055,1.04002054305,0.560787146736,0.00885592962362,1.03969224869
+160,2.666666667,pose1_to_pose2_press,0.590949955511,0.000181751665924,1.04002061154,0.561521103476,0.00885599013702,1.03969231327
+161,2.683333333,pose1_to_pose2_press,0.591700323489,0.000181789600043,1.04002055329,0.562271470013,0.00885602321703,1.0396922559
+162,2.700000000,pose1_to_pose2_press,0.592463908813,0.000181756294472,1.04002054903,0.563035055267,0.00885598968897,1.03969225209
+163,2.716666667,pose1_to_pose2_press,0.59323774898,0.00018174455499,1.0400205204,0.563808897033,0.00885598323955,1.03969221998
+164,2.733333333,pose1_to_pose2_press,0.594017216313,0.00018182627793,1.04002049838,0.564588363887,0.00885606333767,1.03969219791
+165,2.750000000,pose1_to_pose2_press,0.594802685391,0.000181842838905,1.04002059701,0.565373831514,0.0088560751237,1.03969230045
+166,2.766666667,pose1_to_pose2_press,0.595595196577,0.000181734708793,1.04002063742,0.566166345184,0.00885597527353,1.03969233708
+167,2.783333333,pose1_to_pose2_press,0.596384689206,0.000181644130468,1.04002045939,0.566955839176,0.00885588956905,1.03969216562
+168,2.800000000,pose1_to_pose2_press,0.597173282979,0.000181789034834,1.04002068937,0.567744429921,0.00885602396041,1.03969238935
+169,2.816666667,pose1_to_pose2_press,0.597960722553,0.000181809358089,1.04002067192,0.568531870378,0.00885604741002,1.03969237541
+170,2.833333333,pose1_to_pose2_press,0.598748007969,0.000181724026876,1.04002044095,0.569319156082,0.00885596311072,1.0396921459
+171,2.850000000,pose1_to_pose2_press,0.599538615936,0.000181681134524,1.04002042069,0.570109766174,0.00885592751338,1.03969212796
+172,2.866666667,pose1_to_pose2_press,0.600327828638,0.000181771461327,1.04002050117,0.570898976308,0.00885600926485,1.0396922121
+173,2.883333333,pose1_to_pose2_press,0.601116142036,0.000181905113042,1.04002046701,0.571687286992,0.00885613352472,1.03969217319
+174,2.900000000,pose1_to_pose2_press,0.601912133952,0.000181857554659,1.0400206065,0.572483280377,0.0088560907633,1.03969230783
+175,2.916666667,pose1_to_pose2_press,0.602708021184,0.000181762533244,1.04002068873,0.573279169073,0.00885600066349,1.03969238892
+176,2.933333333,pose1_to_pose2_press,0.603497462744,0.000181757543311,1.04002048243,0.574068609318,0.0088559913518,1.03969218629
+177,2.950000000,pose1_to_pose2_press,0.604275328857,0.000181717696353,1.04002043359,0.574846476176,0.00885595400371,1.03969213673
+178,2.966666667,pose1_to_pose2_press,0.605036429612,0.000181657309884,1.04002050396,0.575607579238,0.00885590147455,1.03969220798
+179,2.983333333,pose1_to_pose2_press,0.605792643301,0.000181719645948,1.04002049489,0.576363791977,0.00885596080025,1.03969220452
+180,3.000000000,pose1_to_pose2_press,0.60654332471,0.000181799908572,1.04002066352,0.577114471956,0.00885603610792,1.03969237052
+181,3.016666667,pose1_to_pose2_press,0.607280874016,0.000181747381416,1.04002062846,0.5778520228,0.00885598885792,1.03969233717
+182,3.033333333,pose1_to_pose2_press,0.608011261431,0.000181729072898,1.04002054498,0.578582410013,0.0088559698876,1.03969225427
+183,3.050000000,pose1_to_pose2_press,0.608733782938,0.00018178573405,1.04002062426,0.579304931946,0.00885602813866,1.03969233755
+184,3.066666667,pose1_to_pose2_press,0.609430890941,0.000181736270953,1.04002053301,0.58000204003,0.00885597861526,1.03969223746
+185,3.083333333,pose1_to_pose2_press,0.610102325984,0.000181791073581,1.04002023739,0.580673472797,0.0088560262933,1.03969195769
+186,3.100000000,pose1_to_pose2_press,0.610749344909,0.000181776965886,1.04002065407,0.581320493141,0.0088560163127,1.03969235629
+187,3.116666667,pose1_to_pose2_press,0.611373816325,0.000181827415475,1.04002056358,0.581944962841,0.00885606110685,1.03969227029
+188,3.133333333,pose1_to_pose2_press,0.611971027547,0.000181783874923,1.04002046169,0.582542174869,0.00885602026797,1.03969216742
+189,3.150000000,pose1_to_pose2_press,0.612547314131,0.00018185765391,1.04002065045,0.583118461017,0.0088560932547,1.03969235467
+190,3.166666667,pose1_to_pose2_press,0.613106308999,0.000181779584742,1.04002066727,0.583677455836,0.00885601763921,1.03969237175
+191,3.183333333,pose1_to_pose2_press,0.613651828394,0.000181729309536,1.04002053901,0.584222974143,0.00885596764903,1.03969224429
+192,3.200000000,pose1_to_pose2_press,0.614187215977,0.000181806508749,1.0400205697,0.584758360152,0.0088560440299,1.03969227617
+193,3.216666667,pose1_to_pose2_press,0.614709867053,0.000181649416127,1.0400206278,0.585281013005,0.00885589766418,1.03969233491
+194,3.233333333,pose1_to_pose2_press,0.615212852584,0.000181730267655,1.04002056895,0.585783995317,0.00885597030271,1.03969227008
+195,3.250000000,pose1_to_pose2_press,0.615689552022,0.000181637845767,1.04002052502,0.586260694493,0.00885588252212,1.03969223362
+196,3.266666667,pose1_to_pose2_press,0.616141781898,0.00018173376036,1.04002053327,0.586712922546,0.00885597674158,1.03969224089
+197,3.283333333,pose1_to_pose2_press,0.616570901662,0.000181842179571,1.04002066918,0.587142039143,0.00885608002357,1.03969236977
+198,3.300000000,pose1_to_pose2_press,0.616987151033,0.000181811742966,1.04002070898,0.587558287801,0.00885604832728,1.03969240374
+199,3.316666667,pose1_to_pose2_press,0.617390549953,0.00018173940186,1.04002053757,0.587961686359,0.00885597728624,1.0396922342
+200,3.333333333,pose1_to_pose2_press,0.617777647927,0.000181734856808,1.04002034155,0.588348782796,0.00885597213746,1.03969204933
+201,3.350000000,pose1_to_pose2_press,0.618143350153,0.000181728275793,1.04002036082,0.58871448484,0.00885596949121,1.03969206917
+202,3.366666667,pose1_to_pose2_press,0.618482488093,0.000181797190495,1.04002043862,0.589053620958,0.00885603479992,1.03969214167
+203,3.383333333,pose1_to_pose2_press,0.618793035294,0.00018186141718,1.04002053951,0.589364166509,0.00885609432011,1.03969224013
+204,3.400000000,pose1_to_pose2_press,0.619075858144,0.000181787045322,1.04002066364,0.589646991689,0.0088560278348,1.03969236292
+205,3.416666667,pose1_to_pose2_press,0.619336701154,0.000181730942227,1.04002051804,0.589907836304,0.00885597607161,1.03969222294
+206,3.433333333,pose1_to_pose2_press,0.619581181172,0.000181713501599,1.04002029682,0.59015231644,0.00885595958996,1.03969200631
+207,3.450000000,pose1_to_pose2_press,0.619814184426,0.000181918914575,1.04002050167,0.590385316378,0.00885615541872,1.03969221072
+208,3.466666667,pose1_to_pose2_press,0.620035741978,0.00018172617771,1.0400205457,0.590606875778,0.00885596943439,1.03969225159
+209,3.483333333,pose1_to_pose2_press,0.620243955652,0.000181704484927,1.04002053889,0.590815089808,0.00885594911077,1.0396922459
+210,3.500000000,pose1_to_pose2_press,0.620434346537,0.000181806647589,1.04002052844,0.591005479325,0.00885604844916,1.03969223747
+211,3.516666667,pose1_to_pose2_press,0.620606404772,0.000181863761147,1.04002070879,0.591177535395,0.00885609809228,1.03969241297
+212,3.533333333,pose1_to_pose2_press,0.620757235693,0.00018189368142,1.04002072962,0.591328366489,0.00885612849435,1.03969243295
+213,3.550000000,pose1_to_pose2_press,0.620891311034,0.000181891170605,1.0400206099,0.59146244272,0.00885612913597,1.03969231554
+214,3.566666667,pose1_to_pose2_press,0.621010092065,0.000181815513922,1.040020557,0.591581224857,0.00885605718434,1.03969226082
+215,3.583333333,pose1_to_pose2_press,0.621116178643,0.000181745677116,1.04002059832,0.591687312193,0.0088559900212,1.03969230207
+216,3.600000000,pose1_to_pose2_press,0.621209795938,0.000181740904214,1.04002060579,0.591780928749,0.00885598285607,1.03969231693
+217,3.616666667,pose1_to_pose2_press,0.621291371609,0.000181722389817,1.04002054331,0.59186250433,0.00885596406416,1.03969225519
+218,3.633333333,pose1_to_pose2_press,0.621362133236,0.000181853576894,1.04002067208,0.591933264423,0.0088560894941,1.03969237944
+219,3.650000000,pose1_to_pose2_press,0.621422454534,0.00018172524913,1.04002082817,0.591993586871,0.0088559640891,1.03969252653
+220,3.666666667,pose1_to_pose2_press,0.621473419119,0.000181888440137,1.04002088576,0.59204454991,0.00885612264819,1.03969258265
+221,3.683333333,pose1_to_pose2_press,0.62151533868,0.000181786734864,1.04002041306,0.592086471497,0.00885602836332,1.03969212456
+222,3.700000000,pose1_to_pose2_press,0.621548662459,0.000181696188157,1.04002056712,0.592119795451,0.00885593740067,1.03969226391
+223,3.716666667,pose1_to_pose2_press,0.621573815168,0.000181754969823,1.04002045872,0.592144947011,0.00885599260864,1.0396921611
+224,3.733333333,pose1_to_pose2_press,0.621591889919,0.000181713562001,1.04002063317,0.592163023187,0.00885595854583,1.03969234605
+225,3.750000000,pose1_to_pose2_press,0.621604434646,0.000181668352757,1.04002064997,0.592175568574,0.0088559137971,1.03969235821
+226,3.766666667,pose1_to_pose2_press,0.621612527195,0.000181657017391,1.04002022257,0.592183661732,0.00885590513518,1.03969193878
+227,3.783333333,pose1_to_pose2_press,0.621618255807,0.000181632023062,1.04002005654,0.592189390035,0.00885587951122,1.03969177288
+228,3.800000000,pose1_to_pose2_press,0.621622013919,0.000181595743431,1.04002016242,0.592193147189,0.00885583991442,1.03969187143
+229,3.816666667,pose1_to_pose2_press,0.621624606035,0.000181678397067,1.04002044513,0.592195738692,0.00885592033068,1.03969214926
+230,3.833333333,pose1_to_pose2_press,0.621626210495,0.00018174666805,1.04002065343,0.592197342779,0.00885598722483,1.03969235458
+231,3.850000000,pose1_to_pose2_press,0.621627004055,0.000181762119637,1.04002067379,0.592198135998,0.00885600078967,1.03969237148
+232,3.866666667,pose1_to_pose2_press,0.62162741298,0.000181764379829,1.04002065855,0.592198544698,0.00885600170223,1.03969235384
+233,3.883333333,pose1_to_pose2_press,0.621627589662,0.000181765356376,1.04002065196,0.592198721283,0.00885600209651,1.03969234621
+234,3.900000000,pose1_to_pose2_press,0.621627703586,0.000181765986053,1.04002064771,0.592198835144,0.00885600235074,1.0396923413
+235,3.916666667,pose1_to_pose2_press,0.621627718735,0.000181766069784,1.04002064715,0.592198850285,0.00885600238455,1.03969234064
+236,3.933333333,pose1_to_pose2_press,0.621628007594,0.000181767666352,1.04002063638,0.592199138985,0.00885600302916,1.03969232818
+237,3.950000000,pose1_to_pose2_press,0.621628384265,0.000181769748273,1.04002062234,0.592199515449,0.00885600386974,1.03969231192
+238,3.966666667,pose1_to_pose2_press,0.621628573333,0.000181770793284,1.04002061529,0.592199704413,0.00885600429167,1.03969230376
+239,3.983333333,pose1_to_pose2_press,0.621628591572,0.000181770894091,1.04002061461,0.592199722642,0.00885600433237,1.03969230298
+240,4.000000000,pose1_to_pose2_press,0.621628755183,0.000181777196488,1.04002060683,0.592199886195,0.00885601065086,1.03969229705
+241,4.016666667,pose1_to_pose2_press,0.621629074703,0.000181789997333,1.04002059148,0.592200205605,0.00885602353382,1.03969228558
+242,4.033333333,pose1_to_pose2_press,0.621629471707,0.000181805902404,1.04002057241,0.592200602473,0.00885603954092,1.03969227132
+243,4.050000000,pose1_to_pose2_press,0.621629653562,0.000181819147802,1.04002056837,0.592200784987,0.00885605514025,1.03969226835
+244,4.066666667,pose1_to_pose2_press,0.621629758824,0.000181847368786,1.04002053447,0.592200890594,0.00885608457162,1.03969223532
+245,4.083333333,pose1_to_pose2_press,0.621629760577,0.000181972515273,1.04002032276,0.592200891079,0.00885620547841,1.03969202679
+246,4.100000000,pose2_hold,0.621629760577,0.000181972515273,1.04002032276,0.592200891157,0.00885620542332,1.03969202677
+247,4.116666667,pose2_hold,0.621629760577,0.000181972515273,1.04002032276,0.592200891163,0.00885620543407,1.03969202678
+248,4.133333333,pose2_hold,0.621629760577,0.000181972515273,1.04002032276,0.592200891062,0.00885620537301,1.03969202675
+249,4.150000000,pose2_hold,0.621629760577,0.000181972515273,1.04002032276,0.59220089106,0.00885620541855,1.03969202675
+250,4.166666667,pose2_hold,0.621629760577,0.000181972515273,1.04002032276,0.592200891068,0.00885620542934,1.03969202676
+251,4.183333333,pose2_hold,0.621629760577,0.000181972515273,1.04002032276,0.59220089107,0.00885620544383,1.03969202677
+252,4.200000000,pose2_hold,0.621629760577,0.000181972515273,1.04002032276,0.592200891079,0.00885620545241,1.03969202677
+253,4.216666667,pose2_hold,0.621629760577,0.000181972515273,1.04002032276,0.592200891085,0.00885620546316,1.03969202678
+254,4.233333333,pose2_hold,0.621629760577,0.000181972515273,1.04002032276,0.59220089109,0.00885620547368,1.03969202679
+255,4.250000000,pose2_hold,0.621629760577,0.000181972515273,1.04002032276,0.59220089119,0.008856205376,1.03969202676
+256,4.266666667,pose2_hold,0.621629760577,0.000181972515273,1.04002032276,0.59220089119,0.00885620540837,1.03969202677
+257,4.283333333,pose2_hold,0.621629760577,0.000181972515273,1.04002032276,0.592200891192,0.0088562054245,1.03969202678
+258,4.300000000,pose2_hold,0.621629760577,0.000181972515273,1.04002032276,0.592200891201,0.00885620543025,1.03969202678
+259,4.316666667,pose2_hold,0.621629760577,0.000181972515273,1.04002032276,0.5922008912,0.00885620544447,1.03969202679
+260,4.333333333,pose2_hold,0.621629760577,0.000181972515273,1.04002032276,0.592200891211,0.00885620544976,1.03969202679
+261,4.350000000,pose2_hold,0.621629760577,0.000181972515273,1.04002032276,0.592200891222,0.00885620535403,1.03969202677
+262,4.366666667,pose2_hold,0.621629760577,0.000181972515273,1.04002032276,0.592200891233,0.0088562053853,1.03969202676
+263,4.383333333,pose2_hold,0.621629760577,0.000181972515273,1.04002032276,0.592200891235,0.00885620539923,1.03969202677
+264,4.400000000,pose2_to_pose3_retreat,0.621629760577,0.000181972515273,1.04002032276,0.592200891261,0.00885620537347,1.03969202676
+265,4.416666667,pose2_to_pose3_retreat,0.621629759699,0.00018190070681,1.04002042756,0.592200891011,0.00885613567252,1.03969213088
+266,4.433333333,pose2_to_pose3_retreat,0.621629758148,0.000181773776273,1.0400206128,0.592200890569,0.00885601246728,1.03969231493
+267,4.450000000,pose2_to_pose3_retreat,0.621629712046,0.000181740738808,1.04002065277,0.592200844715,0.00885598027852,1.03969235515
+268,4.466666667,pose2_to_pose3_retreat,0.621629666064,0.000181755413118,1.04002062302,0.592200798564,0.00885599440003,1.0396923261
+269,4.483333333,pose2_to_pose3_retreat,0.621629656055,0.000181758607492,1.04002061655,0.592200788518,0.00885599747406,1.03969231977
+270,4.500000000,pose2_to_pose3_retreat,0.621629446885,0.000181825360804,1.04002048123,0.59220057858,0.00885606171266,1.03969218763
+271,4.516666667,pose2_to_pose3_retreat,0.621628534695,0.000181775896597,1.04002041444,0.592199668019,0.00885601783643,1.03969212303
+272,4.533333333,pose2_to_pose3_retreat,0.62162510741,0.000181830549413,1.04002042638,0.59219623855,0.0088560648844,1.03969213215
+273,4.550000000,pose2_to_pose3_retreat,0.621616520663,0.000181902698465,1.04002049228,0.592187651854,0.00885613680833,1.03969219788
+274,4.566666667,pose2_to_pose3_retreat,0.621601408379,0.000181635819901,1.04002043071,0.592172543977,0.00885588492613,1.03969213597
+275,4.583333333,pose2_to_pose3_retreat,0.6215768621,0.000181734342541,1.04002052938,0.592147995741,0.00885597661574,1.0396922385
+276,4.600000000,pose2_to_pose3_retreat,0.621542786469,0.000181725384256,1.0400204617,0.592113920104,0.0088559674943,1.03969217088
+277,4.616666667,pose2_to_pose3_retreat,0.621498486334,0.000181808843154,1.04002071775,0.592069620215,0.00885605125129,1.03969241584
+278,4.633333333,pose2_to_pose3_retreat,0.621444069474,0.000181786609295,1.04002055434,0.592015203466,0.00885602947518,1.03969226767
+279,4.650000000,pose2_to_pose3_retreat,0.621378646509,0.000181734344022,1.0400205422,0.591949780304,0.00885597607881,1.03969224821
+280,4.666666667,pose2_to_pose3_retreat,0.621301586189,0.000181709239667,1.04002053442,0.591872720731,0.00885595315195,1.03969224274
+281,4.683333333,pose2_to_pose3_retreat,0.621212190567,0.000181850594894,1.04002049792,0.591783324684,0.008856093005,1.03969221389
+282,4.700000000,pose2_to_pose3_retreat,0.621108496264,0.000181728259804,1.04002062153,0.591679629477,0.0088559669422,1.03969233081
+283,4.716666667,pose2_to_pose3_retreat,0.620991006714,0.000181687106115,1.04002053414,0.591562142122,0.00885593276456,1.0396922444
+284,4.733333333,pose2_to_pose3_retreat,0.62085886792,0.000181749594859,1.04002055938,0.591430002453,0.00885599139248,1.03969225968
+285,4.750000000,pose2_to_pose3_retreat,0.620710846231,0.000181788447655,1.04002058114,0.591281980253,0.00885602846989,1.03969227892
+286,4.766666667,pose2_to_pose3_retreat,0.620544693155,0.000181817760444,1.04002057129,0.591115827443,0.00885605777165,1.03969227221
+287,4.783333333,pose2_to_pose3_retreat,0.620362911778,0.000181791783837,1.04002060998,0.590934045818,0.00885603097775,1.03969231583
+288,4.800000000,pose2_to_pose3_retreat,0.620166212606,0.00018178337828,1.04002050353,0.590737347323,0.00885602390501,1.03969220984
+289,4.816666667,pose2_to_pose3_retreat,0.619954577319,0.000181723423362,1.04002039308,0.590525714204,0.00885596905562,1.03969209809
+290,4.833333333,pose2_to_pose3_retreat,0.619730837018,0.000181554937821,1.04002050441,0.590301975525,0.00885580533146,1.03969221355
+291,4.850000000,pose2_to_pose3_retreat,0.619494927622,0.000181611707861,1.0400203873,0.590066065296,0.00885585969722,1.0396921009
+292,4.866666667,pose2_to_pose3_retreat,0.619242600556,0.000181769231519,1.04002051983,0.589813735726,0.00885600757187,1.03969222688
+293,4.883333333,pose2_to_pose3_retreat,0.618972179447,0.00018182554051,1.04002047136,0.589543315367,0.00885606538877,1.03969217549
+294,4.900000000,pose2_to_pose3_retreat,0.618685744483,0.000181803598889,1.04002050666,0.589256880247,0.00885604185488,1.03969220827
+295,4.916666667,pose2_to_pose3_retreat,0.618383326048,0.000181784388184,1.04002046038,0.588954461435,0.00885602087352,1.03969216804
+296,4.933333333,pose2_to_pose3_retreat,0.618061810602,0.000181806377984,1.04002026418,0.588632946694,0.00885604496392,1.03969198519
+297,4.950000000,pose2_to_pose3_retreat,0.617723005864,0.000181766960935,1.04002040665,0.588294142687,0.00885600486386,1.03969211662
+298,4.966666667,pose2_to_pose3_retreat,0.617364503353,0.000181680971715,1.04002040204,0.587935643795,0.00885592367944,1.03969211254
+299,4.983333333,pose2_to_pose3_retreat,0.616978339163,0.000181685484641,1.04002048006,0.587549479653,0.00885592797284,1.03969219031
+300,5.000000000,pose2_to_pose3_retreat,0.616564543173,0.000181824506313,1.04002059896,0.587135682705,0.00885606288462,1.03969230614
+301,5.016666667,pose2_to_pose3_retreat,0.616127634245,0.000181925241698,1.04002054448,0.5866987739,0.00885616009119,1.03969225005
+302,5.033333333,pose2_to_pose3_retreat,0.615671293664,0.000181864577648,1.04002029597,0.586242434731,0.00885609932396,1.03969200494
+303,5.050000000,pose2_to_pose3_retreat,0.615198617154,0.00018184707266,1.04002030871,0.585769759409,0.00885608184313,1.03969202043
+304,5.066666667,pose2_to_pose3_retreat,0.614716300899,0.000181827564588,1.04002063797,0.585287442837,0.00885605894104,1.03969234258
+305,5.083333333,pose2_to_pose3_retreat,0.614225197917,0.000181788379103,1.0400207716,0.584796342186,0.00885602477996,1.03969247219
+306,5.100000000,pose2_to_pose3_retreat,0.6137133757,0.000181869133648,1.04002061342,0.584284520206,0.00885610283762,1.03969231415
+307,5.116666667,pose2_to_pose3_retreat,0.613180178702,0.000181887719931,1.04002052608,0.583751324034,0.00885612058998,1.03969223029
+308,5.133333333,pose2_to_pose3_retreat,0.612626176963,0.000181775750256,1.04002059568,0.583197324998,0.00885601399582,1.03969230114
+309,5.150000000,pose2_to_pose3_retreat,0.612055551686,0.000181758745148,1.04002035808,0.582626700745,0.00885599572419,1.03969205384
+310,5.166666667,pose2_to_pose3_retreat,0.611470552134,0.000181828773223,1.04002052466,0.582041700195,0.00885605915287,1.03969222761
+311,5.183333333,pose2_to_pose3_retreat,0.610875983263,0.000181814867971,1.04002053476,0.581447134356,0.0088560511721,1.03969224179
+312,5.200000000,pose2_to_pose3_retreat,0.610269885266,0.000181770401028,1.04002055082,0.580841039151,0.00885601202297,1.03969225506
+313,5.216666667,pose2_to_pose3_retreat,0.609630866772,0.000181792324237,1.04002046103,0.580202021477,0.00885603263349,1.03969216639
+314,5.233333333,pose2_to_pose3_retreat,0.608958565392,0.000181853722741,1.04002029333,0.579529719904,0.00885608906031,1.03969200761
+315,5.250000000,pose2_to_pose3_retreat,0.608254518066,0.000181744865284,1.04002038801,0.578825675072,0.00885598400198,1.03969210111
+316,5.266666667,pose2_to_pose3_retreat,0.607525933135,0.000181731487305,1.04002045841,0.578097091756,0.00885597061336,1.03969215633
+317,5.283333333,pose2_to_pose3_retreat,0.606774902873,0.000181775995962,1.04002051554,0.577346064309,0.0088560202187,1.0396922272
+318,5.300000000,pose2_to_pose3_retreat,0.606018937109,0.000181817868581,1.04002043935,0.576590099341,0.00885605964537,1.03969214627
+319,5.316666667,pose2_to_pose3_retreat,0.605256912192,0.000181646752311,1.04002049913,0.575828076975,0.00885589224424,1.03969220665
+320,5.333333333,pose2_to_pose3_retreat,0.604490385937,0.00018171736039,1.0400204473,0.575061549746,0.00885595490562,1.03969215569
+321,5.350000000,pose2_to_pose3_retreat,0.603719865918,0.000181818094145,1.04002048543,0.574291030006,0.0088560515531,1.03969219099
+322,5.366666667,pose2_to_pose3_retreat,0.602943895951,0.00018182985506,1.04002054951,0.573515062149,0.00885606541458,1.03969225487
+323,5.383333333,pose2_to_pose3_retreat,0.602161803118,0.000181782990621,1.04002061509,0.572732971266,0.00885602033741,1.03969232106
+324,5.400000000,pose2_to_pose3_retreat,0.60137139608,0.000181727390837,1.04002073076,0.571942565566,0.00885596432286,1.03969243025
+325,5.416666667,pose2_to_pose3_retreat,0.600573530448,0.00018181859885,1.04002034079,0.571144699295,0.00885604903022,1.03969204629
+326,5.433333333,pose2_to_pose3_retreat,0.599768585893,0.000181719580306,1.04002076873,0.570339761397,0.00885596753775,1.0396924729
+327,5.450000000,pose2_to_pose3_retreat,0.59895271574,0.000181714696523,1.04002059825,0.569523890902,0.00885595746503,1.03969229675
+328,5.466666667,pose2_to_pose3_retreat,0.598142836269,0.000181785124929,1.04002066977,0.568714012973,0.00885602749765,1.03969236638
+329,5.483333333,pose2_to_pose3_retreat,0.597353364269,0.000181828672238,1.04002054448,0.56792454123,0.00885606685316,1.03969224197
+330,5.500000000,pose2_to_pose3_retreat,0.596571297549,0.000181749333039,1.04002033706,0.567142476958,0.00885599241267,1.03969204793
+331,5.516666667,pose2_to_pose3_retreat,0.595796083253,0.000181706453779,1.04002026666,0.566367265475,0.00885595537389,1.03969198995
+332,5.533333333,pose2_to_pose3_retreat,0.595026414528,0.000181828800301,1.040020358,0.565597596335,0.0088560712086,1.03969207775
+333,5.550000000,pose2_to_pose3_retreat,0.594254573418,0.00018195662437,1.04002041458,0.564825752504,0.00885618539132,1.03969212219
+334,5.566666667,pose2_to_pose3_retreat,0.593476732693,0.000181746681695,1.04002039843,0.564047914812,0.00885598245607,1.03969211048
+335,5.583333333,pose2_to_pose3_retreat,0.592696605373,0.000181725619108,1.04002039916,0.563267790991,0.00885596783675,1.03969210942
+336,5.600000000,pose2_to_pose3_retreat,0.591914674336,0.000181696272039,1.04002041388,0.562485862332,0.00885594214918,1.03969212186
+337,5.616666667,pose2_to_pose3_retreat,0.591154019531,0.000181792767963,1.04002059575,0.561725206575,0.00885603203323,1.0396923012
+338,5.633333333,pose2_to_pose3_retreat,0.590413624248,0.000181885099829,1.04002074473,0.560984811092,0.00885611933145,1.03969244773
+339,5.650000000,pose2_to_pose3_retreat,0.589690847026,0.000181881052558,1.040020607,0.560262034816,0.00885611484837,1.03969231218
+340,5.666666667,pose2_to_pose3_retreat,0.588987117409,0.00018181924239,1.04002056069,0.559558306987,0.00885605539938,1.03969226386
+341,5.683333333,pose2_to_pose3_retreat,0.58830189106,0.000181761563544,1.04002075614,0.558873082967,0.00885600082711,1.03969245043
+342,5.700000000,pose2_to_pose3_retreat,0.587624013539,0.000181699094396,1.0400204903,0.558195207151,0.00885594083041,1.03969218907
+343,5.716666667,pose2_to_pose3_retreat,0.586952284513,0.000181738247904,1.0400207798,0.557523479169,0.00885598071192,1.03969248553
+344,5.733333333,pose2_to_pose3_retreat,0.586298115426,0.000181743050725,1.04002068209,0.556869311381,0.00885598603975,1.03969238834
+345,5.750000000,pose2_to_pose3_retreat,0.585662517537,0.000181628648116,1.04002038164,0.556233715307,0.00885587472998,1.03969209073
+346,5.766666667,pose2_to_pose3_retreat,0.58504564578,0.000181723769185,1.040020468,0.555616843713,0.00885596735025,1.03969217296
+347,5.783333333,pose2_to_pose3_retreat,0.584448738175,0.0001817315828,1.04002048733,0.555019936993,0.00885597551334,1.03969219136
+348,5.800000000,pose2_to_pose3_retreat,0.583874341501,0.000181672096266,1.04002047997,0.554445541616,0.0088559176452,1.03969218394
+349,5.816666667,pose2_to_pose3_retreat,0.583317086707,0.000181656860479,1.04002058355,0.553888287741,0.00885590236145,1.0396922883
+350,5.833333333,pose2_to_pose3_retreat,0.5827807317,0.00018166319183,1.04002062015,0.553351933556,0.00885590866418,1.03969233126
+351,5.850000000,pose2_to_pose3_retreat,0.582273081308,0.000181784065153,1.04002054859,0.552844282555,0.00885602521122,1.0396922552
+352,5.866666667,pose2_to_pose3_retreat,0.581787580527,0.000181823513157,1.04002060293,0.552358782345,0.00885606398072,1.03969229696
+353,5.883333333,pose2_to_pose3_retreat,0.581317412199,0.000181729849426,1.04002046201,0.55188861554,0.00885597364501,1.03969216736
+354,5.900000000,pose2_to_pose3_retreat,0.580857903211,0.000181702366023,1.04002050262,0.551429107713,0.00885594770182,1.03969220804
+355,5.916666667,pose2_to_pose3_retreat,0.580409571293,0.000181687635745,1.04002049147,0.550980776534,0.00885593302043,1.03969219251
+356,5.933333333,pose2_to_pose3_retreat,0.579981831296,0.00018168118346,1.04002049386,0.550553036962,0.00885592601471,1.0396921967
+357,5.950000000,pose2_to_pose3_retreat,0.579579379037,0.000181788234545,1.04002051338,0.550150584918,0.00885603219052,1.03969222562
+358,5.966666667,pose2_to_pose3_retreat,0.57921472635,0.000181866633301,1.0400205051,0.549785933131,0.00885611199209,1.0396922216
+359,5.983333333,pose2_to_pose3_retreat,0.578881746392,0.000181730117846,1.04002054645,0.549452954879,0.00885597927289,1.039692253
+360,6.000000000,pose2_to_pose3_retreat,0.578577280945,0.000181725116493,1.04002058014,0.549148488666,0.00885596971602,1.03969227798
+361,6.016666667,pose2_to_pose3_retreat,0.578288119605,0.000181851912745,1.04002054861,0.548859327146,0.00885609484616,1.03969225498
+362,6.033333333,pose2_to_pose3_retreat,0.57801159636,0.000181807026278,1.04002035778,0.548582803877,0.00885604875143,1.03969207072
+363,6.050000000,pose2_to_pose3_retreat,0.57774438177,0.000181693072836,1.04002035903,0.54831559163,0.00885594130452,1.03969207049
+364,6.066666667,pose2_to_pose3_retreat,0.577488927801,0.000181714515582,1.04002048386,0.548060137813,0.00885596187638,1.0396921919
+365,6.083333333,pose2_to_pose3_retreat,0.577251428424,0.000181730628182,1.04002055143,0.547822637831,0.00885597466262,1.0396922573
+366,6.100000000,pose2_to_pose3_retreat,0.57703495731,0.000181731916597,1.04002060765,0.547606167105,0.00885597607725,1.03969231104
+367,6.116666667,pose2_to_pose3_retreat,0.576841692696,0.000181818449325,1.0400206976,0.547412901749,0.00885605903659,1.03969239694
+368,6.133333333,pose2_to_pose3_retreat,0.576670891846,0.000181717369228,1.04002066427,0.547242102101,0.00885596093126,1.03969235895
+369,6.150000000,pose2_to_pose3_retreat,0.576521047772,0.000181626988302,1.04002044424,0.547092259817,0.0088558761784,1.03969214605
+370,6.166666667,pose2_to_pose3_retreat,0.576389942661,0.000181747752544,1.0400203702,0.546961153717,0.00885599359502,1.03969208888
+371,6.183333333,pose2_to_pose3_retreat,0.576274753366,0.000181668239445,1.04002050985,0.546845965116,0.00885591553956,1.03969222048
+372,6.200000000,pose2_to_pose3_retreat,0.576174208262,0.000181684218702,1.04002062462,0.546745420355,0.00885593206692,1.03969233223
+373,6.216666667,pose2_to_pose3_retreat,0.576084970625,0.000181674798595,1.04002054469,0.546656183113,0.00885592358193,1.03969225198
+374,6.233333333,pose2_to_pose3_retreat,0.576006595979,0.000181645404,1.04002053051,0.54657780919,0.00885589625768,1.03969223503
+375,6.250000000,pose2_to_pose3_retreat,0.575938796265,0.000181684764607,1.04002063312,0.546510009736,0.00885593614014,1.03969233418
+376,6.266666667,pose2_to_pose3_retreat,0.575880758964,0.000181834645733,1.04002045389,0.54645197097,0.008856080941,1.03969216021
+377,6.283333333,pose2_to_pose3_retreat,0.575832705537,0.000181766044549,1.04002064683,0.546403918508,0.00885601543647,1.03969235624
+378,6.300000000,pose2_to_pose3_retreat,0.575793301164,0.000181748387997,1.04002055767,0.546364513572,0.00885599562817,1.0396922664
+379,6.316666667,pose2_to_pose3_retreat,0.575762158078,0.000181720737179,1.04002055805,0.54633337072,0.00885596836434,1.03969226096
+380,6.333333333,pose2_to_pose3_retreat,0.575736967937,0.000181739855996,1.04002055296,0.546308181022,0.00885598889189,1.03969225774
+381,6.350000000,pose2_to_pose3_retreat,0.575717292813,0.000181775091291,1.04002052556,0.546288506164,0.00885602516915,1.03969223729
+382,6.366666667,pose2_to_pose3_retreat,0.57570182655,0.00018174303027,1.04002052649,0.546273039915,0.00885599308431,1.03969223844
+383,6.383333333,pose2_to_pose3_retreat,0.575690234866,0.000181823535952,1.0400205545,0.546261446651,0.00885606799407,1.03969226053
+384,6.400000000,pose2_to_pose3_retreat,0.575682172355,0.000181894718941,1.04002071424,0.546253382944,0.0088561348178,1.03969241477
+385,6.416666667,pose2_to_pose3_retreat,0.575676460137,0.000181923470082,1.04002065931,0.546247670179,0.0088561616874,1.03969236079
+386,6.433333333,pose2_to_pose3_retreat,0.575672785254,0.00018190553525,1.04002032852,0.546243995397,0.0088561444002,1.03969203789
+387,6.450000000,pose2_to_pose3_retreat,0.575670549315,0.000181885891402,1.04002043543,0.546241759766,0.00885612572473,1.03969214346
+388,6.466666667,pose2_to_pose3_retreat,0.575669313291,0.000181874035393,1.04002052971,0.54624052394,0.00885611446962,1.0396922363
+389,6.483333333,pose2_to_pose3_retreat,0.575668591528,0.000181826999675,1.04002058087,0.54623980291,0.00885606994514,1.03969228823
+390,6.500000000,pose2_to_pose3_retreat,0.575668222499,0.000181794001162,1.04002060616,0.546239434393,0.00885603871261,1.03969231427
+391,6.516666667,pose2_to_pose3_retreat,0.575668220171,0.000181793792985,1.04002060631,0.546239432068,0.00885603851557,1.03969231444
+392,6.533333333,pose2_to_pose3_retreat,0.575668203322,0.000181792286344,1.04002060747,0.546239415243,0.00885603708956,1.03969231562
+393,6.550000000,pose2_to_pose3_retreat,0.575668185321,0.000181790676768,1.0400206087,0.546239397268,0.00885603556613,1.03969231689
+394,6.566666667,pose2_to_pose3_retreat,0.575668134676,0.000181786148045,1.04002061217,0.546239346692,0.00885603127977,1.03969232047
+395,6.583333333,pose2_to_pose3_retreat,0.57566809028,0.000181782178144,1.04002061521,0.546239302358,0.00885602752232,1.0396923236
+396,6.600000000,pose2_to_pose3_retreat,0.575668073184,0.000181780649462,1.04002061639,0.546239285286,0.00885602607545,1.03969232481
+397,6.616666667,pose2_to_pose3_retreat,0.575667956165,0.000181770185644,1.0400206244,0.546239168429,0.00885601617162,1.03969233307
+398,6.633333333,pose2_to_pose3_retreat,0.575667654244,0.000181743187923,1.04002064509,0.546238866928,0.00885599061874,1.03969235437
+399,6.650000000,pose2_to_pose3_retreat,0.575667382976,0.000181725708247,1.04002063062,0.546238596017,0.00885597436967,1.03969234016
+400,6.666666667,pose2_to_pose3_retreat,0.575667158542,0.000181717495672,1.04002058816,0.546238371859,0.00885596711298,1.03969229764
+401,6.683333333,pose2_to_pose3_retreat,0.575667005054,0.000181711879226,1.04002055912,0.546238218561,0.00885596215024,1.03969226856
+402,6.700000000,pose2_to_pose3_retreat,0.575666945407,0.00018170969658,1.04002054783,0.546238158987,0.00885596022164,1.03969225726
+403,6.716666667,pose2_to_pose3_retreat,0.57566688111,0.000181710160762,1.04002053443,0.546238094709,0.00885596074979,1.03969224377
+404,6.733333333,pose2_to_pose3_retreat,0.575666876692,0.000181713846515,1.04002053189,0.546238090213,0.00885596416771,1.03969224113
+405,6.750000000,pose2_to_pose3_retreat,0.575666800629,0.000181777294317,1.04002048826,0.546238012809,0.00885602300495,1.03969219575
+406,6.766666667,pose2_to_pose3_retreat,0.575666794592,0.000181782329627,1.0400204848,0.546238006666,0.00885602767436,1.03969219214
+407,6.783333333,pose2_to_pose3_retreat,0.575666792293,0.000181784247595,1.04002048348,0.546238004326,0.00885602945296,1.03969219077
+408,6.800000000,pose2_to_pose3_retreat,0.575666710394,0.000181862845544,1.04002043434,0.546237920819,0.00885610252599,1.03969214028
diff --git a/Part2/Obstacle_avoidance/cylinder_PLA_10/position_03/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_PLA_10/position_03/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..785ab3d2fb9a97ddd5b2511810ba86292b0f192e
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_PLA_10/position_03/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d8f1a908c185bc43aab772acb9b57a1f1198f1a68f80f86d90c10034dafb0229
+size 25821892
diff --git a/Part2/Obstacle_avoidance/cylinder_PLA_10/position_03/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_PLA_10/position_03/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6b3225bcdace94f4898cc9ec0ee61502b74f57e2
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_PLA_10/position_03/depth_01/franka_data.csv
@@ -0,0 +1,408 @@
+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,796,749,727,709,698,656,935,803,835,671,658,678,0.401037373613,-0.00549642787974,0.0698558799711,0.999999987314,5.87995116574e-05,-0.000147025861163,1.72896337958e-05,1793256557215141632
+1,0.016666667,BASELINE,796,748.398796147,727,709.601203853,698,656,935,803,835,670.398796147,658,678,0.401036163607,-0.00549627410417,0.0698549600986,0.999999987313,5.67697108457e-05,-0.000147828579783,1.7246428131e-05,1793256557231808512
+2,0.033333333,BASELINE,796,748,727,709.806079545,698.193920455,656,935,803,835,670.193920455,658,677.806079545,0.401035266379,-0.00549585163104,0.0698542086721,0.999999987222,5.65262674494e-05,-0.000148537037051,1.72292275852e-05,1793256557248475136
+3,0.050000000,BASELINE,796,748,727,709.230084944,698.769915056,656,935,803,835,670.769915056,658,677.230084944,0.401034985403,-0.00549489975324,0.0698537891282,0.999999986953,5.98024162016e-05,-0.000149059774885,1.72632639349e-05,1793256557265141504
+4,0.066666667,BASELINE,796,748,727,709,699,656,935,803,835,670.64538175,658,677,0.401034015632,-0.00549424213038,0.069853289045,0.999999986779,6.01466250844e-05,-0.000150128667257,1.69296261042e-05,1793256557281808128
+5,0.083333333,BASELINE,796,748,727,709,699,656,935,803,835,670.054885992,658,677,0.401032587702,-0.00549378023388,0.0698527353904,0.999999986667,5.85406276813e-05,-0.000151560839182,1.63514264941e-05,1793256557298475008
+6,0.100000000,BASELINE,795.474339814,748,727,709,699,656,935,803.525660186,835,670.525660186,658,677,0.40103302475,-0.00549338703226,0.0698529864195,0.999999986626,5.90537651478e-05,-0.00015163817844,1.63245969185e-05,1793256557315141632
+7,0.116666667,BASELINE,795.104293657,748,727,709.104293657,699,656,935.104293657,804,835,671,658,677.104293657,0.401033606172,-0.0054931028667,0.0698533823403,0.999999986607,5.97362017603e-05,-0.000151491808211,1.63722764308e-05,1793256557331808256
+8,0.133333333,BASELINE,795.67889952,748,727,709.67889952,699,656,935.67889952,804,835,671,658,677.67889952,0.401033976829,-0.00549327865489,0.0698540598017,0.999999986657,6.02028283393e-05,-0.000150962696136,1.65011633719e-05,1793256557348474624
+9,0.150000000,BASELINE,796,748,727,710,699,656,935.740581905,804,835,671,658,677.740581905,0.401033743922,-0.00549367932733,0.069854004888,0.999999986651,5.97852098973e-05,-0.000151154747599,1.66404771192e-05,1793256557365141248
+10,0.166666667,BASELINE,796,748,727,710,699,656,935.152574089,804,835,671,658,677.152574089,0.401032746517,-0.00549436484748,0.0698530223175,0.999999986571,5.82475699894e-05,-0.000152260254761,1.6792997882e-05,1793256557381807616
+11,0.183333333,BASELINE,796,748,727,709.570935021,698.570935021,655.570935021,935,803.570935021,835,670.570935021,658,677,0.40103244816,-0.00549439965296,0.0698527738297,0.999999986646,5.78617995197e-05,-0.000151926858898,1.67100058951e-05,1793256557398474240
+12,0.200000000,BASELINE,796,748,727,709.008429963,698.008429963,655.008429963,935,803.008429963,835,670.008429963,658,677,0.40103241202,-0.00549419029228,0.0698528023958,0.999999986772,5.79243892939e-05,-0.000151082959655,1.65486051288e-05,1793256557415141120
+13,0.216666667,BASELINE,796,748,727,709.584927574,698.584927574,655.584927574,935,803.584927574,835,670.584927574,658,677,0.401033539937,-0.00549289205993,0.0698541675435,0.999999986778,6.10025478822e-05,-0.000149813315684,1.6664425301e-05,1793256557431808256
+14,0.233333333,BASELINE,796,748,727,709.839418714,699,656,935,803.839418714,835,671,658,677,0.401033823513,-0.00549205363186,0.0698547484989,0.999999986713,6.2797499018e-05,-0.000149508836116,1.66836600727e-05,1793256557448475136
+15,0.250000000,BASELINE,796,748,727,709.265934798,699,656,935,803.265934798,835,671,658,677,0.401031936034,-0.00549239749821,0.0698533130609,0.999999986482,6.12929397216e-05,-0.000151686083337,1.64545448473e-05,1793256557465141760
+16,0.266666667,BASELINE,796,748.317278751,727,709,699,656,935,803,835,671,658,677,0.40103074737,-0.00549285554438,0.0698527527493,0.999999986257,6.12619884422e-05,-0.000153183686526,1.6392660318e-05,1793256557481808640
+17,0.283333333,BASELINE,796,748.908905386,727,709,699,656,935,803,835,671,658,677,0.401030162964,-0.00549341232074,0.0698529491511,0.999999986038,6.25052519267e-05,-0.000154093607926,1.64753785762e-05,1793256557498475008
+18,0.300000000,BASELINE,795.510337098,748.510337098,727,709.489662902,699,656,935,803.489662902,835,671,658,677,0.401030903484,-0.00549321212014,0.0698529936954,0.999999986132,6.23068843038e-05,-0.000153556191305,1.65411352593e-05,1793256557515141376
+19,0.316666667,BASELINE,795.068125122,748,727,710,699,656,935.068125122,803.931874878,835,671,658,677,0.40103165541,-0.00549292206091,0.0698529577546,0.999999986245,6.18130062961e-05,-0.000153018642133,1.65905536128e-05,1793256557531808000
+20,0.333333333,BASELINE,795.644222422,748,727,710,699,656,935.644222422,803.355777578,835,671,658,677,0.401030694407,-0.00549298922442,0.0698525277575,0.999999986072,6.10720219846e-05,-0.000154444203896,1.65411634616e-05,1793256557548474624
+21,0.350000000,BASELINE,796,748,727,709.775747185,699,656,935.775747185,803.224252815,835,670.775747185,658,677,0.401030293472,-0.00549285081848,0.0698521288634,0.999999985998,6.05875938718e-05,-0.000155109116735,1.65463236677e-05,1793256557565141248
+22,0.366666667,BASELINE,796,748,727,709.189365597,699,656,935.189365597,803.810634403,835,670.189365597,658,677,0.401030796949,-0.00549238045411,0.0698517801955,0.999999986088,6.05174588766e-05,-0.00015454571548,1.66395730918e-05,1793256557581807872
+23,0.383333333,BASELINE,795.607680766,748,727,709,699,656,935,803.607680766,835,670.392319234,658,677,0.401030953396,-0.00549294162861,0.069852419887,0.999999986174,6.02221033262e-05,-0.000154096125996,1.67307105066e-05,1793256557598474752
+24,0.400000000,BASELINE,795.028236106,748,727,709,699,656,935,803.028236106,835,670.971763894,658,677,0.401030944317,-0.00549399481859,0.0698535309985,0.999999986257,5.98193237925e-05,-0.000153700821531,1.68208405596e-05,1793256557615141632
+25,0.416666667,BASELINE,795,748,727,709,699,656,935,803.548716595,835,671,658,677.548716595,0.401032279325,-0.00549286740468,0.0698538918489,0.999999986346,6.23282503581e-05,-0.000152144396425,1.66020095356e-05,1793256557631808000
+26,0.433333333,BASELINE,795.125467306,748.125467306,727,709.125467306,699,656,935,803.874532694,835,671,658,677.874532694,0.401033422305,-0.00549213819967,0.0698542187043,0.999999986453,6.39066661626e-05,-0.000150801324333,1.64182295528e-05,1793256557648474624
+27,0.450000000,BASELINE,795.701950959,748.701950959,727,709.701950959,699,656,935,803.298049041,835,671,658,677.298049041,0.401033627504,-0.00549324197138,0.0698545615119,0.999999986652,6.16040183801e-05,-0.000150439000158,1.64173396197e-05,1793256557665141248
+28,0.466666667,BASELINE,795.715894322,748.715894322,727,710,699,656,935,803,835,671,658,677,0.401034201333,-0.00549328791256,0.0698554235352,0.999999986847,6.10697441048e-05,-0.000149344785525,1.6526488792e-05,1793256557681807872
+29,0.483333333,BASELINE,795.127669072,748.127669072,727,710,699,656,935,803,835,671,658,677,0.401035169761,-0.00549220150401,0.0698568413504,0.999999987038,6.24284169815e-05,-0.000147467122254,1.67534288018e-05,1793256557698474752
+30,0.500000000,BASELINE,795.453625893,748,727,709.546374107,699,656,935.453625893,803.453625893,835,671,658,677.453625893,0.401033379764,-0.00549281542342,0.0698550725354,0.99999998681,6.05176116749e-05,-0.000149838275098,1.63234560103e-05,1793256557715141376
+31,0.516666667,BASELINE,796,748.032746586,727,709.032746586,699,656,936,804,835,671,658,677.967253414,0.401031030898,-0.00549380550691,0.0698526489798,0.999999986476,5.79778800375e-05,-0.000153094445739,1.57562689409e-05,1793256557731808000
+32,0.533333333,BASELINE,796,748.607675935,727,709.607675935,699,656,936,804,835,671,658,677.392324065,0.401032089185,-0.00549321974346,0.0698540105588,0.999999986595,6.0030932944e-05,-0.000151503067751,1.5932257315e-05,1793256557748474880
+33,0.550000000,BASELINE,795.813468593,748.813468593,727,710,699,656,935.813468593,803.813468593,835,670.813468593,658,677,0.401032700772,-0.00549273373674,0.0698549832497,0.999999986651,6.11198905864e-05,-0.000150681005455,1.60804577117e-05,1793256557765141760
+34,0.566666667,BASELINE,795.226177996,748.226177996,727,710,699,656,935.226177996,803.226177996,835,670.226177996,658,677,0.401032352635,-0.00549246205551,0.0698551204221,0.999999986583,6.01375075688e-05,-0.000151511803541,1.61689561436e-05,1793256557781808128
+35,0.583333333,BASELINE,795.356230068,748,727,710,699,656,935.356230068,803.356230068,835,670,658,677,0.401031583221,-0.00549354574026,0.069854686323,0.999999986613,5.8224642896e-05,-0.000152047473446,1.63001409388e-05,1793256557798474752
+36,0.600000000,BASELINE,795.93558008,748,727,710,699,656,935.93558008,803.93558008,835,670,658,677,0.401030549945,-0.00549547834036,0.0698538944157,0.999999986699,5.57289833721e-05,-0.000152398293836,1.64580617758e-05,1793256557815141120
+37,0.616666667,BASELINE,795.485219432,748,727,709.485219432,699,656,936,803.485219432,835,670.514780568,658,677,0.401031810301,-0.00549410003271,0.0698550863163,0.999999986771,5.90364123731e-05,-0.000150692323593,1.62781184242e-05,1793256557831807744
+38,0.633333333,BASELINE,795.09300988,748.09300988,727,709,699,656,935.90699012,803.09300988,835,671,658,677,0.401033018366,-0.00549255874395,0.0698562443737,0.999999986821,6.21574104249e-05,-0.000149118040449,1.60639586045e-05,1793256557848474368
+39,0.650000000,BASELINE,795.666320868,748.666320868,727,709,699,656,935.333679132,803.666320868,835,671,658,677,0.401032474641,-0.00549231478746,0.0698559460556,0.999999986857,6.05666829245e-05,-0.00014955254593,1.58913778407e-05,1793256557865140992
+40,0.666666667,BASELINE,796,748.753762578,727,709.246237422,699,656,935,804,835,671,658,677,0.401031851182,-0.00549209416943,0.0698552179892,0.999999986714,6.00681431018e-05,-0.00015070808029,1.58191938556e-05,1793256557881807616
+41,0.683333333,BASELINE,796,748.164648036,727,709.835351964,699,656,935,804,835,671,658,677,0.4010311167,-0.00549190604942,0.0698538915131,0.999999986324,6.10904370494e-05,-0.000152867622471,1.58868089329e-05,1793256557898474496
+42,0.700000000,BASELINE,796,748,727,709.582423846,699,656,935,804,835,670.582423846,658,677.417576154,0.401032707942,-0.00549176178917,0.069854939084,0.999999986551,6.23302388423e-05,-0.000150857616347,1.59801868117e-05,1793256557915141120
+43,0.716666667,BASELINE,796,748,727,709.002872396,699,656,935,804,835,670.002872396,658,677.997127604,0.401035201321,-0.00549163454185,0.0698569075336,0.999999987006,6.36544106049e-05,-0.000147230267284,1.60835579254e-05,1793256557931807744
+44,0.733333333,BASELINE,796,748,727,709,699,656,935.572712275,804,835,670.572712275,658,678,0.401032941265,-0.00549254513499,0.0698552769176,0.999999986615,6.26294430561e-05,-0.000150290128677,1.61524805253e-05,1793256557948474368
+45,0.750000000,BASELINE,796,748.148116406,727,709.148116406,699,656,935.851883594,804,835,671,658,677.851883594,0.401031508864,-0.00549290354869,0.0698543257391,0.99999998637,6.16013199493e-05,-0.000152330080236,1.61268272252e-05,1793256557965140992
+46,0.766666667,BASELINE,796,748.723057115,727,709.723057115,699,656,935.276942885,804,835,671,658,677.276942885,0.40103252973,-0.00549165586041,0.0698553841419,0.999999986588,6.05978219502e-05,-0.000151334991503,1.58291307512e-05,1793256557981807872
+47,0.783333333,BASELINE,796,748.693558491,727,709.693558491,699,656,935,804,835,670.693558491,658,677,0.401032335485,-0.00549146883772,0.0698554224381,0.999999986571,6.02243168823e-05,-0.000151597581018,1.57791262287e-05,1793256557998474496
+48,0.800000000,BASELINE,796,748.102326928,727,709.102326928,699,656,935,804,835,670.102326928,658,677,0.401031011981,-0.00549226753975,0.0698545127029,0.999999986337,6.04362928278e-05,-0.000153028988106,1.59593130855e-05,1793256558015141120
+49,0.816666667,BASELINE,796,748,727,709.478969055,699,656,935.478969055,803.521030945,835,670.478969055,658,677.478969055,0.401032162339,-0.0054924162569,0.0698550037488,0.999999986441,6.11937945827e-05,-0.000152042329177,1.60358041713e-05,1793256558031807744
+50,0.833333333,BASELINE,796,748,727,709.942088143,699,655.942088143,935.942088143,803,835,671,658,677.942088143,0.401033464766,-0.00549245824201,0.0698555695933,0.999999986563,6.19602108463e-05,-0.000150921242467,1.60798044133e-05,1793256558048474368
+51,0.850000000,BASELINE,796,748,727,709.365595717,699,655.365595717,935.365595717,803,835,671,658,677.365595717,0.401031492431,-0.00549276267656,0.0698541798969,0.999999986239,6.17840327922e-05,-0.000153128325461,1.60272064494e-05,1793256558065140992
+52,0.866666667,BASELINE,796,748,727,709,699,655.209892495,935,803,835,670.790107505,658,677,0.401030738574,-0.00549268629199,0.0698538030975,0.999999986209,6.14897829146e-05,-0.000153449491158,1.5958422956e-05,1793256558081807616
+53,0.883333333,BASELINE,796,748,727,709,699,655.783639835,935,803,835,670.216360165,658,677,0.401032096983,-0.00549194974619,0.0698551821851,0.999999986689,6.09908520503e-05,-0.000150501363322,1.58615813717e-05,1793256558098474240
+54,0.900000000,BASELINE,796,748,727,709.368263191,699,656,935,803.368263191,835,670.368263191,658,677,0.401031819642,-0.0054922980436,0.0698553479263,0.999999986699,6.05094048175e-05,-0.000150627531254,1.58711664125e-05,1793256558115140864
+55,0.916666667,BASELINE,796,748,727,709.959470803,699,656,935,803.959470803,835,670.959470803,658,677,0.401030552025,-0.00549330309888,0.0698547791143,0.999999986425,6.00385420931e-05,-0.000152614860301,1.59451815247e-05,1793256558131807488
+56,0.933333333,BASELINE,796,748,727,710,699,656,935.536769036,804,835,671,658,677.536769036,0.401030731346,-0.00549151574304,0.0698551217845,0.999999986319,6.25619962581e-05,-0.000152289845051,1.59827478657e-05,1793256558148474112
+57,0.950000000,BASELINE,796,748,727,710,699.113067407,656,936,804,835,671,658,678,0.40103114025,-0.00549017971635,0.0698553693083,0.99999998628,6.4473866015e-05,-0.000151747491877,1.59890470884e-05,1793256558165140992
+58,0.966666667,BASELINE,796,748,727,710,699.689463357,656,936,804,835,671,658,678,0.401032053552,-0.00549153532271,0.0698549520434,0.999999986489,6.29765138079e-05,-0.000151011917057,1.58782123513e-05,1793256558181807616
+59,0.983333333,BASELINE,796,748,727,709.729787698,699.729787698,656,936,804,835,671,658,677.729787698,0.401032719494,-0.00549269778408,0.0698552061185,0.99999998669,6.1292309726e-05,-0.000150365234361,1.59441714468e-05,1793256558198474240
+60,1.000000000,BASELINE,796,748,727,709.143954165,699.143954165,656,936,804,835,671,658,677.143954165,0.401033096507,-0.00549363464279,0.0698562443517,0.999999986882,5.93898532889e-05,-0.000149822381931,1.62166344019e-05,1793256558215140864
+61,1.016666667,BASELINE,795.560541558,748,727,709.439458442,699,656,935.560541558,804,835,671,658,677,0.401032369458,-0.00549283234124,0.069855914031,0.999999986719,5.96169533042e-05,-0.000150824715752,1.6103553855e-05,1793256558231807488
+62,1.033333333,BASELINE,795.021870774,748,727,710,699.021870774,656,935.021870774,804,835,671,658,677,0.401031344911,-0.00549152077252,0.0698551655102,0.999999986443,6.06168873175e-05,-0.000152271481771,1.58787167918e-05,1793256558248474368
+63,1.050000000,BASELINE,795.598912929,748,727,710,699.598912929,656,935.598912929,804,835,671,658,677,0.401031898745,-0.00549166400252,0.0698551186953,0.999999986262,6.36240337061e-05,-0.000152221750868,1.60053159027e-05,1793256558265140992
+64,1.066666667,BASELINE,796,748,727,710,699.824615085,656,936,804,835,671,658,677,0.401032314499,-0.00549170767374,0.0698551932477,0.999999986215,6.48012202943e-05,-0.000152029006793,1.60683730013e-05,1793256558281807360
+65,1.083333333,BASELINE,796,748,727,710,699.249442822,656,936,804,835,671,658,677,0.401032415504,-0.00549152440217,0.0698555444552,0.999999986484,6.18070401246e-05,-0.000151510266295,1.59865870057e-05,1793256558298473984
+66,1.100000000,BASELINE,796,748.333739974,727,710,699,656,936,804,835,671,658,677.333739974,0.401031465862,-0.00549206813048,0.0698552229366,0.999999986514,5.99420800192e-05,-0.000152055412968,1.60624468679e-05,1793256558315141120
+67,1.116666667,BASELINE,796,748.92305719,727,710,699,656,936,804,835,671,658,677.92305719,0.401029711637,-0.0054931685935,0.0698543862459,0.999999986363,5.89418739684e-05,-0.000153415281813,1.62590315398e-05,1793256558331807744
+68,1.133333333,BASELINE,796,748.496298334,727,710,699,656,936,804,835,671,658,677.496298334,0.401030223015,-0.00549356093986,0.0698545822229,0.999999986447,5.82489580506e-05,-0.000153155194365,1.60034777609e-05,1793256558348474112
+69,1.150000000,BASELINE,795.917935225,748.082064775,727,710,699,656,936,804,835,671,658,677,0.401031172367,-0.0054934877756,0.0698551027783,0.999999986542,5.82768229988e-05,-0.000152550978378,1.5736401349e-05,1793256558365140992
+70,1.166666667,BASELINE,795.345423128,748.654576872,727,710,699,656,936,804,835,671,658,677,0.401032705904,-0.00549126806768,0.0698566363463,0.99999998648,6.2336541259e-05,-0.000151343981744,1.58062390509e-05,1793256558381807616
+71,1.183333333,BASELINE,795.228783417,748.771216583,727,709.771216583,699,656,935.771216583,804,835,670.771216583,658,677.228783417,0.401032856893,-0.00549072938023,0.0698568952005,0.999999986418,6.3597346462e-05,-0.000151223735307,1.58094399163e-05,1793256558398474240
+72,1.200000000,BASELINE,795.805567463,748.194432537,727,709.194432537,699,656,935.194432537,804,835,670.194432537,658,677.805567463,0.401030904899,-0.00549274767924,0.0698552150981,0.999999986373,6.06007479922e-05,-0.000152756535729,1.57112800329e-05,1793256558415140864
+73,1.216666667,BASELINE,796,748.39261101,727,709.39261101,699,656,935.39261101,804,835,670.39261101,658,678,0.401030482753,-0.00549283851248,0.0698545373853,0.999999986277,6.09831420445e-05,-0.000153211082682,1.59199891586e-05,1793256558431807744
+74,1.233333333,BASELINE,796,748.984871661,727,709.984871661,699,656,935.984871661,804,835,670.984871661,658,678,0.401030838561,-0.00549194919517,0.0698543694055,0.999999986155,6.3083813713e-05,-0.000153117318589,1.62847466067e-05,1793256558448474368
+75,1.250000000,BASELINE,796,748.438005273,727,710,699,656,935.438005273,804,835,671,658,677.438005273,0.401031441471,-0.0054925130213,0.0698545412529,0.999999986386,6.06740250648e-05,-0.000152616163612,1.59547885297e-05,1793256558465140736
+76,1.266666667,BASELINE,796,748,727,710,699,656,935.138054614,803.861945386,835,671,658,677,0.40103181082,-0.00549244780091,0.069854747445,0.99999998648,6.00377910236e-05,-0.000152276171356,1.57278529048e-05,1793256558481807616
+77,1.283333333,BASELINE,796,748,727,710,699,656,935.712010404,803.287989596,835,671,658,677,0.401031422258,-0.00549027612342,0.0698550339527,0.999999986112,6.5374788947e-05,-0.000152478761303,1.58837049767e-05,1793256558498474240
+78,1.300000000,BASELINE,796,748.292879141,727,710,699,656,935.707120859,803.292879141,835,671,658,677.292879141,0.401031723433,-0.0054901748019,0.0698555411196,0.999999986202,6.5254591247e-05,-0.00015194109771,1.58923933098e-05,1793256558515140864
+79,1.316666667,BASELINE,796,748.880709701,727,710,699,656,935.119290299,803.880709701,835,671,658,677.880709701,0.401032719224,-0.00549215848536,0.0698562705069,0.999999986749,5.96385849774e-05,-0.000150657942869,1.5752876631e-05,1793256558531807488
+80,1.333333333,BASELINE,796,748.536074187,727,710,699,655.536074187,935.463925813,804,835,671,658,678,0.40103297493,-0.00549125886068,0.0698561196642,0.99999998661,6.14444547818e-05,-0.000150845610405,1.58372824621e-05,1793256558548474368
+81,1.350000000,BASELINE,796,748.045429233,727,710,699,655.045429233,935.954570767,804,835,671,658,677.954570767,0.401033010659,-0.00548980646345,0.0698557722404,0.999999986314,6.48621806676e-05,-0.000151358611958,1.59708271724e-05,1793256558565140992
+82,1.366666667,BASELINE,796,748.620659615,727,710,699,655.620659615,935.379340385,804,835,671,658,677.379340385,0.401032678427,-0.00549046861258,0.0698557458229,0.999999986311,6.5040717488e-05,-0.000151298569126,1.60125702673e-05,1793256558581807872
+83,1.383333333,BASELINE,796,748.804208339,727,709.804208339,699,656,935,804,835,671,658,677,0.401032467205,-0.00549067311565,0.069855921694,0.999999986358,6.49989574222e-05,-0.000151012513709,1.59599929101e-05,1793256558598474752
+84,1.400000000,BASELINE,796,748.229266619,727,709.229266619,699,656,935,804,835,671,658,677,0.401032490317,-0.00548999138839,0.0698564892967,0.999999986501,6.45305930228e-05,-0.000150288785476,1.57247642425e-05,1793256558615141376
+85,1.416666667,BASELINE,796,748,727,709.353901662,699,656,935.353901662,804,835,671,658,677,0.4010322771,-0.00549036063683,0.0698560577165,0.999999986448,6.41031764719e-05,-0.000150835035309,1.56329743467e-05,1793256558631808000
+86,1.433333333,BASELINE,796,748,727,709.942526117,699,656,935.942526117,804,835,671,658,677,0.40103190714,-0.00549142693756,0.0698549634351,0.999999986263,6.37029183221e-05,-0.00015222358922,1.56363192235e-05,1793256558648474624
+87,1.450000000,BASELINE,796,748,727,709.47612232,698.47612232,656,935.47612232,804,835,671,658,677,0.401030809672,-0.00549110409467,0.0698549493104,0.999999986292,6.19634816825e-05,-0.000152742353603,1.57193671748e-05,1793256558665141248
+88,1.466666667,BASELINE,795.896337403,748,727,709.103662597,698.103662597,656,935.103662597,804,835,671,658,677,0.401030148069,-0.00549075167494,0.0698551504382,0.99999998634,6.08947532717e-05,-0.000152844460187,1.58029675483e-05,1793256558681807872
+89,1.483333333,BASELINE,795.320106812,748,727,709.679893188,698.679893188,656,935.679893188,804,835,671,658,677,0.401031832317,-0.00549094966219,0.0698558000185,0.999999986383,6.35441834224e-05,-0.000151476194932,1.58497701766e-05,1793256558698474496
+90,1.500000000,BASELINE,795.254481669,748,727,709.745518331,699,656,935.745518331,804,835,671,658,677,0.401032557755,-0.00549134236574,0.069856205323,0.999999986444,6.41275980346e-05,-0.000150826232137,1.58613535985e-05,1793256558715141632
+91,1.516666667,BASELINE,795.827017779,748,727,709.172982221,699,656,935.172982221,804,835,671,658,677,0.401032084862,-0.00549197842816,0.0698563053286,0.999999986533,6.21288798442e-05,-0.000151074013034,1.58289196033e-05,1793256558731809280
+92,1.533333333,BASELINE,795.58703183,748,727,709,699,655.58703183,935,804,835,671,658,677,0.40103158484,-0.00549143325754,0.0698561300956,0.999999986499,6.18581126352e-05,-0.000151405466147,1.58501071981e-05,1793256558748476160
+93,1.550000000,BASELINE,795.004623219,748,727,709.004623219,699,655,935.004623219,804,835,670.995376781,658,677,0.401031063146,-0.00549039038847,0.0698558280043,0.999999986411,6.23243938464e-05,-0.000151793653427,1.58929814399e-05,1793256558765142528
+94,1.566666667,BASELINE,795.583490806,748,727,709.583490806,699,655,935.583490806,804,835,670.416509194,658,677,0.4010293084,-0.00549104952542,0.0698545698723,0.999999986019,6.14184224464e-05,-0.000154729266059,1.57460395507e-05,1793256558781809152
+95,1.583333333,BASELINE,796,748,727,709.838942533,699,655.161057467,935.838942533,804,835,670,657.838942533,677,0.401028676537,-0.00549150192625,0.0698540480286,0.99999998587,6.09348830827e-05,-0.000155894557233,1.5601154568e-05,1793256558798475520
+96,1.600000000,BASELINE,796,748,727,709.264713101,699,655.735286899,935.264713101,804,835,670,657.264713101,677,0.401030925282,-0.00549142397262,0.0698554150364,0.999999986356,6.15350379166e-05,-0.000152518319823,1.54615462796e-05,1793256558815141632
+97,1.616666667,BASELINE,795.682825797,748,727,709.317174203,699,656,935,803.682825797,835,670,657.317174203,677,0.401032395406,-0.0054913266717,0.0698563112738,0.999999986663,6.14627318886e-05,-0.00015050919859,1.55669053545e-05,1793256558831807744
+98,1.633333333,BASELINE,795.094389149,748,727,709.905610851,699,656,935,803.094389149,835,670,657.905610851,677,0.401033199618,-0.00549121282406,0.0698568048861,0.999999986824,6.08153053544e-05,-0.000149669300253,1.58817721626e-05,1793256558848474112
+99,1.650000000,BASELINE,795,748,727,709.511960253,699,656,935,803.488039747,835.488039747,670,658,677,0.401032872247,-0.00549140464931,0.0698561556181,0.999999986682,6.13264096422e-05,-0.00015041281118,1.58674354511e-05,1793256558865140992
+100,1.666666667,BASELINE,795,748,727,709,699,656,935,804,835.931480943,670,658,677,0.401032404501,-0.00549161583048,0.0698554635108,0.999999986509,6.19275863081e-05,-0.000151320145967,1.57880357409e-05,1793256558881807616
+101,1.683333333,BASELINE,795,748,727,709,699,656,935,804,835.356923116,670,658,677,0.401032496686,-0.00549153865908,0.0698560676198,0.999999986551,6.15592987256e-05,-0.000151203196926,1.56926263849e-05,1793256558898474496
+102,1.700000000,BASELINE,795.217567423,748,727,709,699,656,935,804,835,670.217567423,658,677,0.401032349072,-0.00549175725384,0.0698562019642,0.99999998656,6.13674232306e-05,-0.000151223145141,1.56970210874e-05,1793256558915141632
+103,1.716666667,BASELINE,795.791947551,748,727,709,699,656,935,804,835,670.791947551,658,677,0.401031808185,-0.00549246090798,0.0698555658901,0.999999986514,6.14648653242e-05,-0.000151467606211,1.5865095433e-05,1793256558931808256
+104,1.733333333,BASELINE,796,748,727,709,699,656,935,804,835,671,658,677,0.40103047441,-0.00549204740365,0.0698548394197,0.999999986265,6.13719044349e-05,-0.000153143868489,1.58416967519e-05,1793256558948474624
+105,1.750000000,BASELINE,796,748,727,709,699,656,935,804,835,671,658,677,0.40102869032,-0.00549099941931,0.0698540616095,0.999999985895,6.11708058974e-05,-0.000155633309373,1.57095527076e-05,1793256558965141248
+106,1.766666667,BASELINE,796,748,727,709.547861584,699,656,935,804,835,670.452138416,658,677.547861584,0.401030984884,-0.00549095314182,0.0698560216279,0.999999986356,6.23651571603e-05,-0.00015216259225,1.56724144288e-05,1793256558981807616
+107,1.783333333,POSE1_TO_POSE2_PRESS,796,748,727,709,699,656,935,804,835,671,657,677,0.40103406691,-0.00549373266857,0.0698566940296,0.999999986952,5.94943875245e-05,-0.00014934584429,1.58538988491e-05,1793256559023938816
+108,1.800000000,POSE1_TO_POSE2_PRESS,795.42665286,748,727,709.57334714,699,656,935,804,835,671,657.57334714,677.57334714,0.401032279042,-0.00549178926514,0.0698555588367,0.999999986593,6.02255931915e-05,-0.000151490355398,1.541234029e-05,1793256559040606208
+109,1.816666667,POSE1_TO_POSE2_PRESS,795,748,727,709.847674721,699,656,935,804,835,671,658,677.847674721,0.401031154592,-0.00549057705087,0.0698551359974,0.999999986393,6.09943576781e-05,-0.000152519961568,1.52359278772e-05,1793256559057273344
+110,1.833333333,POSE1_TO_POSE2_PRESS,795,748,727,709.252318967,699,656,935,804,835,671,658,677.252318967,0.401031959659,-0.00549149146333,0.0698567850025,0.999999986665,6.18723602905e-05,-0.000150306922855,1.58306796992e-05,1793256559073940224
+111,1.850000000,POSE1_TO_POSE2_PRESS,795.332784487,748,727,709.332784487,699,655.667215513,935,804,835,670.667215513,658,677,0.401032655456,-0.00549269328556,0.0698571464396,0.999999986778,6.13257730897e-05,-0.000149741103663,1.61682472617e-05,1793256559090606592
+112,1.866666667,POSE1_TO_POSE2_PRESS,795.910346881,748,727,709.910346881,699,655.089653119,935,804,835,670.089653119,658,677,0.401033270881,-0.0054941065105,0.0698565608126,0.999999986775,5.9731336178e-05,-0.000150386888388,1.63166442386e-05,1793256559107272448
+113,1.883333333,POSE1_TO_POSE2_PRESS,795.513669917,748,727,710,699,655.486330083,935.486330083,803.513669917,835,670,658,677.486330083,0.401032463878,-0.00549225797082,0.0698563307185,0.999999986527,6.24702594396e-05,-0.000150960176648,1.5965398904e-05,1793256559123938816
+114,1.900000000,POSE1_TO_POSE2_PRESS,795.063322748,748.063322748,727,710,699,656,936,803.063322748,835,670,658,677.936677252,0.401031405746,-0.00549034578117,0.0698561682442,0.999999986238,6.51341799123e-05,-0.000151779427943,1.56086283919e-05,1793256559140605696
+115,1.916666667,POSE1_TO_POSE2_PRESS,795.651078914,748.651078914,727,710,699,656,936,803.651078914,835,670,658,677.348921086,0.401030432432,-0.00549287019418,0.0698560247421,0.999999986064,6.0582436221e-05,-0.000154746048415,1.59664533825e-05,1793256559157272064
+116,1.933333333,POSE1_TO_POSE2_PRESS,795.763139469,748.763139469,727,709.763139469,699,656,936,804,835,670.236860531,658,677,0.401031198323,-0.00549402332301,0.0698567222678,0.999999985677,5.88619965241e-05,-0.000157862820706,1.61385517548e-05,1793256559173938944
+117,1.950000000,POSE1_TO_POSE2_PRESS,795.18024258,748.18024258,727,709.18024258,699,656,936,804,835,670.81975742,658,677,0.401034505067,-0.00549317310315,0.0698586484751,0.999999985001,6.12778906206e-05,-0.000161198953852,1.60393167408e-05,1793256559190606080
+118,1.966666667,POSE1_TO_POSE2_PRESS,795,748,727,709,699,656,935.604342213,804,835,671,658,677.395657787,0.401049966314,-0.00549328484764,0.0698658872878,0.999999985348,6.13356739124e-05,-0.00015895428555,1.65871983143e-05,1793256559207272960
+119,1.983333333,POSE1_TO_POSE2_PRESS,795,748,727,709,699,656,935.031573692,804,835,671,658,677.968426308,0.401070868357,-0.0054938272021,0.0698755042148,0.999999986137,6.03378817389e-05,-0.000154211448986,1.74247526656e-05,1793256559223939840
+120,2.000000000,POSE1_TO_POSE2_PRESS,795.543752434,748,727,709,699,655.456247566,935.543752434,803.456247566,835,670.456247566,658,677.456247566,0.401116341957,-0.00549468829735,0.0698892095866,0.999999988207,5.96850157148e-05,-0.000140366380664,1.79365952518e-05,1793256559240605952
+121,2.016666667,POSE1_TO_POSE2_PRESS,795.877727192,748,727,709,699,655.122272808,935.877727192,803.122272808,835,670.122272808,658,677,0.401167583939,-0.0054958060815,0.0699027438808,0.999999990207,5.9389620104e-05,-0.00012539463908,1.8281144694e-05,1793256559257272064
+122,2.033333333,POSE1_TO_POSE2_PRESS,795.287554244,748,727,709,699,655.712445756,935.287554244,803.712445756,835,670.712445756,658,677,0.401235414096,-0.00549783497523,0.0699147107657,0.999999992166,6.03851474285e-05,-0.00010814355391,1.80582310208e-05,1793256559273938688
+123,2.050000000,POSE1_TO_POSE2_PRESS,795.29709291,748,727,709.29709291,699,656,935.29709291,803.70290709,835,670.70290709,658,677.29709291,0.401314917206,-0.0054994138099,0.0699250391737,0.999999993571,6.06046245444e-05,-9.42589612136e-05,1.73550472134e-05,1793256559290605312
+124,2.066666667,POSE1_TO_POSE2_PRESS,795.876489311,748,727,709.876489311,699,656,935.876489311,803.123510689,835,670.123510689,658,677.876489311,0.401405512179,-0.00550056498952,0.0699338106681,0.999999994571,6.00866835265e-05,-8.3573276535e-05,1.61955013498e-05,1793256559307272192
+125,2.083333333,POSE1_TO_POSE2_PRESS,796,748,727,709.547819248,699,656,936,803.452180752,835,670.452180752,658,677.547819248,0.4015042095,-0.00550210171246,0.0699338373347,0.999999994534,5.88522089445e-05,-8.52402258386e-05,1.42131270993e-05,1793256559323939328
+126,2.100000000,POSE1_TO_POSE2_PRESS,796,748,727,709.027237078,699,656,935.972762922,803.972762922,835,671,658,677,0.401606000387,-0.00550377169044,0.069931460598,0.999999994196,5.73192483734e-05,-9.04393433908e-05,1.19700591712e-05,1793256559340606464
+127,2.116666667,POSE1_TO_POSE2_PRESS,796,748,727,709.609809973,699,656,935.390190027,803.390190027,835,671,658,677,0.401726109576,-0.00550602890892,0.0699283862835,0.999999993578,5.36585080471e-05,-9.94213264823e-05,8.95691652391e-06,1793256559357272576
+128,2.133333333,POSE1_TO_POSE2_PRESS,795.806045903,748,727.193954097,709.806045903,699,656,935.193954097,803.193954097,835,671,658,677.193954097,0.401861504178,-0.00550740753158,0.0699273180281,0.999999993213,5.14551557787e-05,-0.000104367633123,5.81855494639e-06,1793256559373939200
+129,2.150000000,POSE1_TO_POSE2_PRESS,795.218715094,748,727.781284906,709.218715094,699,656,935.781284906,803.781284906,835,671,658,677.781284906,0.402027900561,-0.00550700419043,0.0699303184522,0.999999993521,5.22076710145e-05,-0.000101128800223,2.42622533919e-06,1793256559390606080
+130,2.166666667,POSE1_TO_POSE2_PRESS,795,748,727.63860442,709,699,656,935.63860442,804,835,671,658,677.63860442,0.402219732363,-0.00550959544686,0.0699352237645,0.999999994496,4.61809768542e-05,-9.41972341689e-05,-1.47002655869e-06,1793256559407272448
+131,2.183333333,POSE1_TO_POSE2_PRESS,795,748,727.062777699,709,699,656,935.062777699,804,835,671,658,677.062777699,0.402426656079,-0.00551396352349,0.0699412593271,0.999999995712,3.61318937589e-05,-8.50746144753e-05,-5.6652769913e-06,1793256559423938816
+132,2.200000000,POSE1_TO_POSE2_PRESS,795.510952826,748,727,709.510952826,699,656,935.510952826,804,835,670.489047174,658,677,0.402653859624,-0.00551534430154,0.0699429066374,0.999999995917,3.2726392553e-05,-8.35522413214e-05,-1.06978075479e-05,1793256559440605440
+133,2.216666667,POSE1_TO_POSE2_PRESS,795.913307542,748,727,709.913307542,699,656,935.913307542,804,835,670.086692458,658,677,0.402888213987,-0.00551631804122,0.0699440461086,0.999999995995,2.97378031622e-05,-8.29052192169e-05,-1.58713558232e-05,1793256559457272320
+134,2.233333333,POSE1_TO_POSE2_PRESS,795.32444405,748,727,709.32444405,699,656,935.32444405,804,835,670.67555595,658,677,0.403149615844,-0.00551705135208,0.0699453542368,0.999999996118,2.4455301619e-05,-8.19417481026e-05,-2.12683046066e-05,1793256559473938944
+135,2.250000000,POSE1_TO_POSE2_PRESS,795.2603406,748.2603406,727,709,699,655.7396594,935,803.7396594,835,670.7396594,658,677,0.40344292162,-0.00551952247452,0.0699530447856,0.999999997233,7.46666532303e-07,-6.97148475132e-05,-2.59305796962e-05,1793256559490605824
+136,2.266666667,POSE1_TO_POSE2_PRESS,795.840120457,748.840120457,727,709,699,655.159879543,935,803.159879543,835,670.159879543,658,677,0.403775373653,-0.00552412590067,0.0699685665971,0.999999997567,-4.55709289523e-05,-4.36676608948e-05,-2.9691406009e-05,1793256559507272704
+137,2.283333333,POSE1_TO_POSE2_PRESS,795.581685581,748.581685581,727,709,699,655,935.418314419,803.418314419,835,670.418314419,658,677,0.404123470968,-0.00552601530914,0.0699727477454,0.999999997609,-4.84422964284e-05,-3.90199779777e-05,-3.02229321526e-05,1793256559523939328
+138,2.300000000,POSE1_TO_POSE2_PRESS,795.004095472,748.004095472,727,709,699,655,935.995904528,803.995904528,835,670.995904528,658,677,0.40447752531,-0.00552687133921,0.0699726108688,0.999999998056,-3.47712544062e-05,-4.25202833712e-05,-2.95248830729e-05,1793256559540605952
+139,2.316666667,POSE1_TO_POSE2_PRESS,795,748,727,709,699,655.563839091,936,804,835,671,658,677,0.404854959454,-0.00552663352608,0.0699776271669,0.999999998518,-2.87324052968e-05,-3.38383017426e-05,-3.15331840373e-05,1793256559557272320
+140,2.333333333,POSE1_TO_POSE2_PRESS,795.138375951,748,727,709,698.861624049,655.861624049,935.861624049,804,835,670.861624049,658,677,0.405247104558,-0.00552614757396,0.069982249107,0.999999998777,-2.51558872558e-05,-2.64683479198e-05,-3.336230157e-05,1793256559573938944
+141,2.350000000,POSE1_TO_POSE2_PRESS,795.735005591,748,727,709,698.264994409,655.264994409,935.264994409,804,835,670.264994409,658,677,0.405687414321,-0.00552486573937,0.0699854431985,0.999999998685,-2.95532696257e-05,-2.37314855773e-05,-3.45340211149e-05,1793256559590605312
+142,2.366666667,POSE1_TO_POSE2_PRESS,796,748,727,709,698.321672988,655.321672988,935.321672988,804,835,670,658,677,0.406140991075,-0.00552411563719,0.06998119992,0.999999998528,-2.7857974204e-05,-3.11978317542e-05,-3.45525195621e-05,1793256559607271936
+143,2.383333333,POSE1_TO_POSE2_PRESS,796,748,727,709,698.900380079,655.900380079,935.900380079,804,835,670,658,677,0.406605168919,-0.0055237904178,0.0699710137813,0.999999998111,-2.1294300385e-05,-4.68170927223e-05,-3.36495321396e-05,1793256559623938816
+144,2.400000000,POSE1_TO_POSE2_PRESS,795.524719274,748,727,709,699,656,936,804,835,670,658,677,0.407109352672,-0.00552846803805,0.0699535217064,0.999999996283,-3.43843493242e-05,-7.09785216034e-05,-3.48526591044e-05,1793256559640606208
+145,2.416666667,POSE1_TO_POSE2_PRESS,795,748,727,709,699,656,936,804,835,670,658,677,0.407627661778,-0.00553409756328,0.0699371696376,0.999999993827,-4.98539605603e-05,-9.23949021425e-05,-3.63816335949e-05,1793256559657273600
+146,2.433333333,POSE1_TO_POSE2_PRESS,795,748,727,709,699,656,936,804,835,670,658,677,0.408207661236,-0.00553878824463,0.0699490687749,0.999999996049,-4.71865239211e-05,-6.57770648529e-05,-3.6719746085e-05,1793256559673940224
+147,2.450000000,POSE1_TO_POSE2_PRESS,795,748,727,709,699,656,936,803.775475287,835.224524713,670.224524713,658,677,0.408805091578,-0.00554368197524,0.0699612782752,0.999999997364,-4.93737945077e-05,-3.83274016869e-05,-3.69598036137e-05,1793256559690606848
+148,2.466666667,POSE1_TO_POSE2_PRESS,795,748,727,709,699,656,936,803.19613417,835.80386583,670.80386583,658,677,0.409430067908,-0.00554889658434,0.0699739782414,0.999999997514,-5.92329590822e-05,-9.56320571509e-06,-3.70449048764e-05,1793256559707273472
+149,2.483333333,POSE1_TO_POSE2_PRESS,795,748,727,709,699,656,936,803.381254768,835.618745232,670.618745232,658,677,0.410056317316,-0.00554957313585,0.0699735549515,0.999999997434,-5.9916899857e-05,-8.84941514716e-06,-3.82480374325e-05,1793256559723939584
+150,2.500000000,POSE1_TO_POSE2_PRESS,795,748,727,709,699,656,936,803.957644519,835.042355481,670.042355481,658,677,0.410683218294,-0.00554792700469,0.0699664148761,0.999999997383,-5.59047492099e-05,-2.2492469812e-05,-4.00234041899e-05,1793256559740605696
+151,2.516666667,POSE1_TO_POSE2_PRESS,795,748,727,709,699,656,936,804,835,670.532831828,658,677,0.411382769457,-0.00554782912453,0.0699715372718,0.999999997318,-5.95383693837e-05,-1.4787383473e-05,-4.00049895531e-05,1793256559757272576
+152,2.533333333,POSE1_TO_POSE2_PRESS,795,748,727,709.11073498,699,656,935.88926502,803.88926502,835.11073498,670.88926502,658,677.11073498,0.412095457063,-0.00554720610719,0.0699821727512,0.999999997281,-6.19851798548e-05,1.83709051962e-06,-3.99073913169e-05,1793256559773939712
+153,2.550000000,POSE1_TO_POSE2_PRESS,795,748,727,709.700806818,699,656,935.299193182,803.299193182,835.700806818,670.299193182,658,677.700806818,0.412840065895,-0.00554377839399,0.0700124627067,0.999999996354,-5.6669733335e-05,4.97415828936e-05,-4.00828695364e-05,1793256559790606336
+154,2.566666667,POSE1_TO_POSE2_PRESS,795,748,727,709.714038265,699,656,935.285961735,803.285961735,835.714038265,670,658,677.714038265,0.41359536762,-0.0055423485496,0.0700357732919,0.999999994057,-5.57931280337e-05,8.46147831698e-05,-4.01743797974e-05,1793256559807272704
+155,2.583333333,POSE1_TO_POSE2_PRESS,795,748,727,709.133940744,699,656,935.866059256,803.866059256,835.133940744,670,658,677.133940744,0.414361667979,-0.00554297368152,0.0700519050093,0.999999991797,-5.94822450744e-05,0.000106084205365,-4.01795220038e-05,1793256559823939328
+156,2.600000000,POSE1_TO_POSE2_PRESS,795,747.557323599,727,709,698.557323599,656,936,804,835.442676401,670,658,677.442676401,0.415086119826,-0.00554112009435,0.0700131487045,0.999999996663,-5.93528726102e-05,3.63800751124e-05,-4.2740334343e-05,1793256559840605696
+157,2.616666667,POSE1_TO_POSE2_PRESS,795,747,727,709,698,655.981788199,935.981788199,803.981788199,835.981788199,670.018211801,658,677.981788199,0.415801784187,-0.00553864647979,0.0699590061723,0.999999995522,-5.83888491656e-05,-5.85299354241e-05,-4.60594582642e-05,1793256559857272064
+158,2.633333333,POSE1_TO_POSE2_PRESS,795,747,727,709,698,655.407378733,935.407378733,803.407378733,835.407378733,670.592621267,658,677.407378733,0.41663276652,-0.00553996321116,0.0699382048534,0.999999992742,-6.6944250652e-05,-8.73096693275e-05,-4.91059867348e-05,1793256559873938944
+159,2.650000000,POSE1_TO_POSE2_PRESS,795.172791843,747,727,709.172791843,698.172791843,655.172791843,935.172791843,803.172791843,835,670.827208157,658,677,0.417472005049,-0.0055414967112,0.0699330210819,0.999999991748,-7.33330590416e-05,-9.23730688909e-05,-5.09308149741e-05,1793256559890605568
+160,2.666666667,POSE1_TO_POSE2_PRESS,795.767013414,747,727,709.767013414,698.767013414,655.767013414,935.767013414,803.767013414,835,670.232986586,658,677,0.418331379935,-0.00554355889796,0.0699659276439,0.999999995207,-7.44376664606e-05,-3.95936419965e-05,-4.9775983895e-05,1793256559907272192
+161,2.683333333,POSE1_TO_POSE2_PRESS,795.650869681,747,727.349130319,709.650869681,699,656,936,803.650869681,835.349130319,670,658,677,0.419202511755,-0.00554533774379,0.0699928820193,0.999999995828,-7.70845792927e-05,1.74641611397e-06,-4.89772532789e-05,1793256559923939328
+162,2.700000000,POSE1_TO_POSE2_PRESS,795.076559974,747,727.923440026,709.076559974,699,656,936,803.076559974,835.923440026,670,658,677,0.420081226438,-0.00554693384249,0.0700159973978,0.999999994932,-8.07262363913e-05,3.57083960256e-05,-4.84081976624e-05,1793256559940606464
+163,2.716666667,POSE1_TO_POSE2_PRESS,795.498621951,747,728,709.498621951,699,656,935.501378049,803,835.501378049,670,658,677,0.420992743199,-0.00554933091218,0.0700392885048,0.999999992746,-8.64453389375e-05,6.92331595121e-05,-4.73393854239e-05,1793256559957272576
+164,2.733333333,POSE1_TO_POSE2_PRESS,795.9239231,746.9239231,728,710,698.9239231,656,935.0760769,803.0760769,835,670,658,677,0.421901259116,-0.00555123901014,0.0700548543426,0.999999990628,-9.1108495338e-05,9.08395679485e-05,-4.68188719916e-05,1793256559973938944
+165,2.750000000,POSE1_TO_POSE2_PRESS,795.331964654,746.331964654,728,710,698.331964654,656,935.668035346,803.668035346,835,670,658,677,0.422755212871,-0.00554899594368,0.0700178514177,0.999999994472,-8.64444280226e-05,3.20829751088e-05,-5.05376534766e-05,1793256559990605568
+166,2.766666667,POSE1_TO_POSE2_PRESS,795,746,728,710,698.253639457,656,935.746360543,803.746360543,835,670,658,677,0.423592402432,-0.00554622481502,0.0699593374235,0.99999999317,-8.59012165037e-05,-5.67482596528e-05,-5.53157053e-05,1793256560007272192
+167,2.783333333,POSE1_TO_POSE2_PRESS,795,746,728,710,698.831130321,656,935.168869679,803.168869679,835,670,658,677,0.424408187288,-0.00554277944675,0.0698733577052,0.999999977082,-9.06195862338e-05,-0.000183979344234,-6.14462525456e-05,1793256560023939072
+168,2.800000000,POSE1_TO_POSE2_PRESS,795,746,728,710,698.593684301,656,935.406315699,803,835,670.406315699,658,677.406315699,0.425322618157,-0.00554523622393,0.0698762717911,0.999999978235,-9.6531368257e-05,-0.000173793695994,-6.33072262786e-05,1793256560040605696
+169,2.816666667,POSE1_TO_POSE2_PRESS,795,746,728,710,698.019451738,656,935.980548262,803,835,670.980548262,658,677.980548262,0.426277816119,-0.00555013216317,0.0699159227564,0.999999986987,-0.000102936347924,-0.000106818242014,-6.34037259168e-05,1793256560057272320
+170,2.833333333,POSE1_TO_POSE2_PRESS,795.568767354,745.431232646,727.431232646,710,698,656,936,803.568767354,835,671,658,677.431232646,0.427260954454,-0.00554808037609,0.0699800649268,0.999999993296,-9.88511373853e-05,-1.91645391998e-05,-5.71735869554e-05,1793256560073939712
+171,2.850000000,POSE1_TO_POSE2_PRESS,795.84498223,744.84498223,727.15501777,710,698.15501777,656,936,804,835.15501777,671,658,677.15501777,0.428240137078,-0.00554711058855,0.0700365079778,0.999999992078,-9.75918881708e-05,5.96950706634e-05,-5.24933517067e-05,1793256560090606848
+172,2.866666667,POSE1_TO_POSE2_PRESS,795.265465737,744.265465737,727.734534263,710,698.734534263,656,936,804,835.734534263,671,658,677.734534263,0.429205804724,-0.00554977080999,0.0700695163689,0.999999986766,-0.00010507841683,0.00011248765215,-5.26647967987e-05,1793256560107273216
+173,2.883333333,POSE1_TO_POSE2_PRESS,795,743.687489259,728,710,698.687489259,656,936,803.687489259,835.687489259,671,658,677.687489259,0.430123797782,-0.00555306242049,0.0700684810098,0.999999986616,-0.000107704384963,0.000110751302059,-5.38723081715e-05,1793256560123939584
+174,2.900000000,POSE1_TO_POSE2_PRESS,795,743.110814577,728,710,698.110814577,656,936,803.110814577,835.110814577,671,658,677.110814577,0.431001491671,-0.00555688774122,0.0700386686184,0.999999990813,-0.000106221742511,6.29218858841e-05,-5.5955601754e-05,1793256560140605952
+175,2.916666667,POSE1_TO_POSE2_PRESS,794.534509777,743.465490223,728,710,698.465490223,656,936,803,835.465490223,671,658,677.465490223,0.43179808197,-0.00555314765469,0.0699643508986,0.999999990897,-0.000103232268353,-6.36138690476e-05,-5.91830640379e-05,1793256560157272576
+176,2.933333333,POSE1_TO_POSE2_PRESS,794.085129406,743.957435297,728,710.042564703,698.957435297,656,936,803.042564703,836,671,658,678,0.432588391155,-0.00554830898833,0.069888230912,0.999999974357,-0.000100631128237,-0.000193036759725,-6.24238860354e-05,1793256560173938944
+177,2.950000000,POSE1_TO_POSE2_PRESS,795.261260559,743.369369721,728,710.630630279,698.369369721,656,936,803.630630279,836,671,658,678,0.433545446946,-0.00555245434215,0.0699246883199,0.999999985124,-0.000107600414844,-0.00011952365522,-6.23479271887e-05,1793256560190605568
+178,2.966666667,POSE1_TO_POSE2_PRESS,795.784626417,743.215373583,728,710.784626417,698.215373583,656,935.784626417,803.784626417,836,670.784626417,658,677.784626417,0.434491812829,-0.00555586860381,0.069969090091,0.999999990883,-0.000113713835342,-3.95020234958e-05,-6.1179836092e-05,1793256560207272192
+179,2.983333333,POSE1_TO_POSE2_PRESS,795.205494225,743.794505775,728,710.205494225,698.794505775,656,935.205494225,803.205494225,836,670.205494225,658,677.205494225,0.435420123977,-0.00555804807652,0.0700269096256,0.999999989974,-0.000118381728568,5.15122993615e-05,-5.81671711031e-05,1793256560223939328
+180,3.000000000,POSE1_TO_POSE2_PRESS,794.628706936,744,728,710,699,656,935.371293064,803,836,670.371293064,658,677,0.436309182502,-0.00556021972926,0.0700522277521,0.999999987202,-0.000116095157407,9.42499594516e-05,-5.68768519667e-05,1793256560240606208
+181,3.016666667,POSE1_TO_POSE2_PRESS,794.053209336,744,728,710,699,656,935.946790664,803,836,670.946790664,658,677,0.437176652733,-0.00556238708104,0.0700596706827,0.999999986256,-0.00010998375546,0.000110436314512,-5.65337925429e-05,1793256560257272576
+182,3.033333333,POSE1_TO_POSE2_PRESS,794.521697398,744,728,710.521697398,698.478302602,655.478302602,936,802.478302602,836,671,658,677,0.437943732389,-0.00556343277642,0.0700146463634,0.99999999009,-0.000116277452782,5.27217126054e-05,-5.93303768472e-05,1793256560273938944
+183,3.050000000,POSE1_TO_POSE2_PRESS,795.099239748,744,728,711,698,655,935.900760252,802,836,671,658,677.099239748,0.438685407036,-0.00556376096334,0.0699565884563,0.999999990289,-0.000121223366902,-2.89324969586e-05,-6.23761843877e-05,1793256560290605568
+184,3.066666667,POSE1_TO_POSE2_PRESS,795.6901378,744,728,711,698,655,935.3098622,802,836,671,658,677.6901378,0.439351888639,-0.00556110056411,0.0698604404893,0.999999973061,-0.000113230858366,-0.000191889751047,-6.50720472159e-05,1793256560307272192
+185,3.083333333,POSE1_TO_POSE2_PRESS,795.736830854,744,728,710.736830854,697.736830854,655,935.263169146,802,836,671,658,677.736830854,0.440044370546,-0.00556053373667,0.069796407096,0.999999947585,-0.000111793014615,-0.000296359510097,-6.7100081745e-05,1793256560323938816
+186,3.100000000,POSE1_TO_POSE2_PRESS,795.18349887,744,728,710.18349887,697.18349887,655,935.81650113,802,836,671,658,677.18349887,0.440765519607,-0.00556227522228,0.0697677823273,0.999999934185,-0.000117582161287,-0.000336342609452,-6.83917889366e-05,1793256560340605440
+187,3.116666667,POSE1_TO_POSE2_PRESS,795,744,728.40336826,710.40336826,697,655,936,802,836,671,657.59663174,677,0.441535325364,-0.00556547371732,0.069797702844,0.999999948584,-0.000120580850651,-0.000289556826461,-6.67015653128e-05,1793256560357272320
+188,3.133333333,POSE1_TO_POSE2_PRESS,795,744,728.993318235,711,696.993318235,654.993318235,936,801.993318235,836,671,657.006681765,677.006681765,0.442327819277,-0.00556937709875,0.0698561070779,0.99999997038,-0.000122166131209,-0.000200686999109,-6.35596347266e-05,1793256560373939200
+189,3.150000000,POSE1_TO_POSE2_PRESS,795,744,728.406729257,711,696.406729257,654.406729257,936,801.406729257,836,671,657.593270743,677.593270743,0.442994143088,-0.00557171536109,0.069865517899,0.999999971505,-0.000121245255342,-0.000195811584169,-6.28329234216e-05,1793256560390606080
+190,3.166666667,POSE1_TO_POSE2_PRESS,795,744,728,710.822320567,696,654,936,801,835.822320567,671,657.822320567,677.822320567,0.44364587066,-0.00557381383563,0.0698566420734,0.999999966496,-0.000123453866406,-0.000218605254506,-6.30801642064e-05,1793256560407272960
+191,3.183333333,POSE1_TO_POSE2_PRESS,795,744,728,710.242842202,696,654,936,801,835.242842202,671,657.242842202,677.242842202,0.444264590861,-0.00557537006174,0.0698064133759,0.999999942844,-0.000132739404481,-0.000303968961485,-6.55298705578e-05,1793256560423939072
+192,3.200000000,POSE1_TO_POSE2_PRESS,795,744,728,710,695.664968538,653.664968538,936,800.664968538,835.335031462,671,657.335031462,677.335031462,0.444849085455,-0.00557726525936,0.0697563225582,0.999999914992,-0.000137932894002,-0.000382589570555,-6.79460374183e-05,1793256560440605696
+193,3.216666667,POSE1_TO_POSE2_PRESS,795,744,728,710,695.088252505,653.088252505,936,800.088252505,835.911747495,671,657.911747495,677.911747495,0.445408890387,-0.00557940498374,0.069706331207,0.999999883576,-0.000140174466099,-0.000456345846746,-7.03380094153e-05,1793256560457272064
+194,3.233333333,POSE1_TO_POSE2_PRESS,794.513358343,744,728,710,694.513358343,653,936,800,835.513358343,671,657.513358343,677.513358343,0.445956819684,-0.00558171303556,0.0696831207201,0.999999870502,-0.000136046455266,-0.000485590277871,-6.84813041477e-05,1793256560473938432
+195,3.250000000,POSE1_TO_POSE2_PRESS,794.062756638,744,728,710.062756638,694,652.937243362,935.937243362,800,835.062756638,671,657.062756638,677.062756638,0.446496302842,-0.00558356543159,0.0696654602473,0.999999860315,-0.000131070441417,-0.000507744075902,-6.62289118332e-05,1793256560490605568
+196,3.266666667,POSE1_TO_POSE2_PRESS,794.651871805,744,728,710.651871805,694,652.348128195,935.348128195,800,835.651871805,671,657.651871805,677.651871805,0.446982941642,-0.00558134103021,0.0696537666365,0.999999844819,-0.000128634209508,-0.000537878268222,-6.70960662258e-05,1793256560507272704
+197,3.283333333,POSE1_TO_POSE2_PRESS,795,744,728,711,693.763064126,652,935,799.763064126,836,671,657.763064126,677.763064126,0.447466521789,-0.00558002606311,0.0696388999502,0.999999829024,-0.000127824733129,-0.000566514520035,-6.83611510302e-05,1793256560523939840
+198,3.300000000,POSE1_TO_POSE2_PRESS,795,744,728,711,693.183852293,652,935,799.183852293,836,671,657.183852293,677.183852293,0.447945683385,-0.00558002485878,0.0696194494615,0.999999813351,-0.000129365257047,-0.000592986854824,-7.0201083372e-05,1793256560540606976
+199,3.316666667,POSE1_TO_POSE2_PRESS,795,744,728,711,692.606438611,652,935.393561389,799,836,671,657,677,0.448406000572,-0.00558333143716,0.0696196805123,0.999999812326,-0.000133432381321,-0.000593877155117,-6.9673157001e-05,1793256560557273856
+200,3.333333333,POSE1_TO_POSE2_PRESS,795,744,728,711,692.029861066,652,935.970138934,799,836,671,657,677,0.448857554667,-0.00558817621946,0.0696290639829,0.9999998182,-0.000138674439818,-0.000582871154514,-6.8044115663e-05,1793256560573940224
+201,3.350000000,POSE1_TO_POSE2_PRESS,795,744,727.458156795,711,692,651.458156795,935.458156795,799,836,671,657,677,0.449273326218,-0.00558983645702,0.0696390689818,0.999999825366,-0.000142214551269,-0.000569690108908,-6.70506540429e-05,1793256560590606336
+202,3.366666667,POSE1_TO_POSE2_PRESS,795,744,727.117858726,711,692,651.117858726,935.117858726,798.882141274,836,671,657,677.117858726,0.449673329211,-0.00559088266648,0.0696454117626,0.999999829692,-0.000145363524355,-0.000561318235929,-6.63929779855e-05,1793256560607272704
+203,3.383333333,POSE1_TO_POSE2_PRESS,795,744,727.712387433,711,692,651.712387433,935.712387433,798.287612567,836,671,657,677.712387433,0.450017462113,-0.00559014896156,0.069636805708,0.999999822815,-0.000147306534558,-0.000572877135938,-6.69529582388e-05,1793256560623939072
+204,3.400000000,POSE1_TO_POSE2_PRESS,795,744,728,711,691.700968156,651.700968156,935.700968156,798,836,671,657,678,0.450324802251,-0.0055895444471,0.0696133970832,0.999999801252,-0.000146561987214,-0.000609544287141,-6.68642152579e-05,1793256560640605696
+205,3.416666667,POSE1_TO_POSE2_PRESS,795,744,728,711,691.121712191,651.121712191,935.121712191,798,836,671,657,678,0.450597663699,-0.00558906099767,0.0695761169022,0.999999763267,-0.000143298916786,-0.000669740494074,-6.61675505302e-05,1793256560657272576
+206,3.433333333,POSE1_TO_POSE2_PRESS,794.546344387,744,728,711,691,651,935,797.546344387,836,671,657,678,0.450852317342,-0.00558785033258,0.0695462938301,0.999999733838,-0.000144547786419,-0.000711881540132,-6.82292980209e-05,1793256560673939712
+207,3.450000000,POSE1_TO_POSE2_PRESS,794.027760648,744,728,711,691,650.972239352,935,797.027760648,836,671,657,678,0.451101569835,-0.00558659638985,0.0695197081034,0.999999707386,-0.0001471116884,-0.000747366431316,-7.09202407318e-05,1793256560690606848
+208,3.466666667,POSE1_TO_POSE2_PRESS,794.597406115,744,728,711,691,650.402593885,935,797.597406115,836,671,657,678,0.451339937021,-0.00558827375945,0.0695175937552,0.999999707137,-0.000151916507437,-0.000746675845017,-7.1569875414e-05,1793256560707272704
+209,3.483333333,POSE1_TO_POSE2_PRESS,795,744.175474877,728,711,690.824525123,650,935,797.824525123,836,671,657,678,0.451568647515,-0.00558947287437,0.0695148297549,0.999999706502,-0.000155234459671,-0.000746794113806,-7.20913129085e-05,1793256560723938816
+210,3.500000000,POSE1_TO_POSE2_PRESS,795,744.773843671,728,711,690.226156329,650,935,797.226156329,836,671,657,678,0.451774085379,-0.00558951939673,0.0695105000954,0.999999704981,-0.000154969066753,-0.000748861721023,-7.23037954805e-05,1793256560740605184
+211,3.516666667,POSE1_TO_POSE2_PRESS,795,745,727.641640063,711,690,650,935,796.641640063,836,671,657,677.641640063,0.451958421762,-0.00558946799423,0.0695059106479,0.999999701211,-0.000154810249432,-0.000753917414449,-7.22575059986e-05,1793256560757272064
+212,3.533333333,POSE1_TO_POSE2_PRESS,795,745,727.065540537,711,690,650,935,796.065540537,836,671,657,677.065540537,0.4521299369,-0.00558935709257,0.0695011633528,0.999999696036,-0.000154716187439,-0.000760788669981,-7.20539865696e-05,1793256560773938944
+213,3.550000000,POSE1_TO_POSE2_PRESS,795,744.490809744,727.509190256,711,689.490809744,650,935,796,836,671,657,677,0.45226927875,-0.00558791250747,0.0694962973234,0.999999690735,-0.000152487749892,-0.00076818084879,-7.19452900485e-05,1793256560790605568
+214,3.566666667,POSE1_TO_POSE2_PRESS,795,744,728,711,689,649.9138598,935,796,836,671,656.9138598,677,0.452400147596,-0.0055871185401,0.0694915952914,0.999999685501,-0.00015097951221,-0.0007752766937,-7.17603913662e-05,1793256560807272704
+215,3.583333333,POSE1_TO_POSE2_PRESS,795,744,728,711,689,649.322873984,935,796,836,671,656.322873984,677,0.45250556379,-0.00559114106518,0.0694879437337,0.999999681026,-0.000155297966064,-0.000780243891118,-7.10575518424e-05,1793256560823939584
+216,3.600000000,POSE1_TO_POSE2_PRESS,795,744,728,711,688.737306489,649,935,796,836.262693511,671,656.262693511,677,0.452601564554,-0.00559255847635,0.0694847766353,0.999999675983,-0.000155948198765,-0.000786586683893,-7.06853146853e-05,1793256560840605952
+217,3.616666667,POSE1_TO_POSE2_PRESS,795,744,728,711,688.158264048,649,935,796,836.841735952,671,656.841735952,677,0.452686226773,-0.00559083867617,0.0694821929479,0.999999670237,-0.000152180972133,-0.000794586038469,-7.07112058069e-05,1793256560857272320
+218,3.633333333,POSE1_TO_POSE2_PRESS,794.581258647,744,728,711,688,649,935,796,837,671,657,677.418741353,0.452761726119,-0.00558978239541,0.069482945235,0.999999670658,-0.000151070934424,-0.000794285994863,-7.05003883991e-05,1793256560873938944
+219,3.650000000,POSE1_TO_POSE2_PRESS,794.005019435,744,728,711,688,649,935,796,837,671,657,677.994980565,0.452833779106,-0.00558897567898,0.0694849522558,0.999999673408,-0.00015096032417,-0.000790864364352,-7.02005396919e-05,1793256560890605568
+220,3.666666667,POSE1_TO_POSE2_PRESS,794,744.581190997,728,711,688,649,935,796,836.418809003,671,657,677.418809003,0.452883759446,-0.00558928619599,0.0694853692016,0.999999673575,-0.000151364782996,-0.000790585653198,-7.00904672333e-05,1793256560907272192
+221,3.683333333,POSE1_TO_POSE2_PRESS,794.165432658,744.834567342,728,711,688,649,935,795.834567342,836.165432658,671,657,677.165432658,0.452928941756,-0.00558998503068,0.0694849744694,0.999999673289,-0.000151817288412,-0.000790878711023,-6.98920019638e-05,1793256560923939072
+222,3.700000000,POSE1_TO_POSE2_PRESS,794.744532192,744.255467808,728,711,688,649,935,795.255467808,836.744532192,671,657,677.744532192,0.4529626115,-0.00559163031108,0.069482585062,0.999999671924,-0.000152378617598,-0.000792532427853,-6.94683392682e-05,1793256560940605696
+223,3.716666667,POSE1_TO_POSE2_PRESS,794.677230682,744,728,711,688,649,935,795.322769318,836.677230682,671,656.677230682,677.677230682,0.452989124404,-0.00559233323302,0.0694798935966,0.999999668969,-0.000151736958946,-0.00079640637722,-6.90962824808e-05,1793256560957272320
+224,3.733333333,POSE1_TO_POSE2_PRESS,794.099674258,744,728,711,688,649,935,795.900325742,836.099674258,671,656.099674258,677.099674258,0.453009987858,-0.00559229227781,0.0694769636928,0.999999664735,-0.00015014568782,-0.000802032930194,-6.87649622318e-05,1793256560973939200
+225,3.750000000,POSE1_TO_POSE2_PRESS,794.475494707,744,728,711,688,649.475494707,935,796,836,671,656.475494707,677.475494707,0.453024767855,-0.00559050637719,0.0694770421506,0.99999966455,-0.000147142841555,-0.000802842340323,-6.85065236683e-05,1793256560990605568
+226,3.766666667,POSE1_TO_POSE2_PRESS,795,744,728,711,688,649.948589903,935.051410097,796,836,671,657,678,0.453037656317,-0.0055886700004,0.0694773778409,0.999999664824,-0.00014437895392,-0.000803019752497,-6.83028697838e-05,1793256561007271936
+227,3.783333333,POSE1_TO_POSE2_PRESS,795,744,728,711,688,649.359663468,935.640336532,796,836,671,657,678,0.453044034394,-0.00559011115637,0.0694738425379,0.99999966112,-0.000147191776371,-0.000807094307236,-6.85130783189e-05,1793256561023938560
+228,3.800000000,POSE1_TO_POSE2_PRESS,795,744,728,711,688,649,935.774639509,796,836.225360491,671,657,678,0.453048094589,-0.00559112464993,0.0694707889751,0.999999657359,-0.000149342048799,-0.000811346330418,-6.85236915353e-05,1793256561040605184
+229,3.816666667,POSE1_TO_POSE2_PRESS,795,744,728,711,688,649,935.195737715,796,836.804262285,671,657,678,0.453048518537,-0.00559146723464,0.0694684911577,0.999999653527,-0.000150452925039,-0.000815876762524,-6.82211833566e-05,1793256561057271808
+230,3.833333333,POSE1_TO_POSE2_PRESS,795,744,728,711,688,649,935,795.618847617,836.618847617,671,657,678,0.453049206371,-0.00558996636914,0.0694670149325,0.999999651785,-0.000148710453911,-0.000818338937346,-6.80911262769e-05,1793256561073938944
+231,3.850000000,POSE1_TO_POSE2_PRESS,795,744,728,711,688,649,935,795.042985203,836.042985203,671,657,678,0.453050029009,-0.00558752378512,0.0694659584142,0.999999651107,-0.0001455103627,-0.000819744551819,-6.80491650975e-05,1793256561090605824
+232,3.866666667,POSE1_TO_POSE2_PRESS,795,744,728,711,688,649,935.532845621,795,836,671,656.467154379,678,0.453050912891,-0.00558828916805,0.0694651303554,0.999999649147,-0.000147672910443,-0.000821772452388,-6.77363282559e-05,1793256561107272448
+233,3.883333333,POSE1_TO_POSE2_PRESS,795,744.111364312,728.111364312,711,688,649,936,795,836.111364312,671,656.111364312,678,0.453052027729,-0.00558881226048,0.0694644886856,0.999999647691,-0.000149085108151,-0.000823302938721,-6.75546282009e-05,1793256561123939072
+234,3.900000000,POSE1_TO_POSE2_PRESS,795,744.70144808,728.70144808,711,688,649,936,795,836.70144808,671,656.70144808,678,0.453054114136,-0.00558718143423,0.0694645690224,0.999999648877,-0.000145412251433,-0.00082247941738,-6.80305716084e-05,1793256561140605440
+235,3.916666667,POSE1_TO_POSE2_PRESS,795,744.713928831,728.713928831,711,687.713928831,649,936,795,837,671,657,678,0.453054572128,-0.00558648608979,0.0694641058436,0.999999648766,-0.000143823208831,-0.000822877034106,-6.82404859373e-05,1793256561157272320
+236,3.933333333,POSE1_TO_POSE2_PRESS,795,744.134897843,728.134897843,711,687.134897843,649,936,795,837,671,657,678,0.453053362494,-0.00558674875354,0.0694630860614,0.999999647334,-0.000144368158557,-0.000824525194049,-6.81779652132e-05,1793256561173938688
+237,3.950000000,POSE1_TO_POSE2_PRESS,795,744,728,711,687.441407996,649,936,795,836.558592004,671,657,678,0.453053654431,-0.00558800638934,0.0694629006079,0.999999646899,-0.00014582819169,-0.000824805726539,-6.80540393179e-05,1793256561190605312
+238,3.966666667,POSE1_TO_POSE2_PRESS,795,744,728,711,687.982790421,649,935.982790421,795,836.017209579,671,657,678,0.453054332263,-0.00558952059362,0.0694629139918,0.999999646694,-0.000147534100238,-0.000824763723566,-6.78990356309e-05,1793256561207272192
+239,3.983333333,POSE1_TO_POSE2_PRESS,795,744,728,711,687.3962875,649,935.3962875,795,836.6037125,671,657,678,0.45305268853,-0.00558952511949,0.0694611220107,0.999999644134,-0.000148179284347,-0.000827793464604,-6.73329454407e-05,1793256561223938816
+240,4.000000000,POSE1_TO_POSE2_PRESS,795,744.187815983,728,711,687.187815983,649,935.187815983,795,836.812184017,671,657,678,0.453052125917,-0.00558904527583,0.069460037048,0.999999642745,-0.000147987329783,-0.000829527010341,-6.7048409314e-05,1793256561240605440
+241,4.016666667,POSE1_TO_POSE2_PRESS,795,744.766920532,728,711,687.766920532,649,935.766920532,795,836.233079468,671,657,678,0.453053815668,-0.00558755631538,0.0694604250603,0.99999964381,-0.000146051312795,-0.00082856011266,-6.73504520886e-05,1793256561257272064
+242,4.033333333,POSE1_TO_POSE2_PRESS,795,744.654513591,728,711,688,649,935.654513591,795,836.345486409,671,657,678,0.453054516157,-0.00558763135676,0.0694607787764,0.999999644684,-0.00014582819584,-0.000827548862406,-6.72942965628e-05,1793256561273938688
+243,4.050000000,POSE1_TO_POSE2_PRESS,795,744.076310584,728,711,688,649,935.076310584,795,836.923689416,671,657,678,0.453054550288,-0.00558875989605,0.0694611093909,0.999999645429,-0.000146758873324,-0.000826507736688,-6.69968618075e-05,1793256561290605312
+244,4.066666667,POSE1_TO_POSE2_PRESS,794.501057118,744,728,711,687.501057118,649,935.498942882,795.498942882,836.501057118,671,657,678,0.453054019616,-0.00558892334111,0.0694604768427,0.999999643405,-0.000148311356262,-0.000828662906041,-6.71738383261e-05,1793256561307271936
+245,4.083333333,POSE1_TO_POSE2_PRESS,794.075510629,744,728,711,687,649,935.924489371,795.924489371,836,671,657,678,0.453053406138,-0.0055888289025,0.0694595773605,0.999999641124,-0.000149609567991,-0.000831156209456,-6.744501174e-05,1793256561323938560
+246,4.100000000,POSE1_TO_POSE2_PRESS,794.664054532,744,728,711,687,649,935.335945468,795.335945468,836,671,657,678,0.453052813517,-0.00558797932234,0.0694578592523,0.999999640016,-0.000148537871308,-0.000832644999048,-6.78660967376e-05,1793256561340605184
+247,4.116666667,HOLD_POSE2,795,744,728,711,688,649,935,795,836,671,656,678,0.453053705646,-0.00558793529329,0.069457732348,0.999999640752,-0.000145975094759,-0.000832287021584,-6.69695616199e-05,1793256561378882816
+248,4.133333333,HOLD_POSE2,795,744.576109303,728,711,688,649,935,795,836,671,656,678,0.453053858583,-0.00558774206266,0.0694575156038,0.999999640473,-0.000145848455093,-0.000832621672226,-6.72507881007e-05,1793256561395550464
+249,4.150000000,HOLD_POSE2,795,745,728,711,687.848744793,649,935.151255207,795.151255207,836,671,656.151255207,677.848744793,0.453053893136,-0.00558759995835,0.0694573296843,0.999999640065,-0.000145661933502,-0.000833138340129,-6.73298524639e-05,1793256561412217600
+250,4.166666667,HOLD_POSE2,795,745,728,711,687.276281582,649,935.723718418,795.723718418,836,671,656.723718418,677.276281582,0.453053598019,-0.00558760022804,0.0694572296039,0.999999639295,-0.000145308655666,-0.000834161880753,-6.68459458485e-05,1793256561428883712
+251,4.183333333,HOLD_POSE2,795,744.693085574,728,710.693085574,687.306914426,649,936,796,836,671,657,677,0.45305335169,-0.00558762933645,0.0694571207315,0.99999963904,-0.00014525660077,-0.000834492695805,-6.66515410663e-05,1793256561445550080
+252,4.200000000,HOLD_POSE2,795,744.099877925,728,710.099877925,687.900122075,649,936,796,836,671,657,677,0.453053150871,-0.00558768534595,0.0694570036576,0.999999639265,-0.000145485530033,-0.000834177328605,-6.67271868734e-05,1793256561462216448
+253,4.216666667,HOLD_POSE2,794.517832174,744,728,710.482167826,688,649,935.517832174,795.517832174,836.482167826,671,657,677,0.453053265224,-0.00558834544156,0.0694570731624,0.999999639296,-0.00014715123924,-0.000833846450195,-6.67364982274e-05,1793256561478883328
+254,4.233333333,HOLD_POSE2,794.061463747,744,728,711,687.938536253,649,935,795,836.938536253,671,656.938536253,677.061463747,0.45305348466,-0.00558899412628,0.0694571058651,0.999999639316,-0.000148640673652,-0.000833558282994,-6.67376728824e-05,1793256561495550208
+255,4.250000000,HOLD_POSE2,794.636663859,744,728,711,687.363336141,649,935,795,836.363336141,671,656.363336141,677.636663859,0.453054049085,-0.0055885251959,0.0694565152317,0.99999963959,-0.000146225410067,-0.000833653359801,-6.67830896781e-05,1793256561512216576
+256,4.266666667,HOLD_POSE2,794.784168089,744.215831911,728,711,687,649,935,795.215831911,836,671,656.215831911,678,0.453054669956,-0.00558833528079,0.0694562709935,0.999999639766,-0.000145565153384,-0.000833554588302,-6.68193026814e-05,1793256561528883712
+257,4.283333333,HOLD_POSE2,794.198195279,744.801804721,728,711,687,649,935,795.801804721,836,671,656.801804721,678,0.45305538763,-0.00558862386291,0.0694566208057,0.99999963978,-0.00014791464572,-0.000833123376677,-6.68397316383e-05,1793256561545550592
+258,4.300000000,HOLD_POSE2,794,744.614985342,728,711,687,649,935,795.614985342,836,671.385014658,657,677.614985342,0.453055409365,-0.00558784746709,0.0694566737733,0.999999639397,-0.000147765959028,-0.000833597032732,-6.69922909801e-05,1793256561562217472
+259,4.316666667,HOLD_POSE2,794,744.033187472,728,711,687,649,935,795.033187472,836,671.966812528,657,677.033187472,0.453055075401,-0.00558652675495,0.0694565750221,0.999999638811,-0.000146340438844,-0.000834533171837,-6.72123829252e-05,1793256561578884096
+260,4.333333333,HOLD_POSE2,794.5428224,744,728,711,687,649,935.5428224,795,836,672,657,677.5428224,0.453054375054,-0.00558725368326,0.0694555373503,0.999999637573,-0.000146169022607,-0.000836039879597,-6.72761841276e-05,1793256561595550208
+261,4.350000000,HOLD_POSE2,795,744.118292736,728,711,687,649,935.881707264,795,836,671.881707264,656.881707264,678,0.453054089099,-0.00558780843364,0.0694548200848,0.999999636873,-0.000145823783126,-0.000836937878975,-6.72591535928e-05,1793256561612216576
+262,4.366666667,HOLD_POSE2,795,744.693032424,728,711,687,649,935.306967576,795,836,671.306967576,656.306967576,678,0.453055487647,-0.00558722084972,0.0694555583107,0.999999638407,-0.000144515089595,-0.000835353919818,-6.6966705704e-05,1793256561628883200
+263,4.383333333,POSE2_TO_POSE3_RETREAT,794,744,728,711,688,649,935,795,836,671,656,678,0.453054352971,-0.00558686762344,0.069454781285,0.99999963719,-0.000145307125856,-0.000836634241567,-6.7438658875e-05,1793256561665964032
+264,4.400000000,POSE2_TO_POSE3_RETREAT,794,744,728,711,687.423116532,649,935,795,836,671,656.576883468,678,0.453053300921,-0.00558473063812,0.0694541645096,0.999999636744,-0.000141766711434,-0.000837807702391,-6.70252882052e-05,1793256561682631936
+265,4.416666667,POSE2_TO_POSE3_RETREAT,794,744,728,711,687,649,935,795,836,671,656.847947223,678,0.453052562095,-0.00558333561153,0.0694536112596,0.999999636246,-0.000139373886906,-0.000838826535466,-6.67251953356e-05,1793256561699299072
+266,4.433333333,POSE2_TO_POSE3_RETREAT,794,744,728,711,687,649,935,795,836,671,656.27749459,678,0.453052685155,-0.00558398221389,0.0694532328108,0.999999635641,-0.000140138856238,-0.000839419883491,-6.67368060884e-05,1793256561715965696
+267,4.450000000,POSE2_TO_POSE3_RETREAT,794.295757246,744,728,711,687.295757246,649,935,795,836,671,656.295757246,678,0.45305270242,-0.00558460602689,0.0694530879897,0.99999963513,-0.000141654917365,-0.000839753911247,-6.69797544503e-05,1793256561732632576
+268,4.466666667,POSE2_TO_POSE3_RETREAT,794.871660497,744,728,711,687.871660497,649,935,795,836,671,656.871660497,678,0.453052619474,-0.00558520825342,0.0694531644644,0.999999634707,-0.000143882424639,-0.000839842306648,-6.74418295036e-05,1793256561749299456
+269,4.483333333,POSE2_TO_POSE3_RETREAT,795,744,728,711,688,649,935,795.464657517,836,671,657,678,0.45305421218,-0.00558670510272,0.0694541227852,0.999999636108,-0.00014473409552,-0.000838063333866,-6.69708318648e-05,1793256561765965568
+270,4.500000000,POSE2_TO_POSE3_RETREAT,795,744,728,711,687.940935925,649,935,795.940935925,836,671,657,678,0.453055811305,-0.00558811012641,0.0694550414634,0.999999637656,-0.000145155207671,-0.000836191211347,-6.63437913692e-05,1793256561782630912
+271,4.516666667,POSE2_TO_POSE3_RETREAT,795,744,728,711,687.376414148,649,935,795.376414148,836,671,657,678,0.453053353382,-0.00558653396097,0.0694534568768,0.999999636017,-0.00014526793317,-0.000838104373432,-6.66710892772e-05,1793256561799297280
+272,4.533333333,POSE2_TO_POSE3_RETREAT,795,744,728,711,687,648.804536523,935,795,836.195463477,671,657,678,0.453049899308,-0.00558591240091,0.0694516124967,0.999999633929,-0.000145525732573,-0.000840524768166,-6.69516983585e-05,1793256561815963904
+273,4.550000000,POSE2_TO_POSE3_RETREAT,795,744,728,711,687,648.217939493,935,795,836.782060507,671,657,678,0.453044451878,-0.0055872010608,0.0694492482555,0.999999630943,-0.000146073833107,-0.000843960164103,-6.71388803984e-05,1793256561832630784
+274,4.566666667,POSE2_TO_POSE3_RETREAT,795,744,728,711,687,648.361794533,935,795,836.638205467,671,656.638205467,678,0.453025426403,-0.00558691618083,0.0694416474426,0.999999620449,-0.000144965942156,-0.000856493959802,-6.71112589182e-05,1793256561849297664
+275,4.583333333,POSE2_TO_POSE3_RETREAT,795,744,728,711,687,648.937471407,935,795,836.062528593,671,656.062528593,678,0.452998373983,-0.00558570107027,0.0694309509215,0.999999605258,-0.000142879077507,-0.000874406463332,-6.69566518827e-05,1793256561865964544
+276,4.600000000,POSE2_TO_POSE3_RETREAT,795,744,728,711,687,649,935,795,836,671.529929167,656,678,0.452948329656,-0.00558455314434,0.069414660044,0.999999581712,-0.000141995597777,-0.000901057156969,-6.71568499215e-05,1793256561882630912
+277,4.616666667,POSE2_TO_POSE3_RETREAT,794.87968472,744,728,711,687,649,935,795.12031528,836,671.87968472,656,677.87968472,0.45289127563,-0.00558302968796,0.0693979033363,0.999999558017,-0.000141373066993,-0.000927054541176,-6.74466714556e-05,1793256561899297536
+278,4.633333333,POSE2_TO_POSE3_RETREAT,794.304849308,744,728,711,687,649,935,795.695150692,836,671.304849308,656,677.304849308,0.452818324591,-0.00558005664693,0.0693819620803,0.999999539738,-0.000141182381504,-0.000946561460206,-6.79117406964e-05,1793256561915964160
+279,4.650000000,POSE2_TO_POSE3_RETREAT,794,744,728,711,687.270167686,649,935,795.729832314,836,671,656.270167686,677,0.452733551962,-0.00557747463453,0.069366470834,0.999999518018,-0.000139969535912,-0.000969408584848,-6.79585503452e-05,1793256561932630784
+280,4.666666667,POSE2_TO_POSE3_RETREAT,794,744,728,711,687.845389676,649,935,795.154610324,836,671,656.845389676,677,0.452635431233,-0.00557533414426,0.0693514877078,0.999999492217,-0.000137602539183,-0.000996027232798,-6.75330907108e-05,1793256561949297152
+281,4.683333333,POSE2_TO_POSE3_RETREAT,794.432403727,744,728,711,687.567596273,649,935,795,836,671,657,677.432403727,0.452523060027,-0.0055727608744,0.0693367303737,0.999999466882,-0.000134355889885,-0.00102164888522,-6.64643147829e-05,1793256561965964288
+282,4.700000000,POSE2_TO_POSE3_RETREAT,795,744,727.976750495,711,687.023249505,649,935,795,836,671,657,677.976750495,0.452404049394,-0.00557000306599,0.0693218485176,0.999999441051,-0.000130836703817,-0.0010471549281,-6.51578304727e-05,1793256561982631424
+283,4.716666667,POSE2_TO_POSE3_RETREAT,795,744,727.397920818,711,687.602079182,649,935,795,836,671,657,677.397920818,0.452251555681,-0.00556663696079,0.0693020076729,0.999999407954,-0.000128531691749,-0.00107865590184,-6.38218270654e-05,1793256561999298304
+284,4.733333333,POSE2_TO_POSE3_RETREAT,794.820475041,744,727.179524959,710.820475041,688,649,935,795,836,671,657,677.179524959,0.452090115762,-0.00556340379084,0.0692810050116,0.999999371472,-0.0001260241916,-0.00111233026933,-6.24025274498e-05,1793256562015965184
+285,4.750000000,POSE2_TO_POSE3_RETREAT,794.246073315,744,727.753926685,710.246073315,688,649,935,795,836,671,657,677.753926685,0.451908998103,-0.00556046302102,0.0692574468622,0.999999328425,-0.000123071306234,-0.00115078515377,-6.08000126657e-05,1793256562032631808
+286,4.766666667,POSE2_TO_POSE3_RETREAT,794,744,728,710.325965004,688,649.325965004,935,795.325965004,836,671,657,678,0.451704675611,-0.00555630920153,0.0692309105619,0.999999276137,-0.000119749800038,-0.00119577864585,-5.91431109703e-05,1793256562049298432
+287,4.783333333,POSE2_TO_POSE3_RETREAT,794,744,728,710.896232073,688,649.896232073,935,795.896232073,836,671,657,678,0.4514829617,-0.0055512462334,0.0692021422144,0.999999215754,-0.000116152021926,-0.00124567265238,-5.74454475003e-05,1793256562065965056
+288,4.800000000,POSE2_TO_POSE3_RETREAT,794,744.489026341,728,711,688.489026341,650,935,796,836,671,657,678,0.451237498409,-0.00554520933999,0.0691789284388,0.999999166574,-0.000110017561364,-0.0012851882356,-5.5124582398e-05,1793256562082631936
+289,4.816666667,POSE2_TO_POSE3_RETREAT,794.083726217,744.916273783,728,711,689,650,935,796,836,671,657,677.916273783,0.450982724378,-0.0055389757866,0.0691594436373,0.999999123546,-0.000102810511861,-0.00131894292123,-5.22263675397e-05,1793256562099298560
+290,4.833333333,POSE2_TO_POSE3_RETREAT,794.660152508,744.339847492,728,711,689,650,935,796,836,671,657,677.339847492,0.450704247222,-0.00553285980414,0.0691546317294,0.999999106998,-9.26121119683e-05,-0.00133238188397,-4.67464059047e-05,1793256562115964672
+291,4.850000000,POSE2_TO_POSE3_RETREAT,794.765273181,744,728,711,689,650,935.234726819,796,836,671,657,677,0.45041975364,-0.00552707667436,0.0691556642723,0.999999102808,-8.29353643885e-05,-0.00133633173465,-4.14918147426e-05,1793256562132631040
+292,4.866666667,POSE2_TO_POSE3_RETREAT,794.19335929,744,728,711,689,650,935.80664071,796,836,671,657,677,0.450126617428,-0.00552177169064,0.0691650924186,0.999999116592,-7.40079754273e-05,-0.00132665039458,-3.65609705219e-05,1793256562149297664
+293,4.883333333,POSE2_TO_POSE3_RETREAT,794.392660767,744.392660767,728,711,689,650,935.607339233,796.392660767,836,671,657,677,0.449813486903,-0.00551699113628,0.0691770933115,0.999999134585,-6.49619379709e-05,-0.00131365608116,-3.02876129896e-05,1793256562165964288
+294,4.900000000,POSE2_TO_POSE3_RETREAT,794.985885997,744.985885997,728,711,689,650,935.014114003,796.985885997,836,671,657,677,0.449490143632,-0.00551247845171,0.0691904083196,0.999999154507,-5.58552971341e-05,-0.00129896955714,-2.33285225615e-05,1793256562182630912
+295,4.916666667,POSE2_TO_POSE3_RETREAT,795,744.434852347,728,711,690.130295307,650.565147653,935,797,836.565147653,671,657,677.565147653,0.44912968685,-0.00550652904052,0.0692089372597,0.999999193909,-4.50220363653e-05,-0.0012688070369,-1.6836747732e-05,1793256562199297280
+296,4.933333333,POSE2_TO_POSE3_RETREAT,795,744,728,711,691,651,935,797.143337348,836.856662652,671,657,677.856662652,0.448753569213,-0.00549945882348,0.0692285792939,0.999999234448,-2.07093967908e-05,-0.00123715850726,-1.06023270479e-05,1793256562215963904
+297,4.950000000,POSE2_TO_POSE3_RETREAT,795,744,728,711,691,651,935,797.719318572,836.280681428,671,657,677.280681428,0.448332911713,-0.00548911130068,0.0692511974922,0.999999276413,4.41618580831e-05,-0.00120216313032,-5.11031817429e-06,1793256562232630528
+298,4.966666667,POSE2_TO_POSE3_RETREAT,795,744,727.699528329,711,691,651,935,798,836,671,657,677,0.447897230941,-0.00548084149179,0.069268180727,0.99999930601,8.09929602907e-05,-0.00117533800897,2.51138345767e-07,1793256562249297664
+299,4.983333333,POSE2_TO_POSE3_RETREAT,795,744,727.113459314,711,691,651,935,798,836,671,657,677,0.447447270548,-0.00547454654201,0.0692798079501,0.999999327338,9.11719964629e-05,-0.00115627868902,5.48850590733e-06,1793256562265965312
+300,5.000000000,POSE2_TO_POSE3_RETREAT,794.533229739,744,727,710.533229739,691.466770261,651.466770261,935,798.466770261,836,671,657,677,0.446940756889,-0.00546823522634,0.0692826429951,0.999999333624,6.46601507648e-05,-0.00115263480166,-1.76619573256e-06,1793256562282631936
+301,5.016666667,POSE2_TO_POSE3_RETREAT,794,744,727,710,692.045583462,652,935,799.045583462,836,671,657,677.045583462,0.44641983895,-0.00546278093207,0.0692849256545,0.999999338585,3.25404593666e-05,-0.00114963274085,-1.07237233574e-05,1793256562299298560
+302,5.033333333,POSE2_TO_POSE3_RETREAT,794,744,727,710,692.624227545,652,935,799.624227545,836,671,657,677.624227545,0.445889243123,-0.00546739473027,0.0693054319285,0.99999938227,3.78482363993e-05,-0.00111085878425,-4.52395193234e-06,1793256562315965440
+303,5.050000000,POSE2_TO_POSE3_RETREAT,794.201349575,744,727.201349575,710.201349575,693.201349575,652.201349575,935,800,836,671,657,677.798650425,0.445354076962,-0.00547171772184,0.0693373048559,0.999999442619,4.45936200278e-05,-0.00105488063354,8.3829933702e-07,1793256562332632064
+304,5.066666667,POSE2_TO_POSE3_RETREAT,794.775652322,744,727.775652322,710.775652322,693.775652322,652.775652322,935,800,836,671,657,677.224347678,0.444810445352,-0.00547550206159,0.069390231859,0.999999530952,5.40018344644e-05,-0.000967035721118,4.64923928509e-06,1793256562349298944
+305,5.083333333,POSE2_TO_POSE3_RETREAT,795,744,728,711,694,653,935,800,836,671,657,677,0.444240847222,-0.00547425262241,0.0694383570227,0.999999603304,5.64501229096e-05,-0.000888901758015,7.61757144768e-06,1793256562365965312
+306,5.100000000,POSE2_TO_POSE3_RETREAT,795,744,728,711,694,653,935,800,836,671,657,677,0.44365460261,-0.00546977615022,0.0694834038425,0.999999664729,5.44365722054e-05,-0.000816993250515,1.00457281596e-05,1793256562382631424
+307,5.116666667,POSE2_TO_POSE3_RETREAT,794.471633785,744,728,710.471633785,694,653,935,800,836,671,657,677.528366215,0.443005701246,-0.00546314253802,0.0695174569218,0.999999704608,6.30074143735e-05,-0.00076593148602,1.27256107299e-05,1793256562399297792
+308,5.133333333,POSE2_TO_POSE3_RETREAT,794.21311291,744,728,710.106556455,694.106556455,653.106556455,935,800.106556455,836,671,657.106556455,678,0.442347401524,-0.00545273802331,0.0695519088689,0.9999997411,7.80363094018e-05,-0.0007151909158,1.45957737696e-05,1793256562415964160
+309,5.150000000,POSE2_TO_POSE3_RETREAT,795.361557884,744,728,710.680778942,694.680778942,653.680778942,935,800.680778942,836,671,657.680778942,678,0.441674255503,-0.00542669234757,0.0695927438884,0.999999777205,0.000116948973769,-0.000657075753316,1.2806083908e-05,1793256562432631296
+310,5.166666667,POSE2_TO_POSE3_RETREAT,795.744278138,744,728,711,695,654,935,801,836,671,657.744278138,678,0.440992676428,-0.00540654474599,0.0696383452694,0.999999821912,0.000141594057508,-0.000579644982954,1.17990211861e-05,1793256562449298176
+311,5.183333333,POSE2_TO_POSE3_RETREAT,795.168433272,744,728,711,695,654,935,801,836,671,657.168433272,678,0.440300540422,-0.00539378058946,0.0696899133807,0.999999874664,0.000148378409708,-0.000478034141574,1.17716826022e-05,1793256562465964544
+312,5.200000000,POSE2_TO_POSE3_RETREAT,794.581767547,744,728,711,695.418232453,654.418232453,935,801.418232453,836,671,657.418232453,678,0.439554162482,-0.00539631343,0.0697141690843,0.999999891867,0.0001434613795,-0.000442185459837,1.25019667732e-05,1793256562482631168
+313,5.216666667,POSE2_TO_POSE3_RETREAT,794,744,728,710.990821545,696.009178455,655,935,802,836,671,658,678,0.438784702769,-0.00540511381047,0.0697265992341,0.999999896803,0.000133687634713,-0.000433980623149,1.35210317776e-05,1793256562499297280
+314,5.233333333,POSE2_TO_POSE3_RETREAT,794,744,728,710.411873586,696.588126414,655,935,802,836,671,658,678,0.437974460817,-0.00541040138395,0.0697058816543,0.999999889281,0.000122728444932,-0.000454099104853,1.30230808771e-05,1793256562515963904
+315,5.250000000,POSE2_TO_POSE3_RETREAT,794.16593751,744,728,710,697,655,935,802,836,670.83406249,658,677.83406249,0.437168276229,-0.00541505816723,0.06970259258,0.999999891557,0.000114876293481,-0.000451116489785,1.35236394e-05,1793256562532630528
+316,5.266666667,POSE2_TO_POSE3_RETREAT,794.740945963,744,728,710,697,655,935,802,836,670.259054037,658,677.259054037,0.436372093951,-0.00541815991939,0.0697422684471,0.999999916775,0.00011468364702,-0.000391184799492,1.64857341601e-05,1793256562549297152
+317,5.283333333,POSE2_TO_POSE3_RETREAT,795,744,728,710,697.322614697,655.322614697,935,802,836,670.322614697,658,677.322614697,0.435563237602,-0.00541847461551,0.0697886161341,0.999999939682,0.000116397752938,-0.00032662642914,2.00502985074e-05,1793256562565964288
+318,5.300000000,POSE2_TO_POSE3_RETREAT,795,744,728,710,697.909744231,655.909744231,935,802,836,670.909744231,658,677.909744231,0.434743989704,-0.0054165041779,0.0698404341073,0.999999959195,0.000119675222974,-0.000258274602633,2.41088331802e-05,1793256562582631168
+319,5.316666667,POSE2_TO_POSE3_RETREAT,794.509712468,744,728,710,697.509712468,655.509712468,935,802,836,671,658,677.509712468,0.433868914896,-0.00541347681868,0.0698495556593,0.999999960303,0.000125495369872,-0.000250995214293,2.54180155195e-05,1793256562599297792
+320,5.333333333,POSE2_TO_POSE3_RETREAT,794.06946697,744.06946697,728,710,697,655,935,802.06946697,836,671,658,677,0.432982727182,-0.00541060640429,0.0698500398971,0.999999958806,0.000131235136617,-0.00025393720043,2.61079872417e-05,1793256562615964416
+321,5.350000000,POSE2_TO_POSE3_RETREAT,794.647420088,744.647420088,728,710,697,655,935,802.647420088,836,671,658,677,0.432089424318,-0.00541029011151,0.0698440707907,0.999999959445,0.000133005720292,-0.000250494333615,2.59210561945e-05,1793256562632631040
+322,5.366666667,POSE2_TO_POSE3_RETREAT,795,745.223790103,728,710,697,655,935,802.776209897,836,670.776209897,658,677,0.431153556406,-0.00541014609507,0.0698139188541,0.999999947044,0.000134691638481,-0.000295205318387,2.49816937024e-05,1793256562649297408
+323,5.383333333,POSE2_TO_POSE3_RETREAT,795,745.797683555,728,710,697,655,935,802.202316445,836,670.202316445,658,677,0.430151098434,-0.00541027159239,0.0697459346363,0.999999904241,0.000136245102603,-0.000415249500669,2.28652066216e-05,1793256562665964288
+324,5.400000000,POSE2_TO_POSE3_RETREAT,795,746,728,710,697.381862743,655.381862743,935,802,836,670,658,677,0.42921584716,-0.00540979230602,0.0697217533359,0.999999889962,0.000135209909228,-0.000448733425577,2.08067556201e-05,1793256562682630912
+325,5.416666667,POSE2_TO_POSE3_RETREAT,795,746,728,710,697.971642278,655.971642278,935,802,836,670,658,677,0.42831718868,-0.00540898372675,0.0697214218713,0.99999989636,0.000132765243102,-0.000435086978989,1.8779904369e-05,1793256562699297792
+326,5.433333333,POSE2_TO_POSE3_RETREAT,795,746.55139833,728,709.44860167,698,656,935,802.55139833,836,670,658,677.55139833,0.427466725022,-0.00541027017464,0.0697977420634,0.999999939639,0.000136354807122,-0.000318638139161,2.44567840145e-05,1793256562715964672
+327,5.450000000,POSE2_TO_POSE3_RETREAT,795,747,727.869869059,709.130130941,698,655.869869059,935,803,836,670,658,677.869869059,0.42660779337,-0.00541094277374,0.0698618437283,0.999999964942,0.000138876476287,-0.000223530700397,2.93970655037e-05,1793256562732631552
+328,5.466666667,POSE2_TO_POSE3_RETREAT,795,747,727.292912195,709.707087805,698,655.292912195,935,803,836,670,658,677.292912195,0.42571142679,-0.00540914426864,0.069870696898,0.999999966097,0.000136684805006,-0.000219532141714,3.04720111199e-05,1793256562749298176
+329,5.483333333,POSE2_TO_POSE3_RETREAT,795,747,727.282113246,710,698,655.282113246,935,803,836,670,658,677,0.424799576867,-0.00540762616118,0.0698605557837,0.999999962045,0.000138089667368,-0.000236474879048,3.03459703844e-05,1793256562765964544
+330,5.500000000,POSE2_TO_POSE3_RETREAT,795,747,727.855146932,710,698,655.855146932,935,803,836,670,658,677,0.423871760289,-0.00540639720512,0.0698308274091,0.99999995151,0.00014320334229,-0.000275012671428,2.89814500216e-05,1793256562782630912
+331,5.516666667,POSE2_TO_POSE3_RETREAT,795,747,728,710,698,655.558026705,935,802.558026705,835.558026705,670,658,677.441973295,0.422874774628,-0.00540195051004,0.0697678970174,0.999999911811,0.000154166682809,-0.000389739393533,2.67198601404e-05,1793256562799297280
+332,5.533333333,POSE2_TO_POSE3_RETREAT,795,747,727.967227524,710,698,655.032772476,935,802.032772476,835.032772476,670,658,677.967227524,0.421862469493,-0.00539675451364,0.0696978025553,0.999999849999,0.00016554893091,-0.000521551542397,2.40914813071e-05,1793256562815963648
+333,5.550000000,POSE2_TO_POSE3_RETREAT,795,747,727.387988475,710,698,655.612011525,935,802.612011525,835.612011525,670,658,677.387988475,0.420984902098,-0.00539721547757,0.0696955426012,0.99999985913,0.00015091841986,-0.000508474855202,2.04074261838e-05,1793256562832630528
+334,5.566666667,POSE2_TO_POSE3_RETREAT,795.189121818,747,727,710,698,655.810878182,935,803,835.810878182,670,658,677,0.42014840878,-0.00539854001479,0.0697227242889,0.999999886802,0.00014276314102,-0.000453442249951,2.01369993618e-05,1793256562849297152
+335,5.583333333,POSE2_TO_POSE3_RETREAT,795.761913625,747,727,710,698,655.238086375,935,803,835.238086375,670,658,677,0.419395241968,-0.00540161647666,0.0698096340106,0.99999993965,0.000147744112007,-0.000313293984819,2.67917733699e-05,1793256562865964288
+336,5.600000000,POSE2_TO_POSE3_RETREAT,795.662458615,747.337541385,727.337541385,710,698,655.337541385,935,803,835.337541385,670,658,677.337541385,0.418599110491,-0.00540196417513,0.0698605823722,0.999999960022,0.000152807972541,-0.000235905082537,3.08864988915e-05,1793256562882631168
+337,5.616666667,POSE2_TO_POSE3_RETREAT,795.084813589,747.915186411,727.915186411,710,698,655.915186411,935,803,835.915186411,670,658,677.915186411,0.417772416962,-0.00540037081951,0.0698859502995,0.999999966342,0.000157930796027,-0.000203158869509,3.31601825036e-05,1793256562899298048
+338,5.633333333,POSE2_TO_POSE3_RETREAT,795,748,728,710,698,655.495328646,935,803,835.495328646,670,658,678,0.416910803262,-0.00539909639414,0.0698523260229,0.999999955336,0.000163883244431,-0.000248004228046,3.10539881855e-05,1793256562915964416
+339,5.650000000,POSE2_TO_POSE3_RETREAT,795,748,728,710,698,655.094069895,935,803,835,670,658,677.905930105,0.416048758656,-0.00539763225446,0.069811742133,0.999999939633,0.000168233202072,-0.000302707175966,2.82848478567e-05,1793256562932630528
+340,5.666666667,POSE2_TO_POSE3_RETREAT,795,748,728,710,698,655.672531446,935,803,835,670,658,677.327468554,0.415215440126,-0.00539490860003,0.0697875979267,0.999999928681,0.000163596316142,-0.000339410866632,2.59832979606e-05,1793256562949297152
+341,5.683333333,POSE2_TO_POSE3_RETREAT,795,748,727.750462576,710,698,656,935,803,835.249537424,670,658,677,0.414394348589,-0.0053916397088,0.0697631989493,0.999999912372,0.00016430724422,-0.000384233422548,2.49597517206e-05,1793256562965963776
+342,5.700000000,POSE2_TO_POSE3_RETREAT,795,748,727.175355715,710,698,656,935,803,835.824644285,670,658,677,0.413589209576,-0.0053876594518,0.0697384675759,0.999999888236,0.000171995421729,-0.000439648592352,2.56036065602e-05,1793256562982630400
+343,5.716666667,POSE2_TO_POSE3_RETREAT,795.408468653,748,727.408468653,710,698,655.591531347,935,803,835.591531347,670,658,677,0.412887057621,-0.00538650900253,0.0697653494796,0.999999908507,0.000177297418845,-0.000388387450832,2.65898645582e-05,1793256562999297280
+344,5.733333333,POSE2_TO_POSE3_RETREAT,795.996117113,748,727.996117113,710,698,655.003882887,935,803,835.003882887,670,658,677,0.41223008214,-0.00538659988292,0.069814872181,0.999999940989,0.000181552687915,-0.000290331433455,2.77263217807e-05,1793256563015964160
+345,5.750000000,POSE2_TO_POSE3_RETREAT,795.424628126,748,727.424628126,710,698,655,935,803,835,670,658,677,0.411593431419,-0.00538704671782,0.0698612589177,0.999999959462,0.000186492520511,-0.000213005696838,3.04020618046e-05,1793256563032631040
+346,5.766666667,POSE2_TO_POSE3_RETREAT,795,748,727,709.846341144,698,655.153658856,935,803,835.153658856,670,658,677,0.410941915443,-0.00538576378065,0.0698887003735,0.9999999669,0.00019057559996,-0.000169858605947,3.20632183098e-05,1793256563049297920
+347,5.783333333,POSE2_TO_POSE3_RETREAT,795,748,727,709.270559281,698,655.729440719,935,803,835.729440719,670,658,677,0.410249190945,-0.00537972240643,0.0698641537267,0.999999956784,0.000192292549901,-0.000220226368247,3.09090422397e-05,1793256563065964544
+348,5.800000000,POSE2_TO_POSE3_RETREAT,795,748,727.30356208,709,698,656,935,803,836,670,658,677.30356208,0.409577350621,-0.00537544130471,0.0698285222496,0.999999940004,0.000197171130753,-0.000283375724802,2.85388173408e-05,1793256563082631168
+349,5.816666667,POSE2_TO_POSE3_RETREAT,795,748,727.876211484,709,698,656,935,803,836,670,658,677.876211484,0.40892402275,-0.00537272056628,0.0697830648188,0.999999914673,0.000204852283699,-0.000357855099434,2.50906471076e-05,1793256563099297792
+350,5.833333333,POSE2_TO_POSE3_RETREAT,795.465141499,748,727.534858501,709,698,656,935,803,835.534858501,670,658,677.534858501,0.408327281819,-0.00537267623615,0.069771164054,0.99999991073,0.000203698980936,-0.000369442015432,2.36506764854e-05,1793256563115963904
+351,5.850000000,POSE2_TO_POSE3_RETREAT,795.942856807,748,727.057143193,709,698,655.942856807,934.942856807,803,835.057143193,670,658,677,0.407752294524,-0.00537339482551,0.0697708388761,0.999999914337,0.000200527960372,-0.000361369825938,2.29538325414e-05,1793256563132630784
+352,5.866666667,POSE2_TO_POSE3_RETREAT,795.363808332,748,727.636191668,709,698,655.363808332,934.363808332,803,835.636191668,670,658,677,0.40723345753,-0.00537434000932,0.0697917139367,0.99999992431,0.000201180872737,-0.000332159633962,2.39859012856e-05,1793256563149297920
+353,5.883333333,POSE2_TO_POSE3_RETREAT,795.213264675,748,727.786735325,709.213264675,698,655.213264675,934.213264675,803.213264675,836,670,658,677,0.406722956317,-0.00537509794169,0.0698040677373,0.999999929077,0.000201076715657,-0.000317502082459,2.46214303853e-05,1793256563165964800
+354,5.900000000,POSE2_TO_POSE3_RETREAT,795.7869986,748,727.2130014,709.7869986,698,655.7869986,934.7869986,803.7869986,836,670,658,677,0.406226544658,-0.00537553937342,0.0698020185306,0.99999992615,0.00019969292696,-0.000327442041477,2.4586710817e-05,1793256563182631168
+355,5.916666667,POSE2_TO_POSE3_RETREAT,796,748.37009617,727,710,698.37009617,656,935,804,836,670,658,677,0.405765753754,-0.00537620004176,0.069798287042,0.999999922562,0.000200200709752,-0.000337918487399,2.46528978977e-05,1793256563199298048
+356,5.933333333,POSE2_TO_POSE3_RETREAT,796,748.958722739,727,710,698.958722739,656,935,804,836,670,658,677,0.405325995763,-0.0053769901626,0.0697935622175,0.999999918526,0.000201825407158,-0.000348711713258,2.47786672448e-05,1793256563215964672
+357,5.950000000,POSE2_TO_POSE3_RETREAT,795.461150992,749,727,710,698.461150992,656,935,804,835.461150992,670,658,677.538849008,0.404935774435,-0.00537647595528,0.0698104842455,0.999999929906,0.000197963967913,-0.000316814815403,2.50449399557e-05,1793256563232631040
+358,5.966666667,POSE2_TO_POSE3_RETREAT,795.117682806,748.882317194,727,710,698,656,935,804,835.117682806,670,658,678,0.404559766259,-0.00537579801248,0.0698282586864,0.999999940231,0.000196690208865,-0.000283221002659,2.52227738197e-05,1793256563249297408
+359,5.983333333,POSE2_TO_POSE3_RETREAT,795.693978107,748.306021893,727,710,698,656,935,804,835.693978107,670,658,678,0.404224588791,-0.00537486531275,0.0698429932936,0.999999945584,0.000207112995927,-0.000255560303307,2.50146677194e-05,1793256563265964032
+360,6.000000000,POSE2_TO_POSE3_RETREAT,796,748.269936384,727,709.730063616,698,656,935,804,835.730063616,670,658,678,0.403892332059,-0.00537448044938,0.0698469012325,0.999999947204,0.000210450725922,-0.000246360605383,2.46900508546e-05,1793256563282630656
+361,6.016666667,POSE2_TO_POSE3_RETREAT,796,748.845513025,727,709.154486975,698,656,935,804,835.154486975,670,658,678,0.403563382402,-0.0053747158835,0.0698385504835,0.999999945238,0.000205766273959,-0.000258063705425,2.42335126395e-05,1793256563299297536
+362,6.033333333,POSE2_TO_POSE3_RETREAT,796,748.568957344,727,709,698,656,935,804,835,670,658,678,0.403263789293,-0.00537190835723,0.0698285456721,0.999999940418,0.000208189466432,-0.000274391938535,2.30402782334e-05,1793256563315964160
+363,6.050000000,POSE2_TO_POSE3_RETREAT,795.980105474,748,727,709.019894526,698,656,935,804,835.019894526,670,658,677.980105474,0.402975983115,-0.00536806782445,0.0698181088594,0.99999993442,0.00021296723232,-0.000292126582832,2.16135340565e-05,1793256563332631040
+364,6.066666667,POSE2_TO_POSE3_RETREAT,795.40051631,748,727,709.59948369,698,656,935,804,835.59948369,670,658,677.40051631,0.402716781563,-0.00536657295504,0.0698125905944,0.999999932085,0.000210626241832,-0.000301690508505,2.12211060989e-05,1793256563349297664
+365,6.083333333,POSE2_TO_POSE3_RETREAT,795,748.177709944,727,709.822290056,698,656,935,804,835.822290056,670,658,677.177709944,0.402471375484,-0.00536524278835,0.069806784801,0.999999929053,0.000209454841724,-0.000312395492557,2.0754871421e-05,1793256563365964032
+366,6.100000000,POSE2_TO_POSE3_RETREAT,795,748.752887819,727,709.247112181,698,656,935,804,835.247112181,670,658,677.752887819,0.402256824544,-0.00536428099767,0.0698003359193,0.999999924533,0.000210899360112,-0.000325652578528,2.01235599094e-05,1793256563382630400
+367,6.116666667,POSE2_TO_POSE3_RETREAT,795.326258603,749,727,709.326258603,698.326258603,656,935,804,835,670,658,677.673741397,0.402066743644,-0.00536301420625,0.0697962695582,0.999999921959,0.000211631464344,-0.000333028049593,1.96717905121e-05,1793256563399297280
+368,6.133333333,POSE2_TO_POSE3_RETREAT,795.898268276,749,727,709.898268276,698.898268276,656,935,804,835,670,658,677.101731724,0.401895094536,-0.00536151767594,0.0697939978066,0.999999920938,0.000211826949821,-0.000335973253772,1.93552593738e-05,1793256563415963904
+369,6.150000000,POSE2_TO_POSE3_RETREAT,795.511921819,749,727.488078181,710,699,656,935,804,835.488078181,670,658,677,0.401750240559,-0.00536128901789,0.0697951351459,0.999999921559,0.000212189025988,-0.000333879668229,1.95700370598e-05,1793256563432630784
+370,6.166666667,POSE2_TO_POSE3_RETREAT,795.079741133,749,727.920258867,710,699,656,935,804,836,670,658,677,0.401615129254,-0.00536126165949,0.0697971110302,0.999999922153,0.000215265826739,-0.000330096423095,1.97522708733e-05,1793256563449297408
+371,6.183333333,POSE2_TO_POSE3_RETREAT,795.658893892,749,727.341106108,710,699,656,935,804,836,670,658,677,0.401504733095,-0.00536077729834,0.0697997199811,0.999999920157,0.000235119007896,-0.000322557585735,1.90108635285e-05,1793256563465964544
+372,6.200000000,POSE2_TO_POSE3_RETREAT,796,749,727,710,699,656,935,804,836,670,658,677,0.401403191276,-0.00536077243255,0.0698003106038,0.999999918862,0.000244574511002,-0.000319584860781,1.80335393796e-05,1793256563482631168
+373,6.216666667,POSE2_TO_POSE3_RETREAT,796,749,727,710,699,656,935,804,836,670,658,677,0.40131433718,-0.00536145465388,0.0697980090874,0.999999919054,0.000239130785951,-0.000323155092015,1.67181611511e-05,1793256563499297536
+374,6.233333333,POSE2_TO_POSE3_RETREAT,796,748.604351108,727.395648892,709.604351108,699,656,935,804,836,670,658,677,0.401239934933,-0.00536148737737,0.0697956450969,0.999999919147,0.000234644282839,-0.00032616979326,1.61515241083e-05,1793256563515964160
+375,6.250000000,POSE2_TO_POSE3_RETREAT,796,748.01838965,727.98161035,709.01838965,699,656,935,804,836,670,658,677,0.401172484227,-0.00536120768344,0.0697932510556,0.999999919187,0.00023061821682,-0.000328917276826,1.59450419268e-05,1793256563532630784
+376,6.266666667,POSE2_TO_POSE3_RETREAT,795.438576623,748.561423377,728,709.561423377,699,656,935,804,836,670,658,677.561423377,0.401128055952,-0.00535957700213,0.0697981013176,0.999999921857,0.000228427666741,-0.000322269539778,1.57795354353e-05,1793256563549297408
+377,6.283333333,POSE2_TO_POSE3_RETREAT,795.140278468,748.859721532,728,710,699,656,935,804,835.859721532,670,658,678,0.401087581534,-0.00535880726801,0.0698025065583,0.999999924365,0.000226563827473,-0.00031573577479,1.58185332484e-05,1793256563565964288
+378,6.300000000,POSE2_TO_POSE3_RETREAT,795.716774085,748.283225915,728,710,699,656,935,804,835.283225915,670,658,678,0.401057082631,-0.00536085089793,0.0698047980409,0.999999926226,0.000225531008956,-0.000310503035139,1.64893397285e-05,1793256563582631168
+379,6.316666667,POSE2_TO_POSE3_RETREAT,796,748.289939412,727.710060588,710,698.710060588,656,935,804,835,670,658,678,0.401034143558,-0.0053613037744,0.069808206268,0.999999928004,0.000225640298952,-0.000304626692822,1.67467442115e-05,1793256563599297536
+380,6.333333333,POSE2_TO_POSE3_RETREAT,796,748.859888569,727.140111431,710,698.140111431,656,935,804,835,670,658,678,0.401018505407,-0.0053602203768,0.0698126929943,0.999999929691,0.00022685258311,-0.000298128788922,1.66049047117e-05,1793256563615964416
+381,6.350000000,POSE2_TO_POSE3_RETREAT,796,749,727.449456364,710,698.449456364,656,935,804,835,670,658,677.550543636,0.401006523205,-0.00536000867431,0.0698152612599,0.999999930979,0.000226913972388,-0.000293713386259,1.68496908577e-05,1793256563632631040
+382,6.366666667,POSE2_TO_POSE3_RETREAT,795.955850716,749,727.955850716,710,698.955850716,656,935,804,835.044149284,670,658,677,0.400996050124,-0.00536008610583,0.0698170761777,0.999999931986,0.000226902586932,-0.000290252475735,1.72042822932e-05,1793256563649297408
+383,6.383333333,POSE2_TO_POSE3_RETREAT,795.376549536,749,727.376549536,710,698.376549536,656,935,804,835.623450464,670,658,677,0.400989424554,-0.00536022406177,0.069817339559,0.999999931183,0.000230556415386,-0.000290133105518,1.73622576262e-05,1793256563665963776
+384,6.400000000,POSE2_TO_POSE3_RETREAT,795.203364367,749,727,710,698,656,935,804,835.796635633,670,658,677,0.400984532962,-0.00536075568983,0.069818054454,0.999999931109,0.000232086011851,-0.000289160990386,1.74220026087e-05,1793256563682630400
+385,6.416666667,POSE2_TO_POSE3_RETREAT,795.784416183,749,727,710,698,656,935,804,835.215583817,670,658,677,0.400982861708,-0.0053620184441,0.0698196078981,0.999999932405,0.00022967049336,-0.000286605160989,1.72993145874e-05,1793256563699297024
+386,6.433333333,POSE2_TO_POSE3_RETREAT,796,748.634840238,727,710,698.365159762,656,935,803.634840238,835,670,658,677,0.400982514457,-0.00536306644839,0.0698213981096,0.999999933713,0.000227907019181,-0.000283431747895,1.72711118256e-05,1793256563715963904
+387,6.450000000,POSE2_TO_POSE3_RETREAT,796,748.054278504,727,710,698.945721496,656,935,803.054278504,835,670,658,677,0.400982948215,-0.00536398777502,0.0698233279863,0.999999935023,0.000226528175719,-0.000279894032028,1.72986444294e-05,1793256563732630784
+388,6.466666667,POSE2_TO_POSE3_RETREAT,796,748,727,710,699,656,935,803.527772543,835.527772543,670,658,677,0.400981835208,-0.00536363085188,0.0698238798585,0.999999934904,0.00022690044928,-0.000280012481214,1.73301384923e-05,1793256563749297408
+389,6.483333333,POSE2_TO_POSE3_RETREAT,796,748.108575096,727,710,698.891424904,656,935,804,835.891424904,670,658,677.108575096,0.400980980787,-0.00536315302947,0.0698244138316,0.999999934783,0.000227419927529,-0.000280024891445,1.73047810614e-05,1793256563765964288
+390,6.500000000,POSE2_TO_POSE3_RETREAT,796,748.683357082,727,710,698.316642918,656,935,804,835.316642918,670,658,677.683357082,0.400981921685,-0.00536272215512,0.0698254811979,0.999999935278,0.000227796000353,-0.000277962851251,1.70335566054e-05,1793256563782630912
+391,6.516666667,POSE2_TO_POSE3_RETREAT,796,749,727.258768926,709.741231074,698,656,935,804,835,670,658,677.741231074,0.40098171941,-0.00536235664749,0.0698257208549,0.999999935411,0.000227884134909,-0.000277422668456,1.68598133484e-05,1793256563799297280
+392,6.533333333,POSE2_TO_POSE3_RETREAT,796,749,727.834953455,709.165046545,698,656,935,804,835,670,658,677.165046545,0.400980114875,-0.00536207132105,0.0698249452127,0.999999935103,0.000227619073714,-0.000278749252352,1.68056441244e-05,1793256563815963648
+393,6.550000000,POSE2_TO_POSE3_RETREAT,795.580846107,749,727.580846107,709.419153893,698,656,935,803.580846107,835.419153893,670,658,677,0.400979617247,-0.00536240881234,0.0698249770993,0.999999935342,0.000227005406185,-0.000278394211468,1.67855496618e-05,1793256563832630528
+394,6.566666667,POSE2_TO_POSE3_RETREAT,795.006498201,748.993501799,727,709.993501799,698,656,935,803.006498201,835.993501799,670,658,677,0.400979571001,-0.00536299378622,0.0698253353625,0.999999935797,0.000226250985752,-0.000277373004144,1.67775971992e-05,1793256563849297152
+395,6.583333333,POSE2_TO_POSE3_RETREAT,795.587303565,748.412696435,727,709.412696435,698,656,935,803.587303565,835.412696435,670,658,677,0.400980145769,-0.00536335425163,0.069825888386,0.999999936051,0.000225425065668,-0.000277138562537,1.66338130399e-05,1793256563865964032
+396,6.600000000,POSE2_TO_POSE3_RETREAT,796,748.166139973,727,709.166139973,698.166139973,656,935,804,835,670,658,677.166139973,0.40098095457,-0.00536333153226,0.0698267122313,0.99999993636,0.000224993689542,-0.000276378755262,1.64999062766e-05,1793256563882630656
+397,6.616666667,POSE2_TO_POSE3_RETREAT,796,748.740142691,727,709.740142691,698.740142691,656,935,804,835,670,658,677.740142691,0.40098233791,-0.00536236811932,0.0698282009265,0.999999936805,0.000225530893013,-0.000274329209718,1.63902478819e-05,1793256563899297536
+398,6.633333333,POSE2_TO_POSE3_RETREAT,795.685728007,748.685728007,727.314271993,710,699,656,935,803.685728007,835,670,658,677.685728007,0.400982660941,-0.00536181097064,0.0698287313607,0.999999936793,0.000227046586731,-0.000273123374789,1.63292378261e-05,1793256563915964416
+399,6.650000000,POSE2_TO_POSE3_RETREAT,795.111494026,748.111494026,727.888505974,710,699,656,935,803.111494026,835,670,658,677.111494026,0.400982106898,-0.00536158987887,0.0698284691328,0.999999936402,0.000229371675711,-0.00027261544717,1.63084690931e-05,1793256563932630784
+400,6.666666667,POSE2_TO_POSE3_RETREAT,795.479745358,748,727.520254642,710,698.520254642,656,935,803.479745358,835,670,658,677,0.400981019295,-0.0053614391275,0.0698278638216,0.999999936006,0.000229558734667,-0.000273910050279,1.62478962635e-05,1793256563949297408
+401,6.683333333,POSE2_TO_POSE3_RETREAT,796,748.072760245,727,709.927239755,698,656,935,804,835,670,658,677,0.400979955306,-0.00536131926865,0.0698272357865,0.999999935692,0.000229085541598,-0.000275452714473,1.61896123341e-05,1793256563965963776
+402,6.700000000,POSE2_TO_POSE3_RETREAT,796,748.649686527,727,709.350313473,698,656,935,804,835,670,658,677,0.400979945743,-0.0053612960331,0.0698270230833,0.99999993596,0.0002276068726,-0.00027570485038,1.62136426564e-05,1793256563982630400
+403,6.716666667,POSE2_TO_POSE3_RETREAT,795.774626011,749,727,709.225373989,698.225373989,656,935,804,835,670,658,677,0.400979996835,-0.00536144217257,0.0698273492086,0.999999936196,0.000226690871453,-0.000275593633288,1.63250071815e-05,1793256563999297280
+404,6.733333333,POSE2_TO_POSE3_RETREAT,795.200853512,749,727,709.799146488,698.799146488,656,935,804,835,670,658,677,0.400980141692,-0.00536185014354,0.0698285082919,0.999999936388,0.00022664468049,-0.000274920720346,1.65713788881e-05,1793256564015963904
+405,6.750000000,POSE2_TO_POSE3_RETREAT,795,749,727,709.625411236,698.625411236,656,935,803.625411236,835,670,658,677,0.40098032731,-0.00536229014112,0.0698287834548,0.999999936465,0.000227122471801,-0.000274245313578,1.65778339231e-05,1793256564032630784
+406,6.766666667,POSE2_TO_POSE3_RETREAT,795,749,727,709.049069655,698.049069655,656,935,803.049069655,835,670,658,677,0.400980534881,-0.00536274738816,0.0698285825398,0.99999993648,0.000227882479,-0.000273568563678,1.64550702676e-05,1793256564049297664
diff --git a/Part2/Obstacle_avoidance/cylinder_PLA_10/position_03/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_PLA_10/position_03/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6a36312bed5468aaddbeaed51e1f0abc30911f7d
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_PLA_10/position_03/depth_01/simulation_data.csv
@@ -0,0 +1,408 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+1,0.016666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+2,0.033333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+3,0.050000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+4,0.066666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+5,0.083333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+6,0.100000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+7,0.116666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+8,0.133333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+9,0.150000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+10,0.166666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+11,0.183333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+12,0.200000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+13,0.216666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+14,0.233333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+15,0.250000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+16,0.266666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+17,0.283333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+18,0.300000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+19,0.316666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+20,0.333333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+21,0.350000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+22,0.366666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+23,0.383333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+24,0.400000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+25,0.416666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+26,0.433333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+27,0.450000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+28,0.466666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+29,0.483333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+30,0.500000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+31,0.516666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+32,0.533333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+33,0.550000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+34,0.566666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+35,0.583333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+36,0.600000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+37,0.616666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+38,0.633333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+39,0.650000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+40,0.666666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+41,0.683333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+42,0.700000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+43,0.716666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+44,0.733333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+45,0.750000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+46,0.766666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+47,0.783333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+48,0.800000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+49,0.816666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+50,0.833333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+51,0.850000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+52,0.866666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+53,0.883333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+54,0.900000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+55,0.916666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+56,0.933333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+57,0.950000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+58,0.966666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+59,0.983333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+60,1.000000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+61,1.016666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+62,1.033333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+63,1.050000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+64,1.066666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+65,1.083333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+66,1.100000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+67,1.116666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+68,1.133333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+69,1.150000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+70,1.166666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+71,1.183333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+72,1.200000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+73,1.216666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+74,1.233333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+75,1.250000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+76,1.266666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+77,1.283333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+78,1.300000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+79,1.316666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+80,1.333333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+81,1.350000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+82,1.366666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+83,1.383333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+84,1.400000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+85,1.416666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+86,1.433333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+87,1.450000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+88,1.466666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+89,1.483333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+90,1.500000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+91,1.516666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+92,1.533333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+93,1.550000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+94,1.566666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+95,1.583333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+96,1.600000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+97,1.616666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+98,1.633333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+99,1.650000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+100,1.666666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+101,1.683333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+102,1.700000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+103,1.716666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+104,1.733333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+105,1.750000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+106,1.766666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+107,1.783333333,pose1_to_pose2_press,0.575666798543,0.000181738779929,1.060020574,0.546237946392,0.0088559764994,1.05969226794
+108,1.800000000,pose1_to_pose2_press,0.57566682342,0.000181744461118,1.06002043507,0.546237971066,0.00885598183535,1.05969213801
+109,1.816666667,pose1_to_pose2_press,0.575666926995,0.000181741720394,1.0600204265,0.546238074724,0.00885597947705,1.05969213221
+110,1.833333333,pose1_to_pose2_press,0.575667002306,0.000181738902116,1.06002043808,0.546238150123,0.00885597699376,1.05969214473
+111,1.850000000,pose1_to_pose2_press,0.575667019793,0.000181738247718,1.06002044077,0.54623816763,0.00885597641714,1.05969214763
+112,1.866666667,pose1_to_pose2_press,0.575667043554,0.000181737358527,1.06002044443,0.546238191419,0.00885597563364,1.05969215158
+113,1.883333333,pose1_to_pose2_press,0.575667188041,0.000181731951499,1.06002046666,0.546238336076,0.00885597086929,1.0596921756
+114,1.900000000,pose1_to_pose2_press,0.575667325897,0.000181726792634,1.06002048786,0.546238474094,0.00885596632361,1.05969219851
+115,1.916666667,pose1_to_pose2_press,0.575667454889,0.000181723619108,1.06002049969,0.546238603101,0.00885596322217,1.05969221082
+116,1.933333333,pose1_to_pose2_press,0.575669592583,0.000181764674619,1.06002057606,0.546240738709,0.00885599683032,1.05969227742
+117,1.950000000,pose1_to_pose2_press,0.575674954329,0.000181798487739,1.06002058672,0.546246100084,0.00885602937695,1.05969228801
+118,1.966666667,pose1_to_pose2_press,0.575687572217,0.000181809583248,1.06002056207,0.546258719335,0.00885604513598,1.0596922641
+119,1.983333333,pose1_to_pose2_press,0.575708480777,0.000181806061724,1.06002057945,0.546279628618,0.00885604412536,1.05969228297
+120,2.000000000,pose1_to_pose2_press,0.575739768959,0.00018179497858,1.06002039848,0.546310916215,0.00885603119396,1.05969210555
+121,2.016666667,pose1_to_pose2_press,0.575781740475,0.000181863802329,1.06002023081,0.546352885959,0.00885609404998,1.05969193895
+122,2.033333333,pose1_to_pose2_press,0.575835212655,0.000181825606519,1.06002045361,0.546406358468,0.00885605706124,1.05969216408
+123,2.050000000,pose1_to_pose2_press,0.575897494657,0.000181798375701,1.06002058716,0.546468642303,0.00885603607014,1.05969229818
+124,2.066666667,pose1_to_pose2_press,0.575968312198,0.000181701534422,1.06002066854,0.546539462038,0.0088559462833,1.05969236912
+125,2.083333333,pose1_to_pose2_press,0.576047670802,0.000181654817549,1.06002058164,0.546618820407,0.00885589882824,1.05969228373
+126,2.100000000,pose1_to_pose2_press,0.576136280284,0.000181765840331,1.06002052527,0.546707428173,0.00885600422709,1.0596922325
+127,2.116666667,pose1_to_pose2_press,0.576237458408,0.000181826634871,1.06002055901,0.546808605526,0.00885606210765,1.05969225843
+128,2.133333333,pose1_to_pose2_press,0.576353908366,0.000181789337988,1.06002049504,0.546925056317,0.00885602769027,1.05969219589
+129,2.150000000,pose1_to_pose2_press,0.576487643476,0.000181735202824,1.06002045121,0.54705879206,0.00885597590668,1.05969215742
+130,2.166666667,pose1_to_pose2_press,0.576639052485,0.000181720794418,1.06002049138,0.547210199939,0.00885595729033,1.05969218755
+131,2.183333333,pose1_to_pose2_press,0.576806670108,0.000181768291848,1.06002035376,0.547377816404,0.00885600127604,1.05969206089
+132,2.200000000,pose1_to_pose2_press,0.576990054965,0.000181782924608,1.06002046341,0.547561201023,0.00885601537511,1.05969217775
+133,2.216666667,pose1_to_pose2_press,0.57719022254,0.000181875175797,1.06002041104,0.54776136739,0.00885610327372,1.0596921186
+134,2.233333333,pose1_to_pose2_press,0.577410954083,0.000181957469755,1.06002052875,0.547982099002,0.00885618583891,1.05969223721
+135,2.250000000,pose1_to_pose2_press,0.577651629766,0.000181859464927,1.06002063138,0.548222776274,0.00885609327604,1.05969234118
+136,2.266666667,pose1_to_pose2_press,0.577912078092,0.000181734990887,1.06002057355,0.548483227848,0.00885597938909,1.05969227187
+137,2.283333333,pose1_to_pose2_press,0.578191633956,0.000181729796726,1.06002052006,0.548762781696,0.00885596771015,1.05969222774
+138,2.300000000,pose1_to_pose2_press,0.578487505075,0.000181802900933,1.06002043082,0.549058652537,0.00885603979454,1.05969213636
+139,2.316666667,pose1_to_pose2_press,0.578801161777,0.00018176202577,1.06002061846,0.54937230921,0.00885599843581,1.05969231385
+140,2.333333333,pose1_to_pose2_press,0.579132240541,0.000181791183519,1.06002052847,0.549703387916,0.00885602748672,1.05969222617
+141,2.350000000,pose1_to_pose2_press,0.579481482698,0.000181845388957,1.06002067538,0.550052629944,0.00885608126484,1.05969237327
+142,2.366666667,pose1_to_pose2_press,0.579851625298,0.00018183156657,1.06002083753,0.550422772755,0.00885606800455,1.05969253135
+143,2.383333333,pose1_to_pose2_press,0.580242537838,0.000181771360913,1.06002064019,0.550813686255,0.0088560111908,1.0596923375
+144,2.400000000,pose1_to_pose2_press,0.580656393461,0.00018172809721,1.06002052187,0.551227542845,0.00885597147977,1.05969222635
+145,2.416666667,pose1_to_pose2_press,0.581094006078,0.000181671818206,1.06002057119,0.551665154802,0.00885591272579,1.05969226934
+146,2.433333333,pose1_to_pose2_press,0.581558071741,0.000181756048183,1.06002062291,0.552129220777,0.00885599837362,1.0596923306
+147,2.450000000,pose1_to_pose2_press,0.582042289327,0.000181761139966,1.06002054167,0.552613436962,0.00885599856859,1.05969224546
+148,2.466666667,pose1_to_pose2_press,0.582544500324,0.000181795459112,1.06002054568,0.553115647867,0.00885603251637,1.05969224798
+149,2.483333333,pose1_to_pose2_press,0.583066239813,0.000181636250622,1.0600204042,0.553637389275,0.00885588012461,1.05969211452
+150,2.500000000,pose1_to_pose2_press,0.58360711445,0.000181778709481,1.06002039836,0.554178262287,0.00885601694728,1.05969210543
+151,2.516666667,pose1_to_pose2_press,0.584167623932,0.000181789100174,1.06002031137,0.554738770678,0.00885602372656,1.0596920208
+152,2.533333333,pose1_to_pose2_press,0.58474940771,0.000181794024947,1.06002039294,0.55532055522,0.00885603136428,1.05969210553
+153,2.550000000,pose1_to_pose2_press,0.585354199671,0.000181772393348,1.06002065291,0.555925347718,0.00885601124798,1.05969235735
+154,2.566666667,pose1_to_pose2_press,0.585963113632,0.000181761268511,1.06002069591,0.556534261431,0.00885599906285,1.0596923946
+155,2.583333333,pose1_to_pose2_press,0.586572544043,0.000181804276445,1.06002052547,0.557143691556,0.00885604133387,1.05969223027
+156,2.600000000,pose1_to_pose2_press,0.587196233678,0.000181774365401,1.06002050034,0.557767380729,0.00885600994747,1.05969220765
+157,2.616666667,pose1_to_pose2_press,0.587833765625,0.000181813503171,1.06002043479,0.558404912721,0.00885604904744,1.05969213709
+158,2.633333333,pose1_to_pose2_press,0.588486571111,0.000181756882738,1.06002051375,0.559057719701,0.0088559976051,1.05969221896
+159,2.650000000,pose1_to_pose2_press,0.589163545772,0.000181771137885,1.06002039793,0.559734693563,0.00885600936811,1.05969210892
+160,2.666666667,pose1_to_pose2_press,0.589867350337,0.000181841381115,1.0600202885,0.56043849666,0.00885607457048,1.05969199785
+161,2.683333333,pose1_to_pose2_press,0.590584486691,0.000181805636819,1.06002044368,0.561155635199,0.00885604624647,1.05969215332
+162,2.700000000,pose1_to_pose2_press,0.591312952865,0.000181783156712,1.06002049949,0.561884100783,0.00885602184249,1.05969221124
+163,2.716666667,pose1_to_pose2_press,0.59204066592,0.000181808363675,1.06002050882,0.562611812609,0.00885604275932,1.05969221733
+164,2.733333333,pose1_to_pose2_press,0.592762775288,0.000181832300581,1.0600205175,0.56333392198,0.0088560666783,1.05969222531
+165,2.750000000,pose1_to_pose2_press,0.593474443022,0.000181779853331,1.06002052261,0.564045591212,0.00885601931094,1.05969223038
+166,2.766666667,pose1_to_pose2_press,0.594186633165,0.000181718801947,1.06002053466,0.564757782936,0.00885596346476,1.05969223831
+167,2.783333333,pose1_to_pose2_press,0.594906570498,0.000181848662444,1.06002054971,0.565477718615,0.00885608772465,1.05969225369
+168,2.800000000,pose1_to_pose2_press,0.595647705048,0.000181924531695,1.06002064394,0.566218850243,0.00885615365526,1.05969234722
+169,2.816666667,pose1_to_pose2_press,0.596412286736,0.000181732597474,1.06002063178,0.566983434302,0.00885596990963,1.05969233892
+170,2.833333333,pose1_to_pose2_press,0.597201420747,0.000181736762039,1.06002036091,0.567772569621,0.00885597904027,1.05969208212
+171,2.850000000,pose1_to_pose2_press,0.597991238241,0.000181800094393,1.06002040542,0.568562386539,0.00885603987381,1.05969211234
+172,2.866666667,pose1_to_pose2_press,0.598768252578,0.000181923258543,1.06002050462,0.569339397599,0.00885615189879,1.05969221096
+173,2.883333333,pose1_to_pose2_press,0.599514599538,0.000181809952032,1.0600204152,0.570085745541,0.00885604208649,1.05969212587
+174,2.900000000,pose1_to_pose2_press,0.600229804406,0.000181738240611,1.06002045109,0.570800951706,0.00885597479005,1.05969216225
+175,2.916666667,pose1_to_pose2_press,0.600943612053,0.000181785527658,1.06002065162,0.571514759044,0.0088560207113,1.05969235441
+176,2.933333333,pose1_to_pose2_press,0.601662120453,0.000181833796212,1.06002066794,0.572233266938,0.00885606703275,1.05969236473
+177,2.950000000,pose1_to_pose2_press,0.602388899423,0.000181825732267,1.0600204959,0.572960046071,0.00885605972908,1.05969219817
+178,2.966666667,pose1_to_pose2_press,0.603130819933,0.000181847217605,1.06002069695,0.573701966485,0.0088560810719,1.05969240418
+179,2.983333333,pose1_to_pose2_press,0.603885482571,0.000181783453642,1.06002083228,0.574456630786,0.00885602289309,1.05969253811
+180,3.000000000,pose1_to_pose2_press,0.604608894743,0.000181772915632,1.06002070028,0.575180041994,0.00885600877588,1.05969239798
+181,3.016666667,pose1_to_pose2_press,0.605298647874,0.000181741086257,1.06002077342,0.575869795715,0.00885597908408,1.05969247483
+182,3.033333333,pose1_to_pose2_press,0.605945271727,0.000181772750854,1.06002068382,0.576516420342,0.00885601321998,1.05969238121
+183,3.050000000,pose1_to_pose2_press,0.606559521552,0.000181937251441,1.0600207667,0.577130667413,0.00885616843313,1.0596924656
+184,3.066666667,pose1_to_pose2_press,0.607149634999,0.000181783819862,1.06002077986,0.577720782152,0.00885601949006,1.05969248156
+185,3.083333333,pose1_to_pose2_press,0.607740217747,0.00018169636049,1.06002066024,0.578311365787,0.0088559351066,1.05969236376
+186,3.100000000,pose1_to_pose2_press,0.608339159876,0.000181723411825,1.06002053492,0.578910307455,0.0088559606024,1.05969223874
+187,3.116666667,pose1_to_pose2_press,0.608937994025,0.000181737831214,1.06002053309,0.579509141352,0.00885597414916,1.0596922365
+188,3.133333333,pose1_to_pose2_press,0.609530046246,0.000181790586184,1.0600205597,0.580101193877,0.00885602798034,1.05969226435
+189,3.150000000,pose1_to_pose2_press,0.610105260074,0.000181851323771,1.06002061826,0.58067640823,0.00885609074263,1.05969232937
+190,3.166666667,pose1_to_pose2_press,0.610649940202,0.00018188919901,1.06002049634,0.581221086415,0.00885612204419,1.05969220801
+191,3.183333333,pose1_to_pose2_press,0.611156352522,0.000181929764938,1.06002050531,0.581727499674,0.00885616579148,1.05969221692
+192,3.200000000,pose1_to_pose2_press,0.611643302651,0.000181883262522,1.06002040277,0.58221444984,0.00885611948057,1.05969211622
+193,3.216666667,pose1_to_pose2_press,0.612111737723,0.000181866304953,1.06002044919,0.582682884696,0.00885610178469,1.05969216242
+194,3.233333333,pose1_to_pose2_press,0.612558367379,0.000181904455683,1.06002062423,0.583129513562,0.0088561371769,1.05969233531
+195,3.250000000,pose1_to_pose2_press,0.612988367928,0.000181936826981,1.06002076592,0.583559513604,0.00885616772569,1.05969247299
+196,3.266666667,pose1_to_pose2_press,0.613405108114,0.000181908600914,1.0600207237,0.583976254042,0.00885614085432,1.05969242728
+197,3.283333333,pose1_to_pose2_press,0.613807362088,0.000181864024505,1.06002052725,0.584378507508,0.00885609685498,1.05969223342
+198,3.300000000,pose1_to_pose2_press,0.614195029416,0.000181871129411,1.06002051871,0.584766174554,0.00885610541125,1.0596922239
+199,3.316666667,pose1_to_pose2_press,0.614571038835,0.000181687592976,1.06002040286,0.58514218644,0.00885593350426,1.05969211239
+200,3.333333333,pose1_to_pose2_press,0.614933276139,0.000181740090143,1.06002059465,0.585504421834,0.00885598291302,1.05969230438
+201,3.350000000,pose1_to_pose2_press,0.615273222543,0.000181795974189,1.06002061829,0.585844366634,0.00885603638429,1.05969233148
+202,3.366666667,pose1_to_pose2_press,0.615587992881,0.000181863691277,1.06002057914,0.586159134424,0.00885609811465,1.05969228192
+203,3.383333333,pose1_to_pose2_press,0.615873345163,0.000181858161457,1.06002053698,0.586444485548,0.00885609231758,1.05969224063
+204,3.400000000,pose1_to_pose2_press,0.616132144783,0.000181846450825,1.06002040342,0.586703284512,0.00885608134907,1.05969211358
+205,3.416666667,pose1_to_pose2_press,0.616366176837,0.000181846354401,1.06002035963,0.586937316229,0.00885608213654,1.05969207218
+206,3.433333333,pose1_to_pose2_press,0.616582879944,0.000181805107833,1.06002060393,0.587154020038,0.00885604572922,1.05969231523
+207,3.450000000,pose1_to_pose2_press,0.616786404389,0.000181764828278,1.06002042017,0.587357542687,0.00885600105566,1.05969212572
+208,3.466666667,pose1_to_pose2_press,0.616978898812,0.000181695836387,1.06002046955,0.587550038138,0.00885593744637,1.05969218196
+209,3.483333333,pose1_to_pose2_press,0.617159861512,0.000181741219355,1.06002071664,0.587731001013,0.00885598356215,1.05969241653
+210,3.500000000,pose1_to_pose2_press,0.61732792051,0.000181770394857,1.06002073352,0.587899058683,0.00885600848941,1.05969242948
+211,3.516666667,pose1_to_pose2_press,0.617479558586,0.000181830013786,1.06002058064,0.588050696424,0.00885606801329,1.05969228746
+212,3.533333333,pose1_to_pose2_press,0.617615136293,0.00018183829976,1.06002048213,0.588186274953,0.00885608015897,1.05969219887
+213,3.550000000,pose1_to_pose2_press,0.617734366889,0.00018179486359,1.0600205175,0.588305505681,0.00885603770817,1.05969223354
+214,3.566666667,pose1_to_pose2_press,0.617839016628,0.000181842829045,1.06002062382,0.588410154556,0.00885608311082,1.05969233342
+215,3.583333333,pose1_to_pose2_press,0.617929274838,0.000181809942135,1.06002066655,0.588500412728,0.0088560509567,1.05969236715
+216,3.600000000,pose1_to_pose2_press,0.618009126457,0.000181781418848,1.06002058508,0.588580263712,0.00885601997904,1.05969227983
+217,3.616666667,pose1_to_pose2_press,0.618079350338,0.000181964079919,1.06002072662,0.588650485178,0.00885619473154,1.0596924273
+218,3.633333333,pose1_to_pose2_press,0.618140297456,0.000181877129471,1.06002061972,0.588711434091,0.00885611407275,1.05969232223
+219,3.650000000,pose1_to_pose2_press,0.618192927762,0.000181721098984,1.0600205339,0.588764066982,0.00885596693863,1.05969223785
+220,3.666666667,pose1_to_pose2_press,0.618237244836,0.000181655661379,1.06002047983,0.588808384887,0.00885590446117,1.05969218426
+221,3.683333333,pose1_to_pose2_press,0.618273459047,0.000181681315498,1.06002050285,0.588844598269,0.00885592756571,1.05969220846
+222,3.700000000,pose1_to_pose2_press,0.618301301316,0.000181770287214,1.06002064661,0.588872438782,0.0088560107822,1.0596923531
+223,3.716666667,pose1_to_pose2_press,0.618323491483,0.00018186497205,1.06002067646,0.588894627273,0.00885609963745,1.0596923772
+224,3.733333333,pose1_to_pose2_press,0.618340385186,0.000181712678368,1.06002063128,0.588911522945,0.0088559542752,1.05969233868
+225,3.750000000,pose1_to_pose2_press,0.618352738193,0.000181761910701,1.06002044073,0.588923874982,0.00885600024052,1.05969214673
+226,3.766666667,pose1_to_pose2_press,0.618361613608,0.000181765477928,1.0600204841,0.588932751603,0.0088560079252,1.05969219
+227,3.783333333,pose1_to_pose2_press,0.618367259205,0.000181790156804,1.06002068566,0.588938397412,0.00885603331232,1.05969239109
+228,3.800000000,pose1_to_pose2_press,0.618370747226,0.000181818901685,1.060020883,0.588941885127,0.00885606100678,1.0596925879
+229,3.816666667,pose1_to_pose2_press,0.618372406814,0.00018177578656,1.06002076757,0.58894354624,0.00885602313317,1.05969247397
+230,3.833333333,pose1_to_pose2_press,0.618373329449,0.000181751817058,1.0600207034,0.588944469722,0.00885600207765,1.05969241063
+231,3.850000000,pose1_to_pose2_press,0.618373857013,0.000181738111243,1.0600206667,0.588944997772,0.00885599003805,1.05969237441
+232,3.866666667,pose1_to_pose2_press,0.618374579037,0.000181741211676,1.06002063708,0.58894571955,0.00885599232205,1.05969234525
+233,3.883333333,pose1_to_pose2_press,0.618375238756,0.000181770044759,1.06002063452,0.588946377963,0.00885601672551,1.05969234286
+234,3.900000000,pose1_to_pose2_press,0.618375648607,0.000181787957358,1.06002063293,0.588946787004,0.00885603188619,1.05969234139
+235,3.916666667,pose1_to_pose2_press,0.618375985678,0.000181802689119,1.06002063162,0.588947123408,0.00885604435471,1.05969234017
+236,3.933333333,pose1_to_pose2_press,0.618376254799,0.000181803924026,1.06002062262,0.588947392322,0.00885604486861,1.05969233079
+237,3.950000000,pose1_to_pose2_press,0.618376402786,0.000181790188738,1.06002060677,0.588947540638,0.00885603222385,1.05969231412
+238,3.966666667,pose1_to_pose2_press,0.618376656717,0.000181766620227,1.06002057958,0.588947795137,0.00885601052658,1.05969228552
+239,3.983333333,pose1_to_pose2_press,0.61837670376,0.000181762254031,1.06002057454,0.588947842284,0.00885600650704,1.05969228022
+240,4.000000000,pose1_to_pose2_press,0.618376793212,0.000181753951558,1.06002056496,0.588947931936,0.00885599886375,1.05969227015
+241,4.016666667,pose1_to_pose2_press,0.618376815844,0.000181751850953,1.06002056253,0.588947954618,0.00885599692993,1.0596922676
+242,4.033333333,pose1_to_pose2_press,0.618376954019,0.000181739026337,1.06002054774,0.588948093101,0.00885598512354,1.05969225204
+243,4.050000000,pose1_to_pose2_press,0.61837704716,0.000181729610806,1.06002052559,0.588948186139,0.00885597547809,1.05969223301
+244,4.066666667,pose1_to_pose2_press,0.618377097139,0.000181723924137,1.06002050368,0.588948235806,0.00885596891393,1.05969221577
+245,4.083333333,pose1_to_pose2_press,0.618377182052,0.000181714262569,1.06002046647,0.588948320191,0.00885595776153,1.05969218649
+246,4.100000000,pose1_to_pose2_press,0.618377246952,0.000181664182545,1.06002049652,0.588948386768,0.00885591314713,1.05969221103
+247,4.116666667,pose2_hold,0.618377246952,0.000181664182545,1.06002049652,0.588948386769,0.00885591314456,1.05969221103
+248,4.133333333,pose2_hold,0.618377246952,0.000181664182545,1.06002049652,0.58894838677,0.00885591314531,1.05969221103
+249,4.150000000,pose2_hold,0.618377246952,0.000181664182545,1.06002049652,0.588948386769,0.00885591314638,1.05969221103
+250,4.166666667,pose2_hold,0.618377246952,0.000181664182545,1.06002049652,0.588948386768,0.00885591314497,1.05969221103
+251,4.183333333,pose2_hold,0.618377246952,0.000181664182545,1.06002049652,0.588948386767,0.00885591314551,1.05969221103
+252,4.200000000,pose2_hold,0.618377246952,0.000181664182545,1.06002049652,0.588948386766,0.00885591314564,1.05969221103
+253,4.216666667,pose2_hold,0.618377246952,0.000181664182545,1.06002049652,0.588948386767,0.00885591314574,1.05969221103
+254,4.233333333,pose2_hold,0.618377246952,0.000181664182545,1.06002049652,0.588948386768,0.00885591314448,1.05969221103
+255,4.250000000,pose2_hold,0.618377246952,0.000181664182545,1.06002049652,0.588948386765,0.0088559131463,1.05969221103
+256,4.266666667,pose2_hold,0.618377246952,0.000181664182545,1.06002049652,0.588948386765,0.0088559131453,1.05969221103
+257,4.283333333,pose2_hold,0.618377246952,0.000181664182545,1.06002049652,0.588948386767,0.00885591314576,1.05969221103
+258,4.300000000,pose2_hold,0.618377246952,0.000181664182545,1.06002049652,0.588948386767,0.00885591314557,1.05969221103
+259,4.316666667,pose2_hold,0.618377246952,0.000181664182545,1.06002049652,0.588948386767,0.00885591314555,1.05969221103
+260,4.333333333,pose2_hold,0.618377246952,0.000181664182545,1.06002049652,0.588948386767,0.00885591314498,1.05969221103
+261,4.350000000,pose2_hold,0.618377246952,0.000181664182545,1.06002049652,0.588948386767,0.00885591314595,1.05969221103
+262,4.366666667,pose2_hold,0.618377246952,0.000181664182545,1.06002049652,0.588948386765,0.008855913147,1.05969221103
+263,4.383333333,pose2_to_pose3_retreat,0.618377246952,0.000181664182545,1.06002049652,0.588948386764,0.00885591314614,1.05969221103
+264,4.400000000,pose2_to_pose3_retreat,0.618377174278,0.000181791786638,1.06002046722,0.588948311789,0.00885603306869,1.05969218521
+265,4.416666667,pose2_to_pose3_retreat,0.618377092237,0.000181775880038,1.06002051188,0.588948229774,0.00885601713182,1.05969222662
+266,4.433333333,pose2_to_pose3_retreat,0.618377003516,0.000181723249394,1.0600205774,0.588948141664,0.00885596638242,1.05969228702
+267,4.450000000,pose2_to_pose3_retreat,0.618376956877,0.000181695582691,1.06002061184,0.588948095347,0.00885593970464,1.05969231877
+268,4.466666667,pose2_to_pose3_retreat,0.618376664142,0.000181673973412,1.06002067433,0.588947802951,0.00885591916268,1.05969237905
+269,4.483333333,pose2_to_pose3_retreat,0.618376587101,0.0001816797885,1.06002067915,0.588947725873,0.00885592486984,1.05969238439
+270,4.500000000,pose2_to_pose3_retreat,0.618376263925,0.000181704181922,1.06002069938,0.58894740254,0.0088559488105,1.05969240682
+271,4.516666667,pose2_to_pose3_retreat,0.618375298214,0.000181758620086,1.06002073401,0.588946436383,0.00885600186406,1.05969244512
+272,4.533333333,pose2_to_pose3_retreat,0.618371561509,0.000181762282344,1.06002059355,0.588942699306,0.00885600396788,1.05969229787
+273,4.550000000,pose2_to_pose3_retreat,0.618363458667,0.000181769387797,1.06002037316,0.588934597871,0.00885601612456,1.05969208673
+274,4.566666667,pose2_to_pose3_retreat,0.618347924039,0.000181667446165,1.06002077239,0.588919061496,0.00885590741078,1.0596924684
+275,4.583333333,pose2_to_pose3_retreat,0.618323597326,0.000181868088954,1.06002064424,0.588894734592,0.00885610739225,1.05969234539
+276,4.600000000,pose2_to_pose3_retreat,0.61828825447,0.000181804692419,1.06002059459,0.588859392467,0.00885604648928,1.05969230888
+277,4.616666667,pose2_to_pose3_retreat,0.618242009468,0.000181889982596,1.06002067242,0.588813146263,0.00885612712118,1.0596923831
+278,4.633333333,pose2_to_pose3_retreat,0.618184139647,0.00018177492435,1.06002056513,0.588755277145,0.00885601337886,1.059692268
+279,4.650000000,pose2_to_pose3_retreat,0.61811586795,0.000181804356851,1.06002055348,0.588687004445,0.00885603861119,1.05969225225
+280,4.666666667,pose2_to_pose3_retreat,0.618037278708,0.000181716177637,1.06002036661,0.588608416323,0.00885595440594,1.05969206545
+281,4.683333333,pose2_to_pose3_retreat,0.617945732185,0.000181840158556,1.06002049655,0.588516867447,0.00885607027781,1.05969219698
+282,4.700000000,pose2_to_pose3_retreat,0.617841466767,0.000181727540842,1.06002061912,0.588412604298,0.00885596478794,1.05969232335
+283,4.716666667,pose2_to_pose3_retreat,0.617723520067,0.000181765220659,1.06002073989,0.588294659365,0.00885600732479,1.05969244269
+284,4.733333333,pose2_to_pose3_retreat,0.617590449643,0.000181752571169,1.06002064516,0.588161589758,0.00885599673682,1.05969234789
+285,4.750000000,pose2_to_pose3_retreat,0.617440470494,0.00018180425293,1.06002053777,0.588011609655,0.00885604448102,1.05969224183
+286,4.766666667,pose2_to_pose3_retreat,0.617275112172,0.000181893390424,1.06002043144,0.587846250626,0.00885613023997,1.05969213845
+287,4.783333333,pose2_to_pose3_retreat,0.617094356663,0.000181875888844,1.06002033938,0.587665495588,0.00885611326355,1.05969205113
+288,4.800000000,pose2_to_pose3_retreat,0.616897629514,0.000181867981836,1.0600204933,0.587468767871,0.00885610195817,1.05969220616
+289,4.816666667,pose2_to_pose3_retreat,0.616687609852,0.000181845981246,1.06002052757,0.587258750449,0.00885608555874,1.05969223589
+290,4.833333333,pose2_to_pose3_retreat,0.616465788866,0.000181859051282,1.06002065265,0.587036929067,0.00885609530532,1.05969235489
+291,4.850000000,pose2_to_pose3_retreat,0.61623272059,0.000181838051364,1.06002056757,0.586803862123,0.00885607629916,1.05969227292
+292,4.866666667,pose2_to_pose3_retreat,0.615988390687,0.000181801456443,1.06002053287,0.586559532448,0.00885603843457,1.05969223729
+293,4.883333333,pose2_to_pose3_retreat,0.615730562924,0.000181789300556,1.0600205286,0.586301705081,0.00885602534827,1.05969223348
+294,4.900000000,pose2_to_pose3_retreat,0.615457596494,0.000181834226874,1.0600204831,0.586028740735,0.00885607403067,1.05969219618
+295,4.916666667,pose2_to_pose3_retreat,0.615163670354,0.000181886538216,1.06002040835,0.585734814666,0.00885612370043,1.05969211812
+296,4.933333333,pose2_to_pose3_retreat,0.614849574601,0.000181885688886,1.06002047188,0.585420718549,0.00885611932535,1.05969218042
+297,4.950000000,pose2_to_pose3_retreat,0.61451462793,0.000181827414784,1.06002052624,0.585085772541,0.00885606118624,1.05969223225
+298,4.966666667,pose2_to_pose3_retreat,0.614155619718,0.000181757557503,1.06002056706,0.584726765834,0.00885599415406,1.05969227189
+299,4.983333333,pose2_to_pose3_retreat,0.613772755493,0.000181726882457,1.06002062401,0.584343903056,0.00885596554417,1.05969233053
+300,5.000000000,pose2_to_pose3_retreat,0.613371846737,0.000181656657534,1.06002058083,0.583942995647,0.00885589599406,1.05969227495
+301,5.016666667,pose2_to_pose3_retreat,0.612954484133,0.000181861725225,1.06002052565,0.583525631913,0.00885609213728,1.0596922312
+302,5.033333333,pose2_to_pose3_retreat,0.612521719665,0.000181778060467,1.060020512,0.583092869897,0.00885601584192,1.05969222107
+303,5.050000000,pose2_to_pose3_retreat,0.612078524714,0.00018167004268,1.06002057341,0.58264967753,0.00885591557178,1.05969227888
+304,5.066666667,pose2_to_pose3_retreat,0.611624520403,0.000181679434497,1.06002068949,0.582195673976,0.0088559245527,1.05969238954
+305,5.083333333,pose2_to_pose3_retreat,0.611151041828,0.000181763082321,1.06002079053,0.58172219453,0.00885600145962,1.05969249073
+306,5.100000000,pose2_to_pose3_retreat,0.610657276762,0.000181788788217,1.06002056339,0.581228429324,0.00885602408233,1.05969227016
+307,5.116666667,pose2_to_pose3_retreat,0.610142235769,0.000181858405384,1.06002043467,0.580713390341,0.00885609554306,1.05969214543
+308,5.133333333,pose2_to_pose3_retreat,0.609608758976,0.000181774369183,1.06002039582,0.580179915549,0.00885601475841,1.05969210575
+309,5.150000000,pose2_to_pose3_retreat,0.609057835563,0.000181587435159,1.06002041113,0.579628994055,0.00885583132827,1.0596921164
+310,5.166666667,pose2_to_pose3_retreat,0.60849085903,0.000181543176621,1.06002043749,0.579062020499,0.00885579088315,1.05969213833
+311,5.183333333,pose2_to_pose3_retreat,0.607905537186,0.000181636610213,1.06002052045,0.578476696937,0.0088558777451,1.05969222375
+312,5.200000000,pose2_to_pose3_retreat,0.607297626493,0.000181750888135,1.06002031798,0.577868786142,0.00885598886043,1.05969203148
+313,5.216666667,pose2_to_pose3_retreat,0.606669299675,0.000181766075791,1.06002053199,0.577240460741,0.00885600430901,1.0596922437
+314,5.233333333,pose2_to_pose3_retreat,0.606023837196,0.000181699038903,1.06002073022,0.57659500076,0.00885594114762,1.05969243316
+315,5.250000000,pose2_to_pose3_retreat,0.605368069509,0.000181691188921,1.06002066014,0.575939234297,0.00885593360666,1.05969235581
+316,5.266666667,pose2_to_pose3_retreat,0.604704169771,0.000181843470036,1.06002057645,0.575275332759,0.00885607603497,1.0596922699
+317,5.283333333,pose2_to_pose3_retreat,0.604029358577,0.000181671970318,1.06002055738,0.574600525987,0.00885591548955,1.05969225477
+318,5.300000000,pose2_to_pose3_retreat,0.603341538289,0.000181840136232,1.06002043236,0.573912704386,0.00885607548444,1.05969213862
+319,5.316666667,pose2_to_pose3_retreat,0.602637736454,0.000181864130484,1.06002048922,0.573208900592,0.00885609858344,1.05969219402
+320,5.333333333,pose2_to_pose3_retreat,0.601913031522,0.000181924250954,1.06002058626,0.572484193945,0.00885615604012,1.05969229271
+321,5.350000000,pose2_to_pose3_retreat,0.601158166569,0.000181889592176,1.06002068833,0.571729330457,0.0088561239571,1.05969239546
+322,5.366666667,pose2_to_pose3_retreat,0.600393391422,0.000181747736054,1.06002069521,0.57096455859,0.00885598957467,1.05969240077
+323,5.383333333,pose2_to_pose3_retreat,0.599626603967,0.000181774841037,1.06002055844,0.570197771379,0.00885601433262,1.05969226894
+324,5.400000000,pose2_to_pose3_retreat,0.598866808121,0.000181692337658,1.06002076248,0.569437978437,0.00885593800954,1.05969246383
+325,5.416666667,pose2_to_pose3_retreat,0.598119645559,0.000181798547423,1.0600205302,0.568690815089,0.00885603873912,1.05969224088
+326,5.433333333,pose2_to_pose3_retreat,0.5973900639,0.000181771853696,1.0600204479,0.567961233727,0.00885600978348,1.05969215109
+327,5.450000000,pose2_to_pose3_retreat,0.596664102371,0.000181914464972,1.06002040942,0.567235271796,0.00885614805628,1.05969211543
+328,5.466666667,pose2_to_pose3_retreat,0.595933355387,0.000181937542958,1.0600204871,0.566504525675,0.00885617128747,1.05969219988
+329,5.483333333,pose2_to_pose3_retreat,0.595178661884,0.000181835039462,1.06002049742,0.565749833761,0.00885607100798,1.05969221126
+330,5.500000000,pose2_to_pose3_retreat,0.594398808817,0.000181816307626,1.06002036919,0.564969981153,0.0088560501424,1.05969207564
+331,5.516666667,pose2_to_pose3_retreat,0.593621939677,0.000181820057655,1.0600206817,0.564193112932,0.00885605403125,1.05969238405
+332,5.533333333,pose2_to_pose3_retreat,0.592857619351,0.000181783086365,1.06002081163,0.563428794686,0.00885602039306,1.05969250481
+333,5.550000000,pose2_to_pose3_retreat,0.592121851835,0.000181705325872,1.06002057325,0.562693030434,0.00885595113623,1.0596922743
+334,5.566666667,pose2_to_pose3_retreat,0.59141908876,0.000181843603981,1.06002061852,0.561990265463,0.00885608045418,1.05969232419
+335,5.583333333,pose2_to_pose3_retreat,0.590746906281,0.000181792144445,1.06002066614,0.561318084722,0.00885603216891,1.05969236892
+336,5.600000000,pose2_to_pose3_retreat,0.590077438977,0.000181749137937,1.06002067725,0.560648619473,0.00885599263775,1.05969237724
+337,5.616666667,pose2_to_pose3_retreat,0.589403800522,0.000181779883569,1.06002068305,0.559974981189,0.00885602042661,1.05969238606
+338,5.633333333,pose2_to_pose3_retreat,0.588716863431,0.000181639413254,1.06002073674,0.559288044874,0.00885588102903,1.05969244679
+339,5.650000000,pose2_to_pose3_retreat,0.588025878762,0.000181621942058,1.06002064081,0.55859706189,0.00885586425677,1.05969234625
+340,5.666666667,pose2_to_pose3_retreat,0.587338535158,0.000181740766141,1.06002051475,0.557909717292,0.00885597890639,1.05969222667
+341,5.683333333,pose2_to_pose3_retreat,0.586677485924,0.00018181938442,1.06002052328,0.557248667353,0.00885605339146,1.05969223066
+342,5.700000000,pose2_to_pose3_retreat,0.586050097627,0.000181878366358,1.06002025826,0.556621278733,0.00885610948121,1.05969197494
+343,5.716666667,pose2_to_pose3_retreat,0.585455064836,0.00018186660387,1.0600204139,0.556026247972,0.00885610229205,1.05969212944
+344,5.733333333,pose2_to_pose3_retreat,0.584887966841,0.000181808536705,1.06002073713,0.555459152342,0.00885604969774,1.05969244316
+345,5.750000000,pose2_to_pose3_retreat,0.584339379515,0.000181765608057,1.06002067127,0.554910564905,0.00885600421328,1.05969237558
+346,5.766666667,pose2_to_pose3_retreat,0.58379571477,0.000181775276936,1.06002074763,0.554366899563,0.00885600995791,1.05969245637
+347,5.783333333,pose2_to_pose3_retreat,0.583252733944,0.000181594786361,1.0600202541,0.553823922178,0.00885583914887,1.05969196557
+348,5.800000000,pose2_to_pose3_retreat,0.582716399721,0.000181782132362,1.0600204796,0.553287586886,0.0088560207843,1.05969219033
+349,5.816666667,pose2_to_pose3_retreat,0.582192732294,0.000181861423016,1.06002064124,0.552763920749,0.00885610242075,1.05969235095
+350,5.833333333,pose2_to_pose3_retreat,0.58169769918,0.000181837198988,1.06002054385,0.552268888613,0.0088560795125,1.05969225017
+351,5.850000000,pose2_to_pose3_retreat,0.581229204501,0.000181838247106,1.06002048044,0.551800393681,0.00885607771165,1.05969218111
+352,5.866666667,pose2_to_pose3_retreat,0.580786496835,0.000181832611671,1.06002059803,0.551357686743,0.00885607273932,1.05969229536
+353,5.883333333,pose2_to_pose3_retreat,0.580366151065,0.000181723049284,1.06002066755,0.550937342083,0.00885596551658,1.05969236844
+354,5.900000000,pose2_to_pose3_retreat,0.579968205387,0.000181666486078,1.06002055245,0.550539396301,0.00885590727601,1.05969225766
+355,5.916666667,pose2_to_pose3_retreat,0.579591297702,0.000181882768954,1.06002056574,0.550162486743,0.00885611566123,1.05969226715
+356,5.933333333,pose2_to_pose3_retreat,0.57923661641,0.000181887892003,1.06002044213,0.549807807627,0.00885612723211,1.05969215407
+357,5.950000000,pose2_to_pose3_retreat,0.578908432545,0.000181745462377,1.060020328,0.549479625796,0.00885599056955,1.05969204259
+358,5.966666667,pose2_to_pose3_retreat,0.578601375854,0.000181637001631,1.06002032017,0.549172569874,0.00885588337837,1.05969202986
+359,5.983333333,pose2_to_pose3_retreat,0.578312605425,0.000181697248456,1.06002042597,0.54888379969,0.00885594331584,1.05969213442
+360,6.000000000,pose2_to_pose3_retreat,0.578038850018,0.000181828382588,1.06002053998,0.548610042251,0.00885606637496,1.05969224412
+361,6.016666667,pose2_to_pose3_retreat,0.577779605343,0.000181843429824,1.06002066043,0.548350797471,0.00885607998981,1.05969236159
+362,6.033333333,pose2_to_pose3_retreat,0.577532872541,0.000181795820456,1.06002059876,0.548104068482,0.0088560443726,1.05969229901
+363,6.050000000,pose2_to_pose3_retreat,0.577300488645,0.000181887584981,1.06002054207,0.547871683434,0.0088561315188,1.05969224631
+364,6.066666667,pose2_to_pose3_retreat,0.577086924057,0.000181925583403,1.06002051168,0.547658117539,0.00885616461074,1.05969222432
+365,6.083333333,pose2_to_pose3_retreat,0.57689143234,0.000181778952176,1.06002050908,0.547462627598,0.00885602330643,1.05969222238
+366,6.100000000,pose2_to_pose3_retreat,0.576715147688,0.000181679555533,1.06002060994,0.547286343655,0.00885592529632,1.05969231369
+367,6.116666667,pose2_to_pose3_retreat,0.576557649459,0.000181858328201,1.0600207299,0.547128843436,0.00885609677779,1.05969243392
+368,6.133333333,pose2_to_pose3_retreat,0.5764182293,0.000181965522089,1.06002039124,0.546989421532,0.00885619811482,1.05969210424
+369,6.150000000,pose2_to_pose3_retreat,0.576295973059,0.000181773339106,1.06002037553,0.546867167374,0.0088560126175,1.05969209188
+370,6.166666667,pose2_to_pose3_retreat,0.576188273513,0.000181708192564,1.06002027068,0.546759469649,0.00885595331304,1.05969198938
+371,6.183333333,pose2_to_pose3_retreat,0.576094197596,0.000181754087713,1.06002039686,0.546665394915,0.00885600291299,1.05969211717
+372,6.200000000,pose2_to_pose3_retreat,0.576011748565,0.00018177644072,1.06002045599,0.546582945417,0.00885602272806,1.05969216623
+373,6.216666667,pose2_to_pose3_retreat,0.575940413448,0.000181771997998,1.06002042679,0.546511609938,0.00885601648605,1.05969213143
+374,6.233333333,pose2_to_pose3_retreat,0.575879856138,0.000181752536764,1.06002047874,0.546451053175,0.00885599900554,1.05969218871
+375,6.250000000,pose2_to_pose3_retreat,0.575829302468,0.00018172955974,1.06002065636,0.546400499592,0.00885597610767,1.05969236753
+376,6.266666667,pose2_to_pose3_retreat,0.575788374793,0.000181828468069,1.06002074286,0.546359571615,0.00885607373585,1.05969245288
+377,6.283333333,pose2_to_pose3_retreat,0.575755848461,0.00018182367398,1.06002039327,0.546327044191,0.00885606570556,1.05969211089
+378,6.300000000,pose2_to_pose3_retreat,0.575731729218,0.000181823548842,1.06002047721,0.546302925746,0.00885606796434,1.05969219304
+379,6.316666667,pose2_to_pose3_retreat,0.575712884749,0.000181760943893,1.06002037029,0.546284081656,0.00885600658215,1.05969208484
+380,6.333333333,pose2_to_pose3_retreat,0.575698846827,0.00018177145887,1.06002033591,0.546270043614,0.00885601673738,1.05969205189
+381,6.350000000,pose2_to_pose3_retreat,0.575688588423,0.000181884707679,1.06002048853,0.546259784803,0.00885612860455,1.05969220777
+382,6.366666667,pose2_to_pose3_retreat,0.575681361395,0.000181735727469,1.06002063766,0.54625255764,0.00885597862106,1.0596923414
+383,6.383333333,pose2_to_pose3_retreat,0.575676323308,0.00018166293102,1.06002070151,0.546247520171,0.00885590759176,1.05969239725
+384,6.400000000,pose2_to_pose3_retreat,0.575673021444,0.000181634238515,1.0600207188,0.546244219148,0.00885588156757,1.05969241101
+385,6.416666667,pose2_to_pose3_retreat,0.575671254026,0.000181623425985,1.0600206277,0.546242451541,0.00885587041002,1.05969232799
+386,6.433333333,pose2_to_pose3_retreat,0.575670232378,0.000181617463487,1.0600205687,0.546241429743,0.00885586413588,1.05969227428
+387,6.450000000,pose2_to_pose3_retreat,0.575669754199,0.000181614672755,1.06002054108,0.546240951493,0.00885586119929,1.05969224914
+388,6.466666667,pose2_to_pose3_retreat,0.575669627657,0.000181613934234,1.06002053377,0.546240824932,0.00885586042217,1.05969224249
+389,6.483333333,pose2_to_pose3_retreat,0.575669520631,0.000181613309613,1.06002052759,0.546240717891,0.0088558597649,1.05969223686
+390,6.500000000,pose2_to_pose3_retreat,0.575669152728,0.000181618652123,1.06002050575,0.546240349826,0.00885586460991,1.05969221647
+391,6.516666667,pose2_to_pose3_retreat,0.575668894351,0.000181639427817,1.06002048908,0.546240091089,0.00885588416049,1.05969219974
+392,6.533333333,pose2_to_pose3_retreat,0.57566873012,0.000181652633317,1.06002047849,0.546239926631,0.00885589658728,1.05969218911
+393,6.550000000,pose2_to_pose3_retreat,0.575668523238,0.000181669268365,1.06002046514,0.546239719461,0.00885591224139,1.05969217571
+394,6.566666667,pose2_to_pose3_retreat,0.57566843414,0.000181676432639,1.06002045939,0.546239630239,0.00885591898319,1.05969216995
+395,6.583333333,pose2_to_pose3_retreat,0.575668175171,0.000181697255862,1.06002044269,0.54623937091,0.0088559385785,1.05969215318
+396,6.600000000,pose2_to_pose3_retreat,0.575667820602,0.000181725766217,1.06002041981,0.546239015848,0.00885596540764,1.05969213023
+397,6.616666667,pose2_to_pose3_retreat,0.575667525187,0.000181749520026,1.06002040075,0.546238720023,0.00885598776073,1.0596921111
+398,6.633333333,pose2_to_pose3_retreat,0.575667462733,0.000181748549275,1.06002042004,0.546238657972,0.00885598810584,1.05969212898
+399,6.650000000,pose2_to_pose3_retreat,0.575667396509,0.000181746223061,1.06002044553,0.546238592282,0.00885598752377,1.05969215269
+400,6.666666667,pose2_to_pose3_retreat,0.575667237974,0.000181740654271,1.06002050656,0.546238435024,0.00885598613033,1.05969220944
+401,6.683333333,pose2_to_pose3_retreat,0.575667061416,0.000181734452426,1.06002057452,0.54623825989,0.00885598457849,1.05969227264
+402,6.700000000,pose2_to_pose3_retreat,0.575666912211,0.000181736227179,1.06002057934,0.546238109673,0.00885598289104,1.05969227675
+403,6.716666667,pose2_to_pose3_retreat,0.575666857896,0.000181737446977,1.06002057679,0.54623805481,0.00885598224601,1.05969227421
+404,6.733333333,pose2_to_pose3_retreat,0.575666812404,0.000181738468624,1.06002057465,0.546238008858,0.00885598170577,1.05969227208
+405,6.750000000,pose2_to_pose3_retreat,0.575666824259,0.000181723928846,1.06002058286,0.54623802084,0.00885596753118,1.05969227859
+406,6.766666667,pose2_to_pose3_retreat,0.575666857798,0.000181704559488,1.06002059441,0.546238054729,0.00885594925883,1.05969228793
diff --git a/Part2/Obstacle_avoidance/cylinder_PLA_10/position_03/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_PLA_10/position_03/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e778a171df7e7aa3c19c5abe053e8b5c7da52051
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_PLA_10/position_03/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83ad7817878f6d213a4ac8ab347be79d4e070e155eb00c1908a06949e7adc593
+size 25877004
diff --git a/Part2/Obstacle_avoidance/cylinder_PLA_10/position_03/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_PLA_10/position_03/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ab0c9f10811161ae48ccf7ae1bdcf2c88083ef32
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_PLA_10/position_03/depth_02/franka_data.csv
@@ -0,0 +1,409 @@
+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,795,748,727,710,699,656,935,804,835,670,658,677,0.400982174154,-0.00536333231205,0.0698301127423,0.999999937511,0.000226522062182,-0.000270920510516,1.63783893323e-05,1793256564193911808
+1,0.016666667,BASELINE,795,748.575889495,727,710,698.424110505,656,935,804,835.575889495,670,658,677,0.400982316275,-0.00536229264404,0.0698302579169,0.999999937118,0.00022823897634,-0.000270946299903,1.60734450802e-05,1793256564210578176
+2,0.033333333,BASELINE,795.155479951,749,727,709.844520049,698,656,935,803.844520049,835.844520049,670,658,677,0.400981993134,-0.00536145969066,0.0698301913869,0.999999936785,0.000229326593871,-0.000271274306432,1.58051269038e-05,1793256564227244544
+3,0.050000000,BASELINE,795.745411998,749,727,709.254588002,698,656,935,803.254588002,835.254588002,670,658,677,0.400980369931,-0.00536120435239,0.069829533298,0.999999936622,0.000228655790611,-0.000272446787577,1.56391515996e-05,1793256564243910912
+4,0.066666667,BASELINE,796,749,727,709,698.329033673,656,935,803.329033673,835,670,658,677,0.400979954333,-0.00536083274026,0.0698294189047,0.999999936472,0.00022883807059,-0.000272841101594,1.56988323705e-05,1793256564260577280
+5,0.083333333,BASELINE,796,749,727,709,698.907864576,656,935,803.907864576,835,670,658,677,0.40098045553,-0.00536037285485,0.0698297172769,0.999999936332,0.000229667998092,-0.0002726446432,1.5929827722e-05,1793256564277243904
+6,0.100000000,BASELINE,796,749,727,709.485743938,698.514256062,656,935,804,835.485743938,670,658,677,0.400980933592,-0.00536207357789,0.0698299285506,0.999999936816,0.000228991085365,-0.000271412425836,1.63319747985e-05,1793256564293910528
+7,0.116666667,BASELINE,796,748.937288688,727,710,698.062711312,656,935,804,835.937288688,670,658,677,0.400981294367,-0.00536374912724,0.0698301108375,0.999999937293,0.000228230519027,-0.000270271115716,1.66601490633e-05,1793256564310577408
+8,0.133333333,BASELINE,796,748.366253534,727,710,698.633746466,656,935,804,835.366253534,670,658,677,0.400980739947,-0.00536190519335,0.0698301918147,0.999999936781,0.000229104105758,-0.000271456040593,1.61260857761e-05,1793256564327244544
+9,0.150000000,BASELINE,796,748.212772563,727,710,698.787227437,656,935,804,835,670,658,677,0.400980311958,-0.00536125335095,0.0698300821518,0.999999936756,0.000228536926293,-0.00027205047223,1.57449787576e-05,1793256564343911168
+10,0.166666667,BASELINE,796,748.80609046,727,710,698.19390954,656,935,804,835,670,658,677,0.400980110092,-0.00536273357335,0.0698296315277,0.999999937597,0.000225392925521,-0.000271588802125,1.56374352368e-05,1793256564360577536
+11,0.183333333,BASELINE,796,748.609918747,727,709.609918747,698.390081253,656,935,804,835,670,658,677,0.40098064937,-0.00536321187492,0.0698297913012,0.999999937777,0.000225617671376,-0.000270727799722,1.57603839541e-05,1793256564377244160
+12,0.200000000,BASELINE,796,748.030456137,727,709.030456137,698.969543863,656,935,804,835,670,658,677,0.400981548469,-0.00536320375199,0.0698302474178,0.999999937637,0.000227477916742,-0.000269672924611,1.59952348167e-05,1793256564393910528
+13,0.216666667,BASELINE,796,748,727,709,699,655.455540632,935,804,835,670,658,677,0.400982243691,-0.00536448958794,0.0698308471061,0.999999938128,0.000226363879485,-0.00026877779271,1.61945511295e-05,1793256564410577152
+14,0.233333333,BASELINE,796,748.119050699,727,709,698.880949301,655.119050699,935,804,835,670,658,677,0.400982826378,-0.00536534682122,0.0698314042667,0.999999938547,0.000225441713011,-0.000267986101834,1.62987221255e-05,1793256564427243776
+15,0.250000000,BASELINE,796,748.693367155,727,709,698.306632845,655.693367155,935,804,835,670,658,677,0.400983021964,-0.0053642905157,0.069831768338,0.999999938566,0.000225884261324,-0.000267556094441,1.60465832286e-05,1793256564443910400
+16,0.266666667,BASELINE,796,748.723612784,727,709,698.276387216,656,935,804,835.276387216,670,658,677,0.400983116625,-0.00536333785456,0.069831624683,0.999999938478,0.000226129205367,-0.000267688988004,1.58912870749e-05,1793256564460577280
+17,0.283333333,BASELINE,796,748.130622738,727,709,698.869377262,656,935,804,835.869377262,670,658,677,0.400983095678,-0.00536250391858,0.0698308994252,0.999999938266,0.000226147792779,-0.000268466687235,1.58469247454e-05,1793256564477244160
+18,0.300000000,BASELINE,796,748.450261468,727,709.450261468,699,656,935,804,835.549738532,670,658,677,0.4009818922,-0.00536199133725,0.0698309429484,0.999999938197,0.000225931857573,-0.000268918697147,1.56087455898e-05,1793256564493911040
+19,0.316666667,BASELINE,795.972495701,748.972495701,727,709.972495701,698.972495701,656,935,804,835,670,658,677,0.4009804057,-0.00536163632303,0.0698311547267,0.99999993813,0.000225729674396,-0.000269350765293,1.53522693623e-05,1793256564510577664
+20,0.333333333,BASELINE,795.39964201,748.39964201,727,709.39964201,698.39964201,656,935,804,835,670,658,677,0.400979931467,-0.00536260544128,0.0698303962854,0.999999937307,0.00022711384663,-0.000271211787775,1.58186714798e-05,1793256564527244032
+21,0.350000000,BASELINE,795.178711962,748,727,709,698.178711962,656,934.821288038,804,835,670,658,677,0.400980046176,-0.0053636113881,0.0698302182123,0.999999937091,0.000227367659932,-0.000271773662369,1.61302766731e-05,1793256564543910656
+22,0.366666667,BASELINE,795.769756356,748,727,709,698.769756356,656,934.230243644,804,835,670,658,677,0.400981519719,-0.00536470230735,0.0698313791911,0.999999938284,0.000225013457093,-0.000269338083139,1.60847272413e-05,1793256564560577280
+23,0.383333333,BASELINE,795.646490254,748.353509746,727,709,699,656,934.353509746,804,835.353509746,670,658,677,0.400983300785,-0.00536450054783,0.0698325677023,0.999999938866,0.000225021787403,-0.000267158755623,1.6105621472e-05,1793256564577243648
+24,0.400000000,BASELINE,795.067389533,748.932610467,727,709,699,656,934.932610467,804,835.932610467,670,658,677,0.400985278098,-0.00536347387011,0.0698337737833,0.999999939059,0.000226537759521,-0.000265142953978,1.6168916483e-05,1793256564593910272
+25,0.416666667,BASELINE,795.510085028,748.489914972,727.510085028,709.510085028,698.489914972,656,935,803.489914972,835.489914972,670,658,677,0.400984131259,-0.00536284954072,0.0698327512711,0.999999938725,0.000226435716193,-0.000266504311834,1.5886730524e-05,1793256564610577664
+26,0.433333333,BASELINE,796,748.088463436,727.911536564,710,698.088463436,656,935,803.088463436,835,670,658,677.088463436,0.400982870361,-0.00536242914094,0.0698317149473,0.99999993838,0.000226319863291,-0.000267910376572,1.56305884216e-05,1793256564627244800
+27,0.450000000,BASELINE,796,748.673112895,727.326887105,710,698.673112895,656,935,803.673112895,835,670,658,677.673112895,0.400983277416,-0.00536285536851,0.0698322473409,0.999999938374,0.000227321726595,-0.000267072606494,1.57757197229e-05,1793256564643911424
+28,0.466666667,BASELINE,795.7446999,749,727,709.7446999,698.7446999,656,935,804,835,670,658,678,0.400983279246,-0.00536292648682,0.0698324178327,0.999999938367,0.000227718630116,-0.000266765046067,1.57007765911e-05,1793256564660577792
+29,0.483333333,BASELINE,795.165635289,749,727,709.165635289,698.165635289,656,935,804,835,670,658,678,0.400982767183,-0.00536254726539,0.0698321293707,0.999999938359,0.000227348340352,-0.000267129882873,1.53467411552e-05,1793256564677244160
+30,0.500000000,BASELINE,795.413338997,749,727,709.413338997,698,656,935,804,835,670,658,677.586661003,0.400981624932,-0.00536213496709,0.0698316099095,0.999999937999,0.000227575757886,-0.000268290124922,1.52343766978e-05,1793256564693910528
+31,0.516666667,BASELINE,795.992277082,749,727,709.992277082,698,656,935,804,835,670,658,677.007722918,0.400980230205,-0.00536170941697,0.0698309979013,0.999999937495,0.000228042639366,-0.000269769036101,1.52188346969e-05,1793256564710577664
+32,0.533333333,BASELINE,796,748.43253103,727,709.43253103,698.56746897,656,935,804,835.56746897,670,658,677.56746897,0.400980471259,-0.00536265823156,0.0698311259198,0.999999937813,0.000226356371072,-0.000269987303737,1.56367932318e-05,1793256564727244288
+33,0.550000000,BASELINE,796,748.137355763,727,709.137355763,699,656,935,804,836,670,658,677.862644237,0.400980889244,-0.00536362391121,0.0698312353088,0.999999938093,0.00022540738545,-0.000269723448339,1.59585901165e-05,1793256564743911168
+34,0.566666667,BASELINE,796,748.691305926,727,709.691305926,699,656,935,804,836,670,658,677.308694074,0.400981776781,-0.00536458438439,0.06983125785,0.999999938232,0.000226782840515,-0.000268049027543,1.59709564205e-05,1793256564760578048
+35,0.583333333,BASELINE,795.727837418,749,727.272162582,709.727837418,699,656,935,804,835.727837418,670,658,677,0.400982195884,-0.00536437173267,0.069831269696,0.999999938326,0.000227034019248,-0.000267493073053,1.58298843262e-05,1793256564777244672
+36,0.600000000,BASELINE,795.11311455,749,727.88688545,709.11311455,699,656,935,804,835.11311455,670,658,677,0.400982025387,-0.00536268251512,0.0698312680804,0.999999938367,0.000225870115976,-0.000268344887677,1.54956853854e-05,1793256564793911296
+37,0.616666667,BASELINE,795,748.527511174,727.527511174,709.472488826,699,656,935,804,835.472488826,670,658,677,0.400983137319,-0.00536252050704,0.0698321208172,0.999999938627,0.000225903406431,-0.0002673434649,1.55424615058e-05,1793256564810577664
+38,0.633333333,BASELINE,795.051152139,748.051152139,727,710,699,656,935,804,835.948847861,670,658,677,0.400984470753,-0.00536279355334,0.0698331046635,0.999999938978,0.00022601423583,-0.000265925006785,1.56763252271e-05,1793256564827243776
+39,0.650000000,BASELINE,795.625991913,748.625991913,727,710,699,656,935,804,835.374008087,670,658,677,0.400985111189,-0.00536399479286,0.0698334583692,0.999999939768,0.000224154969271,-0.000264515522454,1.58222318216e-05,1793256564843910656
+40,0.666666667,BASELINE,796,749,727,710,699,656,935,804,835,670,658,677,0.40098435227,-0.00536433518769,0.0698331882951,0.9999999398,0.000223671425619,-0.000264801490245,1.58325585321e-05,1793256564860577024
+41,0.683333333,BASELINE,796,749,727,710,699,656,935,804,835,670,658,677,0.400980987338,-0.00536307243478,0.0698317565583,0.999999938419,0.000225749885376,-0.000268244891856,1.55903953551e-05,1793256564877243648
+42,0.700000000,BASELINE,796,748.624285932,727,709.624285932,698.624285932,656,935,804,835,670,658,677,0.400981120865,-0.00536264198521,0.0698317071991,0.999999937982,0.000227308682119,-0.000268554776211,1.56638918782e-05,1793256564893910784
+43,0.716666667,BASELINE,796,748.042117303,727,709.042117303,698.042117303,656,935,804,835,670,658,677,0.400983176794,-0.00536266888568,0.0698324174554,0.999999938066,0.000228581924408,-0.000267142795379,1.59108431473e-05,1793256564910577664
+44,0.733333333,BASELINE,795.465530817,748,727.534469183,709.534469183,698.534469183,656,935,804,835,670,658,677,0.400983368266,-0.00536295107716,0.069832495594,0.999999938523,0.000227738758079,-0.000266163881837,1.56575699082e-05,1793256564927244032
+45,0.750000000,BASELINE,795.110259193,748,727.889740807,710,699,656,935,804,835,670,658,677,0.400983340453,-0.00536321106488,0.0698325851743,0.999999938902,0.000226827191275,-0.000265533169611,1.54126026343e-05,1793256564943910656
+46,0.766666667,BASELINE,795.684529244,748,727.315470756,710,699,656,935,804,835,670,658,677,0.400983001725,-0.00536329382444,0.0698329303665,0.999999938833,0.000226322376372,-0.000266225682881,1.53667637543e-05,1793256564960577280
+47,0.783333333,BASELINE,796,748.266663261,727,709.733336739,698.733336739,656,935,804,835,670,658,677,0.400982807385,-0.00536330890053,0.0698329519214,0.99999993874,0.000226171002695,-0.000266705008416,1.53244510743e-05,1793256564977244160
+48,0.800000000,BASELINE,796,748.858383359,727,709.141616641,698.141616641,656,935,804,835,670,658,677,0.400982789052,-0.00536324147193,0.0698325789691,0.999999938619,0.000226450466278,-0.000266924462734,1.52864367508e-05,1793256564993910528
+49,0.816666667,BASELINE,795.561137884,748.561137884,727,709.438862116,698,656,935,803.561137884,835,670,658,677,0.400982127155,-0.00536319471068,0.0698319534819,0.999999938646,0.000225325462628,-0.000267779439102,1.51615438149e-05,1793256565010577152
+50,0.833333333,BASELINE,795.015732858,748,727.015732858,710,698.015732858,656,934.984267142,803.015732858,835,670,658,677,0.400981283282,-0.00536315990643,0.06983126507,0.99999993871,0.000223820359636,-0.00026881157315,1.5014698131e-05,1793256565027244032
+51,0.850000000,BASELINE,795.590079041,748,727.590079041,710,698.590079041,656,934.409920959,803.590079041,835,670,658,677,0.400981167679,-0.00536331876743,0.0698311636009,0.999999938495,0.000224509179445,-0.000269034259492,1.50589456728e-05,1793256565043911168
+52,0.866666667,BASELINE,796,748.168968013,727.831031987,709.831031987,698.831031987,656,934.168968013,804,835,670,658,677,0.400981144572,-0.00536328762996,0.0698312852852,0.999999938431,0.000224875889613,-0.000268959439888,1.51699926845e-05,1793256565060577792
+53,0.883333333,BASELINE,796,748.759182369,727.240817631,709.240817631,698.240817631,656,934.759182369,804,835,670,658,677,0.400981352066,-0.00536278281609,0.069831963303,0.999999938744,0.000224439563082,-0.000268142921943,1.54475743648e-05,1793256565077244416
+54,0.900000000,BASELINE,796,748.657158694,727,709.342841306,698,656,935,804,835,670,658,677,0.400982292505,-0.00536284801702,0.0698328740615,0.99999993906,0.000224379527329,-0.000266995491326,1.57037004284e-05,1793256565093911040
+55,0.916666667,BASELINE,796,748.07801803,727,709.92198197,698,656,935,804,835,670,658,677,0.400983738118,-0.00536330609401,0.0698339452339,0.999999939378,0.000224578845609,-0.000265619983052,1.59450384478e-05,1793256565110577664
+56,0.933333333,BASELINE,796,748.496957354,727,709.503042646,698.496957354,656,935,804,835,670,658,677,0.400982689035,-0.0053630611492,0.0698332284063,0.999999938894,0.000225486606961,-0.000266681015163,1.57721031623e-05,1793256565127244032
+57,0.950000000,BASELINE,795.928457389,749,727,709.071542611,699,655.928457389,935,804,835,670,658,677,0.40098144063,-0.00536281523816,0.0698323253154,0.999999938365,0.000226342383548,-0.000267947794491,1.55803236793e-05,1793256565143910656
+58,0.966666667,BASELINE,795.352049259,749,727,709.647950741,699,655.352049259,935,804,835,670,658,677,0.400981526453,-0.00536333488816,0.0698320721899,0.999999938417,0.000226052975432,-0.000267989579846,1.57107076333e-05,1793256565160577024
+59,0.983333333,BASELINE,795,748.770343863,727,710,698.770343863,655.229656137,935,804,835,670,658,677,0.400981451369,-0.00536353504043,0.069831713137,0.999999938482,0.000225363489884,-0.000268334619578,1.5637917908e-05,1793256565177243648
+60,1.000000000,BASELINE,795,748.180326253,727,710,698.180326253,655.819673747,935,804,835,670,658,677,0.400981123799,-0.00536323385772,0.0698311878698,0.999999938563,0.000224046228812,-0.000269155506364,1.52463212799e-05,1793256565193910784
+61,1.016666667,BASELINE,795,748.402152007,727,709.597847993,698,656,935,804,835,670,658,677,0.400981520382,-0.00536366262846,0.0698315255321,0.999999938911,0.000223152735462,-0.000268607776193,1.51639388323e-05,1793256565210577920
+62,1.033333333,BASELINE,795,748.981311776,727,709.018688224,698,656,935,804,835,670,658,677,0.400982235703,-0.00536441268923,0.0698322430141,0.999999939376,0.000222445764141,-0.000267457647328,1.52176574569e-05,1793256565227244544
+63,1.050000000,BASELINE,795,749,727,709,698.55606364,656,935,804,835,670,658,677.55606364,0.400981328118,-0.00536515191769,0.0698321463924,0.999999939092,0.000222952004386,-0.000268075084469,1.56246415983e-05,1793256565243910912
+64,1.066666667,BASELINE,795,748.86643163,727,709,698.86643163,656,935,804,835,670,658,677.86643163,0.40098088737,-0.00536542797226,0.0698322557455,0.999999938857,0.000223791372458,-0.000268237455765,1.58990886682e-05,1793256565260577024
+65,1.083333333,BASELINE,795,748.279074941,727,709,698.279074941,656,935,804,835,670,658,677.279074941,0.400982216513,-0.00536413165609,0.069833157106,0.999999938872,0.000225625080753,-0.000266653540726,1.56832322326e-05,1793256565277243648
+66,1.100000000,BASELINE,795,748.303812716,727,709.303812716,698.303812716,656,935,804,835,670,658,677,0.400982512884,-0.0053629052788,0.0698330822114,0.999999938654,0.000226824408144,-0.000266459046101,1.55431164888e-05,1793256565293910528
+67,1.116666667,BASELINE,795,748.882654711,727,709.882654711,698.882654711,656,935,804,835,670,658,677,0.400981874329,-0.0053617422144,0.0698321235529,0.99999993823,0.000227449456244,-0.000267522337274,1.547156572e-05,1793256565310577152
+68,1.133333333,BASELINE,795.460435114,748.539564886,727,709.539564886,699,656,935,803.539564886,835,670,658,677,0.400982253409,-0.00536169844754,0.06983222149,0.999999938397,0.000226938121107,-0.000267344466278,1.52635400747e-05,1793256565327244032
+69,1.150000000,BASELINE,796,748,727,709,699,656,935,803.037855093,835,670,658,677,0.400982884865,-0.0053620028929,0.0698326402604,0.999999938758,0.00022601706297,-0.000266785190259,1.50389634077e-05,1793256565343911168
+70,1.166666667,BASELINE,796,748,727,709,699,656,935,803.613987716,835,670,658,677,0.400983425618,-0.00536321179512,0.0698338008807,0.999999939748,0.000223378675655,-0.000265290087492,1.50724780297e-05,1793256565360577536
+71,1.183333333,BASELINE,795.806009368,748,727,709,699,656,935,804,835,670,657.806009368,677,0.400983668686,-0.00536408731551,0.0698343122634,0.999999940078,0.000222673617436,-0.000264632739389,1.51534824916e-05,1793256565377244416
+72,1.200000000,BASELINE,795.218148266,748,727,709,699,656,935,804,835,670,657.218148266,677,0.400983307348,-0.00536428595159,0.0698335054615,0.999999939076,0.000225893909302,-0.000265676333056,1.53309083443e-05,1793256565393910784
+73,1.216666667,BASELINE,795.364246827,748.364246827,727,709.364246827,699,656,935,804,835,670,657.364246827,677,0.400982958402,-0.0053642672116,0.0698330671419,0.999999939113,0.000225597141519,-0.000265791685646,1.53112213426e-05,1793256565410577408
+74,1.233333333,BASELINE,795.943416679,748.943416679,727,709.943416679,699,656,935,804,835,670,657.943416679,677,0.400982616768,-0.00536412020933,0.0698328462445,0.999999939762,0.000223225140363,-0.000265359331601,1.51752283314e-05,1793256565427243776
+75,1.250000000,BASELINE,796,749,727,709.480952099,699,656,934.480952099,804,835,670,658,677,0.400982382591,-0.00536386235965,0.0698331769308,0.999999939156,0.000225669856108,-0.000265563238112,1.54263737217e-05,1793256565443910656
+76,1.266666667,BASELINE,795.905429228,749,727,709.094570772,698.905429228,656,934.094570772,804,835,670,658,677,0.400982243722,-0.00536363736116,0.0698335107643,0.999999938517,0.000228184509794,-0.000265804060631,1.56603237419e-05,1793256565460577024
+77,1.283333333,BASELINE,795.328504799,749,727,709.671495201,698.328504799,656,934.671495201,804,835,670,658,677,0.400982531621,-0.00536364113446,0.0698335560355,0.99999993845,0.00022839582734,-0.00026588179403,1.55927708705e-05,1793256565477244160
+78,1.300000000,BASELINE,795.253575875,748.746424125,727,709.746424125,698.253575875,656,935,804,835,670,658,677.253575875,0.40098192547,-0.00536377980634,0.0698332035258,0.999999938428,0.000227509781975,-0.000266722181087,1.55704438087e-05,1793256565493911296
+79,1.316666667,BASELINE,795.842475009,748.157524991,727,709.157524991,698.842475009,656,935,804,835,670,658,677.842475009,0.400980137048,-0.00536409686516,0.0698323249989,0.999999938462,0.000225172607587,-0.000268571084859,1.56079223858e-05,1793256565510578176
+80,1.333333333,BASELINE,796,748,727,709,698.575768018,656,935,804,835,670,658,677.575768018,0.400979557661,-0.00536462842812,0.0698318405083,0.999999938434,0.000224539940466,-0.000269201648433,1.56585697677e-05,1793256565527244288
+81,1.350000000,BASELINE,796,748.00335972,727,709,698,656,935,804,835,670,658,677,0.400979436442,-0.00536523594256,0.0698315113768,0.999999938389,0.000224529164864,-0.000269371001872,1.57147222577e-05,1793256565543910400
+82,1.366666667,BASELINE,796,748.578880843,727,709,698,656,935,804,835,670,658,677,0.400982153112,-0.00536543829624,0.0698331353921,0.999999939109,0.000224425783838,-0.000266762996973,1.5889446063e-05,1793256565560577024
+83,1.383333333,BASELINE,796,749,727,709.154394772,698,656,935,804,835,670,658,677,0.400983798055,-0.00536573561654,0.0698339848023,0.999999939665,0.000223918855755,-0.000265095028435,1.59844525237e-05,1793256565577243648
+84,1.400000000,BASELINE,796,749,727,709.729889206,698,656,935,804,835,670,658,677,0.400982519946,-0.00536629195089,0.0698327215382,0.999999939787,0.000222311284624,-0.000265990934958,1.58620362023e-05,1793256565593910272
+85,1.416666667,BASELINE,796,749,727,709.686967091,698.313032909,656,935,804,835,670,658,677,0.400981560119,-0.00536566541006,0.0698319461572,0.999999939347,0.000222969912518,-0.000267110518697,1.55618623848e-05,1793256565610577152
+86,1.433333333,BASELINE,796,749,727,709.097057671,698.902942329,656,935,804,835,670,658,677,0.400980881814,-0.00536399262026,0.069831602307,0.999999938404,0.000225632985593,-0.000268427944091,1.51044626929e-05,1793256565627244288
+87,1.450000000,BASELINE,795.517057177,748.517057177,727,709.482942823,699,656,935,804,835,670,658,677,0.400982488907,-0.00536453631069,0.069833185608,0.999999939202,0.000224941208796,-0.000266000950236,1.55369110377e-05,1793256565643911168
+88,1.466666667,BASELINE,795.060799472,748.060799472,727,709.939200528,699,655.939200528,935,803.939200528,835,670,658,677,0.400984196858,-0.00536546823075,0.0698348107396,0.999999940154,0.000223785975435,-0.000263352421343,1.60473963554e-05,1793256565660577792
+89,1.483333333,BASELINE,795.637024465,748.637024465,727,709.362975535,699,655.362975535,935,803.362975535,835,670,658,677,0.400982944405,-0.00536599099842,0.0698335731603,0.999999939587,0.0002243026391,-0.000265077047136,1.5733859357e-05,1793256565677244160
+90,1.500000000,BASELINE,796,749,727,709.217290936,699,655.217290936,935,803.217290936,835.217290936,670,658,677,0.40098184141,-0.00536600891539,0.0698325303703,0.999999939259,0.000224060855964,-0.000266528977456,1.55230051983e-05,1793256565693910784
+91,1.516666667,BASELINE,796,749,727,709.804436417,699,655.804436417,935,803.804436417,835.804436417,670,658,677,0.400980992808,-0.00536516751745,0.0698318191345,0.999999939338,0.000222528107762,-0.000267516748067,1.54869292541e-05,1793256565710577408
+92,1.533333333,BASELINE,796,749,727,710,699,656,935,804,836,670,658.388512298,677,0.400981345598,-0.00536441284992,0.0698324915999,0.999999939171,0.000223660186753,-0.000267195294117,1.55278862185e-05,1793256565727244032
+93,1.550000000,BASELINE,796,749,727,710,699,656,935,804,836,670,658.971055214,677,0.400982298387,-0.00536370149718,0.0698338551127,0.999999938876,0.000226123132271,-0.00026621998798,1.56073149162e-05,1793256565743910656
+94,1.566666667,BASELINE,795.455250008,749,727,710,699,656,935,804,836,670,658.455250008,677.544749992,0.400982379755,-0.00536480335296,0.069833373212,0.999999938873,0.000225657738205,-0.000266608692951,1.58613101068e-05,1793256565760577280
+95,1.583333333,BASELINE,795.118551492,748.881448508,727.118551492,710,699,656,935,804,835.881448508,670,658,677.881448508,0.400982434348,-0.00536572153726,0.0698330143932,0.999999939024,0.000224770871799,-0.000266781654648,1.60201033702e-05,1793256565777244416
+96,1.600000000,BASELINE,795.694550054,748.305449946,727.694550054,710,699,656,935,804,835.305449946,670,658,677.305449946,0.400982561437,-0.00536556518905,0.0698335028115,0.999999939708,0.00022284848389,-0.000265846954971,1.57763286471e-05,1793256565793911296
+97,1.616666667,BASELINE,796,748,727.72182638,710,699,656,935,804,835,670,658,677,0.400982389403,-0.00536520742003,0.0698336618559,0.999999939859,0.000222577771905,-0.000265514587817,1.55800549379e-05,1793256565810577920
+98,1.633333333,BASELINE,796,748,727.129594204,710,699,656,935,804,835,670,658,677,0.400981879659,-0.00536462224656,0.0698334490363,0.999999939413,0.000224171805355,-0.000265862255309,1.54374099801e-05,1793256565827244544
+99,1.650000000,BASELINE,796,748.450924216,727,710,699,656,935,804,835,670,658,677.450924216,0.400982753222,-0.00536462517971,0.0698339633681,0.999999939616,0.000224782979866,-0.00026457031415,1.55989744604e-05,1793256565843910912
+100,1.666666667,BASELINE,795.971987998,749,727,709.971987998,699,656,935,804,835.028012002,670,658,678,0.400983893843,-0.00536477542126,0.0698345897344,0.999999939953,0.000225094065281,-0.000263015233465,1.58168283397e-05,1793256565860577024
+101,1.683333333,BASELINE,795.397812508,749,727,709.397812508,699,656,935,804,835.602187492,670,658,678,0.400982686348,-0.00536458578076,0.0698334290565,0.999999939397,0.000224922187827,-0.000265284541277,1.54707023256e-05,1793256565877243648
+102,1.700000000,BASELINE,795.176904728,749,727,709.176904728,699,656,935,804,835.823095272,670,658,677.823095272,0.400981991783,-0.00536431781077,0.069832877042,0.999999938999,0.000225449164842,-0.000266348286441,1.5260788531e-05,1793256565893910784
+103,1.716666667,BASELINE,795.752843875,749,727,709.752843875,699,656,935,804,835.247156125,670,658,677.247156125,0.400982454206,-0.00536387315722,0.0698336979566,0.999999938961,0.000227552510084,-0.000264692708891,1.53581213143e-05,1793256565910577664
+104,1.733333333,BASELINE,796,749,727.338570456,709.661429544,699,656,935,804,835,670,658,677,0.400982385063,-0.00536389738595,0.0698337573403,0.999999939023,0.000227125954925,-0.000264825703454,1.53024010476e-05,1793256565927244288
+105,1.750000000,BASELINE,796,749,727.931654609,709.068345391,699,656,935,804,835,670,658,677,0.400981916327,-0.0053642740877,0.0698332442579,0.99999993916,0.000224797597004,-0.00026630322183,1.51316261639e-05,1793256565943911168
+106,1.766666667,POSE1_TO_POSE2_PRESS,796,748,727,710,699,656,934,804,835,670,658,677,0.400982125176,-0.00536367684823,0.0698333091897,0.999999939278,0.000224065515904,-0.000266483222925,1.49906356253e-05,1793256565974804992
+107,1.783333333,POSE1_TO_POSE2_PRESS,796,748,727,710,699,656,934.576288925,804,835,670,658,677,0.400983226619,-0.00536450986655,0.069833882647,0.999999939908,0.000223332690222,-0.000264718910412,1.51805780235e-05,1793256565991472640
+108,1.800000000,POSE1_TO_POSE2_PRESS,795.844621631,748.155378369,727,710,699,656,935,804,835,670,658,677,0.400983492466,-0.00536458854133,0.0698338657836,0.999999939911,0.000223865157465,-0.000264254615061,1.52521305247e-05,1793256566008139520
+109,1.816666667,POSE1_TO_POSE2_PRESS,795.257754967,748.742245033,727,710,699,656,935,804,835,670,658,677,0.400981437849,-0.0053625723918,0.06983220959,0.999999938164,0.00022791136388,-0.000267400488429,1.49949123714e-05,1793256566024805120
+110,1.833333333,POSE1_TO_POSE2_PRESS,795.325432933,749,727,709.674567067,699,656,935,804,835,670,658,677,0.400981501114,-0.00536219357367,0.0698322687847,0.999999938115,0.000227978610928,-0.000267525660474,1.50036676761e-05,1793256566041471488
+111,1.850000000,POSE1_TO_POSE2_PRESS,795.90573965,749,727,709.09426035,699,656,935,804,835,670,658,677,0.400983223068,-0.00536309708701,0.0698336714438,0.999999939399,0.000224929601418,-0.000265285068146,1.52207290865e-05,1793256566058138112
+112,1.866666667,POSE1_TO_POSE2_PRESS,795.517842294,749,727,709.482157706,699,656,935,804,835,670,658,677,0.400982716101,-0.00536472590678,0.0698337387442,0.999999939615,0.000223868358581,-0.000265348443924,1.56130603673e-05,1793256566074805248
+113,1.883333333,POSE1_TO_POSE2_PRESS,795.057441399,748.942558601,727,709.942558601,698.942558601,656,934.942558601,804,835,670,658,677,0.400981854941,-0.00536617699511,0.0698335813934,0.999999939588,0.000223336505468,-0.000265876670136,1.5953561175e-05,1793256566091472640
+114,1.900000000,POSE1_TO_POSE2_PRESS,795.629319889,748.370680111,727,709.370680111,698.370680111,656,934.370680111,804,835,670,658,677,0.400981692951,-0.00536477660808,0.0698337313952,0.999999939242,0.000224093369114,-0.000266566418581,1.55254606974e-05,1793256566108139520
+115,1.916666667,POSE1_TO_POSE2_PRESS,796,748.208837671,727,709.208837671,698.208837671,656,934,804,835,670,658,677,0.400983788893,-0.00536392008457,0.0698349846891,0.999999939372,0.000225069678237,-0.000265260131154,1.53863379686e-05,1793256566124805888
+116,1.933333333,POSE1_TO_POSE2_PRESS,796,748.802429727,727,709.802429727,698.802429727,656,934,804,835,670,658,677,0.400990044763,-0.00536406555418,0.0698382706456,0.999999940364,0.000226450285067,-0.000260276424975,1.57796166247e-05,1793256566141472000
+117,1.950000000,POSE1_TO_POSE2_PRESS,795.61334871,749,727,709.61334871,699,656,934.38665129,804,835,670,658,677,0.401009400313,-0.00536458579043,0.0698465939536,0.99999994389,0.000226432929818,-0.000246351165597,1.61145561924e-05,1793256566158138112
+118,1.966666667,POSE1_TO_POSE2_PRESS,795.033801915,749,727,709.033801915,699,656,934.966198085,804,835,670,658,677,0.401035291131,-0.00536529299311,0.0698574303337,0.999999948407,0.000225718148787,-0.000227965076353,1.64203911476e-05,1793256566174804480
+119,1.983333333,POSE1_TO_POSE2_PRESS,795,748.459244819,727,709,699,656,935,804,835,670,658,677,0.401085381576,-0.00536818806649,0.0698756286774,0.999999955493,0.000221966041781,-0.000198624708802,1.71549334476e-05,1793256566191471360
+120,2.000000000,POSE1_TO_POSE2_PRESS,795,748,727,709,699,656,935,804,835,670,658,677,0.401139454978,-0.0053707543702,0.0698931718681,0.999999961102,0.000218936930754,-0.000171893876588,1.7770440737e-05,1793256566208137984
+121,2.016666667,POSE1_TO_POSE2_PRESS,795,748,727,709,699,656,935,804,835,670,658,677,0.401203448212,-0.00537146665393,0.0699062779543,0.999999963213,0.000219546213157,-0.00015829313149,1.78045686752e-05,1793256566224804608
+122,2.033333333,POSE1_TO_POSE2_PRESS,795,748,727.289421196,709,698.710578804,656,935,804,835,670,658,677,0.401278277006,-0.00537258753674,0.0699165503135,0.999999965273,0.000220043967046,-0.000144011209731,1.71649154221e-05,1793256566241471232
+123,2.050000000,POSE1_TO_POSE2_PRESS,795,748,727.868942323,709,698.131057677,656,935,804,835,670,658,677,0.401363966768,-0.00537411797681,0.0699239822995,0.999999967253,0.000220429930826,-0.000129046514665,1.58499008595e-05,1793256566258137856
+124,2.066666667,POSE1_TO_POSE2_PRESS,795,748,727.554639195,709,698,656,935,804,835,670,658,677,0.401459806479,-0.00537559544582,0.0699248345039,0.999999967438,0.000220056836232,-0.00012847452016,1.39151017295e-05,1793256566274804736
+125,2.083333333,POSE1_TO_POSE2_PRESS,795.020652293,748,727,709.020652293,698.020652293,656,935,804,835,670,658,677,0.401559521206,-0.00537704999889,0.0699237535068,0.999999967149,0.000219367431552,-0.000132066657342,1.17617345162e-05,1793256566291471872
+126,2.100000000,POSE1_TO_POSE2_PRESS,795.590090463,748,727,709.590090463,698.590090463,656,935,804,835,670,658,677,0.401683385825,-0.00537830696306,0.0699223976177,0.999999967548,0.000216167309979,-0.000134544074427,8.6133802902e-06,1793256566308138240
+127,2.116666667,POSE1_TO_POSE2_PRESS,796,748.167207836,727,710,699,656,935,804,835,670,658,677,0.40181693152,-0.0053798236089,0.0699223871898,0.999999968252,0.00021285535195,-0.000134762737785,5.32184535775e-06,1793256566324804608
+128,2.133333333,POSE1_TO_POSE2_PRESS,796,748.76405686,727,710,699,656,935,804,835,670,658,677,0.401975352763,-0.00538200750765,0.0699258339302,0.999999969761,0.000209256030208,-0.00012917752422,1.66240752513e-06,1793256566341471232
+129,2.150000000,POSE1_TO_POSE2_PRESS,796,748.647851388,727,710,699,656,935,804,835,670,658,677,0.402157471291,-0.00538606569958,0.0699303191271,0.999999971982,0.000203474835006,-0.00012095561725,-1.92623448519e-06,1793256566358137856
+130,2.166666667,POSE1_TO_POSE2_PRESS,796,748.065484667,727,710,699,656,935,804,835,670,658,677,0.402355082,-0.00539134921597,0.0699354832179,0.999999974563,0.000196267233736,-0.000111009964255,-5.46859389766e-06,1793256566374804992
+131,2.183333333,POSE1_TO_POSE2_PRESS,796,748,727,710,699,656,935,803.491068602,835,670,658,677,0.402579261742,-0.00539457401117,0.0699361444571,0.999999976271,0.000188327744246,-0.000108962957993,-1.08519572585e-05,1793256566391471872
+132,2.200000000,POSE1_TO_POSE2_PRESS,796,748,727,710,699,656,935,803.084097949,835,670,658,677,0.402811835542,-0.00539805103567,0.0699366840211,0.999999977967,0.000179853847951,-0.000106999815775,-1.64139576944e-05,1793256566408138752
+133,2.216666667,POSE1_TO_POSE2_PRESS,796,748,727,710,699,656,935,803.6697479,835,670,658,677,0.403074395825,-0.00540458785484,0.0699399001779,0.999999980571,0.000168745795982,-9.95687943019e-05,-2.16503143915e-05,1793256566424805120
+134,2.233333333,POSE1_TO_POSE2_PRESS,796,748.2539617,727,709.7460383,699,656,935,804,835,670,658,677.2539617,0.403356642316,-0.00541084314769,0.0699472936946,0.999999983269,0.000159516294033,-8.55431535203e-05,-2.64189748695e-05,1793256566441471488
+135,2.250000000,POSE1_TO_POSE2_PRESS,796,748.836318395,727,709.163681605,699,656,935,804,835,670,658,677.836318395,0.403664344802,-0.00541673440166,0.069960088908,0.999999985887,0.00015271592445,-6.29900857062e-05,-3.05828623493e-05,1793256566458137856
+136,2.266666667,POSE1_TO_POSE2_PRESS,796,749,727,709.415155851,698.584844149,656,935,804,835,670,658,677.584844149,0.404004077102,-0.00542090985128,0.0699651361443,0.999999993368,9.31705237436e-05,-5.77314496601e-05,-3.53728203807e-05,1793256566474804736
+137,2.283333333,POSE1_TO_POSE2_PRESS,796,749,727,709.992617442,698.007382558,656,935,804,835,670,658,677.007382558,0.404356331494,-0.00542441450474,0.0699671542983,0.999999997345,1.30043815832e-05,-5.9234095274e-05,-4.04075412503e-05,1793256566491471360
+138,2.300000000,POSE1_TO_POSE2_PRESS,796,749,727,710,698.564255207,656,935,804,835,670,658,677,0.404758002573,-0.00543079805457,0.0699743743419,0.999999997278,4.6944421258e-05,-4.68652730369e-05,-3.22963466448e-05,1793256566508138496
+139,2.316666667,POSE1_TO_POSE2_PRESS,796,749,727,709.859932507,699,656,935,804,835.140067493,670,658,677,0.405161535715,-0.00543640955598,0.0699790589266,0.999999996081,7.46465854905e-05,-3.89829295259e-05,-2.73199714334e-05,1793256566524805632
+140,2.333333333,POSE1_TO_POSE2_PRESS,796,749,727,709.270485215,699,656,935,804,835.729514785,670,658,677,0.405568989694,-0.00543942447444,0.0699753928468,0.999999995385,7.75948508764e-05,-4.60709276931e-05,-3.29472510839e-05,1793256566541472256
+141,2.350000000,POSE1_TO_POSE2_PRESS,796.315465225,748.684534775,727,709.315465225,699,656,935,804,836,670,658,677,0.406005079628,-0.00544624789836,0.0699712187772,0.999999995409,7.19212122039e-05,-5.18475895491e-05,-3.63481995626e-05,1793256566558138880
+142,2.366666667,POSE1_TO_POSE2_PRESS,796.898450338,748.101549662,727,709.898450338,699,656,935,804,836,670,658,677,0.406465453385,-0.00545630100017,0.0699666139232,0.99999999595,5.89360522226e-05,-5.65122166385e-05,-3.78611818731e-05,1793256566574805248
+143,2.383333333,POSE1_TO_POSE2_PRESS,796.051290894,748,727,709.525645447,698.525645447,656,935,804,835.525645447,670,658,677,0.406952534438,-0.00547336892478,0.0699494508613,0.999999995697,3.02569116098e-05,-7.97073040734e-05,-3.65651634307e-05,1793256566591471616
+144,2.400000000,POSE1_TO_POSE2_PRESS,795.048533136,748.048533136,727,709,698.048533136,656,935,804,835.048533136,670,658,677,0.407453013113,-0.00549212741744,0.0699318127067,0.999999994061,-5.37580890549e-07,-0.00010326668919,-3.4832061995e-05,1793256566608137984
+145,2.416666667,POSE1_TO_POSE2_PRESS,795.620210813,748.620210813,727,709,698.620210813,656,935,804,835.620210813,670,658,677,0.408037183655,-0.00551315950338,0.069937606434,0.999999995298,-1.84510980925e-05,-8.86211078391e-05,-3.47742761054e-05,1793256566624805120
+146,2.433333333,POSE1_TO_POSE2_PRESS,796,748.801252544,727,709,699,656,935,804,835.801252544,670,658,677,0.408633052233,-0.00552625758824,0.0699463510263,0.999999996616,-3.01821705351e-05,-6.79375043871e-05,-3.52427138866e-05,1793256566641472256
+147,2.450000000,POSE1_TO_POSE2_PRESS,796,748.209140549,727,709,699,656,935,804,835.209140549,670,658,677,0.409252073739,-0.0055236525542,0.0699609360231,0.999999998261,-2.96768360255e-05,-3.53033398834e-05,-3.67526630322e-05,1793256566658139136
+148,2.466666667,POSE1_TO_POSE2_PRESS,796,748,727.374711666,709,698.625288334,656,935,804,835.374711666,670,658.374711666,677.374711666,0.409867936024,-0.00552905431768,0.069960223806,0.999999998029,-3.70826690391e-05,-3.34119714203e-05,-3.80983776096e-05,1793256566674805760
+149,2.483333333,POSE1_TO_POSE2_PRESS,796,748,727.9540532,709,698.0459468,656,935,804,835.9540532,670,658.9540532,677.9540532,0.410482073041,-0.00553882858968,0.0699511577869,0.999999996868,-4.88087870062e-05,-4.83092307661e-05,-3.93544037189e-05,1793256566691472640
+150,2.500000000,POSE1_TO_POSE2_PRESS,795.470659494,748,728,709,698.529340506,656,935,804,835.470659494,670,658.470659494,678,0.411155290411,-0.00554563251989,0.0699556310614,0.999999996132,-6.27428309005e-05,-4.69200852825e-05,-3.99622620311e-05,1793256566708139520
+151,2.516666667,POSE1_TO_POSE2_PRESS,795.106569558,748,727.893430442,709,698.893430442,656,935,804,835.106569558,670,658,677.893430442,0.411848361767,-0.00554829790696,0.0699658804762,0.999999996101,-7.0412332066e-05,-3.48094469283e-05,-4.03525759071e-05,1793256566724806400
+152,2.533333333,POSE1_TO_POSE2_PRESS,795.694138733,748,727.305861267,709,698.305861267,656,935,804,835.694138733,670,658,677.305861267,0.412608073497,-0.00553343890576,0.0699969364067,0.999999997814,-4.89485122648e-05,1.93604038265e-05,-4.00130099202e-05,1793256566741472256
+153,2.550000000,POSE1_TO_POSE2_PRESS,795.722264025,748,727.277735975,709.277735975,698.277735975,656,935,804,836,670,658,677.277735975,0.41337174703,-0.00551539508821,0.0700214537164,0.999999997182,-2.5730643915e-05,5.80899031615e-05,-4.00016875569e-05,1793256566758138112
+154,2.566666667,POSE1_TO_POSE2_PRESS,795.142979195,748,727.857020805,709.857020805,698.857020805,656,935,804,836,670,658,677.857020805,0.414139722144,-0.00549389338862,0.0700388717925,0.999999995981,-6.08333578753e-07,8.00552133537e-05,-4.03467522242e-05,1793256566774804736
+155,2.583333333,POSE1_TO_POSE2_PRESS,795.435572594,748,727.564427406,710,698.564427406,656,935,804,835.564427406,670,658,677.564427406,0.414864123238,-0.00549964965357,0.0700072653271,0.999999998786,-9.82379189227e-06,2.3209541368e-05,-4.23313462951e-05,1793256566791471616
+156,2.600000000,POSE1_TO_POSE2_PRESS,795.986258787,747.986258787,727,710,698,656,935,803.986258787,835.013741213,670,658,677,0.415576181678,-0.00551408343446,0.0699599517789,0.999999996821,-3.01339253165e-05,-5.86125839595e-05,-4.48835311306e-05,1793256566808138496
+157,2.616666667,POSE1_TO_POSE2_PRESS,795.413899967,747.413899967,727,710,698,656,935,803.413899967,835.586100033,670,658,677,0.416366975525,-0.00551814943277,0.0699272107292,0.999999992242,-4.40227588608e-05,-0.000105870447712,-4.86679193366e-05,1793256566824805376
+158,2.633333333,POSE1_TO_POSE2_PRESS,795,747,727.163657928,710,698,656,935,803.163657928,836,670,658,677,0.417182047627,-0.00552174956205,0.0699125429292,0.999999989262,-5.36752806315e-05,-0.000126415632519,-5.11205678752e-05,1793256566841472000
+159,2.650000000,POSE1_TO_POSE2_PRESS,795,747,727.75479595,710,698,656,935,803.75479595,836,670,658,677,0.418060535316,-0.00552413282532,0.0699450830763,0.999999994401,-5.22624107383e-05,-7.71863854126e-05,-5.00946668947e-05,1793256566858138368
+160,2.666666667,POSE1_TO_POSE2_PRESS,795.338807671,747,728,710,698,656,935,804,836,670,658,677,0.418944906691,-0.00552579570516,0.0699735820945,0.999999996684,-5.5128604177e-05,-3.47192223341e-05,-4.88679364564e-05,1793256566874804992
+161,2.683333333,POSE1_TO_POSE2_PRESS,795.917768119,747,728,710,698,656,935,804,836,670,658,677,0.419833448486,-0.00552694796458,0.0699992166888,0.999999997005,-6.10278722887e-05,2.9548556943e-06,-4.74988546486e-05,1793256566891471360
+162,2.700000000,POSE1_TO_POSE2_PRESS,795.505087263,747,728,710,698,656,935,803.505087263,836,670,658,677.494912737,0.420740605908,-0.00552174394037,0.0700241411624,0.999999996176,-5.98372003313e-05,4.2450103128e-05,-4.75992546026e-05,1793256566908137984
+163,2.716666667,POSE1_TO_POSE2_PRESS,795,747,728,710,698,656,935,803,836,670,658,677.928606803,0.421644854045,-0.00551643026369,0.0700430519896,0.99999999462,-5.71801567742e-05,7.19427704945e-05,-4.81040876425e-05,1793256566924804864
+164,2.733333333,POSE1_TO_POSE2_PRESS,795,747,728,710,698,656,935,803,836,670,658,677.354685645,0.422506931518,-0.005517751511,0.0700204609636,0.999999996969,-5.24631598974e-05,2.89063392504e-05,-4.97433409663e-05,1793256566941471744
+165,2.750000000,POSE1_TO_POSE2_PRESS,795.225881852,747,728,709.774118148,698,656,935,803.225881852,836,670,658,677,0.423348247036,-0.0055199093539,0.0699712268815,0.99999999574,-5.59849544742e-05,-5.06570957945e-05,-5.31049544733e-05,1793256566958138368
+166,2.766666667,POSE1_TO_POSE2_PRESS,795.817202082,747,728,709.182797918,698,656,935,803.817202082,836,670,658,677,0.424155973384,-0.00552342066622,0.0698788888672,0.999999977672,-7.28357096269e-05,-0.000189315010674,-5.92530532043e-05,1793256566974805504
+167,2.783333333,POSE1_TO_POSE2_PRESS,795.599536761,746.599536761,728,709.400463239,698,656,935,804,836,670,658,677,0.425074911563,-0.00552463117507,0.069870334277,0.999999976473,-7.54291273155e-05,-0.000193546816789,-6.24777159458e-05,1793256566991472384
+168,2.800000000,POSE1_TO_POSE2_PRESS,795.019881762,746.019881762,728,709.980118238,698,656,935,804,836,670,658,677,0.426043612671,-0.00552481216343,0.0698992695233,0.99999998589,-7.16429389876e-05,-0.00013762814819,-6.4394254344e-05,1793256567008139008
+169,2.816666667,POSE1_TO_POSE2_PRESS,795.554568787,745.445431213,728,710,698,655.445431213,935,804,836,670,658,677,0.42700387387,-0.0055250788575,0.0699602168394,0.999999994354,-7.08822635557e-05,-5.33528902469e-05,-5.84855119963e-05,1793256567024805376
+170,2.833333333,POSE1_TO_POSE2_PRESS,795.8681481,744.8681481,728,710,698,655.1318519,935,803.8681481,836,670,658,677.1318519,0.42796785226,-0.00552655451111,0.0700162977436,0.999999995593,-7.2966485497e-05,2.50307355976e-05,-5.35066799257e-05,1793256567041471488
+171,2.850000000,POSE1_TO_POSE2_PRESS,795.280432639,744.280432639,728,710,698,655.719567361,935,803.280432639,836,670,658,677.719567361,0.428945718782,-0.00553219948597,0.0700516225385,0.999999991875,-8.45151043366e-05,7.95625487313e-05,-5.2703841338e-05,1793256567058138112
+172,2.866666667,POSE1_TO_POSE2_PRESS,795.302835198,744,728,710,698,656,935,803.302835198,836,670,658,677.697164802,0.429884343828,-0.00553604668438,0.0700602926995,0.999999990448,-8.71485098045e-05,9.32060337866e-05,-5.31123876545e-05,1793256567074804736
+173,2.883333333,POSE1_TO_POSE2_PRESS,795.882044012,744,728,710,698,656,935,803.882044012,836,670,658,677.117955988,0.430787156242,-0.00553825319483,0.0700446372928,0.999999992757,-8.16457081368e-05,6.95339888513e-05,-5.462646882e-05,1793256567091471616
+174,2.900000000,POSE1_TO_POSE2_PRESS,795.540863808,744,728,710.459136192,698,656,935,803.540863808,836,670,658,677,0.431595466178,-0.00553489503338,0.0699712910193,0.999999993664,-7.95645454918e-05,-5.50672555749e-05,-5.7527626018e-05,1793256567108138496
+175,2.916666667,POSE1_TO_POSE2_PRESS,795,744,728,710.963965552,698,656,935,803,836,670.036034448,658,677,0.432386912012,-0.00553054844822,0.0698895915682,0.9999999763,-7.8588312594e-05,-0.00019375472264,-6.0684491029e-05,1793256567124805376
+176,2.933333333,POSE1_TO_POSE2_PRESS,795,744,728,710.38180345,698,656,935,803,836,670.61819655,658,677,0.433289038741,-0.00553278895644,0.0699048900263,0.999999982795,-8.10966366697e-05,-0.000154751052437,-6.23408244136e-05,1793256567141472000
+177,2.950000000,POSE1_TO_POSE2_PRESS,794.799301656,744,728,710.200698344,698,656,935,803,836,670.799301656,658,677,0.434217429576,-0.00553477472741,0.0699380551635,0.999999990269,-8.39207301578e-05,-9.24597167378e-05,-6.2207225099e-05,1793256567158138368
+178,2.966666667,POSE1_TO_POSE2_PRESS,794.21615244,744,728,710.78384756,698,656,935,803,836,670.21615244,658,677,0.435195869464,-0.00553627507134,0.0700052670567,0.999999994364,-8.73465540044e-05,1.42086140547e-05,-5.86627290415e-05,1793256567174804992
+179,2.983333333,POSE1_TO_POSE2_PRESS,794.364420119,744,728,711,698,656,935,803,836,670,658,677,0.436113942795,-0.00553947681404,0.0700399867944,0.999999992183,-8.65362903126e-05,7.04005480939e-05,-5.64679457168e-05,1793256567191471360
+180,3.000000000,POSE1_TO_POSE2_PRESS,794.943475052,744,728,711,698,656,935,803,836,670,658,677,0.436996461597,-0.00554368064022,0.0700555694182,0.999999990329,-8.32310715865e-05,9.68630742865e-05,-5.50681116543e-05,1793256567208137984
+181,3.016666667,POSE1_TO_POSE2_PRESS,795,744,728,711,698,656,935,802.480521745,836,670.519478255,658,677.519478255,0.437800027502,-0.00554830463736,0.0700258940255,0.999999992005,-9.26605008732e-05,6.43794777866e-05,-5.70901384513e-05,1793256567224804608
+182,3.033333333,POSE1_TO_POSE2_PRESS,795,744,728,711,697.902904794,656,935,802.097095206,836,671,658,677.902904794,0.438571906117,-0.00555210332064,0.069981502318,0.999999993013,-0.000101795383484,6.58192879476e-06,-5.97436421658e-05,1793256567241471488
+183,3.050000000,POSE1_TO_POSE2_PRESS,795,744,728,711,697.315471156,656,935,802.684528844,836,671,658,677.315471156,0.439226892958,-0.0055515045666,0.0698875162844,0.999999981936,-0.000102485908725,-0.000146851109338,-6.37168086237e-05,1793256567258138368
+184,3.066666667,POSE1_TO_POSE2_PRESS,795,744,727.731914871,711,697,655.731914871,935,802.731914871,836,671,658,677.268085129,0.43991283284,-0.00554963501744,0.0698122445835,0.999999956408,-0.000102412561338,-0.000268733699727,-6.69233449747e-05,1793256567274805248
+185,3.083333333,POSE1_TO_POSE2_PRESS,795,744,727.152856282,711,697,655.152856282,935,802.152856282,836,671,658,677.847143718,0.440634677592,-0.00554629137105,0.0697586811461,0.999999929792,-0.000101453138333,-0.00035401838469,-6.92406062456e-05,1793256567291471872
+186,3.100000000,POSE1_TO_POSE2_PRESS,795,744,727.424635778,711,696.575364222,655,935,802,836,671,658,677.575364222,0.4414140741,-0.00554783840522,0.069785335946,0.999999943389,-9.97135280736e-05,-0.000314164884377,-6.76720446634e-05,1793256567308138496
+187,3.116666667,POSE1_TO_POSE2_PRESS,795,744,728,711,696,654.998447375,935,801.998447375,836,671,658,677,0.442213828792,-0.00555114240039,0.0698406527528,0.99999996677,-9.77071368082e-05,-0.000229620863011,-6.47146642402e-05,1793256567324804864
+188,3.133333333,POSE1_TO_POSE2_PRESS,795,744,728,711,696,654.42646444,935,801.42646444,836,671,658,677,0.442909735515,-0.00555552346818,0.0698562733435,0.99999996985,-0.000100488528395,-0.000214864716115,-6.35286353358e-05,1793256567341471744
+189,3.150000000,POSE1_TO_POSE2_PRESS,795,744,727.849134303,711,695.849134303,654,935,801,836,671,657.849134303,677.150865697,0.443582956673,-0.00555883854273,0.0698563567733,0.999999967523,-0.000105155798602,-0.000223361916828,-6.32862161793e-05,1793256567358138368
+190,3.166666667,POSE1_TO_POSE2_PRESS,795,744,727.256133229,711,695.256133229,654,935,801,836,671,657.256133229,677.743866771,0.444189694419,-0.00555902955938,0.0698109061417,0.99999994618,-0.000115349929611,-0.000300006663524,-6.58091916037e-05,1793256567374804992
+191,3.183333333,POSE1_TO_POSE2_PRESS,795,744,727.328292472,711,695,653.671707528,935,800.671707528,836,671,657.328292472,678,0.444785922539,-0.0055599268022,0.0697611761313,0.999999918698,-0.000119598801038,-0.00037901641728,-6.81680044869e-05,1793256567391471872
+192,3.200000000,POSE1_TO_POSE2_PRESS,795,744,727.90619796,711,695,653.09380204,935,800.09380204,836,671,657.90619796,678,0.445374159761,-0.00556136101511,0.0697081923523,0.999999884683,-0.000119327268906,-0.000459824368726,-7.0401998182e-05,1793256567408139264
+193,3.216666667,POSE1_TO_POSE2_PRESS,794.517404872,744.482595128,728,711,694.517404872,653,935,800,836,671,657.517404872,677.517404872,0.445936170043,-0.00556514184012,0.0696830546109,0.999999868766,-0.000117695062128,-0.00049385789515,-6.87108602044e-05,1793256567424806144
+194,3.233333333,POSE1_TO_POSE2_PRESS,794.058285489,744.941714511,728,711,693.941714511,653,935,799.941714511,836,671,657,677,0.446487949786,-0.00556917750529,0.0696641633366,0.999999856302,-0.000116537537788,-0.000519015153252,-6.66139152112e-05,1793256567441473024
+195,3.250000000,POSE1_TO_POSE2_PRESS,794.630321886,744.369678114,728,711,693.369678114,653,935,799.369678114,836,671,657,677,0.446994346984,-0.00557145161646,0.0696527721781,0.999999841324,-0.000121887964977,-0.000545820283413,-6.76438209499e-05,1793256567458139648
+196,3.266666667,POSE1_TO_POSE2_PRESS,794.789335164,744,728,711,693,652.789335164,935,799.210664836,836,671,657,677.210664836,0.447488163201,-0.00557318127333,0.0696377172199,0.999999824923,-0.000124405882485,-0.000574416015552,-6.87214486389e-05,1793256567474806016
+197,3.283333333,POSE1_TO_POSE2_PRESS,794.193817462,744,728,711,693,652.193817462,935,799.806182538,836,671,657,677.806182538,0.447958995807,-0.00557391629412,0.0696159690536,0.999999806357,-0.000121749231673,-0.00060628290461,-6.98862570462e-05,1793256567491472384
+198,3.300000000,POSE1_TO_POSE2_PRESS,794.388956656,744,728,711,692.611043344,652,935,799.611043344,836,671,657,678,0.448435955726,-0.00557659781819,0.069616305156,0.999999805956,-0.000124761168008,-0.000606401775338,-6.92736703856e-05,1793256567508139008
+199,3.316666667,POSE1_TO_POSE2_PRESS,794.965582137,744,728,711,692.034417863,652,935,799.034417863,836,671,657,678,0.448915872073,-0.00558021851635,0.0696272967593,0.999999814425,-0.000130508157171,-0.000591202455511,-6.78035033342e-05,1793256567524805632
+200,3.333333333,POSE1_TO_POSE2_PRESS,795,744,728,711,692,651.459938592,935,798.459938592,836,671,657,678,0.449347407083,-0.00558031378139,0.0696377595895,0.999999821626,-0.00013581116969,-0.000577771403055,-6.69546122993e-05,1793256567541472768
+201,3.350000000,POSE1_TO_POSE2_PRESS,795,744.117659361,728,711,691.882340639,651,935,798,836,671,657,678,0.449758962732,-0.00558000604547,0.0696431490607,0.999999824848,-0.000139138644755,-0.000571431545013,-6.64107831754e-05,1793256567558139648
+202,3.366666667,POSE1_TO_POSE2_PRESS,795,744.70834319,728,711,691.29165681,651,935,798,836,671,657,678,0.450102542496,-0.00557897780936,0.0696282771143,0.999999812783,-0.000134637194226,-0.000593149067681,-6.69348427287e-05,1793256567574806016
+203,3.383333333,POSE1_TO_POSE2_PRESS,795,744.706448984,728,711,691,651,935,798,836,671.293551016,657,678,0.450417175495,-0.00557693691989,0.0696026157348,0.999999789742,-0.000130508921486,-0.000631541725953,-6.81104728966e-05,1793256567591472128
+204,3.400000000,POSE1_TO_POSE2_PRESS,795,744.126582227,728,711,691,651,935,798,836,671.873417773,657,678,0.450703575171,-0.00557390833643,0.0695664308547,0.999999754089,-0.000126744628687,-0.000686198518214,-6.99216139819e-05,1793256567608138240
+205,3.416666667,POSE1_TO_POSE2_PRESS,794.547149376,744,728,711.452850624,690.547149376,651,935,798,836,672,657,677.547149376,0.450970766951,-0.0055716653146,0.0695374650637,0.999999726423,-0.000124312608527,-0.00072560019428,-7.21484680116e-05,1793256567624804864
+206,3.433333333,POSE1_TO_POSE2_PRESS,794.031666362,744,728,711.968333638,690,650.968333638,935,797.968333638,836,671.968333638,657,677.031666362,0.451232458401,-0.00556992705676,0.0695118019494,0.99999970174,-0.000122628762125,-0.000758910733168,-7.44070996006e-05,1793256567641471232
+207,3.450000000,POSE1_TO_POSE2_PRESS,794.602045205,744,728,711.397954795,690,650.397954795,935,797.397954795,836,671.397954795,657,677.602045205,0.451491829135,-0.00557304391809,0.0695080284475,0.999999699447,-0.00012734367789,-0.000761071025803,-7.52313950491e-05,1793256567658138112
+208,3.466666667,POSE1_TO_POSE2_PRESS,795,744,728,711,690,650,935,797.178779832,836,671,657,678,0.45173796544,-0.00557599730175,0.0695047961451,0.999999697016,-0.000139394346726,-0.000762168719211,-7.50730701301e-05,1793256567674804736
+209,3.483333333,POSE1_TO_POSE2_PRESS,795,744,728,711,690,650,935,797.770183531,836,671,657,678,0.451953556642,-0.00557857337848,0.0695028129318,0.999999693767,-0.000168375933473,-0.00076081393285,-7.26468571782e-05,1793256567691471872
+210,3.500000000,POSE1_TO_POSE2_PRESS,795,744.354395239,728,711,689.645604761,650,935,797.645604761,836,671,657,678,0.452149419992,-0.00557948794573,0.0695023785851,0.999999694217,-0.000166870696403,-0.000760935454213,-6.85435088255e-05,1793256567708139008
+211,3.516666667,POSE1_TO_POSE2_PRESS,795,744.934035939,728,711,689.065964061,650,935,797.065964061,836,671,657,678,0.452332744794,-0.00557934649603,0.0695029286622,0.999999697017,-0.000145988738217,-0.000761995282675,-6.33742115521e-05,1793256567724805888
+212,3.533333333,POSE1_TO_POSE2_PRESS,794.490674551,744.490674551,728,711,689,649.490674551,935,796.490674551,836,671.509325449,657,678,0.452478667685,-0.00557963585682,0.0694955997701,0.999999687503,-0.000141571788074,-0.000775105294519,-6.45155097434e-05,1793256567741472256
+213,3.550000000,POSE1_TO_POSE2_PRESS,794.085912943,744,728,711,688.914087057,649.085912943,935,796,836,671.914087057,657,678,0.452616116628,-0.00558065189177,0.0694879650984,0.999999677277,-0.000140340687858,-0.000788262955783,-6.62639915835e-05,1793256567758138368
+214,3.566666667,POSE1_TO_POSE2_PRESS,794.673339349,744,728,711,688.326660651,649.673339349,935,796,836,671.326660651,657,678,0.452732136533,-0.00558558691453,0.0694844516844,0.999999673042,-0.000145364351072,-0.000792665708535,-6.68263322488e-05,1793256567774804992
+215,3.583333333,POSE1_TO_POSE2_PRESS,794.742868534,744.257131466,728,711,688.257131466,649.742868534,935.257131466,796,836,671,657,678,0.452839280223,-0.00558716891391,0.0694826480258,0.99999967014,-0.000147086335841,-0.00079594062515,-6.75525554641e-05,1793256567791471360
+216,3.600000000,POSE1_TO_POSE2_PRESS,794.163629118,744.836370882,728,711,688.836370882,649.163629118,935.836370882,796,836,671,657,678,0.452935304694,-0.00558455058893,0.0694829861738,0.999999668945,-0.00014467231589,-0.000797802703989,-6.84840739134e-05,1793256567808137984
+217,3.616666667,POSE1_TO_POSE2_PRESS,794.414616365,744.585383635,728,711,688.585383635,649,935.585383635,796,836,671,657,678,0.453018183565,-0.00558409454424,0.0694841048358,0.999999670083,-0.000142030026143,-0.000796816464477,-6.88805803539e-05,1793256567824805120
+218,3.633333333,POSE1_TO_POSE2_PRESS,794.992470514,744.007529486,728,711,688.007529486,649,935.007529486,796,836,671,657,678,0.453095886905,-0.0055844898067,0.0694855307924,0.999999672132,-0.000139297864805,-0.000794708819161,-6.90664482582e-05,1793256567841472256
+219,3.650000000,POSE1_TO_POSE2_PRESS,795,744,728,711,688,649,935,796,836,671,656.433830198,677.433830198,0.45315322721,-0.00558566499706,0.0694849716254,0.999999671624,-0.000142320446985,-0.000794810147448,-6.90924040534e-05,1793256567858138880
+220,3.666666667,POSE1_TO_POSE2_PRESS,794.856221975,744,727.856221975,711,688,649,935,796,836.143778025,671.143778025,656.143778025,677.143778025,0.453206199901,-0.00558687873045,0.0694851592666,0.999999672071,-0.000144937287024,-0.000793776747816,-6.90565791126e-05,1793256567874805248
+221,3.683333333,POSE1_TO_POSE2_PRESS,794.266314608,744,727.266314608,711,688,649,935,796,836.733685392,671.733685392,656.733685392,677.733685392,0.453246454463,-0.00558818010925,0.0694877455015,0.9999996756,-0.000146059405513,-0.000789131906626,-6.88356052808e-05,1793256567891471616
+222,3.700000000,POSE1_TO_POSE2_PRESS,794.317824628,744.317824628,727.317824628,711,687.682175372,649,935,795.682175372,836.682175372,671.682175372,657,678,0.453279708118,-0.00558803269648,0.0694898036847,0.999999677401,-0.000146576651589,-0.000786751691827,-6.88144143976e-05,1793256567908138240
+223,3.716666667,POSE1_TO_POSE2_PRESS,794.897216794,744.897216794,727.897216794,711,687.102783206,649,935,795.102783206,836.102783206,671.102783206,657,678,0.453307200077,-0.00558669293809,0.069491427285,0.999999677794,-0.000146596091847,-0.000786235248871,-6.89576435188e-05,1793256567924804608
+224,3.733333333,POSE1_TO_POSE2_PRESS,795,744.526820932,728,711,687.473179068,649,935,795.473179068,836,671.473179068,657,678,0.453326755506,-0.00558679667333,0.0694923262134,0.999999678351,-0.000146808167491,-0.000785512901946,-6.8662766546e-05,1793256567941471488
+225,3.750000000,POSE1_TO_POSE2_PRESS,794.950655646,744,728,711,687.950655646,649,935,796,836,671.950655646,657,678,0.453343813035,-0.00558731572827,0.0694928960718,0.999999678786,-0.000146952073219,-0.000784970683332,-6.82211856119e-05,1793256567958138112
+226,3.766666667,POSE1_TO_POSE2_PRESS,794.36422941,744,728,711,687.36422941,649,935,796,836,671.36422941,657,678,0.453352311705,-0.00558896700518,0.0694915852131,0.999999677514,-0.000145901825774,-0.000786872358336,-6.72111783293e-05,1793256567974805248
+227,3.783333333,POSE1_TO_POSE2_PRESS,794.219344526,744,728,711,687,649,935,795.780655474,836,671,657,678,0.453358635436,-0.00558959728123,0.0694900013768,0.999999675748,-0.000145965880887,-0.000789141248534,-6.67311663339e-05,1793256567991472128
+228,3.800000000,POSE1_TO_POSE2_PRESS,794.798242881,744,728,711,687,649,935,795.201757119,836,671,657,678,0.453361393965,-0.00558855391262,0.0694879700701,0.999999673175,-0.000147856522571,-0.000792012084931,-6.71199330204e-05,1793256568008139008
+229,3.816666667,POSE1_TO_POSE2_PRESS,794.62335182,744,728,711,687,649,935,795,836,671.37664818,657,678,0.453362756915,-0.00558707812541,0.0694862492844,0.99999967135,-0.000146886365104,-0.000794471953109,-6.73678684054e-05,1793256568024805376
+230,3.833333333,POSE1_TO_POSE2_PRESS,794.045210307,744,728,711,687,649,935,795,836,671.954789693,657,678,0.453363373279,-0.00558537100971,0.0694846946165,0.99999966992,-0.000144385782143,-0.000796711967865,-6.75404640581e-05,1793256568041471488
+231,3.850000000,POSE1_TO_POSE2_PRESS,794,744,728,711,687,649,935,795.528130185,836,671.471869815,657,677.471869815,0.453365151962,-0.00558548948629,0.0694850278642,0.999999669545,-0.000143226463546,-0.000797426281657,-6.71396504287e-05,1793256568058138112
+232,3.866666667,POSE1_TO_POSE2_PRESS,794,744.104187059,728,711.104187059,687,649,935,796,836,671,657,677.104187059,0.453366809945,-0.0055858074596,0.0694853025415,0.999999669201,-0.000142533234374,-0.000798010025697,-6.67933763209e-05,1793256568074804992
+233,3.883333333,POSE1_TO_POSE2_PRESS,794,744.694828311,728,711.694828311,687,649,935,796,836,671,657,677.694828311,0.453367443991,-0.00558633379239,0.0694845559649,0.999999668594,-0.000143484936445,-0.000798588449082,-6.69288718902e-05,1793256568091471872
+234,3.900000000,POSE1_TO_POSE2_PRESS,794.27963904,745,728,711.72036096,687,649,935,796,836,671,657,678,0.453367461177,-0.00558638335222,0.0694837868552,0.99999966801,-0.000143353656778,-0.000799352301107,-6.68245549972e-05,1793256568108139008
+235,3.916666667,POSE1_TO_POSE2_PRESS,794.858216914,745,728,711.141783086,687,649,935,796,836,671,657,678,0.453366818929,-0.00558592323381,0.069482993657,0.999999667448,-0.000142064651542,-0.00080031437954,-6.64638745671e-05,1793256568124806144
+236,3.933333333,POSE1_TO_POSE2_PRESS,794.564795011,744.564795011,728,711,687,649,935,796,836,671.435204989,656.564795011,678,0.453367527222,-0.00558586879023,0.0694829392363,0.999999667711,-0.000141949896497,-0.000800018939274,-6.63206907786e-05,1793256568141473280
+237,3.950000000,POSE1_TO_POSE2_PRESS,794,744.011665862,728,711,687,649,935,795.988334138,836,672,656,678,0.453368625904,-0.00558596070288,0.069483092539,0.999999668179,-0.000142254067309,-0.000799385722538,-6.62492614002e-05,1793256568158140160
+238,3.966666667,POSE1_TO_POSE2_PRESS,794,744.587588869,728,711,687,649,935,795.412411131,836,672,656,678,0.45336740316,-0.00558676240254,0.0694816940472,0.999999665654,-0.000144384894073,-0.000802158239479,-6.62337092388e-05,1793256568174805760
+239,3.983333333,POSE1_TO_POSE2_PRESS,794.167507215,745,728,711,687,649,935,795,836,671.832492785,656,678,0.45336658676,-0.00558694701191,0.0694806430932,0.99999966383,-0.000145480193347,-0.000804232722331,-6.62239987454e-05,1793256568191471616
+240,4.000000000,POSE1_TO_POSE2_PRESS,794.757502609,745,728,711,687,649,935,795,836,671.242497391,656,678,0.453366795242,-0.00558557519065,0.0694804687021,0.999999663796,-0.000143963675911,-0.000804546617299,-6.62290221607e-05,1793256568208137984
+241,4.016666667,POSE1_TO_POSE2_PRESS,794.659004117,745,728,711,687,649,935.340995883,795.340995883,836,671,656,678,0.453366434162,-0.00558559505589,0.0694793687873,0.999999662867,-0.000143206537149,-0.000805835303043,-6.62430862141e-05,1793256568224804608
+242,4.033333333,POSE1_TO_POSE2_PRESS,794.080048295,745,728,711,687,649,935.919951705,795.919951705,836,671,656,678,0.453365675619,-0.00558658609314,0.0694776230069,0.999999661309,-0.000142979321866,-0.000807804234974,-6.62634591696e-05,1793256568241471232
+243,4.050000000,POSE1_TO_POSE2_PRESS,794.495123583,744.504876417,728,711,687,649,935.504876417,795.504876417,836,671,656,678,0.453366023776,-0.00558586902075,0.0694781748255,0.999999661934,-0.000142631165148,-0.000807098182053,-6.61807042218e-05,1793256568258138112
+244,4.066666667,POSE1_TO_POSE2_PRESS,795,744,728,711,687,649,935,795,836,671,656.069706361,678,0.453366574355,-0.00558493193096,0.0694789950791,0.999999662724,-0.000142474652166,-0.000806152624405,-6.61138548939e-05,1793256568274805248
+245,4.083333333,POSE1_TO_POSE2_PRESS,795,744,728,711,687,649,935,795,836,671,656.644419432,678,0.453367305,-0.00558438637771,0.069479089346,0.999999662171,-0.000143847137298,-0.000806581320868,-6.62821144054e-05,1793256568291472128
+246,4.100000000,HOLD_POSE2,794,744,728,711,687,649,935,795,836,671,656,678,0.453366901039,-0.00558460378494,0.0694775522174,0.999999661506,-0.000138852576141,-0.000808361090928,-6.52720522302e-05,1793256568329925888
+247,4.116666667,HOLD_POSE2,794,744.576225227,728,711,687,649,935,795,836,671,656.576225227,678,0.4533674652,-0.00558439579954,0.0694777922205,0.999999661344,-0.000141497367463,-0.000808047717821,-6.59459152574e-05,1793256568346592512
+248,4.133333333,HOLD_POSE2,794,744.84782884,728,711,687,649,935,795,836,671,656.84782884,678,0.453368131998,-0.0055842939051,0.0694781455438,0.999999661502,-0.000143210987489,-0.000807514788813,-6.63751432092e-05,1793256568363258880
+249,4.150000000,HOLD_POSE2,794,744.272659143,728,711,687,649,935,795,836,671,656.272659143,678,0.453369084101,-0.00558448691745,0.06947881387,0.999999662566,-0.000142336180082,-0.00080637154814,-6.61243457482e-05,1793256568379925760
+250,4.166666667,HOLD_POSE2,794,744,728,711,687,649,935,795,836,671,656,677.689791748,0.453368844537,-0.00558458360067,0.0694782846033,0.999999662052,-0.000142449243413,-0.000807006129157,-6.59143225522e-05,1793256568396592384
+251,4.183333333,HOLD_POSE2,794,744,728,711,687,649,935,795,836,671,656,677.099986291,0.453367530897,-0.0055845934604,0.0694766759208,0.999999660112,-0.000143452695417,-0.00080924309823,-6.57410500717e-05,1793256568413259008
+252,4.200000000,HOLD_POSE2,794,744,728,711,687,649,935,795,836,671,656,677.480796087,0.45336662696,-0.00558446877167,0.0694760045333,0.999999659621,-0.000142213392367,-0.000810091148846,-6.54606351434e-05,1793256568429925888
+253,4.216666667,HOLD_POSE2,794,744,728,711.059471393,687,649,935,795,836,671.059471393,656.059471393,678,0.453366136289,-0.00558427959681,0.0694758143325,0.999999659702,-0.00014057859201,-0.000810300453126,-6.51716974194e-05,1793256568446592768
+254,4.233333333,HOLD_POSE2,794,744,728,711.635841734,687,649,935,795,836,671.635841734,656.635841734,678,0.453368510639,-0.00558376865292,0.069478143446,0.999999662194,-0.000139485397307,-0.000807422274916,-6.49987753017e-05,1793256568463259136
+255,4.250000000,HOLD_POSE2,794.21084755,744,728,711.78915245,687,649,935,795.21084755,836,671.78915245,656.78915245,678,0.453369606733,-0.00558366201428,0.0694790266366,0.999999662957,-0.000139881027202,-0.000806406309359,-6.50167354566e-05,1793256568479925504
+256,4.266666667,HOLD_POSE2,794.783511765,744,728,711.216488235,687,649,935,795.783511765,836,671.216488235,656.216488235,678,0.453368509322,-0.00558424916788,0.0694774286074,0.999999660758,-0.000142831496254,-0.000808585921064,-6.53622516649e-05,1793256568496592128
+257,4.283333333,HOLD_POSE2,794.631542654,744.368457346,728.368457346,711,687,649,935,795.631542654,836,671,656.368457346,678,0.453367860365,-0.00558445221907,0.0694764747212,0.999999659529,-0.000144053369441,-0.000809875275906,-6.55247204416e-05,1793256568513258752
+258,4.300000000,HOLD_POSE2,794.039132249,744.960867751,728.960867751,711,687,649,935,795.039132249,836,671,656.960867751,678,0.453367483983,-0.00558442180798,0.0694759123531,0.999999658894,-0.000144224580368,-0.00081062352152,-6.55759306955e-05,1793256568529925632
+259,4.316666667,HOLD_POSE2,794.541329695,744.458670305,728.458670305,711,687,649,935,795,836,671.541329695,656.458670305,678,0.453366670429,-0.00558385451537,0.0694753930878,0.999999658188,-0.000143650563599,-0.000811619017839,-6.5290841961e-05,1793256568546592000
+260,4.333333333,HOLD_POSE2,795,744,728,711,687,649,935,795,836,671.880076741,656.119923259,677.880076741,0.453366104924,-0.00558335860759,0.0694751058272,0.999999657603,-0.000142882869259,-0.000812492706825,-6.506129465e-05,1793256568563258624
+261,4.350000000,HOLD_POSE2,795,744,728,711,687,649,935,795,836,671.305363669,656.694636331,677.305363669,0.453366597366,-0.00558327742005,0.0694756868457,0.999999657503,-0.000141580571873,-0.000812838142529,-6.51325828893e-05,1793256568579925504
+262,4.366666667,HOLD_POSE2,794.724562902,744.275437098,728,711,687,649,935,795,836,671,656.724562902,677.275437098,0.453367060991,-0.00558358012552,0.0694762225019,0.999999657852,-0.000141589514716,-0.000812395742354,-6.52808328772e-05,1793256568596592128
+263,4.383333333,HOLD_POSE2,794.136860498,744.863139502,728,711,687,649,935,795,836,671,656.136860498,677.863139502,0.453367491947,-0.00558431805366,0.0694767067303,0.999999658708,-0.000143085021481,-0.000811060166131,-6.55163350287e-05,1793256568613258752
+264,4.400000000,POSE2_TO_POSE3_RETREAT,794,744,728,711,687,649,935,795,836,672,656,678,0.453367459231,-0.00558182481675,0.0694753243085,0.999999658602,-0.000140973049131,-0.000811526826926,-6.59346874623e-05,1793256568645916416
+265,4.416666667,POSE2_TO_POSE3_RETREAT,794,744.576401133,727.423598867,711,687,649,935,795,836,671.423598867,656,678,0.453367748184,-0.00558253356589,0.0694754765544,0.999999658177,-0.000142702810818,-0.000811752811157,-6.58751438485e-05,1793256568662583808
+266,4.433333333,POSE2_TO_POSE3_RETREAT,794,744.847750678,727.152249322,711,687,649,935,795.152249322,836,671,656,678,0.453367894007,-0.00558324913053,0.0694754575487,0.999999657847,-0.000143687517834,-0.00081200039034,-6.56827451602e-05,1793256568679250944
+267,4.450000000,POSE2_TO_POSE3_RETREAT,794,744.273435231,727.726564769,711,687,649,935,795.726564769,836,671,656,678,0.453367643043,-0.00558398358928,0.0694749637988,0.999999657789,-0.000142606781966,-0.000812307835192,-6.51220451378e-05,1793256568695917056
+268,4.466666667,POSE2_TO_POSE3_RETREAT,794,744.309383994,728,711,687,649,935,795.690616006,836.309383994,671,656.309383994,678,0.453367888101,-0.00558445797583,0.0694755815456,0.999999658009,-0.000143132807163,-0.000811975784923,-6.47321259503e-05,1793256568712583680
+269,4.483333333,POSE2_TO_POSE3_RETREAT,794,744.899931285,728,711,687,649,935,795.100068715,836.899931285,671,656.899931285,678,0.453368583937,-0.0055846960128,0.0694772094031,0.999999658479,-0.000145119031549,-0.00081106257155,-6.4497409727e-05,1793256568729250560
+270,4.500000000,POSE2_TO_POSE3_RETREAT,794,744.516511282,728,711,687,649,935,795,836.516511282,671.483488718,657,678,0.453367176043,-0.00558435314113,0.0694757337891,0.999999657225,-0.000144442261812,-0.000812713910644,-6.4665403788e-05,1793256568745917184
+271,4.516666667,POSE2_TO_POSE3_RETREAT,794,744,728,711,687,649,935,795,836,671.935122604,656.935122604,678,0.453365399493,-0.00558399021244,0.069473756083,0.999999655837,-0.000143277718934,-0.000814609070171,-6.48741476667e-05,1793256568762583552
+272,4.533333333,POSE2_TO_POSE3_RETREAT,794,744,728,711,687,649,935,795,836,671.359579614,656.359579614,678,0.453364099566,-0.00558440229774,0.0694728101887,0.999999656197,-0.000142550327769,-0.000814304956113,-6.47569263057e-05,1793256568779249920
+273,4.550000000,POSE2_TO_POSE3_RETREAT,794,744,728,711,687,649,935,795,836,671,656,678,0.453356938487,-0.00558348511894,0.0694694655979,0.999999652877,-0.000141500045882,-0.000818539542978,-6.49345366118e-05,1793256568795916288
+274,4.566666667,POSE2_TO_POSE3_RETREAT,794,744,728,711,687,649,935,795,836,671,656,678,0.453340018575,-0.00558035471208,0.0694621271717,0.999999643336,-0.000139912150203,-0.000830331078083,-6.56030423801e-05,1793256568812582912
+275,4.583333333,POSE2_TO_POSE3_RETREAT,794,744,728,711,687,649,935,795,836,671,656.369557713,678,0.453307472664,-0.00558030910066,0.069449616985,0.999999625777,-0.000140465546397,-0.000851099312264,-6.59204163968e-05,1793256568829249792
+276,4.600000000,POSE2_TO_POSE3_RETREAT,794,744,728,711,687,649,935,795,836,671,656.961422213,678,0.453265526959,-0.00558211914218,0.0694339957342,0.999999602895,-0.000142307032704,-0.000877267464585,-6.60265677611e-05,1793256568845916672
+277,4.616666667,POSE2_TO_POSE3_RETREAT,794,744.540785781,727.459214219,711.540785781,687,649,935,795,836.540785781,671,657,678,0.453204555971,-0.00558003842934,0.0694181036119,0.999999587513,-0.000140662518828,-0.00089487605738,-6.6220708282e-05,1793256568862583296
+278,4.633333333,POSE2_TO_POSE3_RETREAT,794,744.881155961,727.118844039,711.881155961,687,649,935,795,837,671,656.881155961,678,0.453137355286,-0.00557786744889,0.0694023447736,0.999999570798,-0.000139072967153,-0.000913601990282,-6.62843833825e-05,1793256568879250176
+279,4.650000000,POSE2_TO_POSE3_RETREAT,794,744.304767208,727.695232792,711.304767208,687,649,935,795,837,671,656.304767208,678,0.453051277599,-0.00557639336553,0.0693871717806,0.999999547432,-0.000138630790458,-0.00093892734941,-6.58221524207e-05,1793256568895916800
+280,4.666666667,POSE2_TO_POSE3_RETREAT,794,744,728,711,687,649,935,795.271148597,836.728851403,671,656.271148597,678,0.452953685773,-0.00557364552773,0.0693721142534,0.999999523623,-0.000135876485344,-0.000964374301335,-6.53760704447e-05,1793256568912583424
+281,4.683333333,POSE2_TO_POSE3_RETREAT,794,744,728,711,687,649,935,795.846533704,836.153466296,671,656.846533704,678,0.452843174757,-0.00556946850096,0.069357186283,0.999999499364,-0.000130527905798,-0.000989957682384,-6.49481081255e-05,1793256568929249792
+282,4.700000000,POSE2_TO_POSE3_RETREAT,794,744,728,711,687,649,935,795.566858915,836,671,657,677.566858915,0.452708811204,-0.00556749022365,0.0693359600674,0.999999464631,-0.000132075394812,-0.00102427745728,-6.4424167029e-05,1793256568945916416
+283,4.716666667,POSE2_TO_POSE3_RETREAT,794,744,728,711,687,649,935,795,836,671,657,677.023277199,0.452564593973,-0.00556611352918,0.0693124952519,0.999999425089,-0.000135661304177,-0.00106176513622,-6.38200267483e-05,1793256568962583040
+284,4.733333333,POSE2_TO_POSE3_RETREAT,794,744,728,711,687,649,935,795,836,671,657,677.600254655,0.452392362601,-0.00556002273853,0.0692902741953,0.999999385947,-0.000128069225735,-0.00109901924102,-6.21386013105e-05,1793256568979249664
+285,4.750000000,POSE2_TO_POSE3_RETREAT,794.176890657,744,727.823109343,711,687,649,935,795,836,671,657,678,0.452212413846,-0.00555430664688,0.0692680104461,0.999999345291,-0.000121072778012,-0.0011362657132,-6.04961324096e-05,1793256568995916544
+286,4.766666667,POSE2_TO_POSE3_RETREAT,794.752756433,744,727.247243567,711,687,649,935,795,836,671,657,678,0.452015058634,-0.00554943568594,0.0692456504073,0.999999303057,-0.000115419770735,-0.00117349496703,-5.89415299335e-05,1793256569012583680
+287,4.783333333,POSE2_TO_POSE3_RETREAT,794.66401826,744,727,711,687.33598174,649.33598174,935,795.33598174,836,671,656.66401826,678,0.45179836584,-0.00554530016784,0.0692222609985,0.99999925715,-0.000110987796969,-0.00121250263253,-5.6727154872e-05,1793256569029250560
+288,4.800000000,POSE2_TO_POSE3_RETREAT,794.075255846,744,727,711,687.924744154,649.924744154,935,795.924744154,836,671,656.075255846,678,0.451567124117,-0.00554171797019,0.0691980971262,0.999999207951,-0.000107474484603,-0.00125284831478,-5.40163902621e-05,1793256569045916928
+289,4.816666667,POSE2_TO_POSE3_RETREAT,794,744,727.505348979,711,688,650,935,796,836,671,656.505348979,678,0.451299387787,-0.00553550849603,0.0691770743546,0.99999916366,-9.84564709036e-05,-0.00128856063653,-5.09546187667e-05,1793256569062583296
+290,4.833333333,POSE2_TO_POSE3_RETREAT,794,744.084212257,728,711,688,650,935,796,836,671.084212257,657,677.915787743,0.45102176897,-0.00552927779897,0.0691585570136,0.999999122815,-8.89346937856e-05,-0.00132068288318,-4.75092139049e-05,1793256569079249920
+291,4.850000000,POSE2_TO_POSE3_RETREAT,794,744.659889131,728,711,688,650,935,796,836,671.659889131,657,677.340110869,0.45071768894,-0.00552517031374,0.0691519748749,0.999999103615,-8.11810306965e-05,-0.00133581623953,-4.21251262859e-05,1793256569095916288
+292,4.866666667,POSE2_TO_POSE3_RETREAT,794.235592167,744.764407833,728,711,688.235592167,650,935,796,836,671.764407833,657,677.235592167,0.450411062073,-0.00551987176826,0.0691541008706,0.999999102879,-7.18497447582e-05,-0.00133706407804,-3.65889398808e-05,1793256569112582912
+293,4.883333333,POSE2_TO_POSE3_RETREAT,794.811332942,744.188667058,728,711,688.811332942,650,935,796,836,671.188667058,657,677.811332942,0.450100758095,-0.00551285356702,0.0691687996947,0.9999991288,-6.02406831545e-05,-0.00131826396748,-3.08331531615e-05,1793256569129249792
+294,4.900000000,POSE2_TO_POSE3_RETREAT,795,744.396393756,728,711,689.396393756,650,935,796.396393756,836,671,657,678,0.449768446232,-0.00550752717066,0.0691845390281,0.999999151568,-5.03662161433e-05,-0.00130143544343,-2.43368704036e-05,1793256569145916928
+295,4.916666667,POSE2_TO_POSE3_RETREAT,795,744.985997317,728,711,689.985997317,650,935,796.985997317,836,671,657,678,0.449425407321,-0.00550302539217,0.069200785525,0.99999917265,-4.13372236371e-05,-0.00128556790824,-1.74796560534e-05,1793256569162583808
+296,4.933333333,POSE2_TO_POSE3_RETREAT,795,744.432889016,728,711,690,650.567110984,935,797,836,671,657,678,0.449042727583,-0.00549700628391,0.0692219544692,0.999999218275,-2.92791624701e-05,-0.00124998460546,-1.14716099128e-05,1793256569179250432
+297,4.950000000,POSE2_TO_POSE3_RETREAT,794.853860085,744.146139915,728,711,690.146139915,651,935,797.146139915,836,671,657,678,0.448644546255,-0.00549090076661,0.0692439520259,0.999999264099,-1.18523007145e-06,-0.00121316628324,-5.31870147735e-06,1793256569195917056
+298,4.966666667,POSE2_TO_POSE3_RETREAT,794.280324187,744.719675813,728,711,690.719675813,651,935,797.719675813,836,671,657,678,0.448203849848,-0.00548465049352,0.0692680226984,0.99999930799,7.35911746573e-05,-0.00117413877039,1.31828042471e-06,1793256569212583424
+299,4.983333333,POSE2_TO_POSE3_RETREAT,794,744.707241915,727.707241915,711,691,651,935,798,836,671,657,678,0.447738476234,-0.00547888110951,0.0692837256965,0.999999334203,0.000109027328174,-0.00114876186685,7.21007696079e-06,1793256569229249792
+300,5.000000000,POSE2_TO_POSE3_RETREAT,794,744.134593263,727.134593263,711,691,651,935,798,836,671,657,678,0.447249509993,-0.00547357147746,0.0692914288054,0.999999348471,0.00010685235128,-0.00113643559222,1.2389441858e-05,1793256569245916672
+301,5.016666667,POSE2_TO_POSE3_RETREAT,794.456524714,744,727.456524714,711,691.456524714,651.456524714,935,798.456524714,836,671,657,678,0.446719179965,-0.00546867688672,0.0692914398813,0.999999350436,6.50967897733e-05,-0.00113793212256,1.02438171724e-06,1793256569262583040
+302,5.033333333,POSE2_TO_POSE3_RETREAT,795,744,727.94883078,711,692,652,935,799,836.05116922,671,657,678,0.446177171355,-0.00546519566602,0.0692920971473,0.999999352295,1.68014630427e-05,-0.00113796020026,-1.31662141075e-05,1793256569279249920
+303,5.050000000,POSE2_TO_POSE3_RETREAT,795,744,727.376082966,711,692,652,935,799,836.623917034,671,657,678,0.445645666614,-0.00547482135958,0.0693234316943,0.99999941675,2.5806585924e-05,-0.00107972868342,-4.34292760887e-06,1793256569295916800
+304,5.066666667,POSE2_TO_POSE3_RETREAT,795,744,727.197916615,711,692.197916615,652,935,799,836.802083385,671,657.197916615,677.802083385,0.445101873652,-0.00548163126023,0.0693639390317,0.999999490745,3.53074675418e-05,-0.00100859020195,3.02812332088e-06,1793256569312583680
+305,5.083333333,POSE2_TO_POSE3_RETREAT,795,744,727.774309919,711,692.774309919,652,935,799,836.225690081,671,657.774309919,677.225690081,0.444534581912,-0.0054830565089,0.0694219875288,0.99999958235,4.57563898761e-05,-0.000912769686331,7.62205813534e-06,1793256569329250048
+306,5.100000000,POSE2_TO_POSE3_RETREAT,795,744,728,711,693.360591674,652.360591674,935,799.721183349,836,671,657.639408326,677,0.443938067343,-0.00547853250838,0.0694711897909,0.999999654017,5.23907309501e-05,-0.000830119017324,1.11057744101e-05,1793256569345916416
+307,5.116666667,POSE2_TO_POSE3_RETREAT,795,744,728,711,693.953236979,652.953236979,935,800.906473959,836,671,657.046763021,677,0.443322746863,-0.0054701799533,0.0695146991824,0.999999712578,5.65702522119e-05,-0.000755943618987,1.38750251853e-05,1793256569362583040
+308,5.133333333,POSE2_TO_POSE3_RETREAT,795,744,728,711,694.529691424,653.529691424,935,801,836,671,657.529691424,677,0.442661727976,-0.00546369931101,0.0695550010463,0.999999749009,7.04700402073e-05,-0.000704780978545,1.73229923725e-05,1793256569379249920
+309,5.150000000,POSE2_TO_POSE3_RETREAT,794.895379056,744,728,711,695,654,935,801,836,671,658,677,0.441992960134,-0.00545560096179,0.0695945289656,0.999999782992,8.57005337198e-05,-0.000652901791376,1.97668556238e-05,1793256569395916544
+310,5.166666667,POSE2_TO_POSE3_RETREAT,794.321068953,744,728,711,695,654,935,801,836,671,658,677,0.441306979092,-0.00543952010597,0.0696318158728,0.999999821092,0.000103166846655,-0.000588955306708,1.74418303432e-05,1793256569412583168
+311,5.183333333,POSE2_TO_POSE3_RETREAT,794,744.260885533,728,710.739114467,695.260885533,654.260885533,935,801,836,671,658,677.260885533,0.440608641285,-0.00542280498539,0.0696738918835,0.999999860282,0.000118626272957,-0.000514916085774,1.50092901408e-05,1793256569429249792
+312,5.200000000,POSE2_TO_POSE3_RETREAT,794,744.852531945,728,710.147468055,695.852531945,654.852531945,935,801,836,671,658,677.852531945,0.439894636994,-0.00540528571695,0.0697220397121,0.999999899644,0.000131541292122,-0.000428080890062,1.24404379881e-05,1793256569445916416
+313,5.216666667,POSE2_TO_POSE3_RETREAT,794.435118222,745,728,710.435118222,696,655,935,801.435118222,836,671,658,678,0.439095829993,-0.00539966849533,0.0697239691453,0.999999898603,0.000139331555229,-0.000428044625042,1.26185117395e-05,1793256569462583040
+314,5.233333333,POSE2_TO_POSE3_RETREAT,794.985400941,744.985400941,728,711,696.014599059,655,935,802,836,671,658,678,0.438269703003,-0.00539830281671,0.0697109709417,0.999999885572,0.000144805107599,-0.000455740277014,1.3704253984e-05,1793256569479249664
+315,5.250000000,POSE2_TO_POSE3_RETREAT,794.409664707,744.409664707,728,711,696.590335293,655,935,802,836,671,658,678,0.437475655912,-0.00540846966827,0.0697139991135,0.99999989432,0.000126629362431,-0.000441713432822,1.46241025054e-05,1793256569495916288
+316,5.266666667,POSE2_TO_POSE3_RETREAT,794.166027739,744,728,711,697,655,935,802,836,671,658,677.833972261,0.436677810611,-0.00541667187463,0.0697309082684,0.999999909644,0.000114549343162,-0.000409052489839,1.63074913996e-05,1793256569512582912
+317,5.283333333,POSE2_TO_POSE3_RETREAT,794.741612132,744,728,711,697,655,935,802,836,671,658,677.258387868,0.435870595949,-0.00542002770038,0.0697820589844,0.999999938308,0.000117506240269,-0.000330425015861,1.9874378951e-05,1793256569529249536
+318,5.300000000,POSE2_TO_POSE3_RETREAT,794.675030925,744,728,710.675030925,697,655,935,802.324969075,836,670.675030925,658,677,0.435039561403,-0.00541874411713,0.0698261285814,0.999999955569,0.000122988502463,-0.000270521119381,2.35194708071e-05,1793256569545916416
+319,5.316666667,POSE2_TO_POSE3_RETREAT,794.085342502,744,728,710.085342502,697,655,935,802.914657498,836,670.085342502,658,677,0.434189123253,-0.00541368127771,0.0698644299065,0.999999965602,0.000130527923574,-0.000225869427127,2.72282676445e-05,1793256569562583040
+320,5.333333333,POSE2_TO_POSE3_RETREAT,794,744,727.504595509,710,697,655.495404491,935,803,836,670.495404491,658,677,0.433301190701,-0.005409706258,0.0698650872473,0.999999964761,0.000138163842692,-0.000225067626024,2.70684555181e-05,1793256569579249664
+321,5.350000000,POSE2_TO_POSE3_RETREAT,794,744.148044387,727,710,697,655.925977807,935,803,835.925977807,671,658,677.074022193,0.43240204358,-0.00540651902953,0.069857385835,0.99999996162,0.000144272084135,-0.000235052086477,2.63898943665e-05,1793256569595916288
+322,5.366666667,POSE2_TO_POSE3_RETREAT,794,745.29694659,727,710,697,655.351526705,935,803,835.351526705,671,658,677.648473295,0.431469973244,-0.00540741324466,0.0698362387173,0.999999953997,0.000139942026732,-0.000267794069684,2.66299174019e-05,1793256569612583168
+323,5.383333333,POSE2_TO_POSE3_RETREAT,794.228035069,746,727.228035069,710,697,655.228035069,934.771964931,803,835,671,658,677.771964931,0.430511124122,-0.00540726529974,0.0697946883459,0.999999934932,0.000138940424836,-0.000331950234555,2.52914949278e-05,1793256569629249792
+324,5.400000000,POSE2_TO_POSE3_RETREAT,794.81565589,746,727.81565589,710,697,655.81565589,934.18434411,803,835,671,658,677.18434411,0.429510047711,-0.00540547398535,0.0697209643265,0.999999890219,0.000143187422589,-0.00044564304654,2.14640405954e-05,1793256569645916416
+325,5.416666667,POSE2_TO_POSE3_RETREAT,795,746,728,710,697,656,934.397595985,803,835,671,658,677.397595985,0.428604485305,-0.00540661055697,0.0697321042032,0.999999898833,0.000137904245083,-0.000427621802285,2.13752527922e-05,1793256569662583040
+326,5.433333333,POSE2_TO_POSE3_RETREAT,795,746,728,710,697,656,934.976939296,803,835,671,658,677.976939296,0.427742583902,-0.00540908551107,0.0697820366952,0.999999930472,0.00012826467538,-0.00034939200102,2.2995467978e-05,1793256569679249664
+327,5.450000000,POSE2_TO_POSE3_RETREAT,795,746.555989286,727.444010714,710,697.555989286,656,935,803,835.555989286,670.444010714,658,677.444010714,0.42687791674,-0.00540884649642,0.0698408246003,0.999999957003,0.000136199798674,-0.000258212928067,2.7749783759e-05,1793256569695916544
+328,5.466666667,POSE2_TO_POSE3_RETREAT,795,746.866374429,727.133625571,709.866374429,698,655.866374429,935,803,836,670,658,677,0.426002979659,-0.00540845110822,0.0698838203837,0.999999970956,0.000141829680678,-0.000192308970792,3.14702745625e-05,1793256569712583168
+329,5.483333333,POSE2_TO_POSE3_RETREAT,795,746.293346885,727.706653115,709.293346885,698,655.293346885,935,803,836,670,658,677,0.425094648986,-0.00540791147539,0.0698736796688,0.999999967737,0.000137483496509,-0.000211282582069,3.13640005957e-05,1793256569729249792
+330,5.500000000,POSE2_TO_POSE3_RETREAT,795,746.287590509,728,709,697.712409491,655.287590509,935,803,836,670,658,677,0.424158394161,-0.00540672804819,0.069847633466,0.999999957124,0.000140513566519,-0.000255160509188,3.00124533647e-05,1793256569745916416
+331,5.516666667,POSE2_TO_POSE3_RETREAT,795,746.876824219,728,709,697.123175781,655.876824219,935,803,836,670,658,677,0.423192850768,-0.00540486936858,0.0698049045773,0.999999935319,0.000151280320479,-0.00032515966342,2.73547842979e-05,1793256569762582784
+332,5.533333333,POSE2_TO_POSE3_RETREAT,795,747.457882793,727.542117207,709.457882793,697.457882793,656,935,803,836,670,658,677,0.422203233059,-0.0054002789324,0.0697412840296,0.999999892302,0.00015949093866,-0.000435082913399,2.57361519496e-05,1793256569779249664
+333,5.550000000,POSE2_TO_POSE3_RETREAT,795,748,727,709.963280044,698,656,935,803,835.963280044,670,658,677,0.421219028446,-0.00539544366147,0.0696797036605,0.999999839152,0.000165400276669,-0.000541984453097,2.43261934348e-05,1793256569795916288
+334,5.566666667,POSE2_TO_POSE3_RETREAT,795,748,727,709.385339391,698,656,935,803,835.385339391,670,658,677,0.420408389667,-0.00539764116422,0.0697295762728,0.999999888181,0.000147348034324,-0.000448826177948,2.19443984133e-05,1793256569812582912
+335,5.583333333,POSE2_TO_POSE3_RETREAT,795,748,727.191184344,709.191184344,698,656,935,803,835,670,658,677,0.419613257592,-0.00539961394721,0.0697882852178,0.999999929338,0.000141854895355,-0.000347380638222,2.29541779044e-05,1793256569829249536
+336,5.600000000,POSE2_TO_POSE3_RETREAT,795,748,727.76487334,709.76487334,698,656,935,803,835,670,658,677,0.418849149807,-0.00540113713127,0.0698646731216,0.999999960186,0.000161488892437,-0.000229354661786,3.07495181106e-05,1793256569845916416
+337,5.616666667,POSE2_TO_POSE3_RETREAT,795,747.651823069,727.651823069,710,698,656,935,803,835,670,658,677,0.418023223622,-0.00540260200426,0.0698855865419,0.999999965508,0.000162256956846,-0.000203764335418,3.37209590803e-05,1793256569862583040
+338,5.633333333,POSE2_TO_POSE3_RETREAT,795,747.061842316,727.061842316,710,698,656,935,803,835,670,658,677,0.417154365502,-0.00540402638096,0.0698679737346,0.999999958834,0.000149922904805,-0.000242369233682,3.33422718133e-05,1793256569879249920
+339,5.650000000,POSE2_TO_POSE3_RETREAT,795,747.518516907,727.518516907,710,698,656,935,803,835,670,658,677,0.416312743249,-0.00540288851938,0.0698321147296,0.999999950195,0.000151389438027,-0.000275377622999,2.93136776933e-05,1793256569895916544
+340,5.666666667,POSE2_TO_POSE3_RETREAT,795,748,727.903133781,709.903133781,698,656,935,803,835,670,658,677,0.415473338294,-0.00540078927261,0.0697952325737,0.999999938322,0.000155555585071,-0.000313852799987,2.55836880015e-05,1793256569912583168
+341,5.683333333,POSE2_TO_POSE3_RETREAT,795,748,727.329135234,709.329135234,698,656,935,803,835,670,658,677,0.414629146176,-0.00539543237507,0.069763834604,0.999999912908,0.000165059378647,-0.000382483553599,2.5429694842e-05,1793256569929250560
+342,5.700000000,POSE2_TO_POSE3_RETREAT,795,748,727,709.250749874,698,656,935,803.250749874,835,670,658,677,0.413834884478,-0.00539022799868,0.0697482054109,0.999999897389,0.00017355031556,-0.000417671386046,2.55468417856e-05,1793256569945917440
+343,5.716666667,POSE2_TO_POSE3_RETREAT,795,748,727,709.838547409,698,656,935,803.838547409,835,670,658,677,0.413107737262,-0.00538522863537,0.0697537719608,0.999999900145,0.000180679812293,-0.000407906616588,2.60284442362e-05,1793256569962583296
+344,5.733333333,POSE2_TO_POSE3_RETREAT,795,748,727,710,698,656,935,804,835,670,658,677.419980015,0.412441703778,-0.00538168743244,0.0698013111989,0.999999930387,0.000190462323194,-0.000319635030101,2.79951435835e-05,1793256569979249664
+345,5.750000000,POSE2_TO_POSE3_RETREAT,795,748,727,710,698,656,935,804,835,670,658,677.999002333,0.411798813403,-0.00537869842009,0.0698647450819,0.999999958955,0.000201249502771,-0.000201633678978,3.05242342302e-05,1793256569995916288
+346,5.766666667,POSE2_TO_POSE3_RETREAT,795.576859275,748.576859275,727,709.423140725,698,656,935,804,835,670,658,677.423140725,0.41113482459,-0.0053730968521,0.069881284576,0.999999961928,0.000206110203425,-0.000180787933399,3.12775865036e-05,1793256570012583168
+347,5.783333333,POSE2_TO_POSE3_RETREAT,795.845621581,748.845621581,727,709,698,656,935,804,835,670,658,677.154378419,0.410465114804,-0.00536753248769,0.0698834816887,0.999999960223,0.000212081411747,-0.000183299762331,3.12527067458e-05,1793256570029250048
+348,5.800000000,POSE2_TO_POSE3_RETREAT,795.269020677,748.269020677,727,709,698,656,935,804,835,670,658,677.730979323,0.409779857695,-0.00536208220595,0.0698466739912,0.999999944071,0.000221117817658,-0.000249235546115,2.91077575482e-05,1793256570045916928
+349,5.816666667,POSE2_TO_POSE3_RETREAT,795,748,727.313183977,709,698,656,935,804,835,670,658,678,0.409127054626,-0.00535626124669,0.0698088906002,0.999999924728,0.000227095766483,-0.000313469480235,2.66210952575e-05,1793256570062583296
+350,5.833333333,POSE2_TO_POSE3_RETREAT,795,748,727.900289835,709,698,656,935,804,835,670,658,678,0.408502637061,-0.00535011607999,0.0697702538351,0.999999902405,0.000230398679011,-0.000376214911794,2.38355586296e-05,1793256570079249664
+351,5.850000000,POSE2_TO_POSE3_RETREAT,795,748,727.51944429,709,698,656,935,804,835,670,658,677.51944429,0.407933470564,-0.00535049989253,0.0697751285367,0.99999990664,0.000231957998037,-0.000363819648706,2.34475627684e-05,1793256570095916288
+352,5.866666667,POSE2_TO_POSE3_RETREAT,795,748,727,709,698,656,935,804,835,670,657.940572888,677,0.407380942154,-0.00535291621211,0.0697891020362,0.999999916051,0.00023183402861,-0.000337038838705,2.35868950439e-05,1793256570112582912
+353,5.883333333,POSE2_TO_POSE3_RETREAT,795,748,727,709,698,656,935,804,835,670,657.36165921,677,0.406875049717,-0.00536142388116,0.0698048005388,0.999999924643,0.000220113586113,-0.000318881978259,2.40483140012e-05,1793256570129249792
+354,5.900000000,POSE2_TO_POSE3_RETREAT,795.213723116,748.213723116,727,709.213723116,698,655.786276884,935,804,835.213723116,670,657.213723116,677.213723116,0.406376577687,-0.00537471295518,0.0698098143485,0.999999928525,0.000204167150734,-0.00031727390463,2.45489084757e-05,1793256570145916672
+355,5.916666667,POSE2_TO_POSE3_RETREAT,795.783226816,748.783226816,727,709.783226816,698,655.216773184,935,804,835.783226816,670,657.783226816,677.783226816,0.40589045831,-0.00539596153728,0.0697970415624,0.999999924372,0.000181185790932,-0.000343214266121,2.51147175967e-05,1793256570162583808
+356,5.933333333,POSE2_TO_POSE3_RETREAT,795.632903609,748.632903609,727,709.632903609,698,655.367096391,935,804,836,670,658,677.632903609,0.405455467679,-0.00539817303766,0.0697980079781,0.999999925627,0.000175176894879,-0.000342700806517,2.48104164024e-05,1793256570179250944
+357,5.950000000,POSE2_TO_POSE3_RETREAT,795.04020532,748.04020532,727,709.04020532,698,655.95979468,935,804,836,670,658,677.04020532,0.405051898563,-0.00538868515572,0.0698074179242,0.99999993047,0.000179598554228,-0.000325929951166,2.39713823117e-05,1793256570195917568
+358,5.966666667,POSE2_TO_POSE3_RETREAT,795,748.54053753,727,709,698,656,935,804,835.45946247,670,658,677,0.404682865553,-0.00538459295426,0.0698245921001,0.999999939508,0.000189117124239,-0.00029089613297,2.44494529505e-05,1793256570212583680
+359,5.983333333,POSE2_TO_POSE3_RETREAT,795.119488518,748.880511482,727,709.119488518,698,656,935,804,835,670,658,677,0.404322454081,-0.00538182596041,0.0698396165248,0.999999946331,0.000197359879347,-0.000260333302869,2.47862037871e-05,1793256570229249792
+360,6.000000000,POSE2_TO_POSE3_RETREAT,795.694922052,748.305077948,727,709.694922052,698,656,935,804,835,670,658,677,0.403985350672,-0.00538261743351,0.0698442819572,0.999999948115,0.000199319070713,-0.000251902128921,2.42179735854e-05,1793256570245916416
+361,6.016666667,POSE2_TO_POSE3_RETREAT,795.729770433,748.270229567,727,710,698.270229567,656,934.729770433,804,835.270229567,670,658,677,0.403656992372,-0.00538021370416,0.069840217815,0.999999945917,0.000202540866116,-0.000258064722868,2.33578285511e-05,1793256570262583040
+362,6.033333333,POSE2_TO_POSE3_RETREAT,795.154605157,748.845394843,727,710,698.845394843,656,934.154605157,804,835.845394843,670,658,677,0.403338502355,-0.00537420440586,0.0698263029405,0.999999938896,0.000207187424216,-0.000280695392882,2.21682774855e-05,1793256570279249664
+363,6.050000000,POSE2_TO_POSE3_RETREAT,795.431754899,749,727,710,698.568245101,656,934.431754899,804,835.568245101,670,658,677,0.403056313512,-0.00537345979765,0.0698186109739,0.99999993551,0.000203985547295,-0.000294770674097,2.19306467537e-05,1793256570295916288
+364,6.066666667,POSE2_TO_POSE3_RETREAT,795.978245112,748.978245112,727,710,698,656,934.978245112,804,835,670,658,677,0.402788542432,-0.00537445877712,0.0698131785414,0.999999933434,0.000198166158874,-0.000305578871957,2.19847274926e-05,1793256570312582912
+365,6.083333333,POSE2_TO_POSE3_RETREAT,795.400398451,748.400398451,727,710,698,656,934.400398451,804,835,670,658,677,0.402548194454,-0.00537055494143,0.0698070274604,0.999999930882,0.000199189853975,-0.000313269192949,2.05503286025e-05,1793256570329250048
+366,6.100000000,POSE2_TO_POSE3_RETREAT,795,748,727,710,698,656,934.177229888,804,835.177229888,670,658,677,0.402320474932,-0.00536771412764,0.0698012162254,0.999999928119,0.000199986098041,-0.000321515969229,1.98845786925e-05,1793256570345916928
+367,6.116666667,POSE2_TO_POSE3_RETREAT,795,748,727,710,698,656,934.754365517,804,835.754365517,670,658,677,0.402121250589,-0.00536727194229,0.069796171828,0.99999992494,0.000200269116043,-0.00033101834346,2.09532268561e-05,1793256570362583552
+368,6.133333333,POSE2_TO_POSE3_RETREAT,795.336773429,748.336773429,727,710,698,656,935,804,835.663226571,670,658,677,0.401947987927,-0.00536618910681,0.0697947760616,0.999999923838,0.000200754133119,-0.000333992921099,2.1704461698e-05,1793256570379249920
+369,6.150000000,POSE2_TO_POSE3_RETREAT,795.923088037,748.923088037,727,710,698,656,935,804,835.076911963,670,658,677,0.401793962239,-0.00536463156462,0.0697960838443,0.999999924319,0.000201388826791,-0.000332130556207,2.22205008564e-05,1793256570395916288
+370,6.166666667,POSE2_TO_POSE3_RETREAT,796,749,727,710,698.50335498,656,935,804,835.50335498,670,658,677,0.401658291797,-0.00536248311257,0.069796001347,0.9999999241,0.000203009519961,-0.000331859528928,2.13637474807e-05,1793256570412582912
+371,6.183333333,POSE2_TO_POSE3_RETREAT,795.917591394,748.917591394,727,710,698.917591394,656,935,804,836,670,658,677,0.40153014196,-0.00536109719772,0.0697959259904,0.999999923527,0.00020706340855,-0.000331185357978,1.96916557697e-05,1793256570429249536
+372,6.200000000,POSE2_TO_POSE3_RETREAT,795.340340227,748.340340227,727,710,698.340340227,656,935,804,836,670,658,677,0.401430510068,-0.00536482585548,0.0697971539733,0.999999921272,0.000224834082107,-0.00032664766773,1.43682723993e-05,1793256570445916160
+373,6.216666667,POSE2_TO_POSE3_RETREAT,795,748,727,709.764383145,698.235616855,656,935,804,835.764383145,670,658,677.235616855,0.401339291346,-0.00536578452977,0.0697979927503,0.999999919668,0.000235329281742,-0.00032427042818,1.1518467201e-05,1793256570462583040
+374,6.233333333,POSE2_TO_POSE3_RETREAT,795,748,727,709.190285145,698.809714855,656,935,804,835.190285145,670,658,677.809714855,0.401260158773,-0.00536276391646,0.069798272404,0.999999919414,0.000235372720778,-0.000324996837215,1.22221414211e-05,1793256570479249920
+375,6.250000000,POSE2_TO_POSE3_RETREAT,795.395092936,748.395092936,727,709.395092936,699,656,935,804,835,670,658,678,0.401196350593,-0.0053613382728,0.0697985347857,0.999999919737,0.00023534570623,-0.000323985498675,1.31323584298e-05,1793256570495916544
+376,6.266666667,POSE2_TO_POSE3_RETREAT,795.986063392,748.986063392,727,709.986063392,699,656,935,804,835,670,658,678,0.401140139878,-0.0053607033766,0.0697987886045,0.999999920342,0.000235283762497,-0.000322112626903,1.41449743357e-05,1793256570512583168
+377,6.283333333,POSE2_TO_POSE3_RETREAT,796,749,727,710,698.434950964,656,935,804,835.565049036,670,658,677.434950964,0.401100391015,-0.00536205843564,0.0698008056235,0.999999922087,0.000232406108804,-0.000318739190912,1.47658755287e-05,1793256570529249792
+378,6.300000000,POSE2_TO_POSE3_RETREAT,796,748.857768736,727,710,698,656,935,804,835.857768736,670,658,677.142231264,0.401064589384,-0.0053630654373,0.0698031403704,0.999999923924,0.000230122528328,-0.000314576644479,1.53812391288e-05,1793256570545916416
+379,6.316666667,POSE2_TO_POSE3_RETREAT,796,748.285167617,727,710,698,656,935,804,835.285167617,670,658,677.714832383,0.401039528435,-0.00536287384347,0.0698063076561,0.999999925984,0.000229842296277,-0.000308136034509,1.60084734909e-05,1793256570562583040
+380,6.333333333,POSE2_TO_POSE3_RETREAT,795.71105757,748,727,710,698.28894243,656,935,804,835.28894243,670.28894243,658,677.71105757,0.401019652699,-0.00536303320651,0.0698093982889,0.999999927628,0.000229788457028,-0.000302769612077,1.64577606596e-05,1793256570579249920
+381,6.350000000,POSE2_TO_POSE3_RETREAT,795.135450421,748,727,710,698.864549579,656,935,804,835.864549579,670.864549579,658,677.135450421,0.4010049213,-0.00536354075984,0.0698124128733,0.999999928878,0.000229959225911,-0.000298468908676,1.67305034548e-05,1793256570595916544
+382,6.366666667,POSE2_TO_POSE3_RETREAT,795,748,727,710,698.546087942,656,935,804,835.546087942,670.546087942,658,677,0.400992605351,-0.00536169480946,0.0698128563072,0.999999928359,0.000231945660836,-0.000298681419925,1.64971054057e-05,1793256570612583168
+383,6.383333333,POSE2_TO_POSE3_RETREAT,795.046033901,748.046033901,727,710,698,655.953966099,935,804,835,670,658,677.046033901,0.400981683145,-0.00535948961665,0.0698126443699,0.999999927463,0.000234210037539,-0.000299931708392,1.61685907957e-05,1793256570629249792
+384,6.400000000,POSE2_TO_POSE3_RETREAT,795.621217532,748.621217532,727,710,698,655.378782468,935,804,835,670,658,677.621217532,0.400978237506,-0.00536148009358,0.0698139940528,0.999999928513,0.000233246712833,-0.000297146357811,1.65371115408e-05,1793256570645916416
+385,6.416666667,POSE2_TO_POSE3_RETREAT,796,749,727,710,698,655.197215747,934.802784253,804,835,670,658,677.802784253,0.400976126952,-0.00536284766497,0.0698155671666,0.999999929686,0.000232303701212,-0.00029391643139,1.66427732999e-05,1793256570662583040
+386,6.433333333,POSE2_TO_POSE3_RETREAT,796,749,727,710,698,655.774784945,934.225215055,804,835,670,658,677.225215055,0.400976591261,-0.00536301389062,0.0698175711929,0.999999931095,0.000231399865793,-0.00028982908904,1.62414809812e-05,1793256570679249920
+387,6.450000000,POSE2_TO_POSE3_RETREAT,795.641352551,748.641352551,727,710,698,656,934.358647449,804,835.358647449,670,658,677,0.400976307385,-0.00536379912676,0.069818994121,0.999999931935,0.000230602783777,-0.000287548064028,1.63765276079e-05,1793256570695916544
+388,6.466666667,POSE2_TO_POSE3_RETREAT,795.053467563,748.053467563,727,710,698,656,934.946532437,804,835.946532437,670,658,677,0.400975545288,-0.0053649800173,0.069820045627,0.999999932418,0.000229873935622,-0.000286421587309,1.68543872851e-05,1793256570712582912
+389,6.483333333,POSE2_TO_POSE3_RETREAT,795,748,727,709.470570284,698.529429716,656,935,804,835.470570284,670.529429716,658,677.529429716,0.40097351249,-0.00536635117699,0.0698199010203,0.999999932907,0.000226152925709,-0.000287683130332,1.66986568487e-05,1793256570729249536
+390,6.500000000,POSE2_TO_POSE3_RETREAT,795,748.109296487,727,709,699,656,935,804,835,670.890703513,658,677.890703513,0.400972062884,-0.0053669360896,0.0698197697272,0.999999933264,0.00022351128088,-0.000288522474841,1.64374321636e-05,1793256570745916416
+391,6.516666667,POSE2_TO_POSE3_RETREAT,795,748.678510612,727,709,699,656,935,804,835,670.321489388,658,677.321489388,0.400973602313,-0.00536413238475,0.0698201980231,0.999999933118,0.000226671290484,-0.000286579855373,1.59990320364e-05,1793256570762583296
+392,6.533333333,POSE2_TO_POSE3_RETREAT,795.251245139,748.748754861,727,709.251245139,699,656,935,804,835,670,658,677,0.400974739796,-0.0053632485623,0.0698212432012,0.999999933362,0.000228108782035,-0.000284584341334,1.59518092635e-05,1793256570779249920
+393,6.550000000,POSE2_TO_POSE3_RETREAT,795.828548413,748.171451587,727,709.828548413,699,656,935,804,835,670,658,677,0.400975355649,-0.0053648563032,0.0698230889499,0.999999934121,0.000227310843621,-0.000282520182098,1.64122442449e-05,1793256570795916544
+394,6.566666667,POSE2_TO_POSE3_RETREAT,795.581694188,748,727,710,698.581694188,656,935,804,835,670,658,677,0.400974964975,-0.00536366673724,0.0698231973176,0.999999933795,0.000228794461766,-0.000282496410954,1.60781443729e-05,1793256570812583168
+395,6.583333333,POSE2_TO_POSE3_RETREAT,795.012861496,748,727,710,698,656,935,804,835,670,658,677.012861496,0.400974181455,-0.00536139363142,0.0698226085909,0.999999933046,0.000231123766322,-0.000283288044724,1.54313165732e-05,1793256570829250048
+396,6.600000000,POSE2_TO_POSE3_RETREAT,795.587208273,748,727,710,698,656,935,804,835,670,658,677.587208273,0.40097481062,-0.00536340666178,0.0698236290426,0.999999934041,0.000228294886208,-0.000282047273626,1.5785195108e-05,1793256570845916672
+397,6.616666667,POSE2_TO_POSE3_RETREAT,796,748.161607611,727,710,698.161607611,656,935,804,835,670,658,678,0.400975605289,-0.00536496856817,0.0698245680563,0.999999934919,0.000226200888569,-0.000280603244624,1.60439730556e-05,1793256570862583552
+398,6.633333333,POSE2_TO_POSE3_RETREAT,796,748.736141215,727,710,698.736141215,656,935,804,835,670,658,678,0.400976822837,-0.00536537780086,0.0698252989869,0.999999935516,0.000225984600167,-0.00027863986843,1.60597580674e-05,1793256570879249920
+399,6.650000000,POSE2_TO_POSE3_RETREAT,796,749,727,709.68004377,699,656,935,804,835.31995623,670,658,677.68004377,0.400976054731,-0.00536498205799,0.0698248806531,0.999999934954,0.000227345838699,-0.000279544284431,1.61486089377e-05,1793256570895916288
+400,6.666666667,POSE2_TO_POSE3_RETREAT,796,749,727,709.088346001,699,656,935,804,835.911653999,670,658,677.088346001,0.400973600194,-0.00536390264254,0.0698234862393,0.999999933395,0.000230046884229,-0.000282884340736,1.62995152596e-05,1793256570912583168
+401,6.683333333,POSE2_TO_POSE3_RETREAT,796,749,727,709.49309831,698.50690169,656,935,804,835.50690169,670,658,677.49309831,0.400972695345,-0.00536314635988,0.0698236392997,0.999999933492,0.000230129126992,-0.000282487115225,1.60279021308e-05,1793256570929250048
+402,6.700000000,POSE2_TO_POSE3_RETREAT,796,748.927870521,727,709.927870521,698.072129479,656,934.927870521,804,835,670,658,677.927870521,0.40097234587,-0.00536264598778,0.0698240903912,0.999999933919,0.000229584563168,-0.00028143429807,1.57445112695e-05,1793256570945916672
+403,6.716666667,POSE2_TO_POSE3_RETREAT,796,748.353114759,727,709.353114759,698.646885241,656,934.353114759,804,835,670,658,677.353114759,0.400973971094,-0.00536353368973,0.0698247256254,0.999999934603,0.000227875119718,-0.000280383982942,1.58958153198e-05,1793256570962583296
+404,6.733333333,POSE2_TO_POSE3_RETREAT,796,748.221995935,727,709.221995935,699,656,934.221995935,804,835.221995935,670,658,677.221995935,0.400975446292,-0.00536391958701,0.0698255721098,0.999999935175,0.000227002313741,-0.000279045647972,1.59490164637e-05,1793256570979249920
+405,6.750000000,POSE2_TO_POSE3_RETREAT,796,748.797672193,727,709.797672193,699,656,934.797672193,804,835.797672193,670,658,677.797672193,0.400976682473,-0.00536350601736,0.0698267551546,0.999999935572,0.000227462424744,-0.000277248444302,1.58459216721e-05,1793256570995916544
+406,6.766666667,POSE2_TO_POSE3_RETREAT,796,749,727,710,698.617221499,656,935,804,836,670,658,677.617221499,0.400977240649,-0.0053634620919,0.0698269691732,0.999999935727,0.000227655485623,-0.000276539206057,1.56527421582e-05,1793256571012583168
+407,6.783333333,POSE2_TO_POSE3_RETREAT,796,749,727,710,698.027004822,656,935,804,836,670,658,677.027004822,0.400977431396,-0.00536361848679,0.0698266580497,0.999999935753,0.000227703824683,-0.000276419566244,1.5410743267e-05,1793256571029249792
diff --git a/Part2/Obstacle_avoidance/cylinder_PLA_10/position_03/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_PLA_10/position_03/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f160c2569ce87e26c1fb1e02bb18786d3c4a00d7
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_PLA_10/position_03/depth_02/simulation_data.csv
@@ -0,0 +1,409 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+1,0.016666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+2,0.033333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+3,0.050000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+4,0.066666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+5,0.083333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+6,0.100000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+7,0.116666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+8,0.133333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+9,0.150000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+10,0.166666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+11,0.183333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+12,0.200000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+13,0.216666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+14,0.233333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+15,0.250000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+16,0.266666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+17,0.283333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+18,0.300000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+19,0.316666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+20,0.333333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+21,0.350000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+22,0.366666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+23,0.383333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+24,0.400000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+25,0.416666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+26,0.433333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+27,0.450000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+28,0.466666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+29,0.483333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+30,0.500000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+31,0.516666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+32,0.533333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+33,0.550000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+34,0.566666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+35,0.583333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+36,0.600000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+37,0.616666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+38,0.633333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+39,0.650000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+40,0.666666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+41,0.683333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+42,0.700000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+43,0.716666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+44,0.733333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+45,0.750000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+46,0.766666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+47,0.783333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+48,0.800000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+49,0.816666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+50,0.833333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+51,0.850000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+52,0.866666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+53,0.883333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+54,0.900000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+55,0.916666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+56,0.933333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+57,0.950000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+58,0.966666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+59,0.983333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+60,1.000000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+61,1.016666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+62,1.033333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+63,1.050000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+64,1.066666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+65,1.083333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+66,1.100000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+67,1.116666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+68,1.133333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+69,1.150000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+70,1.166666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+71,1.183333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+72,1.200000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+73,1.216666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+74,1.233333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+75,1.250000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+76,1.266666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+77,1.283333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+78,1.300000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+79,1.316666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+80,1.333333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+81,1.350000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+82,1.366666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+83,1.383333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+84,1.400000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+85,1.416666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+86,1.433333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+87,1.450000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+88,1.466666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+89,1.483333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+90,1.500000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+91,1.516666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+92,1.533333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+93,1.550000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+94,1.566666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+95,1.583333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+96,1.600000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+97,1.616666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+98,1.633333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+99,1.650000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+100,1.666666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+101,1.683333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+102,1.700000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+103,1.716666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+104,1.733333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+105,1.750000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+106,1.766666667,pose1_to_pose2_press,0.575666798543,0.000181738779929,1.060020574,0.546237946392,0.0088559764994,1.05969226794
+107,1.783333333,pose1_to_pose2_press,0.575666806974,0.000181740705447,1.06002052692,0.546237954755,0.0088559783079,1.0596922239
+108,1.800000000,pose1_to_pose2_press,0.57566681463,0.00018174245373,1.06002048416,0.546237962348,0.00885597994995,1.05969218392
+109,1.816666667,pose1_to_pose2_press,0.575666830949,0.00018174531466,1.06002041172,0.546237978565,0.0088559826441,1.05969211624
+110,1.833333333,pose1_to_pose2_press,0.575666881124,0.000181743437006,1.06002041944,0.546238028798,0.00885598098963,1.05969212458
+111,1.850000000,pose1_to_pose2_press,0.575667042064,0.000181737414289,1.0600204442,0.546238189927,0.00885597568277,1.05969215133
+112,1.866666667,pose1_to_pose2_press,0.575667067136,0.00018173647604,1.06002044806,0.546238215029,0.00885597485604,1.0596921555
+113,1.883333333,pose1_to_pose2_press,0.575667291984,0.000181728061729,1.06002048265,0.546238440141,0.00885596744186,1.05969219287
+114,1.900000000,pose1_to_pose2_press,0.575668055167,0.000181709857951,1.06002051045,0.546239203549,0.00885594996665,1.05969221965
+115,1.916666667,pose1_to_pose2_press,0.575671528977,0.000181630717028,1.06002065983,0.546242676776,0.00885586847807,1.05969235924
+116,1.933333333,pose1_to_pose2_press,0.575679272803,0.000181770127559,1.0600205903,0.546250420149,0.00885600635954,1.0596922901
+117,1.950000000,pose1_to_pose2_press,0.57569502164,0.000181722504773,1.06002058578,0.546266169363,0.00885595987241,1.05969228151
+118,1.966666667,pose1_to_pose2_press,0.575719499032,0.000181825327385,1.06002033916,0.546290646523,0.00885606235134,1.05969204655
+119,1.983333333,pose1_to_pose2_press,0.575753583057,0.00018192374078,1.06002051736,0.546324728953,0.00885615542983,1.05969222677
+120,2.000000000,pose1_to_pose2_press,0.575796975241,0.00018185797486,1.06002049348,0.546368122293,0.00885609375086,1.05969220715
+121,2.016666667,pose1_to_pose2_press,0.575850460406,0.000181925517599,1.06002085842,0.546421607354,0.00885616065144,1.05969256431
+122,2.033333333,pose1_to_pose2_press,0.575911709645,0.000181758892965,1.060020515,0.546482858738,0.00885600148628,1.05969222563
+123,2.050000000,pose1_to_pose2_press,0.575980585208,0.000181747723129,1.06002036342,0.546551732948,0.00885598512713,1.0596920582
+124,2.066666667,pose1_to_pose2_press,0.5760595228,0.000181700856368,1.06002049751,0.546630671386,0.00885594156676,1.05969220371
+125,2.083333333,pose1_to_pose2_press,0.576148402806,0.000181749741171,1.06002052256,0.546719549939,0.00885598555934,1.05969222971
+126,2.100000000,pose1_to_pose2_press,0.576249437835,0.000181724154001,1.06002036985,0.546820585053,0.00885596015819,1.05969207437
+127,2.116666667,pose1_to_pose2_press,0.576364874015,0.000181724969928,1.06002070637,0.546936022303,0.00885596421805,1.05969240058
+128,2.133333333,pose1_to_pose2_press,0.576496704961,0.000181667321056,1.06002072699,0.547067853533,0.00885590767127,1.05969242497
+129,2.150000000,pose1_to_pose2_press,0.576645267334,0.000181749141894,1.06002059173,0.547216414929,0.00885598640465,1.05969229559
+130,2.166666667,pose1_to_pose2_press,0.576810370336,0.000181870166266,1.06002054005,0.547381517787,0.00885610713757,1.05969224898
+131,2.183333333,pose1_to_pose2_press,0.576992966297,0.000181810574767,1.06002037317,0.547564114091,0.00885604891789,1.05969208759
+132,2.200000000,pose1_to_pose2_press,0.577192353079,0.000181851230212,1.06002042031,0.547763499166,0.00885608334696,1.05969212318
+133,2.216666667,pose1_to_pose2_press,0.577410156499,0.000181940363503,1.06002041235,0.54798130195,0.00885617042942,1.05969211794
+134,2.233333333,pose1_to_pose2_press,0.577647253913,0.000181743945166,1.06002045023,0.548218401344,0.00885598102188,1.05969216355
+135,2.250000000,pose1_to_pose2_press,0.577904559071,0.000181749818393,1.06002101044,0.54847570857,0.00885599320595,1.05969270516
+136,2.266666667,pose1_to_pose2_press,0.578184944612,0.000181758405691,1.06002033537,0.548756092175,0.00885599527244,1.05969203123
+137,2.283333333,pose1_to_pose2_press,0.578485810488,0.000181704349871,1.06002065306,0.549056958578,0.00885594316158,1.05969235298
+138,2.300000000,pose1_to_pose2_press,0.578803317196,0.000181712291764,1.06002056389,0.549374464806,0.00885594953305,1.05969226535
+139,2.316666667,pose1_to_pose2_press,0.579137025385,0.000181741778868,1.06002039705,0.549708172682,0.00885597840218,1.05969211025
+140,2.333333333,pose1_to_pose2_press,0.579488866793,0.000181722449246,1.06002038873,0.550060014757,0.0088559612018,1.05969209833
+141,2.350000000,pose1_to_pose2_press,0.57985499522,0.00018174928573,1.06002048355,0.550426142581,0.00885598577591,1.05969218731
+142,2.366666667,pose1_to_pose2_press,0.580237377195,0.000181775197212,1.06002054208,0.550808524526,0.00885601155619,1.0596922451
+143,2.383333333,pose1_to_pose2_press,0.580649337577,0.000181762965084,1.06002054726,0.551220485898,0.0088560026083,1.05969224821
+144,2.400000000,pose1_to_pose2_press,0.581088072173,0.000181798929047,1.06002055246,0.551659219373,0.00885603464629,1.05969225022
+145,2.416666667,pose1_to_pose2_press,0.581553476677,0.000181867036774,1.06002051193,0.552124621847,0.0088560962481,1.05969221961
+146,2.433333333,pose1_to_pose2_press,0.582040202213,0.000181681187585,1.06002051367,0.552611351394,0.00885592394511,1.05969221979
+147,2.450000000,pose1_to_pose2_press,0.58254610502,0.000181758705011,1.06002041471,0.553117253818,0.00885600013969,1.05969212011
+148,2.466666667,pose1_to_pose2_press,0.58306687403,0.000181824619982,1.06002066211,0.55363802085,0.00885605914188,1.05969236223
+149,2.483333333,pose1_to_pose2_press,0.583604095457,0.000181881321187,1.06002089537,0.554175241695,0.00885611374669,1.05969259218
+150,2.500000000,pose1_to_pose2_press,0.584164695027,0.00018180577003,1.0600206892,0.554735842839,0.00885604394598,1.05969239685
+151,2.516666667,pose1_to_pose2_press,0.584750114447,0.000181796390493,1.06002066126,0.555321261164,0.00885603061955,1.05969236279
+152,2.533333333,pose1_to_pose2_press,0.585361205764,0.000181676238239,1.06002056959,0.555932354282,0.00885591672975,1.05969227512
+153,2.550000000,pose1_to_pose2_press,0.585980944939,0.000181754956378,1.06002066101,0.55655209324,0.00885599475817,1.05969236774
+154,2.566666667,pose1_to_pose2_press,0.586603900672,0.000181790426699,1.06002060804,0.557175048995,0.00885603015295,1.05969231086
+155,2.583333333,pose1_to_pose2_press,0.5872320757,0.00018179098876,1.06002042425,0.557803223677,0.00885602951359,1.05969212631
+156,2.600000000,pose1_to_pose2_press,0.587868900209,0.000181880397428,1.06002041595,0.558440046055,0.00885611175376,1.05969211966
+157,2.616666667,pose1_to_pose2_press,0.588524155993,0.000181716357934,1.06002040776,0.559095303903,0.00885595475003,1.05969211233
+158,2.633333333,pose1_to_pose2_press,0.58920618854,0.000181607704628,1.06002039943,0.559777337559,0.00885584999977,1.05969210769
+159,2.650000000,pose1_to_pose2_press,0.589917870507,0.000181747104265,1.06002041972,0.560489016718,0.00885597966877,1.05969212261
+160,2.666666667,pose1_to_pose2_press,0.590648881925,0.000181894439155,1.06002039206,0.561220027733,0.00885612585646,1.0596921008
+161,2.683333333,pose1_to_pose2_press,0.591394836105,0.000181614415262,1.06002048,0.561965985662,0.0088558586457,1.05969219118
+162,2.700000000,pose1_to_pose2_press,0.592138083984,0.000181878466019,1.06002042884,0.562709231637,0.00885611599845,1.05969213373
+163,2.716666667,pose1_to_pose2_press,0.592874302323,0.000181791133219,1.06002041401,0.563445449562,0.00885602721586,1.05969211783
+164,2.733333333,pose1_to_pose2_press,0.593596835718,0.000181650231733,1.0600203436,0.564167984099,0.00885589014454,1.05969204628
+165,2.750000000,pose1_to_pose2_press,0.594321371246,0.000181652969466,1.06002036591,0.564892520364,0.00885589530442,1.05969206654
+166,2.766666667,pose1_to_pose2_press,0.595056743805,0.000181713390231,1.06002042543,0.565627892763,0.00885595520359,1.05969212661
+167,2.783333333,pose1_to_pose2_press,0.595808505449,0.000181740923561,1.06002049803,0.566379653871,0.00885598092881,1.05969219962
+168,2.800000000,pose1_to_pose2_press,0.596580822004,0.000181764867878,1.06002066157,0.567151969887,0.00885600286971,1.0596923585
+169,2.816666667,pose1_to_pose2_press,0.597381568573,0.00018172319376,1.06002051781,0.567952716248,0.00885596068495,1.05969221995
+170,2.833333333,pose1_to_pose2_press,0.598185478697,0.000181831794021,1.06002040565,0.568756626279,0.00885606924658,1.05969211523
+171,2.850000000,pose1_to_pose2_press,0.598978459097,0.000181833887602,1.06002053039,0.569549606346,0.00885607015682,1.05969223851
+172,2.866666667,pose1_to_pose2_press,0.599746128758,0.000181723762315,1.06002065235,0.570317277117,0.00885596365342,1.05969235681
+173,2.883333333,pose1_to_pose2_press,0.600484886908,0.000181715457214,1.0600205028,0.571056035392,0.00885595607905,1.05969221538
+174,2.900000000,pose1_to_pose2_press,0.601210972445,0.000181605104017,1.06002054353,0.571782122911,0.00885585205999,1.05969224584
+175,2.916666667,pose1_to_pose2_press,0.601935329181,0.000181661750007,1.06002075064,0.572506478561,0.00885590467095,1.05969244372
+176,2.933333333,pose1_to_pose2_press,0.60267227813,0.000181777149603,1.06002055359,0.573243424872,0.00885601154968,1.05969225805
+177,2.950000000,pose1_to_pose2_press,0.603427600478,0.000181842957732,1.06002054369,0.573998746131,0.00885607366525,1.05969224832
+178,2.966666667,pose1_to_pose2_press,0.604198189382,0.000181817822513,1.06002068423,0.574769335353,0.00885604932289,1.05969238141
+179,2.983333333,pose1_to_pose2_press,0.604952222367,0.00018177547019,1.06002066973,0.575523369538,0.0088560111581,1.05969237
+180,3.000000000,pose1_to_pose2_press,0.605679998575,0.000181779445423,1.06002060368,0.576251145837,0.00885601556486,1.05969230729
+181,3.016666667,pose1_to_pose2_press,0.606353700022,0.000181756550386,1.0600205802,0.576924846639,0.00885599041666,1.05969228215
+182,3.033333333,pose1_to_pose2_press,0.6069886199,0.000181708917754,1.06002064502,0.577559767582,0.00885594632075,1.05969234497
+183,3.050000000,pose1_to_pose2_press,0.607596723583,0.000181825439564,1.06002051719,0.578167870662,0.0088560611172,1.05969222569
+184,3.066666667,pose1_to_pose2_press,0.608200687335,0.000181751095461,1.06002041015,0.578771834351,0.00885598656079,1.0596921187
+185,3.083333333,pose1_to_pose2_press,0.608809340817,0.000181727873087,1.06002069358,0.579380488908,0.00885596676507,1.05969239647
+186,3.100000000,pose1_to_pose2_press,0.60942477385,0.000181748642714,1.06002077692,0.579995921864,0.00885598735247,1.05969248186
+187,3.116666667,pose1_to_pose2_press,0.61003797794,0.000181829369623,1.0600205984,0.580609124552,0.00885606352699,1.05969230879
+188,3.133333333,pose1_to_pose2_press,0.610631959631,0.000181725352099,1.06002070846,0.581203109504,0.00885597042429,1.059692415
+189,3.150000000,pose1_to_pose2_press,0.611195296099,0.000181690436812,1.06002073249,0.581766446649,0.00885593770616,1.05969243657
+190,3.166666667,pose1_to_pose2_press,0.611723210488,0.000181789291163,1.06002059475,0.582294358271,0.0088560273425,1.0596923033
+191,3.183333333,pose1_to_pose2_press,0.612228730716,0.000181752213297,1.06002066847,0.582799879907,0.00885599520167,1.05969238124
+192,3.200000000,pose1_to_pose2_press,0.612713889727,0.000181767132604,1.06002035697,0.58328503801,0.00885600738866,1.05969207891
+193,3.216666667,pose1_to_pose2_press,0.613182292553,0.000181816796702,1.060020637,0.583753440275,0.00885605458986,1.05969234232
+194,3.233333333,pose1_to_pose2_press,0.613633519304,0.00018184123149,1.06002056213,0.584204665085,0.00885607422377,1.05969226402
+195,3.250000000,pose1_to_pose2_press,0.614065005819,0.000181850584192,1.06002062822,0.584636153037,0.00885609130734,1.05969233044
+196,3.266666667,pose1_to_pose2_press,0.614482319066,0.000181778180679,1.06002059035,0.585053466,0.00885602117651,1.05969229461
+197,3.283333333,pose1_to_pose2_press,0.614887633336,0.00018177218485,1.06002046421,0.585458777686,0.00885600981039,1.05969217106
+198,3.300000000,pose1_to_pose2_press,0.615280342607,0.000181832759926,1.060020444,0.58585148462,0.00885606600923,1.05969215056
+199,3.316666667,pose1_to_pose2_press,0.615659196979,0.000181842795359,1.06002049725,0.58623033753,0.00885607512395,1.0596922006
+200,3.333333333,pose1_to_pose2_press,0.616016737642,0.000181826263899,1.06002044688,0.586587876537,0.00885605739095,1.05969214946
+201,3.350000000,pose1_to_pose2_press,0.616347099428,0.000181739757829,1.06002057067,0.5869182391,0.00885597694828,1.05969227108
+202,3.366666667,pose1_to_pose2_press,0.616645208667,0.00018178468124,1.06002070602,0.5872163491,0.00885602721719,1.05969239975
+203,3.383333333,pose1_to_pose2_press,0.61691565672,0.000181856991372,1.06002067142,0.587486796267,0.00885609818794,1.0596923729
+204,3.400000000,pose1_to_pose2_press,0.617161130626,0.000181838166106,1.0600207685,0.587732267563,0.00885607216423,1.05969246624
+205,3.416666667,pose1_to_pose2_press,0.617392439937,0.000181761207591,1.06002064964,0.587963577753,0.00885599960343,1.05969235042
+206,3.433333333,pose1_to_pose2_press,0.617612242623,0.000181758211508,1.0600204039,0.588183381287,0.00885600086567,1.05969211478
+207,3.450000000,pose1_to_pose2_press,0.61782021322,0.000181825876359,1.060020357,0.588391350827,0.00885606617255,1.05969207229
+208,3.466666667,pose1_to_pose2_press,0.618016253343,0.000181816640043,1.06002063029,0.588587390133,0.00885605489353,1.05969233437
+209,3.483333333,pose1_to_pose2_press,0.618199074071,0.000181730700664,1.06002053318,0.588770211771,0.00885597260239,1.05969223424
+210,3.500000000,pose1_to_pose2_press,0.618362895219,0.000181773280814,1.06002037259,0.588934033684,0.00885601892479,1.05969208562
+211,3.516666667,pose1_to_pose2_press,0.618508575391,0.000181750402067,1.06002066319,0.589079712866,0.00885599289883,1.05969236116
+212,3.533333333,pose1_to_pose2_press,0.61863760222,0.000181839632682,1.06002076056,0.589208739513,0.00885608208388,1.05969246414
+213,3.550000000,pose1_to_pose2_press,0.618751762769,0.000181724281228,1.06002078374,0.589322900655,0.00885596922945,1.05969248596
+214,3.566666667,pose1_to_pose2_press,0.618851442636,0.000181665055196,1.06002071713,0.589422580353,0.00885591038913,1.05969241982
+215,3.583333333,pose1_to_pose2_press,0.618940552393,0.000181692591145,1.06002067363,0.589511689559,0.00885593681413,1.05969237338
+216,3.600000000,pose1_to_pose2_press,0.61901954712,0.000181781390913,1.06002069365,0.589590683312,0.00885602278781,1.05969238851
+217,3.616666667,pose1_to_pose2_press,0.619088726124,0.000181956930154,1.06002065072,0.589659860109,0.00885619213819,1.0596923548
+218,3.633333333,pose1_to_pose2_press,0.619148838477,0.000181853819116,1.06002068675,0.589719974434,0.0088560954406,1.05969238444
+219,3.650000000,pose1_to_pose2_press,0.619199659976,0.000181736413354,1.06002053441,0.589770795677,0.00885597758174,1.05969224135
+220,3.666666667,pose1_to_pose2_press,0.619242163353,0.000181741356478,1.06002052723,0.589813299465,0.00885598398217,1.05969223449
+221,3.683333333,pose1_to_pose2_press,0.619276401452,0.000181730701866,1.06002051819,0.589847537957,0.00885597475105,1.05969222562
+222,3.700000000,pose1_to_pose2_press,0.619304298813,0.000181713192469,1.06002044465,0.5898754361,0.00885595988915,1.05969215099
+223,3.716666667,pose1_to_pose2_press,0.619326212484,0.000181736233067,1.06002045937,0.589897349055,0.00885598065782,1.05969216926
+224,3.733333333,pose1_to_pose2_press,0.619342897092,0.000181807503324,1.06002058332,0.589914031836,0.00885604566622,1.0596922897
+225,3.750000000,pose1_to_pose2_press,0.619355156791,0.000181834953871,1.06002072984,0.589926291064,0.0088560711645,1.0596924255
+226,3.766666667,pose1_to_pose2_press,0.619363378532,0.0001817890607,1.06002081693,0.589934514282,0.00885603016595,1.05969251012
+227,3.783333333,pose1_to_pose2_press,0.619368623559,0.000181812015174,1.06002078333,0.589939760648,0.00885605798951,1.05969248443
+228,3.800000000,pose1_to_pose2_press,0.619371438827,0.000181829686113,1.06002059695,0.589942574515,0.00885607088436,1.05969229743
+229,3.816666667,pose1_to_pose2_press,0.619373282359,0.000181841971482,1.06002045245,0.589944416846,0.00885607905621,1.05969215187
+230,3.833333333,pose1_to_pose2_press,0.619374320998,0.000181765598639,1.06002041221,0.589945455757,0.00885600374904,1.05969211607
+231,3.850000000,pose1_to_pose2_press,0.619375068811,0.000181696046145,1.06002039043,0.589946203933,0.00885593555539,1.05969209837
+232,3.866666667,pose1_to_pose2_press,0.619375650282,0.000181641964865,1.0600203735,0.589946785685,0.00885588253069,1.05969208461
+233,3.883333333,pose1_to_pose2_press,0.619376030314,0.000181653586406,1.06002045366,0.589947166129,0.00885589552295,1.05969216338
+234,3.900000000,pose1_to_pose2_press,0.619376286375,0.000181668205003,1.06002052086,0.5899474225,0.00885591116342,1.05969222913
+235,3.916666667,pose1_to_pose2_press,0.619376482141,0.000181679381367,1.06002057223,0.589947618503,0.00885592312104,1.0596922794
+236,3.933333333,pose1_to_pose2_press,0.619376486543,0.000181679632663,1.06002057339,0.58994762291,0.0088559233899,1.05969228053
+237,3.950000000,pose1_to_pose2_press,0.619376580808,0.000181685014284,1.06002059812,0.589947717289,0.00885592914771,1.05969230474
+238,3.966666667,pose1_to_pose2_press,0.619376583361,0.000181685160066,1.06002059879,0.589947719846,0.00885592930368,1.0596923054
+239,3.983333333,pose1_to_pose2_press,0.619376701197,0.000181691887331,1.06002062971,0.589947837824,0.00885593650119,1.05969233566
+240,4.000000000,pose1_to_pose2_press,0.619376951903,0.000181770172587,1.06002058665,0.589948086785,0.00885600880892,1.05969229115
+241,4.016666667,pose1_to_pose2_press,0.619377062034,0.000181813099926,1.06002055321,0.589948195876,0.00885604817912,1.05969225706
+242,4.033333333,pose1_to_pose2_press,0.619377063025,0.000181813485978,1.06002055291,0.589948196857,0.00885604853319,1.05969225676
+243,4.050000000,pose1_to_pose2_press,0.619377103724,0.000181829349983,1.06002054055,0.589948237173,0.00885606308263,1.05969224416
+244,4.066666667,pose1_to_pose2_press,0.619377100099,0.000181845280739,1.06002046919,0.589948233335,0.00885607848329,1.05969217782
+245,4.083333333,pose1_to_pose2_press,0.619377061264,0.000181860664208,1.06002035347,0.589948194435,0.00885609398477,1.05969207112
+246,4.100000000,pose2_hold,0.619377061264,0.000181860664208,1.06002035347,0.589948194469,0.00885609397409,1.05969207112
+247,4.116666667,pose2_hold,0.619377061264,0.000181860664208,1.06002035347,0.58994819447,0.00885609397711,1.05969207112
+248,4.133333333,pose2_hold,0.619377061264,0.000181860664208,1.06002035347,0.589948194472,0.00885609398029,1.05969207112
+249,4.150000000,pose2_hold,0.619377061264,0.000181860664208,1.06002035347,0.589948194466,0.00885609397246,1.05969207112
+250,4.166666667,pose2_hold,0.619377061264,0.000181860664208,1.06002035347,0.589948194469,0.00885609397594,1.05969207113
+251,4.183333333,pose2_hold,0.619377061264,0.000181860664208,1.06002035347,0.589948194471,0.00885609397922,1.05969207113
+252,4.200000000,pose2_hold,0.619377061264,0.000181860664208,1.06002035347,0.589948194473,0.00885609398177,1.05969207113
+253,4.216666667,pose2_hold,0.619377061264,0.000181860664208,1.06002035347,0.589948194478,0.00885609397178,1.05969207112
+254,4.233333333,pose2_hold,0.619377061264,0.000181860664208,1.06002035347,0.58994819448,0.00885609397524,1.05969207113
+255,4.250000000,pose2_hold,0.619377061264,0.000181860664208,1.06002035347,0.589948194482,0.00885609397822,1.05969207112
+256,4.266666667,pose2_hold,0.619377061264,0.000181860664208,1.06002035347,0.589948194477,0.00885609397065,1.05969207112
+257,4.283333333,pose2_hold,0.619377061264,0.000181860664208,1.06002035347,0.589948194478,0.00885609397457,1.05969207112
+258,4.300000000,pose2_hold,0.619377061264,0.000181860664208,1.06002035347,0.58994819448,0.00885609397701,1.05969207112
+259,4.316666667,pose2_hold,0.619377061264,0.000181860664208,1.06002035347,0.589948194478,0.00885609396955,1.05969207112
+260,4.333333333,pose2_hold,0.619377061264,0.000181860664208,1.06002035347,0.58994819448,0.00885609397324,1.05969207112
+261,4.350000000,pose2_hold,0.619377061264,0.000181860664208,1.06002035347,0.589948194482,0.00885609397562,1.05969207112
+262,4.366666667,pose2_hold,0.619377061264,0.000181860664208,1.06002035347,0.589948194485,0.00885609397026,1.05969207112
+263,4.383333333,pose2_hold,0.619377061264,0.000181860664208,1.06002035347,0.589948194486,0.00885609397149,1.05969207113
+264,4.400000000,pose2_to_pose3_retreat,0.619377061264,0.000181860664208,1.06002035347,0.589948194491,0.00885609396858,1.05969207112
+265,4.416666667,pose2_to_pose3_retreat,0.61937706127,0.000181854231514,1.06002036879,0.589948194556,0.00885608770378,1.05969208552
+266,4.433333333,pose2_to_pose3_retreat,0.619377061281,0.000181839222758,1.06002040454,0.589948194708,0.00885607308675,1.05969211911
+267,4.450000000,pose2_to_pose3_retreat,0.619377061312,0.000181799862488,1.06002049828,0.589948195107,0.00885603475379,1.05969220721
+268,4.466666667,pose2_to_pose3_retreat,0.619377032993,0.000181794271837,1.06002052182,0.589948166945,0.0088560296615,1.05969222993
+269,4.483333333,pose2_to_pose3_retreat,0.619376855486,0.000181797418867,1.06002057838,0.589947990064,0.00885603493516,1.05969228688
+270,4.500000000,pose2_to_pose3_retreat,0.619376551233,0.000181803870679,1.06002061049,0.589947686179,0.00885604265326,1.05969231977
+271,4.516666667,pose2_to_pose3_retreat,0.619375339065,0.000181831769797,1.0600204968,0.589946472759,0.00885606638774,1.05969220854
+272,4.533333333,pose2_to_pose3_retreat,0.619371651477,0.000181889960975,1.06002052593,0.589942784441,0.00885612181279,1.05969223129
+273,4.550000000,pose2_to_pose3_retreat,0.619363062766,0.00018189195014,1.06002044343,0.589934197358,0.00885612934156,1.05969215207
+274,4.566666667,pose2_to_pose3_retreat,0.619348139566,0.000181871634191,1.06002079489,0.589919273124,0.00885610481111,1.05969248931
+275,4.583333333,pose2_to_pose3_retreat,0.619323094051,0.000181774662212,1.06002065426,0.589894229865,0.00885601581787,1.05969236381
+276,4.600000000,pose2_to_pose3_retreat,0.619288112146,0.000181720431359,1.06002060254,0.589859249781,0.00885596722978,1.05969230661
+277,4.616666667,pose2_to_pose3_retreat,0.619241657443,0.00018177314809,1.06002056448,0.58981279411,0.00885601652084,1.05969227323
+278,4.633333333,pose2_to_pose3_retreat,0.619184211256,0.000181771069986,1.06002042531,0.589755347541,0.00885601255182,1.05969213566
+279,4.650000000,pose2_to_pose3_retreat,0.619115274701,0.000181848346195,1.06002049159,0.589686411188,0.00885608995144,1.05969220308
+280,4.666666667,pose2_to_pose3_retreat,0.619034028589,0.000181661018311,1.06002052817,0.589605167377,0.00885590974766,1.0596922352
+281,4.683333333,pose2_to_pose3_retreat,0.61893976254,0.000181892082035,1.06002051021,0.58951089807,0.00885612940147,1.05969221781
+282,4.700000000,pose2_to_pose3_retreat,0.618831215841,0.000181750292052,1.0600207428,0.589402354851,0.00885599840384,1.05969244943
+283,4.716666667,pose2_to_pose3_retreat,0.618708843797,0.000181792584609,1.06002055927,0.589279980449,0.00885603168539,1.05969226583
+284,4.733333333,pose2_to_pose3_retreat,0.618571826569,0.000181802844951,1.06002053529,0.589142963883,0.00885604259469,1.05969223978
+285,4.750000000,pose2_to_pose3_retreat,0.61842103141,0.000181710249798,1.06002042263,0.588992171064,0.00885595766526,1.05969213302
+286,4.766666667,pose2_to_pose3_retreat,0.618255519548,0.000181765299099,1.0600206342,0.588826658284,0.00885600871819,1.05969233748
+287,4.783333333,pose2_to_pose3_retreat,0.618074021736,0.000181819092235,1.0600206181,0.588645159507,0.00885605804026,1.0596923176
+288,4.800000000,pose2_to_pose3_retreat,0.617876250407,0.000181752344294,1.06002045048,0.588447389942,0.00885599611032,1.05969215706
+289,4.816666667,pose2_to_pose3_retreat,0.617660606701,0.000181644286579,1.06002043734,0.588231748776,0.00885589535284,1.05969214899
+290,4.833333333,pose2_to_pose3_retreat,0.617429803934,0.000181625924385,1.0600203188,0.588000945524,0.00885587397909,1.05969202474
+291,4.850000000,pose2_to_pose3_retreat,0.617185763561,0.000181695585352,1.06002049323,0.587756902931,0.0088559346889,1.05969220408
+292,4.866666667,pose2_to_pose3_retreat,0.616930932144,0.000181898224016,1.06002054844,0.587502069642,0.00885612857778,1.05969224806
+293,4.883333333,pose2_to_pose3_retreat,0.616665033618,0.000181837059737,1.06002053626,0.587236173743,0.00885607348653,1.05969223902
+294,4.900000000,pose2_to_pose3_retreat,0.616385878691,0.000181747013707,1.06002051052,0.586957021013,0.00885598821944,1.05969221962
+295,4.916666667,pose2_to_pose3_retreat,0.616091354785,0.000181735379041,1.06002052866,0.586662497156,0.00885597464996,1.05969223852
+296,4.933333333,pose2_to_pose3_retreat,0.615775090853,0.000181754244057,1.06002067725,0.586346233352,0.00885599274538,1.05969237512
+297,4.950000000,pose2_to_pose3_retreat,0.615436570478,0.000181956786977,1.0600203866,0.586007710825,0.00885618451957,1.05969208933
+298,4.966666667,pose2_to_pose3_retreat,0.615073600086,0.000181876265478,1.06002044502,0.585644741905,0.00885610506328,1.05969214698
+299,4.983333333,pose2_to_pose3_retreat,0.614685895115,0.000181731120768,1.06002052954,0.585257041141,0.00885597049779,1.05969223332
+300,5.000000000,pose2_to_pose3_retreat,0.614274117667,0.000181685962661,1.06002051115,0.584845267204,0.00885593338585,1.0596922202
+301,5.016666667,pose2_to_pose3_retreat,0.61384714078,0.000181755230146,1.06002054503,0.58441828978,0.00885599607838,1.05969225571
+302,5.033333333,pose2_to_pose3_retreat,0.613406991681,0.000181865858996,1.06002074968,0.583978140195,0.00885610134407,1.0596924589
+303,5.050000000,pose2_to_pose3_retreat,0.612953687293,0.000181752628185,1.06002070295,0.583524838666,0.00885599348504,1.05969240488
+304,5.066666667,pose2_to_pose3_retreat,0.612489284351,0.000181755457983,1.06002059891,0.583060436526,0.00885599409329,1.05969230118
+305,5.083333333,pose2_to_pose3_retreat,0.612012570682,0.000181785255657,1.060020494,0.582583723141,0.0088560205265,1.05969219813
+306,5.100000000,pose2_to_pose3_retreat,0.611514170395,0.000181788443458,1.06002048023,0.582085323529,0.00885602392692,1.05969218354
+307,5.116666667,pose2_to_pose3_retreat,0.610994925763,0.000181848613112,1.06002076582,0.581566078509,0.00885608568002,1.05969246794
+308,5.133333333,pose2_to_pose3_retreat,0.610455790058,0.000181660474518,1.06002061524,0.581026945328,0.00885590220049,1.05969231088
+309,5.150000000,pose2_to_pose3_retreat,0.609899490562,0.000181733801344,1.06002055252,0.580470645835,0.00885597245406,1.05969225221
+310,5.166666667,pose2_to_pose3_retreat,0.609326744967,0.000181773290481,1.06002048896,0.579897896541,0.00885600899902,1.05969219242
+311,5.183333333,pose2_to_pose3_retreat,0.608731020461,0.000181733836214,1.06002044843,0.579302168141,0.0088559709805,1.05969215241
+312,5.200000000,pose2_to_pose3_retreat,0.608108880769,0.000181791208984,1.06002054434,0.5786800294,0.00885603165908,1.05969224872
+313,5.216666667,pose2_to_pose3_retreat,0.607468535097,0.000181889388402,1.06002068379,0.578039680621,0.00885611934847,1.05969238024
+314,5.233333333,pose2_to_pose3_retreat,0.606811625688,0.000181872479324,1.06002069286,0.577382772447,0.00885610651078,1.05969238807
+315,5.250000000,pose2_to_pose3_retreat,0.606139188158,0.000181787883785,1.06002073609,0.576710335091,0.0088560228245,1.0596924399
+316,5.266666667,pose2_to_pose3_retreat,0.605461269366,0.000181761354023,1.06002071816,0.576032416183,0.0088559959032,1.0596924213
+317,5.283333333,pose2_to_pose3_retreat,0.604779192881,0.000181688420095,1.06002062461,0.575350341326,0.0088559284318,1.05969232567
+318,5.300000000,pose2_to_pose3_retreat,0.604081415844,0.00018158766747,1.0600205536,0.574652566491,0.00885583526432,1.05969225759
+319,5.316666667,pose2_to_pose3_retreat,0.603366787476,0.00018176415198,1.06002065415,0.573937935309,0.008856002075,1.0596923547
+320,5.333333333,pose2_to_pose3_retreat,0.602631214788,0.000181912414099,1.06002050844,0.57320235973,0.00885614098153,1.05969222093
+321,5.350000000,pose2_to_pose3_retreat,0.601874169444,0.000181708505283,1.06002045439,0.57244531828,0.00885594979601,1.05969215384
+322,5.366666667,pose2_to_pose3_retreat,0.601092039377,0.000181711856157,1.06002049713,0.571663188479,0.00885595433502,1.05969220406
+323,5.383333333,pose2_to_pose3_retreat,0.600306912596,0.000181708349643,1.06002051773,0.570878060966,0.00885594841709,1.05969222654
+324,5.400000000,pose2_to_pose3_retreat,0.599527976744,0.000181781375885,1.06002051812,0.570099125178,0.00885602168108,1.05969222746
+325,5.416666667,pose2_to_pose3_retreat,0.598760387547,0.000181767635191,1.06002051833,0.569331535761,0.00885600715196,1.05969222648
+326,5.433333333,pose2_to_pose3_retreat,0.598006867028,0.000181670146702,1.06002055897,0.568578014777,0.00885590791049,1.05969226238
+327,5.450000000,pose2_to_pose3_retreat,0.597268737445,0.00018175658374,1.06002064829,0.567839885683,0.00885599592322,1.05969234951
+328,5.466666667,pose2_to_pose3_retreat,0.596525421555,0.000181877236928,1.06002051867,0.567096567508,0.00885610909978,1.05969222704
+329,5.483333333,pose2_to_pose3_retreat,0.59576486224,0.000181726697637,1.06002040161,0.566336010084,0.00885596504457,1.05969211182
+330,5.500000000,pose2_to_pose3_retreat,0.594983474237,0.0001818005723,1.06002058149,0.565554620727,0.00885603413627,1.0596922866
+331,5.516666667,pose2_to_pose3_retreat,0.594183782343,0.000181791761257,1.06002049161,0.564754928231,0.0088560232912,1.05969219688
+332,5.533333333,pose2_to_pose3_retreat,0.593400400042,0.000181722069369,1.06002061567,0.563971548044,0.0088559606375,1.0596923174
+333,5.550000000,pose2_to_pose3_retreat,0.592640616559,0.00018179000211,1.06002052111,0.563211764054,0.00885602686712,1.0596922232
+334,5.566666667,pose2_to_pose3_retreat,0.591914555158,0.000181877140873,1.060020267,0.562485700667,0.00885610744052,1.05969197361
+335,5.583333333,pose2_to_pose3_retreat,0.59121592266,0.000181776625784,1.06002055478,0.561787070323,0.00885601408737,1.05969225746
+336,5.600000000,pose2_to_pose3_retreat,0.59053648819,0.000181853370273,1.06002067459,0.561107635278,0.00885608866066,1.05969237148
+337,5.616666667,pose2_to_pose3_retreat,0.589851947172,0.000181746918994,1.06002055852,0.560423094466,0.0088559832064,1.05969226321
+338,5.633333333,pose2_to_pose3_retreat,0.58916002111,0.000181684554772,1.06002045683,0.55973116876,0.00885592203837,1.05969216116
+339,5.650000000,pose2_to_pose3_retreat,0.588454775196,0.00018168072229,1.06002041021,0.559025922615,0.00885591744479,1.05969211517
+340,5.666666667,pose2_to_pose3_retreat,0.5877548015,0.000181716421064,1.06002034432,0.558325948803,0.00885595284461,1.05969205174
+341,5.683333333,pose2_to_pose3_retreat,0.58707850818,0.000181765225691,1.06002031227,0.557649655611,0.00885600215004,1.05969202142
+342,5.700000000,pose2_to_pose3_retreat,0.58643166848,0.000181791405707,1.06002039244,0.557002815818,0.00885602802811,1.05969210192
+343,5.716666667,pose2_to_pose3_retreat,0.585817712886,0.000181764782587,1.06002041924,0.556388860607,0.00885600256771,1.05969212508
+344,5.733333333,pose2_to_pose3_retreat,0.585233834496,0.000181865177232,1.06002048177,0.555804980019,0.008856095824,1.05969219599
+345,5.750000000,pose2_to_pose3_retreat,0.584670923467,0.000181825241158,1.06002060064,0.555242070148,0.00885605959232,1.05969230896
+346,5.766666667,pose2_to_pose3_retreat,0.584114940266,0.000181818152448,1.06002033523,0.554686085974,0.00885604938365,1.05969204829
+347,5.783333333,pose2_to_pose3_retreat,0.583561248218,0.000181801528289,1.06002029899,0.554132394358,0.00885603415698,1.05969201023
+348,5.800000000,pose2_to_pose3_retreat,0.583010797462,0.000181783501616,1.06002057712,0.553581945546,0.00885602247183,1.05969228161
+349,5.816666667,pose2_to_pose3_retreat,0.582476217349,0.0001817977429,1.06002053148,0.553047365445,0.00885603696745,1.05969224164
+350,5.833333333,pose2_to_pose3_retreat,0.581961164164,0.000181750965206,1.06002017901,0.552532312348,0.00885599052381,1.05969189016
+351,5.850000000,pose2_to_pose3_retreat,0.581476126424,0.000181832182803,1.0600203824,0.552047272383,0.0088560641658,1.05969209276
+352,5.866666667,pose2_to_pose3_retreat,0.581017051284,0.00018177287513,1.06002075502,0.551588200051,0.00885601390669,1.05969245329
+353,5.883333333,pose2_to_pose3_retreat,0.580581078665,0.00018186272487,1.06002060543,0.551152225732,0.00885609807627,1.05969230571
+354,5.900000000,pose2_to_pose3_retreat,0.580167615952,0.000181834725511,1.06002055065,0.550738764233,0.00885607415367,1.05969225105
+355,5.916666667,pose2_to_pose3_retreat,0.579779072504,0.000181843690504,1.06002053402,0.550350220828,0.0088560834196,1.05969223926
+356,5.933333333,pose2_to_pose3_retreat,0.579413422181,0.000181887291344,1.06002051413,0.549984569413,0.00885612349907,1.05969222411
+357,5.950000000,pose2_to_pose3_retreat,0.579070894603,0.000181829982244,1.06002050729,0.549642042094,0.00885606695337,1.05969221404
+358,5.966666667,pose2_to_pose3_retreat,0.578753302319,0.000181619127546,1.06002041468,0.54932444977,0.00885585584605,1.05969211822
+359,5.983333333,pose2_to_pose3_retreat,0.578453558498,0.000181689134239,1.06002029871,0.54902470554,0.00885592464928,1.05969200688
+360,6.000000000,pose2_to_pose3_retreat,0.578168139116,0.000181684345472,1.06002046857,0.548739287726,0.00885592497707,1.05969217136
+361,6.016666667,pose2_to_pose3_retreat,0.577897297974,0.000181707544718,1.06002048576,0.548468446371,0.00885594738754,1.0596921867
+362,6.033333333,pose2_to_pose3_retreat,0.577642019349,0.00018172736009,1.06002041955,0.548213166658,0.00885596361595,1.05969212309
+363,6.050000000,pose2_to_pose3_retreat,0.57740293346,0.000181716940799,1.06002048587,0.547974080282,0.00885595158877,1.05969219049
+364,6.066666667,pose2_to_pose3_retreat,0.577180646194,0.000181712916661,1.06002060361,0.547751793273,0.00885594836697,1.05969230636
+365,6.083333333,pose2_to_pose3_retreat,0.576978456717,0.000181724287068,1.0600204031,0.547549605202,0.00885596464017,1.05969210926
+366,6.100000000,pose2_to_pose3_retreat,0.576794461413,0.000181810956058,1.06002042705,0.547365607128,0.00885604179612,1.05969213017
+367,6.116666667,pose2_to_pose3_retreat,0.576629446437,0.00018182241698,1.06002053015,0.547200593993,0.00885605950067,1.05969223309
+368,6.133333333,pose2_to_pose3_retreat,0.576482001436,0.000181752303959,1.06002041632,0.547053150737,0.00885599560134,1.05969212701
+369,6.150000000,pose2_to_pose3_retreat,0.576351376856,0.00018163732089,1.06002060243,0.546922526629,0.00885588174611,1.05969230053
+370,6.166666667,pose2_to_pose3_retreat,0.576237263239,0.000181770611043,1.06002067335,0.546808411459,0.00885600982223,1.05969237283
+371,6.183333333,pose2_to_pose3_retreat,0.576136799101,0.000181763065707,1.06002054019,0.546707947872,0.00885600443503,1.05969224735
+372,6.200000000,pose2_to_pose3_retreat,0.576048916874,0.000181598702824,1.06002040669,0.54662006673,0.00885584371424,1.05969211315
+373,6.216666667,pose2_to_pose3_retreat,0.575973077007,0.000181719453938,1.06002046508,0.546544223833,0.00885595402121,1.05969216787
+374,6.233333333,pose2_to_pose3_retreat,0.575909192878,0.000181793130627,1.06002063994,0.54648034116,0.0088560327422,1.05969234513
+375,6.250000000,pose2_to_pose3_retreat,0.575855331282,0.000181743490999,1.06002043742,0.546426478767,0.00885598035128,1.05969214124
+376,6.266666667,pose2_to_pose3_retreat,0.575810747188,0.000181870636527,1.06002048077,0.546381895231,0.0088561096238,1.0596921908
+377,6.283333333,pose2_to_pose3_retreat,0.575775113105,0.000181903782167,1.0600202524,0.546346260352,0.00885614040649,1.0596919714
+378,6.300000000,pose2_to_pose3_retreat,0.575746810687,0.000181837841765,1.06002030794,0.546317957778,0.00885607363017,1.0596920188
+379,6.316666667,pose2_to_pose3_retreat,0.575725346719,0.000181773792076,1.06002054136,0.54629649442,0.00885601109892,1.05969223778
+380,6.333333333,pose2_to_pose3_retreat,0.575708346787,0.000181824758626,1.0600204349,0.546279494616,0.0088560626742,1.05969213603
+381,6.350000000,pose2_to_pose3_retreat,0.575695472401,0.000181909157709,1.06002049969,0.546266617925,0.00885613936814,1.05969220392
+382,6.366666667,pose2_to_pose3_retreat,0.575686135025,0.000181815685756,1.06002056982,0.546257281289,0.00885604852232,1.05969227683
+383,6.383333333,pose2_to_pose3_retreat,0.575679639311,0.00018170207212,1.06002060351,0.546250787057,0.00885593999224,1.05969231174
+384,6.400000000,pose2_to_pose3_retreat,0.57567556888,0.00018172487176,1.0600205502,0.546246716637,0.00885596273378,1.0596922561
+385,6.416666667,pose2_to_pose3_retreat,0.575673263626,0.000181747074252,1.0600205674,0.54624441127,0.00885598448133,1.05969227149
+386,6.433333333,pose2_to_pose3_retreat,0.57567243244,0.000181764661335,1.06002062247,0.54624357992,0.00885600146909,1.05969232542
+387,6.450000000,pose2_to_pose3_retreat,0.57567179258,0.00018177820014,1.06002066487,0.546242939934,0.00885601454652,1.05969236693
+388,6.466666667,pose2_to_pose3_retreat,0.575671242226,0.0001817898451,1.06002070133,0.546242389471,0.00885602579465,1.05969240264
+389,6.483333333,pose2_to_pose3_retreat,0.575670837464,0.00018179840947,1.06002072815,0.54624198463,0.00885603406717,1.0596924289
+390,6.500000000,pose2_to_pose3_retreat,0.575670625182,0.000181802901155,1.06002074222,0.546241772306,0.00885603840579,1.05969244267
+391,6.516666667,pose2_to_pose3_retreat,0.575670599501,0.000181803444536,1.06002074392,0.54624174662,0.00885603893065,1.05969244433
+392,6.533333333,pose2_to_pose3_retreat,0.575670402806,0.000181807606408,1.06002075695,0.546241549886,0.00885604295069,1.0596924571
+393,6.550000000,pose2_to_pose3_retreat,0.57567011591,0.000181813676846,1.06002077596,0.546241262934,0.00885604881427,1.05969247571
+394,6.566666667,pose2_to_pose3_retreat,0.575669952282,0.000181817139064,1.0600207868,0.546241099273,0.0088560521585,1.05969248632
+395,6.583333333,pose2_to_pose3_retreat,0.575669838587,0.000181816941489,1.06002078712,0.546240985576,0.00885605194973,1.05969248649
+396,6.600000000,pose2_to_pose3_retreat,0.575669660483,0.000181805443253,1.06002075658,0.54624080756,0.00885604073818,1.05969245579
+397,6.616666667,pose2_to_pose3_retreat,0.575669528197,0.000181796902922,1.06002073389,0.546240675337,0.00885603241078,1.05969243298
+398,6.633333333,pose2_to_pose3_retreat,0.575669457637,0.000181792347626,1.06002072179,0.546240604812,0.00885602796907,1.05969242081
+399,6.650000000,pose2_to_pose3_retreat,0.575669200862,0.000181775770384,1.06002067776,0.546240348161,0.00885601180514,1.05969237654
+400,6.666666667,pose2_to_pose3_retreat,0.575668805198,0.000181750226577,1.06002060992,0.546239952689,0.00885598689822,1.05969230832
+401,6.683333333,pose2_to_pose3_retreat,0.575668459022,0.000181727877694,1.06002055056,0.546239606682,0.00885596510656,1.05969224863
+402,6.700000000,pose2_to_pose3_retreat,0.575668385163,0.000181723109406,1.06002053789,0.546239532859,0.00885596045716,1.0596922359
+403,6.716666667,pose2_to_pose3_retreat,0.575668011002,0.000181698953831,1.06002047373,0.54623915888,0.00885593690386,1.05969217138
+404,6.733333333,pose2_to_pose3_retreat,0.575667530841,0.000181708898125,1.06002049336,0.54623867879,0.00885594703679,1.05969218951
+405,6.750000000,pose2_to_pose3_retreat,0.575667029195,0.00018174267066,1.06002057209,0.546238177126,0.00885598067272,1.05969226608
+406,6.766666667,pose2_to_pose3_retreat,0.57566687577,0.000181736066662,1.060020481,0.546238023924,0.00885597473804,1.05969217275
+407,6.783333333,pose2_to_pose3_retreat,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424469,1.05969228445
diff --git a/Part2/Obstacle_avoidance/cylinder_PLA_10/position_03/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_PLA_10/position_03/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a6694786b7d7bc3b0bab0d204a5e2e030af847e5
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_PLA_10/position_03/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b1aa2b85c894d5cd286598fa97277753c047d114dddc7075665a4960078142c
+size 25938513
diff --git a/Part2/Obstacle_avoidance/cylinder_PLA_10/position_03/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_PLA_10/position_03/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f1a4bf20a47445e7b12e86722b7c62de671ddaf0
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_PLA_10/position_03/depth_03/franka_data.csv
@@ -0,0 +1,410 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,795,748,727,710,698,656,935,804,836,670,658,677,0.400977390077,-0.00536346264703,0.0698273970894,0.999999935275,0.000230263216602,-0.00027600295266,1.58752573354e-05,1793256571144925184
+1,0.016666667,BASELINE,795,748.579276354,727,710,698,656,935,804,835.420723646,670,658,677.579276354,0.400976876495,-0.00536366467631,0.0698274614633,0.999999935752,0.00022827338736,-0.00027593800978,1.56938416553e-05,1793256571161591808
+2,0.033333333,BASELINE,795,749,727,710,698.157502059,656,935,804,835,670,658,678,0.400976374885,-0.00536424997059,0.0698274544005,0.999999936132,0.000226363411219,-0.000276135617492,1.56469596127e-05,1793256571178258688
+3,0.050000000,BASELINE,795,749,727,710,698.732939964,656,935,804,835,670,658,678,0.400975905044,-0.00536585226865,0.0698272577786,0.999999936263,0.000224665326941,-0.000277029910082,1.5957066069e-05,1793256571194925312
+4,0.066666667,BASELINE,795.314006602,749,727,710,698.685993398,656,935,804,835,670,658,677.685993398,0.400976227095,-0.00536562487998,0.0698275585891,0.999999936258,0.000225316527646,-0.000276518415837,1.59661735893e-05,1793256571211592192
+5,0.083333333,BASELINE,795.899947775,749,727,710,698.100052225,656,935,804,835,670,658,677.100052225,0.400977234937,-0.00536381295421,0.0698282901838,0.999999936129,0.000228002245557,-0.000274789488409,1.57146113598e-05,1793256571228258816
+6,0.100000000,BASELINE,796,749,727,710,698,656,935,804,835,670,658,677.482728654,0.400976615743,-0.00536372461617,0.0698279418211,0.999999936147,0.000227016546686,-0.000275549811601,1.5580246876e-05,1793256571244925440
+7,0.116666667,BASELINE,796,749,727,710,698.063965122,656,935,804,835,670,658,677.936034878,0.400975784507,-0.00536399605665,0.0698274456167,0.999999936183,0.000225552639764,-0.000276624270669,1.54729002166e-05,1793256571261592064
+8,0.133333333,BASELINE,796,749,727,710,698.638074393,656,935,804,835,670,658,677.361925607,0.400975934162,-0.00536430629341,0.0698275438838,0.999999936155,0.000226304242974,-0.000276116099784,1.53885620635e-05,1793256571278258688
+9,0.150000000,BASELINE,796,749,727,710,699,656,935,804,835.212826758,670,658,677,0.400976127909,-0.0053641233923,0.0698275850866,0.99999993605,0.000227100625424,-0.000275849841508,1.52682045894e-05,1793256571294925312
+10,0.166666667,BASELINE,796,749,727,710,699,656,935,804,835.788676001,670,658,677,0.400976396864,-0.00536309933687,0.0698275289536,0.999999935813,0.00022797338856,-0.000275996218033,1.50864083106e-05,1793256571311591680
+11,0.183333333,BASELINE,796,749,727,709.625680121,698.625680121,656,935,804,835.625680121,670,658,677.374319879,0.400975660624,-0.00536339253271,0.0698272389174,0.999999935524,0.000228348091988,-0.000276725987112,1.52193218558e-05,1793256571328258304
+12,0.200000000,BASELINE,796,749,727,709.034358002,698.034358002,656,935,804,835.034358002,670,658,677.965641998,0.400974341649,-0.0053644493707,0.0698268132819,0.999999935204,0.000228434058301,-0.000277793962906,1.55346802404e-05,1793256571344925184
+13,0.216666667,BASELINE,796,749,727.545220514,709.545220514,698,656,935,804,835,670,658,677.454779486,0.400975035079,-0.00536511783923,0.0698274679563,0.999999936153,0.000226270563646,-0.000276141463426,1.55716244298e-05,1793256571361592064
+14,0.233333333,BASELINE,796,749,727.877667064,709.877667064,698.122332936,656,935,804,835.122332936,670,658,677,0.400975712542,-0.00536575886765,0.0698280528623,0.999999936958,0.000224292197607,-0.000274833790113,1.56325161478e-05,1793256571378258944
+15,0.250000000,BASELINE,796,749,727.306938292,709.306938292,698.693061708,656,935,804,835.693061708,670,658,677,0.400975876456,-0.00536638713207,0.0698281377727,0.999999936974,0.000223501020905,-0.000275405158171,1.58441365975e-05,1793256571394925312
+16,0.266666667,BASELINE,795.726532936,749,727,709.273467064,698.726532936,656,935,804,835.726532936,670,658,677.273467064,0.400975959925,-0.00536604935041,0.0698281917118,0.99999993664,0.000224564123591,-0.000275748485526,1.59161210939e-05,1793256571411591680
+17,0.283333333,BASELINE,795.134868244,749,727,709.865131756,698.134868244,656,935,804,835.134868244,670,658,677.865131756,0.40097594979,-0.00536458750806,0.0698282096135,0.999999935892,0.000227784807169,-0.000275826471893,1.58256295988e-05,1793256571428258048
+18,0.300000000,BASELINE,795.446800104,749,727,710,698.446800104,656,935,804,835,670,658,678,0.40097570068,-0.00536386000752,0.0698278545949,0.999999935746,0.000227829115758,-0.000276333690358,1.55482575018e-05,1793256571444925184
+19,0.316666667,BASELINE,796,749,727,709.974553512,698.974553512,656,935,804,835,670,658,677.974553512,0.400975471577,-0.00536335459261,0.0698274734982,0.999999935797,0.000227050116549,-0.000276807292954,1.52305484718e-05,1793256571461592064
+20,0.333333333,BASELINE,796,749,727,709.397436743,698.397436743,656,935,804,835,670,658,677.397436743,0.400977205851,-0.00536296348713,0.069828914051,0.999999936235,0.000228753664049,-0.000273804659222,1.52345474707e-05,1793256571478258688
+21,0.350000000,BASELINE,795.822208758,749,727,709,698.177791242,656,935,804,835,670,658,677,0.400978275898,-0.00536280208262,0.0698297560016,0.999999936636,0.000229152402731,-0.000272001558541,1.52537659238e-05,1793256571494925312
+22,0.366666667,BASELINE,795.251158681,749,727,709,698.748841319,656,935,804,835,670,658,677,0.400977876734,-0.00536314875684,0.0698292738959,0.99999993697,0.000226665017034,-0.00027285172154,1.53066484918e-05,1793256571511592448
+23,0.383333333,BASELINE,795,749,727,709,699,656,935,804,835,670,658,677,0.40097798658,-0.00536369267271,0.0698293326793,0.999999937425,0.000224962806059,-0.000272596871615,1.52582297389e-05,1793256571528258816
+24,0.400000000,BASELINE,795,749,727,709,699,656,935,804,835,670,658,677,0.40097849607,-0.00536439145044,0.069829816135,0.999999937976,0.000223877064959,-0.000271474434666,1.51302755226e-05,1793256571544924928
+25,0.416666667,BASELINE,795.506507655,748.493492345,727,709.506507655,698.493492345,656,934.493492345,804,835,670,658,677,0.400979076457,-0.00536441220131,0.0698303005045,0.999999937615,0.000225777713522,-0.000271222754157,1.52232584125e-05,1793256571561591808
+26,0.433333333,BASELINE,795.91487345,748.08512655,727,709.91487345,698,656,934.08512655,804,835,670,658,677,0.400979477183,-0.00536454924293,0.0698306138794,0.999999937255,0.000227366730244,-0.000271216591829,1.53525887536e-05,1793256571578258688
+27,0.450000000,BASELINE,795.338490497,748.661509503,727,709.338490497,698,656,934.661509503,804,835,670,658,677,0.400978782546,-0.00536591744619,0.0698299397067,0.99999993767,0.000224690552512,-0.000271908031848,1.55091792626e-05,1793256571594925056
+28,0.466666667,BASELINE,795,748.759134446,727,709.240865554,698.240865554,656,935,804,835,670,658,677,0.400978208842,-0.00536602655684,0.0698296031776,0.999999937691,0.000224165745939,-0.000272256979335,1.56049095652e-05,1793256571611591680
+29,0.483333333,BASELINE,795,748.175548093,727,709.824451907,698.824451907,656,935,804,835,670,658,677,0.400977807207,-0.00536434414009,0.0698297470722,0.999999937157,0.000226702064828,-0.000272118603826,1.56140435884e-05,1793256571628258560
+30,0.500000000,BASELINE,795,748,727,709.593839818,698.593839818,656,935,804,835,670,658,677,0.400977383022,-0.00536397122692,0.069829677026,0.999999936672,0.000228019597913,-0.000272808096446,1.54333059977e-05,1793256571644925440
+31,0.516666667,BASELINE,795,748,727,709.012939553,698.012939553,656,935,804,835,670,658,677,0.400976949135,-0.00536416169439,0.0698295149371,0.999999936209,0.000228812779357,-0.000273853758267,1.51708809769e-05,1793256571661592064
+32,0.533333333,BASELINE,795,748.565785454,727,709,698,656,934.434214546,804,835,670,658,677,0.400976699501,-0.00536568500702,0.0698293492091,0.999999936954,0.000226200000337,-0.000273287119954,1.5470618306e-05,1793256571678258432
+33,0.550000000,BASELINE,795,749,727,709.14349937,698.14349937,656,934.14349937,804,835.14349937,670,658,677,0.400976825803,-0.00536637280697,0.0698293782481,0.999999937471,0.000224559190449,-0.000272736623108,1.56802868943e-05,1793256571694925312
+34,0.566666667,BASELINE,795,749,727,709.718323046,698.718323046,656,934.718323046,804,835.718323046,670,658,677,0.400978069459,-0.00536445798681,0.0698299929589,0.999999937238,0.00022607311997,-0.000272345051777,1.55807345388e-05,1793256571711591680
+35,0.583333333,BASELINE,795,749,727,710,699,656,935,804,836,669.700277306,658,677,0.400979561341,-0.00536352937171,0.0698309924336,0.999999937446,0.000227552652262,-0.000270343841209,1.55739098149e-05,1793256571728258048
+36,0.600000000,BASELINE,795,749,727,710,699,656,935,804,836,669.112558908,658,677,0.400981291736,-0.00536354837508,0.0698323616178,0.999999938067,0.000228999133329,-0.000266795970321,1.56561846366e-05,1793256571744924672
+37,0.616666667,BASELINE,795,749,727,710,699,656,935,804,835.531626108,669.468373892,658,677,0.40097890177,-0.00536393456191,0.0698314935283,0.999999937684,0.00022729695548,-0.000269671667985,1.56390563904e-05,1793256571761591552
+38,0.633333333,BASELINE,795,748.952576332,727,710,699,656,935,804,835,670,658,677,0.400975945554,-0.00536445054329,0.069830211028,0.999999937106,0.000225161094887,-0.000273580175914,1.56132414642e-05,1793256571778258432
+39,0.650000000,BASELINE,795,748.376597895,727,710,699,656,935,804,835,670,658,677,0.400977556803,-0.00536544369995,0.0698302165908,0.999999937221,0.000226504734349,-0.000272040302361,1.57530532409e-05,1793256571794925312
+40,0.666666667,BASELINE,795,748.199056816,727,710,699,656.199056816,935,804,835,670,658,677,0.400978172299,-0.00536522581586,0.0698300292611,0.999999936994,0.000228267412175,-0.000271398983314,1.57773558591e-05,1793256571811591936
+41,0.683333333,BASELINE,795,748.774100027,727,710,699,656.774100027,935,804,835,670,658,677,0.400976906978,-0.00536272046999,0.0698294775885,0.999999936123,0.000230821586166,-0.000272454889677,1.55834801982e-05,1793256571828258560
+42,0.700000000,BASELINE,795,749,727,709.641615538,699,656.641615538,935,804,835,670,658,677,0.400977221939,-0.00536295808577,0.0698296200207,0.999999936586,0.000229169078448,-0.000272161811751,1.54290837484e-05,1793256571844924928
+43,0.716666667,BASELINE,795,749,727,709.05135194,699,656.05135194,935,804,835,670,658,677,0.400978559361,-0.00536497043144,0.0698302115471,0.999999937897,0.000224794796057,-0.000270995924428,1.5300230839e-05,1793256571861591552
+44,0.733333333,BASELINE,795.530213675,749,727,709.530213675,698.469786325,656,935,804,835,670,658,677,0.400978058952,-0.00536474857465,0.0698299815927,0.999999937683,0.000225945787327,-0.000270846067607,1.5020060595e-05,1793256571878258176
+45,0.750000000,BASELINE,795.890517942,749,727,710,698,656,935,804,835,670,658,677,0.40097752389,-0.00536433284605,0.0698297413158,0.99999993744,0.000226917434299,-0.000270940439192,1.48021111887e-05,1793256571894924800
+46,0.766666667,BASELINE,795.317467292,749,727,710,698,656,935,804,835,670,658,677,0.400977583609,-0.00536399765793,0.0698297887739,0.999999937699,0.000224900424271,-0.000271658984998,1.490866902e-05,1793256571911591424
+47,0.783333333,BASELINE,795.262015333,748.737984667,727.262015333,709.737984667,698.262015333,656,935,804,835,670,658,677,0.400977727606,-0.0053641951871,0.0698299950986,0.999999937949,0.000223737208191,-0.000271692388323,1.50854980187e-05,1793256571928258304
+48,0.800000000,BASELINE,795.849487375,748.150512625,727.849487375,709.150512625,698.849487375,656,935,804,835,670,658,677,0.400977976288,-0.00536505441955,0.0698303987561,0.999999938189,0.000223634513625,-0.000270874756759,1.53496128506e-05,1793256571944925440
+49,0.816666667,BASELINE,795.568920181,748.431079819,727.568920181,709,698.568920181,656,935,804,835,670,658,677,0.400977386651,-0.00536474412775,0.0698297253316,0.999999937286,0.000226248750745,-0.000272030308579,1.54540424595e-05,1793256571961592064
+50,0.833333333,BASELINE,795,749,727,709.010634328,698.010634328,656,935,804,835,670,658,677.010634328,0.400976530203,-0.00536405658919,0.0698287145334,0.999999936011,0.000229703437228,-0.000273812656986,1.54952313591e-05,1793256571978258688
+51,0.850000000,BASELINE,795,749,727,709.589513175,698.589513175,656,935,804,835,670,658,677.589513175,0.400976846779,-0.00536473704073,0.0698295008439,0.999999936679,0.000228059914312,-0.000272769626431,1.50963079469e-05,1793256571994925056
+52,0.866666667,BASELINE,795.166886929,749,727,709.833113071,699,656,935,804.166886929,835,670,658,677.833113071,0.400976846792,-0.00536531604615,0.0698298897145,0.999999937211,0.000226512019486,-0.000272117885934,1.48789153858e-05,1793256572011591680
+53,0.883333333,BASELINE,795.740591709,749,727,709.259408291,699,656,935,804.740591709,835,670,658,677.259408291,0.400976075122,-0.0053656477578,0.0698293097516,0.999999937423,0.00022519723597,-0.00027241998761,1.5104037975e-05,1793256572028258560
+54,0.900000000,BASELINE,795.685233662,749,727,709.314766338,698.685233662,656,935,804.685233662,835,670,658,677,0.400976758325,-0.00536558785809,0.0698298391188,0.999999937662,0.000225210543559,-0.000271521714014,1.52150834579e-05,1793256572044925184
+55,0.916666667,BASELINE,795.110671264,749,727,709.889328736,698.110671264,656,935,804.110671264,835,670,658,677,0.400978642323,-0.00536520473736,0.0698312840845,0.999999937923,0.000226320006658,-0.000269632696708,1.5231974063e-05,1793256572061591808
+56,0.933333333,BASELINE,795.478099823,749,727,710,698.478099823,656,935,804,835,670,658,677,0.400978834795,-0.00536504880549,0.0698313339104,0.999999937828,0.000227236952921,-0.000269191464462,1.55806751933e-05,1793256572078258176
+57,0.950000000,BASELINE,795.931441181,748.931441181,727,710,699,656,935,804,835.068558819,670,658,677.068558819,0.400978451511,-0.00536489144027,0.0698309236493,0.99999993761,0.000227875879366,-0.000269443990165,1.5893645442e-05,1793256572094925056
+58,0.966666667,BASELINE,795.353624175,748.353624175,727,710,699,656,935,804,835.646375825,670,658,677.646375825,0.400976789069,-0.00536432082187,0.0698295681979,0.999999937096,0.000226790824018,-0.000272284132154,1.53531961858e-05,1793256572111591680
+59,0.983333333,BASELINE,795,748.223890124,727,710,699,656,935,804,835.776109876,670,658,677.776109876,0.400976640913,-0.00536384113752,0.069829486523,0.999999936992,0.000226619545282,-0.000272817272886,1.5144524438e-05,1793256572128258304
+60,1.000000000,BASELINE,795,748.800927044,727,710,699,656,935,804,835.199072956,670,658,677.199072956,0.400978881275,-0.00536350488534,0.0698314140032,0.999999937542,0.000227889586237,-0.000269711530459,1.54591725356e-05,1793256572144924928
+61,1.016666667,BASELINE,795.386873132,749,727,710,699,656,935,804,835,670,658,677,0.40097904728,-0.0053645203744,0.0698313542941,0.999999937581,0.000228046290309,-0.000269425576073,1.55879512125e-05,1793256572161591808
+62,1.033333333,BASELINE,795.977511627,749,727,710,699,656,935,804,835,670,658,677,0.400978120724,-0.00536624782308,0.0698302479361,0.999999937354,0.000227616601829,-0.00027062479902,1.56188327906e-05,1793256572178258432
+63,1.050000000,BASELINE,796,749,727,710,699,656,935,804,835,670,658,677,0.400978835165,-0.00536669503145,0.069830901611,0.999999937956,0.000226110382443,-0.000269677384049,1.53708423655e-05,1793256572194925056
+64,1.066666667,BASELINE,796,749,727,709.866351731,699,656,935,804,835,670,658,677,0.400979351475,-0.00536669468403,0.0698314235013,0.999999938388,0.000224949665322,-0.000269057591818,1.51670894324e-05,1793256572211591680
+65,1.083333333,BASELINE,796,749,727,709.293882459,699,656,935,804,835,670,658,677,0.400979003971,-0.00536539121451,0.0698312839508,0.999999938165,0.000225063280076,-0.000269792499844,1.51448289659e-05,1793256572228258816
+66,1.100000000,BASELINE,795.71289176,749,727,709,699,656,935,804,835.28710824,670,658,677,0.400978095388,-0.00536438874086,0.0698309972254,0.999999937677,0.000226220509038,-0.000270627637262,1.52190383762e-05,1793256572244925184
+67,1.116666667,BASELINE,795.122911807,749,727,709,699,656,935,804,835.877088193,670,658,677,0.400976594918,-0.00536370378913,0.0698305552446,0.999999936906,0.000228478651098,-0.000271568507048,1.53950142747e-05,1793256572261591808
+68,1.133333333,BASELINE,795.458686898,749,727,709.458686898,699,656,935,804,836,670,658,677,0.400977923161,-0.00536430226411,0.0698309656372,0.999999937497,0.000227468271319,-0.000270248047436,1.51606392495e-05,1793256572278258432
+69,1.150000000,BASELINE,795.962173513,748.962173513,727,710,699,656,935,804,835.962173513,670,658,677,0.400979798339,-0.00536523074919,0.069831513557,0.999999938361,0.000225677615382,-0.000268563718813,1.48536532673e-05,1793256572294925056
+70,1.166666667,BASELINE,795.386638657,748.386638657,727,710,699,656,935,804,835.386638657,670,658,677,0.400978866631,-0.00536604933051,0.0698308278886,0.999999938074,0.000225022112431,-0.000270166121846,1.50495330912e-05,1793256572311591680
+71,1.183333333,BASELINE,795.188688896,748.188688896,727,710,698.811311104,656,935,804,835,670,658,677,0.400977570555,-0.00536632558581,0.0698301582722,0.999999937684,0.000224869518613,-0.000271725154623,1.51871863102e-05,1793256572328258304
+72,1.200000000,BASELINE,795.763592241,748.763592241,727,710,698.236407759,656,935,804,835,670,658,677,0.400975528683,-0.00536549179108,0.0698295215111,0.999999937086,0.000225746295123,-0.000273195416067,1.52056594943e-05,1793256572344925184
+73,1.216666667,BASELINE,796,748.652550252,727,709.652550252,698.347449748,656,935,804,835.347449748,670,658,677.347449748,0.400975793363,-0.00536526871347,0.0698295881841,0.999999937181,0.000225658691669,-0.000272917839724,1.52141749015e-05,1793256572361591808
+74,1.233333333,BASELINE,796,748.062439129,727,709.062439129,698.937560871,656,935,804,835.937560871,670,658,677.937560871,0.400977668955,-0.00536547216509,0.0698301461406,0.99999993776,0.000224897558335,-0.00027141956095,1.52157357255e-05,1793256572378258432
+75,1.250000000,BASELINE,795.48212419,748.51787581,727,709.51787581,698.48212419,656,935,804,835.48212419,670,658,677.48212419,0.400977539684,-0.00536528573403,0.0698303838992,0.999999937652,0.00022535822722,-0.000271436632696,1.52092584312e-05,1793256572394925056
+76,1.266666667,BASELINE,795,749,727,710,698.096483373,656,935,804.096483373,835,670,658,677,0.400977599883,-0.00536497203501,0.0698307838674,0.999999937561,0.000226095956196,-0.000271161275088,1.52031499426e-05,1793256572411591424
+77,1.283333333,BASELINE,795,749,727,710,698.672367063,656,935,804.672367063,835,670,658,677,0.400979780266,-0.00536425520587,0.0698321780719,0.999999937951,0.00022749196764,-0.000268541966766,1.52035999445e-05,1793256572428258048
+78,1.300000000,BASELINE,795,748.74739995,727,709.74739995,699,656,935,804.74739995,835,670,658,677,0.400980477124,-0.00536465750851,0.0698326760851,0.999999938396,0.000226604421236,-0.000267629767778,1.5261216248e-05,1793256572444924928
+79,1.316666667,BASELINE,795,748.161426955,727,709.161426955,699,656,935,804.161426955,835,670,658,677,0.400979216078,-0.0053665368032,0.0698319913354,0.999999938911,0.000222703112827,-0.000268970553773,1.53942786896e-05,1793256572461591808
+80,1.333333333,BASELINE,795,748,727,709.419714657,699,656,935,804,835,670,658,677,0.400978379668,-0.00536556543255,0.0698310915613,0.99999993838,0.000223617321563,-0.000270196863799,1.51575727289e-05,1793256572478258432
+81,1.350000000,BASELINE,795,748,727,709.99901926,699,656,935,804,835,670,658,677,0.400977704718,-0.00536351014106,0.0698301100274,0.999999937447,0.000226362555186,-0.000271379646235,1.47802681172e-05,1793256572494925056
+82,1.366666667,BASELINE,795,748.578232838,727,709.421767162,699,656,935,804,835.578232838,670,658,677.578232838,0.400977992127,-0.00536328140236,0.0698303805202,0.99999993751,0.000225973115855,-0.000271478302418,1.46574148992e-05,1793256572511591936
+83,1.383333333,BASELINE,795.156058899,749,727,709.156058899,699,656,935,804,835.843941101,670,658,677.843941101,0.400977799689,-0.00536363972447,0.0698304413237,0.999999937502,0.000225646853075,-0.000271779716957,1.47059920411e-05,1793256572528258816
+84,1.400000000,BASELINE,795.73016862,749,727,709.73016862,699,656,935,804,835.26983138,670,658,677.26983138,0.400976317467,-0.00536556236832,0.0698299347241,0.999999937295,0.000225504067832,-0.000272629205879,1.52126411514e-05,1793256572544925440
+85,1.416666667,BASELINE,796,749,727,709.688450939,698.688450939,656,935,804,835.311549061,670,658,677.311549061,0.40097568364,-0.00536616576386,0.06982973658,0.999999937186,0.000225702429341,-0.000272854585246,1.53681383903e-05,1793256572561592064
+86,1.433333333,BASELINE,796,749,727,709.100622923,698.100622923,656,935,804,835.899377077,670,658,677.899377077,0.400975802164,-0.00536559926153,0.0698298119717,0.999999937165,0.000226203316785,-0.000272526509724,1.52122372214e-05,1793256572578258688
+87,1.450000000,BASELINE,796,749,727,709.479780144,698.479780144,656,935,804,835.520219856,670,658,677.520219856,0.400976145216,-0.00536522412386,0.0698296974192,0.999999937137,0.000226404579578,-0.000272475270395,1.49761296455e-05,1793256572594924800
+88,1.466666667,BASELINE,795.941545265,748.941545265,727,710,698.941545265,656,935,804,835,670,658,677,0.400976431182,-0.00536493818102,0.0698295454987,0.999999937129,0.000226377210731,-0.000272538647067,1.47628388339e-05,1793256572611591424
+89,1.483333333,BASELINE,795.364600225,748.364600225,727,710,698.364600225,656,935,804,835,670,658,677,0.400975799481,-0.00536509282719,0.0698294100883,0.999999937311,0.000224870779559,-0.000273111520172,1.4898863028e-05,1793256572628258048
+90,1.500000000,BASELINE,795.211513711,748.211513711,727.211513711,710,698.211513711,656,935,804.211513711,835.211513711,670,658,677.211513711,0.400976062514,-0.00536506910295,0.0698298206977,0.999999937463,0.000224721060727,-0.000272667224633,1.50766265255e-05,1793256572644924928
+91,1.516666667,BASELINE,795.786200564,748.786200564,727.786200564,710,698.786200564,656,935,804.786200564,835.786200564,670,658,677.786200564,0.400977861823,-0.00536473911322,0.0698311688334,0.999999937562,0.000226900843443,-0.000270476430748,1.53260572029e-05,1793256572661592064
+92,1.533333333,BASELINE,796,749,727.629488606,710,699,656,935,804.629488606,835.629488606,670,658,677.629488606,0.40097782849,-0.00536396057565,0.0698312019118,0.999999937371,0.000228177313437,-0.000270116659464,1.51369292421e-05,1793256572678258688
+93,1.550000000,BASELINE,796,749,727.039476218,710,699,656,935,804.039476218,835.039476218,670,658,677.039476218,0.400976709449,-0.00536291630615,0.0698304559147,0.999999937013,0.000228918636693,-0.000270841635401,1.46879872781e-05,1793256572694925312
+94,1.566666667,BASELINE,795.458039141,749,727,710,699,656,935,804,835.541960859,670,658,677,0.400978557394,-0.00536366284653,0.0698317774642,0.999999938137,0.000225980045536,-0.000269160306503,1.45492559491e-05,1793256572711591936
+95,1.583333333,BASELINE,795,748.878848877,727,710,698.878848877,656,934.878848877,804,835.878848877,670,658,677,0.400979510315,-0.00536478259965,0.0698325461413,0.999999938968,0.000223161034127,-0.000268421857904,1.45651413084e-05,1793256572728258560
+96,1.600000000,BASELINE,795,748.305746284,727,710,698.305746284,656,934.305746284,804,835.305746284,670,658,677,0.40097633072,-0.00536681558366,0.0698306992847,0.999999938345,0.000221772466307,-0.000271844474065,1.50748411411e-05,1793256572744925184
+97,1.616666667,BASELINE,795,748,727.268190803,710,698.268190803,656,934.268190803,804,835,670,658,677,0.400974972851,-0.00536719368766,0.0698296671473,0.999999937644,0.000222877502908,-0.000273502756803,1.52891140269e-05,1793256572761591808
+98,1.633333333,BASELINE,795,748,727.843082175,710,698.843082175,656,934.843082175,804,835,670,658,677,0.400975698292,-0.00536567928576,0.0698295667154,0.999999936854,0.000226834202992,-0.000273143363634,1.51655393048e-05,1793256572778258432
+99,1.650000000,BASELINE,795.432402725,748.432402725,727.567597275,709.567597275,698.567597275,656,935,804,835,670,658,677,0.400977092614,-0.00536603442434,0.0698310509219,0.999999937384,0.000227020786036,-0.000271029124599,1.54197409822e-05,1793256572794925568
+100,1.666666667,BASELINE,795.973613425,749,727,709.026386575,698.026386575,656,935,804,835,670,658,677.026386575,0.400978711747,-0.00536701196745,0.0698330252117,0.999999938373,0.000225832897313,-0.000268337671052,1.57771662354e-05,1793256572811592448
+101,1.683333333,BASELINE,795.395393381,749,727,709.604606619,698.604606619,656,935,804,835,670,658,677.604606619,0.400979780791,-0.00536632755973,0.0698328071498,0.999999938718,0.000225500897692,-0.000267352729139,1.53272662938e-05,1793256572828258816
+102,1.700000000,BASELINE,795.180639304,749,727,709.819360696,698.819360696,656,935,804,835.180639304,670,658,677.819360696,0.400980384162,-0.00536559138371,0.0698326008001,0.999999938863,0.000225362458367,-0.00026694745465,1.50177247697e-05,1793256572844925184
+103,1.716666667,BASELINE,795.751941384,749,727,709.248058616,698.248058616,656,935,804,835.751941384,670,658,677.248058616,0.400979980438,-0.00536474325018,0.06983241978,0.999999938573,0.000225642625678,-0.000267795808268,1.501173191e-05,1793256572861591808
+104,1.733333333,BASELINE,796,749,727,709.334978621,698.334978621,656,935,804,835.665021379,670,658,677,0.400979903169,-0.00536463024762,0.0698326182771,0.999999938334,0.000226417582509,-0.000268024792743,1.5157627499e-05,1793256572878258432
+105,1.750000000,BASELINE,796,749,727,709.927021536,698.927021536,656,935,804,835.072978464,670,658,677,0.400980076423,-0.00536508138821,0.0698331080177,0.999999938134,0.000227572243361,-0.000267778470284,1.54200830541e-05,1793256572894925056
+106,1.766666667,BASELINE,795.492571586,749,727,710,699,656,935,804,835,670,658,677,0.400978833752,-0.00536580751505,0.0698325617212,0.999999938211,0.00022662526994,-0.000268290951935,1.54361781588e-05,1793256572911591936
+107,1.783333333,POSE1_TO_POSE2_PRESS,795,749,727,709,699,656,935,804,835,670,658,677,0.400979378398,-0.00536460346759,0.069832290977,0.999999938727,0.000225001864988,-0.000267776277054,1.47022512426e-05,1793256572954846464
+108,1.800000000,POSE1_TO_POSE2_PRESS,795.588686136,748.411313864,727,709.588686136,699,656,935,804,835,670,658,677,0.400978451428,-0.00536461811419,0.0698318858107,0.999999938534,0.000224257196707,-0.000269109768821,1.48329522407e-05,1793256572971513088
+109,1.816666667,POSE1_TO_POSE2_PRESS,795.825386887,748.174613113,727,709.825386887,698.825386887,656,935,804,835,670,658,677,0.400977620754,-0.0053650437514,0.0698315274995,0.99999993821,0.000224062484349,-0.000270461621643,1.50222834808e-05,1793256572988179200
+110,1.833333333,POSE1_TO_POSE2_PRESS,795.245858087,748.754141913,727,709.245858087,698.245858087,656,935,804,835,670,658,677,0.400977013386,-0.00536642244728,0.0698312778417,0.999999937585,0.000225143081442,-0.000271856052745,1.53475742075e-05,1793256573004844800
+111,1.850000000,POSE1_TO_POSE2_PRESS,795,749,727,709,698.332558637,656,935,804,835,670,658,677,0.400977135924,-0.00536641966809,0.069831111162,0.999999937388,0.000226146086476,-0.000271746009085,1.53858976963e-05,1793256573021511168
+112,1.866666667,POSE1_TO_POSE2_PRESS,795,749,727,709,698.910155918,656,935,804,835,670,658,677,0.400977796277,-0.00536539897879,0.069831005623,0.999999937506,0.000227091919415,-0.000270527425625,1.52127755585e-05,1793256573038177792
+113,1.883333333,POSE1_TO_POSE2_PRESS,795.485282754,748.514717246,727,709,699,656,935,804,835,670,658,677.485282754,0.400978217473,-0.00536521750981,0.0698312885317,0.999999937633,0.000227244788599,-0.000269928083526,1.52435188537e-05,1793256573054844416
+114,1.900000000,POSE1_TO_POSE2_PRESS,795.938594699,748.061405301,727.061405301,709.061405301,699,656,935,804.061405301,835,670,658,678,0.400978707232,-0.00536516378465,0.0698317861428,0.999999937816,0.000227113079788,-0.000269357269864,1.52890670933e-05,1793256573071511040
+115,1.916666667,POSE1_TO_POSE2_PRESS,795.350017119,748.649982881,727.649982881,709.649982881,699,656,935,804.649982881,835,670,658,678,0.400980163803,-0.00536487963068,0.0698335127176,0.999999938468,0.000225792209347,-0.000268052120962,1.51393290778e-05,1793256573088177664
+116,1.933333333,POSE1_TO_POSE2_PRESS,795.234788987,749,728,710,699,656,935,804.765211013,835,670,658,678,0.400984691402,-0.00536480605804,0.0698356890344,0.99999993944,0.000225390050553,-0.000264746841604,1.51254272327e-05,1793256573104844288
+117,1.950000000,POSE1_TO_POSE2_PRESS,795.814061516,749,728,710,699,656,935,804.185938484,835,670,658,678,0.400993724826,-0.00536504145136,0.0698385252145,0.999999940856,0.000226335830055,-0.000258506961241,1.53108248887e-05,1793256573121510912
+118,1.966666667,POSE1_TO_POSE2_PRESS,795.608492955,749,727.608492955,710,699,656,935,804,835,670,658,677.608492955,0.401021716812,-0.00536654245382,0.0698509556292,0.999999946246,0.000225144429196,-0.000237839888061,1.58401266306e-05,1793256573138178048
+119,1.983333333,POSE1_TO_POSE2_PRESS,795.031911041,749,727.031911041,710,699,656,935,804,835,670,658,677.031911041,0.40105867097,-0.00536864174043,0.0698679214713,0.999999952887,0.000222942731329,-0.000210352730496,1.65320001748e-05,1793256573154845440
+120,2.000000000,POSE1_TO_POSE2_PRESS,795,748.457683961,727,710,699,656,935,804,835.542316039,670,658,677,0.401113414294,-0.00536883757286,0.069886061153,0.999999957979,0.000224381879724,-0.000182773288321,1.70016080917e-05,1793256573171511552
+121,2.016666667,POSE1_TO_POSE2_PRESS,795,748.119737036,727,710,699,656,935,804,835.880262964,670,658,677,0.401172173232,-0.00536941988251,0.0699032544303,0.999999962028,0.000225361359187,-0.000157655485161,1.73705018459e-05,1793256573188177664
+122,2.033333333,POSE1_TO_POSE2_PRESS,795,748.710258563,727,710,699,656,935,804,835.289741437,670,658,677,0.40124262301,-0.00537196022416,0.0699164562194,0.999999964713,0.000223694811522,-0.000142237654531,1.73946061324e-05,1793256573204844288
+123,2.050000000,POSE1_TO_POSE2_PRESS,795,748.70466808,727,709.70466808,699,656,935,804,835,670,658,677,0.40132203527,-0.00537446830629,0.0699245479858,0.999999966896,0.000221090236656,-0.000130578484285,1.66254874814e-05,1793256573221511168
+124,2.066666667,POSE1_TO_POSE2_PRESS,795,748.124842982,727,709.124842982,699,656,935,804,835,670,658,677,0.401410081083,-0.00537694531268,0.0699277172675,0.999999968707,0.000217582060502,-0.000122540031777,1.50922573346e-05,1793256573238177792
+125,2.083333333,POSE1_TO_POSE2_PRESS,795,748.450581146,727,709,699,656,935,804,835,670,658,677.450581146,0.401511610529,-0.00537819465776,0.0699273415783,0.999999969085,0.000215181667485,-0.000123973767772,1.2561899825e-05,1793256573254844160
+126,2.100000000,POSE1_TO_POSE2_PRESS,795.024882657,749,727,709.024882657,698.975117343,656,935,804,835,670,658,677.975117343,0.401618038578,-0.00537916495648,0.0699260562922,0.999999969071,0.000213112369841,-0.000127854598275,9.74764267259e-06,1793256573271511040
+127,2.116666667,POSE1_TO_POSE2_PRESS,795.601066932,749,727,709.601066932,698.398933068,656,935,804,835,670,658,677.398933068,0.401751027705,-0.00538141615942,0.0699261693005,0.999999969342,0.000211644158605,-0.000128367965362,6.70524586191e-06,1793256573288177664
+128,2.133333333,POSE1_TO_POSE2_PRESS,796,748.817640765,727.182359235,710,698,656,935,804,835,670,658,677.182359235,0.401893575796,-0.00538349690085,0.0699271170886,0.999999969955,0.000209239276454,-0.000127663414741,3.37197073602e-06,1793256573304844288
+129,2.150000000,POSE1_TO_POSE2_PRESS,796,748.224852082,727.775147918,710,698,656,935,804,835,670,658,677.775147918,0.40205763789,-0.00538519399031,0.069929943686,0.999999971328,0.000204726262568,-0.000124217739955,-6.15973462924e-07,1793256573321510912
+130,2.166666667,POSE1_TO_POSE2_PRESS,796,748,727.642245772,710,698.357754228,656,935,804,835,670,658,677.642245772,0.402246186146,-0.00538857139854,0.0699329007586,0.999999973474,0.000197875940627,-0.000117786373307,-4.86557514603e-06,1793256573338177536
+131,2.183333333,POSE1_TO_POSE2_PRESS,796,748,727.065862021,710,698.934137979,656,935,804,835,670,658,677.065862021,0.402449698317,-0.00539297567751,0.069935937567,0.999999975985,0.00018959725064,-0.000109530400665,-9.27508042785e-06,1793256573354844160
+132,2.200000000,POSE1_TO_POSE2_PRESS,795.490349733,748.509650267,727.509650267,710,698.490349733,656,935,804,835.509650267,670,658,677,0.402687388035,-0.00539630460683,0.0699382864295,0.99999997777,0.000182643542302,-0.000104383503293,-1.43442584329e-05,1793256573371511040
+133,2.216666667,POSE1_TO_POSE2_PRESS,795.087074153,748.912925847,727.912925847,710,698.087074153,656,935,804,836,670,658,677,0.402934071964,-0.00539972006634,0.0699409081685,0.999999979472,0.00017574466019,-9.89464465576e-05,-1.94701923264e-05,1793256573388177920
+134,2.233333333,POSE1_TO_POSE2_PRESS,795.676167637,748.323832363,727.323832363,710,698.676167637,656,935,804,836,670,658,677,0.403207190417,-0.00540443424762,0.0699456148461,0.999999981553,0.000168176359881,-8.95239884846e-05,-2.44326901663e-05,1793256573404844544
+135,2.250000000,POSE1_TO_POSE2_PRESS,796,748,727,710,699,656,935,804,835.739013081,669.739013081,658,677.260986919,0.40350338262,-0.00540958343164,0.0699531493377,0.999999983672,0.000161250424546,-7.60203554828e-05,-2.95872630139e-05,1793256573421510912
+136,2.266666667,POSE1_TO_POSE2_PRESS,796,748,727,710,699,656,935,804,835.159411803,669.159411803,658,677.840588197,0.403827743376,-0.00541526366925,0.0699641360408,0.999999985704,0.000155108692563,-5.75344008028e-05,-3.49763218528e-05,1793256573438177536
+137,2.283333333,POSE1_TO_POSE2_PRESS,795.583265462,748,727,710,699,656,935,804,835.416734538,669.416734538,658,678,0.404176194374,-0.00542264087482,0.069970580051,0.999999995297,7.33107423577e-05,-4.91254700363e-05,-4.02152337498e-05,1793256573454844416
+138,2.300000000,POSE1_TO_POSE2_PRESS,795.008429872,748,727,710,699,656,935,804,835.991570128,669.991570128,658,678,0.404533784738,-0.00543066187721,0.0699753006508,0.999999997286,-3.71897198096e-05,-4.45395678671e-05,-4.53971822469e-05,1793256573471511040
+139,2.316666667,POSE1_TO_POSE2_PRESS,795,748,727,709.432759315,699,656,935,804,835.432759315,670,658,677.432759315,0.404938868307,-0.00543244105263,0.0699781871226,0.9999999981,3.70140648371e-05,-3.85128776064e-05,-3.07803509202e-05,1793256573488177664
+140,2.333333333,POSE1_TO_POSE2_PRESS,795.146573708,748,727.146573708,709,699,656,935,804,835.146573708,670,658,677,0.40534949565,-0.00543392029664,0.0699803623149,0.99999999469,9.47469582961e-05,-3.43012754584e-05,-2.16174714537e-05,1793256573504844288
+141,2.350000000,POSE1_TO_POSE2_PRESS,795.736958599,748,727.736958599,709,699,656,935,804,835.736958599,670,658,677,0.405774768673,-0.0054347726621,0.0699804664748,0.999999994474,9.42839310303e-05,-3.56505169217e-05,-2.98608643088e-05,1793256573521510912
+142,2.366666667,POSE1_TO_POSE2_PRESS,795.680536585,748.319463415,728,709.319463415,699,656,935,804,835.680536585,670,658,677,0.406215823827,-0.00544219459741,0.0699738354717,0.999999994799,8.27787586587e-05,-4.80345291433e-05,-3.52590624886e-05,1793256573538178304
+143,2.383333333,POSE1_TO_POSE2_PRESS,795.104363848,748.895636152,728,709.895636152,699,656,935,804,835.104363848,670,658,677,0.40666956098,-0.00545489560307,0.0699617923337,0.999999994917,6.24005151615e-05,-6.9285686742e-05,-3.83709653357e-05,1793256573554845952
+144,2.400000000,POSE1_TO_POSE2_PRESS,795.473125573,749,727.526874427,709.526874427,698.526874427,656,935,804,835,670,658,677.473125573,0.407175913178,-0.00547298612331,0.0699467668014,0.999999994972,2.96383995426e-05,-8.80536757171e-05,-3.77448463915e-05,1793256573571512064
+145,2.416666667,POSE1_TO_POSE2_PRESS,795.94824193,748.94824193,727,709.05175807,698.05175807,656,935,804,835.05175807,670,658,677.94824193,0.407700810537,-0.00549274955927,0.0699337615941,0.999999994127,-4.22942735551e-06,-0.000102038001691,-3.62914763732e-05,1793256573588177920
+146,2.433333333,POSE1_TO_POSE2_PRESS,795.360792707,748.360792707,727,709.639207293,698.639207293,656,935,804,835.639207293,670,658,677.360792707,0.408297192389,-0.00551748881106,0.0699484944209,0.999999996563,-2.11897347368e-05,-7.21968287992e-05,-3.4833936307e-05,1793256573604844544
+147,2.450000000,POSE1_TO_POSE2_PRESS,795,748,727.223379485,709.776620515,699,656,935,804,835.776620515,670,658,677,0.40890630796,-0.00553164472171,0.0699608872342,0.999999997793,-3.50050995214e-05,-4.44694720603e-05,-3.47917134519e-05,1793256573621511168
+148,2.466666667,POSE1_TO_POSE2_PRESS,795,748,727.802335253,709.197664747,699,656,935,804,835.197664747,670,658,677,0.409535693074,-0.00552895402971,0.0699695552048,0.999999998153,-4.38143321746e-05,-2.0106897479e-05,-3.70023978364e-05,1793256573638177792
+149,2.483333333,POSE1_TO_POSE2_PRESS,795,748,727.620013276,709.379986724,699,656,935,804.379986724,835.379986724,670,658,677,0.410158713557,-0.0055340675284,0.0699668285913,0.999999997834,-4.77279974412e-05,-2.41914080205e-05,-3.83158221486e-05,1793256573654844416
+150,2.500000000,POSE1_TO_POSE2_PRESS,795,748,727.043037983,709.956962017,699,656,935,804.956962017,835.956962017,670,658,677,0.410778434537,-0.00554322679054,0.0699581949215,0.999999997102,-4.91037558207e-05,-4.30231466873e-05,-3.91640986162e-05,1793256573671511296
+151,2.516666667,POSE1_TO_POSE2_PRESS,795,748,727.532885609,709.467114391,699,656,935,804.467114391,836,670,658,677,0.411472074197,-0.0055536498101,0.0699651881986,0.999999996205,-7.06505406853e-05,-3.19923215324e-05,-3.96891756914e-05,1793256573688177920
+152,2.533333333,POSE1_TO_POSE2_PRESS,795,748,727.888871342,709.111128658,699,656,935,804,836,670,658,677.111128658,0.41218490087,-0.00556268775656,0.0699787346433,0.999999995166,-8.92614443423e-05,-1.06537459816e-05,-3.9844867731e-05,1793256573704844800
+153,2.550000000,POSE1_TO_POSE2_PRESS,795,748,727.30029913,709.69970087,699,656,935,804,836,670,658,677.69970087,0.412954562435,-0.00556533734753,0.0700150238722,0.999999994366,-8.82735669642e-05,4.46286253547e-05,-3.85254910194e-05,1793256573721511168
+154,2.566666667,POSE1_TO_POSE2_PRESS,795,748,727.283739051,710,698.716260949,656,935,804,836,670,658,678,0.413721354291,-0.00555016975738,0.070036713379,0.999999993825,-6.97846773456e-05,7.73868233234e-05,-3.86112975525e-05,1793256573738177792
+155,2.583333333,POSE1_TO_POSE2_PRESS,795,748,727.863054125,710,698.136945875,656,935,804,836,670,658,678,0.414485156812,-0.00551644169271,0.0700431940995,0.99999999489,-3.30646716496e-05,8.66811956406e-05,-4.01609083827e-05,1793256573754844416
+156,2.600000000,POSE1_TO_POSE2_PRESS,795,747.560967463,727.560967463,710,698,656,935,804,835.560967463,670,658,677.560967463,0.415203608964,-0.00550090093604,0.0700005672498,0.999999998934,-1.44158980358e-05,9.99073268588e-06,-4.27241708165e-05,1793256573771511040
+157,2.616666667,POSE1_TO_POSE2_PRESS,795,747,727,710,698,656,935,804,835.013942456,670,658,677,0.415911030512,-0.00549152677206,0.0699438424024,0.999999994802,-2.25231325035e-06,-9.11681137704e-05,-4.55940670743e-05,1793256573788177664
+158,2.633333333,POSE1_TO_POSE2_PRESS,795,747,727,710,698,656,935,804,835.587427142,670,658,677,0.416739198865,-0.00550367471997,0.0699314400818,0.999999992884,-2.58389346046e-05,-0.000106032381674,-4.81763957685e-05,1793256573804844544
+159,2.650000000,POSE1_TO_POSE2_PRESS,795,747,727.166610749,710,698.166610749,656,935,804,836,669.833389251,658,677,0.417582371173,-0.00551432464511,0.0699323738217,0.999999992625,-4.50330220897e-05,-0.000101192707427,-4.9812039867e-05,1793256573821511168
+160,2.666666667,POSE1_TO_POSE2_PRESS,795,747,727.760406173,710,698.760406173,656,935,804,836,669.239593827,658,677,0.418464013098,-0.00552113368665,0.0699675007982,0.999999996346,-5.29647906152e-05,-4.583274957e-05,-4.90204145195e-05,1793256573838178048
+161,2.683333333,POSE1_TO_POSE2_PRESS,795,747,727.65562552,710,699,656,935,804,836,669.34437448,658,677.34437448,0.419358276463,-0.00552617962791,0.0699973428933,0.999999997095,-5.89114547658e-05,9.19916140196e-07,-4.83522244418e-05,1793256573854844928
+162,2.700000000,POSE1_TO_POSE2_PRESS,795,747,727.078304629,710,699,656,935,804,836,669.921695371,658,677.921695371,0.420261077355,-0.00553003294893,0.0700236101166,0.999999995966,-6.35153276294e-05,4.18503193844e-05,-4.77675301464e-05,1793256573871511552
+163,2.716666667,POSE1_TO_POSE2_PRESS,795,746.503608823,727.496391177,710,699,656,935,804,836,670,658,678,0.421156935841,-0.00552817027732,0.0700409233389,0.999999994856,-6.18584289677e-05,6.52503570153e-05,-4.69444988867e-05,1793256573888177920
+164,2.733333333,POSE1_TO_POSE2_PRESS,795,746,727.927440596,710,698.927440596,656,935,804,836,670,658,677.927440596,0.422045721535,-0.0055245905139,0.070048819778,0.999999994525,-5.83069833395e-05,7.33151963848e-05,-4.66491950416e-05,1793256573904844032
+165,2.750000000,POSE1_TO_POSE2_PRESS,795,746,727.337845399,710,698.337845399,656,935,804,836,670,658,677.337845399,0.422891870905,-0.0055151666194,0.0699996270409,0.999999997532,-4.82560599526e-05,-8.29227908171e-06,-5.03808095057e-05,1793256573921510656
+166,2.766666667,POSE1_TO_POSE2_PRESS,795,746,727.247148554,710,698.247148554,656,935,804,836,670,658,677,0.423734565422,-0.0055115868358,0.0699396525624,0.999999992209,-4.86419208125e-05,-0.000100825761729,-5.52338025682e-05,1793256573938177536
+167,2.783333333,POSE1_TO_POSE2_PRESS,795,746,727.825967772,710,698.825967772,656,935,804,836,670,658,677,0.424572623682,-0.00551584978394,0.0698652090976,0.99999997448,-6.30338308253e-05,-0.00020802183784,-6.15916739174e-05,1793256573954844416
+168,2.800000000,POSE1_TO_POSE2_PRESS,795.402906914,746,728,710,698.597093086,656,935,803.597093086,836,670,658,677,0.425511293413,-0.00552112419132,0.0698804049703,0.999999979674,-7.16502176954e-05,-0.000177706635737,-6.27583587079e-05,1793256573971511040
+169,2.816666667,POSE1_TO_POSE2_PRESS,795.979037711,746,728,710,698.020962289,656,935,803.020962289,836,670,658,677,0.42649321951,-0.00552683346042,0.0699341399579,0.999999991176,-7.77835024917e-05,-8.82704818948e-05,-6.1693168841e-05,1793256573988177664
+170,2.833333333,POSE1_TO_POSE2_PRESS,796,745.448195889,728,710,698.551804111,656,935,803.551804111,836,670,658,677.551804111,0.42745252679,-0.00552842318471,0.0699909577011,0.999999995361,-7.7003727912e-05,-1.58199368114e-05,-5.56629723911e-05,1793256574004844288
+171,2.850000000,POSE1_TO_POSE2_PRESS,795.871109002,744.871109002,727.871109002,710,698.871109002,656,935,803.871109002,836,670,658,678,0.4284167447,-0.00553000309149,0.0700413725638,0.999999994397,-7.71159674151e-05,5.15909243912e-05,-5.09747928381e-05,1793256574021510912
+172,2.866666667,POSE1_TO_POSE2_PRESS,795.278003949,744.278003949,727.278003949,710,698.278003949,656,935,803.278003949,836,670,658,678,0.429401724645,-0.00553210785971,0.0700683075705,0.999999990026,-8.13810002487e-05,0.000103160733632,-5.17952202603e-05,1793256574038177536
+173,2.883333333,POSE1_TO_POSE2_PRESS,795,744,727.306498095,710.306498095,698.306498095,656,935,803,836,670,658,677.693501905,0.430320703691,-0.00553204065642,0.0700585458149,0.99999999142,-7.99697075024e-05,8.88235646484e-05,-5.36296054478e-05,1793256574054844160
+174,2.900000000,POSE1_TO_POSE2_PRESS,795,744,727.883409938,710.883409938,698.883409938,656,935,803,836,670,658,677.116590062,0.431181452143,-0.00553005719003,0.0700164076445,0.999999995574,-7.35503686103e-05,1.63387131192e-05,-5.63585739058e-05,1793256574071511040
+175,2.916666667,POSE1_TO_POSE2_PRESS,795,744,728,711,698.540485243,656,935,803,836,670.459514757,658,677.459514757,0.431996899903,-0.00552959522435,0.0699461718885,0.999999990117,-7.59469170611e-05,-0.000102482657075,-5.91262925779e-05,1793256574088177664
+176,2.933333333,POSE1_TO_POSE2_PRESS,795,744,728,710.963792783,698,656,935,803,836,671,658,678,0.432809901686,-0.00552966271331,0.0698766881607,0.999999970879,-8.0550303142e-05,-0.000218955872517,-6.17343300166e-05,1793256574104844544
+177,2.950000000,POSE1_TO_POSE2_PRESS,795,744,728,710.375013314,698,656,935,803,836,671,658,678,0.433760678633,-0.00553192921089,0.0699272897951,0.999999987243,-8.47562057066e-05,-0.00012048389371,-6.17556350058e-05,1793256574121511168
+178,2.966666667,POSE1_TO_POSE2_PRESS,795,744,728,710.210365159,698,656,935,803,836,671,658,678,0.434711702465,-0.0055339285292,0.0699782149387,0.999999993992,-8.69603320349e-05,-2.85355761477e-05,-6.03301566168e-05,1793256574138177792
+179,2.983333333,POSE1_TO_POSE2_PRESS,795,744,728,710.789777307,698,656,935,803,836,671,658,678,0.435663159567,-0.00553545913102,0.0700297076281,0.999999993393,-8.56527115577e-05,5.19681923341e-05,-5.63665634315e-05,1793256574154844416
+180,3.000000000,POSE1_TO_POSE2_PRESS,795,744,728,711,698,656,935,803,836,671,658,678,0.436559205629,-0.00553956243439,0.0700486689756,0.999999991213,-8.5225517749e-05,8.51896011826e-05,-5.52521177126e-05,1793256574171511040
+181,3.016666667,POSE1_TO_POSE2_PRESS,795,744,728,711,698,656,935,803,836,671,658,678,0.437423699661,-0.00554513067703,0.0700491064291,0.999999990622,-8.52996539226e-05,9.14876378733e-05,-5.57600246572e-05,1793256574188177920
+182,3.033333333,POSE1_TO_POSE2_PRESS,795,744.524191558,727.475808442,711,698,656,935,803,836,671,658,678,0.43817686162,-0.00554862382383,0.0700027380745,0.999999993252,-9.58953113691e-05,2.92456536652e-05,-5.87007125302e-05,1793256574204844288
+183,3.050000000,POSE1_TO_POSE2_PRESS,794.893170541,744.893170541,727.106829459,711,697.893170541,655.893170541,935,803,836,671,658,678,0.438905064856,-0.00555024555362,0.0699428696245,0.999999991034,-0.000103619132125,-5.80011720067e-05,-6.18876288846e-05,1793256574221510912
+184,3.066666667,POSE1_TO_POSE2_PRESS,794.310770236,744.310770236,727.689229764,711,697.310770236,655.310770236,935,803,836,671,658,678,0.439577470339,-0.00554456725136,0.0698461564989,0.999999968779,-9.33312794486e-05,-0.000222510436166,-6.49620532228e-05,1793256574238177792
+185,3.083333333,POSE1_TO_POSE2_PRESS,794.27018626,744,728,711,697,655,935,803,836,671,658,678,0.440297527071,-0.00554234895716,0.0697874347352,0.999999942793,-9.07608381673e-05,-0.000318915646576,-6.68492109416e-05,1793256574254844672
+186,3.100000000,POSE1_TO_POSE2_PRESS,794.849490863,744,728,711,697,655,935,803,836,671,658,678,0.441072101242,-0.00554408923607,0.0697721786483,0.999999936103,-9.70198399674e-05,-0.00033740344637,-6.73780259702e-05,1793256574271511552
+187,3.116666667,POSE1_TO_POSE2_PRESS,795,744,728,711.427139881,696.572860119,655,935,802.572860119,836,671,658,678,0.441859942868,-0.00554898407808,0.0698120637146,0.999999954694,-9.97395687562e-05,-0.000276376291141,-6.54178928027e-05,1793256574288178176
+188,3.133333333,POSE1_TO_POSE2_PRESS,794.995840004,744,728,711.995840004,696,654.995840004,935,801.995840004,836,671,657.995840004,678,0.442651532344,-0.00555495271176,0.0698708177127,0.999999975193,-0.000101243473458,-0.000188264370434,-6.26083367837e-05,1793256574304844288
+189,3.150000000,POSE1_TO_POSE2_PRESS,794.425332032,744,728,711.425332032,696,654.425332032,935,801.425332032,836,671,657.425332032,678,0.443319348699,-0.00555636405632,0.0698634252321,0.999999969772,-0.0001063520259,-0.000212516894042,-6.3094743609e-05,1793256574321510912
+190,3.166666667,POSE1_TO_POSE2_PRESS,794,744,728,711,695.848794223,654,935,801,836,671,657.151205777,678,0.443968788059,-0.00555765051266,0.0698430318851,0.999999959538,-0.000110294238717,-0.000254298070019,-6.39732449009e-05,1793256574338177536
+191,3.183333333,POSE1_TO_POSE2_PRESS,794,744,728,711,695.254590243,654,935,801,836,671,657.745409757,678,0.4445643872,-0.00555857107548,0.0697845489836,0.999999931326,-0.000110819345038,-0.000347434177175,-6.60004928127e-05,1793256574354844160
+192,3.200000000,POSE1_TO_POSE2_PRESS,794,744,728,711,694.668943891,653.668943891,935,800.668943891,836,671,657.668943891,678,0.445162147461,-0.00555987502783,0.069734888855,0.999999903371,-0.000109522887339,-0.000420371645678,-6.74516083667e-05,1793256574371511040
+193,3.216666667,POSE1_TO_POSE2_PRESS,794,744,728,711,694.089712768,653.089712768,935,800.089712768,836,671,657.089712768,678,0.445761527762,-0.00556146638668,0.0696918426898,0.999999877624,-0.000106860900965,-0.000478167272909,-6.84708283953e-05,1793256574388177920
+194,3.233333333,POSE1_TO_POSE2_PRESS,794.486235774,744,728,711,694,653,935,800,836,671,657,678,0.446319967124,-0.00556534300837,0.0696746910542,0.999999863847,-0.000113895794773,-0.000504613102108,-6.85579551337e-05,1793256574404844800
+195,3.250000000,POSE1_TO_POSE2_PRESS,794.938594043,744,728,711,693.938594043,652.938594043,935,799.938594043,836,671,657,677.938594043,0.446864482867,-0.00556935982854,0.0696609962449,0.999999850761,-0.000121711972552,-0.000528184456009,-6.84462688818e-05,1793256574421511424
+196,3.266666667,POSE1_TO_POSE2_PRESS,794.364898565,744,728,711,693.364898565,652.364898565,935,799.364898565,836,671,657,677.364898565,0.447355434692,-0.00557105225006,0.0696365494259,0.999999824615,-0.000121220202236,-0.000575706955107,-6.81010658511e-05,1793256574438177792
+197,3.283333333,POSE1_TO_POSE2_PRESS,794,744,728,711,693,652.215450882,935,799,836,671,657,677.215450882,0.447845343689,-0.00557310311154,0.0696196221309,0.999999805612,-0.000121699806625,-0.000607703252353,-6.82725349254e-05,1793256574454844416
+198,3.300000000,POSE1_TO_POSE2_PRESS,794,744,728,711,693,652.807428903,935,799,836,671,657,677.807428903,0.44833343016,-0.00557578039109,0.0696158361394,0.999999802304,-0.00012387700923,-0.000612565582976,-6.9346952842e-05,1793256574471510784
+199,3.316666667,POSE1_TO_POSE2_PRESS,794.39097174,744.39097174,728,711,692.60902826,652.60902826,935,799,836,671,657,678,0.448818694954,-0.00557862488737,0.0696232227071,0.9999998086,-0.000130044660212,-0.000600980809749,-6.86317790858e-05,1793256574488177664
+200,3.333333333,POSE1_TO_POSE2_PRESS,794.970447667,744.970447667,728,711,692.029552333,652.029552333,935,799,836,671,657,678,0.44930259934,-0.00558155000622,0.0696359960428,0.99999981916,-0.000138136277073,-0.000581466184946,-6.70537667595e-05,1793256574504844288
+201,3.350000000,POSE1_TO_POSE2_PRESS,794.457129791,745,728,711,691.457129791,651.457129791,935,798.457129791,836,671,657,678,0.44971883641,-0.00558163641539,0.0696415571165,0.999999824724,-0.00013997579242,-0.000571399309028,-6.67968514716e-05,1793256574521511424
+202,3.366666667,POSE1_TO_POSE2_PRESS,794,744.88154811,728,711,691,651,935,798,836,671,657,678,0.45011090422,-0.00558122459657,0.0696390512981,0.999999822928,-0.000139397962553,-0.000574687001647,-6.66899382141e-05,1793256574538178304
+203,3.383333333,POSE1_TO_POSE2_PRESS,794,744.291891273,728,711,691,651,935,798,836,671,657,678,0.450421291752,-0.00557943765843,0.0696059969604,0.999999791371,-0.000130540409847,-0.000629079845071,-6.68973193422e-05,1793256574554844928
+204,3.400000000,POSE1_TO_POSE2_PRESS,794,744,728,711,690.705990853,651,935,797.705990853,836,671,657,678,0.450723057943,-0.00557597801689,0.069571483539,0.999999757591,-0.000124331364053,-0.000681641337033,-6.8736444481e-05,1793256574571511552
+205,3.416666667,POSE1_TO_POSE2_PRESS,794,744,728,711,690.123772779,651,935,797.123772779,836,671,657,678,0.451016372855,-0.00557087867119,0.0695355398207,0.999999721898,-0.000120718575932,-0.000732407603327,-7.2175122548e-05,1793256574588177920
+206,3.433333333,POSE1_TO_POSE2_PRESS,794,744,728,711,690,651,935,797,836,671,657,678,0.451301868613,-0.00556884492675,0.0695177647938,0.999999705736,-0.000121007164367,-0.000753788641948,-7.54139724327e-05,1793256574604844288
+207,3.450000000,POSE1_TO_POSE2_PRESS,794,744,728,711,690,650.972280266,935,797,836,671,657,678,0.451583549449,-0.0055680251837,0.0695055617964,0.999999695787,-0.000123122065976,-0.000766231277245,-7.84637309618e-05,1793256574621511168
+208,3.466666667,POSE1_TO_POSE2_PRESS,794,744,728,711,690,650.411592459,935,797,836,671,657,678,0.451832469871,-0.00557463358819,0.0695061789572,0.999999698764,-0.000140099553834,-0.000759353259886,-7.8915130324e-05,1793256574638177792
+209,3.483333333,POSE1_TO_POSE2_PRESS,794.160442782,744.160442782,728,711,689.839557218,650,935,797,836,671.160442782,657,677.839557218,0.452071479296,-0.00557972204697,0.0695064023232,0.999999701052,-0.000150625290364,-0.000754636128876,-7.57142525605e-05,1793256574654844416
+210,3.500000000,POSE1_TO_POSE2_PRESS,794.763803635,744.763803635,728,711,689.236196365,650,935,797,836,671.763803635,657,677.236196365,0.452283128394,-0.00558061454512,0.0695055385798,0.999999702097,-0.000143340330497,-0.000755884338662,-6.24309047962e-05,1793256574671511296
+211,3.516666667,POSE1_TO_POSE2_PRESS,795,745,728,711,688.648774347,650,935,796.648774347,836,671.648774347,657,677.351225653,0.452466794127,-0.00557854958788,0.0695001231862,0.999999694912,-0.000136262143884,-0.000766892979983,-5.90277413528e-05,1793256574688177920
+212,3.533333333,POSE1_TO_POSE2_PRESS,795,745,728,711,688.0716057,650,935,796.0716057,836,671.0716057,657,677.9283943,0.452632458218,-0.00557458210361,0.069491779722,0.999999682248,-0.000129316973483,-0.000784180493854,-6.19804859659e-05,1793256574704844800
+213,3.550000000,POSE1_TO_POSE2_PRESS,795,744.49349352,728,711,688,650,935,796,836,671.50650648,657,678,0.452787154347,-0.00557802682117,0.0694910408877,0.999999681184,-0.000131223339779,-0.00078513362829,-6.30621170423e-05,1793256574721511424
+214,3.566666667,POSE1_TO_POSE2_PRESS,795,744,728,711.084424698,688,650,935,796,836,671.915575302,657,678,0.452935900259,-0.00558220087282,0.0694914621445,0.999999681782,-0.000134411604394,-0.00078376093635,-6.39410469172e-05,1793256574738178048
+215,3.583333333,POSE1_TO_POSE2_PRESS,795,744,728,711.660435623,688,650,935,796,836,671.339564377,657,678,0.453059044865,-0.00558450874136,0.0694923667203,0.999999682376,-0.000137764106479,-0.000782316640342,-6.5182823743e-05,1793256574754844928
+216,3.600000000,POSE1_TO_POSE2_PRESS,795,744.243141652,728,712,688,649.756858348,935,796,836,671,656.756858348,678,0.453169961095,-0.00558580721267,0.06949381701,0.999999683472,-0.000139587580596,-0.000780515562273,-6.60810317193e-05,1793256574771511296
+217,3.616666667,POSE1_TO_POSE2_PRESS,795,744.835462585,728,712,688,649.164537415,935,796,836,671,656.164537415,678,0.453263315969,-0.00558565607374,0.0694960510075,0.9999996853,-0.000139215195093,-0.00077820210437,-6.6485835374e-05,1793256574788177664
+218,3.633333333,POSE1_TO_POSE2_PRESS,795,745,728,711.584652344,688,649,935,796,836,671.415347656,656,678,0.453344662744,-0.00558800778191,0.0694991540323,0.999999688463,-0.00014204170221,-0.000773616299069,-6.64495973596e-05,1793256574804844544
+219,3.650000000,POSE1_TO_POSE2_PRESS,795,745,728,711.009550464,688,649,935,796,836,671.990449536,656,678,0.45342139087,-0.00559132215446,0.069502591309,0.999999692101,-0.000146098592122,-0.000768156485984,-6.62437224798e-05,1793256574821511424
+220,3.666666667,POSE1_TO_POSE2_PRESS,795,744.434214087,728,711,688,649,935,796,836.565785913,671.434214087,656.565785913,678,0.453478209715,-0.00559027998749,0.0695044465279,0.999999694969,-0.000145912851351,-0.000764437967704,-6.63760661938e-05,1793256574838178048
+221,3.683333333,POSE1_TO_POSE2_PRESS,794.854978731,744,728,711,687.854978731,649,935,795.854978731,836.854978731,671,657,678,0.453529462828,-0.00558930946724,0.0695057994387,0.999999696737,-0.000145252774971,-0.000762237154396,-6.65017765447e-05,1793256574854844672
+222,3.700000000,POSE1_TO_POSE2_PRESS,794.263759374,744,728,711,687.263759374,649,935,795.263759374,836.263759374,671,657,678,0.453564625853,-0.00558878574312,0.0695056890591,0.999999695189,-0.000143353710357,-0.000764615508025,-6.65895044961e-05,1793256574871511040
+223,3.716666667,POSE1_TO_POSE2_PRESS,794,744,728,711,687,649,935,795,836,671.319441371,657,678,0.453595584473,-0.00558897024444,0.0695062748339,0.999999695558,-0.000143512709393,-0.000764099714229,-6.66297362549e-05,1793256574888177664
+224,3.733333333,POSE1_TO_POSE2_PRESS,794,744,728,711,687,649,935,795,836,671.896183422,657,678,0.453623156571,-0.00558972520057,0.0695074213405,0.999999697467,-0.000145329418293,-0.000761252769593,-6.66317112292e-05,1793256574904844288
+225,3.750000000,POSE1_TO_POSE2_PRESS,794,744,728,711,687,649,935,795.471759134,836.471759134,672,657,678,0.453637195365,-0.0055895574354,0.069504650962,0.999999694106,-0.000145133086569,-0.00076568804708,-6.66826971154e-05,1793256574921510912
+226,3.766666667,POSE1_TO_POSE2_PRESS,794,744,728,711,687,649,935,796,836.953055491,672,657,677.953055491,0.453648003672,-0.00558922396669,0.069501275879,0.999999689793,-0.00014451458677,-0.000771417128331,-6.66697452822e-05,1793256574938177536
+227,3.783333333,POSE1_TO_POSE2_PRESS,794,744,728,711,687,649,935,796,836.379376605,672,657,677.379376605,0.453655898559,-0.00558930399272,0.0695007634429,0.999999688123,-0.000144117514896,-0.000773726368145,-6.5818670731e-05,1793256574954844160
+228,3.800000000,POSE1_TO_POSE2_PRESS,794.20107949,744,728,711.20107949,687,649,935,795.79892051,836,671.79892051,657,677.20107949,0.453662103854,-0.00558950621954,0.0694995535539,0.99999968626,-0.000144578815332,-0.000776084677869,-6.53455191807e-05,1793256574971511296
+229,3.816666667,POSE1_TO_POSE2_PRESS,794.794768098,744,728,711.794768098,687,649,935,795.205231902,836,671.205231902,657,677.794768098,0.453665010209,-0.00558994704426,0.0694969818832,0.999999684023,-0.000146716093763,-0.000778538796804,-6.56102649993e-05,1793256574988178176
+230,3.833333333,POSE1_TO_POSE2_PRESS,794.621223441,744.378776559,728,712,687,649,935,795,836,671,656.621223441,678,0.453666925713,-0.00558878460644,0.0694956786472,0.999999682668,-0.000145568151623,-0.000780482017563,-6.57425046929e-05,1793256575004844544
+231,3.850000000,POSE1_TO_POSE2_PRESS,794.042329273,744.957670727,728,712,687,649,935,795,836,671,656.042329273,678,0.453668317724,-0.00558677512287,0.0694950455588,0.999999681772,-0.000142684541073,-0.000782155317309,-6.58047379103e-05,1793256575021511168
+232,3.866666667,POSE1_TO_POSE2_PRESS,794,744.467377695,728,711.467377695,687,649,935,795,836,671,656,678,0.453667675763,-0.005588658254,0.0694931152685,0.999999679264,-0.000143615232412,-0.000785259041788,-6.49172617461e-05,1793256575038177792
+233,3.883333333,POSE1_TO_POSE2_PRESS,794,744,728,711,687,648.8901928,935,795,836,671.1098072,656.1098072,678,0.453667463596,-0.00559019792286,0.0694916744418,0.999999677263,-0.000144679798081,-0.000787665274417,-6.4231601196e-05,1793256575054844416
+234,3.900000000,POSE1_TO_POSE2_PRESS,794,744,728,711,687,648.301921568,935,795,836,671.698078432,656.698078432,678,0.45366982334,-0.00558890295069,0.0694928122674,0.999999678066,-0.000145016546232,-0.000786540615747,-6.47517724894e-05,1793256575071511040
+235,3.916666667,POSE1_TO_POSE2_PRESS,794,744,728,711,687,648.282000409,935,795,836,671.717999591,657,678,0.453670136575,-0.00558734760411,0.0694921056468,0.99999967734,-0.000144444069373,-0.000787529325853,-6.52247059641e-05,1793256575088177664
+236,3.933333333,POSE1_TO_POSE2_PRESS,794,744,728,711,687,648.861336687,935,795,836,671.138663313,657,678,0.453668292009,-0.00558551772354,0.0694894542774,0.999999674993,-0.000142912922989,-0.000790746331662,-6.56478328446e-05,1793256575104844544
+237,3.950000000,POSE1_TO_POSE2_PRESS,794,744,728,711.439245902,687,649,935,795,836,671,657,678,0.453667943604,-0.00558470496244,0.0694882450782,0.999999673787,-0.000142107994791,-0.000792405697299,-6.57594865466e-05,1793256575121511168
+238,3.966666667,POSE1_TO_POSE2_PRESS,794,744.016623112,728,712,687,649,935,795,836,671.016623112,657,678,0.453668114643,-0.00558424595445,0.0694875339418,0.999999672993,-0.000141558772444,-0.000793506116006,-6.57558992314e-05,1793256575138178304
+239,3.983333333,POSE1_TO_POSE2_PRESS,794,744.591216866,728,712,687,649,935,795,836,671.591216866,657,678,0.453669918965,-0.00558491823942,0.0694883086299,0.999999673938,-0.000141922278705,-0.000792296669613,-6.51739017539e-05,1793256575154844928
+240,4.000000000,POSE1_TO_POSE2_PRESS,794.169932643,744.830067357,728,711.830067357,687,649,935,795,836,671.830067357,656.830067357,678,0.453671110171,-0.00558560707179,0.0694886596097,0.999999674463,-0.000142426778794,-0.000791582853742,-6.46860628511e-05,1793256575171511296
+241,4.016666667,POSE1_TO_POSE2_PRESS,794.758810664,744.241189336,728,711.241189336,687,649,935,795,836,671.241189336,656.241189336,678,0.453670789828,-0.00558633669946,0.0694879659954,0.999999673956,-0.000143278879599,-0.000792090946296,-6.44303588979e-05,1793256575188177920
+242,4.033333333,POSE1_TO_POSE2_PRESS,794.658141905,744.341858095,728,711,687,649,935,795,836,671.341858095,656,678,0.453669692429,-0.00558535612966,0.0694869430023,0.999999672508,-0.000141953166158,-0.000794135671411,-6.46693748593e-05,1793256575204844544
+243,4.050000000,POSE1_TO_POSE2_PRESS,794.079139139,744.920860861,728,711,687,649,935,795,836,671.920860861,656,678,0.453668055991,-0.00558318920731,0.0694856915213,0.999999670393,-0.000139116717521,-0.000797246348209,-6.5251574722e-05,1793256575221511168
+244,4.066666667,POSE1_TO_POSE2_PRESS,794.496963538,744.503036462,728,711,686.503036462,649,935,795,836,671.503036462,656,677.503036462,0.453669501463,-0.00558393124257,0.0694860863695,0.999999670785,-0.000141758088539,-0.000796289893704,-6.52468392709e-05,1793256575238177792
+245,4.083333333,POSE1_TO_POSE2_PRESS,795,744,728,711,686.073730208,649,935,795,836.073730208,671,656.073730208,677.073730208,0.45367120821,-0.00558501724094,0.06948664011,0.999999671518,-0.000144723314418,-0.000794844159271,-6.51365755568e-05,1793256575254844672
+246,4.100000000,POSE1_TO_POSE2_PRESS,795,744,728,711,686.658277939,649,935,795,836.658277939,671,656.658277939,677.658277939,0.453671344628,-0.00558529549864,0.0694864888579,0.999999671943,-0.000143923744847,-0.000794469762332,-6.49389902098e-05,1793256575271511552
+247,4.116666667,HOLD_POSE2,794,745,728,711,687,649,935,795,836,672,656,678,0.453672208573,-0.0055836014105,0.0694868755139,0.999999672558,-0.000140087032655,-0.000794421730225,-6.4443112696e-05,1793256575309944320
+248,4.133333333,HOLD_POSE2,794,744.420711344,728,711,687,649,935,795,836,672,656.579288656,678,0.453672158458,-0.00558422874882,0.0694865560206,0.999999671893,-0.000141418804182,-0.000795033107568,-6.43151969828e-05,1793256575326611456
+249,4.150000000,HOLD_POSE2,794,744.157391941,728,711,687,649,935,795,836,671.842608059,657,678,0.453671768879,-0.00558454175024,0.0694862190084,0.999999671161,-0.000142661102872,-0.00079573568308,-6.42658729006e-05,1793256575343278336
+250,4.166666667,HOLD_POSE2,794,744.73235052,728,711,687,649,935,795,836,671.26764948,657,678,0.453670478687,-0.00558402080441,0.0694858355177,0.999999670255,-0.00014366602711,-0.000796680210839,-6.44250552927e-05,1793256575359944448
+251,4.183333333,HOLD_POSE2,794,744.686313546,728,711,686.686313546,649,935,795,836,671,657,678,0.453669718144,-0.00558399934823,0.0694854669102,0.999999669267,-0.000144739810377,-0.000797713243214,-6.45736358998e-05,1793256575376611072
+252,4.200000000,HOLD_POSE2,794,744.099423317,728,711,686.099423317,649,935,795,836,671,657,678,0.453669418897,-0.00558441292028,0.0694851112652,0.999999668207,-0.000145873566041,-0.000798823358222,-6.47129829217e-05,1793256575393277696
+253,4.216666667,HOLD_POSE2,794,744,728,711.483254278,686,649,935,795,836,671.483254278,656.516745722,678,0.453670410799,-0.00558534005139,0.0694855743379,0.999999669345,-0.000145840695417,-0.000797434475861,-6.43305720508e-05,1793256575409944576
+254,4.233333333,HOLD_POSE2,794.064269206,744,727.935730794,711.935730794,686,648.935730794,935,795,836,672,656.064269206,678,0.45367141152,-0.00558633825527,0.0694860262916,0.999999670578,-0.000145655582053,-0.000795955361628,-6.39041949525e-05,1793256575426611456
+255,4.250000000,HOLD_POSE2,794.638903815,744,727.361096185,711.361096185,686,648.361096185,935,795,836,672,656.638903815,678,0.453670391066,-0.00558706906584,0.0694850639131,0.999999669025,-0.000146151027696,-0.000797807214102,-6.39737451416e-05,1793256575443278336
+256,4.266666667,HOLD_POSE2,794.785957288,744,727.214042712,711,686,648.214042712,935,795,836,672,657,678,0.453669403264,-0.00558703623472,0.0694839860823,0.99999966776,-0.000145752302588,-0.000799461582394,-6.40133471263e-05,1793256575459944704
+257,4.283333333,HOLD_POSE2,794.209965693,744,727.790034307,711,686,648.790034307,935,795,836,672,657,678,0.453668470676,-0.00558571207596,0.0694827130204,0.999999666981,-0.000143841523584,-0.000800782002291,-6.40023063186e-05,1793256575476611072
+258,4.300000000,HOLD_POSE2,794,744.373596304,728,711,686,649,935,795,836,671.626403696,657,678,0.453669052556,-0.0055842108325,0.069482774733,0.999999666966,-0.000143339602116,-0.000800878141718,-6.41604158133e-05,1793256575493277696
+259,4.316666667,HOLD_POSE2,794,744.961501014,728,711,686,649,935,795,836,671.038498986,657,678,0.453670503189,-0.00558260800668,0.0694836021207,0.999999667391,-0.000143645852309,-0.000800271989536,-6.44155560625e-05,1793256575509944064
+260,4.333333333,HOLD_POSE2,794.542494547,744.457505453,728,711,686,648.457505453,935,795,836,671.542494547,656.457505453,678,0.45366964074,-0.00558331695253,0.0694826419142,0.999999666632,-0.000142163407065,-0.000801525855779,-6.38838803859e-05,1793256575526610688
+261,4.350000000,HOLD_POSE2,795,744.121388439,728,711,686.121388439,648,935,795,836,671.878611561,656.121388439,678,0.453669208654,-0.00558428837517,0.0694820817289,0.99999966625,-0.000141764022084,-0.000802099980171,-6.35434117768e-05,1793256575543277312
+262,4.366666667,HOLD_POSE2,795,744.694274299,728,711,686.694274299,648,935,795,836,671.305725701,656.694274299,678,0.453670980152,-0.00558563353518,0.069483475311,0.999999667578,-0.000145859216002,-0.000799661056259,-6.41191992528e-05,1793256575559944192
+263,4.383333333,HOLD_POSE2,794.731172773,745,728,711.268827227,686.731172773,648.268827227,935,795,836,671.268827227,657,678,0.453670737995,-0.00558600625571,0.0694833624938,0.999999667332,-0.000146516654458,-0.00079983989879,-6.42239152755e-05,1793256575576611072
+264,4.400000000,HOLD_POSE2,794.154712164,745,728,711.845287836,686.154712164,648.845287836,935,795,836,671.845287836,657,678,0.453668191506,-0.00558526616165,0.0694815258233,0.99999966529,-0.000143240085141,-0.000803014391684,-6.37895589931e-05,1793256575593277696
+265,4.416666667,POSE2_TO_POSE3_RETREAT,794,744,728,712,687,649,935,795,836,671,657,678,0.453671023967,-0.00558637516809,0.0694840528764,0.999999667649,-0.000145282955781,-0.00079970374949,-6.37930938063e-05,1793256575625822720
+266,4.433333333,POSE2_TO_POSE3_RETREAT,794.577100378,744,728,711.422899622,686.422899622,648.422899622,935,795,836,671,657,677.422899622,0.453669049973,-0.00558382427662,0.0694817111442,0.999999665819,-0.000141138319828,-0.000802717424907,-6.39260252496e-05,1793256575642489344
+267,4.450000000,POSE2_TO_POSE3_RETREAT,794.846577731,744.153422269,728,711,686,648.153422269,935,795,836,671,657,677.153422269,0.453668215608,-0.00558232689562,0.0694803986634,0.999999664746,-0.000138977580488,-0.000804424690255,-6.39872432663e-05,1793256575659155712
+268,4.466666667,POSE2_TO_POSE3_RETREAT,794.272390734,744.727609266,728,711,686,648.727609266,935,795,836,671,657,677.727609266,0.453670506704,-0.00558371879505,0.069481908932,0.9999996658,-0.000142257730426,-0.000802549091317,-6.38517853012e-05,1793256575675821824
+269,4.483333333,POSE2_TO_POSE3_RETREAT,794,745,728,711,686.30215429,649,935,795,836,671.30215429,656.69784571,678,0.453670626527,-0.00558395096531,0.0694821346636,0.999999665797,-0.000143811941252,-0.000802283489963,-6.37539707256e-05,1793256575692487936
+270,4.500000000,POSE2_TO_POSE3_RETREAT,794,745,728,711,686.877022422,649,935,795,836,671.877022422,656.122977578,678,0.453668786636,-0.00558313640468,0.0694812010173,0.999999664848,-0.000143808379897,-0.000803471015968,-6.36901317593e-05,1793256575709154816
+271,4.516666667,POSE2_TO_POSE3_RETREAT,794,744.5350084,728,711,687,649,935,795,836,671.5350084,656.4649916,678,0.453669147277,-0.00558343207639,0.0694809806194,0.999999665158,-0.000142949928174,-0.000803242632415,-6.36456896883e-05,1793256575725821696
+272,4.533333333,POSE2_TO_POSE3_RETREAT,794,744.055089548,728,711,686.944910452,648.944910452,935,795,836,671,656.944910452,678,0.453669816327,-0.00558383357224,0.069480864635,0.999999665707,-0.000141742454529,-0.00080277501898,-6.36244484618e-05,1793256575742488576
+273,4.550000000,POSE2_TO_POSE3_RETREAT,794,744.631590894,728,711,686.368409106,648.368409106,935,795,836,671,656.368409106,678,0.453667736364,-0.00558237698808,0.0694798997521,0.999999665287,-0.000139433543527,-0.000803690175582,-6.37728370618e-05,1793256575759154944
+274,4.566666667,POSE2_TO_POSE3_RETREAT,794,744.791714131,728,711,686,648.208285869,935,795,836,671,656,678,0.453661448883,-0.00558176039531,0.0694771338681,0.999999662021,-0.000139252871145,-0.000807765147626,-6.38964488797e-05,1793256575775821312
+275,4.583333333,POSE2_TO_POSE3_RETREAT,794,744.214676412,728,711,686,648.785323588,935,795,836,671,656,678,0.453647712359,-0.00558263093374,0.0694711794697,0.999999653652,-0.000142840058687,-0.000817434295428,-6.39761955599e-05,1793256575792487936
+276,4.600000000,POSE2_TO_POSE3_RETREAT,794,744,728,711,686.369311356,649,935,795,836,671,656,678,0.453621239296,-0.00558317315202,0.0694609277152,0.9999996395,-0.000143275449602,-0.00083449312931,-6.39857696542e-05,1793256575809154560
+277,4.616666667,POSE2_TO_POSE3_RETREAT,794,744,728,711,686.957416649,649,935,795,836,671,656,678,0.453587220628,-0.00558352086118,0.0694481300447,0.999999621587,-0.000141843597956,-0.000855929891795,-6.39537708558e-05,1793256575825821440
+278,4.633333333,POSE2_TO_POSE3_RETREAT,794,744.538300071,728,711,686.461699929,649,935,795,836,671,656.538300071,678,0.453533916597,-0.00558174971851,0.0694337610348,0.999999606377,-0.000141376648922,-0.000873558817872,-6.44529562523e-05,1793256575842488064
+279,4.650000000,POSE2_TO_POSE3_RETREAT,794.117145967,744.882854033,728,711,686,649,935,795,836,671,656.882854033,678,0.45347434264,-0.00557980070646,0.0694191789412,0.999999590128,-0.000140667705228,-0.000892052980449,-6.47934826915e-05,1793256575859154688
+280,4.666666667,POSE2_TO_POSE3_RETREAT,794.690255655,744.309744345,728,711,686,649,935,795,836,671,656.309744345,678,0.45339622389,-0.00557780314882,0.0694042448844,0.999999569629,-0.000138723686694,-0.000915071817279,-6.43550761926e-05,1793256575875821312
+281,4.683333333,POSE2_TO_POSE3_RETREAT,795,744,728,711,686.253864831,649,935,795,836,671.253864831,656,678,0.453307367901,-0.0055759057442,0.0693901748171,0.999999548796,-0.000137346306898,-0.000937792582118,-6.39484063064e-05,1793256575892488192
+282,4.700000000,POSE2_TO_POSE3_RETREAT,795,744,728,711,686.806300411,649,935,795,836,671.806300411,656,678,0.453205883837,-0.0055741261298,0.0693771208898,0.999999527688,-0.000136635351771,-0.000960162782841,-6.35790619248e-05,1793256575909154816
+283,4.716666667,POSE2_TO_POSE3_RETREAT,795,744.402103799,728,711,687,649,935,795,836,671.597896201,656.402103799,678,0.453085981478,-0.00557097885363,0.0693586687488,0.999999498613,-0.000133844469754,-0.000990413254703,-6.27740302877e-05,1793256575925821440
+284,4.733333333,POSE2_TO_POSE3_RETREAT,794.980154906,745,727.980154906,711,687,649,935,795.019845094,836,671.019845094,657,678,0.452954925611,-0.00556703204629,0.069337262154,0.999999464369,-0.00012993380643,-0.00102497138944,-6.17446791565e-05,1793256575942488064
+285,4.750000000,POSE2_TO_POSE3_RETREAT,794.40387044,745,727.40387044,711,687,649,935,795.59612956,836,671.59612956,657,678,0.452789983043,-0.00556137311356,0.0693147427484,0.999999427317,-0.000126114991719,-0.00106100747558,-6.10217948861e-05,1793256575959154944
+286,4.766666667,POSE2_TO_POSE3_RETREAT,794.17223274,745,727.17223274,711,687,649,935,795.82776726,836,671.82776726,656.82776726,678,0.452615376197,-0.00555625347363,0.0692910594742,0.999999386164,-0.000122071067436,-0.001099621831,-6.00210317854e-05,1793256575975821568
+287,4.783333333,POSE2_TO_POSE3_RETREAT,794.747911185,745,727.747911185,711,687,649,935,795.252088815,836,671.252088815,656.252088815,678,0.452418131338,-0.00555239709822,0.0692646499051,0.99999933671,-0.000117499837093,-0.0011442756365,-5.83693530159e-05,1793256575992488192
+288,4.800000000,POSE2_TO_POSE3_RETREAT,794.66705717,744.66705717,728,711,687,649,935.33294283,795,836.33294283,671.33294283,656.33294283,678,0.452207082299,-0.00554817780378,0.0692379060831,0.999999286289,-0.000112918650932,-0.00118805793664,-5.64734808254e-05,1793256576009154816
+289,4.816666667,POSE2_TO_POSE3_RETREAT,794.074738959,744.074738959,728,711,687,649,935.925261041,795,836.925261041,671.925261041,656.925261041,678,0.451985279247,-0.00554367578093,0.0692109018622,0.999999234774,-0.00010832970828,-0.00123116130462,-5.43873722919e-05,1793256576025821440
+290,4.833333333,POSE2_TO_POSE3_RETREAT,794,744.505780757,728,711,687.505780757,649.505780757,935.494219243,795.505780757,836.494219243,671.494219243,657,678,0.451729527169,-0.00553952490549,0.0691882471603,0.999999189661,-0.000102900860577,-0.00126784168556,-5.16258958701e-05,1793256576042488064
+291,4.850000000,POSE2_TO_POSE3_RETREAT,794,745,728,711,688,650,935,796,836.083619053,671,657,678,0.451463930535,-0.00553507930049,0.0691675763106,0.999999146817,-9.66905082523e-05,-0.00130179036816,-4.85551535363e-05,1793256576059154688
+292,4.866666667,POSE2_TO_POSE3_RETREAT,794,745,728,711,688,650,935,796,836.655745775,671,657,678,0.451169460674,-0.00552861563776,0.0691548259871,0.999999117193,-8.66230994913e-05,-0.00132519875088,-4.42473997958e-05,1793256576075821312
+293,4.883333333,POSE2_TO_POSE3_RETREAT,794,745,727.771045342,711,688.228954658,650,935,796,836.771045342,671.228954658,657,677.771045342,0.450866905962,-0.00552281515031,0.0691476352536,0.999999098359,-7.65578697278e-05,-0.00134009783582,-3.9464439858e-05,1793256576092487936
+294,4.900000000,POSE2_TO_POSE3_RETREAT,794,745,727.196201637,711,688.803798363,650,935,796,836.196201637,671.803798363,657,677.196201637,0.450552137229,-0.00551801654312,0.0691488435693,0.99999909654,-6.64959325099e-05,-0.0013421416549,-3.3963571169e-05,1793256576109154560
+295,4.916666667,POSE2_TO_POSE3_RETREAT,794,744.608221431,727.391778569,711,689,650.391778569,935,796,836,671.608221431,657,677.391778569,0.450224273355,-0.00551405563775,0.0691583745336,0.999999110767,-5.51634152821e-05,-0.00133216919813,-2.73212100576e-05,1793256576125821440
+296,4.933333333,POSE2_TO_POSE3_RETREAT,794,744.013434279,727.986565721,711,689,650.986565721,935,796,836,671.013434279,657,677.986565721,0.449889623961,-0.00551052880596,0.0691722180592,0.999999132977,-4.31725196933e-05,-0.00131597024629,-2.00873599922e-05,1793256576142488320
+297,4.950000000,POSE2_TO_POSE3_RETREAT,794,744,728,711,689.563681494,650.436318506,935,796.563681494,836,671,657,678,0.449515353838,-0.00550301436878,0.0691917133788,0.999999166679,-3.27552749899e-05,-0.00129048661521,-1.45876120742e-05,1793256576159154688
+298,4.966666667,POSE2_TO_POSE3_RETREAT,794,744,728,711,690,650.14035123,935,797.14035123,836.14035123,671,657,677.85964877,0.449129449701,-0.00549614537767,0.0692130185596,0.999999205149,-1.28298875376e-05,-0.00126073784368,-8.74962470807e-06,1793256576175821312
+299,4.983333333,POSE2_TO_POSE3_RETREAT,794,744,728,711,690,650.716903764,935,797.716903764,836.716903764,671,657,677.283096236,0.448710233536,-0.00549156877667,0.0692395427405,0.999999257073,3.67591261821e-05,-0.00121840015886,-1.73587186539e-06,1793256576192488192
+300,5.000000000,POSE2_TO_POSE3_RETREAT,794.291114183,744,728,711,690.291114183,651.291114183,935,798,836.708885817,671,657,677.291114183,0.448268652732,-0.00548491151256,0.069262492935,0.999999297512,7.57266843954e-05,-0.00118288474364,4.91359667009e-06,1793256576209154816
+301,5.016666667,POSE2_TO_POSE3_RETREAT,794.863065242,744,728,711,690.863065242,651.863065242,935,798,836.136934758,671,657,677.863065242,0.447805496786,-0.0054762470392,0.0692819953198,0.999999328681,0.000104447766059,-0.0011539507462,1.12116421801e-05,1793256576225821440
+302,5.033333333,POSE2_TO_POSE3_RETREAT,794.547399404,744,728,710.547399404,691.452600596,652,935,798.452600596,836,671,657,678,0.447297719648,-0.00547148779676,0.0692883248703,0.999999341628,0.000106131820993,-0.00114249127239,1.39253223902e-05,1793256576242488320
+303,5.050000000,POSE2_TO_POSE3_RETREAT,794,744.04598521,728,710.04598521,692,652,935,799,836,671,657,678,0.446772613799,-0.00546877545661,0.0692906510342,0.999999350004,9.51053895193e-05,-0.00113610873214,1.42812270194e-05,1793256576259155200
+304,5.066666667,POSE2_TO_POSE3_RETREAT,794,744.620010915,728,710.620010915,692,652,935,799,836,671,657,678,0.446209811493,-0.00547545160204,0.0692946211745,0.999999366701,3.58539141147e-05,-0.0011248607889,5.19145712786e-07,1793256576275821824
+305,5.083333333,POSE2_TO_POSE3_RETREAT,794,744.805057417,727.805057417,711,692,652,935,799.194942583,836,671,657,677.805057417,0.44564966854,-0.00548170282088,0.0693145505989,0.999999407889,7.08116999478e-06,-0.00108818079257,-5.84084374176e-06,1793256576292488448
+306,5.100000000,POSE2_TO_POSE3_RETREAT,794,744.228351602,727.228351602,711,692,652,935,799.771648398,836,671,657,677.228351602,0.445094733528,-0.00548712188993,0.0693657336761,0.999999497578,3.799605058e-05,-0.00100169627222,2.29495650817e-06,1793256576309155328
+307,5.116666667,POSE2_TO_POSE3_RETREAT,794,744,727.356916901,710.643083099,692.356916901,652.356916901,935,800,836,671,657,677.356916901,0.444522451848,-0.00548206948535,0.0694173944721,0.999999578551,5.54890963348e-05,-0.000916387027256,7.32839625953e-06,1793256576325821696
+308,5.133333333,POSE2_TO_POSE3_RETREAT,794,744,727.947798354,710.052201646,692.947798354,652.947798354,935,800,836,671,657,677.947798354,0.443938799179,-0.00547015286749,0.0694693684181,0.999999651901,6.41839202591e-05,-0.000831848195315,1.03281903418e-05,1793256576342488320
+309,5.150000000,POSE2_TO_POSE3_RETREAT,794,744,728,710.527799998,693.527799998,653,935,800,836,671,657.527799998,678,0.443287210292,-0.00545548261071,0.0695106212164,0.999999703042,7.24387336509e-05,-0.00076717667544,1.04255672144e-05,1793256576359155712
+310,5.166666667,POSE2_TO_POSE3_RETREAT,794.106141795,744,727.893858205,711,694.106141795,653.106141795,935,800.106141795,836,671,658,678,0.442623362908,-0.00543873153647,0.0695511227745,0.999999747124,8.73857912856e-05,-0.000705699814985,1.02015697535e-05,1793256576375823104
+311,5.183333333,POSE2_TO_POSE3_RETREAT,794.68180489,744,727.31819511,711,694.68180489,653.68180489,935,800.68180489,836,671,658,678,0.441934412073,-0.00541395631085,0.0695928970144,0.999999780079,0.000132124802111,-0.000649838142811,9.80014090808e-06,1793256576392489216
+312,5.200000000,POSE2_TO_POSE3_RETREAT,794.737705902,744,727.262294098,711,695,654.262294098,935,801,836,671,657.737705902,677.737705902,0.441246537548,-0.00539940666521,0.0696377956374,0.999999821865,0.000154682141417,-0.00057638545389,1.11020443948e-05,1793256576409155328
+313,5.216666667,POSE2_TO_POSE3_RETREAT,794.151252201,744,727.848747799,711,695,654.848747799,935,801,836,671,657.151252201,677.151252201,0.440559993104,-0.00539749443343,0.0696865555759,0.999999872898,0.00014982597665,-0.00048119266785,1.45090334161e-05,1793256576425821952
+314,5.233333333,POSE2_TO_POSE3_RETREAT,794,744,727.570799831,711,695.429200169,655,935,801.429200169,836,671,657,677.429200169,0.439809968719,-0.00540403616831,0.0697192046991,0.999999898041,0.000140707452614,-0.000428821194049,1.52186131227e-05,1793256576442488832
+315,5.250000000,POSE2_TO_POSE3_RETREAT,794.007586095,744,727.007586095,711,696,655,935,802,836,671,657.007586095,677.992413905,0.439037052616,-0.00541341163884,0.0697455420903,0.999999914467,0.00013011535431,-0.000392314921871,1.49849785105e-05,1793256576459155968
+316,5.266666667,POSE2_TO_POSE3_RETREAT,794.587429828,744,727.587429828,711,696,655,935,802,836,671,657.587429828,677.412570172,0.438201554338,-0.00541491172796,0.069718132483,0.999999900255,0.000120110711308,-0.000429950513861,1.43181478541e-05,1793256576475821824
+317,5.283333333,POSE2_TO_POSE3_RETREAT,794.834433111,744,727.834433111,710.834433111,696.165566889,655,935,802,836,671,658,677.165566889,0.437372801104,-0.00541681847424,0.0697061170025,0.999999894208,0.000114321503351,-0.000445311229219,1.45925537668e-05,1793256576492488192
+318,5.300000000,POSE2_TO_POSE3_RETREAT,794.260505484,744,727.260505484,710.260505484,696.739494516,655,935,802,836,671,658,677.739494516,0.436560684163,-0.00541972821575,0.0697320702079,0.999999910471,0.000118929412311,-0.000405732304778,1.71884629256e-05,1793256576509154816
+319,5.316666667,POSE2_TO_POSE3_RETREAT,794,744,727,710,697,655,935,802,836,671,658,677.679106771,0.4357418197,-0.00541875863595,0.0697737600138,0.999999932761,0.00012124340497,-0.000345493222578,2.03250611434e-05,1793256576525821184
+320,5.333333333,POSE2_TO_POSE3_RETREAT,794,744,727,710,697,655,935,802,836,671,658,677.091498381,0.434917346974,-0.00541456470061,0.0698285295271,0.999999956381,0.000121650774438,-0.00026808214491,2.39110608779e-05,1793256576542487808
+321,5.350000000,POSE2_TO_POSE3_RETREAT,794.489237516,744,727,710,696.510762484,655,935,802.489237516,836,671,658,677,0.434037570288,-0.00541032337444,0.0698446451768,0.999999958359,0.000133751855554,-0.000254368451059,2.62458545249e-05,1793256576559154688
+322,5.366666667,POSE2_TO_POSE3_RETREAT,795,744.068356879,727.068356879,710,696.068356879,655,935,803,836,670.931643121,658,677,0.433147946368,-0.00540695988231,0.0698522227413,0.999999957451,0.000145573329369,-0.000251245375021,2.79838527534e-05,1793256576575821568
+323,5.383333333,POSE2_TO_POSE3_RETREAT,795,744.644881252,727.644881252,710,696.644881252,655,935,803,836,670.355118748,658,677,0.432260943908,-0.0054101872184,0.0698493250755,0.999999961251,0.000139283270865,-0.000239519670593,2.700074411e-05,1793256576592488704
+324,5.400000000,POSE2_TO_POSE3_RETREAT,794.779629801,745.220370199,728,710,697,655,935,803,836,670,658,677,0.431327193931,-0.00541142785176,0.0698227683065,0.999999951854,0.000137033908234,-0.000277215942222,2.57777474843e-05,1793256576609155584
+325,5.416666667,POSE2_TO_POSE3_RETREAT,794.205801514,745.794198486,728,710,697,655,935,803,836,670,658,677,0.43031846413,-0.00540948195608,0.0697582640223,0.99999991204,0.000141265531458,-0.000394181535819,2.41699872414e-05,1793256576625821696
+326,5.433333333,POSE2_TO_POSE3_RETREAT,794.379020842,746,728,710,697,655.379020842,935,803,836,670.379020842,658,677,0.429368420432,-0.00540781694185,0.0697285569393,0.999999894954,0.000140247097654,-0.000435813477616,2.21367635964e-05,1793256576642488320
+327,5.450000000,POSE2_TO_POSE3_RETREAT,794.969991074,746,728,710,697,655.969991074,935,803,836,670.969991074,658,677,0.428451194209,-0.00540630899734,0.0697183085411,0.999999895764,0.000136292819491,-0.000435318650669,1.98656199857e-05,1793256576659154944
+328,5.466666667,POSE2_TO_POSE3_RETREAT,795,746,727.449951641,710,697,655.449951641,935,803,836,670.449951641,658,677,0.42759410881,-0.00540836877325,0.0697909762329,0.999999937234,0.000138952082536,-0.000324955827499,2.50439772054e-05,1793256576675821824
+329,5.483333333,POSE2_TO_POSE3_RETREAT,795,746,727,710,697.128644436,655,935,803,836,670,658,677,0.426731266099,-0.00541015885371,0.0698545127262,0.999999963056,0.00014009166669,-0.000231038658191,2.97253995643e-05,1793256576692488192
+330,5.500000000,POSE2_TO_POSE3_RETREAT,795,746,727,710,697.704192395,655,935,803,836,670,658,677,0.425837246252,-0.0054103490004,0.06987091878,0.999999967393,0.000134722913796,-0.000214670703768,3.12960801496e-05,1793256576709155072
+331,5.516666667,POSE2_TO_POSE3_RETREAT,795,746.278928596,727,710,698,655,935,803,836,670,658,677,0.424926411017,-0.00541001007509,0.0698659848638,0.999999965545,0.000134230102944,-0.000223415427729,3.12762114972e-05,1793256576725821952
+332,5.533333333,POSE2_TO_POSE3_RETREAT,795,746.852806378,727,710,698,655,935,803,836,670,658,677,0.423997794639,-0.00540911168991,0.0698384852903,0.99999995645,0.000138893289813,-0.000258715206996,2.95744384303e-05,1793256576742488576
+333,5.550000000,POSE2_TO_POSE3_RETREAT,795,747,727.439954744,710,697.560045256,655.439954744,935,803,836,670,658,677,0.423000719029,-0.0054047375797,0.0697780621728,0.999999920465,0.000148681934343,-0.000369069776914,2.73953197383e-05,1793256576759154944
+334,5.566666667,POSE2_TO_POSE3_RETREAT,795,747,727.969011738,710,697.030988262,656,935,803,835.969011738,670,658,677,0.421986473421,-0.00539936927413,0.0697093023962,0.99999986264,0.000159235540659,-0.000498736247968,2.50044986426e-05,1793256576775821312
+335,5.583333333,POSE2_TO_POSE3_RETREAT,795,747,727.39022635,710,697.60977365,656,935,803,835.39022635,670,658,677,0.42108618675,-0.00539762184938,0.0696939467578,0.999999857086,0.000152055529283,-0.000512087437206,2.1782276114e-05,1793256576792487936
+336,5.600000000,POSE2_TO_POSE3_RETREAT,795,747,727,710,698,656,935,803,835,670,658,677,0.420232019709,-0.00539902544809,0.0697113109861,0.999999876306,0.000145489933542,-0.000475141609978,2.14591934589e-05,1793256576809154816
+337,5.616666667,POSE2_TO_POSE3_RETREAT,795,747,727,710,698,656,935,803,835,670,658,677,0.41947329794,-0.00540695014845,0.0697963895875,0.999999933991,0.00014019587924,-0.000334105162044,2.71359341595e-05,1793256576825822464
+338,5.633333333,POSE2_TO_POSE3_RETREAT,795,747,727,710,697.65655363,656,935,803,835,670,658,677.34344637,0.418679490362,-0.00541055283802,0.0698534565762,0.999999959417,0.000141817859084,-0.000245129531486,3.10717099442e-05,1793256576842489344
+339,5.650000000,POSE2_TO_POSE3_RETREAT,795,747,727,710,697.06879622,656,935,803,835,670,658,677.93120378,0.417860724492,-0.00541108105888,0.069890597461,0.999999969764,0.000148359570576,-0.000193187444611,3.37690478642e-05,1793256576859154944
+340,5.666666667,POSE2_TO_POSE3_RETREAT,795,747.511619092,727,709.488380908,697.511619092,656,935,803,835,670,658,677.488380908,0.417000876476,-0.00540574741608,0.0698575275614,0.999999958365,0.000157520854377,-0.000239648017425,3.20243656047e-05,1793256576875821824
+341,5.683333333,POSE2_TO_POSE3_RETREAT,795,748,727.090597963,709,698,656,935,803.090597963,835,670,658,677,0.416140704929,-0.00540057799105,0.069817578299,0.999999942278,0.000164569557733,-0.000295775431947,2.96328592622e-05,1793256576892488448
+342,5.700000000,POSE2_TO_POSE3_RETREAT,795,748,727.667092927,709,698,656,935,803.667092927,835,670,658,677,0.415308006682,-0.00540045695207,0.069790651732,0.999999931381,0.000158425569656,-0.000333786252041,2.6930465861e-05,1793256576909155328
+343,5.716666667,POSE2_TO_POSE3_RETREAT,795,748,727.75730586,709.24269414,698,656,935,804,835,670,658,677,0.414483672557,-0.0053973588428,0.0697634744611,0.999999914356,0.000160056715187,-0.000380806870142,2.56202643849e-05,1793256576925822208
+344,5.733333333,POSE2_TO_POSE3_RETREAT,795,748,727.182926166,709.817073834,698,656,935,804,835,670,658,677,0.413670769589,-0.00539019202711,0.0697359545601,0.999999887948,0.000172313991091,-0.000440141007539,2.62127458327e-05,1793256576942488832
+345,5.750000000,POSE2_TO_POSE3_RETREAT,795,748,727.402439823,710,698,656,935,804,835,670,658,677.402439823,0.412958613277,-0.0053836435411,0.0697595637724,0.999999904739,0.000182001620788,-0.000395837682374,2.66478887385e-05,1793256576959155456
+346,5.766666667,POSE2_TO_POSE3_RETREAT,795,748,727.992939759,710,698,656,935,804,835,670,658,677.992939759,0.412293535801,-0.00537738399988,0.0698070656149,0.999999935556,0.000190488454873,-0.000303104578041,2.7009507238e-05,1793256576975821824
+347,5.783333333,POSE2_TO_POSE3_RETREAT,795,748,727.427361161,709.427361161,698,656,935,804,835,670,658,677.427361161,0.411657094513,-0.00537654736056,0.0698567363134,0.999999955464,0.000198161964893,-0.000221135445795,3.0042466583e-05,1793256576992488192
+348,5.800000000,POSE2_TO_POSE3_RETREAT,795,748,727,709.151729314,698,656,935,803.848270686,835,670,658,677,0.411006755621,-0.00537415287482,0.0698880097029,0.999999963657,0.00020552153686,-0.000171506149709,3.21251433831e-05,1793256577009155072
+349,5.816666667,POSE2_TO_POSE3_RETREAT,795,748,727,709.729478078,698,656,935,803.270521922,835,670,658,677,0.410316422483,-0.00536720007725,0.0698675541901,0.999999954489,0.000212027285175,-0.000212313600699,3.14488924759e-05,1793256577025822464
+350,5.833333333,POSE2_TO_POSE3_RETREAT,795,748,727.303464902,709.696535098,698,656,935,803.303464902,835,670,658,677.303464902,0.409644964526,-0.00536066433905,0.0698337786134,0.999999938385,0.000220503433604,-0.000271574508952,2.92456103741e-05,1793256577042489088
+351,5.850000000,POSE2_TO_POSE3_RETREAT,795,748,727.874139195,709.125860805,698,656,935,803.874139195,835,670,658,677.874139195,0.408990126736,-0.00535449583379,0.0697882743466,0.999999912821,0.000230714573692,-0.000347084202647,2.56977342443e-05,1793256577059155456
+352,5.866666667,POSE2_TO_POSE3_RETREAT,795,748,727.53773425,709.46226575,698,656,935,804,835,670,658,678,0.408387825796,-0.00535151620106,0.0697733278888,0.999999905942,0.000231985241318,-0.000365692211856,2.38421794245e-05,1793256577075822080
+353,5.883333333,POSE2_TO_POSE3_RETREAT,795,748,727,710,698,656,935,804,835,670,658,678,0.407807128447,-0.00534970249861,0.0697698296099,0.999999906561,0.000230879630571,-0.000364771211543,2.26982610905e-05,1793256577092488448
+354,5.900000000,POSE2_TO_POSE3_RETREAT,795,748,727,710,698,656,935,804,835,670,658,678,0.407291916803,-0.00535045093714,0.069793560794,0.99999991835,0.000231265286845,-0.000330529303489,2.38167441548e-05,1793256577109155072
+355,5.916666667,POSE2_TO_POSE3_RETREAT,795,748,727,710,698,656,935,804,835,670,658,677.791377434,0.406781188378,-0.00535908808026,0.0698080642502,0.999999925913,0.000222456324937,-0.000313150445615,2.49659623042e-05,1793256577125821440
+356,5.933333333,POSE2_TO_POSE3_RETREAT,795,748,727,710,698,656,935,804,835,670,658,677.216615527,0.406278328203,-0.00538157015453,0.0698063727433,0.999999927221,0.000197510511481,-0.000325366789256,2.61691214298e-05,1793256577142488064
+357,5.950000000,POSE2_TO_POSE3_RETREAT,795.358043553,748,727,709.641956447,698,656,935,804,835.358043553,670,658,677,0.405810590727,-0.00539425418521,0.0698025965864,0.999999926493,0.00018331064519,-0.000335746530497,2.61709013311e-05,1793256577159154944
+358,5.966666667,POSE2_TO_POSE3_RETREAT,795.932640496,748,727,709.067359504,698,656,935,804,835.932640496,670,658,677,0.405364096258,-0.00540101212457,0.0697975595827,0.999999924739,0.000175610184993,-0.000345015451477,2.54460581745e-05,1793256577175821824
+359,5.983333333,POSE2_TO_POSE3_RETREAT,795.476173685,748.523826315,727,709,698,656,935,804,835.476173685,670,658,677.523826315,0.404977800176,-0.00539041756291,0.0698125654383,0.999999933938,0.00018245561338,-0.000313393812073,2.48592232184e-05,1793256577192488448
+360,6.000000000,POSE2_TO_POSE3_RETREAT,795.114179211,749,727,709.114179211,698,656,935,804,835.114179211,670,658,677.885820789,0.404606045869,-0.00538124388522,0.0698292855925,0.999999942536,0.000190334997963,-0.000279465488542,2.44684735538e-05,1793256577209155328
+361,6.016666667,POSE2_TO_POSE3_RETREAT,795.692199378,749,727,709.692199378,698,656,935,804,835.692199378,670,658,677.307800622,0.404260890474,-0.00538720359839,0.0698421573294,0.999999947424,0.000194567610893,-0.000258225844441,2.47998478806e-05,1793256577225821952
+362,6.033333333,POSE2_TO_POSE3_RETREAT,795.732069135,748.732069135,727,710,698,656,935,804.267930865,835.732069135,670,658,677.267930865,0.403924929577,-0.00538730698088,0.0698459882715,0.999999948647,0.000198650274784,-0.000250268457584,2.46836396394e-05,1793256577242488064
+363,6.050000000,POSE2_TO_POSE3_RETREAT,795.158944662,748.158944662,727,710,698,656,935,804.841055338,835.158944662,670,658,677.841055338,0.403599441932,-0.00538073955748,0.0698395210606,0.999999946057,0.000202562135145,-0.000257440572083,2.40576008415e-05,1793256577259154688
+364,6.066666667,POSE2_TO_POSE3_RETREAT,795.426850332,748.426850332,727,710,698,656,935,804.573149668,835,670,658,678,0.403300825405,-0.00537654486926,0.0698321359915,0.99999994249,0.000204906789577,-0.000269205943868,2.36947009422e-05,1793256577275821568
+365,6.083333333,POSE2_TO_POSE3_RETREAT,796,749,727,709.982815717,698,656,935,804,835,670,658,677.982815717,0.40301304513,-0.00537333434472,0.0698243000195,0.999999938374,0.000206493875648,-0.000282956120159,2.34062343337e-05,1793256577292487936
+366,6.100000000,POSE2_TO_POSE3_RETREAT,796,749,727,709.403070226,698,656,935,804,835,670,658,677.403070226,0.402742427228,-0.00537253353506,0.0698132339586,0.999999932953,0.00020296937781,-0.000303977414535,2.22486579927e-05,1793256577309154816
+367,6.116666667,POSE2_TO_POSE3_RETREAT,796,749,727,709,698,655.82482044,935,804,835,670,658,677.17517956,0.40249039164,-0.0053705596382,0.0698043667997,0.999999928092,0.000202059363543,-0.00032019091062,2.15966973221e-05,1793256577325821696
+368,6.133333333,POSE2_TO_POSE3_RETREAT,796,749,727,709,698,655.249983065,935,804,835,670,658,677.750016935,0.402280750117,-0.0053659094391,0.0698005162569,0.999999925353,0.00020711408003,-0.000325435806116,2.20982575628e-05,1793256577342488320
+369,6.150000000,POSE2_TO_POSE3_RETREAT,796,749,727,709.324197566,698,655.324197566,935,804,835,670,658,677.675802434,0.402091225828,-0.00536526126578,0.0697984758166,0.999999924345,0.000207187492526,-0.000328393608722,2.32738818599e-05,1793256577359154944
+370,6.166666667,POSE2_TO_POSE3_RETREAT,796,749,727,709.897872877,698,655.897872877,935,804,835,670,658,677.102127123,0.401917182207,-0.00536769274609,0.0697978282931,0.999999924682,0.00020342767353,-0.000329591439455,2.49682145519e-05,1793256577375821568
+371,6.183333333,POSE2_TO_POSE3_RETREAT,796,748.509853555,727,709.509853555,698,656,935,804,835.490146445,670,658,677,0.401769892925,-0.00536578193885,0.069798659629,0.999999924257,0.00020755578484,-0.000328230693832,2.58940466941e-05,1793256577392487936
+372,6.200000000,POSE2_TO_POSE3_RETREAT,795.916585438,748.083414562,727,709.083414562,698,656,935,804,836,670,658,677.083414562,0.401632289393,-0.00536329573747,0.0697997045293,0.99999992349,0.000214385877404,-0.00032617527796,2.58715924104e-05,1793256577409154304
+373,6.216666667,POSE2_TO_POSE3_RETREAT,795.341207666,748.658792334,727,709.658792334,698,656,935,804,836,670,658,677.658792334,0.401517636193,-0.0053629625379,0.0698001199885,0.999999921734,0.000227076191918,-0.000323290994725,2.12379604211e-05,1793256577425821184
+374,6.233333333,POSE2_TO_POSE3_RETREAT,795,749,727,710,698,656,935,804,836,670,658,678,0.401413803813,-0.00536356104792,0.0697997785318,0.999999920842,0.00023320488675,-0.000321968303523,1.6373019158e-05,1793256577442487552
+375,6.250000000,POSE2_TO_POSE3_RETREAT,795,749,727,710,698,656,935,804,836,670,658,678,0.401325738385,-0.0053655171455,0.0697983341781,0.999999921401,0.000229772690523,-0.000322920997431,1.11710390451e-05,1793256577459154432
+376,6.266666667,POSE2_TO_POSE3_RETREAT,795,749,727.391418785,710,698.391418785,656,935,804,835.608581215,670,658,678,0.401252283075,-0.00536555140993,0.0697981563042,0.999999921524,0.000229321639843,-0.000322883784288,1.05067230327e-05,1793256577475821056
+377,6.283333333,POSE2_TO_POSE3_RETREAT,795,749,727.979821108,710,698.979821108,656,935,804,835.020178892,670,658,678,0.401186180385,-0.00536461850181,0.0697986157929,0.999999921437,0.00023037086625,-0.000322348395255,1.21260102039e-05,1793256577492487680
+378,6.300000000,POSE2_TO_POSE3_RETREAT,795,749,727.437666269,709.437666269,698.437666269,656,935,804,835,670,658,677.437666269,0.401137124792,-0.00536509354701,0.0698008893617,0.9999999228,0.000229450477755,-0.000318718138257,1.30915320484e-05,1793256577509154304
+379,6.316666667,POSE2_TO_POSE3_RETREAT,795.142558356,749,727,709.142558356,698,656,935,804,835,670,658,677,0.40109334901,-0.0053651829485,0.069803271722,0.999999924392,0.000228409356583,-0.000314409066648,1.38573019324e-05,1793256577525821184
+380,6.333333333,POSE2_TO_POSE3_RETREAT,795.716492381,749,727,709.716492381,698,656,935,804,835,670,658,677,0.401063717866,-0.00536395411132,0.0698057883414,0.999999926539,0.000227214555574,-0.000308378501066,1.40888832005e-05,1793256577542487808
+381,6.350000000,POSE2_TO_POSE3_RETREAT,795.708369179,749,727,709.708369179,698,656,935,804,835,670,658,677,0.401039589661,-0.00536328606751,0.0698087536496,0.999999928115,0.000227411339977,-0.000303046760958,1.46944349502e-05,1793256577559154432
+382,6.366666667,POSE2_TO_POSE3_RETREAT,795.132054946,749,727,709.132054946,698,656,935,804,835,670,658,677,0.401020833298,-0.00536316545733,0.0698121569579,0.999999929144,0.000228966558441,-0.000298397197759,1.56650482521e-05,1793256577575821312
+383,6.383333333,POSE2_TO_POSE3_RETREAT,795,748.543906291,727,709.456093709,698,656,935,804,835.456093709,670,658,677,0.401006158699,-0.00536400685538,0.0698139085069,0.999999930279,0.000226516349488,-0.000296448076511,1.58103442534e-05,1793256577592487936
+384,6.400000000,POSE2_TO_POSE3_RETREAT,795,748,727,710,698,656,934.953520323,804,835.953520323,670,658,677,0.400993361028,-0.00536496964484,0.069815193232,0.999999931381,0.00022343299993,-0.000295074355233,1.57247024064e-05,1793256577609154560
+385,6.416666667,POSE2_TO_POSE3_RETREAT,795,748,727,710,698,656,934.377715943,804,835.377715943,670,658,677,0.400988121005,-0.00536405834043,0.0698167530702,0.999999931806,0.00022669820062,-0.000291112076667,1.58028883738e-05,1793256577625821440
+386,6.433333333,POSE2_TO_POSE3_RETREAT,795.198488837,748.198488837,727,709.801511163,698.198488837,656,934.198488837,804,835,670,658,677,0.400984225155,-0.00536347193425,0.069818235677,0.999999932147,0.000229158343564,-0.000287994420364,1.58913513112e-05,1793256577642488064
+387,6.450000000,POSE2_TO_POSE3_RETREAT,795.775457065,748.775457065,727,709.224542935,698.775457065,656,934.775457065,804,835,670,658,677,0.400982892383,-0.00536350504552,0.0698195710189,0.999999932365,0.000230083398658,-0.000286487293771,1.59994104167e-05,1793256577659154688
+388,6.466666667,POSE2_TO_POSE3_RETREAT,796,749,727,709.35085035,699,656,935,804,835,670,658,677,0.400980797954,-0.0053639020814,0.0698199651465,0.999999932774,0.000228894687804,-0.000286014127236,1.59622637406e-05,1793256577675821312
+389,6.483333333,POSE2_TO_POSE3_RETREAT,796,749,727,709.925240158,699,656,935,804,835,670,658,677,0.400978218245,-0.00536453098682,0.0698197595924,0.9999999333,0.00022635922011,-0.000286199734141,1.58326012004e-05,1793256577692487936
+390,6.500000000,POSE2_TO_POSE3_RETREAT,795.483158475,748.483158475,727,709.483158475,699,656,935,804,835,670,658,677.516841525,0.400977633375,-0.00536391601986,0.0698205090544,0.999999933747,0.000225185901906,-0.000285573906952,1.56588153738e-05,1793256577709154304
+391,6.516666667,POSE2_TO_POSE3_RETREAT,795.107426463,748.107426463,727,709,698.892573537,656,935,804,835,670,658,677.892573537,0.400977604015,-0.00536343048563,0.0698215326318,0.999999934173,0.00022474780506,-0.000284428842837,1.55693033073e-05,1793256577725821184
+392,6.533333333,POSE2_TO_POSE3_RETREAT,795.682379489,748.682379489,727,709,698.317620511,656,935,804,835,670,658,677.317620511,0.400978693228,-0.00536431826143,0.0698231272687,0.999999934559,0.000226622404175,-0.000281552434488,1.58752889893e-05,1793256577742488064
+393,6.550000000,POSE2_TO_POSE3_RETREAT,795.742304596,749,727,709.257695404,698.257695404,656,935,804,835,670,658,677,0.4009790987,-0.00536502455653,0.0698239937798,0.999999934818,0.000227165213689,-0.000280190425309,1.59049606944e-05,1793256577759154688
+394,6.566666667,POSE2_TO_POSE3_RETREAT,795.166540695,749,727,709.833459305,698.833459305,656,935,804,835,670,658,677,0.400978660245,-0.00536550685359,0.0698239615796,0.99999993493,0.00022606422108,-0.00028069760961,1.55935833962e-05,1793256577775821312
+395,6.583333333,POSE2_TO_POSE3_RETREAT,795.419841387,749,727,709.580158613,698.580158613,656,935,804,835,670,658,677,0.400979150881,-0.00536542984521,0.0698246848496,0.999999935428,0.000225261901579,-0.000279563757768,1.56799849872e-05,1793256577792487936
+396,6.600000000,POSE2_TO_POSE3_RETREAT,796,749,727,709.010323152,698,656,935,804,835.010323152,670,658,677,0.400979992398,-0.00536512991177,0.0698256919182,0.99999993606,0.000224627885151,-0.000277794068338,1.59227849785e-05,1793256577809154560
+397,6.616666667,POSE2_TO_POSE3_RETREAT,796,749,727,709.588615998,698,656,935,804,835.588615998,670,658,677,0.400979335713,-0.00536508825171,0.0698253976004,0.999999935626,0.000226566155129,-0.000277785608201,1.5863816051e-05,1793256577825821184
+398,6.633333333,POSE2_TO_POSE3_RETREAT,795.834315323,749,727,710,698,656,934.834315323,804,835.834315323,670,658,677.165684677,0.400978541796,-0.00536540637299,0.0698250092716,0.999999935342,0.00022750426159,-0.000278043507603,1.58141222839e-05,1793256577842488064
+399,6.650000000,POSE2_TO_POSE3_RETREAT,795.260263911,749,727,710,698,656,934.260263911,804,835.260263911,670,658,677.739736089,0.40097740964,-0.00536661125539,0.0698243892314,0.999999935434,0.000225977242513,-0.000278957909329,1.57872892163e-05,1793256577859154432
+400,6.666666667,POSE2_TO_POSE3_RETREAT,795.314483826,749,727,709.685516174,698.314483826,656,934.314483826,804,835,670,658,678,0.400976913988,-0.00536627546938,0.0698246860333,0.999999935462,0.000226044517041,-0.000278813880732,1.56018560974e-05,1793256577875821056
+401,6.683333333,POSE2_TO_POSE3_RETREAT,795.889809083,749,727,709.110190917,698.889809083,656,934.889809083,804,835,670,658,678,0.40097694627,-0.00536466181106,0.0698257432889,0.999999935436,0.000227434142089,-0.000277791961216,1.5284875787e-05,1793256577892487680
+402,6.700000000,POSE2_TO_POSE3_RETREAT,796,749,727,709.479608304,698.520391696,656,935,804,835,670,658,677.520391696,0.400978292102,-0.00536486430931,0.0698263213857,0.999999935989,0.00022652456245,-0.000276532403458,1.54229307223e-05,1793256577909154560
+403,6.716666667,POSE2_TO_POSE3_RETREAT,795.929108382,749,727.070891618,709.929108382,698.070891618,656,935,804,835,670,658,677,0.400979652204,-0.00536550811531,0.0698267243055,0.999999936562,0.000225311716,-0.000275436346669,1.56565940583e-05,1793256577925821440
+404,6.733333333,POSE2_TO_POSE3_RETREAT,795.35172037,749,727.64827963,709.35172037,698.64827963,656,935,804,835,670,658,677,0.400978890972,-0.00536623092622,0.0698266866588,0.999999936314,0.00022582371736,-0.000275910670587,1.58031636808e-05,1793256577942488064
+405,6.750000000,POSE2_TO_POSE3_RETREAT,795.224309356,749,727.775690644,709,698.775690644,656,935,804,835,670,658,677,0.400978570071,-0.00536618505636,0.0698267707266,0.999999936265,0.000226242537847,-0.000275740040977,1.58630716234e-05,1793256577959154432
+406,6.766666667,POSE2_TO_POSE3_RETREAT,795.798222174,749,727.201777826,709,698.201777826,656,935,804,835,670,658,677,0.40097893546,-0.00536494113821,0.0698270444958,0.999999936528,0.000226516128821,-0.000274564201534,1.57879106642e-05,1793256577975821056
+407,6.783333333,POSE2_TO_POSE3_RETREAT,795.617493473,749,727,709,698,656,935,804,835,670,658,677,0.400979408438,-0.00536449908801,0.069827532298,0.999999936574,0.000226942767878,-0.000274057767373,1.55625031371e-05,1793256577992487936
+408,6.800000000,POSE2_TO_POSE3_RETREAT,795.027585536,749,727,709,698,656,935,804,835,670,658,677,0.400979939753,-0.00536449182405,0.0698281361524,0.999999936502,0.000227452392138,-0.000273914295976,1.5255629423e-05,1793256578009154560
diff --git a/Part2/Obstacle_avoidance/cylinder_PLA_10/position_03/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_PLA_10/position_03/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c6a6fd35edd2de825372b6dc20980576ca972238
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_PLA_10/position_03/depth_03/simulation_data.csv
@@ -0,0 +1,410 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+1,0.016666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+2,0.033333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+3,0.050000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+4,0.066666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+5,0.083333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+6,0.100000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+7,0.116666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+8,0.133333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+9,0.150000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+10,0.166666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+11,0.183333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+12,0.200000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+13,0.216666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+14,0.233333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+15,0.250000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+16,0.266666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+17,0.283333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+18,0.300000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+19,0.316666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+20,0.333333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+21,0.350000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+22,0.366666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+23,0.383333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+24,0.400000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+25,0.416666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+26,0.433333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+27,0.450000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+28,0.466666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+29,0.483333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+30,0.500000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+31,0.516666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+32,0.533333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+33,0.550000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+34,0.566666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+35,0.583333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+36,0.600000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+37,0.616666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+38,0.633333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+39,0.650000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+40,0.666666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+41,0.683333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+42,0.700000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+43,0.716666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+44,0.733333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+45,0.750000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+46,0.766666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+47,0.783333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+48,0.800000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+49,0.816666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+50,0.833333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+51,0.850000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+52,0.866666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+53,0.883333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+54,0.900000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+55,0.916666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+56,0.933333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+57,0.950000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+58,0.966666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+59,0.983333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+60,1.000000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+61,1.016666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+62,1.033333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+63,1.050000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+64,1.066666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+65,1.083333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+66,1.100000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+67,1.116666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+68,1.133333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+69,1.150000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+70,1.166666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+71,1.183333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+72,1.200000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+73,1.216666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+74,1.233333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+75,1.250000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+76,1.266666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+77,1.283333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+78,1.300000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+79,1.316666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+80,1.333333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+81,1.350000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+82,1.366666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+83,1.383333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+84,1.400000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+85,1.416666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+86,1.433333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+87,1.450000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+88,1.466666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+89,1.483333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+90,1.500000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+91,1.516666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+92,1.533333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+93,1.550000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+94,1.566666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+95,1.583333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+96,1.600000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+97,1.616666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+98,1.633333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+99,1.650000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+100,1.666666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+101,1.683333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+102,1.700000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+103,1.716666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+104,1.733333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+105,1.750000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+106,1.766666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+107,1.783333333,pose1_to_pose2_press,0.575666798543,0.000181738779929,1.060020574,0.546237946392,0.0088559764994,1.05969226794
+108,1.800000000,pose1_to_pose2_press,0.57566683572,0.000181745503558,1.06002041314,0.546237983344,0.00885598285833,1.0596921176
+109,1.816666667,pose1_to_pose2_press,0.575667065099,0.000181747417251,1.06002046809,0.546238213065,0.00885598590951,1.05969217189
+110,1.833333333,pose1_to_pose2_press,0.575667226931,0.000181748767408,1.06002050685,0.546238375139,0.00885598806219,1.05969221019
+111,1.850000000,pose1_to_pose2_press,0.575667250861,0.000181748967062,1.06002051258,0.546238399105,0.00885598838052,1.05969221585
+112,1.866666667,pose1_to_pose2_press,0.575667361995,0.000181749894245,1.0600205392,0.546238510405,0.00885598985881,1.05969224216
+113,1.883333333,pose1_to_pose2_press,0.575667731403,0.000181745700546,1.06002054636,0.546238879417,0.00885598431353,1.05969224911
+114,1.900000000,pose1_to_pose2_press,0.575668629481,0.000181733870393,1.0600205455,0.546239776319,0.00885596848222,1.05969224792
+115,1.916666667,pose1_to_pose2_press,0.575670726694,0.000181786016788,1.0600204095,0.546241873952,0.00885602239446,1.059692121
+116,1.933333333,pose1_to_pose2_press,0.575677064624,0.000181762325064,1.06002079928,0.546248211086,0.00885599530359,1.05969249224
+117,1.950000000,pose1_to_pose2_press,0.575689234813,0.00018179821212,1.06002049201,0.546260382693,0.00885603674351,1.05969220464
+118,1.966666667,pose1_to_pose2_press,0.575710422549,0.000181837653355,1.06002031945,0.546281567902,0.00885606736126,1.05969202526
+119,1.983333333,pose1_to_pose2_press,0.575740800921,0.000181833035449,1.06002087584,0.546311949389,0.00885607328005,1.05969258067
+120,2.000000000,pose1_to_pose2_press,0.575781565636,0.000181981229315,1.06002074992,0.546352711663,0.00885621340059,1.05969246022
+121,2.016666667,pose1_to_pose2_press,0.575831103753,0.000181831630751,1.06002063231,0.546402249636,0.00885606310291,1.05969233699
+122,2.033333333,pose1_to_pose2_press,0.575889470772,0.000181819372315,1.06002053751,0.546460617724,0.00885605442909,1.05969224105
+123,2.050000000,pose1_to_pose2_press,0.575955867563,0.000181878133472,1.06002052546,0.546527014449,0.00885611307528,1.05969223176
+124,2.066666667,pose1_to_pose2_press,0.576030400286,0.000181830859206,1.06002051938,0.546601548108,0.00885606905606,1.0596922277
+125,2.083333333,pose1_to_pose2_press,0.576115605222,0.000181740492659,1.06002059426,0.546686753449,0.00885597998052,1.05969230033
+126,2.100000000,pose1_to_pose2_press,0.576211543768,0.000181701536367,1.06002058818,0.546782692115,0.00885594143534,1.05969229436
+127,2.116666667,pose1_to_pose2_press,0.57632036593,0.000181755464643,1.06002060067,0.546891514291,0.00885599545686,1.05969230809
+128,2.133333333,pose1_to_pose2_press,0.576444045992,0.00018182013243,1.06002074251,0.5470151935,0.00885605712013,1.05969244703
+129,2.150000000,pose1_to_pose2_press,0.576584337143,0.000181798835731,1.0600206343,0.547155484597,0.00885603583468,1.05969234385
+130,2.166666667,pose1_to_pose2_press,0.576742389242,0.000181708524651,1.06002061744,0.547313539294,0.00885595418827,1.05969232292
+131,2.183333333,pose1_to_pose2_press,0.576918069323,0.000181758759331,1.06002038781,0.547489217515,0.00885599830291,1.05969209832
+132,2.200000000,pose1_to_pose2_press,0.577112333945,0.000181965902117,1.06002028887,0.547683479075,0.00885619491773,1.05969199561
+133,2.216666667,pose1_to_pose2_press,0.577324982299,0.000181834844141,1.06002035984,0.547896129648,0.0088560717514,1.05969207612
+134,2.233333333,pose1_to_pose2_press,0.577558313798,0.000181940097507,1.0600208443,0.548129459719,0.00885617167892,1.05969254783
+135,2.250000000,pose1_to_pose2_press,0.577810315915,0.00018176340156,1.06002077903,0.548381465551,0.00885600772292,1.05969248609
+136,2.266666667,pose1_to_pose2_press,0.578081295863,0.000181773323432,1.06002068362,0.548652445991,0.00885601923693,1.05969238856
+137,2.283333333,pose1_to_pose2_press,0.578374623718,0.000181722947359,1.06002067405,0.548945774264,0.00885597015051,1.05969237557
+138,2.300000000,pose1_to_pose2_press,0.578687622868,0.000181831647476,1.06002066372,0.549258770391,0.00885606862546,1.05969236603
+139,2.316666667,pose1_to_pose2_press,0.579017841323,0.000181887836132,1.0600204878,0.549588987574,0.0088561208015,1.05969219803
+140,2.333333333,pose1_to_pose2_press,0.57936377285,0.000181810488537,1.0600204436,0.549934920853,0.00885604936525,1.05969215295
+141,2.350000000,pose1_to_pose2_press,0.579726076622,0.000181716283305,1.06002050353,0.550297225889,0.00885595912651,1.05969220434
+142,2.366666667,pose1_to_pose2_press,0.580105656426,0.000181709814506,1.06002050112,0.550676804691,0.00885594916845,1.05969219954
+143,2.383333333,pose1_to_pose2_press,0.580504744656,0.000181787208539,1.06002064327,0.551075891408,0.00885602140949,1.05969234112
+144,2.400000000,pose1_to_pose2_press,0.580933012095,0.000181663010167,1.06002045827,0.551504160138,0.00885590148814,1.05969215332
+145,2.416666667,pose1_to_pose2_press,0.581389707925,0.000181858315093,1.06002050935,0.551960854158,0.00885609116815,1.05969221806
+146,2.433333333,pose1_to_pose2_press,0.581876314605,0.000181950653312,1.06002037015,0.552447459819,0.00885618035423,1.05969208687
+147,2.450000000,pose1_to_pose2_press,0.582382773555,0.000181738791988,1.0600203132,0.55295392081,0.00885597491295,1.05969201653
+148,2.466666667,pose1_to_pose2_press,0.582905460223,0.000181675986349,1.0600202639,0.553476609514,0.00885591924028,1.0596919732
+149,2.483333333,pose1_to_pose2_press,0.583444764136,0.000181716289424,1.06002050828,0.554015912907,0.00885595799308,1.05969222321
+150,2.500000000,pose1_to_pose2_press,0.584001799043,0.000181744376219,1.06002054898,0.554572946696,0.00885598209721,1.05969225886
+151,2.516666667,pose1_to_pose2_press,0.584582699512,0.000181765618129,1.06002053643,0.555153846946,0.00885600236781,1.05969224024
+152,2.533333333,pose1_to_pose2_press,0.585187957192,0.000181766039778,1.06002059567,0.555759104742,0.00885600316163,1.05969229889
+153,2.550000000,pose1_to_pose2_press,0.585817699023,0.000181742119772,1.06002059731,0.55638884742,0.00885598207513,1.05969229949
+154,2.566666667,pose1_to_pose2_press,0.586451778658,0.000181666156806,1.06002048151,0.557022928291,0.00885591036454,1.05969218527
+155,2.583333333,pose1_to_pose2_press,0.587085019555,0.000181703455473,1.06002049843,0.557656168443,0.00885594532659,1.05969220723
+156,2.600000000,pose1_to_pose2_press,0.587728201241,0.000181936517709,1.06002070544,0.558299347986,0.00885617099354,1.05969241094
+157,2.616666667,pose1_to_pose2_press,0.588384364531,0.000181680882418,1.06002044765,0.558955513225,0.00885592192021,1.05969215175
+158,2.633333333,pose1_to_pose2_press,0.589060563846,0.00018183936407,1.06002076493,0.559631711453,0.00885607679301,1.05969247123
+159,2.650000000,pose1_to_pose2_press,0.589766671585,0.000181720063002,1.06002079916,0.56033781946,0.00885595813462,1.05969249838
+160,2.666666667,pose1_to_pose2_press,0.590506162566,0.000181767240406,1.06002068556,0.561077310905,0.00885600695233,1.0596923865
+161,2.683333333,pose1_to_pose2_press,0.591257136496,0.000181879385358,1.06002034024,0.561828282232,0.00885611052228,1.05969204797
+162,2.700000000,pose1_to_pose2_press,0.592015766614,0.000181840505345,1.06002034643,0.562586913986,0.00885607737089,1.05969205893
+163,2.716666667,pose1_to_pose2_press,0.592768489087,0.000181781789473,1.06002056822,0.563339638095,0.00885602399243,1.05969227512
+164,2.733333333,pose1_to_pose2_press,0.593512406995,0.000181675003514,1.06002065285,0.564083556004,0.0088559170767,1.05969235624
+165,2.750000000,pose1_to_pose2_press,0.594245329359,0.00018177272498,1.06002062104,0.564816477055,0.00885601011567,1.05969231846
+166,2.766666667,pose1_to_pose2_press,0.594985538964,0.000181876777214,1.06002060745,0.565556685459,0.00885611012711,1.05969230584
+167,2.783333333,pose1_to_pose2_press,0.59574155655,0.000181831165907,1.06002064649,0.56631270256,0.00885606315236,1.05969235232
+168,2.800000000,pose1_to_pose2_press,0.596516830674,0.00018185161185,1.06002064058,0.567087977144,0.00885608499173,1.05969234202
+169,2.816666667,pose1_to_pose2_press,0.597312770229,0.000181702068861,1.060020554,0.567883919697,0.00885594581109,1.05969226055
+170,2.833333333,pose1_to_pose2_press,0.598133751325,0.000181848789697,1.06002063088,0.568704897925,0.00885608268363,1.05969233436
+171,2.850000000,pose1_to_pose2_press,0.598951391983,0.000181750593564,1.06002041996,0.569522540628,0.00885599150197,1.05969212544
+172,2.866666667,pose1_to_pose2_press,0.599748401883,0.000181889064013,1.06002053362,0.570319548412,0.00885612291551,1.05969224238
+173,2.883333333,pose1_to_pose2_press,0.600520727373,0.000181820204654,1.06002076438,0.571091875979,0.00885606102884,1.05969247126
+174,2.900000000,pose1_to_pose2_press,0.601267619874,0.00018172883817,1.06002058347,0.571838769935,0.00885597434148,1.05969228368
+175,2.916666667,pose1_to_pose2_press,0.602008635482,0.000181892073444,1.0600206388,0.572579781839,0.00885612502725,1.05969233952
+176,2.933333333,pose1_to_pose2_press,0.602755085929,0.000181863974228,1.06002065868,0.573326232307,0.00885609709256,1.05969236185
+177,2.950000000,pose1_to_pose2_press,0.603516885225,0.000181797236318,1.0600206362,0.574088032685,0.00885603424193,1.05969234518
+178,2.966666667,pose1_to_pose2_press,0.604292392861,0.000181838333072,1.0600205611,0.574863539363,0.00885607216077,1.05969227207
+179,2.983333333,pose1_to_pose2_press,0.605076652849,0.000181793271576,1.06002050806,0.575647800271,0.00885603018236,1.05969221805
+180,3.000000000,pose1_to_pose2_press,0.605827300768,0.000181685561058,1.06002051485,0.576398450176,0.00885592912806,1.05969222285
+181,3.016666667,pose1_to_pose2_press,0.606540064684,0.000181721587262,1.06002069043,0.577111213025,0.00885596137996,1.05969239432
+182,3.033333333,pose1_to_pose2_press,0.607205337579,0.000181826756797,1.06002082285,0.577776484208,0.00885606070202,1.0596925258
+183,3.050000000,pose1_to_pose2_press,0.607840633079,0.000181843543114,1.06002061948,0.578411780204,0.008856079359,1.05969232745
+184,3.066666667,pose1_to_pose2_press,0.608460695832,0.000181768145711,1.06002050586,0.579031842847,0.00885600369784,1.05969221677
+185,3.083333333,pose1_to_pose2_press,0.609086684154,0.000181801034733,1.06002072308,0.579657832305,0.00885604039656,1.05969243282
+186,3.100000000,pose1_to_pose2_press,0.609723330952,0.000181777252074,1.06002047572,0.580294478027,0.00885601284072,1.05969218232
+187,3.116666667,pose1_to_pose2_press,0.61035914412,0.000181704594751,1.06002059887,0.580930292088,0.00885594304646,1.05969230116
+188,3.133333333,pose1_to_pose2_press,0.610982980415,0.000181832613052,1.06002051281,0.581554127989,0.00885606961582,1.0596922122
+189,3.150000000,pose1_to_pose2_press,0.611576308423,0.000181796835157,1.06002045192,0.582147455451,0.00885603184072,1.05969214752
+190,3.166666667,pose1_to_pose2_press,0.61213725258,0.000181702837642,1.06002064834,0.582708400441,0.00885594056324,1.05969234105
+191,3.183333333,pose1_to_pose2_press,0.612665555894,0.00018176216343,1.06002069795,0.583236704002,0.00885600099294,1.05969239762
+192,3.200000000,pose1_to_pose2_press,0.613175286506,0.000181820617708,1.06002050237,0.583746434061,0.00885605845373,1.05969221266
+193,3.216666667,pose1_to_pose2_press,0.613667088157,0.00018165192957,1.06002054489,0.584238236558,0.00885589428574,1.05969224965
+194,3.233333333,pose1_to_pose2_press,0.614141007216,0.000181818232297,1.06002067343,0.584712153274,0.008856055793,1.05969237167
+195,3.250000000,pose1_to_pose2_press,0.614596615744,0.000181800792308,1.06002052925,0.585167759715,0.00885603497062,1.05969223803
+196,3.266666667,pose1_to_pose2_press,0.615033248748,0.000181765510454,1.06002041621,0.585604392078,0.00885600124177,1.05969212497
+197,3.283333333,pose1_to_pose2_press,0.61545745038,0.000181821124136,1.06002047618,0.586028593703,0.00885606079418,1.05969218468
+198,3.300000000,pose1_to_pose2_press,0.615871267329,0.000181807488409,1.06002052605,0.586442409041,0.00885604596875,1.05969223279
+199,3.316666667,pose1_to_pose2_press,0.616272293839,0.000181718028578,1.06002054449,0.586843434298,0.0088559570871,1.05969224731
+200,3.333333333,pose1_to_pose2_press,0.616656640165,0.00018173983556,1.06002060261,0.587227779747,0.00885597977686,1.0596923057
+201,3.350000000,pose1_to_pose2_press,0.617010752216,0.000181794242589,1.060020611,0.587581891101,0.00885603350011,1.05969231468
+202,3.366666667,pose1_to_pose2_press,0.61733365741,0.000181778575142,1.06002056253,0.587904796189,0.00885601914622,1.05969226831
+203,3.383333333,pose1_to_pose2_press,0.617624182395,0.000181833295395,1.06002059679,0.588195320297,0.00885607406184,1.05969231318
+204,3.400000000,pose1_to_pose2_press,0.6178924058,0.000181875702952,1.06002062502,0.588463542424,0.00885611381044,1.05969233486
+205,3.416666667,pose1_to_pose2_press,0.618141888055,0.000181715303727,1.06002053211,0.588713026894,0.0088559620769,1.05969224098
+206,3.433333333,pose1_to_pose2_press,0.618380977793,0.000181709886397,1.06002053279,0.588952115098,0.00885595337994,1.05969223767
+207,3.450000000,pose1_to_pose2_press,0.618609222083,0.000181743796136,1.06002059058,0.589180358314,0.00885598500669,1.0596922981
+208,3.466666667,pose1_to_pose2_press,0.618823519712,0.000181748002899,1.06002072698,0.58939465636,0.00885599180665,1.05969242899
+209,3.483333333,pose1_to_pose2_press,0.619020496253,0.000181809526145,1.06002068883,0.589591632481,0.00885605349474,1.05969239026
+210,3.500000000,pose1_to_pose2_press,0.619197750069,0.000181829859756,1.06002054262,0.589768885582,0.0088560726744,1.05969225215
+211,3.516666667,pose1_to_pose2_press,0.619358982797,0.00018167102905,1.06002061369,0.589930119565,0.00885591846271,1.05969232032
+212,3.533333333,pose1_to_pose2_press,0.61950471391,0.000181746757098,1.06002051352,0.590075849462,0.00885599138047,1.05969222426
+213,3.550000000,pose1_to_pose2_press,0.619635467748,0.000181622080496,1.0600205679,0.590206603069,0.00885586695502,1.05969226432
+214,3.566666667,pose1_to_pose2_press,0.619753873056,0.000181688790587,1.06002038068,0.590325009675,0.00885593867998,1.05969209405
+215,3.583333333,pose1_to_pose2_press,0.61985998866,0.000181676507405,1.06002063986,0.590431124557,0.00885592355472,1.05969233703
+216,3.600000000,pose1_to_pose2_press,0.619953478534,0.000181632939895,1.06002037964,0.5905246141,0.00885587967363,1.05969208522
+217,3.616666667,pose1_to_pose2_press,0.620034704953,0.000181672655231,1.06002044087,0.590605840203,0.00885591863138,1.05969214768
+218,3.633333333,pose1_to_pose2_press,0.620104726299,0.000181730440989,1.06002058089,0.590675860953,0.00885597468165,1.05969229067
+219,3.650000000,pose1_to_pose2_press,0.620164634373,0.000181795230156,1.06002058955,0.590735767246,0.0088560335102,1.05969229366
+220,3.666666667,pose1_to_pose2_press,0.620214645488,0.000181846197374,1.06002054814,0.590785777779,0.00885608262573,1.05969224926
+221,3.683333333,pose1_to_pose2_press,0.620256134332,0.000181820938691,1.06002057496,0.590827267481,0.00885606069206,1.05969228147
+222,3.700000000,pose1_to_pose2_press,0.620289300138,0.000181764527195,1.06002070564,0.590860433395,0.00885600464585,1.05969240767
+223,3.716666667,pose1_to_pose2_press,0.620315136424,0.000181759112032,1.06002076932,0.590886269702,0.00885599895725,1.05969246547
+224,3.733333333,pose1_to_pose2_press,0.620334225209,0.000181793513118,1.06002067248,0.590905358072,0.00885603210227,1.05969237181
+225,3.750000000,pose1_to_pose2_press,0.620348818603,0.000181898893545,1.06002064336,0.590919950609,0.00885613490357,1.05969234449
+226,3.766666667,pose1_to_pose2_press,0.620359170033,0.000181628054763,1.06002040809,0.590930306402,0.00885587872949,1.0596921123
+227,3.783333333,pose1_to_pose2_press,0.620365540994,0.000181734251993,1.06002059543,0.590936676401,0.00885598201244,1.05969229794
+228,3.800000000,pose1_to_pose2_press,0.620369998749,0.000181749913749,1.06002073366,0.590941133395,0.00885599482804,1.05969243264
+229,3.816666667,pose1_to_pose2_press,0.620372951523,0.000181763302082,1.060020779,0.590944085243,0.0088560048543,1.05969247743
+230,3.833333333,pose1_to_pose2_press,0.620374470227,0.000181901267351,1.06002066756,0.590945601958,0.00885613671154,1.05969237523
+231,3.850000000,pose1_to_pose2_press,0.620375161381,0.0001819640546,1.06002061685,0.590946292207,0.00885619671905,1.05969232872
+232,3.866666667,pose1_to_pose2_press,0.620375731615,0.000181999804767,1.06002063003,0.590946862712,0.00885623329586,1.0596923397
+233,3.883333333,pose1_to_pose2_press,0.620376109687,0.000182022698787,1.06002064155,0.590947241015,0.00885625689514,1.05969234946
+234,3.900000000,pose1_to_pose2_press,0.620376112715,0.00018202288214,1.06002064164,0.590947244045,0.00885625708415,1.05969234954
+235,3.916666667,pose1_to_pose2_press,0.620376144252,0.000182024791894,1.0600206426,0.590947275601,0.00885625905273,1.05969235035
+236,3.933333333,pose1_to_pose2_press,0.620376220912,0.000182029433975,1.06002064493,0.590947352308,0.00885626383781,1.05969235233
+237,3.950000000,pose1_to_pose2_press,0.620376232171,0.000182030115799,1.06002064528,0.590947363574,0.00885626454064,1.05969235262
+238,3.966666667,pose1_to_pose2_press,0.62037634681,0.000182037057712,1.06002064877,0.590947478283,0.00885627169641,1.05969235558
+239,3.983333333,pose1_to_pose2_press,0.620376617588,0.00018201040203,1.06002065004,0.59094774963,0.00885624696203,1.05969235673
+240,4.000000000,pose1_to_pose2_press,0.620376774564,0.000181929605835,1.06002064021,0.590947907551,0.0088561694291,1.05969234854
+241,4.016666667,pose1_to_pose2_press,0.620376779828,0.000181926896096,1.06002063988,0.590947912847,0.0088561668288,1.05969234826
+242,4.033333333,pose1_to_pose2_press,0.620376817304,0.000181907607389,1.06002063753,0.590947950548,0.00885614831915,1.05969234631
+243,4.050000000,pose1_to_pose2_press,0.620376826104,0.000181903077961,1.06002063698,0.590947959401,0.00885614397265,1.05969234585
+244,4.066666667,pose1_to_pose2_press,0.620376875903,0.000181877446048,1.06002063385,0.5909480095,0.00885611937599,1.05969234325
+245,4.083333333,pose1_to_pose2_press,0.620377024206,0.000181801114001,1.06002062456,0.590948158695,0.0088560461269,1.0596923355
+246,4.100000000,pose1_to_pose2_press,0.620377133745,0.000181807570541,1.06002064494,0.590948268867,0.0088560542087,1.0596923511
+247,4.116666667,pose2_hold,0.620377133745,0.000181807570541,1.06002064494,0.590948268972,0.00885605424021,1.0596923511
+248,4.133333333,pose2_hold,0.620377133745,0.000181807570541,1.06002064494,0.59094826898,0.00885605424369,1.05969235111
+249,4.150000000,pose2_hold,0.620377133745,0.000181807570541,1.06002064494,0.590948268956,0.00885605420201,1.05969235108
+250,4.166666667,pose2_hold,0.620377133745,0.000181807570541,1.06002064494,0.59094826896,0.00885605422156,1.05969235109
+251,4.183333333,pose2_hold,0.620377133745,0.000181807570541,1.06002064494,0.590948268964,0.00885605422917,1.05969235109
+252,4.200000000,pose2_hold,0.620377133745,0.000181807570541,1.06002064494,0.590948268977,0.00885605423236,1.0596923511
+253,4.216666667,pose2_hold,0.620377133745,0.000181807570541,1.06002064494,0.590948268981,0.00885605423884,1.0596923511
+254,4.233333333,pose2_hold,0.620377133745,0.000181807570541,1.06002064494,0.590948268946,0.00885605419538,1.0596923511
+255,4.250000000,pose2_hold,0.620377133745,0.000181807570541,1.06002064494,0.59094826896,0.00885605421003,1.05969235109
+256,4.266666667,pose2_hold,0.620377133745,0.000181807570541,1.06002064494,0.590948268967,0.00885605421811,1.05969235109
+257,4.283333333,pose2_hold,0.620377133745,0.000181807570541,1.06002064494,0.590948268978,0.00885605422336,1.0596923511
+258,4.300000000,pose2_hold,0.620377133745,0.000181807570541,1.06002064494,0.590948268984,0.00885605422979,1.0596923511
+259,4.316666667,pose2_hold,0.620377133745,0.000181807570541,1.06002064494,0.590948268991,0.00885605423491,1.0596923511
+260,4.333333333,pose2_hold,0.620377133745,0.000181807570541,1.06002064494,0.590948268979,0.00885605418219,1.05969235109
+261,4.350000000,pose2_hold,0.620377133745,0.000181807570541,1.06002064494,0.590948268983,0.0088560542057,1.05969235109
+262,4.366666667,pose2_hold,0.620377133745,0.000181807570541,1.06002064494,0.590948268989,0.0088560542128,1.05969235109
+263,4.383333333,pose2_hold,0.620377133745,0.000181807570541,1.06002064494,0.590948269001,0.0088560542176,1.0596923511
+264,4.400000000,pose2_hold,0.620377133745,0.000181807570541,1.06002064494,0.590948269005,0.00885605422337,1.0596923511
+265,4.416666667,pose2_to_pose3_retreat,0.620377133745,0.000181807570541,1.06002064494,0.590948269014,0.00885605421361,1.0596923511
+266,4.433333333,pose2_to_pose3_retreat,0.620377141962,0.000181781178731,1.06002064848,0.590948277416,0.00885602841982,1.05969235392
+267,4.450000000,pose2_to_pose3_retreat,0.620377148276,0.000181760900534,1.0600206512,0.590948283871,0.00885600860111,1.05969235609
+268,4.466666667,pose2_to_pose3_retreat,0.620377050962,0.000181750852338,1.06002061875,0.590948186262,0.00885599751964,1.05969232368
+269,4.483333333,pose2_to_pose3_retreat,0.620377042663,0.000181753601928,1.06002061588,0.590948177916,0.00885600011349,1.0596923209
+270,4.500000000,pose2_to_pose3_retreat,0.62037690614,0.000181798834612,1.06002056862,0.590948040631,0.00885604278412,1.05969227524
+271,4.516666667,pose2_to_pose3_retreat,0.620376643952,0.000181843680261,1.06002051101,0.590947777688,0.00885608509597,1.05969222006
+272,4.533333333,pose2_to_pose3_retreat,0.620375602821,0.00018176955248,1.06002048126,0.590946737798,0.00885601523012,1.05969219617
+273,4.550000000,pose2_to_pose3_retreat,0.620373040507,0.000181835898296,1.0600206926,0.590944173655,0.00885607490455,1.05969238636
+274,4.566666667,pose2_to_pose3_retreat,0.620366092528,0.000181790212199,1.06002061796,0.590937227403,0.00885603453955,1.05969231559
+275,4.583333333,pose2_to_pose3_retreat,0.620353514983,0.000181770502183,1.06002032608,0.590924649101,0.00885601253934,1.05969203445
+276,4.600000000,pose2_to_pose3_retreat,0.620332413544,0.00018173483795,1.06002048935,0.590903547669,0.0088559770479,1.05969219685
+277,4.616666667,pose2_to_pose3_retreat,0.620302329821,0.000181773035149,1.06002042193,0.59087346359,0.00885601355278,1.05969212748
+278,4.633333333,pose2_to_pose3_retreat,0.620261288339,0.00018172914947,1.06002055678,0.590832423116,0.00885597236899,1.05969225446
+279,4.650000000,pose2_to_pose3_retreat,0.620209558328,0.000181816284707,1.06002065236,0.590780691335,0.00885605308804,1.05969235043
+280,4.666666667,pose2_to_pose3_retreat,0.620146410003,0.000181767513376,1.06002067129,0.590717544813,0.00885600996191,1.05969237124
+281,4.683333333,pose2_to_pose3_retreat,0.620071767804,0.000181825776097,1.06002058435,0.590642902464,0.00885606729068,1.05969229119
+282,4.700000000,pose2_to_pose3_retreat,0.619984973838,0.00018182581387,1.06002050547,0.590556108192,0.0088560659648,1.05969221392
+283,4.716666667,pose2_to_pose3_retreat,0.619883440899,0.000181821718099,1.06002047454,0.59045457501,0.00885606045849,1.05969217824
+284,4.733333333,pose2_to_pose3_retreat,0.61976737209,0.000181831179848,1.06002054935,0.590338506207,0.00885606900598,1.05969224898
+285,4.750000000,pose2_to_pose3_retreat,0.619634937442,0.000181862835285,1.06002059832,0.59020607128,0.00885609875206,1.05969229931
+286,4.766666667,pose2_to_pose3_retreat,0.619486824702,0.00018179354632,1.06002061591,0.590057960497,0.00885603457068,1.0596923176
+287,4.783333333,pose2_to_pose3_retreat,0.619323351775,0.000181762772827,1.06002061989,0.589894488773,0.00885600616977,1.05969232378
+288,4.800000000,pose2_to_pose3_retreat,0.61914440941,0.000181855638696,1.06002071604,0.589715545209,0.00885609379539,1.059692419
+289,4.816666667,pose2_to_pose3_retreat,0.618949861689,0.000181759502634,1.06002054212,0.58952099924,0.0088560024383,1.0596922441
+290,4.833333333,pose2_to_pose3_retreat,0.618738747294,0.000181794691513,1.06002048267,0.58930988533,0.00885603808899,1.05969219855
+291,4.850000000,pose2_to_pose3_retreat,0.61851212315,0.000181902470204,1.06002052119,0.589083258172,0.00885613424058,1.05969222891
+292,4.866666667,pose2_to_pose3_retreat,0.618269510994,0.000181978287852,1.06002062382,0.588840646182,0.00885620942026,1.05969232894
+293,4.883333333,pose2_to_pose3_retreat,0.618014579196,0.000181773397518,1.06002066089,0.588585717332,0.00885601314135,1.0596923625
+294,4.900000000,pose2_to_pose3_retreat,0.617747896199,0.000181719898795,1.06002067229,0.588319035562,0.0088559622263,1.05969237214
+295,4.916666667,pose2_to_pose3_retreat,0.617467609476,0.000181789987431,1.06002059924,0.588038748764,0.00885602999248,1.05969230226
+296,4.933333333,pose2_to_pose3_retreat,0.617173064482,0.000181744461021,1.06002039697,0.587744205017,0.00885598591604,1.05969210865
+297,4.950000000,pose2_to_pose3_retreat,0.616860715766,0.000181722097182,1.06002049175,0.587431858257,0.0088559679452,1.05969220358
+298,4.966666667,pose2_to_pose3_retreat,0.6165289784,0.000181687810574,1.06002031769,0.587100121363,0.00885593356246,1.05969203479
+299,4.983333333,pose2_to_pose3_retreat,0.616175399763,0.000181716322478,1.06002024775,0.586746542414,0.00885595766012,1.05969196243
+300,5.000000000,pose2_to_pose3_retreat,0.615799105046,0.000181781924276,1.06002035129,0.586370247581,0.00885601883864,1.0596920597
+301,5.016666667,pose2_to_pose3_retreat,0.615399087599,0.000181808818996,1.06002050487,0.585970231148,0.00885604577784,1.05969221249
+302,5.033333333,pose2_to_pose3_retreat,0.614974606031,0.000181705499513,1.06002035723,0.585545751744,0.00885594564501,1.05969207501
+303,5.050000000,pose2_to_pose3_retreat,0.61453001284,0.000181696478984,1.06002039027,0.585101158764,0.0088559336012,1.05969209875
+304,5.066666667,pose2_to_pose3_retreat,0.61406966409,0.000181864974405,1.06002046002,0.584640809908,0.00885609817182,1.05969217108
+305,5.083333333,pose2_to_pose3_retreat,0.613598378731,0.000181914034953,1.06002050903,0.584169525705,0.0088561457549,1.0596922188
+306,5.100000000,pose2_to_pose3_retreat,0.613117076382,0.000181835976678,1.06002048536,0.583688225261,0.00885606931426,1.05969219211
+307,5.116666667,pose2_to_pose3_retreat,0.612620547783,0.000181736140701,1.06002042975,0.583191698537,0.00885597290682,1.05969213575
+308,5.133333333,pose2_to_pose3_retreat,0.612106556346,0.000181744860967,1.06002067451,0.582677709561,0.00885598258217,1.05969237081
+309,5.150000000,pose2_to_pose3_retreat,0.611569525182,0.000181883897146,1.06002052306,0.582140677812,0.00885611801298,1.0596922378
+310,5.166666667,pose2_to_pose3_retreat,0.611012825944,0.000181821870674,1.06002049915,0.581583980519,0.00885605872439,1.05969221326
+311,5.183333333,pose2_to_pose3_retreat,0.610438673698,0.000181739460417,1.06002052132,0.581009829639,0.00885597855289,1.05969222962
+312,5.200000000,pose2_to_pose3_retreat,0.609847808964,0.000181723852093,1.06002058274,0.580418964963,0.00885596234885,1.05969228838
+313,5.216666667,pose2_to_pose3_retreat,0.609238350391,0.000181690617909,1.06002077473,0.579809507784,0.00885593010705,1.05969247513
+314,5.233333333,pose2_to_pose3_retreat,0.608603889029,0.000181800262802,1.06002042566,0.579175044065,0.008856032431,1.05969213541
+315,5.250000000,pose2_to_pose3_retreat,0.607945425068,0.000181892239929,1.06002061699,0.578516579843,0.00885612060189,1.05969231878
+316,5.266666667,pose2_to_pose3_retreat,0.607265691487,0.000181793535185,1.06002060432,0.577836848721,0.00885602591899,1.05969230274
+317,5.283333333,pose2_to_pose3_retreat,0.60657419646,0.000181727272016,1.06002053093,0.577145355913,0.00885596623606,1.05969223586
+318,5.300000000,pose2_to_pose3_retreat,0.605873868392,0.000181728919157,1.06002048116,0.576445028278,0.00885596786296,1.05969218735
+319,5.316666667,pose2_to_pose3_retreat,0.605165987773,0.000181721424919,1.06002045987,0.575737147588,0.00885595506777,1.05969215846
+320,5.333333333,pose2_to_pose3_retreat,0.604447702116,0.000181710544745,1.06002053477,0.575018864,0.00885594799364,1.05969224008
+321,5.350000000,pose2_to_pose3_retreat,0.603716655839,0.000181736098702,1.06002064289,0.574287818944,0.00885597221485,1.05969234812
+322,5.366666667,pose2_to_pose3_retreat,0.602966177681,0.000181751162012,1.06002043744,0.57353734134,0.00885598709302,1.05969214594
+323,5.383333333,pose2_to_pose3_retreat,0.602184343442,0.000181688984866,1.06002059082,0.572755507821,0.00885592413981,1.05969229283
+324,5.400000000,pose2_to_pose3_retreat,0.601390362374,0.000181657483175,1.06002058049,0.571961527884,0.00885589276215,1.05969228337
+325,5.416666667,pose2_to_pose3_retreat,0.600591827778,0.000181754199753,1.06002053527,0.571162993674,0.00885598676025,1.05969223791
+326,5.433333333,pose2_to_pose3_retreat,0.599798429406,0.000181785877272,1.06002047589,0.570369596319,0.00885601795476,1.05969217941
+327,5.450000000,pose2_to_pose3_retreat,0.599017004038,0.000181689975517,1.06002040927,0.569588173139,0.00885592566838,1.05969211372
+328,5.466666667,pose2_to_pose3_retreat,0.598255116063,0.000181659106625,1.0600204333,0.568826286496,0.00885589541222,1.05969213322
+329,5.483333333,pose2_to_pose3_retreat,0.59749989468,0.000181789829053,1.06002041012,0.568071063971,0.00885601876673,1.05969211565
+330,5.500000000,pose2_to_pose3_retreat,0.596742683136,0.000181835641961,1.06002051729,0.567313853663,0.00885606506709,1.05969222081
+331,5.516666667,pose2_to_pose3_retreat,0.595961667968,0.000181822459242,1.06002040981,0.566532839466,0.00885605157885,1.05969212039
+332,5.533333333,pose2_to_pose3_retreat,0.595155016248,0.000181686087432,1.06002039082,0.565726190792,0.00885592153351,1.05969209954
+333,5.550000000,pose2_to_pose3_retreat,0.594347187003,0.000181692507029,1.06002052494,0.564918363174,0.0088559295824,1.05969223461
+334,5.566666667,pose2_to_pose3_retreat,0.593549010174,0.00018181563683,1.06002057254,0.564120185242,0.00885604505,1.05969228004
+335,5.583333333,pose2_to_pose3_retreat,0.592779828508,0.000181751730369,1.06002054404,0.563351004798,0.00885598133245,1.0596922451
+336,5.600000000,pose2_to_pose3_retreat,0.592045223917,0.000181596361006,1.06002058503,0.562616403406,0.00885583309817,1.05969228258
+337,5.616666667,pose2_to_pose3_retreat,0.591343808941,0.000181717018925,1.06002066953,0.5619149875,0.00885594729828,1.05969236818
+338,5.633333333,pose2_to_pose3_retreat,0.590649244662,0.000181692730095,1.06002064337,0.561220424663,0.00885592481056,1.05969234751
+339,5.650000000,pose2_to_pose3_retreat,0.589953766168,0.000181719164576,1.06002057071,0.560524946182,0.00885594779022,1.05969227083
+340,5.666666667,pose2_to_pose3_retreat,0.589245736515,0.000181695897135,1.06002038658,0.559816918372,0.00885592748076,1.05969208734
+341,5.683333333,pose2_to_pose3_retreat,0.588532481535,0.000181748708679,1.06002048762,0.559103664285,0.00885598015311,1.05969219182
+342,5.700000000,pose2_to_pose3_retreat,0.587820256288,0.000181852103892,1.06002053053,0.558391438347,0.00885607781423,1.05969223484
+343,5.716666667,pose2_to_pose3_retreat,0.587133184634,0.000181909386912,1.06002039936,0.557704366187,0.00885613009487,1.05969210496
+344,5.733333333,pose2_to_pose3_retreat,0.586479322038,0.000181874442216,1.06002039552,0.557050505244,0.00885609766352,1.05969210239
+345,5.750000000,pose2_to_pose3_retreat,0.585858951765,0.000181768072357,1.06002043722,0.556430138384,0.00885599949138,1.05969213331
+346,5.766666667,pose2_to_pose3_retreat,0.585268167165,0.000181842471737,1.06002040963,0.555839350922,0.00885606167805,1.05969211297
+347,5.783333333,pose2_to_pose3_retreat,0.584698119359,0.000181675109169,1.06002046788,0.555269305332,0.00885589952803,1.05969217815
+348,5.800000000,pose2_to_pose3_retreat,0.584135130934,0.000181707218811,1.06002035316,0.554706316873,0.00885592883518,1.05969206101
+349,5.816666667,pose2_to_pose3_retreat,0.583573927926,0.00018175504884,1.06002046221,0.554145115116,0.00885597822607,1.05969216819
+350,5.833333333,pose2_to_pose3_retreat,0.583018560134,0.000181779578808,1.06002059019,0.553589748623,0.00885600450588,1.05969229454
+351,5.850000000,pose2_to_pose3_retreat,0.582475096809,0.000181772246372,1.0600206201,0.553046285624,0.00885599556555,1.05969232043
+352,5.866666667,pose2_to_pose3_retreat,0.581961440749,0.000181732244145,1.06002072699,0.552532630312,0.00885595566482,1.05969242712
+353,5.883333333,pose2_to_pose3_retreat,0.581475117944,0.000181831870211,1.06002052822,0.552046306135,0.00885604875119,1.05969223595
+354,5.900000000,pose2_to_pose3_retreat,0.581014668079,0.000181810306718,1.06002074162,0.551585857617,0.00885602948616,1.05969244692
+355,5.916666667,pose2_to_pose3_retreat,0.580577257669,0.000181704292106,1.06002069813,0.551148449146,0.00885592756297,1.05969239103
+356,5.933333333,pose2_to_pose3_retreat,0.580162646981,0.000181683938413,1.06002057174,0.55073384001,0.00885591066751,1.05969226962
+357,5.950000000,pose2_to_pose3_retreat,0.579769921486,0.000181726340503,1.06002045694,0.550341113893,0.00885594938057,1.05969215872
+358,5.966666667,pose2_to_pose3_retreat,0.579400903649,0.000181699040467,1.0600205338,0.549972096904,0.00885592323355,1.05969223317
+359,5.983333333,pose2_to_pose3_retreat,0.57905879813,0.000181656487706,1.0600205832,0.549629992665,0.00885588344601,1.05969228214
+360,6.000000000,pose2_to_pose3_retreat,0.578739143649,0.000181701509333,1.06002042228,0.549310337219,0.0088559239836,1.05969212677
+361,6.016666667,pose2_to_pose3_retreat,0.57844003939,0.000181731015456,1.06002054559,0.549011232469,0.00885595021431,1.05969224293
+362,6.033333333,pose2_to_pose3_retreat,0.578155869675,0.000181718729965,1.06002060827,0.548727064814,0.00885594407117,1.05969231753
+363,6.050000000,pose2_to_pose3_retreat,0.577886045337,0.000181775257765,1.06002054258,0.548457238666,0.00885599309819,1.05969225126
+364,6.066666667,pose2_to_pose3_retreat,0.57762891906,0.000181750134454,1.06002049692,0.548200113867,0.00885597186793,1.0596922068
+365,6.083333333,pose2_to_pose3_retreat,0.57738621381,0.000181778637619,1.06002051434,0.547957409348,0.00885600165189,1.05969221993
+366,6.100000000,pose2_to_pose3_retreat,0.577163296078,0.00018182836306,1.06002052595,0.547734490993,0.00885604815776,1.05969222806
+367,6.116666667,pose2_to_pose3_retreat,0.576958883243,0.000181714540554,1.06002043428,0.547530079525,0.00885593810184,1.05969213792
+368,6.133333333,pose2_to_pose3_retreat,0.576773776683,0.000181608300997,1.06002038126,0.547344974184,0.0088558351517,1.05969208234
+369,6.150000000,pose2_to_pose3_retreat,0.576609713465,0.00018184527643,1.06002063218,0.547180908687,0.00885606393901,1.05969233376
+370,6.166666667,pose2_to_pose3_retreat,0.57646527745,0.000181648537035,1.06002055595,0.547036474376,0.00885587206113,1.05969225223
+371,6.183333333,pose2_to_pose3_retreat,0.576336782453,0.000181769796959,1.06002077534,0.54690797707,0.00885598481402,1.05969247029
+372,6.200000000,pose2_to_pose3_retreat,0.576223029803,0.000181719326491,1.06002057189,0.546794225185,0.0088559367238,1.05969227505
+373,6.216666667,pose2_to_pose3_retreat,0.57612379405,0.000181721079863,1.06002044083,0.546694989838,0.00885593938276,1.0596921442
+374,6.233333333,pose2_to_pose3_retreat,0.576037158182,0.000181655499336,1.06002047442,0.546608355998,0.00885587980044,1.05969217642
+375,6.250000000,pose2_to_pose3_retreat,0.575962700455,0.000181764644092,1.06002057455,0.546533896916,0.00885598360237,1.05969227746
+376,6.266666667,pose2_to_pose3_retreat,0.575899361124,0.000181892010411,1.06002063753,0.546470554797,0.00885610133498,1.05969234128
+377,6.283333333,pose2_to_pose3_retreat,0.575846182203,0.00018181329521,1.06002054349,0.546417376985,0.00885602656333,1.05969224925
+378,6.300000000,pose2_to_pose3_retreat,0.575802881472,0.000181831455325,1.06002022712,0.546374078632,0.00885605283893,1.05969194293
+379,6.316666667,pose2_to_pose3_retreat,0.575768028664,0.000181896093086,1.06002021343,0.546339225126,0.00885611569818,1.05969193347
+380,6.333333333,pose2_to_pose3_retreat,0.575741220085,0.000181965381486,1.06002058814,0.546312414338,0.00885617665382,1.05969228962
+381,6.350000000,pose2_to_pose3_retreat,0.575720092433,0.000181772736136,1.06002058465,0.546291287469,0.00885598631595,1.05969228402
+382,6.366666667,pose2_to_pose3_retreat,0.575704086345,0.000181738436988,1.06002048252,0.546275281328,0.00885595164335,1.05969218217
+383,6.383333333,pose2_to_pose3_retreat,0.575692126241,0.000181848015896,1.0600204342,0.546263320474,0.0088560586269,1.05969213381
+384,6.400000000,pose2_to_pose3_retreat,0.5756835561,0.00018182238235,1.06002049798,0.546254751699,0.00885603801374,1.05969220352
+385,6.416666667,pose2_to_pose3_retreat,0.575677892198,0.000181691343688,1.06002042085,0.546249089693,0.00885591342382,1.05969212909
+386,6.433333333,pose2_to_pose3_retreat,0.575674183809,0.0001816170302,1.06002041749,0.546245382288,0.0088558423277,1.05969212428
+387,6.450000000,pose2_to_pose3_retreat,0.575672072196,0.000181640612104,1.06002056396,0.546243270311,0.00885586437288,1.05969226307
+388,6.466666667,pose2_to_pose3_retreat,0.57567060973,0.000181656944524,1.0600206654,0.546241807592,0.00885587964099,1.0596923592
+389,6.483333333,pose2_to_pose3_retreat,0.575669774798,0.000181677495629,1.06002063994,0.546240972433,0.00885589941316,1.05969233407
+390,6.500000000,pose2_to_pose3_retreat,0.575669255966,0.000181691767491,1.06002061297,0.54624045345,0.00885591317807,1.05969230776
+391,6.516666667,pose2_to_pose3_retreat,0.575669046012,0.000181697542823,1.06002060205,0.546240243435,0.00885591874826,1.05969229712
+392,6.533333333,pose2_to_pose3_retreat,0.5756689914,0.000181699045069,1.06002059921,0.546240188807,0.00885592019715,1.05969229435
+393,6.550000000,pose2_to_pose3_retreat,0.575668803903,0.000181704202687,1.06002058947,0.546240001255,0.00885592517156,1.05969228484
+394,6.566666667,pose2_to_pose3_retreat,0.575668508803,0.000181712320194,1.06002057413,0.546239706068,0.00885593300073,1.05969226988
+395,6.583333333,pose2_to_pose3_retreat,0.57566842942,0.000181714503837,1.06002057,0.546239626662,0.00885593510681,1.05969226585
+396,6.600000000,pose2_to_pose3_retreat,0.575668360611,0.000181716396613,1.06002056642,0.546239557833,0.00885593693235,1.05969226236
+397,6.616666667,pose2_to_pose3_retreat,0.57566820609,0.000181720647101,1.06002055839,0.546239403268,0.00885594103186,1.05969225453
+398,6.633333333,pose2_to_pose3_retreat,0.575667972538,0.000181741119155,1.06002055953,0.546239169375,0.00885596033616,1.05969225469
+399,6.650000000,pose2_to_pose3_retreat,0.575667663764,0.000181771782857,1.06002056443,0.546238860083,0.00885598921535,1.05969225799
+400,6.666666667,pose2_to_pose3_retreat,0.575667557977,0.000181782288317,1.06002056611,0.546238754118,0.00885599910943,1.05969225912
+401,6.683333333,pose2_to_pose3_retreat,0.575667445419,0.000181793466187,1.06002056789,0.546238641372,0.00885600963679,1.05969226032
+402,6.700000000,pose2_to_pose3_retreat,0.575667295262,0.000181808377944,1.06002057028,0.546238490963,0.00885602368074,1.05969226192
+403,6.716666667,pose2_to_pose3_retreat,0.575667154776,0.000181797429449,1.06002057431,0.546238350577,0.00885601304013,1.059692265
+404,6.733333333,pose2_to_pose3_retreat,0.575667045434,0.000181724367936,1.06002058211,0.546238242183,0.00885594312077,1.0596922715
+405,6.750000000,pose2_to_pose3_retreat,0.575666984071,0.000181683365721,1.06002058649,0.546238181352,0.00885590388194,1.05969227515
+406,6.766666667,pose2_to_pose3_retreat,0.575666968265,0.000181672804253,1.06002058761,0.546238165683,0.00885589377469,1.05969227609
+407,6.783333333,pose2_to_pose3_retreat,0.575666910523,0.000181676969409,1.06002059129,0.54623810792,0.00885589782636,1.05969227879
+408,6.800000000,pose2_to_pose3_retreat,0.575666857798,0.000181704559488,1.06002059441,0.546238054888,0.00885592432889,1.05969228082
diff --git a/Part2/Obstacle_avoidance/cylinder_PLA_10/position_03/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_PLA_10/position_03/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9047694c04518cb975d044e7907f384ba0bbcf74
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_PLA_10/position_03/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d653a93faa09741d8dc966da4496e9ed1c02564cce73fc65e121e18c335e1d9
+size 25937986
diff --git a/Part2/Obstacle_avoidance/cylinder_PLA_10/position_03/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_PLA_10/position_03/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2ece6405ab1edd256d864c87643a003cb19a52d6
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_PLA_10/position_03/depth_04/franka_data.csv
@@ -0,0 +1,410 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,795,749,727,710,698,656,935,804,835,670,658,677,0.40097906282,-0.00536571521394,0.0698283864031,0.999999936819,0.00022687237048,-0.000273201537412,1.58542285748e-05,1793256578153709056
+1,0.016666667,BASELINE,795.575408622,748.424591378,727,710,698.575408622,656,935,804,835,670,657.424591378,677.575408622,0.400979949403,-0.00536548366107,0.0698289713752,0.999999937244,0.000226440233359,-0.000272019437274,1.5550712569e-05,1793256578170375680
+2,0.033333333,BASELINE,795.84587875,748.15412125,727,710,699,656,935,804,835.15412125,670,657.15412125,677.84587875,0.400980661798,-0.00536535546735,0.0698294261132,0.999999937583,0.000226206861402,-0.000270978185849,1.53472625567e-05,1793256578187042304
+3,0.050000000,BASELINE,795.257864317,748.742135683,727,710,699,656,935,804,835.742135683,670,657.742135683,677.257864317,0.400980883808,-0.00536551825764,0.0698295142066,0.999999937682,0.000226533067273,-0.000270333461544,1.54255254291e-05,1793256578203709184
+4,0.066666667,BASELINE,795,748.674666179,727,710,699,656,935,804,835.674666179,670,658,677,0.400979998128,-0.00536574930487,0.0698289163141,0.999999937507,0.000226200638538,-0.000271264674198,1.53322085023e-05,1793256578220375808
+5,0.083333333,BASELINE,795,748.095229854,727,710,699,656,935,804,835.095229854,670,658,677,0.400978247285,-0.00536603366429,0.0698277826311,0.999999937113,0.000225353782159,-0.000273426774993,1.51048788919e-05,1793256578237042432
+6,0.100000000,BASELINE,795,748,727,710,699,656,935,804,835,670,658,677.48100227,0.400978509864,-0.00536576175768,0.0698283984733,0.999999937414,0.000224881841358,-0.000272701054217,1.52759344036e-05,1793256578253708800
+7,0.116666667,BASELINE,795.057691172,748.057691172,727,710,698.942308828,656,935,804,835,670,658,677.942308828,0.400979226757,-0.00536538005988,0.069829335875,0.9999999378,0.000224666918966,-0.000271449324425,1.54987551071e-05,1793256578270375424
+8,0.133333333,BASELINE,795.64434627,748.64434627,727,710,698.35565373,656,935,804,835,670,658,677.35565373,0.400980478487,-0.00536499479305,0.0698300667661,0.999999937705,0.000226132498083,-0.000270582180127,1.54778116985e-05,1793256578287042048
+9,0.150000000,BASELINE,795.771876339,749,727,709.771876339,698.228123661,656,935,804.228123661,835,670,658,677,0.400980642324,-0.00536505039233,0.0698301944506,0.999999937712,0.000226024507645,-0.000270648292322,1.5436455468e-05,1793256578303708928
+10,0.166666667,BASELINE,795.192529569,749,727,709.192529569,698.807470431,656,935,804.807470431,835,670,658,677,0.400979131223,-0.00536578475669,0.0698293934277,0.999999937874,0.000223493822336,-0.000272151262334,1.53636713077e-05,1793256578320375808
+11,0.183333333,BASELINE,795,749,727,709.38668114,698.61331886,656,935,804.61331886,835,670,658,677.38668114,0.400979254116,-0.00536523974218,0.0698296078441,0.999999937568,0.000225371255711,-0.000271722458194,1.54366907379e-05,1793256578337042432
+12,0.200000000,BASELINE,795,749,727,709.965824179,698.034175821,656,935,804.034175821,835,670,658,677.965824179,0.400980190293,-0.00536405794547,0.0698303276727,0.999999937017,0.000229442731464,-0.000270332156754,1.55822806419e-05,1793256578353709056
+13,0.216666667,BASELINE,795.540322457,748.459677543,727,710,698,656,935,804,835,670,658,678,0.400980689979,-0.00536554297304,0.0698306499175,0.999999937911,0.000226110969605,-0.000269854908977,1.51684985589e-05,1793256578370375936
+14,0.233333333,BASELINE,796,748,727,709.885186109,698,656,935,804,835,670,658,678,0.400980963982,-0.00536679643582,0.0698307282016,0.999999938511,0.000223627166689,-0.000269716886691,1.48668733158e-05,1793256578387042560
+15,0.250000000,BASELINE,796,748,727,709.309552877,698,656,935,804,835,670,658,678,0.400980442043,-0.00536644924383,0.0698299273922,0.999999937612,0.000226410149574,-0.000270710570074,1.515619734e-05,1793256578403709184
+16,0.266666667,BASELINE,795.726392098,748,727,709.273607902,698,656,935,804,835.273607902,670,658,678,0.40097947629,-0.00536572068795,0.0698293255723,0.999999937219,0.000227026156492,-0.000271645022045,1.51598822329e-05,1793256578420376064
+17,0.283333333,BASELINE,795.134473948,748,727,709.865526052,698,656,935,804,835.865526052,670,658,678,0.400977994211,-0.00536454846055,0.0698289552532,0.999999937419,0.000225121144457,-0.000272510565255,1.48312599551e-05,1793256578437042432
+18,0.300000000,BASELINE,795,748.446695081,727,710,698,656,935,804,835.553304919,670,658,678,0.400977930836,-0.00536506211635,0.0698287324942,0.999999937489,0.000224428699122,-0.000272823939616,1.48483331308e-05,1793256578453708800
+19,0.316666667,BASELINE,795.024506949,748.975493051,727,710,698.024506949,656,935,804,835,670,658,678,0.40097833305,-0.00536603415595,0.0698286058395,0.999999937535,0.000224135311265,-0.000272891443256,1.49781235152e-05,1793256578470375680
+20,0.333333333,BASELINE,795.597900862,748.402099138,727,710,698.597900862,656,935,804,835,670,658,678,0.400979822331,-0.00536617275414,0.0698296601053,0.999999937871,0.000224796081901,-0.000271087644025,1.53563842969e-05,1793256578487042304
+21,0.350000000,BASELINE,795.823693357,748.176306643,727,709.823693357,699,656,935,804,835,670,658,677.823693357,0.400980943329,-0.00536560111911,0.0698305174066,0.999999938039,0.000225706633998,-0.000269702534563,1.54550945994e-05,1793256578503708928
+22,0.366666667,BASELINE,795.23352275,748.76647725,727,709.23352275,699,656,935,804,835,670,658,677.23352275,0.400981199815,-0.00536336227558,0.0698309123512,0.999999937817,0.000227203525484,-0.000269300261872,1.48975852786e-05,1793256578520375552
+23,0.383333333,BASELINE,795,749,727.349988352,709.349988352,699,656,935,804,835,670,658,677.349988352,0.400981518778,-0.00536344338512,0.0698313882936,0.999999938148,0.000226467011063,-0.000268692209248,1.48719458071e-05,1793256578537042176
+24,0.400000000,BASELINE,795,749,727.929139059,709.929139059,699,656,935,804,835,670,658,677.929139059,0.40098187865,-0.0053650435333,0.069831917271,0.999999938838,0.000224268126532,-0.000267949417774,1.51945594329e-05,1793256578553708800
+25,0.416666667,BASELINE,795,749,727.493100317,710,698.493100317,656,935,804,835,670,658,677.493100317,0.400980739486,-0.00536631279061,0.0698306056336,0.999999938815,0.000222503049674,-0.000269518933417,1.4926207042e-05,1793256578570375680
+26,0.433333333,BASELINE,795,749,727.083907115,709.916092885,698,656,935,804,835,670,658,677.083907115,0.400979385273,-0.00536732118096,0.0698291684591,0.999999938628,0.000221134882389,-0.000271345734665,1.46435517975e-05,1793256578587042304
+27,0.450000000,BASELINE,795,749,727.657649118,709.342350882,698,656,935,804,835,670,658,677.657649118,0.400977995633,-0.00536707597357,0.0698284964132,0.999999938101,0.00022173074614,-0.000272792644251,1.47583589028e-05,1793256578603708928
+28,0.466666667,BASELINE,795.230224214,749,727.769775786,709,698.230224214,656,935,804,835,670,658,678,0.400977595969,-0.00536644657978,0.0698284922346,0.999999937658,0.000223288128528,-0.000273145355041,1.47963966534e-05,1793256578620375552
+29,0.483333333,BASELINE,795.8010728,749,727.1989272,709,698.8010728,656,935,804,835,670,658,678,0.400978661007,-0.00536524876943,0.0698294761879,0.999999937334,0.000226268109639,-0.000271879162283,1.47208515868e-05,1793256578637042176
+30,0.500000000,BASELINE,796,749,727,709.390397843,699,656,934.609602157,804.390397843,835,670,658,678,0.400980053252,-0.00536443348119,0.0698303982625,0.999999937787,0.000226167844679,-0.000270293102209,1.47115311627e-05,1793256578653709056
+31,0.516666667,BASELINE,796,749,727,709.98960525,699,656,934.01039475,804.98960525,835,670,658,678,0.400981620508,-0.0053638227901,0.0698312872404,0.999999938653,0.000224420068374,-0.000268535956818,1.47376318863e-05,1793256578670375680
+32,0.533333333,BASELINE,796,749,727,709.435477974,698.435477974,656,934.564522026,804.435477974,835,670,658,677.435477974,0.400979894083,-0.00536578518015,0.0698302292009,0.99999993852,0.000222629438466,-0.000270504349201,1.4919958794e-05,1793256578687042304
+33,0.550000000,BASELINE,796,748.86095315,727,709,698.13904685,656,935,804,835,670,658,677.13904685,0.400978708028,-0.00536683913951,0.0698292839929,0.999999938275,0.000221854806942,-0.000272039950585,1.49646312682e-05,1793256578703708928
+34,0.566666667,BASELINE,796,748.286312939,727,709,698.713687061,656,935,804,835,670,658,677.713687061,0.400979396947,-0.00536490494737,0.0698287999316,0.999999937751,0.000224265373337,-0.000272013705829,1.45694324392e-05,1793256578720375808
+35,0.583333333,BASELINE,795.703079777,748.296920223,727,709.296920223,699,656,935,804,835,670,658,677.703079777,0.400980212804,-0.0053639918612,0.0698290101667,0.999999937786,0.000225359156521,-0.000270983092785,1.44760625233e-05,1793256578737042432
+36,0.600000000,BASELINE,795.111313625,748.888686375,727,709.888686375,699,656,935,804,835,670,658,677.111313625,0.400981154713,-0.00536409274731,0.0698299098478,0.999999938379,0.000225145355872,-0.000268955127999,1.46824128867e-05,1793256578753709568
+37,0.616666667,BASELINE,795,749,727,710,699,656,935,804,835,670,658,677,0.400981789285,-0.00536410493335,0.069830301861,0.999999938359,0.000226000817733,-0.000268304217746,1.480358389e-05,1793256578770376192
+38,0.633333333,BASELINE,795,749,727.045525835,710,699,656,935,804,835.045525835,670,658,677,0.400982140967,-0.00536422160102,0.0698305470885,0.999999938209,0.000226864391337,-0.000268126851212,1.49041958451e-05,1793256578787042816
+39,0.650000000,BASELINE,795,749,727.621959702,710,699,656,935,804,835.621959702,670,658,677,0.400980024035,-0.00536579635391,0.0698304521834,0.999999938207,0.000224933588873,-0.000269751225439,1.49951954811e-05,1793256578803709184
+40,0.666666667,BASELINE,795.202492605,749,727.797507395,710,699,656,935,804,835.797507395,670,658,677,0.400978860216,-0.00536708752912,0.0698303823612,0.999999938408,0.00022286096954,-0.000270724252444,1.50364972128e-05,1793256578820375552
+41,0.683333333,BASELINE,795.790836214,749,727.209163786,710,699,656,935,804,835.209163786,670,658,677,0.400979512562,-0.00536783834512,0.0698303603347,0.999999939,0.000220518117337,-0.000270456132896,1.49830992523e-05,1793256578837042432
+42,0.700000000,BASELINE,796,749,727,710,698.626759812,656,934.626759812,804,835,670,658,677,0.400980200576,-0.00536687506195,0.0698304115262,0.999999938773,0.000221976974115,-0.000270108157736,1.48602723095e-05,1793256578853709056
+43,0.716666667,BASELINE,796,749,727,710,698.047632288,656,934.047632288,804,835,670,658,677,0.400980908265,-0.00536496624469,0.0698305031064,0.999999938086,0.000225532935622,-0.000269716132506,1.46991468442e-05,1793256578870375424
+44,0.733333333,BASELINE,796,749,727,709.470853503,698.529146497,656,934.529146497,804,835,670,658,677,0.400980077293,-0.00536534418965,0.069830441547,0.999999938411,0.000223835759727,-0.000269942532268,1.43903299316e-05,1793256578887042048
+45,0.750000000,BASELINE,796,749,727,709.104351207,698.895648793,656,935,804,835,670,658.104351207,677.104351207,0.400979869296,-0.00536600701612,0.0698307786497,0.999999938898,0.000222127935894,-0.000269556451673,1.42505277951e-05,1793256578903708928
+46,0.766666667,BASELINE,796,749,727,709.673482353,698.326517647,656,935,804,835,670,658.673482353,677.673482353,0.4009830502,-0.00536702590933,0.0698329525192,0.999999939712,0.000222469553054,-0.000266195532122,1.49224702136e-05,1793256578920375808
+47,0.783333333,BASELINE,795.745888122,749,727,710,698.254111878,656.254111878,935,804,835,670,658.745888122,677.745888122,0.400983734463,-0.00536709681735,0.0698332233883,0.999999939664,0.000223345486408,-0.000265626587638,1.5190539896e-05,1793256578937042432
+48,0.800000000,BASELINE,795.149783598,749,727,710,698.850216402,656.850216402,935,804,835,670,658.149783598,677.149783598,0.400981058661,-0.00536589189392,0.0698309331332,0.999999938459,0.000224940521217,-0.000268815180289,1.49150636315e-05,1793256578953709312
+49,0.816666667,BASELINE,795,748.566223532,727.433776468,710,699,656.566223532,935,804,835,670,658,677.433776468,0.400980818379,-0.00536652907573,0.0698307266811,0.999999938388,0.000224703314978,-0.000269273719412,1.49828135037e-05,1793256578970375936
+50,0.833333333,BASELINE,795,748.012968589,727.987031411,710,698.987031411,656,935,804,835,670,658,678,0.400981360836,-0.005367734932,0.0698311954496,0.999999938677,0.000223901446922,-0.000268857619058,1.51591373386e-05,1793256578987042304
+51,0.850000000,BASELINE,795,748.585343724,727.414656276,710,698.414656276,656,935,804,835,670,658,678,0.400980410194,-0.00536680433226,0.06983062484,0.999999938001,0.000225266327783,-0.000270234058718,1.50502748615e-05,1793256579003708928
+52,0.866666667,BASELINE,795.162501308,748.837498692,727.162501308,710,698.162501308,656,935,804,835.162501308,670,658,677.837498692,0.400979741273,-0.00536631466731,0.069830211248,0.999999937744,0.000225568990959,-0.000270937315815,1.49491193168e-05,1793256579020375808
+53,0.883333333,BASELINE,795.752232324,748.247767676,727.752232324,710,698.752232324,656,935,804,835.752232324,670,658,677.247767676,0.400979813019,-0.00536698425735,0.0698302104686,0.999999938592,0.000223078993756,-0.000269870718833,1.48682259569e-05,1793256579037042432
+54,0.900000000,BASELINE,796,748,727.664115999,710,699,656,935,804,835.664115999,670,658,677.335884001,0.400980484215,-0.00536604841094,0.0698310486454,0.999999938948,0.000223219101551,-0.000268442401433,1.47199982295e-05,1793256579053709056
+55,0.916666667,BASELINE,796,748,727.084869099,710,699,656,935,804,835.084869099,670,658,677.915130901,0.400981589738,-0.00536394935438,0.0698324946835,0.999999938944,0.000225264837516,-0.000266752001545,1.4522983761e-05,1793256579070375680
+56,0.933333333,BASELINE,796,748.492810733,727,710,699,656,935,804,835,670,658,677.507189267,0.400981363338,-0.00536463463096,0.0698324061668,0.999999938833,0.000225213757508,-0.000267202910942,1.47059868301e-05,1793256579087042304
+57,0.950000000,BASELINE,796,749,727,710,699,656,935,804,835,670,658,677.069930895,0.400980801836,-0.00536573770799,0.0698319623438,0.999999938687,0.000224755582328,-0.000268121244271,1.49202651176e-05,1793256579103708928
+58,0.966666667,BASELINE,796,749,727,710,699,656,935,804,835,670,658,677.644951464,0.400979471464,-0.00536640610906,0.0698308549606,0.999999938425,0.000223956944564,-0.000269760608642,1.48892473025e-05,1793256579120375552
+59,0.983333333,BASELINE,795.774496894,748.774496894,727,710,699,656,935,804,835,670,658,678,0.40097899648,-0.00536661400613,0.0698303589454,0.999999938347,0.000223359398305,-0.000270552169548,1.47917594513e-05,1793256579137042432
+60,1.000000000,BASELINE,795.185017662,748.185017662,727,710,699,656,935,804,835,670,658,678,0.400979902146,-0.00536607862104,0.0698308497162,0.999999938566,0.00022308642619,-0.000269975322859,1.45869847971e-05,1793256579153709056
+61,1.016666667,BASELINE,795,748,727,709.60349938,699,656,935,804,835,670,658,677.60349938,0.400980295467,-0.00536525654998,0.069831033096,0.999999938525,0.000224196143501,-0.000269212174617,1.45053421446e-05,1793256579170375680
+62,1.033333333,BASELINE,795,748,727,709.025622806,699,656,935,804,835,670,658,677.025622806,0.40098045442,-0.00536430333679,0.0698310758623,0.999999938362,0.000225938360758,-0.000268363804291,1.44800252281e-05,1793256579187042304
+63,1.050000000,BASELINE,795,748.54845857,727,709,699,656,935,804.54845857,835,670,658,677,0.400980693021,-0.00536545370168,0.0698311938054,0.999999939016,0.000222811827379,-0.000268548215379,1.43385258056e-05,1793256579203709184
+64,1.066666667,BASELINE,795,749,727,709.12572844,699,656.12572844,935,804.87427156,835.12572844,670,658,677,0.400980601669,-0.00536661826834,0.0698311601496,0.999999939467,0.00022037960636,-0.000268877854486,1.42930858312e-05,1793256579220375808
+65,1.083333333,BASELINE,795,749,727,709.715414095,699,656.715414095,935,804.284585905,835.715414095,670,658,677,0.400979279108,-0.00536747508537,0.0698305541989,0.999999939064,0.00022134308961,-0.000269566583405,1.46220117065e-05,1793256579237042176
+66,1.100000000,BASELINE,795,749,727,709.700356584,698.700356584,656.700356584,935,804,835.700356584,670,658,677.299643416,0.400979069744,-0.00536731811114,0.0698304464289,0.99999993871,0.00022278238699,-0.000269681402798,1.48117540915e-05,1793256579253709056
+67,1.116666667,BASELINE,795,749,727,709.121216765,698.121216765,656.121216765,935,804,835.121216765,670,658,677.878783235,0.400979898729,-0.00536621550949,0.0698308033435,0.999999938401,0.000224665506313,-0.000269260900364,1.48716711956e-05,1793256579270375680
+68,1.133333333,BASELINE,795,749,727,709.457697386,698.457697386,656,935,804,835,670,658,677.542302614,0.400980733084,-0.00536526421861,0.069831667108,0.999999938551,0.000224946854206,-0.000268480223408,1.46681742201e-05,1793256579287042304
+69,1.150000000,BASELINE,795,749,727,709.963883425,699,656,935,804,835,670,658,677.036116575,0.400981561565,-0.00536450812344,0.0698326053846,0.999999938838,0.000224741242847,-0.000267596202412,1.44289518816e-05,1793256579303708928
+70,1.166666667,BASELINE,795,749,727,709.391922141,699,656,935,804,835,670,658,677.608077859,0.400982281815,-0.00536605380226,0.0698326585724,0.999999939357,0.000223601605207,-0.000266593456351,1.4694215717e-05,1793256579320375552
+71,1.183333333,BASELINE,795.186076666,749,727,709.186076666,698.813923334,656,935,804,835,670,658,678,0.400982337813,-0.00536697098976,0.0698323895265,0.999999939559,0.000223054300741,-0.000266291868916,1.4771567242e-05,1793256579337042176
+72,1.200000000,BASELINE,795.777218499,749,727,709.777218499,698.222781501,656,935,804,835,670,658,678,0.400980947821,-0.00536652003215,0.0698314190188,0.999999939071,0.000223796429819,-0.000267516614179,1.44398576894e-05,1793256579353708800
+73,1.216666667,BASELINE,795.639006421,748.639006421,727,710,698.360993579,656,935,804,835,670,658,678,0.400980264621,-0.00536577376381,0.0698310540732,0.999999938468,0.000225282061315,-0.000268520072647,1.44631827465e-05,1793256579370375680
+74,1.233333333,BASELINE,795.059686731,748.059686731,727,710,698.940313269,656,935,804,835,670,658,678,0.400980008882,-0.00536484889386,0.0698310553669,0.999999937793,0.000227217357253,-0.000269389698508,1.4701229997e-05,1793256579387042304
+75,1.250000000,BASELINE,795,748,727,709.482347299,699,656,935,804,835,670,658,677.482347299,0.400980516163,-0.00536530592259,0.0698314287017,0.999999938575,0.000225078782051,-0.000268284836729,1.45759390868e-05,1793256579403708928
+76,1.266666667,BASELINE,795,748,727,709.094286294,699,656,935,804,835.094286294,670,658,677,0.400980976487,-0.00536594246359,0.0698317218304,0.999999939297,0.000222958467457,-0.000267368234503,1.44930590616e-05,1793256579420375552
+77,1.283333333,BASELINE,795,748,727,709.668484947,699,656,935,804,835.668484947,670,658,677,0.400980751706,-0.0053666847884,0.0698313892011,0.999999938892,0.000223312879131,-0.000268564243968,1.4838473184e-05,1793256579437042432
+78,1.300000000,BASELINE,795.249508218,748.249508218,727,710,699,656,935,804,835.750491782,670,658,677,0.4009806157,-0.00536735615704,0.069831340345,0.999999938871,0.000223214657578,-0.000268713118818,1.50527780736e-05,1793256579453709056
+79,1.316666667,BASELINE,795.839854129,748.839854129,727,710,699,656,935,804,835.160145871,670,658,677,0.400980600962,-0.00536793059681,0.0698316791339,0.999999939374,0.000222498121837,-0.000267431567957,1.50879827489e-05,1793256579470375680
+80,1.333333333,BASELINE,796,748.577894889,727,709.577894889,699,656,935,804.422105111,835,670,658,677.422105111,0.400981124779,-0.00536688266413,0.0698322843173,0.999999939281,0.000223495355882,-0.000266946512338,1.51115353803e-05,1793256579487042304
+81,1.350000000,BASELINE,795.998668431,748,727.001331569,709.001331569,698.998668431,656,935,805,835,670,658,678,0.400981846752,-0.0053652371245,0.0698329850339,0.999999938965,0.000225125328233,-0.00026675947391,1.51302480842e-05,1793256579503708928
+82,1.366666667,BASELINE,795.424245899,748,727.575754101,709.575754101,698.424245899,656,935,805,835,670,658,678,0.400981567647,-0.00536631854607,0.0698321215099,0.999999938983,0.0002245051505,-0.000267224310141,1.49327555893e-05,1793256579520375552
+83,1.383333333,BASELINE,795.153770055,748.153770055,727.846229945,710,698,656,935,805,835,670,658,678,0.40098118528,-0.00536765819279,0.0698315643973,0.99999993925,0.000222965561265,-0.000267520455175,1.48054135408e-05,1793256579537042432
+84,1.400000000,BASELINE,795.741937486,748.741937486,727.258062514,710,698,656,935,805,835,670,658,678,0.400980511202,-0.00536972732069,0.0698318728907,0.999999940211,0.000218828652503,-0.000267340051003,1.48762450764e-05,1793256579553709056
+85,1.416666667,BASELINE,795.67477348,748.67477348,727,709.67477348,698,656,935,804.67477348,835,670,658,678,0.400980273167,-0.00536962486372,0.0698321157882,0.999999940176,0.00021917757402,-0.000267185228254,1.49074145711e-05,1793256579570375680
+86,1.433333333,BASELINE,795.095298212,748.095298212,727,709.095298212,698,656,935,804.095298212,835,670,658,678,0.400980376014,-0.00536782475068,0.0698323074055,0.999999939359,0.000223033333814,-0.000267050404022,1.49075779052e-05,1793256579587042560
+87,1.450000000,BASELINE,795,748,727,709,698.482793855,656,935,804,835,670,658,678,0.400980999688,-0.00536670348665,0.0698325725293,0.999999939136,0.000224670536392,-0.000266518472252,1.47784436519e-05,1793256579603708928
+88,1.466666667,BASELINE,795,748,727,709.06027271,699,656,935,804,835.06027271,670,658,678,0.400981753545,-0.00536572805488,0.0698328507451,0.999999939063,0.000225746296225,-0.000265895090025,1.46004717188e-05,1793256579620375808
+89,1.483333333,BASELINE,795,748,727,709.634842203,699,656,935,804,835.634842203,670,658,678,0.400982743524,-0.0053648568747,0.0698331172205,0.999999939261,0.000225757372805,-0.000265158308911,1.42229282737e-05,1793256579637042432
+90,1.500000000,BASELINE,795,748,727,710,699,656,935,804,835.785227156,670,658,677.785227156,0.400982726169,-0.00536476980263,0.0698329634426,0.999999939395,0.000225077308714,-0.000265233282569,1.42024863996e-05,1793256579653709056
+91,1.516666667,BASELINE,795,748,727,710,699,656,935,804,835.195948174,670,658,677.195948174,0.400980952297,-0.00536605000455,0.069832076856,0.999999939412,0.00022319208098,-0.000266723738536,1.48047337619e-05,1793256579670375936
+92,1.533333333,BASELINE,795,748,727,709.61340526,699,656,935,804,835,670,658,677.38659474,0.400980666641,-0.00536653634519,0.0698318839457,0.999999939348,0.000223122587388,-0.00026701973074,1.48731534295e-05,1793256579687042304
+93,1.550000000,BASELINE,795,748,727,709.034218044,699,656,935,804,835,670,658,677.965781956,0.400981122381,-0.00536662720279,0.0698320366086,0.999999939244,0.000223957649993,-0.00026672066911,1.46756326539e-05,1793256579703708928
+94,1.566666667,BASELINE,795.541086285,748.541086285,727,709,699,656,935,804,835,670,658,677.458913715,0.400981009396,-0.00536590873961,0.0698313177712,0.999999939037,0.000223745987858,-0.000267668925674,1.47457655474e-05,1793256579720375808
+95,1.583333333,BASELINE,796,749,727,709,699,656,935,804,835,670,658,677,0.400981112283,-0.00536555038144,0.0698308753274,0.999999939041,0.00022316493545,-0.0002681371805,1.47830052891e-05,1793256579737042176
+96,1.600000000,BASELINE,796,749,727,709,699,656,935,804,835,670,658,677,0.400982209208,-0.00536681563665,0.0698317411662,0.999999939903,0.000221384045971,-0.000266399429408,1.46238772887e-05,1793256579753708800
+97,1.616666667,BASELINE,796,748.726395298,727,709.273604702,699,656,935,804,835,670.273604702,658,677.273604702,0.400982995187,-0.0053675337845,0.0698328021384,0.99999994037,0.000221141717874,-0.000264844255143,1.46570959502e-05,1793256579770375680
+98,1.633333333,BASELINE,796,748.134335593,727,709.865664407,699,656,935,804,835,670.865664407,658,677.865664407,0.400983419249,-0.00536761514102,0.0698340902309,0.999999940377,0.000222690157974,-0.000263501586482,1.49141914635e-05,1793256579787042304
+99,1.650000000,BASELINE,796,748,727,709.55431319,699,656,935,804,835.44568681,670.55431319,658,678,0.400982206728,-0.00536767615547,0.0698330444839,0.999999940043,0.000222418556681,-0.000264993606636,1.48877261016e-05,1793256579803709952
+100,1.666666667,BASELINE,796,748.022094489,727,709.022094489,698.977905511,656,935,804,835.977905511,670,658,677.977905511,0.400980658651,-0.00536766214616,0.0698314411025,0.99999993962,0.000221764089885,-0.000267135261316,1.47892060134e-05,1793256579820377344
+101,1.683333333,BASELINE,796,748.596454097,727,709.596454097,698.403545903,656,935,804,835.403545903,670,658,677.403545903,0.400982728862,-0.00536592209898,0.0698330200248,0.999999939562,0.000224891234492,-0.00026472004825,1.49697969335e-05,1793256579837043712
+102,1.700000000,BASELINE,796,749,727,709.824409596,698,656,935,804.175590404,835.175590404,670,658,677.175590404,0.400983701369,-0.00536493238439,0.0698337225639,0.999999939437,0.000226698676768,-0.000263644741958,1.50119504513e-05,1793256579853710080
+103,1.716666667,BASELINE,796,749,727,709.233988461,698,656,935,804.766011539,835.766011539,670,658,677.766011539,0.400982080558,-0.00536571532398,0.0698323546553,0.999999939184,0.000225388333859,-0.000265734953585,1.47270468405e-05,1793256579870376448
+104,1.733333333,BASELINE,796,748.650182463,727,709.699635074,698.349817537,656,935,804.650182463,835.650182463,670,658,677.650182463,0.400981565733,-0.00536566627382,0.0698320047736,0.999999939099,0.000224932586558,-0.000266455093523,1.44296962749e-05,1793256579887042560
+105,1.750000000,BASELINE,796,748.070719067,727,710.858561865,698.929280933,656,935,804.070719067,835.070719067,670,658,677.070719067,0.400981776957,-0.00536507104471,0.0698323231992,0.999999939128,0.000225037858293,-0.000266275818239,1.41241745879e-05,1793256579903709184
+106,1.766666667,POSE1_TO_POSE2_PRESS,796,748,727,709,699,656,934,804,835,670,658,677,0.400981855584,-0.00536547777941,0.0698325809084,0.999999940012,0.000221368774874,-0.000266020703757,1.43009310685e-05,1793256579934676224
+107,1.783333333,POSE1_TO_POSE2_PRESS,795.425040826,748.574959174,727,709.574959174,699,656,934.574959174,804,835,670,658,677.574959174,0.400981783803,-0.00536825193616,0.069832213337,0.999999940151,0.000220445888922,-0.000266249987273,1.46068024092e-05,1793256579951342592
+108,1.800000000,POSE1_TO_POSE2_PRESS,795,748.846026598,727,709.846026598,699,656,935,804.153973402,835.153973402,670,658,678,0.40098155041,-0.00536927984881,0.0698319446955,0.999999939944,0.000220974440166,-0.00026657532407,1.48056505253e-05,1793256579968008960
+109,1.816666667,POSE1_TO_POSE2_PRESS,795,748.255515553,727,709.255515553,699,656,935,804.744484447,835.744484447,670,658,678,0.400980858822,-0.00536535689867,0.0698319565348,0.999999938749,0.000225618032923,-0.000267172986343,1.47010718488e-05,1793256579984675584
+110,1.833333333,POSE1_TO_POSE2_PRESS,795,748.328649196,727,709.328649196,699,656,935,804.671350804,835.671350804,670,658,677.671350804,0.400981059378,-0.00536504621889,0.0698323314359,0.999999938913,0.000225550476122,-0.000266610259891,1.47970739832e-05,1793256580001342464
+111,1.850000000,POSE1_TO_POSE2_PRESS,795,748.907973317,727,709.907973317,699,656,935,804.092026683,835.092026683,670,658,677.092026683,0.400981940409,-0.00536749077384,0.0698329832598,0.999999940114,0.000221889521977,-0.000265162454847,1.50460677641e-05,1793256580018009088
+112,1.866666667,POSE1_TO_POSE2_PRESS,795.482853845,749,727,710,699,656,935,804,835,670,658,677,0.400981377077,-0.00536735222586,0.0698326324393,0.999999939582,0.000223358880503,-0.000265939620785,1.49033333292e-05,1793256580034675712
+113,1.883333333,POSE1_TO_POSE2_PRESS,795.943013962,749,727,709.943013962,699,656,935,804,835,670,658,677.056986038,0.400980729502,-0.00536672387106,0.0698322187928,0.999999938854,0.000225424023213,-0.000266945561567,1.46908930773e-05,1793256580051342592
+114,1.900000000,POSE1_TO_POSE2_PRESS,795.368056033,749,727,709.368056033,699,656,935,804,835,670,658,677.631943967,0.400981795528,-0.00536607747493,0.0698329551865,0.99999993935,0.00022409806138,-0.000266211658556,1.45172875781e-05,1793256580068008960
+115,1.916666667,POSE1_TO_POSE2_PRESS,795,749,727,709.213240989,699,656,935,804,835,670,658,677.786759011,0.400984402447,-0.00536625928268,0.0698343623987,0.999999940048,0.000222702861309,-0.000264753518416,1.46162953064e-05,1793256580084675584
+116,1.933333333,POSE1_TO_POSE2_PRESS,795,749,727,709.805814504,699,656,935,804,835,670,658,677.194185496,0.400989750447,-0.00536791437514,0.0698369629239,0.999999941099,0.000221184494085,-0.000262007039269,1.52002523358e-05,1793256580101342208
+117,1.950000000,POSE1_TO_POSE2_PRESS,795.38816541,749,727,710,699,656,935,804,835,670,658,677.38816541,0.401010584678,-0.00536823368978,0.0698465488342,0.999999945105,0.000221217361467,-0.000246177547804,1.5769724108e-05,1793256580118009088
+118,1.966666667,POSE1_TO_POSE2_PRESS,795.965533581,749,727,710,699,656,935,804,835,670,658,677.965533581,0.401038967334,-0.00536790190882,0.0698595396182,0.999999950142,0.000222006344089,-0.000223971027069,1.63321354035e-05,1793256580134675712
+119,1.983333333,POSE1_TO_POSE2_PRESS,796,748.460182693,727,709.460182693,699,656,935,804,835,670,658,677.460182693,0.401089683133,-0.00537111487644,0.0698780268868,0.99999995672,0.000220694300151,-0.000193815652485,1.70088748313e-05,1793256580151342336
+120,2.000000000,POSE1_TO_POSE2_PRESS,795.885979807,748.114020193,727,709,699,656,935,804,835,670,658,677,0.401144210218,-0.00537365288993,0.0698955609423,0.999999961723,0.000219728291481,-0.000167238478328,1.74702544002e-05,1793256580168008960
+121,2.016666667,POSE1_TO_POSE2_PRESS,795.311312233,748.688687767,727,709,699,656,935,804,835,670,658,677,0.401208406989,-0.00537255488103,0.0699078342085,0.999999963152,0.000220699164692,-0.000157156168035,1.70322460093e-05,1793256580184675584
+122,2.033333333,POSE1_TO_POSE2_PRESS,795.272657418,749,727,709.272657418,699,656,935,804.272657418,835,670,658,677.272657418,0.401282153521,-0.00537255362573,0.0699181808063,0.999999965009,0.000221138039388,-0.000144279470442,1.62447666037e-05,1793256580201342464
+123,2.050000000,POSE1_TO_POSE2_PRESS,795.867623017,749,727,709.867623017,699,656,935,804.867623017,835,670,658,677.867623017,0.401367188816,-0.00537384884232,0.0699262498899,0.999999967273,0.000220948038861,-0.000128099529793,1.50441777337e-05,1793256580218009088
+124,2.066666667,POSE1_TO_POSE2_PRESS,796,749,727,709.552110896,699,656.447889104,935,804.552110896,835,670,658,678,0.401463410376,-0.00537709877275,0.0699263153736,0.999999968199,0.000217163847544,-0.000127554705863,1.30817938933e-05,1793256580234675712
+125,2.083333333,POSE1_TO_POSE2_PRESS,795.976160087,749,727,709.023839913,699,656.976160087,935,804,835.023839913,670,658,678,0.401563923407,-0.00538076683566,0.0699242077191,0.999999968733,0.000212532124071,-0.000131322487572,1.08659292844e-05,1793256580251342592
+126,2.100000000,POSE1_TO_POSE2_PRESS,795.402716951,749,727,709.597283049,699,656.402716951,935,804,835.597283049,670,658,678,0.401689573224,-0.00538117877674,0.0699248023812,0.999999968854,0.000212073200017,-0.00013136411114,7.83208360126e-06,1793256580268008960
+127,2.116666667,POSE1_TO_POSE2_PRESS,795,749,727,710,699,656,935,804,835.823657488,670,658,678,0.401824375156,-0.0053823384758,0.0699262506651,0.999999969462,0.000210297196876,-0.00012972273437,4.74184074034e-06,1793256580284675584
+128,2.133333333,POSE1_TO_POSE2_PRESS,795,749,727,710,699,656,935,804,835.231350055,670,658,678,0.401980765508,-0.00538526202111,0.0699297125117,0.999999971199,0.000205414406362,-0.000124111418088,1.51856602183e-06,1793256580301342208
+129,2.150000000,POSE1_TO_POSE2_PRESS,795.352390027,749,727,710,699,656.352390027,935,804,835.352390027,670,658,678,0.402158739287,-0.00538926520533,0.0699317272839,0.999999972877,0.000199588583936,-0.000120025470616,-2.28318475133e-06,1793256580318008832
+130,2.166666667,POSE1_TO_POSE2_PRESS,795.930639054,749,727,710,699,656.930639054,935,804,835.930639054,670,658,678,0.402350546649,-0.00539396036788,0.0699328145763,0.999999974489,0.000193158339137,-0.000116917184405,-6.45570122436e-06,1793256580334675456
+131,2.183333333,POSE1_TO_POSE2_PRESS,795.494113995,749,727,710,699,656.494113995,935,804.505886005,835.494113995,670,658,678,0.402577387442,-0.00539705247336,0.0699349155528,0.999999976466,0.000185849174995,-0.00011133905063,-1.14958071246e-05,1793256580351342336
+132,2.200000000,POSE1_TO_POSE2_PRESS,795.08266368,748.91733632,727,710,699,656,935,804.91733632,835.08266368,670,658,678,0.402813028611,-0.00540007404253,0.0699372614859,0.999999978379,0.000178380544945,-0.000105553187589,-1.67384241855e-05,1793256580368008960
+133,2.216666667,POSE1_TO_POSE2_PRESS,795.671315841,748.328684159,727,710,699,656,935,804.328684159,835.671315841,670,658,678,0.403073309264,-0.00540400127614,0.069940261102,0.999999980127,0.000170669089391,-0.000100556377614,-2.24968004794e-05,1793256580384675584
+134,2.233333333,POSE1_TO_POSE2_PRESS,796,748.255780045,727,710,699,656,935,804,835.744219955,670,658,677.744219955,0.403357936945,-0.00540916328541,0.0699468218941,0.999999982485,0.000162345369672,-8.88598486193e-05,-2.787419556e-05,1793256580401342208
+135,2.250000000,POSE1_TO_POSE2_PRESS,796,748.834949273,727,710,699,656,935,804,835.165050727,670,658,677.165050727,0.403673347172,-0.00541588645257,0.0699578851711,0.999999985361,0.000153247549304,-6.86926956435e-05,-3.27699061014e-05,1793256580418008832
+136,2.266666667,POSE1_TO_POSE2_PRESS,796,749,727,709.588348709,699,656,935,804,835.411651291,670,658,677.411651291,0.404012071943,-0.00542181813935,0.0699660691553,0.999999991762,0.000108763098991,-5.64939696048e-05,-3.81503911158e-05,1793256580434675712
+137,2.283333333,POSE1_TO_POSE2_PRESS,796,749,727,709.012630035,699,656,935,804,835.987369965,670,658,677.987369965,0.404360088931,-0.00542743437424,0.069973105571,0.999999996659,5.01749838798e-05,-4.74711332495e-05,-4.3724087198e-05,1793256580451342592
+138,2.300000000,POSE1_TO_POSE2_PRESS,795.43706939,749,727,709.56293061,698.43706939,656,935,804.56293061,836,670,658,677.43706939,0.404754624555,-0.00543339115661,0.0699764718529,0.999999997807,-4.04990373501e-06,-4.36190608933e-05,-4.9677618291e-05,1793256580468009216
+139,2.316666667,POSE1_TO_POSE2_PRESS,795,748.857956371,727,709.857956371,698.142043629,656,935,804.857956371,836,670,658,677,0.405154948743,-0.00543826500345,0.0699788149606,0.999999997686,-2.25712939536e-05,-4.07422908543e-05,-4.95813955314e-05,1793256580484675840
+140,2.333333333,POSE1_TO_POSE2_PRESS,795,748.267620937,727,709.267620937,698.732379063,656,935,804.267620937,836,670,658,677,0.405570248631,-0.00543969698143,0.0699781887205,0.999999996175,7.12792265605e-05,-4.05775561729e-05,-3.03651702754e-05,1793256580501342464
+141,2.350000000,POSE1_TO_POSE2_PRESS,795,748.316597767,727,709.316597767,699,656,935,804.316597767,836,670,658,677,0.406004945429,-0.00544249217778,0.0699736817021,0.999999993095,0.000104548162792,-4.69706303498e-05,-2.59530681342e-05,1793256580518009088
+142,2.366666667,POSE1_TO_POSE2_PRESS,795,748.895744046,727,709.895744046,699,656,935,804.895744046,836,670,658,677,0.406455727763,-0.0054464178654,0.0699659564279,0.999999993864,8.75779529821e-05,-5.88019710059e-05,-3.38177420431e-05,1793256580534675712
+143,2.383333333,POSE1_TO_POSE2_PRESS,795.470629005,748.529370995,727,709.529370995,699,656,935,804.529370995,835.529370995,670,658,677.470629005,0.406941003409,-0.0054628163238,0.0699498961533,0.999999994839,4.74075085552e-05,-8.20570654364e-05,-3.66140247143e-05,1793256580551342336
+144,2.400000000,POSE1_TO_POSE2_PRESS,795.955225024,748,727,709,699,656,935,804,835,670,658,677.955225024,0.40744177269,-0.0054823524371,0.0699340623148,0.99999999385,4.43959034664e-06,-0.000104100005937,-3.79902627789e-05,1793256580568009216
+145,2.416666667,POSE1_TO_POSE2_PRESS,795.378744801,748,727,709,699,656,935,804,835,670,658,677.378744801,0.40803660561,-0.00550663171528,0.0699426468538,0.999999995939,-1.12652095159e-05,-8.19667055595e-05,-3.57167567948e-05,1793256580584675840
+146,2.433333333,POSE1_TO_POSE2_PRESS,795.20268533,748,727,709.20268533,698.79731467,656,935,804,835.20268533,670,658,677.20268533,0.408638516556,-0.00552444994286,0.0699534829729,0.999999997441,-2.72864543414e-05,-5.62189278381e-05,-3.48281470609e-05,1793256580601342464
+147,2.450000000,POSE1_TO_POSE2_PRESS,795.793596538,748,727,709.793596538,698.206403462,656,935,804,835.793596538,670,658,677.793596538,0.409253984798,-0.00552989259625,0.0699686317949,0.999999998089,-4.39138206457e-05,-2.35479388165e-05,-3.65921841342e-05,1793256580618009088
+148,2.466666667,POSE1_TO_POSE2_PRESS,796,748,727,709.6243475,698.3756525,656,935,804,836,670,658,678,0.409865198844,-0.00553473861447,0.0699674910987,0.99999999781,-4.89601725884e-05,-2.34537250512e-05,-3.78619127588e-05,1793256580634675456
+149,2.483333333,POSE1_TO_POSE2_PRESS,796,748,727,709.047045046,698.952954954,656,935,804,836,670,658,678,0.410474129222,-0.00553926435924,0.0699576062021,0.999999997269,-4.77898450166e-05,-4.08466985213e-05,-3.88662969663e-05,1793256580651342080
+150,2.500000000,POSE1_TO_POSE2_PRESS,796,748,727,709.526781226,699,656,935,804,836,670,658,678,0.411141178534,-0.00554965773929,0.0699571181242,0.999999995734,-7.00699128014e-05,-4.52540215932e-05,-3.96878535509e-05,1793256580668009984
+151,2.516666667,POSE1_TO_POSE2_PRESS,795.899091722,748,727.100908278,710,699,656,935,804,836,670,658,678,0.411831675861,-0.00555966826987,0.0699631029769,0.999999994447,-8.95274552625e-05,-3.83076767935e-05,-4.02902846705e-05,1793256580684677632
+152,2.533333333,POSE1_TO_POSE2_PRESS,795.322090641,748,727.677909359,710,699,656,935,804,836,670,658,678,0.412608474292,-0.00556541633356,0.0699956941575,0.999999995377,-8.5851933099e-05,1.67704206898e-05,-3.99353955985e-05,1793256580701344000
+153,2.550000000,POSE1_TO_POSE2_PRESS,795,748,728,710,699,656,935,804.261718377,836,670,658,678,0.41337821192,-0.00556631462726,0.0700237137409,0.999999993637,-8.65375593306e-05,6.11294914581e-05,-3.87255694598e-05,1793256580718010368
+154,2.566666667,POSE1_TO_POSE2_PRESS,795,748,728,710,699,656,935,804.854129603,836,670,658,678,0.414139028014,-0.00556108502091,0.0700459569118,0.99999999081,-9.27336909015e-05,9.19446010806e-05,-3.6435492223e-05,1793256580734676480
+155,2.583333333,POSE1_TO_POSE2_PRESS,795.434337617,748,728,710,698.565662383,656,935,804.565662383,836,670,658,678,0.414860891623,-0.00553181117724,0.0700178247217,0.999999997122,-5.2692377556e-05,3.80424137103e-05,-3.91564026472e-05,1793256580751342848
+156,2.600000000,POSE1_TO_POSE2_PRESS,795.989456253,748,728,710,698.010543747,656,935,804,836,670,658,678,0.415571605893,-0.00549536919346,0.0699733969401,0.99999999813,1.1635521737e-06,-4.29569578834e-05,-4.35087712852e-05,1793256580768009472
+157,2.616666667,POSE1_TO_POSE2_PRESS,795.414078083,748,728,710,698.585921917,656,935,804,836,670,658,678,0.416366705399,-0.00549569427026,0.0699375619498,0.999999994442,-1.40679656281e-05,-9.30352664085e-05,-4.75682033892e-05,1793256580784676096
+158,2.633333333,POSE1_TO_POSE2_PRESS,795,747.835424918,728,710,699,656,935,804,836,670,658,678,0.417182499202,-0.00549986101437,0.0699202816005,0.999999991484,-2.88034281621e-05,-0.000116998152484,-5.01416153609e-05,1793256580801342720
+159,2.650000000,POSE1_TO_POSE2_PRESS,795,747.248364452,728,710,699,656,935,804,836,670,658,678,0.418051417881,-0.00551388981212,0.0699506334008,0.999999995179,-4.22654522191e-05,-7.39193904312e-05,-4.89002226656e-05,1793256580818009600
+160,2.666666667,POSE1_TO_POSE2_PRESS,795.33511613,747,728,710,698.66488387,656,935,804,836,670,658,678,0.418934727023,-0.00552451328995,0.0699792227923,0.999999996892,-5.38865348538e-05,-3.2281463003e-05,-4.76407537094e-05,1793256580834676736
+161,2.683333333,POSE1_TO_POSE2_PRESS,795.915971571,747,728,710,698.084028429,656,935,804,836,670,658,678,0.419828588597,-0.00553263965974,0.0700065198151,0.999999996832,-6.41576619208e-05,8.29990427228e-06,-4.63680295439e-05,1793256580851343360
+162,2.700000000,POSE1_TO_POSE2_PRESS,795.507064802,747,727.507064802,709.507064802,698.492935198,656,935,804,836,670,658,677.507064802,0.420734573995,-0.00553745318475,0.070029585236,0.999999995193,-7.48848566004e-05,4.36500485024e-05,-4.58262087928e-05,1793256580868009984
+163,2.716666667,POSE1_TO_POSE2_PRESS,795,747,727,709.067327969,698.932672031,656,935,804,836,670,658,677,0.421634818494,-0.00553949157991,0.070046234728,0.999999993212,-8.21910366071e-05,6.87334003485e-05,-4.57967062342e-05,1793256580884676352
+164,2.733333333,POSE1_TO_POSE2_PRESS,795,747,727,709.6277138,698.3722862,656,935,804,836,670,658,677,0.422478004326,-0.00552531028995,0.0700211400884,0.999999996463,-6.3879476115e-05,2.51099831829e-05,-4.86137445251e-05,1793256580901342720
+165,2.750000000,POSE1_TO_POSE2_PRESS,795,747,727,710,698,656,935,804,836,670,658,677.204244002,0.423320605647,-0.00551429048434,0.0699740010245,0.999999996016,-5.18616756276e-05,-5.02794776911e-05,-5.2442200106e-05,1793256580918009344
+166,2.766666667,POSE1_TO_POSE2_PRESS,795,747,727,710,698,656,935,804,836,670,658,677.812727202,0.424162050253,-0.0055095278778,0.069883231689,0.999999979161,-5.23004648525e-05,-0.000188540217214,-5.82724501915e-05,1793256580934675968
+167,2.783333333,POSE1_TO_POSE2_PRESS,795,746.60224807,727.39775193,710,698,656,935,804,836,670,658,677.60224807,0.425087143271,-0.00551636935159,0.0698734925799,0.999999977175,-6.5515284502e-05,-0.000193868250485,-6.14178539308e-05,1793256580951342592
+168,2.800000000,POSE1_TO_POSE2_PRESS,795,746.027653163,727.972346837,710,698,656,935,804,836,670,658,677.027653163,0.426049426842,-0.00552837007185,0.0698997800182,0.999999984616,-8.44104067239e-05,-0.000140093569324,-6.33695581246e-05,1793256580968009472
+169,2.816666667,POSE1_TO_POSE2_PRESS,795,746,728,710,698,656,935,803.451188196,836,670,658,677.548811804,0.427018040419,-0.00553287596255,0.0699630170519,0.999999993526,-8.17928660553e-05,-5.53053363119e-05,-5.65696778281e-05,1793256580984676608
+170,2.833333333,POSE1_TO_POSE2_PRESS,795,745.744743866,728,710,698,656,935,803,836,670,658,677.872371933,0.427990178189,-0.00553582374901,0.0700220271884,0.999999995234,-7.95859837189e-05,2.48362820363e-05,-5.08030067114e-05,1793256581001343744
+171,2.850000000,POSE1_TO_POSE2_PRESS,795,744.57086817,728,710,698,656,935,803,836,670,658,677.285434085,0.428973847058,-0.00553452792596,0.0700591023494,0.999999991895,-8.27713163241e-05,8.26125281606e-05,-5.0347057444e-05,1793256581018010112
+172,2.866666667,POSE1_TO_POSE2_PRESS,794.700693382,744,728,710,698,656,935,803,836,670.299306618,658,677,0.429920499357,-0.00553300292434,0.0700667983922,0.999999990888,-7.97534833455e-05,9.61164788281e-05,-5.12409399706e-05,1793256581034676224
+173,2.883333333,POSE1_TO_POSE2_PRESS,794.118032754,744,728,710,698,656,935,803,836,670.881967246,658,677,0.43083210796,-0.00553126095911,0.0700466811789,0.999999993771,-7.08631044343e-05,6.77077797752e-05,-5.34127103326e-05,1793256581051342592
+174,2.900000000,POSE1_TO_POSE2_PRESS,794.458463689,744,728,710,698.458463689,656,935,803.458463689,836,670.541536311,658,677.458463689,0.431641788711,-0.00553339579036,0.0699702069662,0.999999993432,-7.72110648029e-05,-6.35093461796e-05,-5.60456403375e-05,1793256581068009216
+175,2.916666667,POSE1_TO_POSE2_PRESS,795,744,728,710,698.966503559,656,935,803.966503559,836,670,658,678,0.432434795661,-0.00553629743373,0.0698860693141,0.999999972775,-8.68032210409e-05,-0.000208485781104,-5.87329032569e-05,1793256581084675840
+176,2.933333333,POSE1_TO_POSE2_PRESS,795,744,728,710,698.389813513,656,935,803.389813513,836,670,658,678,0.433377311912,-0.00553566326409,0.0699098252781,0.999999982744,-8.62291510968e-05,-0.000153061438601,-6.0401484197e-05,1793256581101342464
+177,2.950000000,POSE1_TO_POSE2_PRESS,795,744,728,710.190986385,698,656,935,803,836,670.190986385,658,678,0.434326072894,-0.00553542195198,0.0699475004571,0.999999991101,-8.5939001257e-05,-8.22679459314e-05,-6.0361995334e-05,1793256581118009600
+178,2.966666667,POSE1_TO_POSE2_PRESS,795,744,728,710.780359306,698,656,935,803,836,670.780359306,658,678,0.435287860196,-0.00553600011783,0.0700142103168,0.999999994459,-8.62410920609e-05,2.05847138813e-05,-5.67595720199e-05,1793256581134676480
+179,2.983333333,POSE1_TO_POSE2_PRESS,795,744,728,711,698,656,935,803,836,670.63804898,658,678,0.436202926599,-0.00554049208414,0.0700458797343,0.999999992073,-8.73801584694e-05,7.21302298078e-05,-5.49256304844e-05,1793256581151343360
+180,3.000000000,POSE1_TO_POSE2_PRESS,795,744,728,711,698,656,935,803,836,670.061079753,658,678,0.437090238238,-0.0055473090566,0.0700567332566,0.99999999023,-8.90164333428e-05,9.31965602748e-05,-5.41422618686e-05,1793256581168009984
+181,3.016666667,POSE1_TO_POSE2_PRESS,795,744,727.48328664,711,698,656,935,803,836,670.51671336,658,678,0.437898907322,-0.00554929456608,0.0700187403103,0.999999992453,-9.65194202084e-05,5.01460390948e-05,-5.7124883827e-05,1793256581184676096
+182,3.033333333,POSE1_TO_POSE2_PRESS,795,744,727.096002484,711,697.903997516,656,935,803,836,671,658,678,0.43867559134,-0.00555022873348,0.0699669794173,0.999999992708,-0.000102974188941,-1.79967700647e-05,-6.04661059585e-05,1793256581201342720
+183,3.050000000,POSE1_TO_POSE2_PRESS,795,744,727.68243568,711,697.31756432,656,935,803,836,671,658,678,0.439336444608,-0.00554871432809,0.0698744286569,0.999999977532,-0.000100525729074,-0.000175544043811,-6.33614473074e-05,1793256581218009088
+184,3.066666667,POSE1_TO_POSE2_PRESS,795,744,728,711,697,655.734599264,935,803,836,671,658,678,0.440038207808,-0.00554728916854,0.0698045658775,0.999999950742,-9.90001762465e-05,-0.000290507699353,-6.57278916322e-05,1793256581234675712
+185,3.083333333,POSE1_TO_POSE2_PRESS,795,744,728,711,697,655.155730511,935,803,836,671,658,678,0.440788290175,-0.00554596941843,0.0697615001531,0.999999929792,-9.85646822134e-05,-0.000355175321385,-6.74696503295e-05,1793256581251342592
+186,3.100000000,POSE1_TO_POSE2_PRESS,795,744,728,711,696.578880655,655,935,802.578880655,836,671,658,678,0.44158314027,-0.0055495824451,0.0697940305246,0.999999946233,-9.95019407479e-05,-0.000305543389786,-6.53929874883e-05,1793256581268009472
+187,3.116666667,POSE1_TO_POSE2_PRESS,795,744,728,711,696.002773782,655,935,802.002773782,836,671,658,678,0.44239446661,-0.00555501091637,0.0698543830581,0.999999970124,-0.000100944422447,-0.000213844989084,-6.19110037139e-05,1793256581284676608
+188,3.133333333,POSE1_TO_POSE2_PRESS,795,744,728,711,696,655,935.57180987,802,836,671,658,678,0.443094594486,-0.00555657559844,0.0698608497766,0.999999969397,-0.000102230155385,-0.000216754240973,-6.14140838332e-05,1793256581301343232
+189,3.150000000,POSE1_TO_POSE2_PRESS,795,744.150499652,728,711,695.849500348,654.849500348,935.849500348,801.849500348,836,671,657.849500348,678,0.443772947886,-0.00555745803708,0.0698526757669,0.999999963654,-0.000104558288455,-0.000240739166804,-6.16738606278e-05,1793256581318009856
+190,3.166666667,POSE1_TO_POSE2_PRESS,795,744.741221856,728,711,695.258778144,654.258778144,935.258778144,801.258778144,836,671,657.258778144,678,0.444389183127,-0.00555639954227,0.0698024391156,0.999999939079,-0.000109937736669,-0.000325033150314,-6.41047873864e-05,1793256581334676480
+191,3.183333333,POSE1_TO_POSE2_PRESS,795,744.674524191,728,711,694.674524191,654,935,801,836,671,657,678,0.4450009693,-0.00555832334763,0.0697522011369,0.999999911383,-0.000111459812085,-0.000400494347935,-6.64423684753e-05,1793256581351343104
+192,3.200000000,POSE1_TO_POSE2_PRESS,795,744.095312815,728,711,694.095312815,654,935,801,836,671,657,678,0.445609287017,-0.00556257210501,0.0697019621261,0.999999881579,-0.000109974743082,-0.000469069646439,-6.8707178692e-05,1793256581368009472
+193,3.216666667,POSE1_TO_POSE2_PRESS,795,744,727.519442821,711.480557179,694,653.519442821,935,800.519442821,836,671,657,678,0.446179791905,-0.00556500273376,0.0696759115335,0.999999862849,-0.000115485560338,-0.000506169044744,-6.89836477191e-05,1793256581384676096
+194,3.233333333,POSE1_TO_POSE2_PRESS,794.94415575,744,727.05584425,711.94415575,693.94415575,653,935,800,836,671.05584425,657,678,0.446738054737,-0.00556732208027,0.0696547749408,0.999999845407,-0.000121795691528,-0.00053816171528,-6.88058739047e-05,1793256581401342720
+195,3.250000000,POSE1_TO_POSE2_PRESS,794.368167991,744,727.631832009,711.368167991,693.368167991,653,935,800,836,671.631832009,657,678,0.447251664326,-0.00557194046504,0.0696350321342,0.999999821761,-0.000122716117083,-0.000580335122601,-6.8045012975e-05,1793256581418010112
+196,3.266666667,POSE1_TO_POSE2_PRESS,794,744,727.786971356,711,692.786971356,653,935,799.786971356,836,671.786971356,657,678,0.447756719974,-0.00557562672939,0.0696188792777,0.999999802635,-0.00012336675349,-0.000612295499718,-6.78616092554e-05,1793256581434677248
+197,3.283333333,POSE1_TO_POSE2_PRESS,794,744,727.196546874,711,692.196546874,653,935,799.196546874,836,671.196546874,657,678,0.448246621632,-0.00557766167367,0.0696090862828,0.999999793969,-0.000123539438874,-0.000626162743134,-6.87012135035e-05,1793256581451343616
+198,3.300000000,POSE1_TO_POSE2_PRESS,794,744,727.382088181,711,692,652.617911819,935,799,836,671,657,678,0.448749244514,-0.00558078892881,0.0696178237998,0.999999801425,-0.000130964275108,-0.000612646727257,-6.82809857763e-05,1793256581468009728
+199,3.316666667,POSE1_TO_POSE2_PRESS,794,744,727.954840306,711,692,652.045159694,935,799,836,671,657,678,0.449258215395,-0.0055844612528,0.0696358081355,0.999999816271,-0.00014200797139,-0.00058546632672,-6.72320955237e-05,1793256581484676096
+200,3.333333333,POSE1_TO_POSE2_PRESS,794.533267622,744.533267622,727.466732378,711,691.466732378,651.466732378,935,798.466732378,836,671,657,678,0.44969877876,-0.00558375187791,0.0696410657679,0.99999982171,-0.000144083427386,-0.000575642292209,-6.67513512477e-05,1793256581501342720
+201,3.350000000,POSE1_TO_POSE2_PRESS,795,744.885674286,727.114325714,711,691,651,935.114325714,798,836,671,657,678,0.450113348104,-0.00558222074567,0.0696384202455,0.999999820014,-0.00014342714234,-0.000578765440849,-6.65730438455e-05,1793256581518009344
+202,3.366666667,POSE1_TO_POSE2_PRESS,795,744.295691639,727.704308361,711,691,651,935.704308361,798,836,671,657,678,0.450444129982,-0.00557883108922,0.0696074256127,0.999999790484,-0.000134599147905,-0.000629574850933,-6.74507065887e-05,1793256581534675968
+203,3.383333333,POSE1_TO_POSE2_PRESS,794.711183401,744.288816599,728,711,690.711183401,651,935.711183401,798,836,671,657,678,0.450762426041,-0.00557670256215,0.0695725406461,0.999999756368,-0.000129808577201,-0.000682369504492,-6.91824469963e-05,1793256581551342848
+204,3.400000000,POSE1_TO_POSE2_PRESS,794.132175661,744.867824339,728,711,690.132175661,651,935.132175661,798,836,671,657,678,0.451068176836,-0.00557584116663,0.0695337468326,0.999999717393,-0.000129074645716,-0.000737158846457,-7.17723297387e-05,1793256581568009728
+205,3.416666667,POSE1_TO_POSE2_PRESS,794.445344994,745,728,711,690,651,935,797.554655006,836,671.445344994,657,678,0.451370897202,-0.00557530417415,0.0695152124225,0.999999700251,-0.000131803558375,-0.000759275844131,-7.50074917078e-05,1793256581584676864
+206,3.433333333,POSE1_TO_POSE2_PRESS,795,745,728,711,689.97776136,651,935,797,836,672,657,678,0.451671296357,-0.00557492373686,0.0695030769587,0.999999690315,-0.000135895155515,-0.000771208196511,-7.83561660544e-05,1793256581601343488
+207,3.450000000,POSE1_TO_POSE2_PRESS,795,745,728,711,689.405495531,651,935,797,836,672,657,678,0.451936456358,-0.00557604198713,0.0695009853154,0.999999689146,-0.000148355245971,-0.000770280249607,-7.97913722617e-05,1793256581618009856
+208,3.466666667,POSE1_TO_POSE2_PRESS,795,744.82738888,728,711,689,650.82738888,935,796.82738888,836,672,657,678,0.452189195429,-0.00557796830767,0.0694992459321,0.999999687613,-0.000160186962988,-0.000769975930995,-7.9062548834e-05,1793256581634676224
+209,3.483333333,POSE1_TO_POSE2_PRESS,795,744.235080584,728,711,689,650.235080584,935,796.235080584,836,672,657,678,0.452411733459,-0.00558185941925,0.0694983630552,0.999999685431,-0.000170490812815,-0.000771187940467,-7.30719719313e-05,1793256581651342592
+210,3.500000000,POSE1_TO_POSE2_PRESS,794.650433261,744,728,711,689,650,935,796,836,671.650433261,657,678,0.452615595935,-0.00558222661197,0.0694975473795,0.99999968553,-0.000156900906049,-0.00077454746544,-6.63205259342e-05,1793256581668009216
+211,3.516666667,POSE1_TO_POSE2_PRESS,794.070827333,744,728,711,689,650,935,796,836,671.070827333,657,678,0.452807168622,-0.00558027482176,0.0694967759269,0.999999686446,-0.00012758724908,-0.000779320204335,-5.90683745933e-05,1793256581684675840
+212,3.533333333,POSE1_TO_POSE2_PRESS,794,744,728,711,688.495837198,650,935,796,836,671,657,678,0.45297366502,-0.00558251923636,0.0694950976925,0.999999684127,-0.000126984775321,-0.00078232119248,-5.99471847251e-05,1793256581701342720
+213,3.550000000,POSE1_TO_POSE2_PRESS,794,744.080342541,728,711.080342541,688,649.919657459,935,796,836,671.080342541,657,678,0.453132422587,-0.00558548748493,0.06949380861,0.999999682041,-0.000130759330925,-0.0007842182073,-6.18122261166e-05,1793256581718009856
+214,3.566666667,POSE1_TO_POSE2_PRESS,794,744.668093727,728,711.668093727,688,649.331906273,935,796,836,671.668093727,657,678,0.453264352025,-0.00558933788112,0.0694957744779,0.999999683908,-0.000136934628047,-0.000780700717644,-6.27571906673e-05,1793256581734676480
+215,3.583333333,POSE1_TO_POSE2_PRESS,794,744.747952711,728,711.747952711,687.747952711,649,935,796,836,672,657,678,0.453385364602,-0.00559110792637,0.0694984867488,0.999999686976,-0.00014081848658,-0.00077598204946,-6.38030651602e-05,1793256581751342848
+216,3.600000000,POSE1_TO_POSE2_PRESS,794,744.168925821,728,711.168925821,687.168925821,649,935,796,836,672,657,678,0.453492214786,-0.00559017914324,0.0695021673243,0.999999691622,-0.000141729673701,-0.000769705099015,-6.49798495271e-05,1793256581768009472
+217,3.616666667,POSE1_TO_POSE2_PRESS,794,744.410068565,728,711,687,649,935,795.589931435,836,671.589931435,657,678,0.453582298529,-0.0055900341719,0.069505015773,0.99999969311,-0.000142536962025,-0.000767583607161,-6.54146531841e-05,1793256581784675840
+218,3.633333333,POSE1_TO_POSE2_PRESS,794,744.989049548,728,711,687,649,935,795.010950452,836,671.010950452,657,678,0.453665475961,-0.00559021206257,0.069507521458,0.999999693306,-0.000143301453102,-0.000767173801318,-6.55438255922e-05,1793256581801342464
+219,3.650000000,POSE1_TO_POSE2_PRESS,794,744.436122026,728.563877974,711,687,649,935,795,836,671,656.436122026,678,0.453727058682,-0.00559322990242,0.0695066687971,0.999999692604,-0.000146472350952,-0.000767521037834,-6.51810468096e-05,1793256581818009088
+220,3.666666667,POSE1_TO_POSE2_PRESS,794,744.141670239,728.858329761,711,687,649,935,795,836,671,656,678,0.453783576562,-0.00559488420687,0.0695059576489,0.999999692003,-0.00014798669265,-0.000768022535775,-6.50724072723e-05,1793256581834675712
+221,3.683333333,POSE1_TO_POSE2_PRESS,794,744.729038555,728.270961445,711,687,649,935,795,836,671,656,678,0.453825470005,-0.005592076555,0.0695058953832,0.999999691795,-0.000144143521318,-0.000768963430178,-6.5793132428e-05,1793256581851342592
+222,3.700000000,POSE1_TO_POSE2_PRESS,794,745,728,711,687,649,935,795.312042693,836,671.312042693,656.312042693,678,0.453860601729,-0.00559108857572,0.0695056826054,0.999999690916,-0.00014413332616,-0.000770085328614,-6.60398399001e-05,1793256581868009472
+223,3.716666667,POSE1_TO_POSE2_PRESS,794,745,728,711,687,649,935,795.891309545,836,671.891309545,656.891309545,678,0.45388994292,-0.00559165891006,0.0695053409336,0.999999689466,-0.000147405578299,-0.000771362233668,-6.58806126916e-05,1793256581884676608
+224,3.733333333,POSE1_TO_POSE2_PRESS,794,745,728,711,686.531096871,649,935,795.531096871,836,672,656.531096871,678,0.453910624795,-0.00559329035764,0.0695035853572,0.999999687847,-0.000148223562139,-0.000773351878707,-6.52929725999e-05,1793256581901342976
+225,3.750000000,POSE1_TO_POSE2_PRESS,794,745,728,711,686.045829375,649,935,795.045829375,836.045829375,672,656.045829375,678,0.453928461934,-0.0055949735771,0.0695014821474,0.999999686036,-0.000148534461563,-0.000775682954828,-6.46625074183e-05,1793256581918009344
+226,3.766666667,POSE1_TO_POSE2_PRESS,794,745,728,711,686.619521116,649,935,795.619521116,836.619521116,672,656.619521116,678,0.453936570193,-0.00559443017824,0.06949913637,0.999999682489,-0.00014953396852,-0.000780050498386,-6.4678508949e-05,1793256581934675968
+227,3.783333333,POSE1_TO_POSE2_PRESS,793.801367405,745,728,711,687,649,935,795.801367405,836.801367405,671.801367405,656.801367405,678,0.453944143743,-0.00559375823159,0.0694973023651,0.999999679991,-0.000150185859451,-0.0007831202161,-6.46866762522e-05,1793256581951342336
+228,3.800000000,POSE1_TO_POSE2_PRESS,793.211583299,745,728,711,687,649,935,795.211583299,836.211583299,671.211583299,656.211583299,678,0.45395066433,-0.00559283314596,0.0694964761534,0.999999679594,-0.000150153217489,-0.000783634227451,-6.46794162302e-05,1793256581968009216
+229,3.816666667,POSE1_TO_POSE2_PRESS,793.372335013,744.627664987,728,711,686.627664987,649,935,795,836.372335013,671,656,678,0.453952988797,-0.00559258248632,0.0694947621863,0.999999677757,-0.000149569860537,-0.000786101778623,-6.44861062151e-05,1793256581984676352
+230,3.833333333,POSE1_TO_POSE2_PRESS,793.952971704,744.047028296,728,711,686.047028296,649,935,795,836.952971704,671,656,678,0.453952965756,-0.00559270913227,0.069492551567,0.999999675104,-0.000148678407774,-0.000789662231619,-6.41887111027e-05,1793256582001343488
+231,3.850000000,POSE1_TO_POSE2_PRESS,794,744,728,711,686.527337564,649,935,795,836.472662436,671,656.527337564,678,0.453955012701,-0.00559096369012,0.0694920935231,0.999999673989,-0.000147607014299,-0.000791250860117,-6.44670060441e-05,1793256582018010368
+232,3.866666667,POSE1_TO_POSE2_PRESS,794,744.101432484,728,711,687,649,935,795.101432484,836,671,656.898567516,678,0.453956959463,-0.00558979310819,0.0694919449053,0.999999673233,-0.000147115042748,-0.000792281120325,-6.46628693927e-05,1793256582034676992
+233,3.883333333,POSE1_TO_POSE2_PRESS,794,744.676843688,728,711,687,649,935,795.676843688,836,671,656.323156312,678,0.4539575856,-0.00559207974478,0.0694925204262,0.999999673528,-0.000149404727964,-0.000791514266419,-6.42364555717e-05,1793256582051343104
+234,3.900000000,POSE1_TO_POSE2_PRESS,794,744.739727469,728,711,686.739727469,648.739727469,935,795.739727469,836,671.260272531,656,678,0.453957719791,-0.00559292466735,0.0694921723084,0.999999673041,-0.00015034470364,-0.000791974209927,-6.39636529499e-05,1793256582068009216
+235,3.916666667,POSE1_TO_POSE2_PRESS,794,744.146027384,728,711,686.146027384,648.146027384,935,795.146027384,836,671.853972616,656,678,0.453957223765,-0.0055919226524,0.069490640944,0.999999671553,-0.000149555606082,-0.000794005767744,-6.38876370999e-05,1793256582084675840
+236,3.933333333,POSE1_TO_POSE2_PRESS,794,744.434667003,728,711,686,648.434667003,935,795,836,672,656.434667003,678,0.453955670676,-0.00559215849948,0.0694883493209,0.999999668928,-0.000150517985363,-0.000797138697768,-6.37022231663e-05,1793256582101342464
+237,3.950000000,POSE1_TO_POSE2_PRESS,794,745,728.011074261,711,686.011074261,649,935,795.011074261,836,672,657,678,0.453953835178,-0.00559274071242,0.0694858768232,0.999999666,-0.000152003908001,-0.000800539725162,-6.34941741006e-05,1793256582118009088
+238,3.966666667,POSE1_TO_POSE2_PRESS,794,745,728.585206944,711,686.585206944,649,935,795.585206944,836,672,657,678,0.453955172206,-0.0055904037154,0.0694868167523,0.999999667101,-0.00015106077493,-0.000799305746559,-6.39496207277e-05,1793256582134675968
+239,3.983333333,POSE1_TO_POSE2_PRESS,794,745,728.83595205,711,687,649,935,796,836,672,656.83595205,678,0.453956498577,-0.0055892678548,0.0694874793925,0.999999667958,-0.000150310853649,-0.00079836362119,-6.40855008255e-05,1793256582151342592
+240,4.000000000,POSE1_TO_POSE2_PRESS,794,745,728.244854364,711,687,649,935,796,836,672,656.244854364,678,0.453957797203,-0.00559125879348,0.069487420194,0.999999668185,-0.00015006390149,-0.000798181248434,-6.33894850899e-05,1793256582168009216
+241,4.016666667,POSE1_TO_POSE2_PRESS,794,745,728,711,687,649,935,795.660660739,836,672,656,678,0.453957595318,-0.00559106546668,0.0694868215255,0.99999966785,-0.000148996412361,-0.000798807289596,-6.33020677615e-05,1793256582184675840
+242,4.033333333,POSE1_TO_POSE2_PRESS,794,745,728,711,687,649,935,795.081349511,836,672,656,678,0.45395633231,-0.00558932748363,0.0694858413576,0.999999667115,-0.000147348660675,-0.000800005020217,-6.36450355465e-05,1793256582201342464
+243,4.050000000,POSE1_TO_POSE2_PRESS,794,745,728,711,686.507463195,649,935,795,836,672,656,678,0.453955386348,-0.00559007468524,0.0694849112695,0.999999665764,-0.000146643469226,-0.000801843820295,-6.33605794981e-05,1793256582218009856
+244,4.066666667,POSE1_TO_POSE2_PRESS,794,745,728,711,686.065842116,649,935,795.065842116,836,671.934157884,656,678,0.453954546355,-0.00559095033066,0.0694840992487,0.999999664423,-0.000146292054171,-0.000803602115424,-6.30544761949e-05,1793256582234677248
+245,4.083333333,POSE1_TO_POSE2_PRESS,794,745,728,711,686.641510599,649,935,795.641510599,836,671.358489401,656,678,0.453954125841,-0.0055896768726,0.0694841380934,0.999999663967,-0.000147487685472,-0.000803926117873,-6.337442219e-05,1793256582251343104
+246,4.100000000,HOLD_POSE2,794,744,728,711,687,649,936,795,836,672,657,678,0.45395722421,-0.00559087587048,0.0694845284881,0.999999665421,-0.000148197889872,-0.000802055868595,-6.24578621643e-05,1793256582289851904
+247,4.116666667,HOLD_POSE2,794,744.57561031,728,711.57561031,686.42438969,649,935.42438969,795,836,672,657,678,0.453956133998,-0.00558966843051,0.0694838738255,0.999999664237,-0.000148876087792,-0.000803354751408,-6.31114762431e-05,1793256582306519808
+248,4.133333333,HOLD_POSE2,794,745,728,712,686,649,935,795,836,672,657,678,0.453955415132,-0.00558884088388,0.0694833216443,0.999999663197,-0.000149482415796,-0.000804499647134,-6.35714579865e-05,1793256582323187200
+249,4.150000000,HOLD_POSE2,794,745,728,712,686,649,935,795,836,672,657,678,0.453955738417,-0.0055890794804,0.0694830570696,0.999999662568,-0.000149887046189,-0.000805212389451,-6.34880246178e-05,1793256582339853056
+250,4.166666667,HOLD_POSE2,794,744.696519825,728,711.696519825,686,649,935,795,836,672,657,678,0.453956107039,-0.00558904125923,0.0694828456115,0.99999966241,-0.000149075850887,-0.000805573115873,-6.33100375244e-05,1793256582356518912
+251,4.183333333,HOLD_POSE2,794,744.121596069,728,711.121596069,686,649,935,795,836,672,657,678,0.453956516212,-0.00558875544235,0.0694826816628,0.999999662671,-0.000147177177333,-0.000805618986575,-6.30474781843e-05,1793256582373185280
+252,4.200000000,HOLD_POSE2,794,744.468252169,728,711,686,649,935,795,836,672,657,678,0.453957258294,-0.0055892195748,0.0694832454186,0.999999663067,-0.000147582149218,-0.000805070907521,-6.28150809713e-05,1793256582389852160
+253,4.216666667,HOLD_POSE2,794,745,728,711,686,648.939704923,935,795,836,671.939704923,656.939704923,678,0.453957912564,-0.00558970849392,0.0694838408399,0.999999663389,-0.00014838466385,-0.000804534857208,-6.26631488773e-05,1793256582406518784
+254,4.233333333,HOLD_POSE2,794,745,728,711,686,648.363147039,935,795,836,671.363147039,656.363147039,678,0.453957050395,-0.0055886872664,0.069483036101,0.999999662771,-0.000147300362347,-0.00080546589949,-6.31309088659e-05,1793256582423185408
+255,4.250000000,HOLD_POSE2,794,744.787730625,728,711,686,648.212269375,935,795,836,671.212269375,656.212269375,678,0.453956549276,-0.00558820976311,0.0694825551544,0.999999662413,-0.000147021070672,-0.000805949796847,-6.3272554728e-05,1793256582439852288
+256,4.266666667,HOLD_POSE2,794,744.214256634,728,711,686,648.785743366,935,795,836,671.785743366,656.785743366,678,0.45395666253,-0.0055886574791,0.0694826251837,0.999999662501,-0.000148111610559,-0.000805672817457,-6.28592739177e-05,1793256582456519168
+257,4.283333333,HOLD_POSE2,794,744.370816207,728,711,686,648.629183793,935.370816207,795,836,671.629183793,657,678,0.453956544294,-0.00558908561651,0.0694822309493,0.999999662096,-0.000148047979943,-0.000806189684234,-6.28282150753e-05,1793256582473185792
+258,4.300000000,HOLD_POSE2,794,744.962807285,728,711,686,648.037192715,935.962807285,795,836,671.037192715,657,678,0.453956287983,-0.00558950207622,0.0694815598029,0.999999661396,-0.000147295939624,-0.000807180043839,-6.30251340785e-05,1793256582489852416
+259,4.316666667,HOLD_POSE2,794,745,728,711,686,648.540235765,935.459764235,795,836.540235765,671.540235765,657,678,0.453956441504,-0.00558853145099,0.0694815859673,0.999999661643,-0.000147603841396,-0.000806820693957,-6.29822844314e-05,1793256582506519040
+260,4.333333333,HOLD_POSE2,794,745,728,711,686,648.883243175,935,795,836.883243175,671.883243175,657,678,0.453956677755,-0.00558773490455,0.0694817001098,0.99999966194,-0.000147600094953,-0.000806464784091,-6.28426419696e-05,1793256582523185664
+261,4.350000000,HOLD_POSE2,794,745,728,711,686,648.306450746,935,795,836.306450746,671.306450746,657,678,0.453957131715,-0.0055879906314,0.0694819767092,0.999999662179,-0.000146088446411,-0.000806478938545,-6.2384956586e-05,1793256582539852032
+262,4.366666667,HOLD_POSE2,794,744.72436225,728,711,686,648,935,795,836,671.27563775,656.72436225,678,0.453957132845,-0.00558788944879,0.0694819806841,0.999999661813,-0.000145806905918,-0.000806994691916,-6.2234310657e-05,1793256582556518912
+263,4.383333333,HOLD_POSE2,794,744.136270335,728,711,686,648,935,795,836,671.863729665,656.136270335,678,0.453956620661,-0.00558738368499,0.0694816756206,0.999999660763,-0.000146919776771,-0.000808079041824,-6.24317148899e-05,1793256582573185536
+264,4.400000000,POSE2_TO_POSE3_RETREAT,795,745,728,711,686,648,935,795,837,672,656,678,0.453954465594,-0.00558726301306,0.0694791396706,0.999999657986,-0.000148147087373,-0.000811237499837,-6.30451260726e-05,1793256582605864960
+265,4.416666667,POSE2_TO_POSE3_RETREAT,794.421879183,744.421879183,728,711,686,648,935,795,836.421879183,672,656.578120817,678,0.453954677074,-0.005589489263,0.0694796209516,0.99999965804,-0.000150298133017,-0.000810787979903,-6.28726314417e-05,1793256582622531584
+266,4.433333333,POSE2_TO_POSE3_RETREAT,794,744,728,711,686,648,935,795,836,671.844744867,656.844744867,678,0.453954667643,-0.00559054983373,0.0694797045295,0.999999657971,-0.000150595087973,-0.000810829047418,-6.27316330824e-05,1793256582639198208
+267,4.450000000,POSE2_TO_POSE3_RETREAT,794,744,728,711,686,648,935,795,836,671.270274143,656.270274143,678,0.453954061716,-0.00558846287043,0.0694787142406,0.999999657564,-0.000145885679331,-0.000812194785405,-6.26756800403e-05,1793256582655863552
+268,4.466666667,POSE2_TO_POSE3_RETREAT,794.312163094,744.312163094,728,711.312163094,686,648.312163094,935,795,836,671.312163094,656.312163094,678,0.453954772905,-0.00558738714933,0.0694789477897,0.999999658166,-0.000143929492317,-0.000811804255115,-6.2659369918e-05,1793256582672529664
+269,4.483333333,POSE2_TO_POSE3_RETREAT,794.901678424,744.901678424,728,711.901678424,686,648.901678424,935,795,836,671.901678424,656.901678424,678,0.45395665433,-0.0055872099019,0.0694802687006,0.999999659676,-0.000144419501788,-0.000809853306681,-6.26782819404e-05,1793256582689196288
+270,4.500000000,POSE2_TO_POSE3_RETREAT,794.517322909,745,728,711.517322909,686,648.517322909,935,795,836,672,657,678,0.453956513523,-0.00558667533876,0.0694804119028,0.999999659847,-0.00014400091319,-0.000809710488637,-6.27557717987e-05,1793256582705862912
+271,4.516666667,POSE2_TO_POSE3_RETREAT,794,744.938412761,728,711,686,648,935,795,836,671.938412761,656.938412761,677.938412761,0.453955934564,-0.00558619424887,0.0694803307182,0.999999659753,-0.000143654921351,-0.000809882937784,-6.28251048814e-05,1793256582722529792
+272,4.533333333,POSE2_TO_POSE3_RETREAT,794,744.362706074,728,711,686,648,935,795,836,671.362706074,656.362706074,677.362706074,0.453955077082,-0.00558675660888,0.0694803443116,0.999999659678,-0.000145433196833,-0.000809665845968,-6.27284646877e-05,1793256582739196928
+273,4.550000000,POSE2_TO_POSE3_RETREAT,794,744.212320604,728,711,686,648,935,795,836.212320604,671.212320604,656.212320604,677.212320604,0.453950312513,-0.00558708687803,0.0694781948688,0.999999657173,-0.000146543687939,-0.000812559749874,-6.26519455788e-05,1793256582755863808
+274,4.566666667,POSE2_TO_POSE3_RETREAT,794,744.786189277,728,711,686,648,935,795,836.786189277,671.786189277,656.786189277,677.786189277,0.453938894799,-0.00558702193348,0.0694723621209,0.99999965049,-0.000146517048755,-0.000820751182461,-6.26096894703e-05,1793256582772530176
+275,4.583333333,POSE2_TO_POSE3_RETREAT,794,745,728,711,686,648.371644672,935,795,836.628355328,672,656.628355328,678,0.45391573417,-0.00558650688237,0.0694629589984,0.999999637984,-0.000146652008752,-0.000835796591675,-6.29953063659e-05,1793256582789196544
+276,4.600000000,POSE2_TO_POSE3_RETREAT,794,745,728,711,686,648.963980587,935,795,836.036019413,672,656.036019413,678,0.453885600325,-0.00558572454752,0.0694514357039,0.999999621751,-0.000146882930056,-0.000854912052055,-6.3635004174e-05,1793256582805863168
+277,4.616666667,POSE2_TO_POSE3_RETREAT,794,745,728,711,686,648.457662779,935,795,836,672,656.542337221,678,0.453831171412,-0.00558322827247,0.0694345504074,0.999999602212,-0.000144523749636,-0.000877837389681,-6.39514015138e-05,1793256582822529792
+278,4.633333333,POSE2_TO_POSE3_RETREAT,794,744.880540323,728,711,686,648.119459677,935,795,836,671.880540323,657,678,0.453772034992,-0.00558095922276,0.0694184630833,0.999999583535,-0.000142528962177,-0.000899169576674,-6.40995519145e-05,1793256582839196416
+279,4.650000000,POSE2_TO_POSE3_RETREAT,794,744.304674944,728,711,686,648.695325056,935,795,836,671.304674944,657,678,0.45370092297,-0.00557998228061,0.0694067508651,0.999999570593,-0.000142567077665,-0.000913472562704,-6.36848753375e-05,1793256582855863040
+280,4.666666667,POSE2_TO_POSE3_RETREAT,794,744.270355798,728,711.270355798,686,649,935,795,836,671.270355798,657,678,0.453617775408,-0.00557822140079,0.069393994395,0.999999554126,-0.000140270924689,-0.000931705130346,-6.3229802882e-05,1793256582872530176
+281,4.683333333,POSE2_TO_POSE3_RETREAT,794,744.844448814,728,711.844448814,686,649,935,795,836,671.844448814,657,678,0.453521106257,-0.00557557978885,0.0693800647378,0.999999533478,-0.000135352285992,-0.000954352472558,-6.2729346792e-05,1793256582889197056
+282,4.700000000,POSE2_TO_POSE3_RETREAT,794,745,728,711.567269904,686,649,935,795,836,672,656.567269904,678,0.453405990655,-0.00557199400546,0.0693651103521,0.999999509645,-0.000132694308716,-0.000979420906419,-6.19382746303e-05,1793256582905863680
+283,4.716666667,POSE2_TO_POSE3_RETREAT,794,745,728,711.025517023,686.025517023,649,935,795,836.025517023,672,656.025517023,678,0.453282211811,-0.00556815522146,0.0693493765265,0.999999483502,-0.000130956375065,-0.00100604377207,-6.10169557962e-05,1793256582922530560
+284,4.733333333,POSE2_TO_POSE3_RETREAT,794,745,728,711.601741597,686.601741597,649,935,795,836.601741597,672,656.601741597,678,0.453119421058,-0.00556642933118,0.0693250401379,0.99999944176,-0.000130942154344,-0.00104679491242,-5.96156729672e-05,1793256582939196928
+285,4.750000000,POSE2_TO_POSE3_RETREAT,794,745,728,711.822321401,687,649,935,795.177678599,836.822321401,671.822321401,657,678,0.45294849796,-0.00556352032613,0.0693004470539,0.999999398861,-0.000129065467731,-0.00108729778705,-5.83295404841e-05,1793256582955863040
+286,4.766666667,POSE2_TO_POSE3_RETREAT,794,745,728,711.247028017,687,649,935,795.752971983,836.247028017,671.247028017,657,678,0.452759376065,-0.00555796370965,0.0692752795325,0.99999935545,-0.000123020896336,-0.00112724508153,-5.73010953979e-05,1793256582972529664
+287,4.783333333,POSE2_TO_POSE3_RETREAT,794.336580736,744.663419264,728,711,687,649,935,796,836.336580736,671,657,678,0.452548469576,-0.0055534768835,0.0692455437624,0.999999301512,-0.000119031648852,-0.00117460570818,-5.57456863908e-05,1793256582989196544
+288,4.800000000,POSE2_TO_POSE3_RETREAT,794.926447078,744.073552922,728,711,687,649,935,796,836.926447078,671,657,678,0.452321169602,-0.00554979510133,0.0692123702659,0.999999238323,-0.000116589084341,-0.00122754505936,-5.37937233845e-05,1793256583005863168
+289,4.816666667,POSE2_TO_POSE3_RETREAT,795,744.506578943,728,711.506578943,687,649.506578943,935,796,836.493421057,671.506578943,657,678,0.452071930042,-0.00554296699766,0.069190668648,0.999999195532,-0.000106223154081,-0.00126294855971,-5.11112854348e-05,1793256583022530560
+290,4.833333333,POSE2_TO_POSE3_RETREAT,794.915170489,744.915170489,728,711.915170489,687,649.915170489,935,796,836,672,657,678,0.451814434464,-0.00553623989951,0.0691716446597,0.999999157106,-9.56536534763e-05,-0.00129395487624,-4.81410663589e-05,1793256583039197696
+291,4.850000000,POSE2_TO_POSE3_RETREAT,794.339779587,744.339779587,728,711.339779587,687,649.339779587,935,796,836,672,657,678,0.45152726927,-0.00553268891027,0.0691586543784,0.999999131667,-9.04343557839e-05,-0.00131397909964,-4.41084148275e-05,1793256583055863808
+292,4.866666667,POSE2_TO_POSE3_RETREAT,794.240367224,744.240367224,728,711,687.240367224,649.240367224,935,796,836,671.759632776,657,678,0.45123133821,-0.00552820201814,0.0691489407178,0.999999111044,-8.3121279812e-05,-0.00133019945479,-3.96341912603e-05,1793256583072530176
+293,4.883333333,POSE2_TO_POSE3_RETREAT,794.827372587,744.827372587,728,711,687.827372587,649.827372587,935,796,836,671.172627413,657,678,0.450922765746,-0.00552236544289,0.0691439523347,0.999999097702,-7.27887267587e-05,-0.00134093417855,-3.45231685302e-05,1793256583089196544
+294,4.900000000,POSE2_TO_POSE3_RETREAT,794.591248756,745,728,711,688.408751244,650.408751244,935,796,836,671,657,678,0.450591324215,-0.00551674646922,0.0691497686465,0.999999102597,-6.07669087881e-05,-0.00133802337094,-2.8389159245e-05,1793256583105863168
+295,4.916666667,POSE2_TO_POSE3_RETREAT,794.012214167,745,728,711,688.987785833,650.987785833,935,796,836,671,657,678,0.450250355576,-0.00551121814722,0.0691600861302,0.999999114918,-4.80413533133e-05,-0.00132942791536,-2.18289799471e-05,1793256583122530048
+296,4.933333333,POSE2_TO_POSE3_RETREAT,794,745,728,711,689,651,935,796.566495411,836,671.566495411,657,678,0.449870638082,-0.00550561428833,0.0691718848061,0.999999134529,-3.86088626368e-05,-0.00131498437094,-1.63214032579e-05,1793256583139196672
+297,4.950000000,POSE2_TO_POSE3_RETREAT,794.144132747,744.855867253,728,711.144132747,689.144132747,651,935,797,836,671.855867253,657,678,0.449483019478,-0.00550016414125,0.0691872544722,0.999999162064,-2.16177917104e-05,-0.00129433310847,-1.02439366226e-05,1793256583155863296
+298,4.966666667,POSE2_TO_POSE3_RETREAT,794.718589591,744.281410409,728,711.718589591,689.718589591,651,935,797,836,671.281410409,657,678,0.449074304248,-0.00549517777833,0.0692131904248,0.999999211661,1.81521076972e-05,-0.00125552426564,-2.39728233009e-06,1793256583172530432
+299,4.983333333,POSE2_TO_POSE3_RETREAT,794.699766678,744.300233322,727.699766678,712,690.300233322,651,935,797.300233322,836,671,657,678,0.448651152498,-0.00548753101515,0.0692406837724,0.999999263722,6.02083468901e-05,-0.00121198684791,4.19148957446e-06,1793256583189197056
+300,5.000000000,POSE2_TO_POSE3_RETREAT,794.111221361,744.888778639,727.111221361,712,690.888778639,651,935,797.888778639,836,671,657,678,0.448214137408,-0.00547732948731,0.0692696726786,0.999999317156,0.000104460147036,-0.00116390860645,9.57232657952e-06,1793256583205863424
+301,5.016666667,POSE2_TO_POSE3_RETREAT,794,745,727,711.530286135,691,651,935,798,836,671.469713865,657,678,0.447713165622,-0.00547179988507,0.0692825638517,0.999999339451,0.000111085523579,-0.00114392225185,1.41057777414e-05,1793256583222530048
+302,5.033333333,POSE2_TO_POSE3_RETREAT,794,744.951465417,727.048534583,711,691.048534583,651.048534583,935,798.048534583,836,671.951465417,657,678,0.447192599547,-0.00546812244535,0.0692909618278,0.999999354035,0.000103466074693,-0.00113179064498,1.65610402961e-05,1793256583239196416
+303,5.050000000,POSE2_TO_POSE3_RETREAT,794,744.376347045,727.623652955,711,691.623652955,651.623652955,935,798.623652955,836,671.376347045,657,678,0.44662112949,-0.00547272932743,0.0692913065351,0.999999356514,3.64177767748e-05,-0.00113386177928,-1.38907564852e-06,1793256583255863040
+304,5.066666667,POSE2_TO_POSE3_RETREAT,794,744.198271214,727.801728786,711,692.198271214,652,935,799.198271214,836,671,657,678,0.446049940731,-0.00547462312562,0.0693016531821,0.999999377669,3.66654225276e-06,-0.00111557851841,-1.15117978957e-05,1793256583272529664
+305,5.083333333,POSE2_TO_POSE3_RETREAT,794,744.771942542,727.228057458,711,692.771942542,652,935,799.771942542,836,671,657,678,0.445479284608,-0.00547138006084,0.0693309371688,0.999999438851,3.5852229823e-05,-0.00105875692863,-6.81439245938e-06,1793256583289196288
+306,5.100000000,POSE2_TO_POSE3_RETREAT,794.356901381,744.643098619,727.356901381,711,693,652.356901381,935,800,836,671,657,678,0.444914107663,-0.00545476262673,0.0693785108162,0.99999952043,6.97284686328e-05,-0.000976860304099,-4.56622426065e-06,1793256583305863424
+307,5.116666667,POSE2_TO_POSE3_RETREAT,794.949308396,744.050691604,727.949308396,711,693,652.949308396,935,800,836,671,657,678,0.444352546242,-0.00542931995561,0.0694381531133,0.9999996087,0.000104720236081,-0.000878417614428,-3.93421462843e-06,1793256583322530304
+308,5.133333333,POSE2_TO_POSE3_RETREAT,794.470460629,744,728,711,693.529539371,653,935,800.529539371,836,671,657,678,0.443716622076,-0.00541395336176,0.0694864473897,0.999999675448,0.000112300109522,-0.000797804636025,-1.15282214872e-06,1793256583339197184
+309,5.150000000,POSE2_TO_POSE3_RETREAT,794,744,728,711,694.108015243,653.108015243,935,801,836,671,657,678,0.443064672941,-0.00540234123059,0.069532682283,0.999999730863,0.000120176445792,-0.000723758972525,2.27194300345e-06,1793256583355864064
+310,5.166666667,POSE2_TO_POSE3_RETREAT,794,744,728,711,694.683824397,653.683824397,935,801,836,671,657,678,0.442373459113,-0.00540290554569,0.0695745972625,0.999999765035,0.000140445668141,-0.000670929486192,7.61197445541e-06,1793256583372530176
+311,5.183333333,POSE2_TO_POSE3_RETREAT,794,744,727.741166721,711,695,654,935,801.258833279,836,671,657.258833279,678,0.441671725697,-0.00540317367299,0.0696154800681,0.999999802875,0.000147307623735,-0.000610269556831,1.10384365189e-05,1793256583389196288
+312,5.200000000,POSE2_TO_POSE3_RETREAT,794,744,727.167132318,711,695,654,935,801.832867682,836,671,657.832867682,678,0.440957181682,-0.00540308110978,0.0696551059216,0.999999844586,0.000137842525396,-0.000540073889404,1.21345991425e-05,1793256583405862912
+313,5.216666667,POSE2_TO_POSE3_RETREAT,794.419696318,744.419696318,727.419696318,711,695.419696318,654.419696318,935,802,836,671,658,678,0.440238356771,-0.00541015347926,0.0697005374289,0.999999885163,0.000128174453217,-0.000461557216113,1.44984066663e-05,1793256583422529792
+314,5.233333333,POSE2_TO_POSE3_RETREAT,794.988980289,744.988980289,727.988980289,711,696,655,935,802,836,671,658,677.988980289,0.439515286997,-0.00541995921757,0.0697469643443,0.999999919829,0.000118592814796,-0.00038206987938,1.73188942186e-05,1793256583439196416
+315,5.250000000,POSE2_TO_POSE3_RETREAT,794.435112966,744.435112966,727.435112966,711,696,655,935,802,836,671,658,677.435112966,0.438669725609,-0.00541944078434,0.069724956058,0.999999903447,0.000117375971699,-0.000423131923289,1.69868216158e-05,1793256583455863296
+316,5.266666667,POSE2_TO_POSE3_RETREAT,794.128492592,744.128492592,727.128492592,711,696.128492592,655,935,802.128492592,836,671,658,677.128492592,0.437832028384,-0.00541876109311,0.0697093347437,0.999999891797,0.000116565766074,-0.000450044541481,1.66960127625e-05,1793256583472529920
+317,5.283333333,POSE2_TO_POSE3_RETREAT,794.727778756,744.727778756,727.727778756,711,696.727778756,655,935,802.727778756,836,671,658,677.727778756,0.437023145305,-0.00541749055668,0.0697171151332,0.999999902629,0.00011724547043,-0.000425114025302,1.655639334e-05,1793256583489196800
+318,5.300000000,POSE2_TO_POSE3_RETREAT,795,744.678171179,727.678171179,711,697,655,935,803,836,671,658,678,0.436204695418,-0.00541806782354,0.0697503476682,0.999999923947,0.000118573168023,-0.000371060558925,1.89679334997e-05,1793256583505863424
+319,5.316666667,POSE2_TO_POSE3_RETREAT,795,744.08847923,727.08847923,711,697,655,935,803,836,671,658,678,0.435378282968,-0.00542018304583,0.0698047644188,0.999999949614,0.000120440199905,-0.000292767608198,2.35028433433e-05,1793256583522529792
+320,5.333333333,POSE2_TO_POSE3_RETREAT,794.506215569,744.493784431,727.493784431,711,697,655.493784431,935,802.506215569,836,671,658,677.506215569,0.434511233152,-0.00541954656446,0.0698351567997,0.999999958759,0.000123581870854,-0.000257893202768,2.64620941403e-05,1793256583539196160
+321,5.350000000,POSE2_TO_POSE3_RETREAT,794.073413862,744.926586138,728,711,697,655.926586138,935,802,836,671,658,677.073413862,0.433636632258,-0.00541837897947,0.069857715426,0.999999964235,0.000127037079869,-0.000233609198764,2.86161251714e-05,1793256583555862784
+322,5.366666667,POSE2_TO_POSE3_RETREAT,794.644082523,744.355917477,728,711,697,655.355917477,935,802,836,671,658,677.644082523,0.432759475859,-0.00541690426231,0.069855939398,0.999999964785,0.000131091898921,-0.0002291419653,2.72001589279e-05,1793256583572529664
+323,5.383333333,POSE2_TO_POSE3_RETREAT,794.783307885,744.433384231,727.783307885,710.783307885,697,655,935,802.216692115,836,671,658,678,0.4318407634,-0.00541534093276,0.0698386344807,0.999999958488,0.000132558535412,-0.000254497916403,2.61468895754e-05,1793256583589196544
+324,5.400000000,POSE2_TO_POSE3_RETREAT,794.207481402,745.585037195,727.207481402,710.207481402,697,655,935,802.792518598,836,671,658,678,0.430853177923,-0.00541363074138,0.0697955927806,0.999999937041,0.000129735651384,-0.000329281278162,2.56947350706e-05,1793256583605863424
+325,5.416666667,POSE2_TO_POSE3_RETREAT,794.381758001,746,727.381758001,710.381758001,697.381758001,655.381758001,935,803,836,671,658,678,0.429871735742,-0.00541010433599,0.0697479558691,0.99999991082,0.000135070345412,-0.000399462358209,2.33623969287e-05,1793256583622530304
+326,5.433333333,POSE2_TO_POSE3_RETREAT,794.978552598,746,727.978552598,710.978552598,697.978552598,655.978552598,935,803,836,671,658,678,0.428893754015,-0.0054055548939,0.0696977305703,0.99999988022,0.000145000038857,-0.000467051060379,1.99709891884e-05,1793256583639196928
+327,5.450000000,POSE2_TO_POSE3_RETREAT,795,746,728,711,697.446006639,656,935,803.553993361,836,671,658,678,0.428037310763,-0.00540851539793,0.069760812479,0.999999921366,0.000136753931217,-0.000371524462531,2.31327245198e-05,1793256583655863296
+328,5.466666667,POSE2_TO_POSE3_RETREAT,795,746.127699361,727.872300639,710.872300639,697.127699361,656,935,803.872300639,835.872300639,671,658,677.872300639,0.427182855838,-0.00541176317365,0.0698229001123,0.999999952402,0.000130541548894,-0.000278272757972,2.68263603618e-05,1793256583672529664
+329,5.483333333,POSE2_TO_POSE3_RETREAT,795,746.698150554,727.301849446,710.301849446,697.698150554,656,935,803.301849446,835.301849446,671,658,677.301849446,0.426319586433,-0.00541503633221,0.0698668959707,0.999999967666,0.000133729531063,-0.000213990410342,3.15172053221e-05,1793256583689196544
+330,5.500000000,POSE2_TO_POSE3_RETREAT,795,747,727.271529028,710,698,656,935,803.271529028,835.271529028,670.728470972,658,677,0.425421359109,-0.00541475670401,0.0698790984807,0.999999971086,0.00013474191755,-0.000196397343826,3.31818110702e-05,1793256583705863168
+331,5.516666667,POSE2_TO_POSE3_RETREAT,795,747,727.848197085,710,698,656,935,803.848197085,835.848197085,670.151802915,658,677,0.424483846813,-0.0054104845231,0.0698555722426,0.999999963876,0.000133309412158,-0.0002312727863,3.14455879447e-05,1793256583722529792
+332,5.533333333,POSE2_TO_POSE3_RETREAT,795,747,728,710,698,656,935,804,836,670.439908471,658,677.439908471,0.4235041047,-0.0054062755855,0.0698093949698,0.9999999415,0.000142298503766,-0.000309710545513,2.88081421616e-05,1793256583739196416
+333,5.550000000,POSE2_TO_POSE3_RETREAT,794.964159311,747.035840689,727.964159311,710,698,656,935,804,836,671,658,678,0.422511038786,-0.00540228710308,0.0697552052998,0.999999906392,0.000154234799241,-0.000403428483296,2.59491783484e-05,1793256583755863552
+334,5.566666667,POSE2_TO_POSE3_RETREAT,794.385700577,747.614299423,727.385700577,710,698,656,935,804,836,671,658,678,0.421544692296,-0.00540129414903,0.06970223812,0.99999986633,0.000154416638741,-0.000492839183466,2.46115490768e-05,1793256583772530176
+335,5.583333333,POSE2_TO_POSE3_RETREAT,794.190944362,748,727,710,698,656,935,804,836,670.809055638,658,678,0.420642867063,-0.00540254519697,0.0696912216899,0.999999858129,0.000149603459844,-0.000510674303631,2.39465334674e-05,1793256583789196544
+336,5.600000000,POSE2_TO_POSE3_RETREAT,794.763960081,748,727,710,698,656,935,804,836,670.236039919,658,678,0.419870145883,-0.00540828639499,0.0697641468741,0.999999916388,0.000134795467028,-0.000385289821029,2.46273883486e-05,1793256583805863168
+337,5.616666667,POSE2_TO_POSE3_RETREAT,795,747.652431898,727.347568102,710,698,656,935,804,836,670,658,677.652431898,0.41907980462,-0.00541038416207,0.069829546857,0.999999951303,0.000137765988427,-0.00027861211995,2.81153255103e-05,1793256583822529792
+338,5.633333333,POSE2_TO_POSE3_RETREAT,795,747.06140437,727.93859563,710,698,656,935,804,836,670,658,677.06140437,0.418277121146,-0.00540992983154,0.0698896756926,0.999999970583,0.000153189744659,-0.000185037880055,3.35695266147e-05,1793256583839196416
+339,5.650000000,POSE2_TO_POSE3_RETREAT,795,747.518945218,728,710,698,656,935,804,836,670,658,677.518945218,0.417419877589,-0.00540590108868,0.0698709624308,0.999999963311,0.000156676193289,-0.00021844194571,3.33680973727e-05,1793256583855863040
+340,5.666666667,POSE2_TO_POSE3_RETREAT,795,748,727.90285507,710,698,656,935,804,836,670,658,678,0.416561484279,-0.00540206114994,0.0698419850303,0.999999951952,0.000158550572309,-0.000264439951965,3.20911623151e-05,1793256583872529664
+341,5.683333333,POSE2_TO_POSE3_RETREAT,795,748,727.329128942,710,698,656,935,804,836,670,658,678,0.415728483469,-0.00540118053782,0.0698074973156,0.999999941898,0.000159306111287,-0.000299998785043,2.87547716003e-05,1793256583889196544
+342,5.700000000,POSE2_TO_POSE3_RETREAT,795.245200848,748,727,710,698,656,935,804,836,670,658,678,0.41489290581,-0.00539987022621,0.0697739444309,0.999999924594,0.000161711461098,-0.000352033697163,2.70771611486e-05,1793256583905863424
+343,5.716666667,POSE2_TO_POSE3_RETREAT,795.820342877,748,727,710,698,656,935,804,836,670,658,678,0.414053860822,-0.00539798171292,0.0697416494522,0.999999894945,0.000166336788615,-0.000426238744841,2.76315983064e-05,1793256583922530048
+344,5.733333333,POSE2_TO_POSE3_RETREAT,795.592618983,748,727,710,698,656,935,804,835.592618983,670,658,678,0.413324356119,-0.00539168484348,0.0697485956889,0.999999898439,0.000173991203281,-0.000414847769552,2.73916438594e-05,1793256583939196672
+345,5.750000000,POSE2_TO_POSE3_RETREAT,795.000176737,748,727,710,698,656,935,804,835.000176737,670,658,678,0.412644612276,-0.00538338538718,0.0697733680539,0.999999916436,0.000183021643547,-0.000364573042055,2.67908206787e-05,1793256583955863296
+346,5.766666667,POSE2_TO_POSE3_RETREAT,795.576314826,748.576314826,727,710,698,656,935,804,835.576314826,670,658,678,0.411995615436,-0.00538057848763,0.0698355893964,0.999999948542,0.000193516053056,-0.00025413726007,2.96819612361e-05,1793256583972529920
+347,5.783333333,POSE2_TO_POSE3_RETREAT,795.848354391,748.848354391,727,710,698,656,935,804,835.848354391,670,658,678,0.411339734465,-0.00537689425902,0.0698812040114,0.999999963554,0.000202286958695,-0.000175934800916,3.19213498482e-05,1793256583989196544
+348,5.800000000,POSE2_TO_POSE3_RETREAT,795.276228868,748.276228868,727,710,698,656,935,804,835.276228868,670,658,678,0.410664739721,-0.00537077284463,0.0698807408521,0.999999960687,0.000206277764005,-0.000187158016618,3.23506858857e-05,1793256584005863168
+349,5.816666667,POSE2_TO_POSE3_RETREAT,795.306643823,748,727.306643823,710,698.306643823,656,935,804.306643823,835.306643823,670.306643823,658,678,0.409991797896,-0.00536553235903,0.0698571643399,0.999999949828,0.000213787879557,-0.000231725710258,3.06960371922e-05,1793256584022529792
+350,5.833333333,POSE2_TO_POSE3_RETREAT,795.899549298,748,727.899549298,710,698.899549298,656,935,804.899549298,835.899549298,670.899549298,658,678,0.409320772573,-0.00536111424853,0.069812010786,0.99999992716,0.000224583380745,-0.000307421521132,2.7095923048e-05,1793256584039196672
+351,5.850000000,POSE2_TO_POSE3_RETREAT,795.519570275,748.480429725,727.519570275,710,698.519570275,656,935,804.519570275,836,670.519570275,658,678,0.408688013041,-0.00535720374729,0.0697841285401,0.999999913833,0.000222825305022,-0.000349387966921,2.47223766666e-05,1793256584055863296
+352,5.866666667,POSE2_TO_POSE3_RETREAT,795.058753867,748.941246133,727.058753867,710,698,656,935,804,836,670,658,677.941246133,0.408073398644,-0.00535350607324,0.0697644007159,0.999999904459,0.000220058761699,-0.000377002411508,2.28985976037e-05,1793256584072530176
+353,5.883333333,POSE2_TO_POSE3_RETREAT,795.636165069,748.363834931,727.636165069,710,698,656,935,804,836,670,658,677.363834931,0.407550059218,-0.00535077312899,0.0697855574199,0.999999915695,0.000230994511368,-0.000338657693267,2.37193340738e-05,1793256584089196800
+354,5.900000000,POSE2_TO_POSE3_RETREAT,795.788158552,748.211841448,727.788158552,710,698,656,935,804,836,670,658,677.211841448,0.407035035807,-0.00535433393585,0.0698022735624,0.999999924054,0.0002311844208,-0.000312790642284,2.4663702432e-05,1793256584105863168
+355,5.916666667,POSE2_TO_POSE3_RETREAT,795.215437563,748.784562437,727.215437563,710,698,656,935,804,836,670,658,677.784562437,0.406534179081,-0.00536861637476,0.0698114250463,0.99999992948,0.00021306840355,-0.000308179751631,2.58186821291e-05,1793256584122529536
+356,5.933333333,POSE2_TO_POSE3_RETREAT,795,748.630877326,727,710,698,656,935,804.369122674,835.630877326,670,658,678,0.406052490504,-0.0053879927088,0.0698089002901,0.999999930401,0.000190815294565,-0.000319509827409,2.64671835119e-05,1793256584139196160
+357,5.950000000,POSE2_TO_POSE3_RETREAT,795,748.039178109,727,710,698,656,935,804.960821891,835.039178109,670,658,678,0.405582360044,-0.00541044060185,0.069799334902,0.999999927898,0.000166067567025,-0.000340452114009,2.68102846404e-05,1793256584155862784
+358,5.966666667,POSE2_TO_POSE3_RETREAT,795.539931072,748.539931072,727,710,698,656,935,804.460068928,835,670,658,678,0.405172713968,-0.00539933144728,0.0698080563995,0.999999932688,0.000173138685279,-0.000322433946871,2.61355031831e-05,1793256584172529664
+359,5.983333333,POSE2_TO_POSE3_RETREAT,795.882793303,749,727,710,698.117206697,656,935,804,835.117206697,670,658,678,0.404780004459,-0.00538877681789,0.0698193783753,0.999999938341,0.000182229814773,-0.000299093043045,2.55853179172e-05,1793256584189196800
+360,6.000000000,POSE2_TO_POSE3_RETREAT,795.309181093,749,727,710,698.690818907,656,935,804,835.690818907,670,658,678,0.404436545443,-0.00538964718725,0.0698357773557,0.999999946221,0.000190401194155,-0.000265782918135,2.58013674479e-05,1793256584205863424
+361,6.016666667,POSE2_TO_POSE3_RETREAT,795,748.737410477,727,709.737410477,698.737410477,656,935,804,835.737410477,670,658,677.737410477,0.404100046645,-0.00538908633262,0.0698459432972,0.999999950474,0.000194652676297,-0.000245989478968,2.55437787373e-05,1793256584222530048
+362,6.033333333,POSE2_TO_POSE3_RETREAT,795,748.167793142,727,709.167793142,698.167793142,656,935,804,835.167793142,670,658,677.167793142,0.403771685969,-0.0053868520465,0.0698488213754,0.999999951532,0.000194320892772,-0.00024200017008,2.47323975257e-05,1793256584239196928
+363,6.050000000,POSE2_TO_POSE3_RETREAT,795,748.424131502,727.424131502,709,698,656,935,804,835.424131502,670,658,677,0.403456853334,-0.00538220643399,0.069840535433,0.99999994747,0.000197755410663,-0.000255632516387,2.45849117037e-05,1793256584255863552
+364,6.066666667,POSE2_TO_POSE3_RETREAT,795.02423929,749,727.97576071,709.02423929,698.02423929,656,935,804,836,670,658,677,0.403149141181,-0.00537683251877,0.0698277962194,0.999999941022,0.000202346808215,-0.000276409306033,2.46712573211e-05,1793256584272529408
+365,6.083333333,POSE2_TO_POSE3_RETREAT,795.598655611,749,727.401344389,709.598655611,698.598655611,656,935,804,836,670,658,677,0.402874827757,-0.00537778253859,0.0698197913788,0.999999937486,0.000197499428194,-0.000292329225662,2.37725895415e-05,1793256584289196288
+366,6.100000000,POSE2_TO_POSE3_RETREAT,795.82663782,749,727,710,698.82663782,656,935,804,836,670,658,677.17336218,0.402615054952,-0.00537686557422,0.0698116748432,0.999999933417,0.000195476531514,-0.000307287163126,2.3026243075e-05,1793256584305863168
+367,6.116666667,POSE2_TO_POSE3_RETREAT,795.25125826,749,727,710,698.25125826,656,935,804,836,670,658,677.74874174,0.402389001083,-0.00537161917587,0.0698032992945,0.999999928539,0.000200003457425,-0.00032001431466,2.26331215076e-05,1793256584322529792
+368,6.133333333,POSE2_TO_POSE3_RETREAT,795.334442249,748.665557751,727,710,698,656,935,804,836,670,657.665557751,677.665557751,0.402187119605,-0.00536870988214,0.0697986962721,0.999999925388,0.000204973624124,-0.000326575152308,2.36423364657e-05,1793256584339196160
+369,6.150000000,POSE2_TO_POSE3_RETREAT,795.928143602,748.071856398,727,710,698,656,935,804,836,670,657.071856398,677.071856398,0.402003976503,-0.00536761230767,0.0697970177052,0.99999992365,0.000210287390883,-0.000328355874516,2.57386404515e-05,1793256584355863040
+370,6.166666667,POSE2_TO_POSE3_RETREAT,796,748.506996945,727,710,698.506996945,656,935,804.506996945,835.493003055,670,657.506996945,677.506996945,0.401848117413,-0.00536718168841,0.0697987099513,0.999999923933,0.000212032988762,-0.000326232695472,2.73615353167e-05,1793256584372529664
+371,6.183333333,POSE2_TO_POSE3_RETREAT,795.916507396,749,727,710,699,656,935,804.916507396,835.083492604,670,658,677.916507396,0.40170020491,-0.00536673809558,0.0698005450929,0.999999924262,0.000214268935845,-0.000323629980528,2.87789868406e-05,1793256584389196288
+372,6.200000000,POSE2_TO_POSE3_RETREAT,795.341853712,749,727,710,699,656,935,804.341853712,835.658146288,670,658,677.341853712,0.401576938835,-0.00536567793102,0.069800490393,0.999999923226,0.000222279771378,-0.0003213685719,2.93713541074e-05,1793256584405862912
+373,6.216666667,POSE2_TO_POSE3_RETREAT,795.233971508,749,727,709.766028492,698.766028492,656,935,804,836,670,658,677,0.401464753809,-0.00536523483727,0.0697997478977,0.999999922834,0.000225423600066,-0.000320853228311,2.38751562705e-05,1793256584422529792
+374,6.233333333,POSE2_TO_POSE3_RETREAT,795.81151703,749,727,709.18848297,698.18848297,656,935,804,836,670,658,677,0.401368840691,-0.0053656978774,0.0697979954135,0.999999923309,0.000221420502188,-0.000322901883232,9.43824266946e-06,1793256584439196672
+375,6.250000000,POSE2_TO_POSE3_RETREAT,795.60162203,749,727,709.39837797,698.39837797,656,935,804,836,670,658,677.39837797,0.401287330326,-0.00536983626252,0.0697971516068,0.999999924494,0.000214659689972,-0.000323870069324,6.4213475232e-06,1793256584455863040
+376,6.266666667,POSE2_TO_POSE3_RETREAT,795.010248212,749,727,709.989751788,698.989751788,656,935,804,836,670,658,677.989751788,0.401212797437,-0.00537575518364,0.0697967480128,0.999999926036,0.000206562891818,-0.00032431481779,8.93692771863e-06,1793256584472529408
+377,6.283333333,POSE2_TO_POSE3_RETREAT,795.565014116,749,727,710,698.434985884,656,935,804,835.434985884,670,658,678,0.401161494783,-0.0053702980797,0.069800312911,0.999999926483,0.000213000253725,-0.000318700001967,9.79401288738e-06,1793256584489196288
+378,6.300000000,POSE2_TO_POSE3_RETREAT,795.860954368,749,727,710,698.139045632,656,935,804.139045632,835.139045632,670,658,678,0.401114897384,-0.00536711666997,0.0698038796737,0.999999927484,0.000217005582475,-0.000312765076175,1.08993933688e-05,1793256584505863168
+379,6.316666667,POSE2_TO_POSE3_RETREAT,795.28986451,749,727,710,698.71013549,656,935,804.71013549,835.71013549,670,658,678,0.401081647296,-0.005371629686,0.0698072347715,0.999999930436,0.000212657653905,-0.000306167542022,1.28671587296e-05,1793256584522530048
+380,6.333333333,POSE2_TO_POSE3_RETREAT,795,749,727,710,698.714366893,656,935,804.714366893,835.714366893,670,658,678,0.401052917894,-0.00537211974078,0.0698099993275,0.999999931949,0.000212695734311,-0.000301115966327,1.38554795863e-05,1793256584539196672
+381,6.350000000,POSE2_TO_POSE3_RETREAT,795,749,727,710,698.134326043,656,935,804.134326043,835.134326043,670,658,678,0.40102884805,-0.00536846324967,0.0698121552007,0.999999932004,0.000217254561187,-0.000297657840076,1.38342676837e-05,1793256584555863296
+382,6.366666667,POSE2_TO_POSE3_RETREAT,795,749,727,710,698,656,935,804,835,670,658,678,0.401012098869,-0.00536984030103,0.0698135723841,0.999999932728,0.000217147379345,-0.000295259191434,1.45864664358e-05,1793256584572529920
+383,6.383333333,POSE2_TO_POSE3_RETREAT,795.050264,749,727.050264,710,698.050264,656,935,804.050264,835,670,658,677.949736,0.400998243898,-0.00537232245028,0.0698147909476,0.999999933602,0.000215907223631,-0.000293157748223,1.54673308014e-05,1793256584589196544
+384,6.400000000,POSE2_TO_POSE3_RETREAT,795.625975892,749,727.625975892,710,698.625975892,656,935,804.625975892,835,670,658,677.374024108,0.400991580766,-0.00537049899181,0.0698162604102,0.999999933936,0.00021752336238,-0.000290825362775,1.52566261164e-05,1793256584605863424
+385,6.416666667,POSE2_TO_POSE3_RETREAT,795.799330305,749,727.799330305,710,698.799330305,656,935,805,835.200669695,670,658,677,0.40098640245,-0.00536958630236,0.0698177156694,0.99999993452,0.000218251793154,-0.000288266734158,1.51391286637e-05,1793256584622530304
+386,6.433333333,POSE2_TO_POSE3_RETREAT,795.226524555,749,727.226524555,710,698.226524555,656,935,805,835.773475445,670,658,677,0.400983977685,-0.0053703626074,0.0698191445889,0.999999935573,0.00021733399546,-0.00028528854437,1.51944812983e-05,1793256584639197184
+387,6.450000000,POSE2_TO_POSE3_RETREAT,795,749,727,710,698.358852488,656,935,804.641147512,836,670.358852488,658,677.358852488,0.400982108258,-0.00537111347386,0.0698202449233,0.999999936341,0.000216069473815,-0.000283544038125,1.53543690506e-05,1793256584655863552
+388,6.466666667,POSE2_TO_POSE3_RETREAT,795,749,727,710,698.95245319,656,935,804.04754681,836,670.95245319,658,677.95245319,0.400980602112,-0.0053718476993,0.0698211303093,0.999999936923,0.000214578138038,-0.00028260656279,1.55826398632e-05,1793256584672529920
+389,6.483333333,POSE2_TO_POSE3_RETREAT,795.53211939,749,727.53211939,710,698.46788061,656,935,804.53211939,835.46788061,671,658,678,0.400980161511,-0.00537197677297,0.0698221753901,0.999999937583,0.000213849192007,-0.000280836680747,1.52947669533e-05,1793256584689196544
+390,6.500000000,POSE2_TO_POSE3_RETREAT,795.890308339,749.109691661,727.890308339,710,698.109691661,656,935,805,835.109691661,670.890308339,658,678,0.400980318934,-0.00537177140025,0.0698233048681,0.999999938275,0.000213470644784,-0.000278666848909,1.50214283164e-05,1793256584705863168
+391,6.516666667,POSE2_TO_POSE3_RETREAT,795.316462448,749.683537552,727.316462448,710,698.683537552,656,935,805,835.683537552,670.316462448,658,678,0.400982614268,-0.00537037380212,0.0698247326286,0.999999939083,0.000214293891105,-0.00027511134946,1.49997621574e-05,1793256584722529792
+392,6.533333333,POSE2_TO_POSE3_RETREAT,795.263811249,749.736188751,727,710,699,656.263811249,935,804.736188751,836,670,658,678,0.40098352712,-0.00536960725744,0.0698258364096,0.999999939364,0.000215413364487,-0.00027321058927,1.49822682188e-05,1793256584739196416
+393,6.550000000,POSE2_TO_POSE3_RETREAT,795.851988249,749.148011751,727,710,699,656.851988249,935,804.148011751,836,670,658,678,0.400982740159,-0.00536961661625,0.0698265418459,0.999999939007,0.000216897060182,-0.000273344392132,1.49699041779e-05,1793256584755863040
+394,6.566666667,POSE2_TO_POSE3_RETREAT,796,749,727,709.566478086,698.566478086,656.566478086,935,804,836,670,658,678,0.400980564874,-0.00537044941518,0.0698253734196,0.999999938658,0.000216062037857,-0.000275275438473,1.49659906449e-05,1793256584772529664
+395,6.583333333,POSE2_TO_POSE3_RETREAT,795.98726673,749,727,709.01273327,698,656,935,804.01273327,836,670,658,677.98726673,0.400978023354,-0.00537148639976,0.06982365889,0.999999938319,0.000214525319655,-0.000277698313214,1.49622495604e-05,1793256584789196288
+396,6.600000000,POSE2_TO_POSE3_RETREAT,795.411959207,749,727,709.588040793,698,656,935,804.588040793,836,670,658,677.411959207,0.400979926808,-0.00536931105761,0.0698256560143,0.999999938614,0.000216434999317,-0.000275149899703,1.48405814222e-05,1793256584805863168
+397,6.616666667,POSE2_TO_POSE3_RETREAT,795.162714466,749,727,710,698.162714466,656,935,805,836,670,658,677.162714466,0.400981276347,-0.00536804222567,0.0698271236103,0.999999938783,0.000218139283104,-0.000273179068184,1.48881639217e-05,1793256584822530048
+398,6.633333333,POSE2_TO_POSE3_RETREAT,795.735789554,749,727,710,698.735789554,656,935,805,836,670,658,677.735789554,0.400981228932,-0.00536905958333,0.0698272557529,0.999999938657,0.00021932556502,-0.000272664879938,1.53625910661e-05,1793256584839196672
+399,6.650000000,POSE2_TO_POSE3_RETREAT,795.680390696,749,727,710,699,656,935,804.680390696,835.680390696,670,658,678,0.400980781974,-0.00536927832669,0.0698273812797,0.999999938497,0.000220197805575,-0.000272539245278,1.55091903816e-05,1793256584855863040
+400,6.666666667,POSE2_TO_POSE3_RETREAT,795.087379726,749,727,710,699,656,935,804.087379726,835.087379726,670,658,678,0.400979993236,-0.00536881391569,0.069827501147,0.99999993831,0.000220801407361,-0.000272745988945,1.5375357679e-05,1793256584872529664
+401,6.683333333,POSE2_TO_POSE3_RETREAT,795,749,727,710,698.50689027,656,935,804,835.49310973,670,658,678,0.40098057573,-0.00536887370828,0.0698277816837,0.9999999388,0.000218943682172,-0.000272455808593,1.52219190599e-05,1793256584889196544
+402,6.700000000,POSE2_TO_POSE3_RETREAT,795,749,727,710,698,656,935,804.071025603,835.928974397,670,658,678,0.400981073108,-0.00536908485369,0.0698278670415,0.99999993928,0.000216861737677,-0.000272365998617,1.50684964202e-05,1793256584905863424
+403,6.716666667,POSE2_TO_POSE3_RETREAT,795,749,727,710,698,656,935,804.646034031,835.353965969,670,658,678,0.400979285053,-0.00536972716444,0.0698263704309,0.999999938893,0.00021620697324,-0.000274307326164,1.4939228922e-05,1793256584922530048
+404,6.733333333,POSE2_TO_POSE3_RETREAT,795.226220138,749,727,710,698,656,935,804.773779862,835,670,658,678,0.400978720464,-0.00537023794059,0.0698259819273,0.999999938733,0.000216455560126,-0.000274692095724,1.50262661828e-05,1793256584939196416
+405,6.750000000,POSE2_TO_POSE3_RETREAT,795.814697606,749,727,710,698,656,935,804.185302394,835,670,658,678,0.400980115071,-0.00537053808408,0.0698273678893,0.999999938935,0.000218150727398,-0.000272584273433,1.54596827738e-05,1793256584955863040
+406,6.766666667,POSE2_TO_POSE3_RETREAT,795.603218848,749,727,710,698,656,935,804,835,670,658,678,0.400980255942,-0.00537058124669,0.0698278544468,0.999999939177,0.000217618672354,-0.000272128179182,1.52871896304e-05,1793256584972529664
+407,6.783333333,POSE2_TO_POSE3_RETREAT,795.024074032,749,727,710,698,656,935,804,835,670,658,678,0.400979820587,-0.0053705062989,0.069827927631,0.999999939439,0.000216062968736,-0.000272431231945,1.4836215696e-05,1793256584989196288
+408,6.800000000,POSE2_TO_POSE3_RETREAT,795.550418001,749,727,710,698.550418001,656,935,804,835,670,658,677.449581999,0.400978402682,-0.00536969580878,0.0698271211223,0.999999938921,0.000216543058035,-0.00027395332889,1.47474705345e-05,1793256585005863168
diff --git a/Part2/Obstacle_avoidance/cylinder_PLA_10/position_03/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_PLA_10/position_03/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3a8801c0a06f3c1840e3701d604cdbb5ae9a2858
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_PLA_10/position_03/depth_04/simulation_data.csv
@@ -0,0 +1,410 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+1,0.016666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+2,0.033333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+3,0.050000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+4,0.066666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+5,0.083333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+6,0.100000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+7,0.116666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+8,0.133333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+9,0.150000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+10,0.166666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+11,0.183333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+12,0.200000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+13,0.216666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+14,0.233333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+15,0.250000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+16,0.266666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+17,0.283333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+18,0.300000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+19,0.316666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+20,0.333333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+21,0.350000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+22,0.366666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+23,0.383333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+24,0.400000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+25,0.416666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+26,0.433333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+27,0.450000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+28,0.466666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+29,0.483333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+30,0.500000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+31,0.516666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+32,0.533333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+33,0.550000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+34,0.566666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+35,0.583333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+36,0.600000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+37,0.616666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+38,0.633333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+39,0.650000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+40,0.666666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+41,0.683333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+42,0.700000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+43,0.716666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+44,0.733333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+45,0.750000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+46,0.766666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+47,0.783333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+48,0.800000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+49,0.816666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+50,0.833333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+51,0.850000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+52,0.866666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+53,0.883333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+54,0.900000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+55,0.916666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+56,0.933333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+57,0.950000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+58,0.966666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+59,0.983333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+60,1.000000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+61,1.016666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+62,1.033333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+63,1.050000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+64,1.066666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+65,1.083333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+66,1.100000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+67,1.116666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+68,1.133333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+69,1.150000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+70,1.166666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+71,1.183333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+72,1.200000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+73,1.216666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+74,1.233333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+75,1.250000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+76,1.266666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+77,1.283333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+78,1.300000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+79,1.316666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+80,1.333333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+81,1.350000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+82,1.366666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+83,1.383333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+84,1.400000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+85,1.416666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+86,1.433333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+87,1.450000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+88,1.466666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+89,1.483333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+90,1.500000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+91,1.516666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+92,1.533333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+93,1.550000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+94,1.566666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+95,1.583333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+96,1.600000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+97,1.616666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+98,1.633333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+99,1.650000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+100,1.666666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+101,1.683333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+102,1.700000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+103,1.716666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+104,1.733333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+105,1.750000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+106,1.766666667,pose1_to_pose2_press,0.575666798543,0.000181738779929,1.060020574,0.546237946392,0.0088559764994,1.05969226794
+107,1.783333333,pose1_to_pose2_press,0.575666865927,0.000181721073316,1.06002052119,0.546238013862,0.00885595908299,1.05969221505
+108,1.800000000,pose1_to_pose2_press,0.575666919753,0.000181706929406,1.060020479,0.546238067757,0.00885594517089,1.05969217279
+109,1.816666667,pose1_to_pose2_press,0.575666925488,0.000181705422564,1.0600204745,0.546238073499,0.00885594368874,1.05969216829
+110,1.833333333,pose1_to_pose2_press,0.575666953416,0.000181701491495,1.06002045827,0.546238101438,0.00885593979875,1.05969215227
+111,1.850000000,pose1_to_pose2_press,0.575667013189,0.000181719474836,1.06002046736,0.546238161029,0.00885595725648,1.05969216367
+112,1.866666667,pose1_to_pose2_press,0.575667081393,0.000181739994923,1.06002047773,0.546238229027,0.00885597717682,1.05969217668
+113,1.883333333,pose1_to_pose2_press,0.57566732481,0.000181813230353,1.06002051474,0.546238471708,0.00885604827177,1.05969222311
+114,1.900000000,pose1_to_pose2_press,0.575668363306,0.000181656351781,1.06002054442,0.546239510905,0.00885589349523,1.05969224553
+115,1.916666667,pose1_to_pose2_press,0.575672326402,0.000181814204496,1.06002057171,0.546243473079,0.00885604797601,1.05969226634
+116,1.933333333,pose1_to_pose2_press,0.575681097888,0.000181761833216,1.06002050209,0.546252244618,0.00885599636706,1.05969221206
+117,1.950000000,pose1_to_pose2_press,0.575698368171,0.000181772582312,1.06002064671,0.546269514623,0.00885600584966,1.0596923481
+118,1.966666667,pose1_to_pose2_press,0.575724336938,0.000181768610689,1.06002050888,0.54629548429,0.00885600523364,1.05969221818
+119,1.983333333,pose1_to_pose2_press,0.575760477236,0.000181761184913,1.0600206037,0.54633162408,0.00885599622758,1.05969231666
+120,2.000000000,pose1_to_pose2_press,0.575806000802,0.000181895672557,1.06002077533,0.546377146549,0.00885612637819,1.05969247198
+121,2.016666667,pose1_to_pose2_press,0.575861252657,0.000181810948623,1.06002049496,0.546432400133,0.00885604785131,1.05969220027
+122,2.033333333,pose1_to_pose2_press,0.575924551583,0.000181779112586,1.06002045338,0.546495699612,0.0088560178531,1.05969215761
+123,2.050000000,pose1_to_pose2_press,0.575995785486,0.00018184661822,1.06002052824,0.546566933625,0.0088560858795,1.05969223634
+124,2.066666667,pose1_to_pose2_press,0.576077696367,0.000181713752759,1.06002052128,0.546648844925,0.00885595447649,1.05969223029
+125,2.083333333,pose1_to_pose2_press,0.576170240055,0.000181615381383,1.06002054835,0.546741387937,0.0088558536953,1.0596922543
+126,2.100000000,pose1_to_pose2_press,0.576275032832,0.000181725584828,1.06002067265,0.546846180805,0.00885596407879,1.0596923753
+127,2.116666667,pose1_to_pose2_press,0.576394086913,0.000181776855612,1.0600207932,0.546965234057,0.00885601236243,1.05969249116
+128,2.133333333,pose1_to_pose2_press,0.576528830665,0.000181750718006,1.0600205699,0.547099978651,0.00885598906746,1.05969226751
+129,2.150000000,pose1_to_pose2_press,0.57668113353,0.000181778713372,1.06002044005,0.547252280271,0.00885601293258,1.05969214002
+130,2.166666667,pose1_to_pose2_press,0.576850933535,0.000181883512381,1.06002070455,0.547422080338,0.0088561182139,1.05969241164
+131,2.183333333,pose1_to_pose2_press,0.577038557038,0.000181907556213,1.06002059168,0.547609701817,0.00885613527241,1.05969229557
+132,2.200000000,pose1_to_pose2_press,0.57724481395,0.000181957616527,1.06002044551,0.547815958758,0.00885618548506,1.05969215079
+133,2.216666667,pose1_to_pose2_press,0.5774723672,0.00018192127312,1.06002056741,0.548043512832,0.00885615194971,1.05969227296
+134,2.233333333,pose1_to_pose2_press,0.577719289622,0.000181901989433,1.0600205844,0.548290436283,0.00885613604696,1.05969228695
+135,2.250000000,pose1_to_pose2_press,0.577985703804,0.000181874370669,1.0600206051,0.548556851058,0.0088561104654,1.05969230835
+136,2.266666667,pose1_to_pose2_press,0.578275367981,0.00018186062488,1.06002057097,0.548846515671,0.00885609845073,1.05969228075
+137,2.283333333,pose1_to_pose2_press,0.578585065829,0.000181847650239,1.06002050114,0.54915621396,0.00885608704961,1.05969221293
+138,2.300000000,pose1_to_pose2_press,0.578912086836,0.000181761812439,1.06002053586,0.549483235071,0.00885600120951,1.05969223828
+139,2.316666667,pose1_to_pose2_press,0.579255742113,0.000181716086531,1.06002055666,0.549826890548,0.0088559559864,1.05969225442
+140,2.333333333,pose1_to_pose2_press,0.579617185176,0.000181798579128,1.06002054573,0.550188333546,0.00885603862829,1.05969225318
+141,2.350000000,pose1_to_pose2_press,0.579994493193,0.0001817845073,1.06002062959,0.550565639637,0.00885601790947,1.05969233396
+142,2.366666667,pose1_to_pose2_press,0.580388971583,0.000181819124911,1.0600205111,0.550960118615,0.00885605482971,1.05969222363
+143,2.383333333,pose1_to_pose2_press,0.580814580603,0.000181784311262,1.06002063151,0.551385729092,0.00885602483683,1.05969234073
+144,2.400000000,pose1_to_pose2_press,0.581269264161,0.000181929051697,1.06002063112,0.551840410247,0.00885616150655,1.0596923424
+145,2.416666667,pose1_to_pose2_press,0.581752432011,0.000181699260855,1.06002056894,0.552323580619,0.00885593987929,1.05969226981
+146,2.433333333,pose1_to_pose2_press,0.582257331872,0.000181725364147,1.06002072468,0.552828480094,0.00885596477374,1.05969242832
+147,2.450000000,pose1_to_pose2_press,0.582781015695,0.000181688301629,1.06002030389,0.553352163946,0.00885592812841,1.05969201589
+148,2.466666667,pose1_to_pose2_press,0.583317172223,0.000181777852925,1.06002038221,0.55388831849,0.0088560108759,1.05969209226
+149,2.483333333,pose1_to_pose2_press,0.583868681589,0.00018178120806,1.06002059503,0.554439828494,0.00885601625349,1.05969230123
+150,2.500000000,pose1_to_pose2_press,0.584448110267,0.000181740701708,1.06002059851,0.55501925816,0.00885597900559,1.05969230226
+151,2.516666667,pose1_to_pose2_press,0.585055002597,0.000181751316149,1.06002053143,0.555626150808,0.00885599075496,1.05969223663
+152,2.533333333,pose1_to_pose2_press,0.585688211802,0.000181722588179,1.06002057441,0.556259360682,0.00885596434525,1.05969228092
+153,2.550000000,pose1_to_pose2_press,0.586330881445,0.000181730113124,1.06002060864,0.556902029715,0.00885596976579,1.05969231419
+154,2.566666667,pose1_to_pose2_press,0.586977036404,0.00018183506987,1.06002055479,0.557548183433,0.00885607060528,1.05969226276
+155,2.583333333,pose1_to_pose2_press,0.587626423925,0.000181815799814,1.0600206697,0.558197570234,0.00885604878025,1.05969237478
+156,2.600000000,pose1_to_pose2_press,0.588283904593,0.00018184934226,1.06002076044,0.558855051071,0.00885608286438,1.05969246464
+157,2.616666667,pose1_to_pose2_press,0.588959969937,0.000181614976081,1.06002060097,0.559531120066,0.0088558613001,1.05969231609
+158,2.633333333,pose1_to_pose2_press,0.58966393814,0.000181831255516,1.06002043899,0.560235085801,0.00885606879218,1.05969214323
+159,2.650000000,pose1_to_pose2_press,0.590399681531,0.000181832950539,1.06002048915,0.560970828456,0.00885606819119,1.05969219874
+160,2.666666667,pose1_to_pose2_press,0.591154630018,0.000181881073304,1.06002072533,0.561725778358,0.00885612094068,1.05969243034
+161,2.683333333,pose1_to_pose2_press,0.591924204316,0.000181823823896,1.06002061557,0.562495351592,0.00885605979425,1.05969231295
+162,2.700000000,pose1_to_pose2_press,0.592689205296,0.000181797805782,1.06002054307,0.563260353695,0.00885603773942,1.05969224459
+163,2.716666667,pose1_to_pose2_press,0.593447241778,0.000181814402999,1.0600204452,0.564018389949,0.00885605382984,1.05969215373
+164,2.733333333,pose1_to_pose2_press,0.594196285994,0.000181848576535,1.06002046817,0.564767433612,0.0088560861303,1.05969217692
+165,2.750000000,pose1_to_pose2_press,0.594948615388,0.000181823452442,1.06002050342,0.565519763467,0.0088560626892,1.05969221524
+166,2.766666667,pose1_to_pose2_press,0.595711712983,0.000181759508883,1.06002054624,0.566282861387,0.00885599978632,1.05969225646
+167,2.783333333,pose1_to_pose2_press,0.596496571373,0.000181741236129,1.0600206194,0.567067718932,0.00885597812781,1.05969231594
+168,2.800000000,pose1_to_pose2_press,0.597303690578,0.0001817163412,1.06002044967,0.567874837867,0.00885595251983,1.05969215169
+169,2.816666667,pose1_to_pose2_press,0.598135374482,0.000181722501345,1.06002053416,0.568706522371,0.00885596081223,1.05969223876
+170,2.833333333,pose1_to_pose2_press,0.598970891291,0.000181843066417,1.06002054198,0.569542038969,0.00885608058398,1.05969224457
+171,2.850000000,pose1_to_pose2_press,0.599797544664,0.000181699972921,1.06002055666,0.570368693117,0.00885593998524,1.05969225578
+172,2.866666667,pose1_to_pose2_press,0.600596762177,0.000181749641586,1.06002055063,0.571167909473,0.00885598588126,1.05969225379
+173,2.883333333,pose1_to_pose2_press,0.601365035588,0.00018167772729,1.06002064458,0.571936183872,0.00885591739194,1.05969234973
+174,2.900000000,pose1_to_pose2_press,0.602126199522,0.000181661728957,1.0600206753,0.572697348299,0.00885590279115,1.0596923733
+175,2.916666667,pose1_to_pose2_press,0.602887648782,0.000181835654034,1.06002055724,0.573458797013,0.00885607512677,1.05969226217
+176,2.933333333,pose1_to_pose2_press,0.6036578588,0.000181797459743,1.06002051045,0.574229007216,0.00885603768916,1.05969221882
+177,2.950000000,pose1_to_pose2_press,0.604446220472,0.000181673717994,1.06002045663,0.575017369106,0.00885591440925,1.05969215775
+178,2.966666667,pose1_to_pose2_press,0.605250873217,0.00018172938627,1.06002065883,0.575822021243,0.00885596812666,1.05969236302
+179,2.983333333,pose1_to_pose2_press,0.606032360733,0.000181725986396,1.06002050252,0.576603509092,0.00885596612517,1.05969221389
+180,3.000000000,pose1_to_pose2_press,0.606784110121,0.000181684284502,1.0600204054,0.577355258994,0.00885592597095,1.05969211156
+181,3.016666667,pose1_to_pose2_press,0.60748377817,0.000181804563756,1.06002047856,0.578054925891,0.00885604225193,1.05969218249
+182,3.033333333,pose1_to_pose2_press,0.608146544101,0.000181853864734,1.06002058117,0.578717691167,0.00885608935738,1.05969228583
+183,3.050000000,pose1_to_pose2_press,0.608785590738,0.000181735303644,1.06002061245,0.579356738677,0.0088559738453,1.05969231951
+184,3.066666667,pose1_to_pose2_press,0.609422197318,0.000181698487312,1.06002050073,0.57999334557,0.00885593846643,1.05969221772
+185,3.083333333,pose1_to_pose2_press,0.610064855375,0.000181680291955,1.06002081893,0.580636003704,0.00885591954167,1.05969250981
+186,3.100000000,pose1_to_pose2_press,0.610714290661,0.000181898619793,1.06002055253,0.581285437101,0.00885613193999,1.05969225615
+187,3.116666667,pose1_to_pose2_press,0.611359500889,0.000181718107737,1.06002031585,0.581930648345,0.00885595497068,1.05969202205
+188,3.133333333,pose1_to_pose2_press,0.611981589513,0.000181813675175,1.06002080477,0.582552737236,0.00885605123817,1.05969250559
+189,3.150000000,pose1_to_pose2_press,0.612572060043,0.000181812673642,1.06002080107,0.583143207922,0.00885605091213,1.05969250588
+190,3.166666667,pose1_to_pose2_press,0.613127392885,0.000181767066043,1.06002051361,0.583698541381,0.00885600772754,1.05969222408
+191,3.183333333,pose1_to_pose2_press,0.613660264638,0.000181817296177,1.06002047086,0.584231412128,0.0088560561649,1.05969217755
+192,3.200000000,pose1_to_pose2_press,0.614172397546,0.000181862130609,1.06002060305,0.584743543157,0.00885609779943,1.05969230344
+193,3.216666667,pose1_to_pose2_press,0.614666749789,0.000181758640151,1.06002062638,0.585237894837,0.00885599653769,1.05969232788
+194,3.233333333,pose1_to_pose2_press,0.61514251334,0.000181604106838,1.06002053189,0.585713658868,0.00885584813089,1.05969223661
+195,3.250000000,pose1_to_pose2_press,0.61559792502,0.00018176827335,1.06002060282,0.586169067607,0.00885600724193,1.05969229373
+196,3.266666667,pose1_to_pose2_press,0.616041506717,0.000181913490177,1.06002066362,0.586612646714,0.00885614892185,1.05969236398
+197,3.283333333,pose1_to_pose2_press,0.616476412958,0.000181786539672,1.06002062858,0.587047552071,0.00885602424956,1.05969233641
+198,3.300000000,pose1_to_pose2_press,0.616898669818,0.000181855538916,1.06002082944,0.587469808173,0.00885609368748,1.0596925379
+199,3.316666667,pose1_to_pose2_press,0.617305294247,0.000181772987848,1.0600205053,0.587876432751,0.00885601600586,1.05969221435
+200,3.333333333,pose1_to_pose2_press,0.617684347734,0.000181850300018,1.06002053716,0.58825548398,0.00885608942517,1.05969225252
+201,3.350000000,pose1_to_pose2_press,0.618031496474,0.00018181964286,1.06002044769,0.588602633625,0.0088560611227,1.05969216353
+202,3.366666667,pose1_to_pose2_press,0.618343586597,0.000181810285523,1.06002043074,0.588914724673,0.0088560544739,1.059692145
+203,3.383333333,pose1_to_pose2_press,0.618631868605,0.000181836483401,1.06002051363,0.589203006109,0.00885608048633,1.05969222338
+204,3.400000000,pose1_to_pose2_press,0.618900357399,0.000181833352316,1.06002056729,0.589471493841,0.00885607605538,1.05969226868
+205,3.416666667,pose1_to_pose2_press,0.619157408326,0.000181871195494,1.06002065502,0.589728543421,0.00885611053815,1.05969235339
+206,3.433333333,pose1_to_pose2_press,0.619403060595,0.000181834345099,1.060020389,0.589974194933,0.00885607389148,1.05969209928
+207,3.450000000,pose1_to_pose2_press,0.619634303908,0.000181703703335,1.06002026192,0.590205439625,0.00885594993072,1.05969197518
+208,3.466666667,pose1_to_pose2_press,0.619848381095,0.000181701079592,1.0600206826,0.590419517106,0.00885594796541,1.0596923838
+209,3.483333333,pose1_to_pose2_press,0.620043643707,0.00018179131982,1.06002059517,0.590614777343,0.00885603220682,1.05969230064
+210,3.500000000,pose1_to_pose2_press,0.62022186693,0.000181782699799,1.06002065714,0.590792999786,0.00885602266158,1.05969236795
+211,3.516666667,pose1_to_pose2_press,0.620383747996,0.000181911925068,1.06002054755,0.590954879599,0.00885614880563,1.05969226017
+212,3.533333333,pose1_to_pose2_press,0.620530002605,0.000181955391885,1.06002057775,0.591101133648,0.00885619101685,1.05969228325
+213,3.550000000,pose1_to_pose2_press,0.620661908463,0.000181857562416,1.06002063695,0.591233040174,0.00885609582849,1.05969234165
+214,3.566666667,pose1_to_pose2_press,0.620779055102,0.000181861342926,1.06002041426,0.591350186473,0.00885609870268,1.05969212691
+215,3.583333333,pose1_to_pose2_press,0.620883121907,0.000181842186357,1.06002063514,0.591454252977,0.00885607807876,1.05969233469
+216,3.600000000,pose1_to_pose2_press,0.620974069263,0.000181851021345,1.06002083697,0.591545201256,0.00885609048399,1.05969253607
+217,3.616666667,pose1_to_pose2_press,0.621052731316,0.000181929483752,1.06002038062,0.591623862555,0.00885616678683,1.05969209532
+218,3.633333333,pose1_to_pose2_press,0.621120525902,0.000181744455074,1.06002062028,0.591691658756,0.00885598778812,1.05969233032
+219,3.650000000,pose1_to_pose2_press,0.621176753383,0.00018183994025,1.06002052623,0.591747885452,0.00885608026297,1.05969223356
+220,3.666666667,pose1_to_pose2_press,0.621223704693,0.000181750881297,1.06002052991,0.591794836888,0.00885599181469,1.05969223316
+221,3.683333333,pose1_to_pose2_press,0.621261412128,0.00018174965662,1.06002074476,0.591832546323,0.00885599694234,1.05969244266
+222,3.700000000,pose1_to_pose2_press,0.621292006161,0.000181753486334,1.06002088037,0.591863140918,0.00885600265687,1.05969257892
+223,3.716666667,pose1_to_pose2_press,0.621316080664,0.000181730525576,1.06002069248,0.591887214968,0.00885597818919,1.0596923938
+224,3.733333333,pose1_to_pose2_press,0.621334346308,0.000181704954904,1.06002060034,0.591905479522,0.00885594911658,1.05969230052
+225,3.750000000,pose1_to_pose2_press,0.621347807564,0.000181729951783,1.06002055791,0.591918939894,0.0088559713941,1.05969225945
+226,3.766666667,pose1_to_pose2_press,0.621357397538,0.000181814241944,1.0600202747,0.591928530095,0.00885605654616,1.05969198691
+227,3.783333333,pose1_to_pose2_press,0.621364029777,0.000181708635416,1.06002055988,0.591935164139,0.00885595736313,1.0596922675
+228,3.800000000,pose1_to_pose2_press,0.621367823739,0.000181677349225,1.06002064463,0.591938958456,0.00885592748063,1.05969234879
+229,3.816666667,pose1_to_pose2_press,0.621370652997,0.000181672316342,1.06002065858,0.591941787556,0.00885592206786,1.05969235965
+230,3.833333333,pose1_to_pose2_press,0.621372504071,0.000181659117515,1.06002063386,0.591943639351,0.00885591073481,1.05969233218
+231,3.850000000,pose1_to_pose2_press,0.621373457968,0.000181648125341,1.0600206068,0.591944593968,0.00885590159854,1.0596923034
+232,3.866666667,pose1_to_pose2_press,0.621374109999,0.000181640611705,1.06002058831,0.591945246492,0.0088558953535,1.05969228373
+233,3.883333333,pose1_to_pose2_press,0.621374693975,0.00018163667386,1.06002057186,0.591945830857,0.00885589239825,1.05969226637
+234,3.900000000,pose1_to_pose2_press,0.621374773082,0.000181647032288,1.06002057011,0.591945909815,0.00885590229054,1.05969226502
+235,3.916666667,pose1_to_pose2_press,0.621375148711,0.000181696217561,1.06002056178,0.591946284734,0.00885594926244,1.0596922586
+236,3.933333333,pose1_to_pose2_press,0.62137543887,0.000181734211356,1.06002055534,0.591946574346,0.00885598554649,1.05969225364
+237,3.950000000,pose1_to_pose2_press,0.621375585694,0.000181753436793,1.06002055208,0.591946720893,0.00885600390676,1.05969225114
+238,3.966666667,pose1_to_pose2_press,0.621375654638,0.000181762464364,1.06002055056,0.591946789707,0.00885601252809,1.05969224996
+239,3.983333333,pose1_to_pose2_press,0.621375886035,0.000181792763791,1.06002054542,0.591947020667,0.00885604146402,1.05969224601
+240,4.000000000,pose1_to_pose2_press,0.621376186262,0.000181832075864,1.06002053876,0.591947320326,0.00885607900702,1.05969224088
+241,4.016666667,pose1_to_pose2_press,0.621376212008,0.000181835447078,1.06002053819,0.591947346024,0.00885608222652,1.05969224044
+242,4.033333333,pose1_to_pose2_press,0.621376425677,0.000181826029599,1.06002053361,0.591947559215,0.00885607117539,1.05969223632
+243,4.050000000,pose1_to_pose2_press,0.621376818115,0.000181790402333,1.06002052527,0.591947950739,0.00885603236403,1.05969222853
+244,4.066666667,pose1_to_pose2_press,0.621377096189,0.000181753849401,1.0600205269,0.591948228605,0.00885599509517,1.059692231
+245,4.083333333,pose1_to_pose2_press,0.621377152974,0.000181750881555,1.0600205292,0.59194828524,0.00885599237656,1.05969223358
+246,4.100000000,pose2_hold,0.621377152974,0.000181750881555,1.0600205292,0.591948285418,0.00885599232771,1.05969223361
+247,4.116666667,pose2_hold,0.621377152974,0.000181750881555,1.0600205292,0.59194828543,0.00885599233688,1.05969223362
+248,4.133333333,pose2_hold,0.621377152974,0.000181750881555,1.0600205292,0.59194828544,0.00885599234471,1.05969223361
+249,4.150000000,pose2_hold,0.621377152974,0.000181750881555,1.0600205292,0.591948285447,0.00885599235504,1.05969223362
+250,4.166666667,pose2_hold,0.621377152974,0.000181750881555,1.0600205292,0.591948285461,0.00885599235772,1.05969223362
+251,4.183333333,pose2_hold,0.621377152974,0.000181750881555,1.0600205292,0.591948285518,0.00885599226128,1.05969223361
+252,4.200000000,pose2_hold,0.621377152974,0.000181750881555,1.0600205292,0.591948285533,0.00885599229831,1.0596922336
+253,4.216666667,pose2_hold,0.621377152974,0.000181750881555,1.0600205292,0.591948285546,0.00885599230061,1.0596922336
+254,4.233333333,pose2_hold,0.621377152974,0.000181750881555,1.0600205292,0.591948285553,0.00885599230795,1.05969223361
+255,4.250000000,pose2_hold,0.621377152974,0.000181750881555,1.0600205292,0.591948285567,0.00885599231159,1.05969223361
+256,4.266666667,pose2_hold,0.621377152974,0.000181750881555,1.0600205292,0.591948285573,0.00885599231854,1.05969223363
+257,4.283333333,pose2_hold,0.621377152974,0.000181750881555,1.0600205292,0.591948285584,0.00885599232572,1.05969223362
+258,4.300000000,pose2_hold,0.621377152974,0.000181750881555,1.0600205292,0.591948285484,0.00885599227785,1.0596922336
+259,4.316666667,pose2_hold,0.621377152974,0.000181750881555,1.0600205292,0.591948285506,0.00885599230087,1.05969223362
+260,4.333333333,pose2_hold,0.621377152974,0.000181750881555,1.0600205292,0.59194828552,0.00885599230867,1.05969223362
+261,4.350000000,pose2_hold,0.621377152974,0.000181750881555,1.0600205292,0.591948285529,0.00885599231712,1.05969223362
+262,4.366666667,pose2_hold,0.621377152974,0.000181750881555,1.0600205292,0.591948285536,0.00885599232475,1.05969223363
+263,4.383333333,pose2_hold,0.621377152974,0.000181750881555,1.0600205292,0.59194828555,0.00885599232816,1.05969223363
+264,4.400000000,pose2_to_pose3_retreat,0.621377152974,0.000181750881555,1.0600205292,0.591948285589,0.00885599229303,1.05969223362
+265,4.416666667,pose2_to_pose3_retreat,0.621377153245,0.000181762772598,1.06002052924,0.591948285665,0.00885600350617,1.05969223359
+266,4.433333333,pose2_to_pose3_retreat,0.621377153452,0.0001817718205,1.06002052928,0.591948285722,0.00885601203826,1.05969223357
+267,4.450000000,pose2_to_pose3_retreat,0.62137706808,0.000181802187016,1.0600205663,0.591948199816,0.00885604049447,1.05969226852
+268,4.466666667,pose2_to_pose3_retreat,0.621376928128,0.000181800858593,1.06002062627,0.591948059834,0.00885603895053,1.05969232547
+269,4.483333333,pose2_to_pose3_retreat,0.621376831578,0.000181799942146,1.06002066765,0.591947963263,0.0088560378854,1.05969236476
+270,4.500000000,pose2_to_pose3_retreat,0.621376730661,0.00018180087373,1.06002066726,0.591947862395,0.00885603895908,1.05969236399
+271,4.516666667,pose2_to_pose3_retreat,0.621376205631,0.000181810749828,1.06002054911,0.591947337802,0.00885605036634,1.05969224864
+272,4.533333333,pose2_to_pose3_retreat,0.621373992294,0.000181811001385,1.06002049664,0.591945125932,0.00885605539761,1.05969219877
+273,4.550000000,pose2_to_pose3_retreat,0.621368200266,0.000181822735276,1.06002073522,0.591939332597,0.00885606358761,1.05969244561
+274,4.566666667,pose2_to_pose3_retreat,0.621357394101,0.000181818564921,1.06002037572,0.591928527199,0.00885606161751,1.05969208765
+275,4.583333333,pose2_to_pose3_retreat,0.621337628861,0.000181792475866,1.06002073518,0.591908761523,0.008856033278,1.05969242938
+276,4.600000000,pose2_to_pose3_retreat,0.621308594671,0.00018179911033,1.0600205331,0.591879726451,0.00885603698139,1.05969223894
+277,4.616666667,pose2_to_pose3_retreat,0.621269148311,0.000181803563264,1.06002079721,0.591840281455,0.0088560457832,1.0596925005
+278,4.633333333,pose2_to_pose3_retreat,0.621219334755,0.000181832887324,1.06002084225,0.591790467709,0.0088560739494,1.05969254286
+279,4.650000000,pose2_to_pose3_retreat,0.62115790403,0.000181906720402,1.06002062177,0.59172903512,0.00885614110196,1.05969232434
+280,4.666666667,pose2_to_pose3_retreat,0.621086004207,0.000181818087113,1.06002052214,0.591657136082,0.00885605500577,1.05969223038
+281,4.683333333,pose2_to_pose3_retreat,0.621002835391,0.00018188056819,1.06002058,0.59157396703,0.00885611611184,1.05969228532
+282,4.700000000,pose2_to_pose3_retreat,0.620903853527,0.000181882314586,1.06002059941,0.591474985943,0.00885612006492,1.05969230561
+283,4.716666667,pose2_to_pose3_retreat,0.620789668297,0.000181785886618,1.06002046835,0.591360801376,0.00885602551954,1.0596921759
+284,4.733333333,pose2_to_pose3_retreat,0.620659443823,0.000181743203214,1.0600204324,0.591230577824,0.0088559853971,1.05969214087
+285,4.750000000,pose2_to_pose3_retreat,0.62051264029,0.000181784421619,1.06002047698,0.591083774248,0.00885602543085,1.05969218491
+286,4.766666667,pose2_to_pose3_retreat,0.620347891783,0.000181893295581,1.06002051395,0.59091902624,0.00885613516417,1.05969222259
+287,4.783333333,pose2_to_pose3_retreat,0.620168070583,0.00018178632908,1.06002072887,0.590739205972,0.00885602913497,1.05969243077
+288,4.800000000,pose2_to_pose3_retreat,0.619973363866,0.000181691301993,1.06002052627,0.59054449976,0.00885593428784,1.05969222664
+289,4.816666667,pose2_to_pose3_retreat,0.619761641535,0.000181677417034,1.06002042378,0.590332777638,0.00885592068962,1.0596921278
+290,4.833333333,pose2_to_pose3_retreat,0.619535082201,0.000181773642878,1.06002053868,0.590106218719,0.0088560154439,1.05969223971
+291,4.850000000,pose2_to_pose3_retreat,0.619294291022,0.0001817974345,1.0600207407,0.589865427689,0.00885603704881,1.05969244165
+292,4.866666667,pose2_to_pose3_retreat,0.619039404682,0.000181734816386,1.06002076493,0.589610541582,0.00885597439992,1.05969247096
+293,4.883333333,pose2_to_pose3_retreat,0.618769971209,0.000181818976786,1.06002064489,0.589341108106,0.00885605807693,1.0596923517
+294,4.900000000,pose2_to_pose3_retreat,0.618484472521,0.000181913198208,1.06002057712,0.589055609304,0.00885615095445,1.0596922821
+295,4.916666667,pose2_to_pose3_retreat,0.618183125043,0.000181837035992,1.06002061418,0.588754262229,0.00885607442087,1.05969231859
+296,4.933333333,pose2_to_pose3_retreat,0.617864318223,0.000181646731664,1.06002041263,0.588435457542,0.00885588873292,1.05969211581
+297,4.950000000,pose2_to_pose3_retreat,0.617529758583,0.000181765495361,1.06002049373,0.588100897815,0.00885600584047,1.05969220137
+298,4.966666667,pose2_to_pose3_retreat,0.61717841465,0.000181825274263,1.0600205305,0.587749554441,0.00885606417229,1.05969223639
+299,4.983333333,pose2_to_pose3_retreat,0.61680620365,0.000181831248076,1.0600205292,0.587377344087,0.00885606983976,1.0596922349
+300,5.000000000,pose2_to_pose3_retreat,0.616411031568,0.000181833011723,1.06002051123,0.586982172447,0.00885607071822,1.05969221957
+301,5.016666667,pose2_to_pose3_retreat,0.615987470396,0.000181879832462,1.06002051325,0.586558611907,0.00885611417236,1.05969222359
+302,5.033333333,pose2_to_pose3_retreat,0.61553844451,0.000181793235988,1.06002058793,0.586109589443,0.00885603274366,1.05969230421
+303,5.050000000,pose2_to_pose3_retreat,0.615066146858,0.000181738910835,1.06002051395,0.585637292663,0.00885598096209,1.05969222764
+304,5.066666667,pose2_to_pose3_retreat,0.614582783819,0.000181745146125,1.06002057402,0.585153930799,0.0088559872287,1.05969228582
+305,5.083333333,pose2_to_pose3_retreat,0.614092344497,0.000181667510985,1.0600204462,0.584663493604,0.00885591103747,1.05969215735
+306,5.100000000,pose2_to_pose3_retreat,0.613590701868,0.000181655146767,1.06002026241,0.584161851708,0.00885589729725,1.05969197383
+307,5.116666667,pose2_to_pose3_retreat,0.613074989369,0.000181842659138,1.06002029775,0.583646136895,0.00885607671382,1.05969200851
+308,5.133333333,pose2_to_pose3_retreat,0.61253841841,0.00018185655686,1.06002063911,0.58310956548,0.00885608551655,1.05969234051
+309,5.150000000,pose2_to_pose3_retreat,0.611978229397,0.000181726173574,1.06002057067,0.582549380844,0.00885596559159,1.05969227348
+310,5.166666667,pose2_to_pose3_retreat,0.611391515268,0.000181771068723,1.0600205314,0.581962668024,0.00885601123438,1.05969223666
+311,5.183333333,pose2_to_pose3_retreat,0.61079045189,0.000181826224534,1.06002047575,0.581361604776,0.00885606326166,1.05969218126
+312,5.200000000,pose2_to_pose3_retreat,0.610177095397,0.000181805696438,1.06002045186,0.580748247105,0.00885604179085,1.05969215496
+313,5.216666667,pose2_to_pose3_retreat,0.609537015452,0.000181757112421,1.06002055239,0.580108163431,0.00885599549852,1.05969225377
+314,5.233333333,pose2_to_pose3_retreat,0.608873319335,0.000181715114807,1.06002049672,0.579444468084,0.00885595651901,1.05969220839
+315,5.250000000,pose2_to_pose3_retreat,0.608193358153,0.00018173642603,1.06002053762,0.578764506962,0.00885597773152,1.05969224135
+316,5.266666667,pose2_to_pose3_retreat,0.607496214877,0.000181765399029,1.06002045538,0.578067362074,0.00885600123551,1.05969215822
+317,5.283333333,pose2_to_pose3_retreat,0.606781153517,0.000181841818804,1.06002055435,0.577352299797,0.0088560746354,1.05969225934
+318,5.300000000,pose2_to_pose3_retreat,0.606062282587,0.000181930743149,1.06002070278,0.576633428104,0.0088561610102,1.05969240869
+319,5.316666667,pose2_to_pose3_retreat,0.605337002279,0.000181893421707,1.06002077322,0.575908148276,0.0088561252592,1.05969247755
+320,5.333333333,pose2_to_pose3_retreat,0.60459994591,0.000181685587315,1.06002070329,0.575171094891,0.00885592752792,1.05969240702
+321,5.350000000,pose2_to_pose3_retreat,0.603845500207,0.000181597281819,1.06002037467,0.574416651599,0.00885584768837,1.05969208593
+322,5.366666667,pose2_to_pose3_retreat,0.603063282015,0.00018180536565,1.06002037648,0.573634430036,0.00885604443796,1.05969209035
+323,5.383333333,pose2_to_pose3_retreat,0.602261140641,0.00018187802835,1.06002051293,0.572832287053,0.00885611135299,1.05969221918
+324,5.400000000,pose2_to_pose3_retreat,0.601441215945,0.000181844456269,1.06002053384,0.572012362848,0.0088560793683,1.05969223785
+325,5.416666667,pose2_to_pose3_retreat,0.600624788946,0.00018186221307,1.06002058792,0.571195935195,0.00885609518929,1.05969229938
+326,5.433333333,pose2_to_pose3_retreat,0.599819433806,0.000181836539533,1.0600206236,0.570390581019,0.00885607280295,1.05969233545
+327,5.450000000,pose2_to_pose3_retreat,0.599035647615,0.000181791952008,1.0600205875,0.569606795581,0.0088560305807,1.05969229428
+328,5.466666667,pose2_to_pose3_retreat,0.598266230951,0.000181776266224,1.06002058933,0.568837379041,0.00885601508899,1.0596922901
+329,5.483333333,pose2_to_pose3_retreat,0.597503745995,0.000181771738612,1.0600206587,0.568074894455,0.0088560116982,1.05969235633
+330,5.500000000,pose2_to_pose3_retreat,0.596720143258,0.000181700747286,1.06002053105,0.567291291385,0.00885593988854,1.05969223675
+331,5.516666667,pose2_to_pose3_retreat,0.595912365121,0.000181763437357,1.06002061858,0.566483513166,0.00885600250844,1.05969232981
+332,5.533333333,pose2_to_pose3_retreat,0.595086917646,0.00018177051471,1.06002057293,0.565658064245,0.00885600416539,1.05969227043
+333,5.550000000,pose2_to_pose3_retreat,0.594260738119,0.000181680491187,1.06002038392,0.564831886962,0.00885592242882,1.05969209921
+334,5.566666667,pose2_to_pose3_retreat,0.593463138544,0.000181741557421,1.0600203995,0.564034286559,0.00885598038221,1.05969210668
+335,5.583333333,pose2_to_pose3_retreat,0.592698346736,0.000181805659095,1.06002064927,0.56326949368,0.00885604058741,1.05969234953
+336,5.600000000,pose2_to_pose3_retreat,0.591966404455,0.000181827673288,1.06002067739,0.562537550999,0.00885606119354,1.05969237632
+337,5.616666667,pose2_to_pose3_retreat,0.591253321598,0.000181849874462,1.06002057825,0.561824467851,0.00885608255821,1.05969228102
+338,5.633333333,pose2_to_pose3_retreat,0.590547826186,0.000181885151447,1.06002064194,0.561118972233,0.00885611736096,1.0596923506
+339,5.650000000,pose2_to_pose3_retreat,0.589831827968,0.000181819078258,1.06002066416,0.560402975747,0.00885605680383,1.05969236338
+340,5.666666667,pose2_to_pose3_retreat,0.589108147306,0.000181740650263,1.06002030999,0.559679294681,0.0088559772652,1.05969201597
+341,5.683333333,pose2_to_pose3_retreat,0.588378256482,0.000181622680476,1.06002041808,0.558949405542,0.00885586471446,1.05969211621
+342,5.700000000,pose2_to_pose3_retreat,0.587670383153,0.000181781230786,1.0600206016,0.55824153104,0.00885601941291,1.0596923031
+343,5.716666667,pose2_to_pose3_retreat,0.586993398898,0.00018184594979,1.06002053224,0.557564546936,0.00885608503734,1.05969224406
+344,5.733333333,pose2_to_pose3_retreat,0.586348330911,0.000181777278769,1.06002048458,0.556919479518,0.00885601841412,1.05969219949
+345,5.750000000,pose2_to_pose3_retreat,0.585734389614,0.000181768825581,1.06002056577,0.556305538057,0.00885600915999,1.05969227416
+346,5.766666667,pose2_to_pose3_retreat,0.585148772932,0.000181848093125,1.06002060888,0.555719921061,0.00885608715799,1.05969231189
+347,5.783333333,pose2_to_pose3_retreat,0.58457286944,0.000181814052066,1.06002040227,0.555144018492,0.00885605658492,1.05969211423
+348,5.800000000,pose2_to_pose3_retreat,0.583998750661,0.000181723113382,1.06002064947,0.554569898749,0.00885596195219,1.05969235015
+349,5.816666667,pose2_to_pose3_retreat,0.583427263952,0.000181821614815,1.06002062388,0.553998411221,0.00885605801859,1.05969233356
+350,5.833333333,pose2_to_pose3_retreat,0.582863201932,0.000181732508502,1.06002053675,0.553434351167,0.00885597562602,1.05969224765
+351,5.850000000,pose2_to_pose3_retreat,0.582325282546,0.000181838332339,1.06002053251,0.552896430231,0.00885607599499,1.05969223817
+352,5.866666667,pose2_to_pose3_retreat,0.581814694803,0.000181890991474,1.06002067016,0.552385841381,0.00885612487804,1.05969237569
+353,5.883333333,pose2_to_pose3_retreat,0.581333562055,0.000181774241013,1.06002059684,0.551904709721,0.00885601179163,1.05969230179
+354,5.900000000,pose2_to_pose3_retreat,0.580878564842,0.000181713488893,1.06002046542,0.551449713706,0.00885595497738,1.05969216677
+355,5.916666667,pose2_to_pose3_retreat,0.580448607571,0.000181776330915,1.06002047483,0.551019756592,0.00885601828751,1.05969217454
+356,5.933333333,pose2_to_pose3_retreat,0.580038399695,0.000181641151743,1.06002022601,0.550609549439,0.00885588564963,1.05969192815
+357,5.950000000,pose2_to_pose3_retreat,0.579649345964,0.000181697487151,1.06002049735,0.550220494454,0.00885593801799,1.05969220708
+358,5.966666667,pose2_to_pose3_retreat,0.579287458357,0.000181846722632,1.06002051658,0.549858605399,0.00885608228484,1.05969222484
+359,5.983333333,pose2_to_pose3_retreat,0.578950854162,0.000181771344802,1.06002056828,0.549522001969,0.00885600907582,1.05969226525
+360,6.000000000,pose2_to_pose3_retreat,0.578638770321,0.000181794218057,1.06002069833,0.549209918053,0.0088560317516,1.05969239675
+361,6.016666667,pose2_to_pose3_retreat,0.578343045929,0.000181867039523,1.06002073644,0.548914192835,0.00885610196621,1.05969244041
+362,6.033333333,pose2_to_pose3_retreat,0.578062039156,0.000181903437476,1.0600206341,0.548633185491,0.00885613632738,1.05969233613
+363,6.050000000,pose2_to_pose3_retreat,0.577793135603,0.000181907426842,1.06002055444,0.548364282473,0.00885614191715,1.05969225069
+364,6.066666667,pose2_to_pose3_retreat,0.57753756148,0.00018174856947,1.06002039916,0.548108710673,0.00885599145543,1.05969210896
+365,6.083333333,pose2_to_pose3_retreat,0.577299716692,0.000181855953724,1.06002066079,0.547870862366,0.00885608659863,1.05969236202
+366,6.100000000,pose2_to_pose3_retreat,0.577081494248,0.00018176129255,1.06002068223,0.547652641109,0.00885599579697,1.05969237913
+367,6.116666667,pose2_to_pose3_retreat,0.576884841231,0.000181732385697,1.06002056453,0.547455988493,0.00885596846924,1.05969226718
+368,6.133333333,pose2_to_pose3_retreat,0.576708569209,0.000181812608032,1.06002056469,0.547279714834,0.00885604298336,1.05969226317
+369,6.150000000,pose2_to_pose3_retreat,0.576551676419,0.000181767015109,1.0600205514,0.547122823227,0.00885600150263,1.05969225254
+370,6.166666667,pose2_to_pose3_retreat,0.576412616735,0.00018181171782,1.06002044839,0.546983764274,0.00885604897362,1.05969215714
+371,6.183333333,pose2_to_pose3_retreat,0.576289114968,0.000181789748043,1.06002038858,0.546860263035,0.00885602882278,1.05969209809
+372,6.200000000,pose2_to_pose3_retreat,0.576180673294,0.000181658072514,1.06002044491,0.546751823065,0.00885590279284,1.05969215097
+373,6.216666667,pose2_to_pose3_retreat,0.576085075961,0.000181640109151,1.06002051359,0.546656226594,0.00885588780886,1.05969222179
+374,6.233333333,pose2_to_pose3_retreat,0.576002285652,0.00018161035095,1.06002057394,0.54657343437,0.00885585138572,1.05969227983
+375,6.250000000,pose2_to_pose3_retreat,0.575931766838,0.000181875685513,1.06002090968,0.546502913624,0.00885610997414,1.0596926091
+376,6.266666667,pose2_to_pose3_retreat,0.575872642075,0.000181788107321,1.06002069018,0.546443789856,0.00885602578871,1.05969238953
+377,6.283333333,pose2_to_pose3_retreat,0.575824318712,0.000181839600815,1.06002046079,0.54639546486,0.00885607190665,1.05969216414
+378,6.300000000,pose2_to_pose3_retreat,0.575785069214,0.000181761733662,1.06002033696,0.546356216958,0.00885599945456,1.05969204019
+379,6.316666667,pose2_to_pose3_retreat,0.575754514402,0.000181833006927,1.06002034843,0.546325660784,0.00885606627205,1.05969205595
+380,6.333333333,pose2_to_pose3_retreat,0.575729882648,0.000181885326204,1.06002047943,0.546301028594,0.00885611724106,1.05969219041
+381,6.350000000,pose2_to_pose3_retreat,0.57571080748,0.000181796095815,1.06002059891,0.546281955684,0.00885603560269,1.0596923081
+382,6.366666667,pose2_to_pose3_retreat,0.575696288077,0.000181661565044,1.06002052969,0.546267437528,0.00885590513948,1.05969223461
+383,6.383333333,pose2_to_pose3_retreat,0.575685706824,0.000181554152913,1.06002051442,0.546256856995,0.00885580026452,1.05969222195
+384,6.400000000,pose2_to_pose3_retreat,0.575678879128,0.000181728481001,1.06002054735,0.546250026868,0.00885596605486,1.05969224726
+385,6.416666667,pose2_to_pose3_retreat,0.575674407586,0.00018183201313,1.06002056299,0.546245554219,0.00885606570685,1.05969225949
+386,6.433333333,pose2_to_pose3_retreat,0.575671813791,0.000181851225752,1.06002056153,0.546242960566,0.00885608542575,1.05969225857
+387,6.450000000,pose2_to_pose3_retreat,0.575670211976,0.00018182344256,1.06002050403,0.546241359066,0.0088560588849,1.05969220561
+388,6.466666667,pose2_to_pose3_retreat,0.575669383493,0.000181795668438,1.06002045516,0.546240530824,0.00885603206765,1.0596921605
+389,6.483333333,pose2_to_pose3_retreat,0.575669197816,0.000181789443796,1.06002044421,0.546240345201,0.00885602605745,1.05969215039
+390,6.500000000,pose2_to_pose3_retreat,0.575669004589,0.000181782966021,1.06002043281,0.54624015203,0.00885601980285,1.05969213987
+391,6.516666667,pose2_to_pose3_retreat,0.575668713419,0.000181773204827,1.06002041564,0.546239860945,0.00885601037795,1.05969212402
+392,6.533333333,pose2_to_pose3_retreat,0.575668658487,0.000181771363285,1.0600204124,0.546239806029,0.00885600859985,1.05969212103
+393,6.550000000,pose2_to_pose3_retreat,0.575668362886,0.000181763895088,1.06002041041,0.546239510479,0.008856001321,1.05969211942
+394,6.566666667,pose2_to_pose3_retreat,0.575668098805,0.000181769660156,1.06002048733,0.546239246271,0.00885600648064,1.05969219176
+395,6.583333333,pose2_to_pose3_retreat,0.575667877635,0.000181774488455,1.06002055176,0.546239024995,0.00885601080188,1.05969225234
+396,6.600000000,pose2_to_pose3_retreat,0.575667729136,0.000181777730299,1.06002059501,0.546238876424,0.00885601370328,1.05969229301
+397,6.616666667,pose2_to_pose3_retreat,0.575667707803,0.000181778196016,1.06002060123,0.54623885508,0.00885601412008,1.05969229886
+398,6.633333333,pose2_to_pose3_retreat,0.575667514234,0.000181782421755,1.06002065761,0.546238661419,0.00885601790205,1.05969235188
+399,6.650000000,pose2_to_pose3_retreat,0.575667450469,0.000181783813805,1.06002067618,0.546238597622,0.00885601914791,1.05969236935
+400,6.666666667,pose2_to_pose3_retreat,0.575667430498,0.000181784249788,1.060020682,0.546238577641,0.00885601953811,1.05969237482
+401,6.683333333,pose2_to_pose3_retreat,0.57566724998,0.0001817797433,1.06002068494,0.546238397162,0.00885601511334,1.05969237652
+402,6.700000000,pose2_to_pose3_retreat,0.57566706934,0.000181766036088,1.06002063383,0.546238216696,0.0088560020275,1.05969232625
+403,6.716666667,pose2_to_pose3_retreat,0.575667058664,0.000181765225993,1.06002063081,0.54623820603,0.00885600125413,1.05969232328
+404,6.733333333,pose2_to_pose3_retreat,0.575667030642,0.000181763099687,1.06002062288,0.546238178036,0.00885599922421,1.05969231548
+405,6.750000000,pose2_to_pose3_retreat,0.57566692089,0.000181754771534,1.06002059183,0.546238068389,0.00885599127358,1.05969228494
+406,6.766666667,pose2_to_pose3_retreat,0.575666880642,0.000181739928807,1.06002058574,0.546238028417,0.00885597733915,1.05969227817
+407,6.783333333,pose2_to_pose3_retreat,0.575666875696,0.000181732271182,1.06002058762,0.546238023622,0.00885597017411,1.05969227953
+408,6.800000000,pose2_to_pose3_retreat,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424519,1.05969228445
diff --git a/Part2/Obstacle_avoidance/cylinder_PLA_10/position_03/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_PLA_10/position_03/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bfac7d6f2210a915f2290b8e4236ed4759b0bc11
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_PLA_10/position_03/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6977c26124d9551a7fd684280f76603b08363db15ec59433c2cb5797fbf6c689
+size 25958830
diff --git a/Part2/Obstacle_avoidance/cylinder_PLA_10/position_03/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_PLA_10/position_03/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d56751d3a4daa3129857113f11cd2aa0f1cba7bd
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_PLA_10/position_03/depth_05/franka_data.csv
@@ -0,0 +1,410 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,795,749,727,710,698,656,934,805,835,670,658,678,0.400978577707,-0.0053717534196,0.0698278750183,0.99999993965,0.000214357765345,-0.000272984427297,1.51493497224e-05,1793256585133836544
+1,0.016666667,BASELINE,795.574248207,749,727.574248207,710,698.574248207,656,934,804.425751793,835,670,658,678,0.400979739889,-0.00537131510213,0.0698293124085,0.999999940002,0.000215670622629,-0.00027064661466,1.52668861191e-05,1793256585150503168
+2,0.033333333,BASELINE,795.84665892,748.84665892,728,710,698.84665892,656,934.15334108,804,835,670,658,678,0.400980567693,-0.00537116279135,0.0698302751137,0.999999940329,0.000216270284505,-0.000268950124385,1.53490887097e-05,1793256585167170048
+3,0.050000000,BASELINE,795.253675843,748.253675843,728,710,698.253675843,656,934.746324157,804,835,670,658,678,0.400980436812,-0.00537183048613,0.069829876857,0.999999940602,0.000214825154431,-0.000269092359661,1.53299862826e-05,1793256585183836928
+4,0.066666667,BASELINE,795.33032829,748.33032829,727.66967171,710,698.33032829,656,935,804.33032829,835,670,658,677.66967171,0.400980538976,-0.0053713382279,0.0698297777012,0.999999940698,0.000214485413079,-0.000269022391566,1.50598001574e-05,1793256585200503552
+5,0.083333333,BASELINE,795.907619471,748.907619471,727.092380529,710,698.907619471,656,935,804.907619471,835,670,658,677.092380529,0.400980815371,-0.00536997875555,0.0698299021618,0.999999940662,0.000214972092083,-0.000268793774146,1.4601896669e-05,1793256585217169920
+6,0.100000000,BASELINE,795.516648252,748.516648252,727,710,699,656,935,804.516648252,835,670,658,677.483351748,0.400981669012,-0.00537000767278,0.0698300732731,0.999999940816,0.000215284098598,-0.000267953640443,1.48615822477e-05,1793256585233836544
+7,0.116666667,BASELINE,795,748.058825409,727,710,699,656,935,804,835,670,658,678,0.400982449843,-0.00537051990237,0.0698301996527,0.999999941031,0.000215213164072,-0.000267186894219,1.52367969703e-05,1793256585250503168
+8,0.133333333,BASELINE,795,748.63463632,727,710,699,656,935,804,835,670,658,678,0.400981624295,-0.00537295513502,0.0698298548025,0.999999941458,0.000212069216061,-0.000268088970819,1.54258802493e-05,1793256585267170048
+9,0.150000000,BASELINE,795,749,727,710,699,656,935,804,835,670,658,678,0.400981124707,-0.00537400948415,0.0698296784851,0.99999994153,0.000211059360236,-0.000268614135515,1.55228604452e-05,1793256585283836672
+10,0.166666667,BASELINE,795,749,727,710,699,656,935,804,835,670,658,678,0.400981191031,-0.0053726664406,0.0698297947625,0.999999940993,0.000213754564895,-0.000268484932288,1.54599377534e-05,1793256585300503040
+11,0.183333333,BASELINE,795.390678458,748.609321542,727,710,699,656.390678458,935,804.390678458,835,670,658,678,0.400980061628,-0.00537148382164,0.0698290796335,0.99999994007,0.000216466374118,-0.000269758123953,1.52274428113e-05,1793256585317169664
+12,0.200000000,BASELINE,795.968783573,748.031216427,727,710,699,656.968783573,935,804.968783573,835,670,658,678,0.400978358579,-0.00537037816571,0.06982796564,0.999999938956,0.000219186149562,-0.000271704109772,1.49135961547e-05,1793256585333836544
+13,0.216666667,BASELINE,796,748.542382353,727,709.457617647,698.457617647,656.457617647,935,804.457617647,835,670,658,678,0.400980524373,-0.00537079514108,0.0698292736169,0.99999994023,0.000217304308065,-0.000268505964464,1.49376640455e-05,1793256585350503424
+14,0.233333333,BASELINE,796,749,727,709.111313383,698.111313383,656,935,804.111313383,835,670,658,678,0.400982135947,-0.00537125941197,0.0698302754999,0.9999999412,0.000215741243678,-0.000266140609661,1.50010554772e-05,1793256585367170304
+15,0.250000000,BASELINE,796,749,727,709.662803621,698.662803621,656,935,804.662803621,835,670,658,678,0.400980682653,-0.0053715670245,0.0698295202881,0.999999940481,0.000216477411314,-0.000268229552042,1.51436746319e-05,1793256585383836928
+16,0.266666667,BASELINE,795.758133276,749,727,710,699,656,935,804.758133276,835.241866724,670,658,677.758133276,0.400979707829,-0.00537107314163,0.0698291827023,0.99999993995,0.000217439266664,-0.000269428723375,1.51404573035e-05,1793256585400503296
+17,0.283333333,BASELINE,795.135683663,749,727,710,699,656,935,804.135683663,835.864316337,670,658,677.135683663,0.40097948589,-0.00536931808718,0.0698295022609,0.99999993972,0.000218756246816,-0.000269227819248,1.49077628856e-05,1793256585417169920
+18,0.300000000,BASELINE,795.448496808,749,727,710,698.551503192,656,935,804,835.551503192,670,658,677.448496808,0.40098022858,-0.00536877328119,0.0698302257539,0.999999939888,0.000218944110028,-0.000268446972228,1.49378146733e-05,1793256585433836544
+19,0.316666667,BASELINE,795.97792577,748.97792577,727,710,698.02207423,656.02207423,935,804,835.02207423,670,658,677.97792577,0.400981221193,-0.00536870993022,0.0698310376296,0.999999940195,0.000218680751731,-0.000267512404459,1.50413596375e-05,1793256585450503424
+20,0.333333333,BASELINE,795.40273723,748.40273723,727,710,698.59726277,656.59726277,935,804,835.59726277,670,658,677.40273723,0.400981738645,-0.00537225739724,0.0698312428198,0.999999941188,0.000214997471639,-0.000266776677269,1.51512675539e-05,1793256585467170048
+21,0.350000000,BASELINE,795.177537855,748.177537855,727,709.822462145,698.822462145,657,935,804,835.822462145,670,658,677.177537855,0.400982352987,-0.00537416965893,0.0698315641864,0.99999994178,0.000213051999973,-0.000266119876746,1.51441176408e-05,1793256585483836672
+22,0.366666667,BASELINE,795.769691813,748.769691813,727,709.230308187,698.230308187,657,935,804,835.230308187,670,658,677.769691813,0.400983193605,-0.00537226311506,0.0698321568676,0.999999941457,0.00021516494981,-0.000265647399089,1.48635946848e-05,1793256585500503552
+23,0.383333333,BASELINE,795.64638095,749,727,709.35361905,698,656.64638095,935,804,835,670,658,677.64638095,0.40098198618,-0.00537124718396,0.0698310196457,0.999999940774,0.000216202358455,-0.000267380440628,1.47111034758e-05,1793256585517170176
+24,0.400000000,BASELINE,795.067689813,749,727,709.932310187,698,656.067689813,935,804,835,670,658,677.067689813,0.400979475213,-0.00537079811149,0.069828781372,0.999999939855,0.000216555204921,-0.000270517254932,1.4640102115e-05,1793256585533836800
+25,0.416666667,BASELINE,795,748.49303547,727,709.49303547,698.50696453,656,935,804,835,670,658,677.50696453,0.400979337901,-0.00537065215459,0.0698295257533,0.999999939904,0.000217333005999,-0.0002696956876,1.49090335818e-05,1793256585550503168
+26,0.433333333,BASELINE,795.081108709,748.081108709,727,709.081108709,698.918891291,656,935,804.081108709,835,670,658,678,0.40097953306,-0.0053705972172,0.0698305365252,0.999999940138,0.000217732240816,-0.000268490391741,1.51471409058e-05,1793256585567169792
+27,0.450000000,BASELINE,795.655402525,748.655402525,727,709.655402525,698.344597475,656,935,804.655402525,835,670,658,678,0.400979837945,-0.00537085158064,0.0698307646885,0.999999940722,0.000215487303234,-0.000268140133416,1.49240186347e-05,1793256585583836672
+28,0.466666667,BASELINE,796,749,727,710,698,656,935,805,835,670,658,678,0.400980846723,-0.00537126384031,0.0698312958906,0.9999999414,0.000213875099997,-0.000266904997583,1.47776493973e-05,1793256585600503296
+29,0.483333333,BASELINE,796,749,727,710,698,656,935,805,835,670,658,678,0.400982911503,-0.00537191298069,0.0698322817205,0.999999942223,0.00021321214421,-0.000264342341616,1.47464274092e-05,1793256585617170176
+30,0.500000000,BASELINE,795.582377999,749,727,710,698.417622001,656,935,805,835,670,658,678,0.400982776961,-0.00537249108272,0.0698322591286,0.999999942041,0.000213587080016,-0.000264721925573,1.48306356479e-05,1793256585633837056
+31,0.516666667,BASELINE,795.006525195,749,727,710,698.993474805,656,935,805,835,670,658,678,0.400981809128,-0.00537304226936,0.0698318544607,0.999999941478,0.000214355257622,-0.000266216280806,1.49585786938e-05,1793256585650503680
+32,0.533333333,BASELINE,795,749,727,709.431792797,698.431792797,656,935,804.431792797,835.568207203,670,658,678,0.400981267572,-0.00537194917539,0.0698312662084,0.999999941197,0.000215621778398,-0.000266256101811,1.48433119722e-05,1793256585667170048
+33,0.550000000,BASELINE,795,749,727,709,698,656.146292237,935,804,836,670,658,677.853707763,0.400980747669,-0.00537134127961,0.0698308192138,0.999999940976,0.000216356907377,-0.000266490936915,1.48658281874e-05,1793256585683836928
+34,0.566666667,BASELINE,795,749,727,709,698,656.734544533,935,804,836,670,658,677.265455467,0.400980278423,-0.00537225613857,0.0698308053266,0.999999940927,0.000215469405523,-0.000267365288175,1.53130184362e-05,1793256585700503296
+35,0.583333333,BASELINE,795,749,727,709.319469721,698.319469721,656.680530279,935,804,836,670,658,677.319469721,0.40098102346,-0.00537276681098,0.0698312265802,0.999999941408,0.000214245226807,-0.000266548146336,1.53250833803e-05,1793256585717169664
+36,0.600000000,BASELINE,795,749,727,709.90165889,698.90165889,656.09834111,935,804,836,670,658,677.90165889,0.400982767076,-0.00537294509621,0.0698320056766,0.99999994232,0.000212744178066,-0.000264339986592,1.49793182814e-05,1793256585733836288
+37,0.616666667,BASELINE,795,749,727,709.540674031,699,656,935,804,835.540674031,670,658,677.540674031,0.400982257642,-0.00537228593222,0.0698320255353,0.999999941734,0.000214552177168,-0.000265087548186,1.50810588159e-05,1793256585750502912
+38,0.633333333,BASELINE,795.013015789,749,727,709,699,656,935,804.013015789,835.013015789,670,658,677,0.400981317432,-0.00537149557531,0.0698318894274,0.999999940868,0.000216941515784,-0.000266394933982,1.52734966844e-05,1793256585767170048
+39,0.650000000,BASELINE,795.612036132,749,727,709,699,656,935,804.612036132,835.612036132,670,658,677,0.400981599616,-0.00537246185756,0.0698316788948,0.999999941379,0.000215224010061,-0.000265859998985,1.54543528498e-05,1793256585783836928
+40,0.666666667,BASELINE,796,749,727,709.208535355,699,656,935,805,835.791464645,670,658,677.208535355,0.400980957661,-0.00537264706881,0.0698312609055,0.999999941393,0.000214611795682,-0.000266299828335,1.55291861824e-05,1793256585800503552
+41,0.683333333,BASELINE,796,749,727,709.800400219,699,656,935,805,835.199599781,670,658,677.800400219,0.400978616953,-0.00537139651598,0.0698304615695,0.999999940492,0.000216031327004,-0.000268531468705,1.54091284237e-05,1793256585817170176
+42,0.700000000,BASELINE,796,749,727,710,699,656,935,805,835,670,658,677.618313264,0.400978489425,-0.00537115142676,0.0698303417357,0.999999940373,0.000216195072836,-0.00026885039095,1.52393671513e-05,1793256585833837056
+43,0.716666667,BASELINE,796,749,727,710,699,656,935,805,835,670,658,677.042409441,0.400979488051,-0.00537141795667,0.0698305676593,0.999999940655,0.000215719826023,-0.000268196047599,1.50443147978e-05,1793256585850503936
+44,0.733333333,BASELINE,796,749,727,710,699,656,935,804.465599296,835,670,658,677,0.400979460383,-0.0053722376685,0.0698307929478,0.999999941075,0.000213878163319,-0.000268111810233,1.49377061991e-05,1793256585867170304
+45,0.750000000,BASELINE,795.889348666,748.889348666,727,710,698.889348666,656,935,804,835,670,658,677.110651334,0.400979515121,-0.0053727524107,0.0698309803371,0.999999941386,0.000212584598912,-0.0002679829394,1.48851368034e-05,1793256585883836672
+46,0.766666667,BASELINE,795.315740602,748.315740602,727,710,698.315740602,656,935,804,835,670,658,677.684259398,0.400980255976,-0.00537180719721,0.0698310093698,0.999999941209,0.000214038700316,-0.000267477710834,1.50292473328e-05,1793256585900503296
+47,0.783333333,BASELINE,795.26718363,748,727,710,698.26718363,656,935,804,835,670,658,677.73281637,0.400980406096,-0.00537093472112,0.0698309325698,0.999999940795,0.000215695910608,-0.000267686614839,1.51056913832e-05,1793256585917169920
+48,0.800000000,BASELINE,795.861514936,748,727,710,698.861514936,656,935,804,835,670,658,677.138485064,0.400979832903,-0.00537015130675,0.0698307261849,0.999999940092,0.000217601813728,-0.000268769924183,1.50992825803e-05,1793256585933837056
+49,0.816666667,BASELINE,795.558815443,748.441184557,727,710,698.558815443,656,935,804.441184557,835,670,658,677,0.400980829184,-0.00537041557652,0.0698311973121,0.999999940497,0.000217211003683,-0.00026758353159,1.50131996502e-05,1793256585950503680
+50,0.833333333,BASELINE,795.016442773,749,727,710,698.016442773,656,935,805,835,670,658,677.016442773,0.40098223111,-0.00537101512945,0.0698318406852,0.999999941216,0.000216122701558,-0.000265776157784,1.49151085653e-05,1793256585967170048
+51,0.850000000,BASELINE,795.593159998,749,727,710,698.593159998,656,935,805,835,670,658,677.593159998,0.400981208361,-0.00537219391398,0.0698313398203,0.999999941303,0.000215042718686,-0.00026630453737,1.52326089715e-05,1793256585983836672
+52,0.866666667,BASELINE,795.831209491,749,727,710,699,656,935,805,835.168790509,670,658,677.831209491,0.40098031892,-0.00537276824355,0.0698309929469,0.999999941261,0.000214505732245,-0.00026688818896,1.53762100293e-05,1793256586000503040
+53,0.883333333,BASELINE,795.258181592,749,727,710,699,656,935,805,835.741818408,670,658,677.258181592,0.400979748738,-0.0053718949603,0.0698310148685,0.99999994091,0.00021526917124,-0.000267604211774,1.51033384874e-05,1793256586017169664
+54,0.900000000,BASELINE,795.327578787,749,727,710,699,656,935,805,836,670,658,677.327578787,0.400979701704,-0.00537192759053,0.0698311302089,0.999999941042,0.00021435758335,-0.000267849377243,1.49474717236e-05,1793256586033836288
+55,0.916666667,BASELINE,795.923780078,749,727,710,699,656,935,805,836,670,658,677.923780078,0.400980083663,-0.0053727030917,0.0698313221549,0.999999941568,0.000212072432982,-0.000267708428299,1.48875517127e-05,1793256586050502912
+56,0.933333333,BASELINE,795.499793031,749,727,710,699,656,935,805,836,670,658,678,0.400980415355,-0.00537254922123,0.0698317647731,0.999999941501,0.000212912603244,-0.00026729064251,1.49238987649e-05,1793256586067170048
+57,0.950000000,BASELINE,795,749,727.074189283,710,699,656,935,804.925810717,836,670,658,678,0.400980741016,-0.0053723785595,0.0698321601467,0.9999999414,0.000213935977796,-0.000266848313733,1.4960315065e-05,1793256586083836672
+58,0.966666667,BASELINE,795,749,727.6512486,710,699,656,935,804.3487514,836,670,658,678,0.400981075739,-0.00537301747236,0.0698319862277,0.999999941669,0.00021309594552,-0.000266514682584,1.49015533516e-05,1793256586100503296
+59,0.983333333,BASELINE,795,749,727.766177591,710,699,656,935,804.233822409,836,670,658,678,0.400981483775,-0.00537317065782,0.0698319485123,0.999999941873,0.000212951610836,-0.000265868371638,1.48285870508e-05,1793256586117170176
+60,1.000000000,BASELINE,795,749,727.175180039,710,699,656,935,804.824819961,836,670,658,678,0.400982003801,-0.00537258187105,0.0698321188546,0.999999941976,0.00021386998806,-0.000264744426986,1.47339225409e-05,1793256586133836544
+61,1.016666667,BASELINE,795.405808482,749,727,710,699,656,935,804.594191518,835.594191518,670,658,678,0.400982696578,-0.00537215118809,0.069832475773,0.999999941754,0.000215533280569,-0.000264239927258,1.46700647081e-05,1793256586150503168
+62,1.033333333,BASELINE,795.982580257,749,727,710,699,656,935,804.017419743,835.017419743,670,658,678,0.400983462133,-0.00537178711281,0.0698329112942,0.999999941391,0.000217510398822,-0.000263996393912,1.46191854441e-05,1793256586167170048
+63,1.050000000,BASELINE,795.445492788,749,727,709.445492788,699,656,935,804,835,670,658,678,0.400982052699,-0.00537124146599,0.0698326863834,0.99999994102,0.000217603373915,-0.000265314209825,1.47620765386e-05,1793256586183837184
+64,1.066666667,BASELINE,795,749,727,709.130864563,698.869135437,656.130864563,935,804,835,670,658,678,0.400981170732,-0.00537104056629,0.0698326495614,0.999999940925,0.000217167757522,-0.000266017449874,1.49037829718e-05,1793256586200504064
+65,1.083333333,BASELINE,795,749,727,709.723383375,698.276616625,656.723383375,935,804,835,670,658,678,0.400982388476,-0.00537207578782,0.0698333488223,0.99999994181,0.000215074413034,-0.00026438110049,1.50200220526e-05,1793256586217170688
+66,1.100000000,BASELINE,795.308916076,749,727,710,698.308916076,656.691083924,935,804,835.308916076,670,658,678,0.400981172035,-0.00537273502402,0.0698321383423,0.999999941693,0.00021374824403,-0.000265897657347,1.49908267205e-05,1793256586233837312
+67,1.116666667,BASELINE,795.888331426,749,727,710,698.888331426,656.111668574,935,804,835.888331426,670,658,678,0.400977824124,-0.00537306503236,0.069829255617,0.999999940688,0.000213093844681,-0.000270175025131,1.4834283192e-05,1793256586250504192
+68,1.133333333,BASELINE,795.532368246,749,727,710,699,656,935,804.467631754,835.532368246,670,658,678,0.400977370302,-0.00537270693411,0.069829556962,0.99999994046,0.000213222681473,-0.000270920892015,1.4791195262e-05,1793256586267170304
+69,1.150000000,BASELINE,795,749,727,710,698.952822151,656,935,805,835,670,658,678,0.40097781069,-0.00537218356608,0.0698306064593,0.999999940472,0.000213585697311,-0.000270591503763,1.4767395553e-05,1793256586283836928
+70,1.166666667,BASELINE,795,749,727,710,698.370175414,656,935,805,835,670,658,678,0.400980558337,-0.00537164892669,0.0698315197127,0.999999941079,0.00021448433568,-0.000267627162153,1.46550901492e-05,1793256586300503296
+71,1.183333333,BASELINE,795,749,727,710,698.211190006,656,935,805,835,670,658,677.788809994,0.400981929166,-0.00537189707602,0.0698319840241,0.999999941578,0.000214219351114,-0.00026596355443,1.47181126026e-05,1793256586317169664
+72,1.200000000,BASELINE,795,749,727,710,698.790323165,656,935,805,835,670,658,677.209676835,0.400980901252,-0.00537350902914,0.069831666172,0.999999941901,0.000211927059158,-0.000266566133605,1.50865978089e-05,1793256586333836288
+73,1.216666667,BASELINE,795,749,727,710,699,656,935,805,835,670,658,677.369087936,0.400980381762,-0.0053721052793,0.0698310766566,0.999999941295,0.000214223400463,-0.000267014584131,1.48700198493e-05,1793256586350503168
+74,1.233333333,BASELINE,795,749,727,710,699,656,935,805,835,670,658,677.947643603,0.400980150816,-0.00536899003356,0.0698303329645,0.999999940145,0.000219123919665,-0.000267375562295,1.43214021508e-05,1793256586367170048
+75,1.250000000,BASELINE,795,749,727.522677468,710,699,656,935,804.477322532,835.522677468,670,658,678,0.400980540539,-0.0053692448987,0.0698311449747,0.999999940452,0.000218534662794,-0.000266695110478,1.45976704387e-05,1793256586383836672
+76,1.266666667,BASELINE,795,749,727.900341814,710,699,656,935,804,835.900341814,670,658,677.900341814,0.400981011859,-0.00536983946366,0.0698320290091,0.999999940843,0.000217592924091,-0.000265981835782,1.48619529702e-05,1793256586400503296
+77,1.283333333,BASELINE,795,749,727.312098502,710,699,656,935,804,835.312098502,670,658,677.312098502,0.400981580454,-0.00537045548498,0.0698325072697,0.999999940942,0.000217601048282,-0.000265615658735,1.46650900144e-05,1793256586417169664
+78,1.300000000,BASELINE,795,749,727,710,699,656,935,804.271999308,835,670,658,677,0.400981695495,-0.00537166165299,0.0698324445011,0.999999941274,0.000215922742309,-0.000265732271312,1.46818865612e-05,1793256586433836544
+79,1.316666667,BASELINE,795,749,727,710,699,656,935,804.851411838,835,670,658,677,0.400981297928,-0.00537353480389,0.0698317702619,0.999999941862,0.000212338435422,-0.00026639453204,1.49401607793e-05,1793256586450503168
+80,1.333333333,BASELINE,795,749,727,709.571913212,699,656,935,804.571913212,835,670,658,677.428086788,0.400980899162,-0.00537360271587,0.069831672037,0.999999941732,0.000213428530594,-0.000266013059385,1.49079656902e-05,1793256586467169792
+81,1.350000000,BASELINE,795,749,727,709,699,656,935,804,835,670,658,677.996192511,0.400980506387,-0.00537304340274,0.0698317739781,0.999999941354,0.000216105471291,-0.000265277724282,1.47771590325e-05,1793256586483836416
+82,1.366666667,BASELINE,795,749,727,709,699,656,935,804,835,670,658,677.421988501,0.400981073421,-0.00537179325925,0.0698321010644,0.999999941545,0.000214988999274,-0.000265458261099,1.48814288735e-05,1793256586500503296
+83,1.383333333,BASELINE,795,749,727,709,698.843305291,656,935,804,835,670,658,677.156694709,0.400981520626,-0.00537113756803,0.0698323265281,0.999999941766,0.000213806649959,-0.000265575841136,1.49500115256e-05,1793256586517170176
+84,1.400000000,BASELINE,795,749,727,709,698.252204216,656,935,804,835,670,658,677.747795784,0.400981635628,-0.00537212988273,0.0698322702623,0.999999942073,0.000212441668079,-0.000265518885481,1.49196582374e-05,1793256586533836800
+85,1.416666667,BASELINE,795.332183069,749,727,709.332183069,698.332183069,656,935,804.332183069,835,670,658,678,0.40098154296,-0.00537223604956,0.0698322135686,0.999999941975,0.000213070107816,-0.000265389986372,1.47772039513e-05,1793256586550503424
+86,1.433333333,BASELINE,795.911573971,749,727,709.911573971,698.911573971,656,935,804.911573971,835,670,658,678,0.400981295746,-0.00537168275257,0.0698321565564,0.999999941575,0.000215182035167,-0.000265207547555,1.4551325051e-05,1793256586567169792
+87,1.450000000,BASELINE,795.513193296,749,727,709.513193296,698.513193296,656,935,804.513193296,835,670,658,678,0.400980285621,-0.00537242718681,0.0698313624286,0.999999941423,0.000214119965176,-0.000266629698321,1.46964990248e-05,1793256586583836416
+88,1.466666667,BASELINE,795,749,727,709.061264175,698.061264175,656,935,804.061264175,835,670,658,677.938735825,0.400979294087,-0.00537339966012,0.0698305930297,0.999999941348,0.000212757559437,-0.000267985478799,1.4898481943e-05,1793256586600503296
+89,1.483333333,BASELINE,795,749,727,709.63550105,698.63550105,656,935,804.63550105,835,670,658,677.36449895,0.400979608741,-0.0053743244825,0.0698311423,0.999999941585,0.00021366696897,-0.000266365722119,1.50165649787e-05,1793256586617169664
+90,1.500000000,BASELINE,795.216480835,749,727,710,699,656,935,804.783519165,835,670,658,677,0.400980230157,-0.00537432950635,0.069831749058,0.999999941806,0.000214214802913,-0.00026509356533,1.50281333132e-05,1793256586633836288
+91,1.516666667,BASELINE,795.809178913,749,727,710,699,656,935,804.190821087,835,670,658,677,0.400981384691,-0.00537273603262,0.0698324557225,0.999999942003,0.000214134262565,-0.000264425494853,1.48545920984e-05,1793256586650503168
+92,1.533333333,BASELINE,795.607708558,749,727,709.607708558,698.607708558,656,935,804,835,670,658,677,0.400981994297,-0.00537167658808,0.0698326665744,0.999999941954,0.000214923622618,-0.000263960841644,1.49738081212e-05,1793256586667170048
+93,1.550000000,BASELINE,795.029147434,749,727,709.029147434,698.029147434,656,935,804,835,670,658,677,0.400982345159,-0.00537087071367,0.0698326420025,0.999999941788,0.000216126032898,-0.000263592775926,1.52320325085e-05,1793256586683836672
+94,1.566666667,BASELINE,795,749,727,709.546440968,698.546440968,656,935,804,835,670,658,677.546440968,0.400981640285,-0.00537145383209,0.0698317198575,0.999999941924,0.000214384773143,-0.000264513091639,1.49403849375e-05,1793256586700503296
+95,1.583333333,BASELINE,795,749,727,710,699,656,935,804,835,670,658,677.875567919,0.400981315008,-0.00537196387486,0.0698313605239,0.999999942099,0.00021305529005,-0.000264939618471,1.47077756569e-05,1793256586717169920
+96,1.600000000,BASELINE,795,749,727,710,699,656,935,804,835,670,658,677.28804775,0.400982610887,-0.00537192771772,0.069833272972,0.99999994237,0.000213839474074,-0.000263274078063,1.48034499329e-05,1793256586733837568
+97,1.616666667,BASELINE,795.295389977,749,727,710,698.704610023,656,935,804,835,670,658,677.295389977,0.400982782912,-0.00537204019388,0.0698336479199,0.999999942473,0.000213711912451,-0.000262982701276,1.48661996239e-05,1793256586750504192
+98,1.633333333,BASELINE,795.874900969,749,727,710,698.125099031,656,935,804,835,670,658,677.874900969,0.400981873957,-0.00537229563308,0.0698325440225,0.999999942415,0.000212707387717,-0.00026401306464,1.48972807787e-05,1793256586767170048
+99,1.650000000,BASELINE,795.547547497,749,727,710,698.452452503,656,935,804,835.452452503,670,658,677.547547497,0.400981476142,-0.00537165477495,0.0698322758544,0.999999941999,0.000213728943632,-0.00026476312698,1.48977420756e-05,1793256586783836928
+100,1.666666667,BASELINE,795,749,727,710,699,656,935,804.029256608,835.970743392,670,658,677,0.4009812433,-0.00537088599716,0.0698322445402,0.999999941538,0.000215120876742,-0.000265376165356,1.48935013748e-05,1793256586800503808
+101,1.683333333,BASELINE,795,749,727,710,699,656,935,804.602195686,835.397804314,670,658,677,0.400981461215,-0.00537232546223,0.0698323391961,0.999999942117,0.000213030307769,-0.000264876858732,1.49585317352e-05,1793256586817170688
+102,1.700000000,BASELINE,795,749,727,709.819224912,699,656,935,805,835,670,658,677,0.400981011064,-0.00537324818825,0.0698321269084,0.999999942277,0.00021180807089,-0.000265253978758,1.49574280939e-05,1793256586833837056
+103,1.716666667,BASELINE,795,749,727,709.227834056,699,656,935,805,835,670,658,677,0.400979043458,-0.00537299718376,0.0698312174231,0.999999941489,0.000212558179352,-0.000267621830029,1.48061064895e-05,1793256586850503424
+104,1.733333333,BASELINE,795,749,727,709.355823905,698.644176095,656,935,805,835,670,658,677,0.400979994829,-0.00537260297335,0.0698318313055,0.999999941633,0.000213366913863,-0.000266437156365,1.48126743247e-05,1793256586867169792
+105,1.750000000,BASELINE,795,749,727,709.934635866,698.065364134,656,935,805,835,670,658,677,0.400982775469,-0.0053721190185,0.0698333998533,0.999999942354,0.000214212388273,-0.000263026183298,1.4918188446e-05,1793256586883836672
+106,1.766666667,BASELINE,795.511130164,749,727,709.488869836,698,656,935,805,835,670,658,677.511130164,0.400982324081,-0.00537253380547,0.0698331067501,0.999999942335,0.000213955522851,-0.000263300783504,1.50013612868e-05,1793256586900503296
+107,1.783333333,POSE1_TO_POSE2_PRESS,795,749,727,710,699,657,935,804,836,670,658,678,0.400981734747,-0.00537168102255,0.0698334739835,0.999999941991,0.000215787431604,-0.000263133196058,1.46824499587e-05,1793256586943090432
+108,1.800000000,POSE1_TO_POSE2_PRESS,795,749,727,709.420721049,699,656.420721049,935,804,835.420721049,670,658,678,0.400981560736,-0.00537162948834,0.0698324571564,0.999999942127,0.000214086637648,-0.00026400375799,1.46602736747e-05,1793256586959757056
+109,1.816666667,POSE1_TO_POSE2_PRESS,795,749,727,709,699,656,935,804.15844482,835.15844482,670,658,678,0.400981338096,-0.00537180283208,0.0698319265276,0.999999942163,0.000213012634453,-0.000264733839009,1.46581290818e-05,1793256586976423936
+110,1.833333333,POSE1_TO_POSE2_PRESS,795,749,727,709,699,656,935,804.737310758,835.737310758,670,658,678,0.400980986423,-0.00537257287207,0.0698326859884,0.999999941942,0.00021360177187,-0.000265091164943,1.47091370325e-05,1793256586993090816
+111,1.850000000,POSE1_TO_POSE2_PRESS,795,748.686462181,727,709.313537819,698.686462181,656,935,805,835.686462181,670,658,678,0.400980775406,-0.0053727593405,0.0698326082536,0.999999941664,0.000214585902604,-0.000265336487415,1.48989995429e-05,1793256587009757440
+112,1.866666667,POSE1_TO_POSE2_PRESS,795,748.112427614,727,709.887572386,698.112427614,656,935,805,835.112427614,670,658,678,0.400980681249,-0.00537246095991,0.0698318349512,0.999999941336,0.000215898205753,-0.000265488753987,1.52042266379e-05,1793256587026423808
+113,1.883333333,POSE1_TO_POSE2_PRESS,795,748,727,710,698.472894079,656,935,804.527105921,835,670,658,678,0.400981353872,-0.00537186850781,0.0698319652068,0.999999941452,0.000215252834029,-0.000265591198461,1.49654371868e-05,1793256587043090432
+114,1.900000000,POSE1_TO_POSE2_PRESS,795,748.060001444,727.060001444,710,699,656,935,804,835.060001444,670,658,678,0.400982224992,-0.0053714309897,0.0698323989884,0.999999941747,0.00021393930911,-0.000265557392552,1.46397713842e-05,1793256587059756800
+115,1.916666667,POSE1_TO_POSE2_PRESS,795,748.638779341,727.638779341,710,699,656,935,804,835.638779341,670,658,678,0.400983197629,-0.00537295229981,0.0698335543529,0.99999994267,0.000210971378909,-0.000264450472691,1.47085624086e-05,1793256587076423936
+116,1.933333333,POSE1_TO_POSE2_PRESS,795,748.783157564,727.783157564,710,699,656,935,804.216842436,835.783157564,670,658,677.783157564,0.400988364709,-0.00537423385764,0.0698365777692,0.999999944119,0.000209256289236,-0.000260292912014,1.48567836931e-05,1793256587093090560
+117,1.950000000,POSE1_TO_POSE2_PRESS,795,748.206281344,727.206281344,710,699,656,935,804.793718656,835.206281344,670,658,677.206281344,0.401000496024,-0.00537511734327,0.0698427028002,0.999999946397,0.000209621350406,-0.000251070227775,1.51368867987e-05,1793256587109757696
+118,1.966666667,POSE1_TO_POSE2_PRESS,795,748.369857615,727,710,698.630142385,656,935,804.630142385,835,670,658,677.369857615,0.401031408566,-0.00537531664495,0.0698561687773,0.9999999514,0.000211154279448,-0.000228834190643,1.57651985278e-05,1793256587126424320
+119,1.983333333,POSE1_TO_POSE2_PRESS,795,748.945586252,727,710,698.054413748,656,935,804.054413748,835,670,658,677.945586252,0.40107277516,-0.00537513511461,0.0698737208897,0.999999957235,0.000213337269765,-0.00019935462915,1.65873309818e-05,1793256587143090432
+120,2.000000000,POSE1_TO_POSE2_PRESS,795,749,727,710,698.532643585,656,935,804.532643585,835,670,658,677.467356415,0.40112586284,-0.00537475914648,0.0698893684167,0.99999996087,0.000214939150479,-0.000178282455091,1.66486953606e-05,1793256587159756800
+121,2.016666667,POSE1_TO_POSE2_PRESS,795.119404383,749,727,709.880595617,699,656,935,805,835,670,658,677.119404383,0.401183863701,-0.0053751617621,0.0699039783551,0.99999996391,0.000215525281425,-0.000159541549604,1.66095907124e-05,1793256587176423424
+122,2.033333333,POSE1_TO_POSE2_PRESS,795.70044728,749,727,709.29955272,699,656,935,805,835,670,658,677.70044728,0.401256129846,-0.00537865298456,0.0699153453793,0.999999966584,0.000212418847304,-0.000146420990138,1.6489057959e-05,1793256587193090304
+123,2.050000000,POSE1_TO_POSE2_PRESS,796,749,727,709.277558318,699,656,935,805,835,670,658,678,0.401338910671,-0.00538142333989,0.0699236899795,0.999999968873,0.000209323639776,-0.00013486474247,1.57646507799e-05,1793256587209757184
+124,2.066666667,POSE1_TO_POSE2_PRESS,796,749,727,709.850485165,699,656,935,805,835,670,658,678,0.401432880873,-0.00538342657169,0.0699288182138,0.99999997082,0.000206240379423,-0.000124973185305,1.43976200983e-05,1793256587226424064
+125,2.083333333,POSE1_TO_POSE2_PRESS,795.577968467,749,727,710,699,656,935,804.577968467,835,670,658,678,0.401534210997,-0.00538457997955,0.0699279509541,0.999999970825,0.000205220446068,-0.000126848881763,1.19729217813e-05,1793256587243090432
+126,2.100000000,POSE1_TO_POSE2_PRESS,795.006909584,749,727,710,699,656,935,804.006909584,835,670,658,678,0.401638140047,-0.00538543329838,0.0699249665715,0.999999970131,0.000204929112725,-0.00013287981915,9.17474096543e-06,1793256587259756800
+127,2.116666667,POSE1_TO_POSE2_PRESS,795,749,727,710,699,656,935,804.592111602,835.592111602,670,658,677.407888398,0.40177397117,-0.00538925055287,0.0699263557613,0.999999970934,0.000201584139893,-0.000132102371815,6.62037516081e-06,1793256587276423680
+128,2.133333333,POSE1_TO_POSE2_PRESS,795,749,727,710,699,656,935,805,835.815423174,670,658,677.184576826,0.401922361335,-0.00539256417826,0.0699285302278,0.999999971982,0.000198065062909,-0.000129586851864,3.63966796274e-06,1793256587293090304
+129,2.150000000,POSE1_TO_POSE2_PRESS,795,749,727,710,699,656,935,805,835.23765336,670,658,677.76234664,0.402096672913,-0.00539472762085,0.0699322634125,0.999999973501,0.000194254774404,-0.00012354645554,-2.55609829465e-07,1793256587309757696
+130,2.166666667,POSE1_TO_POSE2_PRESS,795,749,727,709.66218392,699,656,935,804.66218392,835.33781608,670,658,677.66218392,0.402290579254,-0.00539776972885,0.0699347617708,0.999999975329,0.000188228504428,-0.000117850496981,-4.73722117253e-06,1793256587326424320
+131,2.183333333,POSE1_TO_POSE2_PRESS,795,749,727,709.088321788,699,656,935,804.088321788,835.911678212,670,658,677.088321788,0.402498177283,-0.0054014257969,0.0699363973052,0.999999977319,0.00018065383625,-0.000112395210695,-9.62852838823e-06,1793256587343090176
+132,2.200000000,POSE1_TO_POSE2_PRESS,795,749,727,709.485805971,699,656,935,804,835.514194029,670,658,677.485805971,0.402733454708,-0.00540563664178,0.0699388533657,0.999999979599,0.000170520520147,-0.000107251236844,-1.48894007676e-05,1793256587359757056
+133,2.216666667,POSE1_TO_POSE2_PRESS,795.062037996,749,727,710,699,656,935,804,835,670,658,677.937962004,0.402977930286,-0.0054098466597,0.0699416648154,0.999999981762,0.0001604777362,-0.00010156276292,-2.02142217515e-05,1793256587376424192
+134,2.233333333,POSE1_TO_POSE2_PRESS,795.655894898,749,727,710,699,656,935,804,835,670,658,677.344105102,0.403258094555,-0.00541318449008,0.0699462433274,0.999999983516,0.00015520090355,-9.07211247305e-05,-2.55109553656e-05,1793256587393091072
+135,2.250000000,POSE1_TO_POSE2_PRESS,795.757935451,749,727,709.757935451,699,656,935,804,835,670,657.757935451,677,0.4035598737,-0.0054182460035,0.0699537752092,0.999999985656,0.00014768299197,-7.70388204792e-05,-3.06925677296e-05,1793256587409757440
+136,2.266666667,POSE1_TO_POSE2_PRESS,795.18235724,749,727,709.18235724,699,656,935,804,835,670,657.18235724,677,0.403891433551,-0.00542568238676,0.0699653762083,0.9999999882,0.000137077348743,-5.94426808895e-05,-3.57155670798e-05,1793256587426423552
+137,2.283333333,POSE1_TO_POSE2_PRESS,795,748.605511542,727,709,699,656,935,804,835.394488458,670,657.394488458,677,0.404246108496,-0.00543373304689,0.0699695582721,0.999999996165,5.40138437991e-05,-5.49676320852e-05,-4.16028601156e-05,1793256587443090176
+138,2.300000000,POSE1_TO_POSE2_PRESS,795,748.028078061,727,709,699,656,935,804,835.971921939,670,657.971921939,677,0.404611503116,-0.00544206857925,0.0699702997854,0.99999999529,-6.26521789568e-05,-5.65775223307e-05,-4.78909709345e-05,1793256587459756800
+139,2.316666667,POSE1_TO_POSE2_PRESS,795,748.560002383,727,709.560002383,698.439997617,656,935,804.560002383,836,670,658,677.560002383,0.405007766967,-0.00544864199249,0.0699738674887,0.999999995493,-6.20784940349e-05,-4.84341598621e-05,-5.30522023171e-05,1793256587476423424
+140,2.333333333,POSE1_TO_POSE2_PRESS,795.146181796,748.853818204,727.146181796,710,698.146181796,656.146181796,935,805,835.853818204,670,658,678,0.405414183576,-0.00545282527184,0.0699763540676,0.999999997241,-3.22833420686e-05,-4.25033608019e-05,-5.16657036604e-05,1793256587493090048
+141,2.350000000,POSE1_TO_POSE2_PRESS,795.725122274,748.274877726,727.725122274,710,698.725122274,656.725122274,935,805,835.274877726,670,658,678,0.405845985675,-0.00545019938873,0.0699752124401,0.999999996326,6.62799774596e-05,-4.45984271868e-05,-3.10657174561e-05,1793256587509756672
+142,2.366666667,POSE1_TO_POSE2_PRESS,795.698662779,748.301337221,727.698662779,710,699,656.698662779,935,804.698662779,835.301337221,670,658,678,0.406292634538,-0.00545376289203,0.0699661700602,0.999999993185,9.6363472891e-05,-6.07817793923e-05,-2.5494888371e-05,1793256587526423296
+143,2.383333333,POSE1_TO_POSE2_PRESS,795.124911691,748.875088309,727.124911691,710,699,656.124911691,935,804.124911691,835.875088309,670,658,678,0.406752705173,-0.00546292170343,0.0699499852682,0.999999993333,6.45400784415e-05,-8.97011771037e-05,-3.35106654392e-05,1793256587543090176
+144,2.400000000,POSE1_TO_POSE2_PRESS,795,748.540080263,727,710,698.540080263,656,935,804,836,670,658,678,0.407267289664,-0.00547418290689,0.0699399007952,0.999999993876,2.97219198658e-05,-9.9769437316e-05,-3.75593850979e-05,1793256587559757568
+145,2.416666667,POSE1_TO_POSE2_PRESS,795,748,727.047143953,710,698.047143953,656,935,804.047143953,836,670,658,677.952856047,0.407803082448,-0.0054870886833,0.069933374013,0.999999994015,-3.54054192228e-06,-0.000101796364351,-3.9937128289e-05,1793256587576424960
+146,2.433333333,POSE1_TO_POSE2_PRESS,795,748,727.626568387,710,698.626568387,656,935,804.626568387,836,670,658,677.373431613,0.408407038006,-0.00551195655059,0.0699478473542,0.999999996696,-9.8283868911e-06,-7.22654043425e-05,-3.59137368307e-05,1793256587593090816
+147,2.450000000,POSE1_TO_POSE2_PRESS,795,748,727.794248472,710,699,656,935,805,835.794248472,670,658,677,0.40901786955,-0.00553082936406,0.0699598641748,0.999999998041,-2.59520187332e-05,-4.55354780822e-05,-3.42139992365e-05,1793256587609756928
+148,2.466666667,POSE1_TO_POSE2_PRESS,795,748,727.215502792,710,699,656,935,805,835.215502792,670,658,677,0.409641166104,-0.00553883411578,0.0699674277213,0.999999997246,-5.99063365798e-05,-2.38833735304e-05,-3.67266694894e-05,1793256587626423552
+149,2.483333333,POSE1_TO_POSE2_PRESS,795,748,727,710,698.639426665,656,935,804.639426665,835.360573335,670,658,677.360573335,0.410269918697,-0.00554400662103,0.0699653541714,0.999999996864,-6.41136692729e-05,-2.69471855701e-05,-3.78899144717e-05,1793256587643090432
+150,2.500000000,POSE1_TO_POSE2_PRESS,795,748,727,710,698.064934338,656,935,804.064934338,835.935065662,670,658,677.935065662,0.410901908198,-0.00554749882615,0.069957563177,0.999999996987,-5.06728707201e-05,-4.46743233626e-05,-3.82525796664e-05,1793256587659757312
+151,2.516666667,POSE1_TO_POSE2_PRESS,795,748,727.520870443,709.479129557,698,656,935,804,836,670,658,677.479129557,0.411600728368,-0.00555855533726,0.0699669282816,0.999999995926,-7.57526325819e-05,-3.00328491363e-05,-3.88311018002e-05,1793256587676423936
+152,2.533333333,POSE1_TO_POSE2_PRESS,795,748,728,709.106658213,698.106658213,656,935,804,835.893341787,670,658,677.106658213,0.41232061625,-0.00556949404352,0.0699829262664,0.999999994143,-0.000100777082407,-4.52648916496e-06,-3.92231118086e-05,1793256587693090560
+153,2.550000000,POSE1_TO_POSE2_PRESS,795,748,728,709.685981945,698.685981945,656,935,804,835.314018055,670,658,677.685981945,0.413096126143,-0.00557563889715,0.0700186299022,0.999999992572,-0.000103802708943,5.08490814554e-05,-3.86666756149e-05,1793256587709757184
+154,2.566666667,POSE1_TO_POSE2_PRESS,795,748,728,709.736064896,699,656,935,804,835,670,658,678,0.413859650208,-0.00557088490888,0.0700385279267,0.999999991324,-9.73925162677e-05,8.00493509122e-05,-3.8196816847e-05,1793256587726423808
+155,2.583333333,POSE1_TO_POSE2_PRESS,795,748,728,709.159733883,699,656,935,804,835,670,658,678,0.414608987842,-0.00555323095641,0.0700397182956,0.999999993036,-7.98140057507e-05,7.82683113789e-05,-3.78294319074e-05,1793256587743090176
+156,2.600000000,POSE1_TO_POSE2_PRESS,795.416339942,748,728,709.416339942,699,656,935,804,835.416339942,670,658,678,0.415338600858,-0.00552274388838,0.0699947615212,0.999999998257,-4.19945743131e-05,4.40216509024e-07,-4.15078504336e-05,1793256587759756800
+157,2.616666667,POSE1_TO_POSE2_PRESS,795.99231512,748,728,709.99231512,699,656,935,804,835.99231512,670,658,678,0.416060650912,-0.00548733628117,0.069932110768,0.999999993225,3.58573623954e-06,-0.000106546237647,-4.67375316089e-05,1793256587776423680
+158,2.633333333,POSE1_TO_POSE2_PRESS,795.415758223,748,727.415758223,710,698.415758223,656,935,804.584241777,836,670,658,678,0.41690556857,-0.00549639092631,0.0699272614415,0.999999992156,-1.73537251699e-05,-0.000114149540079,-4.85393434788e-05,1793256587793090304
+159,2.650000000,POSE1_TO_POSE2_PRESS,795,747.827967702,727,710,698.172032298,656,935,804.827967702,836,670,658,678,0.417761527019,-0.00550738771245,0.0699347108127,0.999999992941,-3.80025322164e-05,-0.000101198723774,-4.93187293251e-05,1793256587809756672
+160,2.666666667,POSE1_TO_POSE2_PRESS,795,747.250435029,727,710,698.749564971,656,935,804.250435029,836,670,658,678,0.418639593475,-0.00552154512546,0.0699693072501,0.999999996375,-5.58459237973e-05,-4.29672524728e-05,-4.77973993159e-05,1793256587826423808
+161,2.683333333,POSE1_TO_POSE2_PRESS,795.325640879,747.325640879,727.325640879,710,699,656,935,804,836,670,658,678,0.419528217638,-0.00553079249756,0.0699998735213,0.999999996583,-6.78707947746e-05,4.4515591719e-06,-4.69945432752e-05,1793256587843090688
+162,2.700000000,POSE1_TO_POSE2_PRESS,795.900601421,747.900601421,727.900601421,710,699,656,935,804,836,670,658,678,0.420424925034,-0.0055362806059,0.0700273541842,0.999999995112,-7.54408446691e-05,4.35918967985e-05,-4.67417708841e-05,1793256587859757312
+163,2.716666667,POSE1_TO_POSE2_PRESS,795.52409215,747.52409215,728,710,699,656.47590785,935,804,836,670,658,678,0.421329695958,-0.00553731073517,0.0700417510324,0.999999994148,-7.60695560912e-05,6.14668672257e-05,-4.62538599367e-05,1793256587876423680
+164,2.733333333,POSE1_TO_POSE2_PRESS,795,747,728,710,699,656.947194343,935,804,836,670,658,678,0.422228800697,-0.00553616300308,0.0700463353531,0.99999999412,-7.43635810467e-05,6.40039198828e-05,-4.61910157651e-05,1793256587893090048
+165,2.750000000,POSE1_TO_POSE2_PRESS,795,747,728,710,699,656.354773619,935,804,836,670,658,678,0.423052779936,-0.00552228165538,0.0699785919977,0.999999995674,-6.36255680059e-05,-4.47752390216e-05,-5.09741087721e-05,1793256587909756672
+166,2.766666667,POSE1_TO_POSE2_PRESS,795,747,728,710,698.768945739,656,935,804,836,670,658,678,0.423893671129,-0.005513995446,0.0699144203159,0.999999986724,-5.86403947312e-05,-0.000141265891628,-5.61943613218e-05,1793256587926423296
+167,2.783333333,POSE1_TO_POSE2_PRESS,795,747,728,710,698.192959956,656,935,804,836,670,658,678,0.424759809612,-0.00551406198928,0.0698555806301,0.999999972066,-6.22434012987e-05,-0.000219411548907,-6.2067232811e-05,1793256587943089920
+168,2.800000000,POSE1_TO_POSE2_PRESS,795,746.618161143,728,710,698.381838857,656,935,804,836,670,658,678,0.425702033828,-0.00552369897934,0.0698774501821,0.999999978798,-7.36661925472e-05,-0.000182033127671,-6.19851691843e-05,1793256587959757056
+169,2.816666667,POSE1_TO_POSE2_PRESS,795,746.043960333,728,710,698.956039667,656,935,804,836,670,658,678,0.426682588298,-0.00553815734834,0.0699399792627,0.999999990565,-8.90284173493e-05,-8.64562305148e-05,-5.89031405267e-05,1793256587976424192
+170,2.833333333,POSE1_TO_POSE2_PRESS,795,746,728,710.545795655,698.454204345,656.545795655,935,804,836,670,658,678,0.427676174767,-0.00554175181709,0.0699981633694,0.99999999416,-9.27990020208e-05,-1.2479968925e-05,-5.39653721048e-05,1793256587993090560
+171,2.850000000,POSE1_TO_POSE2_PRESS,795,745.732799172,727.866399586,711,698.133600414,656.866399586,935,804,836,670,658,678,0.428664263075,-0.00554256596216,0.0700477293864,0.999999992994,-9.28127956875e-05,5.3724966786e-05,-5.01064528316e-05,1793256588009756928
+172,2.866666667,POSE1_TO_POSE2_PRESS,795,744.578703824,727.289351912,711,698.710648088,656.289351912,935,804,836,670,658,678,0.429630515623,-0.00553714120612,0.0700698858529,0.999999990235,-8.35468553366e-05,0.00010007940667,-5.03391255261e-05,1793256588026423552
+173,2.883333333,POSE1_TO_POSE2_PRESS,795,744,727.286966246,711,699,656,935,804,836,670,658,677.713033754,0.430532868112,-0.00553328581742,0.0700516672987,0.999999992962,-7.80246679421e-05,7.26692783336e-05,-5.2037065994e-05,1793256588043090432
+174,2.900000000,POSE1_TO_POSE2_PRESS,795,744,727.862550653,711,699,656,935,804,836,670,658,677.137449347,0.431370952643,-0.00553100883041,0.0699928413043,0.999999995149,-7.62677844351e-05,-2.893004591e-05,-5.52087086946e-05,1793256588059757056
+175,2.916666667,POSE1_TO_POSE2_PRESS,795,744,728,711,698.563401748,656,935,804,836,670.436598252,658,677.436598252,0.432200948451,-0.0055329254541,0.0699320364432,0.999999986537,-8.12639354308e-05,-0.000130009939885,-5.84704381772e-05,1793256588076423424
+176,2.933333333,POSE1_TO_POSE2_PRESS,795,744,728,710.989472038,698,656.010527962,935,804,836,671,658,678,0.433031592453,-0.00553616569943,0.0698728687617,0.999999968442,-8.83316633922e-05,-0.00022696153786,-6.16681325099e-05,1793256588093090304
+177,2.950000000,POSE1_TO_POSE2_PRESS,795,744,728,710.39535467,698,656.60464533,935,804,836,671,658,678,0.434038826134,-0.00553985077042,0.0699388663711,0.99999998849,-9.2796940061e-05,-0.000104104549387,-5.97496146103e-05,1793256588109756928
+178,2.966666667,POSE1_TO_POSE2_PRESS,795,744.193690538,728,710.193690538,698,656.806309462,935,803.806309462,836,671,658,678,0.43501863418,-0.00554323164453,0.0699971351789,0.99999999374,-9.60793345039e-05,-5.97670498879e-07,-5.73383898881e-05,1793256588126423808
+179,2.983333333,POSE1_TO_POSE2_PRESS,795,744.772646924,728,710.772646924,698,656.227353076,935,803.227353076,836,671,658,678,0.435943890642,-0.00554600744755,0.0700400307989,0.999999991765,-9.70088852062e-05,6.44203247648e-05,-5.39471331895e-05,1793256588143090432
+180,3.000000000,POSE1_TO_POSE2_PRESS,795,744.651118332,728,711,698,656,935,803,836,671,658,678,0.436829458015,-0.00554796518585,0.0700506463057,0.999999990308,-9.63432299622e-05,8.52176480576e-05,-5.3299261419e-05,1793256588159757056
+181,3.016666667,POSE1_TO_POSE2_PRESS,795,744.076643484,728,711,698,656,935,803,836,671,658,678,0.437689361652,-0.00554939394859,0.0700403889063,0.999999991043,-9.4646085905e-05,7.74210834861e-05,-5.4425312128e-05,1793256588176423680
+182,3.033333333,POSE1_TO_POSE2_PRESS,795,744,727.490601813,711,698,656,935,803,836,671,658,678,0.438443290188,-0.00554963376029,0.0699819586782,0.999999993468,-9.83766463913e-05,-6.34729665937e-06,-5.78427223104e-05,1793256588193090304
+183,3.050000000,POSE1_TO_POSE2_PRESS,794.904247512,744,727.095752488,711,697.904247512,656,935,802.904247512,836,671,658,678,0.439173553211,-0.00554911436604,0.0699116702462,0.99999998669,-0.00010117821727,-0.000112189328464,-6.16173193126e-05,1793256588209756928
+184,3.066666667,POSE1_TO_POSE2_PRESS,794.32530184,744,727.67469816,711,697.32530184,656,935,802.32530184,836,671,658,678,0.439866725383,-0.00554568750455,0.0698189674324,0.999999956783,-9.50750853591e-05,-0.000270398715467,-6.5414228401e-05,1793256588226423552
+185,3.083333333,POSE1_TO_POSE2_PRESS,794.25293112,744,728,711,697,656,935,802,836,671,658,678,0.440602864734,-0.00554654862524,0.0697712433962,0.999999931816,-9.62501296526e-05,-0.000350172935343,-6.69473569006e-05,1793256588243090432
+186,3.100000000,POSE1_TO_POSE2_PRESS,794.830249972,744,728,711,697,656,935,802,836,671,658,678,0.441394110045,-0.00555290914386,0.0697812052844,0.999999937914,-0.000106759540464,-0.000329352941307,-6.55771561793e-05,1793256588259757568
+187,3.116666667,POSE1_TO_POSE2_PRESS,795,744.405539048,728,711,696.594460952,655.594460952,935,802,836,671,658,678,0.442175755372,-0.00555692897129,0.0698179409912,0.999999954279,-0.00010518518195,-0.000276338293061,-6.33654143336e-05,1793256588276424448
+188,3.133333333,POSE1_TO_POSE2_PRESS,795,744.979982785,728,711,696.020017215,655.020017215,935,802,836,671,658,678,0.442953402427,-0.00555997391481,0.0698658278407,0.999999971261,-9.85780033171e-05,-0.000209914753185,-6.08031750875e-05,1793256588293091072
+189,3.150000000,POSE1_TO_POSE2_PRESS,794.430995381,744.430995381,728,711,696,654.430995381,935,801.430995381,836,671,658,678,0.443618124579,-0.00555798263836,0.0698474253294,0.999999962046,-0.000104444432039,-0.000247457851289,-6.13556872546e-05,1793256588309757440
+190,3.166666667,POSE1_TO_POSE2_PRESS,794,744.155818628,728,711,695.844181372,654,935,801,836,671,657.844181372,678,0.444271565103,-0.00555680044471,0.0698165138273,0.999999946439,-0.000109781286796,-0.000301881858488,-6.27456678266e-05,1793256588326423808
+191,3.183333333,POSE1_TO_POSE2_PRESS,794,744.735200482,728,711,695.264799518,654,935,801,836,671,657.264799518,678,0.444905421583,-0.00555831185672,0.0697581048396,0.999999914664,-0.000112454401951,-0.000391989827523,-6.61064561253e-05,1793256588343090176
+192,3.200000000,POSE1_TO_POSE2_PRESS,794.31052324,744.68947676,728,711,694.68947676,653.68947676,935,801,836,671,657.31052324,678,0.445513497441,-0.00556170928315,0.0697130395617,0.999999886793,-0.000112783147262,-0.000457272338254,-6.77964066276e-05,1793256588359756544
+193,3.216666667,POSE1_TO_POSE2_PRESS,794.882429222,744.117570778,728,711,694.117570778,653.117570778,935,801,836,671,657.882429222,678,0.446099872438,-0.00556669426096,0.0696792063468,0.999999865676,-0.000111138520957,-0.000501658031008,-6.80799304919e-05,1793256588376423424
+194,3.233333333,POSE1_TO_POSE2_PRESS,795,744.4690572,728,711.4690572,694,653,935,800.5309428,836,671,658,678,0.446649713369,-0.00557010648577,0.0696612879178,0.999999846825,-0.000122045057884,-0.000535530371537,-6.82866983277e-05,1793256588393090816
+195,3.250000000,POSE1_TO_POSE2_PRESS,795,745,728,712,693.94168195,653,935,800,836,671,657.94168195,678,0.447188024654,-0.00557301818519,0.0696464569711,0.999999827786,-0.000133697074292,-0.000567341925489,-6.8381527069e-05,1793256588409757696
+196,3.266666667,POSE1_TO_POSE2_PRESS,795,745,728,712,693.362923187,653,935,800,836,671,657.362923187,678,0.447707813615,-0.00557509515648,0.0696224263283,0.999999807107,-0.000123016755076,-0.000605041751096,-6.76546488301e-05,1793256588426424064
+197,3.283333333,POSE1_TO_POSE2_PRESS,795,745,728,711.784062071,692.784062071,652.784062071,935,799.784062071,836,671,657,678,0.448232468993,-0.00557871970863,0.0696109017773,0.999999796559,-0.000121000454601,-0.000622662058026,-6.73195982517e-05,1793256588443090688
+198,3.300000000,POSE1_TO_POSE2_PRESS,795,745,728,711.20502891,692.20502891,652.20502891,935,799.20502891,836,671,657,678,0.448765307101,-0.00558494648626,0.0696204059673,0.999999804861,-0.000133552526562,-0.000606519060365,-6.76433981038e-05,1793256588459756800
+199,3.316666667,POSE1_TO_POSE2_PRESS,794.628883246,744.628883246,728,711,692,652,935,799,836,671,657,678,0.449260712975,-0.00558806111402,0.0696327066228,0.999999813387,-0.000145141650097,-0.000589625952092,-6.7092484743e-05,1793256588476423168
+200,3.333333333,POSE1_TO_POSE2_PRESS,794.054320452,744.054320452,728,711,692,652,935,799,836,671,657,678,0.449735598566,-0.00558946966318,0.0696465403002,0.999999821842,-0.000156202886871,-0.000572321631905,-6.60620540063e-05,1793256588493089792
+201,3.350000000,POSE1_TO_POSE2_PRESS,794,744.531404307,728,711,691.468595693,651.468595693,935,798.468595693,836,671,657,678,0.450125522933,-0.00558945989334,0.0696324667071,0.999999809076,-0.000156104215995,-0.000594177752351,-6.65714193829e-05,1793256588509756672
+202,3.366666667,POSE1_TO_POSE2_PRESS,794,745,728,711.117256583,690.882743417,651,935,797.882743417,836,671,657,678,0.450496563423,-0.00558840540227,0.0696104336451,0.99999978912,-0.000152474374166,-0.000627661784248,-6.74733893306e-05,1793256588526423808
+203,3.383333333,POSE1_TO_POSE2_PRESS,794,745,728,711.69899745,690.30100255,651,935,797.30100255,836,671,657,678,0.450827940847,-0.005583799126,0.069568413758,0.999999749126,-0.000139472485516,-0.000691009884732,-6.92936941036e-05,1793256588543090688
+204,3.400000000,POSE1_TO_POSE2_PRESS,794,744.722337888,728,711.722337888,690,651,935,797,836.277662112,671.277662112,657,678,0.451153075908,-0.0055797535252,0.0695347806891,0.999999715929,-0.000132757740669,-0.000738483627853,-7.18250312778e-05,1793256588559757312
+205,3.416666667,POSE1_TO_POSE2_PRESS,794,744.146971512,728,711.146971512,690,651,935,797,836.853028488,671.853028488,657,678,0.451471517999,-0.0055763090707,0.0695101398165,0.999999692731,-0.000132783958157,-0.000768937171953,-7.51187245327e-05,1793256588576424192
+206,3.433333333,POSE1_TO_POSE2_PRESS,794.428416979,744.428416979,728,711,689.571583021,650.571583021,935,797,836.571583021,672,657,678,0.451772517212,-0.00557411635517,0.069499625637,0.999999685652,-0.000138060989618,-0.000776843417567,-7.84237925935e-05,1793256588593090560
+207,3.450000000,POSE1_TO_POSE2_PRESS,794.996080933,744.996080933,728,711,689,650,935,797,836,672,657,678,0.45206727142,-0.00557240717162,0.0694940194931,0.999999684273,-0.000145212995163,-0.000776976447188,-8.16969537659e-05,1793256588609756928
+208,3.466666667,POSE1_TO_POSE2_PRESS,794.404686125,744.404686125,728,711,689,650,935,797,836,672,657,678,0.452322933553,-0.00557880644861,0.0694976356317,0.999999685922,-0.000163390570028,-0.000771442494705,-7.96022400971e-05,1793256588626423552
+209,3.483333333,POSE1_TO_POSE2_PRESS,794,744.182716225,728,711.182716225,688.817283775,650,935,796.817283775,836,671.817283775,657,678,0.452566434076,-0.00558399980211,0.0695004632605,0.99999968777,-0.000167526545563,-0.000768733921018,-7.3782771084e-05,1793256588643090176
+210,3.500000000,POSE1_TO_POSE2_PRESS,794,744.761464954,728,711.761464954,688.238535046,650,935,796.238535046,836,671.238535046,657,678,0.452783574605,-0.00558657934808,0.069501581815,0.999999690127,-0.000141227729835,-0.000772149280664,-5.9889995317e-05,1793256588659757056
+211,3.516666667,POSE1_TO_POSE2_PRESS,794,744.662489273,728,712,688,650,935,796,836,671.337510727,657,678,0.452982250799,-0.00558688606102,0.0694993644645,0.999999687827,-0.000129948066288,-0.000777380332005,-5.60356555055e-05,1793256588676423936
+212,3.533333333,POSE1_TO_POSE2_PRESS,794,744.088338572,728,712,688,650,935,796,836,671.911661428,657,678,0.453167981055,-0.00558559921556,0.0694948082005,0.999999682663,-0.000129198826185,-0.000783884425713,-5.92195949168e-05,1793256588693090816
+213,3.550000000,POSE1_TO_POSE2_PRESS,794.486856622,744,728,711.513143378,687.513143378,649.513143378,935,796,836,671.513143378,657,678,0.453328551047,-0.00558859014711,0.0694952058147,0.999999683689,-0.000134543310937,-0.000781563905644,-6.0642892873e-05,1793256588709757440
+214,3.566666667,POSE1_TO_POSE2_PRESS,794.935933531,744.064066469,728,711.064066469,687,649.064066469,935,796,836,671.064066469,657,678,0.453481244444,-0.00559215706932,0.0694969442713,0.999999685916,-0.000140560528921,-0.000777561868833,-6.17124657234e-05,1793256588726424064
+215,3.583333333,POSE1_TO_POSE2_PRESS,794.343679665,744.656320335,728,711.656320335,687,649.656320335,935,796,836,671.656320335,657,678,0.453606718913,-0.00559405972772,0.069502310617,0.999999689116,-0.000142988724048,-0.000772926033694,-6.25052303566e-05,1793256588743090432
+216,3.600000000,POSE1_TO_POSE2_PRESS,794,745,728,712,687,649.757919976,935,796,836,672,656.757919976,678,0.453721049863,-0.00559567234164,0.069506126164,0.999999691493,-0.000145256563304,-0.000769376052469,-6.30509238896e-05,1793256588759757312
+217,3.616666667,POSE1_TO_POSE2_PRESS,794,745,728,712,687,649.181139199,935,796,836,672,656.181139199,678,0.453819973738,-0.00559688393888,0.0695077975705,0.999999692755,-0.000147302693786,-0.000767327377257,-6.32550159419e-05,1793256588776423680
+218,3.633333333,POSE1_TO_POSE2_PRESS,794.394127519,745,728,711.605872481,687,649,935,796,836,672,656,678,0.453902989515,-0.00559885249113,0.069506852964,0.999999690947,-0.000150386943541,-0.00076905405455,-6.36109015328e-05,1793256588793090304
+219,3.650000000,POSE1_TO_POSE2_PRESS,794.968701028,745,728,711.031298972,687,649,935,796,836,672,656,678,0.453978721982,-0.00560116760503,0.0695047106511,0.999999687715,-0.000153946482203,-0.000772509226322,-6.403628375e-05,1793256588809757184
+220,3.666666667,POSE1_TO_POSE2_PRESS,794.442348986,745,728,711.557651014,687,649,935,796,836,672,656.557651014,678,0.454030368711,-0.00559933774797,0.0695016125191,0.999999684535,-0.000153576217617,-0.000776645376026,-6.45442088056e-05,1793256588826424064
+221,3.683333333,POSE1_TO_POSE2_PRESS,794.144784668,744.855215332,728,711.855215332,687,649,935,795.855215332,836,672,656.855215332,678,0.454077321195,-0.00559808571516,0.0694989800374,0.999999681007,-0.000153877502718,-0.000781085329992,-6.49059680767e-05,1793256588843090688
+222,3.700000000,POSE1_TO_POSE2_PRESS,794.723983357,744.276016643,728,711.276016643,687,649,935,795.276016643,836,672,656.276016643,678,0.454114352425,-0.00559928389053,0.0694979099223,0.999999676446,-0.000156873017211,-0.000786319108744,-6.48149010371e-05,1793256588859757312
+223,3.716666667,POSE1_TO_POSE2_PRESS,794.699022205,744.300977795,728,711,687,649,935,795,836,671.699022205,656.300977795,678,0.454145620349,-0.00560000133078,0.0694959664971,0.999999673084,-0.000158354899714,-0.000790303740709,-6.46140115077e-05,1793256588876423936
+224,3.733333333,POSE1_TO_POSE2_PRESS,794.124034448,744.875965552,728,711,687,649,935,795,836,671.124034448,656.875965552,678,0.454171641369,-0.00560028111025,0.0694932280107,0.999999670833,-0.000158458773123,-0.000793151150979,-6.43131396561e-05,1793256588893090304
+225,3.750000000,POSE1_TO_POSE2_PRESS,794,745,728,711,687,649,935,795.45034797,836.45034797,671.45034797,657,678,0.45418838356,-0.00559978764042,0.0694896977432,0.999999666939,-0.000157744760316,-0.000798170735498,-6.45065713796e-05,1793256588909756928
+226,3.766666667,POSE1_TO_POSE2_PRESS,794,744.97466982,728,711,687,649,935,795.97466982,837,672,657,678,0.454202316446,-0.00559905030468,0.0694860429486,0.999999662662,-0.000156846161893,-0.000803661618648,-6.48311583679e-05,1793256588926423552
+227,3.783333333,POSE1_TO_POSE2_PRESS,794,744.382539908,728,711,687,649,935,795.382539908,837,672,657,678,0.45421049485,-0.0055976151776,0.0694844747941,0.999999660499,-0.000156850978579,-0.000806329571183,-6.5048279599e-05,1793256588943090176
+228,3.800000000,POSE1_TO_POSE2_PRESS,794,744,728,711.204870709,686.795129291,649,935,795,836.795129291,671.795129291,656.795129291,678,0.454216703038,-0.0055972133361,0.0694824448212,0.999999657946,-0.00015744684783,-0.000809373493031,-6.50579881563e-05,1793256588959756800
+229,3.816666667,POSE1_TO_POSE2_PRESS,794,744,728,711.783667721,686.216332279,649,935,795,836.216332279,671.216332279,656.216332279,678,0.454219315228,-0.0055986974288,0.0694795719459,0.999999654679,-0.000159121495504,-0.000813103627088,-6.46891308496e-05,1793256588976423680
+230,3.833333333,POSE1_TO_POSE2_PRESS,794.359401857,744,728,711.640598143,686.359401857,649,935,795,836,671.359401857,656,678,0.454221862787,-0.00559961092917,0.0694775802293,0.999999652342,-0.000160567825953,-0.000815714648743,-6.43626863176e-05,1793256588993090304
+231,3.850000000,POSE1_TO_POSE2_PRESS,794.933307937,744,728,711.066692063,686.933307937,649,935,795,836,671.933307937,656,678,0.454224371772,-0.00560018387902,0.0694761144207,0.999999650564,-0.000161877888242,-0.000817657742901,-6.40615552999e-05,1793256589009757184
+232,3.866666667,POSE1_TO_POSE2_PRESS,794.480097377,744,728,711,686.480097377,649,935.519902623,795,836,671.480097377,656,678,0.454224720928,-0.00559871447828,0.0694755185256,0.999999649486,-0.000160315244252,-0.000819291360487,-6.39424165155e-05,1793256589026423808
+233,3.883333333,POSE1_TO_POSE2_PRESS,794,744,728,711.106404928,686,648.893595072,935.893595072,795,836,671.106404928,656,678,0.454225052975,-0.00559727571083,0.0694752703728,0.999999648837,-0.000158374511247,-0.00082047667116,-6.37370411532e-05,1793256589043090432
+234,3.900000000,POSE1_TO_POSE2_PRESS,794,744,728,711.685091826,686,648.314908174,935.314908174,795,836,671.685091826,656,678,0.454226569583,-0.00559716484652,0.0694760579961,0.999999649698,-0.00015643215696,-0.000819852769109,-6.30426893368e-05,1793256589059756800
+235,3.916666667,POSE1_TO_POSE2_PRESS,794,744,728,711.735861571,686,648.264138429,935,795,836,672,656.264138429,678,0.454226640105,-0.00559752997606,0.0694755901997,0.99999964902,-0.00015576630895,-0.000820827524121,-6.27571328492e-05,1793256589076423168
+236,3.933333333,POSE1_TO_POSE2_PRESS,794,744,728,711.156385463,686,648.843614537,935,795,836,672,656.843614537,678,0.454224984239,-0.00559846336367,0.0694736236397,0.999999646503,-0.000156624398454,-0.000823710811676,-6.29596104089e-05,1793256589093090048
+237,3.950000000,POSE1_TO_POSE2_PRESS,794,744,728,711.419564301,686,648.580435699,935,795,836,672,656.580435699,678,0.454224278344,-0.00559828597994,0.0694716693884,0.999999644319,-0.000159164166162,-0.000825839815516,-6.33774273475e-05,1793256589109756928
+238,3.966666667,POSE1_TO_POSE2_PRESS,794,744,728,711.994210599,686,648.005789401,935,795,836,672,656.005789401,678,0.454223923583,-0.00559769802585,0.0694697196869,0.99999964225,-0.000162325526298,-0.000827690016082,-6.38748393703e-05,1793256589126423808
+239,3.983333333,POSE1_TO_POSE2_PRESS,794,744,728,711.41944485,686,648.58055515,935,795,836.58055515,672,656.58055515,678,0.454224522327,-0.00559827921265,0.069471037443,0.99999964288,-0.000161968572438,-0.000827015915837,-6.36495031944e-05,1793256589143090688
+240,4.000000000,POSE1_TO_POSE2_PRESS,794,744.165736188,728,711,686.165736188,649,935,795,836.834263812,672,656.834263812,678,0.454225198754,-0.00559840776616,0.0694717733529,0.999999643416,-0.000161208953803,-0.000826534845418,-6.34066743883e-05,1793256589159757312
+241,4.016666667,POSE1_TO_POSE2_PRESS,794,744.747696198,728,711,686.747696198,649,935,795,836.252303802,672,656.252303802,678,0.454226045896,-0.00559736971107,0.0694709645228,0.999999643646,-0.000159528021377,-0.000826603061166,-6.31383878055e-05,1793256589176423680
+242,4.033333333,POSE1_TO_POSE2_PRESS,794,745,728,711,686.674195065,649,935,795,836,672,656,678,0.454225829719,-0.00559702631489,0.0694699189999,0.999999642929,-0.000158201441241,-0.00082774306746,-6.28974705725e-05,1793256589193090304
+243,4.050000000,POSE1_TO_POSE2_PRESS,794,745,728,711,686.099033943,649,935,795,836,672,656,678,0.454224799724,-0.0055972145789,0.0694686923232,0.999999641484,-0.000157146066211,-0.000829703373189,-6.26775005994e-05,1793256589209756928
+244,4.066666667,POSE1_TO_POSE2_PRESS,794,745,728,711,686,648.52320787,935,795,836,671.52320787,656.47679213,678,0.45422585131,-0.00559651964342,0.0694694253253,0.99999964202,-0.000158273305316,-0.000828844814434,-6.26510412568e-05,1793256589226423552
+245,4.083333333,POSE1_TO_POSE2_PRESS,794,745,728,711.054089133,686,648.054089133,935,795,836,671.054089133,656.945910867,678,0.45422713561,-0.00559576692189,0.069470438745,0.999999642849,-0.000159560711198,-0.000827597416098,-6.26496559033e-05,1793256589243090176
+246,4.100000000,POSE1_TO_POSE2_PRESS,794,745,728,711.644601852,686,648.644601852,935,795,836,671.644601852,656.355398148,678,0.454226433921,-0.0055962629851,0.0694701907355,0.999999642528,-0.000157934238697,-0.000828308519054,-6.24977639298e-05,1793256589259757056
+247,4.116666667,HOLD_POSE2,794,745,728,712,686,649,935,795,836,672,657,678,0.454225425808,-0.0055940193244,0.0694686522162,0.999999641431,-0.000155637192543,-0.00083001816108,-6.31271344075e-05,1793256589298635520
+248,4.133333333,HOLD_POSE2,794,745,728,712,686,648.426321134,935,795,836.573678866,672,657,678,0.454225513779,-0.00559690363783,0.0694686928011,0.999999640323,-0.000158086914255,-0.000830959046516,-6.22027581638e-05,1793256589315302144
+249,4.150000000,HOLD_POSE2,794,745,728,712,686,648,935,795,836.852510262,672,656.852510262,678,0.454225694412,-0.00559863766516,0.0694685684452,0.999999639483,-0.0001593937922,-0.000831765357446,-6.16019799086e-05,1793256589331968768
+250,4.166666667,HOLD_POSE2,794,745,728,712,686,648,935,795,836.278317351,672,656.278317351,678,0.454226143125,-0.00559704379565,0.0694679668985,0.999999639432,-0.000157394304666,-0.000832182330533,-6.19374041252e-05,1793256589348635136
+251,4.183333333,HOLD_POSE2,794,744.693621891,728,712,686,648.306378109,935,795,836.306378109,671.693621891,656,678,0.454226192286,-0.00559536838114,0.0694677504678,0.999999639754,-0.000156448898822,-0.00083194835199,-6.22631633479e-05,1793256589365301760
+252,4.200000000,HOLD_POSE2,794,744.099047174,728,712,686,648.900952826,935,795,836.900952826,671.099047174,656,678,0.454225865604,-0.00559361626087,0.0694678962988,0.999999640431,-0.00015649502206,-0.000831102051439,-6.25798311101e-05,1793256589381968384
+253,4.216666667,HOLD_POSE2,794,744.480679841,728,711.519320159,686,649,935,795,837,671,656.480679841,678,0.45422629643,-0.00559506756649,0.0694679128373,0.99999964023,-0.000155718940244,-0.000831530691608,-6.20314895513e-05,1793256589398635520
+254,4.233333333,HOLD_POSE2,794,744.942937865,728,711,686,649,935,795,836.942937865,671.057062135,657,678,0.454226729785,-0.00559696116338,0.0694677995046,0.999999639765,-0.0001550016913,-0.000832268367627,-6.14230461797e-05,1793256589415302400
+255,4.250000000,HOLD_POSE2,794,744.369963452,728,711,686,649,935,795,836.369963452,671.630036548,657,678,0.454225817048,-0.00559706444377,0.0694667456309,0.999999638515,-0.000156302239251,-0.000833496058778,-6.18344382079e-05,1793256589431969024
+256,4.266666667,HOLD_POSE2,794,744.209562273,728,711.209562273,686,648.790437727,935,795,836,671.790437727,656.790437727,678,0.454225272295,-0.00559696368878,0.0694660863628,0.999999637852,-0.000156776587147,-0.00083417498906,-6.2204896363e-05,1793256589448635904
+257,4.283333333,HOLD_POSE2,794,744.80102692,728,711.80102692,686,648.19897308,935,795,836,671.19897308,656.19897308,678,0.454225398151,-0.00559649110352,0.0694661462166,0.999999638262,-0.000155745283339,-0.000833853867647,-6.25007573474e-05,1793256589465302528
+258,4.300000000,HOLD_POSE2,794,745,728,711.615833599,686,648.384166401,935,795,836,671.384166401,656.384166401,678,0.454225178931,-0.00559592889084,0.0694657666707,0.999999637449,-0.000155443638828,-0.000834891659829,-6.24176100782e-05,1793256589481968896
+259,4.316666667,HOLD_POSE2,794,745,728,711.036914498,686,648.963085502,935,795,836,671.963085502,656.963085502,678,0.454224784774,-0.00559532124161,0.0694651643715,0.999999636012,-0.000155511894137,-0.000836618351614,-6.2142325052e-05,1793256589498635264
+260,4.333333333,HOLD_POSE2,794,744.459899397,728,711,686,648.459899397,935,795,836,672,657,678,0.454226580748,-0.00559609188541,0.0694663913905,0.999999637906,-0.000156614625444,-0.000834188573213,-6.15638840521e-05,1793256589515301632
+261,4.350000000,HOLD_POSE2,794,744,728.118583111,711.118583111,686,648.118583111,935,795,836.118583111,672,656.881416889,678,0.454227900672,-0.00559669907638,0.0694672571729,0.999999639207,-0.000157619020378,-0.000832460795254,-6.1241801758e-05,1793256589531968256
+262,4.366666667,HOLD_POSE2,794,744,728.703344303,711.703344303,686,648.703344303,935,795,836.703344303,672,656.296655697,678,0.454226762739,-0.00559629466371,0.0694662130576,0.999999637318,-0.000157959855461,-0.000834605623519,-6.20086944091e-05,1793256589548635136
+263,4.383333333,HOLD_POSE2,794,744.285317227,728.714682773,711.714682773,686,649,935,795,836.714682773,671.714682773,656,678,0.454226465681,-0.00559572568571,0.069465989565,0.999999637107,-0.000157280169073,-0.00083496110132,-6.23602207948e-05,1793256589565302016
+264,4.400000000,HOLD_POSE2,794,744.8644191,728.1355809,711.1355809,686,649,935,795,836.1355809,671.1355809,656,678,0.454227034451,-0.00559498725857,0.0694666110489,0.999999638623,-0.000155549674966,-0.0008334741256,-6.22840539571e-05,1793256589581968896
+265,4.416666667,POSE2_TO_POSE3_RETREAT,794,744,728,711,686,648,935,795,837,671,657,678,0.454224015107,-0.00559730230651,0.0694632791211,0.999999633569,-0.000160187617416,-0.000838669913554,-6.19296604593e-05,1793256589614721024
+266,4.433333333,POSE2_TO_POSE3_RETREAT,794,744.575235306,728,711.575235306,686,648,935,795,836.424764694,671.575235306,656.424764694,678,0.454226003561,-0.00559596904725,0.0694650201742,0.999999636044,-0.000157568593085,-0.000836228563597,-6.16852581816e-05,1793256589631387392
+267,4.450000000,POSE2_TO_POSE3_RETREAT,794,745,728,712,686,648,935,795,836,671.846086111,656,678,0.454227746706,-0.00559460141909,0.0694663690653,0.999999638117,-0.000155304729769,-0.00083417543586,-6.1621031104e-05,1793256589648054016
+268,4.466666667,POSE2_TO_POSE3_RETREAT,794,745,728,712,686,648,935,795,836,671.257687342,656,678,0.454228797364,-0.00559313677035,0.0694666109194,0.999999639083,-0.000154043453035,-0.000833218223539,-6.2065422143e-05,1793256589664720384
+269,4.483333333,POSE2_TO_POSE3_RETREAT,794,745,728,711.672638251,686,648,935,795,836,671.327361749,656,678,0.454228207953,-0.0055938849733,0.0694661515935,0.999999638396,-0.000154699413761,-0.000833918640075,-6.20990584331e-05,1793256589681387008
+270,4.500000000,POSE2_TO_POSE3_RETREAT,794,745,728,711.090199235,686,648,935,795,836,671.909800765,656,678,0.454226340614,-0.00559635741002,0.0694651459147,0.999999636415,-0.000156849268371,-0.000835910665833,-6.18126383702e-05,1793256589698053888
+271,4.516666667,POSE2_TO_POSE3_RETREAT,794.484072216,745,727.515927784,711,686,648.484072216,935,795,836,671.515927784,656.484072216,678,0.454226601338,-0.00559558932681,0.0694651791542,0.999999636894,-0.000156286630005,-0.000835417673428,-6.2166170127e-05,1793256589714720768
+272,4.533333333,POSE2_TO_POSE3_RETREAT,794.942953127,745,727.057046873,711,686,649,935,795,836,671,656.942953127,678,0.45422701166,-0.00559430342337,0.0694653329827,0.999999637646,-0.00015518368066,-0.000834694057619,-6.25516376312e-05,1793256589731387392
+273,4.550000000,POSE2_TO_POSE3_RETREAT,794.368164654,745,727.631835346,711,686,649,935,795,836,671,656.368164654,678,0.4542252406,-0.00559370709924,0.0694648534616,0.999999636801,-0.000153688051503,-0.000836010096783,-6.21626682253e-05,1793256589748054016
+274,4.566666667,POSE2_TO_POSE3_RETREAT,794,745,728,711,686,648.786536187,935,795,836,671.213463813,656.213463813,678,0.454220085102,-0.00559347191306,0.069462591744,0.999999634058,-0.0001531139155,-0.000839403901509,-6.19794125116e-05,1793256589764720128
+275,4.583333333,POSE2_TO_POSE3_RETREAT,794,745,728,711,686,648.192720206,935,795,836,671.807279794,656.807279794,678,0.454208899175,-0.00559388020651,0.0694571544889,0.999999627901,-0.000154181706287,-0.000846499891594,-6.21626997569e-05,1793256589781386752
+276,4.600000000,POSE2_TO_POSE3_RETREAT,794,745,728,711,686,648.388359613,935,795,836,672,656.611640387,678,0.454183353624,-0.00559310941795,0.0694467231147,0.999999614339,-0.000153778911852,-0.000862415029182,-6.25559660295e-05,1793256589798053376
+277,4.616666667,POSE2_TO_POSE3_RETREAT,794,745,728,711,686,648.963319957,935,795,836,672,656.036680043,678,0.454150908498,-0.00559177209892,0.0694338921439,0.999999596895,-0.000152669524219,-0.000882567629811,-6.30501239426e-05,1793256589814720000
+278,4.633333333,POSE2_TO_POSE3_RETREAT,794,745,728,711.539524273,686,648.460475727,935,795,835.460475727,672,656.539524273,677.460475727,0.454098113689,-0.00559054267276,0.0694189223059,0.99999958117,-0.0001525353662,-0.000900190981754,-6.36264012468e-05,1793256589831386624
+279,4.650000000,POSE2_TO_POSE3_RETREAT,794,744.881595179,727.881595179,712,686,648,935,795,835.236809643,671.881595179,656.881595179,677.118404821,0.454040060825,-0.00558927465936,0.0694040169674,0.99999956472,-0.000152190177174,-0.000918316334965,-6.39832150531e-05,1793256589848053248
+280,4.666666667,POSE2_TO_POSE3_RETREAT,794,744.292410752,727.292410752,712,686,648,935,795,836.415178496,671.292410752,656.292410752,677.707589248,0.453966615324,-0.00558782398982,0.0693899475756,0.99999954565,-0.00015074169876,-0.000939122928801,-6.34451891927e-05,1793256589864720384
+281,4.683333333,POSE2_TO_POSE3_RETREAT,794,744.291935732,727,711.708064268,686,648,935,795,836.708064268,671,656,678,0.453883493171,-0.00558622461074,0.0693788649844,0.999999529867,-0.000149592927141,-0.000956014692351,-6.26462452858e-05,1793256589881387264
+282,4.700000000,POSE2_TO_POSE3_RETREAT,794,744.871515363,727,711.128484637,686,648,935,795,836.128484637,671,656,678,0.45379083663,-0.00558447870845,0.0693707252847,0.999999517513,-0.000148739456356,-0.000969049177627,-6.15902192105e-05,1793256589898053632
+283,4.716666667,POSE2_TO_POSE3_RETREAT,794,744.55183311,727.44816689,711,686,648,935,795,836,671,656,678,0.453671961782,-0.00558172954508,0.069356742986,0.999999495253,-0.000146462002327,-0.0009921627949,-6.04577999633e-05,1793256589914720256
+284,4.733333333,POSE2_TO_POSE3_RETREAT,794.023903827,744,728,711.023903827,686,648,935,795,836,671.023903827,656,678,0.453544372331,-0.00557869654858,0.0693408540324,0.999999469181,-0.000143778507941,-0.00101855258982,-5.92943569067e-05,1793256589931386880
+285,4.750000000,POSE2_TO_POSE3_RETREAT,794.597786909,744,728,711.597786909,686,648,935,795,836,671.597786909,656,678,0.453388094495,-0.00557570781966,0.0693193852375,0.999999432629,-0.000141084670595,-0.00105426881918,-5.79177480956e-05,1793256589948053760
+286,4.766666667,POSE2_TO_POSE3_RETREAT,795,744.176841984,727.823158016,711.823158016,686.176841984,648.176841984,935,795.176841984,836,671.823158016,656,678,0.453221558958,-0.00557193033361,0.0692963610454,0.999999391819,-0.00013818277358,-0.00109272879143,-5.66612479432e-05,1793256589964720640
+287,4.783333333,POSE2_TO_POSE3_RETREAT,795,744.76801466,727.23198534,711.23198534,686.76801466,648.76801466,935,795.76801466,836,671.23198534,656,678,0.45303099023,-0.00556630483497,0.0692696926497,0.999999342278,-0.00013479340517,-0.00113761719324,-5.5686155801e-05,1793256589981387008
+288,4.800000000,POSE2_TO_POSE3_RETREAT,794.648684824,745,727.351315176,711,687,649,935,796,836,671.351315176,656.351315176,678,0.452816052592,-0.00556116272575,0.0692411803024,0.999999289847,-0.000130277773832,-0.00118338549566,-5.41444543323e-05,1793256589998053888
+289,4.816666667,POSE2_TO_POSE3_RETREAT,794.070468577,745,727.929531423,711,687,649,935,796,836,671.929531423,656.929531423,678,0.452585375984,-0.00555633281875,0.0692114770145,0.99999923471,-0.000125034731788,-0.00122972209575,-5.22368013723e-05,1793256590014720768
+290,4.833333333,POSE2_TO_POSE3_RETREAT,794,744.493866082,728,711.506133918,687,649,935,795.493866082,836,672,657,678,0.452320210409,-0.00554869171708,0.0691825440967,0.999999182028,-0.00011593111304,-0.00127279057959,-5.00694850439e-05,1793256590031387392
+291,4.850000000,POSE2_TO_POSE3_RETREAT,794,744.082228447,727.917771553,711.917771553,687,649,935,795.082228447,836,672,656.917771553,678,0.45205012665,-0.00554129795041,0.0691573299811,0.999999134663,-0.000106391825566,-0.00131038073847,-4.74927497203e-05,1793256590048054016
+292,4.866666667,POSE2_TO_POSE3_RETREAT,794,744.656623383,727.343376617,711.343376617,687,649,935,795.656623383,836,672,656.343376617,678,0.451779255247,-0.00553771979164,0.0691537342705,0.999999125915,-9.74518344711e-05,-0.00131789598641,-4.26811947222e-05,1793256590064720384
+293,4.883333333,POSE2_TO_POSE3_RETREAT,793.762127595,744.762127595,727.237872405,711,687.237872405,649,935,796,836,672,656.237872405,678,0.451492698226,-0.00553327637034,0.0691501842633,0.999999117402,-8.81875247811e-05,-0.0013251332822,-3.79482227042e-05,1793256590081386496
+294,4.900000000,POSE2_TO_POSE3_RETREAT,793.170690961,744.170690961,727.829309039,711,687.829309039,649,935,796,836,672,656.829309039,678,0.451182826733,-0.00552754685691,0.0691467021878,0.999999109312,-7.84411611748e-05,-0.00133195744043,-3.33320536435e-05,1793256590098053120
+295,4.916666667,POSE2_TO_POSE3_RETREAT,793.412049409,744.412049409,727.587950591,711,688,649.412049409,935,796,836,672,657,678,0.450836026933,-0.0055220224665,0.069144366095,0.999999099796,-6.80007413904e-05,-0.00133977884854,-2.78491546271e-05,1793256590114720000
+296,4.933333333,POSE2_TO_POSE3_RETREAT,793.991261805,744.991261805,727.008738195,711,688,649.991261805,935,796,836,672,657,678,0.450474245815,-0.0055165812919,0.0691424949124,0.999999089558,-5.7278752434e-05,-0.00134800482733,-2.2014634855e-05,1793256590131386880
+297,4.950000000,POSE2_TO_POSE3_RETREAT,794,744.435145151,727.564854849,711.564854849,688.564854849,650.564854849,935,796.564854849,836,671.435145151,657,678,0.450085618157,-0.00550937904807,0.0691555262384,0.999999109263,-4.09801915387e-05,-0.00133400461589,-1.50065038054e-05,1793256590148053760
+298,4.966666667,POSE2_TO_POSE3_RETREAT,794,744.142050795,728,711.857949205,689.142050795,651,935,797.142050795,836,671,657,678,0.449693098431,-0.00550237883114,0.0691703182733,0.999999132776,-1.44345262641e-05,-0.00131687932473,-8.23896433085e-06,1793256590164720640
+299,4.983333333,POSE2_TO_POSE3_RETREAT,794,744.730848381,728,711.269151619,689.730848381,651,935,797.730848381,836,671,657,678,0.449289631585,-0.00549609882198,0.0691899298005,0.99999916569,4.40694257946e-05,-0.00129099642597,-2.28461804064e-06,1793256590181387264
+300,5.000000000,POSE2_TO_POSE3_RETREAT,794,745,727.685555372,711,690.314444628,651,935,798,836,671,657,678,0.448863995685,-0.0054894616231,0.0692152941842,0.999999212711,7.81620567516e-05,-0.00125238025931,3.54440198308e-06,1793256590198053888
+301,5.016666667,POSE2_TO_POSE3_RETREAT,794,745,727.106338749,711,690.893661251,651,935,798,836,671,657,678,0.448419692718,-0.00548252365885,0.0692455026512,0.999999272097,9.16996150302e-05,-0.00120304228941,9.26789410739e-06,1793256590214720256
+302,5.033333333,POSE2_TO_POSE3_RETREAT,794,745,727.47068216,711,691,651.47068216,935,798.47068216,836,671,657,678,0.447924162302,-0.00547381363923,0.0692684947418,0.999999314446,9.55661988928e-05,-0.00116697307563,1.21671394421e-05,1793256590231387136
+303,5.050000000,POSE2_TO_POSE3_RETREAT,794.046969363,744.953030637,728,711.046969363,691.046969363,652,935,799,836,671.046969363,657,678,0.447410878352,-0.00546520451236,0.0692882988274,0.999999349952,9.30956195693e-05,-0.00113633795129,1.2804668657e-05,1793256590248053760
+304,5.066666667,POSE2_TO_POSE3_RETREAT,794.620566728,744.379433272,728,711.620566728,691.620566728,652,935,799,836,671.620566728,657,678,0.44682770052,-0.00546219456268,0.0692905534645,0.999999356979,4.39555941853e-05,-0.00113317561044,-4.79562952538e-06,1793256590264720384
+305,5.083333333,POSE2_TO_POSE3_RETREAT,794.799921745,744,728,711.799921745,692,652,935,799.200078255,836,672,657,678,0.446249569587,-0.00545733212555,0.069298595668,0.999999373699,2.44465179533e-05,-0.00111883150034,-1.48438770738e-05,1793256590281387264
+306,5.100000000,POSE2_TO_POSE3_RETREAT,794.208852862,744,728,711.208852862,692,652,935,799.791147138,836,672,657,678,0.445681301281,-0.00544884957892,0.0693179478674,0.999999411923,6.28419052201e-05,-0.00108263610833,-1.01339929818e-05,1793256590298054656
+307,5.116666667,POSE2_TO_POSE3_RETREAT,794,744.374195799,728,711,692.374195799,652.374195799,935,800,836,671.625804201,657,678,0.445114632287,-0.00543803933798,0.0693628204644,0.999999491297,9.02415962649e-05,-0.00100459930364,-6.5632466321e-06,1793256590314721024
+308,5.133333333,POSE2_TO_POSE3_RETREAT,794,744.952861981,728,711,692.952861981,652.952861981,935,800,836,671.047138019,657,678,0.444548837217,-0.00542595718418,0.0694216380743,0.999999585426,0.000111632948988,-0.000903699248764,-3.61495507958e-06,1793256590331387392
+309,5.150000000,POSE2_TO_POSE3_RETREAT,794,744.470894357,728,711,693.529105643,653,935,800.529105643,836,671,657.529105643,678,0.443911728966,-0.00541915526073,0.0694727683476,0.999999660301,0.000106294542954,-0.000817373109556,-6.84366644447e-07,1793256590348053760
+310,5.166666667,POSE2_TO_POSE3_RETREAT,794,744,727.895390871,711,694.104609129,653.104609129,935,800.895390871,836,671,658,678,0.443256578467,-0.00541322300912,0.0695217953853,0.99999972218,0.000104769429643,-0.000738008784334,2.57844809854e-06,1793256590364720384
+311,5.183333333,POSE2_TO_POSE3_RETREAT,794,744,727.322240524,711,694.677759476,653.677759476,935,800.322240524,836,671,658,678,0.442548943968,-0.00540908861879,0.0695644555866,0.999999757447,0.00013094135009,-0.000684037317719,7.33632574502e-06,1793256590381387008
+312,5.200000000,POSE2_TO_POSE3_RETREAT,794.259622274,744,727.259622274,711.259622274,695,654,935,800.259622274,836,671,658,677.740377726,0.441844132151,-0.0054087795175,0.0696045000972,0.99999979373,0.000140850364502,-0.000626562138365,1.10148241852e-05,1793256590398053376
+313,5.216666667,POSE2_TO_POSE3_RETREAT,794.852674455,744,727.852674455,711.852674455,695,654,935,800.852674455,836,671,658,677.147325545,0.441142945374,-0.00541338319044,0.0696411853122,0.999999832099,0.000129873119103,-0.00056458717419,1.33070889566e-05,1793256590414719744
+314,5.233333333,POSE2_TO_POSE3_RETREAT,795,744.434978248,728,711.565021752,695,654.434978248,935,801.434978248,836,671,658,677,0.440427022769,-0.00541955049647,0.069688622762,0.999999877592,0.000117199787176,-0.000480433097551,1.62665246783e-05,1793256590431386880
+315,5.250000000,POSE2_TO_POSE3_RETREAT,794.986358106,744.986358106,728,710.986358106,695.013641894,655,935,802,836,671,658,677.013641894,0.439703320131,-0.00542599775235,0.0697381589011,0.999999917612,0.000104584650933,-0.000391742984527,1.93780721237e-05,1793256590448053760
+316,5.266666667,POSE2_TO_POSE3_RETREAT,794.411293809,744.411293809,728,710.411293809,695.588706191,655,935,802,836,671,658,677.588706191,0.438859880761,-0.00542269655789,0.0697278059945,0.999999905519,0.000117435840668,-0.000418070844019,1.96743671671e-05,1793256590464720896
+317,5.283333333,POSE2_TO_POSE3_RETREAT,794,744,728,710.167246095,696,655,935,802.167246095,836,671,658,677.832753905,0.438021883108,-0.0054204413623,0.0697190936665,0.999999897757,0.000123516734453,-0.000434553791513,1.98196567464e-05,1793256590481387264
+318,5.300000000,POSE2_TO_POSE3_RETREAT,794,744,728,710.754514618,696,655,935,802.754514618,836,671,658,677.245485382,0.437197551855,-0.00542081309211,0.0697145014941,0.999999902598,0.00011259468276,-0.000426312191758,1.95857106923e-05,1793256590498053632
+319,5.316666667,POSE2_TO_POSE3_RETREAT,794,744,728,711,696.338947552,655.338947552,935,803,836,671,658,677.338947552,0.436368683484,-0.00542201177257,0.0697439669117,0.999999922199,0.00011316102928,-0.000377262354045,2.16839896441e-05,1793256590514720256
+320,5.333333333,POSE2_TO_POSE3_RETREAT,794,744,728,711,696.921343801,655.921343801,935,803,836,671,658,677.921343801,0.43553655637,-0.0054238044094,0.0697978941553,0.999999947565,0.000121978904817,-0.000298902043815,2.54573864902e-05,1793256590531386880
+321,5.350000000,POSE2_TO_POSE3_RETREAT,794.496690534,744,728,711,697,655.503309466,935,803,835.503309466,671,658,677.503309466,0.434684009975,-0.00542442931698,0.0698315218871,0.999999958952,0.000121744413571,-0.000257830772864,2.8253157948e-05,1793256590548053504
+322,5.366666667,POSE2_TO_POSE3_RETREAT,795,744.070894715,728,711,697,655.070894715,935,803,835.070894715,671,658,677,0.433822917529,-0.00542482300108,0.0698579866835,0.999999966489,0.000120624073913,-0.000227034777231,3.04336362779e-05,1793256590564720128
+323,5.383333333,POSE2_TO_POSE3_RETREAT,795,744.64480196,728,711,697,655.64480196,935,803,835.64480196,671,658,677,0.432923811573,-0.00542486980684,0.0698561183264,0.999999966021,0.000123247365579,-0.000227832327085,2.93315709431e-05,1793256590581387008
+324,5.400000000,POSE2_TO_POSE3_RETREAT,795,745.224733693,728,711,697,656,935,803,836,671,658,677.224733693,0.43199711478,-0.00542362798388,0.0698432797291,0.999999961268,0.000125359379408,-0.000246823826725,2.87685187444e-05,1793256590598053888
+325,5.416666667,POSE2_TO_POSE3_RETREAT,795,745.814449678,728,711,697,656,935,803,836,671,658,677.814449678,0.431025608512,-0.00542029334315,0.0698126247402,0.999999947938,0.00012664104463,-0.00029536349677,2.90808590975e-05,1793256590614720768
+326,5.433333333,POSE2_TO_POSE3_RETREAT,794.602775237,746,727.602775237,710.602775237,697,655.602775237,935,803,836,671,658,678,0.43004081379,-0.00541642789768,0.0697608143114,0.999999920551,0.000132774141866,-0.00037491085496,2.66648464136e-05,1793256590631387136
+327,5.450000000,POSE2_TO_POSE3_RETREAT,794.023186718,746,727.023186718,710.023186718,697,655.023186718,935,803,836,671,658,678,0.429049918468,-0.00541231876282,0.0696992915357,0.999999879939,0.000141134504514,-0.00046869367082,2.29962613015e-05,1793256590648053504
+328,5.466666667,POSE2_TO_POSE3_RETREAT,794.551810964,746,727,710,697.551810964,655.551810964,935,803,836,671,658,677.448189036,0.428194639487,-0.00541615213078,0.069755301289,0.999999918226,0.00013176176251,-0.000381481630842,2.56663091254e-05,1793256590664719872
+329,5.483333333,POSE2_TO_POSE3_RETREAT,795,746.12998615,727.12998615,710.12998615,697.87001385,656,935,803,836,670.87001385,658,677,0.427337138247,-0.00541969926106,0.0698149022014,0.999999949846,0.000125426148294,-0.000289365888214,2.90447420088e-05,1793256590681386752
+330,5.500000000,POSE2_TO_POSE3_RETREAT,795,746.720085949,727.720085949,710.720085949,697.279914051,656,935,803,836,670.279914051,658,677,0.426451766249,-0.0054210616005,0.0698698776666,0.99999996931,0.000132456892097,-0.000206590846498,3.39956490657e-05,1793256590698053376
+331,5.516666667,POSE2_TO_POSE3_RETREAT,795,747,728,710.695701206,697.304298794,656,935,803,836,670,658,677,0.42554010659,-0.00541895611225,0.0698837777344,0.999999973035,0.000134468868236,-0.000186023929036,3.52718869211e-05,1793256590714720000
+332,5.533333333,POSE2_TO_POSE3_RETREAT,795,747,728,710.116800826,697.883199174,656,935,803,836,670,658,677,0.42460472479,-0.00541372122937,0.0698606110429,0.99999996619,0.000131951869692,-0.000221594109597,3.32320747046e-05,1793256590731386880
+333,5.550000000,POSE2_TO_POSE3_RETREAT,795,747,727.542014933,710,697.542014933,656,935,803.457985067,836,670,658,677,0.423643156952,-0.00541092158423,0.0698165855251,0.9999999467,0.000137338693306,-0.000294641375652,3.04020490355e-05,1793256590748053760
+334,5.566666667,POSE2_TO_POSE3_RETREAT,794.967951082,747,727,710,697.032048918,656,935,803.967951082,836,670,658,677.032048918,0.422674225962,-0.00540879166232,0.0697665871768,0.99999991748,0.000144633464736,-0.000378635521032,2.74893340542e-05,1793256590764720896
+335,5.583333333,POSE2_TO_POSE3_RETREAT,794.388457021,747,727,710,697.611542979,656,935,803.388457021,836,670,658,677.611542979,0.42169258177,-0.00540758738676,0.06970462277,0.999999869358,0.000150393777554,-0.000487809963028,2.65759521155e-05,1793256590781387008
+336,5.600000000,POSE2_TO_POSE3_RETREAT,794.193781519,747.193781519,727.193781519,710,698,656,935,803.193781519,836,670,658,677.806218481,0.420770253675,-0.00540850330248,0.0696849349339,0.999999852419,0.000147604161396,-0.000522213068507,2.58446966632e-05,1793256590798053376
+337,5.616666667,POSE2_TO_POSE3_RETREAT,794.781600821,747.781600821,727.781600821,710,698,656,935,803.781600821,836,670,658,677.218399179,0.419968539498,-0.00541373044166,0.0697512127989,0.999999909716,0.000127429014444,-0.00040457521964,2.54837796325e-05,1793256590814720256
+338,5.633333333,POSE2_TO_POSE3_RETREAT,795,748,727.636282769,710,698,656,935,804,836,670,658,677,0.41917837497,-0.00541572877719,0.0698190397798,0.999999947938,0.000129209808353,-0.000294261576237,2.89520466514e-05,1793256590831386880
+339,5.650000000,POSE2_TO_POSE3_RETREAT,795,748,727.057537913,710,698,656,935,804,836,670,658,677,0.418395038579,-0.00541581826146,0.0698877825856,0.99999997131,0.000143970834345,-0.000188277969105,3.46841061029e-05,1793256590848053504
+340,5.666666667,POSE2_TO_POSE3_RETREAT,795,748,727.518063333,710,698,656,935,804,836,670,658,677,0.417543870451,-0.00541109113085,0.0698735084428,0.999999964898,0.000147230289664,-0.000217520697307,3.47995412938e-05,1793256590864720384
+341,5.683333333,POSE2_TO_POSE3_RETREAT,795,748,728,710,698,656,935,804,835.906891227,670,658,677.093108773,0.416690534794,-0.00540672254664,0.0698483367627,0.999999954659,0.000149348545749,-0.000259281474349,3.39020143693e-05,1793256590881387008
+342,5.700000000,POSE2_TO_POSE3_RETREAT,795,748,728,710,698,656,935,804,835.332923991,670,658,677.667076009,0.415864677611,-0.00540695174414,0.0698142150527,0.999999946305,0.00015213044136,-0.00028859547244,3.09752458173e-05,1793256590898054144
+343,5.716666667,POSE2_TO_POSE3_RETREAT,795,748.248953008,727.751046992,710,698,656,935,804,835.248953008,670,658,677.751046992,0.41502127756,-0.00540546299075,0.0697799546018,0.999999930105,0.000156621295049,-0.000338240580655,2.92181436331e-05,1793256590914720768
+344,5.733333333,POSE2_TO_POSE3_RETREAT,795,748.841754764,727.158245236,710,698,656,935,804,835.841754764,670,658,677.158245236,0.414153647733,-0.00540160143912,0.0697455025277,0.999999899702,0.00016347252554,-0.000415966594224,2.90765605939e-05,1793256590931387136
+345,5.750000000,POSE2_TO_POSE3_RETREAT,795,748.57605652,727,710,698,656,935,804,836,670,658,677.42394348,0.413401267108,-0.00539676311544,0.0697512703681,0.999999901886,0.000169918837994,-0.000408046762812,2.92095024495e-05,1793256590948053760
+346,5.766666667,POSE2_TO_POSE3_RETREAT,795.002251311,748,727,710,698,656,935,804,836,670,658,678,0.412691195934,-0.0053915721169,0.0697718376222,0.999999916077,0.000176239555512,-0.000368670673953,2.94503069099e-05,1793256590964720128
+347,5.783333333,POSE2_TO_POSE3_RETREAT,795.576454114,748,727,710,698,656,935,804,836,670,658,678,0.412067786854,-0.00538714846666,0.069831324012,0.999999947691,0.000188113055733,-0.000261201310178,3.16964523298e-05,1793256590981386752
+348,5.800000000,POSE2_TO_POSE3_RETREAT,796,748.154413292,727,710,698,656,935,804,836,670,658,678,0.411436814279,-0.00538323355548,0.0698779408801,0.99999996409,0.000196422967695,-0.000179181599573,3.36396051002e-05,1793256590998053376
+349,5.816666667,POSE2_TO_POSE3_RETREAT,796,748.742933005,727,710,698,656,935,804,836,670,658,678,0.410784578094,-0.00538074887567,0.069888377314,0.999999966209,0.000194714472068,-0.000168709195889,3.47309475503e-05,1793256591014720256
+350,5.833333333,POSE2_TO_POSE3_RETREAT,796,749,727.326052498,710,698,656,935,804,836,670,658,678,0.41010286511,-0.00537523727284,0.0698676818342,0.999999957191,0.000203150257624,-0.000207955636608,3.31899836199e-05,1793256591031387136
+351,5.850000000,POSE2_TO_POSE3_RETREAT,796,749,727.90498367,710,698,656,935,804,836,670,658,678,0.409398290651,-0.00536737805962,0.0698228411712,0.999999934652,0.000219453709005,-0.000285762847304,2.96074643317e-05,1793256591048054272
+352,5.866666667,POSE2_TO_POSE3_RETREAT,795.516760011,748.516760011,727.516760011,710,698,656,935,804,836,670,658,678,0.408764375739,-0.0053619290302,0.0697898037503,0.999999918208,0.000219042930252,-0.000338944979444,2.68484494554e-05,1793256591064720640
+353,5.883333333,POSE2_TO_POSE3_RETREAT,795,748.060919598,727,710,698,656,935,804,836,670,658,678,0.408154082889,-0.00535753621715,0.0697642173575,0.999999904583,0.000216594794533,-0.000378572012577,2.45700690966e-05,1793256591081387008
+354,5.900000000,POSE2_TO_POSE3_RETREAT,795,748.63485849,727,710,698,656,935,804,836,670,658,678,0.407625881317,-0.00535805281304,0.0697818612071,0.999999915028,0.000224626656919,-0.000344765879383,2.49775632279e-05,1793256591098053632
+355,5.916666667,POSE2_TO_POSE3_RETREAT,795.214429049,749,727,710,698,656,935,804,836,670,658,678,0.40710954254,-0.00536291228802,0.0697975463475,0.99999992399,0.000221855292962,-0.000319606888611,2.55448185997e-05,1793256591114720256
+356,5.933333333,POSE2_TO_POSE3_RETREAT,795.803848117,749,727,710,698,656,935,804,836,670,658,678,0.406613949281,-0.00537536651897,0.0698098061272,0.999999931697,0.000200191422726,-0.000309569883251,2.63914618095e-05,1793256591131386880
+357,5.950000000,POSE2_TO_POSE3_RETREAT,795.613559955,749,727,710,698,656,935,804,836,670,658,678,0.406119551649,-0.00539268106196,0.0698090629966,0.999999931811,0.000183274277009,-0.00031945150758,2.71795575194e-05,1793256591148053504
+358,5.966666667,POSE2_TO_POSE3_RETREAT,795.034373182,749,727,710,698,656,935,804,836,670,658,678,0.405625750322,-0.00541241980942,0.0698018343372,0.999999927824,0.000168724677976,-0.000339268050324,2.79384512533e-05,1793256591164720384
+359,5.983333333,POSE2_TO_POSE3_RETREAT,795,748.459193969,727,710,698,656,935,804,836,670,658,678,0.405224571408,-0.00540233315311,0.0698093006568,0.999999933732,0.000168797037878,-0.000321450883504,2.66946041096e-05,1793256591181387520
+360,6.000000000,POSE2_TO_POSE3_RETREAT,795,748,727,710,698,656,935,804,836,670,658,678,0.404839854598,-0.00539274380579,0.069818981837,0.99999994018,0.000171354797345,-0.000299360170577,2.56953864217e-05,1793256591198054144
+361,6.016666667,POSE2_TO_POSE3_RETREAT,795,748,727,710,698,656,935,804,836,670,658,678,0.404497268559,-0.00539259383759,0.0698337723767,0.999999947059,0.00018011361764,-0.000269734056071,2.61681367935e-05,1793256591214720512
+362,6.033333333,POSE2_TO_POSE3_RETREAT,795,748,727,710,698,656,935,804,836,670,658,678,0.404158146335,-0.00539204296923,0.0698444528471,0.999999951037,0.00018692358325,-0.000249574498896,2.64073846906e-05,1793256591231387136
+363,6.050000000,POSE2_TO_POSE3_RETREAT,795,748,727,710,698,656,935,804,836,670,658,678,0.4038225064,-0.00539108906503,0.0698510013518,0.999999952718,0.000191774311678,-0.000238931931928,2.64118861697e-05,1793256591248053760
+364,6.066666667,POSE2_TO_POSE3_RETREAT,795.447364767,748.447364767,727,710,698,656,935,804,835.552635233,670,658,678,0.403496788659,-0.0053861856651,0.0698411228235,0.999999947961,0.000196501953465,-0.000254543322288,2.59362942145e-05,1793256591264720384
+365,6.083333333,POSE2_TO_POSE3_RETREAT,796,749,727,710,698.025813784,656,935,804,835.025813784,670,658,678,0.403176421745,-0.00538045666969,0.069826763699,0.999999941074,0.00020057404357,-0.000277458678714,2.52914392384e-05,1793256591281386752
+366,6.100000000,POSE2_TO_POSE3_RETREAT,796,749,727,710,698.600106577,656,935,804,835.600106577,670,658,678,0.402907880513,-0.00538181138518,0.0698196274874,0.999999938784,0.000191484746566,-0.000291868715289,2.40436034654e-05,1793256591298053376
+367,6.116666667,POSE2_TO_POSE3_RETREAT,796,749,727,710,699,656.178618731,935,804,836,670,658,678,0.402653786619,-0.00538119617075,0.0698131491305,0.999999936009,0.000187627827054,-0.000303695916912,2.33604648173e-05,1793256591314720256
+368,6.133333333,POSE2_TO_POSE3_RETREAT,796,749,727,710,699,656.766805695,935,804,836,670,658,678,0.402432820139,-0.00537606395664,0.0698081792189,0.999999932624,0.000195768618114,-0.000309600741494,2.39721625743e-05,1793256591331387392
+369,6.150000000,POSE2_TO_POSE3_RETREAT,796,749,727,710,698.650500405,656.650500405,935,804,835.650500405,670,658,678,0.402226721562,-0.00537343023337,0.0698030150389,0.999999928843,0.000201360864491,-0.000317998722562,2.54074391036e-05,1793256591348054016
+370,6.166666667,POSE2_TO_POSE3_RETREAT,796,749,727,710,698.071414835,656.071414835,935,804,835.071414835,670,658,678,0.402030389676,-0.00537243776601,0.0697977232435,0.999999924752,0.000205278974925,-0.000328034456488,2.73837238582e-05,1793256591364720640
+371,6.183333333,POSE2_TO_POSE3_RETREAT,795.493524983,749,727,710,698,656,935,804,835,670,658,678,0.401867415193,-0.00537164658634,0.069798340814,0.999999924599,0.000207408486626,-0.000327044272264,2.87493754442e-05,1793256591381387264
+372,6.200000000,POSE2_TO_POSE3_RETREAT,795,749,727,709.916256451,698,656,935,804,835.083743549,670,658,678,0.401714313967,-0.00537051498908,0.0697994220402,0.99999992466,0.000210492389126,-0.000324770248939,2.99658624843e-05,1793256591398053632
+373,6.216666667,POSE2_TO_POSE3_RETREAT,795,749,727,709.341643659,698,656,935,804,835.658356341,670,658,678,0.401591580434,-0.00536722203441,0.0697983484104,0.999999922675,0.000220645329175,-0.000324062402775,3.08115125598e-05,1793256591414720512
+374,6.233333333,POSE2_TO_POSE3_RETREAT,795,749,727.238860424,709.238860424,698,656,935,804,836,670,658,678,0.401480937168,-0.00536582635323,0.0697978963134,0.999999917467,0.000245735236228,-0.000322034241304,3.11993007245e-05,1793256591431386880
+375,6.250000000,POSE2_TO_POSE3_RETREAT,795,749,727.828003912,709.828003912,698,656,935,804,836,670,658,678,0.401388023991,-0.00536721297816,0.0697983556794,0.999999906093,0.0002927298449,-0.00031806986879,3.09156453222e-05,1793256591448053504
+376,6.266666667,POSE2_TO_POSE3_RETREAT,795,749,727.590259288,710,698,656,935,804.409740712,836,670,658,677.590259288,0.401304535041,-0.00536956539699,0.0697986760664,0.999999914162,0.000264327673487,-0.000318390800884,2.08591909553e-05,1793256591464720384
+377,6.283333333,POSE2_TO_POSE3_RETREAT,795,749,727.011576389,710,698,656,935,804.988423611,836,670,658,677.011576389,0.401224931842,-0.00537231602695,0.0697989391503,0.999999927644,0.000204838286995,-0.000320478627039,6.77326625416e-06,1793256591481387264
+378,6.300000000,POSE2_TO_POSE3_RETREAT,795,749,727,710,698,656,935,804.435744773,835.435744773,670,658,677,0.401167344875,-0.00537513020881,0.0697978562003,0.999999927931,0.000202225459489,-0.000321206967159,8.30290558226e-06,1793256591498053888
+379,6.316666667,POSE2_TO_POSE3_RETREAT,795,749,727,710,698.13993264,656,935,804,835.13993264,670,658,677,0.401115964902,-0.00537631641375,0.0697981017039,0.999999928308,0.0002023910267,-0.000319883001077,9.873045849e-06,1793256591514720512
+380,6.333333333,POSE2_TO_POSE3_RETREAT,795,749,727,710,698.715311207,656,935,804,835.715311207,670,658,677,0.401082501502,-0.00537243260145,0.0698025666256,0.999999929645,0.000207589564258,-0.000312258973665,1.05772868339e-05,1793256591531386880
+381,6.350000000,POSE2_TO_POSE3_RETREAT,795.298265418,748.701734582,727,710,698.701734582,656,935,804,835.701734582,670,658,677,0.401053710433,-0.00537198084851,0.0698057346599,0.99999993121,0.000208490251947,-0.000306558533659,1.15723219549e-05,1793256591548053248
+382,6.366666667,POSE2_TO_POSE3_RETREAT,795.888638952,748.111361048,727,710,698.111361048,656,935,804,835.111361048,670,658,677,0.401029495235,-0.00537489030407,0.06980763258,0.999999933041,0.000205181813901,-0.000302741970211,1.28521482301e-05,1793256591564719872
+383,6.383333333,POSE2_TO_POSE3_RETREAT,796,748.469899873,727,710,698,656,935,804,835.469899873,670,658,677.469899873,0.401012774108,-0.00537351164951,0.0698103742942,0.99999993354,0.000207524979079,-0.000299451900578,1.34754295937e-05,1793256591581386752
+384,6.400000000,POSE2_TO_POSE3_RETREAT,796,749,727.048691395,710,698.048691395,656,935,804.048691395,835.951308605,670,658,678,0.400998553163,-0.00537139227079,0.0698132866006,0.999999933817,0.000210835375814,-0.000296175241507,1.39239115089e-05,1793256591598053376
+385,6.416666667,POSE2_TO_POSE3_RETREAT,796,749,727.623690499,710,698.623690499,656,935,804.623690499,835.376309501,670,658,678,0.400992525005,-0.00537204192788,0.0698159224837,0.999999935216,0.000210398755251,-0.000291720513074,1.41328049109e-05,1793256591614720512
+386,6.433333333,POSE2_TO_POSE3_RETREAT,796,749,727.797230132,710,699,656,935,804.797230132,835.202769868,670,658,678,0.400988335566,-0.00537290903845,0.0698186631505,0.999999936773,0.000209577501465,-0.000286926437375,1.43098666614e-05,1793256591631387648
+387,6.450000000,POSE2_TO_POSE3_RETREAT,796,749,727.210422949,710,699,656,935,804.210422949,835.789577051,670,658,678,0.400987628583,-0.00537418799643,0.069821602273,0.99999993864,0.00020802776911,-0.000281489652981,1.44266406362e-05,1793256591648054272
+388,6.466666667,POSE2_TO_POSE3_RETREAT,795.626206282,749,727,710,698.626206282,656,935,804,836,670,658,678,0.400985865325,-0.00537385980758,0.0698230159638,0.999999939199,0.000208439709124,-0.000279187335047,1.44726501789e-05,1793256591664720640
+389,6.483333333,POSE2_TO_POSE3_RETREAT,795.043437899,749,727,710,698.043437899,656,935,804,836,670,658,678,0.400983511542,-0.00537263312052,0.0698235768403,0.999999939037,0.000209948349882,-0.000278637385111,1.4479097861e-05,1793256591681387008
+390,6.500000000,POSE2_TO_POSE3_RETREAT,795,749,727,710,698.53339581,656,935,804,836,670,658,678,0.400982211437,-0.00537288792209,0.0698242661906,0.999999939296,0.000209203128986,-0.000278242151713,1.49387378835e-05,1793256591698053632
+391,6.516666667,POSE2_TO_POSE3_RETREAT,795,749,727,710,699,656.109000732,935,804.109000732,836,670,658,678,0.400981278307,-0.00537298418799,0.0698250575295,0.999999939589,0.000208740116702,-0.00027751828871,1.52570854485e-05,1793256591714720000
+392,6.533333333,POSE2_TO_POSE3_RETREAT,795,749,727,710,699,656.681413472,935,804.681413472,836,670,658,678,0.400981544568,-0.00537189916347,0.0698262384773,0.999999939881,0.000210248656807,-0.000275344293798,1.48195544885e-05,1793256591731386880
+393,6.550000000,POSE2_TO_POSE3_RETREAT,795,749,727,710,698.738688876,656.738688876,935,805,836,670,658,678,0.400981003379,-0.00537233939042,0.0698264481462,0.999999940107,0.000210161053566,-0.00027459144862,1.4735239084e-05,1793256591748053504
+394,6.566666667,POSE2_TO_POSE3_RETREAT,795,749,727,710,698.14939656,656.14939656,935,805,836,670,658,678,0.40097944873,-0.00537469401641,0.0698254387275,0.999999940256,0.000208070072373,-0.000275622340393,1.50942574406e-05,1793256591764720384
+395,6.583333333,POSE2_TO_POSE3_RETREAT,795,749,727,710,698.433269029,656,935,805,835.566730971,670,658,678,0.400979914177,-0.00537359124509,0.069826227097,0.999999940118,0.00020949148857,-0.000275048578301,1.49934638726e-05,1793256591781387520
+396,6.600000000,POSE2_TO_POSE3_RETREAT,795,749,727,710,699,656,935,804.986447909,835.013552091,670,658,678,0.400981009285,-0.00537137661965,0.0698275885845,0.999999939889,0.000212030569363,-0.00027394788,1.47433265684e-05,1793256591798054400
+397,6.616666667,POSE2_TO_POSE3_RETREAT,795,749,727,710,699,656,935,804.411629032,835.588370968,670,658,678,0.400979768535,-0.00537174385589,0.069827399338,0.999999940107,0.000211454832363,-0.000273594036727,1.47755063748e-05,1793256591814720768
+398,6.633333333,POSE2_TO_POSE3_RETREAT,795,749.162718621,727,710,698.837281379,656,935,804.162718621,835.837281379,670,658,678,0.400979092385,-0.00537234427231,0.0698272892886,0.999999940318,0.000210873819184,-0.000273270745165,1.4802049891e-05,1793256591831387136
+399,6.650000000,POSE2_TO_POSE3_RETREAT,795,749.735877625,727,710,698.264122375,656,935,804.735877625,835.264122375,670,658,678,0.400979840379,-0.00537353286087,0.0698273790058,0.99999994051,0.000210279497444,-0.000273024517062,1.48143764638e-05,1793256591848053504
+400,6.666666667,POSE2_TO_POSE3_RETREAT,795.319547488,749.680452512,727,710,698,656,935,804.680452512,835.319547488,670,658,678,0.400980486702,-0.0053737518691,0.0698277151905,0.999999940502,0.000211073840674,-0.00027244027928,1.4853042103e-05,1793256591864720128
+401,6.683333333,POSE2_TO_POSE3_RETREAT,795.912200569,749.087799431,727,710,698,656,935,804.087799431,835.912200569,670,658,678,0.400981046131,-0.0053731422123,0.069828262022,0.999999940318,0.000213055025282,-0.000271567156954,1.49142187817e-05,1793256591881386752
+402,6.700000000,POSE2_TO_POSE3_RETREAT,795.506026933,749,727,710,698.493973067,656,935,804,836,670,658,678,0.400980700829,-0.00537411619619,0.0698280786329,0.999999940621,0.000210931641182,-0.000272121806862,1.46590108017e-05,1793256591898053632
+403,6.716666667,POSE2_TO_POSE3_RETREAT,795,749,727,710,698.926971562,656,935,804,836,670,658,678,0.400980303927,-0.00537502145671,0.0698278243299,0.999999940993,0.000208407413127,-0.000272714861977,1.43782556428e-05,1793256591914720768
+404,6.733333333,POSE2_TO_POSE3_RETREAT,795,749,727,710,698.353568343,656,935,804,836,670,658,678,0.400980631544,-0.00537356877681,0.0698279542696,0.999999941303,0.000208027685914,-0.000271869730845,1.42994601732e-05,1793256591931387392
+405,6.750000000,POSE2_TO_POSE3_RETREAT,795.225516358,749,727,710,698,656,935,804.225516358,836,670,658,678,0.400980615549,-0.00537299700642,0.0698283023536,0.999999941357,0.000208482977235,-0.000271315580621,1.44182004217e-05,1793256591948054016
+406,6.766666667,POSE2_TO_POSE3_RETREAT,795.813738883,749,727,710,698,656,935,804.813738883,836,670,658,678,0.400980046912,-0.00537384203461,0.0698290012867,0.999999940998,0.000210281259191,-0.000271229425446,1.48546445417e-05,1793256591964720384
+407,6.783333333,POSE2_TO_POSE3_RETREAT,795.602242499,749,727,710,698.397757501,656.397757501,935,805,835.602242499,670,658,678,0.400979644384,-0.0053730880577,0.0698287366927,0.999999940517,0.000212049224662,-0.00027162929447,1.48183948487e-05,1793256591981387008
+408,6.800000000,POSE2_TO_POSE3_RETREAT,795.020171924,749,727,710,698.979828076,656.979828076,935,805,835.020171924,670,658,678,0.400979318829,-0.00537159313294,0.0698280256188,0.999999939977,0.00021380314196,-0.000272254377642,1.4563108029e-05,1793256591998053888
diff --git a/Part2/Obstacle_avoidance/cylinder_PLA_10/position_03/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_PLA_10/position_03/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..03bfa7acd77ad5172dc3766138d9017c68377ec1
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_PLA_10/position_03/depth_05/simulation_data.csv
@@ -0,0 +1,410 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+1,0.016666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+2,0.033333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+3,0.050000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+4,0.066666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+5,0.083333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+6,0.100000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+7,0.116666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+8,0.133333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+9,0.150000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+10,0.166666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+11,0.183333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+12,0.200000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+13,0.216666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+14,0.233333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+15,0.250000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+16,0.266666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+17,0.283333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+18,0.300000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+19,0.316666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+20,0.333333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+21,0.350000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+22,0.366666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+23,0.383333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+24,0.400000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+25,0.416666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+26,0.433333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+27,0.450000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+28,0.466666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+29,0.483333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+30,0.500000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+31,0.516666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+32,0.533333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+33,0.550000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+34,0.566666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+35,0.583333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+36,0.600000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+37,0.616666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+38,0.633333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+39,0.650000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+40,0.666666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+41,0.683333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+42,0.700000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+43,0.716666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+44,0.733333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+45,0.750000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+46,0.766666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+47,0.783333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+48,0.800000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+49,0.816666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+50,0.833333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+51,0.850000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+52,0.866666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+53,0.883333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+54,0.900000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+55,0.916666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+56,0.933333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+57,0.950000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+58,0.966666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+59,0.983333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+60,1.000000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+61,1.016666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+62,1.033333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+63,1.050000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+64,1.066666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+65,1.083333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+66,1.100000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+67,1.116666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+68,1.133333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+69,1.150000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+70,1.166666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+71,1.183333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+72,1.200000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+73,1.216666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+74,1.233333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+75,1.250000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+76,1.266666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+77,1.283333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+78,1.300000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+79,1.316666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+80,1.333333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+81,1.350000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+82,1.366666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+83,1.383333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+84,1.400000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+85,1.416666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+86,1.433333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+87,1.450000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+88,1.466666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+89,1.483333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+90,1.500000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+91,1.516666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+92,1.533333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+93,1.550000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+94,1.566666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+95,1.583333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+96,1.600000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+97,1.616666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+98,1.633333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+99,1.650000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+100,1.666666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+101,1.683333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+102,1.700000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+103,1.716666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+104,1.733333333,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+105,1.750000000,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+106,1.766666667,pose1_baseline,0.575666857798,0.000181704559488,1.06002059441,0.54623800627,0.00885594424531,1.05969228445
+107,1.783333333,pose1_to_pose2_press,0.575666798543,0.000181738779929,1.060020574,0.546237946392,0.0088559764994,1.05969226794
+108,1.800000000,pose1_to_pose2_press,0.575666839849,0.00018169853664,1.06002063007,0.546237988495,0.00885593884981,1.05969232111
+109,1.816666667,pose1_to_pose2_press,0.575666892804,0.0001816469453,1.06002070194,0.546238042471,0.00885589058356,1.05969238927
+110,1.833333333,pose1_to_pose2_press,0.575666975196,0.000181633923858,1.0600207066,0.546238125057,0.00885587825205,1.05969239485
+111,1.850000000,pose1_to_pose2_press,0.575666994445,0.000181636893519,1.06002069811,0.546238144226,0.00885588098209,1.05969238717
+112,1.866666667,pose1_to_pose2_press,0.575667076971,0.000181649625458,1.06002066172,0.54623822641,0.00885589268668,1.05969235425
+113,1.883333333,pose1_to_pose2_press,0.575667282724,0.000181681368686,1.06002057097,0.546238431311,0.00885592186853,1.05969227217
+114,1.900000000,pose1_to_pose2_press,0.575668158935,0.00018175010019,1.06002045474,0.546239305705,0.00885598456714,1.05969215948
+115,1.916666667,pose1_to_pose2_press,0.575670817792,0.000181829876783,1.06002051352,0.546241964121,0.00885606277109,1.05969221614
+116,1.933333333,pose1_to_pose2_press,0.575678382008,0.000181806469352,1.06002051665,0.546249528756,0.0088560408803,1.05969222172
+117,1.950000000,pose1_to_pose2_press,0.575692829051,0.000181750770058,1.06002063432,0.54626397647,0.00885598739679,1.05969233769
+118,1.966666667,pose1_to_pose2_press,0.57571645008,0.000181779549079,1.06002043771,0.546287596744,0.0088560139364,1.05969214955
+119,1.983333333,pose1_to_pose2_press,0.575749250556,0.00018186115591,1.06002052842,0.546320397943,0.00885609822265,1.05969224626
+120,2.000000000,pose1_to_pose2_press,0.575792680469,0.000181755466752,1.06002050875,0.5463638293,0.00885599721097,1.05969222061
+121,2.016666667,pose1_to_pose2_press,0.575845216778,0.000181805782764,1.06002061932,0.546416363994,0.00885604198893,1.05969232962
+122,2.033333333,pose1_to_pose2_press,0.57590720149,0.000181835881128,1.06002050561,0.546478348361,0.0088560709333,1.05969221618
+123,2.050000000,pose1_to_pose2_press,0.57597752947,0.000181883308281,1.06002037464,0.546548674438,0.00885611211783,1.05969209082
+124,2.066666667,pose1_to_pose2_press,0.576056165061,0.000181703499817,1.06002049879,0.546627312698,0.00885594118124,1.05969221
+125,2.083333333,pose1_to_pose2_press,0.576145963018,0.000181671038673,1.06002052596,0.546717112541,0.00885591494692,1.05969223264
+126,2.100000000,pose1_to_pose2_press,0.576247295791,0.000181636751173,1.06002049081,0.546818444457,0.0088558780125,1.05969220444
+127,2.116666667,pose1_to_pose2_press,0.576362652655,0.000181703169601,1.06002052052,0.546933800705,0.00885594211464,1.05969222818
+128,2.133333333,pose1_to_pose2_press,0.576494469678,0.0001817817879,1.06002030698,0.54706561759,0.00885602042125,1.05969201869
+129,2.150000000,pose1_to_pose2_press,0.576644407814,0.000181752479309,1.06002047798,0.547215555508,0.00885599011794,1.05969218289
+130,2.166666667,pose1_to_pose2_press,0.576811895382,0.000181696311452,1.06002054102,0.547383042555,0.00885593213553,1.05969224461
+131,2.183333333,pose1_to_pose2_press,0.576996279001,0.00018176812494,1.06002050306,0.547567426137,0.00885600411711,1.05969221444
+132,2.200000000,pose1_to_pose2_press,0.577199317679,0.00018175800613,1.0600205747,0.547770465741,0.00885599715896,1.05969228643
+133,2.216666667,pose1_to_pose2_press,0.577421347722,0.0001818050832,1.0600205809,0.547992494991,0.00885604132354,1.05969228671
+134,2.233333333,pose1_to_pose2_press,0.577665171681,0.00018178913155,1.06002042273,0.548236318419,0.00885602337526,1.05969212338
+135,2.250000000,pose1_to_pose2_press,0.577929956189,0.000181808978735,1.06002040657,0.548501103551,0.00885604550515,1.05969211157
+136,2.266666667,pose1_to_pose2_press,0.578216066619,0.000181825628493,1.06002053024,0.548787214381,0.00885606353542,1.05969223576
+137,2.283333333,pose1_to_pose2_press,0.578522628884,0.00018176863822,1.06002054235,0.549093776458,0.00885600582271,1.05969224552
+138,2.300000000,pose1_to_pose2_press,0.578847597276,0.000181793722595,1.06002060925,0.549418744532,0.00885602996514,1.05969231603
+139,2.316666667,pose1_to_pose2_press,0.579190374605,0.000181726873635,1.0600207658,0.549761522292,0.00885596423223,1.05969246335
+140,2.333333333,pose1_to_pose2_press,0.579549232092,0.000181727665209,1.06002070805,0.550120379761,0.00885596498409,1.05969240622
+141,2.350000000,pose1_to_pose2_press,0.579924722828,0.000181734144942,1.06002074192,0.550495871792,0.0088559760462,1.059692445
+142,2.366666667,pose1_to_pose2_press,0.580321128898,0.000181847418588,1.06002040265,0.550892275416,0.00885608120961,1.0596921107
+143,2.383333333,pose1_to_pose2_press,0.58074024265,0.000181878039503,1.06002050383,0.551311388466,0.00885610945479,1.05969221197
+144,2.400000000,pose1_to_pose2_press,0.581189676483,0.000181940697537,1.06002049403,0.551760821292,0.00885616888038,1.05969220691
+145,2.416666667,pose1_to_pose2_press,0.581668080442,0.000181814671738,1.0600202968,0.552239228091,0.00885605249787,1.0596920099
+146,2.433333333,pose1_to_pose2_press,0.58217514878,0.000181809612859,1.06002015603,0.55274629511,0.00885604298088,1.05969186961
+147,2.450000000,pose1_to_pose2_press,0.582702299746,0.000181973420095,1.06002032674,0.553273444016,0.00885619962389,1.05969203559
+148,2.466666667,pose1_to_pose2_press,0.58324638276,0.000181854885027,1.06002048385,0.553817528452,0.00885608583341,1.05969219059
+149,2.483333333,pose1_to_pose2_press,0.583807285647,0.000181761299339,1.06002044002,0.554378433419,0.00885599935422,1.05969214803
+150,2.500000000,pose1_to_pose2_press,0.584387347489,0.000181715959391,1.06002052164,0.554958496421,0.00885595799995,1.05969223093
+151,2.516666667,pose1_to_pose2_press,0.584994144192,0.000181750411794,1.0600206929,0.555565292309,0.00885598969764,1.05969240254
+152,2.533333333,pose1_to_pose2_press,0.585624673343,0.000181757920054,1.06002078523,0.55619582097,0.00885599525957,1.05969248732
+153,2.550000000,pose1_to_pose2_press,0.586275867033,0.000181670667936,1.06002079553,0.556847015777,0.00885591167064,1.0596924942
+154,2.566666667,pose1_to_pose2_press,0.586932517858,0.000181685951802,1.06002058072,0.557503665999,0.00885592526418,1.0596922888
+155,2.583333333,pose1_to_pose2_press,0.58758956432,0.000181733787702,1.06002036343,0.55816071146,0.00885596973047,1.05969207219
+156,2.600000000,pose1_to_pose2_press,0.588258867956,0.000181698936666,1.06002065852,0.558830017187,0.00885594170525,1.05969236018
+157,2.616666667,pose1_to_pose2_press,0.588944478361,0.000181778549369,1.06002069725,0.559515626707,0.00885601801795,1.05969239104
+158,2.633333333,pose1_to_pose2_press,0.589652599189,0.00018177757134,1.0600206858,0.560223747196,0.00885601603937,1.05969238361
+159,2.650000000,pose1_to_pose2_press,0.590388808934,0.000181840548472,1.06002067045,0.560959956406,0.00885607728931,1.05969237057
+160,2.666666667,pose1_to_pose2_press,0.591155632717,0.000181921618352,1.06002039873,0.561726780054,0.00885615831208,1.05969210979
+161,2.683333333,pose1_to_pose2_press,0.591933074009,0.000181817954939,1.06002028762,0.562504220886,0.00885605298846,1.05969199603
+162,2.700000000,pose1_to_pose2_press,0.592718121999,0.000181896797906,1.06002063151,0.563289268996,0.00885613187654,1.05969233037
+163,2.716666667,pose1_to_pose2_press,0.593493641252,0.000181807267599,1.06002047692,0.564064788512,0.00885604331275,1.05969217782
+164,2.733333333,pose1_to_pose2_press,0.594260822755,0.00018182243912,1.06002052228,0.564831970252,0.0088560591918,1.05969222058
+165,2.750000000,pose1_to_pose2_press,0.595022554914,0.00018185441009,1.06002047993,0.565593702803,0.00885609251839,1.05969217899
+166,2.766666667,pose1_to_pose2_press,0.595790928234,0.000181764517392,1.06002049552,0.566362077085,0.00885600591229,1.0596921952
+167,2.783333333,pose1_to_pose2_press,0.596573659489,0.000181672974899,1.06002060383,0.567144808774,0.00885591587028,1.05969230428
+168,2.800000000,pose1_to_pose2_press,0.597386238787,0.000181716750679,1.0600206825,0.56795738804,0.00885595945474,1.05969238081
+169,2.816666667,pose1_to_pose2_press,0.598224682154,0.000181753086331,1.06002054332,0.568795831724,0.00885599690815,1.05969224279
+170,2.833333333,pose1_to_pose2_press,0.599080597062,0.000181717324134,1.06002030273,0.569651746219,0.00885596021002,1.05969201459
+171,2.850000000,pose1_to_pose2_press,0.59992962586,0.000181733510633,1.06002048572,0.570500774842,0.00885597560635,1.05969219242
+172,2.866666667,pose1_to_pose2_press,0.600753602021,0.000181676387694,1.06002062114,0.571324751115,0.00885591865827,1.05969232247
+173,2.883333333,pose1_to_pose2_press,0.601548817216,0.000181718253561,1.06002050833,0.572119965497,0.00885595805679,1.05969221737
+174,2.900000000,pose1_to_pose2_press,0.602316310175,0.000181810421402,1.06002055814,0.572887456655,0.00885604399577,1.05969226409
+175,2.916666667,pose1_to_pose2_press,0.603090997791,0.000181829027492,1.06002075537,0.573662144244,0.00885606245368,1.05969245997
+176,2.933333333,pose1_to_pose2_press,0.603879287961,0.000181825400682,1.06002028748,0.574450434676,0.00885605992964,1.05969199768
+177,2.950000000,pose1_to_pose2_press,0.604682945594,0.000181640165933,1.06002080075,0.575254095045,0.00885588319027,1.05969249021
+178,2.966666667,pose1_to_pose2_press,0.605496317162,0.000181741851182,1.06002069687,0.576067465764,0.00885598225242,1.05969239316
+179,2.983333333,pose1_to_pose2_press,0.606314797958,0.00018173071984,1.06002054008,0.576885945092,0.0088559665198,1.05969224654
+180,3.000000000,pose1_to_pose2_press,0.607088834898,0.000181780754311,1.06002090203,0.577659982843,0.00885601882203,1.05969259576
+181,3.016666667,pose1_to_pose2_press,0.607818854002,0.000181807841368,1.06002072646,0.578390001752,0.00885604539984,1.05969242431
+182,3.033333333,pose1_to_pose2_press,0.608508110992,0.000181851054269,1.06002057674,0.579079258112,0.0088560866394,1.05969227903
+183,3.050000000,pose1_to_pose2_press,0.609171064933,0.000181790841714,1.06002037907,0.579742213467,0.008856031471,1.05969208786
+184,3.066666667,pose1_to_pose2_press,0.609822008423,0.000181744552616,1.06002038527,0.580393157618,0.0088559874046,1.05969209359
+185,3.083333333,pose1_to_pose2_press,0.610477836165,0.000181774542611,1.06002054721,0.581048983956,0.00885601234569,1.05969224807
+186,3.100000000,pose1_to_pose2_press,0.611141884301,0.000181795911947,1.06002054772,0.581713030692,0.0088560289521,1.05969224823
+187,3.116666667,pose1_to_pose2_press,0.611800933781,0.000181802706475,1.06002053281,0.582372080064,0.00885603569865,1.05969224181
+188,3.133333333,pose1_to_pose2_press,0.612445365907,0.000181925567148,1.06002063585,0.583016512332,0.0088561588336,1.05969233956
+189,3.150000000,pose1_to_pose2_press,0.613062109101,0.000181782243528,1.06002054399,0.5836332565,0.00885601907089,1.05969224993
+190,3.166666667,pose1_to_pose2_press,0.613648283038,0.000181692767985,1.06002066139,0.584219432339,0.00885593742998,1.05969236383
+191,3.183333333,pose1_to_pose2_press,0.614200927549,0.000181763204319,1.06002053566,0.584772073741,0.00885600136562,1.05969224153
+192,3.200000000,pose1_to_pose2_press,0.614733299793,0.00018164336723,1.06002074291,0.585304446088,0.00885588563159,1.05969244172
+193,3.216666667,pose1_to_pose2_press,0.615245431201,0.000181784956664,1.06002064085,0.585816573882,0.00885601997175,1.05969233728
+194,3.233333333,pose1_to_pose2_press,0.615737433367,0.000181817343145,1.06002078493,0.586308574713,0.00885605300534,1.05969247821
+195,3.250000000,pose1_to_pose2_press,0.616214693366,0.000181730019471,1.06002076115,0.586785834604,0.00885597136293,1.05969245808
+196,3.266666667,pose1_to_pose2_press,0.616682500166,0.000181719466217,1.06002047926,0.587253639193,0.00885596144228,1.0596921857
+197,3.283333333,pose1_to_pose2_press,0.617140740408,0.00018177613549,1.06002043063,0.587711877121,0.00885601609564,1.05969213979
+198,3.300000000,pose1_to_pose2_press,0.617587831246,0.000181748725939,1.06002052301,0.588158969118,0.00885599223467,1.05969222997
+199,3.316666667,pose1_to_pose2_press,0.618012026426,0.000181820074018,1.06002049929,0.588583163457,0.00885606427956,1.05969220902
+200,3.333333333,pose1_to_pose2_press,0.618409221275,0.000181787121373,1.06002050681,0.588980357418,0.00885602604078,1.05969221297
+201,3.350000000,pose1_to_pose2_press,0.618770877357,0.00018180282132,1.06002038582,0.58934201294,0.00885604319817,1.05969209628
+202,3.366666667,pose1_to_pose2_press,0.619102679808,0.000181941321122,1.06002043554,0.589673812179,0.00885617276155,1.05969213386
+203,3.383333333,pose1_to_pose2_press,0.619407039702,0.000181866311974,1.06002039613,0.589978172463,0.00885610193922,1.05969210362
+204,3.400000000,pose1_to_pose2_press,0.61969559272,0.000181789153286,1.06002057329,0.590266726491,0.00885602973706,1.05969227968
+205,3.416666667,pose1_to_pose2_press,0.619970736437,0.00018181290138,1.06002042141,0.590541869579,0.00885605406392,1.05969212755
+206,3.433333333,pose1_to_pose2_press,0.620232539143,0.000181812359244,1.06002045166,0.590803672323,0.00885605612981,1.05969215986
+207,3.450000000,pose1_to_pose2_press,0.620479959193,0.000181763325979,1.06002068699,0.59105109202,0.00885600754887,1.05969239368
+208,3.466666667,pose1_to_pose2_press,0.620709576261,0.000181721889218,1.06002073453,0.591280708268,0.00885596421725,1.05969243524
+209,3.483333333,pose1_to_pose2_press,0.620921096206,0.000181722958831,1.0600205964,0.591492228984,0.00885596827307,1.05969229597
+210,3.500000000,pose1_to_pose2_press,0.621113327999,0.000181794575565,1.06002043751,0.591684460645,0.00885604063986,1.05969214344
+211,3.516666667,pose1_to_pose2_press,0.621288998108,0.000181787568204,1.06002050604,0.591860130598,0.0088560333398,1.05969221176
+212,3.533333333,pose1_to_pose2_press,0.621448577753,0.000181816911732,1.06002042814,0.592019708492,0.00885605706757,1.05969213494
+213,3.550000000,pose1_to_pose2_press,0.621592151054,0.000181643258697,1.06002064501,0.592163286599,0.0088558999223,1.05969234983
+214,3.566666667,pose1_to_pose2_press,0.621720821788,0.000181828144368,1.06002053319,0.592291952478,0.00885606853358,1.05969223777
+215,3.583333333,pose1_to_pose2_press,0.621834119412,0.00018193327297,1.06002048947,0.592405248283,0.00885616805358,1.05969220299
+216,3.600000000,pose1_to_pose2_press,0.621933834994,0.000181631920438,1.06002062793,0.592504967519,0.00885587903811,1.05969233538
+217,3.616666667,pose1_to_pose2_press,0.622020006777,0.00018178831973,1.06002053206,0.59259113956,0.00885603646317,1.05969223968
+218,3.633333333,pose1_to_pose2_press,0.622093184009,0.000181899825125,1.06002042083,0.59266431502,0.00885614202008,1.05969212783
+219,3.650000000,pose1_to_pose2_press,0.622154667642,0.000181888580672,1.06002060809,0.592725796557,0.00885612401883,1.05969231009
+220,3.666666667,pose1_to_pose2_press,0.622205208627,0.00018192607296,1.06002056563,0.592776337055,0.00885615982498,1.05969226932
+221,3.683333333,pose1_to_pose2_press,0.622246696963,0.000181890620704,1.06002067426,0.592817825666,0.00885612522867,1.05969237798
+222,3.700000000,pose1_to_pose2_press,0.622279495613,0.000181912331736,1.06002062142,0.592850624021,0.00885614598735,1.05969232861
+223,3.716666667,pose1_to_pose2_press,0.622306213295,0.000181916338651,1.0600206052,0.592877342342,0.00885615212985,1.05969231403
+224,3.733333333,pose1_to_pose2_press,0.622327189116,0.000181803829899,1.06002072265,0.592898319731,0.00885604462736,1.05969242854
+225,3.750000000,pose1_to_pose2_press,0.622343054661,0.00018172191099,1.06002058571,0.592914185321,0.00885596270977,1.05969229245
+226,3.766666667,pose1_to_pose2_press,0.622354598575,0.000181846913418,1.06002039147,0.592925728459,0.00885608629703,1.05969210004
+227,3.783333333,pose1_to_pose2_press,0.62236233177,0.000181947713355,1.06002049342,0.592933460633,0.00885618272548,1.05969219926
+228,3.800000000,pose1_to_pose2_press,0.622367617294,0.000181896934953,1.06002052564,0.592938747076,0.00885613509591,1.05969222987
+229,3.816666667,pose1_to_pose2_press,0.622370995572,0.000181831004602,1.06002053654,0.592942126419,0.00885607282332,1.05969223932
+230,3.833333333,pose1_to_pose2_press,0.622373013955,0.000181804700456,1.06002054931,0.592944145331,0.00885604783214,1.05969224985
+231,3.850000000,pose1_to_pose2_press,0.622374188929,0.000181790267592,1.06002052166,0.592945320676,0.00885603448386,1.05969222265
+232,3.866666667,pose1_to_pose2_press,0.622375154978,0.000181783404676,1.0600202994,0.592946287384,0.00885603033415,1.05969201077
+233,3.883333333,pose1_to_pose2_press,0.622375791164,0.000181778885138,1.06002015303,0.592946924005,0.00885602760138,1.05969187124
+234,3.900000000,pose1_to_pose2_press,0.622375872726,0.00018177830572,1.06002013427,0.592947005622,0.00885602725103,1.05969185335
+235,3.916666667,pose1_to_pose2_press,0.622375931664,0.000181777887017,1.06002012071,0.5929470646,0.00885602699786,1.05969184042
+236,3.933333333,pose1_to_pose2_press,0.622376076343,0.000181776877228,1.06002010523,0.592947209261,0.00885602595998,1.05969182552
+237,3.950000000,pose1_to_pose2_press,0.622376317212,0.000181775266157,1.06002014871,0.592947449649,0.00885602261329,1.05969186611
+238,3.966666667,pose1_to_pose2_press,0.622376486794,0.000181774131898,1.06002017932,0.592947618892,0.00885602025708,1.05969189469
+239,3.983333333,pose1_to_pose2_press,0.622376611704,0.000181773296436,1.06002020186,0.592947743551,0.00885601852157,1.05969191574
+240,4.000000000,pose1_to_pose2_press,0.62237679423,0.000181772075594,1.06002023481,0.592947925713,0.0088560159855,1.0596919465
+241,4.016666667,pose1_to_pose2_press,0.622376897313,0.000181771386122,1.06002025342,0.592948028589,0.00885601455326,1.05969196387
+242,4.033333333,pose1_to_pose2_press,0.622376998917,0.000181755270421,1.06002031285,0.592948130474,0.00885599941178,1.05969202374
+243,4.050000000,pose1_to_pose2_press,0.62237709291,0.000181716899073,1.06002043029,0.592948225464,0.0088559645353,1.05969214412
+244,4.066666667,pose1_to_pose2_press,0.622377111741,0.00018170921185,1.06002045381,0.592948244495,0.00885595754824,1.05969216823
+245,4.083333333,pose1_to_pose2_press,0.622377136461,0.000181707899115,1.06002046413,0.592948269344,0.00885595673542,1.05969218016
+246,4.100000000,pose1_to_pose2_press,0.622377137796,0.000181822107042,1.06002019694,0.592948268974,0.00885606552014,1.059691924
+247,4.116666667,pose2_hold,0.622377137796,0.000181822107042,1.06002019694,0.592948269095,0.00885606543922,1.05969192401
+248,4.133333333,pose2_hold,0.622377137796,0.000181822107042,1.06002019694,0.592948269098,0.00885606544396,1.05969192402
+249,4.150000000,pose2_hold,0.622377137796,0.000181822107042,1.06002019694,0.592948269106,0.00885606544708,1.05969192402
+250,4.166666667,pose2_hold,0.622377137796,0.000181822107042,1.06002019694,0.592948269114,0.00885606545003,1.05969192403
+251,4.183333333,pose2_hold,0.622377137796,0.000181822107042,1.06002019694,0.592948269105,0.00885606539802,1.05969192397
+252,4.200000000,pose2_hold,0.622377137796,0.000181822107042,1.06002019694,0.592948269112,0.00885606540582,1.05969192398
+253,4.216666667,pose2_hold,0.622377137796,0.000181822107042,1.06002019694,0.59294826912,0.0088560654145,1.05969192399
+254,4.233333333,pose2_hold,0.622377137796,0.000181822107042,1.06002019694,0.592948269127,0.00885606541627,1.059691924
+255,4.250000000,pose2_hold,0.622377137796,0.000181822107042,1.06002019694,0.592948269136,0.00885606542209,1.059691924
+256,4.266666667,pose2_hold,0.622377137796,0.000181822107042,1.06002019694,0.592948269141,0.00885606538222,1.05969192399
+257,4.283333333,pose2_hold,0.622377137796,0.000181822107042,1.06002019694,0.592948269148,0.00885606538949,1.059691924
+258,4.300000000,pose2_hold,0.622377137796,0.000181822107042,1.06002019694,0.592948269158,0.00885606539414,1.05969192401
+259,4.316666667,pose2_hold,0.622377137796,0.000181822107042,1.06002019694,0.592948269163,0.0088560653969,1.05969192402
+260,4.333333333,pose2_hold,0.622377137796,0.000181822107042,1.06002019694,0.592948269172,0.00885606540235,1.05969192402
+261,4.350000000,pose2_hold,0.622377137796,0.000181822107042,1.06002019694,0.592948269147,0.00885606536516,1.05969192399
+262,4.366666667,pose2_hold,0.622377137796,0.000181822107042,1.06002019694,0.592948269163,0.00885606536983,1.059691924
+263,4.383333333,pose2_hold,0.622377137796,0.000181822107042,1.06002019694,0.592948269171,0.00885606537393,1.05969192401
+264,4.400000000,pose2_hold,0.622377137796,0.000181822107042,1.06002019694,0.59294826918,0.00885606537872,1.05969192401
+265,4.416666667,pose2_to_pose3_retreat,0.622377137796,0.000181822107042,1.06002019694,0.592948269224,0.00885606534802,1.05969192399
+266,4.433333333,pose2_to_pose3_retreat,0.62237693298,0.000181637983519,1.06002041773,0.592948066631,0.00885588818309,1.05969213077
+267,4.450000000,pose2_to_pose3_retreat,0.622376519218,0.000181634731019,1.06002042902,0.592947652766,0.00885588443015,1.05969213872
+268,4.466666667,pose2_to_pose3_retreat,0.62237625035,0.000181656022312,1.0600204648,0.592947383669,0.00885590486315,1.05969217254
+269,4.483333333,pose2_to_pose3_retreat,0.622376181237,0.000181661495289,1.060020474,0.592947314497,0.0088559101155,1.05969218123
+270,4.500000000,pose2_to_pose3_retreat,0.622376096254,0.000181668225039,1.06002048531,0.592947229441,0.00885591657397,1.05969219192
+271,4.516666667,pose2_to_pose3_retreat,0.622375681199,0.000181700113001,1.06002053953,0.592946814033,0.00885594714576,1.05969224329
+272,4.533333333,pose2_to_pose3_retreat,0.622374583343,0.000181746483638,1.06002064405,0.592945715303,0.0088559903756,1.05969234725
+273,4.550000000,pose2_to_pose3_retreat,0.622372165829,0.000181792237256,1.06002071517,0.592943297133,0.00885603378521,1.059692419
+274,4.566666667,pose2_to_pose3_retreat,0.62236571569,0.000181756851936,1.06002056057,0.592936847399,0.00885599983832,1.05969226851
+275,4.583333333,pose2_to_pose3_retreat,0.622353667953,0.000181735383179,1.06002049246,0.592924800036,0.00885597950994,1.05969219858
+276,4.600000000,pose2_to_pose3_retreat,0.622332987452,0.000181953837124,1.06002052688,0.592904116837,0.00885618888064,1.05969223015
+277,4.616666667,pose2_to_pose3_retreat,0.622302997348,0.000181900644777,1.06002055805,0.592874127311,0.00885613715039,1.05969225499
+278,4.633333333,pose2_to_pose3_retreat,0.6222620818,0.000181843038582,1.0600206563,0.592833212572,0.00885608196017,1.05969235168
+279,4.650000000,pose2_to_pose3_retreat,0.622211045158,0.000181803898986,1.0600207424,0.592782176777,0.00885604544033,1.05969243927
+280,4.666666667,pose2_to_pose3_retreat,0.622149317585,0.000181732968594,1.06002049589,0.592720449653,0.00885597618118,1.05969220306
+281,4.683333333,pose2_to_pose3_retreat,0.62207598364,0.000181710371215,1.06002046193,0.5926471154,0.00885595220201,1.05969216876
+282,4.700000000,pose2_to_pose3_retreat,0.621990351783,0.000181677623151,1.06002051218,0.592561485592,0.00885592610935,1.05969222034
+283,4.716666667,pose2_to_pose3_retreat,0.621890199499,0.000181754422572,1.06002035656,0.592461332138,0.0088559986343,1.05969206769
+284,4.733333333,pose2_to_pose3_retreat,0.62177532496,0.000181870884493,1.06002030549,0.5923464571,0.00885611319601,1.05969202441
+285,4.750000000,pose2_to_pose3_retreat,0.62164326756,0.00018185258146,1.06002060198,0.592214399951,0.00885609475388,1.05969231009
+286,4.766666667,pose2_to_pose3_retreat,0.621494268302,0.000181845258592,1.06002065392,0.592065400169,0.0088560841753,1.05969235344
+287,4.783333333,pose2_to_pose3_retreat,0.621327090002,0.000181842826925,1.06002060825,0.591898222104,0.00885608164689,1.05969230699
+288,4.800000000,pose2_to_pose3_retreat,0.621140767324,0.00018173184862,1.06002061132,0.591711900857,0.00885597499906,1.05969231042
+289,4.816666667,pose2_to_pose3_retreat,0.62093618779,0.000181701832247,1.0600204998,0.591507321639,0.00885594543232,1.05969219921
+290,4.833333333,pose2_to_pose3_retreat,0.620717402863,0.000181825491804,1.06002057409,0.591288535792,0.00885606451722,1.05969226887
+291,4.850000000,pose2_to_pose3_retreat,0.620485934206,0.000181897169022,1.06002078321,0.59105706757,0.00885613536795,1.05969248378
+292,4.866666667,pose2_to_pose3_retreat,0.620240518619,0.00018189347537,1.06002070108,0.590811651723,0.00885612933163,1.05969241472
+293,4.883333333,pose2_to_pose3_retreat,0.619980668281,0.000181857333233,1.06002051923,0.59055180268,0.00885609547404,1.0596922284
+294,4.900000000,pose2_to_pose3_retreat,0.619704719202,0.000181925872939,1.06002072333,0.590275853183,0.00885616128436,1.05969242918
+295,4.916666667,pose2_to_pose3_retreat,0.619408051044,0.000181820528276,1.060020873,0.589979187047,0.00885605954401,1.05969257187
+296,4.933333333,pose2_to_pose3_retreat,0.619092659767,0.000181785029263,1.06002062961,0.589663796681,0.00885602458964,1.05969233647
+297,4.950000000,pose2_to_pose3_retreat,0.618760725642,0.000181835610001,1.0600204702,0.589331862091,0.00885607122724,1.05969218142
+298,4.966666667,pose2_to_pose3_retreat,0.618414888302,0.000181875327078,1.06002066917,0.58898602453,0.00885610733535,1.0596923702
+299,4.983333333,pose2_to_pose3_retreat,0.618054545138,0.000181831483856,1.06002065108,0.588625682964,0.00885606708202,1.05969235371
+300,5.000000000,pose2_to_pose3_retreat,0.617675364264,0.000181732760797,1.06002050412,0.588246504119,0.00885597395395,1.05969221991
+301,5.016666667,pose2_to_pose3_retreat,0.617274920007,0.000181862105371,1.06002048575,0.587846057519,0.00885609310558,1.05969220073
+302,5.033333333,pose2_to_pose3_retreat,0.616842893209,0.000181863277702,1.06002058551,0.587414030555,0.00885609088948,1.05969229089
+303,5.050000000,pose2_to_pose3_retreat,0.616384031467,0.000181817188634,1.0600206603,0.586955171348,0.00885605061882,1.0596923632
+304,5.066666667,pose2_to_pose3_retreat,0.615903274773,0.000181875711015,1.06002053294,0.586474416924,0.00885611369378,1.05969224725
+305,5.083333333,pose2_to_pose3_retreat,0.615409884147,0.000181880406553,1.06002024806,0.585981026922,0.00885611535389,1.05969196958
+306,5.100000000,pose2_to_pose3_retreat,0.614907505646,0.000181757911185,1.06002059586,0.585478651626,0.00885599781608,1.05969230802
+307,5.116666667,pose2_to_pose3_retreat,0.614395402446,0.000181805084213,1.060020451,0.584966547316,0.00885603761028,1.05969216024
+308,5.133333333,pose2_to_pose3_retreat,0.613869797312,0.00018183282944,1.06002046809,0.584440943477,0.00885606457077,1.05969217541
+309,5.150000000,pose2_to_pose3_retreat,0.613319689581,0.000181814352045,1.06002058314,0.583890837766,0.00885604725369,1.05969228796
+310,5.166666667,pose2_to_pose3_retreat,0.612745210211,0.00018174456408,1.06002063169,0.583316360265,0.00885597858488,1.05969233508
+311,5.183333333,pose2_to_pose3_retreat,0.612146811271,0.00018165701748,1.0600205096,0.582717964503,0.00885589673783,1.05969221705
+312,5.200000000,pose2_to_pose3_retreat,0.611534587259,0.000181878431645,1.06002049957,0.5821057406,0.00885611380758,1.05969221212
+313,5.216666667,pose2_to_pose3_retreat,0.610910377798,0.000181813372455,1.06002072924,0.581481533603,0.00885605041976,1.05969243199
+314,5.233333333,pose2_to_pose3_retreat,0.610262257479,0.00018184745281,1.06002054706,0.580833413933,0.00885608143841,1.05969225462
+315,5.250000000,pose2_to_pose3_retreat,0.609590657229,0.000181827574939,1.06002043538,0.580161815455,0.00885606224044,1.05969214878
+316,5.266666667,pose2_to_pose3_retreat,0.608897383725,0.000181816662961,1.06002050128,0.579468544453,0.00885605357647,1.05969221436
+317,5.283333333,pose2_to_pose3_retreat,0.608184264296,0.000181892905468,1.06002051116,0.578755426202,0.00885612732633,1.05969222272
+318,5.300000000,pose2_to_pose3_retreat,0.607452043114,0.000181791626543,1.0600205131,0.578023206741,0.00885602585347,1.05969222447
+319,5.316666667,pose2_to_pose3_retreat,0.606718236972,0.000181843568128,1.06002056412,0.577289403428,0.00885608073225,1.0596922638
+320,5.333333333,pose2_to_pose3_retreat,0.605980193462,0.000181876652199,1.06002039584,0.576551359581,0.00885610683635,1.05969210979
+321,5.350000000,pose2_to_pose3_retreat,0.6052291188,0.000181905367063,1.06002045148,0.575800286557,0.00885613452153,1.05969216871
+322,5.366666667,pose2_to_pose3_retreat,0.604460786202,0.00018184052328,1.06002050581,0.575031956683,0.00885607183713,1.05969221826
+323,5.383333333,pose2_to_pose3_retreat,0.603668011915,0.000181823097528,1.0600206042,0.574239184738,0.00885605548645,1.05969230728
+324,5.400000000,pose2_to_pose3_retreat,0.602852017962,0.000181828248465,1.06002069251,0.573423192165,0.0088560587151,1.05969238848
+325,5.416666667,pose2_to_pose3_retreat,0.602013085628,0.000181739634021,1.06002064661,0.572584261784,0.00885597013636,1.05969234396
+326,5.433333333,pose2_to_pose3_retreat,0.601181811442,0.000181652331556,1.06002055267,0.571752990529,0.00885588624565,1.05969225506
+327,5.450000000,pose2_to_pose3_retreat,0.600362796117,0.000181707088956,1.06002055475,0.570933977274,0.00885593860728,1.05969225681
+328,5.466666667,pose2_to_pose3_retreat,0.599558848618,0.000181851790431,1.06002055022,0.57013003411,0.00885608120246,1.05969225545
+329,5.483333333,pose2_to_pose3_retreat,0.598767779675,0.000181820409301,1.06002062398,0.569338962456,0.00885604530137,1.05969233494
+330,5.500000000,pose2_to_pose3_retreat,0.597986491953,0.000181732218529,1.06002065413,0.56855768131,0.00885596227989,1.05969236101
+331,5.516666667,pose2_to_pose3_retreat,0.597186495989,0.000181821051148,1.0600206402,0.567757684312,0.00885604803118,1.0596923492
+332,5.533333333,pose2_to_pose3_retreat,0.596367008713,0.000181839190773,1.06002066589,0.566938196375,0.00885606426312,1.05969236969
+333,5.550000000,pose2_to_pose3_retreat,0.595530535687,0.000181773269434,1.06002068107,0.566101726678,0.00885600373134,1.05969238157
+334,5.566666667,pose2_to_pose3_retreat,0.59469214093,0.000181729905561,1.06002049604,0.565263335421,0.00885596480618,1.05969220077
+335,5.583333333,pose2_to_pose3_retreat,0.593877282585,0.00018176620544,1.06002031547,0.564448478134,0.00885599815525,1.05969202732
+336,5.600000000,pose2_to_pose3_retreat,0.593092566836,0.000181866492183,1.06002040689,0.563663763472,0.00885609210323,1.05969212224
+337,5.616666667,pose2_to_pose3_retreat,0.592340535065,0.000181928278556,1.06002048128,0.562911734611,0.00885614969151,1.05969219107
+338,5.633333333,pose2_to_pose3_retreat,0.591611337603,0.000181790309787,1.06002024382,0.562182539395,0.00885602499455,1.0596919628
+339,5.650000000,pose2_to_pose3_retreat,0.59089434162,0.000181845826873,1.06002044566,0.561465546067,0.00885607281649,1.05969216456
+340,5.666666667,pose2_to_pose3_retreat,0.590173254298,0.000181771825655,1.06002042562,0.560744458584,0.0088560003594,1.05969213853
+341,5.683333333,pose2_to_pose3_retreat,0.589442814724,0.000181724414626,1.0600207238,0.560014019362,0.00885595346549,1.05969242707
+342,5.700000000,pose2_to_pose3_retreat,0.588697523499,0.000181666335461,1.06002085241,0.559268730636,0.00885589915126,1.05969255365
+343,5.716666667,pose2_to_pose3_retreat,0.587969600494,0.0001816666879,1.06002065394,0.55854080906,0.00885589960622,1.05969236146
+344,5.733333333,pose2_to_pose3_retreat,0.587266869563,0.000181734753247,1.06002044914,0.557838078169,0.00885596307244,1.05969216452
+345,5.750000000,pose2_to_pose3_retreat,0.586599743729,0.000181742868505,1.06002040441,0.557170953872,0.00885597147261,1.05969212085
+346,5.766666667,pose2_to_pose3_retreat,0.585970035645,0.000181693576643,1.06002050285,0.556541247727,0.0088559241115,1.05969220997
+347,5.783333333,pose2_to_pose3_retreat,0.585378138763,0.000181699623261,1.06002023975,0.555949351117,0.00885592771777,1.05969196094
+348,5.800000000,pose2_to_pose3_retreat,0.584798842976,0.000181683392202,1.06002066312,0.555370056543,0.00885591141861,1.05969237695
+349,5.816666667,pose2_to_pose3_retreat,0.584220555445,0.000181749344795,1.06002058813,0.554791771842,0.00885598050768,1.05969230186
+350,5.833333333,pose2_to_pose3_retreat,0.583640385776,0.00018166887105,1.06002051953,0.554211602403,0.00885590251515,1.05969223042
+351,5.850000000,pose2_to_pose3_retreat,0.583063911305,0.000181693298368,1.06002053547,0.553635127218,0.0088559201635,1.05969224297
+352,5.866666667,pose2_to_pose3_retreat,0.582509300233,0.000181829221351,1.06002054576,0.553080509687,0.00885605159419,1.05969225107
+353,5.883333333,pose2_to_pose3_retreat,0.581983792181,0.000181793977536,1.0600205413,0.552554995433,0.00885602310736,1.05969224554
+354,5.900000000,pose2_to_pose3_retreat,0.581495025773,0.00018166736269,1.06002047988,0.552066232719,0.00885590258031,1.05969218923
+355,5.916666667,pose2_to_pose3_retreat,0.581030731251,0.000181727311856,1.06002034662,0.551601939085,0.00885596164487,1.05969206492
+356,5.933333333,pose2_to_pose3_retreat,0.580587226503,0.000181739332286,1.06002042987,0.551158433785,0.0088559683235,1.0596921315
+357,5.950000000,pose2_to_pose3_retreat,0.58016587398,0.000181721880144,1.06002075668,0.550737082475,0.008855952372,1.05969245556
+358,5.966666667,pose2_to_pose3_retreat,0.579767707897,0.000181697860903,1.06002038305,0.550338916914,0.00885592799615,1.05969208844
+359,5.983333333,pose2_to_pose3_retreat,0.579396526876,0.000181700899777,1.06002043847,0.549967736631,0.00885593147343,1.05969214514
+360,6.000000000,pose2_to_pose3_retreat,0.57905266785,0.000181751526078,1.06002050982,0.549623877822,0.00885598096269,1.05969221765
+361,6.016666667,pose2_to_pose3_retreat,0.578736628384,0.000181764918558,1.06002056066,0.54930783854,0.00885599318769,1.05969226793
+362,6.033333333,pose2_to_pose3_retreat,0.578433913085,0.000181693724421,1.06002063261,0.549005124196,0.0088559233779,1.05969233608
+363,6.050000000,pose2_to_pose3_retreat,0.578142536357,0.000181611743633,1.06002055006,0.548713749299,0.00885584587707,1.05969225078
+364,6.066666667,pose2_to_pose3_retreat,0.577864142723,0.00018165683785,1.06002053194,0.548435355835,0.00885589005219,1.05969223437
+365,6.083333333,pose2_to_pose3_retreat,0.577600886442,0.000181929046158,1.0600204736,0.548172096247,0.00885615015248,1.05969219149
+366,6.100000000,pose2_to_pose3_retreat,0.577357950588,0.000181793467134,1.06002040549,0.547929163294,0.00885602285515,1.05969211574
+367,6.116666667,pose2_to_pose3_retreat,0.577135933138,0.000181708745386,1.06002050584,0.547707145801,0.0088559364871,1.05969221006
+368,6.133333333,pose2_to_pose3_retreat,0.576935786179,0.000181748973829,1.06002069765,0.547506999132,0.00885597652762,1.05969240097
+369,6.150000000,pose2_to_pose3_retreat,0.576754182265,0.000181826338967,1.06002062923,0.547325394662,0.00885605104972,1.05969233196
+370,6.166666667,pose2_to_pose3_retreat,0.576590309678,0.000181864201868,1.06002052291,0.547161522219,0.00885608866239,1.05969222991
+371,6.183333333,pose2_to_pose3_retreat,0.576443803266,0.000181854454917,1.06002052283,0.547015016314,0.00885607985517,1.05969223033
+372,6.200000000,pose2_to_pose3_retreat,0.576314153304,0.00018185667039,1.06002062662,0.546885366234,0.00885608082434,1.05969232864
+373,6.216666667,pose2_to_pose3_retreat,0.576202586778,0.000181863370189,1.06002068096,0.546773800151,0.00885608859781,1.05969238479
+374,6.233333333,pose2_to_pose3_retreat,0.576104954529,0.000181780476395,1.06002040674,0.546676169195,0.00885600991605,1.05969211829
+375,6.250000000,pose2_to_pose3_retreat,0.576020375789,0.00018174415959,1.06002051208,0.546591590845,0.00885597327157,1.05969222073
+376,6.266666667,pose2_to_pose3_retreat,0.57594726832,0.000181819765513,1.06002068046,0.546518481212,0.00885604001913,1.05969237662
+377,6.283333333,pose2_to_pose3_retreat,0.575884396018,0.000181918177618,1.06002056484,0.546455608741,0.00885613806838,1.05969226521
+378,6.300000000,pose2_to_pose3_retreat,0.575832059005,0.00018177646508,1.06002061163,0.546403274906,0.00885600696439,1.05969232223
+379,6.316666667,pose2_to_pose3_retreat,0.575789350562,0.000181742911394,1.06002057247,0.546360567467,0.00885597680202,1.05969227546
+380,6.333333333,pose2_to_pose3_retreat,0.57575629823,0.000181781803222,1.06002062179,0.546327513985,0.00885601157005,1.05969232402
+381,6.350000000,pose2_to_pose3_retreat,0.575730339841,0.000181843105415,1.06002051688,0.546301553359,0.00885606507824,1.0596922223
+382,6.366666667,pose2_to_pose3_retreat,0.575710831407,0.000181863944795,1.06002044477,0.546282044684,0.00885608497326,1.05969215275
+383,6.383333333,pose2_to_pose3_retreat,0.575696083335,0.000181834342336,1.06002047186,0.546267298404,0.00885606150809,1.05969218134
+384,6.400000000,pose2_to_pose3_retreat,0.575685504807,0.000181801195811,1.06002039027,0.546256720415,0.00885603055168,1.0596920993
+385,6.416666667,pose2_to_pose3_retreat,0.575679001855,0.000181782578038,1.06002051961,0.546250215471,0.00885600487069,1.05969222098
+386,6.433333333,pose2_to_pose3_retreat,0.575674906537,0.000181742105723,1.06002060379,0.546246120706,0.00885596613449,1.05969230356
+387,6.450000000,pose2_to_pose3_retreat,0.57567264717,0.000181709386093,1.06002065122,0.546243862298,0.00885593660807,1.05969235126
+388,6.466666667,pose2_to_pose3_retreat,0.575671169738,0.000181717627611,1.06002063696,0.546242384686,0.00885594419803,1.05969233784
+389,6.483333333,pose2_to_pose3_retreat,0.575670208955,0.000181744722013,1.06002059447,0.546241423196,0.00885596885957,1.05969229638
+390,6.500000000,pose2_to_pose3_retreat,0.575669380671,0.000181768079913,1.06002055785,0.546240594302,0.00885599012011,1.05969226064
+391,6.516666667,pose2_to_pose3_retreat,0.57566873397,0.000181777937762,1.06002053162,0.546239947427,0.00885599938938,1.05969223561
+392,6.533333333,pose2_to_pose3_retreat,0.575668241758,0.000181758263929,1.06002051931,0.546239456066,0.00885598266971,1.05969222586
+393,6.550000000,pose2_to_pose3_retreat,0.575667963444,0.000181747139636,1.06002051235,0.546239178232,0.00885597321581,1.05969222035
+394,6.566666667,pose2_to_pose3_retreat,0.575667930852,0.000181745836919,1.06002051154,0.546239145696,0.0088559721087,1.0596922197
+395,6.583333333,pose2_to_pose3_retreat,0.575667715685,0.000181737236625,1.06002050616,0.546238930901,0.0088559647998,1.05969221544
+396,6.600000000,pose2_to_pose3_retreat,0.575667484167,0.000181727982794,1.06002050037,0.546238699783,0.0088559569355,1.05969221085
+397,6.616666667,pose2_to_pose3_retreat,0.575667436718,0.000181726086266,1.06002049918,0.546238652416,0.00885595532375,1.05969220991
+398,6.633333333,pose2_to_pose3_retreat,0.575667376622,0.000181723443249,1.06002049664,0.546238592389,0.00885595289587,1.05969220698
+399,6.650000000,pose2_to_pose3_retreat,0.575667373818,0.000181723288019,1.06002049638,0.546238589585,0.00885595273137,1.05969220661
+400,6.666666667,pose2_to_pose3_retreat,0.575667302892,0.000181719360313,1.06002048989,0.546238518625,0.00885594856919,1.05969219731
+401,6.683333333,pose2_to_pose3_retreat,0.575667210721,0.000181714256149,1.06002048146,0.546238426411,0.00885594316033,1.05969218521
+402,6.700000000,pose2_to_pose3_retreat,0.575667150532,0.000181710923012,1.06002047595,0.546238366193,0.00885593962822,1.05969217731
+403,6.716666667,pose2_to_pose3_retreat,0.57566714073,0.000181710380186,1.06002047505,0.546238356386,0.00885593905298,1.05969217602
+404,6.733333333,pose2_to_pose3_retreat,0.575667064712,0.000181706170528,1.06002046809,0.546238280332,0.00885593459202,1.05969216605
+405,6.750000000,pose2_to_pose3_retreat,0.57566698434,0.000181701719779,1.06002046074,0.546238199923,0.00885592987558,1.0596921555
+406,6.766666667,pose2_to_pose3_retreat,0.57566691612,0.000181707884041,1.06002048185,0.546238131641,0.00885593578491,1.05969217517
+407,6.783333333,pose2_to_pose3_retreat,0.575666833935,0.000181729479963,1.06002054626,0.546238049341,0.00885595703178,1.05969223966
+408,6.800000000,pose2_to_pose3_retreat,0.575666857798,0.000181704559488,1.06002059441,0.546238073755,0.00885593393358,1.05969228399
diff --git a/Part2/Obstacle_avoidance/cylinder_PLA_10/position_04/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_PLA_10/position_04/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f820b4bc325d679833906af225666db61c0038c7
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_PLA_10/position_04/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b19ce258c09c03f8d4015f287402da365250a1e204aaf2c5d6c77db4ff84e502
+size 25899926
diff --git a/Part2/Obstacle_avoidance/cylinder_PLA_10/position_04/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_PLA_10/position_04/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3940531dd3d3874c33ef3149b885aa71371d827d
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_PLA_10/position_04/depth_01/franka_data.csv
@@ -0,0 +1,408 @@
+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,799,748,727,710,699,657,934,805,839,671,658,677,0.401043301081,-0.00550705022986,0.0798653600228,0.999999980335,0.000127538231069,-0.000143019045445,5.10911531176e-05,1793256593262688256
+1,0.016666667,BASELINE,798.424994945,748,726.424994945,710,699,656.424994945,934,805,839,671,658,677.575005055,0.401042571448,-0.00550751940307,0.0798647252154,0.999999980591,0.000124016282857,-0.000144483702047,5.06269812232e-05,1793256593279354880
+2,0.033333333,BASELINE,798,748,726,710,699,656,934,805,839,670.846197376,657.846197376,677.846197376,0.401042142134,-0.00550794322015,0.0798643027146,0.999999980798,0.000121338560758,-0.000145415835425,5.03560974923e-05,1793256593296021504
+3,0.050000000,BASELINE,798,748,726,710,699,656,934,805,839,670.256655069,657.256655069,677.256655069,0.401042563663,-0.00550823853843,0.0798644817014,0.999999980902,0.000121052622921,-0.000144839272508,5.06328201996e-05,1793256593312687872
+4,0.066666667,BASELINE,798,748,726.32712639,710,699,656,934,805,839,670,657.32712639,677,0.401042275896,-0.0055080726223,0.0798641417935,0.999999980669,0.000122444993203,-0.000145267603782,5.06606205803e-05,1793256593329354496
+5,0.083333333,BASELINE,798,748,726.906466218,710,699,656,934,805,839,670,657.906466218,677,0.401041441265,-0.00550755109584,0.0798634018196,0.999999980169,0.000125131333882,-0.000146470705412,5.04965025985e-05,1793256593346021120
+6,0.100000000,BASELINE,798,748,726.518231873,710,699,656,934,805,839,670,658,677.481768127,0.40104039827,-0.00550681633198,0.0798632720737,0.999999979833,0.000126208081205,-0.000147763352517,5.07060430693e-05,1793256593362688000
+7,0.116666667,BASELINE,798,748,726,710,699,656,934,805,838.943394671,670,658,677.943394671,0.401039561623,-0.00550636163148,0.0798633877054,0.999999979633,0.000126594962594,-0.000148702877338,5.09407288248e-05,1793256593379355136
+8,0.133333333,BASELINE,798,748,726,710,699,656,934,805,838.365678463,670,658,677.365678463,0.401040993946,-0.00550886316158,0.0798646806832,0.999999980396,0.000123483863904,-0.000146232828178,5.07446054325e-05,1793256593396021504
+9,0.150000000,BASELINE,798,748,726,710,699,656,934,805,838.216111587,670,658,677,0.401041538313,-0.00551010464885,0.0798650952135,0.999999980811,0.000121453537096,-0.000145164147848,5.0535147408e-05,1793256593412687872
+10,0.166666667,BASELINE,798,748,726,710,699,656,934,805,838.804927292,670,658,677,0.401040551319,-0.00550917307724,0.0798639947808,0.999999980647,0.000121287100168,-0.000146512255978,5.03026926168e-05,1793256593429354496
+11,0.183333333,BASELINE,798,748,726,710,699,656,934,805,838.61374394,670.38625606,658,677,0.401041673256,-0.0055080191879,0.0798644457047,0.999999980707,0.00012221211071,-0.000145373756858,5.01580642439e-05,1793256593446020864
+12,0.200000000,BASELINE,798,748,726,710,699,656,934,805,838.036124384,670.963875616,658,677,0.401043840024,-0.00550675515522,0.0798656652198,0.999999980874,0.000123677858908,-0.000143003313812,5.00569478412e-05,1793256593462687232
+13,0.216666667,BASELINE,798,748,726,710,699,656,934,805,839.081139213,670.459430393,658,677,0.401041618707,-0.00550735155382,0.0798644707056,0.999999980393,0.000124151168763,-0.000145880051665,5.02044162028e-05,1793256593479354112
+14,0.233333333,BASELINE,798.119191826,748,726.119191826,710,699,656,934,805,839.880808174,670.119191826,658,677,0.40104027926,-0.00550780329541,0.0798638996508,0.999999980115,0.000124414300997,-0.000147499510348,5.03421893423e-05,1793256593496020992
+15,0.250000000,BASELINE,798.705614905,748,726.705614905,710,699,656,934,805,839.294385095,670.705614905,658,677,0.401043544267,-0.00550720145787,0.0798664038494,0.999999980831,0.000124113072649,-0.000142818243366,5.03769494699e-05,1793256593512688128
+16,0.266666667,BASELINE,798.711421298,748,727,710.288578702,699,656,934,805,839,671,658,677,0.401044062783,-0.00550679772608,0.0798668888016,0.999999980978,0.00012374555507,-0.000142133231055,5.02998399656e-05,1793256593529355008
+17,0.283333333,BASELINE,798.13194462,748,727,710.86805538,699,656,934,805,839,671,658,677,0.401041812733,-0.00550659369222,0.079865338279,0.99999998056,0.000123311215519,-0.00014547659114,5.01099617441e-05,1793256593546021376
+18,0.300000000,BASELINE,798,748.446951663,727,710.553048337,699,656,934,805,839,670.553048337,658,677.446951663,0.401042184085,-0.00550619640587,0.0798660434567,0.999999980668,0.000123840637357,-0.000144255058535,5.01782080747e-05,1793256593562687744
+19,0.316666667,BASELINE,798,748.974485236,726.974485236,710,699,656.025514764,934,805,838.974485236,670.025514764,658,678,0.401043235825,-0.00550580888372,0.0798672895772,0.999999980899,0.00012464688121,-0.000141886942939,5.03225441219e-05,1793256593579354368
+20,0.333333333,BASELINE,798,748.399412639,726.399412639,710,699,656.600587361,934,805,838.399412639,670.600587361,658,678,0.401042295797,-0.00550685886848,0.0798658627517,0.999999980536,0.00012529543864,-0.000143810898823,5.0466612706e-05,1793256593596020736
+21,0.350000000,BASELINE,798,748.179392226,726.179392226,710,699,656.820607774,934,805,838.179392226,671,658,677.820607774,0.401041346879,-0.00550804840752,0.079864874922,0.999999980384,0.000124847018806,-0.00014522178072,5.05636415121e-05,1793256593612687616
+22,0.366666667,BASELINE,798,748.766683382,726.766683382,710,699,656.233316618,934,805,838.766683382,671,658,677.233316618,0.401040377743,-0.00550955526252,0.0798648852734,0.999999980712,0.00012190431103,-0.000145466043632,5.05537120683e-05,1793256593629354240
+23,0.383333333,BASELINE,798,748.64968246,727,710.35031754,699,656,934,805,839,670.64968246,658,677.35031754,0.401040498226,-0.00550855379305,0.0798649412444,0.999999980619,0.000122699531009,-0.000145483925393,5.04106357107e-05,1793256593646021376
+24,0.400000000,BASELINE,798,748.068458696,727,710.931541304,699,656,934,805,839,670.068458696,658,677.931541304,0.401041336915,-0.00550589900164,0.079865027285,0.999999980245,0.000125958546214,-0.000145352591649,5.01797976852e-05,1793256593662688512
+25,0.416666667,BASELINE,798,748,726.492469963,710.492469963,699,656,934,805,839,670,658,678,0.401041197386,-0.00550521233936,0.0798640823943,0.999999979895,0.000127496452303,-0.000146457417145,5.00444273898e-05,1793256593679354880
+26,0.433333333,BASELINE,798.082757077,748,726,710.082757077,699,656.082757077,934,805,839,670,658,677.917242923,0.4010408792,-0.00550521322149,0.0798632013744,0.999999979693,0.000127962451215,-0.000147459224282,4.99442474747e-05,1793256593696021248
+27,0.450000000,BASELINE,798.657611106,748,726,710.657611106,699,656.657611106,934,805,839,670,658,677.342388894,0.401040275257,-0.00550773997521,0.0798635185859,0.99999998035,0.000123420944663,-0.000146867091643,4.99775293773e-05,1793256593712687616
+28,0.466666667,BASELINE,798.761825586,748,726,710.761825586,699,657,934,805,839,670.238174414,658,677,0.4010404043,-0.00550842722233,0.079864216486,0.999999980692,0.000121804875116,-0.000145884793248,4.99669323205e-05,1793256593729354240
+29,0.483333333,BASELINE,798.172853337,748,726,710.172853337,699,657,934,805,839,670.827146663,658,677,0.40104161293,-0.00550640513156,0.0798654750877,0.99999998059,0.000124497568254,-0.00014432783492,4.98917076499e-05,1793256593746020864
+30,0.500000000,BASELINE,798,748,726,710,699,656.590900797,934,805,839,670.590900797,658,677,0.401041541085,-0.00550705361474,0.0798654429315,0.999999980768,0.000122643652786,-0.000144691415567,4.98611718682e-05,1793256593762687488
+31,0.516666667,BASELINE,798,748,726,710,699,656.011864216,934,805,839,670.011864216,658,677,0.401040937339,-0.00550881143852,0.0798648746021,0.999999981052,0.000118901103054,-0.00014585277673,4.98491995868e-05,1793256593779354368
+32,0.533333333,BASELINE,798,748,726,710,699,656,934,805,839,670,658,677,0.401040743881,-0.00550844143654,0.0798650720265,0.999999980538,0.000123272289067,-0.000145574411683,5.03610052642e-05,1793256593796020992
+33,0.550000000,BASELINE,798,748,726.143598852,710,699,656,934,805,838.856401148,670,658,677,0.401040808089,-0.00550804304164,0.079865474625,0.999999980299,0.000125871528777,-0.000144898339539,5.06184914688e-05,1793256593812687872
+34,0.566666667,BASELINE,798,748,726.72959039,710,699,656,934,805,838.27040961,670,658,677,0.401041639661,-0.00550769430032,0.0798664599664,0.999999981008,0.000122488957904,-0.000143089811271,5.00587277119e-05,1793256593829354752
+35,0.583333333,BASELINE,798,748.313893696,726.686106304,710,699,656,934,805.313893696,838.313893696,670.313893696,658,677,0.401042093926,-0.00550740448653,0.0798668327351,0.999999981058,0.000122637256496,-0.000142633028504,5.0008618996e-05,1793256593846021120
+36,0.600000000,BASELINE,798,748.896750488,726.103249512,710,699,656,934,805.896750488,838.896750488,670.896750488,658,677,0.401042224891,-0.00550716516538,0.0798666806146,0.999999980544,0.000125811017148,-0.000143334502807,5.03952134712e-05,1793256593862687744
+37,0.616666667,BASELINE,798,748.526859299,726,710,699,656,934,805.526859299,839,671,658,677,0.401041591614,-0.00550647103839,0.0798662566986,0.999999980487,0.000125779075972,-0.000143917898659,4.99258434494e-05,1793256593879354368
+38,0.633333333,BASELINE,798,748.04810966,726,710,699,656,934,805,839,670.95189034,658,677,0.401040831593,-0.00550569363034,0.0798657796066,0.999999980525,0.000125018573324,-0.000144518413412,4.93419190997e-05,1793256593896020992
+39,0.650000000,BASELINE,798,748.622760173,726,710,699,656,934,805,839,670.377239827,658,677,0.401040485081,-0.00550507633262,0.079865360913,0.999999980509,0.000123837356764,-0.00014558449801,4.95210198195e-05,1793256593912687616
+40,0.666666667,BASELINE,798,748.797977684,726,710,699,656,934,805,839,670.202022316,658,677,0.401040034417,-0.00550502787335,0.0798649730902,0.999999980469,0.000123169704234,-0.000146343407952,4.97470193854e-05,1793256593929354496
+41,0.683333333,BASELINE,798,748.209903034,726,710,699,656,934,805,839,670.790096966,658,677,0.401039384724,-0.00550606642976,0.0798646442596,0.999999980389,0.000123483441342,-0.000146515325783,5.00626397773e-05,1793256593946021120
+42,0.700000000,BASELINE,798,748.374227203,726.374227203,710.374227203,699,656.374227203,934,805,839,671,658,677,0.40104014754,-0.00550616395579,0.0798651869939,0.999999980389,0.000124645715369,-0.000145500888132,5.01443694138e-05,1793256593962688000
+43,0.716666667,BASELINE,798,748.956168086,726.956168086,710.956168086,699,656.956168086,934,805,839,671,658,677,0.401041694363,-0.0055057391657,0.0798662134875,0.999999980429,0.000126278967238,-0.000143827967443,5.00962786815e-05,1793256593979354880
+44,0.733333333,BASELINE,798,748.468432915,727,711,699,656.468432915,934,805,839,670.468432915,658,677,0.401042166622,-0.00550573977451,0.0798662357857,0.99999998027,0.000127444243709,-0.000143929508633,5.00209181482e-05,1793256593996020992
+45,0.750000000,BASELINE,798,748,726.893981701,711,699,656,934,805,839,670.106018299,658,677,0.401042323588,-0.00550588434155,0.0798661183147,0.999999980126,0.000128131399397,-0.000144345166702,4.99537779918e-05,1793256594012687616
+46,0.766666667,BASELINE,798,748,726.321356757,711,699,656,934,805,839,670.678643243,658,677,0.401041478119,-0.00550650999015,0.0798657456975,0.999999980118,0.000126882024127,-0.000145507166419,4.99325935447e-05,1793256594029353984
+47,0.783333333,BASELINE,798,748,726.25961283,710.74038717,699,656,934,805,839,670.74038717,658,677,0.401041179688,-0.00550644868887,0.0798655977259,0.999999980172,0.000126214085465,-0.000145733937317,4.98666184585e-05,1793256594046020864
+48,0.800000000,BASELINE,798,748,726.851254789,710.148745211,699,656,934,805,839,670.148745211,658,677,0.401041580884,-0.00550550882026,0.0798657370621,0.99999998031,0.00012628976894,-0.000144764607197,4.97433588474e-05,1793256594062687488
+49,0.816666667,BASELINE,798,748,726.565981889,710,699,656,934,805,839,670,658,677,0.401041260111,-0.00550634641664,0.0798658333579,0.999999980218,0.000126823428749,-0.000144869999169,4.99342520559e-05,1793256594079354112
+50,0.833333333,BASELINE,798,748,726.013680815,710,698.986319185,656,934,805,839,670,658,677.013680815,0.401040734655,-0.00550773739448,0.0798659355043,0.999999980061,0.000127456388685,-0.000145294699129,5.02182317042e-05,1793256594096021504
+51,0.850000000,BASELINE,798,748,726.58847408,710,698.41152592,656,934,805,839,670,658,677.58847408,0.401041759014,-0.00550734122892,0.0798668704772,0.999999980461,0.000125853667703,-0.000144011825463,4.99927865682e-05,1793256594112688384
+52,0.866666667,BASELINE,798,748,727,710,698.166752084,656,934,805,839,670,658,677.833247916,0.401042377538,-0.00550694271771,0.0798673033431,0.99999998067,0.000125020663057,-0.000143322647979,4.98845233811e-05,1793256594129354752
+53,0.883333333,BASELINE,798,748,727,710,698.753813563,656,934,805,839,670,658,677.246186437,0.401041973127,-0.00550653829415,0.0798664706158,0.999999980406,0.000126127778234,-0.000144129920132,5.00716248766e-05,1793256594146021120
+54,0.900000000,BASELINE,798,748.336684662,727,710,699,656,934,805,839,670.336684662,658,677,0.401041559657,-0.00550645447336,0.0798661745622,0.999999980446,0.000125402106339,-0.000144500113204,5.00129808412e-05,1793256594162687488
+55,0.916666667,BASELINE,798,748.916529362,727,710,699,656,934,805,839,670.916529362,658,677,0.401041139644,-0.00550660219798,0.0798662661044,0.999999980705,0.000123352760863,-0.000144554639449,4.97768547207e-05,1793256594179354112
+56,0.933333333,BASELINE,798,748.505702777,726.505702777,710,699,656,934,805,839,670.505702777,658,677,0.401041910373,-0.00550616523649,0.0798671243345,0.99999998056,0.000125480083399,-0.000143697927185,4.98511684764e-05,1793256594196020992
+57,0.950000000,BASELINE,798,748,726.071072522,710,699,656,934,805,839,670,658,677,0.401042856759,-0.00550574417225,0.0798678984979,0.999999980375,0.000127831084195,-0.000142872426123,4.9963881759e-05,1793256594212687872
+58,0.966666667,BASELINE,798,748,726.643311192,710,699,656,934,805,839,670,658,677,0.401043629823,-0.0055061285174,0.0798671707435,0.999999980437,0.00012680672991,-0.000143347540306,4.99792544589e-05,1793256594229354496
+59,0.983333333,BASELINE,797.777167132,748.222832868,726.777167132,710,699,656,934,805,838.777167132,670.222832868,658,677,0.401043013722,-0.00550660461737,0.079866230318,0.999999980488,0.000125415127097,-0.000144237884852,4.99123991391e-05,1793256594246021120
+60,1.000000000,BASELINE,797.185593548,748.814406452,726.185593548,710,699,656,934,805,838.185593548,670.814406452,658,677,0.401040098851,-0.005507232552,0.0798649379672,0.999999980518,0.000123415806388,-0.000145815346874,4.97094740435e-05,1793256594262687488
+61,1.016666667,BASELINE,797.398709675,748.601290325,726.398709675,710,699,656,934,805,838.398709675,670.601290325,658,677,0.401040918827,-0.00550707358205,0.0798657363443,0.99999998063,0.000123987111137,-0.000144560651624,4.96963600912e-05,1793256594279354112
+62,1.033333333,BASELINE,797.979689221,748.020310779,726.979689221,710,699,656,934,805,838.979689221,670.020310779,658,677,0.401043446188,-0.00550655487914,0.0798674904963,0.999999980773,0.000125733575786,-0.000142011237397,4.9770018193e-05,1793256594296020992
+63,1.050000000,BASELINE,798,748,726.444857775,710,699,656,934,805,839,670,658,677,0.401042516925,-0.00550703187502,0.0798669799605,0.999999980517,0.000126080502409,-0.000143477823709,4.98410389444e-05,1793256594312688384
+64,1.066666667,BASELINE,798,748,726,710,699,656,934,805,839,670,657.86956858,677,0.401041829915,-0.00550723473566,0.0798666036475,0.999999980324,0.00012651099537,-0.000144433936145,4.98574909891e-05,1793256594329355520
+65,1.083333333,BASELINE,798,748,726,710,699,656,934,805,839,670,657.294155245,677,0.401042396582,-0.00550637929451,0.0798669651422,0.999999980404,0.000127399552284,-0.000143152173583,4.96881015082e-05,1793256594346021376
+66,1.100000000,BASELINE,797.710463654,748,726,710,699,656.289536346,934,805,839,670,657.289536346,677,0.401040649525,-0.00550641226928,0.0798659290663,0.999999980147,0.000127190860112,-0.000145117118358,4.96858687193e-05,1793256594362687488
+67,1.116666667,BASELINE,797.118114245,748,726,710,699,656.881885755,934,805,839,670,657.881885755,677,0.40103648265,-0.00550737439844,0.079863431334,0.999999979518,0.000125834604331,-0.000150477648638,4.98584576187e-05,1793256594379354368
+68,1.133333333,BASELINE,797.462118101,748,726.462118101,710,699,656.537881899,934,805,839,670.462118101,658,677,0.401038564345,-0.00550638045349,0.0798647015532,0.999999979797,0.000126361603384,-0.000148174798736,4.98317195998e-05,1793256594396021248
+69,1.150000000,BASELINE,798,748,726.96090137,710,699,656,934,805,839,670.96090137,658,677.03909863,0.401041864638,-0.00550508252276,0.0798667176137,0.999999980262,0.000127143217767,-0.000144337859017,4.97652608583e-05,1793256594412688128
+70,1.166666667,BASELINE,798,748,726.387120199,710,699,656,934,805,839,670.387120199,658,677.612879801,0.40104054697,-0.00550628988263,0.0798660996242,0.999999980344,0.000124992411454,-0.000145623274335,4.98345173004e-05,1793256594429354496
+71,1.183333333,BASELINE,798.190906682,748.190906682,726.190906682,710,699,656,934,805,839,670,658,677.809093318,0.401039949147,-0.00550692304614,0.0798657289946,0.999999980344,0.000124099001004,-0.000146371197591,4.98729657512e-05,1793256594446021120
+72,1.200000000,BASELINE,798.777738941,748.777738941,726.777738941,710,699,656,934,805,839,670,658,677.222261059,0.401040844225,-0.00550636537138,0.0798658713703,0.999999980184,0.000125813331159,-0.000146004404448,4.98475208427e-05,1793256594462687744
+73,1.216666667,BASELINE,798.638833845,748.638833845,727,710,699,656,934,805,839,670.361166155,658,677,0.401042015375,-0.00550635737858,0.0798667003651,0.999999980252,0.000126769065807,-0.000144674634012,4.99460126814e-05,1793256594479354624
+74,1.233333333,BASELINE,798.057482553,748.057482553,727,710,699,656,934,805,839,670.942517447,658,677,0.401043354833,-0.0055066844997,0.0798679479574,0.999999980456,0.000127262322201,-0.000142757783987,5.01200626243e-05,1793256594496021248
+75,1.250000000,BASELINE,798,748,727,710,699,656,934,805,839,670.480774615,658,677.519225385,0.401040565738,-0.00550660836071,0.0798654423393,0.999999979894,0.000127466849906,-0.000146489035681,5.00513571088e-05,1793256594512687872
+76,1.266666667,BASELINE,798,748.095083839,727,710.095083839,699,656,934,805,839,670.095083839,658,677.904916161,0.401037946102,-0.00550655353854,0.0798631723216,0.999999979388,0.000127442085647,-0.000149956528495,4.99583839979e-05,1793256594529354240
+77,1.283333333,BASELINE,798,748.669229342,727,710.669229342,699,656,934,805,839,670.669229342,658,677.330770658,0.401038462675,-0.00550682905472,0.0798641642504,0.999999979668,0.000126421698193,-0.000148972634659,4.9877347836e-05,1793256594546021376
+78,1.300000000,BASELINE,798.251255058,748.748744942,727,711,699,656,934,805.251255058,839,671,658,677,0.401039525032,-0.00550661645667,0.0798653707539,0.999999979954,0.000125888554102,-0.000147500747184,4.98695763969e-05,1793256594562688256
+79,1.316666667,BASELINE,798.84399072,748.15600928,727,711,699,656,934,805.84399072,839,671,658,677,0.401041329166,-0.00550574046281,0.0798668688855,0.999999980246,0.000126017622266,-0.000145365627921,4.99613790061e-05,1793256594579354880
+80,1.333333333,BASELINE,798.575502363,748,727,710.575502363,699,656,934,805.575502363,839,670.575502363,658,677,0.401040762491,-0.00550580192361,0.0798665442637,0.999999980083,0.000127103219138,-0.000145531444303,4.99928334566e-05,1793256594596021248
+81,1.350000000,BASELINE,798,748,726.99936507,710,699,656.00063493,934,805,839,670,658,677.00063493,0.401039351373,-0.00550619721559,0.0798655700771,0.999999979756,0.000128528209168,-0.000146517404427,5.00026401122e-05,1793256594612687872
+82,1.366666667,BASELINE,798,748,726.424372731,710,699,656.575627269,934,805,839,670,658,677.575627269,0.401040171877,-0.00550564228241,0.0798660134994,0.999999979939,0.000127870570261,-0.000145869220394,4.99310632584e-05,1793256594629354240
+83,1.383333333,BASELINE,798,748,726.14983403,710,699,656.85016597,934,805,839,670,658,677.85016597,0.401040839238,-0.00550517156917,0.0798662882117,0.999999980061,0.000127402031494,-0.000145469885483,4.985481008e-05,1793256594646020608
+84,1.400000000,BASELINE,798,748,726.721827547,710,699,656.278172453,934,805,839,670,658,677.278172453,0.40104107512,-0.00550493814667,0.0798660875814,0.999999980013,0.000127466284876,-0.00014577168632,4.97653812759e-05,1793256594662687488
+85,1.416666667,BASELINE,798,748,726.692816937,710.307183063,699,656,934,805,839,670,658,677,0.401040882034,-0.00550523030928,0.0798658420215,0.999999980036,0.000126378674442,-0.000146630393104,4.95492821486e-05,1793256594679354880
+86,1.433333333,BASELINE,798,748,726.094811102,710.905188898,699,656,934,805,839,670,658,677,0.401040282828,-0.00550602006485,0.0798655539252,0.999999980122,0.000124200547412,-0.00014801634551,4.921325905e-05,1793256594696021760
+87,1.450000000,BASELINE,798,748,726,710.515643889,699,656,934,805,839,670,658,677,0.401040770116,-0.0055062325156,0.0798658924422,0.999999980248,0.000124645713687,-0.000146755970362,4.92902246227e-05,1793256594712688128
+88,1.466666667,BASELINE,798,748,726.059937169,710,699,656,934,805,839,670,658,677,0.401041244338,-0.00550622971276,0.079866305694,0.999999980335,0.000125642732519,-0.000145250725523,4.94611811579e-05,1793256594729354496
+89,1.483333333,BASELINE,798,748,726.635203454,710,699,656,934,805,839,670,658,677,0.401039846114,-0.00550531142418,0.0798663463977,0.999999980032,0.000127134780125,-0.000145927151127,4.97712189448e-05,1793256594746020864
+90,1.500000000,BASELINE,798,748,727,710,699,656.21502562,934,805,838.78497438,670,658,677,0.401039385835,-0.00550486684216,0.0798664656549,0.999999979921,0.000127819077498,-0.000146035083151,4.99354316936e-05,1793256594762687232
+91,1.516666667,BASELINE,798,748,727,710,699,656.802744204,934,805,838.197255796,670,658,677,0.401040551248,-0.00550524331171,0.0798667210649,0.999999980145,0.000127103342345,-0.000145157674113,4.98468932935e-05,1793256594779353856
+92,1.533333333,BASELINE,798,748,727,710,699,656.613666073,934,805,838.386333927,670,658,677,0.401040837977,-0.00550598212084,0.0798665758198,0.999999980324,0.000125735654436,-0.000145131044799,4.97911276854e-05,1793256594796020736
+93,1.550000000,BASELINE,798,748,727,710,699,656.032162133,934,805,838.967837867,670,658,677,0.401040680809,-0.00550690397843,0.07986622817,0.999999980479,0.000124038609865,-0.000145534216357,4.97519183843e-05,1793256594812687360
+94,1.566666667,BASELINE,797.457464693,748,727,710,699,656,934,805,839,670,658,677,0.401040686216,-0.00550607990326,0.0798662159868,0.99999998005,0.000127436933893,-0.000145548091549,4.97525198475e-05,1793256594829354496
+95,1.583333333,BASELINE,797.23349005,748,727,710,699,656,934,805,839,670.116745025,658,677,0.40104079381,-0.00550527677587,0.0798662034427,0.999999979713,0.000130131553334,-0.000145491229312,4.97269118959e-05,1793256594846021376
+96,1.600000000,BASELINE,798.381211113,748,727,710,699,656,934,805,839,670.690605557,658,677,0.401041264248,-0.00550495590639,0.0798661125825,0.999999979914,0.000128902755789,-0.000145246636619,4.95895546958e-05,1793256594862687744
+97,1.616666667,BASELINE,798.726093011,748,726.726093011,710,699,656,934,805,838.726093011,670.726093011,658,677,0.401041097787,-0.00550476432341,0.0798658945319,0.999999979833,0.0001290270012,-0.000145657261122,4.97068756821e-05,1793256594879354368
+98,1.633333333,BASELINE,798.131746862,748,726.131746862,710,699,656,934,805,838.131746862,670.131746862,658,677,0.401040186231,-0.00550472399052,0.0798655276831,0.999999979418,0.000130734148783,-0.000146834413169,5.01221403844e-05,1793256594896020992
+99,1.650000000,BASELINE,798,748,726.449254711,710.449254711,699,656,934,805,838,670,658,677.449254711,0.401040424374,-0.00550469346823,0.0798660656423,0.99999997966,0.00012962404912,-0.000146193819952,5.00482294639e-05,1793256594912687872
+100,1.666666667,BASELINE,798,748,727,710.973698267,699,656,934,805,838,670,658,677.973698267,0.40104096358,-0.00550465056751,0.0798668004558,0.999999980058,0.000127845797575,-0.000145106423842,4.98445261528e-05,1793256594929354240
+101,1.683333333,BASELINE,798,748,727,710.39985816,699,656,934,805,838,670,658,677.39985816,0.401040953869,-0.00550429181308,0.0798662688902,0.999999979871,0.0001288610878,-0.000145494689714,4.98390754506e-05,1793256594946020864
+102,1.700000000,BASELINE,798,748,726.821009151,710,699,656,934,805,838.178990849,670.178990849,658,677.178990849,0.401040783982,-0.0055045474477,0.0798658348417,0.999999979785,0.000129086386787,-0.000145874548617,4.98702681008e-05,1793256594962687488
+103,1.716666667,BASELINE,798,748,726.230648394,710,699,656,934,805,838.769351606,670.769351606,658,677.769351606,0.40104024597,-0.00550621511637,0.0798656249144,0.999999979931,0.000127496069774,-0.000146235085956,4.99856771945e-05,1793256594979354624
+104,1.733333333,BASELINE,798,748,726.352847535,710,699,656,934,805,839,671,658,678,0.401040599351,-0.00550624051153,0.0798659724133,0.999999980086,0.000126824991046,-0.000145847140642,4.97240948738e-05,1793256594996021248
+105,1.750000000,BASELINE,798,748,726.931941777,710,699,656,934,805,839,671,658,678,0.401041524296,-0.00550521287704,0.0798666773354,0.999999980247,0.00012674333001,-0.000144979266446,4.92207847424e-05,1793256595012687616
+106,1.766666667,BASELINE,798,748,727,710,699,656,934,805,839,670.491705906,658,677.491705906,0.4010412403,-0.00550499662347,0.0798666205833,0.999999980245,0.000126543222629,-0.000145053042451,4.9560500156e-05,1793256595029354240
+107,1.783333333,POSE1_TO_POSE2_PRESS,798,749,726,710,699,656,934,805,839,671,658,677,0.401040355286,-0.00550629666464,0.0798669037515,0.999999980344,0.000125557313452,-0.000145117199737,4.98860237025e-05,1793256595072018944
+108,1.800000000,POSE1_TO_POSE2_PRESS,798,748.420542265,726,710,699,656,934,805,838.420542265,671,658,677.579457735,0.401040722302,-0.00550671321638,0.0798669368546,0.999999980278,0.000126216395123,-0.000144914704636,5.01299762979e-05,1793256595088685824
+109,1.816666667,POSE1_TO_POSE2_PRESS,798,748,726.158746723,710,699,656,934,805,838.158746723,671,658,678,0.401041072059,-0.00550671467648,0.0798669208003,0.999999980175,0.00012704606089,-0.000144859054343,5.02594806485e-05,1793256595105352448
+110,1.833333333,POSE1_TO_POSE2_PRESS,798,748,726.73758928,710,699,656,934,805,838.73758928,671,658,678,0.401041376145,-0.00550561766819,0.0798667746594,0.999999979971,0.000128327148197,-0.000145192003471,5.0086117504e-05,1793256595122018816
+111,1.850000000,POSE1_TO_POSE2_PRESS,798.312589473,748,726.687410527,710,699,656,934,805,839,670.687410527,658,677.687410527,0.401042334189,-0.00550508655978,0.0798672232926,0.999999980155,0.000128155645185,-0.000144106483704,4.99858734909e-05,1793256595138685440
+112,1.866666667,POSE1_TO_POSE2_PRESS,798.884403235,748,726.115596765,710,699,656,934,805,839,670.115596765,658,677.115596765,0.401043834547,-0.00550502474105,0.0798681651603,0.999999980656,0.000126779537576,-0.000141844655622,4.99462657422e-05,1793256595155352064
+113,1.883333333,POSE1_TO_POSE2_PRESS,798.528475375,748,726,710,699,656,934,805,839,670.471524625,658,677.471524625,0.401042420951,-0.00550491543213,0.0798676254867,0.999999980329,0.00012696468516,-0.000143960486725,4.99657054331e-05,1793256595172018432
+114,1.900000000,POSE1_TO_POSE2_PRESS,798,748,726,710,699,656,934,805,839,670.93874812,658,677.93874812,0.401040576851,-0.0055048234475,0.0798668614362,0.999999979817,0.000127441827106,-0.000147064192964,4.9965352066e-05,1793256595188685312
+115,1.916666667,POSE1_TO_POSE2_PRESS,798,748,726,710,699,656,934,805,839,670.359778878,658,677.359778878,0.401041334678,-0.00550497959958,0.0798673738282,0.999999979575,0.000127043329256,-0.000149142292875,4.9671243788e-05,1793256595205352192
+116,1.933333333,POSE1_TO_POSE2_PRESS,798,748.217960056,726.217960056,710,699,656,934,805,839,670,658,677,0.401045432157,-0.0055053406908,0.0798694542125,0.999999979353,0.000127225624632,-0.000150484615908,4.96154890729e-05,1793256595222018560
+117,1.950000000,POSE1_TO_POSE2_PRESS,798,748.793679506,726.793679506,710,699,656,934,805,839,670,658,677,0.401055011338,-0.00550603816888,0.0798741082978,0.999999979171,0.000128361233407,-0.000150619235388,4.99509676597e-05,1793256595238685184
+118,1.966666667,POSE1_TO_POSE2_PRESS,798,748.632202366,726.632202366,710,699,656,934,805,839,670,658,677,0.401078991416,-0.00550675956798,0.0798833314096,0.999999980072,0.000127535989206,-0.000145114991117,5.0318773578e-05,1793256595255352320
+119,1.983333333,POSE1_TO_POSE2_PRESS,798,748.058978571,726.058978571,710,699,656,934,805,839,670,658,677,0.401111014834,-0.00550749432778,0.0798951064621,0.999999981514,0.000125615549097,-0.000136461269992,5.0704635322e-05,1793256595272019200
+120,2.000000000,POSE1_TO_POSE2_PRESS,798,748,726.531912897,710,699,656,934,805,839,670,658,677,0.401169918417,-0.00550857018442,0.0799120918561,0.999999984274,0.000125536198646,-0.000114707597665,5.03396519738e-05,1793256595288685568
+121,2.016666667,POSE1_TO_POSE2_PRESS,798,748.12151069,727,710,699,656,934,805,839,670,658,677,0.401236141483,-0.0055102000681,0.079928442456,0.999999986745,0.000124504928717,-9.23801160889e-05,4.97339691433e-05,1793256595305352192
+122,2.033333333,POSE1_TO_POSE2_PRESS,798,748.69865949,727,710,699,656,934,805,839,670,658,677,0.401318250912,-0.00551376073821,0.0799401719616,0.999999989024,0.000119112392396,-7.35347420493e-05,4.85486254346e-05,1793256595322018304
+123,2.050000000,POSE1_TO_POSE2_PRESS,798,748.724263466,726.724263466,710,699,656,934,805,838.724263466,670.275736534,658,677,0.401408453846,-0.00551516119514,0.0799492654995,0.999999990256,0.000117213990503,-5.97489176527e-05,4.66883577462e-05,1793256595338684928
+124,2.066666667,POSE1_TO_POSE2_PRESS,798,748.147264857,726.147264857,710,699,656,934,805,838.147264857,670.852735143,658,677,0.401507499516,-0.00551420146295,0.0799554790515,0.999999990606,0.000119133183168,-5.149101778e-05,4.4090686952e-05,1793256595355351552
+125,2.083333333,POSE1_TO_POSE2_PRESS,798,748,726,710.437339793,699,656,934,805,838.437339793,670.562660207,658,677,0.401619740783,-0.00551432053185,0.079959432614,0.999999990949,0.00011925886897,-4.73460691467e-05,4.04769965608e-05,1793256595372018432
+126,2.100000000,POSE1_TO_POSE2_PRESS,798,748,726,710.975779712,699,656,934,805,839,670,658,677.024220288,0.40173807929,-0.00551495725795,0.0799627356346,0.999999991326,0.000118539941186,-4.43041426531e-05,3.65194728409e-05,1793256595388685312
+127,2.116666667,POSE1_TO_POSE2_PRESS,798,748,726,710.396476996,699,656,934,805,839,670,658,677.603523004,0.401892519744,-0.00551898504271,0.0799688789094,0.999999992547,0.000112549873068,-3.42392144837e-05,3.26615265681e-05,1793256595405352192
+128,2.133333333,POSE1_TO_POSE2_PRESS,798,748,726.18212645,710.18212645,699,656,934,805,839,670.18212645,658,678,0.402055679465,-0.00552201761177,0.0799740389991,0.99999999356,0.000106826789821,-2.61167304963e-05,2.80321841246e-05,1793256595422019072
+129,2.150000000,POSE1_TO_POSE2_PRESS,798,748,726.75921338,710.75921338,699,656,934,805,839,670.75921338,658,678,0.402237747817,-0.00552289194975,0.079977066947,0.999999994348,0.000101682692325,-2.22066435876e-05,2.17299879637e-05,1793256595438685440
+130,2.166666667,POSE1_TO_POSE2_PRESS,798.334831273,748,727,711,699,656,934,805.334831273,839,670.665168727,658,678,0.402428978615,-0.0055229953049,0.0799753577548,0.999999994811,9.7201208827e-05,-2.65978243149e-05,1.49284003004e-05,1793256595455352064
+131,2.183333333,POSE1_TO_POSE2_PRESS,798.909397414,748,727,711,699,656,934,805.909397414,839,670.090602586,658,678,0.402626769625,-0.00552254664638,0.0799702568318,0.999999994945,9.31941478555e-05,-3.69326050623e-05,7.76925412043e-06,1793256595472018432
+132,2.200000000,POSE1_TO_POSE2_PRESS,798.503255312,748.496744688,727,710.503255312,699,656,934,805.503255312,839,670,658,678,0.40284783187,-0.00552463181695,0.0799643034262,0.999999995479,8.02957406634e-05,-5.09466272712e-05,-1.62002451759e-07,1793256595488685056
+133,2.216666667,POSE1_TO_POSE2_PRESS,798.084900609,748.915099391,727,710,699,656,934,805,838.915099391,670,658,678,0.40308118674,-0.00552720185271,0.079958883665,0.999999996152,5.94053578791e-05,-6.40072623114e-05,-8.4197382299e-06,1793256595505351680
+134,2.233333333,POSE1_TO_POSE2_PRESS,798.663838854,748.336161146,727,710,699,656,934,805,838.336161146,670,658,678,0.40336072155,-0.00552983303724,0.0799574978569,0.999999997562,1.69557460373e-06,-6.75120608023e-05,-1.77361463306e-05,1793256595522018560
+135,2.250000000,POSE1_TO_POSE2_PRESS,798.758887868,748,726.758887868,710,699,656,934,805,838.241112132,670,658,678,0.403665837516,-0.00553199629987,0.0799592110497,0.999999997158,-2.70308221498e-05,-6.62303839568e-05,-2.38218010739e-05,1793256595538685184
+136,2.266666667,POSE1_TO_POSE2_PRESS,798.183920021,748,726.183920021,710,699,656,934,805,838.816079979,670,658,678,0.404006374393,-0.00553351165468,0.0799652152718,0.999999997854,-1.56253932761e-05,-5.83211180292e-05,-2.54339953613e-05,1793256595555352320
+137,2.283333333,POSE1_TO_POSE2_PRESS,798,748,726.389888409,710,699,656,934,805,838.610111591,670,658,677.610111591,0.40436787687,-0.00553226824378,0.0799681551877,0.999999998241,-6.07176627417e-06,-5.22809148432e-05,-2.73342496391e-05,1793256595572019200
+138,2.300000000,POSE1_TO_POSE2_PRESS,798,748,726.963151519,710,699,656,934,805,838.036848481,670,658,677.036848481,0.404739240007,-0.0055297273133,0.0799696538803,0.999999998455,2.61090962726e-06,-4.71197808953e-05,-2.93699860064e-05,1793256595588685568
+139,2.316666667,POSE1_TO_POSE2_PRESS,798,748,726.444690424,710,699,656,934,805,838,670,658,677,0.405147639688,-0.00553055318082,0.0799692234955,0.999999998455,-1.21976159316e-05,-4.43360545761e-05,-3.12232943283e-05,1793256595605351936
+140,2.333333333,POSE1_TO_POSE2_PRESS,798,748,726,710.139483703,699,656,934,805,838,670,658,677.139483703,0.405567734952,-0.0055313827747,0.0799671608961,0.999999998111,-2.40928322221e-05,-4.55596319021e-05,-3.35061965338e-05,1793256595622018560
+141,2.350000000,POSE1_TO_POSE2_PRESS,798,748,726,710.69591225,699,656,934,805,838,670,658,677.69591225,0.406015185493,-0.00553153216803,0.0799606153963,0.999999997361,-2.24558884758e-05,-5.82736689267e-05,-3.71107007594e-05,1793256595638685184
+142,2.366666667,POSE1_TO_POSE2_PRESS,798,748,726.271610587,710.728389413,699,656,934,805,838,670,658,678,0.406488320603,-0.00553153258565,0.0799537711989,0.999999996691,-1.44247597264e-05,-7.10023357305e-05,-3.70041704464e-05,1793256595655351808
+143,2.383333333,POSE1_TO_POSE2_PRESS,798,748,726.870530404,710.129469596,699,656,934,805,838,670,658,678,0.406992407425,-0.00553135347742,0.07994656705,0.999999995967,1.31179706136e-06,-8.37486340843e-05,-3.24255915851e-05,1793256595672018432
+144,2.400000000,POSE1_TO_POSE2_PRESS,798,748,727,710,699,656,934,805,838,670.459742763,658,678,0.407499951417,-0.00553191581775,0.0799412844346,0.99999999493,-5.03036669083e-06,-9.43306805461e-05,-3.48696591381e-05,1793256595688685568
+145,2.416666667,POSE1_TO_POSE2_PRESS,798,748,727,710.045737699,699,656,934,805,838,670.954262301,658,678,0.408012900157,-0.0055327899179,0.0799362419737,0.999999993602,-1.66687286842e-05,-0.000104874361439,-3.89687380298e-05,1793256595705352448
+146,2.433333333,POSE1_TO_POSE2_PRESS,798,748,727,710.625426624,699,656,934,805,838,670.374573376,658,678,0.408577814628,-0.0055349163788,0.0799278165011,0.999999991593,-1.9050760038e-05,-0.000121938245856,-3.97784601999e-05,1793256595722019072
+147,2.450000000,POSE1_TO_POSE2_PRESS,798,747.795743696,727,710.795743696,699,656,934,805,838,670,658,678,0.409179235287,-0.00553721673434,0.0799324724286,0.999999992162,-2.07038856389e-05,-0.000116838455731,-3.99449549599e-05,1793256595738685440
+148,2.466666667,POSE1_TO_POSE2_PRESS,798,747.218483167,727,710.218483167,699,656,934,805,838,670,658,678,0.409847321972,-0.0055398346488,0.0799610170564,0.999999996482,-2.10259142095e-05,-7.12642991087e-05,-3.89368149328e-05,1793256595755351808
+149,2.483333333,POSE1_TO_POSE2_PRESS,797.642458593,747,727,710,699,656,934,805,838,670.357541407,658,677.642458593,0.4105446574,-0.00554955406799,0.0799905935637,0.999999998495,-3.31669141303e-05,-2.27951249169e-05,-3.72785188034e-05,1793256595772018432
+150,2.500000000,POSE1_TO_POSE2_PRESS,797.067186694,747,727,710,699,656,934,805,838,670.932813306,658,677.067186694,0.411259804288,-0.00556359806064,0.0800207984494,0.999999997625,-5.25052634148e-05,2.74370143408e-05,-3.52242998207e-05,1793256595788685056
+151,2.516666667,POSE1_TO_POSE2_PRESS,797,747.519961594,727,710,699,656,934,805,838,670.480038406,658,677.519961594,0.411917486158,-0.00556631066294,0.0800014556136,0.999999997476,-6.01673320746e-05,-7.77677264253e-06,-3.69653198592e-05,1793256595805351680
+152,2.533333333,POSE1_TO_POSE2_PRESS,797.107131669,748,727,710,699,656,934,805,838,670,658,678,0.412578533804,-0.0055655265607,0.0799740641746,0.999999995768,-6.35240149626e-05,-5.35452551373e-05,-3.9519470792e-05,1793256595822018560
+153,2.550000000,POSE1_TO_POSE2_PRESS,797.687461052,748,727,710,699,656,934,805,838,670,658,678,0.4132880119,-0.00555591603325,0.079940062055,0.99999999295,-5.46837913669e-05,-9.60263717806e-05,-4.34484797852e-05,1793256595838685440
+154,2.566666667,POSE1_TO_POSE2_PRESS,797.734380865,747.734380865,727,710,699,656,934,805,837.734380865,670,658,678,0.414034158415,-0.00555052136145,0.0799276431945,0.999999991983,-5.06037924514e-05,-0.000106684992456,-4.574104401e-05,1793256595855352320
+155,2.583333333,POSE1_TO_POSE2_PRESS,797.158756839,747.158756839,727,710,699,656,934,805,837.158756839,670,658,678,0.414823100847,-0.00555004702622,0.0799404142163,0.999999994364,-5.20794650173e-05,-8.02034878501e-05,-4.6123709178e-05,1793256595872018944
+156,2.600000000,POSE1_TO_POSE2_PRESS,797,747.414808766,727,710,699,656,934,804.585191234,837,670,658,678,0.415629998525,-0.00555277862809,0.0799569946456,0.999999995724,-5.50233925786e-05,-5.85230204534e-05,-4.58150094109e-05,1793256595888685568
+157,2.616666667,POSE1_TO_POSE2_PRESS,797,747.987590421,727,710,699,656,934,804.012409579,837,670,658,678,0.416443734107,-0.00555673115679,0.0799750258225,0.999999996516,-5.85264800741e-05,-3.86709482954e-05,-4.52430149935e-05,1793256595905351936
+158,2.633333333,POSE1_TO_POSE2_PRESS,797,747.417959165,727,710.582040835,699,656,934,804,837.582040835,670,658,678,0.41724160941,-0.00555422740909,0.0799609907382,0.999999995185,-6.31830887187e-05,-5.81706037625e-05,-4.74807494662e-05,1793256595922018560
+159,2.650000000,POSE1_TO_POSE2_PRESS,797,747,727,710.828946728,699,656,934,804,838,670,658,678,0.418071256743,-0.00555372361604,0.0799612257347,0.999999995158,-6.79956719744e-05,-5.14343384678e-05,-4.91374342466e-05,1793256595938685184
+160,2.666666667,POSE1_TO_POSE2_PRESS,797,747,727,710.253910699,699,656,934,804,838,670,658,678,0.418976770707,-0.00555828086035,0.0799968400083,0.999999995926,-7.31162951514e-05,1.93224043561e-05,-4.92748801978e-05,1793256595955352064
+161,2.683333333,POSE1_TO_POSE2_PRESS,797,746.678859877,727,710,699,656,934.321140123,804,838,670,658,678,0.419854991819,-0.0055590444099,0.0800067630796,0.999999995042,-7.65169723474e-05,4.00431918794e-05,-4.95843964854e-05,1793256595972018944
+162,2.700000000,POSE1_TO_POSE2_PRESS,797,746.103797386,727,710,699,656,934.896202614,804,838,670,658,678,0.420711632695,-0.00555680832173,0.0799963723656,0.999999995438,-7.85577049482e-05,2.12010333454e-05,-5.00299672345e-05,1793256595988685824
+163,2.716666667,POSE1_TO_POSE2_PRESS,797.470976252,746,727,710.470976252,699,656.470976252,934.529023748,804.470976252,838,670.470976252,658,678,0.421610067434,-0.0055560638154,0.0799910788653,0.999999995551,-7.80615602909e-05,1.23589516083e-05,-5.14898697411e-05,1793256596005352448
+164,2.733333333,POSE1_TO_POSE2_PRESS,797.952611658,745.952611658,727,711,699,656.952611658,934.047388342,805,838,671,658,678,0.422518446912,-0.00555596230806,0.079989419525,0.999999995615,-7.6798625096e-05,9.31607434658e-06,-5.27708838123e-05,1793256596022019328
+165,2.750000000,POSE1_TO_POSE2_PRESS,797.35649093,745.35649093,727,711,699,656.35649093,934.64350907,805,838,671,658,678,0.423435388995,-0.00555950224822,0.0800168418824,0.999999994958,-7.31267348301e-05,4.79206701095e-05,-4.93934981536e-05,1793256596038685440
+166,2.766666667,POSE1_TO_POSE2_PRESS,797,745,727,711,699,656,934.769176387,805,838,671,658,678,0.424318062482,-0.00555938471435,0.0800165498242,0.999999995841,-6.93938658671e-05,3.48467291631e-05,-4.78281769598e-05,1793256596055351552
+167,2.783333333,POSE1_TO_POSE2_PRESS,797,745,727,711,699,656,934.194962486,805,838,671,658,678,0.425149755606,-0.00555382605201,0.0799750277549,0.999999995133,-6.55702796632e-05,-5.5108021644e-05,-4.8958616269e-05,1793256596072018176
+168,2.800000000,POSE1_TO_POSE2_PRESS,797,744.620244039,727,711,699,656,934,804.620244039,838,671,658,678,0.426042927816,-0.00555129665615,0.0799433177047,0.999999992062,-6.52516960837e-05,-9.44429570639e-05,-5.19462058009e-05,1793256596088685056
+169,2.816666667,POSE1_TO_POSE2_PRESS,797,744.045266255,727,711,699,656,934,804.045266255,838,671,658,678,0.42696770464,-0.00555032452104,0.0799166517393,0.999999990406,-6.67349358528e-05,-0.000107755668538,-5.58885039221e-05,1793256596105351936
+170,2.833333333,POSE1_TO_POSE2_PRESS,797,744,727,711,699,656,934,804,838,671,658,678.545625195,0.427889732364,-0.00555216310453,0.079919059717,0.999999989642,-7.98270255015e-05,-0.000105744253841,-5.62266389293e-05,1793256596122018560
+171,2.850000000,POSE1_TO_POSE2_PRESS,797,744,727,711,698.865512527,656,934,804,838,670.865512527,658,678.865512527,0.42881608216,-0.00555428335702,0.0799296760892,0.99999999005,-8.86476372436e-05,-9.44391267082e-05,-5.5890087302e-05,1793256596138685440
+172,2.866666667,POSE1_TO_POSE2_PRESS,797,744,727,711,698.287819008,656,934,804,838,670.287819008,658,678.287819008,0.429757449581,-0.00555654030866,0.079959155664,0.999999993699,-8.0122260586e-05,-5.68219275861e-05,-5.43450867747e-05,1793256596155352320
+173,2.883333333,POSE1_TO_POSE2_PRESS,797,744.288982198,727.288982198,711,698.288982198,656,934,804,838,670.288982198,658,678,0.430701368647,-0.00555883994184,0.0799958808543,0.999999995353,-8.03208004457e-05,-6.54005488386e-06,-5.29125367258e-05,1793256596172018688
+174,2.900000000,POSE1_TO_POSE2_PRESS,797,744.864897384,727.864897384,711,698.864897384,656,934,804,838,670.864897384,658,678,0.431647821208,-0.00556118195378,0.0800398002787,0.999999993107,-8.91813947688e-05,5.63166823428e-05,-5.15916397455e-05,1793256596188685312
+175,2.916666667,POSE1_TO_POSE2_PRESS,796.560153504,745,727.560153504,711,699,656,934.439846496,804,838,671,658,678,0.432515593196,-0.00555779331955,0.080024552122,0.999999994701,-8.51387818651e-05,2.70079628531e-05,-5.1177423552e-05,1793256596205351936
+176,2.933333333,POSE1_TO_POSE2_PRESS,796.014932247,744.985067753,727,711.014932247,698.985067753,656,935,804,838,671,658,678,0.433359382754,-0.00555283016208,0.0799905522648,0.999999995215,-7.74275466368e-05,-3.09011433009e-05,-5.11878711117e-05,1793256596222018816
+177,2.950000000,POSE1_TO_POSE2_PRESS,796.606733553,744.393266447,727,711.606733553,698.393266447,656,935,804,838,671,658,678,0.434208269926,-0.00555489179236,0.0799326892184,0.999999989874,-8.07660793377e-05,-0.000102448093546,-5.68687660288e-05,1793256596238685184
+178,2.966666667,POSE1_TO_POSE2_PRESS,797,744,727,711.806592642,698,656,935,804,838,671,658,678,0.435067967858,-0.00555731567936,0.0799039256119,0.999999985126,-8.68502907988e-05,-0.000136381363068,-6.00443706388e-05,1793256596255351808
+179,2.983333333,POSE1_TO_POSE2_PRESS,797,744,727,711.230075508,698,656,935,804,838,671,658,678,0.435949080368,-0.00556045714071,0.0799328034414,0.999999988875,-9.83732643223e-05,-9.58078181112e-05,-5.82573877912e-05,1793256596272018688
+180,3.000000000,POSE1_TO_POSE2_PRESS,797,744,727,711,698,656,934.654202142,804,838,671,658,678,0.436796001039,-0.00556092335643,0.0799526690542,0.999999990251,-0.000101908058097,-7.6708977845e-05,-5.68127090557e-05,1793256596288685568
+181,3.016666667,POSE1_TO_POSE2_PRESS,797,744,727,711,698,656,934.078756344,804,838,671,658,678,0.437620214501,-0.00555961291361,0.0799665495587,0.999999990858,-0.000100137818334,-7.18717139441e-05,-5.55953581809e-05,1793256596305352448
+182,3.033333333,POSE1_TO_POSE2_PRESS,797,744,727,711.508629917,698,656,934,803.491370083,838,671,658,678,0.438428411557,-0.00556168561332,0.0799562682163,0.999999990069,-0.000100839270407,-8.03672966649e-05,-5.68686168776e-05,1793256596322019072
+183,3.050000000,POSE1_TO_POSE2_PRESS,797,744,727,711.903752768,697.903752768,655.903752768,934,803,837.903752768,671,658,678,0.439217840046,-0.00556418442943,0.079934707613,0.999999987446,-0.000103352019292,-0.000104707351558,-5.88416444759e-05,1793256596338685696
+184,3.066666667,POSE1_TO_POSE2_PRESS,797,744,727,711.324477677,697.324477677,655.324477677,934,803,837.324477677,671,658,678,0.439925821589,-0.0055661295753,0.0798757678742,0.99999997208,-0.000112988085597,-0.000197954915533,-6.23446043291e-05,1793256596355352064
+185,3.083333333,POSE1_TO_POSE2_PRESS,796.746361782,744,727,711,697,655,934.253638218,803,837,671,657.746361782,678.253638218,0.440595362403,-0.00556527518899,0.0797985477251,0.999999940573,-0.000113287779988,-0.000319042224125,-6.5056971422e-05,1793256596372018688
+186,3.100000000,POSE1_TO_POSE2_PRESS,796.169722136,744,727,711,697,655,934.830277864,803,837,671,657.169722136,678.830277864,0.44121594993,-0.00556085567384,0.0796980479711,0.999999879511,-0.00010169785486,-0.000475582686196,-6.67625391039e-05,1793256596388685056
+187,3.116666667,POSE1_TO_POSE2_PRESS,796,744.404466739,727,711.404466739,696.595533261,655,934.595533261,802.595533261,837.404466739,671,657,678.595533261,0.441889439727,-0.00555936858601,0.0796622126666,0.999999854022,-0.000101200459662,-0.000526167782153,-6.97291062972e-05,1793256596405351936
+188,3.133333333,POSE1_TO_POSE2_PRESS,796,744.977633464,727,711.977633464,696.022366536,655,934.022366536,802.022366536,837.977633464,671,657,678.022366536,0.442584994709,-0.00555910459084,0.0796533484015,0.999999849962,-0.000105329673614,-0.000532559721176,-7.32216273443e-05,1793256596422018816
+189,3.150000000,POSE1_TO_POSE2_PRESS,796,744.432017219,727,712,695.432017219,654.432017219,934,802,838,671,657.567982781,678.567982781,0.443330941473,-0.00556579908497,0.0797175800048,0.999999896698,-0.000104857177487,-0.000436794854006,-6.94272408741e-05,1793256596438685440
+190,3.166666667,POSE1_TO_POSE2_PRESS,796.155315869,744.155315869,727,712,695,654,934.155315869,801.844684131,838,671,657.844684131,678.844684131,0.444046937338,-0.00557136134338,0.079768929958,0.999999926471,-0.000108487036996,-0.000361833577759,-6.60634994915e-05,1793256596455352064
+191,3.183333333,POSE1_TO_POSE2_PRESS,796.732559799,744.732559799,727,712,695,654,934.732559799,801.267440201,838,671,657.267440201,678.267440201,0.444676010464,-0.00557308018111,0.0797772224528,0.999999927359,-0.000123768907089,-0.000354656155737,-6.46734824186e-05,1793256596472018432
+192,3.200000000,POSE1_TO_POSE2_PRESS,797,745,727,712,695,654,935,801,838,671,657,678,0.445267741714,-0.00557455181415,0.0797640920387,0.999999917368,-0.000132129888815,-0.000378983617334,-6.46326036124e-05,1793256596488685312
+193,3.216666667,POSE1_TO_POSE2_PRESS,797,745,727,712,695,654,935,801,838,671,657,678,0.445827237297,-0.00557581004595,0.0797324681528,0.999999896122,-0.000134516365621,-0.000430507882818,-6.57563775156e-05,1793256596505352192
+194,3.233333333,POSE1_TO_POSE2_PRESS,797,744.53023404,727,712,694.53023404,653.53023404,934.53023404,800.53023404,838,671,657,678,0.446348017368,-0.00557919022828,0.0796976595496,0.999999876139,-0.000135268023698,-0.00047410574011,-6.81745955513e-05,1793256596522018816
+195,3.250000000,POSE1_TO_POSE2_PRESS,797,744.057157519,727,712,694,653,934,800,838,671,657,678,0.446858295771,-0.00558275679644,0.0796633480116,0.999999855975,-0.000135346726666,-0.000514512461706,-7.07711206982e-05,1793256596538685440
+196,3.266666667,POSE1_TO_POSE2_PRESS,797,744.63646388,727,712,694,653,934,800,838,671,657,678,0.447361862772,-0.00558313578673,0.0796409168117,0.99999984057,-0.000133045424704,-0.000544034587727,-7.20133440499e-05,1793256596555352064
+197,3.283333333,POSE1_TO_POSE2_PRESS,796.784890433,745,727,712,693.784890433,653,934,800,838,671,657,678,0.447837160658,-0.00558380951424,0.079618221157,0.999999820724,-0.000137990842174,-0.000578073831189,-7.308141588e-05,1793256596572018944
+198,3.300000000,POSE1_TO_POSE2_PRESS,796.207357926,745,727,712,693.207357926,653,934,800,838,671,657,678,0.448264829852,-0.00558497982367,0.0795950799434,0.999999793209,-0.000155145746417,-0.000619723644192,-7.38560719516e-05,1793256596588685568
+199,3.316666667,POSE1_TO_POSE2_PRESS,796.365570173,745,727,712,693,652.634429827,934,799.634429827,838,671.365570173,657,678,0.448670654817,-0.00558595953423,0.0795736493882,0.999999771144,-0.000155426256182,-0.000654248638449,-7.42457398396e-05,1793256596605352192
+200,3.333333333,POSE1_TO_POSE2_PRESS,796.935919108,745,727,712,693,652.064080892,934,799.064080892,838,671.935919108,657,678,0.449064243502,-0.00558683247852,0.0795531770777,0.999999752072,-0.000146254361785,-0.000684782579108,-7.44197517892e-05,1793256596622018816
+201,3.350000000,POSE1_TO_POSE2_PRESS,797,744.473089988,727,712,692.473089988,652,934,799,838,671.473089988,657,678.526910012,0.449454348286,-0.0055898027004,0.0795554509942,0.999999757793,-0.000150720894722,-0.000675303493665,-7.52480790475e-05,1793256596638685440
+202,3.366666667,POSE1_TO_POSE2_PRESS,797,744.117672628,727,712,692,652,934.117672628,799,838,671.117672628,657,679,0.44983888055,-0.00559213723789,0.079562650149,0.999999766972,-0.000156370140533,-0.000660211694482,-7.56584770685e-05,1793256596655351808
+203,3.383333333,POSE1_TO_POSE2_PRESS,797,744.697282567,727,712,692,652,934.697282567,799,838,671.697282567,657,679,0.45020326846,-0.00559093421967,0.079577881638,0.999999777768,-0.000159885536568,-0.000642968404152,-7.41031272683e-05,1793256596672018432
+204,3.400000000,POSE1_TO_POSE2_PRESS,797,744.726411039,727,712,691.726411039,651.726411039,934.726411039,799,838,671.726411039,657,678.726411039,0.450536888276,-0.00559018661478,0.0795857875415,0.999999783061,-0.000159911204242,-0.000634792539706,-7.31041044705e-05,1793256596688685056
+205,3.416666667,POSE1_TO_POSE2_PRESS,797,744.153716338,727,712,691.153716338,651.153716338,934.153716338,799,838,671.153716338,657,678.153716338,0.450836870333,-0.00558993689824,0.0795856846245,0.999999782584,-0.00015612166742,-0.000636529792566,-7.27132956524e-05,1793256596705352192
+206,3.433333333,POSE1_TO_POSE2_PRESS,797,744.421380987,727,712,691,651,934,798.578619013,838,671.421380987,657,678.421380987,0.451086017386,-0.00559008705223,0.0795700702674,0.999999765518,-0.000153891985711,-0.000663267555482,-7.3197586396e-05,1793256596722018816
+207,3.450000000,POSE1_TO_POSE2_PRESS,797,744.997359782,727,712,691,651,934,798.002640218,838,671.997359782,657,678.997359782,0.451316513898,-0.0055903839122,0.0795487650161,0.999999741249,-0.000152234589304,-0.000699177596852,-7.40029368177e-05,1793256596738685184
+208,3.466666667,POSE1_TO_POSE2_PRESS,796.409961468,745,726.409961468,712,690.409961468,650.409961468,934,798,838,671.409961468,657,678.409961468,0.451501674938,-0.00559009657718,0.0795208801522,0.999999709863,-0.000149495832864,-0.000743199809802,-7.46932010662e-05,1793256596755351808
+209,3.483333333,POSE1_TO_POSE2_PRESS,796.178821336,745,726.178821336,712,690,650.178821336,934,797.821178664,838,671,657,678.178821336,0.451684470476,-0.00559007370175,0.079496497255,0.999999680892,-0.000150158382939,-0.000781017934518,-7.53669235552e-05,1793256596772018432
+210,3.500000000,POSE1_TO_POSE2_PRESS,796.758693958,745,726.758693958,712,690,650.758693958,934,797.241306042,838,671,657,678.758693958,0.451862428977,-0.00559064997623,0.0794800363454,0.999999660675,-0.00015846037712,-0.000804838064869,-7.60047357786e-05,1793256596788685056
+211,3.516666667,POSE1_TO_POSE2_PRESS,797,745,727,712,690,650.674975704,934,797,838,671,657,678.674975704,0.452023787925,-0.00559142804719,0.0794720447562,0.999999649888,-0.00016394000058,-0.00081704041578,-7.61033224842e-05,1793256596805351936
+212,3.533333333,POSE1_TO_POSE2_PRESS,797,745,727,712,690,650.11829728,934,797,838,671,657,678.11829728,0.452173315913,-0.00559234994436,0.0794700894926,0.999999646123,-0.00016740804046,-0.000820962445089,-7.5817587801e-05,1793256596822018560
+213,3.550000000,POSE1_TO_POSE2_PRESS,797,744.522507483,727,712,689.522507483,650,934,797,838,671.477492517,657,678,0.452303648531,-0.00559331079967,0.0794664006111,0.999999641259,-0.000170754789585,-0.000826131100286,-7.63697275772e-05,1793256596838685440
+214,3.566666667,POSE1_TO_POSE2_PRESS,797,744.079890022,727,712,689,650,934,797,838,671.920109978,657,678.079890022,0.452426267785,-0.00559421608511,0.0794628991367,0.999999637068,-0.000173831009591,-0.000830483345618,-7.70948642805e-05,1793256596855352576
+215,3.583333333,POSE1_TO_POSE2_PRESS,797,744.657691344,727,712,689,650,934,797,838,671.342308656,657,678.657691344,0.452533097225,-0.00559470951299,0.0794634813191,0.999999639108,-0.000175425159912,-0.000827650738311,-7.74890344329e-05,1793256596872018944
+216,3.600000000,POSE1_TO_POSE2_PRESS,796.764128435,745,727,712,689,650,934,797,838,671.235871565,657,678.764128435,0.452628013107,-0.00559529710069,0.0794617550023,0.999999638322,-0.000174970443579,-0.000828685066797,-7.76081663123e-05,1793256596888685312
+217,3.616666667,POSE1_TO_POSE2_PRESS,796.185397486,745,727,712,689,650,934,797,838,671.814602514,657,678.185397486,0.452705611612,-0.00559602155768,0.0794566730854,0.999999633401,-0.00017153752518,-0.000835340315538,-7.73275066402e-05,1793256596905351936
+218,3.633333333,POSE1_TO_POSE2_PRESS,796,745,727,712,689,650,934,797,838,672,657,678,0.452766236392,-0.00559659736132,0.0794518094324,0.999999626578,-0.000172019006249,-0.000843363196346,-7.74065832421e-05,1793256596922018816
+219,3.650000000,POSE1_TO_POSE2_PRESS,796,745,727,712,689,650,934,797,838,672,657,678,0.452818860615,-0.00559710309729,0.0794470486581,0.999999618808,-0.00017434553702,-0.0008520307094,-7.76552213038e-05,1793256596938685696
+220,3.666666667,POSE1_TO_POSE2_PRESS,796,744.449090746,727,711.449090746,688.449090746,650,934,797,838,671.449090746,656.449090746,678.550909254,0.452860465093,-0.00559694959496,0.0794440586517,0.999999615141,-0.000172307051741,-0.000856773834913,-7.72491035435e-05,1793256596955352064
+221,3.683333333,POSE1_TO_POSE2_PRESS,796.141408417,744,727,711.141408417,688,650,934,797,838,671.141408417,656.141408417,678.858591583,0.452898524907,-0.00559693370266,0.0794418225575,0.999999612655,-0.000170725389572,-0.000860024623894,-7.68099339203e-05,1793256596972018688
+222,3.700000000,POSE1_TO_POSE2_PRESS,796.720725283,744,727,711.720725283,688,650,934,797,838,671.720725283,656.720725283,678.279274717,0.452928283761,-0.00559750404551,0.0794414911386,0.999999612891,-0.000171618401339,-0.000859606996511,-7.64274114489e-05,1793256596988685312
+223,3.716666667,POSE1_TO_POSE2_PRESS,797,744,727,712,688,650,934,797,838,672,657,678,0.452952250773,-0.00559728790383,0.0794407062712,0.999999612411,-0.000170525675263,-0.000860429516218,-7.58963190582e-05,1793256597005352192
+224,3.733333333,POSE1_TO_POSE2_PRESS,797,744,727,712,688,650,934,797,838,672,657,678,0.45297082683,-0.00559633971408,0.0794394993405,0.999999611256,-0.000167584653943,-0.000862406346396,-7.52269399435e-05,1793256597022018560
+225,3.750000000,POSE1_TO_POSE2_PRESS,796.552798386,744,727,711.552798386,688,650,934,796.552798386,838,672,656.552798386,678.447201614,0.452980063235,-0.00559694186175,0.0794368720007,0.999999607272,-0.000167669024797,-0.000867009804033,-7.50738164414e-05,1793256597038685184
+226,3.766666667,POSE1_TO_POSE2_PRESS,796,744.025151964,726.974848036,711.025151964,688,650,934,796,838,672,656,679,0.452986508613,-0.00559791624916,0.0794338271557,0.999999602517,-0.000168582757953,-0.000872301930479,-7.50731568067e-05,1793256597055351808
+227,3.783333333,POSE1_TO_POSE2_PRESS,796,744.615414057,726.384585943,711.615414057,688,650,934,796,838,672,656,679,0.452991340178,-0.00559711266291,0.0794306933511,0.999999599422,-0.000168340130701,-0.000875885109312,-7.51209894453e-05,1793256597072018432
+228,3.800000000,POSE1_TO_POSE2_PRESS,796.201555706,745,726.201555706,712,688,650,934,796,838,672,656.201555706,678.798444294,0.452995019673,-0.00559654627047,0.0794281125547,0.999999596482,-0.000168646805047,-0.000879170070553,-7.51971792745e-05,1793256597088685312
+229,3.816666667,POSE1_TO_POSE2_PRESS,796.779992663,745,726.779992663,712,688,650,934,796,838,672,656.779992663,678.220007337,0.452996544958,-0.00559642339763,0.0794265658075,0.999999593845,-0.00016998059731,-0.000881897406006,-7.532639312e-05,1793256597105351936
+230,3.833333333,POSE1_TO_POSE2_PRESS,797,744.644498378,727,712,688,650,934,796,838,672,656.644498378,678,0.452997815019,-0.00559669107908,0.0794255670163,0.999999592624,-0.000170457752528,-0.000883209238655,-7.50788010644e-05,1793256597122018560
+231,3.850000000,POSE1_TO_POSE2_PRESS,797,744.070786672,727,712,688,650,934,796,838,672,656.070786672,678,0.452998928422,-0.00559719848626,0.0794249045656,0.999999592277,-0.000170409096197,-0.00088365222289,-7.45999221626e-05,1793256597138685440
+232,3.866666667,POSE1_TO_POSE2_PRESS,797,744.501288143,727,712,688,650,934,796.501288143,838,672,656.501288143,678,0.452998228866,-0.00559740946096,0.0794228400479,0.999999589821,-0.00016995574356,-0.000886495741512,-7.48163867371e-05,1793256597155352064
+233,3.883333333,POSE1_TO_POSE2_PRESS,796.924141723,745,727,712,688,650,934,796.924141723,838,671.924141723,656.924141723,678,0.452997244222,-0.00559751526425,0.0794206706718,0.999999587126,-0.000169456975498,-0.0008896037968,-7.50808160488e-05,1793256597172018432
+234,3.900000000,POSE1_TO_POSE2_PRESS,796.330984454,745,727,712,688,650,934,796.330984454,838,671.330984454,656.330984454,678,0.452996055585,-0.00559718839385,0.0794191319597,0.999999584879,-0.000169036940119,-0.00089221173526,-7.50049301703e-05,1793256597188685056
+235,3.916666667,POSE1_TO_POSE2_PRESS,796.256859905,745,727,711.743140095,688,650,934,796,838.256859905,671.256859905,656.256859905,678.256859905,0.452995961045,-0.00559647934713,0.079418326248,0.999999583664,-0.000168359650425,-0.000893715406082,-7.48252943594e-05,1793256597205351680
+236,3.933333333,POSE1_TO_POSE2_PRESS,796.83799697,745,727,711.16200303,688,650,934,796,838.83799697,671.83799697,656.83799697,678.83799697,0.452997247765,-0.00559528781537,0.0794184459251,0.999999583758,-0.000167357585587,-0.00089382497578,-7.451467767e-05,1793256597222018304
+237,3.950000000,POSE1_TO_POSE2_PRESS,797,745,727,711.412573464,688,650,934,796,838.587426536,671.587426536,656.587426536,679,0.452997166479,-0.00559558824212,0.0794178879767,0.99999958251,-0.000168825273567,-0.000894944942324,-7.45097519681e-05,1793256597238684928
+238,3.966666667,POSE1_TO_POSE2_PRESS,797,745,727,711.984614142,688,650,934,796,838.015385858,671.015385858,656.015385858,679,0.452996556433,-0.00559646533828,0.0794170681136,0.999999580737,-0.000171247566388,-0.000896455445776,-7.46229814601e-05,1793256597255351808
+239,3.983333333,POSE1_TO_POSE2_PRESS,797,745,727,712,688,650,934,796,838,671.579088223,656,678.420911777,0.452995485942,-0.00559636496681,0.0794156770649,0.999999579583,-0.000168733700969,-0.00089821569725,-7.46366439266e-05,1793256597272018432
+240,4.000000000,POSE1_TO_POSE2_PRESS,797,744.830539583,727,712,688,649.830539583,934,796,838,672,656.169460417,678,0.452995251642,-0.00559602192883,0.0794147406307,0.999999579107,-0.000166495305281,-0.000899172934828,-7.45201216747e-05,1793256597288685056
+241,4.016666667,POSE1_TO_POSE2_PRESS,797,744.251578003,727,712,688,649.251578003,934,796,838,672,656.748421997,678,0.45299706875,-0.00559515777391,0.0794149409232,0.999999580243,-0.000165252276954,-0.000898173007835,-7.40956582541e-05,1793256597305351680
+242,4.033333333,POSE1_TO_POSE2_PRESS,796.675656626,744.324343374,727,712,688,649.324343374,934,796,838,672,656.675656626,678,0.452997586526,-0.00559544980363,0.0794149689326,0.999999579913,-0.000165840372269,-0.000898445450098,-7.3930044323e-05,1793256597322018560
+243,4.050000000,POSE1_TO_POSE2_PRESS,796.102071521,744.897928479,727,712,688,649.897928479,934,796,838,672,656.102071521,678,0.452997105829,-0.00559663030372,0.0794148645511,0.999999578454,-0.00016783559498,-0.000899695644822,-7.39633433544e-05,1793256597338685440
+244,4.066666667,POSE1_TO_POSE2_PRESS,796,745,727,712,688,649.526949659,934,796,838,672,656,678,0.452997789549,-0.00559740789798,0.0794149399459,0.999999578906,-0.00016909217093,-0.000898951029506,-7.40512145124e-05,1793256597355352064
+245,4.083333333,POSE1_TO_POSE2_PRESS,796,744.950011163,727,712,688,649.049988837,934,796,838,672,656.049988837,678,0.452998711625,-0.00559795513944,0.0794150906048,0.999999579679,-0.00017014947113,-0.000897883029106,-7.41452785628e-05,1793256597372018688
+246,4.100000000,POSE1_TO_POSE2_PRESS,796,744.356951575,727,712,688,649.643048425,934,796,838,672,656.643048425,678,0.452999484729,-0.00559694740392,0.0794156361293,0.99999957947,-0.000170778993463,-0.000897993148294,-7.41782803631e-05,1793256597388685312
+247,4.116666667,HOLD_POSE2,797,744,727,712,688,650,934,796,838,672,657,679,0.452997084689,-0.00559598241078,0.0794133940407,0.999999576781,-0.000167919888205,-0.00090151500771,-7.42409896049e-05,1793256597427626240
+248,4.133333333,HOLD_POSE2,797,744,727,712,688,650,934,796,838,671.423390738,656.423390738,678.423390738,0.452997787579,-0.005594911061,0.0794137364175,0.999999577481,-0.0001653635321,-0.000901234582054,-7.39531483588e-05,1793256597444292864
+249,4.150000000,HOLD_POSE2,797,744.156195049,727,712.156195049,688,650,934,796,838,671.156195049,656,678,0.452998607998,-0.00559393083801,0.0794141078353,0.999999578092,-0.000163698936695,-0.00090086940429,-7.384489675e-05,1793256597460959232
+250,4.166666667,HOLD_POSE2,797,744.744006039,727,712.744006039,688,650,934,796,838,671.744006039,656,678,0.45299975319,-0.0055932024267,0.0794145595024,0.999999578472,-0.000164498555391,-0.000900270029805,-7.42329076054e-05,1793256597477625856
+251,4.183333333,HOLD_POSE2,796.673068271,744.673068271,726.673068271,712.673068271,687.673068271,650,934,796,838,671.673068271,656,678.326931729,0.453000036315,-0.00559338464557,0.0794140379752,0.999999578038,-0.000164698241504,-0.000900715563296,-7.42220237111e-05,1793256597494292224
+252,4.200000000,HOLD_POSE2,796.093911581,744.093911581,726.093911581,712.093911581,687.093911581,650,934,796,838,671.093911581,656,678.906088419,0.452999654363,-0.00559426940768,0.0794127656371,0.999999576977,-0.000164435084845,-0.000901967234157,-7.39033959931e-05,1793256597510958848
+253,4.216666667,HOLD_POSE2,796.483027553,744.483027553,726.483027553,712,687.483027553,650,934,796,838.483027553,671,656,678.516972447,0.452998904771,-0.00559435178423,0.0794124893243,0.999999576389,-0.000165509327117,-0.000902438758032,-7.37024423606e-05,1793256597527625728
+254,4.233333333,HOLD_POSE2,796.940925686,745,727,712,688,650,934,796,838.940925686,671.059074314,656,678,0.452998145367,-0.00559447202113,0.0794124041097,0.999999575852,-0.000166783874249,-0.000902816563367,-7.34992782877e-05,1793256597544292608
+255,4.250000000,HOLD_POSE2,796.36890093,745,727,712,688,650,934,796,838.36890093,671.63109907,656,678,0.452997918572,-0.0055962694016,0.0794123044211,0.999999574964,-0.000167550217029,-0.000903691623188,-7.30791710838e-05,1793256597560959488
+256,4.266666667,HOLD_POSE2,796.210519758,745,727,712,688,650,934,796,838,672,656.210519758,678,0.452998273426,-0.00559723093809,0.0794122648411,0.999999574559,-0.000168322721718,-0.000903993558185,-7.31060369385e-05,1793256597577626112
+257,4.283333333,HOLD_POSE2,796.803372416,745,727,712,688,650,934,796,838,672,656.803372416,678,0.452999684635,-0.00559667446647,0.0794123344267,0.999999575033,-0.000169106417201,-0.0009032546194,-7.39446675308e-05,1793256597594292736
+258,4.300000000,HOLD_POSE2,797,744.612778677,727,712,688,650,934,796,838,672,656.612778677,678,0.452999516349,-0.00559538495833,0.0794118863206,0.99999957486,-0.000168545008476,-0.000903539798565,-7.40873673551e-05,1793256597610959360
+259,4.316666667,HOLD_POSE2,797,744.033397851,727,712,688,650,934,796,838,672,656.033397851,678,0.452998564237,-0.00559373167903,0.0794111813087,0.999999574364,-0.000167316088658,-0.000904333198633,-7.38847099532e-05,1793256597627625984
+260,4.333333333,HOLD_POSE2,796.459214266,744.540785734,727,712,688,650,934,796,838,672,656,678,0.452998521594,-0.00559372153866,0.0794112899374,0.99999957463,-0.000164681161319,-0.000904543198872,-7.36266413882e-05,1793256597644292352
+261,4.350000000,HOLD_POSE2,796,744.884969388,727,712,688,650,934,796,838,672,656,678.115030612,0.452998659517,-0.00559432720417,0.0794114229486,0.99999957486,-0.000162768632026,-0.00090466260859,-7.32965805619e-05,1793256597660958976
+262,4.366666667,HOLD_POSE2,796,744.309205487,727,712,688,650,934,796,838,672,656,678.690794513,0.45299929784,-0.00559699678549,0.0794114542731,0.999999574778,-0.000164094009578,-0.000904562111326,-7.26917443504e-05,1793256597677625856
+263,4.383333333,POSE2_TO_POSE3_RETREAT,797,745,727,712,688,650,934,796,838,672,657,678,0.452997269911,-0.00559703027119,0.0794096470735,0.999999570681,-0.000168038751154,-0.000908287353171,-7.35880701294e-05,1793256597714774016
+264,4.400000000,POSE2_TO_POSE3_RETREAT,796.42330297,745,727,712,688,650,934,796,838,672,656.42330297,678,0.452998019777,-0.00559639118302,0.0794097472093,0.999999571409,-0.000167730041341,-0.00090755117556,-7.34860538154e-05,1793256597731440896
+265,4.416666667,POSE2_TO_POSE3_RETREAT,796,745,727,712,688,650,934,796,838,672,656.15279066,678,0.452998522537,-0.00559627736383,0.0794098201117,0.999999571764,-0.000168025100388,-0.000907112180134,-7.33953435306e-05,1793256597748107776
+266,4.433333333,POSE2_TO_POSE3_RETREAT,796,745,727,712,688,650,934,796,838,672,656.72721929,678,0.452998343394,-0.00559761306602,0.0794098178619,0.999999571091,-0.000169986307523,-0.000907493282399,-7.33358331082e-05,1793256597764774400
+267,4.450000000,POSE2_TO_POSE3_RETREAT,796.31029181,745,727,712,687.68970819,649.68970819,934,796,838,672,656.68970819,678,0.452998334807,-0.00559809673933,0.0794103236041,0.99999957161,-0.000170093188536,-0.000906922438069,-7.30684494078e-05,1793256597781441024
+268,4.466666667,POSE2_TO_POSE3_RETREAT,796.90118098,745,727,712,687.09881902,649.09881902,934,796,838,672,656.09881902,678,0.452998480453,-0.00559780992156,0.0794112887243,0.999999573207,-0.000168523199479,-0.00090549074695,-7.26130855871e-05,1793256597798107392
+269,4.483333333,POSE2_TO_POSE3_RETREAT,797,745,726.517909971,712,687,649.482090029,934,796,838,672,656,678,0.452998969429,-0.00559468578032,0.0794107628032,0.999999573731,-0.000164714467927,-0.000905579835139,-7.30160972411e-05,1793256597814774272
+270,4.500000000,POSE2_TO_POSE3_RETREAT,796.939284387,744.939284387,726.060715613,712,687.060715613,650,934,796,838,671.939284387,656.060715613,678,0.452999338928,-0.00559160436707,0.0794100161627,0.999999573877,-0.00016141849625,-0.00090596817581,-7.35632591042e-05,1793256597831440896
+271,4.516666667,POSE2_TO_POSE3_RETREAT,796.363029709,744.363029709,726.636970291,712,687.636970291,650,934,796,838,671.363029709,656.636970291,678,0.452998108485,-0.00559372395621,0.0794099379041,0.999999572751,-0.00016629389054,-0.000906304253952,-7.38707072349e-05,1793256597848107520
+272,4.533333333,POSE2_TO_POSE3_RETREAT,796,744.212845887,726.787154113,712,687.787154113,649.787154113,934,796,838,671,656.787154113,678,0.452993390486,-0.00559545992592,0.0794075608151,0.999999569014,-0.000169060301945,-0.00090989934443,-7.39899838752e-05,1793256597864774400
+273,4.550000000,POSE2_TO_POSE3_RETREAT,796,744.788076011,726.211923989,712,687.211923989,649.211923989,934,796,838,671,656.211923989,678,0.452982734694,-0.00559654275789,0.079401269815,0.999999560806,-0.000168236029633,-0.000919043119469,-7.37888860419e-05,1793256597881441024
+274,4.566666667,POSE2_TO_POSE3_RETREAT,796.372698362,745,726.372698362,712,687.372698362,649.372698362,934,796,838,671.372698362,656,678,0.452961242423,-0.00559643246585,0.0793913406825,0.999999546221,-0.000168445418698,-0.000934713302593,-7.41229268188e-05,1793256597898107392
+275,4.583333333,POSE2_TO_POSE3_RETREAT,796.96279945,745,726.96279945,712,687.96279945,649.96279945,934,796,838,671.96279945,656,678,0.452933429007,-0.00559562619979,0.0793792893508,0.999999527641,-0.000169257763869,-0.000954190476229,-7.47691250645e-05,1793256597914774016
+276,4.600000000,POSE2_TO_POSE3_RETREAT,797,745,727,712,688,650,934,796,838,672,656.541534707,678,0.452879939527,-0.00559407932043,0.0793625520263,0.999999498336,-0.000165560792078,-0.000985103360759,-7.40918785417e-05,1793256597931440896
+277,4.616666667,POSE2_TO_POSE3_RETREAT,796.881064337,745,727,712,688,650,934,796.118935663,838,672,657,678,0.452821823158,-0.00559221555747,0.0793461718895,0.999999470493,-0.000161778493688,-0.00101363750397,-7.33545583157e-05,1793256597948107520
+278,4.633333333,POSE2_TO_POSE3_RETREAT,796.305848328,745,727,712,688,650,934,796.694151672,838,672,657,678,0.452752583858,-0.00558932728085,0.0793323715994,0.999999454194,-0.000158832796734,-0.00103009415684,-7.27283814311e-05,1793256597964774400
+279,4.650000000,POSE2_TO_POSE3_RETREAT,796.275391792,745,727,712,688,650,934,796.724608208,838,671.724608208,656.724608208,678,0.452673915239,-0.00558719302398,0.0793200265529,0.999999435968,-0.000157024598342,-0.00104797186299,-7.18406763571e-05,1793256597981440768
+280,4.666666667,POSE2_TO_POSE3_RETREAT,796.863471837,745,727,712,688,650,934,796.136528163,838,671.136528163,656.136528163,678,0.452584540287,-0.00558591490434,0.0793093338353,0.999999415518,-0.000156507950738,-0.00106746307544,-7.06560242228e-05,1793256597998107392
+281,4.683333333,POSE2_TO_POSE3_RETREAT,797,745,727,712,688,650,934,796.444698037,838,671.444698037,656,678,0.452471596103,-0.00558456991803,0.0792943642994,0.999999389037,-0.000156580432096,-0.00109207944897,-6.90651325434e-05,1793256598014774272
+282,4.700000000,POSE2_TO_POSE3_RETREAT,797,744.97625092,727,711.97625092,688,650,934,797,838,672,656,678,0.452350305516,-0.00558318634906,0.0792780329337,0.999999360012,-0.00015673466454,-0.00111842711146,-6.73097574526e-05,1793256598031440896
+283,4.716666667,POSE2_TO_POSE3_RETREAT,797,744.39959471,727,711.39959471,688,650,934,797,838,672,656,678,0.452200607852,-0.00558137521306,0.0792601016809,0.999999325851,-0.00015464519747,-0.00114900452605,-6.45845905693e-05,1793256598048107520
+284,4.733333333,POSE2_TO_POSE3_RETREAT,796.823260179,744.176739821,727,711.176739821,688,650,934,796.823260179,838,672,656,678.176739821,0.452041812411,-0.00557853046897,0.0792417697444,0.999999289316,-0.000151456516764,-0.00118093747111,-6.17681512606e-05,1793256598064773888
+285,4.750000000,POSE2_TO_POSE3_RETREAT,796.247651699,744.752348301,727,711.752348301,688,650,934,796.247651699,838,672,656,678.752348301,0.451862485012,-0.00557335306536,0.079222533542,0.999999248405,-0.000145787117271,-0.00121592959144,-5.87457276224e-05,1793256598081440768
+286,4.766666667,POSE2_TO_POSE3_RETREAT,796.335274212,745,726.664725788,712,688.335274212,650,934,796.335274212,838,672,656.335274212,678.664725788,0.451667583373,-0.00557023627043,0.0792021862141,0.999999207506,-0.000141890374122,-0.00124971611721,-5.53612979639e-05,1793256598098107392
+287,4.783333333,POSE2_TO_POSE3_RETREAT,796.923725832,745,726.076274168,712,688.923725832,650,934,796.923725832,838,672,656.923725832,678.076274168,0.451460921056,-0.00556867551342,0.0791809998341,0.999999166435,-0.000139332225823,-0.00128259225938,-5.17035044354e-05,1793256598114774016
+288,4.800000000,POSE2_TO_POSE3_RETREAT,796.495760983,745,726.504239017,712,688.495760983,650,934,797,838,671.495760983,657,678,0.451215161287,-0.00556298133066,0.0791578228103,0.999999118905,-0.000129147056549,-0.00132032359829,-4.75048815162e-05,1793256598131440640
+289,4.816666667,POSE2_TO_POSE3_RETREAT,796.083032123,745,726.916967877,712,688.083032123,650.083032123,934,797,838,671.083032123,657,678,0.450962211336,-0.00555703682506,0.0791369665144,0.999999074976,-0.000118352900255,-0.00135432756422,-4.28532905238e-05,1793256598148107008
+290,4.833333333,POSE2_TO_POSE3_RETREAT,796.65863464,745,726.34136536,712,688.65863464,650.65863464,934,797,838,671.65863464,657,678,0.450701147484,-0.00555325898135,0.0791316360561,0.999999065799,-0.000110684102741,-0.0013619304137,-3.59923541168e-05,1793256598164773888
+291,4.850000000,POSE2_TO_POSE3_RETREAT,797,745,726.234013595,712,689.234013595,650.765986405,934,797,838,672,657,678,0.450431248219,-0.00554952841996,0.0791351379273,0.9999990751,-0.000101802402049,-0.00135595763773,-2.85366351636e-05,1793256598181440768
+292,4.866666667,POSE2_TO_POSE3_RETREAT,797,745,726.809066706,712,689.809066706,650.190933294,934,797,838,672,657,678,0.450148472687,-0.00554586676567,0.0791515115867,0.999999110924,-9.11530783388e-05,-0.00133020043432,-2.02141107632e-05,1793256598198107392
+293,4.883333333,POSE2_TO_POSE3_RETREAT,796.605637577,744.605637577,727,712,690,650.394362423,934,797,838,671.605637577,657,678,0.449839977225,-0.00554058288632,0.0791660103555,0.999999145119,-7.60205362665e-05,-0.00130531183936,-1.2004056839e-05,1793256598214774272
+294,4.900000000,POSE2_TO_POSE3_RETREAT,796.015250616,744.015250616,727,712,690,650.984749384,934,797,838,671.015250616,657,678,0.449518697244,-0.00553449265257,0.0791795771776,0.999999177977,-5.86595346786e-05,-0.00128085500103,-3.84990851769e-06,1793256598231440640
+295,4.916666667,POSE2_TO_POSE3_RETREAT,796,744.563953694,726.436046306,712,690,651,934,797.563953694,838,671,657,678,0.449127173203,-0.00552740191668,0.0791844291902,0.99999919268,6.73319295654e-06,-0.00127066576413,1.55926287477e-06,1793256598248107520
+296,4.933333333,POSE2_TO_POSE3_RETREAT,796.141933573,745,726.141933573,712,690.141933573,651.141933573,934,798.141933573,838,671,657,678,0.448725353284,-0.00551981179012,0.079188574477,0.999999201079,4.81042371494e-05,-0.00126313640614,3.60122198163e-06,1793256598264774400
+297,4.950000000,POSE2_TO_POSE3_RETREAT,796.717081158,745,726.717081158,712,690.717081158,651.717081158,934,798.717081158,838,671,657,678,0.448297793216,-0.00551077838451,0.0791912680017,0.999999202872,1.22681222735e-05,-0.00126257088649,-4.41216529121e-06,1793256598281442304
+298,4.966666667,POSE2_TO_POSE3_RETREAT,796.701799148,744.701799148,727,712,691,652,934,799,838,671.298200852,657,678,0.447857163566,-0.00550313229077,0.0791944820092,0.999999206283,1.35730237158e-07,-0.00125992208413,-5.53113889648e-06,1793256598298109696
+299,4.983333333,POSE2_TO_POSE3_RETREAT,796.114897538,744.114897538,727,712,691,652,934,799,838,671.885102462,657,678,0.447403880653,-0.00549682931078,0.0791981999182,0.999999212105,1.09519027148e-05,-0.00125525636931,2.46577231509e-08,1793256598314775808
+300,5.000000000,POSE2_TO_POSE3_RETREAT,796,744.465947677,726.534052323,712,691.465947677,652,934,799,838,671.534052323,657,678,0.446934850279,-0.00549173405823,0.0792225192281,0.999999265426,3.44181458822e-05,-0.00121158946993,3.65146477494e-06,1793256598331442432
+301,5.016666667,POSE2_TO_POSE3_RETREAT,796,745,726.045218402,712,692.045218402,652,934,799.045218402,838,671,657,678,0.44645845178,-0.00548642848657,0.0792538347971,0.999999329541,5.86044294977e-05,-0.0011564769993,6.61967013141e-06,1793256598348109312
+302,5.033333333,POSE2_TO_POSE3_RETREAT,796,745,726.62330864,712,692.62330864,652,934,799.62330864,838,671,657,678,0.445940397398,-0.00547517991913,0.0793084995947,0.999999417026,5.49877760462e-05,-0.00107836476492,7.3601826212e-06,1793256598364774912
+303,5.050000000,POSE2_TO_POSE3_RETREAT,796.200460472,745,727,712,693,652.200460472,934,800,838,671.200460472,657,678,0.445405132246,-0.00545808928051,0.0793571296133,0.999999489131,6.5086041201e-05,-0.00100868643259,7.34767109037e-06,1793256598381440768
+304,5.066666667,POSE2_TO_POSE3_RETREAT,796.7758571,745,727,712,693,652.7758571,934,800,838,671.7758571,657,678,0.444837676543,-0.00543007178153,0.0793944723317,0.999999539093,0.000100836341158,-0.000954782667609,5.92672262683e-06,1793256598398107648
+305,5.083333333,POSE2_TO_POSE3_RETREAT,797,745,727,712,693.358743153,653,934,800.358743153,838,672,657,678,0.444250414531,-0.00541589332749,0.0794272992443,0.999999579319,0.000123012336605,-0.000908942106102,7.31432588659e-06,1793256598414774272
+306,5.100000000,POSE2_TO_POSE3_RETREAT,797,745,727,712,693.946408355,653,934,800.946408355,838,672,657,678,0.44365051369,-0.00541054587932,0.0794572445185,0.999999613699,0.000136526262711,-0.000868246857922,1.04941290139e-05,1793256598431440896
+307,5.116666667,POSE2_TO_POSE3_RETREAT,796.473330448,744.473330448,726.473330448,712,694,653.526669552,934,801,838,672,657,678,0.443006705038,-0.00541824781323,0.079485230841,0.999999651204,0.000120836557772,-0.000826323808548,1.33918468616e-05,1793256598448108288
+308,5.133333333,POSE2_TO_POSE3_RETREAT,796,744,726.105473542,711.894526458,694.105473542,654,934,801,838,671.894526458,657,678,0.442354008356,-0.00542704628304,0.079515747268,0.999999692303,0.000102527096468,-0.000777574997127,1.6130742891e-05,1793256598464775424
+309,5.150000000,POSE2_TO_POSE3_RETREAT,796,744,726.681093593,711.318906407,694.681093593,654,934,801,838,671.318906407,657,678,0.441681332996,-0.005434895729,0.079558417797,0.999999751904,8.56025091065e-05,-0.00069894966261,1.82878654964e-05,1793256598481441536
+310,5.166666667,POSE2_TO_POSE3_RETREAT,796.25639998,744.25639998,727,711.25639998,695.25639998,654.25639998,934,801.25639998,838,671,657.25639998,678,0.440972478768,-0.0054377470802,0.0795807885863,0.999999780501,8.84008370879e-05,-0.00065633471672,2.02227386635e-05,1793256598498107904
+311,5.183333333,POSE2_TO_POSE3_RETREAT,796.83131679,744.83131679,727,711.83131679,695.83131679,654.83131679,934,801.83131679,838,671,657.83131679,678,0.440218680693,-0.00543438947214,0.0795779417168,0.999999776286,0.000115700259152,-0.000658454225043,2.18815194335e-05,1793256598514774528
+312,5.200000000,POSE2_TO_POSE3_RETREAT,797,744.582621073,727,712,696,655,934.417378927,802.417378927,838,671.417378927,657.582621073,678,0.439452292083,-0.0054295530957,0.0795666028158,0.99999976589,0.000127097734393,-0.000672003630231,2.18324102286e-05,1793256598531440896
+313,5.216666667,POSE2_TO_POSE3_RETREAT,796.992063416,744,727,711.992063416,696,655,934.992063416,803,837.992063416,671.992063416,657.007936584,678,0.438681362942,-0.00542418360139,0.079553147447,0.999999754293,0.000131870436259,-0.000688167999873,2.11771162785e-05,1793256598548107264
+314,5.233333333,POSE2_TO_POSE3_RETREAT,796.411065404,744,727,711.411065404,696,655,934.411065404,803,837.411065404,671.411065404,657.588934596,678,0.437960073192,-0.00542465701921,0.0796414821942,0.999999838987,0.00013507651794,-0.000550452558985,2.79585289061e-05,1793256598564774144
+315,5.250000000,POSE2_TO_POSE3_RETREAT,796.167832619,744,727,711,696.167832619,655,934,803,837.167832619,671.167832619,657.832167381,678,0.437228978106,-0.00542519800529,0.0797310979597,0.999999905393,0.000136152602539,-0.000411770824846,3.3485158072e-05,1793256598581440768
+316,5.266666667,POSE2_TO_POSE3_RETREAT,796.741650756,744,727,711,696.741650756,655,934,803,837.741650756,671.741650756,657.258349244,678,0.436474164048,-0.00542590243832,0.0798238124909,0.999999953978,0.000132076247691,-0.000270751660176,3.59764781959e-05,1793256598598107648
+317,5.283333333,POSE2_TO_POSE3_RETREAT,797,744.31433565,727,711,697,655.31433565,934,803.31433565,838,671.68566435,657,678,0.435670548675,-0.00542838026674,0.0798684087707,0.999999969206,0.000133431817157,-0.000205469148235,3.95811044034e-05,1793256598614774528
+318,5.300000000,POSE2_TO_POSE3_RETREAT,797,744.886092461,727,711,697,655.886092461,934,803.886092461,838,671.113907539,657,678,0.434826968128,-0.00543231039459,0.0798735992194,0.99999996889,0.000139235793305,-0.000202210208976,4.4097458698e-05,1793256598631441152
+319,5.316666667,POSE2_TO_POSE3_RETREAT,796.521691339,744.521691339,727,711,697,656,934,804,838,671,657.478308661,678,0.433937713561,-0.00543461563859,0.0798463974004,0.999999961117,0.000140393718994,-0.000237024181482,4.3295236804e-05,1793256598648107520
+320,5.333333333,POSE2_TO_POSE3_RETREAT,796.072535237,744.072535237,727,711,697.072535237,656,934,804,837.927464763,671,658,678,0.433024314031,-0.00543567079731,0.0798075674878,0.999999946543,0.00014161640243,-0.000291789852553,4.14451936956e-05,1793256598664774144
+321,5.350000000,POSE2_TO_POSE3_RETREAT,796.645513822,744.645513822,727,711,697.645513822,656,934,804,837.354486178,671,658,678,0.432022729313,-0.00543089028654,0.0797441120342,0.999999899978,0.000151260669329,-0.00041885757448,4.14950729436e-05,1793256598681440768
+322,5.366666667,POSE2_TO_POSE3_RETREAT,797,744.779878772,727,711.220121228,698,656,934,804,837.220121228,671,658,678,0.431067351765,-0.00542734046242,0.0797150130931,0.999999873034,0.000158540576378,-0.000476486094835,4.19224772661e-05,1793256598698107392
+323,5.383333333,POSE2_TO_POSE3_RETREAT,797,744.202628645,727,711.797371355,698,656,934,804,837.797371355,671,658,678,0.430186941457,-0.00542578732719,0.0797416548063,0.999999897145,0.000161984505128,-0.000421455151921,4.29623863106e-05,1793256598714774016
+324,5.400000000,POSE2_TO_POSE3_RETREAT,797,744.381317181,727,711.618682819,698,656,934,804,838,671,658,678,0.429353464111,-0.0054260203905,0.0798002358551,0.999999933018,0.000167939975422,-0.000321866627498,4.64916888613e-05,1793256598731440640
+325,5.416666667,POSE2_TO_POSE3_RETREAT,797,744.968884602,727,711.031115398,698,656,934,804,838,671,658,678,0.428545372338,-0.0054272195889,0.0798760925351,0.999999963687,0.000175253908565,-0.000198177400419,5.1367476182e-05,1793256598748107520
+326,5.433333333,POSE2_TO_POSE3_RETREAT,797,745,727,711,698,656,934,804,838,671,658,678,0.427620851846,-0.0054238161307,0.0798677904339,0.999999959589,0.000180291120789,-0.000213704646446,5.14451181616e-05,1793256598764774144
+327,5.450000000,POSE2_TO_POSE3_RETREAT,796.870011274,745.129988726,726.870011274,711,698,656,934,804,838,671,658,678,0.426683374519,-0.00542085022658,0.0798460481653,0.999999951023,0.000182914092703,-0.000248894061469,5.0479580471e-05,1793256598781440768
+328,5.466666667,POSE2_TO_POSE3_RETREAT,796.288291011,745.711708989,726.288291011,711,698,656,934,804,838,671,658,678,0.425723494855,-0.00542029929106,0.0797939530908,0.999999930205,0.000177589611247,-0.000325359798047,4.68212130256e-05,1793256598798107392
+329,5.483333333,POSE2_TO_POSE3_RETREAT,796,746.287319834,726.287319834,711,698,656,934,804,838,671,658,678,0.424749304264,-0.00542201324979,0.0797573243848,0.999999910108,0.000179497915251,-0.000381335622236,4.63438473268e-05,1793256598814774272
+330,5.500000000,POSE2_TO_POSE3_RETREAT,796,746.856928209,726.856928209,711,698,656,934,804,838,671,658,678,0.423761053403,-0.00542595244196,0.0797358912169,0.999999894012,0.000188512351394,-0.000417180332054,4.89917808208e-05,1793256598831441152
+331,5.516666667,POSE2_TO_POSE3_RETREAT,796.443717249,747,727,711,698,656,934,804,838,671,658,678,0.422879062762,-0.00542595134061,0.0797454077125,0.999999901189,0.000191414697039,-0.000398171880226,4.94162020062e-05,1793256598848107776
+332,5.533333333,POSE2_TO_POSE3_RETREAT,797,747,727,711,698,656,934,804,838,671,658,678.035303019,0.422035734536,-0.00542477904291,0.0797680324192,0.99999991688,0.000192202977254,-0.000356187280932,4.92786593403e-05,1793256598864774144
+333,5.550000000,POSE2_TO_POSE3_RETREAT,797,747,727,711,698,656,934,804,838,671,658,678.612070019,0.4212387253,-0.00542591480584,0.0798324807002,0.999999950447,0.000192011082772,-0.000244003582545,5.19611168695e-05,1793256598881441024
+334,5.566666667,POSE2_TO_POSE3_RETREAT,797,747.187420591,727,711,698,656,934,804,838,671,658,678.812579409,0.420414831211,-0.00542524545996,0.0798731626997,0.999999964836,0.000192494068945,-0.000174318117842,5.3732650657e-05,1793256598898107904
+335,5.583333333,POSE2_TO_POSE3_RETREAT,797,747.759861485,727,711,698,656,934,804,838,671,658,678.240138515,0.419535707111,-0.00542086785826,0.0798650213619,0.999999961253,0.00019436347439,-0.000191937254087,5.36328648011e-05,1793256598914774528
+336,5.600000000,POSE2_TO_POSE3_RETREAT,797,748,727,711,698,656,934,804,837.666040711,671,658,678,0.418634503966,-0.00541796019324,0.0798371348287,0.999999951348,0.00019032156457,-0.000241841428824,5.09445709868e-05,1793256598931440896
+337,5.616666667,POSE2_TO_POSE3_RETREAT,797,748,727,711,698,656,934,804,837.090745574,671,658,678,0.417717345443,-0.00541611477895,0.0797949794207,0.999999932724,0.0001820078389,-0.000315076400812,4.63856903896e-05,1793256598948107520
+338,5.633333333,POSE2_TO_POSE3_RETREAT,797,748,727,711,698,656,934,804,837.50016773,670.49983227,658,678,0.416891207589,-0.0054124863622,0.0798023134201,0.999999930568,0.000196380993851,-0.000312990242816,4.83327907785e-05,1793256598964774144
+339,5.650000000,POSE2_TO_POSE3_RETREAT,797,747.90873407,726.90873407,711,698.09126593,656,934,804.09126593,838,670.09126593,658,678,0.416080298189,-0.00540876547952,0.0798122349594,0.999999929412,0.000212307272147,-0.000305795425812,5.08963610217e-05,1793256598981440768
+340,5.666666667,POSE2_TO_POSE3_RETREAT,797,747.332204766,726.332204766,711,698.667795234,656,934,804.667795234,838,670.667795234,658,678,0.415259723852,-0.00540632840126,0.0797866347863,0.99999991585,0.000213900787189,-0.000346439742934,5.02593012798e-05,1793256598998107392
+341,5.683333333,POSE2_TO_POSE3_RETREAT,797,747.242921803,726,711,698.757078197,656,934,805,838,670.757078197,658,678,0.41447706837,-0.00540601818631,0.0797747983332,0.999999910603,0.000213315038826,-0.000361716678519,4.95085554132e-05,1793256599014774272
+342,5.700000000,POSE2_TO_POSE3_RETREAT,797,747.816141044,726,711,698.183858956,656,934,805,838,670.183858956,658,678,0.413745970703,-0.00540859983839,0.0797816762233,0.999999918164,0.000209766176142,-0.000342501931145,4.8603232212e-05,1793256599031441152
+343,5.716666667,POSE2_TO_POSE3_RETREAT,797,748,726.403893442,711,698,656,934,805,838,670,658,678,0.41302061091,-0.00540802107926,0.0797949544475,0.999999925811,0.000212678756224,-0.000317388072944,4.90976903765e-05,1793256599048107776
+344,5.733333333,POSE2_TO_POSE3_RETREAT,797,748,726.998508563,711,698,656,934,805,838,670,658,678,0.412297960523,-0.00540594994921,0.0798112549607,0.999999932933,0.000218642480255,-0.000289488606074,5.02531362661e-05,1793256599064774400
+345,5.750000000,POSE2_TO_POSE3_RETREAT,797,748,727,711,698,656,934,804.422182675,838,670.577817325,658,677.422182675,0.411571081246,-0.00540404278289,0.0797973374948,0.999999923039,0.000223579646345,-0.000318440951113,5.02976469183e-05,1793256599081440768
+346,5.766666667,POSE2_TO_POSE3_RETREAT,797.155999826,748,727,711,698,656,934,804.155999826,838,671,658,677.155999826,0.410866431801,-0.00540216790891,0.0797883727061,0.999999915403,0.000228900823886,-0.000338025284734,5.03701676805e-05,1793256599098107392
+347,5.783333333,POSE2_TO_POSE3_RETREAT,797.731258997,748,727,711,698,656,934,804.731258997,838,671,658,677.731258997,0.410221554849,-0.00540037871413,0.0797929227593,0.999999915922,0.000235260995368,-0.000332048300698,5.05254751872e-05,1793256599114774272
+348,5.800000000,POSE2_TO_POSE3_RETREAT,798,748,727,711,698,656,934,805,838.312519888,671,658,678,0.409607222181,-0.00540004421313,0.0798092091621,0.999999924167,0.000237960355473,-0.000303958532045,5.14851209326e-05,1793256599131441152
+349,5.816666667,POSE2_TO_POSE3_RETREAT,798,748,727,711,698,656,934,805,838.899042773,671,658,678,0.409019669369,-0.00540098512055,0.0798357854536,0.999999937505,0.000237450084517,-0.000256481295321,5.31499731883e-05,1793256599148107520
+350,5.833333333,POSE2_TO_POSE3_RETREAT,798,748,726.520682425,711,698,656,934,805,838.520682425,670.520682425,658,677.520682425,0.408433750039,-0.00539897416645,0.0798400314605,0.99999993694,0.00024271844059,-0.000253573945028,5.39203895122e-05,1793256599164774400
+351,5.850000000,POSE2_TO_POSE3_RETREAT,798,748,726.058197706,711,698,656,934,805,838.058197706,670,658,677,0.407848014292,-0.00539640483596,0.0798352715575,0.999999931989,0.000248787139829,-0.000266812728373,5.41952541483e-05,1793256599181441280
+352,5.866666667,POSE2_TO_POSE3_RETREAT,798,748,726.636224052,711,698,656,934,805,838.636224052,670,658,677,0.407260884697,-0.00539433003204,0.0797915402087,0.999999908784,0.000251272897795,-0.000341498288452,5.17048830392e-05,1793256599198108160
+353,5.883333333,POSE2_TO_POSE3_RETREAT,798,748,727,711,698.212719238,656,934,805,839,670,658,677.212719238,0.406718829776,-0.00539329656214,0.079765471259,0.999999894198,0.000250377675861,-0.000382641590182,5.00002508867e-05,1793256599214774784
+354,5.900000000,POSE2_TO_POSE3_RETREAT,798,748,727,711,698.786614607,656,934,805,839,670,658,677.786614607,0.406253307232,-0.00539403117417,0.0797693913126,0.99999990178,0.000243741887633,-0.000366833465023,4.96297260523e-05,1793256599231441408
+355,5.916666667,POSE2_TO_POSE3_RETREAT,798,748.370070954,726.629929046,711,699,656.370070954,934,805,839,670,658,678,0.405812777529,-0.00539342045377,0.0797849270837,0.999999912294,0.000245849655175,-0.000335374468354,4.99454356625e-05,1793256599248107520
+356,5.933333333,POSE2_TO_POSE3_RETREAT,798,748.959186489,726.040813511,711,699,656.959186489,934,805,839,670,658,678,0.405387041016,-0.0053920134327,0.0798073381852,0.999999923268,0.000253132722562,-0.000294651736562,5.0667326567e-05,1793256599264773888
+357,5.950000000,POSE2_TO_POSE3_RETREAT,798,748.461202999,726,711,699,656.461202999,934,805,839,670.538797001,658,678,0.404991489958,-0.00539242298867,0.0798208831182,0.999999927681,0.000252545657954,-0.000279656257323,5.14929855034e-05,1793256599281441024
+358,5.966666667,POSE2_TO_POSE3_RETREAT,798,748.117377592,726.117377592,711,699,656,934,805,839,670.882622408,658,677.882622408,0.404602074513,-0.00539300271538,0.0798314567591,0.99999993023,0.000252537915011,-0.00027017396751,5.26397362128e-05,1793256599298107648
+359,5.983333333,POSE2_TO_POSE3_RETREAT,798,748.694695023,726.694695023,711,699,656,934,805,839,670.305304977,658,677.305304977,0.404227896767,-0.0053937193991,0.0798329735473,0.999999927683,0.000257095747413,-0.000274790897833,5.50144070719e-05,1793256599314774272
+360,6.000000000,POSE2_TO_POSE3_RETREAT,798,748.728724024,727,711,699,656.271275976,934,805,839,670.271275976,658,677,0.403878796757,-0.00539361452298,0.0798351354819,0.999999928701,0.000251253877888,-0.000276692771993,5.39589765e-05,1793256599331440896
+361,6.016666667,POSE2_TO_POSE3_RETREAT,798,748.152969725,727,711,699,656.847030275,934,805,839,670.847030275,658,677,0.403557843849,-0.00539258753361,0.0798380215246,0.999999933517,0.000233739452848,-0.000275547285126,4.90536230995e-05,1793256599348107520
+362,6.033333333,POSE2_TO_POSE3_RETREAT,798,748.432306284,726.567693716,711,699,656.567693716,933.567693716,805,839,670.567693716,658,677.432306284,0.403265592139,-0.00539248989136,0.0798394378123,0.999999932894,0.000238524762563,-0.000273584183746,4.96968089613e-05,1793256599364774144
+363,6.050000000,POSE2_TO_POSE3_RETREAT,798.020684842,749,726,711,699,656,933.020684842,805,839,670.020684842,658,678,0.402985044182,-0.00539267088645,0.0798401791721,0.999999930173,0.000251237470151,-0.000271664295107,5.22792489041e-05,1793256599381440512
+364,6.066666667,POSE2_TO_POSE3_RETREAT,798.599815732,749,726,711,699,656,933.599815732,805,839,670.599815732,658,678,0.402740112566,-0.00539129642204,0.0798370558218,0.999999925865,0.000260144120259,-0.000278897693711,5.30180172471e-05,1793256599398107136
+365,6.083333333,POSE2_TO_POSE3_RETREAT,799,749,726,711,699,656,934,805,839,670.822399114,658,677.822399114,0.402508925638,-0.00539069219723,0.0798348243493,0.999999923412,0.00026466692235,-0.000283349528009,5.32922418118e-05,1793256599414774016
+366,6.100000000,POSE2_TO_POSE3_RETREAT,799,749,726,711,699,656,934,805,839,670.24762355,658,677.24762355,0.40230847644,-0.00539181048466,0.0798345874126,0.999999925336,0.000259385980455,-0.000281580858079,5.2527591829e-05,1793256599431440640
+367,6.116666667,POSE2_TO_POSE3_RETREAT,798.665812383,748.665812383,726,711,698.665812383,656,934,805,839,670.334187617,658,677,0.402131094856,-0.00539162962717,0.0798381881044,0.999999927977,0.000255797871197,-0.000275458576456,5.23036728257e-05,1793256599448107264
+368,6.133333333,POSE2_TO_POSE3_RETREAT,798.078675858,748.078675858,726,711,698.078675858,656,934,805,839,670.921324142,658,677,0.401971173288,-0.00539046543808,0.0798446935235,0.999999931105,0.000253491078043,-0.000266041015969,5.24890367395e-05,1793256599464773888
+369,6.150000000,POSE2_TO_POSE3_RETREAT,798,748.501624375,726,711,698.501624375,656,933.498375625,805,839,671,657.498375625,677,0.401829194989,-0.00539097944677,0.0798494467746,0.999999933318,0.000253407824155,-0.000257613826789,5.27654970668e-05,1793256599481440768
+370,6.166666667,POSE2_TO_POSE3_RETREAT,798,749,726,711,698.919326101,656,933,805,839,670.919326101,657,677.080673899,0.401692676605,-0.0053917350862,0.0798528033008,0.999999934634,0.000254344352138,-0.000251484154277,5.28750716833e-05,1793256599498107648
+371,6.183333333,POSE2_TO_POSE3_RETREAT,798,749,726,711,698.3414652,656,933,805,839,670.3414652,657,677.6585348,0.401572696317,-0.00539237953117,0.0798492228054,0.99999993157,0.000259445327613,-0.000258569467763,5.18692722467e-05,1793256599514775040
+372,6.200000000,POSE2_TO_POSE3_RETREAT,798,749,726,711,698,656,933.235015635,805,839,670,657.235015635,677.764984365,0.401462587705,-0.00539222198535,0.0798452928857,0.999999928616,0.000263925022179,-0.000265568855344,5.08355249022e-05,1793256599531441920
+373,6.216666667,POSE2_TO_POSE3_RETREAT,798,749,726,711,698,656,933.809502977,805,839,670,657.809502977,677.190497023,0.401366738383,-0.00539090599239,0.0798408582354,0.999999925869,0.000267507298322,-0.000272444125602,4.97614078637e-05,1793256599548108032
+374,6.233333333,POSE2_TO_POSE3_RETREAT,798,748.604334464,726,711,698.395665536,656,934,805,839,670,658,677.395665536,0.401286383637,-0.005390995794,0.0798362995701,0.999999924523,0.000265935755059,-0.000278887717365,4.95287962366e-05,1793256599564774656
+375,6.250000000,POSE2_TO_POSE3_RETREAT,798,748.012379866,726,711,698.987620134,656,934,805,839,670,658,677.987620134,0.401213715728,-0.00539178300818,0.0798316793814,0.999999923847,0.000261807409814,-0.000285117153881,4.97136541787e-05,1793256599581441536
+376,6.266666667,POSE2_TO_POSE3_RETREAT,798,748.566404781,726,711,698.433595219,656,934,805,839,670,658,677.433595219,0.401162115439,-0.00539218044998,0.0798299093879,0.999999922981,0.000262836807158,-0.000287195950802,4.97327084159e-05,1793256599598107904
+377,6.283333333,POSE2_TO_POSE3_RETREAT,798.143672465,749,726,711,698.143672465,656,934,805,839,670,657.856327535,677,0.401115426514,-0.00539275319556,0.0798287593526,0.99999992252,0.000262846128426,-0.000288795463797,4.96875823448e-05,1793256599614774528
+378,6.300000000,POSE2_TO_POSE3_RETREAT,798.717242726,749,726,711,698.717242726,656,934,805,839,670,657.282757274,677,0.401082086892,-0.00539387539838,0.079829282193,0.999999923288,0.000259473516802,-0.00028922614488,4.94610127154e-05,1793256599631441664
+379,6.316666667,POSE2_TO_POSE3_RETREAT,798.708464221,748.708464221,726,711,698.708464221,656,934,805,839,670.291535779,657.291535779,677,0.401052992749,-0.00539411629526,0.0798288463829,0.999999923002,0.000259407272826,-0.000290235975186,4.96710424234e-05,1793256599648108544
+380,6.333333333,POSE2_TO_POSE3_RETREAT,798.133468331,748.133468331,726,711,698.133468331,656,934,805,839,670.866531669,657.866531669,677,0.401028026479,-0.00539350029891,0.0798274784775,0.999999921691,0.000262555808279,-0.000291808912081,5.03055774507e-05,1793256599664774912
+381,6.350000000,POSE2_TO_POSE3_RETREAT,798,748,726,711,698.455929479,656,934,805.455929479,839,671,658,677,0.401014411865,-0.00539293321764,0.0798287621359,0.999999922202,0.000263249965167,-0.000289373793267,5.05738949962e-05,1793256599681441536
+382,6.366666667,POSE2_TO_POSE3_RETREAT,798.048455085,748,726,711,699,656,934,805.951544915,839,670.951544915,658,677.048455085,0.40100461258,-0.00539242937514,0.0798307476405,0.999999923258,0.000263050494554,-0.00028587268089,5.06442323292e-05,1793256599698107648
+383,6.383333333,POSE2_TO_POSE3_RETREAT,798.627557778,748,726,711,699,656,934,805.372442222,839,670.372442222,658,677.627557778,0.400999017098,-0.00539245614979,0.0798316414212,0.999999924334,0.000261189716448,-0.000283965994111,4.97587685197e-05,1793256599714774528
+384,6.400000000,POSE2_TO_POSE3_RETREAT,799,748.204403191,726,710.795596809,698.795596809,656,933.795596809,805,839,670.204403191,658,677.795596809,0.40099433633,-0.00539289144719,0.0798324547375,0.999999925211,0.000259587534892,-0.000282435417013,4.92106827993e-05,1793256599731441152
+385,6.416666667,POSE2_TO_POSE3_RETREAT,799,748.777180516,726,710.222819484,698.222819484,656,933.222819484,805,839,670.777180516,658,677.222819484,0.400991304055,-0.00539406298172,0.0798331230414,0.999999925743,0.000258451394505,-0.000281582662508,4.92706177812e-05,1793256599748108032
+386,6.433333333,POSE2_TO_POSE3_RETREAT,798.639836667,749,726,710.360163333,698.360163333,656,933.360163333,805,839,671,658,677,0.400990099989,-0.00539391397828,0.0798349852538,0.999999926317,0.000259011031373,-0.000278988596214,4.94357289361e-05,1793256599764774400
+387,6.450000000,POSE2_TO_POSE3_RETREAT,798.050355996,749,726,710.949644004,698.949644004,656,933.949644004,805,839,671,658,677,0.400990059951,-0.00539292418333,0.0798376076323,0.999999926906,0.00026065037598,-0.00027528583024,4.96678061494e-05,1793256599781440512
+388,6.466666667,POSE2_TO_POSE3_RETREAT,798,749,726,711,698.470832868,656,933.470832868,805,839,671,658,677,0.400990133911,-0.00539286381071,0.0798383263021,0.999999927157,0.00026148190282,-0.000273581959375,4.96661154471e-05,1793256599798107392
+389,6.483333333,POSE2_TO_POSE3_RETREAT,798.10730803,749,726,711,698.10730803,656.10730803,933.10730803,805.10730803,839,670.89269197,658,677,0.40098994755,-0.00539314245958,0.0798387605089,0.999999927363,0.000261869165137,-0.000272465586431,4.96101263421e-05,1793256599814774272
+390,6.500000000,POSE2_TO_POSE3_RETREAT,798.683473137,749,726,711,698.683473137,656.683473137,933.683473137,805.683473137,839,670.316526863,658,677,0.400988577256,-0.00539452308235,0.0798387287314,0.999999927519,0.000260644991573,-0.000273100391314,4.94122946917e-05,1793256599831440896
+391,6.516666667,POSE2_TO_POSE3_RETREAT,798.741301156,748.741301156,726,711,699,656.741301156,933.741301156,805.741301156,839,670,657.741301156,677,0.400987807026,-0.0053946404881,0.0798387242434,0.9999999275,0.000260397563278,-0.000273446981422,4.91883007454e-05,1793256599848107520
+392,6.533333333,POSE2_TO_POSE3_RETREAT,798.167220603,748.167220603,726,711,699,656.167220603,933.167220603,805.167220603,839,670,657.167220603,677,0.400987768339,-0.00539321789665,0.0798387530241,0.999999927268,0.00026134089233,-0.000273442206813,4.89324121211e-05,1793256599864774144
+393,6.550000000,POSE2_TO_POSE3_RETREAT,798,748.419632688,726,711,699,656,933.419632688,805,839,670.419632688,657.419632688,677,0.400987625476,-0.00539389624852,0.0798388119963,0.999999927654,0.000260189698118,-0.000273119211601,4.89846478532e-05,1793256599881440768
+394,6.566666667,POSE2_TO_POSE3_RETREAT,798,749,726,711,699,656,934,805,839,670.988544146,658,677,0.400987469321,-0.00539543765044,0.0798389075914,0.999999928301,0.00025815141448,-0.000272650399116,4.91591049661e-05,1793256599898107392
+395,6.583333333,POSE2_TO_POSE3_RETREAT,798,749,726,711,699,656,934,805,839,670.410554128,658,677,0.400988773179,-0.00539695711707,0.0798402006674,0.999999929489,0.000254815738365,-0.000271438410497,4.9115046061e-05,1793256599914774272
+396,6.600000000,POSE2_TO_POSE3_RETREAT,798,749,726,711,699,656,934,805,839,670.166858058,658,677.166858058,0.40098953487,-0.00539791851227,0.0798409824769,0.999999930303,0.000252720365636,-0.000270416412498,4.90126382464e-05,1793256599931440896
+397,6.616666667,POSE2_TO_POSE3_RETREAT,798,749,726,711,699,656,934,805,839,670.742853361,658,677.742853361,0.400988967162,-0.00539751151194,0.0798405106571,0.999999930225,0.00025366622657,-0.000269860273044,4.87671584605e-05,1793256599948107520
+398,6.633333333,POSE2_TO_POSE3_RETREAT,798.317867065,749,726,711,699,656,934,805,839,670.682132935,658,678,0.400987727508,-0.00539656303219,0.0798398415746,0.999999929557,0.00025545874805,-0.000270688534552,4.85316176863e-05,1793256599964774144
+399,6.650000000,POSE2_TO_POSE3_RETREAT,798.892089097,749,726,711,699,656,934,805,839,670.107910903,658,678,0.400985945939,-0.00539517785751,0.0798390134028,0.999999928404,0.000257934088373,-0.000272633294464,4.83040925859e-05,1793256599981441024
+400,6.666666667,POSE2_TO_POSE3_RETREAT,798.518902533,748.518902533,726,711,699,656,934,805,839,670,658,677.518902533,0.400985740384,-0.00539475653116,0.0798396592285,0.999999928643,0.000257802097885,-0.000271868652455,4.83733307787e-05,1793256599998107392
+401,6.683333333,POSE2_TO_POSE3_RETREAT,798.071431248,748.071431248,726,711,699,656,934,805.071431248,839,670,658,677,0.400985891014,-0.00539447433048,0.0798404611626,0.999999929068,0.000257340515768,-0.00027072249428,4.84735428844e-05,1793256600014773760
+402,6.700000000,POSE2_TO_POSE3_RETREAT,798.646970238,748.646970238,726,711,699,656,934,805.646970238,839,670,658,677,0.40098598147,-0.00539359986976,0.0798399575397,0.999999928537,0.000258811074093,-0.000271308729676,4.83076879664e-05,1793256600031440384
+403,6.716666667,POSE2_TO_POSE3_RETREAT,798.77722158,749,726,711,699,656,933.77722158,805.77722158,839,670,658,677,0.400986625395,-0.00539319189761,0.0798399319877,0.999999928488,0.000259225551013,-0.000271130563521,4.81033776749e-05,1793256600048107264
+404,6.733333333,POSE2_TO_POSE3_RETREAT,798.200986213,749,726,711,699,656,933.200986213,805.200986213,839,670,658,677,0.400988147446,-0.00539352404919,0.0798406649359,0.999999929203,0.000257964465022,-0.000269739609263,4.78380546308e-05,1793256600064773888
+405,6.750000000,POSE2_TO_POSE3_RETREAT,798,748.616235693,726.383764307,711,699,656,933,805.383764307,839,670,658,677,0.40098893164,-0.00539415730992,0.079841544255,0.999999929728,0.000257134255805,-0.000268577651441,4.78836315212e-05,1793256600081440512
+406,6.766666667,POSE2_TO_POSE3_RETREAT,798,748.02692443,726.97307557,711,699,656,933,805.97307557,839,670,658,677,0.400989320632,-0.00539495184689,0.0798425019713,0.99999993015,0.000256534827402,-0.00026753834586,4.80957286957e-05,1793256600098107136
diff --git a/Part2/Obstacle_avoidance/cylinder_PLA_10/position_04/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_PLA_10/position_04/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..88c5721f05c1ab28fcccd07b87a582b512676a95
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_PLA_10/position_04/depth_01/simulation_data.csv
@@ -0,0 +1,408 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947914,1.06969235502
+1,0.016666667,pose1_baseline,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947914,1.06969235502
+2,0.033333333,pose1_baseline,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947914,1.06969235502
+3,0.050000000,pose1_baseline,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947914,1.06969235502
+4,0.066666667,pose1_baseline,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947914,1.06969235502
+5,0.083333333,pose1_baseline,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947914,1.06969235502
+6,0.100000000,pose1_baseline,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947914,1.06969235502
+7,0.116666667,pose1_baseline,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947914,1.06969235502
+8,0.133333333,pose1_baseline,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947914,1.06969235502
+9,0.150000000,pose1_baseline,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947914,1.06969235502
+10,0.166666667,pose1_baseline,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947914,1.06969235502
+11,0.183333333,pose1_baseline,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947914,1.06969235502
+12,0.200000000,pose1_baseline,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947914,1.06969235502
+13,0.216666667,pose1_baseline,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947914,1.06969235502
+14,0.233333333,pose1_baseline,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947914,1.06969235502
+15,0.250000000,pose1_baseline,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947914,1.06969235502
+16,0.266666667,pose1_baseline,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947914,1.06969235502
+17,0.283333333,pose1_baseline,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947914,1.06969235502
+18,0.300000000,pose1_baseline,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947914,1.06969235502
+19,0.316666667,pose1_baseline,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947914,1.06969235502
+20,0.333333333,pose1_baseline,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947914,1.06969235502
+21,0.350000000,pose1_baseline,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947914,1.06969235502
+22,0.366666667,pose1_baseline,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947914,1.06969235502
+23,0.383333333,pose1_baseline,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947914,1.06969235502
+24,0.400000000,pose1_baseline,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947914,1.06969235502
+25,0.416666667,pose1_baseline,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947914,1.06969235502
+26,0.433333333,pose1_baseline,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947914,1.06969235502
+27,0.450000000,pose1_baseline,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947914,1.06969235502
+28,0.466666667,pose1_baseline,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947914,1.06969235502
+29,0.483333333,pose1_baseline,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947914,1.06969235502
+30,0.500000000,pose1_baseline,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947914,1.06969235502
+31,0.516666667,pose1_baseline,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947914,1.06969235502
+32,0.533333333,pose1_baseline,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947914,1.06969235502
+33,0.550000000,pose1_baseline,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947914,1.06969235502
+34,0.566666667,pose1_baseline,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947914,1.06969235502
+35,0.583333333,pose1_baseline,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947914,1.06969235502
+36,0.600000000,pose1_baseline,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947914,1.06969235502
+37,0.616666667,pose1_baseline,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947914,1.06969235502
+38,0.633333333,pose1_baseline,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947914,1.06969235502
+39,0.650000000,pose1_baseline,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947914,1.06969235502
+40,0.666666667,pose1_baseline,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947914,1.06969235502
+41,0.683333333,pose1_baseline,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947914,1.06969235502
+42,0.700000000,pose1_baseline,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947914,1.06969235502
+43,0.716666667,pose1_baseline,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947914,1.06969235502
+44,0.733333333,pose1_baseline,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947914,1.06969235502
+45,0.750000000,pose1_baseline,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947914,1.06969235502
+46,0.766666667,pose1_baseline,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947914,1.06969235502
+47,0.783333333,pose1_baseline,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947914,1.06969235502
+48,0.800000000,pose1_baseline,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947914,1.06969235502
+49,0.816666667,pose1_baseline,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947914,1.06969235502
+50,0.833333333,pose1_baseline,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947914,1.06969235502
+51,0.850000000,pose1_baseline,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947914,1.06969235502
+52,0.866666667,pose1_baseline,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947914,1.06969235502
+53,0.883333333,pose1_baseline,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947914,1.06969235502
+54,0.900000000,pose1_baseline,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947914,1.06969235502
+55,0.916666667,pose1_baseline,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947914,1.06969235502
+56,0.933333333,pose1_baseline,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947914,1.06969235502
+57,0.950000000,pose1_baseline,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947914,1.06969235502
+58,0.966666667,pose1_baseline,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947914,1.06969235502
+59,0.983333333,pose1_baseline,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947914,1.06969235502
+60,1.000000000,pose1_baseline,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947914,1.06969235502
+61,1.016666667,pose1_baseline,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947914,1.06969235502
+62,1.033333333,pose1_baseline,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947914,1.06969235502
+63,1.050000000,pose1_baseline,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947914,1.06969235502
+64,1.066666667,pose1_baseline,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947914,1.06969235502
+65,1.083333333,pose1_baseline,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947914,1.06969235502
+66,1.100000000,pose1_baseline,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947914,1.06969235502
+67,1.116666667,pose1_baseline,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947914,1.06969235502
+68,1.133333333,pose1_baseline,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947914,1.06969235502
+69,1.150000000,pose1_baseline,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947914,1.06969235502
+70,1.166666667,pose1_baseline,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947914,1.06969235502
+71,1.183333333,pose1_baseline,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947914,1.06969235502
+72,1.200000000,pose1_baseline,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947914,1.06969235502
+73,1.216666667,pose1_baseline,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947914,1.06969235502
+74,1.233333333,pose1_baseline,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947914,1.06969235502
+75,1.250000000,pose1_baseline,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947914,1.06969235502
+76,1.266666667,pose1_baseline,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947914,1.06969235502
+77,1.283333333,pose1_baseline,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947914,1.06969235502
+78,1.300000000,pose1_baseline,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947914,1.06969235502
+79,1.316666667,pose1_baseline,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947914,1.06969235502
+80,1.333333333,pose1_baseline,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947914,1.06969235502
+81,1.350000000,pose1_baseline,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947914,1.06969235502
+82,1.366666667,pose1_baseline,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947914,1.06969235502
+83,1.383333333,pose1_baseline,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947914,1.06969235502
+84,1.400000000,pose1_baseline,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947914,1.06969235502
+85,1.416666667,pose1_baseline,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947914,1.06969235502
+86,1.433333333,pose1_baseline,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947914,1.06969235502
+87,1.450000000,pose1_baseline,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947914,1.06969235502
+88,1.466666667,pose1_baseline,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947914,1.06969235502
+89,1.483333333,pose1_baseline,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947914,1.06969235502
+90,1.500000000,pose1_baseline,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947914,1.06969235502
+91,1.516666667,pose1_baseline,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947914,1.06969235502
+92,1.533333333,pose1_baseline,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947914,1.06969235502
+93,1.550000000,pose1_baseline,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947914,1.06969235502
+94,1.566666667,pose1_baseline,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947914,1.06969235502
+95,1.583333333,pose1_baseline,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947914,1.06969235502
+96,1.600000000,pose1_baseline,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947914,1.06969235502
+97,1.616666667,pose1_baseline,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947914,1.06969235502
+98,1.633333333,pose1_baseline,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947914,1.06969235502
+99,1.650000000,pose1_baseline,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947914,1.06969235502
+100,1.666666667,pose1_baseline,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947914,1.06969235502
+101,1.683333333,pose1_baseline,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947914,1.06969235502
+102,1.700000000,pose1_baseline,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947914,1.06969235502
+103,1.716666667,pose1_baseline,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947914,1.06969235502
+104,1.733333333,pose1_baseline,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947914,1.06969235502
+105,1.750000000,pose1_baseline,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947914,1.06969235502
+106,1.766666667,pose1_baseline,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947914,1.06969235502
+107,1.783333333,pose1_to_pose2_press,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947914,1.06969235502
+108,1.800000000,pose1_to_pose2_press,0.575666881201,0.000181939528408,1.07002066027,0.546238026787,0.00885616984025,1.0696923613
+109,1.816666667,pose1_to_pose2_press,0.575666997058,0.000181931845366,1.07002064513,0.546238142775,0.00885616250908,1.06969234371
+110,1.833333333,pose1_to_pose2_press,0.575667278295,0.000181880946338,1.07002048311,0.546238425036,0.00885611521791,1.06969218523
+111,1.850000000,pose1_to_pose2_press,0.575667415601,0.000181856096353,1.070020404,0.546238562842,0.00885609212936,1.06969210786
+112,1.866666667,pose1_to_pose2_press,0.575667468809,0.000181855119647,1.07002040345,0.546238616063,0.00885609119791,1.06969210738
+113,1.883333333,pose1_to_pose2_press,0.575667473562,0.000181855179205,1.07002040392,0.546238620813,0.0088560912507,1.06969210784
+114,1.900000000,pose1_to_pose2_press,0.57566782863,0.000181859628758,1.07002043841,0.546238975736,0.00885609519448,1.06969214206
+115,1.916666667,pose1_to_pose2_press,0.575669153915,0.000181876092335,1.07002053691,0.546240300513,0.00885610986907,1.06969223874
+116,1.933333333,pose1_to_pose2_press,0.575674142398,0.000181838097912,1.07002054664,0.546245289818,0.0088560745283,1.06969224494
+117,1.950000000,pose1_to_pose2_press,0.575684502043,0.000181804083575,1.07002089259,0.546255651106,0.00885604612756,1.06969259177
+118,1.966666667,pose1_to_pose2_press,0.575704328055,0.000181797384852,1.07002070531,0.546275475806,0.00885603520568,1.06969241049
+119,1.983333333,pose1_to_pose2_press,0.575734278298,0.000181822418148,1.07002055564,0.546305426544,0.0088560618122,1.06969225788
+120,2.000000000,pose1_to_pose2_press,0.575776333852,0.000181704777509,1.07002058739,0.546347483292,0.00885594865064,1.06969230099
+121,2.016666667,pose1_to_pose2_press,0.575829410594,0.00018163713546,1.07002040293,0.546400559685,0.00885587969822,1.06969211304
+122,2.033333333,pose1_to_pose2_press,0.575893737085,0.000181743718169,1.07002032215,0.546464884943,0.00885598223378,1.06969203588
+123,2.050000000,pose1_to_pose2_press,0.575967037457,0.000181762472035,1.07002036717,0.546538185049,0.0088560000142,1.06969207886
+124,2.066666667,pose1_to_pose2_press,0.576049121066,0.000181764795453,1.07002057129,0.546620268528,0.00885600157878,1.06969227449
+125,2.083333333,pose1_to_pose2_press,0.576143095865,0.000181751277646,1.07002045901,0.546714242897,0.0088559868006,1.06969216742
+126,2.100000000,pose1_to_pose2_press,0.576249328471,0.000181690429307,1.07002027035,0.546820477478,0.0088559329629,1.06969198703
+127,2.116666667,pose1_to_pose2_press,0.576369462768,0.000181743010554,1.07002039236,0.546940611242,0.0088559835448,1.0696921039
+128,2.133333333,pose1_to_pose2_press,0.576502766074,0.000181821556755,1.07002052605,0.547073912153,0.00885605369278,1.06969223036
+129,2.150000000,pose1_to_pose2_press,0.576649245316,0.000181880558159,1.07002051837,0.547220390119,0.00885610841182,1.06969222391
+130,2.166666667,pose1_to_pose2_press,0.57680682552,0.000181876560904,1.07002049129,0.54737797121,0.00885610763877,1.0696922024
+131,2.183333333,pose1_to_pose2_press,0.576976192435,0.000181779230244,1.07002049792,0.547547340379,0.00885601794933,1.06969220879
+132,2.200000000,pose1_to_pose2_press,0.577161727115,0.000181859059387,1.07002058856,0.547732874611,0.00885609564329,1.06969228316
+133,2.216666667,pose1_to_pose2_press,0.577366274776,0.000181856391379,1.07002079764,0.547937422019,0.0088560920608,1.06969249065
+134,2.233333333,pose1_to_pose2_press,0.57759443587,0.000181810949796,1.07002056987,0.548165581891,0.00885604281962,1.069692272
+135,2.250000000,pose1_to_pose2_press,0.577845997626,0.000181907387846,1.0700206059,0.54841714354,0.00885613906467,1.06969231254
+136,2.266666667,pose1_to_pose2_press,0.578120481708,0.000181878133578,1.07002037654,0.548691627806,0.00885611047143,1.06969208414
+137,2.283333333,pose1_to_pose2_press,0.578416433601,0.000181834959913,1.07002023858,0.548987580502,0.00885607031405,1.06969195373
+138,2.300000000,pose1_to_pose2_press,0.578731573431,0.000181787383192,1.07002038808,0.549302720979,0.00885602478605,1.0696920994
+139,2.316666667,pose1_to_pose2_press,0.57906453291,0.000181800795351,1.07002062756,0.549635680227,0.0088560372316,1.06969233397
+140,2.333333333,pose1_to_pose2_press,0.579416068406,0.000181852017892,1.07002061911,0.549987215449,0.00885608749849,1.06969232476
+141,2.350000000,pose1_to_pose2_press,0.57978969491,0.000181792811134,1.07002048472,0.550360842886,0.00885603138157,1.06969218836
+142,2.366666667,pose1_to_pose2_press,0.580179854342,0.000181654999536,1.07002063968,0.550751003716,0.00885589837679,1.06969234497
+143,2.383333333,pose1_to_pose2_press,0.580585441585,0.000181704130486,1.07002065153,0.551156590271,0.0088559448089,1.06969234718
+144,2.400000000,pose1_to_pose2_press,0.581010679245,0.000181835261133,1.07002042992,0.551581826093,0.00885606985927,1.06969212967
+145,2.416666667,pose1_to_pose2_press,0.581457074155,0.000181910209139,1.07002046697,0.552028221091,0.00885614570857,1.06969218253
+146,2.433333333,pose1_to_pose2_press,0.581930898254,0.000181864900226,1.07002060044,0.552502044628,0.00885609823528,1.06969230914
+147,2.450000000,pose1_to_pose2_press,0.582436255311,0.000181805515487,1.07002044982,0.553007402207,0.00885604058677,1.06969215759
+148,2.466666667,pose1_to_pose2_press,0.582975324455,0.000181744374086,1.0700204853,0.553546473319,0.00885598600125,1.06969218985
+149,2.483333333,pose1_to_pose2_press,0.583529754693,0.000181878800827,1.0700205221,0.554100901317,0.00885611286591,1.0696922277
+150,2.500000000,pose1_to_pose2_press,0.584094102389,0.000181995052907,1.07002057433,0.554665247071,0.0088562226839,1.06969228399
+151,2.516666667,pose1_to_pose2_press,0.584665463263,0.00018195764713,1.07002056499,0.555236608555,0.00885618736521,1.069692275
+152,2.533333333,pose1_to_pose2_press,0.585244977986,0.000181802782304,1.07002051341,0.555816125379,0.00885603952386,1.06969222067
+153,2.550000000,pose1_to_pose2_press,0.585836699806,0.000181711566242,1.07002050773,0.556407848838,0.00885595386764,1.06969221504
+154,2.566666667,pose1_to_pose2_press,0.586453253009,0.000181824282421,1.070020494,0.557024401165,0.00885606374656,1.0696922048
+155,2.583333333,pose1_to_pose2_press,0.587095323568,0.000181705598123,1.07002051905,0.557666471251,0.00885594325674,1.06969222455
+156,2.600000000,pose1_to_pose2_press,0.58775210289,0.000181984552613,1.0700205133,0.558323247007,0.00885621014323,1.06969221965
+157,2.616666667,pose1_to_pose2_press,0.588422667023,0.000181869115708,1.07002061147,0.558993813889,0.00885610419603,1.06969232211
+158,2.633333333,pose1_to_pose2_press,0.589112586042,0.000181867779073,1.07002060476,0.55968373176,0.00885609905992,1.06969231794
+159,2.650000000,pose1_to_pose2_press,0.589814457569,0.000181721026507,1.07002053482,0.560385605856,0.00885596088854,1.06969224445
+160,2.666666667,pose1_to_pose2_press,0.590523538889,0.000181664183572,1.07002054026,0.561094686723,0.00885590216354,1.06969224079
+161,2.683333333,pose1_to_pose2_press,0.591249297635,0.000181693951368,1.07002069721,0.561820444885,0.00885592988703,1.06969239604
+162,2.700000000,pose1_to_pose2_press,0.591988139436,0.000181815316213,1.07002069027,0.56255928665,0.00885605137336,1.06969239561
+163,2.716666667,pose1_to_pose2_press,0.592728899884,0.000181853028113,1.07002062382,0.563300047172,0.00885608944627,1.06969233207
+164,2.733333333,pose1_to_pose2_press,0.593470420388,0.000181760203716,1.07002063553,0.564041569055,0.00885600122189,1.06969234177
+165,2.750000000,pose1_to_pose2_press,0.594207814967,0.000181759142026,1.07002056529,0.564778964343,0.00885600252761,1.06969227052
+166,2.766666667,pose1_to_pose2_press,0.594944327913,0.00018189120131,1.07002047536,0.565515474894,0.00885612637605,1.06969217837
+167,2.783333333,pose1_to_pose2_press,0.595683570573,0.000181758818585,1.0700207544,0.566254719384,0.00885600001246,1.06969245251
+168,2.800000000,pose1_to_pose2_press,0.596423664491,0.000181753548913,1.07002038685,0.56699481412,0.00885599793222,1.06969209593
+169,2.816666667,pose1_to_pose2_press,0.597171086948,0.000181810663138,1.07002054005,0.567742234984,0.00885604921569,1.0696922379
+170,2.833333333,pose1_to_pose2_press,0.59793665457,0.00018178948124,1.07002066363,0.568507802186,0.00885602656943,1.06969236043
+171,2.850000000,pose1_to_pose2_press,0.59871060403,0.000181925320406,1.07002054542,0.569281749743,0.00885615637687,1.06969225355
+172,2.866666667,pose1_to_pose2_press,0.599488235279,0.000181916177842,1.07002046782,0.570059381132,0.0088561473283,1.06969216591
+173,2.883333333,pose1_to_pose2_press,0.600256804836,0.000181700798904,1.07002047757,0.570827953326,0.00885594114644,1.06969218234
+174,2.900000000,pose1_to_pose2_press,0.601011613402,0.000181629000662,1.07002048541,0.571582763376,0.0088558746509,1.06969219734
+175,2.916666667,pose1_to_pose2_press,0.601751081219,0.000181803365214,1.07002036271,0.572322228685,0.00885604055243,1.06969207599
+176,2.933333333,pose1_to_pose2_press,0.602476580596,0.00018192245627,1.07002038958,0.573047726469,0.00885615418012,1.0696921013
+177,2.950000000,pose1_to_pose2_press,0.603191184803,0.000181822568002,1.07002059617,0.573762332543,0.00885606047903,1.06969230399
+178,2.966666667,pose1_to_pose2_press,0.603902277231,0.000181769788742,1.07002048907,0.574473424507,0.00885600623331,1.06969219984
+179,2.983333333,pose1_to_pose2_press,0.604610216495,0.000181901850705,1.07002049126,0.57518136357,0.0088561376978,1.06969220435
+180,3.000000000,pose1_to_pose2_press,0.605311253325,0.000181650186811,1.07002065017,0.575882401224,0.00885588835199,1.06969235073
+181,3.016666667,pose1_to_pose2_press,0.606000586599,0.000181681579257,1.07002038371,0.576571735371,0.00885592305784,1.06969209367
+182,3.033333333,pose1_to_pose2_press,0.606661270159,0.000181813453606,1.07002040436,0.577232416734,0.00885604733686,1.06969211063
+183,3.050000000,pose1_to_pose2_press,0.607292241944,0.000181792953644,1.07002047194,0.577863389933,0.0088560318003,1.06969218259
+184,3.066666667,pose1_to_pose2_press,0.607889497367,0.000181842187566,1.07002048288,0.578460645354,0.00885608114283,1.0696921967
+185,3.083333333,pose1_to_pose2_press,0.608464343727,0.000181869111777,1.0700205467,0.579035491163,0.0088561060898,1.06969225769
+186,3.100000000,pose1_to_pose2_press,0.609023520245,0.000181862834926,1.07002053324,0.579594666727,0.00885609642981,1.06969224039
+187,3.116666667,pose1_to_pose2_press,0.609589002598,0.000181887501133,1.07002029156,0.580160147663,0.00885611639791,1.06969200172
+188,3.133333333,pose1_to_pose2_press,0.610162119678,0.000181826683019,1.07002050043,0.580733268317,0.00885606776544,1.06969221222
+189,3.150000000,pose1_to_pose2_press,0.610736697832,0.000181893710865,1.07002049223,0.581307843545,0.00885612481203,1.06969220259
+190,3.166666667,pose1_to_pose2_press,0.611297557176,0.000181712821817,1.07002055532,0.581868704854,0.00885595009585,1.06969225277
+191,3.183333333,pose1_to_pose2_press,0.611835912254,0.00018188227425,1.07002065258,0.582407060395,0.00885612113023,1.06969235036
+192,3.200000000,pose1_to_pose2_press,0.612336606092,0.000181824053785,1.07002046283,0.582907753634,0.00885606105045,1.06969216527
+193,3.216666667,pose1_to_pose2_press,0.612803235301,0.00018174025554,1.07002045917,0.583374382706,0.00885597705151,1.06969216866
+194,3.233333333,pose1_to_pose2_press,0.613248882179,0.000181750495409,1.07002055598,0.583820030055,0.00885598901184,1.06969226829
+195,3.250000000,pose1_to_pose2_press,0.61367517056,0.000181775731465,1.07002061989,0.584246318265,0.00885601422227,1.06969233067
+196,3.266666667,pose1_to_pose2_press,0.614079628147,0.000181790031513,1.07002066795,0.584650774871,0.00885602725926,1.06969237601
+197,3.283333333,pose1_to_pose2_press,0.614464918939,0.000181840167878,1.07002072973,0.585036064683,0.0088560776994,1.06969243688
+198,3.300000000,pose1_to_pose2_press,0.614830716654,0.000181840990734,1.07002062415,0.585401861054,0.00885607685573,1.06969233392
+199,3.316666667,pose1_to_pose2_press,0.615177689489,0.000181776240099,1.07002067564,0.585748834837,0.00885601747784,1.06969237342
+200,3.333333333,pose1_to_pose2_press,0.615509446116,0.000181877174116,1.07002034502,0.586080587364,0.00885610767083,1.0696920499
+201,3.350000000,pose1_to_pose2_press,0.615830668133,0.000181817678501,1.07002045565,0.586401810867,0.0088560562566,1.0696921616
+202,3.366666667,pose1_to_pose2_press,0.616139877311,0.000181830391642,1.0700205316,0.586711019439,0.00885607008983,1.06969223351
+203,3.383333333,pose1_to_pose2_press,0.61643345753,0.000181772044237,1.07002050932,0.587004598637,0.00885601166433,1.06969221526
+204,3.400000000,pose1_to_pose2_press,0.616703520508,0.000181783390288,1.07002058124,0.587274660832,0.00885602366022,1.06969228784
+205,3.416666667,pose1_to_pose2_press,0.616947930325,0.000181857421385,1.07002056362,0.587519069367,0.00885609477541,1.06969227216
+206,3.433333333,pose1_to_pose2_press,0.617162627956,0.000181765035158,1.07002040168,0.587733767649,0.0088560057253,1.06969211158
+207,3.450000000,pose1_to_pose2_press,0.61735235996,0.000181641001344,1.0700203539,0.587923501212,0.00885588887206,1.06969206214
+208,3.466666667,pose1_to_pose2_press,0.617521832717,0.000181827566642,1.0700205793,0.588092971916,0.00885606935672,1.06969229208
+209,3.483333333,pose1_to_pose2_press,0.617676507295,0.000181947127742,1.07002042898,0.588247643387,0.0088561799775,1.06969213368
+210,3.500000000,pose1_to_pose2_press,0.617817908278,0.0001818902991,1.07002032439,0.588389045581,0.00885612760807,1.06969202801
+211,3.516666667,pose1_to_pose2_press,0.617950061376,0.000181830709763,1.07002050872,0.588521199045,0.00885607018265,1.06969221024
+212,3.533333333,pose1_to_pose2_press,0.618072146303,0.000181827552904,1.07002060192,0.588643283681,0.00885606658657,1.0696923039
+213,3.550000000,pose1_to_pose2_press,0.618182422459,0.000181910805194,1.07002057219,0.588753559047,0.0088561469545,1.06969227551
+214,3.566666667,pose1_to_pose2_press,0.618281640163,0.000181971845248,1.07002066118,0.588852776095,0.00885620578047,1.06969236174
+215,3.583333333,pose1_to_pose2_press,0.618368886289,0.000181798037157,1.07002061872,0.588940024039,0.00885603905389,1.06969231942
+216,3.600000000,pose1_to_pose2_press,0.618444455349,0.00018174815182,1.07002034467,0.589015593069,0.00885598999879,1.06969206097
+217,3.616666667,pose1_to_pose2_press,0.618508449542,0.000181707065094,1.07002024682,0.589079587742,0.00885595071743,1.06969195983
+218,3.633333333,pose1_to_pose2_press,0.618561708292,0.000181828535718,1.07002038467,0.589132843993,0.00885606452664,1.06969208914
+219,3.650000000,pose1_to_pose2_press,0.61860546575,0.000181812126678,1.0700206518,0.589176602245,0.00885605106963,1.06969236056
+220,3.666666667,pose1_to_pose2_press,0.618641379897,0.000181803718592,1.07002060726,0.589212516817,0.0088560442256,1.0696923157
+221,3.683333333,pose1_to_pose2_press,0.618671153392,0.000181810776199,1.07002053892,0.58924229027,0.00885605110683,1.06969224062
+222,3.700000000,pose1_to_pose2_press,0.618695271592,0.000181841775119,1.07002053627,0.589266408243,0.00885608150999,1.06969223822
+223,3.716666667,pose1_to_pose2_press,0.61871409831,0.0001818745187,1.07002046526,0.589285234784,0.0088561140548,1.06969217608
+224,3.733333333,pose1_to_pose2_press,0.618727691716,0.000181826633073,1.07002040271,0.589298828608,0.00885606753057,1.0696921124
+225,3.750000000,pose1_to_pose2_press,0.61873733896,0.000181720708847,1.07002049378,0.589308476151,0.00885596269826,1.06969220335
+226,3.766666667,pose1_to_pose2_press,0.618743663437,0.000181938434302,1.07002051793,0.589314798575,0.0088561733115,1.06969222471
+227,3.783333333,pose1_to_pose2_press,0.618747384953,0.000181955575331,1.07002062024,0.589318519971,0.00885618994016,1.06969232575
+228,3.800000000,pose1_to_pose2_press,0.618749908928,0.000181893121572,1.07002074447,0.589321044578,0.00885612955608,1.06969244942
+229,3.816666667,pose1_to_pose2_press,0.618751539517,0.000181827601832,1.07002064892,0.58932267575,0.00885606606552,1.06969235311
+230,3.833333333,pose1_to_pose2_press,0.618752425407,0.000181788272995,1.07002057094,0.589323561984,0.00885602794174,1.06969227466
+231,3.850000000,pose1_to_pose2_press,0.618752711486,0.00018177557262,1.07002054576,0.589323848173,0.00885601563051,1.06969224932
+232,3.866666667,pose1_to_pose2_press,0.61875277442,0.000181772778696,1.07002054022,0.589323911131,0.00885601292219,1.06969224375
+233,3.883333333,pose1_to_pose2_press,0.618752990686,0.000181778372254,1.07002055398,0.589324127368,0.00885601842437,1.06969225724
+234,3.900000000,pose1_to_pose2_press,0.618753170807,0.000181795072632,1.07002059144,0.589324307375,0.0088560347431,1.06969229435
+235,3.916666667,pose1_to_pose2_press,0.618753284667,0.000181805629375,1.07002061512,0.589324421163,0.0088560450586,1.06969231781
+236,3.933333333,pose1_to_pose2_press,0.618753358379,0.000181812463807,1.07002063044,0.589324494829,0.00885605173684,1.06969233299
+237,3.950000000,pose1_to_pose2_press,0.61875341943,0.000181818124244,1.07002064314,0.58932455584,0.00885605726792,1.06969234557
+238,3.966666667,pose1_to_pose2_press,0.618753495459,0.00018182517345,1.07002065895,0.589324631821,0.00885606415603,1.06969236123
+239,3.983333333,pose1_to_pose2_press,0.618753514644,0.000181826952289,1.07002066294,0.589324650995,0.00885606589422,1.06969236519
+240,4.000000000,pose1_to_pose2_press,0.618753559662,0.000181831126219,1.0700206723,0.589324695984,0.00885606997277,1.06969237446
+241,4.016666667,pose1_to_pose2_press,0.618753618543,0.000181836585465,1.07002068455,0.589324754827,0.00885607530725,1.06969238659
+242,4.033333333,pose1_to_pose2_press,0.618753865428,0.000181859475982,1.07002073589,0.589325001556,0.00885609767466,1.06969243745
+243,4.050000000,pose1_to_pose2_press,0.618754191238,0.000181884057697,1.07002069581,0.589325327036,0.00885612125719,1.06969240034
+244,4.066666667,pose1_to_pose2_press,0.618754378702,0.000181892504805,1.07002056356,0.589325514185,0.00885612881671,1.06969227345
+245,4.083333333,pose1_to_pose2_press,0.618754521927,0.000181879298747,1.07002051974,0.589325657275,0.00885611518503,1.06969223095
+246,4.100000000,pose1_to_pose2_press,0.618754639828,0.000181811875056,1.07002064822,0.589325775379,0.00885604812873,1.0696923526
+247,4.116666667,pose2_hold,0.618754639828,0.000181811875056,1.07002064822,0.589325775423,0.00885604808343,1.06969235259
+248,4.133333333,pose2_hold,0.618754639828,0.000181811875056,1.07002064822,0.589325775428,0.00885604808253,1.0696923526
+249,4.150000000,pose2_hold,0.618754639828,0.000181811875056,1.07002064822,0.58932577543,0.00885604808142,1.0696923526
+250,4.166666667,pose2_hold,0.618754639828,0.000181811875056,1.07002064822,0.589325775428,0.00885604807995,1.06969235259
+251,4.183333333,pose2_hold,0.618754639828,0.000181811875056,1.07002064822,0.589325775435,0.00885604808018,1.0696923526
+252,4.200000000,pose2_hold,0.618754639828,0.000181811875056,1.07002064822,0.589325775433,0.00885604808032,1.06969235259
+253,4.216666667,pose2_hold,0.618754639828,0.000181811875056,1.07002064822,0.589325775437,0.00885604807645,1.06969235259
+254,4.233333333,pose2_hold,0.618754639828,0.000181811875056,1.07002064822,0.589325775442,0.00885604807564,1.0696923526
+255,4.250000000,pose2_hold,0.618754639828,0.000181811875056,1.07002064822,0.589325775441,0.0088560480724,1.06969235259
+256,4.266666667,pose2_hold,0.618754639828,0.000181811875056,1.07002064822,0.589325775446,0.00885604807424,1.06969235259
+257,4.283333333,pose2_hold,0.618754639828,0.000181811875056,1.07002064822,0.589325775449,0.00885604807219,1.06969235259
+258,4.300000000,pose2_hold,0.618754639828,0.000181811875056,1.07002064822,0.58932577545,0.00885604806989,1.06969235259
+259,4.316666667,pose2_hold,0.618754639828,0.000181811875056,1.07002064822,0.589325775454,0.00885604807095,1.06969235259
+260,4.333333333,pose2_hold,0.618754639828,0.000181811875056,1.07002064822,0.589325775454,0.00885604806889,1.06969235259
+261,4.350000000,pose2_hold,0.618754639828,0.000181811875056,1.07002064822,0.589325775456,0.00885604806919,1.06969235259
+262,4.366666667,pose2_hold,0.618754639828,0.000181811875056,1.07002064822,0.58932577546,0.00885604806937,1.0696923526
+263,4.383333333,pose2_to_pose3_retreat,0.618754639828,0.000181811875056,1.07002064822,0.589325775466,0.0088560480642,1.06969235259
+264,4.400000000,pose2_to_pose3_retreat,0.61875465538,0.000181847561684,1.07002064621,0.589325791624,0.00885608584696,1.0696923518
+265,4.416666667,pose2_to_pose3_retreat,0.618754651919,0.000181873743054,1.07002064099,0.589325788663,0.00885611375131,1.06969234738
+266,4.433333333,pose2_to_pose3_retreat,0.618754547039,0.000181854234363,1.07002061783,0.589325683814,0.0088560942966,1.06969232289
+267,4.450000000,pose2_to_pose3_retreat,0.618754464763,0.000181838930088,1.07002059967,0.589325601562,0.00885607903468,1.06969230368
+268,4.466666667,pose2_to_pose3_retreat,0.618754394032,0.000181825773402,1.07002058405,0.589325530852,0.00885606591441,1.06969228717
+269,4.483333333,pose2_to_pose3_retreat,0.61875437368,0.000181821987687,1.07002057956,0.589325510505,0.00885606213917,1.06969228241
+270,4.500000000,pose2_to_pose3_retreat,0.618753889743,0.000181782465832,1.07002061259,0.589325026616,0.00885602271747,1.06969231391
+271,4.516666667,pose2_to_pose3_retreat,0.618752095147,0.000181785839642,1.07002072062,0.589323231279,0.00885602367326,1.06969242533
+272,4.533333333,pose2_to_pose3_retreat,0.618747050325,0.000181950854624,1.07002055483,0.58931818503,0.00885618383912,1.06969226169
+273,4.550000000,pose2_to_pose3_retreat,0.618737480853,0.00018173355848,1.07002044972,0.589308618602,0.00885597723172,1.06969217001
+274,4.566666667,pose2_to_pose3_retreat,0.618719455319,0.000181753042315,1.07002051638,0.589290592567,0.00885599428772,1.06969222351
+275,4.583333333,pose2_to_pose3_retreat,0.618692773582,0.000181778512562,1.0700205367,0.589263909737,0.00885601559128,1.06969223871
+276,4.600000000,pose2_to_pose3_retreat,0.618656313013,0.000181763105869,1.07002041375,0.589227450122,0.00885600326854,1.06969212289
+277,4.616666667,pose2_to_pose3_retreat,0.618610314228,0.000181808781113,1.07002068163,0.589181452854,0.00885605367576,1.06969239362
+278,4.633333333,pose2_to_pose3_retreat,0.61855403695,0.000181703075453,1.07002052305,0.589125175732,0.00885594782044,1.06969223134
+279,4.650000000,pose2_to_pose3_retreat,0.618487816078,0.000181777302571,1.07002061833,0.589058953394,0.00885601660192,1.06969232677
+280,4.666666667,pose2_to_pose3_retreat,0.618411121887,0.000181727869984,1.07002076492,0.588982260694,0.00885597051406,1.0696924642
+281,4.683333333,pose2_to_pose3_retreat,0.618320798957,0.000181837109912,1.07002035225,0.588891938226,0.00885607755231,1.06969205968
+282,4.700000000,pose2_to_pose3_retreat,0.618217463875,0.000181907135945,1.07002065387,0.588788602273,0.00885614600647,1.06969235853
+283,4.716666667,pose2_to_pose3_retreat,0.618099046056,0.000181788159416,1.07002049593,0.588670184215,0.00885602619947,1.0696922045
+284,4.733333333,pose2_to_pose3_retreat,0.617966985757,0.000181704216716,1.07002046057,0.58853812568,0.00885594702711,1.06969216834
+285,4.750000000,pose2_to_pose3_retreat,0.617820717823,0.000181736712708,1.07002057868,0.588391857921,0.00885597890068,1.0696922843
+286,4.766666667,pose2_to_pose3_retreat,0.617658403258,0.000181790737441,1.07002052602,0.588229542812,0.00885603036148,1.0696922353
+287,4.783333333,pose2_to_pose3_retreat,0.617480435133,0.000181822452526,1.070020435,0.588051574626,0.00885606133659,1.06969214836
+288,4.800000000,pose2_to_pose3_retreat,0.617288944568,0.000181856993779,1.07002055534,0.587860083366,0.0088560922628,1.06969226508
+289,4.816666667,pose2_to_pose3_retreat,0.617084788566,0.000181780187448,1.07002026176,0.587655929845,0.00885602166362,1.06969197123
+290,4.833333333,pose2_to_pose3_retreat,0.616868017622,0.000181782814617,1.07002057406,0.587439159458,0.00885602448347,1.06969228195
+291,4.850000000,pose2_to_pose3_retreat,0.616640730631,0.000181757553097,1.0700205466,0.587211873088,0.00885600015688,1.06969225715
+292,4.866666667,pose2_to_pose3_retreat,0.616402099693,0.000181799801618,1.07002034778,0.586973241297,0.00885603790234,1.06969205858
+293,4.883333333,pose2_to_pose3_retreat,0.616141820328,0.000181846483633,1.07002023122,0.586712961118,0.0088560793517,1.06969193893
+294,4.900000000,pose2_to_pose3_retreat,0.615859537058,0.000181735456952,1.07002053825,0.586430680551,0.00885597425744,1.06969224237
+295,4.916666667,pose2_to_pose3_retreat,0.615553234114,0.000181792728561,1.07002063327,0.58612437726,0.00885602889174,1.06969233725
+296,4.933333333,pose2_to_pose3_retreat,0.615224942087,0.000181725039611,1.07002065774,0.585796087407,0.00885596500401,1.06969235789
+297,4.950000000,pose2_to_pose3_retreat,0.614874708454,0.000181800019385,1.07002069849,0.58544585416,0.00885603827431,1.06969240372
+298,4.966666667,pose2_to_pose3_retreat,0.614511552709,0.000181890810019,1.07002060186,0.585082698412,0.00885612640955,1.06969231196
+299,4.983333333,pose2_to_pose3_retreat,0.614135964192,0.000181908861296,1.07002042539,0.584707110183,0.00885614267562,1.0696921322
+300,5.000000000,pose2_to_pose3_retreat,0.613745325887,0.000181958322863,1.07002054796,0.584316470178,0.00885618381052,1.06969224545
+301,5.016666667,pose2_to_pose3_retreat,0.613338908026,0.000181847795795,1.07002040206,0.583910056071,0.00885608168537,1.06969211248
+302,5.033333333,pose2_to_pose3_retreat,0.612913489968,0.000181748644125,1.07002045844,0.583484640547,0.00885598678563,1.06969216732
+303,5.050000000,pose2_to_pose3_retreat,0.612468389016,0.00018172197819,1.07002050922,0.583039538855,0.00885596040572,1.06969221561
+304,5.066666667,pose2_to_pose3_retreat,0.612002763432,0.000181758037335,1.07002050781,0.582573910847,0.00885599481748,1.06969221388
+305,5.083333333,pose2_to_pose3_retreat,0.611516286883,0.000181784051196,1.07002052109,0.5820874343,0.00885602067198,1.06969222494
+306,5.100000000,pose2_to_pose3_retreat,0.611010169042,0.000181711943131,1.07002038662,0.581581317117,0.00885595098744,1.06969209718
+307,5.116666667,pose2_to_pose3_retreat,0.6104865977,0.000181732325479,1.07002064684,0.581057747293,0.00885597643275,1.06969235483
+308,5.133333333,pose2_to_pose3_retreat,0.609942786922,0.000181738074121,1.07002070038,0.580513935811,0.00885597969909,1.06969240529
+309,5.150000000,pose2_to_pose3_retreat,0.609373424141,0.000181772737699,1.0700206397,0.579944571891,0.00885601051447,1.06969234464
+310,5.166666667,pose2_to_pose3_retreat,0.608783734493,0.000181825160623,1.07002056552,0.579354881985,0.00885606218979,1.06969227375
+311,5.183333333,pose2_to_pose3_retreat,0.608174397467,0.000181795450873,1.07002040484,0.578745544203,0.00885603001609,1.06969211573
+312,5.200000000,pose2_to_pose3_retreat,0.607556973242,0.000181905566219,1.07002074055,0.578128118924,0.00885613638603,1.06969244689
+313,5.216666667,pose2_to_pose3_retreat,0.606935776509,0.000181760788517,1.07002047627,0.577506923867,0.00885599736971,1.06969218452
+314,5.233333333,pose2_to_pose3_retreat,0.606314330585,0.000181786486648,1.07002061723,0.576885477643,0.00885602187074,1.06969232067
+315,5.250000000,pose2_to_pose3_retreat,0.605686660533,0.000181855659963,1.07002078951,0.576257807196,0.00885608954684,1.06969248871
+316,5.266666667,pose2_to_pose3_retreat,0.605046900356,0.000181879828626,1.07002071586,0.575618047311,0.0088561147541,1.0696924163
+317,5.283333333,pose2_to_pose3_retreat,0.604379216376,0.000181877472518,1.07002040038,0.574950362985,0.00885611145606,1.06969210686
+318,5.300000000,pose2_to_pose3_retreat,0.603681371372,0.000181761557773,1.07002063552,0.574252518385,0.00885599660162,1.06969233373
+319,5.316666667,pose2_to_pose3_retreat,0.60294248676,0.000181807863926,1.07002055547,0.573513635132,0.00885604772703,1.06969225912
+320,5.333333333,pose2_to_pose3_retreat,0.602178384769,0.000181746704428,1.07002052952,0.57274953307,0.00885598633125,1.06969223323
+321,5.350000000,pose2_to_pose3_retreat,0.601408153445,0.000181732130009,1.07002060759,0.571979301467,0.00885597069091,1.06969230816
+322,5.366666667,pose2_to_pose3_retreat,0.600647162532,0.00018175607926,1.07002039423,0.571218310633,0.0088559951931,1.06969210214
+323,5.383333333,pose2_to_pose3_retreat,0.599903683921,0.000181708771359,1.0700203364,0.57047483211,0.00885594826653,1.06969204653
+324,5.400000000,pose2_to_pose3_retreat,0.599173021877,0.000181654433412,1.07002070723,0.569744169354,0.00885589100487,1.06969240375
+325,5.416666667,pose2_to_pose3_retreat,0.598445195133,0.000181892662308,1.07002030313,0.569016339875,0.00885612017371,1.06969200548
+326,5.433333333,pose2_to_pose3_retreat,0.597704320057,0.000181711748824,1.07002051146,0.568275467399,0.0088559479884,1.06969221131
+327,5.450000000,pose2_to_pose3_retreat,0.596939915804,0.000181814063162,1.07002041119,0.567511062677,0.0088560490716,1.06969212051
+328,5.466666667,pose2_to_pose3_retreat,0.596145605371,0.000181799499886,1.07002037675,0.56671675221,0.00885603441517,1.0696920866
+329,5.483333333,pose2_to_pose3_retreat,0.595358467205,0.000181801937569,1.07002057778,0.565929614412,0.00885603811353,1.06969228779
+330,5.500000000,pose2_to_pose3_retreat,0.594586993915,0.000181804264374,1.07002064241,0.565158141369,0.00885604116791,1.06969234954
+331,5.516666667,pose2_to_pose3_retreat,0.593842507763,0.000181780202775,1.07002052668,0.56441365521,0.00885601694932,1.06969223026
+332,5.533333333,pose2_to_pose3_retreat,0.593122940335,0.000181822566338,1.07002049483,0.563694087413,0.00885605820187,1.06969220207
+333,5.550000000,pose2_to_pose3_retreat,0.592421551565,0.00018197982696,1.07002038872,0.562992697697,0.00885621227227,1.06969209643
+334,5.566666667,pose2_to_pose3_retreat,0.591716973568,0.000181786938622,1.07002061024,0.562288120734,0.00885602265755,1.06969231167
+335,5.583333333,pose2_to_pose3_retreat,0.591000129471,0.000181821864176,1.07002037848,0.561571275754,0.00885605486238,1.06969208721
+336,5.600000000,pose2_to_pose3_retreat,0.590278483102,0.000181859708195,1.07002036995,0.560849630482,0.00885609667449,1.06969208511
+337,5.616666667,pose2_to_pose3_retreat,0.589559057997,0.000181813168806,1.07002054612,0.560130206086,0.00885605241325,1.0696922579
+338,5.633333333,pose2_to_pose3_retreat,0.588849415039,0.000181765071732,1.07002065188,0.559420562127,0.0088560005817,1.06969235467
+339,5.650000000,pose2_to_pose3_retreat,0.588159464937,0.00018181529515,1.07002063051,0.558730611091,0.00885604760717,1.06969233257
+340,5.666666667,pose2_to_pose3_retreat,0.587500360498,0.000181907905164,1.07002046556,0.558071505389,0.00885613647561,1.06969218191
+341,5.683333333,pose2_to_pose3_retreat,0.586858036963,0.000181719782482,1.07002038827,0.557429183953,0.00885595526231,1.06969209909
+342,5.700000000,pose2_to_pose3_retreat,0.586230402535,0.000181724282246,1.07002049617,0.556801550195,0.00885596181596,1.06969220114
+343,5.716666667,pose2_to_pose3_retreat,0.585618351943,0.000181725557617,1.07002051762,0.556189500699,0.00885596689124,1.06969222471
+344,5.733333333,pose2_to_pose3_retreat,0.585019332779,0.000181792016253,1.07002052416,0.555590480625,0.00885603021613,1.06969222994
+345,5.750000000,pose2_to_pose3_retreat,0.584434607612,0.00018177225107,1.07002042856,0.555005755499,0.00885601057404,1.06969213394
+346,5.766666667,pose2_to_pose3_retreat,0.58386827905,0.000181654668239,1.07002032846,0.554439429374,0.0088559013969,1.06969203752
+347,5.783333333,pose2_to_pose3_retreat,0.583324481943,0.000181704161042,1.07002050058,0.553895632744,0.00885595251904,1.06969220991
+348,5.800000000,pose2_to_pose3_retreat,0.582804065577,0.000181903519971,1.07002048367,0.553375211223,0.00885613448508,1.06969219552
+349,5.816666667,pose2_to_pose3_retreat,0.582303615272,0.000181774147594,1.0700203968,0.55287476186,0.00885600822665,1.06969210656
+350,5.833333333,pose2_to_pose3_retreat,0.581812723901,0.000181692402773,1.07002030178,0.552383871189,0.00885592882939,1.06969201077
+351,5.850000000,pose2_to_pose3_retreat,0.58133389139,0.000181708427169,1.07002049703,0.551905039797,0.00885594841409,1.06969219987
+352,5.866666667,pose2_to_pose3_retreat,0.580875316647,0.000181798213124,1.07002064186,0.551446465388,0.0088560393434,1.06969234491
+353,5.883333333,pose2_to_pose3_retreat,0.580440907772,0.000181816310741,1.07002058992,0.551012055667,0.00885605467827,1.06969229584
+354,5.900000000,pose2_to_pose3_retreat,0.58003314992,0.000181764792511,1.07002056078,0.550604296639,0.00885599903379,1.06969226303
+355,5.916666667,pose2_to_pose3_retreat,0.579657172617,0.000181936400643,1.07002062054,0.550228318283,0.008856167204,1.0696923264
+356,5.933333333,pose2_to_pose3_retreat,0.579306564192,0.000181850334927,1.07002029733,0.549877710306,0.00885608277855,1.06969200646
+357,5.950000000,pose2_to_pose3_retreat,0.578971247436,0.000181742407375,1.07002037951,0.549542395608,0.00885598153159,1.06969208055
+358,5.966666667,pose2_to_pose3_retreat,0.57865110491,0.000181748856977,1.07002048462,0.549222254147,0.0088559916318,1.06969218677
+359,5.983333333,pose2_to_pose3_retreat,0.5783483834,0.000181723456299,1.07002060063,0.548919532509,0.0088559656912,1.06969230001
+360,6.000000000,pose2_to_pose3_retreat,0.578062915473,0.000181672831258,1.07002067765,0.548634064132,0.00885591340857,1.06969237347
+361,6.016666667,pose2_to_pose3_retreat,0.577795605652,0.000181740278323,1.07002061573,0.548366754064,0.00885598036805,1.06969232083
+362,6.033333333,pose2_to_pose3_retreat,0.577549616454,0.000181846702365,1.07002050231,0.548120763688,0.00885608290036,1.06969221032
+363,6.050000000,pose2_to_pose3_retreat,0.577323454669,0.000181744623027,1.0700204462,0.547894601545,0.0088559791761,1.06969214297
+364,6.066666667,pose2_to_pose3_retreat,0.577117249926,0.000181677909876,1.07002060566,0.547688398901,0.00885591969538,1.06969230534
+365,6.083333333,pose2_to_pose3_retreat,0.576930140047,0.0001816470415,1.07002048793,0.547501288735,0.00885588809054,1.06969219389
+366,6.100000000,pose2_to_pose3_retreat,0.576763041697,0.000181679105228,1.07002045259,0.54733418945,0.00885591696201,1.069692158
+367,6.116666667,pose2_to_pose3_retreat,0.57661299415,0.000181722448575,1.07002051605,0.547184142207,0.00885596130014,1.06969222047
+368,6.133333333,pose2_to_pose3_retreat,0.57647862463,0.000181725137267,1.07002049374,0.547049774392,0.00885597012165,1.06969220738
+369,6.150000000,pose2_to_pose3_retreat,0.57635781387,0.000181886861651,1.07002068094,0.54692896108,0.00885612334771,1.06969239881
+370,6.166666667,pose2_to_pose3_retreat,0.576248183301,0.000181829746733,1.0700206901,0.546819329739,0.00885606300529,1.06969239207
+371,6.183333333,pose2_to_pose3_retreat,0.576149134721,0.000181702933058,1.07002072037,0.546720283716,0.00885594489218,1.06969242299
+372,6.200000000,pose2_to_pose3_retreat,0.576060366922,0.000181659074888,1.0700205768,0.546631516456,0.00885590306492,1.06969228552
+373,6.216666667,pose2_to_pose3_retreat,0.575982254705,0.000181728869182,1.07002046515,0.546553402717,0.00885596764863,1.06969217341
+374,6.233333333,pose2_to_pose3_retreat,0.575915479743,0.000181750479489,1.07002062767,0.546486628482,0.00885599156302,1.06969233123
+375,6.250000000,pose2_to_pose3_retreat,0.575859274461,0.000181574989023,1.07002053255,0.54643042429,0.00885581976527,1.06969223539
+376,6.266666667,pose2_to_pose3_retreat,0.575813289456,0.00018174652238,1.07002048616,0.546384437198,0.00885598451703,1.06969219684
+377,6.283333333,pose2_to_pose3_retreat,0.575775877636,0.000181902730578,1.07002059973,0.546347023722,0.00885613513667,1.06969231107
+378,6.300000000,pose2_to_pose3_retreat,0.575746317219,0.000181792866402,1.07002076156,0.546317464052,0.00885602728714,1.06969245922
+379,6.316666667,pose2_to_pose3_retreat,0.575723052211,0.00018179590131,1.07002055375,0.546294199364,0.00885603170672,1.06969225928
+380,6.333333333,pose2_to_pose3_retreat,0.575705787922,0.000181838566898,1.07002047336,0.546276934247,0.00885607170213,1.06969218256
+381,6.350000000,pose2_to_pose3_retreat,0.575693012088,0.000181829218719,1.07002066022,0.54626415768,0.0088560594927,1.06969235956
+382,6.366666667,pose2_to_pose3_retreat,0.575684236022,0.000181801767582,1.07002065945,0.54625538352,0.00885603855572,1.0696923601
+383,6.383333333,pose2_to_pose3_retreat,0.575678826564,0.000181818011599,1.07002071088,0.546249974672,0.00885605701355,1.06969241534
+384,6.400000000,pose2_to_pose3_retreat,0.575675260398,0.000181834726557,1.07002075419,0.546246408807,0.00885607486172,1.0696924617
+385,6.416666667,pose2_to_pose3_retreat,0.575673263134,0.000181792050394,1.07002071448,0.546244411048,0.00885603039291,1.06969241898
+386,6.433333333,pose2_to_pose3_retreat,0.575672046367,0.000181765080241,1.07002068909,0.546243193967,0.00885600228535,1.06969239166
+387,6.450000000,pose2_to_pose3_retreat,0.575671445218,0.000181751755512,1.07002067655,0.546242592663,0.00885598839867,1.06969237817
+388,6.466666667,pose2_to_pose3_retreat,0.575671071717,0.000181743476706,1.07002066876,0.546242219066,0.00885597977073,1.06969236979
+389,6.483333333,pose2_to_pose3_retreat,0.57567075764,0.000181736515064,1.07002066221,0.546241904908,0.00885597251549,1.06969236274
+390,6.500000000,pose2_to_pose3_retreat,0.575670455693,0.000181735731551,1.07002065212,0.546241602967,0.00885597174576,1.06969235249
+391,6.516666667,pose2_to_pose3_retreat,0.575670141419,0.000181743268612,1.07002063625,0.546241288817,0.0088559797156,1.06969233694
+392,6.533333333,pose2_to_pose3_retreat,0.57566983093,0.000181750714913,1.07002062058,0.54624097845,0.00885598758948,1.06969232157
+393,6.550000000,pose2_to_pose3_retreat,0.575669806383,0.0001817513036,1.07002061935,0.546240953913,0.00885598821197,1.06969232036
+394,6.566666667,pose2_to_pose3_retreat,0.575669589907,0.00018175649523,1.07002060842,0.546240737523,0.0088559937017,1.06969230965
+395,6.583333333,pose2_to_pose3_retreat,0.57566943971,0.000181760097317,1.07002060084,0.546240587385,0.00885599751062,1.06969230221
+396,6.600000000,pose2_to_pose3_retreat,0.575669426927,0.000181760403891,1.07002060019,0.546240574607,0.0088559978348,1.06969230158
+397,6.616666667,pose2_to_pose3_retreat,0.575669236067,0.000181764981177,1.07002059056,0.546240383823,0.00885600267492,1.06969229213
+398,6.633333333,pose2_to_pose3_retreat,0.575668856097,0.000181774093775,1.07002057138,0.546240004003,0.00885601231077,1.06969227333
+399,6.650000000,pose2_to_pose3_retreat,0.57566839957,0.00018178504242,1.07002054834,0.546239547656,0.00885602388809,1.06969225073
+400,6.666666667,pose2_to_pose3_retreat,0.575668051189,0.000181795254239,1.07002053524,0.546239199407,0.00885603455125,1.06969223777
+401,6.683333333,pose2_to_pose3_retreat,0.575667944471,0.000181800080615,1.07002053533,0.546239092724,0.00885603948989,1.06969223771
+402,6.700000000,pose2_to_pose3_retreat,0.575667731298,0.000181809721459,1.0700205355,0.54623887962,0.008856049355,1.06969223758
+403,6.716666667,pose2_to_pose3_retreat,0.575667422288,0.000181823696613,1.07002053575,0.54623857071,0.00885606365523,1.06969223741
+404,6.733333333,pose2_to_pose3_retreat,0.57566711212,0.000181841889191,1.07002055473,0.546238260164,0.00885608053969,1.06969225571
+405,6.750000000,pose2_to_pose3_retreat,0.575666898775,0.000181872434417,1.07002064885,0.546238044486,0.0088561031092,1.06969234832
+406,6.766666667,pose2_to_pose3_retreat,0.575666830772,0.000181938988816,1.07002065177,0.546237976386,0.00885616947907,1.06969235502
diff --git a/Part2/Obstacle_avoidance/cylinder_PLA_10/position_04/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_PLA_10/position_04/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2b2b5ad87b6fb4add58f6dc21307dd3364969b83
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_PLA_10/position_04/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c98212d191508efc6bcb960bbd7b4d9d67ced92137fdf553f1b38f5b4b2776a
+size 25962993
diff --git a/Part2/Obstacle_avoidance/cylinder_PLA_10/position_04/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_PLA_10/position_04/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..746b65d46ecf252ec9dd99f986fa83e96a63f20a
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_PLA_10/position_04/depth_02/franka_data.csv
@@ -0,0 +1,409 @@
+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,799,748,726,710,699,656,933,805,839,671,658,677,0.400986255647,-0.00539580940576,0.0798400223503,0.999999930317,0.000252475091055,-0.000270949586686,4.69979477692e-05,1793256600242654976
+1,0.016666667,BASELINE,798.42443215,748.57556785,726,710.57556785,699,656,933,805,839,671,658,677.57556785,0.400986891973,-0.00539571494155,0.0798412055762,0.999999930043,0.000255831617776,-0.000268746295906,4.73311370308e-05,1793256600259321600
+2,0.033333333,BASELINE,798,749,726,711,699,656,933,805,839,670.845729981,658,677.845729981,0.400987542168,-0.00539573696792,0.0798420159344,0.999999930017,0.000257591247729,-0.000267120863051,4.75211752731e-05,1793256600275988480
+3,0.050000000,BASELINE,798,749,726,711,699,656,933,805,839,670.258225613,658,677.258225613,0.400988231311,-0.00539608613313,0.0798417791737,0.999999930726,0.000254866335487,-0.000267118220071,4.73092045774e-05,1793256600292656128
+4,0.066666667,BASELINE,798,749,726,711,699,656,933.324741363,805,839,670.324741363,658,677,0.400987724414,-0.00539652349053,0.0798415895078,0.999999931084,0.00025310842042,-0.000267450279728,4.73156825429e-05,1793256600309323008
+5,0.083333333,BASELINE,798,749,726,711,699,656,933.904150011,805,839,670.904150011,658,677,0.400986279563,-0.00539703000962,0.0798414367742,0.999999931169,0.000252108839911,-0.000268044818456,4.74934713969e-05,1793256600325988608
+6,0.100000000,BASELINE,798.482436735,749,726,711,699,656,933.517563265,805.482436735,839,670.517563265,658,677,0.400985425959,-0.00539658716828,0.0798406283028,0.999999930604,0.000253141057258,-0.000269171986129,4.75154556288e-05,1793256600342655488
+7,0.116666667,BASELINE,798.940061357,748.940061357,726.059938643,711,699,656,933,805.940061357,839,670,658,677.059938643,0.400984971276,-0.00539590322942,0.0798399208579,0.999999929991,0.000254611382271,-0.000270063415591,4.75154895809e-05,1793256600359322880
+8,0.133333333,BASELINE,798.367370808,748.367370808,726.632629192,711,699,656,933,805.367370808,839,670,658,677.632629192,0.400986926637,-0.00539476660366,0.0798411895763,0.99999993008,0.000256384274876,-0.000268035028934,4.75919417881e-05,1793256600375989248
+9,0.150000000,BASELINE,798,748,726.788075158,711,699,656,933,805,839,670,658,677.788075158,0.400988268871,-0.0053940707754,0.0798422134461,0.999999930224,0.000257457669014,-0.000266471845839,4.75448136893e-05,1793256600392655616
+10,0.166666667,BASELINE,798,748,726.196961316,711,699,656,933,805,839,670,658,677.196961316,0.40098851406,-0.00539416364935,0.0798427992178,0.999999930477,0.000257279477149,-0.000265741033874,4.72765680756e-05,1793256600409321984
+11,0.183333333,BASELINE,798,748.372883736,726,711,699,656,933.372883736,805,839,670,658,677,0.400989305605,-0.00539401308338,0.0798433415752,0.99999993053,0.000257871887033,-0.000264976448001,4.7219359922e-05,1793256600425988352
+12,0.200000000,BASELINE,798,748.932100645,726,711,699,656,933.932100645,805,839,670,658,677,0.400990370169,-0.00539374086843,0.0798438622382,0.999999930482,0.000258849373147,-0.000264194984953,4.72676089575e-05,1793256600442654976
+13,0.216666667,BASELINE,798,749,726,711,699,656,934,805,839,670,658,677,0.400988334982,-0.00539270031447,0.0798424427595,0.999999929746,0.000259954240707,-0.000265910167366,4.71514479877e-05,1793256600459321856
+14,0.233333333,BASELINE,798,749,726,711,698.88387135,656,934,805.11612865,839,670,657.88387135,677,0.400986538534,-0.00539201588181,0.0798411465679,0.999999929191,0.000260449757522,-0.00026752618997,4.70538409909e-05,1793256600475988736
+15,0.250000000,BASELINE,798,749,726,711,698.310866132,656,934,805.689133868,839,670,657.310866132,677,0.400987366684,-0.0053931502605,0.0798413902784,0.999999929734,0.00025847869216,-0.000267394658698,4.71186199592e-05,1793256600492655616
+16,0.266666667,BASELINE,798,748.729045574,726,711,698.270954426,656,934,805.729045574,839,670,657.270954426,677,0.400988221463,-0.0053945159408,0.0798420123041,0.999999930345,0.000256839256277,-0.000266670190715,4.72296014108e-05,1793256600509322240
+17,0.283333333,BASELINE,798,748.136771096,726,711,698.863228904,656,934,805.136771096,839,670,657.863228904,677,0.400989107822,-0.00539615591752,0.079843082967,0.999999931036,0.000255593094033,-0.000265242569603,4.73953735647e-05,1793256600525988608
+18,0.300000000,BASELINE,798,748.444898447,726.444898447,711,699,656,934,805,839,670,658,677,0.400989343486,-0.0053952200441,0.0798430986989,0.999999930835,0.000256599229476,-0.000265025819331,4.74063733601e-05,1793256600542655232
+19,0.316666667,BASELINE,798,748.976746115,727,711,699,656,934,805,839,670,658,677,0.400989348852,-0.00539359420817,0.0798428065084,0.999999930389,0.000258167354016,-0.000265195074197,4.73575419887e-05,1793256600559321856
+20,0.333333333,BASELINE,798,748.401472464,727,711,699,656,934,805,839,670,658,677,0.400988525345,-0.00539394988842,0.07984272405,0.999999930515,0.000257022275416,-0.00026589666435,4.69915918558e-05,1793256600575988480
+21,0.350000000,BASELINE,798,748,726.822980476,711,699,656,934,805.177019524,839,670,658,677,0.400988074117,-0.00539420079533,0.0798428403313,0.999999930687,0.000256112893855,-0.000266157832798,4.68250732113e-05,1793256600592655104
+22,0.366666667,BASELINE,798,748,726.237054367,711,699,656,934,805.762945633,839,670,658,677,0.400988482838,-0.00539420968079,0.0798434156917,0.999999930967,0.00025574796128,-0.000265401648193,4.71192317629e-05,1793256600609321984
+23,0.383333333,BASELINE,798,748.345556418,726,711,699,656,934,806,839,670,657.654443582,677,0.400989133008,-0.00539464191146,0.0798436515397,0.999999931274,0.000255595973274,-0.000264374376216,4.72049432195e-05,1793256600625988608
+24,0.400000000,BASELINE,798,748.925914537,726,711,699,656,934,806,839,670,657.074085463,677,0.40098994724,-0.00539536180044,0.0798436566929,0.999999931598,0.000255588678671,-0.00026316290334,4.7149017248e-05,1793256600642655488
+25,0.416666667,BASELINE,798.504220878,749,726,711,699,656,934,805.495779122,839,670,657.504220878,677.504220878,0.400989154005,-0.00539582471087,0.0798435170656,0.999999931419,0.000255770780358,-0.000263635553651,4.73321315783e-05,1793256600659322112
+26,0.433333333,BASELINE,799,749,726,711,699,656,933.917979083,805,839,670,658,677.917979083,0.400988301529,-0.0053961460641,0.0798433480541,0.999999931149,0.000256092788627,-0.000264315437608,4.74989696031e-05,1793256600675988992
+27,0.450000000,BASELINE,799,749,726,711,699,656,933.341421184,805,839,670,658,677.341421184,0.400988510159,-0.00539584064786,0.0798431296147,0.999999930782,0.000257091243022,-0.000264758892787,4.73567629854e-05,1793256600692655360
+28,0.466666667,BASELINE,799,749,726,711,699,656,933.239009862,805,839,670,658,677,0.400988144432,-0.00539586482202,0.0798429066807,0.999999930725,0.000256678482334,-0.000265372967024,4.73581345092e-05,1793256600709321984
+29,0.483333333,BASELINE,799,749,726,711,699,656,933.825064726,805,839,670,658,677,0.400986944731,-0.00539636756516,0.0798426772203,0.999999931115,0.000254216621449,-0.000266234782022,4.75679831137e-05,1793256600725988608
+30,0.500000000,BASELINE,798.591156515,748.591156515,726,711,699,656,934,805,839,670,658,677.408843485,0.400988676201,-0.0053969174052,0.0798438102304,0.999999931808,0.000253471481551,-0.00026434714522,4.75058874966e-05,1793256600742655232
+31,0.516666667,BASELINE,798.008346274,748.008346274,726,711,699,656,934,805,839,670,658,677.991653726,0.400991654911,-0.00539748728542,0.0798455229844,0.999999932624,0.00025345682267,-0.000261289590748,4.73280770451e-05,1793256600759321856
+32,0.533333333,BASELINE,798.562389299,748.562389299,726,711,699,656,933.437610701,805,839,670,658,677.437610701,0.400987863993,-0.00539410490864,0.0798424996639,0.999999930008,0.000258594734185,-0.000266258491691,4.71157791496e-05,1793256600775988736
+33,0.550000000,BASELINE,798.862157842,748.862157842,726,711,699,656,933,805.137842158,839,670.137842158,658,677,0.400985301923,-0.00539195969081,0.0798404841494,0.999999928176,0.000262181065523,-0.000269632899633,4.6979162789e-05,1793256600792655872
+34,0.566666667,BASELINE,798.270600448,748.270600448,726,711,699,656,933,805.729399552,839,670.729399552,658,677,0.40098710842,-0.0053940756584,0.079842012376,0.999999929239,0.000260413874041,-0.00026737509879,4.70933057904e-05,1793256600809322240
+35,0.583333333,BASELINE,798,748.314352438,726,711,699,656,933.314352438,805.685647562,839,670.685647562,658,677,0.400987547535,-0.00539506468407,0.0798427135299,0.999999929803,0.000259267684723,-0.000266343329556,4.7284359846e-05,1793256600825988864
+36,0.600000000,BASELINE,798,748.893737091,726,711,699,656,933.893737091,805.106262909,839,670.106262909,658,677,0.400986833801,-0.00539510357921,0.0798427173746,0.999999929951,0.000258645065446,-0.000266345233857,4.7540258034e-05,1793256600842655232
+37,0.616666667,BASELINE,798,748.528425088,726,711,699,656,934,805,839,670.471574912,658,677,0.400986167856,-0.00539511499413,0.0798424293562,0.999999930081,0.000257547779782,-0.000266966734671,4.72766144598e-05,1793256600859322112
+38,0.633333333,BASELINE,798.048797293,748.048797293,726.048797293,711,699,656,934,805.048797293,839,670.951202707,657.951202707,677,0.400985675925,-0.00539515829242,0.0798421579127,0.999999930254,0.000256331034084,-0.00026755506064,4.69153356793e-05,1793256600875988480
+39,0.650000000,BASELINE,798.623133521,748.623133521,726.623133521,711,699,656,934,805.623133521,839,670.376866479,657.376866479,677,0.400986942492,-0.00539561144118,0.0798427709656,0.999999930946,0.000254975892969,-0.000266287357296,4.67592609861e-05,1793256600892655360
+40,0.666666667,BASELINE,798.797293447,749,727,711,699,656,934,806,839,670,657.202706553,677.202706553,0.400987993703,-0.0053958417112,0.0798433234846,0.999999931201,0.000255045994989,-0.000265244383064,4.68445596014e-05,1793256600909321984
+41,0.683333333,BASELINE,798.207726129,749,727,711,699,656,934,806,839,670,657.792273871,677.792273871,0.400988633913,-0.00539564662227,0.079843760476,0.999999930623,0.000257836140631,-0.00026463029922,4.73905136003e-05,1793256600925988864
+42,0.700000000,BASELINE,798,749,727,711,699,656,934,805.625462967,839,670.374537033,658,677.625462967,0.400987974859,-0.00539585796866,0.0798433267207,0.999999930356,0.000258203428537,-0.00026526748822,4.74650052282e-05,1793256600942655744
+43,0.716666667,BASELINE,798,749,727,711,699,656,934,805.047173371,839,670.952826629,658,677.047173371,0.400986608992,-0.00539629042066,0.0798424192687,0.999999930259,0.000257252653172,-0.000266585384424,4.72830157489e-05,1793256600959322880
+44,0.733333333,BASELINE,798,748.468988297,726.468988297,711,699,656,933.468988297,805,839,670.468988297,658,677,0.400988203295,-0.00539436206991,0.079843094785,0.99999992999,0.000259625723094,-0.000265317359714,4.71262993361e-05,1793256600975988992
+45,0.750000000,BASELINE,798,748.108010949,726,711,699,656,933.108010949,805,839,670.108010949,658,677,0.4009896241,-0.0053929880767,0.0798437829995,0.999999929902,0.000261195768801,-0.000264119640058,4.70574321138e-05,1793256600992655104
+46,0.766666667,BASELINE,798,748.679956473,726,711,699,656,933.679956473,805,839,670.679956473,658,677,0.400989170381,-0.00539489584098,0.079843921851,0.999999930681,0.000258048567839,-0.000264210431805,4.73562579014e-05,1793256601009321984
+47,0.783333333,BASELINE,798,749,726,711,699,656,934,805,839,670.739296571,658,677.260703429,0.40098936197,-0.00539690810824,0.0798442234653,0.999999931765,0.000254407221519,-0.000263629496642,4.73950992747e-05,1793256601025988608
+48,0.800000000,BASELINE,798,749,726,711,699,656,934,805,839,670.147367243,658,677.852632757,0.40099037343,-0.00539905314767,0.0798447318712,0.999999933233,0.000250138058937,-0.000262195126802,4.71036283036e-05,1793256601042654976
+49,0.816666667,BASELINE,798,748.565041402,726,711,698.565041402,656.434958598,933.565041402,805,839,670,658,678,0.400989383908,-0.00539651372969,0.0798445006375,0.999999932124,0.000253969881971,-0.000262788521423,4.68288670235e-05,1793256601059321856
+50,0.833333333,BASELINE,798,748,726,711,698.01395692,656.98604308,933,805,839,670,657.98604308,677.98604308,0.400987783648,-0.00539257720891,0.079844034468,0.999999930188,0.000260269469299,-0.000264036925019,4.65731767434e-05,1793256601075988736
+51,0.850000000,BASELINE,798,748,726,711,698.587183475,656.412816525,933,805,839,670,657.412816525,677.412816525,0.400988289658,-0.00539488140585,0.0798439788772,0.999999930653,0.000257848803211,-0.000264597240942,4.68597256188e-05,1793256601092655616
+52,0.866666667,BASELINE,798.164819181,748.164819181,726,711,699,656,933,805,839,670,657.164819181,677.164819181,0.400988684564,-0.0053961597137,0.0798441014796,0.99999993122,0.000255746223615,-0.000264470380732,4.70009166753e-05,1793256601109322240
+53,0.883333333,BASELINE,798.753801836,748.753801836,726,711,699,656,933,805,839,670,657.753801836,677.753801836,0.400988793543,-0.00539479788767,0.0798446826638,0.999999932058,0.000254462242282,-0.00026257506725,4.67680282115e-05,1793256601125988608
+54,0.900000000,BASELINE,799,749,726.336930384,711,699,656.336930384,933.336930384,805,839,670,658,677.663069616,0.400989001413,-0.00539434883931,0.0798448543071,0.999999932164,0.000254751554142,-0.000261900496412,4.67135563587e-05,1793256601142655232
+55,0.916666667,BASELINE,799,749,726.915854312,711,699,656.915854312,933.915854312,805,839,670,658,677.084145688,0.400989280308,-0.00539455537539,0.0798447318059,0.999999931745,0.000256170852584,-0.000262102699765,4.67872286961e-05,1793256601159321856
+56,0.933333333,BASELINE,798.505686421,748.505686421,726.505686421,710.505686421,699,656.505686421,933.505686421,805.494313579,839,670.494313579,658,677,0.400988381475,-0.00539447197177,0.0798439861946,0.999999931489,0.000255825847009,-0.00026342398721,4.67113387319e-05,1793256601175988736
+57,0.950000000,BASELINE,798.071966363,748.071966363,726,710.071966363,699,656,933.071966363,805.928033637,839,671,658,677,0.400987418153,-0.00539451864609,0.079843256388,0.999999931271,0.000255310518274,-0.000264755007218,4.66810398666e-05,1793256601192655360
+58,0.966666667,BASELINE,798.644558374,748.644558374,726,710.644558374,699,656,933.644558374,805.355441626,839,671,658,677,0.400987399544,-0.00539581320704,0.0798433736973,0.999999931131,0.000255697624694,-0.000264829792257,4.71448306169e-05,1793256601209322240
+59,0.983333333,BASELINE,798.776169873,749,726.223830127,711,699,656,934,805,839,670.776169873,658,677,0.400986732521,-0.0053966551875,0.0798429663339,0.999999930972,0.000255562835436,-0.000265533443581,4.72895869787e-05,1793256601225988864
+60,1.000000000,BASELINE,798.185964322,749,726.814035678,711,699,656,934,805,839,670.185964322,658,677,0.400985004145,-0.00539675636366,0.0798417001621,0.99999993078,0.000254573783441,-0.00026726645211,4.69121332854e-05,1793256601242655488
+61,1.016666667,BASELINE,798.397762997,748.602237003,726.602237003,711,699,656,934,805,839,670,658,677,0.400985753824,-0.0053961238507,0.0798421235883,0.999999930873,0.00025524698633,-0.000266302595351,4.67471759365e-05,1793256601259322112
+62,1.033333333,BASELINE,798.978510081,748.021489919,726.021489919,711,699,656,934,805,839,670,658,677,0.400987643491,-0.00539515381656,0.0798433242853,0.999999931093,0.000256684881301,-0.000264098091584,4.66799739309e-05,1793256601275988992
+63,1.050000000,BASELINE,798.445426096,748.554573904,726,711,698.445426096,656,933.445426096,805.554573904,839,670,658,677,0.400989174932,-0.0053940848977,0.0798446653639,0.999999931597,0.000256649736073,-0.00026225820682,4.64569841136e-05,1793256601292655104
+64,1.066666667,BASELINE,798.129061297,749,726,711,698.129061297,656,933.129061297,805.870938703,839,670.129061297,658,677,0.400990289458,-0.00539349463578,0.0798455445896,0.999999931956,0.00025655921933,-0.000260997787488,4.63227760864e-05,1793256601309321472
+65,1.083333333,BASELINE,798.698780642,749,726,711,698.698780642,656,933.698780642,805.301219358,839,670.698780642,658,677,0.400990027496,-0.0053945516409,0.0798448284785,0.999999931794,0.000256472906568,-0.000261668017829,4.65121376597e-05,1793256601325988352
+66,1.100000000,BASELINE,798.718316832,748.718316832,726,711,699,656.281683168,934,805,839,671,658,677,0.400989513019,-0.00539530532929,0.0798444344957,0.999999931593,0.000256315724303,-0.00026255391741,4.67125035209e-05,1793256601342655488
+67,1.116666667,BASELINE,798.120624665,748.120624665,726,711,699,656.879375335,934,805,839,671,658,677,0.400988715254,-0.00539571873881,0.0798444018956,0.999999931347,0.000256079036402,-0.000263681767582,4.69252146367e-05,1793256601359322112
+68,1.133333333,BASELINE,798,748.460471682,726,710.539528318,699,656.539528318,933.539528318,805.460471682,839,670.539528318,658,677,0.400987961705,-0.00539513007276,0.0798442860834,0.999999931268,0.000256419936666,-0.000263667893389,4.68185401689e-05,1793256601375988736
+69,1.150000000,BASELINE,798,749,726,710.037266671,699,656,933.037266671,805.962733329,839,670,658,677,0.400987323722,-0.00539438805929,0.07984414922,0.999999931255,0.000256808288651,-0.00026337053337,4.6631918715e-05,1793256601392655616
+70,1.166666667,BASELINE,798,749,726,710.612542739,699,656,933.612542739,805.387457261,839,670,658,677,0.400988192746,-0.00539509006041,0.079844012194,0.999999931587,0.000255773332977,-0.000263148168885,4.64569683887e-05,1793256601409322240
+71,1.183333333,BASELINE,798,749,726,711,699,656,933.807802245,805,839,670,658,677,0.400988799998,-0.00539542300328,0.0798439248682,0.999999931659,0.000255658555058,-0.000262985167918,4.64627140297e-05,1793256601425988864
+72,1.200000000,BASELINE,798,749,726,711,699,656,933.219113656,805,839,670,658,677,0.400988867231,-0.00539499460431,0.0798439400706,0.999999931195,0.000257442040783,-0.000262944629792,4.68412230718e-05,1793256601442655488
+73,1.216666667,BASELINE,798,749,726.350998582,711,699,656,933.350998582,805.350998582,839,670,658,677,0.400989043094,-0.00539525197022,0.0798442317963,0.999999931499,0.0002565603504,-0.000262637297481,4.69100755731e-05,1793256601459321856
+74,1.233333333,BASELINE,798,749,726.910097235,711,699,656,933.910097235,805.910097235,839,670,658,677,0.400989283362,-0.00539591591248,0.0798446874673,0.999999932255,0.00025409853005,-0.00026217178821,4.67953388527e-05,1793256601475988736
+75,1.250000000,BASELINE,798.500591672,748.499408328,726.499408328,711,699,656,934,805.499408328,839,670.500591672,658,677.500591672,0.400989844048,-0.00539515183264,0.0798445047172,0.99999993196,0.000255277046509,-0.000262189781898,4.65888021956e-05,1793256601492655616
+76,1.266666667,BASELINE,798.906644061,748.093355939,726,710.906644061,699,656,934,805,839,670.906644061,658,677.906644061,0.400990243705,-0.00539429835447,0.0798442281256,0.999999931551,0.000256784575133,-0.000262305950206,4.64310251477e-05,1793256601509322240
+77,1.283333333,BASELINE,798.333145616,748.666854384,726,710.333145616,699,656,934,805,839,670.333145616,658,677.333145616,0.400989499412,-0.00539439237305,0.0798440980448,0.999999931604,0.000256396785993,-0.000262450562498,4.66144923588e-05,1793256601525989120
+78,1.300000000,BASELINE,798,748.751486299,726,710.248513701,699,656,933.751486299,805,839,670,657.751486299,677,0.400988795356,-0.00539464820176,0.0798437603191,0.999999931611,0.000256086993575,-0.000262707570809,4.67241278943e-05,1793256601542655744
+79,1.316666667,BASELINE,798,748.1585155,726,710.8414845,699,656,933.1585155,805,839,670,657.1585155,677,0.400988147071,-0.00539512831045,0.0798431347834,0.999999931553,0.000255885310015,-0.000263120367728,4.67314276295e-05,1793256601559322368
+80,1.333333333,BASELINE,798.42392977,748.42392977,726,711,699,656,933.42392977,805.42392977,839,670,657.42392977,677,0.400988276606,-0.00539622443658,0.0798433509888,0.999999931865,0.000254528585724,-0.000263269724908,4.66260989241e-05,1793256601575988736
+81,1.350000000,BASELINE,798.997487348,749,726,711.002512652,699,656.002512652,933.997487348,805.997487348,839,670.002512652,658,677,0.400988690034,-0.00539753042182,0.0798438717081,0.999999932299,0.000252788891286,-0.00026332166516,4.64831774876e-05,1793256601592655104
+82,1.366666667,BASELINE,798.423924607,749,726,711.576075393,699,656.576075393,933.423924607,805.423924607,839,670.576075393,658,677,0.400989125325,-0.00539544978873,0.0798438006308,0.999999930539,0.000259789661899,-0.00026307855831,4.71359119957e-05,1793256601609321984
+83,1.383333333,BASELINE,798,748.846460994,726,711.846460994,699,656.846460994,933.153539006,805,839,671,658,677,0.400989035733,-0.00539428104304,0.0798435789829,0.999999929442,0.000263606301926,-0.000263392611007,4.74607413562e-05,1793256601625988608
+84,1.400000000,BASELINE,798,748.257946081,726,711.257946081,699,656.257946081,933.742053919,805,839,671,658,677,0.400987459152,-0.00539569567326,0.0798429307684,0.999999930328,0.000258402303667,-0.00026528509631,4.68566157963e-05,1793256601642655488
+85,1.416666667,BASELINE,798,748.32552278,726,710.67447722,699,656,934,805,839,670.67447722,658,677.32552278,0.400987143855,-0.00539616773165,0.0798430099414,0.99999993089,0.000256191202276,-0.000265345129466,4.6664147744e-05,1793256601659322112
+86,1.433333333,BASELINE,798,748.905054124,726,710.094945876,699,656,934,805,839,670.094945876,658,677.905054124,0.400987812751,-0.00539590429208,0.0798436567018,0.999999931215,0.000256315487478,-0.00026397528244,4.67929000498e-05,1793256601675988992
+87,1.450000000,BASELINE,798,749,726.483304226,710.483304226,699,656,933.516695774,805.483304226,839,670,658,678,0.400988621432,-0.0053951502402,0.0798444619517,0.999999931268,0.000257488296551,-0.000262638319787,4.67491888136e-05,1793256601692655360
+88,1.466666667,BASELINE,798,749,726.93921904,711,699,656,933,805.93921904,839,670,658,677.93921904,0.400989349376,-0.00539444413067,0.0798451373538,0.999999931291,0.000258556684458,-0.000261515472943,4.6640295458e-05,1793256601709321728
+89,1.483333333,BASELINE,798,749,726.36614476,711,699,656,933,805.36614476,839,670,658,677.36614476,0.40098916597,-0.00539495230983,0.0798444565994,0.999999931542,0.000257013406333,-0.000262142998842,4.62668228295e-05,1793256601725988352
+90,1.500000000,BASELINE,798,749,726,711,699,656,933.213265458,805.213265458,839,670,658,677,0.400988989604,-0.00539542180763,0.0798440278488,0.999999931635,0.000256125531999,-0.000262654746358,4.62862881134e-05,1793256601742654976
+91,1.516666667,BASELINE,798,749,726,711,699,656,933.803886532,805.803886532,839,670,658,677,0.400988825694,-0.00539582286192,0.0798440449979,0.999999931451,0.000256397340718,-0.000262961633523,4.70010246254e-05,1793256601759321600
+92,1.533333333,BASELINE,798,749,726.386288165,711,699,656.386288165,934,805.613711835,839,670,658,677,0.400988914528,-0.00539505313917,0.0798442890143,0.999999931154,0.000257738644457,-0.000262794452817,4.69152107603e-05,1793256601775988224
+93,1.550000000,BASELINE,798,749,726.964603886,711,699,656.964603886,934,805.035396114,839,670,658,677,0.400989129004,-0.00539370141194,0.0798446458086,0.999999930798,0.000259611604468,-0.000262391608444,4.64314356772e-05,1793256601792655104
+94,1.566666667,BASELINE,798,748.459317355,727,711,699,657,934,805,839,670.540682645,658,677,0.400989924306,-0.00539477412144,0.0798450175465,0.999999932114,0.000255918240941,-0.000261001079821,4.64352042913e-05,1793256601809321984
+95,1.583333333,BASELINE,798,748,726.883582568,711,699,656.883582568,934,805.116417432,839,671,658,677,0.400990736877,-0.00539564672105,0.0798455340591,0.999999933183,0.000253115516892,-0.000259626078605,4.64937708713e-05,1793256601825988864
+96,1.600000000,BASELINE,798,748,726.308627996,711,699,656.308627996,934,805.691372004,839,671,658,677,0.400991468314,-0.00539510857276,0.0798466169637,0.999999932908,0.000255250153577,-0.000258565861809,4.66429761023e-05,1793256601842655232
+97,1.616666667,BASELINE,798,748,726,711,699,656,933.726434659,805.726434659,839,670.726434659,658,677,0.400991260901,-0.00539530367541,0.0798465572731,0.999999932747,0.000255550149339,-0.000258862911344,4.67902967615e-05,1793256601859321856
+98,1.633333333,BASELINE,798,748,726,711,699,656,933.135852841,805.135852841,839,670.135852841,658,677,0.400989965519,-0.00539634849331,0.0798451735057,0.99999993272,0.000253724102971,-0.00026073280563,4.69354335084e-05,1793256601875988480
+99,1.650000000,BASELINE,798,748.446242134,726,711,699,656.446242134,933.446242134,805,839,670,658,677,0.400988844372,-0.00539579029608,0.0798444969606,0.999999932123,0.000254694003125,-0.000262099335467,4.67912749751e-05,1793256601892655104
+100,1.666666667,BASELINE,798,749,726.025542613,711,699,656.974457387,933.974457387,805.025542613,839,670,657.974457387,677.025542613,0.40098784805,-0.0053947576007,0.0798440486281,0.999999931366,0.000256508392249,-0.000263254971893,4.65620615622e-05,1793256601909321472
+101,1.683333333,BASELINE,798,749,726.599284541,711,699,656.400715459,933.400715459,805.599284541,839,670,657.400715459,677.599284541,0.400988413531,-0.00539381958837,0.0798439635638,0.999999930895,0.000258519894971,-0.000263111924608,4.63623309051e-05,1793256601925988352
+102,1.700000000,BASELINE,798,749,726.822864066,711,699,656,933,805.822864066,839,670,657.177135934,677.822864066,0.400988485411,-0.00539325042865,0.0798438796449,0.999999930573,0.000259651679348,-0.000263238732294,4.62608687464e-05,1793256601942655488
+103,1.716666667,BASELINE,798,749,726.235495564,711,699,656,933,805.235495564,839,670,657.764504436,677.235495564,0.400987414152,-0.00539353550204,0.0798437983786,0.999999930604,0.000258746106563,-0.000263990502397,4.63869885485e-05,1793256601959322368
+104,1.733333333,BASELINE,798,749,726,711,699,656,933,805,839,670,658,677,0.400987958207,-0.00539338451893,0.0798444534798,0.999999930821,0.000258820601469,-0.000263075076356,4.64995529095e-05,1793256601975988992
+105,1.750000000,BASELINE,798,749,726,711,699,656,933,805,839,670,658,677,0.400989583334,-0.00539294169927,0.0798456014049,0.999999931159,0.000259551019562,-0.000261043857299,4.66030451247e-05,1793256601992655616
+106,1.766666667,POSE1_TO_POSE2_PRESS,798,748,726,711,699,656,933,805,839,670,658,677,0.400987655082,-0.00539337243735,0.0798428298759,0.999999930749,0.00025817310004,-0.000264049836724,4.61069720124e-05,1793256602023561984
+107,1.783333333,POSE1_TO_POSE2_PRESS,798,748,726,711,699,656,933,805,839,670,658,677,0.400989415784,-0.00539363800511,0.0798450589299,0.999999931554,0.000257827116375,-0.000261268639199,4.64255192449e-05,1793256602040228608
+108,1.800000000,POSE1_TO_POSE2_PRESS,798,748.151707968,726.151707968,711,699,656,933.151707968,805.151707968,839,670,658,677.151707968,0.400990167216,-0.00539409572727,0.079846218947,0.999999931969,0.000257504530563,-0.000259956574796,4.66452246868e-05,1793256602056895232
+109,1.816666667,POSE1_TO_POSE2_PRESS,798,748.743514086,726.743514086,711,699,656,933.743514086,805.743514086,839,670,658,677.743514086,0.4009879908,-0.00539511088097,0.0798442777355,0.999999931267,0.000257249820818,-0.000262906400369,4.65781945136e-05,1793256602073562112
+110,1.833333333,POSE1_TO_POSE2_PRESS,798,749,726.672599635,711,699,656,934,805.672599635,839,670,658,677.672599635,0.400987481303,-0.00539651490717,0.0798437674975,0.999999931604,0.000255125221569,-0.000263676102909,4.66751345935e-05,1793256602090228736
+111,1.850000000,POSE1_TO_POSE2_PRESS,798,749,726.094771264,711,699,656,934,805.094771264,839,670,658,677.094771264,0.400988246828,-0.00539821638126,0.0798443518088,0.99999993273,0.000251570346894,-0.000262778232711,4.68974952569e-05,1793256602106895360
+112,1.866666667,POSE1_TO_POSE2_PRESS,798,749,726.481316227,711,699,656.481316227,934,805.481316227,839,670.481316227,658,677.481316227,0.400988202088,-0.00539694316673,0.0798441990188,0.999999931991,0.000254444438557,-0.000262833454466,4.68464994857e-05,1793256602123561984
+113,1.883333333,POSE1_TO_POSE2_PRESS,798.058263223,749,727,711,699,656.941736777,934,805.941736777,839,671,658,677.941736777,0.400988116071,-0.00539525270916,0.0798439976789,0.999999931014,0.00025817251591,-0.000262933957821,4.6747925502e-05,1793256602140228608
+114,1.900000000,POSE1_TO_POSE2_PRESS,798.646127545,749,727,711,699,656.353872455,934,805.353872455,839,671,658,677.353872455,0.400989099825,-0.00539507445709,0.0798446695278,0.999999931321,0.000258198162299,-0.000261746381128,4.67043607285e-05,1793256602156894976
+115,1.916666667,POSE1_TO_POSE2_PRESS,798.769648088,749,727,711,699,656,934,805.230351912,839,671,658,677,0.40099175743,-0.00539532624704,0.079846369995,0.999999932067,0.000257348392525,-0.000259716853549,4.6734176236e-05,1793256602173561344
+116,1.933333333,POSE1_TO_POSE2_PRESS,798.190928579,749,727,711,699,656,934,805.809071421,839,671,658,677,0.400996946446,-0.00539622840152,0.0798496260699,0.99999993347,0.000255174706553,-0.000256414020354,4.68749667852e-05,1793256602190228480
+117,1.950000000,POSE1_TO_POSE2_PRESS,798,749,726.612832716,711,699,656,933.612832716,806,839,670.612832716,658,677,0.401014684457,-0.00539682396667,0.0798570357577,0.999999936822,0.000254009755111,-0.000244186563158,4.69942752423e-05,1793256602206895104
+118,1.966666667,POSE1_TO_POSE2_PRESS,798,749,726.035043853,711,699,656,933.035043853,806,839,670.035043853,658,677,0.401038600958,-0.00539726858284,0.0798664904745,0.999999940907,0.000253341453254,-0.000227565072372,4.71030070062e-05,1793256602223561728
+119,1.983333333,POSE1_TO_POSE2_PRESS,798.539027229,748.460972771,726.539027229,711,699,656,933.539027229,806,839,670,658,677.539027229,0.401092434825,-0.00539867793228,0.0798838105664,0.999999948158,0.000252786023292,-0.000193847490767,4.69655090246e-05,1793256602240228352
+120,2.000000000,POSE1_TO_POSE2_PRESS,798.884001034,748.115998966,727,711,699,656.115998966,933.884001034,805.884001034,839,670.115998966,658,677.884001034,0.401151270387,-0.00539996475763,0.079901396684,0.999999954115,0.000252228163941,-0.000161152556911,4.66907810186e-05,1793256602256895232
+121,2.016666667,POSE1_TO_POSE2_PRESS,798.294200821,748.705799179,727,711,699,656.705799179,933.294200821,805.294200821,839,670.705799179,658,677.294200821,0.401222645462,-0.00540049670183,0.0799179950678,0.999999957883,0.000251630614887,-0.000137143385536,4.59204709671e-05,1793256602273561600
+122,2.033333333,POSE1_TO_POSE2_PRESS,798,748.710193949,727,711.289806051,699,657,933.289806051,805.289806051,839,671,658,677,0.401304238056,-0.00540125571513,0.0799310393864,0.999999960463,0.000251335271791,-0.000117917001377,4.47234117488e-05,1793256602290227968
+123,2.050000000,POSE1_TO_POSE2_PRESS,798,748.131953042,727,711.868046958,699,657,933.868046958,805.868046958,839,671,658,677,0.40139599982,-0.00540224072312,0.0799405464544,0.999999962134,0.000251340704893,-0.000103450776535,4.31016225522e-05,1793256602306894336
+124,2.066666667,POSE1_TO_POSE2_PRESS,798.444967496,748.444967496,727,711.555032504,699,657,934,805.555032504,839,671,658,677.444967496,0.401498649977,-0.00540396691147,0.0799451456646,0.999999963519,0.00024924617088,-9.59967797964e-05,4.02909228959e-05,1793256602323561216
+125,2.083333333,POSE1_TO_POSE2_PRESS,799,748.978713754,726.978713754,711,699,656.978713754,934,805,839,670.978713754,658,678,0.401605540786,-0.0054058129478,0.0799483287098,0.999999964797,0.000246650305088,-9.05254603708e-05,3.70805090346e-05,1793256602340228096
+126,2.100000000,POSE1_TO_POSE2_PRESS,799,748.407852674,726.407852674,711,699,656.407852674,934,805,839,670.407852674,658,678,0.401738799963,-0.00540509534697,0.0799524136264,0.999999965508,0.000247141308739,-8.27146342725e-05,3.26258729701e-05,1793256602356894976
+127,2.116666667,POSE1_TO_POSE2_PRESS,799,748.169627408,726.169627408,710.830372592,699,656.169627408,934,805,839,670,658,677.830372592,0.40188019426,-0.00540573475759,0.0799563804027,0.999999966683,0.000245427552281,-7.49192342297e-05,2.80466979065e-05,1793256602373561856
+128,2.133333333,POSE1_TO_POSE2_PRESS,799,748.763668374,726.763668374,710.236331626,699,656.763668374,934,805,839,670,658,677.236331626,0.40204194288,-0.00540976945721,0.0799600515871,0.999999969108,0.000238197410821,-6.71624318838e-05,2.31559226944e-05,1793256602390229504
+129,2.150000000,POSE1_TO_POSE2_PRESS,798.650758818,748.650758818,726.650758818,710.349241182,699,656.650758818,934,805.349241182,839,670.349241182,658,677,0.402226264888,-0.00541142120882,0.0799640863762,0.999999971248,0.000231782154033,-5.90592813251e-05,1.71436578738e-05,1793256602406895616
+130,2.166666667,POSE1_TO_POSE2_PRESS,798.070780702,748.070780702,726.070780702,710.929219298,699,656.070780702,934,805.929219298,839,670.929219298,658,677,0.402425500715,-0.00541149859289,0.0799683613925,0.999999973143,0.000225905275147,-5.07273043845e-05,1.03904459403e-05,1793256602423561216
+131,2.183333333,POSE1_TO_POSE2_PRESS,798.504461587,748.504461587,726,711,699,656,934,806,839,670.495538413,658,677,0.402635763921,-0.00541496215139,0.0799649685006,0.999999974882,0.000216601633555,-5.75284891162e-05,3.05929329653e-06,1793256602440228096
+132,2.200000000,POSE1_TO_POSE2_PRESS,798.921149053,749,726,711,699,656,934,805.921149053,838.921149053,670,658,677,0.402852775524,-0.0054187410679,0.0799606058459,0.999999976471,0.000206493795364,-6.63203495859e-05,-4.52380048601e-06,1793256602456894464
+133,2.216666667,POSE1_TO_POSE2_PRESS,798.347979567,749,726,711,699,656,934,805.347979567,838.347979567,670,658,677,0.403102483583,-0.00542154618554,0.0799568457086,0.999999978263,0.000194330582133,-7.44044352203e-05,-1.31826923138e-05,1793256602473561088
+134,2.233333333,POSE1_TO_POSE2_PRESS,798.234316026,749,726,711,699,656,934,805,838.234316026,670.234316026,658,677,0.403371520681,-0.00542391017666,0.0799544267509,0.99999998439,0.000156589753181,-7.89268405043e-05,-2.16707094247e-05,1793256602490227968
+135,2.250000000,POSE1_TO_POSE2_PRESS,798.8307139,749,726,711,699,656,934,805,838.8307139,670.8307139,658,677,0.403670426377,-0.00542559250746,0.0799540802797,0.999999993369,7.93245670119e-05,-7.79454823253e-05,-2.98946781322e-05,1793256602506894592
+136,2.266666667,POSE1_TO_POSE2_PRESS,798.5882651,749,726.4117349,711,699,656,934,805.4117349,839,671,658,677.4117349,0.404013864903,-0.0054278775174,0.0799594559843,0.999999993368,8.76419029581e-05,-6.99745354161e-05,-2.61941087187e-05,1793256602523561472
+137,2.283333333,POSE1_TO_POSE2_PRESS,798.013338751,749,726.986661249,711,699,656,934,805.986661249,839,671,658,677.986661249,0.404374954044,-0.00543040139966,0.0799670996777,0.999999989653,0.000129879940282,-5.92332595678e-05,-1.77672391004e-05,1793256602540228864
+138,2.300000000,POSE1_TO_POSE2_PRESS,798.561483941,748.438516059,727,711,699,656,934,805.438516059,839,671,658,678,0.404767195682,-0.00542908720438,0.0799682689057,0.999999990096,0.00012828693226,-5.26294295212e-05,-2.40859645241e-05,1793256602556894976
+139,2.316666667,POSE1_TO_POSE2_PRESS,798.865693591,748.134306409,727,711,699,656,934,805,839,671,658,677.865693591,0.405166980501,-0.00542919997345,0.0799681209521,0.999999990894,0.000122407188876,-4.84499836162e-05,-2.96905066835e-05,1793256602573561600
+140,2.333333333,POSE1_TO_POSE2_PRESS,798.29929841,748.70070159,727,711,699,656,934,805,839,671,658,677.29929841,0.405588652565,-0.00543419683686,0.0799642301204,0.999999992526,0.000106085531656,-5.17540755314e-05,-3.18706143411e-05,1793256602590228224
+141,2.350000000,POSE1_TO_POSE2_PRESS,798,748.715010877,727,711,699,656,934,805.284989123,838.715010877,670.715010877,658,677,0.406031969875,-0.00543807820829,0.0799580933751,0.999999992707,9.77639707676e-05,-6.2183365392e-05,-3.40705347621e-05,1793256602606894848
+142,2.366666667,POSE1_TO_POSE2_PRESS,798,748.110673785,727,711,699,656,934,805.889326215,838.110673785,670.110673785,658,677,0.406499542078,-0.00544070960249,0.0799494399442,0.999999991252,9.8407011435e-05,-8.05968814513e-05,-3.62926568888e-05,1793256602623561472
+143,2.383333333,POSE1_TO_POSE2_PRESS,798,748,726.529816355,710.529816355,699,656,934,806,838,670.470183645,658,677,0.40700892436,-0.00544642324794,0.0799456976896,0.99999999116,9.29377569226e-05,-8.7924046576e-05,-3.62094802127e-05,1793256602640227840
+144,2.400000000,POSE1_TO_POSE2_PRESS,798,748,726.045365217,710.045365217,699,656,934,805.954634783,838,670.954634783,658,677,0.407527946439,-0.00545233950117,0.0799421840733,0.999999991148,8.67213405169e-05,-9.43652472621e-05,-3.57513306212e-05,1793256602656894720
+145,2.416666667,POSE1_TO_POSE2_PRESS,798,748,726.615779057,710.615779057,699,656,934,805.384220943,838,670.384220943,658,677,0.408050052707,-0.00545260312618,0.0799285735465,0.999999988352,8.77170979861e-05,-0.000119318435923,-3.69349176014e-05,1793256602673561856
+146,2.433333333,POSE1_TO_POSE2_PRESS,798,748,726.805242432,711,699,656,934,805,838,670,658,677.194757568,0.408598313716,-0.00545467530171,0.0799212353784,0.999999986586,8.69011711822e-05,-0.000133510918445,-3.80912515638e-05,1793256602690228736
+147,2.450000000,POSE1_TO_POSE2_PRESS,798,748,726.20859021,711,699,656,934,805,838,670,658,677.79140979,0.409200546666,-0.0054604795365,0.0799268406228,0.999999987967,8.234671843e-05,-0.000125497996565,-3.91913471537e-05,1793256602706895360
+148,2.466666667,POSE1_TO_POSE2_PRESS,798,748,726.375559299,710.624440701,699,656.375559299,934,805.375559299,838.375559299,670,658,678,0.409868391229,-0.005468490045,0.0799559834447,0.999999993938,6.79041494735e-05,-7.72480653409e-05,-3.93055756917e-05,1793256602723561984
+149,2.483333333,POSE1_TO_POSE2_PRESS,798,748,726.95298836,710.04701164,699,656.95298836,934,805.95298836,838.95298836,670,658,678,0.410571503174,-0.00547768646443,0.0799977781304,0.999999998058,4.81465431286e-05,-7.37003029324e-06,-3.88898830583e-05,1793256602740228608
+150,2.500000000,POSE1_TO_POSE2_PRESS,798,748,727,710.528694177,699,656.471305823,934,805.471305823,838.471305823,670,658,677.471305823,0.411265350115,-0.0055014635254,0.0800076354653,0.999999999074,2.43755478066e-05,2.0058518828e-06,-3.5405567447e-05,1793256602756894976
+151,2.516666667,POSE1_TO_POSE2_PRESS,798,748,727,711,699,656.106496597,934,805,838,670,658,677.106496597,0.411952910136,-0.00552297579146,0.0800066184523,0.999999999443,2.4042362258e-06,-4.54293681854e-06,-3.29820046844e-05,1793256602773561344
+152,2.533333333,POSE1_TO_POSE2_PRESS,798,748,727,711,699,656.694468173,934,805,838,670,658,677.694468173,0.412615759095,-0.00552840628262,0.0799692355974,0.999999997551,-9.82244448962e-06,-5.88441790163e-05,-3.65837601532e-05,1793256602790228224
+153,2.550000000,POSE1_TO_POSE2_PRESS,798,748,727,711,699,656.722080824,934,805,838,670,658,678,0.413316512933,-0.00552836437857,0.0799414676921,0.999999994567,-1.50572200083e-05,-9.49534066711e-05,-4.02792686046e-05,1793256602806895104
+154,2.566666667,POSE1_TO_POSE2_PRESS,798,748,727,711,699,656.143519921,934,805,838,670,658,678,0.414058270818,-0.00552240265931,0.079924100846,0.999999992745,-1.2728436759e-05,-0.00011138325553,-4.40761957786e-05,1793256602823562240
+155,2.583333333,POSE1_TO_POSE2_PRESS,798,747.567120776,727,711,699,656,934,805,838,670,658,678,0.41484891892,-0.00553015854036,0.0799392052655,0.999999995346,-2.32580664305e-05,-8.29010715698e-05,-4.3520103264e-05,1793256602840229120
+156,2.600000000,POSE1_TO_POSE2_PRESS,798,747,727,710.99140593,699,656,934,805,838,670,658,678,0.415655631346,-0.00554224165615,0.0799645597734,0.999999997595,-3.78326836727e-05,-4.06270115517e-05,-4.15762397087e-05,1793256602856895488
+157,2.616666667,POSE1_TO_POSE2_PRESS,798,747,727,710.413777586,699,656,934,805,838,670,658,678,0.416458073156,-0.00554120161897,0.0799593126791,0.999999996117,-3.93635195967e-05,-6.61936023029e-05,-4.28297159554e-05,1793256602873561600
+158,2.633333333,POSE1_TO_POSE2_PRESS,798,747,727,710.16693289,699,656,934,805,838,670,658,678,0.417275197281,-0.00554260206355,0.0799590067626,0.99999999536,-4.43013691117e-05,-7.31639182088e-05,-4.43247747265e-05,1793256602890227968
+159,2.650000000,POSE1_TO_POSE2_PRESS,798,747,727,710.755426737,699,656,934,805,838,670,658,678,0.418129399075,-0.00555016553475,0.0799711789604,0.999999996699,-5.78430587994e-05,-3.31724656749e-05,-4.64299094995e-05,1793256602906894592
+160,2.666666667,POSE1_TO_POSE2_PRESS,798,747,727,711,699,656,934,805,838,670,658,678,0.419003098311,-0.00555662813865,0.079987902045,0.999999996735,-6.55216089636e-05,3.83773018824e-06,-4.71455105514e-05,1793256602923561216
+161,2.683333333,POSE1_TO_POSE2_PRESS,798,747,727,711,699,656,934,805,838,670,658,678,0.419890662782,-0.00556230787928,0.0800078614143,0.999999995769,-6.90306872259e-05,3.87278546737e-05,-4.6872968388e-05,1793256602940227840
+162,2.700000000,POSE1_TO_POSE2_PRESS,797.508091694,747,727,711,699,656,934,805,838,670,658,678,0.420754730704,-0.00556191803528,0.0799948893629,0.999999995938,-7.37603626699e-05,1.86329144886e-05,-4.83402359773e-05,1793256602956894976
+163,2.716666667,POSE1_TO_POSE2_PRESS,797.066069311,747,727,711,699,656,934,805,838,670,658,678,0.421623949734,-0.00555865204713,0.0799804424989,0.999999995896,-7.55862626182e-05,-4.53095462273e-06,-4.97384196218e-05,1793256602973561856
+164,2.733333333,POSE1_TO_POSE2_PRESS,797.643899099,747,727,711,699,656,934,805,838,670,658,678,0.422563325019,-0.00554092397066,0.0799969787868,0.999999997221,-5.33482613694e-05,1.93397375239e-05,-4.83610868333e-05,1793256602990228736
+165,2.750000000,POSE1_TO_POSE2_PRESS,797.773650724,747,727,711,699,656.226349276,934,805,838,670.226349276,658,678,0.423481004962,-0.00552493643052,0.0800093922503,0.999999997766,-3.20513032408e-05,3.48142852693e-05,-4.72192670467e-05,1793256603006895360
+166,2.766666667,POSE1_TO_POSE2_PRESS,797.183780019,747,727,711,699,656.816219981,934,805,838,670.816219981,658,678,0.424363841902,-0.00551174422351,0.0800151843784,0.999999998168,-1.22656756193e-05,3.68044622537e-05,-4.64556856527e-05,1793256603023561728
+167,2.783333333,POSE1_TO_POSE2_PRESS,797,747,727,711,699,657,934,805,838,671,658,678,0.425220405891,-0.00551704491787,0.0799795934424,0.999999998057,-2.15485435976e-05,-3.33439596914e-05,-4.80689865226e-05,1793256603040228096
+168,2.800000000,POSE1_TO_POSE2_PRESS,797,747,727,711,699,657,934,805,838,671,658,678,0.426065079766,-0.00553071474145,0.079925274229,0.999999988477,-4.3986621051e-05,-0.000136139351639,-5.07579663889e-05,1793256603056894720
+169,2.816666667,POSE1_TO_POSE2_PRESS,797.550560417,745.898879166,727,711,699,657,934,805,838,671,658,678,0.427011887254,-0.00553648432723,0.079920026033,0.999999990632,-4.82369869645e-05,-0.000116430564443,-5.34105791016e-05,1793256603073561344
+170,2.833333333,POSE1_TO_POSE2_PRESS,797.871497242,744.871497242,727,711,699,657,934,805,838,671,658,678,0.427954309312,-0.00554095165649,0.0799200869512,0.999999992443,-5.24500066507e-05,-9.66471209597e-05,-5.4980981964e-05,1793256603090228224
+171,2.850000000,POSE1_TO_POSE2_PRESS,797.282876799,744.282876799,727,711,699,657,934,805,838,671,658,678,0.428864821744,-0.00554200976865,0.0799313708741,0.999999992236,-5.94154230125e-05,-9.60359526008e-05,-5.26821891193e-05,1793256603106895616
+172,2.866666667,POSE1_TO_POSE2_PRESS,797,744,727,711,699,656.699304871,934,804.699304871,838,671,658,678,0.429805047193,-0.00554469193915,0.0799583934649,0.999999994407,-6.63092449121e-05,-6.45642624251e-05,-5.11976761679e-05,1793256603123562240
+173,2.883333333,POSE1_TO_POSE2_PRESS,797,744,727,711,699,656.120403907,934,804.120403907,838,671,658,678,0.430772763341,-0.00554887670297,0.0799999776121,0.999999996042,-7.31368264083e-05,-4.54014008683e-06,-5.04665422755e-05,1793256603140228608
+174,2.900000000,POSE1_TO_POSE2_PRESS,797.456647603,744.456647603,727,711,699,656,934,804,838,671,658,678,0.431701477439,-0.00554716982566,0.0800283875149,0.999999996063,-6.53432637093e-05,3.48768805852e-05,-4.88745076666e-05,1793256603156895232
+175,2.916666667,POSE1_TO_POSE2_PRESS,797.966850962,744.966850962,727.033149038,711.033149038,698.966850962,656,934,804,838,671,658,678,0.432613993067,-0.00554385550783,0.0800477216636,0.999999995537,-5.45119962149e-05,6.08810624446e-05,-4.74144588967e-05,1793256603173561600
+176,2.933333333,POSE1_TO_POSE2_PRESS,797.391403758,744.391403758,727.608596242,711.608596242,698.391403758,656,934,804,838,671,658,678,0.433429065931,-0.00553955533764,0.079975179407,0.999999996076,-5.67991765269e-05,-4.40111808379e-05,-5.18121095507e-05,1793256603190228224
+177,2.950000000,POSE1_TO_POSE2_PRESS,797,744,727.811618844,712,698.188381156,656,934,804,838,671,658,678,0.434269107958,-0.00553762286278,0.0799233219445,0.999999989843,-6.12304492323e-05,-0.000116168064479,-5.54128735533e-05,1793256603206894592
+178,2.966666667,POSE1_TO_POSE2_PRESS,797,744,727.222608844,712,698.777391156,656,934,804,838,671,658,678,0.435162251876,-0.00554072574771,0.0799154546708,0.999999988846,-7.02215492883e-05,-0.000118706915919,-5.73189063186e-05,1793256603223561216
+179,2.983333333,POSE1_TO_POSE2_PRESS,797.361710789,744.361710789,727,712,698.638289211,656,934,804,838,671,658,678,0.436038833209,-0.00554078021088,0.0799315260074,0.999999990824,-7.13491122216e-05,-0.000100080993851,-5.69575852998e-05,1793256603240228096
+180,3.000000000,POSE1_TO_POSE2_PRESS,797.943180732,744.943180732,727,712,698.056819268,656,934,804,838,671,658,678,0.436905351809,-0.00553898259035,0.079962141364,0.999999993831,-6.76991442217e-05,-6.85963101644e-05,-5.52187222702e-05,1793256603256895232
+181,3.016666667,POSE1_TO_POSE2_PRESS,797.482961074,744.482961074,727,712,698,656,934,804,838,671,658,678,0.437725141102,-0.00554357463474,0.0799658991738,0.999999993894,-7.28026144528e-05,-6.28705866763e-05,-5.43882786618e-05,1793256603273561856
+182,3.033333333,POSE1_TO_POSE2_PRESS,797,744,727,712,697.909457839,655.909457839,934,804,838,671,657.909457839,678,0.438531208314,-0.00554847474509,0.0799610030096,0.999999992982,-7.90076477827e-05,-6.97621930375e-05,-5.41024147145e-05,1793256603290228480
+183,3.050000000,POSE1_TO_POSE2_PRESS,797,744,727,712,697.333437812,655.333437812,934,804,838,671,657.333437812,678,0.43929083432,-0.00555131626236,0.079925301012,0.999999986354,-8.60361204648e-05,-0.000129348682038,-5.62090218479e-05,1793256603306895104
+184,3.066666667,POSE1_TO_POSE2_PRESS,797,744.249279624,727,712,697,655,934.249279624,803.750720376,838,671,657,678,0.440010172873,-0.00555250720514,0.0798670145062,0.999999969745,-8.88629842764e-05,-0.000221602022187,-5.92139645594e-05,1793256603323561728
+185,3.083333333,POSE1_TO_POSE2_PRESS,797,744.841202834,727,712,697,655,934.841202834,803.158797166,838,671,657,678,0.440674134845,-0.00555142937515,0.0797776848046,0.999999929943,-8.59145878726e-05,-0.000358757088278,-6.34537003047e-05,1793256603340228096
+186,3.100000000,POSE1_TO_POSE2_PRESS,797,744.577467582,727,712,697,655,934.577467582,802.577467582,838,671,657.422532418,678,0.441334570844,-0.00554896819652,0.0797008987362,0.999999882609,-8.33818026249e-05,-0.000472570041434,-6.71352880258e-05,1793256603356894976
+187,3.116666667,POSE1_TO_POSE2_PRESS,797,744.000021897,727,712,697,655,934.000021897,802.000021897,838,671,657.999978103,678,0.441993714167,-0.00554599984001,0.0796287115389,0.999999827285,-8.10013924279e-05,-0.000577825072771,-7.06122416506e-05,1793256603373561600
+188,3.133333333,POSE1_TO_POSE2_PRESS,797,744.574257753,727,712,696.425742247,655,934,802,838,671,657.425742247,678,0.442743975505,-0.0055558507781,0.0796793607212,0.99999986968,-9.83293845901e-05,-0.000496259903134,-6.8536109481e-05,1793256603390228480
+189,3.150000000,POSE1_TO_POSE2_PRESS,797,744.848137192,727,712,696,654.848137192,934,802,838,671,657,678,0.443479388925,-0.00556430911376,0.0797274592351,0.999999902848,-0.000107424181196,-0.000422361792326,-6.61408961185e-05,1793256603406895616
+190,3.166666667,POSE1_TO_POSE2_PRESS,797,744.261000274,727,712,696,654.261000274,934,802,838,671,657,678,0.444172235031,-0.00556877453608,0.0797682336006,0.999999925089,-9.29185888461e-05,-0.000370459549058,-6.28317260427e-05,1793256603423562240
+191,3.183333333,POSE1_TO_POSE2_PRESS,797,744.323361143,727,712,695.676638857,654,934,801.676638857,838,671,657,678,0.444814365841,-0.00556996590813,0.0797744350537,0.999999924937,-0.000103636916464,-0.000368102984063,-6.23419760366e-05,1793256603440228608
+192,3.200000000,POSE1_TO_POSE2_PRESS,797,744.905501351,727,712,695.094498649,654,934,801.094498649,838,671,657,678,0.445415910236,-0.00556853712693,0.0797529685359,0.999999906721,-0.000134541413103,-0.000405396777641,-6.41085483055e-05,1793256603456895232
+193,3.216666667,POSE1_TO_POSE2_PRESS,796.517922606,745,727,712,695,653.517922606,934,800.517922606,838,671,657,678,0.445973021693,-0.00556894577829,0.0797170213449,0.999999887478,-0.000125947113163,-0.00045266923592,-6.53581487983e-05,1793256603473561856
+194,3.233333333,POSE1_TO_POSE2_PRESS,796,744.942530723,726.942530723,712,694.942530723,653,934,800.057469277,838,671,657,678,0.446517786435,-0.0055695996151,0.0796795320973,0.999999866552,-0.0001111048789,-0.000500109859076,-6.66488731805e-05,1793256603490228480
+195,3.250000000,POSE1_TO_POSE2_PRESS,796,744.368091416,726.368091416,712,694.368091416,653,934,800.631908584,838,671,657,678,0.447028942011,-0.00556925597333,0.0796534142738,0.999999850338,-0.000108914253484,-0.000531668134043,-6.921073278e-05,1793256603506895104
+196,3.266666667,POSE1_TO_POSE2_PRESS,796.212345147,744,726.212345147,712,693.787654853,652.787654853,934,800.787654853,838,671,657,678,0.44752667173,-0.00556917074966,0.0796280728956,0.999999830952,-0.000114161525477,-0.000565658758805,-7.13705247119e-05,1793256603523561728
+197,3.283333333,POSE1_TO_POSE2_PRESS,796.803479787,744,726.803479787,712,693.196520213,652.196520213,934,800.196520213,838,671,657,678,0.448000451832,-0.00556954650222,0.0796041165732,0.999999806147,-0.000132676807081,-0.000603988300024,-7.28130925133e-05,1793256603540228608
+198,3.300000000,POSE1_TO_POSE2_PRESS,796.613947887,744,727,712,692.613947887,652,934,800,838,671.386052113,657,678,0.448432552927,-0.00556825280697,0.0795774465177,0.999999778718,-0.000131518102007,-0.000647981199627,-7.33979503111e-05,1793256603556895488
+199,3.316666667,POSE1_TO_POSE2_PRESS,796.03563959,744,727,712,692.03563959,652,934,800,838,671.96436041,657,678,0.448843897679,-0.0055661277171,0.0795494250053,0.999999748658,-0.000120561639349,-0.000694794487013,-7.35556636022e-05,1793256603573562112
+200,3.333333333,POSE1_TO_POSE2_PRESS,796.541237586,744.541237586,727,712,692,652,934,799.458762414,838,671.458762414,657,678,0.449259855488,-0.00557112356892,0.0795451167566,0.999999747857,-0.000124091833995,-0.000695283026148,-7.39462223279e-05,1793256603590228736
+201,3.350000000,POSE1_TO_POSE2_PRESS,797,744.880143992,727,712.119856008,692,651.880143992,934.119856008,799,838,671,657,678.119856008,0.449668095301,-0.00557599406535,0.0795459428784,0.999999751434,-0.000130245248118,-0.000688959327333,-7.41857312537e-05,1793256603606895104
+202,3.366666667,POSE1_TO_POSE2_PRESS,797,744.294391601,727,712.705608399,692,651.294391601,934.705608399,799,838,671,657,678.705608399,0.450045156703,-0.00557855941152,0.0795606733156,0.999999763969,-0.000142897224941,-0.000667981616348,-7.37786471729e-05,1793256603623562240
+203,3.383333333,POSE1_TO_POSE2_PRESS,797,744,727,713,691.711933323,651.288066677,934.711933323,798.711933323,838,671.288066677,657,678.711933323,0.450407225796,-0.00557998545363,0.0795711100443,0.999999772523,-0.000145703191609,-0.000654506039358,-7.31121173592e-05,1793256603640229120
+204,3.400000000,POSE1_TO_POSE2_PRESS,797,744,727,713,691.13280346,651.86719654,934.13280346,798.13280346,838,671.86719654,657,678.13280346,0.450754146607,-0.00558026034033,0.0795772083998,0.999999777447,-0.000138560727818,-0.000648610636148,-7.2183443074e-05,1793256603656895232
+205,3.416666667,POSE1_TO_POSE2_PRESS,797,744.443828006,726.556171994,712.556171994,690.556171994,651.556171994,934,798,838,671.556171994,657,678,0.45103892534,-0.00558105547335,0.0795659993454,0.999999765196,-0.000135087004522,-0.000667953680567,-7.20899401018e-05,1793256603673561856
+206,3.433333333,POSE1_TO_POSE2_PRESS,796.980362132,745,726.019637868,712,690,651.019637868,934,798,838,671.019637868,657,678,0.451303341556,-0.00558205177063,0.0795492482475,0.999999746753,-0.000132840887248,-0.000695426247257,-7.23105186103e-05,1793256603690228736
+207,3.450000000,POSE1_TO_POSE2_PRESS,796.406758288,745,726.593241712,712,690,651.593241712,934,798,838,671.593241712,657,678,0.451514942679,-0.00558435601262,0.079521431828,0.999999714113,-0.00013443064596,-0.000740384978342,-7.43809943389e-05,1793256603706895616
+208,3.466666667,POSE1_TO_POSE2_PRESS,796,745,727,712,690,651.827830173,934,798,838,672,656.827830173,678,0.451718761338,-0.0055859536979,0.0794953861233,0.999999682005,-0.000136104830543,-0.00078209276846,-7.61279943817e-05,1793256603723561984
+209,3.483333333,POSE1_TO_POSE2_PRESS,796,745,727,712,690,651.23592193,934,798,838,672,656.23592193,678,0.451903606846,-0.00558582884532,0.0794736573061,0.999999654683,-0.000137984839937,-0.000815874979937,-7.70863824938e-05,1793256603740228096
+210,3.500000000,POSE1_TO_POSE2_PRESS,796,745,727,712,689.652286225,651,934,797.652286225,838,672,656,678,0.4520875673,-0.00558636610311,0.0794623336035,0.999999637462,-0.000152170978563,-0.000834366444559,-7.58424457328e-05,1793256603756894720
+211,3.516666667,POSE1_TO_POSE2_PRESS,796,745,727,712,689.074132899,651,934,797.074132899,838,672,656,678,0.452270941224,-0.00558734215976,0.0794579056563,0.999999627006,-0.000174512730077,-0.000842724311141,-7.31389673797e-05,1793256603773561600
+212,3.533333333,POSE1_TO_POSE2_PRESS,796.50301887,744.49698113,727,712,689,650.49698113,934,797,838,671.49698113,656.50301887,678.50301887,0.452426835591,-0.00559054323804,0.0794586926396,0.999999629806,-0.000174597357966,-0.000839413926159,-7.271586622e-05,1793256603790227968
+213,3.550000000,POSE1_TO_POSE2_PRESS,797,744.079611518,727,712,689,650.079611518,934,797.079611518,838,671.079611518,656.920388482,678.920388482,0.452574319258,-0.0055935451554,0.0794597331609,0.999999633836,-0.0001711771676,-0.00083530367715,-7.27535223185e-05,1793256603806894592
+214,3.566666667,POSE1_TO_POSE2_PRESS,797,744.65364689,727,712,689,650.65364689,934,797.65364689,838,671.65364689,656.34635311,678.34635311,0.452694669996,-0.0055932777407,0.0794575846745,0.999999633275,-0.000166321298657,-0.000836884308434,-7.35696730766e-05,1793256603823561728
+215,3.583333333,POSE1_TO_POSE2_PRESS,797,744.765600706,727,712,688.765600706,650.765600706,934.234399294,797.765600706,838,672,656,678,0.452802541193,-0.00559305911238,0.0794541891287,0.999999629117,-0.000164293251367,-0.000842170041177,-7.43176631042e-05,1793256603840228608
+216,3.600000000,POSE1_TO_POSE2_PRESS,797,744.174630306,727,712,688.174630306,650.174630306,934.825369694,797.174630306,838,672,656,678,0.452891428352,-0.00559291469852,0.0794488965409,0.999999619435,-0.000166566921646,-0.000853092019955,-7.49619661318e-05,1793256603856895488
+217,3.616666667,POSE1_TO_POSE2_PRESS,797,744.40870288,727,712.40870288,688,650,934.59129712,797,838,672,656.40870288,678,0.452971055724,-0.00559421052297,0.0794456544179,0.999999615464,-0.000166345077666,-0.000857730508947,-7.54887170808e-05,1793256603873561856
+218,3.633333333,POSE1_TO_POSE2_PRESS,797,744.988832687,727,712.988832687,688,650,934.011167313,797,838,672,656.988832687,678,0.453046799155,-0.00559611044308,0.079443272345,0.999999613919,-0.00016507651152,-0.000859733441637,-7.59661618016e-05,1793256603890228224
+219,3.650000000,POSE1_TO_POSE2_PRESS,797,745,727,712.437256412,688,650,934,797,838,672,656.437256412,678.562743588,0.453099472937,-0.00559638691181,0.0794399648246,0.999999610612,-0.000164534507319,-0.000863665803178,-7.60591701646e-05,1793256603906894592
+220,3.666666667,POSE1_TO_POSE2_PRESS,797,745,727,712,688,650,934,797,838,671.863914351,656,678.863914351,0.453147821656,-0.0055964499983,0.0794376628621,0.99999960797,-0.000164119664827,-0.000866806582523,-7.59688103785e-05,1793256603923561472
+221,3.683333333,POSE1_TO_POSE2_PRESS,797,745,727,712,688,650,934,797,838,671.292003252,656,678.292003252,0.453183769126,-0.00559593175864,0.079438639455,0.999999607608,-0.000164066397521,-0.00086729097286,-7.53153642071e-05,1793256603940228096
+222,3.700000000,POSE1_TO_POSE2_PRESS,797,744.70797161,727,712,688,650,934,797,838,671.29202839,656,678.29202839,0.453217343714,-0.0055954184339,0.0794396286613,0.999999609048,-0.000163243392663,-0.000865809138761,-7.50393118298e-05,1793256603956894976
+223,3.716666667,POSE1_TO_POSE2_PRESS,797,744.111295599,727,712,688,650,934,797,838,671.888704401,656,678.888704401,0.453248442886,-0.00559491023641,0.0794406310262,0.999999612356,-0.000161617388078,-0.000862276115104,-7.51569612372e-05,1793256603973561600
+224,3.733333333,POSE1_TO_POSE2_PRESS,797,744.468669192,727,712,688,650,934,797,838,672,656,679,0.453263808043,-0.00559553684459,0.0794385156329,0.999999608053,-0.000162534976961,-0.000867125723222,-7.46265254417e-05,1793256603990228736
+225,3.750000000,POSE1_TO_POSE2_PRESS,797,745,727,712,688,650,934,797,838,672,656,678.955418254,0.453275171337,-0.00559640293258,0.079435681209,0.999999602202,-0.000163902122072,-0.000873648175486,-7.39602701286e-05,1793256604006895872
+226,3.766666667,POSE1_TO_POSE2_PRESS,797,745,727,712,688,650,934,797,838,672,656,678.382119413,0.453281860544,-0.00559702321936,0.0794327976581,0.999999599154,-0.000163683907459,-0.00087721457604,-7.34456211201e-05,1793256604023561984
+227,3.783333333,POSE1_TO_POSE2_PRESS,796.802932555,745,726.802932555,712.197067445,688,650,934,797,838,672,656,678.197067445,0.453287720006,-0.0055965491645,0.0794304049507,0.999999596761,-0.000161851304998,-0.000880297868299,-7.32018965973e-05,1793256604040228096
+228,3.800000000,POSE1_TO_POSE2_PRESS,796.211977075,745,726.211977075,712.788022925,688,650,934,797,838,672,656,678.788022925,0.453291921014,-0.00559388779713,0.0794289933157,0.999999595678,-0.000156791949092,-0.000882415548912,-7.34996817071e-05,1793256604056894720
+229,3.816666667,POSE1_TO_POSE2_PRESS,796,745,726.370834031,712.629165969,688,650,934,797,838,671.629165969,656,678.629165969,0.453295623631,-0.00559332910924,0.0794284664804,0.999999595719,-0.000156939626669,-0.000882359538159,-7.33060843071e-05,1793256604073561344
+230,3.833333333,POSE1_TO_POSE2_PRESS,796,745,726.949089659,712.050910341,688,650,934,797,838,671.050910341,656,678.050910341,0.45329904748,-0.00559394653015,0.0794284345473,0.99999959639,-0.000159999796544,-0.000881087698973,-7.28376379459e-05,1793256604090227968
+231,3.850000000,POSE1_TO_POSE2_PRESS,796.523094029,745,727,712,688,650,934,797,838,671.523094029,656,678.523094029,0.453298096753,-0.00559596285836,0.0794262536538,0.999999593271,-0.000160568726736,-0.000884549295967,-7.24481398969e-05,1793256604106894592
+232,3.866666667,POSE1_TO_POSE2_PRESS,797,745,727,712,688,650,934,797,838,672,656.097005704,679,0.453297068014,-0.00559730138852,0.0794242607736,0.999999590357,-0.000160358331185,-0.000887903955882,-7.20991062513e-05,1793256604123561472
+233,3.883333333,POSE1_TO_POSE2_PRESS,797,745,727,712,688,650,934,797,838,672,656.672484341,679,0.45329773757,-0.00559463060143,0.0794242185465,0.999999590317,-0.000157490251409,-0.00088847718884,-7.19120665931e-05,1793256604140228352
+234,3.900000000,POSE1_TO_POSE2_PRESS,796.745552932,745,727,712,688,650,934,796.745552932,838,672,656.745552932,678.745552932,0.453297691157,-0.00559343470171,0.0794236842257,0.99999958962,-0.000156825557736,-0.000889384969114,-7.18390444671e-05,1793256604156894976
+235,3.916666667,POSE1_TO_POSE2_PRESS,796.155025776,745,727,712,688,650,934,796.155025776,838,672,656.155025776,678.155025776,0.453296699074,-0.00559418686998,0.0794224999351,0.999999588058,-0.00015907115145,-0.000890734627981,-7.19166195397e-05,1793256604173561600
+236,3.933333333,POSE1_TO_POSE2_PRESS,796.428180877,745,727,712,687.571819123,650,934,796,838,672,656,678.428180877,0.453295620516,-0.00559416458969,0.079420903046,0.9999995854,-0.00015986584101,-0.000893557709776,-7.20975741918e-05,1793256604190228224
+237,3.950000000,POSE1_TO_POSE2_PRESS,797,745,726.991333658,712,687.008666342,650,934,796.008666342,838,672,656,678.991333658,0.453294546346,-0.00559386411236,0.0794191893519,0.999999582404,-0.000160125466686,-0.00089684085429,-7.23096449754e-05,1793256604206894848
+238,3.966666667,POSE1_TO_POSE2_PRESS,797,745,726.418353892,712,687.581646108,650,934,796.581646108,838,672,656,678.418353892,0.453295762292,-0.00559339980527,0.079419433537,0.999999583385,-0.000159174962685,-0.000895928435067,-7.21516012608e-05,1793256604223561216
+239,3.983333333,POSE1_TO_POSE2_PRESS,797,745,726.155761692,712,688,650,934,797,838,672,656.155761692,678.155761692,0.453296507998,-0.00559292199474,0.0794195371023,0.999999583859,-0.000157844404191,-0.000895651354824,-7.19391552504e-05,1793256604240228096
+240,4.000000000,POSE1_TO_POSE2_PRESS,797,745,726.732950292,712,688,650,934,797,838,672,656.732950292,678.732950292,0.453295981432,-0.00559240764951,0.0794192602088,0.999999582962,-0.000155485575013,-0.000897093239916,-7.15795190698e-05,1793256604256894976
+241,4.016666667,POSE1_TO_POSE2_PRESS,797,745,727,712,688,650,934,796.680205642,838,672,656.680205642,679,0.453296247142,-0.00559332131785,0.0794187610906,0.999999582545,-0.000156107277345,-0.000897483699301,-7.11537838909e-05,1793256604273561856
+242,4.033333333,POSE1_TO_POSE2_PRESS,797,745,727,712,688,650,934,796.085047626,838,672,656.085047626,679,0.453297195054,-0.00559546459841,0.0794180706228,0.999999582539,-0.000159295410508,-0.000896968812966,-7.06711332107e-05,1793256604290228480
+243,4.050000000,POSE1_TO_POSE2_PRESS,797,745,727,712,687.506303243,650,934,796,838,672,656,679,0.453296660169,-0.005596324301,0.0794174546289,0.999999580752,-0.00016172915832,-0.00089849961602,-7.09772414208e-05,1793256604306895104
+244,4.066666667,POSE1_TO_POSE2_PRESS,797,745,726.931598663,712,687,650,934,796,838.068401337,672,656,679,0.453296003743,-0.00559670879097,0.0794169349398,0.999999579006,-0.000163505034191,-0.000900091052679,-7.13509640269e-05,1793256604323561728
+245,4.083333333,POSE1_TO_POSE2_PRESS,797,745,726.366360664,712,687,650,934,796,838.633639336,672,656,679,0.453296260173,-0.00559519597248,0.0794170245775,0.999999579752,-0.000161415988714,-0.000899645557194,-7.1260613626e-05,1793256604340228352
+246,4.100000000,POSE1_TO_POSE2_PRESS,797,745,726.21134027,712.21134027,687,649.78865973,934,796.21134027,838.78865973,672,656.21134027,679,0.453295873287,-0.00559441211688,0.0794168474645,0.999999579596,-0.000160341906378,-0.000900021259668,-7.11357331828e-05,1793256604356894720
+247,4.116666667,POSE1_TO_POSE2_PRESS,797,745,726.811999823,712.811999823,687,649.188000177,934,796.811999823,838.188000177,672,656.811999823,679,0.453294301318,-0.00559497111588,0.0794161789583,0.99999957778,-0.000161137532301,-0.000901909727253,-7.09472434016e-05,1793256604373561344
+248,4.133333333,HOLD_POSE2,797,745,727,712,688,650,934,796,838,672,656,678,0.453296616612,-0.00559240533838,0.0794167464544,0.999999580189,-0.000158800637562,-0.000899600338603,-7.15802431781e-05,1793256604407603712
+249,4.150000000,HOLD_POSE2,796.424513971,745,727,712,687.424513971,650,934,796,838,672,656,678,0.453296728525,-0.00559422237354,0.0794162099904,0.999999579654,-0.000159525484913,-0.000900115179823,-7.09725614567e-05,1793256604424269568
+250,4.166666667,HOLD_POSE2,796,744.846007697,727,712,687,650,934.153992303,796,838,672,656,678.153992303,0.453297028733,-0.00559523124331,0.0794159597266,0.999999579326,-0.000159930861861,-0.000900435253896,-7.06088601882e-05,1793256604440935680
+251,4.183333333,HOLD_POSE2,796,744.259008749,727,712,687,650,934.740991251,796,838,672,656,678.740991251,0.453297858398,-0.00559396765587,0.0794165142208,0.999999579587,-0.0001594379291,-0.000900207667803,-7.09312005848e-05,1793256604457602048
+252,4.200000000,HOLD_POSE2,796.323433865,744.323433865,727,712,687,650,934.676566135,796,838,672,656,678.676566135,0.453297616847,-0.00559252792229,0.0794161039485,0.999999578976,-0.00015713565789,-0.000901271813787,-7.11665037825e-05,1793256604474268672
+253,4.216666667,HOLD_POSE2,796.902278377,744.902278377,727,712,687,650,934.097721623,796,838,672,656,678.097721623,0.453296529373,-0.00559094908894,0.079414931815,0.999999577663,-0.000153404580522,-0.000903356020329,-7.13330750497e-05,1793256604490935296
+254,4.233333333,HOLD_POSE2,797,745,727,712,687,650,934.48024195,796,838,672,656,678,0.453296625084,-0.00559106543003,0.079414572576,0.999999577329,-0.000154265488376,-0.000903597366955,-7.11055866213e-05,1793256604507601920
+255,4.250000000,HOLD_POSE2,797,745,727,712,687,650,934.942017294,796,838,672,656,678,0.453297133069,-0.00559159000538,0.0794144964715,0.999999577369,-0.000155829649686,-0.000903307342783,-7.08127109889e-05,1793256604524268544
+256,4.266666667,HOLD_POSE2,797,745,727,712,687,650,934.364669619,796,838,672,656,678,0.4532991813,-0.00559268716969,0.0794154775559,0.999999578988,-0.000155338735158,-0.000901610453076,-7.06510667514e-05,1793256604540935424
+257,4.283333333,HOLD_POSE2,797,745,727,712.215836599,687,650,934,796,838,672,656.215836599,678,0.453300261844,-0.00559355922118,0.0794159591308,0.999999579694,-0.000155923360526,-0.00090073573848,-7.05389487254e-05,1793256604557601792
+258,4.300000000,HOLD_POSE2,797,745,727,712.801758567,687,650,934,796,838,672,656.801758567,678,0.45329968314,-0.00559404528163,0.0794155842189,0.999999578832,-0.000158352166144,-0.000901270770973,-7.05117510974e-05,1793256604574268416
+259,4.316666667,HOLD_POSE2,796.616956215,745,727,712.616956215,687,650,934,796,838.383043785,672,657,678.383043785,0.45329810272,-0.00559352238735,0.0794142074104,0.999999577063,-0.000157841307786,-0.000903333277228,-7.03472049906e-05,1793256604590935040
+260,4.333333333,HOLD_POSE2,796.03804196,745,727,712.03804196,687,650,934,796,838.96195804,672,657,678.96195804,0.45329601007,-0.0055924835614,0.0794123182793,0.999999574823,-0.000155827244561,-0.000906176861343,-7.01124253665e-05,1793256604607601664
+261,4.350000000,HOLD_POSE2,797.077098549,745,727,712,687,650,934,796,838.461450726,672,657,679,0.45329780788,-0.00559292973578,0.0794142576392,0.999999576591,-0.00015788894298,-0.000903849715681,-7.03159974822e-05,1793256604624268288
+262,4.366666667,HOLD_POSE2,798,745,726.88542782,712,687,650,934,796,838,671.88542782,656.88542782,678.88542782,0.453299254391,-0.00559345508466,0.0794156175311,0.999999577833,-0.000159446784557,-0.000902190525633,-7.04450064849e-05,1793256604640935168
+263,4.383333333,HOLD_POSE2,798,745,726.311029935,712,687,650,934,796,838,671.311029935,656.311029935,678.311029935,0.453298192791,-0.0055938790059,0.0794135710668,0.999999575868,-0.000157831928653,-0.000904671718568,-7.01510243145e-05,1793256604657601792
+264,4.400000000,POSE2_TO_POSE3_RETREAT,797,744,727,712,687,650,935,796,839,672,656,679,0.453297056975,-0.00559350704736,0.0794132202385,0.999999574924,-0.000157949131864,-0.000905684649499,-7.02827036593e-05,1793256604694853632
+265,4.416666667,POSE2_TO_POSE3_RETREAT,797,744.582077704,727,712,687,650,934.417922296,796.582077704,838.417922296,672,656,678.417922296,0.453296451039,-0.00559370049299,0.0794125575197,0.999999573765,-0.000157575699126,-0.000907052345638,-6.99725377973e-05,1793256604711520512
+266,4.433333333,POSE2_TO_POSE3_RETREAT,797,745,727,712,687,650,934,796.838097889,838,672,656,678.161902111,0.453296530905,-0.00559373878986,0.0794123114579,0.999999573573,-0.000157021230117,-0.000907378969896,-6.97269541978e-05,1793256604728187136
+267,4.450000000,POSE2_TO_POSE3_RETREAT,797,745,727,712,687,650,934,796.26401002,838,672,656,678.73598998,0.453298356753,-0.00559338209433,0.0794131261606,0.999999575843,-0.000156005861709,-0.000905055134853,-6.96457901858e-05,1793256604744854016
+268,4.466666667,POSE2_TO_POSE3_RETREAT,796.683845305,745,727,712,687,649.683845305,934,796,838,672,656,679,0.453299004815,-0.00559323641642,0.0794131562434,0.999999576261,-0.000155301871102,-0.000904714755514,-6.96453519064e-05,1793256604761520128
+269,4.483333333,POSE2_TO_POSE3_RETREAT,796.098506607,745,727,712,687,649.098506607,934,796,838,672,656,679,0.453298650072,-0.00559327040556,0.0794125182762,0.999999575103,-0.000154862997362,-0.000906063152581,-6.97136460473e-05,1793256604778186240
+270,4.500000000,POSE2_TO_POSE3_RETREAT,796,745,727,712.483776777,687,649,934,796,838,672,656,679,0.453297759043,-0.00559165898922,0.0794120278432,0.999999574174,-0.000154553332845,-0.000907114959632,-7.00530531916e-05,1793256604794853120
+271,4.516666667,POSE2_TO_POSE3_RETREAT,796.064998125,745,727,712.935001875,687,649.064998125,934,796,838,672,656,678.935001875,0.453296721923,-0.00558987425894,0.079411593406,0.999999573459,-0.000154132246982,-0.000907946495158,-7.04195022123e-05,1793256604811519744
+272,4.533333333,POSE2_TO_POSE3_RETREAT,796.642718537,745,727,712.357281463,687,649.642718537,934,796,838,672,656,678.357281463,0.453295388387,-0.00558934865934,0.0794113651961,0.999999574072,-0.000152626005879,-0.000907513866477,-7.05665338047e-05,1793256604828186368
+273,4.550000000,POSE2_TO_POSE3_RETREAT,797,745,727,712,687,649.781009892,934,796,838,672,656.218990108,678,0.453289901187,-0.00558952415337,0.0794086112132,0.999999570911,-0.000152754140533,-0.000910958645904,-7.06943887161e-05,1793256604844852992
+274,4.566666667,POSE2_TO_POSE3_RETREAT,797,745,727,712,687,649.207086618,934,796,838,672,656.792913382,678,0.453277681843,-0.00559083596082,0.0794017635265,0.999999561566,-0.000155531226748,-0.000920687822083,-7.07911625694e-05,1793256604861520128
+275,4.583333333,POSE2_TO_POSE3_RETREAT,797,745,727,712,687,649.375145928,934,796,838,672,656.624854072,678,0.45325055137,-0.00559071973634,0.0793898612063,0.999999543127,-0.00015575816897,-0.000940451064011,-7.09757434227e-05,1793256604878186752
+276,4.600000000,POSE2_TO_POSE3_RETREAT,797,745,727,712,687,649.962069281,934,796,838,672,656.037930719,678,0.453215003264,-0.00558979735924,0.079375105443,0.999999519061,-0.00015454550378,-0.000965878738391,-7.12098930685e-05,1793256604894853376
+277,4.616666667,POSE2_TO_POSE3_RETREAT,797,745,727,712,687,650,934,796,838,672,656,678.543023304,0.453157275584,-0.00558920239508,0.0793590353789,0.999999489211,-0.000154713171778,-0.000996289768286,-7.10543682869e-05,1793256604911519488
+278,4.633333333,POSE2_TO_POSE3_RETREAT,797,745,727,712,687,650,934,796,838,672,656,679,0.453095631131,-0.00558832435926,0.0793434484985,0.999999462215,-0.000154155140456,-0.00102313978348,-7.065244718e-05,1793256604928185856
+279,4.650000000,POSE2_TO_POSE3_RETREAT,797,745,727,712,687,650,934,796,838,672,656,679,0.453025168676,-0.00558631578636,0.0793299843886,0.999999450076,-0.000150560572911,-0.00103554685825,-6.94388543952e-05,1793256604944852480
+280,4.666666667,POSE2_TO_POSE3_RETREAT,797,745,727,712,687,650,934,796,838,672,656,678.729809527,0.452941926978,-0.00558471296156,0.0793165774809,0.999999432351,-0.000148510925518,-0.00105289146642,-6.82747121634e-05,1793256604961519360
+281,4.683333333,POSE2_TO_POSE3_RETREAT,797,745,727,712,687,650,934,796,838,672,656,678.155755782,0.452844313414,-0.00558356645181,0.0793032349051,0.999999408102,-0.000148198735913,-0.00107578895279,-6.71661833732e-05,1793256604978185984
+282,4.700000000,POSE2_TO_POSE3_RETREAT,797,745,726.56864463,712,687.43135537,650,934,796,838,672,656,678.43135537,0.452725338597,-0.00558074551205,0.0792887543138,0.999999380435,-0.000146746629187,-0.00110151267274,-6.53089854152e-05,1793256604994852864
+283,4.716666667,POSE2_TO_POSE3_RETREAT,796.977248985,745,726.022751015,712,688,650,934,796,838,671.977248985,656.022751015,678.977248985,0.45259730504,-0.00557732891998,0.0792736226681,0.999999350796,-0.000144766768923,-0.00112847691511,-6.31717087091e-05,1793256605011520000
+284,4.733333333,POSE2_TO_POSE3_RETREAT,796.399930188,745,726.600069812,712,688,650,934,796,838,671.399930188,656.600069812,678.399930188,0.452442342605,-0.00557459074253,0.0792529502766,0.999999315469,-0.000140268955111,-0.0011600276126,-6.10025668911e-05,1793256605028186368
+285,4.750000000,POSE2_TO_POSE3_RETREAT,796.175876273,745,727,712,688,650,934,796.175876273,838,671.175876273,656.824123727,678,0.45227805152,-0.00557212830331,0.0792317702512,0.999999277069,-0.000136299669743,-0.00119326168262,-5.8405681484e-05,1793256605044852992
+286,4.766666667,POSE2_TO_POSE3_RETREAT,796.74827303,745,727,712,688,650,934,796.74827303,838,671.74827303,656.25172697,678,0.452092728616,-0.00557028752791,0.0792094457466,0.999999232774,-0.000133521974836,-0.00123029098407,-5.48444304474e-05,1793256605061519360
+287,4.783333333,POSE2_TO_POSE3_RETREAT,797,745,727,712,688,650,934,797,838,672,656.321038717,678,0.451889415907,-0.00556630333215,0.0791872395164,0.999999185979,-0.000128415079634,-0.00126843073184,-5.13298228544e-05,1793256605078185984
+288,4.800000000,POSE2_TO_POSE3_RETREAT,797,745,727,712,688,650,934,797,838,672,656.894094077,678,0.451671981112,-0.00556063654285,0.0791651261296,0.999999136774,-0.000121479752786,-0.00130744218769,-4.78518301427e-05,1793256605094852608
+289,4.816666667,POSE2_TO_POSE3_RETREAT,797,745,727,712,688,650,934,797,838,672,657,678,0.451419046973,-0.00555622710782,0.0791451577073,0.999999094016,-0.000112701410711,-0.00134067701299,-4.30144114836e-05,1793256605111518976
+290,4.833333333,POSE2_TO_POSE3_RETREAT,797,745,726.911161618,712,688.088838382,650.088838382,934,797,838,671.911161618,657,678,0.451156719372,-0.00555212210782,0.0791277076224,0.999999056517,-0.000103658635625,-0.00136923425571,-3.76503523978e-05,1793256605128185856
+291,4.850000000,POSE2_TO_POSE3_RETREAT,797,745,726.3356953,712,688.6643047,650.6643047,934,797,838,671.3356953,657,678,0.45088702134,-0.00554812328747,0.0791213884951,0.999999043667,-9.54560834564e-05,-0.00137934280205,-3.10896962383e-05,1793256605144852992
+292,4.866666667,POSE2_TO_POSE3_RETREAT,797,745,726.239208891,712,689,651,934,797,838,671.239208891,657,678,0.450611165058,-0.0055444714752,0.0791246770276,0.999999053229,-8.6880338059e-05,-0.00137310590977,-2.39211178056e-05,1793256605161519872
+293,4.883333333,POSE2_TO_POSE3_RETREAT,797,745,726.813326033,712,689,651,934,797,838,671.813326033,657,678,0.450326686835,-0.00554130549739,0.0791414169191,0.999999093701,-7.77820979367e-05,-0.00134398432224,-1.59014084076e-05,1793256605178186752
+294,4.900000000,POSE2_TO_POSE3_RETREAT,796.600585575,745,726.600585575,712,689.399414425,651,934,797,838,671.600585575,657,678,0.450015562234,-0.00553591347187,0.0791604578797,0.999999136295,-6.63824684802e-05,-0.00131260327051,-8.6359541521e-06,1793256605194853120
+295,4.916666667,POSE2_TO_POSE3_RETREAT,796.008729335,745,726.008729335,712,689.991270665,651,934,797,838,671.008729335,657,678,0.449691599153,-0.00552944891464,0.0791806075178,0.999999179176,-5.38740071209e-05,-0.00128013358648,-1.73390770321e-06,1793256605211519232
+296,4.933333333,POSE2_TO_POSE3_RETREAT,796,744.430153116,726.569846884,712,690,651,934,797.569846884,838,671.569846884,657,678.569846884,0.449295037582,-0.00552475734164,0.0791878026054,0.99999919847,8.6718307686e-06,-0.00126608886956,1.82961859373e-06,1793256605228185600
+297,4.950000000,POSE2_TO_POSE3_RETREAT,796,744,726.853031857,712,690.146968143,651,934,798.146968143,838,671.853031857,657,678.853031857,0.448887876812,-0.00551959632814,0.0791931752145,0.999999209322,4.6349719943e-05,-0.0012566624444,2.63919891766e-06,1793256605244852480
+298,4.966666667,POSE2_TO_POSE3_RETREAT,796,744,726.27955613,712,690.72044387,651,934,798.72044387,838,671.27955613,657,678.27955613,0.448453110707,-0.00551299595576,0.0791938217019,0.999999206347,9.68600696816e-06,-0.00125983806704,-4.39824970775e-06,1793256605261519360
+299,4.983333333,POSE2_TO_POSE3_RETREAT,796.295478865,744,726,712,691,651.295478865,934,799,838,671,657,678,0.44799513979,-0.00550539522448,0.0791955057233,0.999999205791,-2.22666884966e-06,-0.00126031366462,-4.60697747766e-06,1793256605278186496
+300,5.000000000,POSE2_TO_POSE3_RETREAT,796.871996996,744,726,712,691,651.871996996,934,799,838,671,657,678,0.447515097993,-0.00549684301954,0.0791981765761,0.999999208394,9.40214291608e-06,-0.00125822118469,1.67930564797e-06,1793256605294853632
+301,5.016666667,POSE2_TO_POSE3_RETREAT,796.539439513,744.460560487,726.460560487,712,691.460560487,652,934,799,838,671,656.539439513,678,0.447040423457,-0.00548818606481,0.0792170011723,0.999999253301,3.22326366499e-05,-0.00122161475403,3.9570109338e-06,1793256605311520256
+302,5.033333333,POSE2_TO_POSE3_RETREAT,796.05122429,745,726.94877571,712,692,652,934,799,838,671,656.05122429,678,0.446562841333,-0.00547915850688,0.0792432210312,0.999999311133,5.6316916304e-05,-0.00117240624402,5.07002825257e-06,1793256605328186624
+303,5.050000000,POSE2_TO_POSE3_RETREAT,796.628163293,745,726.371836707,712,692,652,934,799,838,671,656.628163293,678,0.446039697713,-0.0054666342543,0.0792980243792,0.999999398693,6.04592485893e-05,-0.00109495349879,5.97092491049e-06,1793256605344853248
+304,5.066666667,POSE2_TO_POSE3_RETREAT,796.79521942,745,726,711.79521942,692.20478058,652.20478058,934,799,838,671.20478058,657,678,0.445499820444,-0.00544869566232,0.0793490434973,0.999999474863,7.36085015778e-05,-0.0010221642255,6.05984565875e-06,1793256605361520128
+305,5.083333333,POSE2_TO_POSE3_RETREAT,796.219185417,745,726,711.219185417,692.780814583,652.780814583,934,799,838,671.780814583,657,678,0.444929606228,-0.00542094123778,0.0793932020577,0.999999535957,0.000103086696285,-0.000957829524169,4.67670865576e-06,1793256605378186752
+306,5.100000000,POSE2_TO_POSE3_RETREAT,796.365089943,745,726.365089943,711.365089943,693.365089943,653,934,799.365089943,838,671.634910057,657,678,0.444338174846,-0.00540975455092,0.0794310872292,0.999999582665,0.000124101832792,-0.000905113004622,6.24877397531e-06,1793256605394853120
+307,5.116666667,POSE2_TO_POSE3_RETREAT,796.95442733,745,726.95442733,711.95442733,693.95442733,653,934,799.95442733,838,671.04557267,657,678,0.443733711365,-0.00540874418714,0.0794651191255,0.999999620767,0.000139918744567,-0.000859532667791,9.6359990939e-06,1793256605411519488
+308,5.133333333,POSE2_TO_POSE3_RETREAT,797,744.465644172,727,712,694,653,934,800.534355828,837.465644172,671,657,678,0.443080581308,-0.00542213259418,0.0794907795104,0.999999658828,0.000116642421315,-0.000817662101831,1.29029635914e-05,1793256605428186368
+309,5.150000000,POSE2_TO_POSE3_RETREAT,796.887540606,744.112459394,727,712,694.112459394,653.112459394,934,801,837.112459394,671,657,678,0.442418221524,-0.00543415110071,0.0795181866475,0.999999698186,9.51945633658e-05,-0.000770919958139,1.57883120915e-05,1793256605444853248
+310,5.166666667,POSE2_TO_POSE3_RETREAT,796.313689183,744.686310817,727,712,694.686310817,653.686310817,934,801,837.686310817,671,657,678,0.441734728671,-0.00543559824995,0.0795556387895,0.999999748325,9.4690607588e-05,-0.000702915395905,1.71493387977e-05,1793256605461520128
+311,5.183333333,POSE2_TO_POSE3_RETREAT,796.260995628,744.739004372,727,712,695,654.260995628,934,801.260995628,838,671,657,678,0.441020816332,-0.00543274235693,0.079578291616,0.999999776229,0.000103684061035,-0.000660641187195,1.85913047432e-05,1793256605478186752
+312,5.200000000,POSE2_TO_POSE3_RETREAT,796.836685367,744.163314633,727,712,695,654.836685367,934,801.836685367,838,671,657,678,0.440270225766,-0.00542469809341,0.0795831002504,0.999999781239,0.000124128966241,-0.000649391211258,2.01308630009e-05,1793256605494852864
+313,5.216666667,POSE2_TO_POSE3_RETREAT,796.577902552,744,727,712,695.422097448,655,934.422097448,802.422097448,838,671,657,678,0.439497746911,-0.00541885923325,0.0795718470865,0.999999769341,0.000134637958785,-0.000665411826684,2.04488466304e-05,1793256605511519488
+314,5.233333333,POSE2_TO_POSE3_RETREAT,796,744,727,712,696,655,934.988771674,803,837.988771674,671,657,678,0.438717638185,-0.00541404763871,0.0795562711791,0.999999752495,0.000141095807547,-0.000688974673914,2.04055860312e-05,1793256605528185856
+315,5.250000000,POSE2_TO_POSE3_RETREAT,796,744,727,712,696,655,934.406332827,803,837.406332827,671,657,678,0.437990364974,-0.00541706275575,0.0796443870342,0.999999840118,0.00014164319127,-0.000546803147366,2.65962684506e-05,1793256605544852480
+316,5.266666667,POSE2_TO_POSE3_RETREAT,796,744,727,712,696.17309781,655.17309781,934,803,837.17309781,671,657,678,0.437253610058,-0.00542090962787,0.0797342522315,0.999999907736,0.000139364300462,-0.000405063748069,3.20890457128e-05,1793256605561519360
+317,5.283333333,POSE2_TO_POSE3_RETREAT,796,744,727,712,696.745587513,655.745587513,934,803,837.745587513,671,657,678,0.43649497787,-0.0054266756242,0.0798281537144,0.999999955897,0.000130564296037,-0.000264321428302,3.5971533335e-05,1793256605578186240
+318,5.300000000,POSE2_TO_POSE3_RETREAT,796.320330763,744,727,712,697,655.679669237,934,803,838,671,657,678,0.435680978367,-0.00543272311003,0.0798725351973,0.999999970944,0.000126675024444,-0.000201254579891,3.95168585756e-05,1793256605594852864
+319,5.316666667,POSE2_TO_POSE3_RETREAT,796.896876476,744,727,712,697,655.103123524,934,803,838,671,657,678,0.43482269363,-0.00543899574356,0.079877308353,0.999999970993,0.000126713579692,-0.000200316075724,4.27925064222e-05,1793256605611519488
+320,5.333333333,POSE2_TO_POSE3_RETREAT,797,744.486884188,727,712,697,655.486884188,934,803,837.513115812,671,657,678,0.433928161713,-0.00543683532389,0.0798458926506,0.999999960642,0.000134389067462,-0.000242624500564,4.23046185536e-05,1793256605628185856
+321,5.350000000,POSE2_TO_POSE3_RETREAT,796.92263851,745,727,712,697.07736149,656,934,803,837.07736149,671,657.07736149,678,0.433011303642,-0.00543221634116,0.0798031964133,0.999999942431,0.000144169416341,-0.000304413290631,4.106040084e-05,1793256605644852480
+322,5.366666667,POSE2_TO_POSE3_RETREAT,796.347992395,745,727,712,697.652007605,656,934,803,837.652007605,671,657.652007605,678,0.432001685261,-0.00542360150036,0.0797386597458,0.999999894076,0.000156786729016,-0.000430868847987,4.02241410277e-05,1793256605661520128
+323,5.383333333,POSE2_TO_POSE3_RETREAT,796.226936134,744.773063866,727,711.773063866,698,656,934,803.226936134,837.773063866,671,658,678,0.431042762794,-0.00542029849431,0.0797105245954,0.999999867951,0.000163399299198,-0.000485554183542,4.04518323549e-05,1793256605678187008
+324,5.400000000,POSE2_TO_POSE3_RETREAT,796.802298353,744.197701647,727,711.197701647,698,656,934,803.802298353,837.197701647,671,658,678,0.430161676078,-0.00542515100523,0.0797382784552,0.999999893707,0.000160792500873,-0.000430047233633,4.23130602041e-05,1793256605694852864
+325,5.416666667,POSE2_TO_POSE3_RETREAT,796.614332971,744,727,711,698,656,934,804,837,671,657.614332971,678,0.429330666945,-0.00542869324683,0.0797995433259,0.999999932352,0.000163037499106,-0.000326504609523,4.59329054119e-05,1793256605711519744
+326,5.433333333,POSE2_TO_POSE3_RETREAT,796.026773028,744,727,711,698,656,934,804,837,671,657.026773028,678,0.428525872988,-0.00543154957497,0.079878350881,0.999999965079,0.000167822363426,-0.000197815779495,5.04733688947e-05,1793256605728186624
+327,5.450000000,POSE2_TO_POSE3_RETREAT,796,744.555241291,727,711,697.444758709,656,934,804,837.555241291,671,657,678,0.427590028025,-0.00542999270698,0.079865984273,0.999999960044,0.000169598781906,-0.000220429839033,5.05762804685e-05,1793256605744853760
+328,5.466666667,POSE2_TO_POSE3_RETREAT,796.134700848,745.134700848,726.865299152,711,697.134700848,656,934,804,838,671,657,678,0.426643379651,-0.00542758210429,0.0798409821853,0.999999949963,0.000171305022743,-0.000261257218061,4.97260152596e-05,1793256605761520384
+329,5.483333333,POSE2_TO_POSE3_RETREAT,796.706725583,745.706725583,726.293274417,711,697.706725583,656,934,804,838,671,657,678,0.425681969586,-0.00542308378717,0.0797890893847,0.99999992687,0.000173249732148,-0.000337764524218,4.64689588543e-05,1793256605778186496
+330,5.500000000,POSE2_TO_POSE3_RETREAT,796.71920423,746.28079577,726.28079577,711,697.71920423,656,934,804,837.71920423,671,657.28079577,678,0.424706898237,-0.00541736490901,0.0797510222221,0.999999903936,0.000183103232824,-0.000395658811128,4.53372038885e-05,1793256605794852864
+331,5.516666667,POSE2_TO_POSE3_RETREAT,796.142982051,746.857017949,726.857017949,711,697.142982051,656,934,804,837.142982051,671,657.857017949,678,0.423717453853,-0.00541036187376,0.0797275010747,0.9999998845,0.000201277606436,-0.000433970258689,4.64414878454e-05,1793256605811519488
+332,5.533333333,POSE2_TO_POSE3_RETREAT,796,747,727,711,697.446763415,656,934,804,837.446763415,671,658,678,0.422832700573,-0.00540463984461,0.079737678177,0.999999891443,0.000211036085896,-0.000412737116234,4.71737703524e-05,1793256605828185856
+333,5.550000000,POSE2_TO_POSE3_RETREAT,796.039822559,747,727,711,697.960177441,656,934,804.039822559,838,670.960177441,657.960177441,678,0.421985792829,-0.00539981515068,0.0797619285266,0.999999907831,0.000217308854657,-0.000367178165264,4.79094451848e-05,1793256605844852480
+334,5.566666667,POSE2_TO_POSE3_RETREAT,796.617360871,747,727,711,697.382639129,656,934,804.617360871,838,670.382639129,657.382639129,678,0.421183369278,-0.00540139841969,0.079826036781,0.999999942419,0.000214018713171,-0.000258502709638,5.03486833894e-05,1793256605861519104
+335,5.583333333,POSE2_TO_POSE3_RETREAT,797,747,727,711,697.194554131,656,934,804.805445869,837.805445869,670,657.194554131,678,0.420356213132,-0.00540293309721,0.0798668904508,0.99999995814,0.000211920447699,-0.000189975997413,5.21420357558e-05,1793256605878185984
+336,5.600000000,POSE2_TO_POSE3_RETREAT,797,747,727,711,697.771070069,656,934,804.228929931,837.228929931,670,657.771070069,678,0.419480500144,-0.00540437237692,0.0798620891614,0.999999956052,0.000212162157215,-0.000200271994364,5.26673428432e-05,1793256605894852864
+337,5.616666667,POSE2_TO_POSE3_RETREAT,797,747,727,711,698,656,934,804,837,670,658,677.645953297,0.41858842872,-0.00541538218978,0.0798349179177,0.999999948689,0.000195746178501,-0.000248462579866,5.07185669604e-05,1793256605911519744
+338,5.633333333,POSE2_TO_POSE3_RETREAT,797,747,727,711,698,656,934,804,837,670,658,677.058721502,0.417685583223,-0.00543269542422,0.0797930131946,0.999999933,0.000168358977945,-0.000321611602886,4.71402903339e-05,1793256605928186112
+339,5.650000000,POSE2_TO_POSE3_RETREAT,797.521559932,747.521559932,726.478440068,711,698,656,934,804,837,670,658,677,0.416859081066,-0.0054386527746,0.0798066762524,0.999999935722,0.000167993412715,-0.000312932282303,4.90639097375e-05,1793256605944852736
+340,5.666666667,POSE2_TO_POSE3_RETREAT,797.899479113,747.899479113,726,711,698,656,934,804,837,670,658,677.100520887,0.416040171703,-0.00543998911587,0.0798181623722,0.999999937009,0.000173269420537,-0.000305561291854,5.09080264847e-05,1793256605961519104
+341,5.683333333,POSE2_TO_POSE3_RETREAT,797.323113436,747.323113436,726,711,698,656,934,804,837,670,658,677.676886564,0.415217051509,-0.00542542331015,0.0797901168935,0.999999920177,0.000191039152006,-0.000347422097158,4.94820169615e-05,1793256605978185728
+342,5.700000000,POSE2_TO_POSE3_RETREAT,797,747.252375341,726.252375341,711,698,656,934,804,837.252375341,670,658,678,0.414434161091,-0.00541891334278,0.079778105347,0.999999914199,0.000198771578096,-0.000360185336572,4.85694729261e-05,1793256605994852608
+343,5.716666667,POSE2_TO_POSE3_RETREAT,797,747.826745276,726.826745276,711,698,656,934,804,837.826745276,670,658,678,0.413702598138,-0.00542268146621,0.0797865507911,0.999999923685,0.000193697846852,-0.000335824269338,4.83120371027e-05,1793256606011519232
+344,5.733333333,POSE2_TO_POSE3_RETREAT,797,748,726.587677578,711,698,656,934,804.412322422,838,670,658,678,0.412981504477,-0.00542046175307,0.0798007634751,0.999999931112,0.000196791907205,-0.000310912228443,4.88170185483e-05,1793256606028186368
+345,5.750000000,POSE2_TO_POSE3_RETREAT,797,748,726,711,698,656,934,805,838,670,658,677.997319948,0.412264879645,-0.00541565947691,0.0798173168678,0.999999937172,0.000203418785158,-0.000286027772111,4.96462952512e-05,1793256606044853504
+346,5.766666667,POSE2_TO_POSE3_RETREAT,797,748,726,711,698,656,934,805,838,670,658,677.41989931,0.411536859408,-0.00541166762015,0.0798016271788,0.999999925908,0.000211092589789,-0.000318095217335,4.93995311779e-05,1793256606061519872
+347,5.783333333,POSE2_TO_POSE3_RETREAT,797.157175241,748,726,711,698,656,934,805,838,670,658,677.157175241,0.410829956495,-0.0054090421475,0.0797899305459,0.999999916696,0.000217545869627,-0.000341839830574,4.92599172344e-05,1793256606078186240
+348,5.800000000,POSE2_TO_POSE3_RETREAT,797.733327362,748,726,711,698,656,934,805,838,670,658,677.733327362,0.41017934518,-0.00541005899927,0.0797888780682,0.999999915454,0.000220745638794,-0.000343398551541,4.9405929945e-05,1793256606094852864
+349,5.816666667,POSE2_TO_POSE3_RETREAT,798,748,726,711,698,656,934,805,838,670,658,678,0.409567278266,-0.00540809428695,0.0798056998741,0.999999924498,0.000225054288396,-0.00031279581686,5.0131861087e-05,1793256606111519488
+350,5.833333333,POSE2_TO_POSE3_RETREAT,798,748,726,711,698,656,934,805,838,670,658,678,0.40898842437,-0.00540356041733,0.0798379236114,0.999999939778,0.000230318438463,-0.000254480164687,5.13574968064e-05,1793256606128186112
+351,5.850000000,POSE2_TO_POSE3_RETREAT,798,748,726.483578486,711,698,656,934,805,838.483578486,670.483578486,658,678,0.408402302132,-0.00540240908983,0.0798421349355,0.999999938702,0.000236150647813,-0.000253075194477,5.2744887455e-05,1793256606144852992
+352,5.866666667,POSE2_TO_POSE3_RETREAT,798,748,726.937053011,711,698,656,934,805,838.937053011,670.937053011,658,677.937053011,0.407815864795,-0.00540180596838,0.0798365377996,0.999999933041,0.000241805455379,-0.000269368034092,5.37510406595e-05,1793256606161519616
+353,5.883333333,POSE2_TO_POSE3_RETREAT,798,748,726.359279225,711,698,656,934,805,838.359279225,670.359279225,658,677.359279225,0.407238649673,-0.00540019529779,0.0797961949023,0.999999911518,0.000245087158495,-0.00033801841184,5.13765621241e-05,1793256606178186496
+354,5.900000000,POSE2_TO_POSE3_RETREAT,798,748,726,711,698,656,934,805,838.216890209,670,658,677,0.406700712668,-0.00539801881672,0.0797711115555,0.999999897332,0.000245558422131,-0.000377591281795,4.96159869936e-05,1793256606194853376
+355,5.916666667,POSE2_TO_POSE3_RETREAT,798,748,726,711,698,656,934,805,838.790421489,670,658,677,0.406227362266,-0.00539491195148,0.0797711200896,0.999999901457,0.000241408371198,-0.000369350861542,4.8864877844e-05,1793256606211520256
+356,5.933333333,POSE2_TO_POSE3_RETREAT,798,748,726,711,698,656,933.625940382,805,838.625940382,670,658,677,0.405788164935,-0.00539438001806,0.0797863162003,0.999999912659,0.000241619447061,-0.00033748640458,4.90493029332e-05,1793256606228186624
+357,5.950000000,POSE2_TO_POSE3_RETREAT,798,748,726,711,698,656,933.036482269,805,838.036482269,670,658,677,0.405368634265,-0.0053953308331,0.0798102579253,0.999999926273,0.000244341833423,-0.000292018280754,4.97724459147e-05,1793256606244852736
+358,5.966666667,POSE2_TO_POSE3_RETREAT,798.542488357,748,726,711,698.542488357,656,933.542488357,805,838.542488357,670.542488357,658,677.542488357,0.404970870483,-0.00539637485563,0.0798210162834,0.999999929996,0.000243066089999,-0.000279998364608,5.02707875145e-05,1793256606261519360
+359,5.983333333,POSE2_TO_POSE3_RETREAT,799,748,726,711,698.879453666,656,934,805,839,670.879453666,658,677.879453666,0.404580117263,-0.00539717640455,0.0798297560425,0.999999931961,0.000243214284155,-0.000272597156023,5.11476103456e-05,1793256606278185984
+360,6.000000000,POSE2_TO_POSE3_RETREAT,799,748,726,711,698.302231788,656,934,805,839,670.302231788,658,677.302231788,0.404210482279,-0.00539703607521,0.0798341435833,0.99999992975,0.00024975617518,-0.000274333449475,5.35144507895e-05,1793256606294852864
+361,6.016666667,POSE2_TO_POSE3_RETREAT,798.726882237,748.273117763,726,711,698,656,934,805,838.726882237,670.273117763,658,677,0.403861833256,-0.00539593987902,0.0798354873277,0.999999928889,0.00024822551764,-0.000278938336456,5.29068616871e-05,1793256606311519488
+362,6.033333333,POSE2_TO_POSE3_RETREAT,798.15359053,748.84640947,726,711,698,656,934,805,838.15359053,670.84640947,658,677,0.403536249172,-0.00539379312386,0.0798334857443,0.999999929421,0.000237822610862,-0.000286695991647,4.90301835218e-05,1793256606328186624
+363,6.050000000,POSE2_TO_POSE3_RETREAT,798,748.567188192,726.432811808,711,698,656,933.567188192,805,838.432811808,671,658,677.432811808,0.403245370985,-0.00539435256308,0.0798348379858,0.999999929098,0.000241230197955,-0.000284937660628,4.92233579652e-05,1793256606344853248
+364,6.066666667,POSE2_TO_POSE3_RETREAT,798.023548168,748.023548168,726.976451832,711,698,656.023548168,933.023548168,805,839,670.976451832,658,677.976451832,0.402968584994,-0.0053958327298,0.0798372667784,0.999999928381,0.000249465573205,-0.000280029042618,5.08701050205e-05,1793256606361519616
+365,6.083333333,POSE2_TO_POSE3_RETREAT,798.603328368,748.603328368,726.396671632,711,698,656.603328368,933.603328368,805,839,670.396671632,658,677.396671632,0.402724667535,-0.00539566863619,0.0798361337966,0.999999926788,0.000252358083612,-0.000282965161249,5.16712547793e-05,1793256606378186240
+366,6.100000000,POSE2_TO_POSE3_RETREAT,799,748.819229617,726,711,698,656.819229617,934,805,839,670,658,677,0.402495917704,-0.0053956505946,0.0798355694284,0.999999926486,0.000252008638928,-0.000284279061332,5.20138215662e-05,1793256606394852864
+367,6.116666667,POSE2_TO_POSE3_RETREAT,799,748.24685293,726,711,698,656.24685293,934,805,839,670,658,677,0.402300025829,-0.0053959489483,0.0798362368592,0.999999928973,0.000244636085141,-0.000282078718267,5.13629512704e-05,1793256606411519744
+368,6.133333333,POSE2_TO_POSE3_RETREAT,799,748.328840102,726.328840102,711,698,656.328840102,933.671159898,805,839,670.328840102,658,677,0.402124288701,-0.00539501969113,0.079840559212,0.999999931558,0.00024228813521,-0.00027479490349,5.16580140791e-05,1793256606428186624
+369,6.150000000,POSE2_TO_POSE3_RETREAT,799,748.907048065,726.907048065,711,698,656.907048065,933.092951935,805,839,670.907048065,658,677,0.401963835412,-0.00539315950529,0.0798476531857,0.999999934148,0.000243750470092,-0.000263656161855,5.26704020809e-05,1793256606444852992
+370,6.166666667,POSE2_TO_POSE3_RETREAT,799,749,726.505205609,711,698.494794391,656.505205609,933.494794391,805,839,671,658,677,0.401828098361,-0.00539491085151,0.0798532398351,0.99999993729,0.000240342672758,-0.000254545679835,5.35036754976e-05,1793256606461519872
+371,6.183333333,POSE2_TO_POSE3_RETREAT,799,748.916867171,726,711,698.916867171,656,934,805,839,671,658,677,0.401697610173,-0.00539698331621,0.0798568965757,0.99999993871,0.000240623944219,-0.000248550842525,5.38739586232e-05,1793256606478186496
+372,6.200000000,POSE2_TO_POSE3_RETREAT,799,748.335923737,726,711,698.335923737,656,934,805,839,671,658,677,0.401570202284,-0.00539683610601,0.0798507257276,0.999999929085,0.000268582098862,-0.000258886404958,5.16772455551e-05,1793256606494853120
+373,6.216666667,POSE2_TO_POSE3_RETREAT,799,748.241150591,726,711.241150591,698.241150591,656,934,805,839,670.758849409,658,677.241150591,0.401456002989,-0.00539657668925,0.0798446776817,0.999999923645,0.000279689393301,-0.000268438777135,4.92376461839e-05,1793256606511519488
+374,6.233333333,POSE2_TO_POSE3_RETREAT,799,748.812920313,726,711.812920313,698.812920313,656,934,805,839,670.187079687,658,677.812920313,0.401359912777,-0.00539616343651,0.0798387979985,0.999999924749,0.0002676940402,-0.000276917389634,4.64650481822e-05,1793256606528186112
+375,6.250000000,POSE2_TO_POSE3_RETREAT,799,749,726,711.603598731,699,656,934,805.396401269,839,670,657.603598731,677.603598731,0.401280005768,-0.00539602163457,0.0798334817393,0.999999924145,0.000261244098419,-0.000285269737909,4.56429666486e-05,1793256606544852736
+376,6.266666667,POSE2_TO_POSE3_RETREAT,799,749,726,711.014422469,699,656,934,805.985577531,839,670,657.014422469,677.014422469,0.40120796886,-0.00539601184261,0.0798284394805,0.999999922713,0.000257490961241,-0.000293560682033,4.57694462318e-05,1793256606561519360
+377,6.283333333,POSE2_TO_POSE3_RETREAT,799,748.433013007,726,711,699,656,934,805.433013007,839,670,657.566986993,677.566986993,0.401158827466,-0.00539553491909,0.0798289696831,0.999999923248,0.000257348016734,-0.000291731117229,4.65706455369e-05,1793256606578186240
+378,6.300000000,POSE2_TO_POSE3_RETREAT,798.853726926,748,726,711,699,656,934,805.146273074,839,670,658,677.853726926,0.40111418329,-0.00539525393402,0.0798297457687,0.999999923759,0.000257451983068,-0.000289767490486,4.72867909842e-05,1793256606594852864
+379,6.316666667,POSE2_TO_POSE3_RETREAT,798.280075565,748,726,711,699,656,934,805.719924435,839,670,658,677.280075565,0.401081000385,-0.00539557968758,0.0798308317139,0.99999992406,0.000258012680289,-0.00028815417144,4.77049587515e-05,1793256606611519744
+380,6.333333333,POSE2_TO_POSE3_RETREAT,798,748.293259525,726,711,699,656,933.706740475,805.706740475,839,670,658,677,0.401053658741,-0.00539624597945,0.0798315804809,0.999999924495,0.000257513440038,-0.000287043420155,4.79849741445e-05,1793256606628186368
+381,6.350000000,POSE2_TO_POSE3_RETREAT,798,748.866292955,726,711,699,656,933.133707045,805.133707045,839,670,658,677,0.401031889741,-0.00539723714992,0.0798320075752,0.999999925057,0.000256003003896,-0.000286412125728,4.81331901872e-05,1793256606644852992
+382,6.366666667,POSE2_TO_POSE3_RETREAT,798.45682433,749,726,711.45682433,698.54317567,656,933,805,839,670,658,677,0.401015960272,-0.00539789357287,0.0798319859037,0.999999925267,0.000253913409448,-0.000287575783901,4.79070322194e-05,1793256606661519616
+383,6.383333333,POSE2_TO_POSE3_RETREAT,799,748.948833895,726,712,698.051166105,656,933.051166105,805.051166105,839,670.051166105,658,677,0.401002495966,-0.00539828771723,0.0798318436955,0.999999925403,0.000251894587739,-0.000288929225671,4.75703545085e-05,1793256606678186496
+384,6.400000000,POSE2_TO_POSE3_RETREAT,799,748.370112577,726,712,698.629887423,656,933.629887423,805.629887423,839,670.629887423,658,677,0.400996124639,-0.00539702803923,0.0798318669033,0.999999925952,0.000252422873828,-0.000286606902256,4.72689320806e-05,1793256606694852864
+385,6.416666667,POSE2_TO_POSE3_RETREAT,799,748.205948845,726.205948845,712,699,656,934,806,839,670.794051155,658,677,0.40099122846,-0.00539706091529,0.0798323626215,0.999999926829,0.000251352748967,-0.000284517028648,4.70523905716e-05,1793256606711519488
+386,6.433333333,POSE2_TO_POSE3_RETREAT,799,748.777291059,726.777291059,712,699,656,934,806,839,670.222708941,658,677,0.400988949483,-0.00539938703413,0.079833696665,0.999999928282,0.000247446731683,-0.000282839566416,4.69864443647e-05,1793256606728186112
+387,6.450000000,POSE2_TO_POSE3_RETREAT,798.650039736,749,726.650039736,711.650039736,699,656,934,805.650039736,839,670,658,677,0.40098823055,-0.00539963936529,0.0798349013516,0.999999928384,0.000248787310299,-0.000281290056282,4.70365449642e-05,1793256606744852992
+388,6.466666667,POSE2_TO_POSE3_RETREAT,798.076522864,749,726.076522864,711.076522864,699,656,934,805.076522864,839,670,658,677,0.400988508182,-0.00539856694899,0.0798360234043,0.999999927612,0.000253479444385,-0.000279822282738,4.71607769259e-05,1793256606761519616
+389,6.483333333,POSE2_TO_POSE3_RETREAT,798.5182378,749,726,711,699,656,934,805,839,670.5182378,658,677,0.400987865084,-0.00539892167431,0.0798365373869,0.999999928012,0.000253164793709,-0.000278659960501,4.72488860859e-05,1793256606778186240
+390,6.500000000,POSE2_TO_POSE3_RETREAT,799,749,726,711,699,656,934,805,839,670.887830847,658,677.112169153,0.400987349709,-0.00539926919152,0.0798371076618,0.999999928595,0.000252202943457,-0.000277437543689,4.72433037797e-05,1793256606794852608
+391,6.516666667,POSE2_TO_POSE3_RETREAT,799,749,726,711,699,656,934,805,839,670.310889028,658,677.689110972,0.400987950969,-0.00539867635367,0.0798382991205,0.999999929187,0.000251753652874,-0.000275771253558,4.68725566751e-05,1793256606811519232
+392,6.533333333,POSE2_TO_POSE3_RETREAT,799,749,726,711,699,656,934,805,838.734489432,670,658,677.734489432,0.400988210374,-0.00539769597653,0.0798391570982,0.99999992952,0.000252175723176,-0.00027421491598,4.66248498526e-05,1793256606828185600
+393,6.550000000,POSE2_TO_POSE3_RETREAT,799,749,726,711,699,656,934,805,838.158723364,670,658,677.158723364,0.400988070312,-0.00539626275031,0.0798396253955,0.999999929551,0.000253615999625,-0.000272787060394,4.6520918519e-05,1793256606844852480
+394,6.566666667,POSE2_TO_POSE3_RETREAT,799,748.573632033,726,711,699,656,934,805,838.426367967,670,657.573632033,677.426367967,0.400988165388,-0.00539808779506,0.0798399531956,0.999999929625,0.000253038235808,-0.000272981369861,4.69334660848e-05,1793256606861519104
+395,6.583333333,POSE2_TO_POSE3_RETREAT,799,748.014734273,726,711,699,656,934,805,839,670.014734273,657.014734273,678,0.400988327569,-0.00540103450055,0.0798402115174,0.999999929717,0.000251714939869,-0.000273766390929,4.75139439291e-05,1793256606878185984
+396,6.600000000,POSE2_TO_POSE3_RETREAT,799,748.592623686,726,711,699,656,934,805,839,670.592623686,657.592623686,678,0.400987634134,-0.00539945537566,0.0798398580714,0.999999929922,0.00025125233613,-0.000273531974491,4.69998660367e-05,1793256606894852864
+397,6.616666667,POSE2_TO_POSE3_RETREAT,799,749,726,711,698.830976017,656,934,805,839,670.830976017,657.830976017,677.830976017,0.400987063975,-0.0053987846991,0.0798397025678,0.99999993022,0.000250478083387,-0.000273215756444,4.66218637303e-05,1793256606911519744
+398,6.633333333,POSE2_TO_POSE3_RETREAT,799,749,726,711,698.258133431,656,934,805,839,670.258133431,657.258133431,677.258133431,0.400986788337,-0.00540028441485,0.0798400199725,0.999999930742,0.000248959263755,-0.000272704104534,4.65689623791e-05,1793256606928186112
+399,6.650000000,POSE2_TO_POSE3_RETREAT,799,749,726,711,698,656,934,805,839,670,657.31650403,677,0.40098686146,-0.00540066697535,0.0798405901011,0.999999931218,0.000247937995368,-0.000271893633147,4.65205581132e-05,1793256606944852480
+400,6.666666667,POSE2_TO_POSE3_RETREAT,799,749,726,711,698,656,934,805,839,670,657.892613672,677,0.400987220648,-0.00540013321325,0.0798413675212,0.999999931659,0.00024732483274,-0.000270838061549,4.64758424871e-05,1793256606961519104
+401,6.683333333,POSE2_TO_POSE3_RETREAT,799,749,726,711,698.482684289,656,934,805,839,670.482684289,658,677,0.400987892135,-0.00540029734908,0.0798410346178,0.999999931757,0.000247088991377,-0.000270743100636,4.61634444534e-05,1793256606978185984
+402,6.700000000,POSE2_TO_POSE3_RETREAT,799,748.925995665,726,711,699,656,934,805,839,670.925995665,657.925995665,677,0.400988522818,-0.00540034821551,0.0798406190908,0.999999931681,0.000247370752343,-0.00027081276395,4.59006784808e-05,1793256606994852352
+403,6.716666667,POSE2_TO_POSE3_RETREAT,799,748.347951041,726,711,699,656,934,805,839,670.347951041,657.347951041,677,0.400988388279,-0.00539853859741,0.0798413733852,0.99999993094,0.000250589101893,-0.000270504722875,4.63936505344e-05,1793256607011518976
+404,6.733333333,POSE2_TO_POSE3_RETREAT,798.771808745,748,726,711,698.771808745,656,934,805.228191255,839,670.228191255,657.228191255,677,0.400987462428,-0.00539774562293,0.0798411513669,0.999999930279,0.000252365935956,-0.000271282911063,4.647284759e-05,1793256607028185600
+405,6.750000000,POSE2_TO_POSE3_RETREAT,798.198543091,748,726,711,698.198543091,656,934,805.801456909,839,670.801456909,657.801456909,677,0.400985339944,-0.00539849003261,0.0798394529532,0.999999929746,0.000251962888157,-0.00027370371215,4.59263276728e-05,1793256607044852736
+406,6.766666667,POSE2_TO_POSE3_RETREAT,798,748,726,711,698.386134209,656,934,805.613865791,839,670.613865791,658,677,0.400985863614,-0.00539942913451,0.0798397160051,0.999999930592,0.000249305707737,-0.000273076029085,4.57401924066e-05,1793256607061519360
+407,6.783333333,POSE2_TO_POSE3_RETREAT,798,748,726,711,698.976857823,656,934,805.023142177,839,670.023142177,658,677,0.400987789323,-0.00540047139213,0.0798410183203,0.999999932155,0.000245454197384,-0.000270833136586,4.57450034285e-05,1793256607078185984